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TWI851725B - Bearings and reducers - Google Patents

Bearings and reducers Download PDF

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Publication number
TWI851725B
TWI851725B TW109116513A TW109116513A TWI851725B TW I851725 B TWI851725 B TW I851725B TW 109116513 A TW109116513 A TW 109116513A TW 109116513 A TW109116513 A TW 109116513A TW I851725 B TWI851725 B TW I851725B
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TW
Taiwan
Prior art keywords
race
bearing
axial direction
aforementioned
inner race
Prior art date
Application number
TW109116513A
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Chinese (zh)
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TW202100892A (en
Inventor
古田和哉
栩川佑樹
Original Assignee
日商納博特斯克股份有限公司
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Publication of TW202100892A publication Critical patent/TW202100892A/en
Application granted granted Critical
Publication of TWI851725B publication Critical patent/TWI851725B/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • 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
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear 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
    • 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
    • F16C19/34—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 both radial and axial load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • 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
    • 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
    • F16C19/34—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 both radial and axial load
    • F16C19/36—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 both radial and axial load with a single row of rollers
    • F16C19/364—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 both radial and axial load with a single row of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone
    • 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
    • F16C19/34—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 both radial and axial load
    • F16C19/38—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 both radial and axial load with two or more rows of rollers
    • F16C19/383—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 both radial and axial load with two or more rows of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone
    • F16C19/385—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 both radial and axial load with two or more rows of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone with two rows, i.e. double-row tapered roller bearings
    • F16C19/386—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 both radial and axial load with two or more rows of rollers with tapered rollers, i.e. rollers having essentially the shape of a truncated cone with two rows, i.e. double-row tapered roller bearings in O-arrangement
    • 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
    • F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
    • F16C2240/30—Angles, e.g. inclinations
    • F16C2240/34—Contact angles
    • 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
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/39—General buildup of machine tools, e.g. spindles, slides, actuators
    • 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
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms
    • 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
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/65—Gear shifting, change speed gear, gear box
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolling Contact Bearings (AREA)
  • Retarders (AREA)

Abstract

本發明之軸承具備：外座圈；內座圈，其具有內周面及軸線方向端面；及滾動體，其配置於前述外座圈與前述內座圈之間，且其荷重作用線不通過前述內周面。The bearing of the present invention comprises: an outer race; an inner race having an inner peripheral surface and an axial end surface; and a rolling element arranged between the outer race and the inner race, and whose load action line does not pass through the inner peripheral surface.

Description

軸承與減速機Bearings and reducers

本發明係關於一種軸承與減速機。 The present invention relates to a bearing and a reducer.

在產業用機器人或工作機械等中，為了將馬達等之旋轉驅動源之旋轉減速而使用減速機(例如，參照專利文獻1)。專利文獻1所記載之減速機具備：外齒齒輪；內齒齒輪，其供外齒齒輪內接嚙合；外殼，其設置有內齒齒輪；載架，其與外殼相對旋轉；主軸承，其配置於外殼與載架之間；及偏心體軸，其經由圓錐滾子軸承旋轉自如地受載架支持。在該減速機中，外齒齒輪經由滾針軸承安裝於偏心體軸之偏心體。 In industrial robots or working machines, a speed reducer is used to reduce the speed of a rotary drive source such as a motor (for example, see Patent Document 1). The speed reducer described in Patent Document 1 includes: an outer gear; an inner gear that is internally engaged with the outer gear; an outer housing on which the inner gear is disposed; a carrier that rotates relative to the outer housing; a main bearing disposed between the outer housing and the carrier; and an eccentric body shaft that is rotatably supported by the carrier via a tapered roller bearing. In the speed reducer, the outer gear is mounted on the eccentric body of the eccentric body shaft via a needle bearing.

藉由針對主軸承使用圓錐滾子軸承，而與針對主軸承使用斜角滾珠軸承之構成比較，可提高容許力矩及減速機之剛性等。其相反面為，由於對減速機施加之負載增大，故有減速機之構成零件之變形量增加之顧慮，減速機之構成零件必須以具有適宜之厚度之方式形成。尤其是，主軸承之供內環安裝之部分由於容易被施加主軸承之荷重，故必須以具有可實現變形抑制之厚度之方式形成。 By using a tapered roller bearing for the main bearing, the allowable torque and the rigidity of the speed reducer can be increased compared to the structure using an angled ball bearing for the main bearing. On the other hand, since the load applied to the speed reducer increases, there is a concern that the deformation of the components of the speed reducer will increase, and the components of the speed reducer must be formed in a manner with an appropriate thickness. In particular, the portion of the main bearing where the inner ring is mounted must be formed in a manner with a thickness that can achieve deformation suppression because the load of the main bearing is easily applied.

[先前技術文獻] [Prior Art Literature]

[專利文獻] [Patent Literature]

[專利文獻1] 日本特開2016-109264號公報 [Patent Document 1] Japanese Patent Publication No. 2016-109264

然而，在必須以減速機之構成零件之厚度變大之方式形成之情形下，設計上之制約之增加、及減速機之大型化等成為問題。因而，在先前之軸承中，在抑制構成供軸承安裝之減速機等之旋轉機器之零件之厚度之增加之方面，尚有改善之餘地。 However, if the thickness of the components of the speed reducer must be increased, the increase in design constraints and the enlargement of the speed reducer become problems. Therefore, in the previous bearings, there is still room for improvement in suppressing the increase in the thickness of the components of the rotating machine such as the speed reducer on which the bearing is installed.

因而，本發明提供一種可減薄旋轉機器之構成零件之厚度之軸承與具備該軸承之減速機。 Therefore, the present invention provides a bearing that can reduce the thickness of components of a rotating machine and a speed reducer having the bearing.

本發明之一態樣之軸承具備：外座圈；內座圈，其具有內周面及軸線方向端面；及滾動體，其配置於前述外座圈與前述內座圈之間，且其荷重作用線不通過前述內周面。 A bearing of one embodiment of the present invention comprises: an outer race; an inner race having an inner peripheral surface and an axial end surface; and a rolling element disposed between the outer race and the inner race, and whose load action line does not pass through the inner peripheral surface.

根據本發明之一態樣之軸承，可避免荷重作用線以在徑向橫貫之方式通過具有保持軸承之內座圈之內周面之外周的構件之壁部。 According to one aspect of the bearing of the present invention, it is possible to prevent the load action line from passing through the wall of the component having the outer periphery of the inner peripheral surface of the inner race of the bearing in a radially transverse manner.

此處，所謂「壁部」係意指不包含「孔」或「凹部」等空間之部分。 Here, the so-called "wall portion" refers to a portion that does not include spaces such as "holes" or "recesses".

藉此，抑制支持內座圈之構件之壁部以朝向徑向之內側撓曲之方式 變形，而可減輕對支持內座圈之構件施加之負載。因而，可減薄供軸承安裝之機器之構成零件之厚度。 This can suppress the wall portion of the member supporting the inner race from deforming in a radially inward bending manner, thereby reducing the load applied to the member supporting the inner race. As a result, the thickness of the component parts of the machine on which the bearing is mounted can be reduced.

本發明之一態樣之軸承具備：外座圈，其以特定之軸線為中心；內座圈，其在前述軸線之方向具有端面；及滾動體，其配置於前述外座圈與前述內座圈之間，且其荷重作用線通過前述端面。 A bearing of one aspect of the present invention comprises: an outer race centered on a specific axis; an inner race having an end face in the direction of the aforementioned axis; and a rolling element disposed between the aforementioned outer race and the aforementioned inner race, and whose load action line passes through the aforementioned end face.

根據本發明之一態樣之軸承，可避免荷重作用線以在徑向橫貫之方式通過具有保持軸承之內座圈之內周面之外周的構件之壁部。 According to one aspect of the bearing of the present invention, it is possible to prevent the load action line from passing through the wall of the component having the outer periphery of the inner peripheral surface of the inner race of the bearing in a radially transverse manner.

藉此，抑制支持內座圈之構件之壁部以朝向徑向之內側撓曲之方式變形，而可減輕對支持內座圈之構件施加之負載。因而，可減薄供軸承安裝之機器之構成零件之厚度。 This can suppress the deformation of the wall of the member supporting the inner race in the form of radial inward bending, thereby reducing the load applied to the member supporting the inner race. As a result, the thickness of the components of the machine on which the bearing is mounted can be reduced.

本發明之一態樣之減速機具備：外側構件，其具有外座圈；內側構件，其具有內座圈及將軸構件可旋轉地支持之軸孔；及軸承，其配置於前述外座圈與前述內座圈之間，且具有不通過前述軸孔之孔內周面之荷重作用線。 A speed reducer of one embodiment of the present invention comprises: an outer member having an outer race; an inner member having an inner race and a shaft hole for rotatably supporting the shaft member; and a bearing disposed between the outer race and the inner race and having a load action line that does not pass through the inner peripheral surface of the shaft hole.

根據本發明之一態樣之減速機，可避免荷重作用線通過軸孔之孔內周面。藉此，抑制在內側構件之外周面與軸孔之孔內周面之間以具有較小之厚度之方式形成之部分以朝向徑向之內側撓曲之方式變形，而可減輕對內側構件之供內座圈安裝之部分施加之負載。因而，可減薄內側構件之供內座圈安裝之部分之厚度，而可謀求減速機之小型化。 According to a speed reducer of one aspect of the present invention, the load action line can be prevented from passing through the inner circumference of the shaft hole. Thus, the portion formed with a smaller thickness between the outer circumference of the inner member and the inner circumference of the shaft hole is prevented from deforming in a radially inward bending manner, and the load applied to the portion of the inner member where the inner race is mounted can be reduced. Therefore, the thickness of the portion of the inner member where the inner race is mounted can be reduced, and the speed reducer can be miniaturized.

在上述態樣之減速機中，前述軸承之接觸角可為40°以上50°以下。 In the above-mentioned reducer, the contact angle of the bearing can be greater than 40° and less than 50°.

在上述態樣之減速機中，自前述內座圈之軸線方向端面至前述內座圈之表面與前述荷重作用線之交點之前述軸線方向之距離A、與前述內座圈及前述外座圈整體之前述軸線方向上之尺寸B，可滿足0≦A/B≦0.2之關係。 In the above-mentioned speed reducer, the distance A in the axial direction from the axial end face of the inner race to the intersection of the surface of the inner race and the load action line, and the dimension B in the axial direction of the inner race and the outer race as a whole, can satisfy the relationship of 0≦A/B≦0.2.

在上述態樣之減速機中，自前述內座圈之軸線方向端面至前述內座圈之表面與前述荷重作用線之交點之前述軸線方向之距離A、與前述內座圈之前述軸線方向上之尺寸B1，可滿足0≦A/B1≦0.3之關係。 In the above-mentioned speed reducer, the distance A in the axial direction from the axial end face of the inner race to the intersection of the surface of the inner race and the load action line, and the dimension B1 in the axial direction of the inner race, can satisfy the relationship of 0≦A/B1≦0.3.

