WO2022021863A1 - 内啮合行星齿轮装置及执行器 - Google Patents

内啮合行星齿轮装置及执行器 Download PDF

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Publication number
WO2022021863A1
WO2022021863A1 PCT/CN2021/077125 CN2021077125W WO2022021863A1 WO 2022021863 A1 WO2022021863 A1 WO 2022021863A1 CN 2021077125 W CN2021077125 W CN 2021077125W WO 2022021863 A1 WO2022021863 A1 WO 2022021863A1
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WIPO (PCT)
Prior art keywords
planetary gear
eccentric
pins
gear
ring
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PCT/CN2021/077125
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English (en)
French (fr)
Inventor
林文捷
王刚
峯岸清次
伊佐地毅
Original Assignee
灵智信息服务（深圳）有限公司
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Application filed by 灵智信息服务（深圳）有限公司 filed Critical 灵智信息服务（深圳）有限公司
Priority to CN202180043000.8A priority Critical patent/CN115698547A/zh
Priority to EP21850356.3A priority patent/EP4184034A4/en
Publication of WO2022021863A1 publication Critical patent/WO2022021863A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
    • F16H57/0424—Lubricant guiding means in the wall of or integrated with the casing, e.g. grooves, channels, holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0479—Gears or bearings on planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

Definitions

  • Embodiments of the present disclosure generally relate to an internal meshing planetary gear device and an actuator, and more specifically, relate to an internal meshing planetary gear device and an actuator in which a planetary gear having external teeth is arranged inside an internally toothed gear having internal teeth.
  • the internally toothed gear is configured by rotatably fitting a plurality of pins (roller pins) that form internal teeth one by one to the inner peripheral surface of a gear main body (internally toothed gear main body) that also serves as a housing.
  • a plurality of inner pin holes are formed at appropriate intervals in the circumferential direction, and inner pins and inner rollers are inserted into the inner pin holes.
  • the inner pin is connected to the bracket at one end side in the axial direction, and the bracket is rotatably supported by the housing via a bearing member (cross roller).
  • This gear unit can be used as a gear unit in which the rotation corresponding to the rotation component of the planetary gear when the internal gear is fixed is taken out from the carrier.
  • the purpose of the embodiments of the present disclosure is to provide an internal meshing planetary gear device and an actuator that can be easily miniaturized.
  • An internal meshing planetary gear device includes a bearing member, an internally toothed gear, a planetary gear, and a plurality of internal pins.
  • the bearing member includes an outer ring and an inner ring disposed inside the outer ring, and the inner ring is supported so as to be rotatable relative to the outer ring.
  • the internal gear has internal teeth and is fixed to the outer ring.
  • the planetary gears have external teeth partially meshed with the internal teeth.
  • the plurality of inner pins revolve in the inner pin holes and rotate relatively with respect to the inner tooth gear while being inserted into the plurality of inner pin holes formed in the planetary gear, respectively.
  • Each of the plurality of inner pins is held by the inner ring in a rotatable state, and at least a part of each of the plurality of inner pins is disposed at the same position as the bearing member in the axial direction of the bearing member.
  • An actuator includes: the internal meshing planetary gear device; and a drive source that generates a drive force for swinging the planetary gear.
  • FIG. 1 is a perspective view showing a schematic configuration of an actuator including an internal meshing planetary gear device according to an embodiment.
  • FIG. 2 is a schematic exploded perspective view of the above-mentioned internal meshing planetary gear device as seen from the output side of the rotating shaft.
  • FIG 3 is a schematic cross-sectional view of the above-mentioned internal meshing planetary gear device.
  • FIG. 4 is a cross-sectional view taken along line A1-A1 of FIG. 3 , showing the above-mentioned internal meshing planetary gear device.
  • FIG. 5A is a perspective view showing a planetary gear of the above-mentioned ring gear device as a single unit.
  • FIG. 5B is a front view showing the planetary gear of the above-mentioned internal meshing planetary gear device alone.
  • FIG. 6A is a perspective view showing the bearing member of the above-mentioned ring gear device as a single unit.
  • FIG. 6B is a front view showing the bearing member of the above-mentioned internal meshing planetary gear device as a single unit.
  • FIG. 7A is a perspective view showing the eccentric shaft of the above-mentioned ring gear device as a single unit.
  • FIG. 7B is a front view showing the eccentric shaft of the above-mentioned internal meshing planetary gear device alone.
  • FIG. 8A is a perspective view showing the support body of the above-mentioned ring gear device as a single unit.
  • FIG. 8B is a front view showing the support body of the above-mentioned internal meshing planetary gear unit as a single body.
  • FIG. 9 is an enlarged view of a region Z1 of FIG. 3 showing the above-described ring gear device.
  • FIG. 10 is a cross-sectional view taken along line B1-B1 of FIG. 3 , showing the above-mentioned internal meshing planetary gear device.
  • FIG. 11 is a schematic cross-sectional view showing a main part of an internal meshing planetary gear device according to another embodiment.
  • FIGS. 1 to 3 The drawings referred to in the embodiments of the present disclosure are schematic drawings, and the respective ratios of the sizes and thicknesses of the structural elements in the drawings do not necessarily reflect the actual size ratios.
  • the tooth shape, size, and number of teeth of the inner teeth 21 and the outer teeth 31 in FIGS. 1 to 3 are only schematically shown for illustration, and the gist thereof is not limited to the shapes shown in the drawings.
  • the internal meshing planetary gear device 1 (hereinafter, also simply referred to as “gear device 1 ”) of the present embodiment is a gear device including an internally toothed gear 2 , a planetary gear 3 , and a plurality of inner pins 4 .
  • the planetary gears 3 are arranged inside the ring-shaped internally toothed gear 2
  • the eccentric body bearing 5 is arranged inside the planetary gears 3 .
  • the eccentric body bearing 5 has an eccentric inner ring 51 and an eccentric outer ring 52, and the eccentric inner ring 51 rotates (eccentrically moves about a rotation axis Ax1 (see FIG. 3 ) offset from the center C1 (see FIG.
  • the internal meshing planetary gear device 1 further includes a bearing member 6 having an outer ring 62 and an inner ring 61 .
  • the inner ring 61 is arranged inside the outer ring 62 and is supported so as to be rotatable relative to the outer ring 62 .
  • the internally toothed gear 2 has internal teeth 21 and is fixed to the outer ring 62 .
  • the internally toothed gear 2 has an annular gear body 22 and a plurality of pins 23 .
  • the plurality of pins 23 are held on the inner peripheral surface 221 of the gear body 22 in a rotatable state, and constitute the internal teeth 21 .
  • the planetary gear 3 has external teeth 31 partially meshed with the internal teeth 21 . That is, on the inner side of the internal gear 2 , the planetary gears 3 are inscribed in the internal gear 2 , and a part of the external teeth 31 meshes with a part of the internal teeth 21 .
  • Such a gear device 1 is used by taking out the rotation corresponding to the rotation component of the planetary gear 3 as, for example, the rotation of the output shaft integrated with the inner ring 61 of the bearing member 6 .
  • the gear device 1 has the eccentric shaft 7 as the input side and the output shaft as the output side, thereby realizing the function as a gear device with a relatively high reduction ratio. Therefore, in the gear device 1 of the present embodiment, the planetary gears 3 and the inner ring 61 are connected by the plurality of inner pins 4 in order to transmit the rotation corresponding to the rotation component of the planetary gears 3 to the inner ring 61 of the bearing member 6 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 in a state of being inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , respectively, and rotate relative to the inner gear 2 . That is, the inner pin hole 32 has a larger diameter than the inner pin 4 , and the inner pin 4 can revolvely move in the inner pin hole 32 in a state of being inserted into the inner pin hole 32 . Then, the swing component of the planetary gear 3 , that is, the revolving component of the planetary gear 3 is absorbed by the loose engagement between the inner pin hole 32 of the planetary gear 3 and the inner pin 4 .
  • each of the plurality of inner pins 4 revolves and moves within the plurality of inner pin holes 32 , thereby absorbing the swing component of the planetary gear 3 . Therefore, the rotation (rotational component) of the planetary gear 3 other than the swing component (revolution component) of the planetary gear 3 is transmitted to the inner ring 61 of the bearing member 6 through the plurality of inner pins 4 .
  • the inner pin 4 is the technology of the inner roller which can rotate the inner pin 4 as the axis. That is, in the first related art, the inner pin 4 is held in a state of being press-fitted into the inner ring 61 (or a bracket integrated with the inner ring 61 ), and when the inner pin 4 revolves in the inner pin hole 32 , the inner pin 4 is relatively The inner peripheral surface 321 of the inner pin hole 32 slides.
  • an inner roller is used in order to reduce the loss due to the frictional resistance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 .
  • the inner pin hole 32 needs to have a diameter that allows the inner pin 4 with the inner roller to revolve, and it is difficult to reduce the size of the inner pin hole 32 .
  • the miniaturization of the planetary gear 3 (in particular, the reduction in diameter) is hindered, and the miniaturization of the entire gear device 1 is hindered.
  • the gear device 1 of the present embodiment can provide the internal meshing planetary gear device 1 which can be easily miniaturized by the following configuration.
  • the gear device 1 of the present embodiment includes a bearing member 6 , an internally toothed gear 2 , a planetary gear 3 , and a plurality of inner pins 4 .
  • the bearing member 6 has an outer ring 62 and an inner ring 61 arranged inside the outer ring 62 .
  • the inner ring 61 is supported so as to be rotatable relative to the outer ring 62 .
  • the internally toothed gear 2 has internal teeth 21 and is fixed to the outer ring 62 .
  • the planetary gear 3 has external teeth 31 partially meshed with the internal teeth 21 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 in a state of being inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , respectively, and rotate relative to the inner gear 2 .
  • each of the plurality of inner pins 4 is held by the inner ring 61 in a rotatable state. Further, at least a part of each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 .
  • each of the plurality of inner pins 4 is held in the inner ring 61 in a state capable of autorotating, when the inner pins 4 revolve in the inner pin hole 32 , the inner pins 4 themselves can autorotate. Therefore, loss due to frictional resistance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 can be reduced without using an inner roller that is rotatable on the inner pin 4 and is attached to the inner pin 4 as an axis. Therefore, in the gear device 1 of the present embodiment, it is not necessary to provide the inner rollers, and therefore, there is an advantage that the size can be easily reduced.
  • the size of the gear device 1 in the axial direction of the bearing member 6 can be kept small. That is, in the gear unit 1 of the present embodiment, the size of the gear unit 1 in the axial direction can be reduced as compared with the structure in which the bearing member 6 and the inner pin 4 are arranged in parallel (opposed) in the axial direction of the bearing member 6 , so that it is possible to reduce the size of the gear unit 1 in the axial direction. This contributes to further miniaturization (thinning) of the gear device 1 .
  • the size of the planetary gear 3 is the same as that of the above-mentioned first related art, compared with the above-mentioned first related art, for example, it is possible to increase the number of inner pins 4 (the number) to make the transmission of rotation smoother, or to make the inner pin 4 Thicken and increase strength.
  • the inner pins 4 need to revolve in the inner pin holes 32 of the planetary gears 3 . Therefore, as a second related technique, there are a plurality of inner pins 4 formed only by the inner ring 61 (or integrated with the inner ring 61 ). brackets) holding the case. According to the second related art, it is difficult to improve the accuracy of the centering of the plurality of inner pins 4, and the poor centering may cause problems such as generation of vibration and reduction in transmission efficiency. That is, each of the plurality of inner pins 4 revolves in the inner pin hole 32 to rotate relative to the inner gear 2 , thereby transmitting the rotation component of the planetary gear 3 to the inner ring 61 of the bearing member 6 .
  • the gear device 1 of the present embodiment can provide the internal meshing planetary gear device 1 in which a problem caused by poor center alignment of the plurality of inner pins 4 is less likely to occur by the following configuration.
  • the gear device 1 of the present embodiment includes an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , and a support body 8 .
  • the internally toothed gear 2 has an annular gear body 22 and a plurality of pins 23 .
  • the plurality of pins 23 are held on the inner peripheral surface 221 of the gear body 22 in a rotatable state to constitute the internal teeth 21 .
  • the planetary gear 3 has external teeth 31 partially meshed with the internal teeth 21 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 and rotate relative to the gear body 22 while being inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , respectively.
  • the support body 8 is annular and supports the plurality of inner pins 4 .
  • the position of the support body 8 is regulated by bringing the outer peripheral surface 81 into contact with the plurality of pins 23 .
  • the plurality of inner pins 4 are supported by the annular support body 8, the plurality of inner pins 4 are bundled by the support body 8, and the relative deviation and inclination of the plurality of inner pins 4 can be suppressed. Then, the outer peripheral surface 81 of the support body 8 is in contact with the plurality of pins 23 , whereby the position of the support body 8 is regulated. In short, the centering of the support body 8 is performed by the plurality of pins 23 , and as a result, the centering of the plurality of inner pins 4 supported by the support body 8 is also performed by the plurality of pins 23 . Therefore, according to the gear device 1 of the present embodiment, it is easy to improve the alignment accuracy of the plurality of inner pins 4 , and there is an advantage that it is difficult to cause problems due to poor alignment of the plurality of inner pins 4 .
  • the gear device 1 of the present embodiment constitutes an actuator 100 together with a drive source 101 .
  • the actuator 100 of the present embodiment includes the gear device 1 and the drive source 101 .
  • the drive source 101 generates a drive force for swinging the planetary gear 3 .
  • the drive source 101 oscillates the planetary gear 3 by rotating the eccentric shaft 7 around the rotation axis Ax1.
  • the “ring shape” mentioned in the embodiments of the present disclosure refers to a shape like a ring (circle) that forms a space (region) enclosed on the inside at least in a plan view, and is not limited to a circle that is a perfect circle in a plan view
  • the shape (annulus) may be, for example, an elliptical shape, a polygonal shape, or the like.
  • it is included in "annular shape”.
  • free fit refers to a state in which there is play (gap) by fitting, and the inner pin hole 32 is a hole for the inner pin 4 to be loosely fitted. That is, the inner pin 4 is inserted into the inner pin hole 32 in a state in which a margin of space (gap) is secured between the inner pin 4 and the inner peripheral surface 321 of the inner pin hole 32 .
  • the diameter of at least a portion of the inner pin 4 inserted into the inner pin hole 32 is smaller (thinner) than the diameter of the inner pin hole 32 .
  • the inner pin 4 can move in the inner pin hole 32 , that is, can move relatively with respect to the center of the inner pin hole 32 , in a state of being inserted into the inner pin hole 32 . Thereby, the inner pin 4 can revolve in the inner pin hole 32 .
  • a fluid such as a liquid may be filled into the gap.
  • the "revolution" mentioned in the embodiments of the present disclosure means that an object revolves around a rotation axis other than the central axis passing through the center (center of gravity) of the object.
  • the center of the object rotates along the rotation axis as the center orbital movement. Therefore, for example, when an object rotates around an eccentric axis parallel to a central axis passing through the center (center of gravity) of the object, the object revolves around the eccentric axis as a rotation axis.
  • the inner pin 4 revolves around a rotation axis passing through the center of the inner pin hole 32 and revolves in the inner pin hole 32 .
  • one side of the rotation axis Ax1 (the left side in FIG. 3 ) may be referred to as the “input side”, and the other side (the right side in FIG. 3 ) of the rotation axis Ax1 may be referred to as the “output side”. side”.
  • rotation is imparted to the rotating body (eccentric inner ring 51) from the “input side” of the rotation axis Ax1, and the rotation of the plurality of inner pins 4 (inner ring 61) is taken out from the “output side” of the rotation axis Ax1.
  • “input side” and “output side” are merely labels given for description, and the gist thereof is not intended to limit the positional relationship between input and output as viewed from the gear device 1 .
  • the "rotation axis" referred to in the embodiments of the present disclosure refers to a virtual axis (straight line) that becomes the center of the rotational motion of the rotating body. That is, the rotation axis Ax1 is an imaginary axis that is not accompanied by a substance.
  • the eccentric inner ring 51 rotates around the rotation axis Ax1.
  • the “internal teeth” and “external teeth” mentioned in the embodiments of the present disclosure refer to a collection (group) of a plurality of “tooth”, rather than a single “tooth.” That is, the internal teeth 21 of the internal gear 2 are arranged inside The toothed gear 2 (gear body 22 ) is constituted by a set of a plurality of teeth on the inner peripheral surface 221. Similarly, the outer teeth 31 of the planetary gear 3 are constituted by a set of a plurality of teeth arranged on the outer peripheral surface of the planetary gear 3 .
  • FIG. 1 is a perspective view showing a schematic configuration of an actuator 100 including a gear device 1 .
  • a drive source 101 is schematically shown.
  • FIG. 2 is a schematic exploded perspective view of the gear device 1 viewed from the output side of the rotation shaft Ax1 .
  • FIG. 3 is a schematic cross-sectional view of the gear device 1 .
  • Fig. 4 is a cross-sectional view taken along line A1-A1 of Fig. 3 .
  • the hatching is abbreviate
  • illustration of the inner peripheral surface 221 of the gear main body 22 is abbreviate
  • 5A and 5B are a perspective view and a front view showing the planetary gear 3 as a single body.
  • 6A and 6B are a perspective view and a front view showing the bearing member 6 as a single body.
  • 7A and 7B are a perspective view and a front view showing the eccentric shaft 7 as a single body.
  • 8A and 8B are a perspective view and a front view showing the support body 8 as a single body.
  • the gear device 1 of the present embodiment includes an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , an eccentric body bearing 5 , a bearing member 6 , an eccentric shaft 7 , and a support body 8 . Furthermore, in the present embodiment, the gear device 1 further includes the first bearing 91 , the second bearing 92 , and the housing 10 .
  • the internal gear 2 , the planetary gear 3 , the plurality of inner pins 4 , the eccentric body bearing 5 , the bearing member 6 , the eccentric shaft 7 , the support body 8 , etc., which are components of the gear device 1 are made of stainless steel, Metals such as cast iron, carbon steel for mechanical structures, chromium molybdenum steel, phosphor bronze or aluminum bronze.
  • the metal mentioned here includes a metal subjected to surface treatment such as nitriding treatment.
  • the gear device 1 of the present embodiment includes the inscribed planetary gear 3 having a cycloid-like tooth profile.
  • the gear device 1 is used in a state where the gear body 22 of the internal gear 2 is fixed to a fixing member such as the housing 10 together with the outer ring 62 of the bearing member 6 .
