TWI682110B - Eccentric swing gear device - Google Patents

Eccentric swing gear device Download PDF

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Publication number
TWI682110B
TWI682110B TW105100844A TW105100844A TWI682110B TW I682110 B TWI682110 B TW I682110B TW 105100844 A TW105100844 A TW 105100844A TW 105100844 A TW105100844 A TW 105100844A TW I682110 B TWI682110 B TW I682110B
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Taiwan
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pin
internal tooth
length
main bearing
swing gear
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TW105100844A
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Chinese (zh)
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TW201632766A (en
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古田和哉
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日商納博特斯克股份有限公司
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/0018—Shaft assemblies for gearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels

Abstract

偏心擺動型齒輪裝置(X1)具備：具有形成於內周面之複數個銷槽(21a)的外筒(2)、及分別配置於各銷槽(21a)內且與擺動齒輪(5)嚙合之複數個內齒銷(3)，且內齒銷(3)之長度方向上之銷槽(21a)之長度較內齒銷(3)之長度短。 The eccentric swing gear device (X1) includes: an outer cylinder (2) having a plurality of pin grooves (21a) formed on the inner peripheral surface, and respectively disposed in each pin groove (21a) and meshing with the swing gear (5) A plurality of internal tooth pins (3), and the length of the pin groove (21a) in the longitudinal direction of the internal tooth pin (3) is shorter than the length of the internal tooth pin (3).

Description

偏心擺動型齒輪裝置 Eccentric swing gear device

本發明係關於一種偏心擺動型齒輪裝置。 The invention relates to an eccentric swing type gear device.

先前如日本特開2010-286098號公報所揭示般，已知悉一種偏心擺動型齒輪裝置。如圖6及圖7所示，日本特開2010-286098號公報所揭示之偏心擺動型齒輪裝置200具備：在內周面具有複數個銷槽210a之外筒210；嵌入於各銷槽之複數個內齒銷220；具有與各內齒銷220嚙合之外齒部230a、240a之擺動齒輪230、240；及配置於外筒210之內側之載架250。在該偏心擺動型齒輪裝置200中，外齒部230a、240a分別包含之齒數係設定為較內齒銷220之數目稍少。並且，擺動齒輪230、240以外齒部230a、240a與各內齒銷220嚙合之方式擺動旋轉，藉此在外筒210與載架250之間產生相對旋轉。 Previously, as disclosed in Japanese Patent Laid-Open No. 2010-286098, an eccentric swing type gear device has been known. As shown in FIGS. 6 and 7, the eccentric swing type gear device 200 disclosed in Japanese Patent Application Laid-Open No. 2010-286098 includes: a plurality of pin grooves 210a on the inner circumferential surface and an outer cylinder 210; Internal tooth pins 220; swing gears 230, 240 having external tooth parts 230a, 240a meshing with the internal tooth pins 220; and a carrier 250 disposed inside the outer cylinder 210. In this eccentric oscillating gear device 200, the number of teeth included in each of the external tooth portions 230a and 240a is set to be slightly smaller than the number of internal tooth pins 220. In addition, the swing gears 230 and 240 swing and rotate in such a manner that the external tooth portions 230 a and 240 a mesh with the internal tooth pins 220, thereby causing relative rotation between the outer cylinder 210 and the carrier 250.

此處，在偏心擺動型齒輪裝置200中，因內齒銷220嵌入於銷槽210a，故如圖7所示，在內齒銷220之周向上，內齒銷220與銷槽210a的接觸長度較內齒銷220與擺動旋轉中之外齒齒輪230、240之外齒部230a、240a的接觸長度長。又，如圖6所示，在內齒銷220之軸向上，內齒銷220與銷槽210a的接觸長度與內齒銷220之長度及外齒部230a、240a的長度相同。特別是，在偏心擺動型齒輪裝置200中，外筒210之中形成有銷槽210a之部位，係在內齒銷220之長度方向之兩側，軸承之一部分與之接觸。因此，位於被前述軸承隔著之位置之內齒銷220及外齒部230a、240a的長度係設定為與銷槽210a之長度相同、或較該 銷槽210a之長度短。 Here, in the eccentric swing gear device 200, since the internal tooth pin 220 is fitted in the pin groove 210a, as shown in FIG. 7, the contact length of the internal tooth pin 220 and the pin groove 210a in the circumferential direction of the internal tooth pin 220 The contact length between the inner tooth pin 220 and the outer tooth gears 230a, 240a during the swing rotation is longer. As shown in FIG. 6, in the axial direction of the internal tooth pin 220, the contact length of the internal tooth pin 220 and the pin groove 210 a is the same as the length of the internal tooth pin 220 and the lengths of the external tooth parts 230 a and 240 a. In particular, in the eccentric oscillating gear device 200, the portion where the pin groove 210a is formed in the outer cylinder 210 is on both sides in the longitudinal direction of the internal tooth pin 220, and a part of the bearing comes into contact with it. Therefore, the lengths of the internally toothed pin 220 and the externally toothed parts 230a, 240a located at the position separated by the aforementioned bearing are set to be the same as or longer than the length of the pin groove 210a The length of the pin groove 210a is short.

近年，對於如偏心擺動型齒輪裝置200般之先前之偏心擺動型齒輪裝置，要求其輕量化。本發明之目的在於提供一種能夠實現輕量化之偏心擺動型齒輪裝置。 In recent years, the previous eccentric oscillating gear device like the eccentric oscillating gear device 200 has been required to be light-weight. An object of the present invention is to provide an eccentric swing type gear device capable of achieving weight reduction.

本發明人等為了達成前述目的，從各種觀點出發，經反覆深入研究，發現藉由著眼於內齒銷及銷槽之接觸面積與內齒銷及擺動齒輪之外齒部之接觸面積的不同，偏心擺動型齒輪裝置之輕量化係有其可能者。 In order to achieve the aforementioned object, the present inventors have conducted in-depth research from various viewpoints and found that by focusing on the difference in the contact area between the internal tooth pin and the pin groove and the contact area between the external tooth pin and the swing gear, It is possible to reduce the weight of the eccentric swing gear device.

先前，在偏心擺動型齒輪裝置中，內齒銷之長度方向上之銷槽之長度與內齒銷之長度相同或較該內齒銷之長度長，且內齒銷之周向上之銷槽與內齒銷的接觸長度和擺動齒輪與內齒銷的接觸長度相比非常長。因此，銷槽與內齒銷之間的面壓和擺動旋轉中之擺動齒輪與內齒銷之間的面壓相比非常低。換言之，在先前之偏心擺動型齒輪裝置中，銷槽與內齒銷之接觸面積過於大，即便稍微減小該接觸面積，亦能夠將銷槽與內齒銷之間的面壓抑制為相比於擺動齒輪與內齒銷之間的面壓低。 Previously, in the eccentric swing gear device, the length of the pin groove in the longitudinal direction of the internal tooth pin was the same as or longer than the length of the internal tooth pin, and the circumferential groove of the internal tooth pin was The contact length of the internal tooth pin and the contact length of the swing gear and the internal tooth pin are very long. Therefore, the surface pressure between the pin groove and the internally toothed pin is very low compared to the surface pressure between the swing gear and the internally toothed pin during the swinging rotation. In other words, in the previous eccentric swing gear device, the contact area between the pin groove and the internal tooth pin is too large, and even if the contact area is slightly reduced, the surface pressure between the pin groove and the internal tooth pin can be suppressed to The surface pressure between the swing gear and the internal tooth pin is low.

本發明之偏心擺動型齒輪裝置具備：具有形成於內周面之複數個銷槽的外筒、及分別配置於前述各銷槽內且擺動齒輪與其嚙合之複數個內齒銷，且前述內齒銷之長度方向上之前述銷槽之長度較前述內齒銷之長度短。 The eccentric swing gear device of the present invention includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; and a plurality of internal tooth pins respectively disposed in the pin grooves and meshing with the swing gear, and the inner teeth The length of the aforementioned pin groove in the longitudinal direction of the pin is shorter than the length of the aforementioned internally toothed pin.

在前述之偏心擺動型齒輪裝置中，因內齒銷之長度方向上之銷槽之長度較內齒銷之長度短，故能夠實現偏心擺動型齒輪裝置之輕量化。 In the aforementioned eccentric swing gear device, since the length of the pin groove in the longitudinal direction of the internal tooth pin is shorter than the length of the internal tooth pin, the weight of the eccentric swing gear device can be reduced.

前述之偏心擺動型齒輪裝置可進一步具備位於前述外筒之內側之載架、及容許前述載架與前述外筒之間之相對旋轉的主軸承。此 時，前述外筒可具有包含形成有前述銷槽之前述內周面的內齒支持部、及在前述長度方向上位於較前述內齒支持部之軸向端面更靠外側之位置且支持前述主軸承的主軸承支持部。又，前述內齒銷在前述長度方向上較前述內齒支持部之前述軸向端面更向外側突出，前述主軸承係至少一部分可在前述長度方向上位於前述內齒銷之長度範圍內。 The aforementioned eccentric swing gear device may further include a carrier positioned inside the outer cylinder, and a main bearing that allows relative rotation between the carrier and the outer cylinder. this At this time, the outer cylinder may have an inner tooth supporting portion including the inner peripheral surface on which the pin groove is formed, and located on the outer side of the axial end surface of the inner tooth supporting portion in the longitudinal direction and supporting the main The main bearing support of the bearing. In addition, the internal tooth pin protrudes outward in the longitudinal direction from the axial end surface of the internal tooth support portion, and at least a part of the main bearing system may be located within the length range of the internal tooth pin in the longitudinal direction.

在前述之偏心擺動型齒輪裝置中，內齒銷之長度較銷槽之長度長，因此該內齒銷較具有銷槽之內齒支持部之軸向端面更向外側突出。並且，由主軸承支持部所支持之主軸承的至少一部分在內齒銷之長度方向上位於該內齒銷之長度範圍內。換言之，主軸承的至少一部分在內齒銷之長度方向上位於較該內齒銷之前端更靠內齒支持部之軸向端面側之位置，且在外筒之徑向上與內齒銷重疊。因此，在前述之偏心擺動型齒輪裝置中，與在內齒銷之長度方向上、主軸承之整體較內齒銷之前端更從內齒支持部之軸向端面隔開而配置之情形相比，能夠將前述長度方向上之偏心擺動型齒輪裝置之厚度減小在外筒之徑向上主軸承與內齒銷重疊之程度。 In the aforementioned eccentric oscillating gear device, the length of the internal tooth pin is longer than the length of the pin groove, so the internal tooth pin protrudes more outward than the axial end surface of the internal tooth support portion having the pin groove. Furthermore, at least a part of the main bearing supported by the main bearing support portion is within the length range of the internal tooth pin in the longitudinal direction of the internal tooth pin. In other words, at least a part of the main bearing is located closer to the axial end face side of the internal tooth support portion than the front end of the internal tooth pin in the longitudinal direction of the internal tooth pin, and overlaps the internal tooth pin in the radial direction of the outer cylinder. Therefore, in the aforementioned eccentric oscillating type gear device, compared with the case where the entire main bearing is spaced apart from the axial end surface of the internal tooth supporting portion in the longitudinal direction of the internal tooth pin from the front end of the internal tooth pin, It is possible to reduce the thickness of the aforementioned eccentrically oscillating gear device to the extent that the main bearing and the internal tooth pin overlap in the radial direction of the outer cylinder.

