WO2013132760A1

WO2013132760A1 - Eccentric oscillation-type gear device

Info

Publication number: WO2013132760A1
Application number: PCT/JP2013/000900
Authority: WO
Inventors: 俊介吉田
Original assignee: ナブテスコ株式会社
Priority date: 2012-03-08
Filing date: 2013-02-19
Publication date: 2013-09-12
Also published as: TWI579474B; JP2013185650A; TW201407062A

Abstract

An eccentric oscillation-type gear device (10) is provided with: a crank shaft (46); oscillating gears (48a, 48b); a casing (12); and a carrier (14). 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 casing (12) and the carrier (14) are capable of concentrically rotating relative to each other by way of the oscillation of the oscillating gears (48a, 48b) accompanying the rotation of the crank shaft (46). The casing (12) is configured such that: a member (21) to be fitted having a site for fixing a bolt to be fitted to a first arm, and an abutting member (22) which is a site abutting the member (21) to be fitted, and which is a site at which the internal teeth (24) are disposed, are formed separately; and the member (21) to be fitted is attached to the abutting part (22).

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. The case is fixed to the proximal end arm of the industrial robot by a bolt, and the carrier is fixed to the distal end arm by the bolt. For this reason, when the motor is driven, the distal arm rotates with respect to the proximal arm at a rotational speed reduced at a predetermined ratio with respect to the motor rotation speed.

The eccentric oscillating gear device disclosed in Patent Document 1 has a problem that the lead time during manufacture is long. That is, the case is formed in a cylindrical shape as a whole, and a large number of internal tooth grooves are formed on the inner surface so as to arrange a large number of internal teeth. The outer surface of the case is provided with a flange in which a bolt hole is formed for fastening to a distal arm that is a counterpart member to which the case is attached. Therefore, the case has a complicated configuration. The case is a cast product or a forged product, and a bolt hole is formed by machining. The position and size of the bolt hole to be attached to the mating member, or the shape of the flange portion varies depending on the specifications at the customer to whom the eccentric oscillating gear device is delivered, and it is very different. For this reason, it is practically difficult to make a case in advance in anticipation of an order. Moreover, the configuration of the case is complicated. 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. The case has internal teeth that mesh with the teeth of the oscillating 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 case is a part to be attached having a part for fixing a fastener attached to the one of the first member and the second member, and a part adjacent to the part to be attached, It is the structure by which the adjacent part which is a site | part in which the internal tooth was arrange | positioned was formed separately, and the said to-be-attached part is the structure assembled | attached to the said adjacent part.

It is sectional drawing which shows the structure of the eccentric rocking | fluctuation type gear apparatus which concerns on embodiment of this invention. It is sectional drawing which shows the structure of the case 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 case 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 case 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 case 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 case 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 case 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 case 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 case 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 case 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 case 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 case 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 case 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 case 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 provided outside the case main body 12a. The axial length of the flange portion 12b is shorter than the axial length of the case main body 12a, and the flange portion 12b has a shape protruding outward from the axial central portion of the case main body 12a. The flange portion 12b may have a shape protruding outward from the axial end portion of the case main body 12a.

A large number of pin grooves (internal tooth 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.

In the present embodiment, the case main body 12a and the flange portion 12b are formed separately and then coupled to each other. That is, the flange part 12b is comprised as the to-be-attached part 21 which has a site | part for fixing the volt | bolt (illustration omitted) as a fastener attached to a 1st arm. On the other hand, the case main body 12a is configured as an adjacent portion 22 which is a portion adjacent to the attached portion 21 and where the internal teeth 24 are disposed. And the to-be-attached part 21 and the adjacent part 22 are formed in the different body. For example, the attached portion 21 and the adjacent portion 22 are surfaced by being cast or forged and then machined.

The adjacent portion 22 is formed in a cylindrical shape, and the attached portion 21 is externally fitted to the adjacent portion 22. That is, the inner diameter of the attached portion 21 is a size corresponding to the outer diameter of the adjacent portion 22. For this reason, the attached portion 21 can be externally fitted to the adjacent portion 22. The fitting of the attached portion 21 to the adjacent portion 22 may be a fitting by press fitting, shrink fitting, plastic bonding, or the like. Moreover, it is good also considering the coupling | bonding of the adjacent part 22 and the to-be-attached part 21 as a spline coupling.

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 constituting the adjacent portion 22, and pin-shaped inner teeth 24 are fitted into the pin grooves 12d, respectively. ing. That is, a large number of internal teeth 24 are disposed in the adjacent portion 22.

