JP5961520B2 - Eccentric oscillation type speed reducer - Google Patents

Description

  The present invention relates to an eccentric rocking type reduction gear.

  Patent Document 1 discloses an eccentric rocking type speed reducer. The reduction gear includes an external gear that is swung by an eccentric body provided on an eccentric body shaft, and an internal gear that is internally meshed while the external gear is swung. By restraining the rotation of either the external gear or the internal gear, this relative rotation can be taken out as an output.

  In this speed reducer, the input shaft also serves as the eccentric body shaft. The input shaft is supported via a bearing by a pair of carriers provided on both axial sides of the external gear. In Patent Document 1, a configuration is disclosed in which a motor shaft having a parallel outer peripheral portion (a columnar shape with a constant outer diameter) is connected to an input shaft of a reduction gear via a key.

Japanese Patent Laying-Open No. 2006-263878 (FIG. 4)

  As the motor shaft of the motor, there is a motor shaft having a tapered outer peripheral portion inclined with respect to the shaft in addition to a motor shaft having a parallel outer peripheral portion as employed in Patent Document 1.

  When a motor shaft having a tapered outer peripheral portion is used by being connected to an eccentric body shaft of a speed reducer, an eccentric body shaft having a tapered hollow portion corresponding to the taper shape of the motor shaft is usually prepared. In this case, the motor shaft and the eccentric body shaft are connected by frictionally fastening the tapered outer peripheral portion and the tapered hollow portion.

  However, when the taper-shaped motor shaft and the eccentric body shaft having the taper-shaped hollow portion are frictionally fastened, the eccentric body shaft supports the eccentric body shaft because a thrust force generated during the frictional fastening is applied to the eccentric body shaft. An unreasonable force is applied to a member such as a bearing, which causes problems such as the bearing being easily damaged.

  The present invention has been made to solve such a problem, and provides an eccentric oscillating speed reduction device that can further suppress problems that occur when a tapered motor shaft is connected. Is the issue.

The present invention includes an eccentric body shaft, an external gear which is swung by the eccentric bodies provided on the eccentric body on the shaft, the internal gear external gear is internally engaged while swinging, the eccentric An eccentric body shaft bearing that supports a body shaft, and an eccentric body bearing disposed between the eccentric body and the external gear, and used in connection with a motor shaft having a tapered outer peripheral portion. An eccentric oscillating type speed reducer, wherein the external gear has a bearing hole in which the eccentric body bearing is disposed, the eccentric body bearing has a roller as a rolling element, Abutting against the inner peripheral surface of the bearing hole and the outer peripheral surface of the eccentric body , the eccentric body shaft is formed with a tapered hollow portion frictionally connected to the tapered outer peripheral portion of the motor shaft on the inner periphery, eccentric body shaft bearings is incorporated the eccentric body shaft axially movable manner, of the eccentric body shaft bearing outer ring At least one inner periphery of the outer peripheral or inner ring, O-ring is arranged, the eccentric shaft be moved to the maximum in the axial direction, the edge of the bearing hole of the external gear, the eccentric roller bearing By adopting a configuration that does not hit the rolling surface , the above-described problems are solved.

  In the present invention, the bearing supporting the eccentric body shaft is incorporated in such a manner that the eccentric body shaft can be moved in the axial direction. Thereby, when connecting a taper-shaped motor shaft to an eccentric body axis | shaft, the malfunction that a thrust force is applied to the bearing etc. which support this eccentric body axis | shaft via an eccentric body axis | shaft can be relieve | moderated more.

  However, in this case, there is a new possibility that fretting will occur on the outer periphery of the outer ring of the bearing (or the inner periphery of the inner ring). Therefore, in the present invention, the O-ring is arranged on the outer periphery of the outer ring or the inner periphery of the inner ring (or both in some cases). Thereby, a bearing can be integrated more stably and generation | occurrence | production of fretting can also be prevented.

  ADVANTAGE OF THE INVENTION According to this invention, the eccentric rocking | fluctuation type deceleration device which can suppress the malfunction which generate | occur | produces when connecting the motor shaft which has a taper-shaped outer peripheral part can be obtained.

Sectional drawing which shows an example of embodiment of the eccentric rocking | fluctuation type deceleration device which concerns on this invention 1 is an enlarged cross-sectional view of the main part of FIG.

  Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

  FIG. 1 is a cross-sectional view showing an example of an embodiment of an eccentric oscillating speed reduction device according to the present invention, and FIG. 2 is an enlarged cross-sectional view of a main part of FIG.

  First, the schematic configuration of the power transmission system of the reduction gear G1 will be described.

  Referring to FIG. 1, this reduction gear G1 is a reduction gear called an eccentric oscillating type. The reduction gear G1 includes an input shaft 12 that is coupled to the motor shaft 10 of the motor M1 and receives power from the motor shaft 10. The input shaft 12 is disposed at the axial center position of an internal gear 26 described later. The configuration near the input shaft 12 will be described in detail later.

  First to third eccentric bodies 14 to 16 are integrally formed on the input shaft 12. That is, in this embodiment, the input shaft 12 functions as an “eccentric body axis”. The outer circumferences of the first to third eccentric bodies 14 to 16 are eccentric by a predetermined amount with respect to the axis O1 of the input shaft 12 with an eccentric phase difference of 120 degrees.

  First to third roller bearings 18 to 20 are arranged on the outer circumferences of the first to third eccentric bodies 14 to 16. First to third external gears 22 to 24 are swingably incorporated on the outer circumferences of the first to third roller bearings 18 to 20. The first to third external gears 22 to 24 are in mesh with the internal gear 26, respectively.

  The internal gear 26 is mainly configured by an internal gear main body 26 </ b> A integrated with the casing 31 and a columnar outer pin 26 </ b> B that constitutes “internal teeth” of the internal gear 26. The outer pin 26B is rotatably supported in the outer pin groove 26C of the internal gear main body 26A. The number of internal teeth of the internal gear 26 (the number of external pins 26B) is slightly larger (by 1 in this example) than the number of external teeth of the first to third external gears 22-24.

  In the first to third external gears 22 to 24, a plurality of through holes 22A to 24A are formed at positions offset from the respective axis O1, and a pin-shaped inner pin 28 is formed in each of the through holes 22A to 24A. It penetrates. Moreover, the 1st, 2nd carriers 32 and 34 are arrange | positioned at the axial direction both sides of the 1st-3rd external gears 22-24.

  The inner pin 28 is integrated with the second carrier 34. The tip of the inner pin 28 is fitted to the middle of the first carrier 32 in the axial direction, and is connected to the first carrier 32 by a bolt 29. The inner pin 28 revolves around the axis O <b> 1 of the input shaft 12 in synchronization with the rotation components of the first to third external gears 22 to 24, and the first and second carriers 32 and 34 are moved to the input shaft 12. Rotate around the axis.

  A sliding promotion body 44 is disposed on the outer periphery of the inner pin 28. The inner pin 28 is always in contact with a part of the through holes 22 </ b> A to 24 </ b> A via the sliding promotion body 44. On the other hand, a gap corresponding to twice the amount of eccentricity of the first to third eccentric bodies 14 to 16 exists at the portion where the sliding promotion body 44 and the through holes 22A to 24A are not in contact with each other. However, the sliding promotion body 44 may be omitted.

  The first and second carriers 32 and 34 are supported by the casing 31 via first and second angular ball bearings 36 and 38 that are assembled back to back. A tap hole 34A is formed in the second carrier 34, and a driven member (not shown) is connected to the second carrier 34. A casing cover 33 is connected to the casing 31, and the motor casing 11 is connected to a protrusion 33 </ b> A of the casing cover 33 via a bolt 35.

  Reference numerals 46 and 48 are oil seals.

  Here, the configuration in the vicinity of the input shaft 12 that also functions as an eccentric body shaft will be described in detail.

  Referring mainly to FIG. 2, this reduction gear G1 is used in connection with motor shaft 10 having a tapered outer peripheral portion 10A (tapered outer peripheral portion).

  The motor shaft 10 has a male screw portion 10C adjacent to the tapered outer peripheral portion 10A. In addition, a half-moon key groove 10A1 for inserting a half-moon key 51 (woodruff key) is formed in a part of the tapered outer peripheral portion 10A.

