200946798 九、發明說明 【發明所屬之技術領域】 本申請係依據已於2007年12月21日申請之日本國專利 申請第2007-330743號、及2008年6月24日申請之日本國專 利申請第2008-164763號而主張優先權。該等申請之全部 内容係以參照方式被引用在本明細書中。 本發明細關於具有散熱構造之減速機及其輸入軸的製 . 造方法。 【先前技術】 以往，已知有一減速機，係具備輸入軸、設在該輸入 軸的偏心體、設在該偏心體外側的外齒齒輪、以及與該外 齒齒輪内接嚙合的内齒齒輪；取出該外齒齒輪和内齒齒輪 之相對旋轉作爲輸出（例如，參照專利文獻特開200 1 -187 94 5號公報）。在這種減速機，當輸入軸旋轉時，設在 ❹ 輸入軸的偏心體係與該輸入軸呈一體地旋轉。於是，設在 偏心體外側的外齒齒輪藉由設在其内側的偏心體軸承而進 行摇動運動。然後，進行摇動運動的外齒齒輪和内齒齒輪 内接嚙合，藉由此與内齒齒輪之嚙合所產生的外齒齒輪和 内齒齒輪之相對旋轉被輸出。 這種減速機的領域也朝小型化、高輸出化進展中。 如上述之減速機的情形，係藉由各部的滑動或嚙合產 生熱。而發熱問題在這種減速機，最嚴酷是集中在高速旋 轉的輸入軸及設在該處之偏心體附近。然後’此發熱對減 -5- 200946798 速機的耐久性造成很大的影響，且成爲該減速機小型化、 高輸出化之障礙。 【發明內容】 本發明係爲了解決這種問題而發明者，其目的係於具 有輸入軸和設在輸入軸的偏心體之減速機中，以使其具有 構造性特徴的方式，使因輸入軸旋轉所產生的熱可有效地 散熱。 ❹ 本發明係一種減速機，具備輸入軸、設在該輸入軸的 偏心體、設在該偏心體半徑方向外側的外齒齒輪、以及與 該外齒齒輪内接嚙合的内齒齒輪；取出該外齒齒輪和内齒 齒輪之相對旋轉作爲輸出；其特徴爲：前述輸入軸在其半 徑方向中央部具有中空部，前述偏心體係與該輸入軸一體 地形成，該輸入軸的前述中空部側，在包含前述偏心體被 形成的軸方向位置之軸方向位置，遍及全周地設有凹部’ 該凹部的切入棱線對於與前述輸入軸的軸心呈直角的面呈 © 傾斜，藉此解決上述課題。 採用這種構成的結果，比不具凹部時，輸入軸中空部 側的偏心體附近之表面積。因此’可降低熱阻力而増加中 空部的散熱效果。 又，藉由形成凹部的方式’在輸入軸和偏心體被構成 的部分之金屬量減少，因此在凹部附近可更增加相當量之 散熱效果且實現輕量化。 又，本發明中，爲了使該效果發揮至最大限度’大膽 -6- 200946798 將偏心體和輸入軸一體形成，其結果爲在壁厚化部分形成 前述凹部。因此，不會使強度降低，可形成深的凹部，而 可發揮較大的散熱效果及重量減輕效果。 再者，本發明所相關之凹部被設定成其切入稜線對於 輸入軸的軸線呈傾斜，因此加工容易，且可簡易地確保比 (被設定成傾斜的稜線部分）更大的散熱面積。又，凹部 底面的端部附近形成「鈍角」，因此應力集中可較緩和。 〇 本發明係一種減速機輸入軸的製造方法，該減速機係 :具備具有中空部的輸入軸、設在該輸入軸的偏心體、設 在該偏心體半徑方向外側的外齒齒輪、以及與該外齒齒輪 内接嚙合的内齒齒輪；取出該外齒齒輪和内齒齒輪之相對 旋轉作爲輸出；該減速機的前述輸入軸之製造方法，其特 徴爲：具備第1切入棱線形成工程，該第1切入稜線形成工 程係：前述輸入軸的前述中空部側，包含前述偏心體被形 成的軸方向位置的軸方向位置，遍及全周地形成有凹部， 〇 同時藉由使該輸入軸中空部的内徑從相當於前述凹部的端 部之位置，沿軸方向逐漸地増大的方式形成該凹部的第1 切入稜線，藉此可掌握住減速機輸入軸的製造方法。 又，一種減速機，係具備輸入軸、設在該輸入軸的偏 心體、設在該偏心體半徑方向外側的外齒齒輪、以及與該 外齒齒輪内接嚙合的内齒齒輪；取出該外齒齒輪和内齒齒 輪之相對旋轉作爲輸出；其特徴爲：前述輸入軸在其軸心 部分具有中空部且與前述偏心體一體形成，前述輸入軸的 前述中空部側，在前述偏心體被形成的軸方向位置，遍及 -7- 200946798 全周地設有比該偏心體之寬更寬廣的凹部’藉此方式亦可 解決上述課題。 即，採用這種構成的結果，比不具凹部時，更増加輸 入軸中空部側的偏心體附近之表面積。因此，可降低熱阻 力而増加中空部的散熱效果。 又，藉由形成凹部的方式，輸入軸的金屬量將減少， 因此可降低相當的熱容量，而可更増加凹部附近的散熱效 果並實現輕量化。 又，本發明中，本發明中，爲了使該效果發揮至最大 限度，大膽將偏心體和輸入軸一體形成，其結果爲在壁厚 化部分形成前述凹部。在利用鍵或花鍵等將偏心體組入輸 入軸的構造之情形下，偏心體的裝設部分因該當鍵或花鍵 等存在使得降低強度，無法形成充分深度之凹部。本發明 中，由於將凹部形成在僅偏心體部分形成壁厚的部分，因 此不會使強度降低，可形成深的凹部，而可發揮大的散熱 效果及重量減輕效果。 又，深的凹部係於中空部側遍及全周地設成較偏心體 之寬更爲寬廣，因此在輸入軸和偏心體被構成的部分之金 屬量變少，可使減速機本身變輕。 又，在偏心體兩側設有用於支撐輸入軸的軸承，在該 軸承外側之至少另一方面設有密封構件，相較於從軸心至 .軸承之距離，該密封構件係從軸心以較短距離抵接在輸入 軸’於該情形下，可使密封構件的半徑變小，而可提高密 封性能。然後，相較於以軸承支撐的輸入軸之軸徑，可使 -8- 200946798 軸承外側的輸入軸之軸徑較小，因此也具有減輕重的效果 此外，在凹部積極地配置有熱傳導率更高的構件時， 在輸入軸和偏心體被構成的部分之熱容量少，因此可能有 迅速地奪取在輸入軸和偏心體被構成的部分之熱的情形。 根據本發明，在具有偏心體之減速機中，可藉由輸入 軸的旋轉，有效率地將偏心體附近產生之熱予以散熱。 〇 【實施方式】 以下，參照附圖詳細説明本發明之實施形態之一例。 第2圖係本發明第1實施形態之一例所相關的減速機之 側面剖視圖，第1圖爲第2圖之主要部分放大圖。 減速機100具備：輸入軸102、一體設在該輸入軸102 之第1、第2偏心體104A、104B、設在該第1、第2偏心體 10 4A、104B半徑方向外側之第1、第2外齒齒輪108、110、 φ 與該第1、第2外齒齒輪108、110内接嚙合之内齒齒輪122 。輸入軸102具有内徑D1的中空部10 2A，對應第1、第2偏 心體104A、104B被形成的軸方向位置，形成有凹部102B 。以下詳述。 輸入軸102係藉由配置在第2偏心體104B附近的軸承 142、和無圖示之配置在電動機内的軸承，而可旋轉自如 地被支撐著。 第1、第2偏心體104A、104B外周，係以各自約偏離 180相位的方式，對輸入軸1〇2的軸心0呈偏心。在第1、第 200946798 2偏心體104A、104B外周，透過第1、第2偏心體軸承（滾 子）106A、106B嵌合在前述第1、第2外齒齒輪108、110。 第1、第2外齒齒輪108 ' 1 10係内接嚙合在内齒齒輪122。 内齒齒輪122的内齒係由圓柱狀之外銷11 6所構成。内 齒齒輪122的齒數（外銷116之數）僅比第1、第2外齒齒輪 108、110的齒數略（大約1至3)多。 在第1、第2外齒齒輪1〇8、110，設有複數朝軸方向之 内銷孔108八、110人。在内銷孔1〇8人、110八透過内滾筒114 鬆嵌著内銷112。又，在第1、第2外齒齒輪108、110的軸 方向兩側，配置著第1、第2凸緣118、124。前述内銷112 係從第1凸緣118以單臂狀態一體地突出形成。 在第1凸緣118半徑方向最外側，藉由螺桿127 (第1圖 僅顯示螺桿孔）連結固定著框體1 20。框體1 20係兼作減速 機100的外殻。框體120和内齒齒輪122可透過十字滾筒軸 承128而相對地旋轉。另一方面，第2凸緣124係透過軸承 142以可旋轉方式支撐著輸入軸102。第2凸緣124係透過螺 桿12 6—體地連結固定著内齒齒輪122。 此外，圖中的符號130、144、146表示第1〜第3密封構 件、符號148表示Ο型環。藉由該等第1〜第3密封構件130、 144、146及Ο型環148，密閉減速機100内部。該減速機1〇〇 係藉由例如將無圖示之扁平電動機搭載結合在輸入軸102 的方式，例如用於當作機械臂的關節驅動用。本發明中並 未特別限定組合的電動機種類，因此省略電動機部分之圖 示及詳細説明。 -10- 200946798 此處詳細説明形成在輸入軸102的凹部102B。 在輸入軸102—體地形成有第1、第2偏心體104A、 104B。輸入軸102之與第1、第2偏心體104A、104B在軸方 向隣接的部位，係被形成壁厚（例如直徑dl)且對應第1 、第2偏心體104A、104B被形成的軸方向位置之凹部102B ，亦充分確保強度。 在輸入軸102的中空部102A側，對應第1、第2偏心體 φ 104A、104B被形成的軸方向位置，遍及全周地形成有凹部 102B。凹部102B的形成深度爲AD。即，設有凹部102B的 部分之輸入軸102的内徑D2，比未設凹部102B的部分之輸 入軸102的内徑D1，僅大了深度AD的2倍份（2· ΔΟ=ϋ2 -D1 )。 從凹部102Β的一方之端部Ρ1到另一方之端部Ρ4之寬 Q1，係充分寬闊地大約爲從第1、第2偏心體104Α、104Β 的一方之端部Ρ5到另一方之端部Ρ6之寬q的2倍以上。連從 〇 凹部102B的底面102Bb (最深部分）的一方之端部P2到另 —方之端部P3之寬Q2，都比第1、第2偏心體104A、104B 的前述寬q更大。又，從凹部102B的底面102Bb的一方之端 部P2到另一方之端部P3之軸方向位置，係完全地包含從第 1、第2偏心體104A、104B的一方之端部P5到另一方之端 部P6之軸方向位置。即，在輸入軸102上，凹部102B的底 面102 Bb存在之（被形成之）軸方向範圍Q2，係包含第1、 第2偏心體104A、104B被形成的軸方向範圍q。 形成凹部102B的第1、第2切入稜線102B1、102B2對 -11 - 200946798 於與輸入軸102的軸心0呈直角的面呈傾斜。即，第1、第2 切入稜線102Β1、102Β2的切入角度al、ci2，相對於輸入軸 102的軸心〇，被設定爲未達90度之角度。本實施形態中， 第1、第2切入稜線102Β1、102Β2之具體的切入角度al、cx2 ，係雙方皆形成爲大致30度（45度以下之淺切入角度）。 換言之，包含該凹部102Β的軸心Ο之剖面形狀，在本實施 形態中爲「緩傾斜的等邊梯形」。但是，切入角度α1、α2 並非必須相同，例如考慮到輸入軸外周形狀而亦可不同。 同樣地，2條切入稜線並非必須2條皆對於與輸入軸軸心呈 直角的面呈傾斜，例如關於一方之側的切入稜線，被形成 與輸入軸軸心呈直角（90度）亦可。 接著，説明減速機100的作用。 對輸入軸102傳達來自扁平電動機等之動力後，一體 形成在該當輸入軸102的第1、第2偏心體104Α、104Β就進 行偏心旋轉。該第1、第2偏心體104Α、104Β之偏心旋轉， 係透過第1、第2偏心體軸承106Α、106Β傳達到第1、第2外 齒齒輪108、110，第1、第2外齒齒輪108、110對軸心〇開 始揺動。另一方面，在該第1、第2外齒齒輪108、110的内 銷孔108Α、1 10Α，插入著與第1凸緣1 18及框體120—起處 於固定狀態之内銷112。因此，第1、第2外齒齒輪108、 1 10係其自轉被限制，僅進行摇動。又，内齒齒輪122的外 銷116之數（内齒之數），被設定爲僅比第1、第2外齒齒 輪108、110之齒數略多，因此内齒齒輪122係第1、第2外 齒齒輪108、110每摇動1次就僅自轉（對第1、第2外齒齒 -12- 200946798 輪108、110相對旋轉）該當齒數差分。内齒齒輪122之自 轉係透過第2凸緣124被取出，該第2凸緣124係透過該内齒 齒輪122和螺桿126進行一體旋轉。 此外，本實施形態中，於設計成第2凸緣124爲固定的 情形下，輸入軸102之旋轉被減速後，當作第1凸緣118 ( 即，框體120)之旋轉而被輸出。 此處，因輸入軸1〇2之旋轉，在第1、第2偏心體104A Q 、104B、第1、第2偏心體軸承10 6A、106B、及第1、第2 外齒齒輪108、1 10之間，因摩擦產生熱。但是，該熱係因 凹部1〇2Β之存在而輔以散熱表面積増加，被順暢地放出到 中空部102A側。 尤其，本實施形態中，凹部102B之形成（加工）極爲 容易。即，形成凹部102的第1切入稜線102B1 (加工）時 ，例如藉由從凹部102B的一方之端部P1 (相當於凹部一方 側之端部的位置），沿軸方向使内徑從D 1到D2逐漸地増 〇 加之方式（例如藉由使無圖示之切削刀一面沿軸方向移動 ，一面沿輸入軸102半徑方向外側緩緩地移動之方式）， 可形成第1切入稜線102B1 (第1切入稜線形成工程）（從 凹部102B另一方之端部P2側進行切削時爲第2切入稜線 102B2。此處，若一旦停止半徑方向的移動而僅沿軸方向， 移動，則内徑D2可形成一定之底面10 2Bb(凹部底面形成 工程）。然後，若使増大的内徑D2逐漸地減少而回到増大 前的内徑D1 (若再度一面使切削刀沿軸方向移動，一面回 到半徑方向内側），可形成第2切入稜線102B2(第2切入 -13- 200946798 棱線形成工程）（從端部P2側進行切削時爲第1切入棱線 102B1)。藉此可極爲簡易地形成、確保比（形成傾斜稜 線的部分）更大的散熱面積。 此外’凹部102B可於中空部102A形成之同時形成，亦 可在形成中空部102A後，另外僅形成凹部102B。 又’第1、第2切入稜線102B1、102B2對於與輸入軸 102的軸心Ο呈直角的面呈傾斜，因此凹部l〇2B的底面 102Bb和第1、第2切入稜線10 2B1、102B2係以「鈍角」交 差，亦可避免在底面.J02Bb的端部P2、P3附近之應力集中 〇 又，本實施形態中，將偏心體104和輸入軸102—體形 成，其結果在壁厚化部分形成有凹部1 02B。例如利用鍵、 或花鍵等將偏心體組入輸入軸之構造時，輸入軸之偏心體 裝設部分因該當鍵 '或花鍵等存在而強度降低，無法形成 充分深度之凹部。相對於此，本實施形態中，由於可在僅 偏心體104部分形成壁厚的部分形成凹部102B，因此不會 使強度降低，可形成深的凹部102B，而可發揮大的散熱效 果及重量減輕效果。又，凹部10 2B深的部分可使減速機 10 0本身更輕，由於輸入軸102輕而可提高軌道效率。 , 進而，本實施形態中，凹部102B的底面（最深部分） 102Bb的端部P2、P3，係形成在完全地包含各第1、第2偏 心體104A、104B的端部P5、端部P6的軸方向位置之位置 ，因此可有效率地將第1、第2偏心體104A、104B附近產生 之熱，解放到凹部102B側。 200946798 此外，本發明係於凹部102B積極地配置、塗布熱傳導 率更高的構件，並非禁止増加被輻射之熱者。藉此，相較 於只是設置爲當作凹部，有時可更有效率地散發熱。 如前述，本實施形態中，包含凹部102B軸心的剖面形 狀係形成爲等邊梯形，但本發明並非被限定於此者。切入 稜線的切入角度並非必須相等，値也未被限定於30度。但 是，爲了同時實現高散熱效率、加工容易性及降低應力集 H 中，凹部的切入稜線較佳爲雙方皆對軸心以45度以下切入 角度呈傾斜的角度爲期待。藉此，進一步提高散熱效率， 且能夠更簡易地形成應力集中少之凹部。 此外，本實施形態中，剛體之外齒齒輪係以摇動的内 接揺動嚙合型遊星齒輪減速機爲對象，但本發明並非限定 於此者。例如，也可應用藉由外齒齒輪撓曲的方式取出與 内齒齒輪之相對旋轉，即所謂「撓曲嚙合式遊星減速機」 。於該情形下，爲了使外齒齒輪撓曲所用的各楕圓體及其 〇 楕圓外周部等，可視爲本發明之偏心體。 接著，詳細説明本發明之第2、第3實施形態之一例。 此外，以下實施形態中，亦有使用與第1實施形態不同用 語的情形。 第3圖係本發明之第2實施形態所相關的減速機之側面 剖視圖’第4圖係於第3圖所示之減速機應用扁平電動機的 情形之一例之示意圖。利用該等來説明第2實施形態。 首先，説明減速機200的構成。 減速機200係如第3圖所示，具備：輸入軸202、設在 -15- 200946798 該輸入軸202之第1、第2偏心體204A、204B、設在該第1、 第2偏心體204A、204B半徑方向外側之第i、第2外齒齒輪 208、210、及與該第1、第2外齒齒輪2 08、210内接嚙合之 内齒齒輪222。 前述輸入軸202係於密封構件244外側之軸徑爲ddl ’ 在軸心〇部分具有中空部202A (内徑DD1)。然後’輸入 軸202係於較軸徑ddl略粗的軸徑部分，抵接密封構件244 、246。在第1軸承240和第2軸承242之間的輸入軸202外周 設有隆起部204 (在第1軸承240、第2軸承242的部分’軸 徑dd2 )。輸入軸202和隆起部204係一體形成。因此，如 第3圖所示，具有隆起部204的軸徑dd2大於輸入軸202的軸 徑ddl之關係（dd2>ddl)。此外，在隆起部204外周設有 第1、第2軸承240、242，因此輸入軸202能夠以軸心Ο爲中 心進行旋轉。 在前述隆起部204外周，形成有各自約相差180°相位 之第1、第2偏心體204A、204B，抵接第1、第2偏心體軸承 2 06A、206B。第1、第2偏心體軸承206A、206B不具有内 輪、外輪，而是轉動體（滾子）本身，其轉動體係直接抵 接在第1、第2外齒齒輪208、210和第1、第2偏心體204A、 204B。