Eccentric oscillating gear system
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- SUMITOMO HEAVY IND LTD
- Filing Date
- 2022-12-16
- Publication Date
- 2026-06-19
Smart Images
Figure 0007876430000001 
Figure 0007876430000002 
Figure 0007876430000003
Abstract
Description
Technical Field
[0001] The present invention relates to an eccentric swing type gear device.
Background Art
[0002] Patent Documents 1 and 2 disclose an eccentric swing type gear device. In such an eccentric swing gear device, an eccentric body shaft is supported by a housing, a carrier, etc. via an input bearing, an eccentric body of the eccentric body shaft is attached to a swing gear via an eccentric body bearing, and the swing gear meshes with a meshing gear. When the eccentric body shaft is driven, the swing gear rotates while being swung by the eccentric body, and the rotational movement of the swing gear is transmitted to the carrier. Foreign substances such as wear powder are generated from the meshing portion between the swing gear and the meshing gear, etc.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Patent Document 2
Summary of the Invention
Problems to be Solved by the Invention
[0004] When foreign substances enter the bearing or its rolling surface, the bearing, the eccentric body shaft, etc. are damaged prematurely.
[0005] An object of the present invention is to provide an eccentric swing type gear device capable of suppressing the intrusion of foreign substances.
Means for Solving the Problems
[0006] The eccentric swing type gear device according to one aspect of the present invention is An eccentric oscillating gear device comprising: an eccentric body; a first oscillating gear and a second oscillating gear that are oscillated by the eccentric body; a spacer member positioned axially between the first oscillating gear and the second oscillating gear; and a pin inserted through a pin hole provided in the first oscillating gear and the second oscillating gear, The spacer member is arranged to extend from the region radially outward of the pin to the region radially inward of the pin. 、 Multiple pins are arranged circumferentially at intervals, the spacer member is an annular plate member, multiple insertion holes formed in the spacer member are arranged circumferentially at intervals, and the multiple pins are inserted through each of the multiple insertion holes. An eccentric oscillating gear device according to one aspect of the present invention is: An eccentric oscillating gear device comprising: an eccentric body; a first oscillating gear and a second oscillating gear that are oscillated by the eccentric body; a spacer member positioned axially between the first oscillating gear and the second oscillating gear; and a pin inserted through a pin hole provided in the first oscillating gear and the second oscillating gear, The spacer member is positioned from the region radially outward of the pin to the region radially inward of the pin, The system further comprises a first eccentric bearing disposed between the first oscillating gear and the eccentric body, and a second eccentric bearing disposed between the second oscillating gear and the eccentric body. The spacer member is positioned axially between the first eccentric bearing and the second eccentric bearing.
[0007] An eccentric oscillating gear device according to one aspect of the present invention is: An eccentric oscillating gear device comprising: an eccentric shaft having an eccentric body; an oscillating gear oscillating by the eccentric body; an eccentric bearing disposed between the oscillating gear and the eccentric body; an input bearing supporting the eccentric shaft; a carrier member supporting the outer ring of the input bearing; and a regulating member disposed between the input bearing and the eccentric bearing to restrict the axial movement of the eccentric bearing, wherein The regulating member has a radially extending portion that faces the carrier member located radially outward from the outer ring of the input bearing in the axial direction. 、 The regulating member extends radially outward beyond the eccentric body bearing in the direction of maximum eccentricity of the eccentric body.
[0008] An eccentric oscillating gear device according to one aspect of the present invention is: An eccentric oscillating gear device comprising: an eccentric shaft having an eccentric body; an oscillating gear that is oscillated by the eccentric body; an eccentric bearing disposed between the oscillating gear and the eccentric body; an input bearing that supports the eccentric shaft; a carrier member that supports the outer ring of the input bearing; and a restricting member disposed between the input bearing and the eccentric bearing that restricts the axial movement of the eccentric bearing, The regulating member has a carrier member located radially outward of the outer ring of the input bearing or a protruding portion protruding toward the outer ring of the input bearing.
Advantages of the Invention
[0009] According to the present invention, an eccentric swing type gear device capable of suppressing the intrusion of foreign matter can be provided.
Brief Description of the Drawings
[0010] [Figure 1] It is a cross-sectional view showing an eccentric swing type gear device according to Embodiment 1. [Figure 2] It is a cross-sectional view of the surface along II-II shown in FIG. 1. [Figure 3] It is an enlarged cross-sectional view of the region III shown in FIG. 1. [Figure 4] It is a cross-sectional view showing an eccentric swing type gear device according to Embodiment 2. [Figure 5] It is an enlarged cross-sectional view of the region V shown in FIG. 4. [Figure 6] It is an enlarged cross-sectional view of the main part of an eccentric swing type gear device according to Embodiment 3. [Figure 7] It is an enlarged cross-sectional view of the main part of an eccentric swing type gear device according to Embodiment 3.
