WO2014057628A1 - Eccentrically oscillating gear device - Google Patents

Eccentrically oscillating gear device Download PDF

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Publication number
WO2014057628A1
WO2014057628A1 PCT/JP2013/005855 JP2013005855W WO2014057628A1 WO 2014057628 A1 WO2014057628 A1 WO 2014057628A1 JP 2013005855 W JP2013005855 W JP 2013005855W WO 2014057628 A1 WO2014057628 A1 WO 2014057628A1
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WO
WIPO (PCT)
Prior art keywords
eccentric
outer cylinder
carrier
oscillating gear
bolt
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PCT/JP2013/005855
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French (fr)
Japanese (ja)
Inventor
宏猷 王
義昭 牧添
正隆 佐藤
Original Assignee
ナブテスコ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by ナブテスコ株式会社 filed Critical ナブテスコ株式会社
Priority to DE112013004942.2T priority Critical patent/DE112013004942T5/en
Priority to KR1020157008346A priority patent/KR20150068372A/en
Priority to CN201380052920.1A priority patent/CN104736888A/en
Publication of WO2014057628A1 publication Critical patent/WO2014057628A1/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

Definitions

  • the present invention relates to an eccentric oscillating gear device.
  • the eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member, and a carrier disposed in the outer cylinder and fixed to the other counterpart member.
  • the carrier has a substrate portion in which a shaft portion is integrally formed and an end plate portion.
  • a swinging gear attached to the eccentric part of the crankshaft is sandwiched between the substrate part and the end plate part, and in this state, the shaft part and the end plate part are fastened to each other by bolts. Then, when the swinging gear swings and rotates while meshing with the inner teeth of the outer cylinder, the carrier and the outer cylinder rotate relatively.
  • the substrate part, shaft part, and end plate part constituting the carrier are generally made of an iron-based material, and the same applies to bolts. Since there is a processing error in the screw thread formed in the fastening hole of the shaft part and the screw thread of the bolt, not all parts of the screw are engaged with each other when the bolt is fastened. That is, there is a case where only a part of the threads is engaged because the pitch of the threads is slightly varied. In this case, there is a problem that the fastening with the bolt is loosened when the carrier receives an impact.
  • An object of the present invention is to prevent the bolts provided on the carrier from being loosened.
  • An eccentric oscillating gear device is a gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member.
  • the eccentric oscillating gear device is attachable to one of an eccentric part, an oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part, and the first member and the second member.
  • an outer cylinder having an inner tooth that meshes with the tooth portion of the rocking gear, and a carrier configured to be attachable to the other of the first member and the second member.
  • the carrier includes a base portion in which a fastening hole is formed, an end plate portion in which an insertion hole is formed, and a bolt that is inserted into the insertion hole and fastened to the fastening hole.
  • the bolt is made of an iron-based material.
  • the said base is comprised with the material whose longitudinal elastic modulus is lower than the longitudinal elastic modulus of an iron-type material.
  • FIG. 2 is a cross-sectional view taken along line II-II in FIG.
  • An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the present embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.
  • the gear device 1 rotates the crankshaft 10 by rotating the input shaft 8, and swings and rotates the swing gears 14 and 16 in conjunction with the eccentric portions 10a and 10b of the crankshaft 10.
  • an output rotation decelerated from the input rotation is obtained.
  • relative rotation can be caused between the base of the robot (one counterpart member) and the swing drum (the other counterpart member).
  • a base is illustrated as a 1st member
  • a turning body is illustrated as a 2nd member.
  • the gear device 1 includes an outer cylinder 2, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, a first swing gear 14, and a second
  • the oscillating gear 16 and a plurality of (for example, three) transmission gears 20 are provided.
  • the outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape.
  • a large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2.
  • Each pin groove 2b is disposed so as to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction.
  • These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.
  • the outer cylinder 2 has a large number of internal tooth pins 3.
  • Each internal tooth pin 3 is attached to a pin groove 2b.
  • each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2.
  • the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2.
  • the first external teeth 14 a of the first oscillating gear 14 and the second external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.
  • the outer cylinder 2 is provided with a flange portion, and the flange portion is formed with an insertion hole 2a for inserting a fastener (bolt) for fixing to the base of the robot, for example.
  • a fastener bolt
  • the carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2.
  • the carrier 4 rotates relative to the outer cylinder 2 around the same axis.
  • the carrier 4 is arranged on the radially inner side of the outer cylinder 2, and in this state, the carrier 4 can be rotated relative to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. It is supported by.
  • the carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7.
  • the substrate portion 4a is disposed in the outer cylinder 2 in the vicinity of one end portion in the axial direction.
  • a circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a.
  • a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
  • a fastening hole 4g for fastening an unillustrated fastener (bolt) for fixing the carrier 4 to, for example, a rotating drum of the robot is formed in the substrate portion 4a.
  • the end plate portion 7 is provided to be separated from the substrate portion 4a in the axial direction, and is disposed in the outer cylinder 2 in the vicinity of the other end portion in the axial direction.
  • a through hole 7 a is provided at the radial center of the end plate portion 7.
  • a plurality of (for example, three) crankshaft mounting holes 7b (hereinafter simply referred to as mounting holes 7b) are provided at positions corresponding to the plurality of mounting holes 4e of the substrate portion 4a.
  • mounting holes 7b are provided in the outer cylinder 2, a closed space surrounded by both inner surfaces of the end plate part 7 and the substrate part 4 a facing each other and the inner peripheral surface of the outer cylinder 2 is formed.
  • the plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a to the end plate portion 7 side.
