JP6986805B1 - Rotation guide and power transmission mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotation guide device capable of stably operating even in a narrow groove having a small diameter and capable of being manufactured at low cost. SOLUTION: The rotation guide device of the present invention is a cylinder fixed via a rod-shaped guide shaft 110 having an exposed outer peripheral surface and a guide shaft fixing means 121 so as to cover a part of the outer peripheral surface of the rod-shaped guide shaft 110. The sleeve 120 has a shape, a bearing 130 fixed to the outer periphery of the sleeve 120 via a bearing fixing means 122, and a housing member 140 fixed to the bearing 130 and having a fixing portion 142 with respect to the mating member. [Selection diagram] Fig. 1

Description

The present invention relates to a rotation guide device fixed to a member while allowing rotation around the axis, and a power transmission mechanism using the rotation guide device, and can guide even in a narrow groove having a small diameter. Regarding the technology that becomes.

Conventionally, there is a device called a cam follower as a rotation guide device that is fixed to a member while allowing rotation. As shown in Patent Document 1, a general cam follower includes a stud for fixing the cam follower itself to a mating member, a bearing mounted on the outer periphery of the stud so as to be relatively rotatable with respect to the stud, and a bearing fixed to the bearing. It is composed of an outer ring member constituting a rotation guide surface (Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-132073

According to the technique disclosed in Patent Document 1, since the outer peripheral surface of the outer ring member mounted on the outer periphery of the stud via the bearing constitutes the rotation guide surface, there is a limit to the miniaturization of the apparatus.

In particular, in order to manufacture a small rotation guide device that guides while rolling in a narrow groove of about 1 mm, it is essential to manufacture the outer diameter of the outer ring member to about 1 mm, and the outer ring member is rolled. Bearings and studs that support movably need to have a smaller diameter. It is extremely difficult to manufacture such a fine bearing, and even if it can be manufactured, a huge manufacturing cost is required.

The present invention has been made in view of such a problem, and provides a rotation guide device that can operate stably even in a narrow groove having a small diameter and can be manufactured at low cost. The purpose is to do.

As a result of diligent creation, the inventors of the present invention can solve the above-mentioned problems by using a rotatable rod-shaped member as a guide member instead of using the conventional outer ring member as a guide member. And came to the present invention.

The present invention provides the following solutions.

The rotation guide device according to the first feature includes a rod-shaped guide shaft having an exposed outer peripheral surface and a tubular sleeve fixed via a guide shaft fixing means so as to cover a part of the outer peripheral surface of the rod-shaped guide shaft. , A bearing fixed to the outer periphery of the sleeve via a bearing fixing means, and a housing member fixed to the bearing and having a fixing portion with respect to the mating member.

According to the invention according to the first feature, since the exposed outer peripheral surface of the rod-shaped guide shaft serves as a rolling guide surface, a guide device capable of rolling even in a groove having an ultrafine diameter of, for example, about 1 mm can be provided. Can be configured. When rolling the rod-shaped guide shaft, it is necessary to fix the bearing that makes the rod-shaped guide shaft rotatable, but the cylinder is fixed via the guide shaft fixing means so as to cover a part of the outer peripheral surface of the rod-shaped guide shaft. Since the shaped sleeve is used and the bearing is fixed to the outer periphery of the sleeve via the bearing fixing means, the bearing can be fixed without processing the rod-shaped guide shaft itself. Since it is not necessary to process the rod-shaped guide shaft itself, the strength does not decrease even if the outer diameter of the rod-shaped guide shaft is reduced. Therefore, the outer diameter of the rod-shaped guide shaft can be reduced to the utmost limit, and the device itself can be miniaturized and reduced in diameter. Moreover, since a simple rod-shaped member is used, it can be manufactured at low cost.

The invention according to the second feature is the invention according to the first feature, and press-fitting is used as the guide shaft fixing means.

According to the invention according to the second feature, since the sleeve is fixed to the rod-shaped guide shaft by press fitting, it is strong without using other parts and without processing the rod-shaped guide shaft such as a screw hole or a notch. The sleeve can be fixed to the rod-shaped guide shaft.

The invention according to the third feature is the invention according to the first or second feature, which is a screw hole and a screw formed so that the guide shaft fixing means penetrates in a radial direction at a predetermined position of the sleeve. It is composed of set screws that can be attached to the holes.

According to the invention according to the third feature, the rod-shaped guide shaft and the sleeve can be firmly fixed with a relatively simple structure by using the means of tightening with a set screw from the radial direction.

The invention according to the fourth feature is the invention according to any one of the first to third features, wherein the bearing fixing means is a protruding portion and a sleeve in which the bearing fixing means protrudes outward in the radial direction at one end in the axial direction of the sleeve. It is composed of a thread portion engraved on the outer peripheral surface at the other end in the axial direction and a nut that can be attached to the thread portion.

According to the invention according to the fourth feature, by attaching the nut to the threaded portion in a state where the bearing is in contact with the protruding portion, the bearing can be sandwiched and fixed between the protruding portion and the nut. Therefore, the bearing can be arranged so as to be rotatable relative to the rod-shaped guide shaft without processing the rod-shaped guide shaft.

The invention according to the fifth feature is the invention according to any one of the first to fourth features, in which the inner peripheral surface at one end in the axial direction of the sleeve is cut out to form an inclined surface.

According to the invention according to the fifth feature, by providing the inclined surface, the contact between the sleeve and the rod-shaped guide shaft becomes a surface contact, so that stress concentration on the rod-shaped guide shaft can be suppressed. As a result, even if a rod-shaped guide shaft having a small diameter is used, it is difficult to break, and it is possible to provide an ultra-fine rotation guide device.

The invention according to the sixth feature is the invention according to any one of the first to fifth features, in which ceramic is used as the material of the rod-shaped guide shaft.

