WO2022041715A1 - 内啮合行星齿轮装置、车轮装置及车辆 - Google Patents

内啮合行星齿轮装置、车轮装置及车辆 Download PDF

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Publication number
WO2022041715A1
WO2022041715A1 PCT/CN2021/083686 CN2021083686W WO2022041715A1 WO 2022041715 A1 WO2022041715 A1 WO 2022041715A1 CN 2021083686 W CN2021083686 W CN 2021083686W WO 2022041715 A1 WO2022041715 A1 WO 2022041715A1
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WIPO (PCT)
Prior art keywords
bearing
pins
gear
planetary gear
rotation axis
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PCT/CN2021/083686
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English (en)
French (fr)
Inventor
林文捷
王刚
峯岸清次
郭子铭
伊佐地毅
Original Assignee
灵智信息服务（深圳）有限公司
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Priority to CN202180042974.4A priority Critical patent/CN115698546A/zh
Publication of WO2022041715A1 publication Critical patent/WO2022041715A1/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

Definitions

  • Embodiments of the present disclosure generally relate to an internal meshing planetary gear device, a wheel device, and a vehicle, and more particularly, to an internal meshing planetary gear device and a wheel in which a planetary gear having external teeth is arranged inside an internally toothed gear having internal teeth. devices and vehicles.
  • eccentric oscillating type gear device in which a planetary gear oscillates eccentrically while internally meshing with an internally toothed gear.
  • the eccentric body is integrally formed with the input shaft, and the planetary gear is mounted on the eccentric body via the eccentric body bearing.
  • External teeth such as circular arc teeth are formed on the outer circumference of the planetary gear.
  • 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 crossed roller bearing.
  • 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 crossed roller bearing since the crossed roller bearing is used as the bearing member, the crossed roller bearing having a relatively complicated structure may hinder the simplification of the structure of the internal meshing planetary gear device as a whole.
  • the purpose of the embodiments of the present disclosure is to provide an internal meshing planetary gear device, a wheel device, and a vehicle that can easily achieve a simplified structure.
  • An internal meshing planetary gear device includes an internal gear, a planetary gear, a plurality of internal pins, and a first bearing member.
  • the gear with internal teeth includes a ring-shaped gear body and a plurality of pins that are held on an inner peripheral surface of the gear body in a state of being able to rotate, and constitute internal teeth.
  • 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 gear body while being inserted into the plurality of inner pin holes formed in the planetary gears, respectively.
  • the first bearing member rotatably supports the plurality of inner pins to the gear body.
  • the first bearing member has a first inner ring, a first outer ring, and a plurality of bearing pins.
  • the plurality of bearing pins are held between the first inner ring and the first outer ring in a rotatable state.
  • the plurality of pins and the plurality of bearing pins have different diameters and different holding structures.
  • a wheel device includes: the internal meshing planetary gear device; and a wheel body that is mounted on a running surface by a rotational output when the plurality of inner pins rotate relative to the gear body. scroll up.
  • a vehicle according to one aspect of the embodiment of the present disclosure includes the wheel device and a vehicle body that holds the wheel device.
  • Fig. 1A shows the schematic structure of the internal meshing planetary gear device of the basic structure, and is a perspective view as seen from the output side of the rotary shaft.
  • FIG. 1B shows a schematic configuration of the above-mentioned internal meshing planetary gear device, and is a perspective view viewed from the input side of the rotating shaft.
  • 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 and a partial enlarged view thereof, showing the above-mentioned internal meshing planetary gear device.
  • FIG. 5 is a perspective view showing the structure of the internal gear and the periphery of the planetary gear, mainly of the internal meshing planetary gear device.
  • FIG. 6 is an exploded perspective view showing the structure of the internal gears and the periphery of the planetary gears of the internal meshing planetary gear device.
  • FIG. 7 is a cross-sectional view taken along line B1-B1 of FIG. 3 and a partial enlarged view thereof, showing the above-mentioned internal meshing planetary gear device.
  • FIG. 8 is a perspective view showing a structure mainly around a first bearing member of the above-described internal meshing planetary gear device.
  • FIG. 9 is an exploded perspective view showing the structure mainly around the first bearing member of the above-mentioned internal meshing planetary gear device.
  • FIG. 10 is an enlarged view of a region Z1 of FIG. 3 showing the above-described internal meshing planetary gear device.
  • FIG. 11 is a schematic perspective view of a wheel device and a vehicle using the above-mentioned ring gear device.
  • FIG. 12 is an enlarged view corresponding to FIG. 10 showing an internal meshing planetary gear device according to a modification of the basic structure.
  • FIG. 13 is a schematic cross-sectional view of the internal meshing planetary gear device according to Embodiment 1.
  • FIG. 13 is a schematic cross-sectional view of the internal meshing planetary gear device according to Embodiment 1.
  • FIG. 14 is a cross-sectional view taken along line B1-B1 of FIG. 13 and a partial enlarged view thereof, showing the above-mentioned internal meshing planetary gear device.
  • FIG. 15 is an enlarged view corresponding to FIG. 10 showing an internal meshing planetary gear device according to a modification of the first embodiment.
  • FIG. 16 is a schematic cross-sectional view of an internal meshing planetary gear device according to Embodiment 2.
  • FIG. 16 is a schematic cross-sectional view of an internal meshing planetary gear device according to Embodiment 2.
  • FIG. 17 is a cross-sectional view taken along line B1-B1 of FIG. 16 and a partial enlarged view thereof, showing the above-mentioned internal meshing planetary gear device.
  • FIGS. 1A to 4 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. 1A to 4 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 this structure is a gear device including an internally toothed gear 2 (see FIG. 4 ), a planetary gear 3 , and a plurality of internal 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 eccentric inner ring 51 is rotated (eccentrically moved) about the rotation axis Ax1 as shown in FIG. 4 , for example, by the rotation of the eccentric shaft 54 inserted into the eccentric inner ring 51 .
  • the internally toothed gear 2 has internal teeth 21 .
  • 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 and a part of the internal teeth 21 are meshed with each other.
  • Such a gear device 1 is used in such a manner that the relative rotation between the planetary gear 3 and the internal gear 2 , that is, the rotation corresponding to the rotation component of the planetary gear 3 when the internal gear 2 is fixed, is used, for example, as a rotating member relative to The relative rotation of the fixing member is taken out.
  • the gear device 1 rotates the rotating member by its output in a state where the fixed member is fixed.
  • the gear device 1 functions as a gear device having a relatively high reduction ratio with the eccentric shaft 54 as the input side and the rotating member as the output side.
  • the gear main body 22 in order to transmit the relative rotation between the planetary gear 3 and the internally toothed gear 2 to the fixed member and the rotating member, the gear main body 22 is fixed to one of the fixed member and the rotating member, and The other one of the stationary member and the rotating member is connected to the planetary gear 3 by a plurality of inner pins 4 .
  • the plurality of inner pins 4 are respectively inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , and respectively rotate relative to the inner gear 2 while revolving in the inner pin holes 32 . That is, the inner pin hole 32 has a larger diameter than the inner pin 4 , and the inner pin 4 can move so as to revolve 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 moves so as to revolve within the plurality of inner pin holes 32 , thereby absorbing the swing component of the planetary gear 3 . Therefore, the rotation (rotation component) of the planetary gear 3 other than the swing component (revolution component) of the planetary gear 3 is transmitted to the stationary member or the rotating member through the plurality of inner pins 4 .
  • the reduced rotational output can be extracted from either the planetary gear 3 or the internally toothed gear 2 . That is, for example, when the gear main body 22 is fixed to the fixed member, the planetary gear 3 is connected to the rotating member by the plurality of inner pins 4 , so the relative rotation between the planetary gear 3 and the inner gear 2 is extracted from the planetary gear 3 .
  • the planetary gear 3 is connected to the fixed member by the plurality of inner pins 4 , so the relative rotation between the planetary gear 3 and the inner gear 2 is extracted from the inner gear 2 .
  • the gear device 1 includes a (first) bearing member 6 .
  • the bearing member 6 has a (first) inner ring 61 and a (first) outer ring 62 .
  • 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 bearing member 6 is a member for rotatably supporting the rotating member to the fixed member.
  • the (first) bearing member 6 is a member that rotatably supports the plurality of inner pins 4 on the gear body 22 .
  • the gear device 1 supports the rotating member rotatably on the fixed member through the bearing member 6, and as a result, the relative rotation between the planetary gear 3 and the internally toothed gear 2 can be regarded as the rotation of the rotating member relative to the fixed member. output.
  • a technology using a crossed roller bearing as a bearing member is known.
  • the axis of the cylindrical rolling element 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.
  • the axes of a pair of rolling elements adjacent to each other in the circumferential direction are orthogonal to each other. That is, in the gear device 1, various kinds of loads such as radial load, thrust direction (direction along the rotation axis Ax1), and bending force (bending moment load) acting on the rotation axis Ax1 can act according to the application. load in the direction.
  • a crossed roller bearing is used in the bearing member in order to withstand the loads in the various directions described above.
  • the crossed roller bearing since the crossed roller bearing is used as the bearing member, the crossed roller bearing having a relatively complicated structure may hinder the simplification of the structure of the gear device 1 as a whole.
  • the gear device 1 of the present configuration can provide the internal meshing planetary gear device 1 whose structure is easily simplified by the following configuration.
  • the gear unit 1 of the present configuration includes an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , a first bearing member 6 and a second bearing member 7 .
  • the internally toothed gear 2 has an annular gear body 22 , and a plurality of pins 23 that are held on an 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 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 and relatively rotate with respect to the gear body 22 while being inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , respectively.
  • the first bearing member 6 and the second bearing member 7 rotatably support the plurality of inner pins 4 with respect to the gear body 22 at two locations in the direction of the rotation axis Ax1 .
  • the first bearing member 6 has a first inner ring 61 , a first outer ring 62 , and a plurality of bearing pins 63 .
  • the inner pin is viewed from one side in the direction of the rotation axis Ax1 , and the plurality of inner pins 4 are located inside the second bearing member 7 .
  • the first bearing member 6 and the second bearing member 7 support the plurality of inner pins 4 so as to be rotatable with respect to the gear body 22 at two locations in the direction of the rotation axis Ax1, the plurality of inner pins 4 are supported by the gear at two points. main body 22. Therefore, it is easier to withstand a load such as a bending force (bending moment load) with respect to the rotation axis Ax1 than supporting the plurality of inner pins 4 to the gear body 22 at one point in the direction of the rotation axis Ax1. Furthermore, the first bearing member 6 has a first inner ring 61 , a first outer ring 62 , and a plurality of bearing pins 63 .
  • the first bearing member 6 is a needle roller bearing using the bearing pins 63 as "rolling elements (rollers)", and can withstand a relatively large load against a radial load.
  • the second bearing member 7 is positioned outside the plurality of inner pins 4 when viewed from one side in the direction of the rotation axis Ax1 while providing two-point support, the limited space inside the plurality of inner pins 4 can be compared Simple structure. Therefore, in the gear device 1 of the present configuration, there is an advantage that the simplification of the structure can be easily achieved, compared with the related art using the crossed roller bearing as the bearing member.
  • the crossed roller bearing belongs to an expensive category among bearing members, so according to the structure of the gear device 1 of the present configuration, such a crossed roller bearing can be omitted, so there is also an advantage that cost reduction can be easily achieved.
  • 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”.
  • the "free fit” refers to the state of fitting into a state with play (gap), and the inner pin hole 32 is a hole for the inner pin 4 to fit loosely. 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 in 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 right side in FIG. 3 ) is sometimes referred to as the “input side”, and the other side (the left side in FIG. 3 ) of the rotation axis Ax1 is sometimes referred to as the “output side”. side”.
  • rotation is given to the rotating body (eccentric inner ring 51 ) from the “input side” of the rotating shaft Ax1 , and the relative relationship between the planetary gear 3 and the internal gear 2 is taken out from the “output side” of the rotating shaft Ax1 rotation.
  • “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. 1A shows a schematic configuration of the gear unit 1 , and is a perspective view of the gear unit 1 viewed from the output side (the left side in FIG. 3 ) of the rotation axis Ax1 .
  • FIG. 1B shows a schematic configuration of the gear unit 1 and is a perspective view of the gear unit 1 viewed from the input side (right side in FIG. 3 ) of the rotation axis Ax1 .
  • FIG. 2 is a schematic exploded perspective view of the gear device 1 viewed from the output side of the rotation axis Ax1 .
  • FIG. 3 is a schematic cross-sectional view of the gear device 1 .
  • FIG. 4 is a cross-sectional view along line A1-A1 of FIG. 3 and a partial enlarged view thereof.
  • FIG. 5 is a perspective view mainly showing the structure of the inner gear 2 and the planetary gears 3 and the periphery of the gear device 1
  • FIG. 6 is an exploded perspective view thereof.
  • Fig. 7 is a cross-sectional view along line B1-B1 of Fig. 3 and a partial enlarged view thereof.
  • FIG. 8 is a perspective view mainly showing the structure around the first bearing member 6 of the gear device 1
  • FIG. 9 is an exploded perspective view thereof.
  • FIG. 10 is an enlarged view of the region Z1 of FIG. 3 .
  • the hatching is abbreviate
  • the gear device 1 of this structure includes an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , an eccentric body bearing 5 , a first bearing member 6 , a second bearing member 7 , and an eccentric shaft 54 . and support body 8. Furthermore, in this structure, the gear device 1 further includes the holding member 55 , the counterweight 56 , the first bearing 91 , the second bearing 92 , the spacer 93 , and the housing 10 .
  • the materials of the internal gear 2 , the planetary gear 3 , the plurality of inner pins 4 , the eccentric bearing 5 , the first bearing member 6 , the second bearing member 7 , etc., which are the components of the gear device 1 are stainless steel or cast iron. , Carbon steel, chrome molybdenum steel, phosphor bronze or aluminum bronze and other metals for mechanical structure.
  • the materials of the eccentric shaft 54, the support body 8, the holding member 55, the counterweight 56, the case 10, and the like are also the same metals as described above.
  • the metal mentioned here includes a metal subjected to surface treatment such as nitriding treatment.
  • the gear device 1 as an example of the gear device 1, an inscribed planetary gear device using a trochoid-like tooth profile is exemplified. That is, the gear device 1 of the present configuration includes the inscribed planetary gears 3 having a trochoid-like tooth profile.
  • the gear device 1 is used in the state which fixed the holding member 55 (refer FIG. 2) which hold
  • the gear apparatus 1 is used for the wheel apparatus W1 (refer FIG. 11), and the detail is mentioned later.
  • the rotating member main body 11 and the like
  • the wheel body 102 functions as the wheel body 102 (see FIG. 11 ), whereby the wheel body 102 can be rotated with the relative rotation of the internal gear 2 and the planetary gear 3 .
  • the gear device 1 for the wheel device W1 the wheel can be driven so that the wheel body 102 rolls on the running surface by the rotational output when the plurality of inner pins 4 rotate relative to the gear body 22.
  • main body 102 main body 102 .
  • the gear device 1 when the gear device 1 is used as the wheel device W1 , the rotational force as an input is applied to the eccentric shaft 54 to extract the rotational force as an output from the rotating member (the main body portion 11 and the like) as the wheel body 102 . That is, the gear device 1 operates with the rotation of the eccentric shaft 54 as the input rotation and the rotation of the rotating member (the main body portion 11 and the like) to which the gear body 22 is fixed as the output rotation. As a result, in the gear device 1, the output rotation reduced by a relatively high reduction ratio can be obtained as the rotation of the wheel main body 102 with respect to the input rotation.
  • the rotation axis Ax1 of an input side and the rotation axis Ax1 of an 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 54 to which the input rotation is given
  • the rotation axis Ax1 on the output side is the rotation center of the gear body 22 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 casing 10 has a cylindrical shape and constitutes the outer casing of the gear device 1 .
  • the central axis of the cylindrical casing 10 is configured to coincide with the rotation axis Ax1. That is, at least the outer peripheral surface of the casing 10 is a perfect circle centered on the rotation axis Ax1 in plan view (viewed from one side in the rotation axis Ax1 direction).
  • the housing 10 has a main body portion 11 , a cover 12 , a ring cover 13 and a hub member 14 .
  • the main body portion 11 is a cylindrical member whose both end surfaces in the direction of the rotation axis Ax1 are open.
  • the cover 12 is a disk-shaped member that is attached to the end surface on the output side (left side in FIG. 3 ) of the main body 11 and closes the opening surface of the main body 11 on the output side of the rotation axis Ax1 .
  • the ring cover 13 is an annular member attached to the end surface on the input side (right side in FIG. 3 ) of the rotation axis Ax1 of the main body portion 11 .
  • the hub member 14 is an annular member arranged inside the ring cover 13 .
  • a portion of the opening surface on the input side of the rotation axis Ax1 of the main body portion 11 is filled with the hub member 14 .
  • the main body portion 11 , the cover 12 , the ring cover 13 , and the hub member 14 are all formed in a perfect circular shape centered on the rotation axis Ax1 in a plan view.
  • a plurality of (as an example, eight) screw holes 111 are formed on the end surface on the output side of the rotation axis Ax1 of the main body portion 11 .
  • the plurality of screw holes 111 are used to fix the cover 12 to the main body portion 11 .
  • the cover 12 is fixed to the main body 11 by inserting a plurality of (eight, for example) screws 151 for fixing through the cover 12 and screwing them into the screw holes 111 .
  • a plurality of (as an example, eight) screw holes 112 are formed around the end surface on the input side of the rotation axis Ax1 of the main body portion 11 .
  • the plurality of screw holes 112 are used for fixing the ring cover 13 to the main body portion 11 .
  • a plurality of (eg, eight) screws 152 for fixing are inserted through the ring cover 13 and screwed into the screw holes 112 to fix the ring cover 13 to the main body portion 11 .
  • the hub member 14 is attached to a holding member 55 that holds the plurality of inner pins 4 from the input side of the rotation shaft Ax1.
  • a plurality of (as an example, eight) screw holes 554 are formed in the end surface on the input side of the rotation axis Ax1 of the holding member 55 .
  • the plurality of threaded holes 554 are used to fix the hub member 14 to the holding member 55 .
  • the hub member 14 is fixed to the holding member 55 by passing through the hub member 14 and screwing into the screw hole 554 a plurality of (eight, for example) screws 153 for fixing.
  • a plurality of (as an example, four) fixing holes 141 are formed in the end surface on the input side of the rotation axis Ax1 of the hub member 14 .
  • a plurality of fixing holes 141 are used for fixing the hub member 14 .
  • the hub member 14 is fixed to the vehicle body 100 (see FIG. 11 ) to which the wheel device W1 is mounted.
  • a plurality of (for example, four) screws for fixing are passed through a part of the vehicle body 100 and screwed into the fixing holes 141 to fix the hub member 14 to the vehicle body 100 .
  • the hub member 14 is fixed to the vehicle body 100 even in the case 10 constituting the wheel main body 102, and constitutes a "fixed member” that does not rotate even when the gear device 1 is driven.
  • the main body portion 11 , the cover 12 , and the ring cover 13 constitute a “rotating member” that relatively rotates with respect to the hub member 14 when the gear device 1 is driven. That is, when the plurality of inner pins 4 rotate relative to the gear main body 22 , the rotation of the rotating members (the main body portion 11 , the cover 12 and the ring cover 13 ) relative to the fixed member (the hub member 14 ) is taken out as the output of the gear device 1 .
  • the casing 10 is used as the wheel main body 102, the above-described rotating members rotate and roll on the running surface.
  • the ring cover 13 serving as a rotating member and the hub member 14 serving as a fixed member are configured to be relatively rotatable about the rotational axis Ax1.
  • the outer diameter of the hub member 14 is smaller than the inner diameter of the ring cover 13 , and a gap is generated between the hub member 14 and the ring cover 13 when the hub member 14 is arranged inside the ring cover 13 .
  • the hub member 14 has the through-hole 142 which penetrates the hub member 14 in the direction of the rotation axis Ax1 in the center part in planar view.
  • the through hole 142 is a hole through which the eccentric shaft 54 passes.
  • the hub member 14 and the eccentric shaft 54 are configured to be relatively rotatable around the rotation axis Ax1.
  • the inner diameter (diameter of the through hole 142 ) of the hub member 14 is larger than the outer diameter of the eccentric shaft 54 (the shaft center portion 541 ), and the hub member 14 is in a state where the eccentric shaft 54 is inserted through the through hole 142 .
  • a gap is generated with the eccentric shaft 54 .
  • the outer peripheral surface of the main-body part 11 which is a rotating member becomes the contact surface of the wheel main body 102 which contacts a running surface, ie, a ground contact surface. Therefore, a tire 103 made of, for example, rubber is attached to the outer peripheral surface of the main body portion 11 .
  • the tire 103 is indicated by an imaginary line (dashed double-dotted line).
  • the gear body 22 of the internally toothed gear 2 , the first outer ring 62 of the first bearing member 6 , and the second outer ring 72 of the second bearing member 7 are fixed to the main body portion 11 as the rotating member.
  • the gear main body 22 and the first outer ring 62 are integrated with the main body portion 11 .
