JP2019194486A

JP2019194486A - Speed reducer

Info

Publication number: JP2019194486A
Application number: JP2018088778A
Authority: JP
Inventors: 靖梶原; Yasushi Kajiwara
Original assignee: Enplas Corp
Current assignee: Enplas Corp
Priority date: 2018-05-02
Filing date: 2018-05-02
Publication date: 2019-11-07
Also published as: WO2019212001A1

Abstract

To provide a speed reducer having a simple structure and a small number of components, and capable of reducing assembling man-hours, with respect to the speed reducer capable of exerting a function similar as a ball speed reducer.SOLUTION: A speed reducer 1 includes an eccentric cam 3 rotated integrally with a drive shaft 2, an oscillation body 4 oscillated by the eccentric cam 3, a fixing member 5 disposed in opposition to one of side surface sides of the oscillation body 4, and an output-side rotary body 6 disposed in opposition to the other side surface side of the oscillation body 4 and relatively rotated to the fixing member 5. The oscillation body 4 is provided with a sliding portion 17 integrally formed on a tip of an elastically deformable arm portion 16. A first truncated cone-shaped part 17a of the sliding portion 17 is radially guided by a radial groove 20 of the output-side rotary body 6, and a second truncated cone-shaped part 17b of the sliding portion 17 is guided in the wave shape along a circumferential direction by an annular waveform groove 21 of the fixing member 5. The oscillation body 4 and the output-side rotary body 6 are connected by rotation linking means K to be rotated together.SELECTED DRAWING: Figure 2

Description

この発明は、回転を減速して伝達するために使用される減速機に関するものである。 The present invention relates to a speed reducer used for decelerating and transmitting rotation.

従来から一般的に使用されている歯車減速機は、複数の歯車を組み合わせて構成されているため、バックラッシを無くすことが困難であり、また、小型で且つ大きな減速比を得ることも困難である。そこで、歯車減速機の欠点を解消するものとして、ボール減速機が開発された。 Conventionally used gear reducers are configured by combining a plurality of gears, so it is difficult to eliminate backlash, and it is also difficult to obtain a small reduction ratio and a large reduction ratio. . Therefore, a ball reducer has been developed to eliminate the drawbacks of the gear reducer.

図１２は、このような従来のボール減速機１００を示す図である。なお、図１２（ａ）は、従来のボール減速機１００の縦断面図であり、図１２（ｂ）は、図１２（ａ）のＡ９−Ａ９線に沿って切断して示すボール減速機１００の断面図である。 FIG. 12 is a view showing such a conventional ball speed reducer 100. 12A is a longitudinal sectional view of a conventional ball reducer 100, and FIG. 12B is a ball reducer 100 cut along line A9-A9 in FIG. 12A. FIG.

図１２に示すように、ボール減速機１００は、入力軸１０１に形成された偏心カム１０２の外周側にベアリング１０３を介して偏心回転板１０４が取り付けられており、偏心回転板１０４が偏心カム１０２によって偏心駆動されるようになっている。また、このボール減速機１００は、図示しない出力軸に連結される出力側回転体１０５が偏心回転板１０４の径方向内方側の両側にそれぞれ配置されており、入力軸１０１が出力側回転体１０５の内周側にベアリング１０６を介して相対回動できるように支持されている。また、このボール減速機１００は、産業用ロボットの一部等に固定される固定部材１０７が偏心回転板１０４の径方向外方側の両側にボール１０８を介してそれぞれ配置されており、出力側回転体１０５が固定部材１０７の内周側にベアリング１１０を介して回動可能に支持されている。そして、偏心回転板１０４と固定部材１０７とに挟まれるボール１０８は、偏心回転板１０４の側面に形成された第１波形溝（外サイクロイド曲線で形作られる第１サイクロイド溝）１１１と固定部材１０７の内側面（偏心回転板１０４に対向する側面）に形成された第２波形溝（内サイクロイド曲線で形作られる第２サイクロイド溝）１１２とに転動できるように係合されており、偏心回転板１０４と固定部材１０７とを連結している。なお、第２波形溝１１２の波数は、第１波形溝１１１の波数よりも２波多くなるように形成されている。 As shown in FIG. 12, in the ball reducer 100, an eccentric rotating plate 104 is attached to the outer peripheral side of the eccentric cam 102 formed on the input shaft 101 via a bearing 103, and the eccentric rotating plate 104 is the eccentric cam 102. Is driven eccentrically. Further, in this ball speed reducer 100, output side rotating bodies 105 connected to an output shaft (not shown) are arranged on both sides on the radially inner side of the eccentric rotating plate 104, and the input shaft 101 is an output side rotating body. It is supported on the inner peripheral side of 105 through a bearing 106 so as to be relatively rotatable. Further, in this ball speed reducer 100, fixing members 107 fixed to a part of an industrial robot or the like are arranged on both sides on the radially outer side of the eccentric rotating plate 104 via balls 108, respectively. A rotating body 105 is rotatably supported on the inner peripheral side of the fixed member 107 via a bearing 110. The ball 108 sandwiched between the eccentric rotating plate 104 and the fixing member 107 is formed by a first corrugated groove (first cycloid groove formed by an outer cycloid curve) 111 formed on the side surface of the eccentric rotating plate 104 and the fixing member 107. The eccentric rotating plate 104 is engaged with a second corrugated groove (second cycloid groove formed by an inner cycloid curve) 112 formed on the inner side surface (side surface facing the eccentric rotating plate 104) so as to roll. And the fixing member 107 are connected. The wave number of the second corrugated groove 112 is formed so as to be two more than the wave number of the first corrugated groove 111.

また、出力側回転体１０５は、偏心吸収機構１１３を介して偏心回転板１０４に連結されている。偏心吸収機構１１３は、偏心回転板１０４が出力側回転体１０５に対して偏心運動するのを可能にするものであり（偏心回転板１０４の偏心を吸収するものであり）、偏心回転板１０４の回転を出力側回転体１０５に伝達するようになっている。この偏心吸収機構１１３は、偏心回転板１０４と出力側回転体１０５との間に介装された複数のボール１１４と、このボール１１４を転動可能に収容する偏心回転板１０４の駆動環状溝１１５と、出力側回転体１０５の従動環状溝１１６とによって構成されている。駆動環状溝１１５及び従動環状溝１１６は、偏心カム１０２の偏心量を考慮して形状及び大きさが決定され、偏心回転板１０４が入力軸１０１の回転中心に対して偏心回転する際のボール１１４の動きを許容し、出力側回転体１０５がボール１１４を介して偏心回転板１０４と一体に回動するのを可能にしている（特許文献１参照）。 Further, the output-side rotator 105 is connected to the eccentric rotating plate 104 via the eccentric absorbing mechanism 113. The eccentric absorbing mechanism 113 allows the eccentric rotating plate 104 to move eccentrically with respect to the output side rotating body 105 (absorbs the eccentricity of the eccentric rotating plate 104). The rotation is transmitted to the output side rotating body 105. The eccentric absorbing mechanism 113 includes a plurality of balls 114 interposed between the eccentric rotating plate 104 and the output-side rotating body 105, and a driving annular groove 115 of the eccentric rotating plate 104 that accommodates the balls 114 in a rollable manner. And a driven annular groove 116 of the output side rotator 105. The shape and size of the driving annular groove 115 and the driven annular groove 116 are determined in consideration of the amount of eccentricity of the eccentric cam 102, and the ball 114 when the eccentric rotating plate 104 rotates eccentrically with respect to the rotation center of the input shaft 101. The output-side rotator 105 can rotate integrally with the eccentric rotating plate 104 via a ball 114 (see Patent Document 1).

このような従来のボール減速機１００は、例えば、偏心回転板１０４の第１波形溝１１１の波数をＮ−２とし、固定部材１０７の第２波形溝１１２の波数をＮとした場合、入力軸１０１が図示しない電動機等によって回転駆動されると、偏心回転板１０４が入力軸１０１の偏心カム１０２によって偏心駆動され、出力側回転体１０５が偏心吸収機構１１３を介して偏心回転板１０４と一体となって回転することになるが、出力側回転体１０５が入力軸１０１の１回転に対して−２／（Ｎ−２）回転（入力軸１０１の回転方向と逆の方向に２／（Ｎ−２）回転）することになる。すなわち、従来のボール減速機１００は、偏心回転板１０４の第１波形溝１１１の波数をＮ−２とし、固定部材１０７の第２波形溝１１２の波数をＮとした場合、減速比が２／（Ｎ−２）になる。 In such a conventional ball speed reducer 100, for example, when the wave number of the first wave groove 111 of the eccentric rotating plate 104 is N-2 and the wave number of the second wave groove 112 of the fixed member 107 is N, the input shaft When 101 is rotationally driven by an electric motor (not shown) or the like, the eccentric rotating plate 104 is eccentrically driven by the eccentric cam 102 of the input shaft 101, and the output side rotating body 105 is integrated with the eccentric rotating plate 104 via the eccentric absorbing mechanism 113. The output-side rotator 105 rotates -2 / (N-2) with respect to one rotation of the input shaft 101 (2 / (N- in the direction opposite to the rotation direction of the input shaft 101). 2) Rotate). That is, in the conventional ball speed reducer 100, when the wave number of the first corrugated groove 111 of the eccentric rotating plate 104 is N-2 and the wave number of the second corrugated groove 112 of the fixed member 107 is N, the reduction ratio is 2 / (N-2).

