Rotary device

Abstract

The present invention relates to a rotating device. The rotating device of the present invention is provided with a housing portion, an internal gear, a gear carrier portion, a crankshaft, an oscillating gear, a plurality of supply and discharge flow paths, a stopper, and a stopper moving portion.

Description

TECHNICAL FIELD

[0001] The present application relates to a rotary device. BACKGROUND

[0002] In the past, a hydraulic pump and a motor described in Patent Documents 1 and 2 are known. In the documents, the hydraulic pump and the motor are used as a parking brake that stops the operation by restricting the swing of a swing member. As a structure of the parking brake, for example, in Patent Document 1, a structure is described in which a lock pin 60 in a locked position in which the swing of a star gear 30 is suppressed is moved to an unlocked position by a brake lever 72, and thus the lock is released.

[0003] In the past, there has been a technique in which the restriction shaft is put into the central hole of the swing gear. The method of moving the restriction shaft and the oil passage have been improved so far.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT DOCUMENTS

[0006] Patent Document 1: Japanese Patent No. 5822512

[0007] Patent Document 2: Japanese Patent No. 5288184 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] In the technology described in the patent document, the central spline shaft is hollow, and a shaft for transmitting force to the restriction shaft is provided therein. Therefore, the structure is complicated. Thus, there is a problem that the manufacturing process is complicated.

[0010] In addition, it is a structure in which the restriction shaft performs a precession action imitating the precession motion of the central spline shaft, and thus the end surface is worn. Thus, there is a problem that the durability is reduced.

[0011] The present application provides a rotary device with a parking brake function that is simple in structure, high in durability, and can be miniaturized.

[0012] SOLUTION TO THE PROBLEM

[0013] A rotating device according to one aspect of the present invention includes a housing portion having an axis, an internal gear provided to an inner circumferential surface of the housing portion, a gear carrier portion supported to the housing portion so as to be rotatable about the axis, a crankshaft supported to the gear carrier portion so as to be rotatable about another axis parallel to the axis, a swing gear restricted by the crankshaft so as to swing, engaged with the internal gear, a plurality of supply and discharge flow paths that supply and discharge a working fluid between the inner circumferential surface of the housing portion and the swing gear, a stopper that is movable in contact with and apart from either one of the swing gear and the crankshaft, and a stopper moving portion that pushes the stopper toward the swing gear or releases the pushing to move the stopper toward the swing gear or the crankshaft in contact with and apart from. Thus, the above problems are solved.

[0014] With the above configuration, the rotation of either one of the swing gear and the crankshaft is stopped by the stopper, so that the drive of the rotating device can be stopped. Thus, the stopper is driven by the stopper moving portion, so that the stopper can be used as a brake of the rotating device. Therefore, a rotating device having a brake mechanism that is simple in configuration and compact can be provided.

[0015] In the above configuration, the stopper can push the swing gear to stop the swing rotation.

[0016] In the above configuration, the stopper moving portion can move the stopper in the direction of the rotation axis of the swing gear.

[0017] In the above configuration, the crankshafts can be arranged in the circumferential direction about the axis, and the stopper can be located near the center of the swing gear.

[0018] In the above configuration, the stopper can be supported to the gear carrier portion.

[0019] In the above configuration, an eccentric stopper engaging portion can be formed in the swing gear, and the swing rotation can be stopped by inserting the stopper into the stopper engaging portion by the stopper moving portion.

[0020] In the above configuration, the stopper moving portion can include a pushing portion that pushes the stopper to insert the stopper into the stopper engaging portion to stop the swing rotation of the swing gear, and a pushing release portion that releases the pushing state of the stopper by the pushing portion by the working fluid to pull out the stopper from the stopper engaging portion.

[0021] In the above structure, the rotating device can further include two bearings disposed apart from each other along the axis of the housing portion to support the gear carrier portion to the housing portion; a supply and discharge plate having a plurality of supply and discharge flow paths that supply and discharge a working fluid to and from a working chamber formed between the inner peripheral surface of the housing portion and the swing gear, and disposed adjacent to the swing gear in the direction of the axis; a flow path formed in the gear carrier portion to lead the plurality of supply and discharge flow paths to the outside, respectively; and a branch flow path branched from a supply path of the supply and discharge flow paths in the flow path to lead to the push release portion. The push of the push portion against the stopper can be released by the working fluid supplied to the push release portion via the branch flow path.

[0022] Another technical solution of the present application is a rotating device including: a housing portion having an axis; an internal tooth provided to an inner peripheral surface of the housing portion; a gear carrier portion supported to the housing portion in a rotatable manner about the axis by two bearings disposed apart from each other along the axis of the housing portion; a crankshaft supported to the gear carrier portion in a rotatable manner about another axis parallel to the axis and arranged in a circumferential direction about the axis; a swing gear restricted to swing rotation by the crankshaft and engaged with the internal tooth; a supply and discharge plate having a plurality of supply and discharge flow paths that supply and discharge a working fluid to and from a working chamber formed between the inner peripheral surface of the housing portion and the swing gear, and disposed adjacent to the swing gear in the direction of the axis; a stopper supported to the gear carrier portion, located near a center of the swing gear, and moved in contactable and separable manner with respect to the swing gear; a stopper engaging portion eccentrically formed in the swing gear; a stopper moving portion that pushes or releases the stopper toward the stopper engaging portion to move the stopper in contactable and separable manner toward the stopper engaging portion of the swing gear; a flow path formed in the gear carrier portion to lead the plurality of supply and discharge flow paths to the outside, respectively; and a branch flow path branched from a supply path of the supply and discharge flow paths in the flow path to lead to the stopper moving portion. The stopper moving portion has a push portion that pushes the stopper to insert it into the stopper engaging portion to stop the swing rotation of the swing gear, and a push release portion that releases the push state of the stopper by the push portion by the working fluid supplied via the branch flow path to pull out the stopper from the stopper engaging portion.

[0023] By so constituting, the stopper is inserted into the stopper engaging portion of the swing gear to stop the swing rotation of the swing gear, so that the driving of the rotary device can be stopped. At this time, when the rotary device is driven by supplying the working fluid to the working chamber, the push-off portion of the stopper moving portion is supplied via the branch flow path branched from the supply path, so that the stopper inserted into the stopper engaging portion under the action of the push portion is released from the restriction of the swing gear, and the position restriction of the swing gear is released. In this way, the stopper is driven by the stopper moving portion, so that the stopper can be used as a parking brake that is released during driving and is braked during non-driving in the rotary device. Therefore, a rotary device having a parking brake mechanism with simple configuration and compactness can be provided.

[0024] Effects of the Invention

[0025] According to the present application, the following effects can be obtained: a rotary device having a parking brake function, which is simple in configuration, high in durability, and small in size, can be provided. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a partial cross-sectional side view of a hydraulic motor of a first embodiment of the present application.

[0027] Figure 2 is a cross-sectional view along the line II-II of Figure 1 .

[0028] Figure 3 is an enlarged view of the III portion of Figure 1 .

[0029] Figure 4 is an enlarged view of the VI portion of Figure 1 .

[0030] Figure 5 is an enlarged view of the V portion of Figure 1 indicating a release state.

[0031] Figure 6 is an enlarged view of the V portion of Figure 5 indicating an engagement state.

[0032] Figure 7 is a cross-sectional view of a hydraulic motor of a second embodiment of the present application, corresponding to the V portion of Figure 1 , and is an enlarged view indicating a release state.

[0033] Figure 8 is an enlarged view of the V portion of Figure 7 indicating an engagement state.

[0034] Explanation of Reference Numerals

[0035] 1 hydraulic motor (rotary device); 2 housing portion; 3 rotating portion; 4 crankshaft (eccentric rotating body); 4c eccentric portion; 5 wobble gear; 6 gear carrier portion (rotating member); 7 first housing; 8 second housing; 12 first bearing (bearing); 13 second bearing (bearing); 31 first gear carrier; 33b second end portion; 32 second gear carrier (gear carrier); 32d first direction end portion; 41 supply path (oil passage); 41g branch flow path; 42 discharge path (oil passage); 46 supply / discharge plate (port plate); 50 sliding plate (piston plate); 65 external teeth; 66a, 66b working chamber; 90 internal teeth pin (internal teeth); 100 brake mechanism; 100a stopper moving portion; 101 stopper engaging portion; 102 stopper; 102a connecting member; 103 piston; 104, 106 cylinder; 104a, 104b pressure chamber; 105 spring (urging portion); C1 first axis (axial line); C5 axis. DETAILED DESCRIPTION

[0036] Hereinafter, a rotary device of a first embodiment of the present application will be described based on the drawings.

