JP2021095964A - Series of eccentric oscillation type speed reduction devices, manufacturing method for speed reduction devices, design method for speed reduction devices - Google Patents

Series of eccentric oscillation type speed reduction devices, manufacturing method for speed reduction devices, design method for speed reduction devices Download PDF

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JP2021095964A
JP2021095964A JP2019228044A JP2019228044A JP2021095964A JP 2021095964 A JP2021095964 A JP 2021095964A JP 2019228044 A JP2019228044 A JP 2019228044A JP 2019228044 A JP2019228044 A JP 2019228044A JP 2021095964 A JP2021095964 A JP 2021095964A
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eccentric
bearing
crankshaft
rolling element
external gear
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JP7469873B2 (en
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慶剛 志津
Keigo Shizu
慶剛 志津
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to CN202011489626.5A priority patent/CN113007284A/en
Priority to DE102020133956.9A priority patent/DE102020133956A1/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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/033—Series gearboxes, e.g. gearboxes based on the same design being available in different sizes or gearboxes using a combination of several standardised units
    • 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
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
    • 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
    • F16H57/033—Series gearboxes, e.g. gearboxes based on the same design being available in different sizes or gearboxes using a combination of several standardised units
    • F16H2057/0335—Series transmissions of modular design, e.g. providing for different transmission ratios or power ranges
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

To provide a series of eccentric oscillation type speed reduction devices that can share components and reduce effort for component management.SOLUTION: A series of eccentric oscillation type speed reduction devices includes a first speed reduction device and a second speed reduction device. The first speed reduction device includes a first external gear, a first crankshaft comprising a first eccentric body for rocking the first external gear, and a first eccentric body bearing arranged between the first external gear and the first eccentric body. The second speed reduction device includes a second external gear, a second crankshaft comprising a second eccentric body for rocking the second external gear, and a second eccentric body bearing arranged between the second external gear and the second eccentric body. A pitch circle diameter of a rolling element of the first eccentric body bearing is smaller than a pitch circle diameter of a rolling element of the second eccentric body bearing. The rolling element of the first eccentric body bearing has the same shape as that of the rolling element of the second eccentric body bearing. A retainer of the first eccentric body bearing has a different shape from that of a retainer of the second eccentric body bearing.SELECTED DRAWING: Figure 1

Description

本発明は、偏心揺動型減速装置のシリーズ、減速装置の製造方法および減速装置の設計方法に関する。 The present invention relates to a series of eccentric swing type speed reducers, a method of manufacturing a speed reducer, and a method of designing a speed reducer.

互いに構成が異なる第１減速機と第２減速機とを備える減速機群が知られている。例えば、特許文献１には、第１クランク組立体を有する第１減速機と、第２クランク組立体を有する第２減速機と、を備える減速機群が記載されている。この減速機群では、第１クランク組立体は、第１主軸から第１距離だけ離間した第１伝達軸周りに回転運動を行い、第２クランク組立体は、第２主軸から前記第１距離とは異なる第２距離だけ離間した第２伝達軸周りに回転運動を行う。第１クランク組立体は、第１偏心部と第１揺動歯車との間に配置される第１歯車支持軸受を含み、第２クランク組立体は、第２偏心部と第２揺動歯車との間に配置される第２歯車支持軸受を含み、第１歯車支持軸受は、第２シャフト支持軸受に形状的に一致する。 A group of reduction gears including a first reduction gear and a second reduction gear having different configurations from each other is known. For example, Patent Document 1 describes a reduction gear group including a first reduction gear having a first crank assembly and a second reduction gear having a second crank assembly. In this reduction gear group, the first crank assembly rotates around the first transmission shaft separated by the first distance from the first spindle, and the second crank assembly rotates with the first distance from the second spindle. Performs a rotational motion around a second transmission axis separated by a different second distance. The first crank assembly includes a first gear support bearing arranged between the first eccentric portion and the first oscillating gear, and the second crank assembly includes the second eccentric portion and the second oscillating gear. The first gear support bearing is shapely matched to the second shaft support bearing, including a second gear support bearing arranged between.

特開２０１６−１２１７６６号公報Japanese Unexamined Patent Publication No. 2016-121766

特許文献１に記載の減速機群では、第１歯車支持軸受と第２シャフト支持軸受とを共用して軸受の種類を減らしているが、軸受の共用は、軸受に支持される被支持体の直径が同じ場合に限られる。 In the reduction gear group described in Patent Document 1, the first gear support bearing and the second shaft support bearing are shared to reduce the types of bearings, but the common use of the bearing is that of the supported body supported by the bearing. Only if the diameters are the same.

本発明の目的は、部品を共用化して部品管理の手間を軽減可能な偏心揺動型減速装置のシリーズを提供することにある。 An object of the present invention is to provide a series of eccentric swing type speed reducers capable of sharing parts and reducing the trouble of parts management.

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のシリーズは、第１減速装置および第２減速装置を含む偏心揺動型減速装置のシリーズであって、第１減速装置は、第１外歯歯車と、第１外歯歯車を揺動させる第１偏心体を有する第１クランク軸と、第１外歯歯車と第１偏心体の間に配置される第１偏心体軸受と、を含む。第２減速装置は、第２外歯歯車と、第２外歯歯車を揺動させる第２偏心体を有する第２クランク軸と、第２外歯歯車と第２偏心体の間に配置される第２偏心体軸受と、を含む。第１偏心体軸受の転動体のピッチ円径は、第２偏心体軸受の転動体のピッチ円径よりも小さく、第１偏心体軸受の転動体は、第２偏心体軸受の転動体と同一形状である。 In order to solve the above problems, the series of eccentric swing type reduction gears according to an aspect of the present invention is a series of eccentric swing type reduction gears including the first reduction gear and the second reduction gear, and is the first deceleration. The device includes a first external gear, a first crankshaft having a first eccentric body that swings the first external gear, and a first eccentric arranged between the first external gear and the first eccentric body. Including body bearings. The second reduction gear is arranged between the second external gear, the second crankshaft having the second eccentric body that swings the second external gear, and the second external gear and the second eccentric body. Includes a second eccentric bearing. The pitch circle diameter of the rolling element of the first eccentric bearing is smaller than the pitch circle diameter of the rolling element of the second eccentric bearing, and the rolling element of the first eccentric bearing is the same as the rolling element of the second eccentric bearing. The shape.

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。 It should be noted that any combination of the above components and those in which the components and expressions of the present invention are mutually replaced between methods, systems and the like are also effective as aspects of the present invention.

本発明によれば、部品を共用化して部品管理の手間を軽減可能な偏心揺動型減速装置のシリーズを提供できる。 According to the present invention, it is possible to provide a series of eccentric swing type speed reducers capable of sharing parts and reducing the trouble of parts management.

第１実施形態に係る偏心揺動型減速装置のシリーズの第１減速装置の断面図である。It is sectional drawing of the 1st speed reduction apparatus of the series of eccentric swing type reduction gears which concerns on 1st Embodiment. 第１実施形態に係る偏心揺動型減速装置のシリーズの第２減速装置の断面図である。It is sectional drawing of the 2nd speed reduction apparatus of the series of the eccentric swing type reduction gears which concerns on 1st Embodiment. 図１の第１減速装置の転動体の配置を示す配置図である。It is a layout drawing which shows the arrangement of the rolling elements of the 1st reduction gear of FIG. 図２の第２減速装置の転動体の配置を示す配置図である。It is a layout drawing which shows the arrangement of the rolling elements of the 2nd reduction gear of FIG. 第１変形例に係る偏心揺動型減速装置のシリーズの第１減速装置の断面図である。It is sectional drawing of the 1st reduction gear of the series of the eccentric swing type reduction gear which concerns on 1st modification. 第１変形例に係る偏心揺動型減速装置のシリーズの第２減速装置の断面図である。It is sectional drawing of the 2nd reduction gear of the series of the eccentric swing type reduction gear which concerns on 1st modification.

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。 Hereinafter, the present invention will be described with reference to each drawing based on a preferred embodiment. In the embodiments, comparative examples, and modifications, the same or equivalent components and members are designated by the same reference numerals, and redundant description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for easy understanding. In addition, some of the members that are not important for explaining the embodiment in each drawing are omitted and displayed.
In addition, terms including ordinal numbers such as 1st and 2nd are used to describe various components, but this term is used only for the purpose of distinguishing one component from other components, and this term is used. The components are not limited by.