本發明之一態樣之減速機具備：軸承，其具有：形成為圓環狀且具有朝向徑向內側之外滾動面之外座圈、與前述外座圈同軸地配置且具有朝向前述徑向外側之內滾動面之內座圈、及在前述內滾動面上及前述外滾動面上滾動之複數個滾子；外側構件，其安裝有前述外座圈；內側構件，其具有安裝有前述內座圈之軸承安裝部，且前述軸承安裝部具有軸孔；軸構件，其配置於前述軸孔，可旋轉地受前述內側構件支持；及滾針軸承，其介置於前述軸承安裝部與前述軸構件之間，且具有在前述軸孔之內周面上滾動之複數個滾動體；且前述軸承之荷重作用線通過較前述軸承安裝部之前述軸孔之內周面更靠前述軸承之軸線方向之外側；前述軸承之接觸角為40°以上50°以下；將自前述內座圈之前述軸線方向之外側之端部至前述內座圈之表面上與前述荷重作用線之交點的前述軸線方向之距離設為A， 將前述內座圈及前述外座圈整體之前述軸線方向上之尺寸設為B，將前述內座圈之前述軸線方向上之尺寸設為B1時，滿足0≦A/B≦0.2之關係、及0≦A/B1≦0.3之關係。 A speed reducer according to one aspect of the present invention comprises: a bearing having: an outer race formed in an annular shape and having an outer rolling surface facing radially inward, an inner race coaxially arranged with the outer race and having an inner rolling surface facing radially outward, and a plurality of rollers rolling on the inner rolling surface and the outer rolling surface; an outer member having the outer race mounted thereon; an inner member having a bearing mounting portion on which the inner race is mounted, and the bearing mounting portion having an axial hole; an axial member arranged in the axial hole and rotatably supported by the inner member; and a roller bearing interposed between the bearing mounting portion and the axial member and having a plurality of rollers rolling on the inner rolling surface and the outer rolling surface. Multiple rolling elements rolling on the inner circumference; and the load action line of the aforementioned bearing passes through the inner circumference of the aforementioned shaft hole before the aforementioned bearing mounting portion and is closer to the outside of the aforementioned bearing in the axial direction; the contact angle of the aforementioned bearing is greater than 40° and less than 50°; the distance in the axial direction from the end of the aforementioned inner race outside the axial direction to the intersection of the surface of the aforementioned inner race with the aforementioned load action line is set as A, When the dimension of the aforementioned inner race and the aforementioned outer race in the axial direction as a whole is set as B, and the dimension of the aforementioned inner race in the axial direction is set as B1, the relationship of 0≦A/B≦0.2 and the relationship of 0≦A/B1≦0.3 are satisfied.

根據本發明之一態樣之減速機，可減薄軸承安裝部之厚度，而可謀求減速機之小型化。 According to one aspect of the speed reducer of the present invention, the thickness of the bearing mounting portion can be reduced, thereby achieving miniaturization of the speed reducer.

根據本發明之態樣，能夠提供一種可減薄旋轉機器之構成零件之厚度之軸承與具備該軸承之減速機。 According to the present invention, a bearing capable of reducing the thickness of components of a rotating machine and a speed reducer having the bearing can be provided.

1:減速機 1: Reducer

2:外筒(外側構件)、殼體 2: Outer cylinder (external component), shell

3:載架(內側構件) 3: Carrier (inner component)

4:曲柄軸(軸構件) 4: Crankshaft (shaft component)

5A:第1擺動齒輪 5A: 1st swing gear

5B:第2擺動齒輪 5B: 2nd swing gear

6A:第1主軸承(軸承) 6A: 1st main bearing (bearing)

6B:第2主軸承(軸承) 6B: Second main bearing (bearing)

7A:第1曲柄軸承(滾針軸承) 7A: 1st crank bearing (roller bearing)

7B:第2曲柄軸承(滾針軸承) 7B: 2nd crank bearing (roller bearing)

8A:第1偏心軸承 8A: 1st eccentric bearing

8B:第2偏心軸承 8B: Second eccentric bearing

11:油封 11: Oil seal

12:密封蓋 12: Sealing cover

13:間隔件 13: Spacer

14:規制構件 14: Regulatory components

15:第1規制構件 15: The first regulatory component

16:第2規制構件 16: Second regulatory component

16a:公螺紋 16a: Male thread

21:內齒部 21: Inner teeth

21a:銷槽 21a: Pin groove

22:第1外座圈保持部 22: 1st outer race retaining part

23:第2外座圈保持部 23: Second outer race retaining part

24,34:密封部 24,34: Sealing part

25:內齒銷 25: Internal tooth pin

26,27,28,35,46,53,57:階差面 26,27,28,35,46,53,57: step difference surface

30:第1載架塊 30: 1st carrier block

30a:安裝面 30a: Mounting surface

31:基部 31: Base

32:第1主軸承安裝部、主軸承安裝部(軸承安裝部) 32: 1st main bearing mounting part, main bearing mounting part (bearing mounting part)

33:第1內座圈保持部 33: 1st inner race retaining part

41:第1軸安裝孔(軸孔) 41: 1st shaft mounting hole (shaft hole)

42:第1軸支持部 42: 1st axis support part

43:襯套保持部 43: Bushing retaining part

44:擴徑部 44: Expansion section

45:連通部 45: Communication Department

50:第2載架塊 50: 2nd carrier block

51:第2主軸承安裝部(軸承安裝部) 51: Second main bearing mounting part (bearing mounting part)

52:第2內座圈保持部 52: Second inner race retaining part

54:第2軸安裝孔(軸孔) 54: Second axis mounting hole (axis hole)

55:第2軸支持部 55: Second axis support part

56:母螺紋部 56: Female thread part

61A,61B:外座圈 61A, 61B: Outer race

61a:外周面 61a: Outer surface

61b:端面 61b: End face

61c:外滾動面 61c: Outer rolling surface

62A,62B:內座圈 62A, 62B: Inner race

62a:內周面 62a: Inner circumference

62b:端面(軸向端面) 62b: End face (axial end face)

62c:倒角部 62c: Chamfered part

62d:內滾動面 62d: Inner rolling surface

63A,63B,81:滾子(滾動體) 63A, 63B, 81: Roller (rolling body)

64A,64B,82,102:保持器 64A, 64B, 82, 102: Retainer

71:第1軸頸部 71: Neck of the first shaft

72:第2軸頸部 72: Neck of the second axis

73:第1偏心部 73: 1st eccentric part

74:第2偏心部 74: Second eccentric part

91:外齒 91: External teeth

92:軸插通孔 92: Shaft insertion hole

101:滾子 101: Roller

A:距離 A: Distance

AL1,AL2:荷重作用線 AL1, AL2: load action line

B,B1:尺寸 B, B1: Size

O:軸線 O: Axis

P:交點 P: intersection point

θ:接觸角 θ : contact angle

圖1係實施形態之減速機之半剖視圖。 Figure 1 is a half-section view of the speed reducer in the implementation form.

圖2係將圖1所示之減速機之剖面之一部分放大而顯示之圖。 FIG2 is an enlarged view of a portion of the cross section of the speed reducer shown in FIG1.

圖3係將圖2所示之減速機之剖面之一部分放大而顯示之圖。 FIG3 is an enlarged view of a portion of the cross section of the speed reducer shown in FIG2.

圖4係將圖1所示之減速機之剖面之一部分放大而顯示之圖。 FIG4 is an enlarged view of a portion of the cross section of the speed reducer shown in FIG1.

圖5係顯示實施例之減速機之第1主軸承之接觸角與壽命及剛性之關係之圖。 FIG5 is a diagram showing the relationship between the contact angle, life and rigidity of the first main bearing of the speed reducer of the embodiment.

以下，針對本發明之實施形態之減速機1，參照附圖進行說明。此外，在以下之說明中，對於具有同一或類似之功能之構成賦予同一符號。而且，有該等構成之重複說明省略之情形。本實施形態之減速機1係例如 應用於機器人手臂之關節部等之偏心擺動型齒輪傳動裝置。 Hereinafter, the speed reducer 1 of the embodiment of the present invention will be described with reference to the attached drawings. In addition, in the following description, the same symbols are given to the components having the same or similar functions. Moreover, there are cases where the repeated description of the components is omitted. The speed reducer 1 of the present embodiment is, for example, an eccentric swing type gear transmission device applied to the joint of a robot arm, etc.

圖1係實施形態之減速機之半剖視圖。 Figure 1 is a half-section view of the speed reducer in the implementation form.

如圖1所示，減速機1具備：作為殼體之外筒2(外側構件)；載架3(內側構件)，其可旋轉地受外筒2支持；複數個曲柄軸4(軸構件)，其等可旋轉地受載架3支持；第1擺動齒輪5A及第2擺動齒輪5B，其等可旋轉地安裝於複數個曲柄軸4；第1主軸承6A及第2主軸承6B，其等介置於外筒2與載架3之間；第1曲柄軸承7A及第2曲柄軸承7B，其等介置於載架3與曲柄軸4之間；第1偏心軸承8A，其介置於曲柄軸4與第1擺動齒輪5A之間；及第2偏心軸承8B，其介置於曲柄軸4與第2擺動齒輪5B之間。減速機1係使外筒2與載架3繞軸線O相對旋轉，以使未圖示之輸入軸相對於外筒2旋轉，而獲得自輸入軸之輸入旋轉減速之輸出旋轉之偏心擺動型齒輪傳動裝置。此外，在以下之說明中，將沿軸線O之方向稱為軸向(軸線方向)，將與軸線O正交且自軸線O呈放射狀延伸之方向稱為徑向，將繞軸線O周轉之方向稱為周向。又，以下之說明中使用之「軸向之內側」意指外筒2之中心側，「軸向之外側」意指與外筒2之中心為相反側。 As shown in FIG. 1 , the speed reducer 1 includes: an outer cylinder 2 (outer member) as a housing; a carrier 3 (inner member) rotatably supported by the outer cylinder 2; a plurality of crankshafts 4 (shaft members) rotatably supported by the carrier 3; a first oscillating gear 5A and a second oscillating gear 5B rotatably mounted on the plurality of crankshafts 4; a first main bearing 6 A and a second main bearing 6B are interposed between the outer cylinder 2 and the carrier 3; a first crank bearing 7A and a second crank bearing 7B are interposed between the carrier 3 and the crankshaft 4; a first eccentric bearing 8A is interposed between the crankshaft 4 and the first oscillating gear 5A; and a second eccentric bearing 8B is interposed between the crankshaft 4 and the second oscillating gear 5B. The speed reducer 1 is an eccentric oscillating type gear transmission device that makes the outer cylinder 2 and the carrier 3 rotate relative to each other around the axis O so that the input shaft (not shown) rotates relative to the outer cylinder 2, thereby obtaining an output rotation reduced from the input rotation of the input shaft. In the following description, the direction along the axis O is referred to as the axial direction (axial direction), the direction perpendicular to the axis O and extending radially from the axis O is referred to as the radial direction, and the direction rotating around the axis O is referred to as the circumferential direction. In addition, the "axial inner side" used in the following description means the center side of the outer cylinder 2, and the "axial outer side" means the side opposite to the center of the outer cylinder 2.

外筒2形成為以軸線O為中心之圓筒狀。外筒2之內周面具備：內齒部21，其形成有複數個銷槽21a；第1外座圈保持部22，其保持第1主軸承6A之外座圈61A；第2外座圈保持部23，其保持第2主軸承6B之外座圈61B；及密封部24，其供油封11安裝。 The outer cylinder 2 is formed into a cylindrical shape with the axis O as the center. The inner circumference of the outer cylinder 2 is equipped with: an inner tooth portion 21, which is formed with a plurality of pin grooves 21a; a first outer race retaining portion 22, which retains the outer race 61A of the first main bearing 6A; a second outer race retaining portion 23, which retains the outer race 61B of the second main bearing 6B; and a sealing portion 24, which is provided with an oil seal 11 for installation.

