Oscillation type transmission

Abstract

To provide an oscillation type transmission which has a large intersection angle and enables further downsizing compared to conventional transmissions.SOLUTION: An oscillation type transmission 1 includes: a body 10 formed by a first X support 11, a second X support 12, a first Z support 13, and a second Z support 14; an input shaft 20 rotatably held by the first X support 11; a precessional movement body 30 which precesses; an oscillating body 40 which engages with the precessional movement body 30 to be oscillated by precessional movement; and an output shaft 50 which is rotated by oscillation of the oscillating body 40. A precessional movement support 16 is integrally formed with the first Z support 13 and an oscillating support 17 is integrally formed with the second Z support 14. The structure reduces the number of components compared to conventional transmissions thereby enabling downsizing and improvement of strength. Further, the structure enables the oscillation type transmission 1 to operate not only as a speed reducer but also as a speed increaser by changing an input and an output.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a transmission that reduces the rotational speed of an input shaft and transmits it to an output shaft, or a transmission that functions as a speed increasing device that drives the input shaft of the reduction device as the output shaft and vice versa, and transmits rotation.In particular, the present invention relates to an oscillating transmission that increases the crossing angle between the input shaft and the output shaft, thereby eliminating the offset of the drive mechanism in a robot arm or the like, thereby achieving compactness and approximating the articulated drive of a human or animal. [Background technology]

[0002] Orthogonal reduction gears generally include gear mechanisms such as bevel gears, intersecting gears, worms, and worm gears. These reduction gears are divided into those that perform reduction using a single mechanism and those that combine a general coaxial oscillating reduction mechanism. These reduction gears are used in many fields, including the joints of robots. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3790715 [Patent Document 2] Patent No. 3711338 [Patent Document 3] Patent No. 7281111 Summary of the Invention [Problem to be solved by the invention]

[0004] Among these, there is a reduction gear device with a bevel gear mechanism, in which the axes intersect at a right angle or cross angle. However, when a gear mechanism is used, backlash inevitably occurs between the gears, which reduces accuracy during operation and inevitably generates noise.

[0005] Furthermore, in these gear mechanisms, speed reduction is achieved by changing the ratio of the number of teeth on the input side to the number of teeth on the output side, so a large reduction ratio requires gears with a large ratio, which requires a large space. Furthermore, because the gears mesh at a position away from the shaft, the number of teeth that mesh simultaneously is small. Furthermore, there are issues such as reduced rotational accuracy or reduced positioning accuracy due to factors such as play in the mesh and shaft deflection, and a tendency for noise to be generated during rotation.

[0006] The inventors of the present application have proposed an oscillating speed reducer having a right angle or a large crossing angle, as shown in Patent Documents 1 and 2, in which input rotation is converted into precession motion via a spherical precessing body (oscillating body in each document), and further converted into rotational motion of an output shaft whose axis is perpendicular to the axis of the output body by an output oscillator that is oscillated by engaging with a part of the spherical surface of the precessing body.

[0007] These oscillating reduction devices can reduce backlash to almost zero and are structurally capable of producing a large reduction ratio, allowing the entire device to be made smaller than bevel gear mechanisms, etc.

[0008] Furthermore, the inventors of the present application have proposed an oscillating reduction device that is a further improvement on these devices (Patent Document 3). The oscillating reduction device in Patent Document 3 has a precession annular groove and an oscillating annular groove provided on the surface of a spherical precession body, which makes it easy to process these grooves and has succeeded in making the device smaller.

[0009] The oscillating speed reducers of Patent Documents 1 to 3 can be made smaller than bevel gear mechanisms and the like, but in recent years, there has been a demand for even smaller joint mechanisms in robot arms, etc. Furthermore, in robot arms, etc., there are cases where it is required to reflect not only the output from the output shaft but also the input to the output shaft to the input shaft.