[0037] Figure 1 is a partial cross-sectional side view showing the hydraulic motor as one example of the rotary device in the present embodiment. Figure 2 is a cross-sectional view along the line II-II of Figure 1 Figure 3 is a cross-sectional view along the line III-III of Figure 1 Figure 4 is an enlarged view of the portion III of Figure 1

[0038] As the rotary device of the present embodiment, first, a hydraulic motor will be described.

[0039] < Hydraulic motor >

[0040] As shown in Figures 1 to 4 , the hydraulic motor 1 has a cylindrical housing portion 2, a rotating portion 3 supported in a rotatable manner to the inner peripheral surface of the housing portion 2 by two bearings 12, 13 (a first bearing 12 and a second bearing 13), and a brake mechanism 100 as a main structure.

[0041] An angular contact ball bearing is used as the bearings 12, 13. However, the configuration of the bearings 12, 13 is not limited to the angular contact ball bearing. Other ball bearings such as a deep groove ball bearing, various bearings such as a sliding bearing can also be used for the bearings 12, 13.

[0042] ​​​The central axis of the outer casing 2 coincides with the rotation axis of the rotating part 3. In the following description, these central axes and rotation axes are collectively referred to as the first axis (an example of the axis in the claim) C1. Additionally, there are cases where the direction parallel to the first axis C1 is simply referred to as the axial direction, the rotation direction of the rotating part 3 is referred to as the circumferential direction, and the radial direction of the rotating part 3 is simply referred to as the radial direction.

[0043] <Outer shell>

[0044] The outer casing 2 is divided in the axial direction, consisting of a first direction side disposed in the axial direction ( Figure 1 The first housing 7 (left side) and the second direction side (located on the axial side opposite to the first direction) Figure 1 The second outer shell 8 (located on the right side of the middle shell) is formed. Alternatively, the outer shell 2 may be configured as a structure that is not divided in the axial direction.

[0045] The first housing 7 is cylindrical. On the outer peripheral surface 7a of the first housing 7, at a first end 7b on the first direction side, an outer flange 9 protruding radially outward is formed. The outer flange 9 is used when mounting the hydraulic motor 1 to an external device (not shown). A through hole 9a (not shown) is formed in the outer flange 9, extending through the outer flange 9 in the thickness direction (axial direction), for a bolt (not shown) to pass through.

[0046] The portion of the peripheral wall 7e of the first housing 7 located between the second end 7d on the second direction side and the axial center is a thick-walled portion 10, with a wall thickness greater than that of other portions. The second end 10c of the thick-walled portion 10 on the second direction side is located on the same plane as the second end 7d of the first housing 7. That is, the second end 10c of the thick-walled portion 10 constitutes a part of the second end 7d of the first housing 7.

[0047] A plurality of (e.g., 13 in this embodiment) pin grooves 10a are formed on the inner circumferential surface 10d of the thick-walled portion 10. Each pin groove 10a is formed axially along the entire thick-walled portion 10 and is arranged at equal intervals in the circumferential direction. The pin grooves 10a are semi-circular when viewed from the axial direction. A cylindrical internal toothed pin (an example of the internal tooth of the claim) 90 is rotatably received in each pin groove 10a. Since the pin grooves 10a are semi-circular when viewed from the axial direction, the internal toothed pin 90 has a shape that protrudes radially inward from the inner circumferential surface 10d of the thick-walled portion 10 by an amount corresponding to the semi-circle. The internal toothed pin 90 functions as an internal tooth that meshes with the oscillating gear 5 discussed later.

[0048] A first through-hole 19 which penetrates in the axial direction is formed in the outer peripheral portion of the thick wall portion 10 between each pin groove 10a. A plurality of first through-holes 19 are arranged at equal intervals in the circumferential direction. The number of first through-holes 19 is, for example, 13. The shanks 20a of bolts (one example of a fixing portion and a threaded member) 20 are respectively inserted into the plurality of first through-holes. The first housing 7, the second housing 8, and a supply and discharge plate 46 which will be discussed later are integrated by being collectively fastened by the plurality of bolts 20.

[0049] Further, in the inner peripheral surface 7c of the first housing 7, at a position further than the thick wall portion 10 in the first direction, a first bearing receiving portion 11 is formed in which the inner diameter is made larger by a step portion 11a. An outer ring 12a of a first bearing 12 is fitted in this first bearing receiving portion 11. Positioning between the first bearing 12 and the first housing 7 is performed by the outer ring 12a abutting against the step portion 11a.

[0050] In the inner peripheral surface 7c of the first housing 7, at a position further than the first bearing receiving portion 11 in the first direction, a seal receiving portion 14 is formed in which the inner diameter is made larger by a step portion 14a. A portion of a seal portion 15 is fitted in this seal receiving portion 14. The seal portion 15 seals between the first housing 7 and the rotating portion 3. As the seal portion 15, for example, a floating seal is used. However, the configuration of the seal portion 15 is not limited to a floating seal. Various kinds of seals such as a gasket, a mechanical seal, and the like can be used for the seal portion 15.

[0051] In the first end portion 7b of the first housing 7, a first gear carrier side first labyrinth portion 16 is formed in which the inner diameter is made larger than the inner diameter of the seal receiving portion 14. The first gear carrier side first labyrinth portion 16 cooperates with the rotating portion 3 to configure a first labyrinth 38. Due to the first labyrinth 38, dust and the like are difficult to intrude from the outside into the gap between the first housing 7 and the rotating portion 3.

[0052] The second end portion 7d of the first housing 7 corresponds to the split surface between the first housing 7 and the second housing 8 of the housing portion 2. The entirety of the outer peripheral portion of the second end portion 7d of the first housing 7 is formed flat. In a position of the second end portion 7d further than the first through-hole 19 in the outer peripheral portion, an O-ring groove 17 which is annular when viewed in the axial direction is formed. An O-ring 18 is installed in the O-ring groove 17. The O-ring 18 ensures the sealability between the first housing 7 and the second housing 8.

[0053] The second housing 8 is formed in a circular ring shape. In the peripheral wall 8a of the second housing 8, at a position corresponding to the first through-hole 19 of the first housing 7, a second through-hole 22 which communicates with the first through-hole 19 is formed. The second through-hole 22 is formed so as to have the same diameter as the diameter of the first through-hole 19, and is located on the same axis as the first through-hole 19. In a large portion of the second through-hole 22 on the second direction side, a counterbore portion 23 is formed. The head 20b of the bolt 20 is inserted into the counterbore portion 23.

[0054] The first end portion 8b of the second housing 8 on the first direction side corresponds to a partition surface between the first housing 7 and the housing portion 2. The pressure plate 21 is integrally formed with the first end portion 8b of the second housing 8 so as to protrude from the inner peripheral surface 8c of the second housing 8 toward the radial direction inner side. The pressure plate 21 is formed in a circular ring shape as viewed in the axial direction. The pressure plate 21 seals the working chambers 66a, 66b formed between the inner peripheral surface 7c of the first housing 7 and the outer peripheral surface of the oscillating gear 5, which will be discussed later, from the second direction side.

[0055] Further, in the case where the first housing 7 and the second housing 8 are integrated, the pressure plate 21 can be formed so as to be partitioned from the housing portion 2.

[0056] On the inner peripheral surface 21a of the pressure plate 21, the second gear carrier side first labyrinth portion 25 is formed on a majority of the portion other than the end portion on the first direction side. The second gear carrier side first labyrinth portion 25 is formed by setting the inner diameter to be larger than the inner diameter of the inner peripheral surface 21a of the pressure plate 21 by means of the step portion 25a. The second gear carrier side first labyrinth portion 25 cooperates with the rotating portion 3 to constitute the second labyrinth 40. Due to the second labyrinth 40, the working oil is difficult to leak between the second housing 8 and the rotating portion 3 (details will be discussed later).

[0057] On the inner peripheral surface 8c of the second housing 8, the second bearing receiving portion 24 is formed at a position on the second direction side from the pressure plate 21, in which the inner diameter is formed to be larger by means of the step portion 24a. The outer ring 13a of the second bearing 13 is fitted in this second bearing receiving portion 24. Positioning between the second bearing 13 and the second housing 8 is performed by the abutment of the outer ring 13a and the step portion 24a.

[0058] On the second end portion 8d of the second housing 8 on the second direction side, the O-ring groove 26, which is annular as viewed in the axial direction, is formed on the outer peripheral portion. The O-ring 27 is installed in the O-ring groove 26. The O-ring 27 ensures the sealability between the second housing 8 and the cover 29, which will be discussed later.

[0059] On the second end portion 8d of the second housing 8, a plurality of internal thread portions 28 are formed at equal intervals in the circumferential direction at a position on the radial direction inner side from the O-ring groove 26. The cover 29 is fixed to the second housing 8 by means of these internal thread portions 28.

