Gearing

Abstract

To provide a gear device which can suppress the occurrence of a malfunction at manufacturing, and a manufacturing method of the gear device.SOLUTION: A gear device 1 comprises a case 2, a carrier 3 and a crankshaft 42, a first main bearing 5 and a second main bearing 6, and a first oscillation gear 43 and a second oscillation gear 44. The first bearing 5 and the second bearing 6 are disposed between the case 2 and the carrier 3. The first main bearing 5 and the second main bearing 6 have inner races 52 and 62, outer races 51 and 61, a plurality of rollers 53 and 63 and cages 54 and 64. The rollers 53 and 63 rotate around axes of center axial lines R1 and R2 which are inclined to an axial line O of the carrier 3. The outer races 51 and 61 protrude inward in a radial direction at large-diameter side end parts of outer ring raceway surfaces 51a and 61a, and comprise flange parts 51b and 61b for regulating the movement of the center axial lines R1 and R2 of the rollers 53 and 63. The flange parts 51b and 61b have a plurality of rollers 53 and 63.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a gear device. To Regarding. [Background technology]

[0002] In a gear device in which a shaft is rotatably mounted on a case via a bearing, a tapered roller bearing suitable for applications in which heavy loads and shock loads are applied may be used as the bearing. The tapered roller bearing includes an inner race, an outer race, and a number of cylindrical rollers arranged between the inner race and the outer race. The cylindrical rollers are cylindrical, and their axes are inclined with respect to the axis of the shaft. Here, there is known a tapered roller bearing having a flange on the large diameter end of the outer circumferential surface of the inner race (see, for example, Patent Document 1). The flange restricts the axial movement of the cylindrical rollers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-4659 Summary of the Invention [Problem to be solved by the invention]

[0004] In the method of assembling a gear device according to the above-mentioned conventional technology, first, the outer ring (outer race) of a tapered roller bearing is mounted on a case. Next, a plurality of cylindrical rollers and a retainer are mounted on the outer ring raceway surface on the inner peripheral surface of the outer ring. Next, a seal is mounted on the case. Then, the base of a carrier on which an inner ring (inner race) is mounted is brought close to the case in the axial direction, and the inner ring raceway surface on the outer peripheral surface of the inner ring is mounted on the plurality of rollers and the retainer.

[0005] Because of this assembly method, if the rollers and cage attached to the outer ring were to become misaligned when attaching the inner ring to the rollers and cage, there was a possibility that malfunctions such as the cylindrical rollers and cage becoming stuck due to inappropriate parts of the outer ring and inner ring could occur.

[0006] The present invention relates to a gear device capable of suppressing the occurrence of defects during manufacturing. of provide. [Means for solving the problem]

[0007] A gear device according to one embodiment of the present invention comprises a case, a shaft portion and an input shaft arranged inside the case, a gear mechanism that transmits rotation of the input shaft to either the case or the shaft portion, and a bearing arranged between the case and the shaft portion and supporting the shaft portion rotatably relative to the case, the bearing comprising an inner race provided on the shaft portion, an outer race provided on the case, a plurality of rolling elements arranged between the inner race and the outer race and rotating around an axis inclined with respect to the axis of the shaft portion, and a retainer that holds the plurality of rolling elements, the outer race having a flange portion that protrudes radially inward at the large diameter side end of its inner surface and restricts axial movement of the plurality of rolling elements.

[0008] In this way, in a gear device having a gear mechanism that transmits rotation of the input shaft to either the case or the shaft, the above configuration allows the positions of the multiple rolling elements to be regulated by the flange of the outer race, which prevents the multiple rolling elements from shifting out of position when the inner race is attached, making it easy to assemble the gear device.

[0009] In the above configuration, a seal portion may be provided that is disposed outward of the bearing in the axial direction of the shaft portion and seals between the case and the shaft portion.

[0010] In the above configuration, the rolling elements may be tapered rollers having a truncated cone outer shape, and of both axial ends of the rolling elements, the larger diameter end may be disposed facing radially outward.

[0011] In the above configuration, the rolling elements may be cylindrical rollers having a cylindrical outer shape.

[0012] In the above configuration, the input shaft may be a plurality of crankshafts having an eccentric axis radially shifted from the axis of the shaft portion and provided with an eccentric portion eccentric with respect to the eccentric axis, and the gear mechanism may be an oscillating gear supported on the shaft portion and oscillatingly rotating in conjunction with the rotation of the eccentric portion.

[0013] In the above configuration, the input shaft may be arranged coaxially with the axis of the shaft portion and have an eccentric portion that is eccentric with respect to the axis of the shaft portion, and the gear mechanism may be an oscillating gear that is supported on the shaft portion and rotates in an oscillating manner in conjunction with the rotation of the eccentric portion.

