JP3348922B2 - Reducer with two intersecting linear motion guide means - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed reducer using two linear motion guide means and having a reduction ratio of 1/2.

[0002]

2. Description of the Related Art Conventionally, a gear type speed reducer (not shown) using a gear as a speed reducer, and a ball type speed reducer using a ball provided on an eccentric disk and a cycloid curved groove engaged with the ball. (Not shown).

[0003]

However, the gear type speed reducer has a problem that a high-precision reduction ratio cannot be obtained due to backlash in the meshing of the gears.
Further, the ball type speed reducer has a problem that the reduction ratio becomes large and a small reduction ratio cannot be obtained.

[0004]

SUMMARY OF THE INVENTION The present invention firstly provides an input shaft and first and second eccentric shafts eccentric to both sides with respect to the input shaft.
A casing that rotatably supports the driven rotor, a drive rotor that is rotatably supported eccentrically to the input shaft between the first and second driven rotors, and an integral part of the second driven rotor. And a first linear motion provided between an output shaft provided on the first and the opposing surfaces of the first driven rotator and the driving rotator to allow linear relative movement between the first driven rotator and the driving rotator. Guide means, and second linear motion guide means provided between opposing surfaces of the driving rotator and the second driven rotator to permit linear relative movement between the second driven rotator and the driving rotator. The first linear motion guide means and the second linear motion guide means rotatably support a speed reducer having an intersecting arrangement with each other, and secondly, an input shaft and a driven rotor which are eccentric to each other. A casing and the input shaft on both sides of the driven rotor. First and second driving rotators supported eccentrically on both sides and rotatable on the input shaft, an output shaft penetrating the second driving rotator and connected to the driven rotator, and the driven rotation First linear motion guide means provided between the opposing surfaces of the body and the first driving rotator to permit linear relative movement between the driven rotator and the first driving rotator; A second linear motion guide means provided between the opposing surfaces of the second drive rotary body and permitting linear relative movement between the driven rotary body and the second drive rotary body; the first linear motion guide means; The linear motion guide means includes a speed reducer having an arrangement relationship intersecting with each other, thirdly, a casing for supporting the input shaft and the output shaft eccentrically and rotatably, and a rotatably supported by the input shaft and the input shaft. First and second drive circuits eccentric to both sides of the shaft Body, a driven rotator integrated with the output shaft, and a linear relative movement between the first driving rotator and the driven rotator provided between opposing surfaces of the first driving rotator and the driven rotator. A first linear motion guide means for allowing, and a second, which is provided between opposing surfaces of the second driving rotator and the driven rotator, and allows linear relative movement between the second driving rotator and the driven rotator. The first problem is solved by a speed reducer having a linear motion guide means, and the first and second linear motion guide means are arranged so as to intersect each other.

[0005]

First, the operating principle of the first, second and third speed reducers will be described with reference to FIG. Straight line DE passing both ends of straight line BC
While keeping the intersection acute angle α between the straight line DE and the straight line FG constant,
And the straight line FG, the intersection A draws a circle H with the straight line BC as a chord. The acute angle of intersection α includes 90 degrees. While the intersection A moves 360 degrees from (a) through (b), (c), (d) to (e), straight lines DE, FG
Is reversed. Therefore, when the intersection A is moved while the intersection acute angle α is kept constant, the amount of change between the straight line DE and the line FG is half the amount of change at the intersection A.

Also, when the intersection A is fixed and the straight line BC revolves around the center point of the circle H (not shown), similarly, while the straight line BC moves 360 degrees, the straight lines DE, FG
Is reversed.

The first reduction gear is based on the above-described principle in which the straight line BC is fixed and the intersection point A is moved. That is, in the first reduction gear, the point of intersection A corresponds to the axis of the driving rotator, the point B corresponds to the axis of the first driven rotator, and the point C corresponds to the axis of the second driven rotator. The straight line DE corresponds to the first linear motion guide means, and the straight line FG corresponds to the second linear motion guide means. The intersection angle between the first linear motion guide means and the second linear motion guide means is constant. The driving rotator rotates while revolving. The first and second driven rotating bodies do not revolve but only rotate.

When the input shaft is rotated, the axis of the driving rotator makes a circular motion along the circle H. That is, the axis of the drive rotating body is revolved. When the axis of the driving rotator is revolved once, the first and second linear motion guide means are rotated by half a rotation. Thus, the driving rotator, the first driven rotator, and the second driven rotator are rotated by half a rotation about the respective axes in the same direction. The output shaft integrated with the second driven rotor is also rotated half a turn with respect to the input shaft. Therefore, the first
The reduction ratio of the speed reducer is 1/2.

