WO2013132748A1

WO2013132748A1 - Eccentric oscillation-type gear device

Info

Publication number: WO2013132748A1
Application number: PCT/JP2013/000746
Authority: WO
Inventors: 俊介吉田
Original assignee: ナブテスコ株式会社
Priority date: 2012-03-07
Filing date: 2013-02-12
Publication date: 2013-09-12
Also published as: TW201400730A; JP2013185631A

Abstract

An eccentric oscillation-type gear device (10) is provided with: a crank shaft (46) having eccentric members (46a, 46b); oscillating gears (48a, 48b); a casing (12) to be fitted to a first arm; and a carrier (14) to be fitted to a second arm. The carrier (14) rotatably supports the crank shaft (46). The casing (12) has internal teeth (24) which mesh with teeth of the oscillating gears (48a, 48b). The carrier (14) is provided with: an end plate member (30); a shaft member (33) secured to the end plate member (30); a member (39) to be fitted which has sites for fixing bolts to be fitted to a second arm; and an abutting member (40) which is a site abutting the member (39) to be fitted, and which is integrally formed with the shaft member (33). The member (39) to be fitted and the abutting member (40) are configured so as to be separately formed and attached to each other.

Description

Eccentric oscillating gear unit

The present invention relates to an eccentric oscillating gear device.

Conventionally, as disclosed in Patent Document 1 below, an eccentric oscillating gear device that can be used for a joint portion of an industrial robot or the like is known. The eccentric oscillating gear device disclosed in Patent Document 1 includes a case having internal teeth, a carrier inserted into the case and rotatable with respect to the case, an eccentric portion, and rotatable on the carrier. And a swing gear that is fitted to the eccentric portion and swings while meshing with the internal teeth of the case. When the crankshaft is driven by the motor and rotates about the axis, the swing gear swings, and accordingly, the carrier rotates relative to the case. In this gear device, the case is fixed to the proximal end arm of the industrial robot with a bolt, and the carrier is fixed to the distal end arm with the bolt. For this reason, when the motor is driven, the distal arm can be rotated with respect to the proximal arm at a rotational speed reduced at a predetermined ratio.

The eccentric oscillating gear device disclosed in Patent Document 1 has a problem that the lead time during manufacture is long. That is, the carrier has a base portion having a configuration in which the substrate portion and the shaft portion are integrally formed and an end plate portion fastened to the base portion, and has a complicated configuration. The base portion and the end plate portion are cast or forged products, and bolt holes and pin holes are formed in the base portion and the end plate portion by machining. This bolt hole includes a bolt hole for fastening to the board side arm which is a counterpart member to which the carrier is to be attached. The position and size of the bolt hole to be attached to the mating member vary depending on the specifications at the customer to whom the eccentric oscillating gear device is delivered, and varies widely. Further, in the carrier, the shape and size of the surface to be joined to the mating member may vary depending on customer specifications. For this reason, the number of part numbers of carriers must be large. For this reason, it is practically difficult to make a career beforehand in anticipation of an order. In addition, the carrier configuration is complex. Therefore, there is a problem that the lead time from when the order is confirmed until delivery can be extended.

JP 2006-312957 A

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

An eccentric oscillating gear device according to one aspect of the present invention is a gear device for generating relative rotation at a rotational speed reduced with respect to an input rotational speed between a first member and a second member. A crankshaft having an eccentric part, a swinging gear having a through hole into which the eccentric part is inserted and having a tooth part, and being attached to one of the first member and the second member And a carrier configured to be attachable to the other of the first member and the second member. The carrier rotatably supports the crankshaft, and the case has internal teeth that mesh with teeth of the swing gear. The case and the carrier are concentrically rotatable relative to each other by the swinging of the swinging gear accompanying the rotation of the crankshaft. The carrier has a portion for fixing an end plate portion, a shaft portion fastened to the end plate portion, and a fastener attached to the other of the first member and the second member. A mounted portion; and a portion adjacent to the mounted portion and an adjacent portion in which the shaft portion is integrally formed. The attached portion and the adjacent portion are formed separately and assembled to each other.

It is sectional drawing which shows the structure of the eccentric rocking | fluctuation type gear apparatus which concerns on embodiment of this invention. FIG. 2 is a view corresponding to FIG. 1 when a mounted portion different from the mounted portion shown in FIG. 1 is used in the eccentric oscillating gear device. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. (A) (B) It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is sectional drawing which shows the structure of the adjacent part, shaft part, and end plate part which are used for the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention.

