WO2020110849A1

WO2020110849A1 - Reduction gear

Info

Publication number: WO2020110849A1
Application number: PCT/JP2019/045366
Authority: WO
Inventors: 靖梶原
Original assignee: 株式会社エンプラス
Priority date: 2018-11-28
Filing date: 2019-11-20
Publication date: 2020-06-04
Also published as: JP2020085169A

Abstract

[Problem] To enable rotation to be achieved without providing a separate eccentric motion absorption mechanism. [Solution] A reduction gear 1 has: an eccentric cam 4 that turns together with a drive shaft 3; a swinging body 7 caused to swing by the eccentric cam 4; a plurality of round-bar-shaped pins 12 in contact with an outer peripheral surface 20 of the swinging body 7; a first pin-guiding member 2 in which diametrical grooves 27 are formed through which the pins 12 slidably move along the diametrical direction, the number of said grooves being at least the same as the number (Za) of pins 12; a second pin-guiding member 11 in which a wave-form recessed part 40 is formed along the circumferential direction, said recessed part comprising a plurality of (Zb) recesses 38 in contact with the pins 12 slidably moving along the diametrical grooves 27; and a holding ring 13 that elastically presses the plurality of pins 12 against the outer peripheral surface 20 of the swinging body 7. The second pin-guiding member is secured to a secured-to member, and the first pin-guiding member is arranged to be capable of turning in relation to the second pin-guiding member and the swinging body. The difference between Za and Zb is 1, and the rotation ratio of the first pin-guiding member to the drive shaft 1/Za.

Description

Decelerator

The present invention relates to a speed reducer used for decelerating and transmitting rotation.

Since a gear reducer that has been generally used from the past is configured by combining a plurality of gears, it is difficult to eliminate backlash, and it is also difficult to obtain a small and large reduction ratio. .. Therefore, as a solution to the drawbacks of the gear reducer, a reducer (cycloid reducer) as shown in FIG. 18 has been developed.

FIG. 18 is a diagram showing such a conventional speed reducer 100. As shown in FIG. 18, in the speed reducer 100, a second ring 103 is accommodated in a space 102 on the radially inner side of the first ring 101 so as to be relatively rotatable, and the second ring 103 has a bearing interposed therebetween. The second ring 103 is eccentrically attached to the input shaft by being engaged with the input shaft (not shown) so as to be relatively rotatable. Further, the speed reducer 1 has an abacus ball shape (a shape in which bottom surfaces of a pair of conical bodies are pasted together, which can be fitted into the variable cutout 104 of the first ring 101 and the variable cutout 105 of the second ring 103. ), a plurality of rollers 106 are rotatably supported by a roller cage 107 located between the first ring 101 and the second ring 103 at equal intervals. Further, in the speed reducer 100, the first ring 101 is fixed, the output shaft (not shown) is connected to the second ring 103, and the rotation of the input shaft is decelerated and transmitted to the output shaft. ..

In the speed reducer 100 shown in FIG. 18, the total number of variable cutouts 105 of the second ring 103 is smaller than the total number of variable cutouts 104 of the first ring 101, and the total number of rollers 106 is the total number of variable cutouts 105 of the second ring 103. By providing more than the total number of variable cutouts 104 of the first ring 101, it operates as a cycloid speed reducer. For example, in the speed reducer 100 shown in FIG. 18, the total number of variable cutouts 104 of the first ring 101 is 6, the total number of variable cutouts 105 of the second ring 103 is 4, and the total number of rollers 106 is 5. Can be configured. Then, the reduction ratio R of the speed reducer 100 in this case is determined based on the total number N of the rollers 106, and is calculated by the mathematical formula of R=(N-1)/2. Therefore, when the total number of rollers 106 is 5, the reduction ratio R of the speed reducer 100 is 2.

Further, in the speed reducer 100 shown in FIG. 18, the second ring 103 rotating in an eccentric state around the axis of the input shaft and the output shaft (not shown) are like Oldham's joints 108 (see FIG. 19). The second ring 103 is connected via an eccentric motion absorbing mechanism so that the rotation of the second ring 103 can be smoothly extracted from the output shaft located coaxially with the input shaft (see Patent Document 1).

Japanese Patent Publication No. 2018-519482

However, as shown in FIG. 18, in the conventional speed reducer 100, when the rotation is taken out (transmitted to the output shaft) from the second ring (output member) 103 which rotates in an eccentric state, as shown in FIG. Since an eccentric motion absorbing mechanism (for example, Oldham's joint 108) is required, the structure becomes complicated and large due to the provision of the eccentric motion absorbing mechanism.

Therefore, the present invention enables the rotation of the output member to be taken out without passing through the eccentric motion absorbing mechanism, and the structure can be simplified as much as there is no need to separately provide the eccentric motion absorbing mechanism, and the size can be reduced. The purpose of the present invention is to provide a reduction gear that can be used.

The present invention relates to a speed reducer 1 that decelerates and transmits the rotation of the input side rotating body 3 to the output side rotating body. The speed reducer 1 according to the present invention is fitted to an eccentric cam 4 that rotates together with the input side rotating body 3 and the eccentric cam 4 such that the eccentric cam 4 is rotatable relative to the eccentric cam 4 and the rotation axis center CL of the input side rotating body 3. An oscillating body 7 that is oscillated by the eccentric cam 4 that rotates in an eccentric state with respect to the oscillating body 7, is in contact with the outer peripheral surface 20 of the oscillating body 7, and is parallel to the rotational axis CL of the input side rotating body 3. A plurality of round bar-shaped pins 12 to be arranged and a direction radially extending from the rotation axis CL of the input side rotating body 3 is a radial direction, and a virtual circle centered on the rotation axis CL of the input side rotating body 3. Assuming that the direction along the circumference of is the circumferential direction, the radial groove 27 that slides the pin 12 along the radial direction when the rocking body 7 is rocked is at least the pin 12. A plurality of corrugated concave portions 40 (40A, 40B) that are in contact with the first pin guide member 2 formed in the same number and the pin 12 that is slid along the radial groove 27 are formed along the circumferential direction. And a second pin guide member 11. Then, one of the first pin guide member 2 and the second pin guide member 11 is fixed to a fixed member. Further, one of the first pin guide member 2 and the second pin guide member 11 is rotated relative to one of the first pin guide member 2 and the second pin guide member 11 and the rocking body 7. It is arranged to be movable. Further, when the number of the radial grooves 27 of the corrugated recesses 40 (40A, 40B) is Za and the number of the recesses 38 of the corrugated recesses 40 (40A, 40B) is Zb, Za and Zb are given. The recess 38 is formed continuously in the circumferential direction of the second pin guide member 11 so that the difference becomes 1. Further, a plurality of the pins 12 arranged along the outer circumference of the rocking body 7 are slidably engaged with the radial groove 27 and come into contact with the corrugated recesses 40 (40A, 40B). It has become.

