TWI661141B - Gear device - Google Patents

Gear device Download PDF

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Publication number
TWI661141B
TWI661141B TW104137398A TW104137398A TWI661141B TW I661141 B TWI661141 B TW I661141B TW 104137398 A TW104137398 A TW 104137398A TW 104137398 A TW104137398 A TW 104137398A TW I661141 B TWI661141 B TW I661141B
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TW
Taiwan
Prior art keywords
crank shaft
carrier
axial direction
axis
locked
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Application number
TW104137398A
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Chinese (zh)
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TW201619525A (en
Inventor
廣瀬真哉
吉田俊介
古田和哉
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日商納博特斯克股份有限公司
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Publication of TW201619525A publication Critical patent/TW201619525A/en
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Publication of TWI661141B publication Critical patent/TWI661141B/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
  • General Details Of Gearings (AREA)

Abstract

本發明係揭示一種齒輪裝置，其具備：具有偏心部之曲柄軸、伴隨著偏心部之旋轉而擺動旋轉之擺動齒輪、可旋轉地支持曲柄軸之載架、及規制曲柄軸之軸向上之該曲柄軸的移動之規制構件；且規制構件具有：卡止於載架之被卡止部、及配置於與載架不相接之位置且經形成為與被卡止部相比在該軸向上之厚度更大之厚壁部。 The present invention discloses a gear device including a crank shaft having an eccentric portion, a swing gear that oscillates and rotates in accordance with the rotation of the eccentric portion, a carrier rotatably supporting the crank shaft, and a shaft regulating the axial direction of the crank shaft. A regulating member for the movement of the crank shaft; and the regulating member has a locked portion locked to the carrier and a position that is not connected to the carrier and is formed in the axial direction compared to the locked portion. The thickness is thicker and thicker.

Description

齒輪裝置 Gear device

本發明係關於一種齒輪裝置。 The invention relates to a gear device.

作為先前之齒輪裝置，在專利文獻1(日本特開2008-202764號公報)中記載有行星齒輪裝置112，如圖12所示，其包含：偏心體軸120；伴隨著偏心體軸120之旋轉而擺動旋轉之外齒齒輪124；與外齒齒輪124嚙合之內齒齒輪128；及位於內齒齒輪128之內部且可旋轉地支持偏心體軸120之載架132、134。在專利文獻1之行星齒輪裝置112中，外齒齒輪124係伴隨著偏心體軸120之旋轉而與內齒齒輪128嚙合且擺動旋轉。藉此，內齒齒輪128相對於載架132、134而相對旋轉。 As a conventional gear device, Patent Document 1 (Japanese Patent Application Laid-Open No. 2008-202764) describes a planetary gear device 112. As shown in FIG. 12, the planetary gear device 112 includes: an eccentric body shaft 120; The externally-toothed gear 124 is oscillated and rotated; the internally-toothed gear 128 meshed with the externally-toothed gear 124; and the carriers 132 and 134 located inside the internally-toothed gear 128 and rotatably supporting the eccentric body shaft 120. In the planetary gear device 112 of Patent Document 1, the externally-toothed gear 124 meshes with the internally-toothed gear 128 and rotates with the rotation of the eccentric body shaft 120. Thereby, the internal gear 128 is relatively rotated with respect to the carriers 132 and 134.

專利文獻1之行星齒輪裝置112進一步具備用於規制偏心體軸120之位置之墊圈174、176。墊圈174在偏心體軸120之軸向之一側接觸載架132之端面，且在該軸向之另一側接觸形成於偏心體軸120之階差部170。又，墊圈176在偏心體軸120之軸向之另一側接觸載架134之端面，且在該軸向之一側接觸形成於偏心體軸120之階差部172。藉此，規制偏心體軸120相對於載架132、134在軸向上之相對位置。 The planetary gear device 112 of Patent Document 1 further includes washers 174 and 176 for regulating the position of the eccentric body shaft 120. The washer 174 contacts the end surface of the carrier 132 on one side in the axial direction of the eccentric body shaft 120, and contacts the stepped portion 170 formed on the eccentric body shaft 120 on the other side in the axial direction. Further, the washer 176 contacts the end surface of the carrier 134 on the other side in the axial direction of the eccentric body shaft 120, and contacts the stepped portion 172 formed on the eccentric body shaft 120 on one side in the axial direction. Thereby, the relative position of the eccentric body shaft 120 with respect to the carriers 132 and 134 in the axial direction is regulated.

在專利文獻1之行星齒輪裝置112中，若在偏心體軸120之軸向上施加至墊圈174、176之力增大，則有該墊圈174、176大幅度撓曲之可能性。為抑制墊圈174、176之大幅度撓曲，可考量例如增大該墊圈174、176整體之厚度。然而，若增大墊圈174、176整體之厚度，則有必要與此對應地增大偏心體軸120之軸向上之載架132、134之寬度。 該情形下，有行星齒輪裝置112大型化之虞。 In the planetary gear device 112 of Patent Document 1, if the force applied to the washers 174 and 176 in the axial direction of the eccentric body shaft 120 increases, there is a possibility that the washers 174 and 176 are largely deflected. In order to suppress the large deflection of the washers 174 and 176, it is possible to consider, for example, increasing the thickness of the washers 174 and 176 as a whole. However, if the thickness of the washers 174 and 176 as a whole is increased, it is necessary to increase the widths of the carriers 132 and 134 in the axial direction of the eccentric body shaft 120 accordingly. In this case, the planetary gear device 112 may be enlarged.

本發明之目的在於提供一種能夠抑制規制構件之撓曲且能夠抑制其大型化之齒輪裝置。 An object of the present invention is to provide a gear device capable of suppressing deflection of a regulatory member and suppressing an increase in size thereof.

本發明之一態樣之齒輪裝置具備：具有偏心部之曲柄軸、伴隨著偏心部之旋轉而擺動旋轉之擺動齒輪、可旋轉地支持前述曲柄軸之載架、及規制前述曲柄軸之軸向上之該曲柄軸的移動之規制構件；且前述規制構件具有：卡止於前述載架之被卡止部、及在前述軸向上配置於與前述載架不相接之位置且經形成為與前述被卡止部相比在前述軸向上之厚度更大之厚壁部。 A gear device according to one aspect of the present invention includes a crank shaft having an eccentric portion, a swing gear that oscillates and rotates in accordance with the rotation of the eccentric portion, a carrier rotatably supporting the crank shaft, and an axial direction regulating the crank shaft A regulating member for the movement of the crank shaft; and the regulating member has a locked portion locked to the carrier, and is arranged in a position not in contact with the carrier in the axial direction and formed to be in contact with the carrier The locked portion has a larger thickness than the thick portion in the axial direction.

