JP2013174314A - Eccentric swing reduction gear - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively protect a reduction gear itself by a simple configuration prior to assembling into a master machine of the reduction gear, in the eccentric swing reduction gear not having a so-called main bearing.SOLUTION: In an eccentric swing reduction gear which has an internal gear 52 configuring an internal tooth with a cylindrical outer pin 52C and external gears 50A, 50B internally contacting and meshing with the internal gear 52, and extracts the relative rotation of the external gears 50A, 50B with the internal gear 52 as the relative rotation of a casing 54 integrated with the internal gear 52 with carriers 59 (56, 58), the main bearing is not disposed between the casing 54 and the carriers 59 but disposed at the casing 54, and there are provided restriction members 84, 85 which have outer pin restricting portions 84A, 85A restricting an outer pin 52C from moving in the axial direction, whereby the restriction members 84, 85 extend from the outer pin restricting portions 84A, 85A to the inside of the radial direction and have external gear restricting portions 84B, 85B which restrict the external gears 50A, 50B from moving in the axial direction.

Description

  The present invention relates to an eccentric rocking type reduction gear.

  Patent Document 1 discloses an eccentric oscillating speed reduction device suitable for use in, for example, joint driving of an industrial robot. This reduction gear is configured so that the external gear supported by the carrier meshes with the internal gear while swinging, and takes out the relative rotation of both gears generated during the meshing.

  The relative rotation between the internal gear and the external gear is taken out as the relative rotation between the casing integrated with the internal gear main body and the carrier. For this reason, the casing and the carrier can be rotated relative to each other via a bearing having a large diameter called a “main bearing”.

JP 2010-156430 A (FIG. 1)

  Here, depending on the industrial machine (driven device) in which the speed reducer is incorporated or depending on the application of the industrial machine, the moment that is reversely input from the industrial machine side to the main bearing of the speed reducer sometimes becomes very large. Therefore, a configuration has been proposed in which such a moment is received by a bearing mechanism provided on the “industrial machine side”. According to this configuration, as will be described in detail later, as a result, the main bearing can be eliminated on the reduction gear side.

  However, on the other hand, in the case of a speed reducer that does not have such a main bearing, if it is handled inadvertently during transportation or assembly, the position of each member in the speed reducer may be displaced, or important parts may be damaged. It becomes easy for trouble to occur.

  The present invention has been made in view of such a situation, and in an eccentric oscillating type reduction gear having no so-called main bearing, the reduction gear is installed before the reduction gear is assembled to a parent machine. The challenge is to effectively protect itself with a simple configuration.

  The present invention has an internal gear whose internal teeth are constituted by a cylindrical external pin, and an external gear that is internally meshed with the internal gear, and the relative rotation between the internal gear and the external gear, In an eccentric rocking type reduction gear that is taken out as a relative rotation between a carrier and a casing integrated with the internal gear, a main bearing is not disposed between the casing and the carrier, and is provided in the casing. A regulating member having an outer pin restricting portion for restricting the axial movement of the outer pin; and the restricting member extends radially inward from the outer pin restricting portion to prevent the external gear from moving in the axial direction. By adopting a configuration having an external gear restricting portion to be restricted, the above problem is solved.

  In the present invention, the regulating member that regulates the axial movement of the outer pin of the internal gear is more effectively utilized. That is, in the present invention, the restricting member is extended radially inward, and the restricting member is also provided with a function for restricting the axial movement of the external gear relative to the casing. Thereby, the movement of the axial direction with respect to the casing of an external gear can be controlled with a simple structure.

  In the eccentric oscillating speed reduction device, the external gear is incorporated in a state in which movement in the axial direction is restricted with respect to the carrier. Therefore, by restricting the axial movement of the external gear with respect to the casing, it is possible to effectively restrict the axial movement of the entire reduction gear (in particular, the relative movement of the carrier and the casing in the axial direction). .

  In addition, this restricting member can be left in the mounted state even after the speed reducer is assembled to the parent machine.

