Eccentric oscillation type gear device

Abstract

To provide an eccentric oscillation type gear device in which the number of components can be reduced.SOLUTION: An eccentric oscillation type gear device according to an embodiment comprises an oscillation gear 84, a crankshaft 11 having eccentric bodies 12 and 13 for oscillating and rotating an external gear 14, eccentric bearings 34 and 35 arranged between the external gear 14 and the eccentric bodies 12 and 13, and a flange member 86 arranged so as to be opposed to the crankshaft 11 in an axial direction. The crankshaft 11 has a hollow part 112. A carrier 18 has a shaft member 38 inserted into the hollow part 112. An inside bearing 30 is arranged between an inner periphery 114 of the crankshaft 11 and an outer periphery 383 of the shaft member 38. The eccentric oscillation type gear device has a regulating member 41 integrated with the crankshaft 11 and for regulating axial movements of the eccentric bearings 34 and 35. The regulating member 41 has a connection part 44 to which a power transmission member 82 for transmitting power to the crankshaft 11 is connected.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an eccentric oscillating gear device. [Background technology]

[0002] Patent Document 1 describes a gear device that reduces the speed of rotation transmitted to a crankshaft and outputs it. This gear device includes a crankshaft that oscillates and rotates a oscillating gear, and a flange member having a shaft member that is inserted into a hollow portion of the crankshaft. An inner bearing is disposed between the inner circumference of the crankshaft and the outer circumference of the shaft member, and an eccentric bearing is disposed between an eccentric provided on the crankshaft and the oscillating gear. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-141915 A Summary of the Invention [Problem to be solved by the invention]

[0004] The gear device described in Patent Document 1 uses many positioning members such as spacers and snap rings to restrict the axial positions of components such as the flange member, inner bearing, and eccentric bearing within a predetermined range, resulting in a large number of parts. A large number of parts is disadvantageous in terms of cost, as it requires high costs for machining and assembling the parts.

[0005] SUMMARY OF THE PRESENT INVETION In view of the above problems, an object of the present invention is to provide an eccentric oscillating type gear device that can reduce the number of parts. [Means for solving the problem]

[0006] In order to solve the above problems, a gear device according to one aspect of the present invention is an eccentric oscillating type gear device including an oscillating gear, a crankshaft having an eccentric body that oscillates and rotates the oscillating gear, an eccentric bearing arranged between the oscillating gear and the eccentric body, and a flange member arranged axially opposite the crankshaft, in which the crankshaft has a hollow portion. The flange member has a shaft member inserted into the hollow portion. An inner bearing is arranged between the inner circumference of the crankshaft and the outer circumference of the shaft member, and the flange member has a restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing. The restricting member has a connecting portion that connects a power transmission member that transmits power to the crankshaft.

[0007] Another aspect of the present invention is also a gear device. This device is an eccentric oscillating type gear device including an oscillating gear, a crankshaft having an eccentric body that oscillates and rotates the oscillating gear, an eccentric bearing arranged between the oscillating gear and the eccentric body, and a flange member arranged axially opposite the crankshaft, in which the crankshaft has a hollow portion. The flange member has a shaft member inserted into the hollow portion. An inner bearing is arranged between the inner periphery of the crankshaft and the outer periphery of the shaft member, and has a restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing. The restricting member also restricts axial movement of the inner bearing.

[0008] Any combination of the above components, or mutual substitution of the components or expressions of the present invention between methods, systems, etc. are also valid aspects of the present invention. Effect of the Invention

[0009] According to the present invention, it is possible to provide an eccentric oscillating type gear device that can reduce the number of parts. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a side cross-sectional view of an eccentric oscillating gear device according to a first embodiment. [Diagram 2] FIG. 11 is a side sectional view of an eccentric oscillating gear device according to a second embodiment. [Diagram 3]FIG. 11 is a side sectional view of an eccentric oscillating gear device of a third embodiment.

[0011] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0012] In addition, separate components that have something in common are distinguished by adding an ordinal number such as "first" or "second" to the beginning of the component name, and these are omitted when referring to them collectively. In addition, terms including ordinal numbers such as "first" and "second" are used to describe various components, but these terms are used only for the purpose of distinguishing one component from other components, and do not limit the components.

