KR102410231B1 - Reducer device - Google Patents

Abstract

A reduction device capable of suppressing the wear of the bearing housing is provided.
The reduction device 100 includes an internal gear, an external gear 4 meshing with the internal gear, a vibrating body shaft 22 for oscillating the external gear 4, and a bearing 32 for supporting the vibrating body shaft 22 And, a second bearing housing 20 including the outer ring 32a of the bearing 32 , and a second opposing member 14 disposed on the external gear side to face the second bearing housing 20 and the bearing 32 . ) is provided. The first axial gap 52 between the second bearing housing 20 and the second opposing member 14 is a second space between the outer ring 32a of the bearing 32 and the second opposing member 14 . wider than the axial gap.

Description

Reducer device

This application claims priority based on Japanese Patent Application No. 2016-236161 for which it applied on December 5, 2016. The entire contents of the application are incorporated herein by reference.

The present invention relates to a speed reduction device.

A reduction device provided with an internal gear, an external gear meshing with the internal gear, a camshaft for oscillating the external gear, a cam bearing for supporting the camshaft, and a bearing housing including the cam bearing is known (for example, Patent Literature) One).

Patent Document 1: Japanese Patent Application Laid-Open No. 2011-112214

In the conventional speed reducer as described in Patent Document 1, there is a fear that the bearing housing is worn by friction with the rotating body.

The present invention has been made in view of such a situation, and an object thereof is to provide a reduction device capable of reducing wear of a bearing housing.

In order to solve the above problems, a reduction device of an aspect of the present invention includes an internal gear, an external gear meshing with the internal gear, a camshaft for oscillating the external gear, a cam bearing for supporting the camshaft, and an outer ring of the cam bearing A reduction device comprising: a bearing housing including the above; The axial distance is greater than the second axial gap between the opposing members.

However, arbitrary combinations of the above components, and those in which the components and expressions of the present invention are mutually substituted among methods, apparatuses, systems, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to reduce the wear of the bearing housing.

BRIEF DESCRIPTION OF THE DRAWINGS It is sectional drawing which shows the speed reducer which concerns on 1st Embodiment.
FIG. 2 is an enlarged cross-sectional view showing the second opposing member, the second bearing housing, and the bearing of FIG. 1 and the periphery thereof.
Fig. 3 is a cross-sectional view showing the speed reduction device according to the second embodiment.
FIG. 4 is an enlarged cross-sectional view showing the second opposing member, the second carrier member, and the bearing of FIG. 3 and the periphery thereof.
5 is a cross-sectional view showing a reduction device according to a modification.

Hereinafter, the same or equivalent components, members, and processes shown in the respective drawings are denoted by the same reference numerals, and appropriately overlapped descriptions are omitted. In addition, in order to facilitate understanding, the size of the member in each figure is enlarged and reduced suitably, and is shown. In addition, in each figure, in describing embodiment, a part of the member which is not important is abbreviate|omitted and displayed.

(First embodiment)

1 : is sectional drawing which shows the speed reducer 100 which concerns on embodiment. The reduction gear 100 is a flat type bending-engagement reduction gear (gear device). The speed reduction device 100 is used, for example, in the joint portion of the first arm on the root side and the second arm on the tip side that constitute the arm of the industrial robot. The reduction device 100 reduces the rotation of the motor included in the first arm and outputs it to the second arm, thereby causing the second arm to relatively rotate with respect to the first arm.

The reduction device 100 includes a wave generator 2 , an external gear 4 , an internal gear 6 , a carrier member 8 , a casing 10 , and a first opposing member 12 , A second opposing member (14), a main bearing (16), a first bearing housing (18), and a second bearing housing (20) are provided.

The wave generator 2 includes a vibrating body shaft 22, a plurality of first rolling elements 24a, a plurality of second rolling elements 24b, a first supporter 26a, and a second supporter ( 26b), a first outer ring member 28a, and a second outer ring member 28b. The vibrating body shaft 22 is an input shaft, is connected to rotational drive sources, such as a motor, for example, and rotates centering around the rotation shaft R. The vibrating body shaft 22 is integrally formed with the vibrating body 22a whose cross section orthogonal to the rotation axis R is substantially elliptical shape.