  According to the present invention, in an eccentric oscillating type reduction gear having no so-called main bearing, the reduction gear itself can be effectively protected with a simple configuration before the reduction gear is assembled to a parent machine. .

Sectional drawing (along the II line | wire of FIG. 3) of the reduction gear which concerns on an example of embodiment of this invention Similarly, a sectional view taken along the line II-II in FIG. Sectional view along the arrow III-III line of FIG. Sectional view along the IV-IV line of FIG. 1 is an enlarged view of the main part 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 (along the arrow II line in FIG. 3) of an eccentric oscillating speed reduction device according to an example of the embodiment of the present invention, and FIG. Cross-sectional views taken along line II, FIGS. 3 and 4 are cross-sectional views taken along lines III-III and IV-IV in FIG. 1, respectively. That is, FIGS. 1 to 4 show the same speed reducer with only different cross-sectional lines.

  This reduction device is a type of reduction device referred to as an eccentric oscillating type, and includes an internal gear and an external gear that is in mesh with the internal gear, and includes an internal gear and an external gear. The relative rotation is taken out as the relative rotation between the carrier and the casing. This will be specifically described below.

  The reduction gear 12 is configured such that the input gear 13 is driven by a pinion formed at the tip of the motor shaft of a motor (not shown). The input gear 13 is integrated with the transmission shaft 15 via the spline 14. A transmission pinion 16 is formed integrally with the transmission shaft 15. The transmission pinion 16 meshes with the center gear 18. The center gear 18 is rotatably supported on the outer periphery of the center shaft member 22 via the needle 20. The center shaft member 22 includes a large-diameter hollow portion 22A at the radial center.

  The center gear 18 meshes with the transmission pinion 16 and also meshes with the eccentric body shaft gears 24, 26, and 28 at the same time. The eccentric body shaft gears 24, 26, and 28 are integrated with the eccentric body shafts 30, 32, and 34, respectively. The eccentric body shaft 30 includes eccentric bodies 36A and 36B. The eccentric body shaft 32 includes eccentric bodies 38A and 38B (only 38A is shown). The eccentric body shaft 34 includes eccentric bodies 40A and 40B (only 40A is shown). Each eccentric body 36A, 38A, 40A (36B, 38B, 40B) is eccentric by δe with respect to the axis O1 of the eccentric body shaft 30, 32, 34. An external gear 50A is fitted to the eccentric bodies 36A, 38A, 40A via rollers 42A, 44A, 46A. Similarly, an external gear 50B is fitted to the eccentric bodies 36B, 38B, 40B via rollers 42B, 44B, 46B (all not shown). The eccentric phase difference between the external gears 50A and 50B is 180 degrees.

  First and second carriers 56 and 58 are disposed on both axial sides of the external gears 50A and 50B. However, between the first and second carriers 56 and 58 and the casing 54, a so-called main bearing (arranged if it is a normal reduction gear) is not disposed (described later). The first and second carriers 56 and 58 are connected and integrated by a carrier pin 60 (see FIG. 2) integrally projecting from the second carrier 58 and a bolt 63 to constitute the carrier 59 of the speed reducer 12 as a whole. doing.

  The eccentric body shafts 30, 32, 34 have three eccentric body shaft holes 62, 64, 66 (only 62 shown) formed in the first carrier 56 and three eccentric bodies formed in the second carrier 58. The body shaft holes 68, 70, 72 (only 68 shown) are rotatably supported via a pair of tapered roller bearings 74, 76, respectively.

  The tapered roller bearing 74 disposed on the first carrier 56 side is in contact with a retaining ring 78 fitted in the first carrier 56 via a spacer 79, and is formed on the eccentric body shafts 30, 32, 34. 30B, 32B, and 34B (only 30B is shown in FIG. 1) are in contact with each other through a guide wheel 80. The tapered roller bearing 76 disposed on the second carrier 58 side contacts the stepped portion 58A of the second carrier 58, and stepped portions 30C, 32C, and 34C (only 30C formed on the eccentric body shafts 30, 32, and 34). 1 (shown in FIG. 1) through a guide wheel 84. The spacer 79 has a shim function, and its thickness (axial dimension) can be changed and selected. By incorporating the eccentric body shafts 30, 32, 34 via the pair of tapered roller bearings 74, 76 between the retaining ring 78 and the stepped portion 58A, the first and second carriers of the eccentric body shafts 30, 32, 34 are provided. Positioning (and pressurization adjustment) for 56 and 58 is performed.

