JP2019090477A - Eccentric oscillation type gear device - Google Patents

Eccentric oscillation type gear device Download PDF

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JP2019090477A
JP2019090477A JP2017219559A JP2017219559A JP2019090477A JP 2019090477 A JP2019090477 A JP 2019090477A JP 2017219559 A JP2017219559 A JP 2017219559A JP 2017219559 A JP2017219559 A JP 2017219559A JP 2019090477 A JP2019090477 A JP 2019090477A
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eccentric
bearing
main bearing
carrier body
gear
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JP6932068B2 (en
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哲志 磯崎
Tetsushi Isozaki
哲志 磯崎
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to DE102018125708.2A priority patent/DE102018125708A1/en
Priority to CN201811229168.4A priority patent/CN110005759B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes

Abstract

To provide an eccentric oscillation type gear device whose axial size can be decreased.SOLUTION: An eccentric oscillation type gear device (1) comprises casings (31 and 32) provided with an internal gear (26), an external gear (24) inscribed and engaged with the internal gear, an eccentric body shaft (12) comprising an eccentric body (14) for oscillating the external gear, input bearings (40 and 42) for supporting the eccentric body shaft, carrier bodies (33 and 34) arranged on axial side parts of the external gear, and main bearings (36 and 38) arranged between the casings and the carrier bodies. In a cross section orthogonal to a circumferential direction, cross-sectional areas of the main bearings (36 and 38) are smaller than cross-sectional areas of the input bearings (40 and 42).SELECTED DRAWING: Figure 1

Description

本発明は、偏心揺動型歯車装置に関する。   The present invention relates to an eccentric oscillating gear device.

特許文献１には、内歯歯車と、内歯歯車に内接噛合する外歯歯車と、外歯歯車を揺動させる偏心体と、外歯歯車の軸方向側部に配置されるキャリア体とを備えた偏心揺動型歯車装置が開示されている。従来の偏心揺動型歯車装置は、特許文献１に示すように、ケーシングに内歯歯車が設けられ、キャリア体は主軸受けを介してケーシングに対して回転自在に支持される。   In Patent Document 1, an internal gear, an external gear internally meshing with the internal gear, an eccentric body for oscillating the external gear, and a carrier body disposed on an axial side of the external gear SUMMARY An eccentric oscillating gear system is disclosed. In the conventional eccentric oscillating gear device, as shown in Patent Document 1, an internal gear is provided on a casing, and a carrier body is rotatably supported on the casing via a main bearing.

特開平０７−２４８０４６号公報Unexamined-Japanese-Patent No. 07-248046 gazette

従来の偏心揺動型歯車装置においては、一般に、装置の外部から加わる荷重及び装置の内部で発生する荷重を、主軸受けが大きな割合で受けるように想定されていた。このため、従来の偏心揺動型歯車装置では、大きな主軸受けが採用され、これにより装置全体のサイズが大きくなるという課題があった。   In conventional eccentric rocking gear devices, it is generally assumed that the main bearing receives a large proportion of the load applied from the outside of the device and the load generated inside the device. For this reason, in the conventional eccentric rocking gear device, a large main bearing is adopted, which causes a problem that the size of the entire device becomes large.

本発明は、サイズを小さくできる偏心揺動型歯車装置を提供することを目的とする。   An object of the present invention is to provide an eccentric oscillating gear device which can be reduced in size.

本発明は、
内歯歯車が設けられたケーシングと、前記内歯歯車に内接噛合する外歯歯車と、前記外歯歯車を揺動させる偏心体を有する偏心体軸と、前記偏心体軸を支持する入力軸受けと、前記外歯歯車の軸方向側部に配置されるキャリア体と、前記ケーシングと前記キャリア体との間に配置される主軸受けと、を備える偏心揺動型歯車装置であって、
周方向に直交する断面において前記主軸受けの断面積が前記入力軸受けの断面積よりも小さい構成とした。 The present invention
An input shaft bearing an eccentric body shaft having a casing provided with an internal gear, an external gear internally meshingly engaged with the internal gear, an eccentric body for oscillating the external gear, and the eccentric shaft And a carrier body disposed on an axial side of the external gear, and a main bearing disposed between the casing and the carrier body.
In the cross section orthogonal to the circumferential direction, the cross-sectional area of the main bearing is smaller than the cross-sectional area of the input bearing.

本発明によれば、偏心揺動型歯車装置のサイズを小さくできるという効果が得られる。   According to the present invention, the effect that the size of the eccentric oscillation gear device can be reduced can be obtained.

本発明の実施形態に係る偏心揺動型歯車装置の断面図である。It is a sectional view of an eccentric oscillating gear device concerning an embodiment of the present invention. 図１の偏心揺動型歯車装置の内部を軸方向から見た図である。It is the figure which looked at the inside of the eccentric oscillating gear apparatus of FIG. 1 from the axial direction. 内ピンの調整処理を説明する図である。It is a figure explaining adjustment processing of an inner pin.

以下、本発明の実施の形態について図面を参照して詳細に説明する。   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

図１は、本発明の実施形態に係る偏心揺動型歯車装置の断面図である。図２は、図１の偏心揺動型歯車装置の内部を軸方向から見た図である。本明細書では、偏心揺動型歯車装置１の回転軸Ｏ１に沿った方向を軸方向、回転軸Ｏ１から垂直な方向を径方向、回転軸Ｏ１を中心とする回転方向を周方向と定義する。   FIG. 1 is a cross-sectional view of an eccentric oscillation gear device according to an embodiment of the present invention. FIG. 2 is a view of the inside of the eccentrically oscillating gear device of FIG. 1 as viewed from the axial direction. In this specification, the direction along the rotation axis O1 of the eccentric rocking gear device 1 is defined as the axial direction, the direction perpendicular to the rotation axis O1 as the radial direction, and the rotation direction about the rotation axis O1 as the circumferential direction. .

