JP7199147B2 - Eccentric oscillating speed reducer and lubricating method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an eccentric oscillating speed reducer and a method for supplying lubricant to this device.

In Patent Document 1, the present applicant disclosed an eccentric oscillating speed reducer including an external gear oscillated by an eccentric body and an internal gear with which the external gear internally meshes.

JP 2013-124730 A

In the speed reducer, a lubricant such as grease is supplied from the outside to the meshing portion between the external gear and the internal gear as needed. For this reason, it is desirable that the speed reducer can easily supply the lubricant to the inside. The speed reducer described in Patent Document 1 secures an axial clearance between a main bearing that supports a carrier body and an external gear, and has an axially protruding portion that abuts on the external gear at a predetermined position of the carrier body. This issue is addressed by forming a department. There is a need for such reduction gears to facilitate the manufacture of the components of the device, including the carrier body.

SUMMARY OF THE INVENTION An object of the present invention is to provide an eccentric oscillating speed reducer that facilitates the manufacture of its constituent members.

In order to solve the above problems, an eccentric oscillating type reduction gear transmission according to one aspect of the present invention comprises an internal gear provided in a casing, an external gear meshing with the internal gear, and an axially aligned external gear. a first carrier provided on the side of the external gear, a second carrier provided on the other axial side of the external gear, a first main bearing provided between the casing and the first carrier, the casing and the second carrier and a second main bearing provided between. Axial movement of the external gear to one side in the axial direction is restricted by the first member, which is one of the inner ring and the outer ring of the first main bearing, and axial movement of the external gear to the other side in the axial direction is restricted by the first member. The total value of axial clearances between the first member and the second member, which are regulated by the second member, which is either the inner ring or the outer ring of the two main bearings, is 0.09 mm or more.

Another aspect of the present invention is a lubricating method. This method is a method of supplying lubricant to the above-described eccentric oscillating speed reducer, wherein the lubricant is supplied to the eccentric oscillating speed reducer at a discharge pressure of 2.5 MPa or less from a device for discharging lubricant. Including discharging to the greasing port.

Arbitrary combinations of the above constituent elements, and mutually replacing the constituent elements and expressions of the present invention in methods, systems, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to provide an eccentric oscillating speed reducer capable of facilitating the manufacture of its constituent members.

1 is a side cross-sectional view showing an eccentric oscillating speed reducer according to a first embodiment; FIG. FIG. 2 is an enlarged view showing the periphery of a first main bearing and a second main bearing of the eccentric oscillation type reduction gear transmission of FIG. 1; FIG. 2 is an explanatory diagram illustrating a method of supplying a lubricant to the eccentric oscillation type reduction gear transmission of FIG. 1; 5 is a graph showing the relationship between the total value of axial clearances between main bearings and the amount of grease supplied. It is a side sectional view showing an eccentric oscillation type reduction gear transmission of a second embodiment. It is a side cross-sectional view showing an eccentric oscillation type reduction gear transmission of a third embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiment, the comparative example, and the modified example, the same or equivalent constituent elements and members are denoted by the same reference numerals, and duplication of description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in each drawing, some of the members that are not important for explaining the embodiments are omitted.
Also, terms including ordinal numbers such as first, second, etc. are used to describe various components, but these terms are used only for the purpose of distinguishing one component from other components, and the terms The constituent elements are not limited by

[First embodiment]
The configuration of the eccentric oscillation type reduction gear transmission 10 according to the first embodiment will be described below with reference to the drawings. FIG. 1 is a side sectional view showing an eccentric oscillating speed reducer 10 of the first embodiment. The eccentric oscillating speed reducer 10 of the present embodiment oscillates the external gear that meshes with the internal gear to cause rotation of one of the internal gear and the external gear, and outputs the resulting motion component. It is an eccentric oscillating gear device that outputs from a member to a driven device.