  • the plurality of shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2).
  • Each shaft portion 4c is fastened to the end plate portion 7 by bolts 9 (see FIG. 1). That is, a bolt insertion hole 7c is formed in the end plate portion 7, and a fastening hole 4f is formed in the shaft portion 4c (base portion 4) so as to extend in the axial direction from the distal end surface.
  • a bolt 9 is inserted into the bolt insertion hole 7 c of the end plate portion 7 from the side opposite to the base portion 4. The bolt 9 is screwed into the fastening hole 4f of the shaft portion 4c.
  • the input shaft 8 functions as an input unit for inputting a driving force of a driving motor (not shown).
  • the input shaft 8 is inserted into the through hole 7a of the end plate portion 7 and the through hole 4d of the substrate portion 4a.
  • the input shaft 8 is arranged such that its axis coincides with the axes of the outer cylinder 2 and the carrier 4 and rotates around the axis.
  • An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
  • the plurality of crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2).
  • Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1).
  • a first crank bearing 12a is attached to a portion on the inside in the axial direction by a predetermined length from one axial end of each crankshaft 10, and the first crank bearing 12a is attached to the mounting hole 4e of the base plate portion 4a. It is attached to.
  • crankshaft 10 is rotatably supported by the board
  • Each crankshaft 10 has a shaft body 10c and eccentric parts 10a and 10b formed integrally with the shaft body 10c.
  • the 1st eccentric part 10a and the 2nd eccentric part 10b are arrange
  • Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c.
  • the first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.
  • a fitted portion 10d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion outside the axial direction of the portion attached in the attachment hole 4e of the substrate portion 4a.
  • the first oscillating gear 14 is disposed in the closed space in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
  • first roller bearing 18a When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
  • the first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2.
  • the first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have.
  • the first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.
  • the central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.
  • the input shaft 8 is inserted into the central through hole 14b with play.
  • the plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14.
  • the first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.
  • the plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
  • the second oscillating gear 16 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b.
  • the first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b.
  • the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
  • the second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.
  • Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10.
  • Each transmission gear 20 is externally fitted to a fitted portion 10d provided at one end of the corresponding shaft body 10c of the crankshaft 10.
  • Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10.
  • Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
  • the base part 5 (namely, the board
  • the end plate portion 7 of the carrier 4 is also made of aluminum or an aluminum alloy.
  • the bolt 9 that fastens the base portion 5 and the end plate portion 7 is made of an iron-based material such as stainless steel or chrome molybdenum steel.
  • the shaft 4c of the base 5 that constitutes the carrier 4 and is formed with the fastening hole 4f to which the bolt 9 is fastened is made of aluminum or aluminum alloy.
  • the bolt 9 is made of an iron-based material.
  • the shaft portion 4 c of the base portion 5 is softer than the bolt 9. Therefore, when the bolt 9 inserted into the bolt insertion hole 7c of the end plate portion 7 is screwed into the fastening hole f4 of the shaft portion 4c, the thread of the fastening hole 4f is easily elastically deformed.
  • the outer cylinder 2 is also made of aluminum or aluminum alloy, so that the weight of the gear device 1 can be reduced. Further, it can be made less susceptible to the influence of a magnetic field. Moreover, since the heat transfer performance of the outer cylinder 2 can be improved, the heat inside the outer cylinder 2 can be easily released. Therefore, the temperature rise of the rocking gears 14 and 16 can be suppressed, and the thermal expansion of the rocking gears 14 and 16 can be suppressed. As a result, an increase in the surface pressure of the tooth portions 14a and 16a of the oscillating gears 14 and 16 can be suppressed, so that the life of the oscillating gears 14 and 16 can be extended.
  • the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention.
  • the two swing gears 14 and 16 are provided.
  • the present invention is not limited to this.
  • a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.
  • the input shaft 8 is disposed at the center of the carrier 4 and the plurality of crankshafts 10 are disposed around the input shaft 8.
  • the present invention is not limited to this.
  • a center crank type in which the crankshaft 10 is disposed at the radial center of the carrier 4 may be employed.
  • the input shaft 8 may be disposed at any position.
  • the base that forms the carrier and is formed with a fastening hole in which the bolt is fastened is made of a material whose longitudinal elastic modulus is lower than that of the iron-based material, and the bolt is made of the iron-based material.
  • the base is softer than the bolt. Therefore, when the bolt inserted into the insertion hole of the end plate portion is fastened to the base, the thread of the fastening hole is easily elastically deformed. For this reason, even if there is a part where the pitch of the screw thread is slightly different due to a processing error, the strong part of the screw thread of the fastening hole is elastically deformed, so that the entire axial direction of the screw is covered.
  • the screws can be meshed evenly. Therefore, it is possible to avoid a situation in which the screw thread of the bolt and the screw thread of the fastening hole mesh with each other, and it is possible to prevent the bolt from loosening when the carrier receives an impact. it can.
  • Aluminum or an aluminum alloy may be used as the base material.
  • Aluminum alloys are lightweight and have good market availability.
  • the outer cylinder may also be made of aluminum or aluminum alloy.
  • the weight of the eccentric oscillating gear device can be further reduced. Further, it can be made less susceptible to the influence of a magnetic field.
