Abstract: The invention provides a lubricant composition for an eccentric oscillating planetary gear type speed reducer comprising the following components (a) to (d): (a) a base oil containing a synthetic oil; (b) at least one calcium salt selected from the group consisting of calcium salts of petroleum sulfonic acids, calcium salts of alkyl aromatic sulfonic acids, calcium salts of salicylates, calcium salts of phenates, calcium salts of oxidized waxes, overbased calcium salts of petroleum sulfonic acids, overbased calcium salts of alkyl aromatic sulfonic acids, overbased calcium salts of salicylates, overbased calcium salts of phenates, and overbased calcium salts of oxidized waxes; (c) an antioxidant; and (d) a glycerin fatty acid ester.

Abstract: The invention provides a lubricant composition for an eccentrically oscillating speed reducer of planetary gear type, which is capable of extending the life of the speed reducer under high temperatures and keeping low input torque at low temperatures, and includes (a) a base oil containing a synthetic oil, (b) a hydrocarbon wax, and (c) at least one calcium salt selected from the group consisting of a calcium salt of petroleum sulfonic acid, a calcium salt of alkyl aromatic sulfonic acid, a calcium salt of oxidized wax, an overbasic calcium salt of petroleum sulfonic acid, an overbasic calcium salt of alkyl aromatic sulfonic acid, and an overbasic calcium salt of oxidized wax.

Abstract: The invention provides a lubricant composition for an eccentric oscillating planetary gear type speed reducer comprising the following components (a) to (d): (a) a base oil containing a synthetic oil; (b) at least one calcium salt selected from the group consisting of calcium salts of petroleum sulfonic acids, calcium salts of alkyl aromatic sulfonic acids, calcium salts of salicylates, calcium salts of phenates, calcium salts of oxidized waxes, overbased calcium salts of petroleum sulfonic acids, overbased calcium salts of alkyl aromatic sulfonic acids, overbased calcium salts of salicylates, overbased calcium salts of phenates, and overbased calcium salts of oxidized waxes; (c) an antioxidant; and (d) a glycerin fatty acid ester.

Abstract: The invention provides a lubricant composition for an eccentrically oscillating speed reducer of planetary gear type, which is capable of extending the life of the speed. reducer under high temperatures and keeping low input torque at low temperatures, and includes (a) a base oil containing a synthetic oil, (b) a hydrocarbon wax, and (c) at least one calcium salt selected from the group consisting of a calcium salt of petroleum sulfonic acid, a calcium salt of alkyl aromatic sulfonic acid, a calcium salt of oxidized wax, an overbasic calcium salt of petroleum sulfonic acid, an overbasic calcium salt of alkyl aromatic sulfonic acid, and an overbasic calcium salt of oxidized wax.

Abstract: A joint mechanism includes: a first member; a second member; and a gear device that is provided between the first member and the second member and changes the number of revolutions at a predetermined ratio to transmit a drive force. The gear device includes a crank shaft on which a first eccentric portion is formed, a first oscillating gear that has first external teeth and an insertion hole into which the first eccentric portion is inserted, a carrier that retains the crank shaft rotatably, and an external cylinder that has an internal-tooth pin 3. The carrier and the external cylinder are configured to be displaced coaxially and relatively to each other due to oscillation of the first oscillating gear.

Abstract: A joint mechanism includes: a first member; a second member that includes a first portion and second portion; a gear device including a crank shaft on which a first eccentric portion is formed, a first oscillating gear that has first external teeth and a first insertion hole, a carrier that retains the crank shaft, and an external cylinder that has internal-tooth pins. The carrier and the external cylinder are configured to be displaced coaxially due to oscillation of the first oscillating gear. The joint mechanism further includes a first fixing member that fixes the external cylinder to the first member, and a second fixing member that fixes the carrier to the second member. The second fixing member includes a one-side fixing member that fixes the carrier to the first portion and an other-side fixing member that fixes the carrier to the second portion.

