JP5537516B2 - Eccentric oscillation type speed reducer - Google Patents

Eccentric oscillation type speed reducer Download PDF

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JP5537516B2
JP5537516B2 JP2011192136A JP2011192136A JP5537516B2 JP 5537516 B2 JP5537516 B2 JP 5537516B2 JP 2011192136 A JP2011192136 A JP 2011192136A JP 2011192136 A JP2011192136 A JP 2011192136A JP 5537516 B2 JP5537516 B2 JP 5537516B2
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eccentric
retainer
eccentric body
bearing
restricting
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JP2013053665A (en
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卓 芳賀
慶剛 志津
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 JP2011192136A priority Critical patent/JP5537516B2/en
Priority to KR1020120094598A priority patent/KR101369586B1/en
Priority to DE102012017335.0A priority patent/DE102012017335B4/en
Priority to CN201210321999.0A priority patent/CN102979859B/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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/24—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly
    • F16C19/28—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly with two or more rows of rollers
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing
    • F16C35/07—Fixing them on the shaft or housing with interposition of an element
    • F16C35/073—Fixing them on the shaft or housing with interposition of an element between shaft and inner race ring
    • 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
    • F16H57/022—Adjustment of gear shafts or bearings

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Description

本発明は、偏心揺動型の減速装置に関する。   The present invention relates to an eccentric rocking type reduction gear.

特許文献１に、偏心揺動型の減速装置が開示されている。   Patent Document 1 discloses an eccentric rocking type speed reducer.

この減速装置は、偏心体によって揺動する外歯歯車と、該外歯歯車が揺動しながら内接噛合する内歯歯車と、を備える。内歯歯車の内歯と外歯歯車の外歯は、その歯数差が「１」に設定され、外歯歯車が内歯歯車の内側で揺動した際に、該歯数差に応じて生じる内歯歯車と外歯歯車との相対回転を取り出す構成とされている。   The reduction gear includes an external gear that is swung by an eccentric body, and an internal gear that is internally meshed while the external gear is swung. The difference in the number of teeth between the internal teeth of the internal gear and the external teeth of the external gear is set to “1”. When the external gear swings inside the internal gear, The relative rotation between the generated internal gear and external gear is taken out.

偏心体と外歯歯車との間には、偏心体軸受が配置されている。偏心体軸受は、針状ころ（転動体）および該針状ころを支持するリテーナとで構成され、専用の内外輪を有していない。そのため、該偏心体軸受を軸方向に規制するためのワッシャ（規制部材）がリテーナの軸方向端面に当接するように配置されている。   An eccentric body bearing is disposed between the eccentric body and the external gear. The eccentric bearing is composed of needle rollers (rolling elements) and a retainer that supports the needle rollers, and does not have a dedicated inner / outer ring. Therefore, a washer (regulating member) for restricting the eccentric body bearing in the axial direction is disposed so as to abut on the axial end surface of the retainer.

ワッシャは、偏心体軸受の軸方向移動を規制するという機能を果たすために、偏心体がいかなる偏心状態にあるときであっても、常時リテーナの軸方向端面に密着している。その結果、針状ころが存在する空間は、外歯歯車の内周、偏心体の外周、リテーナ、およびワッシャにより、ほぼ密閉された空間となっている。したがって、潤滑油の供給がなされにくいため、針状ころ周辺の潤滑油が劣化し易い、という問題があった。   The washer is in close contact with the axial end surface of the retainer at all times, even when the eccentric body is in any eccentric state, in order to fulfill the function of restricting the axial movement of the eccentric body bearing. As a result, the space where the needle rollers are present is a substantially sealed space by the inner periphery of the external gear, the outer periphery of the eccentric body, the retainer, and the washer. Therefore, since it is difficult to supply the lubricating oil, there is a problem that the lubricating oil around the needle rollers is likely to deteriorate.

特許文献１においては、この問題に対し、このほぼ密閉された空間に潤滑油をより円滑に供給するために、ワッシャに軸方向に貫通する貫通孔を複数形成する構成を提案している。   Patent Document 1 proposes a configuration in which a plurality of through-holes penetrating in the axial direction are formed in the washer in order to more smoothly supply the lubricating oil to the substantially sealed space.

特開２０１０−２３０１７１号公報（段落［００２３］、［００３５］、［図６］、［図７］）JP 2010-230171 (paragraphs [0023], [0035], [FIG. 6], [FIG. 7])

しかしながら、この特許文献１において開示されている構成は、貫通孔の形成にコストが掛かるという問題があった。すなわち、ワッシャは、リテーナと密着しながら摺動するものであることから、貫通孔の周囲に「バリ」等が残っていると、いわゆる「かじり現象」が発生し、リテーナが損傷してしまう恐れがある。これを回避するには、ワッシャの貫通孔は、単に形成するだけでなく、周囲の「バリ」を除去するための何らかの加工処理を付随して行う必要がある。そのため、結果としてコストが掛かるという問題があったものである。   However, the configuration disclosed in Patent Document 1 has a problem that it takes cost to form a through hole. In other words, since the washer slides in close contact with the retainer, if a “burr” or the like remains around the through-hole, a so-called “galling phenomenon” may occur and the retainer may be damaged. There is. In order to avoid this, the through hole of the washer is not simply formed, but needs to be accompanied by some processing for removing the surrounding “burrs”. As a result, there is a problem that costs are increased.

本発明は、このような問題を解消するためになされたものであって、高コストとなることなく、偏心体軸受に対する潤滑性を高く維持することが可能な偏心揺動型の減速装置を提供することをその課題としている。   The present invention has been made to solve such problems, and provides an eccentric oscillating speed reduction device capable of maintaining high lubricity with respect to an eccentric body bearing without increasing the cost. The task is to do.

本発明は、偏心体によって揺動する外歯歯車と、該外歯歯車が揺動しながら内接噛合する内歯歯車と、を備える偏心揺動型の減速装置において、前記偏心体と前記外歯歯車との間に配置され、転動体および該転動体を支持するリテーナを有する偏心体軸受と、該偏心体軸受の軸方向移動を規制する規制部材と、を備え、前記規制部材は、周方向の一部が前記リテーナの軸方向端面と当接して前記偏心体軸受の軸方向の移動を規制するとともに周方向の他の一部が該リテーナの軸方向端面と当接しない規制部と、該規制部の径方向外側から更に径方向外側に形成され、軸方向反偏心体軸受側に傾斜している案内部と、を有している構成とすることにより、上記課題を解決したものである。   The present invention relates to an eccentric oscillating type reduction gear comprising an external gear that is oscillated by an eccentric body, and an internal gear that is internally meshed while the external gear oscillates. An eccentric body bearing having a rolling element and a retainer that supports the rolling element, and a regulating member that regulates axial movement of the eccentric body bearing, and the regulating member includes a circumferential member. A restricting portion in which a part of the direction abuts against the axial end surface of the retainer to restrict axial movement of the eccentric body bearing and another part of the circumferential direction does not abut against the axial end surface of the retainer; The above-mentioned problem is solved by having a guide portion that is formed further radially outward from the radially outer side of the restricting portion and that is inclined toward the axially anti-eccentric bearing. is there.

本発明では、規制部材の規制部の周方向の一部はリテーナの軸方向端面と当接して偏心体軸受の軸方向の移動を規制するが、周方向の他の一部は該リテーナの軸方向端面と当接していない。そのため、この当接していない部分を潤滑油の出入りを許容する通路として活用することができる。   In the present invention, a part in the circumferential direction of the restricting portion of the restricting member abuts on the axial end surface of the retainer to restrict the axial movement of the eccentric bearing, but the other part in the circumferential direction is the shaft of the retainer. It is not in contact with the direction end face. Therefore, this non-contact portion can be used as a passage that allows the lubricant to enter and exit.

一方、本発明では、前記規制部の外側に、軸方向反偏心体軸受側に傾斜した案内部を備える。このため、この案内部の機能により、規制部とリテーナとの接触、非接触の境界が偏心体の偏心態様により変化しても、いわゆる「かじり現象」は発生しない。したがって、「バリ」を取る作業を別途行う必要もなく、規制部材を低コストで製造することができる。   On the other hand, according to the present invention, a guide portion that is inclined toward the axially anti-eccentric bearing side is provided outside the restricting portion. For this reason, the so-called “galling phenomenon” does not occur even if the boundary between the contact portion and the non-contact portion between the restricting portion and the retainer changes depending on the eccentricity of the eccentric body. Therefore, it is not necessary to separately perform “burring”, and the regulating member can be manufactured at a low cost.