A large number of bolt insertion holes 12c are provided at equal intervals in the circumferential direction in the flange portion 12b constituting the attached portion 21. 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.

A plurality of bolt insertion holes 21a penetrating in the radial direction are formed in the attached portion 21, and a plurality of fastening holes 22a are formed in the adjacent portion 22 at positions corresponding to the bolt insertion holes 21a. The plurality of bolt insertion holes 21 a and the fastening holes 22 a are all arranged at intervals in the circumferential direction of the case 12. And the to-be-attached part 21 is in the state fixed to the adjacent part 22 by screwing the volt | bolt 23 inserted in the bolt insertion hole 21a of the to-be-attached part 21 to the fastening hole 22a of the adjacent part 22. FIG.

The fastening hole 22a passes through the adjacent portion 22 (case body 12a) and communicates with the pin groove 12d. For this reason, it is possible to supply or drain oil into the pin groove 12d through the bolt insertion hole 21a and the fastening hole 22a.

The bolt insertion hole 21a is formed at a position shifted from the axial center position in the attached portion 21 (flange portion 12b). Therefore, as shown in FIGS. 2 and 3, the position of the flange portion 12b with respect to the case main body 12a can be changed by changing the orientation of the attached portion 21. For this reason, even when it is necessary to change the position of the flange part 12b with the other member to which the eccentric rocking | fluctuation type gear apparatus 10 which concerns on this embodiment is attached, it can respond easily.

Note that the length of the attached portion 21 can be appropriately changed depending on the mating member and customer specifications. For example, as shown in FIG. 4, the attached portion 21 may be formed so that its axial length is the same as the axial length of the adjacent portion 22 (case body 12 a). In this case, as shown in FIG. 4, the position of the bolt insertion hole 21a in the axial direction may be shifted from the central position in the axial direction, or may be the central position in the axial direction. Furthermore, a plurality of bolt insertion holes 21a may be provided in the axial direction.

Moreover, in this embodiment, the to-be-attached part 21 is fixed to the adjacent part 22 by screwing the volt | bolt 23 inserted in the bolt insertion hole 21a of the to-be-attached part 21 to the fastening hole 22a of the adjacent part 22. However, it is not limited to this. For example, a pin hole is formed in the attached portion 21 instead of the bolt insertion hole 21a, and a pin is driven into the hole of the adjacent portion 22 formed at a position corresponding to the pin hole, thereby adjoining the attached portion 21. It is good also as a structure fixed to the part 22. FIG.

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.

The shaft portion 33 is provided with a bolt fastening hole 33a. The bolt 34 inserted into the bolt insertion hole 30 a of the end plate portion 30 from the opposite side of the shaft portion 33 is screwed into the bolt fastening hole 33 a of the shaft portion 33. 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.

A second arm, which is a counterpart member, is attached to the base 31. That is, a bolt insertion hole is formed in the second arm, and a fastening hole 31 a is formed on the outer surface of the base portion 31 at a position corresponding to the bolt insertion hole. And the 2nd arm and the base 31 are mutually fastened by screwing the unillustrated mounting bolt inserted in the bolt insertion hole of the 2nd arm to the fastening hole 31a of the base 31.

The substrate portion 32 is formed with a central through hole 32a that penetrates the central portion in the radial direction of the substrate portion 32 in the thickness direction. The substrate portion 32 is provided with a hole portion 32b so that one end portion of a crankshaft 46 described later is inserted and the second crank bearing 52 is attached. A plurality of the holes 32b are provided around the central through hole 32a.

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 32 a of the substrate portion 32.

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 in parallel with the input shaft, is rotatably supported by the end plate portion 30 via the first crank bearing 51, and is freely rotatable on the substrate portion 32 via the second crank bearing 52. It is supported by. 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 the plurality of crankshafts 46 are 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 portion 32 b of the substrate portion 32.

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, and the

eccentric portions

46a and 46b are eccentric with respect to a crank shaft center that is the shaft center of the shaft 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 to the carrier 14 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 attached portion 21 is selectively used according to the shape of the mating member to which the gear device 10 is attached. In FIG. 1, the attached portion 21 is fixed to the second arm of the robot arm. However, the attached portion 21 may be attached to a member having a different configuration. And while only the to-be-attached part 21 can be selectively used according to a mating member in the components which comprise the case 12, about the other components, the components of the same structure are used regardless of the mating member. be able to.

In addition, you may perform the operation | work which attaches the to-be-attached part 21 to the adjacent part 22 before assembling this gear apparatus 10. FIG. In this case, the case 12 to which the attached portion 21 is attached is assembled to the carrier 14. The work may be performed while the gear device 10 is being assembled. Alternatively, the gear device 10 may be assembled with parts other than the attached portion 21, and the above operation may be performed after the installation specifications at the customer are determined, that is, at the timing before shipping. The operation may be performed at any timing.