［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のシリーズ１の構成を説明する。偏心揺動型減速装置のシリーズ１は、互いに構成が異なる第１減速装置１０および第２減速装置５０を含む。図１は、第１実施形態に係る偏心揺動型減速装置のシリーズ１の第１減速装置１０を示す側面断面図である。図２は、偏心揺動型減速装置のシリーズ１の第２減速装置５０を示す側面断面図である。本実施形態の第１減速装置１０および第２減速装置５０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減速装置である。 [First Embodiment]
Hereinafter, the configuration of the series 1 of the eccentric swing type speed reducer according to the first embodiment will be described with reference to the drawings. Series 1 of the eccentric swing type speed reducer includes a first speed reducer 10 and a second speed reducer 50 having different configurations from each other. FIG. 1 is a side sectional view showing a first reduction gear 10 of a series 1 of the eccentric swing type reduction gear according to the first embodiment. FIG. 2 is a side sectional view showing a second reduction gear 50 of the series 1 of the eccentric swing type reduction gear. The first reduction gear 10 and the second reduction gear 50 of the present embodiment swing the external gear that meshes with the internal gear to cause rotation of one of the internal gear and the external gear, which is generated. It is an eccentric swing type speed reducer that outputs a motion component from an output member to a driven device.

以下、第１減速装置１０と第２減速装置５０とで共通する構成要素には共通の名称と符号を用いて表記する。また、第１減速装置１０を構成する構成要素の名称の先頭に「第１」を付し、または、符号の末尾に「−１」を付すことがある。また、第２減速装置５０を構成する構成要素の名称に「第２」を付し、または、符号の末尾に「−２」を付すことがある。 Hereinafter, the components common to the first speed reducer 10 and the second speed reducer 50 will be described using common names and symbols. In addition, "first" may be added to the beginning of the names of the components constituting the first speed reducer 10, or "-1" may be added to the end of the reference numerals. Further, "second" may be added to the name of the component constituting the second speed reducing device 50, or "-2" may be added to the end of the reference numeral.

まず、第１減速装置１０と第２減速装置５０の共通構成を説明する。第１減速装置１０および第２減速装置５０は、主に、クランク軸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、偏心体軸受３０と、クランク軸軸受３３、３４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。 First, a common configuration of the first speed reducer 10 and the second speed reducer 50 will be described. The first reduction gear 10 and the second reduction gear 50 mainly include a crankshaft 12, an external gear 14, an internal gear 16, carriers 18 and 20, a casing 22, and main bearings 24 and 26. An eccentric body bearing 30 and crankshaft bearings 33 and 34 are provided. Hereinafter, the direction along the central axis La of the internal gear 16 is referred to as "axial direction", and the circumferential direction and radial direction of the circle centered on the central axis La are referred to as "circumferential direction" and "diameter 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.

クランク軸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。本実施形態の第１減速装置１０および第２減速装置５０は、クランク軸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 crankshaft 12 is rotated around a rotation center line by rotational power input from a drive device (not shown). The first reduction gear 10 and the second reduction gear 50 of the present embodiment are center crank types in which the rotation center line of the crankshaft 12 is provided on the same axis as the center axis La of the internal gear 16. The drive device is, for example, a motor, a gear motor, an engine, or the like.

本実施形態のクランク軸１２は、外歯歯車１４を揺動させるための複数の偏心体１２ａを有する偏心体軸である。クランク軸１２は、中実軸であってもよいが、本実施形態では、所定の中空部１２ｄを有する中空軸である。偏心体１２ａの軸芯は、クランク軸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個の偏心体１２ａが設けられ、隣り合う偏心体１２ａの偏心位相は１８０°ずれている。 The crankshaft 12 of the present embodiment is an eccentric body shaft having a plurality of eccentric bodies 12a for swinging the external gear 14. The crankshaft 12 may be a solid shaft, but in the present embodiment, it is a hollow shaft having a predetermined hollow portion 12d. The axis of the eccentric body 12a is eccentric with respect to the rotation center line of the crankshaft 12. In this embodiment, two eccentric bodies 12a are provided, and the eccentric phases of adjacent eccentric bodies 12a are shifted by 180 °.

偏心体１２ａの外周には、偏心体軸受３０を介して２枚の外歯歯車１４が組み込まれている。本実施形態では、偏心体軸受３０の転動体３０ｂとして、ころ（円筒体）を例示する。偏心体軸受３０の転動体３０ｂは、この他にも、球体、錐体など公知の転動体であってもよい。各外歯歯車１４は、内歯歯車１６に内接噛合している。外歯歯車１４が２列に並んで組み込まれているのは、負荷容量の増大、および偏心位相をずらすことによる低振動、低騒音化を意図したためである。各列の構成は、偏心位相が異なっている以外は同一である。 Two external gears 14 are incorporated on the outer periphery of the eccentric body 12a via an eccentric body bearing 30. In the present embodiment, a roller (cylindrical body) is exemplified as the rolling element 30b of the eccentric bearing 30. The rolling element 30b of the eccentric bearing 30 may be a known rolling element such as a sphere or a cone. Each external gear 14 is inscribed in mesh with the internal gear 16. The external gears 14 are incorporated in two rows side by side because it is intended to increase the load capacity and reduce vibration and noise by shifting the eccentric phase. The configuration of each column is the same except that the eccentric phase is different.

外歯歯車１４は、複数の偏心体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、偏心体軸受３０を介して対応する偏心体１２ａに回転自在に支持される。外歯歯車１４には、内ピン３２が貫通する内ピン孔１３と、偏心体軸受３０が当接する中心孔１５とが設けられる。 The external gear 14 is individually provided corresponding to each of the plurality of eccentric bodies 12a. The external gear 14 is rotatably supported by the corresponding eccentric body 12a via the eccentric body bearing 30. The external gear 14 is provided with an internal pin hole 13 through which the internal pin 32 penetrates and a central hole 15 with which the eccentric bearing 30 abuts.

内ピン孔１３は、外歯歯車１４の中心からオフセットして設けられる。内ピン孔１３は、後述する内ピン３２に対応して複数設けられる。この例では、周方向に１２０°間隔で３つの内ピン孔１３が設けられる。中心孔１５は、外歯歯車１４の中心に設けられ、偏心体１２ａが挿通される孔である。 The inner pin hole 13 is provided offset from the center of the external gear 14. A plurality of inner pin holes 13 are provided corresponding to the inner pins 32 described later. In this example, three inner pin holes 13 are provided at intervals of 120 ° in the circumferential direction. The center hole 15 is provided at the center of the external gear 14, and is a hole through which the eccentric body 12a is inserted.

図１に示すように、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。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と一体化された内歯歯車本体と、この内歯歯車本体に回転自在に支持され、当該内歯歯車１６の内歯を構成する外ピン１６ａ（ピン部材）とで構成されている。内歯歯車１６の内歯数（外ピン１６ａの数）は、外歯歯車１４の外歯数よりも僅かだけ（この例では１だけ）多い。 As shown in FIG. 1, the casing 22 has a tubular shape as a whole, and an internal gear 16 is provided on the inner peripheral portion thereof. The internal gear 16 meshes with the external gear 14. The internal gear 16 of the present embodiment is rotatably supported by an internal gear body integrated with the casing 22 and the internal gear body, and constitutes an internal tooth of the internal gear 16 by an external pin 16a ( It is composed of a pin member). The number of internal teeth of the internal gear 16 (the number of external pins 16a) is slightly larger than the number of external teeth of the external gear 14 (only 1 in this example).

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入力側キャリヤ１８と、外歯歯車１４の反入力側の側部に配置される反入力側キャリヤ２０とを含む。キャリヤ１８、２０は円盤状をなし、クランク軸軸受３３、３４を介してクランク軸１２を回転自在に支持する。 The carriers 18 and 20 are arranged on the axial side portion of the external gear 14. The carriers 18 and 20 include an input-side carrier 18 arranged on the input-side side of the external gear 14 and a non-input-side carrier 20 arranged on the anti-input-side side of the external gear 14. .. The carriers 18 and 20 have a disk shape and rotatably support the crankshaft 12 via the crankshaft bearings 33 and 34.

入力側キャリヤ１８と反入力側キャリヤ２０は内ピン３２を介して連結される。内ピン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。本実施形態の内ピン３２は、反入力側キャリヤ２０と一体的に設けられる。内ピン３２は、キャリヤ１８、２０と別体に設けられていてもよい。内ピン３２は、内歯歯車１６の中心軸線Ｌａ周りに所定の間隔で複数設けられる。本実施形態では、周方向に１２０°間隔で３つの内ピン３２が設けられる。 The input side carrier 18 and the non-input side carrier 20 are connected via the inner pin 32. The inner pin 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 inner pin 32 of this embodiment is provided integrally with the non-input side carrier 20. The inner pin 32 may be provided separately from the carriers 18 and 20. A plurality of internal pins 32 are provided around the central axis La of the internal gear 16 at predetermined intervals. In this embodiment, three inner pins 32 are provided at intervals of 120 ° in the circumferential direction.

内ピン３２は、その先端部が入力側キャリヤ１８に形成された有底凹部１８ｃに嵌入されており、入力側キャリヤ１８の入力側から挿入されたボルト３６と共に入力側キャリヤ１８と反入力側キャリヤ２０とを連結している。 The tip of the inner pin 32 is fitted into the bottomed recess 18c formed in the input side carrier 18, and the input side carrier 18 and the non-input side carrier together with the bolt 36 inserted from the input side of the input side carrier 18 20 is connected.

