Eccentric oscillating type gear device

Abstract

An object of a technique of the present disclosure is to provide an eccentrically oscillating gear device capable of suppressing foreign matter intrusion. The eccentrically oscillating gear device includes an eccentric body, a first oscillating gear and a second oscillating gear oscillated by the eccentric body, a spacer member sandwiched and disposed in an axial direction between the first oscillating gear and the second oscillating gear, and a pin inserted into a pin hole provided in each of the first oscillating gear and the second oscillating gear. The spacer member is disposed from a portion of the pin in a radially outward direction to a portion of the pin in a radially inward direction.

Description

Technical area

[0001] The present invention relates to an eccentrically oscillating gear device.

[0002] This application claims priority from Japanese Patent Application No. 2022-201001, filed on December 16, 2022, which is incorporated herein by reference in its entirety. State of the art

[0003] Patent Documents 1 and 2 disclose an eccentric oscillating gear device. In such an eccentric oscillating gear device, an eccentric body shaft is supported by a housing, a carrier, or the like via an input bearing, an eccentric body of the eccentric body shaft is mounted on an oscillating gear via an eccentric body bearing, and the oscillating gear meshes with an engagement gear. When the eccentric body shaft is driven, the oscillating gear rotates while being oscillated by the eccentric body, and rotational motion of the oscillating gear is transmitted to the carrier. Foreign matter, such as abrasive powder, is generated from an engagement portion between the oscillating gear and the engagement gear or the like. Citation listPatent literature [PTL 1] Japanese Unexamined Patent Publication No. 2022-115323 [PTL 2] Japanese Unexamined Patent Publication No. 2022-82891 Summary of the inventionTechnical problem

[0004] If the foreign matter penetrates into a bearing or a rolling contact surface thereof, the bearing, eccentric body shaft and the like will be damaged at an early stage.

[0005] An object of the present invention is to provide an eccentric oscillating gear device capable of suppressing intrusion of foreign matter. Solution to problem

[0006] According to one aspect of the present invention, there is provided an eccentrically oscillating gear device comprising an eccentric body, a first oscillating gear and a second oscillating gear oscillated by the eccentric body, a spacer member clamped and disposed in an axial direction between the first oscillating gear and the second oscillating gear, and a pin inserted into a pin hole provided in each of the first oscillating gear and the second oscillating gear, wherein the spacer member is disposed from a portion of the pin in a radially outward direction to a portion of the pin in a radially inward direction.

[0007] According to another aspect of the present invention, there is provided an eccentrically oscillating gear device comprising an eccentric body shaft including an eccentric body, an oscillating gear caused to oscillate by the eccentric body, an eccentric body bearing disposed between the oscillating gear and the eccentric body, an input bearing supporting the eccentric body shaft, a support member supporting an outer ring of the input bearing, and a regulating member disposed between the input bearing and the eccentric body bearing and regulating a movement of the eccentric body bearing in an axial direction, wherein the regulating member includes a radial extension portion facing in the axial direction toward the support member positioned in a radially outward direction with respect to the outer ring of the input bearing.

[0008] According to yet another aspect of the present invention, there is provided an eccentrically oscillating gear device comprising an eccentric body shaft including an eccentric body, an oscillating gear caused to oscillate by the eccentric body, an eccentric body bearing disposed between the oscillating gear and the eccentric body, an input bearing supporting the eccentric body shaft, a support member supporting an outer ring of the input bearing, and a regulating member disposed between the input bearing and the eccentric body bearing and regulating movement of the eccentric body bearing in an axial direction, wherein the regulating member includes a protrusion portion protruding toward the support member positioned in a radially outward direction with respect to the outer ring of the input bearing, or toward the outer ring of the input bearing. Advantageous effects of the invention

[0009] The present invention can provide the eccentric oscillating gear device which can suppress the intrusion of foreign matter. Brief description of the drawings Fig. 1 is a sectional view showing an eccentric oscillating gear device according to Embodiment 1. Fig. Figure 2 is a sectional view of a surface along line II-II shown in Fig. 1 is shown. Fig. Figure 3 is an enlarged sectional view of a portion of III shown in Fig. 1 is shown. Fig. 4 is a sectional view showing an eccentric oscillating gear device according to Embodiment 2. Fig. Figure 5 is an enlarged sectional view of a portion of V shown in Fig. 4 is shown. Fig. 6 is an enlarged sectional view of a main portion of an eccentric oscillating gear device according to Embodiment 3. Fig. 7 is an enlarged sectional view of a main portion of the eccentric oscillating gear device according to Embodiment 3. Description of embodiments

[0010] One or more embodiments will be described below with reference to the drawings, and features and technical effects of the embodiments will be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. The drawings are provided for example purposes only, and the scope of the present invention is not limited to the examples in the drawings. The same or equivalent components, elements, and processes shown in each of the drawings are denoted by the same reference numerals, and redundant description will be omitted where appropriate. A dimension of an element in each of the drawings is shown enlarged or reduced where appropriate to facilitate understanding.Each of the drawings is illustrated with some elements not relevant to describing the embodiments omitted. Although terms containing ordinal numbers, such as "first" and "second," are used to describe various components, the terms containing the ordinal numbers are used only for the purpose of distinguishing one component from other components, and the terms containing the ordinal numbers do not limit the components. (Embodiment 1)

[0011] Fig. 1 is a sectional view of an eccentric oscillating gear device 100. Fig. 2 is a sectional view showing a surface along line II-II shown in Fig. 1, when viewed in an arrow direction. Fig. 3 is an enlarged view showing a portion of III shown in Fig. 1 in an enlarged manner.