  • the heat transfer performance of the outer cylinder can be improved, the heat inside the outer cylinder can be easily released. Therefore, the temperature rise of the oscillating gear can be suppressed, and the thermal expansion of the oscillating gear can be suppressed. As a result, an increase in the surface pressure of the tooth portion of the oscillating gear can be suppressed, so that the life of the oscillating gear can be extended.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

An eccentrically oscillating gear device (1) provided with an eccentric part (10a), an oscillating gear (14) having a through-hole into which the eccentricity part (10a) is inserted and having outer teeth (14a), an outer cylinder (2), and a carrier (4). The carrier (4) has a base part (5) in which a fastening hole (4f) is formed, an end plate part (7) in which a bolt through-hole (7c) is formed, and a bolt (9) inserted into the bolt through-hole (7c) and fastened in the fastening hole (4f). The bolt (9) is made from an iron-based material. The base part (5) is made from a material having a longitudinal elastic modulus lower than that of the iron-based material, such as an aluminum alloy. The outer cylinder (2) and the carrier (4) can be caused to concentrically rotate relative to each other by the oscillation of the oscillating gear (14) associated with the rotation of the eccentric part (10a).

Description

偏心揺動型歯車装置Eccentric oscillating gear unit
　本発明は、偏心揺動型歯車装置に関するものである。 The present invention relates to an eccentric oscillating gear device.
　従来、下記特許文献１に開示されているように、二つの相手側部材間で所定の減速比で回転数を減速する偏心揺動型歯車装置が知られている。この偏心揺動型歯車装置は、一方の相手部材に固定される外筒と、外筒内に配置されるとともに、もう一方の相手部材に固定されるキャリアとを備えている。キャリアは、シャフト部が一体的に形成された基板部と、端板部とを有している。基板部と端板部との間には、クランク軸の偏心部に取り付けられた揺動歯車が挟み込まれており、この状態でシャフト部と端板部とがボルトによって互いに締結されている。そして、揺動歯車が外筒の内歯に噛み合いながら揺動回転すると、キャリアと外筒とは相対的に回転する。 Conventionally, as disclosed in Patent Document 1 below, an eccentric oscillating gear device that reduces the rotational speed at a predetermined reduction ratio between two mating members is known. The eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member, and a carrier disposed in the outer cylinder and fixed to the other counterpart member. The carrier has a substrate portion in which a shaft portion is integrally formed and an end plate portion. A swinging gear attached to the eccentric part of the crankshaft is sandwiched between the substrate part and the end plate part, and in this state, the shaft part and the end plate part are fastened to each other by bolts. Then, when the swinging gear swings and rotates while meshing with the inner teeth of the outer cylinder, the carrier and the outer cylinder rotate relatively.
　キャリアを構成する基板部、シャフト部、端板部は何れも鉄系材料で構成されることが一般的であり、またボルトについても同様である。シャフト部の締結孔に形成されたねじ山や、ボルトのねじ山には、加工誤差があるため、ボルトを締結したときに、ねじの全ての部分が噛み合っているとは限らない。すなわち、ねじ山のピッチが僅かにばらつくことにより、一部のねじ山のみが噛み合った状態になっている場合がある。この場合には、キャリアが衝撃を受けたときなどに、ボルトによる締結が緩んでしまうという問題がある。 The substrate part, shaft part, and end plate part constituting the carrier are generally made of an iron-based material, and the same applies to bolts. Since there is a processing error in the screw thread formed in the fastening hole of the shaft part and the screw thread of the bolt, not all parts of the screw are engaged with each other when the bolt is fastened. That is, there is a case where only a part of the threads is engaged because the pitch of the threads is slightly varied. In this case, there is a problem that the fastening with the bolt is loosened when the carrier receives an impact.
特開２００６－７７９８０号公報JP 2006-77980 A
　本発明の目的は、キャリアに設けられているボルトが緩んでしまうことを防止することである。 An object of the present invention is to prevent the bolts provided on the carrier from being loosened.
　本発明の一局面に従う偏心揺動型歯車装置は、第１の部材と第２の部材との間で所定の回転数比で回転数を変換して駆動力を伝達する歯車装置である。偏心揺動型歯車装置は、偏心部と、前記偏心部が挿入される挿通孔を有すると共に歯部を有する揺動歯車と、前記第１の部材及び前記第２の部材の一方に取り付け可能に構成され、前記揺動歯車の前記歯部と噛み合う内歯を有する外筒と、前記第１の部材及び前記第２の部材の他方に取り付け可能に構成されるキャリアと、を備える。前記キャリアは、締結孔が形成された基部と、挿通孔が形成された端板部と、前記挿通孔に挿通されるとともに前記締結孔に締結されるボルトとを有している。前記ボルトは、鉄系材料で構成される。前記基部は、縦弾性係数が鉄系材料の縦弾性係数よりも低い材料で構成されている。前記キャリア及び前記外筒は、前記偏心部の回転に伴って前記揺動歯車が前記内歯に噛み合いながら揺動することによって互いに相対的に回転する。 An eccentric oscillating gear device according to one aspect of the present invention is a gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member. The eccentric oscillating gear device is attachable to one of an eccentric part, an oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part, and the first member and the second member. And an outer cylinder having an inner tooth that meshes with the tooth portion of the rocking gear, and a carrier configured to be attachable to the other of the first member and the second member. The carrier includes a base portion in which a fastening hole is formed, an end plate portion in which an insertion hole is formed, and a bolt that is inserted into the insertion hole and fastened to the fastening hole. The bolt is made of an iron-based material. The said base is comprised with the material whose longitudinal elastic modulus is lower than the longitudinal elastic modulus of an iron-type material. The carrier and the outer cylinder rotate relative to each other as the swinging gear meshes with the inner teeth as the eccentric portion rotates.