[0060] < Cover >

[0061] The cover 29 seals the opening portion 8e of the second housing 8 from the second direction side. The cover 29 is formed, for example, in a manner in which a majority of the center portion is bulged toward the second direction side by press working of a metal plate. The outer peripheral portion of the cover 29 has a shape in which the outer flange portion 29a is formed. This outer flange portion 29a overlaps with the second end portion 8d of the second housing 8.

[0062] In the outer flange portion 29a, a through-hole 29b that penetrates in the thickness direction is formed at a position corresponding to the internally threaded portion 28 of the second housing 8. A bolt 30 is inserted into the through-hole 29b from the second direction side, and the bolt 30 is fastened to the internally threaded portion 28 of the second housing 8, thereby fixing the cover 29 to the second housing 8.

[0063] <Port Plate>

[0064] A port plate 46 that is fixed by the bolt 20 inserted into the second through-hole 22 of the second housing 8 and the first through-hole 19 of the first housing 7 is disposed at the first end portion 10b on one side of the thick wall portion 10. The port plate 46 is a plate for supplying or discharging hydraulic oil to or from working chambers 66a, 66b that will be discussed later.

[0065] The port plate 46 is formed in a circular ring shape as viewed in the axial direction. The outer diameter of the port plate 46 is substantially equal to or slightly smaller than the diameter of the inner peripheral surface 7c of the first housing 7. Therefore, the port plate 46 is disposed at the first end portion 10b of the thick wall portion 10 in a manner fitted to the inner peripheral surface 7c of the first housing 7.

[0066] In the outer peripheral portion of the port plate 46, an internally threaded portion 47 is formed at a position corresponding to the first through-hole 19 of the first housing 7. The bolt 20 is inserted in the order of the second through-hole 22, the first through-hole 19 of the first housing 7 from the second housing 8 side, and the bolt 20 is fastened to the internally threaded portion 47 of the port plate 46. Thus, the first housing 7, the second housing 8, and the port plate 46 are integrated by the common fastening of the respective bolts 20.

[0067] In the port plate 46, a plurality of through-holes (port holes) 46a that penetrate in the thickness direction are formed at positions radially inward of the internally threaded portion 47. Hydraulic oil is supplied to or discharged from the working chambers 66a, 66b via these through-holes 46a (details will be discussed later). The number of the through-holes 46a corresponds to the number of the pin grooves 10a formed in the first housing 7. For example, in the present embodiment, the number of the through-holes 46a is 13. Each of the through-holes 46a is formed at a position where the opening on the thick wall portion 10 side is located at the center between the circumferentially adjacent pin grooves 10a and radially inward of the inner peripheral surface 10d of the thick wall portion 10.

[0068] The plate-side labyrinth portion 48 is formed on the inner peripheral surface 46b of the supply and discharge plate 46 on a majority of the portion other than the end portion on the 2nd direction side. The plate-side labyrinth portion 48 is formed by making the inner diameter larger than the inner diameter of the inner peripheral surface 46b of the supply and discharge plate 46 by means of the step portion 48a. The plate-side labyrinth portion 48 cooperates with the rotating portion 3 to constitute a 3rd labyrinth 49. Due to the 3rd labyrinth 49, the working oil is difficult to leak from between the supply and discharge plate 46 and the rotating portion 3 (details will be discussed later).

[0069] <ROTATING PORTION>

[0070] The rotating portion 3 that is held in a rotatable manner to the housing portion 2 has a gear carrier portion (rotating member) 6, a plurality of (for example, 3 in the present embodiment) crankshafts 4, and a swing gear 5 as main structural elements. The axial both sides of the gear carrier portion 6 are supported to be rotatable by means of bearings 12, 13. The crankshafts 4 are supported in a rotatable manner to the gear carrier portion 6. The swing gear 5 is supported in a rotatable manner to the crankshafts 4.

[0071] The gear carrier portion 6 is divided in the axial direction, and is constituted by a 1st gear carrier 31 disposed on the 1st direction side and a 2nd gear carrier 32 disposed on the 2nd direction side.

[0072] The 1st gear carrier 31 has a configuration in which a base plate portion 33 in a round plate shape and a plurality of (for example, 3 in the present embodiment) support column portions 34 that protrude toward the 2nd direction from a 2nd end portion 33b on the 2nd direction side of the base plate portion 33 are integrally formed.

[0073] The outer peripheral surface 33c of the base plate portion 33 is gradually formed to be larger in outer diameter by means of a step portion as it goes from the 2nd end portion 33b toward a 1st end portion 33a on the 1st direction side.

[0074] That is, the outer peripheral surface 33c of the base plate portion 33 has, in order from the 2nd end portion 33b side, a 1st outer peripheral surface 33d, a 2nd outer peripheral surface 33e formed on the 1st direction side end of the 1st outer peripheral surface 33d in a manner that the outer diameter is made larger by means of a large step portion 33h, a 3rd outer peripheral surface 33f formed on the 1st direction side end of the 2nd outer peripheral surface 33e in a manner that the outer diameter is made larger by means of a small step portion 33i, and a 4th outer peripheral surface 33g formed on the 1st direction side end of the 3rd outer peripheral surface 33f in a manner that the outer diameter is made larger by means of a middle step portion 33j.

[0075] The portion of the 1st gear carrier 31 corresponding to the 1st outer peripheral surface 33d is inserted into the plate-side labyrinth portion 48 of the supply and discharge plate 46. The outer diameter of the 1st outer peripheral surface 33d is slightly smaller than the inner diameter of the plate-side labyrinth portion 48. The 2nd end portion 33b of the 1st gear carrier 31 is located slightly closer to the front than the step portion 48a of the supply and discharge plate 46. In this way, the 3rd labyrinth 49 is constituted by the 1st outer peripheral surface 33d, the 2nd end portion 33b of the 1st gear carrier 31, and the plate-side labyrinth portion 48 of the supply and discharge plate 46.

[0076] The inner ring 12b of the first bearing 12 is fitted to the third outer peripheral surface 33f. Positioning between the first bearing 12 and the first gear carrier 31 is performed by the inner ring 12b abutting against the middle stepped portion 33j. Thus, positioning of the first gear carrier 31 with respect to the first housing 7 is performed. In addition, the first gear carrier 31 is rotatably supported to the first housing 7 by the first bearing 12.

[0077] The fourth outer peripheral surface 33g of the first gear carrier 31 opposes the seal housing portion 14 of the first housing 7 in the radial direction. That is, the seal portion 15 is disposed between the fourth outer peripheral surface 33g of the first gear carrier 31 and the seal housing portion 14 of the first housing 7.

[0078] A round plate portion 35 having a circular shape in the axial direction is integrally formed on the first direction side end of the fourth outer peripheral surface 33g. A second end portion 35b of the round plate portion 35 on the second direction side opposes the first end portion 7b of the first housing 7 in the axial direction. The outer diameter of the round plate portion 35 is equal to the diameter of the outer peripheral surface 7a of the first housing 7. A seal housing recessed portion 36 having a ring shape in the axial direction is formed in the outer peripheral portion of the second end portion 35b of the round plate portion 35. The seal housing recessed portion 36 is smoothly connected to the fourth outer peripheral surface 33g. A portion of the seal portion 15 is also housed in the seal housing recessed portion 36. Thus, the first housing 7 is sealed from the first gear carrier 31 (rotating portion 3) and the seal housing recessed portion 36.

[0079] A first gear carrier side second labyrinth portion 37 having an outer diameter that is made smaller by a step is formed in the outer peripheral edge of the second end portion 35b of the round plate portion 35. The first labyrinth 38 is constituted by the first gear carrier side second labyrinth portion 37 and a first gear carrier side first labyrinth portion 16 formed in the first housing 7. The first labyrinth 38 is disposed radially outward of the seal portion 15, and thus, dust and the like from the outside can be reliably inhibited from intruding through the gap between the first housing 7 and the first gear carrier 31 (rotating portion 3).

[0080] An outer flange portion 39 protruding to the radially outward side is formed in the outer peripheral surface 35c of the round plate portion 35. The outer flange portion 39 is used when the hydraulic motor 1 is mounted to an external device not shown. A through hole 39a for a bolt not shown to pass through is formed in the outer flange portion 39 in a manner that penetrates in the thickness direction (axial direction) of the outer flange portion 39.

[0081] At the second end portion 33b of the base portion 33, a plurality of (for example, three in the present embodiment) shaft support recesses 44 are formed at equal intervals in the circumferential direction at a position closer to the outer peripheral portion (a position slightly closer to the radial inner side of the first outer peripheral surface 33d). The shaft support recesses 44 support the crankshaft 4 so as to be rotatable. The first bearings 59a for supporting the crankshaft 4 so as to be rotatable are fitted into the shaft support recesses 44. The first bearings 59a are, for example, sliding bearings. However, the configuration of the first bearings 59a is not limited to sliding bearings. Various bearings such as ball bearings can be used as the first bearings 59a.

