TW201632766A - Eccentric oscillation gear device - Google Patents

Abstract

An eccentric oscillation gear device (X1) comprises: an outer cylinder (2) having a plurality of pin slots (21a) formed in an inner circumferential surface thereof; and a plurality of inner tooth pins (3) respectively arranged in the pin slots (21a) and engaged with an oscillation gear (5). The pin slots (21a) configured in a lengthwise direction of the inner tooth pins (3) have a length that is shorter than that of the inner tooth pins (3). The gear device further comprises a carrying frame arranged inside the outer cylinder; and a main bearing arranged to allow the carrying frame and the outer cylinder to rotate relative to each other. The outer cylinder comprises an inner tooth support section including the inner circumferential surface in which the pin slots are formed; and main bearing support sections configured at locations that are outside of the axial end faces of the inner tooth support section in the lengthwise direction for supporting the main bearing. The inner tooth pins project outwards beyond the axial end faces of the inner tooth support section in the lengthwise direction. The main bearing has at least a part located within a lengthwise range of the inner tooth pins in the lengthwise direction.

Description

Eccentric swing gear device

The present invention relates to an eccentric oscillating gear device.

An eccentric oscillating type gear device is known as disclosed in Japanese Laid-Open Patent Publication No. 2010-286098. As shown in FIG. 6 and FIG. 7 , the eccentric oscillating gear device 200 disclosed in Japanese Laid-Open Patent Publication No. 2010-286098 has a plurality of pin grooves 210a on the inner peripheral surface of the outer tube 210; and a plurality of pins embedded in the respective pin grooves. The inner tooth pin 220; the swing gears 230 and 240 having the tooth portions 230a and 240a meshing with the inner tooth pins 220; and the carrier 250 disposed inside the outer tube 210. In the eccentric oscillating gear device 200, the number of teeth included in the external tooth portions 230a and 240a is set to be slightly smaller than the number of the inner tooth pins 220. Further, the tooth portions 230a and 240a of the swing gears 230 and 240 are oscillated and rotated in such a manner as to mesh with the inner tooth pins 220, whereby relative rotation between the outer cylinder 210 and the carrier 250 occurs.

Here, in the eccentric oscillating gear device 200, since the inner tooth pin 220 is fitted in the pin groove 210a, the contact length of the inner tooth pin 220 and the pin groove 210a in the circumferential direction of the inner tooth pin 220 as shown in FIG. The contact length between the inner tooth pin 220 and the tooth portions 230a and 240a other than the outer tooth gears 230 and 240 in the swing rotation is longer. Further, as shown in Fig. 6, in the axial direction of the inner tooth pin 220, the contact length of the inner tooth pin 220 and the pin groove 210a is the same as the length of the inner tooth pin 220 and the length of the outer tooth portions 230a, 240a. In particular, in the eccentric oscillating gear device 200, a portion in which the pin groove 210a is formed in the outer cylinder 210 is provided on both sides in the longitudinal direction of the inner tooth pin 220, and one of the bearings is in contact therewith. Therefore, the length of the inner tooth pin 220 and the outer tooth portions 230a, 240a located at a position separated by the bearing is set to be the same as or longer than the length of the pin groove 210a. The length of the pin groove 210a is short.

In recent years, for the eccentric oscillating gear device such as the eccentric oscillating gear device 200, it is required to be lightweight. An object of the present invention is to provide an eccentric oscillating gear device that can achieve weight reduction.

In order to achieve the above object, the present inventors have intensively studied from various viewpoints and found that by focusing on the contact area between the internal tooth pin and the pin groove and the contact area between the internal tooth pin and the toothed portion other than the swing gear, The weight reduction of the eccentric oscillating gear device is possible.

Previously, in the eccentric oscillating gear device, the length of the pin groove in the longitudinal direction of the inner pin is the same as or longer than the length of the inner pin, and the pin groove of the inner pin of the inner pin is The contact length of the internal tooth pin and the length of contact of the oscillating gear with the internal tooth pin are very long. Therefore, the surface pressure between the pin groove and the inner tooth pin and the surface pressure between the swing gear and the inner tooth pin in the swing rotation are very low. In other words, in the prior eccentric oscillating type gear device, the contact area between the pin groove and the inner pin is too large, and even if the contact area is slightly reduced, the surface pressure between the pin groove and the inner pin can be suppressed to be compared. The surface pressure between the oscillating gear and the inner tooth pin is low.

An eccentric oscillating gear device according to the present invention includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; and a plurality of inner tooth pins respectively disposed in the respective pin grooves and meshing with the oscillating gear, and the inner teeth The length of the pin groove in the longitudinal direction of the pin is shorter than the length of the inner pin.

In the above-described eccentric oscillating type gear device, since the length of the pin groove in the longitudinal direction of the inner tooth pin is shorter than the length of the inner tooth pin, the weight of the eccentric oscillating type gear device can be reduced.

The eccentric oscillating gear device described above may further include a carrier located inside the outer cylinder and a main bearing that allows relative rotation between the carrier and the outer cylinder. this The outer cylinder may have an inner tooth support portion including the inner circumferential surface on which the pin groove is formed, and a position located further outward than the axial end surface of the inner tooth support portion in the longitudinal direction and support the main body The main bearing support of the bearing. Further, the internal tooth pin protrudes outward from the axial end surface of the internal tooth support portion in the longitudinal direction, and at least a part of the main bearing is located within the length of the internal tooth pin in the longitudinal direction.

