Gasketed speed reducer, gasket, and method of manufacturing a gasketed speed reducer

Abstract

This invention provides a reducer with a washer, a washer, and a method for manufacturing the reducer with a washer. The reducer with a washer comprises: a reducer having a gear carrier including a connecting end face, a countersunk side face, and a support surface, the connecting end face contacting an object-side member that is to be mounted, the countersunk side face dividing a countersunk portion recessed axially from the connecting end face and having a groove recessed radially outward, the support surface connecting to and surrounding the countersunk portion and being located at a position offset axially relative to the connecting end face; and a washer having a washer body and a plurality of mounting claws, the washer body being located on the support surface and surrounding the countersunk portion, the plurality of mounting claws extending from the washer body and hooking onto the groove.

Description

Technical Field

[0001] This invention relates to a reducer with a washer, a washer, and a method for manufacturing the reducer with a washer. Background Technology

[0002] A reducer is known to reduce rotational speed and output a decelerator. The reducer is mounted, for example, on an object-side component such as a robotic arm. During assembly, the connecting end face of the gear carrier, etc., is sealed to the object-side component. This sealing prevents lubricant leakage from the reducer.

[0003] As an example, a liquid sealant is used for sealing. The liquid sealant is applied to the connecting end faces of gear carriers, etc. The liquid sealant requires approximately 24 to 48 hours to dry. Before the liquid sealant dries, lubricant cannot be sealed into the reducer. When using a liquid sealant, reducer installation takes longer. Furthermore, due to the large amount of liquid sealant used, it may enter the reducer's interior. Inside the reducer, the liquid sealant may enter the oil seal lip, potentially causing deterioration.

[0004] In Patent Document 1, a gasket (sealing member) is used to seal the connection end face of the gear carrier and the object-side component. The gasket includes a temporary fixing member protruding toward the gear carrier. A hole is provided in the gear carrier to receive the temporary fixing member. By inserting the temporary fixing member into the hole, the gasket can be positioned relative to the gear carrier. According to the sealing member of Patent Document 1, adverse conditions related to liquid sealants can be addressed.

[0005] Patent Document 1: JP7000304B

[0006] However, the gasket disclosed in Patent Document 1 may detach from the reducer depending on the reducer's orientation, etc. For example, during transport before the reducer is installed on the target component, or when the reducer is installed on the target component, the gasket may detach from the reducer. Reinstalling the gasket on the reducer in a way that prevents the gasket from detaching is not easy and is complicated. Ultimately, if the gasket is not held in the proper position between the reducer and the target component, the gasket's sealing function may be reduced. Summary of the Invention

[0007] The present invention was made with the above considerations in mind, and its purpose is to stably hold the washer in the proper position of the reducer.

[0008] One embodiment of the present invention relates to the following <1> to <11>.

[0009] <1>

[0010] A speed reducer with a washer, wherein,

[0011] This reducer with washers has the following features:

[0012] A speed reducer having a gear carrier including a connecting end face, a countersunk side face, and a support surface, the connecting end face contacting an object-side component to which it is mounted, the countersunk side face defining a countersunk portion recessed axially from the connecting end face and having a radially outwardly recessed groove, the support surface connecting to and surrounding the countersunk portion, and located at a position offset axially from the connecting end face; and

[0013] A washer having a washer body and a plurality of mounting claws, the washer body being located on the support surface and surrounding the countersunk portion, the plurality of mounting claws extending from the washer body and hooking onto the groove portion.

[0014] <2>

[0015] According to the reducer with washer described in <1>, wherein,

[0016] The mounting claw includes: a base extending from the washer body along the axial direction; and a protrusion projecting outward from the base in the radial direction and located within the groove.

[0017] <3>

[0018] According to the reducer with washer described in <1> or <2>, wherein,

[0019] The countersunk hole sidewalls include: a plurality of inner sidewalls along an arc centered on the output rotation axis of the reducer; and a plurality of outer sidewalls located radially outer of the inner sidewalls.

[0020] The inner and outer sides are alternately located in the circumferential direction centered on the output rotation axis.

[0021] The groove is provided only on the inner side of the inner side and the outer side.

[0022] <4>

[0023] According to any one of <1> to <3>, the reducer with washer, wherein,

[0024] The washer has three or more mounting claws.

[0025] The central angle between two adjacent mounting claws in the circumferential direction centered on the output rotation axis of the reducer is less than 180 degrees.

[0026] <5>

[0027] According to any one of <1> to <4>, the reducer with washer, wherein,

[0028] The washer body is bent with respect to a ridge extending between the two side edges, such that the ridge protrudes toward the object-side component.

[0029] <6>

[0030] According to any one of <1> to <5>, the reducer with washer, wherein,

[0031] The reducer includes: three shaft members rotatably supported on the gear carrier; an external gear penetrated by the three shaft members and eccentrically oscillating with the rotation of the three shaft members; a housing having internal teeth that mesh with the external teeth of the external gear; and three input gears, each mounted on one of the three shaft members.

[0032] The countersunk hole sides include: three inner side surfaces along an arc centered on the output rotation axis of the reducer; and three outer side surfaces located radially outer of the inner side surfaces.

[0033] The inner and outer sides are alternately located in the circumferential direction centered on the output rotation axis.

[0034] The three outer side surfaces are along arcs centered on the three rotation axes of the three shaft members, respectively.

[0035] The washer has three or more mounting claws, which are respectively hooked onto the three grooves provided on the three inner sides.

[0036] <7>

[0037] A washer for a speed reducer, wherein,

[0038] The gaskets used in this reducer have the following features:

[0039] A washer body is located on the support surface of a gear carrier having a connecting end face, a countersunk side face, and a support surface. The connecting end face contacts an object-side component that is the mounting object of the gear carrier. The countersunk side face is divided into a countersunk portion recessed axially from the connecting end face and has a radially outwardly recessed groove. The support surface connects to and surrounds the countersunk portion, and is located at a position offset axially from the connecting end face. The washer body surrounds the countersunk portion.

[0040] Multiple mounting claws extend from the washer body and hook onto the groove.

[0041] <8>

[0042] A method for manufacturing a speed reducer with washers, wherein,

[0043] The manufacturing method of this reducer with washer includes the following steps:

[0044] A washer is manufactured, comprising a washer body extending along a closed curve, a base extending from the inner edge of the washer body, and a protrusion connected to the base in a manner that is bent relative to the base;

[0045] The washer body is disposed on the support surface of a gear reducer having a connecting end face, a countersunk side face, and a support surface. The connecting end face contacts the object-side component to which the reducer is mounted. The countersunk side face is divided into a countersunk portion recessed axially from the connecting end face and has a radially outwardly recessed groove. The support surface connects to and surrounds the countersunk portion, and is located at a position offset axially from the connecting end face.

[0046] The base is bent relative to the washer body disposed on the support surface, thereby positioning the protrusion in the groove.

[0047] <9>

[0048] According to the manufacturing method of the reducer with washer described in <8>, wherein,

[0049] The process of manufacturing the gasket includes the following steps:

[0050] The washer is punched from the sheet metal; and

[0051] The protrusion is bent relative to the base.

[0052] <10>

[0053] According to the manufacturing method of the washer-equipped reducer described in <8> or <9>, wherein,

[0054] The process of manufacturing the gasket includes the following steps:

[0055] The washer body is bent with the ridge line located between the two sides of the washer body extending along the closed curve as the center, and the ridge line protrudes toward the object-side member.

[0056] <11>

[0057] According to the manufacturing method of the reducer with washer described in <10>, wherein,

[0058] The process of bending the protrusion relative to the base and the process of bending the washer body are performed in parallel.