[0012] An overall configuration of the eccentric oscillating gear device 100 will be described. The eccentric oscillating gear device 100 includes an eccentric body shaft 12, oscillating gears 14 and 15, an engaging gear 16, a carrier 20, a housing 22, a main bearing 24, an oil seal 25, input bearings 30 and 32, eccentric body bearings 34 and 35, an inner pin 38, a spacer 51, regulating members 53 and 55, and a spacer member 61.

[0013] The eccentric body shaft 12 (specifically, a shaft main body 12a), the engagement gear 16, and the carrier 20 are coaxial. A direction along a central axis C1 common to the eccentric body shaft 12 (specifically, the shaft main body 12a), the engagement gear 16, and the carrier 20 is referred to as an "axial direction." A direction around the central axis C1 with the central axis C1 as a center is referred to as a "circumferential direction." A direction perpendicular to the central axis C1 is referred to as a "radial direction." A direction to the central axis C1 along a radius perpendicular to the central axis C1 is referred to as a “Radial inner direction”. A direction separated from the central axis C1 along the radius perpendicular to the central axis C1 is called a “radial outer direction”. The central axis C1 extends in Fig. 1 to the right and left, and a right side in Fig. 1 is a side in the axial direction, which is referred to as a “drive side.” A left side in Fig. 1 is the other side in the axial direction, which is referred to as a "counter-drive side." Designating the directions in this manner does not limit the orientation in which the eccentrically oscillating gear device 100 is used, and the eccentrically oscillating gear device 100 can be used in any orientation.

[0014] The eccentric oscillating gear device 100 is a speed reducer that converts rotation of the eccentric body shaft 12 into rotation of the carrier 20 or the housing 22 in a decelerating manner. The eccentric oscillating gear device 100 causes the oscillating gears 14 and 15 to oscillate by rotating the eccentric body shaft 12, thereby rotating one of the oscillating gears 14 and 15 and the meshing gear 16, and outputs an axial rotation component thereof from the carrier 20 or the housing 22.

[0015] The meshing gear 16 is a gear that meshes with the oscillating gears 14 and 15. One of the oscillating gears 14 and 15 and the meshing gear 16 is an external gear, and the other is an internal gear arranged on an outer peripheral side of the external gear. In the present embodiment, the eccentrically oscillating gear device 100 is an eccentrically oscillating gear device of the oscillating external tooth type in which the oscillating gears 14 and 15 are external gears. However, the present invention can be applied to an eccentrically oscillating gear device of the oscillating internal tooth type in which an oscillating gear is an internal gear.

[0016] In the present embodiment, the eccentrically oscillating gear device 100 is a center-crank type eccentrically oscillating gear device in which the eccentric body shaft 12 for oscillating the oscillating gears 14 and 15 is arranged at the center of the oscillating gears 14 and 15. However, the eccentrically oscillating gear device 100 may be a distribution type eccentrically oscillating gear device in which a plurality of eccentric body shafts 12 for oscillating the oscillating gears 14 and 15 are arranged at positions deviating from the center of the oscillating gears 14 and 15.

[0017] The housing 22 forms an outer shell of the eccentrically oscillating gear device 100. The housing 22 includes a hollow portion. The housing 22 includes a first housing member 22a, a second housing member 22b, and a third housing member 22c, which are sequentially stacked on the counter-drive side. The first housing member 22a and the third housing member 22c are fixed to the second housing member 22b by a plurality of bolts. The first housing member 22a is provided in a plate shape and includes a bearing hole 22e at a center thereof. The second housing member 22b is provided in a tubular shape and includes a hollow portion at a center thereof. The third housing member 22c is provided in a tubular shape and includes a hollow portion at a center thereof.The bearing hole 22e of the first housing member 22a, the hollow portion of the second housing member 22b and the hollow portion of the third housing member 22c communicate with each other.

[0018] The carrier 20 is housed within the housing 22 at a portion of the housing 22 on the counter-drive side and is provided so as to be relatively rotatable with respect to the housing 22. The carrier 20 includes a first carrier element 20a and a second carrier element 20b, which are stacked sequentially from the drive side to the counter-drive side. The carrier elements 20a and 20b are fastened to each other by screws. The carrier elements 20a and 20b are provided in a cylindrical shape.

