JP7340937B2 - reduction gear - Google Patents

reduction gear Download PDF

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JP7340937B2
JP7340937B2 JP2019031370A JP2019031370A JP7340937B2 JP 7340937 B2 JP7340937 B2 JP 7340937B2 JP 2019031370 A JP2019031370 A JP 2019031370A JP 2019031370 A JP2019031370 A JP 2019031370A JP 7340937 B2 JP7340937 B2 JP 7340937B2
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protrusion
bearing
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axial direction
casing
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JP2020133843A (en
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光拡 田村
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to CN202010111944.1A priority patent/CN111609094B/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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/44—Free-space packings
    • F16J15/447—Labyrinth packings
    • F16J15/4476—Labyrinth packings with radial path
    • 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
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/723—Shaft end sealing means, e.g. cup-shaped caps or covers
    • 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
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/80—Labyrinth sealings
    • 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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • 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
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • 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
    • F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
    • 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
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • 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
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • 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
    • F16C35/061—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing mounting a plurality of bearings side by side
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H2055/176—Ring gears with inner teeth

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sealing Using Fluids, Sealing Without Contact, And Removal Of Oil (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Description

本発明は、減速装置に関する。 The present invention relates to a speed reduction device.

特許文献１には、入力軸から入力された回転運動を内歯歯車及び外歯歯車を介して減速させて出力する減速装置が示されている。この減速装置は、内歯歯車とケーシングとの間に配置された主軸受と、入力軸とケーシング並びに入力軸とキャリヤとの間に配置された入力軸受とを備える。 Patent Document 1 discloses a speed reduction device that slows down a rotational motion input from an input shaft via an internal gear and an external gear and outputs the rotational motion. This speed reduction device includes a main bearing disposed between the internal gear and the casing, and an input bearing disposed between the input shaft and the casing as well as the input shaft and the carrier.

特開２０１８－１５５３１３号公報JP 2018-155313 Publication

軸受の軸方向外側（装置内側とは反対側）に、塵芥等の侵入又は潤滑剤の漏れを抑止する接触式シールを配置した場合、接触式シールと回転する部材との摩擦により損失が生じるという課題が生じる。 If a contact type seal is placed on the axial outside of the bearing (the side opposite to the inside of the device) to prevent the intrusion of dust or lubricant from leaking, loss will occur due to friction between the contact type seal and the rotating member. Challenges arise.

本発明は、軸受に対するシール性の担保と損失の低減とを図ることができる減速装置を提供することを目的とする。 SUMMARY OF THE INVENTION An object of the present invention is to provide a speed reduction device that can ensure sealing performance for bearings and reduce losses.

本発明は、ケーシングと、内歯歯車と、前記内歯歯車と噛合う外歯歯車と、前記ケーシングと相対回転するキャリヤと、前記ケーシング及び前記キャリヤの間に配置される主軸受と、を備えた減速装置であって、
前記ケーシング及び前記キャリヤの一方または両方は、前記主軸受の軸方向外側において径方向に突出する突起を有し、
前記主軸受の内輪と外輪の間の隙間は、前記突起と軸方向から見て重なり、
前記突起は、前記ケーシングに設けられて径方向内側に突出する第１突起と、前記キャリヤに設けられて径方向外側に突出する第２突起とを含み、
前記第１突起と前記第２突起とは、軸方向から見て互いに重なる一方、径方向から見て互いに重ならず、
前記第１突起および前記第２突起の一方のみでは、前記主軸受の内輪と外輪の間の隙間全体と軸方向から見て重なっておらず、前記第１突起および前記第２突起を合わせて前記隙間全体と軸方向から見て重なっている構成とした。
The present invention includes a casing, an internal gear, an external gear meshing with the internal gear, a carrier that rotates relative to the casing, and a main bearing disposed between the casing and the carrier. A speed reduction device,
One or both of the casing and the carrier have a protrusion that protrudes radially on the axially outer side of the main bearing,
The gap between the inner ring and the outer ring of the main bearing overlaps the protrusion when viewed from the axial direction,
The protrusion includes a first protrusion provided on the casing and protruding radially inward, and a second protrusion provided on the carrier protruding radially outward,
The first protrusion and the second protrusion overlap each other when viewed from the axial direction, but do not overlap when viewed from the radial direction,
Only one of the first protrusion and the second protrusion does not overlap the entire gap between the inner ring and the outer ring of the main bearing when viewed from the axial direction, and the first protrusion and the second protrusion together do not overlap the entire gap between the inner ring and the outer ring of the main bearing. The structure is such that the gap overlaps the entire gap when viewed from the axial direction .

また、本発明は、入力軸と、内歯歯車と、前記内歯歯車と噛合う外歯歯車と、前記入力軸と相対回転するキャリヤと、前記入力軸及び前記キャリヤの間に配置される入力軸受と、を備えた減速装置であって、
前記入力軸及び前記キャリヤの一方または両方は、前記入力軸受の軸方向外側において径方向に突出する突起を有し、
前記入力軸受の内輪と外輪の間の隙間は、前記突起と軸方向から見て重なり、
前記突起は、前記キャリヤに設けられて径方向内側に突出する内側突起を含み、
前記内側突起と前記入力軸とが軸方向から見て互いに重なる構成とした。 The present invention also provides an input shaft, an internal gear, an external gear that meshes with the internal gear, a carrier that rotates relative to the input shaft, and an input that is disposed between the input shaft and the carrier. A reduction gear device comprising a bearing,
One or both of the input shaft and the carrier has a protrusion that protrudes in the radial direction on the axially outer side of the input bearing,
The gap between the inner ring and the outer ring of the input bearing overlaps the protrusion when viewed from the axial direction,
The protrusion includes an inner protrusion provided on the carrier and protruding radially inward,
The inner protrusion and the input shaft are configured to overlap each other when viewed from the axial direction .

本発明によれば、軸受に対するシール性の担保と損失の低減とを図れる減速装置を提供することができる。 According to the present invention, it is possible to provide a speed reduction device that can ensure sealing performance for bearings and reduce losses.

本発明の実施形態に係る減速装置を示す断面図である。FIG. 1 is a sectional view showing a speed reduction device according to an embodiment of the present invention. 図１の減速装置の変形例を示す断面図である。FIG. 2 is a sectional view showing a modification of the speed reduction device shown in FIG. 1; 図１の減速装置の他の変形例を示す断面図である。FIG. 2 is a sectional view showing another modification of the speed reduction device shown in FIG. 1;

以下、本発明の実施形態について、図面を参照して詳細に説明する。 Embodiments of the present invention will be described in detail below with reference to the drawings.

［減速装置の構成］
図１は、本実施形態に係る減速装置１を示す断面図である。以下では、図中の回転軸Ｏ１に沿った方向を「軸方向」、回転軸Ｏ１から垂直な方向を「径方向」、回転軸Ｏ１を中心とする回転方向を「周方向」と定義する。 [Configuration of reduction gear]
FIG. 1 is a sectional view showing a speed reduction device 1 according to this embodiment. Hereinafter, the direction along the rotation axis O1 in the figure will be defined as the "axial direction", the direction perpendicular to the rotation axis O1 will be defined as the "radial direction", and the rotation direction around the rotation axis O1 will be defined as the "circumferential direction".

図１に示すように、減速装置１は、外歯歯車１２が撓み変形して回転軸Ｏ１回りの回転運動が伝達される筒型の撓み噛合い式歯車装置である。
具体的に、減速装置１は、起振体軸１０、起振体軸１０により撓み変形される外歯歯車１２、外歯歯車１２と噛合う第１内歯歯車２２ｇ及び第２内歯歯車２３ｇ、並びに、起振体軸受１５を備える。さらに、減速装置１は、第１ケーシング２２、内歯歯車部材２３、第２ケーシング２４、第１カバー２６、第２カバー２７、入力軸受３１、３２及び主軸受３３を備える。ボルト等により互いに連結される第１ケーシング２２、第２ケーシング２４及び第１カバー２６は、本発明に係るケーシングに相当する。ボルト等により互いに連結されてケーシングと相対回転する第２カバー２７及び内歯歯車部材２３は、本発明に係るキャリヤに相当する。 As shown in FIG. 1, the reduction gear device 1 is a cylindrical flexible mesh gear device in which an external gear 12 is flexibly deformed to transmit rotational motion around a rotation axis O1.
Specifically, the speed reduction device 1 includes a vibrator shaft 10, an external gear 12 that is flexibly deformed by the vibrator shaft 10, a first internal gear 22g, and a second internal gear 23g that mesh with the external gear 12. , and a vibrator bearing 15. Furthermore, the speed reducer 1 includes a first casing 22 , an internal gear member 23 , a second casing 24 , a first cover 26 , a second cover 27 , input bearings 31 and 32 , and a main bearing 33 . The first casing 22, the second casing 24, and the first cover 26, which are connected to each other by bolts or the like, correspond to the casing according to the present invention. The second cover 27 and the internal gear member 23, which are connected to each other by bolts or the like and rotate relative to the casing, correspond to the carrier according to the present invention.