前述主軸承之內座圈可以以規制前述長度方向上之前述內齒銷之移動之方式而構成。 The inner race of the main bearing may be configured to regulate the movement of the inner tooth pin in the longitudinal direction.

在前述之偏心擺動型齒輪裝置中，因主軸承之內座圈係以規制內齒銷之長度方向上之該內齒銷之移動之方式而構成，故藉由在該軸向上內齒銷之位置錯開，能夠抑止擺動齒輪與內齒銷之嚙合產生不良。 In the aforementioned eccentric oscillating gear device, since the inner race of the main bearing is configured to regulate the movement of the internal tooth pin in the longitudinal direction of the internal tooth pin, the internal tooth pin in the axial direction The position is staggered, which can prevent the meshing of the swing gear and the internal tooth pin from being defective.

前述內座圈可以以規制前述長度方向上之前述擺動齒輪之移動之方式而構成。 The inner race may be configured to regulate the movement of the swing gear in the longitudinal direction.

在前述之偏心擺動型齒輪裝置中，因主軸承之內座圈係以規制內齒銷之長度方向上之擺動齒輪之移動之方式而構成，故能夠減低該長度方向上之擺動齒輪之振動。 In the aforementioned eccentric oscillating gear device, since the inner race of the main bearing is configured to regulate the movement of the oscillating gear in the longitudinal direction of the internal tooth pin, it is possible to reduce the vibration of the oscillating gear in the longitudinal direction.

本發明之偏心擺動型齒輪裝置具備：具有形成於內周面之複數個銷槽的外筒、分別配置於前述各銷槽內之複數個內齒銷、及具有與前述各內齒銷嚙合之外齒部的擺動齒輪，且在前述內齒銷之長度方向上，前述銷槽之長度較前述外齒部之長度短。 The eccentric oscillating gear device of the present invention includes: an outer cylinder having a plurality of pin grooves formed on the inner circumferential surface, a plurality of internal tooth pins disposed in the pin grooves, and having an internal gear pin meshing with the internal tooth pins The swing gear of the external tooth portion, and in the longitudinal direction of the internal tooth pin, the length of the pin groove is shorter than the length of the external tooth portion.

在前述之偏心擺動型齒輪裝置中，藉由將內齒銷之長度方向上之銷槽之長度設定為較外齒部之長度短，從而與在該長度方向上、銷槽之長度與外齒部之長度相同或較該外齒部之長度長之先前之偏心擺動型齒輪裝置相比，能夠實現偏心擺動型齒輪裝置之輕量化。 In the aforementioned eccentric swing gear device, by setting the length of the pin groove in the longitudinal direction of the internal tooth pin to be shorter than the length of the external tooth portion, the length of the pin groove and the external tooth in the longitudinal direction Compared with the previous eccentric swing type gear device having the same length or longer than the length of the external tooth portion, the eccentric swing type gear device can be reduced in weight.

在該偏心擺動型齒輪裝置中，在前述內齒銷之長度方向上，前述銷槽之長度可與前述內齒銷之長度相同。 In this eccentric swing gear device, the length of the pin groove may be the same as the length of the internal tooth pin in the longitudinal direction of the internal tooth pin.

如以上所說明般，根據本發明可提供一種能夠實現輕量化之偏心擺動型齒輪裝置。 As described above, according to the present invention, an eccentric swing type gear device capable of achieving weight reduction can be provided.

2‧‧‧外筒 2‧‧‧Outer cylinder

3‧‧‧內齒銷 3‧‧‧ Internal tooth pin

4‧‧‧載架 4‧‧‧Carrier

5‧‧‧擺動齒輪 5‧‧‧Swing gear

6‧‧‧曲柄軸 6‧‧‧Crankshaft

7‧‧‧傳動齒輪 7‧‧‧ Transmission gear

8‧‧‧主軸承 8‧‧‧Main bearing

21‧‧‧內齒支持部 21‧‧‧ Internal tooth support

21a‧‧‧銷槽 21a‧‧‧pin groove

21b‧‧‧第1軸向端面 21b‧‧‧First axial end

21c‧‧‧第2軸向端面 21c‧‧‧2nd axial end face

22‧‧‧外周部 22‧‧‧Outer periphery

22a‧‧‧本體部 22a‧‧‧Body

22b‧‧‧第1主軸承支持部 22b‧‧‧The first main bearing support

22c‧‧‧第2主軸承支持部 22c‧‧‧The second main bearing support

22d‧‧‧安裝孔 22d‧‧‧ mounting hole

32‧‧‧兩端部/第1前端部 32‧‧‧Both ends/1st tip

33‧‧‧兩端部/第2前端部 33‧‧‧Both ends/2nd tip

41‧‧‧第1構件 41‧‧‧ First component

41a‧‧‧中央孔 41a‧‧‧Central hole

41b‧‧‧曲柄軸孔 41b‧‧‧Crankshaft hole

41d‧‧‧第1保持部 41d‧‧‧1st holding department

41e‧‧‧第1突出部 41e‧‧‧1st protrusion

42‧‧‧第1構件 42‧‧‧ First component

42a‧‧‧基板部 42a‧‧‧Substrate Department

42b‧‧‧軸部 42b‧‧‧Shaft

42c‧‧‧中央孔 42c‧‧‧Central hole

42d‧‧‧曲柄軸孔 42d‧‧‧Crankshaft hole

42f‧‧‧第2保持部 42f‧‧‧Second holding section

42h‧‧‧第2突出部 42h‧‧‧ 2nd protrusion

51‧‧‧第1擺動齒輪 51‧‧‧1st swing gear

51a‧‧‧第1外齒部 51a‧‧‧The first external tooth

51b‧‧‧中央孔 51b‧‧‧Central hole

51c‧‧‧曲柄軸孔 51c‧‧‧Crankshaft hole

51d‧‧‧插入孔 51d‧‧‧insert hole

52‧‧‧第2擺動齒輪 52‧‧‧The second swing gear

52a‧‧‧第2外齒部 52a‧‧‧The second external tooth

52b‧‧‧中央孔 52b‧‧‧Central hole

52c‧‧‧曲柄軸孔 52c‧‧‧Crankshaft hole

52d‧‧‧插入孔 52d‧‧‧insert hole

61‧‧‧軸本體 61‧‧‧Body

62‧‧‧偏心部 62‧‧‧Eccentricity

63‧‧‧偏心部 63‧‧‧Eccentric Department

81‧‧‧第1主軸承 81‧‧‧ 1st main bearing

81a‧‧‧外座圈 81a‧‧‧Outer seat

81b‧‧‧內座圈 81b‧‧‧Inner seat

81c‧‧‧轉動體 81c‧‧‧Rotating body

81d‧‧‧端部 81d‧‧‧End

81e‧‧‧接觸面 81e‧‧‧Contact surface

82‧‧‧第2主軸承 82‧‧‧ 2nd main bearing

82a‧‧‧外座圈 82a‧‧‧Outer ring

82b‧‧‧內座圈 82b‧‧‧Inner seat

82c‧‧‧轉動體 82c‧‧‧Rotating body

82d‧‧‧端部 82d‧‧‧End

200‧‧‧偏心擺動型齒輪裝置 200‧‧‧Eccentric swing gear device

210‧‧‧外筒 210‧‧‧Outer cylinder

210a‧‧‧銷槽 210a‧‧‧pin groove

220‧‧‧內齒銷 220‧‧‧ Internal tooth pin

230‧‧‧擺動齒輪/外齒齒輪 230‧‧‧Swing gear/external gear

230a‧‧‧外齒部 230a‧‧‧External tooth

240‧‧‧擺動齒輪/外齒齒輪 240‧‧‧swing gear/external gear

240a‧‧‧外齒部 240a‧‧‧External tooth

250‧‧‧載架 250‧‧‧Carrier

310‧‧‧規制板 310‧‧‧ Regulatory Board

320‧‧‧規制板 320‧‧‧ Regulatory board

A1‧‧‧定位構件 A1‧‧‧Positioning member

B1‧‧‧曲柄軸承 B1‧‧‧Crank bearing

B2‧‧‧曲柄軸承 B2‧‧‧Crank bearing

C1‧‧‧軸 C1‧‧‧axis

L1‧‧‧長度 L1‧‧‧Length

L2‧‧‧長度 L2‧‧‧Length

L3‧‧‧長度 L3‧‧‧Length

L4‧‧‧接觸長度 L4‧‧‧contact length

L5‧‧‧接觸長度 L5‧‧‧Contact length

T1‧‧‧固結構件 T1‧‧‧Solid structural parts

X1‧‧‧偏心擺動型齒輪裝置 X1‧‧‧Eccentric swing gear device

圖1係第1實施形態之偏心擺動型齒輪裝置之中心軸C1方向上之剖面的概略結構圖。 1 is a schematic configuration diagram of a cross section in the direction of the central axis C1 of the eccentric swing gear device of the first embodiment.

圖2係第1實施形態之偏心擺動型齒輪裝置之與中心軸C1正交之方向上之剖面的概略結構圖，且係圖1所示之I-I線剖面圖。 FIG. 2 is a schematic configuration diagram of a cross section in the direction orthogonal to the central axis C1 of the eccentric swing gear device of the first embodiment, and is a cross-sectional view taken along line I-I shown in FIG. 1.

圖3係圖1之主要部分擴大圖。 Fig. 3 is an enlarged view of the main part of Fig. 1.

圖4係圖2之主要部分擴大圖。 FIG. 4 is an enlarged view of the main part of FIG. 2.

圖5係第2實施形態之偏心擺動型齒輪裝置之中心軸C1方向上之剖面的概略結構圖，且係與圖3相同之主要部分擴大圖。 5 is a schematic configuration diagram of a cross section in the direction of the central axis C1 of the eccentric swing gear device of the second embodiment, and is an enlarged view of the same main parts as FIG. 3.

圖6係顯示先前之偏心擺動型齒輪裝置之概略結構之剖面圖。 FIG. 6 is a cross-sectional view showing the schematic structure of the previous eccentric swing gear device.

圖7係顯示先前之偏心擺動型齒輪裝置之概略結構之平面圖。 Fig. 7 is a plan view showing a schematic structure of the previous eccentric swing gear device.

以下，一邊參照圖式一邊說明本發明之實施形態。惟以下所參照之各圖係為方便說明僅簡略化顯示本實施形態之偏心擺動型齒輪裝 置X1之構成構件中的主要構件者。因此，本實施形態之偏心擺動型齒輪裝置X1可具備未在本說明書所參照之各圖中顯示的任意之構成構件。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, for ease of explanation, the drawings referred to below only show the eccentric swing gear assembly of this embodiment in a simplified form. Set the main component of the constituent components of X1. Therefore, the eccentric oscillating gear device X1 of this embodiment may include any constituent members not shown in the drawings referred to in this specification.

