CN105782354B - Gear device - Google Patents

Abstract

The invention provides a gear device. The gear device (X1) includes: an outer cylinder (2); a gear carrier (3) having an inner peripheral surface (31c, 32e) including an internal thread portion (31d, 32g); a crankshaft (5) It is rotatably supported on the inner peripheral surface (31c, 32e), so that one of the outer cylinder (2) and the gear frame (3) is relatively rotated relative to the other; the external thread part ( 91a, 92a), which can be threadedly combined with the external threaded part (31d, 32g); the restricting member (9), which is used to restrict the movement of the crankshaft (5) in the axial direction of the crankshaft (5).

Description

gear unit

technical field

The present invention relates to gear units.

Background technique

Conventionally, a gear device disclosed in JP-A-2014-109285 is known. As shown in FIG. 13 , the gear device disclosed in this publication includes: an outer cylinder 210; a crankshaft 220 having an eccentric portion 220a; a swing gear 230 that swings and rotates with the rotation of the eccentric portion 220a; The gear carrier 240 rotates and performs relative rotation with respect to the outer cylinder 210 . In this gear unit 200, a crankshaft 220 is inserted into a through hole 240a formed in a carrier 240, and the crankshaft 220 is supported by the carrier 240 so as to be rotatable in the through hole 240a.

On the crankshaft 220 , stepped portions 220 b and 220 c are respectively formed on both sides in the axial direction of the crankshaft 220 . In addition, on the inner peripheral surface 240b of the carrier 240 for forming the through hole 240a, two mounting grooves divided in the axial direction of the crankshaft 220 are formed. Snap rings 250 and 260 are fitted into the respective mounting grooves. In the axial direction of the crankshaft 220 , a washer 270 is interposed between the step portion 220 b and the stop ring 250 , and a washer 280 is interposed between the step portion 220 c and the stop ring 260 . The washers 270 and 280 function as limiting members that limit the axial movement of the crankshaft 220 .

In the gear unit 200, the snap rings 250 and 260 fitted in the respective mounting grooves of the inner peripheral surface 240b are located in the through hole 240a. Therefore, the thickness of the gasket 270 located between the stop ring 250 and the stepped portion 220b and the thickness of the gasket 280 located between the stop ring 260 and the stepped portion 220c in the through hole 240a may be reduced. When the thickness of the washers 270 and 280 is small, when the crankshaft 220 moves in the axial direction during the rotation, the washers 270 and 280 may be affected by the external force applied to the washers 270 and 280 from the crankshaft 220 . flex down.

Contents of the invention

The problem to be solved by the invention

An object of the present invention is to provide a gear device capable of suppressing deflection of a restricting member.

solutions to problems

A gear device according to one aspect of the present invention includes: an outer cylinder; a gear carrier having an inner peripheral surface including an internal thread; and a crankshaft rotatably supported on the inner peripheral surface for One of the outer cylinder and the gear carrier is relatively rotated with respect to the other; a limiting member has an external thread portion that can be threadedly combined with the internal thread portion, and is used for adjusting the crankshaft The axial movement of the crankshaft is restricted.

Description of drawings

FIG. 1 is a cross-sectional view showing a schematic configuration of a gear device according to an embodiment of the present invention.

Fig. 2 is an enlarged view of main parts of the gear unit shown in Fig. 1 .

Fig. 3 is a perspective view showing a schematic configuration of a first restricting member of the gear device.

4 is a diagram showing a schematic configuration of Modification 1 of the gear device according to the present embodiment, and is an enlarged view of main parts showing the same parts as in FIG. 2 .

Fig. 5 is a perspective view showing a schematic configuration of a first restricting member of the gear device shown in Fig. 4 .

6 is a diagram showing a schematic configuration of Modification 2 of the gear device according to the present embodiment, and is an enlarged view of main parts showing the same parts as in FIG. 2 .

7 is a diagram showing a schematic configuration of Modification 3 of the gear device according to the present embodiment, and is an enlarged view of main parts showing the same parts as in FIG. 2 .

FIG. 8 is a cross-sectional view showing a schematic configuration of Modification 4 of the gear device of the present embodiment.

FIG. 9 is a cross-sectional view showing a schematic configuration of Modification 5 of the gear device of the present embodiment.

FIG. 10 is an enlarged view of a main part of a gear device according to Modification 5 shown in FIG. 9 .

FIG. 11 is a diagram showing Modification 6 of the gear device according to the present embodiment, and is a perspective view showing a schematic configuration of a first restricting member similarly to FIG. 3 .

FIG. 12 is a diagram showing Modification 7 of the gear device according to the present embodiment, and is a perspective view showing a schematic configuration of a first restricting member similarly to FIG. 3 .

Fig. 13 is a cross-sectional view showing a schematic configuration of a conventional gear device.

Detailed ways

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, for convenience of description, only main members among the constituent members of the gear device X1 according to the present embodiment are shown in simplified form in each of the drawings referred to below. Therefore, the gear device X1 according to the present embodiment can include arbitrary constituent members not shown in the drawings referred to in this specification.

As shown in FIGS. 1 and 2 , the gear unit X1 is an eccentric swing type gear unit, and includes an outer cylinder 2 , a carrier 3 , a swing gear 4 , and a crankshaft 5 . In the gear unit X1, the outer cylinder 2 and the carrier 3 rotate relative to each other by the swing gear 4 swinging and rotating with the rotation of the crankshaft 5 .

The outer cylinder 2 has a substantially cylindrical shape with the axis C1 as a central axis. Many pin grooves are formed in the inner peripheral surface 2a of the outer cylinder 2. As shown in FIG. Each pin groove is arranged so as to extend along the axis C1 direction, and has a semicircular cross-sectional shape in a cross section perpendicular to the axis C1 direction. The pin grooves are arranged at equal intervals along the circumferential direction of the outer cylinder 2 .

The gear unit X1 further includes a plurality of internal tooth pins 8 attached to the inner peripheral surface 2 a of the outer cylinder 2 . Each inner tooth pin 8 has a cylindrical shape extending in the direction of the axis C1 of the outer cylinder 2 . In addition, each inner tooth pin 8 is attached to each pin groove formed in the inner peripheral surface 2 a of the outer cylinder 2 .

A plurality of mounting holes 2b penetrating the outer cylinder 2 along the axis C1 direction are formed in the outer cylinder 2 . The mounting holes 2 b are arranged at equal intervals along the circumferential direction of the outer cylinder 2 . Each mounting hole 2 b is used when mounting the outer tube 2 to a member on the opposite side (not shown), such as a base constituting a joint portion of the robot. When the outer cylinder 2 is attached to the base constituting the joint portion of the robot, the outer cylinder 2 becomes a fixed side member in the gear unit X1.

The carrier 3 is configured to sandwich the swing gear 4 in the axis C1 direction, and is arranged concentrically with the outer cylinder 2 . The carrier 3 has a first member 31 and a second member 32 facing each other in the axis C1 direction. The first member 31 and the second member 32 are fastened to each other by the fastening member T1.

