JP2016128708A - Oscillation type speed reducer and robot arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an oscillation type speed reducer which adjusts engagement between a first tooth of a first gear and a second tooth of an oscillation gear and engagement between a third tooth of the oscillation gear and a fourth tooth of a second gear.SOLUTION: An input shaft part 20 is supported so as to rotate around an axis C1. An inclined shaft part 21 is connected to the input shaft part 20, formed extending in a direction of an inclined axis C2, and integrally rotates with the input shaft part 20. An oscillation gear 60 is supported by the inclined shaft part 21 so as to rotate around the inclined axis C2 and oscillates around the axis C1 in conjunction with rotation of the input shaft part 20. An oscillation type speed reducer is provided with an adjustment mechanism 80 which may adjust a position of the oscillation gear 60 relative to the inclined shaft part 21 in a direction of the inclined axis C2.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an oscillating speed reducer including an oscillating gear, and a robot arm including an oscillating speed reducer.

  In general, in an industrial robot, the output of a high-speed, low-torque drive motor is converted into low-speed, high-torque by a speed reducer and used for joint drive. As a speed reducer used in an industrial robot, a wave gear speed reducer using a differential between an elliptical gear and a true circular gear is known. A wave gear reducer is used in many industrial robots because it has a large number of teeth meshing simultaneously and can obtain a high torque capacity. However, the wave gear reducer has a problem that the cost is high, the deformation is limited, the rigidity is limited, and the durability is low.

  On the other hand, as a speed reducer, an oscillating speed reducer using a gear mechanism capable of obtaining a large speed reduction ratio by oscillating motion of an oscillating gear is known (see Patent Document 1). This gear mechanism includes a rotatable input shaft, an inclined shaft integrated with the input shaft, a fixed gear provided coaxially with the input shaft, and a rotatable shaft that is rotatably held via a bearing or the like. And a rocking gear having a different number of teeth from the gear and meshing obliquely. The oscillating gear is oscillated and rotated while being inclined by the rotation of the input shaft and the inclined shaft. As a result, the oscillating gear rotates (revolves) with respect to the fixed gear by a difference in the number of teeth per one rotation of the input shaft. Therefore, by extracting only this revolution component to the output shaft, the rotation of the input shaft is decelerated and output. Output from the shaft.

  As the fixed gear and the oscillating gear used in the gear mechanism described above, a general involute bevel gear is used. In an involute tooth-shaped bevel gear, it is difficult to increase the number of meshing teeth between the oscillating gear and the fixed gear. Therefore, in order to increase the number of meshing teeth and increase the transmission torque, a rocking gear mechanism using, for example, a trochoid tooth profile, an arc tooth profile, an oblique rocking tooth profile, etc. has been developed (Patent Document 2, Patent Document). 3).

Japanese Examined Patent Publication No. 7-56324 JP-A-1-247847 JP 2014-66280 A

  In the above-described oscillating speed reducer, the oscillating gear is rotatably held on the inclined shaft portion integrated with the first shaft portion via a bearing or the like. However, the position of the oscillating gear in the direction of the tilt axis may not be the optimal position due to errors in the parts constituting the speed reducer or mounting errors during assembly. In this case, the meshing between the oscillating gear and the two gears on both sides of the oscillating gear is not a predetermined meshing, and a reduction in the rigidity due to a decrease in the meshing region or the number of meshing teeth occurs. The desired performance cannot be obtained.

  If the position of the oscillating gear in the direction of the tilt axis is not optimal, it is necessary to correct the positional relationship between the oscillating gear and the two gears meshed with the oscillating gear. Since the oscillating gear is supported by the inclined shaft portion that is inclined with respect to the first shaft portion, the positional relationship requiring correction also rotates with the rotation of the first shaft portion, so that the oscillating gear meshes with the oscillating gear. By correcting the position of the gear, the positional relationship cannot be corrected.

  Therefore, the present invention provides a swing-type reduction gear that can adjust the meshing between the first tooth of the first gear and the second tooth of the rocking gear, and the meshing between the third tooth of the rocking gear and the fourth tooth of the second gear. It is an object of the present invention to provide a robot arm equipped with an oscillating speed reducer.

  The oscillating speed reducer of the present invention is formed to extend in the direction of a first shaft portion that is rotatably supported about an axis, and an inclined axis that is connected to the first shaft portion and is inclined with respect to the axis. , An inclined shaft portion that rotates integrally with the first shaft portion, a second shaft portion that is disposed coaxially with the first shaft portion and is supported rotatably about the axis, and one side in the direction of the axis A first gear that is arranged coaxially with the first shaft portion, a second tooth that is formed on the first tooth side and meshes with the first tooth, and A third tooth formed on the side opposite to the first tooth side, supported by the inclined shaft portion so as to be rotatable about the inclined axis, and around the axis along with the rotation of the first shaft portion And a fourth tooth formed on the third tooth side and meshing with the third tooth, and rotates integrally with the second shaft portion. A second gear that is characterized in that and an adjustable adjusting mechanism in the direction of the position of the tilting axis of the swing gear with respect to the inclined shaft portion.

  According to the present invention, the adjustment mechanism adjusts the meshing between the first tooth of the first gear and the second tooth of the oscillating gear and the meshing between the third tooth of the oscillating gear and the fourth tooth of the second gear. Thus, the rigidity of the oscillating speed reducer can be increased.

1 is a perspective view showing a schematic configuration of a robot apparatus according to a first embodiment of the present invention. It is sectional drawing which shows the actuator which has the rocking | swiveling type reduction gear which concerns on 1st Embodiment of this invention. It is a front view which shows the arrangement | positioning relationship of the fixed gear of the rocking | swiveling type reduction gear which concerns on 1st Embodiment of this invention, a rocking gear, and an output gear. (A) is sectional drawing of a part of inclination shaft part and input shaft part of the rocking | swiveling type reduction gear which concerns on 1st Embodiment of this invention. (B) is sectional drawing of the rocking | fluctuation gear of the rocking | fluctuation type reduction gear which concerns on 1st Embodiment of this invention. (C) is sectional drawing which shows a part of rocking | fluctuation gearwheel of the rocking | swiveling type reduction gear which concerns on 1st Embodiment of this invention. (A) is sectional drawing which shows the principal part of the rocking | swiveling type reduction gear which concerns on 1st Embodiment of this invention. (B) is sectional drawing which shows the inclination axis | shaft part and movable part of the rocking | swiveling type reduction gear which concern on 1st Embodiment of this invention. (A) is a cross-sectional schematic diagram which follows the xz plane of an inclination shaft part and a rocking gear. (B) is a figure for demonstrating the position shift of the reference | standard point of a rocking | fluctuation gear with respect to the reference | standard point of the inclination shaft part in xz plane. (C) is a figure for demonstrating the position shift of the reference | standard point of a rocking | fluctuation gear with respect to the reference | standard point of the inclination shaft part in yz plane. (A) is a perspective view of a screw member, (b) is a side view of the screw member, and (c) is a bottom view of the screw member. (A) is a perspective view which shows the arrangement | positioning relationship of an inclination axis | shaft part, a rocking | fluctuation gear, and an adjustment mechanism. (B) is sectional drawing which shows the arrangement | positioning relationship of an inclination axis | shaft part, a rocking | fluctuation gear, and an adjustment mechanism. It is a figure for demonstrating the operation condition of the screw member of the adjustment mechanism of the rocking | fluctuation type speed reducer which concerns on 1st Embodiment of this invention. (A) is a figure for demonstrating operation | movement of the screw head of a screw member. (B) is a top view which shows the state which the screw head has fitted to the fitting hole. (A) is a figure for demonstrating the relationship between the 2nd tooth | gear of a rocking gear, and a 3rd tooth | gear. (B) is a figure for demonstrating the relationship between the pressure angle (alpha) and the moving amount | distance to the rotation direction R. FIG. (A) is sectional drawing which shows the principal part of the rocking | fluctuation type speed reducer which concerns on 2nd Embodiment of this invention. (B) is a side view which shows the screw member of the adjustment mechanism of the rocking | fluctuation type reduction gear which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the operation condition of the screw member of the adjustment mechanism of the rocking | fluctuation type speed reducer which concerns on 2nd Embodiment of this invention. It is sectional drawing which shows the principal part of the rocking | fluctuation type speed reducer which concerns on 3rd Embodiment of this invention. It is sectional drawing which shows the principal part of the rocking | fluctuation type speed reducer which concerns on 4th Embodiment of this invention. It is sectional drawing which shows the principal part of the rocking | fluctuation type speed reducer which concerns on 5th Embodiment of this invention.

