JP4414357B2 - Rolling ball differential transmission - Google Patents

Description

  The present invention relates to a rolling ball type differential transmission in which a first moving plate and a second moving plate are overlapped via a rolling ball and a transmission torque is output by rotational driving of the second moving plate with respect to the first moving plate. Relates to the device.

The rolling ball type differential transmission is used for transmitting rotational displacement of a joint portion of a robot or the like in a production process of an automobile part or the like, and is incorporated in a transport device that transports an assembly part to the next process. Among such differential transmissions, a rolling ball is formed by using a first moving plate having a guide groove along an epicycloid curve and a second moving plate having a guide groove along a hypocycloid curve. There is known a rolling ball type differential reduction mechanism that superimposes and transmits torque as an output by rotational driving of a second moving plate with respect to the first moving plate (see, for example, Patent Document 1).
In this case, since only the first moving plate and the second moving plate are overlapped via the rolling ball, the overall thickness is small and compact, but there is no backlash and transmission efficiency is improved. High torque transmission capacity can be secured with high noise and low noise.
JP-A-5-231490

However, in the rolling ball type differential reduction mechanism of Patent Document 1, when the first moving plate and the second moving plate are overlapped, a plurality of rolling balls arranged along the guide groove of the epicycloid curve are used. Because of the configuration that fits into the guide groove of the hypocycloid curve, the meshing ratio of the guide groove is low, and the torque transmission to the second moving plate with respect to the first moving plate tends to become unstable, There is a risk that torque transmission is not smooth.
In particular, when large torque transmission is performed, the first moving plate and the second moving plate are strongly pressed against each other, and the second moving plate and the first moving plate are sheared in accordance with the rotation of the second moving plate. Receives great thrust. For this reason, when the meshing rate of the guide grooves is low, there is a disadvantage that torque transmission becomes more unstable and smoothness of torque transmission cannot be ensured.

  The present invention has been made in consideration of the above circumstances, and its purpose is to obtain a large meshing rate between the first moving plate and the second moving plate while ensuring a large torque transmission capacity, It is an object of the present invention to provide a rolling ball type differential transmission capable of ensuring smooth torque transmission over a long period of time.

(About claim 1)
The first moving plate is provided with an outer peripheral guide wall formed in the circumferential direction along the epicycloid curve on the surface portion. The substantially hemispherical first sliding hole portion is formed in the first moving plate, and is provided at equiangular intervals on the inner peripheral side of the outer peripheral guide wall corresponding to the wavefront portion of the epicycloidal curve.
The second moving plate has an inner peripheral guide wall formed in the circumferential direction along a hypocycloid curve corresponding to the epicycloid curve on the surface portion. The substantially hemispherical second sliding hole portion is formed in the second moving plate, and is provided at equiangular intervals on the outer peripheral side of the inner peripheral guide wall corresponding to the wavefront portion of the hypocycloid curve.
After setting the wave number difference between the hypocycloid curve of the inner peripheral guide wall and the epicycloid curve of the outer peripheral guide wall to one, the eccentric shaft is attached so that the first moving plate and the second moving plate are brought close to each other, The first sliding hole is brought into contact with the inner circumferential guide wall via the first rolling ball, and the second sliding hole is brought into contact with the outer circumferential guiding wall via the second rolling ball.
The first rolling ball rolls along the inner peripheral guide wall while sliding in the first sliding hole by the rotational driving of the second moving plate with respect to the first moving plate, and the second rolling ball is moved into the second sliding hole. By rolling along the outer peripheral guide wall while sliding in the part, the second moving plate performs relative movement with respect to the first moving plate by combining the rotational displacement and the revolution displacement, and rotates from the eccentric shaft. Only displacement is output.

