JP4610706B2 - Eccentric rocking speed reducer - Google Patents

Eccentric rocking speed reducer Download PDF

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Publication number
JP4610706B2
JP4610706B2 JP2000263820A JP2000263820A JP4610706B2 JP 4610706 B2 JP4610706 B2 JP 4610706B2 JP 2000263820 A JP2000263820 A JP 2000263820A JP 2000263820 A JP2000263820 A JP 2000263820A JP 4610706 B2 JP4610706 B2 JP 4610706B2
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Japan
Prior art keywords
eccentric
shaft
eccentric body
drive
driven
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JP2000263820A
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JP2002070959A (en
Inventor
洋之 三好
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Nabtesco Corp
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Nabtesco Corp
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Description

【０００１】
【発明の属する技術分野】
本発明は偏心揺動型減速機に関し、詳しくは、偏心体が形成された偏心体軸と、偏心体軸が嵌合する外歯歯車と、外歯歯車に噛み合う内歯歯車とを有し、入力軸につながる偏心体軸の回転により外歯歯車を揺動させ、偏心体軸の入力回転を外歯歯車または内歯歯車の出力回転に変換する偏心揺動型減速機に関する。
【０００２】
【従来の技術】
偏心揺動型減速機は遊星歯車減速機ともいわれ、例えば、特公昭３９−２５３９８号公報に見られるものは、原動軸の回転を２本の偏心体軸に伝え、出力軸に結合された内歯歯車に噛み合い、内歯歯車の歯数より少ない歯数の外歯歯車を揺動させて、偏心体軸の入力回転を内歯歯車の出力回転に変換している。この際、内歯歯車を固定し、外歯歯車を回転できる機構にすれば、偏心体軸の入力回転を外歯歯車の出力回転に変換できる。
【０００３】
このような偏心揺動型減速機の構造としては、特開昭５９−１０６７４４号公報に記載されるように、入力軸に接続された偏心体軸を外歯歯車の揺動回転中心に設け、偏心体軸の入力回転を、固定された内歯歯車に噛み合う回転自在の外歯歯車の回転を内ピンで出力軸に伝達する形式のものがある。このものは、片持ちの内ピンでトルクを伝達するため出力トルクが制約を受け、また、トルク伝達に寄与する内ピンの数が半数程度であるので出力トルクが大きくならない問題があり、トルクを大きくするためには内ピンを大きくする必要があり結果として装置が大きくなる問題がある。
【０００４】
これに対し、特開昭５６−３９３４１号公報に記載のものは、中心の入力軸に取り付けた原動歯車に噛み合う入力歯車を取り付けた３本の偏心体軸を、揺動位相が１８０度ずれた二つの外歯歯車の周囲に等配配置（１２０度間隔）し、且つ、各偏心体軸を両持ち支持し、入力軸の回転を偏心体軸の回転を介して外歯歯車の揺動運動に変え、この揺動運動を内歯歯車の出力回転に変換している。このものは偏心体軸を両持ちにし、複数の偏心体軸で外歯歯車を駆動し、同時にトルクも伝達するので、小型で大きなトルクを出力できる。
【０００５】
なお、特開昭５６−３９３４１号公報に記載のものは、３本の偏心体軸が全て入力軸に接続された駆動偏心体軸であるが、複数の偏心体軸の内、例えば、一の偏心体軸を入力軸に接続し、他の偏心体軸は入力軸との接続を断って自由に運動できる従動偏心体軸として、外歯歯車の回転のみを伝達する伝達軸として使用する装置も提案されている。
【０００６】
【発明が解決しようとする課題】
ところで、このように複数の偏心体軸を有するものにあっては、各偏心体軸の偏心位相を一致させねばならず、偏心体軸の加工、組み立てに時間を要するという問題があった。また、複数の揺動位相の異なる外歯歯車に嵌合する位相の異なる複数の偏心体を有する偏心体軸にあっては、軸（回転軸）の加工に加えて、各位相の異なる偏心体をそれぞれ別に加工する必要があり、多くの工程を要している。
【０００７】
【課題を解決するための手段】
