201022554 六、發明說明 【發明所屬之技術領域】 本發明係有關於低減速比，例如可實現1 /1 0以下之 低減速比的無反衝力之轉子式減速機。 【先前技術】 使用於產業機器減速機已知有以齒輪式減速機爲首， ® 滾珠式減速機、塞驅樂減速機（住友重機械工業株式會社 之註冊商標）及諧和式減速機（Harmonic Drive Systems 之註冊商標）等。例如，塞驅樂減速機爲專利文獻1(曰 本特開2003-278849號公報）所揭示者。 一般齒輪式減速機，係由於齒輪使用漸開線（ involute )齒形，在齒輪之接觸點會產生滑動。因此除去 反衝力時，會產生齒面之早期磨耗、旋轉傳達效率低落的 問題。滾珠式減速機雖爲滾珠在外擺線曲線與內擺線曲線 ® 相對向之形狀的導引溝內轉動而產生減速旋轉之.機構，但 加工複雜並須要精密度，且有滾珠轉動量多，易產生磨耗 之問題點。塞驅樂減速機係將銷固定，使作爲行星齒輪之 擺線齒輪偏心旋轉，藉等角度配置於擺線齒輪內的內銷孔 及內銷僅產生擺線齒輪之自轉而獲得減速旋轉的機構。於 內銷孔與內銷之間在機構上，須設置偏心量2倍之間隙， 不易去除反衝力。諧和式減速機雖然構成組件少且角度傳 達精密度高，但要實現構造上低於1/50之低減速比有其 困難。 -5 - 201022554 〔專利文獻1〕日本特開2003-278849號公報 【發明內容】 〔發明所欲解決的課題] 因此’有低減速比且無反衝力之減速機之需求。齒輪 式減速機如欲實現無反衝力，將產生齒面之提早磨耗、旋 轉傳達效率低落的問題。滾珠式減速機須要複雜加工，要 做到無反衝力則需較高加工精密度，因此將產生成本提高 @ 等的問題。塞驅樂減速機要實現無反衝力有其困難。另外 ，諧和式減速機要實現低減速比（例如1 /1 0以下）有其 困難。 本發明之課題係在於有鑑於上述般之問題點，而提出 低減速比且無反衝力之構造簡單的轉子式減速機。 〔用以解決課題之手段〕 爲解決上述之課題，本發明之轉子式減速機，其特徵 〇 爲· 具有： 旋轉輸入軸； 伴隨此旋轉輸入軸之旋轉，以該旋轉輸入軸之旋轉中 心軸線爲中心進行偏心旋轉的偏心旋轉軸； 於無法自轉運動之狀態被支撐，並且伴隨著前述偏心 旋轉軸之偏心旋轉以前述旋轉中心軸線爲中心進行公轉運 動的偏心板； -6- 201022554 於前述偏心板中前述旋轉中心軸線方向的一方端面， 被等角度間隔安裝於同一圓上，於前述旋轉中心軸線之方 向延伸之圓筒狀可旋轉自如的凸輪從動件； 具備藉由可同時嚙合各凸輪從動件之短外擺線（ epitrochoid )曲線限定齒形輪廓，並且比前述凸輪從動件 之個數少之齒數的外齒，以前述旋轉中心軸線爲中心可旋 轉的擺線齒輪； ® 同軸狀態安裝於前述擺線齒輪的旋轉輸出軸； 朝前述凸輪從動件及前述擺線齒輪相對地推壓方向賦 予推力的加壓機構， 各凸輪從動件之圓形外周面，係朝向前述擺線齒輪而 外徑逐漸縮小的錐狀圓形外周面， 前述擺線齒輪之齒面，係可線接觸前述凸輪從動件之 前述錐狀圓形外周面的錐狀齒面。 本發明之轉子式減速機，係凸輪從動件與擺線齒輪之 ® 接觸點係滾動接觸，因此可除去反衝力，且接觸部分之磨 耗少，旋轉傳達效率高。又，被要求精密度之複雜加工組 件只有擺線齒輪之齒面，所以可容易且廉價地製造。並且 ，使凸輪從動件公轉運動，從擺線齒輪直接得到減速旋轉 ，故可容易除去反衝力。而且在理論上，可實現1/2之低 減速比，藉由多段化，可實現例如1/1 000以上之高減速 比。 特別是，在本發明中，將凸輪從動件之圓形外周面及 擺線齒輪之齒面作成梯形面，藉由加壓機構，賦予推力使 201022554 此等確實地成爲線接觸狀態。因此，可確保此等間之嚙合 (接觸），實現無反衝力之旋轉傳達效率高的減速機。 因此，將前述偏心板在旋轉自如狀態支撐於前述偏心 旋轉軸之圓形外周面，藉由歐丹機構，將前述偏心板在無 法自轉之狀態下支撐即可。歐丹機構係具備，將前述偏心 板，經由第1轉動體，在可往正交於前述旋轉中心軸線之 第1方向移動狀態下支撐的旋轉限制板；將前述旋轉限制 板，經由第2轉動體，可往前述旋轉中心軸線及與前述第 ❹ 1方向正交之第2方向移動狀態下支撐的固定板。 於此情況，較佳爲配置賦予前述偏心板、前述旋轉限 制板及前述固定板相互地推壓之方向之推壓力的歐丹機構 ，防止起因於此等構件之搖晃造成的旋轉傳達效率低落等 〇 此外，本發明之轉子式減速機， 係具有筒狀之減速機殼體， 於前述減速機殼體之後端，同軸狀態連結固定有筒狀 © 之前述固定板， 前述旋轉輸出軸，係具備位於前述減速機殼體內之後 側軸部分；從前述減速機殼體之前端往前方突出的前端側 軸部分； 前述後側軸部分，經由輸出側軸承’於旋轉自如之狀 態下被支撐於前述減速機殼體， 前述後側軸部分之後端部在同軸狀態安裝有前述擺線 齒輪， -8 - 201022554 前述旋轉輸入軸係從後側貫通前述固定板而延伸於前 述減速機殼體內， 該旋轉輸入軸，係經由輸入側後軸承，藉由前述固定 板在旋轉自如狀態被支撐，並且該旋轉輸入軸之前端部， 經由輸入側前軸承，藉由前述旋轉輸出軸之後端部在旋轉 自如狀態被支撐， 前述偏心旋轉軸可被一體成形於前述旋轉輸入軸之外 ❿周面。 於此情況下，作爲前述加壓機構，可使用旋入固定於 前述減速機殼體之前端部開口，給予前述輸出側軸承之外 輪推力的加壓螺帽。可調整加壓螺帽之旋入量，給予適當 推力。 另外，作爲前述歐丹加壓機構，可使用於前述旋轉輸 入軸，固定於前述後側軸承之內輪之後側部位的軸環；插 入此等內輪與軸環之間的墊片。藉著調整墊片的厚度，可 ® 在無搖晃之適當狀態下維持歐丹機構。 〔發明之效果〕 本發明之轉子式減速機，係使以等角度間隔配置在同 一圓上的圓筒狀之凸輪從動件朝旋轉中心軸線周圍公轉運 動，從此等嚙合著（接觸著）的擺線齒輪直接地產生減速 旋轉。將凸輪從動件之外周面及擺線齒輪之齒面作爲梯面 ，藉由加壓機構，賦予推力使此等之面確實地成爲線接觸 狀態。因此’依據本發明，可實現以低減速比，無反衝力 -9 - 201022554 ，且構造簡單之減速機。 【實施方式】 〔實施發明之最佳形態〕 以下，參照圖式說明適用本發明之轉子式減速機之實 施形態。 (整體構成） 〇 第1圖之a係表示具備本實施形態之轉子式減速機的 轉子式致動器之前端面之端面圖，第1圖之b係其側面圖 ，將轉子式減速機之部分以A— A線切開之剖面。第2圖 係爲表示轉子式致動器中轉子式減速機之內部構成而切去 一部分表示之立體圖。第3圖係表示凸輪從動件與擺線齒 輪的配置關係之說明圖。 轉子式致動器1，係具有馬達2、及同軸狀態連結固 定於此馬達2之前端的安裝凸緣3的轉子式減速機4。 轉子式減速機4係具備筒狀之減速機殼體11，於此減 速機殼體11之後端在同軸狀態連結固定有筒狀的固定板 12。於減速機殻體11及固定板12之內部，旋轉輸入軸13 以同軸狀態配置於其後側，旋轉輸出軸1 4以同軸狀態配 置於其前側，旋轉輸出軸14係從減速機殻體11之前端突 出於前方。馬達輸出軸15以同軸狀態連結固定於旋轉輸 入軸13。 於減速機殼體11內，在旋轉輸入軸13之前端部，一 -10- 201022554 體成形有對其旋轉中心軸線1 a僅偏心即定量之偏心軸部 16°此偏心軸部16之圓形外周面經由軸承17 —定厚度之 偏心板1 8在旋轉自如之狀態下被支撐。偏心板1 8，係經 由歐丹機構19，在無法自轉運動之狀態下，藉由固定板 12支撐，伴隨偏心軸部16之旋轉，以旋轉中心軸線ia爲 中心以對應偏心量之半徑進行公轉運動。 於偏心板1 8之前側之端面，在同一圓上等角度間隔 ® 地配置複數個，例如10個的圓筒狀之凸輪從動件20(20 (〇)〜（9))(參照第3圖）。各凸輪從動件20係以 從偏心板18之端面突出於旋轉中心軸線la之方向的軸21 作爲中心，在旋轉自如之狀態下被支撐。於此等凸輪從動 件20之內側配置有擺線齒輪22。擺線齒輪22，係被一體 形成於旋轉輸出軸14之後端，其外齒齒形輪廓係藉由可 同時嚙合於凸輪從動件20 (可接觸）的擺線曲線所限制。 