WO2018142909A1 - Ball reduction gear - Google Patents

Ball reduction gear Download PDF

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Publication number
WO2018142909A1
WO2018142909A1 PCT/JP2018/000888 JP2018000888W WO2018142909A1 WO 2018142909 A1 WO2018142909 A1 WO 2018142909A1 JP 2018000888 W JP2018000888 W JP 2018000888W WO 2018142909 A1 WO2018142909 A1 WO 2018142909A1
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WO
WIPO (PCT)
Prior art keywords
output
rotating body
ball
groove
surface portion
Prior art date
Application number
PCT/JP2018/000888
Other languages
French (fr)
Japanese (ja)
Inventor
靖 梶原
Original Assignee
株式会社エンプラス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017159318A external-priority patent/JP2018159466A/en
Application filed by 株式会社エンプラス filed Critical 株式会社エンプラス
Priority to CN201880009572.2A priority Critical patent/CN110249157A/en
Priority to US16/482,472 priority patent/US20200011405A1/en
Publication of WO2018142909A1 publication Critical patent/WO2018142909A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
    • F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members

Definitions

  • This invention relates to a ball speed reducer used for decelerating and transmitting rotation.
  • the ball speed reducer is smaller and has a larger speed reduction ratio than the gear speed reduction device, so that it can be used as a power transmission unit for various machines (for example, industrial robots, steering angle variable type steering devices, etc.). in use.
  • FIG. 35 is a diagram showing such a conventional ball speed reducer 100.
  • FIG. 35A is a longitudinal sectional view of a conventional ball reducer 100
  • FIG. 35B is a ball reducer 100 cut along line A18-A18 in FIG. 35A.
  • FIG. 35A is a longitudinal sectional view of a conventional ball reducer 100
  • FIG. 35B is a ball reducer 100 cut along line A18-A18 in FIG. 35A.
  • an eccentric rotating plate 104 is attached to the outer peripheral side of an eccentric cam 102 formed on the input shaft 101 via a bearing 103, and the eccentric rotating plate 104 is attached to the eccentric cam 102. Is driven eccentrically.
  • output side rotating bodies 105 connected to an output shaft are arranged on both sides on the radially inner side of the eccentric rotating plate 104, and the input shaft 101 is an output side rotating body. It is supported on the inner peripheral side of 105 through a bearing 106 so as to be relatively rotatable.
  • fixing members 107 fixed to a part of an industrial robot or the like are arranged on both sides on the radially outer side of the eccentric rotating plate 104 via balls 108, respectively.
  • a rotating body 105 is rotatably supported on the inner peripheral side of the fixed member 107 via a bearing 110.
  • the ball 108 sandwiched between the eccentric rotating plate 104 and the fixing member 107 is formed by a first corrugated groove (first cycloid groove formed by an outer cycloid curve) 111 formed on the side surface of the eccentric rotating plate 104 and the fixing member 107.
  • the eccentric rotating plate 104 is engaged with a second corrugated groove (second cycloid groove formed by an inner cycloid curve) 112 formed on the inner side surface (side surface facing the eccentric rotating plate 104) so as to roll. And the fixing member 107 are connected.
  • the wave number of the second corrugated groove 112 is formed so as to be two more than the wave number of the first corrugated groove 111.
  • the output-side rotator 105 is connected to the eccentric rotating plate 104 via the eccentric absorbing mechanism 113.
  • the eccentric absorbing mechanism 113 allows the eccentric rotating plate 104 to move eccentrically with respect to the output side rotating body 105 (absorbs the eccentricity of the eccentric rotating plate 104). The rotation is transmitted to the output side rotating body 105.
  • the eccentric absorbing mechanism 113 includes a plurality of balls 114 interposed between the eccentric rotating plate 104 and the output-side rotating body 105, and a driving annular groove 115 of the eccentric rotating plate 104 that accommodates the balls 114 in a rollable manner. And a driven annular groove 116 of the output side rotator 105.
  • the shape and size of the driving annular groove 115 and the driven annular groove 116 are determined in consideration of the amount of eccentricity of the eccentric cam 102, and the ball 114 when the eccentric rotating plate 104 rotates eccentrically with respect to the rotation center of the input shaft 101.
  • the output-side rotator 105 can rotate integrally with the eccentric rotating plate 104 via a ball 114 (see Patent Document 1).
  • the input shaft When 101 is rotationally driven by an electric motor (not shown) or the like, the eccentric rotating plate 104 is eccentrically driven by the eccentric cam 102 of the input shaft 101, and the output side rotating body 105 is integrated with the eccentric rotating plate 104 via the eccentric absorbing mechanism 113.
  • the output-side rotator 105 rotates -2 / (N-2) with respect to one rotation of the input shaft 101 (2 / (N- in the direction opposite to the rotation direction of the input shaft 101). 2) Rotate).
  • the reduction ratio is 2 / (N-2).
  • first corrugated grooves 111 are formed on both side surfaces of the eccentric rotating plate 104, and on the inner side surfaces of the fixing members 107 respectively disposed on both sides of the eccentric rotating plate 104. Since the second corrugated groove 112 is formed, the corrugated grooves 111, 111, 112, 112 must be formed with high accuracy on a total of four side surfaces (four locations), and the processing man-hours increase. It was.
  • the conventional ball speed reducer 100 shown in FIG. 35 rotates the eccentric rotating plate 104 and the output side rotating body 105 integrally, the output side rotating body 105 is eccentrically rotated via the eccentric absorbing mechanism 113.
  • the structure is complicated and the processing man-hours increase.
  • an object of the present invention is to provide a ball speed reducer with a simple structure and a small number of processing steps.
  • the present invention relates to a ball speed reducer 1 that decelerates and transmits the rotation of an input side rotating body (2, 3) to an output side rotating body 8.
  • a ball speed reducer 1 according to the present invention is fitted to an eccentric disk cam 4 that rotates integrally with the input side rotating body (2, 3), and an outer peripheral side of the eccentric disk cam 4 so as to be relatively rotatable.
  • the rocking body 5 swung by the eccentric disc cam 4, a plurality of balls 6 arranged along the outer peripheral surface 5 b of the rocking body 5, and the radially inward so that the rocking body 5 can be swung.
  • the fixed member 7 that is housed on the side and fixed to the fixed member, and is disposed so as to face one side surface of the rocking body 5 and the fixed member 7, and is disposed on the input side rotating body (2, 3).
  • the first output-side rotator 8A supported so as to be relatively rotatable, and disposed so as to oppose the other side surfaces of the swinging body 5 and the fixing member 7, and rotate integrally with the first output-side rotator 8A. It is fixed so as to be able to be supported and is supported by the input side rotating body (2, 3) so as to be relatively rotatable.
  • the outer peripheral surface 5 b of the rocking body 5 is a cylindrical surface concentric with the center 4 a of the eccentric disc cam 4.
  • the fixing member 7 is configured such that the radial direction of the radial direction from the rotation center 2a in the virtual plane orthogonal to the rotation center 2a of the input-side rotator (2, 3)
  • the number of radial grooves 38 that are slidably guided in the direction is formed in the same number as the number of the balls 6, and the radially inner end of the radial groove 38 is an open end that allows the balls 6 to enter and exit.
  • the first output side rotating body 8 ⁇ / b> A has a first side surface portion 32 that faces one side surface of the fixing member 7.
  • the second output side rotating body 8B has a second side surface portion 41 facing the other side surface of the fixing member 7.
  • the first side surface portion 32 and the second side surface portion 41 may be configured so that the ball 6 is rotated around the virtual plane when the direction along the outer edge of the virtual circle centered on the rotation center 2a is the circumferential direction.
  • Annular corrugated grooves 40, 56, and 60 are formed to guide in a wave shape along the direction.
  • the corrugated groove is formed only at two locations of the first side surface portion of the first output side rotating body and the second side surface portion of the second output side rotating body facing the rocking body and the fixing member. Therefore, the number of processing steps can be reduced as compared with the conventional example in which the corrugated grooves are formed on the four side surfaces.
  • the swinging body can swing independently with respect to the output side rotating body (first output side rotating body, second output side rotating body) and the fixed member. Therefore, a complicated mechanism for integrally rotating the output side rotating body and the swinging body is not required, the structure is simplified, and the number of processing steps can be reduced.
  • FIG. 1 is a longitudinal sectional view of a ball speed reducer according to a first embodiment of the present invention. It is a figure which shows the input shaft (input side rotary body) of the ball reducer which concerns on 1st Embodiment of this invention, Fig.2 (a) is a front view (figure which shows a front end surface) of an input shaft, FIG.2 (b) ) Is a side view of the input shaft, and FIG. 2C is a view showing a rear end surface of the input shaft.
  • FIG.3 (a) is a front view of a cap
  • FIG.3 (b) is A1 of Fig.3 (a).
  • FIG. 3C is a cross-sectional view of the cap cut along the line A1 and
  • FIG. 3C is a rear view of the cap.
  • Fig.4 (a) is a front view of a rocking body
  • FIG.4 (b) is the A2-A2 line
  • FIG.5 (a) is a front view of a fixing member
  • FIG.5 (b) is the A3-A3 line
  • FIG.6 (a) is a front view of a 1st output side rotary body
  • FIG.6 (b) is FIG.
  • FIG.7 (a) is a front view of a 2nd output side rotary body
  • FIG.7 (b) is FIG.
  • FIG.9 (a) is a top view of a ball rolling locus
  • FIG.9 (b) is FIG.9 (a).
  • FIG. 7 is a diagram showing a rolling locus wave projected onto a virtual cross section cut along the line A6-A6.
  • FIG. 10A is a diagram for explaining a first modified example of the corrugated groove
  • FIG. 10B is a diagram for explaining a second modified example of the corrugated groove. It is a longitudinal cross-sectional view of the ball reducer which concerns on 2nd Embodiment of this invention.
  • FIG. 12A is a front view of the first output-side rotator
  • FIG. 12B is a cross-sectional view of the first output-side rotator taken along line A7-A7 in FIG. 12A
  • FIG. 13A is a front view of the second output-side rotator
  • FIG. 13B is a cross-sectional view of the second output-side rotator taken along line A8-A8 in FIG. 13A.
  • It is a longitudinal cross-sectional view of the ball reducer which concerns on 3rd Embodiment of this invention.
  • It is a front view which removes and shows the cap and 2nd output side rotating body of the ball reducer concerning a 3rd embodiment of the present invention.
  • FIG.16 (a) is a front view (figure which shows a front end surface) of an input shaft
  • FIG.16 (b) Is a side view of the input shaft
  • FIG. 16C is a cross-sectional view taken along line A9-A9 in FIG.
  • Fig.17 (a) is a front view of a cap
  • FIG.17 (b) is a side view of a cap
  • FIG. 18C is a sectional view of the cap cut along the line A10-A10 in FIG. It is a figure which shows the rocking body of the ball reducer which concerns on 3rd Embodiment of this invention
  • FIG.18 (a) is a front view of a rocking body
  • FIG.18 (b) is the A11-A11 line
  • Fig.19 (a) is a front view of a fixing member
  • FIG.19 (b) is the A12-A12 line
  • FIG. 20 is a cross-sectional view of the first output-side rotator cut along the line A13-A13 in FIG. 20A.
  • FIG.21 (a) is a front view of a 2nd output side rotary body
  • FIG.21 (b) is a 2nd output.
  • FIG. 21C is a sectional view of the second output-side rotator cut along the line A14-A14 in FIG. 21A.
  • Fig.22 (a) is a top view of a ball rolling locus
  • FIG. 22B is a diagram showing the rolling locus wave projected on a virtual cross section cut along the line A15-A15 in FIG. 22A
  • FIG. 22C shows the ball in FIG. It is a figure which expands and shows the rolling locus
  • FIG.23 (a) is a figure which shows the state in which a ball
  • FIG. 24B is a cylindrical cross-sectional view of the ball speed reducer cut at a position corresponding to line A16-A16 in FIG.
  • FIG. 24B is a cylindrical cross-sectional view when the ball speed reducer is cut at a position corresponding to the line A17-A17 in FIG.
  • FIG. 25 (a) is a diagram (corresponding to FIG. 22 (c)) showing the rolling locus of the ball according to the first modification of the third embodiment of the present invention, and FIG. 25 (b) is the present invention.
  • FIG.26 (a) is a front view of a ball reducer
  • FIG.26 (b) is a side view of a ball reducer
  • FIG. 27 is a cross-sectional view of the ball speed reducer shown cut along line A18-A18 in FIG. It is a front view which removes and shows the cap and 2nd output side rotating body of the ball reducer concerning a 4th embodiment of the present invention.
  • FIG.29 (a) is a front view (figure which shows a front end surface) of an input shaft
  • FIG.29 (b) Is a side view of the input shaft
  • FIG. 29 (c) is a rear view of the input shaft (showing the rear end surface)
  • FIG. 29 (d) is cut along line A19-A19 in FIG. 29 (a). It is sectional drawing.
  • FIG.30 (a) is a front view of a cap
  • FIG.30 (b) is a side view of a cap
  • FIG. FIG. 30C is a rear view of the cap
  • FIG. 30D is a sectional view of the cap cut along the line A20-A20 in FIG. 30A.
  • FIG.31 (a) is a front view of a rocking body
  • FIG.31 (b) is a side view of a rocking body
  • FIG.31 (c) Is a rear view of the oscillating body
  • FIG. 31 (d) is a cross-sectional view of the oscillating body cut along the line A21-A21 in FIG. 31 (a)
  • FIG. 31 (e) is a section B1 in FIG. 31 (b).
  • FIG.32 (a) is a front view of a fixing member
  • FIG.32 (b) is a side view of a fixing member
  • FIG.32 (c) Is a rear view of the fixing member
  • FIG. 32D is a cross-sectional view of the fixing member cut along the line A22-A22 of FIG. 32A
  • FIG. 32E is a cross-sectional view of B2 portion of FIG.
  • FIG. 32 (f) is an enlarged view and a cross-sectional view taken along line A23-A23 of FIG. 32 (e).
  • FIG.33 (a) is a front view in which the waveform groove
  • FIG. b) is a side view of the first output-side rotating body
  • FIG. 33C is a cross-sectional view of the first output-side rotating body cut along the line A24-A24 in FIG. 33A
  • FIG. ) Is a rear view of the first output side rotator.
  • FIG.34 (a) is a front view in which the waveform groove
  • FIG. b) is a side view of the second output side rotator
  • FIG. 34C is a sectional view of the second output side rotator cut along the line A25-A25 in FIG. 34A
  • FIG. ) Is a rear view of the second output side rotator.
  • FIG. 35A is a view showing a conventional ball reducer
  • FIG. 35A is a longitudinal sectional view of the ball reducer
  • FIG. 35B is a sectional view taken along line A26-A26 of FIG. 35A. It is.
  • FIG. 1 is a longitudinal sectional view of a ball speed reducer 1 according to a first embodiment of the present invention.
  • a ball speed reducer 1 according to this embodiment includes an input shaft (input-side rotating body) 2, a cap (input-side rotating body) 3, an eccentric disk cam 4, an oscillating body 5, and a plurality of A ball (steel ball) 6, a fixing member 7, and an output side rotating body 8 (first output side rotating body 8 ⁇ / b> A, second output side rotating body 8 ⁇ / b> B) are configured.
  • the input shaft 2 rotatably supports the first output side rotating body 8 ⁇ / b> A via the first bearing 10 and is driven to rotate by an electric motor (not shown) or the like. It has become.
  • the input shaft 2 includes a shaft-shaped portion 12 having a diameter larger than that of the shaft main body portion 11, adjacent to the shaft main body portion 11, and a bearing support portion 13 formed adjacent to the shaft-shaped portion 12.
  • the first bearing 10 is attached to the support portion 13, and the first bearing 10 is held between the inner peripheral projection 15 of the bearing hole 14 of the first output side rotating body 8 ⁇ / b> A and the flange-shaped portion 12. .
  • the input shaft 2 has an eccentric disc cam 4 formed at a position closer to the shaft tip side than the bearing support portion 13 and adjacent to the bearing support portion 13.
  • the eccentric disc cam 4 is an eccentric shaft portion whose center 4a is eccentric with respect to the rotation center 2a of the input shaft 2 (the rotation center 11a of the shaft main body 11) by an eccentric amount (e). 2 is rotated together with the input shaft 2 around the rotation center 2a.
  • fluctuation body 5 is attached to the outer peripheral side of the eccentric disk cam 4 via the 2nd bearing 16 so that relative rotation is possible.
  • the input shaft 2 is formed with a tip shaft portion 17 to which the cap 3 is attached.
  • the distal end shaft portion 17 has a rotation center concentric with the rotation center 2 a of the shaft main body portion 2, is fitted into the shaft hole 18 of the cap 3, and a stopper whose distal end surface 17 a protrudes into the shaft hole 18 of the cap 3. It is abutted against the protrusion 20.
  • a screw hole (female screw) 22 that is screwed with a screw shaft portion 21 a of a bolt 21 for fixing the cap 3 is formed in the distal end shaft portion 17 of the input shaft 2.
  • the radial direction means a direction extending radially from the rotation center 2a on the virtual plane.
  • the circumferential direction refers to a direction along the outer edge of the virtual circle centered on the rotation center 2a of the input shaft 2.
  • the cap 3 is fixed to the distal end shaft portion 17 of the input shaft 2 with a bolt 21 and constitutes an input side rotating body together with the input shaft 2, and the rotation center 3 a is the rotation of the input shaft 2. It is formed so as to coincide with the center 2a.
  • the cap 3 has an axial hole 18 that opens to one end side along the rotation center 3a (the right end side in FIG. 3B) and the other end side along the rotation center 3a (the left end side in FIG. 3B). And a bolt head part insertion hole 24 that connects the bolt head part accommodation hole 23 and the shaft hole 18 to each other.
  • the cap 3 has a ring-shaped bearing stopper 25 formed on one end of the cylindrical outer peripheral surface 3b, and the side surface of the third bearing 26 attached to the outer peripheral surface 3b is abutted against the bearing stopper 25.
  • the third bearing 26 is held between the inner peripheral projection 28 and the bearing stopper 25 in the bearing hole 27 of the second output side rotating body 8B.
  • the rotation center of the shaft hole 18 and the rotation center of the outer peripheral surface 3 b are concentric with the rotation center 3 a of the cap 3.
  • the oscillating body 5 is formed in a disc shape so as to be oscillated by the eccentric disc cam 4, and the center bearing hole 30 is fitted to the outer peripheral surface of the second bearing 16.
  • the second bearing 16 supports the eccentric disc cam 4 so that it can rotate relative to the eccentric disc cam 4.
  • the oscillating body 5 is formed such that the center 5a is concentric with the center 4a of the eccentric disc cam 4, the outer peripheral surface 5b is a cylindrical surface concentric with the center 4a of the eccentric disc cam 4, and the outer peripheral surface 5b.
  • a plurality of balls 6 are supported so as to roll.
  • eight through holes 31 are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30.
  • the connecting projection 33 formed on the first side surface portion 32 of the first output side rotating body 8 ⁇ / b> A is engaged with a gap, and the rocking body 5 is rocked by the eccentric disc cam 4. It is formed in such a size that it does not come into contact with the connecting projection 33 even when it is applied.
  • the fixing member 7 has a substantially square shape on the front side, and a swinging body accommodation hole 34 is formed at the center.
  • the fixing member 7 has a fixed frame portion 35 formed along the outer edge, and a radial groove forming disk portion 36 formed on the radially inner side of the fixed frame portion 35. .
  • the fixing member 7 has bolt holes 37 formed at the four corners of the fixing frame portion 35, and fixing bolts (not shown) are inserted into the bolt holes 37 at the four locations. Frame or robot arm) with fixing bolts.
  • the fixing member 7 is fixed to the member to be fixed so that the center 34 a of the swinging body accommodation hole 34 is concentric with the rotation center 2 a of the input shaft 2.
  • the fixing member 7 includes a plurality of radial grooves 38 extending in the radial direction from the inner peripheral surface 34b of the oscillator housing hole 34 at equal intervals along the circumferential direction (assuming that the wave number of the corrugated groove 40 is N. (N + 1) / 3 locations).
  • the radial groove 38 is an open end that allows the ball 6 to enter and exit, and has a groove width slightly larger than the diameter of the ball 6, and has a groove length (radial length).
  • the fixing member 7 is formed such that the thickness of the radial groove forming disk portion 36 is smaller than the diameter of the ball 6, and the center of the ball 6 engaged with the radial groove 38 is formed in the radial groove.
  • the corrugated groove 40 formed is engaged so as to be able to roll.
  • a radial groove 30 of the fixing member 7 is such that when the eccentric disk cam 4 rotates once and the rocking body 5 is swung by one stroke, the ball 6 is divided according to the rocking amount of the rocking body 5. Can only roll in the radial direction.
  • the radial groove-forming disk portion 36 of the fixing member 7 has the same thickness as that of the oscillator 5.
  • the first output-side rotator 8 ⁇ / b> A includes one of the side surfaces 5 c of both the side surfaces 5 c and 5 d of the oscillating body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 1st side part 32 located facing one side surface 36a of both side surfaces 36a and 36b.
  • the first output-side rotating body 8 ⁇ / b> A is formed with a bearing hole 14 that accommodates the first bearing 10 attached to the input shaft 2, and the side surface of the outer race of the first bearing 10 is formed at the end of the bearing hole 14. It is made to abut against the inner peripheral projection 15 made.
  • connection protrusions 33 for connecting and fixing the second output side rotator 8B are formed at equal intervals in the circumferential direction.
  • the connection protrusion 33 is adapted to be fitted into a connection protrusion receiving recess 42 formed in the second side surface portion 41 of the second output side rotating body 8B through the through hole 31 of the rocking body 5.
  • the connection protrusion 33 is formed with a screw hole (female screw) 44 for fixing the second output-side rotator 8B with the bolt 43.
  • first side surface portion 32 of the first output side rotating body 8A has a contact relief recess 45 formed between the adjacent connecting projections 33, 33, and a lubricant such as grease is appropriately placed in the contact relief recess 45. Be contained. Further, the first side surface portion 32 of the first output side rotating body 8A has a corrugated groove 40 formed on the radially outward side of the connecting projection 33 and the contact relief recess 45.
  • the second output-side rotating body 8 ⁇ / b> B includes the other side surface 5 d of the both side surfaces 5 c and 5 d of the rocking body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 2nd side part 41 located facing the other side surface 36b of both side surfaces 36a and 36b.
  • the connecting projection receiving recess 42 fitted to the connecting projection 33 is located at a position facing the connecting projection 33 of the first output side rotating body 8A. The same number is formed.
  • the second side surface portion 41 of the second output side rotating body 8B has a contact relief recess 46 formed between the adjacent connection projection receiving recesses 42, 42, and a lubricant such as grease is formed in the contact relief recess 46.
  • a lubricant such as grease is formed in the contact relief recess 46.
  • the second output-side rotating body 8B is formed with a bearing hole 27 that accommodates the third bearing 26 attached to the cap 3, and the side surface of the outer race of the third bearing 26 is formed at the end of the bearing hole 27. Further, it is abutted against the inner peripheral projection 28.
  • the second output-side rotating body 8B is formed with a relief hole 47 that avoids contact with the second bearing 16 on the radially inner end side on the second side face portion 41 side.
  • the second side surface portion 41 of the second output side rotating body 8B is formed with a corrugated groove 40 on the radially outward side of the connecting projection receiving recess 42 and the contact relief recess 46.
  • the second output-side rotator 8B is a bolt head housing recess that opens to the side surface 48 located on the opposite side of the second side surface portion 41 at a position facing the connection protrusion 33 of the first output-side rotator 8A. 50 is formed, and a bolt hole 51 for communicating the bolt head receiving recess 50 and the connecting projection receiving recess 42 is formed.
  • the screw shaft portion 43a of the bolt 43 inserted into the bolt head accommodating recess 50 and the bolt hole 51 is formed in the screw hole 44 of the connecting projection 33 of the first output side rotating body 8A.
  • the output side rotating body 8 is constituted by being screwed together and fixed to the first output side rotating body 8A and integrally with the first output side rotating body 8A.
  • the second output-side rotator 8B is on the side surface 48 located on the opposite side of the second side surface portion 41, and along the circumferential direction at a position radially inward from the bolt head housing recess 50.
  • a plurality of screw holes 52 are formed, and a rotated member (not shown) rotated by the second output side rotating body 8B is fixed by a plurality of bolts (not shown) screwed into the plurality of screw holes 52.
  • the corrugated groove 40 is formed on the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B.
  • the ball 6 accommodated in the directional groove 38 is slidably engaged.
  • the corrugated groove 40 has a valley bottom 40a at a portion positioned at the radially inner end of the wave and a peak 40b at a portion positioned at the radially outer end of the wave.
  • first side surface portion 32 and the second side surface portion 41 of the second output-side rotator 8B It is formed across the first side surface portion 32 and the second side surface portion 41 of the second output-side rotator 8B, and the groove depth of the odd-numbered wave crest 40b is between the first side surface portion 32 and the second side surface portion 41.
  • the first side surface portion 32 and the second side surface portion 41 are formed deeper on either side of the first side surface portion 32 and the second side surface portion 41 than either one side, and the groove depths of the even-numbered wave peaks 40b are the same. These are formed deeper on either side of the first side surface portion 32 and the second side surface portion 41 than on the other side, and are formed such that the groove depth gradually increases from the valley bottom 40a toward the peak 40b.
  • the corrugated groove 40 has a shape similar to that of a saw “crest (tooth vibration)”.
  • the ball 6 that engages with the corrugated groove 40 of the first output side rotating body 8A, the corrugated groove 40 of the second output side rotating body 8B, and the radial groove 38 of the fixing member 7 passes through the radial groove 38.
  • the waveform groove 40 formed three-dimensionally also moves in the direction along the rotation center 2 a of the input shaft 2.
  • the corrugated groove 40 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B.
  • the positioning groove 53 of the first output side rotating body 8A and the positioning groove 54 of the second output side rotating body 8B are aligned (
  • the first output-side rotator 8A and the second output-side rotator 8B are fixed in a state of being positioned with high accuracy, and therefore the first output-side rotator 8A side.
  • the corrugated groove 40 and the corrugated groove 40 on the second output side rotating body 8B side are not displaced, and are formed with high accuracy.
  • FIG. 9 is a diagram showing a rolling locus 55 of the ball 6 when the ball 6 is rolled in the corrugated groove 40.
  • 9A is a plan view of the rolling trajectory 55 of the ball 6 (the rolling trajectory 55 projected on a virtual plane orthogonal to the rotation center 2a of the input shaft 2).
  • FIG. 9B is a diagram showing the projection of the waves W1 and W2 of the adjacent rolling locus on the virtual cross section cut along the line A6-A6 of FIG. 9A.
  • the first wave W ⁇ b> 1 of the waves W ⁇ b> 1 and W ⁇ b> 2 of the adjacent rolling trajectory 55 is directed from the valley bottom 40 a of the corrugated groove 40 toward the mountain top 40 b. Therefore, it is inclined at a constant rate in the ⁇ Z direction.
  • the second wave W2 of the rolling locus 55 is inclined at a constant rate in the + Z direction as it goes from the valley bottom 40a to the peak 40b of the wave groove 40.
  • the amount of movement of the first wave W1 in the ⁇ Z direction is the same as the amount of movement of the second wave W2 in the + Z direction.
  • the corrugated groove 40 that forms the first wave W1 of the rolling trajectory 55 is formed so that the portion corresponding to the peak 40b is deeper on the first side surface portion 32 side of the first output side rotating body 8A. Yes.
  • the corrugated groove 40 that forms the second wave W2 of the rolling trajectory 55 with respect to the first wave W1 has a deeper portion corresponding to the peak 40b on the second side surface portion 41 side of the second output side rotating body 8B. It is formed as follows.
  • FIG. 10A is a view showing a first modification of the corrugated groove 40, and corresponds to FIG. 9B.
  • the first wave W1 of the waves W1 and W2 of the adjacent rolling trajectory 55 is directed from the valley bottom 40a of the corrugated groove 40 toward the peak 40b. Therefore, the moving rate in the ⁇ Z direction increases (as it goes from the radially inner side to the radially outer side).
  • the second wave W2 of the rolling trajectory 55 increases in the movement rate in the + Z direction as it goes from the valley bottom 40a of the corrugated groove 40 toward the peak 40b (from radially inward to radially outward). is doing.
  • the corrugated groove 40 may be formed so that a rolling locus 55 of the ball 6 shown in FIG.
  • FIG. 10B is a diagram illustrating a second modification of the corrugated groove 40, and corresponds to FIG. 9B.
  • the first wave W1 of the waves W1 and W2 of the adjacent rolling trajectories 55 is directed from the valley bottom 40a of the corrugated groove 40 toward the peak 40b. Therefore, the rate of movement in the ⁇ Z direction decreases (as it goes from radially inward to radially outward). Further, the second wave W2 of the rolling trajectory 55 decreases in the movement rate in the + Z direction as it goes from the valley bottom 40a of the corrugated groove 40 to the peak 40b (from radially inward to radially outward). is doing.
  • the corrugated groove 40 may be formed so that a rolling locus 55 of the ball 6 shown in FIG.
  • the oscillator 5 when the input shaft 2 and the eccentric disk cam 4 are integrated and rotated once, the oscillator 5 has an eccentric amount (e) of the eccentric disk cam 4.
  • the output side rotating body 8 the first output side rotating body 8A and the second output side rotating body 8B
  • the ball 6 passes through the radial groove 38 of the fixing member 7 in the first side surface portion 32 and the second side surface portion.
  • the wave number of the corrugated groove 40 is N
  • the number of grooves of the radial groove 38 is (N + 1) / 3.
  • the side rotator 8 rotates 1 / N in the opposite direction to the input shaft 2.
  • the wave number (N) of the corrugated groove 40 of the output side rotating body 8 is 50
  • the number of grooves (N + 1) / 3 is 17. Therefore, the ball speed reducer 1 according to the present embodiment reduces the rotation of the input shaft 2 to 1/50 (1 / N) and transmits it to the output side rotating body 8.
  • the ball speed reducer 1 configured as described above includes the first side surface portion 32 of the first output-side rotator 8A and the second output-side rotator 8B facing the rocking body 5 and the fixing member 7. Since the corrugated groove 40 is formed only in two places on the second side surface portion 41, the corrugated groove 111, 111, 112, 112 is compared with the conventional ball reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed in four places respectively ( The processing man-hour can be reduced.
  • the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B).
  • the ball 108 is the first corrugated of the eccentric rotating plate 104.
  • the conventional ball reducer 100 configured to simultaneously contact the groove wall of the groove 111 and the groove wall of the second corrugated groove 112 of the fixing member 107 (see FIG. 35)
  • the radial groove 38 and the corrugated groove 40 And the assembly work of the oscillator 5, the fixing member 7, and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is facilitated.
  • the corrugated groove 40 has an equal groove depth in the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. Since the groove depth at the peak 40b of the corrugated groove 40, which greatly contributes to torque transmission, is increased compared to the case where the ball 6 is formed, the engagement amount between the peak 6b of the corrugated groove 40 and its vicinity and the ball 6 is increased. The torque that can be increased can be increased.
  • the number of the radial grooves 38 is (N + 1) / 3 with respect to the wave number (N) of the corrugated grooves 40 and the balls 6 accommodated in the radial grooves 38 are accommodated. Since the number is (N + 1) / 3, the number of balls 6 in the radial groove 38 is (N + 1) and the number of balls accommodated in the radial groove 38 is (N + 1). Weight can be reduced by reducing the number.
  • the number of grooves in the radial groove 38 is (N + 1) / 3 with respect to the wave number (N) of the corrugated groove 40, and the ball 6 accommodated in the radial groove 38. Since the number of balls is (N + 1) / 3, the balls 6 can be enlarged, and a large torque can be transmitted even though the number of balls 6 is reduced.
  • the first output-side rotating body 8A and the second output-side rotating body 8B have contact relief recesses for reducing the contact resistance by reducing the contact area with the rocking body 5. Since a plurality of places 45 and 46 are formed, power transmission can be performed efficiently.
  • the ball speed reducer 1 according to the present embodiment is configured such that the grease is filled in the contact relief recess 45 of the first output-side rotator 8A and the contact escape recess 46 of the second output-side rotator 8B.
  • the reduction ratio is 1. / N, and the reduction ratio can be made larger than that of the conventional ball reducer 100 shown in FIG.
  • the wave number (N) of the wave groove 40 of the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is 50 waves.
  • the number of balls 6 may be determined and the reduction ratio may be changed. Note that the number of balls 6 may be less than the number of radial grooves 40 as long as smooth rotation transmission of the ball reducer 1 is not impaired.
  • the wave number (N) of the wave groove 40 of the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is 50 waves, and the fixed member
  • the number of grooves (N + 1) / 3 of the radial grooves 38 is 17 and the number of balls 6 is 17, the present invention is not limited to this, and the wave number (N) of the corrugated grooves 40 is an even number ( 2) and the number of radial grooves 38 ((N-1) / 3) is a natural number
  • the wave number (N) of the corrugated groove 40 and the number of grooves of the radial groove 38 (N- 1) / 3 and the number of balls 6 may be determined and the reduction ratio may be changed.
  • the wave number (N) of the corrugated groove 40 of the output side rotator 8 is 46
  • the groove number ((N ⁇ 1) / 3) of the radial groove 38 of the fixing member 7 is 15, and the number of balls 6 (( This can also be applied to the case where N-1) / 3) is 15.
  • the output side rotating body 8 rotates 1 / N in the same rotation direction as the input shaft 2 with respect to one rotation of the input shaft 2.
  • the number of balls 6 may be less than the number of radial grooves 38 as long as smooth rotation transmission of the ball reducer 1 is not impaired.
  • FIG. 11 to 13 are views for explaining a ball speed reducer 1 according to a second embodiment of the present invention.
  • FIG. 11 is a longitudinal sectional view of the ball speed reducer 1 according to the second embodiment of the present invention.
  • 12A is a front view of the first output-side rotator 8A
  • FIG. 12B is a cross-sectional view taken along the line A7-A7 of FIG. 12A, showing the first output-side rotator 8A.
