JP5822392B2 - Eccentric rocking speed reducer - Google Patents

Description

  The present invention relates to an eccentric oscillating speed reducer.

  Patent Document 1 discloses an eccentric oscillating speed reducer including an external gear that is oscillated by an eccentric body and an internal gear that is internally meshed with the external gear.

  In this eccentric oscillating type speed reducer, a pair of carrier bodies are provided on both sides in the axial direction of the external gear, and relative rotation between the external gear and the internal gear (rotational component of the external gear) is performed. The output is made via the carrier body. The pair of carrier bodies are rotatably supported on the casing by a pair of main bearings.

  In this eccentric oscillating speed reducer, two external gears are provided side by side, and one of the external gears is moved in the axial direction by the outer ring of one of the pair of main bearings. Is regulated. Further, the axial position of the other external gear is regulated by the other main bearing via a washer. Furthermore, between the external gear and the external gear, the movement in the axial direction is restricted by the contact of the convex portion protruding in the axial direction from the side surface of the tooth portion of each external gear.

  On the other hand, in such an eccentric oscillating type speed reducer, the meshing portion of the external gear and the internal gear and the bearing portion disposed between the eccentric body and the external gear are particularly suitable for supplying lubricant. It becomes a part to be done. However, in the eccentric oscillation type speed reducer that restricts the movement of the external gear in the axial direction by the structure as described above, the lubricant may be supplied from the outside of the casing (the radial outside of the external gear). In order to restrict the movement of the external gear, the movement of the lubricant in the radial direction is significantly hindered by the presence of the main bearing and the convex portion that are in contact with the external gear, so that the lubricant is radially inward. There was a problem that it was difficult to reach.

  With regard to this problem, in Patent Document 1, a plurality of notches are provided in the convex portion protruding in the axial direction from the side surface of the tooth portion of the external gear (the tooth width of the tooth portion is partially shortened), A structure is disclosed in which the lubricant is allowed to flow inward in the radial direction of the external gear through the notch.

JP 2006-64128 A (FIGS. 1 to 3)

  However, since the disclosed example of Patent Document 1 described above adds a device for causing the lubricant to flow with respect to the external gear, the shape of the external gear, which is originally difficult to manufacture, is further complicated, and the cost is low. There was a problem that increased.

  The present invention has been made to solve such a conventional problem, and smoothly supplies a lubricant to each part of the reduction gear at low cost without complicating the shape of the external gear. It is an object of the present invention to provide an eccentric oscillating type speed reducer that can be used.

  The present invention is an eccentric oscillating speed reducer comprising an oscillating external gear, an internal gear with which the external gear internally meshes, and a carrier body on an axial side portion of the external gear. A through hole penetrating in the axial direction at a position offset from the center of the external gear, and between the external gear and at least one of the main bearings supporting the carrier body in the casing. A clearance is ensured, and the carrier body is formed with an axial convex portion in contact with the external gear on the radially inner side of the through hole of the external gear, It solves the above problems.

  In the present invention, an axial gap is ensured between at least one main bearing that supports the carrier body on the casing and the external gear. Here, “to secure an axial clearance between the main bearing and the external gear” means that the external gear is a main bearing (a spacer such as a washer interposed between the main bearing and the external gear). The position in the axial direction is not made ".

  According to the present invention, on the carrier body, an axial convex portion that abuts on the external gear is formed inside the through hole of the external gear in the radial direction. As a result, the lubricant can go back and forth between the radially outer side and the inner side of the gap via the gap. In addition, for external gears that are difficult to machine, there is no need to make the shape particularly complicated in order to flow the lubricant. A dynamic reduction gear can be obtained.

  According to the present invention, an eccentric oscillating gear provided with an oscillating external gear, an internal gear with which the external gear meshes internally, and a carrier body on the axial side portion of the external gear. And a plurality of through-holes penetrating in the axial direction at positions offset from the center of the external gear, and at least one of the main bearings supporting the carrier body on the casing and the external teeth A convex portion is secured to the external gear at a position corresponding to the space between the through-hole and the through-hole of the external gear on the carrier body. Can be regarded as an eccentric oscillating speed reducer characterized by being formed intermittently (described later).