首先，一邊參照圖1~圖4，一邊說明實施形態1之偏心擺動型齒輪裝置X1。 First, referring to FIGS. 1 to 4, the eccentric swing type gear device X1 of the first embodiment will be described.

如圖1所示，偏心擺動型齒輪裝置X1具備：外筒2、載架4、擺動齒輪5、曲柄軸6、及傳動齒輪7。在偏心擺動型齒輪裝置X1中，驅動力(力矩)經由傳動齒輪7從圖示省略之馬達輸入至曲柄軸6，擺動齒輪5伴隨著曲柄軸6之旋轉而擺動旋轉，藉此產生外筒2與載架4之間的相對旋轉。 As shown in FIG. 1, the eccentric swing gear device X1 includes an outer cylinder 2, a carrier 4, a swing gear 5, a crank shaft 6, and a transmission gear 7. In the eccentric oscillating gear device X1, driving force (torque) is input to the crank shaft 6 from a motor (not shown) via the transmission gear 7, and the oscillating gear 5 oscillates and rotates as the crank shaft 6 rotates, thereby generating the outer cylinder 2 Relative rotation with the carrier 4.

外筒2具有以軸C1為中心軸之圓環狀之內齒支持部21、及位於內齒支持部21之徑向之外側且沿周向包圍該內齒支持部21之圓筒狀之外周部22。 The outer cylinder 2 has a ring-shaped inner tooth support 21 with the axis C1 as the central axis, and a cylindrical outer periphery located radially outward of the inner tooth support 21 and surrounding the inner tooth support 21 in the circumferential direction部22.

如圖1所示，內齒支持部21係剖面形狀為矩形。內齒支持部21具有複數個銷槽21a。各銷槽21a形成於內齒支持部21之內周面，且在內齒支持部21之軸C1方向上延伸。如圖2及圖4所示，各銷槽21a之與軸C1方向正交之剖面之形狀為半圓形。各銷槽21a在外筒2之周向上以相等間隔並排。 As shown in FIG. 1, the internal tooth support 21 has a rectangular cross-sectional shape. The internal tooth support 21 has a plurality of pin grooves 21a. Each pin groove 21 a is formed on the inner circumferential surface of the internal tooth support 21 and extends in the direction of the axis C1 of the internal tooth support 21. As shown in FIGS. 2 and 4, the cross-section of each pin groove 21 a orthogonal to the direction of the axis C1 is semicircular. The pin grooves 21a are arranged side by side at equal intervals in the circumferential direction of the outer cylinder 2.

外周部22具有本體部22a、第1主軸承支持部22b、及第2主軸承支持部22c。 The outer peripheral portion 22 has a body portion 22a, a first main bearing support portion 22b, and a second main bearing support portion 22c.

本體部22a在外筒2之徑向上位於內齒支持部21之外側。外周部22以其本體部22a與內齒支持部21相連。 The body portion 22a is located outside the inner tooth support portion 21 in the radial direction of the outer cylinder 2. The outer peripheral portion 22 is connected to the internal tooth supporting portion 21 with its main body portion 22a.

第1主軸承支持部22b、第2主軸承支持部22c分別支持後述之主軸承8。第1主軸承支持部22b從本體部22a向軸C1方向之一側突出。如圖3所示，第1主軸承支持部22b在軸C1方向上位於較內齒支持部21之第1軸向端面21b更靠外側之位置。第2主軸承支持部22c從本體部22a向 軸C1方向之另一側、亦即第1主軸承支持部22b之相反側突出。如圖3所示，第2主軸承支持部22c在軸C1方向上位於較內齒支持部21之第2軸向端面21c(第1軸向端面21b之相反側之面)更靠外側之位置。第1主軸承支持部22b、第2主軸承支持部22c之內周面的任一者皆為與中心軸C1同心狀之剖面圓環狀之內周面。 The first main bearing support portion 22b and the second main bearing support portion 22c respectively support the main bearing 8 described later. The first main bearing support portion 22b protrudes from the body portion 22a to one side in the direction of the axis C1. As shown in FIG. 3, the first main bearing support portion 22 b is located outside the first axial end surface 21 b of the internal tooth support portion 21 in the axis C1 direction. The second main bearing support 22c extends from the body 22a The other side in the direction of the axis C1, that is, the side opposite to the first main bearing support portion 22b protrudes. As shown in FIG. 3, the second main bearing support portion 22c is located more outward than the second axial end surface 21c (the surface on the opposite side of the first axial end surface 21b) of the internal tooth support portion 21 in the direction of the axis C1. . Either of the inner circumferential surfaces of the first main bearing support portion 22b and the second main bearing support portion 22c is an inner circumferential surface having a circular cross section concentric with the central axis C1.

在外周部22上形成有第1主軸承支持部22b、本體部22a、及在軸C1方向上貫通第2主軸承支持部22c之複數個安裝孔22d。各安裝孔22d在外筒2之周向上隔以間隔而並排。各安裝孔22d係在將外筒2安裝於構成機器人之關節部分之基座等之圖示省略之對方側構件時使用。在相對於外筒2安裝構成機器人之關節部分之基座時，外筒2成為偏心擺動型齒輪裝置X1之固定側之構件。 The outer peripheral portion 22 is formed with a first main bearing support portion 22b, a body portion 22a, and a plurality of mounting holes 22d penetrating the second main bearing support portion 22c in the axis C1 direction. The mounting holes 22d are arranged side by side at intervals in the circumferential direction of the outer cylinder 2. Each mounting hole 22d is used when the outer cylinder 2 is mounted on a counterpart member whose illustration is omitted, such as a base that constitutes a joint portion of the robot. When the base constituting the joint part of the robot is attached to the outer cylinder 2, the outer cylinder 2 becomes a member on the fixed side of the eccentric swing gear device X1.

載架4位於外筒2之徑向之內側。載架4具有彼此別體地形成之第1構件41及第2構件42。第1構件41與第2構件42係利用固結構件T1彼此固結。 The carrier 4 is located inside the outer cylinder 2 in the radial direction. The carrier 4 has a first member 41 and a second member 42 that are formed separately from each other. The first member 41 and the second member 42 are fixed to each other by a solid structure T1.

第1構件41形成為大致圓板狀。第1構件41位於外筒2之外周部22之第1主軸承支持部22b之徑向之內側。在第1構件41上形成有中央孔41a及曲柄軸孔41b。 The first member 41 is formed in a substantially disc shape. The first member 41 is located radially inward of the first main bearing support portion 22b of the outer peripheral portion 22 of the outer cylinder 2. The first member 41 has a center hole 41a and a crank shaft hole 41b.

中央孔41a係以在軸C1方向上貫通第1構件41之中央部分之方式而形成。 The central hole 41a is formed so as to penetrate the central portion of the first member 41 in the axis C1 direction.

複數個曲柄軸孔41b在中央孔41a之外側沿載架4之周向並排而形成。各曲柄軸孔41b以在軸C1方向上貫通第1構件41之方式而形成。在本實施形態中，在第1構件41上形成有3個曲柄軸孔41b。 A plurality of crank shaft holes 41b are formed side by side along the circumferential direction of the carrier 4 outside the center hole 41a. Each crank shaft hole 41b is formed so as to penetrate the first member 41 in the direction of the axis C1. In the present embodiment, three crank shaft holes 41b are formed in the first member 41.

第2構件42具有基板部42a及軸部42b。 The second member 42 has a substrate portion 42a and a shaft portion 42b.

基板部42a係形成為大致圓板狀。基板部42a位於外筒2之外周部22之第2主軸承支持部22c之徑向之內側。 The substrate portion 42a is formed in a substantially disc shape. The base plate portion 42 a is located radially inward of the second main bearing support portion 22 c of the outer peripheral portion 22 of the outer cylinder 2.

軸部42b從基板部42a向第1構件41側延伸。具體而言，軸部42b從 基板部42a中之軸C1方向上之第1構件41側之端面起在該軸C1方向上延伸，在載架4之周向上並排且設置為複數個。在本實施形態中，第2構件42具有3個軸部42b。 The shaft portion 42b extends from the substrate portion 42a toward the first member 41 side. Specifically, the shaft portion 42b starts from The end surface on the side of the first member 41 in the direction of the axis C1 in the substrate portion 42a extends in the direction of the axis C1, and is arranged side by side in the circumferential direction of the carrier 4 and is provided in plural. In this embodiment, the second member 42 has three shaft portions 42b.

在第2構件42中形成有中央孔42c及曲柄軸孔42d。 The second member 42 has a center hole 42c and a crank shaft hole 42d.

中央孔42c以在軸C1方向上貫通基板部42a之中央部分之方式而形成。中央孔42c係與形成於第1構件41之中央孔41a之位置對應而設置。 The central hole 42c is formed so as to penetrate the central portion of the substrate portion 42a in the direction of the axis C1. The central hole 42c is provided corresponding to the position of the central hole 41a formed in the first member 41.

曲柄軸孔42d在中央孔42c之外側沿載架4之周向並排且形成為複數個。各曲柄軸孔42d以在軸C1方向上貫通基板部42a之方式而形成。各曲柄軸孔42d係與形成於第1構件41之各曲柄軸孔41b之位置對應而設置。 The crank shaft holes 42d are formed in parallel on the outer side of the center hole 42c in the circumferential direction of the carrier 4 and are formed in plural. Each crank shaft hole 42d is formed so as to penetrate the substrate portion 42a in the axis C1 direction. The crank shaft holes 42d are provided corresponding to the positions of the crank shaft holes 41b formed in the first member 41.

載架4係安裝於例如構成機器人之關節部分的迴旋主體等之對方側構件上。在將載架4安裝於構成機器人之關節部分之迴旋主體時，該載架4成為偏心擺動型齒輪裝置X1之旋轉側之構件。另外，若在例如相對於載架4安裝構成機器人之關節部分之基座時，則在外筒2上安裝構成機器人之關節部分之迴旋主體，藉此載架4成為偏心擺動型齒輪裝置X1之固定側之構件，且外筒2成為偏心擺動型齒輪裝置X1之旋轉側之構件。 The carrier 4 is attached to a counterpart member such as a turning body that constitutes a joint part of a robot. When the carrier 4 is attached to the revolving body constituting the joint portion of the robot, the carrier 4 becomes a member on the rotating side of the eccentric swing gear device X1. In addition, if, for example, the base constituting the joint part of the robot is attached to the carrier 4, the rotating body constituting the joint part of the robot is attached to the outer cylinder 2, whereby the carrier 4 becomes fixed to the eccentric swing gear device X1 And the outer cylinder 2 becomes a member on the rotating side of the eccentric swing gear device X1.

曲柄軸6係經由曲柄軸承B1、B2旋轉自如地支持在載架4上。 The crank shaft 6 is rotatably supported on the carrier 4 via crank bearings B1 and B2.