2‧‧‧外筒 2‧‧‧ Outer tube

2a‧‧‧內周面 2a‧‧‧Inner peripheral surface

2b‧‧‧安裝孔 2b‧‧‧Mounting hole

3‧‧‧載架 3‧‧‧ carrier

3A‧‧‧載架本體 3A‧‧‧Carrier body

3B‧‧‧擋環 3B‧‧‧Retaining ring

4‧‧‧擺動齒輪 4‧‧‧ swing gear

5‧‧‧曲柄軸 5‧‧‧ crank shaft

6‧‧‧曲柄軸承 6‧‧‧ crank bearing

6A‧‧‧曲柄軸承 6A‧‧‧Crank bearing

6B‧‧‧曲柄軸承 6B‧‧‧Crank bearing

7‧‧‧傳動齒輪 7‧‧‧ transmission gear

8‧‧‧內齒銷 8‧‧‧ Internal tooth pin

9‧‧‧規制構件 9‧‧‧Regulatory components

31‧‧‧第1構件 31‧‧‧Part 1

31A‧‧‧端面 31A‧‧‧face

31a‧‧‧中央孔 31a‧‧‧central hole

31b‧‧‧曲柄軸孔 31b‧‧‧Crank shaft hole

31c‧‧‧內周面 31c‧‧‧Inner peripheral surface

31d‧‧‧安裝槽 31d‧‧‧Mounting slot

32‧‧‧第2構件 32‧‧‧The second component

32a‧‧‧基板部 32a‧‧‧Substrate Department

32b‧‧‧軸部 32b‧‧‧Shaft

32c‧‧‧中央孔 32c‧‧‧ central hole

32d‧‧‧曲柄軸孔 32d‧‧‧Crank shaft hole

32e‧‧‧內周面 32e‧‧‧Inner peripheral surface

32f‧‧‧安裝孔 32f‧‧‧Mounting hole

32g‧‧‧安裝槽 32g‧‧‧Mounting slot

41‧‧‧第1擺動齒輪 41‧‧‧1st swing gear

41a‧‧‧中央孔 41a‧‧‧central hole

41b‧‧‧***孔 41b‧‧‧Insertion hole

41c‧‧‧曲柄軸孔 41c‧‧‧Crank shaft hole

42‧‧‧第2擺動齒輪 42‧‧‧ 2nd swing gear

42a‧‧‧中央孔 42a‧‧‧ central hole

42b‧‧‧***孔 42b‧‧‧ insertion hole

42c‧‧‧曲柄軸孔 42c‧‧‧Crank shaft hole

51‧‧‧軸本體 51‧‧‧shaft body

51A‧‧‧端面 51A‧‧‧face

51a‧‧‧小徑部 51a‧‧‧ Trail

51B‧‧‧端面 51B‧‧‧face

51b‧‧‧第1大徑部 51b‧‧‧1st large diameter section

51c‧‧‧第2大徑部 51c‧‧‧The second largest diameter section

54‧‧‧第1偏心部 54‧‧‧The first eccentric part

54A‧‧‧端面 54A‧‧‧face

55‧‧‧第2偏心部 55‧‧‧The second eccentric part

55A‧‧‧端面 55A‧‧‧face

61‧‧‧轉動體 61‧‧‧rotating body

62‧‧‧保持器 62‧‧‧ retainer

62a‧‧‧中間部 62a‧‧‧Middle

62b‧‧‧端部 62b‧‧‧end

62c‧‧‧端部 62c‧‧‧End

91‧‧‧第1規制構件 91‧‧‧No. 1 regulatory component

91A‧‧‧主面 91A‧‧‧Main face

91a‧‧‧第1被卡止部 91a‧‧‧The first locked part

91B‧‧‧軸向端面 91B‧‧‧Axial end face

91b‧‧‧第1厚壁部 91b‧‧‧The first thick-walled part

91c‧‧‧第1突出部 91c‧‧‧The first protrusion

91d‧‧‧第1規制部 91d‧‧‧Regulation 1

92‧‧‧第2規制構件 92‧‧‧No. 2 regulatory component

92A‧‧‧主面 92A‧‧‧Main face

92a‧‧‧第2被卡止部 92a‧‧‧The second locked part

92B‧‧‧軸向端面 92B‧‧‧Axial end face

92b‧‧‧第2厚壁部 92b‧‧‧ 2nd thick wall

92c‧‧‧第2突出部 92c‧‧‧ 2nd protrusion

92d‧‧‧第2規制部 92d‧‧‧No. 2 Regulation Department

112‧‧‧行星齒輪裝置 112‧‧‧ planetary gear device

120‧‧‧偏心體軸 120‧‧‧eccentric body axis

124‧‧‧外齒齒輪 124‧‧‧External gear

128‧‧‧內齒齒輪 128‧‧‧ Internal gear

132‧‧‧載架 132‧‧‧ Carrier

134‧‧‧載架 134‧‧‧ Carrier

170‧‧‧階差部 170‧‧‧step difference

172‧‧‧階差部 172‧‧‧step difference

174‧‧‧墊圈 174‧‧‧washer

176‧‧‧墊圈 176‧‧‧washer

A1‧‧‧滾軸 A1‧‧‧Roller

A2‧‧‧滾軸 A2‧‧‧Roller

A3‧‧‧轉動體 A3‧‧‧Rotating body

A4‧‧‧保持器 A4‧‧‧ retainer

A5‧‧‧端部 A5‧‧‧End

A6‧‧‧端部 A6‧‧‧End

B1‧‧‧第1擋環 B1‧‧‧1st retaining ring

B2‧‧‧第2擋環 B2‧‧‧2nd retaining ring

C1‧‧‧軸 C1‧‧‧axis

C2‧‧‧中心軸 C2‧‧‧center axis

C3‧‧‧中心軸 C3‧‧‧center axis

D1‧‧‧主軸承 D1‧‧‧main bearing

D2‧‧‧主軸承 D2‧‧‧main bearing

T1‧‧‧固結構件 T1‧‧‧solid structure

X1‧‧‧齒輪裝置 X1‧‧‧ Gear

圖1係顯示本實施形態所涉及之齒輪裝置之概略結構之剖面圖。 FIG. 1 is a cross-sectional view showing a schematic configuration of a gear device according to this embodiment.

圖2係圖1所示之齒輪裝置之主要部分擴大圖。 FIG. 2 is an enlarged view of a main part of the gear device shown in FIG. 1.

圖3係顯示本實施形態所涉及之齒輪裝置之第1規制構件之概略結構之立體圖。 FIG. 3 is a perspective view showing a schematic structure of a first regulatory member of a gear device according to this embodiment.

圖4係顯示本實施形態所涉及之齒輪裝置之變化例1之概略結構之剖面圖。 FIG. 4 is a cross-sectional view showing a schematic configuration of a modification 1 of the gear device according to this embodiment.

圖5係顯示本實施形態所涉及之齒輪裝置之變化例2之概略結構之剖面圖。 FIG. 5 is a sectional view showing a schematic configuration of a modification 2 of the gear device according to the embodiment.

圖6係圖5所示之齒輪裝置之主要部分擴大圖。 FIG. 6 is an enlarged view of a main part of the gear device shown in FIG. 5.

圖7係顯示變化例2所涉及之齒輪裝置之第1規制構件之概略結構之立體圖。 FIG. 7 is a perspective view showing a schematic structure of a first regulatory member of a gear device according to Modification 2. FIG.

圖8係顯示本實施形態所涉及之齒輪裝置之變化例3之概略結構之剖面圖。 FIG. 8 is a cross-sectional view showing a schematic configuration of a modification 3 of the gear device according to this embodiment.

圖9係圖8所示之齒輪裝置之主要部分擴大圖。 FIG. 9 is an enlarged view of a main part of the gear device shown in FIG. 8.

圖10係顯示變化例3所涉及之齒輪裝置之第1規制構件之概略結 構之立體圖。 FIG. 10 is a schematic view showing a first regulatory member of a gear device according to Modification 3 A stereogram of the structure.

圖11係顯示變化例3所涉及之齒輪裝置之第1規制構件之概略結構之平面圖。 FIG. 11 is a plan view showing a schematic configuration of a first regulatory member of a gear device according to Modification 3. FIG.

圖12係顯示專利文獻1所記載之擺動內接嚙合行星齒輪裝置之概略結構之剖面圖。 FIG. 12 is a cross-sectional view showing a schematic structure of a swing-internal-engagement planetary gear device described in Patent Document 1. FIG.

以下，一邊參照圖式一邊說明本發明之一實施形態。另外，以下之實施形態係將本發明具體化之一例，而並非有限定本發明之技術範圍之性質者。 Hereinafter, one embodiment of the present invention will be described with reference to the drawings. In addition, the following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

又，以下所參照之各圖，係為方便說明，僅簡略化顯示本實施形態所涉及之齒輪裝置X1之構成構件中的主要構件者。因此，本實施形態所涉及之齒輪裝置X1可具備在本說明書所參照之各圖中未顯示的任意之構成構件。 In addition, each of the drawings referred to below is for the convenience of explanation, and only the main components of the components of the gear device X1 according to the present embodiment are simplified and shown. Therefore, the gear device X1 according to the present embodiment may be provided with arbitrary constituent members not shown in the drawings referred to in this specification.

如圖1及圖2所示，齒輪裝置X1係偏心擺動型齒輪裝置，其具備：外筒2、載架3、擺動齒輪4、及曲柄軸5。在齒輪裝置X1中，擺動齒輪4係伴隨著曲柄軸5之旋轉而擺動旋轉。藉此，外筒2與載架3係相對地旋轉。 As shown in FIGS. 1 and 2, the gear device X1 is an eccentric swing-type gear device, which includes an outer cylinder 2, a carrier 3, a swing gear 4, and a crank shaft 5. In the gear device X1, the swing gear 4 swings and rotates in accordance with the rotation of the crank shaft 5. Thereby, the outer cylinder 2 and the carrier 3 are relatively rotated.

外筒2形成為以軸C1為中心軸之大致圓筒形狀。在外筒2之內周面2a上形成有多個銷槽。各銷槽係以在軸C1方向上延伸之方式而配置，且在與該軸C1方向正交之剖面上具有半圓形之剖面形狀。各銷槽在外筒2之周向上以相等間隔並排。 The outer tube 2 is formed in a substantially cylindrical shape with the axis C1 as a center axis. A plurality of pin grooves are formed in the inner peripheral surface 2a of the outer cylinder 2. Each pin groove is arranged so as to extend in the direction of the axis C1, and has a semicircular cross-sectional shape in a cross section orthogonal to the direction of the axis C1. Each pin groove is juxtaposed at equal intervals in the circumferential direction of the outer cylinder 2.

齒輪裝置X1進一步具備安裝在外筒2之內周面2a上之複數個內齒銷8。各內齒銷8形成為在軸C1方向上延伸之圓柱形狀。又，各內齒銷8安裝在形成於外筒2之內周面2a之各銷槽中。 The gear device X1 further includes a plurality of internal tooth pins 8 mounted on the inner peripheral surface 2 a of the outer cylinder 2. Each internal tooth pin 8 is formed in a cylindrical shape extending in the direction of the axis C1. Each inner tooth pin 8 is attached to each pin groove formed in the inner peripheral surface 2 a of the outer cylinder 2.

在外筒2上形成有在軸C1方向上貫通該外筒2之複數個安裝孔2b。各安裝孔2b在外筒2之周向上以相等間隔並排。各安裝孔2b係在 相對於外筒2安裝構成機器人之關節部分之基座等之圖式省略之對方側構件時使用。在相對於外筒2安裝構成機器人之關節部分之基座時，外筒2成為齒輪裝置X1之固定側之構件。 A plurality of mounting holes 2b are formed in the outer tube 2 so as to penetrate the outer tube 2 in the direction of the axis C1. Each mounting hole 2b is juxtaposed at equal intervals in the circumferential direction of the outer cylinder 2. Each mounting hole 2b is It is used to attach a counterpart member, which is omitted from the drawings, etc., to the outer cylinder 2 to form a base of a joint part of the robot. When the base constituting the joint portion of the robot is mounted on the outer cylinder 2, the outer cylinder 2 becomes a member on the fixed side of the gear device X1.

載架3以夾著擺動齒輪4之方式位於軸C1方向上。載架3具有與外筒2同心狀地配置之載架本體3A。該載架本體3A具有在軸C1方向上彼此對向之第1構件31及第2構件32。第1構件31與第2構件32係經由固結構件T1彼此固結。 The carrier 3 is located in the direction of the axis C1 so as to sandwich the swing gear 4. The carrier 3 includes a carrier body 3A arranged concentrically with the outer tube 2. The carrier body 3A includes a first member 31 and a second member 32 that face each other in the direction of the axis C1. The first member 31 and the second member 32 are fixed to each other via a fixing structure T1.

第1構件31形成為大致圓板狀。第1構件31的一部分位於外筒2之內部，其餘部分在軸C1方向上位於外筒2之外部。 The first member 31 is formed in a substantially circular plate shape. A part of the first member 31 is located inside the outer tube 2, and the rest is located outside the outer tube 2 in the direction of the axis C1.

在第1構件31上形成有中央孔31a及複數個曲柄軸孔31b。 A first hole 31 a and a plurality of crank shaft holes 31 b are formed in the first member 31.

中央孔31a形成於第1構件31之中央部分。具體而言，中央孔31a係以在軸C1方向上貫通第1構件31之方式而形成。 The central hole 31 a is formed in a central portion of the first member 31. Specifically, the center hole 31a is formed so as to penetrate the first member 31 in the direction of the axis C1.

複數個曲柄軸孔31b在中央孔31a之外側並排地形成於載架3之周向上。各曲柄軸孔31b以在軸C1方向上貫通第1構件31之方式形成。在本實施形態中，在第1構件31上形成有3個曲柄軸孔31b。 A plurality of crank shaft holes 31b are formed side by side in the circumferential direction of the carrier 3 outside the center hole 31a. Each crank shaft hole 31b is formed so as to penetrate the first member 31 in the direction of the axis C1. In this embodiment, three crank shaft holes 31 b are formed in the first member 31.

第2構件32具有呈大致圓板狀之基板部32a、及自該基板部32a延伸至第1構件31側之複數個軸部32b。 The second member 32 includes a substrate portion 32 a having a substantially circular plate shape, and a plurality of shaft portions 32 b extending from the substrate portion 32 a to the side of the first member 31.