本発明によれば、高コストとなることなく、偏心体軸受に対する潤滑性を高く維持することができる。   According to the present invention, it is possible to maintain high lubricity with respect to the eccentric bearing without increasing the cost.

本発明の実施形態の一例に係る偏心揺動型の減速装置の全体断面図1 is an overall cross-sectional view of an eccentric oscillating speed reduction device according to an embodiment of the present invention. 図１の減速装置の要部断面図FIG. 1 is a cross-sectional view of the main part of the speed reducer in FIG. 図１の減速装置の規制部材付近の構成を示す拡大断面図The expanded sectional view which shows the structure of the control member vicinity of the reduction gear of FIG. 図１の減速装置の規制部材とリテーナとの接触状態を規制部材の側から見た説明図Explanatory drawing which looked at the contact state of the control member and retainer of the reduction gear of FIG. 1 from the control member side. 図１の減速装置の規制部材とリテーナとの接触状態をリテーナの側から見た説明図Explanatory drawing which looked at the contact state of the control member and retainer of the reduction gear of FIG. 1 from the retainer side 本発明の他の実施形態の一例に係る偏心揺動型の減速装置の要部断面図Sectional drawing of the principal part of the eccentric rocking | fluctuation type deceleration device which concerns on an example of other embodiment of this invention. 図６の減速装置の規制部材とリテーナとの接触状態を規制部材の側から見た説明図Explanatory drawing which looked at the contact state of the control member and retainer of the reduction gear of FIG. 6 from the control member side 図６の減速装置の規制部材とリテーナとの接触状態をリテーナの側から見た説明図Explanatory drawing which looked at the contact state of the regulating member and retainer of the reduction gear of FIG. 6 from the retainer side

以下、図面に基づいて本発明の実施形態の一例を詳細に説明する。   Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

図１は、本発明の実施形態の一例に係る偏心揺動型の減速装置の全体断面図、図２は、その要部断面図、図３は、ストッパ（規制部材）付近の構成を示す拡大断面図である。   FIG. 1 is an overall cross-sectional view of an eccentric oscillating speed reduction device according to an example of an embodiment of the present invention, FIG. 2 is a cross-sectional view of an essential part thereof, and FIG. 3 is an enlarged view showing a configuration in the vicinity of a stopper (regulating member). It is sectional drawing.

この偏心揺動型の減速装置Ｇ１は、第１〜第３偏心体１１〜１３によって揺動する第１〜第３外歯歯車２１〜２３と、該第１〜第３外歯歯車２１〜２３が揺動しながら内接噛合する内歯歯車２４と、を備える。   The eccentric oscillating speed reduction device G1 includes first to third external gears 21 to 23 that are oscillated by first to third eccentric bodies 11 to 13, and the first to third external gears 21 to 23. And an internal gear 24 that meshes inward while swinging.

以下、該減速装置Ｇ１の概略構成から説明する。   Hereinafter, the schematic configuration of the reduction gear G1 will be described.

主に、図１を参照して、減速装置Ｇ１の入力軸１６は、スプライン１８を介して図示せぬモータと連結されている。入力軸１６には、３個の第１〜第３偏心体１１〜１３が一体に形成されている。すなわち、入力軸１６は内歯歯車２４の軸心Ｏｇ位置に配置された中央クランクタイプの「偏心体軸」として機能している。   Referring mainly to FIG. 1, the input shaft 16 of the reduction gear G1 is connected to a motor (not shown) via a spline 18. The input shaft 16 is integrally formed with three first to third eccentric bodies 11 to 13. That is, the input shaft 16 functions as a “center shaft” of the center crank type arranged at the position of the axis Og of the internal gear 24.

第１〜第３偏心体１１〜１３は、その外周１１Ａ〜１３Ａが入力軸１６の軸心（Ｏｇに同じ）に対して偏心している。第１〜第３偏心体１１〜１３の偏心位相は、１２０度ずつずれている。   As for the 1st-3rd eccentric bodies 11-13, the outer periphery 11A-13A is eccentric with respect to the axial center (same as Og) of the input shaft 16. FIG. The eccentric phases of the first to third eccentric bodies 11 to 13 are shifted by 120 degrees.

したがって、「断面図」という観点では、厳密には、第１〜第３偏心体１１〜１３の偏心位相は、図１、あるいは図２で描写されているような態様とはならない。しかしながら、ここでは、発明の理解を容易にするために、便宜上第１偏心体１１が特定の側（図１、図２の上側）に最も偏心した状態、第３偏心体１３がこれと反対側に最も偏心した状態、第２偏心体１２がこれらの中間の状態をそれぞれ示すように描写してある。   Therefore, strictly speaking, from the viewpoint of a “cross-sectional view”, the eccentric phases of the first to third eccentric bodies 11 to 13 do not take the form as depicted in FIG. 1 or FIG. However, here, in order to facilitate understanding of the invention, for the sake of convenience, the first eccentric body 11 is most eccentric to a specific side (upper side in FIGS. 1 and 2), and the third eccentric body 13 is the opposite side. The second eccentric body 12 is depicted so as to show an intermediate state between them.

第１〜第３偏心体１１〜１３と第１〜第３外歯歯車２１〜２３との間には、第１〜第３偏心体軸受３１〜３３がそれぞれ配置されている。   Between the 1st-3rd eccentric bodies 11-13 and the 1st-3rd external gear 21-23, the 1st-3rd eccentric body bearings 31-33 are each arrange | positioned.

図２に示されるように、第１〜第３偏心体軸受３１〜３３は、それぞれ第１〜第３ころ（転動体）４１〜４３、および該第１〜第３ころ４１〜４３を支持する第１〜第３リテーナ５１〜５３とで構成されている。すなわち第１〜第３偏心体軸受３１〜３３は、専用の内外輪を有していない（第１〜第３偏心体１１〜１３が内輪、第１〜第３外歯歯車２１〜２３がそれぞれ外輪の機能を果たしている）。   As shown in FIG. 2, the first to third eccentric body bearings 31 to 33 support the first to third rollers (rolling elements) 41 to 43 and the first to third rollers 41 to 43, respectively. It is comprised by the 1st-3rd retainer 51-53. That is, the first to third eccentric body bearings 31 to 33 do not have dedicated inner and outer rings (the first to third eccentric bodies 11 to 13 are inner rings, and the first to third outer gears 21 to 23 are respectively Fulfills the function of the outer ring).

第１〜第３リテーナ５１〜５３は、その軸方向端面５１Ａ〜５３Ａが軸方向から見てリング状とされ、その内周５１Ｂ〜５３Ｂおよび外周５１Ｃ〜５３Ｃとも円形である。なお、この実施形態では、第１〜第３リテーナ５１〜５３の内周５１Ｂ〜５３Ｂの内径は全てＤ１、外周５１Ｃ〜５３Ｃの外径は全てｄ１に設定されている。   As for the 1st-3rd retainer 51-53, the axial direction end surfaces 51A-53A are made into a ring shape seeing from an axial direction, The inner periphery 51B-53B and the outer periphery 51C-53C are circular. In this embodiment, the inner diameters 51B to 53B of the first to third retainers 51 to 53 are all set to D1, and the outer diameters of the outer circumferences 51C to 53C are all set to d1.

第１〜第３偏心体軸受３１〜３３の軸方向の移動規制は、一対の第１、第２ストッパ（規制部材）６１、６２によって第１〜第３偏心体軸受３１〜３３を全体として挟み込むことによって行われている（各偏心体軸受３１〜３３相互の位置規制は、互いのリテーナ５１〜５３同士の接触で行われている）。第１、第２ストッパ６１、６２およびその近傍の構成については、後に詳述する。   In the axial movement restriction of the first to third eccentric body bearings 31 to 33, the first to third eccentric body bearings 31 to 33 are sandwiched as a whole by the pair of first and second stoppers (restriction members) 61 and 62. (Eccentric bearings 31 to 33 are regulated by mutual contact between the retainers 51 to 53). The configuration of the first and second stoppers 61 and 62 and the vicinity thereof will be described in detail later.