起振体軸１０は、中空軸状であり、回転軸Ｏ１に垂直な断面の外形が楕円状である起振体１０Ａと、起振体１０Ａの軸方向の両側に設けられ回転軸Ｏ１に垂直な断面の外形が円形である軸部１０Ｂ、１０Ｃとを有する。なお、楕円状とは、幾何学的に厳密な楕円に限定されるものではなく、略楕円を含む。起振体軸１０は、回転軸Ｏ１を中心に回転し、起振体１０Ａの回転軸Ｏ１に垂直な断面の外形形状の中心は回転軸Ｏ１と一致する。この起振体軸１０は、モータ等の駆動源（図示省略）に連結されて駆動力が入力される入力軸である。 The vibration generator shaft 10 has a hollow shaft shape, and includes a vibration generator 10A having an elliptical outer shape in a cross section perpendicular to the rotation axis O1, and a vibration generator shaft 10 provided on both sides of the vibration generator 10A in the axial direction and perpendicular to the rotation axis O1. The shaft portions 10B and 10C have circular cross-sectional outlines. Note that the elliptical shape is not limited to a geometrically strict ellipse, but includes a substantially ellipse. The vibration generator shaft 10 rotates around the rotation axis O1, and the center of the external shape of the cross section perpendicular to the rotation axis O1 of the vibration generator 10A coincides with the rotation axis O1. The vibrator shaft 10 is an input shaft connected to a drive source (not shown) such as a motor, and into which driving force is input.

外歯歯車１２は、可撓性を有する円筒状の金属であり、外周に歯が設けられている。 The external gear 12 is a flexible cylindrical metal and has teeth on its outer periphery.

第１内歯歯車２２ｇと第２内歯歯車２３ｇは、回転軸Ｏ１を中心として起振体軸１０の周囲で回転を行う。
これら第１内歯歯車２２ｇと第２内歯歯車２３ｇは、軸方向に並んで設けられ、外歯歯車１２と噛合している。具体的には、第１内歯歯車２２ｇ及び第２内歯歯車２３ｇの一方が、外歯歯車１２の軸方向の中央より片側の歯部に噛合し、他方が、外歯歯車１２の軸方向の中央よりもう一方の片側の歯部に噛合する。第１内歯歯車２２ｇは、第１ケーシング２２の内周部の該当箇所に内歯が設けられて構成される。第２内歯歯車２３ｇは、内歯歯車部材２３の内周部の該当箇所に内歯が設けられて構成される。 The first internal gear 22g and the second internal gear 23g rotate around the vibrator shaft 10 with the rotation axis O1 as the center.
The first internal gear 22g and the second internal gear 23g are arranged side by side in the axial direction and mesh with the external gear 12. Specifically, one of the first internal gear 22g and the second internal gear 23g meshes with the teeth on one side of the external gear 12 from the center in the axial direction, and the other engages with the teeth on one side of the external gear 12 in the axial direction. meshes with the teeth on one side of the other side. The first internal gear 22g is configured such that internal teeth are provided at corresponding locations on the inner peripheral portion of the first casing 22. The second internal gear 23g is configured such that internal teeth are provided at corresponding locations on the inner circumference of the internal gear member 23.

起振体軸受１５は、起振体１０Ａと外歯歯車１２との間に配置される。起振体軸受１５は、複数の転動体（コロ）１５Ａと、複数の転動体１５Ａを保持する保持器１５Ｃとを有する。複数の転動体１５Ａは、起振体１０Ａの外周面と外歯歯車１２の内周面とを転動面として転動する。なお、起振体軸受１５は、起振体１０Ａとは別体の内輪や、外歯歯車１２とは別体の外輪を有してもよい。 The vibration generator bearing 15 is arranged between the vibration generator 10A and the external gear 12. The vibrator bearing 15 includes a plurality of rolling elements (rollers) 15A and a retainer 15C that holds the plurality of rolling elements 15A. The plurality of rolling elements 15A roll on the outer circumferential surface of the vibrator 10A and the inner circumferential surface of the external gear 12 as rolling surfaces. Note that the vibration generator bearing 15 may have an inner ring separate from the vibration generator 10A and an outer ring separate from the external gear 12.

外歯歯車１２と、起振体軸受１５の保持器１５Ｃとの軸方向の両側には、これらに当接して、これらの軸方向の移動を規制する規制部材としてのスペーサリング３６、３７が設けられている。 Spacer rings 36 and 37 are provided on both sides of the external gear 12 and the retainer 15C of the vibrating body bearing 15 in the axial direction, as regulating members that come into contact with these and regulate their movement in the axial direction. It is being

第１ケーシング２２及び第２ケーシング２４は、図示しないボルト等の連結部材により互いに連結されて、第１内歯歯車２２ｇ、第２内歯歯車２３ｇ及び外歯歯車１２の径方向外側を覆う。このうち、第１ケーシング２２は、上述のように、内周部の一部に内歯が設けられており、第１内歯歯車２２ｇと一体的に構成されている。 The first casing 22 and the second casing 24 are connected to each other by a connecting member such as a bolt (not shown), and cover the outside of the first internal gear 22g, the second internal gear 23g, and the external gear 12 in the radial direction. Among these, the first casing 22 is provided with internal teeth on a part of its inner peripheral portion, as described above, and is integrally configured with the first internal gear 22g.

内歯歯車部材２３は、第２ケーシング２４の径方向内側でかつ起振体軸１０の径方向外側に、少なくとも一部が配置されている。また、内歯歯車部材２３は、上述のように、内周部の一部に内歯が設けられており、第２内歯歯車２３ｇと一体的に構成されている。 At least a portion of the internal gear member 23 is disposed inside the second casing 24 in the radial direction and outside the vibrator shaft 10 in the radial direction. Further, as described above, the internal gear member 23 is provided with internal teeth on a part of its inner peripheral portion, and is integrally configured with the second internal gear 23g.

第１カバー２６は、ボルト５１により第１ケーシング２２と連結されて、起振体軸１０の一端側における外周部を覆う。 The first cover 26 is connected to the first casing 22 by bolts 51 and covers the outer peripheral portion at one end of the vibrator shaft 10 .

第２カバー２７は、内歯歯車部材２３と連結されて、起振体軸１０の他端側における外周部を覆う。第２カバー２７及び内歯歯車部材２３には、負荷側の端部に軸方向に一続きに延びるボルト連結用穴２７ｈ、２３ｈが設けられている。減速装置１が外部の相手装置と接続される際、第２カバー２７と内歯歯車部材２３はボルト連結用穴２７ｈ、２３ｈを介して相手装置の被駆動部材に共締めにより連結される。これらボルト連結用穴２７ｈ、２３ｈは、周方向の複数の箇所に設けられている。また、第２カバー２７及び内歯歯車部材２３は、ボルト連結用穴２７ｈ、２３ｈとは別のボルト穴２７ｊ、２３ｊを有しており、このボルト穴２７ｊ、２３ｊに挿通・螺合されたボルト５２により互いに連結（仮止め）されている。 The second cover 27 is connected to the internal gear member 23 and covers the outer peripheral portion of the vibration generator shaft 10 on the other end side. The second cover 27 and the internal gear member 23 are provided with bolt connection holes 27h and 23h that extend continuously in the axial direction at the end on the load side. When the speed reducer 1 is connected to an external mating device, the second cover 27 and the internal gear member 23 are jointly fastened to the driven member of the mating device through the bolt connection holes 27h and 23h. These bolt connection holes 27h, 23h are provided at multiple locations in the circumferential direction. Further, the second cover 27 and the internal gear member 23 have bolt holes 27j and 23j separate from the bolt connection holes 27h and 23h, and the bolts inserted and screwed into the bolt holes 27j and 23j They are connected (temporarily fixed) to each other by 52.