[0059] According to the present invention, the washer can be stably held in the proper position of the reducer. Attached Figure Description

[0060] Figure 1 This is a diagram used to illustrate an embodiment, and is a longitudinal sectional view showing an example of a reducer included in a reducer with washers.

[0061] Figure 2 It is along Figure 1 A sectional view along line II-II.

[0062] Figure 3 It means Figure 1 The front view of the connection end face of the reducer shown.

[0063] Figure 4 This indicates that the washer included in the reducer with washers is configured in... Figures 1-3 The front view of the washer on the connecting end face of the reducer shown.

[0064] Figure 5 It means including Figure 4 The partial sectional side view of the washer-equipped reducer shown indicates the section of the reducer near the countersunk portion and the output axis of rotation.

[0065] Figure 6 It means Figure 5 An enlarged cross-sectional view of the region shown by α.

[0066] Figure 7 It means Figure 5 An enlarged cross-sectional view of the region shown by β.

[0067] Figure 8 This is a front view showing another example of a washer.

[0068] Figure 9 It means Figure 8 The side view of the washer shown.

[0069] Figure 10A This diagram illustrates the manufacturing process of washers and reducers with washers, showing the interaction between the washer and the reducer during manufacturing. Figure 8 A partial sectional perspective view of the area corresponding to region γ in the middle. Figure 10A This indicates the state of the gasket being cut from the sheet metal during manufacturing.

[0070] Figure 10B Is with Figure 10A The corresponding diagram shows the connection between the gasket and the... Figure 8 The diagram shows the portion corresponding to the region indicated by γ. Figure 10B Indicates to Figure 10AThe cut-out washer is stamped to form a washer body with ridges and mounting claws.

[0071] Figure 10C Is with Figure 10A The corresponding diagram shows the connection between the gasket and the... Figure 8 The diagram shows the portion corresponding to the region indicated by γ. Figure 10C Indicates will Figure 10B The gasket, formed by stamping, is installed in the reducer.

[0072] Figure 11 It means Figure 10C The view shown is a partial sectional perspective view of the washer remaining in the reducer.

[0073] Figure 12 This is a side sectional view showing a modified example of the mounting claws included in the washer.

[0074] Explanation of reference numerals in the attached figures

[0075] 5. Reducer with washer; 10. Reducer; 11. Connecting end face; 20. Housing; 30. Gear frame; 40. External gear; 50. Shaft component; 55. Eccentric body; 60. Countersunk bore; 62. Countersunk bore bottom surface; 63. Countersunk bore side surface; 63N. Inner side surface; 63U. Outer side surface; 64. Groove; 64D. Groove depth; 64W. Groove width; 64H. Groove height; 64T. Height of the lower edge of the groove from the bottom surface of the countersunk bore; 70. Support surface; 73. Support side surface; 80. Washer; 81. Washer body; 81R. Edge of washer body; 81N. Inner edge of washer body; 81U. Outer edge of washer body; 82. Mounting claw; 82B. Mounting claw base; 82P. Mounting claw protrusion; BP1. First bend; BP2. Second bend. Detailed Implementation

[0076] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. Figures 1-12 These are diagrams used to illustrate this embodiment. Structures shown in some diagrams may sometimes be omitted in others. Scale bars and aspect ratios may also differ between the drawings.

[0077] The reducer 5 with a washer in this embodiment includes a reducer 10 and a washer 80. In this embodiment, a design is made for holding the washer 80 in the proper position of the reducer 10.

[0078] First, refer to Figures 1-2The overall structure of the reducer 10 will be described. The reducer 10 receives rotational input from a drive unit such as a motor (not shown). The reducer 10 reduces the input rotational speed and outputs it. The reducer 10 has a housing 20, a gear carrier 30, an external gear 40, and a shaft member 50 as its main structures.

[0079] Housing 20 houses gear carrier 30. A main bearing 12 is provided between housing 20 and gear carrier 30. Housing 20 and gear carrier 30 are capable of rotating relative to each other about the output rotation axis MRA. Reducer 10 reduces the input rotation and outputs it as the relative rotation between housing 20 and gear carrier 30. The direction parallel to the output rotation axis MRA is called axial direction DA.

[0080] The gear carrier 30 holds the shaft member 50 in a rotatable position. The axis of rotation RA of the shaft member 50 is parallel to the axial direction DA. The drive unit inputs rotation to the shaft member 50. The shaft member 50 has an eccentric body 55. The eccentric body 55 is eccentric relative to the center of rotation of the shaft member 50.

[0081] An external gear 40 is penetrated by a shaft member 50. The external gear 40 is located on an eccentric body 55. As the shaft member 50 rotates, the external gear 40 oscillates eccentrically. The external gear 40 has external teeth 45 that mesh with internal teeth 25 disposed on the inner surface of the housing 20. The number of teeth of the internal teeth 25 is different from the number of teeth of the external teeth 45. When rotation is input to the shaft member 50, the internal teeth 25 mesh with the external teeth 45, and the external gear 40 oscillates eccentrically. Due to the difference in the number of teeth between the internal teeth 25 and the external teeth 45, the gear carrier 30 supporting the external gear 40 and the shaft member 50 rotates relative to the housing 20.

[0082] If the gear carrier 30 is fixed, the housing 20 functions as the output end.

[0083] The following sections will describe in detail the specific structures of the housing 20, gear carrier 30, external gear 40, and shaft member 50 as shown in the figures.

[0084] The housing 20 has internal teeth 25. The internal teeth 25 are centered on the output rotation axis MRA. Figure 2 (As illustrated) Circumferentially arranged in the DC direction. In the illustrated example, the reducer 10 has ( Figure 1 (Example) Two external gears 40A and 40B are arranged along the axial direction DA. Each internal tooth 25 extends along the axial direction DA and meshes with the external teeth 45 of the two external gears 40A and 40B.

[0085] The illustrated housing 20 has a generally cylindrical housing body 21 and internal toothed pins 24 held on the inner surface of the housing body 21. Multiple pin grooves arranged in the circumferential direction DC are formed on the housing body 21, extending axially DA, to accommodate and hold the cylindrical internal toothed pins 24. Each internal toothed pin 24 constitutes an internal tooth 25.

[0086] The gear carrier 30 is held within the housing 20 by a pair of main bearings 12. The gear carrier 30 is rotatable relative to the housing 20 about the output rotation axis MRA. The illustrated gear carrier 30 has a gear carrier base 31 and a gear carrier plate 32 that are fixed to each other. The gear carrier base 31 and the gear carrier plate 32 can be fixed to each other using fasteners such as bolts 37. The gear carrier base 31 has a circular base plate portion 31a and a plurality of column portions 31b protruding from the base plate portion 31a along the axial direction DA. The base plate portion 31a and the plurality of column portions 31b can be integrally formed. Three column portions 31b can be provided at equal intervals in the circumferential direction DC centered on the output rotation axis MRA.

[0087] As described below, the reducer 10 is mounted on the object-side member 100. The gear carrier 30 is fixed to the object-side member 100. The end face of the gear carrier 30 in the first direction D1 forms a connecting end face 11. A countersunk portion 60 is provided in the gear carrier 30. The countersunk portion 60 is a recess provided on the end face of the gear carrier 30. In the illustrated example, the connecting end face 11 surrounds the countersunk portion 60.

[0088] The gear carrier 30 shown in the figure has a central hole 34 and a through hole 35. The central hole 34 and the through hole 35 pass through the gear carrier base 31 and the gear carrier plate 32, respectively. The central hole 34 is located on the output rotation axis MRA. The central hole 34 communicates with the countersunk portion 60. The central hole 34 opens in the countersunk portion 60. For example, the gear carrier 30 has three through holes 35. The three through holes 35 are equally spaced in the circumferential direction DC centered on the output rotation axis MRA, and communicate with the countersunk portion 60 in the same way as the central hole 34.