図１に戻って、前記内歯歯車２４は、内歯を構成する円柱状の内歯ピン２６と、該内歯ピン２６を支持するピン溝２８Ａを有する内歯歯車本体２８とで構成されている。内歯歯車本体２８は、ケーシング３０と一体化されている。この実施形態では、ケーシング３０は、ボルト孔３４に挿通される図示せぬボルトを介して外部の固定部材（図示略）に固定されている。内歯歯車２４の内歯の数（内歯ピン２６の数）は、第１〜第３外歯歯車２１〜２３の外歯の数よりも僅かだけ（この例では１だけ）多い。   Returning to FIG. 1, the internal gear 24 includes a cylindrical internal tooth pin 26 that constitutes an internal tooth, and an internal gear main body 28 having a pin groove 28 </ b> A that supports the internal tooth pin 26. Yes. The internal gear main body 28 is integrated with the casing 30. In this embodiment, the casing 30 is fixed to an external fixing member (not shown) via a bolt (not shown) inserted through the bolt hole 34. The number of internal teeth of the internal gear 24 (the number of internal teeth pins 26) is slightly larger (by 1 in this example) than the number of external teeth of the first to third external gears 21-23.

第１〜第３外歯歯車２１〜２３には、第１〜第３貫通孔２１Ａ〜２３Ａが、それぞれ第１〜第３外歯歯車２１〜２３の軸心Ｏ１〜Ｏ３から等距離の位置に、周方向において複数形成されている。該第１〜第３貫通孔２１Ａ〜２３Ａには摺動促進体３６の被せられた内ピン３８が隙間を有して嵌合している。   In the first to third external gears 21 to 23, the first to third through holes 21 </ b> A to 23 </ b> A are located at equidistant positions from the axes O <b> 1 to O <b> 3 of the first to third external gears 21 to 23, respectively. A plurality are formed in the circumferential direction. An inner pin 38 covered with a sliding promotion body 36 is fitted in the first to third through holes 21A to 23A with a gap.

第１〜第３外歯歯車２１〜２３の軸方向両側には、第１、第２キャリヤ体７１、７２が配置されている。第１、第２キャリヤ体７１、７２は、第１、第２玉軸受８１、８２を介して入力軸１６を支持するとともに、主軸受（アンギュラ玉軸受）５４、５６を介してケーシング３０に支持されている。第１、第２玉軸受８１、８２は、その内輪８１Ａ、８２Ａが、これから説明する第１、第２ストッパ（規制部材）６１、６２を段部１６Ａ、１６Ｂとの間に挟んだ状態で入力軸１６に圧入されている。第１、第２玉軸受８１、８２の外輪８１Ｂ、８２Ｂは、第１、第２キャリヤ体７１、７２の段部７１Ａ、７２Ａにて位置規制されている。   First and second carrier bodies 71 and 72 are arranged on both sides in the axial direction of the first to third external gears 21 to 23. The first and second carrier bodies 71 and 72 support the input shaft 16 via first and second ball bearings 81 and 82 and support the casing 30 via main bearings (angular ball bearings) 54 and 56. Has been. The first and second ball bearings 81 and 82 are input with the inner rings 81A and 82A sandwiching first and second stoppers (regulator members) 61 and 62 to be described between the step portions 16A and 16B. The shaft 16 is press-fitted. The positions of the outer rings 81B and 82B of the first and second ball bearings 81 and 82 are restricted by the step portions 71A and 72A of the first and second carrier bodies 71 and 72, respectively.

前記内ピン３８は、第２キャリヤ体７２と一体化されている。第２キャリヤ体７２は、内ピン３８およびボルト５８を介して第１キャリヤ体７１と連結されている。第２キャリヤ体７２は、ボルト穴５９を利用して図示せぬ相手機械の被駆動体と連結されている。   The inner pin 38 is integrated with the second carrier body 72. The second carrier body 72 is connected to the first carrier body 71 via the inner pin 38 and the bolt 58. The second carrier body 72 is connected to a driven body of a counterpart machine (not shown) using a bolt hole 59.

ここで、図２および図３を参照して、第１〜第３偏心体軸受３１〜３３の軸方向の移動規制を行う第１、第２ストッパ（規制部材）６１、６２の構成について詳細に説明する。   Here, with reference to FIG. 2 and FIG. 3, the structure of the 1st, 2nd stopper (regulation member) 61 and 62 which performs the movement control of the axial direction of the 1st-3rd eccentric body bearings 31-33 in detail is demonstrated. explain.

図２は、第１、第２ストッパ６１、６２を含む第１〜第３偏心体軸受３１〜３３の近傍、図３は、第１ストッパ６１の図２の矢視ＩＩＩ部分の近傍をそれぞれ示している。   FIG. 2 shows the vicinity of the first to third eccentric body bearings 31 to 33 including the first and second stoppers 61 and 62, and FIG. 3 shows the vicinity of the portion of the first stopper 61 in the direction of arrow III in FIG. ing.

第１ストッパ６１は、入力軸１６の段部１６Ａと第１玉軸受８１との間に配置され、第１偏心体軸受３１の第１ころ４１の第１リテーナ５１が第１キャリヤ体７１側へ軸方向に移動するのを規制している。第２ストッパ６２は、入力軸１６の段部１６Ｂと第２玉軸受８２との間に配置され、第３偏心体軸受３３の第３ころ４３の第３リテーナ５３が第２キャリヤ体７２側へ軸方向に移動するのを規制している。なお、前述したように、第２偏心体軸受３２は、第１偏心体軸受３１の第１リテーナ５１と第３偏心体軸受３３の第３リテーナ５３の間に自身の第２リテーナ５２が挟まれることで位置決めされる。   The first stopper 61 is disposed between the step portion 16A of the input shaft 16 and the first ball bearing 81, and the first retainer 51 of the first roller 41 of the first eccentric body bearing 31 moves toward the first carrier body 71. Restricts movement in the axial direction. The second stopper 62 is disposed between the step 16B of the input shaft 16 and the second ball bearing 82, and the third retainer 53 of the third roller 43 of the third eccentric body bearing 33 moves toward the second carrier body 72. Restricts movement in the axial direction. As described above, the second eccentric body bearing 32 has its second retainer 52 sandwiched between the first retainer 51 of the first eccentric body bearing 31 and the third retainer 53 of the third eccentric body bearing 33. Is positioned.

第１、第２ストッパ６１、６２は、第１〜第３偏心体軸受３１〜３３に対して対称に組み込まれているが、部材としては全く同一の部材である。そのため、便宜上、図３では第２ストッパ６２側の対応する符号を（ ）書きで並べて記載してある。   The first and second stoppers 61 and 62 are incorporated symmetrically with respect to the first to third eccentric body bearings 31 to 33, but are the same members. Therefore, for convenience, in FIG. 3, the corresponding symbols on the second stopper 62 side are written in parentheses.

第１、第２ストッパ６１、６２は、それぞれ、半径方向内側から、被挟持部６１Ａ、６２Ａ、規制部６１Ｂ、６２Ｂ、案内部６１Ｃ、６２Ｃ、および延長案内部６１Ｄ、６２Ｄを有している。   The first and second stoppers 61 and 62 respectively have sandwiched portions 61A and 62A, restricting portions 61B and 62B, guide portions 61C and 62C, and extension guide portions 61D and 62D from the inside in the radial direction.

