WO2015005168A1

WO2015005168A1 - Eccentric rocking type gear device

Info

Publication number: WO2015005168A1
Application number: PCT/JP2014/067421
Authority: WO
Inventors: 和哉古田
Original assignee: ナブテスコ株式会社
Priority date: 2013-07-10
Filing date: 2014-06-30
Publication date: 2015-01-15
Also published as: KR20160030234A; CN105378337A; CN105378337B; KR102172816B1; JP6247035B2; JP2015017646A

Abstract

An eccentric rocking type gear device (1) is provided with: a crankshaft (10) having an eccentric section (10a); a rocking gear (14) having external teeth (14a) and associated with the eccentric section (10a); an external cylinder (2) having internal teeth meshing with the external teeth (14a) of the rocking gear (14); a carrier (4) comprising a base plate (4a) having formed therein a crankshaft hole (4e) through which the crankshaft (10) is inserted, the carrier (4) also comprising an end plate (7) joined to the base plate (4a), the carrier (4) having the rocking gear (14) disposed between the base plate (4a) and the end plate (7); and a movement restriction section (30) disposed on the opposite side of the base plate (4a) and the end plate (7) from the rocking gear (14) and restricting the axial movement of the crankshaft (10).

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 reduces the rotational speed at a predetermined reduction ratio between two mating members is known. As shown in FIG. 6, the eccentric oscillating gear device disclosed in Patent Document 1 is provided with an outer cylinder part 62 fixed to one counterpart member, an inner cylinder part 62, and the other cylinder part 62. And a carrier 64 fixed to the mating member. A pair of main bearings 66 is disposed between the outer cylindrical portion 62 and the carrier 64. The carrier 64 has a substrate portion 64a in which a shaft portion 64c is integrally formed, and an end plate portion 64b formed separately from the substrate portion 64a. Two swinging gears 68 are sandwiched between the substrate portion 64a and the end plate portion 64b. The swing gear (first swing gear) 68 on the substrate portion 64 a side is attached to the eccentric portion (first eccentric portion) 70 a on the substrate portion 64 a side of the crankshaft 70. Further, the oscillating gear (second oscillating gear) 68 on the end plate portion 64 b side is attached to the eccentric portion (second eccentric portion) 70 b on the end plate portion 64 b side of the crankshaft 70. In this state, the shaft portion 64 c and the end plate portion 64 b are fastened to each other by the bolt 72.

The crankshaft 70 is rotatably supported with respect to the substrate portion 64a by the first crank bearing 74a and is rotatably supported with respect to the end plate portion 64b by the second crank bearing 74b. The crankshaft 70 is provided with a transmission gear 76 for transmitting the driving force of the input shaft to the crankshaft 70 between the

eccentric portions

70a and 70b. A washer (first washer) 78a is sandwiched between the substrate part 64a and the first eccentric part 70a, and a washer (second washer) 78b is also provided between the end plate part 64b and the second eccentric part 70b. Is sandwiched. The axial movement of the crankshaft 70 is restricted by these

washers

78a and 78b.

In the conventional eccentric oscillating gear device, the first washer 78a is sandwiched between the base plate portion 64a and the first eccentric portion 70a, and the second washer 78b is interposed between the end plate portion 64b and the second eccentric portion 70b. It is sandwiched. Therefore, there are the following problems.

That is, the

washers

78a and 78b are used to restrict the crankshaft 70 from moving in the axial direction, but it is necessary to prevent the crankshaft 70 from rotating around the axis. Therefore, the dimensions of the substrate portion 64a, the end plate portion 64b, the

eccentric portions

70a and 70b, the

washers

78a and 78b, etc. are managed with high accuracy. However, when each part is actually assembled, there is a case where the backlash of the crankshaft 70 is slightly large, or conversely, the hit of the

washers

78a, 78b against the

eccentric portions

70a, 70b may be slightly large. In such a case, it is necessary to disassemble the gear device once again and replace it with

washers

78a and 78b having different thicknesses or use shims to reassemble the gear device. As described above, when an operation for adjusting the movement of the crankshaft 70 is necessary after the gear device is assembled, an operation such as disassembly for each part is required.

JP 2008-202664 A

An object of the present invention is to provide an eccentric oscillating gear device that can simplify the adjustment work of a crankshaft.

An eccentric oscillating gear device according to one aspect of the present invention includes a crankshaft having an eccentric part, a oscillating gear having a tooth part and interlocking with the eccentric part, and an inner part meshing with the tooth part of the oscillating gear. An outer cylinder portion having teeth, a substrate portion in which a crankshaft hole into which the crankshaft is inserted is formed, and an end plate portion coupled to the substrate portion, and the substrate portion and the end plate portion An inner cylinder portion in which the oscillating gear is disposed, and a movement that is disposed on the opposite side of the oscillating gear with respect to the substrate portion and the end plate portion, and restricts axial movement of the crankshaft. And a regulation unit.