内ピン３２は、外歯歯車１４に形成された内ピン孔１３を貫通している。内ピン３２の外周には、摺動促進部材としてローラ３５が回転自在に被せられている。ローラ３５は、入力側キャリヤ１８の反入力側と、反入力側キャリヤ２０の入力側とによって軸方向に移動規制される。ローラ３５と内ピン孔１３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。ローラ３５と内ピン孔１３の内壁面とは一部で接触する。 The inner pin 32 penetrates the inner pin hole 13 formed in the outer gear 14. A roller 35 is rotatably covered on the outer circumference of the inner pin 32 as a sliding promoting member. The roller 35 is axially restricted by the counter-input side of the input-side carrier 18 and the input side of the non-input-side carrier 20. A gap is provided between the roller 35 and the inner pin hole 13 as a play for absorbing the swinging component of the external gear 14. The roller 35 and the inner wall surface of the inner pin hole 13 partially come into contact with each other.

被駆動装置（不図示）に回転動力を出力する部材を出力部材とし、第１減速装置１０および第２減速装置５０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反入力側キャリヤ２０であり、被固定部材はケーシング２２である。出力部材は、主軸受２４、２６を介して被固定部材に回転自在に支持される。 A member that outputs rotational power to a driven device (not shown) is an output member, and a member that is fixed to an external member for supporting the first speed reducing device 10 and the second speed reducing device 50 is a fixed member. The output member of this embodiment is the non-input side carrier 20, and the fixed member is the casing 22. The output member is rotatably supported by the fixed member via the main bearings 24 and 26.

主軸受２４、２６には、入力側キャリヤ１８とケーシング２２の間に配置される入力側主軸受２４と、反入力側キャリヤ２０とケーシング２２の間に配置される反入力側主軸受２６とが含まれる。本実施形態において、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。キャリヤ１８、２０の外周は、それぞれ主軸受２４、２６の内輪を構成している。本実施形態では、主軸受２４、２６として、球状の転動体４２を有するアンギュラ玉軸受を例示する。主軸受２４、２６は、この他にも、テーパーローラ軸受、アンギュラころ軸受等の転がり軸受であってもよい。 The main bearings 24 and 26 include an input side main bearing 24 arranged between the input side carrier 18 and the casing 22, and an anti-input side main bearing 26 arranged between the non-input side carrier 20 and the casing 22. included. In the present embodiment, the main bearings 24 and 26 are arranged in a so-called back combination state. The outer circumferences of the carriers 18 and 20 form inner rings of the main bearings 24 and 26, respectively. In the present embodiment, as the main bearings 24 and 26, an angular contact ball bearing having a spherical rolling element 42 is exemplified. The main bearings 24 and 26 may also be rolling bearings such as tapered roller bearings and angular roller bearings.

クランク軸軸受３３、３４には、入力側キャリヤ１８とクランク軸１２の間に配置される入力側クランク軸軸受３３と、反入力側キャリヤ２０とクランク軸１２の間に配置される反入力側クランク軸軸受３４とが含まれる。第１、第２減速装置１０、５０のクランク軸軸受３３、３４としては、公知の様々な種類の軸受を採用できる。本実施形態では、第１減速装置１０のクランク軸軸受３３、３４として、玉軸受けを採用している。また、本実施形態の第２減速装置５０では、反入力側クランク軸軸受３４として、玉軸受けを採用しており、入力側クランク軸軸受３３として、ころ（円筒体）を転動体３０ｂとするころ軸受を採用している。 The crankshaft bearings 33 and 34 include an input side crankshaft bearing 33 arranged between the input side carrier 18 and the crankshaft 12, and a non-input side crank arranged between the non-input side carrier 20 and the crankshaft 12. A shaft bearing 34 is included. As the crankshaft bearings 33 and 34 of the first and second reduction gears 10 and 50, various known types of bearings can be adopted. In this embodiment, ball bearings are used as the crankshaft bearings 33 and 34 of the first reduction gear 10. Further, in the second reduction gear 50 of the present embodiment, a ball bearing is adopted as the counter-input side crankshaft bearing 34, and the roller (cylindrical body) is the rolling element 30b as the input-side crankshaft bearing 33. Uses bearings.

以上のように構成された第１減速装置１０および第２減速装置５０の動作を説明する。駆動装置からクランク軸１２に回転動力が伝達されると、クランク軸１２の偏心体１２ａがクランク軸１２を通る回転中心線周りに回転する。偏心体１２ａが偏心運動すると、偏心体１２ａの周囲に配置される偏心体軸受３０を介して外歯歯車１４が揺動する。このとき、外歯歯車１４は、自らの軸芯がクランク軸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、クランク軸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、外歯歯車１４が自転し、内ピン３２を介して反入力側キャリヤ２０から減速回転が出力される。 The operation of the first speed reduction device 10 and the second speed reduction device 50 configured as described above will be described. When rotational power is transmitted from the drive device to the crankshaft 12, the eccentric body 12a of the crankshaft 12 rotates around the rotation center line passing through the crankshaft 12. When the eccentric body 12a moves eccentrically, the external gear 14 swings via the eccentric body bearing 30 arranged around the eccentric body 12a. At this time, the external gear 14 swings so that its shaft core rotates around the rotation center line of the crankshaft 12. When the external gear 14 swings, the meshing positions of the external gear 14 and the internal gear 16 are sequentially displaced. As a result, each time the crankshaft 12 makes one rotation, one of the external gear 14 and the internal gear 16 rotates by the 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 external gear 14 rotates on its axis, and the deceleration rotation is output from the counter-input side carrier 20 via the inner pin 32.

次に、本実施形態の偏心揺動型減速装置のシリーズ１の特徴的な構成を説明する。 Next, a characteristic configuration of the series 1 of the eccentric swing type speed reducer of the present embodiment will be described.

図１〜図４を参照する。図３は、第１減速装置１０における第１偏心体軸受３０−１の転動体３０ｂの配置を示す配置図である。図４は、第２減速装置５０における第２偏心体軸受３０−２の転動体３０ｂの配置を示す配置図である。これらの図は軸方向から見た転動体３０ｂの配置を示している。偏心体軸受３０は、内輪・外輪を有してもよいが、本実施形態では、内輪および外輪を有していない。第１偏心体軸受３０−１は、転動体３０ｂと第１リテーナ３０ｃ−１とを有する。第１リテーナ３０ｃ−１は、３０個の転動体３０ｂを回転可能にピッチ円Ｃ１上の所定位置に保持する。第２偏心体軸受３０−２は、転動体３０ｂと第２リテーナ３０ｃ−２とを有する。第２リテーナ３０ｃ−２は、３７個の転動体３０ｂを回転可能にピッチ円Ｃ２上の所定位置に保持する。 See FIGS. 1 to 4. FIG. 3 is a layout diagram showing the arrangement of the rolling elements 30b of the first eccentric bearing 30-1 in the first speed reducing device 10. FIG. 4 is a layout diagram showing the arrangement of the rolling elements 30b of the second eccentric bearing 30-2 in the second speed reducing device 50. These figures show the arrangement of the rolling elements 30b as viewed from the axial direction. The eccentric bearing 30 may have an inner ring and an outer ring, but in the present embodiment, the eccentric bearing 30 does not have an inner ring and an outer ring. The first eccentric bearing 30-1 has a rolling element 30b and a first retainer 30c-1. The first retainer 30c-1 rotatably holds the 30 rolling elements 30b at predetermined positions on the pitch circle C1. The second eccentric bearing 30-2 has a rolling element 30b and a second retainer 30c-2. The second retainer 30c-2 rotatably holds the 37 rolling elements 30b in predetermined positions on the pitch circle C2.

第１偏心体軸受３０−１の転動体３０ｂのピッチ円径Ｄ１（例えば７１ｍｍ）は、第２偏心体軸受３０−２の転動体３０ｂのピッチ円径Ｄ２（例えば１０２ｍｍ）よりも小さい。なお、本明細書では、他の軸受を含め、軸受の転動体のピッチ円径は、減速装置として組み立てられたときの転動体の中心を通る円（ピッチ円）の直径をいう。例えば、偏心体軸受３０の転動体３０ｂのピッチ円径Ｄ１、Ｄ２は、偏心体１２ａがはまった状態における転動体３０ｂの中心を通る円（ピッチ円Ｃ１、Ｃ２）の直径である。ピッチ円径は、ＰＣＤ（Pitch Circle Diameter）と称されることがある。 The pitch circle diameter D1 (for example, 71 mm) of the rolling element 30b of the first eccentric bearing 30-1 is smaller than the pitch circle diameter D2 (for example, 102 mm) of the rolling element 30b of the second eccentric bearing 30-2. In this specification, the pitch circle diameter of the rolling element of the bearing, including other bearings, refers to the diameter of the circle (pitch circle) passing through the center of the rolling element when assembled as a reduction gear. For example, the pitch circle diameters D1 and D2 of the rolling elements 30b of the eccentric bearing 30 are the diameters of the circles (pitch circles C1 and C2) passing through the center of the rolling elements 30b when the eccentric bodies 12a are fitted. The pitch circle diameter is sometimes referred to as PCD (Pitch Circle Diameter).