偏心揺動型歯車装置１は、偏心体１４と、偏心体１４を有する偏心体軸１２と、偏心体１４の外周に偏心体軸受け１８を介して組み込まれた外歯歯車２４と、外歯歯車２４が揺動しながら噛合わされる内歯歯車２６とを備える。さらに、偏心揺動型歯車装置１は、外歯歯車２４と係合する複数の内ピン２８と、複数の内ピン２８を保持してその公転運動を取り出す第１キャリア体３３及び第２キャリア体３４とを備える。加えて、偏心揺動型歯車装置１は、内歯歯車２６と連結される第１ケーシング３１及び第２ケーシング３２、第１主軸受け３６、第２主軸受け３８、第１入力軸受け４０並びに第２入力軸受け４２を備える。これらのうち、第１ケーシング３１、第２ケーシング３２及び内歯歯車本体２６Ａ（後述）は、本発明に係るケーシングの一例に相当する。第１入力軸受け４０及び第２入力軸受け４２は、本発明に係る入力軸受けの一例に相当する。第１キャリア体３３及び第２キャリア体３４は、本発明に係るキャリア体の一例に相当する。第１主軸受け３６及び第２主軸受け３８は、本発明に係る主軸受けの一例に相当する。   The eccentric rocking gear device 1 comprises an eccentric body shaft 12 having an eccentric body 14 and an eccentric body 14, an external gear 24 incorporated in the outer periphery of the eccentric body 14 via an eccentric body bearing 18, and an external gear And an internal gear 26 meshed while oscillating. Furthermore, the eccentric rocking gear device 1 includes a plurality of inner pins 28 engaged with the external gear 24, and a first carrier body 33 and a second carrier body that hold the plurality of inner pins 28 and take out their revolution movement. And 34. In addition, the eccentric rocking gear device 1 includes a first casing 31 and a second casing 32 coupled to the internal gear 26, a first main bearing 36, a second main bearing 38, a first input bearing 40 and a second An input bearing 42 is provided. Among these, the first casing 31, the second casing 32, and the internal gear main body 26A (described later) correspond to an example of the casing according to the present invention. The first input bearing 40 and the second input bearing 42 correspond to an example of the input bearing according to the present invention. The first carrier body 33 and the second carrier body 34 correspond to an example of the carrier body according to the present invention. The first main bearing 36 and the second main bearing 38 correspond to an example of the main bearing according to the present invention.

上記の構成要素のうち、第１ケーシング３１、第１キャリア体３３、第１主軸受け３６及び第１入力軸受け４０は、外歯歯車２４よりも軸方向の一方（図１の右方、入力側）に配置される。第２ケーシング３２、第２キャリア体３４、第２主軸受け３８及び第２入力軸受け４２は、外歯歯車２４よりも軸方向の他方（図１の左方、負荷側）に配置される。   Among the above components, the first casing 31, the first carrier body 33, the first main bearing 36, and the first input bearing 40 have one of the axial directions with respect to the external gear 24 (right side in FIG. Placed in). The second casing 32, the second carrier body 34, the second main bearing 38, and the second input bearing 42 are disposed on the other axial side (the left side in FIG. 1, the load side) of the external gear 24.

偏心体軸１２は、回転軸Ｏ１を中心に回転運動する。偏心体軸１２は、典型的には装置外部から回転運動を入力する入力軸として機能し、例えばタップ穴Ｔ１を利用して歯車、軸継手又はプーリー等の入力側の部材が連結される。タップ穴Ｔ１に代えてキーにより連結してもよい。歯車やプーリーに発生するラジアル荷重は、第１入力軸受け４０及び第２入力軸受け４２により支持される。   The eccentric body shaft 12 rotationally moves about the rotation axis O1. The eccentric body shaft 12 typically functions as an input shaft for inputting rotational motion from the outside of the apparatus, and for example, a tap hole T1 is used to connect members on the input side such as a gear, a shaft joint or a pulley. Instead of the tap holes T1, they may be connected by a key. The radial load generated on the gear and the pulley is supported by the first input bearing 40 and the second input bearing 42.

偏心体１４は、外周面が円柱側面の曲面形状を有し、外周面の中心軸が回転軸Ｏ１から偏心している。偏心体１４は、例えばキー接続やＤカット等によって偏心体軸１２と相対的に回転しないように連結され、回転軸Ｏ１を中心に回転する。   The eccentric body 14 has a curved shape with the outer peripheral surface being a cylindrical side surface, and the central axis of the outer peripheral surface is eccentric from the rotation axis O1. The eccentric body 14 is connected so as not to rotate relative to the eccentric shaft 12 by, for example, key connection or D-cut, and rotates around the rotation axis O1.

外歯歯車２４は、偏心体軸受け１８を介して偏心体１４の外周に揺動可能に組み込まれ、かつ、内歯歯車２６に内接噛合している。外歯歯車２４は、軸心からオフセットされた位置に複数の内ピン孔２４６を有し（図１及び図２を参照）、複数の内ピン２８が内ピン孔２４６の内周面の一部に接した状態に貫通される。また、外歯歯車２４は、軸心からオフセットされた位置に複数の貫通孔２４８を有し（図１及び図２を参照）、複数の連結ピン２９が貫通される。さらに、外歯歯車２４は、最外周部にトロコイド波形の歯部２４３（図２を参照）を備える。図２は、第１ケーシング３１、第１キャリア体３３、第１主軸受け３６、第１入力軸受け４０及び偏心体軸１２を外した状態を図１の右方から見た状態を示している。また、本実施形態の外歯歯車２４には、内ピン孔２４６及び貫通孔２４８以外に、何の部材も挿通されない抜き孔２４７が３つ形成され、軽量化が図られている。   The external gear 24 is pivotally mounted on the outer periphery of the eccentric 14 via an eccentric bearing 18 and is in meshing engagement with the internal gear 26. The external gear 24 has a plurality of inner pin holes 246 at positions offset from the axial center (see FIGS. 1 and 2), and the plurality of inner pins 28 are a part of the inner peripheral surface of the inner pin holes 246. It penetrates in the state where it was in contact with Also, the external gear 24 has a plurality of through holes 248 at positions offset from the axial center (see FIGS. 1 and 2), and a plurality of connection pins 29 are penetrated. Further, the external gear 24 is provided with a trochoid waveform tooth portion 243 (see FIG. 2) at the outermost periphery. 2 shows a state in which the first casing 31, the first carrier body 33, the first main bearing 36, the first input bearing 40 and the eccentric shaft 12 are removed as viewed from the right of FIG. Further, in the external gear 24 of the present embodiment, in addition to the inner pin holes 246 and the through holes 248, three extraction holes 247 through which no member is inserted are formed, and weight reduction is achieved.