[0014] A gear device according to another aspect of the present invention comprises a case, a shaft portion arranged inside the case, a plurality of crankshafts arranged inside the case, each having an eccentric axis radially offset from the axis of the shaft portion and provided with an eccentric portion eccentric with respect to the eccentric axis, a plurality of oscillating gears supported on the shaft portions and oscillatingly rotating in conjunction with rotation of the eccentric portions to transmit rotation input to the crankshafts to either the case or the shaft portions, and a bearing arranged between the case and the shaft portions and supporting the shaft portions rotatably relative to the case, wherein the bearing comprises an inner race provided on the shaft portions, an outer race provided on the case, a plurality of rolling elements arranged between the inner race and the outer race and rotating around an axis inclined with respect to the axis of the shaft portion, and a retainer that holds the plurality of rolling elements, and the outer race has a flange portion that protrudes radially inward at a large diameter side end of an inner circumferential surface and restricts axial movement of the plurality of rolling elements.

[0015] In this way, in a gear device including multiple crankshafts with eccentric parts and multiple oscillating gears that oscillate and rotate in conjunction with the rotation of the eccentric parts and transmit the rotation input to the crankshafts to either the case or the shaft part, the above-mentioned configuration allows the positions of the multiple rolling elements to be regulated by the flange of the outer race, which prevents the multiple rolling elements from shifting out of position when the inner race is attached, and makes it easy to assemble the gear device.

[0016] A method of manufacturing a gear device according to one embodiment of the present invention includes an outer race mounting step of mounting an outer race of a bearing for rotatably supporting a shaft portion on a case to the case, an inner race mounting step of mounting an inner race of the bearing to the shaft portion, a first mounting step of mounting a plurality of rolling elements rotating around an axis inclined with respect to the axis of the shaft portion and a retainer for holding the plurality of rolling elements to an inner surface of the outer race and a flange portion formed at a large diameter side end of the inner surface to protrude radially inward and restrict axial movement of the plurality of rolling elements, and a second mounting step of moving either the case or the shaft portion relative to the other along the axis of the shaft portion after the first mounting step to mount the rolling elements on an outer peripheral surface of the inner race.

[0017] By manufacturing in this manner, the positions of the rolling elements are restricted by the flange of the outer race before the inner race is attached, which makes it possible to prevent the rolling elements from becoming misaligned, thereby making it possible to prevent problems such as the rolling elements becoming caught between the outer race and the inner race. Effect of the Invention

[0018] According to the present invention, it is possible to suppress the occurrence of positional deviations among a plurality of rolling elements, and to easily assemble the gear device. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is a cross-sectional view of a portion of a gear device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an enlarged view of a portion of the cross section of the gear device shown in FIG. 1. [Diagram 3] 5A to 5C are diagrams illustrating a method for manufacturing a gear device according to an embodiment of the present invention. [Figure 4] 5A to 5C are diagrams illustrating a method for manufacturing a gear device according to an embodiment of the present invention. [Diagram 5] 6A to 6C are diagrams showing a manufacturing method of a gear device according to a comparative example of an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A gear device and a method for manufacturing the gear device according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0021] <Gear system> Fig. 1 is a diagram showing a part of a cross section of a gear device 1 according to an embodiment. Fig. 2 is a diagram showing an enlarged view of a part of the cross section of the gear device 1 shown in Fig. 1. 1 and 2, the gear device 1 is, for example, an eccentric oscillating gear transmission. The gear device 1 includes a case 2, a carrier (an example of a shaft portion in the claims) 3 rotatably provided relative to the case 2, a speed reduction mechanism 4 that reduces the speed of rotation of a drive source (not shown) and transmits it to the case 2 or the carrier 3, a first main bearing (an example of a bearing in the claims) 5 and a second main bearing (an example of a bearing in the claims) 6 that rotatably support the carrier 3 on the case 2, and a seal portion 7 that seals between the case 2 and the carrier 3.

[0022] The case 2 is fixed to a housing (not shown) that accommodates a drive source such as a motor. The outer shape of the case 2 is, for example, a cylindrical shape centered on an axis O. An inner circumferential surface 11 of the case 2 includes an internal tooth portion 12 in which a plurality of pin grooves 12a are formed, a first outer race retaining portion 13 and a second outer race retaining portion 14 that retain the outer races 51, 61 of the main bearings 5, 6, and a case side seal portion 15. In the following description, the direction parallel to the axis O is referred to as the axial direction, the rotation direction of the carrier 3 is referred to as the circumferential direction, and the radial direction of the carrier 3 perpendicular to the axial and circumferential directions is simply referred to as the radial direction.

[0023] The internal teeth portion 12 is formed between both axial ends (a first end 11a on the upper side in FIG. 1 and a second end 11b on the lower side in FIG. 1) on the inner peripheral surface 11 of the case 2. Each of the multiple pin grooves 12a extends in the axial direction. The multiple pin grooves 12a are formed at equal intervals in the circumferential direction. Each pin groove 12a holds an internal tooth pin 16.

[0024] The first outer race retaining portion 13 and the second outer race retaining portion 14 are adjacent to both sides of the internal teeth portion 12 in the axial direction. The first outer race retaining portion 13 and the second outer race retaining portion 14 are provided radially outward from the bottom of the pin groove 12a of the internal teeth portion 12. For example, the second outer race retaining portion 14 includes an end portion on the second end 11b side of the inner circumferential surface 11 of the case 2.