In the above-described eccentric oscillating type gear device, since the length of the internal tooth pin is longer than the length of the pin groove, the internal tooth pin protrudes outward more than the axial end surface of the internal tooth support portion having the pin groove. Further, at least a portion of the main bearing supported by the main bearing support portion is located within the length of the inner tooth pin in the longitudinal direction of the inner tooth pin. In other words, at least a portion of the main bearing is located closer to the axial end face side of the internal tooth support portion than the front end of the internal tooth pin in the longitudinal direction of the internal tooth pin, and overlaps the internal tooth pin in the radial direction of the outer cylinder. Therefore, in the above-described eccentric oscillating type gear device, compared with the case where the entire main bearing is spaced apart from the axial end surface of the internal tooth support portion in the longitudinal direction of the internal tooth pin, The thickness of the eccentric oscillating gear device in the longitudinal direction can be reduced to the extent that the main bearing and the inner tooth pin overlap in the radial direction of the outer cylinder.

The inner race of the main bearing may be configured to regulate the movement of the inner tooth pin in the longitudinal direction.

In the above-described eccentric oscillating type gear device, since the inner race of the main bearing is configured to regulate the movement of the inner tooth pin in the longitudinal direction of the inner tooth pin, the inner tooth pin is in the axial direction. The position is staggered, and it is possible to suppress the meshing of the swing gear and the internal tooth pin to cause a defect.

The inner race can be configured to regulate the movement of the swing gear in the longitudinal direction.

In the above-described eccentric oscillating type gear device, since the inner race of the main bearing is configured to regulate the movement of the oscillating gear in the longitudinal direction of the inner tooth pin, the vibration of the oscillating gear in the longitudinal direction can be reduced.

An eccentric oscillating gear device according to the present invention includes: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; a plurality of inner tooth pins respectively disposed in the respective pin grooves; and having meshing engagement with each of the inner tooth pins The swing gear of the outer tooth portion has a length shorter than the length of the outer tooth portion in the longitudinal direction of the inner tooth pin.

In the eccentric oscillating type gear device described above, the length of the pin groove in the longitudinal direction of the inner tooth pin is set to be shorter than the length of the outer tooth portion, and the length and the outer tooth of the pin groove in the longitudinal direction. The weight of the eccentric oscillating gear device can be reduced as compared with the previous eccentric oscillating gear device having the same length or longer than the length of the external tooth portion.

In the eccentric oscillating gear device, the length of the pin groove may be the same as the length of the inner pin in the longitudinal direction of the inner pin.

As described above, according to the present invention, it is possible to provide an eccentric oscillating type gear device capable of achieving weight reduction.

2‧‧‧Outer tube

3‧‧‧ internal gear

4‧‧‧Carriage

5‧‧‧Swing gear

6‧‧‧ crankshaft

7‧‧‧Transmission gear

8‧‧‧ main bearing

21‧‧‧ Internal Teeth Support

21a‧‧ ‧ pin slot

21b‧‧‧1st axial end face

21c‧‧‧2nd axial end face

22‧‧‧The outer part

22a‧‧‧ Body Department

22b‧‧‧1st main bearing support

22c‧‧‧2nd main bearing support

22d‧‧‧ mounting hole

32‧‧‧ Both ends/first front end

33‧‧‧ Both ends/second front part

41‧‧‧1st component

41a‧‧‧Central hole

41b‧‧‧Crankshaft hole

41d‧‧‧1st Holding Department

41e‧‧‧1st protrusion

42‧‧‧1st component

42a‧‧‧Parts Department

42b‧‧‧Axis

42c‧‧‧Central hole

42d‧‧‧Crankshaft hole

42f‧‧‧2nd Maintenance Department

42h‧‧‧2nd protrusion

51‧‧‧1st swing gear

51a‧‧‧1st external tooth

51b‧‧‧Central hole

51c‧‧‧ crank shaft hole

51d‧‧‧ insertion hole

52‧‧‧2nd swing gear

52a‧‧‧2nd external tooth

52b‧‧‧Central hole

52c‧‧‧ crank shaft hole

52d‧‧‧ insertion hole

61‧‧‧Axis body

62‧‧‧Eccentric

63‧‧‧Eccentric

81‧‧‧1st main bearing

81a‧‧‧Outer seat

81b‧‧‧ inner seat

81c‧‧‧Rotating body

81d‧‧‧End

81e‧‧‧Contact surface

82‧‧‧2nd main bearing

82a‧‧‧Outer seat

82b‧‧‧ inner seat

82c‧‧‧Rotating body

82d‧‧‧End

200‧‧‧Eccentric swing gear device

210‧‧‧Outer tube

210a‧‧ ‧ pin slot

220‧‧‧ internal gear

230‧‧‧Swing gear/ external gear

230a‧‧‧ external tooth

240‧‧‧Swing gear/ external gear

240a‧‧‧ external teeth

250‧‧‧Carriage

310‧‧‧Regulatory Board

320‧‧‧Regulatory board

A1‧‧‧ Positioning members

B1‧‧‧ crank bearing

B2‧‧‧ crank bearing

C1‧‧‧ axis

L1‧‧‧ length

L2‧‧‧ length

L3‧‧‧ length

L4‧‧‧ contact length

L5‧‧‧ contact length

T1‧‧‧ solid structural parts

X1‧‧‧Eccentric swing gear device

Fig. 1 is a schematic configuration diagram of a cross section in the direction of the central axis C1 of the eccentric oscillating gear device of the first embodiment.

2 is a schematic configuration diagram of a cross section in a direction orthogonal to the central axis C1 of the eccentric oscillating gear device of the first embodiment, and is a cross-sectional view taken along line I-I shown in FIG. 1.

Fig. 3 is an enlarged view of a main part of Fig. 1.

Figure 4 is an enlarged view of the main part of Figure 2.

Fig. 5 is a schematic configuration diagram of a cross section in the direction of the central axis C1 of the eccentric oscillating gear device of the second embodiment, and is an enlarged view of a main part similar to Fig. 3 .

Fig. 6 is a cross-sectional view showing the schematic configuration of a prior eccentric oscillating type gear unit.

Fig. 7 is a plan view showing the schematic configuration of a prior eccentric oscillating type gear unit.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the drawings referred to below are for the sake of convenience, and only the eccentric oscillating gear type of the present embodiment is simply shown. Set the main components of the components of X1. Therefore, the eccentric oscillating type gear device X1 of the present embodiment can include any constituent members that are not shown in the drawings referred to in the present specification.