In the speed reducer according to the present invention, the oscillating body is oscillated with respect to the rotation axis of the input side rotator, but the oscillating oscillating body causes the first pin guide member and the second pin guide member to eccentrically rotate. Therefore, the rotation can be taken out from the first pin guide member or the second pin guide member without separately providing the eccentric motion absorbing mechanism provided in the conventional cycloid reducer, and the structure can be simplified and downsized. can do.

It is a figure which shows the speed reducer which concerns on 1st Embodiment of this invention, FIG.1(a) is a front view of a speed reducer, FIG.1(b) is a side view of a speed reducer, FIG.1(c) is a speed reducer. It is a rear view. 2A is a cross-sectional view of the speed reducer cut along the line A1-A1 of FIG. 1A, and FIG. 2B is cut along the line A2-A2 of FIG. 1A. 2C is a cross-sectional view of the speed reducer shown in FIG. 2, and FIG. 2C is a view showing the relationship between the radial groove, the corrugated recess, and the pin. FIG. 3A is a front view of the speed reducer with the front side first pin guide member removed, and FIG. 3B is a rear view of the speed reducer with the back side first pin guide member removed. It is a figure which shows the eccentric cam of the speed reducer which concerns on 1st Embodiment of this invention, FIG.4(a) is a front view of an eccentric cam, FIG.4(b) is a side view of an eccentric cam, FIG.4(c) is. FIG. 4D is a rear view of the eccentric cam, and FIG. 4D is a sectional view of the eccentric cam cut along the line A3-A3. It is a figure which shows the cap of the speed reducer which concerns on 1st Embodiment of this invention, FIG.5(a) is a front view of a cap, FIG.5(b) is a side view of a cap, FIG.5(c) is a back surface of a cap. FIG. 5D is a cross-sectional view of the cap cut along the line A4-A4 in FIG. It is a figure which shows the oscillator of the speed reducer which concerns on 1st Embodiment of this invention, FIG.6(a) is a front view of an oscillator, FIG.6(b) is a side view of an oscillator, FIG.6(c) is. 6A is a rear view of the oscillator, and FIG. 6D is a cross-sectional view of the oscillator shown by cutting along the line A5-A5 in FIG. It is a figure which shows the 1st pin guide member of the speed reducer which concerns on 1st Embodiment of this invention, FIG.7(a) is a front view of a 1st pin guide member, FIG.7(b) is a 1st pin guide member. FIG. 7(c) is a side view, FIG. 7(c) is a rear view of the first pin guide member, and FIG. 7(d) is a cross-sectional view of the first pin guide member taken along the line A6-A6 of FIG. 7(a). is there. It is a figure which shows the intermediate pin guide member of the reduction gear which concerns on 1st Embodiment of this invention, FIG.8(a) is a front view of an intermediate pin guide member, FIG.8(b) is a side view of an intermediate pin guide member, 8C is a rear view of the intermediate pin guide member, and FIG. 8D is a cross-sectional view of the first pin guide member taken along the line A7-A7 of FIG. 8A. It is a figure which shows the 2nd pin guide member of the reduction gear which concerns on 1st Embodiment of this invention, FIG.9(a) is a front view of a 2nd pin guide member, FIG.9(b) is a 2nd pin guide member. 9C is a side view, FIG. 9C is a rear view of the second pin guide member, and FIG. 9D is a cross-sectional view of the second pin guide member taken along the line A8-A8 of FIG. 9A. is there. It is a figure which shows the holding ring of the reduction gear which concerns on 1st Embodiment of this invention, FIG.10(a) is a front view of a holding ring, FIG.10(b) is a side view of a holding ring. It is a figure which shows the modification of the speed reducer which concerns on 1st Embodiment of this invention, and is a cross-sectional view of the speed reducer which abbreviate|omits the lower half from the rotating shaft center. FIG. 12A is a cross-sectional view showing a speed reducer according to a second embodiment of the present invention (a cross-sectional view showing the lower half of the rotary shaft center omitted, and FIG. 12B is a radial groove, corrugated shape). It is a figure which shows the relationship with a groove and a pin. It is a figure which shows the modification of the speed reducer which concerns on 2nd Embodiment of this invention, and is a sectional drawing of the speed reducer which abbreviate|omits the lower half from the rotating shaft center. FIG. 14A is a cross-sectional view showing a speed reducer according to a third embodiment of the present invention (a cross-sectional view showing the lower half of the rotary shaft center omitted, and FIG. 14B is a radial groove, corrugated shape). It is a figure which shows the relationship with a groove and a pin. It is a figure which shows the modification of the speed reducer which concerns on 3rd Embodiment of this invention, Comprising: It is sectional drawing of the speed reducer which abbreviate|omits the lower half from the rotating shaft center. 16A is a cross-sectional view showing a speed reducer according to a fourth embodiment of the present invention (a cross-sectional view showing the lower half of the rotary shaft center omitted, and FIG. 16B is a radial groove, corrugated shape). It is a figure which shows the relationship with a groove and a pin. It is a figure which shows the modification of the speed reducer which concerns on 4th Embodiment of this invention, Comprising: It is sectional drawing of the speed reducer which abbreviate|omits the lower half from the rotating shaft center. It is an external appearance perspective view which simplifies and shows the conventional speed reducer. It is an exploded perspective view of the eccentric motion absorption mechanism (Oldham joint) of the conventional speed reducer.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment]
1 to 3 are views showing a speed reducer 1 according to a first embodiment of the present invention. Note that FIG. 1A is a front view of the speed reducer 1. FIG. 1B is a side view of the speed reducer 1. FIG. 1C is a rear view of the speed reducer 1. FIG. 2A is a cross-sectional view of the speed reducer 1 taken along the line A1-A1 of FIG. 2B is a cross-sectional view of the speed reducer 1 taken along the line A2-A2 in FIG. FIG. 3A is a front view of the speed reducer 1 shown with the first pin guide member 2 on the front side removed. FIG. 3B is a rear view of the speed reducer 1 with the rear side first pin guide member 2 removed.

(Schematic structure of reduction gear)
As shown in FIGS. 1 to 3, the speed reducer 1 according to the present embodiment includes an eccentric cam 4 that rotates integrally with a drive shaft (input side rotating body) 3, and a pair that rotates integrally with the eccentric cam 4.

