TWI729142B - Gear device - Google Patents

Abstract

This application discloses a sealing member which is interposed between the rotating body and the rotating body and blocks the receiving space of the rotating body from the outside. The sealing member includes: a sealing base having an inner peripheral edge located closer to the rotating body than the outline of the accommodating space, and transmitting the rotating force from the end surface of the rotating body to the rotating body; and a seal ring portion along the edge of the rotating body. It is formed along the inner periphery and has lower rigidity than the sealing base.

Description

Gear device

The invention relates to a sealing member and a gear device.

Various gear devices are used in various technical fields such as industrial robot arms and machine tools (refer to Japanese Patent Laid-Open No. 2000-154849). Japanese Patent Laid-Open No. 2000-154849 discloses that the surface member is arranged between the gear device and the target member.

The surface member of Japanese Patent Laid-Open No. 2000-154849 has a hard core material and an elastic material that is entirely coated with the hard core material. According to Japanese Patent Laid-Open No. 2000-154849, since the elastic material is due to higher friction, a larger torque transmission from the gear device to the target member is achieved.

The face member of Japanese Patent Laid-Open No. 2000-154849 has a layer structure including a hard core material and an elastic material, so a fixing tool (such as a bolt) for fixing the face member to the gear device penetrates the elastic material. As a result, higher stresses are generated in the elastic material around the fixing tool. Since elastic materials have lower stiffness than hard core materials, they have no resistance to higher stress and are prone to breakage.

Gear devices sometimes have transmission gears that rotate around a transmission shaft parallel to the output shaft. In this case, a wide space for accommodating the transmission gear must be formed in the gear device. This is due to the smaller abutment area between the elastic material and the gear device. If a large transmission torque is transmitted from the gear device to the target member under a small contact area, shear stress exceeding the strength of the elastic material may also be generated in the elastic material. As a result, the elastic material may also be damaged.

The purpose of the present invention is to provide a technique for reducing the risk of damage to the sealing member.

The sealing member of one aspect of the present invention is interposed between the rotating body and the rotating body, and blocks the receiving space of the rotating body from the outside. The sealing member includes: a sealing base having an inner peripheral edge located closer to the rotating body than the outline of the accommodating space, and transmitting the rotating force from the end surface of the rotating body to the rotating body; and a seal ring part along the The inner periphery is formed and has lower rigidity than the sealing base.

The gear device of another aspect of the present invention outputs rotational force around a specific output shaft. The gear device includes: an end surface that is along a virtual plane orthogonal to the output shaft; an inner edge surface that forms a contour of a receiving space recessed from the end surface on the end surface in a manner of accommodating lubricant; and a sealing member, which Prevent the leakage of the above lubricants. The sealing member includes: a sealing base having an inner peripheral edge formed along the outline and abutting and being fixed to the end surface; and a sealing ring part formed along the inner peripheral edge and having a higher Low stiffness of the seal base.

The gear device of another aspect of the present invention outputs a rotational force around a specific output shaft. The gear device includes: a gear that rotates around a transmission shaft parallel to the output shaft; a carrier that includes an end surface along a virtual plane orthogonal to the output shaft, and a method for accommodating the gear and lubricating the gear The inner edge surface of the contour of the receiving space recessed from the end surface is formed on the end surface; and a sealing member which prevents leakage of the lubricant. The outline includes: a first arc-shaped outline that is drawn along a first virtual circle centered on the output shaft; and a second arc-shaped outline that is drawn along the transmission shaft as a center and partially overlaps the The first virtual circle is the second virtual circle. The sealing member includes: a sealing base having an inner peripheral edge formed along the outline, and abutting and being fixed to the end surface; and a sealing ring part along the inner periphery The rim is formed, and has lower rigidity than the above-mentioned sealing base.

The above technology can reduce the risk of damage to the sealing member.

The purpose, features, and advantages of the above-mentioned technology will become more apparent through the following embodiments and accompanying drawings.

100: Gear device (rotating body)

200: crankshaft assembly

201: Transmission gear

210: crankshaft

211: 1st journal

212: 2nd journal

213: The first eccentric part

214: 2nd eccentric part

221: Journal bearing

222: Journal bearing

231: Curved bearing

232: curved bearing

300: carrier

300A: Carrier

311: end face

312: inner edge surface

313: Containment Space

314: snap hole

321: base

322: end plate

323: Board Department

324: Shaft

325: The first disc part

326: The second disc part

327: inner surface

328: Central through hole

329: Keep through holes

373: Central through hole

374: Keep through holes

381: inner surface

382: Outer Surface

400: Sealing member

400A: Sealing member of the third embodiment

400B: Sealing member of the fourth embodiment

400C: Sealing member of the fifth embodiment

410: Seal base

410A: Seal base

411: Outer Perimeter

412: Inner Perimeter

412A: inner periphery

413: Through hole

413A: Through hole

420: Seal ring part

420A: Seal ring part

420B: Seal ring part

430: Prominence

440: protruding structure

441: Rubber layer

450: claw

450B: Claw

500: Outer cylinder

501: main bearing

502: main bearing

511: Shell

512: Internal tooth needle

513: inner circumference

600: Gear part

610: Swing Gear

611: Central through hole

612: round through hole

613: Trapezoidal through hole

620: Swing Gear

621: central through hole

623: Trapezoidal through hole

630: external tooth

BLT: Bolt

CPM: Object component (rotated body)