  When the first moving plate and the second moving plate are mounted close to each other, the first sliding hole is brought into contact with the inner peripheral guide wall via the first rolling ball, and the second sliding hole is moved to the second rolling position. The outer peripheral guide wall is brought into contact with the moving ball. For this reason, the first sliding hole portion meshes with the inner peripheral guide wall via the first rolling ball, and the second sliding hole portion meshes with the outer peripheral guide wall via the second rolling ball. A high meshing rate can be obtained by realizing a double meshing structure by the guide wall and the second sliding hole portion and the first sliding hole portion and the inner circumferential guide wall. As a result, torque transmission between the first moving plate and the second moving plate can be stabilized and smooth torque transmission can be ensured. Moreover, since only the first moving plate and the second moving plate need only be overlapped via the rolling ball, the overall thickness is small and compact, but there is no backlash, high transmission efficiency, and large torque. A transmission capacity can be secured.

(About claim 2)
The first moving plate is provided with an inner peripheral guide wall formed in the circumferential direction along a hypocycloid curve on the surface portion. The substantially hemispherical first sliding hole portion is formed in the first moving plate, and is provided at equal angular intervals on the outer peripheral side of the inner peripheral guide wall corresponding to the wavefront portion of the hypocycloid curve.
The second moving plate is provided with an outer peripheral guide wall formed in the circumferential direction along an epicycloid curve corresponding to the hypocycloid curve on the surface portion. The substantially hemispherical second sliding hole portion is formed in the second moving plate, and is provided at equiangular intervals corresponding to the wavefront portion of the epicycloid curve on the inner peripheral side of the outer peripheral guide wall.
After setting the wave number difference between the epicycloid curve of the outer peripheral guide wall and the hypocycloid curve of the inner peripheral guide wall to one, the eccentric shaft is attached so that the first moving plate and the second moving plate are brought close to each other, The first sliding hole is brought into contact with the outer peripheral guide wall via the first rolling ball, and the second sliding hole is brought into contact with the inner peripheral guiding wall via the second rolling ball.
When the second moving plate is rotationally driven with respect to the first moving plate, the first rolling ball rolls along the outer peripheral guide wall while sliding in the first sliding hole portion, and the second rolling ball moves in the second sliding hole portion. By rolling along the inner peripheral guide wall while sliding on the second moving plate, the second moving plate performs a combined motion combining the rotational displacement and the revolution displacement with respect to the first moving plate, and only the rotational displacement from the eccentric shaft. Is output.

  When the first moving plate and the second moving plate are mounted close to each other, the first sliding hole is brought into contact with the outer peripheral guide wall via the first rolling ball, and the second sliding hole is moved to the second position. It is made to contact | abut to an inner peripheral guide wall via the ball | bowl. Therefore, as in the first aspect, a double meshing structure is realized by the inner circumferential guide wall and the second sliding hole portion and the first sliding hole portion and the outer circumferential guide wall, and a high meshing rate is obtained. As a result, torque transmission between the first moving plate and the second moving plate can be stabilized and smooth torque transmission can be ensured. Moreover, since only the first moving plate and the second moving plate need only be overlapped via the rolling ball, the overall thickness is small and compact, but there is no backlash, high transmission efficiency, and large torque. A transmission capacity can be secured.

(Claim 3)
A constant velocity internal joint is provided to output only the rotational displacement from the eccentric shaft. The constant velocity internal joint is slid into a sliding hole formed in one of the second moving plate and the rectifying plate provided to correspond to the second moving plate and a circular recess or annular groove formed in the other. It has a rotating ball that can be arranged. The revolution displacement is absorbed in the process in which the combined motion of the second moving plate is transmitted to the rectifying plate via the rotating ball.
For this reason, only the rotational displacement is transmitted from the eccentric shaft connected to the rectifying plate, and the rectifying operation for the combined motion functions. In addition, the constant velocity internal joint has a relatively simple structure in which a sliding hole is formed in one of the second moving plate and the regulating plate, and a circular recess or annular groove is formed in the other to provide a rotating ball. This is advantageous in terms of cost because it is compact.
Also, by holding the rotating ball in the sliding hole, the positive engagement is maintained between the second moving plate and the rectifying plate, the torque transmission is smoothed, and the whole is tight and the rigidity is improved. To do.