內齒部21形成於外筒2之內周面之軸向之中間部。此外，本實施形態 所使用之「中間」意指不僅包含對象之兩端間之中央，亦包含對象之兩端間之內側之範圍。複數個銷槽21a各自在軸向延伸。複數個銷槽21a在周向等間隔地配置。在各銷槽21a中可旋轉地保持圓柱狀之內齒銷25。 The inner tooth portion 21 is formed in the axial middle portion of the inner circumferential surface of the outer cylinder 2. In addition, the "middle" used in this embodiment means not only the center between the two ends of the object, but also the range inside the two ends of the object. The plurality of pin grooves 21a each extend in the axial direction. The plurality of pin grooves 21a are arranged at equal intervals in the circumferential direction. The cylindrical inner tooth pin 25 is rotatably held in each pin groove 21a.

第1外座圈保持部22及第2外座圈保持部23隔著內齒部21相互位於相反側。第1外座圈保持部22及第2外座圈保持部23各自與內齒部21在軸向鄰接。第1外座圈保持部22相對於內齒部21位於軸向之第1側。第1外座圈保持部22以軸線O為中心以一定之內徑在軸向延伸。第1外座圈保持部22經由階差面26連接於內齒部21。階差面26朝向軸向之外側在周向及徑向延伸。第2外座圈保持部23相對於內齒部21位於軸向之第2側。第2外座圈保持部23以軸線O為中心以一定之內徑在軸向延伸。第2外座圈保持部23經由階差面27連接於內齒部21。階差面27朝向軸向之外側在周向及徑向延伸。 The first outer race retaining portion 22 and the second outer race retaining portion 23 are located on opposite sides of the inner tooth portion 21. The first outer race retaining portion 22 and the second outer race retaining portion 23 are each axially adjacent to the inner tooth portion 21. The first outer race retaining portion 22 is located on the first side in the axial direction relative to the inner tooth portion 21. The first outer race retaining portion 22 extends axially with a certain inner diameter centered on the axis O. The first outer race retaining portion 22 is connected to the inner tooth portion 21 via a step surface 26. The step surface 26 extends circumferentially and radially toward the outer side in the axial direction. The second outer race retaining portion 23 is located on the second side in the axial direction relative to the inner tooth portion 21. The second outer race retaining portion 23 extends axially with a certain inner diameter around the axis O. The second outer race retaining portion 23 is connected to the inner tooth portion 21 via a step surface 27. The step surface 27 extends circumferentially and radially toward the outer side of the axial direction.

密封部24隔著第1外座圈保持部22位於與內齒部21為相反側。密封部24與第1外座圈保持部22在軸向鄰接。密封部24以軸線O為中心以一定之內徑延伸。密封部24之內徑大於第1外座圈保持部22之內徑。密封部24經由階差面28連接於第1外座圈保持部22。階差面28朝向軸向之外側在周向及徑向延伸。油封11之外周部與密封部24接觸。 The sealing portion 24 is located on the opposite side of the inner tooth portion 21 across the first outer race retaining portion 22. The sealing portion 24 is axially adjacent to the first outer race retaining portion 22. The sealing portion 24 extends with a certain inner diameter centered on the axis O. The inner diameter of the sealing portion 24 is larger than the inner diameter of the first outer race retaining portion 22. The sealing portion 24 is connected to the first outer race retaining portion 22 via the step surface 28. The step surface 28 extends circumferentially and radially toward the outer side in the axial direction. The outer periphery of the oil seal 11 contacts the sealing portion 24.

載架3作為供接收減速機1之輸出旋轉之被驅動部安裝之輸出軸而發揮功能。載架3整體上形成為以軸線O為中心之圓筒狀。載架3配置於外筒2之內周側。載架3自外筒2朝軸向之兩側突出。載架3在軸向可分割為第1 載架塊30及第2載架塊50而形成。第1載架塊30相對於第2載架塊50配置於軸向之第1側。第1載架塊30之朝向與第2載架塊50為相反側(軸向之第1側)之面被設為供被驅動部安裝之安裝面30a。第1載架塊30及第2載架塊50相互被緊固而一體化。 The carrier 3 functions as an output shaft for mounting a driven part that receives the output rotation of the speed reducer 1. The carrier 3 is generally formed into a cylindrical shape with the axis O as the center. The carrier 3 is arranged on the inner circumference of the outer cylinder 2. The carrier 3 protrudes from the outer cylinder 2 toward both sides in the axial direction. The carrier 3 can be divided into a first carrier block 30 and a second carrier block 50 in the axial direction. The first carrier block 30 is arranged on the first side in the axial direction relative to the second carrier block 50. The surface of the first carrier block 30 that faces the opposite side (the first side in the axial direction) to the second carrier block 50 is set as a mounting surface 30a for mounting the driven part. The first carrier block 30 and the second carrier block 50 are fastened to each other and integrated.

第1載架塊30具備基部31、及未圖示之複數個支柱部。基部31相對於外筒2之內齒部21在軸向配置於與第1外座圈保持部22相同之側。基部31形成為以軸線O為中心之圓盤狀。基部31經由第1主軸承6A可旋轉地受外筒2支持。基部31具有供第1主軸承6A安裝之第1主軸承安裝部32。第1主軸承安裝部32在基部31之軸向上形成於第2載架塊50側之端部。 The first carrier block 30 has a base 31 and a plurality of support portions not shown. The base 31 is axially arranged on the same side as the first outer race retaining portion 22 relative to the inner tooth portion 21 of the outer cylinder 2. The base 31 is formed in a disk shape with the axis O as the center. The base 31 is rotatably supported by the outer cylinder 2 via the first main bearing 6A. The base 31 has a first main bearing mounting portion 32 for mounting the first main bearing 6A. The first main bearing mounting portion 32 is formed at the end of the base 31 on the side of the second carrier block 50 in the axial direction.

基部31之外周面具備：保持第1主軸承6A之內座圈62A之第1內座圈保持部33、及供油封11安裝之密封部34。第1內座圈保持部33係第1主軸承安裝部32之外周面。第1內座圈保持部33之至少一部分與外筒2之第1外座圈保持部22在徑向對向。第1內座圈保持部33以軸線O為中心以一定之外徑在軸向延伸。第1內座圈保持部33包含基部31之外周面之軸向之內側之端部。密封部34之至少一部分與外筒2之密封部24在徑向對向。密封部34與第1內座圈保持部33在軸向鄰接。密封部34相對於第1內座圈保持部33位於軸向之外側。密封部34以軸線O為中心以一定之外徑延伸。密封部34經由階差面35連接於第1內座圈保持部33。階差面35朝向軸向之內側，在周向及徑向延伸。油封11之內周部與密封部34接觸。 The outer circumference of the base 31 is provided with: a first inner race retaining portion 33 for retaining the inner race 62A of the first main bearing 6A, and a sealing portion 34 for mounting the oil seal 11. The first inner race retaining portion 33 is the outer circumference of the first main bearing mounting portion 32. At least a portion of the first inner race retaining portion 33 is radially opposite to the first outer race retaining portion 22 of the outer tube 2. The first inner race retaining portion 33 extends axially with a certain outer diameter around the axis O. The first inner race retaining portion 33 includes an axially inner end portion of the outer circumference of the base 31. At least a portion of the sealing portion 34 is radially opposite to the sealing portion 24 of the outer tube 2. The sealing portion 34 is axially adjacent to the first inner race retaining portion 33. The sealing portion 34 is located on the outer side of the first inner race retaining portion 33 in the axial direction. The sealing portion 34 extends with a certain outer diameter around the axis O. The sealing portion 34 is connected to the first inner race retaining portion 33 via a step surface 35. The step surface 35 extends inwardly in the axial direction and in the circumferential direction and in the radial direction. The inner circumference of the oil seal 11 contacts the sealing portion 34.

基部31具有供曲柄軸4插入之第1軸安裝孔41(軸孔)。第1軸安裝孔41 以與複數個曲柄軸4相同之數目設置。複數個第1軸安裝孔41在周向等間隔地配置。第1軸安裝孔41之內周面自軸向觀察形成為圓形狀。第1軸安裝孔41在軸向之內側開口。第1軸安裝孔41之至少一部分設置於第1主軸承安裝部32。第1軸安裝孔41之內周面具備：第1軸支持部42、襯套保持部43、擴徑部44、及連通部45。第1軸支持部42及擴徑部44位於第1主軸承安裝部32。襯套保持部43及連通部45位於較第1主軸承安裝部32更靠軸向之外側。 The base 31 has a first shaft mounting hole 41 (shaft hole) for inserting the crankshaft 4. The first shaft mounting holes 41 are provided in the same number as the plurality of crankshafts 4. The plurality of first shaft mounting holes 41 are arranged at equal intervals in the circumferential direction. The inner circumferential surface of the first shaft mounting hole 41 is formed into a circular shape when viewed from the axial direction. The first shaft mounting hole 41 opens on the inner side in the axial direction. At least a portion of the first shaft mounting hole 41 is provided in the first main bearing mounting portion 32. The inner circumferential surface of the first shaft mounting hole 41 is provided with: a first shaft supporting portion 42, a bushing retaining portion 43, an expanded diameter portion 44, and a connecting portion 45. The first shaft support portion 42 and the expanded diameter portion 44 are located at the first main bearing mounting portion 32. The bushing holding portion 43 and the connecting portion 45 are located axially further outward than the first main bearing mounting portion 32.

第1軸支持部42形成於第1軸安裝孔41之軸向之內側之端部。第1軸支持部42以一定之內徑在軸向延伸。襯套保持部43相對於第1軸支持部42形成於軸向之外側。襯套保持部43與第1軸支持部42同軸地形成。襯套保持部43以一定之內徑在軸向延伸。襯套保持部43之內徑小於第1軸支持部42之內徑。擴徑部44形成於第1軸支持部42與襯套保持部43之間。擴徑部44連接於第1軸支持部42及襯套保持部43。擴徑部44以將內徑較第1軸支持部42及襯套保持部43放大之方式遍及全周而形成。連通部45與襯套保持部43在軸向鄰接。連通部45隔著襯套保持部43形成於與第1軸支持部42為相反側。連通部45在軸向之外側開口。連通部45之內徑小於襯套保持部43之內徑。密封蓋12嵌入連通部45之內側。在襯套保持部43與連通部45之間形成有階差面46。階差面46在與軸向正交之方向延伸。階差面46朝向軸向之內側。 The first shaft support portion 42 is formed at the axially inner end of the first shaft mounting hole 41. The first shaft support portion 42 extends axially with a certain inner diameter. The bushing retaining portion 43 is formed axially on the outer side relative to the first shaft support portion 42. The bushing retaining portion 43 is formed coaxially with the first shaft support portion 42. The bushing retaining portion 43 extends axially with a certain inner diameter. The inner diameter of the bushing retaining portion 43 is smaller than the inner diameter of the first shaft support portion 42. The expanded diameter portion 44 is formed between the first shaft support portion 42 and the bushing retaining portion 43. The expanded diameter portion 44 is connected to the first shaft support portion 42 and the bushing retaining portion 43. The expanded diameter portion 44 is formed all around in a manner that the inner diameter is enlarged relative to the first shaft support portion 42 and the sleeve holding portion 43. The connecting portion 45 is adjacent to the sleeve holding portion 43 in the axial direction. The connecting portion 45 is formed on the opposite side of the first shaft support portion 42 across the sleeve holding portion 43. The connecting portion 45 is open on the outer side in the axial direction. The inner diameter of the connecting portion 45 is smaller than the inner diameter of the sleeve holding portion 43. The sealing cover 12 is embedded in the inner side of the connecting portion 45. A step surface 46 is formed between the sleeve holding portion 43 and the connecting portion 45. The step surface 46 extends in a direction orthogonal to the axial direction. The step surface 46 faces the inner side in the axial direction.