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

As shown in FIG. 1, the eccentric oscillating gear device 10 according to the present embodiment is input with a case 12 and a carrier 14 that can rotate relative to the case 12 inside the case 12. And a speed reduction mechanism 18 for decelerating the rotational speed at a predetermined rotational speed ratio. In the gear device 10, a first arm (not shown) that is a first member (mating member) is fastened to the case 12, and a second arm (not shown) that is a second member (mating member) is fastened to the carrier 14. Is done. That is, the first arm and the second arm constitute a robot arm, and the eccentric oscillating gear device 10 is constituted as a speed reducer used for a joint of the robot arm.

The case 12 has a case main body 12a formed in a cylindrical shape, and a flange portion 12b formed integrally with an outer peripheral portion of the case main body 12a. A large number of pin grooves 12d are formed at equal intervals in the circumferential direction on the inner peripheral surface of the case body 12a. Pin-shaped inner teeth 24 are fitted into the pin grooves 12d.

Bolt insertion holes 12c are provided in the flange portion 12b at equal intervals in the circumferential direction. The case 12 and the first arm are fastened to each other by screwing a bolt (not shown) inserted through the bolt insertion hole 12c into the screw hole of the first arm (not shown). A motor (not shown) that is a drive source is fixed to the first arm.

The carrier 14 is supported by the case 12 by a pair of main bearings 26 arranged at intervals in the axial direction, and can rotate concentrically with the case 12. That is, the carrier 14 rotates relative to the case 12 around the axis of the case 12. The main bearings 26 are each constituted by an angular ball bearing.

The carrier 14 includes a disk-shaped end plate portion 30 and a base portion 31 fastened to the end plate portion 30. The base portion 31 includes a substrate portion 32 and a shaft portion 33 projecting 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 a bolt 34 in a state where the tip surface of the shaft portion 33 is in contact with the end plate portion 30. In this state, a space having a predetermined width in the axial direction is formed between the substrate portion 32 and the end plate portion 30.

A bolt fastening hole 33 a is provided in the shaft portion 33, and the bolt 34 inserted into the bolt insertion hole 30 a of the end plate portion 30 from the opposite side to the shaft portion 33 is screwed into the bolt fastening hole 33 a of the shaft portion 33. Has been. A pin 36 for positioning the end plate portion 30 with respect to the base portion 31 is disposed from the end plate portion 30 to the shaft portion 33. That is, the pin 36 is inserted into the insertion hole 30 b formed in the end plate portion 30 and is inserted into the pin hole 33 b formed in the distal end surface of the shaft portion 33.

The board part 32 is a part adjacent to the part to be attached 39 having a part for fixing a mounting bolt (fastener) (not shown) attached to the second arm, and the shaft part 33 is integrated with the part 39 to be attached. And an adjoining portion 40 that is formed automatically. The attached portion 39 and the adjacent portion 40 are formed separately from each other. For example, the attached portion 39 and the adjacent portion 40 are separately cast or forged. And the to-be-attached part 39 and the adjacent part 40 become a structure mutually assembled | attached by the assembly | attachment volt | bolt 41 which is a fastener.

The attached portion 39 has a disk-shaped main body portion having an outer diameter corresponding to the outer diameter of the case main body 12a. A through hole 39 a is formed in the body portion of the attached portion 39 so as to penetrate the central portion in the thickness direction. The peripheral portion of the through hole 39a on one main surface of the mounted portion 39 (the main surface facing the adjacent portion 40, the inner main surface) protrudes slightly from the main body portion of the mounted portion 39 in the thickness direction. The protrusion 43 is formed in an annular shape. Further, the other main surface (the main surface opposite to the adjacent portion 40, the outer main surface) of the mounted portion 39 is formed with a recessed portion 39b that is recessed in a rectangular cross section. This recessed portion 39b is illustrated in FIG. 1 is formed in a circular shape when viewed from the left side. One end of the through hole 39a is opened at the center of the bottom surface of the recess 39b. In addition, the main-body part of the to-be-attached part 39 is not restricted to disk shape, What is necessary is just flat form.