  • 13 (a) is a front view of the second output side rotator 8B
  • FIG. 13 (b) is a view of the second output side rotator 8B cut along the line A8-A8 of FIG. 13 (a). It is sectional drawing.
  • the shape of the corrugated grooves 56 of the first output-side rotating body 8A and the second output-side rotating body 8B is the ball according to the first embodiment.
  • the same reference numerals are given to the same components as the ball speed reducer 1 according to the first embodiment, and the description of the ball speed reducer 1 according to the first embodiment overlaps. Description is omitted.
  • the corrugated groove 56 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B.
  • the first corrugated groove portion 56A on the first output side rotating body 8A side and the second corrugated groove portion 56B on the second output side rotating body 8B side have the same planar shape and groove depth. Yes, it is shaped like one is transferred to the other. Further, the first corrugated groove portion 56A on the first output side rotating body 8A side and the second corrugated groove portion 56B on the second output side rotating body 8B side are formed with the corrugated groove 40 of the ball reducer 1 according to the first embodiment.
  • the ball speed reducer 1 according to the present embodiment is similar to the ball speed reducer 1 according to the first embodiment in that the wave number of the corrugated groove 56 (the first corrugated groove portion 56A and the second corrugated groove portion 56A of the first output-side rotating body 8A).
  • the wave number of the second corrugated groove portion 56B of the output side rotating body 8B is 50 waves
  • the number of grooves ((N + 1) / 3) of the radial grooves 38 of the fixing member 7 is 17 grooves
  • the number of balls 6 is The case of 17 is illustrated.
  • the ball speed reducer 1 according to the present embodiment is not limited to the wave number N of the corrugated groove 56, and the wave number N of the corrugated groove 56 is set to an odd number.
  • the number of radial grooves 38 may be (N + 1) grooves, (N ⁇ 1) grooves, ((N + 1) / 2) grooves, or ((N ⁇ 1) / 2) grooves.
  • the ball speed reducer 1 has a waveform only at two locations on the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion of the second output side rotating body 8B.
  • Groove 56 is formed (first corrugated groove portion 56A of corrugated groove 56 is formed in first side surface portion 32 of first output side rotating body 8A, and second side surface portion of second output side rotating body 8B is formed. 41, the second corrugated groove portion 56B of the corrugated groove 56 is formed), so that the conventional ball speed reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed at four locations, respectively. (See FIG. 35), the number of processing steps can be reduced.
  • the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B). Since it can move, it is a complicated mechanism for rotating the rocking body 5 and the output side rotating body 8 together (for example, the eccentric absorption mechanism of the ball reducer 100 according to the conventional example shown in FIG. 35). 113, 113) need not be provided, the structure is simplified, and the number of processing steps can be reduced.
  • the ball 108 is the first corrugated of the eccentric rotating plate 104.
  • the conventional ball reducer 100 configured to simultaneously contact the groove wall of the groove 111 and the groove wall of the second corrugated groove 112 of the fixing member 107 (see FIG. 35)
  • the radial groove 38 and the corrugated groove 56 And the assembly work of the oscillator 5, the fixing member 7, and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is facilitated.
  • FIG. 14 is a longitudinal sectional view of a ball speed reducer 1 according to the third embodiment of the present invention.
  • a ball speed reducer 1 according to this embodiment includes an input shaft (input-side rotating body) 2, a cap (input-side rotating body) 3, an eccentric disk cam 4, an oscillating body 5, and a plurality of A ball (steel ball) 6, a fixing member 7, and an output side rotating body 8 (first output side rotating body 8 ⁇ / b> A, second output side rotating body 8 ⁇ / b> B) are configured.
  • FIG. 15 is a front view of the ball speed reducer 1 with the cap 3, the second output side rotating body 8B, the swinging body 5 and the like removed.
  • the input shaft 2 rotatably supports the first output side rotating body 8 ⁇ / b> A via the first bearing 10 and is driven to rotate by an electric motor (not shown). It has become.
  • the input shaft 2 includes a shaft-shaped portion 12 having a diameter larger than that of the shaft main body portion 11, adjacent to the shaft main body portion 11, and a bearing support portion 13 formed adjacent to the shaft-shaped portion 12.
  • the first bearing 10 is attached to the support portion 13, and the first bearing 10 is held between the inner peripheral projection 15 of the bearing hole 14 of the first output side rotating body 8 ⁇ / b> A and the flange-shaped portion 12. .
  • the input shaft 2 has an eccentric disc cam 4 formed at a position closer to the shaft tip side than the bearing support portion 13 and adjacent to the bearing support portion 13.
  • the eccentric disc cam 4 is an eccentric shaft portion whose center 4a is eccentric with respect to the rotation center 2a of the input shaft 2 (the rotation center 11a of the shaft main body 11) by an eccentric amount (e). 2 is rotated together with the input shaft 2 around the rotation center 2a.
  • fluctuation body 5 is attached to the outer peripheral side of the eccentric disk cam 4 via the 2nd bearing 16 so that relative rotation is possible.
  • the input shaft 2 is formed with a tip shaft portion 17 to which the cap 3 is attached.
  • the distal end shaft portion 17 has a rotation center concentric with the rotation center 2 a of the shaft main body portion 2, is fitted into the shaft hole 18 of the cap 3, and a stopper whose distal end surface 17 a protrudes into the shaft hole 18 of the cap 3. It is abutted against the protrusion 20.
  • a screw hole (female screw) 22 that is screwed with a screw shaft portion 21 a of a bolt 21 for fixing the cap 3 is formed in the distal end shaft portion 17 of the input shaft 2.
  • the cap 3 is fixed to the distal end shaft portion 17 of the input shaft 2 with a bolt 21 and constitutes an input side rotating body together with the input shaft 2, and the rotation center 3 a is the rotation of the input shaft 2. It is formed so as to coincide with the center 2a.
  • the cap 3 has an axial hole 18 that opens to one end side along the rotation center 3a (the right end side in FIG. 17C) and the other end side along the rotation center 3a (the left end side in FIG. 17C). And a bolt head part insertion hole 24 that connects the bolt head part accommodation hole 23 and the shaft hole 18 to each other.
  • the cap 3 has a ring-shaped bearing stopper 25 formed on the left end side of the cylindrical outer peripheral surface 3b, and the side surface of the third bearing 26 attached to the outer peripheral surface 3b is abutted against the bearing stopper 25.
  • the third bearing 26 is held between the inner peripheral projection 28 and the bearing stopper 25 in the bearing hole 27 of the second output side rotating body 8B.
  • the rotation center of the shaft hole 18 and the rotation center of the outer peripheral surface 3 b are concentric with the rotation center 3 a of the cap 3.
  • the cap 3 is formed so that the outer diameter of the outer peripheral surface 3 b is the same as the outer diameter of the bearing support portion 13 of the input shaft 2.
  • the third bearing 26 attached to the outer peripheral surface 3 b of the cap 3 is the same as the first bearing 10 attached to the bearing support portion 13 of the input shaft 2.
  • the rocking body 5 is formed in a disk shape so as to be rocked by the eccentric disk cam 4, and the center bearing hole 30 is fitted to the outer peripheral surface of the second bearing 16.
  • the second bearing 16 supports the eccentric disc cam 4 so that it can rotate relative to the eccentric disc cam 4.
  • the oscillating body 5 is formed such that the center 5a is concentric with the center 4a of the eccentric disc cam 4, the outer peripheral surface 5b is a cylindrical surface concentric with the center 4a of the eccentric disc cam 4, and the outer peripheral surface 5b.
  • a plurality of balls 6 are supported so as to roll.
  • four first through holes 31 a are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30.
  • the connecting projection 33 a formed on the first side surface portion 32 of the first output side rotating body 8 A is engaged with a gap, and the swinging body 5 is formed by the eccentric disc cam 4. Even when it is swung, it is formed in such a size that it does not come into contact with the connecting projection 33a.
  • four second through holes 31 b are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30.
  • the second through hole 31b of the rocking body 5 is engaged with a connecting projection 33b formed on the second side surface portion 41 of the second output side rotating body 8B with a gap, and the rocking body 5 is formed by the eccentric disc cam 4. It is formed in such a size that it does not come into contact with the connecting projection 33b even when it is swung.
  • the first through holes 31a and the second through holes 31b are alternately arranged at equal intervals.
  • the fixing member 7 has a substantially quadrangular shape on the front side, and an oscillating body accommodation hole 34 is formed at the center.
  • the fixing member 7 has a fixed frame portion 35 formed along the outer edge, and a radial groove forming disk portion 36 formed on the radially inner side of the fixed frame portion 35. .
  • the fixing member 7 has bolt holes 37 formed at the four corners of the fixing frame portion 35, and fixing bolts (not shown) are inserted into the bolt holes 37 at the four locations. Frame or robot arm) with fixing bolts.
  • the fixing member 7 is fixed to the member to be fixed so that the center 34 a of the swinging body accommodation hole 34 is concentric with the rotation center 2 a of the input shaft 2.
  • the fixing member 7 includes a plurality of radial grooves 38 extending along the radial direction from the inner peripheral surface 34b of the oscillator housing hole 34 at equal intervals along the circumferential direction (assuming that the wave number of the corrugated groove 60 is N). (N + 1)).
  • the radial groove 38 is an open end that allows the ball 6 to enter and exit, and has a groove width slightly larger than the diameter of the ball 6, and has a groove length (radial length).
  • the fixing member 7 is formed such that the thickness of the radial groove forming disk portion 36 is smaller than the diameter of the ball 6, and the center of the ball 6 engaged with the radial groove 38 is formed in the radial groove.
  • the corrugated groove 60 formed is engaged so as to be able to roll.
  • a radial groove 30 of the fixing member 7 is such that when the eccentric disk cam 4 rotates once and the rocking body 5 is swung by one stroke, the ball 6 is divided according to the rocking amount of the rocking body 5. Can only roll in the radial direction.
  • the radial groove forming disc portion 36 of the fixing member 7 has the same thickness as the thickness of the ball support portion 5e located on the radially outer end side of the oscillator 5. ing.
  • the first output-side rotator 8 ⁇ / b> A includes one of the side surfaces 5 c of both the side surfaces 5 c and 5 d of the oscillating body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 1st side part 32 located facing one side surface 36a of both side surfaces 36a and 36b.
  • the first output-side rotating body 8 ⁇ / b> A is formed with a bearing hole 14 that accommodates the first bearing 10 attached to the input shaft 2, and the side surface of the outer race of the first bearing 10 is formed at the end of the bearing hole 14. It is made to abut against the inner peripheral projection 15 made.
  • first side surface portion 32 of the first output side rotating body 8A a plurality (four places) of connecting projections 33a for connecting and fixing the second output side rotating body 8B are formed at equal intervals in the circumferential direction.
  • the connecting projection 33a is fitted into a connecting projection receiving recess 42b formed in the second side surface portion 41 of the second output side rotating body 8B through the through hole 31a of the rocking body 5.
  • the first side surface portion 32 of the first output side rotator 8A is formed with a plurality (four locations) of connection protrusion accommodating recesses 42a for connecting and fixing the second output side rotator 8B at equal intervals in the circumferential direction. ing.
  • connection projection receiving recess 42a is adapted to be fitted with a connection projection 33b formed on the second side surface portion 41 of the second output side rotating body 8B extending through the through hole 31b of the rocking body 5.
  • first side surface portion 32 of the first output-side rotating body 8A has a corrugated groove 60 formed on the radially outer side of the connecting projection 33a and the connecting projection receiving recess 42a.
  • the first output-side rotating body 8A has a screw hole 52 for fixing a member to be rotated on the back surface side (the surface side opposite to the first side surface portion 32) having a diameter larger than that of the connection protrusion 33a. Four points are formed at equal intervals along the circumferential direction of the inner side position.
  • first output-side rotator 8A has a positioning groove 53 for positioning and fixing the second output-side rotator 8B with high accuracy at one place on the radially outer end.
  • the structure of the connection protrusion 33a and the connection protrusion accommodating recess 42a and the structure for fixing the second output side rotating body 8B to the first output side rotating body 8A with bolts (not shown) are shown in FIGS. This is the same as the structure of the ball reducer 1 shown.
  • the second output-side rotator 8 ⁇ / b> B includes the other side surface 5 d of the side surfaces 5 c and 5 d of the oscillating body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 2nd side part 41 located facing the other side surface 36b of both side surfaces 36a and 36b.
  • the second side surface portion 41 of the second output-side rotator 8B has a connection protrusion 33a at the position facing the connection protrusion 33a of the first output-side rotator 8A. The same number is formed.
  • the second side surface portion 41 of the second output side rotating body 8B is connected to the connecting projection receiving recess 42a at a position facing the connecting projection receiving recess 42a of the first output side rotating body 8A.
  • the second output-side rotating body 8B is formed with a bearing hole 27 that accommodates the third bearing 26 attached to the cap 3, and the side surface of the outer race of the third bearing 26 is formed at the end of the bearing hole 27. Further, it is abutted against the inner peripheral projection 28.
  • the second side surface portion 41 of the second output side rotating body 8B has a corrugated groove 60 formed on the radially outer side of the connecting projection 33b and the connecting projection receiving recess 42b.
  • the second output-side rotating body 8B has a screw hole 52 for fixing a member to be rotated on the back side thereof (the surface side opposite to the second side surface portion 41) having a diameter larger than that of the connecting projection 33b. Four points are formed at equal intervals along the circumferential direction of the inner side position.
  • the second output-side rotator 8B has a positioning groove 54 for positioning and fixing the first output-side rotator 8A with high accuracy at a position corresponding to the positioning groove 53 of the first output-side rotator 8A ( It is formed in one place on the radially outer end. In such a second output-side rotator 8B, the shape of the second side surface 41 viewed in plan (the shape shown in FIG.
  • FIG. 21A is the shape of the first output-side rotator 8A viewed in plan (FIG. 20A).
  • the second output-side rotator 8B has the same vertical cross-sectional shape (the cross-sectional shape shown in FIG. 20 (c)) as the vertical cross-sectional shape (the cross-sectional shape shown in FIG. 21 (c)) of the first output-side rotator 8A. It is.
  • the structure of the connection protrusion 33b and the connection protrusion accommodating recess 42b and the structure for fixing the second output-side rotating body 8B to the first output-side rotating body 8A with bolts (not shown) are shown in FIGS. This is the same as the structure of the ball reducer 1 shown.
  • the corrugated groove 60 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B.
  • the corrugated groove 60 has a valley bottom 60a at a portion positioned at the radially inner end of the wave and a peak 60b at a portion positioned at the radially outer end of the wave.
  • the valley bottom 60a and the peak 60b are rotated on the first output side.
  • the corrugated groove 60 is formed from the valley bottom 60 a on the center line 61 to the mountain peak 60 b on the right when the first side surface portion 32 of the first output side rotating body 8 ⁇ / b> A is viewed.
  • the groove depth gradually increases as it goes, and then gradually increases, and the groove depth gradually increases and gradually decreases from the peak 60b to the right adjacent valley bottom 60a.
  • the corrugated groove 60 is obtained when the second side surface portion 41 of the second output-side rotating body 8B facing the first side surface portion 32 of the first output-side rotating body 8A is viewed.
  • the groove depth gradually increases from the valley bottom 60a on the center line 61 toward the left adjacent peak 60b, and then gradually decreases.
  • the groove depth decreases gradually from the peak 60b toward the left adjacent valley bottom 60a and then increases gradually. ing. That is, the corrugated groove 60 formed across the first side surface portion 32 of the first output-side rotating body 8A and the second side surface portion 41 of the second output-side rotating body 8B causes the ball 6 to move to the first output-side rotating body.
  • the corrugated groove 60 formed over the first output side rotating body 8A and the second output side rotating body 8B and the ball 6 engaged with the radial groove 38 of the fixing member 7 are in the radial direction.
  • the groove 38 formed in a three-dimensional manner also moves in the direction along the rotation center 2 a of the input shaft 2.
  • the corrugated groove 60 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B.
  • the positioning groove 53 of the first output side rotating body 8A and the positioning groove 54 of the second output side rotating body 8B are aligned ( 14, 20, and 21), the first output-side rotator 8 ⁇ / b> A and the second output-side rotator 8 ⁇ / b> B are fixed in a highly accurately positioned state, and therefore the first output-side rotator 8 ⁇ / b> A side
  • the corrugated groove 60 and the corrugated groove 60 on the second output-side rotating body 8B side are not displaced, and are formed with high accuracy.
  • the corrugated groove 60 guides the ball 6 in a right-handed spiral shape along the circumferential direction of the first output-side rotator 8A and the second output-side rotator 8B or in a left-handed spiral shape. It only has to be.
  • FIG. 22 is a diagram showing a rolling locus 62 of the ball 6 when the ball 6 is rolled in the corrugated groove 60.
  • 22A is a plan view of the rolling trajectory 62 of the ball 6 (the rolling trajectory 62 projected on a virtual plane orthogonal to the rotation center 2a of the input shaft 2).
  • FIG. 22B is a diagram in which adjacent waves W1 and W2 of the rolling locus 62 are projected onto a virtual cross section cut along the line A15-A15 in FIG. .
  • FIG. 22 (c) is an enlarged view showing the rolling trajectory of the ball in FIG. 22 (b).
  • the rolling trajectory 62 of the ball 6 shown in FIG. 22 indicates the groove shape of the corrugated groove 60.
  • R represents a radial direction
  • Z represents a direction along the rotation center 2 a of the input shaft 2.
  • the rolling trajectory 62 of the ball 6 moving along the corrugated groove 60 has an elliptical shape with the R direction as the major axis, and the center of the ball 6 is the valley bottom 60a of the corrugated groove 60.
  • the summit 60b (the valley bottom 62a and the summit 62b of the rolling locus 62) are located between the first side face portion 32 and the second side face portion 41, and the first wave from the valley bottom 62a of the first wave W1.
  • the amount of movement in the + Z direction gradually increases after moving toward the peak 62b of W1, and then gradually decreases.
  • the amount of movement in the ⁇ Z direction decreases from the peak 62b of the first wave W1 toward the valley bottom 62a of the adjacent second wave W2.
  • the movement trajectory 62 of the ball 6 has the same amount of movement in the + Z direction and the amount of movement in the ⁇ Z direction.
  • Such a rolling trajectory 62 of the ball 6 is formed by the corrugated groove 60 formed across the first output side rotating body 8A and the second output side rotating body 8B.
  • FIG. 23A is a diagram (a partial plan view of the rolling trajectory 62) showing a state in which the ball 6 is located on the peak 62b of the rolling trajectory 62 of the ball 6, and FIG. FIG. 24 is a cylindrical cross-sectional view when the ball speed reducer 1 is cut at a position corresponding to the line A16-A16 in FIG.
  • FIG. 24A is a diagram (a partial plan view of the rolling trajectory 62) showing a state where the ball 6 is located at an intermediate position between the peak 62b and the valley bottom 62a of the rolling trajectory 62 of the ball 6.
  • FIG. 24B is a cylindrical cross-sectional view when the ball speed reducer 1 is cut at a position corresponding to the line A17-A17 in FIG.
  • the peak 62b of the rolling trajectory 62 of the ball 6 is located at one end of the long axis of the elliptical rolling trajectory 62 of FIG.
  • the corrugated groove 60 has the same groove depth in the first output side rotating body 8A and the second output side rotating body 8B (the groove depth from the first side surface portion 32 and the groove depth from the second side surface portion 41 are the same).
  • the ridge 63 having the same ridge height h1 is formed between the adjacent balls 6 and 6 in the first output-side rotator 8A and the second output-side rotator 8B.
  • the cylindrical cross-sectional view of the valley bottom 62a of the rolling locus 62 of the ball 6 is the same as that shown in FIG.
  • the intermediate position between the peak 62b and the valley bottom 62a of the rolling trajectory 62 of the ball 6 is an elliptical rolling trajectory shown in FIG.
  • the corrugated groove 60 has the same groove depth in the first output side rotating body 8A and the second output side rotating body 8B (the groove depth from the first side surface portion 32 and the second side surface). Ridges having the same ridge height h2 between the adjacent balls 6 and 6 in the first output side rotating body 8A and the second output side rotating body 8B. 63 is formed.
  • the corrugated groove 60 that engages with the ball 6 spirals between the first output side rotating body 8A and the second output side rotating body 8B. 22 (see FIG. 22), the corrugated groove 60 has a valley bottom 60a, an intermediate position between the valley bottom 60a and the peak 60b of the corrugated groove 60, and a position of the peak 60b of the corrugated groove 60.
  • the ridges 63 having sufficient ridge heights h1 and h2 that can prevent ratcheting between the adjacent balls 6 and 6 are formed.
  • the ball speed reducer 1 according to the present embodiment configured as described above has only two locations, the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. Since the corrugated groove 60 is formed, compared with the conventional ball speed reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed at four locations, respectively (see FIG. 35), the number of processing steps can be reduced. Is possible.
  • the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B).
  • the ball speed reducer 1 since the ball 6 is positioned at a location where the radial groove 38 and the corrugated groove 60 intersect, the ball 108 is the first corrugated of the eccentric rotating plate 104.
  • the conventional ball speed reducer 100 configured to simultaneously contact the groove wall of the groove 111 and the groove wall of the second corrugated groove 112 of the fixing member 107 (see FIG. 35), the radial groove 38 and the corrugated groove 60 And the assembly work of the oscillator 5, the fixing member 7, and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is facilitated.
  • the ball speed reducer 1 according to the present embodiment has the same shape for the first output side rotating body 8A and the second output side rotating body 8B.
  • the first output-side rotator 8A, the second output-side rotator 8B, the first bearing 10, and the third bearing 26) can be shared, and the component cost can be reduced.
  • the technical idea of the ball speed reducer 1 according to this embodiment can be applied to the ball speed reducer 1 according to the first embodiment and the ball speed reducer 1 according to the second embodiment.
  • the first output-side rotator 8A and the second output-side rotator 8B have the same shape, so that the components (first output-side rotator 8A, second The output side rotating body 8B, the first bearing 10, and the third bearing 26) can be made common to reduce the component cost.
  • the first output-side rotator 8A and the second output-side rotator 8B can have the same shape.
  • the ball speed reducer 1 is configured such that the first output-side rotator 8A and the second output-side rotator 8B have the same shape, so that the components (first output-side rotator 8A, second The output side rotating body 8B, the first bearing 10, and the third bearing 26) can be made common to reduce the component cost.
  • FIG. 25A is a diagram illustrating a first modification of the rolling locus 62 of the ball 6 and corresponds to FIG. 22C.
  • the rolling trajectory 62 of the ball 6 shown in FIG. 25 (a) is a substantially elliptical shape in which a pair of arcs 64, 64 face each other, and a center line 65 extending along the Z-axis direction is a symmetry axis. And a line-symmetric shape with a center line 66 extending along the R direction as the axis of symmetry.
  • the corrugated groove 60 of the ball speed reducer 1 according to the present embodiment may be formed so as to generate a rolling locus 62 of the ball 6 shown in FIG.
  • FIG. 25B is a diagram illustrating a second modification of the rolling locus 62 of the ball 6 and corresponds to FIG. 22C.
  • the rolling trajectory 62 of the ball 6 shown in FIG. 25 (b) is a substantially elliptical shape in which a pair of arc-like shapes in which both ends of the arc 64 in FIG. 25 (a) are straight lines 67 and 67 face each other. And a line-symmetric shape having a center line 65 extending along the Z-axis direction as a symmetry axis, and a line-symmetric shape having a center line 66 extending along the R-direction as a symmetry axis.
  • the corrugated groove 60 of the ball speed reducer 1 according to the present embodiment may be formed so as to generate a rolling locus 62 of the ball 6 shown in FIG.
  • FIGS. 26 and 27 are views showing a ball speed reducer 1 according to a fourth embodiment of the present invention.
  • 26A is a front view of the ball reducer 1
  • FIG. 26B is a side view of the ball reducer 1.
  • FIG. 27 is a sectional view of the ball speed reducer 1 cut along the line A18-A18 in FIG.
  • the ball speed reducer 1 includes an input shaft (input-side rotating body) 2, a cap (input-side rotating body) 3, an eccentric disc cam 4, and an oscillating body 5 ( First oscillating body 5A, second oscillating body 5B), a plurality of balls (steel balls) 6, a fixing member 7, an output side rotating body 8 (first output side rotating body 8A, second output side rotating body 8B), etc.
  • FIG. 27 is a front view of the ball speed reducer 1 with the cap 3, the second output side rotating body 8B, and the like removed.
  • the input shaft 2 rotatably supports the first output-side rotating body 8A via the first bearing 10, and is driven to rotate by an electric motor (not shown) or the like. It has become.
  • the input shaft 2 includes a shaft-shaped portion 12 having a diameter larger than that of the shaft main body portion 11, adjacent to the shaft main body portion 11, and a bearing support portion 13 formed adjacent to the shaft-shaped portion 12.
  • the first bearing 10 is attached to the support portion 13, and the first bearing 10 is held between the inner peripheral projection 15 of the bearing hole 14 of the first output side rotating body 8 ⁇ / b> A and the flange-shaped portion 12. .
  • the input shaft 2 has an eccentric disc cam 4 formed at a position closer to the shaft tip side than the bearing support portion 13 and adjacent to the bearing support portion 13.
  • the eccentric disc cam 4 is an eccentric shaft portion whose center 4a is eccentric with respect to the rotation center 2a of the input shaft 2 (the rotation center 11a of the shaft main body 11) by an eccentric amount (e). 2 is rotated together with the input shaft 2 around the rotation center 2a.
  • fluctuation body 5 is attached to the outer peripheral side of the eccentric disk cam 4 via the 2nd bearing 16 so that relative rotation is possible.
  • the input shaft 2 is formed with a tip shaft portion 17 to which the cap 3 is attached.
  • the distal end shaft portion 17 has a rotation center concentric with the rotation center 2 a of the shaft main body portion 2, is fitted into the shaft hole 18 of the cap 3, and a stopper whose distal end surface 17 a protrudes into the shaft hole 18 of the cap 3. It is abutted against the protrusion 20.
  • a screw hole (female screw) 22 that is screwed with a screw shaft portion 21 a of a bolt 21 for fixing the cap 3 is formed in the distal end shaft portion 17 of the input shaft 2.
  • cap As shown in FIGS. 26, 27, and 30, the cap 3 is fixed to the distal end shaft portion 17 of the input shaft 2 with a bolt 21, and constitutes an input side rotating body together with the input shaft 2, and the rotation center 3a is input. It is formed so as to coincide with the rotation center 2 a of the shaft 2.
  • the cap 3 has an axial hole 18 that opens to one end side along the rotation center 3a (the right end side in FIG. 30D) and the other end side along the rotation center 3a (the left end side in FIG. 30D). And a bolt head part insertion hole 24 that connects the bolt head part accommodation hole 23 and the shaft hole 18 to each other.
  • the cap 3 has a ring-shaped bearing stopper 25 formed on the left end side of the cylindrical outer peripheral surface 3b, and the side surface of the third bearing 26 attached to the outer peripheral surface 3b is abutted against the bearing stopper 25.
  • the third bearing 26 is held between the inner peripheral projection 28 and the bearing stopper 25 in the bearing hole 27 of the second output side rotating body 8B.
  • the rotation center of the shaft hole 18 and the rotation center of the outer peripheral surface 3 b are concentric with the rotation center 3 a of the cap 3.
  • the cap 3 is formed so that the outer diameter of the outer peripheral surface 3 b is the same as the outer diameter of the bearing support portion 13 of the input shaft 2.
  • the third bearing 26 attached to the outer peripheral surface 3 b of the cap 3 is the same as the first bearing 10 attached to the bearing support portion 13 of the input shaft 2.
  • the cap 3 holds the second bearing 16 in a state of being positioned between the bearing positioning step 3c and the bearing positioning step 2b of the input shaft 2.
  • the oscillating body 5 is configured by combining the first oscillating body 5A and the second oscillating body 5B having the same shape back to back.
  • the swinging body 5 is bifurcated into a first tip 5f (a tip on the outer periphery of the first swinging body 5A) and a second tip 5g (a tip on the outer periphery of the second swinging body 5B).
  • the first tip 5f is slidably engaged with one side of the fixing member 7, and the second tip 5g is slidably engaged with the other side of the fixing member 7. .
  • the first rocking body 5 ⁇ / b> A is formed in a disk shape so as to be rocked by the eccentric disk cam 4, and the center bearing hole 30 is fitted to the outer peripheral surface of the second bearing 16. It is supported by the second bearing 16 so as to be capable of relative rotation.
  • the first oscillating body 5A is formed so that its center 5a is concentric with the center 4a of the eccentric disc cam 4, and its outer peripheral surface 5b is a cylindrical surface concentric with the center 4a of the eccentric disc cam 4.
  • a plurality of balls 6 are supported by the surface 5b so as to be able to roll.
  • ten through holes 31 are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30.
  • the through hole 31 of the first oscillating body 5A is formed on the connection protrusion 33a formed on the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B.
  • the connection protrusion 33b is engaged with a gap, and is formed in a size that does not contact the connection protrusions 33a and 33b even when the first swinging body 5A is swung by the eccentric disc cam 4.
  • the outer peripheral surface 5b of the first tip 5f of the first rocking body 5A has an arcuate cross-sectional shape so as to be in line contact with the outer peripheral surface of the ball 5 (see FIG. 31F). Since the second oscillating body 5B has the same shape as the first oscillating body 5A, the description overlapping the description of the first oscillating body 5A is omitted.
  • the fixing member 7 has a substantially square shape on the front side, and a swinging body accommodation hole 34 is formed at the center.
  • the fixing member 7 has a fixed frame portion 35 formed along the outer edge, and a radial groove forming disk portion 36 formed on the radially inner side of the fixed frame portion 35. .
  • the fixing member 7 has bolt holes 37 formed at the four corners of the fixing frame portion 35, and fixing bolts (not shown) are inserted into the bolt holes 37 at the four locations. Frame or robot arm) with fixing bolts.
  • the fixing member 7 is fixed to the member to be fixed so that the center 34 a of the swinging body accommodation hole 34 is concentric with the rotation center 2 a of the input shaft 2.
  • the oscillating body 5 (the first oscillating body 5A and the second oscillating body 5B) is accommodated in the oscillating body accommodation hole 34 of the fixing member 7 so as to be able to oscillate.
  • a first tip portion 5f of the oscillating body 5 (an outer peripheral side tip portion of the first oscillating body 5A) is arranged to face.
  • the second tip portion 5g of the rocking body 5 (the outer circumferential side tip portion of the second rocking body 5B) is disposed so as to face the other side surface 36b of the fixing member 7.
  • first radial grooves 68 On one side surface 36a of the radial groove forming disk portion 36 of the fixing member 7, there are a plurality of elongated hole-shaped first radial grooves 68 extending along the radial direction (corrugated grooves) along the circumferential direction.
  • first radial grooves 68 When the wave number of 70 is N, (N + 1)) is formed.
  • second radial grooves 71 having a long hole shape extending along the radial direction are provided at equal intervals along the circumferential direction on the other side surface 36b of the radial groove forming disk portion 36 of the fixing member 7.
  • the wave number of the corrugated groove 70 is N, (N + 1)) is formed.
  • the second radial groove 71 has a pitch of 1/2 of the first radial groove 68 in the circumferential direction (when the angle between the adjacent first radial grooves 68 and 68 is ⁇ , ⁇ / 2
  • the first radial groove 68 is formed so as to be turned upside down at a position shifted by an angle of (1)), and is formed at the same radial position as the first radial groove 68.
  • the first radial groove 68 and the second radial groove 71 are formed so that the groove depth is smaller than the radius of the ball 6, and the groove cross-sectional shape is an arc shape having the same radius as the radius of the ball 6. It is formed so as to be in line contact with the ball 6.
  • the first radial groove 68 and the second radial groove 71 have a groove length (radial length) in consideration of the swing amount of the swing body 5 (the eccentric amount e of the eccentric disc cam 4).
  • a ball 6 formed in a length and supported on the outer peripheral surface 5b of the rocking body 5 is moved along the radial direction. Further, the ball 6 accommodated in the first radial groove 68 is engaged with the corrugated groove 70 of the first output-side rotating body 8A so as to be able to roll. Further, the ball 6 accommodated in the second radial groove 71 is engaged with the corrugated groove 70 of the second output side rotating body 8B so as to be able to roll.
  • the first radial groove 68 and the second radial groove 71 of the fixing member 7 are configured so that the eccentric disk cam 4 makes one rotation and the rocking body 5 is swung for one stroke. Can be rolled in the radial direction by an amount corresponding to the swinging amount of the swinging body 5.
  • the fixing member 7 having the above-described configuration includes a first radial groove 68 formed on the one side surface 36a side of the radial groove forming disk portion 36 and a second diameter formed on the other side surface 36b side. Since the directional groove 71 is shifted by a half pitch ( ⁇ / 2 angle) in the circumferential direction, the first radial groove 68 and the second radial groove 71 are formed at the same position in the circumferential direction. As compared with the case where the radial groove forming disk part 36 is not formed by being shifted in the circumferential direction, the thickness of the radial groove forming disk part 36 can be sufficiently secured and the strength of the radial groove forming disk part 36 can be increased.
  • the first radial groove 68 formed on the one side surface 36a side and the second radial groove 71 formed on the other side surface 36b side are shifted by a half pitch in the circumferential direction. Therefore, compared to the case where the first radial groove 68 and the second radial groove 71 are formed at the same position in the circumferential direction (when they are not formed shifted in the circumferential direction), the radial groove is formed. While maintaining the strength of the disk part 36 to be the same, the thickness of the radial groove forming disk part 36 can be reduced, and the weight can be reduced.
  • the first output-side rotator 8 ⁇ / b> A includes one side surface 5 c of the both side surfaces 5 c and 5 d of the oscillating body 5 and a radial groove forming circle of the fixing member 7. It has the 1st side part 32 located facing one side surface 36a of the both sides
  • the first output-side rotating body 8 ⁇ / b> A is formed with a bearing hole 14 that accommodates the first bearing 10 attached to the input shaft 2, and the side surface of the outer race of the first bearing 10 is formed at the end of the bearing hole 14. It is made to abut against the inner peripheral projection 15 made.
  • first side surface portion 32 of the first output side rotating body 8A a plurality of (5 places) connecting projections 33a for connecting and fixing the second output side rotating body 8B are formed at equal intervals in the circumferential direction.