特開平５−１０４００号公報JP-A-5-10400

しかしながら、図１２に示す従来のボール減速機１００は、偏心回転板１０４と出力側回転体１０５とを一体に回動させるため、出力側回転体１０５が偏心吸収機構１１３を介して偏心回転板１０４に連結されており、構造が複雑であると共に、部品点数が多く、組立工数が嵩むという問題を有していた。 However, since the conventional ball speed reducer 100 shown in FIG. 12 rotates the eccentric rotating plate 104 and the output side rotating body 105 integrally, the output side rotating body 105 is eccentrically rotated via the eccentric absorbing mechanism 113. The structure is complicated, the number of parts is large, and the number of assembly steps is increased.

そこで、本発明は、ボール減速機と同様の機能を発揮することができ、構造が簡単で、且つ、部品点数が少なく、組立工数の削減が可能な減速機の提供を目的とする。 Accordingly, an object of the present invention is to provide a speed reducer that can exhibit the same function as that of a ball speed reducer, has a simple structure, has a small number of parts, and can reduce the number of assembly steps.

本発明は、入力側回転体２の回転を出力側回転体６に減速して伝達する減速機１に関するものである。本発明の減速機１は、前記入力側回転体２と共に回動する偏心カム３，４３と、前記偏心カム３，４３に相対回動可能に嵌合され、前記偏心カム３，４３によって揺動させられる揺動体４と、前記揺動体４の一方の側面側に対向するように配置され、被固定部材に固定される固定部材５と、前記揺動体４の他方の側面側に対向するように配置され、前記固定部材５に対して相対回動する出力側回転体６と、を備えている。前記揺動体４は、前記偏心カム３，４３に相対回動可能に嵌合されるカム係合部１５，５０と、前記入力側回転体２の回転軸心１１の回りに放射状に延びる複数のアーム部１６と、前記アーム部１６の先端に一体に形成された摺動部１７と、を一体に有している。また、前記アーム部１６は、少なくとも一部が弾性変形できるようになっている。また、前記摺動部１７は、前記アーム部１６から前記出力側回転体６側に向かって突出する第１円錐台状部分１７ａと、前記アーム部１６から前記固定部材５側に向かって突出する第２円錐台状部分１７ｂと、を有している。そして、前記入力側回転体２の回転軸心１１に直交する仮想平面内において、前記回転軸心１１から放射状に延びる方向を径方向とし、前記回転軸心１１を中心とする仮想円に沿った方向を周方向とすると、前記出力側回転体６の前記揺動体４に対向する側面には前記揺動体４の第１円錐台状部分１７ａを前記径方向に沿って案内する径方向溝２０が少なくとも前記アーム部１６と同数形成され、前記固定部材５の前記揺動体４に対向する側面には前記揺動体４の第２円錐台状部分１７ｂを前記周方向に沿って波形状に案内する環状の波形溝２１が形成されている。また、前記出力側回転体６は、回動連繋手段Ｋによって前記揺動体４と連繋されており、前記第２円錐台状部分１７ｂが前記波形溝２１に案内されて移動させられることによって前記揺動体４が回動すると、前記揺動体４と共に回動させられる。 The present invention relates to a speed reducer 1 that decelerates and transmits the rotation of an input side rotator 2 to an output side rotator 6. The speed reducer 1 according to the present invention is fitted to an eccentric cam 3, 43 that rotates together with the input side rotator 2, and is fitted to the eccentric cam 3, 43 so as to be relatively rotatable, and swings by the eccentric cam 3, 43. The oscillating body 4 to be moved, the oscillating body 4 is disposed so as to face one side surface side of the oscillating body 4, and is fixed to the fixed member 5, and the other oscillating body 4 is opposed to the other side surface side. An output-side rotating body 6 that is disposed and rotates relative to the fixing member 5. The oscillating body 4 includes a plurality of cam engaging portions 15 and 50 which are fitted to the eccentric cams 3 and 43 so as to be relatively rotatable, and a plurality of radially extending parts around the rotation axis 11 of the input side rotating body 2. The arm portion 16 and the sliding portion 17 integrally formed at the tip of the arm portion 16 are integrally provided. Further, at least a part of the arm portion 16 can be elastically deformed. The sliding portion 17 protrudes from the arm portion 16 toward the output-side rotator 6 side, and protrudes from the arm portion 16 toward the fixing member 5 side. A second frustoconical portion 17b. Then, in a virtual plane orthogonal to the rotation axis 11 of the input side rotating body 2, a direction extending radially from the rotation axis 11 is a radial direction, along a virtual circle centered on the rotation axis 11. When the direction is the circumferential direction, a radial groove 20 for guiding the first truncated cone portion 17a of the rocking body 4 along the radial direction is formed on a side surface of the output side rotating body 6 facing the rocking body 4. At least as many as the arm portions 16 are formed, and on the side surface of the fixing member 5 facing the rocking body 4, the second truncated cone-shaped portion 17 b of the rocking body 4 is guided in a wave shape along the circumferential direction. The corrugated groove 21 is formed. The output-side rotator 6 is connected to the oscillating body 4 by means of a rotation linking means K, and the second truncated cone portion 17b is guided and moved by the corrugated groove 21 to move the oscillating body. When the moving body 4 rotates, it is rotated together with the rocking body 4.

本発明に係る減速機は、従来のボール減速機と同様の機能を発揮できることはもちろんのこと、偏心カム、一対の揺動体、固定部材、及び一対の出力側回転体という少ない構成部品で構成され、従来のボール減速機よりも構造が簡単であるため、組立工数を削減できる。 The speed reducer according to the present invention is not only capable of exhibiting the same function as a conventional ball speed reducer, but is composed of few components such as an eccentric cam, a pair of rocking bodies, a fixing member, and a pair of output side rotating bodies. Since the structure is simpler than the conventional ball reducer, the number of assembly steps can be reduced.