第１偏心体軸受３０−１の転動体３０ｂは、第２偏心体軸受３０−２の転動体３０ｂと同一形状である。この場合、軸受に支持される被支持体の直径が異なる場合、または軸受荷重が異なる場合でも転動体を共用化できる。この結果、偏心揺動型減速装置のシリーズ１の部品管理の手間を軽減できる。なお、本明細書において、同一形状の部材とは、同一の設計に基づいて製造された部材を指し、製造上のばらつきや誤差を有する部材を含み、異なる素材の部材は含まない。 The rolling element 30b of the first eccentric bearing 30-1 has the same shape as the rolling element 30b of the second eccentric bearing 30-2. In this case, the rolling elements can be shared even when the diameters of the supported objects supported by the bearings are different or the bearing loads are different. As a result, it is possible to reduce the labor of managing parts of the series 1 eccentric swing type speed reducer. In the present specification, the members having the same shape refer to members manufactured based on the same design, include members having manufacturing variations and errors, and do not include members made of different materials.

図３、図４に示すように、転動体３０ｂは、ピッチ円Ｃ１、Ｃ２に沿って等間隔に配置される。この場合、転動体の数または封入率を変えることにより、同一形状の転動体を用いた軸受において、所望の負荷容量を柔軟に実現できる。なお、本明細書において、転動体の封入率は、ピッチ円上に占める転動体の割合を指す。 As shown in FIGS. 3 and 4, the rolling elements 30b are arranged at equal intervals along the pitch circles C1 and C2. In this case, by changing the number of rolling elements or the encapsulation rate, a desired load capacity can be flexibly realized in a bearing using rolling elements having the same shape. In the present specification, the encapsulation rate of the rolling elements refers to the ratio of the rolling elements to the pitch circle.

上述したように、第２偏心体軸受３０−２の転動体３０ｂの数は、第１偏心体軸受３０−１の転動体３０ｂの数よりも多く、第２偏心体軸受３０−２の転動体３０ｂの封入率は、第１偏心体軸受３０−１の転動体３０ｂの封入率よりも低い。第２偏心体軸受３０−２の隣り合う２つの転動体３０ｂの間の距離Ｂ２は、第１偏心体軸受３０−１の隣り合う２つの転動体３０ｂの間の距離Ｂ１よりも大きい。この場合、転動体の数または封入率を変えることにより、同一形状の転動体を用いた軸受において、所望の負荷容量を柔軟に実現できる。 As described above, the number of rolling elements 30b of the second eccentric bearing 30-2 is larger than the number of rolling elements 30b of the first eccentric bearing 30-1, and the number of rolling elements of the second eccentric bearing 30-2 is larger. The encapsulation rate of 30b is lower than the encapsulation rate of the rolling element 30b of the first eccentric bearing 30-1. The distance B2 between the two adjacent rolling elements 30b of the second eccentric bearing 30-2 is larger than the distance B1 between the two adjacent rolling elements 30b of the first eccentric bearing 30-1. In this case, by changing the number of rolling elements or the encapsulation rate, a desired load capacity can be flexibly realized in a bearing using rolling elements having the same shape.

保持する転動体３０ｂの数と、ピッチ円径Ｄ１、Ｄ２が異なるので、第１リテーナ３０ｃ−１は、第２リテーナ３０ｃ−２と形状が異なる。この場合、転動体の数やリテーナの大きさを柔軟に選択できるので、リテーナの形状を同一にする場合に比べて、軸受の負荷容量に適した構成を容易に実現できる。なお、リテーナは、例えば、ころの配置部の数の違い、径の違い、形状の相違などによって形状が異なる。 Since the number of rolling elements 30b to be held and the pitch circle diameters D1 and D2 are different, the shape of the first retainer 30c-1 is different from that of the second retainer 30c-2. In this case, since the number of rolling elements and the size of the retainer can be flexibly selected, a configuration suitable for the load capacity of the bearing can be easily realized as compared with the case where the shapes of the retainers are the same. The shape of the retainer differs due to, for example, a difference in the number of roller arrangement portions, a difference in diameter, a difference in shape, and the like.

本実施形態では、第２減速装置５０の偏心体１２ａの偏心量は、第１減速装置１０の偏心体１２ａの偏心量より大きく設定されている。 In the present embodiment, the eccentric amount of the eccentric body 12a of the second speed reduction device 50 is set to be larger than the eccentric amount of the eccentric body 12a of the first speed reduction device 10.

図１、図２に示すように、第１減速装置１０および第２減速装置５０は、複数（例えば２つ）の偏心体軸受３０を備えている。第１減速装置１０では、２つの第１偏心体軸受３０−１の隣り合う２つの第１リテーナ３０ｃ−１は軸方向に見たときに重なり合っている。このため、リテーナ自身が互いに接触して移動規制できるので、偏心体軸受の軸方向位置を規制できる。 As shown in FIGS. 1 and 2, the first speed reducing device 10 and the second speed reducing device 50 include a plurality of (for example, two) eccentric body bearings 30. In the first reduction gear 10, the two adjacent first retainers 30c-1 of the two first eccentric bearings 30-1 overlap when viewed in the axial direction. Therefore, since the retainers themselves can contact each other to regulate the movement, the axial position of the eccentric bearing can be regulated.

一方、第２減速装置５０では、第２偏心体１２ａ−２の偏心量が大きいので第２リテーナ３０ｃ−２の偏心量も大きく、隣り合う２つの第２リテーナ３０ｃ−２は、それぞれが偏心方向に最も離隔した最大離隔位置で軸方向にみて重なり合わない。このため、本実施形態の第２減速装置５０は、複数の第２偏心体軸受３０−２の間に移動規制部材３０ｈが設けられている。この場合、リテーナ自身が軸方向の位置を規制できない構成でも、偏心体軸受の軸方向位置を規制できる。本実施形態の移動規制部材３０ｈは、隣り合う２つの第２リテーナ３０ｃ−２の間に介在する中空円板状の部材で、これらのリテーナそれぞれと軸方向に見たときに重なり合う形状を有する。なお、偏心方向と直交する方向の位置では、これらは偏っていないので、これらの第２リテーナ３０ｃ−２は重なることになる。つまり、これらは、最大隔離位置以外の他の位置では軸方向に一部重なっていてもよい。 On the other hand, in the second reduction gear 50, since the eccentric amount of the second eccentric body 12a-2 is large, the eccentric amount of the second retainer 30c-2 is also large, and the two adjacent second retainers 30c-2 are in the eccentric direction, respectively. It does not overlap in the axial direction at the maximum separation position that is the most separated from each other. Therefore, in the second reduction gear 50 of the present embodiment, the movement restricting member 30h is provided between the plurality of second eccentric bearings 30-2. In this case, even if the retainer itself cannot regulate the axial position, the axial position of the eccentric bearing can be regulated. The movement restricting member 30h of the present embodiment is a hollow disk-shaped member interposed between two adjacent second retainers 30c-2, and has a shape that overlaps each of these retainers when viewed in the axial direction. Since these are not biased at the positions orthogonal to the eccentric direction, these second retainers 30c-2 will overlap. That is, they may partially overlap in the axial direction at positions other than the maximum isolation position.

本実施形態では、第１クランク軸１２−１および第２クランク軸１２−２は中空軸であり、第２クランク軸１２−２の中空径Ｅ２（例えば８１ｍｍ）は、第１クランク軸１２−１の中空径Ｅ１（例えば４９ｍｍ）よりも大きい。この結果、中空径Ｅ２が中空径Ｅ１と同じ場合と比べて、第２クランク軸１２−２の肉厚を薄くでき、第２減速装置５０の軽量化に有利である。 In the present embodiment, the first crankshaft 12-1 and the second crankshaft 12-2 are hollow shafts, and the hollow diameter E2 (for example, 81 mm) of the second crankshaft 12-2 is the first crankshaft 12-1. It is larger than the hollow diameter E1 (for example, 49 mm) of. As a result, the wall thickness of the second crankshaft 12-2 can be reduced as compared with the case where the hollow diameter E2 is the same as the hollow diameter E1, which is advantageous in reducing the weight of the second reduction gear 50.

