JP2019019839A - Eccentric oscillation type speed reduction device - Google Patents

Abstract

To provide a technique capable of reducing the number of components of a speed reduction device.SOLUTION: An internal gear comprises a plurality of external pins 18b supported by an internal gear body 18a. An external gear includes a first external gear 16-A comprising a first through hole and a second external gear 16-B comprising a second through hole. An internal roller includes a first internal roller 24-A arranged in the first through hole, and a second internal roller 24-B arranged in the second through hole. An eccentric oscillation type speed reduction device comprises a regulating member 30 arranged between the first external gear 16-A and the second external gear 16-B. The regulating member 30 comprises a first displacement regulating part 30a for regulating axial displacements of the first internal roller 24-A and the second internal roller 24-B, a second displacement regulating part 30b provided radially outside the first displacement regulating part 30a to regulate axial displacements of the first external gear 16-A and the second external gear 16-B, and a separation preventing part 30c provided radially outside the second displacement regulating part 30b to prevent separation of the external pins 18b.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an eccentric oscillating speed reducer.

  Conventionally, an eccentric oscillating speed reduction device is known. The reduction gear includes an internal gear, an external gear that meshes with the internal gear, and a crank shaft that swings the external gear. In this reduction gear, relative rotation is generated between the external gear and the internal gear by the oscillation of the external gear, and the relative rotation can be output.

  As an example of this, Patent Document 1 discloses a plurality of external gears, a plurality of inner rollers individually disposed in through holes of the plurality of external gears, and a ring shape disposed between the plurality of external gears. An eccentric oscillating speed reduction device including a regulating member is disclosed. In this reduction gear, the displacement in the axial direction of the plurality of external gears and the plurality of inner rollers is regulated by the regulating member.

Japanese Unexamined Patent Publication No. 2016-23695

  In the reduction gear of Patent Document 1, outer pin presses are arranged on both sides in the axial direction of the outer pins constituting the internal gear, and the outer pins are prevented from being detached by the outer pin presses. As a result of investigation by the present inventor, it has been recognized that there is room for improvement with respect to the reduction gear of Patent Document 1 having such a structure from the viewpoint of reducing the number of parts of the reduction gear.

  An aspect of the present invention is made in view of such a situation, and one of the purposes is to provide a technique capable of reducing the number of parts of the reduction gear.

  An aspect of the present invention relates to an eccentric oscillating speed reduction device, and relates to an internal gear, an external gear meshing with the internal gear, a crankshaft for oscillating the external gear, and an axial side of the external gear. An eccentric oscillating speed reduction device comprising: a carrier disposed in a portion; an inner pin supported by the carrier and passing through the external gear; and an inner roller fitted onto the inner pin. The gear includes an internal gear main body and a plurality of external pins supported by the internal gear main body. The external gear includes a first external gear having a first through hole, and the first external gear. A second external gear arranged in the axial direction and having a second through hole, and the inner roller includes a first inner roller disposed in the first through hole, and a second inner gear in the second through hole. A second inner roller disposed between the first external gear and the second external gear. A restricting member, and the restricting member includes a first displacement restricting portion for restricting axial displacement of the first inner roller and the second inner roller, and a radially outer side of the first displacement restricting portion. A second displacement restricting portion for restricting axial displacement of the first external gear and the second external gear; and a radially outer side of the second displacement restricting portion; And a separation preventing part for preventing

  According to the present invention, the number of parts of the reduction gear can be reduced.

It is side surface sectional drawing which shows the eccentric rocking | fluctuation type deceleration device of this embodiment. It is the sectional view on the AA line of FIG. It is a one part enlarged view of FIG.

  Hereinafter, in the embodiment and the modification, the same reference numerals are given to the same components, and the duplicate description is omitted. In the drawings, for convenience of explanation, some of the components are omitted as appropriate, and the dimensions of the components are appropriately enlarged and reduced.

  FIG. 1 is a side sectional view showing an eccentric oscillating speed reduction device 10 of the present embodiment. The eccentric oscillating speed reducing device 10 causes relative rotation between the internal gear 18 and the external gears 16-A, 16-B by swinging the external gears 16-A, 16-B by the crankshaft 12. It can be generated and its relative rotation can be output. In the present embodiment, a center crank type eccentric oscillating speed reduction device 10 in which the crankshaft 12 is disposed at the axial center position of the internal gear 18 will be described.