As described above, in this embodiment, the case 12 has the attached portion 21 (flange portion 12b) that is a portion on the side attached to the first arm and the adjacent portion 22 that is a portion adjacent to the attached portion 21. (Case body 12a) and a separate body. For this reason, about the adjacent part 22, it can be set as the common structure which is not influenced by a customer's specification, and can be set as the structure which changes only the to-be-attached part 21 according to a customer's specification. In the present embodiment, the adjacent portion 22 in the case 12 does not depend on the customer's specifications, and therefore it is possible to perform prospective production before the order is confirmed. Then, the attached portion 21 may be manufactured at the time when the order is confirmed, and the case 12 may be manufactured by assembling with other parts. Therefore, after the order is confirmed, it is sufficient to produce only the attached portion 21. For this reason, the lead time required for production can be shortened as compared with the conventional configuration.

Moreover, in this embodiment, since the to-be-attached part 21 and the adjacent part 22 are mutually fastened by the volt | bolt 23, the to-be-attached part 21 can be assembled | attached to the adjacent part 22 more firmly.

In addition, in the present embodiment, the fastening holes 22a of the adjacent portions 22 communicate with the pin grooves 12d in which the inner teeth 24 are disposed, so that the bolt insertion holes 21a and the fastening holes 22a are supplied or drained to the pin grooves 12d. It can be used as a supply / discharge oil hole for this purpose.

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 embodiment, the case main body 12a (adjacent portion 22) and the flange portion 12b (attached portion 21) are fixed by the bolts 23. Alternatively, as shown in FIGS. 5 to 7, the fixing with the bolts 23 may be omitted. In this configuration, since the attached portion 21 is positioned by fitting into the adjacent portion 22, the attached portion 21 can be positioned with respect to the adjacent portion 22 simply by fitting the attached portion 21 into the adjacent portion 22. . In this case, the flange portion 12b may be fixed to the case main body 12a by shrink fitting, or the case main body 12a may be press-fitted into the flange portion 12b. In the case 12 shown in FIGS. 5 and 6, the axial length of the flange portion 12b is common in that the axial length of the case main body 12a is shorter than the case main body 12a. Arrangement position is different. On the other hand, in the case 12 shown in FIG. 7, the axial length of the flange portion 12b is the same as the axial length of the case body 12a. These are appropriately selected depending on the configuration of the mating member.

Further, as shown in FIG. 8, the outer peripheral surface of the case body 12a may be knurled, and the flange portion 12b may be coupled to the case body 12a. Further, the flange portion 12b may be plastically coupled to the case main body 12a. Moreover, it is good also as a structure by which the flange part 12b is couple | bonded with the case main body 12a with a spline.

Of course, the flange 12b (attached portion 21) may be fixed to the case body 12a (adjacent portion 22) as shown in FIGS. 5 to 8, but the bolt may be omitted at the same time. It goes without saying that a stronger fixation can be obtained.

In the above embodiment, the case 12 is separated into the case main body 12a and the flange portion 12b. However, the present invention is not limited to this. For example, as shown in FIGS. 9 to 11, the case 12 may be divided in the case main body 12a. Specifically, in the case 12 shown in FIGS. 9 to 11, the attached portion 21 having a portion for fixing a bolt (not shown) as a fastening portion attached to the first arm has a flange portion 12b, The flange portion 12 has a protruding portion 21b that protrudes radially inward from the inner peripheral portion. The projecting portion 21b is formed in a cylindrical shape that is thinner than the case body 12a. In the case 12 shown in FIGS. 9 and 10, the projecting portion 21b is longer in the axial direction than the flange portion 12b. Yes. The overhang portion 21b constitutes a part of the outer peripheral portion of the case body 12a. On the other hand, the adjacent portion 22, which is a portion where the internal teeth 24 are disposed, is formed in a shape in which a portion corresponding to the protruding portion 21b is cut out of the outer peripheral portion of the case main body 12a. That is, the outer peripheral portion of the adjacent portion 22 has a shape in which the outer peripheral surface is recessed so that one end portion in the axial direction is left. This recessed portion has a shape with a constant outer diameter in the axial direction. And the to-be-attached part 21 is externally fitted by the adjacent part 22 from the other end part side of the axial direction of the case main body 12a. And the outer peripheral surface in the one end part of the axial direction in the adjacent part 22 and the outer peripheral surface in the overhang | projection part 21b of the to-be-attached part 21 are the same state.