本発明はこのような課題に鑑みなされたものであって、入力軸に接続された駆動回転軸と、前記駆動回転軸に形成された偏心体とからなる少なくとも１個の駆動偏心体軸を有し、従動回転軸と、前記従動回転軸に形成された隣接する３個の偏心体とからなる複数の従動偏心体軸を有し、前記隣接する３個の偏心体のうち中央の偏心体は、前記従動回転軸に一体に形成され、前記中央の偏心体を挟む両側の偏心体は、前記従動回転軸に滑り嵌合し、前記駆動偏心体軸に軸受けを介して嵌合するとともに、前記３個の各偏心体に軸受けを介してそれぞれ嵌合する３個の外歯歯車を有し、前記３個の外歯歯車に噛み合う１個の内歯歯車を有し、前記駆動偏心体軸の回転により前記３個の外歯歯車を揺動させ、前記駆動偏心体軸の入力回転を前記外歯歯車または前記内歯歯車の出力回転に変換することを特徴とする。
【０００８】
これにより、従動偏心体軸は、回転軸とこれに滑り嵌合する偏心体からなりこれを組み合わせて偏心体軸とするので、加工がきわめて容易になると共に組み立ても容易となり、装置の構造も簡易なものとなる。また、本発明の偏心体軸の減速機は、外歯歯車の中心駆動方式あるいは周辺駆動方式など任意の機構、構造の偏心揺動型減速機に適用でき、また複数の揺動位相の異なる外歯歯車を有する減速機に用いて特に好適である。
【０００９】
【発明の実施の形態】
以下、図示した実施形態に基づき本発明を詳細に説明する。図１は、本発明の一実施形態の側断面図であり、図２は図１の模式的Ｘ−Ｘ断面図、図３は図１の模式的Ｙ−Ｙ断面図である。この実施形態のものは、駆動偏心体軸を中心に設けたいわゆるセンタークランク形式のもので、また偏心体軸は前述の特開昭５６−３９３４１号公報に記載のものと同様両持ち支持される構造のものである。
【００１０】
入力軸である駆動偏心体軸１０は、円形の基体１と、この基体１に形成された三つの突起柱部１ａに当接し、ボルトで固定される円形の蓋体２とにそれぞれ固定された二つの玉軸受け１１ａ、１１ｂにより回転自在に支持されている。駆動偏心体軸１０は、玉軸受け１１ａ、１１ｂに支承される回転軸１０ｄと、回転軸軸１０ｄに偏心的に且つ一体的に形成された隣接する３個の偏心体１０ａ、１０ｂ、１０ｃとからなり、軸１０ｄの入力側には原動軸（図示せず）の回転を受けるためのスプラインが刻まれ、スプライン軸としている。偏心体１０ｂと、この偏心体１０ｂを挟むように位置する両側の偏心体１０ａ、１０cとは偏心位相が１８０度異なる。偏心体１０ａ、１０ｃの偏心位相は同一である。
【００１１】
偏心体軸１０すなわち各偏心体１０ａ,１０ｂ、１０ｃは軸受け１２ａ、１２ｂ、１２ｃを介してそれぞれ外歯歯車３ａ、３ｂ、３ｃのセンタ穴に嵌合し、駆動偏心体軸１０の回転により、外歯歯車３ａ、３ｂ、３ｃを揺動させる。中央の幅広の外歯歯車３ｂと、両側の外歯歯車３ａ、３ｃとは位相が１８０度ずれた揺動運動を行う。
【００１２】
各外歯歯車３ａ、３ｂ、３ｃの周辺には、等配的に３個の穴が形成され、各穴に従動偏心体軸２０が嵌合している。従動偏心体軸２０は駆動偏心体軸１０と同様に、基体１と蓋体２とにそれぞれ固定された二つの玉軸受け２１ａ、２１ｂにより回転可能に支持される軸２０ｄと、３個の偏心体２０ａ、２０ｂ、２０ｃとからなり、各偏心体２０ａ、２０ｂ、２０ｃは、それぞれ外歯歯車３ａ、３ｂ、３ｃに軸受け２２ａ、２２ｂ、２２ｃを介して嵌合している。偏心体２０ａ、２０ｃは同一の偏心位相であり、駆動偏心体１０ａ、１０ｃと同一の偏心位相であり、偏心体２０ｂは、駆動偏心体１０ｂの偏心位相と同一である。
【００１３】
この従動偏心軸２０の偏心体のうち、偏心体２０ｂは軸２０ｄと一体的に形成されているが、偏心体２０ａ、２０ｃは、偏心軸穴を形成した円板を軸２０ｄに滑り嵌合したものである。なお、滑り嵌合とは、組み立て時軸に嵌合できる程度の隙間を持ったものを言う。
【００１４】
各外歯歯車３ａ、３ｂ、３ｃは、筒状ケーシングの内面に取り付けられたピンからなる内歯歯車４のピン４ａすなわち内歯に噛み合っている。内歯歯車４は、基体１及び蓋体２に取り付けられた軸受け５ａ、５ｂにより回転自在に支承され、駆動偏心体軸１０の回転により揺動する各外歯歯車３ａ、３ｂ、３ｃにより回転され、その回転を出力部材（図示せず）に伝達する。
【００１５】
本発明においては、駆動偏心体軸であるセンタークランクを除く周辺等配配置の従動偏心体軸は、一の偏心体を除いて他の偏心体は滑り嵌合した偏心体となしているので、先ず、偏心体軸の加工が容易であり、また、組み立ても、滑り嵌合なので、偏心体部はならって位相が合うため簡易なものとなるのである。
【００１６】
如上の実施形態のものにおいては、センタークランク式のものを示したが、本発明はセンタークランク機構、構造のものに限らず、周辺駆動機構、構造のものにも適用できる。図４は、本発明の他の実施形態の減速機の側断面図であり、周辺に等配配置された１個の駆動偏心体軸と２個の従動偏心体軸を有する減速機の駆動偏心体軸部の断面（駆動部）と、従動偏心体軸部の断面図（従動部）とを合わせて示した図である。この実施形態においては、形状、構造が図１の実施形態と異なるものの減速機構は同一であるので、機能の同一のものは、図１と同一の符号を付し新たな説明は省略する。
【００１７】
このものは周辺等配配置した偏心体軸の内一の偏心体軸１００を、スプラインを形成した入力軸である駆動偏心体軸とし、軸受け１１０ａ、１１０ｂで回転自在に支承するとともに、図１の実施形態のものと同様、中央の偏心体を挟むように２個の偏心体を設け、３個の偏心体１００ａ、１００ｂ、１００ｃを軸に一体に形成したものであり、また、他の２つの従動偏心体軸２００は軸受け２１０ａ、２１０ｂで支承するとともに、軸と一体に偏心体２００ｂを形成し、偏心穴円板の偏心体２００ａ、２００ｃを滑り嵌合したものである。このものにあっても図１の実施形態のものと同様の作用効果が得られることは明らかである。