[0013] [First embodiment] The configuration of an eccentric oscillating type gear device 100 (hereinafter simply referred to as "gear device 100") according to a first embodiment of the present invention will be described below with reference to Fig. 1. Fig. 1 is a side cross-sectional view that shows a schematic view of the gear device 100. The gear device 100 includes a crankshaft 11, eccentric bodies 12, 13, external gears 14, 15, an internal gear 16, eccentric bearings 34, 35, a carrier 18, regulating members 41, 42, a power transmission member 82, a connecting portion 44, an inner regulating member 46, casings 21, 22, 23, a cover body 20, and a main bearing 24.

[0014] Hereinafter, the direction along the central axis La of the internal gear 16 will be referred to as the "axial direction," and the circumferential direction and radial direction of a circle centered on the central axis La will be referred to as the "circumferential direction" and the "radial direction," respectively. For convenience, one side in the axial direction (the right side in the figure) will be referred to as the input side, and the other side (the left side in the figure) will be referred to as the anti-input side. These directional notations do not limit the usage orientation of the gear device 100, and the gear device 100 can be used in any orientation.

[0015] One of the external gears 14, 15 and the internal gear 16 functions as an oscillating gear 84, and the other functions as a non-oscillating gear 85. In this example, the external gears 14, 15 function as the oscillating gear 84, and the internal gear 16 functions as the non-oscillating gear 85.

[0016] The gear device 100 is a center crank type planetary gear device in which the crankshaft 11 is disposed coaxially with the central axis La of the internal gear 16. In the gear device 100, when the eccentric bodies 12, 13 rotate eccentrically together with the crankshaft 11, this eccentric rotation causes the external gears 14, 15 to oscillate via the eccentric bearings 34, 35. In the gear device 100, the relative rotation with the internal gear 16, obtained by the oscillation of the external gears 14, 15, is taken out from the carrier 18 via the inner pin 19.

[0017] The casings 21, 22, 23 function as outer shells that house components of the gear device 100, such as the external gears 14, 15. The casings 21, 22, 23 of this embodiment are formed by combining multiple casing members. In this example, the casings 21, 22, 23 are formed of a first casing member 21, a second casing member 22 arranged on the anti-input side of the first casing member 21, and a third casing member 23 arranged on the anti-input side of the second casing member 22. In this example, the first casing member 21, the second casing member 22, and the third casing member 23 are connected by bolts B4.

[0018] The crankshaft 11 has a hollow portion 112, and the carrier 18 has a shaft member 38 inserted into the hollow portion 112. The inner bearing 30 is disposed between an inner periphery 114 of the crankshaft 11 and an outer periphery 383 of the shaft member 38. The gear device 100 has restricting members 41, 42 that are integrated with the crankshaft 11 and restrict the axial movement of the eccentric bearings 34, 35. The restricting members 41, 42 have a connecting portion 44 that connects a power transmission member 82 that transmits power to the crankshaft 11. The restricting members 41, 42 include an input side restricting member 41 provided on the input side of the eccentric bearings 34, 35, and a counter input side restricting member 42 provided on the counter input side of the eccentric bearings 34, 35.

[0019] The crankshaft 11 is an annular member having a hollow portion 112 formed in a shaft body 111, and is arranged coaxially with a central axis La. The crankshaft 11 can be rotated by rotational power transmitted from a motor 96. In this embodiment, two eccentric bodies 12, 13 that are 180° out of phase with each other are provided on the outer periphery of the shaft body 111 of the crankshaft 11. The eccentric bodies 12, 13 oscillate the external gears 14, 15. Of the two eccentric bodies 12, 13, the first eccentric body 12 is arranged on the input side of the second eccentric body 13.

[0020] The crankshaft 11 has a flange-shaped outer circumferential protrusion 116 that protrudes radially from the outer circumferential surface on its outer periphery. The crankshaft 11 has a plurality of (e.g., three) tapped holes 118 provided in its input end face. The plurality of tapped holes 118 are arranged at predetermined intervals in the circumferential direction at positions offset from the central axis La. The crankshaft 11 has a plurality of (e.g., three) tapped holes 119 provided in its anti-input end face. The plurality of tapped holes 119 are arranged at predetermined intervals in the circumferential direction at positions offset from the center.

[0021] The shaft centers of the eccentric bodies 12, 13 are eccentric with respect to the central axis La of the internal gear 16, and the eccentric bodies 12, 13 rotate around the central axis La to oscillate the external gears 14, 15. The external gears 14, 15 are provided individually corresponding to the multiple eccentric bodies 12, 13, respectively, and are rotatably supported by the corresponding eccentric bodies 12, 13 via eccentric bearings 34, 35. Of the eccentric bearings 34, 35, the first eccentric bearing 34 is disposed on the input side of the second eccentric bearing 35.