The eccentric oscillating speed reducer 10 mainly includes an input shaft 12, an external gear 14, an internal gear 16, carriers 18 and 20, a casing 22, main bearings 24 and 26, and a grease port 80. And prepare. Hereinafter, the direction along the central axis La of the internal gear 16 will be referred to as the "axial direction", and the circumferential direction and the radial direction of a circle centered on the central axis La will be referred to as the "circumferential direction" and the "radial direction", respectively. do. Further, hereinafter, for the sake of convenience, one side in the axial direction (right side in the drawing) will be referred to as the input side, and the other side (left side in the drawing) will be referred to as the anti-input side.

The input shaft 12 is rotated around the rotation center line by rotational power input from a driving device (not shown). The eccentric oscillating type speed reducer 10 of the present embodiment is a center crank type in which the rotation center line of the input shaft 12 is coaxial with the center axis line La of the internal gear 16 . The drive device is, for example, a motor, gear motor, engine, or the like.

The input shaft 12 of this embodiment is a crankshaft having a plurality of eccentric portions 12a for causing the external gear 14 to oscillate. The axis of the eccentric portion 12 a is eccentric with respect to the rotation center line of the input shaft 12 . In this embodiment, two eccentric portions 12a are provided, and the eccentric phases of adjacent eccentric portions 12a are shifted by 180°.

The external gear 14 is individually provided corresponding to each of the plurality of eccentric portions 12a. The external gear 14 is rotatably supported by the corresponding eccentric portion 12 a via the eccentric bearing 30 . A pin hole 14 a through which the pin member 32 penetrates is formed in the external gear 14 . A gap is provided between the pin member 32 and the pin hole 14a to provide play for absorbing the oscillating component of the external gear 14. As shown in FIG. The pin member 32 and the inner wall surface of the pin hole 14a partially contact each other.

The internal gear 16 meshes with the external gear 14 . The internal gear 16 of the present embodiment has a plurality of outer pins 16 a that are rotatably supported by the inner peripheral portion of the casing 22 and that constitute the internal teeth of the internal gear 16 . The number of internal teeth (the number of external pins 16a) of the internal gear 16 is one more than the number of external teeth of the external gear 14 in this embodiment.

The casing 22 has a tubular shape as a whole, and the internal gear 16 is provided on the inner circumference thereof. An annular flange portion 22 a is provided on the outer peripheral portion of the casing 22 . The flange portion 22a is provided radially outward with respect to the meshing portion between the internal gear 16 and the external gear 14 . Female screw holes 22b into which screw members can be screwed are formed at intervals in the circumferential direction in the flange portion 22a.

The carriers 18 , 20 are arranged on the axial sides of the external gear 14 . The carriers 18 and 20 include a first carrier 18 arranged on the side of the input side of the external gear 14 and a second carrier 20 arranged on the side of the external gear 14 opposite to the input side. . The carriers 18 , 20 are disk-shaped and rotatably support the input shaft 12 via input shaft bearings 34 .

The first carrier 18 and the second carrier 20 are connected via pin members 32 . The pin member 32 axially penetrates the plurality of external gears 14 at positions radially offset from the axis of the external gear 14 . The pin member 32 of this embodiment is integrally provided as part of the same member as the second carrier 20, but may be provided separately from the carriers 18 and 20. FIG. A plurality of pin members 32 are provided around the center axis La of the internal gear 16 at intervals.

The pin member 32 of this embodiment is formed with a female threaded hole 32a that opens to the end face in the axial direction. The first carrier 18 is formed with a stepped insertion hole 38 through which the screw member 36 is inserted from the opposite side of the pin member 32 across the first carrier 18 . The pin member 32 is fixed to the first carrier 18 by screwing the threaded member 36 into the female threaded hole 32a. A pin hole 40 into which the tip of the pin member 32 is inserted is formed in the first carrier 18 of the present embodiment.

A member that outputs rotational power to a driven device is called an output member, and a member that is fixed to an external member for supporting the eccentric oscillation type reduction gear transmission 10 is called a fixed member. The output member of this embodiment is the casing 22 and the fixed member is the second carrier 20 . The output member is rotatably supported by the fixed member via main bearings 24 and 26 .

FIG. 2 is an enlarged view showing the main bearings 24, 26 together with part of the surrounding structure. The main bearings 24 , 26 include a first main bearing 24 located between the first carrier 18 and casing 22 and a second main bearing 26 located between the second carrier 20 and casing 22 . . In this embodiment, the pair of main bearings 24, 26 are arranged in a so-called back-to-back arrangement.