曲柄軸6具有在軸C1方向上延伸之軸本體61及相對於軸本體61而偏心之偏心部62、63。曲柄軸6插入於第1構件41之曲柄軸孔41b、第2構件42之曲柄軸孔42d、及後述之擺動齒輪5之曲柄軸孔51c、52c。在本實施形態中，曲柄軸6沿載架4之周向並排且設置為3個。另外，曲柄軸6之數目為任意個，可根據偏心擺動型齒輪裝置X1之使用態樣而進行適當變更。 The crank shaft 6 has a shaft body 61 extending in the direction of the axis C1 and eccentric portions 62 and 63 that are eccentric with respect to the shaft body 61. The crank shaft 6 is inserted into the crank shaft hole 41b of the first member 41, the crank shaft hole 42d of the second member 42, and the crank shaft holes 51c and 52c of the swing gear 5 described later. In this embodiment, three crank shafts 6 are arranged side by side along the circumferential direction of the carrier 4. In addition, the number of crank shafts 6 is arbitrary, and can be appropriately changed in accordance with the use state of the eccentric swing gear device X1.

軸本體61在曲柄軸孔41b內經由曲柄軸承B1被支持在第1構件41 上，且在曲柄軸孔42d內經由曲柄軸承B2被支持在第2構件42之基板部42a上。 The shaft body 61 is supported by the first member 41 via the crank bearing B1 in the crank shaft hole 41b It is supported on the base plate portion 42a of the second member 42 via the crank bearing B2 in the crank shaft hole 42d.

偏心部62、63在軸C1方向上與軸本體61相連，且位於外筒2之本體部2a之徑向之內側。擺動齒輪5經由滾子安裝在偏心部62、63上。 The eccentric portions 62 and 63 are connected to the shaft body 61 in the direction of the axis C1 and are located on the radially inner side of the body portion 2a of the outer cylinder 2. The swing gear 5 is attached to the eccentric portions 62 and 63 via rollers.

擺動齒輪5以至少一部分位於外筒2之內齒支持部21之徑向之內側之方式而配置。擺動齒輪5之軸芯之方向與軸C1之方向係同方向。擺動齒輪5之外徑係設定為較外筒2之內齒支持部21之內徑稍小。在本實施形態中，擺動齒輪5具有在軸C1方向上位於第1構件41側之第1擺動齒輪51、及在軸C1方向上位於第2構件42之基板部42a側之第2擺動齒輪52。另外，擺動齒輪5可由1個擺動齒輪構成，亦可由3個以上之擺動齒輪構成。 The swing gear 5 is arranged so that at least a part thereof is positioned radially inward of the inner tooth support 21 of the outer cylinder 2. The direction of the axis of the swing gear 5 is the same as the direction of the axis C1. The outer diameter of the swing gear 5 is set to be slightly smaller than the inner diameter of the inner tooth support 21 of the outer cylinder 2. In the present embodiment, the swing gear 5 has a first swing gear 51 located on the first member 41 side in the axis C1 direction, and a second swing gear 52 located on the substrate portion 42a side of the second member 42 in the axis C1 direction. . In addition, the swing gear 5 may be composed of one swing gear, or may be composed of three or more swing gears.

第1擺動齒輪51具有第1外齒部51a。具體而言，第1擺動齒輪51係其外周部分被加工為波狀，呈該波狀之外周部分成為第1外齒部51a。軸C1方向上之第1外齒部51a之一部分在第1擺動齒輪51之徑向上與外筒2之內齒支持部21之內周面對向。具體而言，軸C1方向上之第1外齒部51a之一部分在第1擺動齒輪51之徑向上與隔著後述之內齒銷3而形成於內齒支持部21之內周面的銷槽21a對向。又，軸C1方向上之第1外齒部51a之其餘部分在第1擺動齒輪51之徑向上不與內齒支持部21對向，而與第1主軸承支持部22b對向。 The first swing gear 51 has a first external tooth portion 51a. Specifically, the outer peripheral portion of the first swing gear 51 is processed into a wave shape, and the outer peripheral portion having the wave shape becomes the first external tooth portion 51a. A part of the first external tooth portion 51 a in the direction of the axis C1 faces the inner circumferential surface of the internal tooth support portion 21 of the outer cylinder 2 in the radial direction of the first swing gear 51. Specifically, a part of the first external tooth portion 51a in the direction of the axis C1 is formed in the radial direction of the first swing gear 51 and a pin groove formed on the inner peripheral surface of the internal tooth support portion 21 via the internal tooth pin 3 described later. 21a opposite. The remaining portion of the first external tooth portion 51a in the direction of the axis C1 is not opposed to the internal tooth support portion 21 in the radial direction of the first swing gear 51, but is opposed to the first main bearing support portion 22b.

在第1擺動齒輪51上形成有在軸C1方向上貫通該第1擺動齒輪51之中央孔51b、曲柄軸孔51c、及插入孔51d。中央孔51b係與第1構件41之中央孔41a之位置對應而形成。曲柄軸孔51c係與第1構件41之曲柄軸孔41b之位置對應而形成。第1擺動齒輪51經由滾子安裝在位於曲柄軸孔51c內之第1偏心部62上。插入孔51d係供第2構件42之軸部42b插入之孔。 The first swing gear 51 is formed with a central hole 51b, a crank shaft hole 51c, and an insertion hole 51d penetrating the first swing gear 51 in the axis C1 direction. The central hole 51b is formed corresponding to the position of the central hole 41a of the first member 41. The crank shaft hole 51c is formed corresponding to the position of the crank shaft hole 41b of the first member 41. The first swing gear 51 is attached to the first eccentric portion 62 located in the crank shaft hole 51c via a roller. The insertion hole 51d is a hole into which the shaft portion 42b of the second member 42 is inserted.

第2擺動齒輪52具有第2外齒部52a。具體而言，第2擺動齒輪52係 其外周部分被加工為波狀，呈該波狀之外周部分成為第2外齒部52a。軸C1方向上之第2外齒部52a之一部分在第2擺動齒輪52之徑向上與外筒2之內齒支持部21之內周面對向。具體而言，軸C1方向上之第2外齒部52a之一部分在第2擺動齒輪52之徑向上與隔著後述之內齒銷3而形成於內齒支持部21之內周面的銷槽21a對向。又，軸C1方向上之第2外齒部52a之其餘部分在第2擺動齒輪52之徑向上不與內齒支持部21對向，而與第2主軸承支持部22c對向。 The second swing gear 52 has a second external tooth portion 52a. Specifically, the second swing gear 52 series The outer peripheral portion is processed into a wave shape, and the outer peripheral portion in the wave shape becomes the second external tooth portion 52a. A part of the second external tooth portion 52 a in the direction of the axis C1 faces the inner circumferential surface of the internal tooth support portion 21 of the outer cylinder 2 in the radial direction of the second swing gear 52. Specifically, a part of the second external tooth portion 52a in the direction of the axis C1 is formed in the radial direction of the second swing gear 52 and a pin groove formed on the inner peripheral surface of the internal tooth support portion 21 via the internal tooth pin 3 described later. 21a opposite. The remaining portion of the second external tooth portion 52a in the direction of the axis C1 is not opposed to the internal tooth support portion 21 in the radial direction of the second swing gear 52, but is opposed to the second main bearing support portion 22c.

在第2擺動齒輪52上形成有在軸C1方向上貫通該第2擺動齒輪52之中央孔52b、曲柄軸孔52c、及插入孔52d。中央孔52b係與第2構件42之中央孔42c之位置對應而形成。曲柄軸孔52c係與第2構件42之曲柄軸孔42d之位置對應而形成。第2擺動齒輪52經由滾子安裝在位於曲柄軸孔52c內之第2偏心部63上。插入孔52d係供第2構件42之軸部42b插入之孔，且與形成於第1擺動齒輪51之插入孔51d之位置對應而形成。 The second swing gear 52 is formed with a central hole 52b, a crank shaft hole 52c, and an insertion hole 52d penetrating the second swing gear 52 in the axis C1 direction. The central hole 52b is formed corresponding to the position of the central hole 42c of the second member 42. The crank shaft hole 52c is formed corresponding to the position of the crank shaft hole 42d of the second member 42. The second swing gear 52 is attached to the second eccentric portion 63 located in the crank shaft hole 52c via a roller. The insertion hole 52d is a hole into which the shaft portion 42b of the second member 42 is inserted, and is formed corresponding to the position of the insertion hole 51d formed in the first swing gear 51.

傳動齒輪7在軸C1方向上隔著第1構件41而位於與第2構件42相反側。傳動齒輪7以曲柄軸6伴隨著該傳動齒輪7之旋轉而旋轉之方式安裝在曲柄軸6之軸本體61之一端。在本實施形態中，傳動齒輪7係對應於3個曲柄軸6之位置而設置為3個。 The transmission gear 7 is located on the side opposite to the second member 42 across the first member 41 in the axis C1 direction. The transmission gear 7 is mounted on one end of the shaft body 61 of the crank shaft 6 so that the crank shaft 6 rotates along with the rotation of the transmission gear 7. In this embodiment, three transmission gears 7 are provided corresponding to the positions of the three crankshafts 6.

偏心擺動型齒輪裝置X1進一步具備與形成於外筒2之內齒支持部21之內周面的各銷槽21a嵌合之複數個內齒銷3。各內齒銷3在軸C1方向上延伸。換言之，在本實施形態中，各內齒銷3之長度方向係與軸C1方向相同方向。各內齒銷3形成為圓柱形狀。內齒銷3之個數較第1外齒部51a、第2外齒部52a分別包含之齒數稍多。藉此，第1、第2外齒部51a一邊改變與各內齒銷3之嚙合位置一邊自轉，第1擺動齒輪51、第2擺動齒輪52在內齒支持部21之徑向之內側擺動旋轉。 The eccentric oscillating gear device X1 further includes a plurality of internal tooth pins 3 fitted into the respective pin grooves 21 a formed in the inner peripheral surface of the internal tooth support 21 of the outer cylinder 2. Each internal tooth pin 3 extends in the direction of the axis C1. In other words, in this embodiment, the longitudinal direction of each internal tooth pin 3 is the same direction as the axis C1 direction. Each internal tooth pin 3 is formed in a cylindrical shape. The number of internal tooth pins 3 is slightly larger than the number of teeth included in the first external tooth portion 51a and the second external tooth portion 52a, respectively. As a result, the first and second external tooth portions 51a rotate while changing the meshing position with each of the internal tooth pins 3, and the first swing gear 51 and the second swing gear 52 swing and rotate inward in the radial direction of the inner tooth support portion 21 .