Modes for Carrying Out the Invention
[0011] Hereinafter, one or more embodiments will be described with reference to the drawings, and the features and technical effects of the embodiments will be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. Since the drawings are provided for illustrative purposes only, the scope of the present invention is not limited to the examples shown in the drawings. The same or equivalent components, members, and steps shown in each drawing are denoted by the same reference numerals, and repeated explanations are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important in explaining the embodiments in each drawing are shown with omission. Terms including ordinal numbers such as "first" and "second" are used to describe various components, but the ordinal numbers of these terms are used only for the purpose of distinguishing one component from another, and the components are not limited by the ordinal numbers of these terms.
[0012] (Embodiment 1) FIG. 1 is a cross-sectional view of an eccentric swing type gear device 100. FIG. 2 is a cross-sectional view showing the plane along II-II shown in FIG. 1 as viewed in the arrow direction. FIG. 3 is an enlarged view showing an enlarged III region shown in FIG. 1.
[0013] The overall configuration of the eccentric swing type gear device 100 will be described. The eccentric swing type gear device 100 includes an eccentric body shaft 12, swing gears 14 and 15, meshing gears 16, a carrier 20, a casing 22, a main bearing 24, an oil seal 25, input bearings 30 and 32, eccentric body bearings 34 and 35, an inner pin 38, an intermediate seat 51, regulating members 53 and 55, and a spacer member 61.
[0014] The eccentric shaft 12 (especially its shaft body 12a), the meshing gear 16, and the carrier 20 are coaxial. The direction along the central axis C1 common to the eccentric shaft 12 (especially its shaft body 12a), the meshing gear 16, and the carrier 20 is called the "axial direction," the direction around the central axis C1 is called the "circumferential direction," the direction perpendicular to the central axis C1 is called the "radial direction," the direction toward the central axis C1 along the radius perpendicular to the central axis C1 is called the "radial inward direction," and the direction away from the central axis C1 along the radius perpendicular to the central axis C1 is called the "radial outward direction." The central axis C1 extends to the left and right in Figure 1, with the right side in Figure 1 being one side in the axial direction and called the "input side." The left side in Figure 1 is the other side in the axial direction and is called the "anti-input side." The directional notation described above does not restrict the orientation in which the eccentric oscillating gear unit 100 is used, and the eccentric oscillating gear unit 100 can be used in any orientation.
[0015] The eccentric oscillating gear unit 100 is a reduction gear that converts the rotation of the eccentric shaft 12 into the rotation of the carrier 20 or casing 22 in a reduced manner. The eccentric oscillating gear unit 100 causes the oscillating gears 14 and 15 to oscillate by the rotation of the eccentric shaft 12, thereby causing one of the oscillating gears 14 and 15 and the meshing gear 16 to rotate on its own axis, and the rotational component of this rotation is output from the carrier 20 or casing 22. The meshing gear 16 is a gear that meshes with the oscillating gears 14 and 15. One of the oscillating gears 14 and 15 and the meshing gear 16 is an external gear, and the other is an internal gear positioned on the outer circumference of the external gear. In this embodiment, the eccentric oscillating gear device 100 is an external-toothed eccentric oscillating gear device in which the oscillating gears 14 and 15 are external gears. However, the present invention may also be applied to an internal-toothed eccentric oscillating gear device in which the oscillating gears are internal gears. In this embodiment, the eccentric oscillating gear device 100 is a center-crank type eccentric oscillating gear device in which an eccentric shaft 12 for oscillating the oscillating gears 14 and 15 is positioned in the center of the oscillating gears 14 and 15. However, the eccentric oscillating gear device 100 may also be a distribution type eccentric oscillating gear device in which a plurality of eccentric shafts 12 for oscillating the oscillating gears 14 and 15 are positioned off-center from the center of the oscillating gears 14 and 15.
[0016] The casing 22 constitutes the outer shell of the eccentric oscillating gear unit 100. The casing 22 is hollow. The casing 22 has a first casing member 22a, a second casing member 22b, and a third casing member 22c that are stacked in order toward the non-input side. The first casing member 22a and the third casing member 22c are fixed to the second casing member 22b by a plurality of bolts. The first casing member 22a is plate-shaped and has a support hole 22e in its center. The second casing member 22b is cylindrical and has a hollow in its center. The third casing member 22c is cylindrical and has a hollow in its center. The support hole 22e of the first casing member 22a, the hollow of the second casing member 22b, and the hollow of the third casing member 22c are in communication with each other.
[0017] The carrier 20 is housed inside the casing 22 at the non-input side of the casing 22 and is rotatable relative to the casing 22. The carrier 20 has a first carrier member 20a and a second carrier member 20b stacked in order from the input side to the non-input side. These carrier members 20a and 20b are fixed to each other by bolts. The carrier members 20a and 20b are cylindrical in shape.