The main bearings 24, 26 of this embodiment include a plurality of rolling elements 42 and a retainer (not shown). A plurality of rolling elements 42 are provided at intervals in the circumferential direction. The rolling elements 42 of this embodiment are spherical bodies. The retainer holds the relative positions of the plurality of rolling elements 42 and rotatably supports the plurality of rolling elements 42 .

The main bearings 24, 26 of the present embodiment include an outer ring 48 provided with an outer raceway surface on which the rolling elements 42 roll, but do not include an inner ring provided with an inner raceway surface on which the rolling elements 42 roll. Alternatively, the inner rolling surfaces are provided on the outer peripheral surfaces of the carriers 18,20. The outer rolling surface is provided on the radially outer side of the rolling element 42 , and the inner rolling surface is provided on the radially inner side of the rolling element 42 . The outer ring 48 is integrated with the casing 22 by interference fit, intermediate fit, or the like.

A preload may be applied to the main bearings 24 , 26 . Preload is applied mainly to ensure bearing characteristics such as moment rigidity of the main bearings 24 and 26 . In this embodiment, angular contact ball bearings are exemplified as the main bearings 24 and 26 . The main bearings 24 and 26 may also be rolling bearings such as tapered roller bearings and angular roller bearings, which will be described later.

(Greasing port)
Next, the grease inlet 80 will be described. In the eccentric oscillating speed reducer 10, it is desirable to replenish lubricant such as grease to the meshing portion between the external gear 14 and the internal gear 16 and the inside thereof as needed. For this reason, the eccentric oscillating type reduction gear transmission 10 is provided with a lubricating port 80 for supplying lubricant from the outside. The lubricating port 80 may be arranged anywhere as long as the lubricant can be supplied to the inside of the eccentric oscillation type reduction gear transmission 10 . As shown in FIG. 2, the greasing port 80 of the present embodiment is provided in the flange portion 22a, and is formed as a passage extending radially from the outer peripheral surface of the flange portion 22a to the inner peripheral surface of the casing 22. . Although not shown, the eccentric oscillating speed reducer 10 is also provided with a grease drain port.

A short lubricant supply path is desirable. Therefore, the grease supply port 80 of the present embodiment opens in the facing surface 22h of the casing 22 facing the external gear 14 . Since the grease supply port 80 is opened at a position facing the external gear 14, the lubricant supply path can be shortened. Specifically, the grease inlet 80 opens between the outer pins 16a.

FIG. 3 is an explanatory diagram illustrating a method of supplying lubricant to the eccentric oscillation type reduction gear transmission 10. As shown in FIG. A discharge device 88 that pressurizes a lubricant and discharges it from a discharge port 88b is used to supply grease to the eccentric oscillation type speed reducer 10. As shown in FIG. As shown in FIG. 3, the lubricant is discharged from a discharge device 88 into the grease inlet 80 at a predetermined discharge pressure. In order to reduce damage to the grease port 80 when the discharge port 88b is connected to the grease port 80, the discharge port 88b is desirably formed of a material (for example, resin) that is softer than the grease port 80.

(Axial clearance)
Please refer to FIG. The external gear 14 of this embodiment is configured to be axially movable between the first main bearing 24 and the second main bearing 26 . Excessive movement of the external gear 14 reduces the contact width between the external gear 14 and the eccentric bearing 30, increases the surface pressure at the contact portion, and may cause early damage. Therefore, in this embodiment, the outer ring 48 of the first main bearing 24 restricts the axial movement of the external gear 14 toward the input side, and the outer ring 48 of the second main bearing 26 restricts the movement of the external gear 14 toward the non-input side. Axial movement to is restricted. In other words, the two external gears 14 are axially movable between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, and there are several axial movements between these members. A gap is formed.