  • the main body portion 11 has an outer ring fixing frame 74 (see FIG. 10 ) for fixing the second outer ring 72 .
  • the gear main body 22 , the first outer ring 62 and the outer ring fixing frame 74 are integrally formed by a single metal member, whereby the gear main body 22 , the first outer ring 62 and the outer ring fixing frame 74 are used as One part (main body 11) without seams is handled.
  • the gear body 22 , the first outer ring 62 , and the outer ring fixing frame 74 are arranged in this order from the output side of the rotation axis Ax1 . Therefore, as shown in FIG. 2 , the inner peripheral surface of the main body portion 11 includes the inner peripheral surface 221 of the gear body 22 and the inner peripheral surface 621 of the first outer ring 62 .
  • 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.
  • the plurality of grooves are the plurality of gear-side grooves 222 (see FIG. 4 ) serving as a holding structure for the plurality of pins 23 , respectively.
  • the holding structure of the plurality of pins 23 includes the plurality of gear side grooves 222 formed on the inner peripheral surface 221 of the gear body 22 .
  • All of the plurality of gear side grooves 222 have the same shape and are provided at equal intervals.
  • the plurality of gear side grooves 222 are all formed in parallel with the rotation axis Ax1 over the entire width of the gear body 22 .
  • the gear main body 22 is a part of the main body portion 11 as described above, the plurality of gear side grooves 222 are formed only in the portion of the main body portion 11 corresponding to the gear main body 22 (see FIG. 10 ).
  • the plurality of pins 23 are fitted into the plurality of gear side grooves 222, and are combined with the gear main body 22 (main body portion 11).
  • Each of the plurality of pins 23 is held in a state capable of rotating within the gear-side groove 222 , and movement in the circumferential direction of the gear body 22 is restricted by the gear-side groove 222 .
  • 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 54 are combined with the planetary gear 3 . That is, as shown in FIGS. 5 and 6 , the planetary gear 3 is formed with an opening 33 that is opened in a circular shape.
  • the opening portion 33 is a hole penetrating the planetary gear 3 in the thickness direction.
  • 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 .
  • the eccentric body bearing 5 and the eccentric shaft 54 are combined with the planetary gear 3 by inserting the eccentric body bearing 54 into (the eccentric inner ring 51 of the eccentric body bearing 5 ).
  • the eccentric body bearing 5 and the eccentric shaft 54 are combined with the planetary gear 3
  • the eccentric shaft 54 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 outer teeth 31 is deviated from the center (rotation axis Ax1) of the pitch circle of the inner teeth 21 by the 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 tooth 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 greater by "1” 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 thickness of the planetary gear 3 is smaller than the dimension in the direction parallel to the rotation axis Ax1 of the portion of the body portion 11 that functions as the gear body 22 (see Fig. 10 ).
  • 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 .
  • 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 , and in this structure, as an example, each of the inner pin holes 32 and the inner pins 4 is provided with eight.
  • 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 (here, eight) 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 gears 3 to a stationary member or a rotating member.
  • the planetary gear 3 is connected to the fixed member (hub member 14 etc.) by the plurality of inner pins 4, and the gear main body 22 is fixed to the rotating member (main body portion 11 etc.). Therefore, the planetary gear 3 is directly or indirectly connected to the stationary member (the hub member 14 or the like) by the plurality of inner pins 4 .
  • 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 (see FIGS. 4 and 5 ) in a state where a margin (clearance) of a space is secured between the inner pin 4 and the inner peripheral surface of the inner pin hole 32 .
  • the holding member 55 is a member that holds the plurality of inner pins 4 .
  • the holding member 55 has a perfect circular shape with the rotation axis Ax1 as the center in plan view, and is formed in the same size as the hub member 14 .
  • the holding member 55 has a plurality of holding holes 551 into which the plurality of inner pins 4 are respectively inserted.
  • the holding holes 551 are provided in the same number as the inner pins 4, and in this structure, as an example, eight holding holes 551 are provided.
  • the plurality of holding holes 551 are holes each opening in a circular shape and penetrating the holding member 55 in the thickness direction.
  • a plurality of (here, eight) holding holes 551 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the outer circumference of the holding member 55 .
  • the diameter of the holding hole 551 is equal to or larger than the diameter of the inner pin 4 and smaller than the diameter of the inner pin hole 32 .
  • the diameter of the holding hole 551 is approximately the same as the diameter of the inner pin 4 and slightly larger than the diameter of the inner pin 4 . Therefore, the movement of the inner pin 4 within the holding hole 551 is restricted, that is, the relative movement with respect to the center of the holding hole 551 is prohibited. Therefore, the inner pin 4 is held in the inner pin hole 32 in a state capable of revolving in the planetary gear 3 , and is held in the holding member 55 in a state in which the inner pin 4 cannot revolve in the holding hole 551 .
  • the swing component of the planetary gear 3 that is, the revolution component of the planetary gear 3 is absorbed by the loose fit 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 holding member 55 .
  • the diameter of the inner pin 4 is slightly larger than that of the holding hole 551 , so that the inner pin 4 can be inserted into the holding hole 551 while the inner pin 4 is prevented from revolving in the holding hole 551 while being inserted into the holding hole 551 .
  • internal rotation That is, although the inner pin 4 is in a state of being inserted into the holding hole 551 , it is not press-fitted into the holding hole 551 , and thus can rotate within the holding hole 551 .
  • each of the plurality of inner pins 4 is held by the holding member 55 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 by the planetary gear 3 in a state capable of both revolving and autorotation in the inner pin hole 32 , and is held in the holding member 55 in a state in which only autorotation in the retaining hole 551 is possible. That is, the plurality of inner pins 4 can revolve in the plurality of inner pin holes 32 in a state in which their respective rotations are not restricted (a state capable of autorotation). Therefore, when the rotation (rotation component) of the planetary gear 3 is transmitted to the holding member 55 by the plurality of inner pins 4 , the inner pins 4 can rotate in the holding hole 551 while revolving and rotating in the inner pin hole 32 .
  • the inner pin 4 revolves in the inner pin hole 32 , since the inner pin 4 is in a state capable of autorotating, it rolls with respect to the inner peripheral surface of the inner pin hole 32 . In other words, since the inner pin 4 rolls on the inner peripheral surface of the inner pin hole 32 and revolves in the inner pin hole 32 , loss due to frictional resistance between the inner peripheral surface 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 in direct contact with the inner peripheral surface of the inner pin hole 32. That is, in this structure, the inner pin 4 in the state where the inner roller is not attached is inserted into the inner pin hole 32 , and the inner pin 4 is in direct contact with the inner peripheral surface 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 (in particular, the diameter can be reduced), and the gear device 1 as a whole can be easily reduced in size.
  • the size of the planetary gears 3 may be kept constant.
  • the number (number) of the inner pins 4 may be increased to smooth the transmission of rotation, or the inner pins 4 may be thickened to increase the strength.
  • the number of components can be suppressed to reduce the number of inner rollers, which also contributes to cost reduction of the gear device 1 .
  • the holding member 55 is fixed to the hub member 14 as a fixing member.
  • the planetary gear 3 is connected to the fixed member (hub member 14 ) via the holding member 55 by the plurality of inner pins 4 .
  • the holding member 55 is also included in the "fixing member”.
  • the plurality of inner pins 4 are directly or indirectly held by the fixing member, and thus the relative positions with respect to the rotation axis Ax1 are fixed.
  • the opening surface on the input side of the rotation shaft Ax1 in the holding hole 551 is closed by, for example, the hub member 14 . Thereby, the movement of the inner pin 4 to the input side of the rotation axis Ax1 is restricted by the hub member 14 .
  • the holding member 55 has a bearing hole 552 penetrating the holding member 55 in the direction of the rotation axis Ax1 in the central portion in a plan view.
  • the bearing hole 552 is a hole through which the eccentric shaft 54 passes, and communicates with the through hole 142 of the hub member 14 .
  • the holding member 55 and the eccentric shaft 54 are configured to be relatively rotatable about the rotation axis Ax1. Specifically, the inner diameter (diameter of the bearing hole 552 ) of the holding member 55 is larger than the outer diameter of the eccentric shaft 54 (the shaft center portion 541 ), and the holding member 55 is in a state where the eccentric shaft 54 is inserted through the bearing hole 552 . A gap is generated with the eccentric shaft 54 .
  • the first inner ring 61 of the first bearing member 6 and the second inner ring 71 of the second bearing member 7 are fixed to the holding member 55 .
  • the first inner ring 61 is integrated with the holding member 55 .
  • the end portion of the first inner ring 61 on the output side of the rotation axis Ax1 in the holding member 55 has a flange shape that protrudes over the entire circumference from the outer peripheral surface 553 of the holding member 55 .
  • the holding member 55 and the first inner ring 61 are integrally formed with a single metal member, whereby the holding member 55 and the first inner ring 61 are handled as one part without joints.
  • the first bearing member 6 is a member that rotatably supports the plurality of inner pins 4 on the gear body 22 .
  • the first bearing member 6 is a member for rotatably supporting the rotating member (the main body portion 11 and the like) on the stationary member (the hub member 14 and the like).
  • the second bearing member 7 is a member that rotatably supports the plurality of inner pins 4 on the gear body 22 .
  • the second bearing member 7 is a member for rotatably supporting the rotating member (the main body portion 11 and the like) on the stationary member (the hub member 14 and the like) together with the first bearing member 6 .
  • the first bearing member 6 and the second bearing member 7 are arranged side by side in the rotation axis Ax1 direction, and the plurality of inner pins 4 are rotatably supported on the gear body 22 at two locations in the rotation axis Ax1 direction.
  • the first inner ring 61 and the second inner ring 71 are fixed to the fixed member (the hub member 14 and the like), and the first outer ring 62 and the second outer ring 72 are fixed to the rotating member (the main body 11 and the like). ).
  • both the first bearing member 6 and the second bearing member 7 rotatably support the rotating member (the main body portion 11 and the like) on the stationary member (the hub member 14 and the like) with the inner ring and the outer ring rotatable relative to each other.
  • the first bearing member 6 and the second bearing member 7 will be described in more detail in the column “(3.2) Bearing member”.
  • the eccentric shaft 54 is a cylindrical member.
  • the eccentric shaft 54 has a shaft center portion 541 and an eccentric portion 542 .
  • the axial center portion 541 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 541 coincides with the rotation axis Ax1.
  • the eccentric portion 542 has at least a disk shape whose outer peripheral surface is a perfect circle in plan view.
  • the center (central axis) of the eccentric portion 542 coincides with the center C1 offset from the rotation axis Ax1.
  • the distance ⁇ L see FIG.
  • the eccentric portion 542 has a flange shape that protrudes over the entire circumference from the outer peripheral surface of the axial center portion 541 at a portion other than both ends in the longitudinal direction (axial direction) of the axial center portion 541 .
  • the eccentric shaft 54 is eccentrically moved by the shaft center portion 541 rotating (autorotating) about the rotation axis Ax1.
  • the shaft center portion 541 and the eccentric portion 542 are integrally formed by a single metal member, thereby realizing the eccentric shaft 54 without joints.
  • the eccentric shaft 54 having such a shape is combined with the planetary gear 3 together with the eccentric body bearing 5 . Therefore, in a state where the eccentric body bearing 5 and the eccentric shaft 54 are combined with the planetary gear 3, when the eccentric shaft 54 rotates, the planetary gear 3 swings around the rotation axis Ax1.
  • 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 54, and rotates the eccentric shaft 54 other than the rotation component of the eccentric shaft 54, that is, only the eccentric shaft 54 rotates. A member for transmitting the swing component (revolution component) of the shaft 54 to the planetary gear 3 .
  • the eccentric body bearing 5 has a plurality of rolling elements 53 in addition to the eccentric outer ring 52 and the eccentric inner ring 51 (see FIG. 4 ).
  • 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 spheres (balls) as the rolling elements 53 .
  • the inner diameter of the eccentric inner ring 51 corresponds to the outer diameter of the eccentric portion 542 of the eccentric shaft 54 .
  • the eccentric body bearing 5 is combined with the eccentric shaft 54 in a state where the eccentric portion 542 of the eccentric shaft 54 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 attached to the eccentric portion 542 of the eccentric shaft 54 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 and the eccentric outer ring 52 of the eccentric body bearing 5 is substantially the same as the thickness of the eccentric portion 542 of the eccentric shaft 54 .
  • the dimension in the width direction of the eccentric inner ring 51 and 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 support body 8 is formed in an annular shape and supports the plurality of inner pins 4 .
  • the support body 8 has at least an annular shape whose outer peripheral surface 81 is a perfect circle in plan view.
  • 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 this structure, as an example, eight support holes 82 are provided.
  • Each of the plurality of support holes 82 is a hole that opens in a circular shape and penetrates the support body 8 in the thickness direction.
  • a plurality of (here, eight) 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 551 formed in the holding member 55 . 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 autorotating with respect to either the holding member 55 and the support body 8 .
  • the support body 8 is arrange
  • the position of the support body 8 is restricted by bringing the outer peripheral surface 81 into contact with the plurality of pins 23 .
  • 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 . Therefore, all of the plurality of pins 23 are in contact with the outer peripheral surface 81 of the support body 8 .
  • the center of the support body 8 is restricted in position 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 pins 23 constitute the internal teeth 21 of the internally toothed gear 2 . Therefore, when the gear body 22 and the plurality of inner pins 4 relatively rotate, the support body 8 supporting the plurality of inner pins 4 rotates relatively with respect to the internally toothed gear 2 (gear body 22 ) together with the plurality of inner pins 4 . At this time, since the support body 8 is centered by the plurality of pins 23 , the support body 8 smoothly rotates with respect to the internally toothed gear 2 while the center of the support body 8 is maintained on the rotation axis Ax1 .
  • 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 the "outer ring” and the support body 8 is regarded as the “inner ring”, the plurality of pins 23 interposed between the two are regarded as “rolling elements (rollers)" " to function. In this way, the support body 8 constitutes a needle bearing (needle roller 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 for restraining the movement of the pins 23 in the direction of separation from the inner peripheral surface 221 of the gear body 22 ” " to function. That is, 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 . In short, in this structure, each of the plurality of pins 23 is restricted from moving in the direction of separation from the gear main 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 holding member 55 with the planetary gear 3 interposed therebetween. That is, the support body 8, the planetary gear 3, and the holding member 55 are arranged in parallel along the direction parallel to the rotation axis Ax1.
  • 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 holding member 55 , and the longitudinal center portion of the inner pin 4 is inserted through the inner pin hole 32 of the planetary gear 3 .
  • the support body 8 and the holding member 55 support the both ends in the longitudinal direction of the inner pin 4 , the inclination of the inner pin 4 hardly occurs.
  • the bending force (bending moment load) acting on the plurality of inner pins 4 with respect to the rotation axis Ax1 is easily received.
  • the support body 8 is pinched
  • the movement of the support body 8 to the output side (left side in FIG. 9 ) of the rotation axis Ax1 is restricted by the housing 10 .
  • the movement of the inner pin 4 which penetrates the support hole 82 of the support body 8 and protrudes from the support body 8 to the output side of the rotation axis Ax1 , is also restricted by the housing 10 .
  • the first bearing 91 and the second bearing 92 are attached to the axial center portion 541 of the eccentric shaft 54, respectively. Specifically, as shown in FIG. 3 , the first bearing 91 and the second bearing 92 are mounted on both sides of the eccentric portion 542 of the shaft center portion 541 so as to sandwich the eccentric portion 542 in the direction parallel to the rotation axis Ax1 .
  • the first bearing 91 is disposed on the output side of the rotating shaft Ax1 when viewed from the eccentric portion 542 .
  • the second bearing 92 is disposed on the input side of the rotation axis Ax1 when viewed from the eccentric portion 542 .
  • both the first bearing 91 and the second bearing 92 are constituted by deep groove ball bearings using spheres (balls) as rolling elements.
  • the first bearing 91 is held by the housing 10 .
  • a circular-shaped depression is formed on the input side surface of the rotation shaft Ax1 in the cover 12 , and the first bearing 91 is attached to the housing 10 by fitting the first bearing 91 into the depression.
  • the second bearing 92 is held by the holding member 55 .
  • the second bearing 92 is attached to the holding member 55 by fitting the second bearing 92 into the bearing hole 552 of the holding member 55 .
  • the second bearing 92 is fitted in the gap between the holding member 55 and the eccentric shaft 54 .
  • the axial center portion 541 of the eccentric shaft 54 is rotatably held at two locations on both sides of the eccentric portion 542 in the direction parallel to the rotation axis Ax1.
  • the counterweight 56 is a member through which the axial center portion 541 of the eccentric shaft 54 is inserted.
  • the counterweight is provided to achieve weight balance with respect to the rotation axis Ax1 of the rotating body composed of at least one of the eccentric inner ring 51 and the member (eccentric shaft 54 ) that rotates together with the eccentric inner ring 51 .
  • the counterweight 56 is formed asymmetrically with respect to the rotation axis Ax1, and in this configuration, as an example, it is formed in a substantially fan shape.
  • the counterweight 56 functions by adding weight to the side opposite to the center C1 of the eccentric outer ring 52 when viewed from the rotation axis Ax1 so that the weight balance of the eccentric shaft 54 is equalized in the circumferential direction from the rotation axis Ax1 ground close.
  • the spacer 93 is a member through which the axial center portion 541 of the eccentric shaft 54 is inserted.
  • the spacer 93 is an annular member, and is arranged between the eccentric portion 542 of the eccentric shaft 54 and the first bearing 91 . Thereby, the space
  • the gear device 1 of the present configuration further includes a plurality of oil seals 94 , 95 , 96 and the like.
  • the oil seal 94 is fitted between the hub member 14 and the ring cover 13 to fill the gap between the hub member 14 and the ring cover 13 .
  • the oil seals 95 and 96 are arranged in the through-hole 142 of the hub member 14 in a state of being assembled to the axial center portion 541 of the eccentric shaft 54 , thereby filling the gap between the hub member 14 and the eccentric shaft 54 .
  • the inner space of the casing 10 sealed by the plurality of oil seals 94 , 95 and 96 constitutes a sealed space.
  • Lubricant is injected into the sealed space (inner space of the case 10 ).
  • Lubricants are liquids and can flow in confined spaces. 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 .
  • "Liquid” as used in this 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 54 is supplied with rotational force as an input, and the eccentric shaft 54 rotates about the rotation axis Ax1, so that 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 case where the gear body 22 is fixed to the rotating member and the relative rotation between the planetary gear 3 and the internal gear 2 is taken out from the internal gear 2 is assumed.
  • the reduction ratio R1 becomes " 30".
  • the gear body 22 rotates clockwise around the rotation axis Ax1
  • the number of rotating teeth differs by an amount of "1" (ie, about 12.0 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 only needs to include at least the internally toothed gear 2, the planetary gear 3, the plurality of inner pins 4, the first bearing member 6 and the second bearing member 7, and may further include, for example, a spline bush or the like as structural elements.
  • the first bearing member 6 has a first inner ring 61 and a first outer ring 62 .
  • the first inner ring 61 and the first outer ring 62 are in a relative rotatable relationship about the rotation axis Ax1.
  • the first bearing member 6 has a plurality of bearing pins 63 in addition to the first outer ring 62 and the first inner ring 61 .
  • both the first inner ring 61 and the first outer ring 62 are annular members. Both the first inner ring 61 and the first outer ring 62 have an annular shape that is a perfect circle centered on the rotation axis Ax1 in a plan view.
  • the first inner ring 61 is one turn smaller than the first outer ring 62 , and is arranged inside the first outer ring 62 .
  • the inner diameter of the first outer ring 62 is larger than the outer diameter of the first inner ring 61, the inner diameter 621 of the first outer ring 62 and the outer peripheral surface 611 of the first inner ring 61 (see FIG. 7 ) gaps between.
  • the first inner ring 61 is fixed to the holding member 55 .
  • the outer peripheral surface 611 of the first inner ring 61 is formed concentrically with the outer peripheral surface 553 of the holding member 55 in plan view.
  • the first inner ring 61 is integrated with the holding member 55 , and a flange-shaped portion protruding from the outer peripheral surface 553 of the holding member 55 over the entire circumference constitutes the first inner ring 61 . That is, in FIG. 7 , the portion outside the outer peripheral surface 553 indicated by the imaginary line (dashed double-dotted line) corresponds to the first inner ring 61 . Since the holding member 55 is fixed to the hub member 14, as a result, the first inner ring 61 is fixed to the fixing member (the hub member 14 and the like).
  • the first outer ring 62 is fixed to the main body portion 11 as the rotating member.
  • the inner peripheral surface 621 of the first outer ring 62 is formed concentrically with the outer peripheral surface 611 of the first inner ring 61 in plan view.
  • the first outer ring 62 is integrated with the main body portion 11 , and a part of the main body portion 11 constitutes the first outer ring 62 .
  • the plurality of bearing pins 63 are arranged between the first inner ring 61 and the first outer ring 62 .
  • the plurality of bearing pins 63 are arranged in parallel along the circumferential direction of the first outer ring 62 .