FAC: 1st arc profile

FPC: 1st virtual circle

IPG: Input gear

OPX: output shaft

PPN: virtual plane

SAC: 2nd arc profile

SPC: 2nd virtual circle

TAX: transfer axis

Fig. 1 is a schematic cross-sectional view of the gear device of the first embodiment.

FIG. 2 is a schematic front view of the carrier of the gear device shown in FIG. 1. FIG.

FIG. 3 is a schematic front view of the carrier of the gear device shown in FIG. 1. FIG.

Fig. 4 is a schematic front view of the sealing member of the gear device shown in Fig. 1.

Fig. 5 is a schematic cross-sectional view taken along the line A-A shown in Fig. 1 (second embodiment).

Fig. 6 is a schematic rear view of the sealing member of the third embodiment.

Fig. 7 is a schematic cross-sectional view of the sealing member shown in Fig. 6.

Figure 8 is a schematic cross-sectional view of the improved protrusion structure.

Fig. 9 is a schematic rear view of the sealing member of the fourth embodiment.

Fig. 10 is a schematic cross-sectional view of the sealing member shown in Fig. 9.

Fig. 11 is a schematic rear view of the sealing member of the fifth embodiment.

<First Embodiment>

The inventors of the present invention found the following problem: the sealing member preventing the leakage of the lubricant is easily damaged under a large transmission torque, and the lubricant lubricates the transmission gear rotating around the transmission shaft parallel to the output shaft. In the first embodiment, a technique for reducing the risk of damage to the sealing member is explained.

Fig. 1 is a schematic cross-sectional view of a gear device (rotating body) 100 according to the first embodiment. The gear device 100 will be described with reference to FIG. 1.

FIG. 1 shows the gear device 100 and the target member (rotated body) CPM. The gear device 100 is connected to the target member CPM. The gear device 100 can also output the rotational force around the output shaft OPX to rotate the target member CPM. Alternatively, the target component CPM may be used to fix the gear device 100.

The gear device 100 includes three transmission gears 201 (FIG. 1 shows one of the three transmission gears 201), a carrier 300, and a sealing member 400. The three transmission gears 201 respectively rotate around a transmission shaft TAX parallel to the output shaft OPX. In this embodiment, the gear is exemplified by the transmission gear 201.

The carrier 300 includes an end surface 311 and an inner edge surface 312. The end surface 311 is along a virtual plane PPN orthogonal to the output axis OPX. The sealing member 400 is sandwiched between the end surface 311 and the target member CPM. Regarding FIG. 1, a virtual plane PPN is drawn at the boundary between the end surface 311 and the sealing member 400.

A receiving space 313 for accommodating three transmission gears 201 is formed in the carrier 300. The receiving space 313 is an area recessed from the end surface 311. The inner edge surface 312 forms the contour of the receiving space 313 on the end surface 311. The three transmission gears 201 mesh with a common input gear (not shown) in the receiving space 313. Therefore, the lubricant used to lubricate the three transmission gears 201 and the input gear is also filled in the receiving space 313. The sealing member 400 prevents leakage of lubricant.

FIG. 2 is a schematic front view of the carrier 300. The carrier 300 will be described with reference to FIGS. 1 and 2.

Fig. 2 shows a first virtual circle FPC, three second virtual circles SPC, an output shaft OPX, and three transmission shafts TAX. The first virtual circle FPC and the three second virtual circles SPC are drawn on the end surface 311. The center of the first virtual circle FPC coincides with the output axis OPX. The centers of the three second virtual circles SPC coincide with the three transmission axes TAX respectively. The line segment (not shown) connecting the output shaft OPX and the three transmission shafts TAX divides the first virtual circle FPC roughly equally. The three second virtual circles SPC partially overlap the first virtual circle FPC.

The contour drawn on the end surface 311 of the inner edge surface 312 includes three first arc-shaped contours FAC and three second arc-shaped contours SAC. Alternating rows of 3 first arc profile FAC and 3 second arc profile SAC Column, surrounding the output shaft OPX and 3 transmission shafts TAX. The three first arc-shaped contours FAC are respectively along the first virtual circle FPC. One of the three second arc-shaped contour SACs is along one of the three second virtual circle SPCs. The other one of the three second arc-shaped contour SAC is along the other one of the three second virtual circle SPC. The remaining one of the three second arc-shaped contour SAC is along the remaining one of the three second virtual circle SPC.