[0089] A drive shaft with a drive unit (not shown) can be configured in the central hole 34. A drive gear is located at the end of the drive shaft. The drive gear meshes with the input gears 59 of the three shaft members 50 described below. The drive gear and the three input gears 59 can be located in the countersunk hole 60.

[0090] The shaft member 50 is rotatably held in the gear carrier 30. The illustrated shaft member 50 is inserted into the through hole 35 of the gear carrier 30. A pair of spindle bearings 13 are provided between the gear carrier 30 and the shaft member 50. The shaft member 50 can rotate relative to the gear carrier 30 about its rotation axis RA by means of the spindle bearings 13. The axial direction of the rotation axis RA is parallel to the axial direction DA. The illustrated reducer 10 has three shaft members 50, each inserted into one of the three through holes 35. The three shaft members 50 are equally spaced in the circumferential direction DC centered on the output rotation axis MRA.

[0091] The illustrated shaft member 50 has a shaft body portion 51 and a pair of eccentric bodies 55 located on the shaft body portion 51. Each eccentric body 55 is a cylindrical portion. The eccentric body 55 extends in diameter from the shaft body portion 51. The eccentric body 55 is eccentric relative to the shaft member's rotation axis RA, which serves as the center of rotation for the shaft member 50. The pair of eccentric bodies 55 includes a first eccentric body 55A and a second eccentric body 55B. The first eccentric body 55A and the second eccentric body 55B are eccentrically positioned to opposite sides with the same amount of eccentricity relative to the shaft member's rotation axis RA. In other words, the centers of the first eccentric body 55A and the second eccentric body 55B are located at a point symmetrical about the shaft member's rotation axis RA.

[0092] The shaft body 51 has a first bearing support 52a that serves as an insertion portion for insertion into the gear carrier plate 32, and a second bearing support 52b that serves as an insertion portion for insertion into the gear carrier base 31. The bearing supports 52a and 52b respectively support the main shaft bearing 13. A pair of eccentric bodies 55A and 55B are located between the pair of bearing supports 52a and 52b in the axial direction DA. The illustrated shaft member 50 also has an input gear 59 fixed to the shaft body 51. In the illustrated example, the first bearing support 52a, the first eccentric body 55A, the second eccentric body 55B, the second bearing support 52b, and the input gear 59 are arranged sequentially in the axial direction DA.

[0093] The illustrated reducer 10 has a first external gear 40A and a second external gear 40B as external gears 40. The first external gear 40A is located on the first eccentric body 55A of the three shaft members 50. The second external gear 40B is located on the second eccentric body 55B of the three shaft members 50. The first external gear 40A and the second external gear 40B are located in the axial direction DA between the base plate portion 31a of the gear carrier base 31 and the gear carrier plate 32.

[0094] The illustrated external gear 40 has a circular central plate portion 41 and external teeth 45 arranged on the periphery of the central plate portion 41. A central hole 42a and a column through hole 42b are provided in the central plate portion 41. The central hole 42a is located on the output rotation axis MRA. The central hole 42a and the central hole 34 face each other in the axial direction DA.

[0095] In the illustrated example, the three pillars through the holes 42b are equally spaced in the circumferential direction DC centered on the output rotation axis MRA. The pillar 31b of the gear carrier 30 passes through the pillar through the holes 42b.

[0096] A hole 43 is also provided in the central plate portion 41. In the illustrated example, the three holes 43 are equally spaced in the circumferential direction DC centered on the output rotation axis MRA.

[0097] An eccentric body 55 is disposed within the hole 43. A bearing 15 is disposed between the eccentric body 55 and the external gear 40. The first external gear 40A is supported on the first eccentric body 55A of the shaft member 50 by means of the first bearing 15A. The second external gear 40B is supported on the second eccentric body 55B of the shaft member 50 by means of the second bearing 15B.

[0098] Each external gear 40 is supported on three eccentric bodies 55. The eccentric bodies 55 included in the three shaft members 50 are in phase. Therefore, by rotating the three shaft members 50, the external gear 40 oscillates eccentrically. In other words, by rotating the three shaft members 50, the external gear 40 translates along a circular path centered on the output rotation axis MRA. The first external gear 40A and the second external gear 40B operate with a half-phase offset.

[0099] Rotation is input from a drive unit such as a motor to a reducer 10 having the above structure. As described above, a drive shaft with a drive gear at its end extends through the central hole 34 and the central hole 42a. The drive gear of the drive unit is arranged on the output rotation axis MRA and meshes with the input gear 59 of the plurality of shaft members 50. When the drive gear rotates, the shaft member 50 rotates, and the external gear 40 oscillates eccentrically. At this time, the external teeth 45 of the external gear 40 mesh with the internal teeth 25 of the housing 20. Due to the difference in the number of teeth between the external teeth 45 and the internal teeth 25, the housing 20 and the gear carrier 30 supporting the external gear 40 by means of the shaft member 50 rotate relative to each other about the output rotation axis MRA. When the housing 20 is fixed, the output gear carrier 30 rotates. When the gear carrier 30 is fixed, the output housing 20 rotates.

[0100] In the reducer 10 illustrated above, one of the gear carrier 30 and the external gear 40 is fixed, and the other of the gear carrier 30 and the external gear 40 is connected to a rotating output object. The gear carrier 30 is disposed within the housing 20 along with the lubricant and is mounted on the object-side member 100. The gear carrier 30 has a connecting end face 11 and is fixed to the object-side member 100 in a state where the connecting end face 11 contacts the object-side member 100. In addition, a washer 80 is provided between the gear carrier 30 and the object-side member 100 for the purpose of sealing the lubricant and the like of various gears.

[0101] However, in the past, there were problems with the following: sometimes there were obstacles in the smooth operation of installing gaskets, and even after the gaskets and other sealing components were installed, the sealing components would sometimes fall off during transport or during connection processing until they were connected to other equipment at the destination.

[0102] Therefore, in response to such undesirable conditions, the reducer with washer in this embodiment adopts a special structure for the countersunk portion 60 and its surrounding portion of the reducer 10 and the washer 80, which can stably keep the washer 80 in the proper position of the reducer 10.

[0103] Hereinafter, the washer-equipped reducer 5 of this embodiment will be described in more detail based on several specific examples. Furthermore, even between different configuration examples, the same reference numerals will sometimes be used for corresponding constituent elements, components, parts, etc., and repeated descriptions will be omitted. Additionally, the washer-equipped reducer 5 described below can be applied to reference... Figure 1 and Figure 2 The reducer 10 described above is a specific example. On the other hand, the reducer 5 with a washer in this embodiment is not limited to the one described above. Figure 1 and Figure 2 The specific example shown below. The specific structure of the reducer 10 shown in the accompanying drawings is sometimes different from that of the reducer 10 shown below. Figure 1 and Figure 2 The specific examples shown are not entirely consistent, but this structure can be considered an example of a structure that can be appropriately modified.

[0104] The reducer 5 with washer in this embodiment includes a reducer 10 and a washer 80. The reducer 10 includes a gear carrier 30. The gear carrier 30 is connected to the object-side member 100. In this reducer 10, the gear carrier 30 can be fixed to the object-side member 100, and the reduced rotation is output from the housing 20.

[0105] Alternatively, the housing 20 can be fixed so that the gear carrier 30 outputs a reduced rotation. In this configuration, the gear carrier 30, together with the object-side component 100 connected to the gear carrier 30, rotates around the output rotation axis MRA. The object-side component 100 connected to the gear carrier 30 can be, for example, a robot arm component.

