JP2019060423A

JP2019060423A - Deflective meshing-type gear device

Info

Publication number: JP2019060423A
Application number: JP2017186170A
Authority: JP
Inventors: 稔也南雲; Toshiya Nagumo; 石塚　正幸; Masayuki Ishizuka; 正幸石塚; 真司吉田; Shinji Yoshida
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2017-09-27
Filing date: 2017-09-27
Publication date: 2019-04-18
Anticipated expiration: 2037-09-27
Also published as: CN109555831B; KR20190036451A; DE102018116255A1; JP6912989B2; KR102499742B1; DE102018116255B4; CN109555831A

Abstract

To provide a deflective meshing-type gear device capable of suppressing excessive wear-out of gears.SOLUTION: A deflective meshing-type gear device comprises: an exciter; an external gear which is deflected and deformed by the exciter; a first internal gear which is meshed with the external gear; and a second internal gear which is disposed side by side with the first internal gear in an axial direction and meshed with the external gear. The external gear includes: a first outer tooth part which is meshed with the first internal gear; and a second outer tooth part which is meshed with the second internal gear. A tooth tip of the first outer tooth part includes: a first maximum outer diameter part of which the outer diameter becomes maximum; a first outside decreased part of which the outer diameter is decreased axially outsides from the first maximum outer diameter part; and a first inside decreased part of which the outer diameter is decreased axially insides from the first maximum outer diameter part. A tooth tip of the second outer tooth part includes: a second maximum outer diameter part of which the outer diameter becomes maximum; a second outside decreased part of which the outer diameter is decreased axially outsides from the second maximum outer diameter part; and a second inside decreased part of which the outer diameter is decreased axially insides from the second maximum outer diameter part.SELECTED DRAWING: Figure 2

Description

本発明は、撓み噛合い式歯車装置に関する。 The present invention relates to a flexible meshed gear device.

小型かつ軽量で高減速比が得られる歯車装置として、撓み噛合い式歯車装置が知られている。従来では、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に隣接して配置され、外歯歯車と噛み合う第２内歯歯車と、を備える、いわゆるフラット型の撓み噛合い式歯車装置が提案されている（例えば特許文献１）。 A flexible meshed gear device is known as a small-sized, light-weight gear device capable of obtaining a high reduction ratio. Conventionally, an exciter, an external gear that is elastically deformed by the exciter, a first internal gear that meshes with the external gear, and an axially adjacent to the first internal gear are disposed. There has been proposed a so-called flat-type flexible meshing gear device including a second internal gear meshed with a gear (for example, Patent Document 1).

国際公開第２０１６／２１０１１号International Publication No. 2016/21011

特許文献１に記載されるような撓み噛合い式歯車装置では、外部モーメント荷重により歯車にミスアライメントが生じ、これにより歯車が片当たりし、歯車が過度に摩耗しうる。 In the case of a flexible meshed gear device as described in Patent Document 1, the external moment load causes misalignment of the gears, which can cause the gears to collide and cause excessive wear of the gears.

本発明はこうした状況に鑑みてなされたものであり、その目的は、歯車の過度な摩耗を抑止できる撓み噛合い式歯車装置を提供することにある。 The present invention has been made in view of these circumstances, and an object thereof is to provide a flexible meshing gear device capable of suppressing excessive wear of a gear.

上記課題を解決するために、本発明のある態様の撓み噛合い式歯車装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、外歯歯車は、第１内歯歯車と噛み合う第１外歯部と、第２内歯歯車と噛み合う第２外歯部と、を有する。第１外歯部の歯先は、外径が最大となる第１最外径部と、第１最外径部から軸方向外側に向かって外径が減少する第１外側減少部と、第１最外径部から軸方向内側に向かって外径が減少する第１内側減少部と、を有する。第２外歯部の歯先は、外径が最大となる第２最外径部と、第２最外径部から軸方向外側に向かって外径が減少する第２外側減少部と、第２最外径部から軸方向内側に向かって外径が減少する第２内側減少部と、を有する。 In order to solve the above problems, a flexible meshing gear device according to an aspect of the present invention includes a vibration generating body, an external gear that is elastically deformed by the vibration generating body, and a first internal gear that meshes with the external gear. And a second internal gear axially arranged in line with the first internal gear and meshing with the external gear, wherein the external gear is the first internal gear It has the 1st external gear part which meshes, and the 2nd external gear part which meshes with the 2nd internal gear. The tooth tips of the first external teeth portion have a first outermost diameter portion where the outer diameter is largest, a first outer reduced portion where the outer diameter decreases axially outward from the first outermost diameter portion, and And (1) a first inner reduced portion whose outer diameter decreases axially inward from the outermost diameter portion. The tooth tips of the second external teeth portion have a second outermost diameter portion where the outer diameter is maximum, a second outer reduced portion where the outer diameter decreases axially outward from the second outermost diameter portion, and And (2) a second inner reduced portion in which the outer diameter decreases axially inward from the outermost diameter portion.