本発明の第１実施形態に係る減速機を示す図であり、図１（ａ）は減速機の正面図、図１（ｂ）は減速機の側面図、図１（ｃ）は減速機の背面図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the reduction gear concerning 1st Embodiment of this invention, FIG.1 (a) is a front view of a reduction gear, FIG.1 (b) is a side view of a reduction gear, FIG.1 (c) is a reduction gear. It is a rear view. 本発明の第１実施形態に係る減速機の断面図であり、図１（ａ）のＡ１−Ａ１線に沿って切断して示す減速機の断面図である。It is sectional drawing of the reduction gear which concerns on 1st Embodiment of this invention, and is sectional drawing of the reduction gear cut | disconnected and shown along the A1-A1 line | wire of Fig.1 (a). 本発明の第１実施形態に係る減速機の偏心カムを示す図であり、図３（ａ）は偏心カムの正面図、図３（ｂ）は図３（ａ）のＡ２−Ａ２線に沿って切断して示す偏心カムの断面図、図３（ｃ）は偏心カムの背面図である。It is a figure which shows the eccentric cam of the reduction gear which concerns on 1st Embodiment of this invention, Fig.3 (a) is a front view of an eccentric cam, FIG.3 (b) follows the A2-A2 line | wire of Fig.3 (a). FIG. 3C is a rear view of the eccentric cam. 本発明の第１実施形態に係る減速機の揺動体を示す図であり、図４（ａ）は揺動体の正面図、図４（ｂ）は図４（ｃ）のＡ３−Ａ３線に沿って切断して示す揺動体の断面図、図４（ｃ）は揺動体の背面図である。It is a figure which shows the rocking | swiveling body of the speed reducer which concerns on 1st Embodiment of this invention, Fig.4 (a) is a front view of a rocking body, FIG.4 (b) follows the A3-A3 line | wire of FIG.4 (c). FIG. 4C is a rear view of the oscillating body. 本発明の第１実施形態に係る減速機の固定部材を示す図であり、図５（ａ）は固定部材の正面図、図５（ｂ）は固定部材の側面図、図５（ｃ）は固定部材の背面図、図５（ｄ）は図５（ａ）のＡ４−Ａ４線に沿って切断して示す固定部材の断面図である。It is a figure which shows the fixing member of the reduction gear which concerns on 1st Embodiment of this invention, Fig.5 (a) is a front view of a fixing member, FIG.5 (b) is a side view of a fixing member, FIG.5 (c) is FIG. The rear view of a fixing member and FIG.5 (d) are sectional drawings of the fixing member cut | disconnected and shown along the A4-A4 line | wire of Fig.5 (a). 本発明の第１実施形態に係る減速機の出力側回転体を示す図であり、図６（ａ）は出力側回転体の正面図、図６（ｂ）は出力側回転体の側面図、図６（ｃ）は図６（ａ）のＡ５−Ａ５線に沿って切断して示す出力側回転体の断面図、図６（ｄ）は図６（ａ）のＡ６−Ａ６線に沿って切断して示す出力側回転体の断面図、図６（ｅ）は出力側回転体の背面図である。It is a figure which shows the output side rotary body of the reduction gear which concerns on 1st Embodiment of this invention, FIG.6 (a) is a front view of an output side rotary body, FIG.6 (b) is a side view of an output side rotary body, 6C is a cross-sectional view of the output side rotating body cut along the line A5-A5 in FIG. 6A, and FIG. 6D is along the line A6-A6 in FIG. 6A. Sectional drawing of the output side rotary body cut | disconnected and shown in FIG.6 (e) are the rear views of an output side rotary body. 図７（ａ）は本発明の第１実施形態に係る減速機の第２出力側回転体、第２揺動体、及び固定部材を取り外して示す正面図であり、図７（ｂ）は図７（ａ）のＡ７−Ａ７線に沿って切断して示す減速機の一部断面図である。FIG. 7A is a front view showing the reduction gear according to the first embodiment of the present invention with the second output-side rotating body, the second rocking body, and the fixing member removed, and FIG. It is a partial cross section figure of the reduction gear cut | disconnected and shown along the A7-A7 line | wire of (a). 図８（ａ）は図８（ｂ）のＡ８−Ａ８線に沿って切断して示す減速機の一部断面図であり、図８（ｂ）は本発明の第１実施形態に係る減速機の第１出力側回転体、第２揺動体、及び第２出力側回転体を取り外して示す背面図である。FIG. 8A is a partial cross-sectional view of the speed reducer cut along line A8-A8 in FIG. 8B, and FIG. 8B is a speed reducer according to the first embodiment of the present invention. It is a rear view which removes and shows the 1st output side rotary body, the 2nd rocking body, and the 2nd output side rotary body. 本発明の第２実施形態に係る減速機の縦断面図である。It is a longitudinal cross-sectional view of the reduction gear which concerns on 2nd Embodiment of this invention. 本発明の第３実施形態に係る減速機の縦断面図である。It is a longitudinal cross-sectional view of the reduction gear which concerns on 3rd Embodiment of this invention. 図１１（ａ−１）及び図１１（ａ−２）は本発明に係る減速機における摺動部と径方向溝及び摺動部と波形溝との関係を示す図であり、図１１（ｂ−１）及び図１１（ｂ−２）は比較例に係る減速機のボールと径方向溝及びボールと波形溝との関係を示す図である。11 (a-1) and 11 (a-2) are diagrams showing the relationship between the sliding portion and the radial groove and the sliding portion and the corrugated groove in the speed reducer according to the present invention. -1) and FIG.11 (b-2) are the figures which show the relationship between the ball | bowl and radial groove | channel of a reduction gear which concerns on a comparative example, and a ball | bowl and a waveform groove. 従来のボール減速機を示す図であり、図１２（ａ）はボール減速機の縦断面図、図１２（ｂ）は図１２（ａ）のＡ９−Ａ９線に沿って切断して示す断面図である。It is a figure which shows the conventional ball speed reducer, FIG. 12 (a) is a longitudinal cross-sectional view of a ball speed reducer, FIG.12 (b) is sectional drawing cut | disconnected and shown along the A9-A9 line | wire of FIG. It is.

以下、本発明の実施形態を図面に基づき詳述する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[第１実施形態］
図１及び図２は、本発明の第１実施形態に係る減速機１を示す図である。なお、図１（ａ）は、減速機１の正面図である。また、図１（ｂ）は、減速機１の側面図である。また、図１（ｃ）は、減速機１の背面図である。また、図２は、図１（ａ）のＡ１−Ａ１線に沿って切断して示す減速機１の断面図である。 [First embodiment]
FIG.1 and FIG.2 is a figure which shows the reduction gear 1 which concerns on 1st Embodiment of this invention. FIG. 1A is a front view of the speed reducer 1. FIG. 1B is a side view of the speed reducer 1. FIG. 1C is a rear view of the speed reducer 1. 2 is a cross-sectional view of the speed reducer 1 cut along the line A1-A1 in FIG.

（減速機の概略構成）
図１及び図２に示すように、本実施形態に係る減速機１は、駆動軸（入力側回転体）２と一体に回動する偏心カム３と、この偏心カム３によって揺動させられる一対の揺動体４，４と、一対の揺動体４，４の間に位置する固定部材５と、一対の揺動体４，４及び固定部材５を挟み込むように位置する一対の出力側回転体６，６と、を有している。この減速機１は、偏心カム３、一対の揺動体４，４、固定部材５、及び一対の出力側回転体６，６が樹脂材料（例えば、ポリアセタール（ＰＯＭ）ポリアミド（ＰＡ）等）で形成され、駆動軸２の回転を一対の出力側回転体６，６から減速して被駆動部材（図示せず）に伝達するようになっている。 (Schematic configuration of reduction gear)
As shown in FIGS. 1 and 2, the speed reducer 1 according to this embodiment includes an eccentric cam 3 that rotates integrally with a drive shaft (input-side rotator) 2 and a pair that is swung by the eccentric cam 3. , The pair of oscillating bodies 4, 4, the pair of oscillating bodies 4, 4, and the pair of oscillating bodies 4, 4. 6. In this reduction gear 1, an eccentric cam 3, a pair of rocking bodies 4, 4, a fixing member 5, and a pair of output side rotating bodies 6, 6 are formed of a resin material (for example, polyacetal (POM) polyamide (PA)). The rotation of the drive shaft 2 is decelerated from the pair of output side rotating bodies 6 and 6 and transmitted to a driven member (not shown).

（偏心カム）
図１から図３に示すように、偏心カム３は、駆動軸２に嵌合される軸穴７を有する円筒状の駆動軸嵌合部８と、この駆動軸嵌合部８の外周側に一体に形成された偏心カム部１０と、を有している。駆動軸嵌合部８の軸穴７は、回転軸心１１（軸穴７の中心）に直交する断面形状がＤ形状になっており、回転軸心１１に直交する断面形状がＤ形状の駆動軸２と回り止めされた状態で嵌合され、駆動軸２と一体になって回動する。偏心カム部１０は、第１偏心カム部分１０Ａと第２偏心カム部分１０Ｂとを有している。第１偏心カム部分１０Ａと第２偏心カム部分１０Ｂは、円筒形状であり、回転軸心１１に直交する仮想平面において、１８０°位相がずれるように、中心１２が回転軸心１１に対して偏心している。すなわち、第１偏心カム部分１０Ａの中心１２は、回転軸心１１に直交する仮想平面において、回転軸心１１を通り且つＹ軸と平行な中心線１３上に位置し、回転軸心１１から＋Ｙ方向に所定寸法（偏心量ｅ）だけずれて位置している。また、第２偏心カム部分１０Ｂの中心１２は、回転軸心１１に直交する仮想平面において、回転軸心１１を通り且つＹ軸と平行な中心線１３上に位置し、回転軸心１１から−Ｙ方向に所定寸法（偏心量ｅ）だけずれて位置している。そして、第１偏心カム部分１０Ａの外周面１４には、第１揺動体４が相対回動可能に嵌合されている。また、第２偏心カム部分１０Ｂの外周面１４には、第２揺動体４が相対回動可能に嵌合されている。 (Eccentric cam)
As shown in FIGS. 1 to 3, the eccentric cam 3 includes a cylindrical drive shaft fitting portion 8 having a shaft hole 7 fitted to the drive shaft 2, and an outer peripheral side of the drive shaft fitting portion 8. And an eccentric cam portion 10 formed integrally. The shaft hole 7 of the drive shaft fitting portion 8 has a D-shaped cross-section perpendicular to the rotation axis 11 (center of the shaft hole 7), and a drive having a D-shaped cross-section orthogonal to the rotation axis 11. The shaft 2 is fitted in a state of being prevented from rotating, and rotates together with the drive shaft 2. The eccentric cam portion 10 has a first eccentric cam portion 10A and a second eccentric cam portion 10B. The first eccentric cam portion 10 </ b> A and the second eccentric cam portion 10 </ b> B have a cylindrical shape, and the center 12 is offset with respect to the rotation axis 11 so that the phase is shifted by 180 ° in a virtual plane orthogonal to the rotation axis 11. I have a heart. That is, the center 12 of the first eccentric cam portion 10A is located on a center line 13 that passes through the rotation axis 11 and is parallel to the Y axis in a virtual plane orthogonal to the rotation axis 11, and is + Y from the rotation axis 11. It is displaced in the direction by a predetermined dimension (eccentric amount e). The center 12 of the second eccentric cam portion 10B is located on a center line 13 passing through the rotation axis 11 and parallel to the Y axis in a virtual plane orthogonal to the rotation axis 11, and from the rotation axis 11. The position is shifted by a predetermined dimension (eccentricity e) in the Y direction. And the 1st rocking body 4 is fitted by the outer peripheral surface 14 of 10 A of 1st eccentric cam parts so that relative rotation is possible. Moreover, the 2nd rocking body 4 is fitted by the outer peripheral surface 14 of the 2nd eccentric cam part 10B so that relative rotation is possible.