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

[First Embodiment]
FIG. 1 is a perspective view showing a schematic configuration of the robot apparatus according to the first embodiment of the present invention. A robot apparatus 150 shown in FIG. 1 is an industrial robot, and performs a work such as assembly of a workpiece W, a control apparatus 130 that controls the robot 100, a teaching pendant 140 connected to the control apparatus 130, It has.

  The robot 100 includes an articulated robot arm 101 and a robot hand 102 that is an end effector connected to the tip of the robot arm 101.

  The robot arm 101 is a vertical articulated robot arm, and includes a base portion (link) 103 fixed to a work table and a plurality of links 121 to 126 that transmit displacement and force. The base portion 103 and the plurality of links 121 to 126 are connected to each other so as to be able to turn or rotate at a plurality of joints J1 to J6. Each joint J1 to J6 of the robot arm 101 is provided with a driving device (actuator) 10. As the actuators 10 of the joints J1 to J6, those having appropriate outputs are used in accordance with the required torque. The actuator 10 will be described in detail later.

  The robot hand 102 grips a plurality of gripping claws 104 that grip the workpiece W, an actuator (not shown) that drives the plurality of gripping claws 104, an encoder (not shown) that detects a rotation angle of the actuator (not shown), and rotation. And a mechanism (not shown) for converting the operation. This mechanism (not shown) is designed in accordance with a gripping operation required by a cam mechanism or a link mechanism. The torque required for an actuator (not shown) used for the robot hand 102 is different from that for the joint of the robot arm 101, but the basic configuration is the same. The robot hand 102 has a force sensor (not shown) that can detect stress (reaction force) acting on the gripping claws 104 and the like.

  The teaching pendant 140 is configured to be connectable to the control device 130, and is configured to be able to transmit a command to drive and control the robot arm 101 and the robot hand 102 to the control device 130 when connected to the control device 130.

  The control device 130 is configured by a computer. The computer constituting the control device 130 includes, for example, a CPU, a RAM that temporarily stores data, a ROM that stores a program for controlling each unit, and an input / output interface circuit. The control device 130 controls the position and posture of the robot arm 101 and the robot hand 102 by supplying the required power required for the operation of the actuator 10 to the actuator 10 from a power supply main body (not shown).

  In the robot device 150 configured as described above, the control device 130 operates the actuators 10 of the joints J1 to J6 of the robot arm 101 in accordance with the input settings and the like, so that the robot hand 102 is in an arbitrary position and posture. Move. Then, the actuator 10 is controlled to drive the actuator 10 while detecting the stress acting on the gripping claws 104 with a force sensor at an arbitrary position and posture, and the work W is gripped by the robot hand 102 to perform work such as assembly of the work W. It can be performed.

  Next, the actuator 10 according to the first embodiment will be described. First, a schematic configuration of the actuator 10 will be described. FIG. 2 is a cross-sectional view showing an actuator having the oscillating speed reducer according to the first embodiment of the present invention.

  The actuator 10 includes a drive motor 8 that is a rotation drive source, an encoder (not shown) that detects the rotation angle of the rotation shaft of the drive motor 8, and an output (rotation shaft) of the drive motor 8 in order to increase the torque of the drive motor 8. And a speed reducer 9 that decelerates the rotation).

  The speed reducer 9 is a rocking type speed reducer. The speed reducer 9 includes a housing 11, an input shaft portion 20 that is a first shaft portion, an inclined shaft portion 21, an output shaft portion 30 that is a second shaft portion, a fixed gear 40 that is a first gear, and an output that is a second gear. A gear 50, a swing gear (input gear) 60, and a swing gear holding unit 70 are provided.

  The input shaft portion 20 is a shaft member connected to the rotation shaft of the drive motor 8, and is supported by the housing 11 via a bearing 22 such as a rolling bearing so as to be rotatable around the axis C1. That is, the input shaft portion 20 rotates about the axis C <b> 1 as the rotation shaft of the drive motor 8 rotates about the axis C <b> 1. Note that the rotation shaft of the drive motor 8 and the input shaft portion 20 may be formed as separate members and fixed by screwing, welding, or the like, or may be formed integrally.

  The inclined shaft portion 21 is a shaft member that is connected to the input shaft portion 20 and extends in the direction of the inclined axis C2 that is inclined at a predetermined angle θ1 with respect to the axis C1. That is, the inclined shaft portion 21 is inclined with respect to the input shaft portion 20 by the inclination angle θ1. The inclined shaft portion 21 rotates (oscillates) around the axis C1 integrally with the input shaft portion 20. In the first embodiment, the inclined shaft portion 21 is integrally formed on the output shaft portion 30 side of the input shaft portion 20. Alternatively, the inclined shaft portion 21 may be formed as a separate member from the input shaft portion 20, and may be fixed and integrated with the input shaft portion 20 by screwing or welding.

  The output shaft portion 30 is a shaft member arranged coaxially with the input shaft portion 20, and is supported by the housing 11 so as to be rotatable around the axis C1 via a bearing 31 such as a rolling bearing. The output shaft portion 30 rotates integrally with the output gear 50.

  That is, the speed reducer 9 includes one or more gear mechanisms, decelerates the rotation input from the drive motor 8 to the input shaft portion 20, and outputs it from the output shaft portion 30.

  FIG. 3 is a front view showing the positional relationship between the fixed gear 40, the swing gear 60, and the output gear 50. FIG. Hereinafter, the fixed gear 40, the swing gear 60, and the output gear 50 illustrated in FIGS. 2 and 3 will be described in detail.