【００１８】
以上の実施形態においては、一の駆動偏心体軸を除き、他は全て従動偏心体軸となしたが、減速機の構造、機能によっては、駆動偏心体軸を複数設け、従動偏心体軸の数を減ずることもできる。また、従動偏心体軸にあっては、一の偏心体を軸と一体に形成したものを例示したが、偏心体を全て滑り嵌合してもよく、構造、仕様などによっては、一体形成の偏心体の数を増やすこともできる。滑り嵌合の偏心体が有ることにより本発明の効果は達成できるのである。
【００１９】
【発明の効果】
本発明によれば、偏心体が形成され入力軸に接続された駆動偏心体軸と、偏心体が形成され入力軸に接続されない従動偏心体軸と、該各偏心体軸が嵌合する外歯歯車と、該外歯歯車に噛み合う内歯歯車とを有し、前記駆動偏心体軸の回転により前記外歯歯車を揺動させ、前記駆動偏心体軸の入力回転を前記外歯歯車または前記内歯歯車の出力回転に変換する偏心揺動型減速機において、前記従動偏心体軸の軸に偏心体を滑り嵌合したので、加工がきわめて容易になると共に組み立ても容易となり、装置の構造も簡易なものとなる。
【図面の簡単な説明】
【図１】本発明の一実施形態の側断面図
【図２】図１の模式的Ｘ−Ｘ断面図
【図３】図１の模式的Ｙ−Ｙ断面図
【図４】本発明の他の実施形態の側断面図
【符号の説明】
３ａ、３ｂ、３ｃ 外歯歯車
４ 内歯歯車
４ａ ピン
１０ 駆動偏心体軸
１０ａ、１０ｂ、１０ｃ 偏心体
２０ 従動偏心体軸
２０ａ、２０ｂ、２０ｃ 偏心体
１００ 駆動偏心体軸
１００ａ、１００ｂ、１００ｃ 偏心体
２００ 従動偏心体軸
２００ａ、２００ｂ、２００ｃ 偏心体[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an eccentric oscillating speed reducer, and in particular, has an eccentric body shaft on which an eccentric body is formed, an external gear that fits the eccentric body shaft, and an internal gear that meshes with the external gear, The present invention relates to an eccentric oscillating speed reducer that oscillates an external gear by rotation of an eccentric body shaft connected to an input shaft and converts input rotation of the eccentric body shaft into output rotation of an external gear or internal gear.
[0002]
[Prior art]
An eccentric oscillating speed reducer is also called a planetary gear speed reducer. For example, the one shown in Japanese Patent Publication No. 39-25398 transmits rotation of a driving shaft to two eccentric body shafts and is connected to an output shaft. The external gear having a smaller number of teeth than the number of teeth of the internal gear is engaged with the tooth gear, and the input rotation of the eccentric body shaft is converted into the output rotation of the internal gear. At this time, if the internal gear is fixed and the external gear can be rotated, the input rotation of the eccentric body shaft can be converted into the output rotation of the external gear.
[0003]