FIG. 3 is a schematic front view of the carrier 300. As shown in FIG. The carrier 300 will be further described with reference to FIGS. 2 and 3.

Fig. 3 shows three transmission gears 201 arranged in a containing space 313 surrounded by three first arc-shaped contours FAC and three second arc-shaped contours SAC. The three transmission gears 201 are explained in reference to Fig. 2 In the circular area enclosed by the second virtual circle SPC, it rotates around the three transmission axes TAX respectively.

Figure 3 shows the input gear IPG. The rotation axis of the input gear IPG is consistent with the output axis OPX. The input gear IPG meshes with three transmission gears 201. If the input gear IPG rotates around the output shaft OPX, the three transmission gears 201 respectively rotate around the three transmission shafts TAX.

FIG. 4 is a schematic front view of the sealing member 400. As shown in FIG. The sealing member 400 will be described with reference to FIGS. 1 and 4.

The sealing member 400 includes a sealing base 410 and a sealing ring 420. The sealing base 410 includes an outer peripheral edge 411 and an inner peripheral edge 412. The outer peripheral edge 411 has an outer contour along the end surface 311. Therefore, the outer peripheral edge 411 has a substantially circular shape. The inner peripheral edge 412 surrounded by the outer peripheral edge 411 follows the contour drawn on the end surface 311 along the inner peripheral surface 312. The sealing base 410 is formed of a material having a higher rigidity than the sealing ring 420. The sealing base 410 may also be a metal plate that expands from the inner periphery 412 to the outer periphery 411. Alternatively, the sealing base 410 may also be formed of hard resin. The principle of this embodiment is not limited to the specific material used for the sealing base 410.

As shown in FIG. 4, a plurality of through holes 413 are formed in the sealing base 410. The sealing base 410 abuts against the end surface 311. A plurality of fixing tools used to fix the sealing member 400 to the end surface 311 Do not insert into the through holes 413. Figure 1 shows two bolts BLT as a plurality of fixing tools. These bolts BLT penetrate the target member CPM and the sealing base 410, and are screwed into the screw holes formed in the end surface 311.

Higher stress is easily generated around a plurality of bolts BLT. As described above, since the sealing base 410 has relatively high rigidity, it is not easily damaged even under high stress. The designer who designs the gear device 100 can also choose the material of the sealing base 410 in consideration of the maximum stress generated around the plurality of bolts BLT.

As shown in FIG. 4, the seal ring part 420 is arrange|positioned along the inner peripheral edge 412, and draws a closed loop. The sealing ring portion 420 has a lower rigidity than the sealing base portion 410. For example, the seal ring portion 420 may also be formed of rubber. Alternatively, it can also be formed of other materials that can exhibit sufficient sealing performance to prevent the leakage of the lubricant in the containing space 313. The principle of this embodiment is not limited to the specific material used for the seal ring part 420.

As shown in FIG. 1, the ring-shaped front edge of the seal ring part 420 is crimped to the target member CPM. The annular rear edge of the sealing ring portion 420 is crimped to the end surface 311. Thus, the lubricant is enclosed in the storage space 313.

Since the seal ring portion 420 is arranged along the inner peripheral edge 412, it is sufficiently away from the fastening position of the plurality of bolts BLT. In addition, the amount of deformation of the sealing base 410 is small. Therefore, the sealing ring portion 420 is not easily exposed to the relatively high stress around the plurality of bolts BLT. As a result, the seal ring portion 420 can maintain high sealing performance for a long time.

<Second Embodiment>

The principle of the first embodiment can be applied to various gear structures. In the second embodiment, an exemplary gear structure will be described.

Fig. 5 is a schematic cross-sectional view taken along the line A-A shown in Fig. 1. Refer to Figure 1, Figure 2 and Figure 5 Ming gear device 100.

As described with respect to the first embodiment, the gear device 100 includes three transmission gears 201, a carrier 300, and a sealing member 400. In addition, the gear device 100 includes three crankshaft assemblies 200, an outer cylinder 500, two main bearings 501, 502, and a gear part 600. The three transmission gears 201 are each part of each of the three crankshaft assemblies 200. The outer cylinder 500 has a cylindrical shape as a whole. The output shaft OPX is approximately the same as the central axis of the outer cylinder 500. The outer cylinder 500 surrounds the carrier 300 and the gear part 600. When the outer cylinder 500 is fixed, the carrier 300 and the target member CPM will rotate. If the carrier 300 is fixed, the outer cylinder 500 rotates around the output shaft OPX. The two main bearings 501 and 502 are embedded in the annular space formed between the carrier 300 and the outer cylinder 500. The respective centers of the main bearings 501 and 502 coincide with the output shaft OPX.