[0019] A plurality of inner pins 38 are integrated with the carrier 20, particularly the first carrier element 20a. The inner pins 38 are arranged at intervals in the circumferential direction. The inner pins 38 protrude from the first carrier element 20a toward the drive side. The inner pins 38 are each inserted into rollers 39, and the rollers 39 rotate around the inner pins 38.

[0020] The main bearing 24 is arranged between an inner periphery of the housing 22, more particularly an inner periphery of the third housing element 22c, and an outer periphery of the carrier 20, more particularly an outer periphery of the first carrier element 20a. The main bearing 24 rotatably supports the carrier 20 with respect to the housing 22. For example, the main bearing 24 is a rolling bearing, such as a roller bearing and a ball bearing, and more particularly, it is a crossed roller bearing. The main bearing 24 may be another type of bearing.

[0021] The oil seal 25 is arranged outside the main bearing 24 (on the counter drive side) in the axial direction between one end of the inner circumference of the housing 22 on the counter drive side, in particular the inner circumference of the third housing member 22c, and the outer circumference of the carrier 20, in particular an outer circumference of the second carrier member 20b.

[0022] The input bearings 30 and 32 are placed at a distance therebetween and are arranged sequentially from the drive side to the counter-drive side. The input bearing 30 is supported within the housing 22. More specifically, the input bearing 30 is supported by the first housing member 22a in the bearing hole 22e. The input bearing 30 rotatably supports the eccentric body shaft 12 with respect to the housing 22, more specifically the first housing member 22a. The input bearing 32 is supported by the inner periphery of the carrier 20, more specifically the inner periphery of the first carrier member 20a. The input bearing 32 rotatably supports the eccentric body shaft 12 with respect to the carrier 20, more specifically the first carrier member 20a. The input bearings 30 and 32 are ball bearings, but may be rolling bearings other than ball bearings. Inner rings 30a and 32a of the input bearing 30 and the input bearing 32 are formed separately from the eccentric body shaft 12.However, the input bearing 30 or the input bearing 32, or both the inner rings 30a and 32a, may be formed integrally with the eccentric body shaft 12. An outer ring 30b of the input bearing 30 is formed separately from the first housing member 22a, but may be formed integrally with the first housing member 22a. An outer ring 32b of the input bearing 32 is formed separately from the first support member 20a, but may be formed integrally with the first support member 20a. In the present embodiment, the input bearing 30 is a shielded bearing, while the input bearing 32 is not a shielded bearing. However, without being limited thereto, the input bearing 30 may not be a shielded bearing, and the input bearing 32 may be a shielded bearing.

[0023] The eccentric body shaft 12 receives rotational force from a driving device (not shown) and is rotated by the rotational force. The driving device is, for example, a driving machine such as a motor, a gear motor, and a machine.

[0024] The eccentric body shaft 12 includes the shaft main body 12a and eccentric bodies 12b and 12c.

[0025] The shaft main body 12a extends in the axial direction. The shaft main body 12a is connected to the drive device, and rotational power of the drive device is transmitted to the shaft main body 12a. The shaft main body 12a is mounted on the input bearings 30 and 32 and is rotatably supported by the input bearings 30 and 32 coaxially with the carrier 20 and the engagement gear 16. The eccentric body shaft 12 may include a hollow portion penetrating from an end surface of the shaft main body 12a on the drive side to an end surface thereof on the counter-drive side in the axial direction.

[0026] The eccentric bodies 12b and 12c are formed integrally with the shaft main body 12a. The eccentric bodies 12b and 12c are close to each other in the axial direction with a distance therebetween. The first eccentric body 12b includes, on an outer periphery thereof, a columnar surface whose central axis is an eccentric axis E1 eccentric from the central axis C1. The second eccentric body 12c includes, on an outer periphery thereof, a columnar surface whose central axis is an eccentric axis E2 eccentric from the central axis C1. The eccentric axis E1 is arranged on an opposite side to the eccentric axis E2 with respect to the central axis C1, and a phase in an eccentric direction from the central axis C1 to the eccentric axis E1 is deviated by 180° from a phase in an eccentric direction from the central axis C1 to the eccentric axis E2. The phase refers to a rotation angle around the central axis C1.The eccentric direction from the central axis C1 to the eccentric axis E1 is a maximum eccentric direction of the first eccentric body 12b, and the eccentric direction from the central axis C1 to the eccentric axis E2 is a maximum eccentric direction of the second eccentric body 12c.

[0027] The first oscillating gear 14 includes a circular hole at a center thereof, and the first eccentric body 12b is inserted into the circular hole of the first oscillating gear 14 via the first eccentric body bearing 34. The first oscillating gear 14 is rotatably supported by the first eccentric body 12b via the first eccentric body bearing 34. The first oscillating gear 14 is coaxial with the first eccentric body 12b, and a rotation axis of the first oscillating gear 14 is eccentric from the center axis C1. Similar to the first oscillating gear 14, the second oscillating gear 15 is rotatably supported by the second eccentric body 12c via the second eccentric body bearing 35.