As the structure of such an eccentric oscillating speed reducer, as described in JP-A-59-106744, an eccentric body shaft connected to the input shaft is provided at the center of oscillating rotation of the external gear, There is a type in which the rotation of the rotatable external gear meshing with the fixed internal gear is transmitted to the output shaft by an internal pin. This has a problem that the output torque is limited because the torque is transmitted with a cantilever inner pin, and the output torque does not increase because the number of inner pins contributing to torque transmission is about half. In order to increase the size, it is necessary to increase the size of the inner pin.
[0004]
On the other hand, the one described in Japanese Patent Application Laid-Open No. 56-39341 has three oscillating phases shifted by 180 degrees with respect to the three eccentric body shafts attached with the input gear meshing with the driving gear attached to the central input shaft. Equally arranged around the two external gears (at intervals of 120 degrees), supports each eccentric body shaft at both ends, and rotates the input shaft through the rotation of the eccentric body shaft. Instead, this oscillating motion is converted into an output rotation of the internal gear. In this system, since the eccentric body shaft is supported at both ends, the external gear is driven by a plurality of eccentric body shafts and torque is transmitted at the same time, a small and large torque can be output.
[0005]
The one described in JP-A-56-39341 is a drive eccentric body shaft in which all three eccentric body shafts are connected to an input shaft. Among a plurality of eccentric body shafts, for example, one An eccentric body shaft is connected to the input shaft, and the other eccentric body shaft is used as a driven eccentric body shaft that can move freely without being connected to the input shaft. Proposed.
[0006]
[Problems to be solved by the invention]
By the way, in the case of having a plurality of eccentric body shafts as described above, there is a problem that the eccentric phases of the eccentric body shafts must be matched, and it takes time to process and assemble the eccentric body shafts. Further, in the case of an eccentric body shaft having a plurality of eccentric bodies having different phases fitted to a plurality of external gears having different oscillation phases, in addition to machining of the shaft (rotating shaft), the eccentric bodies having different phases. Need to be processed separately, and many processes are required.