第１、第２ストッパ６１、６２の被挟持部６１Ａ、６２Ａは、軸方向から見てそれぞれリング状の平面で構成されている。各被挟持部６１Ａ、６２Ａは、各規制部６１Ｂ、６２Ｂから見ると、その半径方向内側位置にあり、且つ該規制部６１Ｂ、６２Ｂに対して軸方向反偏心体軸受側にシフト幅Δ１、Δ２だけそれぞれシフトしている。第１ストッパ６１の被挟持部６１Ａは、入力軸１６の段部１６Ａと第１玉軸受８１の内輪８１Ａに挟まれることで入力軸１６上の段部１６Ａの側部に当接・位置決めされ、結果として第１ストッパ６１自体の入力軸１６に対する位置を確定している。第２ストッパ６２の被挟持部６２Ａは、入力軸１６の段部１６Ｂと第２玉軸受８２の内輪８２Ａに挟まれることで入力軸１６上の段部１６Ｂの側部に当接・位置決めされ、結果として第２ストッパ６２自体の入力軸１６に対する位置を確定している。   The sandwiched portions 61A and 62A of the first and second stoppers 61 and 62 are each configured by a ring-shaped plane as viewed from the axial direction. Each sandwiched portion 61A, 62A is located at the radially inner position when viewed from each restricting portion 61B, 62B, and shift widths Δ1, Δ2 on the axially anti-eccentric bearing side with respect to the restricting portions 61B, 62B. Only shift each one. The sandwiched portion 61A of the first stopper 61 is abutted and positioned on the side portion of the step portion 16A on the input shaft 16 by being sandwiched between the step portion 16A of the input shaft 16 and the inner ring 81A of the first ball bearing 81. As a result, the position of the first stopper 61 itself relative to the input shaft 16 is determined. The sandwiched portion 62A of the second stopper 62 is abutted and positioned on the side portion of the step portion 16B on the input shaft 16 by being sandwiched between the step portion 16B of the input shaft 16 and the inner ring 82A of the second ball bearing 82. As a result, the position of the second stopper 62 itself relative to the input shaft 16 is determined.

第１、第２ストッパ６１、６２の規制部６１Ｂ、６２Ｂは、それぞれ被挟持部６１Ａ、６２Ａから連続して該被挟持部６１Ａ、６２Ａの半径方向外側に形成されている。各規制部６１Ｂ、６２Ｂは、軸方向から見てリング状の平面で構成され、該リング状の内周６１Ｂ１、６２Ｂ１および外周６１Ｂ２、６２Ｂ２とも円形である。   The restricting portions 61B and 62B of the first and second stoppers 61 and 62 are formed on the radially outer side of the sandwiched portions 61A and 62A, respectively, continuously from the sandwiched portions 61A and 62A. Each regulation part 61B and 62B is comprised by the ring-shaped plane seeing from an axial direction, and this ring-shaped inner periphery 61B1, 62B1 and outer periphery 61B2, 62B2 are circular.

第１ストッパ６１の規制部６１Ｂは、その周方向の一部（図４の符号Ｂ１の範囲：後述）が、第１偏心体軸受３１の第１リテーナ５１の軸方向端面５１Ａと当接するとともに、周方向の他の一部（図４の符号Ａ１の範囲：後述）が、該第１リテーナ５１の軸方向端面５１Ａと当接しないように、（第１リテーナ５１の内周５１Ｂの内径Ｄ１に対し）外周６１Ｂ２の外径ｄ２が設定されている。   The regulating portion 61B of the first stopper 61 has a part in the circumferential direction (range of B1 in FIG. 4: described later) abutting on the axial end surface 51A of the first retainer 51 of the first eccentric body bearing 31, and (Inside the inner diameter D1 of the inner periphery 51B of the first retainer 51, the other part in the circumferential direction (range A1 in FIG. 4; described later) does not contact the axial end surface 51A of the first retainer 51. On the other hand, the outer diameter d2 of the outer periphery 61B2 is set.

第２ストッパ６２は、前述したように、第１ストッパ６１と同一の部材が使用されている。すなわち、該第２ストッパ６２の規制部６２Ｂは、その周方向の一部が第３偏心体軸受３３の第３リテーナ５３の軸方向端面５３Ａと当接するとともに、周方向の他の一部が該第３リテーナ５３の軸方向端面５３Ａと当接しないように、（第３リテーナ５３の内周５３Ｂの内径Ｄ１に対し）外周６２Ｂ２の外径ｄ２が設定されている。   As described above, the same member as the first stopper 61 is used for the second stopper 62. That is, the restricting portion 62B of the second stopper 62 has a part in the circumferential direction abutting against the axial end surface 53A of the third retainer 53 of the third eccentric bearing 33, and another part in the circumferential direction is the The outer diameter d2 of the outer periphery 62B2 is set (relative to the inner diameter D1 of the inner periphery 53B of the third retainer 53) so as not to contact the axial end surface 53A of the third retainer 53.

この各径の設定により、第１リテーナ５１の軸方向端面５１Ａと第１ストッパ６１の規制部６１Ｂとの間、第３リテーナ５３の軸方向端面５３Ａと第２ストッパ６２の規制部６２Ｂとの間に、それぞれ、最大で、半径方向に隙間ΔＳ１、ΔＳ２が生じるようになる。この作用については、後に図４を用いて詳細に説明する。   By setting the respective diameters, between the axial end surface 51A of the first retainer 51 and the restricting portion 61B of the first stopper 61, and between the axial end surface 53A of the third retainer 53 and the restricting portion 62B of the second stopper 62. In addition, gaps ΔS1 and ΔS2 are generated in the radial direction at the maximum, respectively. This effect will be described in detail later with reference to FIG.

第１、第２ストッパ６１、６２の案内部６１Ｃ、６２Ｃは、それぞれ規制部６１Ｂ、６２Ｂの径方向外側から更に径方向外側に形成され、軸方向反偏心体軸受側に角度α１、α２だけ傾斜している。この結果、案内部６１Ｃ、６２Ｃの上端６１Ｃ１、６２Ｃ１では、第１、第３リテーナ５１、５３の軸方向端面５１Ａ、５３Ａとの間に軸方向隙間δ１、δ２が生じている。   The guide portions 61C and 62C of the first and second stoppers 61 and 62 are formed further radially outward from the radially outer sides of the restricting portions 61B and 62B, respectively, and are inclined by angles α1 and α2 toward the axially anti-eccentric bearing side. doing. As a result, axial gaps δ1 and δ2 are generated between the upper ends 61C1 and 62C1 of the guide portions 61C and 62C and the axial end surfaces 51A and 53A of the first and third retainers 51 and 53, respectively.

なお、この実施形態では、案内部６１Ｃ、６２Ｃの更に半径方向外側に入力軸１６と直角に延長案内部６１Ｄ、６２Ｄが連続して形成されている。この傾斜した案内部６１Ｃ、６２Ｃに続いて延長案内部６１Ｄ、６２Ｄが形成されている構成により、第１、第２ストッパ６１、６２は、結果として規制部６１Ｂ、６２Ｂが、被挟持部６１Ａ、６２Ａおよび延長案内部６１Ｄ、６２Ｄから軸方向リテーナ側に突出した形状とされており、該規制部６１Ｂ、６２Ｂが、第１、第２ストッパ６１、６２の「補強部」として機能している。しかし、本発明においては、この延長案内部６１Ｄ、６２Ｄは、必ずしもなくてもよい。   In this embodiment, extended guide portions 61D and 62D are continuously formed at right angles to the input shaft 16 on the radially outer side of the guide portions 61C and 62C. The extended guide portions 61D and 62D are formed following the inclined guide portions 61C and 62C, so that the first and second stoppers 61 and 62 result in the restricting portions 61B and 62B being the sandwiched portions 61A, The restricting portions 61B and 62B function as “reinforcing portions” of the first and second stoppers 61 and 62. The restricting portions 61B and 62B protrude from the 62A and the extension guide portions 61D and 62D toward the axial retainer. However, in the present invention, the extension guide portions 61D and 62D are not necessarily required.

次に、この偏心揺動型の減速装置の作用を説明する。   Next, the operation of the eccentric oscillating speed reduction device will be described.

図示せぬモータの回転によって入力軸１６が回転すると、第１〜第３偏心体１１〜１３が一体に回転し、第１〜第３偏心体軸受３１〜３３を介して第１〜第３外歯歯車２１〜２３が相互に１２０度の位相角を維持しながら揺動する。すると、第１〜第３外歯歯車２１〜２３と内歯歯車２４との噛合位置が順次ずれてゆき、第１〜第３偏心体１１〜１３が１回回転するごとに、第１〜第３外歯歯車２１〜２３は、内歯歯車２４に対して歯数差「１」に相当する分だけ相対回転する（自転する）。   When the input shaft 16 is rotated by the rotation of a motor (not shown), the first to third eccentric bodies 11 to 13 rotate integrally, and the first to third outer bodies are rotated via the first to third eccentric body bearings 31 to 33. The toothed gears 21 to 23 swing while maintaining a phase angle of 120 degrees. Then, the meshing positions of the first to third external gears 21 to 23 and the internal gear 24 are sequentially shifted, and each time the first to third eccentric bodies 11 to 13 are rotated once, the first to first gears are rotated. The three external gears 21 to 23 rotate relative to the internal gear 24 by an amount corresponding to the difference in the number of teeth “1” (rotate).