  The speed reducer 10 mainly includes a crankshaft 12, eccentric bearings 14-A and 14-B, external gears 16-A and 16-B, an internal gear 18 and carriers 20-A and 20-B. And an inner pin 22, inner rollers 24-A, 24-B, a casing 26, main bearings 28-A, 28-B, and a regulating member 30. The speed reduction device 10 of the present embodiment has many features in the regulating member 30, but will be described first from the peripheral structure.

  The crankshaft 12 can rotate around the rotation center line Lc. Hereinafter, the direction along the rotation center line Lc of the crankshaft 12 is defined as an axial direction X. Further, the circumferential direction and the radial direction of a circle centered on the rotation center line Lc of the crankshaft 12 are simply referred to as “circumferential direction” and “radial direction”.

  The crankshaft 12 has an input shaft portion 32 and eccentric portions 34-A and 34-B. One end portion 32a in the axial direction X of the input shaft portion 32 is connected to a drive source such as a motor. The input shaft portion 32 is rotated around the rotation center line Lc by the power input from the drive source. Hereinafter, for convenience of explanation, one side (right side in FIG. 1) in the axial direction X will be described as the input side, and the other side (left side in FIG. 1) will be described as the non-input side.

  The eccentric portions 34 -A and 34 -B are provided so as to be rotatable integrally with the input shaft portion 32. The eccentric portions 34 -A and 34 -B of the present embodiment are provided as a part of the same member as the input shaft portion 32, but may be provided separately from the input shaft portion 32. The eccentric parts 34-A and 34-B include a first eccentric part 34-A provided on the input side and a second eccentric part 34-B provided on the non-input side. The shaft center Sca of the first eccentric portion 34 -A and the shaft center Scb of the second eccentric portion 34 -B are eccentric from the rotation center line Lc of the crankshaft 12 by the amount of eccentricity e. In the present embodiment, the first eccentric portion 34-A and the second eccentric portion 34-B are eccentric from the rotation center line L in opposite directions. In the following, regarding different constituent elements having a common point, “first and second” are added at the beginning of the name and “−A, −B” is added at the end of the reference symbol, These are omitted.

  The eccentric bearings 14-A and 14-B are provided on the radially outer side of the eccentric portion 34 of the crankshaft 12, and external gears 16-A and 16-B corresponding to the eccentric portion 34 are rotatably supported. The eccentric bearings 14-A and 14-B are a first eccentric bearing 14-A and a second eccentric bearing 14-B corresponding to the first eccentric portion 34-A and the second eccentric portion 34-B of the crankshaft 12, respectively. including.

  The eccentric bearing 14 is a rolling bearing. The eccentric bearing 14 of the present embodiment mainly has an inner ring 14a and a plurality of rolling elements 14b. The rolling element 14b of this embodiment is a roller and is disposed between the external gears 16-A and 16-B and the eccentric portion 34 of the crankshaft 12. The rolling elements 14b are provided around the rotation center line Lc in the circumferential direction. The eccentric bearing 14 of this embodiment does not have a dedicated outer ring. Instead, the inner peripheral surface of the center hole 16b (described later) of the external gears 16-A and 16-B functions as an outer ring.

  The external gears 16 -A and 16 -B are rotatably supported by the eccentric portion 34 of the crankshaft 12 via the eccentric bearing 14. The external gears 16-A and 16-B are a first external gear 16-A and a second external gear corresponding to the first eccentric portion 34-A and the second eccentric portion 34-B of the crankshaft 12, respectively. 16-B is included. The second external gear 16-B is arranged in the axial direction X with respect to the first external gear 16-A. The first external gear 16-A and the second external gear 16-B are the same members as a single member, only with a different phase. The external gear 16 is swung by the eccentric portion 34 of the corresponding crankshaft 12 so that its own axis rotates around the rotation center line Lc.

  A plurality of external tooth portions 16 a are formed on the outer peripheral portion of the external gear 16 at intervals in the circumferential direction. The external gear 16 is formed with a central hole 16b penetrating through the central portion thereof, and the crankshaft 12 and the eccentric bearing 14 are disposed inside the central hole 16b. In the first external gear 16-A, a plurality of first through holes 36-A are formed at intervals in the circumferential direction at positions radially offset from the axis of the first external gear 16-A. Also in the second external gear 16-B, a plurality of second through holes 36-B are formed at intervals in the circumferential direction at positions offset in the radial direction from the axis of the second external gear 16-B.