基板部32a的一部分位於外筒2之內部，其餘部分在軸C1方向上位於外筒2之外部。 A part of the base plate portion 32a is located inside the outer tube 2 and the rest is located outside the outer tube 2 in the direction of the axis C1.

各軸部32b自基板部32a中軸C1方向上之第1構件31側之端面在該軸C1方向上延伸。複數個軸部32b並排地設置於載架3之周向上。在本實施形態中，第2構件32具有3個軸部32b。 Each shaft portion 32b extends from the end surface on the first member 31 side of the substrate portion 32a in the direction of the axis C1 in the direction of the axis C1. A plurality of shaft portions 32 b are provided side by side in the circumferential direction of the carrier 3. In this embodiment, the second member 32 includes three shaft portions 32b.

在第2構件32上形成有中央孔32c、複數個曲柄軸孔32d、及安裝孔32f。 A center hole 32c, a plurality of crank shaft holes 32d, and a mounting hole 32f are formed in the second member 32.

中央孔32c形成於第2構件32之中央部分。具體而言，中央孔32c以在軸C1方向上貫通第2構件32之基板部32a之方式形成。中央孔32c 係與形成於第1構件31之中央孔31a之位置對應而設置。 The center hole 32 c is formed in a center portion of the second member 32. Specifically, the center hole 32c is formed so as to penetrate the substrate portion 32a of the second member 32 in the direction of the axis C1. Central hole 32c It is provided corresponding to the position of the center hole 31a formed in the first member 31.

複數個曲柄軸孔32d並排地形成於中央孔32c之外側之載架3之周向上。各曲柄軸孔32d以在軸C1方向上貫通第2構件32之基板部32a之方式形成。各曲柄軸孔32d係與形成於第1構件31之各曲柄軸孔31b之位置對應而設置。 A plurality of crank shaft holes 32d are formed side by side in the circumferential direction of the carrier 3 outside the center hole 32c. Each crank shaft hole 32d is formed so as to penetrate the substrate portion 32a of the second member 32 in the direction of the axis C1. Each crank shaft hole 32d is provided corresponding to the position of each crank shaft hole 31b formed in the first member 31.

以第2構件32中與第1構件31相反側之端面在軸C1方向上凹陷之方式形成安裝孔32f。安裝孔32f係用於將構成機器人之關節部分的旋轉體等之對方側構件安裝在載架3上。在相對於載架3安裝構成機器人之關節部分之旋轉體時，該載架3成為齒輪裝置X1之旋轉側之構件。另外，若在例如相對於載架3安裝有構成機器人之關節部分之基座時，則在外筒2上安裝有構成機器人之關節部分之旋轉體。藉此，載架3成為齒輪裝置X1之固定側之構件，且外筒2成為齒輪裝置X1之旋轉側之構件。 The mounting hole 32f is formed so that the end surface of the second member 32 on the side opposite to the first member 31 is recessed in the axis C1 direction. The mounting hole 32f is used to mount a counterpart member such as a rotating body constituting a joint portion of the robot to the carrier 3. When the rotating body constituting the joint portion of the robot is mounted on the carrier 3, the carrier 3 becomes a member on the rotation side of the gear device X1. When, for example, a base constituting a joint portion of the robot is mounted on the carrier 3, a rotating body constituting the joint portion of the robot is attached to the outer cylinder 2. Thereby, the carrier 3 becomes a member on the fixed side of the gear device X1, and the outer cylinder 2 becomes a member on the rotation side of the gear device X1.

在載架本體3A之外周面與外筒2之內周面2a之間設置有主軸承D1、D2。具體而言，主軸承D1係設置於第1構件31之外周面與外筒2之內周面2a之間，而主軸承D2則設置於第2構件32之基板部32a之外周面與外筒2之內周面2a之間。主軸承D1、D2容許外筒2與載架3之間之相對旋轉。 Main bearings D1 and D2 are provided between the outer peripheral surface of the carrier body 3A and the inner peripheral surface 2 a of the outer tube 2. Specifically, the main bearing D1 is provided between the outer peripheral surface of the first member 31 and the inner peripheral surface 2 a of the outer tube 2, and the main bearing D2 is provided between the outer peripheral surface of the substrate portion 32 a of the second member 32 and the outer tube. 2 inside the peripheral surface 2a. The main bearings D1 and D2 allow relative rotation between the outer cylinder 2 and the carrier 3.

曲柄軸5係自由旋轉地支持在載架本體3A上。換言之，曲柄軸5係經由曲柄軸承6A、6B而支持在載架本體3A上。曲柄軸承6A、6B容許相對於載架3之曲柄軸5之旋轉。在本實施形態中，3個曲柄軸5並排地設置於載架本體3A之周向上。另外，曲柄軸5之數目為任意，可回應於齒輪裝置X1之使用形態而進行適當變更。 The crank shaft 5 is rotatably supported on the carrier body 3A. In other words, the crank shaft 5 is supported on the carrier body 3A via the crank bearings 6A and 6B. The crank bearings 6A, 6B allow rotation with respect to the crank shaft 5 of the carrier 3. In this embodiment, three crank shafts 5 are provided side by side in the circumferential direction of the carrier body 3A. In addition, the number of the crank shafts 5 is arbitrary, and can be appropriately changed in response to the use form of the gear device X1.

曲柄軸5具有：在軸C1方向上延伸之軸本體51；及相對於該軸本體51而偏心之偏心部54、55。 The crank shaft 5 includes a shaft body 51 extending in the direction of the shaft C1 and eccentric portions 54 and 55 that are eccentric with respect to the shaft body 51.

軸本體51具有：大徑部(軸頸部)51b、51c；及具有較該大徑部 51b、51c稍小之外徑之小徑部51a。 The shaft body 51 includes large-diameter portions (shaft neck portions) 51b and 51c, and has a larger diameter portion. 51b and 51c are small-diameter portions 51a having slightly smaller outer diameters.

第1大徑部51b位於第1構件31之曲柄軸孔31b內。第1大徑部51b經由第1曲柄軸承6A而自由旋轉地支持在曲柄軸孔31b之內周面31c上。 The first large-diameter portion 51 b is located in the crank shaft hole 31 b of the first member 31. The first large diameter portion 51b is rotatably supported on the inner peripheral surface 31c of the crank shaft hole 31b via a first crank bearing 6A.

第2大徑部51c具有與第1大徑部51b相同之外徑。第2大徑部51c位於第2構件32之曲柄軸孔32d內。第2大徑部51c經由第2曲柄軸承6B而自由旋轉地支持在曲柄軸孔32d之內周面32e上。 The second large diameter portion 51c has the same outer diameter as the first large diameter portion 51b. The second large diameter portion 51c is located in the crank shaft hole 32d of the second member 32. The second large diameter portion 51c is rotatably supported on the inner peripheral surface 32e of the crank shaft hole 32d via a second crank bearing 6B.

小徑部51a在軸C1方向上與第1大徑部51b鄰接，且在第2大徑部51c之相反側延伸。小徑部51a之一部分位於曲柄軸孔31b之外側。另外，可無小徑部51a，第1大徑部51b亦可自曲柄軸孔31b內延伸到及於該曲柄軸孔31b之外側。 The small-diameter portion 51a is adjacent to the first large-diameter portion 51b in the direction of the axis C1, and extends on the opposite side of the second large-diameter portion 51c. A part of the small-diameter portion 51a is located outside the crank shaft hole 31b. In addition, the small-diameter portion 51a may be omitted, and the first large-diameter portion 51b may extend from the crank shaft hole 31b to the outside of the crank shaft hole 31b.

偏心部54、55在軸C1方向上位於第1大徑部51b與第2大徑部51c之間。擺動齒輪4經由滾軸A1、A2安裝在偏心部54、55上。滾軸A1、A2容許偏心部54、55與擺動齒輪4之間之相對旋轉。 The eccentric portions 54 and 55 are located between the first large diameter portion 51b and the second large diameter portion 51c in the direction of the axis C1. The swing gear 4 is attached to the eccentric portions 54 and 55 via rollers A1 and A2. The rollers A1 and A2 allow relative rotation between the eccentric portions 54 and 55 and the swing gear 4.

擺動齒輪4位於外筒2內，在軸C1方向上被第1構件31與第2構件32之基板部32a夾著。擺動齒輪4具有：經由滾軸A1安裝在第1偏心部54上之第1擺動齒輪41；及經由滾軸A2安裝在第2偏心部55上之第2擺動齒輪42。擺動齒輪41、42具有較外筒2之內徑稍小之外徑。在擺動齒輪41、42之外周面上形成有複數個外齒。在擺動齒輪41、42之各自之外周面上所形成的外齒之齒數較內齒銷8之數目略少。藉此，第1擺動齒輪41與第2擺動齒輪42以在外筒2之內部各外齒與各內齒銷8嚙合之方式，以彼此不同之相位而擺動旋轉。 The swing gear 4 is located inside the outer cylinder 2 and is sandwiched by the substrate portion 32a of the first member 31 and the second member 32 in the direction of the axis C1. The swing gear 4 includes a first swing gear 41 mounted on the first eccentric portion 54 via the roller A1, and a second swing gear 42 mounted on the second eccentric portion 55 via the roller A2. The swing gears 41 and 42 have an outer diameter slightly smaller than the inner diameter of the outer cylinder 2. A plurality of external teeth are formed on the outer peripheral surface of the swing gears 41 and 42. The number of teeth of the external teeth formed on the respective outer peripheral surfaces of the swing gears 41 and 42 is slightly smaller than the number of the internal tooth pins 8. Thereby, the first swing gear 41 and the second swing gear 42 swing and rotate at different phases from each other so that the external teeth and the internal tooth pins 8 mesh with each other inside the outer cylinder 2.

第1擺動齒輪41形成有：與第1構件31之中央孔31a之位置對應之中央孔41a；供***軸部32b之***孔41b；及供***第1偏心部54之曲柄軸孔41c。 The first swing gear 41 is formed with a central hole 41a corresponding to the position of the central hole 31a of the first member 31, an insertion hole 41b for inserting the shaft portion 32b, and a crank shaft hole 41c for inserting the first eccentric portion 54.

第2擺動齒輪42形成有：與第2構件32之中央孔32c之位置對應之 中央孔42a；供***軸部32b之***孔42b；及供***第2偏心部54之曲柄軸孔42c。 The second swing gear 42 is formed corresponding to the position of the central hole 32c of the second member 32. The central hole 42a; the insertion hole 42b for inserting the shaft portion 32b; and the crank shaft hole 42c for inserting the second eccentric portion 54.