First, the eccentric oscillating gear device X1 of the first embodiment will be described with reference to Figs. 1 to 4 .

As shown in FIG. 1, the eccentric oscillating gear device X1 includes an outer cylinder 2, a carrier 4, a oscillating gear 5, a crank shaft 6, and a transmission gear 7. In the eccentric oscillating gear device X1, the driving force (torque) is input to the crankshaft 6 from the motor (not shown) via the transmission gear 7, and the oscillating gear 5 is oscillated and rotated with the rotation of the crankshaft 6, thereby generating the outer cylinder 2 Relative rotation with the carrier 4.

The outer cylinder 2 has an annular inner tooth support portion 21 having a shaft C1 as a central axis, and a cylindrical outer circumference located on the radially outer side of the inner tooth support portion 21 and surrounding the inner tooth support portion 21 in the circumferential direction. Part 22.

As shown in FIG. 1, the internal tooth support portion 21 has a rectangular cross-sectional shape. The internal tooth support portion 21 has a plurality of pin grooves 21a. Each of the pin grooves 21 a is formed on the inner circumferential surface of the inner tooth support portion 21 and extends in the direction of the axis C1 of the inner tooth support portion 21 . As shown in FIGS. 2 and 4, the shape of the cross section orthogonal to the direction of the axis C1 of each pin groove 21a is semicircular. Each of the pin grooves 21a is arranged at equal intervals in the circumferential direction of the outer cylinder 2.

The outer peripheral portion 22 has a main body portion 22a, a first main bearing support portion 22b, and a second main bearing support portion 22c.

The body portion 22a is located on the outer side of the inner tooth support portion 21 in the radial direction of the outer tube 2. The outer peripheral portion 22 is connected to the inner tooth support portion 21 by its body portion 22a.

The first main bearing support portion 22b and the second main bearing support portion 22c each support a main bearing 8 to be described later. The first main bearing support portion 22b protrudes from the main body portion 22a toward one side in the direction of the axis C1. As shown in FIG. 3, the first main bearing support portion 22b is located further outward than the first axial end surface 21b of the internal tooth support portion 21 in the direction of the axis C1. The second main bearing support portion 22c is directed from the main body portion 22a The other side of the axis C1 direction, that is, the opposite side of the first main bearing support portion 22b protrudes. As shown in FIG. 3, the second main bearing support portion 22c is located further outward than the second axial end surface 21c (the surface opposite to the first axial end surface 21b) of the internal tooth support portion 21 in the direction of the axis C1. . Any one of the inner circumferential surfaces of the first main bearing support portion 22b and the second main bearing support portion 22c is an inner circumferential surface having a circular cross section concentric with the central axis C1.

The outer peripheral portion 22 is formed with a first main bearing support portion 22b, a main body portion 22a, and a plurality of mounting holes 22d penetrating the second main bearing support portion 22c in the direction of the axis C1. Each of the mounting holes 22d is arranged side by side at intervals in the circumferential direction of the outer cylinder 2. Each of the attachment holes 22d is used when the outer cylinder 2 is attached to the opposite side member of the base or the like that constitutes the joint portion of the robot. When the base constituting the joint portion of the robot is attached to the outer cylinder 2, the outer cylinder 2 becomes a member on the fixed side of the eccentric oscillating gear device X1.

The carrier 4 is located inside the radial direction of the outer cylinder 2. The carrier 4 has a first member 41 and a second member 42 which are formed separately from each other. The first member 41 and the second member 42 are fixed to each other by the solid structural member T1.

The first member 41 is formed in a substantially disk shape. The first member 41 is located inside the radial direction of the first main bearing support portion 22b of the outer peripheral portion 22 of the outer cylinder 2. A central hole 41a and a crankshaft hole 41b are formed in the first member 41.

The center hole 41a is formed to penetrate the central portion of the first member 41 in the direction of the axis C1.

A plurality of crankshaft holes 41b are formed side by side in the circumferential direction of the carrier 4 on the outer side of the center hole 41a. Each of the crankshaft holes 41b is formed to penetrate the first member 41 in the direction of the axis C1. In the present embodiment, three crankshaft holes 41b are formed in the first member 41.

The second member 42 has a substrate portion 42a and a shaft portion 42b.

The substrate portion 42a is formed in a substantially disk shape. The substrate portion 42a is located inside the radial direction of the second main bearing support portion 22c of the outer peripheral portion 22 of the outer cylinder 2.

The shaft portion 42b extends from the substrate portion 42a toward the first member 41 side. Specifically, the shaft portion 42b is from The end faces on the first member 41 side in the direction of the axis C1 of the substrate portion 42a extend in the direction of the axis C1, and are arranged in parallel in the circumferential direction of the carrier 4. In the present embodiment, the second member 42 has three shaft portions 42b.

A central hole 42c and a crankshaft hole 42d are formed in the second member 42.

The center hole 42c is formed to penetrate the central portion of the substrate portion 42a in the direction of the axis C1. The center hole 42c is provided corresponding to the position formed in the center hole 41a of the first member 41.

The crankshaft holes 42d are formed side by side in the circumferential direction of the carrier 4 on the outer side of the center hole 42c, and are formed in plural numbers. Each of the crankshaft holes 42d is formed to penetrate the substrate portion 42a in the direction of the axis C1. Each of the crankshaft holes 42d is provided corresponding to the position of each of the crankshaft holes 41b formed in the first member 41.

The carrier 4 is attached to, for example, a counterpart member such as a swing body that constitutes a joint portion of the robot. When the carrier 4 is attached to the swing main body constituting the joint portion of the robot, the carrier 4 becomes a member on the rotating side of the eccentric oscillating gear device X1. Further, when the pedestal forming the joint portion of the robot is attached to the carrier 4, for example, the swing main body constituting the joint portion of the robot is attached to the outer cylinder 2, whereby the carrier 4 is fixed by the eccentric oscillating gear device X1. The member on the side, and the outer cylinder 2 becomes a member on the rotating side of the eccentric oscillating gear device X1.