  • the planetary gear 3 relatively rotates with respect to the stationary member (case 10 etc.) with the relative rotation of the internal gear 2 and the planetary gear 3. As shown in FIG.
  • the eccentric shaft 7 is taken out from the output shaft integrated with the inner ring 61 of the bearing member 6 by applying the rotational force as the input to the eccentric shaft 7 . output rotational force. That is, the gear device 1 operates with the rotation of the eccentric shaft 7 as the input rotation, and the rotation of the output shaft integrated with the inner ring 61 as the output rotation. As a result, in the gear device 1, the output rotation reduced by a relatively high reduction ratio with respect to the input rotation can be obtained.
  • the drive source 101 is a power generation source such as an electric motor (motor).
  • the power generated by the drive source 101 is transmitted to the eccentric shaft 7 in the gear device 1 .
  • the drive source 101 is connected to the eccentric shaft 7 via the input shaft, and the power generated by the drive source 101 is transmitted to the eccentric shaft 7 via the input shaft. Thereby, the drive source 101 can rotate the eccentric shaft 7 .
  • the rotation axis Ax1 on the input side and the rotation axis Ax1 on the output side are on the same straight line.
  • the rotation axis Ax1 on the input side and the rotation axis Ax1 on the output side are coaxial.
  • the rotation axis Ax1 on the input side is the rotation center of the eccentric shaft 7 to which the input rotation is given
  • the rotation axis Ax1 on the output side is the rotation center of the inner ring 61 (and the output shaft) which generates the output rotation. That is, in the gear device 1, the output rotation reduced by a relatively high reduction ratio can be obtained coaxially with respect to the input rotation.
  • the internally toothed gear 2 is an annular member having internal teeth 21 .
  • the internally toothed gear 2 has at least an annular shape whose inner peripheral surface is a perfect circle in plan view.
  • Internal teeth 21 are formed on the inner peripheral surface of the annular internal gear 2 along the circumferential direction of the internal gear 2 . All of the plurality of teeth constituting the internal teeth 21 have the same shape, and are provided at equal intervals over the entire area in the circumferential direction of the inner peripheral surface of the internally toothed gear 2 . That is, the pitch circle of the internal teeth 21 is a perfect circle in plan view. The center of the pitch circle of the internal teeth 21 is on the rotation axis Ax1.
  • the internally toothed gear 2 has a predetermined thickness in the direction of the rotation axis Ax1.
  • the tooth directions of the internal teeth 21 are all parallel to the rotation axis Ax1.
  • the dimension in the tooth direction of the internal teeth 21 is slightly smaller than the thickness direction of the internal tooth gear 2 .
  • the internally toothed gear 2 has the annular (annular) gear body 22 and the plurality of pins 23 .
  • the plurality of pins 23 are held on the inner peripheral surface 221 of the gear body 22 in a rotatable state, and constitute the internal teeth 21 .
  • each of the plurality of pins 23 functions as a plurality of teeth constituting the inner teeth 21 .
  • a plurality of grooves are formed on the inner peripheral surface 221 of the gear body 22 over the entire area in the circumferential direction. All of the plurality of grooves have the same shape and are provided at equal intervals.
  • the plurality of grooves are formed over the entire length of the gear body 22 in the thickness direction in parallel with the rotation axis Ax1 .
  • the plurality of pins 23 are assembled to the gear body 22 so as to fit into the plurality of grooves. Each of the plurality of pins 23 is held in a state capable of rotating within the groove. Furthermore, the gear body 22 (together with the outer ring 62 ) is fixed to the housing 10 . Therefore, a plurality of fixing holes 222 for fixing are formed in the gear body 22 .
  • the planetary gear 3 is an annular member having external teeth 31 .
  • the planetary gear 3 has at least an annular shape whose outer peripheral surface is a perfect circle in plan view.
  • external teeth 31 are formed along the circumferential direction of the planetary gear 3 . All of the plurality of teeth constituting the external teeth 31 have the same shape and are provided at equal intervals over the entire area in the circumferential direction of the outer peripheral surface of the planetary gear 3 . That is, the pitch circle of the external teeth 31 is a perfect circle in plan view.
  • the center C1 of the pitch circle of the external teeth 31 is at a position deviated from the rotation axis Ax1 by the distance ⁇ L (see FIG. 4 ). Furthermore, the planetary gear 3 has a predetermined thickness in the direction of the rotation axis Ax1. The outer teeth 31 are formed over the entire length of the planetary gear 3 in the thickness direction. The tooth directions of the external teeth 31 are all parallel to the rotation axis Ax1. In the planetary gear 3 , unlike the inner gear 2 , the outer teeth 31 are integrally formed with the main body of the planetary gear 3 by a single metal member.
  • the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3 . That is, the planetary gear 3 is formed with an opening 33 which is opened in a circular shape.
  • the opening portion 33 is a hole penetrating the planetary gear 3 in the thickness direction. In plan view, the center of the opening 33 is aligned with the center of the planetary gear 3 , and the inner peripheral surface of the opening 33 (the inner peripheral surface of the planetary gear 3 ) and the pitch circle of the outer teeth 31 are concentric circles.
  • the eccentric body bearing 5 is accommodated in the opening 33 of the planetary gear 3 . Furthermore, the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3 by inserting the eccentric body bearing 5 (the eccentric inner ring 51 of the eccentric body bearing 5 ). In a state where the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3, when the eccentric shaft 7 rotates, the planetary gear 3 swings around the rotation axis Ax1.
  • the planetary gears 3 thus constituted are arranged inside the internally toothed gears 2 .
  • the planetary gear 3 is formed to be smaller than the internal gear 2 , and the planetary gear 3 can swing inside the internal gear 2 when combined with the internal gear 2 .
  • the outer teeth 31 are formed on the outer peripheral surface of the planetary gear 3
  • the inner teeth 21 are formed on the inner peripheral surface of the inner gear 2 . Therefore, in a state where the planetary gears 3 are arranged inside the inner gear 2 , the outer teeth 31 and the inner teeth 21 face each other.
  • the pitch circle of the outer teeth 31 is one turn smaller than the pitch circle of the inner teeth 21 .
  • the center C1 of the pitch circle of the external teeth 31 is deviated from the center (rotation axis Ax1) of the pitch circle of the internal teeth 21 by a distance ⁇ L (see FIG. 4 ) s position. Therefore, at least a part of the outer teeth 31 and the inner teeth 21 face each other with a gap therebetween, and the entire circumferential direction does not mesh with each other.
  • the planetary gear 3 swings (revolves) around the rotation axis Ax1 inside the inner gear 2 , the outer teeth 31 and the inner teeth 21 are partially meshed with each other. That is, when the planetary gear 3 swings around the rotation axis Ax1, as shown in FIG. As a result, in the gear device 1 , a part of the external teeth 31 can be meshed with a part of the internal teeth 21 .
  • the number of teeth of the internal teeth 21 in the internal gear 2 is larger than the number of teeth of the external teeth 31 of the planetary gear 3 by N (N is a positive integer).
  • N is "1"
  • the number of teeth (of the external teeth 31 ) of the planetary gear 3 is "1" larger than the number of teeth of the internal gear 2 (of the internal teeth 21 ).
  • Such a difference in the number of teeth of the planetary gear 3 and the internally toothed gear 2 defines the reduction ratio of the output rotation with respect to the input rotation in the gear device 1 .
  • the thickness of the planetary gear 3 is smaller than the thickness of the gear main body 22 in the internally toothed gear 2 .
  • the dimension in the tooth direction (direction parallel to the rotation axis Ax1 ) of the outer teeth 31 is smaller than the dimension in the tooth direction (direction parallel to the rotation axis Ax1 ) of the inner teeth 21 .
  • the outer teeth 31 are retracted within the range of the tooth direction of the inner teeth 21 .
  • the rotation corresponding to the rotation component of the planetary gear 3 is taken out as the rotation (output rotation) of the output shaft integrated with the inner ring 61 of the bearing member 6 . Therefore, the planetary gear 3 is connected to the inner ring 61 by the plurality of inner pins 4 .
  • a plurality of inner pin holes 32 into which the plurality of inner pins 4 are inserted are formed in the planetary gear 3 .
  • the inner pin holes 32 are provided in the same number as the inner pins 4 . In the present embodiment, as an example, 18 inner pin holes 32 and 18 inner pins 4 are each provided.
  • the plurality of inner pin holes 32 are holes each opening circularly and penetrating the planetary gear 3 in the thickness direction.
  • a plurality of (18 in this case) inner pin holes 32 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the opening portion 33 .
  • the plurality of inner pins 4 are members that connect the planetary gear 3 and the inner ring 61 of the bearing member 6 .
  • Each of the plurality of inner pins 4 is formed in a cylindrical shape.
  • the diameters and lengths of the plurality of inner pins 4 are the same among the plurality of inner pins 4 .
  • the diameter of the inner pin 4 is one turn smaller than the diameter of the inner pin hole 32 . Thereby, the inner pin 4 is inserted into the inner pin hole 32 (refer to FIG. 4 ) in a state where a margin (clearance) of a space is secured between the inner pin 4 and the inner peripheral surface 321 of the inner pin hole 32 .
  • the bearing member 6 has an outer ring 62 and an inner ring 61 and is used to take out the output of the gear device 1 as the rotation of the inner ring 61 with respect to the outer ring 62 .
  • the bearing member 6 has a plurality of rolling elements 63 (see FIG. 3 ) in addition to the outer ring 62 and the inner ring 61 .
  • both the outer ring 62 and the inner ring 61 are annular members. Both the outer ring 62 and the inner ring 61 have an annular shape that is a perfect circle in plan view.
  • the inner ring 61 is slightly smaller than the outer ring 62 , and is arranged inside the outer ring 62 .
  • the inner diameter of the outer ring 62 is larger than the outer diameter of the inner ring 61 , a gap is generated between the inner peripheral surface of the outer ring 62 and the outer peripheral surface of the inner ring 61 .
  • the inner ring 61 has a plurality of holding holes 611 into which the plurality of inner pins 4 are respectively inserted.
  • the holding holes 611 are provided in the same number as the inner pins 4, and in the present embodiment, as an example, 18 holding holes 611 are provided.
  • each of the plurality of holding holes 611 is a hole that opens in a circular shape and penetrates through the inner ring 61 in the thickness direction.
  • a plurality of (18 here) holding holes 611 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the outer circumference of the inner ring 61 .
  • the diameter of the holding hole 611 is larger than the diameter of the inner pin 4 and smaller than the diameter of the inner pin hole 32 .
  • the inner ring 61 is integrated with the output shaft, and the rotation of the inner ring 61 is taken out as the rotation of the output shaft. Therefore, a plurality of output-side mounting holes 612 (refer to FIG. 2 ) for mounting the output shaft are formed in the inner ring 61 .
  • the plurality of output-side mounting holes 612 are arranged on the inner side of the plurality of holding holes 611 and on a virtual circle concentric with the outer circumference of the inner ring 61 .
  • the outer ring 62 is fixed to a fixing member such as the case 10 together with the gear body 22 of the internally toothed gear 2 . Therefore, a plurality of through holes 621 for fixing are formed in the outer ring 62 . Specifically, as shown in FIG. 3 , the outer ring 62 is in a state where the gear body 22 is sandwiched between the outer ring 62 and the casing 10 , and is fixed with screws (bolts) passing through the through holes 621 and the fixing holes 222 of the gear body 22 . 60 and fixed to the housing 10 .
  • the plurality of rolling elements 63 are arranged in the gap between the outer ring 62 and the inner ring 61 .
  • the plurality of rolling elements 63 are arranged in parallel along the circumferential direction of the outer ring 62 .
  • the plurality of rolling elements 63 are all metal members of the same shape, and are provided at equal intervals over the entire area of the outer ring 62 in the circumferential direction.
  • the bearing member 6 is a crossed roller bearing as an example. That is, the bearing member 6 has cylindrical rollers as the rolling elements 63 .
  • the axis of the cylindrical rolling element 63 has an inclination of 45 degrees with respect to a plane orthogonal to the rotation axis Ax1 , and is orthogonal to the outer circumference of the inner ring 61 .
  • a pair of rolling elements 63 adjacent to each other in the circumferential direction of the inner ring 61 are arranged so that the axial directions are orthogonal to each other.
  • the bearing member 6 formed of such a crossed roller bearing In the bearing member 6 formed of such a crossed roller bearing, the radial load, the load in the thrust direction (the direction along the rotation axis Ax1 ), and the bending force (bending moment load) with respect to the rotation axis Ax1 are easily received. Moreover, with the one bearing member 6, these three kinds of loads can be endured, and the required rigidity can be ensured.
  • the eccentric shaft 7 is a cylindrical member.
  • the eccentric shaft 7 has a shaft center portion 71 and an eccentric portion 72 .
  • the axial center portion 71 has at least a cylindrical shape whose outer peripheral surface is a perfect circle in plan view.
  • the center (central axis) of the shaft center portion 71 coincides with the rotation axis Ax1.
  • the eccentric portion 72 has a disk shape whose outer peripheral surface is a perfect circle in plan view at least.
  • the center (central axis) of the eccentric portion 72 coincides with the center C1 offset from the rotation axis Ax1.
  • the distance ⁇ L see FIG.
  • the eccentric shaft 7B is eccentrically moved by the shaft center portion 71 rotating (autorotating) about the rotation axis Ax1.
  • the shaft center portion 71 and the eccentric portion 72 are integrally formed with a single metal member, thereby realizing a seamless eccentric shaft 7 .
  • the eccentric shaft 7 having such a shape is combined with the planetary gear 3 together with the eccentric body bearing 5 . Therefore, when the eccentric shaft 7 rotates in a state where the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3, the planetary gear 3 swings around the rotation axis Ax1.
  • the eccentric shaft 7 has a through hole 73 penetrating the shaft center portion 71 in the axial direction (longitudinal direction).
  • the through-hole 73 is opened in a circular shape on both end surfaces in the axial direction of the shaft center portion 71 .
  • the center (central axis) of the through hole 73 coincides with the rotation axis Ax1.
  • cables such as power lines and signal lines can be passed through the through holes 73 .
  • a plurality of input-side mounting holes 74 (refer to FIGS. 7A and 7B ) for mounting the input shaft connected to the drive source 101 are formed in the eccentric shaft 7 .
  • the plurality of input-side mounting holes 74 are arranged on a virtual circle concentric with the through-hole 73 around the through-hole 73 on one end face in the axial direction of the shaft center portion 71 .
  • the eccentric body bearing 5 has an eccentric outer ring 52 and an eccentric inner ring 51, absorbs the rotation component of the rotation of the eccentric shaft 7, and rotates the eccentric shaft 7 other than the rotation component of the eccentric shaft 7, that is, only the eccentric shaft 7 rotates. A member for transmitting the swing component (revolution component) of the shaft 7 to the planetary gear 3 .
  • the eccentric body bearing 5 has a plurality of rolling elements 53 (see FIG. 3 ) in addition to the eccentric outer ring 52 and the eccentric inner ring 51 .
  • Both the eccentric outer ring 52 and the eccentric inner ring 51 are annular members. Both the eccentric outer ring 52 and the eccentric inner ring 51 have an annular shape that is a perfect circle in plan view.
  • the eccentric inner ring 51 is one turn smaller than the eccentric outer ring 52 , and is arranged inside the eccentric outer ring 52 .
  • the inner diameter of the eccentric outer ring 52 is larger than the outer diameter of the eccentric inner ring 51 , a gap is formed between the inner peripheral surface of the eccentric outer ring 52 and the outer peripheral surface of the eccentric inner ring 51 .
  • the plurality of rolling elements 53 are arranged in the gap between the eccentric outer ring 52 and the eccentric inner ring 51 .
  • the plurality of rolling elements 53 are arranged in parallel along the circumferential direction of the eccentric outer ring 52 .
  • the plurality of rolling elements 53 are all metal members of the same shape, and are provided at equal intervals over the entire area of the eccentric outer ring 52 in the circumferential direction.
  • the eccentric body bearing 5 is constituted by a deep groove ball bearing using balls as the rolling elements 53 .
  • the inner diameter of the eccentric inner ring 51 corresponds to the outer diameter of the eccentric portion 72 of the eccentric shaft 7 .
  • the eccentric body bearing 5 is combined with the eccentric shaft 7 in a state where the eccentric portion 72 of the eccentric shaft 7 is inserted into the eccentric inner ring 51 .
  • the outer diameter of the eccentric outer ring 52 corresponds to the inner diameter (diameter) of the opening portion 33 of the planetary gear 3 .
  • the eccentric body bearing 5 is combined with the planetary gear 3 in a state where the eccentric outer ring 52 is fitted into the opening 33 of the planetary gear 3 . In other words, the eccentric body bearing 5 in a state of being mounted on the eccentric portion 72 of the eccentric shaft 7 is accommodated in the opening portion 33 of the planetary gear 3 .
  • the dimension in the width direction (direction parallel to the rotation axis Ax1 ) of the eccentric inner ring 51 of the eccentric body bearing 5 is substantially the same as the thickness of the eccentric portion 72 of the eccentric shaft 7 .
  • the dimension in the width direction (direction parallel to the rotation axis Ax1 ) of the eccentric outer ring 52 is slightly smaller than the dimension in the width direction of the eccentric inner ring 51 .
  • the dimension in the width direction of the eccentric outer ring 52 is larger than the thickness of the planetary gear 3 . Therefore, the planetary gear 3 is received within the range of the eccentric body bearing 5 in the direction parallel to the rotation axis Ax1.
  • the dimension in the width direction of the eccentric outer ring 52 is smaller than the dimension in the tooth direction (direction parallel to the rotation axis Ax1 ) of the inner teeth 21 . Therefore, the eccentric body bearing 5 is received within the range of the internally toothed gear 2 in the direction parallel to the rotation axis Ax1.
  • the support body 8 is formed in an annular shape and supports the plurality of inner pins 4 .
  • the support body 8 has a plurality of support holes 82 into which the plurality of inner pins 4 are respectively inserted.
  • the support holes 82 are provided in the same number as the inner pins 4 , and in the present embodiment, 18 support holes 82 are provided as an example.
  • each of the plurality of support holes 82 is a hole that opens in a circular shape and penetrates through the support body 8 in the thickness direction.
  • a plurality of (here, 18) support holes 82 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the outer peripheral surface 81 of the support body 8 .