[0022] 1, the power transmission member 82 is an input gear 28. A pinion 98 connected to a motor shaft of a motor 96 meshes with the input gear 28. When the pinion 98 rotates by the drive of the motor 96, the rotation whose speed is changed by the pinion 98 and the input gear 28 is input to the crankshaft 11. The input gear 28 functions as a power transmission member that transmits power to the crankshaft 11.

[0023] The external gears 14, 15 have center holes 142, 152 that pass through the centers of the external gears 14, 15, and multiple (e.g., six) inner pin holes 144, 154 that pass through at positions offset from the central axis La. An inner pin 19 is inserted into the inner pin holes 144, 154. Teeth formed on the outer periphery of the external gears 14, 15 rotate while meshing with the teeth of the internal gear 16, causing the external gears 14, 15 to oscillate. Of the external gears 14, 15, the first external gear 14 is disposed on the input side of the second external gear 15. A spacer 17 is disposed between the first external gear 14 and the second external gear 15.

[0024] The cover body 20 is a thin plate-like member arranged on the side of the input side of the first external gear 14, and restricts axial movement of the first external gear 14 towards the input side. The cover body 20 is fixed to the input side of the third casing member 23 with bolts B1. The second external gear 15 is arranged on the side of the input side of the carrier 18, and its axial movement towards the anti-input side is restricted by the carrier 18.

[0025] The inner pin 19 extends in the axial direction from the input side of the carrier 18 so as to pass through the inner pin holes 144, 154. The input side end of the inner pin 19 extends to the vicinity of the cover body 20.

[0026] The internal gear 16 is integrated with the casings 21, 22, and 23. The internal gear 16 in this example is formed by the first casing member 21.

[0027] The carrier 18 in this embodiment is disposed on the opposite input side of the second external gear 15. The carrier 18 rotates in synchronization with the rotation components of the external gears 14, 15, and outputs the rotation component to a driven device (not shown). A configuration in which the internal gear 16 rotates instead of the carrier 18, and outputs the rotation component to the driven device via casings 21, 22, and 23 may also be used.

[0028] As described above, the carrier 18 functions as a flange disposed axially opposite to the crankshaft 11. The carrier 18 has a disk-shaped carrier body 182, a plurality of inner pins 19 protruding from the carrier body 182 to the input side, and a circumferential protruding portion 184 protruding from the carrier body 182 to the input side. The carrier body 182 and the circumferential protruding portion 184 have a carrier hole 186 which is a through hole provided coaxially with the central axis La.

[0029] The shaft member 38 has a cylindrical shaft body 382 having an outer periphery 383, and an extension portion 384 extending in the axial direction from the input side of the shaft body 382. The extension portion 384 is formed with a smaller diameter than the shaft body 382, ​​and has a circumferential groove G1 into which a washer W1 fits. In this example, the shaft member 38 is formed of a member separate from the carrier 18, and is, for example, press-fitted into the carrier hole 186 and integrated with the carrier 18. Note that the shaft member 38 may be formed integrally with the carrier 18 as a single member.

[0030] The multiple inner pins 19 are cylindrical portions provided at predetermined intervals in the circumferential direction at positions offset from the central axis La. The inner pins 19 are inserted into inner pin holes 144, 154 of the external gears 14, 15.

[0031] The main bearing 24 supports the carrier 18 rotatably relative to the casings 21, 22, 23. The main bearing 24 in this example is disposed on the anti-input side of the external gears 14, 15, between the outer periphery of the carrier 18 and the second casing member 22 and the third casing member 23. There are no limitations on the configuration of the main bearing 24, but the main bearing 24 in this example is a cross roller bearing.

[0032] The input-side restricting member 41 is a hollow annular member having a hollow portion 411 located coaxially with the central axis La. The input-side restricting member 41 has a hollow disk-shaped disk portion 416 and a circumferential protruding portion 418 that protrudes from the inner periphery of the disk portion 416 toward the non-input side in the axial direction. The disk portion 416 faces the input side of the crankshaft 11 in the axial direction. The circumferential protruding portion 418 is provided circumferentially and fits into the inner periphery 114 of the crankshaft 11. The circumferential protruding portion 418 faces the input-side side surface of the inner bearing 30. With this configuration, the input-side restricting member 41 also restricts axial movement of the inner bearing 30 toward the input side.