According to the invention according to the sixth feature, by using ceramic as the material of the rod-shaped guide shaft, it is possible to provide a rotation guide device having a smaller diameter than when a sintered metal is used.

The invention according to the seventh feature is an input shaft member connected to an input shaft rotatably supported, and a wavy groove connected to an output shaft and engraved so as to vibrate in a predetermined period in the axial direction. A power transmission mechanism including an output shaft member extending in the circumferential direction and a ring-shaped member for transmitting power between the input shaft member and the output shaft member. The rotation guide device according to any one of the first to sixth features is fixed to the insertion hole formed in the surface, and the rod-shaped guide shaft rolls in the wavy groove.

According to the invention according to the seventh feature, since it is possible to construct a mechanism for transmitting power by rolling the rod-shaped guide shaft in the rotation guide device in the wavy groove, the wavy groove has an extremely narrow groove width of about 1 mm. Can be configured with. Therefore, it is possible to engrave a wavy groove having a fine vibration cycle, and as a result, it is possible to set a large frequency at which the rotation guide device vibrates in the axial direction. Therefore, it is possible to provide a small power transmission mechanism capable of transmitting power having a large reduction ratio such as 100: 1 or a large speed increase ratio such as 1: 100.

According to the present invention, it is possible to provide a rotation guide device that can operate stably even in a narrow groove having a small diameter and can be manufactured at low cost.

FIG. 1 is a cross-sectional view of the rotation guide device 100 according to the first embodiment. FIG. 2 is a partially enlarged view of the rotation guide device 100 according to the first embodiment. FIG. 3 is a cross-sectional view of the rotation guide device 200 according to the second embodiment. FIG. 4 is an exploded perspective view of the speed reducer 800 according to the first embodiment using the rotation guide device 100 according to the present invention as viewed from the front side in the axial direction. FIG. 5 is a cross-sectional view of the speed reducer 800 according to the first embodiment using the rotation guide device 100 according to the present invention. FIG. 6 shows the details of the fixing member 810 and the rectangular plate 811 with a shaft in the speed reducer 800 according to the first embodiment using the rotation guide device 100 according to the present invention, and FIG. 6A shows the details. FIG. 6B is a perspective view of the fixing member 810 and the rectangular plate with a shaft 811, FIG. 6B is an exploded perspective view of the fixing member 810, the rectangular plate with a shaft 811 and the lid 813, and FIG. 6C is a rectangular plate with a shaft 811. Is inserted into the radial cylindrical groove 814, the top view is shown. FIG. 7 is a side view of the speed reducer 800 according to the first embodiment using the rotation guide device 100 according to the present invention. FIG. 8 is an exploded perspective view of the speed reducer 900 according to the second embodiment using the rotation guide device 100 according to the present invention as viewed from the front side in the axial direction. FIG. 9 is an exploded perspective view of the speed reducer 900 according to the second embodiment using the rotation guide device 100 according to the present invention as viewed from the rear side in the axial direction. FIG. 10 is a cross-sectional view of the speed reducer 900 according to the second embodiment using the rotation guide device 100 according to the present invention. FIG. 11 is a side view of the speed reducer 900 according to the second embodiment using the rotation guide device 100 according to the present invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. It should be noted that this is only an example, and the technical scope of the present invention is not limited to this.

[Structure of guidance device according to the first embodiment]
The overall configuration of the guide device 100 according to the first embodiment will be described with reference to FIGS. 1 and 2.

FIG. 1 shows a cross-sectional view of the guide device 100 according to the first embodiment, and FIG. 2 shows a partially enlarged view of the guide device 100 according to the first embodiment.

The guide device 100 according to the first embodiment includes a rod-shaped guide shaft 110, a sleeve 120, a bearing 130 that rotatably supports the rod-shaped guide shaft 110 via the sleeve 120, and a housing member 140 fixed to the bearing 130. It is composed.

The rod-shaped guide shaft 110 is a rod-shaped member having a predetermined outer diameter and a circular cross section, and the central axis of the rod-shaped guide shaft 110 forms the axis C of rotation. A part of the outer peripheral surface of the rod-shaped guide shaft 110 is exposed, and the exposed portion functions as the guide surface 110a. Further, of the outer peripheral surface of the rod-shaped guide shaft 110, the unexposed portion becomes the fixed surface 110b into which the sleeve 120 described later is press-fitted.

The rod-shaped guide shaft 110 is preferably made of ceramic. Since ceramic is a hard material, it is difficult to bend, and it is possible to manufacture a rotation guide device 100 having a rotation guide surface having a smaller diameter than when a sintered metal is used.

The sleeve 120 is a cylindrical member that covers the fixing surface 110b that is a part of the outer peripheral surface of the rod-shaped guide shaft 110, and is fixed to the rod-shaped guide shaft 110 by the guide shaft fixing means 121. The sleeve 120 is a member arranged so as not to directly fix the bearing 130 described later to the rod-shaped guide shaft 110, and is formed separately from the rod-shaped guide shaft 110. That is, the sleeve 120 is fixed to the rod-shaped guide shaft 110 by the guide shaft fixing means 121, and the bearing 130 is fixed by the bearing fixing means 122.

As the guide shaft fixing means 121 for fixing the sleeve 120 to the fixing surface 110b, two types of fixing means, a first fixing means and a second fixing means, are used.

Press-fitting 121a is used as the first fixing means. That is, the inner diameter of the sleeve 120 is smaller than the outer diameter of the rod-shaped guide shaft 110, whereby the sleeve 120 is press-fitted into the rod-shaped guide shaft 110.

By using the press-fitting 121a as the guide shaft fixing means 121, the sleeve 120 is firmly fixed to the rod-shaped guide shaft 110 without using other members and without providing screw holes or notches in the rod-shaped guide shaft 110. Can be done.

