JP2019138328A - Eccentric oscillation-type reduction gear and oil feed method of lubricant - Google Patents

Eccentric oscillation-type reduction gear and oil feed method of lubricant Download PDF

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JP2019138328A
JP2019138328A JP2018019968A JP2018019968A JP2019138328A JP 2019138328 A JP2019138328 A JP 2019138328A JP 2018019968 A JP2018019968 A JP 2018019968A JP 2018019968 A JP2018019968 A JP 2018019968A JP 2019138328 A JP2019138328 A JP 2019138328A
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axial
external gear
gear
lubricant
main bearing
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JP7199147B2 (en
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絢介 井上
Kensuke Inoue
絢介 井上
哲三 石川
Tetsuzo Ishikawa
哲三 石川
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to JP2018019968A priority Critical patent/JP7199147B2/en
Priority to KR1020190003009A priority patent/KR102665432B1/en
Priority to CN201910031588.XA priority patent/CN110118241B/en
Publication of JP2019138328A publication Critical patent/JP2019138328A/en
Priority to JP2021164494A priority patent/JP2022000597A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
  • Mounting Of Bearings Or Others (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

To provide an eccentric oscillation-type reduction gear which allows the easy manufacturing of a constituent member.SOLUTION: An eccentric oscillation-type reduction gear comprises: an inner gear 16 arranged at a casing 22; an outer gear 14 geared with the inner gear 16; a first carrier 18 arranged at one side of the outer gear 14 in an axial direction; a second carrier 20 arranged at the other side of the outer gear 14 in the axial direction; a first main bearing 24 arranged between the casing 22 and the first carrier 18; and a second main bearing 26 arranged between the casing 22 and the second carrier 20. The movement of the outer gear 14 to one side in the axial direction is regulated by a first member being either of an inner ring or an outer ring of the first main bearing 24, and the movement of the outer gear 14 to the other side in the axial direction is regulated by a second member being either of an inner ring of an outer ring of the second main bearing 26, and a total value of a clearance in the axial direction existing between the first member and the second member is not smaller than 0.09 mm.SELECTED DRAWING: Figure 1

Description

本発明は、偏心揺動型減速装置およびこの装置への潤滑剤の給脂方法に関する。   The present invention relates to an eccentric oscillating speed reduction device and a method of supplying a lubricant to the device.

本出願人は、特許文献１において、偏心体によって揺動される外歯歯車と、該外歯歯車が内接噛合する内歯歯車とを備えた偏心揺動型減速機を開示した。   The present applicant disclosed in Patent Document 1 an eccentric oscillating speed reducer including an external gear that is oscillated by an eccentric body and an internal gear that is internally meshed with the external gear.

特開２０１３−１２４７３０号公報JP2013-124730A

減速装置には、必要に応じて外歯歯車と内歯歯車の噛合部などに外部からグリスなどの潤滑剤が補充される。このため、減速装置は、潤滑剤を内部に供給し易いことが望ましい。特許文献１に記載の減速機は、キャリヤ体を支持する主軸受と外歯歯車との間に軸方向隙間を確保するとともに、キャリヤ体の所定の位置に外歯歯車に当接する軸方向の凸部を形成することにより、この課題に対応している。このような減速装置については、キャリヤ体を含む装置の構成部材の製造を容易にすることが求められている。   In the reduction gear, a lubricant such as grease is replenished from the outside to the meshing portion of the external gear and the internal gear as required. For this reason, it is desirable for the reduction gear to easily supply the lubricant inside. The speed reducer described in Patent Document 1 secures an axial clearance between the main bearing that supports the carrier body and the external gear, and has an axial protrusion that abuts the external gear at a predetermined position of the carrier body. By forming the part, this problem is addressed. For such a speed reducer, it is required to facilitate the manufacture of the components of the device including the carrier body.

本発明の目的は、このような課題に鑑みてなされたもので、構成部材の製造を容易にすることが可能な偏心揺動型減速装置を提供することにある。   An object of the present invention has been made in view of such a problem, and an object thereof is to provide an eccentric oscillating speed reduction device capable of facilitating the manufacture of components.

上記課題を解決するために、本発明のある態様の偏心揺動型減速装置は、ケーシングに設けられた内歯歯車と、内歯歯車に噛合う外歯歯車と、外歯歯車の軸方向一側に設けられた第１キャリヤと、外歯歯車の軸方向他側に設けられた第２キャリヤと、ケーシングと第１キャリヤとの間に設けられた第１主軸受と、ケーシングと第２キャリヤとの間に設けられた第２主軸受と、を備える。外歯歯車の軸方向一方側への軸方向移動は、第１主軸受の内輪または外輪の一方である第１部材により規制され、外歯歯車の軸方向他方側への軸方向移動は、第２主軸受の内輪または外輪の一方である第２部材により規制され、第１部材と第２部材との間に存在する軸方向隙間の合計値は０．０９ｍｍ以上である。   In order to solve the above-mentioned problems, an eccentric oscillating speed reduction device according to an aspect of the present invention includes an internal gear provided in a casing, an external gear meshed with the internal gear, and an axial direction of the external gear. The first carrier provided on the side, the second carrier provided on the other axial side of the external gear, the first main bearing provided between the casing and the first carrier, the casing and the second carrier And a second main bearing provided therebetween. The axial movement of the external gear toward the one side in the axial direction is restricted by the first member that is one of the inner ring or the outer ring of the first main bearing, and the axial movement of the external gear toward the other side in the axial direction is The total value of the axial clearance existing between the first member and the second member, which is regulated by the second member that is one of the inner ring and the outer ring of the two main bearings, is 0.09 mm or more.

本発明の別の態様は、潤滑剤の給脂方法である。この方法は、上述の偏心揺動型減速装置へ潤滑剤を給脂する方法であって、潤滑剤を吐出する装置から２．５ＭＰａ以下の吐出圧で潤滑剤を当該偏心揺動型減速装置の給脂口に吐出することを含む。   Another aspect of the present invention is a method for lubricating a lubricant. This method is a method of supplying a lubricant to the above-described eccentric oscillating speed reducer, and the lubricant is discharged from the apparatus that discharges the lubricant with a discharge pressure of 2.5 MPa or less. It includes discharging to the greasing port.

なお、以上の構成要素の任意の組み合わせや、本発明の構成要素や表現を方法、システムなどの間で相互に置換したものもまた、本発明の態様として有効である。   Note that any combination of the above-described constituent elements, and those obtained by replacing the constituent elements and expressions of the present invention with each other between methods and systems are also effective as an aspect of the present invention.

本発明によれば、構成部材の製造を容易にすることが可能な偏心揺動型減速装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the eccentric rocking | fluctuation type deceleration device which can make manufacture of a structural member easy can be provided.

第１実施形態の偏心揺動型減速装置を示す側面断面図である。It is side surface sectional drawing which shows the eccentric rocking | swiveling type speed reducer of 1st Embodiment. 図１の偏心揺動型減速装置の第１主軸受および第２主軸受の周辺を示す拡大図である。FIG. 3 is an enlarged view showing the periphery of a first main bearing and a second main bearing of the eccentric oscillating speed reduction device of FIG. 1. 図１の偏心揺動型減速装置への潤滑剤の給脂方法を説明する説明図である。It is explanatory drawing explaining the grease supply method of the lubricant to the eccentric rocking | fluctuation type deceleration device of FIG. 主軸受間の軸方向隙間の合計値と給脂量の関係を示すグラフである。It is a graph which shows the relationship between the total value of the axial direction clearance between main bearings, and the amount of lubrication. 第２実施形態の偏心揺動型減速装置を示す側面断面図である。It is side surface sectional drawing which shows the eccentric rocking | fluctuation type deceleration device of 2nd Embodiment. 第３実施形態の偏心揺動型減速装置を示す側面断面図である。It is side surface sectional drawing which shows the eccentric rocking | fluctuation type deceleration device of 3rd Embodiment.