第１キャリア体３３及び第２キャリア体３４は、それぞれ外歯歯車２４の軸方向側部である一側と他側とに配置され、複数の内ピン２８を保持する。複数の内ピン２８は、すきま嵌めにより第１キャリア体３３及び第２キャリア体３４に連結される。また、第１キャリア体３３と第２キャリア体３４とは、複数の連結ピン２９がしまり嵌め（例えば焼嵌め）されて、互いに強固に結合される。連結ピン２９は、外歯歯車２４の貫通孔２４８の内周面に接触せず、外歯歯車２４の回転運動を取り出す機能を持たない。第２キャリア体３４は、典型的には減速された回転運動を出力する出力軸として機能する。   The first carrier body 33 and the second carrier body 34 are respectively disposed on one side and the other side which are axial side portions of the external gear 24 and hold the plurality of inner pins 28. The plurality of inner pins 28 are coupled to the first carrier body 33 and the second carrier body 34 by clearance fitting. Further, the first carrier body 33 and the second carrier body 34 have the plurality of connection pins 29 tightly fitted (e.g., shrink-fit) to be firmly coupled to each other. The connection pin 29 does not contact the inner peripheral surface of the through hole 248 of the external gear 24 and does not have a function of taking out the rotational movement of the external gear 24. The second carrier body 34 functions as an output shaft that outputs rotational motion that is typically decelerated.

内ピン２８は、第１キャリア体３３に保持される部位から、外歯歯車２４の内ピン孔２４６を通過する部位を挟み、第２キャリア体３４に保持される部位にかけて、直径（太さ）が同一である。このような形状により、内ピン２８を、高い成形精度で、かつ、低コストに製造することができる。内ピン２８は、第２キャリア体３４が出力軸として機能するときは、外歯歯車２４の自転成分を第２キャリア体３４に伝達する。また、内ピン２８は、第２キャリア体３４が固定され、ケーシングが出力軸として機能するときには、外歯歯車２４の自転を規制する。つまり、内ピン２８は、外歯歯車２４の自転成分と同期する。   The inner pin 28 has a diameter (thickness) from the portion held by the first carrier body 33 to the portion held by the second carrier body 34 with the portion passing through the inner pin hole 246 of the external gear 24 interposed therebetween. Are identical. Such a shape allows the inner pin 28 to be manufactured with high molding accuracy and low cost. The inner pin 28 transmits the rotational component of the external gear 24 to the second carrier body 34 when the second carrier body 34 functions as an output shaft. Further, the inner pin 28 restricts the rotation of the external gear 24 when the second carrier body 34 is fixed and the casing functions as an output shaft. That is, the inner pin 28 synchronizes with the rotation component of the external gear 24.

内歯歯車２６は、第１ケーシング３１及び第２ケーシング３２と一体的に連結され、ケーシングの一部を構成する内歯歯車本体２６Ａと、内歯歯車本体２６Ａの内周部に設けられた複数のピン溝２６Ｃと、複数のピン溝２６Ｃそれぞれに回転自在に支持された複数の外ピン２６Ｂとを有する。内歯歯車本体２６Ａは、例えばボルトなどの締結部材Ｂ１を用いて第１ケーシング３１及び第２ケーシング３２を着脱可能に連結される。ここで、本発明のケーシングは、内歯歯車が設けられかつ主軸受けを介してキャリア体を支持する部材であればよく、複数の部材が連結されて構成されてもよく、単一の部材で構成されてもよい。内歯歯車２６の内歯の数（外ピン２６Ｂの本数）は、外歯歯車２４の外歯の数と僅かに異なる（例えば１つ多い）。内歯歯車２６と外歯歯車２４とは、複数の外ピン２６Ｂが外歯歯車２４の歯部２４３に接触して噛合される（図２を参照）。   The internal gear 26 is integrally connected to the first casing 31 and the second casing 32, and includes an internal gear main body 26A that constitutes a part of the casing, and a plurality provided on the inner peripheral portion of the internal gear main body 26A. And a plurality of outer pins 26B rotatably supported by the plurality of pin grooves 26C. The internal gear main body 26A is detachably connected to the first casing 31 and the second casing 32 using a fastening member B1 such as a bolt, for example. Here, the casing of the present invention may be any member provided with an internal gear and supporting the carrier body via the main bearing, and a plurality of members may be connected, and it is a single member. It may be configured. The number of internal teeth of the internal gear 26 (the number of the outer pins 26B) is slightly different from the number of external teeth of the external gear 24 (for example, one more). The internal gear 26 and the external gear 24 are meshed by the plurality of outer pins 26B coming into contact with the teeth 243 of the external gear 24 (see FIG. 2).