[0010] An object of the present invention is to provide an oscillating transmission having a large crossover angle that can be made even more compact than conventional transmissions. Another object of the present invention is to provide an oscillating transmission that can reflect not only the output from the output shaft but also the input to the output shaft to the input shaft. [Means for solving the problem]

[0011] In order to achieve the above object, an oscillating transmission of the present invention comprises, in an XYZ coordinate system, an X-direction support body having a first X-direction support body and a second X-direction support body arranged opposite each other in the X-direction, and a Z-direction support body having a first Z-direction support body and a second Z-direction support body arranged opposite each other in the Z-direction, an input shaft supported by the first X-support body so as to be rotatable about an input axis extending in the X-axis direction, and a precession shaft having a spherical portion and a pair of precession shaft portions protruding from both sides along a precession axis passing through the center of the spherical portion, one of the precession shaft portions being held by the input shaft so as to be able to precess about the X-axis, and the other precession shaft portion being held by the second X-support body so as to be able to precess about the X-axis. a moving body; a precession support provided on the first Z support for supporting the precession body so as to be capable of precessing relative to the main body; a oscillating body that engages with a surface of the precession body on the opposite side to the precession support in the Z-axis direction and is oscillated by the precession of the precession body; an oscillating support that engages with the oscillating body and supports the oscillation of the oscillating body relative to the second Z support; and an output shaft that is rotatably supported on the second Z support about an axis in the Z-axis direction, engages with the oscillating body, and is rotated by the oscillation of the oscillating body, A precession annular groove is provided on the surface of the precession body facing the precession support, the groove being a trajectory drawn between the precession body and the precession support when the precession body precesses, and a precession sphere that rolls in the precession annular groove is rotatably held in the precession support, and a swing annular groove is provided on the surface of the precession body facing the oscillatory body, which swings the oscillatory body in the circumferential direction and in the Z-axis direction around the Z axis when the precession body precesses, and a swinging sphere that rolls in the swing annular groove is rotatably held on the surface of the oscillatory body facing the precession body, The surface of the oscillator on the oscillatory support side is provided with an oscillatory guide groove that guides the oscillatory motion of the oscillator, and the oscillatory support rotatably holds an oscillatory guide sphere that rolls in the oscillatory guide groove, and the surface of the oscillator on the output shaft side is provided with a wave-like groove around the entire circumference, which is made up of a plurality of continuous arc-shaped grooves that correspond to one cycle of the oscillatory motion of the oscillator, and the output shaft rotatably holds an output sphere that rolls in the wave-like groove, and the precession support is formed integrally with the first Z support, and the oscillatory support is formed integrally with the second Z support.

[0012] In the oscillating speed change device of the present invention, the precession support is formed integrally with the first Z support, and the oscillating support is formed integrally with the second Z support. Therefore, compared to the oscillating speed change device of Patent Document 3, the number of parts can be reduced, making it possible to make it more compact, and the strength and precision of supporting the oscillating body are greatly improved. As a result, the oscillating speed change device of the present invention can operate not only as a reducer that rotates the input shaft to reduce the rotational force and outputs it from the output shaft, but also as a speed increaser that rotates the output shaft to increase the rotational force and output it from the input shaft.

[0013] Furthermore, in the oscillating transmission of the present invention, the oscillating annular groove may be doubly arranged along a first arrangement circle, which is a circular imaginary line that follows the outer periphery of the spherical portion, and a second arrangement circle, which is a circular imaginary line that is provided more inward than the first arrangement circle, when the precessing body is viewed from the oscillating body side, and the oscillating sphere may be arranged at the intersection of the first arrangement circle and the second arrangement circle with the oscillating annular groove. With this configuration, since the oscillating annular groove is doubly arranged along the first arrangement circle and the second arrangement circle, the load-bearing capacity is improved compared to when the oscillating annular groove is single, and the accuracy of the oscillating body oscillation is also improved.

[0014] In this configuration, the number of the oscillating annular grooves arranged along the second arrangement circle on the input shaft side from the center of the spherical portion may be greater than the number of those arranged on the opposite side. With this configuration, the load from the input shaft can be reliably transmitted to the output shaft by the oscillating annular groove, the oscillating spheres, and the oscillating body. [Effects of the Invention]