  • the diameter of the support hole 82 is larger than the diameter of the inner pin 4 and smaller than the diameter of the inner pin hole 32 .
  • the diameter of the support hole 82 is equal to the diameter of the holding hole 611 formed in the inner ring 61 .
  • the support body 8 is arrange
  • the support body 8 is explained in detail in the column of "(3.3) Support body".
  • the first bearing 91 and the second bearing 92 are respectively attached to the axial center portion 71 of the eccentric shaft 7 .
  • the first bearing 91 and the second bearing 92 are mounted on both sides of the eccentric portion 72 of the shaft center portion 71 so as to sandwich the eccentric portion 72 in the direction parallel to the rotation axis Ax1 .
  • the first bearing 91 is arranged on the input side of the rotation axis Ax1.
  • the second bearing 92 is arranged on the output side of the rotation shaft Ax1.
  • the first bearing 91 holds the eccentric shaft 7 rotatably relative to the housing 10 .
  • the second bearing 92 holds the eccentric shaft 7 rotatably with respect to the inner ring 61 of the bearing member 6 . Thereby, the axial center portion 71 of the eccentric shaft 7 is held rotatably at two locations on both sides of the eccentric portion 72 in the direction parallel to the rotation axis Ax1.
  • the casing 10 has a cylindrical shape and has a flange portion 11 on the output side of the rotation axis Ax1.
  • a plurality of installation holes 111 for fixing the casing 10 itself are formed in the flange portion 11 .
  • the bearing hole 12 is formed in the end surface on the output side of the rotating shaft Ax1 in the housing 10 .
  • the bearing hole 12 opens in a circular shape.
  • the first bearing 91 is attached to the housing 10 by fitting the first bearing 91 into the bearing hole 12 .
  • a plurality of screw holes 13 are formed around the bearing hole 12 on the end surface on the output side of the rotating shaft Ax1 of the housing 10 .
  • the plurality of screw holes 13 are used to fix the gear body 22 of the internally toothed gear 2 and the outer ring 62 of the bearing member 6 to the housing 10 .
  • the fixing screws 60 pass through the through holes 621 of the outer ring 62 and the fixing holes 222 of the gear body 22 and are fastened to the threaded holes 13 , thereby fixing the gear body 22 and the outer ring 62 to the housing 10 .
  • the gear device 1 of the present embodiment further includes a plurality of oil seals 14 , 15 , 16 and the like.
  • the oil seal 14 is attached to the end portion on the input side of the rotating shaft Ax1 of the eccentric shaft 7 , and fills the gap between the case 10 and the eccentric shaft 7 (axial center portion 71 ).
  • the oil seal 15 is attached to the end portion on the output side of the rotating shaft Ax1 of the eccentric shaft 7, and fills the gap between the inner ring 61 and the eccentric shaft 7 (axial center portion 71).
  • the oil seal 16 is attached to the end surface on the output side of the rotating shaft Ax1 of the bearing member 6 , and fills the gap between the inner ring 61 and the outer ring 62 .
  • the space sealed by the plurality of oil seals 14 , 15 , and 16 constitutes a lubricant holding space 17 (see FIG. 9 ).
  • the lubricant holding space 17 includes the space between the inner ring 61 and the outer ring 62 of the bearing member 6 .
  • the plurality of pins 23 , the planetary gears 3 , the eccentric body bearing 5 , the support body 8 , the first bearing 91 , the second bearing 92 , and the like are accommodated in the lubricant holding space 17 .
  • a lubricant is enclosed in the lubricant holding space 17 .
  • the lubricant is liquid and can flow in the lubricant holding space 17 . Therefore, when the gear device 1 is in use, for example, lubricant enters the meshing portion of the inner teeth 21 composed of the plurality of pins 23 and the outer teeth 31 of the planetary gear 3 .
  • the "liquid” mentioned in the embodiments of the present disclosure includes liquid or gel-like substances.
  • gelatinous as used herein refers to a state having intermediate properties between a liquid and a solid, and includes a state of a colloid composed of two phases, a liquid phase and a solid phase.
  • an emulsion in which a dispersant is a liquid phase and a dispersoid in a liquid phase, a suspension in which the dispersoid is a solid phase, and the like are referred to as a gel or a sol. shape".
  • a state in which the dispersant is in a solid phase and the dispersoid is in a liquid phase is also included in "gel-like".
  • the lubricant is a liquid lubricating oil (oil).
  • the eccentric shaft 7 rotates around the rotation axis Ax1 by applying a rotational force as an input to the eccentric shaft 7, and the planetary gears 3 oscillate (revolve) around the rotation axis Ax1.
  • the planetary gear 3 is inscribed on the inner side of the inner gear 2 and swings in a state where a part of the outer teeth 31 meshes with a part of the inner teeth 21. Therefore, the meshing position of the inner teeth 21 and the outer teeth 31 is along the inner side.
  • the toothed gear 2 moves in the circumferential direction.
  • the difference in the number of teeth between the internal gear 2 and the planetary gear 3 defines the reduction ratio of the output rotation to the input rotation in the gear device 1 . That is, when the number of teeth of the internal gear 2 is "V1" and the number of teeth of the planetary gear 3 is "V2", the reduction ratio R1 is represented by the following formula 1.
  • the reduction ratio R1 is " 51".
  • the eccentric shaft 7 rotates once (360 degrees) clockwise around the rotation axis Ax1
  • the inner ring 61 rotates counterclockwise around the rotation axis Ax1 by the difference in the number of teeth" 1" amount (ie about 7.06 degrees).
  • such a high reduction ratio R1 can be realized by the combination of the primary gears (the internal gear 2 and the planetary gear 3 ).
  • the gear device 1 may include at least the internally toothed gear 2 , the planetary gear 3 , the plurality of inner pins 4 , the bearing member 6 , and the support body 8 , and may further include, for example, a spline bush or the like as constituent elements.
  • the weight balance of the rotating body rotating at high speed is not achieved, vibration and the like may occur, so it is sometimes used.
  • Balance weights, etc. to achieve weight balance. That is, since the rotating body composed of at least one of the eccentric inner ring 51 and the member (eccentric shaft 7 ) that rotates together with the eccentric inner ring 51 performs eccentric motion at high speed, it is preferable to obtain the relative rotation axis Ax1 of the rotating body.
  • Weight balance In the present embodiment, as shown in FIGS. 3 and 4 , the weight balance of the rotating body with respect to the rotating shaft Ax1 is achieved by providing a gap 75 in a part of the eccentric portion 72 of the eccentric shaft 7 .
  • the gear device 1 of the present embodiment includes the eccentric body bearing 5 which is accommodated in the opening 33 formed in the planetary gear 3 and causes the planetary gear 3 to swing.
  • the eccentric body bearing 5 has an eccentric outer ring 52 and an eccentric inner ring 51 arranged inside the eccentric outer ring 52 .
  • a rotating body composed of at least one of the eccentric inner ring 51 and a member that rotates together with the eccentric inner ring 51 has a gap in a part of the eccentric outer ring 52 on the center C1 side when viewed from the rotation axis Ax1 of the eccentric inner ring 51 75.
  • the eccentric shaft 7 is "a member that rotates with the eccentric inner ring 51", and corresponds to a “rotating body”. Therefore, the gap 75 formed in the eccentric portion 72 of the eccentric shaft 7 corresponds to the gap 75 of the rotating body.
  • the clearance 75 is located on the center C1 side when viewed from the rotation axis Ax1 , and thus functions to make the weight balance of the eccentric shaft 7 nearly equal from the rotation axis Ax1 to the circumferential direction.
  • the void 75 includes a concave portion formed on the inner peripheral surface of the through hole 73 penetrating the rotating body along the rotating axis Ax1 of the eccentric inner ring 51 . That is, in the present embodiment, since the rotating body is the eccentric shaft 7 , the concave portion formed on the inner peripheral surface of the through hole 73 passing through the eccentric shaft 7 along the rotating axis Ax1 functions as the void 75 . In this way, by utilizing the recessed portion formed on the inner peripheral surface of the through hole 73 as the space 75, the weight balance of the rotating body can be achieved without accompanying a change in the appearance.
  • FIG. 9 is an enlarged view of the region Z1 of FIG. 3 .
  • the plurality of inner pins 4 are members that connect the planetary gears 3 and the inner ring 61 of the bearing member 6 . Specifically, one end portion in the longitudinal direction of the inner pin 4 (in the present embodiment, the end portion on the input side of the rotation shaft Ax1 ) is inserted into the inner pin hole 32 of the planetary gear 3 , and the other end portion in the longitudinal direction of the inner pin 4 (in the In the present embodiment, the output side end of the rotary shaft Ax1 is inserted into the holding hole 611 of the inner ring 61 .
  • the diameter of the inner pin 4 is smaller than the diameter of the inner pin hole 32, a gap can be secured between the inner pin 4 and the inner peripheral surface 321 of the inner pin hole 32, and the inner pin 4 can move in the inner pin hole 32, that is, it can be relative to the inner pin hole 32.
  • the center of the inner pin hole 32 moves relatively.
  • the diameter of the holding hole 611 is larger than the diameter of the inner pin 4, but smaller than the diameter of the inner pin hole 32.
  • the diameter of the holding hole 611 is substantially the same as the diameter of the inner pin 4 and slightly larger than the diameter of the inner pin 4 .
  • the movement of the inner pin 4 within the holding hole 611 is restricted, that is, the relative movement of the inner pin 4 with respect to the center of the holding hole 611 is prohibited. Therefore, the inner pin 4 is held in the planetary gear 3 in a state capable of revolving in the inner pin hole 32 , and is held in a state in which it cannot revolve in the holding hole 611 with respect to the inner ring 61 .
  • the swing component of the planetary gear 3 that is, the revolution component of the planetary gear 3 is absorbed by the loose engagement between the inner pin hole 32 and the inner pin 4 , and the plurality of inner pins 4 remove the swing component (revolution component) of the planetary gear 3 .
  • the rotation (rotation component) of the planetary gear 3 is transmitted to the inner ring 61 .
  • the diameter of the inner pin 4 is slightly larger than that of the holding hole 611 . Therefore, in the state where the inner pin 4 is inserted into the holding hole 611 , although the revolution in the holding hole 611 is prohibited, the inner pin 4 is inserted into the holding hole 611 . Can rotate inside. That is, the inner pin 4 is in a state of being inserted into the holding hole 611 but is not press-fitted into the holding hole 611 , and thus can rotate within the holding hole 611 .
  • each of the plurality of inner pins 4 is held by the inner ring 61 in a rotatable state. Therefore, when the inner pins 4 revolve in the inner pin holes 32 , the inner pins 4 themselves are rotatable.
  • the inner pin 4 is held in a state capable of both revolving and autorotation in the inner pin hole 32 with respect to the planetary gear 3 , and is held in a state in which only the holding hole can be performed with respect to the inner ring 61 .
  • the state of rotation within 611. That is, the plurality of inner pins 4 can rotate (revolve) around the rotation axis Ax1 and revolve within the plurality of inner pin holes 32 in a state in which their respective rotations are not restricted (a state capable of autorotation).
  • the inner pins 4 can revolve and rotate in the inner pin hole 32 and rotate in the holding hole 611 at the same time. Therefore, when the inner pin 4 revolves in the inner pin hole 32 , the inner pin 4 is in a state capable of autorotating, and thus rolls with respect to the inner peripheral surface 321 of the inner pin hole 32 . In other words, since the inner pin 4 revolves in the inner pin hole 32 so as to roll on the inner peripheral surface 321 of the inner pin hole 32 , loss due to frictional resistance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 is less likely to occur.
  • each of the plurality of inner pins 4 is configured to be in direct contact with the inner peripheral surface 321 of the inner pin hole 32 . That is, in the present embodiment, the inner pin 4 in a state in which the inner roller is not attached is inserted into the inner pin hole 32 , and the inner pin 4 directly contacts the inner peripheral surface 321 of the inner pin hole 32 .
  • the inner roller can be omitted and the diameter of the inner pin hole 32 can be kept relatively small, so that the planetary gear 3 can be reduced in size (especially, the diameter can be reduced), and the entire gear unit 1 can be easily reduced in size.
  • the size of the planetary gears 3 is fixed, compared with the above-described first related art, for example, the number (number) of inner pins 4 can be increased to smooth the transmission of rotation, or the inner pins 4 can be thickened to improve strength.
  • the number of parts can be suppressed to be reduced by the amount corresponding to the inner roller, which also contributes to cost reduction of the gear device 1 .
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 . That is, as shown in FIG. 9 , at least a part of the inner pin 4 is arranged at the same position as the bearing member 6 in the direction parallel to the rotation axis Ax1 . In other words, at least a part of the inner pin 4 is located between both end surfaces of the bearing member 6 in the direction parallel to the rotation axis Ax1. In other words, at least a part of each of the plurality of inner pins 4 is arranged inside the outer ring 62 of the bearing member 6 .
  • the end portion on the output side of the rotation axis Ax1 in the inner pin 4 is at the same position as the bearing member 6 in the direction parallel to the rotation axis Ax1.
  • the end portion on the output side of the rotation shaft Ax1 of the inner pin 4 is inserted into the holding hole 611 formed in the inner ring 61 of the bearing member 6 , at least the end portion is arranged in the axial direction of the bearing member 6 with the bearing member 6 . same location.
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6, whereby the size of the gear device 1 in the direction parallel to the rotation axis Ax1 can be suppressed to be small . That is, in the gear device 1 of the present embodiment, the gear device 1 in the direction parallel to the rotation axis Ax1 can be reduced in size compared to a configuration in which the bearing member 6 and the inner pin 4 are arranged in parallel (opposed) in the axial direction of the bearing member 6 . It is possible to contribute to further miniaturization (thinning) of the gear device 1 .
  • the opening surface of the holding hole 611 on the output side of the rotating shaft Ax1 is closed by, for example, an output shaft integrated with the inner ring 61 or the like. Accordingly, the movement of the inner pin 4 to the output side (the right side in FIG. 9 ) of the rotation shaft Ax1 is restricted by the output shaft or the like integrated with the inner ring 61 .
  • the following structure is employ
  • the lubricant holding space 17 into which the lubricant is injected exists between the inner ring 61 and the outer ring 62 , the lubricant in the lubricant holding space 17 is used to smooth the rotation of the inner pin 4 . .
  • the inner ring 61 has: a plurality of holding holes 611 into which the plurality of inner pins 4 are respectively inserted; and a plurality of connecting passages 64 .
  • the plurality of connecting passages 64 connect the lubricant holding space 17 between the inner ring 61 and the outer ring 62 and the plurality of holding holes 611 .
  • the inner ring 61 is formed with a connecting passage 64 extending in the radial direction from a portion of the inner peripheral surface of the holding hole 611 , that is, a portion corresponding to the rolling elements 63 .
  • connection passage 64 is a hole penetrating between the bottom surface of the concave portion (groove) in which the rolling element 63 is accommodated in the opposing surface of the inner ring 61 and the outer ring 62 and the inner peripheral surface of the holding hole 611 .
  • the opening surface of the coupling passage 64 on the lubricant holding space 17 side is arranged at a position facing (opposing) the rolling elements 63 of the bearing member 6 .
  • the lubricant holding space 17 and the holding hole 611 are spatially connected via such a connection path 64 .
  • the lubricant in the lubricant holding space 17 is supplied to the holding hole 611 through the connecting passage 64 . That is, when the bearing member 6 operates and the rolling elements 63 rotate, the rolling elements 63 function as a pump, and the lubricant in the lubricant holding space 17 can be fed into the holding holes 611 through the connecting passage 64 .
  • the rolling elements 63 effectively function as a pump when the rolling elements 63 rotate. .
  • the lubricant is interposed between the inner peripheral surface of the holding hole 611 and the inner pin 4 , and the rotation of the inner pin 4 with respect to the inner ring 61 can be smoothed.
  • FIG. 10 is a cross-sectional view taken along line B1-B1 in FIG. 3 .
  • the hatching of members other than the support body 8 is omitted even in cross-section.
  • FIG. 10 only the internal gear 2 and the support body 8 are shown, and illustration of other members (inner pin 4 etc.) is abbreviate
  • illustration of the inner peripheral surface 221 of the gear main body 22 is abbreviate
  • the support body 8 is a member that supports the plurality of inner pins 4 . That is, the support body 8 bundles the plurality of inner pins 4 to disperse the load acting on the plurality of inner pins 4 when the rotation (rotation component) of the planetary gear 3 is transmitted to the inner ring 61 .
  • the plurality of support holes 82 into which the plurality of inner pins 4 are respectively inserted are provided.
  • the diameter of the support hole 82 is equal to the diameter of the holding hole 611 formed in the inner ring 61 . Therefore, the support body 8 supports the plurality of inner pins 4 in a state in which each of the plurality of inner pins 4 can rotate. That is, each of the plurality of inner pins 4 is held in a state capable of rotating with respect to both the inner ring 61 of the bearing member 6 and the support body 8 .
  • the plurality of inner pins 4 are positioned relative to the support body 8 in both the circumferential direction and the radial direction of the support body 8 . That is, the inner pin 4 is inserted into the support hole 82 of the support body 8, and the movement with respect to all directions in the plane orthogonal to the rotation axis Ax1 is restricted. Therefore, the inner pin 4 is positioned not only in the circumferential direction but also in the radial direction (radial direction) by the support body 8 .
  • the support body 8 has at least an annular shape whose outer peripheral surface 81 is a perfect circle in plan view. Furthermore, the position of the support body 8 is regulated by bringing the outer peripheral surface 81 into contact with the plurality of pins 23 in the internally toothed gear 2 . Since the plurality of pins 23 constitute the internal teeth 21 of the internally toothed gear 2 , in other words, the position of the support body 8 is restricted by bringing the outer peripheral surface 81 into contact with the internal teeth 21 .
  • the diameter of the outer peripheral surface 81 of the support body 8 is the same as the diameter of a virtual circle (addition circle) passing through the tips of the internal teeth 21 of the internally toothed gear 2 .
  • the center of the support body 8 is positionally regulated so as to overlap with the center (rotation axis Ax1 ) of the internally toothed gear 2 .
  • the centering of the support body 8 is performed, and as a result, the centering of the plurality of inner pins 4 supported by the support body 8 is also performed by the plurality of pins 23 .