另外，在本實施形態中，擺動齒輪4雖具有第1擺動齒輪41與第2擺動齒輪42此2個擺動齒輪，但不限定於此，其可僅具有1個擺動齒輪，亦可具有3個以上之擺動齒輪。 In this embodiment, although the swing gear 4 includes two swing gears, a first swing gear 41 and a second swing gear 42, the swing gear 4 is not limited to this, and may have only one swing gear or three swing gears. Above the swing gear.

齒輪裝置X1進一步具備將驅動力傳動至曲柄軸5而使該曲柄軸5旋轉之傳動齒輪7。傳動齒輪7在軸C1方向上夾著第1構件31而位於與第2構件32相反側。傳動齒輪7安裝在曲柄軸5之軸本體51之小徑部51a上。在本實施形態中，係將3個傳動齒輪7與3個曲柄軸5之位置對應而設置。 The gear device X1 further includes a transmission gear 7 that transmits a driving force to the crank shaft 5 and rotates the crank shaft 5. The transmission gear 7 is located on the side opposite to the second member 32 with the first member 31 interposed in the direction of the axis C1. The transmission gear 7 is mounted on the small diameter portion 51 a of the shaft body 51 of the crank shaft 5. In this embodiment, three transmission gears 7 are provided corresponding to the positions of the three crank shafts 5.

傳動齒輪7藉由以從軸C1方向上之兩側夾入該傳動齒輪7之方式安裝在軸本體51的小徑部51a上之擋環來規制該軸C1方向上之移動。 The transmission gear 7 regulates the movement in the direction of the shaft C1 by a retaining ring mounted on the small diameter portion 51a of the shaft body 51 so as to sandwich the transmission gear 7 from both sides in the direction of the shaft C1.

傳動齒輪7在其外周面具有複數個外齒，圖式省略之馬達之輸入軸等與該複數個外齒嚙合。傳動齒輪7將該馬達之驅動力(力矩)傳遞至曲柄軸5。其後，藉由從傳動齒輪7接受驅動力之曲柄軸5之偏心部54、55之旋轉，擺動齒輪4回應該旋轉而在外筒2內擺動旋轉。藉此，外筒2與載架3相對旋轉。 The transmission gear 7 has a plurality of external teeth on its outer peripheral surface, and an input shaft of a motor, etc., which is omitted from the drawing, meshes with the plurality of external teeth. The transmission gear 7 transmits the driving force (torque) of the motor to the crank shaft 5. Thereafter, by the rotation of the eccentric portions 54 and 55 of the crank shaft 5 that receives the driving force from the transmission gear 7, the swing gear 4 rotates in response to the swing rotation in the outer cylinder 2. Thereby, the outer cylinder 2 and the carrier 3 are relatively rotated.

齒輪裝置X1進一步具備規制軸C1方向上之曲柄軸5之移動之規制構件9。規制構件9具有在軸C1方向上彼此隔開之第1規制構件91及第2規制構件92。又，載架3進一步具有與載架本體3A別體地構成且卡止規制構件9之擋環3B。擋環3B具有卡止第1規制構件91之第1擋環B1、及卡止第2規制構件92之第2擋環B2。第1規制構件91與第2規制構件92在軸C1方向上夾入曲柄軸5。藉此，第1規制構件91及第2規制構件92規制軸C1方向上之曲柄軸5之移動。 The gear device X1 further includes a regulating member 9 that regulates the movement of the crank shaft 5 in the direction of the axis C1. The regulation member 9 includes a first regulation member 91 and a second regulation member 92 spaced apart from each other in the direction of the axis C1. In addition, the carrier 3 further includes a stop ring 3B that is separately formed from the carrier body 3A and locks the regulation member 9. The stop ring 3B includes a first stop ring B1 that locks the first regulation member 91 and a second stop ring B2 that locks the second regulation member 92. The first regulating member 91 and the second regulating member 92 sandwich the crank shaft 5 in the direction of the axis C1. Thereby, the first regulation member 91 and the second regulation member 92 regulate the movement of the crank shaft 5 in the direction of the axis C1.

如圖3所示，第1規制構件91形成為在中央部分形成有開口之圓環形狀。第1規制構件91具有卡止於載架3之第1擋環B1的第1被卡止 部91a、及在第1規制構件91之徑向上位於第1被卡止部91a之內側之第1厚壁部91b。第1厚壁部91b係與第1被卡止部91a相比在軸C1方向上之厚度更大之部位，且構成包圍前述開口之第1規制構件91之圓環狀之內緣部分。另外，第1厚壁部91b在第1規制構件91之徑向上亦可位於第1被卡止部91a之外側。 As shown in FIG. 3, the first regulation member 91 is formed in a circular ring shape with an opening formed in a central portion. The first regulatory member 91 has a first locked first lock ring B1 locked to the carrier 3 The portion 91a and the first thick-walled portion 91b located inside the first to-be-locked portion 91a in the radial direction of the first regulatory member 91. The first thick wall portion 91b is a portion having a larger thickness in the direction of the axis C1 than the first locked portion 91a, and constitutes a ring-shaped inner edge portion of the first regulating member 91 surrounding the opening. In addition, the first thick-walled portion 91b may be located outside the first to-be-locked portion 91a in the radial direction of the first regulating member 91.

形成於第1規制構件91之開口之直徑係設定為較小徑部51a之直徑稍大，且較第1大徑部51b之直徑小。在形成於第1規制構件91之開口中***有小徑部51a。而且，如圖2所示，第1規制構件91被定位於與軸C1正交之平坦之面(即與第1大徑部51b之端面51A對向的主面91A)和該端面51A接觸之位置。 The diameter of the opening formed in the first regulating member 91 is set to be slightly larger than the diameter of the smaller diameter portion 51a and smaller than the diameter of the first large diameter portion 51b. A small diameter portion 51 a is inserted into an opening formed in the first regulatory member 91. Further, as shown in FIG. 2, the first regulating member 91 is positioned on a flat surface orthogonal to the axis C1 (that is, a main surface 91A facing the end surface 51A of the first large-diameter portion 51 b) and the end surface 51A is in contact. position.

另外，在本實施形態中，第1規制構件91雖被定位於主面91A與端面51A相接觸之位置，但不限定於此。例如，若在軸本體51不具有第1大徑部51b之情形下，則第1規制構件91亦可被定位於主面91A與正交於軸C1之小徑部51a之端面相接觸之位置。換言之，只要第1規制構件91在軸C1方向上被定位於該第1規制構件91與軸本體51相接之位置即可。 In the present embodiment, the first regulating member 91 is positioned at a position where the main surface 91A and the end surface 51A are in contact with each other, but it is not limited to this. For example, if the shaft body 51 does not have the first large-diameter portion 51b, the first regulating member 91 may also be positioned at a position where the main surface 91A contacts the end surface of the small-diameter portion 51a orthogonal to the axis C1. . In other words, as long as the first regulation member 91 is positioned in the axis C1 direction at a position where the first regulation member 91 is in contact with the shaft body 51.

載架3之第1擋環B1安裝在形成於曲柄軸孔31b之內周面31c之安裝槽31d中。第1擋環B1在軸C1方向上與位於主面91A之相反側之第1被卡止部91a之軸向端面91B接觸。藉此，利用第1擋環B1卡止第1被卡止部91a。因此，曲柄軸5朝軸C1方向上之傳動齒輪7側之移動被規制。 The first stop ring B1 of the carrier 3 is mounted in a mounting groove 31d formed in the inner peripheral surface 31c of the crank shaft hole 31b. The first retaining ring B1 is in contact with the axial end surface 91B of the first to-be-engaged portion 91a on the side opposite to the main surface 91A in the direction of the axis C1. Thereby, the 1st to-be-locked part 91a is locked by the 1st ring B1. Therefore, the movement of the crank shaft 5 toward the transmission gear 7 side in the direction of the shaft C1 is regulated.

在本實施形態中，第1擋環B1僅與第1被卡止部91a之軸向端面91B之外周部分接觸。另外，第1擋環B1亦可遍及第1被卡止部91a之軸向端面91B之整體與其相接。 In this embodiment, the first stop ring B1 is in contact with only the outer peripheral portion of the axial end surface 91B of the first engaged portion 91a. In addition, the first retaining ring B1 may be in contact with the entire first axial end surface 91B of the first locked portion 91a.

又，在本實施形態中，雖利用與載架本體3A別體地構成之第1擋環B1卡止第1被卡止部91a，但不限定於此。例如，亦可相對於載架本 體3A而形成相當於第1擋環B1之部位，利用該部位卡止第1被卡止部91a。 In the present embodiment, the first stop ring B1 that is separately formed from the carrier body 3A is used to lock the first locked portion 91a, but the invention is not limited to this. For example, The body 3A forms a portion corresponding to the first retaining ring B1, and the first locked portion 91a is locked by this portion.

第1厚壁部91b在曲柄軸孔31b之徑向上位於較第1擋環B1更靠內側之位置。藉此，第1厚壁部91b在軸C1方向上配置於與載架3不相接之位置。第1厚壁部91b具有在軸C1方向上從第1被卡止部91a之軸向端面91B突出之第1突出部91c。第1突出部91c經由第1擋環B1與軸本體51之間之區域向傳動齒輪7側突出。在本實施形態中，較第1擋環B1與軸本體51之間之區域，更向傳動齒輪7側突出之第1突出部91c在軸C1方向上與規制傳動齒輪7之移動之擋環相接。另外，第1突出部91c可位於第1擋環B1與軸本體51之間之區域，亦可不較該區域更向軸C1方向上之傳動齒輪7側突出。 The first thick-walled portion 91b is located further inside than the first retaining ring B1 in the radial direction of the crank shaft hole 31b. Thereby, the 1st thick wall part 91b is arrange | positioned at the position which does not contact the carrier 3 in the direction of the axis C1. The first thick-walled portion 91b includes a first protruding portion 91c protruding from the axial end surface 91B of the first locked portion 91a in the direction of the axis C1. The first protruding portion 91c protrudes toward the transmission gear 7 side through a region between the first retaining ring B1 and the shaft body 51. In this embodiment, the first protruding portion 91c protruding toward the transmission gear 7 side than the area between the first stop ring B1 and the shaft body 51 is aligned with the stop ring that regulates the movement of the transmission gear 7 in the direction of the axis C1. Pick up. In addition, the first protruding portion 91c may be located in a region between the first retaining ring B1 and the shaft body 51, or may not protrude to the transmission gear 7 side in the direction of the shaft C1 more than this region.