入力軸受３１は、例えば内輪３１ａ、外輪３１ｂ及び転動体３１ｃを有する玉軸受であり、起振体軸１０の軸部１０Ｂと第１カバー２６との間に配置される。第１カバー２６は、入力軸受３１を介して起振体軸１０を回転自在に支持する。なお、入力軸受３１は、玉軸受に限定されるものではなく、各種軸受を採用でき、例えばコロ軸受であってもよい。また、専用の内輪や外輪を有することなく、内輪が起振体軸１０と一体的に構成されたり、外輪が第１カバー２６と一体的に構成されてもよい。
入力軸受３２は、例えば内輪３２ａ、外輪３２ｂ及び転動体３２ｃを有する玉軸受であり、起振体軸１０の軸部１０Ｃと第２カバー２７との間に配置される。第２カバー２７は、入力軸受３２を介して起振体軸１０を回転自在に支持する。なお、入力軸受３２は、玉軸受に限定されるものではなく、各種軸受を採用でき、例えばコロ軸受であってもよい。また、専用の内輪や外輪を有することなく、内輪が起振体軸１０と一体的に構成されたり、外輪が第２カバー２７と一体的に構成されてもよい。
また、入力軸受３１、３２はいずれも、内部に潤滑剤が封入されたシール付きの軸受であるが、シール付きでなくともよい。 The input bearing 31 is, for example, a ball bearing having an inner ring 31a, an outer ring 31b, and a rolling element 31c, and is arranged between the shaft portion 10B of the vibrating body shaft 10 and the first cover 26. The first cover 26 rotatably supports the vibrator shaft 10 via the input bearing 31. Note that the input bearing 31 is not limited to a ball bearing, and various types of bearings may be used, such as a roller bearing. Alternatively, the inner ring may be configured integrally with the vibrator shaft 10, or the outer ring may be configured integrally with the first cover 26, without having a dedicated inner ring or outer ring.
The input bearing 32 is, for example, a ball bearing having an inner ring 32a, an outer ring 32b, and a rolling element 32c, and is arranged between the shaft portion 10C of the vibrator shaft 10 and the second cover 27. The second cover 27 rotatably supports the vibration generator shaft 10 via the input bearing 32 . Note that the input bearing 32 is not limited to a ball bearing, and various types of bearings may be employed, for example, a roller bearing may be used. Alternatively, the inner ring may be configured integrally with the vibrator shaft 10, or the outer ring may be configured integrally with the second cover 27, without having a dedicated inner ring or outer ring.
In addition, although the input bearings 31 and 32 are both sealed bearings with a lubricant sealed inside, they do not need to be sealed.

主軸受３３は、例えば内輪３３ａ、外輪３３ｂ及び転動体３３ｃを有する玉軸受であり、内歯歯車部材２３と第２ケーシング２４との間に配置される。第２ケーシング２４は、主軸受３３を介して内歯歯車部材２３を回転自在に支持する。なお、主軸受３３は、玉軸受に限定されるものではなく、各種軸受を採用できる。例えば、クロスローラ軸受でもよいし、また内歯歯車部材２３と第２ケーシング２４との間で、軸方向に離間した複数の軸受（アンギュラ玉軸受、テーパ軸受等）から構成されてもよい。また、主軸受３３は、専用の内輪や外輪を有することなく、内輪が内歯歯車部材２３と一体的に構成されたり、外輪が第２ケーシング２４と一体的に構成されてもよい。また、主軸受３３は、特に限定はされないが、内部に潤滑剤が封入されたシール付きの軸受であってもよい（図３参照）。 The main bearing 33 is, for example, a ball bearing having an inner ring 33a, an outer ring 33b, and rolling elements 33c, and is arranged between the internal gear member 23 and the second casing 24. The second casing 24 rotatably supports the internal gear member 23 via the main bearing 33. Note that the main bearing 33 is not limited to a ball bearing, and various types of bearings can be used. For example, a cross roller bearing may be used, or a plurality of bearings (angular ball bearing, tapered bearing, etc.) spaced apart in the axial direction between the internal gear member 23 and the second casing 24 may be used. Further, the main bearing 33 may have an inner ring configured integrally with the internal gear member 23 or an outer ring configured integrally with the second casing 24 without having a dedicated inner ring or outer ring. Further, the main bearing 33 may be a sealed bearing having a lubricant sealed therein, although it is not particularly limited thereto (see FIG. 3).

［軸受のシール部］
入力軸受３１、３２及び主軸受３３の軸方向外側には、これら軸受に対するシール性を担保するための軸封部であるシール部４１～４３が設けられている。なお、入力軸受３１、３２及び主軸受３３の全てに対してシール部を設けるのではなく、一部の軸受に対してのみシール部を設けるようにしてもよい。ここで、軸受の「軸方向外側」とは、当該軸受の軸方向両側のうち、当該軸受と連通する減速装置１の内部空間Ｓの中心側とは反対の端部側をいう。「内部空間Ｓ」とは、起振体軸１０、第１ケーシング２２、第２ケーシング２４、第１カバー２６、第２カバー２７、入力軸受３１、３２及び主軸受３３によって閉止された減速装置１内部の空間（減速機構が収納される空間）であり、潤滑剤が封入される空間である。また、軸受に対する「シール性」とは、当該軸受への粉塵の侵入抑制、当該軸受からの潤滑剤の漏れ抑制、又は、これら両方の機能を意味する。 [Bearing seal]
Seals 41 to 43 are provided on the axially outer sides of the input bearings 31, 32 and the main bearing 33, which are shaft seals for ensuring sealing performance for these bearings. Note that instead of providing the seal portions for all of the input bearings 31, 32 and the main bearing 33, the seal portions may be provided for only some of the bearings. Here, the "axially outer side" of a bearing refers to the end side opposite to the center side of the internal space S of the reduction gear device 1 that communicates with the bearing, of both axial sides of the bearing. The "internal space S" refers to the speed reducer 1 closed by the vibration generator shaft 10, the first casing 22, the second casing 24, the first cover 26, the second cover 27, the input bearings 31, 32, and the main bearing 33. This is the internal space (the space where the speed reduction mechanism is housed), and the space where the lubricant is sealed. Furthermore, "sealability" for a bearing means the function of suppressing the intrusion of dust into the bearing, suppressing the leakage of lubricant from the bearing, or both of these functions.

入力軸受３１の軸方向外側（図中の右側）には、シール部４１が設けられている。
シール部４１には、第１カバー２６に設けられた内側突起２６ａが配置されている。内側突起２６ａは、第１カバー２６から径方向内側に突出するように設けられており、入力軸受３１の軸方向外側において、入力軸受３１の外輪３１ｂと、内輪３１ａ及び外輪３１ｂの間の隙間３１ｄと、内輪３１ａの一部とを覆っている。つまり、内側突起２６ａは、隙間３１ｄと軸方向から見て重なっている。また、内側突起２６ａは、その先端部が、起振体軸１０（軸部１０Ｂ）の外周面及び入力軸受３１の内輪３１ａとの間に、狭窄した絞り部４１ａを形成している。つまり、シール部４１は、相対回転する第１カバー２６と起振体軸１０との間に絞り部４１ａを有する非接触のシール構造となっている。ここで、絞り部とは、一平面上を伝って潤滑剤が移動する場合よりも大きな抵抗が潤滑剤に加わるような狭窄部を意味する。 A seal portion 41 is provided on the axially outer side of the input bearing 31 (on the right side in the figure).
An inner protrusion 26 a provided on the first cover 26 is arranged in the seal portion 41 . The inner protrusion 26a is provided so as to protrude radially inward from the first cover 26, and forms a gap 31d between the outer ring 31b of the input bearing 31 and the inner ring 31a and outer ring 31b on the axially outer side of the input bearing 31. and a part of the inner ring 31a. In other words, the inner protrusion 26a overlaps the gap 31d when viewed from the axial direction. Further, the tip of the inner protrusion 26a forms a narrowed constricted portion 41a between the outer circumferential surface of the vibrator shaft 10 (shaft portion 10B) and the inner ring 31a of the input bearing 31. In other words, the seal portion 41 has a non-contact seal structure having a constricted portion 41a between the first cover 26 and the vibrator shaft 10 that rotate relative to each other. Here, the constricted portion means a constricted portion where greater resistance is applied to the lubricant than when the lubricant moves along one plane.