  On the other hand, the input shaft 12 (eccentric body shaft) has a tapered hollow portion 12A that can be frictionally fastened with the tapered outer peripheral portion 10A of the motor shaft 10 on the inner periphery (the inner diameter decreases toward the inner side (on the opposite motor side)). The hollow portion is formed. The tapered hollow portion 12A is formed with a key groove 12A1 in which the half-moon key 51 is mounted. Further, an abutting surface 12B (stepped portion) perpendicular to the shaft is formed at the end of the tapered hollow portion 12A. The tapered hollow portion 12A is formed with a concave portion 12C that functions as an escape portion of the tool adjacent to the tapered hollow portion 12A. Further, the straight hollow portion 12D that is continuously parallel to the shaft (having a constant inner diameter) has the input shaft. Twelve non-motor-side end portions 12E are formed through. In this embodiment, a part of the recess 12C, which is a tool relief, is used as the contact surface 12B. The contact surface 12B is formed at a position where it does not overlap with first and second ball bearings 61 and 62 (bearings supporting the eccentric body shaft), which will be described later, when viewed from the radial direction.

  Reference numeral 52 in the figure is a hexagon nut (nut member). The hexagon nut 52 is incorporated into the straight hollow portion 12D of the input shaft 12 from the non-motor side. The hexagon nut 52 has a female screw portion 52A that is screwed into the male screw portion 10C of the motor shaft 10, and a hexagon hole portion 52B into which a hexagon wrench (not shown) is inserted. The hexagon nut 52 has a tip surface 52C perpendicular to the axis. The front end surface 52C can come into contact with the contact surface 12B of the input shaft 12 when the internal thread portion 52A of the hexagon nut 52 is screwed into the external thread portion 10C of the motor shaft 10.

  The input shaft 12 is rotatably supported by the first and second carriers 32 and 34 via a pair of first and second ball bearings 61 and 62, respectively. The first and second ball bearings 61 and 62 include inner rings 61A and 62A and outer rings 61B and 62B, and balls 61C and 62C as rolling elements. As described above, the positions where the first and second ball bearings 61 and 62 support the input shaft 12 do not overlap the contact surface 12B of the input shaft 12 when viewed from the radial direction.

  On the outer periphery of the input shaft 12, first and second straight outer peripheral surfaces 12G and 12H parallel to the shaft are formed on both axial sides of the first to third eccentric bodies 14 to 16, respectively. The first and second ball bearings 61 and 62 are disposed on the first and second straight outer peripheral surfaces 12G and 12H. In addition, two parallel surfaces 12P and 12Q (in FIG. 1 and FIG. 2, only one surface 12P is depicted by X mark) are formed on the outer periphery of the end of the input shaft 12 on the side opposite to the motor. The two surfaces 12P and 12Q are used to hold the input shaft 12 with a wrench (not shown) so that the input shaft 12 does not rotate when the hexagon nut 52 is screwed.

  The outer diameters d1 of the first and second straight outer peripheral surfaces 12G and 12H are slightly larger than the inner diameters D1 of the inner rings 61A and 62A of the first and second ball bearings 61 and 62. That is, the inner rings 61A and 62A of the first and second ball bearings 61 and 62 are fixed to the first and second straight outer peripheral surfaces 12G and 12H of the input shaft 12 by press-fitting, respectively.

  More specifically, the first ball bearing 61 is press-fitted into the input shaft 12 with the ring-shaped first pressing body 74 sandwiched between the first eccentric body 14 and the side surface 14A on the motor side. . The second ball bearing 62 is press-fitted into the input shaft 12 with a ring-shaped second pressing body 76 sandwiched between the third eccentric body 16 and the side surface 16A on the non-motor side. Between the inner ring 61A of the first ball bearing 61, the first pressing body 74, the retainers 18A to 20A of the first to third roller bearings 18 to 20, the second pressing body 76, and the inner ring 62A of the second ball bearing 62, Basically, there is no gap, and the members are in contact with each other to such an extent that smooth sliding is possible.

  On the other hand, the outer diameters d2 of the outer rings 61B and 62B of the first and second ball bearings 61 and 62 are larger than the inner diameter D2 of the first and second bearing holes 32C and 34C of the first and second carriers 32 and 34. Slightly smaller. That is, the outer rings 61B and 62B of the first and second ball bearings 61 and 62 are incorporated in the first and second bearing holes 32C and 34C of the first and second carriers 32 and 34 by clearance fitting. Since the inner rings 61A and 62A of the first and second ball bearings 61 and 62 of the input shaft 12 are assembled by press-fitting into the input shaft 12, as a result, the input shaft 12 includes the first and second ball bearings 61, 62 is movable in the axial direction with respect to the first and second carriers 32, 34.