（揺動体）
図２及び図４に示すように、一対の揺動体４，４の一方は、第１偏心カム部分１０Ａによって揺動させられる第１揺動体４である。また、一対の揺動体４，４の他方は、第２偏心カム部分１０Ｂによって揺動させられる第２揺動体４である。そして、第２揺動体４は、第１揺動体４と同一形状のものを表裏反転した状態で使用されるようになっている。このような揺動体４は、偏心カム部１０に相対回動可能に嵌合される円筒状のボス部１５（カム係合部）と、このボス部１５の外周面１５ａから径方向外方へ向かって延びる（回転軸心１１の回りに放射状に延びる）複数のアーム部１６と、このアーム部１６の先端に一体に形成された摺動部１７と、を一体に有している。アーム部１６は、先端側が根本側よりも幅寸法が狭く、基端部分１８（ボス部１５との接続部分）の肉厚が他部分よりも小さく、基端部分１８が他部分と比較して弾性変形し易くなっている。このように、アーム部１６は、基端部分１８が弾性変形し易くなっているため、揺動体４が揺動運動する際に偏心カム３の偏心状態に応じて姿勢変化し、揺動体４の円滑な揺動運動を可能にする。 (Oscillator)
As shown in FIGS. 2 and 4, one of the pair of oscillating bodies 4, 4 is the first oscillating body 4 that is oscillated by the first eccentric cam portion 10 </ b> A. The other of the pair of oscillating bodies 4, 4 is the second oscillating body 4 that is oscillated by the second eccentric cam portion 10B. The second oscillating body 4 is used in a state where the same shape as the first oscillating body 4 is reversed. Such an oscillating body 4 includes a cylindrical boss portion 15 (cam engaging portion) fitted to the eccentric cam portion 10 so as to be relatively rotatable, and radially outward from an outer peripheral surface 15a of the boss portion 15. A plurality of arm portions 16 extending in a radial direction (radially extending around the rotation axis 11) and a sliding portion 17 integrally formed at the tip of the arm portion 16 are integrally provided. The arm portion 16 has a narrower width dimension at the distal end side than the root side, and a base end portion 18 (connection portion to the boss portion 15) having a smaller wall thickness than the other portions. It is easy to elastically deform. As described above, since the base end portion 18 is easily elastically deformed, the arm portion 16 changes its posture according to the eccentric state of the eccentric cam 3 when the oscillating body 4 oscillates. Allows smooth rocking motion.

摺動部１７は、アーム部１６から出力側回転体６側に向かって突出する第１円錐台状部分１７ａと、アーム部１６から固定部材５側に向かって突出する第２円錐台状部分１７ｂと、を有している。そして、第１円錐台状部分１７ａは、後述する出力側回転体６の径方向溝２０にスライド移動できるように係合される（図７参照）。また、第２円錐台状部分１７ｂは、後述する固定部材５の波形溝２１にスライド移動できるように係合される（図８参照）。また、ボス部１５の端面に等間隔で複数形成された回り止め突起２２は、後述する出力側回転体６の回り止め穴２３に係合され、揺動体４が出力側回転体６に対して揺動でき且つ揺動体４が出力側回転体６を回動させることができるように、揺動体４と出力側回転体６とを連繋している（図２、図６、図７参照）。なお、アーム部１６は、基端部分１８が他部分よりも弾性変形し易くなっているが、基端部分１８よりも径方向外方側の位置に弾性変形し易い部分を形成してもよい。 The sliding portion 17 includes a first frustoconical portion 17a projecting from the arm portion 16 toward the output-side rotator 6, and a second frustoconical portion 17b projecting from the arm portion 16 toward the fixing member 5. And have. The first frustoconical portion 17a is engaged so as to be slidable in a radial groove 20 of the output side rotating body 6 described later (see FIG. 7). Further, the second frustoconical portion 17b is engaged so as to be slidable in a wave groove 21 of the fixing member 5 described later (see FIG. 8). A plurality of anti-rotation protrusions 22 formed at equal intervals on the end face of the boss portion 15 are engaged with an anti-rotation hole 23 of the output-side rotator 6 to be described later, so that the oscillating body 4 is opposed to the output-side rotator 6. The oscillating body 4 and the output side rotator 6 are connected so that they can oscillate and the oscillating body 4 can rotate the output side rotator 6 (see FIGS. 2, 6, and 7). In addition, although the base end portion 18 is more easily elastically deformed than the other portions, the arm portion 16 may be formed with a portion that is easily elastically deformed at a position radially outward from the base end portion 18. .

また、図２、図４、及び図７に示すように、揺動体４は、一対の出力側回転体６，６の一方から延びる３箇所のかしめ固定用突起２４、及び一対の出力側回転体６，６の他方から延びる３箇所のかしめ固定用突起２４に接触しないようにするため、かしめ固定用突起２４に対応する位置にアーム部１６を形成しないようにしてある。その結果、揺動体４は、出力側回転体６の径方向溝２０の溝数が３０であるのに対し、アーム部１６の設置箇所が２４箇所になっている。 2, 4, and 7, the oscillating body 4 includes three caulking fixing protrusions 24 extending from one of the pair of output-side rotators 6 and 6, and the pair of output-side rotators. In order not to contact the three caulking fixing protrusions 24 extending from the other of 6 and 6, the arm portion 16 is not formed at a position corresponding to the caulking fixing protrusions 24. As a result, in the oscillating body 4, the number of the radial grooves 20 of the output-side rotator 6 is 30, whereas the number of installation portions of the arm portion 16 is 24.