[0028] The first eccentric bearing 34 includes a plurality of rolling elements 34a. The rolling elements 34a are arranged in a circumferential direction of the outer circumference of the first eccentric body 12b between the inner circumference of the circular hole of the first oscillating gear 14 and the outer circumference of the first eccentric body 12b. For this reason, the outer circumference of the first eccentric body 12b is an inner ring of the first eccentric bearing 34, and the inner circumference of the first oscillating gear 14 is an outer ring of the first eccentric bearing 34. The rolling elements 34a roll on the outer circumference of the first eccentric body 12b and the inner circumference of the first oscillating gear 14. The rolling elements 34a are rollers. The rolling elements 34a consisting of the rollers contribute to improving a load-bearing capacity of the first eccentric body bearing 34 compared to a rolling element consisting of a ball.Similar to the first eccentric bearing 34, the second eccentric bearing 35 also includes a plurality of rolling elements 35a arranged in a circumferential direction of the outer periphery of the second eccentric body 12c between the inner periphery of the circular hole of the second oscillating gear 15 and the outer periphery of the second eccentric body 12c. The first eccentric bearing 34 and the second eccentric bearing 35 may include an outer ring separated from the first oscillating gear 14 and the second oscillating gear 15, or an inner ring separated from the first eccentric body 12b and the second eccentric body 12c.

[0029] The first oscillating gear 14 includes a plurality of pin holes 14a around the circular hole in the center. The pin holes 14a penetrate the first oscillating gear 14 in the axial direction. The pin holes 14a are arranged at intervals in a circumferential direction around the rotational axis of the first oscillating gear 14. A set of the inner pin 38 and the roller 39 is inserted into each of the pin holes 14a. The outer diameters of the inner pin 38 and the roller 39 are smaller than an inner diameter of the pin hole 14a, and an outer periphery of the roller 39 partially contacts an inner periphery of the pin hole 14a. Similar to the first oscillating gear 14, the second oscillating gear 15 also includes a plurality of pin holes 15a, and the set of the inner pin 38 and the roller 39 is inserted into each of the pin holes 15a.

[0030] The roller 39 may not be provided, the inner pins 38 may be inserted into the pin holes 14a and 15a, and the outer peripheries of the inner pins 38 may partially contact the inner peripheries of the pin holes 14a and 15a. In this case, the outer diameters of the inner pins 38 are equal to the outer diameters of the rollers 39.

[0031] The first oscillating gear 14 includes a plurality of external teeth formed on an outer periphery thereof. Meanwhile, the meshing gear 16 is formed on the inner periphery of the housing 22, specifically, on the inner periphery of the second housing member 22b. The meshing gear 16 includes a plurality of internal teeth, and the first oscillating gear 14 meshes with the meshing gear 16. Similar to the first oscillating gear 14, the second oscillating gear 15 includes the same number of external teeth as the number of teeth of the first oscillating gear 14 on the outer periphery thereof, and the second oscillating gear 15 meshes with the meshing gear 16. The internal teeth of the engagement gear 16 may be integrally formed on the inner periphery of the second housing member 22b or may be configured by a pin member rotatably disposed in a pin groove provided in the inner periphery of the second housing member 22b.In meshing portions between the oscillating gears 14 and 15 and the meshing gear 16, grinding dust is likely to be generated by the gears.

[0032] The number of teeth of the first oscillating gear 14 and the second oscillating gear 15 is smaller than the number of teeth of the meshing gear 16. For example, the number of teeth of the first oscillating gear 14 and the second oscillating gear 15 is one or two smaller than the number of teeth of the meshing gear 16. When the eccentric body shaft 12 rotates, the oscillating gears 14 and 15 rotate while oscillating. Therefore, an engagement position between the first oscillating gear 14 and the engagement gear 16 moves in the circumferential direction, and an engagement position between the second oscillating gear 15 and the engagement gear 16 moves in the circumferential direction in a state of being 180° out of phase from the engagement position between the first oscillating gear 14 and the engagement gear 16.

[0033] When the oscillating gears 14 and 15 rotate while oscillating due to the rotation of the eccentric body shaft 12, the inner pin 38 rotates around the central axis C1, and rotational motion components of the oscillating gears 14 and 15 are transmitted to the carrier 20 through the inner pin 38. Accordingly, decelerated rotation is extracted from the carrier 20. Since the outer diameter of the roller 39 is smaller than the inner diameters of the pin holes 14a and 15a, oscillating motion components of the oscillating gears 14 and 15 are not transmitted to the carrier 20. In a case where the carrier 20 is fixed to an outer member, one rotation of the inner pin 38 and the rotations of the first oscillating gear 14 and the second oscillating gear 15 are restricted, and a slowed rotation is extracted from the meshing gear 16 and the housing 22.That is, the inner pin 38 may be a member synchronized with axial rotation components of the first oscillating gear 14 and the second oscillating gear 15.