The crankshaft 6 is rotatably supported by the carrier 4 via the crank bearings B1 and B2.

The crankshaft 6 has a shaft body 61 that extends in the direction of the axis C1 and eccentric portions 62, 63 that are eccentric with respect to the shaft body 61. The crankshaft 6 is inserted into the crankshaft hole 41b of the first member 41, the crankshaft hole 42d of the second member 42, and the crankshaft holes 51c and 52c of the swing gear 5 to be described later. In the present embodiment, the crankshafts 6 are arranged side by side in the circumferential direction of the carrier 4 and are provided in three. Further, the number of the crankshafts 6 is arbitrary, and can be appropriately changed according to the use form of the eccentric oscillating gear device X1.

The shaft body 61 is supported by the first member 41 in the crank shaft hole 41b via the crank bearing B1. The upper portion is supported by the base portion 42a of the second member 42 via the crank bearing B2 in the crankshaft hole 42d.

The eccentric portions 62, 63 are connected to the shaft body 61 in the direction of the axis C1 and are located inside the radial direction of the body portion 2a of the outer cylinder 2. The swing gear 5 is attached to the eccentric portions 62, 63 via rollers.

The swing gear 5 is disposed such that at least a part thereof is located inside the radial direction of the internal tooth support portion 21 of the outer cylinder 2. The direction of the axis of the oscillating gear 5 is in the same direction as the direction of the axis C1. The outer diameter of the swing gear 5 is set to be slightly smaller than the inner diameter of the inner tooth support portion 21 of the outer cylinder 2. In the present embodiment, the oscillating gear 5 has the first oscillating gear 51 on the first member 41 side in the direction of the axis C1 and the second oscillating gear 52 on the side of the substrate portion 42a of the second member 42 in the direction of the axis C1. . Further, the swing gear 5 may be constituted by one swing gear or may be composed of three or more swing gears.

The first swing gear 51 has a first outer tooth portion 51a. Specifically, the first oscillating gear 51 is processed into a wave shape in the outer peripheral portion, and the outer peripheral portion in the wavy shape is the first outer tooth portion 51a. One of the first external tooth portions 51a in the direction of the axis C1 faces the inner circumference of the internal tooth support portion 21 of the outer tube 2 in the radial direction of the first oscillating gear 51. Specifically, a portion of the first outer tooth portion 51a in the direction of the axis C1 is formed in the radial direction of the first oscillating gear 51 and a pin groove formed on the inner circumferential surface of the inner tooth support portion 21 via the inner tooth pin 3 to be described later. 21a is opposite. Further, the remaining portion of the first outer tooth portion 51a in the direction of the axis C1 does not face the inner tooth support portion 21 in the radial direction of the first swing gear 51, but faces the first main bearing support portion 22b.

The first swing gear 51 is formed with a center hole 51b penetrating the first swing gear 51 in the direction of the shaft C1, a crankshaft hole 51c, and an insertion hole 51d. The center hole 51b is formed corresponding to the position of the center hole 41a of the first member 41. The crankshaft hole 51c is formed corresponding to the position of the crankshaft hole 41b of the first member 41. The first oscillating gear 51 is attached to the first eccentric portion 62 located in the crankshaft hole 51c via a roller. The insertion hole 51d is a hole into which the shaft portion 42b of the second member 42 is inserted.

The second swing gear 52 has a second outer tooth portion 52a. Specifically, the second swing gear 52 is The outer peripheral portion is processed into a wave shape, and the outer peripheral portion of the corrugated shape becomes the second outer tooth portion 52a. One of the second external tooth portions 52a in the direction of the axis C1 faces the inner circumference of the internal tooth support portion 21 of the outer tube 2 in the radial direction of the second oscillating gear 52. Specifically, one of the second external tooth portions 52a in the direction of the axis C1 is formed in the radial direction of the second oscillating gear 52 and the pin groove formed on the inner circumferential surface of the internal tooth support portion 21 via the internal tooth pin 3 to be described later. 21a is opposite. Further, the remaining portion of the second outer tooth portion 52a in the direction of the axis C1 does not face the inner tooth support portion 21 in the radial direction of the second swing gear 52, but opposes the second main bearing support portion 22c.

The second swing gear 52 is formed with a center hole 52b penetrating the second swing gear 52 in the direction of the shaft C1, a crank shaft hole 52c, and an insertion hole 52d. The center hole 52b is formed corresponding to the position of the center hole 42c of the second member 42. The crankshaft hole 52c is formed corresponding to the position of the crankshaft hole 42d of the second member 42. The second oscillating gear 52 is attached to the second eccentric portion 63 located in the crankshaft hole 52c via a roller. The insertion hole 52d is formed by a hole into which the shaft portion 42b of the second member 42 is inserted, and is formed corresponding to the position of the insertion hole 51d formed in the first swing gear 51.

The transmission gear 7 is located on the opposite side of the second member 42 with the first member 41 interposed therebetween in the direction of the axis C1. The transmission gear 7 is attached to one end of the shaft body 61 of the crankshaft 6 in such a manner that the crankshaft 6 rotates in conjunction with the rotation of the transmission gear 7. In the present embodiment, the transmission gear 7 is provided in three positions corresponding to the positions of the three crankshafts 6.