如圖2所示，第1突出部91c位於較第1構件31中在軸C1方向上之與第2構件32相反側之端面31A更靠第2構件32側(圖2之下側)之位置。因此，第1規制構件91容納於軸C1方向上之載架3之長度範圍內。 As shown in FIG. 2, the first protruding portion 91 c is located closer to the second member 32 side (lower side in FIG. 2) than the end face 31A of the first member 31 in the direction of the axis C1 on the side opposite to the second member 32. . Therefore, the first regulation member 91 is accommodated within the length range of the carrier 3 in the direction of the axis C1.

另外，在本實施形態中，第1突出部91c係較第1被卡止部91a之軸向端面91B更向軸C1方向上之傳動齒輪7側突出，除此以外或替代地，亦可向該軸C1方向上之第2構件32側突出。該情形下，第1厚壁部91b中第1規制構件91之徑向之一部分位於第1大徑部51b與曲柄軸孔31b之內周面31c之間所形成之空隙中。 In addition, in the present embodiment, the first protruding portion 91c protrudes toward the transmission gear 7 side in the direction of the axis C1 than the axial end surface 91B of the first locked portion 91a. Alternatively, or in addition, the The second member 32 side projects in the direction of the axis C1. In this case, a part of the first regulating member 91 in the radial direction of the first thick-walled portion 91b is located in a gap formed between the first large-diameter portion 51b and the inner peripheral surface 31c of the crank shaft hole 31b.

在本實施形態中，第1規制構件91藉由在軸C1方向上與第1曲柄軸承6A相接，而亦規制該軸C1方向上之第1曲柄軸承6A之移動。 In this embodiment, the first regulating member 91 is in contact with the first crank bearing 6A in the direction of the axis C1, and also regulates the movement of the first crank bearing 6A in the direction of the axis C1.

如圖2所示，第1曲柄軸承6A具有在軸C1方向上延伸之轉動體61、及可旋轉地保持該轉動體61之保持器62。保持器62具有在軸本體51之徑向上位於較轉動體61更靠外側之位置之中間部62a、及與軸C1方向上之中間部62a之兩端連接之端部62b、62c。在軸C1方向上之兩側，端部62b、62c夾著轉動體61，藉此規制軸C1方向上之轉動體61之 移動。另外，第2曲柄軸承6B亦具有與第1曲柄軸承6A相同之構成。 As shown in FIG. 2, the first crank bearing 6A includes a rotating body 61 extending in the direction of the axis C1 and a holder 62 that rotatably holds the rotating body 61. The retainer 62 includes an intermediate portion 62a located radially outside the rotating body 61 in the radial direction of the shaft body 51, and end portions 62b and 62c connected to both ends of the intermediate portion 62a in the direction of the shaft C1. On both sides in the direction of the axis C1, the end portions 62b, 62c sandwich the rotating body 61, thereby regulating the rotation of the rotating body 61 in the direction of the axis C1. mobile. The second crank bearing 6B also has the same configuration as the first crank bearing 6A.

端部62b、62c中，位於傳動齒輪7側之端部62b在該軸C1方向上與第1規制構件91之主面91A相接。藉此，第1規制構件91規制第1曲柄軸承6A朝軸C1方向上之傳動齒輪7側之移動。 Of the end portions 62b and 62c, the end portion 62b located on the transmission gear 7 side is in contact with the main surface 91A of the first regulating member 91 in the direction of the axis C1. Thereby, the first regulating member 91 regulates the movement of the first crank bearing 6A toward the transmission gear 7 side in the direction of the shaft C1.

第2規制構件92具有與第1規制構件91相同之形狀，且具有第2被卡止部92a及第2厚壁部92b。第2規制構件92被定位於與軸C1正交之平坦之面(即與第2大徑部51c之端面51B對向的主面92A)和該端面51B相接之位置。 The second regulatory member 92 has the same shape as the first regulatory member 91, and includes a second locked portion 92a and a second thick-walled portion 92b. The second regulating member 92 is positioned at a position where the flat surface orthogonal to the axis C1 (that is, the main surface 92A facing the end surface 51B of the second large diameter portion 51c) faces the end surface 51B.

另外，在本實施形態中，第2規制構件92與第1規制構件91相同地在中央部分形成有開口，但不限定於此，亦可不形成該開口。 In addition, in the present embodiment, the second regulatory member 92 has an opening formed in the central portion similarly to the first regulatory member 91. However, the opening is not limited to this, and the opening may not be formed.

又，若在例如軸本體51具有自第2大徑部51c之端面51B在軸C1方向上延伸之小徑部之情形下，則第2規制構件92可在前述小徑部***該第2規制構件92之開口的狀態下，被定位於主面92A與端面51B相接之位置。又，亦可被定位於主面92A與正交於軸C1之前述小徑部之端面相接之位置。 When the shaft body 51 has, for example, a small diameter portion extending from the end surface 51B of the second large diameter portion 51c in the direction of the axis C1, the second regulation member 92 can be inserted into the second regulation in the small diameter portion. In a state where the member 92 is opened, it is positioned at a position where the main surface 92A and the end surface 51B are in contact with each other. Further, it may be positioned at a position where the main surface 92A is in contact with the end surface of the small diameter portion orthogonal to the axis C1.

載架3之第2擋環B2係安裝在形成於曲柄軸孔32d之內周面32e的安裝槽32g中。第2擋環B2在軸C1方向上與位於主面92A之相反側的第2被卡止部92a之軸向端面92B相接。藉此，利用第2擋環B2卡止第2被卡止部92a。因此，曲柄軸5朝軸C1方向上之與傳動齒輪7相反側之移動被規制。 The second stop ring B2 of the carrier 3 is mounted in a mounting groove 32g formed in the inner peripheral surface 32e of the crank shaft hole 32d. The second stop ring B2 is in contact with the axial end surface 92B of the second to-be-locked portion 92a located on the side opposite to the main surface 92A in the direction of the axis C1. Thereby, the second to-be-locked portion 92a is locked by the second stop ring B2. Therefore, the movement of the crank shaft 5 in the direction of the shaft C1 on the side opposite to the transmission gear 7 is regulated.

第2厚壁部92b在曲柄軸孔32d之徑向上位於較第2擋環B2更靠內側之位置。藉此，第2厚壁部92b在軸C1方向上配置於與載架3不相接之位置。第2厚壁部92b具有：在軸C1方向上較第2被卡止部92a之軸向端面92B更朝第2構件32之與第1構件31相反之端面側突出之第2突出部92c。在本實施形態中，第2突出部92c位於較第2構件32中軸C1方向上之與第1構件31相反側之端面更靠第1構件31側之位置。因此，第2 規制構件92容納於軸C1方向上之載架3之長度範圍內。 The second thick-walled portion 92b is located further inward than the second retaining ring B2 in the radial direction of the crank shaft hole 32d. Thereby, the 2nd thick-walled part 92b is arrange | positioned at the position which does not contact the carrier 3 in the direction of the axis C1. The second thick wall portion 92b includes a second protruding portion 92c protruding in the direction of the axis C1 toward the end face side of the second member 32 opposite to the first member 31 in the axial end face 92B of the second engaged portion 92a. In the present embodiment, the second protruding portion 92c is located closer to the first member 31 side than the end surface of the second member 32 in the direction of the axis C1 on the side opposite to the first member 31. So the 2nd The regulating member 92 is accommodated within the length range of the carrier 3 in the direction of the axis C1.

在本實施形態中，第2規制構件92之主面92A與第1規制構件91相同，與第2曲柄軸承6B之保持器62之軸C1方向上之第2規制構件92側之端部62b相接。藉此，第2規制構件92規制第2曲柄軸承6B朝軸C1方向上之與傳動齒輪7相反側之移動。 In this embodiment, the main surface 92A of the second regulating member 92 is the same as the first regulating member 91, and is the same as the end portion 62b of the second regulating member 92 side in the direction of the axis C1 of the holder 62 of the second crank bearing 6B. Pick up. Thereby, the second regulating member 92 regulates the movement of the second crank bearing 6B in the direction of the shaft C1 on the side opposite to the transmission gear 7.

如上述般，在齒輪裝置X1中，因規制構件9具有厚度較被卡止部91a、92a更大之厚壁部91b、92b，故能夠提高規制構件9之強度。而且，因厚壁部91b、92b在軸C1方向上配置於與載架3不相接之位置，故可抑制在軸C1方向上載架本體3A之大型化。尤其是，在本實施形態中，厚壁部91b、92b之突出部91c、92c在軸C1方向上向與大徑部51b、51c之端面51A、51B相接之主面91A、92A之相反側突出。因此，能夠抑制在軸C1方向上第1大徑部51b之端面51A與第1擋環B1之間隔、及第2大徑部51c之端面51B與第2擋環B2之間隔變寬。藉此，能夠確實地抑制在軸C1方向上載架本體3A之大型化。因此，即使在軸C1方向上對規制構件9施加大的力時，仍能夠抑制該規制構件9撓曲，且能夠抑制齒輪裝置X1之大型化。 As described above, in the gear device X1, since the regulating member 9 has thick wall portions 91b and 92b that are thicker than the locked portions 91a and 92a, the strength of the regulating member 9 can be increased. In addition, since the thick-walled portions 91b and 92b are arranged at positions not in contact with the carrier 3 in the direction of the axis C1, it is possible to suppress an increase in size of the carrier body 3A in the direction of the axis C1. In particular, in this embodiment, the protruding portions 91c and 92c of the thick-walled portions 91b and 92b are opposite to the main surfaces 91A and 92A which are in contact with the end surfaces 51A and 51B of the large-diameter portions 51b and 51c in the axis C1 direction. protruding. Therefore, the distance between the end surface 51A of the first large diameter portion 51b and the first retaining ring B1 and the distance between the end surface 51B of the second large diameter portion 51c and the second retaining ring B2 in the axis C1 direction can be suppressed from becoming wider. This makes it possible to reliably suppress an increase in size of the carrier body 3A in the direction of the axis C1. Therefore, even when a large force is applied to the regulation member 9 in the direction of the axis C1, the regulation member 9 can be restrained from being deflected, and the size of the gear device X1 can be suppressed.

再者，在齒輪裝置X1中，因規制構件9未超出軸C1方向上之載架3之長度範圍外，故能夠進一步抑制該齒輪裝置X1之大型化。 Furthermore, in the gear device X1, since the regulation member 9 does not exceed the length range of the carrier 3 in the direction of the axis C1, the size of the gear device X1 can be further suppressed.