  • the connection protrusion 33a is fitted into a connection protrusion receiving recess 42b formed in the second side surface portion 41 of the second output side rotating body 8B through the through hole 31 of the swinging body 5.
  • the first side surface portion 32 of the first output side rotator 8A is formed with a plurality (five places) of connecting projection receiving recesses 42a for connecting and fixing the second output side rotator 8B at equal intervals in the circumferential direction. ing.
  • the connecting projection receiving recess 42a is adapted to be fitted with a connecting projection 33b formed on the second side surface portion 41 of the second output side rotating body 8B extending through the through hole 31 of the rocking body 5. .
  • the connection protrusions 33a and the connection protrusion accommodating recesses 42a are alternately arranged at equal intervals around the center C1 of the first output-side rotating body 8A.
  • the first side surface portion 32 of the first output side rotating body 8A has a corrugated groove 70 formed on the radially outer side of the connection protrusion 33a and the connection protrusion accommodating recess 42a. As shown in FIG.
  • the corrugated groove 70 is formed of 50 waves continuously, where the radially inner end of the wave is a valley bottom and the radially outer end of the wave is a peak.
  • a wave peak is formed on a center line 72 that passes through the center C1 of the first output side rotating body 8A and is parallel to the x direction.
  • one of the connecting protrusions 33a and one of the connecting protrusions 33a and one of the connecting protrusion receiving recesses 42a that are in two-fold symmetry are center lines 73 (first output side rotating body 8A) orthogonal to the center line 72.
  • the first output-side rotating body 8A has a screw hole 52 for fixing a member to be rotated on the back surface side (the surface side opposite to the first side surface portion 32) having a diameter larger than that of the connection protrusion 33a.
  • Four points are formed at equal intervals along the circumferential direction of the inner side position.
  • a pair of screw holes 52 are formed on the center line 74, and a pair of screw holes 52 are formed on the center line 75 orthogonal to the center line 74.
  • the portion on the radially inner side from the corrugated groove 70 (more precisely, the region that allows the rocking body 5 to rock) is a fixing member. 7 and the second tip portion 5g of the oscillating body 5 are accommodated between the second side surface portion 41 of the second output side rotating body 8B. It is supposed to be.
  • a portion radially outward from the corrugated groove 70 (more precisely, a region where the outer peripheral end of the rocking body 5 does not reach) is fixed.
  • the corrugated groove 70 has a groove depth of the first radial groove 68 formed on the side surface 36a side of the fixing member 7 of the ball 6. Since it is smaller than the radius, the groove depth on the mountain top side can be made larger than the radius of the ball 6. As a result, the first output-side rotating body 8A can effectively prevent ratcheting in the vicinity of the peak of the corrugated groove 70 to which the largest rotational torque acts when the rotation of the ball speed reducer 1 is transmitted.
  • FIG. 34 is a diagram showing the second output-side rotator 8B.
  • the second output-side rotator 8B shown in FIG. 34 (a) reverses the first output-side rotator 8A around the center line (inversion reference center line) 72 in FIG. 33 (a), and then outputs the first output.
  • the side rotating body 8A is rotated 180 degrees around the center line 73, and then the first output side rotating body 8A is rotated clockwise about the center C1 of the first output side rotating body 8A in the second radial direction.
  • the groove 71 is rotated by an angle of 1/2 pitch ( ⁇ / 2 where the angle between adjacent radial grooves 71 and 71 is ⁇ ), and has the same shape as the first output-side rotating body Is used.
  • the second output-side rotator 8B includes the other side surface 5d of the side surfaces 5c and 5d of the rocking body 5 and the other side surface 36a and 36b of the radial groove forming disk portion 36 of the fixing member 7. It has the 2nd side part 41 located facing the side surface 36b.
  • the second side surface portion 41 of the second output side rotator 8B has a connection protrusion 33a at a position corresponding to the connection protrusion 33a of the first output side rotator 8a. The same number is formed.
  • the second side surface portion 41 of the second output side rotating body 8B is connected to the connecting projection receiving recess 42a at a position corresponding to the connecting projection receiving recess 42a of the first output side rotating body 8A.
  • the second output-side rotating body 8B is formed with a bearing hole 27 that accommodates the third bearing 26 attached to the cap 3, and the side surface of the outer race of the third bearing 26 is formed at the end of the bearing hole 27. Further, it is abutted against the inner peripheral projection 28.
  • the second output-side rotating body 8B has a screw hole 52 for fixing the member to be rotated on the back surface side (the surface side opposite to the second side surface portion 41). Four points are formed at equal intervals along the circumferential direction of the inner side position.
  • the second side surface portion 41 of the second output-side rotator 8B has a corrugated groove 70 formed on the radially outer side of the connection protrusion 33b and the connection protrusion accommodating recess 42b.
  • the corrugated groove 70 is formed of 50 waves continuously, and passes through the center C1 of the second output side rotating body 8B and is parallel to the center line 72 parallel to the x direction. It is formed so that the peak of the wave is located on the center line 76 rotated by ⁇ / 2 in the clockwise direction.
  • connection protrusions 33 b and one of the connection protrusion receiving recesses 42 b that are in a two-fold symmetry with the one of the connection protrusions 33 b are arranged on a center line 74 orthogonal to the center line 75.
  • the first output-side rotating body 8A and the second output-side rotating body 8B have shaft portions 78a of bolts 78 inserted into bolt holes 77 formed in the connecting projection receiving recesses 42b of the second output-side rotating body 8B.
  • a portion radially inward of the corrugated groove 70 (more precisely, a region in which the oscillating body 5 can be oscillated) is a fixing member. 7 the radial groove forming disk portion 36, the first tip portion 5 f of the rocking body 5, and the second tip portion 5 g of the rocking body 5 are accommodated between the first side surface portion 32 of the first output side rotating body 8 ⁇ / b> A. It is supposed to be.
  • the corrugated groove 70 has a groove depth of the second radial groove 71 formed on the other side surface 36b side of the fixing member 7 of the ball 6. Since it is smaller than the radius, the groove depth on the mountain top side can be made larger than the radius of the ball 6. As a result, the second output-side rotator 8B can effectively prevent ratcheting in the vicinity of the peak of the corrugated groove 70 to which the largest rotational torque acts when the rotation of the ball speed reducer 1 is transmitted.
  • the ball speed reducer 1 has the first output side rotating body 8A and the second output side rotating body 8B fixed in combination.
  • the corrugated groove 70 of the output-side rotator 8A and the corrugated groove 70 of the second output-side rotator 8B are the half pitch ( ⁇ / 2) of the first radial groove 68 (or the second radial groove 71). Since the first radial groove 68 and the second radial groove 71 of the fixing member 7 are formed so as to be shifted by a half pitch ( ⁇ / 2) in the circumferential direction because they are positioned in a state shifted in the circumferential direction.
  • the positional relationship of 70 matches, and rotation transmission can be performed smoothly.
  • the ball speed reducer 1 according to the present embodiment configured as described above has only two locations, the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. Since the corrugated groove 70 is formed, compared with the conventional ball reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed at four locations, respectively (see FIG. 35), the number of processing steps is reduced. Is possible.
  • the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B).
  • the ball speed reducer 1 has the ball 6 at the location where the first radial groove 68 and the corrugated groove 70 intersect, and at the location where the second radial groove 71 and the corrugated groove 70 intersect. Therefore, the ball 108 is configured to be in contact with the groove wall of the first corrugated groove 111 of the eccentric rotating plate 104 and the groove wall of the second corrugated groove 112 of the fixing member 107 at the same time. Compared to the ball reducer 100 (see FIG.
  • the first radial groove 68, the second radial groove 71, and the corrugated groove 70 can be easily processed, and the oscillator 5, the fixing member 7, and Assembling work such as the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) becomes easy.
  • bowl speed reducer 1 which concerns on this embodiment has components (1st output side rotary body 8A, 2nd output side).
  • the rotating body 8B, the first bearing 10, and the third bearing 26) can be shared, and the component cost can be reduced.
  • the ball speed reducer 1 is formed by shifting the first radial groove 68 and the second radial groove 71 of the fixing member 7 by a half pitch ( ⁇ / 2) along the circumferential direction.
  • the present invention is not limited to this, and the first radial groove 68 and the second radial groove 71 of the fixing member 7 may be formed at the same circumferential position.
  • one of the connection projections 33a of the first output side rotating body 8A and the connection projection receiving recess 42a at a position that is two-fold symmetrical with one of the connection projections 33a.
  • One is arranged on a center line 73 (a center line passing through the center C1 of the first output side rotating body 8A and parallel to the y direction).
  • the oscillating body 5 is configured by combining the first oscillating body 5A and the second oscillating body 5B having the same shape back to back. 5 may be formed integrally.
  • the ball speed reducer 1 according to the first to fourth embodiments of the present invention includes the whole (the input shaft 2, the cap 3, the rocking body 5, the fixing member 7, the first output side rotating body 8A, and the second output side).
  • the rotating body 8B, etc. is made of metal, a part of the whole is made of a synthetic resin material, or the whole other than the first to fourth bearings 10, 16, 26 and the ball 6 is made of a synthetic resin material.
  • the ball speed reducer 1 in which the entirety other than the first to third bearings 10, 16, 26 and the ball 6 is formed of a synthetic resin material can be reduced in weight and the product price can be reduced. .
  • the ball speed reducer 1 in which the entirety other than the first to third bearings 10, 16, 26 and the ball 6 is made of a synthetic resin material can reduce contact noise with the ball 6 (can be silenced) and can also vibrate vibration. It becomes possible to suppress.
  • the ball speed reducer 1 according to the third and fourth embodiments is formed entirely of a synthetic resin material other than the first to third bearings 10, 16, 26 and the ball 6, the first output side rotation Since the body 8A and the second output side rotating body 8B can be used in common, a single injection mold is sufficient, and the manufacturing cost can be reduced.

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Abstract

[Problem] To provide a ball reduction gear which has a simple structure and for which the machining workload is low. [Solution] A ball reduction gear 1 is provided with an eccentric disk cam 4 that rotates integrally with input-side rotating bodies 2, 3, a swinging body 5 that is swung by the eccentric disk cam 4, a plurality of balls 6 supported by the swinging body 5, a fixed member 7 positioned radially outward from the swinging body 5, a first output-side rotating body 8A that faces one side surface of the fixed member 7, and a second output-side rotating body 8B that faces the other side surface of the fixed member 7 and is fixed to the first output-side rotating body 8A. A plurality of radial grooves that guide the balls 6 along the radial direction are formed in the fixed member 7. A waveform groove 40 that guides the balls 6 in a waveform shape along the circumferential direction is formed so as to straddle the first output-side rotating body 8A and the second output-side rotating body 8B. The depth of the waveform groove 40 at the crest of the wave is greater than that at the trough of the wave, in an alternating manner on the first output-side rotating body 8A side and the second output-side rotating body 8B side.

Description

ボール減速機Ball reducer
　この発明は、回転を減速して伝達するために使用されるボール減速機に関するものである。 This invention relates to a ball speed reducer used for decelerating and transmitting rotation.
　従来から、ボール減速機は、歯車減速装置と比較して、小型で且つ大きな減速比を得られることから、各種機械（例えば、産業用ロボット、舵角可変式ステアリング装置等）の動力伝達部に使用されている。 Conventionally, the ball speed reducer is smaller and has a larger speed reduction ratio than the gear speed reduction device, so that it can be used as a power transmission unit for various machines (for example, industrial robots, steering angle variable type steering devices, etc.). in use.
　図３５は、このような従来のボール減速機１００を示す図である。なお、図３５（ａ）は、従来のボール減速機１００の縦断面図であり、図３５（ｂ）は、図３５（ａ）のＡ１８－Ａ１８線に沿って切断して示すボール減速機１００の断面図である。 FIG. 35 is a diagram showing such a conventional ball speed reducer 100. FIG. 35A is a longitudinal sectional view of a conventional ball reducer 100, and FIG. 35B is a ball reducer 100 cut along line A18-A18 in FIG. 35A. FIG.
　図３５に示すように、ボール減速機１００は、入力軸１０１に形成された偏心カム１０２の外周側にベアリング１０３を介して偏心回転板１０４が取り付けられており、偏心回転板１０４が偏心カム１０２によって偏心駆動されるようになっている。また、このボール減速機１００は、図示しない出力軸に連結される出力側回転体１０５が偏心回転板１０４の径方向内方側の両側にそれぞれ配置されており、入力軸１０１が出力側回転体１０５の内周側にベアリング１０６を介して相対回動できるように支持されている。また、このボール減速機１００は、産業用ロボットの一部等に固定される固定部材１０７が偏心回転板１０４の径方向外方側の両側にボール１０８を介してそれぞれ配置されており、出力側回転体１０５が固定部材１０７の内周側にベアリング１１０を介して回動可能に支持されている。そして、偏心回転板１０４と固定部材１０７とに挟まれるボール１０８は、偏心回転板１０４の側面に形成された第１波形溝（外サイクロイド曲線で形作られる第１サイクロイド溝）１１１と固定部材１０７の内側面（偏心回転板１０４に対向する側面）に形成された第２波形溝（内サイクロイド曲線で形作られる第２サイクロイド溝）１１２とに転動できるように係合されており、偏心回転板１０４と固定部材１０７とを連結している。なお、第２波形溝１１２の波数は、第１波形溝１１１の波数よりも２波多くなるように形成されている。 As shown in FIG. 35, in the ball speed reducer 100, an eccentric rotating plate 104 is attached to the outer peripheral side of an eccentric cam 102 formed on the input shaft 101 via a bearing 103, and the eccentric rotating plate 104 is attached to the eccentric cam 102. Is driven eccentrically. Further, in this ball speed reducer 100, output side rotating bodies 105 connected to an output shaft (not shown) are arranged on both sides on the radially inner side of the eccentric rotating plate 104, and the input shaft 101 is an output side rotating body. It is supported on the inner peripheral side of 105 through a bearing 106 so as to be relatively rotatable. Further, in this ball speed reducer 100, fixing members 107 fixed to a part of an industrial robot or the like are arranged on both sides on the radially outer side of the eccentric rotating plate 104 via balls 108, respectively. A rotating body 105 is rotatably supported on the inner peripheral side of the fixed member 107 via a bearing 110. The ball 108 sandwiched between the eccentric rotating plate 104 and the fixing member 107 is formed by a first corrugated groove (first cycloid groove formed by an outer cycloid curve) 111 formed on the side surface of the eccentric rotating plate 104 and the fixing member 107. The eccentric rotating plate 104 is engaged with a second corrugated groove (second cycloid groove formed by an inner cycloid curve) 112 formed on the inner side surface (side surface facing the eccentric rotating plate 104) so as to roll. And the fixing member 107 are connected. The wave number of the second corrugated groove 112 is formed so as to be two more than the wave number of the first corrugated groove 111.
　また、出力側回転体１０５は、偏心吸収機構１１３を介して偏心回転板１０４に連結されている。偏心吸収機構１１３は、偏心回転板１０４が出力側回転体１０５に対して偏心運動するのを可能にするものであり（偏心回転板１０４の偏心を吸収するものであり）、偏心回転板１０４の回転を出力側回転体１０５に伝達するようになっている。この偏心吸収機構１１３は、偏心回転板１０４と出力側回転体１０５との間に介装された複数のボール１１４と、このボール１１４を転動可能に収容する偏心回転板１０４の駆動環状溝１１５と、出力側回転体１０５の従動環状溝１１６とによって構成されている。駆動環状溝１１５及び従動環状溝１１６は、偏心カム１０２の偏心量を考慮して形状及び大きさが決定され、偏心回転板１０４が入力軸１０１の回転中心に対して偏心回転する際のボール１１４の動きを許容し、出力側回転体１０５がボール１１４を介して偏心回転板１０４と一体に回動するのを可能にしている（特許文献１参照）。 Further, the output-side rotator 105 is connected to the eccentric rotating plate 104 via the eccentric absorbing mechanism 113. The eccentric absorbing mechanism 113 allows the eccentric rotating plate 104 to move eccentrically with respect to the output side rotating body 105 (absorbs the eccentricity of the eccentric rotating plate 104). The rotation is transmitted to the output side rotating body 105. The eccentric absorbing mechanism 113 includes a plurality of balls 114 interposed between the eccentric rotating plate 104 and the output-side rotating body 105, and a driving annular groove 115 of the eccentric rotating plate 104 that accommodates the balls 114 in a rollable manner. And a driven annular groove 116 of the output side rotator 105. The shape and size of the driving annular groove 115 and the driven annular groove 116 are determined in consideration of the amount of eccentricity of the eccentric cam 102, and the ball 114 when the eccentric rotating plate 104 rotates eccentrically with respect to the rotation center of the input shaft 101. The output-side rotator 105 can rotate integrally with the eccentric rotating plate 104 via a ball 114 (see Patent Document 1).
　このような従来のボール減速機１００は、例えば、偏心回転板１０４の第１波形溝１１１の波数をＮ－２とし、固定部材１０７の第２波形溝１１２の波数をＮとした場合、入力軸１０１が図示しない電動機等によって回転駆動されると、偏心回転板１０４が入力軸１０１の偏心カム１０２によって偏心駆動され、出力側回転体１０５が偏心吸収機構１１３を介して偏心回転板１０４と一体となって回転することになるが、出力側回転体１０５が入力軸１０１の１回転に対して－２／（Ｎ－２）回転（入力軸１０１の回転方向と逆の方向に２／（Ｎ－２）回転）することになる。すなわち、従来のボール減速機１００は、偏心回転板１０４の第１波形溝１１１の波数をＮ－２とし、固定部材１０７の第２波形溝１１２の波数をＮとした場合、減速比が２／（Ｎ－２）になる。 In such a conventional ball speed reducer 100, for example, when the wave number of the first wave groove 111 of the eccentric rotating plate 104 is N-2 and the wave number of the second wave groove 112 of the fixed member 107 is N, the input shaft When 101 is rotationally driven by an electric motor (not shown) or the like, the eccentric rotating plate 104 is eccentrically driven by the eccentric cam 102 of the input shaft 101, and the output side rotating body 105 is integrated with the eccentric rotating plate 104 via the eccentric absorbing mechanism 113. The output-side rotator 105 rotates -2 / (N-2) with respect to one rotation of the input shaft 101 (2 / (N- in the direction opposite to the rotation direction of the input shaft 101). 2) Rotate). That is, in the conventional ball speed reducer 100, when the wave number of the first corrugated groove 111 of the eccentric rotating plate 104 is N-2 and the wave number of the second corrugated groove 112 of the fixed member 107 is N, the reduction ratio is 2 / (N-2).
特開平５－１０４００号公報JP-A-5-10400
　しかしながら、図３５に示す従来のボール減速機１００は、偏心回転板１０４の両側面にそれぞれ第１波形溝１１１が形成され、偏心回転板１０４の両側にそれぞれ配置された固定部材１０７の内側面に第２波形溝１１２が形成されているため、合計４側面（４箇所）に波形溝１１１，１１１，１１２，１１２を高精度に形成しなければならず、加工工数が嵩むという問題を有していた。 However, in the conventional ball speed reducer 100 shown in FIG. 35, first corrugated grooves 111 are formed on both side surfaces of the eccentric rotating plate 104, and on the inner side surfaces of the fixing members 107 respectively disposed on both sides of the eccentric rotating plate 104. Since the second corrugated groove 112 is formed, the corrugated grooves 111, 111, 112, 112 must be formed with high accuracy on a total of four side surfaces (four locations), and the processing man-hours increase. It was.
　また、図３５に示す従来のボール減速機１００は、偏心回転板１０４と出力側回転体１０５とを一体に回動させるため、出力側回転体１０５が偏心吸収機構１１３を介して偏心回転板１０４に連結されており、構造が複雑であると共に、加工工数が嵩むという問題を有していた。 In addition, since the conventional ball speed reducer 100 shown in FIG. 35 rotates the eccentric rotating plate 104 and the output side rotating body 105 integrally, the output side rotating body 105 is eccentrically rotated via the eccentric absorbing mechanism 113. The structure is complicated and the processing man-hours increase.
　そこで、本発明は、構造が簡単で、加工工数が少ないボール減速機の提供を目的とする。 Therefore, an object of the present invention is to provide a ball speed reducer with a simple structure and a small number of processing steps.
　本発明は、入力側回転体（２，３）の回転を出力側回転体８に減速して伝達するボール減速機１に関するものである。本発明のボール減速機１は、前記入力側回転体（２，３）と一体に回動する偏心円板カム４と、前記偏心円板カム４の外周側に相対回動可能に嵌合され、前記偏心円板カム４によって揺動させられる揺動体５と、前記揺動体５の外周面５ｂに沿って複数配置されたボール６と、前記揺動体５を揺動できるように径方向内方側に収容すると共に、被固定部材に固定される固定部材７と、前記揺動体５及び前記固定部材７の一方の側面に対向するように配置され、前記入力側回転体（２，３）に相対回動可能に支持された第１出力側回転体８Ａと、前記揺動体５及び前記固定部材７の他方の側面に対向するように配置され、前記第１出力側回転体８Ａに一体回動できるように固定されると共に、前記入力側回転体（２，３）に相対回動可能に支持され、前記第１出力側回転体８Ａと共に前記出力側回転体８を構成する第２出力側回転体８Ｂと、を備えている。そして、前記揺動体５の外周面５ｂは、前記偏心円板カム４の中心４ａと同心の円筒面である。また、前記固定部材７は、前記入力側回転体（２，３）の回転中心２ａに直交する仮想平面において、前記回転中心２ａから放射状に延びる方向を径方向とすると、前記ボール６を前記径方向にスライド移動可能に案内する径方向溝３８が前記ボール６の数と同数形成されると共に、前記径方向溝３８の径方向内方端が前記ボール６の出入りを可能にする開口端になっている。また、前記第１出力側回転体８Ａは、前記固定部材７の一方の側面に対向する第１側面部３２を有している。また、前記第２出力側回転体８Ｂは、前記固定部材７の他方の側面に対向する第２側面部４１を有している。また、前記第１側面部３２及び前記第２側面部４１は、前記仮想平面において、前記回転中心２ａを中心とする仮想円の外縁に沿った方向を周方向とすると、前記ボール６を前記周方向に沿って波形状に案内する環状の波形溝４０，５６，６０が形成されている。 The present invention relates to a ball speed reducer 1 that decelerates and transmits the rotation of an input side rotating body (2, 3) to an output side rotating body 8. A ball speed reducer 1 according to the present invention is fitted to an eccentric disk cam 4 that rotates integrally with the input side rotating body (2, 3), and an outer peripheral side of the eccentric disk cam 4 so as to be relatively rotatable. The rocking body 5 swung by the eccentric disc cam 4, a plurality of balls 6 arranged along the outer peripheral surface 5 b of the rocking body 5, and the radially inward so that the rocking body 5 can be swung. The fixed member 7 that is housed on the side and fixed to the fixed member, and is disposed so as to face one side surface of the rocking body 5 and the fixed member 7, and is disposed on the input side rotating body (2, 3). The first output-side rotator 8A supported so as to be relatively rotatable, and disposed so as to oppose the other side surfaces of the swinging body 5 and the fixing member 7, and rotate integrally with the first output-side rotator 8A. It is fixed so as to be able to be supported and is supported by the input side rotating body (2, 3) so as to be relatively rotatable. Is, a, a second output-side rotating body 8B constituting the output-side rotary member 8 together with the first output rotary member 8A. The outer peripheral surface 5 b of the rocking body 5 is a cylindrical surface concentric with the center 4 a of the eccentric disc cam 4. Further, the fixing member 7 is configured such that the radial direction of the radial direction from the rotation center 2a in the virtual plane orthogonal to the rotation center 2a of the input-side rotator (2, 3) The number of radial grooves 38 that are slidably guided in the direction is formed in the same number as the number of the balls 6, and the radially inner end of the radial groove 38 is an open end that allows the balls 6 to enter and exit. ing. Further, the first output side rotating body 8 </ b> A has a first side surface portion 32 that faces one side surface of the fixing member 7. Further, the second output side rotating body 8B has a second side surface portion 41 facing the other side surface of the fixing member 7. In addition, the first side surface portion 32 and the second side surface portion 41 may be configured so that the ball 6 is rotated around the virtual plane when the direction along the outer edge of the virtual circle centered on the rotation center 2a is the circumferential direction. Annular corrugated grooves 40, 56, and 60 are formed to guide in a wave shape along the direction.
　本発明に係るボール減速機は、揺動体及び固定部材に対向する第１出力側回転体の第１側面部と第２出力側回転体の第２側面部の２箇所にのみ波形溝を形成するようになっているため、波形溝を４側面にそれぞれ形成する従来例と比較し、加工工数の削減が可能になる。また、本発明に係るボール減速機は、揺動体が出力側回転体（第１出力側回転体、第２出力側回転体）及び固定部材に対して独立して揺動できるようになっているため、出力側回転体と揺動体とを一体に回動させるための複雑な機構が不要になり、構造が簡単化し、加工工数の削減が可能になる。 In the ball speed reducer according to the present invention, the corrugated groove is formed only at two locations of the first side surface portion of the first output side rotating body and the second side surface portion of the second output side rotating body facing the rocking body and the fixing member. Therefore, the number of processing steps can be reduced as compared with the conventional example in which the corrugated grooves are formed on the four side surfaces. In the ball speed reducer according to the present invention, the swinging body can swing independently with respect to the output side rotating body (first output side rotating body, second output side rotating body) and the fixed member. Therefore, a complicated mechanism for integrally rotating the output side rotating body and the swinging body is not required, the structure is simplified, and the number of processing steps can be reduced.