第１主軸受け３６は、第１キャリア体３３と第１ケーシング３１との間に設けられる。第２主軸受け３８は、第２キャリア体３４と第２ケーシング３２との間に設けられる。これらにより第１キャリア体３３及び第２キャリア体３４が第１ケーシング３１及び第２ケーシング３２に対して回転自在に支持される。第１主軸受け３６及び第２主軸受け３８は、それぞれ第１ケーシング３１及び第２ケーシング３２にすきま嵌めされ、かつ、それぞれ第１キャリア体３３及び第２キャリア体３４にしまり嵌めされる。第１主軸受け３６及び第２主軸受け３８は、例えば玉軸受けである。第１主軸受け３６及び第２主軸受け３８の第１ケーシング３１及び第２ケーシング３２への嵌合は、第１キャリア体３３及び第２キャリア体３４への嵌合よりも嵌合力が弱ければよく、例えば中間嵌めでもよい。   The first main bearing 36 is provided between the first carrier body 33 and the first casing 31. The second main bearing 38 is provided between the second carrier body 34 and the second casing 32. Thus, the first carrier body 33 and the second carrier body 34 are rotatably supported on the first casing 31 and the second casing 32. The first main bearing 36 and the second main bearing 38 are clearance fitted to the first casing 31 and the second casing 32, respectively, and are tightly fitted to the first carrier body 33 and the second carrier body 34, respectively. The first main bearing 36 and the second main bearing 38 are, for example, ball bearings. The fitting of the first main bearing 36 and the second main bearing 38 to the first casing 31 and the second casing 32 is only required to have a smaller fitting force than the fitting to the first carrier body 33 and the second carrier body 34. For example, an intermediate fit may be used.

第１入力軸受け４０は、偏心体軸１２と第１キャリア体３３との間に設けられる。第２入力軸受け４２は、偏心体軸１２と第２キャリア体３４との間に設けられる。これらにより、偏心体軸１２が第１キャリア体３３及び第２キャリア体３４に対して回転自在に支持される。第１入力軸受け４０及び第２入力軸受け４２は、例えば玉軸受けである。   The first input bearing 40 is provided between the eccentric shaft 12 and the first carrier body 33. The second input bearing 42 is provided between the eccentric shaft 12 and the second carrier body 34. By these, the eccentric body shaft 12 is rotatably supported with respect to the first carrier body 33 and the second carrier body 34. The first input bearing 40 and the second input bearing 42 are, for example, ball bearings.

＜軸受けの大きさ及び配置＞
周方向に直交する断面において、第１主軸受け３６及び第２主軸受け３８の各々は、第１入力軸受け４０及び第２入力軸受け４２の各々よりも断面積が小さい。偏心体軸受け１８は、周方向に直交する断面において、第１入力軸受け４０及び第２入力軸受け４２の各々よりも断面積が大きい。軸受けの断面積とは、軸受けの外輪と、内輪と、転動体及び転動体の保持器が配置される外輪及び輪の隙間部分とを含む範囲の面積を指す。換言すれば、外輪の外周面、内輪の内周面、外輪の側面及びその延長線、ならびに内輪の側面及びその延長線で囲まれる略長方形（略正方形）の範囲の面積を指す。 <Size and arrangement of bearings>
In the cross section orthogonal to the circumferential direction, each of the first main bearing 36 and the second main bearing 38 has a smaller cross-sectional area than each of the first input bearing 40 and the second input bearing 42. The eccentric bearing 18 has a cross-sectional area larger than each of the first input bearing 40 and the second input bearing 42 in a cross section orthogonal to the circumferential direction. The cross-sectional area of the bearing refers to the area of the range including the outer ring of the bearing, the inner ring, and the gap portion of the outer ring and the ring in which the rolling element and the cage of the rolling element are disposed. In other words, the outer surface of the outer ring, the inner peripheral surface of the inner ring, the side surface of the outer ring and its extension, and the side surface of the inner ring and its extended line indicate the area of a substantially rectangular (substantially square) area.

第１主軸受け３６と第１入力軸受け４０とは、径方向に見て互いに重なる位置に設けられている。第２主軸受け３８と第２入力軸受け４２とは、径方向に見て互いに重なる位置に設けられている。   The first main bearing 36 and the first input bearing 40 are provided so as to overlap with each other when viewed in the radial direction. The second main bearing 38 and the second input bearing 42 are provided so as to overlap with each other as viewed in the radial direction.

第１主軸受け３６及び第２主軸受け３８の各々の内径は、第１入力軸受け４０及び第２入力軸受け４２の各々の外径よりも大きく、また、偏心体軸受け１８の外径よりも大きい。第１主軸受け３６及び第２主軸受け３８の各々の外径φ１（図１を参照）は、複数の内ピン２８の内接円径φ２（図２を参照）よりも小さい。   The inner diameter of each of the first main bearing 36 and the second main bearing 38 is larger than the outer diameter of each of the first input bearing 40 and the second input bearing 42 and larger than the outer diameter of the eccentric bearing 18. The outer diameter φ1 (see FIG. 1) of each of the first main bearing 36 and the second main bearing 38 is smaller than the inscribed circle diameter φ2 (see FIG. 2) of the plurality of inner pins 28.

＜内ピン調整＞
図３は、内ピンの調整処理を説明する図である。 <Inner pin adjustment>
FIG. 3 is a diagram for explaining the adjustment process of the inner pin.

偏心揺動型歯車装置１は、組み立て時に、外径が僅かに異なる複数種の内ピン２８が用意され、最も適した径の内ピン２８が適用されることで、バックラッシュを非常に小さくすることができる。最も適した径の内ピン２８の選定は、次のように行われる。   The eccentric rocking gear device 1 is provided with a plurality of inner pins 28 having slightly different outer diameters at the time of assembly, and the inner pins 28 having the most suitable diameter are applied to make backlash very small. be able to. Selection of the most suitable diameter inner pin 28 is performed as follows.