The first member 31 has a substantially disc shape. A part of the first member 31 is located inside the outer cylinder 2, and the remaining part is located outside the outer cylinder 2 in the direction of the axis C1.

The first member 31 is formed with a central hole 31 a and a crankshaft mounting portion 31 b.

The central hole 31a is formed in the central portion of the first member 31 so as to penetrate the first member 31 along the axis C1 direction.

The crankshaft mounting portion 31b is a portion where the crankshaft 5 is mounted. The crankshaft mounting portions 31b are arranged along the circumferential direction of the carrier 3 outside the central hole 31a. Each crankshaft mounting portion 31b may be formed by a through hole penetrating the first portion 31 along the axis C1 direction, or a concave hole formed by indenting a part of the first portion 31 in the axis C1 direction. In the present embodiment, each crankshaft mounting portion 31b is formed so as to penetrate the first member 31 along the axis C1 direction. In addition, in the present embodiment, three crankshaft mounting portions 31 b are formed on the first member 31 .

The second member 32 has a substantially disc-shaped base plate portion 32 a and a shaft portion 32 b extending from the base plate portion 32 a toward the first member 31 side.

A part of the base plate part 32a is located inside the outer cylinder 2, and the remaining part is located outside the outer cylinder 2 in the direction of the axis C1.

The shaft portion 32b extends in the direction of the axis C1 from the end surface of the base plate portion 32a on the side of the axis C1 on the side of the first member 31 . A plurality of shaft portions 32 b are arranged along the circumferential direction of the carrier 3 . In this embodiment, the second member 32 has three shaft portions 32b. However, the number of shaft portions 32b can be changed appropriately.

In the second member 32, a center hole 32c, a crankshaft mounting portion 32d, and a mounting hole 32f are formed.

The central hole 32c is formed in the central portion of the second member 32 so as to penetrate the substrate portion 32a of the second member 32 along the axis C1 direction.

The crankshaft mounting portion 32d is a portion where the crankshaft 5 is mounted. A plurality of crankshaft mounting portions 32d are formed along the circumferential direction of the carrier 3 outside the center hole 32c. Each crankshaft mounting portion 32d may be formed by a through hole penetrating the base plate portion 32a along the axis C1 direction, or a concave hole in which a part of the base plate portion 32a is recessed in the axis C1 direction. In the present embodiment, each crankshaft mounting portion 32d is formed so as to penetrate the base plate portion 32a of the second member 32 along the axis C1 direction. Moreover, each crankshaft mounting part 32d is provided corresponding to the position of each crankshaft mounting part 31b formed in the 1st member 31. As shown in FIG.

The attachment hole 32f is formed to be recessed from the end surface of the second member 32 on the side opposite to the first member 31 along the axis C1 direction. The mounting holes 32f are used when mounting the carrier 3 to an object-side member such as a revolving body constituting a joint portion of the robot. When the revolving body constituting the joint portion of the robot is attached to the carrier 3 , the carrier 3 becomes a member on the rotation side in the gear device X1 . In addition, for example, as long as the carrier 3 is attached to the base constituting the joint portion of the robot, the outer cylinder 2 can be attached to the revolving body constituting the joint portion of the robot. Thus, the carrier 3 becomes a member on the fixed side of the gear unit X1, and the outer cylinder 2 becomes a member on the rotating side of the gear unit X1.

The gear unit X1 also has main bearings B1, B2. The main bearings B1 and B2 are provided between the outer peripheral surface of the carrier 3 and the inner peripheral surface 2 a of the outer cylinder 2 . Specifically, the main bearing B1 is provided between the outer peripheral surface of the first member 31 and the inner peripheral surface 2a of the outer cylinder 2, and the main bearing B2 is provided between the outer peripheral surface of the substrate portion 32a of the second member 32 and the inner surface of the outer cylinder 2. Between the peripheral surfaces 2a. The main bearings B1 , B2 allow relative rotation between the outer cylinder 2 and the gear carrier 3 .

The crankshaft 5 is rotatably supported by the carrier 3 in the crankshaft mounting portions 31b, 32d. The gear unit X1 also has a crankshaft bearing 6 that allows the crankshaft 5 to rotate relative to the carrier 3 . The crankshaft 6 includes crankshafts 6A, 6B. The crankshaft 5 is supported by the carrier 3 via the crankshaft bearings 6A, 6B. In this embodiment, three crankshafts 5 are arranged along the circumferential direction of the carrier 3 . In addition, the number of crankshafts 5 is arbitrary and can be appropriately changed according to the usage pattern of the gear unit X1. The number of crankshaft mounting portions 31b can also be appropriately changed according to the usage pattern of the gear unit X1.

The crankshaft 5 has a shaft main body 51 extending in the direction of the axis C1 and eccentric portions 54 and 55 eccentric to the shaft main body 51 .

The shaft main body 51 has a first journal portion (large diameter portion) 51b, a second journal portion 51c, and a small diameter portion having a slightly smaller outer diameter than the first journal portion 51b and the second journal portion 51c. 51a.

The first journal portion 51b is located in the crankshaft mounting portion 31b of the first member 31 . The first crank bearing 6A is attached to the outer peripheral surface of the first journal portion 51b.

The second journal portion 51c has the same outer diameter as that of the first journal portion 51b. The second journal portion 51c is located in the crankshaft mounting portion 32d of the second member 32 . The second crank bearing 6B is attached to the outer peripheral surface of the second journal portion 51c.

The small-diameter portion 51a is adjacent to the first journal portion 51b in the direction of the axis C1, and extends to the side opposite to the second journal portion 51c. Part of the small-diameter portion 51a is located outside the crankshaft mounting portion 31b. In addition, the small-diameter portion 51a may not be provided, and the first journal portion 51b may extend from the inside of the crankshaft mounting portion 31b to the outside of the crankshaft mounting portion 31b.

The eccentric portions 54 and 55 are located between the first journal portion 51b and the second journal portion 51c in the axis C1 direction. The swing gear 4 is attached to the eccentric portion 54 via the eccentric portion bearing A1, and is attached to the eccentric portion 55 via the eccentric portion bearing A2. The eccentric portion bearings A1 , A2 allow relative rotation between the eccentric portions 54 , 55 and the swing gear 4 .

The swing gear 4 is located inside the outer cylinder 2, and is sandwiched between the first member 31 and the substrate portion 32a of the second member 32 in the direction of the axis C1. The gear unit X1 also has eccentric portion bearings A1, A2, and the swing gear 4 has a first swing gear 41 mounted on the first eccentric portion 54 via the eccentric portion bearing A1 and a second swing gear 41 mounted on the second eccentric portion 55 via the eccentric portion bearing A2. Swing gear 42. The swing gears 41 , 42 have an outer diameter slightly smaller than the inner diameter of the outer cylinder 2 , and a plurality of external teeth are formed on the outer peripheral surfaces of the swing gears 41 , 42 . The number of external teeth formed on the respective outer peripheral surfaces of the swing gears 41 and 42 is slightly smaller than the number of internal tooth pins 8 . Thereby, the first swing gear 41 and the second swing gear 42 can swing and rotate in phases different from each other in the inside of the outer cylinder 2 so that the respective external teeth mesh with the respective internal tooth pins 8 .