It is a figure which shows the structure of the eccentric rocking | fluctuation type gear apparatus which concerns on embodiment of this invention. It is a figure which shows the structure of the board | substrate side control part provided in the said gear apparatus. It is a figure which shows the principal part of the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is a figure which shows the principal part of the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is a figure which shows the eccentric rocking | fluctuation type gear apparatus which concerns on other embodiment of this invention. It is a figure which shows the structure of the conventional eccentric rocking | fluctuation type gear apparatus.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the present embodiment can be applied as a speed reducer to, for example, a revolving part such as a revolving trunk or arm joint of a robot, or a revolving part of various machine tools.

The gear device 1 according to the present embodiment rotates the

oscillating gears

14 and 16 by rotating the

eccentric portions

10a and 10b of the crankshaft 10, and the rotation speed decelerated from the input rotation speed thereby. It is configured to obtain an output. Thereby, for example, relative rotation can be caused between the base (first mating member) of the robot and the turning drum (second mating member).

As shown in FIGS. 1 and 2, the gear device 1 includes an outer cylinder portion 2, a carrier 4 as an inner cylinder portion, a plurality of (for example, three) crankshafts 10, and a swing gear (first swing). A gear 14 and a second oscillating gear 16).

The outer cylinder portion 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape. A large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylindrical portion 2. Each pin groove 2b is formed so as to extend in the axial direction of the outer tube portion 2, and has, for example, a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder portion 2 at equal intervals in the circumferential direction.

The outer cylinder portion 2 has a large number of internal tooth pins 3. Each internal tooth pin 3 is attached to a pin groove 2b. Specifically, each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder portion 2. Thereby, the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder part 2. The first external teeth (tooth portions) 14 a of the first swing gear 14 and the second external teeth (tooth portions) 16 a of the second swing gear 16 are engaged with these internal tooth pins 3.

The outer cylinder portion 2 is provided with a flange portion, and an insertion hole 2a for inserting a fastener (bolt) for fixing to the base of the robot is formed in the flange portion.

The carrier 4 is accommodated in the outer cylinder part 2 in a state of being arranged coaxially with the outer cylinder part 2. The carrier 4 rotates relative to the outer cylinder portion 2 around the same axis. Specifically, the carrier 4 is disposed on the radially inner side of the outer cylinder portion 2, and is supported by the pair of main bearings 6 so as to be relatively rotatable with respect to the outer cylinder portion 2 in this state. The pair of main bearings 6 are provided apart from each other in the axial direction. An annular seal member 25 is provided between the outer cylinder portion 2 and the carrier 4.

The carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7 formed separately from the base portion 5.

The substrate portion 4a is disposed in the outer cylinder portion 2 in the vicinity of one end portion in the axial direction. A through hole 4d having a circular cross section is provided in the central portion in the radial direction of the substrate portion 4a. Around the through hole 4d, a plurality (for example, three) of crankshaft holes 4e are provided at equal intervals in the circumferential direction.

A fastening hole 4g for fastening an unillustrated fastener (bolt) for fixing the carrier 4 to, for example, a rotating drum of the robot is formed in the substrate portion 4a. The fastening hole 4g is formed in the end surface 4h on the side opposite to the end plate portion 7 in the substrate portion 4a. A concave portion 4i is formed on the end surface (outer end surface) 4h. The concave portion 4i has a bottom surface 4j formed in a disc shape concentric with the axis of the substrate portion 4a. The bottom surface 4 j is a surface perpendicular to the rotation axis of the carrier 4. The fastening hole 4g is located on the radially outer side of the recess 4i.

The end plate portion 7 is provided to be separated from the substrate portion 4a in the axial direction, and is disposed in the vicinity of the other end portion in the axial direction in the outer cylinder portion 2. A through hole 7 a having a circular cross section is provided in the radial center of the end plate portion 7. Around the through hole 7a, a plurality of (for example, three) crankshaft holes 7b are provided at positions corresponding to the plurality of crankshaft holes 4e of the substrate portion 4a. The inner diameter of the crankshaft hole 4e and the inner diameter of the crankshaft hole 7b have the same dimensions.

The plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from the substrate portion 4a to the end plate portion 7 side. The plurality of shaft portions 4c are arranged at equal intervals in the circumferential direction.

The end plate portion 7 is fastened to the base portion 5 by bolts 9. That is, a bolt insertion hole 7c is formed in the end plate portion 7, and a fastening hole 4f is formed in the shaft portion 4c (base portion 5) so as to extend in the axial direction from the distal end surface. A bolt 9 is inserted into the bolt insertion hole 7c of the end plate portion 7 from the side opposite to the base portion 5 (substrate portion 4a). The bolt 9 is screwed into the fastening hole 4f of the shaft portion 4c. Thereby, the board | substrate part 4a, the shaft part 4c, and the end plate part 7 are integrated. That is, the end plate portion 7 is detachably coupled to the substrate portion 4a.