200946798 IX. Description of the Invention [Technical Fields of the Invention] This application is based on Japanese Patent Application No. 2007-330743, filed on Dec. 21, 2007, and Japanese Patent Application No. Priority is claimed on 2008-164763. The entire contents of these applications are hereby incorporated by reference. The present invention is directed to a method of manufacturing a reduction gear having a heat dissipation structure and an input shaft thereof. [Prior Art] Conventionally, there is known a reduction gear including an input shaft, an eccentric body provided on the input shaft, an externally toothed gear provided outside the eccentric body, and an internally toothed gear in meshing engagement with the externally toothed gear The relative rotation of the externally toothed gear and the internally toothed gear is taken out as an output (for example, refer to JP-A-200 1 -187 94 5). In such a reduction gear, when the input shaft rotates, the eccentric system provided on the ❹ input shaft rotates integrally with the input shaft. Then, the externally toothed gear provided outside the eccentric body is rocked by the eccentric body bearing provided inside. Then, the externally toothed gear and the internally toothed gear that are subjected to the rocking motion are in meshed engagement, and the relative rotation of the externally toothed gear and the internally toothed gear generated by the meshing with the internally toothed gear is output. The field of such a speed reducer is also progressing toward miniaturization and high output. In the case of the above-described speed reducer, heat is generated by sliding or meshing of the respective portions. The problem of heat generation in such a speed reducer is that the most severe is concentrated in the high-speed rotating input shaft and the eccentric body located there. Then, this heat has a great influence on the durability of the speed reducer -5-200946798 speed machine, and it becomes an obstacle to miniaturization and high output of the speed reducer. SUMMARY OF THE INVENTION The present invention has been made in order to solve such a problem, and an object thereof is to provide an input shaft and a reducer provided in an eccentric body of an input shaft so as to have a structural characteristic, such that the input shaft The heat generated by the rotation can effectively dissipate heat. The present invention relates to a speed reducer comprising: an input shaft, an eccentric body provided on the input shaft, an externally toothed gear disposed outside the eccentric body in a radial direction, and an internal gear that is in meshing engagement with the externally toothed gear; The relative rotation of the external gear and the internal gear is an output, and the input shaft has a hollow portion at a central portion in the radial direction thereof, and the eccentric system is integrally formed with the input shaft, and the hollow portion side of the input shaft is In the axial direction position including the position in the axial direction in which the eccentric body is formed, a concave portion is provided over the entire circumference. The incision ridge line of the concave portion is inclined at a right angle to the axial center of the input shaft, thereby solving the above-mentioned problem. Question. As a result of such a configuration, the surface area in the vicinity of the eccentric body on the hollow portion side of the shaft is input as compared with the case where the concave portion is not provided. Therefore, it is possible to reduce the heat resistance and increase the heat dissipation effect of the hollow portion. Further, since the amount of metal in the portion where the input shaft and the eccentric body are formed by the method of forming the concave portion is reduced, a considerable amount of heat radiation effect can be added in the vicinity of the concave portion and weight reduction can be achieved. Further, in the present invention, in order to maximize the effect, the eccentric body and the input shaft are integrally formed. As a result, the concave portion is formed in the thickened portion. Therefore, the strength is not lowered, and a deep recess can be formed, and a large heat dissipation effect and a weight reduction effect can be exhibited. Further, the concave portion according to the present invention is set such that the cutting ridge line is inclined with respect to the axis of the input shaft, so that the processing is easy, and the heat dissipation area larger than (the ridge line portion set to be inclined) can be easily secured. Further, since the "obtuse angle" is formed in the vicinity of the end portion of the bottom surface of the concave portion, the stress concentration can be moderated. The present invention relates to a method of manufacturing a reducer input shaft, comprising: an input shaft having a hollow portion, an eccentric body provided on the input shaft, an externally toothed gear disposed outside the eccentric body in a radial direction, and The external gear is internally meshed with the meshing internal gear; the relative rotation of the external gear and the internal gear is taken out as an output; and the manufacturing method of the input shaft of the reducer is characterized in that: the first cutting edge forming process is provided The first incision ridge line forming engineering system includes: the hollow portion side of the input shaft includes an axial position of the axial direction in which the eccentric body is formed, and a concave portion is formed over the entire circumference, and the input shaft is simultaneously formed The first cutting edge line of the concave portion is formed so that the inner diameter of the hollow portion gradually increases from the position corresponding to the end portion of the concave portion in the axial direction, whereby the manufacturing method of the input shaft of the reduction gear can be grasped. Further, a speed reducer includes an input shaft, an eccentric body provided on the input shaft, an externally toothed gear disposed outside the eccentric body in a radial direction, and an internal gear that is in meshing engagement with the externally toothed gear; The relative rotation of the tooth gear and the internal gear is an output; the input shaft has a hollow portion at a central portion thereof and is integrally formed with the eccentric body, and the hollow portion side of the input shaft is formed in the eccentric body The position in the axial direction is provided with a wider recess than the width of the eccentric body throughout the circumference of -7-200946798. This method can also solve the above problems. That is, as a result of such a configuration, the surface area in the vicinity of the eccentric body on the side of the hollow portion of the shaft is increased as compared with the case where the recess is not provided. Therefore, the heat resistance can be reduced and the heat dissipation effect of the hollow portion can be increased. Further, by forming the concave portion, the amount of metal of the input shaft is reduced, so that the relative heat capacity can be reduced, and the heat dissipation effect in the vicinity of the concave portion can be further increased and the weight can be reduced. Further, in the present invention, in order to minimize the effect, the eccentric body and the input shaft are integrally formed in a bold manner, and as a result, the concave portion is formed in the thickened portion. In the case where the eccentric body is incorporated into the input shaft by a key or a spline or the like, the mounting portion of the eccentric body is reduced in strength due to the presence of the key or the spline, and the concave portion having a sufficient depth cannot be formed. In the present invention, since the concave portion is formed in a portion where only the eccentric body portion is formed thick, the strength is not lowered, and a deep concave portion can be formed, and a large heat radiation effect and a weight reducing effect can be exhibited. Further, since the deep recessed portion is wider than the eccentric body over the entire circumference of the hollow portion, the amount of metal in the portion where the input shaft and the eccentric body are formed is reduced, and the speed reducer itself can be made light. Further, a bearing for supporting the input shaft is provided on both sides of the eccentric body, and a sealing member is provided on at least another side of the outer side of the bearing, and the sealing member is from the axial center as compared with the distance from the axial center to the bearing A shorter distance abuts on the input shaft 'in this case, the radius of the sealing member can be made smaller, and the sealing performance can be improved. Then, compared with the shaft diameter of the input shaft supported by the bearing, the shaft diameter of the input shaft outside the bearing of -8-200946798 can be made smaller, so that the weight is also reduced. In addition, the thermal conductivity is actively arranged in the recess. In the case of a high member, the heat capacity of the portion where the input shaft and the eccentric body are formed is small, and thus there is a possibility that the heat of the portion where the input shaft and the eccentric body are formed can be quickly