入力軸受３２の軸方向外側（図中の左側）には、シール部４２が設けられている。
シール部４２には、入力軸受３２の径方向外側に位置する第２カバー２７に設けられた内側突起２７ａが配置されている。内側突起２７ａは、第２カバー２７の内周部から径方向内側に突出するように設けられており、入力軸受３２の軸方向外側において当該入力軸受３２を覆っている。つまり、内側突起２７ａは、内輪３２ａと外輪３２ｂの間の隙間３２ｄと軸方向から見て重なっている。また、内側突起２７ａは、その先端部が、軸方向内側に突出するとともに、起振体軸１０の軸部１０Ｃの軸方向端面に形成された凹部内に隙間を空けつつ嵌っている。そして、内側突起２７ａと起振体軸１０とが軸方向から見て互いに重なるとともに径方向から見ても互いに重なっており、これらの間に、狭窄した絞り部４２ａが形成されている。つまり、内側突起２７ａの先端部と起振体軸１０とにより、絞り部４２ａを含む外部との連通路が入り組んだ形状に形成されたラビリンス構造が構成されている。ここで、入り組んだ連通路とは、連通路に沿って一方に進む場合に、少なくとも軸方向一方の方向成分を持つ通路部分と、軸方向逆方の方向成分を持つ通路部分とを含む構成、あるいは、連通路に沿って一方に進む場合に、少なくとも径方向外方の方向成分を持つ通路部分と、径方向内方の方向成分を持つ通路部分とを含む構成を言う。 A seal portion 42 is provided on the axially outer side of the input bearing 32 (on the left side in the figure).
An inner protrusion 27 a provided on the second cover 27 located on the radially outer side of the input bearing 32 is arranged in the seal portion 42 . The inner protrusion 27a is provided so as to protrude radially inward from the inner peripheral portion of the second cover 27, and covers the input bearing 32 on the axial outer side of the input bearing 32. In other words, the inner protrusion 27a overlaps the gap 32d between the inner ring 32a and the outer ring 32b when viewed from the axial direction. Further, the tip of the inner protrusion 27a projects inward in the axial direction and fits into a recess formed in the axial end surface of the shaft portion 10C of the vibrator shaft 10 with a gap left therein. The inner protrusion 27a and the vibrating body shaft 10 overlap each other when viewed in the axial direction and also overlap each other when viewed in the radial direction, and a narrowed constricted portion 42a is formed between them. In other words, the tip of the inner protrusion 27a and the vibrator shaft 10 form a labyrinth structure in which a communication path with the outside including the constricted portion 42a is intricately formed. Here, the intricate communication path refers to a configuration including, when proceeding in one direction along the communication path, a path portion having at least one axial direction component and a path portion having a direction component in the opposite axial direction; Alternatively, it refers to a configuration that includes at least a passage portion having a radially outward direction component and a passage portion having a radially inward direction component when proceeding in one direction along the communication path.

主軸受３３の軸方向外側（図中の左側）には、シール部４３が設けられている。
シール部４３では、第２ケーシング２４が径方向内側に突出する第１突起２４ａを有するとともに、第２カバー２７が径方向外側に突出する第２突起２７ｂを有している。第１突起２４ａは、第２突起２７ｂよりも軸方向外側に設けられるととともに、その先端部が軸方向内側に突出しており、この先端部が、第２突起２７ｂの基端に形成された凹部内に隙間を空けつつ嵌っている。なお、第２突起２７ｂは、第１突起２４ａよりも軸方向内側に設けられてもよい。こうして、第１突起２４ａと第２突起２７ｂは、軸方向から見て互いに重なるとともに径方向から見ても互いに重なりつつ、主軸受３３の軸方向外側において当該主軸受３３の内輪３３ａ及び外輪３３ｂの間の隙間３３ｄを覆っている。つまり、第１突起２４ａおよび第２突起２７ｂは、隙間３３ｄと軸方向から見て重なっている。また、第１突起２４ａと第２突起２７ｂは、互いの間に、狭窄した絞り部４３ａを形成している。つまり、これら第１突起２４ａと第２突起２７ｂとにより、絞り部４３ａを含む外部との連通路が入り組んだ形状に形成されたラビリンス構造が構成されている。 A seal portion 43 is provided on the axially outer side of the main bearing 33 (on the left side in the figure).
In the seal portion 43, the second casing 24 has a first protrusion 24a that protrudes radially inward, and the second cover 27 has a second protrusion 27b that protrudes radially outward. The first protrusion 24a is provided on the outer side in the axial direction than the second protrusion 27b, and its tip protrudes inward in the axial direction. It fits inside with a gap left. Note that the second protrusion 27b may be provided on the inner side in the axial direction than the first protrusion 24a. In this way, the first protrusion 24a and the second protrusion 27b overlap each other when viewed from the axial direction and overlap each other when viewed from the radial direction. It covers the gap 33d between them. That is, the first protrusion 24a and the second protrusion 27b overlap with the gap 33d when viewed from the axial direction. Further, the first protrusion 24a and the second protrusion 27b form a narrowed constricted portion 43a between them. In other words, the first protrusion 24a and the second protrusion 27b constitute a labyrinth structure in which a communication path with the outside including the constricted portion 43a is formed in an intricate shape.

このように、シール部４１～４３では、対応する各軸受の軸方向外側において、当該軸受の内輪及び外輪の間の隙間が突起で覆われることにより、当該軸受への粉塵の侵入や装置外部への潤滑剤の漏れが抑制されて、シール性が担保される。また、装置外部との連通路に狭い絞り部４１ａ～４３ａを有するシール構造とすることにより、シール性が向上する。
従来装置においては、シール部４１～４３に対応する軸封部には、接触式のオイルシールを用いることが一般的であった。しかし、接触式のオイルシールは比較的に損失が大きいことや、複数の軸封部に個別に設ける必要があるためにコストが嵩むという問題があった。また、装置の小型化に伴いオイルシールの損失による効率悪化の影響が大きくなったり、装置同様にオイルシールの小型化を図ることが困難であったりするため、オイルシールが特に装置の小型化の足枷になりやすいという問題もあった。
これに対し、本実施形態の減速装置１では、シール部４１～４３が非接触のシール構造であるため、接触式のオイルシールを用いる場合に比べて損失を低減することができる。また、オイルシールを簡便な構成のシール部４１～４３に置き換えることにより、低コスト化を図ることができるとともに、減速装置１の小型化を容易にすることができる。 In this way, in the seal portions 41 to 43, the gap between the inner ring and the outer ring of each corresponding bearing is covered with protrusions on the axially outer side of each corresponding bearing, thereby preventing dust from entering the bearing or leaking to the outside of the device. Leakage of lubricant is suppressed and sealing performance is ensured. Further, by adopting a seal structure having narrow constricted portions 41a to 43a in communication paths with the outside of the device, sealing performance is improved.
In conventional devices, contact-type oil seals were generally used for the shaft seals corresponding to the seals 41 to 43. However, contact type oil seals have the problem of relatively large loss and high cost because they must be provided individually in a plurality of shaft seals. In addition, as equipment becomes more compact, the effect of deterioration in efficiency due to loss of oil seals increases, and it is difficult to make oil seals as compact as equipment, so oil seals are especially important for equipment miniaturization. There was also the problem of being easily shackled.
On the other hand, in the reduction gear device 1 of this embodiment, the seal portions 41 to 43 have a non-contact seal structure, so that the loss can be reduced compared to the case where a contact type oil seal is used. Furthermore, by replacing the oil seals with seal portions 41 to 43 having a simple configuration, it is possible to reduce costs, and it is also possible to easily downsize the reduction gear device 1.