Pressing with a screw from the radial direction is used as the second fixing means. That is, a screw hole 121b is formed in the sleeve 120 so as to penetrate in the radial direction at a predetermined position, and a so-called set screw 121c can be attached to the screw hole 121b from the outside in the radial direction. By fastening the set screw 121c to the screw hole 121b and tightening it, the rod-shaped guide shaft 110 press-fitted into the sleeve 120 is further pressed and fixed from the radial direction. In the present embodiment, the screw holes 121b are bored at two places separated by 180 degrees as shown in FIG. 1, and can be firmly fixed by being pressed so as to be sandwiched from the opposite direction by the two set screws 121c. ..

By using the screw hole 121b and the set screw 121c as the guide shaft fixing means 121, the rod-shaped guide shaft and the sleeve can be firmly fixed with a relatively simple structure by the means of tightening with the set screw from the radial direction.

In the present embodiment, two types of fixing means are disclosed as the guide shaft fixing means 121 for fixing the sleeve 120 to the fixing surface 110b, but either one may be used. Further, the guide shaft fixing means 121 may be a means other than the above two types, and may be, for example, a bond using an adhesive or caulking.

As a bearing fixing means 122 for fixing the bearing 130 to the sleeve 120, a screw is engraved on the outer peripheral surface of the axially outward protrusion 122a provided at one end of the sleeve 120 in the axial direction and the other end in the axial direction of the sleeve 120. It is composed of a mountain portion 122b and a nut 122c that can be attached to the thread portion 122b. That is, in a state where the bearing 130 is in contact with the protruding portion 122a, the nut 122c is attached to the threaded portion 122b, so that the bearing 130 is sandwiched and fixed between the protruding portion 122a and the nut 122c.

The bearing fixing means 122 may be a means other than the above, and may be, for example, a coupling using an adhesive, a retaining ring (E ring, C ring, etc.), or caulking.

As described above, since the sleeve 120 includes the guide shaft fixing means 121 and the bearing fixing means 122, it is not necessary to process the rod-shaped guide shaft 110 itself for fixing the bearing, so that there is no hole in the peripheral surface. The rod-shaped guide shaft 110 can be configured by a thin rod-shaped member. That is, it is possible to rotatably support the thin rod-shaped guide shaft 110 of about 1 mm around the axis without lowering the strength of the rod-shaped guide shaft 110 and without incurring the processing cost of the rod-shaped guide shaft 110.

Further, as shown in the partially enlarged view of FIG. 2, a notch is provided at one end of the inner peripheral surface of the sleeve 120 in the axial direction to form an inclined surface 123. By providing the inclined surface 123, the contact between the sleeve 120 and the rod-shaped guide shaft 110 becomes a surface contact, so that stress concentration on the rod-shaped guide shaft 110 can be suppressed. As a result, even if a rod-shaped guide shaft having a small diameter is used, it is difficult to break, and it is possible to provide an ultra-fine rotation guide device.

The bearing 130 rotatably supports the rod-shaped guide shaft 110 with respect to the housing member 140 around the axis, and is composed of an inner ring 131, an outer ring 132, a rolling element 133, and a cage 134. As described above, the bearing 130 is fixed to the sleeve 120 by the bearing fixing means 122 of the sleeve 120, and at that time, the inner ring 131 is fixed by being sandwiched between the protrusion 122a of the bearing fixing means 122 and the nut 122c. .. Rolling bearings and angular contact ball bearings are used as the types of bearings, but they are not limited to these. In this embodiment, two bearings 130 are arranged side by side in the axial direction.

The housing member 140 is a tubular member for fixing the guide device 100 to the mating member. The housing member 140 includes a flange portion 141 protruding outward in the radial direction for positioning the entire guide device 100 in the axial direction at the axial end portion of the housing member 140, a fixing portion 142 for fixing to the mating member, and a fixing portion 142. A ring-shaped convex portion 143 that projects inward from the inner peripheral surface is provided so that the outer ring 132 of the bearing 130 comes into contact with the bearing 130.

In the present embodiment, as the fixing portion 142, a screw thread is engraved on the outer peripheral surface of the cylindrical member constituting the housing member 140, but a set screw or the like that can be tightened in the radial direction may be used. However, another means may be used.

Further, the outer ring 132 of the bearing 130 comes into contact with the ring-shaped convex portion 143 protruding inward from the inner peripheral surface of the housing member 140, so that the bearing 130 and the housing member 140 can be coupled to each other. That is, the nut 122c described above is attached to the thread portion 122b and tightened with the outer ring 132 in contact with the convex portion 143, so that the inner ring 131 of the bearing 130 is brought into contact with the protruding portion 122a of the sleeve 120. At the same time as fixing, the outer ring 132 can be brought into contact with the convex portion 143 and fixed to the housing member 140.

The spacer 150 is a tubular member interposed between the bearings 130 arranged side by side in the axial direction. The inner diameter of the spacer 150 substantially coincides with the outer diameter of the sleeve 120, and the spacer 150 is arranged on the outer circumference of the sleeve 120 between the two bearings 130. Two radial through holes 151 are formed on the peripheral surface of the spacer 150 so that the set screw 121c constituting the guide shaft fixing means 121 can penetrate. The two through holes 151 are formed at positions where the screw holes 121b of the sleeve 120 and the axial positions and the circumferential positions coincide with each other when the spacer 150 is arranged between the two bearings 130. In this way, the two set screws 121c can be attached to the screw hole 121b of the sleeve 120 in a state of penetrating the through hole 151 of the spacer 150.

[Structure of guidance device according to the second embodiment]
The overall configuration of the guide device 200 according to the second embodiment will be described with reference to FIG. The same points as those of the guide device 100 according to the first embodiment will be omitted, and different parts will be mainly described.

FIG. 3 shows a cross-sectional view of the guide device 200 according to the second embodiment.