taken. According to the present invention, in a reducer having an eccentric body, heat generated in the vicinity of the eccentric body can be efficiently dissipated by the rotation of the input shaft. [Embodiment] Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. Fig. 2 is a side cross-sectional view showing a speed reducer according to an example of the first embodiment of the present invention, and Fig. 1 is an enlarged view of a main portion of Fig. 2; The speed reducer 100 includes an input shaft 102, first and second eccentric bodies 104A and 104B integrally provided in the input shaft 102, and first and second sides in the radial direction of the first and second eccentric bodies 10 4A and 104B. The external gears 108, 110, and φ are internally meshed with the first and second externally toothed gears 108 and 110. The input shaft 102 has a hollow portion 10 2A having an inner diameter D1, and a recess portion 102B is formed corresponding to the axial direction position where the first and second eccentric bodies 104A and 104B are formed. The details are as follows. The input shaft 102 is rotatably supported by a bearing 142 disposed in the vicinity of the second eccentric body 104B and a bearing disposed in the motor (not shown). The outer circumferences of the first and second eccentric bodies 104A and 104B are eccentric to the axis 0 of the input shaft 1〇2 so as to be shifted by about 180 phases. On the outer circumferences of the first and second layers of the eccentric bodies 104A and 104B, the first and second externally toothed gears 108 and 110 are fitted through the first and second eccentric body bearings (rollers) 106A and 106B. The first and second externally toothed gears 108' 1 10 are internally meshed with the internal gear 122. The internal teeth of the internal gear 122 are constituted by cylindrical external pins 116. The number of teeth of the internal gear 122 (the number of the outer pins 116) is only slightly larger (about 1 to 3) than the number of teeth of the first and second externally toothed gears 108, 110. In the first and second externally toothed gears 1 and 8, 110, a plurality of inner pin holes 108 in the axial direction are provided, and eight or 110 persons are provided. The inner pin 112 is loosely fitted through the inner roller 114 by the inner pin hole 1〇8, 1108. Further, the first and second flanges 118 and 124 are disposed on both sides of the first and second externally toothed gears 108 and 110 in the axial direction. The inner pin 112 is integrally formed to protrude integrally from the first flange 118 in a single arm state. On the outermost side in the radial direction of the first flange 118, the frame 126 is fixedly coupled by a screw 127 (only the screw hole is shown in Fig. 1). The casing 1 20 also serves as the outer casing of the reducer 100. The frame 120 and the internal gear 122 are relatively rotatable through the cross roller bearing 128. On the other hand, the second flange 124 rotatably supports the input shaft 102 through the bearing 142. The second flange 124 is integrally coupled to the internal gear 122 via the screw 12 6 . Further, reference numerals 130, 144 and 146 in the figure denote first to third sealing members, and reference numeral 148 denotes a Ο-shaped ring. The first to third sealing members 130, 144, and 146 and the Ο-shaped ring 148 seal the inside of the reduction gear 100. The reduction gear 1 is coupled to the input shaft 102 by, for example, a flat motor (not shown), and is used, for example, as a joint for driving a robot arm. The type of the motor to be combined is not particularly limited in the present invention, and therefore the illustration and detailed description of the motor portion are omitted. -10-200946798 The recess 102B formed in the input shaft 102 will be described in detail herein. The first and second eccentric bodies 104A and 104B are integrally formed on the input shaft 102. The portion of the input shaft 102 adjacent to the first and second eccentric bodies 104A and 104B in the axial direction is formed to have a wall thickness (for example, a diameter d1) and corresponds to the axial direction of the first and second eccentric bodies 104A and 104B. The recess 102B also sufficiently ensures strength. On the side of the hollow portion 102A of the input shaft 102, a concave portion 102B is formed over the entire circumference in accordance with the position in the axial direction in which the first and second eccentric bodies φ 104A and 104B are formed. The depth of formation of the recess 102B is AD. That is, the inner diameter D2 of the input shaft 102 where the concave portion 102B is provided is only twice as large as the inner diameter D1 of the input shaft 102 where the concave portion 102B is not provided (2·ΔΟ=ϋ2 - D1 ). The width Q1 from the one end portion Ρ1 of the concave portion 102Β to the other end portion Ρ4 is sufficiently wide from the end portion Ρ5 of the first and second eccentric bodies 104Α and 104Β to the other end portion Ρ6. More than twice the width q. The width Q2 from the one end P2 of the bottom surface 102Bb (the deepest portion) of the 凹 concave portion 102B to the other end portion P3 is larger than the aforementioned width q of the first and second eccentric bodies 104A and 104B. Further, the axial position from one end P2 of the bottom surface 102Bb of the concave portion 102B to the other end portion P3 completely includes one end portion P5 from the first and second eccentric bodies 104A and 104B to the other side. The position of the end portion P6 in the axial direction. In other words, in the input shaft 102, the axial direction range Q2 in which the bottom surface 102 Bb of the concave portion 102B exists is included in the axial direction range q in which the first and second eccentric bodies 104A and 104B are formed. The first and second tangential ridges 102B1, 102B2 forming the concave portion 102B are inclined at a right angle to the axis 0 of the input shaft 102 from -11 to 200946798. In other words, the cutting angles a1 and ci2 of the first and second cutting ridge lines 102A1 and 102B2 are set to an angle of less than 90 degrees with respect to the axial center axis of the input shaft 102. In the present embodiment, the specific cutting angles a1 and cx2 of the first and second cutting ridge lines 102A1 and 1022 are formed to be approximately 30 degrees (a shallow cutting angle of 45 degrees or less). In other words, the cross-sectional shape of the axial center 包含 including the concave portion 102 is "slightly inclined equilateral trapezoid" in the present embodiment. However, the cutting angles α1 and α2 do not have to be the same, and may be different, for example, in consideration of the outer peripheral shape of the input shaft. Similarly, it is not necessary for the two incision ridge lines to be inclined with respect to the plane perpendicular to the input shaft axis. For example, the incision ridge line on one side may be formed at a right angle (90 degrees) to the input shaft axis. Next, the action of the speed reducer 100 will be described. After the power from the flat motor or the like is transmitted to the input shaft 102, the first and second eccentric bodies 104A and 104b integrally formed on the input shaft 102 are eccentrically rotated. The eccentric rotation of the first and second eccentric bodies 104A and 104B is transmitted to the first and second externally toothed gears 108 and 110 through the first and second eccentric body bearings 106A and 106B, and the first and second externally toothed gears. 