In this embodiment, three gaps G1, G2, and G3 defined below are formed. A gap in the axial direction between the outer ring 48 of the first main bearing 24 and the external gear 14 on the input side is called a gap G1. A gap in the axial direction between the external gear 14 on the input side and the external gear 14 on the counter-input side is called a gap G2. A gap in the axial direction between the external gear 14 on the opposite input side and the outer ring 48 of the second main bearing 26 is called a gap G3. That is, between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, there is an axial clearance exemplified by the total value Gt of the clearances G1, G2, and G3. In addition, in a configuration in which a separate member such as a washer is interposed in these gaps, the total value Gt of the gaps is reduced by the thickness of the separate member in the axial direction.

When supplying the lubricant, the lubricant supplied from the lubricating port 80 passes through the axial gap that exists between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 and enters the interior. permeate. If these axial clearances are too small, the movement of the lubricant supplied from the grease inlet 80 from the outside of the external gear 14 to the inside in the radial direction may be significantly hindered. In this case, lubrication may take a long time, and workability is remarkably lowered.

From the viewpoint of facilitating the supply of the lubricant, the inventors have made intensive studies and found the following relationship between the total axial clearance Gt and the amount of grease supplied per unit time Sg. rice field. FIG. 4 is a graph showing the relationship between the total value Gt of the axial clearance between the main bearings 24 and 26 and the amount of grease supplied per unit time Sg when grease is supplied at a discharge pressure of 2.0 MPa. In FIG. 4, the horizontal axis indicates the total value Gt of the axial clearance, and the vertical axis indicates the amount of grease Sg supplied per unit time (1 minute). Each point in FIG. 4 plots the amount of grease supplied Sg corresponding to the total value Gt.

As shown in FIG. 4, when the total axial clearance Gt is less than 0.09 mm, the lubrication amount Sg per unit time is small and the lubricant hardly penetrates inside. However, when the total value Gt of the axial clearance is 0.09 mm or more, the amount Sg of grease supplied per unit time increases, and the lubricant smoothly penetrates inside. In other words, by setting the total value Gt of the axial clearance between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 to 0.09 mm or more, the lubricant can be easily supplied. .

Although FIG. 4 does not show the case where the total value Gt of the axial clearance exceeds 0.15 mm, even if the total value Gt exceeds 0.15 mm, the lubrication amount Sg per unit time is small. not increase. Further, if the total value Gt of the axial clearances is too large, the axial play of the external gear 14 may become large and the rotational accuracy may deteriorate. The inventors conducted extensive studies and confirmed that the problem of excessive clearance does not pose a problem in practice as long as the total clearance Gt satisfies the formula (1).
Formula (1): Gt≦0.13 mm+0.7×N mm
However, N is the number of axial clearances existing between the outer ring of the first main bearing 24 and the outer ring of the second main bearing 26 . In this embodiment, the number of gaps is three, G1, G2, and G3, and N=3. If another member such as a washer is interposed between these axial clearances, the number N of axial clearances increases by the number of the additional members.

In particular, from the viewpoint of suppressing early damage due to a decrease in the contact width between the external gear 14 and the eccentric bearing 30, it is preferable to set the total value Gt of the axial clearances to 0.13 mm or less.

In order to shorten the work time for supplying the lubricant, it is conceivable to increase the discharge pressure of the discharge device 88 . In this case, it is conceivable that the ejection device 88 will be enlarged and power consumption will increase. Further, if the discharge pressure is excessively increased, the discharge port 88b expands, creating a gap between the discharge port 88b and the grease supply port 80, and the lubricant may leak from the gap. From these points of view, the inventors have repeatedly studied the discharge pressure from the discharge device for discharging the lubricant when supplying the lubricant. As a result, it was confirmed that there is no practical problem if the lubricant is discharged to the grease inlet 80 at a discharge pressure of 2.5 MPa or less.

The operation of the eccentric oscillation type reduction gear transmission 10 configured as described above will be described. When rotational power is transmitted from the driving device to the input shaft 12, the eccentric portion 12a of the input shaft 12 rotates around the rotation center line passing through the input shaft 12, and the external gear 14 oscillates due to the eccentric portion 12a. At this time, the external gear 14 oscillates such that its own axis rotates around the rotation center line of the input shaft 12 . When the external gear 14 oscillates, the meshing positions of the external gear 14 and the internal gear 16 are sequentially displaced. As a result, each time the input shaft 12 makes one rotation, one of the external gear 14 and the internal gear 16 rotates by the amount corresponding to the difference in the number of teeth between the external gear 14 and the internal gear 16 . In this embodiment, the internal gear 16 rotates and the casing 22 outputs reduced rotation.