[0034] The spacer 51 is fixed to an inner surface of the hollow portion of the housing 22 on the drive side in the hollow portion. Specifically, the spacer 51 is formed in a ring shape, and an outer periphery of the spacer 51 is sandwiched between the first housing member 22a and the second housing member 22b. The spacer 51 is sandwiched between the first housing member 22a and the first oscillating gear 14 in the axial direction, and a gap between the first housing member 22a and the first oscillating gear 14 is filled with the spacer 51. Furthermore, the spacer 51 is in contact with an axial end surface of the roller 39. The spacer 51 is made of a material having a hardness higher than the hardness of the first housing member 22a and prevents the first housing member 22a from being worn by sliding with the first oscillating gear 14 or the roller 39.

[0035] The spacer 51 surrounds the shaft main body 12a of the eccentric body shaft 12 in the circumferential direction and is separated from the outer periphery of the shaft main body 12a of the eccentric body shaft 12 in the radially outward direction. A regulating element 53 is arranged between an inner periphery of the spacer 51 and the outer periphery of the shaft main body 12a.

[0036] The regulating member 53 is a separate body from the eccentric body shaft 12 and is provided in a ring shape to surround the shaft main body 12a of the eccentric body shaft 12 in the circumferential direction. The regulating member 53 is sandwiched between the first eccentric body 12b and the inner ring 30a of the input bearing 30 in the axial direction, and movement of the regulating member 53 in the axial direction is regulated by the first eccentric body 12b and the input bearing 30. The regulating member 53 comes into contact with end surfaces of the plurality of rolling elements 34a on the drive side, and the rolling elements 34a are prevented by the regulating member 53 from coming out of the circular hole of the first oscillating gear 14 (moving in the axial direction).The regulating member 53 includes a tubular portion 53a fitted to the shaft main body 12a of the eccentric body shaft 12, and a radial extension portion 53b protruding in the radially outward direction from one end of the tubular portion 53a on the counter-drive side. The tubular portion 53a protrudes from an inner peripheral portion of the radial extension portion 53b on the drive side and is clamped between the first eccentric body 12b and the inner ring 30a of the input bearing 30 in the axial direction. The radial extension portion 53b is removed from the input bearing 30 and comes into contact with the rolling elements 34a. The radial extension portion 53b is also referred to as a flange.

[0037] A regulating member 55 is arranged at a position remote from the regulating member 53 toward the counter-drive side. The regulating member 55 is a separate body from the eccentric body shaft 12 and is provided in a ring shape to surround the shaft main body 12a of the eccentric body shaft 12 in the circumferential direction. The regulating member 55 is sandwiched between the second eccentric body 12c and the inner ring 32a of the input bearing 32 in the axial direction, and movement of the regulating member 55 in the axial direction is regulated by the second eccentric body 12c and the input bearing 32. The regulating member 55 comes into contact with end surfaces of the plurality of rolling elements 35a on the counter drive side, and the rolling elements 35a are prevented by the regulating member 55 from coming out of the circular hole of the second oscillating gear 15 (moving in the axial direction).The regulating member 55 includes a tubular portion 55a fitted to the shaft main body 12a of the eccentric body shaft 12, and a radial extension portion 55b protruding in the radially outward direction from one end of the tubular portion 55a on the drive side. The tubular portion 55a protrudes from an inner peripheral portion of the radial extension portion 55b on the counter-drive side and is clamped between the second eccentric body 12c and the inner ring 32a of the input bearing 32 in the axial direction. The radial extension portion 55b is removed from the input bearing 32 and comes into contact with the rolling elements 35a.

[0038] The spacer member 61 is arranged between the regulating member 53 and the regulating member 55. The spacer member 61 is a separate body from the eccentric body shaft 12. The spacer member 61 is an annular plate member provided to surround the shaft main body 12a of the eccentric body shaft 12 in the circumferential direction. For this reason, the spacer member 61 includes a through hole 61b through which the shaft main body 12a of the eccentric body shaft 12 passes at a center. The spacer member 61 is sandwiched between the first oscillating gear 14 and the second oscillating gear 15 in the axial direction, and a gap between the first oscillating gear 14 and the second oscillating gear 15 is filled with the spacer member 61.In the present specification, being sandwiched between one member (first oscillating gear 14) and one member (second oscillating gear 15) in the axial direction means not only a case of being in contact and sandwiched between the same members (the first oscillating gear 14 and the second oscillating gear 15), but also a case of being sandwiched via another spacer member or the like.

[0039] The spacer member 61 includes a plurality of insertion holes 61a, and the insertion holes 61a penetrate the spacer member 61 in the axial direction. The insertion holes 61a are arranged at intervals in a circumferential direction around the rotational axes of the oscillating gears 14 and 15. Since the set of the inner pin 38 and the roller 39 is fitted into each of the insertion holes 61a, the spacer member 61 is arranged from a portion of the inner pin 38 in the radially outer direction to a portion of the inner pin 38 in the radially inner direction. The spacer member 61 rotates together with the oscillating gears 14 and 15 due to the rotation of the inner pin 38, but does not oscillate.