本発明の実施形態に係る偏心揺動型歯車装置の構成を示す断面図である。It is sectional drawing which shows the structure of the eccentric rocking | fluctuation type gear apparatus which concerns on embodiment of this invention. 図１のＩＩ－ＩＩ線における断面図である。FIG. 2 is a cross-sectional view taken along line II-II in FIG.
　以下、本発明の実施形態に係る偏心揺動型歯車装置について図面を参照して詳細に説明する。本実施形態の偏心揺動型歯車装置（以下、歯車装置と称する）１は、例えばロボットの旋回胴や腕関節等の旋回部、各種工作機械の旋回部等に減速機として適用されるものである。 Hereinafter, an eccentric oscillating gear device according to an embodiment of the present invention will be described in detail with reference to the drawings. An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the present embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.
　本実施形態に係る歯車装置１は、入力軸８を回転させることによってクランク軸１０を回転させ、クランク軸１０の偏心部１０ａ，１０ｂに連動して揺動歯車１４，１６を揺動回転させることにより、入力回転から減速した出力回転を得るように構成されている。これにより、例えばロボットのベース（一方の相手部材）と旋回胴（他方の相手部材）との間で、相対回転を生じさせることができる。例えばベースは、第１の部材として例示され、例えば旋回胴は、第２の部材として例示される。 The gear device 1 according to the present embodiment rotates the crankshaft 10 by rotating the input shaft 8, and swings and rotates the swing gears 14 and 16 in conjunction with the eccentric portions 10a and 10b of the crankshaft 10. Thus, an output rotation decelerated from the input rotation is obtained. Thereby, for example, relative rotation can be caused between the base of the robot (one counterpart member) and the swing drum (the other counterpart member). For example, a base is illustrated as a 1st member, for example, a turning body is illustrated as a 2nd member.
　図１及び２に示すように、歯車装置１は、外筒２と、キャリア４と、入力軸８と、複数（例えば３つ）のクランク軸１０と、第１揺動歯車１４と、第２揺動歯車１６と、複数（例えば３つ）の伝達歯車２０とを備えている。 As shown in FIGS. 1 and 2, the gear device 1 includes an outer cylinder 2, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, a first swing gear 14, and a second The oscillating gear 16 and a plurality of (for example, three) transmission gears 20 are provided.
　外筒２は、歯車装置１の外面を構成するものであり、略円筒形状を有している。外筒２の内周面には、多数のピン溝２ｂが形成されている。各ピン溝２ｂは、外筒２の軸方向に延びるように配置され、軸方向に直交する断面において半円形の断面形状を有している。これらのピン溝２ｂは、外筒２の内周面に周方向に等間隔で並んでいる。 The outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape. A large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2. Each pin groove 2b is disposed so as to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.
　外筒２は、多数の内歯ピン３を有している。各内歯ピン３は、ピン溝２ｂにそれぞれ取り付けられている。具体的に、各内歯ピン３は、対応するピン溝２ｂにそれぞれ嵌め込まれており、外筒２の軸方向に延びる姿勢で配置されている。これにより、多数の内歯ピン３は、外筒２の周方向に沿って等間隔で並んでいる。これらの内歯ピン３には、第１揺動歯車１４の第１外歯１４ａ及び第２揺動歯車１６の第２外歯１６ａが噛み合う。 The outer cylinder 2 has a large number of internal tooth pins 3. Each internal tooth pin 3 is attached to a pin groove 2b. Specifically, each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2. Thereby, the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2. The first external teeth 14 a of the first oscillating gear 14 and the second external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.
　外筒２には、フランジ部が設けられており、このフランジ部は、例えばロボットのベースに固定するための締結具（ボルト）を挿通するための挿通孔２ａが形成されている。 The outer cylinder 2 is provided with a flange portion, and the flange portion is formed with an insertion hole 2a for inserting a fastener (bolt) for fixing to the base of the robot, for example.
　キャリア４は、外筒２と同軸上に配置された状態で外筒２内に収容されている。キャリア４は、外筒２に対して同じ軸回りに相対回転する。具体的に、キャリア４は、外筒２の径方向内側に配置されており、この状態で、軸方向に互いに離間して設けられた一対の主軸受６によって外筒２に対して相対回転可能に支持されている。 The carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2. The carrier 4 rotates relative to the outer cylinder 2 around the same axis. Specifically, the carrier 4 is arranged on the radially inner side of the outer cylinder 2, and in this state, the carrier 4 can be rotated relative to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. It is supported by.
　キャリア４は、基板部４ａと複数（例えば３つ）のシャフト部４ｃとを有する基部５と、端板部７と、を備えている。 The carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7.
　基板部４ａは、外筒２内において軸方向の一端部近傍に配置されている。この基板部４ａの径方向中央部には円形の貫通孔４ｄが設けられている。貫通孔４ｄの周囲には、複数（例えば３つ）のクランク軸取付孔４ｅ（以下、単に取付孔４ｅという）が周方向に等間隔で設けられている。 The substrate portion 4a is disposed in the outer cylinder 2 in the vicinity of one end portion in the axial direction. A circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a. Around the through hole 4d, a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
　基板部４ａには、キャリア４を例えばロボットの旋回胴に固定するための図略の締結具（ボルト）を締結するための締結孔４ｇが形成されている。 A fastening hole 4g for fastening an unillustrated fastener (bolt) for fixing the carrier 4 to, for example, a rotating drum of the robot is formed in the substrate portion 4a.