The eccentric oscillating gear device X1 further includes a plurality of internal tooth pins 3 that are fitted to the respective pin grooves 21a formed on the inner circumferential surface of the internal tooth support portion 21 of the outer cylinder 2. Each of the internal tooth pins 3 extends in the direction of the axis C1. In other words, in the present embodiment, the longitudinal direction of each of the internal tooth pins 3 is the same as the direction of the axis C1. Each of the internal tooth pins 3 is formed in a cylindrical shape. The number of the internal tooth pins 3 is slightly larger than the number of teeth included in each of the first outer tooth portion 51a and the second outer tooth portion 52a. As a result, the first and second external tooth portions 51a rotate while changing the meshing position with the internal tooth pins 3, and the first swing gear 51 and the second swing gear 52 swing inward in the radial direction of the internal tooth support portion 21. .

The middle portion of the inner tooth pin 3 except the two end portions 32, 33 in the longitudinal direction is fitted It is placed in the pin groove 21a, whereby the internal tooth pin 3 is held in the pin groove 21a. In other words, the one end portion (the first distal end portion 32) of the inner toothed pin 3 is exposed from the pin groove 21a and protrudes outward from the first axial end surface 21b of the inner tooth support portion 21, and is elongated in the longitudinal direction. The other end portion (second distal end portion 33) protrudes outward from the second axial end surface 21c of the internal tooth support portion 21.

As described above, in the eccentric oscillating gear device X1, both end portions of the internal tooth pin 3 protrude outward in the longitudinal direction from the first axial end surface 21b and the second axial end surface 21c. Therefore, as shown in FIG. 3, the length L1 of the pin groove 21a in the direction of the axis C1 is shorter than the length L2 of the inner pin 3. In the present embodiment, the length L2 of the internal tooth pin 3 is set to be substantially the same as the total length L3 of the first external tooth portion 51a and the second external tooth portion 52a in the direction of the axis C1.

Further, in the present embodiment, the both end portions of the internal tooth pin 3 protrude outward from the first axial end surface 21b and the second axial end surface 21c, respectively, but the present invention is not limited thereto. The inner tooth pin 3 can be disposed such that one end portion protrudes outward in the longitudinal direction from the outer side of the first axial end surface 21b, and the other end portion does not protrude toward the outer side of the second axial end surface 21c in the longitudinal direction. . Further, the internal tooth pin 3 may be disposed such that the other end portion protrudes outward from the second axial end surface 21c in the longitudinal direction, and the one end portion does not extend toward the first axial end surface 21b in the longitudinal direction. The outside is prominent. In other words, in the longitudinal direction of the inner tooth pin 3, the length of the pin groove 21a may be shorter than the length of the inner tooth pin 3.

As shown in Fig. 4, in the circumferential direction of the inner tooth pin 3, the contact length L4 of the inner tooth pin 3 and the pin groove 21a is longer than the contact length L5 of the inner tooth pin 3 and the first outer tooth portion 51a of the first swing gear 51. . In the present embodiment, as shown in Fig. 4, the radius of curvature of the pin groove 21a is substantially the same as the radius of curvature of the inner tooth pin 3 in a cross section orthogonal to the longitudinal direction of the inner tooth pin 3. Therefore, in the circumferential direction of the inner tooth pin 3, the entirety of the pin groove 21a is in contact with the inner tooth pin 3. On the other hand, the outer shape of the first outer tooth portion 51a is formed such that the first outer tooth portion 51a meshes with the inner tooth pin 3 and the first swing gear 51 can swing. Therefore, the radius of curvature of the outer edge of the first outer tooth portion 51a is set to be larger than the radius of curvature of the inner tooth pin 3 in the cross section orthogonal to the longitudinal direction of the inner tooth pin 3. Therefore, in the circumferential direction of the inner tooth pin 3, the first swing gear 51 is connected to the inner tooth pin 3 The contact length L5 is shorter than the contact length L4 of the pin groove 21a and the inner tooth pin 3. Further, in the circumferential direction of the internal tooth pin 3, the contact length between the second swing gear 52 and the internal tooth pin 3 and the contact length L5 of the first swing gear 51 and the internal tooth pin 3 are the same as those of the internal tooth pin 3 and the pin groove. The contact length of 21a is short.

The eccentric oscillating gear device X1 further includes a main bearing 8 that allows relative rotation between the outer cylinder 2 and the carrier 4. In the eccentric oscillating gear device X1, the crankshaft 6 that receives the driving force (torque) of the motor (not shown) is rotated from the transmission gear 7, whereby the first outer tooth portion 51a, the second outer tooth portion 52a, and the inner tooth pin are rotated. 3 meshing and the first swing gear 51 and the second swing gear 52 swing in different phases. Thereby, the relative rotation between the outer cylinder 2 and the carrier 4 is generated via the main bearing 8.

The main bearing 8 has an annular first main bearing 81 and a second main bearing 82 which are spaced apart from each other in the direction of the shaft C1. The first main bearing 81 is located between the first main bearing support portion 22b of the outer peripheral portion 22 of the outer cylinder 2 and the first member 41. The second main bearing 82 is located between the second main bearing support portion 22c of the outer peripheral portion 22 of the outer cylinder 2 and the substrate portion 42a of the second member 42.

As shown in FIG. 3, the first main bearing 81 has a race 81a on the side of the first main bearing support portion 22b of the outer peripheral portion 22 in the radial direction of the carrier 4, and is located inside the first member 41 side of the carrier 4. The race 81b and the spherical rotor 81c sandwiched between the outer race 81a and the inner race 81b. Further, in the present embodiment, the rotor 81c is formed in a spherical shape, but is not limited thereto, and may be formed, for example, in a columnar shape. In other words, the crankshaft 8 is not limited to the ball bearing, and can be appropriately changed to a roller bearing or the like according to the use form of the eccentric oscillating gear device X1.

The outer race 81a is a member that rotatably receives the rotor 81c on the first main bearing support portion 22b side of the outer circumference 22. The outer race 81a is in contact with the inner circumferential surface of the first main bearing support portion 22b. Further, the outer race 81a is in contact with the first axial end surface 21b of the internal tooth support portion 21. Thereby, a portion of the outer race 81a coincides with one end of the inner toothed pin 3 projecting from the pin groove 21a in the radial direction of the carrier 4. In other words, a portion of the outer race 81a is located within the length of the inner tooth pin 3 in the direction of the axis C1.