The difference between the guide device 200 according to the second embodiment and the guide device 100 according to the first embodiment is that the screw hole 221b and the set screw 221c, which are the second fixing means of the guide shaft fixing means 221 in the sleeve 220, are provided after the sleeve 220. It is at a point formed by penetrating the threaded portion 222b at the end.

By providing the screw hole 221b for enclosing the set screw 221c in the thread portion 222b, it is not necessary to provide the screw hole in the spacer 250, so that the axial length of the spacer 250 can be shortened. As a result, the axial length of the housing member 240 and, by extension, the axial length of the fixing portion 242 can be shortened, and the housing member 240 can be fixed even in a short space.

In other respects, it is similar to the first embodiment.

[Structure of a speed reducer according to the first embodiment using the rotation guide device according to the present invention]
Next, the speed reducer 800 according to the first embodiment constituting the power transmission mechanism using the rotation guide device according to the present invention will be described with reference to FIGS. 4 to 7. As the power transmission mechanism, it is assumed that it is used as a speed reducer that increases the torque of the rotating input and then slows down, and that it is used as a speed increaser that reduces the torque of the input and then speeds up. However, in this embodiment, it will be described on the premise that it functions as a speed reducer.

In the following embodiments, the front side in the axial direction refers to the left side facing the paper surface when viewed from the normal direction of the input / output axis, and the rear side in the axial direction refers to the paper surface when viewed from the same direction. It shall point to the right side.

FIG. 4 shows an exploded perspective view of the speed reducer 800 according to the first embodiment using the rotation guide device according to the present invention as viewed from the front side in the axial direction, and FIG. 5 shows a rotation guide device according to the present invention. FIG. 7 shows a cross-sectional view of the speed reducer 800 using the above, FIG. 7 shows a side view of the speed reducer 800 using the rotation guide device according to the present invention, and FIG. 6 shows a fixing in the speed reducer 800. The details of the member 810 and the rectangular plate 811 with a shaft are shown. FIG. 6A is a perspective view of the fixing member 810 and the rectangular plate 811 with a shaft, and FIG. 6B is a fixing member 810 and a shaft. An exploded perspective view of the rectangular plate 811 and the lid 813 is shown, and FIG. 6C shows a top view when the rectangular plate 811 with a shaft is inserted into the radial cylindrical groove 814. In FIG. 4, the input shaft member is not shown.

As shown in FIGS. 4 and 5, the speed reducer 800 using the rotation guide device according to the present invention has a fixing member 810 and an input shaft member 820 connected to an output shaft of a motor (not shown) to input rotational power of the motor. The input bearing 830 that rotatably supports the input shaft member 820 with respect to the fixing member 810, the age difference member 840 that performs the age difference movement that is the swinging motion around the input shaft, and the input shaft member 820 and the age difference. An inclined bearing 850 that enables relative rotation with the member 840, an output shaft member 860 that decelerates the power from the input shaft member 820 to a predetermined reduction ratio and takes out as an output, and an output shaft member 860 with respect to the fixing member 810. It is composed of an output bearing 870 that rotatably supports the bearing, and a drive member 880 that converts power between the age difference member 840 and the output shaft member 860. The drive member 880 corresponds to the rotation guide device according to the present invention.

<Fixing member>
The fixing member 810 is an immovable member that supports the rotational drive of each member, and is fixed to a casing or the like (not shown). The fixing member 810 according to this embodiment is divided into two front fixing members 810a and a rear fixing member 810b in the axial direction, and a precession member 840 described later is arranged in a space between the front member and the rear member. Will be set up.

The front and rear fixing members 810 are substantially ring-shaped members having holes formed inside, and the front and rear fixing members 810a and the rear fixing members 810b formed in a substantially ring shape have radial outer ends. A plurality of rectangular plates with shafts 811 that are rotatably supported by the front fixing member 810a and the rear fixing member 810b and are slidable in the rectangular groove portion 841 of the precession member 840 described later are provided. Further, inside the portion of the rear fixing member 810b where the rectangular plate 811 with a shaft is formed, a rod-shaped connecting portion 812 extending in the axial direction for connecting the front fixing member 810a and the rear fixing member 810b is peripheral. Multiple arrangements are made in the direction.

As shown in FIGS. 6 and 7, each of the rectangular plates with shafts 811 has a radial cylindrical groove formed in the outer peripheral surface of the fixing member 810 toward the intersection P1 between the input shaft and the center of the aging member 840. It is composed of a shaft portion 811a rotatably inserted into the 814, and a rectangular portion 811b formed so as to project from the shaft portion 811a in the axial direction of the input shaft. Further, a lid 813 is provided to close the upper part of the radial cylindrical groove 814 bored in the fixing member 810.

That is, by covering the lid 813 from the upper part of the radial cylindrical groove 814 with the shaft portion 811a of the rectangular plate 811 with a shaft inserted into the radial cylindrical groove 814, the rectangular plate 811 with a shaft falls off from the radial cylindrical groove 814. It is possible to rotate in the radial cylindrical groove 814 in a minute angle range without doing so.

<Input shaft member>
The input shaft member 820 is a substantially cylindrical member that is arranged inside the hole of the fixing member 810 and is rotatably supported with respect to the fixing member 810 about the axis. An input bearing 830 that allows rotation with respect to the fixing member 810a and the rear fixing member 810b is installed.

Further, an inclined tubular portion 821 having a cylindrical shape inclined at a predetermined angle with respect to the axis is formed at a position between the positions where the two input bearings 830 are installed in the input shaft member 820. Although the inclined cylinder portion 821 itself has a cylindrical shape, it is formed so as to be inclined at a predetermined angle with respect to the axis, and the inclined bearing 850 is arranged on the inclined tubular portion 821.