[0015] According to the present invention, a transmission with a large crossing angle can be made even more compact than conventional transmissions. In addition, it is possible to provide an oscillating transmission that can reflect not only the output from the output shaft but also the input to the output shaft to the input shaft. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a partial cross-sectional view showing an oscillating transmission according to an embodiment of the present invention; [Figure 2] (A) is an exploded view of the oscillating transmission in Figure 1, and (B) is a perspective view with the angle of the input shaft changed. [Figure 3] 1A is an explanatory diagram showing the oscillating annular groove provided on the upper surface side of the spherical portion of the precession body, and FIG. 1B is an explanatory diagram showing the precession annular groove provided on the lower surface side of the spherical portion. [Figure 4] 2 is an exploded view showing the components located above and below the precession body in the oscillating transmission of FIG. 1. [Figure 5] 4A to 4C are explanatory diagrams showing the configuration of an oscillator in this embodiment. [Figure 6] FIG. 10 is a cross-sectional view illustrating the configuration of the precession annular groove of the precession body. [Figure 7] FIG. 10 is an explanatory diagram showing the relationship between the precession annular groove on the underside of the spherical portion and the precession sphere. [Figure 8] FIG. 10 is an explanatory diagram showing the relationship between the swing annular groove on the upper surface side of the spherical portion and the swing sphere. [Figure 9] FIG. 10 is an explanatory diagram showing the relationship between the wavy grooves on the top surface of the swinging portion and the output sphere. DETAILED DESCRIPTION OF THE INVENTION

[0017] Next, an oscillating transmission as an embodiment of the present invention will be described with reference to FIGS.

[0018] As shown in Figure 1, the oscillating transmission 1 of this embodiment comprises, in an XYZ coordinate system, a main body 10 that surrounds the entire device, an input shaft 20 that is held by the main body 10 so as to be rotatable around an input axis 20A, a precessing body 30 that undergoes precession due to the rotation of the input shaft 20, an oscillating body 40 that engages with the precessing body 30 at a position above the precessing body 30 in the Z-axis direction and is oscillated by the precession, and an output shaft 50 that rotates around the Z-axis due to the oscillation of the oscillating body 40.

[0019] 1 and 2, the main body 10 has a first X support 11 that rotatably supports the input shaft 20, a second X support 12 provided on the opposite side of the input shaft 20, a first Z support 13 provided on the bottom surface, and a second Z support 14 provided on the top surface. In this embodiment, the first X support 11 and the second X support 12 form an X-direction support, and the first Z support 13 and the second Z support 14 form a Z-direction support. The shape of the main body 10 can be changed appropriately depending on the equipment to which it is applied, such as a joint part of a robot arm.

[0020] 1 and 2, the input shaft 20 includes a shaft portion 21 that is held by the first X support 11 of the main body 10 via an input bearing 15, and an eccentric portion 22 that rotatably holds one precession shaft portion 32 of the precession body 30 at a position eccentric from the input shaft center 20A extending in the X-axis direction. In the eccentric portion 22, the tip portion of the precession shaft portion 32 is rotatably held by a precession bearing 23. When the input shaft 20 is rotated, the eccentric portion 22 that is integral with the shaft portion 21 also rotates, and the eccentric rotation of the precession shaft portion 32 causes the precession body 30 to precess.

[0021] The precession shaft portion 32 on the right side in Fig. 2(A) is supported by a precession bearing 23 provided on the eccentric portion 22 of the input shaft 20. The precession shaft portion 32 on the left side in Fig. 2(A) is held by an eccentric bearing 24 having a configuration similar to that of the eccentric portion 22 of the input shaft 20 so as to be able to rotate eccentrically (precessionally) relative to the input shaft center 20A.

[0022] The precession body 30 includes a spherical portion 31 formed in a spherical shape and a pair of precession axis portions 32 that protrude on both sides along a precession axis 30A that passes through a center 31C of the spherical portion 31. The precession axis 30A is an axis that extends back and forth toward the X-axis direction at an eccentric angle α. In this embodiment, the angle α is set to 10°.

[0023] As shown in FIG. 3A , an oscillating annular groove 33 is formed on the upper surface of the spherical portion 31. The oscillating annular groove 33 is a groove that guides the oscillating body 40 to oscillate in the circumferential direction and in the Z-axis direction around the output axis center 50A in the Z-axis direction during precession of the precessing body 30. In this embodiment, the oscillating annular grooves 33 are formed in a total of 11 locations on the upper surface of the spherical portion 31: six locations on the input shaft 20 side and five locations on the eccentric bearing 24 side opposite the input shaft 20 side. Note that in this application, a plurality of thin lines are used in some of the drawings to represent the shapes of grooves such as the oscillating annular groove 33.