再者，在齒輪裝置X1中，藉由將擋環3B安裝在載架本體3A上，能夠利用該擋環3B卡止被卡止部91a、92a。而且，因第1厚壁部91b係配置於第1擋環B1與曲柄軸5之間的區域，故能夠有效地活用該區域而進一步抑制載架本體3A在軸C1方向上之大型化。 Furthermore, in the gear device X1, by attaching the stop ring 3B to the carrier body 3A, the stop ring 3B can be used to lock the locked portions 91a and 92a. In addition, since the first thick-walled portion 91b is disposed in a region between the first retaining ring B1 and the crank shaft 5, this region can be effectively utilized to further suppress the enlargement of the carrier body 3A in the direction of the axis C1.

再者，在齒輪裝置X1中，因厚壁部91b、91c係圓環狀地形成，故能夠進一步提高規制構件9之強度。 Moreover, in the gear device X1, since the thick-walled portions 91b and 91c are formed in a ring shape, the strength of the regulation member 9 can be further increased.

再者，在齒輪裝置X1中，在軸C1方向上，第1規制構件91之主面91A係與第1大徑部51b之端面51A及第1曲柄軸承6A之保持器62之端部 62b相接。又，在軸C1方向上，第2規制構件92之主面92A與第2大徑部51c之端面51B及第2曲柄軸承6B之保持器62之端部62b相接。因此，能夠利用規制構件9規制曲柄軸5及曲柄軸承6此二者在軸C1方向上之移動。 Furthermore, in the gear device X1, in the direction of the axis C1, the main surface 91A of the first regulating member 91 is connected to the end surface 51A of the first large diameter portion 51b and the end portion of the retainer 62 of the first crank bearing 6A. 62b is connected. In the direction of the axis C1, the principal surface 92A of the second regulating member 92 is in contact with the end surface 51B of the second large diameter portion 51c and the end portion 62b of the retainer 62 of the second crank bearing 6B. Therefore, the movement of both the crank shaft 5 and the crank bearing 6 in the direction of the axis C1 can be regulated by the regulation member 9.

以下，一邊參照圖4一邊說明本實施形態所涉及之齒輪裝置X1之變化例1。 Hereinafter, a modification 1 of the gear device X1 according to the present embodiment will be described with reference to FIG. 4.

如圖4所示，在變化例1所涉及之齒輪裝置X1中，第1厚壁部91b之第1突出部91c超出軸C1方向上之載架3之長度範圍外。並且，傳動齒輪7在軸C1方向上與第1突出部91c相接。藉此，傳動齒輪7在軸C1方向上被定位於與第1突出部91c相接之位置。 As shown in FIG. 4, in the gear device X1 according to Modification 1, the first protruding portion 91c of the first thick-walled portion 91b is beyond the length range of the carrier 3 in the direction of the axis C1. The transmission gear 7 is in contact with the first protruding portion 91c in the direction of the axis C1. Accordingly, the transmission gear 7 is positioned at a position in contact with the first protruding portion 91c in the direction of the axis C1.

如上述般，在變化例1所涉及之齒輪裝置X1中，能夠利用第1厚壁部91b提高第1規制構件91之強度，且能夠利用該第1厚壁部91b之第1突出部91c進行傳動齒輪7之定位。 As described above, in the gear device X1 according to the first modification, the strength of the first regulation member 91 can be increased by the first thick-walled portion 91b, and the first protruding portion 91c of the first thick-walled portion 91b can be used. Positioning of the transmission gear 7.

其次，一邊參照圖5~圖7，一邊說明本實施形態所涉及之齒輪裝置X1之變化例2。 Next, a modification 2 of the gear device X1 according to the present embodiment will be described with reference to FIGS. 5 to 7.

如圖5所述，在變化例2所涉及之齒輪裝置X1中，載架3不具有擋環3B。又，在軸C1方向上，第1規制構件91與第2規制構件92以夾入偏心部54、55之方式設置，藉此規制軸C1方向上之曲柄軸5之移動。 As shown in FIG. 5, in the gear device X1 according to the second modification, the carrier 3 does not have a stop ring 3B. Further, in the direction of the axis C1, the first regulating member 91 and the second regulating member 92 are provided to sandwich the eccentric portions 54, 55, thereby regulating the movement of the crank shaft 5 in the direction of the axis C1.

如圖7所示，第1規制構件91形成為在中央部分形成有開口之圓環形狀。第1被卡止部91a卡止於第1構件31中軸C1方向上之第2構件32側之端面。變化例2所涉及之第1厚壁部91b與上述實施形態所涉及之第1厚壁部91b相比，曲柄軸5之徑向之寬度設定得更小。 As shown in FIG. 7, the first regulation member 91 is formed in a circular ring shape with an opening formed in a central portion. The first to-be-locked portion 91 a is locked to an end surface on the second member 32 side in the direction of the axis C1 in the first member 31. Compared with the first thick-walled portion 91b according to the above embodiment, the first thick-walled portion 91b according to the modified example 2 has a smaller width in the radial direction of the crank shaft 5.

形成於第1規制構件91之開口之直徑係設定為較第1大徑部51b之直徑稍大，且較第1偏心部54之直徑小。在形成於第1規制構件91之開口中***有曲柄軸5之軸本體51之第1大徑部51b。又，第1規制構件91之主面91A與正交於軸C1之第1偏心部54之端面54A相接。第1規制構 件91之內緣在與第1偏心部54之偏心方向相反方向上，位於較該第1偏心部54之外緣更靠軸本體51之軸心側之位置。藉此，無論第1偏心部54在偏心旋轉中位於何一位置，在遍及曲柄軸5之整個周向上，主面91A皆與第1偏心部54之端面54A相接。 The diameter of the opening formed in the first regulating member 91 is set to be slightly larger than the diameter of the first large diameter portion 51 b and smaller than the diameter of the first eccentric portion 54. A first large diameter portion 51b of a shaft body 51 of a crank shaft 5 is inserted into an opening formed in the first regulating member 91. The main surface 91A of the first regulatory member 91 is in contact with the end surface 54A of the first eccentric portion 54 orthogonal to the axis C1. Regulation 1 The inner edge of the piece 91 is located on the axial center side of the shaft body 51 in a direction opposite to the eccentric direction of the first eccentric portion 54 than the outer edge of the first eccentric portion 54. Thus, regardless of the position of the first eccentric portion 54 during the eccentric rotation, the main surface 91A is in contact with the end surface 54A of the first eccentric portion 54 throughout the entire circumferential direction of the crank shaft 5.

第1被卡止部91a之軸向端面91B與第1構件31中該軸C1方向上之第2構件32側之端面相接。藉此，利用第1構件31卡止第1被卡止部91a，從而規制曲柄軸5朝軸C1方向上之傳動齒輪7側之移動。 The axial end surface 91B of the first locked portion 91a is in contact with the end surface on the second member 32 side of the first member 31 in the direction of the axis C1. Thereby, the 1st to-be-locked part 91a is locked by the 1st member 31, and the movement of the crank shaft 5 to the transmission gear 7 side in the direction of the shaft C1 is regulated.

如圖6所示，第1突出部91c位於與軸C1正交之面內，第1曲柄軸承6A之保持器62之第2構件32側之端部62c與第1大徑部51b(軸本體51)之間。又，在軸C1方向上，在第1突出部91c與第1曲柄軸承6A之轉動體61之間形成有極小之空隙。 As shown in FIG. 6, the first protruding portion 91c is located in a plane orthogonal to the shaft C1, and the end portion 62c on the second member 32 side of the retainer 62 of the first crank bearing 6A and the first large diameter portion 51b (shaft body 51). Further, in the direction of the axis C1, a very small gap is formed between the first protruding portion 91c and the rotating body 61 of the first crank bearing 6A.

滾軸A1、A2具有轉動體A3及保持該轉動體之保持器A4。在變化例2中，第1規制構件91之主面91A在軸C1方向上與滾軸A1之保持器A4之傳動齒輪7側之端部A5相接。藉此，第1規制構件91亦規制軸C1方向上之滾軸A1之移動。 The rollers A1 and A2 include a rotating body A3 and a holder A4 holding the rotating body A3. In the modification 2, the main surface 91A of the first regulating member 91 is in contact with the end portion A5 on the transmission gear 7 side of the holder A4 of the roller A1 in the direction of the axis C1. Thereby, the first regulating member 91 also regulates the movement of the roller A1 in the direction of the axis C1.

第2規制構件92具有與第1規制構件91相同之形狀，且具有第2被卡止部92a及第2厚壁部92b。 The second regulatory member 92 has the same shape as the first regulatory member 91, and includes a second locked portion 92a and a second thick-walled portion 92b.

形成於第2規制構件92之開口之直徑係設定為較第2大徑部51c之直徑稍大，且較第2偏心部55之直徑小。在形成於第2規制構件92之開口中***有第2大徑部51c。又，第2規制構件92之主面92A與正交於軸C1之第2偏心部55之端面55A相接。第2規制構件92之內緣在與第2偏心部55之偏心方向相反方向上，位於較該第2偏心部55之外緣更靠軸本體51之軸心側之位置。藉此，無論第2偏心部55在偏心旋轉中位於何一位置，在遍及曲柄軸5之整個周向上，主面92A皆與第2偏心部55之端面55A相接。 The diameter of the opening formed in the second regulating member 92 is set to be slightly larger than the diameter of the second large diameter portion 51 c and smaller than the diameter of the second eccentric portion 55. A second large diameter portion 51c is inserted into an opening formed in the second regulatory member 92. The principal surface 92A of the second regulatory member 92 is in contact with the end surface 55A of the second eccentric portion 55 orthogonal to the axis C1. The inner edge of the second regulating member 92 is located on the axial center side of the shaft body 51 in a direction opposite to the eccentric direction of the second eccentric portion 55. Thus, regardless of the position of the second eccentric portion 55 during the eccentric rotation, the main surface 92A is in contact with the end surface 55A of the second eccentric portion 55 throughout the entire circumferential direction of the crank shaft 5.

第2被卡止部92a之軸向端面92B與基板部32a中該軸C1方向上之 第1構件31側之端面相接。藉此，利用第2構件31之基板部32a卡止第2被卡止部92a，從而規制曲柄軸5朝軸C1方向上之與傳動齒輪7相反側之移動。 Between the axial end surface 92B of the second locked portion 92a and the axis C1 of the substrate portion 32a The end faces on the first member 31 side are in contact with each other. Thereby, the second to-be-locked portion 92a is locked by the base plate portion 32a of the second member 31, and the movement of the crank shaft 5 in the direction of the axis C1 opposite to the transmission gear 7 is regulated.