[0007]
[Means for Solving the Problems]
The present invention has been made in view of such a problem, and has at least one drive eccentric body shaft including a drive rotation shaft connected to an input shaft and an eccentric body formed on the drive rotation shaft. And a plurality of driven eccentric body shafts comprising a driven rotating shaft and three adjacent eccentric bodies formed on the driven rotating shaft, and a central eccentric body among the three adjacent eccentric bodies is The eccentric bodies on both sides sandwiching the central eccentric body are integrally formed with the driven rotational shaft, and are slidingly fitted to the driven rotational shaft, and fitted to the drive eccentric body shaft via bearings, and Each of the three eccentric bodies has three external gears which are respectively fitted via bearings, one internal gear which meshes with the three external gears, and the drive eccentric body shaft to oscillate the said three external gear by the rotation, the outer tooth input rotation of the drive eccentric shaft And Turkey to convert the output rotation of the car or the internal gear, characterized.
[0008]
As a result, the driven eccentric body shaft is composed of a rotating shaft and an eccentric body slidingly fitted to the rotating shaft, and this is combined to form an eccentric body shaft. This makes machining extremely easy and easy to assemble, and also simplifies the structure of the device. It will be something. The eccentric shaft reducer of the present invention can be applied to an eccentric oscillating type reducer having an arbitrary mechanism and structure such as a center drive system or a peripheral drive system of an external gear, and a plurality of external gears having different oscillating phases. It is particularly suitable for use in a reduction gear having a toothed gear.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail based on the illustrated embodiments. 1 is a side sectional view of one embodiment of the present invention, FIG. 2 is a schematic XX sectional view of FIG. 1, and FIG. 3 is a schematic YY sectional view of FIG. In this embodiment, a so-called center crank type centering on the drive eccentric body shaft is used, and the eccentric body shaft is supported on both ends in the same manner as described in the above-mentioned JP-A-56-39341. Of structure.
[0010]
A drive eccentric body shaft 10 as an input shaft is fixed to a circular base body 1 and a circular lid body 2 which is in contact with three projecting pillar portions 1a formed on the base body 1 and fixed with bolts. Two ball bearings 11a and 11b are rotatably supported. The drive eccentric body shaft 10 includes a rotating shaft 10d supported by the ball bearings 11a and 11b, and three adjacent eccentric bodies 10a, 10b, and 10c formed eccentrically and integrally with the rotating shaft shaft 10d. Thus, a spline for receiving the rotation of a driving shaft (not shown) is engraved on the input side of the shaft 10d to form a spline shaft. The eccentric phase differs between the eccentric body 10b and the eccentric bodies 10a and 10c on both sides located so as to sandwich the eccentric body 10b. The eccentric phases of the eccentric bodies 10a and 10c are the same.
[0011]
The eccentric body shaft 10, that is, each of the eccentric bodies 10 a, 10 b, and 10 c is fitted into the center holes of the external gears 3 a, 3 b, and 3 c via the bearings 12 a, 12 b, and 12 c, respectively. The toothed gears 3a, 3b, 3c are swung. The wide external gear 3b at the center and the external gears 3a and 3c on both sides perform a swinging motion that is 180 degrees out of phase.
[0012]
Three holes are formed equally around each of the external gears 3a, 3b, 3c, and a driven eccentric body shaft 20 is fitted to each hole. Similarly to the drive eccentric body shaft 10, the driven eccentric body shaft 20 includes a shaft 20d rotatably supported by two ball bearings 21a and 21b fixed to the base body 1 and the lid body 2, respectively, and three eccentric bodies. The eccentric bodies 20a, 20b, and 20c are fitted to the external gears 3a, 3b, and 3c via bearings 22a, 22b, and 22c, respectively. The eccentric bodies 20a and 20c have the same eccentric phase, the same eccentric phase as the drive eccentric bodies 10a and 10c, and the eccentric body 20b has the same eccentric phase as the drive eccentric body 10b.
[0013]
Of the eccentric bodies of the driven eccentric shaft 20, the eccentric body 20b is formed integrally with the shaft 20d. The eccentric bodies 20a and 20c are formed by slidingly fitting a disc having an eccentric shaft hole into the shaft 20d. Is. In addition, sliding fitting means what has the clearance gap which can be fitted to the axis | shaft at the time of an assembly.