[0106] The gear carrier 30 contacts the object-side member 100. The gear carrier 30 may contact the surface of the object-side member 100. In the illustrated example, as... Figure 3 As illustrated, the connecting end face 11 can be formed by the gear carrier base 31. Here, Figure 3 It means Figure 1 The front view of the connecting end face of the reducer shown.

[0107] The gear carrier 30 is provided with a countersunk portion 60. Figure 3 In the example shown, a countersunk portion 60 is formed in the gear carrier base 31, recessed along the axial direction DA from the connecting end face 11. The axial direction DA refers to the direction parallel to the output rotation axis MRA. The countersunk portion 60 is recessed along the axial direction DA towards the side away from the object-side member 100 that contacts the connecting end face 11. The connecting end face 11 is formed by one side of the gear carrier 30 along the axial direction DA, and the countersunk portion 60 is recessed from the connecting end face 11 towards the other side along the axial direction DA.

[0108] The countersunk hole 60 can accommodate the drive gear of the drive shaft, the input gear 59 of the shaft component that meshes with the drive gear, etc. Figure 3 In the example shown, the countersunk hole 60 serves as a space for the drive gear to mesh with the input gear 59.

[0109] like Figure 3 As shown, the gear carrier 30 may include a countersunk bottom surface 62 and a countersunk side surface 63. The countersunk bottom surface 62 and the countersunk side surface 63 define a countersunk portion 60 that is recessed from the connecting end face 11 along the axial direction DA. The countersunk bottom surface 62 constitutes the bottom surface of the countersunk portion 60. The countersunk bottom surface 62 is a surface that is not parallel to the axial direction DA. The countersunk bottom surface 62 may be a surface orthogonal to the output rotation axis MRA. Figure 3 As shown, the central hole 34 opens at the bottom surface 62 of the countersunk hole. Three through holes 35 open at the bottom surface 62 of the countersunk hole.

[0110] The countersunk hole side surface 63 can be a surface that is not parallel to the radial direction DB. The countersunk hole side surface 63 can be a surface orthogonal to the radial direction DB. The countersunk hole side surface 63 can be a surface parallel to the axial direction DA. The radial direction DB is a direction orthogonal to the output rotation axis MRA. The countersunk hole side surface 63 can extend along a closed curve when viewed from the axial direction DA. A closed curve is a zigzag line connecting its two ends. The zigzag of the line forming the closed curve can be a bend, a kink, or both.

[0111] exist Figure 3 In the example shown, the countersunk hole side 63 includes a plurality of inner side surfaces 63N and a plurality of outer side surfaces 63U. The inner side surfaces 63N and outer side surfaces 63U are arranged alternately. An outer side surface 63U is located between two adjacent inner side surfaces 63N in the circumferential direction DC centered on the output rotation axis MRA. An inner side surface 63N is located between two adjacent outer side surfaces 63U in the circumferential direction DC. The inner side surfaces 63N extend along an arc centered on the output rotation axis MRA. The outer side surfaces 63U are located radially outward from the inner side surfaces 63N.

[0112] The outer side of the radial axis DB refers to the side of the radial axis DB that is furthest from the output rotation axis MRA. The inner side of the radial axis DB refers to the side of the radial axis DB that is closest to the output rotation axis MRA.

[0113] exist Figure 3 In the example shown, the reducer 10 includes three input gears 59 respectively disposed on three shaft members 50. The gear carrier 30 includes three inner side surfaces 63N. The three inner side surfaces 63N are spaced apart from each other and located on the same circumference centered on the output rotation axis MRA. The three outer side surfaces 63U are along arcs centered on the three rotation axes RA of the three shaft members 50 respectively. A countersunk portion 60 accommodates the drive gear of the drive shaft (not shown) and the three input gears 59. Figure 3 In the example shown, the outer side 63U extends along the periphery of the corresponding input gear 59.

[0114] For example, Figure 5 and Figure 6 As shown, a groove 64 is formed on the countersunk side 63. The groove 64 is a recess provided on the countersunk side 63. The groove 64 is recessed outward from the countersunk side 63 in the radial direction DB. The mounting claw 82 of the washer 80, described later, hooks into the groove 64. By hooking the mounting claw 82 into the groove 64, the washer 80 is held in the reducer 10. Figure 5 It includes configuration Figure 4 The side view of the countersunk portion 60 of the reducer and a partial cross-sectional view near the output rotation axis of the washer 80 shown. Figure 6 It's enlarged. Figure 5 A cross-sectional view of the region shown by α.

[0115] The groove 64 is a recess provided on the side surface 63 of the countersunk hole. The groove 64 is a portion recessed outward from the side surface 63 of the countersunk hole in the radial direction DB. The depth 64D, width 64W, height 64H, and height 64T ​​from the bottom surface 62 of the countersunk hole 60 to the groove 64 are adjusted so that the mounting claw 82 of the washer 80 hooks onto the groove 64. Figure 6 As shown, the depth 64D of the groove 64 is the length of the groove 64 along the radial direction DB. (As...) Figure 11 As shown, the width 64W of the groove 64 is the length of the groove 64 along the circumferential direction DC. Figure 6 As shown, the height 64H of the groove 64 is the length of the groove 64 along the axial direction DA.

[0116] As long as the mounting claw 82 of the washer 80 can hook onto the groove 64, the cross-sectional shape of the groove 64 is not particularly limited. In the illustrated example, the groove 64 is a recess, and the cross-sectional shape of the groove 64 is rectangular. The groove 64 can also be a V-groove, a semi-circular groove, or an elliptical groove. The cross-sectional shape of the groove 64 can also be triangular, semi-circular, a partial shape equivalent to a circle, a semi-elliptical, or a partial shape equivalent to an ellipse.

[0117] The position of the groove 64 is not particularly limited as long as the mounting claw 82 of the washer 80 can hook onto the groove 64. For example, the groove 64 can be located along the entire length of the countersunk hole side 63. The groove 64 can also be located only within a portion of the countersunk hole side 63. Multiple grooves 64 can also be provided at intervals along the countersunk hole side 63.

[0118] In the illustrated example, the countersunk side 63 includes an inner side 63N and an outer side 63U. The outer side 63U is located radially outward from the inner side 63N. A groove 64 may be provided on the inner side 63N. A groove 64 may be provided only on the inner side 63N. A groove 64 may not be provided on the outer side 63U. According to this example, the groove 64 can be provided at a position further away from the outer edge of the radial DB of the connecting end face 11. Therefore, the connecting end face 11, the gear carrier 30, and the reducer 10 can be maintained with high rigidity. When the reducer 10 is mounted on the object-side member 100, the connecting end face 11 is in contact with the object-side member 100 surface and is pressed forcefully against the object-side member 100. By providing the groove 64 on the inner side 63N, deformation of the connecting end face 11 and the gear carrier 30 can be suppressed. As a result, deformation of the gear carrier 30 connected to the object-side member 100 can be suppressed for a long period of time.

[0119] The countersunk hole 60 and the groove 64 can be formed by machining using a lathe, NC machine tool, or the like. However, it is more efficient to form the groove 64, for example, using the same lathe to form the countersunk hole side 63, than to form the countersunk hole 60 and the groove 64 separately. On the other hand, for the groove 64, basically, as long as even the smallest size is sufficient for the mounting claw 82 of the washer 80 to be inserted, such as... Figure 11 The groove width of 64W shown is not particularly limited. Therefore, for example, in... Figure 3 The range of J, as illustrated by the single-dot dashed line, that is, the inner side 63N of the countersunk hole side 63, is integrally formed into the groove 64, which can improve the efficiency of the manufacturing operation.