Caps

5 and 5, a pair of rocking

bodies

7 and 7 mounted on the outer peripheral surface of the eccentric cam 4 so as to be relatively rotatable via a bearing 6, and rotatable on the outer peripheral side of the cap 5 via a bearing 8. The first

pin guide members

2 and 2 which are fitted to each other and arranged to face the outer side surface 7a of the rocking body 7 and the inner side surfaces 7b and 7b of the pair of rocking

bodies

7 and 7, and An intermediate pin guide member 10 fixed to the pin guide member 2 so as to be integrally rotatable, and a second pin guide arranged on the radially outer side of the rocking body 7 and fixed to a fixed member (not shown). The

members

11 and 11, a plurality of round rod-shaped pins 12 arranged on the outer peripheral surface of the rocking body 7, and annular holding rings 13 and 13 for elastically pressing the pins 12 to the outer peripheral surface of the rocking body 7. Have The radial direction used in the description of the speed reducer 1 means a direction that extends radially from the rotation axis CL of the drive shaft 3 on a virtual plane orthogonal to the rotation axis CL of the drive shaft 3. In addition, the circumferential direction used in the description of the speed reducer 1 means a virtual plane that is orthogonal to the rotation axis CL of the drive shaft 3 along the circumference of a virtual circle centered on the rotation axis CL of the drive shaft 3. Direction.

(Eccentric cam)
As shown in FIGS. 2 and 4, the eccentric cam 4 is fitted in the shaft hole 14 in a state where the drive shaft 3 is prevented from rotating. The shaft hole 14 of the eccentric cam 4 penetrates the eccentric cam along the rotation axis CL, and has a D-shaped cross section orthogonal to the rotation axis CL. The drive shaft 3 fitted in the shaft hole 14 has a D-shaped cross section orthogonal to the rotational axis CL. Further, the eccentric cam 4 has an annular flange portion 15 which is concentric with the rotation axis center CL in the center in the direction along the rotation axis CL, and one side along the rotation axis CL with the flange portion 15 as a boundary. The first eccentric cam portion 4A is formed on one side, and the second eccentric cam portion 4B is formed on the other side along the rotational axis CL with the collar portion 15 as a boundary. The first eccentric cam portion 4A and the second eccentric cam portion 4B have the same amount of eccentricity with respect to the rotation axis CL and are in a rotationally symmetric positional relationship with respect to the rotation axis CL (180 around the rotation axis CL). Are located offset). Then, the first oscillating body 7 is attached to the outer peripheral surface of the first eccentric cam portion 4A via the bearing 6 so as to be relatively rotatable. A second rocking body 7 is attached to the outer peripheral surface of the second eccentric cam portion 4B via a bearing 6 so as to be relatively rotatable. A female screw 16 extending along the rotational axis CL is formed on the axial end surface of the first eccentric cam portion 4A and the axial end surface of the second eccentric cam portion 4B. Then, the cap 5 is fixed to the first eccentric cam portion 4A by a bolt 17 that is screwed into the female screw 16. Further, the cap 5 is fixed to the second eccentric cam portion 4B by a bolt 17 that is screwed into the female screw 16.

(cap)
As shown in FIGS. 2 and 5, the cap 5 is rotated integrally with the drive shaft 3 and the eccentric cam 4 by fitting the shaft hole 18 into the drive shaft 3 and fixing the cap 5 to the eccentric cam 4 with the bolt 17. Move. The first pin guide member 2 is attached to the outer peripheral surface of the cap 5 via the bearing 8. As a result, in the cap 5, the first pin guide member 2 supports smooth rotation around the rotation axis CL of the drive shaft 3.

(Oscillator)
As shown in FIGS. 2 and 6, the oscillating body 7 has a dish shape in which the central portion 7c is recessed, and the outer peripheral surface 20 at the radially outer end supports the pin 12 in parallel with the central axis CL1. The eccentric cam mounting hole 21 is formed in the central portion 7c. The rocking body 7 is used as a pair of one that is fitted to the first eccentric cam portion 4A via the bearing 6 and one that is fitted to the second eccentric cam portion 4b through the bearing 6. The pair of

oscillating bodies

7 and 7 having the same shape are arranged in a back-to-back state, and the one oscillating body 7 and the other oscillating body 7 are oscillated with a phase difference of 180°. Further, in this rocking body 7, the same number of the rotation stop holes 23 that engage with the rotation prevention projections 22 of the intermediate pin guide member 10 are formed, and the inner diameter (D1) of the rotation prevention holes 23 is the rotation prevention projection 22. The outer diameter (d1) of the eccentric cam 4 is formed to have a dimension (D1=d1+2e) in consideration of the eccentric amount (e) of the eccentric cam 4. As a result, the rocking body 7 is rocked by the eccentric cam 4 around the rotation axis CL of the drive shaft 3, but is prevented from freely rotating around the rotation axis CL of the drive shaft 3. .. Further, the rocking body 7 is formed with a positioning projection through hole 25 that fits with the positioning projection 24 of the intermediate pin guide member 10 with a gap in the central portion 7c located radially inward of the rotation stop hole 23. (See Figure 8). The positioning projection through hole 25 of the oscillating body 7 is formed such that the hole diameter (D2) is a dimension (D2>(d2+2e)) considering the outer diameter (d2) of the positioning projection 24 and the eccentric amount (e) of the eccentric cam 4. Has been done. As a result, the oscillating body 7 can be oscillated around the rotational axis CL of the drive shaft 3, and the positioning of the first pin guide member 2 with respect to the intermediate pin guide member 10 (rotation of the drive shaft 3) can be performed. The first pin guide member 2 can be positioned in a direction along the axis CL, and the first pin guide member 2 and the intermediate pin guide member 10 can be smoothly swung.

(First pin guide member)
As shown in FIGS. 2 and 7, the first pin guide member 2 is arranged so as to face the outer surface 7 a of the rocking body 7, and the bearing 8 having the bearing hole 26 formed at the center thereof is attached to the cap 5. And is supported by a bearing 8 so that the cap 5 and the drive shaft 3 can rotate relative to each other. A pair of the first pin guide members 2 is used according to the pair of rocking

bodies

7, 7. In the first pin guide member 2, a plurality of radial grooves 27 are formed along the circumferential direction on a surface (inner side surface) 2a facing the outer surface 7a of the rocking body 7. The radial groove 27 of the first pin guide member 2 is an elongated hole having an arc shape on the radially outer end side and the radially inner end side, and is formed on the rod-shaped pin 12 supported by the outer peripheral surface 20 of the rocking body 7. It is formed so as to accommodate one end side and guide the sliding movement of the pin 12 in the radial direction. Further, the inner surface 2 a of the first pin guide member 2 is formed with the same number of positioning holes 28 as the rotation preventing protrusions 22 for accommodating the rotation preventing protrusions 22 of the intermediate pin guide member 10. Further, the first pin guide member 2 is provided with a plurality of output lead-out pin mounting holes 30 extending from the center of the positioning hole 28 in parallel with the rotation axis CL at equal intervals along the circumferential direction. The output take-out pin 29 is press-fitted into the output take-out pin mounting hole 30. The output take-out pin 29 is engaged with a driven body (not shown) and transmits the rotation of the first pin guide member 2 to a driven body (e.g., output shaft) not shown. The first pin guide member 2 and the driven body form an output side rotating body. A bolt hole 31 is formed in the first pin guide member 2 so as to be located between the adjacent output take-out