  • the plurality of inner pins 4 rotate (revolve) about the rotation axis Ax1 , thereby transmitting the rotation (rotation component) of the planetary gear 3 to the inner ring 61 . Therefore, the support body 8 supporting the plurality of inner pins 4 rotates about the rotation axis Ax1 together with the plurality of inner pins 4 and the inner ring 61 . At this time, since the support body 8 is centered by the plurality of pins 23, the support body 8 rotates smoothly while the center of the support body 8 is maintained on the rotation axis Ax1.
  • the support body 8 rotates in the state which the outer peripheral surface 81 of the several pins 23 contact
  • the support body 8 constitutes a needle bearing (needle roller bearing) together with the internally toothed gear 2, and rotates smoothly.
  • the outer peripheral surface 81 of the support body 8 rotates relative to the gear body 22 together with the plurality of inner pins 4 in a state of being tangent to the plurality of pins 23 . Therefore, if the gear body 22 of the internally toothed gear 2 is regarded as an "outer ring” and the support body 8 is regarded as an “inner ring”, the plurality of pins 23 interposed therebetween serve as “rolling elements (rollers)" " to function. In this way, the support body 8 constitutes a needle bearing together with the internally toothed gear 2 (the gear main body 22 and the plurality of pins 23 ), and can rotate smoothly.
  • the support body 8 sandwiches the plurality of pins 23 with the gear body 22 , the support body 8 also functions as a “stopper” that suppresses movement of the pins 23 in the direction in which the pins 23 are separated from the inner peripheral surface 221 of the gear body 22 .
  • the plurality of pins 23 are sandwiched between the outer peripheral surface 81 of the support body 8 and the inner peripheral surface 221 of the gear main body 22 , thereby suppressing the plurality of pins 23 from floating from the inner peripheral surface 221 of the gear main body 22 .
  • each of the plurality of pins 23 is restricted from moving in the direction of separation from the gear body 22 by being in contact with the outer peripheral surface 81 of the support body 8 .
  • the support body 8 is located on the opposite side of the inner ring 61 of the bearing member 6 with the planetary gear 3 interposed therebetween. That is, the support body 8, the planetary gears 3, and the inner ring 61 are arranged in parallel along the direction parallel to the rotation axis Ax1.
  • the support body 8 is positioned on the input side of the rotary shaft Ax1 when viewed from the planetary gear 3
  • the inner ring 61 is positioned on the output side of the rotary shaft Ax1 when viewed from the planetary gear 3 .
  • the support body 8 supports both ends of the inner pin 4 in the longitudinal direction (direction parallel to the rotation axis Ax1 ) together with the inner ring 61 , and the longitudinal center of the inner pin 4 is inserted through the inner pin hole 32 of the planetary gear 3 .
  • the gear device 1 of the present embodiment includes the bearing member 6 including the outer ring 62 and the inner ring 61 arranged inside the outer ring 62, and the inner ring 61 is supported rotatably relative to the outer ring 62. Furthermore, the gear body 22 is fixed to the outer ring 62 .
  • the planetary gear 3 is located between the support body 8 and the inner ring 61 in the axial direction of the support body 8 .
  • the support body 8 and the inner ring 61 support the both ends of the longitudinal direction of the inner pin 4, the inclination of the inner pin 4 is difficult to generate
  • the bending force (bending moment load) acting on the plurality of inner pins 4 with respect to the rotation axis Ax1 is also easily received.
  • the support body 8 is sandwiched between the planetary gear 3 and the housing 10 in the direction parallel to the rotation axis Ax1 .
  • the movement of the support body 8 to the input side (left side in FIG. 9 ) of the rotation axis Ax1 is restricted by the casing 10 .
  • the movement to the input side (left side in FIG. 9 ) of the rotation shaft Ax1 is also restricted by the housing 10 about the inner pin 4 that penetrates the support hole 82 of the support body 8 and protrudes from the support body 8 to the input side of the rotation axis Ax1 .
  • the support body 8 and the inner ring 61 are also in contact with both ends of the plurality of pins 23 . That is, as shown in FIG. 9 , the support body 8 is in contact with one end (the end on the input side of the rotation axis Ax1 ) of the pin 23 in the longitudinal direction (direction parallel to the rotation axis Ax1 ). The inner ring 61 is in contact with the other end portion (the end portion on the output side of the rotational axis Ax1 ) of the pin 23 in the longitudinal direction (direction parallel to the rotational axis Ax1 ).
  • the support body 8 and the inner ring 61 are centered at both ends in the longitudinal direction of the pin 23 , the inclination of the inner pin 4 is less likely to occur.
  • the bending force (bending moment load) acting on the plurality of inner pins 4 with respect to the rotation axis Ax1 is also easily received.
  • the plurality of pins 23 have a length greater than or equal to the thickness of the support body 8 .
  • the support body 8 is received within the range of the tooth direction of the internal teeth 21 in the direction parallel to the rotation axis Ax1.
  • the outer peripheral surface 81 of the support body 8 comes into contact with the plurality of pins 23 over the entire length of the tooth direction (direction parallel to the rotation axis Ax1 ) of the inner teeth 21 . Therefore, it is difficult to cause a problem such as "one-sided wear" in which the outer peripheral surface 81 of the support body 8 is partially worn.
  • the outer peripheral surface 81 of the support body 8 has a smaller surface roughness than one surface of the support body 8 adjacent to the outer peripheral surface 81 . That is, the surface roughness of the outer peripheral surface 81 is smaller than that of both end surfaces of the support body 8 in the axial direction (thickness direction).
  • the "surface roughness” mentioned in the embodiments of the present disclosure refers to the roughness of the surface of the object, and the smaller the value, the smaller (less) the unevenness of the surface, and the smoother it is.
  • the surface roughness is referred to as the arithmetic mean roughness (Ra).
  • the outer peripheral surface 81 has a smaller surface roughness than the surface other than the outer peripheral surface 81 of the support body 8 by processing such as grinding. In this structure, the rotation of the support body 8 becomes smoother.
  • the hardness of the outer peripheral surface 81 of the support body 8 is lower than the peripheral surface of the plurality of pins 23 and higher than the inner peripheral surface 221 of the gear body 22 .
  • the "hardness” mentioned in the embodiments of the present disclosure refers to the hardness of an object, and the hardness of a metal is represented by, for example, the size of an indentation formed by pressing a steel ball with a certain pressure.
  • the hardness of a metal there are Rockwell hardness (HRC), Brinell hardness (HB), Vickers hardness (HV), Shore hardness (Hs), and the like.
  • the hardness of the outer peripheral surface 81 of the support body 8 is increased by processing such as carburizing and quenching. In this structure, even if the support body 8 rotates, abrasion powder etc. are hard to generate
  • the gear device 1 and the actuator 100 of the present embodiment are suitable for a robot such as a horizontal articulated robot, that is, a so-called Selective Compliance Assembly Robot Arm (SCARA: Selective Compliance Assembly Robot Arm) type robot.
  • SCARA Selective Compliance Assembly Robot Arm
  • application examples of the gear device 1 and the actuator 100 of the present embodiment are not limited to the above-described articulated robot, and may be industrial robots other than the articulated robot, or non-industrial robots, for example.
  • industrial robots other than the horizontal articulated robot include a vertical articulated robot, a parallel link robot, and the like.
  • robots other than industrial use include a home robot, a nursing robot, a medical robot, and the like.
  • the gear device 1 of the type in which the planetary gear 3 is one is exemplified, but the gear device 1 may include a plurality of planetary gears 3 .
  • the gear device 1 includes two planetary gears 3, it is preferable that the two planetary gears 3 are arranged with a phase difference of 180 degrees around the rotation axis Ax1.
  • the gear device 1 includes three planetary gears 3, it is preferable that the three planetary gears 3 are arranged with a phase difference of 120 degrees around the rotation axis Ax1. In this way, when the plurality of planetary gears 3 are equally arranged in the circumferential direction with the rotation axis Ax1 as the center, weight balance among the plurality of planetary gears 3 can be achieved.
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 , and this is not an essential configuration in the gear device 1 . That is, the gear device 1 only needs to include the bearing member 6 , the inner gear 2 , the planetary gear 3 , and the plurality of inner pins 4 .
  • the bearing member 6 has an outer ring 62 and an inner ring 61 arranged inside the outer ring 62 .
  • the inner ring 61 is supported so as to be rotatable relative to the outer ring 62 .
  • the gear body 22 of the internally toothed gear 2 is fixed to the outer ring 62 .
  • Each of the plurality of inner pins 4 is held by the inner ring 61 in a state capable of rotating.
  • each of the plurality of inner pins 4 may be arranged in parallel (opposed) to the bearing member 6 in the axial direction of the bearing member 6 .
  • the number of inner pins 4 and the number of pins 23 (the number of teeth of the inner teeth 21 ), the number of teeth of the outer teeth 31 and the like described in the above-described embodiment are merely examples, and may be appropriately changed.
  • the bearing member 6 is not limited to a crossed roller bearing, and may be a deep groove ball bearing, an angular contact ball bearing, or the like. However, it is preferable that the bearing member 6 can withstand radial loads, loads in the thrust direction (direction along the rotation axis Ax1 ), and bending forces (bending moment loads) with respect to the rotation axis Ax1 , such as a four-point contact ball bearing, for example. .
  • the eccentric body bearing 5 is not limited to the deep groove ball bearing, and may be, for example, an angular contact ball bearing or the like.
  • the eccentric body bearing 5 is not limited to a ball bearing.
  • rollers such as cylindrical roller bearings, needle roller bearings, and tapered roller bearings may be used in which the rolling elements 53 are formed of “rollers” that are not spherical. bearing.
  • each constituent element of the gear device 1 is not limited to metal, for example, resin such as engineering plastic may be used.
  • the gear device 1 is not limited to a configuration in which the relative rotation between the inner ring 61 and the outer ring 62 of the bearing member 6 can be taken out as an output, and the rotational force of the inner ring 61 can be taken out as an output.
  • the rotational force of the outer ring 62 that rotates relative to the inner ring 61 may be taken out as the output.
  • the lubricant is not limited to a liquid substance such as lubricating oil (oil), and may be a gel substance such as grease.
  • the gear arrangement 1 may comprise inner rollers. That is, in the gear device 1 , each of the plurality of inner pins 4 does not necessarily have to be in direct contact with the inner peripheral surface 321 of the inner pin hole 32 , and inner rollers may be interposed between each of the plurality of inner pins 4 and the inner pin hole 32 . In this case, the inner roller is attached to the inner pin 4 so as to be able to rotate on the inner pin 4 as an axis.
  • each of the plurality of inner pins 4 only needs to be arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 . Therefore, as in the above-described embodiment, only one end portion in the longitudinal direction of each of the plurality of inner pins 4 may be arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 , and the other end portion in the longitudinal direction may be disposed from the bearing member 6 . protrude. In addition, each of the plurality of inner pins 4 may be received in the entire range of the bearing member 6 in the axial direction of the bearing member 6 .
  • each of the plurality of inner pins 4 may be held by the inner ring 61 in a rotatable state, and the gear device 1 does not necessarily need to provide each of the plurality of inner pins 4 directly held by the inner ring 61 .
  • each of the plurality of inner pins 4 may be indirectly held by the inner ring 61 by being inserted into a holding hole formed in an output shaft, a bracket or the like integrated with the inner ring 61 .
  • the means for smoothing the rotation of the inner pin 4 with respect to the inner ring 61 is not limited to the method of supplying the lubricant in the lubricant holding space 17 between the inner ring 61 and the outer ring 62 to the holding hole 611 through the connecting passage 64 . structure.
  • the smooth rotation of the inner pin 4 can be achieved by the lubricant injected into the holding hole 611 .
  • smooth rotation of the inner pin 4 can be achieved by a bearing fitted in the holding hole 611 .
  • the support body 8 performs positioning of the plurality of inner pins 4 with respect to the support body 8 in both the circumferential direction and the radial direction, which is not necessarily provided in the gear device 1 .
  • the support body 8 may have a slit-shaped support hole 82 extending in the radial direction (radial direction), and the positioning of the plurality of inner pins 4 with respect to the support body 8 may be performed only in the circumferential direction.
  • the support body 8 can also position the plurality of inner pins 4 relative to the support body 8 only in the radial direction.
  • the void 75 including the concave portion formed in the rotating body is exemplified, but the void 75 The form is not limited to this.
  • the gap 75 may be formed in the eccentric inner ring 51 as a rotating body, or in both the eccentric inner ring 51 and the eccentric shaft 7 .
  • the voids 75 may include concave portions formed other than the inner peripheral surfaces of the through holes 73 . Additionally, the voids 75 may also contain holes.
  • an internal meshing planetary gear device 1A (hereinafter, also simply referred to as “gear device 1A”) according to another embodiment, the shape of the inner pin 4 is different from the gear device 1 of the above-described embodiment.
  • symbol is attached
  • each of the plurality of inner pins 4 has a small diameter portion 41 in a part of the inner pin 4 .
  • the narrow-diameter portion 41 is a portion (constricted portion) having a smaller diameter than the portion of the inner pin 4 , that is, a portion other than the narrow-diameter portion 41 .
  • such a small diameter portion 41 is provided at a position facing (opposing) the opening surface of the connection passage 64 on the holding hole 611 side.
  • each of the plurality of inner pins 4 has a small-diameter portion 41 having a narrower diameter than the other portions at a position corresponding to the connecting passage 64 .
  • the lubricant in the lubricant holding space 17 can be easily fed into the holding hole 611 via the connecting passage 64 . That is, by providing the small diameter portion 41 , the gap between the outer peripheral surface of the inner pin 4 (the small diameter portion 41 ) and the inner peripheral surface of the holding hole 611 is enlarged, and a space can be secured on the outlet side of the connection passage 64 , that is, the holding hole 611 side. .
  • the path for feeding the lubricant from the lubricant holding space 17 through the connecting passage 64 to the holding hole 611 is regarded as a hydraulic circuit
  • the resistance on the hydraulic circuit is reduced, and when the rolling elements 63 function as a pump, it is easy to The lubricant is fed into the holding hole 611 .
  • the lubricant fed into the holding hole 611 can be expected to expand in the longitudinal direction (direction parallel to the rotation axis Ax) of the holding hole 611 , for example, by capillary action. Therefore, it is difficult for the lubricant between the inner peripheral surface of the holding hole 611 and the inner pin 4 to be insufficient, and the smooth rotation of the inner pin 4 with respect to the inner ring 61 is easily achieved.
  • the small diameter portions 41 may be formed at a plurality of locations in the longitudinal direction of the inner pin 4 .
  • the inner pin 4 may have, for example, a tapered or stepped thin-diameter portion 41 whose diameter gradually increases in the longitudinal direction of the inner pin 4 .
  • the internal meshing planetary gear device (1, 1A) of the first form includes the bearing member (6), the internal gear (2), the planetary gear (3), and the plurality of internal pins (4).
  • the bearing member (6) has an outer ring (62) and an inner ring (61) arranged inside the outer ring (62), and the inner ring (61) is supported rotatably relative to the outer ring (62).
  • the internal gear (2) has internal teeth (21) and is fixed to the outer ring (62).
  • the planetary gear (3) has external teeth (31) partially meshed with the internal teeth (21).
  • the plurality of inner pins (4) revolve in the inner pin holes (32) while being inserted into the plurality of inner pin holes (32) formed in the planetary gear (3), respectively, and rotate relative to the inner gear (2).
  • Each of the plurality of inner pins (4) is held on the inner ring (61) in a rotatable state, and at least a part of each of the plurality of inner pins (4) is arranged with the bearing member (6) in the axial direction of the bearing member (6). same location.
  • each of the plurality of inner pins (4) is held on the inner ring (61) in a state of being able to rotate, so that when the inner pins (4) revolve in the inner pin holes (32), the inner pins (4) themselves can be rotated. Therefore, even without using an inner roller that is mounted on the inner pin (4) and can rotate on the inner pin (4) as an axis, the friction between the inner peripheral surface (321) of the inner pin hole (32) and the inner pin (4) can be reduced. loss due to frictional resistance. Therefore, it is not necessary to provide inner rollers, and there is an advantage that miniaturization is easy.
  • each of the plurality of inner pins (4) is in direct contact with the inner peripheral surface (321) of the inner pin hole (32).
  • the inner ring (61) has: a plurality of holding holes (611) for supplying a plurality of inner pins (4) are inserted separately; and a plurality of connecting paths (64).
  • a plurality of connecting passages (64) connect the lubricant holding space (17) between the inner ring (61) and the outer ring (62) and the plurality of holding holes (611).
  • the lubricant in the lubricant holding space (17) can be supplied to the holding hole (611) via the connecting passage (64).
  • each of the plurality of inner pins (4) has a position corresponding to the connecting passage (64) compared with other parts.
  • the lubricant in the lubricant holding space (17) can be easily supplied to the holding hole (611) via the connecting passage (64).
  • the internal meshing planetary gear device (1, 1A) of the fifth aspect in addition to any one of the first to fourth aspects, further includes a support body (8) that is annular and supports a plurality of Domestic sales (4).
  • the internal tooth gear (2) has: an annular gear body (22); twenty three). The position of the support body (8) is regulated by bringing the outer peripheral surface (81) into contact with the plurality of pins (23).
  • the plurality of inner pins (4) are bundled by the support body (8), and the relative displacement and inclination of the plurality of inner pins (4) can be suppressed. Furthermore, the outer peripheral surface (81) of the support body (8) is in contact with the plurality of pins (23), whereby the position of the support body (8) is restricted. In short, the centering of the support body (8) is performed by the plurality of pins (23), and as a result, the plurality of inner pins (4) supported by the support body (8) can also be centered by the plurality of pins (23). Therefore, there is an advantage in that it is easy to realize the improvement of the centering accuracy of the plurality of inner pins (4), and it is difficult to cause problems caused by poor centering of the plurality of inner pins (4).
  • the internal meshing planetary gear device (1, 1A) of the sixth aspect in addition to any one of the first to fifth aspects, further includes an eccentric body bearing (5), the eccentric body bearing (5) being accommodated in the planetary gear formed in the (3) opening portion (33), and swing the planetary gear (3).
  • the eccentric body bearing (5) has an eccentric outer ring (52) and an eccentric inner ring (51) arranged inside the eccentric outer ring (52).
  • the rotating body constituted by at least one of the eccentric inner ring (51) and the member that rotates together with the eccentric inner ring (51) is in the eccentric outer ring (51).
  • a part of the center (C1) side of 52) has a gap (75).
  • the weight balance around the rotation axis (Ax1) of the rotating body can be easily achieved.