  The internal gear 18 is provided on the outer peripheral side of the plurality of external gears 16 and meshes with the external gear 16. The internal gear 18 includes an internal gear main body 18a integrated with the casing 26, and a plurality of external pins 18b supported by the internal gear main body 18a. 2 is a cross-sectional view taken along line AA in FIG. As shown in FIGS. 1 and 2, a plurality of pin grooves 18c are formed in the internal gear main body 18a at intervals in the circumferential direction, and an outer pin 18b is rotatably accommodated in the pin groove 18c. The outer pin 18 b constitutes an inner tooth of the internal gear 18. The outer pin 18b of this embodiment has a cylindrical shape. The number of internal teeth of the internal gear 18 (the number of external pins 18b) is one more than the number of external teeth of the external gear 16 in this embodiment.

  Please refer to FIG. The carriers 20 -A and 20 -B are disposed on the axial side of the external gear 16. Specifically, the carriers 20 -A and 20 -B are disposed on both sides in the axial direction X with respect to the plurality of external gears 16. The carriers 20-A and 20-B include a first carrier 20-A disposed on the input side with respect to the plurality of external gears 16, and a second carrier 20-B disposed on the non-input side.

  The carrier 20 of the present embodiment functions as an output member that outputs the rotation component by rotating in synchronization with the rotation component when the external gear 16 swings and rotates. The carrier 20 of this embodiment has a disc shape. The carrier 20 is formed with a through hole 20a penetrating the central portion in the radial direction. A crank bearing 38 is disposed on the inner peripheral side of the through hole 20a, and the carrier 20 supports the crank shaft 12 through the crank bearing 38 so as to be rotatable. The crank bearing 38 of the present embodiment is a rolling bearing such as a ball bearing.

  Both ends of the inner pin 22 are press-fitted into pin holes 20b formed in the first carrier 20-A and the second carrier 20-B, respectively. As a result, the inner pin 22 is supported by the first carrier 20-A and the second carrier 20-B and integrated with the first carrier 20-A and the second carrier 20-B. The inner pin 22 of this embodiment has a cylindrical shape. The inner pin 22 penetrates each of the plurality of through holes 36 of the external gear 16 in the axial direction X. The inner pin 22 may be formed integrally with one of the first carrier 20-A and the second carrier 20-B.

  The inner rollers 24-A and 24-B of the present embodiment are separate members from the inner pin 22 and are slidably fitted to the inner pin 22. The inner rollers 24-A and 24-B are formed by the first inner roller 24-A disposed in the first through hole 36-A of the first external gear 16-A and the second external gear 16-B. And a second inner roller 24-B disposed in the second through hole 36-B.

  The inner roller 24 of this embodiment has a cylindrical cross-sectional shape. The inner roller 24 is in rolling contact with both the through hole 36 and the inner pin 22 of the corresponding external gear 16. As a result, the frictional resistance can be reduced as compared with the case where the through hole 36 of the external gear 16 and the inner pin 22 are in direct sliding contact. The outer diameter of the inner roller 24 is set to be smaller than the inner diameter of the through hole 36 of the external gear 16 through which the inner roller 24 is inserted.

  The casing 26 has a cylindrical shape as a whole. Internal parts such as the external gear 16 and the carrier 20 are arranged on the inner peripheral side of the casing 26.

  The main bearings 28-A and 28-B are disposed between the casing 26 and the carrier 20, and the casing 26 supports the carrier 20 in a freely rotatable manner. The main bearings 28-A and 28-B are disposed between the first main bearing 28-A disposed between the casing 26 and the first carrier 20-A, and between the casing 26 and the second carrier 20-B. Second main bearing 28-B. The main bearing 28 of this embodiment is a rolling bearing such as a ball bearing.