　端板部７は、基板部４ａに対して軸方向に離間して設けられており、外筒２内において軸方向の他端部近傍に配置されている。端板部７の径方向中央部には貫通孔７ａが設けられている。貫通孔７ａの周囲には、複数（例えば３つ）のクランク軸取付孔７ｂ（以下、単に取付孔７ｂという）が基板部４ａの複数の取付孔４ｅと対応する位置に設けられている。外筒２内には、端板部７及び基板部４ａの互いに対向する双方の内面と、外筒２の内周面とによって囲まれた閉空間が形成されている。 The end plate portion 7 is provided to be separated from the substrate portion 4a in the axial direction, and is disposed in the outer cylinder 2 in the vicinity of the other end portion in the axial direction. A through hole 7 a is provided at the radial center of the end plate portion 7. Around the through hole 7a, a plurality of (for example, three) crankshaft mounting holes 7b (hereinafter simply referred to as mounting holes 7b) are provided at positions corresponding to the plurality of mounting holes 4e of the substrate portion 4a. In the outer cylinder 2, a closed space surrounded by both inner surfaces of the end plate part 7 and the substrate part 4 a facing each other and the inner peripheral surface of the outer cylinder 2 is formed.
　複数のシャフト部４ｃは、基板部４ａと一体的に設けられており、基板部４ａの一主面（内側面）から端板部７側へ直線的に延びている。この複数のシャフト部４ｃは、周方向に等間隔で配設されている（図２参照）。各シャフト部４ｃは、ボルト９によって端板部７に締結されている（図１参照）。すなわち、端板部７にはボルト挿通孔７ｃが形成され、シャフト部４ｃ（基部４）には、その先端面から軸方向に延びるように締結孔４ｆが形成されている。そして、端板部７のボルト挿通孔７ｃに、基部４と反対側からボルト９が挿入されている。このボルト９は、シャフト部４ｃの締結孔４ｆに螺合されている。これにより、基板部４ａ、シャフト部４ｃ及び端板部７が一体化されている。 The plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a to the end plate portion 7 side. The plurality of shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2). Each shaft portion 4c is fastened to the end plate portion 7 by bolts 9 (see FIG. 1). That is, a bolt insertion hole 7c is formed in the end plate portion 7, and a fastening hole 4f is formed in the shaft portion 4c (base portion 4) so as to extend in the axial direction from the distal end surface. A bolt 9 is inserted into the bolt insertion hole 7 c of the end plate portion 7 from the side opposite to the base portion 4. The bolt 9 is screwed into the fastening hole 4f of the shaft portion 4c. Thereby, the board | substrate part 4a, the shaft part 4c, and the end plate part 7 are integrated.
　入力軸８は、図略の駆動モータの駆動力が入力される入力部として機能するものである。入力軸８は、端板部７の貫通孔７ａ及び基板部４ａの貫通孔４ｄに挿入されている。入力軸８は、その軸心が外筒２及びキャリア４の軸心と一致するように配置されており、軸回りに回転する。入力軸８の先端部の外周面には入力ギア８ａが設けられている。 The input shaft 8 functions as an input unit for inputting a driving force of a driving motor (not shown). The input shaft 8 is inserted into the through hole 7a of the end plate portion 7 and the through hole 4d of the substrate portion 4a. The input shaft 8 is arranged such that its axis coincides with the axes of the outer cylinder 2 and the carrier 4 and rotates around the axis. An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
　複数のクランク軸１０は、外筒２内において入力軸８の周囲に等間隔で配置されている（図２参照）。各クランク軸１０は、一対のクランク軸受１２ａ，１２ｂによりキャリア４に対して軸回りに回転可能に支持されている（図１参照）。具体的に、各クランク軸１０の軸方向の一端から所定長さだけ軸方向内側の部分に第１クランク軸受１２ａが取り付けられており、この第１クランク軸受１２ａは、基板部４ａの取付孔４ｅに装着されている。一方、各クランク軸１０の軸方向の他端部に第２クランク軸受１２ｂが取り付けられており、この第２クランク軸受１２ｂは、端板部７の取付孔７ｂに装着されている。これにより、クランク軸１０は、基板部４ａ及び端板部７に回転可能に支持されている。 The plurality of crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2). Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1). Specifically, a first crank bearing 12a is attached to a portion on the inside in the axial direction by a predetermined length from one axial end of each crankshaft 10, and the first crank bearing 12a is attached to the mounting hole 4e of the base plate portion 4a. It is attached to. On the other hand, a second crank bearing 12 b is attached to the other axial end of each crankshaft 10, and this second crank bearing 12 b is attached to the attachment hole 7 b of the end plate portion 7. Thereby, the crankshaft 10 is rotatably supported by the board | substrate part 4a and the end plate part 7. FIG.
　各クランク軸１０は、軸本体１０ｃと、この軸本体１０ｃに一体的に形成された偏心部１０ａ，１０ｂとを有する。第１偏心部１０ａと第２偏心部１０ｂは、両クランク軸受１２ａ，１２ｂによって支持された部分の間に軸方向に並んで配置されている。第１偏心部１０ａと第２偏心部１０ｂは、それぞれ円柱形状を有しており、いずれも軸本体１０ｃの軸心に対して偏心した状態で軸本体１０ｃから径方向外側に張り出している。第１偏心部１０ａと第２偏心部１０ｂは、それぞれ軸心から所定の偏心量で偏心しており、互いに所定角度の位相差を有するように配置されている。 Each crankshaft 10 has a shaft body 10c and eccentric parts 10a and 10b formed integrally with the shaft body 10c. The 1st eccentric part 10a and the 2nd eccentric part 10b are arrange | positioned along with the axial direction between the parts supported by both crank bearings 12a and 12b. Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c. The first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.