本発明の別の態様は、撓み噛合い式歯車装置である。この装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、第１内歯歯車の内歯部の歯先は、内径が最小となる第１最内径部と、第１最内径部から軸方向外側に向かって内径が増大する第１外側増大部と、第１最内径部から軸方向内側に向かって内径が増大する第１内側増大部と、を有する。第２内歯歯車の内歯部の歯先は、内径が最小となる第２最内径部と、第２最内径部から軸方向外側に向かって内径が増大する第２外側増大部と、第２最内径部から軸方向内側に向かって内径が増大する第２内側増大部と、を有する。 Another aspect of the present invention is a flexible meshed gear device. This device is disposed in axial alignment with the exciter, the external gear that is bent and deformed by the exciter, the first internal gear that meshes with the external gear, and the first internal gear, and the external gear A second internal gear meshed with the first internal gear, wherein a tooth tip of an internal tooth portion of the first internal gear has a first innermost diameter portion having a minimum inner diameter, and a first maximum inner diameter portion It has a first outer increaser whose inner diameter increases axially outward from the inner diameter portion, and a first inner increaser whose inner diameter increases axially inward from the first innermost diameter portion. The tooth tip of the internal tooth portion of the second internal gear includes a second innermost diameter portion having a minimum inner diameter, a second outer increasing portion having an inner diameter increasing axially outward from the second inner diameter portion, and And (2) a second inner increase portion whose inner diameter increases inward in the axial direction from the innermost diameter portion.

本発明のさらに別の態様もまた、撓み噛合い式歯車装置である。この装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、外歯歯車は、第１内歯歯車の第１内歯部と噛み合う第１外歯部と、第２内歯歯車の第２内歯部と噛み合う第２外歯部と、を有する。第１外歯部の歯先は、外径が最大となる第１最外径部と、第１最外径部から軸方向外側に向かって外径が減少する第１外側減少部と、を有する。第２外歯部の歯先は、外径が最大となる第２最外径部と、第２最外径部から軸方向外側に向かって外径が減少する第２外側減少部と、を有する。第１内歯部の歯先は、内径が最小となる第１最内径部と、第１最内径部から軸方向内側に向かって内径が増大する第１内側増大部と、を有する。第２内歯部の歯先は、内径が最小となる第２最内径部と、第２最内径部から軸方向内側に向かって内径が増大する第２内側増大部と、を有する。 Yet another aspect of the present invention is also a flexible meshed gear device. This device is disposed in axial alignment with the exciter, the external gear that is bent and deformed by the exciter, the first internal gear that meshes with the external gear, and the first internal gear, and the external gear And a second internal gear that meshes with the first internal gear, wherein the external gear includes a first external gear that meshes with a first internal gear of the first internal gear, and a second internal gear. And a second external gear engaged with the second internal gear of the gear. The tooth tips of the first external teeth portion have a first outermost diameter portion where the outer diameter is largest, and a first outer reduced portion where the outer diameter decreases axially outward from the first outermost diameter portion Have. The tooth tips of the second external teeth portion have a second outermost diameter portion where the outer diameter is largest, and a second outer reduced portion where the outer diameter decreases axially outward from the second outermost diameter portion Have. The tooth tip of the first internal tooth portion has a first innermost diameter portion where the inner diameter is the smallest, and a first inner increased diameter portion where the inner diameter increases inward in the axial direction from the first innermost diameter portion. The tooth tip of the second internal tooth portion has a second innermost diameter portion where the inner diameter is the smallest, and a second inner increased diameter portion where the inner diameter increases inward in the axial direction from the second innermost diameter portion.