  The fixed gear 40 is fixed to the housing 11 coaxially with the input shaft portion 20. The fixed gear 40 has teeth 41 that are first teeth formed on one side in the direction of the axis C1. That is, the fixed gear 40 has teeth 41 that are directed to one side in the direction of the axis C1 and that are formed in an annular shape with the number of teeth Z1.

  The swinging gear holding unit 70 supports the swinging gear 60 so as to be rotatable with respect to the inclined shaft portion 21. The oscillating gear 60 is disposed between the fixed gear 40 and the output gear 50 and is supported by the inclined shaft portion 21 via the oscillating gear holding portion 70 so as to be rotatable around the inclined axis C2. Thereby, the swing gear 60 swings around the axis C <b> 1 as the input shaft portion 20 rotates. The oscillating gear 60 is formed on the side facing the tooth 41 in the direction of the tilt axis C2, and is on the side opposite to the tooth 41 side in the direction of the tilt axis C2 and the tooth 61 that is the second tooth meshing with the tooth 41. And teeth 62 which are the third teeth formed. The number of teeth 61 is Z2, and the number of teeth 62 is Z3. The teeth 61 and the teeth 62 are each formed in an annular shape. The swing gear 60 can be adjusted in position in the direction of the tilt axis C2 with respect to the tilt shaft portion 21 by the swing gear holding portion.

  The output gear 50 is disposed coaxially with the fixed gear 40 and rotates around the axis C <b> 1 together with the output shaft portion 30. The output gear 50 is formed on the side facing the teeth 62 in the direction of the axis C <b> 1, and has teeth 51 that are fourth teeth that mesh with the teeth 62. Let the number of teeth 51 be Z4. The teeth 51 are formed in an annular shape. The oscillating gear 60 is partially meshed with the fixed gear 40 and the output gear 50 so as to be relatively rotatable around the tilt axis C2.

  As materials constituting the gears 40, 50, 60, generally used materials such as high-strength gear steel, low-cost general steel, non-ferrous metal, sintered material, and resin can be applied. Further, each tooth surface may be subjected to a crowning process or the like for reducing the contact between the tooth profile due to a dimensional error or an assembly error.

  The number of teeth Z1 of the teeth 41 of the fixed gear 40 and the number of teeth Z4 of the teeth 51 of the output gear 50 are different. Further, the number of teeth Z2 of the teeth 61 of the oscillating gear 60 and the number of teeth Z3 of the teeth 62 of the oscillating gear 60 are different from each other. At least one of the number of teeth Z1 and the number of teeth Z2 and the number of teeth Z3 and the number of teeth Z4 is a combination of different numbers of teeth.

  In the first embodiment, the number of teeth Z2 of the teeth 61 is Z1 + 1 (the difference in the number of teeth from the teeth 41 of the fixed gear 40 is 1), and the number of teeth Z3 of the teeth 62 is Z4 + 1 (the teeth with the teeth 51 of the output gear 50). The number difference is 1).

  The teeth 62 of the oscillating gear 60 mesh with the output gear 50 on the opposite side in the radial direction and the axial direction of the meshing portion between the teeth 61 of the oscillating gear 60 and the teeth 41 of the fixed gear 40.

  Here, the rotation axis of rotation of the oscillating gear 60, that is, the inclination axis C 2 that is the center axis of the inclination shaft portion 21 is constant with respect to the axis C 1 that is the rotation center axis of the input shaft portion 20. Just tilted.

  FIG. 4A is a cross-sectional view of a part of the inclined shaft portion 21 and the input shaft portion 20. FIG. 4B is a cross-sectional view of the swing gear 60. FIG. 4C is a cross-sectional view showing a part of the rocking gear 60. As shown in FIG. 4A, an intersection of the tilt axis C2 and the axis C1 is set as a reference point P1 of the tilt shaft portion 21. Further, as shown in FIGS. 4B and 4C, a reference point P2 of the swing gear 60 is defined. The reference point P2 is a point in the direction of the tilt axis C2 of the oscillating gear 60 in the tooth shape of the tooth 61 and the tooth 62 of the oscillating gear 60. That is, the reference point P <b> 2 is an intersection of a line extending along the streak of the tooth 61 and a line extending along the streak of the tooth 62. In FIG. 2, the oscillating gear 60 is arranged so that the reference point P <b> 1 and the reference point P <b> 2 coincide with the inclined shaft portion 21.

  When the input shaft portion 20 rotates, the tilt shaft portion 21 swings and rotates around the axis C1 with the reference point P1 as the origin while being tilted by the tilt angle θ1. At the same time, the oscillating gear 60 rotatably supported by the inclined shaft portion 21 revolves while oscillating around the axis C1 with the reference point P1 as the origin while rotating about the inclined axis C2. As a result, the oscillating gear 60 is always meshed with the fixed gear 40 and the output gear 50 while being inclined at a fixed inclination angle θ1. Then, the swinging gear 60 swings with the rotation of the input shaft portion 20, so that the meshing part of the teeth 41 of the fixed gear 40 and the teeth 61 of the swinging gear 60 and the teeth 51 of the output gear 50 swing. The meshing part of the gear 60 with the tooth 62 moves in the circumferential direction.

  The housing 11 may be an integrally formed product. In the first embodiment, the housing 11 includes three housings 301, 302, and 303. The input shaft housing 301 that is the first housing supports the input shaft portion 20 via the bearing 22. The fixed gear 40 is fixed to the fixed housing 302 that is the second housing. The output shaft housing 303 that is the third housing supports the output shaft portion 30 via the bearing 31.

  A fixed housing 302 is disposed between the input shaft housing 301 and the output shaft housing 303, the input shaft housing 301 and the fixed housing 302 are connected by screws or the like, and the fixed housing 302 and the output shaft housing 303 are connected by screws or the like. Has been. Thereby, the input shaft housing 301, the fixed housing 302, and the output shaft housing 303 are integrally connected.

  Hereinafter, the deceleration operation by the speed reducer 9 will be described. First, when the input shaft portion 20 makes one rotation, the swing gear 60 that is rotatably held by the inclined shaft portion 21 connected to the input shaft portion 20 swings once around the reference point P1. At this time, the oscillating gear 60 revolves 360 / (Z1 + 1) with respect to the fixed gear 40 having the fixed number of teeth Z1. On the other hand, revolution due to swinging also occurs between the output gear 50 having the number of teeth Z4 and the swinging gear 60. That is, in this configuration, the revolution of the oscillating gear 60 is taken out by the output gear 50.

  The reduction ratio of the reduction gear 9 of the first embodiment can be calculated by 1− (Z1 (Z4 + 1)) / ((Z1 + 1) Z4). For example, when Z1 = 24 and Z4 = 48, a reduction ratio of 1/50 is obtained. Further, for example, if Z1 = 48 and Z4 = 49, a large reduction ratio of 1/2401 is possible, and this type of reduction gear has a reduction ratio of about 1/20 to a thousandths. A wide range of reduction ratios can be realized in a single stage up to the reduction ratio.