（固定部材）
図１、図２、及び図５に示すように、固定部材５は、一対の揺動体６，６（第１揺動体６と第２揺動体６）の間に配置され、揺動体６の一方の側面側に対向するように位置している。固定部材５は、平面視した形状が矩形形状の板状体であり、四隅のボルト穴２５に挿通されたボルトによってフレーム等の被固定部材に固定されるようになっている。また、固定部材５は、駆動軸２及び偏心カム３等を径方向内方に収容する穴２６が板厚方向に貫通するように形成されている。この固定部材５の穴２６は、中心２７が駆動軸２の回転軸心１１と同心になるように形成されている。そして、この固定部材５の両側面のうちの一方には、第１揺動体６の第２円錐台状部分１７ｂを周方向（駆動軸２の回転軸心１１に直交する仮想平面内において、回転軸心１１を中心とする仮想円に沿った方向）に沿って波形状に案内する環状の第１波形溝２１が形成されている。この第１波形溝２１は、山側（径方向外方側）の側壁２８ａと谷側（径方向内方側）の側壁２８ｂとが揺動体４の第２円錐台状部分１７ｂに摺接するようになっている。また、固定部材５の両側面のうちの他方には、第２揺動体４の第２円錐台状部分１７ｂを周方向に沿って波形状に案内する環状の第２波形溝２１が形成されている。この第２波形溝２１は、中心２７（回転軸心１１）に直交する仮想平面内において、第１波形溝２１を中心２７の回りに１８０°回転させた形状（位相が１８０°ずれた形状）になっている。この波形溝２１は、図１１（ａ−１）に示すように、波形溝２１の進行方向に対して直交する断面の形状（溝直角断面形状）が台形形状であり、両側の側壁（傾斜面）２８ａ，２８ｂが第２円錐台状部分１７ｂの外周面のテーパ角と同一角度に形成され、両側の側壁２８ａ，２８ｂが第２円錐台状部分１７ｂの外周面の母線に摺接するようになっている。なお、本実施形態において、波形溝２１は、後述する出力側回転体６の径方向溝２０の溝数が３０であるのに対し、波数が２９になっているが、発明内容の理解を容易するための例示であって、このような例示に何ら限定されるものではなく、減速機１の大きさ等に応じて最適の波数が決定される。 (Fixing member)
As shown in FIGS. 1, 2, and 5, the fixing member 5 is disposed between a pair of oscillating bodies 6 and 6 (a first oscillating body 6 and a second oscillating body 6). It is located so that it may oppose the side surface side. The fixing member 5 is a plate-like body having a rectangular shape in plan view, and is fixed to a fixed member such as a frame by bolts inserted into bolt holes 25 at four corners. The fixing member 5 is formed such that a hole 26 that accommodates the drive shaft 2, the eccentric cam 3, and the like radially inward penetrates in the plate thickness direction. The hole 26 of the fixing member 5 is formed so that the center 27 is concentric with the rotational axis 11 of the drive shaft 2. Then, on one of both side surfaces of the fixing member 5, the second frustoconical portion 17 b of the first rocking body 6 is rotated in the circumferential direction (in a virtual plane orthogonal to the rotational axis 11 of the drive shaft 2). An annular first corrugated groove 21 that is guided in a wave shape along a virtual circle centered on the axis 11 is formed. The first corrugated groove 21 has a crest side (radially outward) side wall 28 a and a trough side (radially inward side) side wall 28 b in sliding contact with the second frustoconical portion 17 b of the oscillator 4. It has become. In addition, an annular second corrugated groove 21 is formed on the other of both side surfaces of the fixing member 5 to guide the second frustoconical portion 17b of the second oscillator 4 in a wave shape along the circumferential direction. Yes. The second corrugated groove 21 has a shape obtained by rotating the first corrugated groove 21 about the center 27 by 180 ° in a virtual plane orthogonal to the center 27 (rotation axis 11) (a shape whose phase is shifted by 180 °). It has become. As shown in FIG. 11 (a-1), the corrugated groove 21 has a trapezoidal cross-sectional shape perpendicular to the traveling direction of the corrugated groove 21 (inclined surfaces). ) 28a and 28b are formed at the same angle as the taper angle of the outer peripheral surface of the second frustoconical portion 17b, and the side walls 28a and 28b on both sides come into sliding contact with the generatrix of the outer peripheral surface of the second frustoconical portion 17b. ing. In the present embodiment, the corrugated groove 21 has a wave number of 29 compared to 30 in the radial groove 20 of the output side rotating body 6 described later, but it is easy to understand the contents of the invention. However, the present invention is not limited to such an example, and the optimum wave number is determined according to the size of the speed reducer 1 and the like.

（出力側回転体）
図１、図２、及び図６に示すように、出力側回転体６は、固定部材５及びこの固定部材５の両側にそれぞれ配置された一対の揺動体４，４を挟み込むように一対配置され、中心部に形成された軸穴３０が偏心カム３の駆動軸嵌合部８の外周面に相対回動できるように嵌合されている。この一対の出力側回転体６，６の一方は、第１揺動体４の他方の側面側に対向するように配置されており、一対の出力側回転体６，６の他方と区別して説明する必要がある場合に、説明の便宜上、第１出力側回転体６と呼称する。また、一対の出力側回転体６，６の他方は、第２揺動体４の他方の側面側に対向するように配置されており、一対の出力側回転体６，６の一方と区別して説明する必要がある場合に、説明の便宜上、第２出力側回転体６と呼称する。この第２出力側回転体６は、第１出力側回転体６を駆動軸２の回転軸心１１と同心の回転軸心３１の回りに１８０°回転させ、第１出力側回転体６に対向させた状態で使用される。出力側回転体６の揺動体４に対向する側面（第２側面）には、揺動体４の第１円錐台状部分１７ａを径方向（駆動軸２の回転軸心１１に直交する仮想平面内において、駆動軸２の回転軸心１１から放射状に延びる方向）に沿って案内する複数の径方向溝２０が等間隔で形成されている。この径方向溝２０は、図１１（ａ−１）に示すように、径方向に直交する断面の形状（溝直角断面形状）が台形形状であり、両側の側壁３２，３２（傾斜面）の傾斜角が第１円錐台状部分１７ａの外周面のテーパ角と同一角度に形成され、第１円錐台状部分１７ａの外周面の母線に摺接するようになっている。 (Output side rotating body)
As shown in FIGS. 1, 2, and 6, a pair of output side rotating bodies 6 are arranged so as to sandwich a fixing member 5 and a pair of oscillating bodies 4, 4 arranged on both sides of the fixing member 5. The shaft hole 30 formed in the center portion is fitted to the outer peripheral surface of the drive shaft fitting portion 8 of the eccentric cam 3 so as to be relatively rotatable. One of the pair of output-side rotators 6 and 6 is disposed to face the other side surface of the first oscillating body 4, and will be described separately from the other of the pair of output-side rotators 6 and 6. When it is necessary, for convenience of explanation, the first output-side rotator 6 is referred to. Further, the other of the pair of output side rotators 6 and 6 is disposed so as to face the other side surface of the second oscillating body 4, and is distinguished from one of the pair of output side rotators 6 and 6. When it is necessary to do this, for convenience of explanation, it is referred to as a second output side rotating body 6. The second output-side rotator 6 rotates the first output-side rotator 6 by 180 ° around the rotation axis 31 concentric with the rotation axis 11 of the drive shaft 2 and faces the first output-side rotator 6. It is used in the state letting it. On the side surface (second side surface) of the output side rotator 6 that faces the oscillating body 4, the first frustoconical portion 17 a of the oscillating body 4 is arranged in a radial direction (in a virtual plane orthogonal to the rotational axis 11 of the drive shaft 2). , A plurality of radial grooves 20 that are guided along the direction extending radially from the rotation axis 11 of the drive shaft 2 are formed at equal intervals. As shown in FIG. 11 (a-1), the radial groove 20 has a trapezoidal cross-sectional shape perpendicular to the radial direction (groove perpendicular cross-sectional shape), and the side walls 32 and 32 (inclined surfaces) on both sides. The inclination angle is the same as the taper angle of the outer peripheral surface of the first frustoconical portion 17a, and is in sliding contact with the generatrix of the outer peripheral surface of the first frustoconical portion 17a.

また、出力側回転体６は、径方向溝２０の径方向内方側に、揺動体４のアーム部１６の根本側の一部を収容する揺動体収容凹所３３が形成されている。この揺動体収容凹所３３は、揺動体４のアーム部１６の根本側であって且つアーム部１６の先端側よりも幅方向に張り出した部分を収容するようになっている。また、揺動体収容凹所３３には、かしめ固定用突起２４とかしめ穴３４とが交互に３箇所ずつ等間隔で形成されている。かしめ固定用突起２４は、揺動体４に対向する側面（径方向溝２０が形成された側面）側に形成されており、根本側の大径部２４ａと先端側の小径部２４ｂとを有している。かしめ穴３４は、揺動体収容凹所３３内に開口する小径穴部３４ａと、この小径穴部３４ａよりも大径で且つ出力側回転体６の外側面側に開口する大径穴部３４ｂと、を有している。このかしめ穴３４の小径穴部３４ａは、かしめ固定用突起２４の小径部２４ｂよりも僅かに大径で且つかしめ固定用突起２４の大径部２４ａよりも小径に形成されている。そして、一対の出力側回転体６，６の一方のかしめ固定用突起２４は、小径部２４ｂが一対の出力側回転体６，６の他方のかしめ穴３４に挿入され、大径部２４ａが一対の出力側回転体６，６の側面に突き当てられた状態において、かしめ穴３４の大径穴部３４ｂ側に突出した小径部２４ｂが熱かしめによって小径穴部３４ａよりも大径の頭部３５に変形させられることにより、一対の出力側回転体６，６の一方と他方とを固定できるようになっている。なお、図６において、かしめ固定用突起２４は、熱かしめ後の形状を実線で示し、熱かしめ前の小径部２４ｂの形状を点線で示している。 Further, the output-side rotating body 6 is formed with a rocking body housing recess 33 for housing a part on the base side of the arm portion 16 of the rocking body 4 on the radially inner side of the radial groove 20. The oscillating body accommodating recess 33 accommodates a portion of the oscillating body 4 on the base side of the arm portion 16 and protruding in the width direction from the distal end side of the arm portion 16. Further, in the oscillator housing recess 33, the caulking fixing protrusions 24 and the caulking holes 34 are alternately formed at equal intervals at three positions. The caulking fixing projection 24 is formed on the side surface (side surface on which the radial groove 20 is formed) facing the oscillating body 4, and has a large-diameter portion 24a on the root side and a small-diameter portion 24b on the tip side. ing. The caulking hole 34 includes a small-diameter hole portion 34 a that opens into the swinging-body receiving recess 33, and a large-diameter hole portion 34 b that has a larger diameter than the small-diameter hole portion 34 a and opens toward the outer surface of the output-side rotating body 6. ,have. The small diameter hole portion 34 a of the caulking hole 34 is formed to have a slightly larger diameter than the small diameter portion 24 b of the caulking fixing projection 24 and smaller diameter than the large diameter portion 24 a of the caulking fixing projection 24. The caulking fixing projection 24 of one of the pair of output-side rotators 6 and 6 has a small-diameter portion 24b inserted into the other caulking hole 34 of the pair of output-side rotators 6 and 6, and a pair of large-diameter portions 24a. The small diameter portion 24b that protrudes toward the large diameter hole portion 34b of the caulking hole 34 in a state of being abutted against the side surfaces of the output side rotating bodies 6 and 6 is a head 35 having a larger diameter than the small diameter hole portion 34a by heat caulking. By being deformed, the one and the other of the pair of output side rotating bodies 6 and 6 can be fixed. In FIG. 6, the caulking fixing protrusion 24 indicates the shape after heat caulking with a solid line, and the shape of the small diameter portion 24 b before heat caulking is indicated with a dotted line.

