KR101644955B1 - Flexible engagement gear device - Google Patents

Abstract

Even in the presence of a core discrepancy between the drive shaft and the internal gear of the bending gear type gear unit, deterioration in performance and service life is prevented, and increase in axial length can be suppressed.
The driving shaft 101 and the vibrating body 106 are arranged in the radial direction of the central axis of the vibrating body 106 in the bending mesh type gear device 100 having the vibrating body 106 that is rotationally driven by the driving shaft 101 And the vibrating element 106 and the joint member 103 are opposed to each other in the axial direction O and the vibrating body 106 is connected to the joint member 103 And extend radially outwardly.

Description

Technical Field [0001] The present invention relates to a flexible engagement gear device,

This application claims priority based on Japanese Patent Application No. 2014-022894 filed on February 7, 2014. The entire contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a bending gear.

Patent Document 1 discloses a bending-mesh type gear device having a vibrator that is rotationally driven by a drive shaft. In this bending gear type gear device, a joint member called an Oldham coupling is provided on the vibrating body in the drive shaft. The Oldham coupling permits this even when there is a core discrepancy (simply referred to as core discrepancy of the drive shaft) between the drive shaft and the internal gear at the time of assembling, thereby preventing deterioration of performance and service life .

Prior art literature

(Patent Literature)

Patent Document 1: JP-A-60-241550

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

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-described problems, and it is an object of the present invention to provide a bending gear capable of preventing deterioration of performance and service life, There is provided a planetary gear device.

The present invention relates to a bending-mesh type gear device having a vibrating body that is rotationally driven by a drive shaft, wherein the drive shaft and the vibrating body are connected by a seam member that permits displacement in the radial direction of the axial center of the vibrating body, The vibrator and the joint member are opposed to each other in the axial direction and the vibrator is disposed so as to extend radially outward of the joint member.

In the present invention, the drive shaft and the vibrator are connected by a joint member, and allow displacement of the axis of the vibrator relative to the drive shaft in the radial direction. At the same time, in the present invention, the vibrator is arranged extending radially outward of the joint member. This makes it possible to suppress an increase in the axial length of the connecting portion between the vibrator and the drive shaft.

According to the present invention, it is possible to prevent deterioration of performance and life span even if there is a disc displacement of the drive shaft of the warping gear type gear device, and it is possible to suppress an increase in axial length.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a cross-sectional view showing an example of the overall configuration including a bending gear type gear device according to an embodiment of the present invention. FIG.
Fig. 2 is a cross-sectional view showing only the vicinity of the bending gear of Fig. 1;
Fig. 3 is an exploded cross-sectional view of the vibrator and the joint member of Fig. 1;
Fig. 4 is a perspective view (a) and a sectional view (b) of the driving member of Fig. 3;
Fig. 5 is a perspective view (a) and a sectional view (b) of the intermediate member of Fig. 3;
Fig. 6 is a perspective view (a) and a 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. Fig.

First, the overall configuration of the present embodiment will be schematically described.

1, the warping gear type gear device 100 has a vibrating body 106 that is rotationally driven by a drive shaft 101. [ The bending gear type gear device 100 is supported by the fixed side member 136 and is configured to transmit the output to the output side member 152.

1, the flexural-engagement-type gear device 100 itself includes a vibrating body 106 and a flexible member 106 disposed on the outer periphery of the vibrating body 106 and flexibly deformed by rotation of the vibrating body 106 A vibrating body bearing 110 disposed between the vibrating body 106 and the external gear 120 and an external gear 120 having a resiliently flexible structure, (First internal gear) 130A having a stiffness to be engaged with the internal gear 130A and a second internal gear 130B having a rigidity for engagement with the external gear 120 in the axial direction O, And an internal gear (second internal gear) 130B. However, the deceleration internal gear 130A and the internal gear 130B for output are collectively referred to as the internal gear 130.

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

1, the fixed side member 136 includes a sub casing 138, a drive shaft casing 140, a first fixing member 142, a second fixing member 144, a third And has a fixing member 146. The auxiliary casing 138 is cylindrical. The auxiliary casing 138 supports the oil chamber Os1 into which the drive shaft 101 is fitted and is connected to the drive shaft casing 140. [ The drive shaft casing (140) is cylindrical in shape, one end of which is a flange portion (140A). The drive shaft casing 140 supports the drive shaft 101 through two bearings Br on the inner side of the cylindrical shaft. The internal gear 130A for deceleration is fixed to the flange portion 140A. A first fixing member 142 is fixed to the outside of the radial direction of the position where the internal gear 130A for deceleration of the flange portion 140A is fixed. On the other hand, on the inner side in the radial direction of the position where the internal gear 130A for deceleration of the flange portion 140A is fixed, the annular contact member 148 exists. The contact member 148 is disposed between the bending gear 150 and the flange portion 140A so as to face the end face of the external gear 120 and the vibrator bearing 110. [ The contact member 148 is formed of, for example, a material having high sliding properties.

