JP5188799B2 - Decelerator - Google Patents

Description

  The present invention relates to a speed reducer having a heat dissipation structure.

  Conventionally, an input shaft, an eccentric body provided on the input shaft, an external gear provided radially outward of an eccentric portion formed on the eccentric body, and an internal tooth that is in mesh with the external gear 2. Description of the Related Art A speed reducer that includes a gear and takes out relative rotation between the external gear and the internal gear as an output is known (for example, see Patent Document 1). In such a speed reducer, when the input shaft rotates, the eccentric body provided on the input shaft rotates together with the input shaft. Then, the external gear provided on the outer side of the eccentric part of the eccentric body performs a swinging motion via the eccentric body bearing provided on the inner side thereof. Then, the external gear that swings and engages with the internal gear, and the relative rotation between the external gear and the internal gear that is generated by meshing with the internal gear is output.

  In the field of this type of reducer, miniaturization and high output are progressing.

JP 2001-187945 A

  In the case of the speed reducer as described above, since the input shaft rotates at high speed, the external gear between the eccentric part surface of the eccentric body and the eccentric body bearing surface and the eccentric body bearing surface and the eccentric body bearing surface A large amount of heat is generated due to friction loss. That is, the problem of heat generation is most severely concentrated on the input shaft that rotates at a high speed and the eccentric body provided on the input shaft. This heat generation greatly affects the durability of the reduction gear, and becomes an obstacle to downsizing and high output of the reduction gear.

  The present invention has been made to solve such problems, and in a speed reducer having an input shaft and an eccentric body provided on the input shaft, the structural features of the input shaft can be increased. The purpose is to make it possible to efficiently dissipate heat generated by rotation.

  The present invention includes an input shaft, an eccentric body provided on the input shaft, an external gear provided radially outward of an eccentric portion formed on the eccentric body, and an internal mesh with the external gear. A reduction gear including an internal gear and taking out the relative rotation between the external gear and the internal gear as an output, wherein the input shaft has a hollow portion in its shaft center portion and is integrated with the eccentric body A recessed portion wider than the width of the eccentric portion is provided over the entire circumference at the axial position where the eccentric body is formed on the hollow portion side of the input shaft. Thus, the above-mentioned problems are solved.

  As a result of adopting such a configuration, the surface area in the vicinity of the eccentric body on the hollow portion side of the input shaft increases more than when there is no recess. For this reason, it becomes possible to reduce a thermal resistance and the heat dissipation effect in a hollow part increases.

  In addition, since the metal amount of the input shaft is reduced by forming the recess, the heat capacity can be reduced by that amount, so that the heat dissipation effect near the recess can be further increased and the weight can be reduced.

  In the present invention, in order to maximize this effect, the eccentric body is intentionally formed integrally with the input shaft, and as a result, the concave portion is formed in the thickened portion. In the case of a structure in which the eccentric body is incorporated into the input shaft using a key or spline, the strength of the mounting part of the eccentric body is rather reduced due to the presence of the key or spline, etc., and there is a sufficiently deep recess. It cannot be formed. In the present invention, since the concave portion can be formed in the thickened portion corresponding to the eccentric body, a deep concave portion can be formed without reducing the strength, and a great heat dissipation effect and weight reduction effect can be exhibited.

  Further, since the deep concave portion is provided wider than the width of the eccentric portion over the entire circumference on the hollow portion side, the amount of metal in the portion constituted by the input shaft and the eccentric body is reduced, and the speed reducer itself is reduced. It can be lightened.

  Also, bearings that support the eccentric body are provided on both sides of the eccentric portion, and at least one of the outer sides of the bearing is a seal member that contacts the input shaft at a shorter distance from the shaft center than the distance from the shaft center to the bearing. Is provided, the radius of the seal member can be reduced, and the sealing performance can be improved. And since the shaft diameter of an input shaft can be made small compared with the shaft diameter of an eccentric body, it also has the effect of weight reduction.

  In addition, when a member having higher thermal conductivity is positively disposed in the recess, the heat capacity of the portion constituted by the input shaft and the eccentric body is small, so that the portion constituted by the input shaft and the eccentric body It may be possible to quickly take away heat.