本実施形態の第２減速装置５０では、第２クランク軸軸受３３−２は、第２減速装置５０の内ピン３２が陥入される入力側キャリヤ１８に支持され第２クランク軸１２−２を支持する。第２クランク軸軸受３３−２は、内輪・外輪を有してもよいが、本実施形態では、内輪および外輪を有していない。第２クランク軸軸受３３−２は、転動体３３ｂとリテーナ３３ｃとを有する。入力側キャリヤ１８の貫通孔の内周面１８ｈは、第２クランク軸軸受３３−２の外輪として機能する。第２クランク軸１２−２の外周面１２ｈは、第２クランク軸軸受３３−２の内輪として機能する。 In the second reduction gear 50 of the present embodiment, the second crankshaft bearing 33-2 is supported by the input side carrier 18 into which the inner pin 32 of the second reduction gear 50 is inserted, and the second crankshaft 12-2 is supported. To support. The second crankshaft bearing 33-2 may have an inner ring and an outer ring, but in the present embodiment, it does not have an inner ring and an outer ring. The second crankshaft bearing 33-2 has a rolling element 33b and a retainer 33c. The inner peripheral surface 18h of the through hole of the input side carrier 18 functions as an outer ring of the second crankshaft bearing 33-2. The outer peripheral surface 12h of the second crankshaft 12-2 functions as an inner ring of the second crankshaft bearing 33-2.

本実施形態では、第１偏心体軸受３０−１の転動体３０ｂのピッチ円径Ｄ１は、第２クランク軸軸受３３−２の転動体３３ｂのピッチ円径Ｆ２よりも小さい。また、本実施形態の第１偏心体軸受３０−１の転動体３０ｂは、第２クランク軸軸受３３−２の転動体３３ｂと同一形状である。この場合、部品をさらに共用化できる。また、本実施形態の第１偏心体軸受３０−１の第１リテーナ３０ｃ−１は、第２クランク軸軸受３３−２のリテーナ３３ｃと形状が異なる。この場合、転動体の数やリテーナの大きさを柔軟に選択できるので、リテーナの形状を固定する場合に比べて、軸受の負荷容量に適した構成を容易に実現できる。
以上が第１実施形態の説明である。 In the present embodiment, the pitch circle diameter D1 of the rolling element 30b of the first eccentric bearing 30-1 is smaller than the pitch circle diameter F2 of the rolling element 33b of the second crankshaft bearing 33-2. Further, the rolling element 30b of the first eccentric bearing 30-1 of the present embodiment has the same shape as the rolling element 33b of the second crankshaft bearing 33-2. In this case, the parts can be further shared. Further, the first retainer 30c-1 of the first eccentric bearing 30-1 of the present embodiment has a different shape from the retainer 33c of the second crankshaft bearing 33-2. In this case, since the number of rolling elements and the size of the retainer can be flexibly selected, a configuration suitable for the load capacity of the bearing can be easily realized as compared with the case where the shape of the retainer is fixed.
The above is the description of the first embodiment.

次に、本発明の第２、第３実施形態を説明する。第２、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を重点的に説明する。 Next, the second and third embodiments of the present invention will be described. In the drawings and description of the second and third embodiments, the same or equivalent components and members as those of the first embodiment are designated by the same reference numerals. The description that overlaps with the first embodiment will be omitted as appropriate, and the configuration different from that of the first embodiment will be mainly described.

［第２実施形態］
本発明の第２実施形態に係る減速装置１０の製造方法Ｓ１００を説明する。製造方法Ｓ１００は、第２減速装置５０とは構成が異なる第１減速装置１０の製造方法である。第１減速装置１０および第２減速装置５０は第１実施形態の説明が適用される。 [Second Embodiment]
The manufacturing method S100 of the speed reducer 10 according to the second embodiment of the present invention will be described. The manufacturing method S100 is a manufacturing method of the first speed reducing device 10 having a configuration different from that of the second speed reducing device 50. The description of the first embodiment is applied to the first reduction gear 10 and the second reduction gear 50.

製造方法Ｓ１００は、以下の工程を含む。
（１）第１偏心体１２ａ−１に組み込まれた第１偏心体軸受３０−１の転動体のピッチ円径Ｄ１を、第２偏心体１２ａ−２に組み込まれた第２偏心体軸受３０−２の転動体のピッチ円径Ｄ２よりも小さくなるような第１偏心体１２ａを有するクランク軸１２−１を製作する工程
（２）第２偏心体軸受３０−２の転動体３０ｂと形状的に一致する転動体を、第１偏心体１２ａに配置する工程 The manufacturing method S100 includes the following steps.
(1) The pitch circle diameter D1 of the rolling element of the first eccentric bearing 30-1 incorporated in the first eccentric body 12a-1 is changed to the second eccentric bearing 30- incorporated in the second eccentric body 12a-2. Step of manufacturing the crankshaft 12-1 having the first eccentric body 12a so as to be smaller than the pitch circle diameter D2 of the rolling element 2 (2) Shapely with the rolling element 30b of the second eccentric bearing 30-2 Step of arranging matching rolling elements on the first eccentric body 12a

上述の製造方法Ｓ１００は、あくまでも一例であって、工程の順序を入れ替えたり、一部の工程を追加・削除・変更してもよい。 The above-mentioned manufacturing method S100 is merely an example, and the order of the steps may be changed, or some steps may be added / deleted / changed.

本実施形態によれば第１実施形態と同様の作用・効果を得られるとともに、部品を共有することにより部品管理工数を削減できる。 According to this embodiment, the same operations and effects as those of the first embodiment can be obtained, and the man-hours for parts management can be reduced by sharing the parts.

［第３実施形態］
本発明の第３実施形態に係る減速装置１０の設計方法Ｓ２００を説明する。設計方法Ｓ２００は、第２減速装置５０とは構成が異なる第１減速装置１０の設計方法である。第１減速装置１０および第２減速装置５０は第１実施形態の説明が適用される。 [Third Embodiment]
The design method S200 of the speed reducer 10 according to the third embodiment of the present invention will be described. The design method S200 is a design method of the first reduction gear 10 having a configuration different from that of the second reduction gear 50. The description of the first embodiment is applied to the first reduction gear 10 and the second reduction gear 50.

設計方法Ｓ２００は、以下の工程を含む。
（１）第１偏心体１２ａ−１に組み込まれた第１偏心体軸受３０−１の転動体のピッチ円径Ｄ１を、第２偏心体１２ａ−２に組み込まれた第２偏心体軸受３０−２の転動体のピッチ円径Ｄ２よりも小さくなるように第１偏心体１２ａを設計する工程
（２）第１偏心体軸受３０−１の転動体を、第２偏心体軸受３０−２の転動体３０ｂと同一形状に設計する工程 The design method S200 includes the following steps.
(1) The pitch circle diameter D1 of the rolling element of the first eccentric bearing 30-1 incorporated in the first eccentric body 12a-1 is changed to the second eccentric bearing 30- incorporated in the second eccentric body 12a-2. Step of designing the first eccentric body 12a so as to be smaller than the pitch circle diameter D2 of the rolling element 2 (2) Rolling the rolling element of the first eccentric bearing 30-1 with the rolling element of the second eccentric bearing 30-2. The process of designing the same shape as the moving body 30b

上述の設計方法Ｓ２００は、あくまでも一例であって、工程の順序を入れ替えたり、一部の工程を追加・削除・変更してもよい。 The above-mentioned design method S200 is merely an example, and the order of the processes may be changed, or some processes may be added / deleted / changed.

本実施形態によれば第１実施形態と同様の作用・効果を得られるとともに、部品を共有することにより設計工数を削減できる。 According to this embodiment, the same operations and effects as those of the first embodiment can be obtained, and the design man-hours can be reduced by sharing the parts.

以上、本発明の実施形態の例について詳細に説明した。上述した実施形態は、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、削除などの多くの設計変更が可能である。上述の実施形態では、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。 The examples of the embodiments of the present invention have been described in detail above. All of the above-described embodiments are merely specific examples for carrying out the present invention. The content of the embodiment does not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are made without departing from the idea of the invention defined in the claims. It is possible. In the above-described embodiment, the contents that can be changed in such a design are described with notations such as "in the embodiment" and "in the embodiment", but the contents are designed without such notations. It's not that changes aren't tolerated.

以下、変形例について説明する。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を重点的に説明する。 Hereinafter, a modified example will be described. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are designated by the same reference numerals. The description that overlaps with the embodiment will be omitted as appropriate, and the configuration different from that of the first embodiment will be mainly described.

［第１変形例］
第１実施形態の説明では、各減速装置が、センタークランクタイプの偏心揺動型減速装置である例を示したが、本発明はこれに限られない。本発明の偏心揺動型減速装置のシリーズを構成する減速装置は、偏心体を有するクランク軸と偏心体軸受とを有する種々の原理に基づく減速装置であってもよい。 [First modification]
In the description of the first embodiment, an example is shown in which each speed reducing device is a center crank type eccentric swing type speed reducing device, but the present invention is not limited to this. The speed reducing device constituting the series of the eccentric swing type speed reducing device of the present invention may be a speed reducing device based on various principles having a crankshaft having an eccentric body and an eccentric body bearing.