本例之擺線齒輪22之齒數是較凸輪從動件20少1個而爲 ® 9個（於第3圖中將各齒以A〜I表示）。 在此，凸輪從動件20與擺線齒輪22之接觸狀態，藉 由以加壓螺帽23所構成之加壓機構所賦予之推力來確保 。歐丹機構19中旋轉中心軸線la之方向的搖晃，係藉由 安裝於旋轉輸入軸13之後端部的固定軸環24及墊片25 所構成歐丹加壓機構加以防止。 (各部之構成） 接著說明轉子式減速機4之各部構造。首先，減速機 -11 - 201022554 殼體11，係具備圓筒狀之前半部分lla及外周面爲矩形形 狀之後半部分lib，於後半部分lib之後端，固定有相同 外周面形狀之固定板12。在形成於固定板12之中心部的 圓形孔內周面，經由輸入側後軸承26，圓筒狀之旋轉輸入 軸13在旋轉自如狀態被支撐著。旋轉輸入軸13之前端部 ，係藉由形成於旋轉輸出軸14之後端面的凹部內周面所 安裝著的輸入側前軸承27在旋轉自如之狀態下被支撐。 固定板1 2與偏心板1 8之間所配置的歐丹機構1 9，係 ® 具備有配置於此等之間的環狀旋轉限制板30。於旋轉限制 板30之後側端面，及與其對峙之固定板12的前側端面， 在相互對峙之部位，形成有朝垂直於旋轉中心軸線la之 方向延伸一定長度之一條或複數條的導引溝30a、12a。鋼 球、圓筒滾子等之轉動體31在旋轉自如狀態下被收納於 此等之導引溝30a、12a。 同樣地，於旋轉限制板3 0之前側端面，及與此對峙 之偏心板18的後側端面，在該等對峙之部位，形成有朝 ® 垂直於旋轉中心軸線la與導引溝30a、12a之方向延伸一 定長度之一條或複數條的導引溝30b、18a。鋼球、圓筒滾 子等之轉動體32在旋轉自如狀態下被收納於此等之導引 溝30b、18a。在此，旋轉限制板30之後側的導引溝30a 、12a之方向，及該板之前側的導引溝30b、18a之方向， 係設定爲相互垂直之方向。 如此，構成將偏心板1 8朝半徑方向僅可移動一定量 地支撐著的歐丹機構19。伴隨旋轉輸入軸13之旋轉其前 -12- 201022554 端之偏心軸部16進行偏心旋轉時’被歐丹機構19所支撐 的偏心板1 8之自轉運動被阻止，以旋轉中心軸線1 a作爲 中心，以對應偏心量之半徑進行公轉運動。 在此，於旋轉輸入軸13中從安裝於固定板12的輸入 側後軸承26突出於後方的後端部外周面’固定有歐丹加 壓機構的固定軸環24。此固定軸環24’與輸入側後軸承 26之內輪2 6a之間，插入有一定厚度的環狀墊片25。藉 〇 由加厚插入之墊片25的厚度，偏心板18相對地被推向後 方，偏心板18、旋轉限制板30及固定板12相互推壓。藉 此可抑制起因配置於此等之間的轉動體與導引溝之間隙之 旋轉傳達誤差及反衝力。另外，亦可藉由旋入固定於旋轉 輸入軸13之外周面的加壓螺帽代替軸環24及墊片25，將 輸入側後軸承26之內輪26a朝滑動方向推壓。 以旋轉自如之狀態安裝於偏心板1 8之前側端面的各 凸輪從動件20，係具備朝向前方（輸出側）也就是朝向擺 ® 線齒輪22，外徑逐漸縮小的錐狀圓桶面20a。同樣地，擺 線齒輪22之外齒的齒面22a，係成爲朝向後方（輸入側） ，也就是朝向凸輪從動件20外徑逐漸縮小的錐狀面，可 線接觸凸輪從動件20之錐狀圓形外周面20a。 於後端一體形成有擺線齒輪22的旋轉輸出軸14，係 具備：比擺線齒輪22更小一號的外徑的後側軸部分i4a， 及形成於此前側小一號直徑的中間軸部分1 4b，及形成於 其前側的前端側軸部分1 4 c。後側軸部分1 4 a及前端側軸 部分14c之後端部分’係藉由安裝於減速機殼體u之內 -13- 201022554 周面的輸出側後軸承3 3及輸出側前軸承3 4被旋轉自如地 支撐著。 在此，從前方將加壓螺帽23旋入固定於減速機殻體 11之前端部開口。加壓螺帽23係在外周面刻有公螺紋’ 於減速機殼體11之前端部開口之內周面刻有可螺合公螺 紋的母螺紋。當旋入加壓螺帽23時’加壓螺帽23推壓輸 出側前軸承33之外輪33a，藉由該軸承33對旋轉輸出軸 14賦予朝後方之推力。其結果，被一體形成於旋轉輸出軸 參 14之後端的擺線齒輪22之錐狀齒面22a，被各凸輪從動 件20之錐狀外周面22a推壓，而確保此等之間的接觸狀 態，可形成無反衝力之嚙合狀態。 也可使用墊片，取代加壓螺帽賦予推力。例如，旋轉 輸出軸14爲圓盤狀之凸緣型的情況時，可在輸出凸緣與 軸承之間挾著即定厚度的墊片，調整推力。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotorless speed reducer having a low reduction ratio, for example, a recoilless force capable of achieving a low reduction ratio of 1 / 10 or less. [Prior Art] It is known that gear reducers are used in industrial machine reducers, ® ball reducers, plug drive reducers (registered trademark of Sumitomo Heavy Industries, Ltd.) and harmonic reducers (Harmonic) Registered trademark of Drive Systems). For example, the plug drive speed reducer is disclosed in Japanese Laid-Open Patent Publication No. 2003-278849. In general, a gear type reducer is a gear that uses an involute tooth shape to cause slippage at the contact point of the gear. Therefore, when the recoil force is removed, there is a problem that the early wear of the tooth surface and the efficiency of the rotation transmission are low. The ball reducer is a mechanism in which the ball rotates in the guide groove of the shape of the outer cycloid curve and the hypocycloid curve®, and the mechanism is decelerated. However, the machining is complicated and requires precision, and the ball has a large amount of rotation. It is easy to cause problems with wear. The plug drive reducer fixes the pin so that the cycloidal gear as the planetary gear rotates eccentrically, and the inner pin hole and the inner pin which are disposed at equal angles in the cycloidal gear generate only the rotation of the cycloidal gear to obtain a mechanism for decelerating rotation. In the mechanism between the inner pin hole and