The outer cylinder 500 includes a substantially cylindrical housing 511 and a plurality of internally toothed needles 512. As shown in FIG. 5, the housing 511 includes an inner peripheral surface 513 in which a plurality of grooves are formed. The plurality of grooves are formed at substantially constant intervals so as to surround the output shaft OPX. The plurality of grooves are respectively substantially parallel to the output shaft OPX. The plurality of internal tooth needles 512 are respectively fitted into the plurality of grooves. Therefore, the plurality of internally toothed needles 512 are appropriately held by the housing 511, respectively.

As shown in FIG. 5, a plurality of internally toothed needles 512 are arranged annularly at substantially constant intervals around the output shaft OPX. The half-circumferential surface of each of the plurality of internally toothed needles 512 protrudes from the inner wall of the housing 511 toward the output shaft OPX. Therefore, the plurality of internal teeth needles 512 function as a plurality of internal teeth meshing with the gear part 600.

As shown in FIG. 1, the carrier 300 includes a base 321 and an end plate 322. The base portion 321 includes a substrate portion 323 (refer to FIG. 1) and three shaft portions 324 (refer to FIG. 5). The substrate portion 323 includes a first disc portion 325 and a second disc portion 326. The first disc portion 325 includes the end surface 311 and the inner edge surface 312 described in the first embodiment. The storage space 313 described in the first embodiment is formed in the first circle 板部325.

The second disc portion 326 is located between the first disc portion 325 and the end plate 322. The second disc portion 326 is smaller than the first disc portion 325 in diameter. The three shaft portions 324 extend from the second circular plate portion 326 to the end plate 322.

The base portion 323 is separated from the end plate 322 in the extending direction of the output shaft OPX. The base portion 323 and the end plate 322 are approximately coaxial. That is, the output axis OPX corresponds to the central axis of the base plate 323 and the end plate 322.

The second disc portion 326 includes an inner surface 327 facing the gear portion 600. The end surface 311 is located on the side opposite to the inner surface 327. The inner surface 327 is substantially parallel to the end surface 311.

The central through hole 328 (refer to FIG. 2) is formed in the second disc portion 326. The central through hole 328 extends along the output shaft OPX and is connected to the accommodating space 313. The output shaft OPX is equivalent to the central axis of the central through hole 328.

Three holding through holes 329 (refer to FIG. 2) are formed in the substrate portion 323. The centers of the three holding through holes 329 almost coincide with the three transmission shafts TAX. A part of the crankshaft assembly 200 is arranged in the holding through hole 329.

The end plate 322 includes an inner surface 381 and an outer surface 382 opposite to the inner surface 381. The inner surface 381 faces the gear part 600. The inner surface 381 and the outer surface 382 are substantially parallel to the end surface 311.

A central through hole 373 (refer to FIG. 1) and three holding through holes 374 (FIG. 1 shows one of the three holding through holes 374) are formed in the end plate 322. The central through hole 373 extends between the inner surface 381 and the outer surface 382 along the output shaft OPX. The output shaft OPX is equivalent to the central shaft of the central through hole 373. The three holding through holes 374 respectively extend between the inner surface 381 and the outer surface 382 along the transmission axis TAX. The transmission axis TAX corresponds to the central axis of the holding through hole 374. A part of the crankshaft assembly 200 is arranged in the holding through hole 374. The three holding through holes 374 formed in the end plate 322 are respectively connected to The three holding through holes 329 formed in the substrate portion 323 are substantially coaxial.

The three shaft portions 324 respectively extend from the inner surface 327 of the second circular plate portion 326 to the inner surface 381 of the end plate 322. The end plate 322 is connected to the front end surface of each of the three shaft portions 324. The end plate 322 can also be connected to the front end surfaces of each of the three shaft portions 324 by reaming bolts, positioning pins or other suitable fixing techniques. The principle of this embodiment is not limited to a specific connection technique between the end plate 322 and the three shaft portions 324, respectively.

As shown in FIG. 1, the gear portion 600 is disposed between the inner surface 327 of the second circular plate portion 326 and the inner surface 381 of the end plate 322. The three shaft portions 324 penetrate the gear portion 600 and are connected to the end plate 322.

As shown in FIG. 1, the gear part 600 includes two swing gears 610 and 620. The swing gear 610 is disposed between the end plate 322 and the swing gear 620. The swing gear 620 is disposed between the base portion 323 and the swing gear 610. The swing gears 610 and 620 may also be formed based on a common design pattern. The swing gears 610 and 620 may be trajectory gears or cycloid gears, respectively. The principle of this embodiment is not limited to the specific types of gears used as the swing gears 610 and 620.