  • the plurality of bearing pins 63 are all metal members of the same shape, and are provided at equal intervals over the entire area of the first outer ring 62 in the circumferential direction.
  • Each of the plurality of bearing pins 63 is formed in a cylindrical shape.
  • the diameter and length of the plurality of bearing pins 63 are the same among the plurality of bearing pins 63 .
  • the plurality of bearing pins 63 are held between the first inner ring 61 and the first outer ring 62 in a rotatable state. Furthermore, since the plurality of bearing pins 63 are sandwiched between the outer peripheral surface 611 of the first inner ring 61 and the inner peripheral surface 621 of the first outer ring 62 , when the first outer ring 62 rotates relative to the first inner ring 61 At this time, each of the plurality of bearing pins 63 rotates (rotates) in accordance with the rotation of the first outer ring 62 . Thereby, the first bearing member 6 constitutes a needle bearing (needle roller bearing).
  • each of the plurality of bearing pins 63 is held on the inner peripheral surface 621 of the first outer ring 62 in a state of being able to rotate.
  • a plurality of grooves are formed over the entire area in the circumferential direction.
  • the plurality of grooves are the plurality of bearing-side grooves 622 (see FIG. 7 ) serving as the holding structure for the plurality of bearing pins 63 , respectively.
  • the holding structure of the plurality of bearing pins 63 includes the plurality of bearing side grooves 622 formed on the inner peripheral surface 621 of the first outer ring 62 . All of the plurality of bearing-side grooves 622 have the same shape and are provided at equal intervals.
  • the plurality of bearing side grooves 622 are formed in parallel with the rotation axis Ax1 and over the entire width of the gear body 22 .
  • the plurality of bearing-side grooves 622 are formed only in the portion of the main body portion 11 corresponding to the first outer ring 62 (see FIG. 10 ). ).
  • the plurality of bearing pins 63 are fitted into the plurality of bearing side grooves 622 to be combined with the first outer ring 62 (the main body portion 11 ).
  • Each of the plurality of bearing pins 63 is held in the bearing-side groove 622 in a rotatable state, and movement in the circumferential direction of the first outer ring 62 is restricted by the bearing-side groove 622 .
  • the first bearing member 6 is a needle bearing, the first bearing member 6 is likely to receive a load mainly in the radial direction. Needle roller bearings have a larger radial withstand load than deep groove ball bearings or the like. Therefore, by providing such a first bearing member 6 , it is possible to increase the radial withstand load (load capacity) of the gear unit 1 as a whole. .
  • the first bearing member 6 uses the plurality of bearing pins 63 having substantially the same structure as the plurality of pins 23 constituting the internal teeth 21 of the internally toothed gear 2 as rolling elements.
  • the number and diameter of the bearing pins 63 and the pins 23 are the same in particular. That is, as shown in FIGS. 4 and 7 , 30 pins 23 and 30 bearing pins 63 are provided each, and the diameter of the pins 23 (refer to FIG. 4 ) and the diameter of the bearing pin 63 (refer to Fig. 7) same
  • the pin 23 and the bearing pin 63 are arranged to overlap each other.
  • a plurality of gear side grooves 222 formed on the inner peripheral surface 221 of the gear body 22 as a holding structure for the plurality of pins 23 and a plurality of bearing pins formed on the inner peripheral surface 621 of the first outer ring 62 as a plurality of bearing pins
  • the plurality of bearing-side grooves 622 of the holding structure of 63 are arranged in common.
  • the shape of the gear-side groove 222 serving as a holding structure for the pin 23 and the bearing-side groove 622 serving as a holding structure for the bearing pin 63 are different.
  • the depth D1 (see FIG. 4 ) of the gear-side groove 222 is larger than the depth D2 (see FIG. 7 ) of the bearing-side groove 622 . That is, the depths of the plurality of gear-side grooves 222 and the plurality of bearing-side grooves 622 are different ( D1 > D2 ).
  • the gear-side groove 222 and the bearing-side groove 622 both have the diameter of the pin 23 or the bearing pin 63 A groove with an arc-shaped bottom surface having a diameter above.
  • both the bottom surfaces of the gear-side groove 222 and the bearing-side groove 622 have a radius of curvature equal to or greater than the radius of the pin 23 or the bearing pin 63 .
  • the bottom surfaces of the gear-side groove 222 and the bearing-side groove 622 both have the same curvature radius as the radius of the pin 23 or the bearing pin 63 .
  • the bearing-side groove 622 is formed shallower than the gear-side groove 222 .
  • the ratio of the depth of the plurality of bearing side grooves 622 to the diameter of the retained pin is reduced compared to the plurality of gear side grooves 222 . That is, the depth D2 of the bearing side groove 622 is relative to the diameter of the bearing pin 63 The ratio Ratio of the depth D1 of the gear side groove 222 to the diameter of the pin 23 The ratio little.
  • the depth D1 of the gear side groove 222 is relative to the diameter of the pin 23 The ratio is "1/2".
  • the depth D2 of the bearing side groove 622 is relative to the diameter of the bearing pin 63 The ratio is "1/3".
  • at least the depth D2 of the bearing-side groove 622 is relative to the diameter of the bearing pin 63
  • the ratio It is preferably "1/2" or less, more preferably "1/3" or less, and may be about “1/4", for example.
  • the bearing side groove 622 for holding the bearing pin 63 is not limited to the bearing pin 63.
  • the minimum depth D2 of detachment is sufficient.
  • the frictional resistance between the inner surface of the bearing side groove 622 and the bearing pin 63 can be reduced, and the loss of the first bearing member 6 can be reduced.
  • the lubricant can easily enter the bearing-side groove 622 .
  • the pin 23 and the bearing pin 63 have the same outer diameter (diameter) and the same arrangement when viewed from one side in the direction of the rotation axis Ax1. Therefore, in this structure, the central axis Ax2 (refer to FIG. 10 ) that becomes the center when the pin 23 rotates (autorotates) and the central axis Ax3 (refer to FIG. 10 ) that becomes the center when the bearing pin 63 rotates (autorotation) are aligned on a straight line superior. In other words, each of the plurality of bearing pins 63 and each of the plurality of pins 23 are arranged concentrically.
  • each of the plurality of bearing pins 63 and each of the plurality of pins 23 are separate bodies.
  • the pin 23 and the bearing pin 63 which are formed separately can rotate independently.
  • the pin 23 and the bearing pin 63 may rotate partially synchronously.
  • the surface roughness of the outer peripheral surface 611 of the first inner ring 61 is smaller than the surface roughness of a surface adjacent to the outer peripheral surface 611 of the first inner ring 61 . That is, the surface roughness of the outer peripheral surface 611 is smaller than that of both end surfaces in the direction of the rotation axis Ax1 in the first inner ring 61 .
  • the "surface roughness” referred to in the present disclosure refers to the degree of roughness of the surface of an object, and the smaller the value, the smaller (less) the unevenness of the surface, and the smoother the surface. In this structure, as an example, the surface roughness is the arithmetic mean roughness (Ra).
  • the outer peripheral surface 611 of the first inner ring 61 has a smaller surface roughness than surfaces other than the outer peripheral surface 611 of the first inner ring 61 .
  • the rotation of the first outer ring 62 with respect to the first inner ring 61 becomes smoother.
  • the hardness of the outer peripheral surface 611 of the first inner ring 61 is lower than that of the peripheral surfaces of the plurality of bearing pins 63 and higher than the hardness of the inner peripheral surface 621 of the first outer ring 62 .
  • the "hardness” referred to in the present disclosure refers to the degree of hardness of an object, and the hardness of a metal is represented by, for example, the size of a depression formed by pressing a steel ball against 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 metal member there are, for example, alloying, heat treatment, and the like.
  • the hardness of the outer peripheral surface 611 of the first inner ring 61 is increased by processing such as carburizing and quenching. In this configuration, even if the first outer ring 62 rotates with respect to the first inner ring 61 , wear powder and the like are hardly generated, and it is easy to maintain the smooth rotation of the first bearing member 6 for a long period of time.
  • Such a surface structure with small surface roughness and high hardness is preferably also applied to the outer peripheral surface 81 of the support body 8 . That is, in the present structure, the support body 8 functions as the “inner ring” of the needle roller bearing similar to the first bearing member 6 , so it is preferable to apply an appropriate application to the outer peripheral surface 81 of the support body 8 corresponding to the outer peripheral surface of the inner ring. surface roughness and hardness.
  • the second bearing member 7 has a second outer ring 72 and a second inner ring 71 .
  • the second inner ring 71 and the second outer ring 72 are in a relative rotatable relationship about the rotation axis Ax1.
  • the second bearing member 7 has a plurality of second rolling elements 73 in addition to the second outer ring 72 and the second inner ring 71 .
  • both the second inner ring 71 and the second outer ring 72 are annular members. Both the second inner ring 71 and the second outer ring 72 have an annular shape that is a perfect circle centered on the rotation axis Ax1 in a plan view.
  • the second inner ring 71 is one turn smaller than the second outer ring 72 , and is arranged inside the second outer ring 72 .
  • the inner diameter of the second outer ring 72 is larger than the outer diameter of the second inner ring 71, a gap is generated between the inner peripheral surface of the second outer ring 72 and the outer peripheral surface of the second inner ring 71.
  • this configuration as shown in FIG.
  • the inner diameter of the second outer ring 72 is larger than the outer diameter of the first inner ring 61 and smaller than the inner diameter of the first outer ring 62 .
  • the outer diameter of the second inner ring 71 is smaller than the outer diameter of the first inner ring 61 .
  • the second inner ring 71 is fixed to the holding member 55 .
  • the inner diameter of the second inner ring 71 corresponds to the outer diameter of (the outer peripheral surface 553 of the holding member 55 ).
  • the second bearing member 7 is combined with the holding member 55 in a state in which the holding member 55 is inserted into the second inner ring 71 . Since the holding member 55 is fixed to the hub member 14, as a result, the second inner ring 71 is fixed to the fixing member (the hub member 14 and the like).
  • the second outer ring 72 is fixed to the main body 11 as a rotating member.
  • the outer diameter of the second outer ring 72 corresponds to the inner diameter of the outer ring fixing frame 74 (see FIG. 3 ) in the main body portion 11 .
  • the second bearing member 7 is combined with the main body portion 11 in a state where the second outer ring 72 is fitted into the outer ring fixing frame 74 of the main body portion 11 .
  • the second bearing member 7 in a state of being attached to the holding member 55 is accommodated in the outer ring fixed frame 74 of the main body portion 11 as the rotating member.
  • the plurality of second rolling elements 73 are arranged in the gap between the second inner ring 71 and the second outer ring 72 .
  • the plurality of second rolling elements 73 are arranged in parallel along the circumferential direction of the second outer ring 72 .
  • the plurality of second rolling elements 73 are all metal members of the same shape, and are provided at equal intervals over the entire area of the second outer ring 72 in the circumferential direction.
  • the second bearing member 7 is constituted by a deep groove ball bearing using spherical bodies (balls) as the second rolling elements 73 . That is, the second bearing member 7 includes a deep groove ball bearing.
  • the second bearing member 7 is a deep groove ball bearing
  • the second bearing member 7 is likely to receive a load mainly in the thrust direction (the direction along the rotation axis Ax1 ). That is, the second bearing member 7 receives at least the load in the direction of the rotation axis Ax1.
  • the deep groove ball bearing has a smaller withstand load in the radial direction, but a larger withstand load in the thrust direction. Therefore, by providing such a second bearing member 7, the thrust direction as a whole of the gear unit 1 can be increased. withstand load (load capacity).
  • the gear device 1 since the 1st bearing member 6 and the 2nd bearing member 7 are included, the radial load and the thrust direction load are easily received. That is, the gear device 1 can receive the radial load by the first bearing member 6 formed of the needle bearing, and can receive the thrust direction load by the second bearing member 7 formed of the deep groove ball bearing. Further, in the gear device 1 , the plurality of inner pins 4 are rotatably supported by the gear main body 22 at two locations in the direction of the rotation axis Ax1 via the first bearing member 6 and the second bearing member 7 . Therefore, the gear device 1 easily bears any bending force (bending moment load) with respect to the rotation axis Ax1.
  • the three types of loads namely the radial load, the thrust direction load, and the bending force with respect to the rotating shaft Ax1
  • the load shared by the first bearing member 6 and the second bearing member 7 also contributes to prolonging the life of each of the first bearing member 6 and the second bearing member 7 .
  • first bearing member 6 and the second bearing member 7 including the relative positional relationship between the first bearing member 6 and the second bearing member 7 will be described with reference to FIGS. 3 and 10 . That is, in this configuration, the first bearing member 6 and the second bearing member 7 rotatably support the plurality of inner pins 4 on the gear body 22 at two locations in the direction of the rotation axis Ax1. Therefore, the first bearing member 6 and the second bearing member 7 are arranged in parallel along the direction parallel to the rotation axis Ax1.
  • the internally toothed gear 2 , the first bearing member 6 , and the second bearing member 7 are arranged in accordance with the internal gear 2 , the first bearing member 6 , and the second bearing member 7 from the output side of the rotating shaft Ax1
  • the order of 7 is arranged side by side. That is, the first bearing member 6 is located between the internally toothed gear 2 and the second bearing member 7 in the direction parallel to the rotation axis Ax1 .
  • the first bearing member 6 and the second bearing member 7 are located on the same side in the direction of the rotation axis Ax1.
  • both the first bearing member 6 and the second bearing member 7 are positioned on the input side (right side in FIG. 3 ) of the rotation axis Ax1 with respect to the plurality of pins 23 .
  • the plurality of bearing pins 63 are located between the second bearing member 7 and the plurality of pins 23 in the direction of the rotation axis Ax1 . That is, the first bearing member 6 is located on the input side (right side in FIG. 3 ) of the rotating shaft Ax1 with respect to the plurality of pins 23 , and the second bearing member 7 is located on the input side of the rotating shaft Ax1 with respect to the first bearing member 6 . side (right side of Figure 3). Therefore, the plurality of bearing pins 63 of the first bearing member 6 are sandwiched between the second bearing member 7 and the plurality of pins 23 in the direction parallel to the rotation axis Ax1.
  • the internally toothed gear 2 , the first bearing member 6 , and the second bearing member 7 are juxtaposed in a direction parallel to the rotation axis Ax1 with substantially no clearance.
  • FIG. 10 when the main body portion 11 is divided into three regions in the direction parallel to the rotation axis Ax1 , these three regions serve as the inner gear 2 and the first bearing member 6 , respectively.
  • the outer ring 62 and the outer ring fixing frame 74 for fixing the second bearing member 7 function. That is, in this structure, the gear main body 22, the first outer ring 62, and the outer ring fixing frame 74 constitute one part (the main body part 11) without joints. Therefore, in FIG. line) to distinguish the gear main body 22 , the first outer ring 62 and the outer ring fixing frame 74 .
  • one end in the direction of the rotation axis Ax1 of the plurality of bearing pins 63 comes into contact with the second outer ring 72 or the second inner ring 71 .
  • the end surface on the input side (right side in FIG. 10 ) of the rotation axis Ax1 of the bearing pin 63 is in contact with the second outer ring 72 of the second bearing member 7 .
  • the movement of the bearing pin 63 to the input side of the rotation axis Ax1 is restricted by the second outer ring 72 .
  • the other ends in the direction of the rotation axis Ax1 of the plurality of bearing pins 63 are in contact with the pins 23 . Specifically, as shown in FIG.
  • each of the plurality of inner pins 4 is arranged in the same direction as the first bearing member 6 and the second bearing member 7 in the axial direction (rotation axis Ax1 direction) of the first bearing member 6 . s position. That is, as shown in FIG. 10 , at least a part of the inner pin 4 is disposed at the same position as the first bearing member 6 and the second bearing member 7 in the direction parallel to the rotation axis Ax1 .
  • each of the plurality of inner pins 4 is arranged inside the first bearing member 6 and the second bearing member 7 .
  • the plurality of inner pins 4 are located inside the second bearing member 7 when viewed from one side in the direction of the rotation axis Ax1.
  • the plurality of inner pins 4 are also located inside the first bearing member 6 when viewed from one side in the direction of the rotation axis Ax1 in relation to the first bearing member 6 .
  • first bearing member 6 and the second bearing member 7 have the following relationship with respect to the positional relationship with the holding member 55 that holds the plurality of inner pins 4 . That is, the first bearing member 6 and the second bearing member 7 are located outside the holding member 55 when viewed from one side in the direction of the rotation axis Ax1 . Specifically, since the first inner ring 61 of the first bearing member 6 has a flange shape that protrudes over the entire circumference from the outer peripheral surface 553 of the holding member 55 , when viewed from one side in the direction of the rotation axis Ax1, the first inner ring 61 is located in the holding outside of member 55 .
  • the second bearing member 7 Since the second bearing member 7 is combined with the holding member 55 in a state where the holding member 55 is inserted into the second inner ring 71 , it is positioned outside the holding member 55 when viewed from one side in the direction of the rotation axis Ax1 .
  • the gear device 1 of this structure constitutes the wheel device W1 together with the wheel main body 102 .
  • the wheel device W1 of the present configuration includes the gear device 1 and the wheel main body 102 .
  • the wheel body 102 rolls on the running surface by the rotational output when the plurality of inner pins 4 rotate relative to the gear body 22 .
  • the main body 11 , the cover 12 , and the ring cover 13 which are “rotating members” in the casing 10 constituting the outer casing of the gear device 1 constitute the wheel main body 102 .
  • the gear device 1 operates the rotation of the eccentric shaft 54 as the input rotation and the rotation of the rotating member (the main body portion 11 and the like) to which the gear body 22 is fixed as the output rotation.
  • the wheel body 102 rotates to roll on the running surface.
  • a tire 103 made of rubber, for example, is mounted on the outer peripheral surface of the body portion 11 that is the contact surface of the wheel body 102 that is in contact with the running surface, that is, the ground contact surface.
  • the wheel device W1 using the gear device 1 constitutes the vehicle V1 together with the vehicle body 100 .
  • the vehicle V1 of the present structure includes the wheel device W1 and the vehicle body 100 .
  • the vehicle body 100 holds the wheel device W1. That is, the vehicle V1 of the present configuration uses the wheel device W1 including the gear device 1 as a wheel, and the wheel main body 102 rotates to roll on the running surface, thereby running on a flat running surface composed of a floor surface or the like.
  • the vehicle V1 includes four wheel devices W1, and the wheel devices W1 are mounted on the four corners of the vehicle body 100 having a rectangular shape in plan view.
  • Such a vehicle V1 includes a drive source 101 for imparting driving force to the wheel device W1.
  • a drive source 101 for imparting driving force to the wheel device W1.
  • four drive sources 101 are mounted on the vehicle V1, and the drive sources 101 have a layout of “in-wheel motors” corresponding to the wheel devices W1 one-to-one.
  • the drive source 101 generates a drive force for swinging the planetary gears 3 of the gear units 1 included in each wheel unit W1.
  • the drive source 101 is a power generation source such as a motor (electric motor).
  • the power generated by the drive source 101 is transmitted to the eccentric shaft 54 in the gear device 1 . That is, the drive source 101 swings the planetary gear 3 by rotating the eccentric shaft 54 of the corresponding wheel device W1 around the rotation axis Ax1. Thereby, the rotation (input rotation) generated by the drive source 101 is decelerated at a relatively high reduction ratio in the gear device 1, and the wheel main body 102 is rotated by a relatively high torque.
  • the vehicle V1 can move in any direction on the traveling surface.
  • the vehicle V1 travels straight by driving the plurality of wheel devices W1 to rotate in the same direction and at the same speed. Therefore, the vehicle V1 can perform forward movement, backward movement, steering in the left-right direction, and the like.
  • the steering mentioned here includes in-situ steering and in-situ steering.
  • the vehicle V1 can freely travel on the traveling surface by using the wheel device W1 as the driving wheel and under the control of the driving source 101 .
  • the vehicle V1 of the present configuration is suitable for a vehicle that requires a relatively high torque, such as an automated guided vehicle (AGV: Automated Guided Vehicle).
  • AGV Automated Guided Vehicle
  • the vehicle V1 which is an unmanned guided vehicle, autonomously travels on the traveling surface in a state in which the vehicle body 100 is loaded with a conveyed object, for example. Thereby, the vehicle V1 can carry the conveyed object set in a certain place to another place.
  • the wheel device W1 needs to support not only the weight of the vehicle body 100, but also the weight of the conveyance loaded on the vehicle body 100. That is, not only when the vehicle V1 is traveling, but also when the vehicle V1 is stopped, a relatively large load may act on the wheel device W1 in the radial direction (direction orthogonal to the rotation axis Ax1 ).
  • the wheel device W1 of the present configuration uses a needle bearing having a bearing pin 63 as a "rolling element (roller)" as the first bearing member 6 of the gear device 1 , and therefore can withstand a relatively large load in the radial direction.
  • a thrust direction load (direction along the rotation axis Ax1 ) also acts on the wheel device W1, but the thrust direction load is much smaller than the radial load.