  • the gap (75) is included in the penetration through the rotating body along the rotation axis (Ax1) of the eccentric inner ring (51) A concave portion formed on the inner peripheral surface of the hole (73).
  • the weight balance around the rotation axis (Ax1) of the rotating body can be easily achieved.
  • the bearing member (6) is a crossed roller bearing.
  • the bearing member (6) can easily bear any of the radial load, the thrust direction load, and the bending force with respect to the rotating shaft (Ax1).
  • An actuator (100) of a ninth aspect includes: an internal meshing planetary gear device (1, 1A) of any one of the first to eighth aspects; and a drive source (101) that generates a driving force for swinging the planetary gear (3) ).
  • the configurations of the second to eighth aspects are not necessarily required for the internal meshing planetary gear device (1, 1A), and can be appropriately omitted.

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Abstract

一种小型化的内啮合行星齿轮装置以及执行器。内啮合行星齿轮装置（1）包括轴承构件（6）、内齿齿轮（2）、行星齿轮（3）和多个内销（4）。轴承构件（6）具有外圈（62）以及配置于外圈（62）的内侧的内圈（61）。内圈（61）被支承为能够相对于外圈（62）相对旋转。内齿齿轮（2）具有内齿（21）并固定于外圈（62）。行星齿轮（3）具有与内齿（21）局部地啮合的外齿。多个内销（4）在分别插入于形成在行星齿轮（3）的多个内销孔（32）中的状态下，在内销孔（32）内公转并相对于内齿齿轮（2）相对旋转。此处，多个内销（4）各自以能够自转的状态被保持于内圈（61）。进一步，多个内销（4）各自将至少一部分在轴承构件（6）的轴向上配置于与轴承构件（6）相同的位置。

Description

内啮合行星齿轮装置及执行器
相关申请的交叉引用
本申请基于申请号为特愿2020-128086、申请日为2020年07月29日的日本专利申请提出，并要求该日本专利申请的优先权，该日本专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开实施例一般性地涉及内啮合行星齿轮装置及执行器，更详细而言，涉及在具有内齿的内齿齿轮的内侧配置具有外齿的行星齿轮的内啮合行星齿轮装置及执行器。
背景技术
作为关联技术，已知有行星齿轮边进行偏心摆动边与内齿齿轮进行内啮合的所谓偏心摆动类型的齿轮装置(例如，参照专利文献1)。在关联技术的齿轮装置中，偏心体与输入轴一体形成，在偏心体经由偏心体轴承来安装行星齿轮。在行星齿轮的外周形成有圆弧齿形等的外齿。
内齿齿轮通过将一个个地构成内齿的多个销(滚轮销)旋转自如地装入于兼作为壳体的齿轮主体(内齿齿轮主体)的内周面而构成。在行星齿轮，沿圆周方向以适当的间隔形成有多个内销孔(内滚子孔)，在内销孔插入有内销及内滚子。内销在其轴向的一端侧处与支架连结，支架经由轴承构件(交叉滚子)而旋转自如地支承于壳体。该齿轮装置可以作为将内齿齿轮固定时的行星齿轮的相当于自转分量的旋转从支架取出的齿轮装置来使用。
发明内容
在上述关联技术的结构中，由于用于减少因行星齿轮的内销孔的内周面与内销之间的摩擦阻力而引起的损失的内滚子是必需的，因此难以实现内销孔的小型化，例如妨碍行星齿轮的小型化等。
本公开实施例的目的在于提供容易小型化的内啮合行星齿轮装置以及执行器。
本公开实施例的一形态的内啮合行星齿轮装置包括轴承构件、内齿齿轮、行星齿轮和多个内销。所述轴承构件具有外圈以及配置于所述外圈的内侧的内圈，所述内圈被支承为能够相对于所述外圈相对旋转。所述内齿齿轮具有内齿且固定于所述外圈。所述行星齿轮具有与所述内齿局部地啮合的外齿。所述多个内销在分别插入于形成在所述行星齿轮的多个内销孔中的状态下，在所述内销孔内公转并相对于所述内齿齿轮相对旋转。所述多个内销各自以能够自转的状态被保持于所述内圈，且所述多个内销各自将至少一部分在所述轴承构件的轴向上配置于与所述轴承构件相同的位置。
本公开实施例的一个形态的执行器包括：所述内啮合行星齿轮装置；和产生用于使所述行星齿轮摆动的驱动力的驱动源。
根据本公开实施例，能够提供容易小型化的内啮合行星齿轮装置以及执行器。
附图说明
图1是示出包含一个实施方式的内啮合行星齿轮装置在内的执行器的概略结构的立体图。
图2是上述的内啮合行星齿轮装置的从旋转轴的输出侧观察到的概略的分解立体图。
图3是上述的内啮合行星齿轮装置的概略剖视图。
图4是示出上述的内啮合行星齿轮装置的、图3的A1-A1线剖视图。
图5A是以单体示出上述的内啮合行星齿轮装置的行星齿轮的立体图。
图5B是以单体示出上述的内啮合行星齿轮装置的行星齿轮的主视图。
图6A是以单体示出上述的内啮合行星齿轮装置的轴承构件的立体图。
图6B是以单体示出上述的内啮合行星齿轮装置的轴承构件的主视图。
图7A是以单体示出上述的内啮合行星齿轮装置的偏心轴的立体图。
图7B是以单体示出上述的内啮合行星齿轮装置的偏心轴的主视图。
图8A是以单体示出上述的内啮合行星齿轮装置的支承体的立体图。
图8B是以单体示出上述的内啮合行星齿轮装置的支承体的主视图。
图9是示出上述的内啮合行星齿轮装置的、图3的区域Z1的放大图。
图10是示出上述的内啮合行星齿轮装置的、图3的B1-B1线剖视图。
图11是示出另一实施方式的内啮合行星齿轮装置的主要部分的概略剖视图。
具体实施方式
(1)概要
以下，关于本实施方式的内啮合行星齿轮装置1的概要，参照图1～图3进行说明。本公开实施例参照的附图都是示意性的图，图中的各结构要素的大小及厚度各自的比未必反映实际的尺寸比。例如，图1～图3中的内齿21及外齿31的齿形、尺寸及齿数等都只不过是为了说明而示意性地表示的，其主旨并不限定为图示的形状。
本实施方式的内啮合行星齿轮装置1(以下，也简称为“齿轮装置1”)是包括内齿齿轮2、行星齿轮3、多个内销4的齿轮装置。在该齿轮装置1中，在环状的内齿齿轮2的内侧配置行星齿轮3，而且，在行星齿轮3的内侧配置偏心体轴承5。偏心体轴承5具有偏心体内圈51及偏心体外圈52，偏心体内圈51绕着从偏心体内圈51的中心C1(参照图3)偏移的旋转轴Ax1(参照图3)进行旋转(偏心运动)，由此使行星齿轮3摆动。偏心体 内圈51例如通过插入于偏心体内圈51的偏心轴7的旋转而绕着旋转轴Ax1进行旋转(偏心运动)。而且，内啮合行星齿轮装置1还包括轴承构件6，轴承构件6具有外圈62及内圈61。内圈61配置在外圈62的内侧，并被支承为能够相对于外圈62相对旋转。
内齿齿轮2具有内齿21，并固定于外圈62。特别是在本实施方式中，内齿齿轮2具有环状的齿轮主体22、多个销23。多个销23以能够自转的状态保持于齿轮主体22的内周面221，构成内齿21。行星齿轮3具有与内齿21局部地啮合的外齿31。即，在内齿齿轮2的内侧，行星齿轮3内切于内齿齿轮2，成为外齿31的一部分与内齿21的一部分啮合的状态。在该状态下，当偏心轴7旋转时行星齿轮3摆动，内齿21与外齿31的啮合位置沿内齿齿轮2的圆周方向移动，在两齿轮(内齿齿轮2及行星齿轮3)之间产生与行星齿轮3和内齿齿轮2的齿数差对应的相对旋转。在此，如果将内齿齿轮2固定，则伴随着两齿轮的相对旋转而行星齿轮3旋转(自转)。其结果是，能够从行星齿轮3获得与两齿轮的齿数差相应地以比较高的减速比被减速了的旋转输出。
这种齿轮装置1以下述方式使用：将行星齿轮3的相当于自转分量的旋转作为例如与轴承构件6的内圈61一体化的输出轴的旋转而取出。由此，齿轮装置1以偏心轴7为输入侧，以输出轴为输出侧，实现作为比较高的减速比的齿轮装置发挥功能。因此，在本实施方式的齿轮装置1中，为了将行星齿轮3的相当于自转分量的旋转向轴承构件6的内圈61传递而利用多个内销4将行星齿轮3与内圈61连结。多个内销4在分别插入到形成于行星齿轮3的多个内销孔32中的状态下，在内销孔32内公转并相对于内齿齿轮2相对旋转。即，内销孔32具有比内销4大的直径，内销4能够以插入于内销孔32的状态在内销孔32内公转地移动。并且，行星齿轮3的摆动分量、即行星齿轮3的公转分量通过行星齿轮3的内销孔32与内销4的游嵌而被吸收。换言之，多个内销4分别在多个内销孔32内公转地移动， 由此吸收行星齿轮3的摆动分量。因此，通过多个内销4，将除了行星齿轮3的摆动分量(公转分量)之外的、行星齿轮3的旋转(自转分量)向轴承构件6的内圈61传递。
然而，在这种齿轮装置1中，内销4在行星齿轮3的内销孔32内公转，同时，向多个内销4传递行星齿轮3的旋转，因此作为第一关联技术，已知有使用装配于内销4而能够以内销4为轴进行旋转的内滚子的技术。即，在第一关联技术中，将内销4以被压入于内圈61(或与内圈61一体化的支架)的状态保持，当内销4在内销孔32内公转时，内销4相对于内销孔32的内周面321滑动。因此，作为第一关联技术，为了减少内销孔32的内周面321与内销4之间的摩擦阻力产生的损失而使用内滚子。但是，如果是第一关联技术那样包括内滚子的结构，则内销孔32需要具有使带有内滚子的内销4能够公转的直径，内销孔32的小型化困难。当内销孔32的小型化困难时，就会妨碍行星齿轮3的小型化(特别是小径化)，甚至妨碍齿轮装置1整体的小型化。本实施方式的齿轮装置1通过以下的结构而能够提供容易小型化的内啮合行星齿轮装置1。
即，如图1～图3所示，本实施方式的齿轮装置1包括轴承构件6、内齿齿轮2、行星齿轮3、多个内销4。轴承构件6具有外圈62及配置在外圈62的内侧的内圈61。内圈61被支承为相对于外圈62能够相对旋转。内齿齿轮2具有内齿21且固定于外圈62。行星齿轮3具有与内齿21局部地啮合的外齿31。多个内销4在分别插入到形成于行星齿轮3的多个内销孔32中的状态下，在内销孔32内公转并相对于内齿齿轮2相对旋转。在此，多个内销4各自以能够自转的状态保持于内圈61。此外，多个内销4各自将至少一部分配置于在轴承构件6的轴向上与轴承构件6相同的位置。
根据该形态，多个内销4各自以能够自转的状态保持于内圈61，因此内销4在内销孔32内公转时，内销4自身能够自转。因此，即便不使用装配于内销4并以内销4为轴能够旋转的内滚子，也能够减少内销孔32的内 周面321与内销4之间的摩擦阻力引起的损失。因此，在本实施方式的齿轮装置1中，并非必须设置内滚子，故而具有容易小型化这样的优点。而且，多个内销4各自将至少一部分配置于在轴承构件6的轴向上与轴承构件6相同的位置，因此能够将轴承构件6的轴向上的齿轮装置1的尺寸抑制得小。即，与轴承构件6和内销4沿轴承构件6的轴向并列(相对)的结构相比，在本实施方式的齿轮装置1中，能够减小轴向上的齿轮装置1的尺寸，从而能够对齿轮装置1的进一步小型化(薄型化)作出贡献。
此外，如果行星齿轮3的尺寸与上述第一关联技术相同，则与上述第一关联技术相比，例如，还能够增加内销4的个数(根数)而使旋转的传递顺畅，或者使内销4变粗而提高强度。
另外，在这种齿轮装置1中，内销4需要在行星齿轮3的内销孔32内公转，因此作为第二关联技术，存在多个内销4仅由内圈61(或与内圈61一体化的支架)保持的情况。根据第二关联技术，多个内销4的定芯的精度难以提高，由于定芯不佳而可能会导致振动的产生、及传递效率的下降等不良状况。即，多个内销4分别在内销孔32内公转并相对于内齿齿轮2相对旋转，由此将行星齿轮3的自转分量向轴承构件6的内圈61传递。此时，如果多个内销4的定芯精度不够而多个内销4的旋转轴相对于内圈61的旋转轴偏离或倾斜，则成为定芯不佳的状态，可能导致振动的产生及传递效率的下降等不良状况。本实施方式的齿轮装置1通过以下的结构而能够提供难以产生因多个内销4的定芯不佳而引起的不良状况的内啮合行星齿轮装置1。
即，如图1～图3所示，本实施方式的齿轮装置1包括内齿齿轮2、行星齿轮3、多个内销4、支承体8。内齿齿轮2具有环状的齿轮主体22、多个销23。多个销23以能够自转的状态保持于齿轮主体22的内周面221而构成内齿21。行星齿轮3具有与内齿21局部地啮合的外齿31。多个内销4在分别插入到形成于行星齿轮3的多个内销孔32中的状态下，在内销孔32 内公转并相对于齿轮主体22相对旋转。支承体8为环状并支承多个内销4。在此，支承体8通过使外周面81与多个销23接触而被进行位置限制。
根据该形态，多个内销4由环状的支承体8支承，因此多个内销4由支承体8捆束，能抑制多个内销4的相对的偏离及倾斜。而且，支承体8的外周面81与多个销23接触，由此进行支承体8的位置限制。总之，通过多个销23进行支承体8的定芯，结果是，关于由支承体8支承的多个内销4，也利用多个销23进行定芯。因此，根据本实施方式的齿轮装置1，容易实现多个内销4的定芯精度的提高，具有难以产生因多个内销4的定芯不佳而引起的不良状况这样的优点。
另外，如图1所示，本实施方式的齿轮装置1与驱动源101一起构成执行器100。换言之，本实施方式的执行器100包括齿轮装置1和驱动源101。驱动源101产生用于使行星齿轮3摆动的驱动力。具体而言，驱动源101使偏心轴7以旋转轴Ax1为中心旋转，由此使行星齿轮3摆动。
(2)定义
本公开实施例所说的“环状”是指至少在俯视观察下在内侧形成被包围的空间(区域)的环(圈)那样的形状，并不局限于在俯视观察下为正圆的圆形状(圆环状)，例如也可以是椭圆形状及多边形状等。此外，即使是例如杯状那样具有底部的形状，只要其周壁为环状，就包含在“环状”内。
本公开实施例的“游嵌”是指嵌合成具有游隙(间隙)的状态，内销孔32是供内销4游嵌的孔。即，内销4以与内销孔32的内周面321之间确保了空间的富余度(间隙)的状态插入于内销孔32。换言之，内销4中的至少插入于内销孔32的部位的直径比内销孔32的直径小(细)。因此，内销4在插入于内销孔32的状态下，能够在内销孔32内移动，即能够相对于内销孔32的中心相对移动。由此，内销4在内销孔32内能够公转。但是，在内销孔32的内周面321与内销4之间并非必须确保作为空洞的间 隙，例如，也可以向该间隙内填充液体等流体。
本公开实施例所说的“公转”是指某物体绕着通过该物体的中心(重心)的中心轴以外的旋转轴转圈，当某物体公转时，该物体的中心沿着以旋转轴为中心的公转轨道移动。因此，例如，在某物体以与通过该物体的中心(重心)的中心轴平行的偏心轴为中心旋转的情况下，该物体以偏心轴为旋转轴公转。作为一例，内销4绕着通过内销孔32的中心的旋转轴转圈，在内销孔32内公转。
另外，在本公开实施例中，有时将旋转轴Ax1的一方侧(图3的左侧)称为“输入侧”，将旋转轴Ax1的另一方侧(图3的右侧)称为“输出侧”。在图3的例子中，从旋转轴Ax1的“输入侧”向旋转体(偏心体内圈51)赋予旋转，从旋转轴Ax1的“输出侧”取出多个内销4(内圈61)的旋转。但是，“输入侧”及“输出侧”只不过是为了说明而赋予的标签，其主旨并不是限定从齿轮装置1观察到的、输入及输出的位置关系。
本公开实施例所说的“旋转轴”是指成为旋转体的旋转运动的中心的虚拟的轴(直线)。即，旋转轴Ax1是不伴有实体的虚拟轴。偏心体内圈51以旋转轴Ax1为中心进行旋转运动。
本公开实施例所说的“内齿”及“外齿”分别指多个“齿”的集合(组)而不是单体的“齿。即，内齿齿轮2的内齿21由配置在内齿齿轮2(齿轮主体22)的内周面221的多个齿的集合构成。同样，行星齿轮3的外齿31由配置在行星齿轮3的外周面的多个齿的集合构成。
(3)结构
以下，关于本实施方式的内啮合行星齿轮装置1的详细的结构，参照图1～图8B进行说明。