雖未圖示，但複數個支柱部在周向之一對第1軸安裝孔41之間各設置1個。複數個支柱部自基部31朝軸向突出。複數個支柱部位於外筒2之內 齒部21之內側。複數個支柱部與基部31一體地設置。 Although not shown, a plurality of support portions are provided one each between a pair of first axis mounting holes 41 in the circumferential direction. The plurality of support portions protrude axially from the base portion 31. The plurality of support portions are located on the inner side of the inner tooth portion 21 of the outer tube 2. The plurality of support portions are provided integrally with the base portion 31.

第2載架塊50在軸向隔著外筒2之內齒部21配置於與第1載架塊30之基部31為相反側。亦即，第2載架塊50相對於基部31在軸向之第2側空開間隔而配置。第2載架塊50被緊固於第1載架塊30之複數個支柱部之突端部，與第1載架塊30一體化。第2載架塊50形成為以軸線O為中心之圓盤狀。第2載架塊50經由第2主軸承6B可旋轉地受外筒2支持。第2載架塊50具有供第2主軸承6B安裝之第2主軸承安裝部51。第2主軸承安裝部51形成於第2載架塊50之軸向之內側之端部。 The second carrier block 50 is arranged on the opposite side of the base 31 of the first carrier block 30 across the inner tooth portion 21 of the outer cylinder 2 in the axial direction. That is, the second carrier block 50 is arranged with a spaced interval relative to the second side of the base 31 in the axial direction. The second carrier block 50 is fastened to the protruding end portions of the plurality of support portions of the first carrier block 30 and is integrated with the first carrier block 30. The second carrier block 50 is formed into a disk shape with the axis O as the center. The second carrier block 50 is rotatably supported by the outer cylinder 2 via the second main bearing 6B. The second carrier block 50 has a second main bearing mounting portion 51 for mounting the second main bearing 6B. The second main bearing mounting portion 51 is formed at the axial inner end of the second carrier block 50.

第2載架塊50之外周面具備保持第2主軸承6B之內座圈62B的第2內座圈保持部52。第2內座圈保持部52係第2主軸承安裝部51之外周面。第2內座圈保持部52之至少一部分與外筒2之第2外座圈保持部23在徑向對向。第2內座圈保持部52以軸線O為中心以一定之外徑朝軸向延伸。第2內座圈保持部52包含第2載架塊50之外周面上之軸向內側之端部。在第2內座圈保持部52之軸向外側之端部，連接有在周向及徑向延伸之階差面53。 The outer circumference of the second carrier block 50 is provided with a second inner race retaining portion 52 for retaining the inner race 62B of the second main bearing 6B. The second inner race retaining portion 52 is the outer circumference of the second main bearing mounting portion 51. At least a portion of the second inner race retaining portion 52 is radially opposite to the second outer race retaining portion 23 of the outer cylinder 2. The second inner race retaining portion 52 extends axially with a certain outer diameter around the axis O. The second inner race retaining portion 52 includes an axially inner end portion on the outer circumference of the second carrier block 50. A step surface 53 extending circumferentially and radially is connected to the axially outer end portion of the second inner race retaining portion 52.

第2載架塊50具有供曲柄軸4插入之第2軸安裝孔54(軸孔)。第2軸安裝孔54設置有與複數個曲柄軸4相同之數目。各第2軸安裝孔54與第1載架塊30之第1軸安裝孔41同軸地形成。第2軸安裝孔54之內周面自軸向觀察形成為圓形狀。第2軸安裝孔54在軸向之內側開口。第2軸安裝孔54之至少一部分設置於第2主軸承安裝部51。第2軸安裝孔54之內周面具備第2軸支持部55、及母螺紋部56。第2軸支持部55之整體及母螺紋部56之一部分 位於第2主軸承安裝部51。 The second carrier block 50 has a second shaft mounting hole 54 (shaft hole) for inserting the crank shaft 4. The second shaft mounting holes 54 are provided in the same number as the plurality of crank shafts 4. Each second shaft mounting hole 54 is formed coaxially with the first shaft mounting hole 41 of the first carrier block 30. The inner peripheral surface of the second shaft mounting hole 54 is formed in a circular shape when viewed from the axial direction. The second shaft mounting hole 54 opens on the inner side in the axial direction. At least a portion of the second shaft mounting hole 54 is provided on the second main bearing mounting portion 51. The inner peripheral surface of the second shaft mounting hole 54 is provided with a second shaft supporting portion 55 and a female threaded portion 56. The entire second shaft support portion 55 and a portion of the female thread portion 56 are located at the second main bearing mounting portion 51.

第2軸支持部55形成於第2軸安裝孔54之軸向內側之端部。第2軸支持部55以一定之內徑朝軸向延伸。母螺紋部56與第2軸支持部55在軸向鄰接。母螺紋部56形成於第2軸安裝孔54之軸向外側之端部。母螺紋部56之內徑大於第2軸支持部55之內徑。在第2軸支持部55與母螺紋部56之間形成有階差面57。階差面57在與軸向正交之方向延伸。階差面57朝向軸向之外側。 The second shaft support portion 55 is formed at the axially inner end of the second shaft mounting hole 54. The second shaft support portion 55 extends axially with a certain inner diameter. The female thread portion 56 is axially adjacent to the second shaft support portion 55. The female thread portion 56 is formed at the axially outer end of the second shaft mounting hole 54. The inner diameter of the female thread portion 56 is larger than the inner diameter of the second shaft support portion 55. A step surface 57 is formed between the second shaft support portion 55 and the female thread portion 56. The step surface 57 extends in a direction orthogonal to the axial direction. The step surface 57 faces the outer side of the axial direction.

圖2係將圖1所示之減速機之剖面之一部分放大而顯示之圖。 FIG2 is an enlarged view of a portion of the cross section of the speed reducer shown in FIG1.

如圖2所示，第1主軸承6A係圓錐滾子軸承。第1主軸承6A配置於外筒2與第1載架塊30之基部31之間。第1主軸承6A具備：外座圈61A、內座圈62A、複數個滾子63A、及保持器64A。 As shown in FIG2 , the first main bearing 6A is a tapered roller bearing. The first main bearing 6A is disposed between the outer cylinder 2 and the base 31 of the first carrier block 30. The first main bearing 6A includes: an outer race 61A, an inner race 62A, a plurality of rollers 63A, and a retainer 64A.

外座圈61A形成為以軸線O為中心之圓環狀。外座圈61A嵌合於外筒2之第1外座圈保持部22。外座圈61A具有：以一定之外徑延伸之外周面61a、朝向軸向之內側之端面61b、及相對於軸線O傾斜之外滾動面61c。端面61b與階差面26接觸。端面61b與內齒銷25之端部對向，規制內齒銷25之軸向之朝第1側之變位。外滾動面61c朝向徑向之內側且朝向軸向之外側。 The outer race 61A is formed into a circular ring centered on the axis O. The outer race 61A is fitted into the first outer race retaining portion 22 of the outer cylinder 2. The outer race 61A has: an outer peripheral surface 61a extending with a certain outer diameter, an end surface 61b facing the inner side of the axial direction, and an outer rolling surface 61c inclined relative to the axis O. The end surface 61b contacts the step surface 26. The end surface 61b is opposite to the end of the inner gear pin 25, regulating the axial displacement of the inner gear pin 25 toward the first side. The outer rolling surface 61c faces the inner side of the radial direction and faces the outer side of the axial direction.

內座圈62A形成為與外座圈61A同軸之圓環狀。內座圈62A嵌合於第1載架塊30之基部31之第1內座圈保持部33。內座圈62A具有：以一定之內 徑延伸之內周面62a(孔內周面)、朝向軸向之外側之端面62b(軸線方向端面)、形成於內周面62a與端面62b之間之倒角部62c、及相對於軸線O傾斜之內滾動面62d。端面62b與階差面35接觸。倒角部62c形成於內周面62a之軸向外側之端部、與端面62b之徑向之內側之端部之間。內滾動面62d與外座圈61A之外滾動面61c。內滾動面62d朝向徑向之外側且朝向軸向之內側。 The inner race 62A is formed in a circular ring shape coaxial with the outer race 61A. The inner race 62A is fitted into the first inner race holding portion 33 of the base 31 of the first carrier block 30. The inner race 62A has an inner peripheral surface 62a (hole inner peripheral surface) extending with a certain inner diameter, an end surface 62b (axial end surface) facing the axial outer side, a chamfered portion 62c formed between the inner peripheral surface 62a and the end surface 62b, and an inner rolling surface 62d inclined relative to the axis O. The end surface 62b contacts the step surface 35. The chamfered portion 62c is formed between the end portion of the inner peripheral surface 62a on the axial outer side and the end portion of the end surface 62b on the radial inner side. Inner rolling surface 62d and outer rolling surface 61c of outer race 61A. Inner rolling surface 62d faces radially outward and axially inward.

複數個滾子63A各自配置於外座圈61A與內座圈62A之間。複數個滾子63A在周向等間隔地排列。複數個滾子63A一面在外座圈61A之外滾動面61c上、及內座圈62A之內滾動面62d上滾動，一面繞軸線O周轉。 The plurality of rollers 63A are respectively arranged between the outer race 61A and the inner race 62A. The plurality of rollers 63A are arranged at equal intervals in the circumferential direction. The plurality of rollers 63A rotate around the axis O while rolling on the outer rolling surface 61c of the outer race 61A and the inner rolling surface 62d of the inner race 62A.

保持器64A配置於外座圈61A與內座圈62A之間。保持器64A保持複數個滾子63A。保持器64A形成為與外座圈61A同軸之圓環狀。在保持器64A形成有將複數個滾子63A各保持1個之複數個凹窩。 The retainer 64A is disposed between the outer race 61A and the inner race 62A. The retainer 64A retains the plurality of rollers 63A. The retainer 64A is formed in a circular ring shape coaxial with the outer race 61A. The retainer 64A has a plurality of recesses for retaining each of the plurality of rollers 63A.

第1主軸承6A之接觸角θ為40°以上50°以下。此外，接觸角θ係外座圈61A之外滾動面61c之母線相對於軸線O之傾斜角度。即，接觸角θ係外滾動面61c之任意點之法線、跟與軸線O正交且通過前述任意點之直線所成之角度。 The contact angle θ of the first main bearing 6A is not less than 40° and not more than 50°. In addition, the contact angle θ is the inclination angle of the generatrix of the outer rolling surface 61c of the outer race 61A relative to the axis O. That is, the contact angle θ is the angle formed by the normal line of any point of the outer rolling surface 61c and the straight line that is orthogonal to the axis O and passes through the aforementioned arbitrary point.

此處，將自第1主軸承6A之內座圈62A之端面62b至內座圈62A之表面之與荷重作用線AL1(後述)之交點P之軸向之距離設為A(參照圖3)。進而，將內座圈62A及外座圈61A之整體之軸向之尺寸設為B。此時，第1主 軸承6A以滿足以下之式(1)所示之關係之方式形成。 Here, the axial distance from the end face 62b of the inner race 62A of the first main bearing 6A to the intersection point P of the surface of the inner race 62A and the load action line AL1 (described later) is set to A (refer to Figure 3). Furthermore, the overall axial dimension of the inner race 62A and the outer race 61A is set to B. At this time, the first main bearing 6A is formed in a manner that satisfies the relationship shown in the following formula (1).