  • the wheel device W1 of the present configuration uses the deep groove ball bearing as the second bearing member 7 of the gear device 1 , the second bearing member 7 can receive such a load in the thrust direction.
  • the wheel device W1 using the gear device 1 of the present configuration is particularly suitable for the vehicle V1 in which a relatively large load is easily applied in the radial direction, such as an unmanned guided vehicle, but not so large in the thrust direction. Suit.
  • the gear device 1 since the gear device 1 takes the rotational force of the gear body 22 as an output, when the wheel device W1 is driven, the first outer ring 62 integrated with the gear body 22 also rotates around the rotation axis Ax1.
  • the plurality of bearing pins 63 held by the plurality of bearing side grooves 622 of the first outer ring 62 also rotate about the rotation axis Ax1.
  • the bearing pins 63 located in the up-down direction of the rotation axis Ax1 are constantly changed, so it is easy to avoid a situation where a load is concentrated on a part of the bearing pins 63 .
  • the drive source 101 is not included in the constituent elements of the wheel device W1, but it is not limited to this example, and the drive source 101 may be included in the constituent elements of the wheel device W1.
  • the wheel device W1 includes the drive source 101 , the gear device 1 , and the wheel body 102 .
  • the basic structure is but one of various structures of the present disclosure. Regarding the basic structure, various changes can be made in accordance with design and the like as long as the object of the present disclosure can be achieved.
  • the drawings referred to in the present disclosure are schematic drawings, and the respective ratios of the sizes and thicknesses of the respective constituent elements in the drawings do not necessarily reflect the actual dimensional ratios.
  • modification examples of the basic structure will be listed. The modified examples described below can be appropriately combined and applied.
  • 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.
  • the gear device 1 may be, for example, an eccentric swing type gear device using a planetary gear 3 with a circular tooth profile (for example, refer to Japanese Patent Publication No. 2017-137989) and so on.
  • the gear device 1 may be, for example, an eccentric swing type gear device (for example, refer to Japanese Patent Laid-Open No. 2020-85213) that converts the rotation of the input gear to the eccentric swing via a spur gear and a crankshaft.
  • each of the plurality of bearing pins 63 may be integrated with each of the plurality of pins 23 , respectively. That is, in the example of FIG. 12 , one pin is extended in the axial direction, and a part thereof functions as the bearing pin 63 and the other part functions as the pin 23 . In the structure of this modification, the pin 23 rotates together with the bearing pin 63 and cannot rotate independently, but the number of parts can be kept small.
  • each of the plurality of inner pins 4 is disposed at the same position as the first bearing member 6 or the second bearing member 7 in the direction of the rotation axis Ax1 , and this is not an essential configuration in the gear device 1 . That is, each of the plurality of inner pins 4 is arranged in parallel (opposed) to the first bearing member 6 or the second bearing member 7 in the direction of the rotation axis Ax1.
  • the number of the 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 basic structure are merely examples, and may be appropriately changed.
  • the second bearing member 7 is not limited to the deep groove ball bearing, and may be, for example, a crossed roller bearing, an angular contact ball bearing, or the like.
  • the second bearing member 7 may be, for example, a four-point contact ball bearing or the like for radial load, thrust direction (direction along the rotation axis Ax1 ) load, and bending force (bending moment load) with respect to the rotation axis Ax1. Tolerable structure.
  • the gear device 1 may further include a bearing member such as a deep groove ball bearing, a crossed roller bearing, or an angular contact ball bearing separately from the second bearing member 7 .
  • a bearing member such as a deep groove ball bearing, a crossed roller bearing, or an angular contact ball bearing separately from the second bearing member 7 .
  • 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 composed 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 rotational force of the gear main body 22 is taken out as an output when the plurality of inner pins 4 relatively rotate with respect to the gear main body 22 .
  • the planetary gear 3 may be connected to the rotating member by the plurality of inner pins 4, and the gear main body 22 may be fixed to the fixed member, so that when the plurality of inner pins 4 relatively rotate with respect to the gear main body 22, the rotational force (rotation) of the planetary gear 3 may be extracted. component) as 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. In addition, it is not essential that each of the plurality of inner pins 4 is held by the holding member 55 in a rotatable state.
  • each of the plurality of inner pins 4 may be arranged at the same position as the first bearing member 6 or the second bearing member 7 in the rotation axis Ax1 direction.
  • each of the plurality of inner pins 4 may be received in the entire range of the first bearing member 6 or the second bearing member 7 in the direction of the rotation axis Ax1.
  • the plurality of inner pins 4 connect the planetary gear 3 to the stationary member (the hub member 14 or the like) via the holding member 55 .
  • the plurality of inner pins 4 may be inserted into holding holes formed in the hub member 14, thereby directly connecting the planetary gears 3 to the stationary member (the hub member 14 or the like).
  • 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 essential in the gear device 1 .
  • the support body 8 may have slit-shaped support holes 82 extending radially, 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 case where the counterweight 56 is included like the basic structure is not an essential structure for the gear device 1 . That is, without adding the counterweight 56 , the weight of the rotating body (eg, the eccentric inner ring 51 and the eccentric shaft 54 , etc.) may be reduced by reducing the weight of a part of the rotating body, so that the weight of the rotating body with respect to the rotating shaft Ax1 can be balanced. . According to this configuration, the number of parts can be suppressed to be small, and the suppression of vibration and the like caused by the weight balance of the rotating body rotating at a high speed can also be expected.
  • the weight of the rotating body eg, the eccentric inner ring 51 and the eccentric shaft 54 , etc.
  • the vehicle V1 only needs to include one or more wheel devices W1, and the number of the wheel devices W1 is not limited to four (four wheels).
  • the vehicle V1 may include one to three wheel devices W1, or may include five or more wheel devices W1.
  • the drive source 101 for driving the wheel device W1 is not limited to the one-to-one in-wheel motor arrangement with respect to the wheel device W1, and one drive source 101 may be provided for a plurality of wheel devices W1.
  • the wheel device W1 of the basic structure may be provided only on the driving wheel of the vehicle V1.
  • the vehicle V1 may include one or more driven wheels in addition to the wheel device W1 as the driving wheel.
  • the driven wheels are "non-driving wheels" that are not transmitted with power from the drive source 101 and thus do not generate a driving force for the vehicle V1 to travel.
  • the vehicle V1 using the wheel device W1 including the gear device 1 of the basic structure is not limited to an automated guided vehicle (AGV), and may be a vehicle other than a conveyance use, such as a surveillance vehicle or a camera vehicle, for example.
  • the vehicle V1 is not limited to an autonomous vehicle that travels unmanned, and may be, for example, a vehicle in which a person rides and operates (drives), or a vehicle in which a person performs a remote control operation.
  • the gear device 1 of the basic structure is not limited to the use as the wheel device W1, but can also be applied to, for example, a horizontal articulated robot, that is, a so-called Selective Compliance Assembly Robot Arm (SCARA: Selective Compliance Assembly Robot Arm) type robot. robot.
  • SCARA Selective Compliance Assembly Robot Arm
  • the gear device 1 constitutes an actuator together with a drive source 101 that generates a driving force for swinging the planetary gear 3, and the actuator is mounted on the robot.
  • the application example of the gear device 1 and the actuator is not limited to the articulated robot, and may be an industrial robot other than the articulated robot, or a robot other than the industrial robot, 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 there are a home robot, a nursing robot, a medical robot, and the like.
  • the gear main body 22 , the first outer ring 62 , and the outer ring fixing frame 74 are integrated as in the basic structure is not an essential structure for the gear device 1 .
  • the gear body 22 , the first outer ring 62 and the outer ring fixing frame 74 may be separated (separate parts), and the gear body 22 , the first outer ring 62 and the outer ring fixing frame 74 may be press-fitted and welded. It is fixed to the main body part 11 by a fixing means such as adhesive bonding.
  • first inner ring 61 and the holding member 55 are integrated as in the basic structure is not an essential structure for the gear device 1 .
  • first inner ring 61 and the holding member 55 may be separate bodies (separate parts), and the first inner ring 61 may be fixed to the holding member 55 by fixing means such as press fitting, welding, or bonding.
  • second inner ring 71 may be integrated with the holding member 55 .
  • an internal meshing planetary gear device 1A (hereinafter, also simply referred to as “gear device 1A”) of the present embodiment differs in the configuration of the first bearing member 6A from the basic configuration of the gear device 1 .
  • FIG. 13 is a schematic cross-sectional view of the gear unit 1A.
  • Fig. 14 is a cross-sectional view taken along line B1-B1 of Fig. 13 and a partial enlarged view thereof.
  • the members other than the eccentric shaft 54 are shown in cross-section, but the hatching is omitted.
  • the gear unit 1A of the present embodiment can provide a simplified internal meshing planetary gear unit 1A with the following structure.
  • the gear device 1A of the present embodiment includes the internally toothed gear 2 , the planetary gear 3 , the plurality of inner pins 4 , and the first bearing member 6A.
  • the internally toothed gear 2 includes an annular gear body 22 and a plurality of pins 23 that are held on an 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 .
  • 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 first bearing member 6A includes a first inner ring 61 , a first outer ring 62 , and a plurality of bearing pins 63 .
  • the plurality of bearing pins 63 are held between the first inner ring 61 and the first outer ring 62 in a rotatable state.
  • the plurality of pins 23 and the plurality of bearing pins 63 have different diameters and different holding structures.
  • the first bearing member 6A has the first inner ring 61 , the first outer ring 62 , and the plurality of bearing pins 63 . That is, the first bearing member 6A is a needle roller bearing in which the bearing pin 63 is used as a "rolling element (roller)", and can withstand a relatively large load against a radial load. Furthermore, since the diameters of the plurality of pins 23 and the plurality of bearing pins 63 are different and the holding structures are also different, the diameters of the bearing pins 63 and the holding structures are set so that they can easily withstand various assumed loads. Therefore, in the gear device 1A of the present embodiment, there is an advantage that simplification of the structure can be easily achieved compared to the related art using the crossed roller bearing as the bearing member.
  • the diameters of the plurality of pins 23 and the plurality of bearing pins 63 are different from each other.
  • the diameter of the bearing pin 63 in the first bearing member 6A (Refer to FIG. 14 )
  • the ratio to the length increases. That is, in this embodiment, a thick pin is used as the bearing pin 63 . Therefore, as shown in FIG. 13 , the bearing pin 63 has a larger diameter than the pin 23 . In other words, the diameter of the bearing pin 63 than the diameter of pin 23 (refer to FIG. 4 ) large.
  • the radial withstand load (load capacity) can be increased, and the diameter of the gear device 1A as a whole can also be increased. direction of the withstand load (load capacity).
  • the holding structure is different for the plurality of pins 23 and the plurality of bearing pins 63 .
  • the holding structure is different in the present disclosure means that there is some difference between the holding structure for holding the pin 23 and the holding structure for holding the bearing pin 63 .
  • the gear-side groove 222 serving as a holding structure for the pin 23 and the bearing-side groove 622 serving as a holding structure for the bearing pin 63 have different shapes (depths). Keep the structure different".
  • housings having different properties such as the material and hardness of the holding structure for the plurality of pins 23 and the plurality of bearing pins 63 are also included in the "different holding structure".
  • the depth D1 (see FIG. 4 ) of the gear-side groove 222 is larger than the depth D2 (see FIG. 14 ) of the bearing-side groove 622 . That is, the depths of the plurality of gear-side grooves 222 and the plurality of bearing-side grooves 622 are different ( D1 > D2 ).
  • the bearing-side groove 622 has the diameter of the bearing pin 63 when viewed from one side in the direction of the rotation axis Ax1 A groove with an arc-shaped bottom surface having a diameter above.
  • the bottom surface of the bearing-side groove 622 has a larger radius of curvature than the bottom surface of the gear-side groove 222 .
  • the bottom surface of the bearing-side groove 622 has the same curvature radius as the radius of the bearing pin 63 .
  • the bearing-side groove 622 is shallower than the gear-side groove 222 .
  • the diameter of the pin 23 with the diameter of the bearing pin 63 different
  • the ratio of the depth of the plurality of bearing side grooves 622 to the diameter of the pin to be held is set to be smaller than that of the plurality of gear side grooves 222 . That is, the depth D2 of the bearing side groove 622 is relative to the diameter of the bearing pin 63
  • the ratio Ratio of the depth D1 of the gear side groove 222 to the diameter of the pin 23 The ratio little.
  • the depth D2 of the bearing side groove 622 is relative to the diameter of the bearing pin 63
  • the ratio is "1/4" or less.
  • the difference between the holding structure of the pin 23 (gear side groove 222 ) and the holding structure of the bearing pin 63 (bearing side groove 622 ) includes not only the difference in depth ( D1 and D2 ) but also the bottom surface difference in radii of curvature.
  • the processing for forming the gear-side grooves 222 and the bearing-side grooves 622 in the main body 11 becomes complicated, but the difference in diameters can be maintained reliably. pin 23 and bearing pin 63.
  • the central axis Ax2 that becomes the center when the pin 23 rotates (autorotates) and the center axis Ax2 that becomes the center when the bearing pin 63 rotates (autorotate) The central axis Ax3 of the center is arranged to be offset from each other. In other words, the plurality of bearing pins 63 and the plurality of pins 23 are not arranged concentrically, respectively.
  • the central axis Ax3 of the bearing pin 63 is positioned on the inner side (the rotation axis Ax1 side) of the central axis Ax2 of the pin 23 .
  • the diameter of the support body 8 (the outer peripheral surface 81 ) is smaller than the diameter of a virtual circle (addition circle) passing through the tips of the internal teeth 21 of the internally toothed gear 2 . Therefore, the outer peripheral surface 81 of the support body 8 does not come into contact with the plurality of pins 23 , and a gap is generated between the outer peripheral surface 81 of the support body 8 and the plurality of pins 23 .
  • each of the plurality of bearing pins 63 may be integrated with each of the plurality of pins 23 . That is, in the example of FIG. 15 , one pin is extended in the axial direction, and a part is made to function as the bearing pin 63 , and the other part is made to function as the pin 23 .
  • the central axis Ax2 serving as the center when the pin 23 rotates (autorotation) and the central axis Ax2 serving as the center when the bearing pin 63 rotates (autorotation) are arranged on a straight line.
  • the pin in which the pin 23 and the bearing pin 63 are integrated can be rotated about the central axis Ax2.
  • the pin 23 rotates together with the bearing pin 63 and cannot rotate independently, but the number of parts can be kept small.
  • the second bearing member 7 may be appropriately omitted. That is, the gear device 1A only needs to include the internally toothed gear 2, the planetary gear 3, the plurality of inner pins 4, and the first bearing member 6A, and the second bearing member 7 may be omitted.
  • the diameter of the bearing pin 63 can be compared to the diameter of pin 23 little.
  • the number of the bearing pins 63 and the pins 23 may be different.
  • the diameter of the outer peripheral surface 81 of the support body 8 may be the same as the diameter of a virtual circle (addition circle) passing through the tips of the internal teeth 21 in the internally toothed gear 2 .
  • the position of the support body 8 is restricted by bringing the outer peripheral surface 81 into contact with the plurality of pins 23 .
  • Embodiment 1 (including modified examples) can be applied in appropriate combination with the configuration (including modified examples) described in the basic configuration.
  • the internal meshing planetary gear device 1B (hereinafter, also simply referred to as “gear device 1B”) of the present embodiment has a structure different from that of the gear device 1A of the first embodiment.
  • symbol is attached
  • FIG. 16 is a schematic cross-sectional view of the gear unit 1B.
  • Fig. 17 is a cross-sectional view taken along line B1-B1 of Fig. 16 and a partial enlarged view thereof.
  • the hatching is omitted.
  • the first bearing member 6B is configured such that the plurality of bearing pins 63 are relatively movable in the circumferential direction of the first outer ring 62 with respect to the first outer ring 62 .
  • the internal toothed gear 2 as in the first embodiment, the relative movement of the plurality of pins 23 in the circumferential direction of the gear body 22 with respect to the gear body 22 is restricted. Therefore, the plurality of bearing pins 63 are relatively movable in the circumferential direction of the first outer ring 62 with respect to the plurality of pins 23 .
  • the gear device 1B of the present embodiment the plurality of bearing pins 63 relatively rotate with respect to the plurality of pins 23 along with the relative rotation of the plurality of inner pins 4 with respect to the gear body 22 .
  • the first bearing member 6B has the holder 64 (retainer) shown in FIG. 17 .
  • the plurality of bearing pins 63 are respectively arranged in a rotatable state between the inner peripheral surface 621 of the first outer ring 62 and the outer peripheral surface 611 of the first inner ring 61 , and are held by the retainer 64 .
  • the cage 64 holds the plurality of bearing pins 63 in the circumferential direction of the first outer ring 62 at equal intervals.
  • the cage 64 is not fixed with respect to the inner peripheral surface 621 of the first outer ring 62 and the outer peripheral surface 611 of the first inner ring 61 , and can be respectively relative to the first inner ring 61 and the first outer ring 61 centered on the rotation axis Ax1
  • the ring 62 is relatively rotatable.
  • the plurality of bearing pins 63 held by the holder 64 move in the circumferential direction of the first outer ring 62 along with the rotation of the holder 64 .
  • the holding structure of the plurality of bearing pins 63 includes the retainer 64 arranged between the first outer ring 62 and the first inner ring 61 .
  • the holder 64 is made of metal as an example.
  • the holding structure of the pin 23 is the gear side groove 222
  • the holding structure of the bearing pin 63 is the cage 64 .
  • only the gear-side groove 222 may be formed as a holding structure for the main body portion 11, and the processing of the main body portion 11 becomes easy.
  • the diameter of the bearing pin 63 Can be used with pin 23 diameter same Diameter of bearing pin 63 can be compared to the diameter of pin 23 little.
  • the plurality of bearing pins 63 may be relatively rotatable with respect to the plurality of pins 23 with the relative rotation of the plurality of inner pins 4 with respect to the gear body 22 , and the retainer 64 is not required.
  • the material of the holder 64 is not limited to metal, and may be resin such as engineering plastics, for example.
  • Embodiment 2 (including modifications) can be applied in combination with the basic configuration or the configuration (including modifications) described in Embodiment 1 as appropriate.
  • the internal meshing planetary gear device (1, 1A, 1B) of the first form includes an internal gear (2), a planetary gear (3), a plurality of internal pins (4), and a first bearing member (6, 6A, 6B).
  • the internally toothed gear (2) has an annular gear body (22) and a plurality of pins (23) which are held on an inner peripheral surface (221) of the gear body (22) in a rotatable state and constitute 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).
  • the first bearing member (6, 6A, 6B) rotatably supports the plurality of inner pins (4) on the gear body (22).
  • the first bearing member (6, 6A, 6B) has a first inner ring (61), a first outer ring (62), and a plurality of bearing pins (63).
  • a plurality of bearing pins (63) are held between the first inner ring (61) and the first outer ring (62) in a state of being able to rotate.
  • the plurality of pins (23) and the plurality of bearing pins (63) have different diameters and different holding structures.
  • the first bearing members (6, 6A, 6B) are needle roller bearings with the bearing pins (63) as “rolling elements (rollers)", and can withstand relatively large loads in the radial direction.
  • the diameters of the plurality of pins (23) and the plurality of bearing pins (63) are different, and the holding structures are also different. Therefore, the setting of the diameters of the bearing pins (63) and the holding structures can be easily tolerated. various loads. Therefore, there is an advantage that the simplification of the structure can be easily achieved.
  • the holding structure of the plurality of pins (23) is formed including the inner peripheral surface (221) of the gear body (22).
  • the holding structure of the plurality of bearing pins (63) includes a plurality of bearing side grooves (622) formed on the inner peripheral surface (621) of the first outer ring (62). The depths of the plurality of gear side grooves (222) and the plurality of bearing side grooves (622) are different.
  • different holding structures of the plurality of pins (23) and the plurality of bearing pins (63) can be realized by the difference in depth between the gear-side groove (222) and the bearing-side groove (622).
  • the internal meshing planetary gear device (1, 1A, 1B) of the third form is based on the first form, and the plurality of bearing pins (63) face each other with the relative rotation of the plurality of inner pins (4) with respect to the gear body (22). It rotates relative to the plurality of pins (23).
  • the holding structure of the plurality of bearing pins (63) includes a holding structure arranged on the first outer ring (62) and the first inner ring (62). Cage (64) between rings (61).
  • the pitch of the plurality of bearing pins (63) can be maintained by the retainer (64).
  • each of the plurality of bearing pins (63) and each of the plurality of pins (23) are respectively Concentric configuration.
  • each of the plurality of bearing pins (63) and each of the plurality of pins (23) are respectively as one.
  • the internal meshing planetary gear device (1, 1A, 1B) of the seventh aspect is based on any one of the first to sixth aspects, and further includes a second bearing member (7).
  • the second bearing member (7) together with the first bearing member (6, 6A, 6B), rotatably supports a plurality of inner pins (4) on the gear body (22) at two locations in the direction of the rotation axis (Ax1).
  • the bending force (bending moment) to the rotating shaft (Ax1) can be easily resisted compared to the one-point support in which the plurality of inner pins (4) are supported by the gear body (22) at one location in the direction of the rotating shaft (Ax1). load) such as the load.