この自転成分が内ピン３８（および摺動促進体３６）を介して第１、第２キャリヤ体７１、７２に伝達され、更にボルト穴５９を利用して連結されている図示せぬ被駆動体に伝達される。これにより、該被駆動体が減速された速度で回転する。   This rotation component is transmitted to the first and second carrier bodies 71 and 72 via the inner pin 38 (and the sliding promotion body 36), and is further connected using a bolt hole 59 (not shown). Is transmitted to. Accordingly, the driven body rotates at a reduced speed.

ここで、第１〜第３偏心体軸受３１〜３３は、一対の第１、第２ストッパ６１、６２の規制部６１Ｂ、６２Ｂに挟まれることによって入力軸１６に対する軸方向の移動が規制される。すなわち、第１ストッパ６１は、その被挟持部６１Ａが入力軸１６の段部１６Ａと第１玉軸受８１との間に配置され、第１偏心体軸受３１の第１ころ４１の第１リテーナ５１が第１キャリヤ体７１側へ軸方向に移動するのを規制している。第２ストッパ６２は、入力軸１６の段部１６Ｂと第２玉軸受８２との間に配置され、第３偏心体軸受３３の第３ころ４３の第３リテーナ５３が第２キャリヤ体７２側へ軸方向に移動するのを規制している。   Here, the first to third eccentric body bearings 31 to 33 are sandwiched between the restriction portions 61B and 62B of the pair of first and second stoppers 61 and 62, so that the movement in the axial direction with respect to the input shaft 16 is restricted. . That is, the first stopper 61 has a sandwiched portion 61 </ b> A disposed between the step portion 16 </ b> A of the input shaft 16 and the first ball bearing 81, and the first retainer 51 of the first roller 41 of the first eccentric body bearing 31. Is restricted from moving in the axial direction toward the first carrier body 71. The second stopper 62 is disposed between the step 16B of the input shaft 16 and the second ball bearing 82, and the third retainer 53 of the third roller 43 of the third eccentric body bearing 33 moves toward the second carrier body 72. Restricts movement in the axial direction.

但し、規制部６１Ｂ、６２Ｂは、その周方向全体が第１リテーナ５１、或は第３リテーナ５３の軸方向端面５１Ａ、５３Ａに当接しているわけではなく、周方向の一部のみが当接しており、周方向の他の一部は当接していない。   However, the regulating portions 61B and 62B are not entirely in contact with the axial end surfaces 51A and 53A of the first retainer 51 or the third retainer 53, but only a part in the circumferential direction is in contact. The other part of the circumferential direction is not in contact.

図４、図５を参照しながら、この作用について詳細に説明する。   This operation will be described in detail with reference to FIGS.

図４は、第１偏心体軸受３１の第１リテーナ５１と第１ストッパ６１の規制部６１Ｂとの接触、非接触状態を第１ストッパ６１の側から第１リテーナ５１を見たものである。該第１リテーナ５１が第１ストッパ６１の規制部６１Ｂと接触している部分が網掛けＨ１で示されている。   FIG. 4 shows the first retainer 51 viewed from the first stopper 61 side in a non-contact state between the first retainer 51 of the first eccentric body bearing 31 and the restricting portion 61 </ b> B of the first stopper 61. A portion where the first retainer 51 is in contact with the restricting portion 61B of the first stopper 61 is indicated by hatching H1.

図５は、同じ接触、非接触状態を、第１リテーナ５１の側から第１ストッパ６１を見たものである。該第１ストッパ６１の規制部６１Ｂが第１リテーナ５１と接触している部分が網掛けＨ２で示されている。なお、図示は省略するが、第２ストッパ６２側も偏心位相がずれているだけで、全く同様の作用効果が得られる。   FIG. 5 shows the first stopper 61 viewed from the side of the first retainer 51 in the same contact and non-contact state. A portion where the restricting portion 61B of the first stopper 61 is in contact with the first retainer 51 is indicated by hatching H2. Although not shown in the figure, the same effect can be obtained only by shifting the eccentric phase on the second stopper 62 side.

第１リテーナ５１の内周５１Ｂと第１ストッパ６１の規制部６１Ｂの外周６１Ｂ２は、共に円形である。そして、規制部６１Ｂの周方向の一部（符号Ｂ１の周方向範囲）が、第１偏心体１１の最小偏心側（第１偏心体１１の外周１１Ａが最も入力軸（偏心体軸）１６の軸心Ｏｇに近づいている側）で前記第１リテーナ５１と当接し、かつ該規制部６１Ｂの周方向の他の一部（符号Ａ１の範囲）が、第１偏心体１１の最大偏心側（第１偏心体１１の外周１１Ａが最も入力軸（偏心体軸）１６の軸心Ｏｇから遠ざかっている側）で第１リテーナ５１と当接しない大きさに、第１リテーナ５１の内周５１Ｂの内径Ｄ１と第１ストッパ６１の規制部６１Ｂの外周の外径ｄ２が設定されている。   Both the inner periphery 51B of the first retainer 51 and the outer periphery 61B2 of the restricting portion 61B of the first stopper 61 are circular. A part of the regulating portion 61B in the circumferential direction (circumferential range indicated by B1) is the minimum eccentric side of the first eccentric body 11 (the outer circumference 11A of the first eccentric body 11 is the most of the input shaft (eccentric body shaft) 16. The first retainer 51 is in contact with the first retainer 51 on the side closer to the axis Og, and the other part in the circumferential direction of the restricting portion 61B (the range indicated by reference numeral A1) is the maximum eccentric side ( The outer periphery 11A of the first eccentric body 11 is the size that does not contact the first retainer 51 on the side farthest from the axis Og of the input shaft (eccentric body shaft) 16). An inner diameter D1 and an outer diameter d2 of the outer periphery of the restricting portion 61B of the first stopper 61 are set.

このため、第１リテーナ５１は、図４の網掛けＨ１を施した第１偏心体１１の最小偏心側における周方向の一部のみ（図４で符号Ｂ１で示した周方向範囲のみ）が第１ストッパ６１と接触し、ここで第１偏心体軸受３１の軸方向第１キャリヤ体７１側への移動規制が行われる。一方、第１偏心体１１の最大偏心側においては、規制部６１Ｂの外周６１Ｂ２が、第１リテーナ５１の内周５１Ｂにまで届いておらず、したがって、最大偏心側（図３の偏心位置、図４の上側）において隙間ΔＳ１が生じており、この隙間ΔＳ１を活用して潤滑剤が出入りすることができる。   For this reason, the first retainer 51 has only a part in the circumferential direction on the minimum eccentric side of the first eccentric body 11 subjected to the hatching H1 in FIG. 4 (only in the circumferential range indicated by B1 in FIG. 4). The first stopper 61 is brought into contact with the first eccentric body bearing 31 and the movement of the first eccentric body bearing 31 toward the first carrier body 71 in the axial direction is restricted. On the other hand, on the maximum eccentric side of the first eccentric body 11, the outer periphery 61B2 of the restricting portion 61B does not reach the inner periphery 51B of the first retainer 51. Therefore, the maximum eccentric side (the eccentric position in FIG. 4), a clearance ΔS1 is generated, and the lubricant can enter and exit using this clearance ΔS1.

換言するならば、従来は、「偏心体軸受の軸方向移動を規制する規制部材は、偏心体の最小偏心側は勿論、最大偏心側においても確実にリテーナに接触していなければならない。」と考えられてきたが、本実施形態では、この思想を抜本的に見直し、偏心体軸受の偏心体軸の軸心からの距離が変化することを、逆に潤滑性の向上に利用するようにしたものである。   In other words, conventionally, “the regulating member that regulates the axial movement of the eccentric body bearing must surely contact the retainer not only on the minimum eccentric side of the eccentric body but also on the maximum eccentric side”. In this embodiment, this idea has been radically reviewed, and the fact that the distance from the axis of the eccentric body shaft of the eccentric body bearing is used to improve the lubricity on the contrary. Is.