[0025] The first outer race retaining portion 13 comprises a first annular step surface 13a extending radially outward from the end on the first end 11a side of the internal tooth portion 12, and a first annular circumferential surface 13b extending axially outward from the outer circumferential end of the first step surface 13a. The second outer race retaining portion 14 comprises a second annular step surface 14a extending radially outward from the end on the second end 11b side of both axial ends of the internal tooth portion 12, and a second annular circumferential surface 14b extending axially outward from the outer circumferential end of the second step surface 14a.

[0026] For example, the radial length of the first stepped surface 13a is the same as the radial length of the second stepped surface 14a. The inner diameter (diameter centered on the axis O) of the first circumferential surface 13b is the same as the inner diameter (diameter centered on the axis O) of the second circumferential surface 14b. The first outer race retaining portion 13 retains an outer race 51 (see FIG. 2) of a first main bearing 5 described later. The second outer race retaining portion 14 retains an outer race 61 of a second main bearing 6 described later.

[0027] The case side seal portion 15 is provided closer to the first end 11a than the first outer race retaining portion 13 and is adjacent to the first outer race retaining portion 13 in the axial direction. The inner diameter (diameter about the axis O) of the case side seal portion 15 is, for example, the same as the inner diameter (diameter about the axis O) of the first circumferential surface 13b of the first outer race retaining portion 13. For example, the case side seal portion 15 includes an end portion on the first end 11a side of the inner circumferential surface 11 of the case 2. The case side seal portion 15 retains the seal portion 7.

[0028] The carrier 3 is connected to a driven part (not shown). The carrier 3 is inserted inside the case 2. Both axial ends (a first end 3a and a second end 3b) of the carrier 3 protrude from the case 2 on both axial sides. The carrier 3 includes a first block 20 and a second block 21 arranged side by side in the axial direction. In the following description, of both axial ends of the carrier 3, the end on the first block 20 side will be referred to as the first end 3a, and the end on the second block 21 side will be referred to as the second end 3b. The direction of the first end 3a of the carrier 3 coincides with the direction of the first end 11a of the case 2. In addition, the direction of the second end 3b of the carrier 3 coincides with the direction of the second end 11b of the case 2.

[0029] The first block 20 includes a base 22 supported by the case 2 via the first main bearing 5, and a plurality of support pillars 23 and a flange 24 integrally formed with the base 22. The outer shape of the base 22 is, for example, a disk shape centered on the axis O. The multiple support pillars 23 protrude in the axial direction from the end face on the second end 3b side of the base 22. The multiple support pillars 23 are arranged at equal intervals in the circumferential direction on the end face on the second end 3b side of the base 22. The multiple support pillars 23 support the first oscillating gear 43 and the second oscillating gear 44 by being inserted with play into multiple through holes 47 formed in each of a first oscillating gear (an example of an oscillating gear in the claims) 43 and a second oscillating gear (an example of an oscillating gear in the claims) 44, which will be described later.

[0030] The flange portion 24 has an outer shape, for example, a disk shape that protrudes radially outward from the base portion 22 about the axis O. The flange portion 24 is provided at an end portion on the first end 3a side of the base portion 22. The flange portion 24 overlaps with an end portion on the first end 11a side of the case 2 when viewed in the axial direction. An end surface 24a of the flange portion 24 on the first end 3a side is a mounting surface on which a driven part (not shown) is mounted.

[0031] The outer shape of the second block 21 is, for example, a disk shape centered on the axis O. The second block is fixed to the tips of a plurality of support parts 23 by fastening members (not shown). The carrier 3 rotates relative to the case 2 around an axis O in accordance with the oscillating rotation of a first oscillating gear 43 and a second oscillating gear 44, which will be described later.

[0032] An outer peripheral surface 25 of the base 22 is provided with a first inner race retaining portion 26, and a carrier side seal portion 27 provided on the first end 3a side (axially outward) relative to the first inner race retaining portion 26. The first inner race retaining portion 26 is provided at an end portion on the second end 3b side of the outer circumferential surface 25 of the base portion 22. The first inner race retaining portion 26 includes an annular first circumferential surface 26a extending from the end on the second end 3b side of the base portion 22 toward the first end 3a side (outside in the axial direction), and an annular first stepped surface 26b extending radially outward from the axially outer end of the first circumferential surface 26a. At least a portion of the first circumferential surface 26a of the first inner race retaining portion 26 faces the first circumferential surface 13b of the first outer race retaining portion 13 in the radial direction.

[0033] The carrier side seal portion 27 is adjacent to the first inner race retaining portion 26 in the axial direction. The carrier side seal portion 27 is provided at an end portion on the first end 3a side of the outer circumferential surface 25 of the base 22. The outer diameter (diameter centered on the axis O) of the carrier side seal portion 27 is larger than, for example, the outer diameter (diameter centered on the axis O) of the first circumferential surface 26a of the first inner race retaining portion 26. The carrier side seal portion 27 faces the case side seal portion 15 of the case 2 in the radial direction. The carrier side seal portion 27 retains the seal portion 7.

[0034] The second block 21 is supported by the case 2 via the second main bearing 6. A second inner race retaining portion 29 is provided on an outer circumferential surface 28 of the second block 21. More specifically, the second inner race retaining portion 29 is provided on an end portion of the outer circumferential surface 28 of the second block 21 on the first end 3a side.

