TWI553245B - Flexural meshing gear device - Google Patents

Description

Flexing meshing gear device

The present invention relates to a flexing meshing gear device.

Patent Document 1 discloses a flexure meshing gear device having a vibrating body that is rotationally driven by a drive shaft. In the flexural meshing gear device, a connecting member called a "cross slide coupling" is assembled to a vibrating body formed on a drive shaft. Even if there is an eccentricity between the drive shaft and the internal gear during assembly (also known as the eccentricity of the drive shaft), the cross-slider coupling can tolerate the eccentricity and prevent degradation in performance and life.

(previous technical literature) (Patent Literature)

Patent Document 1: Japanese Laid-Open Patent Publication No. 60-241550

However, in the structure described in Patent Document 1, there is a problem that the axial length of the device becomes long.

Therefore, the present invention has been made to solve the aforementioned problems, and the subject matter thereof is Provided is a flexural meshing gear device capable of preventing a decrease in performance and life even if an eccentric core of a drive shaft is present, and capable of suppressing an increase in axial length.

According to the present invention, in a flexural meshing gear device having a vibrating body that is rotationally driven by a drive shaft, the drive shaft and the vibrating body allow the vibrating body The shaft center is coupled to the radially displaced connecting member, the vibrating body is axially opposed to the connecting member, and the vibrating body is disposed to extend radially outward of the connecting member.

In the present invention, the drive shaft and the vibrating body are coupled by a connecting member, and the axial center of the vibrating body is allowed to be radially displaced with respect to the driving axial direction. Meanwhile, in the invention, the vibrating body is extended to be disposed radially outward of the connecting member. Therefore, an increase in the axial length of the joint portion between the vibrating body and the drive shaft can be suppressed.

According to the present invention, even if the eccentric core of the drive shaft of the flexural meshing gear device is present, it is possible to prevent a decrease in performance and life, and it is possible to suppress an increase in the axial length.

100‧‧‧Flexing meshing gear unit

101‧‧‧ drive shaft

102‧‧‧stop member

103, 103A, 103B‧‧‧ connecting members

104‧‧‧ drive components

104B, 105AB, 105BB, 106AB, 106BB‧‧‧through holes

104C‧‧‧ keyway

104D, 106AC, 106BC‧‧‧ recess

105, 105A, 105B‧‧‧ intermediate components

105AC, 105AD, 105BC, 105BD‧‧‧ convex

106, 106A, 106B‧‧‧ vibrating body

106AA, 106BA‧‧‧ Main Body

106AD, 106BD‧‧‧ Extension

110, 110A, 110B‧‧‧ starter bearing

112A, 112B‧‧ Inner Ring

114A, 114B‧‧‧ bearing cage

116A, 116B‧‧‧ Roller

118A, 118B‧‧‧ outer ring

120, 120A, 120B‧‧‧ external gear

130, 130A, 130B‧‧‧ internal gear

136‧‧‧Fixed side members

138‧‧‧Auxiliary enclosure

140‧‧‧Drive shaft housing

142‧‧‧1st fixed member

144‧‧‧2nd fixed member

146‧‧‧3rd fixing member

148, 150‧‧‧ docking components

152‧‧‧Output side members

154‧‧‧1st output member

156‧‧‧2nd output member

158‧‧‧3rd output member

Br, Mb‧‧‧ bearing

O‧‧‧Axial

Os1, Os2‧‧‧ oil seal

Pc‧‧·The distance Rx is taken as the radius of the true circle in dotted lines

X‧‧‧ Long axis of the vibrating body

Y‧‧‧ short axis of the vibrating body

Fig. 1 is a cross-sectional view showing an example of an overall configuration of a flexural meshing gear device according to an embodiment of the present invention.

Figure 2 is a section near the flexing meshing gear device of Figure 1 Figure.

Fig. 3 is an exploded cross-sectional view showing the vibrating body and the connecting member of Fig. 1.

Fig. 4 is a perspective view (A) and a cross-sectional view (B) of the driving member of Fig. 3.

Fig. 5 is a perspective view (A) and a cross-sectional view (B) of the intermediate member of Fig. 3.

Fig. 6 is a perspective view (A) and a cross-sectional view (B) of the vibrating body of Fig. 3.

Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6 .

First, the overall configuration of this embodiment will be briefly described.

As shown in Fig. 1, the flexural meshing gear device 100 has a vibrating body 106 that is rotationally driven by a drive shaft 101. Further, the flexural meshing gear device 100 is configured to be supported by the fixed side member 136 and to transmit an output to the output side member 152.

As shown in Fig. 1, the flexural meshing gear device 100 itself includes a vibrating body 106, and the outer gear 120 is disposed on the outer periphery of the vibrating body 106 and has a flexural deformation by the rotation of the vibrating body 106. The vibrating body bearing 110 is disposed between the vibrating body 106 and the external gear 120; the decelerating internal gear (first internal gear) 130A has the rigidity of the internal gear 120 meshing engagement; The gear (second internal gear) 130B is disposed side by side with the reduction internal gear 130A in the axial direction O and has an external gear 120 The rigidity of the internal engagement. Further, the reduction internal gear 130A and the output internal gear 130B are collectively referred to as an internal gear 130.