  In this embodiment, there is a gap δ1 between the outer ring 61B of the first ball bearing 61 and its retaining ring 80, and between the outer ring 62B of the second ball bearing 62 and the locking projection 34P of the second carrier 34. A gap δ2 is provided. Therefore, the input shaft 12 is movable in the axial direction within a range of δ1 + δ2.

  Ring-shaped grooves 61B1 and 61B2 are formed along the circumferential direction on the outer periphery of the outer ring 61B of the first ball bearing 61, and ring-shaped grooves 62B1 and 62B2 are formed on the outer periphery of the outer ring 62B of the second ball bearing 62, respectively. O-rings 82, 84, 86, and 88 are fitted in the two grooves 61B1 and 61B2 and the grooves 62B1 and 62B2, respectively.

  In addition, the first to third roller bearings 18 to 20 are set such that the axial length L1 of the rollers 18B to 20B is shorter than that of a general roller bearing. That is, even if the input shaft 12 moves to either side of the maximum (δ1 + δ2) axial direction, the axial direction of the eccentric body shaft holes (bearing holes) 22C to 24C of the first to third external gears 22 to 24 The edges 22C1, 22C2, 23C1, 23C2, 24C1, and 24C2 are configured not to contact the rolling surfaces 18B1 to 20B1 of the rollers 18B to 20B of the first to third roller bearings 18 to 20. Instead of shortening or shortening the axial length L1 of the rollers 18B to 20B, the rollers 18B to 20B or the eccentric body shaft holes 22C to 24C of the first to third external gears 22 to 24 are used. You may make it perform a crowning process.

  Hereinafter, the operation of the eccentric oscillating speed reduction device G1 will be described.

  First, the schematic operation of the power transmission system will be described. When the motor shaft 10 of the motor M1 rotates and the input shaft 12 rotates, the first to third eccentric bodies 14 to 16 integrated with the input shaft 12 rotate, and the first to third roller bearings 18 to 18 rotate. The first to third external gears 22 to 24 oscillate through 20. As a result, a phenomenon occurs in which the meshing positions of the first to third external gears 22 to 24 with respect to the internal gear 26 in the fixed state are sequentially shifted. Since the number of teeth of the first to third external gears 22 to 24 is one less than the number of teeth of the internal gear 26, the first to third external gears 22 to 24 are rotated each time the input shaft 12 rotates once. In addition, the phase shifts (rotates) with respect to the internal gear 26 by one tooth. The rotation component is transmitted to the first and second carriers 32 and 34 via the inner pin 28, and the driven member connected to the second carrier 34 via the tap hole 34A is driven.

  Here, in the present embodiment, the connection between the motor shaft 10 and the input shaft 12 is performed as follows. First, the motor shaft 10 is inserted into the input shaft 12 in such a manner that the half-moon key 51 is mounted in the key grooves 10A1 and 12A1 of the motor shaft 10 and the input shaft 12. Thereafter, the motor casing 11 is connected to the protrusion 33A of the casing cover 33 of the reduction gear G1 via the bolt 35.

  Then, the hexagon nut 52 is inserted from the non-motor side, a hexagonal range (not shown) is inserted into the hexagon hole 52B of the hexagon nut 52, and the female screw portion 52A of the hexagon nut 52 is screwed into the male screw portion 10C of the motor shaft 10. At this time, the rotation of the input shaft 12 is prevented by utilizing two parallel surfaces 12P and 12Q formed at the end of the input shaft 12.

  Eventually, the front end surface 52C of the hex nut 52 comes into contact with the abutment surface 12B of the input shaft 12, and further screwing of the hex nut 52 causes the motor shaft 10 and the input shaft 12 to have a tapered outer peripheral portion 10A and a tapered hollow portion. The parts 12A are strongly pressed against each other and are fastened by friction.