本発明のさらに別の態様もまた、撓み噛合い式歯車装置である。この装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、外歯歯車は、第１内歯歯車の第１内歯部と噛み合う第１外歯部と、第２内歯歯車の第２内歯部と噛み合う第２外歯部と、を有する。第１外歯部の歯先は、外径が最大となる第１最外径部と、第１最外径部から軸方向内側に向かって外径が減少する第１内側減少部と、を有する。第２外歯部の歯先は、外径が最大となる第２最外径部と、第２最外径部から軸方向内側に向かって外径が減少する第２内側減少部と、を有する。第１内歯部の歯先は、内径が最小となる第１最内径部と、第１最内径部から軸方向外側に向かって内径が増大する第１外側増大部と、を有する。第２内歯部の歯先は、内径が最小となる第２最内径部と、第２最内径部から軸方向外側に向かって内径が増大する第２外側増大部と、を有する。 Yet another aspect of the present invention is also a flexible meshed gear device. This device is disposed in axial alignment with the exciter, the external gear that is bent and deformed by the exciter, the first internal gear that meshes with the external gear, and the first internal gear, and the external gear And a second internal gear that meshes with the first internal gear, wherein the external gear includes a first external gear that meshes with a first internal gear of the first internal gear, and a second internal gear. And a second external gear engaged with the second internal gear of the gear. The tips of the first external teeth have a first outermost diameter portion where the outer diameter is the largest, and a first inner reduced portion where the outer diameter decreases inward in the axial direction from the first outermost diameter portion Have. The tooth tips of the second external teeth portion have a second outermost diameter portion where the outer diameter is largest, and a second inner reduced portion where the outer diameter decreases inward in the axial direction from the second outermost diameter portion Have. The tooth tip of the first internal tooth portion has a first innermost diameter portion where the inner diameter is the smallest, and a first outer increased diameter portion where the inner diameter increases axially outward from the first innermost diameter portion. The tooth tip of the second internal tooth portion has a second innermost diameter portion where the inner diameter is the smallest, and a second outer increased diameter portion where the inner diameter increases axially outward from the second innermost diameter portion.

本発明のさらに別の態様もまた、撓み噛合い式歯車装置である。この装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、外歯歯車は、第１内歯歯車の第１内歯部と噛み合う第１外歯部であって、第１内歯部と歯数が異なる第１外歯部と、第２内歯歯車の第２内歯部と噛み合う第２外歯部であって、第２内歯部と歯数が同じ第２外歯部と、を有する。第２外歯部の歯先は、外径が最大となる第２最外径部と、第２最外径部から軸方向内側に向かって外径が連続的に減少する第２内側減少部と、を有する。第２内側減少部は、第２外歯部の歯先の軸方向範囲の８０％以上を占める。 Yet another aspect of the present invention is also a flexible meshed gear device. This device is disposed in axial alignment with the exciter, the external gear that is bent and deformed by the exciter, the first internal gear that meshes with the external gear, and the first internal gear, and the external gear A second internal gear that meshes with the first internal gear, wherein the external gear is a first external gear that meshes with a first internal gear of the first internal gear, A first external tooth portion having a different number of internal teeth and a second external tooth portion meshing with a second internal tooth portion of the second internal gear, wherein the second external tooth portion has the same number of teeth as the second internal tooth portion And a tooth portion. The tooth tip of the second external tooth portion has a second outermost diameter portion where the outer diameter is maximum, and a second inner reduced portion where the outer diameter decreases continuously inward in the axial direction from the second outermost diameter portion And. The second inner reduced portion occupies 80% or more of the axial range of the tooth tips of the second external teeth.

本発明のさらに別の態様は、撓み噛合い式歯車装置である。この装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、内歯歯車は、外歯歯車の第２外歯部と噛み合う第２内歯部であって、第２外歯部と歯数が同じ第２内歯部を有する。第２内歯部は、内径が最小となる最内径部と、最内径部から軸方向内側に向かって外径が連続的に増大する内側増大部を有する。内側増大部は、第２内歯部の歯先の軸方向範囲の８０％以上を占める。 Yet another aspect of the present invention is a flexible meshed gear device. This device is disposed in axial alignment with the exciter, the external gear that is bent and deformed by the exciter, the first internal gear that meshes with the external gear, and the first internal gear, and the external gear And a second internal gear configured to engage with the second internal gear, wherein the internal gear is a second internal gear that is engaged with a second external gear of the external gear, the second external gear It has the 2nd internal tooth part where the number of teeth is the same as the part. The second internal tooth portion has an innermost diameter portion where the inner diameter is the smallest, and an inner increase portion where the outer diameter continuously increases inward in the axial direction from the innermost diameter portion. The inner increase portion occupies 80% or more of the axial range of the tooth tip of the second internal tooth portion.

なお、以上の構成要素の任意の組み合わせや、本発明の構成要素や表現を方法、装置、システムなどの間で相互に置換したものもまた、本発明の態様として有効である。 It is to be noted that any combination of the above-described constituent elements, or one obtained by replacing the constituent elements and expressions of the present invention among methods, apparatuses, systems, etc. is also effective as an aspect of the present invention.

本発明によれば、歯車の過度な摩耗を抑止できる撓み噛合い式歯車装置を提供できる。 According to the present invention, it is possible to provide a flexible meshing gear device capable of suppressing excessive wear of the gear.