A center hole 41a corresponding to the position of the center hole 31a of the first member 31, an insertion hole 41b into which the shaft portion 32b is inserted, and a crankshaft mounting portion 41c into which the first eccentric portion 54 is inserted are formed in the first swing gear 41. .

A center hole 42a corresponding to the position of the center hole 32c of the second member 32, an insertion hole 42b into which the shaft portion 32b is inserted, and a crankshaft mounting portion 42c into which the second eccentric portion 55 is inserted are formed in the second swing gear 42 .

In addition, in this embodiment, the swing gear 4 has two swing gears, the first swing gear 41 and the second swing gear 42, but it is not limited thereto, and may have only one swing gear, or three or more swing gears. swing gear.

The gear unit X1 further includes a transmission gear 7 that transmits a drive force from a drive source not shown to the crankshaft 5 to rotate the crankshaft 5 . In this embodiment, three transmission gears 7 are provided corresponding to the positions of the three crankshafts 5 . The transmission gear 7 is located on the side opposite to the second member 32 across the first member 31 in the axis C1 direction. The transmission gear 7 is attached to the small-diameter portion 51 a of the shaft main body 51 of the crankshaft 5 . The movement of the transmission gear 7 in the direction of the axis C1 is restricted by stop rings attached to the small-diameter portion 51 a of the shaft main body 51 so as to sandwich the transmission gear 7 from both sides in the direction of the axis C1 .

In addition, in this embodiment, the transmission gear 7 is located on the side opposite to the second member 32 across the first member 31 in the axis C1 direction, but the present invention is not limited thereto. The transmission gear 7 may be located, for example, between the first eccentric portion 54 and the second eccentric portion 55 . That is, the arrangement of the transmission gear 7 is arbitrary, and can be appropriately changed according to the style of the gear unit X1.

The transmission gear 7 has a plurality of external teeth on its outer peripheral surface, and the external teeth mesh with an input shaft or the like of a motor (drive source), not shown, to transmit the driving force (torque) of the motor to the crankshaft 5 . Then, when the eccentric portions 54 and 55 of the crankshaft 5 receiving the driving force from the transmission gear 7 rotate, the swing gear 4 swings and rotates in the outer cylinder 2 in accordance with the rotation. Accordingly, the outer cylinder 2 and the carrier 3 are relatively rotated.

The gear unit X1 also has a restricting member 9 for restricting the movement of the crankshaft 5 in the direction of the axis C1. The restricting member 9 has a first restricting member 91 and a second restricting member 92 separated from each other in the axis C1 direction. The first restricting member 91 and the second restricting member 92 sandwich the crankshaft 5 in the axis C1 direction. Accordingly, the first restricting member 91 and the second restricting member 92 restrict the movement of the crankshaft 5 in the direction of the axis C1.

As shown in FIG. 3 , the first restricting member 91 has a disc shape. In the present embodiment, an insertion hole 91b penetrating through the central portion along the axis C1 direction is formed in the first restricting member 91 . The diameter of the insertion hole 91b is set to be slightly larger than the diameter of the small-diameter portion 51a and smaller than the diameter of the first journal portion 51b. As shown in FIG. 2, the 1st restricting member 91 is arrange|positioned so that the small-diameter part 51a may be located in the insertion hole 91b.

The first restricting member 91 has an external thread portion 91 a for fixing the first restricting member 91 to the carrier 3 and an attachment portion 91 e to which a tool (not shown) can be attached. The external thread portion 91 a is formed over the entire circumference of the outer peripheral portion of the first restricting member 91 . The attachment portion 91e is formed on the main surface of the first restricting member 91 in the direction of the axis C1. As shown in FIG. 2 , the first restricting member 91 is attached to the carrier 3 so that the main surface on which the attachment portion 91 e is formed faces the transmission gear 7 side in the axis C1 direction. In the present embodiment, the main surface on which the mounting portion 91e is formed among the two main surfaces in the direction of the axis C1 of the first restricting member 91 is referred to as one main surface 91D, and the one located opposite to the one main surface 91D is One main surface is called the other main surface 91A.

In addition, in this embodiment, although the two attachment parts 91e are formed in one main surface 91D, it is not limited to this. Only one mounting part 91e may be formed, or three or more may be formed. The mounting part 91e may also be omitted.

In addition, in this embodiment, since the attachment part 91e is formed by recessing a part of one main surface 91D, it has a bottom, but it is not limited to this. The attachment portion 91e may be formed, for example, by penetrating a part of the first restricting member 91 from one main surface 91D to the other main surface 91A.

The inner peripheral surface 31c forming the crankshaft mounting portion 31b of the first member 31 has an internal thread portion 31d, a stepped portion 31e, and a support portion 31f. In the present embodiment, the female thread portion 31d, the step portion 31e, and the support portion 31f are sequentially continuous from the outer end surface 31A side of the first member 31 .

The internally threaded portion 31d is formed from an end portion of the inner peripheral surface 31c on the outer end surface 31A side to an intermediate portion of the inner peripheral surface 31c in the direction of the axis C1. The internal thread portion 31d is screwed to the external thread portion 91a. Thus, the restricting member 9 is attached to the carrier 3 .

The stepped portion 31e connects the internal thread portion 31d and the support portion 31f. The stepped portion 31e extends radially inward of the crankshaft 5 from the end portion of the internally threaded portion 31d on the first rocking gear 41 side in the axis C1 direction. In the present embodiment, as shown in FIG. 2 , the stepped portion 31 e is positioned flush with the axial end surface 51A of the first journal portion 51 b in the direction perpendicular to the axis C1 direction. It is an end surface on the side opposite to the eccentric portion 54 .

The outer peripheral portion of the other main surface 91A of the first restricting member 91 is in contact with the step portion 31e in the direction of the axis C1. Thus, in the present embodiment, the step portion 31 e functions as a positioning portion for positioning the first restricting member 91 . In addition, the central portion of the other main surface 91A of the first restricting member 91 is in contact with the axial end surface 51A of the first journal portion 51b. Thereby, the movement of the crankshaft 5 in the direction of the axis C1 to the side of the transmission gear 7 is restricted. Thus, in the present embodiment, the other main surface 91A includes a positioning surface 91B in contact with the stepped portion 31e in the direction of the axis C1 and a restricting surface 91C in contact with the axial end surface 51A of the first journal portion 51b. Furthermore, the positioning surface 91B and the regulation surface 91C are located on the same surface. In the present embodiment, the other main surface 91A is flat from the positioning surface 91B to the regulating surface 91C.

In addition, in this embodiment, although 91 C of control surfaces contact the axial end surface 51A of the 1st journal part 51b, it does not restrict to this. The restriction surface 91C may be arranged with a gap between the axial end surface 51A and the axial end surface 51A in the direction of the axis C1. In this case, the stepped portion 31e is located on the outer end surface 31A side with respect to the axial end surface 51A in the direction of the axis C1.