また、図２、図３に示されるように、第１、第２ストッパ６１、６２の案内部６１Ｃ、６２Ｃは、それぞれ規制部６１Ｂ、６２Ｂの径方向外側から更に径方向外側に形成され、軸方向反偏心体軸受側に角度α１、α２だけ傾斜している。この結果、該案内部６１Ｃ、６２Ｃの上端６１Ｃ１、６２Ｃ１では、第１、第３リテーナ５１、５３の軸方向端面５１Ａ、５３Ａとの間に隙間δ１、δ２が軸方向に生じている。したがって、第１、第３リテーナ５１、５３の軸方向端面５１Ａ、５３Ａが、規制部６１Ｂ、６２Ｂと非接触の状態から接触の状態に移行するときに、いわゆる「かじり現象」が発生しない。従って第１、第２ストッパ６１、６２の製造に当たってかじり現象防止用の別途の加工等を必要とせず、低コストな製造が可能である。   Also, as shown in FIGS. 2 and 3, the guide portions 61C and 62C of the first and second stoppers 61 and 62 are formed from the radially outer side of the restricting portions 61B and 62B to the radially outer side, respectively. Inclined by angles α1 and α2 toward the directional anti-eccentric bearing. As a result, gaps δ1 and δ2 are generated in the axial direction between the upper ends 61C1 and 62C1 of the guide portions 61C and 62C and the axial end surfaces 51A and 53A of the first and third retainers 51 and 53, respectively. Therefore, when the axial end surfaces 51A, 53A of the first and third retainers 51, 53 are shifted from the non-contact state to the restricting portions 61B, 62B, the so-called “galling phenomenon” does not occur. Therefore, when the first and second stoppers 61 and 62 are manufactured, it is possible to manufacture at a low cost without requiring separate processing for preventing the galling phenomenon.

なお、この案内部６１Ｃ、６２Ｃの傾斜は、第１、第３リテーナ５１、５３と規制部６１Ｂ、６２Ｂとが、相対的に半径方向に往復動するときに、潤滑剤をより円滑に出入りさせる「潤滑剤の案内」としても機能する。   The inclination of the guide portions 61C and 62C allows the lubricant to enter and exit more smoothly when the first and third retainers 51 and 53 and the restricting portions 61B and 62B reciprocate relatively in the radial direction. Also functions as a “guide of lubricant”.

さらに、本実施形態では、案内部６１Ｃ、６２Ｃの半径方向外側に、延長案内部６１Ｄ、６２Ｄが形成されている。このため、結果として規制部６１Ｂ、６２Ｂが被挟持部６１Ａ、６２Ａおよび延長案内部６１Ｄ、６２Ｄから軸方向に突出した形状とされており、該規制部６１Ｂ、６２Ｂが、第１、第２ストッパ６１、６２の「補強部」として機能している。したがって、第１、第２ストッパ６１、６２全体の強度が高く、第１〜第３偏心体軸受３１〜３３の移動規制を安定して行うことができる。   Furthermore, in the present embodiment, extended guide portions 61D and 62D are formed on the radially outer sides of the guide portions 61C and 62C. Therefore, as a result, the restricting portions 61B and 62B have a shape protruding in the axial direction from the sandwiched portions 61A and 62A and the extension guide portions 61D and 62D. The restricting portions 61B and 62B are the first and second stoppers. 61 and 62 function as “reinforcing portions”. Therefore, the strength of the first and second stoppers 61 and 62 as a whole is high, and the movement restriction of the first to third eccentric body bearings 31 to 33 can be performed stably.

また、被挟持部６１Ａ、６２Ａが、規制部６１Ｂ、６２Ｂに対して軸方向反偏心体軸受側にシフトされているため、さらには、延長案内部６１Ｄ、６２Ｄの反偏心体軸受側面より、被挟持部６１Ａ、６２Ａの反偏心体軸受側面の方が、軸方向反偏心体軸受側にシフトしているので、規制部６１Ｂ、６２Ｂに対して案内部６１Ｃ、６２Ｃや延長案内部６１Ｄ、６２Ｄが軸方向反偏心体軸受側にシフトして形成されていても、該案内部６１Ｃ、６２Ｃや延長案内部６１Ｄ、６２Ｄが、第１、第２玉軸受８１、８２の外輪と干渉するのを確実に防止できる。   In addition, since the sandwiched portions 61A and 62A are shifted toward the axial anti-eccentric body bearing side with respect to the restricting portions 61B and 62B, the clamped portions 61A and 62A are further separated from the anti-eccentric body bearing side surfaces of the extension guide portions 61D and 62D. Since the opposite eccentric body bearing side surfaces of the sandwiching portions 61A and 62A are shifted to the axial anti-eccentric bearing side, the guide portions 61C and 62C and the extended guide portions 61D and 62D are provided with respect to the restricting portions 61B and 62B. Even if it is formed to be shifted to the axially anti-eccentric bearing side, it is ensured that the guide portions 61C and 62C and the extended guide portions 61D and 62D interfere with the outer rings of the first and second ball bearings 81 and 82. Can be prevented.

このように、本実施形態によれば、第１〜第３偏心体軸受３１〜３３の軸方向の移動を規制するための第１、第２ストッパ６１、６２を、第１〜第３偏心体軸受３１〜３３に対する潤滑性を高く維持しながら、低コストに製造することができる。   As described above, according to this embodiment, the first and second eccentric bodies are provided with the first and second stoppers 61 and 62 for restricting the movement of the first to third eccentric body bearings 31 to 33 in the axial direction. It is possible to manufacture the bearings 31 to 33 at low cost while maintaining high lubricity.

なお、上記実施形態においては、規制部６１Ｂ、６２Ｂの周方向の一部が、第１、第３偏心体１１、１３の最小偏心側で第１、第３リテーナ５１、５３と当接し、かつ該規制部６１Ｂ、６２Ｂの周方向の他の一部が、第１、第３偏心体１１、１３の最大偏心側で第１、第３リテーナ５１、５３と当接しないように構成していた。   In the above embodiment, a part of the regulating portions 61B and 62B in the circumferential direction is in contact with the first and third retainers 51 and 53 on the minimum eccentric side of the first and third eccentric bodies 11 and 13, and The other part in the circumferential direction of the restricting portions 61B and 62B is configured not to contact the first and third retainers 51 and 53 on the maximum eccentric side of the first and third eccentric bodies 11 and 13. .

しかしながら、本発明は、要は、偏心体の動きに応じて、ストッパの規制部の周方向の一部がリテーナの軸方向端面と当接して前記偏心体軸受の軸方向の移動を規制するとともに、周方向の他の一部が該リテーナの軸方向端面と当接しない構成とされていれば、この当接していない部分から、潤滑剤の出入りを許容することができ、所期の目的を達成することができる。   However, in the present invention, in essence, according to the movement of the eccentric body, a portion of the stopper restricting portion in the circumferential direction abuts against the axial end surface of the retainer to restrict the axial movement of the eccentric body bearing. If the other part in the circumferential direction is configured not to contact the axial end surface of the retainer, the lubricant can be allowed to enter and exit from the non-contacted part. Can be achieved.

図６〜図８に本発明の他の実施形態に係る偏心揺動型の減速装置の一例を示す。   FIGS. 6 to 8 show an example of an eccentric oscillating speed reduction device according to another embodiment of the present invention.

図６は、要部断面図、図７は、第１偏心体軸受１３１の第１リテーナ１５１と第１ストッパ１６１の規制部１６１Ｂとの接触、非接触状態を第１ストッパ１６１の側から第１リテーナ１５１を見たものである。該第１リテーナ１５１が第１ストッパ１６１の規制部１６１Ｂと接触している部分が網掛けＨ３で示されている。   FIG. 6 is a cross-sectional view of the main part, and FIG. 7 shows the first contact from the first stopper 161 side and the non-contact state between the first retainer 151 of the first eccentric body bearing 131 and the restricting part 161B of the first stopper 161. The retainer 151 is seen. A portion where the first retainer 151 is in contact with the restricting portion 161B of the first stopper 161 is indicated by hatching H3.