第2突出部92c位於與軸C1正交之面內，第2曲柄軸承6B之保持器62之第1構件31側之端部62c與第2大徑部51c(軸本體51)之間。又，在軸C1方向上，在第2出部92c與第2曲柄軸承6B之轉動體61之間形成有極小之空隙。 The second protruding portion 92c is located in a plane orthogonal to the shaft C1, and between the end portion 62c on the first member 31 side of the retainer 62 of the second crank bearing 6B and the second large diameter portion 51c (shaft body 51). Further, in the direction of the axis C1, an extremely small gap is formed between the second output portion 92c and the rotating body 61 of the second crank bearing 6B.

在變化例2中，第2規制構件92之主面92A在軸C1方向上與滾軸A2之保持器A4之基板部32a側之端部A6相接。藉此，第2規制構件92亦規制軸C1方向上之滾軸A2之移動。 In the modification 2, the main surface 92A of the second regulating member 92 is in contact with the end portion A6 on the substrate portion 32a side of the holder A4 of the roller A2 in the direction of the axis C1. Thereby, the second regulation member 92 also regulates the movement of the roller A2 in the direction of the axis C1.

如上述般，在變化例2所涉及之齒輪裝置X1中，因厚壁部91b、92b之突出部91c、92c配置於保持器62與曲柄軸5之軸本體51之間之區域，故能夠有效地活用該區域而進一步抑制載架本體3A在軸C1方向上之大型化。 As described above, in the gear device X1 according to the second modification, since the protruding portions 91c and 92c of the thick-walled portions 91b and 92b are disposed in a region between the holder 62 and the shaft body 51 of the crank shaft 5, it can be effectively used. This area is utilized to further suppress the enlargement of the carrier body 3A in the direction of the axis C1.

再者，在變化例2所涉及之齒輪裝置X1中，第1規制構件91之主面91A在遍及曲柄軸5之整個周向上與第1偏心部54之端面54A相接，且第2規制構件92之主面92A在遍及曲柄軸5之整個周向上與第2偏心部55之端面55A相接。因此，能夠進一步確實地規制軸C1方向上之曲柄軸5之移動。 Furthermore, in the gear device X1 according to Modification 2, the main surface 91A of the first regulating member 91 is in contact with the end surface 54A of the first eccentric portion 54 throughout the entire circumferential direction of the crank shaft 5 and the second regulating member The principal surface 92A of 92 is in contact with the end surface 55A of the second eccentric portion 55 throughout the entire circumferential direction of the crank shaft 5. Therefore, the movement of the crank shaft 5 in the direction of the axis C1 can be regulated more reliably.

再者，在變化例2所涉及之齒輪裝置X1中，因在軸C1方向上突出部91c、92c與轉動體61之間形成有空隙，故該突出部91c、92c不會阻礙轉動體61之旋轉而能夠使曲柄軸5圓滑地旋轉。 Furthermore, in the gear device X1 according to Modification 2, a gap is formed between the protruding portions 91c and 92c and the rotating body 61 in the direction of the axis C1, so that the protruding portions 91c and 92c do not hinder the rotating body 61. By rotating, the crank shaft 5 can be smoothly rotated.

其次，一邊參照圖8~圖11，一邊說明變化例2所涉及之齒輪裝置X1之進一步之變化例即變化例3。 Next, a further modified example of the gear device X1 according to the modified example 2 is referred to as a modified example 3 with reference to FIGS. 8 to 11.

如圖8所示，在變化例3所涉及之齒輪裝置X1中，第1突出部91c係向軸C1方向上之基板部32a側突出，且第2突出部92c係向軸C1方向 上之第1構件31側突出。換言之，在變化例2與變化例3中，突出部91c、92c所突出之方向互相為反向。 As shown in FIG. 8, in the gear device X1 according to Modification 3, the first protruding portion 91c protrudes toward the substrate portion 32a side in the direction of the axis C1, and the second protruding portion 92c is directed toward the axis C1. The upper first member 31 protrudes. In other words, in the second modification and the third modification, the directions in which the protruding portions 91c and 92c protrude are opposite to each other.

如圖10所示，第1規制構件91具有：第1被卡止部91a；位於第1被卡止部91a之內側之第1厚壁部91b；及位於第1厚壁部91b之內側之第1規制部91d。如圖11所示，第1被卡止部91a、第1厚壁部91b、及第1規制部91d分別形成為圓環形狀。而且，第1厚壁部91b之中心軸C3係以該第1厚壁部91b對應於第1偏心部54之位置之方式，位於從形成於第1規制構件91之中央部分的開口之中心軸C2偏離之位置。 As shown in FIG. 10, the first regulatory member 91 includes: a first locked portion 91a; a first thick wall portion 91b located inside the first locked portion 91a; and a first thick wall portion 91b located inside the first thick wall portion 91b. The first regulatory department 91d. As shown in FIG. 11, the first to-be-locked portion 91 a, the first thick-walled portion 91 b, and the first regulating portion 91 d are each formed in a ring shape. The central axis C3 of the first thick-walled portion 91b is located at the central axis from the opening formed in the central portion of the first regulatory member 91 so that the first thick-walled portion 91b corresponds to the position of the first eccentric portion 54. C2 deviates from the position.

在形成於第1規制構件91之開口中***有曲柄軸5之軸本體51之第1大徑部51b。第1規制部91d之主面91A與正交於軸C1之第1偏心部54之端面54A相接。 A first large diameter portion 51b of a shaft body 51 of a crank shaft 5 is inserted into an opening formed in the first regulating member 91. The main surface 91A of the first regulation portion 91d is in contact with the end surface 54A of the first eccentric portion 54 orthogonal to the axis C1.

第1被卡止部91a之軸向端面91B與第1構件31中該軸C1方向上之第2構件32側之端面相接。藉此，利用第1構件31卡止第1被卡止部91a，從而規制曲柄軸5朝軸C1方向上之傳動齒輪7側之移動。 The axial end surface 91B of the first locked portion 91a is in contact with the end surface on the second member 32 side of the first member 31 in the direction of the axis C1. Thereby, the 1st to-be-locked part 91a is locked by the 1st member 31, and the movement of the crank shaft 5 to the transmission gear 7 side in the direction of the shaft C1 is regulated.

第1突出部91c在軸C1方向上從主面91A突出。如圖9所示，第1突出部91c位於與軸C1正交之面內，滾軸A1之保持器A4之端部A5與第1偏心部54之間。藉此，在第1擺動齒輪41回應曲柄軸5之旋轉而擺動旋轉時，第1規制構件91亦擺動旋轉。 The first protruding portion 91c protrudes from the main surface 91A in the direction of the axis C1. As shown in FIG. 9, the first protruding portion 91 c is located in a plane orthogonal to the axis C1, and between the end portion A5 of the holder A4 of the roller A1 and the first eccentric portion 54. Accordingly, when the first swing gear 41 swings and rotates in response to the rotation of the crank shaft 5, the first regulating member 91 also swings and rotates.

第2規制構件92具有與第1規制構件91相同之形狀，且具有第2被卡止部92a、第2厚壁部92b、及第2規制部92d。 The second regulation member 92 has the same shape as the first regulation member 91, and includes a second locked portion 92a, a second thick-walled portion 92b, and a second regulation portion 92d.

在形成於第2規制構件92之開口中***有第2大徑部51c。第2規制部92d之主面92A係與正交於軸C1之第2偏心部55之端面55A相接。 A second large diameter portion 51c is inserted into an opening formed in the second regulatory member 92. The principal surface 92A of the second regulation portion 92d is in contact with the end surface 55A of the second eccentric portion 55 orthogonal to the axis C1.

第2被卡止部92a之軸向端面92B係與第2構件31之基板部32a中該軸C1方向上之第1構件31側之端面相接。藉此，利用第2構件32之基板部32a卡止第2被卡止部92a，從而規制曲柄軸5朝軸C1方向上之與傳動齒輪7相反側之移動。 The axial end surface 92B of the second locked portion 92a is in contact with the end surface on the first member 31 side in the axis C1 direction of the substrate portion 32a of the second member 31. Thereby, the second to-be-locked portion 92a is locked by the base plate portion 32a of the second member 32, so that the movement of the crank shaft 5 in the direction of the axis C1 opposite to the transmission gear 7 is regulated.

第2突出部92c在軸C1方向上從主面92A突出。第2突出部92c位於與軸C1正交之面內，滾軸A2之保持器A4之端部A6與第2偏心部55之間。藉此，在第2擺動齒輪42回應曲柄軸5之旋轉而擺動旋轉時，第2規制構件92亦擺動旋轉。 The second protruding portion 92c protrudes from the main surface 92A in the direction of the axis C1. The second protruding portion 92c is located in a plane orthogonal to the axis C1, and between the end portion A6 of the holder A4 of the roller A2 and the second eccentric portion 55. Accordingly, when the second swing gear 42 swings and rotates in response to the rotation of the crank shaft 5, the second regulating member 92 also swings and rotates.

如上述般，在變化例3所涉及之齒輪裝置X1中，因突出部91c、92c配置於滾軸A1、A2之保持器A4之端部A5、A6與曲柄軸5之偏心部54、55之間所形成之區域，故能夠有效地活用該區域而進一步抑制載架本體3A在軸C1方向上之大型化。 As described above, in the gear device X1 according to Modification 3, the protruding portions 91c and 92c are disposed at the ends A5 and A6 of the holder A4 of the rollers A1 and A2 and the eccentric portions 54 and 55 of the crank shaft 5. The area formed by the space can be effectively utilized to further suppress the increase in size of the carrier body 3A in the direction of the axis C1.

應瞭解以上所說明之本實施形態及變化例之全部內容係例示，而非限制性的。本發明之範圍並非上述實施形態及變化例之說明，而是由專利申請範圍明示，並進一步包含與專利申請範圍均等的含義及範圍內的任何變更。 It should be understood that the entire contents of the embodiment and the modifications described above are illustrative and not restrictive. The scope of the present invention is not a description of the above-mentioned embodiments and modified examples, but is clearly indicated by the scope of the patent application, and further includes any changes within the meaning and scope equivalent to the scope of the patent application.

以下概括說明上述實施形態。 Hereinafter, the above-mentioned embodiment will be described in outline.