First, the fixed side member 136 and the output side member 152 will be described.

As shown in FIG. 1 , the fixed side member 136 includes an auxiliary casing 138 , a drive shaft casing 140 , a first fixing member 142 , a second fixing member 144 , and a third fixing member 146 . The auxiliary housing 138 has a cylindrical shape. The auxiliary housing 138 supports the oil seal Os1 in which the drive shaft 101 is embedded and is coupled to the drive shaft housing 140. The drive shaft housing 140 has a cylindrical shape in which one end side is formed as a flange portion 140A. The drive shaft housing 140 supports the drive shaft 101 via two bearings Br on the inside of its cylindrical shape. The reduction internal gear 130A is fixed to the flange portion 140A. Further, the first fixing member 142 is fixed to the radially outer side of the position of the decelerating internal gear 130A to which the flange portion 140A is fixed. On the contrary, a ring-shaped abutting member 148 is present on the radially inner side of the position of the decelerating internal gear 130A to which the flange portion 140A is fixed. The abutting member 148 is disposed between the flexural meshing gear device 100 and the flange portion 140A so as to face the end faces of the external gear 120 and the vibrator bearing 110. The docking member 148 is formed of, for example, a material having high slidability.

As shown in FIG. 1, the second fixing member 144 is fixed to the first fixing member 142. Each of the first fixing member 142 and the second fixing member 144 has an annular shape and is disposed outside the output side member 152 in the radial direction. The first fixing member 142 is fixed to the third fixing member 146 on the outer circumference thereof. The third fixing member 146 is integrated with a fixing wall (not shown).

As shown in Fig. 1, the output side member 152 has a first output configuration The member 154, the second output member 156, and the third output member 158. The first output member 154 has an annular shape and is fixed to the output internal gear 130B. A ring-shaped butt joint member 150 is present on a radially inner side of a portion of the output internal gear 130B to which the first output member 154 is fixed. The abutting member 150 is disposed between the flexural meshing gear device 100 and the first output member 154 so as to face the end faces of the external gear 120 and the oscillating body bearing 110 (the butting member 150 is the same material as the abutting member 148) . Further, a main bearing Mb (a cross roller ring, an angular contact ball bearing, a tapered roller bearing, or the like) is disposed between the first output member 154 and the first fixing member 142. The second output member 156 has a disk shape and is fixed to the first output member 154. An oil seal Os2 supported by the second fixing member 144 is disposed between the second output member 156 and the second fixing member 144. The third output member 158 is also in the shape of a disk and is fixed to the second output member 156. The third output member 158 is connected to a mechanical device (not shown).

Next, the relationship between the components of the drive shaft 101, the connecting member 103, and the flexural meshing gear device 100 will be briefly described.

As shown in FIGS. 1 and 2, in the flexural meshing gear device 100, the drive shaft 101 and the vibrating body 106 are coupled by a connecting member 103 that allows the axial center of the vibrating body 106 to be displaced in the radial direction. Here, the vibrating body 106 is opposed to the connecting member 103 in the axial direction O, and the vibrating body 106 is extended and disposed radially outward of the connecting member 103.

Next, each constituent element of the drive shaft 101, the connecting member 103, and the flexural meshing gear device 100 will be described in detail. Further, in the present embodiment, the cross section perpendicular to the axial direction O of the vibrating body 106 is substantially elliptical. shape. Therefore, in the present embodiment, the position from the axial center to the outer circumference of the vibrating body 106 is the longest axis position, and the direction in which the straight line connecting the two long axis positions extends is referred to as the long axis X direction. Meanwhile, in the present embodiment, the position at which the distance from the axial center to the outer circumference of the vibrating body 106 is the smallest is referred to as the short-axis position, and the direction in which the straight line connecting the two short-axis positions extends is referred to as the short-axis Y direction.

The drive shaft 101 is a motor shaft or the like that extends from a motor (not shown) as a drive source. As shown in Fig. 1, the drive shaft 101 is rotatably supported by the drive shaft housing 140 via a bearing Br. As shown in FIG. 2, the drive shaft 101 is inserted from one end side of the connecting member 103, and the movement in the axial direction O is restricted by the stopper member 102.

The connecting member 103 is a cross slider coupling. That is, as shown in FIGS. 1 to 3, the drive shaft 101 and the vibrator 106 are coupled to each other by the connection member 103 so as to allow the axial center of the vibrating body 106 to be displaced in the radial direction. Specifically, the connecting member 103 has a driving member 104 that rotates integrally with the drive shaft 101, and an intermediate member 105 (105A, 105B). That is, as shown in Fig. 3, the connecting member 103 has one driving member 104, the first intermediate member 105A disposed on the axial side O of the driving member 104, and the second member disposed on the other side in the axial direction O. Intermediate member 105B. The first intermediate member 105A and the second intermediate member 105B have the same configuration. Therefore, the first intermediate member 105A will be described below, and the description of the second intermediate member 105B will be substantially omitted.

