WO2022126854A1 - 内啮合行星齿轮装置 - Google Patents

内啮合行星齿轮装置 Download PDF

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Publication number
WO2022126854A1
WO2022126854A1 PCT/CN2021/077117 CN2021077117W WO2022126854A1 WO 2022126854 A1 WO2022126854 A1 WO 2022126854A1 CN 2021077117 W CN2021077117 W CN 2021077117W WO 2022126854 A1 WO2022126854 A1 WO 2022126854A1
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WIPO (PCT)
Prior art keywords
inner ring
planetary gear
gear
ring
pins
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Application number
PCT/CN2021/077117
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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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Application filed by 灵智信息服务（深圳）有限公司 filed Critical 灵智信息服务（深圳）有限公司
Priority to CN202180042940.5A priority Critical patent/CN115698544A/zh
Priority to EP21904797.4A priority patent/EP4202257A4/en
Publication of WO2022126854A1 publication Critical patent/WO2022126854A1/zh
Priority to US18/196,407 priority patent/US20230279926A1/en

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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
    • F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
    • F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B27/00—Hubs
    • B60B27/0047—Hubs characterised by functional integration of other elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
    • B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6637—Special parts or details in view of lubrication with liquid lubricant
    • F16C33/6681—Details of distribution or circulation inside the bearing, e.g. grooves on the cage or passages in the rolling elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0427—Guidance of lubricant on rotary parts, e.g. using baffles for collecting lubricant by centrifugal force
    • F16H57/0428—Grooves with pumping effect for supplying lubricants
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0479—Gears or bearings on planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/24—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly
    • F16C19/26—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly with a single row of rollers
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6637—Special parts or details in view of lubrication with liquid lubricant
    • F16C33/6659—Details of supply of the liquid to the bearing, e.g. passages or nozzles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

Definitions

  • Embodiments of the present disclosure generally relate to an internal meshing planetary gear device, and more particularly, relate to an internal meshing planetary gear device in which a planetary gear having external teeth is arranged inside an internal tooth gear having internal teeth.
  • the internally toothed gear is configured by rotatably fitting a plurality of pins (roller pins) that form internal teeth one by one to the inner peripheral surface of a gear main body (internally toothed gear main body) that also serves as a housing.
  • a plurality of inner pin holes are formed at appropriate intervals in the circumferential direction, and inner pins and inner rollers are inserted into the inner pin holes.
  • the inner pin is connected to the bracket at one end side in the axial direction, and the bracket is rotatably supported by the housing via a 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.
  • Patent Document 1 Japanese Patent Laid-Open No. 2003-74646
  • the lubricant does not sufficiently spread to different parts, which may cause problems such as a decrease in transmission efficiency in the gear unit.
  • An object of the embodiments of the present disclosure is to provide an internal meshing planetary gear device that is less likely to cause problems such as a drop in transmission efficiency.
  • An internal meshing planetary gear device includes a bearing member, an internal gear, a planetary gear, and a plurality of internal pins.
  • the bearing member includes an outer ring, an inner ring arranged inside the outer ring, and a plurality of rolling elements arranged between the outer ring and the inner ring, and the inner ring is supported so as to be able to be relative to the inner ring.
  • the outer ring rotates relatively around the rotation axis.
  • the inner gear has inner teeth and is fixed to the outer ring.
  • the planetary gears have external teeth partially meshed with the internal teeth.
  • the plurality of inner pins are respectively inserted into the plurality of inner pin holes formed in the planetary gear, and revolve in the inner pin holes to rotate relative to the inner gear.
  • the inner ring includes a first inner ring and a second inner ring which are opposed to each other in a direction parallel to the rotation axis and whose opposing surfaces are in contact with each other.
  • the first inner ring has a plurality of holding holes through which the plurality of inner pins respectively penetrate in a direction parallel to the rotation axis. Each of the plurality of inner pins is held by the inner ring in a state capable of rotating.
  • Fig. 1 is a perspective view showing a schematic structure of an actuator including an internal meshing planetary gear device having a basic structure.
  • FIG. 2 is a schematic exploded perspective view of the above-mentioned internal meshing planetary gear device as seen from the output side of the rotating shaft.
  • FIG 3 is a schematic cross-sectional view of the above-mentioned internal meshing planetary gear device.
  • FIG. 4 is a cross-sectional view taken along line A1-A1 of FIG. 3 , showing the above-mentioned internal meshing planetary gear device.
  • FIG. 5A is a perspective view showing a planetary gear of the above-mentioned ring gear device as a single unit.
  • FIG. 5B is a front view showing the planetary gear of the above-mentioned internal meshing planetary gear device alone.
  • FIG. 6A is a perspective view showing the bearing member of the above-mentioned ring gear device as a single unit.
  • FIG. 6B is a front view showing the bearing member of the above-mentioned internal meshing planetary gear device as a single unit.
  • FIG. 7A is a perspective view showing the eccentric shaft of the above-mentioned ring gear device as a single unit.
  • FIG. 7B is a front view showing the eccentric shaft of the above-mentioned internal meshing planetary gear device alone.
  • FIG. 8A is a perspective view showing the support body of the above-mentioned ring gear device as a single unit.
  • FIG. 8B is a front view showing the support body of the above-mentioned internal meshing planetary gear unit as a single body.
  • FIG. 9 is an enlarged view of a region Z1 of FIG. 3 showing the above-described ring gear device.
  • FIG. 10 is a cross-sectional view taken along line B1-B1 of FIG. 3 , showing the above-mentioned internal meshing planetary gear device.
  • FIG. 11 is a schematic cross-sectional view of the internal meshing planetary gear device according to Embodiment 1.
  • FIG. 11 is a schematic cross-sectional view of the internal meshing planetary gear device according to Embodiment 1.
  • FIG. 12 is a side view of the above-described internal meshing planetary gear device as viewed from the output side of the rotating shaft.
  • FIG. 13 is a cross-sectional view taken along line A1-A1 of FIG. 11 , showing the above-mentioned ring gear device.
  • FIG. 14 is a cross-sectional view taken along line B1-B1 of FIG. 11 and a partial enlarged view thereof, showing the above-mentioned internal meshing planetary gear device.
  • 15 is a schematic cross-sectional view of a main part of the above-mentioned internal meshing planetary gear device.
  • FIG. 16 is a schematic cross-sectional view of a main part of the above-mentioned internal meshing planetary gear device, and is a diagram schematically showing a path of a lubricant.
  • FIG. 17 is a schematic cross-sectional view of a wheel device using the above-mentioned internal meshing planetary gear device.
  • 18A is a schematic cross-sectional view of a main part of an internal meshing planetary gear device according to a modification of the first embodiment.
  • FIG. 18B is a schematic cross-sectional view of a main part of an internal meshing planetary gear device according to a modification of Embodiment 1.
  • FIG. 18B is a schematic cross-sectional view of a main part of an internal meshing planetary gear device according to a modification of Embodiment 1.
  • FIG. 19A is a schematic cross-sectional view of a main part of an internal meshing planetary gear device according to Embodiment 2.
  • FIG. 19A is a schematic cross-sectional view of a main part of an internal meshing planetary gear device according to Embodiment 2.
  • FIG. 19B is a cross-sectional view taken along line A1-A1 of FIG. 19A , showing a main part of the above-mentioned ring gear device.
  • 20 is a schematic cross-sectional view of a main part of the above-mentioned internal meshing planetary gear device, and is a diagram schematically showing a path of lubricant.
  • FIGS. 1 to 3 The drawings referred to in the embodiments of the present disclosure are schematic drawings, and the respective ratios of the sizes and thicknesses of the constituent elements in the drawings do not necessarily reflect the actual size ratios.
  • the tooth shape, size, and number of teeth of the inner teeth 21 and the outer teeth 31 in FIGS. 1 to 3 are only schematically shown for illustration, and the gist thereof is not limited to the shapes shown in the drawings.
  • the internal meshing planetary gear device 1 (hereinafter, also simply referred to as “gear device 1 ”) of this basic structure is a gear device including an internally toothed gear 2 , a planetary gear 3 , and a plurality of inner pins 4 .
  • the planetary gears 3 are arranged inside the ring-shaped internally toothed gear 2
  • the eccentric body bearing 5 is arranged inside the planetary gears 3 .
  • the eccentric body bearing 5 has an eccentric inner ring 51 and an eccentric outer ring 52, and the eccentric inner ring 51 rotates (eccentrically moves) around a rotation axis Ax1 (refer to FIG. 3 ) displaced from the center C1 (refer to FIG.
  • the internal meshing planetary gear device 1 further includes a bearing member 6 having an outer ring 62 and an inner ring 61 .
  • the inner ring 61 is arranged inside the outer ring 62, and is supported relative to the outer ring 62 so as to be rotatable relative to the outer ring 62.
  • the internally toothed gear 2 has internal teeth 21 and is fixed to the outer ring 62 .
  • the internally toothed gear 2 has an annular gear body 22 and a plurality of pins 23 .
  • the plurality of pins 23 are held on the inner peripheral surface 221 of the gear body 22 in a rotatable state, and constitute the internal teeth 21 .
  • the planetary gear 3 has external teeth 31 partially meshed with the internal teeth 21 . That is, on the inner side of the internal gear 2 , the planetary gears 3 are inscribed in the internal gear 2 , and a part of the external teeth 31 meshes with a part of the internal teeth 21 .
  • Such a gear device 1 is used by taking out the rotation corresponding to the rotation component of the planetary gear 3 as, for example, the rotation of the output shaft integrated with the inner ring 61 of the bearing member 6 . Accordingly, the gear device 1 functions as a gear device having a relatively high reduction ratio with the eccentric shaft 7 as the input side and the output shaft as the output side. Therefore, in the gear device 1 of the present basic structure, the planetary gears 3 and the inner ring 61 are connected by the plurality of inner pins 4 in order to transmit the rotation corresponding to the rotation component of the planetary gears 3 to the inner ring 61 of the bearing member 6 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 and rotate relative to the inner gear 2 in a state of being respectively inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 . That is, the inner pin hole 32 has a larger diameter than the inner pin 4 , and the inner pin 4 can revolvely move in the inner pin hole 32 in a state of being inserted into the inner pin hole 32 . Then, the swing component of the planetary gear 3 , that is, the revolving component of the planetary gear 3 is absorbed by the loose engagement between the inner pin hole 32 of the planetary gear 3 and the inner pin 4 .
  • each of the plurality of inner pins 4 revolves and moves within the plurality of inner pin holes 32 , thereby absorbing the swing component of the planetary gear 3 . Therefore, the rotation (rotational component) of the planetary gear 3 other than the swing component (revolution component) of the planetary gear 3 is transmitted to the inner ring 61 of the bearing member 6 through the plurality of inner pins 4 .
  • the inner pin 4 revolves in the inner pin hole 32 of the planetary gear 3, and at the same time, the rotation of the planetary gear 3 is transmitted to the plurality of inner pins 4. Therefore, as a first related art, there is known a technique using The inner pin 4 is the technology of the inner roller which can rotate the inner pin 4 as the axis. That is, in the first related art, the inner pin 4 is held in a state of being press-fitted into the inner ring 61 (or a bracket integrated with the inner ring 61 ), and when the inner pin 4 revolves in the inner pin hole 32 , the inner pin 4 is relatively The inner peripheral surface 321 of the hole 32 slides.
  • an inner roller is used in order to reduce the loss due to the frictional resistance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 .
  • the inner pin hole 32 needs to have a diameter that allows the inner pin 4 with the inner roller to revolve, and it is difficult to reduce the size of the inner pin hole 32 .
  • the miniaturization of the planetary gear 3 (in particular, the reduction in diameter) is hindered, and the miniaturization of the entire gear device 1 is hindered.
  • the gear device 1 of the present basic structure can provide the internal meshing planetary gear device 1 which can be easily miniaturized by the following structure.
  • the gear device 1 of the present basic structure includes the bearing member 6 , the internally toothed gear 2 , the planetary gear 3 , and the plurality of inner pins 4 .
  • the bearing member 6 has an outer ring 62 and an inner ring 61 arranged inside the outer ring 62 .
  • the inner ring 61 is supported so as to be rotatable relative to the outer ring 62 .
  • the internally toothed gear 2 has internal teeth 21 and is fixed to the outer ring 62 .
  • the planetary gear 3 has external teeth 31 partially meshed with the internal teeth 21 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 in a state of being inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , respectively, and rotate relative to the inner gear 2 .
  • each of the plurality of inner pins 4 is held by the inner ring 61 in a rotatable state. Further, at least a part of each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 .
  • each of the plurality of inner pins 4 is held in the inner ring 61 in a state capable of autorotating, when the inner pins 4 revolve in the inner pin hole 32 , the inner pins 4 themselves can autorotate. Therefore, loss due to frictional resistance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 can be reduced without using an inner roller that is rotatable on the inner pin 4 as an axis. Therefore, in the gear device 1 of the present basic structure, it is not necessary to provide the inner rollers, and therefore, there is an advantage that miniaturization is easy.
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6, the size of the gear device 1 in the axial direction of the bearing member 6 can be kept small. That is, in the gear unit 1 of the present basic structure, the size of the gear unit 1 in the axial direction can be reduced, as compared with the structure in which the bearing member 6 and the inner pin 4 are juxtaposed (opposed) in the axial direction of the bearing member 6 . This contributes to further miniaturization (thinning) of the gear device 1 .
  • the size of the planetary gear 3 is the same as that of the above-mentioned first related art, compared with the above-mentioned first related art, for example, it is possible to increase the number of inner pins 4 (the number) to make the transmission of rotation smoother, or to make the inner pin 4 Thicken and increase strength.
  • the inner pin 4 needs to revolve in the inner pin hole 32 of the planetary gear 3. Therefore, as a second related technique, there are a plurality of inner pins 4 formed only by the inner ring 61 (or integrated with the inner ring 61). brackets) holding the case. According to the second related technique, it is difficult to improve the accuracy of centering of the plurality of inner pins 4, and the poor centering may cause problems such as generation of vibration and reduction in transmission efficiency. That is, each of the plurality of inner pins 4 revolves in the inner pin hole 32 to rotate relative to the inner gear 2 , thereby transmitting the rotation component of the planetary gear 3 to the inner ring 61 of the bearing member 6 .
  • the gear device 1 of the present basic structure can provide the internal meshing planetary gear device 1 in which a problem due to poor alignment of the plurality of inner pins 4 is less likely to occur by the following structure.
  • the gear device 1 of the present basic structure includes an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , and a support body 8 .
  • the internally toothed gear 2 has an annular gear body 22 and a plurality of pins 23 .
  • the plurality of pins 23 are held on the inner peripheral surface 221 of the gear body 22 in a rotatable state to constitute the internal teeth 21 .
  • the planetary gear 3 has external teeth 31 partially meshed with the internal teeth 21 .
  • the plurality of inner pins 4 revolve in the inner pin holes 32 and rotate relative to the gear body 22 while being inserted into the plurality of inner pin holes 32 formed in the planetary gear 3 , respectively.
  • the support body 8 is annular and supports the plurality of inner pins 4 .
  • the position of the support body 8 is regulated by bringing the outer peripheral surface 81 into contact with the plurality of pins 23 .
  • the plurality of inner pins 4 are supported by the annular support body 8, the plurality of inner pins 4 are bundled by the support body 8, and the relative deviation and inclination of the plurality of inner pins 4 can be suppressed. Then, the outer peripheral surface 81 of the support body 8 is in contact with the plurality of pins 23 , whereby the position of the support body 8 is regulated. In short, the centering of the support body 8 is performed by the plurality of pins 23 , and as a result, the centering of the plurality of inner pins 4 supported by the support body 8 is also performed by the plurality of pins 23 . Therefore, according to the gear device 1 of the present basic structure, it is easy to improve the accuracy of the alignment of the plurality of inner pins 4 , and there is an advantage that it is difficult to cause problems due to poor alignment of the plurality of inner pins 4 .
  • the gear device 1 of the present basic structure constitutes an actuator 100 together with a drive source 101 .
  • the actuator 100 of the present basic structure includes the gear device 1 and the drive source 101 .
  • the drive source 101 generates a drive force for swinging the planetary gear 3 .
  • the drive source 101 oscillates the planetary gear 3 by rotating the eccentric shaft 7 around the rotation axis Ax1.
  • annular 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 perfect circle in a plan view
  • the circular shape 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 loosely fit. 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 orbit of the center moves. Therefore, for example, when an object rotates around an eccentric axis parallel to a central axis passing through the center (center of gravity) of the object, the object revolves around the eccentric axis as a rotation axis.
  • the inner pin 4 revolves around a rotation axis passing through the center of the inner pin hole 32 and revolves in the inner pin hole 32 .
  • one side of the rotation axis Ax1 (the left side in FIG. 3 ) may be referred to as the “input side”, and the other side (the right side in FIG. 3 ) of the rotation axis Ax1 may be referred to as the “output side”. side”.
  • rotation is imparted to the rotating body (eccentric inner ring 51) from the “input side” of the rotation axis Ax1, and the rotation of the plurality of inner pins 4 (inner ring 61) is taken out from the “output side” of the rotation axis Ax1.
  • “input side” and “output side” are merely labels given for description, and the gist thereof is not intended to limit the positional relationship between input and output as viewed from the gear device 1 .
  • the "rotation axis" referred to in the embodiments of the present disclosure refers to a virtual axis (straight line) that becomes the center of the rotational motion of the rotating body. That is, the rotation axis Ax1 is an imaginary axis that is not accompanied by a substance.
  • the eccentric inner ring 51 rotates around the rotation axis Ax1.
  • the "internal teeth” and “external teeth” mentioned in the embodiments of the present disclosure respectively refer to a collection (group) of a plurality of "teeth” rather than a single “teeth”. That is, the internal teeth 21 of the internally toothed gear 2 are composed of a plurality of sets of teeth arranged on the inner peripheral surface 221 of the internally toothed gear 2 (gear body 22 ). Similarly, the external teeth 31 of the planetary gear 3 are composed of a plurality of sets of teeth arranged on the outer peripheral surface of the planetary gear 3 .
  • FIG. 1 is a perspective view showing a schematic configuration of an actuator 100 including a gear device 1 .
  • a drive source 101 is schematically shown.
  • FIG. 2 is a schematic exploded perspective view of the gear device 1 viewed from the output side of the rotation shaft Ax1 .
  • FIG. 3 is a schematic cross-sectional view of the gear device 1 .
  • FIG. 4 is a cross-sectional view taken along the line A1-A1 in FIG. 3 .
  • the hatching is abbreviate
  • illustration of the inner peripheral surface 221 of the gear main body 22 is abbreviate
  • 5A and 5B are a perspective view and a front view showing the planetary gear 3 as a single unit.
  • 6A and 6B are a perspective view and a front view showing the bearing member 6 alone.
  • 7A and 7B are a perspective view and a front view showing the eccentric shaft 7 alone.
  • 8A and 8B are a perspective view and a front view showing the support body 8 as a single body.
  • the gear device 1 of this basic structure includes an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , an eccentric body bearing 5 , a bearing member 6 , an eccentric shaft 7 , and a support body 8 . Furthermore, in this basic structure, the gear device 1 further includes the first bearing 91 , the second bearing 92 , and the housing 10 .
  • the internal gear 2 , the planetary gear 3 , the plurality of inner pins 4 , the eccentric body bearing 5 , the bearing member 6 , the eccentric shaft 7 , the support body 8 , etc., which are the components of the gear device 1 are made of stainless steel, Metals such as cast iron, carbon steel for mechanical structures, chrome molybdenum steel, phosphor bronze or aluminum bronze.
  • the metal mentioned here includes a metal subjected to surface treatment such as nitriding treatment.
  • the gear device 1 inscribed planetary gear device using a cycloid-like tooth profile is exemplified. That is, the gear device 1 of the present basic structure includes the inscribed planetary gears 3 having a cycloid-like tooth profile.
  • the gear device 1 is used in a state where the gear body 22 of the internal gear 2 is fixed to a fixing member such as the housing 10 together with the outer ring 62 of the bearing member 6 .
  • the planetary gear 3 relatively rotates with respect to the stationary member (case 10 etc.) with the relative rotation of the internal gear 2 and the planetary gear 3. As shown in FIG.
  • the eccentric shaft 7 is taken out from the output shaft integrated with the inner ring 61 of the bearing member 6 by applying a rotational force as an input to the eccentric shaft 7 . output rotational force. That is, the gear device 1 operates with the rotation of the eccentric shaft 7 as the input rotation, and the rotation of the output shaft integrated with the inner ring 61 as the output rotation. As a result, in the gear device 1, the output rotation reduced by the relatively high reduction ratio with respect to the input rotation can be obtained.
  • 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 7 in the gear device 1 .
  • the drive source 101 is connected to the eccentric shaft 7 via the input shaft, and the power generated by the drive source 101 is transmitted to the eccentric shaft 7 via the input shaft. Thereby, the drive source 101 can rotate the eccentric shaft 7 .
  • the rotation axis Ax1 of the input side and the rotation axis Ax1 of the output side are on the same straight line.
  • the rotation axis Ax1 on the input side is coaxial with the rotation axis Ax1 on the output side.
  • the rotation axis Ax1 on the input side is the rotation center of the eccentric shaft 7 to which the input rotation is given
  • the rotation axis Ax1 on the output side is the rotation center of the inner ring 61 (and the output shaft) which generates the output rotation. That is, in the gear device 1, the output rotation reduced by a relatively high reduction ratio can be obtained coaxially with respect to the input rotation.
  • the internally toothed gear 2 is an annular member having internal teeth 21 .
  • the internally toothed gear 2 has at least an annular shape whose inner peripheral surface is a perfect circle in plan view.
  • Internal teeth 21 are formed on the inner peripheral surface of the annular internal gear 2 along the circumferential direction of the internal gear 2 . All of the plurality of teeth constituting the internal teeth 21 have the same shape, and are provided at equal intervals over the entire area in the circumferential direction of the inner peripheral surface of the internally toothed gear 2 . That is, the pitch circle of the internal teeth 21 is a perfect circle in plan view. The center of the pitch circle of the internal teeth 21 is on the rotation axis Ax1.
  • the internally toothed gear 2 has a predetermined thickness in the direction of the rotation axis Ax1.
  • the tooth directions of the internal teeth 21 are all parallel to the rotation axis Ax1.
  • the size in the tooth direction of the internal teeth 21 is slightly smaller than the thickness direction of the internal tooth gear 2 .
  • the internally toothed gear 2 has the annular (annular) gear body 22 and the plurality of pins 23 .
  • the plurality of pins 23 are held on the inner peripheral surface 221 of the gear body 22 in a rotatable state, and constitute the internal teeth 21 .
  • each of the plurality of pins 23 functions as a plurality of teeth constituting the inner teeth 21 .
  • a plurality of grooves are formed on the inner peripheral surface 221 of the gear body 22 over the entire area in the circumferential direction. All of the plurality of grooves have the same shape and are provided at equal intervals.
  • the plurality of grooves are formed over the entire length of the gear body 22 in the thickness direction in parallel with the rotation axis Ax1 .
  • the plurality of pins 23 are assembled to the gear body 22 so as to fit into the plurality of grooves. Each of the plurality of pins 23 is held in the groove so as to be able to rotate. Furthermore, the gear body 22 (together with the outer ring 62 ) is fixed to the housing 10 . Therefore, a plurality of fixing holes 222 for fixing are formed in the gear body 22 .
  • the planetary gear 3 is an annular member having external teeth 31 .
  • the planetary gear 3 has at least an annular shape whose outer peripheral surface is a perfect circle in plan view.
  • external teeth 31 are formed along the circumferential direction of the planetary gear 3 .
  • All of the plurality of teeth constituting the external teeth 31 have the same shape and are provided at equal intervals over the entire area in the circumferential direction of the outer peripheral surface of the planetary gear 3 . That is, the pitch circle of the external teeth 31 is a perfect circle in plan view.
  • the center C1 of the pitch circle of the external teeth 31 is at a position displaced by ⁇ L (see FIG.
  • 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.
  • the outer teeth 31 are integrally formed with the main body of the planetary gear 3 by a single metal member.
  • the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3 . That is, the planetary gear 3 is formed with an opening 33 which is opened in a circular shape.
  • the opening portion 33 is a hole penetrating the planetary gear 3 in the thickness direction. In plan view, the center of the opening 33 is aligned with the center of the planetary gear 3 , and the inner peripheral surface of the opening 33 (the inner peripheral surface of the planetary gear 3 ) and the pitch circle of the external teeth 31 are concentric.
  • 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 7 are combined with the planetary gear 3 by inserting the eccentric body bearing 5 (the eccentric inner ring 51 of the eccentric body bearing 5 ). In a state where the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3, when the eccentric shaft 7 rotates, the planetary gear 3 swings around the rotation axis Ax1.
  • the planetary gears 3 thus constituted are arranged inside the internally toothed gears 2 .
  • the planetary gear 3 is formed to be smaller than the internal gear 2 , and the planetary gear 3 can swing inside the internal gear 2 when combined with the internal gear 2 .
  • the outer teeth 31 are formed on the outer peripheral surface of the planetary gear 3
  • the inner teeth 21 are formed on the inner peripheral surface of the inner gear 2 . Therefore, in a state where the planetary gears 3 are arranged inside the inner gear 2 , the outer teeth 31 and the inner teeth 21 face each other.
  • the pitch circle of the outer teeth 31 is one turn smaller than the pitch circle of the inner teeth 21 .
  • the center C1 of the pitch circle of the outer teeth 31 is located at a distance away from the center (rotation axis Ax1) of the pitch circle of the inner teeth 21 by ⁇ L (refer to FIG. 4 ). Location. Therefore, at least a part of the outer teeth 31 and the inner teeth 21 face each other with a gap therebetween, and the entire circumferential direction does not mesh with each other.
  • the planetary gear 3 swings (revolves) around the rotation axis Ax1 inside the inner gear 2 , the outer teeth 31 and the inner teeth 21 are partially meshed with each other. That is, when the planetary gear 3 swings around the rotation axis Ax1, as shown in FIG. As a result, in the gear device 1 , a part of the external teeth 31 can be meshed with a part of the internal teeth 21 .
  • the number of teeth of the internal teeth 21 in the internal gear 2 is larger than the number of teeth of the external teeth 31 of the planetary gear 3 by N (N is a positive integer).
  • N is "1"
  • the number of teeth of the planetary gear 3 (of the external teeth 31 ) is greater than that of the internal gear 2 (of the internal teeth 21 ) by "1”.
  • Such a difference in the number of teeth of the planetary gear 3 and the internally toothed gear 2 defines the reduction ratio of the output rotation with respect to the input rotation in the gear device 1 .
  • the thickness of the planetary gear 3 is smaller than the thickness of the gear main body 22 in the internally toothed gear 2 .
  • the dimension in the tooth direction (direction parallel to the rotation axis Ax1 ) of the outer teeth 31 is smaller than the dimension in the tooth direction (direction parallel to the rotation axis Ax1 ) of the inner teeth 21 .
  • the outer teeth 31 are retracted within the range of the tooth direction of the inner teeth 21 .
  • the rotation corresponding to the rotation component of the planetary gear 3 is taken out as the rotation (output rotation) of the output shaft integrated with the inner ring 61 of the bearing member 6 . Therefore, the planetary gear 3 is connected to the inner ring 61 by the plurality of inner pins 4 .
  • a plurality of inner pin holes 32 into which the plurality of inner pins 4 are inserted are formed in the planetary gear 3 .
  • the inner pin holes 32 are provided in the same number as the inner pins 4 , and in this basic structure, as an example, 18 inner pin holes 32 and 18 inner pins 4 are each provided.
  • the plurality of inner pin holes 32 are holes each opening circularly and penetrating the planetary gear 3 in the thickness direction.
  • a plurality of (18 in this case) inner pin holes 32 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the opening portion 33 .
  • the plurality of inner pins 4 are members that connect the planetary gear 3 and the inner ring 61 of the bearing member 6 .
  • Each of the plurality of inner pins 4 is formed in a cylindrical shape.
  • the diameters and lengths of the plurality of inner pins 4 are the same among the plurality of inner pins 4 .
  • the diameter of the inner pin 4 is one turn smaller than the diameter of the inner pin hole 32 .