　クランク軸１０の一端部、すなわち、基板部４ａの取付孔４ｅ内に取り付けられる部分の軸方向外側の部位には、伝達歯車２０が取り付けられる被嵌合部１０ｄが設けられている。 A fitted portion 10d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion outside the axial direction of the portion attached in the attachment hole 4e of the substrate portion 4a.
　第１揺動歯車１４は、外筒２内の前記閉空間に配設されているとともに各クランク軸１０の第１偏心部１０ａに第１ころ軸受１８ａを介して取り付けられている。第１揺動歯車１４は、各クランク軸１０が回転して第１偏心部１０ａが偏心回転すると、この偏心回転に連動して内歯ピン３に噛み合いながら揺動回転する。 The first oscillating gear 14 is disposed in the closed space in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a. When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
　第１揺動歯車１４は、外筒２の内径よりも少し小さい大きさを有している。第１揺動歯車１４は、第１外歯１４ａと、中央部貫通孔１４ｂと、複数（例えば３つ）の第１偏心部挿通孔１４ｃと、複数（例えば３つ）のシャフト部挿通孔１４ｄとを有している。第１外歯１４ａは、揺動歯車１４の周方向全体に亘って滑らかに連続する波形状を有している。 The first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2. The first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have. The first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.
　中央部貫通孔１４ｂは、第１揺動歯車１４の径方向中央部に設けられている。中央部貫通孔１４ｂには、入力軸８が遊びを持った状態で挿通されている。 The central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14. The input shaft 8 is inserted into the central through hole 14b with play.
　複数の第１偏心部挿通孔１４ｃは、第１揺動歯車１４において中央部貫通孔１４ｂの周囲に周方向に等間隔で設けられている。各第１偏心部挿通孔１４ｃには、第１ころ軸受１８ａが介装された状態で各クランク軸１０の第１偏心部１０ａがそれぞれ挿通されている。 The plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14. The first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.
　複数のシャフト部挿通孔１４ｄは、第１揺動歯車１４において中央部貫通孔１４ｂの周りに周方向に等間隔で設けられている。各シャフト部挿通孔１４ｄは、周方向において、隣り合う第１偏心部挿通孔１４ｃ間の位置にそれぞれ配設されている。各シャフト部挿通孔１４ｄには、対応するシャフト部４ｃが遊びを持った状態で挿通されている。 The plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
　第２揺動歯車１６は、外筒２内の前記閉空間に配設されているとともに各クランク軸１０の第２偏心部１０ｂに第２ころ軸受１８ｂを介して取り付けられている。第１揺動歯車１４と第２揺動歯車１６は、第１偏心部１０ａと第２偏心部１０ｂの配置に対応して軸方向に並んで設けられている。第２揺動歯車１６は、各クランク軸１０が回転して第２偏心部１０ｂが偏心回転すると、この偏心回転に連動して内歯ピン３に噛み合いながら揺動回転する。 The second oscillating gear 16 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b. The first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b. When each crankshaft 10 rotates and the second eccentric portion 10b rotates eccentrically, the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
　第２揺動歯車１６は、外筒２の内径よりも少し小さい大きさを有しており、第１揺動歯車１４と同様の構成となっている。すなわち、第２揺動歯車１６は、第２外歯１６ａ、中央部貫通孔１６ｂ、複数（例えば３つ）の第２偏心部挿通孔１６ｃ及び複数（例えば３つ）のシャフト部挿通孔１６ｄを有している。これらは、第１揺動歯車１４の第１外歯１４ａ、中央部貫通孔１４ｂ、複数の第１偏心部挿通孔１４ｃ及び複数のシャフト部挿通孔１４ｄと同様の構造を有している。各第２偏心部挿通孔１６ｃには、第２ころ軸受１８ｂが介装された状態でクランク軸１０の第２偏心部１０ｂが挿通されている。 The second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.
　各伝達歯車２０は、入力ギア８ａの回転を対応するクランク軸１０に伝達するものである。各伝達歯車２０は、対応するクランク軸１０の軸本体１０ｃにおける一端部に設けられた被嵌合部１０ｄにそれぞれ外嵌されている。各伝達歯車２０は、クランク軸１０の回転軸と同じ軸回りにこのクランク軸１０と一体的に回転する。各伝達歯車２０は、入力ギア８ａと噛み合う外歯２０ａを有している。 Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10. Each transmission gear 20 is externally fitted to a fitted portion 10d provided at one end of the corresponding shaft body 10c of the crankshaft 10. Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10. Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
　ここで、キャリア４及び外筒２を構成する素材について説明する。 Here, the materials constituting the carrier 4 and the outer cylinder 2 will be described.
　キャリア４の基部５（すなわち基板部４ａ及びシャフト部４ｃ）と、外筒２とは、それぞれアルミニウム又はアルミニウム合金によって構成されている。また、キャリア４の端板部７もアルミニウム又はアルミニウム合金によって構成されている。一方、基部５と端板部７とを締結するボルト９は、ステンレススチール、クロムモリブデン鋼等の鉄系材料で構成されている。なお、基部５については、アルミニウム又はアルミニウム合金で構成されるものに限られるものではなく、これに代え、繊維強化プラスチックやマグネシウム合金等、縦弾性係数が鉄系材料の縦弾性係数よりも低い材料で構成されていればよい。 The base part 5 (namely, the board | substrate part 4a and the shaft part 4c) of the carrier 4 and the outer cylinder 2 are each comprised with the aluminum or aluminum alloy. The end plate portion 7 of the carrier 4 is also made of aluminum or an aluminum alloy. On the other hand, the bolt 9 that fastens the base portion 5 and the end plate portion 7 is made of an iron-based material such as stainless steel or chrome molybdenum steel. In addition, about the base 5, it is not restricted to what is comprised with aluminum or aluminum alloy, It replaces with this, and a material with a longitudinal elastic modulus lower than the longitudinal elastic modulus of an iron-type material, such as a fiber reinforced plastic and a magnesium alloy It only has to be configured.