以下、本発明を好適な実施の形態をもとに各図面を参照しながら説明する。実施の形態、比較例および変形例では、同一または同等の構成要素、部材には、同一の符号を付するものとし、適宜重複した説明は省略する。また、各図面における部材の寸法は、理解を容易にするために適宜拡大、縮小して示される。また、各図面において実施の形態を説明する上で重要ではない部材の一部は省略して表示する。
また、第１、第２などの序数を含む用語は多様な構成要素を説明するために用いられるが、この用語は一つの構成要素を他の構成要素から区別する目的でのみ用いられ、この用語によって構成要素が限定されるものではない。 The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiment, the comparative example, and the modified example, the same or equivalent components and members are denoted by the same reference numerals, and repeated description is appropriately omitted. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.
In addition, terms including ordinal numbers such as first and second are used to describe various components, but this term is used only for the purpose of distinguishing one component from other components. However, the constituent elements are not limited.

［第１実施形態］
以下、図面を参照して、第１実施形態に係る偏心揺動型減速装置１０の構成について説明する。図１は、第１実施形態の偏心揺動型減速装置１０を示す側面断面図である。本実施形態の偏心揺動型減速装置１０は、内歯歯車と噛み合う外歯歯車を揺動させることで、内歯歯車及び外歯歯車の一方の自転を生じさせ、その生じた運動成分を出力部材から被駆動装置に出力する偏心揺動型歯車装置である。 [First Embodiment]
Hereinafter, the configuration of the eccentric oscillating speed reduction device 10 according to the first embodiment will be described with reference to the drawings. FIG. 1 is a side sectional view showing an eccentric oscillating speed reduction device 10 according to the first embodiment. The eccentric oscillating speed reduction device 10 of the present embodiment causes one of the internal gear and the external gear to rotate by oscillating the external gear that meshes with the internal gear, and outputs the generated motion component. An eccentric oscillating gear device that outputs a member to a driven device.

偏心揺動型減速装置１０は、主に、入力軸１２と、外歯歯車１４と、内歯歯車１６と、キャリヤ１８、２０と、ケーシング２２と、主軸受２４、２６と、給脂口８０と、を備える。以下、内歯歯車１６の中心軸線Ｌａに沿った方向を「軸方向」といい、その中心軸線Ｌａを中心とする円の円周方向、半径方向をそれぞれ「周方向」、「径方向」とする。また、以下、便宜的に、軸方向の一方側（図中右側）を入力側といい、他方側（図中左側）を反入力側という。   The eccentric oscillating speed reducer 10 mainly includes an input shaft 12, an external gear 14, an internal gear 16, carriers 18 and 20, a casing 22, main bearings 24 and 26, and a greasing port 80. And comprising. Hereinafter, the direction along the central axis La of the internal gear 16 is referred to as “axial direction”, and the circumferential direction and the radial direction of a circle centered on the central axis La are “circumferential direction” and “radial direction”, respectively. To do. Hereinafter, for convenience, one side in the axial direction (right side in the figure) is referred to as an input side, and the other side (left side in the figure) is referred to as a non-input side.

入力軸１２は、駆動装置（不図示）から入力される回転動力によって回転中心線周りに回転させられる。本実施形態の偏心揺動型減速装置１０は、入力軸１２の回転中心線が内歯歯車１６の中心軸線Ｌａと同軸線上に設けられるセンタークランクタイプである。駆動装置は、たとえば、モータ、ギヤモータ、エンジン等である。   The input shaft 12 is rotated around the rotation center line by rotational power input from a driving device (not shown). The eccentric oscillating speed reduction device 10 of the present embodiment is a center crank type in which the rotation center line of the input shaft 12 is provided coaxially with the center axis line La of the internal gear 16. The drive device is, for example, a motor, a gear motor, an engine, or the like.

本実施形態の入力軸１２は、外歯歯車１４を揺動させるための複数の偏心部１２ａを有するクランク軸である。偏心部１２ａの軸芯は、入力軸１２の回転中心線に対して偏心している。本実施形態では２個の偏心部１２ａが設けられ、隣り合う偏心部１２ａの偏心位相は１８０°ずれている。   The input shaft 12 of the present embodiment is a crankshaft having a plurality of eccentric portions 12a for swinging the external gear 14. The shaft core of the eccentric portion 12 a is eccentric with respect to the rotation center line of the input shaft 12. In the present embodiment, two eccentric portions 12a are provided, and the eccentric phases of the adjacent eccentric portions 12a are shifted by 180 °.

外歯歯車１４は、複数の偏心部１２ａのそれぞれに対応して個別に設けられる。外歯歯車１４は、偏心軸受３０を介して対応する偏心部１２ａに回転自在に支持される。外歯歯車１４には、ピン部材３２が貫通するピン孔１４ａが形成される。ピン部材３２とピン孔１４ａの間には外歯歯車１４の揺動成分を吸収するための遊びとなる隙間が設けられる。ピン部材３２とピン孔１４ａの内壁面とは一部で接触する。   The external gear 14 is provided individually corresponding to each of the plurality of eccentric portions 12a. The external gear 14 is rotatably supported by the corresponding eccentric portion 12 a via the eccentric bearing 30. A pin hole 14 a through which the pin member 32 passes is formed in the external gear 14. A gap is provided between the pin member 32 and the pin hole 14a as a play for absorbing the swing component of the external gear 14. The pin member 32 and the inner wall surface of the pin hole 14a are in contact with each other.

内歯歯車１６は、外歯歯車１４と噛み合う。本実施形態の内歯歯車１６は、ケーシング２２の内周部に回転自在に支持されるとともに内歯歯車１６の内歯を構成する複数の外ピン１６ａを有する。内歯歯車１６の内歯数（外ピン１６ａの数）は、本実施形態において、外歯歯車１４の外歯数より一つ多い。   The internal gear 16 meshes with the external gear 14. The internal gear 16 of the present embodiment has a plurality of external pins 16 a that are rotatably supported on the inner peripheral portion of the casing 22 and that constitute the internal teeth of the internal gear 16. The number of internal teeth of the internal gear 16 (the number of external pins 16a) is one more than the number of external teeth of the external gear 14 in this embodiment.

ケーシング２２は、全体として筒状をなし、その内周部には内歯歯車１６が設けられる。ケーシング２２の外周部には円環状のフランジ部２２ａが設けられる。フランジ部２２ａは、内歯歯車１６と外歯歯車１４の噛み合い箇所に対して径方向外側に設けられる。フランジ部２２ａには、ねじ部材をねじ込み可能な雌ねじ孔２２ｂが周方向に間を置いて形成される。   The casing 22 has a cylindrical shape as a whole, and an internal gear 16 is provided on an inner peripheral portion thereof. An annular flange portion 22 a is provided on the outer peripheral portion of the casing 22. The flange portion 22 a is provided on the outer side in the radial direction with respect to the meshing portion between the internal gear 16 and the external gear 14. A female screw hole 22b into which the screw member can be screwed is formed in the flange portion 22a with a gap in the circumferential direction.