  • the inner pin 4 is inserted into the inner pin hole 32 in a state in which a space margin (gap) is secured with the inner peripheral surface 321 of the inner pin hole 32 (see Fig. 4 ).
  • the bearing member 6 has an outer ring 62 and an inner ring 61 and is used to take out the output of the gear device 1 as the rotation of the inner ring 61 with respect to the outer ring 62 .
  • the bearing member 6 has a plurality of rolling elements 63 (see FIG. 3 ) in addition to the outer ring 62 and the inner ring 61 .
  • both the outer ring 62 and the inner ring 61 are annular members. Both the outer ring 62 and the inner ring 61 have an annular shape that is a perfect circle in plan view.
  • the inner ring 61 is slightly smaller than the outer ring 62 , and is arranged inside the outer ring 62 .
  • the inner diameter of the outer ring 62 is larger than the outer diameter of the inner ring 61 , a gap is generated between the inner peripheral surface of the outer ring 62 and the outer peripheral surface of the inner ring 61 .
  • the inner ring 61 has a plurality of holding holes 611 into which the plurality of inner pins 4 are respectively inserted.
  • the holding holes 611 are provided in the same number as the inner pins 4, and in this basic structure, as an example, 18 holding holes 611 are provided.
  • each of the plurality of holding holes 611 is a hole that opens in a circular shape and penetrates through the inner ring 61 in the thickness direction.
  • a plurality of (18 here) holding holes 611 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the outer circumference of the inner ring 61 .
  • the diameter of the holding hole 611 is larger than the diameter of the inner pin 4 and smaller than the diameter of the inner pin hole 32 .
  • the inner ring 61 is integrated with the output shaft, and the rotation of the inner ring 61 is taken out as the rotation of the output shaft. Therefore, a plurality of output-side mounting holes 612 (refer to FIG. 2 ) for mounting the output shaft are formed in the inner ring 61 .
  • the plurality of output-side mounting holes 612 are arranged on the inner side of the plurality of holding holes 611 and on a virtual circle that is concentric with the outer circumference of the inner ring 61 .
  • the outer ring 62 is fixed to a fixing member such as the case 10 together with the gear body 22 of the internally toothed gear 2 . Therefore, a plurality of through holes 621 for fixing are formed in the outer ring 62 . Specifically, as shown in FIG. 3 , the outer ring 62 is in a state where the gear body 22 is sandwiched between the outer ring 62 and the casing 10 , and is fixed by the through hole 621 and the fixing hole 222 of the gear body 22 by the screw (bolt) 60 for fixing. and fixed to the casing 10 .
  • the plurality of rolling elements 63 are arranged in the gap between the outer ring 62 and the inner ring 61 .
  • the plurality of rolling elements 63 are arranged in parallel along the circumferential direction of the outer ring 62 .
  • the plurality of rolling elements 63 are all metal members of the same shape, and are provided at equal intervals over the entire area of the outer ring 62 in the circumferential direction.
  • the bearing member 6 is a crossed roller bearing. That is, the bearing member 6 has cylindrical rollers as the rolling elements 63 .
  • the axis of the cylindrical rolling element 63 has an inclination of 45 degrees with respect to a plane orthogonal to the rotation axis Ax1 , and is orthogonal to the outer circumference of the inner ring 61 .
  • a pair of rolling elements 63 adjacent to each other in the circumferential direction of the inner ring 61 are arranged so that the axial directions are orthogonal to each other.
  • the bearing member 6 constituted by such a crossed roller bearing, radial loads, loads in the thrust direction (direction along the rotation axis Ax1 ), and bending forces (bending moment loads) with respect to the rotation axis Ax1 are easily received. Moreover, by the single bearing member 6, these three kinds of loads can be endured, and the required rigidity can be ensured.
  • the eccentric shaft 7 is a cylindrical member.
  • the eccentric shaft 7 has a shaft center portion 71 and an eccentric portion 72 .
  • the axial center portion 71 has at least a cylindrical shape whose outer peripheral surface is a perfect circle in plan view.
  • the center (central axis) of the shaft center portion 71 coincides with the rotation axis Ax1.
  • the eccentric portion 72 has a disk shape whose outer peripheral surface is a perfect circle in plan view at least.
  • the center (central axis) of the eccentric portion 72 coincides with the center C1 deviated from the rotation axis Ax1.
  • the distance ⁇ L see FIG.
  • the eccentric shaft 7B is eccentrically moved by the shaft center portion 71 rotating (autorotating) about the rotation axis Ax1.
  • the shaft center portion 71 and the eccentric portion 72 are integrally formed with a single metal member, thereby realizing the seamless eccentric shaft 7 .
  • the eccentric shaft 7 having such a shape is combined with the planetary gear 3 together with the eccentric body bearing 5 . Therefore, when the eccentric shaft 7 rotates in a state where the eccentric body bearing 5 and the eccentric shaft 7 are combined with the planetary gear 3, the planetary gear 3 swings around the rotation axis Ax1.
  • the eccentric shaft 7 has a through hole 73 penetrating the shaft center portion 71 in the axial direction (longitudinal direction).
  • the through-hole 73 is opened in a circular shape on both end surfaces in the axial direction of the shaft center portion 71 .
  • the center (central axis) of the through hole 73 coincides with the rotation axis Ax1.
  • cables such as power lines and signal lines can be passed through the through holes 73 .
  • a rotational force is applied to the eccentric shaft 7 from the drive source 101 as an input. Therefore, a plurality of input-side mounting holes 74 (refer to FIGS. 7A and 7B ) for mounting the input shaft connected to the drive source 101 are formed in the eccentric shaft 7 .
  • the plurality of input-side mounting holes 74 are arranged on a virtual circle concentric with the through-hole 73 around the through-hole 73 on one end face in the axial direction of the shaft center portion 71 .
  • the eccentric body bearing 5 has an eccentric outer ring 52 and an eccentric inner ring 51, absorbs the rotation component of the rotation of the eccentric shaft 7, and rotates the eccentric shaft 7 other than the rotation component of the eccentric shaft 7, that is, only the eccentric shaft 7 rotates. A member for transmitting the swing component (revolution component) of the shaft 7 to the planetary gear 3 .
  • the eccentric body bearing 5 has, in addition to the eccentric outer ring 52 and the eccentric inner ring 51 , a plurality of rolling elements 53 (see FIG. 3 ).
  • Both the eccentric outer ring 52 and the eccentric inner ring 51 are annular members. Both the eccentric outer ring 52 and the eccentric inner ring 51 have an annular shape that is a perfect circle in plan view.
  • the eccentric inner ring 51 is one turn smaller than the eccentric outer ring 52 , and is arranged inside the eccentric outer ring 52 .
  • the inner diameter of the eccentric outer ring 52 is larger than the outer diameter of the eccentric inner ring 51 , a gap is formed between the inner peripheral surface of the eccentric outer ring 52 and the outer peripheral surface of the eccentric inner ring 51 .
  • the plurality of rolling elements 53 are arranged in the gap between the eccentric outer ring 52 and the eccentric inner ring 51 .
  • the plurality of rolling elements 53 are arranged in parallel along the circumferential direction of the eccentric outer ring 52 .
  • the plurality of rolling elements 53 are all metal members of the same shape, and are provided at equal intervals over the entire area of the eccentric outer ring 52 in the circumferential direction.
  • the eccentric body bearing 5 is constituted by a deep groove ball bearing using balls as the rolling elements 53 .
  • the inner diameter of the eccentric inner ring 51 corresponds to the outer diameter of the eccentric portion 72 in the eccentric shaft 7 .
  • the eccentric body bearing 5 is combined with the eccentric shaft 7 in a state where the eccentric portion 72 of the eccentric shaft 7 is inserted into the eccentric inner ring 51 .
  • the outer diameter of the eccentric outer ring 52 corresponds to the inner diameter (diameter) of the opening portion 33 of the planetary gear 3 .
  • the eccentric body bearing 5 is combined with the planetary gear 3 in a state where the eccentric outer ring 52 is fitted into the opening 33 of the planetary gear 3 . In other words, the eccentric body bearing 5 in a state of being mounted on the eccentric portion 72 of the eccentric shaft 7 is accommodated in the opening portion 33 of the planetary gear 3 .
  • the dimension in the width direction (direction parallel to the rotation axis Ax1) of the eccentric inner ring 51 of the eccentric body bearing 5 is substantially the same as the thickness of the eccentric portion 72 of the eccentric shaft 7.
  • the dimension in the width direction (direction parallel to the rotation axis Ax1 ) of the eccentric outer ring 52 is slightly smaller than the dimension in the width direction of the eccentric inner ring 51 .
  • the dimension in the width direction of the eccentric outer ring 52 is larger than the thickness of the planetary gear 3 . Therefore, the planetary gear 3 is received within the range of the eccentric body bearing 5 in the direction parallel to the rotation axis Ax1.
  • the dimension in the width direction of the eccentric outer ring 52 is smaller than the dimension in the tooth direction (direction parallel to the rotation axis Ax1 ) of the inner teeth 21 . Therefore, the eccentric body bearing 5 is received within the range of the internally toothed gear 2 in the direction parallel to the rotation axis Ax1.
  • the support body 8 is formed in an annular shape and supports the plurality of inner pins 4 .
  • the support body 8 has a plurality of support holes 82 into which the plurality of inner pins 4 are respectively inserted.
  • the support holes 82 are provided in the same number as the inner pins 4, and in this basic structure, as an example, 18 support holes 82 are provided.
  • each of the plurality of support holes 82 is a hole that opens in a circular shape and penetrates through the support body 8 in the thickness direction.
  • a plurality of (here, 18) support holes 82 are arranged at equal intervals in the circumferential direction on a virtual circle concentric with the outer peripheral surface 81 of the support body 8 .
  • the diameter of the support hole 82 is larger than the diameter of the inner pin 4 and smaller than the diameter of the inner pin hole 32 .
  • the diameter of the support hole 82 is equal to the diameter of the holding hole 611 formed in the inner ring 61 .
  • the support body 8 is arrange
  • the support body 8 is explained in detail in the column of "(3.3) Support body".
  • the first bearing 91 and the second bearing 92 are respectively attached to the axial center portion 71 of the eccentric shaft 7 .
  • the first bearing 91 and the second bearing 92 are mounted on both sides of the eccentric portion 72 of the shaft center portion 71 so as to sandwich the eccentric portion 72 in the direction parallel to the rotation axis Ax1 .
  • the first bearing 91 is arranged on the input side of the rotation axis Ax1.
  • the second bearing 92 is arranged on the output side of the rotation shaft Ax1.
  • the first bearing 91 holds the eccentric shaft 7 rotatably relative to the housing 10 .
  • the second bearing 92 holds the eccentric shaft 7 rotatably with respect to the inner ring 61 of the bearing member 6 . Thereby, the axial center portion 71 of the eccentric shaft 7 is held rotatably at two locations on both sides of the eccentric portion 72 in the direction parallel to the rotation axis Ax1.
  • the casing 10 has a cylindrical shape and has a flange portion 11 on the output side of the rotation axis Ax1.
  • a plurality of installation holes 111 for fixing the casing 10 itself are formed in the flange portion 11 .
  • the bearing hole 12 is formed in the end surface on the output side of the rotating shaft Ax1 in the housing 10 .
  • the bearing hole 12 opens in a circular shape.
  • the first bearing 91 is attached to the housing 10 by fitting the first bearing 91 into the bearing hole 12 .
  • a plurality of screw holes 13 are formed around the manufacturing bearing hole 12 on the end face on the output side of the rotating shaft Ax1 of the housing 10 .
  • the plurality of screw holes 13 are used to fix the gear body 22 of the internally toothed gear 2 and the outer ring 62 of the bearing member 6 to the housing 10 .
  • the fixing screws 60 pass through the through holes 621 of the outer ring 62 and the fixing holes 222 of the gear body 22 and are fastened to the threaded holes 13 , thereby fixing the gear body 22 and the outer ring 62 to the housing 10 .
  • the gear device 1 of the present basic structure further includes a plurality of oil seals 14 , 15 , 16 and the like.
  • the oil seal 14 is attached to the end portion on the input side of the rotating shaft Ax1 of the eccentric shaft 7 , and fills the gap between the case 10 and the eccentric shaft 7 (axial center portion 71 ).
  • the oil seal 15 is attached to the end portion on the output side of the rotating shaft Ax1 of the eccentric shaft 7 , and fills the gap between the inner ring 61 and the eccentric shaft 7 (axial center portion 71 ).
  • the oil seal 16 is attached to the end surface on the output side of the rotating shaft Ax1 of the bearing member 6 , and fills the gap between the inner ring 61 and the outer ring 62 .
  • the space sealed by the plurality of oil seals 14, 15, and 16 constitutes a lubricant holding space 17 (see Fig. 9).
  • the lubricant holding space 17 includes the space between the inner ring 61 and the outer ring 62 of the bearing member 6 .
  • the plurality of pins 23 , the planetary gears 3 , the eccentric body bearing 5 , the support body 8 , the first bearing 91 , the second bearing 92 , and the like are accommodated in the lubricant holding space 17 .
  • a lubricant is enclosed in the lubricant holding space 17 .
  • the lubricant is liquid and can flow in the lubricant holding space 17 . Therefore, when the gear device 1 is used, for example, lubricant enters the meshing portion between the inner teeth 21 formed of the plurality of pins 23 and the outer teeth 31 of the planetary gear 3 .
  • the "liquid” mentioned in the embodiments of the present disclosure includes liquid or gel-like substances.
  • gelatinous as used herein refers to a state having intermediate properties between a liquid and a solid, and includes a state of a colloid composed of two phases, a liquid phase and a solid phase.
  • a state called a gel or a sol such as an emulsion in which the dispersant is a liquid phase and a dispersoid in a liquid phase, and a suspension in which the dispersoid is a solid phase, is included in the “gel” or “sol”. gelatinous”.
  • a state in which the dispersant is in a solid phase and the dispersoid is in a liquid phase is also included in "gel-like".
  • the lubricant is a liquid lubricating oil (oil).
  • the eccentric shaft 7 rotates around the rotation axis Ax1 by applying a rotational force as an input to the eccentric shaft 7, and the planetary gears 3 oscillate (revolve) around the rotation axis Ax1.
  • the planetary gear 3 is inscribed on the inner side of the inner gear 2 and swings in a state where a part of the outer teeth 31 meshes with a part of the inner teeth 21. Therefore, the meshing position of the inner teeth 21 and the outer teeth 31 is along the inner side.
  • the toothed gear 2 moves in the circumferential direction.
  • the difference in the number of teeth between the internal gear 2 and the planetary gear 3 defines the reduction ratio of the output rotation to the input rotation in the gear device 1 . That is, when the number of teeth of the internal gear 2 is "V1" and the number of teeth of the planetary gear 3 is "V2", the reduction ratio R1 is represented by the following formula 1.
  • the reduction ratio R1 is " 51".
  • the eccentric shaft 7 rotates once (360 degrees) clockwise around the rotation axis Ax1
  • the inner ring 61 rotates counterclockwise around the rotation axis Ax1 by the difference in the number of teeth" 1" amount (ie about 7.06 degrees).
  • such a high reduction ratio R1 can be realized by the combination of the primary gears (the internal gear 2 and the planetary gear 3 ).
  • the gear device 1 may include at least an internally toothed gear 2 , a planetary gear 3 , a plurality of inner pins 4 , a bearing member 6 , and a support body 8 , and may further include, for example, a spline bush or the like as constituent elements.
  • the gear device 1 of the present basic structure includes the eccentric body bearing 5 which is accommodated in the opening 33 formed in the planetary gear 3 and causes the planetary gear 3 to swing.
  • the eccentric body bearing 5 has an eccentric outer ring 52 and an eccentric inner ring 51 arranged inside the eccentric outer ring 52 .
  • a rotating body composed of at least one of the eccentric inner ring 51 and a member that rotates together with the eccentric inner ring 51 has a gap in a part of the eccentric outer ring 52 on the center C1 side when viewed from the rotation axis Ax1 of the eccentric inner ring 51 75.
  • the eccentric shaft 7 is "a member that rotates together with the eccentric inner ring 51", and corresponds to a “rotating body”. Therefore, the gap 75 formed in the eccentric portion 72 of the eccentric shaft 7 corresponds to the gap 75 of the rotating body.
  • the clearance 75 is located on the center C1 side when viewed from the rotation axis Ax1 , and thus functions to make the weight balance of the eccentric shaft 7 nearly equal from the rotation axis Ax1 to the circumferential direction.
  • the void 75 includes a concave portion formed on the inner peripheral surface of the through hole 73 penetrating the rotating body along the rotating axis Ax1 of the eccentric inner ring 51 . That is, in this basic structure, since the rotating body is the eccentric shaft 7 , the concave portion formed on the inner peripheral surface of the through hole 73 passing through the eccentric shaft 7 along the rotation axis Ax1 functions as the void 75 . In this way, by utilizing the recessed portion formed in the inner peripheral surface of the through hole 73 as the space 75, the weight balance of the rotating body can be achieved without accompanying a change in the appearance.
  • FIG. 9 is an enlarged view of the region Z1 of FIG. 3 .
  • the plurality of inner pins 4 are members that connect the planetary gears 3 and the inner ring 61 of the bearing member 6 . Specifically, one end portion in the longitudinal direction of the inner pin 4 (in this basic structure, the end portion on the input side of the rotation shaft Ax1 ) is inserted into the inner pin hole 32 of the planetary gear 3 , and the other end portion in the longitudinal direction of the inner pin 4 (in the In this basic structure, the output side end portion of the rotary shaft Ax1 is inserted into the holding hole 611 of the inner ring 61 .
  • the diameter of the inner pin 4 is smaller than the diameter of the inner pin hole 32, a gap can be secured between the inner pin 4 and the inner peripheral surface 321 of the inner pin hole 32, and the inner pin 4 can move in the inner pin hole 32, that is, it can be relative to the inner pin hole 32.
  • the center of the inner pin hole 32 moves relatively.
  • the diameter of the holding hole 611 is larger than the diameter of the inner pin 4 , it is smaller than the diameter of the inner pin hole 32 .
  • the diameter of the holding hole 611 is substantially the same as the diameter of the inner pin 4 and slightly larger than the diameter of the inner pin 4 .
  • the movement of the inner pin 4 within the holding hole 611 is restricted, that is, the relative movement of the inner pin 4 with respect to the center of the holding hole 611 is prohibited. Therefore, the inner pin 4 is held in the planetary gear 3 in a state capable of revolving in the inner pin hole 32 , and is held in a state in which it cannot revolve in the holding hole 611 with respect to the inner ring 61 .
  • the swing component of the planetary gear 3 that is, the revolution component of the planetary gear 3 is absorbed by the loose engagement between the inner pin hole 32 and the inner pin 4 , and the plurality of inner pins 4 remove the swing component (revolution component) of the planetary gear 3 .
  • the rotation (rotation component) of the planetary gear 3 is transmitted to the inner ring 61 .
  • the diameter of the inner pin 4 is slightly larger than that of the holding hole 611 . Therefore, in the state where the inner pin 4 is inserted into the holding hole 611 , the revolution in the holding hole 611 is prohibited, but the inner pin 4 is inserted into the holding hole 611 . Can rotate inside. That is, although the inner pin 4 is in a state of being inserted into the holding hole 611 , it is not pressed into the holding hole 611 , and thus can rotate within the holding hole 611 .
  • each of the plurality of inner pins 4 is held by the inner ring 61 in a rotatable state. Therefore, when the inner pins 4 revolve in the inner pin holes 32 , the inner pins 4 themselves are rotatable.
  • the inner pin 4 is held in a state capable of both revolving and autorotation in the inner pin hole 32 relative to the planetary gear 3 , and is held in a state in which only the holding hole 611 is capable of relative to the inner ring 61 .
  • the inner pins 4 can revolve and rotate in the inner pin hole 32 and rotate in the holding hole 611 at the same time. Therefore, when the inner pin 4 revolves in the inner pin hole 32 , the inner pin 4 is in a state capable of autorotating, and thus rolls with respect to the inner peripheral surface 321 of the inner pin hole 32 . In other words, since the inner pin 4 revolves in the inner pin hole 32 so as to roll on the inner peripheral surface 321 of the inner pin hole 32 , loss due to frictional resistance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 is less likely to occur.
  • each of the plurality of inner pins 4 is in direct contact with the inner peripheral surface 321 of the inner pin hole 32 . That is, in this basic structure, the inner pin 4 in the state where the inner roller is not mounted is inserted into the inner pin hole 32, and the inner pin 4 is in direct contact with the inner peripheral surface 321 of the inner pin hole 32.
  • the inner roller can be omitted and the diameter of the inner pin hole 32 can be kept relatively small, so that the planetary gear 3 can be reduced in size (especially, the diameter can be reduced), and the entire gear unit 1 can be easily reduced in size.
  • the size of the planetary gears 3 is fixed, compared with the above-described first related art, for example, the number (number) of inner pins 4 can be increased to smooth the transmission of rotation, or the inner pins 4 can be thickened to improve strength.
  • the number of parts can be suppressed to be reduced by the amount corresponding to the inner roller, which also contributes to cost reduction of the gear device 1 .
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6 . That is, as shown in FIG. 9 , at least a part of the inner pin 4 is arranged at the same position as the bearing member 6 in the direction parallel to the rotation axis Ax1 . In other words, at least a part of the inner pin 4 is located between both end surfaces of the bearing member 6 in the direction parallel to the rotation axis Ax1. In other words, at least a part of each of the plurality of inner pins 4 is arranged inside the outer ring 62 of the bearing member 6 .
  • the end portion on the output side of the rotation axis Ax1 in the inner pin 4 is at the same position as the bearing member 6 in the direction parallel to the rotation axis Ax1.
  • the end portion on the output side of the rotation shaft Ax1 of the inner pin 4 is inserted into the holding hole 611 formed in the inner ring 61 of the bearing member 6 , at least the end portion is arranged in the axial direction of the bearing member 6 with the bearing member 6 . same location.
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6 in the axial direction of the bearing member 6, whereby the size of the gear device 1 in the direction parallel to the rotation axis Ax1 can be suppressed to be small . That is, in the gear unit 1 of the present basic structure, the gear unit 1 in the direction parallel to the rotation axis Ax1 can be reduced in size compared to a configuration in which the bearing member 6 and the inner pin 4 are arranged in parallel (opposed) in the axial direction of the bearing member 6 . It is possible to contribute to further miniaturization (thinning) of the gear device 1 .
  • the opening surface of the holding hole 611 on the output side of the rotating shaft Ax1 is closed by, for example, an output shaft integrated with the inner ring 61 or the like. Accordingly, the movement of the inner pin 4 to the output side (the right side in FIG. 9 ) of the rotation shaft Ax1 is restricted by the output shaft or the like integrated with the inner ring 61 .
  • the following structure is employ
  • the lubricant holding space 17 into which the lubricant is injected exists between the inner ring 61 and the outer ring 62 , the lubricant in the lubricant holding space 17 is used to make the rotation of the inner pin 4 smoother. .
  • the inner ring 61 has: a plurality of holding holes 611 into which the plurality of inner pins 4 are respectively inserted; and a plurality of connecting passages 64 .
  • the plurality of connecting passages 64 connect the lubricant holding space 17 between the inner ring 61 and the outer ring 62 and the plurality of holding holes 611 .
  • the inner ring 61 is formed with a connecting passage 64 extending in the radial direction from a portion of the inner peripheral surface of the holding hole 611 , that is, a portion corresponding to the rolling elements 63 .
  • connection passage 64 is a hole penetrating between the bottom surface of the concave portion (groove) in which the rolling element 63 is accommodated in the opposing surface of the inner ring 61 and the outer ring 62 and the inner peripheral surface of the holding hole 611 .
  • the opening surface of the coupling passage 64 on the lubricant holding space 17 side is arranged at a position of the bearing member 6 facing (opposing) the rolling elements 63 .
  • the lubricant holding space 17 and the holding hole 611 are spatially connected via such a connection path 64 .
  • the lubricant in the lubricant holding space 17 is supplied to the holding hole 611 through the connecting passage 64 . That is, when the bearing member 6 operates and the rolling elements 63 rotate, the rolling elements 63 function as a pump, and the lubricant in the lubricant holding space 17 can be fed into the holding holes 611 through the connecting passage 64 .
  • the rolling elements 63 effectively function as a pump when the rolling elements 63 rotate. .
  • the lubricant is interposed between the inner peripheral surface of the holding hole 611 and the inner pin 4 , and the rotation of the inner pin 4 with respect to the inner ring 61 can be smoothed.
  • FIG. 10 is a cross-sectional view taken along line B1-B1 in FIG. 3 .
  • the hatching of members other than the support body 8 is omitted even in cross-section.
  • FIG. 10 only the internal gear 2 and the support body 8 are shown, and illustration of other members (inner pin 4 etc.) is abbreviate
  • illustration of the inner peripheral surface 221 of the gear main body 22 is abbreviate
  • the support body 8 is a member that supports the plurality of inner pins 4 . That is, the support body 8 bundles the plurality of inner pins 4 to disperse the load acting on the plurality of inner pins 4 when the rotation (rotation component) of the planetary gear 3 is transmitted to the inner ring 61 .
  • the plurality of support holes 82 into which the plurality of inner pins 4 are respectively inserted are provided.
  • the diameter of the support hole 82 is equal to the diameter of the holding hole 611 formed in the inner ring 61 . Therefore, the support body 8 supports the plurality of inner pins 4 in a state in which each of the plurality of inner pins 4 can rotate. That is, each of the plurality of inner pins 4 is held in a state capable of rotating with respect to both the inner ring 61 of the bearing member 6 and the support body 8 .
  • the plurality of inner pins 4 are positioned relative to the support body 8 in both the circumferential direction and the radial direction of the support body 8 . That is, the inner pin 4 is inserted into the support hole 82 of the support body 8, and the movement with respect to all directions in the plane orthogonal to the rotation axis Ax1 is restricted. Therefore, the inner pin 4 is positioned not only in the circumferential direction but also in the radial direction (radial direction) by the support body 8 .
  • the support body 8 has at least an annular shape whose outer peripheral surface 81 is a perfect circle in plan view.
  • the position of the support body 8 is regulated by bringing the outer peripheral surface 81 into contact with the plurality of pins 23 in the internally toothed gear 2 . Since the plurality of pins 23 constitute the internal teeth 21 of the internally toothed gear 2 , in other words, the position of the support body 8 is restricted by bringing the outer peripheral surface 81 into contact with the internal teeth 21 .
  • the diameter of the outer peripheral surface 81 of the support body 8 is the same as the diameter of a virtual circle (addition circle) passing through the tips of the internal teeth 21 of the internally toothed gear 2 .
  • the center of the support body 8 is positionally regulated so as to overlap with the center (rotation axis Ax1 ) of the internally toothed gear 2 .
  • the centering of the support body 8 is performed, and as a result, the centering of the plurality of inner pins 4 supported by the support body 8 is also performed by the plurality of pins 23 .
  • the plurality of inner pins 4 rotate (revolve) about the rotation axis Ax1 , thereby transmitting the rotation (rotation component) of the planetary gear 3 to the inner ring 61 . Therefore, the support body 8 supporting the plurality of inner pins 4 rotates about the rotation axis Ax1 together with the plurality of inner pins 4 and the inner ring 61 . At this time, since the support body 8 is centered by the plurality of pins 23, the support body 8 rotates smoothly while the center of the support body 8 is maintained on the rotation axis Ax1.
  • the support body 8 rotates in the state which the outer peripheral surface 81 of the several pins 23 contact
  • the support body 8 constitutes a needle bearing (needle roller bearing) together with the internally toothed gear 2, and rotates smoothly.
  • the outer peripheral surface 81 of the support body 8 rotates relative to the gear body 22 together with the plurality of inner pins 4 in a state of being tangent to the plurality of pins 23 . Therefore, if the gear body 22 of the internally toothed gear 2 is regarded as an "outer ring” and the support body 8 is regarded as an “inner ring”, the plurality of pins 23 interposed therebetween serve as “rolling elements (rollers)" " to function. In this way, the support body 8 constitutes a needle bearing together with the internally toothed gear 2 (the gear main body 22 and the plurality of pins 23 ), and can rotate smoothly.