  ADVANTAGE OF THE INVENTION According to this invention, the eccentric rocking | swiveling type reduction gear which can supply a lubrication agent smoothly to each part inside a reduction gear at low cost can be obtained, without complicating the shape of an external gear.

Sectional drawing of the eccentric rocking | swiveling type reduction gear to which an example of embodiment of this invention was applied Sectional drawing of the eccentric rocking | swiveling type reduction gear to which an example of other embodiment of this invention was applied Sectional drawing of the eccentric rocking | swiveling type reduction gear to which an example of further another embodiment of this invention was applied. The side view of the 2nd carrier body of the eccentric rocking | fluctuation type reduction gear of FIG.

  Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

  FIG. 1 is a cross-sectional view of an eccentric oscillating speed reducer according to an example of an embodiment of the present invention.

  The eccentric oscillating speed reducer G1 is used to drive a joint of an industrial robot (not shown).

  The eccentric oscillating speed reducer G1 includes an input shaft 12, two first and second eccentric bodies 14 and 16 formed integrally with the input shaft 12, and the first and second eccentric bodies 14 and 16. The first and second external gears 22 and 24 incorporated on the outer periphery via the first and second roller bearings 18 and 20 and the first and second external gears 22 and 24 are inscribed while swinging. An internal gear 26 that meshes is provided.

  Details will be described below.

  The input shaft 12 is composed of a hollow shaft having a large-diameter hollow portion 12A, and is connected to a front member (for example, a gear or a pulley) (not shown) using a tap hole 12B. The hollow portion 12A of the input shaft 12 is used for passing a wiring (not shown).

  The first and second eccentric bodies 14 and 16 have axial centers O2 and O3 (deviated from the axial center O1 of the input shaft 12 by an amount of eccentricity Δe1), respectively, and the outer periphery of each of the first and second eccentric bodies 14 and 16 is the axial center O1 of the input shaft 12. On the other hand, it is eccentric by the amount of eccentricity Δe1. In this example, the first and second eccentric bodies 14 and 16 are formed integrally with the input shaft 12 with a phase difference of 180 degrees.

  The first and second external gears 22 and 24 are swingably incorporated on the outer circumferences of the first and second eccentric bodies 14 and 16 via the first and second roller bearings 18 and 20. The first and second external gears 22 and 24 are in mesh with the internal gear 26, respectively. The first and second external gears 22 and 24 have a plurality of inner pin holes 22A and 24A formed at positions offset from their axial centers (same as O2 and O3), and an inner pin 28, which is a pin-shaped member, is formed. It penetrates.

  The first and second external gears 22 and 24 include trochoidal tooth portions 22B and 24B on the outermost periphery, respectively. In the vicinity of the outer peripheral portion including the tooth portions 22B and 24B, the axial width L1 is formed larger than the axial width L2 on the inner peripheral side, and the tooth widths of the tooth portions 22B and 24B (almost the same as L1) are the largest. It is secured to the limit. Further, in the portions 22D and 24D in which L1 is secured as the axial width, the opposed axial side surfaces 22C and 24C of the first and second external gears 22 and 24 are in contact with each other, and both external gears The axial movement restriction between 22 and 24 is performed on the axial side surfaces 22C and 24C.

  On the other hand, since the axial width L2 is set smaller than L1 on the radially inner side of the portions 22D and 24D having the axial width L1, the opposite axial side surfaces 22E of the external gears 22 and 24 are opposed to each other. , 24E is formed with a gap δ1.

  The internal gear 26 is mainly configured by an internal gear main body 26 </ b> A integrated with the casing 31 and a columnar outer pin 26 </ b> B that constitutes “internal teeth” of the internal gear 26. The outer pin 26B is rotatably supported in the outer pin groove 26C of the internal gear main body 26A. The number of internal teeth of the internal gear 26 (the number of external pins 26B) is slightly larger (only 1 in this example) than the number of external teeth of the first and second external gears 22 and 24.