先ず、作業員は、任意の内ピン２８を用いて偏心揺動型歯車装置１を組み立て、バックラッシュ等の計測を行う。その結果、所定の性能が得られなければ、図３に示すように、作業者は、第１ケーシング３１又は第２ケーシング３２を外す。これにより、複数の内ピン２８の端部を露出させることができる。また、このとき、第１主軸受け３６及び第２主軸受け３８はしまり嵌めされた第１キャリア体３３及び第２キャリア体３４の方に残される。しかし、第１主軸受け３６及び第２主軸受け３８の外径は、複数の内ピン２８の内接円径よりも小さいので、第１主軸受け３６及び第２主軸受け３８が内ピン２８の抜き差しの阻害とならない。このような作用は、軸方向の両側において同様に得られる。   First, the worker assembles the eccentric oscillation gear device 1 using an arbitrary inner pin 28, and measures backlash or the like. As a result, if the predetermined performance can not be obtained, the worker removes the first casing 31 or the second casing 32 as shown in FIG. Thereby, the ends of the plurality of inner pins 28 can be exposed. Also, at this time, the first main bearing 36 and the second main bearing 38 are left toward the tightly fitted first carrier body 33 and the second carrier body 34. However, since the outer diameters of the first main bearing 36 and the second main bearing 38 are smaller than the inscribed circle diameter of the plurality of inner pins 28, the first main bearing 36 and the second main bearing 38 can be inserted into and removed from the inner pin 28. Not an inhibition of Such an effect is likewise obtained on both sides in the axial direction.

作業員は、この状態で複数の内ピン２８の抜き差しを行って、別の内ピン２８に変更し、再度、第１ケーシング３１及び第２ケーシング３２を固定し、バックラッシュ等の計測を行う。このような処理を繰り返すことで、最適な性能が得られる内ピン２８を選定することができる。   In this state, the operator inserts and removes the plurality of inner pins 28 to change to another inner pin 28, and fixes the first casing 31 and the second casing 32 again to measure backlash or the like. By repeating such a process, it is possible to select the inner pin 28 which can obtain the optimum performance.

また、内ピン２８を抜き差しする際、内ピン２８の直径と第１キャリア体３３及び第２キャリア体３４の孔径との差が小さくなってくると、内ピン２８を一方から抜き差しすることが困難になる場合が生じる。このような場合には、内ピン２８を逆方から抜いたり挿入したりして、内ピン２８を変更することができる。   In addition, when the difference between the diameter of the inner pin 28 and the hole diameter of the first carrier body 33 and the second carrier body 34 becomes smaller when inserting and removing the inner pin 28, it is difficult to remove and insert the inner pin 28 from one side There will be cases where In such a case, the inner pin 28 can be changed by removing or inserting the inner pin 28 from the opposite direction.

＜偏心揺動型歯車装置の動作＞
続いて、偏心揺動型歯車装置１の動作について説明する。偏心体軸１２が回転すると、偏心体１４が偏心回転して外歯歯車２４が揺動される。外歯歯車２４は内歯歯車２６に内接噛合しており、この実施形態では内歯歯車２６が第１ケーシング３１及び第２ケーシング３２と一体化されている。このため、外歯歯車２４は、偏心体軸１２が１回転するごとに内歯歯車２６に対して歯数差分だけ相対回転（自転）する。外歯歯車２４の自転成分は、内ピン孔２４６を貫通している内ピン２８を介して第１キャリア体３３及び第２キャリア体３４に伝達される。これらの結果、偏心体軸１２の回転運動が、”１／外歯歯車２４の歯数”の減速比で減速されて、第１キャリア体３３及び第２キャリア体３４の回転として出力される。 <Operation of Eccentric Rocking Gear>
Subsequently, the operation of the eccentric oscillation gear device 1 will be described. When the eccentric body shaft 12 rotates, the eccentric body 14 eccentrically rotates and the external gear 24 is swung. The external gear 24 internally meshes with the internal gear 26, and in this embodiment, the internal gear 26 is integrated with the first casing 31 and the second casing 32. For this reason, the external gear 24 rotates relative to the internal gear 26 by the number of teeth difference (rotation) each time the eccentric shaft 12 rotates once. The rotation component of the external gear 24 is transmitted to the first carrier body 33 and the second carrier body 34 via the inner pin 28 penetrating the inner pin hole 246. As a result of these, the rotational movement of the eccentric shaft 12 is decelerated at a reduction ratio of "1 / number of teeth of the external gear 24", and is output as the rotation of the first carrier body 33 and the second carrier body 34.

＜実施形態効果＞
以上のように、本実施形態の偏心揺動型歯車装置１によれば、第１主軸受け３６及び第２主軸受け３８の各断面積が、第１入力軸受け４０及び第２入力軸受け４２の各断面積よりも小さい。したがって、第１主軸受け３６及び第２主軸受け３８の各断面積を大きくした場合と比較して、装置全体のサイズを低減でき、特に軸方向のサイズの縮小、すなわち偏心揺動型歯車装置１の扁平化を図ることができる。さらに、扁平化により軽量化も達成される。一般に、軸受けは、材質及び構造が同等であれば、断面積が大きい方が、また、径が大きく転動体が多い方が、耐久性が高くなる。また、軸受けの劣化は、荷重が大きいほどまた総回転数が多いほど進行する。第１入力軸受け４０及び第２入力軸受け４２は、偏心体軸１２の高速な回転を受けるのに対して、第１主軸受け３６及び第２主軸受け３８は、減速後の低速な回転を受ける。また、第１主軸受け３６及び第２主軸受け３８は、第１入力軸受け４０及び第２入力軸受け４２よりも周方向に長い。したがって、上述のように第１主軸受け３６及び第２主軸受け３８の断面積を小さくしても、第１主軸受け３６及び第２主軸受け３８と第１入力軸受け４０及び第２入力軸受け４２との耐久性のバランスは崩れない。したがって、各軸受けの耐久性のバランスを維持しつつ、偏心揺動型歯車装置１の扁平化を実現できる。 <Effect of the embodiment>
As described above, according to the eccentric rocking gear device 1 of the present embodiment, the cross sectional areas of the first main bearing 36 and the second main bearing 38 are the same as those of the first input bearing 40 and the second input bearing 42. Smaller than the cross sectional area. Therefore, the size of the entire device can be reduced as compared to the case where the cross sectional areas of the first main bearing 36 and the second main bearing 38 are increased, and in particular, the size in the axial direction can be reduced. Can be flattened. Furthermore, weight reduction is also achieved by flattening. In general, if the material and structure of the bearing are the same, the larger the cross-sectional area and the larger the diameter and the more rolling elements, the higher the durability. Also, the deterioration of the bearing progresses as the load increases and as the total number of revolutions increases. The first input bearing 40 and the second input bearing 42 receive high-speed rotation of the eccentric shaft 12, while the first main bearing 36 and the second main bearing 38 receive low-speed rotation after deceleration. Also, the first main bearing 36 and the second main bearing 38 are circumferentially longer than the first input bearing 40 and the second input bearing 42. Therefore, even if the cross-sectional areas of the first main bearing 36 and the second main bearing 38 are reduced as described above, the first main bearing 36 and the second main bearing 38 and the first input bearing 40 and the second input bearing 42 The balance of durability does not break. Therefore, flattening of the eccentric oscillation gear device 1 can be realized while maintaining the balance of durability of the respective bearings.