本発明の第１実施形態に係るボール減速機の縦断面図である。1 is a longitudinal sectional view of a ball speed reducer according to a first embodiment of the present invention. 本発明の第１実施形態に係るボール減速機の入力軸（入力側回転体）を示す図であり、図２（ａ）は入力軸の正面図（先端面を示す図）、図２（ｂ）は入力軸の側面図、図２（ｃ）は入力軸の後端面を示す図である。It is a figure which shows the input shaft (input side rotary body) of the ball reducer which concerns on 1st Embodiment of this invention, Fig.2 (a) is a front view (figure which shows a front end surface) of an input shaft, FIG.2 (b) ) Is a side view of the input shaft, and FIG. 2C is a view showing a rear end surface of the input shaft. 本発明の第１実施形態に係るボール減速機のキャップ（入力側回転体）を示す図であり、図３（ａ）はキャップの正面図、図３（ｂ）は図３（ａ）のＡ１－Ａ１線に沿って切断して示すキャップの断面図、図３（ｃ）はキャップの背面図である。It is a figure which shows the cap (input side rotary body) of the ball reducer which concerns on 1st Embodiment of this invention, Fig.3 (a) is a front view of a cap, FIG.3 (b) is A1 of Fig.3 (a). FIG. 3C is a cross-sectional view of the cap cut along the line A1 and FIG. 3C is a rear view of the cap. 本発明の第１実施形態に係るボール減速機の揺動体を示す図であり、図４（ａ）は揺動体の正面図、図４（ｂ）は図４（ａ）のＡ２－Ａ２線に沿って切断して示す揺動体の断面図である。It is a figure which shows the rocking body of the ball | bowl speed reducer which concerns on 1st Embodiment of this invention, Fig.4 (a) is a front view of a rocking body, FIG.4 (b) is the A2-A2 line | wire of Fig.4 (a). It is sectional drawing of the rocking body cut | disconnected and shown along. 本発明の第１実施形態に係るボール減速機の固定部材を示す図であり、図５（ａ）は固定部材の正面図、図５（ｂ）は図５（ａ）のＡ３－Ａ３線に沿って切断して示す固定部材の断面図である。It is a figure which shows the fixing member of the ball | bowl speed reducer which concerns on 1st Embodiment of this invention, Fig.5 (a) is a front view of a fixing member, FIG.5 (b) is the A3-A3 line | wire of Fig.5 (a). It is sectional drawing of the fixing member cut | disconnected and shown along. 本発明の第１実施形態に係るボール減速機の第１出力側回転体を示す図であり、図６（ａ）は第１出力側回転体の正面図、図６（ｂ）は図６（ａ）のＡ４－Ａ４線に沿って切断して示す第１出力側回転体の断面図である。It is a figure which shows the 1st output side rotary body of the ball reducer which concerns on 1st Embodiment of this invention, Fig.6 (a) is a front view of a 1st output side rotary body, FIG.6 (b) is FIG. It is sectional drawing of the 1st output side rotary body cut | disconnected and shown along the A4-A4 line of a). 本発明の第１実施形態に係るボール減速機の第２出力側回転体を示す図であり、図７（ａ）は第２出力側回転体の正面図、図７（ｂ）は図７（ａ）のＡ５－Ａ５線に沿って切断して示す第２出力側回転体の断面図である。It is a figure which shows the 2nd output side rotary body of the ball reducer which concerns on 1st Embodiment of this invention, Fig.7 (a) is a front view of a 2nd output side rotary body, FIG.7 (b) is FIG. It is sectional drawing of the 2nd output side rotary body cut | disconnected and shown along the A5-A5 line of a). 本発明の第１実施形態に係るボール減速機の波形溝を簡略化して示す斜視図である。It is a perspective view which simplifies and shows the waveform groove | channel of the ball reducer which concerns on 1st Embodiment of this invention. ボールが波形溝内を転動させられた場合のボールの転動軌跡を示す図であり、図９（ａ）はボールの転動軌跡の平面図、図９（ｂ）は図９（ａ）のＡ６－Ａ６線に沿って切断して示す仮想断面上に転動軌跡の波を投影して示す図である。It is a figure which shows the rolling locus | trajectory of a ball | bowl when a ball is rolled in the waveform groove | channel, Fig.9 (a) is a top view of a ball rolling locus | trajectory, FIG.9 (b) is FIG.9 (a). FIG. 7 is a diagram showing a rolling locus wave projected onto a virtual cross section cut along the line A6-A6. 図１０（ａ）は波形溝の第１変形例を説明するための図であり、図１０（ｂ）は波形溝の第２変形例を説明するための図である。FIG. 10A is a diagram for explaining a first modified example of the corrugated groove, and FIG. 10B is a diagram for explaining a second modified example of the corrugated groove. 本発明の第２実施形態に係るボール減速機の縦断面図である。It is a longitudinal cross-sectional view of the ball reducer which concerns on 2nd Embodiment of this invention. 図１２（ａ）は第１出力側回転体の正面図であり、図１２（ｂ）は図１２（ａ）のＡ７－Ａ７線に沿って切断して示す第１出力側回転体の断面図である。12A is a front view of the first output-side rotator, and FIG. 12B is a cross-sectional view of the first output-side rotator taken along line A7-A7 in FIG. 12A. It is. 図１３（ａ）は第２出力側回転体の正面図であり、図１３（ｂ）は図１３（ａ）のＡ８－Ａ８線に沿って切断して示す第２出力側回転体の断面図である。13A is a front view of the second output-side rotator, and FIG. 13B is a cross-sectional view of the second output-side rotator taken along line A8-A8 in FIG. 13A. It is. 本発明の第３実施形態に係るボール減速機の縦断面図である。It is a longitudinal cross-sectional view of the ball reducer which concerns on 3rd Embodiment of this invention. 本発明の第３実施形態に係るボール減速機のキャップ及び第２出力側回転体を取り外して示す正面図である。It is a front view which removes and shows the cap and 2nd output side rotating body of the ball reducer concerning a 3rd embodiment of the present invention. 本発明の第３実施形態に係るボール減速機の入力軸（入力側回転体）を示す図であり、図１６（ａ）は入力軸の正面図（先端面を示す図）、図１６（ｂ）は入力軸の側面図、図１６（ｃ）は図１６（ａ）のＡ９－Ａ９線に沿って切断して示す断面図である。It is a figure which shows the input shaft (input side rotary body) of the ball reducer which concerns on 3rd Embodiment of this invention, Fig.16 (a) is a front view (figure which shows a front end surface) of an input shaft, FIG.16 (b) ) Is a side view of the input shaft, and FIG. 16C is a cross-sectional view taken along line A9-A9 in FIG. 本発明の第３実施形態に係るボール減速機のキャップ（入力側回転体）を示す図であり、図１７（ａ）はキャップの正面図、図１７（ｂ）はキャップの側面図、図１７（ｃ）は図１７（ａ）のＡ１０－Ａ１０線に沿って切断して示すキャップの断面図である。It is a figure which shows the cap (input side rotary body) of the ball reducer which concerns on 3rd Embodiment of this invention, Fig.17 (a) is a front view of a cap, FIG.17 (b) is a side view of a cap, FIG. FIG. 18C is a sectional view of the cap cut along the line A10-A10 in FIG. 本発明の第３実施形態に係るボール減速機の揺動体を示す図であり、図１８（ａ）は揺動体の正面図、図１８（ｂ）は図１８（ａ）のＡ１１－Ａ１１線に沿って切断して示す揺動体の断面図である。It is a figure which shows the rocking body of the ball reducer which concerns on 3rd Embodiment of this invention, FIG.18 (a) is a front view of a rocking body, FIG.18 (b) is the A11-A11 line | wire of Fig.18 (a). It is sectional drawing of the rocking body cut | disconnected and shown along. 本発明の第３実施形態に係るボール減速機の固定部材を示す図であり、図１９（ａ）は固定部材の正面図、図１９（ｂ）は図１９（ａ）のＡ１２－Ａ１２線に沿って切断して示す固定部材の断面図である。It is a figure which shows the fixing member of the ball reducer which concerns on 3rd Embodiment of this invention, Fig.19 (a) is a front view of a fixing member, FIG.19 (b) is the A12-A12 line | wire of Fig.19 (a). It is sectional drawing of the fixing member cut | disconnected and shown along. 本発明の第３実施形態に係るボール減速機の第１出力側回転体を示す図であり、図２０（ａ）は第１出力側回転体の正面図、図２０（ｂ）は第１出力側回転体の側面図、図２０（ｃ）は図２０（ａ）のＡ１３－Ａ１３線に沿って切断して示す第１出力側回転体の断面図である。It is a figure which shows the 1st output side rotary body of the ball reducer which concerns on 3rd Embodiment of this invention, Fig.20 (a) is a front view of a 1st output side rotary body, FIG.20 (b) is a 1st output. FIG. 20C is a cross-sectional view of the first output-side rotator cut along the line A13-A13 in FIG. 20A. 本発明の第３実施形態に係るボール減速機の第２出力側回転体を示す図であり、図２１（ａ）は第２出力側回転体の正面図、図２１（ｂ）は第２出力側回転体の側面図、図２１（ｃ）は図２１（ａ）のＡ１４－Ａ１４線に沿って切断して示す第２出力側回転体の断面図である。It is a figure which shows the 2nd output side rotary body of the ball reducer which concerns on 3rd Embodiment of this invention, Fig.21 (a) is a front view of a 2nd output side rotary body, FIG.21 (b) is a 2nd output. FIG. 21C is a sectional view of the second output-side rotator cut along the line A14-A14 in FIG. 21A. 本発明の第３実施形態に係るボール減速機の波形溝内を転動させられたボールの転動軌跡を示す図であり、図２２（ａ）はボールの転動軌跡の平面図、図２２（ｂ）は図２２（ａ）のＡ１５－Ａ１５線に沿って切断して示す仮想断面上に転動軌跡の波を投影して示す図、図２２（ｃ）は図２２（ｂ）のボールの転動軌跡を拡大して示す図である。It is a figure which shows the rolling locus | trajectory of the ball rolled within the waveform groove | channel of the ball reducer which concerns on 3rd Embodiment of this invention, Fig.22 (a) is a top view of a ball rolling locus | trajectory, FIG. FIG. 22B is a diagram showing the rolling locus wave projected on a virtual cross section cut along the line A15-A15 in FIG. 22A, and FIG. 22C shows the ball in FIG. It is a figure which expands and shows the rolling locus | trajectory. 本発明の第３実施形態に係るボール減速機の波形溝の特徴を示す図であり、図２３（ａ）はボールの転動軌跡のうちの山頂にボールが位置する状態を示す図、図２３（ｂ）はボール減速機を図２３（ａ）のＡ１６－Ａ１６線に対応する位置で切断した場合の円筒断面図である。It is a figure which shows the characteristic of the waveform groove | channel of the ball | bowl speed reducer which concerns on 3rd Embodiment of this invention, FIG.23 (a) is a figure which shows the state in which a ball | bowl is located in the peak of the rolling locus of a ball | bowl, FIG. 24B is a cylindrical cross-sectional view of the ball speed reducer cut at a position corresponding to line A16-A16 in FIG. 本発明の第３実施形態に係るボール減速機の波形溝の特徴を示す図であり、図２４（ａ）はボールの転動軌跡のうちの山頂と谷底の中間位置にボールが位置する状態を示す図、図２４（ｂ）はボール減速機を図２４（ａ）のＡ１７－Ａ１７線に対応する位置で切断した場合の円筒断面図である。It is a figure which shows the characteristic of the waveform groove | channel of the ball | bowl speed reducer which concerns on 3rd Embodiment of this invention, and Fig.24 (a) shows the state which a ball | bowl is located in the intermediate position of the mountain peak and valley bottom of the rolling trajectory of a ball | bowl. FIG. 24B is a cylindrical cross-sectional view when the ball speed reducer is cut at a position corresponding to the line A17-A17 in FIG. 図２５（ａ）は本発明の第３実施形態の第１変形例に係るボールの転動軌跡を示す図（図２２（ｃ）に対応する図）であり、図２５（ｂ）は本発明の第３実施形態の第２変形例に係るボールの転動軌跡を示す図（図２２（ｃ）に対応する図）である。FIG. 25 (a) is a diagram (corresponding to FIG. 22 (c)) showing the rolling locus of the ball according to the first modification of the third embodiment of the present invention, and FIG. 25 (b) is the present invention. It is a figure (figure corresponding to Drawing 22 (c)) showing a rolling locus of a ball concerning the 2nd modification of a 3rd embodiment. 本発明の第４実施形態に係るボール減速機を示す図であり、図２６（ａ）はボール減速機の正面図、図２６（ｂ）はボール減速機の側面図である。It is a figure which shows the ball reducer which concerns on 4th Embodiment of this invention, Fig.26 (a) is a front view of a ball reducer, FIG.26 (b) is a side view of a ball reducer. 図２６（ａ）のＡ１８－Ａ１８線に沿って切断して示すボール減速機の断面図である。FIG. 27 is a cross-sectional view of the ball speed reducer shown cut along line A18-A18 in FIG. 本発明の第４実施形態に係るボール減速機のキャップ及び第２出力側回転体を取り外して示す正面図である。It is a front view which removes and shows the cap and 2nd output side rotating body of the ball reducer concerning a 4th embodiment of the present invention. 本発明の第４実施形態に係るボール減速機の入力軸（入力側回転体）を示す図であり、図２９（ａ）は入力軸の正面図（先端面を示す図）、図２９（ｂ）は入力軸の側面図、図２９（ｃ）は入力軸の背面図（後端面を示す図）、図２９（ｄ）は図２９（ａ）のＡ１９－Ａ１９線に沿って切断して示す断面図である。It is a figure which shows the input shaft (input side rotary body) of the ball reducer which concerns on 4th Embodiment of this invention, Fig.29 (a) is a front view (figure which shows a front end surface) of an input shaft, FIG.29 (b) ) Is a side view of the input shaft, FIG. 29 (c) is a rear view of the input shaft (showing the rear end surface), and FIG. 29 (d) is cut along line A19-A19 in FIG. 29 (a). It is sectional drawing. 本発明の第４実施形態に係るボール減速機のキャップ（入力側回転体）を示す図であり、図３０（ａ）はキャップの正面図、図３０（ｂ）はキャップの側面図、図３０（ｃ）はキャップの背面図、図３０（ｄ）は図３０（ａ）のＡ２０－Ａ２０線に沿って切断して示すキャップの断面図である。It is a figure which shows the cap (input side rotary body) of the ball reducer which concerns on 4th Embodiment of this invention, Fig.30 (a) is a front view of a cap, FIG.30 (b) is a side view of a cap, FIG. FIG. 30C is a rear view of the cap, and FIG. 30D is a sectional view of the cap cut along the line A20-A20 in FIG. 30A. 本発明の第４実施形態に係るボール減速機の揺動体を示す図であり、図３１（ａ）は揺動体の正面図、図３１（ｂ）は揺動体の側面図、図３１（ｃ）は揺動体の背面図、図３１（ｄ）は図３１（ａ）のＡ２１－Ａ２１線に沿って切断して示す揺動体の断面図、図３１（ｅ）は図３１（ｂ）のＢ１部の拡大図である。It is a figure which shows the rocking body of the ball reducer which concerns on 4th Embodiment of this invention, Fig.31 (a) is a front view of a rocking body, FIG.31 (b) is a side view of a rocking body, FIG.31 (c) Is a rear view of the oscillating body, FIG. 31 (d) is a cross-sectional view of the oscillating body cut along the line A21-A21 in FIG. 31 (a), and FIG. 31 (e) is a section B1 in FIG. 31 (b). FIG. 本発明の第４実施形態に係るボール減速機の固定部材を示す図であり、図３２（ａ）は固定部材の正面図、図３２（ｂ）は固定部材の側面図、図３２（ｃ）は固定部材の背面図、図３２（ｄ）は図３２（ａ）のＡ２２－Ａ２２線に沿って切断して示す固定部材の断面図、図３２（ｅ）図３２（ａ）のＢ２部の拡大図、図３２（ｆ）は図３２（ｅ）のＡ２３－Ａ２３線に沿って切断して示す断面図である。It is a figure which shows the fixing member of the ball reducer which concerns on 4th Embodiment of this invention, Fig.32 (a) is a front view of a fixing member, FIG.32 (b) is a side view of a fixing member, FIG.32 (c). Is a rear view of the fixing member, FIG. 32D is a cross-sectional view of the fixing member cut along the line A22-A22 of FIG. 32A, and FIG. 32E is a cross-sectional view of B2 portion of FIG. FIG. 32 (f) is an enlarged view and a cross-sectional view taken along line A23-A23 of FIG. 32 (e). 本発明の第４実施形態に係るボール減速機の第１出力側回転体を示す図であり、図３３（ａ）は第１出力側回転体の波形溝が形成された正面図、図３３（ｂ）は第１出力側回転体の側面図、図３３（ｃ）は図３３（ａ）のＡ２４－Ａ２４線に沿って切断して示す第１出力側回転体の断面図、図３３（ｄ）は第１出力側回転体の背面図である。It is a figure which shows the 1st output side rotary body of the ball reducer which concerns on 4th Embodiment of this invention, FIG.33 (a) is a front view in which the waveform groove | channel of the 1st output side rotary body was formed, FIG. b) is a side view of the first output-side rotating body, FIG. 33C is a cross-sectional view of the first output-side rotating body cut along the line A24-A24 in FIG. 33A, and FIG. ) Is a rear view of the first output side rotator. 本発明の第４実施形態に係るボール減速機の第２出力側回転体を示す図であり、図３４（ａ）は第２出力側回転体の波形溝が形成された正面図、図３４（ｂ）は第２出力側回転体の側面図、図３４（ｃ）は図３４（ａ）のＡ２５－Ａ２５線に沿って切断して示す第２出力側回転体の断面図、図３４（ｄ）は第２出力側回転体の背面図である。It is a figure which shows the 2nd output side rotary body of the ball reducer which concerns on 4th Embodiment of this invention, Fig.34 (a) is a front view in which the waveform groove | channel of the 2nd output side rotary body was formed, FIG. b) is a side view of the second output side rotator, FIG. 34C is a sectional view of the second output side rotator cut along the line A25-A25 in FIG. 34A, and FIG. ) Is a rear view of the second output side rotator. 従来のボール減速機を示す図であり、図３５（ａ）はボール減速機の縦断面図、図３５（ｂ）は図３５（ａ）のＡ２６－Ａ２６線に沿って切断して示す断面図である。FIG. 35A is a view showing a conventional ball reducer, FIG. 35A is a longitudinal sectional view of the ball reducer, and FIG. 35B is a sectional view taken along line A26-A26 of FIG. 35A. It is.
　以下、本発明の実施形態を図面に基づき詳述する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
　[第１実施形態］
　図１は、本発明の第１実施形態に係るボール減速機１の縦断面図である。この図１に示すように、本実施形態に係るボール減速機１は、入力軸（入力側回転体）２、キャップ（入力側回転体）３、偏心円板カム４、揺動体５、複数のボール（鋼球）６、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ、第２出力側回転体８Ｂ）等で構成されている。 [First embodiment]
FIG. 1 is a longitudinal sectional view of a ball speed reducer 1 according to a first embodiment of the present invention. As shown in FIG. 1, a ball speed reducer 1 according to this embodiment includes an input shaft (input-side rotating body) 2, a cap (input-side rotating body) 3, an eccentric disk cam 4, an oscillating body 5, and a plurality of A ball (steel ball) 6, a fixing member 7, and an output side rotating body 8 (first output side rotating body 8 </ b> A, second output side rotating body 8 </ b> B) are configured.
　図１及び図２に示すように、入力軸２は、第１ベアリング１０を介して第１出力側回転体８Ａを回動自在に支持しており、図示しない電動機等によって回転駆動されるようになっている。この入力軸２は、軸本体部１１よりも大径の鍔状部１２が軸本体部１１に隣接して形成され、その鍔状部１２に隣接して軸受支持部１３が形成され、その軸受支持部１３に第１ベアリング１０が取り付けられ、第１ベアリング１０を第１出力側回転体８Ａの軸受穴１４の内周側突起１５と鍔状部１２との間に保持するようになっている。また、この入力軸２は、軸受支持部１３よりも軸先端側で且つ軸受支持部１３に隣接する位置に偏心円板カム４が形成されている。この偏心円板カム４は、その中心４ａが入力軸２の回転中心２ａ（軸本体部１１の回転中心１１ａ）に対して偏心量（ｅ）だけ偏心して位置する偏心軸部であり、入力軸２の回転中心２ａの回りに入力軸２と一体となって偏心回転する。そして、偏心円板カム４の外周側には、揺動体５が第２ベアリング１６を介して相対回動可能に取り付けられている。また、入力軸２は、キャップ３を取り付ける先端軸部１７が形成されている。この先端軸部１７は、その回転中心が軸本体部２の回転中心２ａと同心であり、キャップ３の軸穴１８に嵌合され、先端面１７ａがキャップ３の軸穴１８内に突出するストッパ突起２０に突き当てられている。また、入力軸２の先端軸部１７には、キャップ３を固定するためのボルト２１のねじ軸部２１ａと螺合するねじ穴（雌ねじ）２２が形成されている。なお、以下の説明において、入力軸２の回転中心２ａに直交する仮想平面を考えた場合、径方向とは、その仮想平面上を回転中心２ａから放射状に延びる方向をいうものとする。また、入力軸２の回転中心２ａに直交する仮想平面を考えた場合、周方向とは、入力軸２の回転中心２ａを中心とする仮想円の外縁に沿った方向をいうものとする。 As shown in FIGS. 1 and 2, the input shaft 2 rotatably supports the first output side rotating body 8 </ b> A via the first bearing 10 and is driven to rotate by an electric motor (not shown) or the like. It has become. The input shaft 2 includes a shaft-shaped portion 12 having a diameter larger than that of the shaft main body portion 11, adjacent to the shaft main body portion 11, and a bearing support portion 13 formed adjacent to the shaft-shaped portion 12. The first bearing 10 is attached to the support portion 13, and the first bearing 10 is held between the inner peripheral projection 15 of the bearing hole 14 of the first output side rotating body 8 </ b> A and the flange-shaped portion 12. . Further, the input shaft 2 has an eccentric disc cam 4 formed at a position closer to the shaft tip side than the bearing support portion 13 and adjacent to the bearing support portion 13. The eccentric disc cam 4 is an eccentric shaft portion whose center 4a is eccentric with respect to the rotation center 2a of the input shaft 2 (the rotation center 11a of the shaft main body 11) by an eccentric amount (e). 2 is rotated together with the input shaft 2 around the rotation center 2a. And the rocking | fluctuation body 5 is attached to the outer peripheral side of the eccentric disk cam 4 via the 2nd bearing 16 so that relative rotation is possible. Further, the input shaft 2 is formed with a tip shaft portion 17 to which the cap 3 is attached. The distal end shaft portion 17 has a rotation center concentric with the rotation center 2 a of the shaft main body portion 2, is fitted into the shaft hole 18 of the cap 3, and a stopper whose distal end surface 17 a protrudes into the shaft hole 18 of the cap 3. It is abutted against the protrusion 20. In addition, a screw hole (female screw) 22 that is screwed with a screw shaft portion 21 a of a bolt 21 for fixing the cap 3 is formed in the distal end shaft portion 17 of the input shaft 2. In the following description, when a virtual plane orthogonal to the rotation center 2a of the input shaft 2 is considered, the radial direction means a direction extending radially from the rotation center 2a on the virtual plane. When a virtual plane orthogonal to the rotation center 2a of the input shaft 2 is considered, the circumferential direction refers to a direction along the outer edge of the virtual circle centered on the rotation center 2a of the input shaft 2.
　図１及び図３に示すように、キャップ３は、入力軸２の先端軸部１７にボルト２１で固定され、入力軸２と共に入力側回転体を構成し、回転中心３ａが入力軸２の回転中心２ａと一致するように形成されている。このキャップ３は、回転中心３ａに沿った一端側（図３（ｂ）の右端側）に開口する軸穴１８と、回転中心３ａに沿った他端側（図３（ｂ）の左端側）に開口するボルト頭部収容穴２３と、ボルト頭部収容穴２３と軸穴１８とを連通するボルト軸部挿通穴２４と、が形成されている。また、このキャップ３は、円筒状の外周面３ｂの一端側にリング状の軸受ストッパ２５が形成され、外周面３ｂに取り付けられた第３ベアリング２６の側面が軸受ストッパ２５に突き当てられており、第２出力側回転体８Ｂの軸受穴２７内の内周側突起２８と軸受ストッパ２５との間に第３ベアリング２６を保持するようになっている。なお、キャップ３は、軸穴１８の回転中心及び外周面３ｂの回転中心がキャップ３の回転中心３ａと同心である。 As shown in FIGS. 1 and 3, the cap 3 is fixed to the distal end shaft portion 17 of the input shaft 2 with a bolt 21 and constitutes an input side rotating body together with the input shaft 2, and the rotation center 3 a is the rotation of the input shaft 2. It is formed so as to coincide with the center 2a. The cap 3 has an axial hole 18 that opens to one end side along the rotation center 3a (the right end side in FIG. 3B) and the other end side along the rotation center 3a (the left end side in FIG. 3B). And a bolt head part insertion hole 24 that connects the bolt head part accommodation hole 23 and the shaft hole 18 to each other. The cap 3 has a ring-shaped bearing stopper 25 formed on one end of the cylindrical outer peripheral surface 3b, and the side surface of the third bearing 26 attached to the outer peripheral surface 3b is abutted against the bearing stopper 25. The third bearing 26 is held between the inner peripheral projection 28 and the bearing stopper 25 in the bearing hole 27 of the second output side rotating body 8B. In the cap 3, the rotation center of the shaft hole 18 and the rotation center of the outer peripheral surface 3 b are concentric with the rotation center 3 a of the cap 3.
　図１及び図４に示すように、揺動体５は、偏心円板カム４によって揺動させられるように円板状に形成され、中心の軸受穴３０が第２ベアリング１６の外周面に嵌合され、偏心円板カム４と相対回動できるように第２ベアリング１６で支持されている。この揺動体５は、その中心５ａが偏心円板カム４の中心４ａと同心となるように形成され、外周面５ｂが偏心円板カム４の中心４ａと同心の円筒面であり、外周面５ｂで複数のボール６を転動可能に支持している。また、揺動体５は、軸受穴３０の径方向外方側に、周方向に沿って８カ所の貫通穴３１が等間隔で形成されている。この揺動体５の貫通穴３１は、第１出力側回転体８Ａの第１側面部３２に形成された連結突起３３が隙間をもって係合され、揺動体５が偏心円板カム４で揺動させられた際にも連結突起３３に接触しない大きさに形成されている。 As shown in FIGS. 1 and 4, the oscillating body 5 is formed in a disc shape so as to be oscillated by the eccentric disc cam 4, and the center bearing hole 30 is fitted to the outer peripheral surface of the second bearing 16. The second bearing 16 supports the eccentric disc cam 4 so that it can rotate relative to the eccentric disc cam 4. The oscillating body 5 is formed such that the center 5a is concentric with the center 4a of the eccentric disc cam 4, the outer peripheral surface 5b is a cylindrical surface concentric with the center 4a of the eccentric disc cam 4, and the outer peripheral surface 5b. A plurality of balls 6 are supported so as to roll. Further, in the oscillator 5, eight through holes 31 are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30. In the through hole 31 of the rocking body 5, the connecting projection 33 formed on the first side surface portion 32 of the first output side rotating body 8 </ b> A is engaged with a gap, and the rocking body 5 is rocked by the eccentric disc cam 4. It is formed in such a size that it does not come into contact with the connecting projection 33 even when it is applied.
　図１及び図５に示すように、固定部材７は、正面側の形状が略四角形状であり、中心部に揺動体収容穴３４が形成されている。この固定部材７は、外縁に沿うように形成された固定枠部３５と、この固定枠部３５の径方向内方側に形成された径方向溝形成円板部３６と、を有している。そして、固定部材７は、固定枠部３５の四隅にボルト穴３７が形成され、この四箇所のボルト穴３７に固定用ボルト（図示せず）が挿入され、図示しない被固定部材（例えば、機械のフレーム、又はロボットのアーム）に固定用ボルトで固定されるようになっている。この固定部材７は、揺動体収容穴３４の中心３４ａが入力軸２の回転中心２ａと同心となるように被固定部材に固定される。そして、固定部材７の揺動体収容穴３４には、揺動体５が揺動できるように収容される。また、この固定部材７は、揺動体収容穴３４の内周面３４ｂから径方向に沿って延びる径方向溝３８が周方向に沿って等間隔で複数（波形溝４０の波数をＮとすると、（Ｎ＋１）／３箇所）形成されている。この径方向溝３８は、径方向内方端がボール６の出入りを可能にする開口端であり、溝幅がボール６の直径よりも僅かに大きく形成され、溝長さ（径方向長さ）が揺動体５の揺動量（偏心円板カム４の偏心量ｅ）を考慮した長さに形成され、揺動体５の外周面５ｂに支持されたボール６が径方向に沿ってスライド移動させられるようになっている。また、この固定部材７は、径方向溝形成円板部３６の板厚がボール６の直径よりも小さく形成されており、径方向溝３８に係合されたボール６の中心を径方向溝形成円板部３６の板厚方向中心位置に合致させた場合、ボール６が径方向溝形成円板部３６の両側に均等に出っ張り、その径方向溝３８内のボール６が出力側回転体８に形成された波形溝４０に転動可能に係合されるようになっている。このような固定部材７の径方向溝３０は、偏心円板カム４が１回転し、揺動体５が１ストローク分だけ揺動させられると、ボール６を揺動体５の揺動量に応じた分だけ径方向に転動させることができる。なお、本実施形態において、固定部材７の径方向溝形成円板部３６は、その板厚が揺動体５の板厚と同一寸法になっている。 As shown in FIGS. 1 and 5, the fixing member 7 has a substantially square shape on the front side, and a swinging body accommodation hole 34 is formed at the center. The fixing member 7 has a fixed frame portion 35 formed along the outer edge, and a radial groove forming disk portion 36 formed on the radially inner side of the fixed frame portion 35. . The fixing member 7 has bolt holes 37 formed at the four corners of the fixing frame portion 35, and fixing bolts (not shown) are inserted into the bolt holes 37 at the four locations. Frame or robot arm) with fixing bolts. The fixing member 7 is fixed to the member to be fixed so that the center 34 a of the swinging body accommodation hole 34 is concentric with the rotation center 2 a of the input shaft 2. Then, the oscillating body 5 is accommodated in the oscillating body accommodation hole 34 of the fixing member 7 so as to be able to oscillate. The fixing member 7 includes a plurality of radial grooves 38 extending in the radial direction from the inner peripheral surface 34b of the oscillator housing hole 34 at equal intervals along the circumferential direction (assuming that the wave number of the corrugated groove 40 is N. (N + 1) / 3 locations). The radial groove 38 is an open end that allows the ball 6 to enter and exit, and has a groove width slightly larger than the diameter of the ball 6, and has a groove length (radial length). Is formed in a length that takes into account the amount of oscillation of the oscillating body 5 (the amount of eccentricity e of the eccentric disc cam 4), and the ball 6 supported on the outer peripheral surface 5b of the oscillating body 5 is slid along the radial direction. It is like that. Further, the fixing member 7 is formed such that the thickness of the radial groove forming disk portion 36 is smaller than the diameter of the ball 6, and the center of the ball 6 engaged with the radial groove 38 is formed in the radial groove. When matched with the center position in the plate thickness direction of the disc portion 36, the balls 6 protrude evenly on both sides of the radial groove forming disc portion 36, and the balls 6 in the radial grooves 38 are directed to the output side rotating body 8. The corrugated groove 40 formed is engaged so as to be able to roll. Such a radial groove 30 of the fixing member 7 is such that when the eccentric disk cam 4 rotates once and the rocking body 5 is swung by one stroke, the ball 6 is divided according to the rocking amount of the rocking body 5. Can only roll in the radial direction. In the present embodiment, the radial groove-forming disk portion 36 of the fixing member 7 has the same thickness as that of the oscillator 5.
　図１及び図６に示すように、第１出力側回転体８Ａは、揺動体５の両側面５ｃ，５ｄのうちの一方の側面５ｃ、及び固定部材７の径方向溝形成円板部３６の両側面３６ａ，３６ｂのうちの一方の側面３６ａに対向して位置する第１側面部３２を有している。また、第１出力側回転体８Ａは、入力軸２に取り付けられた第１ベアリング１０を収容する軸受穴１４が形成され、第１ベアリング１０のアウターレースの側面が軸受穴１４の端部に形成された内周側突起１５に突き当てられるようになっている。この第１出力側回転体８Ａの第１側面部３２は、第２出力側回転体８Ｂを連結固定するための連結突起３３が周方向に等間隔で複数（８箇所）形成されている。この連結突起３３は、揺動体５の貫通穴３１を貫通して第２出力側回転体８Ｂの第２側面部４１に形成された連結突起収容凹部４２に嵌合されるようになっている。そして、この連結突起３３には、第２出力側回転体８Ｂをボルト４３で固定するためのねじ穴（雌ねじ）４４が形成されている。また、第１出力側回転体８Ａの第１側面部３２は、隣り合う連結突起３３，３３間に接触逃がし凹所４５が形成され、その接触逃がし凹所４５内にグリース等の潤滑剤が適宜収容される。また、第１出力側回転体８Ａの第１側面部３２は、連結突起３３及び接触逃がし凹所４５の径方向外方側に波形溝４０が形成されている。 As shown in FIGS. 1 and 6, the first output-side rotator 8 </ b> A includes one of the side surfaces 5 c of both the side surfaces 5 c and 5 d of the oscillating body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 1st side part 32 located facing one side surface 36a of both side surfaces 36a and 36b. The first output-side rotating body 8 </ b> A is formed with a bearing hole 14 that accommodates the first bearing 10 attached to the input shaft 2, and the side surface of the outer race of the first bearing 10 is formed at the end of the bearing hole 14. It is made to abut against the inner peripheral projection 15 made. In the first side surface portion 32 of the first output side rotator 8A, a plurality (eight locations) of connection protrusions 33 for connecting and fixing the second output side rotator 8B are formed at equal intervals in the circumferential direction. The connection protrusion 33 is adapted to be fitted into a connection protrusion receiving recess 42 formed in the second side surface portion 41 of the second output side rotating body 8B through the through hole 31 of the rocking body 5. The connection protrusion 33 is formed with a screw hole (female screw) 44 for fixing the second output-side rotator 8B with the bolt 43. Further, the first side surface portion 32 of the first output side rotating body 8A has a contact relief recess 45 formed between the adjacent connecting projections 33, 33, and a lubricant such as grease is appropriately placed in the contact relief recess 45. Be contained. Further, the first side surface portion 32 of the first output side rotating body 8A has a corrugated groove 40 formed on the radially outward side of the connecting projection 33 and the contact relief recess 45.
　図１及び図７に示すように、第２出力側回転体８Ｂは、揺動体５の両側面５ｃ、５ｄのうちの他方の側面５ｄ、及び固定部材７の径方向溝形成円板部３６の両側面３６ａ，３６ｂのうちの他方の側面３６ｂに対向して位置する第２側面部４１を有している。この第２出力側回転体８Ｂの第２側面部４１は、第１出力側回転体８Ａの連結突起３３に対向する位置に、連結突起３３に嵌合される連結突起収容凹部４２が連結突起３３と同数形成されている。また、第２出力側回転体８Ｂの第２側面部４１は、隣り合う連結突起収容凹部４２，４２間に接触逃がし凹所４６が形成され、その接触逃がし凹所４６内にグリース等の潤滑剤が適宜収容される。また、第２出力側回転体８Ｂは、キャップ３に取り付けられた第３ベアリング２６を収容する軸受穴２７が形成され、第３ベアリング２６のアウターレースの側面が軸受穴２７の端部に形成された内周側突起２８に突き当てられるようになっている。また、第２出力側回転体８Ｂは、第２側面部４１側の径方向内方端側に、第２ベアリング１６との接触を避ける逃がし穴４７が形成されている。また、第２出力側回転体８Ｂの第２側面部４１は、連結突起収容凹部４２及び接触逃がし凹所４６の径方向外方側に波形溝４０が形成されている。また、第２出力側回転体８Ｂは、第１出力側回転体８Ａの連結突起３３に対向する位置に、第２側面部４１の反対側に位置する側面４８側に開口するボルトヘッド収容凹所５０が形成されると共に、ボルトヘッド収容凹所５０と連結突起収容凹部４２とを連通するボルト穴５１が形成されている。そして、この第２出力側回転体８Ｂは、ボルトヘッド収容凹所５０及びボルト穴５１に挿入されたボルト４３のねじ軸部４３ａが第１出力側回転体８Ａの連結突起３３のねじ穴４４に螺合され、第１出力側回転体８Ａに固定され、第１出力側回転体８Ａと一体となって出力側回転体８を構成する。なお、この第２出力側回転体８Ｂは、第２側面部４１の反対側に位置する側面４８側で、且つ、ボルトヘッド収容凹所５０よりも径方向内方側の位置に周方向に沿って複数のねじ穴５２が形成され、第２出力側回転体８Ｂによって回動させられる図示しない被回転部材が複数のねじ穴５２に螺合される図示しない複数のボルトで固定される。 As shown in FIGS. 1 and 7, the second output-side rotating body 8 </ b> B includes the other side surface 5 d of the both side surfaces 5 c and 5 d of the rocking body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 2nd side part 41 located facing the other side surface 36b of both side surfaces 36a and 36b. In the second side surface portion 41 of the second output side rotating body 8B, the connecting projection receiving recess 42 fitted to the connecting projection 33 is located at a position facing the connecting projection 33 of the first output side rotating body 8A. The same number is formed. Further, the second side surface portion 41 of the second output side rotating body 8B has a contact relief recess 46 formed between the adjacent connection projection receiving recesses 42, 42, and a lubricant such as grease is formed in the contact relief recess 46. Are accommodated as appropriate. Further, the second output-side rotating body 8B is formed with a bearing hole 27 that accommodates the third bearing 26 attached to the cap 3, and the side surface of the outer race of the third bearing 26 is formed at the end of the bearing hole 27. Further, it is abutted against the inner peripheral projection 28. Further, the second output-side rotating body 8B is formed with a relief hole 47 that avoids contact with the second bearing 16 on the radially inner end side on the second side face portion 41 side. Further, the second side surface portion 41 of the second output side rotating body 8B is formed with a corrugated groove 40 on the radially outward side of the connecting projection receiving recess 42 and the contact relief recess 46. Further, the second output-side rotator 8B is a bolt head housing recess that opens to the side surface 48 located on the opposite side of the second side surface portion 41 at a position facing the connection protrusion 33 of the first output-side rotator 8A. 50 is formed, and a bolt hole 51 for communicating the bolt head receiving recess 50 and the connecting projection receiving recess 42 is formed. In the second output side rotating body 8B, the screw shaft portion 43a of the bolt 43 inserted into the bolt head accommodating recess 50 and the bolt hole 51 is formed in the screw hole 44 of the connecting projection 33 of the first output side rotating body 8A. The output side rotating body 8 is constituted by being screwed together and fixed to the first output side rotating body 8A and integrally with the first output side rotating body 8A. The second output-side rotator 8B is on the side surface 48 located on the opposite side of the second side surface portion 41, and along the circumferential direction at a position radially inward from the bolt head housing recess 50. A plurality of screw holes 52 are formed, and a rotated member (not shown) rotated by the second output side rotating body 8B is fixed by a plurality of bolts (not shown) screwed into the plurality of screw holes 52.
　図１、図６、図７、及び図８に示すように、波形溝４０は、第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１に跨って形成されており、偶数個（Ｎ＝５０）の波が入力軸２の回転中心２ａの回りに連続して環状に形成され、固定部材の（Ｎ＋１）／３箇所（１７箇所）の径方向溝３８に収容されたボール６と転動可能に係合するようになっている。この波形溝４０は、波の径方向内方端に位置する部分を谷底４０ａとし、波の径方向外方端に位置する部分を山頂４０ｂとすると、谷底４０ａが第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１とに跨って形成され、奇数番の波の山頂４０ｂの溝深さが第１側面部３２と第２側面部４１のいずれか一方側よりも第１側面部３２と第２側面部４１のいずれか他方側に深く形成され、偶数番の波の山頂４０ｂの溝深さが第１側面部３２と第２側面部４１のいずれか他方側よりも第１側面部３２と第２側面部４１のいずれか一方側に深く形成され、谷底４０ａから山頂４０ｂに向かって溝深さが漸増するように形成されている。即ち、この波形溝４０は、鋸の「あさり（歯振）」と類似した形状になっている。このような第１出力側回転体８Ａの波形溝４０と第２出力側回転体８Ｂの波形溝４０、及び固定部材７の径方向溝３８に係合するボール６は、径方向溝３８内を径方向に沿って移動する際に、３次元的に形成された波形溝４０によって入力軸２の回転中心２ａに沿った方向にも移動する。なお、波形溝４０は、上述のとおり、第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１に跨って形成されているが、第１出力側回転体８Ａと第２出力側回転体８Ｂとを固定する際に、第１出力側回転体８Ａの位置決め溝５３と第２出力側回転体８Ｂの位置決め溝５４とを位置合わせすることにより（図１、図６、及び図７参照）、第１出力側回転体８Ａと第２出力側回転体８Ｂとが高精度に位置決めされた状態で固定されるため、第１出力側回転体８Ａ側の波形溝４０と第２出力側回転体８Ｂ側の波形溝４０とでずれを生じることがなく、高精度に形作られる。 As shown in FIGS. 1, 6, 7, and 8, the corrugated groove 40 is formed on the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. An even number (N = 50) of waves are formed in a ring shape continuously around the rotation center 2a of the input shaft 2 and have a diameter of (N + 1) / 3 locations (17 locations) of the fixed member. The ball 6 accommodated in the directional groove 38 is slidably engaged. The corrugated groove 40 has a valley bottom 40a at a portion positioned at the radially inner end of the wave and a peak 40b at a portion positioned at the radially outer end of the wave. It is formed across the first side surface portion 32 and the second side surface portion 41 of the second output-side rotator 8B, and the groove depth of the odd-numbered wave crest 40b is between the first side surface portion 32 and the second side surface portion 41. The first side surface portion 32 and the second side surface portion 41 are formed deeper on either side of the first side surface portion 32 and the second side surface portion 41 than either one side, and the groove depths of the even-numbered wave peaks 40b are the same. These are formed deeper on either side of the first side surface portion 32 and the second side surface portion 41 than on the other side, and are formed such that the groove depth gradually increases from the valley bottom 40a toward the peak 40b. That is, the corrugated groove 40 has a shape similar to that of a saw “crest (tooth vibration)”. The ball 6 that engages with the corrugated groove 40 of the first output side rotating body 8A, the corrugated groove 40 of the second output side rotating body 8B, and the radial groove 38 of the fixing member 7 passes through the radial groove 38. When moving along the radial direction, the waveform groove 40 formed three-dimensionally also moves in the direction along the rotation center 2 a of the input shaft 2. As described above, the corrugated groove 40 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. When the side rotating body 8A and the second output side rotating body 8B are fixed, the positioning groove 53 of the first output side rotating body 8A and the positioning groove 54 of the second output side rotating body 8B are aligned ( The first output-side rotator 8A and the second output-side rotator 8B are fixed in a state of being positioned with high accuracy, and therefore the first output-side rotator 8A side. The corrugated groove 40 and the corrugated groove 40 on the second output side rotating body 8B side are not displaced, and are formed with high accuracy.