  In the rolling ball type differential transmission of the present invention, the first sliding hole portion is fitted to the inner peripheral guide wall via the first rolling ball, and the second sliding hole portion is interposed via the second rolling ball. In order to fit the outer peripheral guide wall, the first sliding hole portion meshes with the inner peripheral guide wall via the first rolling ball, and the second sliding hole portion contacts the outer peripheral guide wall via the second rolling ball. Will be engaged. As a result, a double meshing structure is realized by the outer peripheral guide wall and the second sliding hole portion and the first sliding hole portion and the inner peripheral guide wall, and a high meshing rate is obtained. Torque transmission to the plate is stable and smooth torque transmission can be ensured.

A first embodiment of the present invention will be described with reference to FIGS.
In the rolling ball type differential transmission A shown in FIG. 1, insertion ports 2 and 3 are formed in an opposed state on the left and right walls of a flat and rectangular casing 1. A disc-shaped first moving plate 4 having a through hole 5 communicating with the insertion opening 2 is fixed to the inner surface of the right side wall of the casing 1. The second moving plate 6 is formed with a through hole 7 at the center, and is attached to the first moving plate 4 in the proximity and facing state in the casing 1.

  The eccentric shaft 8 is provided in the casing 1, and one end thereof is supported in the through hole 7 of the second moving plate 6 through a bearing 9 as an eccentric portion 8 a that passes through the through hole 5 of the first moving plate 4. Has been. The other end of the eccentric shaft 8 is supported by the insertion port 3 via a bearing 10 and includes an input portion 11 that protrudes from the insertion port 3 to the outside. In this case, the amount of eccentricity of the eccentric shaft 8 is set to a dimension corresponding to the wave height formed by the outer circumferential guide wall 15 and the inner circumferential guide wall 16 of a cycloid curve described later.

The disc-shaped rectifying plate 12 is arranged in a state of facing the second moving plate 6 in the casing 1, and an output shaft 14 supported by the insertion port 2 via a bearing 13 is attached to the center portion.
As shown in FIGS. 2 and 3A, an outer peripheral guide wall 15 that is substantially perpendicular to the surface is formed on the surface of the first moving plate 4 in the circumferential direction. This outer peripheral guide wall 15 is formed by continuously engraving the outside of a predetermined basic circle with 10 wave numbers along an epicycloid curve. At this time, the dimension e corresponding to the wave height of the epicycloid curve is used as the amount of eccentricity. The first moving plate 4 is provided with substantially hemispherical first sliding hole portions 15a corresponding to the wavefront portions of the epicycloidal curve on the inner peripheral side of the outer peripheral guide wall 15 at equiangular intervals along a predetermined pitch circle P1. Only a few are provided.

  As shown in FIGS. 2 and 3B, an inner peripheral guide wall 16 that is substantially perpendicular to the surface is formed on the surface of the second moving plate 6 so as to correspond to the outer peripheral guide wall 15. The inner peripheral guide wall 16 is set to be slightly smaller in diameter than the outer peripheral guide wall 15, and is formed by continuously engraving a predetermined foundation circle with a thin wall with 11 wave numbers along a hypocycloid curve. is there. At this time, the dimension e corresponding to the wave height of the hypocycloid curve is used as the amount of eccentricity. Further, the second moving plate 6 is provided with a substantially hemispherical second sliding hole portion 16a corresponding to the wavefront portion of the hypocycloid curve on the outer peripheral side of the inner peripheral guide wall 16 at equiangular intervals along a predetermined pitch circle P2. Only a few are provided.

  An epicycloid curve is a trajectory drawn by an arbitrary point of a small-diameter circle when a small-diameter circle rolls on a basic circle of a predetermined diameter without slipping circumscribingly. What is a hypocycloid curve? When a circle with a small diameter is rolled to a similar basic circle in an inscribed state, an arbitrary point of the circle with a small diameter is a locus drawn. The basic circle of the hypocycloid curve in the inner peripheral guide wall 16 corresponds to the pitch circle P1 of the first sliding hole portion 15a, and the pitch circle P2 of the second sliding hole portion 16a is the basis of the epicycloidal curve in the outer peripheral guide wall 15. Corresponds to the yen.