As shown in Fig. 1, a second fixing member 144 is fixed to the first fixing member 142. As shown in Fig. The first fixing member 142 and the second fixing member 144 are both annular in shape and disposed on the outer side in the radial direction of the output side member 152. The first fixing member 142 is fixed to the third fixing member 146 as its outer periphery. The third fixing member 146 is integrated with a fixed wall (not shown).

The output side member 152 has a first output member 154, a second output member 156, and a third output member 158, as shown in Fig. The first output member 154 is annular in shape and fixed to the internal gear for output 130B. An annular contact member 150 is present on the radially inner side of the portion of the first output member 154 where the internal gear 150B for output is fixed. The contact member 150 is disposed between the warping gear type gear device 100 and the first output member 154 so as to face the end face of the external gear 120 and the vibrator bearing 110 (150) is made of the same material as the contact member (148)). A main bearing Mb (a cross roller ring, an angular 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 is in the form of a disk and is fixed to the first output member 154. An oil chamber 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 form 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 drive shaft 101, the joint member 103, and the respective components of the flexural-engagement-type gear device 100 will be schematically described.

1 and 2, the drive shaft 101 and the vibrating body 106 are connected to each other by a joint which permits displacement in the radial direction of the axis of the vibrating body 106, And is connected by a member (103). Here, the vibrating body 106 and the joint member 103 are opposed to the axial direction O. The vibrating body 106 is disposed so as to extend outward in the radial direction of the joint member 103.

Next, the respective components of the drive shaft 101, the joint member 103, and the bending gear 100 will be described in detail. However, in the present embodiment, the cross section perpendicular to the axial direction O of the vibrating body 106 is substantially elliptical. Accordingly, in this embodiment, a position at which the distance from the axial center to the outer circumference of the vibrating body 106 becomes maximum is referred to as a long axis position, and a direction in which a straight line connecting the two long axis positions extends is referred to as a long axis X direction I call it. At the same time, in the present embodiment, a position where the distance from the shaft center to the outer circumference of the vibrating body 106 becomes minimum is called a short axis position, and a direction in which a straight line connecting two short axis positions extends is called a short axis (Y) direction.

The drive shaft 101 is a motor shaft or the like extending from a motor (not shown) as a drive source. 1, the drive shaft 101 is rotatably supported by a drive shaft casing 140 through a bearing (Br). 2, the drive shaft 101 is inserted from one end side of the joint member 103 and is restricted from moving in the axial direction O by the stop member 102. As shown in Fig.

The joint member 103 is an Oldham coupling. 1 to 3, the drive shaft 101 and the vibrating body 106 are connected to allow the displacement of the center of the vibrating body 106 in the radial direction by the joint member 103 . Specifically, the joint member 103 has a drive member 104 and an intermediate member 105 (105A, 105B) that rotate integrally with the drive shaft 101. [ 3, the joint member 103 includes one drive member 104, a first intermediate member 105A disposed on one side in the axial direction O of the drive member 104, And a second intermediate member 105B disposed on the other side in the axial direction (O). The first intermediate member 105A and the second intermediate member 105B have the same configuration. For this reason, the first intermediate member 105A will be described hereinafter, and the description of the second intermediate member 105B will be basically omitted.

As shown in Figs. 3 and 4A and 4B, the driving member 104 has a toric shape (outer diameter Dd) having a through hole 104B at the center thereof. The through hole 104B allows the drive shaft 101 to be inserted. A key groove 104C is provided in the through hole 104B so that the driving member 104 is integrally rotated with the driving shaft 101. The driving member 104 and the driving shaft 101 are connected by a key not shown. Two concave portions 104D are provided on both side surfaces 104AA and 104AB in the axial direction O of the driving member 104, respectively. Since the shapes of the side surfaces 104AA and 104AB are the same, only the side surface 104AA will be described, and a description of the side surface 104AB will be omitted.

4A and 4B, the positions where the two concave portions 104D are provided are the positions along the outer periphery of the driving member 104, Are out of phase with each other by 180 degrees with respect to the center of the wafer 104. That is, the center lines in the circumferential direction of the two concave portions 104D are connected in a straight line and coincide with the long axis (X) direction. The side surfaces 104DA of the concave portion 104D are parallel to the major axis X direction. The symbol Ld is the distance between the side surfaces 104DA of the concave portion 104D (the width of the concave portion 104D). The reference character Lg is a distance between the two concave portions 104D.