As shown in Fig. 3 and Fig. 4 (A) and (B), the drive member 104 has a ring shape (outer diameter Dd) having a through hole 104B at the center. Through The hole 104B is set to be insertable into the drive shaft 101. Further, a key groove 104C is provided in the through hole 104B, and the drive member 104 and the drive shaft 101 are coupled by a key (not shown) to integrally rotate the drive member 104 and the drive shaft 101. Two concave portions 104D are respectively provided on both side faces 104AA and 104AB of the drive member 104 in the axial direction O. Since the shapes of the both side faces 104AA and 104AB are the same, only the side face 104AA will be described, and the description of the side face 104AB will be omitted.

As shown in FIGS. 4(A) and 4(B), in the side surface 104AA, the positions of the two recessed portions 104D are provided along the outer circumference of the driving member 104, and are offset from each other by 180 degrees with respect to the center of the driving member 104. The position of the phase. That is, the center lines of the two concave portions 104D in the circumferential direction are on the same straight line and coincide with the long axis X direction. Further, the side faces 104DA of the recessed portions 104D are respectively parallel to the long axis X direction. Further, the symbol Ld is a distance between the side faces 104DA of the concave portion 104D (the width of the concave portion 104D). Further, the symbol Lg is the distance between the two concave portions 104D.

As shown in Fig. 5 (A) and (B), the first intermediate member 105A has a ring shape (outer diameter Dj) having a through hole 105AB at the center. The size (diameter Lb) of the through hole 105AB is such that the eccentricity of the drive shaft 101 is the largest and the drive member 104 is relatively displaced in the radial direction, and does not come into contact with the drive shaft 101. In the axial direction O of both sides 105AAA and 105AAB of the first intermediate member 105A, two convex portions 105AD and two convex portions 105AC extending from the radially inner side to the radially outer side of the first intermediate member 105A are provided.

As shown in Figure 5 (A), (B), on one side 105AAA The position where the two convex portions 105AD are provided is a position shifted by 180 degrees from the center of the first intermediate member 105A. That is, the center line of the two convex portions 105AD in the circumferential direction is on the same straight line and coincides with the direction of the minor axis Y (thus, the diameter Lb of the through hole 105AB is the distance between the two convex portions 105AD, and the outer diameter Dj is the distance between the outer peripheral faces 105ADB of the two convex portions 105AD). Further, the side faces 105ADA of the convex portions 105AD are respectively set to be parallel to the short axis Y direction. Further, the symbol Ljx is a distance between the side faces 105ADA of the convex portions 105AD (the width of the convex portions 105AD).

As shown in Fig. 5 (A) and (B), in the other side surface 105AAB, the position where the two convex portions 105AC are provided is also a position shifted by 180 degrees from the center of the first intermediate member 105A. That is, the center line of the two convex portions 105AC in the circumferential direction is on the same straight line and coincides with the long axis X direction (hence, the diameter Lb of the through hole 105AB is the distance between the two convex portions 105AC, and the outer diameter Dj is the distance between the outer peripheral faces 105ACB of the two convex portions 105AC). Further, the side faces 105ACA of the convex portions 105AC are respectively parallel to the long axis X direction. Further, the symbol Ljy is a distance between the side faces 105ACA of the convex portions 105AC (the width of the convex portions 105AC).

Here, the convex portion 105AC and the convex portion 105AD have the same shape, and the width Ljy of the convex portion 105AC and the width Ljx of the convex portion 105AD are the same (Ljy=Ljx). That is, the side surface 105AAA and the side surface 105AAB have the same shape although the phase is shifted by 90 degrees. Further, the height of the axial direction O of the convex portion 105AC is slightly smaller than the depth of the axial direction O of the concave portion 104D. And the convex part The width Ljy of 105AC is slightly narrower than the width Ld of the recess 104D (Ljy < Ld). Also, the outer diameter Dj and the outer diameter Dd are substantially the same (Dj ≒ Dd). Further, the distance Lb between the two convex portions 105AC is larger than the distance Lg between the two concave portions 104D (Lb>Lg+α, α>0).

Therefore, the two convex portions 105AC are respectively engageable in the two concave portions 104D. At this time, by arranging the two convex portions 105AC (disposing the two concave portions 104D), the relative movement of the first intermediate member 105A with respect to the driving member 104 in the short-axis Y direction can be restricted. However, the relative movement of the first intermediate member 105A with respect to the drive member 104 in the long axis X direction (for example, 1 mm or less) can be allowed. In other words, the drive member 104 is opposed to the first intermediate member 105A in the axial direction O, and is coupled so as to be relatively displaceable in one direction (long axis X direction) in the radial direction. In this manner, the two convex portions 105AC are fitted into the two concave portions 104D, and the driving member 104 and the first intermediate member 105A are coupled to be integrally rotatable. Further, the drive member 104 and the second intermediate member 105B are also connected in the same manner. Further, the shape of the convex portions 105AC and 105BC and the concave portion 104D is not particularly limited as long as the driving member 104 and the intermediate member 105 (105A, 105B) are relatively displaceable in the radial direction and connected to each other so as to be rotatable integrally.