  • the support body 8 sandwiches the plurality of pins 23 with the gear body 22 , the support body 8 also functions as a “stopper” that suppresses movement of the pins 23 in the direction in which the pins 23 are separated from the inner peripheral surface 221 of the gear body 22 .
  • the plurality of pins 23 are sandwiched between the outer peripheral surface 81 of the support body 8 and the inner peripheral surface 221 of the gear main body 22 , thereby suppressing the plurality of pins 23 from floating from the inner peripheral surface 221 of the gear main body 22 .
  • each of the plurality of pins 23 is in contact with the outer peripheral surface 81 of the support body 8 , so that the movement in the direction of separation from the gear body 22 is restricted.
  • the support body 8 is located on the opposite side to the inner ring 61 of the bearing member 6 with the planetary gear 3 interposed therebetween. That is, the support body 8, the planetary gears 3, and the inner ring 61 are arranged in parallel along the direction parallel to the rotation axis Ax1.
  • the support body 8 is positioned on the input side of the rotation shaft Ax1 when viewed from the planetary gear 3
  • the inner ring 61 is positioned on the output side of the rotary shaft Ax1 when viewed from the planetary gear 3 .
  • the support body 8 supports both ends of the inner pin 4 in the longitudinal direction (direction parallel to the rotation axis Ax1 ) together with the inner ring 61 , and the longitudinal center of the inner pin 4 is inserted through the inner pin hole 32 of the planetary gear 3 .
  • the gear device 1 of the present basic structure includes the bearing member 6 including the outer ring 62 and the inner ring 61 arranged inside the outer ring 62 , and the inner ring 61 is supported rotatably relative to the outer ring 62 .
  • the gear body 22 is fixed to the outer ring 62 .
  • the planetary gear 3 is located between the support body 8 and the inner ring 61 in the axial direction of the support body 8 .
  • the support body 8 and the inner ring 61 support the both ends of the longitudinal direction of the inner pin 4, the inclination of the inner pin 4 is difficult to generate
  • the bending force (bending moment load) acting on the plurality of inner pins 4 with respect to the rotation axis Ax1 is also easily received.
  • the support body 8 is sandwiched between the planetary gear 3 and the housing 10 in the direction parallel to the rotation axis Ax1 .
  • the movement of the support body 8 to the input side (left side in FIG. 9 ) of the rotation axis Ax1 is restricted by the casing 10 .
  • the movement to the input side (left side in FIG. 9 ) of the rotation shaft Ax1 is also restricted by the housing 10 about the inner pin 4 that penetrates the support hole 82 of the support body 8 and protrudes from the support body 8 to the input side of the rotation axis Ax1 .
  • the support body 8 and the inner ring 61 are also in contact with both ends of the plurality of pins 23 . That is, as shown in FIG. 9 , the support body 8 is in contact with one end (the end on the input side of the rotation axis Ax1 ) of the pin 23 in the longitudinal direction (direction parallel to the rotation axis Ax1 ). The inner ring 61 is in contact with the other end portion (the end portion on the output side of the rotational axis Ax1 ) of the pin 23 in the longitudinal direction (direction parallel to the rotational axis Ax1 ).
  • the support body 8 and the inner ring 61 are centered at both ends in the longitudinal direction of the pin 23 , the inclination of the inner pin 4 is less likely to occur.
  • the bending force (bending moment load) acting on the plurality of inner pins 4 with respect to the rotation axis Ax1 is also easily received.
  • the plurality of pins 23 have a length greater than or equal to the thickness of the support body 8 .
  • the support body 8 is received within the range of the tooth direction of the internal teeth 21 in the direction parallel to the rotation axis Ax1.
  • the outer peripheral surface 81 of the support body 8 comes into contact with the plurality of pins 23 over the entire length of the tooth direction (direction parallel to the rotation axis Ax1 ) of the inner teeth 21 . Therefore, it is difficult to cause a problem such as "one-sided wear" in which the outer peripheral surface 81 of the support body 8 is partially worn.
  • the outer peripheral surface 81 of the support body 8 has a smaller surface roughness than the one surface of the support body 8 adjacent to the outer peripheral surface 81 . That is, the surface roughness of the outer peripheral surface 81 is smaller than that of both end surfaces of the support body 8 in the axial direction (thickness direction).
  • the "surface roughness” mentioned in the embodiments of the present disclosure refers to the degree of roughness of the surface of an object. The smaller the value, the smaller (less) the unevenness of the surface, and the smoother the surface.
  • the surface roughness is the arithmetic mean roughness (Ra).
  • the surface roughness of the outer peripheral surface 81 is smaller than that of the support body 8 other than the outer peripheral surface 81 by processing such as grinding. In this structure, the rotation of the support body 8 becomes smoother.
  • the hardness of the outer peripheral surface 81 of the support body 8 is lower than the peripheral surface of the plurality of pins 23 and higher than the inner peripheral surface 221 of the gear body 22 .
  • the "hardness” mentioned in the embodiments of the present disclosure refers to the degree of hardness of an object, and the hardness of a metal is represented by, for example, the size of an indentation formed by pressing a steel ball with a certain pressure.
  • the hardness of a metal there are Rockwell hardness (HRC), Brinell hardness (HB), Vickers hardness (HV), Shore hardness (Hs), and the like.
  • the hardness of the outer peripheral surface 81 of the support body 8 is increased by processing such as carburizing and quenching.
  • processing such as carburizing and quenching.
  • abrasion powder etc. are hard to generate
  • the gear device 1 and the actuator 100 of this basic structure are suitable for a robot such as a horizontal articulated robot, that is, a so-called Selective Compliance Assembly Robot Arm (SCARA: Selective Compliance Assembly Robot Arm) type robot.
  • SCARA Selective Compliance Assembly Robot Arm
  • the application example of the gear device 1 and the actuator 100 of this basic structure is not limited to the above-mentioned articulated robot, for example, industrial robots other than the articulated robot, or non-industrial robots may be used.
  • industrial robots other than the horizontal articulated robot include a vertical articulated robot, a parallel link robot, and the like.
  • robots other than industrial use include a home robot, a nursing robot, a medical robot, and the like.
  • an internal meshing planetary gear unit 1A (hereinafter, also simply referred to as “gear unit 1A”) of the present embodiment differs from the gear unit 1 of the basic configuration mainly in the configuration around the bearing member 6A.
  • the same reference numerals are assigned to the same configuration as the basic configuration, and the description thereof will be appropriately omitted.
  • FIG. 11 is a schematic cross-sectional view of the gear unit 1A.
  • 12 is a side view of the gear device 1A as viewed from the output side (right side in FIG. 11 ) of the rotation shaft Ax1
  • FIG. 11 corresponds to a cross-sectional view taken along line C1 - C1 in FIG. 12
  • FIG. 13 is a cross-sectional view taken along line A1-A1 in FIG. 11
  • FIG. 14 is a cross-sectional view taken along line B1-B1 in FIG. 11 and a partial enlarged view thereof.
  • the members other than the eccentric shaft 7 are shown in cross-section, but the hatching is omitted.
  • the bearing member 6A includes an outer ring 62A, an inner ring 61A arranged inside the outer ring 62A, and a plurality of rolling elements 63 arranged between the outer ring 62A and the inner ring 61A.
  • the inner ring 61A is supported so as to be rotatable relative to the outer ring 62A around the rotation axis Ax1. This point is the same as the basic structure.
  • the inner ring 61A of the bearing member 6A is not constituted by a single member but includes both the first inner ring 601 and the second inner ring 602 parts. That is, as shown in FIG. 11 , in the gear device 1A, the inner race 61A includes the first inner race 601 and the second inner race 601 and the second inner race 601 and the second inner race 601 and the second inner races 601A and 602A (refer to FIG. 15 ) are opposed to each other in the direction parallel to the rotation axis Ax1. Inner ring 602 .
  • the outer ring 62A of the bearing member 6A is not constituted separately from the gear main body 22 of the internally toothed gear 2, but is formed with the gear main body 22 Constructed seamlessly. That is, as shown in FIG. 11 , in the gear device 1A, the outer ring 62A and the gear main body 22 are continuously provided seamlessly in the direction parallel to the rotation axis Ax1 (the tooth direction of the internal teeth 21 ).
  • the study of the inner ring 61A of the bearing member 6A and the study of the outer ring 62A of the bearing member 6A are newly adopted.
  • the drilling of the inner ring 61A includes that the inner ring 61A has a first inner ring 601 and a second inner ring 602
  • the drilling of the outer ring 62A includes that the outer ring 62 and the gear body 22 are seamlessly and continuously arranged.
  • gear device 1A of the present embodiment in addition to the above-mentioned main differences (the drilling of the inner ring 61A and the drilling of the outer ring 62A), as described below, there are many differences from the basic structure.
  • the gear device 1A of the present embodiment is used so that the rotation corresponding to the rotation component of the planetary gear 3 is taken out as the rotation of the output shaft or the like integrated with the outer ring 62A of the bearing member 6A. That is, in the basic structure, the relative rotation between the planetary gears 3 and the inner gear 2 is extracted as the rotation component of the planetary gears 3 from the inner ring 61 coupled to the planetary gears 3 by the plurality of inner pins 4 . On the other hand, in the present embodiment, the relative rotation between the planetary gear 3 and the internal gear 2 is taken out from the outer ring 62A integrated with the gear body 22 of the internal gear 2 .
  • the gear device 1A in the gear device 1A, the inner ring 61A holding the plurality of inner pins 4 is fixed to a fixed member (the hub member 104 and the like to be described later), and the outer ring 62A is fixed to the housing 10 serving as a rotating member. status is used. That is, since the planetary gear 3 is connected to the fixed member by the plurality of inner pins 4 and the gear main body 22 is fixed to the rotating member, the relative rotation between the planetary gear 3 and the internal gear 2 starts from the internal gear 2 (gear main body 22 ) take out.
  • the gear device 1A is configured to take out the rotational force of the gear main body 22 as an output when the plurality of inner pins 4 rotate relative to the gear main body 22 .
  • the gear device 1A in which the rotational force of the gear main body 22 is taken out as an output in this way is used as an example for the wheel device W1 (see FIG. 17 ).
  • the rotation member (housing 10 ) functions as the wheel body 102 (see FIG. 17 ), so that the wheel body 102 can be rotated with the relative rotation of the internal gear 2 and the planetary gear 3 .
  • the gear device 1A for the wheel device W1 by using the gear device 1A for the wheel device W1 , the wheel can be driven so that the wheel body 102 rolls on the running surface by using the rotational output when the plurality of inner pins 4 rotate relative to the gear body 22 . main body 102 .
  • the gear device 1A when used as the wheel device W1 , the rotational force as an input is applied to the eccentric shaft 7 , thereby taking out the rotational force as an output from the rotating member as the wheel main body 102 . That is, the gear device 1A operates with the rotation of the eccentric shaft 7 as the input rotation and the rotation of the rotating member to which the gear body 22 is fixed as the output rotation. As a result, in the gear device 1A, the output rotation reduced by a relatively high reduction ratio with respect to the input rotation can be obtained as the rotation of the wheel main body 102.
  • the gear device 1A of the present embodiment includes a plurality of planetary gears 3 .
  • the gear device 1A includes two planetary gears 3 , a first planetary gear 301 and a second planetary gear 302 .
  • the two planetary gears 3 are arranged to face each other in a direction parallel to the rotation axis Ax1. That is, the planetary gear 3 includes a first planetary gear 301 and a second planetary gear 302 that face each other in a direction parallel to the rotation axis Ax1.
  • the two planetary gears 3 are arranged around the rotation axis Ax1 with a phase difference of 180 degrees.
  • the center C1 of the first planetary gear 301 on the input side (left side in FIG. 11 ) of the rotation axis Ax1 is located in the direction relative to the rotation axis Ax1 A state in which the upper part of the figure is deviated (offset).
  • the center C2 of the second planetary gear 302 on the output side (right side in FIG.
  • the eccentric shaft 7 has two eccentric parts 72 with respect to one axial center part 71 .
  • the centers (central axes) of the two eccentric portions 72 coincide with the centers C1 and C2 deviated from the rotation axis Ax1 , respectively.
  • the shapes of the first planetary gears 301 and the second planetary gears 302 themselves are the same.
  • the eccentric body bearing 5 in a state of being attached to the eccentric portion 72 centered on the center C1 is accommodated in the opening portion 33 of the first planetary gear 301 .
  • the opening portion 33 of the second planetary gear 302 accommodates the eccentric body bearing 5 in a state of being attached to the eccentric portion 72 with the center C2 as the center.
  • the distance ⁇ L1 between the rotation axis Ax1 and the center C1 becomes the eccentric amount of the first planetary gear 301 with respect to the rotation axis Ax1
  • the distance ⁇ L2 between the rotation axis Ax1 and the center C2 becomes the second planetary gear 302 with respect to the rotation axis Eccentricity of Ax1.
  • the eccentricity amount ⁇ L1 and the eccentricity amount ⁇ L2 have the same absolute values although the directions viewed from the rotation axis Ax1 are opposite.
  • the shaft center portion 71 rotates (rotates) around the rotation axis Ax1, whereby the first planetary gear 301 and the second planetary gear 302 are rotated around the rotation axis Ax1 with a phase difference of 180 degrees around the rotation axis Ax1. Rotation (eccentric movement).
  • the eccentric body bearing 5 is constituted by a roller bearing instead of the deep groove ball bearing described in the basic structure. That is, in the gear device 1A of the present embodiment, the eccentric body bearing 5 uses cylindrical (cylindrical) rollers as the rolling elements 53 . In addition, in this embodiment, the eccentric inner ring 51 (refer to FIG. 3 ) and the eccentric outer ring 52 (refer to FIG. 3 ) are omitted.
  • the inner peripheral surface of the planetary gear 3 (the opening portion 33 of the) is the rolling surface of the plurality of rolling elements 53 instead of the eccentric outer ring 52
  • the outer peripheral surface of the eccentric portion 72 is the rolling surface of the plurality of rolling elements 53 instead of the eccentric inner ring Circle 51.
  • the eccentric body bearing 5 includes a cage (retainer) 54 , and each of the plurality of rolling elements 53 is held by the cage 54 in a state capable of autorotating.
  • the cage 54 holds the plurality of rolling elements 53 at equal intervals in the circumferential direction of the eccentric portion 72 .
  • the cage 54 is not fixed with respect to the planetary gear 3 and the eccentric shaft 7 , and is rotatable with respect to the planetary gear 3 and the eccentric shaft 7 , respectively.
  • the plurality of rolling elements 53 held by the holder 54 move in the circumferential direction of the eccentric portion 72 in accordance with the rotation of the holder 54 .
  • the housing 10 is seamlessly integrated with the gear body 22 of the internally toothed gear 2 and the outer ring 62A of the bearing member 6A. That is, in the basic structure, the gear body 22 of the internally toothed gear 2 is used in a state of being fixed to the housing 10 together with the outer ring 62 of the bearing member 6 .
  • the outer ring 62A which is provided seamlessly and continuously with the gear main body 22 in the direction parallel to the rotation axis Ax1, is further connected to the housing 10 serving as a rotating member by studying the above-mentioned outer ring 62A. Seamless continuous setup.
  • the casing 10 has a cylindrical shape, and constitutes the outer casing of the gear device 1A.
  • the central axis of the cylindrical casing 10 is configured to coincide with the rotating axis Ax1 . That is, at least the outer peripheral surface of the casing 10 is a perfect circle with the rotation axis Ax1 as the center in a plan view (viewed from one of the rotation axis Ax1 directions).
  • the case 10 has a main body portion 18 and a cover 19 .
  • the main body portion 18 is a cylindrical member whose both end surfaces in the direction of the rotation axis Ax1 are open.
  • the cover 19 is a disk-shaped member that is attached to the end face on the input side (left side in FIG. 11 ) of the rotation shaft Ax1 in the main body 18 and closes the opening surface of the main body 18 on the input side of the rotation shaft Ax1 .
  • the gear main body 22 of the internally toothed gear 2 and the outer ring 62A of the bearing member 6A are seamlessly integrated with the main body portion 18 in the housing 10 .
  • the gear main body 22 and the outer ring 62A are handled as one member (the main body portion 18 ). Therefore, the inner peripheral surface of the main body portion 18 includes the inner peripheral surface 221 (refer to FIG. 14 ) of the gear body 22 and the inner peripheral surface 620 (refer to FIG. 13 ) of the outer ring 62A.
  • the present embodiment and the The basic structure is also appropriately different.
  • 18 inner pin holes 32 and 18 inner pins 4 are each provided in the basic structure, but in the present embodiment, 12 each are provided as an example.
  • the inner ring 61A of the bearing member 6A is configured to include two parts, the first inner ring 601 and the second inner ring 602 , which face each other in the direction parallel to the rotation axis Ax1 .
  • the first inner ring 601 and the second inner ring 602 are combined in a state in which the opposing surfaces 601A and 602A are in contact with each other.
  • the inner ring 61A is divided into two parts, the first inner ring 601 and the second inner ring 602 , which are juxtaposed in the direction parallel to the rotation axis Ax1 .
  • Both the first inner ring 601 and the second inner ring 602 are annular members. Both the first inner ring 601 and the second inner ring 602 have an annular shape that is a perfect circle in a plan view. In the first inner ring 601 and the second inner ring 602, the outer diameter (Refer to FIG. 15 ) The same is true, and the inner diameter is also substantially the same. In the present embodiment, as an example, the second inner ring 602 is larger than the first inner ring 601 with respect to the dimension in the direction parallel to the rotation axis Ax1, but it is not limited to this dimensional relationship.
  • Both the first inner ring 601 and the second inner ring 602 are one turn smaller than the outer ring 62A, and are arranged inside the outer ring 62A.
  • the inner diameter of the outer ring 62A (refer to FIG. 15 ) than the outer diameter of the first inner ring 601 and the second inner ring 602 Since it is large, a gap is generated between the inner peripheral surface 620 of the outer ring 62A and the outer peripheral surfaces of the first inner ring 601 and the second inner ring 602 .
  • first inner ring 601 and the second inner ring 602 are arranged such that the first inner ring 601 is on the side of the planetary gear 3 and the second inner ring 602 is opposite to the planetary gear 3 in the direction parallel to the rotation axis Ax1 side.
  • first inner ring 601 and the second inner ring 602 are arranged such that the first inner ring 601 is the input side of the rotation axis Ax1 (the left side in FIG. 11 ), and the second inner ring 602 is the output side of the rotation axis Ax1 ( FIG. 11 ). 11 to the right).
  • the opposing surface 601A of the first inner ring 601 facing the second inner ring 602 is constituted by the surface of the first inner ring 601 facing the output side (right side in FIG. 11 ) of the rotation axis Ax1 .
  • the opposing surface 602A of the second inner ring 602 opposed to the first inner ring 601 is constituted by the surface of the second inner ring 602 facing the input side (left side in FIG. 11 ) of the rotation axis Ax1 .
  • the first inner ring 601 and the second inner ring 602 are combined with each other so that the opposing surfaces 601A and 602A of them are in contact with each other to constitute the inner ring 61A.
  • the first inner ring 601 and the second inner ring 602 are combined as described above, and are combined by a plurality of positioning pins 65 and a plurality of bolts 66 as shown in FIG. 12 .
  • the plurality of positioning pins 65 are press-fitted from the first inner ring 601 to the second inner ring 602 into a plurality of holes penetrating the inner ring 61A in the direction parallel to the rotation axis Ax1.
  • a plurality of bolts 66 are screwed to the first inner ring 601 through the second inner ring 602 .
  • the relative positions of the first inner ring 601 and the second inner ring 602 in the plane orthogonal to the rotation axis Ax1 are positioned by the plurality of positioning pins 65 , and are coupled by the plurality of bolts 66 .
  • the plurality of rolling elements 63 are located on the dividing surface of the first inner ring 601 and the second inner ring 602 of the inner ring 61A.
  • the opposing surface 601A of the first inner ring 601 facing the second inner ring 602 is the dividing surface of the first inner ring 601 and the second inner ring 602 , so the plurality of rolling elements 63 are located on the first inner ring 601 including the first inner ring 602 .
  • the bearing member 6A is a crossed roller bearing that receives a radial load, a thrust direction load (direction along the rotation axis Ax1 ), and a bending force (bending moment load) with respect to the rotation axis Ax1 . Therefore, each of the plurality of rolling elements 63 of the bearing member 6 is constituted by a cylindrical roller having an inclination of 45 degrees with respect to a plane orthogonal to the rotation axis Ax1. Such a plurality of rolling elements 63 are located on the same plane of the opposite surface 601A of the first inner ring 601 that is opposite to the second inner ring 602 .
  • the respective centers of the plurality of rolling elements 63 in the direction parallel to the rotation axis Ax1 are located on the same plane as the opposing surface 601A of the first inner ring 601 facing the second inner ring 602 .
  • the inner ring 61A is divided into the first inner ring 601 and the second inner ring 602 using a plane including the centers of the plurality of rolling elements 63 in the direction parallel to the rotation axis Ax1 as a dividing plane.
  • the oil seal 15 fills the gap between the second inner ring 602 and the eccentric shaft 7 (axial center portion 71 ).
  • the oil seal 16 fills the gap between the second inner ring 602 and the outer ring 62 .
  • the space sealed by the plurality of oil seals 14 , 15 , and 16 constitutes the lubricant holding space 17 (see FIG. 11 ) similarly to the basic structure.
  • the inner ring 61A is divided into two parts, the first inner ring 601 and the second inner ring 602 , so that even a small gap is generated between the first inner ring 601 and the second inner ring 602 .
  • the lubricant can easily circulate in the lubricant holding space 17 through the gap.
  • the gap between the first inner ring 601 and the second inner ring 602 is small, the lubricant in the lubricant holding space 17 is expected to expand through the gap due to, for example, a capillary phenomenon.
  • the lubricant tends to spread throughout the lubricant holding space even during long-term use of the gear device 1A, for example. 17 as a whole, and it is difficult to cause problems such as a decrease in transmission efficiency in the gear device 1A.
  • the bearing member 6A can be easily assembled without greatly complicating the processing of the inner ring 61A.
  • the size of the inner ring 61 can be kept relatively small, and a relatively compact bearing member 6A can be realized as a crossed roller bearing.
  • the plurality of inner pins 4 connect the planetary gears 3 and the inner ring 61A of the bearing member 6A. Specifically, one end portion in the longitudinal direction of the inner pin 4 (the end portion on the input side of the rotation axis Ax1 ) is inserted into the inner pin hole 32 of the planetary gear 3 (the first planetary gear 301 and the second planetary gear 302 ), and the length of the inner pin 4 is The other end portion in the direction (the end portion on the output side of the rotation axis Ax1 ) is inserted into the holding hole 611 of the inner ring 61A.
  • the inner pin 4 can be inserted into the holding hole 611 although the revolving in the holding hole 611 is prohibited in a state of being inserted into the holding hole 611 of the bearing member 6A. of rotation. That is, although the inner pin 4 is inserted into the holding hole 611 , since it is not press-fitted into the holding hole 611 , it can rotate in the holding hole 611 .
  • each of the plurality of inner pins 4 is held in the inner ring 61A in a rotatable state. Therefore, when the inner pins 4 revolve in the inner pin holes 32 , the inner pins 4 themselves are rotatable.
  • each of the plurality of holding holes 611 is configured not to penetrate the entire inner ring 61A but to penetrate only the first inner ring 601 of the inner ring 61A. That is, the first inner ring 601 has the plurality of holding holes 611 through which the plurality of inner pins 4 respectively penetrate in the direction parallel to the rotation axis Ax1. Then, the inner pin 4 is held by the inner ring 61A by inserting the other end portion in the longitudinal direction (the end portion on the output side of the rotation axis Ax1 ) into the holding hole 611 .
  • the holding hole 611 is not provided in the second inner ring 602 . Therefore, the respective end faces of the plurality of inner pins 4 are in contact with the opposite face 602A of the second inner ring 602 which is opposite to the first inner ring 601 . That is, the end surface of the inner pin 4 on the opposite side to the planetary gear 3 (the output side of the rotation axis Ax1 ) in the longitudinal direction is in contact with the surface (opposing surface 602A) of the second inner ring 602 .
  • the end surface in the longitudinal direction of the inner pin 4 may be in light contact with the opposing surface 602A of the second inner ring 602 so as not to interfere with the rotation of the inner pin 4, or may be separated. Therefore, the movement of the inner pin 4 to the output side of the rotation shaft Ax1 is restricted by the second inner ring 602, and the lubricant in the lubricant holding space 17 can be suppressed from leaking through the holding hole 611.
  • the holding hole 611 is a hole into which the inner pin 4 is loosely fitted, and the inner pin 4 is inserted into the holding hole 611 in a state in which a margin of space (gap) is secured between the inner pin 4 and the inner peripheral surface of the holding hole 611 .
  • the inner pin 4 only needs to be able to rotate within the holding hole 611 , so the clearance between the inner peripheral surface of the holding hole 611 and the inner pin 4 is smaller than the clearance between the inner peripheral surface 321 of the inner pin hole 32 and the inner pin 4 .
  • it is not necessary to ensure a gap as a cavity between the inner peripheral surface of the holding hole 611 and the inner pin 4 and for example, a fluid such as a liquid may be filled into the gap.
  • lubricant is filled into the gap between the inner peripheral surface of the holding hole 611 and the inner pin 4 . Therefore, the rotation of the inner pin 4 in the holding hole 611 is smoothed by the lubricant.
  • the gear device 1A of the present embodiment further includes a circulation path RL1 for the lubricant.
  • the flow of the lubricant through the circulation path RL1 is schematically indicated by the dashed arrows.
  • the circulation path RL1 allows the lubricant to pass through at least the gap between the first inner ring 601 and the second inner ring 602 , the space for accommodating the rolling elements 63 of the plurality of rolling elements 63 , and the holding holes 611 of the plurality of holding holes 611 .
  • Circular path (circular path).
  • the circulation path RL1 includes a gap between the first inner ring 601 and the second inner ring 602, a space for accommodating the rolling elements 63, and a holding hole 611, and is formed in an annular shape as shown in FIG. 16 .
  • the lubricant injected into the space for accommodating the rolling elements 63 passes through the gap between the first inner ring 601 and the second inner ring 602, and between the inner peripheral surface of the holding hole 611 (and the inner pin 4) along the circulation path RL1. clearance), and it is easy to recirculate to the space where the rolling elements 63 are accommodated.
  • the direction in which the lubricant moves through the circulation path RL1 is not limited to the direction shown by the arrow in FIG. 16 , and may be the opposite direction.
  • the gear device 1A of this embodiment satisfies the following conditions.
  • each of the inner pins 4 of the plurality of inner pins 4 and the first inner ring 601 have the same degree of surface hardness.
  • the difference between the surface hardness of each of the plurality of inner pins 4 and the surface hardness of the first inner ring 601 is equal to or less than HRC3. That is, the surface hardness of the inner pin 4 is set within a range of ⁇ 3 in Rockwell hardness (HRC) based on the surface hardness of the first inner ring 601 .
  • HRC Rockwell hardness
  • the difference between the surface hardness of the inner pin 4 and the surface hardness of the first inner ring 601 is preferably HRC2 or less, and more preferably HRC1 or less.
  • the “surface hardness of the first inner ring 601 ” as used herein refers to at least the hardness of the inner peripheral surface of the holding hole 611 in the first inner ring 601 . Since the first inner ring 601 holds the inner pin 4 in a state of being able to rotate in the holding hole 611 , as in the present embodiment, by setting the surface hardness of the inner pin 4 and the first inner ring 601 to be approximately the same (the difference of HRC3 or less), The effect of suppressing wear of the inner pin 4 and the first inner ring 601 is expected. As a result, even by the rotation of the inner pin 4 in the holding hole 611 , wear powder and the like are hardly generated, and the smooth rotation of the inner pin 4 is easily maintained for a long period of time.
  • the surface hardness of each of the some inner pins 4 is about HRC60. More strictly, the respective surface hardnesses of the plurality of inner pins 4 are in the range of HRC60 ⁇ 3. In the present embodiment, since the surface hardness of the inner pin 4 and the first inner ring 601 are approximately the same (the difference of HRC3 or less), the surface hardness of the first inner ring 601 is within the range of HRC60 ⁇ 6.