The plurality of first rolling elements 24a each have a substantially cylindrical shape, and are provided at intervals in the circumferential direction in a state in which the axial direction faces a direction substantially parallel to the rotation axis R direction. The 1st rolling body 24a is supported so that rolling is possible by the 1st support machine 26a, and rolls around the outer peripheral surface 22b of the vibrating body 22a. The 2nd rolling element 24b is comprised similarly to the 1st rolling element 24a. The plurality of second rolling elements 24b are rotatably supported by the first supporter 26a and the second supporter 26b arranged side by side in the axial direction, and the outer peripheral surface 22b of the vibrating element 22a. to Jeonju Hereinafter, the 1st rolling element 24a and the 2nd rolling element 24b are collectively called "rolling body 24". Moreover, the 1st supporter 26a and the 2nd supporter 26b are collectively called "supporter 26".

The first outer ring member 28a surrounds the plurality of first rolling elements 24a. The first outer ring member 28a has flexibility and is bent in an elliptical shape by the vibrating body 22a via the plurality of first rolling members 24a. When the vibrating body 22a (that is, the vibrating body shaft 22) rotates, the 1st outer ring member 28a is continuously bent and deformed according to the shape of the vibrating body 22a. The second outer ring member 28b has the same configuration as the first outer ring member 28a. The second outer ring member 28b is formed as a separate body from the first outer ring member 28a. However, the second outer ring member 28b may be formed integrally with the first outer ring member 28a. Hereinafter, the first outer ring member 28a and the second outer ring member 28b are collectively referred to as "outer ring member 28".

The external gear 4 is an annular member having flexibility, and the vibrating body 22a, the rolling body 24, and the outer ring member 28 are fitted inside it. The external gear 4 is bent in an elliptical shape when the vibrating body 22a, the rolling body 24 and the outer ring member 28 are fitted. When the external gear 4 rotates, the vibrating body 22a is continuously bent and deformed according to the shape of the vibrating body 22a. The external gear 4 includes a first external tooth part 4a, a second external tooth part 4b, and a base material 4c. The 1st external tooth part 4a and the 2nd external tooth part 4b are formed in the base material 4c which is a single base material, and are the same dimension.

The internal gear 6 is an annular member having rigidity. The first internal tooth part 6a of the internal gear 6 surrounds the first external tooth part 4a of the external gear 4 bent in an elliptical shape, and the first internal tooth part 6a in a predetermined area near the long axis of the vibrating body 22a It engages with the external tooth portion (4a). The first internal tooth portion 6a has more teeth than the first external tooth portion 4a.

The carrier member 8 is a cylindrical member having rigidity. In this embodiment, the 2nd internal tooth part 8a is formed in the inner periphery of the carrier member 8. As shown in FIG. The second internal tooth portion 8a of the carrier member 8 surrounds the second external tooth portion 4b of the external gear 4 bent in an elliptical shape, and is a second in two regions in the long axis direction of the vibrating body 22a. It engages with the external tooth portion (4b). The second inner tooth portion 8a has the same number of teeth as the second outer tooth portion 4b. Accordingly, the carrier member 8 rotates in synchronization with the rotation of the second external tooth portion 4b and furthermore the external gear 4 .

The first opposing member 12 is a flat ring-shaped member, and is opposed to the axial end surfaces of the external gear 4, the first outer ring member 28a and the first supporter 26a, respectively, and the external gear 4 ), the first outer ring member 28a and the first supporter 26a, and is disposed between the first bearing housing 18 and the bearing 30 . The second opposing member 14 is a flat ring-shaped member, and is opposed to the axial end surfaces of the external gear 4, the second outer ring member 28b and the second supporter 26b, respectively, and the external gear 4 ), the second outer ring member 28b and the second supporter 26b, and the second bearing housing 20 and the bearing 32 are disposed between. The first opposing member 12 and the second opposing member 14 regulate the movement in the axial direction of the external gear 4 , the outer ring member 28 , and the supporter 26 . Detailed configurations of the first opposing member 12 and the second opposing member 14 will be described later with reference to FIG. 2 .