キャリヤ１８、２０は、外歯歯車１４の軸方向側部に配置される。キャリヤ１８、２０には、外歯歯車１４の入力側の側部に配置される第１キャリヤ１８と、外歯歯車１４の反入力側の側部に配置される第２キャリヤ２０とが含まれる。キャリヤ１８、２０は円盤状をなしており、入力軸軸受３４を介して入力軸１２を回転自在に支持する。   The carriers 18 and 20 are disposed on the axial side of the external gear 14. The carriers 18 and 20 include a first carrier 18 disposed on the input side of the external gear 14 and a second carrier 20 disposed on the side opposite to the input side of the external gear 14. . The carriers 18 and 20 have a disk shape, and support the input shaft 12 via an input shaft bearing 34 so as to be rotatable.

第１キャリヤ１８と第２キャリヤ２０はピン部材３２を介して連結される。ピン部材３２は、外歯歯車１４の軸芯から径方向にオフセットした位置において、複数の外歯歯車１４を軸方向に貫通する。本実施形態のピン部材３２は、第２キャリヤ２０と同じ部材の一部として一体的に設けられるが、キャリヤ１８、２０と別体に設けられていてもよい。ピン部材３２は、内歯歯車１６の中心軸線Ｌａ周りに間を置いて複数設けられる。   The first carrier 18 and the second carrier 20 are connected via a pin member 32. The pin member 32 penetrates the plurality of external gears 14 in the axial direction at a position offset in the radial direction from the axis of the external gear 14. The pin member 32 of this embodiment is integrally provided as a part of the same member as the second carrier 20, but may be provided separately from the carriers 18 and 20. A plurality of pin members 32 are provided around the central axis La of the internal gear 16 at intervals.

本実施形態のピン部材３２には、軸方向の端面に開口する雌ねじ穴３２ａが形成される。第１キャリヤ１８には、第１キャリヤ１８を挟んでピン部材３２とは反対側からねじ部材３６が挿通される段付きの挿通穴３８が形成される。ピン部材３２は、ねじ部材３６を雌ねじ穴３２ａにねじ込むことで第１キャリヤ１８に固定される。なお、本実施形態の第１キャリヤ１８には、ピン部材３２の先端部が差し込まれるピン穴４０が形成される。   The pin member 32 of the present embodiment is formed with a female screw hole 32a that opens to the end face in the axial direction. The first carrier 18 is formed with a stepped insertion hole 38 through which the screw member 36 is inserted from the side opposite to the pin member 32 across the first carrier 18. The pin member 32 is fixed to the first carrier 18 by screwing the screw member 36 into the female screw hole 32a. In the first carrier 18 of the present embodiment, a pin hole 40 into which the tip portion of the pin member 32 is inserted is formed.

被駆動装置に回転動力を出力する部材を出力部材とし、偏心揺動型減速装置１０を支持するための外部部材に固定される部材を被固定部材とする。本実施形態の出力部材はケーシング２２であり、被固定部材は第２キャリヤ２０である。出力部材は、被固定部材に主軸受２４、２６を介して回転自在に支持される。   A member that outputs rotational power to the driven device is an output member, and a member that is fixed to an external member for supporting the eccentric oscillating speed reduction device 10 is a fixed member. The output member of this embodiment is the casing 22, and the fixed member is the second carrier 20. The output member is rotatably supported by the fixed member via the main bearings 24 and 26.

図２は、主軸受２４、２６を周辺構造の一部とともに示す拡大図である。主軸受２４、２６には、第１キャリヤ１８とケーシング２２の間に配置される第１主軸受２４と、第２キャリヤ２０とケーシング２２の間に配置される第２主軸受２６とが含まれる。本実施形態において、一対の主軸受２４、２６は、いわゆる背面組み合わせの状態で配置される。   FIG. 2 is an enlarged view showing the main bearings 24 and 26 together with a part of the peripheral structure. The main bearings 24, 26 include a first main bearing 24 disposed between the first carrier 18 and the casing 22, and a second main bearing 26 disposed between the second carrier 20 and the casing 22. . In the present embodiment, the pair of main bearings 24 and 26 are arranged in a so-called rear combination state.

本実施形態の主軸受２４、２６は、複数の転動体４２と、リテーナ（不図示）を備える。複数の転動体４２は、周方向に間を置いて設けられる。本実施形態の転動体４２は球体である。リテーナは、複数の転動体４２の相対位置を保持するとともに複数の転動体４２を回転自在に支持する。   The main bearings 24 and 26 of the present embodiment include a plurality of rolling elements 42 and a retainer (not shown). The plurality of rolling elements 42 are provided at intervals in the circumferential direction. The rolling element 42 of this embodiment is a sphere. The retainer holds the relative positions of the plurality of rolling elements 42 and rotatably supports the plurality of rolling elements 42.

本実施形態の主軸受２４、２６は、転動体４２が転動する外側転動面が設けられる外輪４８を備えるが、転動体４２が転動する内側転動面が設けられる内輪を備えない。この代わりに、内側転動面はキャリヤ１８、２０の外周面に設けられる。外側転動面は転動体４２の径方向外側に設けられ、内側転動面は転動体４２の径方向内側に設けられる。外輪４８は、締まり嵌め、中間嵌め等の嵌め合いにより、ケーシング２２と一体化される。   The main bearings 24 and 26 of the present embodiment include an outer ring 48 provided with an outer rolling surface on which the rolling element 42 rolls, but do not include an inner ring provided with an inner rolling surface on which the rolling element 42 rolls. Instead, the inner rolling surface is provided on the outer peripheral surface of the carriers 18, 20. The outer rolling surface is provided on the radially outer side of the rolling element 42, and the inner rolling surface is provided on the radially inner side of the rolling element 42. The outer ring 48 is integrated with the casing 22 by fitting such as interference fitting and intermediate fitting.

主軸受２４、２６には、予圧が付与されてもよい。予圧は、主には、主軸受２４、２６のモーメント剛性等の軸受特性の確保のために付与される。本実施形態では、主軸受２４、２６として、アンギュラ玉軸受を例示する。主軸受２４、２６は、この他にも、後述するテーパーローラ軸受、アンギュラコロ軸受等の転がり軸受であってもよい。   A preload may be applied to the main bearings 24 and 26. The preload is mainly applied to ensure bearing characteristics such as moment rigidity of the main bearings 24 and 26. In the present embodiment, angular ball bearings are exemplified as the main bearings 24 and 26. In addition, the main bearings 24 and 26 may be rolling bearings such as a tapered roller bearing and an angular roller bearing described later.

（給脂口）
次に給脂口８０について説明する。偏心揺動型減速装置１０には、必要に応じて、外歯歯車１４と内歯歯車１６の噛合部やその内側にグリスなどの潤滑剤を補充することが望ましい。このため、偏心揺動型減速装置１０には外部から潤滑剤を供給する給脂口８０を備える。給脂口８０は、偏心揺動型減速装置１０の内部に潤滑剤を供給可能であれば、どこに配置されてもよい。本実施形態の給脂口８０は、図２に示すように、フランジ部２２ａに設けられており、フランジ部２２ａの外周面からケーシング２２の内周面まで径方向に貫通する通路として形成される。なお、図示はされていないが、偏心揺動型減速装置１０には、排脂口も設けられている。 (Greasing port)
Next, the greasing port 80 will be described. It is desirable that the eccentric oscillating speed reducer 10 is replenished with a lubricant such as grease on the meshing portion of the external gear 14 and the internal gear 16 or on the inside thereof as necessary. For this reason, the eccentric oscillating speed reduction device 10 is provided with a greasing port 80 for supplying a lubricant from the outside. The greasing port 80 may be disposed anywhere as long as the lubricant can be supplied into the eccentric oscillating speed reducer 10. As shown in FIG. 2, the greasing port 80 of the present embodiment is provided in the flange portion 22 a and is formed as a passage that penetrates in the radial direction from the outer peripheral surface of the flange portion 22 a to the inner peripheral surface of the casing 22. . Although not shown, the eccentric oscillating speed reduction device 10 is also provided with a fat drain opening.