[0033] The input side restricting member 41 has a connecting portion 44 that connects the input gear 28, which is a power transmission member 82 that transmits power to the crankshaft 11. In this embodiment, the connecting portion 44 is a tapped hole 412 for fixing the input gear 28 with a bolt. In this example, a plurality of tapped holes 412 (e.g., three) are formed in the disk portion 416 of the input side restricting member 41. The plurality of tapped holes 412 are arranged at predetermined intervals in the circumferential direction at positions offset from the central axis La. The tapped holes 412 in this example penetrate in the axial direction.

[0034] The input gear 28 has a through hole 282 provided at a position corresponding to the tapped hole 412. The input gear 28 is connected to the input side restricting member 41 by a bolt B5 inserted into the through hole 282 from the input side and screwed into the tapped hole 412.

[0035] A plurality of (e.g., three) through holes 414 are formed in the disk portion 416 of the input side restricting member 41 and are arranged at predetermined intervals in the circumferential direction at positions offset from the central axis La. The through holes 414 are formed in positions corresponding to the tapped holes 118 of the crankshaft 11. The input side restricting member 41 is connected to and integrated with the crankshaft 11 by a bolt B2 inserted into the through hole 414 from the input side and screwed into the tapped hole 118.

[0036] The non-input side restricting member 42 is a hollow annular member provided coaxially with the central axis La. The non-input side restricting member 42 has a hollow disk-shaped disk portion 422 and a hollow circumferential protruding portion 424 that protrudes from the inner periphery side of the disk portion 422 toward the input side in the axial direction. The disk portion 422 faces the non-input side of the crankshaft 11 in the axial direction. The circumferential protruding portion 424 fits into the inner periphery 114 of the crankshaft 11.

[0037] A plurality of (e.g., three) through holes 426 are formed in the disk portion 422 of the non-input side restricting member 42 and are arranged at predetermined intervals in the circumferential direction at positions offset from the central axis La. The through holes 426 are formed at positions corresponding to the tapped holes 119 of the crankshaft 11. The non-input side restricting member 42 is connected and integrated with the crankshaft 11 by a bolt B3 inserted into the through hole 426 from the non-input side and screwed into the tapped hole 119.

[0038] The eccentric bearings 34, 35 have a plurality of rolling elements 342, 352 arranged at a predetermined interval in the circumferential direction on the outer periphery of the eccentric bodies 12, 13 of the crankshaft 11. The eccentric bearings 34, 35 may or may not have a retainer. The eccentric bearings 34, 35 may have an inner ring and / or an outer ring, but in this example, they do not have a dedicated inner ring and outer ring. The outer periphery of the eccentric bodies 12, 13 functions as an inner ring side rolling surface, and the inner periphery of the external gears 14, 15 functions as an outer ring side rolling surface. The rolling element 342 is sandwiched in the axial direction between the input side restricting member 41 and the outer peripheral protrusion 116. The axial movement of the rolling element 342 toward the input side is restricted by the input side restricting member 41, and the axial movement toward the non-input side is restricted by the outer peripheral protrusion 116. The rolling element 352 is sandwiched in the axial direction between the counter-input side restricting member 42 and the outer peripheral protrusion 116. The axial movement of the rolling element 352 toward the counter-input side is restricted by the counter-input side restricting member 42, and the axial movement of the rolling element 352 toward the input side is restricted by the outer peripheral protrusion 116.

[0039] As described above, the inner bearing 30 is disposed between the inner circumference 114 of the crankshaft 11 and the outer circumference 383 of the shaft member 38. The inner bearing 30 has a plurality of rolling elements 302 disposed at predetermined intervals in the circumferential direction on the outer circumference of the shaft member 38. The rolling elements 302 are cylindrical rollers. The rolling elements 302 are sandwiched in the axial direction between the circumferential protrusion 418 of the input side restricting member 41 and the circumferential protrusion 424 of the counter input side restricting member 42. The axial movement of the rolling elements 302 toward the input side is restricted by the circumferential protrusion 418, and the axial movement of the rolling elements 302 toward the counter input side is restricted by the circumferential protrusion 424.