  • the inner pins (4) are located at the second inner pin when viewed from one side in the direction of the rotation axis (Ax1). Inside of bearing member (7).
  • the limited space inside the plurality of inner pins (4) can be made into a relatively simple structure.
  • the first bearing member (6, 6A, 6B) is located on the same side in the direction of the rotation axis (Ax1) as the second bearing member (7).
  • the plurality of inner pins (4) can be effectively supported at two points, and the miniaturization in the direction of the rotation axis (Ax1) can be easily achieved.
  • the holding structure of the plurality of pins (23) is included in the inner circumference of the gear body (22).
  • the holding structure of the plurality of bearing pins (63) includes a plurality of bearing side grooves (622) formed on the inner peripheral surface (621) of the first outer ring (62).
  • the ratio of the depth of the plurality of bearing side grooves (622) to the diameter of the pin held is smaller than that of the plurality of gear side grooves (222).
  • the frictional resistance between the inner surface of the bearing-side groove (622) and the bearing pin (63) can be easily reduced.
  • the internal meshing planetary gear device (1, 1A, 1B) of the eleventh aspect based on any one of the first to tenth aspects, it is configured so that when the plurality of inner pins (4) relatively rotate with respect to the gear body (22) , take out the rotational force of the gear body (22) as output.
  • the gear body (22) or a member integrated with the gear body (22) can be used as the rotating member.
  • the wheel device (W1) of the twelfth aspect includes: the internal meshing planetary gear device (1, 1A, 1B) of any one of the first to eleventh aspects; and a wheel main body (102) that passes through a plurality of Each of the inner pins (4) rolls on the running surface with respect to the rotational output when the gear body (22) rotates relatively.
  • the vehicle (V1) of the thirteenth aspect includes the wheel device (W1) of the twelfth aspect and a body (100) holding the wheel device (W1).
  • the configurations of the second to eleventh aspects are not necessarily required for the internal meshing planetary gear units (1, 1A, 1B), and can be appropriately omitted.

Abstract

本公开提供容易实现结构的简化的内啮合行星齿轮装置、车轮装置及车辆。内齿齿轮(2)具有环状的齿轮主体(22)、以能够自转的状态保持于齿轮主体(22)的内周面并构成内齿(21)的多个销(23)。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)在分别插入于在行星齿轮(3)形成的多个内销孔(32)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。第一轴承构件(6A)将多个内销(4)能够旋转地支承于齿轮主体(22)。第一轴承构件(6A)具有第一内圈(61)及第一外圈(62)、多个轴承销(63)。多个轴承销(63)以能够自转的状态保持在第一内圈(61)及第一外圈(62)之间。对于多个销(23)与多个轴承销(63)，各自的直径不同且保持结构不同。

Description

内啮合行星齿轮装置、车轮装置及车辆
相关申请的交叉引用
本申请基于申请号为特愿2020-146350、申请日为2020年08月31日的日本专利申请提出，并要求上述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以及车轮装置及车辆，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、车轮装置及车辆。
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。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，支架经由交叉滚子轴承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，由于使用交叉滚子轴承作为轴承构件，因此存在因具有比较复杂的结构的交叉滚子轴承而妨碍作为内啮合行星齿轮装置整体的结构简化的情况。
本公开实施例的目的在于，提供容易实现结构简化的内啮合行星齿轮装置、车轮装置及车辆。
本公开实施例的一形态的内啮合行星齿轮装置包括内齿齿轮、行星齿轮、多个内销和第一轴承构件。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内齿的多个销。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在所述行星齿轮形成的多个内销孔的状态下，在所述内销孔内公转并相对于所述齿轮主体相对旋转。所述第一轴承构件将所述多个内销能够旋转地支承于所述齿轮主体。所述第一轴承构件具有第一内圈及第一外圈、多个轴承销。所述多个轴承销以能够自转的状态保持在所述第一内圈及所述第一外圈之间。对于所述多个销与所述多个轴承销，各自的直径不同且保持结构不同。
本公开实施例的一形态的车轮装置包括：所述内啮合行星齿轮装置；和车轮主体，所述车轮主体通过所述多个内销相对于所述齿轮主体相对旋转时的旋转输出而在行进面上滚动。
本公开实施例的一形态的车辆包括所述车轮装置和保持所述车轮装置的车身。
根据本公开实施例，能够提供容易实现结构简化的内啮合行星齿轮装置、车轮装置及车辆。
附图说明
图1A示出基本结构的内啮合行星齿轮装置的概略结构，是从旋转轴的 输出侧观察到的立体图。
图1B示出上述的内啮合行星齿轮装置的概略结构，是从旋转轴的输入侧观察到的立体图。
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线剖视图及其局部放大图。
图5是示出上述的内啮合行星齿轮装置的主要是内齿齿轮及行星齿轮周边的结构的立体图。
图6是示出上述的内啮合行星齿轮装置的主要是内齿齿轮及行星齿轮周边的结构的分解立体图。
图7是示出上述的内啮合行星齿轮装置的、图3的B1-B1线剖视图及其局部放大图。
图8是示出上述的内啮合行星齿轮装置的主要是第一轴承构件周边的结构的立体图。
图9是示出上述的内啮合行星齿轮装置的主要是第一轴承构件周边的结构的分解立体图。
图10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11是使用了上述的内啮合行星齿轮装置的车轮装置及车辆的概略立体图。
图12是示出基本结构的变形例的内啮合行星齿轮装置的、相当于图10的放大图。
图13是实施方式1的内啮合行星齿轮装置的概略剖视图。
图14是示出上述的内啮合行星齿轮装置的、图13的B1-B1线剖视图及其局部放大图。
图15是示出实施方式1的变形例的内啮合行星齿轮装置的、相当于图10的放大图。
图16是实施方式2的内啮合行星齿轮装置的概略剖视图。
图17是示出上述的内啮合行星齿轮装置的、图16的B1-B1线剖视图及其局部放大图。
具体实施方式
(基本结构)
(1)概要
以下，关于本结构的内啮合行星齿轮装置1的概要，参照图1A～图4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1A～图4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。
本结构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(参照图4)、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54的旋转而如图4所示绕着旋转轴Ax1进行旋转(偏心运动)。
内齿齿轮2具有内齿21。特别是在本结构中，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54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与内齿齿轮2之间的相对旋转、即内齿齿轮2被固定时的行星齿轮3的相当于自转分量的旋转例如作为旋转构件相对于固定构件的相对旋转而取出。总之，齿轮装置1在固定构件被固定的状态下，凭借其输出使旋转构件旋转。由此，齿轮装置1以偏心轴54为输入侧、以旋转构件为输出侧，作为减速比比较高的齿轮装置发挥功能。因此，在本结构的齿轮装置1中，为了将行星齿轮3与内齿齿轮2之间的相对旋转传递至固定构件及旋转构件而在固定构件及旋转构件中的一方固定齿轮主体22，且在固定构件及旋转构件中的另一方利用多个内销4连结行星齿轮3。
多个内销4在分别插入于在行星齿轮3形成的多个内销孔32的状态下，分别一边在内销孔32内公转一边相对于内齿齿轮2相对旋转。即，内销孔32具有比内销4大的直径，内销4在插入于内销孔32的状态下能够以在内销孔32内公转的方式移动。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的游嵌来吸收。换言之，多个内销4分别以在多个内销孔32内公转的方式移动，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)向固定构件或旋转构件传递。
这样，行星齿轮3与内齿齿轮2之间的相对旋转作为齿轮主体22与多 个内销4的相对旋转向固定构件及旋转构件传递。因此，在齿轮装置1中，从行星齿轮3和内齿齿轮2的任一者都能够取出被减速了的旋转输出。即，例如，在齿轮主体22固定于固定构件的情况下，行星齿轮3利用多个内销4与旋转构件连结，因此行星齿轮3与内齿齿轮2之间的相对旋转从行星齿轮3取出。另一方面，在齿轮主体22固定于旋转构件的情况下，行星齿轮3利用多个内销4与固定构件连结，因此行星齿轮3与内齿齿轮2之间的相对旋转从内齿齿轮2取出。
另外，齿轮装置1包括(第一)轴承构件6。轴承构件6具有(第一)内圈61及(第一)外圈62。内圈61配置在外圈62的内侧，并被支承为相对于外圈62能够相对旋转。轴承构件6是用于将旋转构件能够旋转地支承于固定构件的部件。换言之，(第一)轴承构件6是将多个内销4能够旋转地支承于齿轮主体22的部件。齿轮装置1通过这样的轴承构件6将旋转构件以能够旋转的状态支承于固定构件，其结果是，能够将行星齿轮3与内齿齿轮2之间的相对旋转作为旋转构件相对于固定构件的旋转输出。
然而，在这种齿轮装置1中，作为关联技术，已知有轴承构件使用交叉滚子轴承的技术。在交叉滚子轴承中，圆筒状的滚动体(滚子)的轴相对于与旋转轴Ax1正交的平面具有45度的倾斜，并与内圈的外周正交，而且，在内圈的圆周方向上相互相邻的一对滚动体的轴相互正交。即，在齿轮装置1中，根据其用途，如径向的载荷、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)那样，可作用有各种方向的载荷。在关联技术中，为了能耐受上述各种方向的载荷而在轴承构件中使用交叉滚子轴承。然而，在关联技术中，由于使用交叉滚子轴承作为轴承构件，因此，存在因具有比较复杂的结构的交叉滚子轴承而妨碍作为齿轮装置1整体的结构简化的情况。本结构的齿轮装置1通过以下的结构，能够提供容易实现结构的简化的内啮合行星齿轮装置1。
即，如图1～图3所示，本结构的齿轮装置1包括内齿齿轮2、行星齿 轮3、多个内销4、第一轴承构件6及第二轴承构件7。内齿齿轮2具有环状的齿轮主体22、以能够自转的状态保持于所述齿轮主体22的内周面221并构成内齿21的多个销23。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在分别插入于在行星齿轮3形成的多个内销孔32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。第一轴承构件6及第二轴承构件7在旋转轴Ax1方向的两个部位将多个内销4支承为相对于齿轮主体22能够旋转。在此，第一轴承构件6具有第一内圈61、第一外圈62及多个轴承销63。而且，内销在从旋转轴Ax1方向的一侧观察下，多个内销4位于第二轴承构件7的内侧。
根据该形态，第一轴承构件6及第二轴承构件7在旋转轴Ax1方向的两个部位将多个内销4支承为相对于齿轮主体22能够旋转，因此多个内销4被二点支承于齿轮主体22。因此，与在旋转轴Ax1方向的一个部位将多个内销4支承于齿轮主体22的一点支承相比，容易耐受对于旋转轴Ax1的弯曲力(弯曲力矩载荷)那样的载荷。而且，第一轴承构件6具有第一内圈61、第一外圈62及多个轴承销63。即，第一轴承构件6是将轴承销63当作“滚动体(滚子)”的滚针轴承，对于径向的载荷能耐受比较大的载荷。此外，在设为二点支承的同时，在从旋转轴Ax1方向的一侧观察下，第二轴承构件7位于多个内销4的外侧，因此多个内销4的内侧的有限的空间能够成为比较简单的结构。因此，与使用交叉滚子轴承作为轴承构件的关联技术相比，在本结构的齿轮装置1中，具有容易实现结构的简化这样的优点。
此外，交叉滚子轴承在轴承构件之中属于高价的范畴，因此根据本结构的齿轮装置1的结构，能够省略这样的交叉滚子轴承，因此还具有容易实现低成本化这样的优点。
(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。
本公开实施例所说的“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的一侧(图3的右侧)称为“输入侧”，将旋转轴Ax1的另一侧(图3的左侧)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”取出行星齿轮3和内齿齿轮2之间的相对的旋转。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，关于本结构的内啮合行星齿轮装置1的详细的结构，参照图1A～图10进行说明。
图1A示出齿轮装置1的概略结构，是从旋转轴Ax1的输出侧(图3的左侧)观察齿轮装置1所观察到的立体图。图1B示出齿轮装置1的概略结构，是从旋转轴Ax1的输入侧(图3的右侧)观察齿轮装置1所观察到的立体图。图2是从旋转轴Ax1的输出侧观察齿轮装置1所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线剖视图及其局部放大图。图5是用于主要示出齿轮装置1的内齿齿轮2及行星齿轮3周边的结构的立体图，图6是其分解立体图。图7是图3的B1-B1线剖视图及其局部放大图。图8是用于主要示出齿轮装置1的第一轴承构件6周边的结构的立体图，图9是其分解立体图。图10是图3的区域Z1的放大图。其中，在图4及图7中，关于偏心轴54以外的部件，虽然也为剖面但是省略剖面线。
(3.1)整体结构
如图1A～图3所示，本结构的齿轮装置1包括内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、第一轴承构件6、第二轴承构件7、偏心轴54和支承体8。而且，在本结构中，齿轮装置1还包括保持构件55、平衡重56、第一轴承91、第二轴承92、间隔件93及壳体10。在本结构中，作为齿轮装置1的构成要素的内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、第一轴承构件6、第二轴承构件7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。此外，关于偏心轴54、支 承体8、保持构件55、平衡重56及壳体10等的材质，也是与上述同样的金属。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，在本结构中，作为齿轮装置1的一例，例示使用了次摆线类齿形的内切式行星齿轮装置。即，本结构的齿轮装置1包括具有次摆线类曲线齿形的内切式的行星齿轮3。
另外，在本结构中，作为一例，齿轮装置1以将保持多个内销4的保持构件55(参照图2)固定于固定构件(后述的轮毂构件14等)的状态来使用。即，行星齿轮3利用多个内销4而与固定构件连结，齿轮主体22固定于旋转构件(后述的主体部11等)，因此行星齿轮3与内齿齿轮2之间的相对旋转从内齿齿轮2取出。换言之，在本结构中，在多个内销4相对于齿轮主体22相对旋转时，取出齿轮主体22的旋转力作为输出。
此外，在本结构中，作为一例，将齿轮装置1使用于车轮装置W1(参照图11)，详情在后文叙述。在该情况下，旋转构件(主体部11等)作为车轮主体102(参照图11)发挥功能，由此，伴随着内齿齿轮2与行星齿轮3的相对旋转，能够使车轮主体102旋转。这样，在本结构中，通过将齿轮装置1使用于车轮装置W1，通过多个内销4相对于齿轮主体22相对旋转时的旋转输出，能够以使车轮主体102在行进面上滚动的方式驱动车轮主体102。总之，齿轮装置1在作为车轮装置W1使用的情况下，通过向偏心轴54施加作为输入的旋转力而从作为车轮主体102的旋转构件(主体部11等)取出作为输出的旋转力。即，齿轮装置1将偏心轴54的旋转作为输入旋转并将固定有齿轮主体22的旋转构件(主体部11等)的旋转作为输出旋转而进行动作。由此，在齿轮装置1中，相对于输入旋转，能得到以比较高的减速比减速了的输出旋转作为车轮主体102的旋转。
此外，在本结构的齿轮装置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54的旋转中心，输出侧的旋转轴Ax1是产生输出旋转的齿轮主体22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得到以比较高的减速比减速了的输出旋转。
如图1A及图1B所示，壳体10为圆筒状，构成齿轮装置1的外廓。在本结构中，壳体10作为车轮主体102发挥功能，因此圆筒状的壳体10的中心轴构成为与旋转轴Ax1一致。即，壳体10的至少外周面在俯视观察下(在从旋转轴Ax1方向的一侧观察下)成为以旋转轴Ax1为中心的正圆。
壳体10具有主体部11、盖12、环盖13和轮毂构件14。主体部11是旋转轴Ax1方向的两端面开口的圆筒状的部件。盖12是安装于主体部11的旋转轴Ax1的输出侧(图3的左侧)的端面，将主体部11的旋转轴Ax1的输出侧的开口面封闭的圆盘状的部件。环盖13是在主体部11的旋转轴Ax1的输入侧(图3的右侧)的端面安装的圆环状的部件。轮毂构件14是在环盖13的内侧配置的圆环状的部件。主体部11的旋转轴Ax1的输入侧的开口面的一部分由轮毂构件14填塞。在此，主体部11、盖12、环盖13及轮毂构件14都在俯视观察下形成为以旋转轴Ax1为中心的正圆状。
在主体部11的旋转轴Ax1的输出侧的端面形成有多个(作为一例为八个)螺纹孔111(参照图5)。多个螺纹孔111用于将盖12固定于主体部11。具体而言，固定用的多根(作为一例为八根)螺钉151穿过盖12，拧入螺纹孔111，从而将盖12固定于主体部11。在主体部11的旋转轴Ax1的输入侧的端面的周围形成有多个(作为一例为8个)螺纹孔112(参照图8)。多个螺纹孔112用于将环盖13固定于主体部11。具体而言，固定用的多根(作为一例为8根)螺钉152穿过环盖13，拧入螺纹孔112，从而将环盖13固定于主体部11。
并且，在由主体部11、盖12、环盖13及轮毂构件14围成的空间、即壳体10的内部空间容纳有内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、第一轴承构件6、第二轴承构件7及支承体8等。轮毂构件14从旋 转轴Ax1的输入侧安装于对多个内销4进行保持的保持构件55。在保持构件55的旋转轴Ax1的输入侧的端面形成有多个(作为一例为八个)螺纹孔554(参照图9)。多个螺纹孔554用于将轮毂构件14固定于保持构件55。具体而言，固定用的多根(作为一例为八根)螺钉153穿过轮毂构件14，拧入螺纹孔554，从而将轮毂构件14固定于保持构件55。
在此，在轮毂构件14的旋转轴Ax1的输入侧的端面形成有多个(作为一例为四个)固定孔141(参照图1B)。多个固定孔141用于固定轮毂构件14。在本结构中，由于将齿轮装置1使用于车轮装置W1，因此轮毂构件14相对于安装车轮装置W1的车身100(参照图11)被固定。具体而言，固定用的多根(作为一例为四根)螺钉穿过车身100的一部分，向固定孔141拧入，从而将轮毂构件14相对于车身100固定。这样，轮毂构件14即使在构成车轮主体102的壳体10之中也固定于车身100，构成即使在齿轮装置1驱动时也不旋转的“固定构件”。另一方面，主体部11、盖12及环盖13构成在齿轮装置1驱动时相对于轮毂构件14相对旋转的“旋转构件”。即，在多个内销4相对于齿轮主体22相对旋转时，旋转构件(主体部11、盖12及环盖13)相对于固定构件(轮毂构件14)的旋转作为齿轮装置1的输出而取出。在壳体10作为车轮主体102使用的情况下，上述这些旋转构件进行旋转而在行进面上滚动。