The first intermediate member 105A has an annular shape (outer diameter Dj) having a through hole 105AB at the center, as shown in Figs. 5A and 5B. The diameter (diameter Lb) of the through hole 105AB is set such that the diameter of the drive shaft 101 is maximized and the drive member 104 is relatively displaced in the radial direction so as not to contact the drive shaft 101 . The two side surfaces 105AAA and 105ABB of the axial direction O of the first intermediate member 105A are respectively provided with two convex portions 105AD extending from the radially inner side to the radially outer side of the first intermediate member 105A, And a convex portion 105AC is provided.

As shown in Figs. 5A and 5B, the two convex portions 105AD are provided at 180 degrees relative to the center of the first intermediate member 105A in the one side surface 105AAA, Are also out of phase with each other. That is, the center line in the circumferential direction of the two convex portions 105AD is connected in a straight line and coincides with the direction of the minor axis (Y). (Because of this, the diameter Lb of the through hole 105AB is, And the outer diameter Dj is a distance between the outer peripheral surface 105ADB of the two convex portions 105AD. The side surface 105ADA of the convex portion 105AD is parallel to the minor axis (Y) direction. Note that the sign Ljx is the distance between the side surfaces 105ADA (the width of the convex portion 105AD) in the convex portion 105AD.

As shown in Figs. 5A and 5B, the positions at which the two convex portions 105AC are provided on the other side surface 105AAB are 180 degrees relative to the center of the first intermediate member 105A, Are also out of phase with each other. That is, the center line in the circumferential direction of the two convex portions 105AC is connected in a straight line and coincides with the direction of the long axis X (because of this, the diameter Lb of the through hole 105AB is two convex And the outer diameter Dj is a distance between the outer peripheral surfaces 105ACB of the two convex portions 105AC. The side face 105ACA of the convex portion 105AC is parallel to the long axis X direction. Note that the reference character Ljy is the distance between the side surfaces 105ACA in the convex portion 105AC (the width of the convex portion 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, although the side surface 105AAA and the side surface 105AAB are shifted in phase by 90 degrees, the shapes are the same. The height in the axial direction O of the convex portion 105AC is slightly smaller than the depth in the axial direction O of the concave portion 104D. The width Ljy of the convex portion 105AC is slightly smaller than the width Ld of the concave portion 104D (Ljy <Ld). The outer diameter Dj and the outer diameter Dd are substantially the same (Dj? Dd). The distance Lb between the two convex portions 105AC is appropriately larger than the distance Lg between the two concave portions 104D (Lb> Lg + ?,?> 0).

As a result, the two convex portions 105AC are respectively fittable to the two concave portions 104D. At this time, relative movement in the direction of the minor axis (Y) of the first intermediate member 105A with respect to the driving member 104 is performed by the arrangement of the two convex portions 105AC (arrangement of the two concave portions 104D) Is regulated. However, the relative movement of the first intermediate member 105A with respect to the driving member 104 in the direction of the major axis X is permitted (for example, 1 mm or less). That is, the driving member 104 and the first intermediate member 105A are relatively displaceable in one direction (long axis (X) direction) in the radial direction opposite to the axial direction (O). As described above, the driving member 104 and the first intermediate member 105A are integrally rotatably connected by the engagement of the two convex portions 105AC and the two concave portions 104D. However, the driving member 104 and the second intermediate member 105B are also connected to each other. The shapes of the convex portions 105AC and 105BC and the concave portion 104D are not particularly limited and the driving member 104 and the intermediate member 105 (105A and 105B) can be relatively displaced in the radial direction, It may be a shape that is integrally rotatably connected.

2 and 3, the vibrator 106 includes a first vibrator 106A connected to the first intermediate member 105A and a second vibrator 106A connected to the second intermediate member 105B. (106B). The first vibrator 106A and the second vibrator 106B are disposed corresponding to the radially inner side of the deceleration internal gear 130A and the internal gear for output 130B, respectively. The first vibrator 106A and the second vibrator 106B have the same configuration. Hereinafter, the first vibrator 106A will be described, and the second vibrator 106B will be basically omitted.

As shown in Figs. 6A and 6B, the first vibrator 106A has a non-circular cylindrical shape. Specifically, the first vibrator 106A has a body portion 106AA and a extending portion 106AD.