The support portion 31f extends from the inner end of the step portion 31e in the radial direction of the crankshaft 5 toward the first rocking gear 41 in the direction of the axis C1.

The support portion 31f rotatably supports the first journal portion 51b via the first crank bearing 6A. As shown in FIG. 2 , the first crank bearing 6A has rolling elements 61 extending in the direction of the axis C1 and a cage 62 that rotatably holds the rolling elements 61 . The cage 62 has: a first portion 62a located outside the rolling element 61 in the radial direction of the crankshaft 5; a second portion 62b connected to one end of the first portion 62a located on the outer end surface 31A side in the direction of the axis C1; The third site 62c is connected to the other end of the first rocking gear 41 side in the axis C1 direction of the first site 62a. The rolling elements 61 are inserted into the rolling element insertion holes formed in the first portion 62a, and are positioned between the second portion 62b and the third portion 62c on both sides in the axis C1 direction. Thus, the cage 62 restricts the movement of the rolling elements 61 in the direction of the axis C1. Furthermore, the crankshaft 5 can relatively rotate with respect to the carrier 3 by the rolling element 61 freely rotating between the support part 31f and the 1st journal part 51b.

In this embodiment, the outer end surface of the second portion 62b of the cage 62 in the direction of the axis C1 is arranged to be flush with the axial end surface 51A of the first journal portion 51b in the direction perpendicular to the axis C1. Therefore, the second portion 62b of the holder 62 is in contact with the other main surface 91A between the positioning surface 91B and the regulating surface 91C. Thus, the first restricting member 91 restricts the movement of the first crank bearing 6A toward the outer end surface 31A side in the axis C1 direction.

In addition, in the present embodiment, the other main surface 91A is in contact with the second portion 62b of the holder 62 of the first crank bearing 6A, but the present invention is not limited thereto. The other main surface 91A may be arranged with a gap between the second portion 62b of the holder 62 in the direction of the axis C1.

When attaching the first restricting member 91 to the carrier 3, the first restricting member 91 is fitted into the small-diameter portion 51a from the other main surface 91A side before attaching the transmission gear 7 to the small-diameter portion 51a. Then, a tool not shown in the figure is attached to the attachment portion 91e from the side of the one main surface 91D, and the tool is rotated to screw the external thread portion 91a of the first restricting member 91 to the internal thread portion 31d. Then, the first restricting member 91 is positioned at a position where the positioning surface 91B of the other main surface 91A contacts the step portion 31e, and the tool is detached from the attachment portion 91e in this state. In this way, the first restricting member 91 can be attached to the carrier 3 .

On the other hand, to remove the first restricting member 91 from the carrier 3, first, the transmission gear 7 is removed from the small diameter portion 51a, and a tool is attached to the attachment portion 91e from the one main surface 91D side. Then, by turning the tool, the screw connection between the external thread portion 91a and the internal thread portion 31d of the first restricting member 91 is released, and the first restricting member 91 is removed from the internal thread portion 31d. In this way, the first restricting member 91 can be detached from the carrier 3 .

In this way, the first restricting member 91 has the external thread portion 91a, and the first restricting member 91 is fixed to the gear carrier 3 by screwing the external thread portion 91a and the internal thread portion 31d, so that Frame 3 is installed or removed.

In addition, in this embodiment, although the inner peripheral surface 31c has the step part 31e, it is not limited to this, and the inner peripheral surface 31c may not have the step part 31e. In this case, the inner peripheral surface 31c extends in the axis C1 direction from the female thread portion 31d to the support portion 31f, and the female thread portion 31d is formed from the end portion on the outer end surface 31A side of the inner peripheral surface 31c to the middle portion. The end portion of the female thread portion 31d on the side opposite to the outer end surface 31A functions as a positioning portion for positioning the first restricting member 91 . In addition, the inner peripheral surface portion of the inner peripheral surface 31c from the middle portion to the end opposite to the outer end surface 31A, that is, the support portion 31f is an inner peripheral surface without a spiral shape without the internal thread portion 31d. In this case, when attaching the first restricting member 91 to the carrier 3 , it is only necessary to turn the tool until the other main surface 91A reaches the intermediate portion.

The second restricting member 92 has a disc shape. In the present embodiment, an insertion hole 92b is formed in the center portion of the second restricting member 92 similarly to the first restricting member 91 . Moreover, the 2nd restricting member 92 has the male thread part 92a and the attachment part 92e similarly to the 1st restricting member 91. As shown in FIG. In addition, the inner peripheral surface 32e forming the crankshaft mounting portion 32d of the second member 32 has a female thread portion 32g, a stepped portion 32h, and a support portion 32i similarly to the inner peripheral surface 31c of the first member 31 . In addition, like the first crank bearing 6A, the second crank bearing 6B includes rolling elements 61 and a cage 62 having a first portion 62a, a second portion 62b, and a third portion 62c. The second restricting member 92 , the inner peripheral surface 32 e of the second member 32 , and the second crank bearing 6B are aligned with the first restricting member 91 , the inner peripheral surface 31 c of the first member 31 , and the first crank bearing 6A along the axis line. The C1 directions are arranged symmetrically. Here, a detailed description of the respective shapes and arrangements of the second restricting member 92 , the inner peripheral surface 32 e of the second member 32 , and the second crank bearing 6B will be omitted.

The second restricting member 92 is in contact with the stepped portion 32h in the axis C1 direction, and at this position faces the axial end surface 51B which is the end surface of the second journal portion 51c on the outer end surface 32A side. Thus, the second restricting member 92 restricts the movement of the crankshaft 5 toward the outer end surface 32A in the axis C1 direction. In addition, the second restricting member 92 faces the second portion 62b of the retainer 62 in the second crank bearing 6B in the direction of the axis C1. Thus, the second restricting member 92 restricts the movement of the crankshaft 5 toward the outer end surface 32A in the axis C1 direction.

In addition, in this embodiment, the 2nd journal part 51c does not protrude to the outer side of the axial C1 direction rather than the outer end surface 32A. Therefore, the insertion hole 92 b may not be formed in the second restricting member 92 .

When attaching the second restricting member 92 to the carrier 3, insert the second restricting member 92 into the crankshaft attaching portion 32d of the second member 32 from the outermost 32A side with the tool attached to the attaching portion 92e. . Then, by turning the tool, the external thread portion 92a of the second restricting member 92 is screwed to the internal thread portion 32g. Then, the second restricting member 92 is positioned at a position where the second restricting member 92 contacts the step portion 32h, and the tool is detached from the attaching portion 92e in this state. In this way, the second restricting member 92 can be attached to the carrier 3 .

On the other hand, when detaching the second restricting member 92 from the carrier 3, first, a tool is attached to the attachment portion 92e from the outer end surface 32A side. Then, by rotating the tool, the screw connection between the external thread portion 92a and the internal thread portion 32g of the second restricting member 92 is released, and the second restricting member 92 is taken out from the crankshaft mounting portion 32d. In this way, the second restricting member 92 can be detached from the carrier 3 .