なお、シール部４１～４３の構成は、上述したものに限定されない。
例えばシール部４３は、図２に示すように、第２ケーシング２４の第１突起２４ａだけが主軸受３３の内輪３３ａ及び外輪３３ｂの間の隙間３３ｄを覆う（すなわち、軸方向から見て当該隙間３３ｄと重なる）ように構成してもよい。この場合、シール部４３は、相対回転する第２ケーシング２４と第２カバー２７との間に絞り部４３ａを有する非接触のシール構造を採っていれば、ラビリンス構造を有していなくともよい。
さらに言えば、シール部４３においては、第２ケーシング２４及び第２カバー２７の一方または両方が、主軸受３３の軸方向外側において径方向に突出する突起を有し、当該突起が、主軸受３３の内輪３３ａ及び外輪３３ｂの間の隙間３３ｄと軸方向から見て重なっていればよい。この場合、突起は、軸方向から見て隙間３３ｄの全体と重なっていることが好ましいが、隙間３３ｄの一部と重なっているだけでもよい。例えば、図２の例においては、第２カバー２７が第２突起２７ｂを有し、第１突起２４ａと第２突起２７ｂが軸方向から見て重なっているが、両者は軸方向から見て重なっていなくてもよいし、第２突起２７ｂがなくてもよい。また、突起が軸方向から見て隙間３３ｄの全体と重なる場合でも、一方の突起のみで隙間３３ｄの全体と重なる必要なく、第１突起２４ａおよび第２突起２７ｂを合わせて、隙間３３ｄの全体と軸方向から見て重なっていてもよい。以上の事情は、シール部４１やシール部４２についても同様である。 Note that the configurations of the seal portions 41 to 43 are not limited to those described above.
For example, in the seal portion 43, as shown in FIG. 33d). In this case, the seal portion 43 does not need to have a labyrinth structure as long as it has a non-contact seal structure having a constricted portion 43a between the second casing 24 and the second cover 27 that rotate relative to each other.
Furthermore, in the seal portion 43, one or both of the second casing 24 and the second cover 27 has a protrusion that protrudes in the radial direction on the axially outer side of the main bearing 33. It is sufficient that the gap 33d overlaps the gap 33d between the inner ring 33a and the outer ring 33b when viewed from the axial direction. In this case, the protrusion preferably overlaps the entire gap 33d when viewed from the axial direction, but may overlap only a portion of the gap 33d. For example, in the example of FIG. 2, the second cover 27 has the second protrusion 27b, and the first protrusion 24a and the second protrusion 27b overlap when viewed from the axial direction; The second protrusion 27b may not be provided. Further, even if the protrusion overlaps the entire gap 33d when viewed from the axial direction, there is no need for only one protrusion to overlap the entire gap 33d, and the first protrusion 24a and the second protrusion 27b together overlap the entire gap 33d. They may overlap when viewed from the axial direction. The above situation also applies to the seal portion 41 and the seal portion 42.

また、シール部４２は、内側突起２７ａが、入力軸受３２の軸方向外側において、当該入力軸受３２の内輪３２ａ及び外輪３２ｂの間の隙間３２ｄを覆っていれば（すなわち、軸方向から見て当該隙間３２ｄと重なっていれば）、内側突起２７ａの先端が起振体軸１０に嵌っていなくともよい。また、シール部４２は、相対回転する第２カバー２７と起振体軸１０との間に絞り部４３ａを有する非接触のシール構造を採っていれば、ラビリンス構造を有していなくともよい。この場合、絞り部４２ａは、起振体軸１０及び入力軸受３２の内輪３２ａのうちの少なくとも一方と、内側突起２７ａとの間に形成されていればよい。
さらに言えば、シール部４２においては、起振体軸１０及び第２カバー２７の一方または両方が、入力軸受３２の軸方向外側において径方向に突出する突起を有し、当該突起が、入力軸受３２の内輪３２ａ及び外輪３２ｂの間の隙間３２ｄと軸方向から見て重なっていればよい。この場合、突起は、軸方向から見て隙間３２ｄの全体と重なっていることが好ましいが、隙間３２ｄの一部と重なっているだけでもよい。
またこの場合には、入力軸受３２の軸方向外側において径方向外側に突出する外側突起（図示省略）を起振体軸１０に設け、この外側突起と第２カバー２７の内側突起２７ａとが、入力軸受３２の内輪３２ａと外輪３２ｂとの間の隙間３２ｄと、軸方向から見て重なるように構成してもよい。この外側突起と内側突起２７ａとは、軸方向から見て互いに重なるようにしたり、さらに径方向から見ても互いに重なるようにしたりしてもよいし、これらによりラビリンス構造を構成させてもよい。なお、起振体軸１０に外側突起を設けたことにより、入力軸受３２を出力側（図中の左側）から起振体軸１０に組み付けることが困難になった場合には、入力軸受３２を反出力側（図中の右側）から起振体軸１０に組み付けられるように構成してもよい。 Further, if the inner protrusion 27a covers the gap 32d between the inner ring 32a and the outer ring 32b of the input bearing 32 on the outside of the input bearing 32 in the axial direction (that is, the seal part 42 If the inner protrusion 27a overlaps the gap 32d), the tip of the inner protrusion 27a does not need to fit into the vibrator shaft 10. Further, the seal portion 42 does not need to have a labyrinth structure as long as it has a non-contact seal structure having a constricted portion 43a between the second cover 27 and the vibrator shaft 10 that rotate relatively. In this case, the throttle portion 42a may be formed between at least one of the vibrating body shaft 10 and the inner ring 32a of the input bearing 32, and the inner protrusion 27a.
Furthermore, in the seal portion 42, one or both of the vibrator shaft 10 and the second cover 27 has a protrusion that protrudes in the radial direction on the axially outer side of the input bearing 32, and the protrusion The gap 32d between the inner ring 32a and the outer ring 32b of No. 32 may be overlapped with the gap 32d when viewed from the axial direction. In this case, it is preferable that the protrusion overlaps the entire gap 32d when viewed from the axial direction, but it is also possible for the protrusion to overlap only a part of the gap 32d.
Further, in this case, an outer protrusion (not shown) protruding radially outward on the axial outer side of the input bearing 32 is provided on the vibrator shaft 10, and this outer protrusion and the inner protrusion 27a of the second cover 27 It may be configured to overlap with the gap 32d between the inner ring 32a and the outer ring 32b of the input bearing 32 when viewed from the axial direction. The outer protrusion and the inner protrusion 27a may overlap each other when viewed from the axial direction, or may also overlap from each other when viewed from the radial direction, or they may form a labyrinth structure. Note that if it becomes difficult to assemble the input bearing 32 to the vibration generator shaft 10 from the output side (left side in the figure) due to the provision of the outer protrusion on the vibration generator shaft 10, the input bearing 32 may be It may be configured to be assembled to the vibrator shaft 10 from the opposite output side (right side in the figure).