  Between the first moving plate 4 and the second moving plate 6, a plurality of first rolling balls 4a and second rolling balls 6a are provided in the circumferential direction as steel balls. The first rolling ball 4a is slidably fitted in the first sliding hole portion 15a and abuts so as to be able to roll in the inner peripheral guide wall 16 so that the first sliding hole portion 15a and the inner peripheral guide are provided. The first moving plate 4 and the second moving plate 6 are connected via a wall 16 so that torque can be transmitted.

  The second rolling ball 6a is slidably fitted in the second sliding hole portion 16a, and abuts so as to be able to roll outside the outer peripheral guide wall 15, so that the second sliding hole portion 16a and the outer peripheral guide are provided. The first moving plate 4 and the second moving plate 6 are connected via a wall 15 so that torque can be transmitted. By pressing the first moving plate 4 against the second moving plate 6, the first rolling ball 4 a comes into strong sliding contact with the inner wall portion of the first sliding hole portion 15 a and the inner peripheral guide wall 16, thereby causing the second rolling motion. The ball 6a comes into strong contact with the inner wall portion of the second sliding hole portion 16a and the outer peripheral guide wall 15.

  On the outer surface of the second moving plate 6, on the opposite side of the inner peripheral guide wall 16, as shown in FIG. 1, a plurality of small annular grooves 18 having a semicircular cross section are provided at equal angular intervals. These annular grooves 18 are set to have diameters corresponding to the eccentric amounts of the outer peripheral guide wall 15 and the inner peripheral guide wall 16. Further, on the surface of the rectifying plate 12 facing the annular groove 18, the same number of annular grooves 19 having the same outer diameter as the annular groove 18 are formed in the circumferential direction. A rotating ball 20 fitted in the annular groove 18 and the annular groove 19 is arranged between the second moving plate 6 and the rectifying plate 12, and a so-called constant velocity internal joint is configured as the rectifying means 30. ing.

In the above configuration, when applied to a transfer robot, an electric motor (not shown) is connected to the input portion 11 of the eccentric shaft 8, and a joint arm (not shown) is attached to the output shaft 14. . When the electric motor is energized, the eccentric shaft 8 is rotationally driven, and the eccentric rotational force is transmitted to the second moving plate 6 by the eccentric portion 8a (see FIGS. 1 and 2).
The second moving plate 6 that has received the eccentric rotational force rolls the first rolling ball 4 a that slides in the first sliding hole portion 15 a of the first moving plate 4 along the inner peripheral guide wall 16, and The second rolling ball 6 a that slides in the two sliding hole portions 16 a is rolled along the outer peripheral guide wall 15. As a result, as shown in FIG. 4, the second moving plate 6 performs a combined motion (turning motion) composed of the revolving displacement and the rotational displacement with respect to the first moving plate 4.

  In the process in which the first rolling ball 4a and the second rolling ball 6a slide and roll with the combined movement of the second moving plate 6, the rotating ball 20 of the rectifying means 30 in FIG. And each outer periphery guide wall part of the annular groove 19 of the regulation plate 12 rolls in a contact state. As a result, the revolving displacement is absorbed from the combined motion of the second moving plate 6, and only the rotation displacement is transmitted to the rectifying plate 12, and the output shaft 14 is rotated in a decelerating state to move the joint arm to a predetermined step. To do.

  In this case, the amount of one rotation of the eccentric shaft 8 is the distance that the first rolling ball 4a rolls the inner peripheral guide wall 16 by the length of one wave number, or the second rolling ball 6a is the outer peripheral guide wall. 15 corresponds to the distance to roll by the length of one wave number. For this reason, the reduction ratio of the second moving plate 6 with respect to the input unit 11 is obtained by adding a numerical value 2 corresponding to the numerical value 1 corresponding to the wave number difference between the outer peripheral guide wall 15 and the inner peripheral guide wall 16 and the wave number Z1 of the outer peripheral guide wall 15. The ratio to the one, that is, 1 / (1 + Z1). In the first embodiment, since the wave number Z1 is 10, the reduction ratio (R) is 1 / (1 + 10) = 1/11. In general, when the wave number of the inner peripheral guide wall 16 is Z2, the reduction ratio is calculated by an arithmetic expression of [(Z2-Z1) / {(Z2-Z1) + Z1}] = {1- (Z1 / Z2)}. .