On the other hand, in the case 12 shown in FIG. 11, the axial length of the overhanging portion 21b is different from the axial length of the overhanging portion 21b of the attached portion 21 shown in FIGS. That is, in the case 12 of FIG. 11, the axial length of the overhanging portion 21b is formed shorter than the axial length of the flange portion 12b. And the inner peripheral surface of the flange part 12b is overlaid on the outer peripheral surface of the one end part of the adjacent part 22 in the axial direction.

As shown in FIGS. 12 to 14, the projecting portion 21b may be formed in a shape extending over the entire outer peripheral portion of the case body 12a. That is, in the configuration shown in FIGS. 9 to 11, the one end portion of the adjacent portion 22 in the axial direction also forms the outer peripheral surface of the case main body 12a. In the configuration shown in FIG. 2, the adjacent portion 22 is not exposed to the outside. In this configuration, one end portion in the axial direction of the overhanging portion 21b may protrude from the one end portion in the axial direction of the adjacent portion 22 in the axial direction. The distal end portion 21c of the protruding portion 21b protruding in the axial direction from the adjacent portion 22 is used as a portion into which the oil seal is fitted. For this reason, it can change to a double oil seal type easily by changing the axial direction length of the front-end | tip part 21c according to a customer's request. In addition, the axial direction edge part (part located in the axial direction outer side with respect to the pin groove 12d) of the adjacent part 22 is a part where the main bearing 26 is mounted.

In the mounted portion 21, a rear end portion 21 d, which is an end portion on the opposite side to the front end portion 21 c, protrudes inward in the radial direction, and is engaged with an engagement groove formed at an axial end portion of the adjacent portion 22. ing. The attached portion 21 is positioned with respect to the adjacent portion 22 by the rear end portion 21 d being locked in the engaging groove of the adjacent portion 22.

Here, the embodiment will be outlined.

(1) In the embodiment, the case is a part to be attached to the one of the first member and the second member, and a part adjacent to the part to be attached. It is formed separately from the part. For this reason, the adjacent part, which is the part where the internal teeth are arranged, is configured as a common structure that is not affected by the customer's specifications, and only the structure of the mounted part is changed according to the customer's specifications. can do. In the case, the adjoining part does not depend on the customer's specifications, so it is possible to produce prospectively before the order is confirmed. Then, the attached portion is manufactured at the time when the order is confirmed, and the case 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, the attached portion may be positioned by fitting into the adjacent portion. In this aspect, it can position with respect to an adjacent part only by fitting a to-be-attached part to an adjacent part.

(3) An insertion hole into which the fastener can be inserted may be formed in the attached portion, and a fastening hole in which the fastener is fastened may be formed in the adjacent portion. In this case, it is preferable that the attached portion and the adjacent portion are fastened to each other by the fastener. In this aspect, since the attached portion is assembled to the adjacent portion by the fastener, the attached portion can be more firmly assembled to the adjacent portion.

(4) The fastening hole may communicate with an internal tooth groove in which the internal teeth are disposed. In this aspect, the insertion hole and the fastening hole can be used as a supply / discharge oil hole for supplying or discharging oil to / from the internal tooth groove.

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.

10 Eccentric oscillating gear device 12 Case 12d Pin groove (internal tooth groove)
14 Carrier 18 Reduction mechanism 21 Mounted portion 21a Bolt insertion hole (insertion hole)

21b Overhang portion

21c Tip portion 22 Adjacent portion 22a Fastening hole (fastening hole)
24 Internal teeth 30 End plate portion 31 Base portion 32 Substrate portion 33 Shaft portion 44 Transmission gear 46 Crankshaft 46a First eccentric portion 46b Second eccentric portion 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 case is a part to be attached having a part for fixing a fastener attached to the one of the first member and the second member, and a part adjacent to the part to be attached, An eccentric oscillating gear device having a configuration in which an adjacent portion, which is a portion where an internal tooth is disposed, is formed separately, and the attached portion is assembled to the adjacent portion.
The eccentric oscillating gear device according to claim 1,
The eccentric oscillating gear device in which the attached portion is positioned by fitting into the adjacent portion.
The eccentric oscillating gear device according to claim 1 or 2,
An insertion hole through which a fastener can be inserted is formed in the attached portion, and a fastening hole in which the fastener is fastened is formed in the adjacent portion,
The eccentric oscillating gear device in which the attached portion and the adjacent portion are fastened to each other by the fastener.
The eccentric oscillating gear device according to claim 3,
The eccentric oscillating gear device, wherein the fastening hole communicates with an internal gear groove in which the internal teeth are disposed.