また、シール部４１では、図３に示すように、内側突起２６ａの先端部と起振体軸１０とによりラビリンス構造が構成されていてもよい。具体的には、内側突起２６ａの先端部が、軸方向内側に突出するとともに、起振体軸１０の軸部１０Ｂに形成された凹部内に隙間を空けつつ嵌っている。そして、内側突起２６ａと起振体軸１０とが軸方向から見て互いに重なるとともに径方向から見ても互いに重なっており、これらの間に絞り部４１ａが形成されている。
なお、内側突起２６ａは、入力軸受３１の軸方向外側において、当該入力軸受３１の内輪３１ａ及び外輪３１ｂの間の隙間３１ｄを覆っていれば（すなわち、軸方向から見て当該隙間３１ｄと重なっていれば）よい。また、絞り部４１ａは、起振体軸１０及び入力軸受３１の内輪３１ａのうちの少なくとも一方と、内側突起２６ａとの間に形成されていればよい。
さらに言えば、シール部４１においては、起振体軸１０及び第１カバー２６の一方または両方が、入力軸受３１の軸方向外側において径方向に突出する突起を有し、当該突起が、入力軸受３１の内輪３１ａ及び外輪３１ｂの間の隙間３１ｄと軸方向から見て重なっていればよい。この場合、突起は、軸方向から見て隙間３１ｄの全体と重なっていることが好ましいが、隙間３１ｄの一部と重なっているだけでもよい。
またこの場合には、入力軸受３２の軸方向外側において径方向外側に突出する外側突起（図示省略）を起振体軸１０に設け、この外側突起と第１カバー２６の内側突起２６ａとが、入力軸受３１の内輪３１ａと外輪３１ｂとの間の隙間３１ｄと、軸方向から見て重なるように構成してもよい。この外側突起と内側突起２６ａとは、軸方向から見て互いに重なるようにしたり、さらに径方向から見ても互いに重なるようにしたりしてもよいし、これらによりラビリンス構造を構成させてもよい。なお、起振体軸１０に外側突起を設けたことにより、入力軸受３１を反出力側（図中の右側）から起振体軸１０に組み付けることが困難になった場合には、入力軸受３１を出力側（図中の左側）から起振体軸１０に組み付けられるように構成してもよい。 Further, in the seal portion 41, as shown in FIG. 3, a labyrinth structure may be formed by the tip of the inner protrusion 26a and the vibrator shaft 10. Specifically, the tip of the inner protrusion 26a protrudes inward in the axial direction and fits into the recess formed in the shaft portion 10B of the vibrating body shaft 10 with a gap left therein. The inner protrusion 26a and the vibrating body shaft 10 overlap each other when viewed from the axial direction and also overlap from each other when viewed from the radial direction, and a constricted portion 41a is formed between them.
Note that if the inner protrusion 26a covers the gap 31d between the inner ring 31a and the outer ring 31b of the input bearing 31 on the outside of the input bearing 31 in the axial direction (that is, it overlaps with the gap 31d when viewed from the axial direction). ) Good. Moreover, the throttle part 41a should just be formed between at least one of the vibrating body shaft 10 and the inner ring 31a of the input bearing 31, and the inner protrusion 26a.
Furthermore, in the seal portion 41, one or both of the vibrating body shaft 10 and the first cover 26 have a protrusion that protrudes in the radial direction on the axially outer side of the input bearing 31, and the protrusion It is sufficient that the gap 31d overlaps the gap 31d between the inner ring 31a and the outer ring 31b of No. 31 when viewed from the axial direction. In this case, the protrusion preferably overlaps the entire gap 31d when viewed from the axial direction, but may overlap only a portion of the gap 31d.
Further, in this case, an outer protrusion (not shown) that protrudes radially outward on the axial outer side of the input bearing 32 is provided on the vibrator shaft 10, and this outer protrusion and the inner protrusion 26a of the first cover 26 It may be configured to overlap with the gap 31d between the inner ring 31a and the outer ring 31b of the input bearing 31 when viewed from the axial direction. The outer protrusion and the inner protrusion 26a may overlap each other when viewed from the axial direction, or may also overlap from each other when viewed from the radial direction, or they may form a labyrinth structure. Note that if it becomes difficult to assemble the input bearing 31 to the vibration generator shaft 10 from the non-output side (the right side in the figure) due to the provision of the outer protrusion on the vibration generator shaft 10, the input bearing 31 may be constructed so that it can be assembled to the vibrator shaft 10 from the output side (left side in the figure).

［各部材の素材］
各部材の素材は特に限定されるものではないが、本実施形態においては、以下のように構成されている。
起振体軸１０、外歯歯車１２、スペーサリング３６、３７は、鉄鋼素材等の金属素材から構成される。特に制限されないが、より具体的には、起振体軸１０が、クロムモリブデン鋼などの鉄鋼素材から構成される。外歯歯車１２は、ニッケルクロムモリブデン鋼などの鉄鋼素材から構成される。スペーサリング３６、３７は、高炭素クロム軸受鋼鋼材等の鉄鋼素材から構成される。 [Material of each part]
Although the material of each member is not particularly limited, the present embodiment is configured as follows.
The vibrator shaft 10, the external gear 12, and the spacer rings 36 and 37 are made of a metal material such as a steel material. Although not particularly limited, more specifically, the vibrator shaft 10 is made of a steel material such as chromium molybdenum steel. The external gear 12 is made of a steel material such as nickel chromium molybdenum steel. The spacer rings 36, 37 are constructed from a steel material such as high carbon chromium bearing steel.

第１ケーシング２２、第２ケーシング２４、内歯歯車部材２３、第１カバー２６及び第２カバー２７は、樹脂により構成されている。このような樹脂としては、ＣＦＲＰ（Carbon Fiber Reinforced Plastics）などの複合材料、樹脂とその他の別素材との複合材料、ベーク材（紙ベーク材や布ベーク材等）などを適用することができる。これらの部材を金属製でなく樹脂製とすることにより、減速装置１の軽量化を図ることができる。また、摺動部材（第１ケーシング２２や内歯歯車部材２３）の自己潤滑性により潤滑油量を減少させることができるので、非接触式のシール部を採用する本発明において好適である。
なお、これらの部材は、樹脂製に限定されず、鉄鋼素材などの金属製であってもよい。ただし、シール部４３を構成する第２ケーシング２４及び第２カバー２７のうちの少なくとも一方は、樹脂製であることが好ましい。 The first casing 22, the second casing 24, the internal gear member 23, the first cover 26, and the second cover 27 are made of resin. As such a resin, a composite material such as CFRP (Carbon Fiber Reinforced Plastics), a composite material of resin and another material, a baking material (paper baking material, cloth baking material, etc.), etc. can be used. By making these members not metal but resin, the weight of the speed reduction device 1 can be reduced. Further, since the amount of lubricating oil can be reduced due to the self-lubricating properties of the sliding members (first casing 22 and internal gear member 23), this is suitable in the present invention, which employs a non-contact type seal portion.
Note that these members are not limited to being made of resin, and may be made of metal such as steel material. However, it is preferable that at least one of the second casing 24 and the second cover 27 that constitute the seal portion 43 is made of resin.

［動作説明］
モータ等の駆動源により起振体軸１０の回転駆動が行われると、起振体１０Ａの運動が外歯歯車１２に伝わる。このとき、外歯歯車１２は、起振体１０Ａの外周面に沿った形状に規制され、軸方向から見て、長軸部分と短軸部分とを有する楕円形状に撓んでいる。さらに、外歯歯車１２は、固定された第１内歯歯車２２ｇと長軸部分で噛合っている。このため、外歯歯車１２は起振体１０Ａと同じ回転速度で回転することはなく、外歯歯車１２の内側で起振体１０Ａが相対的に回転する。そして、この相対的な回転に伴って、外歯歯車１２は長軸位置と短軸位置とが周方向に移動するように撓み変形する。この変形の周期は、起振体軸１０の回転周期に比例する。 [Operation explanation]
When the vibration generator shaft 10 is rotationally driven by a drive source such as a motor, the motion of the vibration generator 10A is transmitted to the external gear 12. At this time, the external gear 12 is restricted to a shape along the outer circumferential surface of the vibrating body 10A, and is bent into an elliptical shape having a long axis portion and a short axis portion when viewed from the axial direction. Further, the external gear 12 meshes with the fixed first internal gear 22g at its long axis portion. Therefore, the external gear 12 does not rotate at the same rotation speed as the vibration generator 10A, and the vibration generator 10A rotates relatively inside the external gear 12. As a result of this relative rotation, the external gear 12 is flexibly deformed so that the major axis position and the minor axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the vibrator shaft 10.

外歯歯車１２が撓み変形する際、その長軸位置が移動することで、外歯歯車１２と第１内歯歯車２２ｇとの噛合う位置が回転方向に変化する。ここで、例えば、外歯歯車１２の歯数が１００で、第１内歯歯車２２ｇの歯数が１０２だとすると、噛合う位置が一周するごとに、外歯歯車１２と第１内歯歯車２２ｇとの噛合う歯がずれていき、これにより外歯歯車１２が回転（自転）する。上記の歯数であれば、起振体軸１０の回転運動は減速比１００：２で減速されて外歯歯車１２に伝達される。 When the external gear 12 bends and deforms, the position of its long axis moves, so that the meshing position between the external gear 12 and the first internal gear 22g changes in the rotational direction. Here, for example, if the number of teeth of the external gear 12 is 100 and the number of teeth of the first internal gear 22g is 102, the external gear 12 and the first internal gear 22g are The meshing teeth of the external gear 12 shift from each other, causing the external gear 12 to rotate (rotate). With the above number of teeth, the rotational motion of the vibrating body shaft 10 is reduced at a reduction ratio of 100:2 and transmitted to the external gear 12.

