TWI579474B - Eccentric rocking gear device - Google Patents

Description

Eccentric rocking gear device

The present invention relates to an eccentric rocking type gear device.

As disclosed in the following Patent Document 1, an eccentric rocking type gear device for use in a joint portion or the like of an industrial robot is well known. The eccentric rocking gear device disclosed in Patent Document 1 includes a case having internal teeth, a carrier that is inserted into the casing and rotatable with respect to the casing, and has an eccentric portion and is freely rotatable. A crankshaft supported by the bracket and a rocking gear that is attached to the eccentric portion and that is engaged with the internal teeth of the housing. When the crankshaft is driven by the motor to rotate to the shaft center, the rocking gear is rocked, and the bracket is relatively rotated with respect to the casing. The outer casing is fixed to the proximal end arm of the industrial robot by bolts, and the bracket is fixed to the distal end side arm by bolts. Therefore, when the motor is driven, the distal end side arm is rotated by the base end side arm based on the turning speed at which the number of motor revolutions is decelerated at a predetermined ratio.

In the eccentric rocking type gear device disclosed in Patent Document 1, there is a problem that the lead time at the time of manufacture is too long. In other words, the outer casing is formed in a tubular shape, and a plurality of internal teeth are disposed on the inner surface, and a plurality of internal grooves are formed. On the outside of the outer casing, a flange for forming a bolt hole for fastening to the proximal end side arm of the counterpart member as the mounting outer casing is provided. Therefore, the outer casing becomes Complex composition. Further, the outer casing is a cast product or a forged product, and is formed by machining and bolt holes. The position, size, or shape of the flange portion of the bolt hole attached to the opponent member differs depending on the style of the client to which the eccentric rocking gear device is delivered, and has various differences. Therefore, it is actually difficult to pre-manufacture the casing by estimating the order. Moreover, the construction of the outer casing is complicated. Therefore, there is a problem that the lead time from the order determination to the delivery has to be lengthened.

Advanced technical literature

Patent literature

Patent Document 1: Japanese Laid-Open Patent Publication No. 2006-312957

It is an object of the present invention to provide an eccentric rocking type gear device that can reduce the lead time required for production.

An eccentric rocking type gear device according to an aspect of the present invention is a gear device for generating a relative rotation of a number of revolutions to be input between a first member and a second member, including: a crankshaft having an eccentric portion, a rocking gear having a through hole through which the eccentric portion is inserted, a crank gear having a tooth portion, and a casing that can be attached to one of the first member and the second member, and A bracket that can be attached to the other of the first member and the second member. The bracket supports the crankshaft in a rotatable manner. The outer casing has internal teeth that engage with the teeth of the rocking gear. The outer casing and the bracket are rotatable relative to each other in a concentric manner by the rocking of the rocking gear accompanying the rotation of the crankshaft. The outer casing is configured to be fixed to be mounted to the first member And the attached portion of the portion of the one of the second members and the adjacent portion of the portion where the internal tooth is disposed adjacent to the attached portion, and the adjacent portion is formed separately, and The above-described attached portion is assembled to the adjacent portion.

10‧‧‧Eccentric rocking gear unit

12‧‧‧ Shell

12d‧‧ ‧ pin groove (internal groove)

14‧‧‧ bracket

18‧‧‧Deceleration mechanism

21‧‧‧Installed Department

21a‧‧‧Bolt insertion hole (insertion hole)

21b‧‧‧Extension

21c‧‧‧Top part

22‧‧‧Adjacency

22a‧‧‧Tighten hole (tightening hole)

24‧‧‧ internal teeth

30‧‧‧End Plate Department

31‧‧‧ base

32‧‧‧Parts Department

33‧‧‧Axis

44‧‧‧Communication gear

46‧‧‧ crankshaft

46a‧‧‧First eccentric

46b‧‧‧Second eccentric

48a‧‧‧First shaking gear

48b‧‧‧Second shaking gear

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

Fig. 2 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 3 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 4 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 5 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 6 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 7 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 8 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 9 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 10 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Figure 11 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 12 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Figure 13 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

Fig. 14 is a cross-sectional view showing the configuration of an outer casing used in an eccentric rocking type gear device according to another embodiment of the present invention.