  In a speed reducer having an input shaft and an eccentric body provided on the input shaft, it is possible to efficiently dissipate heat generated by the rotation of the input shaft.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

<First and second embodiments>
FIG. 1 is a side sectional view of a reduction gear according to a first embodiment of the present invention, and FIG. 2 is a view showing an example in which a flat motor is applied to the reduction gear shown in FIG. The first embodiment will be described using these.

  First, the configuration of the speed reducer 100 will be described.

  As shown in FIG. 1, the speed reducer 100 is provided radially outside an input shaft 102, an eccentric body 104 provided on the input shaft 102, and eccentric portions 104 </ b> A and 104 </ b> B formed on the eccentric body 104. External gears 108 and 110, and an internal gear 122 inscribed in mesh with the external gears 108 and 110 are provided.

  The input shaft 102 has a shaft diameter d1 outside the seal member 144, and has a hollow portion 102A (inner diameter D1) in the shaft center O portion. The input shaft 102 is in contact with the seal members 144 and 146 at a portion having a shaft diameter slightly larger than the shaft diameter d1. An eccentric body 104 is provided on the outer periphery of the input shaft 102 between the first bearing 140 and the second bearing 142 (shaft diameter d2 at the portion of the first bearing 140 and the second bearing 142), and is eccentric with the input shaft 102. The body 104 is integrally formed. Therefore, as shown in FIG. 1, the shaft diameter d2 of the eccentric body 104 is larger than the shaft diameter d1 of the input shaft 102 (d2> d1). Since the first and second bearings 140 and 142 are provided on the outer periphery of the eccentric body 104, the input shaft 102 is rotatable about the axis O.

  Two eccentric portions 104A and 104B are formed on the outer periphery of the eccentric body 104 so as to have a phase difference of about 180 °, and are in contact with the eccentric body bearings 106A and 106B. The eccentric body bearings 106A and 106B do not have an inner ring and an outer ring but are rolling elements (rollers) themselves, and the rolling elements are in direct contact with the external gears 108 and 110 and the eccentric parts 104A and 104B.

  The input shaft 102, more specifically, on the hollow portion 120A side of the input shaft 102, the axial position where the eccentric body 104 is formed is larger than the total width q of the two eccentric portions 104A and 104B. A wide single recess 102B (a step S and a width Q) is provided over the entire circumference. That is, the inner diameter D2 of the input shaft 102 in the portion where the concave portion 102B is provided has a relationship larger than the inner diameter D1 of the input shaft 102 in the portion where the concave portion 102B is not provided (D2> D1).

  As described above, since the input shaft 102 and the eccentric body 104 are integrally formed, the deep recess 102 </ b> B that is the step S can be formed in the input shaft 102. For this reason, the thickness (d2-D2) / 2 of the eccentric body 104 is equal to the thickness (d1-D1) / 2 of the input shaft 102 of the portion where the eccentric body 104 is not provided. Thickness related design adjustment is possible. And the reduction gear 100 can maintain sufficient intensity | strength in use according to rotational load, reducing in weight.

  The external gears 108 and 110 can be composed of two gears having the same shape, and are provided outside the eccentric portions 104A and 104B. The center holes 108B and 110B are in contact with the eccentric body bearings 106A and 106B, and at the same time are internally meshed with the internal gear 122 having the external pin 116 as internal teeth. The external gears 108 and 110 are provided with a plurality of inner pin holes 108A and 110A, and the inner pins 112 are loosely fitted into the inner pin holes 108A and 110A via the inner rollers 114. The inner pin 112 is formed integrally with a disk-shaped first flange 118. For this reason, even if the inner pin 112 is cantilevered to the first flange 118, the reduction gear 100 can be kept high in rigidity while reducing the thickness of the reduction gear 100 as a whole.

  The first flange 118 supports the eccentric body 104 via the first bearing 140 and makes the input shaft 102 rotatable. In addition, a disc-shaped second flange 124 is disposed on the opposite side of the first flange 118 with the external gears 108 and 110 interposed therebetween. The eccentric body 104 is rotatably supported by the second flange 124 via the second bearing 142. That is, the first bearing 140 and the second bearing 142 that support the eccentric body 104 are provided on both sides of the eccentric portions 104A and 104B. The second flange 124 is integrally connected and fixed to the internal gear 122 via a bolt 126. Although not shown in the drawing, there is a slight difference (about 1 to 3) between the number of teeth of the external gears 108 and 110 and the number of the external pins 116 (internal teeth of the internal gear 122). Yes.