　図９は、ボール６が波形溝４０内を転動させられた場合のボール６の転動軌跡５５を示す図である。なお、図９（ａ）は、ボール６の転動軌跡５５の平面図（入力軸２の回転中心２ａに直交する仮想平面に投影した転動軌跡５５）である。また、図９（ｂ）は、図９（ａ）のＡ６－Ａ６線に沿って切断して示す仮想断面上に、隣り合う転動軌跡の波Ｗ１，Ｗ２を投影して示す図である。そして、この図９に示したボール６の転動軌跡５５は、波形溝４０の溝形状を示している。また、図９において、Ｒは径方向を表し、Ｚは入力軸２の回転中心２ａに沿った方向を示している。 FIG. 9 is a diagram showing a rolling locus 55 of the ball 6 when the ball 6 is rolled in the corrugated groove 40. 9A is a plan view of the rolling trajectory 55 of the ball 6 (the rolling trajectory 55 projected on a virtual plane orthogonal to the rotation center 2a of the input shaft 2). FIG. 9B is a diagram showing the projection of the waves W1 and W2 of the adjacent rolling locus on the virtual cross section cut along the line A6-A6 of FIG. 9A. The rolling trajectory 55 of the ball 6 shown in FIG. In FIG. 9, R represents the radial direction, and Z represents the direction along the rotation center 2 a of the input shaft 2.
　この図９に示すように、ボール６の転動軌跡５５において、隣り合う転動軌跡５５の波Ｗ１，Ｗ２のうちの第１の波Ｗ１は、波形溝４０の谷底４０ａから山頂４０ｂに向かうにしたがって－Ｚ方向に一定の割合で傾斜している。また、転動軌跡５５の第２の波Ｗ２は、波形溝４０の谷底４０ａから山頂４０ｂに向かうにしたがって＋Ｚ方向に一定の割合で傾斜している。そして、第１の波Ｗ１の－Ｚ方向への移動量は、第２の波Ｗ２の＋Ｚ方向への移動量と同一になっている。なお、例えば、転動軌跡５５の第１の波Ｗ１を形作る波形溝４０は、山頂４０ｂに対応する部分が第１出力側回転体８Ａの第１側面部３２側で深くなるように形成されている。この第１の波Ｗ１に対し、転動軌跡５５の第２の波Ｗ２を形作る波形溝４０は、山頂４０ｂに対応する部分が第２出力側回転体８Ｂの第２側面部４１側で深くなるように形成されている。 As shown in FIG. 9, in the rolling trajectory 55 of the ball 6, the first wave W <b> 1 of the waves W <b> 1 and W <b> 2 of the adjacent rolling trajectory 55 is directed from the valley bottom 40 a of the corrugated groove 40 toward the mountain top 40 b. Therefore, it is inclined at a constant rate in the −Z direction. Further, the second wave W2 of the rolling locus 55 is inclined at a constant rate in the + Z direction as it goes from the valley bottom 40a to the peak 40b of the wave groove 40. The amount of movement of the first wave W1 in the −Z direction is the same as the amount of movement of the second wave W2 in the + Z direction. For example, the corrugated groove 40 that forms the first wave W1 of the rolling trajectory 55 is formed so that the portion corresponding to the peak 40b is deeper on the first side surface portion 32 side of the first output side rotating body 8A. Yes. The corrugated groove 40 that forms the second wave W2 of the rolling trajectory 55 with respect to the first wave W1 has a deeper portion corresponding to the peak 40b on the second side surface portion 41 side of the second output side rotating body 8B. It is formed as follows.
　図１０（ａ）は、波形溝４０の第１変形例を示す図であり、図９（ｂ）に対応する図である。この図１０（ａ）に示すボール６の転動軌跡５５において、隣り合う転動軌跡５５の波Ｗ１，Ｗ２のうちの第１の波Ｗ１は、波形溝４０の谷底４０ａから山頂４０ｂに向かうにしたがって（径方向内方から径方向外方へ向かうにしたがって）－Ｚ方向への移動割合が増加している。また、転動軌跡５５の第２の波Ｗ２は、波形溝４０の谷底４０ａから山頂４０ｂに向かうにしたがって（径方向内方から径方向外方へ向かうにしたがって）＋Ｚ方向への移動割合が増加している。波形溝４０は、図１０（ａ）に示すボール６の転動軌跡５５が生じるように形成してもよい。 FIG. 10A is a view showing a first modification of the corrugated groove 40, and corresponds to FIG. 9B. In the rolling trajectory 55 of the ball 6 shown in FIG. 10A, the first wave W1 of the waves W1 and W2 of the adjacent rolling trajectory 55 is directed from the valley bottom 40a of the corrugated groove 40 toward the peak 40b. Therefore, the moving rate in the −Z direction increases (as it goes from the radially inner side to the radially outer side). Further, the second wave W2 of the rolling trajectory 55 increases in the movement rate in the + Z direction as it goes from the valley bottom 40a of the corrugated groove 40 toward the peak 40b (from radially inward to radially outward). is doing. The corrugated groove 40 may be formed so that a rolling locus 55 of the ball 6 shown in FIG.
　図１０（ｂ）は、波形溝４０の第２変形例を示す図であり、図９（ｂ）に対応する図である。この図１０（ｂ）に示すボール６の転動軌跡５５において、隣り合う転動軌跡５５の波Ｗ１，Ｗ２のうちの第１の波Ｗ１は、波形溝４０の谷底４０ａから山頂４０ｂに向かうにしたがって（径方向内方から径方向外方へ向かうにしたがって）－Ｚ方向への移動割合が減少している。また、転動軌跡５５の第２の波Ｗ２は、波形溝４０の谷底４０ａから山頂４０ｂに向かうにしたがって（径方向内方から径方向外方へ向かうにしたがって）＋Ｚ方向への移動割合が減少している。波形溝４０は、図１０（ｂ）に示すボール６の転動軌跡５５が生じるように形成してもよい。 FIG. 10B is a diagram illustrating a second modification of the corrugated groove 40, and corresponds to FIG. 9B. In the rolling trajectory 55 of the ball 6 shown in FIG. 10B, the first wave W1 of the waves W1 and W2 of the adjacent rolling trajectories 55 is directed from the valley bottom 40a of the corrugated groove 40 toward the peak 40b. Therefore, the rate of movement in the −Z direction decreases (as it goes from radially inward to radially outward). Further, the second wave W2 of the rolling trajectory 55 decreases in the movement rate in the + Z direction as it goes from the valley bottom 40a of the corrugated groove 40 to the peak 40b (from radially inward to radially outward). is doing. The corrugated groove 40 may be formed so that a rolling locus 55 of the ball 6 shown in FIG.
　以上のような本実施形態に係るボール減速機１は、入力軸２と偏心円板カム４とが一体になって１回転すると、揺動体５が偏心円板カム４の偏心量（ｅ）の２倍の寸法（２ｅ）だけ揺動させられ、揺動体５の外周面５ｂで支持されたボール６が固定部材７の径方向溝３８内を１往復する。この際、出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）は、ボール６が固定部材７の径方向溝３８内を第１側面部３２及び第２側面部４１の径方向に沿って移動するだけであるため、固定部材７に対して波形溝４０の１波分だけ回動させられる。したがって、本実施形態に係るボール減速機１は、波形溝４０の波数がＮであり、径方向溝３８の溝数が（Ｎ＋１）／３であるため、入力軸２の１回転に対し、出力側回転体８が入力軸２と逆方向へ１／Ｎ回転することになる。なお、本実施形態に係るボール減速機１は、図５及び図８に示すように、出力側回転体８の波形溝４０の波数（Ｎ）が５０であり、固定部材７の径方向溝３８の溝数（Ｎ＋１）／３が１７である場合を例示している。したがって、本実施形態に係るボール減速機１は、入力軸２の回転を１／５０（１／Ｎ）に減速して出力側回転体８に伝達する。 In the ball speed reducer 1 according to the present embodiment as described above, when the input shaft 2 and the eccentric disk cam 4 are integrated and rotated once, the oscillator 5 has an eccentric amount (e) of the eccentric disk cam 4. The ball 6, which is swung by a double size (2 e) and supported by the outer peripheral surface 5 b of the rocking body 5, reciprocates once in the radial groove 38 of the fixing member 7. At this time, in the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B), the ball 6 passes through the radial groove 38 of the fixing member 7 in the first side surface portion 32 and the second side surface portion. Since it only moves along the radial direction of 41, it is rotated by one wave of the wave groove 40 with respect to the fixing member 7. Therefore, in the ball speed reducer 1 according to the present embodiment, the wave number of the corrugated groove 40 is N, and the number of grooves of the radial groove 38 is (N + 1) / 3. The side rotator 8 rotates 1 / N in the opposite direction to the input shaft 2. In the ball speed reducer 1 according to this embodiment, as shown in FIGS. 5 and 8, the wave number (N) of the corrugated groove 40 of the output side rotating body 8 is 50, and the radial groove 38 of the fixing member 7. In this example, the number of grooves (N + 1) / 3 is 17. Therefore, the ball speed reducer 1 according to the present embodiment reduces the rotation of the input shaft 2 to 1/50 (1 / N) and transmits it to the output side rotating body 8.
　以上のように構成された本実施形態に係るボール減速機１は、揺動体５及び固定部材７に対向する第１出力側回転体８Ａの第１側面部３２及び第２出力側回転体８Ｂの第２側面部４１の２箇所のみに波形溝４０を形成するようになっているため、波形溝１１１，１１１，１１２，１１２を４箇所にそれぞれ形成する従来例のボール減速機１００と比較し（図３５参照）、加工工数の削減が可能になる。また、本実施形態に係るボール減速機１は、揺動体５が固定部材７及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）に対して独立して揺動できるようになっているため、揺動体５と出力側回転体８とを一体に回動させるための複雑な機構（例えば、図３５に示した従来例に係るボール減速機１００の偏心吸収機構１１３，１１３）を設ける必要がなく、構造が簡単化し、加工工数の削減が可能になる。 The ball speed reducer 1 according to the present embodiment configured as described above includes the first side surface portion 32 of the first output-side rotator 8A and the second output-side rotator 8B facing the rocking body 5 and the fixing member 7. Since the corrugated groove 40 is formed only in two places on the second side surface portion 41, the corrugated groove 111, 111, 112, 112 is compared with the conventional ball reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed in four places respectively ( The processing man-hour can be reduced. In the ball speed reducer 1 according to the present embodiment, the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B). Since it can move, it is a complicated mechanism for rotating the rocking body 5 and the output side rotating body 8 together (for example, the eccentric absorption mechanism of the ball reducer 100 according to the conventional example shown in FIG. 35). 113, 113) need not be provided, the structure is simplified, and the number of processing steps can be reduced.
　また、本実施形態に係るボール減速機１は、径方向溝３８と波形溝４０との交差する箇所にボール６が位置するようになっているため、ボール１０８が偏心回転板１０４の第１波形溝１１１の溝壁と固定部材１０７の第２波形溝１１２の溝壁に同時に接触するように構成された従来のボール減速機１００と比較し（図３５参照）、径方向溝３８及び波形溝４０の加工が容易になると共に、揺動体５、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）等の組立作業が容易になる。 Further, in the ball speed reducer 1 according to the present embodiment, since the ball 6 is positioned at a location where the radial groove 38 and the corrugated groove 40 intersect, the ball 108 is the first corrugated of the eccentric rotating plate 104. Compared to the conventional ball reducer 100 configured to simultaneously contact the groove wall of the groove 111 and the groove wall of the second corrugated groove 112 of the fixing member 107 (see FIG. 35), the radial groove 38 and the corrugated groove 40 And the assembly work of the oscillator 5, the fixing member 7, and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is facilitated.
　また、本実施形態に係るボール減速機１は、波形溝４０を第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１とに均等の溝深さで形成する場合と比較し、トルク伝達に大きく寄与する波形溝４０の山頂４０ｂにおける溝深さを深くしてあるため、波形溝４０の山頂４０ｂ及びその近傍とボール６との係合量が増大し、伝達可能なトルクを大きくすることができる。 Further, in the ball speed reducer 1 according to the present embodiment, the corrugated groove 40 has an equal groove depth in the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. Since the groove depth at the peak 40b of the corrugated groove 40, which greatly contributes to torque transmission, is increased compared to the case where the ball 6 is formed, the engagement amount between the peak 6b of the corrugated groove 40 and its vicinity and the ball 6 is increased. The torque that can be increased can be increased.
　また、本実施形態に係るボール減速機１は、波形溝４０の波数（Ｎ）に対し、径方向溝３８の溝数が（Ｎ＋１）／３で且つ径方向溝３８に収容されるボール６の数が（Ｎ＋１）／３になっているため、径方向溝３８の溝数が（Ｎ＋１）で且つ径方向溝３８に収容されるボールの数が（Ｎ＋１）の場合と比較し、ボール６の数を減少させた分だけ重量を軽減できる。 Further, in the ball speed reducer 1 according to the present embodiment, the number of the radial grooves 38 is (N + 1) / 3 with respect to the wave number (N) of the corrugated grooves 40 and the balls 6 accommodated in the radial grooves 38 are accommodated. Since the number is (N + 1) / 3, the number of balls 6 in the radial groove 38 is (N + 1) and the number of balls accommodated in the radial groove 38 is (N + 1). Weight can be reduced by reducing the number.
　また、本実施形態に係るボール減速機１は、波形溝４０の波数（Ｎ）に対し、径方向溝３８の溝数が（Ｎ＋１）／３であり、径方向溝３８に収容されるボール６の数が（Ｎ＋１）／３になっているため、ボール６を大きくすることができ、ボール６の数を減少させたにもかかわらず、大きなトルクを伝達することができる。 Further, in the ball speed reducer 1 according to the present embodiment, the number of grooves in the radial groove 38 is (N + 1) / 3 with respect to the wave number (N) of the corrugated groove 40, and the ball 6 accommodated in the radial groove 38. Since the number of balls is (N + 1) / 3, the balls 6 can be enlarged, and a large torque can be transmitted even though the number of balls 6 is reduced.
　また、本実施形態に係るボール減速機１は、第１出力側回転体８Ａ及び第２出力側回転体８Ｂに、揺動体５との接触面積を減らして接触抵抗を低減するための接触逃がし凹所４５，４６が複数形成されているため、動力伝達を効率的に行うことができる。なお、本実施形態に係るボール減速機１は、第１出力側回転体８Ａの接触逃がし凹所４５及び第２出力側回転体８Ｂの接触逃がし凹所４６内にグリースを充填した場合、第１出力側回転体８Ａ及び第２出力側回転体８Ｂと揺動体５との間に作用するグリースの粘性抵抗を低減できるため、グリースの粘性抵抗に起因するエネルギーロスを低減でき、動力伝達を効率的に行うことができる。 Further, in the ball speed reducer 1 according to the present embodiment, the first output-side rotating body 8A and the second output-side rotating body 8B have contact relief recesses for reducing the contact resistance by reducing the contact area with the rocking body 5. Since a plurality of places 45 and 46 are formed, power transmission can be performed efficiently. The ball speed reducer 1 according to the present embodiment is configured such that the grease is filled in the contact relief recess 45 of the first output-side rotator 8A and the contact escape recess 46 of the second output-side rotator 8B. Since the viscous resistance of the grease acting between the output-side rotating body 8A and the second output-side rotating body 8B and the rocking body 5 can be reduced, energy loss due to the grease's viscous resistance can be reduced, and power transmission can be efficiently performed. Can be done.
　また、本実施形態に係るボール減速機１は、出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）の波形溝４０の波数がＮの場合、減速比が１／Ｎになり、図３５に示した従来例のボール減速機１００よりも減速比を大きくすることができる。 In the ball speed reducer 1 according to the present embodiment, when the wave number of the wave groove 40 of the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is N, the reduction ratio is 1. / N, and the reduction ratio can be made larger than that of the conventional ball reducer 100 shown in FIG.
　　（第１実施形態の変形例１）
　本実施形態に係るボール減速機１は、出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）の波形溝４０の波数（Ｎ）が５０波、固定部材７の径方向溝３８の溝数（Ｎ＋１）／３が１７溝、ボール５の数が１７個の場合を例示しているが、これに限られず、波形溝４０の波数（Ｎ）が偶数（２の倍数）で且つ径方向溝３８の溝数（（Ｎ＋１）／３）が自然数であることを条件に、波形溝４０の波数（Ｎ）、径方向溝３８の溝数（Ｎ＋１）／３、及びボール６の個数を決定し、減速比を変更してもよい。なお、ボール６は、ボール減速機１の円滑な回転伝達を損なわない限り、径方向溝４０の溝数よりも少なく配置するようにしてもよい。 (Modification 1 of the first embodiment)
In the ball speed reducer 1 according to the present embodiment, the wave number (N) of the wave groove 40 of the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is 50 waves. The case where the number (N + 1) / 3 of the radial grooves 38 is 17 and the number of the balls 5 is 17 is illustrated, but the present invention is not limited to this, and the wave number (N) of the corrugated grooves 40 is an even number (2 Multiple) and the number of radial grooves 38 ((N + 1) / 3) is a natural number, the wave number (N) of the corrugated groove 40, the number of grooves (N + 1) / 3 of the radial groove 38, and The number of balls 6 may be determined and the reduction ratio may be changed. Note that the number of balls 6 may be less than the number of radial grooves 40 as long as smooth rotation transmission of the ball reducer 1 is not impaired.
　　（第１実施形態の変形例２）
　また、本実施形態に係るボール減速機１は、出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）の波形溝４０の波数（Ｎ）が５０波、固定部材７の径方向溝３８の溝数（Ｎ＋１）／３が１７溝、ボール６の数が１７個の場合を例示しているが、これに限られず、波形溝４０の波数（Ｎ）が偶数（２の倍数）で且つ径方向溝３８の溝数（（Ｎ－１）／３）が自然数であることを条件に、波形溝４０の波数（Ｎ）、径方向溝３８の溝数（Ｎ－１）／３、及びボール６の個数を決定し、減速比を変更してもよい。例えば、出力側回転体８の波形溝４０の波数（Ｎ）を４６とし、固定部材７の径方向溝３８の溝数（（Ｎ－１）／３）を１５とし、ボール６の個数（（Ｎ－１）／３）を１５とする場合にも適用できる。このような本変形例２に係るボール減速機１は、入力軸２の１回転に対し、出力側回転体８が入力軸２と同一の回転方向に１／Ｎ回転することになる。なお、ボール６は、ボール減速機１の円滑な回転伝達を損なわない限り、径方向溝３８の溝数よりも少なく配置するようにしてもよい。 (Modification 2 of the first embodiment)
Further, in the ball speed reducer 1 according to the present embodiment, the wave number (N) of the wave groove 40 of the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is 50 waves, and the fixed member Although the number of grooves (N + 1) / 3 of the radial grooves 38 is 17 and the number of balls 6 is 17, the present invention is not limited to this, and the wave number (N) of the corrugated grooves 40 is an even number ( 2) and the number of radial grooves 38 ((N-1) / 3) is a natural number, the wave number (N) of the corrugated groove 40 and the number of grooves of the radial groove 38 (N- 1) / 3 and the number of balls 6 may be determined and the reduction ratio may be changed. For example, the wave number (N) of the corrugated groove 40 of the output side rotator 8 is 46, the groove number ((N−1) / 3) of the radial groove 38 of the fixing member 7 is 15, and the number of balls 6 (( This can also be applied to the case where N-1) / 3) is 15. In such a ball speed reducer 1 according to the second modification, the output side rotating body 8 rotates 1 / N in the same rotation direction as the input shaft 2 with respect to one rotation of the input shaft 2. Note that the number of balls 6 may be less than the number of radial grooves 38 as long as smooth rotation transmission of the ball reducer 1 is not impaired.
　［第２実施形態］
　図１１乃至図１３は、本発明の第２実施形態に係るボール減速機１を説明するための図である。なお、図１１は、本発明の第２実施形態に係るボール減速機１の縦断面図である。図１２（ａ）は第１出力側回転体８Ａの正面図であり、図１２（ｂ）は図１２（ａ）のＡ７－Ａ７線に沿って切断して示す第１出力側回転体８Ａの断面図である。また、図１３（ａ）は第２出力側回転体８Ｂの正面図、図１３（ｂ）は図１３（ａ）のＡ８－Ａ８線に沿って切断して示す第２出力側回転体８Ｂの断面図である。 [Second Embodiment]
11 to 13 are views for explaining a ball speed reducer 1 according to a second embodiment of the present invention. FIG. 11 is a longitudinal sectional view of the ball speed reducer 1 according to the second embodiment of the present invention. 12A is a front view of the first output-side rotator 8A, and FIG. 12B is a cross-sectional view taken along the line A7-A7 of FIG. 12A, showing the first output-side rotator 8A. It is sectional drawing. 13 (a) is a front view of the second output side rotator 8B, and FIG. 13 (b) is a view of the second output side rotator 8B cut along the line A8-A8 of FIG. 13 (a). It is sectional drawing.
　図１１乃至図１３に示すように、本実施形態に係るボール減速機１は、第１出力側回転体８Ａ及び第２出力側回転体８Ｂの波形溝５６の形状が第１実施形態に係るボール減速機１の第１出力側回転体８Ａ及び第２出力側回転体８Ｂの波形溝４０の溝形状と相違するが、他の構成が第１実施形態に係るボール減速機１と共通する。したがって、本実施形態に係るボール減速機１は、第１実施形態に係るボール減速機１と同一の構成部分に同一符号を付し、第１実施形態に係るボール減速機１の説明と重複する説明を省略する。 As shown in FIGS. 11 to 13, in the ball speed reducer 1 according to the present embodiment, the shape of the corrugated grooves 56 of the first output-side rotating body 8A and the second output-side rotating body 8B is the ball according to the first embodiment. Although different from the groove shape of the corrugated groove 40 of the first output-side rotator 8A and the second output-side rotator 8B of the speed reducer 1, other configurations are common to the ball speed reducer 1 according to the first embodiment. Accordingly, in the ball speed reducer 1 according to the present embodiment, the same reference numerals are given to the same components as the ball speed reducer 1 according to the first embodiment, and the description of the ball speed reducer 1 according to the first embodiment overlaps. Description is omitted.
　本実施形態に係るボール減速機１は、波形溝５６が第１出力側回転体８Ａの第１側面部３２及び第２出力側回転体８Ｂの第２側面部４１に跨って形成されている。そして、波形溝５６のうちの第１出力側回転体８Ａ側の第１波形溝部分５６Ａと第２出力側回転体８Ｂ側の第２波形溝部分５６Ｂは、平面形状及び溝深さが同一であり、一方を他方に転写したような形状になっている。また、第１出力側回転体８Ａ側の第１波形溝部分５６Ａと第２出力側回転体８Ｂ側の第２波形溝部分５６Ｂは、第１実施形態に係るボール減速機１の波形溝４０と異なり、溝深さが一定になるように形成されている。なお、本実施形態に係るボール減速機１は、第１実施形態に係るボール減速機１と同様に、波形溝５６の波数（第１出力側回転体８Ａの第１波形溝部分５６Ａ及び第２出力側回転体８Ｂの第２波形溝部分５６Ｂの波数）が５０波であり、固定部材７の径方向溝３８の溝数（（Ｎ＋１）／３）が１７溝であり、ボール６の数が１７個の場合を例示している。しかしながら、本実施形態に係るボール減速機１は、第１実施形態に係るボール減速機１と異なり、波形溝５６の波数Ｎが偶数に限定されず、波形溝５６の波数Ｎを奇数にしてもよく、径方向溝３８の溝数を（Ｎ＋１）溝、（Ｎ－１）溝、（（Ｎ＋１）／２）溝、又は（（Ｎ－１）／２）溝にしてもよい。 In the ball speed reducer 1 according to the present embodiment, the corrugated groove 56 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. In the corrugated groove 56, the first corrugated groove portion 56A on the first output side rotating body 8A side and the second corrugated groove portion 56B on the second output side rotating body 8B side have the same planar shape and groove depth. Yes, it is shaped like one is transferred to the other. Further, the first corrugated groove portion 56A on the first output side rotating body 8A side and the second corrugated groove portion 56B on the second output side rotating body 8B side are formed with the corrugated groove 40 of the ball reducer 1 according to the first embodiment. In contrast, the groove depth is constant. The ball speed reducer 1 according to the present embodiment is similar to the ball speed reducer 1 according to the first embodiment in that the wave number of the corrugated groove 56 (the first corrugated groove portion 56A and the second corrugated groove portion 56A of the first output-side rotating body 8A). The wave number of the second corrugated groove portion 56B of the output side rotating body 8B is 50 waves, the number of grooves ((N + 1) / 3) of the radial grooves 38 of the fixing member 7 is 17 grooves, and the number of balls 6 is The case of 17 is illustrated. However, unlike the ball speed reducer 1 according to the first embodiment, the ball speed reducer 1 according to the present embodiment is not limited to the wave number N of the corrugated groove 56, and the wave number N of the corrugated groove 56 is set to an odd number. The number of radial grooves 38 may be (N + 1) grooves, (N−1) grooves, ((N + 1) / 2) grooves, or ((N−1) / 2) grooves.
　以上のように構成された本実施形態に係るボール減速機１は、第１出力側回転体８Ａの第１側面部３２及び第２出力側回転体８Ｂの第２側面部の２箇所にのみ波形溝５６が形成される（第１出力側回転体８Ａの第１側面部３２には波形溝５６のうちの第１波形溝部分５６Ａが形成され、第２出力側回転体８Ｂの第２側面部４１には波形溝５６のうちの第２波形溝部分５６Ｂが形成される）ようになっているため、波形溝１１１，１１１，１１２，１１２を４箇所にそれぞれ形成する従来例のボール減速機１００と比較し（図３５参照）、加工工数の削減が可能になる。また、本実施形態に係るボール減速機１は、揺動体５が固定部材７及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）に対して独立して揺動できるようになっているため、揺動体５と出力側回転体８とを一体に回動させるための複雑な機構（例えば、図３５に示した従来例に係るボール減速機１００の偏心吸収機構１１３，１１３）を設ける必要がなく、構造が簡単化し、加工工数の削減が可能になる。 The ball speed reducer 1 according to the present embodiment configured as described above has a waveform only at two locations on the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion of the second output side rotating body 8B. Groove 56 is formed (first corrugated groove portion 56A of corrugated groove 56 is formed in first side surface portion 32 of first output side rotating body 8A, and second side surface portion of second output side rotating body 8B is formed. 41, the second corrugated groove portion 56B of the corrugated groove 56 is formed), so that the conventional ball speed reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed at four locations, respectively. (See FIG. 35), the number of processing steps can be reduced. In the ball speed reducer 1 according to the present embodiment, the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B). Since it can move, it is a complicated mechanism for rotating the rocking body 5 and the output side rotating body 8 together (for example, the eccentric absorption mechanism of the ball reducer 100 according to the conventional example shown in FIG. 35). 113, 113) need not be provided, the structure is simplified, and the number of processing steps can be reduced.
　また、本実施形態に係るボール減速機１は、径方向溝３８と波形溝５６との交差する箇所にボール６が位置するようになっているため、ボール１０８が偏心回転板１０４の第１波形溝１１１の溝壁と固定部材１０７の第２波形溝１１２の溝壁に同時に接触するように構成された従来のボール減速機１００と比較し（図３５参照）、径方向溝３８及び波形溝５６の加工が容易になると共に、揺動体５、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）等の組立作業が容易になる。 Further, in the ball speed reducer 1 according to the present embodiment, since the ball 6 is positioned at the intersection of the radial groove 38 and the corrugated groove 56, the ball 108 is the first corrugated of the eccentric rotating plate 104. Compared to the conventional ball reducer 100 configured to simultaneously contact the groove wall of the groove 111 and the groove wall of the second corrugated groove 112 of the fixing member 107 (see FIG. 35), the radial groove 38 and the corrugated groove 56 And the assembly work of the oscillator 5, the fixing member 7, and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is facilitated.
　［第３実施形態］
　図１４は、本発明の第３実施形態に係るボール減速機１の縦断面図である。この図１４に示すように、本実施形態に係るボール減速機１は、入力軸（入力側回転体）２、キャップ（入力側回転体）３、偏心円板カム４、揺動体５、複数のボール（鋼球）６、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ、第２出力側回転体８Ｂ）等で構成されている。また、図１５は、キャップ３、第２出力側回転体８Ｂ、及び揺動体５等を取り外して示すボール減速機１の正面図である。 [Third Embodiment]
FIG. 14 is a longitudinal sectional view of a ball speed reducer 1 according to the third embodiment of the present invention. As shown in FIG. 14, a ball speed reducer 1 according to this embodiment includes an input shaft (input-side rotating body) 2, a cap (input-side rotating body) 3, an eccentric disk cam 4, an oscillating body 5, and a plurality of A ball (steel ball) 6, a fixing member 7, and an output side rotating body 8 (first output side rotating body 8 </ b> A, second output side rotating body 8 </ b> B) are configured. FIG. 15 is a front view of the ball speed reducer 1 with the cap 3, the second output side rotating body 8B, the swinging body 5 and the like removed.
　図１４乃至図１６に示すように、入力軸２は、第１ベアリング１０を介して第１出力側回転体８Ａを回動自在に支持しており、図示しない電動機等によって回転駆動されるようになっている。この入力軸２は、軸本体部１１よりも大径の鍔状部１２が軸本体部１１に隣接して形成され、その鍔状部１２に隣接して軸受支持部１３が形成され、その軸受支持部１３に第１ベアリング１０が取り付けられ、第１ベアリング１０を第１出力側回転体８Ａの軸受穴１４の内周側突起１５と鍔状部１２との間に保持するようになっている。また、この入力軸２は、軸受支持部１３よりも軸先端側で且つ軸受支持部１３に隣接する位置に偏心円板カム４が形成されている。この偏心円板カム４は、その中心４ａが入力軸２の回転中心２ａ（軸本体部１１の回転中心１１ａ）に対して偏心量（ｅ）だけ偏心して位置する偏心軸部であり、入力軸２の回転中心２ａの回りに入力軸２と一体となって偏心回転する。そして、偏心円板カム４の外周側には、揺動体５が第２ベアリング１６を介して相対回動可能に取り付けられている。また、入力軸２は、キャップ３を取り付ける先端軸部１７が形成されている。この先端軸部１７は、その回転中心が軸本体部２の回転中心２ａと同心であり、キャップ３の軸穴１８に嵌合され、先端面１７ａがキャップ３の軸穴１８内に突出するストッパ突起２０に突き当てられている。また、入力軸２の先端軸部１７には、キャップ３を固定するためのボルト２１のねじ軸部２１ａと螺合するねじ穴（雌ねじ）２２が形成されている。 As shown in FIGS. 14 to 16, the input shaft 2 rotatably supports the first output side rotating body 8 </ b> A via the first bearing 10 and is driven to rotate by an electric motor (not shown). It has become. The input shaft 2 includes a shaft-shaped portion 12 having a diameter larger than that of the shaft main body portion 11, adjacent to the shaft main body portion 11, and a bearing support portion 13 formed adjacent to the shaft-shaped portion 12. The first bearing 10 is attached to the support portion 13, and the first bearing 10 is held between the inner peripheral projection 15 of the bearing hole 14 of the first output side rotating body 8 </ b> A and the flange-shaped portion 12. . Further, the input shaft 2 has an eccentric disc cam 4 formed at a position closer to the shaft tip side than the bearing support portion 13 and adjacent to the bearing support portion 13. The eccentric disc cam 4 is an eccentric shaft portion whose center 4a is eccentric with respect to the rotation center 2a of the input shaft 2 (the rotation center 11a of the shaft main body 11) by an eccentric amount (e). 2 is rotated together with the input shaft 2 around the rotation center 2a. And the rocking | fluctuation body 5 is attached to the outer peripheral side of the eccentric disk cam 4 via the 2nd bearing 16 so that relative rotation is possible. Further, the input shaft 2 is formed with a tip shaft portion 17 to which the cap 3 is attached. The distal end shaft portion 17 has a rotation center concentric with the rotation center 2 a of the shaft main body portion 2, is fitted into the shaft hole 18 of the cap 3, and a stopper whose distal end surface 17 a protrudes into the shaft hole 18 of the cap 3. It is abutted against the protrusion 20. In addition, a screw hole (female screw) 22 that is screwed with a screw shaft portion 21 a of a bolt 21 for fixing the cap 3 is formed in the distal end shaft portion 17 of the input shaft 2.