The second and third reduction gears apply the above-mentioned principle in which the point A is fixed and the straight line BC is moved. The second and third reduction gears are obtained by reversing the motion relationship of the respective disks in the first reduction gear. That is, the first and second driven rotating bodies that only rotate and do not revolve in the first reduction gear are changed to the first and second driving rotators in the second and third reduction gears so that they can rotate and rotate. The driving rotator that revolves and rotates in the first reduction gear is a driven rotator in the second and third reduction gears so that only the rotation can be performed.

In the second and third reduction gears, the first
When the axis of the second driving rotator is revolved once by the input shaft, the first and second driving rotators and the driven rotator are rotated by half a rotation in the same direction. The output shaft integrated with the driven rotor is also rotated by half a rotation with respect to the input shaft. Therefore,
The reduction ratio of the second and third reduction gears is also 1/2.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to FIGS. First, a speed reducer according to a first embodiment will be described with reference to FIGS. This speed reducer 20
Casing 21, input shaft 22, drive disk (drive rotator)
23, a first driven disk (first driven rotator) 24, a second driven disk (second driven rotator) 25, first linear motion guide means 2
6, the second linear motion guide means 27, the output shaft 28 and the like.

An input shaft 22, a first driven disk 24, and a second driven disk 25 are provided on a casing
It is rotatably supported by 0, 30, 31, and 32. The first driven disk 24 is formed in a ring shape. The axis CL1, CL of the first driven disk 24 and the second driven disk 25
2 is eccentric on both sides of the axis CL3 of the input shaft 22 by a distance f. An output shaft 28 is provided coaxially and integrally with the second driven disk 25.

A first driven disk 24 is provided at an end of the input shaft 22.
The eccentric shaft 33 which penetrates is provided integrally. The axis CL4 of the eccentric shaft 33 is eccentric from the axis of the input shaft 22 by a distance f. The eccentric shaft 33 has a ring-shaped driving disc 2
3 is rotatably provided by a bearing 34. For this reason, the axis CL4 of the eccentric shaft 33 is
It is also the axis of The driving disk 23 is provided with an axis C of the eccentric shaft 33.
It rotates around L4. at the same time,
The driving disk 23 moves the input shaft 2 with the rotation of the input shaft 22.
It revolves while drawing a circle having a radius f centered on the second axis CL3. Axis CL with respect to axis CL3
The eccentric distances f of 1, CL2 and CL4 are all the same.

On both opposing surfaces of the driving disk 23 and the first driven disk 24, the axial centers CL4 and CL1 of the disks 23 and 24 are provided.
Four first long grooves (FIG. 3,
(See FIG. 4) 41 and 42 are formed at equal intervals.
Therefore, the axis CL between the driving disk 23 and the first driven disk 24
4, CL1 are aligned with each other and the first long grooves 41, 42 are obtained.
Are formed at positions that match each other.

Both the opposing surfaces of the driving disk 23 and the second driven disk 25 have the axes CL4, CL2 of the disks 23, 25.
Four second long grooves (FIG. 3,
(See FIG. 5) 43 and 44 are formed at equal intervals.
Therefore, the axis CL between the driving disk 23 and the second driven disk 25
4 and CL2 coincide with each other, the second long grooves 43 and 44
Are formed at positions that match each other.

The first elongated groove 41 of the driving disk 23 (see FIG. 1)
And the first elongated groove 42 of the first driven disk 24 have the first
The ball 45 is engaged. This pair of first long grooves 41,
The first ball 45 and the first ball 45 constitute the first linear motion guide means 26. The second ball 46 is provided in both the second long groove 43 of the driving disk 23 and the second long groove 44 of the second driven disk 25.
Are engaged. The pair of second elongated grooves 43 and 44 and the second
The ball 46 constitutes the second linear motion guiding means 27.

First long grooves 41, 42 and second long grooves 43, 44
Are in an arrangement relationship intersecting each other. The first and second long grooves 41, 42, 43, and 44 overlap each other as shown in FIG. 3, and the first and second long grooves 41, 42, 43, and 44 are separated from each other and face each other (see FIG. 3). Omitted)
There is. In the embodiment, the crossing angle between the first long grooves 41 and 42 and the second long grooves 43 and 44 is substantially 90 degrees, but is not necessarily required to be 90 degrees. However, the intersection angle must always be constant.

The first and second linear motion guide means may be as follows. (1) Instead of the balls 45 and 46, a square slippery piece or a "roller" whose axis is parallel to the input shaft 22
Linear motion guide means using (not shown). That is, balls, pieces,
It is sufficient that a movable “slider” such as a roller is engaged. (2) Linear motion guide means having a ridge and a groove (not shown) formed at the position of the long groove and engaged with each other without using the ball and the long groove. (3) As shown in FIG.
Linear motion guide means 54, 5 using a linear motion bearing 53 having a pair of moving bodies 51, 51, which are disposed with a length substantially the same as
5. In this case, the pair of moving bodies 51, 51 may be one moving body having substantially the same length as the length of the rail 50.