また、出力側回転体６は、揺動体４の回り止め突起２２を収容する回り止め穴２３が揺動体収容凹所３３に形成されている。この回り止め穴２３は、揺動体４の回り止め突起２２と同数形成されており、回り止め突起２２との間に２ｅ（第１偏心カム部分１０Ａ及び第２偏心カム部分１０Ｂの偏心量ｅの２倍）の隙間が生じる直径の有底の丸穴である。このような回り止め穴２３は、揺動体４が偏心カム３によって揺動させられると、内周面が揺動体４の回り止め突起２２と摺接し、揺動体４の摺動部１７が波形溝２１に沿って周方向に移動し、揺動体４が回動すると、出力側回転体６を揺動体４と共に回動させるように機能する。このように出力側回転体６の回り止め穴２３と揺動体４の回り止め突起２２は、出力側回転体６と揺動体４とを共に回動させる回動連繋手段Ｋを構成する。なお、回動連繋手段Ｋは、回り止め突起２２を出力側回転体６に形成し、回り止め穴２３を揺動体４に形成してもよい。 Further, the output-side rotating body 6 has a rotation-preventing hole 23 for accommodating the rotation-preventing protrusion 22 of the rocking body 4 in the rocking-body housing recess 33. The anti-rotation holes 23 are formed in the same number as the anti-rotation protrusions 22 of the oscillating body 4, and 2e (the eccentric amount e of the first eccentric cam portion 10A and the second eccentric cam portion 10B is between the anti-rotation protrusions 22). It is a round hole with a bottom having a diameter in which a gap of 2 times) is generated. When the rocking body 4 is swung by the eccentric cam 3, the rotation preventing hole 23 has such an inner peripheral surface that is in sliding contact with the rotation preventing projection 22 of the rocking body 4, and the sliding portion 17 of the rocking body 4 is in a wavy groove. When the oscillating body 4 is moved along the circumferential direction 21 and rotates, the output-side rotator 6 functions together with the oscillating body 4. As described above, the rotation-preventing hole 23 of the output-side rotator 6 and the rotation-preventing protrusion 22 of the oscillating body 4 constitute a rotation linking means K that rotates the output-side rotator 6 and the oscillating body 4 together. In the rotation connecting means K, the rotation preventing projection 22 may be formed on the output side rotating body 6 and the rotation preventing hole 23 may be formed on the rocking body 4.

（減速機の作動）
本実施形態に係る減速機１は、駆動軸２と偏心カム３とが一体に回動すると、偏心カム３の第１偏心カム部分１０Ａに嵌合された第１揺動体４と偏心カム３の第２偏心カム部分１０Ｂに嵌合された第２揺動体４とが１８０°の位相のずれを生じながら揺動させられる。この際、第１揺動体４及び第２揺動体４の摺動部１７は、出力側回転体６の径方向溝２０内をスライド移動しながら、固定部材５の波形溝２１内を周方向にスライド移動させられる。これによって、第１揺動体４及び第２揺動体４は、固定部材５の中心２７（駆動軸２の回転軸心１１）の回りに回動させられる。そして、第１出力側回転体６及び第２出力側回転体６は、回動連繋手段Ｋ（回り止め穴２３、及びこの回り止め穴２３に係合された回り止め突起２２）によって第１揺動体４及び第２揺動体４と共に回動させられる。このような本実施形態に係る減速機１は、出力側回転体６の径方向溝２０の溝数が３０であるのに対し、固定部材５の波形溝２１の波数が２９であるため、駆動軸２及び偏心カム３が２９回転すると、揺動体４及び出力側回転体６が１回転する。すなわち、本実施形態に係る減速機１は、減速比が１／３０になる。 (Decelerator operation)
In the speed reducer 1 according to the present embodiment, when the drive shaft 2 and the eccentric cam 3 rotate together, the first oscillator 4 and the eccentric cam 3 fitted to the first eccentric cam portion 10A of the eccentric cam 3 are connected. The second oscillating body 4 fitted to the second eccentric cam portion 10B is oscillated while causing a phase shift of 180 °. At this time, the sliding portion 17 of the first oscillating body 4 and the second oscillating body 4 slides in the radial groove 20 of the output-side rotator 6 and moves in the circumferential direction in the corrugated groove 21 of the fixing member 5. The slide is moved. As a result, the first rocking body 4 and the second rocking body 4 are rotated around the center 27 of the fixing member 5 (the rotation axis 11 of the drive shaft 2). Then, the first output-side rotator 6 and the second output-side rotator 6 are moved together by the rotation connecting means K (the anti-rotation hole 23 and the anti-rotation protrusion 22 engaged with the anti-rotation hole 23). It is rotated together with the moving body 4 and the second oscillating body 4. In the speed reducer 1 according to this embodiment, the number of grooves in the radial groove 20 of the output-side rotator 6 is 30, whereas the number of waves in the corrugated groove 21 of the fixing member 5 is 29. When the shaft 2 and the eccentric cam 3 are rotated 29 times, the swinging body 4 and the output side rotating body 6 are rotated once. That is, the reduction gear 1 according to the present embodiment has a reduction ratio of 1/30.

（本実施形態の効果）
以上のような構造の本実施形態に係る減速機１は、従来のボール減速機１００と同様の機能（歯車減速機と比較して、バックラッシを無くすことができ、大きな減速比で回転伝達できるという機能）を発揮できることはもちろんのこと、偏心カム３、一対の揺動体４，４、固定部材５、及び一対の出力側回転体６，６という少ない構成部品で構成され、従来のボール減速機１００よりも構造が簡単であるため、組立工数を削減できる。 (Effect of this embodiment)
The speed reducer 1 according to the present embodiment having the above-described structure has the same function as the conventional ball speed reducer 100 (compared to a gear speed reducer, can eliminate backlash, and can transmit rotation with a large reduction ratio. The conventional ball speed reducer 100 is composed of a small number of components such as the eccentric cam 3, the pair of swinging bodies 4, 4, the fixing member 5, and the pair of output side rotating bodies 6, 6. Since the structure is simpler than that, the number of assembly steps can be reduced.

また、本実施形態に係る減速機１は、全体（偏心カム３、一対の揺動体４，４、固定部材５、及び一対の出力側回転体６，６）が樹脂材料で形成されており、従来のボール減速機１００と比較して部品点数が少なく、且つ構造が簡単なため、従来のボール減速機１００よりも小型化及び軽量化を図ることができる。 In addition, the speed reducer 1 according to the present embodiment is entirely formed of a resin material (the eccentric cam 3, the pair of swinging bodies 4, 4, the fixing member 5, and the pair of output side rotating bodies 6, 6). Compared to the conventional ball reducer 100, the number of parts is small and the structure is simple. Therefore, the size and weight can be reduced as compared with the conventional ball reducer 100.

また、本実施形態に係る減速機１は、全ての構成部品を射出成形で形成できるため、構成部品を機械加工（切削加工、研磨加工等）で形成する場合と比較し、加工工数を削減でき、製品コストの削減を図ることができる。 Moreover, since the reduction gear 1 which concerns on this embodiment can form all the components by injection molding, it can reduce a process man-hour compared with the case where a component is formed by machining (cutting, polishing, etc.). Product cost can be reduced.