The swing gears 610 and 620 respectively include a plurality of external teeth 630 protruding to the inner wall of the housing 511 (refer to FIG. 5). If the crankshaft assembly 200 rotates around the transmission axis TAX, the swing gears 610 and 620 allow the plurality of external teeth 630 to engage the plurality of internal teeth needles 512 and move around in the housing 511 (ie, swing and rotate). During this period, the centers of the swing gears 610 and 620 surround the output shaft OPX. The rotation of the carrier 300 or the outer cylinder 500 is caused by the oscillating rotation of the oscillating gears 610 and 620.

The central through hole 611 is formed in the center of the swing gear 610. The central through hole 621 is formed in the center of the swing gear 620. The central through hole 611 communicates with the central through hole 373 of the end plate 322 and the central through hole 621 of the swing gear 620. The central through hole 621 communicates with the central through hole 328 of the second disc portion 326 and the central through hole 611 of the swing gear 610.

As shown in FIG. 5, three circular through holes 612 are formed in the swing gear 610. Similarly, 3 circles A circular through hole is formed in the swing gear 620. The circular through hole 612 of the swing gear 610 and the circular through hole of the swing gear 620 cooperate with the holding through holes 329 and 374 of the base plate 323 and the end plate 322 to form an accommodation space for accommodating the crankshaft assembly 200.

Three trapezoidal through holes 613 (FIG. 1 shows one of the three trapezoidal through holes 613) are formed in the swing gear 610. Three trapezoidal through holes 623 (refer to FIG. 5) are formed in the swing gear 620. The shaft portion 324 of the carrier 300 penetrates the trapezoidal through holes 613 and 623. The size of the trapezoidal through holes 613 and 623 is determined so as not to interfere with the shaft portion 324.

In addition to the transmission gear 201, the three crankshaft assemblies 200 respectively include a crankshaft 210, two journal bearings 221, 222, and two crank bearings 231, 232. The crankshaft 210 includes a first journal 211, a second journal 212, a first eccentric portion 213, and a second eccentric portion 214. The first journal 211 extends along the transmission axis TAX and is inserted into the holding through hole 374 of the end plate 322. The second journal 212 extends along the transmission axis TAX on the side opposite to the first journal 211 and is inserted into the holding through hole 329 of the base plate portion 323. The transmission gear 201 is mounted on the second journal 212.

The journal bearing 221 is fitted into the annular space between the first journal 211 and the inner wall of the end plate 322 forming the holding through hole 374. As a result, the first journal 211 is connected to the end plate 322. The journal bearing 222 is fitted into the annular space between the second journal 212 and the inner wall of the base plate portion 323 where the holding through hole 329 is formed. As a result, the second journal 212 is connected to the substrate portion 323. Thus, the carrier 300 can support the crankshaft assembly 200.

The first eccentric portion 213 is located between the first journal 211 and the second eccentric portion 214. The second eccentric portion 214 is located between the second journal 212 and the first eccentric portion 213. The curved bearing 231 is fitted into the annular space between the first eccentric portion 213 and the inner wall of the swing gear 610 forming the circular through hole 612. As a result, the swing gear 610 is attached to the first eccentric portion 213. The curved bearing 232 is fitted into the annular space between the second eccentric portion 214 and the inner wall of the swing gear 620 forming a circular through hole. As a result, the swing tooth The wheel 620 is attached to the second eccentric portion 214.

The first journal 211 and the second journal 212 are substantially coaxial, and rotate around the transmission axis TAX. The first eccentric portion 213 and the second eccentric portion 214 are each formed in a cylindrical shape and are eccentric from the transmission axis TAX. The first eccentric portion 213 and the second eccentric portion 214 respectively eccentrically rotate with respect to the transmission shaft TAX, and apply swing rotation to the swing gears 610 and 620. If the carrier 300 is fixed to the target member CPM, the oscillating gears 610, 620 are engaged with the plurality of inner gear needles 512 of the outer cylinder 500, so the oscillating rotation of the oscillating gears 610, 620 is converted into a rotational movement of the outer cylinder 500 around the output shaft OPX . If the outer cylinder 500 is fixed, the swing rotation of the swing gears 610 and 620 is converted into a rotational force about the output shaft OPX transmitted from the first journal 211 and the second journal 212 to the carrier 300. As a result, the carrier 300 rotates around the output axis OPX.

<The third embodiment>

The designer who designs the gear device can also form a holding portion that protrudes into the carrier and maintains the relative position of the sealing member with respect to the end surface of the carrier. In the third embodiment, an exemplary holding portion will be described.

Fig. 6 is a schematic rear view of the sealing member 400A of the third embodiment. The sealing member 400A will be described with reference to FIGS. 3 and 6. The description of the first embodiment refers to the elements attached with the same symbols as those of the first embodiment.