[0040] Although multiple (e.g., two) inner bearings 30 may be provided in the axial direction, in this example, a single bearing is used. The inner bearing 30 may have an inner ring and / or an outer ring, but in this example, it does not have a dedicated inner ring and outer ring. The outer periphery 383 of the shaft member 38 functions as an inner ring side rolling surface, and the inner periphery 114 of the crankshaft 11 functions as an outer ring side rolling surface. The inner bearing 30 may or may not have a retainer.

[0041] The inner regulating member 46 is a hollow annular member provided coaxially with the central axis La. The inner regulating member 46 is fixed to the shaft member 38 by a washer W1. In this example, the inner regulating member 46 is fitted to the outer periphery of the extension portion 384 of the shaft member 38. The inner regulating member 46 is restricted in its axial movement toward the input side by the washer W1 fitted to the circumferential groove G1 of the shaft member 38 at its input side portion. The inner regulating member 46 is housed in the hollow portion 411 of the input side regulating member 41, and faces the inner bearing 30 in the axial direction within the hollow portion 411. With this configuration, the axial movement of the inner bearing 30 toward the input side is restricted.

[0042] The operation of the eccentric oscillating gear device 100 configured as above will be described. When rotational power is transmitted from the motor 96 to the crankshaft 11, the crankshaft 11 rotates around the rotation center line La, and the external gears 14, 15 are oscillated by the eccentric bodies 12, 13. When the external gears 14, 15 oscillate, the meshing positions of the external gears 14, 15 and the internal gear 16 are shifted sequentially in the circumferential direction. As a result, the external gears 14, 15 rotate together with the carrier 18 by an amount equivalent to the difference in the number of teeth between the external gears 14, 15 and the internal gear 16 (for example, 1) every time the crankshaft 11 rotates once. The rotation of the crankshaft 11 is decelerated at a reduction ratio according to the difference in the number of teeth between the external gears 14, 15 and the internal gear 16, and then output to the driven device via the carrier 18.

[0043] The features of the eccentric oscillating gear device 100 configured as above will be described. The gear device 100 is an eccentric oscillating gear device including the external gear 14 (oscillating gear 84), the crankshaft 11 having the eccentric bodies 12, 13 that oscillate and rotate the external gear 14, the eccentric bearings 34, 35 arranged between the external gear 14 and the eccentric bodies 12, 13, and the carrier 18 (flange member 86) arranged opposite the crankshaft 11 in the axial direction. The crankshaft 11 has a hollow portion 112, the carrier 18 has a shaft member 38 inserted into the hollow portion 112, an inner bearing 30 is arranged between an inner circumference 114 of the crankshaft 11 and an outer circumference 383 of the shaft member 38, and has regulating members 41, 42 integrated with the crankshaft 11 to regulate the axial movement of the eccentric bearings 34, 35, and the regulating members 41, 42 have a connecting portion 44 that connects an input gear 28 (power transmission member 82) that transmits power to the crankshaft 11.

[0044] According to this configuration, the inner bearing 30 is disposed between the inner circumference 114 of the crankshaft 11 and the outer circumference 383 of the shaft member 38, and the restricting members 41, 42 that restrict the movement of the inner bearing 30 also serve to restrict the movement of the eccentric bearings 34, 35, making it possible to make the gear device 100 more compact in the axial direction. Since the same members are used for both purposes, the number of parts can be reduced, which is also advantageous in terms of cost.

[0045] The second and third embodiments of the present invention will be described below. In the drawings and description of the second and third embodiments, the same reference numerals are used for components and members that are the same as or equivalent to those in the first embodiment. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the first embodiment. Therefore, the explanation of the first embodiment applies to components and members in the second and third embodiments that are the same as or equivalent to those in the first embodiment.

[0046] [Second embodiment] The configuration of an eccentric oscillating type gear device 100 according to a second embodiment of the present invention will be described with reference to Fig. 2. Fig. 2 is a side cross-sectional view that shows the gear device 100 according to this embodiment. For ease of understanding, this figure shows the gear device 100 with the motor 96 separated.

[0047] This embodiment differs from the first embodiment in that the power transmission member 82 is a motor shaft 97 and the connecting portion 44 is a spline 419, but the other configurations are the same. Therefore, the spline 419 will be mainly described. The spline 419 (internal teeth) is formed on the inner circumference of the hollow portion 411 of the input side regulating member 41, and is connected to the spline 93 (external teeth) formed on the motor shaft 97. By fitting the motor shaft 97 into the hollow portion 411, the spline 93 meshes with the spline 419, and the input side regulating member 41 is connected to the motor shaft 97.