In this way, the second restricting member 92 has the external thread portion 92a, and the second restricting member 92 is fixed to the gear carrier 3 by the screw connection between the external thread portion 92a and the internal thread portion 32g. Frame 3 is installed or removed.

As described above, in the gear device X1, the external thread portion 91a of the first restricting member 91 is screwed to the internal thread portion 31d of the carrier 3, and the external thread portion 92a of the second restricting member 92 is connected to the internal thread of the carrier 3. The portion 32g is screwed together, and the first restricting member 91 and the second restricting member 92 are fixed to the carrier 3 . Thus, the restricting member 9 restricts the movement of the crankshaft 5 in the direction of the axis C1. Therefore, there is no need to provide a snap ring or the like for fixing the restricting member 9 to the carrier 3 independently of the restricting member 9 , and the thickness of the restricting member 9 can be sufficiently increased. Therefore, when an external force is applied to the restricting member 9 from the crankshaft 5, the restricting member 9 can be suppressed from being deflected.

In addition, in the gear device X1, the first restricting member 91 is positioned by the stepped portion 31e formed on the carrier 3, and the second restricting member 92 is positioned by the stepped portion 32h formed on the carrier 3. The relative position of the restricting member 9 with respect to the crankshaft 5 supported by the carrier 3 is determined accordingly. Moreover, in the state where the first restricting member 91 is positioned on the stepped portion 31e and the second restricting member 92 is positioned on the stepped portion 31h, the externally threaded portion 91a is screwed to the internally threaded portion 31d, and the externally threaded portion 92a and the internally threaded portion Since 32g is screwed together, the restricting member 9 can be firmly fixed to the carrier 3 .

Furthermore, in the gear unit X1, the first restricting member 91 is positioned at a position where the stepped portion 31e contacts the positioning surface 91B in the direction of the axis C1, and at the restricting surface 91C located on the same surface as the positioning surface 91B, Movement of the crankshaft 5 in the direction of the axis C1 is restricted. Therefore, regardless of the thickness of the first restricting member 91, the positional relationship between the stepped portion 31e and the axial end surface 51A of the first journal portion 51b of the crankshaft 5 determines the relative position of the restricting surface 91C of the first restricting member 91. The relative position of the crankshaft 5. Therefore, it is possible to suppress the relative position of the restricting surface 91C of the first restricting member 91 from being shifted from an appropriate position with respect to the crankshaft 5 due to variations in the thickness of the first restricting member 91 due to manufacturing errors. In addition, the second restricting member 92 also has the same shape as the first restricting member 91. Therefore, the second restricting member 92 can suppress the variation in the thickness of the second restricting member 92 caused by manufacturing errors and make the restricting surface of the second restricting member 92 the same. The relative position to the crankshaft 5 is offset from the proper position.

In addition, in the gear device X1, by attaching a tool to the attachment parts 91e and 92e, the external thread part 91a and the internal thread part 31d are screwed together, and the external thread part 92a and the internal thread part 32g are screwed together while operating the tool. In combination, the first restricting member 91 and the second restricting member 92 can be easily attached to the carrier 3 . In addition, a tool can be attached to the mounting portion 91e of the first restricting member 91 attached to the carrier 3, and the screw connection between the external thread portion 91a and the internal thread portion 31d can be released while operating the tool, thereby easily The first restricting member 91 is removed from the carrier 3 . A tool is attached to the mounting portion 92e of the second limiting member 92 attached to the carrier 3, and the screw connection between the external thread portion 92a and the internal thread portion 32g is released while the tool is operated, so that the second restricting member 92g can be easily attached. 2. The restricting member 92 is removed from the carrier 3. In this way, in the gear device X1, the first restricting member 91 has the attaching portion 91e, and the second restricting member 92 has the attaching portion 92e, so that the attaching of the first restricting member 91 and the second restricting member 92 to the carrier 3 is facilitated. and removed.

Furthermore, in the gear device X1, the first restricting member 91 is arranged in the crankshaft mounting portion 31b so as to be detachable from the outer end surface 31A side of the first member 31 with respect to the carrier 3, and the second restricting member 92 is configured to be detachable. The second member 32 is arranged in the crankshaft mounting portion 32d so as to be detachable from the outer end surface 32A side of the carrier 3 . Therefore, for example, when the first restricting member 91 and the second restricting member 92 need to be replaced, the second restricting member 91 and the second restricting member 92 can be attached and detached by removing the fastening member T1 without disassembling the carrier into the first member 31 and the second member 32. 1 restricting member 91, second restricting member 92. Therefore, workability is improved.

Next, Modification 1 of the gear device X1 of the present embodiment will be described with reference to FIGS. 4 and 5 .

As shown in FIGS. 4 and 5 , in the gear device X1 according to Modification 1, the first restricting member 91 has an annular portion 91 c and an end portion of the annular portion 91 c on the side of the one main surface 91D. A flange portion 91d protruding radially outward. The outer diameter of the flange portion 91d is set larger than the inner diameter of the internal thread portion 31d.

The flange portion 91d faces the outer end surface 31A of the first member 31 in the axis C1 direction. In addition, the first restricting member 91 is positioned at a position where an end surface of the flange portion 91d on the outer end surface 31A side contacts the outer end surface 31A in the direction of the axis C1. Therefore, in Modification 1, the end surface of the flange portion 91d on the side of the outer end surface 31A in the axis C1 direction serves as the positioning surface 91B, and the portion of the outer end surface 31A that contacts the positioning surface 91B functions as a positioning portion.

In Modification 1, the first restricting member 91 has a flange portion 91d, and the positioning surface 91B in contact with the outer end surface 31A is located on a surface different from the other main surface 91A including the restricting surface 91C. In addition, a gap is formed between the other main surface 91A and the stepped portion 91 e at a position where the positioning surface 91B contacts the outer end surface 31A. That is, in Modification 1, the positioning of the first restricting member 91 can be performed by the positioning surface 91B located on a different surface from the restricting surface 91C, and therefore the step portion 31e does not need to function as a positioning portion. Therefore, there is no need to form the internal thread portion 31d up to the vicinity of the stepped portion 31e in the portion of the inner peripheral surface 31c on the outer end surface 31A side rather than the stepped portion 31e, and the processing can be suppressed from being complicated.

In addition, when positioning the first restricting member 91 with respect to the carrier 3 by using the positioning surface 91B and the outer end surface 31A of the flange portion 91d as in Modification 1, the step portion 31e does not function as a positioning portion. Therefore, the step portion 31e can be omitted. In this case, the inner peripheral surface 31c of the first member 31 extends along the axis C1 direction from the female thread portion 31d to the support portion 31f.

In addition, in Modification 1, only the first restricting member 91 of the restricting members 9 was described, and the second restricting member 92 may have the same shape.

Next, a modification 2 of the gear device X1 of the present embodiment will be described with reference to FIG. 6 .