[0014]
Each of the external gears 3a, 3b, 3c meshes with a pin 4a of the internal gear 4, which is a pin attached to the inner surface of the cylindrical casing, that is, an internal tooth. The internal gear 4 is rotatably supported by bearings 5 a and 5 b attached to the base 1 and the lid 2, and is rotated by the external gears 3 a, 3 b and 3 c which are swung by the rotation of the drive eccentric body shaft 10. The rotation is transmitted to an output member (not shown).
[0015]
In the present invention, the driven eccentric body shaft of the peripheral equidistant arrangement excluding the center crank, which is the drive eccentric body shaft, is configured as an eccentric body in which the other eccentric bodies except the one eccentric body are slip-fitted. First, the machining of the eccentric body shaft is easy, and since the assembly is also a sliding fit, the eccentric body portion is aligned and in phase, so that it becomes simple.
[0016]
In those embodiments According to the process 30, showed that the center crank, the present invention is not limited to the center crank mechanism, the structure, the peripheral drive mechanism, it can also be applied to a structure. FIG. 4 is a side cross-sectional view of a speed reducer according to another embodiment of the present invention. The drive eccentricity of the speed reducer has one drive eccentric body shaft and two driven eccentric body shafts arranged at equal intervals in the periphery. It is the figure which combined and showed the cross section (driving part) of the cross section (drive part) of a body shaft part, and the driven eccentric body shaft part. In this embodiment, although the shape and structure are different from those of the embodiment of FIG. 1, the speed reduction mechanism is the same. Therefore, the same functions are denoted by the same reference numerals as those in FIG.
[0017]
In this arrangement, one of the eccentric body shafts 100 arranged in the periphery is used as a drive eccentric body shaft which is an input shaft formed with a spline and is rotatably supported by bearings 110a and 110b. Like the embodiment, two eccentric bodies are provided so as to sandwich the central eccentric body, and the three eccentric bodies 100a, 100b, 100c are integrally formed on the shaft, and the other two The driven eccentric body shaft 200 is supported by bearings 210a and 210b, and an eccentric body 200b is formed integrally with the shaft, and the eccentric bodies 200a and 200c, which are eccentric hole discs, are slidingly fitted. Even in this case, it is obvious that the same effect as that of the embodiment of FIG. 1 can be obtained.
[0018]
In the above embodiment, except for one drive eccentric body shaft, all others are driven eccentric body shafts.However, depending on the structure and function of the speed reducer, a plurality of drive eccentric body shafts are provided. You can also reduce the number. In the case of the driven eccentric body shaft, an example in which one eccentric body is formed integrally with the shaft is illustrated, but the entire eccentric body may be slidably fitted. The number of eccentric bodies can also be increased. The effect of the present invention can be achieved by the presence of the sliding fitting eccentric body.
[0019]
【The invention's effect】
According to the present invention, the drive eccentric body shaft formed with the eccentric body and connected to the input shaft, the driven eccentric body shaft formed with the eccentric body and not connected to the input shaft, and the external teeth into which the eccentric body shafts are fitted. A gear and an internal gear meshing with the external gear, the external gear is swung by the rotation of the drive eccentric shaft, and the input rotation of the drive eccentric shaft is controlled by the external gear or the internal gear. In the eccentric oscillating speed reducer that converts to the output rotation of the toothed gear, the eccentric body is slidably fitted to the shaft of the driven eccentric body shaft, so that the machining is extremely easy and the assembly is easy, and the structure of the device is also simple. It will be something.