0≦A/B≦0.2‧‧‧(1) 0≦A/B≦0.2‧‧‧(1)

又，將內座圈62A之軸向之尺寸設為B1。此時，第1主軸承6A以滿足以下之式(2)所示之關係之方式形成。 Furthermore, the axial dimension of the inner race 62A is set to B1. At this time, the first main bearing 6A is formed in a manner that satisfies the relationship shown in the following formula (2).

0≦A/B1≦0.3‧‧‧(2) 0≦A/B1≦0.3‧‧‧(2)

圖4係將圖1所示之減速機之剖面之一部分放大而顯示之圖。 FIG4 is an enlarged view of a portion of the cross section of the speed reducer shown in FIG1.

如圖4所示，第2主軸承6B係圓錐滾子軸承。第2主軸承6B配置於外筒2與第2載架塊50之間。第2主軸承6B具備：外座圈61B、內座圈62B、複數個滾子63B、及保持器64B。 As shown in FIG. 4 , the second main bearing 6B is a tapered roller bearing. The second main bearing 6B is disposed between the outer cylinder 2 and the second carrier block 50. The second main bearing 6B includes an outer race 61B, an inner race 62B, a plurality of rollers 63B, and a retainer 64B.

外座圈61B嵌合於外筒2之第2外座圈保持部23。外座圈61B與第1主軸承6A之外座圈61A同樣地具有：以一定之外徑延伸之外周面61a、朝向軸向之內側之端面61b、及相對於軸線O傾斜之外滾動面61c。端面61b與階差面27接觸。端面61b與內齒銷25之端部對向，規制內齒銷25之軸向之朝第2側之變位。 The outer race 61B is fitted into the second outer race retaining portion 23 of the outer cylinder 2. The outer race 61B has the same outer race 61A of the first main bearing 6A as the outer race 61A: an outer peripheral surface 61a extending with a certain outer diameter, an end surface 61b facing the inner side in the axial direction, and an outer rolling surface 61c inclined relative to the axis O. The end surface 61b contacts the step surface 27. The end surface 61b faces the end of the inner gear pin 25 and regulates the axial displacement of the inner gear pin 25 toward the second side.

內座圈62B嵌合於第2載架塊50之第2內座圈保持部52。內座圈與第1主軸承6A之內座圈62A同樣地具有：以一定之內徑延伸之內周面62a、朝向軸向之外側之端面62b、形成於內周面62a與端面62b之間之倒角部62c、及相對於軸線O傾斜之內滾動面62d。端面62b與階差面53對向。在端面62b與階差面53之間夾著圓環狀之間隔件13。 The inner race 62B is fitted into the second inner race retaining portion 52 of the second carrier block 50. The inner race has the same inner race 62A as the inner race 62A of the first main bearing 6A: an inner peripheral surface 62a extending with a certain inner diameter, an end surface 62b facing the outer side in the axial direction, a chamfered portion 62c formed between the inner peripheral surface 62a and the end surface 62b, and an inner rolling surface 62d inclined relative to the axis O. The end surface 62b is opposite to the step surface 53. An annular spacer 13 is sandwiched between the end surface 62b and the step surface 53.

複數個滾子63B各自配置於外座圈61B與內座圈62B之間。複數個滾子63B在周向等間隔地排列。複數個滾子63B一面在外座圈61B之外滾動面61c上、及內座圈62B之內滾動面62d上滾動，一面繞軸線O周轉。 The plurality of rollers 63B are respectively arranged between the outer race 61B and the inner race 62B. The plurality of rollers 63B are arranged at equal intervals in the circumferential direction. The plurality of rollers 63B rotate around the axis O while rolling on the outer rolling surface 61c of the outer race 61B and the inner rolling surface 62d of the inner race 62B.

保持器64B配置於外座圈61B與內座圈62B之間。保持器64B保持複數個滾子63B。保持器64B形成為與外座圈61B同軸之圓環狀。在保持器64B形成有將複數個滾子63B各保持1個之複數個凹窩。 The retainer 64B is arranged between the outer race 61B and the inner race 62B. The retainer 64B retains the plurality of rollers 63B. The retainer 64B is formed in a circular ring shape coaxial with the outer race 61B. The retainer 64B has a plurality of recesses for retaining each of the plurality of rollers 63B.

第2主軸承6B之接觸角為40°以上50°以下。此外，接觸角之定義與第1主軸承6A同樣。又，針對第2主軸承6B亦然，與第1主軸承6A同樣地以滿足上述之式(1)及式(2)之關係之方式形成。 The contact angle of the second main bearing 6B is greater than 40° and less than 50°. In addition, the definition of the contact angle is the same as that of the first main bearing 6A. Moreover, the second main bearing 6B is also formed in a manner that satisfies the relationship between the above-mentioned formula (1) and formula (2) in the same manner as the first main bearing 6A.

如圖1所示，複數個曲柄軸4在外筒2之內周側於周向等間隔地配置。各曲柄軸4經由一對第1曲柄軸承7A及第2曲柄軸承7B可旋轉地受載架3支持。具體而言，各曲柄軸4在第1載架塊30之第1軸安裝孔41之內側經由第1曲柄軸承7A可旋轉地受第1載架塊30支持。又，各曲柄軸4在第2載架塊50之第2軸安裝孔54之內側經由第2曲柄軸承7B可旋轉地受第2載架塊50支持。各曲柄軸4具有：第1軸頸部71及第2軸頸部72、第1偏心部73及第2偏心部74、以及小徑部75。 As shown in FIG1 , a plurality of crankshafts 4 are arranged at equal intervals in the circumferential direction on the inner circumference of the outer cylinder 2. Each crankshaft 4 is rotatably supported by the carrier 3 via a pair of first crankshaft bearings 7A and second crankshaft bearings 7B. Specifically, each crankshaft 4 is rotatably supported by the first carrier block 30 via the first crankshaft bearing 7A on the inner side of the first shaft mounting hole 41 of the first carrier block 30. Furthermore, each crankshaft 4 is rotatably supported by the second carrier block 50 via the second crankshaft bearing 7B on the inner side of the second shaft mounting hole 54 of the second carrier block 50. Each crankshaft 4 has: a first shaft neck portion 71 and a second shaft neck portion 72, a first eccentric portion 73 and a second eccentric portion 74, and a small diameter portion 75.

第1軸頸部71配置於第1載架塊30之第1軸支持部42之內側。第2軸頸部72與第1軸頸部71同軸地形成。 The first shaft neck portion 71 is disposed on the inner side of the first shaft support portion 42 of the first carrier block 30. The second shaft neck portion 72 is formed coaxially with the first shaft neck portion 71.

第2軸頸部72相對於第1軸頸部71在軸向空開間隔而配置。第2軸頸部72配置於第2載架塊50之第2軸支持部55之內側。 The second shaft neck portion 72 is arranged at an axial spacing relative to the first shaft neck portion 71. The second shaft neck portion 72 is arranged on the inner side of the second shaft support portion 55 of the second carrier block 50.

第1偏心部73及第2偏心部74配置於第1軸頸部71與第2軸頸部72之間。第1偏心部73相對於第2偏心部74配置於第1軸頸部71側。第1偏心部73及第2偏心部74各自形成為圓柱狀。第1偏心部73及第2偏心部74相對於第1軸頸部71及第2軸頸部72之共通軸心而偏心。第1偏心部73及第2偏心部74各自從第1軸頸部71及第2軸頸部72之共通軸心以同一偏心量偏心。第1偏心部73及第2偏心部74以相互具有特定角度(在本實施形態中為180°)之相位差之方式配置。 The first eccentric portion 73 and the second eccentric portion 74 are arranged between the first shaft neck portion 71 and the second shaft neck portion 72. The first eccentric portion 73 is arranged on the side of the first shaft neck portion 71 relative to the second eccentric portion 74. The first eccentric portion 73 and the second eccentric portion 74 are each formed in a cylindrical shape. The first eccentric portion 73 and the second eccentric portion 74 are eccentric relative to the common axis of the first shaft neck portion 71 and the second shaft neck portion 72. The first eccentric portion 73 and the second eccentric portion 74 are each eccentric from the common axis of the first shaft neck portion 71 and the second shaft neck portion 72 by the same eccentricity. The first eccentric portion 73 and the second eccentric portion 74 are arranged in a manner that they have a phase difference of a specific angle (180° in this embodiment) with each other.

小徑部75隔著第2軸頸部72配置於與第1軸頸部71為相反側。小徑部75自第2軸頸部72朝軸向之外側突出。小徑部75與第2軸頸部72同軸地形成。小徑部75朝較載架3更靠軸向之外側突出。在小徑部75安裝例如與輸入軸嚙合之齒輪。 The small diameter portion 75 is arranged on the opposite side of the first shaft neck portion 71 across the second shaft neck portion 72. The small diameter portion 75 protrudes axially outward from the second shaft neck portion 72. The small diameter portion 75 is formed coaxially with the second shaft neck portion 72. The small diameter portion 75 protrudes axially outward from the carrier 3. A gear, for example, that engages with the input shaft is mounted on the small diameter portion 75.

各曲柄軸4藉由規制構件14而被保持於載架3。規制構件14具備第1規制構件15及第2規制構件16。第1規制構件15配置於第1載架塊30之第1軸安裝孔41之內側。第1規制構件15形成為與第1軸安裝孔41同軸之圓環狀。第1規制構件15嵌入第1軸安裝孔41之襯套保持部43之內側。第1規制構件15配置於階差面46與第1軸頸部71之間。第1規制構件15與階差面46自軸向之內側接觸，且與第1軸頸部71之朝向軸向之外側之端面自軸向之外側接觸或接近。 Each crankshaft 4 is held on the carrier 3 by a regulating member 14. The regulating member 14 includes a first regulating member 15 and a second regulating member 16. The first regulating member 15 is arranged on the inner side of the first shaft mounting hole 41 of the first carrier block 30. The first regulating member 15 is formed into a circular ring shape coaxial with the first shaft mounting hole 41. The first regulating member 15 is embedded in the inner side of the bushing holding portion 43 of the first shaft mounting hole 41. The first regulating member 15 is arranged between the step surface 46 and the first shaft neck 71. The first regulating member 15 contacts the step surface 46 from the inner side in the axial direction, and contacts or approaches the end surface of the first axial neck portion 71 facing the outer side in the axial direction from the outer side in the axial direction.

第2規制構件16配置於第2載架塊50之第2軸安裝孔54之內側。第2規制構件16形成為與第2軸安裝孔54同軸之圓環狀。第2規制構件16安裝於母螺紋部56。在第2規制構件16之外周面形成有與母螺紋部56嚙合之公螺紋16a。第2規制構件16包圍小徑部75，且與第2軸頸部72之朝向軸向之外側之端面接觸或接近。 The second regulating member 16 is arranged on the inner side of the second shaft mounting hole 54 of the second carrier block 50. The second regulating member 16 is formed in a circular ring shape coaxial with the second shaft mounting hole 54. The second regulating member 16 is mounted on the female threaded portion 56. A male thread 16a engaging with the female threaded portion 56 is formed on the outer peripheral surface of the second regulating member 16. The second regulating member 16 surrounds the small diameter portion 75 and contacts or approaches the end surface of the second shaft neck portion 72 facing the axial outer side.

第1曲柄軸承7A係滾針軸承。第1曲柄軸承7A配置於第1載架塊30與曲柄軸4之間。第1曲柄軸承7A具備：複數個滾子81(滾動體)、及保持複數個滾子81之保持器82。 The first crank bearing 7A is a needle bearing. The first crank bearing 7A is arranged between the first carrier block 30 and the crankshaft 4. The first crank bearing 7A has: a plurality of rollers 81 (rolling bodies), and a retainer 82 for retaining the plurality of rollers 81.