[0040] The inner diameter of the through hole 61b of the spacer member 61 is smaller than the inner diameters of the circular holes of the oscillating gears 14 and 15 at the centers, and the spacer member 61 protrudes beyond the edges of the circular holes of the oscillating gears 14 and 15 at the centers in the radial direction. A portion of the spacer member 61 that protrudes beyond the edges of the circular holes of the oscillating gears 14 and 15 at the centers in the radial direction is sandwiched and arranged in the axial direction between the rolling element 34a of the first eccentric bearing 34 and the rolling element 35a of the second eccentric bearing 35.

[0041] As described above, the spacer member 61 is arranged from the portion of the inner pin 38 in the radially outer direction to the portion of the inner pin 38 in the radially inner direction. Therefore, it is difficult for foreign matter such as abrasive powder generated on the oscillating gears 14 and 15 in the radially outer direction to penetrate into the oscillating gears 14 and 15 through a gap between the oscillating gears 14 and 15 in the radially inner direction. Specifically, an inner peripheral portion of the spacer member 61 is sandwiched between the rolling element 34a of the first eccentric bearing 34 and the plurality of rolling elements 35a of the second eccentric bearing 35 in the axial direction. Therefore, it is difficult for the foreign matter to penetrate into gaps around the rolling elements 34a and 35a of the eccentric bearings 34 and 35.This contributes to suppressing damage to the eccentric body bearings 34 and 35 and the eccentric bodies 12b and 12c, and contributes to extending the service life of the eccentric body bearings 34 and 35 and the eccentrically oscillating gear device 100. (Embodiment 2)

[0042] Embodiment 2 will be described with reference to Fig. 4 and Fig. 5 described. Fig. 4 is a sectional view of the eccentric oscillating gear device 100 according to Embodiment 2. Fig. Figure 5 is an enlarged view showing a portion of V shown in Fig. 4, in an enlarged manner. Embodiment 2 is modified from Embodiment 1 in the following points, and Embodiment 2 is the same as Embodiment 1 except for the following description.

[0043] The outer diameter of the radial extension portion 55b of the regulating member 55 of Embodiment 2 is larger than the outer diameter of the radial extension portion 55b of the regulating member 55 of Embodiment 1. That is, in Embodiment 1, the outer periphery of the radial extension portion 55b is arranged in the radially inner direction with respect to the outer periphery of the outer ring 32b of the input bearing 32, while in Embodiment 2, the outer periphery of the radial extension portion 55b is arranged in the radially outer direction with respect to the outer periphery of the outer ring 32b of the input bearing 32, and the radial extension portion 55b protrudes in the radially outer direction beyond the outer periphery of the outer ring 32b of the input bearing 32.

[0044] For this reason, in Embodiment 2, the radial extension portion 55b faces the first support member 20a in the axial direction, which is positioned in the radially outward direction with respect to the outer ring 32b of the input bearing 32. Furthermore, the radial extension portion 55b extends in the radially outward direction from the second eccentric body bearing 35 in the maximum eccentric direction of the eccentric body 12b.

[0045] The outer periphery of the radial extension portion 55b is slightly separated from the inner periphery of the first support member 20a in the radially inner direction, and a small gap 56 is present therebetween. The gap 56 is also referred to as a radial gap. Furthermore, the radial extension portion 55b is separated in the axial direction from a portion of the first support member 20a facing the radial extension portion 55b in the axial direction, and a gap 57 is present therebetween. The gap 57 is also referred to as an axial gap. The gaps 56 and 57 do not generate frictional resistance between the radial extension portion 55b and the first support member 20a. A distance of the gap 56 in the radial direction is smaller than a distance of the gap 57 in the axial direction.The radial extension portion 55b is separated from the outer ring 32b of the input bearing 32 in the axial direction, and frictional resistance is not generated between the radial extension portion 55b and the input bearing 32.

[0046] As described above, the radial extension portion 55b protrudes in the radially outward direction beyond the outer periphery of the outer ring 32b of the input bearing 32, and the protruding portion faces the first support member 20a in the axial direction, which is positioned in the radially outward direction with respect to the outer ring 32b of the input bearing 32. Therefore, the gap 56 is small. For this reason, it is difficult for foreign matter, such as abrasive powder, to move from the second oscillating gear 15 to the input bearing 32 through the gap 56, and the foreign matter is prevented from entering the input bearing 32.

[0047] Since the radial extension portion 55b extends further than the rolling element 35a of the second eccentric bearing 35 in the radially outward direction, foreign matter is prevented from entering the circular hole of the second oscillating gear 15 in the center.