The operation of the speed reducer 10 will be described.
When the crankshaft 12 is rotated around the rotation center line Lc by the power input from the drive source, the external gear 16 is swung by the crankshaft 12. At this time, the external gear 16 swings so that its axis rotates around the rotation center line Lc. When the external gear 16 swings, the meshing positions of the external gear 16 and the internal gear 18 are sequentially shifted. As a result, each time the crankshaft 12 makes one rotation, relative rotation (spinning) occurs between the external gear 16 and the internal gear 18 by an amount corresponding to the difference in the number of teeth between the external gear 16 and the internal gear 18. Arise. In the present embodiment, the external gear 16 rotates with respect to the internal gear 18, and the rotation component is output from the carrier 20 serving as an output member. At this time, the rotation component of the external gear 16 is transmitted to the carrier 20 via the inner roller 24 and the inner pin 22. The rotation of the crankshaft 12 is decelerated at a reduction ratio corresponding to the difference in the number of teeth between the external gear 16 and the internal gear 18 and output from the carrier 20 serving as an output member.

  Turning to the description of the regulating member 30. FIG. 3 is an enlarged view of a part of FIG. As shown in FIGS. 2 and 3, the restricting member 30 is a ring-shaped member called a so-called insertion ring. The regulating member 30 is disposed between the first external gear 16-A and the second external gear 16-B and between the plurality of inner pins 22 and the plurality of outer pins 18b. The restricting member 30 includes a first displacement restricting portion 30a, a second displacement restricting portion 30b, and a separation preventing portion 30c.

  The 1st displacement control part 30a is a ring-shaped part which comprises the inner peripheral part of the control member 30 which is a ring-shaped member. The first displacement restricting portion 30a faces the first inner roller 24-A and the second inner roller 24-B in the axial direction X. When the first inner roller 24-A and the second inner roller 24-B move along with the swing of the first external gear 16-A and the second external gear 16-B, the first inner roller 24-A and the second inner roller 24-B move from the rotation center line Lc. The radial dimension up to the axis changes so as to increase or decrease within a certain range. When the first inner roller 24-A and the second inner roller 24-B move in this manner, the first displacement restricting portion 30a is positioned at the radial position of the first inner roller 24-A and the second inner roller 24-B. Regardless, the first inner roller 24-A and the second inner roller 24-B are provided so as to overlap the axial direction X. The first displacement restricting portion 30a is in contact with the end surfaces in the axial direction X of the first inner roller 24-A and the second inner roller 24-B, thereby causing the first inner roller 24-A and the second inner roller 24-B to contact each other. The displacement (movement) in the axial direction X is regulated.

  The 2nd displacement control part 30b is a ring-shaped part provided in the radial direction outer side of the 1st displacement control part 30a. The second displacement restricting portion 30b faces the first external gear 16-A and the second external gear 16-B in the axial direction X. When the first external gear 16-A and the second external gear 16-B are swung, the second displacement restricting portion 30b is one of the first external gear 16-A and the second external gear 16-B. The first inner roller 24-A and the second inner roller 24-B overlap each other in the axial direction X, and are not overlapped in the axial direction X. The second displacement restricting portion 30b is in contact with the end surfaces of the first external gear 16-A and the second external gear 16-B in the axial direction X, thereby the first external gear 16-A and the second external gear. The displacement (movement) in the axial direction X of the gear 16-B is restricted.

  The above regulating member 30 positions the first external gear 16-A and the first inner roller 24-A in the axial direction X with respect to the inner end surface in the axial direction X of the first carrier 20-A. Further, the restricting member 30 positions the second external gear 16-B and the second inner roller 24-B in the axial direction X with respect to the inner end surface in the axial direction X of the second carrier 20-B.

  The separation preventing portion 30c of the regulating member 30 is provided on the radially outer side of the second displacement regulating portion 30b. The separation preventing portion 30c is a ring-shaped portion that constitutes the outer peripheral portion of the regulating member 30 that is a ring-shaped member. The separation preventing part 30c faces the outer pin 18b in the radial direction. The separation preventing portion 30c prevents the outer pin 18b from detaching from the pin groove 18c of the internal gear main body 18a when the outer peripheral surface contacts the outer pin 18b from the radially inner side. The separation preventing portion 30c of the present embodiment prevents the separation of each of the plurality of outer pins 18b by coming into contact with each of the plurality of outer pins 18b. The outer peripheral surface of the separation preventing unit 30c of the present embodiment has a circular shape that extends over the entire circumference. The regulating member 30 is positioned in the radial direction by the outer peripheral surface of the separation preventing portion 30c coming into contact with each of the plurality of outer pins 18b from the radially inner side.