Next, the operation will be described with reference to FIGS. 7 to 10 are diagrams for explaining the operation. In addition,
The second long grooves 43 and 44 are shown at different positions from the second long grooves 43 and 44 shown in FIGS. 1, 3 and 4 for convenience in order to avoid complication of the drawings.

When the casing 21 is fixed and the input shaft 22 is rotated counterclockwise in FIG.
Is revolved in the counterclockwise direction (left revolution) while drawing a circle having a radius f around the axis CL3. With the revolution of the eccentric shaft 33, the drive disk 23 is similarly moved to the axis CL of the input shaft 22.
It is revolved around 3 counterclockwise. However, in the state shown in FIG. 7, the driving disk 23 is eccentric with respect to the second driven disk 25, and is engaged with the second long grooves 43 and 44 (see FIG. 1) and the second ball 46. Therefore, it cannot revolve unless it turns to the left.

Accordingly, the driving disk 23 is rotated leftward on the eccentric shaft 33 while revolving with respect to the input shaft 22. At the same time, the second driven disk 25 is also rotated left.
Further, since the driving disk 23 is also engaged with the first driven disk 24 by the first long grooves 41 and 42 and the first ball 45, the first driven disk 24 is rotated leftward. When the second driven disk 25 rotates, the output shaft 28 also rotates.

Thereafter, with the rotation of the input shaft 22, the drive disk 23 is allowed to continue revolving and rotating in the counterclockwise direction. FIGS. 8, 9, and 10 are views showing a state in which the input shaft 22 has been rotated left by 90 degrees, 180 degrees, and 270 degrees from the state of FIG. In these figures, the driving disc 23 and the first and second driven discs 25 rotate about 45 degrees, 90 degrees, 135 degrees, and left together while moving relative to each other in a direction parallel to the plane. You can see that there is. That is, it can be seen that the speed reduction ratio of the speed reducer 20 is 1/2. The rotational torque of the input shaft 22 is extracted from the output shaft 28.

Next, a speed reducer according to a second embodiment will be described with reference to FIGS. The speed reducer 120 is obtained by reversing the motion relationship of the three disks 23, 24, 25 in the first speed reducer. That is, the first and second driven discs 24, 2 that only rotate and do not revolve in the speed reducer 20.
The first and second driving discs (first and second driving rotators) 165 and 166 are used in the speed reducer 120 to enable revolving and rotation, and further, the speed reducing device 20 revolves and rotates. The drive disk 23 is a driven disk (driven rotator) 160 in the speed reducer 120 so that it can only rotate.

The speed reducer 120 includes a casing 121, an input shaft 122, a first drive disk 165, a second drive disk 166,
It comprises a driven disk 160, a first linear motion guide means 126, a second linear motion guide means 127, an output shaft 128 and the like.

The casing 121 has an input shaft 122 and a driven disk 160 rotatably supported by bearings 130, 130 and 161. The driven disk 160 is shaped like a ring. The axis CL6 of the driven disk 160
Are eccentric by a distance g with respect to the axis CL3 of the input shaft 122. An output shaft 128 is integrally provided on the driven disk 160 by four pins 162 (see FIGS. 11 and 12).

At the end of the input shaft 122, the first eccentric shaft 16
3. The second eccentric shaft 164 is provided integrally. The second eccentric shaft 164 passes through the driven disk 160. First,
The shaft centers CL7, CL8 of the second eccentric shafts 163, 164 are eccentric by a distance g on both sides from the shaft center CL3 of the input shaft 122. The first and second eccentric shafts 163 and 164 are provided with first and second ring-shaped driving discs 165 and 166, respectively.
7, 168 so as to be rotatable. First,
The axes CL7, CL8 of the second eccentric shafts 163, 164 are also the axes of the first and second drive disks 165, 166.

The first and second driving discs 165 and 166 are adapted to rotate around the axes CL7 and CL8 of the eccentric shafts 163 and 164. At the same time, the first and second driving disks 165 and 166 revolve with the rotation of the input shaft 122 while drawing a circle having a radius g centered on the axis CL3 of the input shaft 122. The eccentric distances g of the axes CL6, CL7, CL8 with respect to the axis CL3 are all the same.

A first linear motion guide means 126 having the same structure as the first linear motion guide means 26 of the speed reducer 20 is provided between opposing surfaces of the driven disk 160 and the first drive disk 165. . The second linear motion guide means 2 of the speed reducer 20 is also provided between the opposing surfaces of the driven disk 160 and the second drive disk 166.
7, a second linear motion guide means 127 having the same structure as that of FIG. The first and second linear motion guide means 126, 1
27 has the same structure as the first and second linear motion guide means 26 and 27, and therefore, the same portions are denoted by the numeral 1 in FIG. 1 and the description of the structure is omitted. I do.