  A pair of first and second carrier bodies 32 and 34 are disposed on both axial sides of the first and second external gears 22 and 24. The first and second carrier bodies 32 and 34 are supported by the casing 31 via a pair of first and second angular ball bearings (main bearings) 36 and 38 that are assembled back to back. The first and second angular ball bearings 36 and 38 have rolling elements 36A and 38A and outer rings 36B and 38B, respectively, but have no inner ring (the first and second carrier bodies 32 and 34 have It has rolling surfaces 36C and 38C and functions as an inner ring). Reference numeral 37 is a shim, and reference numeral 39 is a washer. The shim 37 contributes to the pressure adjustment of the first and second angular ball bearings 36 and 38 by changing the thickness when the first and second carrier bodies 32 and 34 are assembled.

  In the present invention, the concept of the main bearing (in this example, the first and second angular ball bearings 36 and 38), when viewed from the viewpoint of "a member that restricts the axial movement of the external gear", It includes a member facing the external gear side in contact with the main bearing such as shim 37 and washer 39.

  The first angular ball bearing 36 has an outer ring 36 </ b> B that abuts a step portion 26 </ b> D in which the outer pin groove 26 </ b> C of the internal gear main body 26 </ b> A of the internal gear 26 is formed, and the first angular gear 22. It directly contacts the side surface 22F on the carrier body 32 side, and restricts the movement of the first external gear 22 (movement toward the first carrier body 32 side in the axial direction).

  Further, the second angular ball bearing 38 is in contact with the other step portion 26E formed with the outer pin groove 26C of the internal gear main body 26A of the internal gear 26 via the shim 37 and the washer 39, 1. The above-described pressure adjustment of the second angular ball bearings 36, 38 is made possible. However, the second angular ball bearing 38 is not in contact with the second external gear 24 in the axial direction (even if the shim 37 and the washer 39 are included). That is, there is a gap δ2 between the second angular ball bearing 38 and the second external gear 24, and the second angular ball bearing 38 is used for restricting the movement of the second external gear 24 in the axial direction. It does not contribute.

  In this embodiment, the movement restriction in the axial direction of the second external gear 24 is performed by the convex portion 34 </ b> F of the second carrier body 34. That is, the side surface of the second carrier body 34 on the first carrier body 32 side is coaxial with the axial center of the input shaft 12 (= the first, second carrier bodies 32, 34, the axis of the internal gear 26) O1. A ring-shaped convex portion 34F is formed so as to continuously protrude over the entire circumference. The convex portion 34F has a side surface 34F1 on the second external gear 24 side in contact with the inner pin hole 24A of the second external gear 24 in the radial direction, and the second external gear 24 has an axial direction The movement to the 2 carrier body 34 side is regulated.

  The second carrier body 34 is formed with a concave portion 34D into which the inner pin 28 is fitted, in addition to the convex portion 34F. A flat portion 34E that regulates the position of the sliding promotion body 44 is formed around the concave portion 34D.

  The first and second carrier bodies 32, 34 are formed with pedestal portions 32S, 34S, and a pair of ball bearings 40, 42 are disposed on the pedestal portions 32S, 34S. The first and second carrier bodies 32 and 34 rotatably support the input shaft 12 via the ball bearings 40 and 42.

  From one of the first and second carrier bodies 32 and 34, a plurality of (in this example, 10) inner pins 28 are integrally formed protruding at an interval of 36 degrees. . On the outer periphery of the inner pin 28, a sliding promotion body 44 is disposed. The outer diameter d1 of the sliding promotion body 44 is smaller than the inner diameter D1 of the inner pin holes 22A, 24A formed in the first and second external gears 22, 24 by a size corresponding to twice the eccentric amount Δe1. (D1 = D1-2 · Δe1). That is, the inner pin 28 is always in contact with a part of the inner pin holes 22A and 24A (via the sliding promotion body 44). The inner pin 28 revolves around the axis O1 of the input shaft 12 in synchronization with the rotation components of the first and second external gears 22 and 24, and the first and second carrier bodies 32 and 34 are revolved around the input shaft 12. Rotate around the axis. That is, the inner pin 28 according to this embodiment is a “pin-shaped member that contributes to the transmission of power between the first and second carrier bodies 32 and 34 and the first and second external gears 22 and 24”. It is composed. On the other hand, a gap δe exists in a portion where the sliding promotion body 44 and the inner pin holes 22A and 24A are not in contact with each other.