pin mounting holes

30, 30. The bolt hole 31 includes a counterbore hole portion that accommodates the head portion of the bolt 32 and a through hole portion that accommodates the shaft portion of the bolt 32. The bolt hole 31 is formed so as to be concentric with the screw hole 33 formed in the rotation preventing projection 22 of the intermediate pin guide member 10. In the first pin guide member 2 as described above, the positioning hole 28 is engaged with the rotation stop projection 22 of the intermediate pin guide member 10 to be positioned in the rotation direction (circumferential direction), and the rotation axis CL of the drive shaft 3 is formed. In the state of being positioned in the direction along, the bolt is inserted into the bolt hole 31 and is fixed to the intermediate pin guide member 10 so that the intermediate pin guide member 10 and the intermediate pin guide member 10 can rotate together.

(Intermediate pin guide member)
As shown in FIGS. 2 and 8, the intermediate pin guide member 10 is a substantially disk-shaped member arranged between the pair of rocking

bodies

7, 7 and faces the inner side surface 7 b of the rocking body 7. The eccentric cam accommodating hole 34 formed in the center is formed in a size that does not contact the eccentric cam 4. In this intermediate pin guide member 10, one of both side surfaces (abbreviated as a first side surface) faces the inner side surface 7b of one of the pair of rocking

members

7, 7 and the other side surface (abbreviated as a second side surface). Is opposed to the other inner side surface 7b of the pair of rocking

bodies

7, 7. Further, on the first side surface of the intermediate pin guide member 10, the radial direction position and the radial direction groove 27 of the first pin guide member 2 facing each other with the oscillating body 7 in between are aligned in the circumferential direction and the radial direction position, and have the same shape. A plurality of radial grooves 27 (the same number as the radial grooves 27 of the first pin guide member 2) are formed. Further, at a position on the first side surface of the intermediate pin guide member 10 and on the radially inner side of the radial groove 27, a positioning hole for the first pin guide member 2 is passed through the rotation stop hole 23 of the rocking body 7. A plurality of anti-rotation protrusions 22 that engage with 28 are formed at equal intervals along the circumferential direction. Further, at the position on the first side surface of the intermediate pin guide member 10 and on the inner side in the radial direction from the rotation preventing projection 22, the positioning projection 24 penetrating the positioning projection through hole 25 of the rocking body 7 is provided with the positioning projection through hole 25. The same number is formed. The tip of the positioning protrusion 24 of the intermediate pin guide member 10 contacts the inner surface 2a of the first pin guide member 2, and the position along the rotational axis CL of the first pin guide member 2 is set to the intermediate pin guide member 10. Between the oscillating body 7 and the first pin guide member 2 by accurately maintaining the distance between the intermediate pin guide member 10 and the first pin guide member 2 in the direction along the rotational axis CL. Further, a slight gap is created between the rocking body 7 and the intermediate pin guide member 10 so that the rocking body 7 can be rocked smoothly by the eccentric cam 4. On the second side surface of the intermediate pin guide member 10, the radial groove 27 on the first side surface, the rotation preventing protrusion 22, and the radial groove 27 on the first side surface are displaced from each other by a half pitch in the circumferential direction with respect to the radial groove 27 on the first side surface. The radial groove 27, the rotation preventing projection 22, and the positioning projection 24 are formed at the same radial position as the positioning projection 24. The radial groove 27, the anti-rotation projection 22, and the positioning projection 24 formed on the second side surface of the intermediate pin guide member 10 are the radial groove 27, the anti-rotation projection 22, and the positioning projection formed on the first side surface. Functions the same as 24. Then, in the radial groove 27 of the first side surface of the intermediate pin guide member 10 and the radial groove 27 of the first pin guide member 2, a rod-shaped pin that abuts on the outer peripheral surface 20 of one of the pair of rocking

bodies

7, 7. The end side of 12 is slidably engaged. Further, in the radial groove 27 of the second side surface of the intermediate pin guide member 10 and the radial groove 27 of the first pin guide member 2, a rod-shaped pin that abuts the other outer peripheral surface 20 of the pair of rocking

bodies

7, 7. The end side of 12 is slidably engaged.

(Second pin guide member)
As shown in FIGS. 2 and 9, the second pin guide member 11 is integrally formed with a fixing portion 35 fixed to a fixed member (not shown) and on the radially inner side of the fixing portion 35. And an annular portion 36. The annular portion 36 of the second pin guide member 11 accommodates the rocking body 7 in a space 37 on the radially inner side so that the rocking body 7 can be rocked, and the first pin guide member 2 and the intermediate pin guide member 10 are connected to each other. They are engaged with each other with a slight clearance so that they can rotate relative to each other. The second pin guide member 11 is a wave-shaped recess 40 in which a substantially arcuate recess 38 is continuously formed along the circumferential direction on the side facing the rocking body 7 at the radially inner end. The corrugated recesses 40 of the second pin guide member 11 are formed so that the difference between the number of the recesses 38 and the number of the pins 12 is one. The second pin guide member 11 as described above is swung by the eccentric cam 4 in which the rocking body 7 rotates integrally with the drive shaft 3, and the pin 12 is moved by the rocking body 7 to a diameter of the first pin guide member 2. By sliding the directional groove 27, the directional groove 27 is rotated with respect to the first pin guide member 2.

(Retaining ring)
As shown in FIGS. 2 and 10, the holding ring 13 is a thin plate-shaped annular body having elasticity, and has a circular inner peripheral surface 13a and an outer peripheral surface 13b concentric with the inner peripheral surface 13a. The holding ring 13 has a gap between the first pin guide member 2 and the annular portion 36 of the second pin guide member 11, and a gap between the annular portion 36 of the second pin guide member 11 and the intermediate pin guide member 10. Respectively, the inner peripheral surface 13a elastically contacts the pin 2, and the plurality of round bar-shaped pins 12 are elastically pressed against the outer peripheral surface 20 of the rocking body 7 (elastically biased toward the outer peripheral surface 20). is doing. Further, a pair of the retaining rings 13 are arranged at an equal distance from the center of the rocking body 7 in the plate thickness direction, and by pressing the pin 12 evenly on the outer peripheral surface 20 of the rocking body 7, the pin 12 is radially moved. Are held in an orthogonal posture (preventing the pin 12 from collapsing) and prevent the pin 12 from moving in the radial direction in the collapsible state.
It should be noted that disposing the retaining ring 13 is optional, and the effect of the present embodiment can be obtained without disposing the retaining ring 13, but it is possible to prevent the pin 12 from moving in the radial direction in a tilted state. From the viewpoint, the holding ring 13 is preferably arranged.