The second driving disk 166 (see FIG. 13) has
Four long holes 171 through which four pins 162 penetrate are formed.

Next, the operation will be described with reference to FIGS. When the casing 121 is fixed and the input shaft 122 is rotated counterclockwise in FIG. 14, the first and second eccentric shafts 16 are rotated.
3, 164 (see FIG. 11) is the axis CL3 of the input shaft 122.
Is revolved counterclockwise while drawing a circle with a radius g around. As the first and second eccentric shafts 163 and 164 revolve, the first and second drive disks 165 and 166 are similarly revolved to the left around the axis CL3 of the input shaft 122.
However, the second driving disk 166 is eccentric with respect to the driven disk 160 in FIG.
Since they are engaged with each other by the second balls 146 and 43, 144 (see FIG. 11), they cannot revolve unless they rotate to the left.

Therefore, the second driving disk 166 is connected to the input shaft 1
22 while revolving counterclockwise with respect to the second eccentric shaft 1.
It is rotated left on 64. At the same time, the driven disk 160
Is also rotated to the left. The driven disk 160 is also engaged with the first driving disk 165 by the first elongated grooves 141 and 142 and the first ball 145, so that the first driving disk 16
Rotate 5 to the left. When the driven disk 160 rotates, the output shaft 128 also rotates.

Thereafter, with the rotation of the input shaft 122, the first and second driving disks 165 and 166 continue to revolve and rotate in the counterclockwise direction. FIG.
FIG. 15 is a view showing a state where the camera is rotated left by 180 degrees from the state shown in FIG. 14. In FIG. 15, the first and second drive disks 16
5,166, it can be seen that the driven disks 160 relatively moved to each other in a direction parallel to the plane and rotated together to the left by about 90 degrees. That is, it is understood that the reduction ratio of the speed reducer 20 is also 1/2.

Next, a speed reducer according to a third embodiment will be described with reference to FIGS. This speed reducer 220 is similar to that shown in FIG.
11 is provided with two driving rotators as in the case of the speed reducer 120, but the two driving rotators are different from the reduction gear 120 in FIG. 11 in that they are disposed on one side of the driven rotator. I have to. The reduction gear 220 includes a casing 221, an input shaft 22
2. First drive plate (first drive rotator) 265, second drive plate (second drive rotator) 266, driven disk (driven rotator) 2
60, a first linear motion guide means 226, a second linear motion guide means 227, an output shaft 228, and the like.

The casing 221 has an input shaft 222 and an output shaft 228 rotatably supported by bearings 230, 230, 231. The axis C of the input shaft 222
L23 and the axis CL26 of the output shaft 228 are eccentric from each other by a distance k.

The input shaft 222 has first and second eccentric shafts 26.
3,264 are provided integrally. The axis CL27, CL28 of the first and second eccentric shafts 263, 264 is
It is eccentric by a distance k on both sides with respect to the second axis CL23. On the first eccentric shaft 263, a first drive plate 265 is rotatably provided by a bearing 267. The axis CL27 of the first eccentric shaft 263 is also the axis of the first drive plate 265. A second drive plate 266 is rotatably provided on the second eccentric shaft 264 by a bearing 268.
The axis CL28 of the second eccentric shaft 264 is
It is also the axis of

The first and second driving discs 265 and 266 are adapted to rotate around the axes CL27 and CL28 of the eccentric shafts 263 and 264. At the same time, the first and second driving disks 265 and 266 revolve with the rotation of the input shaft 222 while drawing a circle having a radius k around the axis CL23 of the input shaft 222. Shaft center CL2
The eccentric distances k of the axis centers CL26, CL27, CL28 with respect to No. 3 are all the same.

First drive plate 265 (see FIGS. 17 and 18)
Is formed in a disk shape. The second drive plate 266 (FIG. 1)
9, see FIG. 20).

The driven disk 260 (FIGS. 21, 22, and 16)
) Is provided coaxially and integrally with the end of the output shaft 228, and faces the first and second drive plates 265 and 266.
The driven disk 260 has two raised portions 270 and 270 for receiving the second driving plate 266. Between the outer periphery of the second driving plate 266 and the outer periphery of the raised portion 270 (see FIG. 23), there are formed gaps S1 and S1 that allow the second driving plate 266 to move with respect to the driven disk 260. This gap S1 is always kept constant.

The first drive plate 265 (see FIG. 16) and the top surface 271 of the raised portion 270 of the driven disk 260 have a first
A linear motion guide means 226 is provided. A second linear motion guide means 227 is provided between the second driving plate 266 and the driven disk 260. The first and second linear motion guide means 226 and 227 have substantially the same structure as the first and second linear motion guide means 24 and 25 of the speed reducer 20 of the first embodiment. 1 is added to the head of the reference numeral in FIG. 1 and the description of the structure is omitted. The first and second linear motion guide means 226 and 227 (see FIG. 23) of the speed reducer 220 of the third embodiment each have six long grooves and six balls.

