JP4997540B2 - Oscillating gear unit - Google Patents

Description

  The present invention relates to an oscillating gear device, and more particularly to an oscillating gear device that is easy to manufacture.

  2. Description of the Related Art Conventionally, a speed reducer using an oscillating gear device is used as a transmission that is small in size and has a high reduction ratio and has high transmission efficiency. An example will be described with reference to FIGS.

  The substantially cylindrical first input shaft 101 is rotatably supported by the substantially cylindrical housing 4 via a bearing 111 and a bearing 121. A first gear g101 (shaft gear), which is a bevel gear, is fixed to the first input shaft 101 with the tooth surface in the axial direction facing the output side (hereinafter simply referred to as “output side”) in the output shaft direction. Has been. A bearing gear 105 as a rotating member is disposed on the output side of the first gear g101, and the input side in the axial direction of the inner ring 151 of the bearing gear 105 (hereinafter simply referred to as “input side”). Is formed with a second gear g102 (rotating member gear) which is a face gear. Since the second gear g102 meshes with the first gear g101, the rotational force of the first input shaft 101 is transmitted to the bearing gear 105 when the first input shaft 101 is rotating. An outer ring 152 is provided so as to surround the circumferential portion of the inner ring 151 from the outer side (hereinafter simply referred to as “outer side”) in the radial direction, and between the inner ring 151 and the outer ring 152. A bearing gear 105, which is a bearing-integrated gear, is formed by interposing the rolling elements 153.

  A third gear g103 (rotating member gear) that is a face gear is formed on the output side (hereinafter simply referred to as “output side”) in the axial direction of the inner ring 151 of the bearing gear 105. Further on the output side of the third gear g103, the output shaft 3 is rotatably supported by the housing 4 via the bearing 22 and the bearing 23. A fourth gear g104, which is a bevel gear, is fixed to the output shaft 3 with the tooth surface facing the input side in the axial direction. Since the above-described third gear g103 is engaged with the fourth gear g104, the rotational force transmitted to the bearing gear 105 is transmitted to the output shaft 3. The first input shaft 101 and the output shaft 3 have the same rotation shaft 6.

  As shown in FIG. 5C, which is an enlarged schematic view of the meshing portion of the first gear g101 and the second gear g102, a semi-cylindrical concave groove is formed in the first gear g101. In this concave groove, a cylindrical rolling element g112 is supported so as to be able to roll. Since the cylindrical rolling element g112 is supported in the semi-cylindrical concave groove, approximately half of the outer peripheral surface of the rolling element g112 protrudes toward the second gear g102, and this protruding portion is the first gear g101. It functions as a convex tooth. On the other hand, a concave groove g121 similar to the concave groove formed in the first gear g101 is formed in the second gear g102. The concave groove g121 functions as a concave tooth of the second gear g102.

  As shown in FIG. 5 (a), if the wall surface g122 of the groove g121 is a simple cylindrical shape corresponding to the cylindrical rolling element g112, the first gear as shown in FIG. 5 (b). Since the gear diameters of the g101 and the second gear g102 are different, the rotation trajectories are also different, and interference occurs immediately before and immediately after the rolling element g112 and the groove are engaged. Therefore, by cutting the wall surface g122 of the concave groove in the interfering portion, the wall surface g122 of the concave groove g121 is provided with a convex crowning with respect to the rotation direction. Interference caused by the difference in the radius of the rotating orbit generated when the second gear g102 as the face gear meshes with the first gear g101 as the bevel gear is absorbed by the crowning provided on the wall surface g122. Note that the meshing of the fourth gear g104 and the third gear g103 is the same as the description of the meshing of the first gear g101 and the second gear g102 described above, and therefore illustration and detailed description are omitted. The crowning is also provided on the wall surface of the concave groove of the three gears g103 in the rotational direction. The crowning provided on the wall surface g122 absorbs interference caused by the difference in the radius of the rotation orbit generated when the third gear g103, which is the face gear, meshes with the fourth gear g104, which is the bevel gear. That is, the concave groove g121 and the concave groove provided with the crowning are formed with a diamond shape (diamond shape) in order to avoid interference caused by a difference in the radius of the rotation orbit when the face gear and the pinion gear are engaged. It has the same function as that of (Cut).