　図１４及び図１７に示すように、キャップ３は、入力軸２の先端軸部１７にボルト２１で固定され、入力軸２と共に入力側回転体を構成し、回転中心３ａが入力軸２の回転中心２ａと一致するように形成されている。このキャップ３は、回転中心３ａに沿った一端側（図１７（ｃ）の右端側）に開口する軸穴１８と、回転中心３ａに沿った他端側（図１７（ｃ）の左端側）に開口するボルト頭部収容穴２３と、ボルト頭部収容穴２３と軸穴１８とを連通するボルト軸部挿通穴２４と、が形成されている。また、このキャップ３は、円筒状の外周面３ｂの左端側にリング状の軸受ストッパ２５が形成され、外周面３ｂに取り付けられた第３ベアリング２６の側面が軸受ストッパ２５に突き当てられており、第２出力側回転体８Ｂの軸受穴２７内の内周側突起２８と軸受ストッパ２５との間に第３ベアリング２６を保持するようになっている。なお、キャップ３は、軸穴１８の回転中心及び外周面３ｂの回転中心がキャップ３の回転中心３ａと同心である。また、キャップ３は、外周面３ｂの外径が入力軸２の軸受支持部１３の外径と同寸法に形成されている。そして、キャップ３の外周面３ｂに取り付けられた第３ベアリング２６は、入力軸２の軸受支持部１３に取り付けられた第１ベアリング１０と同一のものが使用される。 As shown in FIGS. 14 and 17, the cap 3 is fixed to the distal end shaft portion 17 of the input shaft 2 with a bolt 21 and constitutes an input side rotating body together with the input shaft 2, and the rotation center 3 a is the rotation of the input shaft 2. It is formed so as to coincide with the center 2a. The cap 3 has an axial hole 18 that opens to one end side along the rotation center 3a (the right end side in FIG. 17C) and the other end side along the rotation center 3a (the left end side in FIG. 17C). And a bolt head part insertion hole 24 that connects the bolt head part accommodation hole 23 and the shaft hole 18 to each other. The cap 3 has a ring-shaped bearing stopper 25 formed on the left end side of the cylindrical outer peripheral surface 3b, and the side surface of the third bearing 26 attached to the outer peripheral surface 3b is abutted against the bearing stopper 25. The third bearing 26 is held between the inner peripheral projection 28 and the bearing stopper 25 in the bearing hole 27 of the second output side rotating body 8B. In the cap 3, the rotation center of the shaft hole 18 and the rotation center of the outer peripheral surface 3 b are concentric with the rotation center 3 a of the cap 3. The cap 3 is formed so that the outer diameter of the outer peripheral surface 3 b is the same as the outer diameter of the bearing support portion 13 of the input shaft 2. The third bearing 26 attached to the outer peripheral surface 3 b of the cap 3 is the same as the first bearing 10 attached to the bearing support portion 13 of the input shaft 2.
　図１４及び図１８に示すように、揺動体５は、偏心円板カム４によって揺動させられるように円板状に形成され、中心の軸受穴３０が第２ベアリング１６の外周面に嵌合され、偏心円板カム４と相対回動できるように第２ベアリング１６で支持されている。この揺動体５は、その中心５ａが偏心円板カム４の中心４ａと同心となるように形成され、外周面５ｂが偏心円板カム４の中心４ａと同心の円筒面であり、外周面５ｂで複数のボール６を転動可能に支持している。また、揺動体５は、軸受穴３０の径方向外方側に、周方向に沿って４カ所の第１の貫通穴３１ａが等間隔で形成されている。この揺動体５の第１の貫通穴３１ａは、第１出力側回転体８Ａの第１側面部３２に形成された連結突起３３ａが隙間をもって係合され、揺動体５が偏心円板カム４で揺動させられた際にも連結突起３３ａに接触しない大きさに形成されている。また、揺動体５は、軸受穴３０の径方向外方側に、周方向に沿って４箇所の第２の貫通穴３１ｂが等間隔で形成されている。この揺動体５の第２の貫通穴３１ｂは、第２出力側回転体８Ｂの第２側面部４１に形成された連結突起３３ｂが隙間をもって係合され、揺動体５が偏心円板カム４で揺動させられた際にも連結突起３３ｂに接触しない大きさに形成されている。そして、第１の貫通穴３１ａと第２の貫通穴３１ｂは、交互に且つ等間隔で配置されている。 As shown in FIGS. 14 and 18, the rocking body 5 is formed in a disk shape so as to be rocked by the eccentric disk cam 4, and the center bearing hole 30 is fitted to the outer peripheral surface of the second bearing 16. The second bearing 16 supports the eccentric disc cam 4 so that it can rotate relative to the eccentric disc cam 4. The oscillating body 5 is formed such that the center 5a is concentric with the center 4a of the eccentric disc cam 4, the outer peripheral surface 5b is a cylindrical surface concentric with the center 4a of the eccentric disc cam 4, and the outer peripheral surface 5b. A plurality of balls 6 are supported so as to roll. Further, in the oscillator 5, four first through holes 31 a are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30. In the first through hole 31 a of the swinging body 5, the connecting projection 33 a formed on the first side surface portion 32 of the first output side rotating body 8 A is engaged with a gap, and the swinging body 5 is formed by the eccentric disc cam 4. Even when it is swung, it is formed in such a size that it does not come into contact with the connecting projection 33a. Further, in the oscillator 5, four second through holes 31 b are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30. The second through hole 31b of the rocking body 5 is engaged with a connecting projection 33b formed on the second side surface portion 41 of the second output side rotating body 8B with a gap, and the rocking body 5 is formed by the eccentric disc cam 4. It is formed in such a size that it does not come into contact with the connecting projection 33b even when it is swung. The first through holes 31a and the second through holes 31b are alternately arranged at equal intervals.
　図１４、図１５、及び図１９に示すように、固定部材７は、正面側の形状が略四角形状であり、中心部に揺動体収容穴３４が形成されている。この固定部材７は、外縁に沿うように形成された固定枠部３５と、この固定枠部３５の径方向内方側に形成された径方向溝形成円板部３６と、を有している。そして、固定部材７は、固定枠部３５の四隅にボルト穴３７が形成され、この四箇所のボルト穴３７に固定用ボルト（図示せず）が挿入され、図示しない被固定部材（例えば、機械のフレーム、又はロボットのアーム）に固定用ボルトで固定されるようになっている。この固定部材７は、揺動体収容穴３４の中心３４ａが入力軸２の回転中心２ａと同心となるように被固定部材に固定される。そして、固定部材７の揺動体収容穴３４には、揺動体５が揺動できるように収容される。また、この固定部材７は、揺動体収容穴３４の内周面３４ｂから径方向に沿って延びる径方向溝３８が周方向に沿って等間隔で複数（波形溝６０の波数をＮとすると、（Ｎ＋１））形成されている。この径方向溝３８は、径方向内方端がボール６の出入りを可能にする開口端であり、溝幅がボール６の直径よりも僅かに大きく形成され、溝長さ（径方向長さ）が揺動体５の揺動量（偏心円板カム４の偏心量ｅ）を考慮した長さに形成され、揺動体５の外周面５ｂに支持されたボール６が径方向に沿ってスライド移動させられるようになっている。また、この固定部材７は、径方向溝形成円板部３６の板厚がボール６の直径よりも小さく形成されており、径方向溝３８に係合されたボール６の中心を径方向溝形成円板部３６の板厚方向中心位置に合致させた場合、ボール６が径方向溝形成円板部３６の両側に均等に出っ張り、その径方向溝３８内のボール６が出力側回転体８に形成された波形溝６０に転動可能に係合されるようになっている。このような固定部材７の径方向溝３０は、偏心円板カム４が１回転し、揺動体５が１ストローク分だけ揺動させられると、ボール６を揺動体５の揺動量に応じた分だけ径方向に転動させることができる。なお、本実施形態において、固定部材７の径方向溝形成円板部３６は、その板厚が揺動体５の径方向外方端側に位置するボール支持部５ｅの板厚と同一寸法になっている。 As shown in FIGS. 14, 15, and 19, the fixing member 7 has a substantially quadrangular shape on the front side, and an oscillating body accommodation hole 34 is formed at the center. The fixing member 7 has a fixed frame portion 35 formed along the outer edge, and a radial groove forming disk portion 36 formed on the radially inner side of the fixed frame portion 35. . The fixing member 7 has bolt holes 37 formed at the four corners of the fixing frame portion 35, and fixing bolts (not shown) are inserted into the bolt holes 37 at the four locations. Frame or robot arm) with fixing bolts. The fixing member 7 is fixed to the member to be fixed so that the center 34 a of the swinging body accommodation hole 34 is concentric with the rotation center 2 a of the input shaft 2. Then, the oscillating body 5 is accommodated in the oscillating body accommodation hole 34 of the fixing member 7 so as to be able to oscillate. The fixing member 7 includes a plurality of radial grooves 38 extending along the radial direction from the inner peripheral surface 34b of the oscillator housing hole 34 at equal intervals along the circumferential direction (assuming that the wave number of the corrugated groove 60 is N). (N + 1)). The radial groove 38 is an open end that allows the ball 6 to enter and exit, and has a groove width slightly larger than the diameter of the ball 6, and has a groove length (radial length). Is formed in a length that takes into account the amount of oscillation of the oscillating body 5 (the amount of eccentricity e of the eccentric disc cam 4), and the ball 6 supported on the outer peripheral surface 5b of the oscillating body 5 is slid along the radial direction. It is like that. Further, the fixing member 7 is formed such that the thickness of the radial groove forming disk portion 36 is smaller than the diameter of the ball 6, and the center of the ball 6 engaged with the radial groove 38 is formed in the radial groove. When matched with the center position in the plate thickness direction of the disc portion 36, the balls 6 protrude evenly on both sides of the radial groove forming disc portion 36, and the balls 6 in the radial grooves 38 are directed to the output side rotating body 8. The corrugated groove 60 formed is engaged so as to be able to roll. Such a radial groove 30 of the fixing member 7 is such that when the eccentric disk cam 4 rotates once and the rocking body 5 is swung by one stroke, the ball 6 is divided according to the rocking amount of the rocking body 5. Can only roll in the radial direction. In the present embodiment, the radial groove forming disc portion 36 of the fixing member 7 has the same thickness as the thickness of the ball support portion 5e located on the radially outer end side of the oscillator 5. ing.
　図１４及び図２０に示すように、第１出力側回転体８Ａは、揺動体５の両側面５ｃ，５ｄのうちの一方の側面５ｃ、及び固定部材７の径方向溝形成円板部３６の両側面３６ａ，３６ｂのうちの一方の側面３６ａに対向して位置する第１側面部３２を有している。また、第１出力側回転体８Ａは、入力軸２に取り付けられた第１ベアリング１０を収容する軸受穴１４が形成され、第１ベアリング１０のアウターレースの側面が軸受穴１４の端部に形成された内周側突起１５に突き当てられるようになっている。この第１出力側回転体８Ａの第１側面部３２は、第２出力側回転体８Ｂを連結固定するための連結突起３３ａが周方向に等間隔で複数（４箇所）形成されている。この連結突起３３ａは、揺動体５の貫通穴３１ａを貫通して第２出力側回転体８Ｂの第２側面部４１に形成された連結突起収容凹部４２ｂに嵌合されるようになっている。また、この第１出力側回転体８Ａの第１側面部３２は、第２出力側回転体８Ｂを連結固定するための連結突起収容凹部４２ａが周方向に等間隔で複数（４箇所）形成されている。この連結突起収容凹部４２ａは、揺動体５の貫通穴３１ｂを貫通して延びる第２出力側回転体８Ｂの第２側面部４１に形成された連結突起３３ｂが嵌合されるようになっている。また、第１出力側回転体８Ａの第１側面部３２は、連結突起３３ａ及び連結突起収容凹部４２ａの径方向外方側に波形溝６０が形成されている。また、この第１出力側回転体８Ａは、その背面側（第１側面部３２の反対側に位置する面側）に、被回転部材を固定するためのねじ穴５２が連結突起３３ａよりも径方向内方側位置の周方向に沿って等間隔で４箇所形成されている。また、第１出力側回転体８Ａは、第２出力側回転体８Ｂを高精度に位置決めして固定するための位置決め溝５３が径方向外方端の一箇所に形成されている。なお、連結突起３３ａと連結突起収容凹部４２ａの構造、及び第２出力側回転体８Ｂを第１出力側回転体８Ａにボルト（図示せず）で固定するための構造が図１及び図１１に示したボール減速機１の構造と同様である。 As shown in FIGS. 14 and 20, the first output-side rotator 8 </ b> A includes one of the side surfaces 5 c of both the side surfaces 5 c and 5 d of the oscillating body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 1st side part 32 located facing one side surface 36a of both side surfaces 36a and 36b. The first output-side rotating body 8 </ b> A is formed with a bearing hole 14 that accommodates the first bearing 10 attached to the input shaft 2, and the side surface of the outer race of the first bearing 10 is formed at the end of the bearing hole 14. It is made to abut against the inner peripheral projection 15 made. In the first side surface portion 32 of the first output side rotating body 8A, a plurality (four places) of connecting projections 33a for connecting and fixing the second output side rotating body 8B are formed at equal intervals in the circumferential direction. The connecting projection 33a is fitted into a connecting projection receiving recess 42b formed in the second side surface portion 41 of the second output side rotating body 8B through the through hole 31a of the rocking body 5. In addition, the first side surface portion 32 of the first output side rotator 8A is formed with a plurality (four locations) of connection protrusion accommodating recesses 42a for connecting and fixing the second output side rotator 8B at equal intervals in the circumferential direction. ing. The connection projection receiving recess 42a is adapted to be fitted with a connection projection 33b formed on the second side surface portion 41 of the second output side rotating body 8B extending through the through hole 31b of the rocking body 5. . Further, the first side surface portion 32 of the first output-side rotating body 8A has a corrugated groove 60 formed on the radially outer side of the connecting projection 33a and the connecting projection receiving recess 42a. Further, the first output-side rotating body 8A has a screw hole 52 for fixing a member to be rotated on the back surface side (the surface side opposite to the first side surface portion 32) having a diameter larger than that of the connection protrusion 33a. Four points are formed at equal intervals along the circumferential direction of the inner side position. Further, the first output-side rotator 8A has a positioning groove 53 for positioning and fixing the second output-side rotator 8B with high accuracy at one place on the radially outer end. The structure of the connection protrusion 33a and the connection protrusion accommodating recess 42a and the structure for fixing the second output side rotating body 8B to the first output side rotating body 8A with bolts (not shown) are shown in FIGS. This is the same as the structure of the ball reducer 1 shown.
　図１４及び図２１に示すように、第２出力側回転体８Ｂは、揺動体５の両側面５ｃ、５ｄのうちの他方の側面５ｄ、及び固定部材７の径方向溝形成円板部３６の両側面３６ａ，３６ｂのうちの他方の側面３６ｂに対向して位置する第２側面部４１を有している。この第２出力側回転体８Ｂの第２側面部４１は、第１出力側回転体８Ａの連結突起３３ａに対向する位置に、連結突起３３ａに嵌合される連結突起収容凹部４２ｂが連結突起３３ａと同数形成されている。また、この第２出力側回転体８Ｂの第２側面部４１は、第１出力側回転体８Ａの連結突起収容凹部４２ａに対向する位置に、連結突起収容凹部４２ａに嵌合される連結突起３３ｂが連結突起収容凹部４２ａと同数形成されている。また、第２出力側回転体８Ｂは、キャップ３に取り付けられた第３ベアリング２６を収容する軸受穴２７が形成され、第３ベアリング２６のアウターレースの側面が軸受穴２７の端部に形成された内周側突起２８に突き当てられるようになっている。また、第２出力側回転体８Ｂの第２側面部４１は、連結突起３３ｂ及び連結突起収容凹部４２ｂの径方向外方側に波形溝６０が形成されている。また、この第２出力側回転体８Ｂは、その背面側（第２側面部４１と反対側に位置する面側）に、被回転部材を固定するためのねじ穴５２が連結突起３３ｂよりも径方向内方側位置の周方向に沿って等間隔で４箇所形成されている。また、第２出力側回転体８Ｂは、第１出力側回転体８Ａを高精度に位置決めして固定するための位置決め溝５４が第１出力側回転体８Ａの位置決め溝５３に対応する位置に（径方向外方端の一箇所に）形成されている。このような第２出力側回転体８Ｂは、第２側面部４１を平面視した形状（図２１（ａ）に示す形状）が第１出力側回転体８Ａを平面視した形状（図２０（ａ）に示す形状）と同一である。また、第２出力側回転体８Ｂは、縦断面形状（図２０（ｃ）に示す断面形状）が第１出力側回転体８Ａの縦断面形状（図２１（ｃ）に示す断面形状）と同一である。なお、連結突起３３ｂと連結突起収容凹部４２ｂの構造、及び第２出力側回転体８Ｂを第１出力側回転体８Ａにボルト（図示せず）で固定するための構造が図１及び図１１に示したボール減速機１の構造と同様である。 As shown in FIGS. 14 and 21, the second output-side rotator 8 </ b> B includes the other side surface 5 d of the side surfaces 5 c and 5 d of the oscillating body 5 and the radial groove forming disk portion 36 of the fixing member 7. It has the 2nd side part 41 located facing the other side surface 36b of both side surfaces 36a and 36b. The second side surface portion 41 of the second output-side rotator 8B has a connection protrusion 33a at the position facing the connection protrusion 33a of the first output-side rotator 8A. The same number is formed. Further, the second side surface portion 41 of the second output side rotating body 8B is connected to the connecting projection receiving recess 42a at a position facing the connecting projection receiving recess 42a of the first output side rotating body 8A. Are formed in the same number as the connecting projection receiving recesses 42a. Further, the second output-side rotating body 8B is formed with a bearing hole 27 that accommodates the third bearing 26 attached to the cap 3, and the side surface of the outer race of the third bearing 26 is formed at the end of the bearing hole 27. Further, it is abutted against the inner peripheral projection 28. Further, the second side surface portion 41 of the second output side rotating body 8B has a corrugated groove 60 formed on the radially outer side of the connecting projection 33b and the connecting projection receiving recess 42b. Further, the second output-side rotating body 8B has a screw hole 52 for fixing a member to be rotated on the back side thereof (the surface side opposite to the second side surface portion 41) having a diameter larger than that of the connecting projection 33b. Four points are formed at equal intervals along the circumferential direction of the inner side position. Further, the second output-side rotator 8B has a positioning groove 54 for positioning and fixing the first output-side rotator 8A with high accuracy at a position corresponding to the positioning groove 53 of the first output-side rotator 8A ( It is formed in one place on the radially outer end. In such a second output-side rotator 8B, the shape of the second side surface 41 viewed in plan (the shape shown in FIG. 21A) is the shape of the first output-side rotator 8A viewed in plan (FIG. 20A). The shape shown in FIG. Further, the second output-side rotator 8B has the same vertical cross-sectional shape (the cross-sectional shape shown in FIG. 20 (c)) as the vertical cross-sectional shape (the cross-sectional shape shown in FIG. 21 (c)) of the first output-side rotator 8A. It is. The structure of the connection protrusion 33b and the connection protrusion accommodating recess 42b and the structure for fixing the second output-side rotating body 8B to the first output-side rotating body 8A with bolts (not shown) are shown in FIGS. This is the same as the structure of the ball reducer 1 shown.
　図１４、図２０、及び図２１に示すように、波形溝６０は、第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１に跨って形成されており、偶数個（Ｎ＝５０）の波が入力軸２の回転中心２ａの回りに連続して環状に形成され、固定部材の（Ｎ＋１）箇所（５１箇所）の径方向溝３８に収容されたボール６と転動可能に係合するようになっている。この波形溝６０は、波の径方向内方端に位置する部分を谷底６０ａとし、波の径方向外方端に位置する部分を山頂６０ｂとすると、谷底６０ａ及び山頂６０ｂが第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１とに均等に跨って形成され、第１側面部３２と第２側面部４１における谷底６０ａ及び山頂６０ｂの溝深さが同一になるように形成されている。また、この波形溝６０は、図２０（ａ）に示すように、第１出力側回転体８Ａの第１側面部３２を見た場合、中心線６１上の谷底６０ａから右隣の山頂６０ｂへ向かうに従って溝深さが漸減した後に漸増し、山頂６０ｂから右隣の谷底６０ａへ向かうに従って溝深さが漸増した後に漸減するようになっている。また、波形溝６０は、図２１（ａ）に示すように、第１出力側回転体８Ａの第１側面部３２に対向する第２出力側回転体８Ｂの第２側面部４１を見た場合、中心線６１上の谷底６０ａから左隣の山頂６０ｂへ向かうに従って溝深さが漸増した後に漸減し、山頂６０ｂから左隣の谷底６０ａへ向かうに従って溝深さが漸減した後に漸増するようになっている。すなわち、第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１とに跨って形成された波形溝６０は、ボール６を第１出力側回転体８Ａ及び第２出力側回転体８Ｂの周方向に沿ってスパイラル状に案内するようになっている。したがって、このような第１出力側回転体８Ａと第２出力側回転体８Ｂとに跨って形成される波形溝６０、及び固定部材７の径方向溝３８に係合するボール６は、径方向溝３８内を径方向に沿って移動する際に、３次元的に形成された波形溝６０によって入力軸２の回転中心２ａに沿った方向にも移動する。なお、波形溝６０は、上述のとおり、第１出力側回転体８Ａの第１側面部３２と第２出力側回転体８Ｂの第２側面部４１に跨って形成されているが、第１出力側回転体８Ａと第２出力側回転体８Ｂとを固定する際に、第１出力側回転体８Ａの位置決め溝５３と第２出力側回転体８Ｂの位置決め溝５４とを位置合わせすることにより（図１４、図２０、及び図２１参照）、第１出力側回転体８Ａと第２出力側回転体８Ｂとが高精度に位置決めされた状態で固定されるため、第１出力側回転体８Ａ側の波形溝６０と第２出力側回転体８Ｂ側の波形溝６０とでずれを生じることがなく、高精度に形作られる。また、波形溝６０は、ボール６を第１出力側回転体８Ａ及び第２出力側回転体８Ｂの周方向に沿って右巻きのスパイラル状に案内するか、又は左巻きのスパイラル状に案内するようになっていればよい。 As shown in FIGS. 14, 20, and 21, the corrugated groove 60 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. An even number (N = 50) of waves are continuously formed around the rotation center 2a of the input shaft 2 in an annular shape, and are accommodated in the radial grooves 38 at (N + 1) places (51 places) of the fixing member. It engages with the formed ball 6 in a rollable manner. The corrugated groove 60 has a valley bottom 60a at a portion positioned at the radially inner end of the wave and a peak 60b at a portion positioned at the radially outer end of the wave. The valley bottom 60a and the peak 60b are rotated on the first output side. A groove formed between the first side surface portion 32 of the body 8A and the second side surface portion 41 of the second output-side rotator 8B so as to extend equally between the first side surface portion 32 and the second side surface portion 41. It is formed to have the same depth. Further, as shown in FIG. 20A, the corrugated groove 60 is formed from the valley bottom 60 a on the center line 61 to the mountain peak 60 b on the right when the first side surface portion 32 of the first output side rotating body 8 </ b> A is viewed. The groove depth gradually increases as it goes, and then gradually increases, and the groove depth gradually increases and gradually decreases from the peak 60b to the right adjacent valley bottom 60a. Further, as shown in FIG. 21A, the corrugated groove 60 is obtained when the second side surface portion 41 of the second output-side rotating body 8B facing the first side surface portion 32 of the first output-side rotating body 8A is viewed. The groove depth gradually increases from the valley bottom 60a on the center line 61 toward the left adjacent peak 60b, and then gradually decreases. The groove depth decreases gradually from the peak 60b toward the left adjacent valley bottom 60a and then increases gradually. ing. That is, the corrugated groove 60 formed across the first side surface portion 32 of the first output-side rotating body 8A and the second side surface portion 41 of the second output-side rotating body 8B causes the ball 6 to move to the first output-side rotating body. 8A and the 2nd output side rotary body 8B are guided in the spiral shape along the circumferential direction. Accordingly, the corrugated groove 60 formed over the first output side rotating body 8A and the second output side rotating body 8B and the ball 6 engaged with the radial groove 38 of the fixing member 7 are in the radial direction. When moving along the radial direction in the groove 38, the groove 38 formed in a three-dimensional manner also moves in the direction along the rotation center 2 a of the input shaft 2. As described above, the corrugated groove 60 is formed across the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. When the side rotating body 8A and the second output side rotating body 8B are fixed, the positioning groove 53 of the first output side rotating body 8A and the positioning groove 54 of the second output side rotating body 8B are aligned ( 14, 20, and 21), the first output-side rotator 8 </ b> A and the second output-side rotator 8 </ b> B are fixed in a highly accurately positioned state, and therefore the first output-side rotator 8 </ b> A side The corrugated groove 60 and the corrugated groove 60 on the second output-side rotating body 8B side are not displaced, and are formed with high accuracy. The corrugated groove 60 guides the ball 6 in a right-handed spiral shape along the circumferential direction of the first output-side rotator 8A and the second output-side rotator 8B or in a left-handed spiral shape. It only has to be.
　図２２は、ボール６が波形溝６０内を転動させられた場合のボール６の転動軌跡６２を示す図である。なお、図２２（ａ）は、ボール６の転動軌跡６２の平面図（入力軸２の回転中心２ａに直交する仮想平面に投影した転動軌跡６２）である。また、図２２（ｂ）は、図２２（ａ）のＡ１５－Ａ１５線に沿って切断して示す仮想断面上に、転動軌跡６２の隣り合う波Ｗ１，Ｗ２を投影して示す図である。また、図２２（ｃ）は、図２２（ｂ）のボールの転動軌跡を拡大して示す図である。そして、この図２２に示したボール６の転動軌跡６２は、波形溝６０の溝形状を示している。また、図２２において、Ｒは径方向を表し、Ｚは入力軸２の回転中心２ａに沿った方向を示している。 FIG. 22 is a diagram showing a rolling locus 62 of the ball 6 when the ball 6 is rolled in the corrugated groove 60. 22A is a plan view of the rolling trajectory 62 of the ball 6 (the rolling trajectory 62 projected on a virtual plane orthogonal to the rotation center 2a of the input shaft 2). FIG. 22B is a diagram in which adjacent waves W1 and W2 of the rolling locus 62 are projected onto a virtual cross section cut along the line A15-A15 in FIG. . FIG. 22 (c) is an enlarged view showing the rolling trajectory of the ball in FIG. 22 (b). The rolling trajectory 62 of the ball 6 shown in FIG. 22 indicates the groove shape of the corrugated groove 60. In FIG. 22, R represents a radial direction, and Z represents a direction along the rotation center 2 a of the input shaft 2.
　この図２２に示すように、波形溝６０に沿って移動するボール６の転動軌跡６２は、Ｒ方向を長軸とする楕円形状を描いており、ボール６の中心が波形溝６０の谷底６０ａと山頂６０ｂ（転動軌跡６２の谷底６２ａと山頂６２ｂ）とで第１側面部３２と第２側面部４１との間の中間に位置し、第１の波Ｗ１の谷底６２ａから第１の波Ｗ１の山頂６２ｂに向かうに従って＋Ｚ方向への移動量を漸増した後に漸減し、第１の波Ｗ１の山頂６２ｂから隣り合う第２の波Ｗ２の谷底６２ａへ向かうに従って－Ｚ方向への移動量を漸増した後に漸減するようになっている。そして、ボール６の転動軌跡６２は、＋Ｚ方向への移動量と－Ｚ方向への移動量が同一になっている。このようなボール６の転動軌跡６２は、第１出力側回転体８Ａと第２出力側回転体８Ｂに跨って形成された波形溝６０によって形作られる。 As shown in FIG. 22, the rolling trajectory 62 of the ball 6 moving along the corrugated groove 60 has an elliptical shape with the R direction as the major axis, and the center of the ball 6 is the valley bottom 60a of the corrugated groove 60. And the summit 60b (the valley bottom 62a and the summit 62b of the rolling locus 62) are located between the first side face portion 32 and the second side face portion 41, and the first wave from the valley bottom 62a of the first wave W1. The amount of movement in the + Z direction gradually increases after moving toward the peak 62b of W1, and then gradually decreases. The amount of movement in the −Z direction decreases from the peak 62b of the first wave W1 toward the valley bottom 62a of the adjacent second wave W2. After gradually increasing, it gradually decreases. The movement trajectory 62 of the ball 6 has the same amount of movement in the + Z direction and the amount of movement in the −Z direction. Such a rolling trajectory 62 of the ball 6 is formed by the corrugated groove 60 formed across the first output side rotating body 8A and the second output side rotating body 8B.
　図２３及び図２４は、本実施形態に係るボール減速機１の波形溝６０の特徴を示す図である。なお、図２３（ａ）はボール６の転動軌跡６２のうちの山頂６２ｂにボール６が位置する状態を示す図（転動軌跡６２の一部平面図）であり、図２３（ｂ）はボール減速機１を図２３（ａ）のＡ１６－Ａ１６線に対応する位置で切断した場合の円筒断面図である。また、図２４（ａ）はボール６の転動軌跡６２のうちの山頂６２ｂと谷底６２ａの中間位置にボール６が位置する状態を示す図（転動軌跡６２の一部平面図）であり、図２４（ｂ）はボール減速機１を図２４（ａ）のＡ１７－Ａ１７線に対応する位置で切断した場合の円筒断面図である。 23 and 24 are views showing the characteristics of the corrugated groove 60 of the ball speed reducer 1 according to the present embodiment. FIG. 23A is a diagram (a partial plan view of the rolling trajectory 62) showing a state in which the ball 6 is located on the peak 62b of the rolling trajectory 62 of the ball 6, and FIG. FIG. 24 is a cylindrical cross-sectional view when the ball speed reducer 1 is cut at a position corresponding to the line A16-A16 in FIG. FIG. 24A is a diagram (a partial plan view of the rolling trajectory 62) showing a state where the ball 6 is located at an intermediate position between the peak 62b and the valley bottom 62a of the rolling trajectory 62 of the ball 6. FIG. 24B is a cylindrical cross-sectional view when the ball speed reducer 1 is cut at a position corresponding to the line A17-A17 in FIG.
　図２３に示すように、本実施形態に係るボール減速機１は、ボール６の転動軌跡６２の山頂６２ｂが図２２（ｃ）の楕円形状の転動軌跡６２の長軸の一端に位置し、波形溝６０が第１出力側回転体８Ａと第２出力側回転体８Ｂとで同一の溝深さ（第１側面部３２からの溝深さと第２側面部４１からの溝深さが同一）になっており、第１出力側回転体８Ａと第２出力側回転体８Ｂとで隣り合うボール６，６間に同一の稜部高さｈ１の稜部６３が形成されている。なお、本実施形態に係るボール減速機１は、ボール６の転動軌跡６２の谷底６２ａにおける円筒断面図が図２３（ｂ）と同様になる。 As shown in FIG. 23, in the ball speed reducer 1 according to this embodiment, the peak 62b of the rolling trajectory 62 of the ball 6 is located at one end of the long axis of the elliptical rolling trajectory 62 of FIG. The corrugated groove 60 has the same groove depth in the first output side rotating body 8A and the second output side rotating body 8B (the groove depth from the first side surface portion 32 and the groove depth from the second side surface portion 41 are the same). The ridge 63 having the same ridge height h1 is formed between the adjacent balls 6 and 6 in the first output-side rotator 8A and the second output-side rotator 8B. In the ball speed reducer 1 according to the present embodiment, the cylindrical cross-sectional view of the valley bottom 62a of the rolling locus 62 of the ball 6 is the same as that shown in FIG.
　また、図２４に示すように、本実施形態に係るボール減速機１は、ボール６の転動軌跡６２の山頂６２ｂと谷底６２ａとの中間位置が図２２（ｃ）の楕円形状の転動軌跡６２の短軸の位置に対応し、波形溝６０が第１出力側回転体８Ａと第２出力側回転体８Ｂとで同一の溝深さ（第１側面部３２からの溝深さと第２側面部４１からの溝深さが同一）になっており、第１出力側回転体８Ａと第２出力側回転体８Ｂとで隣り合うボール６，６間に同一の稜部高さｈ２の稜部６３が形成されている。 Further, as shown in FIG. 24, in the ball speed reducer 1 according to this embodiment, the intermediate position between the peak 62b and the valley bottom 62a of the rolling trajectory 62 of the ball 6 is an elliptical rolling trajectory shown in FIG. Corresponding to the position of the minor axis 62, the corrugated groove 60 has the same groove depth in the first output side rotating body 8A and the second output side rotating body 8B (the groove depth from the first side surface portion 32 and the second side surface). Ridges having the same ridge height h2 between the adjacent balls 6 and 6 in the first output side rotating body 8A and the second output side rotating body 8B. 63 is formed.
　これら図２３及び図２４に示すように、本実施形態に係るボール減速機１は、ボール６に係合する波形溝６０が第１出力側回転体８Ａと第２出力側回転体８Ｂとにスパイラル状に形成されるため（図２２参照）、波形溝６０の谷底６０ａの位置、波形溝６０の谷底６０ａと山頂６０ｂとの中間位置、及び波形溝６０の山頂６０ｂの位置のいずれの位置においても、隣り合うボール６，６間にラチェッティングを防止し得る十分な稜部高さｈ１，ｈ２の稜部６３が形成される。 As shown in FIGS. 23 and 24, in the ball speed reducer 1 according to this embodiment, the corrugated groove 60 that engages with the ball 6 spirals between the first output side rotating body 8A and the second output side rotating body 8B. 22 (see FIG. 22), the corrugated groove 60 has a valley bottom 60a, an intermediate position between the valley bottom 60a and the peak 60b of the corrugated groove 60, and a position of the peak 60b of the corrugated groove 60. The ridges 63 having sufficient ridge heights h1 and h2 that can prevent ratcheting between the adjacent balls 6 and 6 are formed.
　以上のように構成された本実施形態に係るボール減速機１は、第１出力側回転体８Ａの第１側面部３２及び第２出力側回転体８Ｂの第２側面部４１の２箇所にのみ波形溝６０が形成されるようになっているため、波形溝１１１，１１１，１１２，１１２を４箇所にそれぞれ形成する従来例のボール減速機１００と比較し（図３５参照）、加工工数の削減が可能になる。また、本実施形態に係るボール減速機１は、揺動体５が固定部材７及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）に対して独立して揺動できるようになっているため、揺動体５と出力側回転体８とを一体に回動させるための複雑な機構（例えば、図３５に示した従来例に係るボール減速機１００の偏心吸収機構１１３，１１３）を設ける必要がなく、構造が簡単化し、加工工数の削減が可能になる。 The ball speed reducer 1 according to the present embodiment configured as described above has only two locations, the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. Since the corrugated groove 60 is formed, compared with the conventional ball speed reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed at four locations, respectively (see FIG. 35), the number of processing steps can be reduced. Is possible. In the ball speed reducer 1 according to the present embodiment, the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B). Since it can move, it is a complicated mechanism for rotating the rocking body 5 and the output side rotating body 8 together (for example, the eccentric absorption mechanism of the ball reducer 100 according to the conventional example shown in FIG. 35). 113, 113) need not be provided, the structure is simplified, and the number of processing steps can be reduced.