the inner pin, a gap of 2 times the eccentricity must be set, and the recoil force is not easily removed. Harmonic reducers have fewer components and higher angular accuracy, but it is difficult to achieve a lower reduction ratio of less than 1/50. [Patent Document 1] JP-A-2003-278849 SUMMARY OF THE INVENTION [Problems to be Solved by the Invention] Therefore, there is a demand for a speed reducer having a low reduction ratio and no recoil. If the gear reducer is to achieve no recoil, it will cause the early wear of the tooth surface and the low transmission efficiency. Ball type reducers require complex machining, and high back-machining precision requires high machining precision, which raises the cost of @. It is difficult for the plug drive reducer to achieve no recoil. In addition, it is difficult for the harmonic reducer to achieve a low reduction ratio (for example, 1 / 10 or less). An object of the present invention is to provide a rotor type speed reducer having a low reduction ratio and a recoilless structure in view of the above problems. [Means for Solving the Problem] In order to solve the above problems, a rotor type reduction gear according to the present invention has a feature that: a rotation input shaft; and a rotation center axis of the rotation input shaft An eccentric rotating shaft that is eccentrically rotated for the center; an eccentric plate that is supported in a state in which the eccentric rotating shaft is eccentrically rotated, and the eccentric rotation of the eccentric rotating shaft is centered on the rotation center axis; -6- 201022554 One end surface of the plate in the direction of the central axis of rotation is mounted on the same circle at equal angular intervals, and a cylindrical rotatable cam follower extending in the direction of the rotation center axis; The epitrochoid curve of the follower defines a tooth profile, and an outer tooth having a smaller number of teeth than the aforementioned number of cam followers, a cycloidal gear that is rotatable about the aforementioned central axis of rotation; a state in which the rotary output shaft of the cycloidal gear is mounted; toward the cam follower and the aforementioned cycloidal gear phase a pressing mechanism for biasing the thrust direction, and a circular outer peripheral surface of each of the cam followers is a tapered circular outer peripheral surface whose outer diameter gradually decreases toward the cycloidal gear, and the tooth surface of the cycloidal gear is The tapered flank surface of the tapered outer circumferential surface of the cam follower can be linearly contacted. In the rotor type reducer of the present invention, the cam follower and the cycloidal gear are in rolling contact with the contact point of the cycloidal gear, so that the recoil force can be removed, the wear of the contact portion is small, and the rotation transmission efficiency is high. Further, since the complicated processing component requiring precision is only the tooth surface of the cycloidal gear, it can be easily and inexpensively manufactured. Further, the cam follower is revolved and the deceleration rotation is directly obtained from the cycloid gear, so that the recoil force can be easily removed. Moreover, in theory, a low reduction ratio of 1/2 can be achieved, and by multi-stage, a high reduction ratio of, for example, 