The effect of the speed reducer 10 will be described.
The restricting member 30 prevents the outer pin 18b from being removed in addition to the first displacement restricting portion 30a that restricts the displacement of the inner roller 24 and the second displacement restricting portion 30b that restricts the displacement of the external gear 16. Part 30c. Therefore, it is possible to prevent the outer pin 18b from being detached by using the regulating member 30 that regulates the displacement of the inner roller 24 and the external gear 16. Accordingly, the outer pin presser for preventing the outer pin 18b from being detached as described in Patent Document 1 becomes unnecessary. From another viewpoint, in the reduction gear device 10 of the present embodiment, it can be said that no dedicated member is disposed on the outer pin 18b for preventing the outer pin 18b from being separated on both axial sides of the outer pin 18b. . Thereby, the number of parts of the reduction gear 10 can be reduced, and the product cost of the reduction gear 10 can be reduced.

Next, other features of the reduction gear device 10 will be described.
Please refer to FIG. A circumscribed circle Ca having a maximum diameter that is concentric with the rotation center line Lc of the crankshaft 12 and circumscribes the plurality of inner pins 22 in a cross section orthogonal to the axial direction X of the reduction gear 10 is considered. The maximum circumscribed circle Ca circumscribes the radially outer portion of the outer peripheral surface of the inner pin 22. The inner diameter (radius) Ra of the regulating member 30 is set to be larger than the radius Rb of the circumscribed circle Ca. From another viewpoint, it can be said that the regulating member 30 is provided on the radially outer side from the plurality of inner pins 22 without contacting the plurality of inner pins 22. Thus, when the inner pin 22 rotates around the rotation center line Lc as the external gear 16 swings, a situation in which rotational resistance is generated between the regulating member 30 and the inner pin 22 can be avoided, and the inner pin 22 is made smooth. To be rotated.

  Please refer to FIG. The separation preventing portion 30c of the regulating member 30 is provided at least at a location where the corner portion 16c of the first external gear 16-A and the regulating member 30 overlap in the axial direction X when the first external gear 16-A swings. Here, the “corner portion 16 c” is a corner portion 16 c formed by the outer peripheral portion of the external gear 16 referred to and the axial end surface. When a chamfered portion is provided on the outer peripheral portion of the external gear 16, it is a corner portion formed by the chamfered portion and the axial end surface. Since the first external gear 16-A and the second external gear 16-B are only different in phase, the same relationship is established between the separation preventing portion 30c of the restricting member 30 and the second external gear 16-B. Is established. The first external gear 16-A changes the radial dimension from the rotation center line Lc to the corner portion 16c when the first external gear 16-A swings. FIG. 3 shows a case where this radial dimension is minimized. From another point of view, the above-described content of the detachment preventing portion 30c of the restricting member 30 extends from the radially inner side to the radially outer side from the portion overlapping the corner portion 16c and the axial direction X when the radial dimension is minimized. It is provided so as to extend. The first displacement restricting portion 30a and the second displacement restricting portion 30b of the restricting member 30 do not overlap with the corner portion 16c in the axial direction X regardless of the position when the first external gear 16-A is swung. Provided in position.

  The axial width Wa of the above-described separation preventing portion 30c is set to be smaller than the axial width Wb of the second displacement restricting portion 30b. This means that the separation preventing portion 30c is provided with a gap in the axial direction X from the corner portion 16c of the first external gear 16-A or the second external gear 16-B. This advantage will be described.

  The external gear 16 is usually hardened by heat treatment in order to prevent wear due to contact with the outer pin 18b. For this reason, when the corner 16c of the external gear 16 having high hardness and the regulating member 30 come into contact with each other, there is a concern that the service life may be reduced due to wear of the regulating member 30. As a countermeasure, if the restriction member 30 is also heat-treated so as to have the same hardness as the external gear 16, the cost of the restriction member 30 is increased. In this regard, according to the present embodiment, the separation preventing portion 30c of the restriction member 30 is spaced from the corner portion 16c of the first external gear 16-A or the second external gear 16-B in the axial direction X. Provided. Therefore, the contact between the corner portion 16c of the external gear 16 and the regulating member 30 can be avoided, wear due to the contact can be prevented, and a reduction in the life of the regulating member 30 can be prevented. In particular, there is an advantage in that such an effect can be obtained without subjecting the regulating member 30 to heat treatment, and an increase in cost associated with heat treatment can be prevented. There is also an advantage that the regulating member 30 can be configured using resin.