[0082] In addition, in the base portion 33, the plurality of supply paths 41, the plurality of discharge paths 42, and the drain passage (tank path) 43 are formed at a position closer to the radial inner side than the second outer peripheral surface 33e, extending over the entire axial direction of the base portion 33.

[0083] The supply paths 41 are oil passages that supply the working oil from a hydraulic pump, not shown. The second direction side ends of the supply paths 41 are opened by the large step portion 33h. That is, each of the supply paths 41 has a supply opening portion 41a at the large step portion 33h.

[0084] The discharge paths 42 are oil passages that discharge the working oil in the hydraulic motor 1. The second direction side ends of the discharge paths 42 are also opened by the large step portion 33h. That is, each of the discharge paths 42 has a discharge opening portion 42a at the large step portion 33h.

[0085] The number of the supply paths 41 and the number of the discharge paths 42 are each different from the number of the through holes 46a of the supply and discharge plate 46 fixed to the first housing 7. For example, in the present embodiment, the number of the supply paths 41 and the number of the discharge paths 42 are each one less than the number of the through holes 46a of the supply and discharge plate 46, and are twelve.

[0086] The supply opening portions 41a of the supply paths 41 and the discharge opening portions 42a of the discharge paths 42 are alternately arranged on the same pitch circle in the circumferential direction. The plurality of supply opening portions 41a and the plurality of discharge opening portions 42a are arranged at equal intervals in the circumferential direction in a manner that one supply opening portion 41a and one discharge opening portion 42a form a pair.

[0087] The drain passage 43 is a flow path for returning the leaked working oil in the hydraulic motor 1 to a tank, not shown.

[0088] The first direction side end of the supply path 41, the discharge path 42, and the drain passage 43 communicates with an oil distribution portion 45 provided at a first end portion 33a of the substrate portion 33 on the first direction side. The oil distribution portion 45 has a plurality of distribution flow paths, not shown. The working oil from the hydraulic pump is supplied to the supply path 41 via these distribution flow paths. In addition, the working oil discharged to the discharge path 42 is returned to the tank or returned to the supply path 41 again via the distribution flow paths. The working oil discharged to the drain passage 43 is also returned to the tank via the distribution flow paths. Further, the details of the action of the working oil are discussed later.

[0089] A gap is formed between the large step portion 33h of the first gear carrier 31 and a supply and discharge plate (port plate) 46. A sliding plate (piston plate) 50 is disposed in the gap. The sliding plate 50 is formed in a ring shape as viewed in the axial direction. The sliding plate 50 is provided in a manner that the inner peripheral surface is fitted to the first outer peripheral surface 33d of the first gear carrier 31, is not rotatable with respect to the first gear carrier 31, and is axially slidably movable. The thickness of the sliding plate 50 is smaller than the gap between the large step portion 33h and the supply and discharge plate 46.

[0090] A plurality of through holes (through ports) 50c are formed in the sliding plate 50 in a manner corresponding to the supply opening portions 41a of the supply paths 41 and the discharge opening portions 42a of the discharge paths 42. The through holes 50c corresponding to the supply opening portions 41a are disposed on the same axis as the supply opening portions 41a. The through holes 50c corresponding to the discharge opening portions 42a are disposed on the same axis as the discharge opening portions 42a.

[0091] A cylindrical piston 51 is provided at each of the supply opening portions 41a and the discharge opening portions 42a. The piston 51 is provided in the supply path 41 and the discharge path 42 in a manner that is slidably movable. The piston 51 is pushed toward the sliding plate 50 by a spring, not shown, provided in the supply path 41 and the discharge path 42. Thus, the piston 51 is pushed against the sliding plate 50.

[0092] The thickness of the sliding plate 50 is smaller than the gap between the large step portion 33h and the supply and discharge plate 46. Therefore, the piston 51 protrudes from the large step portion 33h due to the spring and abuts against the sliding plate 50. As a result, the sliding plate 50 is pushed against the supply and discharge plate 46. Thus, each of the supply paths 41 and the through holes 50c of the sliding plate 50 communicate via the piston 51. In addition, each of the discharge paths 42 and the through holes 50c of the sliding plate 50 communicate via the piston 51. Further, each of the through holes 50c of the sliding plate 50 and the through holes 46a of the supply and discharge plate 46 communicate.

[0093] The pillar portion 34 of the first gear carrier 31 is a columnar shape formed in a triangular shape as viewed in the axial direction. Each pillar portion 34 is disposed between the shaft support recesses 44 of the base plate portion 33 in the circumferential direction. That is, each pillar portion 34 is disposed on the second end portion 33b of the base plate portion 33 at equal intervals in the circumferential direction. The pitch circle diameter of each pillar portion 34 is substantially the same as the pitch circle diameter of the shaft support recess 44.

[0094] The top end portion 34a of the pillar portion 34 is formed flat. The top end portion 34a of the pillar portion 34 is located on the same plane as the second end portion 7d of the first housing 7. An internally threaded portion 52 for a tight-fit bolt is formed in the top end portion 34a of the pillar portion 34.

[0095] The internally threaded portion 52 for a tight-fit bolt includes a fitting recess 52a formed along the axial direction between the top end portion 34a of the pillar portion 34 and the axial center of the pillar portion 34, and an internally threaded portion main body 52b extending from the bottom of the fitting recess 52a toward the first direction. The first gear carrier 31 is integrated with the second gear carrier 32 by fastening a tight-fit bolt (one example of the other fixing portion) 53 to the internally threaded portion 52 for a tight-fit bolt.

[0096] The second gear carrier 32 is formed in a circular plate shape. The second gear carrier 32 is positioned in such a manner that the first end portion 32a on the first direction side abuts against the top end portion 34a of the pillar portion 34 constituting the first gear carrier 31. Therefore, a gap having the same height as the pillar portion 34 is formed between the base plate portion 33 of the first gear carrier 31 and the second gear carrier 32. The thick wall portion 10 of the first housing 7 surrounds the periphery of the gap, thereby forming a swing gear housing portion 60 for housing the swing gear 5.

[0097] The first end portion 32a of the second gear carrier 32 is formed flat as a whole. In the second gear carrier 32, a fitting hole 54 that penetrates in the thickness direction is formed at a position corresponding to the internally threaded portion 52 for a tight-fit bolt. The tight-fit bolt 53 is inserted into the fitting hole 54 from the second direction side of the second gear carrier 32, and the tight-fit bolt 53 is fastened to the internally threaded portion main body 52b via the fitting recess 52a of the pillar portion 34, thereby integrating the first gear carrier 31 with the second gear carrier 32.

[0098] The close-fitting bolt 53 includes a shank portion 53a, an externally threaded portion 53b protruding from a first direction side end of the shank portion 53a and formed on the same axis as the shank portion 53a, and a head portion 53c formed on the same axis as the shank portion 53a at a second direction side end of the shank portion 53a. In a state in which the close-fitting bolt 53 is fastened to the internally threaded portion 52 for a close-fitting bolt, the shank portion 53a of the close-fitting bolt 53 is fitted into the fitting recessed portion 52a of the support portion 34 and the fitting hole 54 of the second gear carrier 32. That is, the shank portion 53a of the close-fitting bolt 53 is disposed across the first gear carrier 31 and the second gear carrier 32.

[0099] At a second end portion 32b of the second gear carrier 32 on the second direction side, a counterbore portion 55 is formed in the fitting hole 54. The head portion 53c of the close-fitting bolt 53 is inserted into the counterbore portion 55. Thereby, the protruding height of the head portion 53c of the close-fitting bolt 53 from the second end portion 32b of the second gear carrier 32 is suppressed.

[0100] The outer peripheral surface 32c of the second gear carrier 32 has a reduced diameter portion 56 in which the outer diameter is made smaller by means of a step portion 56a in a substantial central portion in the axial direction. The inner ring 13b of the second bearing 13 is fitted into this reduced diameter portion 56. Thereby, the second gear carrier 32 is supported by the second bearing 13 to the second housing 8 in a manner that is rotatable relative to the second housing 8.

[0101] A second gear carrier side second labyrinth portion 57 is formed at a position on the first direction side from the portion of the reduced diameter portion 56 in which the second bearing 13 is fitted. The second gear carrier side second labyrinth portion 57 is formed by making the outer diameter smaller than the outer diameter of the reduced diameter portion 56 by means of a step portion 57a. The outer diameter of the second gear carrier side second labyrinth portion 57 is slightly smaller than the inner diameter of the second housing 8 at the second gear carrier side first labyrinth portion 25.