It is difficult and cumbersome to accurately form such a semi-cylindrical concave groove to concave groove g141 with an accurate pitch and angle. Therefore, “To form the top surface of the main body as a swivel table, project the drive shaft from the center of the swivel table, and form an inclined part with a predetermined angle with the axis at the tip, and install the workpiece on the inclined part. The rotating disk is rotatably supported, and a Coriolis motion gear body is formed on the opposing surface of the rotating disk and the turning table. The rotating disk has a turning center point of the Coriolis moving gear body and a work as a gear device. The workpiece can be held by making it coincide with the pivot center point when Coriolis motion is incorporated, and further, it has substantially the same cross-sectional shape as the tooth profile cross section, and moves in the direction of the tooth trace of the workpiece in synchronization with the rotary disc An apparatus for processing a Coriolis movement gear characterized by having a tooth profile forming means is presented. According to this Coriolis gear processing device, “the gear forming means is moved in the direction of the tooth trace of the workpiece in synchronization with the rotating disk, and the gear to be paired with the workpiece is engaged with the workpiece surface. The gear forming means come into contact with each other to create a desired tooth profile ([0009]). That is, it is described that a tooth shape similar to that at the time of actual meshing can be easily formed on a workpiece (a precursor of a gear that forms a concave groove) (for example, Patent Document 1).
JP-A-10-235519

  However, precisely, the interference between the rolling element g112 and the concave groove g121 occurs not in a completely meshed state, but in a state in which the rolling element g112 and the concave groove g121 are close to each other immediately before and immediately after meshing. Therefore, it is necessary to form a crowning on the wall surface g122 of the concave groove g121 so as to avoid interference before and after the engagement, instead of “the same tooth profile as that at the actual engagement”. Even if the tooth profile similar to that at the time of actual engagement can be easily formed by the Coriolis gear processing device described in Patent Document 1, a crowning having a shape that can avoid interference before and after the engagement is formed in the groove g121. It is difficult to form on the wall surface g122 or the like.

  Therefore, the present invention has been made in view of such circumstances, and without providing a crowning of a shape that can avoid interference before and after meshing on the wall surfaces of the concave grooves of the second gear and the third gear, It is an object of the present invention to provide an oscillating gear device that can avoid interference before and after meshing that occurs in the groove of the third gear and the rolling element.

  The oscillating gear device according to the present invention comprises a shaft gear provided at an axial end of a rotating shaft, and a rotation that rotates eccentrically with respect to the axis of the rotating shaft and the rotating central shaft oscillates. An oscillating gear device including a member and a rotating member gear which is provided at an axial end of the rotating member and meshes with the shaft gear. Further, any one of the shaft gear and the rotating member gear has a semi-cylindrical concave groove formed at equal intervals in the rotational direction of the gear, and a substantially barrel shape that is rotatably supported in the concave groove. A rolling element having a shape, and using the rolling element as a convex tooth, the other one of the shaft gear or the rotating member gear includes a semi-cylindrical concave groove that meshes with the rolling element, and the concave groove Used as concave teeth.

  According to the above configuration, either the shaft gear or the rotating member gear has a semi-cylindrical concave groove formed at equal intervals in the rotation direction of the gear, and a substantially barrel shape that is supported so as to be able to roll in the concave groove. The rolling element is provided as a convex tooth, and the other one of the shaft gear or the rotating member gear is provided with a semi-cylindrical concave groove that meshes with the rolling element, and the concave groove is used as a concave tooth. Therefore, unlike the conventional oscillating gear device in which the rolling element has a cylindrical shape and is provided with a crowning in the concave groove to absorb the interference caused by the difference in the radius of the rotating orbit, according to the configuration described above, The concave groove for supporting the moving body and the concave groove used as the concave tooth are semi-cylindrical, and it is not necessary to provide the crowning on the wall surface of the concave groove, and the outer surface of the rolling element is provided with the crowning. Since the substantially barrel-shaped rolling element is provided, the interference caused by the difference in the radius of the rotation trajectory can be absorbed by the outer surface of the rolling element. Accordingly, it is possible to avoid interference before and after the meshing that occurs between the concave groove and the rolling element.

  The barrel-shaped rolling element provided with crowning has been widely used in conventional bearing devices and the like, and since a manufacturing method has been established, a barrel-shaped rolling element can be easily obtained by a general-purpose and inexpensive manufacturing apparatus. Can be manufactured.

  According to the present invention, the groove of the second gear and the third gear and the rolling element can be provided without providing a crowning of a shape that can avoid interference before and after meshing on the wall surface of the groove of the second gear and the third gear. It is an object of the present invention to provide a rocking gear device that can avoid interference before and after meshing.