Next, the operation will be described with reference to FIGS. When the casing 221 is fixed and the input shaft 222 is rotated counterclockwise in FIG. 23, the first and second eccentric shafts 26
3, 264 (see FIG. 23) is the axis CL2 of the input shaft 222;
It is revolved in the counterclockwise direction while drawing a circle with a radius k around 3. As the first and second eccentric shafts 263 and 264 revolve, the first and second drive plates 265 and 266 are similarly revolved to the left around the axis CL23 of the input shaft 122. However, in FIG. 23, the first driving plate 265 is eccentric with respect to the driven disk 260 and is engaged with the first long grooves 242, 241 and the first ball 245, so that it must rotate to the left. If it can not revolve.

Therefore, the first driving plate 265 is connected to the input shaft 22.
2 while revolving counterclockwise with respect to the first eccentric shaft 26.
3. Turn left on top. At the same time, the driven disk 260 is also rotated to the left. On the other hand, the second driving plate 266
Since the input shaft 222 is engaged with the driven disc 260 by the long grooves 244 and 243 and the second ball 246, the input shaft 222 rotates left while revolving left. Driven disk 2
When 60 rotates, output shaft 228 also rotates.

Thereafter, with the rotation of the input shaft 222, the first and second driving plates 265 and 266 are allowed to continue revolving and rotating in the counterclockwise direction. FIG. 24, FIG. 25, FIG.
The input shaft 222 is 90 degrees, 180 degrees from the state of FIG.
It is a figure which shows the state rotated 360 degrees left. In these figures, the first and second driving plates 265 and 266 and the driven disk 260 rotate leftward by about 45 degrees, 90 degrees, 180 degrees and left while moving relative to each other in a direction parallel to the plane. You can see that it is.

In FIG. 23, one end 266a of the second driving plate 266 is located on the right side, but in FIG. 26, it is located on the left side. That is, it can be seen that the reduction ratio of the speed reducer 220 shown in FIG. 16 is also 1/2. This reduction gear 220 is different from the reduction gear 120 shown in FIG.
Since the input shaft 222 does not penetrate the follower 260, the length of the input shaft 222 is shortened accordingly, and the swing of the input shaft 222 during rotation is reduced.

The second driving plate 266 shown in FIG. 16 (FIG. 19)
) Is formed in an elliptical shape, but has a trifurcated shape, or
As shown in FIG. 27, it may be formed in a cross shape. FIG.
FIG. 17 is a view corresponding to a view of a state in which a second cross plate 366 and a driven disk 360 are combined viewed from the right side in FIG. 16. The driven disk 360 has a cross-shaped second drive plate 3
Four ridges 370 are formed to receive 66. A first long groove 341 corresponding to the first long groove 241 in FIG. 16 is formed on the top surface 371 of the raised portion 370. Further, a second long groove 343 corresponding to the second long groove 243 in FIG.

The second driving plate 366 has a second long groove 344 corresponding to the second long groove 244 in FIG. Between the outer periphery of the second driving plate 366 and the raised portion 370, gaps S2 and S3 are formed to allow the movement of the second driving plate 366 with respect to the driven disk 360. S3 = 2
-It is in the relationship of S2. Although not shown, a first long groove corresponding to the first long groove 242 in FIG. 16 is formed on the first driving plate in this case in the same manner as the long groove 341 on the driven disk 360.

Next, a speed reducer according to a fourth embodiment will be described with reference to FIGS. This reduction gear 420 is also shown in FIG.
11 is provided with two driving rotators as in the case of the speed reducer 120, but the two driving rotators are different from the reduction gear 120 in FIG. 11 in that they are disposed on one side of the driven rotator. I have to. The difference between the speed reducer 220 of FIG. 16 and the speed reducer 240 of FIG. 28 is that the raised portion is formed on the driven disk 260 in the speed reducer 220 of FIG. That is, it is formed on the first driving plate 465.

The reduction gear 420 includes a casing 421, an input shaft 422, a first driving plate (first driving rotating body) 465, and a second driving plate 465.
It comprises a driving plate (second driving rotating body) 466, a driven disk (driven rotating body) 460, first linear motion guiding means 426, second linear motion guiding means 427, an output shaft 428, and the like.

An input shaft 422 and an output shaft 428 are rotatably supported on the casing 421 by bearings 430, 430, 431. Axis C of input shaft 422
L43 and the axis CL46 of the output shaft 428 are eccentric by a distance m from each other.