潤滑剤の供給経路は短いことが望ましい。このため、本実施形態の給脂口８０は、ケーシング２２の外歯歯車１４と対向する対向面２２ｈに開口する。給脂口８０が外歯歯車１４と対向する位置に開口するから、潤滑剤の供給経路を短くできる。具体的には、給脂口８０は、外ピン１６ａと外ピン１６ａの間に開口する。   It is desirable that the lubricant supply path be short. For this reason, the greasing port 80 of the present embodiment opens in the facing surface 22 h that faces the external gear 14 of the casing 22. Since the greasing port 80 opens at a position facing the external gear 14, the lubricant supply path can be shortened. Specifically, the greasing port 80 opens between the outer pin 16a and the outer pin 16a.

図３は、偏心揺動型減速装置１０への潤滑剤の給脂方法を説明する説明図である。偏心揺動型減速装置１０への給脂には潤滑剤を加圧して吐出口８８ｂから吐出する吐出装置８８を用いる。給脂口８０には、図３に示すように、吐出装置８８から所定の吐出圧で潤滑剤が吐出される。吐出口８８ｂを給脂口８０に連結する際、給脂口８０の傷付きを減らすため、吐出口８８ｂは、給脂口８０より軟らかい材料（例えば樹脂など）で形成されることが望ましい。   FIG. 3 is an explanatory view for explaining a method of supplying the lubricant to the eccentric oscillating speed reducer 10. A discharge device 88 that pressurizes the lubricant and discharges it from the discharge port 88b is used for supplying grease to the eccentric oscillating speed reduction device 10. As shown in FIG. 3, the lubricant is discharged from the discharge device 88 to the grease supply port 80 at a predetermined discharge pressure. When connecting the discharge port 88b to the greasing port 80, it is desirable that the discharge port 88b be formed of a softer material (for example, resin) than the greasing port 80 in order to reduce damage to the greasing port 80.

（軸方向隙間）
図２を参照する。本実施形態の外歯歯車１４は、第１主軸受２４と第２主軸受２６との間において軸方向に移動可能に構成されている。外歯歯車１４が過度に移動すると、外歯歯車１４と偏心軸受３０の接触幅が減少し、接触部での面圧が高くなり、早期損傷のおそれがある。このため、本実施形態では、第１主軸受２４の外輪４８によって外歯歯車１４の入力側への軸方向移動が規制され、第２主軸受２６の外輪４８によって外歯歯車１４の反入力側への軸方向移動が規制される。つまり、２枚の外歯歯車１４は、第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間において軸方向に移動可能であり、これらの部材間に幾つかの軸方向隙間が形成される。 (Axial clearance)
Please refer to FIG. The external gear 14 of the present embodiment is configured to be movable in the axial direction between the first main bearing 24 and the second main bearing 26. If the external gear 14 moves excessively, the contact width between the external gear 14 and the eccentric bearing 30 decreases, the surface pressure at the contact portion increases, and there is a risk of early damage. For this reason, in this embodiment, the axial movement of the external gear 14 to the input side is restricted by the outer ring 48 of the first main bearing 24, and the non-input side of the external gear 14 is controlled by the outer ring 48 of the second main bearing 26. Axial movement to is restricted. That is, the two external gears 14 are movable in the axial direction between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, and several axial directions are provided between these members. A gap is formed.

本実施形態では、以下に定義する３つの隙間Ｇ１、Ｇ２、Ｇ３が形成される。第１主軸受２４の外輪４８と入力側の外歯歯車１４のとの間の軸方向の隙間を隙間Ｇ１という。入力側の外歯歯車１４と、反入力側の外歯歯車１４との間の軸方向の隙間を隙間Ｇ２という。反入力側の外歯歯車１４と、第２主軸受２６の外輪４８との間の軸方向の隙間を隙間Ｇ３という。つまり、第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間には、隙間Ｇ１、Ｇ２、Ｇ３の合計値Ｇｔとして例示される軸方向隙間が存在する。なお、これらの隙間にワッシャなどの別部材を介在させる構成では、隙間の合計値Ｇｔはこの別部材の軸方向の厚さ分だけ減少する。   In the present embodiment, three gaps G1, G2, and G3 defined below are formed. A gap in the axial direction between the outer ring 48 of the first main bearing 24 and the external gear 14 on the input side is referred to as a gap G1. A gap in the axial direction between the input side external gear 14 and the non-input side external gear 14 is referred to as a gap G2. A gap in the axial direction between the external gear 14 on the non-input side and the outer ring 48 of the second main bearing 26 is referred to as a gap G3. That is, an axial gap exemplified as the total value Gt of the gaps G1, G2, and G3 exists between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26. In the configuration in which another member such as a washer is interposed in these gaps, the total value Gt of the gaps is reduced by the thickness of the other member in the axial direction.

潤滑剤を供給する際、給脂口８０から供給された潤滑剤は、第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間に存在する軸方向隙間を通って内部に浸透する。これらの軸方向隙間が小さ過ぎると、給脂口８０から供給された潤滑剤の外歯歯車１４の外側から径方向内側への移動が著しく阻害されることがある。この場合、給脂に時間がかかることがあり、作業性が著しく低下する。   When supplying the lubricant, the lubricant supplied from the greasing port 80 passes through an axial gap existing between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 to the inside. To penetrate. If these axial gaps are too small, the movement of the lubricant supplied from the greasing port 80 from the outside of the external gear 14 to the inside in the radial direction may be significantly hindered. In this case, lubrication may take time, and workability will be significantly reduced.

発明者らは、潤滑剤の供給を容易にする観点から、鋭意研究を重ねた結果、軸方向隙間の合計値Ｇｔと単位時間当たりの給脂量Ｓｇとの間に以下に説明する関係を見出した。図４は、吐出圧２．０ＭＰａでグリスを給脂した場合の主軸受２４、２６間の軸方向隙間の合計値Ｇｔと単位時間当たりの給脂量Ｓｇとの関係を示すグラフである。図４において、横軸は軸方向隙間の合計値Ｇｔを示し、縦軸は単位時間（１分）当たりの給脂量Ｓｇを示す。図４における、各点は合計値Ｇｔに対応する給脂量Ｓｇをプロットしたものである。   As a result of intensive studies from the viewpoint of facilitating the supply of the lubricant, the inventors have found the relationship described below between the total value Gt of the axial gap and the amount of lubrication Sg per unit time. It was. FIG. 4 is a graph showing the relationship between the total value Gt of the axial gaps between the main bearings 24 and 26 and the amount of grease supplied per unit time when grease is supplied at a discharge pressure of 2.0 MPa. In FIG. 4, the horizontal axis indicates the total value Gt of the axial gap, and the vertical axis indicates the greasing amount Sg per unit time (1 minute). Each point in FIG. 4 is a plot of the greasing amount Sg corresponding to the total value Gt.