  An insertion ring 81 is interposed between the external gears 50A and 50B. Further, the external gears 50A, 50B are sandwiched between the convex portion 56P of the first carrier 56 and the convex portion 58P of the second carrier 58 via the insert ring 81 on the eccentric body shafts 30, 32, 34. As a result, the axial movement with respect to the eccentric body shafts 30, 32 and 34 (relative to the carrier 59) is restricted.

  The external gears 50 </ b> A and 50 </ b> B are in mesh with the internal gear 52 with a slight radial force applied thereto.

  The internal gear 52 is rotatably supported by the internal gear main body 52A integrated with the casing 54, the outer pin groove 52B formed in the internal gear main body 52A, and the outer pin groove 52B. It is comprised with the cylindrical outer pin 52C which comprises the internal tooth of the toothed gear 52. FIG. As shown in FIG. 3, in this embodiment, two of the 120 inner teeth (outer pins 52 </ b> C) that should be originally arranged are alternately thinned out. The number of substantial internal teeth of the internal gear 52 (the original number of the outer pins 52C) corresponds to the number not thinned out, and is 120 in this example. That is, the number of internal teeth of the internal gear 52 is slightly larger (by “2” in this example) than the number of external teeth “118” of the external gears 50A and 50B.

  Here, in this embodiment, the external gears 50A and 50B are regulated in the axial direction with respect to the casing 54 (= the internal gear main body 52A) by the regulating members 84 and 85 (and the retaining rings 86 and 87). ing.

  The eccentric oscillating speed reduction device 12 according to this embodiment can be manufactured as a speed reduction device used in a normal application, that is, an application that requires a main bearing. , P2 ”is secured. In addition, in the present embodiment, the restriction members 84 and 85 and the retaining rings (fixing members) 86 and 87 are arranged using the “space where the main bearing is to be incorporated”.

  More specifically with reference to FIG. 5, the regulating members 84 and 85 are ring-shaped members and are provided in the casing 54 (integrated with the internal gear main body 52 </ b> A). The restricting members 84 and 85 respectively have outer pin restricting portions 84A and 85A for restricting the axial movement of the outer pin 52C of the internal gear 52, and further extend radially inward from the outer pin restricting portions 84A and 85A. And external gear restricting portions 84B and 85B for restricting the axial movement of the external gears 50A and 50B.

  The restricting members 84 and 85 are incorporated with the retaining rings 86 and 87 so as not to move in the axial direction with respect to the casing 54. Retaining rings 86 and 87 are fitted into recesses 54A and 54B formed in the casing 54.

  The thickness d1 of the retaining rings 86 and 87 is approximately one half of the diameter d3 of the outer pin 52C. The restricting members 84 and 85 have a thickness d2 (d1 <d2) that is even greater (1/2 or more than the diameter d3 of the outer pin 52C). The retaining rings 86 and 87 and the restricting members 84 and 85 do not need such thicknesses (axial dimensions) d1 and d2 only to suppress the axial movement of the outer pin 52C. In the embodiment, the retaining rings 86 and 87 and the restricting members 84 and 85 have a function of axially positioning the first and second carriers 56 and 58 with respect to the casing 54 via the external gears 50A and 50B. Therefore, both have such thick axial thicknesses d1 and d2.

  On the other hand, stepped portions 50A1, 50A2, 50B1, and 50B2 are formed on the side surfaces of the external gears 50A and 50B so that the contact surfaces 50A3 and 50B3 protrude toward the regulating members 84 and 85, respectively. And contact surface 50A3, 50B3 with the control members 84 and 85 is formed between this step part 50A1, 50A2, or 50B1, 50B2.