As shown in Figs. 6A and 6B, the body portion 106AA has a through hole 106AB at the center thereof. The diameter (Lp) of the through hole 106AB is set such that even if the driving shaft 104 and the first intermediate member 105A are displaced relative to each other in the radial direction, 101 so as not to contact with each other. 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 vibrating body 106A viewed from the axial direction O. [ 6 (b), the distance Ry from the central axis in the minor axis (Y) direction to the outer periphery of the main body portion 106AA is determined so as to extend from the central axis in the major axis (X) (Ry &lt; Rx) to the outer periphery of the outer circumferential surface 106AA. That is, at the position of the short axis (Y), a clearance is generated between the external gear 120 and the internal gear for deceleration 130A, thereby realizing a non-engaged state. On the other hand, in the vicinity of the long axis (X) position, the engagement state between the external gear 120 and the internal gear 130A for deceleration is realized (note that Pc is a circle shape with a radius Rx .

6A and 6B, on the side surface 106AAA of the main body 106AA on the extended side of the extending portion 106AD in the axial direction O, the main body portion 106AA, And two recesses 106AC continuing from the radially inward side to the radially outward side of the extending portion 106AD are provided. The positions where the two concave portions 106AC are provided are at positions displaced by 180 degrees from each other with respect to the center of the main body portion 106AA. That is, the center line in the circumferential direction of the two recesses 106AC is connected in a straight line and coincides with the minor axis (Y direction) (because of this, the diameter Lp of the through hole 106AB is two concave And the inner diameter Dw of the extending portion 106AD is a distance between the outer inner circumferential surfaces 106ACB of the two recesses 106AC. The sides 106ACA of the concave portion 106AC are parallel to the minor axis (Y) direction. The symbol Lw is the distance between the side surfaces 106ACA in the recess 106AC (the width of the recess 106AC).

The extending portion 106AD is a cylindrical portion extending from the body portion 106AA in the axial direction O as shown in Figs. 3, 6A and 6B. The inner diameter Dw of the extending portion 106AD is appropriately 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, > 0). That is, the inner diameter Dw is such that the driving member 104 displaced in the radial direction with the maximum displacement of the driving shaft 101 is not in contact with the first intermediate member 105A. The extending portion 106AD is disposed so as to extend radially outward of the first intermediate member 105A and the driving member 104. [ Specifically, the extending portion 106AD is provided so as to cover the outer periphery of the first intermediate member 105A and a part of the driving member 104 (up to approximately half of the axial length O of the driving member 104) have. However, since the inner diameter Dw is constant, the radial thickness Ty at the short axis (Y) position of the extending portion 106AD is smaller than the radial thickness Tx at the long axis X (Ty &lt; Tx).

Here, the height in the axial direction O of the convex portion 105AD (convex portion 105AC) is slightly smaller than the depth in the axial direction O of the concave portion 106AC. The width Ljx of the convex portion 105AD is slightly smaller than the width Lw of the concave portion 106AC (Ljx <Lw). As described above, the inner diameter Dw is appropriately larger than the outer diameter Dj and the outer diameter Dd (Dw> Dd (Dj) + ?,?> 0). That is, the distance Dj (Figs. 5A and 5B) between the outer peripheral surfaces 105ADB of the two convex portions 105AD is larger than the distance Dj between the outer inner peripheral surfaces 106ACB of the two recesses 106AC Is smaller than the distance Dw.

Due to this, the two convex portions 105AD are respectively fittable to the two concave portions 106AC. At this time, by the arrangement of the two convex portions 105AD (arrangement of the two concave portions 106AC), the first intermediate member 105A in the direction of the long axis (X) Relative movement is regulated. However, relative movement of the first intermediate member 105A with respect to the first vibrator 106A in the direction of the minor axis (Y) is permitted (for example, 1 mm or less). That is, the first vibrator 106A has a concave portion 106AC that is fitted to the first intermediate member 105A at the short axis (Y) position. The first vibrator 106A and the first intermediate member 105A are opposed to the axial direction O and relatively displaceable in the direction orthogonal to the long axis X direction .

The distance Dj between the outer circumferential surfaces 105ADB of the two convex portions 105AD is equal to the distance Lp between the two concave portions 106AC and the radial length of one concave portion 106AC (Dw-Lp) / 2) (Dj &gt; (Dw + Lp) / 2). Even if the first intermediate member 105A relatively displaces relative to the first vibrator 106A in the radial direction as much as possible, the two convex portions 105AD must be sandwiched between the two concave portions 106AC So that any convex portion 105AD does not deviate from the corresponding concave portion 106AC.

As described above, the first vibrating member 106A and the first intermediate member 105A are integrally rotatably connected by the engagement of the two convex portions 105AD and the two concave portions 106AC. However, the second vibrator 106B and the second intermediate member 105B are also connected to each other. The shapes of the convex portions 105AD and 105BD and the concave portions 106AC and 106BC are not particularly limited and the shapes of the vibrating members 106 (106A and 106B) and the intermediate members 105 (105A and 105B) And can be integrally rotatably connected.