  Fig.5 (a) is sectional drawing which shows the principal part of the rocking | swiveling type reduction gear which concerns on 1st Embodiment of this invention. FIG.5 (b) is sectional drawing which shows the inclination shaft part and movable part of the rocking | swiveling type reduction gear which concern on 1st Embodiment of this invention. The oscillating gear holder 70 includes an adjusting mechanism 80, bearings 91 and 92, and oscillating gear holders 90A and 90B.

  The adjusting mechanism 80 is configured to be able to adjust the position of the swinging gear 60 in the direction of the tilt axis C <b> 2 with respect to the tilt shaft portion 21. That is, the adjustment mechanism 80 is configured to be able to adjust the position of the swing gear 60 so as to move the reference point P2 of the swing gear 60 along the tilt axis C2. The adjustment mechanism 80 is provided on the inclined shaft portion 21. FIG. 5A shows a state in which the reference point P1 that is the intersection of the axis C1 and the tilt axis C2 and the reference point P2 of the oscillating gear 60 overlap (match).

  The adjustment mechanism 80 includes a cylindrical member 81 that is a movable part and a screw member 82 that is an operation part. The cylindrical member 81 is formed in a substantially cylindrical shape so that the inner peripheral surface is in contact with the outer peripheral surface of the inclined shaft portion 21. The cylindrical member 81 is fitted to the inclined shaft portion 21 and is movable in the direction of the inclined axis C2.

  Bearings 91 and 92 are arranged on the outer peripheral surface of the cylindrical member 81. The inner rings of the bearings 91 and 92 are fixed to the outer peripheral surface of the cylindrical member 81. A swinging gear holder 90A is fixed to the outer rings of the bearings 91 and 92. The bearings 91 and 92 are, for example, combination angular bearings, but are not limited thereto, and other bearings may be used. As an alternative to the bearing, a material having excellent lubricity, for example, a cylindrical part formed of POM resin may be used.

  The oscillating gear holders 90 </ b> A and 90 </ b> B hold the oscillating gear 60 and are rotatably supported by the inclined shaft portion 21 via the cylindrical member 81 and the bearings 91 and 92. Thereby, the cylindrical member 81 supports the rocking gear 60 so as to be rotatable around the tilt axis C2 via the bearings 91 and 92 and the rocking gear holders 90A and 90B. The swinging gear 60 moves in the direction of the tilt axis C2 integrally with the cylindrical member 81 as the cylindrical member 81 moves in the direction of the tilt axis C2.

  As shown in FIG. 5B, a guide groove (concave shape) 21 </ b> A extending in the direction of the tilt axis C <b> 2 is formed on the outer peripheral surface of the tilt shaft portion 21, and the inner peripheral surface of the cylindrical member 81 is formed on the outer peripheral surface. A guide groove (concave shape) 81A extending in the direction of the tilt axis C2 is formed. A parallel key member 93 extending in the direction of the tilt axis C2 is disposed in both guide grooves 21A and 81A. The parallel key member 93 is press-fitted into the guide groove 21A. Thereby, the cylindrical member 81 is allowed to move only in the direction of the tilt axis C2, and is restricted from rotating in the circumferential direction CA around the tilt axis C2. Note that the mechanism for restricting the rotation of the cylindrical member 81 in the circumferential direction CA with respect to the inclined shaft portion 21 is not limited to this configuration. For example, the convex shape of the parallel key may be formed on the inclined shaft portion 21 or the cylindrical member 81. Thus, since the cylindrical member 81 is restricted from rotating in the circumferential direction CA with respect to the inclined shaft portion 21, the positioning accuracy with respect to the inclined shaft portion 21 is improved. In addition, although it is preferable that the rotation of the circumferential direction CA with respect to the inclination shaft part 21 is controlled, the cylindrical member 81 does not need to be controlled.

  Here, the reference point P2 in the direction of the inclination axis C2 of each of the teeth 61 and 62 of the swing gear 60 in FIG. 5A is the intersection of the inclination axis C2 of the inclination shaft portion 21 and the axis C1 of the input shaft portion 20. It is designed to coincide with a certain reference point P1. However, even if the oscillating gear 60 is assembled as designed, the reference point P2 of each of the teeth 61 and 62 of the oscillating gear 60 depends on the accuracy of the oscillating gear 60 and the components to which the oscillating gear 60 is attached and errors during assembly. May deviate from the direction of the tilt axis C2 with respect to the reference point P1.

  FIG. 6A is a schematic cross-sectional view taken along the xz plane of the inclined shaft portion 21 and the swing gear 60. FIG. 6B is a diagram for explaining a positional shift of the reference point P2 of the swing gear 60 with respect to the reference point P1 of the inclined shaft portion 21 in the xz plane. FIG. 6C is a diagram for explaining a positional shift of the reference point P2 of the swing gear 60 with respect to the reference point P1 of the inclined shaft portion 21 on the yz plane.

  For example, as shown in FIG. 6 (a), the reference point P1 is the origin, one direction of the axis C1 of the input shaft portion 20 is the x-axis direction, and the plane including the inclined axis C2 is perpendicular to the x-axis direction. Is the z-axis direction, and the direction perpendicular to the x-axis direction and the z-axis direction is the y-axis direction.

As shown in FIG. 6B, on the xz plane, the reference point P2 of the oscillating gear 60 has an error of x1 in the x-axis direction and z1 in the z-axis direction with respect to the reference point P1 of the inclined shaft portion 21. To do. This is an error amount of ζ = √ (x1 ² + z1 ² ) with respect to the direction of the tilt axis C2.

  Here, the error of z1 causes the reference point P2 of the oscillating gear 60 to rotate at the radius z1 with respect to the axis C1 as the input shaft portion 20 rotates. For example, considering the meshing of the oscillating gear 60 and the fixed gear 40, the meshing position of the tooth 61 and the tooth 41 is determined by the rotation of the input shaft portion 20 as shown in the yz plane of FIG. It will fluctuate with it.

  The error x1 can be corrected by adjusting the position in the x-axis direction of the fixed gear 40 that meshes with the oscillating gear 60, but the error z1 is fixed because the position rotates on the yz plane as the input shaft portion 20 rotates. It cannot be corrected by moving the position of the gear 40. This also applies to the relationship between the swing gear 60 and the output gear 50.

  In the first embodiment, the oscillating gear holder 70 has the adjustment mechanism 80 for moving in the direction of the tilt axis C2 of the tilt shaft portion 21, so that the error z1 can be reduced. That is, by adjusting the position of the swinging gear 60 in the direction of the tilt axis C2 by the adjusting mechanism 80, the reference point P1 of the tilted shaft portion 21 and the reference point P2 of the swinging gear 60 can be made coincident. Thus, the rigidity of the speed reducer 9 can be increased.