內齒銷3之中除長度方向上之兩端部32、33以外之中間部分係配 置於銷槽21a內，藉此內齒銷3被保持於銷槽21a。亦即，內齒銷3係在長度方向上一端部(第1前端部32)從銷槽21a露出而較內齒支持部21之第1軸向端面21b更向外側突出，且在長度方向上另一端部(第2前端部33)較內齒支持部21之第2軸向端面21c更向外側突出。 The middle part of the internal tooth pin 3 other than the two ends 32, 33 in the longitudinal direction is matched It is placed in the pin groove 21a, whereby the internally toothed pin 3 is held in the pin groove 21a. That is, the internal tooth pin 3 has one end portion (first front end portion 32) in the longitudinal direction exposed from the pin groove 21a, protruding outward from the first axial end surface 21b of the internal tooth support portion 21, and in the longitudinal direction The other end portion (second front end portion 33) protrudes outward from the second axial end surface 21c of the internal tooth supporting portion 21.

如上述般，在偏心擺動型齒輪裝置X1中，內齒銷3之兩端部分別在長度方向上較第1軸向端面21b、第2軸向端面21c更向外側突出。因此，如圖3所示，軸C1方向上之銷槽21a之長度L1較內齒銷3之長度L2短。在本實施形態中，內齒銷3之長度L2係設定為與軸C1方向上之第1外齒部51a及第二外齒部52a的總長L3大致相同。 As described above, in the eccentric swing gear device X1, both end portions of the internal tooth pin 3 protrude outward in the longitudinal direction from the first axial end surface 21b and the second axial end surface 21c. Therefore, as shown in FIG. 3, the length L1 of the pin groove 21 a in the direction of the axis C1 is shorter than the length L2 of the internal tooth pin 3. In the present embodiment, the length L2 of the internal tooth pin 3 is set to be substantially the same as the total length L3 of the first external tooth portion 51a and the second external tooth portion 52a in the direction of the axis C1.

另外，在本實施形態中，內齒銷3之兩端部分別較第1軸向端面21b、第2軸向端面21c更向外側突出，但不限定於此。內齒銷3可以以下述方式而配置：一端部在長度方向上向第1軸向端面21b之外側突出，另一方面，另一端部在長度方向上不向第2軸向端面21c之外側突出。又，內齒銷3亦可以以下述方式而配置：另一端部在長度方向上向第2軸向端面21c之外側突出，另一方面，一端部在長度方向上不向第1軸向端面21b之外側突出。換言之，在內齒銷3之長度方向上，只要銷槽21a之長度較內齒銷3之長度短即可。 In the present embodiment, both ends of the internal tooth pin 3 protrude outward from the first axial end surface 21b and the second axial end surface 21c, but it is not limited thereto. The internal tooth pin 3 may be arranged in such a manner that one end protrudes outward of the first axial end surface 21b in the longitudinal direction, and the other end does not protrude outward of the second axial end surface 21c in the longitudinal direction. . In addition, the internal tooth pin 3 may be arranged in such a manner that the other end portion protrudes outward of the second axial end surface 21c in the longitudinal direction, and on the other hand, the one end portion does not extend toward the first axial end surface 21b in the longitudinal direction Protruding from the outside. In other words, in the longitudinal direction of the internal tooth pin 3, the length of the pin groove 21a may be shorter than the length of the internal tooth pin 3.

如圖4所示，在內齒銷3之周向上，內齒銷3與銷槽21a的接觸長度L4較內齒銷3與第1擺動齒輪51之第1外齒部51a的接觸長度L5長。在本實施形態中，如圖4所示，在與內齒銷3之長度方向正交之剖面上，銷槽21a之曲率半徑與內齒銷3之曲率半徑大致相同。因此，在內齒銷3之周向上，銷槽21a之整體與內齒銷3相接。相對於此，第1外齒部51a之外部形狀係以下述方式而形成：該第1外齒部51a與內齒銷3嚙合且第1擺動齒輪51可擺動旋轉。因此，在與內齒銷3之長度方向正交之剖面上，第1外齒部51a之外緣之曲率半徑係設定為較內齒銷3之曲率半徑大。因此，在內齒銷3之周向上，第1擺動齒輪51與內齒銷3的接 觸長度L5較銷槽21a與內齒銷3的接觸長度L4短。另外，在內齒銷3之周向上，第2擺動齒輪52與內齒銷3的接觸長度和第1擺動齒輪51與內齒銷3的接觸長度L5相同地，較內齒銷3與銷槽21a的接觸長度短。 As shown in FIG. 4, the contact length L4 of the internal tooth pin 3 and the pin groove 21 a is longer than the contact length L5 of the internal tooth pin 3 and the first external tooth portion 51 a of the first swing gear 51 as shown in FIG. 4. . In this embodiment, as shown in FIG. 4, the radius of curvature of the pin groove 21 a is substantially the same as the radius of curvature of the internal tooth pin 3 in a cross section orthogonal to the longitudinal direction of the internal tooth pin 3. Therefore, in the circumferential direction of the internal tooth pin 3, the entire pin groove 21a is in contact with the internal tooth pin 3. On the other hand, the external shape of the first external tooth portion 51a is formed in such a manner that the first external tooth portion 51a meshes with the internal tooth pin 3 and the first swing gear 51 can swing and rotate. Therefore, in a cross section orthogonal to the longitudinal direction of the internal tooth pin 3, the radius of curvature of the outer edge of the first external tooth portion 51a is set to be larger than the radius of curvature of the internal tooth pin 3. Therefore, in the circumferential direction of the internal tooth pin 3, the contact between the first swing gear 51 and the internal tooth pin 3 The contact length L5 is shorter than the contact length L4 between the pin groove 21a and the internal tooth pin 3. In addition, in the circumferential direction of the internal tooth pin 3, the contact length of the second swing gear 52 and the internal tooth pin 3 is the same as the contact length L5 of the first swing gear 51 and the internal tooth pin 3, which is lower than that of the internal tooth pin 3 and the pin groove. 21a has a short contact length.

偏心擺動型齒輪裝置X1進一步具備容許外筒2與載架4之間之相對旋轉的主軸承8。在偏心擺動型齒輪裝置X1中，從傳動齒輪7接受圖示省略之馬達之驅動力(力矩)的曲柄軸6旋轉，藉此第1外齒部51a、第2外齒部52a與內齒銷3嚙合且第1擺動齒輪51、第2擺動齒輪52彼此以不同之相位擺動旋轉。藉此，經由主軸承8，產生外筒2與載架4之間之相對旋轉。 The eccentric swing gear device X1 further includes a main bearing 8 that allows relative rotation between the outer cylinder 2 and the carrier 4. In the eccentric swing gear device X1, the crank shaft 6 receives the driving force (torque) of the motor (not shown) from the transmission gear 7 to rotate, whereby the first external tooth portion 51a, the second external tooth portion 52a and the internal tooth pin 3 meshes and the first swing gear 51 and the second swing gear 52 swing and rotate with different phases from each other. By this, relative rotation between the outer cylinder 2 and the carrier 4 occurs via the main bearing 8.

主軸承8具有在軸C1方向上彼此隔開之圓環狀之第1主軸承81及第2主軸承82。第1主軸承81位於外筒2之外周部22之第1主軸承支持部22b與第1構件41之間。第2主軸承82位於外筒2之外周部22之第2主軸承支持部22c與第2構件42之基板部42a之間。 The main bearing 8 has an annular first main bearing 81 and a second main bearing 82 which are separated from each other in the direction of the axis C1. The first main bearing 81 is located between the first main bearing support portion 22 b of the outer peripheral portion 22 of the outer cylinder 2 and the first member 41. The second main bearing 82 is located between the second main bearing support portion 22c of the outer peripheral portion 22 of the outer cylinder 2 and the substrate portion 42a of the second member 42.

如圖3所示，第1主軸承81在載架4之徑向上具有位於外周部22之第1主軸承支持部22b側之外座圈81a、位於載架4之第1構件41側之內座圈81b、及夾入於外座圈81a與內座圈81b之間的球狀轉動體81c。另外，在本實施形態中，轉動體81c雖形成為球狀，但不限定於此，亦可形成為例如圓柱狀。換言之，曲柄軸8不限定於球軸承，可根據偏心擺動型齒輪裝置X1之使用態樣等而適當變更為滾子軸承等。 As shown in FIG. 3, the first main bearing 81 has an outer race 81a located on the first main bearing support portion 22b side of the outer peripheral portion 22 in the radial direction of the carrier 4 and an inner side located on the first member 41 side of the carrier 4 The race 81b and the spherical rotating body 81c sandwiched between the outer race 81a and the inner race 81b. In the present embodiment, although the rotating body 81c is formed into a spherical shape, it is not limited to this, and may be formed into a cylindrical shape, for example. In other words, the crank shaft 8 is not limited to a ball bearing, and can be appropriately changed to a roller bearing or the like in accordance with the usage state of the eccentric swing gear device X1 or the like.

外座圈81a係在外周22之第1主軸承支持部22b側旋轉自如地承接轉動體81c的構件。外座圈81a與第1主軸承支持部22b之內周面接觸。又，外座圈81a與內齒支持部21之第1軸向端面21b接觸。藉此，外座圈81a之一部分在載架4之徑向上與從銷槽21a突出之內齒銷3之一端部重合。換言之，外座圈81a之一部分在軸C1方向上位於內齒銷3之長度範圍內。 The outer race 81a is a member that rotatably receives the rotating body 81c on the side of the first main bearing support portion 22b of the outer periphery 22. The outer race 81a is in contact with the inner circumferential surface of the first main bearing support 22b. In addition, the outer race 81a is in contact with the first axial end surface 21b of the internal tooth support 21. Thereby, a part of the outer race 81a coincides with an end of the inner tooth pin 3 protruding from the pin groove 21a in the radial direction of the carrier 4. In other words, a part of the outer race 81a is located within the length range of the inner tooth pin 3 in the direction of the axis C1.

另外，在本實施形態中，外座圈81a係與外筒2別體，但不限定於 此，亦可與外筒2一體。該情形下，藉由對外筒2加工作為外座圈81a發揮機能之部位，能夠在外筒2上一體地形成外座圈81a。 In addition, in this embodiment, the outer race 81a is separate from the outer cylinder 2, but it is not limited to Therefore, it can also be integrated with the outer cylinder 2. In this case, it is possible to integrally form the outer race 81a on the outer cylinder 2 by machining the outer cylinder 2 as a part that functions as the outer race 81a.

內座圈81b係在載架4之第1構件41側旋轉自如地承接轉動體81c的構件。內座圈81b在載架4之徑向上係處於與外座圈81a隔開之狀態，且與第1構件41接觸。 The inner race 81b is a member that rotatably receives the rotating body 81c on the first member 41 side of the carrier 4. The inner race 81b is separated from the outer race 81a in the radial direction of the carrier 4 and is in contact with the first member 41.

另外，在本實施形態中，內座圈81b係與第1構件41別體，但不限定於此，亦可與第1構件41一體。該情形下，藉由對第1構件41加工作為內座圈81b發揮機能之部位，能夠在第1構件41上一體地形成內座圈81b。 In addition, in the present embodiment, the inner race 81b is separate from the first member 41, but it is not limited to this and may be integrated with the first member 41. In this case, by processing the first member 41 as a part that functions as the inner race 81b, the inner race 81b can be integrally formed on the first member 41.