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

As shown in Fig. 1, the eccentric rocking gear device 10 of the present embodiment includes a casing 12, inside the casing 12, a bracket 14 that is rotatable relative to the casing 12, and a predetermined rotation. The speed reduction mechanism 18 for decelerating the number of revolutions to be input. The gear unit 10 is such that a first arm as a first member is bolted to the outer casing 12 and a second arm as a second member is bolted to the bracket 14. That is, the first arm and the second arm constitute a robot arm, and the eccentric rocking gear device 10 is configured as a reduction gear used for the joint of the robot arm.

The outer casing 12 has a casing main body 12a formed in a cylindrical shape, and a flange portion 12b provided on the outer side of the casing main body 12a. The axial length of the flange portion 12b is shorter than the axial length of the casing body 12a, and the flange portion 12b The shape is expanded from the central portion in the axial direction of the casing body 12a to the outside. Further, the flange portion 12b may have a shape that extends from the axial end portion of the casing main body 12a to the outside.

A plurality of pin grooves (internal groove) 12d are formed on the inner circumferential surface of the casing body 12a at equal intervals in the circumferential direction. Pin-shaped internal teeth 24 are respectively fitted into the pin grooves 12d.

In the present embodiment, the casing body 12a and the flange portion 12b are formed separately and joined to each other. In other words, the flange portion 12b is configured as a mounted portion 21 having a portion for fixing a bolt (not shown) to be attached to the bolt of the first arm. On the other hand, the casing main body 12a is configured to be adjacent to the portion to be attached 21, and is configured as an adjacent portion 22 of a portion where the internal teeth 24 are disposed. Further, the mounted portion 21 and the adjacent portion 22 are formed separately. For example, after the mounted portion 21 and the adjacent portion 22 are separately cast or forged, the workpiece is precision-processed by machining.

The adjacent portion 22 is formed in a cylindrical shape, and the attached portion 21 is fitted to the adjacent portion 22 . That is, the inner diameter of the mounted portion 21 is equal to the outer diameter of the adjacent portion 22. Therefore, the mounted portion 21 can be fitted to the adjacent portion 22. Further, the fitting portion of the attached portion 21 to the adjacent portion 22 may be fitted by press fitting, tight fitting, plastic bonding or the like. Further, the abutting portion 22 and the mounted portion 21 may be joined by a spline joint.

A plurality of pin grooves 12d are formed at equal intervals in the circumferential direction on the inner circumferential surface of the casing main body 12a constituting the adjacent portion 22, and pin-shaped internal teeth 24 are respectively fitted into the pin grooves 12d, that is, a plurality of internal teeth 24 It is disposed in the adjacent portion 22 .

Most of the bolt insertion holes 12c are provided at equal intervals in the circumferential direction. The flange portion 12b constituting the attached portion 21 is formed. The outer casing 12 and the first arm are fastened to each other by bolting a bolt (not shown) inserted through the bolt insertion hole 12c to the screw hole of the first arm. A motor (not shown) as a drive source is fixed to the first arm.

The plurality of bolt insertion holes 21a penetrating the radial direction are formed in the attached portion 21, and the plurality of bolt holes 22a are formed to penetrate the adjacent portion 22 in accordance with the position of the bolt insertion hole 21a. The plurality of bolt insertion holes 21a and the bolt holes 22a are disposed in the circumferential direction of the casing 12 with a space therebetween. In addition, the bolt 23 that is inserted into the bolt insertion hole 21a of the attached portion 21 is bolted to the bolt hole 22a of the adjacent portion 22, and the attached portion 21 is fixed to the adjacent portion 22.

The pinching hole 22a penetrates the abutting portion 22 (the casing body 12a) and communicates with the pin groove 12d. Therefore, in the pin groove 12d, oil can be supplied or drained by the bolt insertion hole 21a and the bolt hole 22a.