  In the first embodiment, the adjustment mechanism 80 includes a cylindrical member 81 and a screw member 82. 7A is a perspective view of the screw member 82, FIG. 7B is a side view of the screw member 82, and FIG. 7C is a bottom view of the screw member 82. As shown in FIGS. 7A to 7C, the screw member 82 includes a screw shaft 82B and a screw having a diameter D having a center axis at a position eccentric from the center axis of the screw shaft 82B by an eccentric amount r. And a head 82A.

  FIG. 8A is a perspective view showing an arrangement relationship of the inclined shaft portion 21, the swing gear 60, and the adjustment mechanism 80. FIG. FIG. 8A is a perspective view of the side of the oscillating gear 60 where the teeth 62 are formed. FIG. 8B is a cross-sectional view showing the positional relationship between the inclined shaft portion 21, the swing gear 60, and the adjustment mechanism 80.

  A fitting hole 81B into which the screw head 82A of the screw member 82 is fitted is formed in the side wall of the cylindrical member 81. A screw hole 21 </ b> B into which the screw shaft 82 </ b> B is screwed is formed on the side wall of the inclined shaft portion 21.

  FIG. 9 is a diagram for explaining an operation state of the screw member 82 of the adjustment mechanism 80. As shown in FIG. 9, the screw member 82 as an operation portion is disposed on the output gear 50 side in the direction of the tilt axis C <b> 2 with respect to the swing gear 60. That is, the screw member 82 is disposed at a position where an adjustment operation using the adjustment driver 1000 or the like is possible, for example, in a state where the teeth 41 of the fixed gear 40 and the teeth 61 of the swing gear 60 are engaged. Thereby, an operator who operates the screw member 82 can easily operate the screw member 82 using a tool such as the driver 1000 or directly. Note that FIG. 9 illustrates the case where the screw member 82 is operated with the output gear 50 not attached. However, if the screw member 82 is accessible, the output gear 50 is assembled. May be. For example, the output gear 50 is formed with an opening from which the inclined shaft portion 21 protrudes, and the screw member 82 is disposed on the opposite side of the output gear 50 from the side where the teeth 51 are formed. The inclined shaft 21 and the cylindrical member 81 may be formed so as to protrude from the 50 openings.

  FIG. 10A is a view for explaining the operation of the screw head 82 </ b> A of the screw member 82. The screw member 82 moves the cylindrical member 81 in the direction of the tilt axis C2 by a movement amount corresponding to the amount of rotation operation by the operator.

  More specifically, when the screw member 82 is rotated by 180 ° about the screw shaft 82B, the position of the screw head 82A is eccentrically rotated by a maximum of 2 × r with respect to the central axis of the screw shaft 82B. That is, the cylindrical member 81 having the fitting hole 81B fitted to the screw head 82A is within ± r in the direction of the inclined axis C2 with respect to the inclined shaft portion 21 in accordance with the rotational operation amount of the screw member 82. Move with the amount of movement.

  FIG. 10B is a plan view showing a state in which the screw head 82A is fitted in the fitting hole 81B. In the first embodiment, the cylindrical member 81 is restricted from rotating in the circumferential direction CA. Accordingly, as shown in FIG. 10B, the fitting hole 81B has a screw head 82A that contacts the cylindrical member 81 in the direction of the tilt axis C2, and the screw head 82A that revolves around the screw shaft 82B has the tilt axis C2. It is formed in a shape that escapes in a direction that intersects with. The shape of the fitting hole 81B may be any shape as long as the cylindrical member 81 moves in the direction of the tilt axis C2 with a moving amount corresponding to the operation amount of the screw member 82. In the first embodiment, the fitting hole 81B Is formed in a long hole extending in the circumferential direction CA.

  The fitting hole 81B has a length in the direction of the inclined axis C2 set to the diameter D of the screw head 82A, and a cylindrical member in which both sides of the screw head 82A in the direction of the inclined axis C2 form the fitting hole 81B. 81 abuts. The screw shaft 82B is screwed into a screw hole 21B formed in the inclined shaft portion 21. When the screw member 82 is rotated, the cylindrical member 81 is moved by being pressed by the screw head 82A in the direction of the inclined axis C2, and at this time, the screw head 82A escapes in the circumferential direction CA of the fitting hole 81B. Become.

  In the oscillating gear 60, the number of teeth Z <b> 2 of the teeth 61 is set to be smaller than the number of teeth Z <b> 3 of the teeth 62. As an example, the number of teeth Z1 = 24 of the teeth 41 of the fixed gear 40, the number of teeth Z4 = 48 of the teeth 51 of the output gear 50, the number of teeth Z2 = 25 of the teeth 61 of the oscillating gear, and the number of teeth Z3 = 49 of the teeth 62. A case where the reduction ratio is 1/50 will be described.

  FIG. 11A is a view for explaining the relationship between the teeth 61 and the teeth 62 of the swing gear 60. FIG. 11B is a diagram for explaining the relationship between the pressure angle α and the amount of movement in the rotation direction R.

  As shown in FIG. 11A, the tooth 61 and the tooth 62 of the rocking gear 60 are compared at a position where the radial distance from the tooth reference point P2 and the axial height are the same. The pressure angle α61 in the tooth 61 having a small number of teeth is larger than the pressure angle α62 in the tooth 62 having a large number of teeth, that is, α61> α62.

  As shown in FIG. 11B, when a movement V in the direction of the tilt axis C2 is given to the meshing portion between the pressure angles α, the movement amount in the rotation direction R becomes V × tan α, and the pressure angle α is large. However, the amount of movement in the rotation direction R is larger. An error ζ with respect to the tilt axis C2 of the tilt shaft portion 21 in the swing gear 60 is the direction of movement V. That is, when there is an error ζ in the direction of the tilt axis C2 of the oscillating gear 60, the influence on the meshing between the teeth is greater in the meshing with a tooth profile having a large pressure angle.

  In the first embodiment, of the number of teeth Z2 of the teeth 61 and the number of teeth Z3 of the teeth 62 formed on the oscillating gear 60, the teeth having a small number of teeth mesh with the teeth of the fixed gear 40 or the output gear 50. In the state, the adjustment mechanism 80 adjusts the position in the direction of the tilt axis C2. This is because the tooth surface shape with the smaller number of teeth has a larger tooth pressure angle, and the effect of adjusting the position in the direction of the tilt axis C2 is greater.

  That is, since Z2 = 25, Z3 = 49, and the tooth with the smaller number of teeth is the tooth 61, the tooth 61 of the oscillating gear 60 and the tooth 41 of the fixed gear 40 are connected as shown in FIG. In the engaged state, the position of the swinging gear 60 in the direction of the tilt axis C2 is adjusted by the adjusting mechanism 80. The screw member 82 is disposed at a position where it can be rotated by a driver 1000, for example.

  Therefore, in 1st Embodiment, when the error with respect to the inclination axis C2 of the inclination shaft part 21 has arisen in the rocking | fluctuation gear 60, the fixed gear 40 used as the meshing of the teeth with a large pressure angle which has a big influence in meshing. And the oscillating gear 60 may be engaged with each other. The operator can adjust the swing gear 60 to the optimum position in the direction of the tilt axis C2 by rotating the screw member 82 while confirming the meshing state.