上述齒輪裝置具備：具有偏心部之曲柄軸；伴隨著偏心部之旋轉而擺動旋轉之擺動齒輪；可旋轉地支持前述曲柄軸之載架；及規制前述曲柄軸之軸向上之該曲柄軸之移動之規制構件；且前述規制構件具有：卡止於前述載架之被卡止部；在前述軸向上配置於與前述載架不相接之位置，且經形成為與前述被卡止部相比在前述軸向上厚度更大之厚壁部。 The gear device includes: a crank shaft having an eccentric portion; a swing gear that oscillates and rotates in accordance with the rotation of the eccentric portion; a carrier rotatably supporting the crank shaft; and regulating the movement of the crank shaft in the axial direction of the crank shaft And a regulatory member having: a locked portion locked to the carrier; and a position that is not connected to the carrier in the axial direction, and is formed to be compared with the locked portion A thick wall portion having a larger thickness in the aforementioned axial direction.

在前述之齒輪裝置中，因規制構件具有厚度較被卡止部更大之厚壁部，故能夠利用該厚壁部提高規制構件之強度。而且，因厚壁部在軸向上配置於與載架不相接之位置，故能夠抑制該載架在軸向上之大型化。因此，即使在軸向上對規制構件有大的力施加時，仍能夠抑制該規制構件撓曲，且能夠抑制齒輪裝置之大型化。 In the aforementioned gear device, since the regulating member has a thick wall portion having a thickness larger than that of the locked portion, the strength of the regulating member can be improved by using the thick wall portion. In addition, since the thick-walled portion is arranged at a position not in contact with the carrier in the axial direction, it is possible to suppress an increase in size of the carrier in the axial direction. Therefore, even when a large force is applied to the regulation member in the axial direction, it is possible to suppress the regulation member from being deflected and to suppress the increase in the size of the gear device.

又，較佳者係前述規制構件容納於前述軸向上之前述載架之長度範圍內。 In addition, it is preferable that the regulation member is accommodated within a length range of the carrier in the axial direction.

在前述齒輪裝置中，因在軸向上規制構件未超出軸向上之載架之長度範圍外，故能夠進一步抑制該齒輪裝置之大型化。 In the aforementioned gear device, since the regulating member does not exceed the length range of the carrier in the axial direction in the axial direction, the size of the gear device can be further suppressed.

又，較佳者係前述載架具有：形成有供配置前述曲柄軸之曲柄軸孔的載架本體；及安裝在包圍該載架本體之前述曲柄軸孔之內周面上的擋環。該情形下，較佳者係前述被卡止部在前述軸向上與前述擋環相接，且前述厚壁部位於與前述軸向正交之面內，在前述擋環與前述曲柄軸之間。 Further, it is preferable that the carrier includes a carrier body having a crank shaft hole in which the crank shaft is disposed, and a retaining ring mounted on an inner peripheral surface of the crank shaft hole surrounding the carrier body. In this case, it is preferable that the locked portion is in contact with the retaining ring in the axial direction, and the thick-walled portion is located in a plane orthogonal to the axial direction, between the retaining ring and the crank shaft. .

在前述齒輪裝置中，藉由將擋環安裝在載架本體上，能夠利用該擋環卡止被卡止部。而且，因厚壁部配置於擋環與曲柄軸之間之區域，故能夠有效地活用該區域而進一步抑制載架本體在軸向上之大型化。 In the aforementioned gear device, by attaching the stop ring to the carrier body, the locked portion can be locked by the stop ring. In addition, since the thick-walled portion is disposed in a region between the retaining ring and the crank shaft, this region can be effectively utilized to further suppress the increase in size of the carrier body in the axial direction.

又，較佳者係進一步具備支持前述曲柄軸之曲柄軸承，且前述曲柄軸承具有轉動體、及可轉動地保持該轉動體之保持器。該情形下，較佳者係前述厚壁部位於與前述軸向正交之面內，在前述保持器之前述規制構件側之端部與前述曲柄軸之間之區域。 Further, it is preferable that the crank bearing further includes a crank bearing that supports the crank shaft, and the crank bearing includes a rotating body and a holder that rotatably holds the rotating body. In this case, it is preferable that the thick-walled portion is located in a plane orthogonal to the axial direction, a region between an end portion of the retainer on the regulation member side and the crank shaft.

在前述齒輪裝置中，因厚壁部配置於保持器之規制構件側之端部與曲柄軸之間之區域，故能夠有效地活用該區域而進一步抑制載架本體在軸向上之大型化。 In the aforementioned gear device, since the thick-walled portion is disposed in a region between the end of the regulating member side of the retainer and the crank shaft, this region can be effectively utilized to further suppress the increase in size of the carrier body in the axial direction.

在前述齒輪裝置中，藉由有效地活用保持轉動體之保持器之端部與曲柄軸之間所形成之區域，將厚壁部配置於該區域，可進一步抑制齒輪裝置之大型化。 In the aforementioned gear device, the area formed between the end portion of the holder holding the rotating body and the crank shaft is effectively utilized, and the thick-walled portion is arranged in this area, which can further suppress the increase in size of the gear device.

又，較佳者係在前述曲柄軸上進一步具備傳動驅動力之傳動齒輪。該情形下，較佳者係利用前述厚壁部而定位前述傳動齒輪。 Further, it is preferable that the crank shaft further includes a transmission gear for transmitting a driving force. In this case, it is preferable that the transmission gear is positioned using the thick-walled portion.

在前述齒輪裝置中，利用厚壁部能夠提高規制構件之強度，且能夠進行傳動齒輪之定位。 In the aforementioned gear device, the thickness of the regulation member can be increased by the thick-walled portion, and positioning of the transmission gear can be performed.

又，較佳者係圓環狀地形成前述厚壁部。 The thick-walled portion is preferably formed in a ring shape.

在前述齒輪裝置中，藉由圓環狀地形成厚壁部，能夠進一步提高規制構件之強度。 In the aforementioned gear device, the thickness of the thick-walled portion is formed in a ring shape, which can further increase the strength of the regulation member.

Claims (4)

一種齒輪裝置，其具備：具有偏心部之曲柄軸；伴隨著偏心部之旋轉而擺動旋轉之擺動齒輪；支持前述曲柄軸並使之可旋轉之載架；及規制前述曲柄軸之軸向上之該曲柄軸的移動之規制構件；且前述規制構件具有：卡止於前述載架之被卡止部；及在前述軸向上配置於與前述載架不相接之位置，且經形成為與前述被卡止部相比在前述軸向上之厚度更大之厚壁部；其中前述規制構件處於前述軸向上之前述載架之長度範圍內；前述載架具有：形成有供配置前述曲柄軸之曲柄軸孔的載架本體；及安裝在圍繞該載架本體之前述曲柄軸孔之內周面上的擋環；前述被卡止部在前述軸向上與前述擋環相接；且前述厚壁部於與前述軸向正交之面內，位在前述擋環與前述曲柄軸之間。A gear device includes: a crank shaft having an eccentric portion; a swing gear that oscillates and rotates with the rotation of the eccentric portion; a carrier supporting and rotating the crank shaft; and regulating the axial direction of the crank shaft. The regulating member for the movement of the crankshaft; and the aforementioned regulating member has: the locked portion locked to the carrier; and is arranged at a position not in contact with the carrier in the axial direction, and is formed so as to be in contact with the bracket. The locking portion is thicker than the thick part in the axial direction; the regulatory member is in the length range of the carrier in the axial direction; the carrier has a crank shaft formed with the crank shaft; A carrier body with a hole; and a retaining ring installed on an inner peripheral surface of the crank shaft hole surrounding the carrier body; the locked portion is connected with the retaining ring in the axial direction; and the thick-walled portion is A plane orthogonal to the axial direction is located between the retaining ring and the crank shaft. 一種齒輪裝置，其具備：具有偏心部之曲柄軸；伴隨著偏心部之旋轉而擺動旋轉之擺動齒輪；支持前述曲柄軸並使之可旋轉之載架；規制前述曲柄軸之軸向上之該曲柄軸的移動之規制構件；及支持前述曲柄軸之曲柄軸承；且前述規制構件具有：卡止於前述載架之被卡止部；及在前述軸向上配置於與前述載架不相接之位置，且經形成為與前述被卡止部相比在前述軸向上之厚度更大之厚壁部；前述曲柄軸承具有轉動體、及保持該轉動體並使之可轉動之保持器；前述厚壁部於與前述軸向正交之面內，位在前述保持器之前述規制構件側之端部與前述曲柄軸之間。A gear device includes: a crank shaft having an eccentric portion; a swing gear that oscillates and rotates in accordance with the rotation of the eccentric portion; a carrier supporting and rotating the crank shaft; and regulating the crank in the axial direction of the crank shaft A regulating member for the movement of the shaft; and a crank bearing supporting the crank shaft; and the regulating member has: a locked portion locked to the carrier; and a position not connected to the carrier in the axial direction And is formed as a thick-walled portion having a larger thickness in the axial direction than the locked portion; the crank bearing has a rotating body, and a retainer holding and rotating the rotating body; the thick-walled portion The portion is located in a plane orthogonal to the axial direction, and is located between an end portion of the retainer on the regulation member side and the crank shaft. 一種齒輪裝置，其具備：具有偏心部之曲柄軸；伴隨著偏心部之旋轉而擺動旋轉之擺動齒輪；支持前述曲柄軸並使之可旋轉之載架；規制前述曲柄軸之軸向上之該曲柄軸的移動之規制構件；及向前述曲柄軸傳動驅動力之傳動齒輪；且前述規制構件具有：卡止於前述載架之被卡止部；及在前述軸向上配置於與前述載架不相接之位置，且經形成為與前述被卡止部相比在前述軸向上之厚度更大之厚壁部；前述傳動齒輪利用前述厚壁部而定位。A gear device includes: a crank shaft having an eccentric portion; a swing gear that oscillates and rotates in accordance with the rotation of the eccentric portion; a carrier supporting and rotating the crank shaft; and regulating the crank in the axial direction of the crank shaft A regulating member for the movement of the shaft; and a transmission gear for transmitting a driving force to the crank shaft; and the regulating member has: a locked portion locked to the carrier; and a member disposed in the axial direction that is different from the carrier And a thick wall portion having a larger thickness in the axial direction than the locked portion, and the transmission gear is positioned using the thick wall portion. 如請求項1~3中任一項之齒輪裝置，其中前述厚壁部係圓環狀地形成。The gear device according to any one of claims 1 to 3, wherein the thick-walled portion is formed in a ring shape.
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