　また、本実施形態に係るボール減速機１は、径方向溝３８と波形溝６０との交差する箇所にボール６が位置するようになっているため、ボール１０８が偏心回転板１０４の第１波形溝１１１の溝壁と固定部材１０７の第２波形溝１１２の溝壁に同時に接触するように構成された従来のボール減速機１００と比較し（図３５参照）、径方向溝３８及び波形溝６０の加工が容易になると共に、揺動体５、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）等の組立作業が容易になる。 Further, in the ball speed reducer 1 according to the present embodiment, since the ball 6 is positioned at a location where the radial groove 38 and the corrugated groove 60 intersect, the ball 108 is the first corrugated of the eccentric rotating plate 104. Compared to the conventional ball speed reducer 100 configured to simultaneously contact the groove wall of the groove 111 and the groove wall of the second corrugated groove 112 of the fixing member 107 (see FIG. 35), the radial groove 38 and the corrugated groove 60 And the assembly work of the oscillator 5, the fixing member 7, and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) is facilitated.
　また、本実施形態に係るボール減速機１は、図１４、図２０、及び図２１に示すように、第１出力側回転体８Ａと第２出力側回転体８Ｂが同一形状であるため、部品（第１出力側回転体８Ａ、第２出力側回転体８Ｂ、第１ベアリング１０、及び第３ベアリング２６）を共通化することができ、部品コストを低減できる。
　この本実施形態に係るボール減速機１の技術思想は、第１実施形態に係るボール減速機１及び第２実施形態に係るボール減速機１にも適用できる。
　すなわち、第１実施形態に係るボール減速機１は、第１出力側回転体８Ａと第２出力側回転体８Ｂとを同一形状にすることにより、部品（第１出力側回転体８Ａ、第２出力側回転体８Ｂ、第１ベアリング１０、及び第３ベアリング２６）を共通化して、部品コストを低減できる。なお、この場合、例えば、図６で示す第１実施形態に係る第１出力側回転体８Ａの波形溝４０の位置を、位置決め溝５４に対して１／２波分の角度だけ回転させた位置にすることで、第１出力側回転体８Ａと第２出力側回転体８Ｂとを同一形状とすることができる。
　また、第２実施形態に係るボール減速機１は、第１出力側回転体８Ａと第２出力側回転体８Ｂとを同一形状にすることにより、部品（第１出力側回転体８Ａ、第２出力側回転体８Ｂ、第１ベアリング１０、及び第３ベアリング２６）を共通化して、部品コストを低減できる。 Further, as shown in FIGS. 14, 20, and 21, the ball speed reducer 1 according to the present embodiment has the same shape for the first output side rotating body 8A and the second output side rotating body 8B. (The first output-side rotator 8A, the second output-side rotator 8B, the first bearing 10, and the third bearing 26) can be shared, and the component cost can be reduced.
The technical idea of the ball speed reducer 1 according to this embodiment can be applied to the ball speed reducer 1 according to the first embodiment and the ball speed reducer 1 according to the second embodiment.
That is, in the ball speed reducer 1 according to the first embodiment, the first output-side rotator 8A and the second output-side rotator 8B have the same shape, so that the components (first output-side rotator 8A, second The output side rotating body 8B, the first bearing 10, and the third bearing 26) can be made common to reduce the component cost. In this case, for example, a position obtained by rotating the position of the corrugated groove 40 of the first output-side rotating body 8A according to the first embodiment shown in FIG. Thus, the first output-side rotator 8A and the second output-side rotator 8B can have the same shape.
Further, the ball speed reducer 1 according to the second embodiment is configured such that the first output-side rotator 8A and the second output-side rotator 8B have the same shape, so that the components (first output-side rotator 8A, second The output side rotating body 8B, the first bearing 10, and the third bearing 26) can be made common to reduce the component cost.
　　（第３実施形態の第１変形例）
　図２５（ａ）は、ボール６の転動軌跡６２の第１変形例を示す図であり、図２２（ｃ）に対応する図である。この図２５（ａ）に示すボール６の転動軌跡６２は、一対の円弧６４，６４を向かい合わせて略楕円形状としたものであり、Ｚ軸方向に沿って延びる中心線６５を対称軸とする線対称形状であり、且つＲ方向に沿って延びる中心線６６を対称軸とする線対称形状である。本実施形態に係るボール減速機１の波形溝６０は、図２５（ａ）に示すボール６の転動軌跡６２を生じさせるように形成してもよい。 (First Modification of Third Embodiment)
FIG. 25A is a diagram illustrating a first modification of the rolling locus 62 of the ball 6 and corresponds to FIG. 22C. The rolling trajectory 62 of the ball 6 shown in FIG. 25 (a) is a substantially elliptical shape in which a pair of arcs 64, 64 face each other, and a center line 65 extending along the Z-axis direction is a symmetry axis. And a line-symmetric shape with a center line 66 extending along the R direction as the axis of symmetry. The corrugated groove 60 of the ball speed reducer 1 according to the present embodiment may be formed so as to generate a rolling locus 62 of the ball 6 shown in FIG.
　　（第３実施形態の第２変形例）
　図２５（ｂ）は、ボール６の転動軌跡６２の第２変形例を示す図であり、図２２（ｃ）に対応する図である。この図２５（ｂ）に示すボール６の転動軌跡６２は、図２５（ａ）の円弧６４の両端側を直線６７，６７にした円弧類似形状を一対だけ向かい合わせて略楕円形状としたものであり、Ｚ軸方向に沿って延びる中心線６５を対称軸とする線対称形状であり、且つ、Ｒ方向に沿って延びる中心線６６を対称軸とする線対称形状である。本実施形態に係るボール減速機１の波形溝６０は、図２５（ｂ）に示すボール６の転動軌跡６２を生じさせるように形成してもよい。 (Second Modification of Third Embodiment)
FIG. 25B is a diagram illustrating a second modification of the rolling locus 62 of the ball 6 and corresponds to FIG. 22C. The rolling trajectory 62 of the ball 6 shown in FIG. 25 (b) is a substantially elliptical shape in which a pair of arc-like shapes in which both ends of the arc 64 in FIG. 25 (a) are straight lines 67 and 67 face each other. And a line-symmetric shape having a center line 65 extending along the Z-axis direction as a symmetry axis, and a line-symmetric shape having a center line 66 extending along the R-direction as a symmetry axis. The corrugated groove 60 of the ball speed reducer 1 according to the present embodiment may be formed so as to generate a rolling locus 62 of the ball 6 shown in FIG.
　［第４実施形態］
　図２６及び図２７は、本発明の第４実施形態に係るボール減速機１を示す図である。なお、図２６（ａ）はボール減速機１の正面図であり、図２６（ｂ）はボール減速機１の側面図である。また、図２７は図２６（ａ）のＡ１８－Ａ１８線に沿って切断して示すボール減速機１の断面図である。 [Fourth Embodiment]
26 and 27 are views showing a ball speed reducer 1 according to a fourth embodiment of the present invention. 26A is a front view of the ball reducer 1, and FIG. 26B is a side view of the ball reducer 1. FIG. 27 is a sectional view of the ball speed reducer 1 cut along the line A18-A18 in FIG.
　　（全体構造）
　図２６及び図２７に示すように、本実施形態に係るボール減速機１は、入力軸（入力側回転体）２、キャップ（入力側回転体）３、偏心円板カム４、揺動体５（第１揺動体５Ａ、第２揺動体５Ｂ）、複数のボール（鋼球）６、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ、第２出力側回転体８Ｂ）等で構成されている。また、図２７は、キャップ３、及び第２出力側回転体８Ｂ等を取り外して示すボール減速機１の正面図である。 (Overall structure)
As shown in FIGS. 26 and 27, the ball speed reducer 1 according to the present embodiment includes an input shaft (input-side rotating body) 2, a cap (input-side rotating body) 3, an eccentric disc cam 4, and an oscillating body 5 ( First oscillating body 5A, second oscillating body 5B), a plurality of balls (steel balls) 6, a fixing member 7, an output side rotating body 8 (first output side rotating body 8A, second output side rotating body 8B), etc. It consists of FIG. 27 is a front view of the ball speed reducer 1 with the cap 3, the second output side rotating body 8B, and the like removed.
　　（入力軸）
　図２６乃至図２９に示すように、入力軸２は、第１ベアリング１０を介して第１出力側回転体８Ａを回動自在に支持しており、図示しない電動機等によって回転駆動されるようになっている。この入力軸２は、軸本体部１１よりも大径の鍔状部１２が軸本体部１１に隣接して形成され、その鍔状部１２に隣接して軸受支持部１３が形成され、その軸受支持部１３に第１ベアリング１０が取り付けられ、第１ベアリング１０を第１出力側回転体８Ａの軸受穴１４の内周側突起１５と鍔状部１２との間に保持するようになっている。また、この入力軸２は、軸受支持部１３よりも軸先端側で且つ軸受支持部１３に隣接する位置に偏心円板カム４が形成されている。この偏心円板カム４は、その中心４ａが入力軸２の回転中心２ａ（軸本体部１１の回転中心１１ａ）に対して偏心量（ｅ）だけ偏心して位置する偏心軸部であり、入力軸２の回転中心２ａの回りに入力軸２と一体となって偏心回転する。そして、偏心円板カム４の外周側には、揺動体５が第２ベアリング１６を介して相対回動可能に取り付けられている。また、入力軸２は、キャップ３を取り付ける先端軸部１７が形成されている。この先端軸部１７は、その回転中心が軸本体部２の回転中心２ａと同心であり、キャップ３の軸穴１８に嵌合され、先端面１７ａがキャップ３の軸穴１８内に突出するストッパ突起２０に突き当てられている。また、入力軸２の先端軸部１７には、キャップ３を固定するためのボルト２１のねじ軸部２１ａと螺合するねじ穴（雌ねじ）２２が形成されている。 (Input shaft)
As shown in FIGS. 26 to 29, the input shaft 2 rotatably supports the first output-side rotating body 8A via the first bearing 10, and is driven to rotate by an electric motor (not shown) or the like. It has become. The input shaft 2 includes a shaft-shaped portion 12 having a diameter larger than that of the shaft main body portion 11, adjacent to the shaft main body portion 11, and a bearing support portion 13 formed adjacent to the shaft-shaped portion 12. The first bearing 10 is attached to the support portion 13, and the first bearing 10 is held between the inner peripheral projection 15 of the bearing hole 14 of the first output side rotating body 8 </ b> A and the flange-shaped portion 12. . Further, the input shaft 2 has an eccentric disc cam 4 formed at a position closer to the shaft tip side than the bearing support portion 13 and adjacent to the bearing support portion 13. The eccentric disc cam 4 is an eccentric shaft portion whose center 4a is eccentric with respect to the rotation center 2a of the input shaft 2 (the rotation center 11a of the shaft main body 11) by an eccentric amount (e). 2 is rotated together with the input shaft 2 around the rotation center 2a. And the rocking | fluctuation body 5 is attached to the outer peripheral side of the eccentric disk cam 4 via the 2nd bearing 16 so that relative rotation is possible. Further, the input shaft 2 is formed with a tip shaft portion 17 to which the cap 3 is attached. The distal end shaft portion 17 has a rotation center concentric with the rotation center 2 a of the shaft main body portion 2, is fitted into the shaft hole 18 of the cap 3, and a stopper whose distal end surface 17 a protrudes into the shaft hole 18 of the cap 3. It is abutted against the protrusion 20. In addition, a screw hole (female screw) 22 that is screwed with a screw shaft portion 21 a of a bolt 21 for fixing the cap 3 is formed in the distal end shaft portion 17 of the input shaft 2.
　　（キャップ）
　図２６、図２７、及び図３０に示すように、キャップ３は、入力軸２の先端軸部１７にボルト２１で固定され、入力軸２と共に入力側回転体を構成し、回転中心３ａが入力軸２の回転中心２ａと一致するように形成されている。このキャップ３は、回転中心３ａに沿った一端側（図３０（ｄ）の右端側）に開口する軸穴１８と、回転中心３ａに沿った他端側（図３０（ｄ）の左端側）に開口するボルト頭部収容穴２３と、ボルト頭部収容穴２３と軸穴１８とを連通するボルト軸部挿通穴２４と、が形成されている。また、このキャップ３は、円筒状の外周面３ｂの左端側にリング状の軸受ストッパ２５が形成され、外周面３ｂに取り付けられた第３ベアリング２６の側面が軸受ストッパ２５に突き当てられており、第２出力側回転体８Ｂの軸受穴２７内の内周側突起２８と軸受ストッパ２５との間に第３ベアリング２６を保持するようになっている。なお、キャップ３は、軸穴１８の回転中心及び外周面３ｂの回転中心がキャップ３の回転中心３ａと同心である。また、キャップ３は、外周面３ｂの外径が入力軸２の軸受支持部１３の外径と同寸法に形成されている。そして、キャップ３の外周面３ｂに取り付けられた第３ベアリング２６は、入力軸２の軸受支持部１３に取り付けられた第１ベアリング１０と同一のものが使用される。また、このキャップ３は、軸受位置決め段部３ｃと入力軸２の軸受位置決め段部２ｂとの間に第２ベアリング１６を位置決めした状態で保持するようになっている。 (cap)
As shown in FIGS. 26, 27, and 30, the cap 3 is fixed to the distal end shaft portion 17 of the input shaft 2 with a bolt 21, and constitutes an input side rotating body together with the input shaft 2, and the rotation center 3a is input. It is formed so as to coincide with the rotation center 2 a of the shaft 2. The cap 3 has an axial hole 18 that opens to one end side along the rotation center 3a (the right end side in FIG. 30D) and the other end side along the rotation center 3a (the left end side in FIG. 30D). And a bolt head part insertion hole 24 that connects the bolt head part accommodation hole 23 and the shaft hole 18 to each other. The cap 3 has a ring-shaped bearing stopper 25 formed on the left end side of the cylindrical outer peripheral surface 3b, and the side surface of the third bearing 26 attached to the outer peripheral surface 3b is abutted against the bearing stopper 25. The third bearing 26 is held between the inner peripheral projection 28 and the bearing stopper 25 in the bearing hole 27 of the second output side rotating body 8B. In the cap 3, the rotation center of the shaft hole 18 and the rotation center of the outer peripheral surface 3 b are concentric with the rotation center 3 a of the cap 3. The cap 3 is formed so that the outer diameter of the outer peripheral surface 3 b is the same as the outer diameter of the bearing support portion 13 of the input shaft 2. The third bearing 26 attached to the outer peripheral surface 3 b of the cap 3 is the same as the first bearing 10 attached to the bearing support portion 13 of the input shaft 2. The cap 3 holds the second bearing 16 in a state of being positioned between the bearing positioning step 3c and the bearing positioning step 2b of the input shaft 2.
　　（揺動体）
　図２７及び図３１に示すように、揺動体５は、同一形状の第１揺動体５Ａと第２揺動体５Ｂとが背中合わせで組み合わせて構成されている。そして、この揺動体５は、外周端側が第１先端部５ｆ（第１揺動体５Ａの外周側先端部）と第２先端部５ｇ（第２揺動体５Ｂの外周側先端部）とに二股に分岐し、第１先端部５ｆが固定部材７の一方の側面側にスライド移動可能に係合し、第２先端部５ｇが固定部材７の他方の側面側にスライド移動可能に係合している。第１揺動体５Ａは、偏心円板カム４によって揺動させられるように円板状に形成され、中心の軸受穴３０が第２ベアリング１６の外周面に嵌合され、偏心円板カム４と相対回動できるように第２ベアリング１６で支持されている。この第１揺動体５Ａは、その中心５ａが偏心円板カム４の中心４ａと同心となるように形成され、外周面５ｂが偏心円板カム４の中心４ａと同心の円筒面であり、外周面５ｂで複数のボール６を転動可能に支持している。また、第１揺動体５Ａは、軸受穴３０の径方向外方側に、周方向に沿って１０カ所の貫通穴３１が等間隔で形成されている。この第１揺動体５Ａの貫通穴３１は、第１出力側回転体８Ａの第１側面部３２に形成された連結突起３３ａ及び第２出力側回転体８Ｂの第２側面部４１に形成された連結突起３３ｂが隙間をもって係合され、第１揺動体５Ａが偏心円板カム４で揺動させられた際にも連結突起３３ａ，３３ｂに接触しない大きさに形成されている。また、第１揺動体５Ａの第１先端部５ｆの外周面５ｂは、ボール５の外周面と線接触できるような円弧状の断面形状になっている（図３１（ｆ）参照）。なお、第２揺動体５Ｂは、第１揺動体５Ａと同一形状であるため、第１揺動体５Ａの説明と重複する説明を省略する。 (Oscillator)
As shown in FIGS. 27 and 31, the oscillating body 5 is configured by combining the first oscillating body 5A and the second oscillating body 5B having the same shape back to back. The swinging body 5 is bifurcated into a first tip 5f (a tip on the outer periphery of the first swinging body 5A) and a second tip 5g (a tip on the outer periphery of the second swinging body 5B). The first tip 5f is slidably engaged with one side of the fixing member 7, and the second tip 5g is slidably engaged with the other side of the fixing member 7. . The first rocking body 5 </ b> A is formed in a disk shape so as to be rocked by the eccentric disk cam 4, and the center bearing hole 30 is fitted to the outer peripheral surface of the second bearing 16. It is supported by the second bearing 16 so as to be capable of relative rotation. The first oscillating body 5A is formed so that its center 5a is concentric with the center 4a of the eccentric disc cam 4, and its outer peripheral surface 5b is a cylindrical surface concentric with the center 4a of the eccentric disc cam 4. A plurality of balls 6 are supported by the surface 5b so as to be able to roll. Further, in the first oscillator 5A, ten through holes 31 are formed at equal intervals along the circumferential direction on the radially outer side of the bearing hole 30. The through hole 31 of the first oscillating body 5A is formed on the connection protrusion 33a formed on the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. The connection protrusion 33b is engaged with a gap, and is formed in a size that does not contact the connection protrusions 33a and 33b even when the first swinging body 5A is swung by the eccentric disc cam 4. Further, the outer peripheral surface 5b of the first tip 5f of the first rocking body 5A has an arcuate cross-sectional shape so as to be in line contact with the outer peripheral surface of the ball 5 (see FIG. 31F). Since the second oscillating body 5B has the same shape as the first oscillating body 5A, the description overlapping the description of the first oscillating body 5A is omitted.
　　（固定部材）
　図２６，図２７、図２８、及び図３２に示すように、固定部材７は、正面側の形状が略四角形状であり、中心部に揺動体収容穴３４が形成されている。この固定部材７は、外縁に沿うように形成された固定枠部３５と、この固定枠部３５の径方向内方側に形成された径方向溝形成円板部３６と、を有している。そして、固定部材７は、固定枠部３５の四隅にボルト穴３７が形成され、この四箇所のボルト穴３７に固定用ボルト（図示せず）が挿入され、図示しない被固定部材（例えば、機械のフレーム、又はロボットのアーム）に固定用ボルトで固定されるようになっている。この固定部材７は、揺動体収容穴３４の中心３４ａが入力軸２の回転中心２ａと同心となるように被固定部材に固定される。そして、固定部材７の揺動体収容穴３４には、揺動体５（第１揺動体５Ａ及び第２揺動体５Ｂ）が揺動できるように収容される。この固定部材７の一方の側面３６ａ側には、揺動体５の第１先端部５ｆ（第１揺動体５Ａの外周側先端部）が対向するように配置されている。また、固定部材７の他方の側面３６ｂ側には、揺動体５の第２先端部５ｇ（第２揺動体５Ｂの外周側先端部）が対向するように配置されている。 (Fixing member)
As shown in FIGS. 26, 27, 28, and 32, the fixing member 7 has a substantially square shape on the front side, and a swinging body accommodation hole 34 is formed at the center. The fixing member 7 has a fixed frame portion 35 formed along the outer edge, and a radial groove forming disk portion 36 formed on the radially inner side of the fixed frame portion 35. . The fixing member 7 has bolt holes 37 formed at the four corners of the fixing frame portion 35, and fixing bolts (not shown) are inserted into the bolt holes 37 at the four locations. Frame or robot arm) with fixing bolts. The fixing member 7 is fixed to the member to be fixed so that the center 34 a of the swinging body accommodation hole 34 is concentric with the rotation center 2 a of the input shaft 2. Then, the oscillating body 5 (the first oscillating body 5A and the second oscillating body 5B) is accommodated in the oscillating body accommodation hole 34 of the fixing member 7 so as to be able to oscillate. On one side surface 36a side of the fixing member 7, a first tip portion 5f of the oscillating body 5 (an outer peripheral side tip portion of the first oscillating body 5A) is arranged to face. Further, the second tip portion 5g of the rocking body 5 (the outer circumferential side tip portion of the second rocking body 5B) is disposed so as to face the other side surface 36b of the fixing member 7.
　固定部材７の径方向溝形成円板部３６の一方の側面３６ａには、径方向に沿って延びる長穴状の第１の径方向溝６８が周方向に沿って等間隔で複数（波形溝７０の波数をＮとすると、（Ｎ＋１））形成されている。また、固定部材７の径方向溝形成円板部３６の他方の側面３６ｂには、径方向に沿って延びる長穴状の第２の径方向溝７１が周方向に沿って等間隔で複数（波形溝７０の波数をＮとすると、（Ｎ＋１））形成されている。そして、この第２の径方向溝７１は、第１の径方向溝６８を周方向に１／２ピッチ（隣り合う第１の径方向溝６８，６８間の角度をθとすると、θ／２の角度）だけずらした位置に、第１の径方向溝６８を表裏反転させたように形成されており、第１の径方向溝６８と同一の径方向位置に形成されている。これら第１の径方向溝６８及び第２の径方向溝７１は、溝深さがボール６の半径よりも小さくなるように形成され、溝断面形状がボール６の半径と同一の半径の円弧形状であり、ボール６と線接触するように形成されている。また、これら第１の径方向溝６８及び第２の径方向溝７１は、溝長さ（径方向長さ）が揺動体５の揺動量（偏心円板カム４の偏心量ｅ）を考慮した長さに形成され、揺動体５の外周面５ｂに支持されたボール６が径方向に沿って移動させられるようになっている。また、第１の径方向溝６８に収容されたボール６は、第１出力側回転体８Ａの波形溝７０に転動可能に係合される。また、第２の径方向溝７１に収容されたボール６は、第２出力側回転体８Ｂの波形溝７０に転動可能に係合される。このような固定部材７の第１の径方向溝６８及び第２の径方向溝７１は、偏心円板カム４が１回転し、揺動体５が１ストローク分だけ揺動させられると、ボール６を揺動体５の揺動量に応じた分だけ径方向に転動させることができる。 On one side surface 36a of the radial groove forming disk portion 36 of the fixing member 7, there are a plurality of elongated hole-shaped first radial grooves 68 extending along the radial direction (corrugated grooves) along the circumferential direction. When the wave number of 70 is N, (N + 1)) is formed. In addition, a plurality of second radial grooves 71 having a long hole shape extending along the radial direction are provided at equal intervals along the circumferential direction on the other side surface 36b of the radial groove forming disk portion 36 of the fixing member 7. When the wave number of the corrugated groove 70 is N, (N + 1)) is formed. The second radial groove 71 has a pitch of 1/2 of the first radial groove 68 in the circumferential direction (when the angle between the adjacent first radial grooves 68 and 68 is θ, θ / 2 The first radial groove 68 is formed so as to be turned upside down at a position shifted by an angle of (1)), and is formed at the same radial position as the first radial groove 68. The first radial groove 68 and the second radial groove 71 are formed so that the groove depth is smaller than the radius of the ball 6, and the groove cross-sectional shape is an arc shape having the same radius as the radius of the ball 6. It is formed so as to be in line contact with the ball 6. The first radial groove 68 and the second radial groove 71 have a groove length (radial length) in consideration of the swing amount of the swing body 5 (the eccentric amount e of the eccentric disc cam 4). A ball 6 formed in a length and supported on the outer peripheral surface 5b of the rocking body 5 is moved along the radial direction. Further, the ball 6 accommodated in the first radial groove 68 is engaged with the corrugated groove 70 of the first output-side rotating body 8A so as to be able to roll. Further, the ball 6 accommodated in the second radial groove 71 is engaged with the corrugated groove 70 of the second output side rotating body 8B so as to be able to roll. The first radial groove 68 and the second radial groove 71 of the fixing member 7 are configured so that the eccentric disk cam 4 makes one rotation and the rocking body 5 is swung for one stroke. Can be rolled in the radial direction by an amount corresponding to the swinging amount of the swinging body 5.
　以上のような構成の固定部材７は、径方向溝形成円板部３６の一方の側面３６ａ側に形成された第１の径方向溝６８と他方の側面３６ｂ側に形成された第２の径方向溝７１が周方向に半ピッチ（θ／２の角度）分だけずれて位置しているため、第１の径方向溝６８と第２の径方向溝７１が周方向の同一位置に形成される場合（周方向にずらして形成されない場合）と比較し、径方向溝形成円板部３６の肉厚を十分に確保し、径方向溝形成円板部３６の強度を大きくすることができる。また、固定部材７は、一方の側面３６ａ側に形成された第１の径方向溝６８と他方の側面３６ｂ側に形成された第２の径方向溝７１が周方向に半ピッチ分だけずれて位置しているため、第１の径方向溝６８と第２の径方向溝７１が周方向の同一位置に形成される場合（周方向にずらして形成されない場合）と比較し、径方向溝形成円板部３６の強度を同一に維持しつつ、径方向溝形成円板部３６の肉厚を薄くでき、軽量化を図ることができる。 The fixing member 7 having the above-described configuration includes a first radial groove 68 formed on the one side surface 36a side of the radial groove forming disk portion 36 and a second diameter formed on the other side surface 36b side. Since the directional groove 71 is shifted by a half pitch (θ / 2 angle) in the circumferential direction, the first radial groove 68 and the second radial groove 71 are formed at the same position in the circumferential direction. As compared with the case where the radial groove forming disk part 36 is not formed by being shifted in the circumferential direction, the thickness of the radial groove forming disk part 36 can be sufficiently secured and the strength of the radial groove forming disk part 36 can be increased. Further, in the fixing member 7, the first radial groove 68 formed on the one side surface 36a side and the second radial groove 71 formed on the other side surface 36b side are shifted by a half pitch in the circumferential direction. Therefore, compared to the case where the first radial groove 68 and the second radial groove 71 are formed at the same position in the circumferential direction (when they are not formed shifted in the circumferential direction), the radial groove is formed. While maintaining the strength of the disk part 36 to be the same, the thickness of the radial groove forming disk part 36 can be reduced, and the weight can be reduced.
　　（第１出力側回転体）
　図２６、図２７、及び図３３に示すように、第１出力側回転体８Ａは、揺動体５の両側面５ｃ，５ｄのうちの一方の側面５ｃ、及び固定部材７の径方向溝形成円板部３６の両側面３６ａ，３６ｂのうちの一方の側面３６ａに対向して位置する第１側面部３２を有している。また、第１出力側回転体８Ａは、入力軸２に取り付けられた第１ベアリング１０を収容する軸受穴１４が形成され、第１ベアリング１０のアウターレースの側面が軸受穴１４の端部に形成された内周側突起１５に突き当てられるようになっている。この第１出力側回転体８Ａの第１側面部３２は、第２出力側回転体８Ｂを連結固定するための連結突起３３ａが周方向に等間隔で複数（５箇所）形成されている。この連結突起３３ａは、揺動体５の貫通穴３１を貫通して第２出力側回転体８Ｂの第２側面部４１に形成された連結突起収容凹部４２ｂに嵌合されるようになっている。また、この第１出力側回転体８Ａの第１側面部３２は、第２出力側回転体８Ｂを連結固定するための連結突起収容凹部４２ａが周方向に等間隔で複数（５箇所）形成されている。この連結突起収容凹部４２ａは、揺動体５の貫通穴３１を貫通して延びる第２出力側回転体８Ｂの第２側面部４１に形成された連結突起３３ｂが嵌合されるようになっている。連結突起３３ａと連結突起収容凹部４２ａは、第１出力側回転体８Ａの中心Ｃ１の回りに交互に且つ等間隔で配置されている。
　また、第１出力側回転体８Ａの第１側面部３２は、連結突起３３ａ及び連結突起収容凹部４２ａの径方向外方側に波形溝７０が形成されている。この波形溝７０は、図３３（ａ）に示すように、５０波が連続して形成されており、波の径方向内方端を谷底とし、波の径方向外方端を山頂とすると、第１出力側回転体８Ａの中心Ｃ１を通り且つｘ方向に平行な中心線７２上に波の山頂が位置するように形成されている。そして、連結突起３３ａの一つと、この連結突起３３ａの一つと２回対称の位置にある連結突起収容凹部４２ａの一つとが、中心線７２と直交する中心線７３（第１出力側回転体８Ａの中心Ｃ１を通り且つｙ方向に平行な中心線）に対し、第１の径方向溝６８の１／４ピッチ分（隣り合う第１の径方向溝６８，６８間の角度をθとすると、θ／４の角度）だけ左回り方向にずれて位置する中心線７４上に配置されている。 (First output side rotating body)
As shown in FIGS. 26, 27, and 33, the first output-side rotator 8 </ b> A includes one side surface 5 c of the both side surfaces 5 c and 5 d of the oscillating body 5 and a radial groove forming circle of the fixing member 7. It has the 1st side part 32 located facing one side surface 36a of the both sides | surfaces 36a and 36b of the board part 36. As shown in FIG. The first output-side rotating body 8 </ b> A is formed with a bearing hole 14 that accommodates the first bearing 10 attached to the input shaft 2, and the side surface of the outer race of the first bearing 10 is formed at the end of the bearing hole 14. It is made to abut against the inner peripheral projection 15 made. In the first side surface portion 32 of the first output side rotating body 8A, a plurality of (5 places) connecting projections 33a for connecting and fixing the second output side rotating body 8B are formed at equal intervals in the circumferential direction. The connection protrusion 33a is fitted into a connection protrusion receiving recess 42b formed in the second side surface portion 41 of the second output side rotating body 8B through the through hole 31 of the swinging body 5. In addition, the first side surface portion 32 of the first output side rotator 8A is formed with a plurality (five places) of connecting projection receiving recesses 42a for connecting and fixing the second output side rotator 8B at equal intervals in the circumferential direction. ing. The connecting projection receiving recess 42a is adapted to be fitted with a connecting projection 33b formed on the second side surface portion 41 of the second output side rotating body 8B extending through the through hole 31 of the rocking body 5. . The connection protrusions 33a and the connection protrusion accommodating recesses 42a are alternately arranged at equal intervals around the center C1 of the first output-side rotating body 8A.
Further, the first side surface portion 32 of the first output side rotating body 8A has a corrugated groove 70 formed on the radially outer side of the connection protrusion 33a and the connection protrusion accommodating recess 42a. As shown in FIG. 33 (a), the corrugated groove 70 is formed of 50 waves continuously, where the radially inner end of the wave is a valley bottom and the radially outer end of the wave is a peak. A wave peak is formed on a center line 72 that passes through the center C1 of the first output side rotating body 8A and is parallel to the x direction. Then, one of the connecting protrusions 33a and one of the connecting protrusions 33a and one of the connecting protrusion receiving recesses 42a that are in two-fold symmetry are center lines 73 (first output side rotating body 8A) orthogonal to the center line 72. Is a quarter pitch of the first radial groove 68 (the angle between the adjacent first radial grooves 68 and 68 is θ) with respect to a center line parallel to the y direction). It is arranged on a center line 74 that is shifted counterclockwise by an angle of θ / 4.
　また、この第１出力側回転体８Ａは、その背面側（第１側面部３２の反対側に位置する面側）に、被回転部材を固定するためのねじ穴５２が連結突起３３ａよりも径方向内方側位置の周方向に沿って等間隔で４箇所形成されている。このねじ穴５２は、中心線７４上に一対位置するように形成され、中心線７４に直交する中心線７５上に一対位置するように形成されている。 Further, the first output-side rotating body 8A has a screw hole 52 for fixing a member to be rotated on the back surface side (the surface side opposite to the first side surface portion 32) having a diameter larger than that of the connection protrusion 33a. Four points are formed at equal intervals along the circumferential direction of the inner side position. A pair of screw holes 52 are formed on the center line 74, and a pair of screw holes 52 are formed on the center line 75 orthogonal to the center line 74.
　また、第１出力側回転体８Ａの第１側面部３２において、波形溝７０よりも径方向内方側の部分（正確には、揺動体５の揺動を可能にする領域）は、固定部材７の径方向溝形成円板部３６、揺動体５の第１先端部５ｆ、及び揺動体５の第２先端部５ｇを第２出力側回転体８Ｂの第２側面部４１との間に収容するようになっている。これに対し、第１出力側回転体８Ａの第１側面部３２において、波形溝７０よりも径方向外方側の部分（正確には、揺動体５の外周端が到達しない領域）は、固定部材７の径方向溝形成円板部３６のみを第２出力側回転体８Ｂの第２側面部４１との間に収容するようになっている。したがって、第１出力側回転体８Ａの第１側面部３２において、波形溝７０は、固定部材７の一方の側面３６ａ側に形成された第１の径方向溝６８の溝深さがボール６の半径よりも小さくなっているため、山頂側の溝深さをボール６の半径よりも大きくすることができる。その結果、第１出力側回転体８Ａは、ボール減速機１の回転伝達時に最も大きな回転トルクが作用する波形溝７０の山頂付近のラチェッティングを効果的に防止できる。 Further, in the first side surface portion 32 of the first output-side rotating body 8A, the portion on the radially inner side from the corrugated groove 70 (more precisely, the region that allows the rocking body 5 to rock) is a fixing member. 7 and the second tip portion 5g of the oscillating body 5 are accommodated between the second side surface portion 41 of the second output side rotating body 8B. It is supposed to be. On the other hand, in the first side surface portion 32 of the first output side rotating body 8A, a portion radially outward from the corrugated groove 70 (more precisely, a region where the outer peripheral end of the rocking body 5 does not reach) is fixed. Only the radial groove forming disk part 36 of the member 7 is accommodated between the second side surface part 41 of the second output side rotating body 8B. Therefore, in the first side surface portion 32 of the first output side rotating body 8A, the corrugated groove 70 has a groove depth of the first radial groove 68 formed on the side surface 36a side of the fixing member 7 of the ball 6. Since it is smaller than the radius, the groove depth on the mountain top side can be made larger than the radius of the ball 6. As a result, the first output-side rotating body 8A can effectively prevent ratcheting in the vicinity of the peak of the corrugated groove 70 to which the largest rotational torque acts when the rotation of the ball speed reducer 1 is transmitted.