図８は、同じ接触、非接触状態を、第１リテーナ１５１の側から第１ストッパ１６１を見たものである。該第１ストッパ１６１の規制部１６１Ｂが第１リテーナ１５１と接触している部分が網掛けＨ４で示されている。なお、図示は省略するが、第２ストッパ１６２側も偏心位相がずれているだけで、全く同様の作用効果が得られる。   FIG. 8 shows the first stopper 161 viewed from the side of the first retainer 151 in the same contact and non-contact state. A portion where the restricting portion 161B of the first stopper 161 is in contact with the first retainer 151 is indicated by hatching H4. Although illustration is omitted, the same effect can be obtained only by shifting the eccentric phase on the second stopper 162 side.

この減速装置においては、第１、第２ストッパ１６１、１６２の規制部１６１Ｂ、１６２Ｂの外周１６１Ｂ２が第１、第３偏心体軸受１３１、１３３の第１、第３リテーナ１５１、１５３の内周１５１Ｂ、１５３Ｂから外れることがない。   In this reduction gear, the outer periphery 161B2 of the restricting portions 161B, 162B of the first and second stoppers 161, 162 is the inner periphery 151B of the first and third retainers 151, 153 of the first and third eccentric body bearings 131, 133. , 153B does not come off.

しかし、第１、第３リテーナ１５１、１５３の内周１５１Ｂ、１５３Ｂに、周方向において複数（この例では１８個）の凹部１５１Ｆ、１５３Ｆが軸方向に沿って形成されている。図７の網掛けＨ３の部分が、第１ストッパ１６１の規制部１６１Ｂとの接触部分、図８の網掛けＨ４の部分が規制部１６１Ｂの第１リテーナ１５１との接触部分をそれぞれ示している。なお、第１〜第３リテーナ１５１〜１５３は、樹脂製であり、凹部１５１Ｆ〜１５３Ｆは、第１〜第３リテーナ１５１〜１５３の成形時に同時に成形される。   However, a plurality (18 in this example) of recesses 151F and 153F in the circumferential direction are formed in the inner circumferences 151B and 153B of the first and third retainers 151 and 153 along the axial direction. A hatched portion H3 in FIG. 7 indicates a contact portion with the restricting portion 161B of the first stopper 161, and a shaded portion H4 in FIG. 8 indicates a contact portion with the first retainer 151 of the restricting portion 161B. The first to third retainers 151 to 153 are made of resin, and the recesses 151F to 153F are formed at the same time as the first to third retainers 151 to 153 are formed.

この実施形態では、第１ストッパ１６１の規制部１６１Ｂの周方向の一部が、第１リテーナ１５１の軸方向端面１５１Ａの凹部１５１Ｆ以外の部分と当接して第１偏心体軸受１３１の軸方向の移動を規制している。また、（第１リテーナ１５１の軸方向端面１５１Ａの凹部１５１Ｆに対応する）周方向の他の一部は、該第１リテーナ１５１の軸方向端面１５１Ａと当接していない。   In this embodiment, a part in the circumferential direction of the restricting portion 161B of the first stopper 161 is in contact with a portion other than the concave portion 151F of the axial end surface 151A of the first retainer 151 in the axial direction of the first eccentric body bearing 131. Restricts movement. Further, the other part in the circumferential direction (corresponding to the concave portion 151F of the axial end surface 151A of the first retainer 151) is not in contact with the axial end surface 151A of the first retainer 151.

このため、第１偏心体１１１の最大偏心側において、第１リテーナ１５１の各凹部１５１Ｆのうち、規制部１６１Ｂの外周１６１Ｂ２よりも半径方向外側に露出する部分Ｐ１においては、第１リテーナ１５１の規制部１６１Ｂ側と第１ころ１４１側が連通する。また、第１偏心体１１１の最小偏心側において、第１リテーナ１５１の各凹部１５１Ｆのうち、規制部１６１Ｂの内周１６１Ｂ１よりも半径方向内側に露出する部分Ｐ２においても、第１リテーナ１５１の規制部１６１Ｂ側と第１ころ１４１側が連通する。   For this reason, on the maximum eccentric side of the first eccentric body 111, the restriction of the first retainer 151 in the portion P <b> 1 exposed to the outer side in the radial direction from the outer periphery 161 </ b> B <b> 2 of the restriction portion 161 </ b> F among the concave portions 151 </ b> F of the first retainer 151. The portion 161B side and the first roller 141 side communicate with each other. In addition, on the minimum eccentric side of the first eccentric body 111, the restriction of the first retainer 151 is also performed in the portion P <b> 2 that is exposed radially inward from the inner periphery 161 </ b> B <b> 1 of the restriction portion 161 </ b> F of each concave portion 151 </ b> F of the first retainer 151. The portion 161B side and the first roller 141 side communicate with each other.

これにより、第１リテーナ１５１の軸方向端面１５１Ａに第１ストッパ１６１が（凹部１５１Ｆ以外の部分で）接触して該第１リテーナ１５１の軸方向の移動を規制しながら、同時に、第１リテーナ１５１の各凹部１５１Ｆのうち、規制部１６１Ｂの外周１６１Ｂ２よりも半径方向外側に露出する部分Ｐ１および規制部１６１Ｂの内周１６１Ｂ１よりも半径方向内側に露出する部分Ｐ２においては、第１リテーナ１５１の規制部１６１Ｂ側と第１ころ１４１側の間で潤滑剤を移動させることができる。   As a result, the first retainer 151 contacts the axial end surface 151A of the first retainer 151 (at a portion other than the recess 151F) and restricts the axial movement of the first retainer 151, and at the same time, the first retainer 151 Among the recesses 151F, the restriction of the first retainer 151 is applied to the portion P1 exposed to the radially outer side of the outer periphery 161B2 of the restricting portion 161B and the portion P2 exposed to the radially inner side of the inner periphery 161B1 of the restricting portion 161B. The lubricant can be moved between the portion 161B side and the first roller 141 side.

この実施形態に係る構成は、先の実施形態のように、周方向の全範囲において、半径方向のいずれかの部分で第１リテーナ１５１の移動を第１ストッパ１６１にて規制できるため、より安定した移動規制が可能である。潤滑剤の出入り可能な範囲は、形成する凹部の大きさや形状を変えることで調整することができる。第１リテーナ１５１は、樹脂製であるため、凹部１５１Ｆは、金型により第１リテーナ１５１の成形時に同時に形成することができるため、コストの上昇は殆どない。   The configuration according to this embodiment is more stable because the movement of the first retainer 151 can be restricted by the first stopper 161 at any part in the radial direction in the entire circumferential range as in the previous embodiment. Movement restrictions are possible. The range in which the lubricant can enter and exit can be adjusted by changing the size and shape of the recesses to be formed. Since the first retainer 151 is made of resin, the recess 151F can be formed simultaneously with the molding of the first retainer 151 by a mold, so that the cost is hardly increased.

第２ストッパ１６２側も全く同様の作用効果が得られる。その他の構成については、先の実施形態と同様であるため、同一または機能的に類似する部分に図中で下２桁が同一の符号を付すに止め、重複説明は省略する。   The same effect can be obtained on the second stopper 162 side. Since other configurations are the same as those in the previous embodiment, the same or functionally similar parts are denoted by the same reference numerals in the last two digits in the figure, and redundant description is omitted.

なお、偏心揺動型の減速装置Ｇ１には、上述したような中央クランクタイプの減速機Ｇ１以外に、例えば、振り分けタイプと称される構造の減速装置も知られているが、同様に本発明を適用可能である。   In addition to the central crank type reduction device G1 as described above, for example, a reduction device having a structure called a distribution type is also known as the eccentric oscillating type reduction device G1. Is applicable.