  According to the first embodiment, it is possible to adjust the tooth side meshing state with a large pressure angle in the tooth surface meshing. Therefore, by adjusting the position of the oscillating gear 60 by the adjusting mechanism 80, the rigidity of the speed reducer 9 can be effectively increased.

  Moreover, since it becomes possible to adjust the rocking gear 60 to the optimum position where the reference point P1 and the reference point P2 coincide with each other only by operating the screw member 82 that is the operation part of the rocking gear 60. The efficiency of adjustment work is improved.

  Further, the position of the oscillating gear 60 in the direction of the tilt axis C <b> 2 can be adjusted with the teeth 41 of the fixed gear 40 and the teeth 61 of the oscillating gear 60 engaged. Therefore, for example, in the meshing of teeth, the swing gear 60 can be moved and adjusted to a position where backlash due to a gap or the like is reduced.

  Further, it is possible to determine whether or not the reference point P1 of the inclined shaft portion 21 and the reference point P2 of the oscillating gear 60 coincide with each other by measuring a change in load torque of the drive motor 8. That is, the rotation shaft of the drive motor 8 is connected to the input shaft portion 20 to rotate the input shaft portion 20, the load torque fluctuation of the drive motor 8 in the meshing state is measured, and the fluctuation is reduced. The position of the gear 60 may be adjusted by the adjusting mechanism 80. As described above, the position of the swing gear 60 can be easily adjusted to the optimum position by the adjusting mechanism 80.

  After adjustment, the screw member 82 may be fixed with an adhesive or the like so that the swing gear 60 does not move again. Further, means for fixing the cylindrical member 81 to the inclined shaft portion 21 may be provided at a part different from the screw member 82.

  Moreover, although the case where the operation part was the screw member 82 was demonstrated, if it can be operated by the operator, it will not be limited to a screw member. At this time, the cylindrical member 81 may be configured to move in the direction of the tilt axis C2 by a movement amount corresponding to the operation amount of the operation unit. Further, although the case where the movable part is the cylindrical member 81 has been described, it is not limited to the cylindrical member 81, and moves integrally with the swing gear 60 in the direction of the tilt axis C2 according to the operation amount of the operation part. Any member may be used as long as it is a thing.

[Second Embodiment]
Next, an oscillating speed reducer according to a second embodiment of the present invention will be described. Fig.12 (a) is sectional drawing which shows the principal part of the rocking | swiveling type reduction gear which concerns on 2nd Embodiment of this invention. Note that in the second embodiment, identical symbols are assigned to configurations similar to those in the first embodiment and descriptions thereof are omitted.

  In the oscillating speed reducer of the second embodiment, the configuration of the inclined shaft part and the oscillating gear holding part is different from that of the oscillating speed reducer of the first embodiment. Therefore, in FIG. 12A, only the inclined shaft portion and the swinging gear holding portion different from those in the first embodiment and members arranged around these are shown, and other configurations (for example, a housing) The output shaft portion and the like are not shown.

  As shown in FIG. 12A, the oscillating speed reducer according to the second embodiment includes an inclined shaft portion 221 and a oscillating gear holding portion 270 having a configuration different from that of the first embodiment.

  The inclined shaft portion 221 is a shaft member that is connected to the input shaft portion 20 and extends in the direction of the inclined axis C2 that is inclined at a predetermined angle θ1 with respect to the axis C1. That is, the inclined shaft portion 221 is inclined with respect to the input shaft portion 20 by the inclination angle θ1. The inclined shaft portion 221 rotates (oscillates and rotates) around the axis C1 integrally with the input shaft portion 20. In the second embodiment, the inclined shaft portion 221 is integrally formed on the output shaft portion side of the input shaft portion 20. Alternatively, the inclined shaft portion 221 may be formed as a separate member from the input shaft portion 20, and may be fixed and integrated with the input shaft portion 20 by screwing, welding, or the like.

  The oscillating gear holding part 270 supports the oscillating gear 60 so as to be rotatable with respect to the inclined shaft part 221. The oscillating gear holding portion 270 includes an adjustment mechanism 280 and bearings 91 and 92 and oscillating gear holders 90A and 90B, as in the first embodiment.

  The adjustment mechanism 280 is configured to be able to adjust the position of the swing gear 60 in the direction of the tilt axis C2 with respect to the tilt shaft portion 221. That is, the adjustment mechanism 280 is configured to be able to adjust the position of the swing gear 60 so as to move the reference point P2 of the swing gear 60 along the tilt axis C2. The adjustment mechanism 280 is provided on the inclined shaft portion 221. FIG. 12A shows a state where the reference point P1 that is the intersection of the axis C1 and the tilt axis C2 and the reference point P2 of the swing gear 60 overlap (match).

  The adjustment mechanism 280 includes a cylindrical member 281 that is a movable part and a screw member 282 that is an operation part. The cylindrical member 281 is formed in a substantially cylindrical shape so that the inner peripheral surface is in contact with the outer peripheral surface of the inclined shaft portion 221. The cylindrical member 281 is fitted to the inclined shaft portion 221 and is movable in the direction of the inclined axis C2.

  Bearings 91 and 92 are disposed on the outer peripheral surface of the cylindrical member 281. The inner rings of the bearings 91 and 92 are fixed to the outer peripheral surface of the cylindrical member 281. Therefore, the cylindrical member 281 supports the swing gear 60 so as to be rotatable around the tilt axis C2 via the bearings 91 and 92 and the swing gear holders 90A and 90B. The swinging gear 60 moves in the direction of the tilt axis C2 integrally with the cylindrical member 281 as the cylindrical member 281 moves in the direction of the tilt axis C2.

  Although illustration is omitted, also in the second embodiment, as shown in FIG. 5B of the first embodiment, a mechanism for restricting the rotation of the cylindrical member 281 in the circumferential direction CA with respect to the inclined shaft portion 221. Is provided. Thus, since the cylindrical member 281 is restricted from rotating in the circumferential direction CA with respect to the inclined shaft portion 221, the positioning accuracy with respect to the inclined shaft portion 221 is improved.

  Also in the second embodiment, the reference point P1 of the tilting shaft portion 221 and the reference point P2 of the swinging gear 60 are matched by adjusting the position of the swinging gear 60 in the direction of the tilt axis C2 by the adjusting mechanism 280. This can increase the rigidity of the oscillating speed reducer.

  The second embodiment differs from the adjustment mechanism 80 of the first embodiment in the configuration of an adjustment mechanism 280 for adjusting the position of the cylindrical member 281 in the direction of the tilt axis C2 of the tilt shaft portion 221. As described above, the adjustment mechanism 280 includes the cylindrical member 281 that is a movable portion and the screw member 282 that is an operation portion.

  FIG.12 (b) is a side view which shows the screw member of the adjustment mechanism of the rocking | fluctuation type speed reducer which concerns on 2nd Embodiment of this invention. The screw member 282 is formed with a groove portion 282C extending in the circumferential direction CA.