図４に示すように、軸方向隙間の合計値Ｇｔが０．０９ｍｍ未満の場合には、単位時間当たりの給脂量Ｓｇは小さく、潤滑剤は殆ど内部に浸透しない。しかし、軸方向隙間の合計値Ｇｔが０．０９ｍｍ以上になると、単位時間当たりの給脂量Ｓｇは大きくなり、潤滑剤は円滑に内部に浸透する。つまり、第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間に存在する軸方向隙間の合計値Ｇｔを０．０９ｍｍ以上とすることにより、潤滑剤の供給が容易になる。   As shown in FIG. 4, when the total value Gt of the axial clearance is less than 0.09 mm, the amount of greasing Sg per unit time is small and the lubricant hardly penetrates into the interior. However, when the total value Gt of the axial gap becomes 0.09 mm or more, the amount of grease supply Sg per unit time increases, and the lubricant penetrates smoothly into the interior. That is, when the total value Gt of the axial clearance existing between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 is 0.09 mm or more, the supply of the lubricant is facilitated. .

なお、図４では、軸方向隙間の合計値Ｇｔが０．１５ｍｍを超える場合を示していないが、０．１５ｍｍを超えて合計値Ｇｔを大きくしても単位時間当たりの給脂量Ｓｇはあまり増加しない。また、軸方向隙間の合計値Ｇｔを大きくしすぎると、外歯歯車１４の軸方向の遊びが大きくなり回転精度が低下するおそれがある。発明者らは、検討を重ね、総隙間Ｇｔが式（１）を満たす範囲では、隙間過大による問題は実用上で支障がないことを確認した。
式（１）：Ｇｔ≦０.１３ｍｍ＋０．７×Ｎ ｍｍ
但し、Ｎは、第１主軸受２４の外輪と第２主軸受２６の外輪との間に存在する軸方向隙間の数である。本実施形態では、隙間の数はＧ１、Ｇ２、Ｇ３の３つであり、Ｎ＝３である。なお、これらの軸方向隙間にワッシャなど別部材を介在させる場合では、軸方向隙間の数Ｎはその別部材の数だけ増える。 Note that FIG. 4 does not show a case where the total value Gt of the axial clearance exceeds 0.15 mm, but the amount of greasing Sg per unit time is not so large even if the total value Gt is increased beyond 0.15 mm. Does not increase. Further, if the total value Gt of the axial clearance is too large, the play in the axial direction of the external gear 14 increases and the rotational accuracy may be reduced. The inventors have repeatedly studied and confirmed that the problem due to the excessive clearance is practically satisfactory as long as the total clearance Gt satisfies Equation (1).
Formula (1): Gt ≦ 0.13 mm + 0.7 × N mm
However, N is the number of axial gaps existing between the outer ring of the first main bearing 24 and the outer ring of the second main bearing 26. In the present embodiment, the number of gaps is three, G1, G2, and G3, and N = 3. In the case where another member such as a washer is interposed in these axial gaps, the number N of axial gaps increases by the number of the separate members.

特に、外歯歯車１４と偏心軸受３０の接触幅減少による早期損傷を抑制する観点から、軸方向隙間の合計値Ｇｔを０.１３ｍｍ以下にすることが好ましい。   In particular, from the viewpoint of suppressing early damage due to a decrease in the contact width between the external gear 14 and the eccentric bearing 30, the total value Gt of the axial clearance is preferably set to 0.13 mm or less.

潤滑剤供給の作業時間を短縮するために、吐出装置８８の吐出圧を高めることが考えられる。この場合、吐出装置８８が大型化して消費電力が増えることが考えられる。また、吐出圧を過度に高めると、吐出口８８ｂが膨張し、吐出口８８ｂと給脂口８０との間に隙間ができ、その隙間から潤滑剤が漏れるおそれがある。これらの観点から、発明者らは、潤滑剤を給脂する際における、潤滑剤を吐出する吐出装置からの吐出圧について検討を重ねた。その結果、２．５ＭＰａ以下の吐出圧で給脂口８０に潤滑剤を吐出すれば、実用上問題ないことが確認された。   In order to shorten the operation time for supplying the lubricant, it is conceivable to increase the discharge pressure of the discharge device 88. In this case, it is conceivable that the discharge device 88 increases in size and power consumption increases. Further, if the discharge pressure is excessively increased, the discharge port 88b expands, and a gap is formed between the discharge port 88b and the greasing port 80, and the lubricant may leak from the gap. From these viewpoints, the inventors have repeatedly studied the discharge pressure from the discharge device that discharges the lubricant when the lubricant is supplied. As a result, it was confirmed that there is no practical problem if the lubricant is discharged to the greasing port 80 with a discharge pressure of 2.5 MPa or less.

以上のように構成された偏心揺動型減速装置１０の動作を説明する。駆動装置から入力軸１２に回転動力が伝達されると、入力軸１２の偏心部１２ａが入力軸１２を通る回転中心線周りに回転し、その偏心部１２ａにより外歯歯車１４が揺動する。このとき、外歯歯車１４は、自らの軸芯が入力軸１２の回転中心線周りを回転するように揺動する。外歯歯車１４が揺動すると、外歯歯車１４と内歯歯車１６の噛合位置が順次ずれる。この結果、入力軸１２が一回転する毎に、外歯歯車１４と内歯歯車１６との歯数差に相当する分、外歯歯車１４及び内歯歯車１６の一方の自転が発生する。本実施形態においては、内歯歯車１６が自転し、ケーシング２２から減速回転が出力される。   The operation of the eccentric oscillating speed reduction device 10 configured as described above will be described. When rotational power is transmitted from the drive device to the input shaft 12, the eccentric portion 12a of the input shaft 12 rotates around the rotation center line passing through the input shaft 12, and the external gear 14 swings by the eccentric portion 12a. At this time, the external gear 14 swings so that its own axis rotates about the rotation center line of the input shaft 12. When the external gear 14 swings, the meshing positions of the external gear 14 and the internal gear 16 are sequentially shifted. As a result, each rotation of the input shaft 12 causes one of the external gear 14 and the internal gear 16 to rotate by an amount corresponding to the difference in the number of teeth between the external gear 14 and the internal gear 16. In the present embodiment, the internal gear 16 rotates and a reduced speed rotation is output from the casing 22.

［第２実施形態］
次に、第２実施形態に係る偏心揺動型減速装置１０の構成について説明する。第２実施形態の図面および説明では、第１実施形態と同一または同等の構成要素、部材には、同一の符号を付する。第１実施形態と重複する説明を適宜省略し、第１実施形態と相違する構成について重点的に説明する。図５は、第２実施形態の偏心揺動型減速装置１０を示す側面断面図であり、図１に対応する。第１実施形態が２個の外歯歯車１４と２個の偏心部１２ａを備えるのに対して、第２実施形態の偏心揺動型減速装置１０は、３個の外歯歯車１４と３個の偏心部１２ａを備える点で相違し、他の構成は同じである。第２実施形態では３個の偏心部１２ａが設けられ、それぞれの偏心部１２ａの偏心位相は１２０°ずれている。 [Second Embodiment]
Next, the configuration of the eccentric oscillating speed reduction device 10 according to the second embodiment will be described. In the drawings and descriptions of the second embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. The description which overlaps with 1st Embodiment is abbreviate | omitted suitably, and demonstrates the structure different from 1st Embodiment mainly. FIG. 5 is a side sectional view showing the eccentric oscillating speed reduction device 10 of the second embodiment, and corresponds to FIG. The first embodiment includes two external gears 14 and two eccentric portions 12a, whereas the eccentric oscillating speed reduction device 10 of the second embodiment includes three external gears 14 and three. This is different in that the eccentric portion 12a is provided, and the other configurations are the same. In the second embodiment, three eccentric portions 12a are provided, and the eccentric phases of the eccentric portions 12a are shifted by 120 °.