  A frame body 120 that also serves as a casing is connected and fixed to the first flange 118 by a bolt 127 so as to surround the internal gear 122 at the radially outermost side of the first flange 118. The frame body 120 and the internal gear 122 are supported so as to be relatively rotatable via a cross roller bearing 128. That is, when viewed from the center of the cross roller bearing 128, the frame 120 functions as an outer ring of the cross roller bearing 128, while the internal gear 122 functions as an inner ring of the cross roller bearing 128. Yes.

  A seal member 130 is disposed between the internal gear 122 and the frame body 120. Further, a seal member 144 is disposed between the first flange 118 and the input shaft 102 and outside the first bearing 140 (on the right side in FIG. 1). A seal member 146 is disposed between the second flange 124 and the input shaft 102 and outside the second bearing 142 (on the left side in FIG. 1). In addition, an O-ring 148 is disposed at a connection portion between the first flange 118 and the frame body 120. The inside of the speed reducer 100 is sealed by the seal members 130, 144, 146 and the O-ring 148.

  As described above, the first bearing 140 and the second bearing 142 support the eccentric body 104. On the other hand, the seal members 144 and 146 are in contact with the input shaft 102 at a position where the eccentric body 104 is not provided outside the first bearing 140 and the second bearing 142. That is, the seal members 144 and 146 are in contact with the input shaft 102 at a shorter distance from the axis O than the distance from the axis O to the first bearing 140 and the second bearing 142. For this reason, since the radii of the seal members 144 and 146 may be small, the length of sealing around the input shaft 102 is shorter than the case of sealing around the eccentric body 104, and as a result, the sealing performance is improved. Can do. Further, it is possible to reduce the weight by the amount that the shaft diameter d1 of the input shaft 102 is small.

  Note that grease or gear oil (not shown) as a lubricant is accommodated in the reducer 100. Note that the lubricant to be accommodated is not limited to a liquid lubricant at room temperature, as long as it is a lubricant that is at least partially fluidized during operation of the speed reducer 100.

  An example when a flat motor is applied to the speed reducer 100 will be described with reference to FIG.

  The flat motor 150 is provided on the input shaft 102 and includes a stator 152 having an electromagnetic coil 154 and a rotor 156 having a magnet 158.

  The stator 152 is integrally formed with the motor casing 162 and faces the magnet 158 at a predetermined interval in the radial direction (direction perpendicular to the axis). The electromagnetic coil 154 provided in the stator 152 tends to occupy a space in the axial direction. For this reason, when the flat motor 150 is connected to the speed reducer 100, a groove 118 </ b> A capable of accommodating the electromagnetic coil 154 is formed on the surface of the first flange 118. The rotor 156 is attached to the input shaft 102 via a spline 160, and a magnet 158 is disposed on the outer periphery of the rotor 156.

  The flat motor 150 can be fixed integrally with the speed reducer 100 with a bolt 127 by sandwiching the motor casing 162 with the end cover 164. The resolver 166 is a kind of magnetic sensor, and is attached to the input shaft 102 and used to detect the rotation of the flat motor 150 (or an optical sensor such as an encoder can be used).

  Next, the operation of the speed reducer 100 will be described.

  When a power source (not shown) or power (rotational force) from the flat motor 150 shown in FIG. 2 is transmitted to the input shaft 102, the eccentric body 104 formed integrally with the input shaft 102 is eccentric. The parts 104A and 104B rotate eccentrically. The eccentric rotation of the eccentric portions 104A and 104B is transmitted to the external gears 108 and 110 via the eccentric body bearings 106A and 106B. That is, the external gears 108 and 110 start to swing with respect to the axis O. On the other hand, since the fixed internal pins 112 are inserted in the external gears 108 and 110, rotation is restricted, and the external gears 108 and 110 only swing. Further, as described above, since there is a slight difference (the number of teeth difference) between the number of teeth of the external gears 108 and 110 and the number of external pins 116 of the internal gear 122, the internal teeth Each time the external gears 108 and 110 swing and rotate, the gear 122 rotates by the difference in the number of teeth (relative rotation with respect to the external gears 108 and 110). The swinging components of the external gears 108 and 110 are absorbed by loose fit between the external gears 108 and 110 and the inner pins 112 and the inner rollers 114. The rotation of the internal gear 122 is smoothly performed by a cross roller bearing 128 disposed between the frame 120 and the frame 120 connected and fixed to the first flange 118, and the internal gear 122 is connected to the internal gear 122 via the bolt 126. It is taken out via the second flange 124 that rotates integrally.