[0102] The tip end of the second gear carrier side second labyrinth portion 57 is located at a position slightly closer to the front than the step portion 25a of the second gear carrier side first labyrinth portion 25. In this way, the second labyrinth 40 is constituted by the second gear carrier side first labyrinth portion 25 of the second housing 8 and the second gear carrier side second labyrinth portion 57 of the second gear carrier 32.

[0103] At a position of the second gear carrier 32 slightly radially inward of the second gear carrier side second labyrinth portion 57, a plurality of (for example, three in the present embodiment) shaft support holes 58 are formed at equal intervals in the circumferential direction. The shaft support holes 58 support the crankshaft (eccentric rotating body) 4 so as to be rotatable. These shaft support holes 58 are located on the same axis as the shaft support recessed portions 44 of the corresponding first gear carrier 31. A second bearing 59b is fitted into the shaft support holes 58. The second bearing 59b is, for example, a sliding bearing. However, the configuration of the second bearing 59b is not limited to a sliding bearing. Various bearings such as ball bearings can be used for the second bearing 59b.

[0104] <crankshaft>

[0105] Each crankshaft 4 is rotatably supported to each shaft support recess 44 and shaft support hole 58 by each bearing 59a, 59b. It can be said that the crankshaft 4 is able to slide-rotate in the shaft support recess 44 and shaft support hole 58 by the bearings 59a, 59b.

[0106] In the present embodiment, the number of crankshafts 4 is three. The crankshaft 4 has a configuration in which bearing portions 4a, 4b (1st bearing portion 4a, 2nd bearing portion 4b) rotatably supported to the shaft support recess 44 and shaft support hole 58 by the bearings 59a, 59b and a cylindrical eccentric portion 4c provided between each bearing portion 4a, 4b are integrated.

[0107] The rotation axis (2nd axis) C2 of the crankshaft 4, that is, the axis of each bearing portion 4a, 4b is parallel to the 1st axis Cl. The movement of the crankshaft 4 in the axial direction is restricted by the thrust bearings 61a, 61b (1st thrust bearing 61a, 2nd thrust bearing 61b) provided on the outer side of the axial direction of each bearing portion 4a, 4b and the 1st collar 70a provided to the shaft support recess 44 of the 1st gear carrier 31 and the 2nd collar 70b provided to the shaft support hole 58 of the 2nd gear carrier 32. The movement of the 2nd thrust bearing 61b provided to the shaft support hole 58 of the 2nd gear carrier 32 among the two thrust bearings 61a, 61b toward the 2nd direction is restricted by the retainer 62 provided to the shaft support hole 58.

[0108] The length of the eccentric portion 4c in the axial direction is formed to be a length within the width in the axial direction of the swing gear housing portion 60. Specifically, the length of the eccentric portion 4c in the axial direction is slightly shorter than the length of the thick wall portion 10 of the 1st housing 7 in the axial direction. Thus, the position of the end portion of the eccentric portion 4c on the 2nd direction side is on substantially the same plane as the position of the 1st end portion 8b of the 2nd housing 8.

[0109] The axis (3rd axis) C3 of the eccentric portion 4c is eccentric with respect to the 2nd axis C2 of the crankshaft 4. In this eccentric portion 4c, the swing gear 5 is rotatably supported by the 3rd bearing 59c. The 3rd bearing 59c is, for example, a sliding bearing. However, the configuration of the 3rd bearing 59c is not limited to a sliding bearing. Various bearings such as a ball bearing can be used for the 3rd bearing 59c.

[0110] The outer diameter of the oscillating gear 5 is smaller than the diameter of the inner peripheral surface 10d of the thick wall portion 10 so as to be accommodated in the oscillating gear accommodating portion 60. The thickness of the oscillating gear 5 in the axial direction is equal to the thickness of the eccentric portion 4c in the axial direction. Thus, the position of the end portion of the oscillating gear 5 on the second direction side is on substantially the same plane as the position of the first end portion 8b of the second housing 8. In the oscillating gear 5, support holes 63 are formed at positions corresponding to the eccentric portion 4c of the crankshaft 4 so as to be penetrated by the eccentric portion 4c of the crankshaft 4.

[0111] The support holes 63 are arranged at equal intervals in the circumferential direction. The third bearing 59c is provided in these support holes 63. The movement of the oscillating gear 5 in the axial direction with respect to the crankshaft 4 is restricted by the retainer 67 provided at both ends in the axial direction of the third bearing 59c. Based on this structure, the rotation of the oscillating gear 5 is restricted to oscillating rotation by the crankshaft 4.

[0112] Further, in the oscillating gear 5, relief holes 64 are formed at positions corresponding to the strut portions 34 of the first gear carrier 31 so as to be penetrated by the strut portions 34. The shape of the relief holes 64 as viewed in the axial direction is triangular in a manner corresponding to the shape of the strut portions 34 as viewed in the axial direction. The size of the relief holes 64 is formed to be sufficiently large compared to the outer surface shape of the strut portions 34 so that the oscillating rotation movement of the oscillating gear 5 is not hindered by the strut portions 34.

[0113] The outer peripheral surface of the oscillating gear 5 opposes the inner tooth pin 90 of the first housing 7 in the radial direction. An outer tooth 65 that engages with the inner tooth pin 90 is formed in the outer peripheral surface of the oscillating gear 5. The number of teeth of the outer tooth 65 is different from the number (count) of teeth of the inner tooth pin 90. For example, in the present embodiment, the number of teeth of the outer tooth 65 is 12, which is one less than the number of teeth of the inner tooth pin 90. This count is consistent with the number of supply paths 41 and the number of discharge paths 42 formed in the first gear carrier 31.

[0114] During the oscillating rotation movement, any portion of the oscillating gear 5 from the tooth top 65a to the tooth bottom 65b is always in contact with the inner tooth pin 90. As a result, two working chambers 66a, 66b (first working chamber 66a, second working chamber 66b) are substantially formed between the inner peripheral surface 10d of the thick wall portion 10 formed in the first housing 7 and the outer tooth 65 of the oscillating gear 5. The two working chambers 66a, 66b are formed in line symmetry as viewed in the axial direction.

[0115] The plurality of through holes 46a of the discharge plate (port plate) 46 communicate with these working chambers 66a, 66b. The working oil is supplied to or discharged from the working chambers 66a, 66b via these through holes 46a. As a result, the hydraulic motor 1 is rotationally driven.

[0116] <Brake Mechanism>

[0117] Figure 5is Figure 1 an enlarged view of a V portion of Fig. 1, showing a released state of the brake mechanism 100. Figure 6 is Figure 1 an enlarged view of a V portion of Fig. 1, showing an engaged state of the brake mechanism 100.

[0118] The hydraulic motor 1 is provided with the brake mechanism 100 as a parking brake thereof. The parking brake refers to a brake that is released at the time of driving of the hydraulic motor 1 and is stopped at the time of pulling.

[0119] As the brake mechanism 100, there are a stopper engagement portion 101, a stopper 102, a piston 103, a cylinder 104, a spring 105, and a branch flow path 41g.

[0120] The stopper engagement portion 101 is formed through a central position of the swing gear 5. The stopper engagement portion 101 has an axis C5 that is parallel to the first axis C1. Further, the stopper engagement portion 101 moves around the first axis C1 with the swing of the swing gear 5, and is indicated as the axis C5 in Fig. 1. Figure 5

[0121] The base portion 33 on the first direction side of the stopper engagement portion 101 is formed with the cylinder 104 that is open at the second end portion 33b. The piston 103 is housed inside the cylinder 104. The cylinder 104 has the axis C5 that is parallel to the first axis C1. The piston 103 is reciprocally movable inside the cylinder 104 along the axis C5 that is a direction along the axis C1.

[0122] Inside the cylinder 104, the spring (urging portion) 105 is disposed on the first direction side of the piston 103. The spring 105 urges the piston 103 toward the second direction. Inside the cylinder 104, the branch flow path 41g is connected at a position on the second direction side of the piston 103. The branch flow path 41g is connected to the pressure chamber 104a of the cylinder 104 on the second direction side of the piston 103. The branch flow path 41g branches from the supply path 41.

[0123] The branch flow path 41g can supply the working oil (working fluid) that is branched from the supply path 41 to the pressure chamber 104a. In the pressure chamber 104a that is supplied with the working oil, the piston 103 is urged toward the first direction. If the pressure of the working oil applied to the piston 103 from the pressure chamber 104a is larger than the urging force of the spring 105, the piston 103 moves toward the first direction.

[0124] In a case where the pressure of the working oil applied to the piston 103 from the pressure chamber 104a is smaller than the urging force of the spring 105 and in a case where the working oil is not supplied to the pressure chamber 104a, the piston 103 can move toward the second direction due to the urging force of the spring 105.