A pin hole 22 is formed in the base portion 5 and the end plate portion 7, and the positioning pin 11 is inserted into the pin hole 22. The positioning pin 11 is provided from the base portion 5 to the end plate portion 7. Thereby, the position of the end plate part 7 with respect to the base part 5 is determined with high accuracy.

The end plate portion 7 has a recess 7e formed on an end surface (outer end surface) 7d opposite to the substrate portion 4a. The recess 7e has a bottom surface 7f formed in a disc shape concentric with the axis of the end plate portion 7. The bottom surface 7 f is a surface perpendicular to the rotation axis of the carrier 4. The crankshaft hole 7b, the bolt insertion hole 7c, and the pin hole 22 each open to the bottom surface 7f of the recess 7e.

The plurality of crankshafts 10 are arranged at equal intervals around the central through

holes

4d and 7a in the outer cylinder portion 2. Each crankshaft 10 is supported by a pair of crank

bearings

12a and 12b so as to be rotatable about the axis with respect to the carrier 4.

Specifically, each crankshaft 10 is provided with a first crank bearing 12a attached to a portion on the substrate portion side in the axial direction, and the first crank bearing 12a is disposed in the crankshaft hole 4e of the substrate portion 4a. Has been. The 1st crank bearing 12a functions as a board | substrate side crank bearing which supports the crankshaft 10 rotatably with respect to the base 5 (board | substrate part 4a). Further, each crankshaft 10 is provided with a second crank bearing 12b at a position on the end plate portion side in the axial direction. The second crank bearing 12b is disposed in the crankshaft hole 7b of the end plate portion 7. Has been. The second crank bearing 12b functions as an end plate side crank bearing that rotatably supports the crankshaft 10 with respect to the end plate portion 7. Thereby, the crankshaft 10 is rotatably supported by the board | substrate part 4a and the end plate part 7. FIG.

Each crankshaft 10 includes a shaft body 10c and

eccentric portions

10a and 10b formed integrally with the shaft body 10c. The first eccentric part 10a arranged on the substrate part 4a side and the second eccentric part 10b arranged on the end plate part 7 side are aligned in the axial direction between the parts supported by both the crank

bearings

12a and 12b. Is arranged. Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c. The first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.

The shaft main body 10c includes a first journal portion 10f closer to the substrate than the first eccentric portion 10a, a second journal portion 10g closer to the end plate than the second eccentric portion 10b, and an axial direction from the second journal portion 10g. And a protruding portion 10h protruding outward.

The first journal portion 10f is formed in a columnar shape, and a first crank bearing 12a is attached to the first journal portion 10f. The second journal portion 10g is also formed in a cylindrical shape, and a second crank bearing 12b is attached to the second journal portion 10g. The crank

bearings

12a and 12b are constituted by bearings having needle rollers or cylindrical rollers such as needle bearings. The first journal portion 10f and the second journal portion 10g have the same outer diameter.

The outer end surface of the first journal portion 10f constitutes one outer end surface of the shaft main body 10c as a surface (axis vertical surface) 10i perpendicular to the axial direction. The axis vertical surface 10i is arranged flush with the axis vertical surface (the bottom surface 4j of the recess 4i) opposite to the end plate portion 7 in the substrate portion 4a. In addition, the recessed part 4i can be abbreviate | omitted in the board | substrate part 4a. In this case, the axial vertical surface 10i only needs to be arranged flush with the end surface (axial vertical surface) 4h opposite to the end plate portion 7 in the substrate portion 4a.

The outer end surface (surface opposite to the substrate portion 4a and perpendicular to the axial direction) of the second journal portion 10g is a surface (axial vertical surface) 10j perpendicular to the axial direction. The axis vertical surface 10j is arranged in a state flush with the axis vertical surface (the bottom surface 7f of the recess 7e) on the end plate portion 7 opposite to the substrate portion 4a. In addition, the recessed part 7e can be abbreviate | omitted in the end plate part 7. FIG. In this case, the axial vertical surface 10j may be disposed so as to be flush with the end surface (axial vertical surface) 7d opposite to the substrate portion 4a in the end plate portion 7.

The protruding portion 10h extends in the axial direction from the axial vertical surface 10j. The projecting portion 10h is splined so that the transmission gear 20 can be attached. The transmission gear 20 meshes with an input gear (not shown) and transmits a rotational driving force input through the input gear to the crankshaft 10.

The first oscillating gear 14 is disposed on the side of the substrate portion 4a in the closed space S inside the outer cylinder portion 2, and is attached to the first eccentric portion 10a of each crankshaft 10 via the first roller bearing 18a. ing. When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal pin 3 in conjunction with the eccentric rotation.

The first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder portion 2. The first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have. The first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.

The central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.

The plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14. The first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.

The plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.