The casing 10 is a substantially cylindrical member and surrounds the carrier member 8 . In the casing 10, the internal gear 6 is connected and integrated as described later. A main bearing 16 is disposed between the casing 10 and the carrier member 8 . The main bearing 16 is a crossed roller bearing in the present embodiment, and includes a plurality of rollers (rolling body) 46 provided at intervals in the circumferential direction. The plurality of rollers (46) roll the front surface (8b) of the carrier member (8) and the front surface (10a) of the casing (10). That is, the outer circumferential side of the carrier member 8 functions as an inner ring of the main bearing 16 , and the inner circumferential side of the casing 10 functions as an outer ring of the main bearing 16 . The casing 10, via the main bearing 16, supports the carrier member 8 in a relatively rotatable manner.

The first bearing housing 18 is an annular member and surrounds the vibrating body shaft 22 . Similarly, the second bearing housing 20 is an annular member and surrounds the vibrating body shaft 22 . The first bearing housing 18 and the second bearing housing 20 include an external gear 4, a rolling element 24, a supporter 26, an outer ring member 28, a first opposing member 12 and a first It is arranged so as to sandwich the two opposing members 14 in the axial direction. The first bearing housing 18 is inlong-fitted with respect to the internal gear 6 . The second bearing housing 20 is inlong-fitted to the carrier member 8 . The bearing 30 is included on the inner periphery of the first bearing housing 18 , the bearing 32 is included on the inner periphery of the second bearing housing 20 , and the vibrating body shaft 22 includes the bearing 30 and the bearing Through 32, the first bearing housing 18 and the second bearing housing 20 are rotatably supported.

An oil seal 40 is disposed between the vibrating body shaft 22 and the first bearing housing 18, and an O-ring 34 is disposed between the first bearing housing 18 and the internal gear 6, An O-ring 36 is disposed between the internal gear 6 and the casing 10 , and an oil seal 42 is disposed between the casing 10 and the carrier member 8 , and the carrier member 8 and An O-ring 38 is disposed between the second bearing housing 20 , and an oil seal 44 is disposed between the second bearing housing 20 and the vibrating body shaft 22 . Accordingly, it is possible to suppress leakage of the lubricant in the reduction device 100 .

The operation of the speed reduction device 100 configured as described above will be described. Here, the dimension of the first external tooth part 4a is 100, the dimension of the second external tooth part 4b is 100, the dimension of the first internal tooth part 6a is 102, and the dimension of the second internal tooth part 8a is 100. A case where , is described as an example. In addition, a case where the internal gear 6 and the first bearing housing 18 are in a fixed state will be described as an example.

When the vibrating body shaft 22 rotates in a state in which the first external tooth portion 4a is engaged with the first internal tooth portion 6a at two locations in the elliptical major axis direction, the first external tooth portion 4a and the first The engagement position of the inner tooth part 6a also moves in the circumferential direction. Since the first external tooth part 4a and the first internal tooth part 6a have different dimensions, at this time, the first external tooth part 4a rotates relatively with respect to the first internal tooth part 6a. Since the internal gear 6 and the 1st bearing housing 18 are in a fixed state, the 1st external tooth|tooth part 4a rotates so much that it corresponds to a dimensional difference. That is, the rotation of the vibrating body shaft 22 is greatly reduced and output to the first external tooth portion 4a. The reduction ratio is as follows.

Reduction ratio = (dimension of first external tooth part 4a - dimension of first internal tooth part 6a) / dimension of first external tooth part 4a

=(100-102)/100

=-1/50

Since the second external tooth part 4b is integrally formed with the first external tooth part 4a, it rotates integrally with the first external tooth part 4a. Since the second external tooth part 4b and the second internal tooth part 8a have the same dimensions, relative rotation does not occur, and the second external tooth part 4b and the second internal tooth part 8a rotate integrally. For this reason, the same rotation as the rotation of the first external tooth part 4a is output to the second internal tooth part 8a. As a result, from the second internal tooth portion 8a, the output obtained by decelerating the rotation of the vibrating body shaft 22 to -1/50 can be taken out.