As shown in FIG. 6 , in the gear device X1 according to Modification 2, the first restricting member 91 has a main body portion 911 and a washer 912 independent of the main body portion 911 . In Modification 2, the main body 911 is formed of a metal material, and the gasket 912 is formed of a resin material. That is, the gasket 912 is formed of a material different from that of the main body portion 911 .

The main body portion 911 is in the shape of a disc. In the present embodiment, an insertion hole 911b penetrating through the central portion along the axis C1 direction is formed in the main body portion 911 . The diameter of the insertion hole 911b is set slightly larger than the diameter of the small-diameter portion 51a. The main body part 911 is arranged so that the small diameter part 51a is located in the insertion hole 911b.

The main body portion 911 has an external thread portion 911a screwed to the internal thread portion 31d and an attachment portion 911e to which a tool (not shown) can be attached. The mounting portion 911e is formed on the main surface of the main body portion 911 in the direction of the axis C1. The main body part 911 is attached to the carrier 3 so that the main surface on which the attachment part 911e is formed faces the side of the transmission gear 7 in the direction of the axis C1. In this embodiment, of the two main surfaces in the direction of the axis C1 of the main body 911, the main surface on which the mounting portion 911e is formed is referred to as one main surface 911D, and the main surface located on the opposite side of the one main surface 911D is The main surface is referred to as the other main surface 911A.

The main body portion 911 is positioned in the direction of the axis C1 at a position where an outer peripheral portion of the other main surface 911A is in contact with the stepped portion 31e. That is, the other main surface 911A has a positioning surface 911B for positioning the first restricting member 91 on its outer peripheral portion.

The gasket 912 has a disc shape. In this embodiment, an insertion hole 912a is formed in the washer 912, and the insertion hole 912a penetrates through the central portion of the washer 912 along the axis C1 direction, and the small-diameter portion 51a is inserted thereinto. The outer diameter of the gasket 912 is set slightly smaller than the inner diameter of the support portion 31f.

The washer 912 is located between the other main surface 911A of the main body portion 911 and the axial end surface 51A of the first journal portion 51b. The gasket 912 has one main surface 912A opposite to the other main surface 911A of the main body portion 911 in the direction of the axis C1 and another main surface 912B on the opposite side to the one main surface 912A. Furthermore, the inner peripheral portion of the other main surface 912B faces the axial end surface 51A of the first journal portion 51b in the direction of the axis C1. In Modification 2, the inner peripheral portion of the other main surface 912B serves as a regulating surface 912C that regulates movement in the direction of the axis C1 of the crankshaft 5 . In Modification 2, the restriction surface 912C is in contact with the axial end surface 51A.

Further, the other main surface 912B of the washer 912 faces the second portion 62b of the retainer 62 in the first crank bearing 6A in the direction of the axis C1 at a radially outer side than the restricting surface 912C. In Modification 2, the other main surface 912B is in contact with the second site 62b.

However, for example, when both the main body portion 911 and the crankshaft 5 are formed of a metal material, if the crankshaft 5 rotates while the first journal portion 51b is in contact with the other main surface 911A of the main body portion 911, the main body Both the portion 911 and the crankshaft 5 may be worn.

On the other hand, in Modification 2, the first restricting member 91 has a washer 912 independent from the main body 911, and by providing the washer 110 between the main body 911 and the first journal portion 51b, the main body 911 and the first shaft The neck 51b is not in direct contact. Furthermore, the washer 110 is formed of a resin material that is more easily worn than the material of the main body portion 911 . Therefore, abrasion of both the main body portion 911 and the crankshaft 5 can be suppressed.

Furthermore, in Modification 2, the washer 912 is located between the second portion 62b of the retainer 62 and the other main surface 911A of the main body portion 911. Therefore, for example, when the retainer 62 is formed of a metal material, it is possible to suppress As the retainer 62 and the main body portion 911 come into contact, both are abraded.

In addition, in Modification 2, only the example in which the first restricting member 91 has the main body 911 and the washer 912 has been described, and the second restricting member 92 may also have the main body and the main body independent of the main body. washer.

In addition, in Modification 2, the main body portion 911 and the washer 912 are formed independently, and the main body portion 911 and the washer 912 are not joined, but the present invention is not limited thereto. For example, the main body 911 and the washer 912 may be integrally formed by insert molding, or the separately formed main body 911 and the washer 912 may be joined to each other by using an adhesive or bolts, so that the independently formed main body 911 and The gasket 912 is integrated. In addition, the same applies to the second restricting member 92 .

Next, still another modification 3 of the gear unit X1 of the modification 2 will be described with reference to FIG. 7 .

As shown in FIG. 7 , in the gear device X1 of Modification 3, the first restricting member 91 has a main body portion 911 and a washer 912 independent of the main body portion 911 as in Modification 2 .

The outer diameter of the gasket 912 according to Modification 3 is set larger than the outer diameter of the gasket 911 according to Modification 2. As shown in FIG. Specifically, in Modification 3, the outer diameter of the washer 912 is set slightly larger than the inner diameter of the support portion 31f. And, the outer peripheral portion of the other main surface 912B of the gasket 912 is in contact with the step portion 31e in the axis C1 direction. Thereby, the positioning of the first restricting member 91 is performed. That is, in Modification 3, the other main surface 912A of the main body portion 911 is not in contact with the stepped portion 31e. The other main surface 912B of the washer 912 has a positioning surface 912D that contacts the stepped portion 31 e and a restricting surface 912C that restricts movement in the direction of the axis C1 of the crankshaft 5 .

In addition, in Modification 3, only the example in which the first restricting member 91 has the main body portion 911 and the washer 912 has been described, and the second restricting member 92 may also have the main body portion and the washer independently of the main body portion in the same manner. .

In addition, in Modification 3, as in Modification 2, the body part 911 and the gasket 912 are formed independently, and the body part 911 and the gasket 912 are not joined, but the present invention is not limited thereto. For example, the main body 911 and the washer 912 may be integrally formed by insert molding, or the independently formed main body 911 and the washer 912 may be joined to each other using adhesives or bolts, so that the independently formed main body 911 and the washer 912 integration. In addition, the same applies to the second restricting member 92 .

Next, a modification 4 of the gear device X1 of the present embodiment will be described with reference to FIG. 8 .

As shown in FIG. 8 , in the gear unit X1 of Modification 4, the crankshaft mounting portion 32d of the second member 32 in the carrier 3 is formed by a bottomed hole. That is, in Modification 4, the crankshaft mounting portion 32d is not formed by a hole penetrating the base plate portion 32a, but is formed by denting a part of the end face of the base plate portion 32a on the second swing gear 42 side toward the outer end face 32A side. of. The second journal portion 51c and the second crankshaft bearing 6B are arranged in the crankshaft mounting portion 32d, and the axial end surface 51B of the second journal portion 51c and the second portion 62b of the holder 62 of the second crankshaft bearing 6B and the crankshaft mounting portion The bottom surface 32k of 32d is in contact. Accordingly, the movement of the crankshaft 5 and the second crank bearing 6B toward the outer end surface 32A side in the direction of the axis C1 is restricted.