  Note that the sliding promotion body 44 on the outer periphery of the inner pin 28 may be omitted. In this case, the outer diameter of the inner pin itself is changed to d1. The inner pin 28 has a tip inserted into a recess 34 </ b> D formed in the second carrier body 34 and is connected to the second carrier body 34 by a bolt 45.

  In this embodiment, the side surface 32E of the first carrier body 32 is provided with a plurality of (in this example, twelve in each case) tapped holes 32T for connecting a counterpart machine (for example, the next stage or the front stage arm) on the entire circumference. It is formed at equal intervals in the ring-shaped recess 32K formed over the entire surface.

  Reference numerals 33, 35, 41, and 46 are oil seals, and reference numeral 43 is an oil supply port (or a grease supply port) for supplying a lubricant. In this example, the oil filler port 43 is disposed on the outer peripheral portion of the casing 31 (opened between the outer pin 26B and the outer pin 26B at the radially outer position of the first and second external gears 22 and 24).

  Next, the operation of the eccentric oscillating speed reducer G1 will be described.

  When the input shaft 12 rotates, the first and second eccentric bodies 14 and 16 integrated with the input shaft 12 rotate eccentrically, and the first and second eccentric bodies 14 and 16 are arranged on the outer periphery of the first and second eccentric bodies 14 and 16. The first and second external gears 22 and 24 incorporated through the two roller bearings 18 and 20 are swung with a phase difference of 180 degrees. The first and second external gears 22 and 24 are in mesh with the internal gear 26, and the internal gear main body 26 </ b> A is integrated with the casing 31 in this embodiment. Therefore, each time the input shaft 12 rotates once, the first and second external gears 22 and 24 are relative to the internal gear 26 (casing 31) by a difference in the number of teeth (one tooth in this example). Rotates (rotates).

  The rotation components of the first and second external gears 22 and 24 are the inner pin 28 (and the sliding promotion body 44) penetrating the inner pin holes 22A and 24A of the first and second external gears 22 and 24, respectively. ) To the first and second carrier bodies 32 and 34, and the first and second carrier bodies 32 and 34 rotate at the same speed as the rotation components of the first and second external gears 22 and 24. To do. As a result, 1 / (the number of teeth of the first and second external gears 22 and 24) is reduced. When the rotation of the first and second external gears 22 and 24 is restricted, the relative rotation between the first and second external gears 22 and 24 and the internal gear 26 is integrated with the internal gear 26. It can be taken out as a rotation on the casing 31 side.

  Here, in this embodiment, a plurality of (two) first and second external gears 22 and 24 are provided as external gears, and the first angular ball bearing ( The outer ring 36B of the main bearing 36 is in direct contact with the side surface 22F of the first external gear 22 on the first carrier body 32 side. Further, the opposing axial side surfaces 22C, 24C of the first and second external gears 22, 24 are also in contact with each other. Therefore, it is difficult for the lubricant flowing in from the fuel filler opening 43 to flow radially inward from this portion.

  However, the second angular ball bearing 38 does not contribute to the axial movement restriction of the second external gear 24 (even if the shim 37 and the washer 39 are included), and the washer 39 and the second outer A gap δ2 exists between the toothed gear 24 and the toothed gear 24. For this reason, the lubricant supplied from the oil supply port 43 can smoothly flow inward in the radial direction through the gap δ2.

  On the other hand, in this embodiment, the movement restriction in the axial direction of the second external gear 24 is performed by the side surface 34F1 of the convex portion 34F formed on the second carrier body 34 on the second external gear 24 side. The convex portion 34F is formed at a position in contact with the inner side of the inner pin hole 24A of the second external gear 24 of the second carrier body 34 in the radial direction. For this reason, even if the convex portion 34F is continuously formed without being interrupted in the circumferential direction, the lubricant is a gap between the inner pin hole 24A of the second external gear 24 and the sliding accelerator 44. It is possible to freely flow into the gap δ1 between the first external gear 22 and the second external gear 24 and the gap δ4 between the first carrier body 32 and the first external gear 22 via δe. it can. For this reason, sufficient lubricant can be supplied to the first and second roller bearings 18 and 20.