The second oscillating gear 16 is disposed on the end plate portion 7 side in the closed space S inside the outer cylinder portion 2, and the second eccentric portion 10 b of each crankshaft 10 is interposed via the second roller bearing 18 b. It is attached. The first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the positions of the first eccentric portion 10a and the second eccentric portion 10b. When each crankshaft 10 rotates and the second eccentric portion 10b rotates eccentrically, the second swing gear 16 swings and rotates while meshing with the internal pin 3 in conjunction with the eccentric rotation.

The second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder portion 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.

The gear device 1 includes a movement restricting portion 30 that restricts the movement of the crankshaft 10 in the axial direction. The movement restricting portion 30 includes a substrate side restricting portion 31 disposed so as to contact the substrate portion 4 a and an end plate restricting portion 32 disposed so as to contact the end plate portion 7. The board | substrate side control part 31 is arrange | positioned with respect to the board | substrate part 4a on the opposite side to the rocking gears 14 and 16. FIG. The end plate side restricting portion 32 is disposed on the side opposite to the swinging gears 14 and 16 with respect to the end plate portion 7. The board side regulating part 31 and the end plate side regulating part 32 are both arranged so as to be exposed to the outside of the carrier 4, and the crankshaft 10 moves in the axial direction from the outside of the board part 4 a and the end plate part 7. To regulate.

The board side regulating part 31 and the end plate side regulating part 32 have the same configuration. Therefore, both the restricting

portions

31 and 32 can be configured by common parts.

Since the board side regulating part 31 and the end plate side regulating part 32 have the same shape, the configuration of the board side regulating part 31 will be described below. As shown in FIG. 2, the board | substrate side control part 31 is comprised by the metal members formed in the thin plate shape. In this embodiment, the board | substrate side control part 31 is formed in disk shape, However, It is not restricted to this.

The board side regulating portion 31 includes a first insertion hole 31a through which the protrusion 10h of the crankshaft 10 can be inserted, a second insertion hole 31b through which the bolt 35 is inserted, a third insertion hole 31c at the center, and an oil passage hole. 31d. In the present embodiment, since the protruding portion 10h of the crankshaft 10 is located on the end plate side, the protruding portion 10h is not inserted into the first insertion hole 31a of the substrate side regulating portion 31, and the end plate side The protruding portion 10 h is inserted into the first insertion hole 32 a of the restriction portion 32. Further, the third insertion hole 31c can be omitted.

The bolt 35 is a fastener for fixing the board | substrate side control part 31 to the board | substrate part 4a. The bolt 35 has a male screw portion and a head having the same diameter as the bolt 9 for connecting the substrate portion 4 a and the end plate portion 7. The board portion 4a is formed with a fastening hole 4k into which the male screw portion of the bolt 35 is screwed. The fastening hole 4k is opened in the bottom surface 4j of the recess 4i. Therefore, the board | substrate side control part 31 is arrange | positioned in the recessed part 4i in the board | substrate part 4a, and is in surface contact with the bottom face 4j. In this state, the board-side regulating part 31 is fastened to the board part 4 a by the bolt 35. That is, the board | substrate side control part 31 (movement control part 30) can be attached or detached with respect to the board | substrate part 4a. Since the head of the bolt 35 is also housed in the recess 4i, the head of the bolt 35 does not interfere with the turning drum of the robot.

A plurality of first insertion holes 31 a are provided so as to correspond to the plurality of crankshafts 10. The first insertion hole 31 a is formed at a position corresponding to the position of the crankshaft 10. The first insertion hole 31a is formed in such a size that the protruding portion 10h can be inserted while the first journal portion 10f cannot be inserted. For this reason, the outer end surface of the first journal portion 10 f is in contact with the substrate side regulating portion 31. Accordingly, the movement of the crankshaft 10 in the direction from the end plate portion 7 toward the substrate portion 4a is restricted by the substrate-side restriction portion 31.

Note that the first insertion hole 32a of the end plate side regulating portion 32 is formed in such a size that the protruding portion 10h can be inserted while the second journal portion 10g cannot be inserted. For this reason, the outer end surface of the second journal portion 10g is in contact with the end plate side regulating portion 32. Therefore, the movement of the crankshaft 10 in the direction from the substrate portion 4 a toward the end plate portion 7 is restricted by the end plate side restricting portion 32.

The second insertion hole 31b is formed at a position corresponding to the position of the bolt 35. The 2nd penetration hole 31b is formed in the magnitude | size which cannot insert the head part of the volt | bolt 35, while the male thread part of the volt | bolt 35 can be inserted.