[0048] The gear device 100 of this embodiment operates in the same manner as the first embodiment, and provides the same functions and effects as the first embodiment.

[0049] [Third embodiment] The configuration of an eccentric oscillating type gear device 100 according to a third embodiment of the present invention will be described with reference to FIG. 3. FIG. 3 is a side cross-sectional view that shows a schematic diagram of the gear device 100 according to this embodiment. In this figure, the motor 96 and the power transmission member 82 are omitted. This embodiment differs from the first embodiment in that the input side protrusion 113 is provided on the crankshaft 11, the configuration of the input side regulating member 41 is different, the inner bearing 30 has an inner ring 304, and is provided with a spacer member 48, but the other configurations are common. Therefore, the input side protrusion 113, the input side regulating member 41, and the spacer member 48 will be mainly described. The inner ring 304 is an annular member that surrounds the outer periphery 383 of the shaft member 38, and an inner ring side rolling surface for rolling the rolling elements 302 is provided on its outer periphery.

[0050] The input side protrusion 113 is a hollow annular portion that protrudes from the shaft body 111 of the crankshaft 11 to the input side, and is formed as a single member with the shaft body 111. The input side protrusion 113 is formed with a smaller diameter than the shaft body 111, and has a circumferential groove G2 into which a retaining ring W2 fits. In this embodiment, the connecting portion 44 is a plurality of (e.g., three) tapped holes 117 formed in the input side protrusion 113. The multiple tapped holes 117 are drilled at predetermined intervals in the circumferential direction at positions offset from the central axis La.

[0051] The input-side restricting member in the first embodiment also restricts the axial movement of the inner bearing 30, but the input-side restricting member 41 in this embodiment does not restrict the movement of the inner bearing 30. The input-side restricting member 41 in this example faces the input side of the first eccentric bearing 34 in the axial direction and restricts the axial movement of the first eccentric bearing 34 toward the input side. The input-side restricting member 41 in FIG. 3 is a hollow annular member provided coaxially with the central axis La, and fits onto the outer periphery of the input-side protrusion 113. The input-side restricting member 41 is fixed to the input-side protrusion 113 by a retaining ring W2 fitted into a circumferential groove G2 provided on the outer periphery of the input-side protrusion 113.

[0052] The spacer member 48 of the present embodiment is a hollow annular member provided coaxially with the central axis La, and is fitted onto the outer periphery of the circumferential protrusion 184 of the carrier 18. The spacer member 48 is axially sandwiched between the carrier 18, the crankshaft 11, and the inner bearing 30. In particular, the spacer member 48 is disposed between the carrier body 182 and the shaft body 111, and is provided slidably relative to the carrier 18 and the crankshaft 11. With this configuration, the carrier 18 functions, via the spacer member 48, as a restricting member that restricts axial movement of the rolling elements 302 of the inner bearing 30, the crankshaft 11, and the rolling elements 352 of the second eccentric bearing 35 to the anti-input side.

[0053] In the present embodiment, the inner restricting member 46 fits onto the outer periphery of the shaft body 382 of the shaft member 38, and abuts against the input-side side portion of the input-side protrusion 113. With this configuration, the inner restricting member 46 restricts the axial movement of the crankshaft 11 towards the input side.

[0054] The gear device 100 of this embodiment operates in the same manner as the first embodiment, and provides the same functions and effects as the first embodiment.

[0055] The above describes in detail the examples of the embodiments of the present invention. The above-mentioned embodiments are merely examples of the implementation of the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are possible within the scope of the invention as defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with notations such as "in the embodiment" and "in the embodiment", but this does not mean that design changes are not permitted for contents without such notations. In addition, hatching on the cross sections of the drawings does not limit the material of the objects to which the hatching is applied.

[0056] The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Descriptions that overlap with the embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the embodiment.

[0057] In the description of the embodiment, the gear device 100 is an eccentric oscillating gear device of a so-called center crank type, but the present invention is not limited to this. For example, the gear device may be a so-called distribution type in which multiple eccentric shafts are arranged at positions offset from the center in the radial direction.

[0058] In the description of the embodiment, an example in which the number of eccentric bodies 12, 13 is two has been shown, but the number of eccentric bodies may be one or three or more.