  On the other hand, the restricting members 84 and 85 correspond to the step portions 50A1 and 50B1, and the radially inner side is further away from the external gears 50A and 50B (the thickness of the restricting members 84 and 85). Corresponding stepped portions 84S and 85S (which are recessed inward in the direction) are formed. The radially outer sides of the corresponding stepped portions 84S and 85S regulate the axial movement of the external gears 50A and 50B. The outer pin restricting portions 84A and 85A regulate the axial movement of the outer pin 52C. The external gear restricting portions 84B and 85B are configured.

  Note that the external gear restriction portions 84B and 85B and the contact surfaces 50A3 and 50B3 of the external gears 50A and 50B are only for protection, and do not need to actually “contact”. Rather, it is better to “opposite” with a very small gap so as not to cause rotational resistance during normal operation.

  In this embodiment, the regulating members 84 and 85 are made of a casting in consideration of lubricity. On the other hand, the retaining rings 86 and 87 are made of steel metal. For this reason, in consideration of the respective strengths, the axial thickness d2 of the restricting members 84 and 85 is larger than the axial thickness d1 of the retaining rings 86 and 87 (d1 <d2).

  The corresponding stepped portions 84S and 85S of the restricting members 84 and 85 are formed symmetrically on both axial sides of the restricting members 84 and 85. That is, the regulating member 84 on the first carrier 56 side and the regulating member 85 on the second carrier 58 side are exactly the same member.

  The external gear restricting portions 84B and 85B of the restricting members 84 and 85 are capable of restricting the external gear even when the external gears 50A and 50B swing in the minimum eccentric direction (even in the state of the external gear 50B in FIG. 1). The portions 84B and 85B are formed at radial positions where they can come into contact with the contact surfaces 50A3 and 50B3 of the external gears 50A and 50B.

  Further, the stepped portions 50A1 and 50B1 formed on the side surfaces of the external gears 50A and 50B and the corresponding stepped portions 84S and 85S formed on the restricting members 84 and 85 cause the external gears 50A and 50B to swing in the maximum eccentric direction. Even when it moves (even in the state of the external gear 50A in FIG. 1), it is displaced in the radial direction by δr1, and the stepped portion 50A1 and the corresponding stepped portion 84S (or the stepped portion 50B1 and the corresponding stepped portion 85S) are in the radial direction. So that it does not interfere with.

  The reduction gear 12 has oil seals OL1 to OL3 that seal the inside and outside of the reduction gear 12. Further, a gap S <b> 1 is secured between the axial side surface 54 </ b> E of the casing 54 and the axial side surface 56 </ b> E of the first carrier 56 facing the casing 54 in order to prevent interference between the two relative rotations. Reference numeral 70 in the figure is a side cover of the speed reducer 12.

  Here, a configuration example in which the speed reduction device 12 is assembled for driving the industrial robot 90 will be described with reference to FIG. For example, as shown in FIG. 2, the speed reducer 12 is assembled to the industrial robot 90, so that the first and second carriers are disposed with respect to the casing 54 even though the main bearing is not disposed. 56 and 58 can be smoothly rotated.

  The industrial robot 90 includes a first arm 92 and a second arm 94. The casing 54 of the reduction gear 12 (= the internal gear main body 52A of the internal gear 52) is connected to the first arm 92 via a bolt 97 (only the head and the axis are shown: the same applies hereinafter) 97. The first carrier 56 of the speed reducer 12 is connected to the second arm 94 via a bolt 98. A ring block 96 is attached to the second arm 94 with the bolt 99.

  The first arm 92 and the second arm 94 are connected to each other by a cross roller bearing 100 through a ring block 96 so as to be relatively rotatable. The cross roller bearing 100 includes rollers 100C alternately incorporated at an angle of 90 degrees between the outer ring 100A and the inner ring 100B, and can handle both a radial load and a thrust load. Reference numerals 102 and 104 are positioning members of the cross roller bearing 100, respectively.