Bolts 9 for connecting the substrate portion 4a and the end plate portion 7 are inserted into the second insertion holes 32b of the end plate side restricting portion 32. The second insertion hole 32b is formed in such a size that the male screw portion of the bolt 9 can be inserted while the head portion of the bolt 9 cannot be inserted. For this reason, the head of the bolt 9 is in contact with one surface (the outer surface in the axial direction) of the end plate side restricting portion 32, and this one surface receives the fastening force of the bolt 9. For this reason, the end plate side regulating portion 32 also functions as a washer for the bolt 9. The end plate side regulating portion 32 is fastened to the end plate portion 7 by a bolt 9. In other words, the end plate side restricting portion 32 (movement restricting portion 30) is detachable from the end plate portion 7. The end plate side restricting portion 32 is disposed in the concave portion 7e of the end plate portion 7 and is in surface contact with the bottom surface 7f, and closes the pin hole into which the positioning pin 11 is inserted in this state.

It should be noted that the second insertion hole 32b is not limited to the configuration in which the bolt 9 for connecting the substrate portion 4a and the end plate portion 7 is inserted. A bolt separate from the bolt 9 may be configured to fix the end plate side restricting portion 32, and the bolt may be inserted into the second insertion hole 32b. This bolt is used only for fastening the end plate side restricting portion 32 to the end plate portion 7, and a fastening hole for fastening the bolt is formed in the end plate portion. In this case, the end plate side restricting portion 32 may be formed in a shape that does not block the bolt insertion hole 7c, or may be formed in a size that allows the second insertion hole 32b to pass through the head of the bolt 9. .

A plurality of oil passage holes 31d are formed around the first insertion hole 31a at intervals. Lubricating oil can be supplied through this oil passage hole 31d.

In this gear device 1, when each crankshaft 10 is rotated by the rotation of the transmission gear 20, the swing gears 14 and 16 attached to the

eccentric portions

10a and 10b are moved in accordance with the rotation of the

eccentric portions

10a and 10b. It swings while meshing with the tooth pin 3. Thereby, the carrier 4 and the outer cylinder part 2 rotate relatively to each other. Thereby, the output of the rotation speed decelerated from the input rotation speed is obtained.

Here, in the gear device 1 according to the present embodiment, a procedure of adjustment work that is performed when it is necessary to adjust the degree of contact of the movement restricting portion 30 with respect to the crankshaft 10 will be described.

First, after the gear unit 1 is assembled, the movement of the crankshaft 10 is checked. That is, after the assembly of the gear device 1 is completed, the crankshaft 10 does not move in the axial direction, or the amount of movement in the axial direction is not greater than expected, or the axial vertical surface 10i of the crankshaft 10 , 10j and the movement restricting unit 30 are checked to see if they are too strong.

If the amount of movement of the crankshaft 10 in the axial direction of the crankshaft 10 is greater than expected, a shim (spacer) 36a can be used, for example, as shown in FIG. In this case, for example, the bolt 35 is removed from the substrate portion 4a, and the substrate-side regulating portion 31 is removed from the substrate portion 4a.

Then, a shim (annular plate member) 36a is attached to the first journal portion 10f of the crankshaft 10, and a restricting portion main body 36b made of a plate member having the same shape as the plate member constituting the substrate side restricting portion 31 is attached thereto. Cover. As a result, the shim 36a is sandwiched between the first crank bearing 12a and the restricting portion main body 36b. In this state, the bolt 35 is screwed into the fastening hole 4k. Thereby, the regulation part main body 36b is fixed to the board | substrate part 4a, and, thereby, the regulation part main body 36b presses the crankshaft 10 via the shim 36a. In this state, the movement of the crankshaft 10 in the axial direction is restricted by the shim 36a and the restricting portion main body 36b. In other words, in this case, the substrate-side regulating portion 31 is configured by the regulating portion main body 36b and the shim 36a. Thus, the crankshaft 10 can be adjusted only by removing the board-side regulating part 31 from the board part 4a, and the gear device 1 does not need to be separated for each component. The shim 36a is not limited to the configuration sandwiched between the first crank bearing 12a and the restriction main body 36b. For example, the shim 36a may be sandwiched between the rocking gear 14 and the restricting portion main body 36b.

A shim having a thickness corresponding to the axial direction of the crankshaft 10 may be selected depending on how much the crankshaft 10 moves in the axial direction.

FIG. 3 shows the shim 36a fitted on the first journal portion 10f, that is, the shim 36a arranged on the substrate portion 4a side, but is not limited thereto. Instead of or in addition to this, a shim (not shown) attached to the second journal part 10g, that is, a shim arranged on the end plate part side may be used. In this case, the end plate side restricting portion 32 is configured by the shim and the restricting portion main body for sandwiching the shim between the second crank bearing 12b. The restricting portion main body is fixed to the end plate portion 7 by the bolt 9, thereby pressing the crankshaft 10 through the shim. In this case, it is necessary to perform the operation with the transmission gear 20 removed from the crankshaft 10.

On the other hand, when the contact of the movement restricting portion 30 with respect to the shaft

vertical surfaces

10i and 10j of the crankshaft 10 is too strong, as shown in FIG. Spacer) 37a can be used. The shim 37a is sandwiched between the board part 4a and a flat plate-like regulating part body 37b made of a plate member having the same shape as the board member constituting the board side regulating part 31. In this state, the bolt 35 is screwed into the fastening hole 4k. As a result, the shaft vertical surface 10i of the crankshaft 10 can be pressed by the restricting portion main body 37b so that the movement restricting portion 30 does not become too strong against the crankshaft 10. In this case, the board side regulating part 31 is configured by the regulating part main body 37b and the shim 37a.