A second arm, which is a mating member, is superimposed on the outer main surface of the attached portion 39, and the attached portion 39 is attached to the second arm in this state. A bolt insertion hole is formed in the second arm, and a fastening hole 39c is formed at a position corresponding to the bolt insertion hole of the second arm in a portion of the attached portion 39 outside the recess 39b. Then, by screwing a mounting bolt (not shown) inserted through the bolt insertion hole of the second arm into the fastening hole 39c of the attached portion 39, the second arm and the attached portion 39 of the base portion 31 are fastened to each other. The

The attached portion 39 is formed with a plurality of bolt insertion holes 39d penetrating the attached portion 39 so that one end is opened at the bottom surface of the recessed portion 39b. The assembly bolt 41 inserted through the bolt insertion hole 39d is screwed into a fastening hole 40a provided on the end surface of the adjacent portion 40 (the end surface opposite to the side where the shaft portion 33 is formed). Thereby, the to-be-attached part 39 is being fixed to the adjacent part 40 so that attachment or detachment is possible. The plurality of fastening holes 40a constitute a group of fastening holes, and a plurality of fastening holes are provided at regular intervals around the axis. Here, in this embodiment, although the recessed part 39b is formed as one recessed part, you may form two or more recessed parts for every above-mentioned group of fastening hole groups, and for every fastening hole 40a. That is, it may be formed as a counterbore hole for the assembly bolt 41.

The adjacent portion 40 is formed with a central through hole 40b that penetrates the central portion in the thickness direction. And the annular recessed part 40c of the shape which expanded the part of the peripheral part of the center through-hole 40b is formed in the end surface (the axial direction end surface on the opposite side to the side in which the shaft part 33 was formed) of the adjacent part 40. ing. The protrusion 43 of the attached portion 39 is fitted into the annular recess 40c. That is, the inner diameter of the central through hole 40 b is smaller than the outer diameter of the protrusion 43, while the inner diameter of the annular recess 40 c is a size corresponding to the outer diameter of the protrusion 43. By fitting the protrusion 43 of the attached portion 39 into the annular recess 40 c of the adjacent portion 40, the attached portion 39 is positioned (axially aligned) with respect to the adjacent portion 40.

The adjoining portion 40 is provided with a hole portion 40d so that one end portion of a crankshaft 46 described later is inserted and the second crank bearing 52 is attached. The hole portion 40d is formed so as to penetrate from the end surface of the adjacent portion 40 (the axial end surface on the side where the shaft portion 33 is formed) to the opposite end surface, and a plurality of holes are provided around the central through hole 40b. It has been.

The end plate portion 30 is formed with a through hole 30c penetrating the center in the axial direction. The through hole 30 c of the end plate portion 30 has substantially the same inner diameter as the central through hole 40 b of the adjacent portion 40.

The speed reduction mechanism 18 includes a transmission gear 44, a crankshaft 46, and a swing gear (a first swing gear 48a and a second swing gear 48b). The first oscillating gear 48 a and the second oscillating gear 48 b each have external teeth that are teeth that mesh with the internal teeth 24 of the case 12. The transmission gear 44 is splined to the end of the crankshaft 46 on the end plate portion 30 side. The transmission gear 44 meshes with a driving gear (not shown) provided on an input shaft (not shown) for inputting a driving force for rotating the carrier 14 (a driving force using a motor (not shown) as a driving source). Accordingly, the driving force is transmitted to the crankshaft 46 via the transmission gear 44, whereby the crankshaft 46 rotates in conjunction with the rotation of the input shaft. Note that the input shaft may be arranged such that the distal end portion is inserted into the through hole 30 c of the end plate portion 30.

The crankshaft 46 is disposed parallel to the input shaft, is rotatably supported by the end plate portion 30 via the first crank bearing 51, and is adjacent to the substrate portion 32 via the second crank bearing 52. 40 is rotatably supported. 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 constituted by tapered roller bearings.

A plurality of through holes 30d are formed in the end plate portion 30 around the central through hole 30c. These through holes 30d are arranged at equal intervals in the circumferential direction around the central through hole 30c. A plurality of crankshafts 46 are also provided and arranged at equal intervals in the circumferential direction. Each crankshaft 46 passes through the through hole 30 d of the end plate portion 30 and is inserted into the hole 40 d of the adjacent portion 40.

The crankshaft 46 has a shaft main body 46c and eccentric portions (first eccentric portion 46a and second eccentric portion 46b) formed integrally with the shaft main body 46c. The shaft body 46c is a rod-shaped member having a circular cross section. The

eccentric parts

46a and 46b are eccentric with respect to the crankshaft which is the axis of the shaft main body 46c. The first and second

eccentric parts

46a and 46b are out of phase with each other. That is, the eccentric direction of the first eccentric portion 46a with respect to the crank shaft center and the eccentric direction of the second eccentric portion 46b with respect to the crank shaft center are different from each other, and the phase angle is shifted by 180 degrees. Further, the plurality of crankshafts 46 are assembled so that the eccentric directions of the respective first eccentric portions 46a coincide.