  In the present embodiment, when the second flange 124 is fixed, the rotation of the input shaft 102 is decelerated and output as the rotation of the first flange 118 (that is, the frame body 120).

  The rotation of the input shaft 102 generates heat due to friction between the eccentric portions 104A and 104B, the eccentric body bearings 106A and 106B, and the external gears 108 and 110. This heat is generated by the concave portion 102B on the hollow portion 102A side. Is released smoothly. At this time, forced convection of air is performed on the hollow portion 102 </ b> A side by the rotation of the input shaft 102. Therefore, coupled with the increase in the heat dissipation surface area due to the presence of the recess 102B, the heat dissipation effect in the hollow portion 102A is further increased.

  Moreover, since the metal amount of the input shaft 102 decreases by forming the recess 102B, the heat capacity can be reduced accordingly. And since the recessed part 102B (width Q by level | step difference S) wider than the total width q of eccentric part 104A, 104B exists in the hollow part 102A side of the eccentric body 104, the heat | fever concentrated on the eccentric body 104 is smooth. It is discharged into the hollow portion 102A. And compared with the case where there is no recess 102B, the heat dissipation effect near the recess 102B can be further increased by the rotation of the input shaft 102.

  In the present embodiment, the eccentric body 104 is formed integrally with the input shaft 102, and as a result, the concave portion 102B is formed in the thickened portion. In the case where the eccentric body 104 is built into the input shaft 102 using a key, spline, or the like, the strength of the mounting portion of the eccentric body 104 of the input shaft 102 is rather reduced due to the presence of the key, spline, or the like. However, the recess 102B having a sufficient depth cannot be formed. On the other hand, in the present embodiment, since the concave portion 102B can be formed in the thickened portion corresponding to the eccentric body 104, the deep concave portion 102B can be formed without reducing the strength, and a large heat dissipation effect and weight reduction. The effect can be demonstrated.

  Further, since the deep recess 102B is provided wider (longer in the axial direction) than the total width q of the eccentric portions 104A and 104B over the entire circumference on the hollow portion 102A side, the input shaft 102 and the eccentric body 104 It is possible to reduce the amount of metal in the portion constituted by and reduce the speed reducer 100 itself.

  Moreover, the 1st bearing 140 and the 2nd bearing 142 which support the eccentric body 104 are provided in the both sides of eccentric part 104A, 104B. Further, a seal member that contacts the input shaft 102 at a shorter distance from the shaft center O than the distance from the shaft center O to the first bearing 140 and the second bearing 142 on the outer side of the first bearing 140 and the second bearing 142. 144 and 146 are provided. For this reason, since the radii of the sealing members 144 and 146 can be reduced, the sealing distance is short, and the sealing performance can be improved. Further, since the shaft diameter d1 of the input shaft 102 can be made smaller than the shaft diameter d2 of the eccentric body 104, there is also an effect of weight reduction.

  In addition, when a member having higher thermal conductivity is positively disposed in the recess 102B, the heat capacity of the portion constituted by the input shaft 102 and the eccentric body 104 is small, so that the input shaft 102 and the eccentric body 104 It becomes possible to quickly take away the heat of the constituted part. For example, if the metal of the input shaft 102 and the eccentric body 104 is stainless steel, a metal having higher thermal conductivity such as copper or iron can be used as the member. For example, when a graphite sheet is used, heat can be conducted efficiently in the axial direction due to the anisotropy of the thermal conductivity, and the eccentric body 104 can be dissipated extremely effectively. it can. In addition, for example, DLC (diamond-like carbon) can be directly formed in the recess 102B to achieve heat dissipation with high efficiency.

  That is, in the speed reducer 100 having the input shaft 102 and the eccentric body 104 provided on the input shaft 102, it is possible to efficiently dissipate heat generated by the rotation of the input shaft 102.