Abstract: A gear transmission comprises an external gear and an internal gear that rotates eccentrically relative to the external gear while meshing with the external gear. At least one first recess is formed on an outer peripheral side of the internal gear so that at least a portion of a motor is disposed within the first recess, thereby shortening the length and width of the device that includes the motor and the gear transmission in the axial and radial direction, respectively.

Abstract: A first reduction gear unit has a first input shaft that rotates in accordance with the rotation of an output shaft of a motor, a first external gear that revolves orbitally around an axis line of the first input shaft, and a first internal gear that has a number of teeth differing from the number of teeth of the first external gear. A second reduction gear unit comprises a crankshaft that rotates in accordance with the rotation of a first output shaft, a second external gear having a through hole formed at a center itself, a cylindrical member passing through the through hole of the second external gear, a second internal gear that has a number of teeth differing from the number of teeth of the second external gear, and a second output shaft that rotates around an axis line of the second internal gear. The first reduction gear unit is disposed between an outer circumferential surface of the second reduction gear unit and an inner surface of the cylindrical member.

Abstract: A gear transmission comprises an external gear and an internal gear that rotates eccentrically relative to the external gear while meshing with the external gear. At least one first recess is formed on an outer peripheral side of the internal gear so that at least a portion of a motor is disposed within the first recess, thereby shortening the length and width of the device that includes the motor and the gear transmission in the axial and radial direction, respectively.

Abstract: The present invention reduces the manufacturing cost of an eccentric oscillating type speed reducer 11 while preventing the torque transmitting capability of the eccentric oscillating type speed reducer 11 from being degraded. A part of a case 12, which is in a meshing region 50 in which internal teeth of the case 12 mesh with external teeth of pinions 20, is enabled to bend in a direction in which the radius of curvature thereof decreases. Thus, even when the concentration of a meshing load on the vicinity of a part, at which the manner of meshing between the internal teeth and the external teeth most differs from an ideal manner in the meshing region 50, a part of the case 12, which is in the vicinity of the part, bends in a direction in which the radius of curvature decreases. Consequently, the meshing load can be uniformized by being dispersed in the circumferential direction of the case 12.

Abstract: A first reduction gear unit has a first input shaft that rotates in accordance with the rotation of an output shaft of a motor, a first external gear that revolves orbitally around an axis line of the first input shaft, and a first internal gear that has a number of teeth differing from the number of teeth of the first external gear. A second reduction gear unit comprises a crankshaft that rotates in accordance with the rotation of a first output shaft, a second external gear having a through hole formed at a center itself, a cylindrical member passing through the through hole of the second external gear, a second internal gear that has a number of teeth differing from the number of teeth of the second external gear, and a second output shaft that rotates around an axis line of the second internal gear. The first reduction gear unit is disposed between an outer circumferential surface of the second reduction gear unit and an inner surface of the cylindrical member.

Abstract: A flex spline 1 used for a meshing type gear device includes an attachment portion 1a, a thin-thickness tubular portion 1b continuing to the attachment portion and capable of being elastically deformed, and external teeth 1c formed at the tip end portion of the tubular portion away from the attachment portion. The thin-thickness tubular portion 1b is formed in a conical shape with an opening angle ? which is tapered in a direction from the attachment portion 1a toward the external teeth 1c before inserting a wave generator 3.

Abstract: A flex spline 1 used for a meshing type gear device includes an attachment portion 1a, a thin-thickness tubular portion 1b continuing to the attachment portion and capable of being elastically deformed, and external teeth 1c formed at the tip end portion of the tubular portion away from the attachment portion. The thin-thickness tubular portion 1b is formed in a conical shape with an opening angle &thgr; which is tapered in a direction from the attachment portion 1a toward the external teeth 1c before inserting a wave generator 3.

Abstract: Since the phases of pinions 23, 25 and a pinion 24 are deviated by 180 degree, the pinions 23, 25 are acted with the engaging force which is reverse in a working direction to the engaging force of the pinion 24 and is half in the value. At this time since distances between a center 27a in the gear width of the pinion 24 and centers 26a, 28a in the gear width of the pinions 23, 25 are substantially equal, the engaging forces in the pinions 24 and 23, 25 are zero in resultant force and moment of rotation, and balanced.