108, 110 on the axis of the heart began to move. On the other hand, in the inner pin holes 108 Α and 1 10 该 of the first and second externally toothed gears 108 and 110, the inner pin 112 which is fixed to the first flange 181 and the frame body 120 is inserted. Therefore, the first and second externally toothed gears 108 and 110 are restricted in their rotation and are only shaken. Further, since the number of the outer pins 116 (the number of internal teeth) of the internal gear 122 is set to be slightly larger than the number of teeth of the first and second externally toothed gears 108 and 110, the internal gear 122 is the first and second. Each of the externally toothed gears 108, 110 rotates only once (one rotation of the first and second external teeth -12 - 200946798 wheels 108, 110) for the number of teeth. The rotation of the internal gear 122 is taken out through the second flange 124, and the second flange 124 is integrally rotated by the internal gear 122 and the screw 126. Further, in the present embodiment, when the second flange 124 is designed to be fixed, the rotation of the input shaft 102 is decelerated, and then output as the rotation of the first flange 118 (that is, the casing 120). Here, the first and second eccentric bodies 104A Q and 104B, the first and second eccentric body bearings 10 6A and 106B, and the first and second externally toothed gears 108 and 1 are rotated by the input shaft 1〇2. Between 10, heat is generated by friction. However, this heat is supplemented by the heat dissipation surface area due to the presence of the concave portion 1〇2Β, and is smoothly discharged to the side of the hollow portion 102A. In particular, in the present embodiment, the formation (machining) of the concave portion 102B is extremely easy. In other words, when the first incision ridge line 102B1 of the concave portion 102 is formed (processed), the inner diameter is made from D 1 in the axial direction by, for example, the one end portion P1 of the concave portion 102B (the position corresponding to the end portion on the one side of the concave portion). The first incision ridge line 102B1 can be formed by gradually increasing the amount of D2 (for example, by moving the cutter (not shown) in the axial direction while moving along the radial direction of the input shaft 102). 1 cutting edge line forming process) (The second cutting edge line 102B2 is cut from the other end portion P2 side of the concave portion 102B. Here, if the movement in the radial direction is stopped and the movement is performed only in the axial direction, the inner diameter D2 may be A certain bottom surface 10 2Bb is formed (the bottom surface of the concave portion is formed). Then, if the inner diameter D2 of the large diameter is gradually decreased, the inner diameter D1 of the large front portion is returned (if the cutting blade is moved in the axial direction again, the radius is returned to the radius. In the inner side of the direction, the second incision ridge line 102B2 (the second incision-13-200946798 ridge line forming process) can be formed (the first incision ridge line 102B1 when cutting from the end portion P2 side). This makes it extremely easy to form, Ensure ratio ( The portion where the inclined ridge line is formed) has a larger heat dissipation area. Further, the 'recessed portion 102B may be formed at the same time as the hollow portion 102A is formed, and after the hollow portion 102A is formed, only the concave portion 102B may be formed. Further, the first and second tangential ridge lines are formed. Since 102B1 and 102B2 are inclined at a right angle to the axial center of the input shaft 102, the bottom surface 102Bb of the recessed portion 102B and the first and second incision ridge lines 10 2B1 and 102B2 intersect with each other at an "obtuse angle", and can also be avoided. In the present embodiment, the eccentric body 104 and the input shaft 102 are integrally formed, and as a result, the recessed portion 102B is formed in the thickened portion. For example, by using a key, When the eccentric body is incorporated into the input shaft structure such as a spline or the like, the eccentric body mounting portion of the input shaft is reduced in strength due to the presence of the key ' or the spline, and the concave portion having a sufficient depth cannot be formed. In contrast, the present embodiment In this case, since the concave portion 102B can be formed in a portion where only the eccentric body 104 is formed to have a thick portion, the strength can be reduced, and the deep concave portion 102B can be formed, and a large heat dissipation effect and a weight reduction effect can be exhibited. The deep portion of the recessed portion 10 2B can make the speed reducer 10 0 itself lighter, and the track efficiency can be improved by the lightness of the input shaft 102. Further, in the present embodiment, the end portions P2 and P3 of the bottom surface (the deepest portion) 102Bb of the recessed portion 102B are provided. The position of the end portion P5 and the end portion P6 of the first and second eccentric bodies 104A and 104B in the axial direction is completely included, so that the first and second eccentric bodies 104A and 104B can be efficiently disposed. The generated heat is released to the side of the concave portion 102B. In addition, the present invention is such that the concave portion 102B is actively disposed and coated with a member having a higher thermal conductivity, and is not prohibited from being heated by the radiation. Thereby, it is sometimes possible to dissipate heat more efficiently than simply setting it as a concave portion. As described above, in the present embodiment, the cross-sectional shape including the axial center of the concave portion 102B is formed as an equilateral trapezoid, but the present invention is not limited thereto. The angle of cut into the ridge line does not have to be equal, and 値 is not limited to 30 degrees. However, in order to simultaneously achieve high heat dissipation efficiency, ease of processing, and reduced stress set H, it is preferable that the cut-in ridge line of the concave portion is inclined at an angle at which the axial center is cut at an angle of 45 degrees or less. Thereby, the heat dissipation efficiency is further improved, and the concave portion having less stress concentration can be formed more easily. Further, in the present embodiment, the rigid-body external gear is intended to be a rocking internal oscillating meshing planetary gear reducer, but the present invention is not limited thereto. For example, it is also possible to take out the relative rotation with the internal gear by means of deflection of the externally toothed gear, that is, a so-called "flexive meshing type planetary reducer". In this case, the respective round bodies for bending the externally toothed gears, the outer circumference of the 〇 round, and the like can be regarded as the eccentric body of the present invention. Next, an example of the second and third embodiments of the present invention will be described in detail. Further, in the following embodiments, a case different from the first embodiment may be used. Fig. 3 is a side cross-sectional view of a reduction gear according to a second embodiment of the present invention. Fig. 4 is a view showing an example of a case where a flat motor is applied to a reduction gear shown in Fig. 3. The second embodiment will be described using these. First, the configuration of the speed reducer 200 will be described. As shown in FIG. 3, the speed reducer 200 includes an input shaft 202, first and second eccentric bodies 204A and 204B provided in the input shaft 202, and first and second eccentric bodies 204A provided in -15-200946798. The i-th and second externally toothed gears 208 and 210 on the outer side in the radial direction of 204B and the internally-toothed gear 222 that meshes with the first and second externally toothed gears 20 and 210. The input shaft 202 has a shaft diameter dd' outside the seal member 244, and has a hollow portion 202A (inner diameter DD1) in the axial center portion. Then, the input shaft 202 is attached to the sealing members 244, 246 at a portion of the shaft diameter which is slightly thicker than the shaft diameter ddl. A ridge portion 204 (a portion of the first bearing 240 and the second bearing 242, the shaft diameter dd2) is provided on the outer circumference of the input shaft 202 between the first bearing 240 and the second bearing 242. The input shaft 202 and the ridge portion 204 are integrally formed. Therefore, as shown in Fig. 3, the relationship between the shaft diameter dd2 of the raised portion 204 and the axial diameter ddl of the input shaft 202 (dd2 > ddl). Further, since the first and second bearings 240 and 242 are provided on the outer circumference of the raised portion 204, the input shaft 202 can be rotated about the center of the shaft. On the outer circumference of the raised portion 204, first and second eccentric bodies 204A and 204B each having a phase difference of about 180° are formed, and the first and second eccentric body bearings 208A and 206B are abutted. The first and second eccentric body bearings 206A and 206B do not have the inner and outer wheels, but the rotator (roller) itself, and the rotation system directly abuts the first and second externally toothed gears 208 and 210 and the first and the first 2 eccentric bodies 204A, 204B.