複數個滾子81配置於第1載架塊30之第1軸支持部42與曲柄軸4之第1軸頸部71之外周面之間。複數個滾子81在第1軸頸部71之周圍等角度間隔地排列。複數個滾子81形成為在軸向延伸之圓柱狀。各滾子81在第1軸支持部42上及第1軸頸部71之外周面上滾動。亦即，具有第1軸支持部42作為內周面之第1主軸承安裝部32作為第1曲柄軸承7A之外座圈而發揮功能。又，第1軸頸部71作為第1曲柄軸承7A之內座圈而發揮功能。 A plurality of rollers 81 are arranged between the first shaft support portion 42 of the first carrier block 30 and the outer circumference of the first shaft neck portion 71 of the crankshaft 4. The plurality of rollers 81 are arranged at equal angle intervals around the first shaft neck portion 71. The plurality of rollers 81 are formed into a cylindrical shape extending in the axial direction. Each roller 81 rolls on the first shaft support portion 42 and on the outer circumference of the first shaft neck portion 71. That is, the first main bearing mounting portion 32 having the first shaft support portion 42 as the inner circumference functions as the outer race of the first crank bearing 7A. In addition, the first shaft neck portion 71 functions as the inner race of the first crank bearing 7A.

保持器82沿第1軸支持部42呈圓環狀延伸。在保持器82形成有將複數個滾子81各保持1個之複數個凹窩。保持器82朝較複數個滾子81更靠軸向之兩側突出。保持器82之軸向之外側之端部可與第1規制構件15自軸向之內側接觸。 The retainer 82 extends in a circular ring shape along the first axial support portion 42. The retainer 82 is formed with a plurality of recesses for retaining one of the plurality of rollers 81. The retainer 82 protrudes toward both sides closer to the plurality of rollers 81 in the axial direction. The end of the retainer 82 on the outer side in the axial direction can contact the first regulating member 15 from the inner side in the axial direction.

第2曲柄軸承7B係滾針軸承。第2曲柄軸承7B配置於第2載架塊50與曲柄軸4之間。第2曲柄軸承7B與第1曲柄軸承7A同樣地形成。亦即，第2曲柄軸承7B具備複數個滾子81、及保持器82。 The second crank bearing 7B is a needle bearing. The second crank bearing 7B is arranged between the second carrier block 50 and the crankshaft 4. The second crank bearing 7B is formed in the same manner as the first crank bearing 7A. That is, the second crank bearing 7B has a plurality of rollers 81 and a retainer 82.

複數個滾子81配置於第2載架塊50之第2軸支持部55與曲柄軸4之第2軸頸部72之外周面之間。各滾子81在第2軸支持部55上及第2軸頸部72之外周面上滾動。亦即，具有第2軸支持部55作為內周面之第2主軸承安裝部51作為第2曲柄軸承7B之外座圈而發揮功能。又，第2軸頸部72作為第2曲柄軸承7B之內座圈而發揮功能。保持器82之軸向之外側之端部可與第2規制構件16自軸向之內側接觸。 A plurality of rollers 81 are arranged between the second shaft support portion 55 of the second carrier block 50 and the outer circumference of the second shaft neck portion 72 of the crankshaft 4. Each roller 81 rolls on the second shaft support portion 55 and the outer circumference of the second shaft neck portion 72. That is, the second main bearing mounting portion 51 having the second shaft support portion 55 as the inner circumference functions as the outer race of the second crank bearing 7B. In addition, the second shaft neck portion 72 functions as the inner race of the second crank bearing 7B. The end of the retainer 82 on the axial outer side can contact the second regulating member 16 from the axial inner side.

第1擺動齒輪5A及第2擺動齒輪5B配置於第1載架塊30之基部31與第2載架塊50之間。第1擺動齒輪5A相對於第2擺動齒輪5B配置於第1載架塊30之基部31側。第1擺動齒輪5A及第2擺動齒輪5B形成為具有較外筒2之內齒部21之內徑更小之外徑之圓盤狀。第1擺動齒輪5A及第2擺動齒輪5B可相對於載架3擺動旋轉，且可與載架3同步地繞軸線O自轉。 The first swing gear 5A and the second swing gear 5B are arranged between the base 31 of the first carrier block 30 and the second carrier block 50. The first swing gear 5A is arranged on the side of the base 31 of the first carrier block 30 relative to the second swing gear 5B. The first swing gear 5A and the second swing gear 5B are formed into a disc shape having an outer diameter smaller than the inner diameter of the inner gear portion 21 of the outer cylinder 2. The first swing gear 5A and the second swing gear 5B can swing and rotate relative to the carrier 3, and can rotate around the axis O in synchronization with the carrier 3.

第1擺動齒輪5A具有：外齒91、及與複數個曲柄軸4相同數目之軸插通孔92。外齒91在第1擺動齒輪5A之外周面遍及全周而配置，可與外筒2之內齒銷25嚙合。在各軸插通孔92中各插通複數個曲柄軸4之一個。在各軸插通孔92之內側配置有曲柄軸4之第1偏心部73。軸插通孔92經由第1偏心軸承8A安裝於第1偏心部73。 The first swing gear 5A has: an outer tooth 91, and shaft insertion holes 92 having the same number as the plurality of crank shafts 4. The outer tooth 91 is arranged all around the outer peripheral surface of the first swing gear 5A, and can engage with the inner gear pin 25 of the outer cylinder 2. One of the plurality of crank shafts 4 is inserted into each shaft insertion hole 92. The first eccentric portion 73 of the crank shaft 4 is arranged on the inner side of each shaft insertion hole 92. The shaft insertion hole 92 is mounted on the first eccentric portion 73 via the first eccentric bearing 8A.

第2擺動齒輪5B與第1擺動齒輪5A同樣地形成。在各軸插通孔92之內側配置有曲柄軸4之第2偏心部74。軸插通孔92經由第2偏心軸承8B安裝於第2偏心部74。 The second swing gear 5B is formed in the same manner as the first swing gear 5A. The second eccentric portion 74 of the crankshaft 4 is arranged inside each shaft insertion hole 92. The shaft insertion hole 92 is mounted on the second eccentric portion 74 via the second eccentric bearing 8B.

第1擺動齒輪5A在各曲柄軸4旋轉且第1偏心部73偏心旋轉時，與第1偏心部73之偏心旋轉連動地，一面與複數個內齒銷25之一部分嚙合，一面繞軸線O擺動旋轉。第2擺動齒輪5B在各曲柄軸4旋轉且第2偏心部74偏心旋轉時，與第2偏心部74之偏心旋轉連動地，一面與複數個內齒銷25之一部分嚙合，一面繞軸線O擺動旋轉。因而，被支持於第1擺動齒輪5A及第2擺動齒輪5B之複數個曲柄軸4繞軸線O周轉，且支持複數個曲柄軸4之載架3繞軸線O旋轉。 When each crankshaft 4 rotates and the first eccentric portion 73 rotates eccentrically, the first oscillating gear 5A rotates oscillatingly around the axis O while engaging with a part of the plurality of inner gear pins 25 in conjunction with the eccentric rotation of the first eccentric portion 73. When each crankshaft 4 rotates and the second eccentric portion 74 rotates eccentrically, the second oscillating gear 5B rotates oscillatingly around the axis O while engaging with a part of the plurality of inner gear pins 25 in conjunction with the eccentric rotation of the second eccentric portion 74. Therefore, the plurality of crank shafts 4 supported by the first swing gear 5A and the second swing gear 5B rotate around the axis O, and the carrier 3 supporting the plurality of crank shafts 4 rotates around the axis O.

此外，雖未圖示，但在第1擺動齒輪5A及第2擺動齒輪5B各者形成有與第1載架塊30之複數個支柱部相同數目之避讓孔。在各避讓孔各插通複數個支柱部之一個。各避讓孔相對於支柱部形成為充分大之內徑，以使各支柱部不妨礙第1擺動齒輪5A及第2擺動齒輪5B之擺動旋轉。 In addition, although not shown, the first swing gear 5A and the second swing gear 5B are each formed with the same number of avoidance holes as the plurality of support parts of the first carrier block 30. One of the plurality of support parts is inserted through each avoidance hole. Each avoidance hole is formed with a sufficiently large inner diameter relative to the support part so that each support part does not hinder the swing rotation of the first swing gear 5A and the second swing gear 5B.

第1偏心軸承8A係滾針軸承。第1偏心軸承8A配置於第1擺動齒輪5A與曲柄軸4之間。第1偏心軸承8A具備：複數個滾子101、保持複數個滾子101之保持器102。 The first eccentric bearing 8A is a needle bearing. The first eccentric bearing 8A is arranged between the first swing gear 5A and the crank shaft 4. The first eccentric bearing 8A has: a plurality of rollers 101 and a retainer 102 for retaining the plurality of rollers 101.

複數個滾子101配置於第1擺動齒輪5A之軸插通孔92之內周面與曲柄軸4之第1偏心部73之外周面之間。複數個滾子101在第1偏心部73之周圍 等角度間隔地排列。複數個滾子101形成為在軸向延伸之圓柱狀。各滾子101在第1擺動齒輪5A之軸插通孔92之內周面上及第1偏心部73之外周面上滾動。 The plurality of rollers 101 are arranged between the inner circumference of the shaft insertion hole 92 of the first swing gear 5A and the outer circumference of the first eccentric portion 73 of the crankshaft 4. The plurality of rollers 101 are arranged at equal angles around the first eccentric portion 73. The plurality of rollers 101 are formed into a cylindrical shape extending in the axial direction. Each roller 101 rolls on the inner circumference of the shaft insertion hole 92 of the first swing gear 5A and on the outer circumference of the first eccentric portion 73.

保持器102沿軸插通孔92之內周面呈圓環狀延伸。在保持器102形成有將複數個滾子101各保持1個之複數個凹窩。保持器102朝較複數個滾子101更靠軸向之兩側突出。 The retainer 102 extends in a circular ring shape along the inner circumference of the axial insertion hole 92. The retainer 102 has a plurality of recesses for retaining each of the plurality of rollers 101. The retainer 102 protrudes toward both sides closer to the axial direction than the plurality of rollers 101.

第2偏心軸承8B係滾針軸承。第2偏心軸承8B配置於第2擺動齒輪5B與曲柄軸4之間。第2偏心軸承8B與第1偏心軸承8A同樣地形成。亦即，第2偏心軸承8B具備複數個滾子101、及保持器102。 The second eccentric bearing 8B is a needle bearing. The second eccentric bearing 8B is arranged between the second swing gear 5B and the crankshaft 4. The second eccentric bearing 8B is formed in the same manner as the first eccentric bearing 8A. That is, the second eccentric bearing 8B has a plurality of rollers 101 and a retainer 102.

複數個滾子101配置於第2擺動齒輪5B之軸插通孔92之內周面與曲柄軸4之第2偏心部74之外周面之間。複數個滾子101在第2偏心部74之周圍等角度間隔地排列。複數個滾子101形成為在軸向延伸之圓柱狀。各滾子101在第2擺動齒輪5B之軸插通孔92之內周面上及第2偏心部74之外周面上滾動。 The plurality of rollers 101 are arranged between the inner circumference of the shaft insertion hole 92 of the second swing gear 5B and the outer circumference of the second eccentric portion 74 of the crankshaft 4. The plurality of rollers 101 are arranged at equal angles around the second eccentric portion 74. The plurality of rollers 101 are formed into a cylindrical shape extending in the axial direction. Each roller 101 rolls on the inner circumference of the shaft insertion hole 92 of the second swing gear 5B and on the outer circumference of the second eccentric portion 74.