また、本実施形態によれば、第１主軸受け３６及び第２主軸受け３８の外径φ１が、複数の内ピン２８の内接円径φ２よりも小さい。これにより、第１ケーシング３１及び第２ケーシング３２を外したときに、第１主軸受け３６及び第２主軸受け３８を外さずに、内ピン２８の抜き差しが可能となる。また、この構成によれば、第１キャリア体３３と第１主軸受け３６とを組み付けた後に、これを偏心体軸１２に組み付けることができる。また、第２キャリア体３４に第２主軸受け３８を組み付けた後に、これを偏心体軸１２に組み付けることができる。仮に、偏心体軸１２に第１キャリア体３３及び第２キャリア体３４を組み付けた後に、第１主軸受け３６と第２主軸受け３８を組み付ける必要があると、作業性が悪くなるが、上記の構成により、このような手順を取らなくて済み、作業性が顕著に向上する。   Further, according to the present embodiment, the outer diameter φ1 of the first main bearing 36 and the second main bearing 38 is smaller than the inscribed circle diameter φ2 of the plurality of inner pins 28. Thereby, when the first casing 31 and the second casing 32 are removed, the inner pin 28 can be inserted and removed without removing the first main bearing 36 and the second main bearing 38. Moreover, according to this configuration, after the first carrier body 33 and the first main bearing 36 are assembled, they can be assembled to the eccentric shaft 12. Further, after the second main bearing 38 is assembled to the second carrier body 34, this can be assembled to the eccentric shaft 12. If it is necessary to assemble the first main bearing 36 and the second main bearing 38 after assembling the first carrier body 33 and the second carrier body 34 to the eccentric shaft 12, the workability is deteriorated, but the above-mentioned By the configuration, it is not necessary to take such a procedure, and the workability is remarkably improved.

また、本実施形態の偏心揺動型歯車装置１によれば、外歯歯車２４の一側と他側とに第１キャリア体３３と第２キャリア体３４とが配置される。さらに、軸方向の両側で、上記の第１主軸受け３６及び第２主軸受け３８の外径と内ピン２８の内接円径との関係が成り立つ。このような構成により、第１ケーシング３１及び第２ケーシング３２を外したときに、内ピン２８を軸方向の両方に抜き差しすることができる。これにより、内ピン２８が軸方向の一方から抜き差ししにくい状況が生じても、内ピン２８を特殊な形状にすることなく、軸方向の逆方から抜き指しすることで、内ピン２８を組み込める可能性を高めることができる。例えば、特許文献１の図１の減速機では、内ピンを軸方向の両側から抜き差しできない構造であるため、内ピンを段付き構造として、一方から確実に抜き差しできるようにしている。しかし、このような段付き構造の内ピンは製造コストが非常に高騰する。   Further, according to the eccentric oscillation gear device 1 of the present embodiment, the first carrier body 33 and the second carrier body 34 are disposed on one side and the other side of the external gear 24. Further, the relationship between the outer diameters of the first and second main bearings 36 and 38 and the inscribed circle diameter of the inner pin 28 is established on both sides in the axial direction. With such a configuration, when the first casing 31 and the second casing 32 are removed, the inner pin 28 can be inserted and withdrawn in both axial directions. As a result, even if a situation occurs in which it is difficult to insert and remove the inner pin 28 from one side in the axial direction, the inner pin 28 can be incorporated by pulling out from the opposite side in the axial direction without making the inner pin 28 a special shape. The possibilities can be increased. For example, in the reduction gear shown in FIG. 1 of Patent Document 1, since the inner pin can not be inserted and removed from both sides in the axial direction, the inner pin is configured as a stepped structure so that it can be reliably inserted and removed from one side. However, the inner pin of such a stepped structure is very expensive to manufacture.

また、本実施形態によれば、偏心体軸受け１８の断面積が、第１入力軸受け４０及び第２入力軸受け４２の断面積よりも大きい。偏心体軸受け１８は、内歯歯車２６と外歯歯車２４との噛合により生じる内部荷重を受ける。また、第１入力軸受け４０及び第２入力軸受け４２が偏心体軸１２を二点支持するのに対して、偏心体軸受け１８は外歯歯車２４と偏心体１４とを一点支持する。このため、偏心体軸受け１８の断面積を大きくして、第１入力軸受け４０及び第２入力軸受け４２と比較して耐荷重を増やすことで、第１入力軸受け４０、第２入力軸受け４２及び偏心体軸受け１８の耐荷重のバランスを良好にできる。   Further, according to the present embodiment, the cross-sectional area of the eccentric bearing 18 is larger than the cross-sectional areas of the first input bearing 40 and the second input bearing 42. The eccentric bearing 18 receives an internal load generated by the engagement of the internal gear 26 and the external gear 24. The first input bearing 40 and the second input bearing 42 support the eccentric shaft 12 at two points, whereas the eccentric bearing 18 supports the external gear 24 and the eccentric 14 at one point. Therefore, the cross-sectional area of the eccentric bearing 18 is increased to increase the load resistance as compared to the first input bearing 40 and the second input bearing 42, whereby the first input bearing 40, the second input bearing 42 and the eccentricity are obtained. The load resistance of the body bearing 18 can be well balanced.