Subsequently, the configuration of the opposing member, the bearing housing, and the bearing will be described in more detail. However, below, the configuration of the second opposing member 14 and the second bearing housing 20 will be representatively described, but the same description is also applied to the first opposing member 12 and the first bearing housing 18 . However, since the first opposing member 12 and the first bearing housing 18 contact each other, and there is no gap between the first opposing member 12 and the first bearing housing 18, the first opposing member 12 ) and the first bearing housing 18, the technical idea of the present invention is not applied. Of course, by providing a gap between the first opposing member 12 and the first bearing housing 18, the technical idea of the present invention is applied between the first opposing member 12 and the first bearing housing 18 You can do it.

2 is an enlarged cross-sectional view showing the second opposing member 14, the second bearing housing 20 and the bearing 32 and their periphery. The second bearing housing 20 includes a cylindrical portion 20a and an annular protrusion 20b protruding radially outward from the cylindrical portion 20a. The protrusion 20b abuts against the carrier member 8 in the axial direction. By screwing a bolt (not shown) into the screw hole 8c of the carrier member 8 through the bolt hole 20c formed in the protrusion 20b, the second bearing housing 20 and the carrier member 8 can be concluded.

The bearing 32 includes an outer ring 32a, an inner ring 32b, a plurality of rolling elements 32c, and two sealing members 32d. The outer ring 32a abuts against the inner peripheral surface 20d of the cylindrical portion 20a. The inner ring 32b abuts against the outer peripheral surface 22c of the vibrating body shaft 22 . The plurality of rolling elements 32c are provided between the outer ring 32a and the inner ring 32b. The sealing member 32d is a side in the axial direction of the some rolling element 32c, and is provided in the part of the both ends of the axial direction of the clearance gap between the outer ring 32a and the inner ring 32b. The sealing member 32d seals the inside of the bearing 32 , and suppresses leakage of lubricant from the bearing 32 and entry of foreign substances into the bearing 32 .

The second opposing member 14 includes a first portion 14a positioned radially outward and a second portion 14b positioned radially inward of the first portion 14a. The end surface 14d of the second part 14b on the opposite side of the external gear (left in Fig. 2) is on the external gear side (right in Fig. 2) than the end face 14c of the first part 14a on the opposite side of the external gear. Located. For this reason, the axial thickness of the 2nd part 14b is smaller than the axial thickness of the 1st part 14a. Further, the first portion 14a is axially opposed to the outer peripheral side of the cylindrical portion 20a of the second bearing housing 20 and the outer ring 32a, and the second portion 14b is the outer ring 32a ) opposite the inner peripheral side and the sealing member 32d in the axial direction. However, the second opposing member 14 may be formed so that the second portion 14b only faces the sealing member 32d in the axial direction.

The width of the first axial gap 52 between the first portion 14a and the cylindrical portion 20a of the second bearing housing 20, the second opposing member 14 and the bearing 32 is the first The portion 14a and the second axial gap 54 of the outer ring 32a are formed to be wider than the axial width. In other words, the second bearing housing 20, the second opposing member 14 and the bearing 32 are the end face 22d of the external gear side of the cylindrical portion 20a and the external gear of the first part 14a. The axial distance of the end face 14c on the opposite side is formed to be larger than the axial distance between the end face 32e on the side of the external gear of the outer ring 32a and the end face 14c on the opposite side of the external gear of the first part 14a. . In Fig. 2, by forming the second bearing housing 20 so that the end face 22d of the cylindrical portion 20a is located on the opposite side of the outer gear than the end face 32e of the outer ring 32a, the above-described relationship is satisfied. . However, in FIG. 2, since the end face 14c of the first portion 14a abuts against the end face 32e of the outer ring 32a, the axial width of the second axial gap 54 is substantially zero. has become

At the end of the cylindrical portion 20a on the external gear side, a concave portion 20e that is recessed toward the inner periphery is formed. The concave portion 20e is preferably formed so as to be an endless ring-shaped concave portion. By forming the concave portion 20e in the cylindrical portion 20a, a space functioning as the lubricant storage portion 56 is formed on the outer peripheral side of the cylindrical portion 20a. The lubricant storage part 56 communicates with the first axial gap 52 .

The carrier member (8) has an end face (8d) on the side of the second opposing member (14) of the second inner tooth (8a) of the second opposing member (14) of the second outer tooth (4b) of the external gear (4). ) is located on the opposite side (right side in FIG. 2) of the second opposing member rather than the end face 4d on the side. Thereby, a space functioning as the lubricant storage unit 58 is formed on the outer peripheral side of the second external tooth portion 4b.