  The structure of the oscillating gear device according to this embodiment will be described below with reference to the drawings.

  As shown in FIG. 1, the oscillating gear device according to the present embodiment includes a substantially cylindrical housing 4, a substantially columnar first input shaft 1 inserted into the housing, and a substantially cylindrical second input. The shaft 2 includes a substantially cylindrical output shaft 3 and first to fourth gears, which are supported via bearings. That is, it is a rocking gear device having two input shafts and one output shaft.

  The substantially cylindrical first input shaft 1 is rotatably supported by a substantially cylindrical housing 4 via a bearing 11 and a bearing 12. The first input shaft 1 has a first gear g1 (shaft gear), which is a bevel gear, with the tooth surface facing the output side in the axial direction (hereinafter simply referred to as “output side”) in the output shaft direction. It is fixed. A bearing gear 5 that is a rotating member is disposed on the output side of the first gear g1, and the input side in the axial direction of the inner ring 51 of the bearing gear 5 (hereinafter simply referred to as “input side”). Is formed with a second gear g2 (rotating member gear) which is a face gear. Since the second gear g2 meshes with the first gear g1, the rotational force of the first input shaft 1 is transmitted to the bearing gear 5 when the first input shaft 1 is rotating. An outer ring 52 is provided so as to surround the circumferential portion of the inner ring 51 from the outside (hereinafter simply referred to as “outside”) in the radial direction, and between the inner ring 51 and the outer ring 52. A bearing gear 5 that is a bearing-integrated gear is formed by interposing the rolling elements 53.

  A third gear g3 (rotating member gear) that is a face gear is formed on the output side of the inner ring 51 of the bearing gear 5. Further on the output side of the third gear g3, the output shaft 3 is rotatably supported by the housing 4 via a bearing 22 and a bearing 23. Further, a fourth gear g4 (shaft gear), which is a bevel gear, is fixed to the output shaft 3 with the tooth surface facing the input side in the axial direction. Since the fourth gear g4 is engaged with the third gear g3, the rotational force transmitted to the bearing gear 5 is transmitted to the output shaft 3. The first input shaft 1 and the output shaft 3 have the same rotation shaft 6.

  A substantially cylindrical second input shaft 2 is supported on the housing 4 via a bearing 22 and a bearing 23 so as to surround the first gear g1 to the fourth gear g4 from the outside. The inner peripheral surface 21 of the second input shaft 2 has a cylindrical shape that is eccentric with respect to the rotation shaft 6. Further, the outer ring 52 of the above-described bearing gear 5 is fitted into the inner peripheral surface 21. As a result, the outer ring 52 and the bearing gear 5 are provided in an eccentric state with respect to the rotating shaft 6.

  First, the relationship between the input from the first input shaft 1 and the second input shaft 2 and the third output shaft 3 will be described.

  First, the case where the second input shaft 2 is fixed and the first input shaft 1 is in the rotating state in the state of FIG. 1 will be described. Since the second input shaft 2 is fixed, the outer ring 52 of the bearing gear 5 fitted therein is also fixed. Therefore, the bearing gear 5 is kept in a state where its rotation shaft is fixed. In this state, the rotational force of the first input shaft 1 is transmitted to the bearing gear 5 via the first gear g1 and the second gear g2, and the rotational force transmitted to the bearing gear 5 is transmitted to the third gear. Since the torque is transmitted to the output shaft 3 via g3 and the fourth gear g4, the rotational force of the first input shaft 1 is decelerated according to the gear ratio of the first gear g1 to the fourth gear g4, and the output shaft 3 Is transmitted to.

  Next, the case where the first input shaft 1 is fixed and the second input shaft 2 is in the rotating state in the state of FIG. 1 will be described. Since the second input shaft 2 rotates, the outer ring 52 of the bearing gear 5 fitted therein also rotates. Here, since the inner peripheral surface 21 of the second input shaft 2 has a cylindrical shape that is eccentric with respect to the rotating shaft 6, the entire bearing gear 5 changes the eccentric shaft via the outer ring 52. A rotating rocking motion is performed. Here, since the first input shaft 1 is fixed, the rotational force of the second input shaft 2 is transmitted to the bearing gear 5 through the outer ring 52, and the rotational force transmitted to the bearing gear 5 is Since the torque is transmitted to the output shaft 3 via the third gear g3 and the fourth gear g4, the rotational force of the input shaft 2 is decelerated according to the gear ratio of the first gear g1 to the fourth gear g4 and output shaft. 3 is transmitted. Thus, when either the first input shaft 1 or the second input shaft 2 is fixed, the rotational force from the unfixed input shaft is the gear ratio of the first gear g1 to the fourth gear g4. Is decelerated accordingly and transmitted to the output shaft 3.