图1是示出包含齿轮装置1的执行器100的概略结构的立体图。在图1中，示意性地示出驱动源101。图2是齿轮装置1的从旋转轴Ax1的输出侧观察到的概略的分解立体图。图3是齿轮装置1的概略剖视图。图4是 图3的A1-A1线剖视图。其中，在图4中，关于偏心轴7以外的部件，虽然也是剖面但是省略了剖面线。此外，在图4中，省略了齿轮主体22的内周面221的图示。图5A及图5B是将行星齿轮3以单体示出的立体图及主视图。图6A及图6B是将轴承构件6以单体示出的立体图及主视图。图7A及图7B是将偏心轴7以单体示出的立体图及主视图。图8A及图8B是将支承体8以单体示出的立体图及主视图。
(3.1)整体结构
如图1～图3所示，本实施方式的齿轮装置1包括内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、轴承构件6、偏心轴7和支承体8。而且，在本实施方式中，齿轮装置1还包括第一轴承91、第二轴承92及壳体10。在本实施方式中，作为齿轮装置1的结构要素的内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、轴承构件6、偏心轴7及支承体8等的材质是不锈钢、铸铁、机械结构用碳素钢、铬钼钢、磷青铜或铝青铜等金属。在此所说的金属包括实施了氮化处理等表面处理的金属。
另外，在本实施方式中，作为齿轮装置1的一例，例示使用了摆线类齿形的内切式行星齿轮装置。即，本实施方式的齿轮装置1包括具有摆线类曲线齿形的内切式的行星齿轮3。
另外，在本实施方式中，作为一例，齿轮装置1在内齿齿轮2的齿轮主体22与轴承构件6的外圈62一起固定于壳体10等固定构件的状态下使用。由此，伴随着内齿齿轮2与行星齿轮3的相对旋转而行星齿轮3相对于固定构件(壳体10等)相对旋转。
此外，在本实施方式中，在将齿轮装置1使用于执行器100的情况下，通过向偏心轴7施加作为输入的旋转力而从与轴承构件6的内圈61一体化的输出轴取出作为输出的旋转力。即，齿轮装置1以偏心轴7的旋转为输入旋转，以与内圈61一体化的输出轴的旋转为输出旋转进行动作。由此，在齿轮装置1中，能得到相对于输入旋转以比较高的减速比被减速了的输 出旋转。
驱动源101是电动机(马达)等动力产生源。由驱动源101产生的动力向齿轮装置1中的偏心轴7传递。具体而言，驱动源101经由输入轴而与偏心轴7相连，由驱动源101产生的动力经由输入轴向偏心轴7传递。由此，驱动源101能够使偏心轴7旋转。
此外，在本实施方式的齿轮装置1中，如图3所示，输入侧的旋转轴Ax1与输出侧的旋转轴Ax1处于同一直线上。换言之，输入侧的旋转轴Ax1与输出侧的旋转轴Ax1为同轴。在此，输入侧的旋转轴Ax1是被赋予输入旋转的偏心轴7的旋转中心，输出侧的旋转轴Ax1是产生输出旋转的内圈61(及输出轴)的旋转中心。即，在齿轮装置1中，能够在同轴上相对于输入旋转而得到以比较高的减速比被减速了的输出旋转。
如图4所示，内齿齿轮2是具有内齿21的环状的部件。在本实施方式中，内齿齿轮2具有至少内周面在俯视观察下为正圆的圆环状。在圆环状的内齿齿轮2的内周面，沿着内齿齿轮2的圆周方向形成有内齿21。构成内齿21的多个齿全部为同一形状，且以等间距设置在内齿齿轮2的内周面的圆周方向的整个区域。即，内齿21的节圆在俯视观察下为正圆。内齿21的节圆的中心处于旋转轴Ax1上。而且，内齿齿轮2沿旋转轴Ax1的方向具有规定的厚度。内齿21的齿向都与旋转轴Ax1平行。内齿21的齿向方向的尺寸比内齿齿轮2的厚度方向稍小。
在此，如上所述，内齿齿轮2具有环状(圆环状)的齿轮主体22、多个销23。多个销23以能够自转的状态保持于齿轮主体22的内周面221，构成内齿21。换言之，多个销23分别作为构成内齿21的多个齿发挥功能。具体而言，在齿轮主体22的内周面221，如图2所示在圆周方向的整个区域形成有多个槽。多个槽全部为同一形状并且等间距地设置。多个槽都与旋转轴Ax1平行，并遍及齿轮主体22的厚度方向的全长地形成。多个销23嵌合于多个槽地组合于齿轮主体22。多个销23各自被保持为在槽内能 够自转的状态。而且，齿轮主体22(与外圈62一起)固定于壳体10。因此，在齿轮主体22形成有固定用的多个固定孔222。
如图4所示，行星齿轮3是具有外齿31的环状的部件。在本实施方式中，行星齿轮3具有至少外周面在俯视观察下成为正圆的圆环状。在圆环状的行星齿轮3的外周面，沿着行星齿轮3的圆周方向形成有外齿31。构成外齿31的多个齿全部为同一形状，且等间距地设置在行星齿轮3的外周面的圆周方向的整个区域。即，外齿31的节圆在俯视观察下为正圆。外齿31的节圆的中心C1处于距旋转轴Ax1偏离了距离ΔL(参照图4)的位置。而且，行星齿轮3沿旋转轴Ax1的方向具有规定的厚度。外齿31都遍及行星齿轮3的厚度方向的全长地形成。外齿31的齿向都与旋转轴Ax1平行。在行星齿轮3中，与内齿齿轮2不同，外齿31与行星齿轮3的主体由一个金属构件一体形成。
在此，对于行星齿轮3组合偏心体轴承5及偏心轴7。即，在行星齿轮3形成有呈圆形状开口的开口部33。开口部33是沿着厚度方向贯通行星齿轮3的孔。在俯视观察下，开口部33的中心与行星齿轮3的中心一致，开口部33的内周面(行星齿轮3的内周面)与外齿31的节圆为同心圆。在行星齿轮3的开口部33收容有偏心体轴承5。此外，通过将偏心轴7插入于偏心体轴承5(的偏心体内圈51)而将偏心体轴承5及偏心轴7组合于行星齿轮3。在行星齿轮3组合有偏心体轴承5及偏心轴7的状态下，当偏心轴7旋转时，行星齿轮3绕着旋转轴Ax1摆动。
这样构成的行星齿轮3配置于内齿齿轮2的内侧。在俯视观察下，行星齿轮3形成得比内齿齿轮2小一圈，行星齿轮3在与内齿齿轮2组合的状态下，能够在内齿齿轮2的内侧摆动。在此，在行星齿轮3的外周面形成有外齿31，在内齿齿轮2的内周面形成有内齿21。因此，在内齿齿轮2的内侧配置有行星齿轮3的状态下，外齿31与内齿21相互相对。
此外，外齿31的节圆比内齿21的节圆小一圈。并且，在行星齿轮3 内切于内齿齿轮2的状态下，外齿31的节圆的中心C1处于从内齿21的节圆的中心(旋转轴Ax1)偏离了距离ΔL(参照图4)的位置。因此，外齿31与内齿21至少一部分隔着间隙相对，不存在圆周方向的整体相互啮合的情况。但是，行星齿轮3在内齿齿轮2的内侧绕着旋转轴Ax1摆动(公转)，因此外齿31与内齿21局部地啮合。即，通过行星齿轮3绕着旋转轴Ax1摆动，如图4所示，构成外齿31的多个齿中的一部分齿与构成内齿21的多个齿中的一部分齿啮合。结果是，在齿轮装置1中，能够使外齿31的一部分与内齿21的一部分啮合。
在此，内齿齿轮2中的内齿21的齿数比行星齿轮3的外齿31的齿数多N(N为正整数)。在本实施方式中，作为一例，N为“1”，从而行星齿轮3的(外齿31的)齿数比内齿齿轮2的(内齿21的)齿数多“1”。这样的行星齿轮3与内齿齿轮2的齿数差规定了齿轮装置1中的输出旋转相对于输入旋转的减速比。
另外，在本实施方式中，作为一例，行星齿轮3的厚度比内齿齿轮2中的齿轮主体22的厚度小。此外，外齿31的齿向方向(与旋转轴Ax1平行的方向)的尺寸比内齿21的齿向方向(与旋转轴Ax1平行的方向)的尺寸小。换言之，在与旋转轴Ax1平行的方向上，外齿31收于内齿21的齿向的范围内。
在本实施方式中，如上所述，行星齿轮3的相当于自转分量的旋转作为与轴承构件6的内圈61一体化的输出轴的旋转(输出旋转)而取出。因此，行星齿轮3利用多个内销4而与内圈61连结。如图5A及图5B所示，在行星齿轮3形成有用于插入多个内销4的多个内销孔32。内销孔32设置与内销4相同的个数，在本实施方式中，作为一例，内销孔32及内销4各设置18个。多个内销孔32是各自呈圆形状地开口并沿着厚度方向贯通行星齿轮3的孔。多个(在此为18个)内销孔32在与开口部33同心的虚拟圆上沿圆周方向等间隔地配置。
多个内销4是将行星齿轮3与轴承构件6的内圈61连结的部件。多个内销4各自形成为圆柱状。多个内销4的直径及长度在多个内销4中相同。内销4的直径比内销孔32的直径小一圈。由此，内销4以与内销孔32的内周面321之间确保有空间的富余度(间隙)的状态插入于内销孔32(参照图4)。
轴承构件6是具有外圈62及内圈61并用于取出齿轮装置1的输出作为内圈61相对于外圈62的旋转的部件。轴承构件6除了外圈62及内圈61之外，还具有多个滚动体63(参照图3)。
如图6A及图6B所示，外圈62及内圈61都是环状的部件。外圈62及内圈61都具有在俯视观察下为正圆的圆环状。内圈61比外圈62小一圈，配置在外圈62的内侧。在此，外圈62的内径比内圈61的外径大，因此在外圈62的内周面与内圈61的外周面之间产生间隙。
内圈61具有供多个内销4分别插入的多个保持孔611。保持孔611设置与内销4相同的个数，在本实施方式中，作为一例，保持孔611设置18个。如图6A及图6B所示，多个保持孔611各自是呈圆形状地开口并沿着厚度方向贯通内圈61的孔。多个(在此为18个)保持孔611在与内圈61的外周同心的虚拟圆上沿圆周方向等间隔地配置。保持孔611的直径为内销4的直径以上且比内销孔32的直径小。
此外，内圈61与输出轴一体化，取出内圈61的旋转作为输出轴的旋转。因此，在内圈61形成有用于安装输出轴的多个输出侧安装孔612(参照图2)。在本实施方式中，多个输出侧安装孔612配置在比多个保持孔611靠内侧且与内圈61的外周同心的虚拟圆上。
外圈62与内齿齿轮2的齿轮主体22一起固定于壳体10等固定构件。因此，在外圈62形成有固定用的多个透孔621。具体而言，如图3所示，外圈62以与壳体10之间夹有齿轮主体22的状态，利用穿过透孔621及齿轮主体22的固定孔222的固定用的螺钉(螺栓)60而固定于壳体10。
多个滚动体63配置于外圈62与内圈61之间的间隙。多个滚动体63沿外圈62的圆周方向并列配置。多个滚动体63全部为同一形状的金属部件，在外圈62的圆周方向的整个区域等间距地设置。
在本实施方式中，作为一例，轴承构件6为交叉滚子轴承。即，轴承构件6具有圆筒状的滚子作为滚动体63。并且，圆筒状的滚动体63的轴相对于与旋转轴Ax1正交的平面具有45度的倾斜，且与内圈61的外周正交。此外，在内圈61的圆周方向上相互相邻的一对滚动体63配置成轴向相互正交的朝向。在这样的由交叉滚子轴承构成的轴承构件6中，径向的载荷、推力方向(沿旋转轴Ax1的方向)的载荷、及对于旋转轴Ax1的弯曲力(弯曲力矩载荷)全都容易承受。而且，通过一个轴承构件6，能够耐受这三种载荷，从而能够确保所需的刚性。
如图7A及图7B所示，偏心轴7是圆筒状的部件。偏心轴7具有轴心部71、偏心部72。轴心部71具有至少外周面在俯视观察下为正圆的圆筒状。轴心部71的中心(中心轴)与旋转轴Ax1一致。偏心部72具有至少外周面在俯视观察下为正圆的圆盘状。偏心部72的中心(中心轴)与从旋转轴Ax1偏移的中心C1一致。在此，旋转轴Ax1与中心C1之间的距离ΔL(参照图7B)成为偏心部72相对于轴心部71的偏心量。偏心部72呈在轴心部71的长度方向(轴向)的中央部从轴心部71的外周面遍及整周地突出的凸缘形状。根据上述的结构，对于偏心轴7，通过轴心部71以旋转轴Ax1为中心旋转(自转)而偏心部72进行偏心运动。
在本实施方式中，轴心部71及偏心部72由一个金属构件一体形成，由此，实现无缝的偏心轴7。这样的形状的偏心轴7与偏心体轴承5一起组合于行星齿轮3。因此，在行星齿轮3组合有偏心体轴承5及偏心轴7的状态下当偏心轴7旋转时，行星齿轮3绕着旋转轴Ax1摆动。
此外，偏心轴7具有沿轴向(长度方向)贯通轴心部71的贯通孔73。贯通孔73在轴心部71的轴向的两端面呈圆形状地开口。贯通孔73的中心 (中心轴)与旋转轴Ax1一致。能够在贯通孔73穿过例如电源线及信号线等线缆类。
另外，在本实施方式中，从驱动源101向偏心轴7施加作为输入的旋转力。因此，在偏心轴7形成有用于安装与驱动源101相连的输入轴的多个输入侧安装孔74(参照图7A及图7B)。在本实施方式中，多个输入侧安装孔74在轴心部71的轴向的一端面的贯通孔73的周围，并配置在与贯通孔73同心的虚拟圆上。
偏心体轴承5是具有偏心体外圈52及偏心体内圈51、并吸收偏心轴7的旋转中的自转分量、并将除了偏心轴7的自转分量之外的偏心轴7的旋转、即仅将偏心轴7的摆动分量(公转分量)向行星齿轮3传递用的部件。偏心体轴承5除了偏心体外圈52及偏心体内圈51之外，还具有多个滚动体53(参照图3)。
偏心体外圈52及偏心体内圈51都是环状的部件。偏心体外圈52及偏心体内圈51都具有在俯视观察下为正圆的圆环状。偏心体内圈51比偏心体外圈52小一圈，配置在偏心体外圈52的内侧。在此，偏心体外圈52的内径比偏心体内圈51的外径大，因此在偏心体外圈52的内周面与偏心体内圈51的外周面之间产生间隙。
多个滚动体53配置于偏心体外圈52与偏心体内圈51之间的间隙。多个滚动体53沿偏心体外圈52的圆周方向并列配置。多个滚动体53全部为同一形状的金属部件，且等间距地设置在偏心体外圈52的圆周方向的整个区域。在本实施方式中，作为一例，偏心体轴承5由使用滚珠作为滚动体53的深沟球轴承构成。
在此，偏心体内圈51的内径与偏心轴7的偏心部72的外径一致。偏心体轴承5以偏心轴7的偏心部72插入于偏心体内圈51的状态与偏心轴7组合。而且，偏心体外圈52的外径与行星齿轮3的开口部33的内径(直径)一致。偏心体轴承5以偏心体外圈52嵌入于行星齿轮3的开口部33 的状态与行星齿轮3组合。换言之，在行星齿轮3的开口部33收容有装配于偏心轴7的偏心部72上的状态的偏心体轴承5。
另外，在本实施方式中，作为一例，偏心体轴承5的偏心体内圈51的宽度方向(与旋转轴Ax1平行的方向)的尺寸与偏心轴7的偏心部72的厚度大体相同。偏心体外圈52的宽度方向(与旋转轴Ax1平行的方向)的尺寸比偏心体内圈51的宽度方向的尺寸稍小。此外，偏心体外圈52的宽度方向的尺寸比行星齿轮3的厚度大。因此，在与旋转轴Ax1平行的方向上，行星齿轮3收于偏心体轴承5的范围内。另一方面，偏心体外圈52的宽度方向的尺寸比内齿21的齿向方向(与旋转轴Ax1平行的方向)的尺寸小。因此，在与旋转轴Ax1平行的方向上，偏心体轴承5收于内齿齿轮2的范围内。
在偏心体轴承5及偏心轴7组合于行星齿轮3的状态下，当偏心轴7旋转时，在偏心体轴承5中，偏心体内圈51绕着从偏心体内圈51的中心C1偏移的旋转轴Ax1旋转(偏心运动)。此时，偏心轴7的自转分量由偏心体轴承5吸收。因此，通过偏心体轴承5，将除了偏心轴7的自转分量之外的偏心轴7的旋转、即仅将偏心轴7的摆动分量(公转分量)向行星齿轮3传递。由此，在行星齿轮3组合有偏心体轴承5及偏心轴7的状态下当偏心轴7旋转时，行星齿轮3绕着旋转轴Ax1摆动。
如图8A及图8B所示，支承体8是形成为环状并支承多个内销4的部件。支承体8具有供多个内销4分别插入的多个支承孔82。支承孔82设置与内销4相同的个数，在本实施方式中作为一例，支承孔82设置18个。如图8A及图8B所示，多个支承孔82各自是呈圆形状地开口并沿着厚度方向贯通支承体8的孔。多个(在此为18个)支承孔82在与支承体8的外周面81同心的虚拟圆上沿圆周方向等间隔地配置。支承孔82的直径为内销4的直径以上且比内销孔32的直径小。在本实施方式中，作为一例，支承孔82的直径与形成于内圈61的保持孔611的直径相等。
如图3所示，支承体8以从旋转轴Ax1的一方侧(输入侧)与行星齿轮3相对的方式配置。并且，通过向多个支承孔82插入多个内销4而支承体8发挥捆束多个内销4的功能。此外，支承体8通过使外周面81与多个销23接触而被进行位置限制。由此，通过多个销23来进行支承体8的定芯，结果是，关于被支承体8支承的多个内销4，也利用多个销23进行定芯。关于支承体8，在“(3.3)支承体”一栏中进行详细说明。
第一轴承91及第二轴承92分别装配于偏心轴7的轴心部71。具体而言，如图3所示，第一轴承91及第二轴承92在与旋转轴Ax1平行的方向上以夹着偏心部72的方式装配于轴心部71的偏心部72的两侧。从偏心部72观察时，第一轴承91配置在旋转轴Ax1的输入侧。从偏心部72观察时，第二轴承92配置在旋转轴Ax1的输出侧。第一轴承91将偏心轴7保持为相对于壳体10能够旋转。第二轴承92将偏心轴7保持为相对于轴承构件6的内圈61能够旋转。由此，偏心轴7的轴心部71在与旋转轴Ax1平行的方向上的偏心部72的两侧的两个部位处被保持为能够旋转。
壳体10为圆筒状，在旋转轴Ax1的输出侧具有凸缘部11。在凸缘部11形成有用于将壳体10自身固定的多个设置孔111。而且，在壳体10中的旋转轴Ax1的输出侧的端面形成有轴承孔12。轴承孔12呈圆形状地开口。通过向轴承孔12内嵌入第一轴承91而将第一轴承91安装于壳体10。