The input shaft 422 includes the first and second eccentric shafts 46.
3,464 are provided integrally. The axis CL47, CL48 of the first and second eccentric shafts 463, 464 is the input shaft 42.
It is eccentric by a distance m on both sides with respect to the second axis CL43. The first drive plate 465 is rotatably provided on the first eccentric shaft 463 by a bearing 467. The axis CL47 of the first eccentric shaft 463 is also the axis of the first drive plate 465. A second drive plate 466 is rotatably provided on the second eccentric shaft 464 by a bearing 468.
The axis CL48 of the second eccentric shaft 464 is
It is also the axis of

First drive plate 465 (see FIGS. 29 and 30)
Is formed in a disk shape. The second driving plate 466 (FIG. 3)
1, see FIG. 32) is formed in a cross shape. The first driving plate 465 (see FIGS. 29 and 30) has a cross-shaped second
Four ridges 470 are formed to receive the drive plate 466.

The driven disk 460 (FIGS. 33, 34 and 28)
) Are coaxially and integrally provided at the end of the output shaft 428 and face the first and second drive plates 465 and 466.

A first linear motion guide means 426 is provided between the first driving plate 465 and the top surface 471 of the raised portion 470 of the driven disk 460. The second linear motion guide means 427 is provided between the second drive plate 466 and the driven disk 460. First and second linear motion guide means 426, 4
27 has substantially the same structure as the first and second linear motion guide means 24 and 25 of the speed reducer 20 of the first embodiment. The description of the structure is omitted. The first and second linear motion guide means 426, 427 of the speed reducer 420 of the fourth embodiment.
(See FIG. 35) has four long grooves and four balls.

Next, the operation will be described with reference to FIGS. When the casing 421 is fixed and the input shaft 422 is rotated counterclockwise in FIG. 35, the first and second eccentric shafts 46 are rotated.
3,464 (see FIG. 35) is the axis CL4 of the input shaft 422.
It is revolved counterclockwise while drawing a circle with a radius m around 3. As the first and second eccentric shafts 463 and 464 revolve, the first and second driving plates 465 and 466 are similarly revolved to the left around the axis CL43 of the input shaft 422. However, in FIG. 35, the second driving plate 466 is eccentric with respect to the driven disk 460 and is engaged with the second long grooves 443 and 444 and the second ball 446. If it can not revolve.

Therefore, the second driving plate 466 is connected to the input shaft 42.
2 while revolving counterclockwise with respect to the second eccentric shaft 46.
4 on left. At the same time, the driven disk 460 is rotated leftward. On the other hand, the first driving plate 465
Since it is engaged with the driven disk 460 by the long grooves 442 and 441 and the first ball 445, the input shaft 422 revolves to the left and revolves to the left with the left rotation. Driven disk 4
When 60 rotates, the output shaft 428 also rotates.

Thereafter, with the rotation of the input shaft 422, the first and second driving plates 465 and 466 are allowed to continue revolving and rotating in the counterclockwise direction. FIG. 36, FIG. 37, and FIG.
The input shaft 222 is 90 degrees, 180 degrees from the state of FIG.
It is a figure which shows the state rotated 360 degrees left. In these figures, the first and second driving plates 465 and 466 and the driven disk 460 rotate together by about 45 degrees, 90 degrees, 180 degrees and left while moving relative to each other in a direction parallel to the plane. You can see that it is.

In FIG. 35, one end 466a of the second drive plate 466 is located on the upper side, but is located on the lower side in FIG. That is, it can be seen that the reduction ratio of the speed reducer 420 shown in FIG. 28 is also 1/2. This reduction gear 420 is also different from the reduction gear 120 shown in FIG.
Since the input shaft 422 does not penetrate the follower 460, the length of the input shaft 422 is shortened accordingly, and the rotating input shaft 4
22 is reduced.

The second driving plate 466 (FIG. 31) shown in FIG.
) Is formed in a cross shape, but may be formed in a shape divided into three sides as shown in FIG. 39 or a linear shape as shown in FIG. FIG. 39 is a view corresponding to a view of the state where the second drive plate 566 and the first drive plate 565 each having a shape divided into three sides are combined as viewed from the left side in FIG. 28.
The first driving plate 565 is formed with three raised portions 570 for receiving the second driving plate 566. A first long groove 542 corresponding to the first long groove 442 in FIG. 28 is formed on the top surface 571 of the raised portion 570.

The second driving plate 566 has a second long groove 544 corresponding to the second long groove 444 in FIG. A gap S4 that allows relative movement between the first and second driving plates 565 and 566 is formed between the outer periphery of the raised portion 570 and the second driving plate 566.

FIG. 40 is a view corresponding to a view of the combination of the linear second drive plate 666 and the first drive plate 665 viewed from the left side of FIG. The first driving plate 665 is formed with two raised portions 670 for receiving the second driving plate 666. Top surface 67 of this ridge 670
In FIG. 1, a first long groove 642 corresponding to the first long groove 442 in FIG. 28 is formed.

