Swing-type speed reducer

Patent metadata

Field	Value
Publication number	US-12018735-B2
Application number	US-202017754823-A
Country	US
Kind code	B2
Filing date	Sep 23, 2020
Priority date	Oct 15, 2019
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A swing speed reducer comprising: a main body; an input shaft that is rotatably held in the main body; a precession body that precesses; a swinging body that engages with the precession body and is swung by the precession; and an output shaft that is rotated by the swing of the swinging body; wherein a precession annular groove for precession of the precession body and a swinging annular groove for swinging the swinging body are provided on the surface of a spherical portion.

First claim

What is claimed is:

1. A swing speed reducer comprising:
an input shaft rotatably supported by a main body around an input axis extending in the X-axis in an X-Y-Z coordinate system;
a precession body comprising a spherical portion and a pair of precessional shafts projecting from both sides of the spherical portion along a precession axis passing through the center of the spherical portion, with one of the precessional shafts being held by the input shaft so as to be capable of precessing around the X-axis;
a precession supporter for supporting the precession body so as to enable precessional motion of the precession body relative to the main body, wherein the precession supporter is anchored to the main body;
a swinging body that, in the Z-axis direction, engages with the surface of the precession body on the opposite side from the precession supporter and is swung by the precessional motion of the precession body;
a swing motion supporter that engages with the swinging body and supports the swing motion of the swinging body relative to the main body;
and an output shaft rotatably supported by the main body around the Z-axis direction, wherein the output shaft engages with the swinging body so as to be rotated by the swing motion of the swinging body,
wherein an annular precession groove that follows a locus traced between the precession body and the precession supporter when the precession body is in precessional motion is provided in the surface of the precession body facing the precession supporter, and a precessional ball element that rolls through the annular precession groove is rotatably held by the precession supporter,
wherein an annular swing groove that causes the swinging body to swing in the circumferential direction around the Z-axis and in the Z-axis direction when the precession body is in precessional motion is provided in the surface of the precession body facing the swinging body, and a ball element for swing motion that rolls through the annular swing groove is rotatably held by the surface of the swinging body facing the precession body,
wherein a swing guide groove for guiding the swing motion of the swinging body is provided in the surface of the swinging body facing the swing motion supporter, and a swing motion guide ball element that rolls through the swing guide groove is rotatably held by the swing motion supporter, and
wherein an undulating groove formed by a plurality of continuous arc-shaped grooves for one period of the swing motion of the swinging body is provided around the entire circumference of the surface of the swinging body facing the output shaft, and output ball elements that roll through the undulating groove are rotatably held by the output shaft.

2. The swing speed reducer according to claim 1 , wherein the precession supporter is mounted on the main body via an elastic member and provided with a precession biasing means for biasing the precessional ball element toward the annular precession groove.

3. The swing speed reducer according to claim 2 , wherein the precession supporter biases the precessional ball element in the annular precession groove toward the center of the spherical portion.

4. The swing speed reducer according to claim 1 , wherein the swing motion supporter is mounted on the main body via an elastic member and provided with a swing motion biasing means for biasing the swing motion guide ball element toward the swing guide groove.

Assignees

• Univ Yamanashi
• Ad Robo Co Ltd

Inventors

• Terada Hidetsugu
• Nagai Takeshi

Classifications

• F16H25/06 Primary

  with intermediate members guided along tracks on both rotary members · CPC title

• B25J17/00

  Joints · CPC title

• F16H13/04 Primary

  with balls or with rollers acting in a similar manner · CPC title

• B25J9/102 Primary

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• F16H23/06 Primary

  with sliding members hinged to reciprocating members · CPC title