1/1000 or more can be achieved. In particular, in the present invention, the circular outer peripheral surface of the cam follower and the tooth surface of the cycloid gear are formed into a trapezoidal surface, and the thrust is applied by the pressurizing mechanism so that 201022554 is surely in a line contact state. Therefore, it is possible to ensure the meshing (contact) between the two, and realize a reduction gear that is highly efficient in recoilless rotation. Therefore, the eccentric plate is rotatably supported on the circular outer peripheral surface of the eccentric rotating shaft, and the eccentric plate is supported by the eccentric mechanism without being rotated. The Ou Dan mechanism includes a rotation restricting plate that supports the eccentric plate via a first rotating body in a first direction that is orthogonal to the rotation center axis, and the rotation restricting plate passes the second rotation The body is a fixing plate supported by the rotation center axis and the second direction orthogonal to the first ❹ 1 direction. In this case, it is preferable to arrange an Ou Dan mechanism that applies a pressing force in a direction in which the eccentric plate, the rotation restricting plate, and the fixing plate are pressed against each other, and to prevent a low transmission efficiency due to shaking of the members. Further, the rotor type reduction gear according to the present invention has a cylindrical reducer housing, and the fixed plate having a cylindrical shape is coupled and fixed coaxially to the rear end of the reducer housing, and the rotary output shaft is provided a rear side shaft portion located in the reducer housing; a front end side shaft portion projecting forward from the front end of the reducer housing; the rear side shaft portion being supported by the output side bearing 'rotatingly in the foregoing state a reducer housing, wherein the rear end portion of the rear side shaft portion is coaxially mounted with the cycloidal gear, and the rotation input shaft extends from the rear side through the fixing plate and extends in the reducer housing. The input shaft is supported by the fixed side plate via the input side rear bearing, and is rotated before the input shaft Unit, an input via the front side bearing, by rotation of the output shaft after the end portion is rotatably supported in a state, the eccentric rotation shaft may be integrally formed ❿ peripheral surface of the rotating input shaft outside. In this case, as the pressurizing means, a pressurizing nut that is screwed into the end opening of the reducer housing and that gives the outer wheel thrust of the output side bearing can be used. The amount of screwing of the compression nut can be adjusted to give the proper thrust. Further, as the aforementioned Audan pressurizing means, a collar for the rotation input shaft fixed to the rear side portion of the inner side of the rear side bearing, and a spacer interposed between the inner ring and the collar can be used. By adjusting the thickness of the gasket, the ® can be maintained in an appropriate state without shaking. [Effects of the Invention] The rotor type speed reducer of the present invention revolves around a central axis of the cam member disposed on the same circle at equal angular intervals, and is engaged (contacted) therefrom. The cycloidal gear