[0059] In the description of the embodiment, an example has been given in which the oscillating gear 84 is the external gear 14, but the oscillating gear 84 may be an internal gear.

[0060] In the description of the embodiment, the power transmission member 82 is the input gear 28 and the motor shaft 97, but is not limited to this. Various known power transmission means such as a pulley can be used as the power transmission member.

[0061] In the description of the embodiment, the connecting portion 44 is the tapped hole 412 and the spline, but is not limited thereto. As the connecting portion, various known connecting means can be used, and for example, a key connecting portion may be used.

[0062] In the description of the embodiment, an example has been given in which the flange member 86 is the carrier 18, but the present invention is not limited to this, and the flange member may be a member having a function other than that of a carrier.

[0063] Each of the above-described modified examples provides the same functions and effects as the embodiment.

[0064] Any combination of the components and modifications of the above-described embodiments is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications.

[0065] The present invention can also be defined by the features described in the following items. (Item 1) An eccentric oscillating gear device comprising: an oscillating gear; a crankshaft having an eccentric body that oscillates and rotates the oscillating gear; an eccentric bearing disposed between the oscillating gear and the eccentric body; and a flange member disposed axially opposite the crankshaft, The crankshaft has a hollow portion, the flange member has a shaft member inserted into the hollow portion, an inner bearing is disposed between an inner periphery of the crankshaft and an outer periphery of the shaft member; a restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing, The regulating member is an eccentric oscillating gear device having a connecting portion that connects a power transmission member that transmits power to the crankshaft.

[0066] (Item 2) 2. The gear device according to claim 1, wherein the connecting portion is a tapped hole for fixing the power transmission member with a bolt.

[0067] (Item 3) 2. The gear device according to claim 1, wherein the connecting portion is a spline provided on an inner circumference of the regulating member.

[0068] (Item 4) 4. The gear device according to any one of items 1 to 3, wherein the regulating member also regulates axial movement of the inner bearing.

[0069] (Item 5) 5. The gear device according to any one of items 1 to 4, further comprising an inner regulating member fixed to the shaft member and regulating axial movement of the crankshaft.

[0070] (Item 6) 6. The gear device according to item 5, wherein the regulating member has the hollow portion, and the inner regulating member faces the inner bearing in the axial direction within the hollow portion.

[0071] (Item 7) An eccentric oscillating gear device comprising: an oscillating gear; a crankshaft having an eccentric body that oscillates and rotates the oscillating gear; an eccentric bearing disposed between the oscillating gear and the eccentric body; and a flange member disposed axially opposite the crankshaft, The crankshaft has a hollow portion, the flange member has a shaft member inserted into the hollow portion, an inner bearing is disposed between an inner periphery of the crankshaft and an outer periphery of the shaft member; a restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing, The regulating member also regulates the axial movement of the inner bearing.

[0072] (Item 8) 8. The gear device according to item 7, wherein the regulating member is the flange member.

[0073] (Item 9) 9. The gear device according to item 8, further comprising a spacer member axially sandwiched between the flange member, the eccentric bearing and the inner bearing.

[0074] (Item 10) 10. The gear device according to any one of items 7 to 9, further comprising an inner regulating member fixed to the shaft member and regulating axial movement of the crankshaft. [Explanation of symbols]

[0075] 100 gear device, 11 crankshaft, 12, 13 eccentric body, 14, 15 external gear, 16 internal gear, 18 carrier, 30 inner bearing, 34, 35 eccentric bearing, 38 shaft member, 41 input side regulating member, 42 anti-input side regulating member, 44 connecting portion, 46 inner regulating member, 82 power transmission member, 84 oscillating gear, 86 flange member, 112 hollow portion, 114 inner circumference, 116 outer periphery protruding portion, 118 tapped hole, 383 outer circumference.

Claims

[Claim 1] An eccentric oscillating gear device comprising: an oscillating gear; a crankshaft having an eccentric body that oscillates and rotates the oscillating gear; an eccentric bearing disposed between the oscillating gear and the eccentric body; and a flange member disposed axially opposite the crankshaft, The crankshaft has a hollow portion, the flange member has a shaft member inserted into the hollow portion, an inner bearing is disposed between an inner periphery of the crankshaft and an outer periphery of the shaft member; a restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing, The regulating member is an eccentric oscillating gear device having a connecting portion that connects a power transmission member that transmits power to the crankshaft.

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