<Input bearing>
The input bearing 830 is two ring-shaped rolling bearings arranged between the fixing member 810 and the input shaft member 820 on the axial front-rear end side of the input shaft member 820, and the inner ring is attached to the input shaft member 820. , The outer ring is fixed to the fixing member 810. Further, unlike the inclined bearing 850 which is arranged so as to be inclined with respect to the slope of the input shaft, the input bearing 830 is arranged so that the rolling element is arranged vertically with respect to the axis of the input shaft. The input shaft member 820 is arranged so as to be able to rotate symmetrically around the axis of the input shaft.

The input bearing 830 is arranged so that a pressurization is applied between the fixing member 810 and the input shaft member 820. By applying pressurization to the input bearing 830, the input shaft member 820 is rotatably supported in a state where the rotation axis is aligned with the axis of the input shaft without being tilted with respect to the fixing member 810. By doing so, the input shaft member 820 does not tilt with respect to the axis even when the precession member 840 described later swings, and the center of the precession member 840 can be held. Therefore, only the precession movement of the precession member 840 can be reliably taken out.

<Precession member>
As shown in FIG. 4, the precession member 840 is a substantially ring-shaped member having a hole formed inside, and is rotatably supported with respect to the input shaft member 820 via a tilt bearing 850. The precession member 840 functions as a ring-shaped member in the present invention, and transmits power between the input shaft member 820 and the output shaft member 860 as described later.

A rectangular groove 841 having a predetermined depth is formed at the radial outer end portions on the front surface and the rear surface of the ring-shaped precession member 840. The number of rectangular groove portions 841 and the number of rectangular plates with shafts 811 arranged on the fixing member 810 are configured to be the same.

Further, an axial through hole 842 is formed between the portions where the rectangular groove portion 841 is formed so that the rod-shaped connecting portion 812 of the fixing member 810 can penetrate. A plurality of through holes 842 are formed in the circumferential direction.

A connecting portion 812 of the fixing member 810 penetrates through each through hole 842, whereby the precession member 840 is arranged so as to be sandwiched between the two ring-shaped fixing members 810a and 810b. At this time, the diameter of the through hole 842 is set to be larger than that of the connecting portion 812 so as not to interfere with the precession movement of the precession member 840.

A suitable number (8 in this embodiment) of insertion holes in the radial direction are formed on the peripheral surface of the substantially ring-shaped precession member 840 at equal intervals in the circumferential direction. A screw thread is formed in the insertion hole 843, and a drive member 880 described later is fixed to each insertion hole 843 by screwing.

Then, as shown in FIG. 5, the outer ring 52 of the inclined bearing 850 is fixed to the inner peripheral surface of the precession member 840, whereby the precession member 840 is attached to the input shaft member 820 via the inclined bearing 850. On the other hand, relative rotation is possible, and precession, which is a swinging motion around the input axis, is possible.

<Inclined bearing>
As shown in FIG. 5, the inclined bearing 850 functioning as an inclined holding means in the present invention is composed of a ring-shaped rolling bearing including a bearing inner ring 851, a bearing outer ring 852, a plurality of first rolling elements 853, and a cage (not shown). Will be done. The bearing inner ring 851 is fixed to the inclined tubular portion 821, and the bearing outer ring 852 is fixed to the inner peripheral surface of the precession member 840. Since the tilt bearing 850 is installed in the tilt tube portion 821 that is tilted at a predetermined angle with respect to the axis, the plurality of first rolling elements 853 are tilted at a predetermined tilt angle with respect to a plane perpendicular to the input shaft. , Are arranged. That is, the inclined bearing 850 is arranged so as to be inclined at a predetermined inclination angle with respect to the axial direction of the input shaft. However, although the inclined bearing 850 is arranged so as to be inclined with respect to the axial direction of the input shaft, the inclined bearing 850 is arranged so that its center P1 is located on the input shaft.

In other words, the plurality of first rolling elements 853 included in the inclined bearing 850 are arranged so as to be out of phase with each other on the peripheral surface of the input shaft, and from such a structure, the first rolling elements 853 is the input shaft member 820. While rotating around the input axis with the rotation of, it reciprocates in the axial direction.

At this time, in this embodiment, since the inclined bearing 850 which is a ring-shaped rolling bearing is arranged in the inclined cylinder portion 821 of the input shaft member 820, the bearing outer ring 852 of the inclined bearing 850 is the input shaft member 820. It is designed to make a reciprocating motion for one frequency in the axial direction per rotation. That is, when the input shaft member 820 rotates 1/2 frequency, that is, 180 ° around the axis, the bearing outer ring 852 is displaced by the maximum amount in the axial direction, and when the input shaft member 820 further rotates and rotates 360 °, the bearing outer ring 852 returns to its original position in the axial direction. Further, in the present embodiment, the bearing outer ring 852 vibrates by the first frequency S11 in the axial direction each time the input shaft member 820 makes one rotation, and the first frequency S11 is 1.

<Output shaft member>
The output shaft member 860 decelerates the power from the input shaft member 820 to a predetermined reduction ratio and takes out the output as an output. The output shaft member 860 is connected to an output shaft (not shown) and extends in the axial direction of the input and output shafts. It is formed by a member of shape. The outer ring of the output bearing 870 is fixed to the inner peripheral surfaces of the output shaft member 860 on both front and rear ends, and the inner peripheral surface has a second frequency S12 larger than the first frequency S11, and a drive member 880 described later is engaged. A matching wavy groove WG1 is formed.

As shown in FIG. 4, the wavy groove WG1 extends in the circumferential direction and is engraved so as to vibrate in the axial direction by the second frequency S12 per rotation of the output shaft member 860. It is a wavy groove having a shape, and the end portion of each drive member 880 is inserted into the wavy groove WG1.