[Second embodiment]
Next, the configuration of the eccentric oscillation type reduction gear transmission 10 according to the second embodiment will be described. In the drawings and description of the second embodiment, the same reference numerals are given to the same or equivalent components and members as in the first embodiment. Explanations overlapping with those of the first embodiment will be appropriately omitted, and the explanation will focus on the configuration different from that of the first embodiment. FIG. 5 is a side cross-sectional view showing the eccentric oscillating speed reducer 10 of the second embodiment, and corresponds to FIG. While the first embodiment has two external gears 14 and two eccentric portions 12a, the eccentric oscillating type speed reducer 10 of the second embodiment has three external gears 14 and three , and the other configurations are the same. In the second embodiment, three eccentric portions 12a are provided, and the eccentric phases of the respective eccentric portions 12a are shifted by 120°.

As shown in FIG. 5, in this embodiment, three external gears 14 exist between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 in the axial direction. , four gaps G1, G2, G3, G4 can be formed between these members. Clearances G1, G2, G3, and G4 exist between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, and the total value Gt of these axial clearances is 0.09 mm or more. is set to 0.13 mm or less. In addition, this embodiment has a greasing port 80 that opens on the surface of the casing 22 facing the external gear 14 .

The eccentric oscillation type reduction gear transmission 10 according to the second embodiment configured as described above operates in the same manner as the eccentric oscillation type reduction gear transmission 10 .

[Third embodiment]
Next, the configuration of the eccentric oscillation type reduction gear transmission 10 according to the third embodiment will be described. In the drawings and description of the third embodiment, the same reference numerals are given to the same or equivalent components and members as those of the first embodiment. Explanations overlapping with those of the first embodiment will be appropriately omitted, and the explanation will focus on the configuration different from that of the first embodiment. FIG. 6 is a side cross-sectional view showing an eccentric oscillation type reduction gear transmission 10 of the third embodiment, and corresponds to FIG.

In the first embodiment, a center crank type eccentric oscillating gear device has been described as an example. The eccentric oscillating speed reducer of the present embodiment is a so-called distribution type eccentric oscillating gear device. The eccentric oscillating type reduction gear transmission 10 of the present embodiment differs from the first embodiment mainly in that a plurality of input gears 70 are provided, the input shaft 12 and the main bearings 24 and 26 are provided.

A plurality of input gears 70 are arranged around the center axis La of the internal gear 16 . Only one input gear 70 is shown in this figure. The input gear 70 is supported by the input shaft 12 inserted through its central portion, and is provided rotatably integrally with the input shaft 12 . The input gear 70 meshes with an external tooth portion of a rotating shaft (not shown) provided on the center axis La of the internal gear 16 . Rotational power is transmitted to the rotating shaft from a driving device (not shown), and the rotation of the rotating shaft causes the input gear 70 to rotate integrally with the input shaft 12 .

A plurality (for example, three) of the input shafts 12 of the present embodiment are arranged at positions offset from the center axis La of the internal gear 16 with intervals in the circumferential direction. Only one input shaft 12 is shown in this figure.

The main bearings 24, 26 of this embodiment are tapered roller bearings, that is, roller bearings. The rolling elements 42 of this embodiment are conical rollers. When the main bearings 24, 26 are roller bearings as in the present embodiment, the main bearings 24, 26 normally comprise an inner ring 72 provided with an inner raceway surface in addition to the outer ring 48 provided with an outer raceway surface. .

As shown in FIG. 6, in this embodiment, two external gears 14 exist between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26 in the axial direction. , three gaps G1, G2, G3 can be formed between these members. There are gaps G1, G2, and G3 between the outer ring 48 of the first main bearing 24 and the outer ring 48 of the second main bearing 26, and the total value Gt of these axial gaps is not less than 0.09 mm and is zero. .13 mm or less. In addition, this embodiment has a greasing port 80 that opens on the surface of the casing 22 facing the external gear 14 .