directly produces a decelerating rotation. The outer peripheral surface of the cam follower and the tooth surface of the cycloidal gear are used as the step surface, and the thrust is applied by the pressurizing mechanism to ensure that the surfaces are in a line contact state. Therefore, according to the present invention, a reduction gear having a low reduction ratio, no recoil force -9 - 201022554, and a simple construction can be realized. [Embodiment] [Best Mode for Carrying Out the Invention] Hereinafter, an embodiment of a rotor type speed reducer to which the present invention is applied will be described with reference to the drawings. (Altogether) FIG. 1A is an end view showing a front end surface of a rotor type actuator including a rotor type reduction gear according to the present embodiment, and FIG. 1B is a side view thereof, and a part of the rotor type speed reducer is used. The section cut by the A-A line. Fig. 2 is a perspective view showing a part of the rotor type reducer in the rotor type actuator, and showing a part thereof. Fig. 3 is an explanatory view showing the arrangement relationship between the cam follower and the cycloidal gear. The rotor type actuator 1 has a motor 2 and a rotor type speed reducer 4 in which a mounting flange 3 fixed to a front end of the motor 2 is coupled in a coaxial state. The rotor type reduction gear 4 includes a cylindrical reducer casing 11, and a cylindrical fixing plate 12 is coupled and fixed to the rear end of the speed reducer casing 11 in a coaxial state. Inside the reduction gear housing 11 and the fixed plate 12, the rotation input shaft 13 is disposed on the rear side in a coaxial state, the rotation output shaft 14 is disposed on the front side thereof in a coaxial state, and the rotation output shaft 14 is from the reduction gear housing 11 The front end protrudes from the front. The motor output shaft 15 is coupled and fixed to the rotary input shaft 13 in a coaxial state. In the reducer housing 11, at the end of the front end of the rotary input shaft 13, a --10-201022554 body is formed with a eccentric shaft portion 16 which is only eccentric or quantitative to its central axis of rotation 1 a. The circular portion of the eccentric shaft portion 16 The outer peripheral surface is supported by the eccentric plate 18 having a constant thickness via the bearing 17 in a rotatable state. The eccentric plate 18 is supported by the fixing plate 12 in a state in which the eccentric shaft 19 is not rotatable, and the eccentric shaft portion 16 is rotated, and the radius of the eccentric amount is revolved around the center axis of the rotation center ia. motion. On the end face of the front side of the eccentric plate 18, a plurality of, for example, ten cylindrical cam followers 20 (20 (〇) to (9)) are arranged at equal angular intervals in the same circle (refer to the third Figure). Each of the cam followers 20 is supported by a shaft 21 that protrudes from the end surface of the eccentric plate 18 in the direction of the rotation center axis la, and is rotatably supported. A cycloidal gear 22 is disposed inside the cam followers 20. The cycloidal gear 22 is integrally formed at the rear end of the rotary output shaft 14, and its external tooth profile is limited by a cycloidal curve that can be simultaneously engaged with the cam follower 20 (contactable). The number of teeth of the cycloidal gear 22 of this example is one less than the number of the cam followers 20 and is nine (indicated by A to I in FIG. 3). Here, the contact state between the cam follower 20 and the cycloid gear 22 is ensured by the thrust given by the pressurizing mechanism constituted by the pressurizing nut 23. The sway in the direction of the rotation center axis la of the Ou Dan mechanism 19 is prevented by the Auron pressurizing mechanism which is formed by the fixed collar 24 and the spacer 25 attached to the rear end of the rotary input shaft 13. (Configuration of Each Part) Next, the structure of each part of the rotor type reduction gear 4 will be described. First, the reduction gear -11 - 201022554 is provided with a cylindrical front half 11a and a rear half lib having a rectangular outer shape, and a fixed plate 12 having the same outer peripheral surface shape fixed to the rear end of the rear half lib. The cylindrical rotary input shaft 13 is rotatably supported via the input side rear bearing 26 at the inner peripheral surface of the circular hole formed at the center portion of the fixed plate 12. The front end portion of the rotary input shaft 13 is rotatably supported by the input side front bearing 27 attached to the inner peripheral surface of the recess formed on the end surface of the rotary output shaft 14. The Ou Dan mechanism 197 disposed between the fixed plate 1 2 and the eccentric plate 18 is provided with an annular rotation restricting plate 30 disposed therebetween. On the rear end surface of the rotation restricting plate 30 and the front end surface of the fixing plate 12 opposite thereto, at a portion facing each other, a guide groove 30a extending in a direction or a plurality of lengths perpendicular to the rotation center axis la is formed. 12a. The rotor 31 such as a steel ball or a cylindrical roller is housed in the guide grooves 30a and 12a in a rotatable state. Similarly, the front end surface of the rotation restricting plate 30 and the rear end surface of the opposite eccentric plate 18 are formed at a position perpendicular to the rotation center axis la and the guiding grooves 30a, 12a at the opposite side portions. The direction extends one or a plurality of guiding grooves 30b, 18a of a certain length. The rotor 32 such as a steel ball or a cylindrical roller is housed in the guide grooves 30b and 18a in a freely rotatable state. Here, the directions of the guide grooves 30a and 12a on the rear side of the rotation restricting plate 30 and the directions of the guide grooves 30b and 18a on the front side of the plate are set to be perpendicular to each other. In this manner, the undulating mechanism 19 that supports the eccentric plate 18 in a radial direction by a certain amount is formed. When the eccentric shaft portion 16 of the front -12-201022554 end is rotated eccentrically with the rotation of the rotary input shaft 13, the rotation motion of the eccentric plate 18 supported by the Ou Dan mechanism 19 is blocked, with the center axis of rotation 1 a as the center , the revolving motion is performed with a radius corresponding to the eccentric amount. Here, the fixed collar 24 of the Ou Dan pressurizing mechanism is fixed to the outer peripheral surface of the rear end portion of the rear side bearing 26 which is attached to the input side