The second driving plate 666 has a second long groove 644 corresponding to the second long groove 444 in FIG. A gap S5 that allows relative movement between the first and second drive plates 665 and 666 is formed between the protrusion 670 and the outer periphery of the second drive plate 666.

The above-described speed reducers 120, 220, 42
0, the first elongated grooves 141, 241, 441, 14
2,242,442 and the second long grooves 143,243,44
The intersection angle with 3, 144, 244, 444 is also substantially 90 degrees, but need not necessarily be 90 degrees. However, the intersection angle must always be constant.

The first and second linear motion guide means 12
6,127,226,227,426,427 are shown in FIG.
Like the linear motion guide means 26 and 27 of the speed reducer 20 of
Balls 145,146,245,246,445,44
In place of 6, linear motion guide means using pieces and rollers,
Linear motion guide means having a ridge and a groove engaged with each other, or linear motion guide means using a linear motion bearing may be used.

[0063]

The speed reducer according to the first, second, and third aspects has the following effects. (1) Since no gear is used, there is almost no backlash, and a highly accurate reduction ratio can be obtained. (2) Since the linear motion guide means intersecting with each other are used, a small reduction ratio of 1/2 can be obtained. (3) The speed reducer according to claim 3 has a configuration in which the first and second driving rotators are disposed on one side of the driven rotator, so that the input shaft can be shortened, and the rotating input shaft is rotated. The first and second driving rotators rotate smoothly, and a highly accurate reduction ratio can be obtained. (4) The intersection angle of the linear motion guide means is set to 90
In other words, the rotational torque of the input shaft can be efficiently transmitted to the output shaft.

[Brief description of the drawings]

FIG. 1 is a front view of a speed reducer according to an embodiment of the present invention.
It is sectional drawing along an output shaft.

FIG. 2 is a diagram for explaining the operation principle of the speed reducer of the present invention.

FIG. 3 is a view of the drive disc of the speed reducer of FIG. 1 as viewed from the left.

FIG. 4 is a view of a first driven disk of the speed reducer of FIG. 1 as viewed from the left.

FIG. 5 is a view of a second driven disk of the speed reducer of FIG. 1 as viewed from the left.

FIG. 6 is a partial front view of a speed reducer provided with a linear motion guide means of another embodiment.

FIG. 7 is an operation explanatory view of the speed reducer of FIG. 1;

FIG. 8 is an explanatory diagram of the operation of the speed reducer of FIG. 1, in a state where the input shaft is rotated by about 90 degrees.

FIG. 9 is an explanatory diagram of the operation of the speed reducer of FIG. 1, in a state where the input shaft is rotated by about 180 degrees.

FIG. 10 is an explanatory diagram of the operation of the speed reducer of FIG. 1, in a state where the input shaft is rotated by about 270 degrees.

FIG. 11 is a front view of a speed reducer according to another embodiment, and is a cross-sectional view along an input / output shaft.

12 is a view of a driven disk of the speed reducer of FIG. 11 as viewed from the left.

13 is a view of a second drive disc of the speed reducer of FIG. 11 as viewed from the left.

FIG. 14 is an operation explanatory view of the speed reducer of FIG. 11;

FIG. 15 is an explanatory diagram of the operation of the speed reducer of FIG. 11, in a state where the input shaft is rotated by about 180 degrees.

FIG. 16 is a front view of a speed reducer according to another embodiment, and is a cross-sectional view along an input / output axis.

17 is a view of a first drive plate of the speed reducer of FIG. 16 as viewed from the left.

18 is a sectional view taken along the arrow line 18-18 in FIG.

FIG. 19 is a view of a second drive plate of the speed reducer of FIG. 16 as viewed from the left.

20 is a view of the second drive plate of FIG. 19 as viewed from the right.

21 is a view of the driven disk of the speed reducer of FIG. 16 as viewed from the right.

FIG. 22 is a view of the driven disk of FIG. 21 as viewed from the left.

FIG. 23 is an operation explanatory view of the speed reducer of FIG. 16;

24 is an explanatory diagram of the operation of the speed reducer of FIG. 16, and FIG.
FIG. 10 is a view showing a state in which the input shaft has been rotated counterclockwise by about 90 degrees from the state shown in FIG.

25 is an explanatory diagram of the operation of the speed reducer of FIG. 16, and FIG.
FIG. 6 is a view showing a state in which the input shaft is rotated left by about 180 degrees from the state shown in FIG.

26 is an explanatory diagram of the operation of the speed reducer of FIG. 16, and FIG.
FIG. 11 is a view showing a state where the input shaft is rotated left by about 360 degrees from the state of FIG.

FIG. 27 is a diagram illustrating an overlapping state of a second driving plate and a driven disk according to another embodiment.

FIG. 28 is a front view of a speed reducer according to another embodiment, and is a cross-sectional view along an input / output shaft.

FIG. 29 is a view of a first drive plate of the speed reducer of FIG. 28 as viewed from the left.