As described above, the first moving plate 4 and the second moving plate 6 are arranged in parallel to each other while securing a relatively large reduction ratio based on the wave number difference between the outer peripheral guide wall 15 and the inner peripheral guide wall 16. All you have to do is reduce the thickness and make the whole compact.
Moreover, since the outer periphery guide wall 15 and the inner periphery guide wall 16 are attached in the overlapping state via the 1st rolling ball 4a and the 2nd rolling ball 6a, the 1st rolling ball 4a and the inner periphery are attached. The play with the guide wall 16 and the play with the first rolling ball 4a and the outer peripheral guide wall 15 are removed, and the accurate rotation angle of the output shaft 14 can be set with high accuracy.

  As a result, the backlash between the first moving plate 4 and the second moving plate 6 is eliminated, and the moving plates 4 and 6 are closely connected to each other. The torque transmission capacity between the moving plate 4 and the second moving plate 6 can be advantageously improved in terms of cost.

  Further, when the first moving plate 4 and the second moving plate 6 are attached in close proximity, the first sliding hole 15a is brought into contact with the inner peripheral guide wall 16 via the first rolling ball 4a, and the second The sliding hole portion 16a is brought into contact with the outer peripheral guide wall 15 through the second rolling ball 6a. For this reason, the first sliding hole portion 15a meshes with the inner peripheral guide wall 16 via the first rolling ball 4a, and the second sliding hole portion 16a contacts the outer peripheral guide wall 15 via the second rolling ball 6a. As a result of the engagement, a double engagement structure is realized by the outer peripheral guide wall 15 and the second sliding hole portion 16a and the first sliding hole portion 15a and the inner peripheral guide wall 16, and a high engagement rate is obtained. As a result, torque transmission between the first moving plate 4 and the second moving plate 6 is stable, and smooth torque transmission can be ensured over a long period of time.

That is, the effects of the present invention can be summarized as follows.
Backlash can be removed by pressurizing the first moving plate 4 and the second moving plate 6 in the axial direction (axial direction).
This is a simple structure in which the first moving plate 4 and the second moving plate 6 facing each other are simply overlapped, and the thickness is reduced, which contributes to space saving and cost reduction.
By holding the first rolling ball 4a and the second rolling ball 6a between the first moving plate 4 and the second moving plate 6, the positive engagement is maintained, the rigidity is improved, and the torque is increased. Transmission is smooth.

  FIG. 5 shows a second embodiment of the present invention. The difference between the second embodiment and the first embodiment is that the arrangement of the first moving plate 4 and the rectifying plate 12 is reversed. That is, in the second embodiment, the rectifying plate 12, the first moving plate 4 and the second moving plate 6 of the first embodiment are rotated left and right by 180 degrees while being overlapped. In this case, the rectifying plate 12 is provided with a through hole 26 through which the eccentric shaft 8 is inserted, the first moving plate 4 is formed in a non-hole shape, and the output shaft 14 is connected to the central portion.

6A and 6B show Embodiment 3 of the present invention. The third embodiment differs from the first embodiment in that a circular recess 31 having a double diameter is formed on the back surface side of the second moving plate 6 in place of the annular groove 18 of the rectifying means 30 in the constant velocity internal joint. The sliding hole 32 is formed in the rectifying plate 12 in place of the annular groove 19.
In this case, as described with reference to FIG. 1, when the second moving plate 6 performs the combined motion as the eccentric rotating motion with respect to the first moving plate 4, the rotating ball 20 of the rectifying means 30 moves to the circular recess 31 and the sliding. Each outer peripheral guide wall portion of the hole 32 rolls in a contact state, the revolution displacement is absorbed from the combined motion, and only the rotation displacement is transmitted to the rectifying plate 12.
Further, even if the eccentric amount of the first moving plate 4 and the second moving plate 6 is changed, the output shaft 14 of the eccentric shaft 8 may be common, and it is necessary to replace all the parts every time the eccentric amount is changed. There is an advantage that the output shaft 14 can be shared.