[0024] 3(B), a precession annular groove 34 is formed below the spherical portion 31. The precession annular groove 34 is a groove formed in the shape of a locus that is drawn between the surface of the spherical portion 31 and a precession support member 16, which will be described later, during the precession of the precession body 30. In this embodiment, the precession annular groove 34 is formed at six locations on the lower surface of the spherical portion 31.

[0025] 1, 2(A), and 4(C), below spherical portion 31, precession support 16 that supports precession body 30 is formed integrally with first Z support 13. In this embodiment, when viewed from the X-axis direction, this precession support 16 has an arc-shaped surface that faces spherical portion 31 to match the shape of spherical portion 31, and is provided with six recesses 16a on the surface that faces spherical portion 31.

[0026] The cross-sectional shape of precession support 16, as viewed from the Y-axis direction, is tapered (or may be arc-shaped) to match the shape of spherical portion 31 of precession body 30. Therefore, compared to the precession support in Patent Document 3, precession support 16 has improved strength against loads from the Z-axis direction and also against loads from the X-axis direction.

[0027] A precession sphere 16b, which is a metal ball, is rotatably held in a recess 16a provided in the precession support 16. The precession sphere 16b rolls while abutting against the precession annular groove 34 during the precession of the precession body 30.

[0028] 2 and 5, the oscillator 40 is formed in a dome shape as a whole. As shown in Fig. 5(B), hemispherical recesses 40a are provided on the inner peripheral surface thereof. In this embodiment, the recesses 40a are provided in eleven locations corresponding to the number and positions of the oscillatory annular grooves 33, and oscillatory spherical bodies 40b are rotatably held in these recesses 40a.

[0029] Furthermore, on the upper surface side of the oscillator 40, there are formed a support part 41 supported by the oscillator support body 17, and a guide part 42 with which the output support part 51 formed on the output shaft 50 abuts via an output sphere 51b. The support part 41 is formed with an oscillation guide groove 41a that guides the oscillation of the oscillator 40. The guide part 42 is formed with a wave-like groove 42a that converts the oscillation of the oscillator 40 into rotational motion of the output shaft 50.

[0030] 5(A) and 5(C), the swing guide groove 41a provided in the support portion 41 of the swing body 40 has an elliptical shape that is elongated in the Z-axis direction. The swing guide sphere 17b held by the swing support body 17 comes into contact with this swing guide groove 41a, thereby guiding the swing motion of the swing body 40.

[0031] 2, an output shaft 50 and a second Z support 14 are provided above the oscillator 40. The output shaft 50 is held by an output bearing 14a on the second Z support 14 so as to be rotatable about an output axis 50A. The output shaft 50 includes an output shaft portion 50b supported by the output bearing 14a, and a substantially disk-shaped flange portion 50f protruding horizontally (in the XY plane) from the output shaft portion 50b.

[0032] As shown in Fig. 4(B), an output support portion 51 having a recess 51a that rotatably holds an output sphere 51b is formed on the inner peripheral surface of the flange portion 50f of the output shaft 50. The output support body in Patent Document 3 is formed as a member formed separately from the output shaft, but by forming the output support portion 51 integrally with the output shaft 50 as in this embodiment, it is possible to reduce the size, the strength is improved, and the efficiency of output transmission from the oscillator 40 via the output sphere 51b is greatly improved.

[0033] As shown in FIG. 4(A), the oscillating support 17 is formed on the inner peripheral surface of the second Z support 14 and is formed integrally with the second Z support 14. The second Z support 14 is formed by forming a through hole in the Z-axis direction in a rectangular block body and machining the surface facing the precession body 30 into a tapered or spherical shape. The oscillating support 17 is formed by this tapered surface. The oscillating support 17 is provided with a recess 17a, and the oscillating guide sphere 17b is rotatably held in this recess 17a.

[0034] In Patent Document 3, the oscillating support was formed from a member formed separately from the top plate (corresponding to the second Z support), but in this embodiment, by forming the oscillating support 17 integrally with the second Z support 14, it is possible to reduce the size, and the strength is improved, which significantly improves the accuracy of supporting the oscillating body 40.