As described above, in Modification 4, the movement of the crankshaft 5 toward the outer end surface 32A in the direction of the axis C1 is regulated by the bottom surface 32k of the crankshaft mounting portion 32d, so the second restricting member 92 is unnecessary.

In addition, the bottom surface 32k may be disposed so as to face the axial end surface 51B of the second journal portion 51c in the axis C1 direction so as to restrict the movement of the crankshaft 5 toward the outer end surface 32A in the axis C1 direction. Therefore, for example, the bottom surface 32k does not need to be in contact with the axial end surface 51B of the second journal portion 51c. In addition, for example, a through hole penetrating a part of the bottom surface 32k along the axis C1 direction may be formed in the bottom surface 32k.

In Modification 4, the axial end surface 51B of the second journal portion 51c and the second portion 62b of the holder 62 of the second crank bearing 6B are in contact with the bottom surface 32k of the crankshaft mounting portion 32d, but the present invention is not limited thereto. For example, a gasket made of a resin material may be disposed between the axial end surface 51B, the second portion 62b of the cage 62, and the bottom surface 32k in the direction of the axis C1.

Next, a modification 5 of the gear device X1 of the present embodiment will be described with reference to FIGS. 9 and 10 .

As shown in FIG. 9 , in the gear unit X1 according to Modification 5, the first restricting member 91 and the second restricting member 92 are provided so as to sandwich the eccentric portions 54 and 55 in the direction of the axis C1, whereby the crankshaft 5 Movement in the direction of axis C1 is restricted.

The diameter of the insertion hole 91 b of the first restricting member 91 is set to be slightly larger than the outer diameter of the first journal portion 51 b and slightly smaller than the outer diameter of the first eccentric portion 54 . Furthermore, the first journal portion 51b is inserted into the insertion hole 91b.

As shown in FIG. 10, the inner peripheral surface 31c of the 1st member 31 has the internal thread part 31d, the step part 31e, and the support part 31f. The female thread portion 31d, the stepped portion 31e, and the support portion 31f continue sequentially from the inner end surface 31B side of the first member 31 opposite to the outer end surface 31A in the direction of the axis C1.

The first restricting member 91 is attached to the first member 31 of the carrier 3 such that one main surface 91D formed with the attaching portion 91e faces the first rocking gear 41 side in the axis C1 direction. The external thread portion 91a of the first restricting member 91 is screwed to the internal thread portion 31d, and the first restricting member 91 is positioned on the outer peripheral portion of the other main surface 91A on the side opposite to the one main surface 91D and the stepped portion 31e. The location of the contact. That is, in Modification 5, the other main surface 91A has a positioning surface 91B in contact with the stepped portion 31 e to position the first restricting member 91 .

In the state where the positioning surface 91B is in contact with the stepped portion 31e, the inner peripheral portion of one main surface 91D of the first restricting member 91 and the end surface of the first eccentric portion 54 on the side of the first journal portion 51b, that is, the axial end surface 54A relative. Thus, the first restricting member 91 restricts the movement of the crankshaft 5 toward the outer end surface 31A in the axis C1 direction. That is, in Modification 5, one main surface 91D has a regulating surface 91c that regulates the movement of the crankshaft 5 by opposing the axial end surface 54A in the axis C1 direction.

In modification 5, the inner edge of the first restricting member 91 is located on the inner side (on the axial center side of the shaft main body 51 ) than the outer edge of the first eccentric portion 54 on the side opposite to the eccentric direction of the first eccentric portion 54 . s position. As a result, the first restricting member 91 and the axial end surface 54A of the first eccentric portion 54 come into contact with each other over the entire circumferential direction of the crankshaft 5 . Therefore, regardless of the phase of the first eccentric portion 54, the first restricting member 91 and the first eccentric portion 54 always face each other in the axis C1 direction.

The eccentric portion bearing A1 has a rolling element A3 and a cage A4 for holding the rolling element A3. In Modification 5, the first restricting member 91 faces the end portion A5 on the outer end surface 31A side of the cage A4 of the eccentric portion bearing A1 in the axis C1 direction. Accordingly, the first restricting member 91 also restricts the movement of the eccentric portion bearing A1 toward the outer end surface 31A in the axis C1 direction.

The second restricting member 92 has the same shape as the first restricting member 91 , and the second journal portion 51 c is inserted into the insertion hole 92 b of the second restricting member 92 . Moreover, the inner peripheral surface 32e of the 2nd member 32 has the internal thread part 32g, the step part 32h, and the support part 32i similarly to the inner peripheral surface 31c of the 1st member 31. As shown in FIG. The female thread portion 32g, the stepped portion 32h, and the support portion 32i continue sequentially from the inner end surface 32B side of the second member 32 opposite to the outer end surface 32A in the axis C1 direction. In addition, the eccentric portion bearing A2 has the same shape as the eccentric portion bearing A1. The second restricting member 92, the inner peripheral surface 32e of the second member 32, and the eccentric portion bearing A2 are arranged in the direction of the axis C1 with respect to the first restricting member 91, the inner peripheral surface 31c of the first member 31, and the eccentric portion bearing A1, respectively. set in a symmetrical manner. Therefore, a detailed description of the respective shapes and arrangements of the second restricting member 92 , the inner peripheral surface 32 e of the second member 32 , and the eccentric portion bearing A2 will be omitted.

The second restricting member 92 is screwed to the internal thread portion 32g, and is positioned at a position in contact with the step portion 32h. In addition, the side of the second restricting member 92 opposite to the step portion 32h in the direction of the axis C1 faces the axial end surface 55A which is an end surface of the second eccentric portion 55 on the second journal portion 51c side. In Modification 5, the inner edge of the second restricting member 92 is located on the opposite side to the eccentric direction of the second eccentric portion 55 inside the outer edge of the second eccentric portion 55 (closer to the axial center side of the shaft main body 51 ). s position. Accordingly, the second restricting member 92 contacts the axial end surface 55A of the second eccentric portion 55 over the entire circumferential direction of the crankshaft 5 . Therefore, regardless of the phase of the second eccentric portion 55, the second restricting member 92 and the second eccentric portion 55 always face each other in the axis C1 direction.

In addition, in Modification 5, the second restricting member 92 faces an end portion on the outer end surface 32A side of the cage of the eccentric portion bearing A2 in the axis C1 direction. Accordingly, the second restricting member 92 also restricts the movement of the eccentric portion bearing A2 toward the outer end surface 32A side in the axis C1 direction.

Next, a modification 6 of the gear device X1 of the present embodiment will be described with reference to FIG. 11 .

As shown in FIG. 11 , in the first restricting member 91 of the gear unit X1 according to Modification 6, the mounting portion 91 e has a groove shape extending in one direction. In addition, the mounting part 92e of the 2nd restricting member 92 may also have the groove shape extended in one direction similarly to the mounting part 91e of the 1st restricting member 91. As shown in FIG.

Thus, the shape of the attachment part 91e, 92e is arbitrary, For example, it can change suitably according to the shape of the tool which can be attached to this attachment part 91e, 92e.