  The reduction gear 12 is assembled to such an industrial robot 90, so that the first arm 92 and the second arm 94 of the industrial robot 90 can be rotated relative to each other without any trouble even without a main bearing. .

  Next, the operation of the eccentric oscillating speed reduction device 12 according to this embodiment will be described.

  When the input gear 13 is driven by operating a motor (not shown), the transmission shaft 15 connected to the input gear 13 via the spline 14 rotates to reach the transmission pinion 16. When the transmission pinion 16 rotates, the center gear 18 meshing with the transmission pinion 16 rotates. When the center gear 18 rotates, the three eccentric body shaft gears 24, 26, and 28 rotate, whereby the three eccentric body shafts 30, 32, and 34 rotate in the same direction at the same rotational speed.

  As a result, the eccentric bodies 36A, 38A, 40A on the eccentric body shafts 30, 32, 34 and the external gear 50A fitted via the rollers 42A, 44A, 46A swing. At the same time, the eccentric gears 36B, 38B, 40B on the three eccentric shafts 30, 32, 34 and the external gear 50B fitted through the rollers 42B, 44B, 46B (external gear) are also provided. Swing (with a phase difference of 50 degrees and 180 degrees).

  Both the external gears 50A and 50B are internally meshed with the internal gear 52, and the number of internal teeth of the internal gear 52 (the number of original external pins 52C not thinned) is There are two more than the number of external teeth of the external gears 50A, 50B. Therefore, the external gears 50A and 50B have the number of teeth relative to the internal gear 52 every time the eccentric bodies 30, 32 and 34 rotate once (every time the external gears 50A and 50B swing once). The phase in the circumferential direction is shifted by the difference. That is, when viewed from the internal gear 52, the external gears 50A and 50B rotate by 2/118.

  This relative rotation is taken out as a relative rotation between the casing 54 integrated with the internal gear main body 52A of the internal gear 52 and the carrier 59 (first and second carriers 56 and 58). As a result, the first arm 92 integrated with the casing 54 and the second arm 94 integrated with the first carrier 56 can be rotated relative to each other.

  If an impact is applied to the first arm 92 or the second arm 94 during the operation of the industrial robot 90 and the impact load or moment is input, the impact load or moment is surely applied to the cross roller. It can be received by the bearing 100.

  Since the cross roller bearing 100 is configured by alternately incorporating rollers 100C at an angle of 90 degrees between the outer ring 100A and the inner ring 100B, one unit can handle both radial load and thrust load, and There is almost no backlash. Therefore, the first carrier 56 is axially directed to the casing 54 (integrated with the first arm 92) via the second arm 94, the ring block 96, the cross roller bearing 100, and the first arm 92. And accurately positioned in the radial direction.

  On the other hand, since the main bearing is not disposed in the speed reduction device 12, various problems may occur when the speed reduction device 12 is not assembled to the industrial robot 90 as one component thereof.

  Since this defect is not always a problem that has been clearly recognized in the past, for example, the speed reduction device 12 is set with the axial side surface of the first carrier 56 on the side opposite to the external gear facing downward. When attempting to place the apparatus on a work table (not shown) or more, the casing 54 itself of the speed reduction device 12 is a heavy object, and therefore the axial gap S1 (between the casing 54 and the first carrier 56) due to its own weight. 1), the oil seals OL1 to OL3 and the like may be damaged. The same phenomenon occurs when the speed reducer 12 is placed over the workbench with the side of the second carrier 58 facing away from the external gear toward the lower side, and the oil seals OL1 to OL3 are also damaged. There is a risk of doing. In addition, the casing 54 and the carrier 59 may easily move relative to each other even with a slight impact during the assembly operation.