一方、外歯歯車１２は第２内歯歯車２３ｇとも噛合っているため、起振体軸１０の回転によって外歯歯車１２と第２内歯歯車２３ｇとの噛合う位置も回転方向に変化する。ここで、第２内歯歯車２３ｇの歯数と外歯歯車１２の歯数とが同数であるとすると、外歯歯車１２と第２内歯歯車２３ｇとは相対的に回転せず、外歯歯車１２の回転運動が減速比１：１で第２内歯歯車２３ｇへ伝達される。これらによって、起振体軸１０の回転運動が減速比１００：２で減速されて、内歯歯車部材２３及び第２カバー２７へ伝達され、この回転運動が被駆動部材に出力される。 On the other hand, since the external gear 12 also meshes with the second internal gear 23g, the rotation of the vibration generator shaft 10 also changes the meshing position between the external gear 12 and the second internal gear 23g in the rotational direction. . Here, if the number of teeth of the second internal gear 23g and the number of teeth of the external gear 12 are the same, the external gear 12 and the second internal gear 23g do not rotate relatively, and the external gear The rotational motion of the gear 12 is transmitted to the second internal gear 23g at a reduction ratio of 1:1. As a result, the rotational motion of the vibrator shaft 10 is reduced by a reduction ratio of 100:2 and transmitted to the internal gear member 23 and the second cover 27, and this rotational motion is output to the driven member.

この動作時には、入力軸受３１、３２及び主軸受３３の軸方向外側に設けられたシール部４１～４３により、外部から各軸受への粉塵の侵入や、装置外部への潤滑剤の漏れが好適に抑制される。 During this operation, the seals 41 to 43 provided on the axial outside of the input bearings 31, 32 and the main bearing 33 prevent dust from entering each bearing from the outside and lubricant from leaking to the outside of the device. suppressed.

［本実施形態の技術的効果］
以上のように、本実施形態の減速装置１によれば、第２ケーシング２４及び第２カバー２７の一方または両方が、主軸受３３の軸方向外側において径方向に突出する突起（第１突起２４ａ及び／又は第２突起２７ｂ）を有しており、主軸受３３の内輪３３ａと外輪３３ｂの間の隙間３３ｄが、当該突起と軸方向から見て重なっている。
そのため、非接触のシール構造を採ることにより、接触式のオイルシールを用いていた従来に比べて損失を低減させることができる。また、主軸受３３の内輪３３ａと外輪３３ｂの間の隙間３３ｄを覆う突起によって、主軸受３３への粉塵の侵入や装置外部への潤滑剤の漏れを抑制することができる。
したがって、主軸受３３に対するシール性の担保と損失の低減とを図ることができる。 [Technical effects of this embodiment]
As described above, according to the speed reduction device 1 of the present embodiment, one or both of the second casing 24 and the second cover 27 has a protrusion (first protrusion 24 a and/or a second protrusion 27b), and the gap 33d between the inner ring 33a and the outer ring 33b of the main bearing 33 overlaps with the protrusion when viewed from the axial direction.
Therefore, by adopting a non-contact seal structure, losses can be reduced compared to the conventional oil seal that uses a contact type oil seal. Further, the protrusion covering the gap 33d between the inner ring 33a and the outer ring 33b of the main bearing 33 can suppress dust from entering the main bearing 33 and leakage of lubricant to the outside of the device.
Therefore, it is possible to ensure sealing performance for the main bearing 33 and reduce loss.

また、第２ケーシング２４に設けられた第１突起２４ａと、第２カバー２７に設けられた第２突起２７ｂとが、軸方向から見て互いに重なっているので、主軸受３３への粉塵の侵入や装置外部への潤滑剤の漏れをより確実に抑制することができる。
さらに、第１突起２４ａと第２突起２７ｂとが径方向から見ても互いに重なっているので、主軸受３３への粉塵の侵入や装置外部への潤滑剤の漏れをより一層確実に抑制することができる。 Further, since the first protrusion 24a provided on the second casing 24 and the second protrusion 27b provided on the second cover 27 overlap each other when viewed from the axial direction, dust cannot enter the main bearing 33. It is possible to more reliably suppress leakage of lubricant to the outside of the device.
Furthermore, since the first protrusion 24a and the second protrusion 27b overlap each other when viewed from the radial direction, it is possible to more reliably suppress the intrusion of dust into the main bearing 33 and the leakage of lubricant to the outside of the device. I can do it.

また、第１突起２４ａと第２突起２７ｂによりラビリンス構造が構成されているので、主軸受３３への粉塵の侵入や装置外部への潤滑剤の漏れをさらに確実に抑制することができる。 Further, since the first protrusion 24a and the second protrusion 27b form a labyrinth structure, it is possible to more reliably suppress dust from entering the main bearing 33 and leakage of lubricant to the outside of the device.

また、第２ケーシング２４及び第２カバー２７の少なくとも一方が樹脂により構成されているので、金属製とする場合に比べて軽量化を図ることができる。また、これらの部材を樹脂製とすることにより、当該樹脂製部材の温度上昇による強度低下が懸念されるところ、シール部４３での損失ひいては発熱が低減されるため、当該樹脂製部材を好適に用いることができる。また、樹脂の自己潤滑性により潤滑剤の封入量を減らすことができるので、非接触式のシールであっても、潤滑剤漏れのリスクを低減できる。 Moreover, since at least one of the second casing 24 and the second cover 27 is made of resin, it is possible to reduce the weight compared to a case where the second casing 24 and the second cover 27 are made of metal. In addition, by making these members made of resin, there is a concern that the strength of the resin members will decrease due to a rise in temperature, but since the loss at the seal portion 43 and the heat generation are reduced, it is preferable to use the resin members. Can be used. Further, since the self-lubricating property of the resin allows the amount of lubricant to be enclosed to be reduced, even if the seal is a non-contact type, the risk of lubricant leakage can be reduced.

また、第２カバー２７が、入力軸受３２の軸方向外側において径方向に突出する内側突起２７ａを有しており、この内側突起２７ａが、入力軸受３２の内輪３２ａ及び外輪３２ｂの間の隙間３２ｄと軸方向から見て重なっている。
そのため、第２カバー２７により、入力軸受３２に対するシール性も担保することができる。 Further, the second cover 27 has an inner protrusion 27a that protrudes in the radial direction on the outside of the input bearing 32 in the axial direction. and overlap when viewed from the axial direction.
Therefore, the second cover 27 can also ensure sealing performance for the input bearing 32.

［その他］
以上、本発明の実施形態について説明したが、本発明は上記の実施形態に限られない。
例えば、上記実施形態では、主軸受３３の軸方向外側に設けられたシール部４３が、第２ケーシング２４の第１突起２４ａと、第２カバー２７の第２突起２７ｂとを備えて構成されることとした。しかし、第１突起２４ａは、第２ケーシング２４と一体的に構成される第１ケーシング２２や第１カバー２６に設けられていてもよく、第２突起２７ｂは、第２カバー２７と一体的に構成される内歯歯車部材２３に設けられていてもよい。また、各突起は、第２ケーシング２４、第２カバー２７および第１カバー２６に一体的に構成されているが、これに限定されるものではなく、別体に設けられ連結手段により一体化されてもよい。 [others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.
For example, in the above embodiment, the seal portion 43 provided on the axially outer side of the main bearing 33 is configured to include the first protrusion 24a of the second casing 24 and the second protrusion 27b of the second cover 27. I decided to do so. However, the first protrusion 24a may be provided on the first casing 22 or the first cover 26, which are integrally formed with the second casing 24, and the second protrusion 27b may be provided integrally with the second cover 27. It may be provided in the internal gear member 23 configured. Further, each protrusion is configured integrally with the second casing 24, the second cover 27, and the first cover 26, but is not limited to this, and may be provided separately and integrated by a connecting means. It's okay.