The bolt insertion hole 21a is formed at a position shifted from the center position in the axial direction in the attached portion 21 (the flange portion 12b). Therefore, as shown in FIGS. 2 and 3, the position of the flange portion 12b with respect to the casing body 12a can be changed by changing the orientation of the mounted portion 21. Therefore, the opponent member to which the eccentric rocking type gear device 10 according to the present embodiment is attached can be easily handled in a case where it is necessary to change the position of the flange portion 12b.

Moreover, the mounted portion 21 can appropriately change the length in the axial direction according to the opponent member and the customer pattern. For example, as shown in FIG. 4, the attached portion 21 may be formed such that its length in the axial direction is the same as the length of the adjacent portion 22 (the casing main body 12a) in the axial direction. In this case, the bolt in the axial direction The position of the insertion hole 21a may be a position shifted from the center position in the axial direction as shown in Fig. 4, or may be a central position in the axial direction. Further, a plurality of bolt insertion holes 21a may be provided in the axial direction.

Further, in the present embodiment, the bolt 23 that is inserted into the bolt insertion hole 21a of the attached portion 21 is bolted to the bolt hole 22a of the adjacent portion 22, and the attached portion 21 is fixed to the adjacent portion. 22, however, is not limited to this situation. For example, the pin hole is formed in the attached portion 21 instead of the bolt insertion hole 21a, and the pin 21 is fixed to the hole of the abutment portion 22 formed at the corresponding position and the pin hole. The configuration of the adjacent portion 22 may be.

The bracket 14 is supported by the outer casing 12 by a pair of main bearings 26 that are disposed at intervals in the axial direction, and can be rotated concentrically with the outer casing 12. That is, the bracket 14 is relatively rotated about the outer casing 12 around the axis of the outer casing 12. The main bearings 26 are each formed by a ball bearing that is in surface contact.

The bracket 14 is provided with a disk-shaped end plate portion 30 and a base portion 31 that is fastened to the end plate portion 30. The base portion 31 has a substrate portion 32 and a shaft portion 33 that is protruded from one surface of the substrate portion 32.

A plurality of shaft portions 33 are provided, and these shaft portions 33 are arranged at equal intervals in the circumferential direction. The shaft portion 33 and the end plate portion 30 are fastened to each other by the bolts 34 in a state where the distal end surface of the shaft portion 33 is in contact with the end plate portion 30. In this state, a space having a predetermined width between the substrate portion 32 and the end plate portion 30 is formed in the axial direction.

The bolt pinching hole 33a is provided to the shaft portion 33. The bolt 34 inserted into the bolt insertion hole 30a of the end plate portion 30 from the side opposite to the shaft portion 33 is bolted to the bolt pinning hole 33a of the shaft portion 33. Also, with respect to the base 31, the end plate The pin 36 positioned by the portion 30 is disposed across the shaft portion 33 from the end plate portion 30. That is, the pin 36 is inserted into the insertion hole 30b formed in the end plate portion 30, and is inserted into the pin hole 33b formed in the distal end surface of the shaft portion 33.

A second arm as a counterpart member is attached to the base 31. That is, the bolt insertion hole is formed in the second arm, and the outer side surface of the base portion 31 and the bolt hole 31a are formed at positions corresponding to the bolt insertion holes. Further, the second arm and the base portion 31 are fastened to each other by bolting a mounting bolt (not shown) inserted through the bolt insertion hole of the second arm to the fastening hole 31a of the base portion 31.

A central through hole 32a penetrating through the center portion in the radial direction of the substrate portion 32 in the thickness direction is formed on the substrate portion 32. In the substrate portion 32, the hole portion 32b is provided in such a manner that one end portion of the crank shaft 46 to be described later is inserted and the second crank bearing 52 is attached. The hole portion 32b is provided in plural around the center through hole 32a.

A through hole 30c penetrating 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 an inner diameter which is almost the same as the central through hole 32a of the substrate portion 32.