[0018] Multiple internal pins 38 are integrated into the carrier 20, particularly the first carrier member 20a. These internal pins 38 are spaced apart and arranged circumferentially. The internal pins 38 protrude from the first carrier member 20a toward the input side. Each internal pin 38 is inserted into a roller 39, and the roller 39 rotates around the internal pins 38.
[0019] The main bearing 24 is positioned between the inner circumference of the casing 22, more specifically the inner circumference of the third casing member 22c, and the outer circumference of the carrier 20, more specifically the outer circumference of the first carrier member 20a. The main bearing 24 rotatably supports the carrier 20 in the casing 22. The main bearing 24 is a rolling bearing, such as a roller bearing or a ball bearing, and more specifically a cross-roller bearing. The main bearing 24 may be of other types.
[0020] The oil seal 25 is positioned on the axially outer side (non-input side) of the main bearing 24, between the inner circumference of the casing 22, more specifically the non-input end of the inner circumference of the third casing member 22c, and the outer circumference of the carrier 20, more specifically the outer circumference of the second carrier member 20b.
[0021] The input bearings 30 and 32 are spaced apart and arranged sequentially from the input side to the non-input side. Input bearing 30 is supported inside the casing 22. More specifically, input bearing 30 is supported by the first casing member 22a within the support hole 22e. Input bearing 30 rotatably supports the eccentric shaft 12 on the casing 22, more specifically the first casing member 22a. Input bearing 32 is supported on the inner circumference of the carrier 20, more specifically the inner circumference of the first carrier member 20a. Input bearing 32 rotatably supports the eccentric shaft 12 on the carrier 20, more specifically the first carrier member 20a. The input bearings 30 and 32 are ball bearings, but rolling bearings other than ball bearings may also be used. The inner rings 30a and 32a of the input bearings 30 and 32 are formed separately from the eccentric shaft 12, but the inner rings 30a and 32a of either the input bearing 30 or the input bearing 32, or both, may be integrally formed with the eccentric shaft 12. The outer ring 30b of the input bearing 30 is formed separately from the first casing member 22a, but may be integrally formed with the first casing member 22a. The outer ring 32b of the input bearing 32 is formed separately from the first carrier member 20a, but may be integrally formed with the first carrier member 20a. In this embodiment, the input bearing 30 is a shielded bearing, while the input bearing 32 is not a shielded bearing, but this is not limited to this, and the input bearing 30 does not have to be a shielded bearing, and the input bearing 32 may be a shielded bearing.
[0022] The eccentric shaft 12 receives rotational power from a drive device (not shown) and is rotated by that rotational power. The drive device is a prime mover such as a motor, gear motor, or engine.
[0023] The eccentric shaft 12 has a shaft body 12a and eccentric bodies 12b and 12c. The shaft body 12a extends in the axial direction. The shaft body 12a is connected to a drive unit, and the rotational power of the drive unit is transmitted to the shaft body 12a. The shaft body 12a is mounted on input bearings 30 and 32 and is rotatably supported by the input bearings 30 and 32 coaxially with the carrier 20 and the meshing gear 16. The eccentric shaft 12 may have a hollow shaft that extends axially from the input end face to the non-input end face of the shaft body 12a. The eccentric bodies 12b and 12c are integrally formed with the shaft body 12a. The eccentric bodies 12b and 12c are close to each other with an axial gap between them. The first eccentric body 12b has a cylindrical surface on its outer circumference with an eccentric axis E1 that is eccentric to the central axis C1 as its central axis. The second eccentric body 12c has a cylindrical surface on its outer circumference with an eccentric axis E2 that is eccentric to the central axis C1 as its central axis. The eccentric axes E1 and E2 are positioned opposite each other with respect to the central axis C1, and the phase in the eccentric direction from the central axis C1 to the eccentric axis E1 is shifted by 180° from the phase in the eccentric direction from the central axis C1 to the eccentric axis E2. Phase refers to the angle of rotation around the central axis C1. Furthermore, the eccentricity direction from the central axis C1 to the eccentric axis E1 is the maximum eccentricity direction of the first eccentric body 12b, and the eccentricity direction from the central axis C1 to the eccentric axis E2 is the maximum eccentricity direction of the second eccentric body 12c.
[0024] The first oscillating gear 14 has a circular hole in its center, and the first eccentric body 12b is inserted into the circular hole of the first oscillating gear 14 via the first eccentric body bearing 34, and the first oscillating gear 14 is rotatably supported on the first eccentric body 12b via the first eccentric body bearing 34. The first oscillating gear 14 is coaxial with the first eccentric body 12b, and the axis of rotation of the first oscillating gear 14 is eccentric from the central axis C1. Similarly to the first oscillating gear 14, the second oscillating gear 15 is rotatably supported on the second eccentric body 12c via the second eccentric body bearing 35.
