公开(公告)号：US12018735B2

公开(公告)日：2024-06-25

申请号：US17754823

申请日：2020-09-23

Applicant: UNIVERSITY OF YAMANASHI ,  AD ROBO CO. LTD.

Inventor： Hidetsugu Terada ,  Takeshi Nagai

IPC: F16H25/06 ,  F16H13/04

CPC classification number: F16H13/04 ,  F16H25/06

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

公开(公告)号：US20240102538A1

公开(公告)日：2024-03-28

申请号：US17754823

申请日：2020-09-23

Applicant: UNIVERSITY OF YAMANASHI ,  AD ROBO CO. LTD.

Inventor： Hidetsugu TERADA ,  Takeshi NAGAI

IPC: F16H13/04

CPC classification number: F16H13/04

Abstract: [Problem] To provide a swing-type speed reducer that has a large crossing angle, and that can be further miniaturized compared to conventional speed reducers.
[Solution] Provided is a swing-type speed reducer 1 comprising: a main body 10; an input shaft 20 that is rotatably held in the main body 10; a precession body 30 that precesses; a swinging body 40 that engages with the precession body 30 and is swung by the precession; and an output shaft 50 that is rotated by the swing of the swinging body 40. In the present invention, a precession annular groove 34 for precession of the precession body 30 and a swinging annular groove 33 for swinging the swinging body 40 are provided on the surface of a spherical portion 31. Thereby, in comparison to a conventional case where the grooves are provided on the inner peripheral surface of a member, the region where the grooves can be machined is increased, and the device can be further miniaturized.