(Operating state)
In the speed reducer 1 having the above structure, the number of the radial grooves 27 and the number of the pins 12 are Za, and the number of the recesses 38 of the corrugated recess 40 is Zb. When Za is one more than Zb, The first pin guide member 2 rotates with respect to the second pin guide member 11, the rotation of the drive shaft 3 is reduced to 1/Za, and it is possible to take it out of the first pin guide member 2. In this case, the rotation direction of the first pin guide member 2 is the same direction as the drive shaft 3.

Further, in the speed reducer 1 having the above-described structure, the number of radial grooves 27 and the number of pins 12 are Za, and the number of recesses 38 of the corrugated recess 40 is Zb. Za is one less than Zb. In this case, the first pin guide member 2 rotates with respect to the second pin guide member 11, the rotation of the drive shaft 3 is reduced to 1/Za, and it is possible to take it out of the first pin guide member 2. In this case, the rotation direction of the first pin guide member 2 is opposite to that of the drive shaft 3.

(Effects of the first embodiment)
In the speed reducer 1 according to the present embodiment as described above, the oscillating body 7 is oscillated with respect to the rotational axis CL of the drive shaft (input side rotator) 3, but the oscillating body 7 oscillates the first Since the pin guide member 2 and the second pin guide member 11 cannot be eccentrically rotated, the first pin can be provided without separately providing the eccentric motion absorbing mechanism (for example, Oldham joint) 108 provided in the conventional cycloid reducer 100. The rotation can be taken out from the guide member 2, so that the structure can be simplified and the size can be reduced.

(Modification of the first embodiment)
FIG. 11 is a cross-sectional view of the speed reducer 1 showing a modified example of the first embodiment, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotational axis CL. In addition, in the description of the speed reducer 1 according to the present modification shown in FIG. 11, the same components as those in the speed reducer 1 according to the first embodiment will be denoted by the same reference numerals, and the description overlapping with the description of the first embodiment will be omitted. Omit it.

As shown in FIG. 11, in the speed reducer 1 of the present modified example, the intermediate pin guide member 10 of the speed reducer 1 according to the first embodiment is omitted, and a space between the pair of first

pin guide members

2 and 2 is provided. The oscillating body 7 is arranged, the second pin guide member 11 is arranged on the outer side in the radial direction of the oscillating body 7, and the total number of parts is reduced to simplify the structure and reduce the size. The speed reducer 1 of the present modification as described above can be used when the transmission torque is smaller than that of the above-described embodiment, and the same effect as that of the above-described embodiment can be obtained.

[Second Embodiment]
FIG. 12 is a cross-sectional view of the speed reducer 1 according to the second embodiment of the present invention, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotational axis CL of the drive shaft 3. In the description of the speed reducer 1 according to the present embodiment shown in FIG. 12, the same components as those in the speed reducer 1 according to the first embodiment are designated by the same reference numerals, and the description overlapping with the description of the first embodiment will be given. Omit it.

As shown in FIG. 12, in the speed reducer 1 according to the present embodiment, the first pin guide member 2 is fixed to a fixed member (not shown), and the second pin guide member 11 is the first pin guide member 2. The second pin guide member 11 can be rotated with respect to each other to reduce the speed of rotation of the drive shaft 3 and transmit (output) the rotation. Then, the second pin guide member 11 and the driven body (not shown) constitute an output side rotating body.

The first pin guide member 2 accommodates the oscillating body 7 inside (a space on the radially inner side), and a radial groove 27 is formed on the side facing the outer peripheral surface 20 of the oscillating body 7. The radial groove 27 is a U-shaped groove that opens inward in the radial direction, and is configured to slide the pin 12 in the radial direction. Further, the rocking body 7 avoids contact with the first pin guide member 2 and allows the pin 12 to be reliably pushed into the radial groove 27, so that the first pin guide member 2 has a radially inner end side. An escape groove 41 for accommodating the annular portion 36 located at is relatively movable. The escape groove 41 is an annular groove that is formed on the radially outer end side of the rocking body 7 and opens radially outward, and has a plate thickness of the annular portion 36 of the first pin guide member 2. The groove width is slightly larger than that. Further, the holding rings 13 are arranged on both sides of the annular portion 36 of the first pin guide member 2. Like the holding ring 13 of the speed reducer 1 according to the first embodiment, the holding ring 13 elastically presses the plurality of pins 12 against the outer peripheral surface 20 of the oscillating body 7 to move the pins 12 in the radial direction. The pins 12 are held in an orthogonal posture (preventing the pin 12 from falling).

The oscillating body 7 is swingably arranged between the second pin guide member 11 and the intermediate pin guide member 10. The inside of the radial groove 27 is formed on the inner side surface of the second pin guide member 11 (side surface facing the side surface of the rocking body 7) and the side surface of the intermediate pin guide member 10 (side surface facing the side surface of the rocking body 7). A corrugated groove 42 is formed to accommodate the end portion side of the pin 12 that moves along the direction so as to be slidable in the corrugated shape along the circumferential direction. The corrugated groove 42 is composed of an outer peripheral side corrugated concave portion 40A and an inner peripheral side corrugated concave portion 40B in which a substantially arcuate recess 38 is continuously formed along the circumferential direction. The inner peripheral side corrugated recess 40B is located at a position shifted by a half pitch in the circumferential direction with respect to the outer peripheral side corrugated recess 40A, and accommodates the pin 12 between the inner peripheral side corrugated recess 40A and the outer peripheral side corrugated recess 40A. .. The corrugated grooves 42 (outer peripheral side corrugated recess 40A and inner peripheral side corrugated recess 40B) of the second pin guide member 11 are formed so that the difference between the number of the recesses 38 and the number of the pins 12 is one. Has been done.

In the speed reducer 1 having the above structure, the number of the radial grooves 27 and the number of the pins 12 are set to Za, and the recess 38 of the corrugated groove 42 (the outer peripheral side corrugated recess 40A, the inner peripheral side corrugated recess 40B) is formed. When Zb is one more than Zb, the second pin guide member 11 rotates with respect to the first pin guide member 2 to decelerate the rotation of the drive shaft 3 to 1/Zb. It can be taken out from the 2-pin guide member 11. In this case, the rotation direction of the second pin guide member 11 is opposite to the drive shaft 3.

In the speed reducer 1 having the above-described structure, the number of radial grooves 27 and the number of pins 12 are set to Za, and the wavy grooves 42 (outer peripheral side corrugated recess 40A, inner peripheral side corrugated recess 40B) are formed. When the number is Zb and Za is one less than Zb, the second pin guide member 11 rotates with respect to the first pin guide member 2 and the rotation of the drive shaft 3 is decelerated to 1/Zb to reduce the second. It can be taken out from the pin guide member 11. In this case, the rotation direction of the second pin guide member 11 is the same direction as the drive shaft 3.