  Further, as shown in FIG. 12A, a screw hole 221B into which the screw shaft 282B of the screw member 282 is screwed is formed on the distal end surface of the tilt shaft portion 221 in the direction of the tilt axis C2. ing. The screw hole 221B is coaxial with the tilt axis C2 of the tilt shaft portion 221.

  A notch (e.g., U-shaped) is provided on the front end surface of the cylindrical member 281 on the output shaft side in the direction of the inclined axis C2 so that the groove portion 282C of the screw member 282 is fitted (engaged) at a position facing the screw hole. Notch) 281B is formed. The screw member 282 screwed into the screw hole 221 </ b> B moves in the direction of the tilt axis C <b> 2 together with the engaged cylindrical member 281 and the swinging gear 60 by one pitch of the screw thread per rotation.

  FIG. 13 is a view for explaining the operating state of the screw member of the adjustment mechanism of the rocking type reduction gear according to the second embodiment of the present invention. As shown in FIG. 13, the screw member 282 that is an operation unit is disposed on the output gear 50 side in the direction of the tilt axis C <b> 2 with respect to the swing gear 60. Accordingly, an operator who operates the screw member 282 can easily operate the screw member 282 using a tool such as the driver 1000 or directly.

  The screw member 282 meshes the teeth 41 of the fixed gear 40 and the teeth 61 of the oscillating gear 60, and the driver 1000 and the like in a state where the teeth 62 of the oscillating gear 60 and the teeth 51 of the output gear 50 are engaged. It can be used for adjustment operation. Specifically, since the screw member 282 is disposed at the shaft tip of the inclined shaft portion 221, a tool for rotating the screw member 282 from the direction of the inclined axis C2 such as a driver 1000 is inserted when adjusting the screw member 282. That's fine. Thereby, the fixed gear 40 and the output gear 50 are both meshed with the oscillating gear 60 by forming an opening in the output gear 50 disposed on the opposite side of the drive motor connected to the input shaft portion 20. Thus, the position of the swinging gear 60 in the direction of the tilt axis C2 can be adjusted.

  According to the second embodiment, regardless of which of the fixed gear 40 and the output gear 50 has a small number of teeth, it is possible to perform adjustment for obtaining the effect of increasing the rigidity. Further, in addition to the effect of the first embodiment, after adjusting the meshing on the side where the pressure angle of the tooth is large and the effect of adjusting the position of the swinging gear 60 in the direction of the tilt axis C2 is adjusted, the tooth on the opposite side is further adjusted. Further adjustments can be made in consideration of the meshing on the meshing side where the pressure angle of the portion is small.

  After the adjustment, the screw member 282 is preferably fixed with an adhesive or the like so that the swing gear 60 does not move again. Further, means for fixing the cylindrical member 281 to the inclined shaft portion 21 may be provided in a part different from the screw member 282.

  Moreover, although the case where the operation part was the screw member 282 was demonstrated, if it can be operated by the operator, it will not be limited to a screw member. At this time, the cylindrical member 281 may be configured to move in the direction of the tilt axis C2 with a movement amount corresponding to the operation amount of the operation unit. Further, although the case where the movable portion is the cylindrical member 281 has been described, it is not limited to the cylindrical member 281, and moves integrally with the swing gear 60 in the direction of the tilt axis C <b> 2 according to the operation amount of the operation portion. Any member may be used as long as it is a thing.

[Third Embodiment]
Next, an oscillating speed reducer according to a third embodiment of the present invention will be described. FIG. 14 is a cross-sectional view showing a main part of an oscillating speed reducer according to the third embodiment of the present invention. Note that in the third embodiment, identical symbols are assigned to configurations similar to those in the first and second embodiments and descriptions thereof are omitted.

  As shown in FIG. 14, the input shaft portion 20 is supported by the input shaft housing 301 via a bearing 22. The fixed gear 40 is fixed to the fixed housing 302. The oscillating speed reducer according to the third embodiment includes the adjusting mechanism 280 described in the second embodiment.

  Furthermore, in the third embodiment, a spacer 311 that is a first adjustment member that adjusts the distance between the input shaft housing 301 and the fixed housing 302 is provided at a portion where the input shaft housing 301 and the fixed housing 302 are connected and fixed to each other. ing. By adjusting the thickness t of the spacer 311 in the direction of the axis C1, the position of the input shaft housing 301 in the direction of the axis C1 relative to the fixed housing 302 can be adjusted. Since the position of the input shaft housing 301 in the direction of the axis C1 is adjusted, the positional relationship in the direction of the axis C1 between the swing gear 60 and the fixed gear 40, that is, the meshing state (preload amount between the gears 40, 60). Is adjusted. Thereby, in the meshing of the teeth between the gears 40 and 60, it is possible to reduce the backlash caused by the tooth shape and the assembly error and increase the rigidity of the reduction gear.

  In the third embodiment, as in the first and second embodiments, the number of teeth Z2 of the teeth 61 of the oscillating gear 60 is set to a smaller number of teeth on the side that meshes with the teeth 41 of the fixed gear 40. Similarly to the second embodiment, the adjusting mechanism 280 that adjusts the position of the swinging gear 60 in the direction of the tilt axis C2 is adjusted to the adjustable position in a state where the swinging gear 60 and the fixed gear 40 are engaged. Has been placed.

  The position of the swing gear 60 fixed to the input shaft housing 301 with respect to the fixed gear 40 is moved by the spacer 311, and the optimum position of the tilt shaft portion 221 of the swing gear 60 in the direction of the tilt axis C <b> 2 also changes. .

  According to the third embodiment, in the state where the preload amount between the gears 40 and 60 is adjusted by the spacer 311, the position of the swing gear 60 in the direction of the axis C <b> 1 with respect to the inclined shaft portion 221 can be adjusted by the adjusting mechanism 280. is there.

  Also in the third embodiment, as described in the first embodiment, the influence on the meshing between the teeth is that the meshing side of the fixed gear 40 and the rocking gear 60 that meshes the teeth having a large pressure angle. Is bigger. As a result, by moving the oscillating gear 60 with the spacer 311, it is possible to obtain an effect for reducing the backlash due to the preload and improving the reduction gear rigidity. Furthermore, in a state where the oscillating gear 60 and the fixed gear 40 are engaged, the oscillating gear 60 can be adjusted in the direction of the tilt axis C2 by rotating the screw member 282 while checking the engaged state. It is.

  In the third embodiment, as shown in FIG. 14, the adjustment mechanism is the adjustment mechanism 280 of the second embodiment. However, the adjustment mechanism 80 of the first embodiment may be used.

[Fourth Embodiment]
Next, an oscillating speed reducer according to a fourth embodiment of the present invention will be described. FIG. 15 is a cross-sectional view showing a main part of an oscillating speed reducer according to the fourth embodiment of the present invention. Note that in the fourth embodiment, identical symbols are assigned to configurations similar to those in the first through third embodiments and descriptions thereof are omitted. In the fourth embodiment, instead of the spacer 311 shown in FIG. 14, as shown in FIG. 15, a spacer 312 as a second adjustment member is arranged between the fixed gear 40 and the fixed housing 302. Thereby, the space | interval of the axis line C1 direction of the fixed housing 302 and the fixed gear 40 is adjusted.