[0035] The second inner race retaining portion 29 includes an annular second circumferential surface 29a extending from the end on the first end 3a side of the second block 21 toward the second end 3b side (axially outward), and an annular second stepped surface 29b extending radially outward from the axially outer end of the second circumferential surface 29a. At least a portion of the second circumferential surface 29a of the second inner race retaining portion 29 faces the second circumferential surface 14b of the second outer race retaining portion 14 in the radial direction.

[0036] For example, the outer diameter (diameter centered on axis O) of the first circumferential surface 26a and the outer diameter (diameter centered on axis O) of the second circumferential surface 29a are the same. The radial length of the first stepped surface 26b and the radial length of the second stepped surface 29b are the same. The first inner race retaining portion 26 retains an inner race 52 (see FIG. 2) of a first main bearing 5 described later. The second inner race retaining portion 29 retains an outer race 61 of a second main bearing 6 described later.

[0037] <Deceleration mechanism> The reduction mechanism 4 includes a drive shaft 70 arranged, for example, coaxially with the axis O and connected to a drive source not shown, a plurality of transmission gears 41 meshing with the drive gear 70a of the drive shaft 70, a plurality of crank shafts 42 connected to the plurality of transmission gears 41, a first oscillating gear 43 and a second oscillating gear 44. The central axes P of the multiple transmission gears 41 and the multiple crankshafts 42 are parallel to the axis O at equally spaced positions in the circumferential direction around the axis O.

[0038] Each crankshaft 42 includes a shaft portion 42a supported by the carrier 3 and two eccentric portions 42b provided on the shaft portion 42a and eccentric with respect to the central axis P. The shaft portion 42a of each crankshaft 42 is inserted into a through hole (not shown) formed in the carrier 3 (the first block 20 and the second block 21) via a pair of bearings 45. The two eccentric portions 42b of each crankshaft 42 are inserted into through holes (not shown) formed in each of the first oscillating gear 43 and the second oscillating gear 44 via bearings 46. The first oscillating gear 43 and the second oscillating gear 44 oscillate and rotate in conjunction with the relative rotation of the two eccentric portions 42b of each crankshaft 42, thereby causing the case 2 and the carrier 3 to rotate relatively.

[0039] The outer shape of each of the first oscillating gear 43 and the second oscillating gear 44 is, for example, a disk shape having an outer diameter smaller than the inner diameter of the internal tooth portion 12 of the case 2. Each of the first oscillating gear 43 and the second oscillating gear 44 has through holes 47 formed therein, the same number as the number of support portions 23. Each support portion 23 is inserted into each through hole 47. The inner diameter of each through hole 47 is larger than the outer diameter of each support portion 23 so that each support portion 23 does not interfere with the oscillating rotation of the first oscillating gear 43 and the second oscillating gear 44.

[0040] The outer circumferential surface of each of the first oscillating gear 43 and the second oscillating gear 44 is provided with external teeth 48 that mesh with the multiple internal tooth pins 16 of the internal tooth portion 12 of the case 2. The number of the multiple internal tooth pins 16 is different from the number of teeth of the external teeth 48. The first oscillating gear 43 and the second oscillating gear 44 perform eccentric motion together with the eccentric portion 42b in accordance with the rotation of each crankshaft 42 that receives the rotational driving force of the input shaft. As a result, the first oscillating gear 43 and the second oscillating gear 44 oscillate and rotate while the external teeth 48 mesh with some of the multiple internal tooth pins 19 of the case 2.

[0041] Here, when the case 2 is fixed to a fixed member (not shown), the first oscillating gear 43 and the second oscillating gear 44 rotate together with the carrier 3 around the axis O relative to the case 2. On the other hand, when the carrier 3 is fixed to a fixed member (not shown), the first oscillating gear 43 and the second oscillating gear 44 rotate together with the case 2 around the axis O relative to the carrier 3.

[0042] <Main bearing> The first main bearing 5 and the second main bearing 6 are, for example, tapered roller bearings. The first main bearing 5 is disposed between the case 2 and the base 22 of the first block 20 of the carrier 3. The first main bearing 5 includes an outer race (outer ring) 51, an inner race (inner ring) 52 disposed radially inside the outer race 51, a plurality of rollers (rolling elements or rollers) 53 disposed between the outer race 51 and the inner race 52, and a retainer (retainer) 54.

[0043] The outer race 51 has an outer shape such as a circular ring centered on the axis O. The outer race 51 contacts the first step surface 13a of the first outer race retaining portion 13 of the case 2 from the axially outer side (the first end 11a side) and is fitted into the first circumferential surface 13b of the first outer race retaining portion 13. The outer race 51 has an outer ring raceway surface (an example of an inner circumferential surface in the claims) 51a which is an inner circumferential surface inclined with respect to the axis O. The outer ring raceway surface 51a faces radially inward and axially outward (the first end 11a side).

[0044] The outer race 51 has a flange 51b that protrudes radially inward from the large-diameter end (the end on the first end 11a side, which is the axially outer side) of the outer ring raceway surface 51a. The flange 51b supports each roller 53 by contacting the end face of each roller 53. More specifically, the flange 51b restricts movement of the central axis R1 of each roller 53 (an example of the axis of the rolling element in the claims) and holds each roller 53 at a predetermined position on the outer ring raceway surface 51a.