  Furthermore, the case where the 1st input shaft 1 and the 2nd input shaft 2 are in the rotation state in the state of FIG. 1 is demonstrated. In this case, the rotational force of the second input shaft 2 is transmitted to the output shaft 3 by swinging the entire bearing gear 5, and the rotational force of the first input shaft 1 is also transmitted to the output shaft 3. . Therefore, the resultant force of the rotational force of the first input shaft 1 and the rotational force of the second input shaft 2 can be transmitted to the output shaft 3. As described above, when neither the first input shaft 1 nor the second input shaft 2 is fixed, the rotational force from the first input shaft 1 and the second input shaft 2 becomes the first gear g1. ~ Decelerated according to the gear ratio of the fourth gear g4 and transmitted to the output shaft 3. That is, the rotational force of the output shaft 3 can be freely changed by controlling the rotational force of the first input shaft 1 and the rotational force of the second input shaft 2, respectively.

  Next, the reduction ratio will be described separately for each case. First, the case where the second input shaft 2 is fixed and the first input shaft 1 is in a rotating state will be described. The rotation of the first input shaft 1 is transmitted to the bearing gear 5 in accordance with the ratio of the number of teeth n1 of the first gear g1 and the number of teeth n2 of the second gear g2, that is, n1 / n2. For example, if the number of teeth n1 of the first gear g1 is 100 and the number of teeth n2 of the second gear g2 is 102, the first input shaft 1 makes one revolution and the first gear g1 makes one revolution. The two gears g2 rotate 100/102, and the rotation of the first input shaft 1 is transmitted to the bearing gear 5. That is, in this case, the first stage deceleration of 100/102 is performed.

  Similarly, the rotation of the second input shaft 2 is transmitted to the bearing gear 5 corresponding to the ratio of the number of teeth n3 of the third gear g3 and the number of teeth n4 of the fourth gear g4, that is, n3 / n4. For example, if the number of teeth n3 of the third gear g3 is 110 and the number of teeth n4 of the fourth gear g4 is 112, the inner ring 51 of the bearing gear 5 rotates once and the third gear g3 rotates once. The four gears g4 rotate 110/112, and the rotation of the first input shaft 1 is transmitted to the bearing gear 5. That is, in this case, 110/112 second-stage deceleration is performed. Therefore, the rotation of the first input shaft 1 is decelerated at a reduction ratio of n3 / n4 × n1 / n2 = (n1 · n3) / (n2 · n4) due to the deceleration of the first stage and the second stage. It becomes. In the above example, a reduction ratio of 110/112 × 100/102 = (100 · 110) / (102 · 112) ≈0.963, that is, about 96.3% is obtained.

  Next, a case where the first input shaft 1 is fixed and the second input shaft 2 is in a rotating state will be described. The rotation of the second input shaft 2 is transmitted to the bearing gear 5 corresponding to the difference between the number of teeth n1 of the first gear g1 and the number of teeth n2 of the second gear g2, that is, n2−n1. For example, if the number of teeth n1 of the first gear g1 is 100 and the number of teeth n2 of the second gear g2 is 102, the second input shaft 2 makes one rotation and the bearing gear 5 makes one rotation. The rotation of the second input shaft 2 is transmitted to the bearing gear 5 as the gear g2 rotates 102-100, that is, two teeth. Therefore, the reduction ratio is (n2-n1) / n2. That is, in this case, the first-stage deceleration of (102-100) / 102 is performed.

When the second input shaft 2 is in the rotating state, on the one hand, the second input shaft corresponds to the difference between the number of teeth n4 of the fourth gear g4 and the number of teeth n3 of the third gear g3, that is, n4-n3. The rotation of 2 is transmitted to the output shaft 3 via the bearing gear 5. For example, if the number of teeth n3 of the third gear g3 is 110 and the number of teeth n4 of the fourth gear g4 is 112, the inner ring 51 of the bearing gear 5 rotates once and the third gear g3 rotates once. The rotation of the second input shaft 2 is transmitted to the output shaft 3 as the four gears g4 rotate 112-110, that is, two teeth. Therefore, the reduction ratio is (n4-n3) / n4. Here, since the number of rotations of the third gear g3 is reduced by the ratio between the number of teeth n1 of the first gear g1 and the second gear g2 by the first-stage deceleration, (n4-n3) / n4 × n1 / n2 That is, in this case, the second-stage deceleration of (112−110) / 112 × 100/102 is performed. Therefore, combining the first stage deceleration and the second stage deceleration,
(N2-n1) / n2 + (n4-n3) / n4 × n1 / n2
That is, (102-100) / 102 + (112-110) / 112 × 100/102
≒ 0.0196 + 0.0175
= 0.0371
That is, a reduction ratio of about 3.71% is obtained.