The second frequency S12, which represents the frequency at which each drive member 880 vibrates in the axial direction, is formed to have a higher frequency than the first frequency S11, and is formed when the input shaft member 820 rotates S12. It means that the output shaft member 860 rotates S11. Therefore, the reduction ratio in this case is defined as S12 / S11. The second frequency S12 is preferably a number obtained by multiplying the first frequency S11 by a multiple of 4 and adding 1.

Further, the amplitude of the wavy groove WG1, that is, the maximum displacement in the axial direction is formed so as to substantially coincide with the maximum value of the swing width in the axial direction of the drive member 880 described later.

<Output bearing>
The output bearing 870 is two rolling bearings arranged on the outer peripheral surface of the front and rear members of the fixing member 810 formed in a substantially ring shape, and has an outer ring, an inner ring, a rolling element, and a cage (not shown). The inner ring of the output bearing 870 is fixed to the outer peripheral surface of the fixing member 810, and the outer ring is fixed to the inner peripheral surface of the cylindrical output shaft member 860.

<Drive member>
The drive member 880 is a member fixed to the insertion hole 843 formed along the circumferential direction of the precession member 840 described above, and is by the rotation guide devices 100 and 200 in the present invention as shown in FIGS. It is composed.

As shown in FIGS. 1 and 3, the housing members 140 and 240 constituting the rotation guide devices 100 and 200 are formed with fixing portions 142 and 242 for fixing the rotation guide devices 100 and 200 to the mating member. There is. In this embodiment, a female screw is formed on the inner peripheral surface of the insertion hole 843, and a male screw is formed as the fixing portions 142 and 242, and the fixing portion is formed on the female screw formed on the inner peripheral surface of the insertion hole 843. By screwing 142 and 242, the rotation guide devices 100 and 200 can be fixed to the precession member 840.

In this way, the rod-shaped guide shafts 110 and 210 of the rotation guide devices 100 and 200 are rotatably supported with respect to the insertion hole 843.

Returning to FIGS. 4 to 7, the rod-shaped guide shaft, which is the end of the pin constituting the drive member 880, protrudes from the insertion hole 843 and is inserted into the wavy groove WG1 formed on the inner peripheral surface of the output shaft member 860. Then, it rolls in the wavy groove WG1 with the precession movement of the precession member 840.

In this embodiment, eight drive members 880 are arranged in the circumferential direction, all the drive members 880 are arranged on substantially the same plane with respect to the input / output axis direction, and all the drive members 880 are arranged. The rod-shaped guide shaft, which is the end portion of the above, is inserted into the wavy groove WG1. Further, the diameter of the portion of the drive member 880 inserted into the wavy groove WG1 is formed to be substantially the same as the groove width of the wavy groove WG1 from the viewpoint of reducing backlash.

As will be described later, since the precession member 840 performs a swing motion that is not accompanied by a rotation motion, that is, a precession motion, each drive member 880 vibrates in the axial direction with a predetermined swing width. The axial runout width of the drive member 880 depends on the tilt angle of the tilt bearing 850 and the distance from the axis of the input shaft, but the maximum value of the axial runout width of the drive member 880 and the amplitude of the wavy groove WG1 are approximate. Set to match.

[Drive mechanism by reducer 800]
Next, the drive mechanism by the speed reducer 800 according to the first embodiment will be described with reference to FIGS. 4 to 7.

When a rotational force around the input shaft is applied to the input shaft member 820 with the rotation of a motor (not shown), the input shaft member 820 is input because the input bearing 830 is interposed between the input shaft member 820 and the fixing member 810. Start rotating around the axis. Along with the rotational drive of the input shaft member 820 around the input shaft, the inclined bearing 850, which is a ring-shaped rolling bearing fixed to the input shaft member 820, is also rotationally driven. At that time, since the inclined bearing 850 is fixed to the inclined tubular portion 821 which is inclined with a predetermined inclination angle with respect to the input shaft, the bearing inner ring 851 provided in the inclined bearing 850 simply rotates around the input shaft. It is accompanied by a movement that vibrates in the axial direction.

In other words, since the inclined bearing 850 is fixed to the inclined tubular portion 821 that is inclined with a predetermined inclination angle with respect to the input shaft, the inclined bearing 850 is axially rotated while the input shaft member 820 makes one rotation. It vibrates for one cycle. Therefore, when the input shaft member 820 is rotated by 1/2 cycle, that is, 180 ° around the axis, the bearing inner ring 851 fixed to the inclined cylinder portion 821 is rotated by 180 ° in the circumferential direction and is displaced by the maximum amount in the axial direction. When the input shaft member 820 further rotates and rotates 360 °, the bearing inner ring 851 returns to its original position in both the circumferential direction and the axial direction.

At this time, paying attention to the movement of the bearing outer ring 852 in the inclined bearing 850, the bearing outer ring 852 is fixed to the inner peripheral surface of the precession member 840 formed in a substantially ring shape, and has the same movement as the precession member 840. .. The precession member 840 tries to rotate while being displaced in the axial direction with the movement of the inclined bearing 850. Since the rectangular portion 811b is sequentially inserted, the rectangular portion 811b of the rectangular plate 811 with a shaft can slide in the rectangular groove portion 841, but is prevented from rotating around the input / output shaft, and is the center of the inclined bearing 850. Only the precession movement centered on the intersection P1 with the axis of the input axis is extracted. That is, since the rectangular plate 811 with a shaft and the rectangular groove portion 841 function as rotation suppressing means, the precession member 840 does not rotate around the axis even when the precession member 840 performs a precession movement. Only exercise is taken out.

In this way, by configuring the rotation suppressing means by the rectangular plate 811 with a shaft and the rectangular groove portion 841, the rotation of the precession member 840 around the input / output shaft can be suppressed, and the swing motion around the input / output shaft can be suppressed. In other words, only the precession movement can be taken out.