　以上説明したように、本実施形態の歯車装置１では、キャリア４を構成し、ボルト９が締結される締結孔４ｆが形成された基部５のシャフト部４ｃがアルミニウム製又はアルミニウム合金製であり、ボルト９が鉄系材料で構成されている。このため、ボルト９よりも基部５のシャフト部４ｃの方が軟らかい。したがって、端板部７のボルト挿通孔７ｃに挿通されたボルト９をシャフト部４ｃの締結孔ｆ４に螺合したときに、締結孔４ｆのねじ山が弾性変形し易い。このため、加工誤差によってねじ山のピッチが僅かに異なっている部分があったとしても、締結孔４ｆのねじ山のうち、当たりの強い部分が弾性変形することにより、ねじの軸方向の全体に亘って、均等にねじ同士を噛み合わせることができる。したがって、ボルト９のねじ山と締結孔のねじ山とがその一部のみで噛み合うという事態を回避することができ、キャリア４が衝撃を受けたときなどに、ボルト９が緩んでしまうことを防止することができる。 As described above, in the gear device 1 of the present embodiment, the shaft 4c of the base 5 that constitutes the carrier 4 and is formed with the fastening hole 4f to which the bolt 9 is fastened is made of aluminum or aluminum alloy. The bolt 9 is made of an iron-based material. For this reason, the shaft portion 4 c of the base portion 5 is softer than the bolt 9. Therefore, when the bolt 9 inserted into the bolt insertion hole 7c of the end plate portion 7 is screwed into the fastening hole f4 of the shaft portion 4c, the thread of the fastening hole 4f is easily elastically deformed. For this reason, even if there is a part where the pitch of the screw thread is slightly different due to a processing error, the strong part of the screw thread of the fastening hole 4f is elastically deformed, so that the entire axial direction of the screw is The screws can be evenly engaged with each other. Therefore, it is possible to avoid a situation in which the screw thread of the bolt 9 and the screw thread of the fastening hole are engaged with each other only, and the bolt 9 is prevented from loosening when the carrier 4 receives an impact. can do.
　また本実施形態では、外筒２もアルミニウム製又はアルミニウム合金製であるので、歯車装置１としての軽量化を図ることができる。また、磁場の影響を受けにくくすることができる。また、外筒２の伝熱性能を向上することができるため、外筒２内部の熱を放出し易くすることができる。したがって、揺動歯車１４，１６の昇温を抑制することができて、揺動歯車１４，１６の熱膨張を抑制することができる。この結果、揺動歯車１４，１６の歯部１４ａ，１６ａの面圧上昇を抑制できるため、揺動歯車１４，１６の寿命を延ばすことができる。 In the present embodiment, the outer cylinder 2 is also made of aluminum or aluminum alloy, so that the weight of the gear device 1 can be reduced. Further, it can be made less susceptible to the influence of a magnetic field. Moreover, since the heat transfer performance of the outer cylinder 2 can be improved, the heat inside the outer cylinder 2 can be easily released. Therefore, the temperature rise of the rocking gears 14 and 16 can be suppressed, and the thermal expansion of the rocking gears 14 and 16 can be suppressed. As a result, an increase in the surface pressure of the tooth portions 14a and 16a of the oscillating gears 14 and 16 can be suppressed, so that the life of the oscillating gears 14 and 16 can be extended.
　なお、本発明は、前記実施形態に限られるものではなく、その趣旨を逸脱しない範囲で種々変更、改良等が可能である。例えば、前記実施形態では、２つの揺動歯車１４，１６が設けられた構成としたが、これに限られるものではない。例えば、１つの揺動歯車が設けられる構成、又は３つ以上の揺動歯車が設けられる構成であってもよい。 Note that the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention. For example, in the above-described embodiment, the two swing gears 14 and 16 are provided. However, the present invention is not limited to this. For example, a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.
　前記実施形態では、入力軸８がキャリア４の中央部に配設され、複数のクランク軸１０が入力軸８の周囲に配設される構成としたがこれに限られるものではない。例えば、クランク軸１０がキャリア４の径方向中央部に配設されたセンタークランク式としてもよい。この場合、入力軸８がクランク軸１０に取り付けられた伝達歯車２０に噛み合うように設けられれば、入力軸８はどの位置に配設されていてもよい。 In the above embodiment, the input shaft 8 is disposed at the center of the carrier 4 and the plurality of crankshafts 10 are disposed around the input shaft 8. However, the present invention is not limited to this. For example, a center crank type in which the crankshaft 10 is disposed at the radial center of the carrier 4 may be employed. In this case, as long as the input shaft 8 is provided so as to mesh with the transmission gear 20 attached to the crankshaft 10, the input shaft 8 may be disposed at any position.
　ここで、前記実施形態について概説する。 Here, the embodiment will be outlined.