[0125] ​The 2nd direction end portion of the piston 103 is formed as a stopper 102 having the same diameter as that of the stopper engaging portion 101. The stopper 102 and the stopper engaging portion 101 have the same cross-sectional shape. The cross-sectional shape of the stopper 102 and the stopper engaging portion 101 can be either circular or polygonal.

[0126] The stopper 102 moves along the axis C5 with respect to the swing gear 5 in a contactable and separable manner with the reciprocating action of the piston 103. The stopper 102 can protrude toward the 2nd direction from the 2nd end portion 33b of the base plate portion 33 due to the urging force of the spring 105. In the case where the stopper 102 moves in the 2nd direction, the stopper 102 is inserted into the stopper engaging portion 101. At this time, depending on the swing rotation position of the swing gear 5, there is a case where the positions of the stopper 102 and the stopper engaging portion 101 are misaligned, but during one rotation of the output of the gear frame portion 6, the positions of the stopper 102 and the stopper engaging portion 101 will certainly be aligned. If the positions of the stopper 102 and the stopper engaging portion 101 are aligned, the stopper 102 is inserted into the stopper engaging portion 101.

[0127] When the stopper 102 is inserted into the stopper engaging portion 101, the stopper 102 stops the swing rotation of the swing gear 5.

[0128] Before the supply of the working oil to the pressure chamber 104a, the stopper 102 is inserted into the stopper engaging portion 101 due to the urging force of the spring 105. If the working oil is supplied to the pressure chamber 104a via the branch flow path 41g, the force generated by the stopper 102 due to the action of the working oil becomes greater than the urging force of the spring 105. Thus, the stopper 102 urges the piston 103 in the 1st direction. If the piston 103 moves in the 1st direction, the stopper 102 moves in the 1st direction and is pulled out from the stopper engaging portion 101. Further, the stopper 102 separated from the swing gear 5 is positioned at a position in the 1st direction from the 2nd end portion 33b of the base plate portion 33 and is accommodated inside the cylinder 104.

[0129] The spring 105, the piston 103 and the cylinder 104 as the urging release portion, and the branch flow path 41g constitute the stopper moving portion 100a.

[0130] <Operation of Hydraulic Motor>

[0131] Hereinafter, the operation of the hydraulic motor 1 will be discussed in detail.

[0132] In the hydraulic motor 1, working oil supplied from a hydraulic pump not shown is supplied to each supply path 41 via an oil distribution portion 45. The working oil supplied to each supply path 41 is supplied to the working chambers 66a, 66b via the pistons 51 of each supply opening portion 41a, the through holes 50c of the sliding plate 50, and the through holes 46a of the supply and discharge plate (port plate) 46.

[0133] The pistons 51 of each supply opening portion 41a slide with respect to the sliding plate 50 that rotates integrally with the first gear carrier 31 in a state of being pushed against the sliding plate 50 by a spring. When the through hole 50c comes to a position in alignment with the piston 51 due to the rotation of the sliding plate 50, the working oil supplied to the supply path 41 flows into the through hole 50c.

[0134] The sliding plate 50 that rotates integrally with the first gear carrier 31 slides with respect to the supply and discharge plate (port plate) 46 that is integrated with the housing portion 2. When the through hole 46a comes to a position in alignment with the through hole 50c due to the rotation of the sliding plate 50 and the supply and discharge plate 46, the working oil supplied to the through hole 50c flows into the through hole 46a.

[0135] In addition, in a case where the through hole 46a and the through hole 50c are not in alignment and not connected, the through hole 46a is blocked by the sliding plate 50. Thus, the working oil is prevented from leaking out or flowing back from the working chambers 66a, 66b via the through hole 46a.

[0136] The number of the supply paths 41 (the supply opening portions 41a and the through holes 50c of the sliding plate 50 that communicate with the supply opening portions 41a) is one less than the number of the through holes 46a of the supply and discharge plate 46. In addition, the number of the discharge paths 42 (the discharge opening portions 42a and the through holes 50c of the sliding plate 50 that communicate with the discharge opening portions 42a) is one less than the number of the through holes 46a of the supply and discharge plate 46. Thus, in either one of the two working chambers 66a, 66b, only the supply path 41 is connected via the through hole 46a of the supply and discharge plate 46. In the other one of the two working chambers 66a, 66b, only the discharge path 42 is connected via the through hole 46a of the supply and discharge plate 46.

[0137] Thus, the pressure inside either one of the two working chambers 66a, 66b is higher than the pressure inside the other one of the two working chambers 66a, 66b. Hereinafter, for the sake of simplicity of explanation, the pressure of the working chamber 66a (left side in FIG. 6) is higher than the pressure of the working chamber 66b (right side in FIG. 6). Figure 2 Figure 2 ​The following explanation will focus on the case where the pressure is high (on the right side of the diagram). Furthermore, in the following description, the chamber 66a with higher pressure will be referred to as high-pressure chamber 66a. The chamber 66b with lower pressure compared to high-pressure chamber 66a will be referred to as low-pressure chamber 66b. High-pressure chamber 66a is connected to supply path 41. Low-pressure chamber 66b is connected to discharge path 42.

[0138] By supplying working oil to the high-pressure chamber 66a, the oscillating gear 5 is pushed towards the low-pressure chamber 66b (see reference). Figure 2 (Y1 in the image). Working oil in the low-pressure working chamber 66b is discharged via discharge path 42. As a result, the internal toothed pin 90 meshes with the external toothed pin 65 of the oscillating gear 5 on the low-pressure working chamber 66b side. Thus, since the external toothed pin 65 has one less tooth than the internal toothed pin 90, the oscillating gear 5 is slightly deviated in the direction of rotation.

[0139] At this time, the crankshaft 4 causes the gear carrier 6 to deviate in the rotational direction along with the oscillating gear 5. That is, the rotating part 3 rotates slightly relative to the outer casing 2. As a result, the sliding plate 50 rotates relative to the supply plate 46. This switches the state in which the through hole 50c of the sliding plate 50 is connected to the through hole 46a of the supply plate 46. Because the oscillating gear 5 oscillates and rotates, the high-pressure chamber 66a also deviates slightly in the rotational direction relative to the low-pressure chamber 66b.

[0140] When the state of communication between the through hole 50c of the sliding plate 50 and the through hole 46a of the supply plate 46 is switched, working oil is supplied to the high-pressure chamber 66a again. Meanwhile, working oil is discharged from the low-pressure chamber 66b. By repeating this action, the rotating part 3 rotates relative to the outer casing 2. Output is obtained using this rotation.

[0141] When the through hole 46a comes to a position aligned with the through hole 50c due to the rotation of the sliding plate 50 and the supply plate 46, working oil is discharged from the low-pressure working chamber 66b into the through hole 50c.

[0142] In addition, when the through hole 46a and the through hole 50c are not aligned and therefore not connected, the through hole 46a is blocked by the sliding plate 50 to prevent working oil from being discharged from the working chambers 66a and 66b through the through hole 46a.

[0143] The piston 51 at the discharge opening 42a of the discharge path 42 slides relative to the sliding plate 50, which rotates integrally with the first gear carrier 31, while being pushed towards the sliding plate 50 by a spring. When the through hole 50c reaches a position aligned with the piston 51 due to the rotation of the sliding plate 50, the working oil discharged from the through hole 46a is discharged through the piston 51 at the discharge opening 42a into the discharge path 42. The working oil discharged into the discharge path 42 flows back to the tank via the distribution flow path.

[0144] Thus, the hydraulic motor 1 switches the state in which the through holes 50c of the sliding plate 50 communicate with the through holes 46a of the supply / drain plate 46 in the circumferential direction in order by the inconsistency between the number of the supply paths 41 (the supply opening portions 41a and the through holes 50c of the sliding plate 50 communicating with the supply opening portions 41a) and the number of the through holes 46a of the supply / drain plate 46 and the inconsistency between the number of the discharge paths 42 (the discharge opening portions 42a and the through holes 50c of the sliding plate 50 communicating with the discharge opening portions 42a) and the number of the through holes 46a of the supply / drain plate 46. As a result, the working oil is selectively supplied to and discharged from each of the through holes 46a of the supply / drain plate 46 with respect to each of the working chambers 66a, 66b, and the rotating section 3 rotates.

[0145] The gear carrier section 6 constituting the rotating section 3 is divided into the first gear carrier 31 and the second gear carrier 32. These first and second gear carriers 31, 32 are fixed by the tight-fit bolt 53, and thus power transmission between the first and second gear carriers 31, 32 is performed by the tight-fit bolt 53. The shank portion 53a of the tight-fit bolt 53 is disposed across the first and second gear carriers 31, 32. Thus, compared with a case where the external thread portion 53b is disposed across the first and second gear carriers 31, 32, power transmission between the first and second gear carriers 31, 32 is efficiently performed.