　　（第２出力側回転体）
　図３４は、第２出力側回転体８Ｂを示す図である。図３４（ａ）に示す第２出力側回転体８Ｂは、第１出力側回転体８Ａを図３３（ａ）の中心線（反転基準中心線）７２の周りに表裏反転した後、第１出力側回転体８Ａを中心線７３の周りに１８０度回転させ、次に第１出力側回転体８Ａの中心Ｃ１を回転中心として、第１出力側回転体８Ａを右回り方向に第２の径方向溝７１の１／２ピッチ分（隣り合う径方向溝７１，７１間の角度をθとすると、θ／２）の角度だけ回転させたものであり、第１出力側回転体と同一形状のものが使用される。この第２出力側回転体８Ｂは、揺動体５の両側面５ｃ，５ｄのうちの他方の側面５ｄ、及び固定部材７の径方向溝形成円板部３６の両側面３６ａ，３６ｂのうちの他方の側面３６ｂに対向して位置する第２側面部４１を有している。この第２出力側回転体８Ｂの第２側面部４１は、第１出力側回転体８ａの連結突起３３ａに対応する位置に、連結突起３３ａに嵌合される連結突起収容凹部４２ｂが連結突起３３ａと同数形成されている。また、この第２出力側回転体８Ｂの第２側面部４１は、第１出力側回転体８Ａの連結突起収容凹部４２ａに対応する位置に、連結突起収容凹部４２ａに嵌合される連結突起３３ｂが連結突起収容凹部４２ａと同数形成されている。また、第２出力側回転体８Ｂは、キャップ３に取り付けられた第３ベアリング２６を収容する軸受穴２７が形成され、第３ベアリング２６のアウターレースの側面が軸受穴２７の端部に形成された内周側突起２８に突き当てられるようになっている。また、この第２出力側回転体８Ｂは、その背面側（第２側面部４１の反対側に位置する面側）に、被回転部材を固定するためのねじ穴５２が連結突起３３ｂよりも径方向内方側位置の周方向に沿って等間隔で４箇所形成されている。 (Second output side rotating body)
FIG. 34 is a diagram showing the second output-side rotator 8B. The second output-side rotator 8B shown in FIG. 34 (a) reverses the first output-side rotator 8A around the center line (inversion reference center line) 72 in FIG. 33 (a), and then outputs the first output. The side rotating body 8A is rotated 180 degrees around the center line 73, and then the first output side rotating body 8A is rotated clockwise about the center C1 of the first output side rotating body 8A in the second radial direction. The groove 71 is rotated by an angle of 1/2 pitch (θ / 2 where the angle between adjacent radial grooves 71 and 71 is θ), and has the same shape as the first output-side rotating body Is used. The second output-side rotator 8B includes the other side surface 5d of the side surfaces 5c and 5d of the rocking body 5 and the other side surface 36a and 36b of the radial groove forming disk portion 36 of the fixing member 7. It has the 2nd side part 41 located facing the side surface 36b. The second side surface portion 41 of the second output side rotator 8B has a connection protrusion 33a at a position corresponding to the connection protrusion 33a of the first output side rotator 8a. The same number is formed. In addition, the second side surface portion 41 of the second output side rotating body 8B is connected to the connecting projection receiving recess 42a at a position corresponding to the connecting projection receiving recess 42a of the first output side rotating body 8A. Are formed in the same number as the connecting projection receiving recesses 42a. Further, the second output-side rotating body 8B is formed with a bearing hole 27 that accommodates the third bearing 26 attached to the cap 3, and the side surface of the outer race of the third bearing 26 is formed at the end of the bearing hole 27. Further, it is abutted against the inner peripheral projection 28. Further, the second output-side rotating body 8B has a screw hole 52 for fixing the member to be rotated on the back surface side (the surface side opposite to the second side surface portion 41). Four points are formed at equal intervals along the circumferential direction of the inner side position.
　また、第２出力側回転体８Ｂの第２側面部４１は、連結突起３３ｂ及び連結突起収容凹部４２ｂの径方向外方側に波形溝７０が形成されている。この波形溝７０は、図３４（ａ）に示すように、５０波が連続して形成されており、第２出力側回転体８Ｂの中心Ｃ１を通り且つｘ方向に平行な中心線７２よりも右回り方向にθ／２だけ回転した中心線７６上に波の山頂が位置するように形成されている。そして、連結突起３３ｂの一つと、この連結突起３３ｂの一つと２回対称の位置にある連結突起収容凹部４２ｂの一つとが、中心線７５と直交する中心線７４上に配置されている。 Further, the second side surface portion 41 of the second output-side rotator 8B has a corrugated groove 70 formed on the radially outer side of the connection protrusion 33b and the connection protrusion accommodating recess 42b. As shown in FIG. 34A, the corrugated groove 70 is formed of 50 waves continuously, and passes through the center C1 of the second output side rotating body 8B and is parallel to the center line 72 parallel to the x direction. It is formed so that the peak of the wave is located on the center line 76 rotated by θ / 2 in the clockwise direction. One of the connection protrusions 33 b and one of the connection protrusion receiving recesses 42 b that are in a two-fold symmetry with the one of the connection protrusions 33 b are arranged on a center line 74 orthogonal to the center line 75.
　なお、第１出力側回転体８Ａと第２出力側回転体８Ｂは、第２出力側回転体８Ｂの連結突起収容凹部４２ｂに形成されたボルト穴７７に挿入されたボルト７８の軸部７８ａが第１出力側回転体８Ａの連結突起３３ａの雌ねじ部８０に螺合され、第１出力側回転体８Ａの連結突起収容凹部４２ａに形成されたボルト穴７７に挿入されたボルト７８の軸部７８ａが第２出力側回転体８Ｂの連結突起３３ｂの雌ねじ部８０に螺合されることにより固定される。 The first output-side rotating body 8A and the second output-side rotating body 8B have shaft portions 78a of bolts 78 inserted into bolt holes 77 formed in the connecting projection receiving recesses 42b of the second output-side rotating body 8B. A shaft portion 78a of a bolt 78 that is screwed into the female thread portion 80 of the connecting projection 33a of the first output side rotating body 8A and is inserted into a bolt hole 77 formed in the connecting projection receiving recess 42a of the first output side rotating body 8A. Is fixed by being screwed into the female threaded portion 80 of the connecting projection 33b of the second output side rotating body 8B.
　また、第２出力側回転体８Ｂの第２側面部４１において、波形溝７０よりも径方向内方側の部分（正確には、揺動体５の揺動を可能にする領域）は、固定部材７の径方向溝形成円板部３６、揺動体５の第１先端部５ｆ、及び揺動体５の第２先端部５ｇを第１出力側回転体８Ａの第１側面部３２との間に収容するようになっている。これに対し、第２出力側回転体８Ｂの第２側面部４１において、波形溝７０よりも径方向外方側の部分（正確には、揺動体５の外周端が到達しない領域）は、固定部材７の径方向溝形成円板部３６のみを第１出力側回転体８Ａの第１側面部３２との間に収容するようになっている。したがって、第２出力側回転体８Ｂの第２側面部４１において、波形溝７０は、固定部材７の他方の側面３６ｂ側に形成された第２の径方向溝７１の溝深さがボール６の半径よりも小さくなっているため、山頂側の溝深さをボール６の半径よりも大きくすることができる。その結果、第２出力側回転体８Ｂは、ボール減速機１の回転伝達時に最も大きな回転トルクが作用する波形溝７０の山頂付近のラチェッティングを効果的に防止できる。 Further, in the second side surface portion 41 of the second output-side rotator 8B, a portion radially inward of the corrugated groove 70 (more precisely, a region in which the oscillating body 5 can be oscillated) is a fixing member. 7, the radial groove forming disk portion 36, the first tip portion 5 f of the rocking body 5, and the second tip portion 5 g of the rocking body 5 are accommodated between the first side surface portion 32 of the first output side rotating body 8 </ b> A. It is supposed to be. On the other hand, in the second side surface portion 41 of the second output side rotating body 8B, the portion on the radially outer side from the corrugated groove 70 (more precisely, the region where the outer peripheral end of the rocking body 5 does not reach) is fixed. Only the radial groove forming disk part 36 of the member 7 is accommodated between the first side surface part 32 of the first output side rotating body 8A. Therefore, in the second side surface portion 41 of the second output side rotating body 8B, the corrugated groove 70 has a groove depth of the second radial groove 71 formed on the other side surface 36b side of the fixing member 7 of the ball 6. Since it is smaller than the radius, the groove depth on the mountain top side can be made larger than the radius of the ball 6. As a result, the second output-side rotator 8B can effectively prevent ratcheting in the vicinity of the peak of the corrugated groove 70 to which the largest rotational torque acts when the rotation of the ball speed reducer 1 is transmitted.
　　（作動状態）
　図２７，図３３、及び図３４に示すように、本実施形態に係るボール減速機１は、第１出力側回転体８Ａと第２出力側回転体８Ｂとを組み合わせて固定した場合、第１出力側回転体８Ａの波形溝７０と第２出力側回転体８Ｂの波形溝７０とが第１の径方向溝６８（又は第２の径方向溝７１）の半ピッチ（θ／２）分だけ周方向にずれた状態で位置するため、固定部材７の第１の径方向溝６８と第２の径方向溝７１とが周方向に半ピッチ（θ／２）分だけずらして形成されても、固定部材７の第１の径方向溝６８と第１出力側回転体８Ａの波形溝７０の位置関係と固定部材７の第２の径方向溝７１と第２出力側回転体８Ｂの波形溝７０の位置関係とが合致し、回転伝達を円滑に行うことができる。 (Operating state)
As shown in FIG. 27, FIG. 33, and FIG. 34, the ball speed reducer 1 according to the present embodiment has the first output side rotating body 8A and the second output side rotating body 8B fixed in combination. The corrugated groove 70 of the output-side rotator 8A and the corrugated groove 70 of the second output-side rotator 8B are the half pitch (θ / 2) of the first radial groove 68 (or the second radial groove 71). Since the first radial groove 68 and the second radial groove 71 of the fixing member 7 are formed so as to be shifted by a half pitch (θ / 2) in the circumferential direction because they are positioned in a state shifted in the circumferential direction. The positional relationship between the first radial groove 68 of the fixing member 7 and the corrugated groove 70 of the first output side rotating body 8A, and the second radial groove 71 of the fixing member 7 and the corrugated groove of the second output side rotating body 8B. The positional relationship of 70 matches, and rotation transmission can be performed smoothly.
　　（本実施形態の効果）
　以上のように構成された本実施形態に係るボール減速機１は、第１出力側回転体８Ａの第１側面部３２及び第２出力側回転体８Ｂの第２側面部４１の２箇所にのみ波形溝７０が形成されるようになっているため、波形溝１１１，１１１，１１２，１１２を４箇所にそれぞれ形成する従来例のボール減速機１００と比較し（図３５参照）、加工工数の削減が可能になる。また、本実施形態に係るボール減速機１は、揺動体５が固定部材７及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）に対して独立して揺動できるようになっているため、揺動体５と出力側回転体８とを一体に回動させるための複雑な機構（例えば、図３５に示した従来例に係るボール減速機１００の偏心吸収機構１１３，１１３）を設ける必要がなく、構造が簡単化し、加工工数の削減が可能になる。 (Effect of this embodiment)
The ball speed reducer 1 according to the present embodiment configured as described above has only two locations, the first side surface portion 32 of the first output side rotating body 8A and the second side surface portion 41 of the second output side rotating body 8B. Since the corrugated groove 70 is formed, compared with the conventional ball reducer 100 in which the corrugated grooves 111, 111, 112, 112 are formed at four locations, respectively (see FIG. 35), the number of processing steps is reduced. Is possible. In the ball speed reducer 1 according to the present embodiment, the swinging body 5 swings independently of the fixed member 7 and the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B). Since it can move, it is a complicated mechanism for rotating the rocking body 5 and the output side rotating body 8 together (for example, the eccentric absorption mechanism of the ball reducer 100 according to the conventional example shown in FIG. 35). 113, 113) need not be provided, the structure is simplified, and the number of processing steps can be reduced.
　また、本実施形態に係るボール減速機１は、第１の径方向溝６８と波形溝７０との交差する箇所、及び第２の径方向溝７１と波形溝７０との交差する箇所にボール６が位置するようになっているため、ボール１０８が偏心回転板１０４の第１波形溝１１１の溝壁と固定部材１０７の第２波形溝１１２の溝壁に同時に接触するように構成された従来のボール減速機１００と比較し（図３５参照）、第１の径方向溝６８、第２の径方向溝７１、及び波形溝７０の加工が容易になると共に、揺動体５、固定部材７、及び出力側回転体８（第１出力側回転体８Ａ及び第２出力側回転体８Ｂ）等の組立作業が容易になる。 In addition, the ball speed reducer 1 according to the present embodiment has the ball 6 at the location where the first radial groove 68 and the corrugated groove 70 intersect, and at the location where the second radial groove 71 and the corrugated groove 70 intersect. Therefore, the ball 108 is configured to be in contact with the groove wall of the first corrugated groove 111 of the eccentric rotating plate 104 and the groove wall of the second corrugated groove 112 of the fixing member 107 at the same time. Compared to the ball reducer 100 (see FIG. 35), the first radial groove 68, the second radial groove 71, and the corrugated groove 70 can be easily processed, and the oscillator 5, the fixing member 7, and Assembling work such as the output side rotating body 8 (the first output side rotating body 8A and the second output side rotating body 8B) becomes easy.
　また、本実施形態に係るボール減速機１は、第１出力側回転体８Ａと第２出力側回転体８Ｂとが同一形状であるため、部品（第１出力側回転体８Ａ、第２出力側回転体８Ｂ、第１ベアリング１０、及び第３ベアリング２６）を共通化することができ、部品コストを低減できる。 Moreover, since the 1st output side rotary body 8A and the 2nd output side rotary body 8B are the same shapes, the ball | bowl speed reducer 1 which concerns on this embodiment has components (1st output side rotary body 8A, 2nd output side). The rotating body 8B, the first bearing 10, and the third bearing 26) can be shared, and the component cost can be reduced.
　　（本実施形態の変形例）
　なお、本実施形態に係るボール減速機１は、固定部材７の第１の径方向溝６８と第２の径方向溝７１を周方向に沿って半ピッチ（θ／２）分だけずらして形成されているが、これに限られず、固定部材７の第１の径方向溝６８と第２の径方向溝７１を周方向の同一位置に形成してもよい。なお、このような固定部材７の構成の場合には、第１出力側回転体８Ａの連結突起３３ａの一つと、この連結突起３３ａの一つと２回対称の位置にある連結突起収容凹部４２ａの一つとが、中心線７３（第１出力側回転体８Ａの中心Ｃ１を通り且つｙ方向に平行な中心線）上に配置される。 (Modification of this embodiment)
The ball speed reducer 1 according to the present embodiment is formed by shifting the first radial groove 68 and the second radial groove 71 of the fixing member 7 by a half pitch (θ / 2) along the circumferential direction. However, the present invention is not limited to this, and the first radial groove 68 and the second radial groove 71 of the fixing member 7 may be formed at the same circumferential position. In the case of such a configuration of the fixing member 7, one of the connection projections 33a of the first output side rotating body 8A and the connection projection receiving recess 42a at a position that is two-fold symmetrical with one of the connection projections 33a. One is arranged on a center line 73 (a center line passing through the center C1 of the first output side rotating body 8A and parallel to the y direction).
　また、本実施形態に係るボール減速機１は、同一形状の第１揺動体５Ａと第２揺動体５Ｂとを背中合わせで組み合わせて揺動体５が構成されているが、これに限られず、揺動体５の全体を一体に形成するようにしてもよい。 In the ball speed reducer 1 according to this embodiment, the oscillating body 5 is configured by combining the first oscillating body 5A and the second oscillating body 5B having the same shape back to back. 5 may be formed integrally.
　［第１乃至第４実施形態の変形例］
　本発明の第１乃至第４実施形態に係るボール減速機１は、第１乃至第３ベアリング１０，１６，２６として、ボールベアリング、ローラベアリング、ブッシュ等が使用される。 [Modifications of First to Fourth Embodiments]
In the ball speed reducer 1 according to the first to fourth embodiments of the present invention, ball bearings, roller bearings, bushes, and the like are used as the first to third bearings 10, 16, and 26.
　また、本発明の第１乃至第４実施形態に係るボール減速機１は、全体（入力軸２、キャップ３、揺動体５、固定部材７、第１出力側回転体８Ａ、及び第２出力側回転体８Ｂ等）を金属で形成する場合、全体の一部を合成樹脂材料で形成する場合、又は第１乃至第４ベアリング１０，１６，２６及びボール６以外の全体を合成樹脂材料で形成する場合が考えられる。特に、第１乃至第３ベアリング１０，１６，２６及びボール６以外の全体を合成樹脂材料で形成するボール減速機１は、重量を軽量化することができ、製品価格を低廉化することができる。また、第１乃至第３ベアリング１０，１６，２６及びボール６以外の全体を合成樹脂材料で形成するボール減速機１は、ボール６との接触音を低減できる（静音化できる）と共に、振動を抑えることが可能になる。加えて、第３及び第４実施形態に係るボール減速機１は、第１乃至第３ベアリング１０，１６，２６及びボール６以外の全体を合成樹脂材料で形成する場合において、第１出力側回転体８Ａと第２出力側回転体８Ｂを共通化することができるため、射出成形金型が一型で足り、製造コストを削減することができる。 In addition, the ball speed reducer 1 according to the first to fourth embodiments of the present invention includes the whole (the input shaft 2, the cap 3, the rocking body 5, the fixing member 7, the first output side rotating body 8A, and the second output side). The rotating body 8B, etc.) is made of metal, a part of the whole is made of a synthetic resin material, or the whole other than the first to fourth bearings 10, 16, 26 and the ball 6 is made of a synthetic resin material. There are cases. In particular, the ball speed reducer 1 in which the entirety other than the first to third bearings 10, 16, 26 and the ball 6 is formed of a synthetic resin material can be reduced in weight and the product price can be reduced. . In addition, the ball speed reducer 1 in which the entirety other than the first to third bearings 10, 16, 26 and the ball 6 is made of a synthetic resin material can reduce contact noise with the ball 6 (can be silenced) and can also vibrate vibration. It becomes possible to suppress. In addition, when the ball speed reducer 1 according to the third and fourth embodiments is formed entirely of a synthetic resin material other than the first to third bearings 10, 16, 26 and the ball 6, the first output side rotation Since the body 8A and the second output side rotating body 8B can be used in common, a single injection mold is sufficient, and the manufacturing cost can be reduced.
　１……ボール減速機、２……入力軸（入力側回転体）、２ａ……回転中心、３……キャップ（入力側回転体）、４……偏心円板カム、４ａ……中心、５……揺動体、５ｂ……外周面、６……ボール、７……固定部材、８……出力側回転体、８Ａ……第１出力側回転体、８Ｂ……第２出力側回転体、３２……第１側面部、３８……径方向溝、４０，５６，６０……波形溝、４０ａ，６０ａ……谷底、４０ｂ，６０ｂ……山頂、４１……第２側面部 DESCRIPTION OF SYMBOLS 1 ... Ball reducer, 2 ... Input shaft (input side rotary body), 2a ... Center of rotation, 3 ... Cap (input side rotary body), 4 ... Eccentric disk cam, 4a ... Center, 5 ...... Oscillator, 5b ... outer peripheral surface, 6 ... ball, 7 ... fixing member, 8 ... output-side rotator, 8A ... first output-side rotator, 8B ... second output-side rotator, 32... First side surface portion 38... Radial groove, 40, 56, 60... Corrugated groove, 40 a, 60 a .. Valley bottom, 40 b, 60 b.

Claims (9)

  1.   入力側回転体の回転を出力側回転体に減速して伝達するボール減速機において、
    　前記入力側回転体と一体に回動する偏心円板カムと、
    　前記偏心円板カムの外周側に相対回動可能に嵌合され、前記偏心円板カムによって揺動させられる揺動体と、
    　前記揺動体の外周面に沿って複数配置されたボールと、
    　前記揺動体を揺動できるように径方向内方側に収容すると共に、被固定部材に固定される固定部材と、
    　前記揺動体及び前記固定部材の一方の側面に対向するように配置され、前記入力側回転体に相対回動可能に支持された第１出力側回転体と、
    　前記揺動体及び前記固定部材の他方の側面に対向するように配置され、前記第１出力側回転体に一体回動できるように固定されると共に、前記入力側回転体に相対回動可能に支持され、前記第１出力側回転体と共に前記出力側回転体を構成する第２出力側回転体と、を備え、
    　前記揺動体の外周面は、前記偏心円板カムの中心と同心の円筒面であり、
    　前記固定部材は、前記入力側回転体の回転中心に直交する仮想平面において、前記回転中心から放射状に延びる方向を径方向とすると、前記ボールを前記径方向にスライド移動可能に案内する径方向溝が前記ボールの数と同数形成されると共に、前記径方向溝の径方向内方端が前記ボールの出入りを可能にする開口端になっており、
    　前記第１出力側回転体は、前記固定部材の一方の側面に対向する第１側面部を有し、
    　前記第２出力側回転体は、前記固定部材の他方の側面に対向する第２側面部を有し、
    　前記第１側面部及び前記第２側面部は、前記仮想平面において、前記回転中心を中心とする仮想円の外縁に沿った方向を周方向とすると、前記ボールを前記周方向に沿って波形状に案内する環状の波形溝が形成された、
    　ことを特徴とするボール減速機。     In the ball reducer that decelerates and transmits the rotation of the input side rotator to the output side rotator,
    An eccentric disc cam that rotates integrally with the input side rotating body;
    An oscillating body that is fitted to the outer peripheral side of the eccentric disc cam so as to be relatively rotatable, and is oscillated by the eccentric disc cam;
    A plurality of balls arranged along the outer peripheral surface of the rocking body;
    A fixed member that is housed on the radially inner side so that the rocking body can be swung, and is fixed to a fixed member;
    A first output-side rotating body that is disposed so as to face one side surface of the rocking body and the fixing member, and is supported by the input-side rotating body so as to be relatively rotatable;
    The oscillating body and the fixing member are disposed so as to face the other side surface, and are fixed to the first output-side rotator so as to be integrally rotatable, and supported by the input-side rotator so as to be relatively rotatable. And a second output-side rotator that constitutes the output-side rotator together with the first output-side rotator,
    The outer peripheral surface of the rocking body is a cylindrical surface concentric with the center of the eccentric disc cam,
    The fixing member has a radial groove that guides the ball slidably in the radial direction when a radial direction extending from the rotation center is a radial direction in a virtual plane orthogonal to the rotation center of the input side rotating body. Are formed in the same number as the number of the balls, and the radially inner end of the radial groove is an open end that allows the ball to enter and exit,
    The first output-side rotating body has a first side surface portion that faces one side surface of the fixing member,
    The second output-side rotating body has a second side surface portion that faces the other side surface of the fixing member,
    The first side surface portion and the second side surface portion have a wave shape along the circumferential direction when a direction along an outer edge of a virtual circle centered on the rotation center is a circumferential direction in the virtual plane. An annular corrugated groove is formed to guide the
    A ball reducer characterized by that.
  2. 　前記波形溝は、偶数の波が連続して形成され、波の径方向内方端を谷底とし、波の径方向外方端を山頂とすると、前記谷底が前記第１側面部と前記第２側面部とに跨って位置し、奇数番の波の山頂の溝深さが前記第１側面部と前記第２側面部のいずれか一方側よりも前記第１側面部と前記第２側面部のいずれか他方側に深く形成され、偶数番の波の前記山頂が前記第１側面部と前記第２側面部のいずれか他方側よりも前記第１側面部と前記第２側面部のいずれか一方側に深く形成され、前記谷底から前記山頂に向けて溝深さが漸増するように形成された、
    　ことを特徴とする請求項１に記載のボール減速機。     The corrugated groove is formed with an even number of waves continuously, and when the radially inner end of the wave is a valley bottom and the radially outer end of the wave is a mountain top, the valley bottom is the first side surface portion and the second side. The groove depth at the peak of the odd-numbered wave is located between the first side surface portion and the second side surface portion rather than either one of the first side surface portion and the second side surface portion. Either of the first side surface portion and the second side surface portion is formed deeper on the other side, and the peak of the even-numbered wave is on the other side of the first side surface portion and the second side surface portion. Deeply formed on the side, and formed so that the groove depth gradually increases from the valley bottom toward the peak,
    The ball speed reducer according to claim 1.
  3. 　前記径方向溝は、前記波形溝の波の数をＮとすると、溝数が（Ｎ＋１）／３であり、Ｎが偶数で且つ（Ｎ＋１）／３が自然数である、
    　ことを特徴とする請求項２に記載のボール減速機。     The number of grooves in the radial groove is (N + 1) / 3, N is an even number, and (N + 1) / 3 is a natural number, where N is the number of waves in the corrugated groove.
    The ball speed reducer according to claim 2.
  4.   前記径方向溝は、前記波形溝の波の数をＮとすると、溝数が（Ｎ－１）／３であり、Ｎが偶数で且つ（Ｎ－１）／３が自然数である、
    　ことを特徴とする請求項２に記載のボール減速機。     The number of grooves in the radial groove is (N-1) / 3, where N is an even number and (N-1) / 3 is a natural number, where N is the number of waves in the corrugated groove.
    The ball speed reducer according to claim 2.
  5. 　前記波形溝は、波の径方向内方端を谷底とし、波の径方向外方端を山頂とすると、前記谷底と前記山頂における前記第１側面部と前記第２側面部の溝深さが等しく、前記谷底から前記山頂に向かうに従って前記第１側面部と前記第２側面部のいずれか一方の溝深さが漸増した後に漸減し、且つ、前記谷底から前記山頂に向かうに従って前記第１側面部と前記第２側面部のいずれか他方の溝深さが漸減した後に漸増し、前記山頂から前記谷底に向かうに従って前記第１側面部と前記第２側面部のいずれか一方の溝深さが漸減した後に漸増し、且つ、前記山頂から前記谷底に向かうに従って前記第１側面部と前記第２側面部のいずれか他方の溝深さが漸増した後に漸減するように形成された、
    　ことを特徴とする請求項１に記載のボール減速機。     The corrugated groove has a trough at the radially inner end of the wave and a peak at the radially outer end of the wave. The groove depths of the first side surface portion and the second side surface portion at the bottom of the valley and the top of the peak are as follows. Equally, the groove depth of one of the first side surface portion and the second side surface portion gradually increases after going from the valley bottom to the mountain top, and then gradually decreases, and the first side surface goes from the valley bottom to the mountain top. The groove depth of either the first side surface portion or the second side surface portion gradually increases after the groove depth of the other of the first side surface portion and the second side surface portion gradually decreases. It was formed so as to gradually increase after gradually decreasing, and gradually decrease after the groove depth of one of the first side surface portion and the second side surface portion gradually increased from the peak to the bottom of the valley,
    The ball speed reducer according to claim 1.
  6. 　前記波形溝は、前記仮想平面に直交し且つ前記入力側回転体の回転中心を含む仮想断面に投影した形状が楕円形状又は略楕円形状である、
    　ことを特徴とする請求項５に記載のボール減速機。     In the corrugated groove, the shape projected on a virtual cross section that is orthogonal to the virtual plane and includes the rotation center of the input-side rotating body is an elliptical shape or a substantially elliptical shape.
    The ball speed reducer according to claim 5.
  7.   入力側回転体の回転を出力側回転体に減速して伝達するボール減速機において、
    　前記入力側回転体と一体に回動する偏心円板カムと、
    　前記偏心円板カムの外周側に相対回動可能に嵌合され、前記偏心円板カムによって揺動させられる揺動体と、
    　前記揺動体の外周面に沿って複数配置されたボールと、
    　前記揺動体を揺動できるように径方向内方側に収容すると共に、被固定部材に固定される固定部材と、
    　前記揺動体及び前記固定部材の一方の側面に対向するように配置され、前記入力側回転体に相対回動可能に支持された第１出力側回転体と、
    　前記揺動体及び前記固定部材の他方の側面に対向するように配置され、前記第１出力側回転体に一体回動できるように固定されると共に、前記入力側回転体に相対回動可能に支持され、前記第１出力側回転体と共に前記出力側回転体を構成する第２出力側回転体と、を備え、
    　前記揺動体の外周面は、前記偏心円板カムの中心と同心の円筒面であり、
    　前記固定部材は、前記入力側回転体の回転中心に直交する仮想平面において、前記回転中心から放射状に延びる方向を径方向とすると、前記ボールを前記径方向にスライド移動可能に案内する径方向溝が前記一方の側面と前記他方の側面とに前記ボールの数と同数形成され、
    　前記第１出力側回転体は、前記固定部材の一方の側面に対向する第１側面部を有し、
    　前記第２出力側回転体は、前記固定部材の他方の側面に対向する第２側面部を有し、
    　前記第１側面部及び前記第２側面部は、前記仮想平面において、前記回転中心を中心とする仮想円の外縁に沿った方向を周方向とすると、前記ボールを前記周方向に沿って波形状に案内する環状の波形溝が形成された、
    　ことを特徴とするボール減速機。     In the ball reducer that decelerates and transmits the rotation of the input side rotator to the output side rotator,
    An eccentric disc cam that rotates integrally with the input side rotating body;
    An oscillating body that is fitted to the outer peripheral side of the eccentric disc cam so as to be relatively rotatable, and is oscillated by the eccentric disc cam;
    A plurality of balls arranged along the outer peripheral surface of the rocking body;
    A fixed member that is housed on the radially inner side so that the rocking body can be swung, and is fixed to a fixed member;
    A first output-side rotating body that is disposed so as to face one side surface of the rocking body and the fixing member, and is supported by the input-side rotating body so as to be relatively rotatable;
    The oscillating body and the fixing member are disposed so as to face the other side surface, and are fixed to the first output-side rotator so as to be integrally rotatable, and supported by the input-side rotator so as to be relatively rotatable. And a second output-side rotator that constitutes the output-side rotator together with the first output-side rotator,
    The outer peripheral surface of the rocking body is a cylindrical surface concentric with the center of the eccentric disc cam,
    The fixing member has a radial groove that guides the ball slidably in the radial direction when a radial direction extending from the rotation center is a radial direction in a virtual plane orthogonal to the rotation center of the input side rotating body. Is formed in the same number as the number of the balls on the one side surface and the other side surface,
    The first output-side rotating body has a first side surface portion that faces one side surface of the fixing member,
    The second output-side rotating body has a second side surface portion that faces the other side surface of the fixing member,
    The first side surface portion and the second side surface portion have a wave shape along the circumferential direction when a direction along an outer edge of a virtual circle centered on the rotation center is a circumferential direction in the virtual plane. An annular corrugated groove is formed to guide the
    A ball reducer characterized by that.
  8. 　前記固定部材の一方の側面に形成された前記径方向溝に収容された前記ボールは、前記第１出力側回転体の第１側面部に形成された前記波形溝に係合し、
    　前記固定部材の他方の側面に形成された前記径方向溝に収容された前記ボールは、前記第２出力側回転体の第２側面部に形成された前記波形溝に係合し、
    　前記波形溝は、波の径方向内方端を谷底とし、波の径方向外方端を山頂とすると、前記山頂の溝深さが前記ボールの半径よりも大きい、
    　ことを特徴とする請求項７に記載のボール減速機。     The ball accommodated in the radial groove formed on one side surface of the fixing member engages with the corrugated groove formed on the first side surface portion of the first output side rotating body,
    The ball accommodated in the radial groove formed on the other side surface of the fixing member engages with the corrugated groove formed on the second side surface portion of the second output side rotating body,
    The corrugated groove has a wave radially inner end as a valley bottom and a wave radially outer end as a peak, and the groove depth of the peak is larger than the radius of the ball.
    The ball speed reducer according to claim 7.
  9. 　前記揺動体は、外周端が第１先端部と第２先端部とに二股に分岐し、
    　前記第１先端部は、前記固定部材の一方の側面側にスライド可能に係合し、
    　前記第２先端部は、前記固定部材の他方の側面側にスライド可能に係合している、
    　ことを特徴とする請求項７又は８に記載のボール減速機。     The rocking body has an outer peripheral end bifurcated into a first tip portion and a second tip portion,
    The first tip is slidably engaged with one side surface of the fixing member,
    The second tip is slidably engaged with the other side surface of the fixing member.
    The ball speed reducer according to claim 7 or 8, wherein
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CN108843759A (en) * 2018-09-11 2018-11-20 李桂君 A kind of Eccentrically rocking type reduction gear
JP2020051572A (en) * 2018-09-28 2020-04-02 Ntn株式会社 Power transmission device

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JP2001355706A (en) * 2000-06-14 2001-12-26 Showa Corp Differential device
JP2006077833A (en) * 2004-09-08 2006-03-23 Honda Motor Co Ltd Rolling ball type differential reduction gear
JP2009024765A (en) * 2007-07-19 2009-02-05 Nsk Ltd Ball type reduction gear
JP2009275739A (en) * 2008-05-13 2009-11-26 Nsk Ltd Ball reduction gear

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JP2001355706A (en) * 2000-06-14 2001-12-26 Showa Corp Differential device
JP2006077833A (en) * 2004-09-08 2006-03-23 Honda Motor Co Ltd Rolling ball type differential reduction gear
JP2009024765A (en) * 2007-07-19 2009-02-05 Nsk Ltd Ball type reduction gear
JP2009275739A (en) * 2008-05-13 2009-11-26 Nsk Ltd Ball reduction gear

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108843759A (en) * 2018-09-11 2018-11-20 李桂君 A kind of Eccentrically rocking type reduction gear
JP2020051572A (en) * 2018-09-28 2020-04-02 Ntn株式会社 Power transmission device
JP7021043B2 (en) 2018-09-28 2022-02-16 Ntn株式会社 Power transmission device

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