However, the second vibrator 106B has the same shape as the first vibrator 106A. Thus, the vibrating body 106 is configured to cover the entire axial length (O) of the joint member 103.

2, the vibrator bearings 110 (110A, 110B) are arranged in two in the axial direction O corresponding to the deceleration internal gear 130A and the internal gear 130B for output, as shown in Fig. 2 have. The vibrator bearing 110A and the vibrator bearing 110B all have the same configuration. In the following, the vibrator bearing 110A will be described, and the vibrator bearing 110B will be basically omitted.

The vibrator bearing 110A is constituted by an inner ring 112A, a retainer 114A, a roller 116A as a rolling member, and an outer ring 118A as shown in Fig.

The inner ring 112A is formed of a flexible material. The inner ring 112A is disposed on the first vibrator 106A side. The inner circumferential surface of the inner ring 112A is in contact with the first vibrating member 106A and the inner ring 112A is rotated integrally with the first vibrating member 106A. The retainer 114A receives the roller 116A and regulates the position and posture of the roller 116A in the circumferential direction. That is, the axial length O of the retainer 114A is larger than the axial length O 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 periphery of the roller 116A and the retainer 114A. The outer ring 118A is also made of a flexible material. The outer ring 118A is bent and deformed by the rotation of the vibrating body 106 together with the external gear 120 disposed on the outer periphery thereof. The positions of the outer ends of the inner ring 112A, the retainer 114A and the outer ring 118A outside the axial direction O substantially coincide with each other in the axial direction O as shown in Fig. However, the position of the end of the inner ring 112A, the retainer 114A, and the outer ring 118A outside the axial direction O is slightly smaller than the position of the end of the first vibrator 106A outside the axial direction O Respectively.

2, the length (L) in the axial direction O of the outer periphery of the first vibrator 106A is smaller than the length L1 in the axial direction O of the roller 116A among the vibrator bearings 110A, ) Is longer (L1 &lt; L). Here, it is the roller 116A that substantially transmits the torque in the vibrator bearing 110A. The length L in the axial direction O of the outer periphery of the first vibrator 106A is substantially equal to the length L in the axial direction O of the vibrator bearing 110A disposed on the outer periphery of the first vibrator 106A, Is longer than the length L2. 2, the gap? 1 between the retainer 114A and the contact member 148 is smaller than the distance? 2 from the outer end of the roller 116A to the outer end of the retainer 114A (? 1 &lt;? 2). Therefore, even if the roller 116A moves outward in the axial direction O, the movement of the roller 116A is equal to the gap? 1. That is, even if the roller 116A moves outward in the axial direction O, the entire length in the axial direction O of the roller 116A is equal to the length L in the axial direction O of the outer circumference of the first vibrator 106A ).

2, the external gear 120 is composed of external gears 120A and 120B juxtaposed in the axial direction O corresponding to the internal gear 130A for deceleration and the internal gear 130B for output . The external gear 120A is in contact with and meshes with the internal gear for deceleration 130A. The external gear 120A is composed of a base member and a foreign body not shown. The base member is a flexible tubular member that supports the external teeth and is common to the base member of the external gear 120B. Then, the external gear 120A is disposed on the outer periphery of the vibrator bearing 110A, and is deflected by rotation of the first vibrator 106A. The tooth shape is determined on the basis of the trochoid curve so as to realize the theoretical meshing.

As shown in Fig. 2, the external gear 120B meshes with the internal gear 130B for output. The shout gear 120B is composed of a base member and an external tooth like the shout gear 120A. The shout of the external gear 120B is separated from the external teeth of the external gear 120A in the axial direction O, but they are formed in the same number and the same shape.

The internal gear 130A for deceleration and the internal gear 130B for output which constitute the internal gear 130 are juxtaposed in the axial direction O as shown in Fig. The internal gear 130 is formed of a rigid member. The deceleration internal gear 130A has an internal tooth having a dimension i (i is 2 or more) larger than the external teeth of the external tooth gear 120A. The inner teeth are formed so as to fit the outer teeth based on the trochoidal curve (the inner teeth of the output internal gear 130B are the same). The deceleration internal gear 130A decelerates the rotation of the vibrator 106 by engaging with the external gear 120A.

On the other hand, the output internal gear 130B has an internal tooth having the same dimension as the external teeth of the external gear 120B. The rotation equivalent to the rotation of the external gear 120B is output from the internal gear 130B for output to the outside.

However, the bending gear type gear unit 100 is filled with a lubricant. This lubricant lubricates the engaging portion between the external gear 120 and the internal gear 130, and the like.