As shown in FIGS. 2 and 3, the vibrating body 106 has a first vibrating body 106A coupled to the first intermediate member 105A and a second vibrating body 106B coupled to the second intermediate member 105B. The first vibrating body 106A and the second vibrating body 106B are disposed corresponding to the radially inner side of the decelerating internal gear 130A and the output internal gear 130B, respectively. The first vibrating body 106A and the second oscillating body The bodies 106B are all of the same structure. Therefore, the first vibrating body 106A will be described below, and the description of the second vibrating body 106B will be basically omitted.

As shown in Fig. 6 (A) and (B), the first vibrating body 106A has a cylindrical shape that is not circular. Specifically, the first vibrating body 106A has a main body portion 106AA and an extending portion 106AD.

As shown in Fig. 6 (A) and (B), the main body portion 106AA has a through hole 106AB at the center. The size (diameter Lp) of the through hole 106AB is such that the eccentricity of the drive shaft 101 is maximum and the drive member 104 and the first intermediate member 105A are relatively displaced in the radial direction, and are not in contact with the drive shaft 101. The outer shape of the main body portion 106AA viewed from the axial direction O is the same as the outer shape of the first oscillating body 106A viewed from the axial direction O. That is, as shown in Fig. 6(B), the distance Ry from the axial center in the short-axis Y direction to the outer circumference of the main body portion 106AA is larger than the distance Rx from the axial center in the long-axis X direction to the outer circumference of the main body portion 106AA. Short (Ry<Rx). That is, at the short-axis Y position, a gap is generated between the external gear 120 and the internal gear 130A for deceleration, thereby achieving a non-engaged state. On the other hand, in the vicinity of the position of the long axis X, the meshing state of the external gear 120 and the internal gear 130A for deceleration is realized (in addition, the symbol Pc represents a true circular shape in which the distance Rx is indicated by a broken line as a radius).

Further, as shown in Fig. 6 (A) and (B), the side surface 106AAA on the side where the extending portion 106AD of the main body portion 106AA in the axial direction O extends is provided from the radially inner side to the radially outer side of the main body portion 106AA. Two recesses 106AC on the inner circumference of the extension portion 106AD. The position where the two recesses 106AC are provided is a position deviated from the center of the main body portion 106AA by 180 degrees from each other. That is, the two recesses 106AC are in the circumferential direction The core lines are on the same straight line and coincide with the short axis Y direction (thus, the diameter Lp of the through hole 106AB becomes the distance between the two concave portions 106AC, and the inner diameter Dw of the extending portion 106AD becomes the outer side of the two concave portions 106AC The distance between the circumferential faces 106ACB). Further, the side faces 106ACA of the recessed portions 106AC are respectively parallel to the short axis Y direction. Further, the symbol Lw is the distance between the side faces 106ACA of the concave portion 106AC (the width of the concave portion 106AC).

As shown in FIGS. 3 and 6 (A) and (B), the extending portion 106AD is a cylindrical portion extending from the main body portion 106AA in the axial direction O. The inner diameter Dw of the extending portion 106AD is larger than the outer diameter Dd of the driving member 104 and the outer diameter Dj of the first intermediate member 105A (Dw>Dd(Dj)+β, β>0). That is, the inner diameter Dw is a size in which the eccentricity of the drive shaft 101 is the largest and the radial displacement of the drive member 104 and the first intermediate member 105A are not in contact. The extending portion 106AD is disposed to extend outward in the radial direction of the first intermediate member 105A and the driving member 104. Specifically, the extending portion 106AD is an outer circumference that covers a part of the first intermediate member 105A and the driving member 104 (approximately half of the axial length O of the driving member 104). Further, since the inner diameter Dw is fixed, the radial thickness Ty of the short-axis Y position of the extending portion 106AD is thinner than the radial thickness Tx of the long-axis X position (Ty<Tx).

Here, the height of the axial direction O of the convex portion 105AD (the convex portion 105AC) is slightly smaller than the depth of the axial direction O of the concave portion 106AC. Further, the width Ljx of the convex portion 105AD is slightly narrower than the width Lw of the concave portion 106AC (Ljx < Lw). Further, as described above, the inner diameter Dw is correspondingly larger than the outer diameter Dj and the outer diameter Dd. (Dw>Dd(Dj)+β, β>0). In other words, the distance Dj between the outer circumferential surfaces 105ADB of the two convex portions 105AD (Fig. 5 (A), (B)) is smaller than the distance Dw between the outer circumferential surfaces 106ACB of the two concave portions 106AC.

Therefore, the two convex portions 105AD can be fitted to the two concave portions 106AC, respectively. At this time, by arranging the two convex portions 105AD (two concave portions 106AC are disposed), the relative movement of the first intermediate member 105A with respect to the first vibrating body 106A in the long axis X direction can be restricted. However, the relative movement of the first intermediate member 105A with respect to the first vibrating body 106A in the short-axis Y direction (for example, 1 mm or less) can be allowed. In other words, the first vibrating body 106A has a configuration in which the concave portion 106AC fitted to the first intermediate member 105A is provided at the short-axis Y position. Further, the first vibrating body 106A and the first intermediate member 105A are coupled to each other in the axial direction O, and are relatively displaceable in a direction orthogonal to the long axis X direction (short axis Y direction).