因此，作为旋转构件的环盖13与作为固定构件的轮毂构件14构成为以旋转轴Ax1为中心能够相对旋转。具体而言，轮毂构件14的外径比环盖13的内径小，在轮毂构件14配置于环盖13的内侧的状态下，在轮毂构件14与环盖13之间产生间隙。
另外，轮毂构件14在俯视观察下的中央部具有沿旋转轴Ax1方向贯通轮毂构件14的贯通孔142。贯通孔142是供偏心轴54穿过的孔。轮毂构件14与偏心轴54构成为以旋转轴Ax1为中心能够相对旋转。具体而言，轮毂构件14的内径(贯通孔142的孔径)比偏心轴54(的轴心部541)的外 径大，在偏心轴54贯通插于贯通孔142的状态下，在轮毂构件14与偏心轴54之间产生间隙。
此外，在本结构中，作为旋转构件的主体部11的外周面成为车轮主体102中与行进面接触的接触面，即接地面。因此，在主体部11的外周面装配例如橡胶制的轮胎103。在图1A及图1B中，通过假想线(双点划线)表示轮胎103。
然而，在本结构中，在作为旋转构件的主体部11上固定有内齿齿轮2的齿轮主体22、第一轴承构件6的第一外圈62、第二轴承构件7的第二外圈72。在此，作为一例，齿轮主体22及第一外圈62与主体部11一体化。并且，主体部11具有用于固定第二外圈72的外圈固定框74(参照图10)。特别是，在本结构中，齿轮主体22、第一外圈62及外圈固定框74由一个金属构件一体形成，由此，齿轮主体22、第一外圈62及外圈固定框74被作为无接缝的一个部件(主体部11)来处理。齿轮主体22、第一外圈62及外圈固定框74从旋转轴Ax1的输出侧按照齿轮主体22、第一外圈62、外圈固定框74的顺序排列。因此，如图2所示，主体部11的内周面包含齿轮主体22的内周面221及第一外圈62的内周面621。
如图4～图6所示，内齿齿轮2是具有内齿21的环状的部件。在本结构中，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。另外，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6所示在圆周方向的整个区域形成有多个槽。这些多个槽是分别作为多个销23的保持结构的多个齿轮侧槽222(参照图4)。换言之，多个销23的保持结构包括在齿轮主体22的内周面221形成的多个齿轮侧槽222。多个齿轮侧槽222全部为同一形状且等间距地设置。多个齿轮侧槽222都与旋转轴Ax1平行，且遍及齿轮主体22的整个宽度地形成。
但是，在本结构中，由于如上所述齿轮主体22为主体部11的一部分，因此多个齿轮侧槽222仅形成于主体部11中的与齿轮主体22对应的部位(参照图10)。多个销23嵌于多个齿轮侧槽222，从而组合于齿轮主体22(主体部11)。多个销23各自在齿轮侧槽222内被保持为能够自转的状态，并由齿轮侧槽222限制在齿轮主体22的圆周方向上的移动。
如图4～图6所示，行星齿轮3是具有外齿31的环状的部件。在本结构中，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54。即，如图5及图6所示，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容纳有偏心体轴承5。此外，通过将偏心轴54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54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54的状态下，当偏心轴54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，由于行星齿轮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)。在本结构中，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，在本结构中，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。严格来说，行星齿轮3的厚度比主体部11中的作为齿轮主体22发挥功能的部分(参照图10)的、与旋转轴Ax1平行的方 向上的尺寸小。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。
在本结构中，如上所述，行星齿轮3与内齿齿轮2之间的相对旋转作为齿轮主体22与多个内销4的相对旋转而传递至固定构件及旋转构件。如图5及图6所示，在行星齿轮3形成有供多个内销4插入用的多个内销孔32。内销孔32设有与内销4相同的个数，在本结构中，作为一例，内销孔32及内销4各设有八个。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(在此为八个)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与固定构件或旋转构件连结的部件。在本结构中，特别是行星齿轮3利用多个内销4与固定构件(轮毂构件14等)连结，齿轮主体22固定于旋转构件(主体部11等)。因此，行星齿轮3利用多个内销4直接或间接地连结于固定构件(轮毂构件14等)。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及图5)。
保持构件55是保持多个内销4的部件。在本结构中，如图8及图9所示，保持构件55在俯视观察下为以旋转轴Ax1为中心的正圆状，且形成为与轮毂构件14相同程度的尺寸。保持构件55具有供多个内销4分别插入的多个保持孔551。保持孔551设有与内销4相同的个数，在本结构中，作为一例，保持孔551设有八个。多个保持孔551是各自呈圆形形状地开口且沿厚度方向贯通保持构件55的孔。多个(在此为八个)保持孔551在与保持构件55的外周同心的虚拟圆上沿圆周方向等间隔地配置。保持孔551的直径为内销4的直径以上且比内销孔32的直径小。
在本结构中，保持孔551的直径与内销4的直径大致相同且比内销4的直径稍大。因此，内销4在保持孔551内的移动受到限制，即相对于保持孔551中心的相对移动被禁止。因此，内销4在行星齿轮3中以能够公转的状态被保持于内销孔32内，并以在保持孔551内不能公转的状态保持于保持构件55。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的游嵌来吸收，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)传递至保持构件55。
此外，在本结构中，内销4的直径比保持孔551稍大，由此，内销4在插入于保持孔551的状态下，虽然被禁止在保持孔551内的公转，但是能够在保持孔551内自转。即，内销4虽然是插入于保持孔551的状态，但并不是被压入保持孔551，因此在保持孔551内能够自转。这样，在本结构的齿轮装置1中，多个内销4各自以能够自转的状态保持于保持构件55，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，在本结构中，内销4以能够进行内销孔32内的公转及自转这两方的状态保持于行星齿轮3，以仅能够进行保持孔551内的自转的状态保持于保持构件55。即，多个内销4以各自的自转不受拘束的状态(能够自转的状态)在多个内销孔32内能够公转。因此，在利用多个内销4将行星齿轮3的旋转(自转分量)向保持构件55传递时，内销4能够一边在内销孔32内公转及自转，一边在保持孔551内自转。因此，由于内销4在内销孔32内公转时，内销4处于能够自转的状态，故而相对于内销孔32的内周面进行滚动。换言之，内销4在内销孔32的内周面上滚动而在内销孔32内公转，因此难以产生内销孔32的内周面与内销4之间的摩擦阻力引起的损失。
这样，在本结构的结构中，由于原本就难以产生内销孔32的内周面与内销4之间的摩擦阻力引起的损失，因此可以省略内滚子。因此，在本结 构中，多个内销4各自采用与内销孔32的内周面直接接触的结构。即，在本结构中，将未装配内滚子的状态的内销4插入于内销孔32，形成内销4直接与内销孔32的内周面接触的结构。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)，作为齿轮装置1整体也容易实现小型化。只要使行星齿轮3的尺寸恒定即可，例如，可以增加内销4的个数(根数)来使旋转的传递顺畅，或者增粗内销4来使强度提高。此外，能够将部件个数抑制成减少内滚子的量，也有助于齿轮装置1的低成本化。
保持构件55固定于作为固定构件的轮毂构件14。由此，行星齿轮3利用多个内销4，经由保持构件55而与固定构件(轮毂构件14)连结。这样，由于保持构件55固定于轮毂构件14，因此关于保持构件55也包含于“固定构件”。结果是，多个内销4直接地或间接地保持于固定构件，因此相对于旋转轴Ax1的相对位置被固定。此外，保持孔551中的旋转轴Ax1的输入侧的开口面例如由轮毂构件14封闭。由此，内销4向旋转轴Ax1的输入侧的移动受到轮毂构件14的限制。
另外，保持构件55在俯视观察下的中央部具有沿旋转轴Ax1方向贯通保持构件55的轴承孔552。轴承孔552是供偏心轴54穿过的孔，与轮毂构件14的贯通孔142连通。并且，保持构件55与偏心轴54构成为以旋转轴Ax1为中心能够相对旋转。具体而言，保持构件55的内径(轴承孔552的孔径)比偏心轴54(的轴心部541)的外径大，在偏心轴54贯通插于轴承孔552的状态下，在保持构件55与偏心轴54之间产生间隙。
在此，第一轴承构件6的第一内圈61及第二轴承构件7的第二内圈71固定于保持构件55。在本结构中，作为一例，第一内圈61与保持构件55一体化。具体而言，第一内圈61在保持构件55中的旋转轴Ax1的输出侧的端部呈从保持构件55的外周面553遍及整周地突出的凸缘形状。特别是在本结构中，保持构件55及第一内圈61由一个金属构件一体形成，由此， 保持构件55及第一内圈61被作为无接缝的一个部件来处理。
第一轴承构件6是将多个内销4能够旋转地支承于齿轮主体22的部件。换言之，第一轴承构件6是用于将旋转构件(主体部11等)能够旋转地支承于固定构件(轮毂构件14等)的部件。
第二轴承构件7是将多个内销4能够旋转地支承于齿轮主体22的部件。换言之，第二轴承构件7是用于与第一轴承构件6一起将旋转构件(主体部11等)能够旋转地支承于固定构件(轮毂构件14等)的部件。
第一轴承构件6及第二轴承构件7沿旋转轴Ax1方向并列配置，在旋转轴Ax1方向的两个部位将多个内销4能够旋转地支承于齿轮主体22。在此，在本结构中，第一内圈61及第二内圈71固定于固定构件(轮毂构件14等)，第一外圈62及第二外圈72固定于旋转构件(主体部11等)。因此，第一轴承构件6及第二轴承构件7都通过内圈与外圈能够相对旋转而将旋转构件(主体部11等)能够旋转地支承于固定构件(轮毂构件14等)。关于第一轴承构件6及第二轴承构件7，通过“(3.2)轴承构件”一栏更详细地说明。
如图2所示，偏心轴54是圆筒状的部件。偏心轴54具有轴心部541、偏心部542。轴心部541具有至少外周面在俯视观察下为正圆的圆柱状。轴心部541的中心(中心轴)与旋转轴Ax1一致。偏心部542具有至少外周面在俯视观察下为正圆的圆盘状。偏心部542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2)成为偏心部542相对于轴心部541的偏心量。偏心部542呈在轴心部541的长度方向(轴向)的两端部以外的一部分处从轴心部541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54，通过轴心部541以旋转轴Ax1为中心旋转(自转)而偏心部542进行偏心运动。
在本结构中，轴心部541及偏心部542由一个金属构件一体形成，由 此，实现无接缝的偏心轴54。这样的形状的偏心轴54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54的状态下，当偏心轴54旋转时，行星齿轮3绕着旋转轴Ax1摆动。
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54的旋转中的自转分量、并将除了偏心轴54的自转分量之外的偏心轴54的旋转、即仅将偏心轴54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4)。
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。在本结构中，作为一例，偏心体轴承5由使用球体(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54的偏心部542的外径一致。偏心体轴承5以偏心轴54的偏心部542插入于偏心体内圈51的状态与偏心轴54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容纳有装配于偏心轴54的偏心部542的状态的偏心体轴承5。
另外，在本结构中，作为一例，偏心体轴承5的偏心体内圈51及偏心体外圈52的宽度方向(与旋转轴Ax1平行的方向)的尺寸与偏心轴54的 偏心部542的厚度大体相同。此外，偏心体内圈51及偏心体外圈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。
在偏心体轴承5及偏心轴54组合于行星齿轮3的状态下，当偏心轴54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54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54的自转分量之外的偏心轴54的旋转、即仅将偏心轴54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54的状态下，当偏心轴54旋转时，行星齿轮3绕着旋转轴Ax1摆动。
如图2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具有至少外周面81在俯视观察下成为正圆的圆环状。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设有与内销4相同的个数，在本结构中，作为一例，支承孔82设有八个。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(在此为八个)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。在本结构中，作为一例，支承孔82的直径与形成于保持构件55的保持孔551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各自以相对于保持构件55和支承体8中的任一者均能够自转的状态保持。
如图3所示，支承体8以从旋转轴Ax1的一侧(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。由此，支承体8使行星齿轮3的旋转(自转分量)向固定构件或旋转构件传递时作用于多个内销4的载荷分散。
此外，支承体8通过使外周面81与多个销23接触而被限制位置。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限制了位置的状态下，支承体8的中心以与内齿齿轮2的中心(旋转轴Ax1)重叠的方式被限制位置。由此，进行支承体8的定芯，结果是，对于被支承体8支承的多个内销4，也通过多个销23进行定芯。
另外，多个销23构成内齿齿轮2的内齿21。因此，在齿轮主体22与多个内销4相对旋转时，支承多个内销4的支承体8与多个内销4一起相对于内齿齿轮2(齿轮主体22)相对旋转。此时，由于支承体8由多个销23进行定芯，因此在支承体8的中心维持于旋转轴Ax1上的状态下，支承体8相对于内齿齿轮2顺畅地旋转。而且，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看作为“外圈”，将支承体8看作为“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(针状滚子轴承)，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在从齿轮主体22的内周面221分离的方向上的移动的“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，在本结构中，多个销23各自通过与支承体8的外周面81接触而被限制在从齿轮主体22分离的方向上的移动。
另外，在本结构中，如图3所示，支承体8隔着行星齿轮3而位于保持构件55的相反侧。即，支承体8、行星齿轮3及保持构件55沿着与旋转轴Ax1平行的方向并列配置。并且，支承体8与保持构件55一起支承内销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。这样，由于支承体8及保持构件55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。特别是还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，在本结构中，在与旋转轴Ax1平行的方向上，支承体8夹在行星齿轮3与壳体10(盖12)之间。由此，支承体8向旋转轴Ax1的输出侧(图9的左侧)的移动由壳体10限制。对于贯通支承体8的支承孔82而从支承体8向旋转轴Ax1的输出侧突出的内销4，其向旋转轴Ax1的输出侧的移动也由壳体10限制。
第一轴承91及第二轴承92分别装配于偏心轴54的轴心部541。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542的方式装配于轴心部541中的偏心部542的两侧。第一轴承91在从偏心部542观察下，配置于旋转轴Ax1的输出侧。第二轴承92在从偏心部542观察下，配置于旋转轴Ax1的输入侧。在本结构中，作为一例，第一轴承91及第二轴承92都由使用了球体(滚珠)作为滚动体的深沟球轴承构成。
第一轴承91保持于壳体10。具体而言，在盖12中的旋转轴Ax1的输入侧的面上形成有圆形形状的凹陷，通过将第一轴承91嵌入于该凹陷而将第一轴承91安装于壳体10。另一方面，第二轴承92保持于保持构件55。具体而言，通过将第二轴承92嵌入于保持构件55的轴承孔552而将第二轴承92安装于保持构件55。换言之，第二轴承92装配于保持构件55与偏心轴54之间的间隙。由此，偏心轴54的轴心部541在与旋转轴Ax1平行的方向上的偏心部542的两侧的两个部位以能够旋转的方式被保持。
平衡重56是供偏心轴54的轴心部541贯穿插入的部件。在此，如本结构的齿轮装置1那样，在成为高速旋转侧的输入旋转伴有偏心运动的情况下，如果不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，平衡重是为了取得由偏心体内圈51及与偏心体内圈51一起旋转的构件(偏心轴54)中的至少一方构成的旋转体的相对于旋转轴Ax1的重量平衡而设置的。平衡重56相对于旋转轴Ax1非对称地形成，在本结构中，作为一例，形成为大致扇形形状。在此，平衡重56通过在从旋转轴Ax1观察下向偏心体外圈52的与中心C1相反的一侧附加重量从而发挥作用，以使得偏心轴54的重量平衡从旋转轴Ax1起沿周向均等地接近。
间隔件93是供偏心轴54的轴心部541贯通插入的部件。间隔件93为圆环状的部件，配置在偏心轴54的偏心部542与第一轴承91之间。由此，在偏心部542与第一轴承91之间确保间隔件93的量的间隔。
另外，如图3所示，本结构的齿轮装置1还包括多个油封94、95、96等。油封94装配于轮毂构件14和环盖13之间，填塞轮毂构件14和环盖13之间的间隙。油封95、96在装配于偏心轴54的轴心部541的状态下配置于轮毂构件14的贯通孔142内，由此填塞轮毂构件14与偏心轴54之间的间隙。由这些多个油封94、95、96密闭的壳体10的内部空间构成密闭空间。
并且，在密闭空间(壳体10的内部空间)注入有润滑剂。润滑剂为液体，能够在密闭空间内流动。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”。在本结构中，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54施加作为输入的旋转力，偏心轴54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，由于行星齿轮3利用多个内销4与固定构件(轮毂构件14等)连结，齿轮主体22固定于旋转构件(主体部11等)，因此行星齿轮3与内齿齿轮2之间的相对旋转从内齿齿轮2取出。此时，从内齿齿轮2仅取出除了行星齿轮3的摆动分量(公转分量)之外的相当于行星齿轮3的旋转(自转分量)的旋转。其结果是，从固定有齿轮主体22的旋转构件，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。
另外，在本结构的齿轮装置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。其中，在此，假定将齿轮主体22固定于旋转构件而从内齿齿轮2取出行星齿轮3与内齿齿轮2之间的相对旋转的情形。
R1＝V1/(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“30”，行星齿轮3的齿数V2为“29”，其齿数差(V1-V2)为“1”，因此根据上述式1，减速比R1成为“30”。在该情况下，在从旋转轴Ax1的输入侧观察下，当偏心轴54以旋转轴Ax1为中心而顺时针旋转一圈(360度)时，齿轮主体22以旋转轴Ax1为中心而顺时针旋转齿数差“1”的量(即约12.0度)。
根据本结构的齿轮装置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、第一轴承构件6和第二轴承构件7即可，可以还包括例如花键衬套等作为 结构要素。
(3.2)轴承构件
接下来，更详细地说明本结构的第一轴承构件6及第二轴承构件7的结构。
如图2及图3所示，第一轴承构件6具有第一内圈61及第一外圈62。第一内圈61与第一外圈62处于以旋转轴Ax1为中心能够相对旋转的关系。如图2及图3所示，第一轴承构件6除了具有第一外圈62及第一内圈61之外，还具有多个轴承销63。
如图7～图9所示，第一内圈61及第一外圈62都是环状的部件。第一内圈61及第一外圈62都具有在俯视观察下成为以旋转轴Ax1为中心的正圆的圆环状。第一内圈61比第一外圈62小一圈，配置在第一外圈62的内侧。在此，由于第一外圈62的内径比第一内圈61的外径大，因此在第一外圈62的内周面621与第一内圈61的外周面611(参照图7)之间产生间隙。
如上所述，第一内圈61固定于保持构件55。第一内圈61的外周面611在俯视观察下与保持构件55的外周面553形成为同心状。在本结构中，特别是第一内圈61与保持构件55一体化，从保持构件55的外周面553遍及整周地突出的凸缘形状的部分构成第一内圈61。即，在图7中，由假想线(双点划线)表示的外周面553的外侧的部分相当于第一内圈61。由于保持构件55固定于轮毂构件14，因此结果是，第一内圈61相对于固定构件(轮毂构件14等)被固定。