  At this time, the input shaft 12 normally receives a thrust force attracted to the motor M1 side and moves slightly to the motor M1 side (rarely moves to the counter-motor side due to, for example, a manufacturing error of the casing cover 33). Sometimes). However, in this embodiment, the input shaft 12 has the outer rings 61B, 62B of the first and second ball bearings 61, 62 between the retaining ring 80 on the first carrier 32 and the locking projection 34P of the second carrier 34. Thus, it is possible to move in the axial direction by an amount corresponding to the gap δ1 + δ2. Therefore, the first and second ball bearings 61 and 62 are not affected by the thrust force of the input shaft 12. In particular, in this embodiment, the contact surface 12B of the hexagon nut 52 is formed at a position that does not overlap the first and second ball bearings 61 and 62 when viewed from the radial direction. The bearings 61 and 62 are hardly affected by the radial deformation of the input shaft 12 at the time of frictional engagement. After the motor shaft 10 of the motor M1 is connected to the input shaft 12, the O-rings 82, 84, 86, 88 and the first and second ball bearings 61 are in any axial position within the gap δ1 + δ2. , 62 with respect to the first and second carriers 32, 34.

  When the input shaft 12 also serves as an eccentric body shaft, if an excessive thrust force is applied to the first and second ball bearings 61 and 62 that support the input shaft 12, The rotation is hindered, and stable eccentric oscillation of the first to third external gears 22 to 24 becomes impossible. Further, the durability of the first and second ball bearings 61 and 62 is also reduced.

  In the present embodiment, since the input shaft 12 can move without resisting the thrust force generated when the motor is connected, there is almost no possibility of occurrence of a problem due to the remaining thrust force after the connection. Since the thrust force of the input shaft 12 is reduced, the reaction that occurs in the motor shaft 10 is also reduced, so that the burden on a bearing (not shown) that supports the motor shaft 10 is also reduced.

  Two O-rings 82, 84, 86, and 88 are disposed between the outer rings 61 </ b> B and 62 </ b> B of the first and second ball bearings 61 and 62 and the first and second carriers 32 and 34, respectively. . Therefore, although the first and second ball bearings 61 and 62 are incorporated in the first and second carriers 32 and 34 with a clearance fit, the first and second ball bearings 61 and 62 are in a stable state without causing slight vibrations. 1. It is assembled to the second carrier 32, 34. Therefore, the occurrence of fretting between the outer rings 61B and 62B of the first and second ball bearings 61 and 62 and the first and second carriers 32 and 34 can be suppressed as much as possible.

  Further, the first to third roller bearings 18 to 20 are set such that the axial length L1 of the rollers 18B to 20B is set short, and even if the input shaft 12 moves to the maximum axial direction side, The axial edges 22C1, 22C2, 23C1, 23C2, 24C1, 24C2 of the eccentric body shaft holes 22C-24C of the first to third external gears 22-24 are the rollers 18B of the first to third roller bearings 18-20. It does not hit the rolling surfaces 18B1 to 20B1 of ˜20B. Therefore, it is possible to effectively prevent the rolling surfaces 18B1 to 20B1 of the rollers 18B to 20B of the first to third roller bearings 18 to 20 from being damaged.

  In the above-described embodiment, in order to make the input shaft (eccentric body shaft) movable in the axial direction, a bearing that supports the eccentric body shaft is incorporated in the first and second carriers by fitting the outer ring with a clearance fit. However, in the present invention, the main point is that the bearing that supports the eccentric body shaft has only to be incorporated in such a manner that the eccentric body shaft can be moved in the axial direction. It may be configured to support the body axis. Further, as a possibility, the inner and outer rings of the bearing that supports the eccentric body shaft may have a slightly tight clearance fit. However, in any case, an O-ring should be disposed on the outer periphery of the outer ring or the inner periphery of the inner ring with a clearance fit.

  In the above embodiment, the half-moon key is interposed between the tapered outer periphery of the motor shaft and the tapered hollow portion of the input shaft (eccentric body shaft). , Not always necessary.

  In the above embodiment, the tapered outer periphery of the motor shaft and the tapered hollow portion of the input shaft (eccentric body shaft) are frictionally fastened via the nut member. The method is not necessarily limited to this method. For example, a wedge-shaped frictional fastening member may be pushed between an eccentric body shaft having a straight hollow portion and a tapered outer peripheral portion of the motor shaft. Even in this case, since a thrust force is generated at the time of frictional engagement, the present invention can be applied.

  In the above embodiment, two surfaces parallel to the outer periphery of the end of the input shaft are formed for the purpose of preventing the rotation of the input shaft (eccentric body shaft). You may make it stop.