Further, the distance Dj between the outer peripheral faces 105ADB of the two convex portions 105AD is larger than the sum of the distance Lp between the two concave portions 106AC and the radial length of one concave portion 106AC ((Dw-Lp)/2) (Dj> (Dw+Lp)/2). Therefore, even if the first intermediate member 105A is relatively displaced in the radial direction with respect to the first vibrating body 106A, it is necessary to configure the two convex portions 105AD to be fitted to the two concave portions 106AC, respectively, and any one of the convex portions 105AD Nor will it deviate from the corresponding recess 106AC.

In this manner, the first vibrating body 106A and the first intermediate member 105A are coupled to each other so as to be rotatable together by the fitting of the two convex portions 105AD and the two concave portions 106AC. In addition, the second vibrating body 106B and the second intermediate member 105B It is also linked in the same way. Further, the shapes of the convex portions 105AD and 105BD and the concave portions 106AC and 106BC are not particularly limited as long as the vibrating body 106 (106A, 106B) and the intermediate member 105 (105A, 105B) are relatively displaceable in the radial direction, and are connected as one body. Rotate the shape.

Further, the second vibrating body 106B has the same shape as the first vibrating body 106A. Therefore, the vibrating body 106 is configured to cover the entire length of the connecting member 103 in the axial direction O.

As shown in Fig. 2, the vibrating body bearings 110 (110A, 110B) correspond to the decelerating internal gear 130A and the output internal gear 130B, and are arranged side by side in the axial direction O. Both the vibrating body bearing 110A and the vibrating body bearing 110B have the same structure. Therefore, the vibrating body bearing 110A will be described below, and the description of the vibrating body bearing 110B will be substantially omitted.

As shown in Fig. 2, the vibrating body 110A is composed of an inner ring 112A, a bearing holder 114A, a roller 116A as a rolling element, and an outer ring 118A.

Inner ring 112A is formed from a flexible material. The inner ring 112A is disposed on the side of the first vibrating body 106A. Further, the inner circumferential surface of the inner ring 112A abuts against the first vibrating body 106A, and the inner ring 112A rotates integrally with the first vibrating body 106A. The bearing holder 114A accommodates the roller 116A and limits the position and posture of the roller 116A in the circumferential direction. That is, the axial length L2 of the bearing holder 114A is larger than the axial length L2 of the roller 116A (L2>L1). The roller 116A has a cylindrical shape (including a needle shape). The outer ring 118A is disposed on the outer circumference of the roller 116A and the bearing holder 114A. Outer ring 118A is also formed from a flexible material. The outer ring 118A is flexibly deformed together with the gear 120 disposed outside the outer circumference thereof by the rotation of the vibrating body 106. In addition, as shown in Figure 2 It is shown that in the axial direction O, the positions of the inner ring 112A and the ends of the outer side of the axial direction O of the bearing holder 114A and the outer ring 118A are almost identical. However, the end position of the inner ring 112A, the bearing holder 114A and the outer ring 118A on the outer side in the axial direction O is slightly inside than the end position on the outer side in the axial direction O of the first vibrating body 106A.

Further, as shown in Fig. 2, in the vibrator bearing 110A, the axial length O of the outer circumference of the first vibrating body 106A is longer than the axial length O1 of the roller 116A (L1 < L). Here, the actual transmission torque in the vibrating body bearing 110A is the roller 116A. Therefore, it can be said that the axial length O of the outer circumference of the first vibrating body 106A is longer than the axial length O2 of the vibrating body bearing 110A that is actually disposed on the outer circumference of the first vibrating body 106A. Further, as shown in Fig. 2, the gap γ1 between the bearing holder 114A and the abutting member 148 is narrower than the distance γ2 from the outer end portion of the roller 116A to the outer end portion of the bearing holder 114A (γ1 < γ2). Therefore, even if the roller 116A moves outward in the axial direction O, the movement of the roller 116A is only the gap γ1. That is, even when the roller 116A moves outward in the axial direction O, the axial length O of the roller 116A stays in the axial length L of the outer circumference of the first vibrating body 106A.

As shown in FIG. 2, the external gear 120 is constituted by gears 120A and 120B which are provided in parallel with the reduction internal gear 130A and the output internal gear 130B and which are arranged side by side in the axial direction O. The outer gear 120A is in meshing engagement with the internal gear 130A for reduction. The external gear 120A is composed of a base member and external teeth (not shown). The base member is a cylindrical member having flexibility to support the external teeth, and is shared with the base member of the external gear 120B. Further, the external gear 120A is disposed on the oscillating body shaft The outer circumference of the bearing 110A is flexibly deformed by the rotation of the first vibrating body 106A. The external gear determines the tooth profile based on the trochoidal curve to achieve theoretical engagement.

As shown in Fig. 2, the external gear 120B is in meshing engagement with the output internal gear 130B. Further, the external gear 120B is composed of a base member and external teeth similarly to the external gear 120A. Although the external teeth of the external gear 120B are separated from the external teeth of the external gear 120A in the axial direction O, they are composed of the same number and the same shape.