[0120] like Figure 3 As shown, the gear carrier 30 includes a support surface 70. The support surface 70 surrounds the countersunk portion 60. The support surface 70 is connected to the countersunk side surface 63. The support surface 70 is located on the connecting end face side of the countersunk side surface 63. The support surface 70 is located at a position offset from the connecting end face 11 in the axial direction DA. The support surface 70 is located in the axial direction DA between the connecting end face 11 and the bottom surface 62 of the countersunk hole. The connecting end face 11 is located in the axial direction DA between the object-side member 100 and the support surface 70. The support surface 70 forms a recess in the axial direction DA. A washer body 81, described later, is disposed on the support surface 70.

[0121] Support surface 70 can be Figure 3 As shown, it extends along a closed curve when viewed from the axial direction DA. The support surface 70 can surround the countersunk portion 60 when viewed from the axial direction DA. The support surface 70 can be connected to the countersunk side surface 63 along its entire length. The support surface 70 can be connected to the inner periphery of its radial direction DB at the periphery of the side of the countersunk side surface 63 on the axial direction DA closest to the object-side member 100 along its entire length.

[0122] The support surface 70 is not parallel to the axial direction DA. The support surface 70 can be a surface perpendicular to the axial direction DA. The support surface 70 can be perpendicular to the countersunk hole side surface 63. The support surface 70 can be non-parallel to the countersunk hole side surface 63. The support surface 70 can be bent to connect with the countersunk hole side surface 63. The support surface 70 and the countersunk hole side surface 63 can be bent at a 90-degree angle to connect. Figure 6 As shown in the magnified view, the support surface 70 can be parallel to the connecting end face 11.

[0123] Alternatively, unlike the example shown, the support surface 70 may be inclined relative to the connecting end face 11. The support surface 70 may be inclined relative to the radial direction DB. The support surface 70 may be inclined such that it is on the outer side of the radial direction DB and close to the connecting end face 11 (object-side member 100) in the axial direction DA. The support surface 70 may also be inclined such that it is on the outer side of the radial direction DB and away from the object-side member 100 (connecting end face 11) in the axial direction DA.

[0124] The gear carrier 30 includes a support side 73 between the connecting end face 11 and the support surface 70. The support side 73 is not parallel to the radial direction DB. The support side 73 may be parallel to the axial direction DA. The support side 73 forms a step between the connecting end face 11 and the support surface 70. In the illustrated example, the side of the support side 73 closest to the object-side member 100 in the axial direction DA is connected to the connecting end face 11. The side of the support side 73 furthest from the object-side member 100 in the axial direction DA is connected to the support surface 70. The inner periphery of the connecting end face 11 may be connected to the support side 73 along its entire length. The outer periphery of the support surface 70 may be connected to the support side 73 along its entire length.

[0125] In the gear carrier 30, the distance along the axial direction DA between the connecting end face 11 and the support surface 70 can be slightly smaller than the thickness of the washer 80 disposed on the support surface 70. According to this example, when the reducer 10 is mounted on the target-side member 100, the connecting end face 11 contacts the target-side member 100, and the washer 80 is pressed along the axial direction DA between the support surface 70 and the target-side member 100.

[0126] exist Figure 7In the example shown, the distance ω along the axial direction DA between the connecting end face 11 and the support surface 70 is smaller than the dimension W along the axial direction DA of the washer body 81 disposed on the support surface 70 (described later). As a result, the washer body 81 contacts the object-side member 100 at its ridge line 81R (described later) and is pressed by the object-side member 100. Therefore, the washer body 81 is able to stably seal between the object-side member 100 and the support surface 70.

[0127] The reducer 5 with a washer includes a reducer 10 and a washer 80. The washer 80 is positioned on the inner side of the radial direction DB of the connecting end face 11 of the reducer 10. For example... Figures 4-5 As shown, the washer 80 has a washer body 81 and a plurality of mounting claws 82. Figure 4 It is configured in Figure 3 The front view of the washer 80 on the connecting end face of the reducer shown.

[0128] As described above, the washer 80 is used to prevent leakage of lubricant or the like from the reducer 10 side when the reducer 10 is connected to other components via the connecting end face 11. The washer 80 can be made of a material suitable for preventing leakage of lubricant or the like. The washer 80 can have a structure consisting of metals such as stainless steel, engineering plastics such as polytetrafluoroethylene (PTFE), rubbers such as fluororubber and nitrile rubber, or two or more of these materials stacked alternately. However, there are no particular limitations on the material of the washer 80.

[0129] like Figure 3 As shown, the washer body 81 of the washer 80 is disposed on the support surface 70 of the reducer. The washer body 81 is located on the support surface 70, surrounding the countersunk portion 60 and sealing the countersunk portion 60 relative to its surroundings. The washer body 81 has a shape corresponding to the support surface 70. The washer body 81 is... Figure 4 As shown, it extends along a closed curve when viewed from the axial direction DA. The washer body 81 surrounds the countersunk portion 60 when viewed from the axial direction DA.

[0130] like Figure 6 and Figure 7 As shown, the washer body 81 can be a bent plate-like portion. The washer body 81 includes an inner edge 81N and an outer edge 81U. Figure 6 and Figure 7The washer body 81 shown includes a ridge 81R extending between an inner edge 81N and an outer edge 81U. The ridge 81R extends along a closed curve along the length of the washer body 81. The washer body 81 is a plate-like portion bent around the ridge 81R. The washer body 81 is bent such that the ridge 81R protrudes towards the target member 100 in the axial direction DA. As a bent plate-like portion, the washer body 81 allows the ridge 81R to contact the target member 100, enabling elastic deformation between the target member 100 and the support surface 70 of the gear carrier 30. As a result, a stable seal can be achieved between the target member 100 and the gear carrier 30.

[0131] like Figure 6 As shown, the mounting claws 82 of the washer 80 hook onto the groove 64 of the gear carrier 30. By hooking the mounting claws 82 onto the groove 64, the washer 80 can be stably held by the reducer 10 until, for example, the reducer 10 is mounted onto the object-side member 100. The mounting claws 82 extend from the washer body 81. More specifically, the mounting claws 82 extend from the inner edge 81N of the washer body 81. The washer 80 includes a plurality of mounting claws 82. The washer 80 has at least a length from the support surface 70 to the groove 64. By hooking the mounting claws 82 onto the groove 64, the washer 80, once mounted onto the reducer 10, will not easily fall off.

[0132] like Figure 6 As shown, the mounting claw 82 may include a base 82B and a protrusion 82P. The base 82B extends from the washer body 81 along the axial direction DA. The base 82B extends from the washer body 81 toward the side of the member 100 away from the object side along the axial direction DA. The base 82B is connected to the inner edge 81N of the washer body 81. The base 82B extends from the inner edge 81N.

[0133] The base 82B extends in a direction substantially perpendicular to the surface formed by the washer body 81. This is so that the base 82B extends from the support surface 70 of the reducer relative to the washer body 81 to the groove 64 formed on the countersunk side surface 63, and the substantially perpendicularity corresponds to the contact angle between the support surface 70 and the countersunk side surface 63. Therefore, it varies accordingly when the contact angle between the support surface 70 and the countersunk side surface 63 is different. Furthermore, the axial length of the base 82B is configured to be substantially equal to the length from the support surface 70 to the groove 64 formed on the countersunk side surface 63, so that the protrusion 82P, described below, can be located within the groove 64.

[0134] The protrusion 82P protrudes outward from the base 82B radially toward the outer side of DB. For example... Figure 6As shown, the protrusion 82P is received in the groove 64 of the gear carrier 30. By contacting the wall constituting the groove 64 with the protrusion 82P, it is possible to prevent the washer 80 from detaching from the reducer 10 along the axial direction DA. In the illustrated example, the base 82B is connected to the washer body 81 at one end. The base 82B is connected to the protrusion 82P at the other end.