另外，在壳体10的旋转轴Ax1的输出侧的端面且在轴承孔12的周围形成有多个螺纹孔13。多个螺纹孔13用于将内齿齿轮2的齿轮主体22及轴承构件6的外圈62固定于壳体10。具体而言，固定用的螺钉60穿过外圈62的透孔621及齿轮主体22的固定孔222而拧紧到螺纹孔13，从而将齿轮主体22及外圈62固定于壳体10。
另外，如图3所示，本实施方式的齿轮装置1还包括多个油封14、15、16等。油封14装配于偏心轴7的旋转轴Ax1的输入侧的端部，填塞壳体10与偏心轴7(轴心部71)之间的间隙。油封15装配于偏心轴7的旋转轴 Ax1的输出侧的端部，填塞内圈61与偏心轴7(轴心部71)之间的间隙。油封16装配于轴承构件6的旋转轴Ax1的输出侧的端面，填塞内圈61与外圈62之间的间隙。由这多个油封14、15、16密闭的空间构成润滑剂保持空间17(参照图9)。润滑剂保持空间17包括轴承构件6的内圈61与外圈62之间的空间。此外，在润滑剂保持空间17内收容有多个销23、行星齿轮3、偏心体轴承5、支承体8、第一轴承91及第二轴承92等。
并且，在润滑剂保持空间17封入有润滑剂。润滑剂为液体，能够在润滑剂保持空间17内流动。因此，在齿轮装置1使用时，例如润滑剂进入由多个销23构成的内齿21与行星齿轮3的外齿31的啮合部位。本公开实施例所说的“液体”包括液状或凝胶状的物质。在此所说的“凝胶状”是指具有液体与固体的中间性质的状态，包括由液相和固相这两个相构成的胶质(colloid)的状态。例如，分散剂为液相且分散质为液相的乳剂(emulsion)，分散质为固相的悬浮液(suspension)等称为凝胶(gel)或溶胶(sol)的状态包含于“凝胶状”。而且，分散剂为固相且分散质为液相的状态也包含于“凝胶状”。在本实施方式中，作为一例，润滑剂为液状的润滑油(油液)。
在上述的结构的齿轮装置1中，向偏心轴7施加作为输入的旋转力，偏心轴7以旋转轴Ax1为中心旋转，从而行星齿轮3绕着旋转轴Ax1摆动(公转)。此时，行星齿轮3在内齿齿轮2的内侧内切于内齿齿轮2，以外齿31的一部分与内齿21的一部分啮合的状态摆动，因此内齿21与外齿31的啮合位置沿内齿齿轮2的圆周方向移动。由此，在两齿轮(内齿齿轮2及行星齿轮3)之间产生与行星齿轮3和内齿齿轮2的齿数差对应的相对旋转。并且，通过多个内销4，将除了行星齿轮3的摆动分量(公转分量)之外的行星齿轮3的旋转(自转分量)向轴承构件6的内圈61传递。其结果是，从一体化于内圈61的输出轴，能得到与两齿轮的齿数差相应地以比较高的减速比被减速了的旋转输出。
然而，在本实施方式的齿轮装置1中，如上所述，内齿齿轮2与行星齿轮3的齿数差规定了齿轮装置1中的输出旋转相对于输入旋转的减速比。即，在将内齿齿轮2的齿数设为“V1”、将行星齿轮3的齿数设为“V2”的情况下，减速比R1由下述式1表示。
R1＝V2/(V1-V2)…(式1)
总之，内齿齿轮2与行星齿轮3的齿数差(V1-V2)越小，则减速比R1越大。作为一例，内齿齿轮2的齿数V1为“52”，行星齿轮3的齿数V2为“51”，其齿数差(V1-V2)为“1”，因此根据上述式1，减速比R1为“51”。在该情况下，从旋转轴Ax1的输入侧观察时，如果偏心轴7以旋转轴Ax1为中心顺时针旋转一周(360度)，则内圈61以旋转轴Ax1为中心逆时针旋转齿数差“1”的量(即约7.06度)。
根据本实施方式的齿轮装置1，这样高的减速比R1能够通过一级齿轮(内齿齿轮2及行星齿轮3)的组合来实现。
另外，齿轮装置1只要至少包括内齿齿轮2、行星齿轮3、多个内销4、轴承构件6和支承体8即可，可以还包括例如花键衬套等作为结构要素。
然而，在如本实施方式的齿轮装置1那样成为高速旋转侧的输入旋转伴有偏心运动的情况下，如果未取得进行高速旋转的旋转体的重量平衡，则可能会导致振动等，因此有时使用平衡配重等来取得重量平衡。即，由偏心体内圈51及与偏心体内圈51一起旋转的构件(偏心轴7)中的至少一者构成的旋转体以高速进行偏心运动，因此优选取得该旋转体的相对于旋转轴Ax1的重量平衡。在本实施方式中，如图3及图4所示，通过在偏心轴7的偏心部72的一部分设置空隙75来取得旋转体相对于旋转轴Ax1的重量平衡。
总之，在本实施方式中，不附加平衡配重等而通过减薄旋转体(在此为偏心轴7)的一部分进行轻量化，由此取得旋转体相对于旋转轴Ax1的重量平衡。即，本实施方式的齿轮装置1包括收容于在行星齿轮3形成的 开口部33并使行星齿轮3摆动的偏心体轴承5。偏心体轴承5具有偏心体外圈52及配置在偏心体外圈52的内侧的偏心体内圈51。由偏心体内圈51及与偏心体内圈51一起旋转的构件中的至少一者构成的旋转体在从偏心体内圈51的旋转轴Ax1观察下，在偏心体外圈52的中心C1侧的一部分具有空隙75。在本实施方式中，偏心轴7是“与偏心体内圈51一起旋转的构件”，相当于“旋转体”。因此，在偏心轴7的偏心部72形成的空隙75相当于旋转体的空隙75。如图3及图4所示，该空隙75在从旋转轴Ax1观察下处于中心C1侧的位置，因此发挥作用以使偏心轴7的重量平衡从旋转轴Ax1至周向接近均等。
更详细而言，空隙75包含形成在沿着偏心体内圈51的旋转轴Ax1贯通旋转体的贯通孔73的内周面上的凹部。即，在本实施方式中，旋转体为偏心轴7，因此在沿着旋转轴Ax1贯通偏心轴7的贯通孔73的内周面上形成的凹部作为空隙75发挥功能。这样，通过将形成于贯通孔73的内周面的凹部作为空隙75来利用，能够在不伴有外观上的变更的情况下取得旋转体的重量平衡。
(3.2)内销的自转结构
接下来，关于本实施方式的齿轮装置1的内销4的自转结构，参照图9更详细地进行说明。图9是图3的区域Z1的放大图。
首先，作为前提，如上所述，多个内销4是将行星齿轮3与轴承构件6的内圈61连结的部件。具体而言，内销4的长度方向的一端部(在本实施方式中为旋转轴Ax1的输入侧的端部)插入于行星齿轮3的内销孔32，内销4的长度方向的另一端部(在本实施方式中为旋转轴Ax1的输出侧的端部)插入于内圈61的保持孔611。
在此，内销4的直径比内销孔32的直径小一圈，因此能够在内销4与内销孔32的内周面321之间确保间隙，内销4能够在内销孔32内移动，即能够相对于内销孔32的中心相对移动。另一方面，保持孔611的直径虽 然为内销4的直径以上，但是比内销孔32的直径小。在本实施方式中，保持孔611的直径与内销4的直径大致相同，比内销4的直径稍大。因此，内销4在保持孔611内的移动被限制，即内销4相对于保持孔611的中心的相对移动被禁止。因此，内销4在行星齿轮3中以在内销孔32内能够公转的状态被保持，且以相对于内圈61在保持孔611内不能公转的状态被保持。由此，行星齿轮3的摆动分量、即行星齿轮3的公转分量由内销孔32与内销4的游嵌吸收，通过多个内销4，将除了行星齿轮3的摆动分量(公转分量)之外的、行星齿轮3的旋转(自转分量)向内圈61传递。
然而，在本实施方式中，内销4的直径比保持孔611稍大，由此，内销4在插入于保持孔611的状态下，虽然在保持孔611内的公转被禁止，但是在保持孔611内能够自转。即，内销4虽然是插入于保持孔611的状态但不是被压入于保持孔611，因此在保持孔611内能够自转。这样，在本实施方式的齿轮装置1中，多个内销4各自以能够自转的状态由内圈61保持，因此内销4在内销孔32内公转时，内销4自身能够自转。
总之，在本实施方式中，内销4被保持为相对于行星齿轮3能够进行在内销孔32内的公转及自转这两者的状态，且被保持为相对于内圈61仅能够进行在保持孔611内的自转的状态。即，多个内销4在各自的自转未被约束的状态(能够自转的状态)下，能够以旋转轴Ax1为中心旋转(公转)，且能够在多个内销孔32内公转。因此，在利用多个内销4将行星齿轮3的旋转(自转分量)向内圈61传递时，内销4能够在内销孔32内进行公转及自转，且同时在保持孔611内进行自转。因此，内销4在内销孔32内公转时，内销4处于能够自转的状态，因此相对于内销孔32的内周面321进行滚动。换言之，内销4以在内销孔32的内周面321上滚动的方式在内销孔32内公转，因此难以产生内销孔32的内周面321与内销4之间的摩擦阻力引起的损失。
这样，在本实施方式的结构中，由于原本就难以产生内销孔32的内周 面321与内销4之间的摩擦阻力引起的损失，因此可以省略内滚子。因此，在本实施方式中，多个内销4各自采用与内销孔32的内周面321直接接触的结构。即，在本实施方式中，将未装配内滚子的状态的内销4插入于内销孔32，内销4直接与内销孔32的内周面321接触。由此，能够省略内滚子，能够将内销孔32的直径抑制得比较小，因此行星齿轮3能够小型化(特别是小径化)，齿轮装置1整体也容易实现小型化。如果将行星齿轮3的尺寸固定，则与上述第一关联技术相比，例如，还可以增加内销4的个数(根数)而使旋转的传递顺畅，或者使内销4变粗而提高强度。此外，能够将部件个数抑制得减少与内滚子相应的量，从而也有助于齿轮装置1的低成本化。
另外，在本实施方式的齿轮装置1中，多个内销4各自将至少一部分在轴承构件6的轴向上配置于与轴承构件6相同的位置。即，如图9所示，在与旋转轴Ax1平行的方向上，内销4将其至少一部分配置在与轴承构件6相同的位置。换言之，内销4的至少一部分位于与旋转轴Ax1平行的方向上的轴承构件6的两端面之间。再换言之，多个内销4各自将至少一部分配置在轴承构件6的外圈62的内侧。在本实施方式中，内销4中的旋转轴Ax1的输出侧的端部在与旋转轴Ax1平行的方向上处于与轴承构件6相同的位置。总之，内销4中的旋转轴Ax1的输出侧的端部插入于在轴承构件6的内圈61形成的保持孔611，因此至少该端部在轴承构件6的轴向上配置于与轴承构件6相同的位置。
这样，多个内销4的各自的至少一部分在轴承构件6的轴向上配置于与轴承构件6相同的位置，由此能够将与旋转轴Ax1平行的方向上的齿轮装置1的尺寸抑制得小。即，与轴承构件6和内销4沿轴承构件6的轴向并列(相对)的结构相比，在本实施方式的齿轮装置1中，能够减小与旋转轴Ax1平行的方向上的齿轮装置1的尺寸，能够对齿轮装置1的进一步的小型化(薄型化)作出贡献。
在此，保持孔611中的、旋转轴Ax1的输出侧的开口面例如由与内圈61一体化的输出轴等闭塞。由此，关于内销4向旋转轴Ax1的输出侧(图9的右侧)的移动，受到与内圈61一体化的输出轴等限制。
另外，在本实施方式中，为了使内销4相对于内圈61的自转顺畅地进行而采用以下的结构。即，通过使润滑剂(润滑油)介于形成于内圈61的保持孔611的内周面与内销4之间而使内销4的自转顺畅。特别是在本实施方式中，在内圈61与外圈62之间存在供润滑剂注入的润滑剂保持空间17，因此利用润滑剂保持空间17内的润滑剂，实现内销4的自转的顺畅化。
在本实施方式中，如图9所示，内圈61具有：供多个内销4分别插入的多个保持孔611；多个连结路64。多个连结路64使内圈61和外圈62之间的润滑剂保持空间17与多个保持孔611之间相连。具体而言，在内圈61形成有从保持孔611的内周面的一部分即与滚动体63对应的部位沿径向延伸的连结路64。连结路64是将内圈61的与外圈62相对的相对面中的收容滚动体63的凹部(槽)的底面与保持孔611的内周面之间贯通的孔。换言之，连结路64的润滑剂保持空间17侧的开口面配置在与轴承构件6的滚动体63面对(相对)的位置。润滑剂保持空间17与保持孔611经由这样的连结路64而在空间上相连。
根据上述的结构，由于利用连结路64将润滑剂保持空间17与保持孔611连结，因此润滑剂保持空间17内的润滑剂通过连结路64而被供给至保持孔611。即，当轴承构件6动作而滚动体63旋转时，滚动体63作为泵发挥功能，能够将润滑剂保持空间17内的润滑剂经由连结路64送入至保持孔611。特别是连结路64的润滑剂保持空间17侧的开口面处于与轴承构件6的滚动体63面对(相对)的位置，由此在滚动体63旋转时，滚动体63作为泵有效地发挥作用。其结果是，润滑剂介于保持孔611的内周面与内销4之间，能够实现内销4相对于内圈61的自转的顺畅化。
(3.3)支承体
接下来，关于本实施方式的齿轮装置1的支承体8的结构，参照图10，更详细地进行说明。图10是图3的B1-B1线剖视图。但是，在图10中，关于支承体8以外的部件，即使是剖面也省略剖面线。而且，在图10中，仅图示内齿齿轮2及支承体8，省略其他的部件(内销4等)的图示。此外，在图10中，省略齿轮主体22的内周面221的图示。
首先，作为前提，如上所述，支承体8是支承多个内销4的部件。即，支承体8通过捆束多个内销4而分散将行星齿轮3的旋转(自转分量)向内圈61传递时的、作用于多个内销4的载荷。具体而言，具有供多个内销4分别插入的多个支承孔82。在本实施方式中，作为一例，支承孔82的直径与形成于内圈61的保持孔611的直径相等。因此，支承体8以多个内销4各自能够自转的状态支承多个内销4。即，多个内销4各自被保持为相对于轴承构件6的内圈61和支承体8都能够自转的状态。
这样，支承体8关于周向及径向这两个方向上，进行多个内销4相对于支承体8的定位。即，内销4通过插入于支承体8的支承孔82而被限制与旋转轴Ax1正交的平面内的相对于全部方向的移动。因此，内销4通过支承体8不仅在周向上而且在径向(径向)上也被定位。
在此，支承体8具有至少外周面81在俯视观察下为正圆的圆环状。并且，支承体8通过使外周面81与内齿齿轮2中的多个销23接触而被进行位置限制。由于多个销23构成内齿齿轮2的内齿21，因此换言之，支承体8通过使外周面81与内齿21接触而被进行位置限制。在此，支承体8的外周面81的直径与通过内齿齿轮2的内齿21的前端的虚拟圆(齿顶圆)的直径相同。因此，多个销23全部与支承体8的外周面81接触。由此，在支承体8由多个销23进行了位置限制的状态下，支承体8的中心以与内齿齿轮2的中心(旋转轴Ax1)重叠的方式被进行位置限制。由此，进行支承体8的定芯，结果是，关于支承体8支承的多个内销4，也利用多个销23进行定芯。
另外，多个内销4以旋转轴Ax1为中心旋转(公转)，由此将行星齿轮3的旋转(自转分量)向内圈61传递。因此，对多个内销4进行支承的支承体8与多个内销4及内圈61一起以旋转轴Ax1为中心旋转。此时，支承体8由多个销23进行定芯，因此在支承体8的中心被维持在旋转轴Ax1上的状态下，支承体8顺畅地旋转。而且，支承体8以其外周面81与多个销23接触的状态旋转，因此伴随着支承体8的旋转而多个销23各自旋转(自转)。由此，支承体8与内齿齿轮2一起构成滚针轴承(针状滚子轴承)，并顺畅地旋转。
即，支承体8的外周面81以与多个销23相切的状态与多个内销4一起相对于齿轮主体22相对旋转。因此，如果将内齿齿轮2的齿轮主体22看作“外圈”，将支承体8看作“内圈”，则介于两者之间的多个销23作为“滚动体(滚子)”发挥功能。这样，支承体8与内齿齿轮2(齿轮主体22及多个销23)一起构成滚针轴承，并能够进行顺畅的旋转。
此外，由于支承体8在与齿轮主体22之间夹有多个销23，因此支承体8也作为抑制销23从齿轮主体22的内周面221分离的方向的移动的“限动件”发挥功能。即，多个销23夹在支承体8的外周面81与齿轮主体22的内周面221之间，从而抑制多个销23从齿轮主体22的内周面221的浮起。总之，在本实施方式中，多个销23各自通过与支承体8的外周面81接触而被限制从齿轮主体22分离的方向的移动。
然而，在本实施方式中，如图9所示，支承体8隔着行星齿轮3而位于轴承构件6的内圈61的相反侧。即，支承体8、行星齿轮3及内圈61沿着与旋转轴Ax1平行的方向并列配置。在本实施方式中，作为一例，支承体8在从行星齿轮3观察下位于旋转轴Ax1的输入侧，内圈61在从行星齿轮3观察下位于旋转轴Ax1的输出侧。并且，支承体8与内圈61一起支承内销4的长度方向(与旋转轴Ax1平行的方向)的两端部，内销4的长度方向的中央部贯通插入行星齿轮3的内销孔32。总之，本实施方式的齿轮 装置1包括轴承构件6，轴承构件6具有外圈62及配置在外圈62的内侧的内圈61，且内圈61被支承为能够相对于外圈62相对旋转。并且，齿轮主体22被固定于外圈62。在此，行星齿轮3在支承体8的轴向上位于支承体8与内圈61之间。
根据该结构，支承体8及内圈61支承内销4的长度方向的两端部，因此难以产生内销4的倾斜。特别是也容易承受作用于多个内销4的对于旋转轴Ax1的弯曲力(弯曲力矩载荷)。而且，在本实施方式中，在与旋转轴Ax1平行的方向上，支承体8被夹在行星齿轮3与壳体10之间。由此，支承体8向旋转轴Ax1的输入侧(图9的左侧)的移动被壳体10限制。关于贯通支承体8的支承孔82而从支承体8向旋转轴Ax1的输入侧突出的内销4，向旋转轴Ax1的输入侧(图9的左侧)的移动也被壳体10限制。