  In the present embodiment, the concave portion 102B is provided in the form of FIG. 1 (single concave shape on the hollow portion 102A side of the input shaft 102), but the present invention is not limited to this. As in the speed reducer 101 of the second embodiment of the present invention shown in FIG. 3, the recess 102C may have a plurality of grooves, and the grooves may be provided in a spiral shape. In this case, due to the large number of grooves, the thermal resistance on the hollow portion 102A side becomes lower, and heat dissipation and rapid cooling are facilitated. Further, the rotation of the input shaft 102 positively guides air serving as a cooling medium existing in the hollow portion 102A in one direction, so that the heat dissipation effect can be further increased. Such an effect is provided by providing the groove continuously or intermittently (including the case where the groove is regularly provided in the circumferential direction of the hollow portion 102A like a cooling fan) in the hollow portion 102A. Even if it exists, it shows a remarkable effect.

  In this embodiment, the width Q of the recess 102B is larger than the total width q of the two eccentric portions 104A and 104B, but the present invention is not limited to this. For example, the width of the recess 102B may be equal to or greater than the width of one eccentric portion 104A. Even in such a case, it has a corresponding effect of the present invention in terms of heat dissipation and weight reduction. Alternatively, if there are three or more eccentric portions, the width of the concave portion may be equal to or larger than the total eccentric portion width.

  Further, in this embodiment, the two seal members 144 and 146 both contact the input shaft 102 at a shorter distance from the axis O than the distance from the axis O to the first bearing 140 and the second bearing 142. However, the present invention is not limited to this. Any one of the sealing members may satisfy the above condition.

  Further, in the present embodiment, the inward swing meshing planetary gear speed reducer as shown in FIGS. 1 to 3 is targeted, but the present invention is not limited to this. For example, it can be applied to a so-called “flexion mesh planetary speed reducer” that takes out relative rotation with the internal gear by bending the external gear, such as a wave generator used to bend the external gear. An ellipsoid and an outer periphery of the ellipse can be regarded as an eccentric body and an eccentric portion of the present invention, respectively.

  For example, a coating material containing carbon black or the like is applied to the recess 102B of the present embodiment to increase the radiated heat, and the heat dissipation effect can be made more remarkable.

<Third Embodiment>
FIG. 4 is a side sectional view of a motor-integrated speed reducer according to a third embodiment of the present invention, and FIG. 5 is a sectional view of an eccentric body 204 taken along line VV in FIG. The third embodiment will be described using these.

  First, the configuration of the motor-integrated speed reducer 200 will be described.

  As shown in FIG. 4, the motor-integrated speed reducer 200 includes a motor composed of a rotor and a stator in the vicinity of an axis O, and the configuration of the speed reducer portion is the first embodiment shown in FIG. It is almost the same as the form. Therefore, the rotor and the stator constituting the motor will be mainly described, and the other parts are indicated by the same reference numerals in the corresponding two parts in FIG. Description is omitted.

  As shown in FIGS. 4 and 5, the rotor is constituted by an input shaft 202 itself integrally formed with an eccentric body 204, and is realized by arranging a plurality of magnets 258 at equal intervals in the circumferential direction of the concave portion 202B. . As the magnet 258, for example, a ferrite magnet (having a light specific gravity, a small specific heat, and a high thermal conductivity compared to stainless steel) can be used. The rotor can reduce the thermal resistance by forming the magnet 258 with a thickness T thinner than the step S and placing it in the recess 202B. Further, as shown in FIG. 5, since the magnets 258 are arranged with gaps L at equal intervals in the circumferential direction of the recesses 202B, the thermal resistance in the gaps L is small as shown in the first embodiment. . Therefore, also in the whole rotor, the thermal resistance is low and the heat capacity can be reduced. Furthermore, the specific heat of the rotor can be reduced and the weight can be reduced.

  As shown in FIG. 4, the stator can be configured by arranging a protrusion 218 </ b> A integrally formed with the first flange 218 in the hollow portion 202 </ b> A and attaching a plurality of electromagnetic coils 254 there. With such a configuration, the input shaft 202 that is a rotor can be rotated by controlling the current flowing through the electromagnetic coil 254.

  Since the second flange 224 does not have an opening in the axis O, it is possible to prevent inflow of dust and the like into the motor.

  Next, the operation of the motor-integrated speed reducer 200 will be described. Here, the operation of the speed reducer portion is substantially the same as that of the speed reducer of the first embodiment, so that description thereof will be omitted, and heat dissipation in the input shaft 202 will be described.