[0025] The first eccentric bearing 34 has a plurality of rolling elements 34a. These rolling elements 34a are arranged in the circumferential direction of the outer circumference of the first eccentric body 12b, between the inner circumference of the circular hole of the first oscillating gear 14 and the outer circumference of the first eccentric body 12b. Therefore, the outer circumference of the first eccentric body 12b is the inner ring of the first eccentric bearing 34, and the inner circumference of the first oscillating gear 14 is the outer ring of the first eccentric bearing 34. The rolling elements 34a roll on the outer circumference of the first eccentric body 12b and the inner circumference of the first oscillating gear 14. The rolling elements 34a are rollers. Roller-type rolling elements 34a contribute to improving the load capacity of the first eccentric bearing 34 compared to spherical rolling elements. Similar to the first eccentric bearing 34, the second eccentric bearing 35 also has a plurality of rolling elements 35a arranged in the circumferential direction of the outer circumference of the second eccentric body 12c, between the inner circumference of the circular hole of the second oscillating gear 15 and the outer circumference of the second eccentric body 12c. The first eccentric bearing 34 and the second eccentric bearing 35 may also have an outer ring separate from the first oscillating gear 14 and the second oscillating gear 15, and an inner ring separate from the first eccentric body 12b and the second eccentric body 12c.
[0026] The first oscillating gear 14 has multiple pin holes 14a around a central circular hole. These pin holes 14a penetrate the first oscillating gear 14 in the axial direction. These pin holes 14a are spaced apart in the circumferential direction around the rotation axis of the first oscillating gear 14. A pair of an inner pin 38 and a roller 39 is inserted into each pin hole 14a. The outer diameters of the inner pin 38 and the roller 39 are smaller than the inner diameter of the pin hole 14a, and the outer circumference of the roller 39 is partially in contact with the inner circumference of the pin hole 14a. Similar to the first oscillating gear 14, the second oscillating gear 15 also has multiple pin holes 15a, and a pair of an inner pin 38 and a roller 39 is inserted into each pin hole 15a. Alternatively, the roller 39 may be omitted, and the inner pin 38 may be inserted into the pin holes 14a and 15a, with the outer circumference of the inner pin 38 partially contacting the inner circumference of the pin holes 14a and 15a. In this case, the outer diameter of the inner pin 38 is equal to the outer diameter of the roller 39.
[0027] The first oscillating gear 14 has a plurality of external teeth formed on its outer circumference. On the other hand, the meshing gear 16 is formed on the inner circumference of the casing 22, specifically on the inner circumference of the second casing member 22b, and the meshing gear 16 has a plurality of internal teeth, and the first oscillating gear 14 meshes with the meshing gear 16. Similar to the first oscillating gear 14, the second oscillating gear 15 has the same number of external teeth as the first oscillating gear 14 on its outer circumference, and the second oscillating gear 15 meshes with the meshing gear 16. The internal teeth of the meshing gear 16 may be integrally formed on the inner circumference of the second casing member 22b, or they may be composed of pin members rotatably arranged in pin grooves provided on the inner circumference of the second casing member 22b. Wear particles are easily generated at the meshing portion between the oscillating gears 14, 15 and the meshing gear 16.
[0028] The number of teeth on the first oscillating gear 14 and the second oscillating gear 15 is less than the number of teeth on the meshing gear 16. For example, the number of teeth on the first oscillating gear 14 and the second oscillating gear 15 is one or two less than the number of teeth on the meshing gear 16. When the eccentric shaft 12 rotates, the oscillating gears 14 and 15 rotate while oscillating, so the meshing position of the first oscillating gear 14 and the meshing gear 16 moves circumferentially, and the meshing position of the second oscillating gear 15 and the meshing gear 16 moves circumferentially with a 180° phase difference from the meshing position of the first oscillating gear 14 and the meshing gear 16.
[0029] As the oscillating gears 14 and 15 rotate while oscillating due to the rotation of the eccentric shaft 12, the inner pin 38 revolves around the central axis C1, and the rotational motion component of the oscillating gears 14 and 15 is transmitted to the carrier 20 by the inner pin 38. As a result, reduced rotation is extracted from the carrier 20. Since the outer diameter of the roller 39 is smaller than the inner diameter of the pin holes 14a and 15a, the oscillating motion component of the oscillating gears 14 and 15 is not transmitted to the carrier 20. If the carrier 20 is fixed to an external member, the revolving of the inner pin 38 and the rotation of the first oscillating gear 14 and the second oscillating gear 15 are constrained, and reduced rotation is extracted from the meshing gear 16 and the casing 22. In other words, the inner pin 38 can be said to be a member that synchronizes with the rotational components of the first oscillating gear 14 and the second oscillating gear 15.