轉動體81c係可旋轉地保持於外座圈81a與內座圈81b之間。在外座圈81a及內座圈81b上形成有沿轉動體82c之外部形狀之承接面，轉動體81c可在與外座圈81a之承接面及內座圈82b之承接面接觸之狀態下旋轉。在本實施形態中，外座圈81a之承接面與內座圈82b之承接面係位於在軸C1方向上錯開之位置，藉此，轉動體82c之旋轉軸相對於中心軸C1傾斜。藉此，在軸C1方向上，內座圈81b之擺動齒輪5側之端部81d位於較外座圈81a之與第1軸向端面21b的接觸面81e更靠第1構件41側之位置。 The rotating body 81c is rotatably held between the outer race 81a and the inner race 81b. A bearing surface along the outer shape of the rotating body 82c is formed on the outer race 81a and the inner race 81b. The rotating body 81c can rotate while contacting the receiving surface of the outer race 81a and the receiving surface of the inner race 82b. In this embodiment, the receiving surface of the outer race 81a and the receiving surface of the inner race 82b are located at positions offset in the direction of the axis C1, whereby the rotation axis of the rotating body 82c is inclined with respect to the central axis C1. Thereby, in the direction of the axis C1, the end 81d of the inner race 81b on the side of the swing gear 5 is located closer to the first member 41 side than the contact surface 81e of the outer race 81a with the first axial end surface 21b.

第1構件41具有在載架4之徑向上支持內座圈81b之第1保持部41d；及在軸C1方向上位於距離擺動齒輪5較第1保持部41d更遠之側，且較該第1保持部41d更向載架4之徑向之外側突出的第1突出部41e。 The first member 41 has a first holding portion 41d that supports the inner race 81b in the radial direction of the carrier 4; and is located on the side farther from the swing gear 5 than the first holding portion 41d in the direction of the axis C1, and The first holding portion 41d further protrudes to the radially outward side of the carrier 4 at the first protruding portion 41e.

第1保持部41d在載架4之徑向上位於較內齒銷3更靠內側之位置。特別是，在本實施形態中，第1保持部41d在與第1偏心部62之偏心方向相反方向上，位於較該第1擺動齒輪51之外緣更靠軸C1側(徑向之內側)之位置。又，在載架4之徑向上，第1保持部41d上內座圈81b與其接觸。 The first holding portion 41d is located more inside than the internal tooth pin 3 in the radial direction of the carrier 4. In particular, in the present embodiment, the first holding portion 41d is located on the axis C1 side (inward in the radial direction) from the outer edge of the first swing gear 51 in the direction opposite to the eccentric direction of the first eccentric portion 62 The location. In addition, in the radial direction of the carrier 4, the inner race 81b on the first holding portion 41d is in contact with it.

在軸C1方向上，第1突出部41e上定位構件A1與其接觸。具體而言，內座圈81b在其與第1突出部41e之間夾有定位構件A1。藉此進行內座圈81b之在軸C1方向上之定位。在此狀態下，內座圈81b之端部81d在軸C1方向上與內齒銷3接觸。又，內座圈81b之端部81d在軸C1方向上與第1外齒部51a(第1擺動齒輪51)接觸。藉此，內座圈81b乃規制軸C1方向上之內齒銷3及第1擺動齒輪51之向第1構件41側的移動。 In the direction of the axis C1, the positioning member A1 on the first protrusion 41e is in contact therewith. Specifically, the positioning member A1 is sandwiched between the inner race 81b and the first protrusion 41e. Thereby, positioning of the inner race 81b in the direction of the axis C1 is performed. In this state, the end 81d of the inner race 81b is in contact with the inner tooth pin 3 in the direction of the axis C1. In addition, the end 81d of the inner race 81b is in contact with the first outer tooth portion 51a (first swing gear 51) in the direction of the axis C1. Thereby, the inner race 81b regulates the movement of the inner tooth pin 3 and the first swing gear 51 in the direction of the axis C1 toward the first member 41 side.

另外，在本實施形態中，內座圈81b規制內齒銷3及第1擺動齒輪51之雙方之在軸C1方向上之移動，但不限定於此。內座圈81b可以以僅規制內齒銷3之在軸C1方向上之移動之方式而構成。 In the present embodiment, the inner race 81b regulates the movement of both the internal tooth pin 3 and the first swing gear 51 in the direction of the axis C1, but it is not limited thereto. The inner race 81b may be configured to regulate only the movement of the inner tooth pin 3 in the direction of the axis C1.

又，在本實施形態中，內座圈81b與內齒銷3及第1擺動齒輪51接觸，但不限定於此。在內座圈81b與內齒銷3及第1擺動齒輪51之間可形成極小之空隙。即便在上述情形下，在軸C1方向上，只要內座圈81b與內齒銷3及第1擺動齒輪51並排，即能夠利用該內座圈81b規制內齒銷3及第1擺動齒輪51之在軸C1方向上之移動。 In this embodiment, the inner race 81b is in contact with the internal tooth pin 3 and the first swing gear 51, but it is not limited to this. An extremely small gap can be formed between the inner race 81b, the inner tooth pin 3, and the first swing gear 51. Even in the above case, in the direction of the axis C1, as long as the inner race 81b is aligned with the inner gear pin 3 and the first swing gear 51, the inner race 81b can be used to regulate the inner gear pin 3 and the first swing gear 51. Movement in the direction of axis C1.

第2主軸承82與第1主軸承81相同地，具有外座圈82a、內座圈82b、及轉動體82c。第2主軸承82在軸C1方向上以隔著內齒支持部21而與第1主軸承81對稱之方式而配置。因此，外座圈82a之一部分在載架4之徑向上與從銷槽21a突出之內齒銷3之另一端部重合。換言之，外座圈82a之一部分在軸C1方向上位於內齒銷3之長度範圍內。又，在軸C1方向上，內座圈82b之擺動齒輪5側之端部82d位於較外座圈82a之與第2軸向端面21c的接觸面82e更靠基板部42a側之位置。 Like the first main bearing 81, the second main bearing 82 has an outer race 82a, an inner race 82b, and a rotor 82c. The second main bearing 82 is arranged in the axis C1 direction so as to be symmetrical to the first main bearing 81 via the internal tooth support 21. Therefore, a part of the outer race 82a coincides with the other end of the inner tooth pin 3 protruding from the pin groove 21a in the radial direction of the carrier 4. In other words, a part of the outer race 82a is located within the length of the inner tooth pin 3 in the direction of the axis C1. In the direction of the axis C1, the end 82d of the inner race 82b on the side of the swing gear 5 is located closer to the side of the base plate 42a than the contact surface 82e of the outer race 82a with the second axial end surface 21c.

第2構件42之基板部42a與第1構件41相同地，具有第2保持部42f、及第2突出部42h。第2保持部42f在載架4之徑向上位於較內齒銷3更靠內側之位置。特別是，在本實施形態中，第2保持部42f在與第2擺動齒輪52之偏心方向相反方向上，位於較該第2擺動齒輪52之外緣更靠軸C1側之位置。 Like the first member 41, the substrate portion 42a of the second member 42 has a second holding portion 42f and a second protruding portion 42h. The second holding portion 42f is located more inside than the internal tooth pin 3 in the radial direction of the carrier 4. In particular, in the present embodiment, the second holding portion 42f is located on the axis C1 side from the outer edge of the second swing gear 52 in the direction opposite to the eccentric direction of the second swing gear 52.

內座圈82b在軸C1方向上與第2突出部42h接觸，且在載架4之徑向上與第2保持部42f接觸。在此狀態下，內座圈82b之端部82d在軸C1方向上與內齒銷3接觸。又，內座圈82b之端部82d在軸C1方向上與第2外齒部52a(第2擺動齒輪52)接觸。藉此，內座圈81b乃規制軸C1方向上之內齒銷3及第2擺動齒輪52之向基板部42a側的移動。 The inner race 82b is in contact with the second protruding portion 42h in the direction of the axis C1, and is in contact with the second holding portion 42f in the radial direction of the carrier 4. In this state, the end 82d of the inner race 82b contacts the inner tooth pin 3 in the direction of the axis C1. In addition, the end 82d of the inner race 82b is in contact with the second outer tooth portion 52a (second swing gear 52) in the direction of the axis C1. Thereby, the inner race 81b regulates the movement of the inner tooth pin 3 and the second swing gear 52 in the direction of the axis C1 toward the base plate portion 42a.

另外，內座圈82b與內座圈81b相同地、可以以僅規制內齒銷3之在軸C1方向上之移動之方式而構成。又，內座圈82b與內座圈81b相同地、可以不與內齒銷3及第2擺動齒輪52接觸，可在內座圈82b與內齒銷3及第2擺動齒輪52之間形成極小之空隙。 In addition, the inner race 82b can be configured to regulate only the movement of the inner tooth pin 3 in the direction of the axis C1, similar to the inner race 81b. In addition, the inner race 82b is the same as the inner race 81b, and does not need to be in contact with the inner gear pin 3 and the second swing gear 52, and an extremely small space can be formed between the inner race 82b and the inner gear pin 3 and the second swing gear 52. Of the gap.

如以上所說明般，在偏心擺動型齒輪裝置X1中，因內齒銷3之長度方向上之銷槽21a之長度L1較內齒銷3之長度L2短，故與L1=L2或L1>L2之先前之偏心擺動型齒輪裝置相比，能夠減小內齒銷3之長度方向上之外筒2之內齒支持部21的厚度。因此，能夠實現偏心擺動型齒輪裝置之輕量化。 As described above, in the eccentric swing gear device X1, since the length L1 of the pin groove 21a in the longitudinal direction of the internal tooth pin 3 is shorter than the length L2 of the internal tooth pin 3, it is the same as L1=L2 or L1>L2 Compared with the previous eccentric oscillating gear device, the thickness of the inner tooth support 21 of the outer tube 2 in the longitudinal direction of the inner tooth pin 3 can be reduced. Therefore, the weight of the eccentric swing gear device can be reduced.

換言之，在偏心擺動型齒輪裝置X1中，內齒銷3與銷槽21a的接觸長度L4較內齒銷3與第1擺動齒輪51、第2擺動齒輪52的接觸長度L5長。因此，藉由縮短銷槽21a之長度L1，即便銷槽21a與內齒銷3的接觸面積減小，亦能夠將銷槽21a與內齒銷3之間的面壓設為內齒銷3與第1擺動齒輪51、第2擺動齒輪52之間的面壓以下。因此，在偏心擺動型齒輪裝置X1中，可減少多餘之銷槽21a，藉此實現偏心擺動型齒輪裝置X1整體之輕量化。 In other words, in the eccentric swing gear device X1, the contact length L4 of the internal tooth pin 3 and the pin groove 21a is longer than the contact length L5 of the internal tooth pin 3 and the first swing gear 51 and the second swing gear 52. Therefore, by shortening the length L1 of the pin groove 21a, even if the contact area of the pin groove 21a and the internal tooth pin 3 is reduced, the surface pressure between the pin groove 21a and the internal tooth pin 3 can be set to the internal tooth pin 3 and The surface pressure between the first swing gear 51 and the second swing gear 52 is below. Therefore, in the eccentric oscillating gear device X1, the excess pin groove 21a can be reduced, thereby realizing weight reduction of the entire eccentric oscillating gear device X1.