In the speed reducer 1 according to the present embodiment as described above, the oscillating body 7 is oscillated with respect to the rotational axis CL of the drive shaft (input side rotator) 3, but the oscillating body 7 oscillates the first Since the pin guide member 2 and the second pin guide member 11 are not eccentrically rotated, the second pin can be provided without separately providing the eccentric motion absorption mechanism (for example, Oldham coupling 108) provided in the conventional cycloid reducer 100. The rotation can be taken out from the guide member 11, so that the structure can be simplified and the size can be reduced.

(Modification of the second embodiment)
FIG. 13 is a cross-sectional view of the speed reducer 1 showing a modified example of the second embodiment, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotation axis CL. In addition, in the description of the speed reducer 1 according to the present modification shown in FIG. 13, the same components as those in the speed reducer 1 according to the second embodiment are denoted by the same reference numerals, and the description overlapping with the description of the second embodiment will be given. Omit it.

As shown in FIG. 13, in the speed reducer 1 of the present modified example, the intermediate pin guide member 10 of the speed reducer 1 according to the second embodiment is omitted, and between the pair of second

pin guide members

11, 11. The oscillating body 7 is arranged, and the first pin guide member 2 is arranged radially outward of the oscillating body 7 to reduce the number of parts as a whole, thereby simplifying and downsizing the structure. The speed reducer 1 of the present modification as described above can be used when the transmission torque is smaller than that of the above-described embodiment, and the same effect as that of the above-described embodiment can be obtained.

[Third Embodiment]
FIG. 14 is a cross-sectional view of the speed reducer 1 according to the third embodiment of the present invention, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotational axis CL of the drive shaft 3. In the description of the speed reducer 1 according to the present embodiment shown in FIG. 14, the same components as those of the speed reducer 1 according to the first and second embodiments are designated by the same reference numerals, and the description of the first and second embodiments will be omitted. A description that duplicates the description will be omitted.

As shown in FIG. 14, in the speed reducer 1 according to the present embodiment, the intermediate pin guide member 10 of the speed reducer 1 according to the first embodiment is omitted, and between the pair of first

pin guide members

2 and 2. The second pin guide member 11 is arranged, and the rocking body 7 is housed so as to be rockable between the first pin guide member 2 and the second pin guide member 11. A plurality of radial grooves 27 are formed on the inner side surface 2 a of the first pin guide member 2 (side surface facing the rocking body 7 ). A corrugated groove 42 is formed on one side of both side surfaces of the second pin guide member 11. Then, one end side of the pin 12 supported by the outer peripheral surface 20 of the rocking body 7 is slidably engaged with the radial groove 27 of the first pin guide member 2, and the corrugated groove 42 of the second pin guide member 11 is engaged. The other end of the pin 12 supported by the outer peripheral surface 20 of the rocking body 7 is slidably engaged with this. The corrugated grooves 42 (outer peripheral side corrugated recess 40A and inner peripheral side corrugated recess 40B) of the second pin guide member 11 are formed so that the difference between the number of the recesses 38 and the number of the pins 12 is one. ing. Further, in the speed reducer 1 according to the present embodiment, the second pin guide member 11 is fixed to the fixed member. Then, the first pin guide member 2 and the driven body (not shown) constitute an output side rotating body.

The plurality of pins 12 supported by the outer peripheral surface 20 of the oscillating body 7 are elastically pressed against the outer peripheral surface 20 of the oscillating body 7 by the holding ring 13, so that the postures orthogonal to the radial direction are maintained. Is becoming On one inner side surface 2a of the pair of first

pin guide members

2 and 2, a plurality of detent protrusions 22 extending in parallel to the rotation axis CL toward the first pin guide member 2 on the other side are arranged along the circumferential direction. Has been formed. In addition, a plurality of positioning holes 28 (the same number as the rotation preventing projections 22) for accommodating the tip end side of the rotation preventing projections 22 are formed in the other inner surface 2a of the pair of first

pin guide members

2 and 2 along the circumferential direction. Has been done. In addition, the pair of first

pin guide members

2 and 2 are fixed by bolts 32 in a state in which the detent projection 22 is engaged with the positioning hole 28 and are fixed to a fixed member (not shown). The pin guide member 11 can be integrally rotated. The detent protrusion 22 penetrates the detent holes 23, 23 of the pair of rocking

bodies

7, 7 and the space 37 on the radially inner side of the second pin guide member 11. Further, the inner peripheral surface of the annular portion 36 of the second pin guide member 11 is located on the outer side in the radial direction with respect to the rotation preventing projection 22.

In the speed reducer 1 having the above-described structure, the number of the radial grooves 27 and the number of the pins 12 are set to Za, and the recess 38 of the corrugated groove 42 (the outer peripheral side corrugated recess 40A, the inner peripheral side corrugated recess 40B) is formed. When Zb is one more than Za, the first pin guide member 2 rotates with respect to the second pin guide member 11 to decelerate the rotation of the drive shaft 3 to 1/Za. It can be taken out from the 1-pin guide member 2. In this case, the rotation direction of the first pin guide member 2 is the same direction as the drive shaft 3.

In the speed reducer 1 having the above-described structure, the number of radial grooves 27 and the number of pins 12 are set to Za, and the wavy grooves 42 (outer peripheral side corrugated recess 40A, inner peripheral side corrugated recess 40B) are formed. When the number of the recesses 38 is Zb and Za is one less than Zb, the first pin guide member 2 rotates with respect to the second pin guide member 11, and the rotation of the drive shaft 3 is reduced to 1/Za. Can be taken out from the first pin guide member 2. In this case, the rotation direction of the first pin guide member 2 is opposite to that of the drive shaft 3.

In the speed reducer 1 according to the present embodiment as described above, the oscillating body 7 is oscillated with respect to the rotational axis CL of the drive shaft (input side rotator) 3, but the oscillating body 7 oscillates the first Since the pin guide member 2 and the second pin guide member 11 cannot be eccentrically rotated, the first pin can be provided without separately providing an eccentric motion absorbing mechanism (for example, Oldham joint 108) provided in the conventional cycloid reducer 100. The rotation can be taken out from the guide member 2, so that the structure can be simplified and the size can be reduced.

(Modification of Third Embodiment)
FIG. 15 is a cross-sectional view of the speed reducer 1 showing a modified example of the third embodiment, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotational axis CL of the drive shaft 2. In addition, in the description of the speed reducer 1 according to the present modification shown in FIG. 15, the same components as those of the speed reducer 1 according to the third embodiment are denoted by the same reference numerals, and the description overlapping with the description of the third embodiment will be given. Omit it.