As shown in FIG. 2, the reduction internal gear 130A and the output internal gear 130B constituting the internal gear 130 are arranged side by side in the axial direction O. The internal gear 130 is formed of a member having rigidity. The reduction internal gear 130A includes internal teeth that are larger than the number of teeth of the external gear of the external gear 120A (i is 2 or more). The internal teeth are shaped in such a manner as to mesh with the teeth based on the trochoidal curve (the internal teeth of the output internal gear 130B are also the same). The reduction internal gear 130A decelerates the rotation of the vibrating body 106 by meshing with the external gear 120A.

On the other hand, the output internal gear 130B includes internal teeth having the same number of teeth as the external teeth of the external gear 120B. The same rotation as the rotation of the external gear 120B is outputted from the output internal gear 130B to the outside.

Further, a lubricant is sealed in the flexural meshing gear device 100. Further, the lubricant lubricates the meshing portion of the external gear 120 and the internal gear 130, and the like.

Next, the operation of the flexural meshing type gear device 100 will be mainly described with reference to FIGS. 1 and 2 .

By the rotation of the drive shaft 101, if the vibrating body 106 rotates, the external teeth The wheel 120A is flexibly deformed via the vibrating body bearing 110A by its rotation state. At this time, the external gear 120B is also flexibly deformed in the same phase as the external gear 120A via the oscillating body bearing 110B.

The external gears 120A and 120B are flexibly deformed by the vibrating body 106, and the external teeth of the external gear 120A mesh with the internal teeth of the internal gear 130A for deceleration. Similarly, the external teeth of the external gear 120B mesh with the internal teeth of the output internal gear 130B.

The meshing position of the outer gear 120A and the reduction internal gear 130A is rotationally moved in accordance with the movement of the position of the long axis X of the vibrating body 106. Here, when the vibrating body 106 rotates once, the rotational phase of the external gear 120A is delayed only by the difference in the number of teeth from the internal gear 130A for deceleration. In other words, the reduction ratio based on the reduction internal gear 130A can be obtained ((the number of teeth of the external gear 120A - the number of teeth of the reduction internal gear 130A) / the number of teeth of the external gear 120A). The specific numerical reduction ratio is ((100-102)/100=-1/50). Here, "-" means that the input and output are in a reverse rotation relationship.

The number of teeth of the outer gear 120B and the output inner gear 130B are the same, and therefore the portions where the outer gear 120B and the output inner gear 130B mesh with each other do not move, but the same teeth mesh with each other. Therefore, the same rotation as the rotation of the external gear 120B is output from the output internal gear 130B. As a result, it is possible to take out the output of the output internal gear 130B and decelerate the rotation of the vibrating body 106 to (-1/50). That is, the rotation of the drive shaft 101 is decelerated to (-1/50), and the output can be taken out by the output side member 152.

Further, when the drive shaft 101 is shifted from the axial center of the reduction internal gear 130A (the output internal gear 130B) by a predetermined amount in the short-axis Y direction, the phase In the drive member 104 and the first intermediate member 105A (second intermediate member 105B), the first vibrator 106A (second vibrating body 106B) is displaced by only a predetermined amount in the short-axis Y direction. When the drive shaft 101 is shifted by a predetermined amount from the axial center of the reduction internal gear 130A (the output internal gear 130B) in the long axis X direction, the first intermediate member 105A (the second intermediate member 105B) and the drive member 104 are The first vibrating body 106A (the second vibrating body 106B) is integrated and is displaced by only a predetermined amount in the long axis X direction. Thereby, the connecting member 103 can individually allow the axial center of each of the first vibrating body 106A and the second vibrating body 106B to be displaced in the radial direction.

As described above, in the present embodiment, the drive shaft 101 and the vibrating body 106 are coupled by the connecting member 103. Therefore, the axial center of the vibrating body 106 can be allowed to change in the radial direction with respect to the drive shaft 101. Further, the vibrating body 106 faces the connecting member 103 in the axial direction O, and the vibrating body 106 extends and is disposed radially outward of the connecting member 103. Here, the vibrating body bearing 110 and the external gear 120 are disposed on the outer circumference of the vibrating body 106. Therefore, the outer circumference of the vibrating body 106 needs a length corresponding to the axial direction O. In the present embodiment, a part (extension portions 106AD, 106BD) of the outer circumference of the vibrating body 106 is disposed radially outward of the connecting member 103. Therefore, the axial length O required for the outer circumference of the vibrating body 106 can be ensured, and an increase in the axial length O of the entire joint structure of the vibrating body 106 and the connecting member 103 can be suppressed. At the same time, in the present embodiment, the rigidity of the vibrating body 106 can be increased by the extending portions 106AD and 106BD of the vibrating body 106, and the axial thickness O of the main body portions 106AA and 106BA can be reduced (Fig. 3).