The speed reduction mechanism 18 includes a transmission gear 44, a crank shaft 46, and a rocking gear (a first rocking gear 48a and a second rocking gear 48b). The first rocking gear 48a and the second rocking gear 48b have external teeth that are tooth portions that are respectively engaged with the internal teeth 24 of the outer casing 12. The transmission gear 44 is coupled to the end of the crank shaft 46 on the end plate portion 30 side by a pin groove. The transmission gear 44 is engaged with a drive gear (not shown) provided in an input shaft (not shown) for inputting a driving force for driving the carriage 14 (a driving force for driving the motor as a drive source). Therefore, the driving force is transmitted to the crankshaft 46 via the communication gear 44, whereby the crankshaft 46 is coupled to the input shaft Rotate and rotate. Further, the input shaft system may be provided such that the distal 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 via the first crank bearing 51, and is rotatably supported by the base plate portion via the second crank bearing 52. 32. In other words, the first crank bearing 51 is disposed between the end plate portion 30 and the crank shaft 46, and the second crank bearing 52 is disposed between the substrate portion 32 and the crank shaft 46. Both the first crank bearing 51 and the second crank bearing 52 are constructed by tapered roller bearings.

In the end plate portion 30, a plurality of through holes 30d are formed around the center through hole 30c. These through holes 30d are arranged in the circumferential direction at equal intervals around the center through hole 30c. Further, the crankshaft 46 is also provided in plural, and the plurality of crankshafts 46 are arranged at equal intervals in the circumferential direction. Each of the crankshafts 46 is inserted into the hole portion 32b of the substrate portion 32 while being penetrated through the through hole 30d of the end plate portion 30, respectively.

The crankshaft 46 has a shaft body 46c and an eccentric portion (a first eccentric portion 46a and a second eccentric portion 46b) integrally formed with the shaft body 46c. The shaft main body 46c is a rod-shaped member having a circular cross section, and the eccentric portions 46a and 46b are eccentric to the crank shaft center which is the axial center of the shaft main body 46c. The first and second eccentric portions 46a, 46b are phase-shifted 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 of 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 assembled to the bracket 14 so that the eccentric directions of the respective first eccentric portions 46a match each other.

The first and second eccentric portions 46a and 46b are disposed adjacent to each other in the axial direction between the first crank bearing 51 and the second crank bearing 52. The first eccentric portion 46a is adjacent to the first crank bearing 51, and the second eccentric portion 46b is adjacent to the second crank bearing 52.

The first rocking gear 48a and the second rocking gear 48b are disposed in a space between the base portion 32 of the bracket 14 and the end plate portion 30. The first through hole 48c formed in the center portion, the second through hole 48d through which the shaft portion 33 can pass, and the eccentric portions 46a and 46b of the crank shaft 46 can pass through the first rocking gear 48a and the second rocking gear 48b. The third through holes 48e are formed separately.

The roller bearing 55 is attached to the first and second eccentric portions 46a and 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 The third through hole 48e is inserted into the second rocking gear 48b. The first and second rocking gears 48a and 48b are rotated by the inner teeth 24 of the outer casing 12 as the first and second eccentric portions 46b are swung by the rotation of the crank shaft 46. Further, in the present embodiment, the swing gears 48a and 48b are provided in two configurations. However, the present invention is not limited to this configuration, and the swing gears 48a and 48b may be provided in one or three or more configurations.

In the eccentric rocking type gear unit 10 of the present embodiment, the input shaft is driven by the driving force of the motor, and the input shaft is rotated, and the gear 44 is rotated. Thereby, the crankshaft 46 is also integrally rotated. When the crankshaft 46 rotates, the first oscillating gear 48a is slid with the first eccentric portion 46a, and the first oscillating gear 48a is engaged with the internal tooth 24, and the second eccentric portion 46b is swayed, and the second oscillating gear 48b is engaged with the second eccentric portion 46b. The teeth 24 are turned on one side. Thereby having two rocking gears The bracket 14 of the shaft portion 33 of the second through hole 48d of 48a, 48b is relatively rotated with respect to the outer casing 12. Thereby, the second arm is relatively rotated with respect to the first arm. The number of revolutions of the second arm (the carriage 14) is the number of revolutions in which the number of revolutions of the input shaft is decelerated at a predetermined ratio. That is, the speed reduction mechanism 18 causes the bracket 14 to relatively rotate with respect to the casing 12 based on the number of revolutions decelerating at a predetermined ratio with respect to the number of revolutions of the input shaft.