Further, in the present embodiment, the outer race 81a is separate from the outer cylinder 2, but is not limited thereto. Therefore, it can also be integrated with the outer cylinder 2. In this case, by processing the outer cylinder 2 as a function of the outer race 81a, the outer race 81a can be integrally formed on the outer cylinder 2.

The inner race 81b is a member that rotatably receives the rotor 81c on the first member 41 side of the carrier 4. The inner race 81b is in a state of being spaced apart from the outer race 81a in the radial direction of the carrier 4, and is in contact with the first member 41.

Further, in the present embodiment, the inner race 81b is separate from the first member 41, but the present invention is not limited thereto, and may be integrated with the first member 41. In this case, by processing the first member 41 as a function of the inner race 81b, the inner race 81b can be integrally formed on the first member 41.

The rotor 81c is rotatably held between the outer race 81a and the inner race 81b. The outer race 81a and the inner race 81b are formed with a receiving surface along the outer shape of the rotor 82c, and the rotor 81c is rotatable in contact with the receiving surface of the outer race 81a and the receiving surface of the inner race 82b. In the present embodiment, the receiving surface of the outer race 81a and the receiving surface of the inner race 82b are located at positions shifted in the direction of the axis C1, whereby the rotational axis of the rotor 82c is inclined with respect to the central axis C1. Thereby, in the direction of the axis C1, the end portion 81d of the inner race 81b on the side of the swing gear 5 is located closer to the first member 41 than the contact surface 81e of the outer race 81a with the first axial end face 21b.

The first member 41 has a first holding portion 41d that supports the inner race 81b in the radial direction of the carrier 4, and a side farther from the first holding portion 41d than the first swing portion 41d in the direction of the axis C1. The holding portion 41d further protrudes toward the radially outer side of the carrier 4 from the first protruding portion 41e.

The first holding portion 41d is located further inward of the inner tooth pin 3 in the radial direction of the carrier 4. In the present embodiment, the first holding portion 41d is located on the side of the axis C1 (inward of the radial direction) from the outer edge of the first oscillating gear 51 in the direction opposite to the eccentric direction of the first eccentric portion 62. The location. Further, in the radial direction of the carrier 4, the inner race 81b is in contact with the first holding portion 41d.

In the direction of the axis C1, the positioning member A1 is in contact with the first projection 41e. Specifically, the inner race 81b has a positioning member A1 interposed between the first projection 41e and the first projection 41e. Thereby, the positioning of the inner race 81b in the direction of the axis C1 is performed. In this state, the end portion 81d of the inner race 81b is in contact with the inner tooth pin 3 in the direction of the axis C1. Further, the end portion 81d of the inner race 81b is in contact with the first outer tooth portion 51a (first swing gear 51) in the direction of the axis C1. Thereby, the inner race 81b regulates the movement of the inner tooth pin 3 and the first swing gear 51 in the direction of the axis C1 toward the first member 41 side.

Further, in the present embodiment, the inner race 81b regulates the movement of both the inner tooth pin 3 and the first swing gear 51 in the direction of the axis C1, but is not limited thereto. The inner race 81b can be configured to regulate only the movement of the inner toothed pin 3 in the direction of the axis C1.

Further, in the present embodiment, the inner race 81b is in contact with the inner tooth pin 3 and the first swing gear 51, but the present invention is not limited thereto. A very small gap can be formed between the inner race 81b and the inner tooth pin 3 and the first swing gear 51. Even in the above case, the inner race 81b and the first swing gear 51 can be aligned in the direction of the axis C1, whereby the inner race 81b and the first swing gear 51 can be regulated by the inner race 81b. Movement in the direction of the axis C1.

Similarly to the first main bearing 81, the second main bearing 82 has an outer race 82a, an inner race 82b, and a rotor 82c. The second main bearing 82 is disposed symmetrically with the first main bearing 81 via the internal tooth support portion 21 in the direction of the axis C1. Therefore, a portion of the outer race 82a coincides with the other end of the inner toothed pin 3 projecting from the pin groove 21a in the radial direction of the carrier 4. In other words, a portion of the outer race 82a is located within the length of the inner tooth pin 3 in the direction of the axis C1. Further, in the direction of the axis C1, the end portion 82d of the inner race 82b on the side of the swing gear 5 is located closer to the side of the substrate portion 42a than the contact surface 82e of the outer race 82a with the second axial end face 21c.

Similarly to the first member 41, the substrate portion 42a of the second member 42 has the second holding portion 42f and the second protruding portion 42h. The second holding portion 42f is located further inward of the inner tooth pin 3 in the radial direction of the carrier 4. In the present embodiment, the second holding portion 42f is located closer to the axis C1 than the outer edge of the second oscillating gear 52 in the direction opposite to the eccentric direction of the second oscillating gear 52.

The inner race 82b is in contact with the second projecting portion 42h in the direction of the axis C1, and is in contact with the second holding portion 42f in the radial direction of the carrier 4. In this state, the end portion 82d of the inner race 82b is in contact with the internal tooth pin 3 in the direction of the axis C1. Further, the end portion 82d of the inner race 82b is in contact with the second outer tooth portion 52a (second swing gear 52) in the direction of the axis C1. Thereby, the inner race 81b regulates the movement of the inner tooth pin 3 and the second swing gear 52 in the direction of the axis C1 toward the substrate portion 42a side.

Further, the inner race 82b can be configured to regulate only the movement of the inner toothed pin 3 in the direction of the axis C1, similarly to the inner race 81b. Further, the inner race 82b can be made to be in contact with the inner toothed pin 3 and the second swing gear 52 in the same manner as the inner race 81b, and can be formed between the inner race 82b and the inner toothed pin 3 and the second swing gear 52. The gap.

