REDUCTION GEAR

PROBLEM TO BE SOLVED: To provide a reduction gear structured to suppress wearing and damage of members by improving arrangement accuracy in the reduction gear combining a planetary gear reduction mechanism with an eccentric oscillation type reduction gear.SOLUTION: The reduction gear comprises: an input shaft 10A including a sun rotating body 14A that is rotated around a central axis 90A; one or more planetary rolling bodies 26A which are supported so as to perform auto-rotations around the sun rotating body; a cylindrical eccentric shaft 21A including an outer peripheral surface 211A which is made eccentric with respect to the central axis, and rotated around the central axis with the auto-rotations of the planetary rolling bodies; eccentric fluctuation gears 22A and 82A including multiple outer teeth on outer peripheral surfaces and supported by the eccentric shaft via a first bearing; a housing 23A including inner teeth 51A that are engaged with outer teeth 41A of the eccentric oscillation gears, on an inner peripheral surface; and an output flange 30A including an eccentric oscillation carrier pin 44A penetrating the eccentric oscillation gears in an axial direction, and rotated around the central axis together with the eccentric oscillation gears.SELECTED DRAWING: Figure 1 【課題】遊星歯車減速機構と偏心揺動型減速機とを組み合わせた減速機における配置精度を高め、部材の摩耗および損傷を抑制することができる構造の減速機を提供する。【解決手段】中心軸９０Ａを中心として回転する太陽回転体１４Ａを有する入力軸１０Ａと、太陽回転体の周囲において、自転可能に支持された１または複数の遊星転動体２６Ａと、中心軸に対して偏心した外周面２１１Ａを有し、遊星転動体の自転に伴い中心軸を中心として回転する筒状の偏心軸２１Ａと、外周面に複数の外歯を有し、偏心軸に第１軸受を介して支持される偏心揺動歯車２２Ａ、８２Ａと、偏心揺動歯車の外歯４１Ａと噛み合う内歯５１Ａを内周面に有するハウジング２３Ａと、偏心揺動歯車を軸方向に貫通する偏心揺動キャリアピン４４Ａを有し、中心軸を中心として偏心揺動歯車とともに回転する出力フランジ３０Ａとを有する。【選択図】図１