[0035] 5(A), the wavy grooves 42a provided in the guide portion 42 of the oscillator 40 form nine consecutive arc-shaped grooves 42b in the circumferential direction, which move the output spheres 51b in the circumferential direction during one oscillation cycle of the oscillator 40. The output spheres 51b, which are rotatably held in recesses 51a of an output support portion 51 provided on the output shaft 50, come into contact with the wavy grooves 42a.

[0036] In this embodiment, as shown in Fig. 5(A), nine arc-shaped grooves 42b, which correspond to one cycle, are provided around the entire circumference of the guide portion 42. As shown in Figs. 4 and 5(C), an output support portion 51 formed on a flange portion 50f of the output shaft 50 abuts against the wavy grooves 42a via an output sphere 51b held in a recess 51a.

[0037] Next, the relationship between the precession annular groove 34 and the precession sphere 16b when the precession body 30 precesses will be described with reference to Figures 6 and 7. In Figure 6, the right precession axis portion 32 is located at the top in the Z-axis direction. If this state is considered the initial position, the positional relationship between the precession annular groove 34 and the precession sphere 16b at this time is as shown in Figure 7.

[0038] The precession annular groove 34 is a trajectory relative to a fixed point (in this case, the precession sphere 16b) on the surface of the spherical portion 31 of the precession body 30 obtained when the input shaft 20 is rotated at an angle α with respect to the input axis 20A of the input shaft 20 and the precession axis 30A.

[0039] Specifically, if the coordinate position when the input shaft 20 is rotated by an angle θ (°) from the initial position on the surface of the spherical portion 31 is P1, and the position when this P1 is coordinate-transformed to the precession axis 30A is P2, the respective coordinates are expressed by the following equations. P1=P o E 20A·θ (1) P2=P1·E 30A(-θ) (2)

[0040] In the above equations (1) and (2), E is a transformation matrix related to the rotation θ of the input axis 20A of the input shaft 20. When the surface of the spherical portion 31 is machined along the trajectory expressed by the equations using a tool having the same shape as the precession sphere 16b, the precession annular groove 34 is formed.

[0041] Next, the oscillating annular groove 33 of the spherical portion 31 of the precessing body 30 will be described with reference to Fig. 8. The oscillating annular groove 33 has a locus for oscillating the oscillating body 40 by the precession of the precessing body 30 via the oscillating sphere 40b rotatably held in the recess 40a of the oscillating body 40.

[0042] As shown in Fig. 8, eleven oscillating annular grooves 33 are provided, each with a different shape. First, the state shown in Fig. 8 is set as the initial position, and the position when the input shaft 20 is rotated by an angle θ (°) is calculated. This position is then converted into coordinates with the oscillating axis 40A of the oscillating body 40 (see Fig. 5(C)), and the trajectory is calculated. This trajectory is an intermediate virtual trajectory that does not actually appear as a shape in the product, and is a circular trajectory.

[0043] Furthermore, the trajectory of the oscillating annular groove 33 of the precessing body 30 can be found by subtracting the precession of the precessing body from this virtual trajectory. The calculation of the trajectory is repeated using a transformation matrix to calculate coordinates in the same manner as in the calculation procedure for the precession annular groove 34 described above, thereby calculating the trajectory for one cycle. The specific method is the same as that described in Patent Document 1, so a detailed description will be omitted here.

[0044] Here, while Patent Document 3 provides eight oscillating annular grooves, in this embodiment, as shown in Fig. 8, eleven oscillating annular grooves 33 are provided. Also, as shown in Fig. 8, in this embodiment, when the precession body 30 is viewed from the oscillating body 40 side, the oscillating annular grooves 33 are doubly arranged along a first arrangement circle 31a, which is a circular imaginary line along the outer periphery of the spherical portion 31, and a second arrangement circle 31b, which is a circular imaginary line provided inside the first arrangement circle 31a. Also, the oscillating spherical body 40b is arranged at the intersection of the first arrangement circle 31a, the second arrangement circle 31b inside the first arrangement circle 31a, and the oscillating annular groove 33.