[0048] The inner diameter of the spacer member 61 of Embodiment 2 is larger than the inner diameter of the spacer member 61 of Embodiment 1, and the spacer member 61 does not protrude beyond the edges of the circular holes of the oscillating gears 14 and 15 at the centers in the radially inner direction. Instead, a flange 12d is formed on the outer periphery of the shaft main body 12a of the eccentric body shaft 12 between the eccentric bodies 12b and 12c, and the flange 12d protrudes beyond the outer peripheries of the eccentric bodies 12b and 12c in the radially outer direction. The flange 12d is sandwiched between the rolling elements 34a of the first eccentric body bearing 34 and the plurality of rolling elements 35a of the second eccentric body bearing 35 in the axial direction.As in Embodiment 1, in Embodiment 2, the flange 12d may not be provided, and the spacer member 61 may protrude in the radially inner direction beyond the edges of the circular holes of the oscillating gears 14 and 15 at the centers, and the protruding portion may be sandwiched between the rolling element 34a of the first eccentric bearing 34 and the plurality of rolling elements 35a of the second eccentric bearing 35 in the axial direction.

[0049] As in the case of Embodiment 1, in Embodiment 2, the radial extension portion 53b of a regulating member 53 does not protrude beyond the outer periphery of the outer ring 30b of the input bearing 30 in the radially outward direction. On the other hand, the radial extension portion 53b may protrude beyond the outer periphery of the outer ring 30b of the input bearing 30 in the radially outward direction and may face the first housing member 22a in the axial direction and the radial direction. In this case, since foreign matter is prevented from entering the input bearing 30, the input bearing 30 can be a bearing that is not shielded. When the input bearing 30 is not shielded, the size of the input bearing 30 in the axial direction is small. Therefore, the size of the first housing member 22a in the axial direction can also be small, and the entire device can be made small in the axial direction. (Embodiment 3)

[0050] Embodiment 3 will be described with reference to Fig. 6 described. Fig. 6 is a sectional view of a part of an eccentric oscillating gear device in Embodiment 3. A Fig. 6 corresponds to the area shown in Fig. 5 in Embodiment 2. Embodiment 3 is changed in the following points from Embodiment 1, and Embodiment 3 is the same as Embodiment 1 except for the following description.

[0051] In Embodiment 3, the regulating member 55 further includes a protrusion portion 55c in addition to the tubular portion 55a and the radial extension portion 55b. The protrusion portion 55c is provided in an annular shape along the outer periphery of the radial extension portion 55b and protrudes in the axial direction from the radial extension portion 55b toward the outer ring 32b of the input bearing 32. The protrusion portion 55c faces the outer ring 32b of the input bearing 32 in the axial direction in a state of being separated from the outer ring 32b of the input bearing 32 in the axial direction. For this reason, a gap 58 is present between the protrusion portion 55c and the outer ring 32b of the input bearing 32. The gap 58 is also referred to as an axial gap.

[0052] Since such a protruding portion 55c is provided, it is difficult for foreign matter such as abrasive powder to move from the regulating member 55 in the radially outward direction through the gap 58 to the input bearing 32, and the foreign matter is prevented from entering the input bearing 32.

[0053] In the Fig. 6, the outer diameter of the outer circumference of the protruding portion 55c is smaller than the outer diameter of the outer circumference of the outer ring 32b of the input bearing 32, and the outer circumference of the protruding portion 55c is arranged in the radially inner direction with respect to the outer circumference of the outer ring 32b of the input bearing 32. On the other hand, as shown in Fig.7, the outer diameter of the outer periphery of the protruding portion 55c may be larger than the outer diameter of the outer periphery of the outer ring 32b of the input bearing 32, and the protruding portion 55c may protrude beyond the outer periphery of the outer ring 32b of the input bearing 32 in the radially outward direction. In this case, the protruding portion 55c faces the outer ring 32b of the input bearing 32 in the axial direction. In the radially outward direction with respect to the outer periphery of the outer ring 32b of the input bearing 32, the protruding portion 55c faces the first support member 20a in the axial direction, which is positioned in the radially outward direction with respect to the outer ring 32b of the input bearing 32. Moreover, in this case, as in the case of Embodiment 2, the radial extension portion 55b protrudes in the radially outward direction beyond the outer circumference of the outer ring 32b of the input bearing 32.

[0054] As in Embodiment 2, in Embodiment 3, the spacer member 61 does not protrude beyond the edges of the circular holes of the oscillating gears 14 and 15 at the centers in the radially inner direction, and the flange 12d is formed on the outer periphery of the shaft main body 12a of the eccentric body shaft 12 between the eccentric bodies 12b and 12c. It is obvious that, as in Embodiment 1, the flange 12d may not be provided in Embodiment 3, and the spacer member 61 may protrude beyond the edges of the circular holes of the oscillating gears 14 and 15 at the centers in the radially inner direction.

[0055] As in a case where the regulating member 55 includes the protrusion portion 55c, another regulating member 53 may include a protrusion portion. The protrusion portion is provided in an annular shape along the outer periphery of the radial extension portion 53b and protrudes in the axial direction from the radial extension portion 53b toward the outer ring 30b of the input bearing 30. (Modification example)

[0056] In each of the embodiments, the housing 22 is an assembly of the three housing elements 22a to 22b, but the housing 22 may be configured by one element or may be an assembly of four elements.