[0045] The outer shape of the inner race 52 is, for example, a circular ring shape coaxial with the outer race 51. The inner race 52 contacts the first step surface 26b of the first inner race retaining portion 26 of the base 22 of the first block 20 from the inside in the axial direction (the second end 3b side), and is fitted into the first peripheral surface 26a of the first inner race retaining portion 26. The inner race 52 has an inner ring raceway surface 52a which is an outer peripheral surface inclined with respect to the axial direction. The inner ring raceway surface 52a faces radially outward and axially inward (the second end 3b side) so as to face the outer ring raceway surface 51a of the outer race 51.

[0046] Each roller 53 is a tapered roller having a conical trapezoidal outer shape. The central axis R1 of each roller 53 is inclined at a predetermined angle with respect to the axial direction. Each roller 53 is disposed between the outer race 51 and the inner race 52. The rollers 53 are arranged at equal intervals in the circumferential direction so that the central axis R1 is along the radial direction when viewed from the axial direction. Each roller 53 is disposed with the large diameter (lower base) 53a side of both ends in the direction of the central axis R1 facing radially outward. Each roller 53 revolves around the axis O while rolling on the outer ring raceway surface 51a of the outer race 51 and the inner ring raceway surface 52a of the inner race 52.

[0047] The cage 54 holds the rollers 53. The cage 54 includes a first annular portion 55 and a second annular portion 56 extending in the circumferential direction, and a plurality of connection portions 57 connecting the first annular portion 55 and the second annular portion 56.

[0048] The first annular portion 55 is provided at a radially inner end portion of the cage 54. The first annular portion 55 extends along first end faces of the rollers 53. The second annular portion 56 is provided axially and radially outwardly of the first annular portion 55. The second annular portion 56 extends along second end faces of the rollers 53. Each connection portion 57 extends radially when viewed from the axial direction. The multiple connection portions 57 are arranged at predetermined intervals in the circumferential direction. Each connection portion 57 extends between the outer ring raceway surface 51a of the outer race 51 and the inner ring raceway surface 52a of the inner race 52, and connects the first annular portion 55 and the second annular portion 56. The cage 54 holds the rollers 53 in pockets surrounded by a first annular portion 55, a second annular portion 56, and a pair of adjacent connection portions 57.

[0049] The second main bearing 6 is disposed between the case 2 and the second block 21 of the carrier 3. The second main bearing 6 includes an outer race (outer ring) 61, an inner race (inner ring) 62 disposed radially inside the outer race 61, and a plurality of rollers (rolling elements or rollers) 63 and a retainer (retainer) 64 disposed between the outer race 61 and the inner race 62. For example, since the second main bearing 6 is substantially the same as the first main bearing 5, a description of the second main bearing 6 will be omitted or simplified below.

[0050] The outer race 61 has an outer shape such as a circular ring centered on the axis O. The outer race 61 contacts the second step surface 14a of the second outer race retaining portion 14 of the case 2 from the axially outer side (the second end 11b side) and is fitted into the second circumferential surface 14b of the second outer race retaining portion 14. The outer race 61 has an outer ring raceway surface (an example of the inner circumferential surface in the claims) 61a which is an inner circumferential surface inclined with respect to the axial direction. The outer ring raceway surface 61a faces radially inward and axially outward (the second end 11b side). The outer race 61 is provided with a flange portion 61b that protrudes radially inward at a large diameter end portion (an end portion on the second end 11b side that is the axially outer side) of an outer ring raceway surface 61a.

[0051] The outer shape of the inner race 62 is, for example, a circular ring shape coaxial with the outer race 61. The inner race 62 contacts the second step surface 29b of the second inner race retaining portion 29 of the second block 21 from the axially inner side (the first end 3a side) via a spacer (not shown), and is fitted into the second peripheral surface 29a of the second inner race retaining portion 29. The inner race 52 has an inner ring raceway surface 62a which is an outer peripheral surface inclined with respect to the axial direction. The inner ring raceway surface 62a faces radially outward and axially inward (the first end 3a side) so as to face the outer ring raceway surface 61a of the outer race 61.

[0052] Each roller 63 is a tapered roller having a tapered trapezoidal outer shape. A central axis R2 of each roller 63 (one example of the axis of the rolling element in the claims) is inclined at a predetermined angle in the opposite direction to the rollers 53 of the first main bearing 5 with respect to the axial direction. Each roller 63 is disposed between an outer race 61 and an inner race 62. Each roller 63 is arranged at equal intervals in the circumferential direction. Each roller 63 revolves around the axis O while rolling on an outer ring raceway surface 61a of the outer race 61 and an inner ring raceway surface 62a of the inner race 62. A cage 64 holds each roller 63.

[0053] The seal portion 7 has an outer shape, for example, a circular ring shape. The seal portion 7 is disposed axially outwardly of the first main bearing 5 (closer to the first end 3a). The seal portion 7 is sandwiched radially between the case side seal portion 15 and the carrier side seal portion 27. The seal portion 7 seals an annular space formed between the case 2 and the carrier 3. The seal portion 7, for example, prevents foreign matter from entering the annular space from the outside and prevents liquid lubricant stored in the annular space from leaking out to the outside.