  • the surface hardness of the inner pin 4 is preferably in the range of HRC60 ⁇ 2, and more preferably in the range of HRC60 ⁇ 1.
  • the second inner ring 602 also adopts the same surface hardness as that of the first inner ring 601 (and the inner pin 4 ). Specifically, the difference between the surface hardness of the second inner ring 602 and the surface hardness of the first inner ring 601 is HRC3 or less.
  • As means for increasing the hardness (hardening) of the metal member there are, for example, alloying, heat treatment, and the like.
  • the outer ring 62A of the bearing member 6A is provided seamlessly and continuously with the gear body 22 in the direction parallel to the rotation axis Ax1 (the tooth direction of the internal teeth 21 ).
  • the "seamless" in the embodiments of the present disclosure refers to a structure in which a plurality of parts (parts) are connected without seams, and refers to a state in which these parts (parts) cannot be separated without damage. That is, in the present embodiment, the outer ring 62A and the gear main body 22 are not connected to the gear main body 22 by means of, for example, fasteners (bolts, etc.) or adhesive, instead of the outer ring 62A prepared as a separate member. The integration takes place in a seam-continuous manner.
  • the outer ring 62A and the gear main body 22 are integrally formed by machining or the like on one base material made of a metal block, and the seamless continuous outer ring 62A and the gear main body 22 are embodied.
  • the outer ring 62A and the gear main body 22 are integrally formed by pouring a base material made of molten metal into a mold for forming, thereby embodying the seamless continuous outer ring 62A and the gear main body 22 .
  • the outer ring 62A and the gear main body 22 are integrally formed, for example, by processing one base material, so as to be seamlessly continuous with the gear main body 22 in the direction parallel to the rotation axis Ax1 Set the outer ring 62A.
  • the manufacturing method of the gear device 1A includes a process of integrally forming the outer ring 62A and the gear body 22 by processing one base material.
  • the gear device 1A of the present embodiment since the outer ring 62A and the gear body 22 are continuously arranged seamlessly in the direction parallel to the rotation axis Ax1, the centering of the internally toothed gear 2 and the bearing member 6A can be easily achieved. accuracy is improved. That is, the center of the gear body 22 of the internally toothed gear 2 and the center of the outer ring 62A of the bearing member 6A are easily maintained on the rotation axis Ax1 with high accuracy. As a result, in the gear device 1A, there is an advantage that the vibration caused by the poor centering is less likely to occur, and the failure such as the reduction of the transmission efficiency is less likely to occur.
  • Both the gear body 22 and the outer ring 62A have an annular shape that is a perfect circle in a plan view.
  • the gear body 22 and the outer ring 62A are seamlessly integrated with the body portion 18 in the housing 10 .
  • a part of the main body portion 18 of the housing 10 functions as the gear main body 22 and the outer ring 62A. Therefore, as shown in FIG. 15 , the outer diameters of the gear body 22 and the outer ring 62A are the same.
  • the inner diameter of the gear body 22 is different from that of the outer ring 62A.
  • a plurality of grooves are formed over the entire area in the circumferential direction.
  • the plurality of grooves are the plurality of pin holding grooves 223 serving as the holding structure for the plurality of pins 23, respectively.
  • the holding structure of the plurality of pins 23 includes the plurality of pin holding grooves 223 formed on the inner peripheral surface 221 of the gear body 22 . All of the plurality of pin holding grooves 223 have the same shape and are provided at equal intervals.
  • the plurality of pin holding grooves 223 are formed in parallel with the rotation axis Ax1 and over the entire width of the gear body 22 .
  • the plurality of pin holding grooves 223 are formed only in the portion of the body portion 18 corresponding to the gear body 22 (see FIG. 11 ).
  • the plurality of pins 23 are assembled to the gear main body 22 (the main body portion 18 ) so that the plurality of pins 23 are fitted into the plurality of pin holding grooves 223 .
  • Each of the plurality of pins 23 is held in the pin holding groove 223 so as to be able to rotate, and movement in the circumferential direction of the gear body 22 is restricted by the pin holding groove 223 .
  • the inner diameter of the gear body 22 becomes the largest at the bottom of the pin holding groove 223 and becomes smallest outside the pin holding groove 223 .
  • the diameter of the virtual circle VC1 that will pass through the bottom of the plurality of pin holding grooves 223 That is, the maximum value of the inner diameter of the gear body 22 is defined as the inner diameter of the gear body 22 .
  • the inner diameter of the gear body 22 and the inner diameter of the outer ring 62A of the bearing member 6A different.
  • the inner diameter of the outer ring 62A The diameter of the virtual circle VC1 passing through the bottoms of the plurality of pin holding grooves 223 in which the plurality of pins 23 are held in the inner peripheral surface 221 of the gear body 22 different.
  • the inner diameter of the outer ring 62A is than the diameter of the virtual circle VC1 Big That is, the diameter of the virtual circle VC1 which is the inner diameter (maximum value) of the gear body 22 than the inner diameter of the outer ring 62A Small.
  • a level difference in height D1 is generated between the bottoms of the plurality of pin holding grooves 223 in the inner peripheral surface 221 of the gear body 22 and the outer ring 62A on the inner peripheral surface of the main body portion 18 , as shown in FIG. 16 . .
  • the height D1 of the height difference is preferably, for example, the diameter of the pin 23 (refer to Figure 14) 1/12 more than two tenths the following.
  • the diameter of the pin 23 When it is about 2.5 mm, the height D1 of the height difference is preferably 0.2 mm or more and 0.5 mm or less. This level difference can prevent the pin 23 held by the pin holding groove 223 from interfering with the inner peripheral surface 620 of the outer ring 62A.
  • the outer diameter of the inner ring 61A (the first inner ring 601 and the second inner ring 602 ) than the diameter of the virtual circle VC1 smaller. That is, the diameter of the virtual circle VC1 than the outer diameter of the inner ring 61A large, and the inner diameter of the outer ring 62A than the diameter of the virtual circle VC1 big.
  • the diameter of the virtual circle VC1 is the outer diameter of the inner ring 61A with the inner diameter of the outer ring 62A value between
  • a holding recess 67 is arranged between the inner peripheral surface 620 of the outer ring 62A and the inner peripheral surface 221 of the gear body 22 .
  • the holding recessed portion 67 is constituted by a groove provided over the entire circumference of the outer ring 62A in the circumferential direction.
  • the holding concave portion 67 is formed in a size and shape that can hold the lubricant, for example, by surface tension. That is, the holding recessed portion 67 functions as an "oil pool" for storing the lubricant (lubricating oil).
  • the gear body 22 and the outer ring 62A are arranged so that the gear body 22 is the input side of the rotation axis Ax1 (the left side in FIG. 16 ), and the outer ring 62A is the output side of the rotation axis Ax1 (the right side in FIG. 16 ) ). Therefore, the inner peripheral surface 221 of the gear main body 22 , the holding recess 67 , and the inner peripheral surface 620 of the outer ring 62A follow the inner peripheral surface 221 of the gear main body 22 , the holding recess 67 , and the inner peripheral surface 620 of the outer ring 62A from the input side of the rotation axis Ax1 The order of the faces 620 is arranged.
  • the cross-sectional shape of the holding recess 67 orthogonal to the circumferential direction of the outer ring 62A is a rectangular shape. Both the depth D2 of the holding recess 67 (from the inner peripheral surface 620 of the outer ring 62A) and the width D3 of the holding recess 67 are larger than the height D1 of the height difference. The depth D2 and the width D3 of the holding recess 67 are preferably the diameters of the pins 23 , respectively. one-tenth of more than 2 times the following.
  • the diameter of the pin 23 When it is about 2.5 mm, the depth D2 and the width D3 of the holding recess 67 are preferably 0.25 mm or more and 5.0 mm or less.
  • the depth D2 of the holding recess 67 is larger than the width D3 of the holding recess 67 , but the present invention is not limited to this example, and the depth D2 of the holding recess 67 may be equal to or less than the width D3 .
  • the cross-sectional shape of the holding recessed portion 67 is not limited to a rectangular shape, and may be a semicircular shape, a triangular shape, or other polygonal shapes.
  • the gear device 1A of the present embodiment further includes a lubricant that is connected from the holding recess 67 to at least one of the inner pins 4 of the plurality of inner pins 4 , the pins 23 of the plurality of pins 23 , and the plurality of rolling elements 63 . path of. That is, the holding concave portion 67 serving as an “oil deposit” is connected to at least one of the inner pins 4 of the plurality of inner pins 4 , the pins 23 of the plurality of pins 23 , and the plurality of rolling elements 63 by the passage of the lubricant.
  • the lubricant held in the holding recess 67 is supplied to at least one of the inner pins 4 of the plurality of inner pins 4 , the pins 23 of the plurality of pins 23 , and the plurality of rolling elements 63 so that the inner pins 4 and 23 And the movement of at least one of the rolling elements 63 is smooth.
  • the holding concave portion 67 is located on the lubricant circulation path RL1, whereby the lubricant in the holding concave portion 67 is supplied to the inner pin 4, the pin 23 and the inner pin 4, the pin 23 and the At least one of the rolling bodies 63 .
  • this embodiment as shown in FIG.
  • the lubricant held in the holding recess 67 can be supplied to the inner pin 4 , the pin 23 and the rolling element 63 . All the rolling elements 63 .
  • the rolling elements 63 are located on the circulation path RL1. Therefore, when the bearing member 6A operates and the rolling elements 63 rotate, the rolling elements 63 function as a pump, and the lubricant in the lubricant holding space 17 can be actively circulated through the circulation passage RL1. In particular, since the dividing surfaces of the first inner ring 601 and the second inner ring 602 face (oppose) the rolling elements 63, the rolling elements 63 effectively function as pumps when the rolling elements 63 rotate.
  • the lubricant in the lubricant holding space 17 can be easily circulated, and even when the gear device 1A is used for a long time, the lubricant easily spreads over the entire lubricant holding space 17, and it is difficult to generate the transmission efficiency in the gear device 1A. decline and other adverse situations.
  • the gear device 1A of the present embodiment constitutes a wheel device W1 together with the wheel main body 102 .
  • the wheel device W1 of the present embodiment includes the gear device 1A 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 portion 18 and the cover 19 serving as the “rotating member” in the casing 10 constituting the outer casing of the gear device 1 constitute the wheel main body 102 .
  • the gear device 1A operates the rotation of the eccentric shaft 7 as the input rotation and the rotation of the rotating member (the main body portion 18 and the like) to which the gear main body 22 is fixed as the output rotation.
  • the wheel body 102 rotates and rolls on the traveling surface.
  • a tire 103 made of rubber, for example, is mounted on the outer peripheral surface of the body portion 18 serving as the contact surface of the wheel body 102 that is in contact with the running surface, that is, the ground contact surface.
  • the thus configured wheel device W1 is used in a state where the inner ring 61A is fixed to the hub member 104 as a fixing member. Thereby, when the eccentric shaft 7 rotates, the rotating member (wheel main body 102 ) rotates relatively with respect to the fixed member (hub member 104 ), whereby the wheel main body 102 rotates.
  • the wheel device W1 fixes the inner race 61A (the first inner race 601 and the second inner race 602 ) to the hub member 104 with the plurality of bolts 66 .
  • the second inner ring 602 of the inner ring 61A is preferably fixed to the hub member 104 or the like.
  • the gear unit 1A when used for the wheel unit W1, basically, the gear unit 1A is used with the rotation axis Ax1 along the horizontal plane. Therefore, the lubricant circulating through the circulation passage RL1 (see FIG. 16 ) is also easily supplied to the periphery of the eccentric shaft 7 such as the eccentric body bearing 5 (the rolling elements 53 ) and the second bearing 92 . That is, a part of the lubricant circulating through the circulation path RL1 passes through the gap between the planetary gear 3 (the second planetary gear 302 ) and the first inner ring 601 under the action of gravity, and is easily directed to the eccentric body bearing 5 and the second bearing. 92 and other supplies.
  • the lubricant can be supplied to the periphery of the eccentric shaft 7 through the circulation path RL1, and the smooth rotation of the eccentric shaft 7 can be easily maintained.
  • the wheel device W1 using the gear device 1A is applied to vehicles such as an automated guided vehicle (AGV), for example. That is, the wheel device W1 is attached to the hub member 104 provided on the body of the vehicle, and the wheel body 102 rotates to roll on the running surface, whereby the vehicle runs on a flat running surface including a bottom surface.
  • AGV automated guided vehicle
  • a plurality of (for example, four) gear units 1A are mounted on the vehicle body, and the eccentric shafts 7 of each gear unit 1A are driven by different drive sources, thereby adopting a "hub motor” layout.
  • the drive source causes the planetary gears 3 to oscillate by rotating the eccentric shaft 7 of the wheel device W1 about the rotation axis Ax1.
  • the rotation (input rotation) generated by the drive source is decelerated at a relatively high reduction ratio in the gear device 1A, and the wheel body 102 is rotated at a relatively high torque.
  • the outer peripheral surface 680 of the outer ring 62A constitutes a pressure receiving surface that receives a larger stress than the outer peripheral surface 224 of the gear body 22 .
  • a larger stress than the outer peripheral surface 224 of the gear body 22 acts on the outer peripheral surface 680 (pressure receiving surface) of the outer ring 62A from the outside.
  • the outer peripheral surface 680 of the outer ring 62A is preferably configured so that a larger stress acts than the outer peripheral surface 224 of the gear body 22 .
  • the gear main body 22 has a relatively large gap with the planetary gears 3 so that the planetary gears 3 can be revolved (oscillated) inside the gear main body 22 .
  • the outer ring 62A only needs to be able to rotate the inner ring 61A on the inner side thereof, and there is a relatively small gap between the outer ring 62A and the inner ring 61A. That is, the outer ring 62A has a solid structure that is close to the inner side clogging as compared with the gear body 22, and therefore has high rigidity against external forces acting in the radial direction. Therefore, by using the outer peripheral surface 680 of the outer ring 62A as the pressure receiving surface, the outer ring 62A side with high rigidity can receive stress from the outside, thereby improving the resistance to stress of the gear device 1A as a whole.
  • the stress from the outer casing fitted to the outer periphery of the outer ring 62A acts on the pressure receiving surface (the outer peripheral surface 680 of the outer ring 62A).
  • the tire 103 is an example of an exterior body fitted to the outer periphery of the outer ring 62A. That is, when the tire 103 is fitted to the outer periphery of the main body 18 , the stress (fitting pressure) acting on the outer ring 62A from the tire 103 on the main body 18 is larger than that in the gear main body 22 .
  • the outer diameter of the outer ring 62A of the main body 18 is larger than that of the gear body 22 by providing the spacer 68 on the outer peripheral surface of the main body 18 at a portion corresponding to the outer ring 62A.
  • the stress from the tire 103 is larger on the side of the outer ring 62A than on the side of the gear body 22 .
  • the spacer 68 is provided.
  • the outer diameter of the gear body 22 can be reduced, or the inner diameter of the outer casing (tire 103 or the like) on the outer ring 62A side is smaller than that on the gear body 22 side. can achieve the same effect.
  • the gear device 1A may be configured such that even when the stress from the outer casing is the same at the outer peripheral surface 680 of the outer ring 62A and the outer peripheral surface 224 of the gear body 22 , the reaction force from the ground surface such as the traveling surface can be used as the pressure receiving surface
  • the outer peripheral surface 680 side of the outer ring 62A is enlarged.
  • the reaction force on the ground surface such as the running surface by adjusting the camber angle is configured to be larger on the outer ring 62A side than on the gear body 22 side.
  • the ground pressure from the ground plane acts on the pressure receiving surface (the outer peripheral surface 680 of the outer ring 62A).
  • gear device 1A of the present embodiment is not limited to the wheel device W1, but can be applied to a robot such as a horizontal articulated robot (a selective compliant assembly robot), for example, as described in the basic configuration.
  • a robot such as a horizontal articulated robot (a selective compliant assembly robot), for example, as described in the basic configuration.
  • Embodiment 1 is only one of various implementations of the embodiments of the present disclosure. Embodiment 1 can be variously modified in accordance with designs and the like as long as the objects of the embodiments of the present disclosure can be achieved. Moreover, the drawings referred to in the embodiments of the present disclosure are all schematic drawings, and the respective ratios of the sizes and thicknesses of the constituent elements in the drawings do not necessarily reflect the actual size ratios. Hereinafter, modifications of the first embodiment will be listed. The modified examples described below can be appropriately combined and applied.
  • the inner pin 4 only needs to pass through the first inner ring 601 and the first inner ring 601 of the second inner ring 602 constituting the inner ring 61A. All have inner pins 4 inserted.
  • the holding hole 611 is extended to a part of the second inner ring 602 in the direction parallel to the rotation axis Ax1, and the end of the inner pin 4 penetrating the first inner ring 601 is inserted into the second inner ring 602 halfway through.
  • FIG. 18A the holding hole 611 is extended to a part of the second inner ring 602 in the direction parallel to the rotation axis Ax1, and the end of the inner pin 4 penetrating the first inner ring 601 is inserted into the second inner ring 602 halfway through.
  • the holding hole 611 is formed to penetrate both the first inner ring 601 and the second inner ring 602 in a direction parallel to the rotation axis Ax1, and the inner pin 4 that penetrates the first inner ring 601 also penetrates The second inner ring 602 .
  • the planetary gear 3 is exemplified as two types of gear device 1A, but the gear device 1A may include three or more planetary gears 3 .
  • the gear device 1A may include three planetary gears 3 .
  • the three planetary gears 3 are preferably arranged with a phase difference of 120 degrees around the rotation axis Ax1 .
  • the gear device 1A may include only one planetary gear 3 .
  • each of the plurality of inner pins 4 is arranged at the same position as the bearing member 6A in the axial direction of the bearing member 6A, and this is not an essential structure in the gear device 1A. That is, the gear device 1A only needs to include the bearing member 6A, the inner gear 2, the planetary gears 3, and the plurality of inner pins 4.
  • the bearing member 6A has an outer ring 62A and an inner ring 61A arranged inside the outer ring 62A.
  • the inner ring 61A is supported so as to be rotatable relative to the outer ring 62A.
  • the gear body 22 of the internally toothed gear 2 is fixed to the outer ring 62A.
  • Each of the plurality of inner pins 4 is held by the inner ring 61A in a rotatable state.
  • each of the plurality of inner pins 4 may be arranged in parallel (opposed) to the bearing member 6A in the axial direction of the bearing member 6A.
  • 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 first embodiment are merely examples, and may be appropriately changed.
  • the bearing member 6A is not limited to the crossed roller bearing, and may be a deep groove ball bearing, an angular contact ball bearing, or the like. However, it is preferable that the bearing member 6A, such as a four-point contact ball bearing, can withstand radial loads, loads in the thrust direction (directions along the rotation axis Ax1), and bending forces (bending moment loads) with respect to the rotation axis Ax1. .
  • eccentric body bearing 5 is not limited to a roller bearing, and may be, for example, a deep groove ball bearing, an angular contact ball bearing, or the like.
  • each component of the gear apparatus 1A is not limited to metal,
  • resin such as engineering plastic may be used.
  • the gear device 1A is not limited to a configuration that extracts the rotational force of the outer ring 62A as an output as long as the relative rotation between the inner ring 61A and the outer ring 62A of the bearing member 6A can be taken out as an output.
  • the rotational force of the inner ring 61A that rotates relative to the outer ring 62A may be taken out as the output.
  • the lubricant is not limited to a liquid substance such as lubricating oil (oil), and may be a gel substance such as grease.
  • the gear device 1A may include inner rollers. That is, in the gear device 1A, each of the plurality of inner pins 4 does not necessarily have to be in direct contact with the inner peripheral surface 321 of the inner pin hole 32 , and inner rollers may be interposed between each of the plurality of inner pins 4 and the inner pin hole 32 . In this case, the inner roller is attached to the inner pin 4 so as to be able to rotate on the inner pin 4 as an axis.
  • each of the plurality of inner pins 4 may be held by the inner ring 61A in a rotatable state, and the gear device 1A is not necessarily required to hold each of the plurality of inner pins 4 directly by the inner ring 61A.
  • each of the plurality of inner pins 4 may be indirectly held by the inner ring 61A by being inserted into a holding hole formed in an output shaft integrated with the inner ring 61A, a bracket, 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 1A.
  • the support body 8 may have a slit-shaped support hole 82 extending in the radial direction (radial direction), and the positioning of the plurality of inner pins 4 with respect to the support body 8 may be performed only in the circumferential direction.
  • the support body 8 can also position the plurality of inner pins 4 relative to the support body 8 only in the radial direction.
  • the gear device 1A only needs to use at least one of the drilling of the inner ring 61A of the bearing member 6A and the drilling of the outer ring 62A, and it is not necessary to use both of them. That is, in the gear device 1A, only the case where the inner ring 61A has the first inner ring 601 and the second inner ring 602 (for the study of the inner ring 61A) and the case where the outer ring 62A and the gear body 22 are provided seamlessly and continuously (for Drilling of the outer ring 62A) either.
  • the gear device 1A since the gear device 1A only needs to employ at least one of the drilling of the inner ring 61A and the drilling of the outer ring 62A, other structures may be appropriately omitted or changed from the basic structure.
  • the inner pin 4 may be held in a state of being press-fitted into the inner ring 61A (or a bracket integrated with the inner ring 61A).
  • a plurality of inner pins 4 Each is held in a state of being unable to rotate with respect to the inner ring 61A.
  • each of the plurality of inner pins 4 may be arranged at the same position as the bearing member 6A in the axial direction of the bearing member 6A.
  • the plurality of inner pins 4 may be held only by the inner ring 61A (or a bracket integrated with the inner ring 61A).
  • the support body 8 can be omitted.
  • the position of the support body 8 is not necessarily restricted by bringing the outer peripheral surface 81 of the support body 8 into contact with the plurality of pins 23 .
  • the outer peripheral surface 81 of the pin may be away from the plurality of pins 23 .
  • the gear device 1A also needs only the inner ring 61A to have the first inner ring 601 and the second inner ring 602.
  • the inner ring 61A may be divided into three or more parts. That is, as an example, the inner ring 61A may have a third inner ring in addition to the first inner ring 601 and the second inner ring 602, and may be divided into three parts.
  • the plurality of holes into which the plurality of positioning pins 65 are press-fitted may be formed from the first inner race 601 to the second inner race 602, and need not pass through the inner race 61A in a direction parallel to the rotation axis Ax1.
  • the positioning pin 65 may be press-fitted into a hole formed from the opposite surface 602A side of the second inner ring 602 facing the first inner ring 601 to the middle of the thickness of the second inner ring 602 . In this case, the leakage of lubricant through the hole for press-fitting the positioning pin 65 can be prevented.
  • the outer ring 62A of the bearing member 6A may not be completely seamless with the gear body 22 in the direction parallel to the rotation axis Ax1. That is, the manufacturing method of the gear device 1A only needs to include a step of integrally forming the outer ring 62A and the gear body 22 by processing one base material.
  • the outer ring 62A and the gear body 22 may be integrally formed by processing a single base material in which two types of metal blocks are joined (integrated) by crimping, bonding, or the like. In this case, since a seam is formed at the joining portion of the two types of metal blocks, although it is not completely seamless, the same effect as that of the seamless continuous outer ring 62A and the gear body 22 can be expected.
  • FIGS. 19A and 19B the shape of the details of the inner ring 61A of the bearing member 6A of the internal meshing planetary gear unit 1B (hereinafter, also simply referred to as “gear unit 1B”) of the present embodiment is the same as that of the gear unit of the first embodiment. 1A is different.
  • FIG. 19B is a diagram showing only the main part of the first inner ring 601 in the cross section along the line A1-A1 of FIG. 19A .
  • symbol is attached
  • the enlarged diameter portion 691 that expands the respective opening areas of the plurality of holding holes 611 is formed on the surface of the first inner ring 601 on the opposite side to the second inner ring 602 .
  • the enlarged diameter portion 691 is constituted by a chamfered portion formed on the peripheral edge of the opening of the holding hole 611 of the surface on the input side (left side in FIG. 19A ) of the rotation axis Ax1 of the first inner ring 601 .
  • the enlarged diameter portion 691 is formed in a tapered shape (C-shaped surface shape) so that the opening area of the holding hole 611 increases as the distance from the second inner ring 602 increases.
  • enlarged diameter portions 691 are respectively formed corresponding to all the holding holes 611 .
  • the enlarged diameter portion 691 is not limited to a tapered shape (C-shaped surface shape), and may be, for example, a curved R-shaped surface (rounded corner) shape, a stepped countersink shape, or the like.
  • each of the plurality of holding holes 611 opposite to the second inner ring 602 has a shape in which the gap with the inner pin 4 is enlarged.
  • the clearance created by the enlarged diameter portion 691 between the inner peripheral surface of the holding hole 611 and the inner pin 4 functions as an "oil pool” for storing lubricant (lubricating oil) in advance. Since the enlarged diameter portion 691 is continuous with the holding hole 611 , the lubricant accumulated in the enlarged diameter portion 691 is introduced into the gap between the inner peripheral surface of the holding hole 611 and the inner pin 4 by, for example, a capillary phenomenon, and acts to rotate (rotate) the inner pin 4 . ) smoothly.
  • the enlarged diameter part 691 which is an "oil accumulation place” is located in the circulation path RL1 of the lubricant. Therefore, it is also possible to supply the lubricant in the enlarged diameter portion 691 to at least one of the pins 23 other than the inner pin 4 and the rolling elements 63 by using a part of the circulation path RL1 as a "lubricant" path.
  • the lubricant held in the enlarged diameter portion 691 can be supplied to both the pins 23 and the rolling elements 63 . .
  • connecting grooves are formed on the opposing surfaces 601A and 602A of at least one of the first inner ring 601 and the second inner ring 602 facing the other. 692.
  • the connecting grooves 692 connect the spaces in which the rolling elements 63 of the plurality of rolling elements 63 are accommodated to the respective holding holes 611 of the plurality of holding holes 611 . That is, the connecting groove 692 is provided on at least one of the opposing surface 601A and the opposing surface 602A, which are the dividing surfaces of the first inner ring 601 and the second inner ring 602, and rolls the storage between the inner ring 61A and the outer ring 62A.
  • each rolling element 63 of the body 63 is connected to the holding hole 611 .
  • the connecting groove 692 is formed along the radial direction of the inner ring 61A on the opposing surface 601A of the first inner ring 601 facing the second inner ring 602 .
  • such connection grooves 692 are respectively formed corresponding to all the holding holes 611 .
  • the connecting groove 692 functions as a path through which the lubricant (lubricating oil) passes.
  • the connecting groove 692 constitutes a part of the circulation path RL1 of the lubricant.
  • the cross-sectional shape of the connection groove 692 orthogonal to the radial direction of the inner ring 61A is rectangular.
  • the depth D4 of the connection groove 692 (from the opposing surface 601A) and the width D5 of the connection groove 692 are preferably the diameter of the pin 23 , respectively. one-tenth of more than 2 times the following.
  • the diameter of the pin 23 When it is about 2.5 mm, the depth D4 and the width D5 of the connection groove 692 are preferably 0.25 mm or more and 5.0 mm or less.
  • the depth D4 of the connection groove 692 is smaller than the width D5 of the connection groove 692, but the present invention is not limited to this example, and the depth D4 of the connection groove 692 may be equal to or greater than the width D5.
  • the cross-sectional shape of the connection groove 692 is not limited to a rectangular shape, and may be a semicircular shape, a triangular shape, or other polygonal shapes.
  • the connecting groove 692 By providing such a connecting groove 692 , the lubricant can be easily circulated in the lubricant holding space 17 through the connecting groove 692 .
  • the connecting groove 692 is connected to the space between the inner ring 61A and the outer ring 62A in which the rolling elements 63 are accommodated. Therefore, when the bearing member 6A operates and the rolling elements 63 rotate, the rolling elements 63 function as a pump, and the lubricant in the lubricant holding space 17 can be actively circulated through the connecting grooves 692 .
  • the lubricant in the lubricant holding space 17 can be easily circulated, and even when the gear unit 1B is used for a long time, the lubricant easily spreads over the entire lubricant holding space 17, and it is difficult to generate transmission efficiency in the gear unit 1B. Deterioration such as decline.