針對第1主軸承6A及第2主軸承6B各者之荷重作用線，進行說明。荷重作用線係自各滾子63A、63B之中心軸線(滾動軸線)之中點相對於中心軸線正交地延伸之線。 The load action lines of the first main bearing 6A and the second main bearing 6B are described. The load action lines are lines extending orthogonally to the center axis (rolling axis) of each roller 63A, 63B from the midpoint of the center axis (rolling axis).

如圖2所示，第1主軸承6A之荷重作用線AL1通過較第1主軸承6A之內座圈62A之內周面62a更靠軸向之外側。亦即，荷重作用線AL1不通過 第1主軸承6A之內座圈62A之內周面62a。更詳細而言，荷重作用線AL1通過內座圈62A之倒角部62c。 As shown in FIG2 , the load action line AL1 of the first main bearing 6A passes through the inner peripheral surface 62a of the inner race 62A of the first main bearing 6A, which is closer to the outside in the axial direction. That is, the load action line AL1 does not pass through the inner peripheral surface 62a of the inner race 62A of the first main bearing 6A. More specifically, the load action line AL1 passes through the chamfered portion 62c of the inner race 62A.

第1主軸承6A之接觸角θ為40°以上50°以下，第1主軸承6A以滿足上述之式(1)及式(2)之至少任一關係之方式形成。藉此，荷重作用線AL1通過較第1載架塊30之第1主軸承安裝部32之內周面(第1軸支持部42及擴徑部44)更靠軸向之外側。在本實施形態中，荷重作用線AL1通過較第1主軸承安裝部32更靠軸向之外側。進而，荷重作用線AL1通過較第1軸安裝孔41之整體更靠軸向之外側。 The contact angle θ of the first main bearing 6A is greater than 40° and less than 50°, and the first main bearing 6A is formed in a manner that satisfies at least one of the relationships of the above-mentioned formula (1) and formula (2). Thus, the load action line AL1 passes through the inner peripheral surface (the first shaft support portion 42 and the expansion portion 44) of the first main bearing mounting portion 32 of the first carrier block 30, which is closer to the axial outside. In this embodiment, the load action line AL1 passes through the first main bearing mounting portion 32, which is closer to the axial outside. Furthermore, the load action line AL1 passes through the entire first shaft mounting hole 41, which is closer to the axial outside.

如圖4所示，第2主軸承6B之荷重作用線AL2通過較第2主軸承6B之內座圈62B之內周面62a更靠軸向之外側。更詳細而言，荷重作用線AL2通過內座圈62B之倒角部62c。荷重作用線AL2通過較第2主軸承安裝部51之內周面中之第2內座圈保持部52更靠軸向之外側。 As shown in FIG4 , the load action line AL2 of the second main bearing 6B passes through the inner peripheral surface 62a of the inner race 62B of the second main bearing 6B, which is closer to the outside in the axial direction. More specifically, the load action line AL2 passes through the chamfered portion 62c of the inner race 62B. The load action line AL2 passes through the second inner race retaining portion 52 in the inner peripheral surface of the second main bearing mounting portion 51, which is closer to the outside in the axial direction.

如以上所說明般，在本實施形態中，第1主軸承6A之荷重作用線AL1不通過內座圈62A之內周面62a。根據此構成，可避免荷重作用線AL1以在徑向橫貫之方式通過具有保持內座圈62A之內周面62a之外周面之構件之壁部、亦即支持第1主軸承6A之載架3之第1主軸承安裝部32之壁部。藉此，抑制第1主軸承安裝部32之壁部以朝向徑向之內側撓曲之方式變形，而可減輕對第1主軸承安裝部32施加之負載。因而，可減薄第1主軸承安裝部32之厚度。 As described above, in this embodiment, the load action line AL1 of the first main bearing 6A does not pass through the inner circumference 62a of the inner race 62A. According to this structure, it is possible to avoid the load action line AL1 from passing through the wall of the component having the outer circumference of the inner circumference 62a of the inner race 62A in a radially transverse manner, that is, the wall of the first main bearing mounting portion 32 of the carrier 3 supporting the first main bearing 6A. In this way, the wall of the first main bearing mounting portion 32 is suppressed from deforming in a radially inward bending manner, and the load applied to the first main bearing mounting portion 32 can be reduced. Therefore, the thickness of the first main bearing mounting portion 32 can be reduced.

又，本實施形態之減速機1具備上述之第1主軸承6A，荷重作用線AL1不通過第1主軸承安裝部32之第1軸安裝孔41之內周面。根據此構成，可避免荷重作用線AL1通過第1主軸承安裝部32之外周面(第1內座圈保持部33)及第1軸安裝孔41之內周面。藉此，抑制於第1主軸承安裝部32之外周面與第1軸安裝孔41之內周面之間之形成薄壁之部分以朝向徑向之內側撓曲之方式變形，而可減輕對第1主軸承安裝部32施加之負載。因而，可藉由第1主軸承安裝部32之薄壁化謀求減速機1之小型化。且，可謀求第1軸安裝孔41之大徑化。 Furthermore, the speed reducer 1 of this embodiment has the above-mentioned first main bearing 6A, and the load action line AL1 does not pass through the inner peripheral surface of the first shaft mounting hole 41 of the first main bearing mounting portion 32. According to this structure, it is possible to avoid the load action line AL1 from passing through the outer peripheral surface (first inner race holding portion 33) of the first main bearing mounting portion 32 and the inner peripheral surface of the first shaft mounting hole 41. Thereby, the thin-walled portion between the outer peripheral surface of the first main bearing mounting portion 32 and the inner peripheral surface of the first shaft mounting hole 41 is suppressed from deforming in a radially innerward bending manner, and the load applied to the first main bearing mounting portion 32 can be reduced. Therefore, the first main bearing mounting portion 32 can be thinned to achieve miniaturization of the reducer 1. Also, the first shaft mounting hole 41 can be enlarged in diameter.

此外，第1主軸承6A亦可以荷重作用線AL1通過內座圈62A之端面62b之方式形成。根據此構成，由於荷重作用線AL1不通過支持第1主軸承6A之載架3之第1主軸承安裝部32，故可減輕對第1主軸承安裝部32施加之負載。因而，由於第1主軸承安裝部32之變形受抑制，故可減薄第1主軸承安裝部32之厚度。 In addition, the first main bearing 6A can also be formed in a manner that the load action line AL1 passes through the end surface 62b of the inner race 62A. According to this structure, since the load action line AL1 does not pass through the first main bearing mounting portion 32 of the carrier 3 supporting the first main bearing 6A, the load applied to the first main bearing mounting portion 32 can be reduced. Therefore, since the deformation of the first main bearing mounting portion 32 is suppressed, the thickness of the first main bearing mounting portion 32 can be reduced.

此處，說明實施例之減速機之第1主軸承之接觸角與減速機之壽命及剛性之關係。實施例之減速機相當於上述實施形態之減速機1，藉由適宜地變更第1主軸承6A之外座圈61A之外滾動面61c、內座圈62A之內滾動面62d、及滾子63A之形狀，使得第1主軸承之接觸角變化。此外，在實施例之第1主軸承中，若接觸角為40°以上，則荷重作用線通過較內座圈之內周面更靠軸向之外側。又，若接觸角為45°以上，則荷重作用線通過內座圈之端面。 Here, the relationship between the contact angle of the first main bearing of the speed reducer of the embodiment and the life and rigidity of the speed reducer is explained. The speed reducer of the embodiment is equivalent to the speed reducer 1 of the above-mentioned embodiment. The contact angle of the first main bearing is changed by appropriately changing the outer rolling surface 61c of the outer race 61A of the first main bearing 6A, the inner rolling surface 62d of the inner race 62A, and the shape of the roller 63A. In addition, in the first main bearing of the embodiment, if the contact angle is greater than 40°, the load action line passes through the axially outer side of the inner peripheral surface of the inner race. In addition, if the contact angle is greater than 45°, the load action line passes through the end surface of the inner race.

圖5係顯示實施例之減速機之第1主軸承之接觸角與壽命及剛性之關係之圖。在圖5中，橫軸表示第1主軸承之接觸角，左側之第1縱軸表示減速機之壽命，右側之第2縱軸表示減速機之剛性。 FIG5 is a diagram showing the relationship between the contact angle, life and rigidity of the first main bearing of the speed reducer of the embodiment. In FIG5, the horizontal axis represents the contact angle of the first main bearing, the first vertical axis on the left side represents the life of the speed reducer, and the second vertical axis on the right side represents the rigidity of the speed reducer.

如圖5所示，第1主軸承之接觸角在至少30°以上60°以下之範圍內，減速機之壽命隨著第1主軸承之接觸角變大而延長。又，第1主軸承之接觸角在至少30°以上60°以下之範圍內，減速機之剛性隨著第1主軸承之接觸角變小而變大。藉由將第1主軸承6A之接觸角設為40°以上50°以下，而可均衡性良好地確保減速機1之壽命及剛性之兩者。 As shown in FIG5 , the contact angle of the first main bearing is at least within the range of 30° to 60°, and the service life of the speed reducer increases as the contact angle of the first main bearing increases. In addition, the rigidity of the speed reducer increases as the contact angle of the first main bearing decreases as the contact angle of the first main bearing decreases. By setting the contact angle of the first main bearing 6A to 40° to 50°, both the service life and rigidity of the speed reducer 1 can be ensured in a well-balanced manner.

又，第1主軸承6A由於滿足上述之式(1)之關係，故可將荷重作用線AL1通過較第1主軸承安裝部32更靠軸向之外側。因而，可減輕對第1主軸承安裝部32施加之負載。 In addition, since the first main bearing 6A satisfies the relationship of the above-mentioned formula (1), the load action line AL1 can pass through the first main bearing mounting portion 32 axially closer to the outside. Therefore, the load applied to the first main bearing mounting portion 32 can be reduced.

又，第1主軸承6A由於滿足上述之式(2)之關係，故可將荷重作用線AL1通過較第1主軸承安裝部32更靠軸向之外側。因而，可減輕對第1主軸承安裝部32施加之負載。 In addition, since the first main bearing 6A satisfies the relationship of the above-mentioned formula (2), the load action line AL1 can pass through the first main bearing mounting portion 32 further axially outside. Therefore, the load applied to the first main bearing mounting portion 32 can be reduced.

又，減速機1具備具有滾子81之第1曲柄軸承7A。滾子81在第1軸安裝孔41之內周面之第1軸支持部42上滾動。根據該構成，由於使形成有第1軸安裝孔41之第1主軸承安裝部32作為第1曲柄軸承7A之外座圈而發揮功能，故可省略作為另一零件之外座圈，相應地，可實現第1主軸承安裝部32之小徑化、及第1軸安裝孔41之大徑化中至少任一者。針對第2曲柄軸承7B亦同樣。 Furthermore, the speed reducer 1 has a first crank bearing 7A having a roller 81. The roller 81 rolls on the first shaft support portion 42 on the inner circumference of the first shaft mounting hole 41. According to this structure, since the first main bearing mounting portion 32 formed with the first shaft mounting hole 41 functions as the outer race of the first crank bearing 7A, the outer race as another part can be omitted, and accordingly, at least one of the reduction in diameter of the first main bearing mounting portion 32 and the increase in diameter of the first shaft mounting hole 41 can be achieved. The same is true for the second crank bearing 7B.