進而，在偏心擺動型齒輪裝置X1中，內齒銷3之長度L2與第1擺動齒輪51、第2擺動齒輪52的長度L3大致相同。因此，即便為了實現偏心擺動型齒輪裝置X1之輕量化而縮短銷槽21a之長度L1，亦能夠充分地確保內齒銷3與第1擺動齒輪51、第2擺動齒輪52的接觸面積。 Furthermore, in the eccentric swing gear device X1, the length L2 of the internal tooth pin 3 is substantially the same as the length L3 of the first swing gear 51 and the second swing gear 52. Therefore, even if the length L1 of the pin groove 21a is shortened to reduce the weight of the eccentric swing gear device X1, the contact area of the internal tooth pin 3 and the first swing gear 51 and the second swing gear 52 can be sufficiently ensured.

進而，在偏心擺動型齒輪裝置X1中，內齒銷3之第1前端部32、 第2前端部33較具有銷槽21a之內齒支持部21的第1軸向端面21b、第2軸向端面21c更向外側突出。並且，位於第1主軸承支持部22b與第1構件41之間的第1主軸承81之外座圈81a之一部分在軸C1方向上位於內齒銷3之長度範圍內。又，位於第2主軸承支持部22c與基板部42a之間的第2主軸承82之外座圈82a之一部分在軸C1方向上位於內齒銷3之長度範圍內。換言之，外座圈81a、82a之至少一部分在載架4之徑向上與內齒銷3重疊。因此，在偏心擺動型齒輪裝置X1中，能夠將軸C1方向上之厚度減小外座圈81a、82a在載架4之徑向上與內齒銷3重疊之程度。 Furthermore, in the eccentric swing gear device X1, the first front end portion 32 of the internal tooth pin 3, The second front end portion 33 protrudes outward from the first axial end surface 21b and the second axial end surface 21c of the internal tooth support portion 21 having the pin groove 21a. Furthermore, a portion of the first main bearing 81 located between the first main bearing support portion 22b and the first member 41 except the race 81a is located within the length range of the internal tooth pin 3 in the direction of the axis C1. In addition, a portion of the second main bearing 82 located between the second main bearing support portion 22c and the base plate portion 42a and the outer race 82a is within the length range of the internal tooth pin 3 in the direction of the axis C1. In other words, at least a part of the outer races 81a, 82a overlap the inner tooth pin 3 in the radial direction of the carrier 4. Therefore, in the eccentric oscillating gear device X1, the thickness in the direction of the axis C1 can be reduced to such an extent that the outer races 81a, 82a overlap the internal tooth pin 3 in the radial direction of the carrier 4.

進而，在偏心擺動型齒輪裝置X1中，第1主軸承81、第2主軸承82之內座圈81b、82b以規制軸C1方向上之內齒銷3之移動之方式而構成。因此，藉由在軸C1方向上內齒銷3之位置錯開，能夠抑止第1擺動齒輪51、第2擺動齒輪52之第1外齒部51a、第2外齒部52a與內齒銷3之嚙合產生不良。 Furthermore, in the eccentric oscillating gear device X1, the inner races 81b, 82b of the first main bearing 81 and the second main bearing 82 are configured to regulate the movement of the internal tooth pin 3 in the direction of the axis C1. Therefore, by shifting the position of the internal tooth pin 3 in the direction of the axis C1, it is possible to suppress the first external tooth portion 51a, the second external tooth portion 52a of the first and second swing gears 51, 52 and the internal tooth pin 3 Poor meshing.

特別是，在偏心擺動型齒輪裝置X1中，內齒銷3之第1前端部32在軸C1方向上較第1軸向端面21b更向外側突出。因此，利用在軸C1方向上內座圈81b之端部81d位於較外座圈81a之接觸面81e更靠第1構件41側之位置的先前之第1主軸承81，能夠規制內齒銷3之在軸C1方向上之移動。因此，相對於先前之第1主軸承81，無需如使內座圈81b之端部81d向軸C1方向上之內齒銷3側延伸般之特別加工。另外，對於第2主軸承82，亦與第1主軸承81相同。 In particular, in the eccentric swing gear device X1, the first front end portion 32 of the internal tooth pin 3 protrudes outward in the direction of the axis C1 from the first axial end surface 21b. Therefore, the internal first pin 81 can be regulated by the previous first main bearing 81 where the end 81d of the inner race 81b is located closer to the first member 41 side than the contact surface 81e of the outer race 81a The movement in the direction of axis C1. Therefore, with respect to the previous first main bearing 81, there is no need for special processing such as extending the end 81d of the inner race 81b toward the inner tooth pin 3 side in the direction of the axis C1. In addition, the second main bearing 82 is also the same as the first main bearing 81.

進而，在偏心擺動型齒輪裝置X1中，內座圈81b、82b以規制軸C1方向上之第1擺動齒輪51、第2擺動齒輪52之移動之方式而構成。因此，能夠減輕軸C1方向上之第1擺動齒輪51、第2擺動齒輪52之振動。 Furthermore, in the eccentric swing gear device X1, the inner races 81b, 82b are configured to regulate the movement of the first swing gear 51 and the second swing gear 52 in the direction of the axis C1. Therefore, the vibration of the first swing gear 51 and the second swing gear 52 in the direction of the axis C1 can be reduced.

特別是，在偏心擺動型齒輪裝置X1中，在與第1偏心部62之偏心 方向相反方向上，第1保持部41d位於較第1擺動齒輪51之外緣更靠軸C1側之位置，且內座圈81b之內緣與第1保持部41d相接。因此，無論偏心旋轉中之第1擺動齒輪51位於何一位置，在遍及第1擺動齒輪51之整個周向上，該第1擺動齒輪51與內座圈81b之端部81d皆相接。藉此，內座圈81b能夠確實地規制軸C1方向上之第1擺動齒輪51之移動。另外，第2主軸承82之內座圈82b亦然，與第1主軸承81之內座圈81b同樣地、能夠確實地規制軸C1方向上之第1擺動齒輪51之移動。 In particular, in the eccentric swing gear device X1, the eccentricity from the first eccentric portion 62 In the opposite direction, the first holding portion 41d is located closer to the axis C1 side than the outer edge of the first swing gear 51, and the inner edge of the inner race 81b is in contact with the first holding portion 41d. Therefore, regardless of the position of the first swing gear 51 during the eccentric rotation, the first swing gear 51 is in contact with the end 81d of the inner race 81b over the entire circumferential direction of the first swing gear 51. With this, the inner race 81b can surely regulate the movement of the first swing gear 51 in the direction of the axis C1. In addition, the inner race 82b of the second main bearing 82 can also regulate the movement of the first swing gear 51 in the direction of the axis C1 in the same manner as the inner race 81b of the first main bearing 81.

以下，一邊參照圖5，一邊說明第2實施形態之偏心擺動型齒輪裝置X1。 Hereinafter, the eccentric swing gear device X1 of the second embodiment will be described with reference to FIG. 5.

如圖5所示，在第2實施形態之偏心擺動型齒輪裝置X1中，與第1實施形態不同，軸C1方向上之銷槽21a之長度L1與內齒銷3之長度L2大致相同。另一方面，該銷槽21a之長度L1較軸C1方向上之第1外齒部51a與第二外齒部52a的合計長度L3短。另外，在擺動齒輪5僅由1個擺動齒輪構成之情形下，長度L1較該1個擺動齒輪之長度短。 As shown in FIG. 5, in the eccentric swing gear device X1 of the second embodiment, unlike the first embodiment, the length L1 of the pin groove 21 a in the direction of the axis C1 is substantially the same as the length L2 of the internally toothed pin 3. On the other hand, the length L1 of the pin groove 21a is shorter than the total length L3 of the first external tooth portion 51a and the second external tooth portion 52a in the direction of the axis C1. In addition, when the swing gear 5 is composed of only one swing gear, the length L1 is shorter than the length of the one swing gear.

在第2實施形態中，長度L1與長度L2相同，內齒銷3遍及整個軸C1方向而配置於銷槽21a內。因此，能夠將內齒銷3牢固地保持於銷槽21a中。而且，因銷槽21a之長度L1較第1外齒部51a與第二外齒部52a的合計長度L3短，故與長度L1、長度L2、及長度L3全部相同之先前之偏心擺動型齒輪裝置相比，能夠減小外筒2之內齒支持部21之厚度。藉此，能夠實現偏心擺動型齒輪裝置X1之輕量化。 In the second embodiment, the length L1 is the same as the length L2, and the internal tooth pin 3 is arranged in the pin groove 21a over the entire axis C1 direction. Therefore, the internal tooth pin 3 can be firmly held in the pin groove 21a. Further, since the length L1 of the pin groove 21a is shorter than the total length L3 of the first external tooth portion 51a and the second external tooth portion 52a, the previous eccentric swing gear device is the same as the length L1, the length L2, and the length L3. In comparison, the thickness of the inner tooth support 21 of the outer cylinder 2 can be reduced. This makes it possible to reduce the weight of the eccentric swing gear device X1.

又，第2實施形態之偏心擺動型齒輪裝置X1具備規制板310、320。規制板310、320係呈圓環狀之薄板構件。 In addition, the eccentric swing gear device X1 of the second embodiment includes the regulation plates 310 and 320. The regulation plates 310 and 320 are thin plate members formed in an annular shape.

規制板310係夾入於第1主軸承81之外座圈81a與內齒支持部21之第1軸向端面21b之間。規制板310之內緣部分在內齒銷3之長度方向上與該內齒銷3之前端面對向。特別是，在第2實施形態中，規制板310之內緣部分在內齒銷3之長度方向上與該內齒銷3接觸。 The regulation plate 310 is sandwiched between the outer race 81a of the first main bearing 81 and the first axial end surface 21b of the internal tooth support 21. The inner edge portion of the regulation plate 310 faces the front end of the internal tooth pin 3 in the longitudinal direction of the internal tooth pin 3. In particular, in the second embodiment, the inner edge portion of the regulation plate 310 contacts the inner tooth pin 3 in the longitudinal direction of the inner tooth pin 3.

規制板320係夾入於第2主軸承82之外座圈82a與內齒支持部21之第2軸向端面21c之間。規制板320之內緣部分在內齒銷3之長度方向上與規制板310之相反側之內齒銷3之前端面對向。特別是，在第2實施形態中，規制板320之內緣部分在內齒銷3之長度方向上與該內齒銷3接觸。 The regulation plate 320 is sandwiched between the outer race 82a of the second main bearing 82 and the second axial end surface 21c of the internal tooth support 21. The inner edge portion of the regulatory plate 320 faces the front end of the internal tooth pin 3 on the opposite side of the regulatory plate 310 in the length direction of the internal tooth pin 3. In particular, in the second embodiment, the inner edge portion of the regulation plate 320 is in contact with the internal tooth pin 3 in the longitudinal direction of the internal tooth pin 3.