As described above, in the eccentric oscillating type gear device X1, since the length L1 of the pin groove 21a in the longitudinal direction of the inner tooth pin 3 is shorter than the length L2 of the inner tooth pin 3, L1 = L2 or L1 > L2 Compared with the previous eccentric oscillating type gear device, the thickness of the internal tooth support portion 21 of the outer tube 2 in the longitudinal direction of the internal tooth pin 3 can be reduced. Therefore, the weight reduction of the eccentric oscillating type gear device can be achieved.

In other words, in the eccentric oscillating gear device X1, the contact length L4 of the internal tooth pin 3 and the pin groove 21a is longer than the contact length L5 of the internal tooth pin 3 with the first oscillating gear 51 and the second oscillating gear 52. Therefore, by shortening the length L1 of the pin groove 21a, even if the contact area between the pin groove 21a and the inner tooth pin 3 is reduced, the surface pressure between the pin groove 21a and the inner tooth pin 3 can be set as the inner tooth pin 3 and The surface pressure between the first swing gear 51 and the second swing gear 52 is equal to or lower than the surface pressure. Therefore, in the eccentric oscillating type gear device X1, the excess pin groove 21a can be reduced, whereby the weight of the eccentric oscillating type gear device X1 as a whole can be reduced.

Further, in the eccentric oscillating gear device X1, the length L2 of the internal tooth pin 3 is substantially the same as the length L3 of the first oscillating gear 51 and the second oscillating gear 52. Therefore, even if the length L1 of the pin groove 21a is shortened in order to reduce the weight of the eccentric oscillating gear device X1, the contact area between the internal tooth pin 3 and the first oscillating gear 51 and the second oscillating gear 52 can be sufficiently ensured.

Further, in the eccentric oscillating gear device X1, the first distal end portion 32 of the internal tooth pin 3, The second distal end portion 33 protrudes outward from the first axial end surface 21b and the second axial end surface 21c of the internal tooth support portion 21 having the pin groove 21a. Further, a portion of the race 81a located outside the first main bearing 81 between the first main bearing support portion 22b and the first member 41 is located within the length of the inner tooth pin 3 in the direction of the axis C1. Further, a portion of the race 82a outside the second main bearing 82 located between the second main bearing support portion 22c and the substrate portion 42a is located within the length of the inner tooth pin 3 in the direction of the axis C1. In other words, at least a portion of the outer races 81a, 82a overlap the inner tooth pins 3 in the radial direction of the carrier 4. Therefore, in the eccentric oscillating gear device X1, the thickness in the direction of the axis C1 can be reduced to the extent that the outer races 81a, 82a overlap the inner tooth pin 3 in the radial direction of the carrier 4.

Further, in the eccentric oscillating gear device X1, the inner races 81b and 82b of the first main bearing 81 and the second main bearing 82 are configured to regulate the movement of the inner tooth pins 3 in the direction of the axis C1. Therefore, by shifting the position of the internal tooth pin 3 in the direction of the axis C1, it is possible to suppress the first outer tooth portion 51a, the second outer tooth portion 52a, and the inner tooth pin 3 of the first swing gear 51 and the second swing gear 52. The meshing is bad.

In particular, in the eccentric oscillating gear device X1, the first distal end portion 32 of the internal tooth pin 3 protrudes outward from the first axial end surface 21b in the direction of the axis C1. Therefore, the inner first pin 81 can be regulated by the first main bearing 81 in which the end portion 81d of the inner race 81b is located closer to the first member 41 than the contact surface 81e of the outer race 81a in the direction of the axis C1. The movement in the direction of the axis C1. Therefore, it is not necessary to perform special processing such that the end portion 81d of the inner race 81b extends toward the inner toothed pin 3 side in the direction of the axis C1 with respect to the previous first main bearing 81. Further, the second main bearing 82 is also the same as the first main bearing 81.

Further, in the eccentric oscillating gear device X1, the inner races 81b and 82b are configured to regulate the movement of the first oscillating gear 51 and the second oscillating gear 52 in the direction of the axis C1. Therefore, the vibration of the first swing gear 51 and the second swing gear 52 in the direction of the axis C1 can be reduced.

In particular, in the eccentric oscillating type gear device X1, the eccentricity with the first eccentric portion 62 In the opposite direction, the first holding portion 41d is located closer to the axis C1 than the outer edge of the first swing gear 51, and the inner edge of the inner race 81b is in contact with the first holding portion 41d. Therefore, regardless of the position of the first oscillating gear 51 in the eccentric rotation, the first oscillating gear 51 and the end portion 81d of the inner race 81b are in contact with each other over the entire circumferential direction of the first oscillating gear 51. Thereby, the inner race 81b can reliably regulate the movement of the first swing gear 51 in the direction of the axis C1. Further, similarly to the inner race 82b of the second main bearing 82, similarly to the inner race 81b of the first main bearing 81, the movement of the first swing gear 51 in the direction of the axis C1 can be reliably regulated.

Hereinafter, the eccentric oscillating gear device X1 of the second embodiment will be described with reference to Fig. 5 .

As shown in FIG. 5, in the eccentric oscillating type gear device X1 of the second embodiment, the length L1 of the pin groove 21a in the direction of the axis C1 is substantially the same as the length L2 of the inner tooth pin 3, unlike the first embodiment. On the other hand, the length L1 of the pin groove 21a is shorter than the total length L3 of the first outer tooth portion 51a and the second outer tooth portion 52a in the direction of the axis C1. Further, in the case where the swing gear 5 is constituted by only one swing gear, the length L1 is shorter than the length of the one swing gear.

In the second embodiment, the length L1 is the same as the length L2, and the inner tooth pin 3 is disposed in the pin groove 21a over the entire axis C1 direction. Therefore, the internal tooth pin 3 can be firmly held in the pin groove 21a. Further, since the length L1 of the pin groove 21a is shorter than the total length L3 of the first outer tooth portion 51a and the second outer tooth portion 52a, the previous eccentric oscillating type gear device is the same as the length L1, the length L2, and the length L3. In comparison, the thickness of the internal tooth support portion 21 of the outer cylinder 2 can be reduced. Thereby, the weight reduction of the eccentric oscillating gear device X1 can be achieved.