  7A and 7B show Embodiment 4 of the present invention. The fourth embodiment is different from the first embodiment in that the inner guide wall 16 is formed on the first moving plate 4 along the hypocycloid curve, and the outer guide wall 15 is formed on the second moving plate 6 along the epicycloid curve. It is formed. In other words, in the fourth embodiment, the formation position of the cycloid system curve that is the basis of the inner peripheral guide wall 16 and the outer peripheral guide wall 15 is opposite to that in the first embodiment.

  FIG. 8A shows a fifth embodiment of the present invention. The fifth embodiment differs from the third embodiment in that an annular groove 33 is formed in the second moving plate 6 in place of the circular depression 31 in the constant velocity internal joint.

  FIG. 8B shows a sixth embodiment of the present invention. The difference between Example 6 and Example 3 is that, in the constant velocity internal joint, the sliding hole 32 is formed in the second moving plate 6 and the circular recess 31 is formed in the rectifying plate 12, contrary to Example 3. That is.

  FIG.8 (c) shows Example 7 of this invention. In contrast to the fifth embodiment, the seventh embodiment differs from the fifth embodiment in that the sliding hole 32 is formed in the second moving plate 6 and the annular groove 33 is formed in the rectifying plate 12.

[Modification]
The outer peripheral guide wall 15 and the inner peripheral guide wall 16 are not limited to a single wall portion that is substantially perpendicular to the first moving plate 4 or the second moving plate 6, but an inclined surface shape, a Gothic wall shape, or a substantially V-shaped cross section. Or gothic groove shape. The first sliding hole portion 15a and the second sliding hole portion 16a are not limited to a substantially hemispherical shape, and may have a substantially V-shaped cross section or a Gothic wall shape.

In forming the outer peripheral guide wall 15 and the inner peripheral guide wall 16, the guide groove is formed wider than the first rolling ball 4a and the second rolling ball 6a along the cycloid curve, and the guide groove These one wall portions may be used as an outer peripheral guide wall and an inner peripheral guide wall.
Further, the wave number Z1 of the outer peripheral guide wall 15 and the wave number Z2 of the inner peripheral guide wall 16 are not limited to 10 or 11, but the use situation and necessary shift are assumed on the assumption that the wave number difference between the two is one. It can be set as desired according to the area.

  In the rolling ball type differential transmission of the present invention, a high meshing rate is obtained by realizing a double meshing structure by the outer peripheral guide wall and the second sliding hole portion and the first sliding hole portion and the inner peripheral guide wall. Thus, since torque transmission from the first moving plate to the second moving plate is stabilized, smooth torque transmission can be ensured. As a result, it can be widely applied to the machine industry with the increase in demand for machine tool efficiency due to the benefit of being able to be applied to small and high-performance robot technology.

(Example 1) which is a longitudinal cross-sectional view of a rolling ball type differential transmission. 1 is an exploded perspective view showing a main part of a rolling ball type differential transmission (Example 1). FIG. (Example 1) which is a top view which shows the arrangement | positioning relationship of the 1st rolling ball with respect to a 1st moving plate and a 2nd moving plate, and a 2nd rolling ball. (Example 1) which is a top view which shows the aspect which a 1st moving plate and a 2nd moving plate overlap and rotate. (Example 2) which is a longitudinal cross-sectional view which shows the principal part of a rolling ball-type differential transmission. (A) The top view which shows the 2nd moving plate which formed the circular hollow in the back surface side, (b) is a longitudinal cross-sectional view which follows a NN line (Example 3). (Example 4) which is a top view which shows the arrangement | positioning relationship of the 1st rolling ball with respect to a 1st moving plate and a 2nd moving plate, and a 2nd rolling ball. (A) Partial vertical sectional view of the second moving plate and the rectifying plate (Example 5), (b) is a partial vertical sectional view of the second moving plate and the rectifying plate (Example 6), (c) is the first. It is a partial longitudinal cross-sectional view (Example 7) of a 2nd moving plate and a rectifying plate.