Further, in the present embodiment, the connecting member 103 has a driving member 104 and intermediate member 105. Further, the drive member 104 and the intermediate member 105 are coupled so as to be relatively displaceable in one direction (long axis X direction) in the radial direction. Further, the intermediate member 105 and the vibrator 106 are coupled so as to be relatively displaceable in a direction orthogonal to the long axis X direction (short axis Y direction). Further, the vibrating body 106 is opposed to the intermediate member 105 in the axial direction O, and the vibrating body is disposed to extend radially outward of the intermediate member 105. That is, the connecting member 103 can be simplified and configured with a small number of components, and can reliably allow the eccentricity of the drive shaft 101 and the internal gear 130A for deceleration and the internal gear 130B for output. Further, the present invention is not limited thereto, and the connecting member may be configured using, for example, a leaf spring and a coil spring that do not include the driving member and the intermediate member.

Further, in the present embodiment, the drive member 104 faces the intermediate member 105 in the axial direction O, and the vibrator 106 extends to the radially outer side of the drive member 104. Therefore, the vibrating body bearing 110 can be disposed on the outer circumference of the vibrating body 106 by the thickness of the axial direction O of the driving member 104. That is, the axial length O of the flexural meshing gear device 100 can be shortened, and the vibrating body 106 can stably withstand the load from the vibrating body bearing 110. At the same time, since the gap between the first vibrating body 106A and the second vibrating body 106B in the axial direction O can be reduced, the first vibrating body 106A and the second vibrating body 106B can be restricted from each other in the axial direction. Displacement. Further, the present invention is not limited thereto, and the driving member and the intermediate member may not face each other in the axial direction O, and the vibrating body may not be extended to the radially outer side of the driving member.

Further, in the present embodiment, the decelerating internal gear 130A and the output internal gear 130B are provided, and the connecting member 103 has one driving member 104, the first intermediate member 105A, and the second intermediate member 105B, and the vibrating body 106 has There are a first vibrating body 106A and a second vibrating body 106B. Therefore, the eccentricity of the drive shaft 101 of each of the reduction internal gear 130A and the output internal gear 130B of the cylindrical flexural meshing gear device 100 can be individually permitted.

In the present embodiment, the first vibrating body 106A and the second vibrating body 106B have recesses 106AC and 106BC that are fitted to the first intermediate member 105A and the second intermediate member 105B at the short-axis Y position. Therefore, it is not necessary to provide the concave portion at the position of the long axis X, and the thickness of the axial direction O of the main body portion 106AA at the position of the long axis X can be secured. In addition to this, the radial thickness Tx of the extension portion 106AD (106BD) of the long axis X position is thicker than the radial thickness Ty of the extension portion 106AD (106BD) at the short axis Y position (Ty<Tx). In other words, the rigidity of the vibrating body 106 can be increased in the vicinity of the position of the long axis X where the load applied to the vibrating body 106 becomes maximum. Therefore, in the vicinity of the position of the long axis X of the vibrating body 106, the load can be stably received, and deformation and breakage of the vibrating body 106 can be reliably prevented. Further, the present invention is not limited thereto, and may have a configuration in which a concave portion fitted to the intermediate member is provided in addition to the position of the short axis Y.

Further, in the present embodiment, the vibrating body 106 is configured to cover the entire length of the connecting member 103 in the axial direction O. Therefore, it is not affected by the presence of the connecting member 103, the assembly of the vibrating body bearing 110 can be performed, and the risk of inadvertently damaging the vibrating body bearing 110 and the vibrating body 106 during assembly can be reduced. Further, the present invention is not limited thereto, and the vibrating body may be configured to cover only a part of the entire length of the connecting member in the axial direction O.

Further, in the present embodiment, the rolling elements are the rollers 116A and 116B. That is, the contact between the rollers 116A, 116B and the inner rings 112A, 112B and the outer rings 118A, 118B is increased as compared with the case where the rolling elements are balls. Share. Therefore, by using the rollers 116A and 116B, the transmission torque of the vibrating body bearing 110 can be increased, and the life can be extended.

In addition, in the present embodiment, the axial length O of the outer circumference of the first vibrating body 106A (second vibrating body 106B) is larger than that of the vibrating body bearing 110A (110B) (roller 116A (116B) The axial length L1 is long. Therefore, as long as the vibrating body bearing 110 is not displaced in the axial direction O, even if the load applied to the vibrating body 106 from the vibrating body bearing 110 is increased, the axial length O of the roller 116A (116B) can be reliably dispersed. Load. That is, deformation and breakage of the vibrating body 106 can be further prevented. Further, the present invention is not limited thereto, and the axial length O of the outer circumference of the vibrating body 106 may be longer than the axial length O2 of the vibrating body bearing.

Further, in the present embodiment, the oscillating body bearing 110 is configured such that the roller 116A (116B) must stay on the outer circumference of the first oscillating body 106A (second oscillating body 106B) even if it is displaced in the axial direction O. To the length L of O. Therefore, even if the vibrating body bearing 110 is displaced in the axial direction O, the first vibrating body 106A (the second vibrating body 106B) can stably withstand the load applied to the roller 116A (116B).

Further, in the present embodiment, the first intermediate member 105A is the same as the second intermediate member 105B, and the first vibrating body 106A is the same as the second vibrating body 106B. That is, since the ratio of the members to be shared can be increased, the member management is easy, and the cost reduction of the members can be promoted. In addition to this, the first intermediate member 105A and the second intermediate member 105B have no directivity. Therefore, the orientation of the first intermediate member 105A and the second intermediate member 105B can be ignored, so that the group of the connecting members 103 can be easily performed. Installed.