Further, the eccentric oscillation gear device X1 of the second embodiment includes the regulation plates 310 and 320. The regulation plates 310 and 320 are annular thin plate members.

The regulation plate 310 is sandwiched between the outer race 81a of the first main bearing 81 and the first axial end surface 21b of the internal tooth support portion 21. The inner edge portion of the gauge plate 310 faces the front end surface of the inner toothed pin 3 in the longitudinal direction of the inner toothed pin 3. In particular, in the second embodiment, the inner edge portion of the regulation plate 310 is in contact with the inner tooth pin 3 in the longitudinal direction of the inner tooth pin 3.

The regulation plate 320 is sandwiched between the outer race 82a of the second main bearing 82 and the second axial end surface 21c of the internal tooth support portion 21. The inner edge portion of the regulating plate 320 faces the front end surface of the inner toothed pin 3 on the opposite side of the inner side of the inner side of the inner side of the inner side. In particular, in the second embodiment, the inner edge portion of the regulating plate 320 is in contact with the inner tooth pin 3 in the longitudinal direction of the inner tooth pin 3.

As described above, the eccentric oscillation gear device X1 of the second embodiment includes the regulation plates 310 and 320, and the regulation plates 310 and 320 sandwich the internal tooth pin 3 in the longitudinal direction of the internal tooth pin 3. Thereby, the movement of the internal tooth pin 3 in the longitudinal direction can be regulated.

Further, in the second embodiment, the movement of the inner tooth pin 3 in the longitudinal direction is regulated by the regulation plates 310 and 320, but the regulation plates 310 and 320 may not be provided. Further, the regulation of the movement of the internal tooth pin 3 in the longitudinal direction can be realized by means other than the members of the regulating plates 310 and 320. For example, the portion of the races 81a and 82a other than the first main bearing 81 and the second main bearing 82 that are located on the side of the internal tooth support portion 21 can be extended to the inside of the radial direction of the carrier 4, and the The extended portion is disposed at a position opposed to the inner tooth pin 3 to regulate the movement of the inner tooth pin 3. Further, the inner main pin 81 or one of the inner races 81b and 82b of the second main bearing 82 or a part of the carrier 4 may be disposed at a position facing the inner tooth pin 3 to regulate the inner tooth pin. 3 moves.

It is to be understood that the foregoing description of the embodiments of the embodiments The scope of the present invention is defined by the scope of the invention, and the scope of the patent application and the scope of the patent application.

2‧‧‧Outer tube

3‧‧‧ internal gear

4‧‧‧Carriage

8‧‧‧ main bearing

21‧‧‧ Internal Teeth Support

21a‧‧ ‧ pin slot

21b‧‧‧1st axial end face

21c‧‧‧2nd axial end face

22‧‧‧The outer part

22a‧‧‧ Body Department

22b‧‧‧1st main bearing support

22c‧‧‧2nd main bearing support

22d‧‧‧ mounting hole

32‧‧‧ Both ends/first front end

33‧‧‧ Both ends/second front part

41‧‧‧1st component

41d‧‧‧1st Holding Department

41e‧‧‧1st protrusion

42‧‧‧1st component

42a‧‧‧Parts Department

42b‧‧‧Axis

42f‧‧‧2nd Maintenance Department

42h‧‧‧2nd protrusion

51‧‧‧1st swing gear

51a‧‧‧1st external tooth

52‧‧‧2nd swing gear

52a‧‧‧2nd external tooth

81‧‧‧1st main bearing

81a‧‧‧Outer seat

81b‧‧‧ inner seat

81c‧‧‧Rotating body

81d‧‧‧End

81e‧‧‧Contact surface

82‧‧‧2nd main bearing

82a‧‧‧Outer seat

82b‧‧‧ inner seat

82c‧‧‧Rotating body

82d‧‧‧End

A1‧‧‧ Positioning members

L1‧‧‧ length

L2‧‧‧ length

L3‧‧‧ length

T1‧‧‧ solid structural parts

Claims (6)

An eccentric oscillating gear device comprising: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; and a plurality of inner tooth pins respectively disposed in the respective pin grooves and the oscillating gear meshing therewith; The length of the pin groove in the longitudinal direction of the inner pin is shorter than the length of the inner pin. The eccentric oscillating gear device of claim 1, further comprising: a carrier located inside the outer cylinder; and a main bearing that allows relative rotation between the carrier and the outer cylinder; and the outer cylinder has The inner tooth support portion includes the inner circumferential surface on which the pin groove is formed, and the main bearing support portion which is located further outward than the axial end surface of the inner tooth support portion in the longitudinal direction and supports The main bearing; and the inner pin protrudes outward from the axial end surface of the inner tooth support portion in the longitudinal direction; and at least a portion of the main bearing is located in the length direction of the inner tooth pin in the longitudinal direction Inside. The eccentric oscillating gear device of claim 2, wherein the inner race of the main bearing is configured to regulate the movement of the inner tooth pin in the longitudinal direction. The eccentric oscillating gear device of claim 3, wherein the inner race is configured to regulate movement of the oscillating gear in the longitudinal direction. An eccentric oscillating gear device, comprising: an outer cylinder having a plurality of pin grooves formed on an inner circumferential surface; a plurality of internal tooth pins respectively disposed in each of the pin slots; and a swing gear having a tooth portion that meshes with each of the internal tooth pins; and a length of the pin groove in a length direction of the inner tooth pin It is shorter than the length of the aforementioned external tooth portion. The eccentric oscillating gear device of claim 5, wherein the length of the pin groove is the same as the length of the inner tooth pin in the longitudinal direction of the inner tooth pin.