  In particular, a first angular contact ball bearing that is in contact with the axially outer side of the first and second external gears 22 and 24 (to restrict the axial movement of the first and second external gears 22 and 24). Since the radial position R1 of the outer ring 36B of 36 and the radial position R2 of the convex portion 34F of the second carrier body 34 are shifted (since the radial positions R1 and R2 of the outer ring 36B and the convex portion 34F are not the same), lubrication is performed. The agent can reach the first and second roller bearings 18 and 20 very smoothly through the gap δ1 or δ4 on the non-contact side at the same radial position R1 or R2.

  Thus, the first and second external gears 22 and 24 can be well lubricated in the vicinity of the first and second roller bearings 18 and 20 without performing particularly complicated processing.

  In this embodiment, with respect to the positioning of the outer side in the axial direction on the first external gear 22 side, the outer ring 36B of the first angular ball bearing 36 is abutted on the first carrier body 32 side where the inner pin 28 projects. However, in the present invention, it is required that an axial gap be formed between at least one main bearing and the external gear. Even on the first carrier body 32 side, it is not prohibited to form a gap between the first angular ball bearing 36 and the first external gear 22. In this case, the first carrier body 32 is not prohibited. A convex portion (regulating portion) may be provided on the side surface of the first external gear 22 and the axial movement of the first external gear 22 may be restricted by this convex portion, even in this case. The radial position of the inner pin hole It is preferable that the position is equivalent, and more preferably, the radial positions of the convex portion on the first carrier body side and the convex portion on the second carrier body side are shifted (not to be the same radial position). As a result, the vicinity of the first and second roller bearings 18 and 20 can be more satisfactorily lubricated.

  In the above embodiment, the first and second external gears 22 and 24 have the tooth widths 22B and 24B of the first and second external gears 22 and 24. Although the opposing axial side surfaces 22C and 24C are in direct contact with each other, the present invention does not necessarily require that each external gear is in direct contact when there are a plurality of external gears. Absent. For example, the movement of the external gears may be restricted by interposing an insertion ring between the external gears. Even in such a case, when the insertion wheel or the like is continuous in the circumferential direction, the lubricant is difficult to flow in the radial direction, so that the merit of the present invention can be utilized.

  In the above embodiment, the oil filler opening 43 is formed on the outer peripheral side of the casing 31 (outside in the radial direction of the first and second external gears 22, 24), and the lubricant is the first and second external gears 22. , 24 and the internal gear 26 are used so as to flow inward in the radial direction beyond the meshing portion. However, in the present invention, the arrangement position of the fuel filler opening 43 is not limited to the outer peripheral portion of the casing 31, and for example, it is arranged on the side in the axial direction of the first and second carrier bodies 32, 34. It may be configured. In this case, conventionally, the lubricant can be supplied to the first and second roller bearings 18 and 20 relatively easily, but conversely, the first and second external gears 22 and 24 and the internal gears. It was difficult to supply the lubricant to 26 meshing portions. However, according to the present invention, since the gap is secured between at least one main bearing and the external gear, the oil filler port is disposed on the side in the axial direction of the carrier body. However, the lubricant can be sufficiently supplied not only in the vicinity of the roller bearing on the outer periphery of the eccentric body but also in the vicinity of the meshing portion between the external gear and the internal gear.

  Next, an example of another embodiment of the present invention will be described with reference to FIG.

  The eccentric oscillating speed reducer G2 according to this embodiment is an eccentric oscillating speed reducer called a so-called sort type.

  The eccentric oscillating speed reducer G2 also includes oscillating first and second external gears 60 and 62, an internal gear 64 in which the first and second external gears 60 and 62 are in meshingly engaged, 1. First and second carrier bodies 66 and 68 are provided on axial side portions of the second external gears 60 and 62, respectively. The number of teeth of the internal gear 64 is slightly larger (by 1 in this example) than the number of teeth of the first and second external gears 60 and 62. Also with this configuration, the relative rotation with the internal gear 64 caused by the swinging rotation of the first and second external gears 60 and 62 can be taken out as the rotation of the first and second carrier bodies 66 and 68. .