以下、第１変形例に係る偏心揺動型減速装置のシリーズ１を説明する。本変形例の偏心揺動型減速装置のシリーズ１は、互いに構成が異なる第１減速装置１０および第２減速装置５０を含む。図５は、本変形例の第１減速装置１０を示す側面断面図であり、図１に対応する。図６は、本変形例の第２減速装置５０を示す側面断面図であり、図２に対応する。 Hereinafter, a series 1 of the eccentric swing type speed reducer according to the first modification will be described. Series 1 of the eccentric swing type speed reducer of this modification includes a first speed reducer 10 and a second speed reducer 50 having different configurations from each other. FIG. 5 is a side sectional view showing the first speed reducing device 10 of this modified example, and corresponds to FIG. FIG. 6 is a side sectional view showing the second speed reducing device 50 of this modified example, and corresponds to FIG.

減速装置１０および第２減速装置５０は、主に、入力歯車７０と、クランク軸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、偏心体軸受３０と、クランク軸軸受３３、３４とを備える。本変形例の第１、第２減速装置１０、５０は、複数の入力歯車７０およびクランク軸１２を備える。第１、第２減速装置１０、５０は、複数のクランク軸１２が内歯歯車１６の中心軸線Ｌａからオフセットした位置に設けられるいわゆる振り分けタイプの偏心揺動型減速装置である点で第１実施形態と異なる。 The reduction gear 10 and the second reduction gear 50 mainly include an input gear 70, a crankshaft 12, an external gear 14, an internal gear 16, carriers 18, 20, a casing 22, and a main bearing 24. 26, an eccentric body bearing 30, and crankshaft bearings 33 and 34 are provided. The first and second reduction gears 10 and 50 of this modification include a plurality of input gears 70 and a crankshaft 12. The first and second reduction gears 10 and 50 are first implemented in that they are so-called distribution type eccentric swing type reduction gears in which a plurality of crankshafts 12 are provided at positions offset from the central axis La of the internal gear 16. Different from the form.

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クランク軸１２により支持され、クランク軸１２と一体的に回転可能に設けられる。入力歯車７０は、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がクランク軸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 this figure, only one input gear 70 is shown. The input gear 70 is supported by a crankshaft 12 inserted into the central portion thereof, and is provided so as to be rotatable integrally with the crankshaft 12. The input gear 70 meshes with the external tooth portion of the rotating shaft (not shown) provided on the central axis La. Rotational power is transmitted to the rotary shaft from a drive device (not shown), and the rotation of the rotary shaft causes the input gear 70 to rotate integrally with the crank shaft 12.

本変形例のクランク軸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。本図では一つのクランク軸１２のみを示す。各クランク軸１２には、互いに偏心位相は１８０°ずれた２個の偏心体１２ａが軸方向に並んで設けられている。 A plurality (for example, three) of the crankshafts 12 of this modification are arranged at positions offset from the central axis La of the internal gear 16 with an interval in the circumferential direction. In this figure, only one crankshaft 12 is shown. Two eccentric bodies 12a, whose eccentric phases are 180 ° out of phase with each other, are provided side by side on each crankshaft 12.

偏心体１２ａの外周には、偏心体軸受３０を介して２枚の外歯歯車１４が組み込まれている。各外歯歯車１４は、内歯歯車１６に内接噛合している。各外歯歯車１４の構成は、偏心位相が異なっている以外は同一である。 Two external gears 14 are incorporated on the outer periphery of the eccentric body 12a via an eccentric body bearing 30. Each external gear 14 is inscribed in mesh with the internal gear 16. The configurations of the external gears 14 are the same except that the eccentric phases are different.

本変形例の第１、第２減速装置１０、５０では、複数の偏心体軸受３０の間に移動規制部材３０ｈが設けられている。移動規制部材３０ｈは、隣り合う２つのリテーナ３０ｃの間に介在し、各リテーナ３０ｃと軸方向に見たときに重なり合う形状を有する。 In the first and second reduction gears 10 and 50 of this modification, the movement restricting member 30h is provided between the plurality of eccentric body bearings 30. The movement restricting member 30h has a shape that is interposed between two adjacent retainers 30c and overlaps with each retainer 30c when viewed in the axial direction.

本変形例の第１、第２減速装置１０、５０では、クランク軸軸受３３、３４は、ころ（円筒体）を転動体とするころ軸受を採用している。クランク軸軸受３３、３４は、転動体３３ｂ、３４ｂとリテーナ３３ｃ、３４ｃとを有し、内輪および外輪を有していない。 In the first and second reduction gears 10 and 50 of this modification, the crankshaft bearings 33 and 34 employ roller bearings in which rollers (cylindrical bodies) are rolling elements. The crankshaft bearings 33, 34 have rolling elements 33b, 34b and retainers 33c, 34c, and do not have an inner ring and an outer ring.

以上のように構成された本変形例の第１、第２減速装置１０、５０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、クランク軸１２の偏心体１２ａがクランク軸１２を通る回転中心線周りに回転し、その偏心体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。クランク軸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 operations of the first and second reduction gears 10 and 50 of the present modification configured as described above will be described. When the rotational power is transmitted from the drive device to the rotary shaft, the rotary power is distributed from the rotary shaft to the plurality of input gears 70, and each input gear 70 rotates in the same phase. When each input gear 70 rotates, the eccentric body 12a of the crankshaft 12 rotates around the rotation center line passing through the crankshaft 12, and the eccentric body 12a causes the external gear 14 to swing. When the external gear 14 swings, the meshing positions of the external gear 14 and the internal gear 16 are sequentially displaced as in the first embodiment, and one of the external gear 14 and the internal gear 16 rotates. The rotation of the crankshaft 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.

次に、本変形例の偏心揺動型減速装置のシリーズ１の特徴的な構成を説明する。 Next, the characteristic configuration of the series 1 of the eccentric swing type speed reducer of this modification will be described.

第１偏心体軸受３０−１の転動体３０ｂのピッチ円径Ｄ１は、第２偏心体軸受３０−２の転動体３０ｂのピッチ円径Ｄ２よりも小さい。第１リテーナ３０ｃ−１は、第２リテーナ３０ｃ−２と形状が異なる。第１偏心体軸受３０−１の転動体３０ｂは、第２偏心体軸受３０−２の転動体３０ｂと同一形状である。第２偏心体軸受３０−２の転動体３０ｂの数は、第１偏心体軸受３０−１の転動体３０ｂの数よりも多く、第２偏心体軸受３０−２の転動体３０ｂの封入率は、第１偏心体軸受３０−１の転動体３０ｂの封入率よりも低い。 The pitch circle diameter D1 of the rolling element 30b of the first eccentric bearing 30-1 is smaller than the pitch circle diameter D2 of the rolling element 30b of the second eccentric bearing 30-2. The first retainer 30c-1 has a different shape from the second retainer 30c-2. The rolling element 30b of the first eccentric bearing 30-1 has the same shape as the rolling element 30b of the second eccentric bearing 30-2. The number of rolling elements 30b of the second eccentric bearing 30-2 is larger than the number of rolling elements 30b of the first eccentric bearing 30-1, and the encapsulation rate of the rolling elements 30b of the second eccentric bearing 30-2 is. , It is lower than the encapsulation rate of the rolling element 30b of the first eccentric bearing 30-1.

本変形例の第１偏心体軸受３０−１の転動体３０ｂは、第２クランク軸軸受３３−２、３４−２の転動体３３ｂ、３４ｂと同一形状である。また、本変形例の第２偏心体軸受３０−２の転動体３０ｂは、第１クランク軸軸受３３−１、３４−１の転動体３３ｂ、３４ｂと同一形状である。 The rolling elements 30b of the first eccentric bearing 30-1 of this modification have the same shape as the rolling elements 33b and 34b of the second crankshaft bearings 33-2 and 34-2. Further, the rolling elements 30b of the second eccentric bearing 30-2 of this modified example have the same shape as the rolling elements 33b and 34b of the first crankshaft bearings 33-1 and 34-1.

なお、第１減速装置１０の第１クランク軸軸受３３−１、３４−１の転動体３３ｂ、３４ｂは、第２減速装置５０の第２偏心体軸受３０−２の転動体３０ｂと同一形状であってもよい。また、第１クランク軸軸受３３−１、３４−１の転動体３３ｂ、３４ｂは、第２クランク軸軸受３３−２、３４−２の転動体３３ｂ、３４ｂと同一形状であってもよい。この場合、部品をさらに共用化できる。なお、これらは、第１偏心体軸受３０−１と第２偏心体軸受３０−２とが同一形状である場合に限られず、他の部分が同一形状であるものあってもよい。 The rolling elements 33b and 34b of the first crankshaft bearings 33-1 and 34-1 of the first speed reducing device 10 have the same shape as the rolling elements 30b of the second eccentric bearing 30-2 of the second speed reducing device 50. There may be. Further, the rolling elements 33b and 34b of the first crankshaft bearings 33-1 and 34-1 may have the same shape as the rolling elements 33b and 34b of the second crankshaft bearings 33-2 and 34-2. In this case, the parts can be further shared. These are not limited to the case where the first eccentric bearing 30-1 and the second eccentric bearing 30-2 have the same shape, and other parts may have the same shape.