The operation of the eccentric oscillating speed reducer 10 of this embodiment will be described. When rotational power is transmitted from the driving device to the rotating shaft, the rotating power is distributed from the rotating shaft to the plurality of input gears 70, and each input gear 70 rotates in the same phase. When each input gear 70 rotates, the eccentric portion 12a of the input shaft 12 rotates around the rotation center line passing through the input shaft 12, and the external gear 14 oscillates due to the eccentric portion 12a. When the external gear 14 oscillates, the meshing positions of the external gear 14 and the internal gear 16 sequentially shift, and one of the external gear 14 and the internal gear 16 rotates on its axis, as in the first embodiment. The rotation of the input shaft 12 is reduced by a reduction ratio corresponding to the difference in the number of teeth between the external gear 14 and the internal gear 16, and is output from the output member to the driven device.

An overview of one aspect of the present invention is as follows. An eccentric oscillating type reduction gear transmission 10 according to one aspect of the present invention includes an internal gear 16 provided in a casing 22, an external gear 14 meshing with the internal gear 16, and one side of the external gear 14 in the axial direction. A first carrier 18 provided, a second carrier 20 provided on the other axial side of the external gear 14, a first main bearing 24 provided between a casing 22 and the first carrier 18, and a casing 22 and a second main bearing 26 provided between the second carrier 20 . Axial movement of the external gear 14 to one side in the axial direction is restricted by the first member, which is either the inner ring or the outer ring of the first main bearing 24, and the axial movement of the external gear 14 to the other side in the axial direction is restricted. is regulated by the second member, which is either the inner ring or the outer ring of the second main bearing 26, and the total value Gt of axial clearances existing between the first member and the second member is 0.09 mm or more.

According to this aspect, while the axial movement of the external gear 14 is restricted by the first and second main bearings, the lubricant penetrates inside more smoothly than when the total value Gt of the axial clearances is too small, It facilitates the supply of lubricant. Therefore, there is no need to provide the carrier with a restricting portion for the external gear, the shape of the carrier can be simplified, and the carrier can be manufactured easily.

When the number of axial gaps existing between the first member and the second member is N, the total value Gt of the axial gaps is obtained by formula (1): Gt ≤ 0.13 mm + 0.7 × N mm. may be filled. In this case, compared to the case where the total value Gt of the axial gaps is too large, it is possible to reduce the play in the axial direction of the external gear 14 and suppress the deterioration of the rotational accuracy.

The total value Gt of the axial clearance may be 0.13 mm or less. In this case, the play in the axial direction of the external gear 14 can be further reduced to further suppress deterioration in rotational accuracy.

The casing 22 may have a grease supply port 80 that opens on the surface facing the external gear 14 . In this case, the path from the grease inlet 80 to the external gear 14 can be shortened, and the lubricant can be supplied more smoothly.

Another aspect of the present invention is a lubricating method. This method is a method of supplying lubricant to the eccentric oscillating speed reducer 10, in which the lubricant is discharged from the discharge device 88 for discharging the lubricant to the grease supply port 80 at a discharge pressure of 2.5 MPa or less. It contains According to this aspect, it is possible to reduce the size and power consumption of the ejection device 88 as compared with the case where the ejection pressure is high. In addition, the seal structure for the lubricant in the lubricating route from the discharge device 88 to the lubricating port 80 can be simplified.

Exemplary embodiments of the present invention have been described above in detail. All of the above-described embodiments merely show specific examples for carrying out the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of constituent elements can be made without departing from the spirit of the invention defined in the claims. It is possible. In the above-described embodiment, descriptions such as "of the embodiment", "in the embodiment", etc. are added to the contents that allow such design changes. Changes are not unacceptable. Moreover, the hatching attached to the cross section of the drawing does not limit the material of the hatched object.

Modifications will be described below. In the drawings and description of the modified example, the same reference numerals are given to the same or equivalent components and members as the embodiment. Descriptions that overlap with the embodiment will be omitted as appropriate, and the configuration that is different from the first embodiment will be mainly described.