図５に示すように、本実施形態では、軸方向において、第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間に、３枚の外歯歯車１４が存在しており、これらの部材間に４つの隙間Ｇ１、Ｇ２、Ｇ３、Ｇ４が形成されうる。第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間には隙間Ｇ１、Ｇ２、Ｇ３、Ｇ４が存在し、これらの軸方向隙間の合計値Ｇｔは０．０９ｍｍ以上であって０．１３ｍｍ以下に設定されている。また、本実施形態は、ケーシング２２の外歯歯車１４と対向する面に開口する給脂口８０を有している。   As shown in FIG. 5, in the present embodiment, three external gears 14 exist between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 in the axial direction. The four gaps G1, G2, G3, G4 can be formed between these members. There are gaps G1, G2, G3, and G4 between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, and the total value Gt of these axial gaps is 0.09 mm or more. Is set to 0.13 mm or less. Moreover, this embodiment has the greasing port 80 opened to the surface facing the external gear 14 of the casing 22.

以上のように構成された第２実施形態に係る偏心揺動型減速装置１０は、偏心揺動型減速装置１０と同様に動作する。   The eccentric oscillating speed reduction device 10 according to the second embodiment configured as described above operates in the same manner as the eccentric oscillating speed reduction device 10.

［第３実施形態］
次に、第３実施形態に係る偏心揺動型減速装置１０の構成について説明する。第３実施形態の図面および説明では、第１実施形態と同一または同等の構成要素、部材には、同一の符号を付する。第１実施形態と重複する説明を適宜省略し、第１実施形態と相違する構成について重点的に説明する。図６は、第３実施形態の偏心揺動型減速装置１０を示す側面断面図であり、図１に対応する。 [Third Embodiment]
Next, the configuration of the eccentric oscillating speed reduction device 10 according to the third embodiment will be described. In the drawings and description of the third embodiment, the same reference numerals are given to the same or equivalent components and members as those in the first embodiment. The description which overlaps with 1st Embodiment is abbreviate | omitted suitably, and demonstrates the structure different from 1st Embodiment mainly. FIG. 6 is a side sectional view showing the eccentric oscillating speed reduction device 10 of the third embodiment, and corresponds to FIG.

第１実施形態はセンタークランクタイプの偏心揺動型歯車装置を例に説明した。本実施形態の偏心揺動型減速装置は、いわゆる振り分けタイプの偏心揺動型歯車装置である。本実施形態の偏心揺動型減速装置１０は、第１実施形態と比べ、主には、複数の入力歯車７０を備える点や、入力軸１２、主軸受２４、２６の点で異なる。   The first embodiment has been described by taking a center crank type eccentric oscillating gear device as an example. The eccentric oscillating speed reduction device of this embodiment is a so-called sort-type eccentric oscillating gear device. The eccentric oscillating speed reduction device 10 according to the present embodiment is different from the first embodiment mainly in that it includes a plurality of input gears 70 and the input shaft 12 and main bearings 24 and 26.

複数の入力歯車７０は、内歯歯車１６の中心軸線Ｌａ周りに配置される。本図では一つの入力歯車７０のみを示す。入力歯車７０は、その中央部に挿通される入力軸１２により支持され、入力軸１２と一体的に回転可能に設けられる。入力歯車７０は、内歯歯車１６の中心軸線Ｌａ上に設けられる回転軸（不図示）の外歯部と噛み合う。回転軸には、不図示の駆動装置から回転動力が伝達され、その回転軸の回転により入力歯車７０が入力軸１２と一体的に回転する。   The plurality of input gears 70 are arranged around the central axis La of the internal gear 16. In the figure, only one input gear 70 is shown. The input gear 70 is supported by the input shaft 12 inserted through the central portion thereof, and is provided to be rotatable integrally with the input shaft 12. The input gear 70 meshes with an external tooth portion of a rotation shaft (not shown) provided on the central axis La of the internal gear 16. Rotational power is transmitted to the rotating shaft from a driving device (not shown), and the input gear 70 rotates integrally with the input shaft 12 by the rotation of the rotating shaft.

本実施形態の入力軸１２は、内歯歯車１６の中心軸線Ｌａからオフセットした位置に周方向に間を置いて複数（例えば、３本）配置される。本図では一つの入力軸１２のみを示す。   A plurality of (for example, three) input shafts 12 in the present embodiment are arranged at intervals in the circumferential direction at positions offset from the central axis La of the internal gear 16. In the figure, only one input shaft 12 is shown.

本実施形態の主軸受２４、２６は、テーパーローラー軸受、つまり、ころ軸受である。本実施形態の転動体４２は円錐状のころである。本実施形態のように主軸受２４、２６がころ軸受の場合、主軸受２４、２６は、通常、外側転動面が設けられる外輪４８の他に、内側転動面が設けられる内輪７２を備える。   The main bearings 24 and 26 of the present embodiment are tapered roller bearings, that is, roller bearings. The rolling element 42 of this embodiment is a conical roller. When the main bearings 24 and 26 are roller bearings as in the present embodiment, the main bearings 24 and 26 usually include an inner ring 72 provided with an inner rolling surface in addition to an outer ring 48 provided with an outer rolling surface. .

図６に示すように、本実施形態では、軸方向において、第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間に、２枚の外歯歯車１４が存在しており、これらの部材間に３つの隙間Ｇ１、Ｇ２、Ｇ３が形成されうる。第１主軸受２４の外輪４８と第２主軸受２６の外輪４８との間には隙間Ｇ１、Ｇ２、Ｇ３が存在し、これらの軸方向隙間の合計値Ｇｔは０．０９ｍｍ以上であって０．１３ｍｍ以下に設定されている。また、本実施形態は、ケーシング２２の外歯歯車１４と対向する面に開口する給脂口８０を有している。   As shown in FIG. 6, in the present embodiment, two external gears 14 exist between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 in the axial direction. Three gaps G1, G2, and G3 can be formed between these members. There are gaps G1, G2, and G3 between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, and the total value Gt of these axial gaps is 0.09 mm or more and 0. It is set to 13 mm or less. Moreover, this embodiment has the greasing port 80 opened to the surface facing the external gear 14 of the casing 22.

以上の本実施形態の偏心揺動型減速装置１０の動作を説明する。駆動装置から回転軸に回転動力が伝達されると、回転軸から複数の入力歯車７０に回転動力が振り分けられ、各入力歯車７０が同じ位相で回転する。各入力歯車７０が回転すると、入力軸１２の偏心部１２ａが入力軸１２を通る回転中心線周りに回転し、その偏心部１２ａにより外歯歯車１４が揺動する。外歯歯車１４が揺動すると、第１実施形態と同様、外歯歯車１４と内歯歯車１６の噛合位置が順次ずれ、外歯歯車１４及び内歯歯車１６の一方の自転が発生する。入力軸１２の回転は、外歯歯車１４と内歯歯車１６の歯数差に応じた減速比で減速されて、出力部材から被駆動装置に出力される。   The operation of the eccentric oscillating speed reducer 10 according to the present embodiment will be described. When the rotational power is transmitted from the driving device to the rotational shaft, the rotational power is distributed from the rotational shaft to the plurality of input gears 70, and the input gears 70 rotate in the same phase. When each input gear 70 rotates, the eccentric portion 12a of the input shaft 12 rotates around the rotation center line passing through the input shaft 12, and the external gear 14 swings by the eccentric portion 12a. When the external gear 14 swings, the meshing position of the external gear 14 and the internal gear 16 is sequentially shifted as in the first embodiment, and one rotation of the external gear 14 and the internal gear 16 occurs. The rotation of the input shaft 12 is decelerated at a reduction ratio corresponding to the difference in the number of teeth between the external gear 14 and the internal gear 16 and is output from the output member to the driven device.