  Thus, the reduction ratio can be freely changed by changing the number of teeth n1 to 4n of the first gear g1 to the fourth gear g4. Thus, a large reduction ratio can be easily obtained.

  Here, the oscillating gear device according to the present embodiment is characterized in that the rolling element used in the shaft gear is subjected to crowning. More specifically, FIG. 2 (a) schematically showing the meshing portion between the first gear g1 and the second gear g2, and an enlarged view of the meshing portion between the first gear g1 and the second gear g2. As shown in FIG. 2 (b), the first gear g1 is formed with a semi-cylindrical concave groove g11, and a cylindrical rolling element g12 is supported in the concave groove g11 so as to be able to roll. . Since the cylindrical rolling element g12 is supported by the semi-cylindrical concave groove g11, approximately half of the outer peripheral surface of the rolling element g12 protrudes toward the second gear g2, and this protruding portion is the first gear. It functions as a convex tooth of g1. On the other hand, a concave groove g21 similar to the concave groove g11 formed in the first gear g1 is formed in the second gear g2. The concave groove g21 functions as a concave tooth of the second gear g2. That is, the portion of the rolling element g12 that protrudes toward the second gear g2 meshes with the concave groove g21 of the second gear g2. Therefore, the sliding that occurs when the rolling element g12 and the concave groove g21 are engaged is absorbed by the rolling of the rolling element g12 indicated by an arrow in FIG. Therefore, since it is not necessary to provide a backlash, it is possible to precisely adjust the meshing and reduce vibration and noise. In addition, since a preload can be applied between the gears, the meshing adjustment can be performed more precisely, and vibration and noise can be reduced.

  Further, as shown in FIG. 3, the rolling element g12 is subjected to crowning processing, and strictly speaking, has a substantially barrel shape. The crowned rolling element g12 absorbs the interference caused by the difference in the radius of the rotating orbit generated when the second gear g2 that is the face gear meshes with the first gear g1 that is the bevel gear.

  Note that the meshing of the fourth gear g4 and the third gear g3 is the same as the description of the meshing of the first gear g1 and the second gear g2 described above. A semi-cylindrical concave groove g41 is formed in the four gears g4, and a cylindrical rolling element g42 is supported in the concave groove g41 so as to be able to roll. On the other hand, a concave groove g31 similar to the concave groove g41 formed in the fourth gear g4 is formed in the third gear g3. The concave groove g31 functions as a concave tooth of the third gear g3. Further, the rolling element g42 is subjected to a crowning process, and strictly speaking, has a substantially barrel shape. The crowned rolling element g42 absorbs the interference caused by the difference in the rotational orbit radius when the third gear g3, which is the face gear, meshes with the fourth gear g4, which is the bevel gear.

  According to the oscillating gear device of the above embodiment, the following effects can be obtained.

  (1) According to the oscillating gear device of the above embodiment, the first gear g1 and the fourth gear g4, which are shaft gears, are semi-cylindrical concave grooves g11, g41 formed at equal intervals in the rotation direction of the gear. The rolling elements g12 and g42 are supported in the concave grooves g11 and g41 so as to be able to roll, and the rolling elements g12 and g42 are used as convex teeth. On the other hand, the second gear g2 and the fourth gear g4, which are rotating member gears, include semi-cylindrical concave grooves g21 and g31 that mesh with the rolling elements g12 and g42, and the concave grooves g21 and g31 are used as concave teeth. . Therefore, the rolling element g112 of the first gear and the rolling element of the fourth gear are cylindrical, and the crowning is provided in the concave grooves of the second gear and the third gear g3 to cause interference due to the difference in the radius of the rotating track. Unlike the above-described conventional oscillating gear device that absorbs the groove, the concave grooves g11 and g41 for supporting the rolling elements g12 and g42 and the concave grooves g21 and g31 used as concave teeth are also semi-cylindrical, and are crowned. Need not be provided on the wall surface of the groove. Further, since the rolling elements g12 and g42 having a substantially barrel shape, which is a shape in which the outer surface of the rolling element is provided with a crowning, are provided, interference caused by the difference in the radius of the rotating orbit is caused by the outer surface of the rolling elements g12 and g42. Can be absorbed. Accordingly, it is possible to avoid interference before and after meshing that occurs in the grooves g11 and g41 and the rolling elements g12 and g42.