  In the present embodiment, the axial width Wc of the first displacement restricting portion 30a and the axial width Wb of the second displacement restricting portion 30b are the same (equivalent).

  As described above, on the both sides in the axial direction of the outer pin 18b, a member for preventing the outer pin 18b from being detached is not disposed, but the main bearing 28 is disposed. The outer ring 28a of the main bearing 28 is integrated with the casing 26 by interference fitting, intermediate fitting or the like. The outer ring 28a of the main bearing 28 is in contact with the axial end surface of the outer pin 18b. Specifically, the axial end surfaces of the outer rings 28a of the pair of main bearings 28-A and 28-B are in contact with the end surfaces on both axial sides of the outer pin 18b. This advantage will be described.

  From the viewpoint of preventing wear due to contact with the external gear 16, the outer pin 18 b is hardened by heat treatment such as quenching. It is preferable that the member in contact with the outer pin 18b is also hardened by heat treatment such as quenching from the viewpoint of preventing wear due to contact with the outer pin 18b. Here, when heat treatment is performed on a member dedicated to the outer pin 18b, such as the outer pin press described in Patent Document 1, planar polishing is required to remove distortion caused by the heat treatment, which is combined with component costs. Increase.

  In this regard, the outer ring 28a of the main bearing 28 is normally made hard by heat treatment such as quenching from the viewpoint of preventing wear due to contact with the rolling elements 28b of the main bearing 28. Therefore, when preparing a member hardened by heat treatment as a member to be in contact with the outer pin 18b, an increase in the number of heat treatment steps can be suppressed as compared with the case of increasing the hardness of a dedicated member for the outer pin 18b. The product cost can be reduced.

  The outer ring 28a is heat-treated so as to have the same hardness as the outer pin 18b. Therefore, wear powder is less likely to be generated between the outer ring 28a and the outer pin 18b, and the life of the reduction gear device 10 can be improved by preventing the deterioration of the lubricating oil due to the wear powder. In addition, the same degree here is the range within 150 Hv in Vickers hardness with respect to the hardness of the outer pin 18b, for example.

  Please refer to FIG. The axial center of the contact range between the first through hole 36-A of the first external gear 16-A and the first inner roller 24-A is Cb1. The axial center of the contact range between the external tooth portion 16a of the first external gear 16-A and the external pin 18b of the internal gear 18 is defined as Cb2. The axial center of the contact range between the center hole 16b of the first external gear 16-A and the rolling element 14b of the first eccentric bearing 14-A is Cb3.

  At this time, the axial center Cb1 of the contact range of the first external gear 16-A and the first inner roller 24-A, and the axial center Cb2 of the contact range of the first external gear 16-A and the outer pin 18b Are provided so as to overlap when viewed from the radial direction. This means that the positions in the axial direction X coincide or substantially coincide. Thereby, compared with the case where these are shifted | deviated to the axial direction X, the overturning moment in which the axial center of 1st external gear 16-A inclines with respect to the rotation centerline Lc is 1st external gear 16-A. Therefore, the life of the reduction gear device 10 can be improved.

  From the same point of view, the axial center Cb1 of the contact range between the first external gear 16-A and the first inner roller 24-A, and the axis of the contact range between the first external gear 16-A and the rolling element 14b. The direction center Cb3 is also provided so as to overlap when viewed from the radial direction. Thereby, compared with the case where these have shifted | deviated to the axial direction X, the above-mentioned fall moment becomes difficult to produce in the 1st external gear 16-A, and the improvement of the lifetime of the speed reduction gear 10 can be aimed at effectively.

  Here, the relationship among the first external gear 16-A, the outer pin 18b, the first inner roller 24-A, and the first eccentric bearing 14-A has been described, but the second external gear 16- A similar relationship is established among B, the outer pin 18b, the second inner roller 24-B, and the second eccentric bearing 14-B. For example, both the axial center Cc1 of the contact range of the second external gear 16-B and the second inner roller 24-B, and the axial center Cc2 of the contact range of the second external gear 16-B and the outer pin 18b, They are provided so as to overlap when viewed from the radial direction. Further, the axial center Cc1 of the contact range between the second external gear 16-B and the second inner roller 24-B, and the contact between the second external gear 16-B and the rolling element 14b of the second eccentric bearing 14-B. The axial center Cc3 of the range is also provided so as to overlap when viewed from the radial direction.