[0054] The gear device 1 according to the embodiment of the present invention has the above-mentioned configuration. Next, a method for assembling the gear device 1 will be described as a method for manufacturing the gear device 1.

[0055] <How to assemble the gear unit> Next, a method of assembling the gear device 1 will be described with reference to FIGS. 3 and 4 are diagrams showing a method of assembling the gear device 1 according to the embodiment. When describing the method of assembling the gear device 1, the description of the method of assembling the first main bearing 5 and the second main bearing 6 will be similar. For this reason, in the following description, the assembly method for the first main bearing 5 will be mainly described, and the assembly method for the second main bearing 6 will be described as necessary.

[0056] As shown in FIGS. 3 and 4, when the carrier 3 is assembled to the case 2, the outer race 51, the rollers 53, and the cage 54 of the first main bearing 5, and the seal portion 7 are attached to the case 2 in advance. First, as shown in FIG. 3, the outer race 51 is attached to the first outer race holding portion 13 of the case 2 (outer race attachment step).

[0057] Next, the cage 54 that holds the rollers 53 is inserted into the inside of the case 2 from the axially outer side toward the outer race 51, so that the rollers 53 come into contact with the outer ring raceway surface 51a and are held by the flange portion 51b (first installation step). This restricts the positions of the rollers 53 to predetermined positions on the outer ring raceway surface 51a. Next, the seal portion 7 is inserted into the inside of the case 2 from the outside in the axial direction, and the seal portion 7 is attached to the case side seal portion 15.

[0058] Next, as shown in FIG. 4, the inner race 52 of the first main bearing 5 is attached to the first inner race retaining portion 26 of the base 22 of the first block 20 of the first block 20 and the second block 21 of the carrier 3 that has been previously divided (inner race mounting process).

[0059] Next, the case 2 is brought close to the first block 20 along the axial direction, and the base 22 of the first block 20 is disposed inside the case 2. Accordingly, the rollers 53 held in the case 2 are brought into contact with the inner ring raceway surface 52a of the inner race 52, and the seal portion 7 is sandwiched from both radial sides by the case side seal portion 15 and the carrier side seal portion 27 (second mounting step). As a result, the rollers 53 and the cage 54 are mounted on the inner ring raceway surface 52a of the inner race 52, and the assembly of the first main bearing 5 is completed. Here, the seal portion 7 attached to the case 2 and the inner race 52 attached to the base portion 22 of the first block 20 are set so as not to interfere with each other when the case 2 and the first block 20 move relative to each other.

[0060] Similarly, the second block 21 of the carrier 3 is inserted into the inside of the case 2 along the axial direction, completing the assembly of the second main bearing 6. Then, the second block 21 is fixed to the multiple support portions 23 of the first block 20, completing the assembly of the gear device 1.

[0061] <Comparative example of gear device> In order to explain the action and effect of the above-mentioned main bearings 5 ​​and 6, a gear device 1A of a comparative example will be described below with reference to FIG. FIG. 5 is a diagram showing a part of a manufacturing method of a gear device 1A according to a comparative example of the embodiment. The differences between the gear device 1 of the above-mentioned embodiment and the gear device 1A of the comparative example are the shapes of the outer races 51, 61 and the inner races 52, 62 of the first main bearing 5 and the second main bearing 6, the position of the seal portion 7 relative to the case 2, and the size of the seal portion 7.

[0062] 5, for example, a gear device 1A of the comparative example includes an outer race 71 and an inner race 72 instead of the outer race 51 and the inner race 52 of the above-described embodiment. The outer shape of the outer race 71 of the comparative example corresponds to a shape obtained by omitting the flange portion 51b from the outer race 51 of the embodiment. The outer shape of the inner race 72 of the comparative example corresponds to a shape obtained by adding the flange portion 72b to the inner race 52 of the embodiment. The flange portion 72b of the comparative example protrudes radially outward and axially inward from the large-diameter end of the inner ring raceway surface 72a of the inner race 72.

[0063] The inner race 72 of the comparative example protrudes radially outward by a predetermined radial length Δr due to the flange portion 72b compared to the inner race 52 of the embodiment. Accordingly, the carrier side seal portion 27 is shifted radially outward by the predetermined radial length Δr. Furthermore, when the seal portion 7 and the inner race 72 are set so as not to interfere with each other as in the fifth step of the above-mentioned manufacturing method, the position of the seal portion 7 is shifted radially outward by the predetermined radial length Δr compared to the embodiment.

[0064] That is, if the radial thickness (width) of the seal portion 7 remains unchanged, the inner diameter and outer diameter of the seal portion 7 increase by a predetermined radial length Δr. In this case, for example, if the position of the outer peripheral end of the case 2 remains unchanged compared to the embodiment, the radial thickness of the case 2 at the case side seal portion 15 becomes smaller compared to the embodiment. This reduces the rigidity (mechanical strength) of the case 2. Also, for example, if the radial thickness of the case 2 remains unchanged compared to the embodiment, the position of the outer peripheral end of the case 2 shifts radially outward compared to the embodiment, and the case 2 becomes larger.