また、本実施形態に係る減速機１は、出力側回転体６の径方向溝２０の両側壁３２，３２（傾斜面）が揺動体４の第１円錐台状部分１７ａの母線と線接触でき、固定部材５の波形溝２１の両側壁２８ａ，２８ｂ（傾斜面）が揺動体４の第２円錐台状部分１７ｂの母線と線接触できるようになっているため（図１１（ａ−１）参照）、固定部材５と出力側回転体６とが離間する方向に変位しても、径方向溝２０の両側壁３２，３２と第１円錐台状部分１７ａの母線との接触状態及び波形溝２１の両側壁２８ａ，２８ｂと第２円錐台状部分１７ｂの母線との接触状態を変わらずに維持でき（図１１（ａ−２）参照）、ラチェッティングを生じにくい。なお、図１１（ｂ−１）に示すように、ボール３６と係合する径方向溝３７及び波形溝３８の溝直角断面形状が円弧形状であるボール減速機は、固定部材５と出力側回転体６とが離間する方向に変位すると、ボール３６と径方向溝３７及びボール３６と波形溝３８との接触位置を結ぶ線分４０と出力側回転体６の回動方向とのなす角θが大きく変化し（図１１（ｂ−２）参照）、本実施形態に係る減速機１よりもラチェッティングを生じ易くなる。 Further, in the speed reducer 1 according to the present embodiment, both side walls 32 and 32 (inclined surfaces) of the radial groove 20 of the output-side rotator 6 can be in line contact with the generatrix of the first truncated cone portion 17a of the oscillator 4. Since both side walls 28a, 28b (inclined surfaces) of the corrugated groove 21 of the fixing member 5 can be brought into line contact with the generatrix of the second truncated cone portion 17b of the oscillator 4 (FIG. 11 (a-1)). Reference), even if the fixing member 5 and the output-side rotator 6 are displaced away from each other, the contact state between the side walls 32, 32 of the radial groove 20 and the bus bar of the first truncated cone portion 17a and the corrugated groove 21 can be maintained without changing the contact state between the both side walls 28a, 28b of 21 and the bus bar of the second frustoconical portion 17b (see FIG. 11 (a-2)), and ratcheting is unlikely to occur. As shown in FIG. 11 (b-1), the ball speed reducer in which the cross-sectional shape perpendicular to the radial grooves 37 and the corrugated grooves 38 that engage with the balls 36 is an arc is the fixed member 5 and the output side rotation. When the body 6 is displaced in the direction away from the body 6, the angle θ formed by the line segment 40 connecting the contact positions of the ball 36 and the radial groove 37 and the ball 36 and the corrugated groove 38 and the rotation direction of the output side rotating body 6 is changed. It greatly changes (see FIG. 11B-2), and ratcheting is more likely to occur than the speed reducer 1 according to the present embodiment.

また、本実施形態に係る減速機１は、第１揺動体４と第２揺動体４とが１８０°の位相のずれを生じた状態で揺動させられるため、回転伝達トルクが周方向で釣り合い、円滑に回転を伝達でき、回転伝達時に振動及び騒音を生じにくい。 Further, since the speed reducer 1 according to the present embodiment is swung in a state where the first rocking body 4 and the second rocking body 4 are 180 degrees out of phase, the rotation transmission torque is balanced in the circumferential direction. Rotation can be transmitted smoothly, and vibration and noise are not easily generated during rotation transmission.

［第２実施形態］
図９は、本発明の第２実施形態に係る減速機１を示す縦断面図であり、第１実施形態に係る減速機１の第１変形例を示す図である。なお、本実施形態に係る減速機１の説明は、第１実施形態に係る減速機１と共通する部分の説明を適宜省略する。 [Second Embodiment]
FIG. 9 is a longitudinal sectional view showing the reduction gear 1 according to the second embodiment of the present invention, and is a view showing a first modification of the reduction gear 1 according to the first embodiment. In addition, description of the reduction gear 1 which concerns on this embodiment abbreviate | omits description of the part which is common in the reduction gear 1 which concerns on 1st Embodiment suitably.

この図９に示す本実施形態に係る減速機１は、第１実施形態に係る減速機１の第１揺動体４及び第１出力側回転体６を省略すると共に、第１実施形態に係る減速機１の出力側回転体６のかしめ固定用突起２４及びかしめ穴３４を省略し、出力側回転体６が固定部材５から離れるのを固定部材５の径方向外方端に固定した抑えプレート４１によって抑える構造になっている。なお、本実施形態に係る減速機１は、揺動体４のアーム部１６を径方向溝２０と同数形成してもよい。 The speed reducer 1 according to this embodiment shown in FIG. 9 omits the first rocking body 4 and the first output side rotating body 6 of the speed reducer 1 according to the first embodiment, and the speed reducer according to the first embodiment. The pressing plate 41 and the caulking hole 34 of the output-side rotating body 6 of the machine 1 are omitted, and the holding plate 41 is fixed to the radially outer end of the fixing member 5 so that the output-side rotating body 6 is separated from the fixing member 5. It has a structure to suppress by. In the speed reducer 1 according to the present embodiment, the same number of arm portions 16 of the oscillating body 4 as the radial grooves 20 may be formed.

このような構成の本変形例１に係る減速機１は、回転伝達トルクが比較的小さい場合（第１実施形態に係る減速機１の回転伝達トルクよりも小さな回転伝達トルクの場合）に使用でき、第１実施形態に係る減速機１と同様の効果を得ることができることはもちろんのこと、第１実施形態に係る減速機１よりも小型化及び軽量化を図ることができる。 The speed reducer 1 according to Modification 1 having such a configuration can be used when the rotation transmission torque is relatively small (in the case of a rotation transmission torque smaller than the rotation transmission torque of the reduction gear 1 according to the first embodiment). The same effect as that of the speed reducer 1 according to the first embodiment can be obtained, and the size and weight can be reduced as compared with the speed reducer 1 according to the first embodiment.

［第３実施形態］
図１０は、本発明の第３実施形態に係る減速機１を示す図であり、第１実施形態に係る減速機１の第２変形例を示す図である。なお、図１０（ａ）は、本実施形態に係る減速機１の縦断面図である。また、図１０（ｂ）は、減速機１の出力側回転体６を取り外して、減速機１を図１０（ａ）の矢印Ｂ１方向に沿って見た場合の歯車減速機構４２の図である。また、本実施形態に係る減速機１の説明は、第１実施形態に係る減速機１と共通する部分の説明を適宜省略する。 [Third Embodiment]
FIG. 10 is a diagram illustrating the speed reducer 1 according to the third embodiment of the present invention, and is a diagram illustrating a second modification of the speed reducer 1 according to the first embodiment. In addition, Fig.10 (a) is a longitudinal cross-sectional view of the reduction gear 1 which concerns on this embodiment. FIG. 10B is a diagram of the gear reduction mechanism 42 when the output-side rotator 6 of the speed reducer 1 is removed and the speed reducer 1 is viewed along the direction of the arrow B1 in FIG. . Moreover, description of the reduction gear 1 which concerns on this embodiment abbreviate | omits description of the part which is common in the reduction gear 1 which concerns on 1st Embodiment suitably.