輸入軸202，更具體而言，在輸入軸2 02的中空部2 02 A 側’於隆起部204被形成的軸方向位置，遍及全周地設有 比第1、第2偏心體204A、204B的合計寬qq更寬闊的單一之 凹部202B(階梯差S、寬QQ)。即，具有：設有凹部202B 200946798 的部分之輸入軸202的内徑DD2，大於未設凹部202B的部 分之輸入軸202的内徑DD1之關係（DD2>DD1)。 如此地，輸入軸202和隆起部204係一體形成，因此可 將階梯差S亦即深的凹部202B形成在輸入軸2 02。因此，使 隆起部204部分的壁厚（dd2 — DD2) /2、和未設隆起部204 部分的輸入軸202之壁厚（ddl-DDl) /2成爲同等之所謂 的壁厚關係之設計調整可進行自如。然後，輕量化並配合 〇 旋轉負荷，減速機20 0在使用上可保持充分強度。 前述第1、第2外齒齒輪208、210可由2個同一形狀的 齒輪構成，設在第1、第2偏心體204A、204B外側。然後， 以中心孔208B、210B抵接第1、第2偏心體軸承206A、 206B，同時將外銷216内接嚙合在當作内齒之内齒齒輪222 。在第1、第2外齒齒輪208、210設有複數之内銷孔208A、 210八，在該内銷孔208人、210人透過内滾筒214鬆嵌著内銷 212。該内銷212係與圓盤形狀之第1凸緣218—體地形成。 Ο 因此，内銷212在第1凸緣218即使爲單臂狀態，仍可使減 速機200全體薄型化並使減速機20 0保持高剛性。 前述第1凸緣218係透過第1軸承240支撐隆起部2 04， 使輸入軸202可旋轉。又，對該第1凸緣218，挾持著第1、 第2外齒齒輪208、210而在相反側配置有圓盤形狀之第2凸 緣224。隆起部204係透過第2軸承242，可旋轉自如地被支 撐在該第2凸緣224。即，在第1、第2偏心體204A、204B兩 側，設有支撐隆起部204之第1軸承240和第2軸承242。此 外’第2凸緣224係透過螺桿226而一體地連結固定内齒齒 -17- 200946798 輪22 2。圖面上未出現，但第1、第2外齒齒輪208、210之 齒數、和外銷216(内齒齒輪222的内齒）之數’被設有些 許之差（大約1至3 )。 在第1凸緣218半徑方向最外側，於覆蓋包圍内齒齒輪 222之態樣中，兼作外殼之框體220係藉由螺桿227而被連 結固定在第1凸緣218。又，該當框體220和内齒齒輪222係 透過十字滾筒軸承22 8，被支撐成可相對地旋轉。即’若 以十字滾筒軸承228爲中心來看，構成爲：該框體220係當 作十字滾筒軸承228的外輪之功能，另一方面，内齒齒輪 222係當作該十字滾筒軸承228的内輪之功能。 在前述内齒齒輪222和框體220之間，配置有第1密封 構件23 0。又，第1凸緣21 8和輸入軸202之間，在第1軸承 240外側（第3圖中的右側）配置有第2密封構件244。又’ 第2凸緣224和輸入軸202之間，在第2軸承242外側（第3圖 中的左側）配置有第3密封構件246。又，在第1凸緣218和 框體220之連結部分配置有Ο型環248。藉由該等第1〜第3密 封構件23 0、244、246及Ο型環248密閉減速機200内部。 此外，如上述地，第1軸承240、第2軸承242支撐著隆 起部204。相對於此，第2、第3密封構件244、246係於第1 軸承240、第2軸承242外側，抵接在未設有隆起部204的位 置之輸入軸202。即，第2、第3密封構件2 44、246係相較 於從軸心〇至第1軸承240、第2軸承242之距離’從軸心〇 以較短的距離抵接在輸入軸202。因此，第2、第3密封構 件244、246的半徑小就夠了，因此在輸入軸202周圍密封 200946798 的長度，較短於在隆起部2 0 4周圍密封之情形，結果可提 高密封性能。此外，僅是輸入軸202的軸徑ddl小的部分， 就可以減輕重量。 此外，在減速機200内部收容有當作潤滑劑之潤滑油 或齒輪油（無圖示）。此外，被收容的潤滑劑只要是在減 速機200運轉時，至少一部分流動化的種類之潤滑劑即可 ，並未限於常温下必須是液體潤滑劑者。 0 利用第4圖説明在前述減速機200，例如應用扁平電動 機的情形之一例。 扁平電動機250具備：設在輸入軸202、具有電磁線圈 254之定子252、和具有磁鐵258之轉子256。 前述定子252係與電動機外殼262—體形成，在半徑方 向（與軸心正交的方向），與磁鐵2 5 8以預定間隔對峙著 。設在定子252之電磁線圈254容易在軸方向占有空間。因 此，扁平電動機25 0被連接在減速機200時，可收納電磁線 〇 圈254之溝部218A係形成在第1凸緣218表面。前述轉子256 係透過花鍵260而被安裝在輸入軸2 02，在轉子256外周配 置磁鐵258。 扁平電動機250係藉由端蓋2 64夾入電動機外殻262， 且藉由螺桿22 7 —體地固定減速機200。此外，解析器266 係磁氣感測器的一種，被安裝在輸入軸202，用於檢測扁 平電動機250之旋轉用（或者亦可利用編碼器等光學式感 測器）。 接著，説明減速機200的作用。 -19- 200946798 對輸入軸2 02傳達動力源（無圖示）、或者來自第4圖 所示扁平電動機250的動力（旋轉力）時，該當輸入軸20 2 所一體形成的隆起部204之第1、第2偏心體204 A、204B進 行偏心旋轉。該第1、第2偏心體204A、204B之偏心旋轉係 透過第1、第2偏心體軸承206A、206B傳達到第1、第2外齒 齒輪208、210。即，第1、第2外齒齒輪208、210對軸心〇 開始摇動。另一方面，在該第1、第2外齒齒輪208、210被 固定著的内銷212，由於被插入而被限制自轉，形成第1、 第2外齒齒輪208、210僅進行摇動。又，如前述，該第1、 第2外齒齒輪208、210的齒數和内齒齒輪222的外銷216之 數之間，被設有略微之差（齒數差），因此内齒齒輪222 係第1、第2外齒齒輪20 8、210每揺動旋轉1次就僅自轉該 當齒數差分（對第1、第2外齒齒輪208、210相對旋轉）。 此外，第1、第2外齒齒輪208、210的揺動成分，係藉由第 1、第2外齒齒輪208、210和内銷212及内滾筒214之鬆嵌而 被吸收。内齒齒輪22 2的自轉係藉由與連結固定在第1凸緣 21 8的框體220之間所配置之十字滾筒軸承228而順利地進 行，透過利用該内齒齒輪222和螺桿226進行一體旋轉的第 2凸緣224而被取出。 此外，本實施形態中，第2凸緣224被固定著的情形下 ，輸入軸202之旋轉被減速後，當作第1凸緣218(即，框 體220 )之旋轉而被輸出。 因輸入軸202之旋轉，第1、第2偏心體204A、204B、 第1、第2偏心體軸承206A、206B、及第1、第2外齒齒輪 200946798 208、21 0之間’因摩擦產生熱，但該熱被順暢地放出到中 空部202Α側的凹部202Β。此時，因輸入軸202之旋轉，在 中空部202 Α側形成空氣強制對流。因此，藉由凹部202Β之 存在而輔以散熱表面積増加，中空部2〇2A中的散熱效果進 而増加。 又，藉由形成凹部202B的方式，輸入軸202的金屬量 變少，因此可降低相當量的熱容量。然後，在隆起部204 φ 的中空部202 A側，藉由存在有比第1、第2偏心體204A、 204B的合計寬qq更寬闊的凹部202B(階梯差S、寬QQ)之 方式，使集中在隆起部2 04之熱被順地放出到中空部2 02 A 。然後，相較於不具凹部202B時，藉由輸入軸202之旋轉 可進而増加凹部202B附近的散熱效果。 又，本實施形態中，將隆起部204和輸入軸202—體形 成，其結果在壁厚化部分形成有凹部202B。在利用鍵、或 花鍵等將隆起部204組入輸入軸202的情形下，輸入軸202 φ 的隆起部204之裝設部分，因該當鍵、或花鍵等存在使得 強度降低，無法形成充分深度的凹部2 02B。相對於此，本 實施形態中，由於可將凹部202B形成在僅隆起部204的部 分形成壁厚的部分，因此不會使強度降低，可形成深的凹 部2 02B，而可發揮大的散熱效果及重量減輕效果。 又，深的凹部202B係於中空部202A側遍及全周地設成 比第1、第2偏心體204A、204B的合計寬qq更寬闊（朝軸方 向伸長），因此由輸入軸202和隆起部204所構成的部分之 金屬量變少，可使減速機20 0本身變輕。 -21 - 200946798 又，在第1、第2偏心體204A、204B兩側，設有支撐隆 起部2〇4之第1軸承240、第2軸承242。然後，在第1軸承 240、第2軸承242之更外側，設有相較於從軸心〇到第1軸 承240、第2軸承242之距離，從軸心Ο以較短的距離抵接在 輸入軸202之第2、第3密封構件244、246。因此，可將第2 、第3密封構件244、246的半徑縮小，而可縮短密封之距 離、提高密封性能。然後，相較於隆起部2 04的軸徑dd2， 由於可縮小輸入軸202的軸徑ddl，因此亦具有重量減輕效 果。 此外，在凹部202B積極地配置熱傳導率更高的構件時 ，由輸入軸202和隆起部204所構成的部分之熱容量少，因 此可迅速地奪取由輸入軸202和隆起部204所構成的部分之 熱。例如，輸入軸202、隆起部204的金屬若是不銹鋼，則 前述構件可使用銅或鐵等熱傳導率更高的金屬。又，例如 ，使用石墨薄片時，藉由其熱傳導率各向異性，可朝軸方 向高效率地傳導熱，而可極爲有效地進行隆起部2 04之散 熱。其他，例如將DLC (類鑽碳）直接形成在凹部20 2B， 亦可實現以高效率散熱。 即，在具有設在輸入軸202和輸入軸202的隆起部204 之減速機2 00，可將因輸入軸2 02旋轉而產生之熱效率良好 地散熱。 本實施形態中，凹部202B係於第3圖之形態（在輸入 軸2 02的中空部202 A側呈單一之凹形狀）被裝設，但本發 明並非限定於此者。如第5圖所示之本發明第3實施形態的 -22- 200946798 減速機201，凹部2 02C具有複數之溝，其溝被裝設成螺旋 狀亦可。於該情形下，藉由多數之溝，使中空部202A側的 熱阻力更低，而容易散熱和急速冷却。再者，藉由輸入軸 202之旋轉，將存在於中空部202A當作冷媒之空氣，朝一 方向積極地導引，因此可更增大散熱效果。此外，這種效 果係無論前述溝被連續地或斷續地（也包含如冷却風扇地 規則地設在中空部202A周方向的情形）裝設在中空部 φ 202A，皆顯示顯著的效果。 又，第2、第3實施形態中，凹部202B的寬QQ比第1、 第2偏心體204A、204B的合計寬qq大，但本發明並非限定 於此者。例如，凹部202B之寬爲大於1個偏心體之寬亦可 。因爲於該情形下，其散熱或輕量化等仍具有相符之本發 明之效果。或偏心體若爲3個以上，則凹部之寬大於其合 計的偏心體之寬亦可。 又，第2、第3實施形態中，第2、第3密封構件2 44、 φ 246任一個，相較於從軸心0到第1軸承240、第2軸承242之 距離，皆從軸心0以較短的距離抵接在輸入軸202，但本發 明並非限定於此者。任一個密封構件符合上述條件即可。 又，第2、第3實施形態中，以如第3〜5圖所示之内接 揺動嚙合型遊星齒輪減速機作爲對象，但本發明並非限定 於此者。例如，藉由外齒齒輪撓曲的方式取出與内齒齒輪 之相對旋轉，即所謂「撓曲嚙合式遊星減速機」亦可適用 ，因此爲了使外齒齒輪撓曲所用的如電波發生器之各楕圓 體及其楕圓外周部等，亦可視爲本發明的隆起部及偏心部 -23- 200946798 在第2、第3實施形態的凹部202B，例如塗布包含碳黑 等塗料，使被輻射之熱增大，而使散熱效果更顯著亦可。 接著，説明本發明第4實施形態之一例。 第6圖係本發明第4實施形態所相關的電動機一體型之 減速機的側面剖視圖，第7圖係沿第6圖VII-VII線之偏心體 的剖視圖。利用該等説明第4實施形態。 首先，説明電動機一體型之減速機300的構成。 電動機一體型之減速機300係如第6圖所示，在軸心〇 附近配置有轉子和定子所構成的電動機者，其減速機部分 的構成係與第3圖所示之第2實施形態大致相同。因此，針 對主要構成電動機之轉子及定子進行説明，關於其他部分 則在第6圖中對應部位，止於附加第3圖所示之構成要素的 符號和下2位爲相同符號，省略説明。 前述轉子係如第6圖、第7圖所示，由與隆起部304 — 體形成的輸入軸302本身所構成，藉由在其凹部302B的周 方向等間隔地配置複數之磁鐵358的方式實現。磁鐵358係 例如可使用鐵氧體磁鐵（相較於不銹鋼，比重輕、比熱小 、熱傳導率高）。轉子係藉由將磁鐵358的厚度T形成比階 梯差S更薄且配置在凹部302B的方式，可降低熱阻力。又 ，如第7圖所示，磁鐵358係於凹部302B的周方向等間隔地 隔開隙間L配置，因此其隙間L部分的熱阻力係如第2實施 形態所示般的小。因此，在轉子全體亦爲熱阻力低且可使 熱容量減少。再者’可使轉子的比熱小且重量減輕。 -24- 200946798 前述定子係如第6圖所示，可藉由將一體形成在第1凸 緣318的突起部318 A配置在中空部3 02 A，再於該處安裝複 數之電磁線圈3 54的方式構成。藉由這種構成，以控制流 過電磁線圈354的電流之方式，可使轉子亦即輸入軸3 02旋 轉。 此外，第2凸緣324因軸心Ο不具有開口，因此可防止 垃圾等流入電動機。 φ 接著，説明電動機一體型之減速機3 00的作用。此處 ，關於減速機部分的作用，因爲與第2實施形態的減速機 大致相同而省略，説明輸入軸3 02之散熱。 藉由輸入軸302 (轉子）之旋轉，在第1、第2偏心體 30 4A、304B、第1、第2偏心體軸承306A，30 6B、及第1、 第2外齒齒輪308、3 10之間，因摩擦產生熱，但該熱被順 暢地放出到凹部3 02B。此時，藉由輸入軸3 02 (轉子）之 旋轉，在中空部3 02A側形成空氣強制對流。配置在中空部 φ 302A側的磁鐵3 58之厚度T比階梯差S更薄，因此相較於不 具凹部302B的狀態，可縮小磁鐵3 5 8部分之熱阻力。再者 ，磁鐵3 58係隔開間隔L被配置在凹部302B，因此間隔L之 熱阻力低。因此，輸入軸302 (轉子）全體可降低熱阻力 ，進而増大中空部302A之散熱效果。 又，即使配置複數之磁鐵358，磁鐵358仍未完全掩埋 凹部302B，因此可降低熱容量。然後，藉由在中空部3 02 A 側，存在有比第1、第2偏心體304A、304B的合計寬qq更寬 闊的凹部3 02B(階梯差S、寬QQ)的方式，集中在隆起部 -25- 200946798 304之熱被順暢地放出到中空部302A側。然後，相較於不 具凹部302B時，藉由輸入軸302之旋轉，可更增大凹部 302B或磁鐵3 5 8被配置的部位之散熱效果。 又，因爲將電動機配置在減速機部分的中空部’所以 電動機一體型之減速機300比外附電動機的情形，較爲小 型且可實現輕量之附有減速機之電動機。因此，可容易適 用在小型且被要求高輸出之機械臂等領域。然後，此際由 於形成電動機被密封在減速機内部之狀態，因此可防止電 0 動機因外力造成的損傷或汚損等。 本實施形態中，磁鐵358爲鐵氧體磁鐵，但本發明並 非限定於此者。 又，本實施形態中，在轉子使用磁鐵358且將磁鐵358 配置在凹部3 02B，但本發明並非限定於此者。例如，在凹 部302B裝設電磁線圈3 54亦可。又，在凹部3 02B僅具備轉 子構成要素中的至少一部分亦可。 此外，上述實施形態中，輸入軸和偏心體係一體形成 〇 ，但本發明並未特別限定其形成方法，鑄造或切削加工亦 可，加壓加工等亦可。 其加工方法之一，具體而言亦可採用將當作輸入軸之 圓管裝設在成型爲偏心體的外形形狀之金屬模，且在其圓 管塡充超高壓之液體，同時從兩側壓縮，一舉形成偏心體 ’即所謂隆起成形。此方法（又稱液壓成形）可藉由控制 液體壓力，以短工時將各種合金（碳鋼、不銹鋼、鋁、銅 等）圓管形狀穩定地成形。 -26- 200946798 本發明可適用於具備與偏心體一體形成且在其半徑方 向中央部具有中空部的輸入軸之減速機。 【圖式簡單說明】 第1圖係本發明第1實施形態之一例所相關的減速機之 主要部分放大剖視圖。 第2圖係同前圖之全體剖視圖。 ❹ 第3圖係本發明第2實施形態所相關的減速機之側面剖 視圖。 第4圖係將扁平電動機應用在第3圖減速機的情形之一 例之示意圖。 第5圖係本發明第3實施形態所相關的減速機之側面剖 視圖。 第6圖係本發明第4實施形態所相關的電動機一體型之 減速機之側面剖視圖。 φ 第7圖係沿第6圖VII-VII線之偏心體的剖視圖。 