rear bearing 26 of the fixed plate 12 in the rotary input shaft 13. An annular spacer 25 of a certain thickness is inserted between the fixed collar 24' and the inner wheel 62a of the input side rear bearing 26. By the thickness of the spacer 25 which is inserted by the thickening, the eccentric plate 18 is relatively pushed rearward, and the eccentric plate 18, the rotation restricting plate 30, and the fixed plate 12 are pressed against each other. Thereby, it is possible to suppress the rotation transmission error and the recoil force which are caused by the gap between the rotating body and the guide groove which are disposed between the two. Further, instead of the collar 24 and the spacer 25 by a pressurizing nut that is screwed to the outer peripheral surface of the rotary input shaft 13, the inner ring 26a of the input side rear bearing 26 can be pressed in the sliding direction. Each of the cam followers 20 attached to the front end surface of the eccentric plate 18 in a rotatable state has a tapered drum surface 20a whose outer diameter is gradually reduced toward the front (output side), that is, toward the pendulum line gear 22. . Similarly, the tooth surface 22a of the outer teeth of the cycloidal gear 22 is tapered toward the rear (input side), that is, toward the outer diameter of the cam follower 20, and is linearly contactable with the cam follower 20. A tapered circular outer peripheral surface 20a. A rotary output shaft 14 having a cycloidal gear 22 integrally formed at the rear end thereof is provided with a rear side shaft portion i4a having an outer diameter smaller than the cycloidal gear 22, and an intermediate shaft formed on the front side of the smaller first diameter The portion 14b, and the front end side shaft portion 1 4 c formed on the front side thereof. The rear side shaft portion 14a and the front end side shaft portion 14c rear end portion ' are closed by the output side rear bearing 3 3 and the output side front bearing 34 which are mounted inside the reduction gear housing u -13 - 201022554 Rotating freely. Here, the pressurizing nut 23 is screwed into the front end opening of the reducer housing 11 from the front. The pressurizing nut 23 is formed with a male thread on the outer peripheral surface. A female thread for screwing the male thread is engraved on the inner peripheral surface of the end opening of the reducer housing 11. When the pressurizing nut 23 is screwed, the pressurizing nut 23 pushes the outer side wheel 33a of the output side front bearing 33, and the bearing 33 is used to impart a rearward thrust to the rotary output shaft 14. As a result, the tapered tooth surface 22a of the cycloidal gear 22 integrally formed at the rear end of the rotary output shaft member 14 is pressed by the tapered outer peripheral surface 22a of each cam follower 20, thereby ensuring the contact state between the two. , can form a meshing state without recoil. A shim can also be used instead of a compression nut to impart thrust. For example, when the rotary output shaft 14 is a disk-shaped flange type, a thrust of a predetermined thickness can be set between the output flange and the bearing.