  However, in the present embodiment, the restricting members 84 and 85 fixed in the axial direction to the casing 54 via the retaining rings 86 and 87 are not only the outer pin restricting portions 84A and 85A but also the external gear restricting portion 84B. , 85B. Therefore, when the external gears 50A and 50B try to move in the axial direction with respect to the casing 54, any one of the external gear restriction portions 84B and 85B is brought into contact with the contact surfaces 50A3 and 50B3 of the external gears 50A and 50B. And the axial movement of the external gears 50 </ b> A and 50 </ b> B together with the insertion ring 81 are restricted.

  Accordingly, the axial movement of the first and second carriers 56 and 58 that are in contact with the external gears 50A and 50B (with the insertion wheel 81 in between) via the convex portions 56P and 58P with respect to the casing 54 is also restricted. The first and second carriers 56 and 58 are firmly connected via carrier pins 60 and bolts 63. The eccentric body shafts 30, 32, 34 are restricted from moving in the axial direction with respect to the first and second carriers 56, 58 via a pair of tapered roller bearings 74, 76.

  Further, each member in the speed reduction device 12 including the external gears 50A and 50B is incorporated into the eccentric body shaft holes formed in the first and second carriers 56 and 58 via a pair of tapered roller bearings 74 and 76. With reference to the three eccentric body shafts 30, 32, and 34, the outer teeth of the external gears 50 </ b> A and 50 </ b> B that are tightly meshed with the outer pins 52 </ b> C that are the inner teeth of the internal gear 52, Is positioned. Therefore, after all, since the speed reduction device 12 becomes one large lump as a whole even in a state where it is not assembled to the industrial robot 90, each member in the speed reduction device 12 is effective even without a main bearing. Can be protected.

  In the present embodiment, stepped portions 50A1, 50A2, 50B1, and 50B2 are formed on the side surfaces of the external gears 50A and 50B, and the corresponding stepped portions 84S corresponding to the stepped portions 50A1 and 50B1 among these are provided on the regulating members 84 and 85. , 85S are formed, the movement of the casing 54 and the carrier 59 and the occurrence of displacement can be more reliably suppressed.

  In the present embodiment, the corresponding stepped portions 84S and 85S of the restricting members 84 and 85 are formed symmetrically on both sides in the axial direction of the restricting members 84 and 85, so that both restricting members 84 and 85 are identical. There is no need to consider the front and back in the axial direction when assembling the restricting member (there is no mistake in the front and back in the assembling direction).

  In the present embodiment, the external gear restriction portions 84B and 85B of the restriction members 84 and 85 are the contact surfaces of the external gears 50A and 50B even when the external gears 50A and 50B are swung in the minimum eccentric direction. Since the external gears 50A and 50B of the speed reducer 12 to be assembled are stopped in any eccentric state, the external gears 50A and 50B are always formed. The movement in the axial direction can be restricted on the “entire circumference” of 50B.

  Furthermore, in the above embodiment, the restricting members 84 and 85 are fixed to the casing 54 by retaining rings (fixing members) 86 and 87, and the axial dimensions of the restricting members 84 and 85 are the same. Since the axial dimension of 87 is formed to be thick, even if a large impact is applied to the casing 54 of the reduction gear 12 or the first and second carriers 56, 58, etc., the external gears 50A, 50B ( As a result, the axial positional relationship between the first and second carriers 56, 58) and the casing 54 can be reliably maintained.

  Moreover, in the said embodiment, it has a common casing (54) with another reduction gear which has a main bearing, and the said regulating member is in the space P1, P2 where the main bearing of this another reduction gear is arrange | positioned. 84, 85 and at least one of the retaining rings 86, 87 (both in the above example), which are fixing members of the regulating members 84, 85, are arranged so that they are arranged between another reduction gear having a main bearing. Thus, the members including the casing (54) can be used in common as much as possible.

  In addition, the structure which forms a step part or a corresponding step part in the external gear and the restriction member is not an essential structure in the present invention, and the step part is not necessarily provided in the external gear, The ring shape may be simple.

  In the present invention, it is not always necessary to provide the external gear restricting portions on both sides of the restricting member. For example, even if the step portion is formed only on one axial side of the restricting member. Good. In the above embodiment, the stepped portion is provided so that the external gear side is convex and the regulating member side is concave. However, the stepped portion may be provided so that the external gear side is concave and the regulating member side is convex. Good.