此外，以上主要針對與第1主軸承6A相關之作用效果進行了說明，但針對第2主軸承6B亦發揮同樣之作用效果。惟，第1主軸承6A配置於較第2主軸承6B更靠載架3之安裝面30a側。因而，由於對第1主軸承6A施加較第2主軸承6B更大之力矩，故在第1主軸承6A中可較大地獲得上述之作用效果。 In addition, the above mainly describes the effects related to the first main bearing 6A, but the same effects are also exerted on the second main bearing 6B. However, the first main bearing 6A is arranged closer to the mounting surface 30a of the carrier 3 than the second main bearing 6B. Therefore, since a greater torque is applied to the first main bearing 6A than to the second main bearing 6B, the above effects can be obtained to a greater extent in the first main bearing 6A.

此外，本發明並不限定於參照圖式所說明之上述之實施形態，在其技術性範圍內可考量各種變化例。 In addition, the present invention is not limited to the above-mentioned implementation forms described with reference to the drawings, and various variations can be considered within its technical scope.

例如，在上述實施形態中，雖然第1曲柄軸承7A係滾針軸承，使主軸承安裝部32作為外座圈而發揮功能，但可具備外座圈而作為另一零件。針對第2曲柄軸承7B亦同樣。又，第1曲柄軸承及第2曲柄軸承並不限定於滾針軸承之構成，例如可行的是，至少任一者為圓錐滾子軸承。 For example, in the above-mentioned embodiment, although the first crank bearing 7A is a needle roller bearing and the main bearing mounting portion 32 functions as an outer race, the outer race may be provided as another component. The same is true for the second crank bearing 7B. Furthermore, the first crank bearing and the second crank bearing are not limited to the configuration of needle roller bearings, and it is feasible that at least one of them is a tapered roller bearing.

又，在上述實施形態中，舉出將載架3用作輸出軸之情形為例進行了說明，但並不限定於此。亦即，可將可載架3固定地設置，將殼體2用作輸出軸。 In addition, in the above-mentioned embodiment, the case where the carrier 3 is used as the output shaft is cited as an example for explanation, but it is not limited to this. That is, the carrier 3 can be fixedly installed and the housing 2 can be used as the output shaft.

此外，在不脫離本發明之旨趣之範圍內，可適宜地將上述之實施形態之構成要素置換為周知之構成要素。 In addition, without departing from the scope of the present invention, the constituent elements of the above-mentioned implementation form can be appropriately replaced with well-known constituent elements.

(附記1) (Note 1)

一種軸承，其具備： 外座圈，其形成為以特定之軸線為中心之圓環狀，且具有朝向沿前述軸線之軸向之第1側且朝向徑向之內側之外滾動面；內座圈，其與前述外座圈同軸地配置，且具有朝向前述軸向之第2側且朝向前述徑向之外側之內滾動面、及一定之內徑在前述軸向延伸之內周面；及複數個滾子，其等在前述內滾動面上及前述外滾動面上滾動；且荷重作用線通過較前述內周面更靠前述軸向之前述第1側。 A bearing having: an outer race formed in a circular ring centered on a specific axis and having an outer rolling surface facing the first side in the axial direction along the axis and facing the inner side in the radial direction; an inner race coaxially arranged with the outer race and having an inner rolling surface facing the second side in the axial direction and facing the outer side in the radial direction, and an inner peripheral surface with a certain inner diameter extending in the axial direction; and a plurality of rollers rolling on the inner rolling surface and the outer rolling surface; and a load action line passing through the first side in the axial direction closer to the inner peripheral surface.

(附記2) (Note 2)

一種軸承，其具備：外座圈，其形成為以特定之軸線為中心之圓環狀，且具有朝向沿前述軸線之軸向之第1側且朝向徑向之內側之外滾動面；內座圈，其與前述外座圈同軸地配置，且具有朝向前述軸向之第2側且朝向前述徑向之外側之內滾動面、及朝向前述軸向之前述第1側之端面；及複數個滾子，其等在前述內滾動面上及前述外滾動面上滾動；且荷重作用線通過前述內座圈之前述端面。 A bearing, comprising: an outer race formed into a ring shape with a specific axis as the center, and having an outer rolling surface facing the first side in the axial direction along the axis and facing the inner side in the radial direction; an inner race coaxially arranged with the outer race, and having an inner rolling surface facing the second side in the axial direction and facing the outer side in the radial direction, and an end surface facing the first side in the axial direction; and a plurality of rollers rolling on the inner rolling surface and the outer rolling surface; and a load action line passing through the end surface of the inner race.

2:外筒(外側構件)、殼體 2: Outer cylinder (external component), shell

3:載架(內側構件) 3: Carrier (inner component)

4:曲柄軸(軸構件) 4: Crankshaft (shaft component)

6A:第1主軸承(軸承) 6A: 1st main bearing (bearing)

7A:第1曲柄軸承(滾針軸承) 7A: 1st crank bearing (roller bearing)

11:油封 11: Oil seal

14:規制構件 14: Regulatory components

15:第1規制構件 15: The first regulatory component

22:第1外座圈保持部 22: 1st outer race retaining part

24,34:密封部 24,34: Sealing part

25:內齒銷 25: Internal tooth pin

26,28,35,46:階差面 26,28,35,46: step surface

30:第1載架塊 30: 1st carrier block

31:基部 31: Base

32:第1主軸承安裝部、主軸承安裝部(軸承安裝部) 32: 1st main bearing mounting part, main bearing mounting part (bearing mounting part)

33:第1內座圈保持部 33: 1st inner race retaining part

41:第1軸安裝孔(軸孔) 41: 1st shaft mounting hole (shaft hole)

42:第1軸支持部 42: 1st axis support part

43:襯套保持部 43: Bushing retaining part

44:擴徑部 44: Expansion section

45:連通部 45: Communication Department

61A:外座圈 61A: Outer race

61a:外周面 61a: Outer surface

61b:端面 61b: End face

61c:外滾動面 61c: Outer rolling surface

62A:內座圈 62A: Inner race

62a:內周面 62a: Inner circumference

62b:端面(軸向端面) 62b: End face (axial end face)

62c:倒角部 62c: Chamfered part

62d:內滾動面 62d: Inner rolling surface

63A,81:滾子(滾動體) 63A,81: Roller (rolling body)

64A:保持器 64A: Retainer

71:第1軸頸部 71: Neck of the first shaft

AL1:荷重作用線 AL1: Load action line

B,B1:尺寸 B, B1: Size

θ:接觸角 θ: contact angle

Claims (6)

一種減速機，其具備：圓錐滾子軸承，其具有外座圈、內座圈、及配置於上述外座圈與上述內座圈之間的複數個滾子；外側構件，其以與上述外座圈不同個體的方式設置且安裝有上述外座圈；及內側構件，其以與上述內座圈不同個體的方式設置且安裝有上述內座圈，並具有可將軸構件旋轉地支持之軸孔；且上述圓錐滾子軸承具有不通過前述軸孔之孔內周面之荷重作用線。 A speed reducer comprises: a tapered roller bearing having an outer race, an inner race, and a plurality of rollers disposed between the outer race and the inner race; an outer member which is provided in a manner different from the outer race and is mounted with the outer race; and an inner member which is provided in a manner different from the inner race and is mounted with the inner race and has a shaft hole which can rotatably support the shaft member; and the tapered roller bearing has a load action line which does not pass through the inner peripheral surface of the shaft hole. 如請求項1之減速機，其中前述圓錐滾子軸承之接觸角為40°以上50°以下。 For the speed reducer of claim 1, the contact angle of the aforementioned tapered roller bearing is greater than 40° and less than 50°. 如請求項1之減速機，其中自前述內座圈之軸線方向端面至前述內座圈之表面與前述荷重作用線之交點為止之前述軸線方向之距離A、與前述內座圈及前述外座圈整體之前述軸線方向上之尺寸B，滿足0≦A/B≦0.2之關係。 For the speed reducer of claim 1, the distance A in the axial direction from the axial end face of the inner race to the intersection of the surface of the inner race and the load action line, and the dimension B in the axial direction of the inner race and the outer race as a whole, satisfy the relationship of 0≦A/B≦0.2. 如請求項1之減速機，其中自前述內座圈之軸線方向端面至前述內座圈之表面與前述荷重作用線之交點為止之前述軸線方向之距離A、與 前述內座圈之前述軸線方向上之尺寸B1，滿足0≦A/B1≦0.3之關係。 For the speed reducer of claim 1, the distance A in the axial direction from the axial end face of the inner race to the intersection of the surface of the inner race and the load action line, and the dimension B1 of the inner race in the axial direction, satisfy the relationship of 0≦A/B1≦0.3. 一種減速機，其具備：圓錐滾子軸承，其具有：形成為圓環狀且具有朝向徑向內側之外滾動面之外座圈、與前述外座圈同軸地配置且具有朝向前述徑向外側之內滾動面之內座圈、及在前述內滾動面上及前述外滾動面上滾動之複數個滾子；外側構件，其安裝有前述外座圈；內側構件，其具有安裝有前述內座圈之軸承安裝部，且前述軸承安裝部具有沿軸線方向貫通之軸孔；軸構件，其插入於前述軸孔，可旋轉地受前述內側構件支持；及滾針軸承，其介置於前述軸承安裝部與前述軸構件之間，且具有在前述軸孔之內周面上滾動之複數個滾動體；且前述圓錐滾子軸承之荷重作用線通過較前述軸孔之內周面之整體更靠前述軸線方向之外側；前述圓錐滾子軸承之接觸角為40°以上50°以下；將自前述內座圈之前述軸線方向之外側之端部至前述內座圈之表面之與前述荷重作用線之交點為止的前述軸線方向之距離設為A，將前述內座圈及前述外座圈整體之前述軸線方向上之尺寸設為B，將前述內座圈之前述軸線方向上之尺寸設為B1時，滿足0≦A/B≦0.2 之關係、及0≦A/B1≦0.3之關係。 A speed reducer comprises: a tapered roller bearing having: an outer race formed in an annular shape and having an outer rolling surface facing radially inward, an inner race arranged coaxially with the outer race and having an inner rolling surface facing radially outward, and a plurality of rollers rolling on the inner rolling surface and the outer rolling surface; an outer member mounted The outer race is mounted on the inner member; the inner member has a bearing mounting portion on which the inner race is mounted, and the bearing mounting portion has an axial hole extending along the axial direction; the shaft member is inserted into the axial hole and is rotatably supported by the inner member; and the needle bearing is interposed between the bearing mounting portion and the shaft member and has a Multiple rolling elements rolling on the inner circumference of the shaft hole; and the load action line of the aforementioned tapered roller bearing passes through the outer side of the aforementioned axial direction than the entire inner circumference of the aforementioned shaft hole; the contact angle of the aforementioned tapered roller bearing is 40° or more and 50° or less; the distance in the aforementioned axial direction from the end of the aforementioned inner race outside the aforementioned axial direction to the intersection of the surface of the aforementioned inner race and the aforementioned load action line is set as A, the dimension of the aforementioned inner race and the aforementioned outer race in the aforementioned axial direction is set as B, and the dimension of the aforementioned inner race in the aforementioned axial direction is set as B1, satisfying the relationship of 0≦A/B≦0.2 , and the relationship of 0≦A/B1≦0.3. 一種軸承，其具備：外座圈；內座圈，其具有內周面、軸線方向端面、及形成於上述內周面與上述軸線方向端面之間的倒角部；及滾動體，其配置於前述外座圈與前述內座圈之間，且其荷重作用線通過前述倒角部。 A bearing comprises: an outer race; an inner race having an inner peripheral surface, an axial end surface, and a chamfered portion formed between the inner peripheral surface and the axial end surface; and a rolling element disposed between the outer race and the inner race, and having a load action line passing through the chamfered portion.
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