[Brief description of the drawings]
FIG. 1 is a side sectional view of an embodiment of the present invention. FIG. 2 is a schematic XX sectional view of FIG. 1. FIG. 3 is a schematic YY sectional view of FIG. Sectional view of embodiment of the present invention [Description of symbols]
3a, 3b, 3c External gear 4 Internal gear 4a Pin 10 Drive eccentric body shafts 10a, 10b, 10c Eccentric body 20 Drive eccentric body shafts 20a, 20b, 20c Eccentric body 100 Drive eccentric body shafts 100a, 100b, 100c Eccentric body 200 Driven eccentric body shaft 200a, 200b, 200c Eccentric body

Claims (3)

入力軸に接続された駆動回転軸と、前記駆動回転軸に形成された偏心体とからなる少なくとも１個の駆動偏心体軸を有し、
従動回転軸と、前記従動回転軸に形成された隣接する３個の偏心体とからなる複数の従動偏心体軸を有し、前記隣接する３個の偏心体のうち中央の偏心体は、前記従動回転軸に一体に形成され、前記中央の偏心体を挟む両側の偏心体は、前記従動回転軸に滑り嵌合し、
前記駆動偏心体軸に軸受けを介して嵌合するとともに、前記３個の各偏心体に軸受けを介してそれぞれ嵌合する３個の外歯歯車を有し、
前記３個の外歯歯車に噛み合う１個の内歯歯車を有し、
前記駆動偏心体軸の回転により前記３個の外歯歯車を揺動させ、前記駆動偏心体軸の入力回転を前記外歯歯車または前記内歯歯車の出力回転に変換する偏心揺動型減速機。 Having at least one drive eccentric body shaft composed of a drive rotary shaft connected to the input shaft and an eccentric body formed on the drive rotary shaft;
A plurality of driven eccentric body shafts composed of a driven rotary shaft and three adjacent eccentric bodies formed on the driven rotary shaft, and a central eccentric body among the three adjacent eccentric bodies is The eccentric bodies on both sides sandwiching the central eccentric body are integrally formed with the driven rotary shaft, and are slidingly fitted to the driven rotary shaft,
Having three external gears fitted to the drive eccentric body shafts via bearings and fitted to the three eccentric bodies via bearings;
One internal gear meshing with the three external gears;
Wherein by rotation of the eccentric drive member shaft to swing the three external gears, polarized KokoroYurado type that converts an output rotation of the input rotation of the drive eccentric shaft the external gear or the internal gear Decelerator. 前記駆動偏心体軸が１個であり、前記１個の駆動偏心体軸が前記３個の外歯歯車の回転中心に設けられ、前記１個の駆動偏心体軸の周囲に前記従動偏心体軸が等配配置された請求項１に記載の偏心揺動型減速機。 The number of the drive eccentric body shafts is one, the one drive eccentric body shaft is provided at the rotation center of the three external gears, and the driven eccentric body shaft is disposed around the one drive eccentric body shaft. The eccentric oscillating speed reducer according to claim 1, wherein are arranged at equal intervals. 前記駆動偏心体軸と前記従動偏心体軸とが、前記３個の外歯歯車の回転中心の周囲に等配配置された請求項１に記載の偏心揺動型減速機。The drive eccentric shaft and said driven eccentric shaft, the eccentric oscillating speed reducer according to claim 1 which is equidistantly disposed about the center of rotation of said three external gear.
JP2000263820A 2000-08-31 2000-08-31 Eccentric rocking speed reducer Expired - Fee Related JP4610706B2 (en)

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JP2012132523A (en) * 2010-12-22 2012-07-12 Nabtesco Corp Gear transmission
JP7136827B2 (en) * 2020-02-25 2022-09-13 セイコーインスツル株式会社 transmission device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02138538A (en) * 1988-11-18 1990-05-28 Komatsu Ltd Speed reduction mechanism
JPH04290644A (en) * 1991-03-15 1992-10-15 Aiseru Kk Gear device
JPH05157145A (en) * 1991-12-05 1993-06-22 Aiseru Kk Eccentric rocking type reduction gear
JPH10202458A (en) * 1988-03-05 1998-08-04 Teijin Seiki Co Ltd Planetary differential gear reduction gear

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10202458A (en) * 1988-03-05 1998-08-04 Teijin Seiki Co Ltd Planetary differential gear reduction gear
JPH02138538A (en) * 1988-11-18 1990-05-28 Komatsu Ltd Speed reduction mechanism
JPH04290644A (en) * 1991-03-15 1992-10-15 Aiseru Kk Gear device
JPH05157145A (en) * 1991-12-05 1993-06-22 Aiseru Kk Eccentric rocking type reduction gear

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