[0135] The protrusion 82P extends from the base 82B toward the end of the mounting claw 82. The protrusion 82P protrudes radially outward from the end portion of the base 82B and is located within the groove 64 of the reducer. For example, the protrusion 82P can be bent at a first bend BP1 on the end side of the base 82B toward the plane formed by the washer body 81, and further bends in the opposite direction to the first bend BP1 at a second bend BP2 closer to the end than the first bend BP1. In other words, the mounting claw 82, extending axially DA from the washer body 81, can be bent outward radially DB at the first bend BP1, and further bend inward radially DB at the second bend BP2. In this example, the base 82B is formed by the portion of the mounting claw 82 from its base end connected to the washer body 81 to the first bend BP1. The protrusion 82P is formed by the portion extending from the first bend BP1 through the second bend BP2 to the end (top) of the mounting claw 82. According to this example, the protrusion 82P can penetrate deeply into the groove 64 of the reducer 10 in the portion of the second bend BP2 and has high rigidity. According to this example, it is possible to effectively prevent the mounting claw 82 from accidentally detaching from the groove 64.

[0136] like Figure 4 As shown, the washer 80 may have three or more mounting claws 82. The center angle between two adjacent mounting claws 82 on the circumferential DC direction centered on the output rotation axis MRA of the reducer 10 may be less than 180 degrees. According to this example, it is possible to facilitate the installation of the washer 80 into the reducer 10 and to prevent the washer 80 from easily falling off the reducer 10 after installation.

[0137] The center angle θ is the angle of the washer 80° when the reducer 10 is in its current state, and is measured by observation from the axial direction DA. For example... Figure 4 As shown, the central angle θ is the angle between the straight line connecting one of the two adjacent mounting claws 82 to the output rotation axis MRA and the straight line connecting the other of the two adjacent mounting claws 82 to the output rotation axis MRA when viewed from the axial direction DA.

[0138] By making the center angle less than 180 degrees, the deformation of the washer 80 held in the reducer 10 can be effectively suppressed by using the three mounting claws 82. Therefore, the installation stability of the washer 80 can be improved. For a washer 80 with three mounting claws 82, the center angle θ between two adjacent mounting claws 82 in the circumferential direction DC can also be less than 150 degrees, or even 120 degrees.

[0139] In the illustrated example, the countersunk side 63 of the gear carrier 30 includes an inner side 63N and an outer side 63U. All the mounting claws 82 of the washer 80 engage with the groove 64 provided on the inner side 63N. Therefore, in the illustrated example, the groove 64 only needs to be provided on the inner side 63N. The groove 64 may not be provided on the outer side 63U.

[0140] When the groove 64 is positioned near the periphery of the gear carrier 30, the rigidity of the gear carrier 30 decreases. Furthermore, it may be impossible to ensure sufficient depth 64D at the periphery of the gear carrier 30 (see reference). Figure 6 The groove 64 provides space for the gear carrier 30. Since the groove 64 is only provided on the inner side 63N, the reduction in stiffness of the gear carrier 30 caused by the groove 64 can be suppressed. In addition, by using the groove 64 with sufficient depth 63D and the protrusion 82P with sufficient protrusion length, the washer 80 can be held more stably by the reducer 10.

[0141] The number of mounting claws 82 can be changed appropriately. Figure 8 and Figure 9 This is a diagram showing a variation of washer 80. Figures 8-1 0 indicates an example of a washer 80 with six mounting claws 82. Figure 8 This is a front view showing a modified example of washer 80. Figure 9 yes Figure 8 The side view of washer 80 is shown. Figure 8 and Figure 9 In the example shown, washer body 81 and Figure 4 The washer body 81 of the washer 80 shown is the same. Figure 8 and Figure 9 In the modified example shown, the washer 80 is mounted on each of the three inner sides 63N of the countersunk hole side 63 using two mounting claws 82. Figure 8 and Figure 9 In the example shown, multiple mounting claws 82 arranged opposite to an inner circumferential side 63N can also be regarded as a group, so that the centers of each group have equal central angles, thereby achieving stabilization.

[0142] In the above example, the structure of the gear carrier 30 associated with the mounting of the washer 80 (support surface 70, countersunk side 63, and groove 64) is rotationally symmetric (more specifically, cubically symmetric). The washer 80 also has a rotationally symmetric (more specifically, cubically symmetric) structure. According to this example, the washer 80 can be easily mounted to the reducer 10, and the washer 80 mounted on the reducer 10 can be stably held in the reducer 10.

[0143] Next, an example of a manufacturing method for a reducer with washers will be described.

[0144] The manufacturing method of the washer-equipped reducer of the present invention may include the following steps 1 to 3.

[0145] (1) Step 1: In step 1, a washer 80 to be installed in the reducer 10 is first prepared. In step 1, the washer 80 is manufactured, which includes: a washer body 81 extending along a closed curve; a base 82B extending from the inner edge 81N of the washer body 81; and a protrusion 82P connected to the base 82B in a bent manner relative to the base 82B. The washer body 81 is extended along a closed curve to surround the periphery of the countersunk hole 60.

[0146] (2) Step 2: In step 2, the washer 80 prepared in step 1 is disposed on the reducer 10. The reducer 10 with washer 80 disposed includes: a connecting end face 11, which contacts the object-side member 100 that is the object to which the reducer 10 is installed; a countersunk side face 63, which divides a countersunk portion 60 recessed from the connecting end face 11 along the axial direction DA, and is provided with a groove 64 recessed outward in the radial direction DB; and a support surface 70, which is connected to the countersunk side face 63 and surrounds the countersunk portion 60, and is located at a position offset from the connecting end face 11 in the axial direction DA.

[0147] (3) Step 3: In step 3, the base 82B is bent relative to the washer body 81 that is arranged on the support surface 70 in step 2, and the protrusion 82P is arranged in the groove 64.

[0148] In process 1, for example, as Figure 10B As shown, a washer 80 with a washer body 81 and a mounting claw 82 is manufactured. Then, in step 2, the washer body 81 of the washer 80 manufactured in step 1 is placed on the support surface 70 of the reducer 10. Then, in step 3, as shown... Figure 10C As shown by the dashed arrow, the base 82B of the washer 80 disposed on the reducer 10 is bent toward the groove 64 of the reducer. The result is as follows: Figure 11 As shown, the washer 80 can be installed in the countersunk portion 60 of the reducer.

[0149] That is, according to the manufacturing method of the washer-equipped reducer 5 described herein, instead of simply mounting the washer 80, which has been manufactured to its final shape, onto the reducer 10, the washer 80 disposed on the reducer 10 is further processed to finish the washer 80 into its final shape, and the washer-equipped reducer 5 is then manufactured. According to this manufacturing method of the washer-equipped reducer 5, the washer 80 can be given a shape that matches the reducer 10. Therefore, the washer 80 can be held more stably on the reducer 10.

[0150] The manufacturing method of the reducer 5 with washers is not limited to the reference. Figures 10A to 10C The manufacturing method described herein can also be used to install the washer 80, which has been made into its final shape, onto the reducer 10.

[0151] The aforementioned process 1 may include the process of punching out the washer 80 from the sheet metal and the process of bending the protrusion 82P relative to the base 82B. In the punching process, as... Figure 10A As shown, the basic part of the washer 80 is formed from a sheet metal blank using processes such as blanking and stamping. Then, in the bending process, as... Figure 10B As shown, for the washer 80 obtained by the blanking process, the protrusion 82P is bent relative to the base 82B by stamping or the like.