The sealing member 400A includes a sealing base portion 410A, a sealing ring portion 420A, and two protrusions 430. As in the first embodiment, the sealing base 410A includes an outer peripheral edge 411. The description of the first embodiment is cited in the outer periphery 411.

The sealing base 410A includes an inner peripheral edge 412A surrounded by an outer peripheral edge 411. The area surrounded by the inner peripheral edge 412A is different in shape from the area surrounded by the inner peripheral edge 412 described in relation to the first embodiment. The shape of the inner peripheral edge 412A of the sealing base 410A may be determined in such a way that it substantially matches the receiving space (not shown) formed in the carrier (not shown). Thus, the present embodiment The principle of state is not limited to the specific shape of the area surrounded by the inner periphery 412A.

As shown in FIG. 6, a large number of through holes 413A are formed in the sealing base 410A. As in the first embodiment, a fixing tool (not shown: for example, a bolt) for fixing the sealing base 410A to the carrier is inserted into the through holes 413A.

As shown in Fig. 6, the seal ring portion 420A is arranged along the inner peripheral edge 412A to draw a closed loop. The seal ring portion 420A has lower rigidity than the seal base portion 410A. For example, the seal ring portion 420A may be formed of rubber. Alternatively, it may be formed of another material that can exhibit sufficient sealing performance to prevent leakage of the lubricant formed in the accommodating space (not shown) of the carrier. The principle of this embodiment is not limited to the specific material used for the seal ring portion 420A.

The two protrusions 430 protrude from the sealing base 410A to the back side, and are inserted into the carrier. The two protrusions 430 are an example of the above-mentioned holding portion.

FIG. 7 is a schematic cross-sectional view of the sealing member 400A sandwiched by the carrier 300A and the target member CPM. The sealing member 400A will be further described with reference to FIGS. 1 and 7.

The carrier 300A only corresponds to the two protrusions 430 and penetrates the engaging hole 314 from the end surface 311 (FIG. 7 only shows the engaging hole 314 corresponding to one of the two protrusions 430) and the description with reference to FIG. 1 The carrier 300 is different. Therefore, in addition to the engaging hole 314, the description of the carrier 300 can also be cited in the carrier 300A.

When assembling, the two protrusions 430 are inserted into the two engaging holes 314 respectively. As a result, a proper positional relationship between the sealing member 400A and the end surface 311 is maintained. Thereafter, the sealing member 400A may be compressed by the carrier 300A and the target member CPM. Finally, a fixing tool (not shown) is inserted into the target member CPM and the sealing member 400A, and is screwed into a screw hole (not shown) formed in the carrier 300A.

FIG. 8 is a schematic cross-sectional view of the improved protrusion structure 440. Refer to Figure 8 to illustrate the improved Protruding structure 440.

The protrusion 430 may also be covered by the rubber layer 441. The relatively large frictional force brought by the rubber layer 441 makes it difficult for the protrusion 430 to detach from the engaging hole (not shown).

<Fourth Embodiment>

In the holding part of the third embodiment, it is necessary to perforate an engaging hole in the carrier. In the fourth embodiment, an exemplary holding portion that does not require an engaging hole to be provided in the carrier is described.

Fig. 9 is a schematic rear view of the sealing member 400B of the fourth embodiment. The sealing member 400B will be described with reference to FIG. 9. The description of the third embodiment refers to the elements attached with the same symbols as those of the third embodiment.

As in the third embodiment, the sealing member 400B includes a sealing base 410A. The description of the third embodiment is cited in the sealing base 410A.

The sealing member 400B further includes a seal ring portion 420B and three claw portions 450. The three claw portions 450 are integrated with the seal base portion 410A. The manufacturer that manufactures the sealing member 400B can also punch the metal plate to form the sealing base 410A and the three claws 450 integrally. The manufacturer may also bend the three claws 450 at the three first arc-shaped contours (not shown) formed on the carrier (not shown) after the punching process. The three claw portions 450 are an example of the above-mentioned holding portion.

As shown in FIG. 9, the seal ring portion 420B is arranged along the inner peripheral edge 412A to draw a closed loop. The sealing ring portion 420B has a lower rigidity than the sealing base portion 410A. For example, the seal ring portion 420B may also be formed of rubber. Alternatively, it may be formed of another material that can exhibit sufficient sealing performance to prevent the leakage of lubricant in the accommodation space (not shown) of the carrier (not shown). The principle of this embodiment is not limited to the specific material used for the seal ring portion 420B.

FIG. 10 is a schematic cross-sectional view of the sealing member 400B sandwiched by the carrier 300 and the target member CPM. The sealing member 400B will be further described with reference to FIG. 10.