図１０に示すように、本実施形態に係る減速機１は、駆動軸２の回転が歯車減速機構４２を介して偏心カム４３に減速された状態で伝達されるようになっている。歯車減速機構４２は、駆動軸２の先端側に形成された駆動歯車４４（歯数Ｚ１の小歯車）と、この駆動歯車４４によって回転させられる被動歯車４５（歯数Ｚ２の大歯車（Ｚ２＞Ｚ１））とで構成され、駆動軸２の回転をＺ１／Ｚ２の減速比で偏心カム４３に伝達するようになっている。被動歯車４５は、駆動歯車４４の周囲に等間隔で３個配置されている。したがって、駆動歯車４４と３個の被動歯車４５とが３組の歯車減速機構４２を構成している。そして、被動歯車４５は、中心部の両側に支持軸４６が突出形成され、各支持軸４６が出力側回転体６の軸受け穴４７に相対回動できるように係合されている。また、被動歯車４５の両側面には、支持軸４６の中心４８（回転中心）に対して偏心して位置する偏心カム４３がそれぞれ形成されている。第１揺動体４及び第２揺動体は、３個の偏心カム４３に相対回動できるように嵌合されるカム係合穴５０（カム係合部）が３箇所形成されている。そして、第１揺動体４に形成されたカム係合穴５０に相対回動可能に係合される偏心カム４３は、第２揺動体４に形成されたカム係合穴５０に相対回動可能に係合される偏心カム４３に対して１８０°の位相ずれを生じるように形成されている。なお、本実施形態に係る減速機１は、第１実施形態に係るかしめ固定用突起２４及びかしめ穴３４を省略し、固定部材５の径方向外方端側に固定した抑えプレート５１，５１で一対の出力側回転体６，６を両側から挟持して、一対の出力側回転体６，６が固定部材５から離間するのを抑えている。また、本実施形態に係る減速機１は、被動歯車４５と一体の偏心カム４３及び支持軸４６が回動連繋手段Ｋを構成しており、この回動連繋手段Ｋによって揺動体４と出力側回転体６が連繋され、一対の揺動体４，４が駆動軸２の回転軸心１１の回りを回動すると、一対の出力側回転体６，６が一対の揺動体４，４と共に回動する。 As shown in FIG. 10, the speed reducer 1 according to the present embodiment is configured such that the rotation of the drive shaft 2 is transmitted to the eccentric cam 43 via the gear speed reduction mechanism 42. The gear reduction mechanism 42 includes a drive gear 44 (small gear with the number of teeth Z1) formed on the front end side of the drive shaft 2, and a driven gear 45 (large gear with the number of teeth Z2 (Z2>) rotated by the drive gear 44. Z1)), and the rotation of the drive shaft 2 is transmitted to the eccentric cam 43 at a reduction ratio of Z1 / Z2. Three driven gears 45 are arranged around the drive gear 44 at equal intervals. Therefore, the drive gear 44 and the three driven gears 45 constitute three sets of gear reduction mechanisms 42. The driven gear 45 has support shafts 46 projecting from both sides of the central portion, and the support shafts 46 are engaged with the bearing holes 47 of the output-side rotator 6 so as to be relatively rotatable. In addition, eccentric cams 43 are formed on both side surfaces of the driven gear 45 so as to be eccentric with respect to the center 48 (rotation center) of the support shaft 46. The first oscillating body 4 and the second oscillating body are formed with three cam engaging holes 50 (cam engaging portions) that are fitted to the three eccentric cams 43 so as to be relatively rotatable. The eccentric cam 43 engaged with the cam engagement hole 50 formed in the first rocking body 4 so as to be relatively rotatable is relatively rotatable with respect to the cam engagement hole 50 formed in the second rocking body 4. Is formed so as to cause a phase shift of 180 ° with respect to the eccentric cam 43 engaged with the cam. The speed reducer 1 according to the present embodiment omits the caulking fixing protrusions 24 and the caulking holes 34 according to the first embodiment, and includes holding plates 51 and 51 that are fixed to the radially outer end side of the fixing member 5. The pair of output-side rotators 6 and 6 are sandwiched from both sides to prevent the pair of output-side rotators 6 and 6 from being separated from the fixing member 5. Further, in the speed reducer 1 according to the present embodiment, the eccentric cam 43 and the support shaft 46 integral with the driven gear 45 constitute the rotation linking means K, and the oscillating body 4 and the output side are constituted by the rotation linking means K. When the rotator 6 is connected and the pair of oscillating bodies 4, 4 rotate around the rotation axis 11 of the drive shaft 2, the pair of output-side rotators 6, 6 rotate together with the pair of oscillating bodies 4, 4. To do.

このような構成の本実施形態に係る減速機１は、駆動軸２の回転が歯車減速機構４２を介して減速された状態で偏心カム４３に伝達され、偏心カム４３が揺動体４を揺動させる。したがって、本実施形態に係る減速機１は、第１実施形態に係る減速機１と同様の効果を得ることができることはもちろんのこと、歯車減速機構４２の減速比の分だけ第１実施形態に係る減速機１よりも大きな減速比を得ることが可能になる。 In the speed reducer 1 according to the present embodiment having such a configuration, the rotation of the drive shaft 2 is transmitted to the eccentric cam 43 while being decelerated via the gear reduction mechanism 42, and the eccentric cam 43 swings the rocking body 4. Let Therefore, the speed reducer 1 according to the present embodiment can obtain the same effect as that of the speed reducer 1 according to the first embodiment, as well as the speed reduction ratio of the gear speed reduction mechanism 42 in the first embodiment. It becomes possible to obtain a reduction ratio larger than that of the speed reducer 1.

［第１、第２、及び第３実施形態の変形例］
第１及び第２実施形態に係る減速機１は、全体を樹脂材料で形成する場合に限定されず、偏心カム３を金属で形成し、揺動体４の熱を金属製の偏心カム３を介して駆動軸２側に逃がすようにしてもよい。 [Modifications of First, Second, and Third Embodiments]
The speed reducer 1 according to the first and second embodiments is not limited to the case of being entirely formed of a resin material, and the eccentric cam 3 is formed of metal, and the heat of the oscillator 4 is transferred via the metal eccentric cam 3. Then, it may be allowed to escape to the drive shaft 2 side.

また、第３実施形態に係る減速機１は、全体を樹脂材料で形成する場合に限定されず、被動歯車４５及び一対の偏心カム４３，４３を金属で形成し、揺動体４の熱を金属製の偏心カム４３及び減速歯車機構４２（被動歯車４５及び駆動歯車４４）を介して駆動軸２側に逃がすようにしてもよい。 Further, the speed reducer 1 according to the third embodiment is not limited to the case where the entirety is made of a resin material, and the driven gear 45 and the pair of eccentric cams 43 and 43 are made of metal, and the heat of the oscillator 4 is made of metal. You may make it escape to the drive shaft 2 side via the eccentric cam 43 and the reduction gear mechanism 42 (the driven gear 45 and the drive gear 44).

１……減速機、２……駆動軸（入力側回転体）、３，４３……偏心カム、４……揺動体、５……固定部材、６……出力側回転体、１５……ボス部（カム係合部）、１６……アーム部、１７……摺動部、１７ａ……第１円錐台状部分、１７ｂ……第２円錐台状部分、２０……径方向溝、２１……波形溝、５０……カム係合穴（カム係合部）、Ｋ……回動連繋手段 DESCRIPTION OF SYMBOLS 1 ... Reducer, 2 ... Drive shaft (input side rotary body), 3, 43 ... Eccentric cam, 4 ... Oscillating body, 5 ... Fixed member, 6 ... Output side rotary body, 15 ... Boss Part (cam engaging part), 16 ... arm part, 17 ... sliding part, 17a ... first frustoconical part, 17b ... second frustoconical part, 20 ... radial groove, 21 ... ... Wave groove, 50 ... Cam engagement hole (cam engagement part), K ... Rotation linking means

Claims

In the reducer that decelerates and transmits the rotation of the input side rotator to the output side rotator,
An eccentric cam that rotates together with the input side rotating body;
An oscillating body fitted to the eccentric cam so as to be relatively rotatable, and oscillated by the eccentric cam;
A fixing member disposed to face one side surface of the rocking body and fixed to a fixed member;
An output-side rotating body that is disposed so as to face the other side surface of the rocking body and that rotates relative to the fixing member;
The oscillating body includes a cam engagement portion that is fitted to the eccentric cam so as to be relatively rotatable, a plurality of arm portions that extend radially around a rotation axis of the input-side rotator, and a tip of the arm portion And a sliding portion formed integrally with the
At least a part of the arm part can be elastically deformed,
The sliding portion includes a first truncated cone-shaped portion projecting from the arm portion toward the output-side rotating body side, and a second truncated cone-shaped portion projecting from the arm portion toward the fixing member side. Have
In a virtual plane orthogonal to the rotation axis of the input side rotating body, a direction extending radially from the rotation axis is a radial direction, and a direction along a virtual circle centered on the rotation axis is a circumferential direction. A radial groove for guiding the first frustoconical portion of the oscillating body along the radial direction is formed on the side surface of the output side rotator facing the oscillating body, at least as many as the arm portion, and the fixed An annular corrugated groove is formed on a side surface of the member facing the rocking body to guide the second frustoconical portion of the rocking body in a wave shape along the circumferential direction,
The output-side rotator is connected to the oscillating body by a rotating linking means, and when the oscillating body rotates by the second frustoconical portion being guided and moved by the wave groove, It can be rotated together with the rocking body,
A reduction gear characterized by that.

The fixing member is provided with the swinging body on both side surfaces,
A pair of the output side rotating bodies are arranged so as to sandwich the fixing member and the pair of swinging bodies,
The pair of output-side rotators are connected so as to rotate integrally.
The speed reducer according to claim 1.

When the rocking body located on one side of the both sides of the fixing member is a first rocking body and the rocking body located on the other side of the both sides of the fixing member is a second rocking body, The radial groove for guiding the first frustoconical portion of the first oscillator along the radial direction and the second frustoconical portion of the first oscillator in a wave shape along the circumferential direction. The annular corrugated groove is configured to guide the first frustoconical portion of the second oscillating body along the radial direction and the second frustoconical portion of the second oscillating body to the second frustoconical portion. With respect to the annular corrugated groove guided in a wave shape along the circumferential direction, the phase is formed so as to be shifted by 180 °,
The speed reducer according to claim 2.

In the eccentric cam, the rotation of the output-side rotator is reduced and transmitted through a reduction gear mechanism.
The speed reducer according to any one of claims 1 to 3, characterized in that: