Eccentric oscillating 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 an oscillating gear, and a flange member having a shaft member inserted into a hollow portion of the crankshaft. An inner bearing is disposed between the inner periphery of the crankshaft and the outer periphery 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] Japanese Patent Application Laid-Open No. 2017-141915 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 limit 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 increases the cost of machining and assembling the parts, which is disadvantageous in terms of cost.

[0005] SUMMARY OF THE INVENTION The object of the present invention is to provide an eccentric oscillating gear device that can reduce the number of parts. [Means for solving the problem]

[0006] In order to solve the above problems, one aspect of the present invention provides an eccentric oscillating gear device including 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, wherein the crankshaft has a hollow portion. The flange member has a shaft member inserted into the hollow portion. An inner bearing is disposed between the inner periphery of the crankshaft and the outer periphery of the shaft member, and the flange member has a restricting member integrated with the crankshaft that 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 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 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. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide an eccentric oscillating gear device that can reduce the number of parts. [Brief explanation 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. [Figure 2] FIG. 10 is a side cross-sectional view of an eccentric oscillating gear device according to a second embodiment. [Figure 3]FIG. 10 is a side cross-sectional view of an eccentric oscillating gear device according to a third embodiment.

[0011] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modifications, identical or equivalent components and members are designated by the same reference numerals, and redundant explanations will be omitted where appropriate. The dimensions of the members in the drawings are enlarged or reduced as appropriate to facilitate understanding. Some members that are not important for explaining the embodiments will be omitted from the drawings.

[0012] Furthermore, separate components that share something in common are distinguished by prefixing their names with ordinal numbers such as "first" and "second," and these numbers are omitted when referring to them collectively. Furthermore, terms including ordinal numbers such as "first" and "second" are used to describe various components, but these terms are used only to distinguish one component from another, and do not limit the components.

[0013] [First embodiment] The configuration of an eccentric oscillating 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 schematically shows the gear device 100. The gear device 100 includes a crankshaft 11, eccentric bodies 12 and 13, external gears 14 and 15, an internal gear 16, eccentric bearings 34 and 35, a carrier 18, restricting members 41 and 42, a power transmission member 82, a connecting portion 44, an inner restricting member 46, casings 21, 22, and 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. Also, hereinafter, for convenience, one side in the axial direction (the right side in the drawing) will be referred to as the input side, and the other side (the left side in the drawing) will be referred to as the non-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, and 23 function as outer shells that house the components of the gear device 100, such as the external gears 14 and 15. The casings 21, 22, and 23 of this embodiment are formed by combining multiple casing members. In this example, the casings 21, 22, and 23 are formed by combining a first casing member 21, a second casing member 22 that is disposed on the anti-input side of the first casing member 21, and a third casing member 23 that is disposed 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 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 the central axis La. The crankshaft 11 is rotatable by rotational power transmitted from the motor 96. In this embodiment, two eccentric bodies 12 and 13, which 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 and 13 oscillate the external gears 14 and 15. Of the two eccentric bodies 12 and 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 peripheral protrusion 116 on its outer periphery that protrudes radially from the outer peripheral surface. The crankshaft 11 has a plurality of (e.g., three) tapped holes 118 provided in its input-side 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-side 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 axes of the eccentric bodies 12, 13 are eccentric with respect to the central axis La of the internal gear 16, and the rotation of the eccentric bodies 12, 13 around the central axis La causes the external gears 14, 15 to oscillate. The external gears 14, 15 are individually provided 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 arranged on the input side of the second eccentric bearing 35.

[0022] In the example of FIG. 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 due to the driving of the motor 96, the rotation speed of the pinion 98 and the input gear 28 is changed and 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. Inner pins 19 are inserted into the inner pin holes 144, 154. Teeth formed on the outer peripheries 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 arranged on the input side of the second external gear 15. A spacer 17 is arranged 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 the carrier 18 restricts axial movement of the second external gear 15 towards the non-input side.

[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 non-input side of the second external gear 15. The carrier 18 rotates in synchronization with the rotation components of the external gears 14 and 15, and outputs the rotation component to a driven device (not shown). Alternatively, the internal gear 16 may rotate on its own axis instead of the carrier 18, and output the rotation component to the driven device via casings 21, 22, and 23.

[0028] As described above, the carrier 18 functions as a flange disposed axially opposite the crankshaft 11. The carrier 18 has a disc-shaped carrier body 182, a plurality of inner pins 19 protruding from the carrier body 182 toward the input side, and a circumferential protrusion 184 protruding from the carrier body 182 toward the input side. The carrier body 182 and the circumferential protrusion 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 is fitted. In this example, the shaft member 38 is formed as a separate member 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 also 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, and 23. The main bearing 24 in this example is disposed on the non-input side of the external gears 14 and 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 axially from the inner periphery of the disk portion 416 toward the non-input side. The disk portion 416 axially faces the input side of the crankshaft 11. The circumferential protruding portion 418 is provided circumferentially and fits onto 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 (e.g., three) tapped holes 412 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. In this example, the tapped holes 412 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 inserting a bolt B5 into the through hole 282 from the input side and screwing it into the tapped hole 412.

[0035] A plurality of (for example, three) through holes 414 are formed in the disk portion 416 of the input-side restricting member 41. The through holes 414 are arranged at predetermined intervals in the circumferential direction at positions offset from the central axis La. The through holes 414 are formed at 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 inserting bolts B2 into the through holes 414 from the input side and threading them into the tapped holes 118.

[0036] The non-input side restricting member 42 is a hollow annular member disposed 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 axially from the inner periphery of the disk portion 422 toward the input side. The disk portion 422 faces the non-input side of the crankshaft 11 in the axial direction. The circumferential protruding portion 424 fits onto the inner periphery 114 of the crankshaft 11.

[0037] A plurality of (for example, three) through holes 426 are formed in the disk portion 422 of the counter-input side restricting member 42. The through holes 426 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 counter-input side restricting member 42 is connected to and integrated with the crankshaft 11 by inserting a bolt B3 into the through hole 426 from the counter-input side and threading it into the tapped hole 119.

[0038] The eccentric bearings 34, 35 have multiple rolling elements 342, 352 arranged at predetermined intervals circumferentially around the outer peripheries 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 inner and / or outer rings, but in this example, they do not have dedicated inner and outer rings. The outer peripheries of the eccentric bodies 12, 13 function as inner ring-side rolling surfaces, and the inner peripheries of the external gears 14, 15 function as outer ring-side rolling surfaces. The rolling element 342 is sandwiched axially between the input-side restricting member 41 and the outer peripheral protrusion 116. The input-side restricting member 41 restricts axial movement of the rolling element 342 toward the input side, and the outer peripheral protrusion 116 restricts axial movement of the rolling element 342 toward the non-input side. The rolling element 352 is sandwiched in the axial direction between the non-input side restricting member 42 and the outer peripheral protrusion 116. The axial movement of the rolling element 352 toward the non-input side is restricted by the non-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 arranged 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 dedicated inner and outer rings. The outer periphery 383 of the shaft member 38 functions as the inner ring side rolling surface, and the inner periphery 114 of the crankshaft 11 functions as the outer ring side rolling surface. The inner bearing 30 may or may not have a retainer.

[0041] The inner restricting member 46 is a hollow annular member provided coaxially with the central axis La. The inner restricting member 46 is fixed to the shaft member 38 by a washer W1. In this example, the inner restricting member 46 is fitted onto the outer periphery of the extending portion 384 of the shaft member 38. Axial movement of the inner restricting member 46 toward the input side is restricted at its input side by the washer W1 fitted into the circumferential groove G1 of the shaft member 38. The inner restricting member 46 is housed in the hollow portion 411 of the input-side restricting member 41, and faces the inner bearing 30 in the axial direction within the hollow portion 411. With this configuration, 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 described above will now be described. When rotational power is transmitted from the motor 96 to the crankshaft 11, the crankshaft 11 rotates about the rotation center line La, and the eccentric bodies 12 and 13 cause the external gears 14 and 15 to oscillate. When the external gears 14 and 15 oscillate, the meshing positions of the external gears 14 and 15 and the internal gear 16 sequentially shift in the circumferential direction. As a result, with each rotation of the crankshaft 11, the external gears 14 and 15 rotate together with the carrier 18 by an amount corresponding to the difference in the number of teeth between the external gears 14 and 15 and the internal gear 16 (for example, 1). 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 and 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 below. The gear device 100 is an eccentric oscillating gear device that includes the external gear 14 (oscillating gear 84), the crankshaft 11 having eccentric bodies 12 and 13 that oscillate and rotate the external gear 14, eccentric bearings 34 and 35 that are arranged between the external gear 14 and the eccentric bodies 12 and 13, and a carrier 18 (flange member 86) that is arranged axially opposite the crankshaft 11. 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 periphery 114 of the crankshaft 11 and the outer periphery 383 of the shaft member 38, and the restricting members 41 and 42 that restrict movement of the inner bearing 30 also serve to restrict movement of the eccentric bearings 34 and 35, making it possible to make the gear device 100 more compact in the axial direction. Because the same members are used for both purposes, the number of parts can be reduced, which is also advantageous in terms of cost.

[0045] Second and third embodiments of the present invention will be described below. In the drawings and descriptions of the second and third embodiments, components and members that are the same as or equivalent to those in the first embodiment will be given the same reference numerals. Explanations that overlap with those in the first embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the first embodiment. Therefore, the explanations of the first embodiment will be applied 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 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 schematically 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 periphery of the hollow portion 411 of the input-side restricting member 41, and is connected to the spline 93 (external teeth) formed on the motor shaft 97. When the motor shaft 97 is fitted into the hollow portion 411, the spline 93 meshes with the spline 419, and the input-side restricting 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 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 schematically illustrates the gear device 100 according to this embodiment. The motor 96 and the power transmission member 82 are not shown in this figure. This embodiment differs from the first embodiment in that an input-side protrusion 113 is provided on the crankshaft 11, the configuration of the input-side restricting member 41 is different, and the inner bearing 30 has an inner ring 304 and a spacer member 48. The remaining configuration is the same as that of the first embodiment. Therefore, the following description will focus mainly on the input-side protrusion 113, the input-side restricting member 41, and the spacer member 48. The inner ring 304 is an annular member that surrounds the outer periphery 383 of the shaft member 38, and its outer periphery is provided with an inner ring-side rolling surface along which the rolling elements 302 roll.

[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 is fitted. 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 plurality of tapped holes 117 are drilled at predetermined intervals in the circumferential direction at positions offset from the central axis La.

[0051] While the input-side restricting member in the first embodiment also restricts the axial movement of the inner bearing 30, the input-side restricting member 41 in this embodiment does not restrict movement of the inner bearing 30. The input-side restricting member 41 in this example axially faces the input side of the first eccentric bearing 34 and restricts 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 main body 182 and the shaft main body 111, and is provided so as to be slidable relative to the carrier 18 and the crankshaft 11. With this configuration, the carrier 18, via the spacer member 48, functions 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 toward the anti-input side.

[0053] In the present embodiment, the inner restricting member 46 is fitted 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 axial movement of the crankshaft 11 toward 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 exemplary embodiments of the present invention. The above-described embodiments merely illustrate specific examples of implementing the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design modifications, such as changes, additions, and deletions of components, are possible within the scope of the inventive concept defined in the claims. In the above-described embodiments, content that allows such design modifications is described using notations such as "in the embodiment" or "in the embodiment," but this does not mean that design modifications are not permitted in content that does not have such notations. Furthermore, hatching on cross sections in the drawings does not limit the material of the hatched object.

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

[0058] In the description of the embodiment, an example in which the number of eccentric bodies 12, 13 is two is 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 shown in which the oscillating gear 84 is the external gear 14, but the oscillating gear 84 may also 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 these. Various known power transmission means such as a pulley can be used as the power transmission member.

[0061] In the description of the embodiment, examples in which the connecting portion 44 is the tapped hole 412 and the spline have been shown, but the present invention is not limited to these. Various known connecting means can be used as the connecting portion, and for example, a key connecting portion may also 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 modifications 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 combined 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 restricting 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 item 1, wherein the connecting portion is a tapped hole for fixing the power transmission member with a bolt.

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

[0068] (Item 4) 4. The gear device according to any one of items 1 to 3, wherein the restricting member also restricts 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) Item 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 restricting member fixed to the shaft member and restricting 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 non-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 peripheral protrusion, 118 tapped hole, 383 outer circumference.

Claims

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 and an input-side tapped hole provided in an input-side end face, 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; an input-side restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing; The input-side regulating member is an eccentric oscillating gear device having a disk portion with a through hole formed at a position corresponding to the input-side tapped hole, and a connecting portion that connects a power transmission member that transmits power to the crankshaft.

2. 2. The gear device according to claim 1, wherein the connecting portion is a tapped hole for fastening the power transmission member with a bolt.

3. 2. The gear device according to claim 1, wherein the connecting portion is a spline provided on the inner periphery of the input side restricting member.

4. the input-side restricting member has a circumferential protruding portion that protrudes from the disk portion to the opposite side in the axial direction, The gear device according to claim 1 , wherein the circumferential protrusion faces an input side surface of the inner bearing.

5. a counter-input side restricting member that is integrated with the crankshaft and restricts axial movement of the eccentric bearing; the crankshaft has a counter-input side tapped hole provided in an end surface on the counter-input side, 4. The gear device according to claim 1, wherein the counter-input-side restricting member has a disk portion having a through hole formed at a position corresponding to the counter-input-side tapped hole.

6. the counter-input-side restricting member has a circumferential protruding portion that protrudes from the disk portion toward the input side in the axial direction, The gear device according to claim 5 , wherein the circumferential protrusion faces a side surface of the inner bearing on the opposite input side.

7. 4. The gear device according to claim 1, wherein the flange member has a disk-shaped carrier body, a plurality of inner pins protruding from the carrier body toward the input side, and a circumferential protrusion protruding from the carrier body toward the input side.

8. the input-side restricting member further includes a hollow portion, 4. The gear device according to claim 1, wherein the shaft member has an inner regulating member that is housed in the hollow portion and faces the inner bearing in the axial direction within the hollow portion, thereby regulating axial movement of the inner bearing toward the input side.

9. 2. The gear device according to claim 1, wherein the shaft member is formed as a separate member from the flange member, and is press-fitted into a carrier hole of the flange member to be integrated with the flange member.

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