在本实施方式中，支承体8及内圈61还与多个销23的两端部接触。即，如图9所示，支承体8与销23的长度方向(与旋转轴Ax1平行的方向)的一端部(旋转轴Ax1的输入侧的端部)接触。内圈61与销23的长度方向(与旋转轴Ax1平行的方向)的另一端部(旋转轴Ax1的输出侧的端部)接触。根据该结构，支承体8及内圈61在销23的长度方向的两端部被定芯，因此难以产生内销4的倾斜。特别是也容易承受作用于多个内销4的对于旋转轴Ax1的弯曲力(弯曲力矩载荷)。
另外，多个销23具有支承体8的厚度以上的长度。换言之，在与旋转轴Ax1平行的方向上，支承体8收于内齿21的齿向的范围内。由此，支承体8的外周面81遍及内齿21的齿向方向(与旋转轴Ax1平行的方向)的全长地与多个销23接触。因此，难以产生支承体8的外周面81局部地磨损的“单边磨损”那样的不良状况。
另外，在本实施方式中，支承体8的外周面81比支承体8的与外周面81相邻的一表面的表面粗糙度小。即，外周面81的表面粗糙度比支承体8的轴向(厚度方向)的两端面小。本公开实施例所说的“表面粗糙度”是 指物体的表面的粗糙程度，值越小，则表面的凹凸越小(越少)，越光滑。在本实施方式中，作为一例，将表面粗糙度设为算术平均粗糙度(Ra)。例如，通过研磨等处理，外周面81比支承体8中的外周面81以外的面的表面粗糙度小。在该结构中，支承体8的旋转变得更加顺畅。
另外，在本实施方式中，支承体8的外周面81的硬度比多个销23的周面低且比齿轮主体22的内周面221高。本公开实施例所说的“硬度”是指物体的坚硬程度，金属的硬度例如由以一定的压力推压钢球而形成的压痕的大小来表示。具体而言，作为金属的硬度的一例，有洛氏硬度(HRC)、布氏硬度(HB)、维氏硬度(HV)或肖氏硬度(Hs)等。作为提高金属部件的硬度(变硬)的手段，例如有合金化或热处理等。在本实施方式中，作为一例，通过渗碳淬火等处理，提高支承体8的外周面81的硬度。在该结构中，即使由于支承体8的旋转也难以产生磨损粉等，容易长期地维持支承体8的顺畅的旋转。
(4)适用例
接下来，说明本实施方式的齿轮装置1及执行器100的适用例。
本实施方式的齿轮装置1及执行器100例如适用于水平多关节机器人、即所谓的选择柔性组合机器人臂(SCARA：Selective Compliance Assembly Robot Arm)型机器人那样的机器人。
另外，本实施方式的齿轮装置1及执行器100的适用例并不局限于上述那样的水平多关节机器人，例如，也可以是水平多关节机器人以外的产业用机器人或产业用以外的机器人等。在水平多关节机器人以外的产业用机器人中，作为一例，存在垂直多关节型机器人或平行连杆型机器人等。在产业用以外的机器人中，作为一例，有家庭用机器人、护理用机器人或医疗用机器人等。
(5)变形例
上述实施方式只不过是本公开实施例的各种实施方式的一个。上述实 施方式只要能够实现本发明的目的，就可以根据设计等进行各种变更。而且，本公开实施例参照的附图都是示意性的图，图中的各结构要素的大小及厚度各自的比未必反映实际的尺寸比。以下，列举上述实施方式的变形例。以下说明的变形例可以适当组合适用。
在上述实施方式中，例示了行星齿轮3为一个的类型的齿轮装置1，但是齿轮装置1可以包括多个行星齿轮3。例如，在齿轮装置1包括两个行星齿轮3的情况下，优选这两个行星齿轮3绕着旋转轴Ax1以180度的相位差配置。另外，在齿轮装置1包括三个行星齿轮3的情况下，优选这三个行星齿轮3绕着旋转轴Ax1以120度的相位差配置。这样，多个行星齿轮3在以旋转轴Ax1为中心的周向上均等配置的情况下，能够取得多个行星齿轮3之间的重量平衡。
另外，多个内销4各自将至少一部分在轴承构件6的轴向上配置于与轴承构件6相同的位置，这在齿轮装置1中不是必须设置的结构。即，齿轮装置1只要包括轴承构件6、内齿齿轮2、行星齿轮3和多个内销4即可。轴承构件6具有外圈62及配置在外圈62的内侧的内圈61。内圈61被支承为相对于外圈62能够相对旋转。内齿齿轮2的齿轮主体22被固定于外圈62。多个内销4各自以能够自转的状态保持于内圈61。在此，可以是多个内销4各自在轴承构件6的轴向上与轴承构件6并列(相对)配置。
另外，上述实施方式中说明的内销4的个数及销23的个数(内齿21的齿数)、及外齿31的齿数等只不过为一例，可以适当变更。
另外，轴承构件6并不局限于交叉滚子轴承，可以是深沟球轴承或角接触球轴承等。但是，轴承构件6优选例如四点接触球轴承等那样对于径向的载荷、推力方向(沿旋转轴Ax1的方向)的载荷、及对于旋转轴Ax1的弯曲力(弯曲力矩载荷)都能耐受。
另外，偏心体轴承5并不局限于深沟球轴承，例如，可以为角接触球轴承等。此外，偏心体轴承5并不局限于球轴承，例如，可以是滚动体53 由不为球状的“滚子”构成的、圆柱滚子轴承、针状滚子轴承或圆锥滚子轴承等滚子轴承。
另外，齿轮装置1的各结构要素的材质并不局限于金属，例如，可以为工程塑料等树脂。
另外，作为齿轮装置1，并不局限于能够将轴承构件6的内圈61与外圈62之间的相对旋转作为输出取出、将内圈61的旋转力作为输出取出的结构。例如，也可以将相对于内圈61相对旋转的外圈62的旋转力作为输出取出。
另外，润滑剂并不局限于润滑油(油液)等液状的物质，可以是润滑脂等凝胶状的物质。
另外，齿轮装置1可以包括内滚子。即，在齿轮装置1中，并非必须是多个内销4各自与内销孔32的内周面321直接接触，也可以在多个内销4各自与内销孔32之间夹设内滚子。在该情况下，内滚子装配于内销4而能够以内销4为轴进行旋转。
另外，多个内销4各自只要将至少一部分在轴承构件6的轴向上配置于与轴承构件6相同的位置即可。因此，可以如上述实施方式那样，多个内销4各自仅将长度方向的一端部在轴承构件6的轴向上配置于与轴承构件6相同的位置，而长度方向的另一端部从轴承构件6突出。此外，可以是多个内销4各自将其整体在轴承构件6的轴向上收于轴承构件6的范围内。
另外，多个内销4各自只要以能够自转的状态保持于内圈61即可，多个内销4各自由内圈61直接保持的情况在齿轮装置1中并非必须设置。例如，多个内销4各自可以通过插入于形成在与内圈61一体化的输出轴或支架等上的保持孔而由内圈61间接保持。
另外，使内销4相对于内圈61的自转的顺畅的手段并不局限于将内圈61与外圈62之间的润滑剂保持空间17内的润滑剂利用连结路64供给至保 持孔611的结构。例如，即使内圈61和外圈62之间的润滑剂保持空间17与保持孔611未相连，也能够利用注入到保持孔611内的润滑剂来实现内销4的自转的顺畅化。或者，可以利用装配在保持孔611内的轴承(bearing)来实现内销4的自转的顺畅化。
另外，支承体8在周向及径向这两个方向上进行多个内销4相对于支承体8的定位，这在齿轮装置1中并非必须设置。例如，支承体8可以具有沿径向(径向)延伸的狭缝状的支承孔82，仅在周方向上进行多个内销4相对于支承体8的定位。相反，支承体8也可以仅在径向上进行多个内销4相对于支承体8的定位。
另外，在上述实施方式中，作为用于取得进行偏心运动的旋转体相对于旋转轴Ax1的重量平衡的结构，例示了形成于旋转体(偏心轴7)的包含凹部的空隙75，但是空隙75的形态并不局限于此。例如，可以在作为旋转体的偏心体内圈51、或者偏心体内圈51及偏心轴7这两者形成空隙75。空隙75可以包含形成于贯通孔73的内周面以外的凹部。此外，空隙75也可以包含孔。
另一实施方式的内啮合行星齿轮装置1A(以下，也简称为“齿轮装置1A”)如图11所示，内销4的形状与上述实施方式的齿轮装置1不同。以下，关于与上述实施方式同样的结构，标注相同的附图标记而适当省略说明。
在本实施方式的齿轮装置1A中，多个内销4各自在其一部分具有细径部41。细径部41是与内销4中的其的部位、即细径部41以外的部位相比直径小的部位(缩颈部)。在本实施方式中，特别是这样的细径部41设置在与连结路64的保持孔611侧的开口面面对(相对)的位置。总之，多个内销4各自在与连结路64对应的位置具有与其他部位相比成为细径的细径部41。
根据该结构，润滑剂保持空间17内的润滑剂经由连结路64容易送入 保持孔611。即，通过设置细径部41，内销4(细径部41)的外周面与保持孔611的内周面之间的间隙扩大，在连结路64的出口侧、即保持孔611侧能确保空间。由此，当将从润滑剂保持空间17通过连结路64向保持孔611送入润滑剂的路径看作为液压回路时，液压回路上的阻力减小，在滚动体63作为泵发挥功能时，容易将润滑剂送入保持孔611内。此外，送入到保持孔611内的润滑剂可期待例如通过毛细管现象而也沿保持孔611的长度方向(与旋转轴Ax平行的方向)扩展。因此，保持孔611的内周面与内销4之间的润滑剂难以不足，容易实现内销4相对于内圈61的自转的顺畅化。
作为本实施方式的变形例，可以在内销4的长度方向的多个部位形成细径部41。而且，内销4可以具有例如在内销4的长度方向上直径逐渐变大的锥状或阶梯状的细径部41。
本实施方式的结构(包括变形例)可以与上述实施方式中说明的结构(包括变形例)适当组合适用。
(总结)
如以上说明所述，第一形态的内啮合行星齿轮装置(1、1A)包括轴承构件(6)、内齿齿轮(2)、行星齿轮(3)和多个内销(4)。轴承构件(6)具有外圈(62)以及配置于外圈(62)的内侧的内圈(61)，内圈(61)被支承为能够相对于外圈(62)相对旋转。内齿齿轮(2)具有内齿(21)且固定于外圈(62)。行星齿轮(3)具有与内齿(21)局部地啮合的外齿(31)。多个内销(4)在分别插入于形成在行星齿轮(3)的多个内销孔(32)中的状态下，在内销孔(32)内公转并相对于内齿齿轮(2)相对旋转。多个内销(4)各自以能够自转的状态被保持于内圈(61)，且多个内销(4)各自将至少一部分在轴承构件(6)的轴向上配置于与轴承构件(6)相同的位置。
根据该形态，多个内销(4)各自以能够自转的状态被保持于内圈(61)，因此当内销(4)在内销孔(32)内公转时，内销(4)自身能够自转。因此，即使不 使用装配于内销(4)而能够以内销(4)为轴旋转的内滚子，也能够减少因内销孔(32)的内周面(321)与内销(4)之间的摩擦阻力而引起的损失。因此，不必须设置内滚子，有容易小型化的优点。
在第二形态的内啮合行星齿轮装置(1、1A)中，在第一形态的基础上，多个内销(4)各自与内销孔(32)的内周面(321)直接接触。
根据该形态，容易以没有内滚子所对应的量地进行小型化。
在第三形态的内啮合行星齿轮装置(1、1A)中，在第一或第二形态的基础上，内圈(61)具有：多个保持孔(611)，供多个内销(4)分别插入；和多个连结路(64)。多个连结路(64)使内圈(61)和外圈(62)之间的润滑剂保持空间(17)与多个保持孔(611)之间相连。
根据该形态，能够将润滑剂保持空间(17)内的润滑剂经由连结路(64)供给至保持孔(611)。
在第四形态的内啮合行星齿轮装置(1、1A)中，在第三形态的基础上，多个内销(4)各自在与连结路(64)相对应的位置处具有与其他部位相比较直径细的细径部(41)。
根据该方式，容易将润滑剂保持空间(17)内的润滑剂经由连结路(64)供给至保持孔(611)。
第五形态的内啮合行星齿轮装置(1、1A)，在第一～第四任一形态的基础上，还包括支承体(8)，所述支承体(8)为环状且支承多个内销(4)。内齿齿轮(2)具有：环状的齿轮主体(22)；和以能够自转的状态被保持于齿轮主体(22)的内周面(221)并构成内齿(21)的多个销(23)。支承体(8)通过使外周面(81)与多个销(23)接触而被进行位置限制。
根据该形态，多个内销(4)利用支承体(8)而被捆束，能够抑制多个内销(4)的相对的偏移以及倾斜。而且，支承体(8)的外周面(81)与多个销(23)接触，由此支承体(8)的位置被限制。总之，通过多个销(23)进行支承体(8)的定芯，结果是，对被支承体(8)支承的多个内销(4)也能够利用多个销(23)进行定芯。 因此，有以下优点，即：容易实现多个内销(4)的定芯精度的提高，难以产生因多个内销(4)的定芯不佳而引起的不良状况。
第六形态的内啮合行星齿轮装置(1、1A)，在第一～第五任一形态的基础上，还包括偏心体轴承(5)，该偏心体轴承(5)收容于形成在行星齿轮(3)的开口部(33)，并使行星齿轮(3)摆动。偏心体轴承(5)具有偏心体外圈(52)以及配置于偏心体外圈(52)的内侧的偏心体内圈(51)。由偏心体内圈(51)以及与偏心体内圈(51)一起旋转的构件中的至少一者构成的旋转体在从偏心体内圈(51)的旋转轴(Ax1)观察时，在偏心体外圈(52)的中心(C1)侧的一部分具有空隙(75)。
根据该形态，容易取得围绕旋转体的旋转轴(Ax1)的重量平衡。
在第七形态的内啮合行星齿轮装置(1、1A)中，在第六形态的基础上，空隙(75)包含在沿着偏心体内圈(51)的旋转轴(Ax1)贯通旋转体的贯通孔(73)的内周面形成的凹部。
根据该形态，容易取得围绕旋转体的旋转轴(Ax1)的重量平衡。
在第八形态的内啮合行星齿轮装置(1、1A)中，在第一～第七任一形态的基础上，轴承构件(6)为交叉滚子轴承。
根据该形态，利用轴承构件(6)，对于径向的负荷、推力方向的负荷以及相对于旋转轴(Ax1)的弯曲力的任一个都容易承受。
第九形态的执行器(100)包括：第一～第八任一形态的内啮合行星齿轮装置(1、1A)；和产生用于使行星齿轮(3)摆动的驱动力的驱动源(101)。
根据该形态，有容易小型化的优点。
关于第二～第八形态的结构，对于内啮合行星齿轮装置(1、1A)而言不是必须设置的结构，可以适当省略。
附图标记说明
1、1A内啮合行星齿轮装置
2内齿齿轮
3行星齿轮
4内销
5偏心体轴承
6轴承构件
8支承体
21内齿
22齿轮主体
23销
31外齿
32内销孔
33开口部
51偏心体内圈
52偏心体外圈
61内圈
62外圈
73贯通孔
75空隙
81外周面
100执行器
101驱动源
221(齿轮主体的)内周面
Ax1旋转轴
C1中心
工业实用性
根据本公开实施例，能够提供容易小型化的内啮合行星齿轮装置以及 执行器。

Claims (9)

  1. 一种内啮合行星齿轮装置，其中，包括：
    轴承构件，具有外圈以及配置于所述外圈的内侧的内圈，所述内圈被支承为能够相对于所述外圈相对旋转；
    内齿齿轮，具有内齿且固定于所述外圈；
    行星齿轮，具有与所述内齿局部地啮合的外齿；和
    多个内销，在分别插入于形成在所述行星齿轮的多个内销孔中的状态下，在所述内销孔内公转并相对于所述内齿齿轮相对旋转，
    所述多个内销各自以能够自转的状态被保持于所述内圈，且
    所述多个内销各自将至少一部分在所述轴承构件的轴向上配置于与所述轴承构件相同的位置。
  2. 根据权利要求1所述的内啮合行星齿轮装置，其中，
    所述多个内销各自与所述内销孔的内周面直接接触。
  3. 根据权利要求1或2所述的内啮合行星齿轮装置，其中，
    所述内圈具有：
    多个保持孔，供所述多个内销分别插入；和
    多个连结路，使所述内圈和所述外圈之间的润滑剂保持空间与所述多个保持孔之间相连。
  4. 根据权利要求3所述的内啮合行星齿轮装置，其中，
    所述多个内销各自在与所述连结路相对应的位置处具有与其他部位相比较直径细的细径部。
  5. 根据权利要求1～4中任一项所述的内啮合行星齿轮装置，其中，
    所述内啮合行星齿轮装置还包括支承体，所述支承体为环状且支承所述多个内销，
    所述内齿齿轮具有：环状的齿轮主体；和以能够自转的状态保持于所 述齿轮主体的内周面并构成所述内齿的多个销，
    所述支承体通过使外周面与所述多个销接触而被进行位置限制。
  6. 根据权利要求1～5中任一项所述的内啮合行星齿轮装置，其中，
    所述内啮合行星齿轮装置还包括偏心体轴承，所述偏心体轴承收容于形成在所述行星齿轮的开口部并使所述行星齿轮摆动，
    所述偏心体轴承具有偏心体外圈以及配置于所述偏心体外圈的内侧的偏心体内圈，
    由所述偏心体内圈及与所述偏心体内圈一起旋转的构件中的至少一者构成的旋转体在从所述偏心体内圈的旋转轴观察时，在所述偏心体外圈的中心侧的一部分具有空隙。
  7. 根据权利要求6所述的内啮合行星齿轮装置，其中，
    所述空隙包含在沿着所述偏心体内圈的所述旋转轴贯通所述旋转体的贯通孔的内周面形成的凹部。
  8. 根据权利要求1～7中任一项所述的内啮合行星齿轮装置，其中，
    所述轴承构件为交叉滚子轴承。
  9. 一种执行器，其中，包括：
    权利要求1～8中任一项所述的内啮合行星齿轮装置；和
    产生用于使所述行星齿轮摆动的驱动力的驱动源。
PCT/CN2021/077125 2020-07-29 2021-02-20 内啮合行星齿轮装置及执行器 WO2022021863A1 (zh)

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