  (2) The substantially barrel-shaped rolling element provided with the crowning used in the rolling elements g12 and g42 is widely used in conventional bearing devices and the like, and the manufacturing method has also been established. A barrel-shaped rolling element can be easily manufactured by a general-purpose and inexpensive manufacturing apparatus.

    In addition, you may change the said embodiment as follows.

  -In above-mentioned embodiment, although the rolling element g12 and the rolling element g42 are provided in the 1st gear g1 and the 4th gear g4, another structure may be sufficient. For example, the second gear g2 and the third gear g3 may be provided. In other words, any structure that can absorb the sliding at the time of meshing by meshing the rolling element and the groove is acceptable.

  In the above embodiment, the present invention is applied to an oscillating gear device having two input shafts and one output shaft. However, the present invention is applied to an oscillating gear device having one input shaft and one output shaft. The present invention may be applied. For example, the first gear g1 may be fixed to the housing and input from only the second input shaft.

  Since the present invention relates to an oscillating gear device that is easy to manufacture, the present invention can be widely used for small devices that require a high reduction ratio.

It is drawing explaining one Embodiment of the rocking | fluctuation type gear apparatus concerning this invention, Comprising: It is an axial sectional view. BRIEF DESCRIPTION OF THE DRAWINGS It is drawing explaining one Embodiment of the rocking | fluctuation type gear apparatus concerning this invention, Comprising: (a) is a partial expansion schematic diagram about the meshing part of a 1st gear-a 4th gear, (b) is 1st. It is an enlarged view about the meshing part of a gearwheel and a 2nd gearwheel. It is drawing explaining one Embodiment of the rocking | fluctuation type gear apparatus concerning this invention, Comprising: It is a schematic diagram for demonstrating the meshing state of a 1st gearwheel and a 2nd gearwheel. It is drawing explaining one Embodiment of the conventional rocking | fluctuation type gear apparatus, Comprising: It is an axial sectional view. It is drawing explaining other embodiment of the conventional rocking | fluctuation type gear apparatus, Comprising: (a) is a schematic diagram for demonstrating the meshing state of the 1st gearwheel in the case of not providing a crowning, and a 2nd gearwheel, (B) is a schematic diagram for explaining the difference in rotational trajectory between the first gear and the second gear g, and (c) is the meshing state of the first gear and the second gear when a crowning is provided. It is a schematic diagram for demonstrating.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... 1st input shaft, 2 ... 2nd input shaft, 3 ... Output shaft, 4 ... Housing, 5 ... Bearing gear (rotating member), 6 ... Rotating shaft, 10 ... Oscillating gear apparatus, 11 ... Bearing , 12 ... bearing, 21 ... inner peripheral surface, 22 ... bearing, 23 ... bearing, 51 ... inner ring, 52 ... outer ring, 53 ... rolling element, g1 ... gear, g2 ... gear, g3 ... gear, g4 ... gear, g11 ... Groove, g12 ... rolling element, g21 ... concave groove, g31 ... concave groove, g41 ... concave groove, g42 ... rolling element, 101 ... input shaft, 105 ... bearing gear, 111 ... bearing, 121 ... bearing, 151 ... inner ring, 152 ... outer ring, 153 ... rolling element, g101 ... gear, g102 ... gear, g103 ... gear, g104 ... gear, g112 ... rolling element, g121 ... concave groove, g122 ... wall surface.

Claims (1)

A shaft gear provided at the axial end of the rotating shaft;
A rotating member that rotates eccentrically with respect to the axis of the rotating shaft and in which a rotation center shaft swings;
An oscillating gear device provided at an axial end of the rotating member and provided with a rotating member gear meshing with the shaft gear,
Either the shaft gear or the rotating member gear has a semi-cylindrical concave groove formed at equal intervals in the rotation direction of the gear, and a substantially barrel-shaped shape that is rotatably supported in the concave groove. While providing a rolling element, using the rolling element as a convex tooth,
An oscillating gear device characterized in that the other one of the shaft gear or the rotating member gear has a semi-cylindrical concave groove that meshes with the rolling element, and the concave groove is used as a concave tooth.

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