  • connection groove 692 By providing the connection groove 692, the effect of reducing the internal pressure of the space between the oil seal 16 and the rolling elements 63 can also be expected. That is, the space between the oil seal 16 and the rolling elements 63 is connected to the holding hole 611 through the connecting groove 692, and the space between the oil seal 16 and the rolling elements 63 expands thereby, which contributes to the function of the rolling elements 63 as a pump. The increase in internal pressure is suppressed. As a result of suppressing an increase in the internal pressure of the lubricant holding space 17 , for example, leakage of the lubricant due to exceeding the oil seal 16 and the like are less likely to occur.
  • the connecting grooves 692 may be formed on the opposing surfaces 601A and 602A of both the first inner ring 601 and the second inner ring 602 .
  • the connection groove 692 may be formed only on the opposing surface 602A of the second inner ring 602 .
  • the enlarged diameter portion 691 and the connecting groove 692 may be used independently. That is, the gear device 1B may have only the enlarged diameter portion 691 and the enlarged diameter portion 691 in the connecting groove 692, or may have only the connecting groove 692 on the contrary.
  • the configuration (including the modification) of the second embodiment can be applied in combination with the configuration (including the modification) described in the first embodiment.
  • the internal meshing planetary gear device (1, 1A, 1B) of the first form includes the bearing member (6, 6A), the internal gear (2), the planetary gear (3), and the plurality of internal pins (4) .
  • the bearing member (6, 6A) has an outer ring (62, 62A), an inner ring (61, 61A) arranged inside the outer ring (62, 62A), and an inner ring (61, 61A) arranged on the outer ring (62, 62A) and the inner ring (61, 61A) 61A) between the plurality of rolling elements (63), the inner rings (61, 61A) are supported so as to be rotatable relative to the outer rings (62, 62A) about the rotation axis (Ax1) as the center.
  • the internal gear (2) has internal teeth (21) and is fixed to the outer rings (62, 62A).
  • the planetary gear (3) has external teeth (31) partially meshed with the internal teeth (21).
  • the plurality of inner pins (4) revolve in the inner pin holes (32) while being inserted into the plurality of inner pin holes (32) formed in the planetary gear (3), respectively, and rotate relative to the inner gear (2).
  • the inner rings ( 61 , 61A) include a first inner ring ( 601 ) and a second inner ring ( 602 ) opposite to each other in a direction parallel to the rotation axis (Ax1 ), and the opposing surfaces ( 601A, 602A) are in contact with each other.
  • the first inner ring (601) has a plurality of holding holes (611) through which the plurality of inner pins (4) respectively penetrate in a direction parallel to the rotation axis (Ax1). Each of the plurality of inner pins (4) is held by the inner ring (61, 61A) in a state capable of rotating.
  • the lubricant is easily supplied to the inner pin (4) and the like through the gap. Therefore, compared with the case where the inner ring ( 61 , 61A) is not divided into the first inner ring ( 601 ) and the second inner ring ( 602 ), for example, even if the inner meshing planetary gear device ( 1 , 1A, 1B) has a long-term In use, the lubricant tends to spread throughout the entirety, and it is difficult to cause problems such as a decrease in transmission efficiency in the internal meshing planetary gear device (1, 1A, 1B).
  • the respective end faces of the plurality of inner pins (4) are in contact with the first inner ring (602) in the second inner ring (602).
  • the opposite face (602A) of the ring (601) is opposite.
  • the movement of the inner pin (4) in the direction parallel to the rotation axis (Ax1) is restricted by the second inner ring (602), and the leakage of the lubricant through the holding hole (611) can be suppressed.
  • the inner periphery of each of the plurality of holding holes (611) in the first inner ring (601) is A gap is formed between the surface and the respective outer peripheral surfaces of the plurality of inner pins (4).
  • the rotation of the inner pin (4) in the holding hole (611) is smoothed by the lubricant.
  • the first inner ring (601) and the second inner ring (602) ) on the opposite side surface is formed with an enlarged diameter portion (691) that expands the respective opening areas of the plurality of holding holes (611).
  • the gap between the inner peripheral surface of the holding hole (611) and the inner pin (4) created by the enlarged diameter portion (691) functions as an "oil pool” for storing lubricant in advance, thereby It works to make the rotation (rotation) of the inner pin (4) smooth.
  • a connecting groove (692) is formed on the opposite surface (601A, 602A) of at least one of the two, which is opposite to the other.
  • the connecting grooves (692) connect the spaces in which the respective rolling elements (63) of the plurality of rolling elements (63) are accommodated to the respective holding holes (611) of the plurality of holding holes (611).
  • the lubricant can be easily circulated through the connecting groove (692).
  • the rolling elements (63) rotate, the rolling elements (63) function as pumps, and the lubricant can be actively circulated through the connecting grooves (692).
  • the surface hardness of each of the plurality of inner pins (4) and the first inner ring (601 ) of the surface hardness difference is HRC3 or less.
  • the surface hardness of each of the plurality of inner pins (4) is in the range of HRC60 ⁇ 3 Inside.
  • the plurality of rolling elements (63) are located in the inner ring (601) including the first inner ring on the plane of the opposite surface (601A) opposite to the second inner ring (602).
  • the rolling elements (63) when the rolling elements (63) rotate, the rolling elements (63) function efficiently as a pump, and the lubricant can be easily circulated.
  • the centers of the plurality of rolling elements (63) in the direction parallel to the rotation axis (Ax1) are located at the first In the inner ring (601), the opposite surface (601A) opposite to the second inner ring (602) is on the same plane.
  • the rolling elements (63) when the rolling elements (63) rotate, the rolling elements (63) function efficiently as a pump, and the lubricant can be easily circulated.
  • the internal meshing planetary gear device (1, 1A, 1B) of the tenth aspect further includes a lubricant circulation path (RL1).
  • the circulation path ( RL1 ) of the lubricant passes through at least the gap between the first inner ring ( 601 ) and the second inner ring ( 602 ), the space for accommodating each rolling element ( 63 ) of the plurality of rolling elements ( 63 ), the plurality of rolling elements ( 63 ).
  • the lubricant can be easily circulated through the rolling elements (63) and the inner pin (4).
  • the structures of the second to tenth aspects are not essential structures for the internal meshing planetary gear units (1, 1A, 1B), and can be appropriately omitted.

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Abstract

一种内啮合行星齿轮装置。内齿齿轮（2）具有内齿（21），并固定于外圈（62A）。行星齿轮（3）具有与内齿（21）局部地啮合的外齿。多个内销（4）在分别插入到形成于行星齿轮（3）的多个内销孔（32）中的状态下，在内销孔（32）内公转并相对于内齿齿轮（2）相对旋转。内圈（61A）包括在与旋转轴（Ax1）平行的方向上相对且相对面（601A、602A）彼此接触的第一内圈（601）及第二内圈（602）。第一内圈（601）具有在与旋转轴（Ax1）平行的方向上供多个内销（4）分别贯通的多个保持孔（611）。多个内销（4）各自以能够自转的状态保持于内圈（61A）。

Description

内啮合行星齿轮装置
相关申请的交叉引用
本申请基于申请号为特愿2020-210657、申请日为2020年12月18日的日本专利申请提出，并要求该日本专利申请的优先权，该日本专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开实施例一般性地涉及内啮合行星齿轮装置，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。
背景技术
作为关联技术，已知有行星齿轮边进行偏心摆动边与内齿齿轮进行内啮合的所谓偏心摆动类型的齿轮装置(例如，参照专利文献1)。在关联技术涉及的齿轮装置中，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。
现有技术文献
专利文献
专利文献1：日本特开2003-74646号公报
发明内容
在上述关联技术的结构中，例如伴随着齿轮装置的长期使用，润滑剂未充分地遍布不同部位，可能会导致齿轮装置中的传递效率的下降等不良情况。
本公开实施例的目的在于提供一种难以产生传递效率的下降等不良情况的内啮合行星齿轮装置。
用于解决技术问题的方案
本公开实施例的一形态的内啮合行星齿轮装置包括轴承构件、内齿齿轮、行星齿轮、多个内销。所述轴承构件具有外圈、配置在所述外圈的内侧的内圈、及配置在所述外圈与所述内圈之间的多个滚动体，所述内圈被支承为能够相对于所述外圈以旋转轴为中心相对旋转。所述内齿齿轮具有内齿，并固定于所述外圈。所述行星齿轮具有与所述内齿局部地啮合的外齿。所述多个内销在分别插入到形成于所述行星齿轮的多个内销孔中的状态下，在所述内销孔内公转并相对于所述内齿齿轮相对旋转。所述内圈包括在与所述旋转轴平行的方向上相对且相对面彼此接触的第一内圈及第二内圈。所述第一内圈具有在与所述旋转轴平行的方向上供所述多个内销分别贯通的多个保持孔。所述多个内销各自以能够自转的状态保持于所述内圈。
发明效果
根据本公开实施例，能够提供一种难以产生传递效率的下降等不良情况的内啮合行星齿轮装置。
附图说明
图1是示出包含基本结构的内啮合行星齿轮装置在内的执行器的概略 结构的立体图。
图2是上述的内啮合行星齿轮装置的从旋转轴的输出侧观察到的概略的分解立体图。
图3是上述的内啮合行星齿轮装置的概略剖视图。
图4是示出上述的内啮合行星齿轮装置的、图3的A1-A1线剖视图。
图5A是以单体示出上述的内啮合行星齿轮装置的行星齿轮的立体图。
图5B是以单体示出上述的内啮合行星齿轮装置的行星齿轮的主视图。
图6A是以单体示出上述的内啮合行星齿轮装置的轴承构件的立体图。
图6B是以单体示出上述的内啮合行星齿轮装置的轴承构件的主视图。
图7A是以单体示出上述的内啮合行星齿轮装置的偏心轴的立体图。
图7B是以单体示出上述的内啮合行星齿轮装置的偏心轴的主视图。
图8A是以单体示出上述的内啮合行星齿轮装置的支承体的立体图。
图8B是以单体示出上述的内啮合行星齿轮装置的支承体的主视图。
图9是示出上述的内啮合行星齿轮装置的、图3的区域Z1的放大图。
图10是示出上述的内啮合行星齿轮装置的、图3的B1-B1线剖视图。
图11是实施方式1的内啮合行星齿轮装置的概略剖视图。
图12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侧视图。
图13是示出上述的内啮合行星齿轮装置的、图11的A1-A1线剖视图。
图14是示出上述的内啮合行星齿轮装置的、图11的B1-B1线剖视图及其局部放大图。
图15是上述的内啮合行星齿轮装置的主要部分的概略剖视图。
图16是上述的内啮合行星齿轮装置的主要部分的概略剖视图，是示意性地示出润滑剂的路径的图。
图17是使用上述的内啮合行星齿轮装置的车轮装置的概略剖视图。
图18A是实施方式1的变形例的内啮合行星齿轮装置的主要部分的概 略剖视图。
图18B是实施方式1的变形例的内啮合行星齿轮装置的主要部分的概略剖视图。
图19A是实施方式2的内啮合行星齿轮装置的主要部分的概略剖视图。
图19B是示出上述的内啮合行星齿轮装置的主要部分的、图19A的A1-A1线剖视图。
图20是上述的内啮合行星齿轮装置的主要部分的概略剖视图，是示意性地示出润滑剂的路径的图。
具体实施方式
(基本结构)
(1)概要
以下，参照图1～图3，说明本基本结构的内啮合行星齿轮装置1的概要。本公开实施例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。例如，图1～图3中的内齿21及外齿31的齿形、尺寸及齿数等都只不过是为了说明而示意性表示的，其主旨并不限定为图示的形状。
本基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、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)偏离的旋转轴Ax1(参照图3)进行旋转(偏心运动)，由此使行星齿轮3摆动。偏心体内圈51例如通过插入于偏心体内圈51的偏心轴7的旋转而绕旋转轴Ax1进行旋转(偏心运动)。而且，内啮合行星齿轮装置1还包括轴承构件6，轴承构件6具有外圈62及内圈61。内圈61配置在外圈62的内侧，并被支 承为相对于外圈62能够相对旋转。
内齿齿轮2具有内齿21，并固定于外圈62。特别是在本基本结构中，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7旋转时行星齿轮3摆动，内齿21与外齿31的啮合位置沿内齿齿轮2的圆周方向移动，在两齿轮(内齿齿轮2及行星齿轮3)之间产生与行星齿轮3和内齿齿轮2的齿数差对应的相对旋转。在此，如果将内齿齿轮2固定，则伴随着两齿轮的相对旋转而行星齿轮3旋转(自转)。其结果是，从行星齿轮3获得与两齿轮的齿数差相应地以比较高的减速比被减速了的旋转输出。
这种齿轮装置1以下述方式使用：将行星齿轮3的相当于自转分量的旋转作为例如与轴承构件6的内圈61一体化的输出轴的旋转而取出。由此，齿轮装置1以偏心轴7为输入侧，以输出轴为输出侧，作为比较高的减速比的齿轮装置发挥功能。因此，在本基本结构的齿轮装置1中，为了将行星齿轮3的相当于自转分量的旋转向轴承构件6的内圈61传递而利用多个内销4将行星齿轮3与内圈61连结。多个内销4在分别插入到形成于行星齿轮3的多个内销孔32中的状态下，分别在内销孔32内公转并相对于内齿齿轮2相对旋转。即，内销孔32具有比内销4大的直径，内销4能够以插入于内销孔32的状态在内销孔32内公转地移动。并且，行星齿轮3的摆动分量、即行星齿轮3的公转分量通过行星齿轮3的内销孔32与内销4的游嵌而被吸收。换言之，多个内销4分别在多个内销孔32内公转地移动，由此吸收行星齿轮3的摆动分量。因此，通过多个内销4，将除了行星齿轮3的摆动分量(公转分量)之外的、行星齿轮3的旋转(自转分量)向轴承构件6的内圈61传递。
然而，在这种齿轮装置1中，内销4在行星齿轮3的内销孔32内公转，同时，向多个内销4传递行星齿轮3的旋转，因此作为第一关联技术，已知有使用装配于内销4而能够以内销4为轴进行旋转的内滚子的技术。即，在第一关联技术中，将内销4以压入于内圈61(或与内圈61一体化的支架)的状态保持，当内销4在内销孔32内公转时，内销4相对于内销孔32的内周面321滑动。因此，作为第一关联技术，为了减少内销孔32的内周面321与内销4之间的摩擦阻力产生的损失而使用内滚子。但是，如果是第一关联技术那样包括内滚子的结构，则内销孔32需要具有使带有内滚子的内销4能够公转的直径，内销孔32的小型化困难。当内销孔32的小型化困难时，就会妨碍行星齿轮3的小型化(特别是小径化)，甚至妨碍齿轮装置1整体的小型化。本基本结构的齿轮装置1通过以下的结构而能够提供容易小型化的内啮合行星齿轮装置1。
即，如图1～图3所示，本基本结构的齿轮装置1包括轴承构件6、内齿齿轮2、行星齿轮3、多个内销4。轴承构件6具有外圈62及配置在外圈62的内侧的内圈61。内圈61被支承为相对于外圈62能够相对旋转。内齿齿轮2具有内齿21并固定于外圈62。行星齿轮3具有与内齿21局部地啮合的外齿31。多个内销4在分别插入到形成于行星齿轮3的多个内销孔32中的状态下，在内销孔32内公转并相对于内齿齿轮2相对旋转。在此，多个内销4各自以能够自转的状态保持于内圈61。此外，多个内销4各自将至少一部分配置于在轴承构件6的轴向上与轴承构件6相同的位置。
根据该形态，多个内销4各自以能够自转的状态保持于内圈61，因此内销4在内销孔32内公转时，内销4自身能够自转。因此，即便不使用装配于内销4并以内销4为轴能够旋转的内滚子，也能够减少内销孔32的内周面321与内销4之间的摩擦阻力引起的损失。因此，在本基本结构的齿轮装置1中，并非必须设置内滚子，故而具有容易小型化这样的优点。而且，多个内销4各自将至少一部分配置于在轴承构件6的轴向上与轴承构 件6相同的位置，因此能够将轴承构件6的轴向上的齿轮装置1的尺寸抑制得小。即，与轴承构件6和内销4沿轴承构件6的轴向并列(相对)的结构相比，在本基本结构的齿轮装置1中，能够减小轴向上的齿轮装置1的尺寸，从而能够对齿轮装置1的进一步的小型化(薄型化)作出贡献。
此外，如果行星齿轮3的尺寸与上述第一关联技术相同，则与上述第一关联技术相比，例如，还能够增加内销4的个数(根数)而使旋转的传递顺畅，或者使内销4变粗而提高强度。
另外，在这种齿轮装置1中，内销4需要在行星齿轮3的内销孔32内公转，因此作为第二关联技术，存在多个内销4仅由内圈61(或者与内圈61一体化的支架)保持的情况。根据第二关联技术，多个内销4的定芯的精度难以提高，由于定芯不佳而可能会导致振动的产生、及传递效率的下降等不良情况。即，多个内销4分别在内销孔32内公转并相对于内齿齿轮2相对旋转，由此将行星齿轮3的自转分量向轴承构件6的内圈61传递。此时，如果多个内销4的定芯精度不够而多个内销4的旋转轴相对于内圈61的旋转轴偏离或倾斜，则成为定芯不佳的状态，可能导致振动的产生及传递效率的下降等不良情况。本基本结构的齿轮装置1通过以下的结构而能够提供难以产生因多个内销4的定芯不佳而引起的不良情况的内啮合行星齿轮装置1。
即，如图1～图3所示，本基本结构的齿轮装置1包括内齿齿轮2、行星齿轮3、多个内销4、支承体8。内齿齿轮2具有环状的齿轮主体22、多个销23。多个销23以能够自转的状态保持于齿轮主体22的内周面221而构成内齿21。行星齿轮3具有与内齿21局部地啮合的外齿31。多个内销4在分别插入到形成于行星齿轮3的多个内销孔32中的状态下，在内销孔32内公转并相对于齿轮主体22相对旋转。支承体8为环状并支承多个内销4。在此，支承体8通过使外周面81与多个销23接触而被进行位置限制。
根据该形态，多个内销4由环状的支承体8支承，因此多个内销4由 支承体8捆束，能抑制多个内销4的相对的偏离及倾斜。而且，支承体8的外周面81与多个销23接触，由此进行支承体8的位置限制。总之，通过多个销23进行支承体8的定芯，结果是，关于由支承体8支承的多个内销4，也利用多个销23进行定芯。因此，根据本基本结构的齿轮装置1，容易实现多个内销4的定芯的精度的提高，具有难以产生因多个内销4的定芯不佳而引起的不良情况这样的优点。
另外，如图1所示，本基本结构的齿轮装置1与驱动源101一起构成执行器100。换言之，本基本结构的执行器100包括齿轮装置1和驱动源101。驱动源101产生用于使行星齿轮3摆动的驱动力。具体而言，驱动源101使偏心轴7以旋转轴Ax1为中心旋转，由此使行星齿轮3摆动。
(2)定义
本公开实施例中所说的“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。
本公开实施例中所说的“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321与内销4之间并非必须确保作为空洞的间隙，例如，也可以向该间隙内填充液体等流体。
本公开实施例中所说的“公转”是指某物体绕着通过该物体的中心(重心)的中心轴以外的旋转轴转圈，当某物体公转时，该物体的中心沿着以 旋转轴为中心的公转轨道移动。因此，例如，在某物体以与通过该物体的中心(重心)的中心轴平行的偏心轴为中心旋转的情况下，该物体以偏心轴为旋转轴公转。作为一例，内销4绕着通过内销孔32的中心的旋转轴转圈，在内销孔32内公转。
另外，在本公开实施例中，有时将旋转轴Ax1的一方侧(图3的左侧)称为“输入侧”，将旋转轴Ax1的另一方侧(图3的右侧)称为“输出侧”。在图3的例子中，从旋转轴Ax1的“输入侧”向旋转体(偏心体内圈51)赋予旋转，从旋转轴Ax1的“输出侧”取出多个内销4(内圈61)的旋转。但是，“输入侧”及“输出侧”只不过是为了说明而赋予的标签，其主旨并不是限定从齿轮装置1观察到的、输入及输出的位置关系。