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 46 a is adjacent to the first crank bearing 51, and the second eccentric portion 46 b is adjacent to the second crank bearing 52.

The first oscillating gear 48 a and the second oscillating gear 48 b are both disposed in the space between the substrate portion 32 and the end plate portion 30 of the carrier 14. The first oscillating gear 48 a and the second oscillating gear 48 b are respectively provided with a first through hole 48 c formed at the center, a second through hole 48 d through which the shaft portion 33 can pass, and the eccentricity of the crankshaft 46. A third through hole 48e through which the

portions

46a and 46b can penetrate is formed.

Roller bearings 55 are 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 swing gear 48a, and the second eccentric portion. 46b is inserted through the third through hole 48e of the second swing gear 48b. The first and second swing gears 48 a and 48 b rotate while meshing with the internal teeth 24 of the case 12 as the first and second eccentric portions 46 b swing due to the rotation of the crankshaft 46. In the present embodiment, two

swing gears

48a and 48b are provided. However, the present invention is not limited to this configuration, and one or three or more swing gears 48a and 48b may be provided. Good.

In the eccentric oscillating gear device 10 according to the present embodiment, the input shaft (not shown) is driven by the driving force of the motor, and when the input shaft rotates, the transmission gear 44 rotates. Thereby, the crankshaft 46 also rotates integrally. When the crankshaft 46 rotates, the first oscillating gear 48a rotates while meshing with the internal teeth 24 as the first eccentric portion 46a oscillates, and the second oscillating gear as the second eccentric portion 46b oscillates. 48 b rotates while meshing with the inner teeth 24. As a result, the carrier 14 having the shaft portion 33 penetrating the second through hole 48d of both the oscillating gears 48a and 48b rotates relative to the case 12. As a result, the second arm rotates relative to the first arm. The rotational speed of the second arm (carrier 14) is a rotational speed that is decelerated at a predetermined ratio with respect to the rotational speed of the input shaft. That is, the speed reduction mechanism 18 rotates the carrier 14 relative to the case 12 at a rotational speed that is reduced at a predetermined ratio with respect to the rotational speed of the input shaft.

The mounted portion 39 is selectively used according to the shape of the mating member to which the gear device 10 is mounted. In FIG. 1, the attached portion 39 is fixed to the second arm of the robot arm. However, the attached portion 39 may be attached to a member having a different configuration. In this case, for example, as shown in FIG. 2, a mounted portion 39 having a shape different from that of the mounted portion 39 shown in FIG. 1 can be used.

The attached portion 39 shown in FIG. 2 has an outer diameter different from that of the attached portion 39 shown in FIG. 1, and the position of the fastening hole 39c for fastening to the mating member also differs accordingly. Specifically, the outer diameter of the attached portion 39 shown in FIG. 2 is smaller than the outer diameter of the attached portion 39 shown in FIG. 1, and the position of the fastening hole 39c approaches the axial center side accordingly. ing. However, the rest of the configuration is the same as the attached portion 39 shown in FIG. As described above, only the mounted portion 39 can be selectively used according to the mating member among the components constituting the carrier 14, while the other components have the same configuration regardless of the mating member. Can be used. The work of assembling the attached portion 39 to the adjacent portion 40 may be performed when the carrier 14 is constituted by the end plate portion 30 and the base portion 31 or may be performed while the eccentric oscillating gear device 10 is being assembled. Alternatively, the eccentric oscillating gear device 10 is assembled with components other than the mounted portion 39, and the mounting portion 39 is assembled to the adjacent portion 40 after the mounting specifications at the customer are determined, that is, before shipping. May be performed.