FIG. 10 shows one of the three claw parts 450. The claw 450 is inserted into the receiving space 313. The seal ring portion 420B entirely covers the claw portion 450 and abuts against the inner edge surface 312 of the carrier 300. If the seal ring portion 420B is formed of a rubber material, a relatively high friction force is generated between the seal ring portion 420B and the inner edge surface 312. As a result, a proper positional relationship between the sealing member 400B and the end surface 311 is maintained. Thereafter, the sealing member 400B may be compressed by the carrier 300 and the target member CPM. Finally, a fixing tool (not shown: for example, a bolt) is inserted into the target member CPM and the sealing member 400B, and is screwed into a screw hole (not shown) formed in the carrier 300.

<Fifth Embodiment>

The claws of the fourth embodiment are bent at the first arc-shaped contour. Alternatively, the claw portion may be bent at the second arc-shaped contour. In the fifth embodiment, an exemplary sealing member having a claw portion bent at a second arc-shaped profile will be described.

Fig. 11 is a schematic rear view of a sealing member 400C of the fifth embodiment. The sealing member 400C will be described with reference to FIG. 11. The description of the fourth embodiment refers to the elements attached with the same symbols as those of the fourth embodiment.

As in the fourth embodiment, the sealing member 400C includes a sealing base portion 410A and a sealing ring portion 420B. The description of the fourth embodiment is cited in these elements.

The sealing member 400C further includes three claws 450B. The claw 450B is integrated with the sealing base 410A. The manufacturer that manufactures the sealing member 400C can also punch the metal plate to form the sealing base 410A and the three claws 450B in one piece. The manufacturer may also bend the three claw portions 450B at the three second arc-shaped contours (not shown) formed on the carrier (not shown) after the punching process.

The principles of the various embodiments described above can also be combined in a manner that meets the requirements for the gear device. For example, the gear device may have less than three crankshafts. Alternatively, the gear device can also have More than 3 crankshafts. The gear device may also have one swing gear. Alternatively, the gear device may have more than two swing gears.

The sealing member and gear device described in the above-mentioned embodiment mainly have the following features.

The sealing member of one aspect of the above-mentioned embodiment is interposed between the rotating body and the to-be-rotated body, and blocks the receiving space of the rotating body from the outside. The sealing member includes: a sealing base having an inner peripheral edge located closer to the rotating body than the outline of the accommodating space, and transmitting the rotating force from the end surface of the rotating body to the rotating body; and a seal ring portion along the edge of the rotating body. It is formed along the inner periphery and has lower rigidity than the sealing base.

According to the above-mentioned structure, the seal base transmits the rotational force of the rotating body, so the seal ring is not sheared due to the rotational torque.

The gear device of another aspect of the above-mentioned embodiment outputs a rotational force around a specific output shaft. The gear device includes: an end surface that is along a virtual plane orthogonal to the output shaft; an inner edge surface that forms a contour of a receiving space recessed from the end surface on the end surface in a manner of accommodating lubricant; and a sealing member, which Prevent the leakage of the above lubricants. The sealing member includes: a sealing base having an inner peripheral edge formed along the outline and abutting and being fixed to the end surface; and a sealing ring part formed along the inner peripheral edge and having a higher Low stiffness of the seal base.

According to the above-mentioned structure, the sealing base transmits rotational force, so that the transmission torque can be increased compared with the previous elastic material.

The gear device of another aspect of the above-mentioned embodiment outputs a rotational force around a specific output shaft. The gear device includes: a gear that rotates around a transmission shaft parallel to the output shaft; a carrier that includes an end surface along a virtual plane orthogonal to the output shaft, and to accommodate the gear and lubrication The way of sliding the lubricant of the gear is to form the inner edge surface of the contour of the accommodating space recessed from the end surface on the end surface; and a sealing member to prevent leakage of the lubricant. The outline includes: a first arc-shaped outline that is drawn along a first virtual circle centered on the output shaft; and a second arc-shaped outline that is drawn along the transmission shaft as a center and partially overlaps the The first virtual circle is the second virtual circle. The sealing member includes: a sealing base having an inner peripheral edge formed along the outline and abutting and being fixed to the end surface; and a sealing ring part formed along the inner peripheral edge and having a higher Low stiffness of the seal base.

According to the above configuration, although the sealing base part abuts and is fixed to the end surface of the carrier, it has higher rigidity than the sealing ring part, so the sealing member is not easily damaged. Since the seal ring portion with lower rigidity than the seal base is formed along the inner periphery of the seal base formed along the contour of the containing space, it is not easily exposed to the higher stiffness caused by the fixation of the carrier and the seal base. Under stress. Therefore, the sealing member becomes less likely to be damaged.

The contour of the containing space includes a first arc-shaped contour along the first virtual circle drawn with the output shaft as the center, and a second arc-shaped contour along the second virtual circle partially overlapping the first virtual circle, so the end face Narrowed. As a result, the sealing base fixed to the end face also becomes narrow. However, since the sealing base has higher rigidity than the sealing ring, it can withstand higher shear stress. Therefore, the sealing member is not easily damaged. The seal ring part follows the contour of the accommodating space, so the leakage of lubricant is appropriately prevented by the seal ring part.