  The rotation of the input shaft 202 (rotor) generates heat due to friction between the eccentric portions 204A and 204B, the eccentric body bearings 206A and 206B, and the external gears 208 and 210. This heat is smoothly generated in the concave portion 202B. To be released. At this time, forced convection of air is performed on the hollow portion 202A side by the rotation of the input shaft 202 (rotor). Since the thickness T of the magnet 258 disposed on the hollow portion 202A side is thinner than the step S, the thermal resistance at the magnet 258 portion can be reduced as compared with the state without the recess 202B. Furthermore, since the magnet 258 is disposed in the recess 202B with a gap L, the thermal resistance at the gap L is low. For this reason, it is possible to lower the thermal resistance of the input shaft 202 (rotor) as a whole, and the heat dissipation effect in the hollow portion 202A is further increased.

  Even if a plurality of magnets 258 are arranged, the magnet 258 does not completely fill the recess 202B, so that the heat capacity can be reduced. And since the recessed part 202B (width | variety Q with level | step difference S) wider than the total width q of eccentric part 204A, 204B exists in the hollow part 202A side, the heat | fever concentrated on the eccentric body 204 is smoothly hollow side 202A side. To be released. And compared with the case where there is no recessed part 202B, the heat radiation effect in the place where the recessed part 202B and the magnet 258 are arrange | positioned can further be increased by rotation of the input shaft 202. FIG.

  Further, since the motor is disposed in the hollow portion of the speed reducer portion, the motor-integrated speed reducer 200 can realize a motor with a speed reducer that is smaller and lighter than when the motor is externally attached. . Therefore, it can be easily applied to fields such as a robot hand that is small and requires high output. At that time, since the motor is sealed inside the reduction gear, damage or dirt due to the external force of the motor can be prevented.

  In the present embodiment, the magnet 258 is a ferrite magnet, but the present invention is not limited to this.

  In this embodiment, the magnet 258 is used as the rotor and the magnet 258 is disposed in the recess 202B. However, the present invention is not limited to this. For example, you may provide the electromagnetic coil 254 in the recessed part 202B. Further, the recess 202B may be provided with at least a part of the rotor components.

Side sectional view of the reduction gear according to the first embodiment of the present invention. The figure which shows an example at the time of applying a flat motor to the reduction gear of FIG. Side sectional view of the reduction gear according to the second embodiment of the present invention. Side sectional view of a motor-integrated speed reducer according to a third embodiment of the present invention. Sectional drawing of the eccentric body 204 along the VV line of FIG.

Explanation of symbols

100, 101, 200 ... Reducer 102, 202 ... Input shaft 102A, 202A ... Hollow part 102B, 102C, 202B ... Recessed part 104, 204 ... Eccentric body 104A, 104B, 204A, 204B ... Eccentric part 106A, 106B, 206A, 206B ... Eccentric body bearings 108, 110, 208, 210 ... External gears 122, 222 ... Internal gears 130, 144, 146, 230, 244, 246 ... Seal members 140, 240 ... First bearings 142, 242 ... Second Bearing 150 ... Flat motor 152 ... Stator 154, 254 ... Electromagnetic coil 156 ... Rotor 158, 258 ... Magnet D1 ... Inner diameter of the input shaft D2 ... Inner diameter of the concave portion d1 ... Shaft diameter of the input shaft d2 ... Eccentric body Shaft diameter L: Magnet spacing O: Shaft center q: Total width of two eccentric parts Q: Width of recess S: Recess Step T ... thickness of magnet

Claims (4)

An input shaft, an eccentric body provided on the input shaft, an external gear provided radially outward of an eccentric portion formed on the eccentric body, and an internal gear internally meshing with the external gear; A reduction gear that takes out the relative rotation between the external gear and the internal gear as an output,
The input shaft is formed integrally with the eccentric body with a hollow portion in the shaft center portion;
A depression wider than the width of the eccentric part is provided over the entire circumference on the hollow part side of the input shaft, at an axial position where the eccentric body is formed. Machine. In claim 1,
In the case where a plurality of the eccentric portions are provided, the recess is provided wider than the total width of the plurality of eccentric portions. In claim 1 or 2,
Bearings that support the eccentric body are provided on both sides of the eccentric portion,
A speed reducer, wherein a seal member that contacts the input shaft at a distance shorter than the distance from the shaft center is provided on at least one of the outer sides of the bearing. A motor-integrated speed reducer in which a motor is integrated with the speed reducer according to any one of claims 1 to 3,
A motor-integrated speed reducer, wherein at least a part of a rotor of the motor is disposed in the recess, and a stator of the motor is disposed in the hollow portion.

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