  According to the fourth embodiment, in addition to the effects of the first and second embodiments, it is possible to reduce backlash and increase rigidity by applying an appropriate preload in the meshing of the gears 40 and 60. .

  In FIG. 15, a spacer 311 shown in FIG. 14 may be further arranged. Further, as shown in FIG. 15, the adjustment mechanism is described as the adjustment mechanism 280 of the second embodiment, but the adjustment mechanism 80 of the first embodiment may be used.

[Fifth Embodiment]
Next, an oscillating reduction device according to a fifth embodiment of the invention will be described. FIG. 16 is a cross-sectional view showing the main parts of an oscillating speed reducer according to the fifth embodiment of the present invention. Note that in the fifth embodiment, identical symbols are assigned to configurations similar to those in the first through fourth embodiments and descriptions thereof are omitted.

  In the fifth embodiment, a spacer 313 that is a third adjustment member is provided between the fixed housing 302 and the output shaft housing 303 as shown in FIG. 16 in addition to the configuration of the third embodiment. . The spacer 313 adjusts the distance between the fixed housing 302 and the output shaft housing 303 in the direction of the axis C1.

  As a result, a preload is also applied between the output gear 50 and the oscillating gear 60, reducing backlash and increasing the rigidity of the reduction gear. Further, by combining the spacers 311 and 313, the positions of the fixed gear 40 and the output gear 50 with respect to the oscillating gear 60 are adjusted, and with the preload of each gear applied, the inclination axis C2 of the oscillating gear 60 is adjusted. It is possible to appropriately adjust the position of the direction.

  At this time, in the position adjustment of the oscillating gear 60 in the direction of the tilt axis C2, the output gear 50 side is adjusted after adjusting the position of the oscillating gear 60 first on the fixed gear 40 side which is the meshing side having a large influence. do it.

  According to the fifth embodiment, in addition to the effects of the first and second embodiments, it is possible to reduce backlash and increase rigidity by applying an appropriate preload in the meshing of all gears 40, 50, 60. It becomes possible.

  In the fifth embodiment, the spacer 311 may be omitted, or the spacer 312 described in the fourth embodiment may be provided.

  Moreover, although the example which changed the thickness of the spacers 311 and 313 and adjusted the positional relationship between gearwheels was shown, for example, the structure etc. which combined the spring etc. and the screw etc. which regulate the deformation amount are used. May be.

  Moreover, as shown in FIG. 16, although the case where the adjustment mechanism was the adjustment mechanism 280 of the second embodiment has been described, the adjustment mechanism 80 of the first embodiment may be used.

  The present invention is not limited to the embodiments described above, and many modifications are possible within the technical idea of the present invention. In addition, the effects described in the embodiments of the present invention only list the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

DESCRIPTION OF SYMBOLS 9 ... Reducer, 11 ... Housing, 20 ... Input shaft part (first shaft part), 21 ... Inclined shaft part, 30 ... Output shaft part (second shaft part), 40 ... Fixed gear (first gear), 41 ... tooth (first tooth), 50 ... output gear (second gear), 51 ... tooth (fourth tooth), 60 ... swing gear, 61 ... tooth (second tooth), 62 ... tooth (third tooth) 80 ... adjusting mechanism, C1 ... axis, C2 ... inclined axis

Claims (14)

A first shaft portion rotatably supported about an axis,
An inclined shaft portion connected to the first shaft portion and extending in a direction of an inclined axis inclined with respect to the axis, and rotating integrally with the first shaft portion;
A second shaft portion disposed coaxially with the first shaft portion and supported rotatably about the axis;
A first gear having first teeth formed on one side in the direction of the axis, and disposed coaxially with the first shaft portion;
A second tooth formed on the first tooth side and meshing with the first tooth; and a third tooth formed on the opposite side of the first tooth side, around the inclined axis. A swing gear that is rotatably supported by the inclined shaft portion and swings around the axis line as the first shaft portion rotates.
A second gear formed on the third tooth side and having a fourth tooth meshing with the third tooth and rotating integrally with the second shaft portion;
An oscillating speed reducer comprising: an adjustment mechanism capable of adjusting a position of the oscillating gear in the direction of the inclined axis with respect to the inclined shaft portion.   The adjustment mechanism includes a movable portion that moves integrally with the swing gear in the direction of the tilt axis, and an operation portion that moves the movable portion in the direction of the tilt axis by a movement amount corresponding to an operation amount. The oscillating speed reducer according to claim 1.   The oscillating speed reducer according to claim 2, wherein the operation unit is disposed on the second gear side with respect to the oscillating gear. The movable part is a cylindrical member fitted to the inclined shaft part so as to be movable in the direction of the inclined axis.
The oscillating speed reducer according to claim 2 or 3, wherein the operation unit is a screw member that moves the cylindrical member in the direction of the tilt axis with a movement amount corresponding to a rotation operation amount. The screw member has a screw shaft and a screw head provided eccentrically with respect to the screw shaft,
A fitting hole into which the screw head is fitted is formed on the side wall of the cylindrical member,
The oscillating speed reducer according to claim 4, wherein a screw hole into which the screw shaft is screwed is formed in a side wall of the inclined shaft portion. The cylindrical member is restricted from rotating in the circumferential direction,
The fitting hole is formed in a shape in which the screw head comes into contact with the cylindrical member in the direction of the inclined axis, and the screw head revolving around the screw shaft escapes in a direction intersecting the inclined axis. The oscillating speed reducer according to claim 5.   The oscillating speed reducer according to claim 6, wherein the fitting hole is formed as a long hole extending in the circumferential direction. The screw member has a groove extending in the circumferential direction,
A screw hole into which the screw shaft of the screw member is screwed is formed on the tip surface of the inclined shaft portion,
5. The oscillating speed reducer according to claim 4, wherein a notch into which a groove portion of the screw member is fitted is formed at a position facing the screw hole at a front end surface of the cylindrical member.   The oscillating speed reducer according to claim 8, wherein the cylindrical member is restricted from rotating in the circumferential direction of the inclined shaft portion. A first housing that supports the first shaft portion via a bearing;
A second housing to which the first gear is fixed;
A third housing that supports the second shaft portion via a bearing,
The oscillating speed reducer according to any one of claims 1 to 9, wherein the first housing, the second housing, and the third housing are integrally connected.   The oscillating speed reducer according to claim 10, further comprising a first adjustment member that adjusts a distance between the first housing and the second housing.   The oscillating speed reducer according to claim 10 or 11, further comprising a second adjustment member that adjusts an interval between the second housing and the first gear.   The oscillating speed reducer according to any one of claims 10 to 12, further comprising a third adjusting member that adjusts an interval between the second housing and the third housing. With multiple links connected by joints,
14. The robot arm according to claim 1, wherein the joint includes a rotation drive source and the oscillating speed reducer according to claim 1 that decelerates the rotation of the rotation drive source.

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