[0045] In this embodiment, eight oscillating annular grooves 33 are formed near the outer periphery of the spherical portion 31, and three oscillating annular grooves 33 are formed further inward. In the drawing, the right side of the spherical portion 31 is the input shaft 20 side, and six oscillating annular grooves 33 are arranged on the right side of the center of the spherical portion 31 and five on the left side. The reason for this arrangement is to increase the number of oscillating annular grooves 33 in the portion that receives the load input from the input shaft 20, thereby enabling smooth rotation of the input shaft 20, among other reasons.

[0046] Next, the relationship between the wavy grooves 42a of the oscillator 40 and the output spheres 51b will be described with reference to Fig. 9. The position of the output spheres 51b in Fig. 9 shows the initial position when the precessing body 30 is in the state shown in Fig. 1. In this state, one of the eight output spheres 51b is located at the intersection 42b1 of the two arc-shaped grooves 42b at the left end of Fig. 9, out of the nine arc-shaped grooves 42b of the wavy grooves 42a.

[0047] As shown in Figure 9, the number of output spheres 51b is one less than the number of arc-shaped grooves 42b, so the positions of the output spheres 51b shift toward the right. When the input shaft 20 rotates once from the state shown in Figure 9, the oscillator 40 rotates once, causing the output sphere 51b to roll along the arc-shaped groove 42b, and the output sphere 51b at the left end moves to the intersection 42b2 of the arc-shaped groove 42b to the upper right. When the input shaft 20 is further rotated, the above operations are repeated sequentially, and when the input shaft 20 has rotated nine times, the same number as the number of arc-shaped grooves 42b, it returns to the initial position shown in Figure 9.

[0048] As described above, the number of arc-shaped grooves 42b in the wavy grooves 42a determines the reduction ratio of the output shaft 50 relative to the input shaft 20. Therefore, if a larger reduction ratio is desired, the number of arc-shaped grooves 42b should be increased. Note that the method for forming these wavy grooves 42a is the same as the method disclosed in Patent Document 1, and therefore a detailed description thereof will be omitted here.

[0049] In the oscillating transmission 1 of this embodiment, the rotation of the input shaft 20 causes the precession body 30 to precess, which in turn causes the oscillating body 40 engaged with the precession body 30 to oscillate. The oscillating motion of the oscillating body 40 is then converted into the rotational motion of the output shaft 50 by the mechanism of the wavy grooves 42a, the output spheres 51b, and the output support part 51.

[0050] With this configuration, the oscillating transmission 1 of this embodiment does not use gears or the like when reducing the speed of the input rotation, so the device can be made smaller and backlash can be minimized.

[0051] Furthermore, in the oscillating transmission 1 of this embodiment, both the oscillating annular groove 33 and the precession annular groove 34, which require high machining accuracy, are formed on the surface of the spherical portion 31 of the precession body 30. When forming such grooves, machining can be easily performed using a machining tool in an automatic machining machine if they are on the surface of the spherical portion 31.

[0052] Furthermore, even if the diameter of the spherical portion 31 is reduced, machining can be easily performed using a machining tool in an automatic machining machine. If such grooves are machined on the inner peripheral surface of the oscillator 40, for example, machining must be performed within a range where the tool does not interfere with the oscillator 40, which narrows the machining area and can make machining difficult when the device is made smaller. In this embodiment, by machining the grooves on the surface of the spherical portion 31, precise machining can be performed even when the device is made smaller.

[0053] In addition, in this embodiment, the output support portion 51 is formed integrally with the output shaft 50, so the movement of the precessing body 30 is transmitted directly to the output shaft 50 via the oscillation annular groove 33 and the oscillation sphere 40b. In addition, in this embodiment, the oscillation support 17 is formed integrally with the second Z support 14, so the precessing body 30 is firmly positioned via the precessing sphere 16b and the precessing annular groove 34.

[0054] With this configuration, the oscillating transmission 1 of this embodiment has reduced mechanical loss and improved load resistance compared to the oscillating reduction gear in Patent Document 3. As a result, with the oscillating transmission 1 of this embodiment, input of rotational force from the output shaft 50 makes it possible to output rotational force from the input shaft 20.