本発明の一態様の概要は、次の通りである。本発明のある態様の偏心揺動型減速装置１０は、ケーシング２２に設けられた内歯歯車１６と、内歯歯車１６に噛合う外歯歯車１４と、外歯歯車１４の軸方向一側に設けられた第１キャリヤ１８と、外歯歯車１４の軸方向他側に設けられた第２キャリヤ２０と、ケーシング２２と第１キャリヤ１８との間に設けられた第１主軸受２４と、ケーシング２２と第２キャリヤ２０との間に設けられた第２主軸受２６と、を備える。外歯歯車１４の軸方向一方側への軸方向移動は、第１主軸受２４の内輪または外輪の一方である第１部材により規制され、外歯歯車１４の軸方向他方側への軸方向移動は、第２主軸受２６の内輪または外輪の一方である第２部材により規制され、第１部材と第２部材との間に存在する軸方向隙間の合計値Ｇｔは０．０９ｍｍ以上である。   The outline of one embodiment of the present invention is as follows. An eccentric oscillating speed reduction device 10 according to an aspect of the present invention includes an internal gear 16 provided in a casing 22, an external gear 14 that meshes with the internal gear 16, and an axial direction one side of the external gear 14. A first carrier 18 provided, a second carrier 20 provided on the other axial side of the external gear 14, a first main bearing 24 provided between the casing 22 and the first carrier 18, and a casing And a second main bearing 26 provided between the second carrier 20 and the second carrier 20. The axial movement of the external gear 14 to one side in the axial direction is restricted by the first member that is one of the inner ring and the outer ring of the first main bearing 24, and the axial movement of the external gear 14 to the other side in the axial direction. Is regulated by the second member which is one of the inner ring and the outer ring of the second main bearing 26, and the total value Gt of the axial gaps existing between the first member and the second member is 0.09 mm or more.

この態様によると、第１、第２主軸受により外歯歯車１４の軸方向移動を規制しながら、軸方向隙間の合計値Ｇｔが小さすぎる場合に比べて潤滑剤がスムーズに内部に浸透し、潤滑剤の供給が容易になる。したがって、キャリヤに外歯歯車の規制部を設ける必要がなく、キャリヤの形状を簡素化することができ、キャリヤの製造が容易になる。   According to this aspect, while restricting the axial movement of the external gear 14 by the first and second main bearings, the lubricant smoothly penetrates into the interior as compared with the case where the total value Gt of the axial clearance is too small, Lubricant supply becomes easy. Therefore, it is not necessary to provide the external gear restricting portion on the carrier, the shape of the carrier can be simplified, and the manufacture of the carrier is facilitated.

第１部材と第２部材との間に存在する軸方向隙間の数をＮとするとき、軸方向隙間の合計値Ｇｔは、式（１）：Ｇｔ≦０.１３ｍｍ＋０．７×Ｎ ｍｍ、を満たしてもよい。この場合、軸方向隙間の合計値Ｇｔが大きすぎる場合と比べて、外歯歯車１４の軸方向の遊びを減らして回転精度の低下を抑制できる。   When the number of axial gaps existing between the first member and the second member is N, the total value Gt of the axial gaps is expressed by the following equation (1): Gt ≦ 0.13 mm + 0.7 × N mm. May be satisfied. In this case, compared with the case where the total value Gt of the axial clearance is too large, it is possible to reduce the axial play of the external gear 14 and suppress the decrease in rotational accuracy.

軸方向隙間の合計値Ｇｔは０.１３ｍｍ以下であってもよい。この場合、外歯歯車１４の軸方向の遊びをより低減して回転精度の低下を一層抑制できる。   The total value Gt of the axial clearance may be 0.13 mm or less. In this case, the play in the axial direction of the external gear 14 can be further reduced to further suppress the decrease in rotational accuracy.

ケーシング２２の外歯歯車１４と対向する面に開口する給脂口８０を有してもよい。この場合、給脂口８０から外歯歯車１４までの経路を短くでき、より円滑に潤滑剤を供給できる。   You may have the greasing port 80 opened to the surface facing the external gear 14 of the casing 22. In this case, the path from the greasing port 80 to the external gear 14 can be shortened, and the lubricant can be supplied more smoothly.

本発明の別の態様は、潤滑剤の給脂方法である。この方法は、偏心揺動型減速装置１０へ潤滑剤を給脂する方法であって、潤滑剤を吐出する吐出装置８８から２．５ＭＰａ以下の吐出圧で潤滑剤を給脂口８０に吐出することを含んでいる。この態様によると、吐出圧が大きい場合に比べて、吐出装置８８の小型化および消費電力の抑制を図ることはできる。また、吐出装置８８から給脂口８０までの給脂経路における潤滑剤のシール構造を簡素化できる。   Another aspect of the present invention is a method for lubricating a lubricant. This method is a method of supplying the lubricant to the eccentric oscillating speed reduction device 10, and discharging the lubricant to the grease supply port 80 with a discharge pressure of 2.5 MPa or less from the discharge device 88 that discharges the lubricant. Including that. According to this aspect, the discharge device 88 can be reduced in size and power consumption can be reduced as compared with the case where the discharge pressure is large. Further, the seal structure of the lubricant in the greasing route from the discharge device 88 to the greasing port 80 can be simplified.

以上、本発明の実施形態の例について詳細に説明した。前述した実施形態は、いずれも本発明を実施するにあたっての具体例を示したものにすぎない。実施形態の内容は、本発明の技術的範囲を限定するものではなく、請求の範囲に規定された発明の思想を逸脱しない範囲において、構成要素の変更、追加、削除等の多くの設計変更が可能である。前述の実施形態では、このような設計変更が可能な内容に関して、「実施形態の」「実施形態では」等との表記を付して説明しているが、そのような表記のない内容に設計変更が許容されないわけではない。また、図面の断面に付したハッチングは、ハッチングを付した対象の材質を限定するものではない。   In the above, the example of embodiment of this invention was demonstrated in detail. The above-described embodiments are merely specific examples for carrying out the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, deletions, etc. of constituent elements are possible without departing from the spirit of the invention defined in the claims. Is possible. In the above-described embodiment, the contents that can be changed in the design are described with the notation of “embodiment”, “in the embodiment”, and the like. Changes are not unacceptable. Moreover, the hatching given to the cross section of drawing does not limit the material of the hatched object.

以下、変形例を説明する。変形例の図面および説明では、実施形態と同一または同等の構成要素、部材には、同一の符号を付する。実施形態と重複する説明を適宜省略し、第１実施形態と相違する構成について重点的に説明する。   Hereinafter, modified examples will be described. In the drawings and descriptions of the modified examples, the same reference numerals are given to the same or equivalent components and members as those in the embodiment. The description overlapping with the embodiment will be omitted as appropriate, and the configuration different from the first embodiment will be mainly described.