【主要元件符號說明】 100、200、201、300 ：減速機 102、202、3 02 ：輸入軸 1 02A ' 202A、3 02A ：中空部 102B ' 202B ' 202C、 302B ：凹部 102B1 :第1切入稜線 102B2 :第2切入稜線 -27- 200946798 1 02BB :底面 1 0 4 :偏心體 104A - 104B、 204A' 204B、 304A、 304B ：第1、第2 偏心體 106A 、 106B 、 206A 、 206B 、 306A 、 306B ：第 1 、第2 偏心體軸承 108、 110、 208、 210、 308、 310 ：第1、第2外齒齒輪 108A、 110A、 208A、 210A:內銷孔 1 1 2、2 1 2 :內銷 1 1 4、2 1 4 :內滾筒 116、216:外銷 118 、 218 :第1凸緣 120、220 :框體 122、222 :內齒齒輪 124、 224、 324 ：第2凸緣 126、 127、 226、 227 ：螺絲 128、228 :十字滾筒軸承 1 30、144、146 :第1〜第3密封構件 1 42 :軸承 148、 248 ： Ο形環 2〇4、304 :隆起部 2 0 8 B、2 1 0 B :中心孔 2 1 8 A :溝部 230、244、246:第1〜第3密封構件 -28- 200946798 240 :第1軸承 242 :第2軸承 244、246 :密封構件 2 50 :扁平電動機 252 :定子 2 5 4、3 5 4 :電磁線圈 2 5 6 :轉子 φ 25 8、3 5 8 :磁鐵 260 :花鍵 262 :電動機外殼 264 :端蓋 266 :解析器 318A :突起部 AD :深度The input shaft 202, more specifically, the axial direction of the ridge portion 204 formed on the hollow portion 202A side of the input shaft 902, is provided over the entire circumference than the first and second eccentric bodies 204A, 204B. The total width qq is wider and the single recess 202B (step S, width QQ). That is, the inner diameter DD2 of the input shaft 202 where the concave portion 202B 200946798 is provided is larger than the inner diameter DD1 of the input shaft 202 where the concave portion 202B is not provided (DD2 > DD1). In this manner, since the input shaft 202 and the ridge portion 204 are integrally formed, the step S, that is, the deep recess 202B can be formed on the input shaft 202. Therefore, the wall thickness (dd2 - DD2) / 2 of the portion of the ridge portion 204 and the wall thickness (ddl - DDl) /2 of the input shaft 202 where the ridge portion 204 is not provided are equivalent to the design adjustment of the so-called wall thickness relationship. Can be freely. Then, lightweight and in conjunction with the 旋转 rotational load, the reducer 20 can maintain sufficient strength in use. The first and second externally toothed gears 208 and 210 may be composed of two gears having the same shape and provided outside the first and second eccentric bodies 204A and 204B. Then, the first and second eccentric body bearings 206A and 206B are abutted by the center holes 208B and 210B, and the outer pin 216 is in meshed with the internally toothed gear 222 as an internal tooth. In the first and second externally toothed gears 208 and 210, a plurality of inner pin holes 208A and 208 are provided, and in the inner pin hole 208, 210 or 210 people are loosely fitted with the inner pin 212 through the inner drum 214. The inner pin 212 is formed integrally with the disk-shaped first flange 218. Therefore, even if the first flange 218 is in the one-arm state, the inner pin 212 can reduce the overall thickness of the speed reducer 200 and maintain the high rigidity of the speed reducer 20 0. The first flange 218 supports the ridge portion 204 by the first bearing 240, and the input shaft 202 is rotatable. Further, the first flange 218 is held with the first and second externally toothed gears 208 and 210, and the disk-shaped second flange 224 is disposed on the opposite side. The raised portion 204 is rotatably supported by the second flange 224 through the second bearing 242. In other words, the first bearing 240 and the second bearing 242 that support the ridge portion 204 are provided on both sides of the first and second eccentric bodies 204A and 204B. Further, the second flange 224 integrally connects and fixes the internal tooth -17-200946798 wheel 22 2 through the screw 226. The figure does not appear, but the number of teeth of the first and second externally toothed gears 208, 210 and the number of the outer pins 216 (the internal teeth of the internal gear 222) are somewhat different (about 1 to 3). In the outermost side in the radial direction of the first flange 218, in a state in which the inner ring gear 222 is covered, the frame 220 which also serves as the outer casing is connected and fixed to the first flange 218 by the screw 227. Further, the frame body 220 and the internal gear 222 are supported to be relatively rotatable by the cross roller bearing 22,8. That is, when viewed from the center of the cross roller bearing 228, the frame body 220 functions as the outer wheel of the cross roller bearing 228. On the other hand, the internal gear 222 serves as the inner wheel of the cross roller bearing 228. The function. A first sealing member 23 0 is disposed between the internal gear 222 and the housing 220. Further, between the first flange 218 and the input shaft 202, a second sealing member 244 is disposed outside the first bearing 240 (on the right side in Fig. 3). Further, between the second flange 224 and the input shaft 202, a third sealing member 246 is disposed outside the second bearing 242 (on the left side in Fig. 3). Further, a Ο-shaped ring 248 is disposed at a joint portion between the first flange 218 and the frame 220. The inside of the reduction gear 200 is sealed by the first to third sealing members 23 0, 244 and 246 and the Ο ring 248. Further, as described above, the first bearing 240 and the second bearing 242 support the ridge portion 204. On the other hand, the second and third sealing members 244 and 246 are attached to the outside of the first bearing 240 and the second bearing 242, and abut against the input shaft 202 where the raised portion 204 is not provided. In other words, the second and third sealing members 2, 44, 246 are in contact with the input shaft 202 from the axial center 较短 with a shorter distance than the distance from the axial center 〇 to the first bearing 240 and the second bearing 242. Therefore, it is sufficient that the radius of the second and third sealing members 244, 246 is small, so that the length of the seal 200946798 is sealed around the input shaft 202, which is shorter than the case of sealing around the ridge portion 404, and as a result, the sealing performance can be improved. Further, only the portion of the input shaft 202 having a small shaft diameter ddl can reduce the weight. Further, lubricating oil or gear oil (not shown) as a lubricant is housed inside the reduction gear 200. Further, the lubricant to be contained may be at least a part of a fluidized type of lubricant when the speed reducer 200 is operated, and is not limited to a liquid lubricant at normal temperature. 0 An example of the case where the flat motor is applied to the above-described reduction gear 200 will be described with reference to Fig. 4. The flat motor 250 is provided with an input shaft 202, a stator 252 having an electromagnetic coil 254, and a rotor 256 having a magnet 258. The stator 252 is formed integrally with the motor casing 262, and is opposed to the magnets 258 at a predetermined interval in the radial direction (direction orthogonal to the axis). The electromagnetic coil 254 provided in the stator 252 easily occupies a space in the axial direction. Therefore, when the flat motor 25 0 is connected to the speed reducer 200, the groove portion 218A that can accommodate the electromagnetic coil 254 is formed on the surface of the first flange 218. The rotor 256 is attached to the input shaft 202 via a spline 260, and a magnet 258 is disposed on the outer circumference of the rotor 256. The flat motor 250 is clamped into the motor casing 262 by the end caps 2 64, and the speed reducer 200 is integrally fixed by the screw 22 7 . Further, the resolver 266 is a type of magnetic sensor which is mounted on the input shaft 202 for detecting the rotation of the flat motor 250 (or an optical sensor such as an encoder). Next, the action of the speed reducer 200 will be described. -19- 200946798 When the power source (not shown) or the power (rotational force) from the flat motor 250 shown in Fig. 4 is transmitted to the input shaft 02, the first portion of the ridge portion 204 integrally formed by the input shaft 20 2 1. The second eccentric bodies 204 A and 204B are eccentrically rotated. The eccentric rotation of the first and second eccentric bodies 204A and 204B is transmitted to the first and second externally toothed gears 208 and 210 through the first and second eccentric body bearings 206A and 206B. That is, the first and second externally toothed gears 208 and 210 start to rock against the axial center. On the other hand, the inner pin 212 to which the first and second externally toothed gears 208 and 210 are fixed is restrained from being rotated by the insertion, and the first and second externally toothed gears 208 and 210 are only rocked. Further, as described above, the number of teeth of the first and second externally toothed gears 208 and 210 and the number of the outer pins 216 of the internal gear 222 are slightly different (the difference in the number of teeth), so the internal gear 222 is the first. 