[0030] The spacer 51 is fixed to the inner surface of the hollow input side of the casing 22. Specifically, the spacer 51 is shaped like a ring, and its outer circumference is sandwiched between the first casing member 22a and the second casing member 22b. The spacer 51 is sandwiched axially between the first casing member 22a and the first oscillating gear 14, and the gap between the first casing member 22a and the first oscillating gear 14 is filled by the spacer 51. The spacer 51 also abuts against the axial end face of the roller 39. The spacer 51 is made of a material with higher hardness than the first casing member 22a, preventing wear of the first casing member 22a due to sliding with the first oscillating gear 14 and the roller 39.
[0031] The spacer 51 surrounds the shaft body 12a of the eccentric shaft 12 in the circumferential direction and is radially outward from the outer circumference of the shaft body 12a of the eccentric shaft 12. A regulating member 53 is positioned between the inner circumference of the spacer 51 and the outer circumference of the shaft body 12a.
[0032] The restricting member 53 is separate from the eccentric shaft 12 and is provided in a ring shape so as to surround the shaft body 12a of the eccentric shaft 12 in the circumferential direction. The restricting member 53 is sandwiched axially between the first eccentric body 12b and the inner ring 30a of the input bearing 30, and the axial movement of the restricting member 53 is restricted by the first eccentric body 12b and the input bearing 30. The restricting member 53 contacts the input-side end faces of the multiple rolling elements 34a, and the restricting member 53 prevents the rolling elements 34a from coming out (axial movement) of the circular holes of the first oscillating gear 14. The restricting member 53 has a cylindrical portion 53a that is externally mounted on the shaft body 12a of the eccentric shaft 12, and a radially extending portion 53b that protrudes radially outward from the non-input side end of the cylindrical portion 53a. The cylindrical portion 53a protrudes toward the input side from the inner circumference of the radially extending portion 53b and is sandwiched axially between the first eccentric body 12b and the inner ring 30a of the input bearing 30. The radially extending portion 53b is separated from the input bearing 30 and is in contact with the rolling element 34a. The radially extending portion 53b is also called a flange.
[0033] A regulating member 55 is positioned away from the regulating member 53 on the non-input side. The regulating member 55 is separate from the eccentric shaft 12 and is provided in a ring shape so as to surround the shaft body 12a of the eccentric shaft 12 in the circumferential direction. The regulating member 55 is sandwiched axially between the second eccentric body 12c and the inner ring 32a of the input bearing 32, and the axial movement of the regulating member 55 is restricted by the second eccentric body 12c and the input bearing 32. The regulating member 55 contacts the non-input side end faces of the multiple rolling elements 35a, and the regulating member 55 prevents the rolling elements 35a from coming out (axial movement) of the circular hole of the second oscillating gear 15. The regulating member 55 has a cylindrical portion 55a that is externally mounted on the shaft body 12a of the eccentric shaft 12, and a radially extending portion 55b that protrudes radially outward from the input side end of the cylindrical portion 55a. The cylindrical portion 55a protrudes from the inner circumference of the radially extending portion 55b toward the non-input side and is sandwiched axially between the second eccentric body 12c and the inner ring 32a of the input bearing 32. The radially extending portion 55b is separated from the input bearing 32 and is in contact with the rolling element 35a.
[0034] A spacer member 61 is positioned between the regulating member 53 and the regulating member 55. The spacer member 61 is separate from the eccentric shaft 12. The spacer member 61 is an annular plate member provided so as to surround the shaft body 12a of the eccentric shaft 12 in the circumferential direction. Therefore, the spacer member 61 has a through hole 61b in the center through which the shaft body 12a of the eccentric shaft 12 passes. The spacer member 61 is sandwiched axially between the first oscillating gear 14 and the second oscillating gear 15, and the gap between the first oscillating gear 14 and the second oscillating gear 15 is filled by the spacer member 61. In this specification, being sandwiched axially between a member (first oscillating gear 14) and a member (second oscillating gear 15) includes not only cases where the member (first oscillating gear 14 and second oscillating gear 15) is in contact with and sandwiched, but also cases where it is sandwiched via another spacer member or the like.
[0035] The spacer member 61 has multiple through holes 61a, which penetrate the spacer member 61 axially. These through holes 61a are spaced apart in the circumferential direction around the rotation axis of the oscillating gears 14 and 15. Since the sets of the inner pin 38 and roller 39 are fitted into the through holes 61a, the spacer member 61 is positioned from the region radially outward of the inner pin 38 to the radially inward of the inner pin 38. The spacer member 61 rotates together with the oscillating gears 14 and 15 due to the revolution of the inner pin 38, but does not oscillate.