Further, since the input bearing 830 is arranged so that a pressurization is applied between the fixing member 810 and the input shaft member 820, the input shaft member 820 does not incline with respect to the fixing member 810, and the input shaft is not tilted. It is rotatably supported with the axis of rotation aligned with the axis of. That is, the input bearing 830 arranged in a state where the pressure is applied functions as the center position holding means, so that the input shaft member 20 moves with respect to the axis even when the precession member 840 performs the precession movement. Since the center of the precession member 840 can be held without tilting, only the precession movement of the precession member 840 can be reliably taken out.

In this way, the precession member 840 does not rotate around the input shaft, but swings in the axial direction sequentially around the circumference around the intersection P1 between the center of the inclined bearing 850 and the axis of the input shaft. Exercise, that is, precession exercise.

Since the drive member 880 is inserted into each of the plurality of insertion holes 843 in the precession member 840, the drive member 880 also sequentially displaces in the axial direction around the circumference. That is, each drive member 880 vibrates in the axial direction in different phases.

At this time, the rod-shaped guide shaft, which is the end of the drive member 880, is inserted into the wavy groove WG1 provided on the inner peripheral surface of the output shaft member 860, and the output shaft is displaced as the drive member 880 is displaced in the axial direction. The member 860 rotates in the circumferential direction. That is, the axial displacement of the drive member 880 is converted into a circumferential displacement by the wavy groove WG1, but the amplitude of the wavy groove WG1 substantially coincides with the maximum value of the axial swing width of the drive member 880. Therefore, the peak of the wave of the wavy groove WG1 is reached at the point where the displacement of the drive member 880 is just the maximum value. Then, when the displacement of the drive member 880 reaches the maximum value and then begins to be displaced in the opposite direction, the wavy groove WG1 is pressed by the drive member 880 and rotates in the forward direction. In this way, the power of the input shaft is transmitted to the output shaft by the drive member 880 composed of the precession member 840 which is a ring-shaped member and the rotation guide devices 100 and 200.

Although detailed description is omitted, in the present embodiment, the power from the output shaft is input via the drive member 880 composed of the rotation guide devices 100 and 200 and the precession member 840 which is a ring-shaped member. It is possible to transmit to the shaft. In this case, power is input from the output shaft member 860 and output from the input shaft member 820, and the power transmission mechanism of this embodiment functions as a speed increaser.

Then, in the power transmission mechanism of the present embodiment, it is possible to construct a mechanism for transmitting power by rolling the rod-shaped guide shafts 110 and 210 in the rotation guide devices 100 and 200 of the present invention in the wavy groove WG1. Therefore, the wavy groove WG1 can be configured with an extremely narrow groove width of about 1 mm. Therefore, the wavy groove WG1 having a fine vibration cycle can be engraved, and as a result, the second frequency S12 representing the frequency at which the rotation guide devices 100 and 200, which are the drive members 880, vibrate in the axial direction is set large. can do. Therefore, it is possible to provide a small power transmission mechanism capable of transmitting power having a large reduction ratio such as 100: 1 or a large speed increase ratio such as 1: 100.

[Structure of the speed reducer according to the second embodiment using the rotation guide device according to the present invention]
Next, the speed reducer 900 according to the second embodiment constituting the power transmission mechanism using the rotation guide device according to the present invention will be described with reference to FIGS. 8 to 11. The same points as those of the deceleration mechanism 800 according to the first embodiment will be omitted, and different parts will be mainly described.

FIG. 8 shows an exploded perspective view of the speed reducer 900 according to the second embodiment using the rotation guide device according to the present invention as viewed from the front side in the axial direction, and FIG. 9 shows the deceleration according to the second embodiment. An exploded perspective view of the machine 900 as viewed from the rear side in the axial direction is shown, FIG. 10 shows a cross-sectional view of the speed reducer 900 using the rotation guide device according to the present invention, and FIG. 11 shows a cross-sectional view of the speed reducer 900. It shows the side view of the speed reducer 900 which used the rotation guide device which concerns on invention.

The deceleration mechanism 900 according to the second embodiment is different from the deceleration mechanism 800 according to the first embodiment in that the gear 911 and the gear portion 941 are used as the rotation suppressing means for suppressing the rotation of the precession member 940.

As shown in FIGS. 8 to 10, in the second embodiment, the front and rear fixing members 910a and the rear fixing member 910b formed in a substantially ring shape have precession members described later at the radial outer ends. The gear 911 that engages with the gear portion 941 of the 940 is formed so as to face each other in the front and rear fixing members 910. Further, in the inside of the portion where the gear 911 is formed in the rear fixing member 910b, a plurality of rod-shaped connecting portions 912 extending in the axial direction for connecting the front fixing member 910a and the rear fixing member 910b are provided in the circumferential direction. Arranged.

Further, a gear portion 941 is formed at the radial outer end portions on the front surface and the rear surface of the precession member 940 so as to face the gear 911 formed at the radial outer end portion of the front fixing member 910a and the rear fixing member 910b. Has been done. As shown in FIG. 11, in the gear portion 941, not all the gears are always engaged with the gear 911 of the fixing member 910, and when the precession member 940 is tilted with respect to the input / output shaft due to the precession movement. , Only the gears in the adjacent parts are engaged, and the gears in the separated parts are not engaged. The number of teeth of the gear portion 941 formed on the precession member 940 and the number of teeth of the gear 911 formed on the fixing member 910 are configured to be the same.

In other respects, it is the same as the speed reducer 800 according to the first embodiment.

In this way, in the speed reducer 900 according to the second embodiment, the rotation of the precession member 940 around the input / output shaft can be suppressed by configuring the rotation suppressing means by the gear 911 and the gear portion 941. , Only the swing motion around the input / output axis, that is, the precession motion can be taken out.