As described above, in the present embodiment, the board portion 32 constituting the carrier 14 has the attached portion 39 which is a portion attached to the second arm and the adjacent portion which is a portion adjacent to the attached portion 39. 40 and a separate body. For this reason, about the adjacent part 40, the shaft part 33, and the end plate part 30, it is set as the common structure which is not influenced by a customer's specification, and makes it the structure which changes only the to-be-attached part 39 according to a customer's specification. be able to. For this reason, parts other than the attachment portion 39 (the end plate portion 30, the shaft portion 33, and the adjacent portion 40) in the carrier 14 do not depend on the customer's specifications, and therefore are expected to be produced before the order is confirmed. It becomes possible. Then, the attached portion 39 may be manufactured at the time when the order is confirmed, and the carrier 14 may be manufactured by assembling with other parts. Therefore, since it is sufficient to produce only the attached portion 39 after the order is confirmed, the lead time required for production can be shortened as compared with the conventional configuration.

In the present embodiment, the protrusion 43 is fitted into the annular recess 40c, whereby the attached portion 39 can be positioned with respect to the adjacent portion 40, and the attached portion 39 and the adjacent portion 40 are assembled to each other. It can be in the state.

Moreover, in this embodiment, since the to-be-attached part 39 and the adjacent part 40 will be in the state mutually assembled | attached by the assembly | attachment bolt 41, one of the to-be-attached part 39 and the adjacent part 40 can be assembled | attached more firmly by the other.

Note that the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the annular recess 40c is formed on the end surface of the central through hole 40b of the adjacent portion 40. However, the present invention is not limited to this. For example, the annular recess 40c may not be formed. . In this case, as shown in FIG. 3, the outer diameter of the protrusion 43 of the attached portion 39 is a size corresponding to the inner diameter of the central through hole 40 b of the adjacent portion 40, and the protrusion 43 is formed in the central through hole 40 b. It becomes a structure fitted to an inner peripheral surface. The protruding length of the protruding portion 43 is a length corresponding to the thickness of the adjacent portion 40 in the substrate portion 32. In addition, the protrusion 43 is not restricted to the structure which has the protrusion amount equivalent to the thickness of the adjacent part 40, but may have the protrusion amount which reaches the end plate part 30, as shown in FIG. In this case, the protrusion 43 is configured to be fitted into the central through hole 30 c of the end plate portion 30. In the configuration of FIGS. 3 and 4, the configuration of fixing the attached portion 39 to the adjacent portion 40 with a bolt may be omitted. In this case, the protrusion 43 and the central through hole 40b, or the protrusion 43 and the central through hole 30c are preferably fitted by press fitting, shrink fitting, or the like. The fastening holes 39c shown in FIGS. 3 and 4 are fastening holes used when the carrier 14 is attached to the mating member.

The protrusion 43 of the attached portion 39 is not limited to the form formed at the peripheral edge of the central through hole 39a. For example, as shown in FIG. 5, the protrusion 43 may be provided on the outer peripheral edge portion of one main surface (main surface facing the adjacent portion 40) of the attached portion 39. In this case, the protrusion 43 is continuously formed along the circumferential direction and has an annular shape. On the other hand, the adjacent portion 40 has an outer diameter corresponding to the inner diameter of the protrusion 43, and the annular protrusion 43 is fitted on the outer peripheral surface of the adjacent portion 40. In addition, the protrusion 43 is not restricted to the form formed in the cyclic | annular form continuous in the circumferential direction, You may be intermittently formed in the circumferential direction. In this case, the mounted portion 39 and the adjacent portion 40 have the same outer diameter, and the outer peripheral edge portion of the adjacent portion 40 has a configuration in which a concave portion is intermittently formed in the circumferential direction and is configured to be fitted with an inlay. Become. In the configuration of FIG. 5, the configuration of fixing the attached portion 39 to the adjacent portion 40 with a bolt may be omitted. In this case, the inlay fitting is preferably a fitting by press fitting, shrink fitting or the like. In addition, the fastening hole 39c shown in FIG. 5 is a fastening hole used when attaching the carrier 14 to the other party member.

In the above-described embodiment, the attachment portion 39 is fitted to the adjacent portion 40 by the protrusion 43, but is not limited thereto. For example, as shown in FIG. 6, the attached portion 39 is formed in a shape having a constant thickness throughout, and the protrusion 43 is omitted. In this configuration, the peripheral portion of the through hole 39a has the same thickness as the other portions, and the protrusion 43 is not formed. A bolt insertion hole (not shown) is formed in the mounted portion 39, and a bolt (not shown) inserted through the bolt insertion hole is screwed into the fastening hole of the adjacent portion 40, thereby mounting the mounted portion. 39 is fixed to the adjacent portion 40. In addition, the fastening hole 39c shown in FIG. 6 is a fastening hole used when attaching the carrier 14 to a mating member.