如上述般，第2實施形態之偏心擺動型齒輪裝置X1具備規制板310、320，且該規制板310、320在內齒銷3之長度方向上夾著該內齒銷3。藉此，能夠規制該長度方向上之內齒銷3之移動。 As described above, the eccentric oscillating gear device X1 of the second embodiment includes the regulation plates 310, 320, and the regulation plates 310, 320 sandwich the internal tooth pin 3 in the longitudinal direction of the internal tooth pin 3. With this, the movement of the internal tooth pin 3 in the longitudinal direction can be regulated.

另外，在第2實施形態中，雖利用規制板310、320來規制內齒銷3之長度方向上之移動，但亦可無該規制板310、320。又，內齒銷3之長度方向上之移動的規制可利用規制板310、320以外之構件來實現。例如，可藉由使第1主軸承81、第2主軸承82之外座圈81a、82a之中位於內齒支持部21側之部位向載架4之徑向之內側延伸出、並將該延伸出之部位配置於與內齒銷3對向之位置來規制該內齒銷3之移動。又，亦可藉由將第1主軸承81、第2主軸承82之內座圈81b、82b之一部分或載架4之一部分配置於與內齒銷3對向之位置來規制該內齒銷3之移動。 In the second embodiment, although the regulation plates 310 and 320 are used to regulate the movement of the internal tooth pin 3 in the longitudinal direction, the regulation plates 310 and 320 may not be provided. In addition, the regulation of the movement of the internal tooth pin 3 in the longitudinal direction can be realized by members other than the regulation plates 310 and 320. For example, the first main bearing 81 and the second main bearing 82 can be extended radially inward of the carrier 4 by extending a portion of the outer races 81a, 82a on the side of the internal tooth support 21 to the radial direction of the carrier 4. The extended portion is arranged at a position opposed to the internal tooth pin 3 to regulate the movement of the internal tooth pin 3. In addition, it is also possible to regulate the internal tooth pin by arranging a part of the inner races 81b, 82b of the first main bearing 81 and the second main bearing 82 or a part of the carrier 4 to face the internal tooth pin 3 3's move.

應瞭解以上所說明之實施形態之全部內容係例示性而非限制性的。本發明之範圍並非由上述實施形態之說明，而是由專利申請範圍明示，並進一步包含與專利申請範圍均等的含義及範圍內的所有變更。 It should be understood that the entire contents of the embodiments described above are illustrative and not restrictive. The scope of the present invention is not described by the above-mentioned embodiment, but is clearly indicated by the scope of the patent application, and further includes all modifications within the meaning and scope equivalent to the scope of the patent application.

2‧‧‧外筒 2‧‧‧Outer cylinder

3‧‧‧內齒銷 3‧‧‧ Internal tooth pin

4‧‧‧載架 4‧‧‧Carrier

8‧‧‧主軸承 8‧‧‧Main bearing

21‧‧‧內齒支持部 21‧‧‧ Internal tooth support

21a‧‧‧銷槽 21a‧‧‧pin groove

21b‧‧‧第1軸向端面 21b‧‧‧First axial end

21c‧‧‧第2軸向端面 21c‧‧‧2nd axial end face

22‧‧‧外周部 22‧‧‧Outer periphery

22a‧‧‧本體部 22a‧‧‧Body

22b‧‧‧第1主軸承支持部 22b‧‧‧The first main bearing support

22c‧‧‧第2主軸承支持部 22c‧‧‧The second main bearing support

22d‧‧‧安裝孔 22d‧‧‧ mounting hole

32‧‧‧兩端部/第1前端部 32‧‧‧Both ends/1st tip

33‧‧‧兩端部/第2前端部 33‧‧‧Both ends/2nd tip

41‧‧‧第1構件 41‧‧‧ First component

41d‧‧‧第1保持部 41d‧‧‧1st holding department

41e‧‧‧第1突出部 41e‧‧‧1st protrusion

42‧‧‧第1構件 42‧‧‧ First component

42a‧‧‧基板部 42a‧‧‧Substrate Department

42b‧‧‧軸部 42b‧‧‧Shaft

42f‧‧‧第2保持部 42f‧‧‧Second holding section

42h‧‧‧第2突出部 42h‧‧‧ 2nd protrusion

51‧‧‧第1擺動齒輪 51‧‧‧1st swing gear

51a‧‧‧第1外齒部 51a‧‧‧The first external tooth

52‧‧‧第2擺動齒輪 52‧‧‧The second swing gear

52a‧‧‧第2外齒部 52a‧‧‧The second external tooth

81‧‧‧第1主軸承 81‧‧‧ 1st main bearing

81a‧‧‧外座圈 81a‧‧‧Outer seat

81b‧‧‧內座圈 81b‧‧‧Inner seat

81c‧‧‧轉動體 81c‧‧‧Rotating body

81d‧‧‧端部 81d‧‧‧End

81e‧‧‧接觸面 81e‧‧‧Contact surface

82‧‧‧第2主軸承 82‧‧‧ 2nd main bearing

82a‧‧‧外座圈 82a‧‧‧Outer ring

82b‧‧‧內座圈 82b‧‧‧Inner seat

82c‧‧‧轉動體 82c‧‧‧Rotating body

82d‧‧‧端部 82d‧‧‧End

A1‧‧‧定位構件 A1‧‧‧Positioning member

L1‧‧‧長度 L1‧‧‧Length

L2‧‧‧長度 L2‧‧‧Length

L3‧‧‧長度 L3‧‧‧Length

T1‧‧‧固結構件 T1‧‧‧Solid structural parts

Claims (8)

一種偏心擺動型齒輪裝置，其具備：外筒，其具有形成於內周面之複數個銷槽；複數個內齒銷，其分別配置於前述各銷槽內，且擺動齒輪與其嚙合；載架，其位於前述外筒之內側；及主軸承，其容許前述載架與前述外筒之間之相對旋轉；且前述內齒銷之長度方向上之前述銷槽之長度較前述內齒銷之長度短；前述主軸承之內座圈以規制前述長度方向上之前述內齒銷之移動之方式而構成。 An eccentric oscillating gear device includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; a plurality of internally toothed pins, which are respectively disposed in the aforementioned pin grooves, and the oscillating gear meshes therewith; the carrier , Which is located inside the outer cylinder; and the main bearing, which allows relative rotation between the carrier and the outer cylinder; and the length of the pin groove in the longitudinal direction of the inner tooth pin is longer than the length of the inner tooth pin Short; the inner race of the main bearing is structured to regulate the movement of the internal tooth pin in the longitudinal direction. 如請求項1之偏心擺動型齒輪裝置，其中前述外筒具有：內齒支持部，其包含形成有前述銷槽之前述內周面；及主軸承支持部，其在前述長度方向上位於較前述內齒支持部之軸向端面更靠外側之位置，且支持前述主軸承；且前述內齒銷在前述長度方向上較前述內齒支持部之前述軸向端面更向外側突出；並且前述主軸承之至少一部分在前述長度方向上位於前述內齒銷之長度範圍內。 The eccentric oscillating gear device according to claim 1, wherein the outer cylinder has: an inner tooth support portion including the inner peripheral surface on which the pin groove is formed; and a main bearing support portion, which is located more in the longitudinal direction than the aforementioned The axial end surface of the internal tooth support portion is located further outside and supports the main bearing; and the internal tooth pin protrudes more outward than the axial end surface of the internal tooth support portion in the longitudinal direction; and the main bearing At least a part thereof is within the length range of the internal tooth pin in the longitudinal direction. 一種偏心擺動型齒輪裝置，其具備：外筒，其具有形成於內周面之複數個銷槽；複數個內齒銷，其分別配置於前述各銷槽內，且擺動齒輪與其嚙合；載架，其位於前述外筒之內側；及主軸承，其容許前述載架與前述外筒之間之相對旋轉；且 前述主軸承之外座圈之一部分係位於前述內齒銷之長度方向上前述擺動齒輪之外齒部之長度範圍內。 An eccentric swinging gear device includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; a plurality of internally toothed pins, which are respectively disposed in the aforementioned pin grooves, and the swing gear meshes therewith; the carrier , Which is located inside the outer cylinder; and the main bearing, which allows relative rotation between the carrier and the outer cylinder; and A part of the outer race of the main bearing is located in the length range of the outer tooth portion of the swing gear in the longitudinal direction of the inner tooth pin. 如請求項3之偏心擺動型齒輪裝置，其中前述主軸承之內座圈以規制前述長度方向上之前述內齒銷之移動之方式而構成。 The eccentric swing type gear device according to claim 3, wherein the inner race of the main bearing is configured to regulate the movement of the inner tooth pin in the longitudinal direction. 如請求項4之偏心擺動型齒輪裝置，其中前述內座圈以規制前述長度方向上之前述擺動齒輪之移動之方式而構成。 The eccentric swing type gear device according to claim 4, wherein the inner race is configured to regulate the movement of the swing gear in the longitudinal direction. 一種偏心擺動型齒輪裝置，其具備：外筒，其具有形成於內周面之複數個銷槽；複數個內齒銷，其分別配置於前述各銷槽內；擺動齒輪，其具有與前述各內齒銷嚙合之外齒部；載架，其位於前述外筒之內側；及主軸承，其容許前述載架與前述外筒之間之相對旋轉；且在前述內齒銷之長度方向上，前述銷槽之長度較前述外齒部之長度短；前述主軸承之內座圈以規制前述內齒銷之前述長度方向上之前述內齒銷之移動之方式而構成。 An eccentric oscillating gear device includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; a plurality of internally toothed pins, which are respectively disposed in the aforementioned pin grooves; and an oscillating gear, having The inner tooth pin meshes with the outer tooth part; the carrier, which is located inside the outer cylinder; and the main bearing, which allows relative rotation between the carrier and the outer cylinder; and in the longitudinal direction of the inner tooth pin, The length of the pin groove is shorter than the length of the external tooth portion; the inner race of the main bearing is configured to regulate the movement of the internal tooth pin in the longitudinal direction of the internal tooth pin. 如請求項6之偏心擺動型齒輪裝置，其中在前述內齒銷之長度方向上，前述銷槽之長度與前述內齒銷之長度相同。 The eccentric swing type gear device according to claim 6, wherein the length of the pin groove is the same as the length of the internal tooth pin in the length direction of the internal tooth pin. 一種偏心擺動型齒輪裝置，其具備：外筒，其具有形成於內周面之複數個銷槽；及複數個內齒銷，其分別配置於前述各銷槽內，且擺動齒輪與其嚙合；且前述內齒銷之長度方向上之前述銷槽之長度較設定為與前述擺動齒輪之外齒部大致相同之前述內齒銷之長度短。 An eccentric oscillating gear device includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; and a plurality of internally toothed pins, which are respectively arranged in the aforementioned pin grooves, and the oscillating gear meshes therewith; and The length of the pin groove in the longitudinal direction of the internal tooth pin is shorter than the length of the internal tooth pin set to be substantially the same as the external tooth portion of the swing gear.
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