[0146] Here, on the first direction side of the wobble gear 5, the third labyrinth 49 is constituted by the first outer circumferential surface 33d of the first gear carrier 31, the second end portion 33b, and the plate-side labyrinth portion 48 of the supply / drain plate 46. On the second direction side of the wobble gear 5, the second labyrinth 40 is constituted by the second gear carrier side first labyrinth portion 25 of the second housing 8 and the second gear carrier side second labyrinth portion 57 of the second gear carrier 32. Thus, the working oil leaked from the working chambers 66a, 66b through the slight gap between the crankshaft 4 and the wobble gear 5 is difficult to leak from between the first housing 7 and the first gear carrier 31 and between the second housing 8 and the second gear carrier 32.

[0147] Further, in the hydraulic motor 1, by fixing the housing section 2, it is possible to obtain output from the rotating section 3. In this case, an external device to which the outer flange portion 39 of the rotating section 3 (the first gear carrier 31) is fixed becomes a rotated body. In addition, by fixing the rotating section 3, it is also possible to obtain output from the housing section 2. In this case, an external device to which the outer flange portion 9 of the housing section 2 (the first housing 7) is fixed becomes a rotated body.

[0148] The hydraulic motor 1 has an internal gear pin 90 disposed in the first housing 7. The rotating part 3 includes: a gear carrier part 6; a crankshaft 4 rotatably supported on the gear carrier part 6; and an oscillating gear 5 restricted to oscillating rotation by the crankshaft 4, which meshes with the internal gear pin 90. With this configuration, working oil is supplied or discharged to the working chambers 66a, 66b formed between the inner peripheral surface 7c of the first housing 7 and the outer peripheral surface of the oscillating gear 5, thereby enabling the hydraulic motor 1 to be driven rotaryly. High torque can be obtained by using this rotary drive. The split housing part 2 can be preferably used in such a hydraulic motor 1.

[0149] The hydraulic motor 1 has a supply and discharge plate 46 for selectively supplying and discharging working oil relative to each working chamber 66a, 66b. The supply and discharge plate 46 is disposed at the first end 10b of the thick-walled portion 10 (the first direction side end of the oscillating gear 5). The supply and discharge plate 46 is fixed to the first housing 7 by bolts 20. The supply and discharge plate 46 is also fixed by bolts 20 used to fix the first housing 7 and the second housing 8.

[0150] In the hydraulic motor 1, when working oil is selectively supplied to the working chambers 66a and 66b, the working oil is supplied to the pressure chamber 104a from the branch flow path 41g.

[0151] When no working oil is supplied from the hydraulic pump, no working oil is supplied to the pressure chamber 104a. Therefore, in the braking mechanism 100, the piston is pushed in the second direction by the pushing force of the spring 105. In this state, as... Figure 6 As shown, the stop 102 is inserted into the stop engagement portion 101, preventing the oscillating gear 5 from oscillating. Therefore, the hydraulic motor 1 is not driven. In other words, the applied brake is maintained. In this state, the braking mechanism 100 functions as a parking brake.

[0152] In this state, if working oil is supplied to pressure chamber 104a, the pressure of the working oil in pressure chamber 104a becomes greater than the pushing force of spring 105, and piston 103 moves in the first direction. Therefore, as... Figure 5 As shown, the stop 102 is pulled out from the stop engagement part 101, thus releasing the restriction on the swing gear 5. As a result, the swing gear 5 can swing, driven by the hydraulic motor 1.

[0153] In addition, the supply of working oil to pressure chamber 104a can be provided by a hydraulic pump that drives the hydraulic motor 1 that supplies working oil to working chambers 66a and 66b, or it can be provided by other pilot pressures.

[0154] Thus, in the above-described embodiment, the brake mechanism 100 can be operated as a parking brake by the stopper moving portion 100a using the spring 105 and the working oil used for driving the hydraulic motor 1. Thus, in the hydraulic motor 1 of the so-called wobble type using the wobble gear, the crankshaft 4 and the stopper 102 can be configured as independent members. Thus, the crankshaft 4 and the stopper 102 can be prevented from rotating integrally and the like. Therefore, the resistance to driving of the hydraulic motor 1 can be reduced to reduce energy consumption. Moreover, as an effect thereof, the brake mechanism 100 can be provided inexpensively by a simple configuration in which the stopper 102 driven by the cylinder 104, the piston 103, and the spring 105 provided to the base plate portion 33 is advanced and retracted with respect to the stopper engagement portion 101 provided to the wobble gear 5.

[0155] Moreover, the brake mechanism 100 can be compactly implemented by the simple configuration in which the stopper 102 driven by the cylinder 104, the piston 103, and the spring 105 provided to the base plate portion 33 is advanced and retracted with respect to the stopper engagement portion 101 provided to the wobble gear 5. The simple configuration in which the stopper 102 is advanced and retracted with respect to the stopper engagement portion 101 provided to the wobble gear 5 can be implemented, and thus, processing is easy. The cylinder 104 and the piston 103 are provided to the base plate portion 33, and thus, it is easy to form a branch flow path 104g for supplying the working oil for releasing the brake. In addition, the base plate portion 33 is a non-rotating portion, and thus, it is easy to form a flow path. Moreover, the working oil for brake driving can be supplied to the cylinder 104 by forming one branch flow path 41g, and thus, it is possible to achieve space saving.

[0156] In addition, the arrangement of the crankshaft 4, the cylinder 104, and the piston 103 can be easily performed. Moreover, the brake can be performed by only the operation of inserting the stopper 102 into the stopper engagement portion 101, and thus, the operation can be performed without worrying about inclination between the stopper 102 and the stopper engagement portion 101. Thus, reliable brake operation can be implemented with a reduced number of components.

[0157] Hereinafter, a rotating apparatus according to a second embodiment of the present application will be described based on the drawings.

[0158] Figure 7 With Figure 1 corresponding to a V portion enlarged view of FIG. 1, a release state of the brake mechanism 100 in the present embodiment is shown. Figure 8 With Figure 1 corresponding to a V portion enlarged view of FIG. 1, a release state of the brake mechanism 100 in the present embodiment is shown. corresponding to a V portion enlarged view of FIG. 1, a release state of the brake mechanism 100 in the present embodiment is shown.

[0159] As shown in Figure 7 The stopper moving portion 100a of the present embodiment is formed with a cylinder 106 at the second gear carrier 32. The cylinder 106 is open at the first direction side opposite to the swing gear 5. The second direction side of the cylinder 106 has a communication port opposite to the cover 29. Inside the cylinder 106, the stopper 102 is housed at the first direction side. The cylinder 106 can have the same diameter as the cylinder 104. The cylinder 104 has the same axis C5 as the cylinder 104, and is formed coaxially with the cylinder 104. The stopper 102 is reciprocally movable inside the cylinder 106 along the axis C5 which is the direction along the axis C1.

[0160] Inside the cylinder 106, a spring 105 is arranged at the second direction side of the stopper 102. The spring 105 urges the stopper 102 toward the first direction.

[0161] At the stopper 102, a link member 102a along the axis C5 is connected at the first direction side. The link member 102a is connected in a manner coaxial with the axis C5 of the stopper 102. At the link member 102a, a piston 103 is connected at the end on the first direction side. The stopper 102, the link member 102a, and the piston 103 are integrally movable in the direction along the axis C5. The link member 102a is arranged inside the stopper engaging portion 101. The link member 102a has a smaller diameter than the diameter of the stopper engaging portion 101. Even if the swing gear 5 is swung and rotated, the link member 102a does not come into contact with the stopper engaging portion 101.

[0162] The piston 103 is housed in the cylinder 104. The cylinder 104 is arranged coaxially with the cylinder 106 on both sides in the thickness direction of the swing gear 5. The cylinder 104 on the first direction side of the swing gear 5 and the cylinder 106 on the second direction side of the swing gear 5 are formed as if they are continuous in the direction of the axis C5. That is, the cylinder 104 and the cylinder 106 are formed at the gear carrier portion 6.

[0163] Inside the cylinder 104, a branch flow path 41g is connected at a position on the first direction side of the piston 103. The branch flow path 41g is connected to the pressure chamber 104b of the cylinder 104 on the first direction side of the piston 103. The branch flow path 41g branches from the supply path 41.

[0164] The branch flow path 41g can supply the working oil branched from the supply path 41 to the pressure chamber 104b. The piston 103 is urged toward the second direction at the pressure chamber 104b supplied with the working oil. If the pressure of the working oil applied to the piston 103 from the pressure chamber 104b is greater than the urging force of the spring 105 of the cylinder 106 urging the stopper 102 in the first direction, the piston 103 and the stopper 102 move toward the second direction.