本変形例は、第１実施形態と同様の作用・効果を奏する。 This modified example has the same actions and effects as those of the first embodiment.

［その他の変形例］
第１実施形態の説明では、第１、第２減速装置１０、５０が共にセンタークランクタイプの偏心揺動型減速装置である例を示したが、本発明はこれに限られない。第１、第２減速装置の一方がセンタークランクタイプの偏心揺動型減速装置であり、他方が振り分けタイプの偏心揺動型減速装置であってもよい。また、第１変形例のように、第１、第２減速装置１０、５０が共に振り分けタイプの偏心搖動型減速装置であってもよい。 [Other variants]
In the description of the first embodiment, examples are shown in which the first and second reduction gears 10 and 50 are both center crank type eccentric swing type reduction gears, but the present invention is not limited to this. One of the first and second speed reducers may be a center crank type eccentric swing type speed reducer, and the other may be a distribution type eccentric swing type speed reducer. Further, as in the first modification, the first and second reduction gears 10 and 50 may both be distribution type eccentric swing type reduction gears.

第１実施形態の説明では、外歯歯車１４が２枚の例を示したが、外歯歯車１４は、所望の特性に応じて３枚以上であってもよい。 In the description of the first embodiment, an example of two external gears 14 is shown, but the number of external gears 14 may be three or more depending on desired characteristics.

第１実施形態の説明では、主軸受２４、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。主軸受２４、２６の一方または双方は、内輪を有する軸受であってもよい。 In the description of the first embodiment, an example in which the main bearings 24 and 26 do not have an inner ring has been described, but the present invention is not limited to this. One or both of the main bearings 24 and 26 may be bearings having an inner ring.

実施形態の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が固定される例を説明した。この他にも、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が固定されてもよい。 An example has been described in which the output members of the embodiment are carriers 18 and 20, and the casing 22 is fixed to the outer member. In addition to this, the output member is a casing 22, and carriers 18 and 20 may be fixed to the external member.

第１実施形態の説明では、第２減速装置５０の２つの第２リテーナ３０ｃ−２がそれぞれが偏心方向に最も離隔した最大離隔位置で軸方向にみて重なり合わない例を説明したが、この２つの第２リテーナ３０ｃ−２は、それぞれが偏心方向に最も離隔した最大離隔位置および最も接近した最接近位置で軸方向に重なっていてもよい。
第１実施形態の説明では、第２減速装置５０の２つの第２リテーナ３０ｃ−２がそれぞれが偏心方向に最も離隔した最大離隔位置で軸方向にみて重なり合わない例を説明したが、この２つの第２リテーナ３０ｃ−２は、それぞれが偏心方向に最も離隔した最大離隔位置およびその他の位置で軸方向にみて重なっていてもよい。 In the description of the first embodiment, an example in which the two second retainers 30c-2 of the second speed reducer 50 do not overlap in the axial direction at the maximum separation position most separated in the eccentric direction has been described. The two second retainers 30c-2 may overlap in the axial direction at the maximum separation position closest to each other in the eccentric direction and the closest proximity position closest to each other.
In the description of the first embodiment, an example in which the two second retainers 30c-2 of the second speed reducer 50 do not overlap in the axial direction at the maximum separation position most separated in the eccentric direction has been described. The two second retainers 30c-2 may overlap in the axial direction at the maximum separation position and the other positions where they are most separated in the eccentric direction.

また、第１実施形態において、第１クランク軸軸受３３−１、３４−１の転動体３３ｂ、３４ｂは、第２クランク軸軸受３３−２、３４−２の転動体３３ｂ、３４ｂと同一形状であってもよい。 Further, in the first embodiment, the rolling elements 33b and 34b of the first crankshaft bearings 33-1 and 34-1 have the same shape as the rolling elements 33b and 34b of the second crankshaft bearings 33-2 and 34-2. There may be.

第１実施形態および第１変形例の説明では、偏心体軸受およびクランク軸軸受がリテーナを有する例を説明したが、これらの軸受の一部または全部は、例えば、総ころタイプのようにリテーナを有しない軸受であってもよい。 In the description of the first embodiment and the first modification, an example in which the eccentric bearing and the crankshaft bearing have a retainer has been described, but some or all of these bearings have a retainer, for example, a full roller type. It may be a bearing that does not have.

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 effect as that of 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。 Any combination of each of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiments resulting from the combination have the effects of each of the combined embodiments and variants.

１ 偏心揺動型減速装置のシリーズ、 １０ 第１減速装置、 ５０ 第２減速装置、 １２ クランク軸、 １２ａ 偏心体、 １４ 外歯歯車、 １６ 内歯歯車、 １８、２０ キャリヤ、 ２４、２６ 主軸受、 ３０ 偏心体軸受、 ３０ｂ 転動体、 ３０ｃ リテーナ、 ３０ｈ 移動規制部材、 ３３ クランク軸軸受、 ３３ｂ 転動体、 ３３ｃ リテーナ、 １００ 偏心揺動型減速装置のシリーズ。 1 Series of eccentric swing type reduction gears, 10 1st reduction gear, 50 2nd reduction gear, 12 crankshaft, 12a eccentric body, 14 external gears, 16 internal gears, 18, 20 carriers, 24, 26 main bearings , 30 Eccentric bearings, 30b rolling elements, 30c retainers, 30h movement control members, 33 crankshaft bearings, 33b rolling elements, 33c retainers, 100 series of eccentric swing type reduction gears.

Claims (11)