According to the reduction device 100 according to the embodiment described above, the first axial gap between the bearing housing and the opposing member is wider than the second axial gap between the bearing supporting the vibrating body shaft 22 and the opposing member. In this case, since the bearing serves as a stopper and contact between the opposing member and the bearing housing is suppressed, it is possible to suppress wear of the bearing housing by the opposing member rotating by receiving rotation from the external gear 4 . Accordingly, a relatively soft and light metal (eg, aluminum) can be used for the bearing housing, and the reduction device 100 can be reduced in weight.

Further, according to the reduction device 100 according to the embodiment, the lubricant storage portion 56 is formed on the outer peripheral side of the bearing housing, and the lubricant storage portion 56 communicates with the first axial clearance 52 . . As a result, since lubricant is supplied between the bearing and the opposing member from the lubricant storage unit 56, wear between the bearing and the opposing member due to lack or exhaustion of the lubricant is suppressed.

Further, according to the reduction device 100 according to the embodiment, the second portion of the opposing member faces the sealing member of the bearing in the axial direction. Here, the cross-section of the first portion of the opposing member is located on the opposite side to the load than the cross-section of the second portion, and the first portion is in contact with the outer ring of the bearing. Accordingly, the first part of the opposing member becomes a stopper, and the contact between the second part of the opposing member and the sealing member of the bearing is suppressed, so that the bearing is sealed by the rotating opposing member receiving rotation from the external gear 4 . Abrasion of the member is suppressed. As a result, a longer life of the bearing is expected.

Further, according to the reduction device 100 according to the embodiment, the second portion of the opposing member also opposes the outer ring of the bearing. That is, a part of the outer ring of the bearing does not come into contact with the opposing member. As a result, compared to the case where the entire outer ring is in contact with the opposing member, lubricant flows more easily between the opposing member and the bearing, and wear between the bearing and the opposing member due to lack or exhaustion of the lubricant is suppressed.

(Second embodiment)

3 : is sectional drawing which shows the speed reducer 200 which concerns on 2nd Embodiment. The speed reduction device 200 is a center crank type eccentric swing speed reduction device.

The reduction device 200 includes an input shaft 102, eccentric bodies 104, 106, 108, rollers 110, 112, 114, external gears 116, 118, 120, and a first carrier member ( The first bearing housing) 126 , the second carrier member (the second bearing housing) 128 , the casing 136 , the main bearings 138 and 139 , the internal gear 140 , and the first opposing A member 152 and a second opposing member 154 are provided.

The input shaft 102 is connected to a rotational drive source such as a motor, and rotates about the rotation shaft R, for example. In the input shaft 102, the input shaft 102 and the three eccentric bodies 104, 106, 108 are formed integrally with the axial center shifted. The three eccentrics 104, 106, and 108 are eccentric with a phase difference of 120 degrees from each other. However, the eccentric body 104 , 106 , 108 may be configured as a separate body from the input shaft 102 and then fixed to the input shaft 102 by a key or the like.

On the outer periphery of each eccentric body (104, 106, 108), respectively, via rollers (110, 112, 114), three external gears (116, 118, 120) are fitted to the outside so as to be able to swing. A plurality of offset through-holes (116a, 118a, 120a) are formed in each of the external gears (116, 118, 120) at positions offset from the axis. The plurality of offset through-holes 116a, 118a, and 120a are formed at equal intervals in the circumferential direction.

In the offset through-holes 116a, 118a, and 120a, the inner pin 122 and the inner roller 124 fitted to the outside of the inner pin 122 are penetrated in the axial direction. Between the inner roller 124 and the offset through-holes 116a, 118a, and 120a, a gap corresponding to twice the amount of eccentricity of the eccentric bodies 104, 106, and 108 at the maximum is secured. The inner roller 124, the outer peripheral surface (124a) of the external gear (116, 118, 120) and the offset through-holes (116a, 118a, 120a) and slidably contact with, the inner peripheral surface (124b) is the inner pin (122) ) in contact with the outer peripheral surface (122a) and slidably.