[0036] The inner diameter of the through hole 61b of the spacer member 61 is smaller than the inner diameter of the central circular hole of the oscillating gears 14 and 15, and the spacer member 61 protrudes radially inward from the edge of the central circular hole of the oscillating gears 14 and 15. The portion of the spacer member 61 that protrudes radially inward from the edge of the central circular hole of the oscillating gears 14 and 15 is positioned axially sandwiched between the rolling element 34a of the first eccentric bearing 34 and the rolling element 35a of the second eccentric bearing 35.
[0037] As described above, since the spacer member 61 is positioned from the radially outward region of the inner pin 38 to the radially inward region of the inner pin 38, foreign matter such as wear particles generated radially outward on the oscillating gears 14 and 15 is less likely to penetrate radially inward through the gap between the oscillating gears 14 and 15. In particular, since the inner circumference of the spacer member 61 is sandwiched axially between the rolling elements 34a of the first eccentric bearing 34 and the multiple rolling elements 35a of the second eccentric bearing 35, foreign matter is less likely to penetrate into the gap around the rolling elements 34a and 35a of the eccentric bearings 34 and 35. This contributes to suppressing damage to the eccentric bearings 34 and 35 and the eccentric bodies 12b and 12c, and also contributes to extending the lifespan of the eccentric bearings 34 and 35 and the eccentric oscillating gear device 100.
[0038] (Embodiment 2) Embodiment 2 will be described with reference to Figures 4 and 5. Figure 4 is a cross-sectional view of the eccentric oscillating gear device 100 in Embodiment 2. Figure 5 is an enlarged view showing an enlarged view of region V shown in Figure 4. Embodiment 2 is modified from Embodiment 1 in the following respects, and Embodiment 2 and Embodiment 1 are similar except for the following description.
[0039] In Embodiment 2, the outer diameter of the radially extending portion 55b of the regulating member 55 is larger than the outer diameter of the radially extending portion 55b of the regulating member 55 in Embodiment 1. In other words, in Embodiment 1, the outer circumference of the radially extending portion 55b is positioned radially inward from the outer circumference of the outer ring 32b of the input bearing 32, whereas in Embodiment 2, the outer circumference of the radially extending portion 55b is positioned radially outward from the outer circumference of the outer ring 32b of the input bearing 32, and the radially extending portion 55b protrudes radially outward from the outer circumference of the outer ring 32b of the input bearing 32.
[0040] Therefore, in Embodiment 2, the radially extending portion 55b faces the first carrier member 20a located radially outward from the outer ring 32b of the input bearing 32 in the axial direction. Furthermore, the radially extending portion 55b extends radially outward from the second eccentric bearing 35 in the direction of maximum eccentricity of the eccentric body 12b.
[0041] The outer circumference of the radially extending portion 55b is slightly spaced radially inward from the inner circumference of the first carrier member 20a, and a small gap 56 exists between them. The gap 56 is also called the radial gap. Furthermore, the radially extending portion 55b is spaced axially away from the portion of the first carrier member 20a that is axially opposite to it, and a gap 57 exists between them. The gap 57 is also called the axial gap. These gaps 56 and 57 do not generate frictional resistance between the radially extending portion 55b and the first carrier member 20a. The distance of the gap 56 in the radial direction is smaller than the distance of the gap 57 in the axial direction. The radially extending portion 55b is spaced axially away from the outer ring 32b of the input bearing 32, and no frictional resistance is generated between the radially extending portion 55b and the input bearing 32.
[0042] As described above, the radially extending portion 55b protrudes radially outward from the outer circumference of the outer ring 32b of the input bearing 32, and this protruding portion faces the first carrier member 20a located radially outward from the outer ring 32b of the input bearing 32 in the axial direction, so the gap 56 is small. Therefore, foreign matter such as wear particles is less likely to move from the second oscillating gear 15 through the gap 56 towards the input bearing 32, and the intrusion of foreign matter into the input bearing 32 is prevented.
[0043] Since the radially extending portion 55b extends radially outward beyond the rolling elements 35a of the second eccentric bearing 35, foreign matter is prevented from entering the central circular hole of the second oscillating gear 15.
[0044] The inner diameter of the spacer member 61 in Embodiment 2 is larger than that of the spacer member 61 in Embodiment 1, and the spacer member 61 does not protrude radially inward beyond the edge of the central circular hole of the oscillating gears 14 and 15. Instead, a flange 12d is formed on the outer circumference of the shaft body 12a of the eccentric shaft 12 between the eccentric bodies 12b and 12c, and the flange 12d protrudes radially outward from the outer circumference of the eccentric bodies 12b and 12c. The flange 12d is axially sandwiched between the rolling elements 34a of the first eccentric bearing 34 and between the rolling elements 35a of the second eccentric bearing 35. In addition, similar to Embodiment 1, in Embodiment 2, the flange 12d may not be provided, and the spacer member 61 may protrude radially inward from the edge of the central circular hole of the oscillating gears 14 and 15, with the protruding portion being sandwiched axially between the rolling elements 34a of the first eccentric bearing 34 and the multiple rolling elements 35a of the second eccentric bearing 35.