第１減速装置および第２減速装置を含む偏心揺動型減速装置のシリーズであって、
前記第１減速装置は、第１外歯歯車と、前記第１外歯歯車を揺動させる第１偏心体を有する第１クランク軸と、前記第１外歯歯車と前記第１偏心体の間に配置される第１偏心体軸受と、を含み、
前記第２減速装置は、第２外歯歯車と、前記第２外歯歯車を揺動させる第２偏心体を有する第２クランク軸と、前記第２外歯歯車と前記第２偏心体の間に配置される第２偏心体軸受と、を含み、
前記第１偏心体軸受の転動体のピッチ円径は、前記第２偏心体軸受の転動体のピッチ円径よりも小さく、
前記第１偏心体軸受の転動体は、前記第２偏心体軸受の転動体と同一形状である
ことを特徴とする偏心揺動型減速装置のシリーズ。 A series of eccentric swing type reduction gears including a first reduction gear and a second reduction gear.
The first reduction gear is between a first external gear, a first crankshaft having a first eccentric body that swings the first external gear, and the first external gear and the first eccentric body. Including the first eccentric bearing, which is located in
The second reduction gear is between a second external gear, a second crankshaft having a second eccentric body that swings the second external gear, and the second external gear and the second eccentric body. Includes a second eccentric bearing, which is located in
The pitch circle diameter of the rolling element of the first eccentric bearing is smaller than the pitch circular diameter of the rolling element of the second eccentric bearing.
A series of eccentric swing type reduction gears characterized in that the rolling element of the first eccentric bearing has the same shape as the rolling element of the second eccentric bearing. 前記第１偏心体軸受のリテーナは、前記第２偏心体軸受のリテーナと形状が異なる
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のシリーズ。 The series of eccentric swing type reduction gears according to claim 1, wherein the retainer of the first eccentric bearing is different in shape from the retainer of the second eccentric bearing. 前記第１偏心体軸受の転動体は、前記第２クランク軸を支持する第２クランク軸軸受の転動体と同一形状である
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のシリーズ。 The eccentric swing type deceleration according to claim 1 or 2, wherein the rolling element of the first eccentric body bearing has the same shape as the rolling element of the second crankshaft bearing that supports the second crankshaft. A series of devices. 前記第１偏心体軸受の転動体は、前記第２減速装置の内ピンが陥入されるキャリヤに支持され前記第２クランク軸を支持する第２クランク軸軸受の転動体と同一形状である
ことを特徴とする請求項３に記載の偏心揺動型減速装置のシリーズ。 The rolling element of the first eccentric bearing shall have the same shape as the rolling element of the second crankshaft bearing that is supported by the carrier into which the inner pin of the second reduction gear is recessed and supports the second crankshaft. The series of eccentric swing type speed reducers according to claim 3. 前記第２偏心体軸受の転動体の数は、前記第１偏心体軸受の転動体の数よりも多く、
前記第２偏心体軸受の転動体の封入率は、前記第１偏心体軸受の転動体の封入率よりも低い
ことを特徴とする請求項１から４のいずれかに記載の偏心揺動型減速装置のシリーズ。 The number of rolling elements of the second eccentric bearing is larger than the number of rolling elements of the first eccentric bearing.
The eccentric swing type deceleration according to any one of claims 1 to 4, wherein the encapsulation rate of the rolling element of the second eccentric bearing is lower than the encapsulation rate of the rolling element of the first eccentric bearing. A series of devices. 前記第１クランク軸および前記第２クランク軸は中空軸であり、
前記第２クランク軸の中空径は、前記第１クランク軸の中空径よりも大きい
ことを特徴とする請求項１から５のいずれかに記載の偏心揺動型減速装置のシリーズ。 The first crankshaft and the second crankshaft are hollow shafts.
The series of eccentric swing type speed reducers according to any one of claims 1 to 5, wherein the hollow diameter of the second crankshaft is larger than the hollow diameter of the first crankshaft. 前記第２減速装置は、前記第２偏心体軸受を複数備え、
前記複数の第２偏心体軸受の間に移動規制部材が設けられ、
前記第２クランク軸の偏心量は、前記第１クランク軸の偏心量よりも大きい
ことを特徴とする請求項１から６のいずれかに記載の偏心揺動型減速装置のシリーズ。 The second reduction gear includes a plurality of the second eccentric bearings.
A movement restricting member is provided between the plurality of second eccentric bearings.
The series of eccentric swing type speed reducers according to any one of claims 1 to 6, wherein the amount of eccentricity of the second crankshaft is larger than the amount of eccentricity of the first crankshaft. 第１減速装置および第２減速装置を含む偏心揺動型減速装置のシリーズであって、
前記第１減速装置は、第１外歯歯車と、前記第１外歯歯車を揺動させる第１偏心体を有する第１クランク軸と、前記第１外歯歯車と前記第１偏心体の間に配置される第１偏心体軸受と、前記第１クランク軸を支持する第１クランク軸軸受と、を含み、
前記第２減速装置は、第２外歯歯車と、前記第２外歯歯車を揺動させる第２偏心体を有する第２クランク軸と、前記第２外歯歯車と前記第２偏心体の間に配置される第２偏心体軸受と、前記第２クランク軸を支持する第２クランク軸軸受と、を含み、
前記第１クランク軸軸受の転動体のピッチ円径は、前記第２偏心体軸受の転動体のピッチ円径と異なり、
前記第２クランク軸軸受の転動体と前記第１偏心体軸受の転動体とが同一形状である
ことを特徴とする偏心揺動型減速装置のシリーズ。 A series of eccentric swing type reduction gears including a first reduction gear and a second reduction gear.
The first reduction gear is between a first external gear, a first crankshaft having a first eccentric body that swings the first external gear, and the first external gear and the first eccentric body. Includes a first eccentric bearing arranged in, and a first crankshaft bearing that supports the first crankshaft.
The second reduction gear is between a second external gear, a second crankshaft having a second eccentric body that swings the second external gear, and the second external gear and the second eccentric body. Includes a second eccentric bearing arranged in, and a second crankshaft bearing that supports the second crankshaft.
The pitch circle diameter of the rolling element of the first crankshaft bearing is different from the pitch circular diameter of the rolling element of the second eccentric bearing.
A series of eccentric swing type reduction gears characterized in that the rolling element of the second crankshaft bearing and the rolling element of the first eccentric body bearing have the same shape. 第１減速装置および第２減速装置を含む偏心揺動型減速装置のシリーズであって、
前記第１減速装置は、第１外歯歯車と、前記第１外歯歯車を揺動させる第１偏心体を有する第１クランク軸と、前記第１クランク軸を支持する第１クランク軸軸受と、前記第１外歯歯車と前記第１偏心体の間に配置される第１偏心体軸受と、を含み、
前記第２減速装置は、第２外歯歯車と、前記第２外歯歯車を揺動させる第２偏心体を有する第２クランク軸と、前記第２クランク軸を支持する第２クランク軸軸受と、前記第２外歯歯車と前記第２偏心体の間に配置される第２偏心体軸受と、を含み、
前記第１クランク軸軸受の転動体のピッチ円径は、前記第２クランク軸軸受の転動体のピッチ円径よりも小さく、
前記第１クランク軸軸受の転動体は、前記第２クランク軸軸受の転動体と同一形状である
ことを特徴とする偏心揺動型減速装置のシリーズ。 A series of eccentric swing type reduction gears including a first reduction gear and a second reduction gear.
The first reduction gear includes a first external gear, a first crankshaft having a first eccentric body that swings the first external gear, and a first crankshaft bearing that supports the first crankshaft. , A first eccentric bearing arranged between the first external gear and the first eccentric body.
The second reduction gear includes a second external gear, a second crankshaft having a second eccentric body that swings the second external gear, and a second crankshaft bearing that supports the second crankshaft. , A second eccentric bearing arranged between the second external gear and the second eccentric body.
The pitch circle diameter of the rolling element of the first crankshaft bearing is smaller than the pitch circle diameter of the rolling element of the second crankshaft bearing.
A series of eccentric swing type reduction gears characterized in that the rolling element of the first crankshaft bearing has the same shape as the rolling element of the second crankshaft bearing. 第２減速装置とは構成が異なる第１減速装置の製造方法であって、
前記第１減速装置は、第１外歯歯車と、前記第１外歯歯車を揺動させる第１偏心体を有する第１クランク軸と、前記第１外歯歯車と前記第１偏心体の間に配置される第１偏心体軸受と、を含み、
前記第２減速装置は、第２外歯歯車と、前記第２外歯歯車を揺動させる第２偏心体を有する第２クランク軸と、前記第２外歯歯車と前記第２偏心体の間に配置される第２偏心体軸受と、を含み、
前記第１偏心体に組み込まれた前記第１偏心体軸受の転動体のピッチ円径が前記第２偏心体に組み込まれた前記第２偏心体軸受の転動体のピッチ円径よりも小さくなるような前記第１偏心体を有する前記クランク軸を製作する工程と、
前記第２偏心体軸受の転動体と形状的に一致する転動体を前記第１偏心体に配置する工程と、
を含む減速装置の製造方法。 It is a manufacturing method of the first reduction gear having a configuration different from that of the second reduction gear.
The first reduction gear is between a first external gear, a first crankshaft having a first eccentric body that swings the first external gear, and the first external gear and the first eccentric body. Including the first eccentric bearing, which is located in
The second reduction gear is between a second external gear, a second crankshaft having a second eccentric body that swings the second external gear, and the second external gear and the second eccentric body. Includes a second eccentric bearing, which is located in
The pitch circle diameter of the rolling element of the first eccentric bearing incorporated in the first eccentric body is smaller than the pitch circular diameter of the rolling element of the second eccentric bearing incorporated in the second eccentric body. The process of manufacturing the crankshaft having the first eccentric body, and
A step of arranging a rolling element having a shape matching with the rolling element of the second eccentric bearing in the first eccentric body, and
A method of manufacturing a speed reducer including. 第２減速装置とは構成が異なる第１減速装置の設計方法であって、
前記第１減速装置は、第１外歯歯車と、前記第１外歯歯車を揺動させる第１偏心体を有する第１クランク軸と、前記第１外歯歯車と前記第１偏心体の間に配置される第１偏心体軸受と、を含み、
前記第２減速装置は、第２外歯歯車と、前記第２外歯歯車を揺動させる第２偏心体を有する第２クランク軸と、前記第２外歯歯車と前記第２偏心体の間に配置される第２偏心体軸受と、を含み、
前記第１偏心体に組み込まれた前記第１偏心体軸受の転動体のピッチ円径が前記第２偏心体に組み込まれた前記第２偏心体軸受の転動体のピッチ円径よりも小さくなるように前記第1偏心体を設計する工程と、
前記第１偏心体軸受の転動体を、前記第２偏心体軸受の転動体と同一形状に設計する工程と、
を含む減速装置の設計方法。 It is a design method of the first reduction gear having a different configuration from the second reduction gear.
The first reduction gear is between a first external gear, a first crankshaft having a first eccentric body that swings the first external gear, and the first external gear and the first eccentric body. Including the first eccentric bearing, which is located in
The second reduction gear is between a second external gear, a second crankshaft having a second eccentric body that swings the second external gear, and the second external gear and the second eccentric body. Includes a second eccentric bearing, which is located in
The pitch circle diameter of the rolling element of the first eccentric bearing incorporated in the first eccentric body is smaller than the pitch circular diameter of the rolling element of the second eccentric bearing incorporated in the second eccentric body. In the process of designing the first eccentric body,
A step of designing the rolling element of the first eccentric bearing to have the same shape as the rolling element of the second eccentric bearing.
How to design a reduction gear, including.
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