The mounted portion 21 is selectively used in accordance with the shape of the opponent member to which the gear device 10 is attached. In the first drawing, the attached portion 21 is configured to be fixed to the second arm of the robot arm. However, the member to be attached is different from the member having a different configuration. Further, in the components constituting the outer casing 12, in addition to the use of the mounted portion 21 for the hand member, and the other components, the components having the same configuration can be used regardless of the opponent member.

Moreover, the work system in which the attached portion 21 is assembled to the adjacent portion 22 may be performed before the assembly of the present gear device 10. In this case, the outer casing 12 to be mounted as the mounted portion 21 is assembled to the bracket 14. Further, in the above operation, even in the middle of assembling the gear device 10, the above operation may be performed. In addition, even if the gear device 10 and the mounting pattern of the customer are assembled by components other than the mounted portion 21, that is, the above-described work may be performed at a time before shipment. The above operations are available at any point in time.

As described above, in the present embodiment, the outer casing 12 is the attached portion 21 (the flange portion 12b) of the portion attached to the first arm side, and the adjacent portion 22 of the portion adjacent to the mounted portion 21 ( The casing body 12a) is formed separately. Therefore, the adjacent portion 22 is a common configuration that is not affected by the client style, and only the configuration of the mounted portion 21 can be changed in accordance with the style of the client. In this implementation In the example, in the outer casing 12, the adjacent portion 22 is not limited to the style of the client, and the production can be estimated in advance before the order is determined. Further, at the time of the order determination, the mounted portion 21 is manufactured and assembled to another component to manufacture the outer casing 12. Therefore, it is sufficient as long as the production portion 21 is produced after the order is determined. Therefore, the lead time required for production can be shortened as compared with the conventional configuration.

Further, in the present embodiment, the attached portion 21 and the adjacent portion 22 are bolted to each other by the bolts 23, so that the attached portion 21 can be more strongly assembled to the adjacent portion 22.

Further, in the present embodiment, the pinching hole 22a of the abutting portion 22 communicates with the pin groove 12d in which the inner tooth 24 is disposed, so that the bolt insertion hole 21a and the pinching hole 22a can be supplied as oil to the pin groove 12d or It is used for draining oil supply holes.

Further, the present invention is not limited to the above-described embodiments, and various changes, improvements, and the like can be made without departing from the scope of the invention. For example, in the above embodiment, the casing body 12a (adjacent portion 22) and the flange portion 12b (attached portion 21) are configured to be fixed by the bolts 23. Instead, as shown in Figs. 5 to 7, the fixing by the bolt 23 can be omitted. In this configuration, since the attached portion 21 is fitted to the adjacent portion 22 and positioned, only the attached portion 21 is fitted to the adjacent portion 22, and the adjacent portion 22 can be positioned. In this case, the configuration may be such that the flange portion 12b is tightly fitted and fixed to the casing body 12a, or the casing body 12a may be press-fitted into the flange portion 12b. Further, in the outer casing 12 shown in Figs. 5 and 6, the axial length of the flange portion 12b is common to the axial length of the casing body 12a, but the flange portion 12b. The arrangement position of the casing body 12a is different. On the other hand, in the casing 12 shown in Fig. 7, the axial length of the flange portion 12b is the same length as the axial length of the casing body 12a. These are appropriately selected depending on the constitution of the opponent member.

Further, as shown in Fig. 8, the outer peripheral surface of the outer casing main body 12a may have a configuration in which the flange portion 12b is coupled to the outer casing main body 12a by applying knurling processing. Further, the flange portion 12b may be plastically bonded to the casing body 12a. Further, even if the flange portion 12b is coupled to the casing body 12a by the pinch groove, the configuration may be adopted.

Of course, even if the flange portion 12b (attached portion 21) is fixed to the casing main body 12a (adjacent portion 22), the bolts may be omitted altogether as in the fifth to eighth embodiments, but the bolts may be used in combination. It is self-evident that it is obtained for strong fixation.