[0055] In each of the above embodiments, the angle α between the input axis 20A of the input shaft 20 and the precession axis 30A of the precession body 30 is set to 10°, but this is not limited to this and can be changed in various ways depending on the size of the entire device and the reduction ratio as long as it is in the range of 0°<α≦20°.

[0056] Furthermore, although the intersecting angle between the input shaft center 20A and the output shaft center 50A is set to 90° in the above embodiment, it is not limited to this and can be changed within a range of ±20°. Furthermore, the number and shape of the oscillation annular grooves 33 and precession annular grooves 34 provided on the surface of the spherical portion 31 of the precession body 30 can also be changed as appropriate depending on the size of the spherical portion 31, etc. [Explanation of symbols]

[0057] 1...Oscillating transmission 10...Main unit 11...1st X support 12...Second X support 13...1st Z support 14…Second Z support 16...Precession support 16b...Precessing sphere 17...Swinging support 17b...Swing guide sphere 20...Input shaft 20A...Input shaft center 21...Shaft 30...Precessing body 31...Spherical part 31a...First placement circle 31b...Second arrangement circle 31C...Center of the spherical part 32...Precession axis 33...Swinging annular groove 34...Precession annular groove 40...Oscillator 40b…Swinging sphere 41a...Swing guide groove 42a...wavy groove 42b...Arc-shaped groove 50...Output shaft 51b…Output sphere

Claims

1. In the XYZ coordinate system, a main body including an X-direction support having a first X-support and a second X-support arranged opposite to each other in the X-direction, and a Z-direction support having a first Z-support and a second Z-support arranged opposite to each other in the Z-direction; an input shaft supported by the first X support body so as to be rotatable about an input axis extending in the X-axis direction; a precession body having a spherical portion and a pair of precession shaft portions protruding from both sides along a precession axis passing through the center of the spherical portion, one of the precession shaft portions being held by the input shaft so as to be able to precess about the X axis, and the other precession shaft portion being held by the second X support so as to be able to precess about the X axis; a precession support provided on the first Z support and supporting the precession body so that the precession body can precess freely relative to the main body; a rocking body that engages with a surface of the precession body on the side opposite to the precession support body in the Z-axis direction and is rocked by the precession of the precession body; a swing support member that engages with the swing body and supports the swing of the swing body relative to the second Z support member; an output shaft that is rotatably supported by the second Z support body about an axis in the Z-axis direction, engages with the oscillator, and is rotated by the oscillation of the oscillator, a precession annular groove is provided on a surface of the precession body facing the precession support, the groove corresponding to a trajectory drawn between the precession body and the precession support during precession, and a precession sphere that rolls in the precession annular groove is rotatably held by the precession support; a ring-shaped groove is provided on a surface of the precession body facing the oscillator, which causes the oscillator to oscillate in the circumferential direction and the Z-axis direction around the Z-axis when the precession body precesses, and a ring-shaped groove is rotatably held on the surface of the precession body facing the precession body, the ring-shaped groove being adapted to roll on the ring-shaped groove; a swing guide groove for guiding the swinging motion of the swing body is provided on a surface of the swing body facing the swing support body, and a swing guide sphere that rolls in the swing guide groove is rotatably held on the swing support body; A wave-shaped groove is provided around the entire circumference of the surface of the oscillator on the output shaft side, the wave-shaped groove being a plurality of continuous arc-shaped grooves corresponding to one oscillation cycle of the oscillator, and an output sphere that rolls on the wave-shaped groove is rotatably held on the output shaft, the precession support is integrally formed with the first Z support; An oscillating type transmission, wherein the oscillating support is formed integrally with the second Z support.

2. 2. The oscillating transmission according to claim 1, when the precession body is viewed from the oscillator side, the oscillating annular groove is doubly arranged along a first arrangement circle which is a circular imaginary line along the outer periphery of the spherical portion, and a second arrangement circle which is a circular imaginary line provided more inward than the first arrangement circle, An oscillating transmission, characterized in that the oscillating spheres are arranged at intersections of the first arrangement circle and the second arrangement circle with the oscillating annular groove.

3. 3. The oscillating transmission according to claim 2, An oscillating transmission characterized in that the number of oscillating annular grooves arranged along the second arrangement circle arranged on the input shaft side from the center of the spherical portion is greater than the number of grooves arranged on the opposite side.

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