第１実施形態では、第１主軸受２４および第２主軸受２６が内輪を有しない例を説明したが、本発明はこれに限られない。第１主軸受２４と第２主軸受２６との少なくとも一方は、内輪を有する軸受であってもよい。   In 1st Embodiment, although the 1st main bearing 24 and the 2nd main bearing 26 demonstrated the example which does not have an inner ring | wheel, this invention is not limited to this. At least one of the first main bearing 24 and the second main bearing 26 may be a bearing having an inner ring.

第１実施形態では、第１主軸受２４および第２主軸受２６それぞれの外輪４８によって外歯歯車１４の軸方向移動が規制される例を説明したが、本発明はこれに限られない。主軸受の内輪によって外歯歯車１４の軸方向移動が規制されてもよい。この場合、第１主軸受２４の内輪と第２主軸受２６の内輪との間に存在する軸方向隙間の合計値Ｇｔが０．０９ｍｍ以上に設定される。   In the first embodiment, the example in which the axial movement of the external gear 14 is regulated by the outer rings 48 of the first main bearing 24 and the second main bearing 26 has been described, but the present invention is not limited to this. The axial movement of the external gear 14 may be restricted by the inner ring of the main bearing. In this case, the total value Gt of the axial clearance existing between the inner ring of the first main bearing 24 and the inner ring of the second main bearing 26 is set to 0.09 mm or more.

実施形態の出力部材はケーシング２２であり、外部部材にはキャリヤ１８、２０が固定される例を説明した。この他にも、出力部材はキャリヤ１８、２０であり、外部部材にはケーシング２２が固定されてもよい。   The output member of the embodiment is the casing 22 and the example in which the carriers 18 and 20 are fixed to the external member has been described. In addition, the output members may be the carriers 18 and 20, and the casing 22 may be fixed to the external member.

ケーシング２２のフランジ部２２ａの外周面に給脂口８０の開口を設ける例を説明したが、給脂口８０はケーシング２２のフランジ部２２ａを避けた位置に設けられてもよい。また、給脂口８０は、ケーシング以外の部分、例えばキャリヤに設けられてもよい。   Although the example which provides the opening of the greasing port 80 in the outer peripheral surface of the flange part 22a of the casing 22 was demonstrated, the greasing port 80 may be provided in the position which avoided the flange part 22a of the casing 22. FIG. Further, the greasing port 80 may be provided in a portion other than the casing, for example, a carrier.

上述の各変形例は第１実施形態と同様の作用・効果を奏する。   Each of the above-described modifications has the same operations and effects as the first embodiment.

上述した各実施形態と変形例の任意の組み合わせもまた本発明の実施形態として有用である。組み合わせによって生じる新たな実施形態は、組み合わされる各実施形態および変形例それぞれの効果をあわせもつ。   Arbitrary combinations of the above embodiments and modifications are also useful as embodiments of the present invention. The new embodiment generated by the combination has the effects of the combined embodiments and modifications.

１０・・偏心揺動型減速装置、 １２・・入力軸、 １４・・外歯歯車、 １６・・内歯歯車、 １８・・第１キャリヤ、 ２０・・第２キャリヤ、 ２２・・ケーシング、 ２４・・第１主軸受、 ２６・・第２主軸受、 ３０・・偏心軸受、 ３２・・ピン部材、 ３４・・入力軸軸受、 ３６・・ねじ部材、 ３８・・挿通穴、 ４０・・ピン穴、 ４２・・転動体、 ４８・・外輪、 ７０・・入力歯車、 ７２・・内輪、 ８０・・給脂口、 ８８・・吐出装置。   10 .... Eccentric oscillation type reduction gear, 12 .... Input shaft, 14 .... External gear, 16 .... Internal gear, 18 .... First carrier, 20 .... Second carrier, 22 .... Case, 24 ..First main bearing, 26. ・ Second main bearing, 30 ・ ・ Eccentric bearing, 32 ・ ・ Pin member, 34 ・ ・ Input shaft bearing, 36 ・ ・ Screw member, 38 ・ ・ Through hole, 40 ・ ・ Pin Hole, 42 ... rolling element, 48 ... outer ring, 70 ... input gear, 72 ... inner ring, 80 ... greasing port, 88 ... discharge device.

Claims (5)

ケーシングに設けられた内歯歯車と、
前記内歯歯車に噛合う外歯歯車と、
前記外歯歯車の軸方向一側に設けられた第１キャリヤと、
前記外歯歯車の軸方向他側に設けられた第２キャリヤと、
前記ケーシングと前記第１キャリヤとの間に設けられた第１主軸受と、
前記ケーシングと前記第２キャリヤとの間に設けられた第２主軸受と、
を備え、
前記外歯歯車の軸方向一方側への軸方向移動は、前記第１主軸受の内輪または外輪の一方である第１部材により規制され、
前記外歯歯車の軸方向他方側への軸方向移動は、前記第２主軸受の内輪または外輪の一方である第２部材により規制され、
前記第１部材と前記第２部材との間に存在する軸方向隙間の合計値は０．０９ｍｍ以上であることを特徴とする偏心揺動型減速装置。 An internal gear provided in the casing;
An external gear meshing with the internal gear;
A first carrier provided on one axial side of the external gear;
A second carrier provided on the other axial side of the external gear;
A first main bearing provided between the casing and the first carrier;
A second main bearing provided between the casing and the second carrier;
With
The axial movement of the external gear toward the axial direction one side is restricted by the first member that is one of the inner ring and the outer ring of the first main bearing,
The axial movement of the external gear toward the other side in the axial direction is restricted by a second member that is one of the inner ring and the outer ring of the second main bearing,
An eccentric rocking type speed reducer characterized in that a total value of axial gaps existing between the first member and the second member is 0.09 mm or more. 前記第１部材と前記第２部材との間に存在する軸方向隙間の数をＮとするとき、前記軸方向隙間の合計値は、
式（１）：軸方向隙間の合計値≦０.１３ｍｍ＋０．７×Ｎ ｍｍ
を満たすことを特徴とする請求項１に記載の偏心揺動型減速装置。 When the number of axial gaps existing between the first member and the second member is N, the total value of the axial gaps is:
Formula (1): Total value of axial clearance ≦ 0.13 mm + 0.7 × N mm
The eccentric rocking type reduction gear according to claim 1, wherein: 前記軸方向隙間の合計値は０.１３ｍｍ以下であることを特徴とする請求項１または２に記載の偏心揺動型減速装置。   The eccentric oscillating speed reduction device according to claim 1 or 2, wherein a total value of the axial clearances is 0.13 mm or less. 前記ケーシングの前記外歯歯車と対向する面に開口する給脂口を有することを特徴とする請求項１から３のいずれか１項に記載の偏心揺動型減速装置。   4. The eccentric oscillating speed reduction device according to claim 1, further comprising a greasing port that opens on a surface of the casing facing the external gear. 5. 請求項４に記載の偏心揺動型減速装置へ潤滑剤を給脂する方法であって、前記潤滑剤を吐出する吐出装置から２．５ＭＰａ以下の吐出圧で潤滑剤を前記給脂口に吐出することを含むことを特徴とする潤滑剤の給脂方法。   5. A method of supplying a lubricant to the eccentric oscillating speed reducer according to claim 4, wherein the lubricant is discharged from the discharge device for discharging the lubricant to the grease supply port at a discharge pressure of 2.5 MPa or less. And a method for lubricating the lubricant.
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