また、本実施形態によれば、第１主軸受け３６と第１入力軸受け４０とが径方向から見て重なるように配置され、第２主軸受け３８と第２入力軸受け４２とが径方向から見て重なるように配置されている。装置全体の扁平化を図る視点で見たとき、第１主軸受け３６及び第２主軸受け３８は、軸方向において、第１入力軸受け４０及び第２入力軸受け４２よりも外寄りに配置すると扁平化の妨げとなるが、内寄りに配置しても余り効果的でない。なぜなら、第１入力軸受け４０及び第２入力軸受け４２によって軸方向のサイズが決まってしまうからである。また、ラジアル荷重は支点からの距離が大きい箇所で受けた方が、荷重が小さくなる。そこで、第１主軸受け３６及び第２主軸受け３８を上記のように配置することで、装置全体の扁平化を阻害することなく、外部からのラジアル荷重により第１主軸受け３６及び第２主軸受け３８に加わる荷重を小さくできる。したがって、上記の配置とすることで、第１主軸受け３６及び第２主軸受け３８と第１入力軸受け４０及び第２入力軸受け４２との耐久性のバランスを崩すことなく、第１主軸受け３６及び第２主軸受け３８の断面積をより小さくすることができる。これにより、偏心揺動型歯車装置１をより扁平にすることができる。   Further, according to the present embodiment, the first main bearing 36 and the first input bearing 40 are disposed so as to overlap in the radial direction, and the second main bearing 38 and the second input bearing 42 are viewed in the radial direction. Are arranged to overlap each other. When viewed from the viewpoint of flattening of the entire device, the first main bearing 36 and the second main bearing 38 are flattened if disposed in the axial direction on the outer side than the first input bearing 40 and the second input bearing 42 But it is less effective to place it inwards. This is because the axial size is determined by the first input bearing 40 and the second input bearing 42. Also, the radial load is smaller when it is received at a point where the distance from the fulcrum is large. Therefore, by arranging the first main bearing 36 and the second main bearing 38 as described above, the first main bearing 36 and the second main bearing can be prevented by the radial load from the outside without inhibiting the flattening of the entire device. The load applied to 38 can be reduced. Therefore, by adopting the above-described arrangement, the first main bearing 36 and the first main bearing 36 and the second main bearing 38 are not disturbed in balance of durability with the first input bearing 40 and the second input bearing 42. The cross-sectional area of the second main bearing 38 can be made smaller. Thereby, the eccentric oscillation gear device 1 can be made flatter.

また、一般に、偏心揺動型歯車装置１は、出力軸として機能する第２キャリア体３４に歯車、スプロケット又は軸継手等を介して運動部を接続し、運動部を駆動したり、あるいは、第２キャリア体３４にアームを連結してこれを動かしたりするのに使用される。しかし、これらの全ての使用形態で、必ずしも大きなラジアル荷重が偏心揺動型歯車装置１に発生するわけではない。例えば、軸継手が接続される場合にはラジアル荷重はゼロとなるし、径の大きな歯車、スプロケット、アームが接続される場合には、これらに加えられるトルクが同一であっても、第２キャリア体３４に加わるラジアル荷重は小さくなる。このような使用形態の場合、従来のようにサイズの大きな主軸受けを用いた偏心揺動型歯車装置を利用すると、減速部での構成サイズが大きくなり、駆動装置の小型化を阻害することになる。しかし、このような使用形態の場合、本実施形態の偏心揺動型歯車装置１を利用することで、駆動装置の小型化に大きな割合で寄与することができる。   In general, the eccentrically oscillating gear device 1 connects the moving part to the second carrier body 34 functioning as an output shaft via a gear, a sprocket, a shaft joint or the like, and drives the moving part, or It is used for connecting an arm to the 2 carrier body 34 and moving this. However, in all these usage modes, a large radial load is not necessarily generated in the eccentric oscillating gear device 1. For example, when the shaft coupling is connected, the radial load is zero, and when the large diameter gears, sprockets, and arms are connected, the second carrier is used even if the torque applied to them is the same. The radial load applied to the body 34 is reduced. In the case of such a use form, if an eccentric oscillating gear device using a large main bearing as in the prior art is used, the size of the configuration in the speed reduction unit becomes large, which hinders the miniaturization of the drive device. Become. However, in the case of such a usage form, by using the eccentric oscillating gear device 1 of the present embodiment, it is possible to contribute to the miniaturization of the drive device at a large rate.

以上、本発明の実施形態について説明した。しかし、本発明は上記の実施形態に限られない。例えば、上記実施形態では、軸方向の一方と他方とに２つのキャリア体、２つの入力軸受け、２つの主軸受けを有する構成を示した。しかし、キャリア体は、軸方向一方側に１つのみ設けられてもよい。主軸受けは、一方のキャリア体に一対の主軸受けが配置されてもよいし、例えばクロスローラ軸受けを採用することで、１つとされてもよい。また、入力軸受けは、クロスローラ軸受けを採用したり、モータ軸の軸受けと協働して支持する場合には、１つとされてもよい。また、軸方向の一方と他方に配置される複数の入力軸受けは同じ径でなくてもよいし、軸方向の一方と他方に配置される複数の主軸受けは同じ径でなくてもよい。また、上記実施形態では、複数の内ピンの内接円径よりも、主軸受けの外径を小さいという構成を有し、これにより、内ピンの調整作業が容易になるという効果が得られるが、このような構成は適用されなくてもよい。その場合でも偏心揺動型歯車装置の扁平化を図ることができるという効果が奏される。また、上記実施形態においては、入力軸受けや主軸受けにシール機能を有するシールド軸受けを使用しているが、シール機能のない軸受けを使用して、別途オイルシールを配置するようにしてもよい。   The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. For example, in the said embodiment, the structure which has two carrier bodies, two input bearings, and two main bearings in one side and the other of an axial direction was shown. However, only one carrier body may be provided on one side in the axial direction. The main bearing may have a pair of main bearings disposed on one of the carrier bodies, or may be one, for example, by adopting cross roller bearings. In addition, the input bearing may be one in the case of adopting a cross roller bearing or supporting in cooperation with the bearing of the motor shaft. Further, the plurality of input bearings disposed on one side and the other in the axial direction may not have the same diameter, and the plurality of main bearings disposed on the one and the other in the axial direction may not have the same diameter. Further, in the above embodiment, the outer diameter of the main bearing is smaller than the inscribed circle diameter of the plurality of inner pins, whereby the effect of facilitating the adjustment operation of the inner pin can be obtained. Such a configuration may not be applied. Even in such a case, the effect that flattening of the eccentric oscillation gear device can be achieved is exhibited. Further, in the above embodiment, shield bearings having a sealing function are used as the input bearings and the main bearings, but bearings having no sealing function may be used to separately arrange oil seals.