如上所述，第一外圈62固定于作为旋转构件的主体部11。第一外圈62的内周面621在俯视观察下与第一内圈61的外周面611形成为同心状。在本结构中，特别是第一外圈62与主体部11一体化，主体部11的一部分构成第一外圈62。
多个轴承销63配置在第一内圈61与第一外圈62之间。多个轴承销63 沿第一外圈62的圆周方向并列配置。多个轴承销63全部为同一形状的金属部件，并在第一外圈62的圆周方向的整个区域等间距地设置。多个轴承销63各自形成为圆柱状。多个轴承销63的直径及长度在多个轴承销63中是相同的。
在此，多个轴承销63以能够自转的状态保持在第一内圈61及第一外圈62之间。并且，多个轴承销63处于由第一内圈61的外周面611及第一外圈62的内周面621夹着的状态，因此当第一外圈62相对于第一内圈61相对旋转时，伴随着第一外圈62的旋转而多个轴承销63各自旋转(自转)。由此，第一轴承构件6构成滚针轴承(针状滚子轴承)。
在本结构中，多个轴承销63分别以能够自转的状态保持于第一外圈62的内周面621。具体而言，如图9所示，在第一外圈62的内周面621，在圆周方向的整个区域形成有多个槽。这些多个槽是分别作为多个轴承销63的保持结构的多个轴承侧槽622(参照图7)。换言之，多个轴承销63的保持结构包括在第一外圈62的内周面621形成的多个轴承侧槽622。多个轴承侧槽622全部为相同形状且等间距地设置。多个轴承侧槽622都与旋转轴Ax1平行且遍及齿轮主体22的整个宽度地形成。
但是，在本结构中，如上所述由于第一外圈62是主体部11的一部分，因此多个轴承侧槽622仅形成在主体部11中与第一外圈62对应的部位(参照图10)。多个轴承销63嵌于多个轴承侧槽622从而组合于第一外圈62(主体部11)。多个轴承销63各自以能够自转的状态被保持在轴承侧槽622内，并由轴承侧槽622限制在第一外圈62的圆周方向上的移动。
这样，由于第一轴承构件6为滚针轴承，因此在第一轴承构件6中容易主要承受径向的载荷。滚针轴承与深沟球轴承等相比，径向的耐受载荷大，因此通过配备这样的第一轴承构件6，能够增大作为齿轮装置1整体的径向的耐受载荷(负载容量)。
即，第一轴承构件6使用与构成内齿齿轮2的内齿21的多个销23具 有基本上相同结构的多个轴承销63作为滚动体。在本结构中，特别是对于轴承销63和销23，其根数及直径等相同。即，如图4及图7所示，销23及轴承销63各设有30根，销23的直径
Figure PCTCN2021083686-appb-000001
(参照图4)与轴承销63的直径
Figure PCTCN2021083686-appb-000002
(参照图7)相同
Figure PCTCN2021083686-appb-000003
此外，对于销23和轴承销63，从旋转轴Ax1方向的一侧观察到的配置相同。因此，在与旋转轴Ax1平行的方向上，销23与轴承销63相互重叠地配置。具体而言，在齿轮主体22的内周面221形成的作为多个销23的保持结构的多个齿轮侧槽222、与在第一外圈62的内周面621形成的作为多个轴承销63的保持结构的多个轴承侧槽622采用共有的配置。即，多个齿轮侧槽222和多个轴承侧槽622都形成于作为主体部11的一部分的齿轮主体22或第一外圈62时，从旋转轴Ax1方向的一侧观察到的配置相同(参照图2)。由此，对于保持于齿轮侧槽222的销23和保持于轴承侧槽622的轴承销63，从旋转轴Ax1方向的一侧观察到的配置相同。
但是，对于作为销23的保持结构的齿轮侧槽222和作为轴承销63的保持结构的轴承侧槽622，其形状不同。在本结构中，齿轮侧槽222的深度D1(参照图4)比轴承侧槽622的深度D2(参照图7)大。即，对于多个齿轮侧槽222与多个轴承侧槽622，各自的深度不同(D1>D2)。具体而言，在从旋转轴Ax1方向的一侧观察下，齿轮侧槽222及轴承侧槽622是都具有销23或轴承销63的直径
Figure PCTCN2021083686-appb-000004
以上的直径的圆弧状底面的槽。换言之，齿轮侧槽222及轴承侧槽622的底面都具有销23或轴承销63的半径以上的曲率半径。在此，作为一例，齿轮侧槽222及轴承侧槽622的底面都具有与销23或轴承销63的半径相同的曲率半径。并且，轴承侧槽622构成得比齿轮侧槽222浅。
并且，在本结构中，由于销23的直径
Figure PCTCN2021083686-appb-000005
与轴承销63的直径
Figure PCTCN2021083686-appb-000006
相同
Figure PCTCN2021083686-appb-000007
因此多个轴承侧槽622与多个齿轮侧槽222相比，深度相对于保持的销的直径的比率减小。即，轴承侧槽622的深度D2相对于轴承销 63的直径
Figure PCTCN2021083686-appb-000008
的比率
Figure PCTCN2021083686-appb-000009
比齿轮侧槽222的深度D1相对于销23的直径
Figure PCTCN2021083686-appb-000010
的比率
Figure PCTCN2021083686-appb-000011
小。在本结构中，作为一例，齿轮侧槽222的深度D1相对于销23的直径
Figure PCTCN2021083686-appb-000012
的比率
Figure PCTCN2021083686-appb-000013
为“1/2”。另一方面，轴承侧槽622的深度D2相对于轴承销63的直径
Figure PCTCN2021083686-appb-000014
的比率
Figure PCTCN2021083686-appb-000015
为“1/3”。在此，至少轴承侧槽622的深度D2相对于轴承销63的直径
Figure PCTCN2021083686-appb-000016
的比率
Figure PCTCN2021083686-appb-000017
优选为“1/2”以下，更优选为“1/3”以下，例如可以为“1/4”左右。
总之，在销23主要作用有绕旋转轴Ax1的旋转方向的力，相对于此，在轴承销63主要作用有径向的力，因此保持轴承销63的轴承侧槽622只要为轴承销63不脱落的最低限度的深度D2即可。反而是通过将轴承侧槽622的深度D2抑制得小，从而具有能够降低轴承侧槽622的内表面与轴承销63之间的摩擦阻力、能够降低第一轴承构件6的损失这样的优点。此外，通过将轴承侧槽622的深度D2抑制得小，也具有润滑剂容易进入轴承侧槽622内这样的优点。
如以上说明所述，在本结构中，对于销23和轴承销63，外径(直径)相同且从旋转轴Ax1方向的一侧观察到的配置相同。因此，在本结构中，成为销23旋转(自转)时的中心的中心轴Ax2(参照图10)与成为轴承销63旋转(自转)时的中心的中心轴Ax3(参照图10)位于一条直线上。换言之，多个轴承销63的各个与多个销23的各个分别同心配置。
另外，在本结构中，多个轴承销63的各个与多个销23的各个分别为分体。销23的旋转(自转)与轴承销63的旋转(自转)原本为非同步时，分体构成的销23与轴承销63能够单独旋转。换言之，销23的旋转(自转)与轴承销63的旋转(自转)难以相互干涉，难以阻碍相互的旋转。但是，销23与轴承销63可以一部分同步地旋转。
另外，在本结构中，第一内圈61的外周面611的表面粗糙度比与第一内圈61的外周面611相邻的一表面的表面粗糙度小。即，与第一内圈61中的旋转轴Ax1方向的两端面相比，外周面611的表面粗糙度小。本公开 所说的“表面粗糙度”是指物体的表面的粗糙度的程度，值越小，则表面的凹凸越小(越少)，越平滑。在本结构中，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，第一内圈61的外周面611与第一内圈61的外周面611以外的面相比，表面粗糙度小。在该结构中，第一外圈62相对于第一内圈61的旋转变得更加顺畅。
另外，在本结构中，第一内圈61的外周面611的硬度比多个轴承销63的周面低，且比第一外圈62的内周面621高。本公开所说的“硬度”是指物体的坚硬的程度，金属的硬度例如由能够将钢球以一定的压力压靠而形成的凹陷的大小来表示。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。作为将金属部件的硬度提高(变硬)的方式，有例如合金化或热处理等。在本结构中，作为一例，通过渗碳淬火等处理来提高第一内圈61的外周面611的硬度。在该结构中，即使由于第一外圈62相对于第一内圈61的旋转也难以产生磨损粉等，容易长期维持第一轴承构件6的顺畅的旋转。
这样表面粗糙度小且硬度高的面结构优选也适用于支承体8的外周面81。即，在本结构中，支承体8作为与第一轴承构件6同样的滚针轴承的“内圈”发挥功能，因此对于相当于内圈外周面的支承体8的外周面81也优选适用适当的表面粗糙度和硬度。
如图2及图3所示，第二轴承构件7具有第二外圈72及第二内圈71。第二内圈71与第二外圈72处于以旋转轴Ax1为中心能够相对旋转的关系。如图2及图3所示，第二轴承构件7除了具有第二外圈72及第二内圈71之外，还具有多个第二滚动体73。
如图2所示，第二内圈71及第二外圈72都是环状的部件。第二内圈71及第二外圈72都具有在俯视观察下成为以旋转轴Ax1为中心的正圆的圆环状。第二内圈71比第二外圈72小一圈，并配置在第二外圈72的内侧。在此，由于第二外圈72的内径比第二内圈71的外径大，因此在第二外圈 72的内周面与第二内圈71的外周面之间产生间隙。此外，在本结构中，如图3所示，第二外圈72的内径比第一内圈61的外径大且比第一外圈62的内径小。第二内圈71的外径比第一内圈61的外径小。
第二内圈71固定于保持构件55。在此，第二内圈71的内径与保持构件55(的外周面553)的外径一致。第二轴承构件7以保持构件55插入于第二内圈71的状态与保持构件55组合。由于保持构件55固定于轮毂构件14，因此结果是，第二内圈71相对于固定构件(轮毂构件14等)被固定。
第二外圈72固定于作为旋转构件的主体部11。第二外圈72的外径与主体部11中的外圈固定框74(参照图3)的内径一致。第二轴承构件7以第二外圈72嵌入于主体部11的外圈固定框74的状态与主体部11组合。换言之，在作为旋转构件的主体部11的外圈固定框74容纳有装配于保持构件55的状态的第二轴承构件7。
多个第二滚动体73配置于第二内圈71与第二外圈72之间的间隙。多个第二滚动体73沿第二外圈72的圆周方向并列配置。多个第二滚动体73全部为同一形状的金属部件，并在第二外圈72的圆周方向的整个区域等间距地设置。在本结构中，作为一例，第二轴承构件7由使用球体(滚珠)作为第二滚动体73的深沟球轴承构成。即，第二轴承构件7包含深沟球轴承。
这样，由于第二轴承构件7为深沟球轴承，因此在第二轴承构件7中容易主要承受推力方向(沿旋转轴Ax1的方向)的载荷。即，第二轴承构件7至少承受沿旋转轴Ax1方向的载荷。深沟球轴承与滚针轴承相比虽然径向的耐受载荷小，但是推力方向的耐受载荷大，因此通过配备这样的第二轴承构件7，能够增大作为齿轮装置1整体的推力方向的耐受载荷(负载容量)。
总之，在本结构的齿轮装置1中，由于包括第一轴承构件6及第二轴承构件7，由此容易承受径向的载荷及推力方向的载荷。即，齿轮装置1对 于径向的载荷，能够通过由滚针轴承构成的第一轴承构件6来承受，对于推力方向的载荷，能够通过由深沟球轴承构成的第二轴承构件7来承受。此外，齿轮装置1通过第一轴承构件6及第二轴承构件7，在旋转轴Ax1方向的两个部位将多个内销4能够旋转地支承于齿轮主体22。因此，齿轮装置1容易承受任何对于旋转轴Ax1的弯曲力(弯曲力矩载荷)。
这样，在本结构的齿轮装置1中，即便不使用交叉滚子轴承，也能够耐受径向的载荷、推力方向的载荷及对于旋转轴Ax1的弯曲力这三个种类的载荷，能够确保所需的刚性。而且，通过利用第一轴承构件6及第二轴承构件7分担地承受载荷，也有助于第一轴承构件6及第二轴承构件7各自的寿命延长。
接下来，参照图3及图10，说明包含第一轴承构件6及第二轴承构件7的相对位置关系的、第一轴承构件6及第二轴承构件7的配置。即，在本结构中，第一轴承构件6及第二轴承构件7在旋转轴Ax1方向的两个部位将多个内销4能够旋转地支承于齿轮主体22。因此，第一轴承构件6及第二轴承构件7沿着与旋转轴Ax1平行的方向并列配置。
在本结构中，如图3所示，内齿齿轮2、第一轴承构件6及第二轴承构件7从旋转轴Ax1的输出侧按照内齿齿轮2、第一轴承构件6、第二轴承构件7的顺序并列配置。即，第一轴承构件6在与旋转轴Ax1平行的方向上位于内齿齿轮2与第二轴承构件7之间。换言之，相对于多个销23而言，第一轴承构件6与第二轴承构件7位于旋转轴Ax1方向的相同侧。在本结构中，第一轴承构件6及第二轴承构件7相对于多个销23而言都位于旋转轴Ax1的输入侧(图3的右侧)。
此外，在旋转轴Ax1方向上，多个轴承销63位于第二轴承构件7与多个销23之间。即，第一轴承构件6相对于多个销23而言位于旋转轴Ax1的输入侧(图3的右侧)，第二轴承构件7相对于第一轴承构件6而言位于旋转轴Ax1的输入侧(图3的右侧)。因此，在与旋转轴Ax1平行的方 向上，第一轴承构件6的多个轴承销63夹在第二轴承构件7与多个销23之间。
在此，内齿齿轮2、第一轴承构件6及第二轴承构件7在与旋转轴Ax1平行的方向上大致无间隙地并列。具体而言，如图10所示，当将主体部11在与旋转轴Ax1平行的方向上分割成三个区域时，这三个区域分别作为内齿齿轮2、第一轴承构件6的第一外圈62、用于固定第二轴承构件7的外圈固定框74发挥功能。即，在本结构中，齿轮主体22、第一外圈62及外圈固定框74构成无接缝的一个部件(主体部11)，因此，在图10中，通过由假想线(双点划线)表示的边界线来区分齿轮主体22、第一外圈62及外圈固定框74。
通过上述那样的配置，多个轴承销63的旋转轴Ax1方向的一端与第二外圈72或第二内圈71接触。具体而言，如图10所示，轴承销63的旋转轴Ax1的输入侧(图10的右侧)的端面与第二轴承构件7的第二外圈72接触。由此，轴承销63向旋转轴Ax1的输入侧的移动受到第二外圈72的限制。此外，多个轴承销63的旋转轴Ax1方向的另一端与销23接触。具体而言，如图10所示，轴承销63的旋转轴Ax1的输出侧(图10的左侧)的端面与销23接触。由此，轴承销63向旋转轴Ax1的输出侧的移动受到销23的限制。
另外，在本结构的齿轮装置1中，多个内销4各自将至少一部分配置于在第一轴承构件6的轴向(旋转轴Ax1方向)上与第一轴承构件6及第二轴承构件7相同的位置。即，如图10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第一轴承构件6及第二轴承构件7相同的位置。
换言之，多个内销4各自将至少一部分配置在第一轴承构件6及第二轴承构件7的内侧。总之，在本结构中，如上所述，内销在从旋转轴Ax1方向的一侧观察下，多个内销4位于第二轴承构件7的内侧。此外，多个 内销4在与第一轴承构件6的关系上，在从旋转轴Ax1方向的一侧观察下也位于第一轴承构件6的内侧。这样，多个内销4的各自的至少一部分在第一轴承构件6的轴向上配置于与第一轴承构件6及第二轴承构件7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。
另外，第一轴承构件6及第二轴承构件7关于与保持多个内销4的保持构件55的位置关系，处于以下的关系。即，在从旋转轴Ax1方向的一侧观察下，第一轴承构件6及第二轴承构件7位于保持构件55的外侧。具体而言，第一轴承构件6的第一内圈61由于呈从保持构件55的外周面553遍及整周地突出的凸缘形状，因此在从旋转轴Ax1方向的一侧观察下，位于保持构件55的外侧。第二轴承构件7由于以保持构件55插入于第二内圈71的状态与保持构件55组合，因此在从旋转轴Ax1方向的一侧观察下，位于保持构件55的外侧。
(4)适用例
接下来，参照图11说明本结构的齿轮装置1的适用例。
本结构的齿轮装置1与车轮主体102一起构成车轮装置W1。换言之，本结构的车轮装置W1包括齿轮装置1和车轮主体102。车轮主体102通过多个内销4相对于齿轮主体22相对旋转时的旋转输出，在行进面上滚动。在本结构中，构成齿轮装置1的外廓的壳体10中的作为“旋转构件”的主体部11、盖12及环盖13构成车轮主体102。即，在本结构的车轮装置W1中，齿轮装置1将偏心轴54的旋转作为输入旋转并将固定有齿轮主体22的旋转构件(主体部11等)的旋转作为输出旋转而进行动作，由此车轮主体102旋转从而在行进面上滚动。在此，在车轮主体102中的与行进面接触的接触面、即成为接地面的主体部11的外周面装配例如橡胶制的轮胎103。
并且，例如图11所示，使用了齿轮装置1的车轮装置W1与车身100一起构成车辆V1。换言之，本结构的车辆V1包括车轮装置W1和车身100。 车身100保持车轮装置W1。即，本结构的车辆V1使用包含齿轮装置1的车轮装置W1作为车轮，车轮主体102旋转而在行进面上滚动，从而在由地板面等构成的平坦的行进面上行进。在图11的例子中，车辆V1包括四个车轮装置W1，在俯视观察为矩形形状的车身100的四个角分别装配车轮装置W1。这样的车辆V1包括用于向车轮装置W1赋予驱动力的驱动源101。在图11的例子中，在车辆V1搭载有四个驱动源101，驱动源101采用与车轮装置W1一一对应的“轮毂电动机”的布局。
驱动源101产生用于使各车轮装置W1包含的齿轮装置1的行星齿轮3摆动的驱动力。具体而言，驱动源101是马达(电动机)等动力产生源。由驱动源101产生的动力被传递至齿轮装置1中的偏心轴54。即，驱动源101通过使对应的车轮装置W1的偏心轴54以旋转轴Ax1为中心旋转而使行星齿轮3摆动。由此，由驱动源101产生的旋转(输入旋转)在齿轮装置1中以比较高的减速比减速，利用比较高的转矩使车轮主体102旋转。
这样，通过将多个(在此为四个)车轮装置W1单独驱动，车辆V1能够在行进面上向任意的方向移动。例如，车辆V1通过向同一方向以同一速度驱动多个车轮装置W1旋转而直线行进，通过向多个车轮装置W1间赋予旋转差，能够改变行进方向而执行弯路行进或转向等。因此，车辆V1能够进行前进、后退、向左右方向的转向等。在此所说的转向包含就地转向及原地转向。
这样，车辆V1通过使用车轮装置W1作为驱动轮，利用驱动源101的控制能够在行进面上自如地行进。特别是，本结构的车辆V1适合于无人搬运车(AGV：Automated Guided Vehicle)那样需要比较高的转矩的车辆。该作为无人搬运车的车辆V1例如以车身100上装载有搬运物的状态在行进面上自主行进。由此，车辆V1能够将放置于某场所的搬运物搬运至其他的场所。
在这种车辆V1中，车轮装置W1不仅需要支承车身100的重量，而且 还需要支承车身100上装载的搬运物的重量。即，不仅在车辆V1行进时，而且在车辆V1停车时，有时也会在车轮装置W1上沿径向(与旋转轴Ax1正交的方向)作用有比较大的载荷的情况。本结构的车轮装置W1使用以轴承销63为“滚动体(滚子)”的滚针轴承作为齿轮装置1的第一轴承构件6，因此对于径向的载荷，能耐受比较大的载荷。
并且，车辆V1进行弯路行进或转向等时，在车轮装置W1还会作用有推力方向(沿旋转轴Ax1的方向)的载荷，但是推力方向的载荷远小于径向的载荷。而且，由于本结构的车轮装置W1使用深沟球轴承作为齿轮装置1的第二轴承构件7，因此对于这样的推力方向的载荷，能够由第二轴承构件7来承受。总之，对于如无人搬运车那样在径向上容易作用有比较大的载荷而在推力方向上未作用有那么大的载荷的车辆V1来说，使用了本结构的齿轮装置1的车轮装置W1特别适合。
此外，在本结构中，由于齿轮装置1取出齿轮主体22的旋转力作为输出，因此在车轮装置W1驱动时，与齿轮主体22一体化的第一外圈62也以旋转轴Ax1为中心旋转。当第一外圈62旋转时，第一外圈62的多个轴承侧槽622所保持的多个轴承销63也以旋转轴Ax1为中心旋转。其结果是，在主要承受径向的载荷的第一轴承构件6中，位于旋转轴Ax1的上下方向的轴承销63随时变化，因此容易避免在一部分的轴承销63集中地作用有载荷的情况。
另外，在本结构中，驱动源101不包含于车轮装置W1的构成要素，但是并不局限于该例，驱动源101也可以包含于车轮装置W1的构成要素。在该情况下，车轮装置W1包括驱动源101、齿轮装置1及车轮主体102。
(5)变形例
基本结构只不过是本公开的各种结构的一个。关于基本结构，只要能够实现本公开的目的，可以根据设计等进行各种变更。而且，本公开参照的附图都是示意性的图，图中的各构成要素的大小及厚度各自的比未必反 映实际的尺寸比。以下，列举基本结构的变形例。以下说明的变形例可以适当组合适用。
在基本结构中，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，关于齿形及其他的结构(原理)也可以适当变更，齿轮装置1可以是例如采用了圆形(Circulute)齿形的行星齿轮3的偏心摆动类型的齿轮装置(作为一例，参照日本特开2017-137989号公报)等。此外，齿轮装置1可以是例如将输入齿轮的旋转经由正齿轮及曲轴转换成偏心摆动的偏心摆动类型的齿轮装置(作为一例，参照日本特开2020-85213号)等。
另外，如图12所示，多个轴承销63的各个可以与多个销23的各个分别为一体。即，在图12的例子中，将一根销沿轴向延长，使其一部分作为轴承销63发挥功能，使另一部分作为销23发挥功能。在本变形例的结构中，销23与轴承销63一起旋转而无法单独旋转，但是能够将部件个数抑制得少。
另外，多个内销4各自将至少一部分在旋转轴Ax1的方向上配置于与第一轴承构件6或第二轴承构件7相同的位置，这在齿轮装置1中不是必须设置的结构。即，多个内销4各自在旋转轴Ax1方向上与第一轴承构件6或第二轴承构件7并列(相对)配置。
另外，基本结构中说明的内销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，第二轴承构件7并不局限于深沟球轴承，例如可以是交叉滚子 轴承或角接触球轴承等。此外，第二轴承构件7例如可以是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)都能耐受的结构。
另外，齿轮装置1可以与第二轴承构件7另行地还包括例如深沟球轴承、交叉滚子轴承或角接触球轴承等轴承构件。
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，并不局限于在多个内销4相对于齿轮主体22相对旋转时，取出齿轮主体22的旋转力作为输出的结构。例如，可以是行星齿轮3利用多个内销4与旋转构件连结，齿轮主体22固定于固定构件，由此在多个内销4相对于齿轮主体22相对旋转时，取出行星齿轮3的旋转力(自转分量)作为输出。
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。此外，原本多个内销4各自以能够自转的状态保持于保持构件55的情况并非必须。
另外，多个内销4各自只要至少一部分在旋转轴Ax1方向上配置于与第一轴承构件6或第二轴承构件7相同的位置即可。例如，可以是多个内销4各自将其整体在旋转轴Ax1方向上收于第一轴承构件6或第二轴承构 件7的范围内。
另外，多个内销4将行星齿轮3经由保持构件55连结于固定构件(轮毂构件14等)的情况在齿轮装置1中并非必须。例如，多个内销4可以插入于在轮毂构件14形成的保持孔，由此将行星齿轮3直接连结于固定构件(轮毂构件14等)。