このタイプの偏心揺動型の減速装置でも、偏心体によって揺動する外歯歯車と、該外歯歯車が揺動しながら内接噛合する内歯歯車と、を備える点は共通である。しかし、１枚の外歯歯車を先の実施形態では内歯歯車の軸心位置に配置した１個の偏心体で揺動させていたが、このタイプの減速装置では、外歯歯車の軸心からオフセットされた位置に複数（通常３本程度）の偏心体軸を備え、各偏心体軸に設けられた偏心体を同時にかつ同方向に同期して回転させることによって１枚の外歯歯車を揺動させる。このような偏心揺動型の減速装置にあっても、各偏心体軸の偏心体と外歯歯車の間には偏心体軸受が配置されており、その転動体（ころ、あるいはニードル）と該転動体を支持するリテーナの軸方向の移動規制に、上記実施形態と同様の構成を有するストッパ（規制部材）採用することができる。   This type of eccentric oscillating speed reduction device is also common in that it includes an external gear that is oscillated by an eccentric body and an internal gear that is internally meshed while oscillating. However, in the previous embodiment, one external gear was swung by one eccentric body arranged at the axial center position of the internal gear. However, in this type of reduction gear, the axis of the external gear is used. A plurality of (generally about three) eccentric body shafts are provided at positions offset from each other, and the eccentric bodies provided on each eccentric body shaft are rotated simultaneously and synchronously in the same direction so that one external gear is Rock. Even in such an eccentric oscillating type speed reducer, an eccentric body bearing is arranged between the eccentric body of each eccentric body shaft and the external gear, and the rolling element (roller or needle) and the A stopper (restricting member) having the same configuration as that of the above embodiment can be used for the axial movement restriction of the retainer that supports the rolling elements.

なお、上記実施形態においては、（発明の理解の便宜上）規制部材（第１、第２ストッパ）を直線状の外形で形成し、各部の境界を明確化していたが、本発明に係る規制部材は、外形を必ずしも直線状で形成する必要はなく、少なくとも本発明に係る規制部と案内部の「存在」が明確であればよく、各部の「境界」は、必ずしも明確である必要はない。   In the above embodiment, the regulating member (first and second stoppers) is formed with a linear outer shape (for ease of understanding of the invention) and the boundary between each part is clarified. However, the regulating member according to the present invention The outer shape does not necessarily have to be linear, and at least the “existence” of the restricting portion and the guide portion according to the present invention is clear, and the “boundary” of each portion does not necessarily have to be clear.

また、既に述べたように、本発明においては、上記実施形態で設けられていた延長案内部は、必ずしもなくてもよい。   Further, as already described, in the present invention, the extension guide portion provided in the above embodiment is not necessarily required.

また、被挟持部についても、上記実施形態においては、規制部から軸方向にシフトさせることにより、第１、第２玉軸受の外輪と、案内部や延長案内部が干渉するのを防止するようにしていたが、例えば、第１、第２玉軸受８１、８２の内輪８１Ａ、８２Ａとの間にスペーサを配置したり、第１、第２軸受として内輪と外輪がもともとシフトしているようなテーパドローラ軸受を採用したりするなど、他の方法で前記干渉の問題が解消できる場合は、必ずしも被挟持部を規制部からシフトさせる必要はない。すなわち、規制部材の被挟持部は、要は、規制部材の規制部を偏心体軸受のリテーナの軸方向端面に対して位置決めできればよく、例えば、規制部の半径方向内側が、そのまま被挟持部を兼用するような構成であってもよいし、必ずしも偏心体軸と直角に延在している必要もない。   In the above embodiment, the pinched portion is also shifted in the axial direction from the restricting portion so as to prevent the outer ring of the first and second ball bearings from interfering with the guide portion and the extension guide portion. However, for example, a spacer is arranged between the inner rings 81A and 82A of the first and second ball bearings 81 and 82, or the inner ring and the outer ring are originally shifted as the first and second bearings. When the interference problem can be solved by other methods such as using a tapered roller bearing, it is not always necessary to shift the sandwiched portion from the restricting portion. In other words, the clamped portion of the regulating member is basically only required to be able to position the regulating portion of the regulating member with respect to the axial end surface of the retainer of the eccentric body bearing. The structure may be used also, and it is not always necessary to extend at right angles to the eccentric body axis.

１１、１２、１３…第１〜第３偏心体
１６…入力軸
２１、２２、２３…第１〜第３外歯歯車
２４…内歯歯車
３１、３２、３３…第１〜第３偏心体軸受
４１、４２、４３…第１〜第３ころ
５１、５２、５３…第１〜第３リテーナ
６１、６２…第１、第２ストッパ（規制部材）
６１Ａ、６２Ａ…被挟持部
６１Ｂ、６２Ｂ…規制部
６１Ｃ、６２Ｃ…案内部
６１Ｄ、６２Ｄ…延長案内部
７１、７２…第１、第２キャリヤ体
８１、８２…第１、第２玉軸受 DESCRIPTION OF SYMBOLS 11, 12, 13 ... 1st-3rd eccentric body 16 ... Input shaft 21, 22, 23 ... 1st-3rd external gear 24 ... Internal gear 31, 32, 33 ... 1st-3rd eccentric body bearing 41, 42, 43 ... 1st-3rd roller 51, 52, 53 ... 1st-3rd retainer 61, 62 ... 1st, 2nd stopper (regulation member)
61A, 62A ... sandwiched portion 61B, 62B ... regulating portion 61C, 62C ... guide portion 61D, 62D ... extension guide portion 71, 72 ... first and second carrier bodies 81, 82 ... first and second ball bearings

Claims (4)

偏心体によって揺動する外歯歯車と、該外歯歯車が揺動しながら内接噛合する内歯歯車と、を備える偏心揺動型の減速装置において、
前記偏心体と前記外歯歯車との間に配置され、転動体および該転動体を支持するリテーナを有する偏心体軸受と、
該偏心体軸受の軸方向移動を規制する規制部材と、を備え、
前記規制部材は、
周方向の一部が前記リテーナの軸方向端面と当接して前記偏心体軸受の軸方向の移動を規制するとともに周方向の他の一部が該リテーナの軸方向端面と当接しない規制部と、
該規制部の径方向外側から更に径方向外側に形成され、軸方向反偏心体軸受側に傾斜している案内部と、を有している
ことを特徴とする偏心揺動型の減速装置。 In an eccentric oscillating type reduction gear comprising an external gear that is oscillated by an eccentric body and an internal gear that is internally meshed while the external gear is oscillating,
An eccentric bearing that is disposed between the eccentric body and the external gear, and has a rolling element and a retainer that supports the rolling element;
A regulating member that regulates the axial movement of the eccentric bearing, and
The regulating member is
A restricting portion in which a part in the circumferential direction abuts against the axial end face of the retainer to restrict axial movement of the eccentric body bearing and another part in the circumferential direction does not abut against the axial end face of the retainer; ,
An eccentric oscillating speed reduction device comprising: a guide portion that is formed further radially outward from the radially outer side of the restricting portion and is inclined toward the axially anti-eccentric bearing. 請求項１において、
前記リテーナの内周と前記規制部材の規制部の外周は、共に円形であり、
前記規制部の周方向の一部が、前記偏心体の最小偏心側で前記リテーナと当接し、かつ該規制部の周方向の他の一部が、前記偏心体の最大偏心側で前記リテーナと当接しないように、前記リテーナの内周の内径と前記規制部材の規制部の外周の外径が設定されている
ことを特徴とする偏心揺動型の減速装置。 In claim 1,
The inner periphery of the retainer and the outer periphery of the restricting portion of the restricting member are both circular.
A part of the regulating part in the circumferential direction contacts the retainer on the minimum eccentric side of the eccentric body, and another part of the regulating part in the circumferential direction contacts the retainer on the maximum eccentric side of the eccentric body. An eccentric oscillating type speed reducer characterized in that an inner diameter of the inner periphery of the retainer and an outer diameter of the outer periphery of the restricting portion of the restricting member are set so as not to contact. 請求項１又は２において、
リテーナの内周に、周方向に複数の凹部が形成されている
ことを特徴とする偏心揺動型の減速装置。 In claim 1 or 2,
An eccentric rocking type speed reducer characterized in that a plurality of recesses are formed in the circumferential direction on the inner periphery of the retainer. 請求項１〜３のいずれかにおいて、
前記規制部の半径方向内側が、軸方向反偏心体軸受側にシフトしている
ことを特徴とする偏心揺動型の減速装置。 In any one of Claims 1-3,
An eccentric oscillating type speed reducer characterized in that the radially inner side of the restricting portion is shifted toward the axially anti-eccentric bearing.
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