The 1st carrier member 126 is arrange|positioned on the axial direction one side (the right side in FIG. 3) of the external gear 116, 118, 120. The first carrier member 126 is fastened to the inner pin 122 by a bolt 130 . The second carrier member 128 is disposed on the other side in the axial direction of the external gears 116 , 118 , and 120 (the left side in FIG. 3 ). In this embodiment, the second carrier member 128 is formed integrally with the inner pin 122 . Accordingly, the first carrier member 126 and the second carrier member 128 are connected through the inner pin (122).

A bearing 132 is disposed between the first carrier member 126 and the input shaft 102 , and a bearing 134 is disposed between the second carrier member 128 and the input shaft 102 . The first carrier member 126 and the second carrier member 128 rotatably support the input shaft 102 through the bearing 132 and the bearing 134 .

The first opposing member 152 is a flat ring-shaped member and faces the retainer 110a of the roller 110 and the axial end face of the external gear 116, the retainer 110a and the external gear 116 and It is disposed between the first carrier member 126 and the bearing 132 . The second opposing member 154 is a flat ring-shaped member and faces the retainer 114a of the roller 114 and the axial end face of the external gear 120, the retainer 114a and the external gear 120 and It is disposed between the second carrier member 128 and the bearing 134 . The first opposing member 152 and the second opposing member 154 regulate axial movement of the retainers 110a, 112a, and 114a and the external gears 116, 118, and 120. As shown in FIG. A detailed configuration of the first opposing member 152 and the second opposing member 154 will be described later with reference to FIG. 4 .

The casing 136 is a substantially cylindrical member, and surrounds the external gears 116 , 118 , 120 , the first carrier member 126 , and the second carrier member 128 . The casing 136 rotatably supports the first carrier member 126 and the second carrier member 128 by a pair of main bearings 138 and 139 arranged at intervals in the axial direction.

The internal gear 140 is formed on the inner peripheral surface of the casing 136 . The internal gear 140 is internally fitted with the external gears 116 , 118 , and 120 . The inner gear 140 is configured by inserting a cylindrical outer pin into the pin grooves at equal intervals formed on the inner circumferential surface of the casing 136 . However, the internal gear 140 may be integrally formed with the inner peripheral surface of the casing 136 . The dimensions of the internal teeth of the internal gear 140 are slightly larger (for example, 10,000) than the dimensions of the external teeth of the external gears 116 , 118 , and 120 .

An oil seal 182 is provided between the casing 136 and the second carrier member 128 . Thereby, the inside of the speed reducer 200 is sealed, and it is suppressed that the lubricant in the speed reducer 200 leaks.

The main bearings 138 and 139 have rolling elements 138a and 139a and outer rings 138b and 139b, respectively, but do not have an inner ring. Instead, on the outer periphery of the first carrier member 126 , a raceway 138c functioning as the inner race of the main bearing 138 is formed, and on the outer periphery of the second carrier member 128 , the inner race of the main bearing 139 . A raceway 139c functioning as However, the main bearing is not limited to such a configuration, and may have a separate inner ring.

The operation of the speed reduction device 200 configured as described above will be described. Here, the case where the dimensional difference between the external gears 116 , 118 , 120 and the internal gear 140 is 1 will be described as an example.

When the input shaft 102 rotates, the eccentric bodies 104 , 106 , 108 integrally formed with the input shaft 102 rotate, and the external gears 116 , 118 , 120 swing through the rollers 110 , 112 , 114 . do. Due to this fluctuation, a phenomenon in which the meshing positions of the external gears 116 , 118 , 120 and the internal gear 140 are sequentially shifted occurs.

Since the dimensions of the external gears (116, 118, 120) are only 1 less than the dimensions of the internal gear 140, the external gears (116, 118, 120) are, each time the input shaft 102 rotates once, 1 Only the tooth powder (ie, the minute equivalent to the dimensional difference) is shifted (rotated) out of phase with respect to the internal gear 140 . This rotation component, the sliding of the offset through-holes 116a, 118a, 120a and the inner roller 124 of the external gears 116, 118, 120, and the inner peripheral surface 124b and the inner pin 122 of the inner roller 124 ) is transmitted to the inner pin 122 through the sliding of the outer circumferential surface 122a of the second carrier member 128 integrally formed with the inner pin 122 at a rotational speed reduced to 1/ (the size of the inner gear). It rotates relative to the casing (136).