Next, the operation of the flexural-mesh type gear unit 100 will be described mainly with reference to Figs. 1 and 2. Fig.

When the vibrator 106 rotates due to the rotation of the drive shaft 101, the external gear 120A bends and deforms via the vibrator bearing 110A in accordance with the rotation state thereof. At this time, the shout gear 120B also flexes and deforms at the same level as the shout gear 120A through the vibrator bearing 110B.

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

The engagement position of the external gear 120A and the internal gear for acceleration 130A is rotationally moved in accordance with the movement of the position of the long axis X of the vibrator 106. [ Here, when the vibrator 106 makes one revolution, the rotation phase of the external gear 120A is delayed by a dimension difference from the internal gear for acceleration 130A. That is, the reduction ratio by the deceleration internal gear 130A can be obtained from ((dimension of the external gear 120A - dimension of the internal gear for acceleration 130A) / dimension of the external gear 120A). The reduction ratio by the specific numerical value becomes ((100-102) / 100 = -1 / 50). Here, &quot; - &quot; indicates that the input / output becomes a reverse rotation relationship.

Since both the external gear 120B and the internal gear 130B for output are the same in size, the external gear 120B and the internal gear 130B for output do not move with respect to each other and engage with each other. As a result, rotation equivalent to rotation of the external gear 120B is output from the internal gear 130B for output. As a result, an output obtained by decelerating the rotation of the vibrator 106 to (-1/50) can be extracted from the output internal gear 130B. That is, the rotation of the drive shaft 101 is decelerated to (-1/50), and the output can be taken out to the output side member 152.

When the drive shaft 101 is displaced by a predetermined amount in the direction of the minor axis (Y) from the axis of the internal gear for revolution 130A (the internal gear for output 130B), the drive member 104 and the first intermediate member The first vibrator 106A (second vibrator 106B) is displaced by the predetermined amount in the short axis (Y) direction with respect to the first vibrator 105A (second intermediate member 105B). When the drive shaft 101 is displaced by a predetermined amount in the direction of the major axis X from the axis of the internal gear 130A for output (the internal gear 130B for output), the first intermediate member The first vibrating member 106A (the second vibrating member 106B) and the first vibrating member 106A (the second vibrating member 106B) are integrally displaced by the predetermined amount in the long axis (X) direction. As a result, the joint member 103 can independently allow the axial displacement of each of the first vibrating member 106A and the second vibrating member 106B in the radial direction.

As described above, in this embodiment, the drive shaft 101 and the vibrating body 106 are connected by the joint member 103. This makes it possible to allow the change of the axis of the vibrating body 106 in the radial direction with respect to the drive shaft 101. [ The vibrating body 106 and the joint member 103 are opposed to the axial direction O while the vibrating body 106 is arranged extending outward in the radial direction of the joint member 103. Here, a vibrator bearing 110 and a shout gear 120 are disposed on the outer periphery of the vibrator 106. [ Due to this, the outer circumference of the vibrating body 106 needs a length corresponding to the axial direction (O). In this embodiment, a part of the outer periphery of the vibrating body 106 (the extending portions 106AD, 106BD) is arranged radially outward of the connecting member 103. [ This makes it possible to ensure the required axial length (O) of the outer periphery of the vibrating body 106 and to maintain the axial length (O) of the entire connection structure between the vibrating body 106 and the joint member 103 The increase can be suppressed. At the same time, in this 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 thickness (Lo) of the body portions 106AA and 106BA in the axial direction O (Fig. 3) can be made thin.

In this embodiment, the joint member 103 has the driving member 104 and the intermediate member 105. The driving member 104 and the intermediate member 105 are connected so as to be relatively displaceable in one radial direction (the major axis (X) direction). The intermediate member 105 and the vibrating member 106 are relatively displaceable in a direction (short axis (Y) direction) perpendicular to the long axis (X) direction. The vibrating body 106 is arranged so as to face the intermediate member 105 in the axial direction O and to extend outward in the radial direction of the intermediate member 105. [ That is to say, the joint member 103 can be configured simply and with a small number of parts, and can reliably allow core discrepancy between the drive shaft 101 and the deceleration internal gear 130A and the internal gear 130B for output . However, the present invention is not limited to this, and the joint member may be constituted by using, for example, a leaf spring or a coil spring which does not include the driving member and the intermediate member.