  Further, in the above embodiment, the axial length of the roller is set so that no trouble occurs in the roller bearing disposed between the eccentric body and the external gear even if the input shaft (eccentric body shaft) moves in the axial direction. However, these configurations are not necessarily required.

  In the above embodiment, the input shaft arranged at the radial center also serves as the eccentric body shaft. However, in the eccentric oscillating type speed reducer, a plurality of eccentric body shafts are offset from the radial center. There are also known. In such a type, the present invention can also be applied when a tapered motor shaft is directly connected to the eccentric body shaft for input (the motor itself revolves or becomes a frame rotation type). Thereafter, power may be transmitted to the other eccentric body shafts, or the driven shaft may remain driven.

  Further, in the above embodiment, the groove for arranging the O-ring is formed in the bearing, but the member supporting the bearing (in the previous embodiment, not the outer ring or inner ring of the bearing). You may make it form in the member (eccentric body axis | shaft) side supported by the 1st, 2nd carrier) and the bearing.

G1 ... Deceleration device M1 ... Motor 10 ... Motor shaft 10A ... Tapered outer periphery 12 ... Input shaft (eccentric body shaft)
12A ... Tapered hollow portion 14-16 ... 1st-3rd eccentric body 18-20 ... 1st-3rd roller bearing 22-24 ... 1st-3rd external gear 26 ... Internal gear 32, 34 ... 1st DESCRIPTION OF SYMBOLS 1, 2nd carrier 61, 62 ... 1st, 2nd ball bearing 82, 84, 86, 88 ... O-ring

Claims (9)

Supporting the eccentric body shaft, an external gear which is swung by the eccentric bodies provided on the eccentric body on the shaft, the internal gear external gear is internally engaged while swinging, the eccentric shaft Eccentric shaft bearing, and an eccentric bearing disposed between the eccentric body and the external gear, and is used in conjunction with a motor shaft having a tapered outer peripheral portion. A speed reducer,
The external gear has a bearing hole in which the eccentric bearing is disposed,
The eccentric body bearing has a roller as a rolling element, and the roller contacts the inner peripheral surface of the bearing hole and the outer peripheral surface of the eccentric body,
The eccentric body shaft is formed with a tapered hollow portion that can be frictionally connected to a tapered outer peripheral portion of the motor shaft on an inner periphery,
The eccentric body shaft bearings is incorporated in a movable manner the eccentric body shaft in the axial direction,
At least one outer circumference or the inner ring of the inner periphery of the outer ring of the eccentric body shaft bearings, O-ring is arranged,
Even if the eccentric body shaft is moved to the maximum in the axial direction, the edge of the bearing hole of the external gear is configured not to contact the rolling surface of the roller of the eccentric body bearing. Swing type speed reducer. In claim 1,
An eccentric rocking type speed reducer characterized in that an outer ring of the eccentric body shaft bearing is incorporated with a clearance fit, and the O-ring is disposed on the outer periphery of the outer ring. In claim 1 or 2,
An eccentric oscillating speed reduction device, wherein an inner ring of the eccentric body shaft bearing is incorporated with a clearance fit, and the O-ring is disposed on an inner periphery of the inner ring. In any one of Claims 1-3,
An eccentric oscillating speed reduction device, wherein a key is interposed between a tapered outer peripheral portion of the motor shaft and a tapered hollow portion of the eccentric body shaft. In any one of Claims 1-4,
A nut member having a male screw portion formed at a tip portion of the motor shaft and having a female screw portion screwed with the male screw portion and having a tip surface abutting on a contact surface formed on an inner periphery of the eccentric body shaft. An eccentric oscillating speed reducer characterized by comprising: In claim 5,
The eccentric body shaft has a recess adjacent to the tapered hollow portion, and the recess has the contact surface.
An eccentric oscillating speed reduction device. In any one of Claims 1-6 ,
Two eccentric surfaces are formed on the outer periphery of the end of the eccentric body shaft on the side opposite to the motor. In any one of Claims 1-7 ,
Before SL This filtration is also the eccentric body shaft is moved to the maximum in the axial direction, the edge of the bearing hole is either an axial length that does not touch the rolling surface of the roller, or crowning process An eccentric oscillating speed reducer characterized by the above. In claim 5,
It said abutment surface, when viewed from the radial direction, the eccentric oscillating type reduction gear, characterized in that it is formed in a position that does not overlap with the eccentric body shaft bearings.

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