FIG. 4 shows the shim 37a sandwiched between the substrate portion 4a and the restricting portion main body 37b, but is not limited to this. Instead of this, or in addition to this, a shim (not shown) sandwiched between the end plate portion 7 and the regulating portion main body (not shown), that is, a shim disposed on the end plate portion 7 side may be used. . In this case, the end plate side restricting portion 32 is configured by the shim and the restricting portion main body. The restricting portion main body is fixed to the end plate portion 7 by the bolt 9, thereby pressing the shaft vertical surface 10 j of the crankshaft 10.

As described above, in the present embodiment, the movement restricting portion 30 for restricting the movement of the crankshaft 10 in the axial direction is opposite to the swinging gears 14 and 16 with respect to the substrate portion 4a and the end plate portion 7. Is arranged. In other words, the movement restricting portion 30 is not disposed between the substrate portion 4a and the end plate portion 7, but is disposed outside the substrate portion 4a and the end plate portion 7. For this reason, it is not necessary to provide a washer for regulating the axial movement direction of the crankshaft 10 between the substrate portion 4a of the carrier 4 and the first eccentric portion 10a of the crankshaft 10, and the end plate portion 7 and the crank There is no need to provide a washer with the second eccentric portion 10b of the shaft 10. That is, a washer that overlaps the first swing gear 14 in the axial direction of the crankshaft 10 is not provided between the base plate portion 4a and the swing gears 14 and 16, and the end plate portion 7 and the second swing gear 14 are not provided. It is not provided between the gear 16. For this reason, after the gear device 1 is assembled, when it is necessary to adjust the movement of the crankshaft 10, the movement restricting portion 30 disposed outside the substrate portion 4a and the end plate portion 7 is replaced. It is possible to cope with the problem by placing a shim 36a between the substrate portion 4a or the end plate portion 7 and the restricting portion main body 36b. Therefore, it is possible to adjust the movement of the crankshaft 10 without separating the gear device 1 for each part.

Further, in the present embodiment, in a state where the substrate side regulating portion 31 is attached to the substrate portion 4a, the substrate side regulating portion 31 contacts the first journal portion 10f of the crankshaft 10. Accordingly, the movement of the crankshaft 10 in the direction in which the crankshaft 10 faces the outside of the substrate portion 4a is restricted by the substrate-side restricting portion 31. Further, in a state where the end plate side restricting portion 32 is attached to the end plate portion 7, the end plate side restricting portion 32 contacts the second journal portion 10 g of the crankshaft 10. Therefore, the movement of the crankshaft 10 in the direction in which the crankshaft 10 faces the outside of the end plate portion 7 is restricted by the end plate side restricting portion 32. In a state where the coupling between the substrate portion 4a and the end plate portion 7 is released, the crankshaft 10 can be removed regardless of whether the substrate-side regulating portion 31 is removed from the substrate portion 4a.

Further, in the present embodiment, since the board side regulating part 31 and the end plate side regulating part 32 are formed in the same shape, it is necessary to manage the board side regulating part 31 and the end plate side regulating part 32 as separate components. There is no. Therefore, the types managed as parts can be reduced.

In this embodiment, the end plate side restricting portion 32 also functions as a washer for the bolt 9 that joins the substrate portion 4 a and the end plate portion 7. For this reason, the part by which the head of the bolt 9 is pressed can be depressed or the bolt 9 can be prevented from loosening.

In the present embodiment, the end plate side regulating portion 32 also functions as a member for preventing the positioning pin 11 from falling off, so that the position of the end plate portion 7 with respect to the substrate portion 4a can be accurately adjusted by the positioning pin 11, and The end plate side restricting portion 32 prevents the positioning pin 11 from falling off. Therefore, it is possible to avoid a situation in which a problem that the positioning pin 11 falls off and the pin is engaged with the gear occurs.

Further, in this embodiment, since the movement restricting portion 30 is configured as a member that restricts the movement of all the crankshafts 10, it is not necessary to provide the movement restricting portion 30 separately for each crankshaft 10. For this reason, it can suppress that a number of parts increases.

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 substrate-side regulating portion 31 and the end plate-side regulating portion 32 are configured by a common member, but the substrate-side regulating portion 31 and the end plate-side regulating portion 32 may not be formed as a common member. Good. In this case, in the board | substrate side control part 31, the penetration hole which penetrates the protrusion part 10h may be abbreviate | omitted. Moreover, in the board | substrate side control part 31 and the end plate side control part 32, the position and magnitude | size of the

1st insertion holes

31a and 32a which penetrate the volt | bolts 9 and 35 may differ.