As shown in FIG. 15, in the speed reducer 1 of the present modification, one of the pair of first

pin guide members

2 and 2 of the speed reducer 1 according to the third embodiment is omitted, and the first pin guide member 2 is omitted. The oscillating body 7 is housed in the inner space in the radial direction between the first pin guide member 2 and the second pin guide member 11. The inner surface 2a of the first pin guide member 2 is formed with a plurality of radial grooves 27 that accommodate one end of the pin 12 in a slidable manner along the circumferential direction. A corrugated groove 42 that slidably accommodates the other end of the pin 12 is formed on the inner surface 11a of the second pin guide member 11 along the circumferential direction. Further, on the inner side surface 11a of the second pin guide member 11, a rotation preventing projection 22 is formed in parallel with the rotation axis center CL. The anti-rotation protrusion 22 penetrates the anti-rotation hole 23 of the rocking body 7, and the tip end surface abuts on the inner side surface 2a of the first pin guide member 2, so that the second pin guide member 11 is attached to the first pin guide member 2. Positioning is performed in the direction along the rotational axis CL. The plurality of pins 12 supported by the outer peripheral surface 20 of the rocking body 7 are elastically pressed against the outer peripheral surface 20 of the rocking body 7 by the holding ring 13 so that the pins 12 are held in a posture orthogonal to the radial direction. .. The first pin guide member 2 has the engagement protrusion 43 formed on the radially outer end side engaged with the engagement recess 44 of the second pin guide member 11 so as to be relatively rotatable. The rocking body 7 and the pin 12 are housed between the two-pin guide member 11 and the two-pin guide member 11 and assembled to the second pin guide member 11. As shown in FIG. 15, in the speed reducer 1, the groove depth of the radial groove 27 (the groove depth in the direction along the rotational axis CL) of the first pin guide member 2 on the rotating side is set to be the first. The groove depth of the radial groove 27 and the groove depth of the corrugated groove 42 is made larger than the groove depth of the corrugated groove 42 of the 2-pin guide member 11 (the groove depth in the direction along the rotation axis CL). Since the contact length between the pin 12 and the groove wall of the radial groove 27 is longer than in the case where the pin 12 is the same, the posture of the pin 12 is stable and the pin 12 is less likely to fall.

The speed reducer 1 according to the present modification having such a structure can reduce the number of parts as a whole as compared with the speed reducer 1 according to the third embodiment, and can achieve simplification and downsizing of the structure. The speed reducer 1 of this modification can be used when the transmission torque is smaller than that of the third embodiment, and the same effect as that of the speed reducer 1 of the third embodiment can be obtained.

[Fourth Embodiment]
FIG. 16 is a cross-sectional view of the speed reducer 1 according to the fourth embodiment of the present invention, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotational axis CL of the drive shaft 3. In addition, in the description of the speed reducer 1 according to the present embodiment illustrated in FIG. 16, the same components as those of the speed reducer 1 according to the first to third embodiments are denoted by the same reference numerals, and the description of the speed reducer 1 according to the first to third embodiments will be omitted. A description that duplicates the description will be omitted.

As shown in FIG. 16, in the speed reducer 1 of the present embodiment, the first pin guide member 2 is arranged between the pair of second

pin guide members

11, 11, and the pair of second

pin guide members

11, 11 is One of the pair of

oscillating bodies

7, 7 is arranged between the one and the first pin guide member 2, and the pair of

oscillating bodies

7, 7 is arranged between the other of the pair of the second

pin guide members

11, 11 and the first pin guide member 2. The other of the

oscillating bodies

7, 7 is arranged. Then, the corrugated groove 42 (the outer peripheral side corrugated recess 40A and the inner peripheral side corrugated recess 40B) is formed on the

inner side surfaces

11a, 11a of the pair of second

pin guide members

11, 11 to form the first pin guide member 2 Radial grooves 27 are respectively formed on both side surfaces of the. Further, in the speed reducer 1 according to the present embodiment, the first pin guide member 2 is fixed to the fixed member. Then, the second pin guide member 11 and the driven body (not shown) constitute an output side rotating body.

Further, in such a speed reducer 1, the pin 12 is elastically pressed against the outer peripheral surface 20 of the rocking body 7 by the holding ring 13, so that the pin 12 is held in a posture orthogonal to the radial direction. One end side is slidably engaged with the radial groove 27 of the first pin guide member 2, and the other end side of the pin 12 is relatively movably engaged with the corrugated groove 42 of the second pin guide member 11. In this speed reducer 1, the first pin guide member 2 is fixed to a fixed member (not shown), and the second pin guide member 11 is rotatable with respect to the first pin guide member 2. There is. The corrugated grooves 42 (outer peripheral side corrugated recess 40A and inner peripheral side corrugated recess 40B) of the second pin guide member 11 are arranged so that the difference between the number of the recesses 38 and the number of the pins 12 is one. Has been formed.

In the speed reducer 1 having the above-described structure, the number of the radial grooves 27 and the number of the pins 12 are set to Za, and the recess 38 of the corrugated groove 42 (the outer peripheral side corrugated recess 40A, the inner peripheral side corrugated recess 40B) is formed. When Zb is one more than Zb, the second pin guide member 11 rotates with respect to the first pin guide member 2 to decelerate the rotation of the drive shaft 3 to 1/Zb. It can be taken out from the 2-pin guide member 11. In this case, the rotation direction of the second pin guide member 11 is opposite to the drive shaft 3.

In the speed reducer 1 having the above-described structure, the number of radial grooves 27 and the number of pins 12 are set to Za, and the wavy grooves 42 (outer peripheral side corrugated recess 40A, inner peripheral side corrugated recess 40B) are formed. When the number of the recesses 38 is Zb and Za is one less than Zb, the second pin guide member 11 rotates with respect to the first pin guide member 2 and the rotation of the drive shaft 3 is reduced to 1/Zb. Can be taken out from the second pin guide member 11. In this case, the rotation direction of the second pin guide member 11 is the same direction as the drive shaft 3.

(Modification of Fourth Embodiment)
FIG. 17 is a cross-sectional view of the speed reducer 1 showing a modified example of the fourth embodiment, and is a cross-sectional view of the speed reducer 1 shown by omitting the lower half from the rotational axis CL of the drive shaft 3. Note that, in the description of the speed reducer 1 according to the present modification shown in FIG. 17, the same components as those in the speed reducer 1 according to the fourth embodiment will be denoted by the same reference numerals, and overlapping description with the description of the fourth embodiment will be omitted. Omit it.