Regarding the above configuration, the sealing member may include a holding portion that protrudes into the carrier and maintains the relative position of the sealing member with respect to the end surface.

According to the above configuration, the holding portion protrudes into the carrier and the relative position of the sealing member with respect to the end surface is maintained, so that the sealing member is easily fixed to the carrier.

Regarding the above configuration, the holding portion may include a protrusion protruding from the sealing base portion. The protrusion may also be inserted into the engaging hole formed on the end surface.

According to the above configuration, the protrusion protruding from the sealing base is inserted into the engaging hole formed in the end surface of the carrier, so that the relative position of the sealing member with respect to the end surface is not easily changed. Therefore, the sealing member is easily fixed to the carrier.

Regarding the above configuration, the sealing member may include a rubber layer covering the protrusion.

According to the above configuration, the protrusion is covered by the rubber layer, so that the protrusion is held in the engaging hole under high friction. The relative position of the sealing member with respect to the end surface is not easily changed, so that the sealing member is easily fixed to the carrier.

Regarding the above configuration, the holding portion may include a claw portion that is bent in at least one of the first arc-shaped profile and the second arc-shaped profile from the seal base and inserted into the accommodation space .

According to the above configuration, the claw portion is bent at the inner peripheral edge from the sealing base portion and inserted into the accommodating space, so the relative position of the sealing member with respect to the end surface is not easily changed. Therefore, the sealing member is easily fixed to the carrier.

Regarding the above configuration, the seal ring portion may be formed of a rubber material. The rubber material may cover the claw portion and abut the inner edge surface.

According to the above configuration, the rubber material covers the claw portion and abuts against the inner edge surface, so a large friction force is generated between the rubber material and the inner edge surface. The relative position of the sealing member with respect to the end surface is not easily changed, so that the sealing member is easily fixed to the carrier.

[Industrial availability]

The principles of the above-mentioned embodiments are preferably used in the design of various gear devices.

100: Gear device (rotating body)

200: crankshaft assembly

201: Transmission gear

210: crankshaft

211: 1st journal

212: 2nd journal

213: The first eccentric part

214: 2nd eccentric part

221: Journal bearing

222: Journal bearing

231: Curved bearing

232: curved bearing

300: carrier

311: end face

312: inner edge surface

313: Containment Space

321: base

322: end plate

323: Board Department

324: Shaft

325: The first disc part

326: The second disc part

327: inner surface

328: Central through hole

329: Keep through holes

373: Central through hole

374: Keep through holes

381: inner surface

382: Outer Surface

400: Sealing member

410: Seal base

411: Outer Perimeter

412: Inner Perimeter

420: Seal ring part

500: Outer cylinder

501: main bearing

502: main bearing

511: Shell

512: Internal tooth needle

513: inner circumference

600: Gear part

610: Swing Gear

611: Central through hole

613: Trapezoidal through hole

620: Swing Gear

621: central through hole

623: Trapezoidal through hole

BLT: Bolt

CPM: Object component (rotated body)

OPX: output shaft

PPN: virtual plane

TAX: transfer axis

Claims (6)

A gear device that outputs rotational force around a specific output shaft, and is provided with: a gear that rotates around a transmission shaft parallel to the output shaft; a carrier that includes a plane along a virtual plane orthogonal to the output shaft An end surface, and an inner edge surface that forms a contour of a receiving space recessed from the end surface on the end surface in a manner of accommodating the gear and the lubricant for lubricating the gear; and a sealing member that prevents leakage of the lubricant, the contour includes : The first arc-shaped contour, which is drawn along the first virtual circle centered on the output axis; and the second arc-shaped contour, which is drawn along the center of the transmission axis and partially overlaps the first virtual circle The second imaginary circle of the circle, the sealing member includes: a sealing base having an inner peripheral edge formed along the outline, and abutting and being fixed to the end surface; and a sealing ring portion along the inner peripheral edge It is formed and has lower rigidity than the above-mentioned sealing base. The gear device of claim 1, wherein the sealing member includes a holding portion that protrudes into the carrier and maintains the relative position of the sealing member with respect to the end surface. The gear device of claim 2, wherein the holding portion includes a protrusion protruding from the sealing base portion, and the protrusion is inserted into an engaging hole formed in the end surface. The gear device of claim 3, wherein the sealing member includes a rubber layer covering the protrusion. The gear device of claim 2, wherein the holding portion includes a claw portion that is bent from the seal base in at least one of the first arc-shaped profile and the second arc-shaped profile, and is inserted into the Inside the containment space. The gear device of claim 5, wherein the seal ring portion is formed of a rubber material, and the rubber material covers the claw portion and abuts against the inner edge surface.

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