In the embodiment, the board-side regulating part 31 can be attached to and detached from the board part 4 a by the bolt 35, and the end plate side regulating part 32 can be attached to and detached from the end plate part 7 by the bolt 9. However, it is not limited to this. Only one of the substrate-side regulating portion 31 and the end plate-side regulating portion 32 may be detachable, and the other may not be detachable by welding or the like.

As shown in FIG. 5, the board | substrate side control part 31 may be fixed to the board | substrate part 4a by press-fitting in the recessed part 4i of the board | substrate part 4a. Further, the end plate side regulation portion 32 may be fixed to the end plate portion 7 by being press-fitted into the recess 7 e of the end plate portion 7. Moreover, the board | substrate side control part 31 may be adhere | attached and fixed to the board | substrate part 4a with the adhesive agent. Further, the end plate side regulating portion 32 may be bonded and fixed to the end plate portion 7 with an adhesive.

In the above-described embodiment, the crankshaft 10 has the protruding portion 10h that protrudes toward the end plate portion 7 and the transmission gear 20 is disposed on the end plate portion 7 side, but the present invention is not limited thereto. The projecting portion 10h of the crankshaft 10 may be disposed on the substrate portion 4a side, and the transmission gear 20 may be disposed on the substrate portion 4a side.

In the above-described embodiment, an example in which the crankshaft hole 7b is formed in the end plate portion 7 has been described. However, the crankshaft hole 7b of the end plate portion 7 is omitted, and the crankshaft 10 is the crankshaft hole 4e of the base plate portion 4a. It is good also as a structure supported by cantilever. In this case, the protruding portion 10h of the crankshaft 10 and the transmission gear 18 are disposed on the substrate portion 4a side.

In the above-described embodiment, the two

oscillating gears

14 and 16 are provided. However, the present invention is not limited to this. For example, a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.

In the above-described embodiment, the plurality of crankshafts 10 are arranged around the central through

holes

4d and 7a. However, the present invention is not limited to this. For example, a center crank type in which one crankshaft 10 is disposed at the center of the carrier 4 may be used.

In the above-described embodiment, an example is shown in which the carrier 4 is fastened to the revolving barrel and revolved, and the outer cylinder portion 2 is fixed to the base of the robot so as to be immobile. That is, the outer cylinder part 2 may be fastened to the revolving drum and the carrier 4 may be fastened to the base of the robot. In this case, the outer cylinder portion 2 rotates relative to the carrier 4 so that the turning cylinder of the robot turns with respect to the base.

Here, the embodiment will be outlined.

(1) In the present embodiment, the movement restricting portion for restricting the movement of the crankshaft in the axial direction is disposed on the side opposite to the swing gear with respect to the substrate portion and the end plate portion. In other words, the movement restricting portion is not disposed between the substrate portion and the end plate portion, but is disposed outside the substrate portion and the end plate portion. For this reason, it is not necessary to provide a washer for restricting the movement of the crankshaft in the axial direction between the base plate portion of the inner cylinder portion and the eccentric portion of the crankshaft, and the end plate portion of the inner cylinder portion and the crankshaft There is no need to provide a washer between the eccentric part. That is, the washer that overlaps the swing gear in the axial direction of the crankshaft is not provided between the substrate portion and the swing gear, and is not provided between the end plate portion and the swing gear. For this reason, if it is necessary to adjust the movement of the crankshaft after assembling the gear device, the movement restricting portion disposed outside the substrate portion and the end plate portion may be replaced, or the substrate portion Alternatively, it can be coped with by shimming between the end plate portion and the movement restricting portion. Therefore, it is possible to adjust the movement of the crankshaft without separating the gear device for each part.

(2) The movement restricting portion may include a substrate side restricting portion and an end plate side restricting portion. In this case, at least one of a configuration in which the substrate side regulating portion is detachable from the substrate portion and a configuration in which the end plate side regulating portion is detachable from the end plate portion may be employed. .

(3) In this preferable aspect, the board side regulating part may be detachably coupled to the board part with a bolt. The end plate side restricting portion may be detachably coupled to the end plate portion with a bolt.

In this aspect, the board-side regulating part can be easily removed from the board part by removing the bolt. Moreover, the end plate side regulation part can be easily removed from the end plate part by removing the bolt. In addition, since the board | substrate side control part and the end plate side control part are arrange | positioned on the opposite side to a rocking | fluctuation gear with respect to a board | substrate part and an end plate part, it is easy with respect to a board | substrate part and an end plate part with a volt | bolt. Can be concluded.

(4) In this preferred embodiment, a first crank bearing disposed in the crankshaft hole of the base plate portion and mounted on a first journal portion of the crankshaft, and a crankshaft formed on the end plate portion And a second crank bearing disposed in the hole and mounted on the second journal portion of the crankshaft. The board side regulating portion abuts on the first journal portion to regulate axial movement of the crankshaft, and the end plate side regulating portion abuts on the second journal portion and axial direction of the crankshaft The movement may be restricted.