In the present embodiment, the driving member 104 and the intermediate member 105 are opposed to the axial direction O, and the vibrating body 106 is extended to the outside of the driving member 104 in the radial direction. This allows the vibrator bearing 110 to be disposed on the outer periphery of the vibrator 106 by using up to the thickness of the driving member 104 in the axial direction (O). In other words, the length of the axial direction O of the bending gear type gear device 100 can be shortened, and the vibrator 106 can stably receive the load from the vibrator bearing 110 . At the same time, the gap generated in the axial direction O between the first vibrator 106A and the second vibrator 106B can be narrowed, so that the vibrations of the first vibrator 106A and the second vibrator 106B It is possible to regulate the displacement of the direction O to each other. However, the present invention is not limited to this, and the driving member and the intermediate member may not be opposed to the axial direction O, and the vibrator may not be disposed extending radially outward of the driving member.

In this embodiment, the internal gear 130A for deceleration and the internal gear 130B for output are provided, and the joint member 103 is composed of a single drive member 104, a first intermediate member 105A, Member 105B and the vibrator 106 has a first vibrator 106A and a second vibrator 106B. This allows the shaft displacement of the drive shaft 101 to be independently allowed to each of the internal gear 130A for deceleration and the internal gear 130B for output of the cylindrical bending gear type gear device 100. [

In the present embodiment, the first vibrating member 106A and the second vibrating member 106B are provided at the short axis (Y) position with the first intermediate member 105A, the concave portion (106AC, 106BC). Therefore, it is not necessary to provide the concave portion at the position of the long axis (X), and the thickness in the axial direction (O) of the body portion 106AA at the position of the long axis (X) can be ensured. The radial thickness Tx of the extending portion 106AD (106BD) at the long axis (X) position is larger than the radial thickness (Ty) of the extending portion 106AD (106BD) at the short axis (Y) position Ty &lt; Tx). That is, 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 largest. This makes it possible to stably receive the load in the vicinity of the long axis (X) position of the vibrating body 106, and it is also possible to reliably prevent the vibrating body 106 from being deformed or damaged. However, the present invention is not limited to this, and it may be configured to have a concave portion fitted to the intermediate member other than the short axis (Y) position.

In this embodiment, the vibrating body 106 covers the entire axial length (O) of the joint member 103. This makes it possible to mount the vibrator bearing 110 without being affected by the presence of the joint member 103 and to prevent the vibrator bearing 110 and the vibrator 106 from being inadvertently damaged at the time of assembly Can be reduced. However, the present invention is not limited to this, and the vibrator may be configured so as to cover only the entire length of the joint member in the axial direction (O).

In the present embodiment, the rolling elements are the rollers 116A and 116B. That is, the portions where the rollers 116A and 116B are in contact with the inner rings 112A and 112B and the outer rings 118A and 118B are increased as compared with the case where the rolling bodies are spherical. Therefore, by using the rollers 116A and 116B, the transmission torque of the vibrator bearing 110 can be increased and the service life can be prolonged.

The length L in the axial direction O of the outer periphery of the first vibrator 106A (second vibrator 106B) is smaller than the length L in the axial direction O of the vibrator bearing 110A (110B) 116A (116B)) in the axial direction (O). The load applied to the vibrating body 106 from the vibrating body bearing 110 is large even if the vibrating body bearing 110 is displaced in the axial direction O. It can be surely dispersed in the axial direction (O) length. That is, deformation or breakage of the vibrating body 106 can be further prevented. However, the present invention is not limited to this, and the length L in the axial direction O of the outer periphery of the vibrating body 106 may not be longer than the axial length O in the axial direction O of the vibrator bearing.

In the present embodiment, even if the vibrator bearing 110 is displaced in the axial direction O, the axial length O of the outer periphery of the first vibrator 106A (second vibrator 106B) L of the rollers 116A (116B). Therefore, even if the vibrator bearing 110 is displaced in the axial direction O, the first vibrator 106A (the second vibrator 106B) can reliably load the load applied to the roller 116A (116B) .

In the present embodiment, the first intermediate member 105A and the second intermediate member 105B are the same, and the first vibrating member 106A and the second vibrating member 106B are the same. That is, since the ratio of the common members can be increased, the member management is facilitated and the cost of the members can be reduced. Further, the first intermediate member 105A and the second intermediate member 105B have no directionality. Because of this, it is not necessary to pay attention to the directions of the first intermediate member 105A and the second intermediate member 105B, so that the joint member 103 can be easily assembled.

In this embodiment, the contact members 148 and 150 formed of a material having a high sliding property are arranged so as to face the cross section of the external gear 120 and the vibrator bearing 110. As a result, frictional losses occurring in the cross section of the external gear 120 and the vibrator bearing 110 can be reduced. At the same time, the contact member 148 is also capable of regulating the movement of the external gear 120 and the vibrator bearing 110 in the axial direction (O).