[0165] The stopper 102 is integrally moved along the axis C5 with respect to the swing gear 5 in a contactable and separable manner with the link member 102a and the piston 103. The stopper 102 protrudes toward the first direction from the first direction end portion 32d of the second gear frame 32 due to the urging force of the spring 105. In the case where the stopper 102 moves in the first direction, the stopper 102 is inserted into the stopper engagement portion 101. At this time, depending on the swing rotation position of the swing gear 5, there is a case where the positions of the stopper 102 and the stopper engagement portion 101 are not aligned, but during one rotation of the output of the gear frame portion 6, the positions of the stopper 102 and the stopper engagement portion 101 are certainly aligned. If the positions of the stopper 102 and the stopper engagement portion 101 are aligned, the stopper 102 is inserted into the stopper engagement portion 101.

[0166] When the stopper 102 is inserted into the stopper engagement portion 101, the stopper 102 stops the swing rotation of the swing gear 5.

[0167] Before the supply of the working oil to the pressure chamber 104b, the stopper 102 is inserted into the stopper engagement portion 101 due to the urging force of the spring 105. If the working oil is supplied to the pressure chamber 104b via the branch flow path 41g, the force generated by the stopper 102 by the action of the working oil becomes larger than the urging force of the spring 105. Thus, the stopper 102 urges the piston 103 in the second direction. If the piston 103 moves in the second direction, the stopper 102 integrated with the link member 102a moves in the second direction and is pulled out from the stopper engagement portion 101. Further, the stopper 102 separated from the swing gear 5 is positioned at a position in the second direction from the first direction end portion 32d of the second gear frame 32 and is accommodated in the inside of the cylinder 106.

[0168] In the present embodiment as well, in the hydraulic motor 1, the working oil is supplied to the working chambers 66a, 66b from a hydraulic pump not shown via the supply path 41. Thus, due to the working oil supplied to the working chambers 66a, 66b, the swing gear 5 slightly deviates in the rotation direction and obtains a rotation output. At the same time, the working oil is supplied to the pressure chamber 104b from the supply path 41 via the branch flow path 41g.

[0169] In the state where the working oil is not supplied from the hydraulic pump, the working oil is not supplied to the pressure chamber 104b. Thus, in the brake mechanism 100, the piston is urged in the first direction by the urging force of the spring 105. In this state, as shown in FIG. 6, the stopper 102 is inserted into the stopper engagement portion 101 and the swing gear 5 is not swung. Thus, the hydraulic motor 1 is not driven. That is, the state where the brake is applied is maintained. In this state, the brake mechanism 100 functions as a parking brake. Figure 8

[0170] ​In this state, if working oil is supplied to the pressure chamber 104b, the pressure of the working oil of the pressure chamber 104b becomes larger than the pressing force of the spring 105, as shown in (b) of FIG. 1, and the piston 103 moves in the second direction. Then, the stopper 102 moved by the link member 102a is pulled out of the stopper engagement portion 101, and the restriction on the swing gear 5 is released. Thus, the swing gear 5 can swing, and the hydraulic motor 1 is driven. Figure 7

[0171] Further, the supply of working oil to the pressure chamber 104b can be supplied from a hydraulic pump for driving the hydraulic motor 1 that supplies working oil to the working chambers 66a, 66b, and can be other pilot pressure.

[0172] In the present embodiment as well, the brake mechanism 100 can function as a parking brake by the stopper movement portion 100a using the spring 105 and working oil used for driving the hydraulic motor 1. Thus, effects equivalent to those of the above-described embodiments can be achieved.

[0173] Further, the cylinder 106 is formed in the second gear carrier 32, and thus, it is not necessary to form a space for housing the spring 105 in the cylinder 104 of the base plate portion 33. At the same time, it is not necessary to form the pressure chamber 104a at a position on the second direction side from the piston 103. Thus, the space saving of the base plate portion 33 can be achieved.

[0174] In the above-described embodiments, the structure in which the rotation of the swing gear 5 is stopped by the stopper 102 is provided, but as the brake mechanism 100, the object whose rotation is stopped by the stopper can be the crankshaft 4. In this case, the crankshaft 4 is preferably located at the center of the swing gear 5.

[0175] In the above-described embodiments, the stopper engagement portion 101 is formed so as to pass through the swing gear 5, but can be formed as a recess portion for engaging the stopper 102 and not pass through.

[0176] Alternatively, the structure in which the stopper 102 contacts and presses the swing gear 5 or the crankshaft 4 to stop the rotation can be provided.

[0177] In the embodiments disclosed in the present specification, for a member composed of a plurality of objects, the plurality of objects can be integrated, and conversely, for a member composed of one object, the member can be divided into a plurality of objects. Whether or not to be integrated, as long as the member is configured in a manner that the object of the present invention can be achieved.​

Claims

1. A rotary device, wherein the rotary device comprises: a housing portion having an axis; an internal tooth provided to an inner peripheral surface of the housing portion; a gear carrier portion supported to the housing portion so as to be rotatable about the axis; a crankshaft supported to the gear carrier portion so as to be rotatable about another axis parallel to the axis; a swing gear restricted to swing rotation by the crankshaft, and engaged with the internal tooth; a plurality of supply and discharge flow paths that supply and discharge a working fluid between the inner peripheral surface of the housing portion and the swing gear; a stopper that is movable in contact with and apart from either one of the swing gear and the crankshaft; a stopper moving portion that pushes or releases the stopper toward the swing gear or the crankshaft so as to be movable in contact with and apart from the swing gear or the crankshaft; two bearings provided separately from each other along the axis of the housing portion, and supporting the gear carrier portion to the housing portion; a supply and discharge plate having a plurality of supply and discharge flow paths that supply and discharge the working fluid to and from a working chamber formed between the inner peripheral surface of the housing portion and the swing gear, and disposed adjacent to the swing gear in the direction of the axis; a flow path formed in the gear carrier portion, and leading the plurality of supply and discharge flow paths to the outside, respectively; and a branch flow path branched from a supply path of the flow path that supplies the working fluid to the working chamber, and leading to a push release portion; an eccentric stopper engaging portion is formed in the swing gear, the swing rotation is stopped by inserting the stopper into the stopper engaging portion using the stopper moving portion, the stopper moving portion comprises: a pushing portion that pushes the stopper to be inserted into the stopper engaging portion, and stops the swing rotation of the swing gear; and the push release portion that releases the pushing state of the stopper by the pushing portion using the working fluid, and pulls out the stopper from the stopper engaging portion, the pushing force of the stopper by the pushing portion is released using the working fluid supplied to the push release portion through the branch flow path.

2. The rotary device according to claim 1, wherein the stopper moving portion moves the stopper in the direction of the rotation axis of the swing gear.

3. The rotary device according to claim 1, wherein the crankshaft is arranged in the circumferential direction about the axis, the stopper is located near the center of the swing gear.

4. The rotary device according to claim 1, wherein the stopper is supported to the gear carrier portion.

5. A rotary device, wherein the rotary device comprises: a housing portion having an axis; an internal tooth provided to an inner peripheral surface of the housing portion; a gear carrier portion supported to the housing portion so as to be rotatable about the axis by means of two bearings provided separately from each other along the axis of the housing portion; ​ a crankshaft supported to the gear housing portion so as to be rotatable about an axis parallel to the axis of the gear housing portion, and arranged in a circumferential direction about the axis of the gear housing portion; a swing gear engaged with the inner teeth of the gear housing portion, and restricted by the crankshaft so as to be swingable; a supply and discharge plate having a plurality of supply and discharge flow paths for supplying and discharging the working fluid to and from a working chamber formed between the inner circumferential surface of the gear housing portion and the swing gear, and arranged adjacent to the swing gear in the direction of the axis; a stopper supported to the gear housing portion, located in the vicinity of the center of the swing gear, and movable in contact with and apart from the swing gear; a stopper engaging portion eccentrically formed in the swing gear; a stopper moving portion for pressing or releasing the stopper toward the stopper engaging portion so as to move the stopper in contact with and apart from the stopper engaging portion of the swing gear; a flow path formed in the gear housing portion for leading the plurality of supply and discharge flow paths to the outside, respectively; and a branch flow path branched from a supply path for supplying the working fluid to the working chamber in the flow path to the stopper moving portion, the stopper moving portion has: a pressing portion for pressing the stopper so as to be inserted in the stopper engaging portion, thereby stopping the swing of the swing gear; and a pressing releasing portion for releasing the pressing state of the stopper by the pressing portion by the working fluid supplied through the branch flow path, thereby pulling out the stopper from the stopper engaging portion. ​ ​

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