[0045] In addition, as in Embodiment 1, in Embodiment 2, the radially extending portion 53b of the other regulating member 53 does not extend radially outward beyond the outer circumference of the outer ring 30b of the input bearing 30. Alternatively, the radially extending portion 53b may extend radially outward beyond the outer circumference of the outer ring 30b of the input bearing 30 and face the first casing member 22a in the axial and radial directions. In this case, since the intrusion of foreign matter into the input bearing 30 is prevented, the input bearing 30 may be an unshielded bearing. If the input bearing 30 is not shielded, the size of the input bearing 30 in the axial direction is small, so the size of the first casing member 22a in the axial direction can also be reduced, making the entire device more compact in the axial direction.
[0046] (Embodiment 3) Embodiment 3 will be described with reference to Figure 6. Figure 6 is a cross-sectional view of a part of the eccentric oscillating gear device in Embodiment 3. The region shown in Figure 6 corresponds to region V shown in Figure 5 in Embodiment 2. Embodiment 3 is modified from Embodiment 1 in the following respects, and Embodiment 3 and Embodiment 1 are similar except for the following description.
[0047] In Embodiment 3, the regulating member 55 further has a protruding portion 55c in addition to the cylindrical portion 55a and the radially extending portion 55b. The protruding portion 55c is provided in a ring shape along the outer circumference of the radially extending portion 55b and protrudes axially from the radially extending portion 55b toward the outer ring 32b of the input bearing 32. The protruding portion 55c is spaced axially away from the outer ring 32b of the input bearing 32 and faces the outer ring 32b of the input bearing 32 in the axial direction. Therefore, a gap 58 exists between the protruding portion 55c and the outer ring 32b of the input bearing 32. The gap 58 is also called the axial gap.
[0048] Because such a protrusion 55c is provided, foreign matter such as wear particles is less likely to move from the radially outer side of the regulating member 55 through the gap 58 towards the input bearing 32, thereby preventing foreign matter from entering the input bearing 32.
[0049] In the example shown in Figure 6, the outer diameter of the outer circumference of the protrusion 55c is smaller than the outer diameter of the outer ring 32b of the input bearing 32, and the outer circumference of the protrusion 55c is positioned radially inward from the outer circumference of the outer ring 32b of the input bearing 32. In contrast, as shown in Figure 7, the outer diameter of the outer circumference of the protrusion 55c may be larger than the outer diameter of the outer ring 32b of the input bearing 32, and the protrusion 55c may extend radially outward from the outer circumference of the outer ring 32b of the input bearing 32. In this case, the protrusion 55c faces the outer ring 32b of the input bearing 32 in the axial direction, and also faces the first carrier member 20a located radially outward from the outer ring 32b of the input bearing 32 in the axial direction. Also, in this case, similar to the case of Embodiment 2, the radially extending portion 55b extends radially outward from the outer circumference of the outer ring 32b of the input bearing 32.
[0050] Similar to Embodiment 2, in Embodiment 3, the spacer member 61 does not protrude radially inward beyond the edge of the central circular hole of the oscillating gears 14 and 15, and the flange 12d is formed on the outer circumference of the shaft body 12a of the eccentric shaft 12 between the eccentric bodies 12b and 12c. Of course, similar to Embodiment 1, in Embodiment 3, the flange 12d may not be provided, and the spacer member 61 may protrude radially inward beyond the edge of the central circular hole of the oscillating gears 14 and 15.
[0051] In addition, just as the regulating member 55 has a protrusion 55c, the other regulating member 53 may also have a protrusion. This protrusion is provided in a ring shape along the outer circumference of the radially extending portion 53b and protrudes axially from the radially extending portion 53b toward the outer ring 30b of the input bearing 30.
[0052] (modified version) In the embodiments described above, the casing 22 was an assembly of three casing members 22a to 22b, but the casing 22 may be composed of one member or an assembly of four members.
[0053] In the embodiments described above, examples were shown where the number of oscillating gears 14 and 15 is two. However, the number of oscillating gears 14 and 15 may be one or three or more.