In the above embodiment, the outer casing 12 is configured such that the outer casing body 12a and the flange portion 12b are separated, but is not limited thereto. For example, as shown in Figs. 9 to 11 , even if the outer casing 12 is divided into the outer casing body 12a. Specifically, the outer casing 12 shown in FIGS. 9 to 11 has a mounted portion 21 for fixing a portion of a bolt (not shown) attached to the bolting portion of the first arm. The flange portion 12b and the expansion portion 21b extending from the inner peripheral portion of the flange portion 12b to the inner side in the radial direction are provided. The expanded portion 21b is formed in a cylindrical shape thinner than the outer casing main body 12a. In the outer casing 12 shown in Figs. 9 and 10, the expanded portion 21b has a shape longer than the flange portion 12b in the axial direction. . The extension portion 21b constitutes a part of the outer peripheral portion of the casing body 12a. On the other hand, as the adjacent portion 22 of the portion where the internal teeth 24 are disposed, Among the outer peripheral portions of the outer casing main body 12a, a portion corresponding to the expanded portion 21b is cut away. In other words, the outer peripheral portion of the abutting portion 22 has a shape in which one end portion in the axial direction remains and the outer peripheral surface is recessed. The part which becomes this recessed shape has the outer diameter which has a fixed shape in the axial direction. Further, the attached portion 21 is fitted to the adjacent portion 22 from the other end side in the axial direction of the casing body 12a. Further, the outer peripheral surface of one end portion of the adjacent portion 22 in the axial direction and the outer peripheral surface of the expanded portion 21b of the mounted portion 21 are in a coplanar state.

On the other hand, in the outer casing 12 shown in Fig. 11, the axial length of the expanded portion 21b is different from the axial length of the expanded portion 21b of the mounted portion 21 shown in Figs. 9 and 10 . That is, in the outer casing 12 of Fig. 11, the axial length of the expanded portion 21b is formed to be shorter than the axial length of the flange portion 12b. Further, the inner peripheral surface of the flange portion 12b is overlapped on the outer peripheral surface of the one end portion of the adjacent portion 22 in the axial direction.

As shown in FIGS. 12 to 14 , the expanded portion 21 b may be formed to have a shape that spans the entire outer peripheral portion of the casing body 12 a. In other words, in the configuration shown in Fig. 9 to Fig. 11, the one end portion of the adjacent portion 22 in the axial direction is also in the form of the outer peripheral surface of the casing main body 12a, but is different from Fig. 12 to Fig. 12 In the form shown in Fig. 14, the adjacent portion 22 is configured not to be exposed to the outside. In this configuration, the one end portion of the expanded portion 21b in the axial direction may be one end portion in the axial direction of the adjacent portion 22 and may have a shape protruding in the axial direction. The distal end portion 21c of the expanded portion 21b protruding from the abutting portion 22 in the axial direction is used as a portion to which the oil seal is fitted. Therefore, the length of the distal end portion 21c in the axial direction can be changed in accordance with the demand of the client, and the double oil seal type can be easily changed. Further, the axial end portion of the adjacent portion 22 (the portion located on the outer side in the axial direction with respect to the pin groove 12d) The position is the portion where the main bearing 26 is mounted.

In the attached portion 21, the rear end portion 21d which is an end portion on the opposite side of the distal end portion 21c protrudes to the inner side in the radial direction, and is engaged with the engagement groove formed at the axial end portion of the adjacent portion 22. When the rear end portion 21d is locked to the engagement groove of the adjacent portion 22, the attached portion 21 is positioned to the adjacent portion 22.

Here, the above embodiment will be briefly explained.

(1) In the above embodiment, the outer casing is a portion to be attached to the one of the first member and the second member, and an adjacent portion that is a portion adjacent to the attached portion. Individually formed. Therefore, the adjacent portion of the portion to which the internal teeth are disposed can be configured as a common structure that does not affect the pattern of the client, and can be changed only in accordance with the configuration of the client. In the outer casing, the adjacent parts are not affected by the style of the client, and the production can be estimated in advance before the order is determined. Further, when the order is determined, the mounted portion is manufactured and assembled to other parts to manufacture the outer casing. Therefore, it is sufficient to produce only the mounted portion after the order is determined, so that the lead time required for production can be shortened as compared with the conventional configuration.