[0065] For example, in the comparative example shown in Figure 5, the radial thickness of the case 2 at the case side seal portion 15 of the embodiment is a predetermined thickness Wr (see Figure 4), but compared to this, the radial thickness of the case 2 at the case side seal portion 15 of the comparative example is smaller than the predetermined thickness Wr by a predetermined radial length Δr, and the rigidity of the case 2 is reduced.

[0066] As described above, the gear device 1 of the embodiment includes the flanges 51b, 61b that protrude radially inward at the large-diameter end of the outer ring raceway surfaces 51a, 61a of the outer races 51, 61. This makes it possible to easily assemble the gear device 1. The flanges 51b, 61b of each outer race 51, 61 support the rollers 53, 63, thereby regulating the position of each roller 53, 63 on the outer ring raceway surface 51a, 61a. This makes it possible to prevent the rollers 53, 63 from shifting in position when the inner races 52, 62 are attached to the rollers 53, 63 supported by the outer races 51, 61.

[0067] For example, the outer diameter of the inner races 52, 62 of the embodiment can be made smaller than when the inner ring raceway surface 72a is provided with a flange portion 72b like the inner race 72 of the comparative example. Accordingly, it is possible to suppress the carrier side seal portion 27 of the carrier 3 from shifting radially outward, that is, to suppress an increase in the outer diameter of the outer circumferential surface 25 of the base portion 22 of the first block 20.

[0068] Furthermore, even when the seal portion 7 and the inner race 52 are set so as not to interfere with each other, the inner diameter and the outer diameter of the seal portion 7 can be made smaller than when the inner race 72 of the comparative example is provided with the flange portion 72b. Accordingly, it is possible to prevent the radial thickness of the case 2 at the case-side seal portion 15 from becoming smaller, thereby preventing the rigidity of the case 2 from decreasing. Furthermore, it is possible to prevent the position of the outer circumferential end of the case 2 from shifting radially outward, thereby preventing the case 2 from becoming larger. While obtaining these effects, it is also possible to reliably prevent the seal portion 7 from coming into contact with the inner race 52 and being damaged when assembling the gear device 1.

[0069] The rollers 53 are arranged at equal intervals in the circumferential direction so that the central axis R1 is along the radial direction when viewed from the axial direction. The rollers 53 revolve around the axis O while rolling on the outer ring raceway surface 51a of the outer race 51 and the inner ring raceway surface 52a of the inner race 52. For this reason, it is necessary to make the movement distance of the radially outer end longer than the movement distance of the radially inner end during one rotation of the rollers 53. If the rollers 53 are not configured in this way, the rollers 53 will slip, which will reduce the drive efficiency of the main bearings 5, 6 and may shorten the product life of the rollers 53.

[0070] Here, each of the first main bearing 5 and the second main bearing 6 is a tapered roller bearing, and each of the rollers 53, 63 is a tapered roller having an outer shape of a tapered trapezoid. And, each of the rollers 53, 63 is arranged with the large diameter (lower base) 53a side of both ends in the direction of the central axes R1, R2 facing radially outward. Therefore, the circumferential length of the radially outer end of each roller 53 can be made longer than the circumferential length of the radially inner end. As a result, the moving distance of the radially outer end of each roller 53 can be made longer than the moving distance of the radially inner end while each roller 53 rolls only one rotation. Therefore, it is possible to prevent the driving efficiency of the main bearings 5, 6 from decreasing, and to extend the product life. Furthermore, by forming each of the rollers 53, 63 as a tapered roller having an outer shape of a conical trapezoid, the load resistance of each of the main bearings 5, 6 can be improved.

[0071] The reduction mechanism 4 includes a drive shaft 70 arranged, for example, coaxially with the axis O and connected to a drive source (not shown), a plurality of transmission gears 41 meshing with the drive gear 70a of the drive shaft 70, a plurality of crankshafts 42 connected to the plurality of transmission gears 41, a first oscillating gear 43, and a second oscillating gear 44. This makes it possible to provide a gear device 1 that is small in size yet has a large torque capacity.

[0072] The method for assembling the gear device 1 described above includes an outer race mounting step, an inner race mounting step, a first mounting step, and a second mounting step. During these assembly steps, the positions of the rollers 53, 63 are restricted by the flanges 51b, 61b of the outer races 51, 61, and then the inner races 52, 62 are mounted, thereby preventing the rollers 53, 63 from shifting out of position. Also, the occurrence of problems such as the rollers 53, 63 becoming caught between the outer races 51, 61 and the inner races 52, 62 can be prevented. Furthermore, since the seal portion 7 and the inner race 52 are set not to interfere with each other when the inner race 52 is attached to the rollers 53, damage to the seal portion 7 can be suppressed.

[0073] [Variations] Modifications of the embodiment will be described below. Note that the same parts as those in the above-described embodiment will be denoted by the same reference numerals and descriptions thereof will be omitted or simplified.