30 is a view of the first drive plate of FIG. 29 as viewed from the right.

FIG. 31 is a view of a second drive plate of the speed reducer of FIG. 29 as viewed from the left.

FIG. 32 is a sectional view taken along the arrow 32-32 in FIG. 31.

FIG. 33 is a view of the driven disk of the speed reducer of FIG. 28 as viewed from the right.

FIG. 34 is a view of the driven disk of FIG. 33 as viewed from the left.

FIG. 35 is an operation explanatory view of the speed reducer of FIG. 28;

36 is an explanatory diagram of the operation of the speed reducer of FIG. 28, and FIG.
FIG. 10 is a view showing a state in which the input shaft has been rotated counterclockwise by about 90 degrees from the state shown in FIG.

FIG. 37 is an explanatory diagram of the operation of the speed reducer of FIG. 28, and FIG.
FIG. 6 is a view showing a state in which the input shaft is rotated left by about 180 degrees from the state shown in FIG.

38 is an explanatory diagram of the operation of the speed reducer of FIG. 28, and FIG.
FIG. 11 is a view showing a state where the input shaft is rotated left by about 360 degrees from the state of FIG.

FIG. 39 is a view showing an overlapping state of first and second driving plates according to another embodiment.

FIG. 40 is a view showing an overlapping state of first and second driving plates according to another embodiment.

[Explanation of symbols]

20, 120, 220, 420 Reduction gear 21, 121, 221, 421 Casing 22, 122, 222, 422 Input shaft 23 Drive disk (drive rotator) 24 First driven disk (first driven rotator) 25 2 driven disk (second driven rotating body) 26, 54, 126, 226, 426 first linear motion guide means 27, 55, 127, 227, 427 second linear motion guide means 28, 128, 228, 428 output shaft 160, 260, 460 Driven disk (driven rotator) 165, 265, 465, 565, 665 First drive disk (first drive rotator) 166, 266, 366, 466, 566, 666 Second drive disk (Second driving rotator)

──────────────────────────────────────────────────続 き Continued on the front page (72) Eiji Ishimoto, Inventor 4-17-96, Tsurumi-ku, Tsurumi-ku, Osaka-shi, Osaka Inside Tsubakimoto Chain Co., Ltd. (56) References JP-A-62-4961 (JP, A) JP-A-3-49455 (JP, A) JP-A-61-119869 (JP, A) JP-A-2-85552 (JP, A) JP-A-53-136167 (JP, A) JP-A-5-10400 (JP, A) , A) JP-A-4-272552 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) F16H 1/32 F16H 13/10 F16H 19/00-31/00

Claims (4)

(57) [Claims] 1. A casing for rotatably supporting an input shaft and first and second driven rotary members eccentric on both sides with respect to the input shaft, and a casing between the first and second driven rotary members. A drive rotator rotatably supported eccentrically with respect to the input shaft, an output shaft integrally provided with the second driven rotator, and an opposing surface between the first driven rotator and the drive rotator. First linear motion guide means for permitting linear relative movement between the first driven rotator and the drive rotator, and the second linear motion guide means provided between opposing surfaces of the drive rotator and the second driven rotator. There is provided second linear motion guide means for permitting linear relative movement between the driven rotary body and the drive rotary body, and the first linear motion guide means and the second linear motion guide means are arranged so as to intersect each other. A speed reducer, characterized in that: 2. A casing for rotatably supporting an input shaft and a driven rotor that are eccentric to each other, and eccentrically supported on both sides of the input shaft on both sides of the driven rotor and rotatably supported by the input shaft. Between the first and second driving rotators, the output shaft penetrating through the second driving rotator and connected to the driven rotator, and between the opposing surfaces of the driven rotator and the first driving rotator. First linear motion guide means provided for allowing linear relative movement between the driven rotary body and the first drive rotary body;
Second linear motion guide means provided between opposing surfaces of the driven rotator and the second drive rotator to permit linear relative movement between the driven rotator and the second drive rotator; and the first straight line. A speed reducer, wherein the motion guide means and the second linear motion guide means are arranged so as to intersect each other. 3. A casing for supporting an input shaft and an output shaft eccentrically and rotatably, and a first and a second drive rotatably supported on the input shaft and eccentric on both sides with respect to the input shaft. A rotator, a driven rotator integrated with the output shaft, and a linear relative movement between the first drive rotator and the driven rotator provided between opposing surfaces of the first drive rotator and the driven rotator. A first linear motion guide means for allowing linear relative movement between the second driving rotator and the driven rotator provided between opposing surfaces of the second driving rotator and the driven rotator. Two linear motion guide means,
A speed reducer, wherein the second linear motion guide means are arranged to intersect each other. 4. An intersecting angle between said first linear motion guide means and said second linear motion guide means is 90 degrees.
2 or 3 reducers.