In the embodiment shown in FIGS. 1 to 5, the example in which the protrusion 43 is formed on the attached portion 39 has been described, but the present invention is not limited to this. For example, as shown in FIG. 7, a protrusion 43 that protrudes in an annular shape from the peripheral edge of the central through hole 40 b is formed on one end surface of the adjacent portion 40 (the end surface opposite to the side on which the shaft portion 33 is formed). Is formed. The outer diameter of the protrusion 43 has a size corresponding to the inner diameter of the through hole 39a of the attached portion 39, and the protrusion 43 is fitted to the inner peripheral surface of the through hole 39a. The fitting in this case may be fitting by press-fitting, shrink fitting, or the like, or it may be fitted with a normal positioning degree, and finally the attached portion 39 is attached to the adjacent portion 40 by a bolt. It is good also as a structure fixed.

FIG. 7 shows an example in which the protrusion 43 is formed at the periphery of the through hole 40b. However, the present invention is not limited to this, and as shown in FIGS. The shape formed in the outer peripheral part in one end surface (end surface on the opposite side to the side in which the shaft part 33 was formed) may be sufficient. The protrusion 43 is formed in an annular shape. In the attached portion 39 shown in FIG. 8, a concave portion 39e having a shape continuous in the circumferential direction is formed along the outer peripheral edge portion of one main surface (the main surface facing the adjacent portion 40). The protrusion 43 of the adjacent portion 40 is fitted. In this form, the inner diameter of the protrusion 43 is smaller than the outer diameter of the attached portion 39, and has a size corresponding to the outer diameter of the recess 39e. In addition, while the protrusion 43 is intermittently formed in the circumferential direction, the recess 39e of the attached portion 39 may also be intermittently formed in the circumferential direction, so that a spigot fit is possible.

On the other hand, in the form shown in FIG. 9, the outer diameter of the attached portion 39 is smaller than the outer diameter of the adjacent portion 40 and has an outer diameter corresponding to the inner diameter of the protrusion 43. The outer diameter of the attached portion 39 is set to be the same as the outer diameter of the adjacent portion 40, and the protrusion 43 of the adjacent portion 40 is intermittently formed in the circumferential direction, and the outer peripheral portion of the attached portion 39 is A recess may be intermittently formed in the circumferential direction, so that a spigot fit may be adopted.

In the above-described embodiment, the configuration in which the protrusion 43 is fitted to the

recesses

39e and 40c to position the attached portion 39 with respect to the adjacent portion 40 has been described, but is not limited thereto. For example, as shown in FIGS. 10A and 10B, the attached portion 39 is formed with a pair of

grooves

39f and 39f extending linearly in a direction orthogonal to the axial direction. A pair of

protrusions

43, 43 that engage with the

grooves

39f, 39f are formed. The pair of

groove portions

39f and 39f are opposite to each other, that is, have a shape that is recessed toward the axial center, while the pair of

protrusions

43 and 43 protrude toward the axial center (opposite directions). Therefore, the attached portion 39 can be slid laterally (in a direction perpendicular to the axis) with respect to the adjacent portion 40 in a state where the protrusion 43 is engaged with the

groove portions

39f and 39f. The attached portion 39 and the adjacent portion 40 are fastened by an unillustrated fastener (bolt) in a state where the attached portion 39 is positioned at a predetermined position with respect to the adjacent portion 40. As shown in FIG. 10A, a plurality of insertion holes for inserting the fasteners are formed to form an insertion hole group, and a plurality of the insertion hole groups are provided in the circumferential direction. The pair of

grooves

39f and 39f may be recessed in the same direction, and the pair of

protrusions

43 and 43 may protrude in the same direction.

10 (A) and 10 (B), the pair of

grooves

39f and 39f are formed in the attached portion 39 and the pair of protrusions 43 are formed in the adjacent portion 40. Good. That is, as shown in FIG. 11, a pair of

grooves

40 f and 40 f may be formed in the adjacent portion 40, and a pair of

protrusions

43 and 43 may be formed in the attached portion 39.

3 to 11, in addition to the attached portion 39 that is selectively used according to the mating member, members other than the substrate portion 32 and the end plate portion 30 constituting the carrier 14 are shown. Omitted.

Here, the embodiment will be outlined.