As shown in FIG. 17, in the speed reducer 1 of the present modification, one of the pair of second

pin guide members

11, 11 of the speed reducer 1 according to the fourth embodiment is omitted, and the second pin guide member 11 is omitted. The oscillating body 7 is housed in the space on the radially inner side between the second pin guide member 11 and the first pin guide member 2. The inner surface 2a of the first pin guide member 2 is formed with a plurality of radial grooves 27 that accommodate one end of the pin 12 in a slidable manner along the circumferential direction. A corrugated groove 42 that slidably accommodates the other end of the pin 12 is formed on the inner surface 11a of the second pin guide member 11 along the circumferential direction. Further, on the inner side surface 2a of the first pin guide member 2, a rotation preventing projection 22 is formed in parallel with the rotation axis center CL. The anti-rotation protrusion 22 penetrates the anti-rotation hole 23 of the rocking body 7, and the tip end surface abuts on the inner side surface 11 a of the second pin guide member 11, so that the first pin guide member 2 with respect to the second pin guide member 11. Positioning is performed in the direction along the rotational axis CL. The plurality of pins 12 supported by the outer peripheral surface 20 of the rocking body 7 are elastically pressed against the outer peripheral surface 20 of the rocking body 7 by the holding ring 13 so that the pins 12 are held in a posture orthogonal to the radial direction. .. The second pin guide member 11 has the engagement protrusion 43 formed on the radially outer end side engaged with the engagement recess 44 of the first pin guide member 2 so as to be relatively rotatable. The rocking body 7 and the pin 12 are accommodated between the first pin guide member 2 and the first pin guide member 2. As shown in FIG. 17, in the speed reducer 1, the groove depth of the corrugated groove 42 of the second pin guide member 11 on the rotating side (the groove depth in the direction along the rotation axis CL) is set to the first. The groove depth of the corrugated groove 42 and the groove depth of the radial groove 27 is made larger than the groove depth of the radial groove 27 of the 1-pin guide member 2 (the groove depth in the direction along the rotation axis CL). Since the contact length between the pin 12 and the groove wall of the corrugated groove 42 is longer than that in the case where the pin 12 is the same, the posture of the pin 12 is stable and the pin 12 is less likely to fall.

The speed reducer 1 according to the present modification having such a structure can reduce the number of parts as a whole as compared with the speed reducer 1 according to the fourth embodiment, and can simplify and downsize the structure. The speed reducer 1 of the present modification can be used when the transmission torque is smaller than that of the fourth embodiment, and the same effect as that of the speed reducer 1 of the fourth embodiment can be obtained.

[Other modifications]
The speed reducer 1 according to each of the above-described embodiments and each modification has shown the example in which the same number of radial grooves 27 as the pins 12 are formed, but the present invention is not limited to this, and the radial grooves 27 having more radial grooves 27 than the pins 12 are formed. They may be formed (for example, if the number of pins 12 is Z1 and the number of radial grooves 27 is Z2, Z2=2·Z1). In this case, the difference between the number of the radial grooves 27 and the number of the recesses 38 of the corrugated recess 40 (the outer corrugated recess 40A and the inner corrugated recess 40B) is 1.

1... Reduction gear, 2... First pin guide member, 3... Drive shaft (input side rotating body), 4... Eccentric cam, 7... Oscillating body, 11... Second pin guide member, 12... ... pin, 13 ... retaining ring, 13a ... inner peripheral surface, 20 ... outer peripheral surface, 27 ... radial groove, 38 ... recess, 40 (40A, 40B) ... corrugated concave portion, CL ... rotation Axis

Claims

In a speed reducer that decelerates and transmits the rotation of the input side rotating body to the output side rotating body,
An eccentric cam that rotates together with the input side rotating body;
An oscillating body that is fitted to the eccentric cam so as to be rotatable relative to it and that is oscillated by the eccentric cam that rotates in an eccentric state with respect to the rotation axis of the input side rotating body;
A plurality of round bar-shaped pins that are in contact with the outer peripheral surface of the oscillating body and that are arranged parallel to the rotation axis of the input-side rotating body;
When the direction radially extending from the rotation axis of the input side rotating body is a radial direction and the direction along the circumference of a virtual circle centered on the rotation axis of the input side rotating body is the circumferential direction, the rocking body A first pin guide member formed with at least the same number of radial grooves as the radial grooves for slidingly moving the pin along the radial direction when the pin is swung.
A second pin guide member having a corrugated recess formed along the circumferential direction, the corrugated recess being in contact with the pin slidably moved along the radial groove;
One of the first pin guide member and the second pin guide member is fixed to a fixed member,
The other one of the first pin guide member and the second pin guide member is arranged so as to be rotatable relative to one of the first pin guide member and the second pin guide member and the rocking body.
If the number of radial grooves is Za and the number of recesses of the corrugated recess is Zb, the corrugated recess has the second pin so that the difference between Za and Zb becomes one. Formed continuously in the circumferential direction of the guide member,
The plurality of pins arranged along the outer circumference of the oscillator are slidably engaged with the radial groove and contact the corrugated concave portion.
A speed reducer characterized by that.
The second pin guide member accommodates the oscillating body inside, and the corrugated concave portion is formed on a side facing the outer peripheral surface of the oscillating body.
A pair of the first pin guide members are arranged so as to face both side surfaces of the rocking body,
The radial groove is formed on the side of the first pin guide member that faces the oscillator.
The pair of first pin guide members are connected so as to be integrally rotatable,
The speed reducer according to claim 1, wherein:
The first pin guide member accommodates the oscillating body inside, and the radial groove is formed on a side facing the outer peripheral surface of the oscillating body,
A pair of the second pin guide members are arranged so as to face both side surfaces of the rocking body,
The corrugated concave portion is formed on the side of the second pin guide member facing the oscillator.
The pair of second pin guide members are connected so as to be integrally rotatable,
The speed reducer according to claim 1, wherein:
The first pin guide member is arranged so as to face one side surface of the rocking body, accommodates the rocking body inside, and has one end side of the pin on a side facing the one side surface of the rocking body. The radial groove to be engaged is formed,
The second pin guide member is arranged so as to face the other side surface of the rocking body, and the corrugated concave portion that contacts the other end side of the pin is formed on the side facing the other side surface of the rocking body. Was done,
The speed reducer according to claim 1, wherein:
The second pin guide member is arranged so as to face one side surface of the rocking body, accommodates the rocking body therein, and has one end side of the pin on a side facing the one side surface of the rocking body. The corrugated concave portion that contacts is formed,
The first pin guide member is arranged so as to face the other side surface of the rocking body, and the radial groove that engages with the other end side of the pin is provided on the side facing the other side surface of the rocking body. Been formed,
The speed reducer according to claim 1, wherein:
A relief groove is formed on a radially outer end side of the rocking body to accommodate the radially inner end side of the first pin guide member having the radial groove formed therein so as to be relatively movable.
The speed reducer according to claim 3, wherein
Having an annular retaining ring for retaining the pin,
The pin contacts the inner peripheral surface of the retaining ring and is elastically biased to the outer peripheral surface of the rocking body by the elastic force of the retaining ring.
The speed reducer according to any one of claims 1 to 6, characterized in that