本公开实施例所说的“旋转轴”是指成为旋转体的旋转运动的中心的虚拟的轴(直线)。即，旋转轴Ax1是不伴有实体的虚拟轴。偏心体内圈51以旋转轴Ax1为中心进行旋转运动。
本公开实施例所说的“内齿”及“外齿”分别指多个“齿”的集合(组)而不是单体的“齿”。即，内齿齿轮2的内齿21由配置在内齿齿轮2(齿轮主体22)的内周面221的多个齿的集合组成。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组成。
(3)结构
以下，参照图1～图8B，说明本基本结构的内啮合行星齿轮装置1的详细结构。
图1是示出包含齿轮装置1的执行器100的概略结构的立体图。在图1中，示意性地示出驱动源101。图2是齿轮装置1的从旋转轴Ax1的输出侧观察到的概略的分解立体图。图3是齿轮装置1的概略剖视图。图4是图3的A1-A1线剖视图。其中，在图4中，关于偏心轴7以外的部件，虽然也是剖面但是省略了剖面线。此外，在图4中，省略了齿轮主体22的内周面221的图示。图5A及图5B是以单体示出行星齿轮3的立体图及主视 图。图6A及图6B是以单体示出轴承构件6的立体图及主视图。图7A及图7B是以单体示出偏心轴7的立体图及主视图。图8A及图8B是以单体示出支承体8的立体图及主视图。
(3.1)整体结构
如图1～图3所示，本基本结构的齿轮装置1包括内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、轴承构件6、偏心轴7和支承体8。而且，在本基本结构中，齿轮装置1还包括第一轴承91、第二轴承92及壳体10。在本基本结构中，作为齿轮装置1的结构要素的内齿齿轮2、行星齿轮3、多个内销4、偏心体轴承5、轴承构件6、偏心轴7及支承体8等的材质为不锈钢、铸铁、机械结构碳素钢、铬钼钢、磷青铜或铝青铜等金属。在此所说的金属包括实施了氮化处理等表面处理的金属。
另外，在本基本结构中，作为齿轮装置1的一例，例示使用了摆线类齿形的内切式行星齿轮装置。即，本基本结构的齿轮装置1包括具有摆线类曲线齿形的内切式的行星齿轮3。
另外，在本基本结构中，作为一例，齿轮装置1在内齿齿轮2的齿轮主体22与轴承构件6的外圈62一起固定于壳体10等固定构件的状态下使用。由此，伴随着内齿齿轮2与行星齿轮3的相对旋转而行星齿轮3相对于固定构件(壳体10等)相对旋转。
此外，在本基本结构中，在将齿轮装置1使用于执行器100的情况下，通过向偏心轴7施加作为输入的旋转力而从与轴承构件6的内圈61一体化的输出轴取出作为输出的旋转力。即，齿轮装置1以偏心轴7的旋转为输入旋转，以与内圈61一体化的输出轴的旋转为输出旋转进行动作。由此，在齿轮装置1中，能得到相对于输入旋转以比较高的减速比被减速了的输出旋转。
驱动源101是马达(电动机)等动力产生源。由驱动源101产生的动力向齿轮装置1中的偏心轴7传递。具体而言，驱动源101经由输入轴而 与偏心轴7相连，由驱动源101产生的动力经由输入轴向偏心轴7传递。由此，驱动源101能够使偏心轴7旋转。
此外，在本基本结构的齿轮装置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同轴。在此，输入侧的旋转轴Ax1是被赋予输入旋转的偏心轴7的旋转中心，输出侧的旋转轴Ax1是产生输出旋转的内圈61(及输出轴)的旋转中心。即，在齿轮装置1中，能够在同轴上相对于输入旋转而得到以比较高的减速比被减速了的输出旋转。
如图4所示，内齿齿轮2是具有内齿21的环状的部件。在本基本结构中，内齿齿轮2具有至少内周面在俯视观察下成为正圆的圆环状。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成为正圆。内齿21的节圆的中心处于旋转轴Ax1上。而且，内齿齿轮2沿旋转轴Ax1的方向具有规定的厚度。内齿21的齿向都与旋转轴Ax1平行。内齿21的齿向的尺寸比内齿齿轮2的厚度方向稍小。
在此，如上所述，内齿齿轮2具有环状(圆环状)的齿轮主体22、多个销23。多个销23以能够自转的状态保持于齿轮主体22的内周面221，构成内齿21。换言之，多个销23分别作为构成内齿21的多个齿发挥功能。具体而言，在齿轮主体22的内周面221，如图2所示在圆周方向的整个区域形成有多个槽。多个槽全部为同一形状并且等间距地设置。多个槽都与旋转轴Ax1平行，并遍及齿轮主体22的厚度方向的全长地形成。多个销23嵌合于多个槽地组合于齿轮主体22。多个销23各自被保持在槽内以能够自转的状态。而且，齿轮主体22(与外圈62一起)固定于壳体10。因此，在齿轮主体22形成有固定用的多个固定孔222。
如图4所示，行星齿轮3是具有外齿31的环状的部件。在本基本结构 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ΔL(参照图4)的位置。而且，行星齿轮3沿旋转轴Ax1的方向具有规定的厚度。外齿31都遍及行星齿轮3的厚度方向的全长地形成。外齿31的齿向都与旋转轴Ax1平行。在行星齿轮3中，与内齿齿轮2不同，外齿31与行星齿轮3的主体由一个金属构件一体形成。
在此，对于行星齿轮3组合偏心体轴承5及偏心轴7。即，在行星齿轮3形成有呈圆形状开口的开口部33。开口部33是沿着厚度方向贯通行星齿轮3的孔。在俯视观察下，开口部33的中心与行星齿轮3的中心一致，开口部33的内周面(行星齿轮3的内周面)与外齿31的节圆成为同心圆。在行星齿轮3的开口部33收容有偏心体轴承5。此外，通过将偏心轴7插入于偏心体轴承5(的偏心体内圈51)而将偏心体轴承5及偏心轴7组合于行星齿轮3。在行星齿轮3组合有偏心体轴承5及偏心轴7的状态下，当偏心轴7旋转时，行星齿轮3绕着旋转轴Ax1摆动。
这样构成的行星齿轮3配置于内齿齿轮2的内侧。在俯视观察下，行星齿轮3形成得比内齿齿轮2小一圈，行星齿轮3在与内齿齿轮2组合的状态下，能够在内齿齿轮2的内侧摆动。在此，在行星齿轮3的外周面形成外齿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处于距内齿21的节圆的中心(旋转轴Ax1)偏离了ΔL(参照图4)的位置。因此，外齿31与内齿21至少一部分隔着间隙相对，不存在圆周方向的整体相互啮合的情况。 但是，行星齿轮3在内齿齿轮2的内侧绕着旋转轴Ax1摆动(公转)，因此外齿31与内齿21局部地啮合。即，通过行星齿轮3绕着旋转轴Ax1摆动，如图4所示，构成外齿31的多个齿中的一部分齿与构成内齿21的多个齿中的一部分齿啮合。结果是，在齿轮装置1中，能够使外齿31的一部分与内齿21的一部分啮合。
在此，内齿齿轮2中的内齿21的齿数比行星齿轮3的外齿31的齿数多N(N为正整数)。在本基本结构中，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，在本基本结构中，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。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。
在本基本结构中，如上所述，行星齿轮3的相当于自转分量的旋转作为与轴承构件6的内圈61一体化的输出轴的旋转(输出旋转)而取出。因此，行星齿轮3利用多个内销4而与内圈61连结。如图5A及图5B所示，在行星齿轮3形成有用于插入多个内销4的多个内销孔32。内销孔32设置与内销4相同的个数，在本基本结构中，作为一例，内销孔32及内销4各设置18个。多个内销孔32是各自呈圆形状地开口并沿着厚度方向贯通行星齿轮3的孔。多个(在此为18个)内销孔32在与开口部33同心的虚拟圆上沿圆周方向等间隔地配置。
多个内销4是将行星齿轮3与轴承构件6的内圈61连结的部件。多个内销4各自形成为圆柱状。多个内销4的直径及长度在多个内销4中相同。内销4的直径比内销孔32的直径小一圈。由此，内销4以与内销孔32的 内周面321之间确保有空间上的富余度(间隙)的状态插入于内销孔32(参照图4)。
轴承构件6是具有外圈62及内圈61并用于取出齿轮装置1的输出作为内圈61相对于外圈62的旋转的部件。轴承构件6除了外圈62及内圈61之外，还具有多个滚动体63(参照图3)。
如图6A及图6B所示，外圈62及内圈61都是环状的部件。外圈62及内圈61都具有在俯视观察下成为正圆的圆环状。内圈61比外圈62小一圈，配置在外圈62的内侧。在此，外圈62的内径比内圈61的外径大，因此在外圈62的内周面与内圈61的外周面之间产生间隙。
内圈61具有供多个内销4分别插入的多个保持孔611。保持孔611设置与内销4相同的个数，在本基本结构中，作为一例，保持孔611设置18个。如图6A及图6B所示，多个保持孔611各自是呈圆形状地开口并沿着厚度方向贯通内圈61的孔。多个(在此为18个)保持孔611在与内圈61的外周同心的虚拟圆上沿圆周方向等间隔地配置。保持孔611的直径为内销4的直径以上且比内销孔32的直径小。
此外，内圈61与输出轴一体化，取出内圈61的旋转作为输出轴的旋转。因此，在内圈61形成有用于安装输出轴的多个输出侧安装孔612(参照图2)。在本基本结构中，多个输出侧安装孔612配置在比多个保持孔611靠内侧且与内圈61的外周同心的虚拟圆上。
外圈62与内齿齿轮2的齿轮主体22一起固定于壳体10等固定构件。因此，在外圈62形成有固定用的多个透孔621。具体而言，如图3所示，外圈62以与壳体10之间夹有齿轮主体22的状态，利用通过透孔621及齿轮主体22的固定孔222的固定用的螺钉(螺栓)60而固定于壳体10。
多个滚动体63配置于外圈62与内圈61之间的间隙。多个滚动体63沿外圈62的圆周方向并列配置。多个滚动体63全部为同一形状的金属部件，在外圈62的圆周方向的整个区域等间距地设置。
在本基本结构中，作为一例，轴承构件6为交叉滚子轴承。即，轴承构件6具有圆筒状的滚子作为滚动体63。并且，圆筒状的滚动体63的轴相对于与旋转轴Ax1正交的平面具有45度的倾斜，且与内圈61的外周正交。此外，在内圈61的圆周方向上相互相邻的一对滚动体63配置成轴向相互正交的朝向。在这样的由交叉滚子轴承构成的轴承构件6中，径向的载荷、推力方向(沿旋转轴Ax1的方向)的载荷、及对于旋转轴Ax1的弯曲力(弯曲力矩载荷)都容易承受。而且，通过一个轴承构件6，能够耐受这三种的载荷，从而能够确保所需的刚性。
如图7A及图7B所示，偏心轴7为圆筒状的部件。偏心轴7具有轴心部71、偏心部72。轴心部71具有至少外周面在俯视观察下为正圆的圆筒状。轴心部71的中心(中心轴)与旋转轴Ax1一致。偏心部72具有至少外周面在俯视观察下为正圆的圆盘状。偏心部72的中心(中心轴)与从旋转轴Ax1偏离的中心C1一致。在此，旋转轴Ax1与中心C1之间的距离ΔL(参照图7B)成为偏心部72相对于轴心部71的偏心量。偏心部72呈在轴心部71的长度方向(轴向)的中央部从轴心部71的外周面遍及整周地突出的凸缘形状。根据上述的结构，对于偏心轴7，通过轴心部71以旋转轴Ax1为中心旋转(自转)而偏心部72进行偏心运动。
在本基本结构中，轴心部71及偏心部72由一个金属构件一体形成，由此，实现无缝的偏心轴7。这样的形状的偏心轴7与偏心体轴承5一起组合于行星齿轮3。因此，在行星齿轮3组合有偏心体轴承5及偏心轴7的状态下当偏心轴7旋转时，行星齿轮3绕着旋转轴Ax1摆动。
此外，偏心轴7具有沿轴向(长度方向)贯通轴心部71的贯通孔73。贯通孔73在轴心部71的轴向的两端面呈圆形状地开口。贯通孔73的中心(中心轴)与旋转轴Ax1一致。能够在贯通孔73穿过例如电源线及信号线等线缆类。
另外，在本基本结构中，从驱动源101向偏心轴7施加作为输入的旋 转力。因此，在偏心轴7形成有用于安装与驱动源101相连的输入轴的多个输入侧安装孔74(参照图7A及图7B)。在本基本结构中，多个输入侧安装孔74在轴心部71的轴向的一端面的贯通孔73的周围，并配置在与贯通孔73同心的虚拟圆上。
偏心体轴承5是具有偏心体外圈52及偏心体内圈51、并吸收偏心轴7的旋转中的自转分量、并将除了偏心轴7的自转分量之外的偏心轴7的旋转、即仅将偏心轴7的摆动分量(公转分量)向行星齿轮3传递用的部件。偏心体轴承5除了具有偏心体外圈52及偏心体内圈51之外，还具有多个滚动体53(参照图3)。
偏心体外圈52及偏心体内圈51都是环状的部件。偏心体外圈52及偏心体内圈51都具有在俯视观察下为正圆的圆环状。偏心体内圈51比偏心体外圈52小一圈，配置在偏心体外圈52的内侧。在此，偏心体外圈52的内径比偏心体内圈51的外径大，因此在偏心体外圈52的内周面与偏心体内圈51的外周面之间产生间隙。
多个滚动体53配置于偏心体外圈52与偏心体内圈51之间的间隙。多个滚动体53沿偏心体外圈52的圆周方向并列配置。多个滚动体53全部为同一形状的金属部件，且等间距地设置在偏心体外圈52的圆周方向的整个区域。在本基本结构中，作为一例，偏心体轴承5由使用滚珠作为滚动体53的深沟球轴承构成。
在此，偏心体内圈51的内径与偏心轴7中的偏心部72的外径一致。偏心体轴承5以偏心轴7的偏心部72插入于偏心体内圈51的状态与偏心轴7组合。而且，偏心体外圈52的外径与行星齿轮3的开口部33的内径(直径)一致。偏心体轴承5以偏心体外圈52嵌入于行星齿轮3的开口部33的状态与行星齿轮3组合。换言之，在行星齿轮3的开口部33收容有装配于偏心轴7的偏心部72上的状态的偏心体轴承5。
另外，在本基本结构中，作为一例，偏心体轴承5的偏心体内圈51的 宽度方向(与旋转轴Ax1平行的方向)的尺寸与偏心轴7的偏心部72的厚度大体相同。偏心体外圈52的宽度方向(与旋转轴Ax1平行的方向)的尺寸比偏心体内圈51的宽度方向的尺寸稍小。此外，偏心体外圈52的宽度方向的尺寸比行星齿轮3的厚度大。因此，在与旋转轴Ax1平行的方向上，行星齿轮3收于偏心体轴承5的范围内。另一方面，偏心体外圈52的宽度方向的尺寸比内齿21的齿向方向(与旋转轴Ax1平行的方向)的尺寸小。因此，在与旋转轴Ax1平行的方向上，偏心体轴承5收于内齿齿轮2的范围内。
在偏心体轴承5及偏心轴7组合于行星齿轮3的状态下，当偏心轴7旋转时，在偏心体轴承5中，偏心体内圈51绕着从偏心体内圈51的中心C1偏离的旋转轴Ax1旋转(偏心运动)。此时，偏心轴7的自转分量由偏心体轴承5吸收。因此，通过偏心体轴承5，将除了偏心轴7的自转分量之外的偏心轴7的旋转、即仅将偏心轴7的摆动分量(公转分量)向行星齿轮3传递。由此，在行星齿轮3组合有偏心体轴承5及偏心轴7的状态下当偏心轴7旋转时，行星齿轮3绕着旋转轴Ax1摆动。
如图8A及图8B所示，支承体8是形成为环状并支承多个内销4的部件。支承体8具有供多个内销4分别插入的多个支承孔82。支承孔82设置与内销4相同的个数，在本基本结构中，作为一例，支承孔82设置18个。如图8A及图8B所示，多个支承孔82各自是呈圆形状地开口并沿着厚度方向贯通支承体8的孔。多个(在此为18个)支承孔82在与支承体8的外周面81同心的虚拟圆上沿圆周方向等间隔地配置。支承孔82的直径为内销4的直径以上且比内销孔32的直径小。在本基本结构中，作为一例，支承孔82的直径与形成于内圈61的保持孔611的直径相等。
如图3所示，支承体8以从旋转轴Ax1的一方侧(输入侧)与行星齿轮3相对的方式配置。并且，通过向多个支承孔82插入多个内销4而支承体8发挥捆束多个内销4的功能。此外，支承体8通过使外周面81与多个 销23接触而被进行位置限制。由此，通过多个销23来进行支承体8的定芯，结果是，关于被支承于支承体8的多个内销4，也利用多个销23进行定芯。关于支承体8，在“(3.3)支承体”一栏中进行详细说明。
第一轴承91及第二轴承92分别装配于偏心轴7的轴心部71。具体而言，如图3所示，第一轴承91及第二轴承92在与旋转轴Ax1平行的方向上以夹着偏心部72的方式装配于轴心部71的偏心部72的两侧。从偏心部72观察时，第一轴承91配置在旋转轴Ax1的输入侧。从偏心部72观察时，第二轴承92配置在旋转轴Ax1的输出侧。第一轴承91将偏心轴7保持为相对于壳体10能够旋转。第二轴承92将偏心轴7保持为相对于轴承构件6的内圈61能够旋转。由此，偏心轴7的轴心部71在与旋转轴Ax1平行的方向上的偏心部72的两侧的两个部位处被保持为能够旋转。
壳体10为圆筒状，在旋转轴Ax1的输出侧具有凸缘部11。在凸缘部11形成有用于将壳体10自身固定的多个设置孔111。而且，在壳体10中的旋转轴Ax1的输出侧的端面形成有轴承孔12。轴承孔12呈圆形状地开口。通过向轴承孔12内嵌入第一轴承91而将第一轴承91安装于壳体10。
另外，在壳体10的旋转轴Ax1的输出侧的端面且在制造轴承孔12的周围形成有多个螺纹孔13。多个螺纹孔13用于将内齿齿轮2的齿轮主体22及轴承构件6的外圈62固定于壳体10。具体而言，固定用的螺钉60穿过外圈62的透孔621及齿轮主体22的固定孔222而拧紧到螺纹孔13，从而将齿轮主体22及外圈62固定于壳体10。
另外，如图3所示，本基本结构的齿轮装置1还包括多个油封14、15、16等。油封14装配于偏心轴7的旋转轴Ax1的输入侧的端部，填塞壳体10与偏心轴7(轴心部71)之间的间隙。油封15装配于偏心轴7的旋转轴Ax1的输出侧的端部，填塞内圈61与偏心轴7(轴心部71)之间的间隙。油封16装配于轴承构件6的旋转轴Ax1的输出侧的端面，填塞内圈61与外圈62之间的间隙。由这多个油封14、15、16密闭的空间构成润滑剂保 持空间17(参照图9)。润滑剂保持空间17包括轴承构件6的内圈61与外圈62之间的空间。此外，在润滑剂保持空间17内收容有多个销23、行星齿轮3、偏心体轴承5、支承体8、第一轴承91及第二轴承92等。
并且，在润滑剂保持空间17封入有润滑剂。润滑剂为液体，能够在润滑剂保持空间17内流动。因此，在齿轮装置1的使用时，例如润滑剂进入由多个销23构成的内齿21与行星齿轮3的外齿31的啮合部位。本公开实施例所说的“液体”包括液状或凝胶状的物质。在此所说的“凝胶状”是指具有液体与固体的中间性质的状态，包括由液相和固相这两个相构成的胶质(colloid)的状态。例如，分散剂为液相且分散质为液相的乳胶(emulsion)，分散质为固相的悬浊液(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”。在本基本结构中，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7施加作为输入的旋转力，偏心轴7以旋转轴Ax1为中心旋转，从而行星齿轮3绕着旋转轴Ax1摆动(公转)。此时，行星齿轮3在内齿齿轮2的内侧内切于内齿齿轮2，以外齿31的一部分与内齿21的一部分啮合的状态摆动，因此内齿21与外齿31的啮合位置沿内齿齿轮2的圆周方向移动。由此，在两齿轮(内齿齿轮2及行星齿轮3)之间产生与行星齿轮3和内齿齿轮2的齿数差对应的相对旋转。并且，通过多个内销4，将除了行星齿轮3的摆动分量(公转分量)之外的行星齿轮3的旋转(自转分量)向轴承构件6的内圈61传递。其结果是，从一体化于内圈61的输出轴，能得到与两齿轮的齿数差相应地以比较高的减速比被减速了的旋转输出。
然而，在本实施方式的齿轮装置1中，如上所述，内齿齿轮2与行星齿轮3的齿数差规定了齿轮装置1中的输出旋转相对于输入旋转的减速比。即，在将内齿齿轮2的齿数设为“V1”、将行星齿轮3的齿数设为“V2” 的情况下，减速比R1由下述式1表示。
R1＝V2/(V1-V2)…(式1)
总之，内齿齿轮2与行星齿轮3的齿数差(V1-V2)越小，则减速比R1越大。作为一例，内齿齿轮2的齿数V1为“52”，行星齿轮3的齿数V2为“51”，其齿数差(V1-V2)为“1”，因此根据上述式1，减速比R1为“51”。在该情况下，从旋转轴Ax1的输入侧观察时，如果偏心轴7以旋转轴Ax1为中心顺时针旋转一周(360度)，则内圈61以旋转轴Ax1为中心逆时针旋转齿数差“1”的量(即约7.06度)。
根据本基本结构的齿轮装置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、轴承构件6、支承体8即可，可以还包括例如花键衬套等作为结构要素。
然而，在如本基本结构的齿轮装置1那样成为高速旋转侧的输入旋转伴有偏心运动的情况下，如果未取得进行高速旋转的旋转体的重量平衡，则可能会导致振动等，因此有时使用平衡配重等来取得重量平衡。即，由偏心体内圈51及与偏心体内圈51一起旋转的构件(偏心轴7)中的至少一者构成的旋转体以高速进行偏心运动，因此优选取得该旋转体的相对于旋转轴Ax1的重量平衡。在本基本结构中，如图3及图4所示，通过在偏心轴7的偏心部72的一部分设置空隙75来取得旋转体相对于旋转轴Ax1的重量平衡。
总之，在本基本结构中，不附加平衡重等而通过减薄旋转体(在此为偏心轴7)的一部分进行轻量化，由此取得旋转体相对于旋转轴Ax1的重量平衡。即，本基本结构的齿轮装置1包括收容于在行星齿轮3形成的开口部33并使行星齿轮3摆动的偏心体轴承5。偏心体轴承5具有偏心体外圈52及配置在偏心体外圈52的内侧的偏心体内圈51。由偏心体内圈51及与偏心体内圈51一起旋转的构件中的至少一者构成的旋转体在从偏心体内 圈51的旋转轴Ax1观察下，在偏心体外圈52的中心C1侧的一部分具有空隙75。在本基本结构中，偏心轴7是“与偏心体内圈51一起旋转的构件”，相当于“旋转体”。因此，在偏心轴7的偏心部72形成的空隙75相当于旋转体的空隙75。如图3及图4所示，该空隙75在从旋转轴Ax1观察下处于中心C1侧的位置，因此发挥作用以使偏心轴7的重量平衡从旋转轴Ax1至周向接近均等。
更详细而言，空隙75包含形成在沿着偏心体内圈51的旋转轴Ax1贯通旋转体的贯通孔73的内周面上的凹部。即，在本基本结构中，旋转体为偏心轴7，因此在沿着旋转轴Ax1贯通偏心轴7的贯通孔73的内周面上形成的凹部作为空隙75发挥功能。这样，通过将形成在贯通孔73的内周面的凹部作为空隙75来利用，能够在不伴有外观上的变更的情况下取得旋转体的重量平衡。
(3.2)内销的自转结构
接下来，关于本基本结构的齿轮装置1的内销4的自转结构，参照图9更详细地进行说明。图9是图3的区域Z1的放大图。
首先，作为前提，如上所述，多个内销4是将行星齿轮3与轴承构件6的内圈61连结的部件。具体而言，内销4的长度方向的一端部(在本基本结构中为旋转轴Ax1的输入侧的端部)插入于行星齿轮3的内销孔32，内销4的长度方向的另一端部(在本基本结构中为旋转轴Ax1的输出侧的端部)插入于内圈61的保持孔611。
在此，内销4的直径比内销孔32的直径小一圈，因此能够在内销4与内销孔32的内周面321之间确保间隙，内销4能够在内销孔32内移动，即能够相对于内销孔32的中心相对移动。另一方面，保持孔611的直径虽然为内销4的直径以上，但是比内销孔32的直径小。在本基本结构中，保持孔611的直径与内销4的直径大致相同，比内销4的直径稍大。因此，内销4在保持孔611内的移动被限制，即内销4相对于保持孔611的中心 的相对移动被禁止。因此，内销4在行星齿轮3中以在内销孔32内能够公转的状态被保持，且以相对于内圈61在保持孔611内不能公转的状态被保持。由此，行星齿轮3的摆动分量、即行星齿轮3的公转分量由内销孔32与内销4的游嵌吸收，通过多个内销4，将除了行星齿轮3的摆动分量(公转分量)之外的、行星齿轮3的旋转(自转分量)向内圈61传递。
然而，在本基本结构中，内销4的直径比保持孔611稍大，由此，内销4在插入于保持孔611的状态下，虽然在保持孔611内的公转被禁止，但是在保持孔611内能够自转。即，内销4虽然是插入于保持孔611的状态但也不是被压入于保持孔611，因此在保持孔611内能够自转。这样，在本基本结构的齿轮装置1中，多个内销4各自以能够自转的状态由内圈61保持，因此在内销4在内销孔32内公转时，内销4自身能够自转。
总之，在本基本结构中，内销4被保持为相对于行星齿轮3能够进行在内销孔32内的公转及自转这两者的状态，且被保持为相对于内圈61仅能够进行保持孔611内的自转的状态。即，多个内销4在各自的自转未被约束的状态(能够自转的状态)下，能够以旋转轴Ax1为中心旋转(公转)，且能够在多个内销孔32内公转。因此，在利用多个内销4将行星齿轮3的旋转(自转分量)向内圈61传递时，内销4能够在内销孔32内进行公转及自转，且同时在保持孔611内进行自转。因此，内销4在内销孔32内公转时，内销4处于能够自转的状态，因此相对于内销孔32的内周面321进行滚动。换言之，内销4以在内销孔32的内周面321上滚动的方式在内销孔32内公转，因此难以产生内销孔32的内周面321与内销4之间的摩擦阻力引起的损失。
这样，在本基本结构的结构中，由于原本就难以产生内销孔32的内周面321与内销4之间的摩擦阻力引起的损失，因此可以省略内滚子。因此，在本基本结构中，多个内销4各自采用与内销孔32的内周面321直接接触的结构。即，在本基本结构中，将未装配内滚子的状态的内销4插入于内 销孔32，内销4直接与内销孔32的内周面321接触。由此，能够省略内滚子，能够将内销孔32的直径抑制得比较小，因此行星齿轮3能够小型化(特别是小径化)，齿轮装置1整体也容易实现小型化。如果将行星齿轮3的尺寸固定，则与上述第一关联技术相比，例如，还可以增加内销4的个数(根数)而使旋转的传递顺畅，或者使内销4变粗而提高强度。此外，能够将部件个数抑制得减少与内滚子相应的量，从而也有助于齿轮装置1的低成本化。
另外，在本基本结构的齿轮装置1中，多个内销4各自将至少一部分在轴承构件6的轴向上配置于与轴承构件6相同的位置。即，如图9所示，在与旋转轴Ax1平行的方向上，内销4将其至少一部分配置于与轴承构件6相同的位置。换言之，内销4的至少一部分位于与旋转轴Ax1平行的方向上的轴承构件6的两端面之间。再换言之，多个内销4各自将至少一部分配置在轴承构件6的外圈62的内侧。在本基本结构中，内销4中的旋转轴Ax1的输出侧的端部在与旋转轴Ax1平行的方向上处于与轴承构件6相同的位置。总之，内销4中的旋转轴Ax1的输出侧的端部插入于在轴承构件6的内圈61形成的保持孔611，因此至少该端部在轴承构件6的轴向上配置于与轴承构件6相同的位置。
这样，多个内销4的各自的至少一部分在轴承构件6的轴向上配置于与轴承构件6相同的位置，由此能够将与旋转轴Ax1平行的方向上的齿轮装置1的尺寸抑制得小。即，与轴承构件6和内销4沿轴承构件6的轴向并列(相对)的结构相比，在本基本结构的齿轮装置1中，能够减小与旋转轴Ax1平行的方向上的齿轮装置1的尺寸，能够对齿轮装置1的进一步的小型化(薄型化)作出贡献。
在此，保持孔611中的、旋转轴Ax1的输出侧的开口面例如由与内圈61一体化的输出轴等闭塞。由此，关于内销4向旋转轴Ax1的输出侧(图9的右侧)的移动，受到与内圈61一体化的输出轴等限制。
另外，在本基本结构中，为了使内销4相对于内圈61的自转顺畅地进行而采用以下的结构。即，通过使润滑剂(润滑油)介于形成于内圈61的保持孔611的内周面与内销4之间而使内销4的自转顺畅。特别是在本基本结构中，在内圈61与外圈62之间存在供润滑剂注入的润滑剂保持空间17，因此利用润滑剂保持空间17内的润滑剂，实现内销4的自转的顺畅化。
在本基本结构中，如图9所示，内圈61具有：供多个内销4分别插入的多个保持孔611；多个连结路64。多个连结路64使内圈61和外圈62之间的润滑剂保持空间17与多个保持孔611之间连结。具体而言，在内圈61形成有从保持孔611的内周面的一部分即与滚动体63对应的部位沿径向延伸的连结路64。连结路64是将内圈61的与外圈62相对的相对面中的收容滚动体63的凹部(槽)的底面与保持孔611的内周面之间贯通的孔。换言之，连结路64的润滑剂保持空间17侧的开口面配置在轴承构件6的与滚动体63面对(相对)的位置。润滑剂保持空间17与保持孔611经由这样的连结路64而在空间上相连。
根据上述的结构，由于利用连结路64将润滑剂保持空间17与保持孔611连结，因此润滑剂保持空间17内的润滑剂通过连结路64而被供给至保持孔611。即，当轴承构件6动作而滚动体63旋转时，滚动体63作为泵发挥功能，能够将润滑剂保持空间17内的润滑剂经由连结路64送入至保持孔611。特别是连结路64的润滑剂保持空间17侧的开口面处于与轴承构件6的滚动体63面对(相对)的位置，由此在滚动体63旋转时，滚动体63作为泵高效地发挥作用。其结果是，润滑剂介于保持孔611的内周面与内销4之间，能够实现内销4相对于内圈61的自转的顺畅化。
(3.3)支承体
接下来，关于本基本结构的齿轮装置1的支承体8的结构，参照图10更详细地进行说明。图10是图3的B1-B1线剖视图。但是，在图10中，关于支承体8以外的部件，即使是剖面也省略剖面线。而且，在图10中， 仅图示内齿齿轮2及支承体8，省略其他的部件(内销4等)的图示。此外，在图10中，省略齿轮主体22的内周面221的图示。
首先，作为前提，如上所述，支承体8是支承多个内销4的部件。即，支承体8通过捆束多个内销4而分散将行星齿轮3的旋转(自转分量)向内圈61传递时的、作用于多个内销4的载荷。具体而言，具有供多个内销4分别插入的多个支承孔82。在本基本结构中，作为一例，支承孔82的直径与形成于内圈61的保持孔611的直径相等。因此，支承体8以多个内销4各自能够自转的状态支承多个内销4。即，多个内销4各自被保持为相对于轴承构件6的内圈61和支承体8都能够自转的状态。
这样，支承体8关于周向及径向这两个方向上，进行多个内销4相对于支承体8的定位。即，内销4通过插入于支承体8的支承孔82而被限制与旋转轴Ax1正交的平面内的相对于全部方向的移动。因此，内销4通过支承体8不仅关于周向上而且径向(径向)也被定位。
在此，支承体8具有至少外周面81在俯视观察下为正圆的圆环状。并且，支承体8通过使外周面81与内齿齿轮2中的多个销23接触而被进行位置限制。由于多个销23构成内齿齿轮2的内齿21，因此换言之，支承体8通过使外周面81与内齿21接触而被进行位置限制。在此，支承体8的外周面81的直径与通过内齿齿轮2的内齿21的前端的虚拟圆(齿顶圆)的直径相同。因此，多个销23全部与支承体8的外周面81接触。由此，在支承体8由多个销23进行了位置限制的状态下，支承体8的中心以与内齿齿轮2的中心(旋转轴Ax1)重叠的方式被进行位置限制。由此，进行支承体8的定芯，结果是，关于支承于支承体8的多个内销4，也利用多个销23进行定芯。