(1) In the embodiment, in the carrier, an attached portion that is a portion to be attached to the other of the first member and the second member, and an adjacent portion that is adjacent to the attached portion The part is formed separately. For this reason, about the adjacent part, it can be set as the common structure which is not influenced by a customer's specification, and it can be set as the structure which changes only a to-be-attached part according to a customer's specification. For this reason, parts (end plate part, shaft part, adjacent part) other than the attached part in the carrier do not depend on the specifications of the customer, and therefore it is possible to perform prospective production before the order is confirmed. Then, the attached portion is manufactured at the time when the order is confirmed, and the carrier is manufactured by assembling with other parts. Therefore, since it is sufficient to produce only the attached portion after the order is confirmed, the lead time required for production can be shortened as compared with the conventional configuration.

(2) In the eccentric oscillating gear device, one of the attached portion and the adjacent portion has a protrusion, and the other of the attached portion and the adjacent portion has the protrusion. The recessed part which a part fits may be formed, and the said one may be positioned with respect to the said other by fitting the said protrusion in the said recessed part.

In this aspect, by fitting the protrusion into the recess, the attached portion can be positioned with respect to the adjacent portion, and the attached portion and the adjacent portion can be assembled with each other.

(3) In the eccentric oscillating gear device, the attached portion and the adjacent portion may be fastened to each other by a fastener.

In this aspect, since the attached portion and the adjacent portion are assembled with each other by the fastener, one of the attached portion and the adjacent portion can be more firmly assembled with the other.

(4) In the eccentric oscillating gear device, a protrusion is formed on one of the attached portion and the adjacent portion, and the protrusion is formed on the other of the attached portion and the adjacent portion. A slidable groove portion is formed while the portions are engaged, and the attached portion and the adjacent portion are fastened to each other by a fastener in a state where the protruding portion is positioned at a predetermined position while being engaged with the groove portion. It is good also as the structure currently made.

In this aspect, when the projecting portion is slid while engaging the groove portion, one of the attached portion and the adjacent portion is assembled to the other, and the one is positioned at a predetermined position with respect to the other. Both are fastened by a fastener.

As described above, according to the embodiment, it is possible to provide an eccentric oscillating gear device that can reduce the lead time required for production.

DESCRIPTION OF SYMBOLS 10 Eccentric oscillation type gear apparatus 12 Case 14 Carrier 18 Deceleration mechanism 24 Internal tooth 30 End plate part 31 Base part 32 Substrate part 33 Shaft part 39 Attached part 39a Through hole 39c Fastening hole 39d Bolt insertion hole 39e Recessed part 39f Groove part 40 Adjacent part 40a Fastening hole 40b Central through hole 40c Annular recess 40d Hole 40f Groove 43 Projection 44 Transmission gear 46 Crankshaft 46a First eccentric part 46b Second eccentric part 48a First swing gear 48b Second swing gear

Claims

A gear device for generating a relative rotation at a speed reduced with respect to an input speed between a first member and a second member,
A crankshaft having an eccentric portion;
A rocking gear having a through-hole into which the eccentric part is inserted and having a tooth part;
A case configured to be attachable to one of the first member and the second member;
A carrier configured to be attachable to the other of the first member and the second member,
The carrier rotatably supports the crankshaft, and the case has internal teeth that mesh with teeth of the swing gear;
The case and the carrier are concentrically rotatable relative to each other by the swinging of the swinging gear accompanying the rotation of the crankshaft,
The carrier has an end plate portion, a shaft portion fastened to the end plate portion, and a portion for fixing a fastener attached to the other of the first member and the second member. A portion to be attached and a portion adjacent to the portion to be attached, wherein the shaft portion is integrally formed, and
The eccentric oscillating gear device in which the attached portion and the adjacent portion are formed separately and assembled to each other.
The eccentric oscillating gear device according to claim 1,
One of the attached portion and the adjacent portion is formed with a protrusion, and the other of the attached portion and the adjacent portion is formed with a recess into which the protrusion is fitted. An eccentric oscillating gear device in which the one is positioned with respect to the other by fitting the projection into the recess.
The eccentric oscillating gear device according to claim 1 or 2, wherein the attached portion and the adjacent portion are fastened to each other by a fastener.
The eccentric oscillating gear device according to claim 1,
A protrusion is formed on one of the attached part and the adjacent part, and a groove that can slide while the protrusion is engaged is formed on the other of the attached part and the adjacent part. And
The eccentric oscillating gear device in which the attached portion and the adjacent portion are fastened to each other by a fastener in a state where the protrusion is positioned at a predetermined position while being engaged with the groove.