In this aspect, in a state where the substrate side regulating portion is attached to the substrate portion, the substrate side regulating portion contacts the first journal portion of the crankshaft. Therefore, the movement of the crankshaft in the direction in which the crankshaft is directed toward the outside of the substrate portion is restricted by the substrate side restriction portion. Further, in a state where the end plate side restricting portion is attached to the end plate portion, the end plate side restricting portion abuts on the second journal portion of the crankshaft. Therefore, the movement of the crankshaft in the direction in which the crankshaft faces the outside of the end plate portion is restricted by the end plate side restricting portion. And in the state where the coupling between the substrate portion and the end plate portion is released, the end plate side restricting portion is removed from the end plate portion regardless of whether the substrate side restricting portion is removed from the substrate portion. The crankshaft can be removed regardless of whether

(5) The substrate side regulating portion and the end plate side regulating portion may have the same configuration. In this aspect, it is not necessary to manage the board side regulating portion and the end plate side regulating portion as separate components. Therefore, the types managed as parts can be reduced.

(6) At least one of the substrate side regulating portion and the end plate side regulating portion may be coupled by a bolt that fastens the substrate portion and the end plate portion. In this aspect, there is no need to newly provide a bolt for coupling the movement restricting portion to the substrate portion or the end plate portion.

(7) In this aspect, the movement restricting portion may function as a washer for the bolt. In this aspect, the portion where the head portion of the bolt is pressed can be depressed, or the bolt can be prevented from loosening.

(8) A positioning pin for aligning the position of the end plate portion with respect to the substrate portion may be provided. In this case, the movement restricting portion may function as a member for preventing the positioning pin from dropping off.

In this aspect, the position of the end plate portion with respect to the substrate portion can be accurately adjusted by the positioning pins. In addition, since the hole of the positioning pin is blocked by the movement restricting portion, it is possible to avoid a problem that the positioning pin comes off and falls off and the pin is engaged with the gear.

(9) A plurality of crankshafts including the crankshaft may be provided. In this case, the movement restricting portion may be configured as a member that restricts movement of all crankshafts. In this aspect, since it is not necessary to provide a separate movement restricting portion for each crankshaft, an increase in the number of parts can be suppressed.

As described above, according to the present embodiment, the adjustment work of the crankshaft can be simplified.

Claims

A crankshaft having an eccentric portion;
A rocking gear having a tooth portion and interlocking with the eccentric portion;
An outer cylinder portion having an inner tooth meshing with the tooth portion of the swing gear;
A substrate portion having a crankshaft hole through which the crankshaft is inserted; and an end plate portion coupled to the substrate portion; and the swing gear is disposed between the substrate portion and the end plate portion. An inner cylinder portion to be
An eccentric oscillating gear device, comprising: a movement restricting portion that is disposed on the opposite side of the oscillating gear with respect to the substrate portion and the end plate portion and restricts movement of the crankshaft in the axial direction.
The movement restricting portion has a substrate side restricting portion and an end plate restricting portion,
2. The configuration according to claim 1, wherein at least one of a configuration in which the substrate side regulating portion is detachable from the substrate portion and a configuration in which the end plate side regulating portion is detachable from the end plate portion is employed. An eccentric oscillating gear device.
The board side regulating part is detachably coupled to the board part with a bolt,
The eccentric oscillating gear device according to claim 2, wherein the end plate side regulating portion is detachably coupled to the end plate portion with a bolt.
A first crank bearing disposed in the crankshaft hole of the base plate portion and mounted on a first journal portion of the crankshaft;
A second crank bearing disposed in a crankshaft hole formed in the end plate portion and attached to a second journal portion of the crankshaft,
The substrate side regulating portion abuts on the first journal portion to regulate axial movement of the crankshaft,
The eccentric oscillating gear device according to claim 2 or 3, wherein the end plate side restricting portion abuts on the second journal portion to restrict the axial movement of the crankshaft.
The eccentric oscillating gear device according to any one of claims 2 to 4, wherein the substrate side regulating portion and the end plate side regulating portion have the same configuration.
The eccentric oscillation type according to any one of 2 to 5, wherein at least one of the substrate side regulating portion and the end plate side regulating portion is coupled by a bolt for fastening the substrate portion and the end plate portion. Gear device.
The eccentric oscillating gear device according to claim 3 or 6, wherein the movement restricting portion also functions as a washer for the bolt.
A positioning pin for aligning the position of the end plate portion with respect to the substrate portion is provided,
The eccentric oscillating gear device according to any one of claims 1 to 7, wherein the movement restricting portion also functions as a member for preventing the positioning pin from falling off.
A plurality of crankshafts including the crankshaft are provided;
The eccentric oscillating gear device according to any one of claims 1 to 8, wherein the movement restricting portion is configured as a member that restricts movement of all crankshafts.