  The difference from the previous embodiment is that the eccentric body shaft (input shaft 12) including the first and second eccentric bodies 14 and 16 is used as the first and second external gears in the eccentric oscillating speed reducer G1. Although only one is provided at the center of the centers 22 and 24, the eccentric oscillating speed reducer G2 includes a plurality of eccentric body shafts 70 (three at an interval of 120 degrees in this example). It exists in the point provided in the position offset from the center (O4, O5 in FIG. 2) of the toothed gears 60 and 62 (only one is shown in FIG. 2).

  Each eccentric body shaft 70 includes first and second eccentric bodies 72 and 74, respectively. The first and second external gears 60 and 62 are incorporated on the outer circumferences of the first and second eccentric bodies 72 and 74 via the first and second roller bearings 73 and 75. The first eccentric body 72 of each eccentric body shaft 70 is assembled so as to have the same eccentric phase, and the eccentric body shaft 70 rotates at the same speed in the same direction. The first external gear 60 is swung and rotated through 60A. In addition, the second eccentric body 74 of each eccentric body shaft 70 has the same phase so that the second eccentric body 74 has an eccentric phase shifted from the first eccentric body 72 by 180 degrees, and the eccentric body shaft 70 is the same in the same direction. The second external gear 62 is swung and rotated with a phase difference of 180 degrees from the first external gear 60 through the second eccentric body hole 62A.

  In this embodiment, in order to rotate the three eccentric body shafts 70 in the same direction at the same speed, each eccentric body shaft 70 is inserted into the shaft holes 66A and 68A of the first and second carrier bodies 66 and 68. , (Not fixed) are rotatably supported via first and second needle bearings 76 and 78. Further, a distribution gear 80 is fixed to each eccentric body shaft 70 via a spline 81, and a total of three distribution gears 80 are engaged with the pinion 84 of the joint shaft 82 at the same time. The joint shaft 82 rotates in response to the rotation of a motor (not shown).

  That is, in the eccentric oscillating speed reducer G1 in the previous embodiment, the inner pin hole 22A as a through hole penetrating in the axial direction at a position offset from the centers O2 and O3 of the first and second external gears 22 and 24, 24A. In this eccentric oscillating speed reducer G2, the first and second through holes penetrating in the axial direction at positions offset from the centers O4 and O5 of the first and second external gears 60 and 62 are provided. Two eccentric body holes 60A and 62A are provided.

  With this configuration, when the three eccentric body shafts 70 rotate in the same direction at the same speed through the meshing of the pinion 84 and the distribution gear 80 by the rotation of the joint shaft 82, the first and second external gears 60, Each of the first and second external gears 60 and 62 rotates relative to the internal gear 64 by the same action as in the previous embodiment. Rotate slowly. As a result, the eccentric body shaft 70 penetrating the first and second eccentric body holes 60A and 62A of the first and second external gears 60 and 62 becomes the axis of the internal gear 64 (= first and second). The first and second carrier bodies 66 and 68 can be rotated through shaft holes 66A and 68A in which the eccentric body shaft 70 is fitted. .

  Here, also in this embodiment, the first and second carrier bodies 66 and 68 are supported by the casing 92 via a pair of first and second angular ball bearings (main bearings) 86 and 88. The first angular ball bearing 86, which is one main bearing, has its outer ring 86B in contact with the side surface 60F of the first external gear 60 to restrict the axial movement of the first external gear 60. However, the second angular ball bearing 88, which is the other main bearing, has an outer ring 88B (and a shim 89 and a washer 90 that are in contact with the outer ring 88B) and an axial side surface 62F of the second external gear 62. There is a gap δ5 between them, and they are not in contact with the second external gear 62 (they do not contribute to the movement restriction of the second external gear 62 in the axial direction). Instead, a convex portion 68F is formed on the second carrier body 68 so as to continuously protrude in a ring shape coaxially with the axis O6 of the second carrier body 68, and the second external gear of the convex portion 68F. The side surface 68F1 on the 62 side restricts the movement of the second external gear 62 in the axial direction. The convex portion 68F is in contact with the radially inner side of the second eccentric body hole 62A penetrating in the axial direction at a position offset from the centers O4 and O5 of the second external gear 62.