That is, focusing on the movement of the outer ring 952 in the inclined bearing 950, the outer ring 952 is fixed to the inner peripheral surface of the precession member 940 formed in a substantially ring shape, and has the same movement as the precession member 940. The aging member 940 tries to rotate while being displaced in the axial direction with the movement of the inclined bearing 950, but has a gear portion 941 on the outer side in the radial direction, and is a portion close to the front fixing member 910a and the rear fixing member 910b. The gear portion 941 of the above cannot rotate due to meshing with the gear 911 of the front fixing member 910a and the rear fixing member 910b, and the age difference around the intersection P2 between the center of the inclined bearing 950 and the axis of the input shaft. Only exercise is taken out. That is, since the gear portion 941 and the gear 911 function as rotation suppressing means, even when the precession member 940 performs the precession movement, the precession member 940 does not rotate around the axis and only the precession movement is performed. It can be taken out reliably.

In the second embodiment, as shown in FIG. 10, each bearing has a rolling element cage. For example, the input bearing 930 is composed of an input bearing inner ring 931, an input bearing outer ring 932, an input bearing rolling element 933, and a cage 934. The point of having a cage in this way is the same for other bearings.

Further, in the above two embodiments, the input shaft members 820 and 920 are arranged on the inner side in the radial direction, and the output shaft members 860 and 960 are arranged on the outer side in the radial direction, but the present invention is limited to this. Instead, the input shaft members 820 and 920 may be arranged on the outer side in the radial direction, and the output shaft members 860 and 960 may be arranged on the inner side in the radial direction. In that case, wavy grooves WG1 and WG2 are formed on the outer peripheral surfaces of the output shaft members 860 and 960, and the precession members 840 and 940 are arranged so as to cover the output shaft members 860 and 960. The drive members 880 and 980 are arranged inward in the radial direction. Even in such a case, it is possible to provide a power transmission mechanism having a small size and a large reduction ratio or a large speed increase ratio.

In summary, the effects of the present invention are as follows.

The present invention includes a rod-shaped guide shaft having an exposed outer peripheral surface, a cylindrical sleeve press-fitted into a part of the outer peripheral surface of the rod-shaped guide shaft, a bearing fixed to the outer periphery of the sleeve, and fixed to the bearing. It is a rotation guide device including a housing member having a fixing portion with respect to the mating member.

Since the exposed outer peripheral surface of the rod-shaped guide shaft serves as the rolling guide surface, it is possible to construct a guide device capable of rolling even in a groove having an ultrafine diameter of, for example, about 1 mm. When rolling the rod-shaped guide shaft, it is necessary to fix the bearing that makes the rod-shaped guide shaft rotatable. However, by using a cylindrical sleeve press-fitted into the rod-shaped guide shaft and fixing the bearing to the sleeve, the rod-shaped guide shaft can be fixed. The bearing can be fixed without processing the shaft itself. Since it is not necessary to process the rod-shaped guide shaft itself, the strength does not decrease even if the outer diameter of the rod-shaped guide shaft is reduced. Therefore, the outer diameter of the rod-shaped guide shaft can be reduced to the utmost limit, and the device itself can be miniaturized and reduced in diameter. Moreover, since a simple rod-shaped member is used, it can be manufactured at low cost.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments described above. Further, the effects described in the embodiments of the present invention merely list the most suitable effects arising from the present invention, and the effects according to the present invention are limited to those described in the embodiments of the present invention. is not it.

Further, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. .. Further, a part of the configuration of each embodiment may be added, deleted, or replaced with another configuration.

The rotation guide device of the present invention can be applied to all guide mechanisms having a rotation guide surface.

1 Power transmission mechanism 100 Rotation guide device 110 Rod-shaped guide shaft 110a Guide surface 110b Fixed surface 120 Sleeve 121 Guide shaft fixing means 121a Press-fit 121b Screw hole 121c Set screw 122 Bearing fixing means 122a Protruding part 122b Threaded part 122c Nut 123 Inclined surface 130 131 Inner ring 132 Outer ring 133 Rolling element 134 Cage 140 Housing member 141 Flange part 142 Fixed part 143 Convex part 150 Spacer 151 Through hole

Claims (7)

A rod-shaped guide shaft with an exposed outer peripheral surface,
A cylindrical sleeve fixed via a guide shaft fixing means so as to cover a part of the outer peripheral surface of the rod-shaped guide shaft,
A bearing fixed to the outer circumference of the sleeve via a bearing fixing means,
A rotation guide device provided with a housing member fixed to the bearing and having a fixing portion with respect to the mating member. The guide shaft fixing means is press-fitted.
The rotation guide device according to claim 1. The guide shaft fixing means
A screw hole drilled so as to penetrate in a radial direction at a predetermined position on the sleeve,
And, it is composed of a set screw that can be attached to the screw hole.
The rotation guide device according to claim 1 or 2. The bearing fixing means
A protruding portion that protrudes outward in the radial direction at one end in the axial direction of the sleeve.
A thread portion engraved on the outer peripheral surface at the other end in the axial direction of the sleeve,
And, it is composed of a nut that can be attached to the thread portion.
The rotation guide device according to any one of claims 1 to 3. The inner peripheral surface at one end of the sleeve in the axial direction was cut out to form an inclined surface.
The rotation guide device according to any one of claims 1 to 4. Ceramic is used as the material of the rod-shaped guide shaft.
The rotation guide device according to any one of claims 1 to 5. An input shaft member connected to an input shaft that is rotatably supported,
An output shaft member that is connected to the output shaft and has a wavy groove extending in the circumferential direction so as to vibrate in a predetermined period in the axial direction.
A power transmission mechanism including a ring-shaped member for transmitting power between the input shaft member and the output shaft member.
The rotation guide device according to any one of claims 1 to 6 is fixed to an insertion hole formed in the peripheral surface of the ring-shaped member.
The rod-shaped guide shaft rolls in the wavy groove.
Power transmission mechanism.

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