[0074] In the above embodiment, the first main bearing 5 and the second main bearing 6 are each a tapered roller bearing, and each of the rollers 53, 63 is a tapered roller having a truncated tapered outer shape. However, this is not limited to this, and for example, the outer shape of each of the rollers 53, 63 of the first main bearing 5 and the second main bearing 6 may be a cylindrical roller. With this configuration, the outer shape of each roller 53, 56 can be easily formed compared to when the rollers 53, 56 are formed into a truncated cone shape. Also, since the rollers 53, 56 are formed into a cylindrical shape, it is easier to restrict movement in the directions of the central axes R1, R2. This improves the reliability of the main bearings 5, 6.

[0075] In the above embodiment, the reduction mechanism 4 has been described as oscillatingly rotating the first oscillating gear 43 and the second oscillating gear 44 by the crankshafts 42 that rotate around the central axes P that are radially shifted from the axis O. However, the present invention is not limited to this. For example, the reduction mechanism 4 may include an input shaft 80 (see the two-dot chain line in FIG. 1) whose central axis is the same as the axis O and which has multiple eccentric parts 42b, instead of the drive shaft 70, drive gear 70a, transmission gear 41, and multiple crankshafts 42 of the above embodiment. Also, instead of the first oscillating gear 43 and the second oscillating gear 44 of the above embodiment, the reduction mechanism 4 may include multiple oscillating gears (for example, the first oscillating gear 43 and the second oscillating gear 44) that oscillate and rotate in conjunction with the rotation of the multiple eccentric parts 42b. Even in this configuration, the same effects as those of the above-described embodiment can be obtained.In addition, the configuration of the speed reduction mechanism 4 can be simplified.

[0076] The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention. [Explanation of symbols]

[0077] Reference Signs List 1... gear device, 2... case, 3... carrier (shaft portion), 4... reduction mechanism, 5... first main bearing (bearing), 6... second main bearing (bearing), 7... seal portion, 51, 61... outer race, 42... crankshaft (input shaft), 42b... eccentric portion, 43... first oscillating gear (oscillating gear), 44... second oscillating gear (oscillating gear), 51a, 61a... outer ring raceway surface (inner peripheral surface), 51b, 61b... flange portion, 52, 62... inner race, 53, 63... roller (rolling element), 53a... large diameter, 54, 64... retainer (retainer), 80... input shaft, P... central axis (eccentric axis), R1, R2... central axis (axis of rolling element)

Claims

1. Case and a shaft portion and an input shaft disposed inside the case; a gear mechanism that transmits rotation of the input shaft to either the case or the shaft portion; a bearing disposed between the case and the shaft portion and configured to rotatably support the shaft portion relative to the case; a seal portion arranged in line with the bearing and the shaft portion in the axial direction to seal between the case and the shaft portion; Equipped with The bearing is An inner race provided on the shaft portion; an outer race provided on the case; a plurality of rolling elements disposed between the inner race and the outer race and rotating about an axis inclined with respect to an axis of the shaft portion; a cage for holding the plurality of rolling elements; Equipped with the outer race includes a flange portion that protrudes radially inward from a large-diameter end portion of an inner circumferential surface and restricts axial movement of the plurality of rolling elements, a seal portion disposed radially outward of the inner race only in a region overlapping with the outer race when viewed in the axial direction of the shaft portion.

2. 2. The gear device according to claim 1, wherein the rolling elements are tapered rollers having a truncated conical outer shape, and the ends of the rolling elements in the axial direction that are on a larger diameter side are disposed facing radially outward.

3. The rolling elements are cylindrical rollers having a cylindrical outer shape.

2. The gear arrangement of claim 1.

4. the input shaft includes a plurality of crankshafts each having an eccentric axis that is radially offset from an axis of the shaft portion, and each of the crankshafts includes an eccentric portion that is eccentric with respect to the eccentric axis, The gear mechanism is a oscillating gear that is supported on the shaft portion and oscillates and rotates in conjunction with the rotation of the eccentric portion. A gear device according to any one of claims 1 to 3.

5. the input shaft has an eccentric portion that is disposed coaxially with an axis of the shaft portion and is eccentric with respect to the axis of the shaft portion, The gear mechanism is a oscillating gear that is supported on the shaft portion and oscillates and rotates in conjunction with the rotation of the eccentric portion. A gear device according to any one of claims 1 to 3.

6. Case and A shaft portion disposed inside the case; a plurality of crankshafts disposed inside the case, the crankshafts having eccentric axes radially offset from the axis of the shaft portions and each having an eccentric portion eccentric with respect to the eccentric axes; a plurality of oscillating gears that are supported on the shaft portion and that oscillate and rotate in conjunction with the rotation of the eccentric portion, and that transmit the rotation input to the crankshaft to either the case or the shaft portion; a bearing that is disposed between the case and the shaft portion and that rotatably supports the shaft portion relative to the case; a seal portion arranged in line with the bearing and the shaft portion in the axial direction to seal between the case and the shaft portion; Equipped with The bearing is An inner race provided on the shaft portion; an outer race provided on the case; a plurality of rolling elements disposed between the inner race and the outer race and rotating about an axis inclined with respect to an axis of the shaft portion; a cage that holds the plurality of rolling elements, the outer race includes a flange portion that protrudes radially inward from a large-diameter end portion of an inner circumferential surface and restricts axial movement of the plurality of rolling elements, a seal portion disposed radially outward of the inner race only in a region overlapping with the outer race when viewed in the axial direction of the shaft portion.

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