　（１）本実施形態では、キャリアを構成し、ボルトが締結される締結孔が形成された基部が、縦弾性係数が鉄系材料より低い材料で構成されており、ボルトが鉄系材料で構成されている。このため、ボルトよりも基部の方が軟らかい。したがって、端板部の挿通孔に挿通されたボルトを基部に締結したときに、締結孔のねじ山が弾性変形し易い。このため、加工誤差によってねじ山のピッチが僅かに異なっている部分があったとしても、締結孔のねじ山のうち、当たりの強い部分が弾性変形することにより、ねじの軸方向の全体に亘って、均等にねじ同士を噛み合わせることができる。したがって、ボルトのねじ山と締結孔のねじ山とがその一部のみで噛み合うという事態を回避することができ、キャリアが衝撃を受けたときなどに、ボルトが緩んでしまうことを防止することができる。 (1) In the present embodiment, the base that forms the carrier and is formed with a fastening hole in which the bolt is fastened is made of a material whose longitudinal elastic modulus is lower than that of the iron-based material, and the bolt is made of the iron-based material. Has been. For this reason, the base is softer than the bolt. Therefore, when the bolt inserted into the insertion hole of the end plate portion is fastened to the base, the thread of the fastening hole is easily elastically deformed. For this reason, even if there is a part where the pitch of the screw thread is slightly different due to a processing error, the strong part of the screw thread of the fastening hole is elastically deformed, so that the entire axial direction of the screw is covered. Thus, the screws can be meshed evenly. Therefore, it is possible to avoid a situation in which the screw thread of the bolt and the screw thread of the fastening hole mesh with each other, and it is possible to prevent the bolt from loosening when the carrier receives an impact. it can.
　（２）なお、縦弾性係数が鉄系材料より低い材料には、基部の材料として、例えばアルミニウム又はアルミニウム合金が使われてもよい。アルミニウム合金は軽量であり、市場における入手性もよい。 (2) For materials having a lower longitudinal elastic modulus than iron-based materials, for example, aluminum or an aluminum alloy may be used as the base material. Aluminum alloys are lightweight and have good market availability.
　（３）前記外筒も、アルミニウム製又はアルミニウム合金製であってもよい。この態様では、偏心揺動型歯車装置としての軽量化をさらに図ることができる。また、磁場の影響を受けにくくすることができる。また、外筒の伝熱性能を向上することができるため、外筒内部の熱を放出し易くすることができる。したがって、揺動歯車の昇温を抑制することができて、揺動歯車の熱膨張を抑制することができる。この結果、揺動歯車の歯部の面圧上昇を抑制できるため、揺動歯車の寿命を延ばすことができる。 (3) The outer cylinder may also be made of aluminum or aluminum alloy. In this aspect, the weight of the eccentric oscillating gear device can be further reduced. Further, it can be made less susceptible to the influence of a magnetic field. Moreover, since the heat transfer performance of the outer cylinder can be improved, the heat inside the outer cylinder can be easily released. Therefore, the temperature rise of the oscillating gear can be suppressed, and the thermal expansion of the oscillating gear can be suppressed. As a result, an increase in the surface pressure of the tooth portion of the oscillating gear can be suppressed, so that the life of the oscillating gear can be extended.
　以上説明したように、本実施形態によれば、キャリアに設けられているボルトが緩んでしまうことを防止することができる。 As described above, according to this embodiment, it is possible to prevent the bolt provided on the carrier from being loosened.

Claims (3)

  1. 　第１の部材と第２の部材との間で所定の回転数比で回転数を変換して駆動力を伝達する歯車装置であって、
    　偏心部と、
    　前記偏心部が挿入される挿通孔を有すると共に歯部を有する揺動歯車と、
    　前記第１の部材及び前記第２の部材の一方に取り付け可能に構成され、前記揺動歯車の前記歯部と噛み合う内歯を有する外筒と、
    　前記第１の部材及び前記第２の部材の他方に取り付け可能に構成されるキャリアと、を備え、
    　前記キャリアは、締結孔が形成された基部と、挿通孔が形成された端板部と、前記挿通孔に挿通されるとともに前記締結孔に締結されるボルトとを有しており、
    　前記ボルトは、鉄系材料で構成され、前記基部は、縦弾性係数が鉄系材料の縦弾性係数よりも低い材料で構成されており、
    　前記キャリア及び前記外筒は、前記偏心部の回転に伴って前記揺動歯車が前記内歯に噛み合いながら揺動することによって互いに相対的に回転する偏心揺動型歯車装置。     A gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member,
    An eccentric part,
    An oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part;
    An outer cylinder configured to be attachable to one of the first member and the second member, and having an inner tooth that meshes with the tooth portion of the swing gear;
    A carrier configured to be attachable to the other of the first member and the second member,
    The carrier has a base portion in which a fastening hole is formed, an end plate portion in which an insertion hole is formed, and a bolt that is inserted into the insertion hole and fastened to the fastening hole,
    The bolt is made of an iron-based material, and the base is made of a material whose longitudinal elastic modulus is lower than the longitudinal elastic modulus of the iron-based material,
    An eccentric oscillating gear device in which the carrier and the outer cylinder rotate relative to each other as the oscillating gear oscillates while meshing with the inner teeth as the eccentric portion rotates.
  2. 　前記基部は、アルミニウム製又はアルミニウム合金製である請求項１に記載の偏心揺動型歯車装置。 The eccentric oscillating gear device according to claim 1, wherein the base is made of aluminum or aluminum alloy.
  3. 　前記外筒は、アルミニウム製又はアルミニウム合金製である請求項１又は２に記載の偏心揺動型歯車装置。 The eccentric oscillating gear device according to claim 1 or 2, wherein the outer cylinder is made of aluminum or aluminum alloy.
PCT/JP2013/005855 2012-10-09 2013-10-01 Eccentrically oscillating gear device WO2014057628A1 (en)

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