(2) In the eccentric rocking type gear device described above, the attached portion may be positioned by being fitted to the adjacent portion. In this aspect, the adjacent portion can be positioned by merely fitting the attached portion to the adjacent portion.

(3) The insertion hole of the attachable portion and the insertable plug can be formed, and the above-mentioned abutting portion and the bolt having the bolt tightened can be formed. In this case, It is preferable that the attached portion and the adjacent portion are fastened to each other by the above-mentioned bolts. In this state, because it is by the bolt When the attached portion is assembled to the adjacent portion, the attached portion can be more firmly assembled to the adjacent portion.

(4) The above-mentioned bolting hole system may be connected to the internal tooth groove in which the internal teeth are disposed. In this aspect, the insertion hole and the pinning hole can be used as a supply oil drain hole for supplying oil to the internal groove or for discharging oil.

As explained above, according to the above embodiment, an eccentric rocking type gear device can be provided which can reduce the lead time required for production.

10‧‧‧Eccentric rocking gear unit

12‧‧‧ Shell

12a‧‧‧Shell body

12b‧‧‧Front Department

12c‧‧‧Bolt insertion hole

12d‧‧ ‧ pin groove (internal groove)

14‧‧‧ bracket

18‧‧‧Deceleration mechanism

21‧‧‧Installed Department

21a‧‧‧Bolt insertion hole (insertion hole)

22‧‧‧Adjacency

22a‧‧‧Tighten hole (tightening hole)

23‧‧‧ bolt

24‧‧‧ internal teeth

26‧‧‧Main bearing

30‧‧‧End Plate Department

30a‧‧‧Bolt insertion hole

30b‧‧‧ inserted through hole

30c‧‧‧through hole

30d‧‧‧through hole

31‧‧‧ base

31a‧‧‧Tighten holes

32‧‧‧Parts Department

32a‧‧‧Central through hole

32b‧‧‧ Hole Department

33‧‧‧Axis

33a‧‧‧Bolts and bolts

33b‧‧ ‧ pinhole

34‧‧‧Bolts

36‧‧ ‧ sales

44‧‧‧Communication gear

46‧‧‧ crankshaft

46a‧‧‧First eccentric

46b‧‧‧Second eccentric

46c‧‧‧Axis body

48a‧‧‧First shaking gear

48b‧‧‧Second shaking gear

48c‧‧‧first through hole

48d‧‧‧second through hole

48e‧‧‧ third through hole

51‧‧‧First crank bearing

52‧‧‧Second crank bearing

55‧‧‧Roller bearing

Claims (4)

An eccentric rocking type gear device is a gear device for generating a relative rotation of a number of revolutions to be input between a first member and a second member, comprising: a crank shaft having an eccentric portion; The rocking gear has a through hole into which the eccentric portion is inserted, and has a tooth portion; the outer casing can be attached to one of the first member and the second member; and the bracket can be attached to the first member And the other one of the second members; wherein the bracket supports the crankshaft in a rotatable manner, and the outer casing has inner teeth that engage with the teeth of the rocking gear, the outer casing and the bracket The frame is rotatable relative to each other by the rocking of the rocking gear accompanying the rotation of the crankshaft, and the outer casing has the above-mentioned fixing for being attached to the first member and the second member. a tubular attached portion of a portion of the plug and a portion adjacent to the attached portion and the internal teeth are disposed The adjacent portion of the position is formed separately, and the attached portion is assembled to the adjacent portion; and the mounted portion is formed at a position offset from a center in the axial length direction of the mounted portion. The insertion hole of the clamp can be inserted into the central axis of the above-mentioned mounted portion. The eccentric rocking gear device according to claim 1, wherein the mounted portion is positioned by being fitted to the abutting portion. The eccentric rocking type gear device according to claim 1 or 2, wherein the bolting bolt is fastened to the abutting portion, and the attached portion and the adjacent portion are formed by the bolt The clutches are tied to each other. The eccentric rocking gear device according to claim 3, wherein the bolting hole is connected to the inner tooth groove in which the inner tooth is disposed.