Next, the structures of the opposing member and the carrier member will be described in more detail. However, in the following description, the configuration of the second opposing member 154, the second carrier member 128, and the bearing 134 will be representatively described, but the first opposing member 152, the first carrier member 126, and the bearing will be described. The same explanation applies to (130).

4 is an enlarged cross-sectional view showing the second opposing member 154, the second carrier member 128 and the bearing 134 and their periphery. The bearing 134 includes an outer ring 134a, an inner ring 134b, and a plurality of rolling elements 134c. The outer ring 134a abuts against the inner peripheral surface 128a of the second carrier member 128 . The inner ring 134b abuts against the outer peripheral surface 102a of the input shaft 102 . The plurality of rolling elements 134c are provided between the outer ring 134a and the inner ring 134b.

The second opposing member 154 includes a first portion 154a positioned radially outward and a second portion 154b positioned radially inward of the first portion 154a. The first part 154a and the second part 154b have the same configuration as the first part 14a and the second part 14b of FIG. 2 .

The second carrier member 128 , the second opposing member 154 and the bearing 134 have a width of the first axial gap 156 between the first portion 154a and the second carrier member 128 , The first portion 154a and the second axial gap 158 of the outer ring 134a are formed to be wider than the axial width. In other words, the second carrier member 128 , the second opposing member 154 , and the bearing 134 are the end face 128b of the second carrier member 128 on the external gear side (the right side in FIG. 4 ) and the first The axial distance of the end surface 154c of the external gear opposite side (left side in FIG. 4) of the portion 154a is the end surface 134e of the outer gear side of the outer ring 134a and the external gear opposite side of the first part 154a It is formed to be larger than the axial distance of the end face 154d.

In Fig. 4, by forming the second carrier member 128 so that the end face 128b of the second carrier member 128 is located on the opposite side of the outer gear than the end face 134e of the outer ring 134a, the above-described relationship is satisfied and have. However, in FIG. 4 , since the end face 14c of the first portion 154a abuts against the end face 134e of the outer ring 134a, the width of the second axial gap 158 is substantially zero. .

According to the reduction device 200 according to the embodiment described above, the first axial clearance between the bearing housing and the opposing member is wider than the second axial clearance between the bearing supporting the input shaft 102 and the opposing member. In this case, since the bearing serves as a stopper and contact between the opposing member and the carrier member is suppressed, wear of the carrier member due to friction between the opposing member and the carrier member can be suppressed. Thereby, a relatively soft and light metal (eg, aluminum) can be used for the carrier member, and the reduction device 200 can be reduced in weight.

As mentioned above, the speed reducer which concerns on embodiment was demonstrated. This embodiment is an example, and it will be understood by those skilled in the art that various modifications are possible in the combination of each of these components or each processing process, and that such modifications are also within the scope of the present invention. A modified example is shown below.

(Modification 1)

5 is an enlarged cross-sectional view showing the second opposing member 214 and the second bearing housing 20 of the reduction gear 300 according to the modified example and their periphery. FIG. 5 corresponds to FIG. 2 . The opposing member 214 faces the bearing 32 in the axial direction. The opposing member 214 is integrally formed with the external gear 4 . It can also be said that the end of the external gear 4 on the side of the second bearing housing functions as an opposing member. According to the present modified example, the same operational effects as those exhibited by the speed reduction device 100 according to the embodiment are exhibited. In addition, according to this modification, since the opposing member is integrally formed with the external gear 4 , the number of parts can be reduced compared to the case where the opposing member is a member separate from the external gear 4 .

(Modification 2)

In 1st Embodiment, it has two internal tooth parts (1st internal tooth part 6a, 2nd internal tooth part 8a), and the external gear 4 demonstrated the flat type bending-meshing type reduction gear whose cylindrical shape was demonstrated. , but is not limited thereto. The technical idea of the first embodiment is also applicable to a cup type, a hat type, and other types of bending-engagement speed reduction devices having one internal gear.