また、上記実施形態では、減速装置１として、所謂筒型の撓み噛合い式歯車装置を示した。しかし、本発明は、これに限定されず、例えば所謂カップ型又はシルクハット型の撓み噛合い式歯車装置にも適用可能である。 Moreover, in the embodiment described above, a so-called cylindrical flexible mesh gear device is shown as the speed reduction device 1. However, the present invention is not limited thereto, and can also be applied to, for example, a so-called cup-type or top-hat type flexible mesh gear device.

また、本発明は、撓み噛合い式歯車装置に限定されず、例えば、センタークランク型もしくは振り分け型の偏心揺動型減速装置、又は単純遊星歯車装置にも適用可能である。
偏心揺動型減速装置に対しては、内歯歯車と一体に構成される部材をケーシング、外歯歯車の自転成分と同期する部材をキャリヤとして、本発明を適用することができる。
単純遊星歯車装置に対しては、内歯歯車と一体に構成される部材をケーシング、遊星歯車を外歯歯車、遊星歯車の公転成分と同期する部材をキャリヤとして、本発明を適用することができる。
その他、上記実施形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 Further, the present invention is not limited to a flexible mesh gear device, but is also applicable to, for example, a center crank type or distributed type eccentric oscillation type reduction gear device, or a simple planetary gear device.
The present invention can be applied to an eccentric oscillation type speed reduction device by using a member integrally formed with the internal gear as a casing, and using a member synchronized with the rotational component of the external gear as a carrier.
The present invention can be applied to a simple planetary gear device by using a member integrally formed with an internal gear as a casing, a planetary gear as an external gear, and a member synchronized with the revolution component of the planetary gear as a carrier. .
In addition, the details shown in the above embodiments can be changed as appropriate without departing from the spirit of the invention.

１ 減速装置
１０ 起振体軸
１２ 外歯歯車
２２ 第１ケーシング
２３ 内歯歯車部材
２４ 第２ケーシング
２４ａ 第１突起
２６ 第１カバー
２６ａ 内側突起
２７ 第２カバー
２７ａ 内側突起
２７ｂ 第２突起
３１ 軸受
３１ａ 内輪
３１ｂ 外輪
３１ｄ 隙間
３２ 軸受
３２ａ 内輪
３２ｂ 外輪
３２ｄ 隙間
３３ 主軸受
３３ａ 内輪
３３ｂ 外輪
３３ｄ 隙間
４１ シール部
４１ａ 絞り部
４２ シール部
４２ａ 絞り部
４３ シール部
４３ａ 絞り部
Ｓ 内部空間 1 Reduction device 10 Vibrator shaft 12 External gear 22 First casing 23 Internal gear member 24 Second casing 24a First protrusion 26 First cover 26a Inner protrusion 27 Second cover 27a Inner protrusion 27b Second protrusion 31 Bearing 31a Inner ring 31b Outer ring 31d Gap 32 Bearing 32a Inner ring 32b Outer ring 32d Gap 33 Main bearing 33a Inner ring 33b Outer ring 33d Gap 41 Seal portion 41a Restricted portion 42 Seal portion 42a Restricted portion 43 Seal portion 43a Restricted portion S Internal space

Claims (8)

ケーシングと、内歯歯車と、前記内歯歯車と噛合う外歯歯車と、前記ケーシングと相対回転するキャリヤと、前記ケーシング及び前記キャリヤの間に配置される主軸受と、を備えた減速装置であって、
前記ケーシング及び前記キャリヤの一方または両方は、前記主軸受の軸方向外側において径方向に突出する突起を有し、
前記主軸受の内輪と外輪の間の隙間は、前記突起と軸方向から見て重なり、
前記突起は、前記ケーシングに設けられて径方向内側に突出する第１突起と、前記キャリヤに設けられて径方向外側に突出する第２突起とを含み、
前記第１突起と前記第２突起とは、軸方向から見て互いに重なる一方、径方向から見て互いに重ならず、
前記第１突起および前記第２突起の一方のみでは、前記主軸受の内輪と外輪の間の隙間全体と軸方向から見て重なっておらず、前記第１突起および前記第２突起を合わせて前記隙間全体と軸方向から見て重なっている、
減速装置。 A speed reduction device comprising a casing, an internal gear, an external gear that meshes with the internal gear, a carrier that rotates relative to the casing, and a main bearing disposed between the casing and the carrier. There it is,
One or both of the casing and the carrier have a protrusion that protrudes radially on the axially outer side of the main bearing,
The gap between the inner ring and the outer ring of the main bearing overlaps the protrusion when viewed from the axial direction,
The protrusion includes a first protrusion provided on the casing and protruding radially inward, and a second protrusion provided on the carrier protruding radially outward,
The first protrusion and the second protrusion overlap each other when viewed from the axial direction, but do not overlap when viewed from the radial direction,
Only one of the first protrusion and the second protrusion does not overlap the entire gap between the inner ring and the outer ring of the main bearing when viewed from the axial direction, and the first protrusion and the second protrusion together do not overlap the entire gap between the inner ring and the outer ring of the main bearing. Overlapping the entire gap when viewed from the axial direction,
Reduction device. 前記第１突起は、前記第２突起よりも軸方向外側に設けられる、
請求項１に記載の減速装置。 The first protrusion is provided axially outer than the second protrusion.
The speed reduction device according to claim 1. 前記内歯歯車は、樹脂により構成される、
請求項１に記載の減速装置。 The internal gear is made of resin.
The speed reduction device according to claim 1. 前記ケーシング及び前記キャリヤの少なくとも一方が樹脂により構成されている、
請求項１から請求項３の何れか一項に記載の減速装置。 at least one of the casing and the carrier is made of resin;
The speed reduction device according to any one of claims 1 to 3 . 入力軸を支持する入力軸受を有し、
前記キャリヤは、前記入力軸受の軸方向外側において径方向内側に突出し、前記入力軸受の内輪と外輪との間の隙間と軸方向から見て重なる内側突起を有する、
請求項１から請求項４の何れか一項に記載の減速装置。 It has an input bearing that supports the input shaft,
The carrier has an inner protrusion that protrudes radially inward at an axially outer side of the input bearing and overlaps a gap between an inner ring and an outer ring of the input bearing when viewed from the axial direction.
The speed reduction device according to any one of claims 1 to 4 . 前記入力軸は、前記入力軸受の軸方向外側において径方向外側に突出する外側突起を有し、
前記内側突起と前記外側突起とが、前記入力軸受の内輪と外輪との間の隙間と軸方向から見て重なる、
請求項５に記載の減速装置。 The input shaft has an outer protrusion that protrudes radially outward on the axial outer side of the input bearing,
The inner protrusion and the outer protrusion overlap a gap between an inner ring and an outer ring of the input bearing when viewed from the axial direction.
The speed reduction device according to claim 5 . 入力軸と、内歯歯車と、前記内歯歯車と噛合う外歯歯車と、前記入力軸と相対回転するキャリヤと、前記入力軸及び前記キャリヤの間に配置される入力軸受と、を備えた減速装置であって、
前記入力軸及び前記キャリヤの一方または両方は、前記入力軸受の軸方向外側において径方向に突出する突起を有し、
前記入力軸受の内輪と外輪の間の隙間は、前記突起と軸方向から見て重なり、
前記突起は、前記キャリヤに設けられて径方向内側に突出する内側突起を含み、
前記内側突起と前記入力軸とが軸方向から見て互いに重なる、
減速装置。 An input shaft, an internal gear, an external gear that meshes with the internal gear, a carrier that rotates relative to the input shaft, and an input bearing that is disposed between the input shaft and the carrier. A speed reduction device,
One or both of the input shaft and the carrier has a protrusion that protrudes in the radial direction on the axially outer side of the input bearing,
The gap between the inner ring and the outer ring of the input bearing overlaps the protrusion when viewed from the axial direction,
The protrusion includes an inner protrusion provided on the carrier and protruding radially inward,
the inner protrusion and the input shaft overlap each other when viewed from the axial direction;
Reduction device. 前記内側突起と前記入力軸とが径方向から見て互いに重なる、
請求項７に記載の減速装置。 the inner protrusion and the input shaft overlap each other when viewed from a radial direction;
The speed reduction device according to claim 7 .
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