Explanation of symbols

4 First moving plate 4a First rolling ball 6 Second moving plate 6a Second rolling ball 8 Eccentric shaft 12 Stabilizing plate (constant velocity internal joint)
DESCRIPTION OF SYMBOLS 14 Output shaft 15 Outer periphery guide wall 15a 1st sliding hole part 16 Inner peripheral guide wall 16a 2nd sliding hole part 19, 33 Annular groove | channel (constant velocity internal joint)
30 Throttling means (constant velocity internal joint)
31 circular depression (constant velocity internal joint)
32 Sliding hole (constant velocity internal joint)
A Rolling ball differential transmission

Claims (3)

A first moving plate provided with a peripheral guide wall formed in the circumferential direction along the epicycloid curve on the surface portion;
A substantially hemispherical first sliding hole portion formed in the first moving plate and provided at equiangular intervals corresponding to the wavefront portion of the epicycloidal curve on the inner peripheral side of the outer peripheral guide wall;
A second moving plate provided with an inner peripheral guide wall formed in a circumferential direction along a hypocycloid curve corresponding to the epicycloid curve on the surface portion;
A substantially hemispherical second sliding hole portion formed in the second moving plate and provided at equiangular intervals corresponding to the wavefront portion of the hypocycloid curve on the outer circumferential side of the inner circumferential guide wall;
After setting the wave number difference between the epicycloid curve of the outer peripheral guide wall and the hypocycloid curve of the inner peripheral guide wall to one, the first moving plate and the second moving plate are brought close to each other. The first sliding hole is attached to the inner peripheral guide wall via the first rolling ball, and the second sliding hole is contacted to the outer peripheral guide wall via the second rolling ball. An eccentric shaft
When the second moving plate is driven to rotate with respect to the first moving plate, the first rolling ball rolls along the inner peripheral guide wall while sliding in the first sliding hole, and the second rolling plate As the ball rolls along the outer peripheral guide wall while sliding in the second sliding hole portion, the second moving plate combines the rotational displacement and the revolution displacement with respect to the first moving plate. The rolling ball type differential transmission is characterized in that only the rotation displacement is output from the eccentric shaft. A first moving plate provided with an inner circumferential guide wall formed in a circumferential direction along a hypocycloid curve on the surface portion;
A substantially hemispherical first sliding hole portion formed in the first moving plate and provided at equiangular intervals corresponding to the wavefront portion of the hypocycloid curve on the outer peripheral side of the inner peripheral guide wall;
A second moving plate provided with an outer peripheral guide wall formed in a circumferential direction along an epicycloid curve corresponding to the hypocycloid curve on the surface portion;
A substantially hemispherical second sliding hole portion formed in the second moving plate and provided at equiangular intervals corresponding to the wavefront portion of the epicycloidal curve on the inner peripheral side of the outer peripheral guide wall;
After setting the wave number difference between the epicycloid curve of the outer peripheral guide wall and the hypocycloid curve of the inner peripheral guide wall to one, the first moving plate and the second moving plate are brought close to each other. The first sliding hole portion is attached to the outer peripheral guide wall via the first rolling ball, and the second sliding hole portion is contacted to the inner peripheral guide wall via the second rolling ball. An eccentric shaft
The second rolling plate rolls along the outer peripheral guide wall while sliding in the first sliding hole by the rotational driving of the second moving plate with respect to the first moving plate, and the second rolling ball Rolling along the inner peripheral guide wall while sliding in the second sliding hole portion, the second moving plate is combined with rotational displacement and revolution displacement with respect to the first moving plate. A rolling ball type differential transmission device that performs a motion and outputs only the rotational displacement from the eccentric shaft. A constant velocity internal joint is provided to output only the rotational displacement from the eccentric shaft, and the constant velocity internal joint is provided to correspond to the second moving plate and the second moving plate. A rotating ball arranged slidably in a sliding hole formed in one of the rectifying plates formed and a circular recess or annular groove formed in the other;
3. The rolling according to claim 1, wherein the revolution displacement is absorbed in a process in which the combined motion of the second moving plate is transmitted to the rectifying plate through the rotating ball. Ball type differential transmission.

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