[0152] exist Figure 6 and Figure 7 In the example shown, the washer body 81 of washer 80 is bent around the ridge line 81R. In the manufacturing process including... Figure 6 and Figure 7 In the case of the washer 80 of the washer body 81 shown, step 1 may include a step of bending the washer body 81. In this step, the washer body 81 is bent with respect to the ridge line 81R located between the two side edges 81U and 81N of the washer body 81 extending along the closed curve, and the ridge line 81R protrudes toward the target member 100.

[0153] Furthermore, in the process of manufacturing the washer 80 in step 1, the process of punching out the washer 80 from the sheet metal and the process of bending the protrusion 82P relative to the base 82B can be performed in parallel. In the process of manufacturing the washer 80 in step 1, the process of punching out the washer 80 from the sheet metal and the process of bending the washer body 81 can be performed in parallel. In the process of manufacturing the washer 80 in step 1, the process of punching out the washer 80 from the sheet metal, bending the protrusion 82P relative to the base 82B, and bending the washer body 81 can be performed in parallel. As an example, when punching out the washer 80 from the sheet metal or the like, the washer 80 can be bent by stamping using the same or different stamping machines.

[0154] In the process of manufacturing washer 80 in step 1, the processes of bending the protrusion 82P relative to the base 82B and bending the washer body 81 can also be performed in parallel. As an example, multiple parts of washer 80 can be bent in parallel by stamping on the same or different stamping machines.

[0155] In the embodiment described above, the reducer 5 with a washer includes a reducer 10 and a washer 80. The reducer 10 reduces the input rotational speed and outputs a speed. The reducer 10 includes a gear carrier 30 connected to an object-side member 100. The gear carrier 30 includes a connecting end face 11, a countersunk side face 63, and a support surface 70. The connecting end face 11 contacts the object-side member 100, which is the object to which the reducer 10 is mounted. The countersunk side face 63 defines a countersunk portion 60 recessed from the connecting end face 11 along the axial direction DA. A groove 64 recessed outward in the radial direction DB is provided on the countersunk side face 63. The support surface 70 connects to the countersunk side face 63 and surrounds the countersunk portion 60. The support surface 70 is located at a position offset from the connecting end face 11 in the axial direction DA. The washer 80 includes a washer body 81 and a plurality of mounting claws 82. The washer body 81 is located on the support surface 70 and surrounds the countersunk portion 60. Each mounting claw 82 extends from the washer body 81 and hooks into the groove 64.

[0156] In the embodiment described above, the washer 80 for the reducer is a washer for the reducer. The reducer 10 reduces the input rotational speed and outputs it. The reducer 10 includes a gear carrier 30 connected to the object-side member 100. The gear carrier 30 includes a connecting end face 11, a countersunk side face 63, and a support surface 70. The connecting end face 11 contacts the object-side member 100, which is the object to which the reducer 10 is mounted. The countersunk side face 63 defines a countersunk portion 60 recessed from the connecting end face 11 along the axial direction DA. A groove 64 recessed outward in the radial direction DB is provided on the countersunk side face 63. The support surface 70 is connected to the countersunk side face 63 and surrounds the countersunk portion 60. The support surface 70 is located at a position offset from the connecting end face 11 in the axial direction DA. The washer 80 includes a washer body 81 and a plurality of mounting claws 82. The washer body 81 is located on the support surface 70 and surrounds the countersunk portion 60. Each mounting claw 82 extends from the washer body 81 and hooks into the groove 64.

[0157] Furthermore, in the embodiment described above, the manufacturing method of the reducer with washer includes the following steps: manufacturing a washer 80, which includes a washer body 81 extending along a closed curve, a base 82B extending from the inner edge 81N of the washer body 81, and a protrusion 82P connected to the base 82B in a bent manner relative to the base 82B; and placing the washer body 81 on the support surface 70 of the reducer 10 having a gear carrier 30 including a connecting end face 11, a countersunk side 63, and a support surface 70. The connecting end face 11 contacts the object-side member 100 that is the installation object of the reducer 10. The countersunk side face 63 divides the countersunk portion 60 that is recessed from the connecting end face 11 along the axial direction DA, and provides a groove portion 64 that is recessed outward in the radial direction DB. The support surface 70 is connected to the countersunk side face 63 and surrounds the countersunk portion 60, and is located at a position offset from the connecting end face 11 in the axial direction DA. The base 82B is bent relative to the washer body 81 disposed on the support surface 70 so that the protrusion 82P is disposed in the groove portion 64.

[0158] According to this embodiment, by housing the plurality of mounting claws 82 protruding outward in the radial direction DB within the groove 64 of the reducer, it is possible to prevent the washer 80 from falling off the reducer 10. For example, even if the orientation (posture) of the reducer 10 is changed, it is possible to prevent the washer 80 from falling off the reducer 10. The washer 80 is held in place relative to the reducer 10. Therefore, according to this embodiment, the reducer 10 can be easily mounted on the object-side member 100. For example, the washer 80 can be mounted on the reducer 10 by the manufacturer of the reducer 10. According to this example, it is possible to prevent the washer 80 from falling off the reducer 10 when the purchaser of the reducer 5 with the washer removes the reducer 5 with the washer from the packaging.

[0159] By using a washer 80 positioned appropriately between the target-side component 100 and the reducer 10, a seal can be achieved between them. Therefore, it is unnecessary to apply liquid sealant to the reducer 10. It is also unnecessary to install the reducer 10 onto the target-side component 100 after the liquid sealant has dried. Thus, the reducer 10 can be easily and quickly installed onto the target-side component 100. Furthermore, it avoids damage to the reducer's oil seal function due to sealant and prevents easy deterioration of the oil seal.

[0160] Because the washer 80 seals the support surface 70 of the reducer with the object-side component 100, the object-side component 100 can contact the connection end face 11 of the reducer 10. Through this contact, the connection between the object-side component 100 and the reducer 10 is stable, ensuring a long-term, stable seal between them. Since the object-side component 100 and the reducer 10 remain in close contact, damage and deterioration of the reducer 10 caused by vibrations during operation can be suppressed, extending the lifespan of the reducer 10.

[0161] In a specific example of this embodiment, the mounting claw 82 includes a base 82B extending axially from the washer body 81 along the axial direction DA, and a protrusion 82P protruding outward from the base 82B in the radial direction DB and located within the groove 64. According to this specific example, the washer body 81 and a plurality of mounting claws 82 can be integrally formed from a single sheet material using blanking and stamping processes. The washer 80 can be easily manufactured, and the washer 80 can be easily and reliably mounted to the reducer 10.

[0162] In a specific example of this embodiment, the countersunk side 63 includes: a plurality of inner side surfaces 63N, which are along an arc centered on the output rotation axis MRA of the reducer 10; and a plurality of outer side surfaces 63U, which are located radially outward from the inner side surfaces 63N. The inner side surfaces 63N and the outer side surfaces 63U are alternately located on the circumferential DC centered on the output rotation axis MRA. Only the inner side surface 63N of the inner side surfaces 63N and the outer side surfaces 63U is provided with a groove 64. According to this specific example, the distance from the groove 64 to the outer peripheral surface of the gear carrier 30 can be extended. Therefore, the reduction in stiffness caused by the groove 64 can be significantly reduced. That is, the stiffness of the reducer 10 can be maintained at a high level.

[0163] In this specific embodiment, the washer 80 has three or more mounting claws 82. The central angle θ between two adjacent mounting claws 82 in the circumferential direction DC centered on the output rotation axis MRA of the reducer 10 is less than 180 degrees. According to this specific embodiment, stability can also be improved by dispersing the connection parts where the mounting claws 82 connect to the groove 64. In addition, the washer body 81 and multiple mounting claws 82 can be integrally formed from a single sheet of material using blanking and stamping processes. In addition to being able to easily manufacture the washer 80, the washer 80 can also be easily and reliably installed on the reducer 10.