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。例如，支承体8可以具有沿径向(radial)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，如基本结构那样包括平衡重56的情况对于齿轮装置1并非必需的结构。即，也可以不附加平衡重56，通过对旋转体(偏心体内圈51及偏心轴54等)的一部分进行减重而进行轻量化，由此也能够取得旋转体相对于旋转轴Ax1的重量平衡。根据该结构，能够将部件个数抑制得少，并且也能够期待对高速旋转的旋转体的重量平衡所引起的振动等的抑制。
另外，车辆V1只要包括一个以上的车轮装置W1即可，车轮装置W1的个数并不局限于四个(四轮)。作为一例，车辆V1可以包括一个～三个车轮装置W1，也可以包括五个以上车轮装置W1。此外，用于驱动车轮装置W1的驱动源101并不局限于相对于车轮装置W1成为一对一的轮毂电动机的布局，可以对于多个车轮装置W1设置一个驱动源101。而且，基本结构的车轮装置W1只要仅设置于车辆V1的驱动轮即可，例如，车辆V1除了包括作为驱动轮的车轮装置W1之外，也可以包括一个以上的从动轮。从动轮是不被传递来自驱动源101的动力从而不产生车辆V1行进用的驱动力的“非驱动轮”。
另外，使用了包含基本结构的齿轮装置1的车轮装置W1的车辆V1并不局限于无人搬运车(AGV)，例如，也可以是监视车辆或摄像车辆等、 搬运用途以外的车辆。此外，车辆V1并不局限于无人行驶的自主行驶型的车辆，例如，也可以是人乘入并进行操作(驾驶)的车辆或人进行遥控操作的车辆等。
另外，基本结构的齿轮装置1并不局限于作为车轮装置W1的用途，也可以适用于例如水平多关节机器人、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。在该情况下，齿轮装置1与产生用于使行星齿轮3摆动的驱动力的驱动源101一起构成执行器，将该执行器搭载于机器人。此外，齿轮装置1及执行器的适用例并不局限于水平多关节机器人，例如，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，存在家庭用机器人、护理用机器人或医疗用机器人等。
另外，如基本结构那样齿轮主体22、第一外圈62及外圈固定框74一体化的情况对于齿轮装置1并非必需的结构。例如，可以是齿轮主体22、第一外圈62及外圈固定框74为分体(单独的部件)，将上述齿轮主体22、第一外圈62及外圈固定框74通过压入、焊接或粘接等固定方式固定于主体部11。
另外，如基本结构那样将第一内圈61与保持构件55一体化的情况对于齿轮装置1并非必需的结构。例如，可以是第一内圈61与保持构件55为分体(单独的部件)，将上述第一内圈61通过压入、焊接或粘结等固定手段固定于保持构件55。此外，第二内圈71可以与保持构件55一体化。
(实施方式1)
本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13及图14所示，第一轴承构件6A的结构与基本结构的齿轮装置1不同。以下，关于与基本结构同样的结构，标注相同的附图标记并适当省略 说明。图13是齿轮装置1A的概略剖视图。图14是图13的B1-B1线剖视图及其局部放大图。但是，在图14中，关于偏心轴54以外的部件，虽然为剖面但是省略剖面线。
然而，在上述的关联技术中，使用交叉滚子轴承作为轴承构件，因此存在因比较复杂的结构的交叉滚子轴承而妨碍作为齿轮装置1整体的结构简化的情况。本实施方式的齿轮装置1A通过以下的结构，能够提供容易实现结构的简化的内啮合行星齿轮装置1A。
即，如图13及图14所示，本实施方式的齿轮装置1A包括内齿齿轮2、行星齿轮3、多个内销4和第一轴承构件6A。内齿齿轮2具有环状的齿轮主体22和以能够自转的状态保持于齿轮主体22的内周面221并构成内齿21的多个销23。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的状态下，在内销孔32内公转并且相对于齿轮主体22相对旋转。第一轴承构件6A具有第一内圈61及第一外圈62、多个轴承销63。多个轴承销63以能够自转的状态保持于第一内圈61及第一外圈62之间。在此，对于多个销23与多个轴承销63，各自的直径不同且保持结构不同。
根据该形态，第一轴承构件6A具有第一内圈61、第一外圈62及多个轴承销63。即，第一轴承构件6A是以轴承销63为“滚动体(滚子)”的滚针轴承，对于径向的载荷，能耐受比较大的载荷。而且，由于对于多个销23与多个轴承销63，各自的直径不同且保持结构也不同，因此轴承销63的直径及保持结构的设定原因是容易耐受设想的各种载荷。因此，与使用交叉滚子轴承作为轴承构件的关联技术相比，在本实施方式的齿轮装置1A中，具有容易实现结构的简化这样的优点。
即，在多个销23与多个轴承销63中，各自的直径不同。在本实施方式中，与基本结构相比，第一轴承构件6A中的轴承销63的直径
Figure PCTCN2021083686-appb-000018
(参照图14)相对于长度的比率增大。即，在本实施方式中，使用粗销作为轴承 销63。因此，如图13所示，轴承销63具有比销23粗的直径。换言之，轴承销63的直径
Figure PCTCN2021083686-appb-000019
比销23的直径
Figure PCTCN2021083686-appb-000020
(参照图4)大。因此，在本实施方式的第一轴承构件6A中，与基本结构的第一轴承构件6相比，能够增大径向的耐受载荷(负载容量)，作为齿轮装置1A整体也能够增大径向的耐受载荷(负载容量)。
另外，在本实施方式中，对于多个销23与多个轴承销63，保持结构不同。本公开所说的“保持结构不同”是指用于保持销23的保持结构与用于保持轴承销63的保持结构存在某些差异。作为一例，如基本结构中说明那样，对于作为销23的保持结构的齿轮侧槽222与作为轴承销63的保持结构的轴承侧槽622，其形状(深度)不同的壳体，也包含于“保持结构不同”。作为其他的例子，对于多个销23与多个轴承销63，保持结构的材质或硬度等性质不同的壳体也包含于“保持结构不同”。
在本实施方式中，首先与基本结构同样，齿轮侧槽222的深度D1(参照图4)比轴承侧槽622的深度D2(参照图14)大。即，对于多个齿轮侧槽222与多个轴承侧槽622，各自的深度不同(D1>D2)。具体而言，轴承侧槽622是在从旋转轴Ax1方向的一侧观察下具有轴承销63的直径
Figure PCTCN2021083686-appb-000021
以上的直径的圆弧状底面的槽。换言之，轴承侧槽622的底面具有比齿轮侧槽222的底面大的曲率半径。在此作为一例，轴承侧槽622的底面具有与轴承销63的半径相同的曲率半径。而且，轴承侧槽622比齿轮侧槽222浅。
并且，在本实施方式中，销23的直径
Figure PCTCN2021083686-appb-000022
与轴承销63的直径
Figure PCTCN2021083686-appb-000023
不同
Figure PCTCN2021083686-appb-000024
但是多个轴承侧槽622与多个齿轮侧槽222相比，深度相对于保持的销的直径的比率设定得小。即，轴承侧槽622的深度D2相对于轴承销63的直径
Figure PCTCN2021083686-appb-000025
的比率
Figure PCTCN2021083686-appb-000026
比齿轮侧槽222的深度D1相对于销23的直径
Figure PCTCN2021083686-appb-000027
的比率
Figure PCTCN2021083686-appb-000028
小。在本实施方式中，作为一例，轴承侧槽622的深度D2相对于轴承销63的直径
Figure PCTCN2021083686-appb-000029
的比率
Figure PCTCN2021083686-appb-000030
为“1/4”以下。
总之，在本实施方式中，作为销23的保持结构(齿轮侧槽222)与轴承销63的保持结构(轴承侧槽622)的差异，不仅包含深度(D1及D2)的差异，也包括底面的曲率半径的差异。这样，在齿轮侧槽222与轴承侧槽622的形状不同的情况下，虽然对于主体部11用于形成齿轮侧槽222及轴承侧槽622的加工变得复杂，但是能够分别可靠地保持直径不同的销23及轴承销63。
另外，在本实施方式中，对于销23和轴承销63，由于外径(直径)不同，因此成为销23旋转(自转)时的中心的中心轴Ax2与成为轴承销63旋转(自转)时的中心的中心轴Ax3相互错开配置。换言之，多个轴承销63与多个销23分别未同心配置。在本实施方式中，如图13所示，轴承销63的中心轴Ax3位于比销23的中心轴Ax2靠内侧(旋转轴Ax1侧)的位置。
此外，在本实施方式中，支承体8(的外周面81)的直径比通过内齿齿轮2的内齿21的前端的虚拟圆(齿顶圆)的直径小一圈。因此，支承体8的外周面81不与多个销23接触，在支承体8的外周面81与多个销23之间产生间隙。
作为实施方式1的变形例，如图15所示，多个轴承销63的各个可以与多个销23的各个分别为一体。即，在图15的例子中，将一根销沿轴向延长，使其一部分作为轴承销63发挥功能，使另一部分作为销23发挥功能。在此，由于轴承销63的直径
Figure PCTCN2021083686-appb-000031
与销23的直径
Figure PCTCN2021083686-appb-000032
不同，因此成为销23旋转(自转)时的中心的中心轴Ax2与成为轴承销63旋转(自转)时的中心的中心轴Ax2配置在一直线上。由此，能够使销23及轴承销63一体化后的销绕着中心轴Ax2旋转。在本变形例的结构中，销23与轴承销63一起旋转而无法单独旋转，但是能够将部件个数抑制得少。
作为实施方式1的另一变形例，第二轴承构件7可以适当省略。即，齿轮装置1A只要具备内齿齿轮2、行星齿轮3、多个内销4和第一轴承构 件6A即可，第二轴承构件7可以省略。
作为实施方式1的另一变形例，轴承销63的直径
Figure PCTCN2021083686-appb-000033
可以比销23的直径
Figure PCTCN2021083686-appb-000034
小。此外，对于轴承销63与销23，根数可以不同。
另外，作为实施方式1的另一变形例，支承体8的外周面81的直径可以与通过内齿齿轮2中的内齿21的前端的虚拟圆(齿顶圆)的直径相同。在该情况下，与基本结构同样，支承体8通过使外周面81与多个销23接触而被限制位置。
实施方式1的结构(包含变形例)可以与基本结构中说明的结构(包含变形例)适当组合适用。
(实施方式2)
如图16及图17所示，本实施方式的内啮合行星齿轮装置1B(以下，也简称为“齿轮装置1B”)中第一轴承构件6B的结构与实施方式1的齿轮装置1A不同。以下，关于与实施方式1同样的结构，标注相同的附图标记并适当省略说明。图16是齿轮装置1B的概略剖视图。图17是图16的B1-B1线剖视图及其局部放大图。但是，在图17中，关于偏心轴54及保持架64以外的部件，虽然为剖面但是省略剖面线。
在本实施方式中，第一轴承构件6B构成为多个轴承销63相对于第一外圈62能够在第一外圈62的圆周方向上相对地移动。另一方面，在内齿齿轮2中，与实施方式1同样，多个销23相对于齿轮主体22在齿轮主体22的圆周方向上的相对移动受到限制。因此，多个轴承销63相对于多个销23能够在第一外圈62的圆周方向上相对地移动。结果是，在本实施方式的齿轮装置1B中，伴随着多个内销4相对于齿轮主体22的相对旋转而多个轴承销63相对于多个销23相对旋转。
具体而言，第一轴承构件6B具有图17所示的保持架64(保持器)。多个轴承销63分别以能够自转的状态配置在第一外圈62的内周面621与第一内圈61的外周面611之间，且由保持架64保持。保持架64将多个轴 承销63在第一外圈62的圆周方向上等间距地保持。此外，保持架64相对于第一外圈62的内周面621及第一内圈61的外周面611未被固定，能够以旋转轴Ax1为中心分别相对于第一内圈61及第一外圈62能够相对旋转。由此，伴随着保持架64的旋转，由保持架64保持的多个轴承销63沿第一外圈62的圆周方向移动。换言之，多个轴承销63的保持结构包含配置在第一外圈62与第一内圈61之间的保持架64。保持架64作为一例为金属制。
总之，在本实施方式中，销23的保持结构为齿轮侧槽222，相对于此，轴承销63的保持结构为保持架64，对于销23与轴承销63，保持结构从方式来看不同。在该情况下，对于主体部11只要仅形成齿轮侧槽222作为保持结构即可，主体部11的加工变得容易。
作为实施方式2的变形例，轴承销63的直径
Figure PCTCN2021083686-appb-000035
可以与销23的直径
Figure PCTCN2021083686-appb-000036
相同
Figure PCTCN2021083686-appb-000037
轴承销63的直径
Figure PCTCN2021083686-appb-000038
可以比销23的直径
Figure PCTCN2021083686-appb-000039
小。
作为实施方式2的另一变形例，只要伴随着多个内销4相对于齿轮主体22的相对旋转而多个轴承销63相对于多个销23能够相对旋转即可，保持架64并非必须。而且，保持架64的材质并不局限于金属，例如，可以是工程塑料等树脂。
实施方式2的结构(包括变形例)可以与基本结构或实施方式1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、1B)包括内齿齿轮(2)、行星齿轮(3)、多个内销(4)和第一轴承构件(6、6A、6B)。内齿齿轮(2)具有环状的齿轮主体(22)和以能够自转的状态保持于齿轮主体(22)的内周面(221)并构成内齿(21)的多个销(23)。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)在分别插入于在行星齿轮(3)形成的多个内销孔(32)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。第一轴承构件(6、6A、 6B)将多个内销(4)能够旋转地支承于齿轮主体(22)。第一轴承构件(6、6A、6B)具有第一内圈(61)及第一外圈(62)、多个轴承销(63)。多个轴承销(63)以能够自转的状态保持在第一内圈(61)及第一外圈(62)之间。对于多个销(23)与多个轴承销(63)，各自的直径不同且保持结构不同。
根据该形态，第一轴承构件(6、6A、6B)是以轴承销(63)为“滚动体(滚子)”的滚针轴承，对于径向的载荷，能耐受比较大的载荷。而且，对于多个销(23)与多个轴承销(63)，各自的直径不同，且保持结构也不同，因此轴承销(63)的直径及保持结构的设定原因是容易耐受设想的各种载荷。因此，具有容易实现结构的简化这样的优点。
在第二形态的内啮合行星齿轮装置(1、1A、1B)中，以第一形态为基础，多个销(23)的保持结构包含在齿轮主体(22)的内周面(221)形成的多个齿轮侧槽(222)。多个轴承销(63)的保持结构包含在第一外圈(62)的内周面(621)形成的多个轴承侧槽(622)。对于多个齿轮侧槽(222)与多个轴承侧槽(622)，各自的深度不同。
根据该形态，通过齿轮侧槽(222)与轴承侧槽(622)的深度的不同，能够实现多个销(23)和多个轴承销(63)的不同的保持结构。
第三形态的内啮合行星齿轮装置(1、1A、1B)以第一形态为基础，伴随着多个内销(4)相对于齿轮主体(22)的相对旋转而多个轴承销(63)相对于多个销(23)相对旋转。
根据该形态，由于多个轴承销(63)的位置相对于多个销(23)相对变化，因此载荷难以集中地作用在一部分的轴承销(63)上。
在第四形态的内啮合行星齿轮装置(1、1A、1B)中，以第三形态为基础，多个轴承销(63)的保持结构包含配置在第一外圈(62)与第一内圈(61)之间的保持架(64)。
根据该形态，利用保持架(64)能够维持多个轴承销(63)的间距。
在第五形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第四任一形态为基础，多个轴承销(63)的各个与多个销(23)的各个分别同心配置。
根据该形态，容易使轴承销(63)的旋转与销(23)的旋转同步。
在第六形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第五任一形态为基础，多个轴承销(63)的各个与多个销(23)的各个分别为一体。
根据该形态，容易将部件个数抑制得少。
第七形态的内啮合行星齿轮装置(1、1A、1B)以第一～第六任一形态为基础，还包括第二轴承构件(7)。第二轴承构件(7)与第一轴承构件(6、6A、6B)一起，在旋转轴(Ax1)方向的两个部位将多个内销(4)能够旋转地支承于齿轮主体(22)。
根据该形态，与在旋转轴(Ax1)方向的一个部位将多个内销(4)支承于齿轮主体(22)的一点支承相比，容易耐受对于旋转轴(Ax1)的弯曲力(弯曲力矩载荷)那样的载荷。
在第八形态的内啮合行星齿轮装置(1、1A、1B)中，以第七形态为基础，内销在从旋转轴(Ax1)方向的一侧观察下，多个内销(4)位于第二轴承构件(7)的内侧。
根据该形态，能够将多个内销(4)的内侧的有限的空间设为比较简单的结构。
第九形态的内啮合行星齿轮装置(1、1A、1B)中，以第七或第八形态为基础，相对于多个销(23)而言，第一轴承构件(6、6A、6B)销与第二轴承构件(7)位于旋转轴(Ax1)方向的相同侧。
根据该形态，能够有效地对多个内销(4)进行二点支承，而且容易实现旋转轴(Ax1)方向的小型化。
在第十形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第九任 一形态为基础，多个销(23)的保持结构包含在齿轮主体(22)的内周面(221)形成的多个齿轮侧槽(222)。多个轴承销(63)的保持结构包含在第一外圈(62)的内周面(621)形成的多个轴承侧槽(622)。多个轴承侧槽(622)与多个齿轮侧槽(222)相比，深度相对于保持的销的直径的比率小。
根据该形态，容易降低轴承侧槽(622)的内表面与轴承销(63)之间的摩擦阻力。
第十一形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第十任一形态为基础，构成为在多个内销(4)相对于齿轮主体(22)相对旋转时，取出齿轮主体(22)的旋转力作为输出。
根据该形态，能够使用齿轮主体(22)或与齿轮主体(22)一体化的构件作为旋转构件。
第十二形态的车轮装置(W1)包括：第一～第十一任一形态的内啮合行星齿轮装置(1、1A、1B)；和车轮主体(102)，该车轮主体(102)通过多个内销(4)相对于齿轮主体(22)相对旋转时的旋转输出而在行进面上滚动。
根据该形态，具有容易实现结构的简化这样的优点。
第十三形态的车辆(V1)包括第十二形态的车轮装置(W1)和保持车轮装置(W1)的车身(100)。
根据该形态，具有容易实现结构的简化这样的优点。
关于第二～第十一形态的结构，对于内啮合行星齿轮装置(1、1A、1B)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、1B内啮合行星齿轮装置
2内齿齿轮
3行星齿轮
4内销
6、6A、6B第一轴承构件
7第二轴承构件
21内齿
22齿轮主体
23销
31外齿
32内销孔
61第一内圈
62第一外圈
63轴承销
64保持架
71第二内圈
72第二外圈
100车身
102车轮主体
221(齿轮主体的)内周面
222齿轮侧槽
621(第一外圈的)内周面
622轴承侧槽
Ax1旋转轴
V1车辆
W1车轮装置
工业实用性
根据本公开实施例，能够提供容易实现结构的简化的内啮合行星齿轮 装置、车轮装置及车辆。

Claims (13)

  1. 一种内啮合行星齿轮装置，其中，包括：
    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内齿的多个销；
    行星齿轮，具有与所述内齿局部地啮合的外齿；
    多个内销，在分别插入于在所述行星齿轮形成的多个内销孔的状态下，在所述内销孔内公转并相对于所述齿轮主体相对旋转；和
    第一轴承构件，将所述多个内销能够旋转地支承于所述齿轮主体，
    所述第一轴承构件具有：
    第一内圈及第一外圈；和
    以能够自转的状态保持在所述第一内圈及所述第一外圈之间的多个轴承销，
    对于所述多个销与所述多个轴承销，各自的直径不同且保持结构不同。
  2. 根据权利要求1所述的内啮合行星齿轮装置，其中，
    所述多个销的保持结构包含在所述齿轮主体的内周面形成的多个齿轮侧槽，
    所述多个轴承销的保持结构包含在所述第一外圈的内周面形成的多个轴承侧槽，
    对于所述多个齿轮侧槽与所述多个轴承侧槽，各自的深度不同。
  3. 根据权利要求1所述的内啮合行星齿轮装置，其中，
    伴随着所述多个内销相对于所述齿轮主体的相对旋转而所述多个轴承销相对于所述多个销相对旋转。
  4. 根据权利要求3所述的内啮合行星齿轮装置，其中，
    所述多个轴承销的保持结构包含配置在所述第一外圈与所述第一内圈 之间的保持架。
  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，
    所述多个轴承销的各个与所述多个销的各个分别同心配置。
  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，
    所述多个轴承销的各个与所述多个销的各个分别为一体。
  7. 根据权利要求1～6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第二轴承构件，所述第二轴承构件与所述第一轴承构件一起，在旋转轴方向的两个部位将所述多个内销能够旋转地支承于所述齿轮主体。
  8. 根据权利要求7所述的内啮合行星齿轮装置，其中，
    在从所述旋转轴方向的一侧观察下，所述多个内销位于所述第二轴承构件的内侧。
  9. 根据权利要求7或8所述的内啮合行星齿轮装置，其中，
    相对于所述多个销而言，所述第一轴承构件与所述第二轴承构件位于所述旋转轴方向的相同侧。
  10. 根据权利要求1～9中任一项所述的内啮合行星齿轮装置，其中，
    所述多个销的保持结构包含在所述齿轮主体的内周面形成的多个齿轮侧槽，
    所述多个轴承销的保持结构包含在所述第一外圈的内周面形成的多个轴承侧槽，
    所述多个轴承侧槽与所述多个齿轮侧槽相比，深度相对于保持的销的直径的比率小。
  11. 根据权利要求1～10中任一项所述的内啮合行星齿轮装置，其中，
    构成为在所述多个内销相对于所述齿轮主体相对旋转时，取出所述齿轮主体的旋转力作为输出。
  12. 一种车轮装置，其中，包括：
    权利要求1～11中任一项所述的内啮合行星齿轮装置；和
    车轮主体，所述车轮主体通过所述多个内销相对于所述齿轮主体相对旋转时的旋转输出而在行进面上滚动。
  13. 一种车辆，其中，包括：
    权利要求12所述的车轮装置；及
    保持所述车轮装置的车身。
PCT/CN2021/083686 2020-08-31 2021-03-29 内啮合行星齿轮装置、车轮装置及车辆 WO2022041715A1 (zh)

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