[0054] Instead of the first casing member 22a, a second carrier may be externally mounted on the input bearing 30, and the second carrier may be rotatably supported by the input bearing 30 with respect to the shaft body 12a of the eccentric shaft 12. In this case, the second carrier is rotatably supported by the main bearing with respect to the second casing member 22b, and the second carrier is connected to the first carrier member 20a by carrier pins, so that the second carrier and the first carrier member 20a rotate together. The carrier pins, like the inner pins 38, are arranged on the circumference in which the inner pins 38 are arranged, and pass through the oscillating gears 14, 15 and the spacer member 61. While the inner pins 38 transmit the power of the rotational motion of the oscillating gears 14, 15 to the first carrier member 20a and the second carrier, the carrier pins do not transmit the power of the rotational motion of the oscillating gears 14, 15 to the first carrier member 20a and the second carrier. However, the functions of the inner pin 38 and the carrier pin may be integrated, so that the inner pin 38 has both the function of extracting the rotational motion of the oscillating gears 14 and 15 and the function of connecting the first carrier member 20a and the second carrier.
[0055] In each of the above embodiments, the inner pin 38 is integrally formed with the first carrier member 20a. Alternatively, the inner pin 38 may be formed separately from the first carrier member 20a, and the inner pin 38 may be assembled to the first carrier member 20a.
[0056] The outer ring of the main bearing 24 may be integrally formed with the third casing member 22c. The inner ring of the main bearing 24 may be integrally formed with the first carrier member 20a. [Explanation of symbols]
[0057] 12 Eccentric axis 12a Shaft body 12b 1st eccentric body 12c 2nd eccentric body 14. First oscillating gear 15. Second oscillating gear 20 Carriers 20a First carrier member 20b Second carrier member 30,32 Input bearings 30b, 32b outer ring 34. First eccentric bearing 35. Second eccentric bearing 38 Inner pin 53 Regulating members 55 Regulating members 55a Cylindrical part 55b Radial extension 55c protrusion 56 gaps 61 Spacer member 61a Through hole
Claims
1. An eccentric oscillating gear device comprising: an eccentric body; a first oscillating gear and a second oscillating gear that are oscillated by the eccentric body; a spacer member positioned axially between the first oscillating gear and the second oscillating gear; and a pin inserted through a pin hole provided in the first oscillating gear and the second oscillating gear, The spacer member is positioned from the region radially outward of the pin to the region radially inward of the pin, Multiple pins are arranged circumferentially at intervals, the spacer member is an annular plate member, multiple through holes formed in the spacer member are arranged circumferentially at intervals, and the multiple pins are inserted into each of the multiple through holes. Eccentric oscillating gear mechanism.
2. The system further comprises a first eccentric bearing disposed between the first oscillating gear and the eccentric body, and a second eccentric bearing disposed between the second oscillating gear and the eccentric body. The spacer member is positioned axially between the first eccentric bearing and the second eccentric bearing. The eccentric oscillating gear device according to claim 1.
3. An eccentric oscillating gear device comprising: an eccentric body; a first oscillating gear and a second oscillating gear that are oscillated by the eccentric body; a spacer member positioned axially between the first oscillating gear and the second oscillating gear; and a pin inserted through a pin hole provided in the first oscillating gear and the second oscillating gear, The spacer member is positioned from the region radially outward of the pin to the region radially inward of the pin, The system further comprises a first eccentric bearing disposed between the first oscillating gear and the eccentric body, and a second eccentric bearing disposed between the second oscillating gear and the eccentric body. The spacer member is positioned axially between the first eccentric bearing and the second eccentric bearing. Eccentric oscillating gear mechanism.
4. An eccentric oscillating gear device comprising: an eccentric shaft having an eccentric body; an oscillating gear oscillating by the eccentric body; an eccentric bearing disposed between the oscillating gear and the eccentric body; an input bearing supporting the eccentric shaft; a carrier member supporting the outer ring of the input bearing; and a regulating member disposed between the input bearing and the eccentric bearing to restrict the axial movement of the eccentric bearing, wherein The regulating member has a radially extending portion that is axially opposed to the carrier member located radially outward from the outer ring of the input bearing, The regulating member extends radially outward beyond the eccentric body bearing in the direction of maximum eccentricity of the eccentric body. Eccentric oscillating gear mechanism.
5. An eccentric oscillating gear device comprising: an eccentric shaft having an eccentric body; an oscillating gear that is oscillated by the eccentric body; an eccentric bearing disposed between the oscillating gear and the eccentric body; an input bearing that supports the eccentric shaft; a carrier member that supports the outer ring of the input bearing; and a restricting member disposed between the input bearing and the eccentric bearing that restricts the axial movement of the eccentric bearing, The restricting member has a carrier member located radially outward from the outer ring of the input bearing or a projection that protrudes toward the outer ring of the input bearing. Eccentric oscillating gear mechanism.
6. The aforementioned protrusion faces both the outer ring and the carrier member of the input bearing in the axial direction. The eccentric oscillating gear device according to claim 5.