  Please refer to FIG. The outer pin 18b has an axial dimension that overlaps the entire axial range of the external gear 16 when viewed from the radial direction. The outer pin 18b of the present embodiment has an axial dimension that overlaps the entire axial range of the first external gear 16-A and the entire axial range of the second external gear 16-B when viewed from the radial direction. .

  The external tooth portion 16a of the first external gear 16-A is formed over the entire range where the external pin 18b and the first external gear 16-A overlap each other when viewed from the radial direction. Here, the “entire area” includes both the same region as the range in which the outer pin 18b and the first external gear 16-A overlap in the radial direction and the substantially same region as that range. The outer tooth portion 16a only needs to be formed at least partially from the tooth bottom to the tooth tip over the entire range overlapping the outer pin 18b in the radial direction. For example, in a part of the range where the outer pin 18b and the first external gear 16-A overlap in the radial direction, the tooth tip side portion of the outer tooth portion 16a may be cut out. As a result, the outer pin 18b and the first external gear 16-A are compared with the case where the outer tooth portion 16a of the first external gear 16-A is formed only in a part of a range where the outer pin 18b and the first external gear 16-A overlap in the radial direction. The contact range in the axial direction X of the first external gear 16-A can be increased. The case of this comparison is, for example, a case where a notch is formed in the outer peripheral portion of the first external gear 16-A as described in Patent Document 1. By extending the contact range between the outer pin 18b and the first external gear 16-A, the contact surface pressure between them can be reduced, and the life of the reduction gear 10 can be improved.

  Here, the relationship between the first external gear 16-A and the external pin 18b has been described, but the same relationship also holds between the second external gear 16-B and the external pin 18b. For example, the external tooth portion 16a of the second external gear 16-B is formed over the entire range where the outer pin 18b and the second external gear 16-B overlap when viewed from the radial direction.

  In the above, the example of embodiment of this invention was demonstrated in detail. The above-described embodiments are merely specific examples for carrying out the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, deletions, etc. of constituent elements are possible without departing from the spirit of the invention defined in the claims. Is possible. In the above-described embodiment, the contents that can be changed in the design are described with the notation of “embodiment”, “in the embodiment”, and the like. Changes are not unacceptable. Moreover, the hatching given to the cross section of drawing does not limit the material of the hatched object.

  In the present embodiment, the center crank type eccentric oscillating speed reduction device has been described as an example, but the type thereof is not particularly limited. For example, the present invention may be applied to a distributed eccentric oscillating speed reduction device in which a plurality of crankshafts are arranged at positions offset in the radial direction from the axis of the internal gear 18.

  In the present embodiment, the example in which the external gear 16 is rotated with respect to the internal gear 18 by the oscillation of the external gear 16 and the rotation component is output from the carrier 20 serving as an output member has been described. In addition, the internal gear 18 may be rotated with respect to the external gear 16 by the oscillation of the external gear 16, and the rotation component thereof may be output from the casing 26 serving as an output member.

  In the embodiment, an example in which two external gears 16 are used has been described. However, the number of external gears 16 is not particularly limited, and three or more external gears 16 may be used. In this case, the regulating member 30 described in the embodiment or the present modification may be disposed between the external gears 16.

  Although the example in which the regulating member 30 is a ring-shaped member has been described, the shape thereof is not limited to this. Further, the example in which the inner diameter of the regulating member 30 is larger than the radius of the circumscribed circle Ca concentric with the rotation center of the crankshaft 12 has been described, but is not limited thereto. For example, the inner diameter of the regulating member 30 may be the same as the radius of the circumscribed circle Ca.

  Although the example in which the separation preventing portion 30c of the regulating member 30 has an axial width smaller than that of the second displacement regulating portion 30b has been described, it may be the same axial width as the second displacement regulating portion 30b. Further, the first displacement restricting portion 30a and the second displacement restricting portion 30b of the restricting member 30 may have different axial widths.

  The main bearing 28 is exemplified as a member disposed on both sides in the axial direction of the outer pin 18b. However, the member is not a dedicated member for preventing the outer pin 18b from being detached, and a specific example thereof is not particularly limited. For example, in addition to the main bearing 28, a preload adjusting member disposed between the main bearing 28 and the outer pin 18b for the purpose of adjusting the preload of the main bearing 28 may be used.