(減速旋轉運動） G 驅動轉子式致動器1之馬達2時，連結於馬達之輸出 軸15的旋轉輸入軸13進行旋轉，藉由其前端部之偏心軸 部16，使偏心板18繞著旋轉中心軸線la周圍進行公轉運 動。在本例中，偏心板18進行公轉運動（偏心旋轉）一 次時，凸輪從動件20只擺動其根數及擺線齒輪22之齒數 的差分，也就是1齒分。嚙合於（接觸著）凸輪從動件20 的擺線齒輪22，係與旋轉輸入軸13之旋轉方向呈反方向 地以旋轉中心軸線la爲中心旋轉一齒分。因此，一體形 -14- 201022554 成有擺線齒輪22的旋轉輸出軸14，係與輸入旋轉軸13反 方向地，以輸入旋轉數1/9之減速比進行旋轉。因爲藉著 由加壓螺帽23所構成加壓機構，及由固定軸環24與墊片 25所構成的歐丹加壓機構19，可除去滾動接觸部分的反 衝力，故能減低旋轉傳達誤差。 【圖式簡單說明】 e 第1圖之a係表示具備適用本發明之轉子式減速機的 轉子式致動器之前端面之端面圖，第1圖之b係表示其側 面圖，將轉子式減速機之部分以A- A線切開之剖面。 第2圖係爲表示第1圖之轉子式致動器中轉子式減速 機之內部構成而切去一部分表示之立體圖。 第3圖係表示轉子式減速機之凸輪從動件與擺線齒輪 之間關係之說明圖。 ® 【主要元件符號說明】 1 :轉子式致動器 1 a :旋轉中心軸 2 :馬達 3 :安裝凸緣 4 :轉子式減速機 1 1 :減速機殼體 12 :固定板 1 3 :旋轉輸入軸 -15- 201022554 1 4 :旋轉輸出軸 14a，14b :後側軸部分 14c :前端側軸部分 1 5 :馬達輸出軸 1 6 ··偏心旋轉軸（偏心軸部） 1 7 :軸承 1 8 :偏心板 19 :歐丹（Oldham)機構 _ 2 0 :凸輪從動件 20a :錐狀圓形外周面 22 :擺線齒輪 22a :錐狀齒面 2 3 :加壓螺帽 2 4 :固定軸環 25 :墊片 26 :輸入側後軸承 · 26a :內輪 2 7 :輸入側前軸承 30 :旋轉支撐板 31，32 :轉動體 3 3 :輸出側後軸承 3 4 :輸出側前軸承 3 4 a :外輪 -16-(Deceleration Rotation Movement) G When the motor 2 of the rotor actuator 1 is driven, the rotation input shaft 13 coupled to the output shaft 15 of the motor rotates, and the eccentric shaft portion 16 of the front end portion surrounds the eccentric plate 18 The revolving motion is performed around the central axis la of the rotation. In this example, when the eccentric plate 18 performs the revolving motion (eccentric rotation) once, the cam follower 20 swings only the difference between the number of teeth and the number of teeth of the cycloidal gear 22, that is, 1 tooth. The cycloidal gear 22 that is engaged (contacted) with the cam follower 20 is rotated by a tooth centered on the central axis of rotation la in a direction opposite to the direction of rotation of the rotary input shaft 13. Therefore, the integral output -14 - 201022554 has the rotary output shaft 14 of the cycloidal gear 22 rotated in the opposite direction to the input rotary shaft 13 by the reduction ratio of the input rotation number of 1/9. Since the pressurizing mechanism constituted by the pressurizing nut 23 and the Auron pressurizing mechanism 19 constituted by the fixed collar 24 and the spacer 25 can remove the recoil force of the rolling contact portion, the rotation transmission error can be reduced. . BRIEF DESCRIPTION OF THE DRAWINGS e is an end view of a front end face of a rotor type actuator including a rotor type reduction gear to which the present invention is applied, and FIG. 1b is a side view showing a rotor type deceleration. The section of the machine is cut by the A-A line. Fig. 2 is a perspective view showing a part of the rotor type reducer in the rotor type actuator of Fig. 1 and showing a part thereof. Fig. 3 is an explanatory view showing the relationship between the cam follower and the cycloidal gear of the rotor type speed reducer. ® [Main component symbol description] 1 : Rotor actuator 1 a : Rotation center shaft 2 : Motor 3 : Mounting flange 4 : Rotor reducer 1 1 : Reducer housing 12 : Fixing plate 1 3 : Rotary input Axis -15- 201022554 1 4 : Rotary output shaft 14a, 14b: Rear side shaft portion 14c: Front end side shaft portion 1 5 : Motor output shaft 1 6 · Eccentric rotation shaft (eccentric shaft portion) 1 7 : Bearing 1 8 : Eccentric plate 19: Oldham mechanism _ 2 0 : Cam follower 20a: Tapered circular outer peripheral surface 22: Cycloid gear 22a: Conical tooth surface 2 3: Pressurizing nut 2 4: Fixed collar 25: spacer 26: input side rear bearing · 26a: inner wheel 2 7 : input side front bearing 30: rotary support plate 31, 32: rotor 3 3 : output side rear bearing 3 4 : output side front bearing 3 4 a :Outer wheel-16-