Although the first embodiment described an example in which the first main bearing 24 and the second main bearing 26 do not have inner rings, the present invention is not limited to this. At least one of the first main bearing 24 and the second main bearing 26 may be a bearing having an inner ring.

Although the first embodiment described an example in which the outer rings 48 of the first main bearing 24 and the second main bearing 26 restrict axial movement of the external gear 14, the present invention is not limited to this. The axial movement of the external gear 14 may be restricted by the inner ring of the main bearing. In this case, the total value Gt of axial clearances existing between the inner ring of the first main bearing 24 and the inner ring of the second main bearing 26 is set to 0.09 mm or more.

An example in which the output member of the embodiment is the casing 22 and the carriers 18 and 20 are fixed to the outer member has been described. Alternatively, the output members may be carriers 18, 20 and the casing 22 may be secured to the outer member.

Although an example in which the opening of the grease port 80 is provided on the outer peripheral surface of the flange portion 22 a of the casing 22 has been described, the grease port 80 may be provided at a position avoiding the flange portion 22 a of the casing 22 . Also, the greasing port 80 may be provided in a portion other than the casing, such as the carrier.

Each of the modifications described above has the same functions and effects as the first embodiment.

Any combination of the above embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the effects of each of the combined embodiments and modifications.

DESCRIPTION OF SYMBOLS 10... Eccentric oscillation type|mold reduction gear, 12... Input shaft, 14... External gear, 16... Internal gear, 18... First carrier, 20... Second carrier, 22... Casing, 24 First main bearing 26 Second main bearing 30 Eccentric bearing 32 Pin member 34 Input shaft bearing 36 Screw member 38 Insertion hole 40 Pin Hole 42 Rolling element 48 Outer ring 70 Input gear 72 Inner ring 80 Greasing port 88 Discharge device.

Claims (5)

an internal gear provided in the casing;
an external gear that meshes with the internal gear;
a pin member passing through a hole provided in the external gear;
a first carrier provided on one axial side of the external gear;
a second carrier provided on the other axial side of the external gear;
a first main bearing provided between the casing and the first carrier;
a second main bearing provided between the casing and the second carrier;
and an eccentric oscillating type reduction gear in which grease is sealed,
Axial movement of the external gear to one side in the axial direction is restricted by a first member that is one of the inner ring and the outer ring of the first main bearing,
Axial movement of the external gear to the other side in the axial direction is restricted by a second member that is one of the inner ring and the outer ring of the second main bearing,
Adjacent external gears of the plurality of external gears between the first member and the second member are in contact with each other at positions outside the pin member in the radial direction of the internal gear . is possible and
An eccentric oscillating type reduction gear transmission, wherein a total value of axial clearances existing between the first member and the second member is 0.09 mm or more. 2. The eccentric oscillating type reduction gear transmission according to claim 1, wherein the total value of said axial clearances is 0.13 mm or less. 3. The eccentric oscillating type reduction gear transmission according to claim 1, further comprising a grease inlet opening on a surface of said casing facing said external gear. an internal gear provided in the casing;
an external gear that meshes with the internal gear;
a first carrier provided on one axial side of the external gear;
a second carrier provided on the other axial side of the external gear;
a first main bearing provided between the casing and the first carrier;
a second main bearing provided between the casing and the second carrier;
and an eccentric oscillating type reduction gear in which grease is sealed,
Axial movement of the external gear to one side in the axial direction is restricted by a first member that is one of the inner ring and the outer ring of the first main bearing,
Axial movement of the external gear to the other side in the axial direction is restricted by a second member that is one of the inner ring and the outer ring of the second main bearing,
The total value of the axial clearances existing between the first member and the second member is 0.09 mm or more,
having a grease inlet opening to a surface of the casing facing the external gear;
The eccentric oscillating speed reducer, wherein the grease can be supplied at a rate of 10 g/min or more from the grease supply port when the grease is discharged at a discharge pressure of 2.0 MPa. 5. A method for supplying lubricant to the eccentric oscillation type speed reducer according to claim 4, wherein the grease is supplied to the greasing port at a discharge pressure of 2.5 MPa or less from a discharge device that discharges the lubricant. A lubricating method, comprising:

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