1. The second externally toothed gears 20 8 and 210 rotate only the number of teeth (the relative rotation of the first and second externally toothed gears 208 and 210) for each rotation. Further, the swaying components of the first and second externally toothed gears 208 and 210 are absorbed by the first and second externally toothed gears 208 and 210 and the inner pin 212 and the inner roller 214. The rotation of the internal gear 22 2 is smoothly performed by the cross roller bearing 228 disposed between the frame 220 fixed to the first flange 218, and is integrated by the internal gear 222 and the screw 226. The second flange 224 that is rotated is taken out. Further, in the present embodiment, when the second flange 224 is fixed, the rotation of the input shaft 202 is decelerated and then output as the rotation of the first flange 218 (i.e., the frame 220). Due to the rotation of the input shaft 202, the first and second eccentric bodies 204A and 204B, the first and second eccentric body bearings 206A and 206B, and the first and second externally toothed gears 200946798 208 and 21 0 are generated by friction. It is hot, but the heat is smoothly discharged to the concave portion 202Β on the side of the hollow portion 202. At this time, due to the rotation of the input shaft 202, forced convection of air is formed on the side of the hollow portion 202. Therefore, by the presence of the concave portion 202, the surface area of the heat dissipation is supplemented, and the heat radiation effect in the hollow portion 2A2A is further increased. Further, since the amount of metal of the input shaft 202 is reduced by forming the concave portion 202B, a considerable amount of heat capacity can be reduced. Then, on the side of the hollow portion 202A of the raised portion 204φ, there is a concave portion 202B (step S and width QQ) which is wider than the total width qq of the first and second eccentric bodies 204A and 204B. The heat concentrated in the ridges 2 04 is smoothly discharged to the hollow portion 02 A. Then, the heat dissipation effect in the vicinity of the concave portion 202B can be further increased by the rotation of the input shaft 202 as compared with the case where the concave portion 202B is not provided. Further, in the present embodiment, the raised portion 204 and the input shaft 202 are integrally formed, and as a result, the concave portion 202B is formed in the thickened portion. When the ridge portion 204 is incorporated into the input shaft 202 by a key, a spline, or the like, the mounting portion of the ridge portion 204 of the input shaft 202 φ is weakened due to the presence of a key, a spline, or the like, and cannot be sufficiently formed. Depth recess 2 02B. On the other hand, in the present embodiment, since the recessed portion 202B can be formed in the portion where only the raised portion 204 is formed to have a thick portion, the strength can be reduced, and the deep recessed portion 202B can be formed, and a large heat dissipation effect can be exhibited. And weight reduction effect. In addition, the deep recessed portion 202B is wider than the total width qq of the first and second eccentric bodies 204A and 204B (extending in the axial direction) over the entire circumference of the hollow portion 202A, and thus the input shaft 202 and the ridge portion are provided. The amount of metal in the portion formed by 204 is reduced, and the speed reducer 20 itself can be made light. Further, on both sides of the first and second eccentric bodies 204A and 204B, a first bearing 240 and a second bearing 242 that support the bulging portion 2〇4 are provided. Then, on the outer side of the first bearing 240 and the second bearing 242, a distance from the axial center 〇 to the first bearing 240 and the second bearing 242 is provided, and the shaft core 抵 is abutted at a short distance. The second and third sealing members 244 and 246 of the shaft 202 are input. Therefore, the radius of the second and third sealing members 244 and 246 can be reduced, and the distance between the seals can be shortened and the sealing performance can be improved. Then, compared with the shaft diameter dd2 of the ridge portion 2 04, since the shaft diameter ddl of the input shaft 202 can be reduced, the weight reduction effect is also obtained. Further, when the concave portion 202B is positively disposed with a member having a higher thermal conductivity, the portion of the input shaft 202 and the raised portion 204 has a small heat capacity, so that the portion composed of the input shaft 202 and the raised portion 204 can be quickly taken. heat. For example, if the metal of the input shaft 202 and the ridge portion 204 is stainless steel, a metal having a higher thermal conductivity such as copper or iron can be used as the member. Further, for example, when a graphite sheet is used, heat can be efficiently conducted in the axial direction by the thermal conductivity anisotropy, and heat generation of the ridge portion 204 can be performed extremely efficiently. Others, for example, forming DLC (Diamond-like Carbon) directly in the recess 20 2B, can also achieve heat dissipation with high efficiency. That is, in the reduction gear 200 having the ridges 204 provided on the input shaft 202 and the input shaft 202, the heat generated by the rotation of the input shaft 208 can be efficiently dissipated. In the present embodiment, the concave portion 202B is attached to the form of Fig. 3 (in a single concave shape on the side of the hollow portion 202A of the input shaft 902), but the present invention is not limited thereto. In the -22-200946798 speed reducer 201 according to the third embodiment of the present invention shown in Fig. 5, the recessed portion 208C has a plurality of grooves, and the groove may be provided in a spiral shape. In this case, the heat resistance on the side of the hollow portion 202A is made lower by a large number of grooves, and it is easy to dissipate heat and rapidly cool. Further, by the rotation of the input shaft 202, the air existing as the refrigerant in the hollow portion 202A is actively guided in one direction, so that the heat radiation effect can be further enhanced. Further, this effect is remarkable in that the groove is provided in the hollow portion φ 202A continuously or intermittently (including the case where the cooling fan is regularly provided in the circumferential direction of the hollow portion 202A). Further, in the second and third embodiments, the width qq of the concave portion 202B is larger than the total width qq of the first and second eccentric bodies 204A and 204B, but the present invention is not limited thereto. For example, the width of the recess 202B may be greater than the width of one eccentric body. In this case, the heat dissipation or weight reduction and the like still have the effects of the present invention. Or if the eccentric body is three or more, the width of the concave portion may be larger than the width of the total eccentric body. Further, in the second and third embodiments, any one of the second and third sealing members 2 44 and φ 246 is from the axial center as compared with the distance from the axial center 0 to the first bearing 240 and the second bearing 242. 0 abuts on the input shaft 202 at a short distance, but the present invention is not limited thereto. Any one of the sealing members can satisfy the above conditions. Further, in the second and third embodiments, the inwardly-actuated meshing type planetary gear reducer shown in Figs. 3 to 5 is targeted, but the present invention is not limited thereto. For example, the relative rotation of the internal gear can be taken out by the deflection of the externally toothed gear, that is, the so-called "flexive meshing type planetary reducer" can also be applied. Therefore, for example, the electric wave generator used for deflecting the externally toothed gear Each of the round bodies and the outer circumference of the rounded portion can also be regarded as the raised portion and the eccentric portion of the present invention. -23-200946798 In the concave portion 202B of the second and third embodiments, for example, a coating material containing carbon black is applied to be irradiated. The heat is increased, and the heat dissipation effect is more remarkable. Next, an example of the fourth embodiment of the present invention will be described. Fig. 6 is a side cross-sectional view showing a motor-integrated reducer according to a fourth embodiment of the present invention, and Fig. 7 is a cross-sectional view of the eccentric body taken along line VII-VII of Fig. 6. The fourth embodiment will be described using these. First, the configuration of the motor-integrated reducer 300 will be described. In the motor-integrated reducer 300, as shown in Fig. 6, a motor including a rotor and a stator is disposed in the vicinity of the axial center, and the configuration of the reducer portion