另外，多个内销4以旋转轴Ax1为中心旋转(公转)，由此将行星齿轮3的旋转(自转分量)向内圈61传递。因此，对多个内销4进行支承的支承体8与多个内销4及内圈61一起以旋转轴Ax1为中心旋转。此时，支承 体8由多个销23进行定芯，因此在支承体8的中心被维持在旋转轴Ax1上的状态下，支承体8顺畅地旋转。而且，支承体8以其外周面81与多个销23接触的状态旋转，因此伴随着支承体8的旋转而多个销23各自旋转(自转)。由此，支承体8与内齿齿轮2一起构成滚针轴承(针状滚子轴承)，并顺畅地旋转。
即，支承体8的外周面81以与多个销23相切的状态与多个内销4一起相对于齿轮主体22相对旋转。因此，如果将内齿齿轮2的齿轮主体22看作“外圈”，将支承体8看作“内圈”，则介于两者之间的多个销23作为“滚动体(滚子)”发挥功能。这样，支承体8与内齿齿轮2(齿轮主体22及多个销23)一起构成滚针轴承，并能够进行顺畅的旋转。
此外，由于支承体8在与齿轮主体22之间夹有多个销23，因此支承体8也作为抑制销23从齿轮主体22的内周面221分离的方向的移动的“限动件”发挥功能。即，多个销23夹在支承体8的外周面81与齿轮主体22的内周面221之间，从而抑制多个销23从齿轮主体22的内周面221的浮起。总之，在本基本结构中，多个销23各自通过与支承体8的外周面81接触，而被限制从齿轮主体22分离的方向的移动。
然而，在本基本结构中，如图9所示，支承体8隔着行星齿轮3而位于轴承构件6的与内圈61相反侧。即，支承体8、行星齿轮3及内圈61沿着与旋转轴Ax1平行的方向并列配置。在本基本结构中，作为一例，支承体8在从行星齿轮3观察下位于旋转轴Ax1的输入侧，内圈61在从行星齿轮3观察下位于旋转轴Ax1的输出侧。并且，支承体8与内圈61一起支承内销4的长度方向(与旋转轴Ax1平行的方向)的两端部，内销4的长度方向的中央部贯通插入行星齿轮3的内销孔32。总之，本基本结构的齿轮装置1包括轴承构件6，轴承构件6具有外圈62及配置在外圈62的内侧的内圈61，且内圈61被支承为能够相对于外圈62相对旋转。并且，齿轮主体22被固定于外圈62。在此，行星齿轮3在支承体8的轴向上位于支承体 8与内圈61之间。
根据该结构，支承体8及内圈61支承内销4的长度方向的两端部，因此难以产生内销4的倾斜。特别是也容易接受作用于多个内销4的对于旋转轴Ax1的弯曲力(弯曲力矩载荷)。而且，在本基本结构中，在与旋转轴Ax1平行的方向上，支承体8被夹在行星齿轮3与壳体10之间。由此，支承体8向旋转轴Ax1的输入侧(图9的左侧)的移动被壳体10限制。关于贯通支承体8的支承孔82而从支承体8向旋转轴Ax1的输入侧突出的内销4，向旋转轴Ax1的输入侧(图9的左侧)的移动也被壳体10限制。
在本基本结构中，支承体8及内圈61还与多个销23的两端部接触。即，如图9所示，支承体8与销23的长度方向(与旋转轴Ax1平行的方向)的一端部(旋转轴Ax1的输入侧的端部)接触。内圈61与销23的长度方向(与旋转轴Ax1平行的方向)的另一端部(旋转轴Ax1的输出侧的端部)接触。根据该结构，支承体8及内圈61在销23的长度方向的两端部被定芯，因此难以产生内销4的倾斜。特别是也容易承受作用于多个内销4的对于旋转轴Ax1的弯曲力(弯曲力矩载荷)。
另外，多个销23具有支承体8的厚度以上的长度。换言之，在与旋转轴Ax1平行的方向上，支承体8收于内齿21的齿向的范围内。由此，支承体8的外周面81遍及内齿21的齿向方向(与旋转轴Ax1平行的方向)的全长地与多个销23接触。因此，难以产生支承体8的外周面81局部地磨损的“单边磨损”那样的不良状况。
另外，在本基本结构中，支承体8的外周面81比支承体8的与外周面81相邻的一表面的表面粗糙度小。即，外周面81的表面粗糙度比支承体8的轴向(厚度方向)的两端面小。本公开实施例所说的“表面粗糙度”是指物体的表面的粗糙度的程度，值越小，则表面的凹凸越小(越少)，越光滑。在本基本结构中，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，外周面81比支承体8中的外周面81以外的面的 表面粗糙度小。在该结构中，支承体8的旋转变得更加顺畅。
另外，在本基本结构中，支承体8的外周面81的硬度比多个销23的周面低且比齿轮主体22的内周面221高。本公开实施例中所说的“硬度”是指物体的坚硬的程度，金属的硬度例如由以一定的压力推压钢球而形成的压痕的大小来表示。具体而言，作为金属的硬度的一例，有洛氏硬度(HRC)、布氏硬度(HB)、维氏硬度(HV)或肖氏硬度(Hs)等。作为提高金属部件的硬度(变硬)的手段，例如有合金化或热处理等。在本基本结构中，作为一例，通过渗碳淬火等处理，提高支承体8的外周面81的硬度。在该结构中，即使由于支承体8的旋转也难以产生磨损粉等，容易长期地维持支承体8的顺畅的旋转。
(4)适用例
接下来，说明本基本结构的齿轮装置1及执行器100的适用例。
本基本结构的齿轮装置1及执行器100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。
另外，本基本结构的齿轮装置1及执行器100的适用例并不局限于上述那样的水平多关节机器人，例如，也可以是水平多关节机器人以外的产业用机器人或产业用以外的机器人等。在水平多关节机器人以外的产业用机器人中，作为一例，存在垂直多关节型机器人或平行连杆型机器人等。在产业用以外的机器人中，作为一例，有家庭用机器人、护理用机器人或医疗用机器人等。
(实施方式1)
<概要>
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11～图14等所示，主要是轴承构件6A周边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11是齿轮装置1A的概略剖视图。图12是齿轮装置1A的从旋转轴Ax1的输出侧(图11的右侧)观察到的侧视图，图11相当于图12的C1-C1线剖视图。图13是图11的A1-A1线剖视图，图14是图11的B1-B1线剖视图及其局部放大图。其中，在图13及图14中，关于偏心轴7以外的部件，虽然为剖面但是省略剖面线。
在本实施方式中，轴承构件6A具有外圈62A、配置在外圈62A的内侧的内圈61A、配置在外圈62A与内圈61A之间的多个滚动体63。并且，内圈61A被支承为能够相对于外圈62A以旋转轴Ax1为中心相对旋转。关于这一点，与基本结构同样。
关于本实施方式的齿轮装置1A，作为与基本结构的第一个主要的不同点，轴承构件6A的内圈61A不是由一个部件构成而是包含第一内圈601和第二内圈602这两个部件。即，如图11所示，在齿轮装置1A中，内圈61A包含在与旋转轴Ax1平行的方向上相对且相对面601A、602A(参照图15)彼此接触的第一内圈601及第二内圈602。
另外，作为本实施方式的齿轮装置1A的与基本结构的第二个主要的不同点，轴承构件6A的外圈62A不是与内齿齿轮2的齿轮主体22分体构成，而是与齿轮主体22无缝地一体构成。即，如图11所示，在齿轮装置1A中，外圈62A与齿轮主体22在与旋转轴Ax1平行的方向(内齿21的齿向)上无缝地连续设置。
总之，关于本实施方式的齿轮装置1A，作为与基本结构的主要的不同点，新采用对轴承构件6A的内圈61A的钻研和对轴承构件6A的外圈62A的钻研。对内圈61A的钻研包括内圈61A具有第一内圈601及第二内圈602，对外圈62A的钻研包括外圈62与齿轮主体22无缝地连续设置。
<其他的不同点>
在本实施方式的齿轮装置1A中，除了上述的主要的不同点(对内圈 61A的钻研及对外圈62A的钻研)之外，如以下说明所述，相对于基本结构有多个不同点。
作为其他的第一个不同点，本实施方式的齿轮装置1A以将行星齿轮3的相当于自转分量的旋转作为与轴承构件6A的外圈62A一体化的输出轴等的旋转取出的方式使用。即，在基本结构中，行星齿轮3与内齿齿轮2之间的相对旋转从利用多个内销4连结于行星齿轮3的内圈61作为行星齿轮3的自转分量取出。相对于此，在本实施方式中，行星齿轮3与内齿齿轮2之间的相对旋转从与内齿齿轮2的齿轮主体22一体化的外圈62A取出。在本实施方式中，作为一例，齿轮装置1A以保持多个内销4的内圈61A被固定于固定构件(后述的轮毂构件104等)且外圈62A被固定于成为旋转构件的壳体10的状态使用。即，由于行星齿轮3利用多个内销4与固定构件连结，且齿轮主体22被固定于旋转构件，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(齿轮主体22)取出。换言之，在本实施方式中，齿轮装置1A以在多个内销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方式构成。
并且，这样取出齿轮主体22的旋转力作为输出的齿轮装置1A作为一例，用于车轮装置W1(参照图17)。在该情况下，通过旋转构件(壳体10)作为车轮主体102(参照图17)发挥功能，从而伴随着内齿齿轮2与行星齿轮3的相对旋转能够使车轮主体102旋转。这样，在本实施方式中，通过将齿轮装置1A用于车轮装置W1，利用多个内销4相对于齿轮主体22相对旋转时的旋转输出而能够以车轮主体102在行进面上滚动的方式驱动车轮主体102。总之，齿轮装置1A在用作车轮装置W1的情况下，向偏心轴7施加作为输入的旋转力，由此从作为车轮主体102的旋转构件取出作为输出的旋转力。即，齿轮装置1A以偏心轴7的旋转为输入旋转，以固定有齿轮主体22的旋转构件的旋转为输出旋转进行动作。由此，在齿轮装置1A中，能够得到相对于输入旋转以比较高的减速比被减速了的输出旋转作 为车轮主体102的旋转。
作为其他的第二个不同点，本实施方式的齿轮装置1A包括多个行星齿轮3。具体而言，齿轮装置1A包括第一行星齿轮301和第二行星齿轮302这两个行星齿轮3。两个行星齿轮3配置为在与旋转轴Ax1平行的方向上相对。即，行星齿轮3包含在与旋转轴Ax1平行的方向上相对的第一行星齿轮301及第二行星齿轮302。
这两个行星齿轮3(第一行星齿轮301及第二行星齿轮302)绕着旋转轴Ax1以180度的相位差配置。在图11的例子中，第一行星齿轮301及第二行星齿轮302中的位于旋转轴Ax1的输入侧(图11的左侧)的第一行星齿轮301的中心C1处于相对于旋转轴Ax1向图的上方偏离(偏)的状态。另一方面，位于旋转轴Ax1的输出侧(图11的右侧)的第二行星齿轮302的中心C2处于相对于旋转轴Ax1向图的下方偏离(偏)的状态。这样，通过多个行星齿轮3在以旋转轴Ax1为中心的周向上均等地配置，从而能够取得多个行星齿轮3间的重量平衡。在本实施方式的齿轮装置1A中，由于这样在多个行星齿轮3间取得重量平衡，因此省略偏心轴7的空隙75(参照图3)。
更详细而言，偏心轴7相对于一个轴心部71具有两个偏心部72。这两个偏心部72的中心(中心轴)分别与从旋转轴Ax1偏离的中心C1、C2一致。而且，第一行星齿轮301及第二行星齿轮302的形状自身相同。并且，在第一行星齿轮301的开口部33收容有以中心C1为中心的、装配于偏心部72的状态的偏心体轴承5。在第二行星齿轮302的开口部33收容有以中心C2为中心的、装配于偏心部72的状态的偏心体轴承5。在此，旋转轴Ax1与中心C1之间的距离ΔL1成为第一行星齿轮301相对于旋转轴Ax1的偏心量，旋转轴Ax1与中心C2之间的距离ΔL2成为第二行星齿轮302相对于旋转轴Ax1的偏心量。在本实施方式中，关于偏心量ΔL1与偏心量ΔL2，虽然从旋转轴Ax1观察到的朝向相反，但是它们的绝对值相同。根 据上述的结构，轴心部71以旋转轴Ax1为中心旋转(自转)，由此第一行星齿轮301及第二行星齿轮302绕着旋转轴Ax1以180度的相位差而绕着旋转轴Ax1旋转(偏心运动)。
作为其他的第三个不同点，在本实施方式中，如图13及图14所示，偏心体轴承5由滚子轴承构成来代替在基本结构中说明的那样的深沟球轴承。即，在本实施方式的齿轮装置1A中，偏心体轴承5使用圆柱状(圆筒状)的滚子作为滚动体53。此外，在本实施方式中，省略偏心体内圈51(参照图3)及偏心体外圈52(参照图3)。因此，行星齿轮3(的开口部33)的内周面为多个滚动体53的滚动面来代替偏心体外圈52，偏心部72的外周面为多个滚动体53的滚动面来代替偏心体内圈51。在本实施方式中，偏心体轴承5具有保持架(保持器)54，多个滚动体53分别以能够自转的状态由保持架54保持。保持架54将多个滚动体53在偏心部72的圆周方向上等间距地保持。此外，保持架54相对于行星齿轮3及偏心轴7未被固定，分别能够相对于行星齿轮3及偏心轴7相对旋转。由此，伴随着保持架54的旋转，由保持架54保持的多个滚动体53向偏心部72的圆周方向移动。
作为其他的第四个不同点，在本实施方式中，壳体10与内齿齿轮2的齿轮主体22及轴承构件6A的外圈62A无缝地一体化。即，在基本结构中，内齿齿轮2的齿轮主体22以与轴承构件6的外圈62一起固定于壳体10的状态使用。相对于此，在本实施方式中，通过对上述外圈62A的钻研，在与旋转轴Ax1平行的方向上与齿轮主体22无缝地连续设置的外圈62A还与作为旋转构件的壳体10无缝地连续设置。
更详细而言，壳体10为圆筒状，构成齿轮装置1A的外廓。在本实施方式中，由于作为旋转构件的壳体10例如作为车轮主体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(从旋转轴Ax1方向的一方观察下)为以旋转轴Ax1为中心的正圆。如图11所示，壳体10具有主体部18和盖19。主体部18 是旋转轴Ax1方向的两端面开口的圆筒状的部件。盖19是安装于主体部18中的旋转轴Ax1的输入侧(图11的左侧)的端面并将主体部18中的旋转轴Ax1的输入侧的开口面封闭的圆盘状的部件。并且，在本实施方式中，内齿齿轮2的齿轮主体22和轴承构件6A的外圈62A无缝地一体化于壳体10中的主体部18。由此，齿轮主体22及外圈62A作为一个部件(主体部18)来处理。因此，主体部18的内周面包含齿轮主体22的内周面221(参照图14)及外圈62A的内周面620(参照图13)。
另外，除了上述的点以外，例如，关于内齿齿轮2及行星齿轮3的齿数、减速比、内销孔32及内销4的个数、以及各部的具体的形状及尺寸等，在本实施方式与基本结构中也适当不同。例如，内销孔32及内销4在基本结构中各设置18个，而与此相对，在本实施方式中，作为一例各设置12个。
<对内圈的钻研>
接下来，参照图11～图16，详细说明本实施方式的齿轮装置1A中的对轴承构件6A的内圈61A的钻研。
在本实施方式中，如上所述，轴承构件6A的内圈61A构成为包括在与旋转轴Ax1平行的方向上相对的第一内圈601和第二内圈602这两个部件。第一内圈601及第二内圈602以使相对面601A、602A彼此接触的状态组合。换言之，内圈61A被分割成沿与旋转轴Ax1平行的方向并列的第一内圈601及第二内圈602这两个部件。
第一内圈601及第二内圈602都是环状的部件。第一内圈601及第二内圈602都具有在俯视观察下为正圆的圆环状。在第一内圈601与第二内圈602中，外径
Figure PCTCN2021077117-appb-000001
(参照图15)相同，内径也大致相同。在本实施方式中作为一例，关于与旋转轴Ax1平行的方向的尺寸，第二内圈602比第一内圈601大，但是并不局限于该尺寸关系。
第一内圈601及第二内圈602都比外圈62A小一圈，并配置在外圈62A 的内侧。在此，外圈62A的内径
Figure PCTCN2021077117-appb-000002
(参照图15)比第一内圈601及第二内圈602的外径
Figure PCTCN2021077117-appb-000003
大，因此在外圈62A的内周面620与第一内圈601及第二内圈602的外周面之间产生间隙。此外，虽然详情在后文叙述，但是第一内圈601及第二内圈602的外径
Figure PCTCN2021077117-appb-000004
比通过齿轮主体22的内周面221的多个销保持槽223(参照图14)的底部的虚拟圆VC1(图14参照)的直径
Figure PCTCN2021077117-appb-000005
(参照图15)更小。
在此，第一内圈601及第二内圈602配置为，在与旋转轴Ax1平行的方向上，第一内圈601为行星齿轮3侧，第二内圈602为与行星齿轮3的相反侧。换言之，第一内圈601及第二内圈602配置为，第一内圈601为旋转轴Ax1的输入侧(图11的左侧)，第二内圈602为旋转轴Ax1的输出侧(图11的右侧)。因此，第一内圈601中的与第二内圈602相对的相对面601A由第一内圈601中的朝向旋转轴Ax1的输出侧(图11的右侧)的表面构成。相反，第二内圈602中的与第一内圈601相对的相对面602A由第二内圈602中的朝向旋转轴Ax1的输入侧(图11的左侧)的表面构成。第一内圈601及第二内圈602以使它们的相对面601A、602A彼此相互接触的方式相互组合而构成内圈61A。
第一内圈601及第二内圈602在如上所述组合的状态下，如图12所示，利用多个定位销65及多个螺栓66进行结合。多个定位销65从第一内圈601向第二内圈602压入于在与旋转轴Ax1平行的方向上贯通内圈61A的多个孔。而且，多个螺栓66穿过第二内圈602而拧紧到第一内圈601。因此，第一内圈601及第二内圈602在与旋转轴Ax1正交的平面内的相对位置由多个定位销65定位的状态下，利用多个螺栓66进行结合。
在此，在轴承构件6A中，如图15所示，多个滚动体63位于内圈61A中的第一内圈601与第二内圈602的分割面上。在本实施方式中，第一内圈601中的与第二内圈602相对的相对面601A为第一内圈601与第二内圈602的分割面，因此多个滚动体63位于包含第一内圈601中的与第二内圈 602相对的相对面601A的平面上。在本实施方式中，轴承构件6A是承受径向的载荷、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)的交叉滚子轴承。因此，轴承构件6的多个滚动体63分别由相对于与旋转轴Ax1正交的平面具有45度的倾斜的圆筒状的滚子构成。这样的多个滚动体63位于第一内圈601中的与第二内圈602相对的相对面601A的同一平面上。
在本实施方式中，特别是与旋转轴Ax1平行的方向上的多个滚动体63的各自的中心位于第一内圈601中的与第二内圈602相对的相对面601A的同一平面上。换言之，以与旋转轴Ax1平行的方向上的包含多个滚动体63的中心的平面为分割面，内圈61A被分割成第一内圈601和第二内圈602。通过这样的结构，在轴承构件6A组装时，从与旋转轴Ax1平行的方向的两侧通过第一内圈601和第二内圈602夹着设于外圈62A的多个滚动体63，由此能够比较简单地组装轴承构件6A。
在本实施方式中，油封15填塞第二内圈602与偏心轴7(轴心部71)之间的间隙。同样，油封16填塞第二内圈602与外圈62之间的间隙。由多个油封14、15、16密闭的空间与基本结构同样地构成润滑剂保持空间17(参照图11)。
这样，内圈61A被分割成第一内圈601和第二内圈602这两个部件，由此在第一内圈601与第二内圈602之间即使微小也会产生间隙。通过产生这样的间隙，例如润滑剂通过该间隙而在润滑剂保持空间17内容易循环。特别是如果第一内圈601与第二内圈602之间的间隙微小，则润滑剂保持空间17内的润滑剂因例如毛细管现象，期待通过该间隙扩展。因此，与内圈61A未被分割成第一内圈601和第二内圈602这两个部件的情况相比，即使例如在齿轮装置1A的长期使用时，润滑剂也容易遍布润滑剂保持空间17的整体，而难以产生齿轮装置1A中的传递效率的下降等不良情况。
另外，通过内圈61A被分割成第一内圈601和第二内圈602这两个部 件，能够在内圈61A的加工不会大幅地复杂化的情况下容易地组装轴承构件6A。并且，在内圈61A的加工未复杂化的情况下，将内圈61的尺寸抑制得比较小，而作为交叉滚子轴承能够实现比较紧凑的轴承构件6A。
然而，在本实施方式中，与基本结构同样，多个内销4将行星齿轮3与轴承构件6A的内圈61A连结。具体而言，内销4的长度方向的一端部(旋转轴Ax1的输入侧的端部)插入于行星齿轮3(第一行星齿轮301和第二行星齿轮302)的内销孔32，内销4的长度方向的另一端部(旋转轴Ax1的输出侧的端部)插入于内圈61A的保持孔611。
并且，由于内销4的直径比保持孔611稍大，因此内销4在插入于轴承构件6A的保持孔611的状态下，虽然在保持孔611内的公转被禁止，但是能够进行在保持孔611内的自转。即，内销4虽然是插入于保持孔611的状态，但由于不是被压入于保持孔611，因此在保持孔611内能够自转。这样，在本实施方式的齿轮装置1A中，多个内销4各自以能够自转的状态保持于内圈61A，因此内销4在内销孔32内公转时，内销4自身能够自转。
在此，在本实施方式中，与基本结构不同，多个保持孔611各自构成为不贯通内圈61A的整体而仅贯通内圈61A中的第一内圈601。即，第一内圈601在与旋转轴Ax1平行的方向上具有供多个内销4分别贯通的多个保持孔611。并且，内销4通过将长度方向的另一端部(旋转轴Ax1的输出侧的端部)插入于保持孔611而被保持于内圈61A。
在本实施方式中，由于不在第二内圈602插入内销4，因此不在第二内圈602设置保持孔611。因此，多个内销4的各自的端面对接于第二内圈602的与第一内圈601相对的相对面602A。即，内销4的长度方向上的与行星齿轮3相反侧(旋转轴Ax1的输出侧)的端面对接于第二内圈602的表面(相对面602A)。内销4的长度方向的端面相对于第二内圈602的相对面602A既可以以不妨碍内销4的自转的程度轻轻地接触，也可以分离。因此，内销4的向旋转轴Ax1的输出侧的移动被第二内圈602限制，并且 能抑制润滑剂保持空间17内的润滑剂通过保持孔611泄漏。
另外，由于内销4的直径比保持孔611稍大，因此在第一内圈601的多个保持孔611各自的内周面与多个内销4的各自的外周面之间形成有间隙。即，保持孔611是供内销4游嵌的孔，内销4在与保持孔611的内周面之间确保了空间的富余度(间隙)的状态插入于保持孔611。但是，内销4只要在保持孔611内能够自转即可，因此保持孔611的内周面与内销4之间的间隙比内销孔32的内周面321与内销4之间的间隙小。此外，在保持孔611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，也可以向该间隙填充液体等流体。具体而言，向保持孔611的内周面与内销4之间的间隙填充润滑剂。因此，在保持孔611内的内销4的自转因润滑剂而变得顺畅。
此外，如图16所示，本实施方式的齿轮装置1A还包括润滑剂的循环路RL1。在图16中，通过循环路RL1的润滑剂的流动由虚线箭头示意性地表示。循环路RL1是使润滑剂至少通过第一内圈601及第二内圈602间的间隙、分别收容多个滚动体63的各个滚动体63的空间、多个保持孔611的各个保持孔611而循环的路径(循环路)。即，循环路RL1包含第一内圈601及第二内圈602间的间隙、收容滚动体63的空间、保持孔611，并如图16所示，形成为环状。由此，例如向收容滚动体63的空间注入的润滑剂沿着循环路RL1，通过第一内圈601及第二内圈602间的间隙、保持孔611(的内周面与内销4之间的间隙)，而容易再次循环到收容滚动体63的空间。但是，润滑剂通过循环路RL1移动的朝向并不局限于图16中箭头所示的朝向，也可以为相反朝向。
另外，关于各部件的表面硬度，本实施方式的齿轮装置1A满足以下的条件。
即，多个内销4的各个内销4和第一内圈601采用相同程度的表面硬度。具体而言，多个内销4的各自的表面硬度与第一内圈601的表面硬度 的差量为HRC3以下。即，内销4的表面硬度以第一内圈601的表面硬度为基准以洛氏硬度(HRC)设定为±3的范围。在此，内销4的表面硬度与第一内圈601的表面硬度的差量优选为HRC2以下，更优选为HRC1以下。在此所说的“第一内圈601的表面硬度”是指至少第一内圈601中的保持孔611的内周面的硬度。第一内圈601由于在保持孔611内以能够自转的状态保持内销4，因此如本实施方式那样通过使内销4与第一内圈601的表面硬度成为相同程度(HRC3以下的差量)，有望抑制内销4及第一内圈601的磨损的效果。结果是，即使由于保持孔611内的内销4的自转，也难以产生磨损粉等，容易长期维持内销4的顺畅的旋转。
此外，多个内销4的各自的表面硬度为HRC60左右。更严格来说，多个内销4的各自的表面硬度处于HRC60±3的范围内。在本实施方式中，由于内销4与第一内圈601的表面硬度为相同程度(HRC3以下的差量)，因此第一内圈601的表面硬度处于HRC60±6的范围内。在此，内销4的表面硬度优选处于HRC60±2的范围内，更优选处于HRC60±1的范围内。结果是，即使由于保持孔611内的内销4的自转，也难以产生磨损粉等，容易长期维持内销4的顺畅的旋转。
另外，在本实施方式中，关于第二内圈602，也采用与第一内圈601(及内销4)相同程度的表面硬度。具体而言，第二内圈602的表面硬度与第一内圈601的表面硬度的差量为HRC3以下。作为提高金属部件的硬度(变硬)的手段，有例如合金化或热处理等。
<对外圈的钻研>
接下来，参照图11～图16，详细说明本实施方式的齿轮装置1A中的对轴承构件6A的外圈62A的钻研。
在本实施方式中，如上所述，轴承构件6A的外圈62A在与旋转轴Ax1平行的方向(内齿21的齿向)上与齿轮主体22无缝地连续设置。本公开实施例所说的“无缝”是指多个部件(部位)没有接缝地相连的结构，是 指这些多个部件(部位)不伴有破坏则无法分离的状态。即，在本实施方式中，不是将作为不同部件而准备的外圈62A与齿轮主体22通过例如紧固件(螺栓等)或粘结剂等结合而是使外圈62A与齿轮主体22以没有接缝地连续的方式进行一体化。
具体而言，例如，通过对于由金属块构成的一个基材的切削加工等加工从而一体形成外圈62A和齿轮主体22，而体现无缝地连续的外圈62A及齿轮主体22。或者，在铸造等的情况下，通过将由熔融金属构成的一个基材流入到成形用的模具，从而一体形成外圈62A和齿轮主体22，而体现无缝地连续的外圈62A及齿轮主体22。这样，在本实施方式的齿轮装置1A中，例如通过对一个基材的加工而一体形成外圈62A和齿轮主体22，从而实现在与旋转轴Ax1平行的方向上与齿轮主体22无缝地连续设置的外圈62A。换言之，齿轮装置1A的制造方法具有通过对一个基材的加工而一体形成外圈62A和齿轮主体22的工序。
这样，在本实施方式的齿轮装置1A中，通过外圈62A与齿轮主体22在与旋转轴Ax1平行的方向上无缝地连续设置，变得容易实现内齿齿轮2与轴承构件6A的定芯的精度提高。即，内齿齿轮2的齿轮主体22的中心和轴承构件6A的外圈62A的中心容易高精度地维持在旋转轴Ax1上。其结果，在齿轮装置1A中，具有难以产生以定芯不良为起因的振动及难以产生传递效率的下降等不良情况这样的优点。
齿轮主体22及外圈62A都具有在俯视观察下为正圆的圆环状。在本实施方式中，特别是齿轮主体22及外圈62A与壳体10中的主体部18无缝地一体化。换言之，壳体10的主体部18的一部分作为齿轮主体22及外圈62A发挥功能。因此，如图15所示，齿轮主体22与外圈62A的外径相同。另一方面，关于内径，齿轮主体22与外圈62A不同。
具体而言，如图14所示，在齿轮主体22的内周面221，沿圆周方向的整个区域形成有多个槽。这些多个槽分别是作为多个销23的保持结构的多 个销保持槽223。换言之，多个销23的保持结构包括形成于齿轮主体22的内周面221上的多个销保持槽223。多个销保持槽223全部为同一形状，且等间距地设置。多个销保持槽223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，在本实施方式中，如上所述齿轮主体22是主体部18的一部分，因此多个销保持槽223仅形成于主体部18中的与齿轮主体22对应的部位(参照图11)。多个销23嵌合于多个销保持槽223地组合于齿轮主体22(主体部18)。多个销23各自被保持在销保持槽223内以能够自转的状态，被销保持槽223限制向齿轮主体22的圆周方向的移动。
通过形成这样的多个销保持槽223从而齿轮主体22的内径在销保持槽223的底部成为最大，且在销保持槽223以外成为最小。在本实施方式中，将通过多个销保持槽223的底部的虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000006
即齿轮主体22的内径的最大值定义为齿轮主体22的内径。并且，如图15所示，齿轮主体22的内径
Figure PCTCN2021077117-appb-000007
与轴承构件6A的外圈62A的内径
Figure PCTCN2021077117-appb-000008
不同。总之，外圈62A的内径
Figure PCTCN2021077117-appb-000009
与通过齿轮主体22的内周面221中的保持有多个销23的多个销保持槽223的底部的虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000010
不同。由此，即使齿轮主体22与外圈62A无缝地连续，根据两者的内径的差异，也能够容易明确地分辨齿轮主体22与外圈62A的功能。
此外，在本实施方式中，如图15所示，外圈62A的内径
Figure PCTCN2021077117-appb-000011
比虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000012
大
Figure PCTCN2021077117-appb-000013
即，作为齿轮主体22的内径(的最大值)的虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000014
比外圈62A的内径
Figure PCTCN2021077117-appb-000015
小。由此，在主体部18的内周面，在齿轮主体22的内周面221中的多个销保持槽223的底部与外圈62A之间，如图16所示，产生高度D1的高低差。高低差的高度D1例如优选为销23的径
Figure PCTCN2021077117-appb-000016
(参照图14)的十二分之一
Figure PCTCN2021077117-appb-000017