  The axial center of the contact range of the external gear 16 and the inner roller 24, the axial center of the contact range of the external gear 16 and the outer pin 18b, and the axial center of the contact range of the external gear 16 and the rolling element are radial directions. The example provided so that it may overlap seeing from was demonstrated. However, the present invention is not limited to this, and they may be displaced in the axial direction when viewed from the radial direction.

  The external pin 18b demonstrated the example which is an axial dimension which overlaps with the whole 1st external gear 16-A and the whole 2nd external gear 16-B seeing from radial direction. The axial dimension of the outer pin 18b is not limited to this. Further, the external tooth portion of the first external gear 16-A may have a shape cut out at a part in the axial direction X of the first external gear 16-A. The same applies to the second external gear 16-B.

DESCRIPTION OF SYMBOLS 10 ... Eccentric oscillation type reduction gear, 12 ... Crankshaft, 16-A ... 1st external gear, 16-B ... 2nd external gear, 16a ... External tooth part, 16c ... Corner | angular part, 18 ... Internal gear , 18a ... internal gear main body, 18b ... outer pin, 20 ... carrier, 22 ... inner pin, 24-A ... first inner roller, 24-B ... second inner roller, 26 ... casing, 28 ... main bearing, 28a DESCRIPTION OF SYMBOLS Outer ring | wheel, 30 ... Control member, 30a ... 1st displacement control part, 30b ... 2nd displacement control part, 30c ... Detachment prevention part, 36-A ... 1st through-hole, 36-B ... 2nd through-hole.

Claims (8)

An internal gear, an external gear meshing with the internal gear, a crankshaft for swinging the external gear, a carrier disposed on an axial side of the external gear, and a carrier supported by the carrier. An eccentric oscillating speed reducer comprising an inner pin that passes through an external gear and an inner roller that is externally fitted to the inner pin,
The internal gear has an internal gear main body and a plurality of external pins supported by the internal gear main body,
The external gear includes a first external gear having a first through hole, and a second external gear arranged in the axial direction with respect to the first external gear and having a second through hole,
The inner roller includes a first inner roller disposed in the first through hole, and a second inner roller disposed in the second through hole,
A regulating member disposed between the first external gear and the second external gear;
The regulating member is
A first displacement restricting portion for restricting axial displacement of the first inner roller and the second inner roller;
A second displacement restricting portion that is provided on a radially outer side of the first displacement restricting portion and restricts axial displacement of the first external gear and the second external gear;
An eccentric oscillating speed reducer comprising: a disengagement preventing portion provided on a radially outer side of the second displacement restricting portion and preventing disengagement of the outer pin. The restriction member is a ring-shaped member,
2. The eccentric oscillating speed reduction device according to claim 1, wherein an inner diameter of the regulating member is larger than a radius of a circumscribed circle having a maximum diameter that is concentric with a rotation center line of the crankshaft and circumscribes the inner pin. The first external gear has a corner formed by an outer peripheral portion thereof and an axial end surface;
2. The disengagement preventing portion is provided at least at a location where the corner portion and the restricting member overlap in the axial direction when the first external gear swings, and the axial width is smaller than that of the second displacement restricting portion. 2. An eccentric oscillating speed reduction device according to 2.   The eccentric oscillating speed reduction device according to claim 3, wherein the first displacement restricting portion and the second displacement restricting portion have the same axial width.   The eccentric rocking type reduction gear according to any one of claims 1 to 4, wherein members for preventing the outer pin from being detached are disposed on both sides in the axial direction of the outer pin. A casing integrated with the internal gear body;
A main bearing for rotatably supporting the carrier on the casing;
The eccentric rocking type reduction gear according to claim 5, wherein the outer ring of the main bearing abuts against an axial end surface of the outer pin.   The axial center of the contact range between the first through hole and the first inner roller and the axial center of the contact range between the first external gear and the outer pin are provided so as to overlap each other when viewed from the radial direction. The eccentric oscillating speed reduction device according to any one of claims 1 to 6. The outer pin has an axial dimension that overlaps the entire axial range of the first external gear as viewed from the radial direction,
The eccentric oscillation according to any one of claims 1 to 7, wherein the external tooth portion of the first external gear is formed over the entire range in which the external pin and the first external gear overlap when viewed in the radial direction. Mold speed reducer.

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