また、上記実施形態においては、１本の偏心体軸を減速機の軸心に配置した所謂センタークランク式の偏心揺動型減速装置を示した。しかし、本発明は、２個以上の偏心体軸が減速機の軸心からオフセットして配置された所謂振り分け型の偏心揺動型減速装置に適用してもよい。その他、軸受けの種類、外歯歯車の枚数など、実施の形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。   Further, in the above-described embodiment, a so-called center crank type eccentric rocking type reduction gear is shown in which one eccentric body shaft is disposed at the axis of the reduction gear. However, the present invention may be applied to a so-called distribution-type eccentric rocking reduction gear in which two or more eccentric body shafts are disposed offset from the shaft center of the reduction gear. In addition, details shown in the embodiment, such as the type of bearing and the number of external gears, can be appropriately changed without departing from the scope of the invention.

１ 偏心揺動型歯車装置
１２ 偏心体軸
１４ 偏心体
２４ 外歯歯車
２６ 内歯歯車
２６Ａ 内歯歯車本体
２６Ｂ 外ピン
２６Ｃ ピン溝
２８ 内ピン
２９ 連結ピン
３１ 第１ケーシング
３２ 第２ケーシング
３３ 第１キャリア体
３４ 第２キャリア体
３６ 第１主軸受け
３８ 第２主軸受け
４０ 第１入力軸受け
４２ 第２入力軸受け
２４６ 内ピン孔
２４８ 貫通孔 1 Eccentric rocking gear device 12 Eccentric body shaft 14 Eccentric body 24 External gear 26 Internal gear 26A Internal gear main body 26B Outer pin 26C Pin groove 28 Inner pin 29 Connection pin 31 1st casing 32 2nd casing 33 1st Carrier body 34 Second carrier body 36 First main bearing 38 Second main bearing 40 First input bearing 42 Second input bearing 246 Inner pin hole 248 Through hole

Claims (5)

内歯歯車が設けられたケーシングと、前記内歯歯車に内接噛合する外歯歯車と、前記外歯歯車を揺動させる偏心体を有する偏心体軸と、前記偏心体軸を支持する入力軸受けと、前記外歯歯車の軸方向側部に配置されるキャリア体と、前記ケーシングと前記キャリア体との間に配置される主軸受けと、を備える偏心揺動型歯車装置であって、
周方向に直交する断面において前記主軸受けの断面積が前記入力軸受けの断面積よりも小さい偏心揺動型歯車装置。 An input shaft bearing an eccentric body shaft having a casing provided with an internal gear, an external gear internally meshingly engaged with the internal gear, an eccentric body for oscillating the external gear, and the eccentric shaft And a carrier body disposed on an axial side of the external gear, and a main bearing disposed between the casing and the carrier body.
The eccentric rocking gear device wherein the cross-sectional area of the main bearing is smaller than the cross-sectional area of the input bearing in a cross section orthogonal to the circumferential direction. 前記キャリア体に連結され、前記外歯歯車の自転成分と同期する複数の内ピンを備え、
前記主軸受けの外径は、前記複数の内ピンの内接円径よりも小さい、
請求項１記載の偏心揺動型歯車装置。 A plurality of inner pins connected to the carrier body and synchronized with rotation components of the external gear;
The outer diameter of the main bearing is smaller than the inscribed circle diameter of the plurality of inner pins,
The eccentric oscillating gear device according to claim 1. 前記キャリア体は、前記外歯歯車の軸方向の一側に配置される第１キャリア体と、前記外歯歯車の軸方向の他側に配置される第２キャリア体とを含み、
前記主軸受けは、前記第１キャリア体を支持する第１主軸受けと、前記第２キャリア体を支持する第２主軸受けとを含み、
前記第１主軸受け及び前記第２主軸受けの両方の外径が、前記複数の内ピンの内接円径よりも小さい、
請求項２記載の偏心揺動型歯車装置。 The carrier body includes a first carrier body disposed on one side in the axial direction of the external gear, and a second carrier body disposed on the other side in the axial direction of the external gear.
The main bearing includes a first main bearing that supports the first carrier body and a second main bearing that supports the second carrier body,
The outer diameters of both the first main bearing and the second main bearing are smaller than the inscribed circle diameter of the plurality of inner pins,
The eccentric oscillation gear device according to claim 2. 前記偏心体と前記外歯歯車との間に配置される偏心体軸受けを備え、
周方向に垂直な断面において前記偏心体軸受けの断面積が前記入力軸受けの断面積よりも大きい、
請求項１から請求項３のいずれか一項に記載の偏心揺動型歯車装置。 An eccentric bearing disposed between the eccentric and the external gear;
In the cross section perpendicular to the circumferential direction, the cross sectional area of the eccentric bearing is larger than the cross sectional area of the input bearing,
The eccentric oscillating gear device according to any one of claims 1 to 3. 前記主軸受けと前記入力軸受けとが径方向から見て重なるように配置されている、
請求項１から請求項４のいずれか一項に記載の偏心揺動型歯車装置。 The main bearing and the input bearing are disposed so as to overlap in a radial direction,
The eccentric oscillating gear device according to any one of claims 1 to 4.
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