Next, a modification 7 of the gear device X1 of the present embodiment will be described with reference to FIG. 12 .

As shown in FIG. 12 , in the first restricting member 91 of the gear unit X1 according to Modification 7, the insertion hole 91 b has a rectangular shape, and the insertion hole 91 b functions as a mounting portion 91 e. That is, in Modification 7, a rectangular-shaped tool corresponding to the shape of the insertion hole 91b is inserted into the insertion hole 91b of the first restricting member 91, and by rotating the tool, the externally threaded portion 91a and the internally threaded portion can be aligned. 31d threaded joint. In addition, in the second restricting member 92, similarly to the first restricting member 91, the insertion hole 92b may also have a rectangular shape, and this insertion hole 92b may function as the attachment portion 92e.

In this way, in Modification 7, the insertion holes 91b, 92b for inserting a part of the crankshaft 5 also function as the tool attachment portions 91e, 92e, so it is not necessary to form the attachment portion 91e independently from the insertion holes 91b, 92b. , 92e.

It should be considered that all points of the present embodiment and modifications described above are illustrations and should not be interpreted in a limited manner. The scope of the present invention is shown not by the description of the above-mentioned embodiment and modifications but by the claims, and includes all changes within the meaning and range equivalent to the claims.

For example, in the above-mentioned embodiments and modifications, the shaft main body 51 of the crankshaft 5 has two journals, the first journal and the second journal 51b, 51c, as an outer diameter larger than that of the small-diameter portion 51a. journal, but not limited thereto. The shaft body 51 may have only one of the first journal and the second journal 51b, 51c, and the crankshaft 5 is supported by the carrier 3 by the one journal.

For example, in the above-mentioned embodiments and modifications, the shaft main body 51 of the crankshaft 5 has a small-diameter portion 51a and first and second journal portions 51b and 51c having a larger outer diameter than the small-diameter portion 51a. But it is not limited to this. The outer diameter of the shaft main body 51 may also be constant over the entire length direction of the shaft main body 51 . Even in such a case, as long as the shaft main body 51 has an axial end face perpendicular to the axis C1, which faces the restricting member 9 in the direction of the axis C1, it is possible to utilize the restricting member 9 to adjust the axis C1 of the crankshaft 5. Movement in the direction is restricted.

Here, an overview of the embodiments is given.

In the aforementioned gear device, the restricting member is fixed to the gear frame by screwing the external thread portion of the restricting member into the internal thread portion of the gear frame. Thus, the restricting member restricts the movement of the crankshaft in the axial direction. Therefore, it is not necessary to provide a snap ring or the like for fixing the restricting member to the carrier separately from the restricting member, and the thickness of the restricting member can be sufficiently increased. Therefore, when an external force is applied to the restriction member from the crankshaft, it is possible to suppress the restriction member from deflecting.

The carrier may have a positioning portion for positioning the restricting member in the axial direction.

In the gear device described above, the restricting member is positioned by the positioning portion formed on the carrier, so the relative position of the restricting member with respect to the crankshaft supported by the carrier can be appropriately determined. In addition, since the external thread portion and the internal thread portion are screwed together in a state where the restricting member is positioned by the positioning portion, the restricting member can be firmly fixed to the carrier.

Alternatively, the restricting member may have a positioning surface that contacts the positioning portion in the axial direction and a restricting surface that restricts movement of the crankshaft in the axial direction, and the positioning surface and the The limiting faces are on the same face.

In the aforementioned gear device, the restricting member is positioned at a position where both the positioning portion and the positioning surface are in contact with each other in the axial direction of the crankshaft. In addition, the restricting member restricts movement in the axial direction of the crankshaft by a restricting surface located on the same surface as the positioning surface. Therefore, regardless of the thickness of the restricting member, the positional relationship between the positioning portion and the crankshaft is used to determine the relative position of the restricting surface of the restricting member with respect to the crankshaft. Therefore, it is possible to suppress deviation of the relative position of the restriction surface of the restriction member with respect to the crankshaft from an appropriate position due to variations in the thickness of the restriction member due to manufacturing errors.

The restriction member may have a restriction surface that restricts movement of the crankshaft in the axial direction, and a positioning surface that is located on a surface different from the restriction surface and that is in contact with the positioning portion.

In the aforementioned gear device, the positioning surface and the positioning portion located on a surface different from the restricting surface are in contact with each other in the axial direction of the crankshaft. Therefore, the restricting member can be positioned irrespective of the position of the restricting surface.

The restriction member may have a mounting portion for attaching a tool for screwing the external thread portion of the restriction member to the internal thread portion of the carrier.

In the aforementioned gear device, the restricting member can be easily attached to the carrier by attaching a tool to the attachment portion and screwing the external thread portion and the internal thread portion while operating the tool. In addition, the limiting member can be easily detached from the carrier by attaching a tool to the mounting portion of the limiting member attached to the carrier and releasing the screw connection between the external thread portion and the internal thread portion while operating the tool. . In this way, in the gear device described above, since the restricting member has the attachment portion, attachment and detachment of the restricting member to and from the carrier becomes easy.

Alternatively, the inner peripheral surface may be formed as an inner peripheral surface that passes through a through hole of the gear frame along the axial direction, and the restricting member may be formed from an end surface of the gear frame in the axial direction. The side is arranged in the through hole in a manner of being detachable relative to the gear frame.

In the aforementioned gear device, the restricting member is disposed in the through hole in such a manner that it can be attached to and detached from the carrier from the end face side of the carrier. Therefore, for example, when the restricting member needs to be replaced, the carrier itself is not disassembled. The restricting member can be attached and detached. Therefore, workability is improved.

As described above, according to the present embodiment, it is possible to provide a gear device capable of suppressing deflection of the restriction member.

Claims (5)

1. A gear apparatus wherein, The gear unit includes: Outer cylinder; a gear carrier having an inner peripheral surface including an internally threaded portion; a crankshaft rotatably supported on the inner peripheral surface for relatively rotating one of the outer cylinder and the carrier with respect to the other; a restriction member having an external thread portion capable of screwing with the internal thread portion for restricting movement of the crankshaft in the axial direction of the crankshaft, The carrier has a positioning portion for positioning the restricting member in the axial direction, The restricting member is composed of a member having the external thread portion, a positioning surface for positioning in the axial direction by the positioning portion, and a positioning surface for aligning the crankshaft in the axial direction. Limiting surface on which movement is restricted. 2. A gear arrangement according to claim 1, wherein: The positioning surface and the restricting surface are located on the same surface. 3. The gear arrangement according to claim 1, wherein: The positioning surface is located on a different surface than the limiting surface. 4. The gear device according to any one of claims 1 to 3, wherein: The restricting member has a mounting portion for attaching a tool for screwing the external thread portion of the restricting member to the internal thread portion of the carrier. 5. The gear device according to any one of claims 1 to 3, wherein: The inner peripheral surface is formed as an inner peripheral surface passing through a through hole of the gear frame along the axial direction, The restricting member is disposed in the through hole so as to be detachably attached to the carrier from an end surface side of the carrier in the axial direction.