  The movement of the first and second external gears 60 and 62 in the axial direction is restricted by directly contacting the opposing side surfaces 60C and 62C of both external gears 60 and 62 in this embodiment. Yes. The side surfaces 60C and 62C are not particularly provided with a notch or the like. Therefore, the tooth widths of the tooth portions 60B and 62B of the first and second external gears 60 and 62 are ensured to the maximum over the entire circumference. Reference numeral 90 denotes an oil supply port (or a grease supply port). In this embodiment as well, the lubricant is supplied from the outer peripheral portion of the casing 92 (the radially outer side of the first and second external gears 60 and 62).

  Also according to this embodiment, the lubricant supplied from the fuel filler port 90 can smoothly flow inward in the radial direction of the first and second external gears 60 and 62 from the gap δ5. In the previous embodiment, the lubricant that has flowed into the first and second external gears 22 and 24 flows into the inner pin holes (through holes) 22A and 24A of the first and second external gears 22 and 24, respectively. The first and second roller bearings 18 and 20 that are inwardly in the radial direction are lubricated by flowing into the gaps δ1 and δ4 between the first and second external gears 22 and 24 through the gap δe. . However, in this embodiment, the lubricant that has flowed into the first and second external gears 60 and 62 directly passes through the first and second eccentric bodies 72 and 74 and the first and second external teeth. First and second roller bearings 73 and 75 incorporated between the gears 60 and 62, or first and second roller bearings 73 and 75 incorporated between the eccentric body shaft 70 and the first and second carrier bodies 66 and 68. The two-needle bearings 76 and 78 can be lubricated. The convex portion 68F for restricting the movement of the second external gear 62 is in contact with the second external gear 62 on the radial inner side of the second eccentric body hole 62A. Even if it is continuously formed, there is no problem in lubrication.

  By the way, in the above two embodiments, the convex portions (34F, 68F) formed on the second carrier body in order to restrict the movement of the external gear in the axial direction are replaced with the through holes (internal pin holes 24A, Since the second eccentric body hole 62A) is formed on the radially inner side, even if the convex portion is continuously formed in the circumferential direction, a configuration that does not cause trouble is employed. However, the convex portion itself is disposed in the circumferential direction. When provided so as to be scattered intermittently (not continuously), the formation position of the convex portion does not necessarily need to be inside in the radial direction of the through hole of the external gear.

  An example of the configuration is shown in FIGS.

  FIG. 3 is a cross-sectional view corresponding to FIG. 1 of the eccentric oscillating speed reducer G3, and FIG. 4 is a side view of the second carrier body 96 viewed from the first carrier body 32 alone. The only difference from the eccentric oscillating speed reducer G1 of FIG. 1 is the shape of the second carrier body 96. That is, the eccentric oscillating speed reducer G3 is formed with a convex portion 96F on the second carrier body 96 that restricts the movement of the second external gear 24 in the axial direction (relative to the eccentric oscillating speed reducer G1). In addition, the formation position is changed to “between the inner pin holes 24A (positions corresponding to between the through holes of the external gear)”, and the shape is not continuous in the circumferential direction, but intermittent The shape is changed to a dotted pattern.

  When the convex portion 96F is intermittently protruded in the circumferential direction, the formation position does not necessarily need to be radially inward of the inner pin hole 24A. This is because the convex portion 96F is not continuous in the circumferential direction, and the lubricant supplied from the oil filler port 43 formed in the outer peripheral portion of the casing 31 easily passes through the periphery of the convex portion 96F to the inside in the radial direction. It is because it can move. This is because, for example, even when the oil filler opening (43) is disposed on the axial side surface of the first and second carrier bodies 32, 96, the lubricant can be supplied to either the radially inner side or the outer side. Same in terms).