以上且十分之二倍
Figure PCTCN2021077117-appb-000018
以下。作为一例，在销23的直径
Figure PCTCN2021077117-appb-000019
为2.5mm左右的情况下，高低差的高度D1优选为0.2mm以上且0.5mm以下。通过该高低差，能够避免由销保持槽223保持的销23与外圈62A的内周面620的干涉。
另外，在本实施方式中，内圈61A(第一内圈601及第二内圈602)的外径
Figure PCTCN2021077117-appb-000020
比虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000021
更小。即，虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000022
比内圈61A的外径
Figure PCTCN2021077117-appb-000023
大，且外圈62A的内径
Figure PCTCN2021077117-appb-000024
比虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000025
大。换言之，虚拟圆VC1的直径
Figure PCTCN2021077117-appb-000026
为内圈61A的外径
Figure PCTCN2021077117-appb-000027
与外圈62A的内径
Figure PCTCN2021077117-appb-000028
之间的值
Figure PCTCN2021077117-appb-000029
另外，如图16所示，在外圈62A的内周面620与齿轮主体22的内周面221之间配置有保持凹部67。保持凹部67由遍及外圈62A的圆周方向的整周地设置的槽构成。保持凹部67形成为例如通过表面张力能够保持润滑剂的大小及形状。即，保持凹部67作为用于积存润滑剂(润滑油)的“积油处”发挥功能。在本实施方式中，齿轮主体22及外圈62A配置为齿轮主体22为旋转轴Ax1的输入侧(图16的左侧)，且外圈62A为旋转轴Ax1的输出侧(图16的右侧)。因此，齿轮主体22的内周面221、保持凹部67及外圈62A的内周面620从旋转轴Ax1的输入侧按照齿轮主体22的内周面221、保持凹部67、外圈62A的内周面620的顺序排列。
在本实施方式中，作为一例，如图16所示，保持凹部67的与外圈62A的圆周方向正交的截面形状为矩形形状。保持凹部67的(距外圈62A的内周面620的)深度D2及保持凹部67的宽度D3都比高低差的高度D1大。保持凹部67的深度D2及宽度D3分别优选为销23的直径
Figure PCTCN2021077117-appb-000030
的十分之一
Figure PCTCN2021077117-appb-000031
以上且2倍
Figure PCTCN2021077117-appb-000032
以下。作为一例，在销23的直径
Figure PCTCN2021077117-appb-000033
为2.5mm左右的情况下，保持凹部67的深度D2及宽度D3优选为0.25mm以上且5.0mm以下。在图16的例子中，保持凹部67的深度D2比保持凹部67的宽度D3大，但是并不局限于该例，保持凹部67的深度D2也可以为宽度D3以下。此外，保持凹部67的剖面形状并不局限于矩形状，也可以为半圆状、三角形形状或其他的多边形状等。
在此，本实施方式的齿轮装置1A还包括从保持凹部67与多个内销4的各个内销4、多个销23的各个销23、及多个滚动体63中的至少一者相 连的润滑剂的路径。即，作为“积油处”的保持凹部67利用润滑剂的路径而与多个内销4的各个内销4、多个销23的各个销23、及多个滚动体63中的至少一个相连。由此，保持于保持凹部67的润滑剂对多个内销4的各个内销4、多个销23的各个销23、及多个滚动体63中的至少一者进行供给，使得内销4、销23及滚动体63中的至少一者的动作顺畅。在本实施方式中，保持凹部67位于润滑剂的循环路RL1上，由此将循环路RL1的一部分作为“润滑剂”的路径，将保持凹部67内的润滑剂供给至内销4、销23及滚动体63中的至少一者。特别是在本实施方式中，如图16所示，由于内销4、销23及滚动体63都位于循环路RL1上，因此能够将保持于保持凹部67的润滑剂供给至内销4、销23及滚动体63全部。
特别是在本实施方式中，滚动体63位于循环路RL1上。因此，轴承构件6A动作而滚动体63旋转，由此滚动体63作为泵发挥功能，而能够使润滑剂保持空间17内的润滑剂经由循环路RL1积极地循环。特别是由于第一内圈601与第二内圈602的分割面处于与滚动体63面对(相对)的位置，因此在滚动体63旋转时，滚动体63作为泵而高效地发挥作用。其结果是，润滑剂保持空间17内的润滑剂容易循环，且即使在齿轮装置1A的长期使用时，润滑剂也容易遍布润滑剂保持空间17的整体，而难以产生齿轮装置1A中的传递效率的下降等不良情况。
<适用例>
如图17所示，本实施方式的齿轮装置1A与车轮主体102一起构成车轮装置W1。换言之，本实施方式的车轮装置W1包括齿轮装置1A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。在本实施方式中，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18及盖19构成车轮主体102。即，在本实施方式的车轮装置W1中，齿轮装置1A将偏心轴7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18等)的旋转作为输出 旋转而进行动作，由此车轮主体102旋转而在行进面上滚动。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18的外周面装配例如橡胶制的轮胎103。
这样构成的车轮装置W1以内圈61A固定于作为固定构件的轮毂构件104的状态使用。由此，通过偏心轴7旋转，旋转构件(车轮主体102)相对于固定构件(轮毂构件104)相对旋转，由此车轮主体102旋转。在本实施方式中，作为一例，车轮装置W1利用多个螺栓66将内圈61A(第一内圈601及第二内圈602)固定于轮毂构件104。此时，优选内圈61A中的第二内圈602被固定于轮毂构件104等。
在此，在齿轮装置1A用于车轮装置W1的情况下，基本上以旋转轴Ax1沿水平面的姿势使用齿轮装置1A。因此，通过循环路RL1(参照图16)循环的润滑剂也容易供给至偏心体轴承5(的滚动体53)及第二轴承92等的偏心轴7周边。即，通过循环路RL1循环的润滑剂的一部分在重力的作用下，通过行星齿轮3(第二行星齿轮302)与第一内圈601之间的间隙，容易向偏心体轴承5及第二轴承92等供给。由此，即使在偏心轴7高速旋转时润滑剂因离心力飞溅到外周侧，也能够通过循环路RL1将润滑剂供给至偏心轴7周边，从而容易维持偏心轴7的顺畅的旋转。
并且，将使用了齿轮装置1A的车轮装置W1适用于例如无人搬运车(AGV：Automated Guided Vehicle)等车辆。即，车轮装置W1装配于设置在车辆的车身的轮毂构件104，车轮主体102旋转从而在行进面上滚动，由此车辆在由底面等构成的平坦的行进面上行进。作为一例，在车身装配多个(例如4个)齿轮装置1A，并分别利用不同的驱动源驱动各齿轮装置1A的偏心轴7，由此采用“轮毂马达”的布局。由此，驱动源通过使车轮装置W1的偏心轴7以旋转轴Ax1为中心旋转，从而使行星齿轮3摆动。由此，驱动源所产生的旋转(输入旋转)在齿轮装置1A中以比较高的减速比减速，从而使车轮主体102以比较高的转矩旋转。
然而，在本实施方式中，外圈62A的外周面680构成承受比齿轮主体22的外周面224大的应力的受压面。换言之，比齿轮主体22的外周面224大的应力从外侧作用于外圈62A的外周面680(受压面)。特别是在齿轮装置1A用于车轮装置W1等的情况下，外圈62A的外周面680优选构成为作用有比齿轮主体22的外周面224大的应力。齿轮主体22在与行星齿轮3之间存在比较大的间隙使得在齿轮主体22的内侧能够供行星齿轮3公转(摆动)。相对于此，外圈62A只要在其内侧能够供内圈61A自转即可，而在与内圈61A之间存在比较小的间隙。即，与齿轮主体22相比，外圈62A为接近于内侧堵塞的实心结构，因此对作用于径向的外力具有高刚性。因此，通过将外圈62A的外周面680设为受压面，能够利用高刚性的外圈62A侧承受来自外部的应力，从而作为齿轮装置1A整体的对于应力的耐性升高。
更详细而言，来自嵌合于外圈62A的外周的外装体的应力作用于受压面(外圈62A的外周面680)。在此，轮胎103是嵌合于外圈62A的外周的外装体的一例。即，将轮胎103装配为嵌合于主体部18的外周时，从轮胎103作用于主体部18的在外圈62A的应力(嵌合压)比在齿轮主体22的大。具体而言，例如图17所示，通过在主体部18的外周面的相当于外圈62A的部位设置间隔件68，使主体部18的在外圈62A的外径比在齿轮主体22的大。由此，在主体部18装配有作为外装体的轮胎103时，来自轮胎103的应力在外圈62A侧比齿轮主体22侧大。但是，并不局限于设置间隔件68的结构，例如通过减小齿轮主体22的外径，或者使外装体(轮胎103等)的在外圈62A侧的内径比在齿轮主体22侧的小，也能够实现同样的作用。
或者，齿轮装置1A也可以构成为，即使来自外装体的应力在外圈62A的外周面680与齿轮主体22的外周面224处相同的情况下，来自行进面等地面的反作用力也在作为受压面的外圈62A的外周面680侧增大。具体而 言，例如，构成为，在使用齿轮装置1A作为车轮装置W1的情况下，通过外倾角的调节而来自行进面等地面的反作用力在外圈62A侧比齿轮主体22侧增大。在该情况下，在受压面(外圈62A的外周面680)作用有来自接地面的接地压。
另外，本实施方式的齿轮装置1A并不局限于车轮装置W1，如基本结构所说明的那样，例如也可以适用于水平多关节机器人(选择顺应性装配机械手型机器人)那样的机器人等。
<变形例>
实施方式1只不过是本公开实施例的各种实施方式的一个。实施方式1只要能够实现本公开实施例的目的，就可以根据设计等进行各种变更。而且，本公开实施例参照的附图都是示意性的图，图中的各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，列举实施方式1的变形例。以下说明的变形例可以适当组合适用。
内销4只要贯通构成内圈61A的第一内圈601及第二内圈602中的第一内圈601即可，也可以如图18A及图18B所示，在第二内圈602的一部分或全部插入有内销4。在图18A的例子中，保持孔611延长至与旋转轴Ax1平行的方向上的第二内圈602的一部分为止，贯通了第一内圈601的内销4的端部插入至第二内圈602的中途。在图18B的例子中，保持孔611形成为在与旋转轴Ax1平行的方向上贯通第一内圈601及第二内圈602这两者，且贯通了第一内圈601的内销4也贯通第二内圈602。
在实施方式1中，例示了行星齿轮3为两个类型的齿轮装置1A，但是齿轮装置1A也可以包括三个以上的行星齿轮3。例如，在齿轮装置1A包括三个行星齿轮3的情况下，这三个行星齿轮3优选绕着旋转轴Ax1以120度的相位差配置。而且，齿轮装置1A也可以仅包括一个行星齿轮3。
另外，多个内销4各自将至少一部分在轴承构件6A的轴向上配置于与轴承构件6A相同的位置，这在齿轮装置1A中不是必须的结构。即，齿轮 装置1A只要包括轴承构件6A、内齿齿轮2、行星齿轮3和多个内销4即可。轴承构件6A具有外圈62A及配置在外圈62A的内侧的内圈61A。内圈61A被支承为相对于外圈62A能够相对旋转。内齿齿轮2的齿轮主体22被固定于外圈62A。多个内销4各自以能够自转的状态保持于内圈61A。在此，可以是多个内销4各自在轴承构件6A的轴向上与轴承构件6A并列(相对)配置。
另外，实施方式1中说明的内销4的个数及销23的个数(内齿21的齿数)、及外齿31的齿数等只不过为一例，可以适当变更。
另外，轴承构件6A并不局限于交叉滚子轴承，可以是深沟球轴承或角接触球轴承等。但是，轴承构件6A优选例如四点接触球轴承等那样对于径向的载荷、推力方向(沿旋转轴Ax1的方向)的载荷、及对于旋转轴Ax1的弯曲力(弯曲力矩载荷)都能耐受。
另外，偏心体轴承5并不局限于滚子轴承，例如，可以为深沟球轴承或角接触球轴承等。
另外，齿轮装置1A的各构成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，齿轮装置1A只要能够将轴承构件6A的内圈61A与外圈62A之间的相对旋转作为输出取出即可，并不局限于将外圈62A的旋转力取出作为输出的结构。例如，也可以将相对于外圈62A相对旋转的内圈61A的旋转力作为输出取出。
另外，润滑剂并不局限于润滑油(油液)等液状的物质，可以为润滑脂等凝胶状的物质。
另外，齿轮装置1A可以包括内滚子。即，在齿轮装置1A中，并非必须多个内销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的各个内销4与内销孔32之间夹设内滚子。在该情况下，内滚子装配于内销4而能够以内销4为轴进行旋转。
另外，多个内销4各自只要以能够自转的状态保持于内圈61A即可，多个内销4各自由内圈61A直接保持的情况在齿轮装置1A中并非必须。例如，多个内销4各自可以通过插入到形成于与内圈61A一体化的输出轴或支架等的保持孔而由内圈61A间接地保持即可。
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1A中并非必须。例如，支承体8可以具有沿径向(径向)延伸的狭缝状的支承孔82，仅在周向上进行多个内销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，齿轮装置1A只要采用对轴承构件6A的内圈61A的钻研和对外圈62A的钻研中的至少一者即可，并非必须采用这两者。即，齿轮装置1A可以仅采用内圈61A具有第一内圈601及第二内圈602的情况(对于内圈61A的钻研)和外圈62A与齿轮主体22无缝地连续设置的情况(对于外圈62A的钻研)中的任一者。
此外，由于齿轮装置1A只要采用对内圈61A的钻研和对外圈62A的钻研中的至少一者即可，因此关于其他的结构，可以从基本结构中进行适当省略或变更。例如，在齿轮装置1A中，与第一关联技术同样，内销4也可以以压入于内圈61A(或与内圈61A一体化的支架)的状态保持，在该情况下，多个内销4各自以相对于内圈61A无法自转的状态保持。另外，多个内销4各自也可以配置于在轴承构件6A的轴向上与轴承构件6A相同的位置。或者，在齿轮装置1A中，可以与第二关联技术同样，多个内销4仅由内圈61A(或者与内圈61A一体化的支架)保持。在该情况下，支承体8可以省略。此外，即使在设置支承(捆束)多个内销4的支承体8的情况下，支承体8使其外周面81与多个销23接触由此进行位置限制的情况也并非必须，支承体8的外周面81可以远离多个销23。
另外，关于对内圈61A的钻研，齿轮装置1A也是内圈61A只要具有 第一内圈601及第二内圈602即可，例如，内圈61A可以被分割成三个以上的部件。即，作为一例，内圈61A可以除了第一内圈601及第二内圈602之外，具有第三内圈，而被分割成三个部件。
另外，供多个定位销65压入的多个孔只要从第一内圈601向第二内圈602形成即可，可以不用沿与旋转轴Ax1平行的方向贯通内圈61A。例如，可以将定位销65压入于从第二内圈602中的与第一内圈601相对的相对面602A侧到第二内圈602的厚度的中途为止形成的孔内。在该情况下，能防止润滑剂通过用于供压入定位销65的孔泄漏的情况。
另外，关于对外圈62A的钻研，轴承构件6A的外圈62A也可以在与旋转轴Ax1平行的方向上不与齿轮主体22完全无缝。即，齿轮装置1A的制造方法只要具有通过对一个基材的加工而一体形成外圈62A和齿轮主体22的工序即可。具体而言，例如，也可以对将两种金属块通过压接或粘结等接合(一体化)了的一个基材的加工由此一体形成外圈62A和齿轮主体22。在该情况下，在两种金属块的接合部位产生接缝，因此虽然不是完全无缝，但是能够期待与无缝连续的外圈62A及齿轮主体22同样的效果。
(实施方式2)
如图19A及图19B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”)轴承构件6A的内圈61A的细节部分的形状与实施方式1的齿轮装置1A不同。图19B是仅示出图19A的A1-A1线截面的第一内圈601的主要部分的图。以下，关于与实施方式1同样的结构，标注相同的附图标记而适当省略说明。
在本实施方式的齿轮装置1B中，在第一内圈601中的与第二内圈602相反侧的表面形成有扩展多个保持孔611的各自的开口面积的扩径部691。具体而言，如图19A所示，扩径部691由第一内圈601的旋转轴Ax1的输入侧(图19A的左侧)的面的形成在保持孔611的开口周缘的倒角部构成。在此，扩径部691形成为锥形状(C型面状)使得保持孔611的开口面积越 远离第二内圈602越大。在本实施方式中，这样的扩径部691对应于全部的保持孔611而分别形成。扩径部691并不局限于锥形状(C型面状)，例如，也可以为弯曲的R型面(圆角)状或阶梯状的锪孔形状等。
通过形成这样的扩径部691，至少在多个保持孔611各自的与第二内圈602相反侧的开口面中，成为与内销4之间的间隙扩大的形状。其结果是，因扩径部691而产生的、保持孔611的内周面与内销4之间的间隙作为用于预先积存润滑剂(润滑油)的“积油处”发挥功能。扩径部691与保持孔611连续，因此积存于扩径部691的润滑剂因例如毛细管现象而被引入至保持孔611的内周面与内销4的间隙，发挥作用使得内销4的旋转(自转)顺畅。
此外，如图20所示，作为“积油处”的扩径部691位于润滑剂的循环路RL1上。因此，将循环路RL1的一部分作为“润滑剂”的路径，也能够将扩径部691内的润滑剂供给至内销4以外的销23及滚动体63中的至少一者。特别是在本实施方式中，如图20所示，销23及滚动体63都位于循环路RL1上，因此能够将保持于扩径部691的润滑剂供给至销23及滚动体63这两者。
另外，在本实施方式中，如图19A及图19B所示，在第一内圈601和第二内圈602中的至少一者的与另一者相对的相对面601A、602A形成有连结槽692。连结槽692将收容多个滚动体63的各个滚动体63的空间与多个保持孔611的各个保持孔611连结。即，连结槽692设置于作为第一内圈601与第二内圈602的分割面的相对面601A和相对面602A中的至少一侧，并将内圈61A与外圈62A之间的收容滚动体63的各个滚动体63的空间和保持孔611连结。在本实施方式中，作为一例，在第一内圈601的与第二内圈602相对的相对面601A上沿着内圈61A的径向形成连结槽692。在本实施方式中，这样的连结槽692对应于全部的保持孔611而分别形成。
连结槽692作为供润滑剂(润滑油)通过的路径发挥功能。在本实施 方式中，如图20所示，连结槽692构成润滑剂的循环路RL1的一部分。在本实施方式中，作为一例，如图19B所示，连结槽692的与内圈61A的径向正交的剖面形状为矩形状。连结槽692的(距相对面601A的)深度D4及连结槽692的宽度D5分别优选为销23的直径
Figure PCTCN2021077117-appb-000034
的十分之一
Figure PCTCN2021077117-appb-000035
以上且2倍
Figure PCTCN2021077117-appb-000036
以下。作为一例，在销23的直径
Figure PCTCN2021077117-appb-000037
为2.5mm左右的情况下，连结槽692的深度D4及宽度D5优选为0.25mm以上且5.0mm以下。在图20的例中，连结槽692的深度D4比连结槽692的宽度D5小，但是并不局限于该例，连结槽692的深度D4可以为宽度D5以上。此外，连结槽692的剖面形状并不局限于矩形状，可以为半圆状、三角形形状或其他的多边形状等。
通过设置这样的连结槽692，润滑剂通过连结槽692在润滑剂保持空间17内容易循环。特别是连结槽692相连于内圈61A与外圈62A之间的收容滚动体63的空间。因此，通过轴承构件6A动作而滚动体63旋转，滚动体63作为泵发挥功能，能够使润滑剂保持空间17内的润滑剂经由连结槽692积极地循环。其结果是，润滑剂保持空间17内的润滑剂容易循环，即使在齿轮装置1B的长期使用时，润滑剂也容易遍布润滑剂保持空间17的整体，而难以产生齿轮装置1B中的传递效率的下降等不良情况。
此外，通过设置连结槽692，也能够期待降低油封16与滚动体63之间的空间的内压的效果。即，油封16与滚动体63之间的空间通过连结槽692与保持孔611相连，由此油封16与滚动体63之间的空间扩张，因此在滚动体63作为泵发挥功能时，有助于抑制内压的上升。抑制润滑剂保持空间17的内压的上升的结果是，例如难以产生因超过油封16而产生的润滑剂的泄漏等。
作为实施方式2的变形例，连结槽692可以形成于第一内圈601和第二内圈602这两者的相对面601A、602A。另外，连结槽692也可以仅形成于第二内圈602的相对面602A。
作为实施方式2的其他的变形例，扩径部691及连结槽692可以单独采用。即，齿轮装置1B可以仅具有扩径部691及连结槽692中的扩径部691，相反，也可以仅具有连结槽692。
实施方式2的结构(包括变形例)可以适当组合适用实施方式1中说明的结构(包括变形例)。
(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)包括轴承构件(6、6A)、内齿齿轮(2)、行星齿轮(3)和多个内销(4)。轴承构件(6、6A)具有外圈(62、62A)、配置在外圈(62、62A)的内侧的内圈(61、61A)、及配置在外圈(62、62A)与内圈(61、61A)之间的多个滚动体(63)，内圈(61、61A)被支承为能够相对于外圈(62、62A)以旋转轴(Ax1)为中心相对旋转。内齿齿轮(2)具有内齿(21)，并固定于外圈(62、62A)。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)内公转并相对于内齿齿轮(2)相对旋转。内圈(61、61A)包括在与旋转轴(Ax1)平行的方向上相对且相对面(601A、602A)彼此接触的第一内圈(601)及第二内圈(602)。第一内圈(601)具有在与旋转轴(Ax1)平行的方向上供多个内销(4)分别贯通的多个保持孔(611)。多个内销(4)各自以能够自转的状态保持于内圈(61、61A)。
根据该形态，在第一内圈(601)与第二内圈(602)之间，即使微小也会产生间隙。由于产生这样的间隙，例如润滑剂通过该间隙而容易供给至内销(4)等。因此，与内圈(61、61A)不分割成第一内圈(601)和第二内圈(602)的情况相比，例如即使在内啮合行星齿轮装置(1、1A、1B)的长期使用时，润滑剂也容易遍布于整体，而难以产生内啮合行星齿轮装置(1、1A、1B)中的传递效率的下降等不良情况。
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，多个内销(4)各自的端面对接于第二内圈(602)中的与第一内圈(601)相对的相对面(602A)。
根据该形态，内销(4)的在与旋转轴(Ax1)平行的方向上的移动由第二内圈(602)限制，且能抑制润滑剂通过保持孔(611)而泄漏的情况。
在第三形态的内啮合行星齿轮装置(1、1A、1B)中，以第一或第二形态为基础，在第一内圈(601)中的多个保持孔(611)各自的内周面与多个内销(4)各自的外周面之间形成有间隙。
根据该形态，保持孔(611)内的内销(4)的自转因润滑剂而变得顺畅。
在第四形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第三中的任一形态为基础，在第一内圈(601)中的与第二内圈(602)相反侧的表面形成有扩展多个保持孔(611)的各自的开口面积的扩径部(691)。
根据该形态，因扩径部(691)而产生的、保持孔(611)的内周面与内销(4)之间的间隙作为用于预先积存润滑剂的“积油处”发挥功能，从而发挥作用使得内销(4)的旋转(自转)顺畅。
在第五形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第四中的任一形态为基础，在第一内圈(601)和第二内圈(602)中的至少一者的与另一者相对的相对面(601A、602A)形成有连结槽(692)。连结槽(692)将收容多个滚动体(63)的各个滚动体(63)的空间与多个保持孔(611)的各个保持孔(611)连结。
根据该形态，润滑剂通过连结槽(692)变得容易循环。特别是通过滚动体(63)旋转从而滚动体(63)作为泵发挥功能，能够使润滑剂经由连结槽(692)积极地循环。
在第六形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第五中的任一形态为基础，多个内销(4)各自的表面硬度与第一内圈(601)的表面硬度的差量为HRC3以下。
根据该形态，即使由于保持孔(611)内的内销(4)的自转，也难以产生磨损粉等，容易长期维持内销(4)的顺畅的旋转。
在第七形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第六中的任一形态为基础，多个内销(4)的各自的表面硬度在HRC60±3的范围内。
根据该形态，即使由于保持孔(611)内的内销(4)的自转，也难以产生磨损粉等，容易长期维持内销(4)的顺畅的旋转。
在第八形态的内啮合行星齿轮装置(1、1A、1B)中，以第一～第七中的任一形态为基础，多个滚动体(63)位于包含第一内圈(601)中的与第二内圈(602)相对的相对面(601A)的平面上。
根据该形态，在滚动体(63)旋转时，滚动体(63)作为泵高效地发挥作用，使润滑剂容易循环。
在第九形态的内啮合行星齿轮装置(1、1A、1B)中，以第八形态为基础，与旋转轴(Ax1)平行的方向上的多个滚动体(63)各自的中心位于第一内圈(601)中的与第二内圈(602)相对的相对面(601A)的同一平面上。
根据该形态，在滚动体(63)旋转时，滚动体(63)作为泵高效地发挥作用，使润滑剂容易循环。
以第一～第九中的任一形态为基础，第十形态的内啮合行星齿轮装置(1、1A、1B)还包括润滑剂的循环路(RL1)。润滑剂的循环路(RL1)至少通过第一内圈(601)及第二内圈(602)之间的间隙、收容多个滚动体(63)的各个滚动体(63)的空间、多个保持孔(611)的各个保持孔(611)。
根据该形态，润滑剂通过滚动体(63)及内销(4)而变得容易循环。
关于第二～第十形态的结构，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 轴承构件
21 内齿
31 外齿
32 内销孔
61、61A 内圈
62、62A 外圈
63 滚动体
601 第一内圈
601A (第一内圈的)相对面
602 第二内圈
602A (第二内圈的)相对面
611 保持孔
691 扩径部
692 连结槽
Ax1 旋转轴
RL1 循环路
工业实用性
根据本发明实施例，能够提供一种难以产生传递效率的下降等不良情况的内啮合行星齿轮装置。

Claims (10)

  1. 一种内啮合行星齿轮装置，其中，包括：
    轴承构件，具有外圈、配置在所述外圈的内侧的内圈、及配置在所述外圈与所述内圈之间的多个滚动体，所述内圈被支承为能够相对于所述外圈以旋转轴为中心相对旋转；
    内齿齿轮，具有内齿，并固定于所述外圈；
    行星齿轮，具有与所述内齿局部地啮合的外齿；及
    多个内销，在分别插入到形成于所述行星齿轮的多个内销孔中的状态下，在所述内销孔内公转并相对于所述内齿齿轮相对旋转，
    所述内圈包括在与所述旋转轴平行的方向上相对且相对面彼此接触的第一内圈及第二内圈，
    所述第一内圈具有在与所述旋转轴平行的方向上供所述多个内销分别贯通的多个保持孔，
    所述多个内销各自以能够自转的状态保持于所述内圈。
  2. 根据权利要求1所述的内啮合行星齿轮装置，其中，
    所述多个内销各自的端面对接于所述第二内圈中的与所述第一内圈相对的相对面。
  3. 根据权利要求1或2所述的内啮合行星齿轮装置，其中，
    在所述第一内圈中的所述多个保持孔各自的内周面与所述多个内销各自的外周面之间形成有间隙。
  4. 根据权利要求1～3中任一项所述的内啮合行星齿轮装置，其中，
    在所述第一内圈中的与所述第二内圈相反侧的表面形成有扩展所述多个保持孔各自的开口面积的扩径部。
  5. 根据权利要求1～4中任一项所述的内啮合行星齿轮装置，其中，
    在所述第一内圈和所述第二内圈中的至少一者的与另一者相对的相对面形成有连结槽，所述连结槽将收容所述多个滚动体的各个滚动体的空间与所述多个保持孔的各个保持孔连结。
  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，
    所述多个内销各自的表面硬度与所述第一内圈的表面硬度的差量为HRC3以下。
  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，
    所述多个内销各自的表面硬度在HRC60±3的范围内。
  8. 根据权利要求1～7中任一项所述的内啮合行星齿轮装置，其中，
    所述多个滚动体位于包含所述第一内圈中的与所述第二内圈相对的相对面的平面上。
  9. 根据权利要求8所述的内啮合行星齿轮装置，其中，
    与所述旋转轴平行的方向上的所述多个滚动体各自的中心位于所述第一内圈的与所述第二内圈相对的相对面的同一平面上。
  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，
    所述内啮合行星齿轮装置还包括润滑剂的循环路，所述润滑剂的循环路至少通过所述第一内圈及所述第二内圈之间的间隙、收容所述多个滚动体的各个滚动体的空间、以及所述多个保持孔的各个保持孔。
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