Further, in the present embodiment, the butting members 148 and 150 formed of a material having high slidability are disposed to face the end faces of the outer gear 120 and the bearing of the vibrating body 110. Therefore, the friction loss generated at the end faces of the outer gear 120 and the oscillating body bearing 110 can be reduced. At the same time, the docking member 148 can also restrict the outer gear 120 and the oscillating body bearing 110 from moving in the axial direction O.

Therefore, in the present embodiment, even if an eccentricity exists between the drive shaft 101 of the flexural meshing gear device 100 and the internal gear 130, the performance and the life can be prevented from being lowered, and the flexural meshing gear device 100 can be suppressed. The increase in axial O length.

Although the present invention has been described with reference to the above embodiments, the present invention is not limited to the above embodiments. In other words, modifications and changes in design can be made without departing from the spirit and scope of the invention.

In the above embodiment, the vibrating body bearing 110 has the inner rings 112A and 112B and the outer rings 118A and 118B. However, the present invention is not limited thereto, and the outer peripheral portion of the vibrating body may be used as the inner ring. Further, it is not necessary to have an outer ring. For example, the roller may directly rotatably support the external gear and the inner peripheral portion of the outer gear may serve as an outer ring. Also, the rotating body may not be a roller but a ball.

Further, in the above embodiment, the external teeth are provided in a tooth shape according to the trochoidal curve, but the present invention is not limited thereto. The external teeth may be arcuate, and other shapes may be used.

Further, in the above embodiment, the cylindrical flexural meshing gear device 100 includes the reduction internal gear 130A and the output internal gear 130B, but this The invention is not limited to this. For example, it is also applicable to a flexural meshing gear device in which the internal gear and the external gear are each one and have a cup-shaped (or high-top hat type) flexural deformation-out gear.

Further, the connecting member is not limited to the configuration of the above-described embodiment, and may be configured such that the axial center of the vibrating body is allowed to be displaced in the radial direction, and the drive shaft and the vibrating body are coupled so as to be rotatable together.

[Industrial availability]

The present invention can be widely applied to a flexure meshing gear device having an outer gear of a cylindrical shape, a cup type, or a high top hat type.

100‧‧‧Flexing meshing gear unit

101‧‧‧ drive shaft

102‧‧‧stop member

103, 103A, 103B‧‧‧ connecting members

104‧‧‧ drive components

105A, 105B‧‧‧Intermediate components

106, 106A, 106B‧‧‧ vibrating body

110, 110A, 110B‧‧‧ starter bearing

112A, 112B‧‧ Inner Ring

114A, 114B‧‧‧ bearing cage

116A, 116B‧‧‧ Roller

118A, 118B‧‧‧ outer ring

120, 120A, 120B‧‧‧ external gear

130, 130A, 130B‧‧‧ internal gear

148, 150‧‧‧ docking components

O‧‧‧Axial

L, L1, L2‧‧‧ axial O length

Γ1‧‧‧ gap

Γ2‧‧‧ distance

Claims (7)

A flexing meshing gear device is a flexing meshing gear device having a vibrating body that is rotationally driven by a driving shaft, wherein the driving shaft and the vibrating body support an axis of the vibrating body The core is coupled to the radially displaced connecting member, the vibrating body is axially opposed to the connecting member, and the vibrating body is extended to be disposed radially outward of the connecting member. The flexural meshing gear device of claim 1, wherein the connecting member has a driving member and an intermediate member that rotate integrally with the driving shaft, and the driving member and the intermediate member are in a radial direction The connecting member is relatively displaceable, and the intermediate member is coupled to the vibrating body in a direction orthogonal to the one direction to be relatively displaceable, the vibrating body is axially opposed to the intermediate member, and the vibrating body extends It is disposed on the radially outer side of the intermediate member. The flexural meshing gear device according to claim 2, wherein the driving member and the intermediate member are axially opposed to each other, and the vibrating body is extended to a radially outer side of the driving member. The flexural meshing gear device according to any one of claims 1 to 3, wherein the flexural meshing gear device includes an external gear disposed on an outer circumference of the vibrating body and having the The rotation of the vibrating body is flexed and deformed Flexible; the first internal gear has the rigidity of the external gear meshing engagement; and the second internal gear is axially arranged side by side with the first internal gear and has rigidity of the external gear intermeshing engagement, the connection The member includes one of the driving members, a first intermediate member disposed on one side in the axial direction of the driving member, and a second intermediate member disposed on the other side in the axial direction, and the vibrating body is coupled to the first intermediate member The first vibrating body and the second vibrating body connected to the second intermediate member. The flexural meshing gear device according to claim 2, wherein the vibrating body has a concave portion that is fitted to the intermediate member at a short axis position. The flexural meshing gear device according to any one of claims 1 to 3, wherein the vibrating body covers the entire axial length of the connecting member. The flexural meshing gear device according to any one of claims 1 to 3, wherein an axial length of an outer circumference of the vibrating body is longer than an axial length of a bearing disposed on an outer circumference of the vibrating body .