  In this embodiment, as shown in FIG. 4, the convex portion 96 </ b> F is arranged at “a position corresponding to between the through hole and the through hole of the external gear”, more specifically, the diameter of the convex portion 96 </ b> F. Although the center in the direction is arranged at the same position as the pitch circle r1 of the inner pin hole 24A of the second external gear 24, it may be shifted slightly outward or inward in the radial direction from the pitch circle r1. Here, “the position corresponding to between the through-holes of the external gear” is defined as “a region surrounded by a circle including the innermost point and an outermost point of each through-hole of the external gear. It is defined as “a position where at least a part overlaps”.

  Even with such a configuration, it is possible to obtain basically the same functions and effects as in the previous embodiment of FIG. Since the other configuration is the same as that of the embodiment of FIG. 1, the same reference numerals are given to the same or functionally similar members as the eccentric oscillating speed reducer G1 of FIG. Is omitted.

  In this type of eccentric oscillating speed reducer, in addition to the inner pin and the eccentric body shaft, the carrier pin may be disposed between the pair of carrier bodies. Unlike the inner pin and the eccentric body shaft, the carrier pin is not exchanged power with the external gear and is disposed between the two carrier bodies exclusively for the purpose of connecting the pair of carrier bodies. That is, the carrier pin can also be said to be a member that passes through a “through hole (carrier pin hole) formed so as to penetrate in the axial direction at a position offset from the center of the external gear”. In other words, the “through-hole penetrating in the axial direction at a position offset from the center of the external gear” according to the present invention includes a carrier pin hole as well as an inner pin hole and an eccentric body hole. The carrier pin does not contact the carrier pin hole, and there is always a gap between the carrier pin and the carrier pin hole. Therefore, from the viewpoint of the flow path of the lubricant, the relationship between the inner pin and the inner pin hole is almost the same, and the lubricant can freely pass through the gap between the carrier pin and the carrier pin hole in the axial direction.

DESCRIPTION OF SYMBOLS 12 ... Input shaft 14, 16 ... 1st, 2nd eccentric body 18, 20 ... 1st, 2nd roller bearing 22, 24 ... 1st, 2nd external gear 26 ... Internal gear 32, 34 ... 1st, 2nd carrier body 34F ... convex part 36, 38 ... 1st, 2nd angular contact ball bearing (main bearing)
36B, 38B ... Outer ring 37 ... Shim 39 ... Washer 43 ... Refueling port δe, δ1-δ5 ... Gap G1 ... Eccentric rocking type reduction gear

Claims (6)

An eccentric oscillating speed reducer comprising an oscillating external gear, an internal gear with which the external gear internally meshes, and a carrier body on the axial side of the external gear,
A through hole penetrating in the axial direction at a position offset from the center of the external gear,
An axial gap is secured between at least one of the main bearings supporting the carrier body on the casing and the external gear; and
The eccentric oscillating speed reducer, wherein the carrier body is formed with an axial convex portion in contact with the external gear, radially inward of the through hole of the external gear. In claim 1,
The eccentric oscillating speed reducer, wherein the axial convex portion is formed continuously over the entire circumference of the carrier body. In claim 1 or 2,
The carrier body is provided on both sides in the axial direction of the external gear, and each is supported on the casing by a pair of main bearings,
A gap in the axial direction is ensured only between one main bearing and the external gear, and a convex portion that contacts the external gear is formed on the carrier body having the axial gap. An eccentric oscillating speed reducer characterized by In any one of Claims 1-3,
The carrier body is provided on both sides in the axial direction of the external gear, and each is supported on the casing by a pair of main bearings,
A gap in the axial direction is formed only between one main bearing and the external gear, and a pin-like member that penetrates the through hole integrally protrudes from the carrier body having no axial gap. An eccentric oscillating speed reducer characterized by being formed. In any one of Claims 1-4,
An eccentric oscillating speed reducer characterized in that a lubricant supply port is provided outside the casing in the radial direction of the external gear. In any one of Claims 1-5,
An eccentric oscillating type characterized in that, in order to regulate the axial movement of the external gear, a regulating portion that abuts on the external gear abuts on the external gear at a position shifted in the radial direction. Decelerator.

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