is substantially the same as that of the second embodiment shown in Fig. 3. the same. Therefore, the rotor and the stator which mainly constitute the motor will be described, and the other portions in the corresponding portions in Fig. 6 will be denoted by the same reference numerals as the components of the components shown in Fig. 3, and the description will be omitted. As shown in Figs. 6 and 7, the rotor system is constituted by the input shaft 302 itself formed integrally with the raised portion 304, and is realized by arranging a plurality of magnets 358 at equal intervals in the circumferential direction of the concave portion 302B. . The magnet 358 can be, for example, a ferrite magnet (compared to stainless steel, having a small specific gravity, a small specific heat, and a high thermal conductivity). The rotor system can reduce the thermal resistance by forming the thickness T of the magnet 358 to be thinner than the step S and disposed in the recess 302B. Further, as shown in Fig. 7, the magnets 358 are arranged at equal intervals in the circumferential direction of the concave portion 302B, and therefore the thermal resistance of the gap L portion is as small as that shown in the second embodiment. Therefore, the thermal resistance is also low in the entire rotor and the heat capacity can be reduced. Furthermore, the specific heat of the rotor can be made small and the weight can be reduced. -24- 200946798 The stator system is disposed in the hollow portion 301A by the protrusion portion 318A integrally formed on the first flange 318 as shown in Fig. 6, and a plurality of electromagnetic coils 3 54 are mounted there. The way it is composed. With this configuration, the rotor, i.e., the input shaft 302, can be rotated by controlling the current flowing through the electromagnetic coil 354. Further, since the second flange 324 does not have an opening due to the axial center, it is possible to prevent garbage or the like from flowing into the motor. φ Next, the action of the motor-integrated reducer 300 will be explained. Here, the action of the speed reducer portion is substantially the same as that of the speed reducer of the second embodiment, and the heat dissipation of the input shaft 302 will be described. The first and second eccentric bodies 30 4A and 304B, the first and second eccentric body bearings 306A and 30 6B, and the first and second externally toothed gears 308 and 3 10 are rotated by the input shaft 302 (rotor). Between the heat is generated by the friction, but the heat is smoothly discharged to the recess 203B. At this time, forced convection of air is formed on the side of the hollow portion 302a by the rotation of the input shaft 302 (rotor). The thickness T of the magnet 3 58 disposed on the side of the hollow portion φ 302A is thinner than the step S, so that the thermal resistance of the portion of the magnet 358 can be reduced as compared with the state without the recess 302B. Further, since the magnets 3 to 58 are disposed in the concave portion 302B with the interval L therebetween, the thermal resistance of the interval L is low. Therefore, the entire input shaft 302 (rotor) can reduce the heat resistance, thereby increasing the heat dissipation effect of the hollow portion 302A. Further, even if a plurality of magnets 358 are disposed, the magnet 358 does not completely bury the recess 302B, so that the heat capacity can be reduced. Then, on the side of the hollow portion 301A, there is a concave portion 308B (step S and width QQ) which is wider than the total width qq of the first and second eccentric bodies 304A and 304B, and is concentrated in the ridge portion. -25- 200946798 The heat of 304 is smoothly discharged to the side of the hollow portion 302A. Then, by the rotation of the input shaft 302, the heat dissipation effect of the portion where the concave portion 302B or the magnet 358 is disposed can be further increased as compared with the case where the concave portion 302B is not provided. Further, since the motor is disposed in the hollow portion of the speed reducer portion, the motor-integrated speed reducer 300 is smaller than the external motor, and a lightweight motor with a speed reducer can be realized. Therefore, it can be easily applied to fields such as a robot arm that is small and requires high output. Then, since the motor is sealed in the state inside the speed reducer, it is possible to prevent damage or contamination of the motor due to external force. In the present embodiment, the magnet 358 is a ferrite magnet, but the present invention is not limited thereto. Further, in the present embodiment, the magnet 358 is used for the rotor and the magnet 358 is disposed in the recessed portion 302B. However, the present invention is not limited thereto. For example, the electromagnetic coil 3 54 may be provided in the recess 302B. Further, at least a part of the rotor component may be provided in the recessed portion 302B. Further, in the above embodiment, the input shaft and the eccentric system are integrally formed with 〇. However, the present invention is not particularly limited to the method of forming the same, and casting or cutting may be performed, and press working or the like may be employed. One of the processing methods, in particular, a circular tube which is used as an input shaft is mounted on a metal mold which is shaped into an eccentric body, and the tube is filled with an ultra-high pressure liquid while being both sides Compression, in one fell swoop, forms an eccentric body, the so-called bulge forming. This method (also known as hydroforming) can form a stable shape of various alloys (carbon steel, stainless steel, aluminum, copper, etc.) in a short working time by controlling the liquid pressure. -26- 200946798 The present invention is applicable to a speed reducer including an input shaft integrally formed with an eccentric body and having a hollow portion at a central portion in the radial direction. [Brief Description of the Drawings] Fig. 1 is an enlarged cross-sectional view showing the main part of a reduction gear according to an embodiment of the first embodiment of the present invention. Figure 2 is a cross-sectional view of the same as the previous figure. Fig. 3 is a side cross-sectional view showing a reduction gear according to a second embodiment of the present invention. Fig. 4 is a view showing an example of a case where a flat motor is applied to the speed reducer of Fig. 3. Fig. 5 is a side sectional view showing a reduction gear according to a third embodiment of the present invention. Figure 6 is a side cross-sectional view showing a motor-integrated reducer according to a fourth embodiment of the present invention. φ Fig. 7 is a cross-sectional view of the eccentric body taken along line VII-VII of Fig. 6. [Description of main component symbols] 100, 200, 201, 300: Reducer 102, 202, 3 02: Input shaft 1 02A ' 202A, 3 02A : Hollow portion 102B ' 202B ' 202C, 302B : Recess 102B1 : 1st cut ridge line 102B2: 2nd incision ridge line -27- 200946798 1 02BB: bottom surface 1 0 4 : eccentric body 104A - 104B, 204A' 204B, 304A, 304B: first and second eccentric bodies 106A, 106B, 206A, 206B, 306A, 306B : first and second eccentric body bearings 108, 110, 208, 210, 308, 310: first and second externally toothed gears 108A, 110A, 208A, 210A: inner pin hole 1 1 2, 2 1 2 : inner pin 1 1 4, 2 1 4: inner drums 116, 216: outer pins 118, 218: first flanges 120, 220: frames 122, 222: internal gears 124, 224, 324: second flanges 126, 127, 226, 227: screws 128, 228: cross roller bearing 1 30, 144, 146: first to third sealing members 1 42 : bearings 148, 248: Ο ring 2 〇 4, 304: ridges 2 0 8 B, 2 1 0 B : center hole 2 1 8 A : groove portion 230, 244, 246: first to third sealing members -28 - 200946798 240 : first bearing 242 : second bearing 244, 246 : sealing structure 2 50 : Flat motor 252 : stator 2 5 4, 3 5 4 : electromagnetic coil 2 5 6 : rotor φ 25 8 , 3 5 8 : magnet 260 : spline 262 : motor housing 264 : end cap 266 : resolver 318A : Projection AD: Depth
Dl、D2、DD1、DD2 :內徑 ❿ D1 :直徑 DD1、DD2 :軸徑 L :間隔 〇 :軸心 P1〜P6 :端部Dl, D2, DD1, DD2: Inner diameter ❿ D1: Diameter DD1, DD2: Shaft diameter L: Interval 〇: Axis P1~P6: End
Ql、Q2、QQ、q、qq :寬 S :段差 T :厚度 αΐ、α2 :切入角度 -29Ql, Q2, QQ, q, qq: width S: step difference T: thickness αΐ, α2: cut angle -29