[0057] In each of the embodiments, an example is shown in which the number of oscillating gears 14 and 15 is two. However, the number of oscillating gears 14 and 15 may be one or three or more.

[0058] Instead of the first housing member 22a, a second carrier may be fitted to the input bearing 30, and the second carrier may be rotatably supported by the input bearing 30 with respect to the shaft main body 12a of the eccentric body shaft 12. In this case, the second carrier is rotatably supported by the main bearing with respect to the second housing member 22b, the second carrier is connected to the first carrier member 20a by a carrier pin, and the second carrier and the first carrier member 20a rotate integrally. Like the inner pin 38, the carrier pin is arranged on a circumference on which the inner pin 38 is arranged, and penetrates the oscillating gears 14 and 15 and the spacer member 61.While the inner pin 38 transmits the rotational force of the oscillating gears 14 and 15 to the first support member 20a and the second support, the support pin does not transmit the rotational force of the oscillating gears 14 and 15 to the first support member 20a and the second support. However, the functions of the inner pin 38 and the support pin may be integrated with each other, and the inner pin 38 may have both a function of extracting the rotational force of the oscillating gears 14 and 15 and a function of connecting the first support member 20a and the second support to each other.

[0059] In each of the embodiments, the inner pin 38 is formed integrally with the first support member 20a. However, the inner pin 38 may be formed separately from the first support member 20a, and the inner pin 38 may be mounted on the first support member 20a.

[0060] The outer ring of the main bearing 24 may be formed integrally with the third housing member 22c. The inner ring of the main bearing 24 may be formed integrally with the first support member 20a. List of reference symbols 12 Eccentric body shaft 12a Main shaft body 12b first eccentric body 12c second eccentric body 14 first oscillating gear 15 second oscillating gear 20 carriers 20a first support element 20b second support element 30, 32 entrance warehouse 30b, 32b outer ring 34 first eccentric body bearing 35 second eccentric body bearing 38 inner pin 53 Regulatory element 55 Regulatory element 55a tubular section 55b radial extension section 55c projection section 56 gap 61 spacer element 61a insertion hole QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2022-201001

[0002] JP 2022-115323

[0003] JP 2022-82891

[0003]

Claims

[1] Eccentric oscillating gear device, comprising: an eccentric body; a first oscillating gear and a second oscillating gear which are caused to oscillate by the eccentric body; a spacer member clamped and disposed in an axial direction between the first oscillating gear and the second oscillating gear; and a pin inserted into a pin hole provided in each of the first oscillating gear and the second oscillating gear, wherein the spacer element is arranged from a region of the pin in a radially outward direction to a region of the pin in a radially inward direction. [2] An eccentric oscillating gear device according to claim 1, wherein a plurality of the pins are arranged at intervals in a circumferential direction, the spacer member is an annular plate member, a plurality of insertion holes formed in the spacer member are arranged at intervals in the circumferential direction, and the plurality of pins are respectively inserted into the plurality of insertion holes. [3] Eccentric oscillating gear device according to claim 1 or 2, further comprising: a first eccentric body bearing disposed between the first oscillating gear and the eccentric body; and a second eccentric body bearing arranged between the second oscillating gear and the eccentric body, wherein the spacer element is clamped and arranged in the axial direction between the first eccentric body bearing and the second eccentric body bearing. [4] Eccentric oscillating gear device, comprising: an eccentric body shaft containing an eccentric body; an oscillating gear that is caused to oscillate by the eccentric body; an eccentric body bearing arranged between the oscillating gear and the eccentric body; an input bearing that supports the eccentric body shaft; a support member supporting an outer ring of the input bearing; and a regulating element arranged between the input bearing and the eccentric body bearing and regulating a movement of the eccentric body bearing in an axial direction, wherein the regulating member includes a radial extension portion facing in the axial direction the support member positioned in a radially outward direction with respect to the outer ring of the input bearing. [5] An eccentric oscillating gear device according to claim 4, wherein the regulating member extends in a maximum eccentric direction of the eccentric body from the eccentric body bearing in the radially outward direction. [6] An eccentric oscillating gear device according to claim 4, wherein a radial gap between the regulating member and the support member is smaller than an axial gap between the regulating member and the support member. [7] Eccentric oscillating gear device, comprising: an eccentric body shaft containing an eccentric body; an oscillating gear that is caused to oscillate by the eccentric body; an eccentric body bearing arranged between the oscillating gear and the eccentric body; an input bearing that supports the eccentric body shaft; a support member supporting an outer ring of the input bearing; and a regulating element arranged between the input bearing and the eccentric body bearing and regulating a movement of the eccentric body bearing in an axial direction, wherein the regulating member includes a protrusion portion protruding toward the support member positioned in a radially outward direction with respect to the outer ring of the input bearing or toward the outer ring of the input bearing. [8] An eccentric oscillating gear device according to claim 7, wherein the protruding portion faces both the outer ring of the input bearing and the support member in the axial direction.

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