Therefore, in the present embodiment, it is possible to prevent deterioration of performance and life span even if there is a core gap between the drive shaft 101 and the internal gear 130 of the warping gear type gear device 100, It is possible to suppress the increase in the axial length (O) of the gear device 100.

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, it is needless to say that improvements and design changes can be made within the scope not deviating from the gist of the present invention.

In the above embodiment, the vibrator bearing 110 has the inner rings 112A and 112B and the outer rings 118A and 118B, but the present invention is not limited to this, and the outer circumferential portion of the vibrator may be an inner ring . Further, it is not necessary to have the outer ring, and for example, the roller may directly support the outer ring gear to be rotatable so that the inner peripheral portion of the outer ring gear may be the outer ring. Further, the rolling element may be a ball instead of a roller.

In the above embodiment, the external tooth is a tooth based on the Trochoid curve, but the present invention is not limited to this. The tooth may be a circular tooth, or other teeth may be used.

In the above-described embodiment, the gear unit 100 is a cylindrical bending gear having the internal gear for deceleration 130A and the internal gear for output 130B. However, the present invention is not limited to this. For example, the present invention may be applied to a bending-mesh type gear device having one internal gear and one external gear, each of which has a cup-shaped (or silk-hat type) bending deformation gear.

In addition, the joint member is not limited to the structure of the above-described embodiment, but may be a structure in which the drive shaft and the vibrator are integrally rotatably connected while permitting displacement in the radial direction of the axis of the vibrator.

(Industrial applicability)

INDUSTRIAL APPLICABILITY The present invention can be widely applied to a bending-mesh type gear device having a cylindrical, cup-shaped, or silk hat type external gear.

100 bending gear
101 drive shaft
102 stop member
103, 103A, 103B joint member
104 drive member
104B, 105AB, 105BB, 106AB, 106BB through holes
104C Key Home
104D, 106AC, and 106BC concave portions
105, 105A, 105B intermediate member
105AC, 105AD, 105BC, 105BD convex portions
106, 106A, and 106B vibrators
106AA,
106AD, 106BD serial portion
110, 110A, 110B Vibration bearing
112A, 112B inner ring
114A, 114B retainer
116A and 116B rollers
118A, 118B Outer ring
120, 120A, 120B External gears
130, 130A, and 130B internal gears
136 fixed side member
138 Auxiliary casing
140 drive shaft casing
142 First fixing member
144 second fixing member
146 third fixing member
148, 150 contact member
152 Output member
154 first output member
156 second output member
158 third output member
Br, Mb Bearings
O axis direction
Os1, Os2 oil chamber
A circle-like shape represented by a broken line having a radius Pc distance (Rx)
Long axis
Shortening of Y vital body

Claims (7)

1. A bending gear type gear device having a vibrating body rotationally driven by a drive shaft,
Wherein the drive shaft and the vibrating body are connected by a joint member which permits displacement in the radial direction of the axis of the vibrating body,
Wherein the vibrating body has a main body portion axially opposed to the joint member and a extending portion integrally extending from the radially outer end of the main body portion to the joint member side in the axial direction,
A bearing is disposed on the outer periphery of the main body portion and the extending portion,
And the joint member is disposed radially inward of the extending portion. The method according to claim 1,
The joint member includes a driving member that rotates integrally with the drive shaft, and an intermediate member,
Wherein the driving member and the intermediate member are relatively displaceably connected in one direction in the radial direction and the intermediate member and the vibrating member are relatively displaceably connected in a direction perpendicular to the one direction,
Wherein the main body portion is axially opposed to the intermediate member and the intermediate member is disposed radially inward of the extending portion. 3. The method of claim 2,
Wherein the driving member and the intermediate member are opposed to each other in the axial direction, and the intermediate member and the driving member are disposed radially inward of the extending portion. 3. The method of claim 2,
A first internal gear which is disposed on an outer periphery of the vibrator and has flexibility to be flexibly deformed by rotation of the vibrator and has rigidity in which the external gear is in contact with the internal gear, And a second internal gear which is juxtaposed in the direction of the first internal gear,
The joint member has one driving member, 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,
Wherein the vibrator has a first vibrator connected to the first intermediate member and a second vibrator connected to the second intermediate member. The method according to claim 2 or 3,
Wherein the vibrating member has a concave portion which is fitted to the intermediate member at a uniaxial position. 4. The method according to any one of claims 1 to 3,
Wherein the vibrating member covers an entire axial length of the joint member. 4. The method according to any one of claims 1 to 3,
Wherein the axial length of the outer periphery of the vibrating member is longer than the axial length of the bearing disposed on the outer periphery of the vibrating member.

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