  Further, the present invention can be minimized if the external gear restricting portion of the restricting member and the contact surface of the external gear can abut when the external gear swings at least in the maximum eccentric direction. Even if it does not come into contact when it is eccentric in the eccentric direction, the regulation itself is possible (although it cannot be regulated on the entire circumference of the external gear).

  In addition, the present invention is not necessarily limited to the above-described configuration with respect to the configuration of the thickness relationship between the retaining ring (fixing member) and the regulating member. In short, for the load that may be applied, It is only necessary that the retaining ring and the regulating member have sufficient strength including the selection of the material. The material of the restricting member does not necessarily have to be made of a casting as in the above embodiment, but may be made of a steel-based metal having higher strength.

  Furthermore, the present invention is not particularly limited to how the regulating member is fixed to the casing in the first place, and for example, the casing is composed of a plurality of casing members. If the restriction member can be fixed to the casing in such a configuration that the restriction member is directly sandwiched by the plurality of casing members, a separate fixing member (such as a retaining ring) for fixing the restriction member is not necessary. is there.

  In addition, the present invention does not necessarily require that the member be shared with the speed reducer having the main bearing, and a restricting member and a fixing member for the restricting member are provided in the space in which the main bearing is to be disposed. It is not something that must be placed.

  Further, in the above embodiment, the eccentric oscillating type reduction device provided with a plurality of eccentric body shafts at a position offset from the axis of the reduction device is shown. However, the eccentric oscillating type according to the present invention is shown. The speed reducer of this type is not limited to this type of configuration. For example, the speed reducer can be applied to an eccentric oscillating type speed reducer having only one eccentric body shaft in the radial center of the speed reducer. Thus, the same effect can be obtained.

DESCRIPTION OF SYMBOLS 12 ... Deceleration device 30, 32, 34 ... Eccentric body shaft 50A, 50B ... External gear 52 ... Internal gear 52C ... External pin 56, 58 ... 1st, 2nd carrier 59 ... Carrier 84, 85 ... Restriction member 84A, 85A ... Outer pin restricting portion 84B, 85B ... External gear restricting portion 84S, 85S ... Stepped portion

Claims (6)

An internal gear having an internal tooth formed of a cylindrical external pin, and an external gear internally meshing with the internal gear, the relative rotation of the internal gear and the external gear being controlled by the carrier and the internal gear. In an eccentric rocking type reduction gear that is taken out as a relative rotation with a tooth gear and an integrated casing,
No main bearing is arranged between the casing and the carrier,
A regulating member provided on the casing and having an outer pin regulating portion for regulating axial movement of the outer pin; and the regulating member extends radially inward from the outer pin regulating portion, and An eccentric oscillating speed reduction device having an external gear restricting portion for restricting the axial movement of the gear. In claim 1,
An eccentric oscillating type characterized in that a stepped portion is formed on a side surface of the external gear on the regulating member side, and a corresponding stepped portion corresponding to the stepped portion of the external gear is formed on the regulating member. Speed reducer. In claim 2,
The said corresponding step part is formed in the axial direction both sides of the said limitation member. The eccentric rocking | swiveling type deceleration device characterized by the above-mentioned. In claim 2 or 3,
The external gear restricting portion of the restricting member is formed at a radial position where the external gear can always abut against a side surface of the external gear even when the external gear swings in the minimum eccentric direction. Eccentric rocking type speed reducer. In any one of Claims 1-4,
The eccentric oscillating speed reduction device, wherein the restricting member is fixed to the casing in the axial direction by a retaining ring fixed to the casing, and has a larger axial dimension than the retaining ring. In any one of Claims 1-4,
The speed reducer has a common casing with another speed reducer having the main bearing, and the restriction member and the fixing member of the restriction member are disposed in a space where the main bearing of the other speed reducer is disposed. At least one of them is disposed. An eccentric rocking type speed reducer.

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