(Modified example 3)

In the second embodiment, an eccentric oscillation type reduction device of the center crank type in which only one input shaft in which the eccentric body is integrated is provided at the shaft center of the internal gear has been described, but the present invention is not limited thereto. The technical idea of the second embodiment is a split type in which a plurality of eccentric shafts are provided at positions offset from the axial center of the internal gear, and the external gear is oscillated by synchronously rotating the eccentric body integrated with the plurality of eccentric shafts. It can also be applied to the eccentric oscillation type reduction gear of

Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiment generated by the combination has both the effects of the combined embodiment and the modified example.

It is also understood by those skilled in the art that the function to be accomplished by each component described in the claims is realized by a single entity of each component shown in the embodiment and the modified example or a link between them. For example, the camshaft and cam bearing described in the claims may be realized by the vibrating body shaft 22 and bearings 30 and 32 in which the vibrating body 22a described in the first embodiment is integrally formed, and the second embodiment The eccentric bodies (104, 106, 108) described in may be realized by the input shaft (102) and the bearings (132, 134) integrally formed.

4 shouting gear
6 internal gear
12 first opposing member
14 second opposing member
18 1st bearing housing
20 2nd bearing housing
22 excitatory axis
22a permeable
30, 32 bearings
100 reduction gear

Claims (8)

A bearing housing including an internal gear, an external gear meshing with the internal gear, a cam shaft for oscillating the external gear, a cam bearing for supporting the cam shaft, and an outer ring of the cam bearing; A reduction device provided with an opposing member disposed on the external gear side opposite to the cam bearing and facing the bearing housing in an axial direction on a radially outer side of the cam bearing,
and a first axial clearance between the bearing housing and the opposing member is wider than a second axial clearance between the outer ring of the cam bearing and the opposing member. A bearing housing including an internal gear, an external gear meshing with the internal gear, a camshaft for oscillating the external gear, a cam bearing for supporting the camshaft, and an outer ring of the cam bearing; the bearing housing and the cam A reduction device having an opposing member disposed on the side of the external gear to face the bearing,
a first axial clearance between the bearing housing and the opposing member is wider than a second axial clearance between the outer ring of the cam bearing and the opposing member;
The external gear has flexibility, and the camshaft is a bending gear device comprising a vibrating body for bending and deforming the external gear. A bearing housing including an internal gear, an external gear meshing with the internal gear, a camshaft for oscillating the external gear, a cam bearing for supporting the camshaft, and an outer ring of the cam bearing; the bearing housing and the cam A reduction device having an opposing member disposed on the side of the external gear to face the bearing,
a first axial clearance between the bearing housing and the opposing member is wider than a second axial clearance between the outer ring of the cam bearing and the opposing member;
A lubricant storage portion is provided on an outer peripheral side of the bearing housing, and the lubricant storage portion communicates with the first axial gap. A bearing housing including an internal gear, an external gear meshing with the internal gear, a camshaft for oscillating the external gear, a cam bearing for supporting the camshaft, and an outer ring of the cam bearing; the bearing housing and the cam A reduction device having an opposing member disposed on the side of the external gear to face the bearing,
a first axial clearance between the bearing housing and the opposing member is wider than a second axial clearance between the outer ring of the cam bearing and the opposing member;
The opposing member is a ring-shaped member separate from the external gear, and is disposed between the external gear and the bearing housing to regulate an axial movement of the external gear. 5. The method of claim 4,
The opposing member includes a first portion facing the bearing housing and a second portion provided radially inside the first portion and having a smaller axial thickness than the first portion. 6. The method of claim 5,
The cam bearing has a sealing member on the side of the rolling element, and the second portion faces the sealing member. 7. The method of claim 6,
The second portion also faces the outer ring of the cam bearing. A bearing housing including an internal gear, an external gear meshing with the internal gear, a camshaft for oscillating the external gear, a cam bearing for supporting the camshaft, and an outer ring of the cam bearing; the bearing housing and the cam A reduction device having an opposing member disposed on the side of the external gear to face the bearing,
a first axial clearance between the bearing housing and the opposing member is wider than a second axial clearance between the outer ring of the cam bearing and the opposing member;
The external gear side end face of the bearing housing is positioned further away from the external gear than the external gear side end face of the outer ring of the cam bearing.

Images