[0164] In this specific embodiment, the washer body 81 is bent with respect to a ridge 81R extending between the two side edges 81N and 81U, protruding toward the target member 100. According to this specific embodiment, the ridge 81R of the bent washer body 81 contacts the target member 100, and the washer body 81 can elastically deform between the target member 100 and the support surface 70 of the gear carrier 30. As a result, the washer body 81 can stably maintain contact with both the target member 100 and the support surface 70. Therefore, a stable seal can be achieved between the target member 100 and the gear carrier 30.

[0165] In a specific example of this embodiment, the reducer 10 includes: three shaft members 50 rotatably supported on a gear carrier 30; an external gear 40 penetrated by the three shaft members 50 and eccentrically oscillating with rotation of the three shaft members 50; a housing 20 having internal teeth that mesh with the external teeth of the external gear 40; and three input gears 59 respectively mounted on the three shaft members 50. The countersunk side 63 includes three inner side surfaces 63N along an arc centered on the output rotation axis MRA of the reducer 10 and three outer side surfaces 63U located radially outward from the inner side surfaces 63N. The inner side surfaces 63N and outer side surfaces 63U are alternately located in the circumferential direction DC centered on the output rotation axis MRA. The three outer side surfaces 63U are along arcs centered on the three rotation axes RA of the three shaft members 50, respectively. The washer 80 has three or more mounting claws 82, which respectively hook into three grooves 64 provided on the three inner side surfaces 63N. According to this specific example, the distance from the groove 64 to the outer peripheral surface of the gear carrier 30 can be extended. Therefore, the reduction in stiffness caused by the groove 64 can be significantly reduced. That is, the stiffness of the reducer 10 can be maintained at a high level.

[0166] In a specific example of this embodiment, the process of manufacturing the washer 80 in the method for manufacturing a reducer with a washer includes the following steps: punching the washer 80 from a sheet metal; and bending the protrusion 82P relative to the base 82B. According to this specific example, the protrusion 82P can be bent easily and stably relative to the base 82B. Then, by bending the base 82B relative to the washer body 81, the protrusion 82P can be disposed within the groove 64, and the mounting claw 82 can be hooked onto the reducer 10. That is, the washer 80 can be manufactured and installed on the reducer 10 with easy operation. In addition, the washer 80 can be given a shape that matches the reducer 10. Therefore, the reducer 10 can hold the washer 80 more stably.

[0167] The present embodiment has been described above with reference to a specific example and its variations, but the above examples are not intended to limit the present embodiment. The present embodiment described above can be implemented with various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from its spirit.

[0168] In the specific example described above, the mounting claw 82 of the washer 80 includes a first bend BP1 and a second bend BP2. The structure is not limited to the above description as long as the mounting claw 82 can be engaged. For example, as... Figure 12 As illustrated, the mounting claw 82 may also include only the first bend BP1. Furthermore, the length 82BW of the base is formed according to the position of the groove 64 formed on the countersunk hole side 63, so it is possible to appropriately shorten the distance from the support surface 70 to the groove 64 while ensuring a certain strength.

[0169] In addition, such as Figure 11 The depth 64D, width 64W, height 64H, and height 64T ​​of the groove 64 shown are not particularly limited as long as they can hook the mounting claw 82 of the washer 80. Therefore, for example, the height 64T ​​of the groove 64 from the bottom surface of the countersunk hole can be zero. The groove 64 can also be formed flush with the bottom surface 62 of the countersunk hole.

[0170] In the embodiments disclosed in this specification, for a structure composed of multiple objects, the multiple objects can be integrated into one, or conversely, a structure composed of one object can be divided into multiple objects. Whether or not they are integrated, as long as the configuration achieves the purpose of the invention.

Claims

1. A speed reducer with a washer, wherein, This reducer with washers has the following features: A speed reducer having a gear carrier including a connecting end face, a countersunk side face, and a support surface, the connecting end face contacting an object-side component that is to be installed, the countersunk side face dividing a countersunk portion recessed axially from the connecting end face and having a groove recessed radially outward, the support surface connecting to and surrounding the countersunk portion and being located at a position offset axially relative to the connecting end face; as well as A washer having a washer body and a plurality of mounting claws, the washer body being located on the support surface and surrounding the countersunk portion, the plurality of mounting claws extending from the washer body and hooking onto the groove portion.

2. The reducer with washer according to claim 1, wherein, The mounting claw includes: a base extending from the washer body along the axial direction; and a protrusion projecting outward from the base in the radial direction and located within the groove.

3. The reducer with washer according to claim 1, wherein, The countersunk hole sidewalls include: a plurality of inner sidewalls along an arc centered on the output rotation axis of the reducer; and a plurality of outer sidewalls located radially outer of the inner sidewalls. The inner and outer sides are alternately located in the circumferential direction centered on the output rotation axis. The groove is provided only on the inner side of the inner side and the outer side.

4. The reducer with washer according to claim 1, wherein, The washer has three or more mounting claws. The central angle between two adjacent mounting claws in the circumferential direction centered on the output rotation axis of the reducer is less than 180 degrees.

5. The reducer with washer according to claim 1, wherein, The washer body is bent with respect to a ridge extending between the two side edges, such that the ridge protrudes toward the object-side component.

6. The reducer with washer according to claim 1, wherein, The reducer includes: three shaft members rotatably supported on the gear carrier; an external gear penetrated by the three shaft members and eccentrically oscillating with the rotation of the three shaft members; a housing having internal teeth that mesh with the external teeth of the external gear; and three input gears, each mounted on one of the three shaft members. The countersunk hole sides include: three inner side surfaces along an arc centered on the output rotation axis of the reducer; and three outer side surfaces located radially outer of the inner side surfaces. The inner and outer sides are alternately located in the circumferential direction centered on the output rotation axis. The three outer side surfaces are along arcs centered on the three rotation axes of the three shaft members, respectively. The washer has three or more mounting claws, which are respectively hooked onto the three grooves provided on the three inner sides.

7. A washer for a speed reducer, wherein, The gaskets used in this reducer have the following features: A washer body is located on the support surface of a gear carrier having a connecting end face, a countersunk side face, and a support surface. The connecting end face contacts an object-side component that is the mounting object of the gear carrier. The countersunk side face is divided into a countersunk portion recessed axially from the connecting end face and has a radially outwardly recessed groove. The support surface connects to and surrounds the countersunk portion, and is located at a position offset axially from the connecting end face. The washer body surrounds the countersunk portion. Multiple mounting claws extend from the washer body and hook onto the groove.

8. A method for manufacturing a reducer with washers, wherein, The manufacturing method of this reducer with washer includes the following steps: A washer is manufactured, comprising a washer body extending along a closed curve, a base extending from the inner edge of the washer body, and a protrusion connected to the base in a manner that is bent relative to the base; The washer body is disposed on the support surface of a gear reducer having a connecting end face, a countersunk side face, and a support surface. The connecting end face contacts the object-side component to which the reducer is mounted. The countersunk side face is divided into a countersunk portion recessed axially from the connecting end face and has a radially outwardly recessed groove. The support surface connects to and surrounds the countersunk portion, and is located at a position offset axially from the connecting end face. The base is bent relative to the washer body disposed on the support surface, thereby positioning the protrusion in the groove.

9. The method for manufacturing a reducer with a washer according to claim 8, wherein, The process of manufacturing the gasket includes the following steps: The washer is punched out from the sheet metal; as well as The protrusion is bent relative to the base.

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