実施の形態に係る撓み噛合い式歯車装置を示す断面図である。It is a sectional view showing a flexible meshed gear device concerning an embodiment. 図１の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of FIG. 1, a 1st internal gear, and a 2nd internal gear. 図３（ａ）、（ｂ）は、シミュレーション結果を示す図である。FIGS. 3A and 3B are diagrams showing simulation results. 第２の実施の形態に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on 2nd Embodiment, a 1st internal gear, and a 2nd internal gear. 第３の実施の形態に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on 3rd Embodiment, a 1st internal gear, and a 2nd internal gear. 第４の実施の形態に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on 4th Embodiment, a 1st internal gear, and a 2nd internal gear. 第５の実施の形態に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh gear apparatus which concerns on 5th Embodiment, a 1st internal gear, and a 2nd internal gear. 第６の実施の形態に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on 6th Embodiment, a 1st internal gear, and a 2nd internal gear. 第１の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on the modification of 1st Embodiment, a 1st internal gear, and a 2nd internal gear. 第２の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on the modification of 2nd Embodiment, a 1st internal gear, and a 2nd internal gear. 第３の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on the modification of 3rd Embodiment, a 1st internal gear, and a 2nd internal gear. 第４の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on the modification of 4th Embodiment, a 1st internal gear, and a 2nd internal gear. 第５の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear, the 1st internal gear, and the 2nd internal gear of the flexible mesh gear apparatus which concerns on the modification of 5th Embodiment. 第５の実施の形態の別の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh gear apparatus which concerns on another modification of 5th Embodiment, a 1st internal gear, and a 2nd internal gear. 第６の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車、第１内歯歯車および第２内歯歯車の形状を説明するための図である。It is a figure for demonstrating the shape of the external gear of the flexible mesh-type gear apparatus which concerns on the modification of 6th Embodiment, a 1st internal gear, and a 2nd internal gear.

以下、各図面に示される同一または同等の構成要素、部材、工程には、同一の符号を付するものとし、適宜重複した説明は省略する。また、各図面における部材の寸法は、理解を容易にするために適宜拡大、縮小して示される。また、各図面において実施の形態を説明する上で重要ではない部材の一部は省略して表示する。 Hereinafter, the same or equivalent constituent elements, members, and steps shown in the drawings are denoted by the same reference numerals, and duplicating descriptions will be appropriately omitted. In addition, dimensions of members in each drawing are shown appropriately enlarged or reduced for easy understanding. In each drawing, a part of members which are not important in describing the embodiment is omitted and displayed.

図１は、実施の形態に係る撓み噛合い式歯車装置１００を示す断面図である。撓み噛合い式歯車装置１００は、入力された回転を減速して出力する。撓み噛合い式歯車装置１００は、波動発生器２と、外歯歯車４と、第１内歯歯車６と、第２内歯歯車８と、ケーシング１０と、第１規制部材１２と、第２規制部材１４と、主軸受１６と、第１軸受ハウジング１８と、第２軸受ハウジング２０と、を備える。噛合い式歯車装置１００には、潤滑剤（例えばグリース）が封入されている。潤滑剤は、外歯歯車４と第１内歯歯車６および第２内歯歯車８との噛み合い部や各軸受等を潤滑する。 FIG. 1 is a cross-sectional view showing a flexible meshed gear device 100 according to the embodiment. The flexible meshed gear device 100 decelerates and outputs the input rotation. The flexible meshed gear device 100 includes a wave generator 2, an external gear 4, a first internal gear 6, a second internal gear 8, a casing 10, a first restriction member 12, and a second. The control member 14, the main bearing 16, the first bearing housing 18, and the second bearing housing 20 are provided. In the meshing gear device 100, a lubricant (for example, grease) is enclosed. The lubricant lubricates the meshing portion between the external gear 4 and the first internal gear 6 and the second internal gear 8, the bearings, and the like.

波動発生器２は、起振体軸２２と、起振体軸２２と外歯歯車４（の第１外歯部４ａ）との間に配置される第１起振体軸受２１ａと、起振体軸２２と外歯歯車４（の第２外歯部４ｂ）との間に配置される第２起振体軸受２１ｂと、を有する。第１起振体軸受２１ａは、複数の第１転動体２４ａと、第１保持器２６ａと、第１外輪部材２８ａと、を含む。第２起振体軸受２１ｂは、複数の第２転動体２４ｂと、第２保持器２６ｂと、第２外輪部材２８ｂとを含む。起振体軸２２は、入力軸であり、例えばモータ等の回転駆動源に接続され、回転軸Ｒを中心に回転する。起振体軸２２には、回転軸Ｒに直交する断面が略楕円形状である起振体２２ａが一体に形成されている。 The wave generator 2 includes a exciter shaft 22, a first exciter bearing 21 a disposed between the exciter shaft 22 and the external gear 4 (the first external gear 4 a), and an exciter It has the 2nd exciter bearing 21b arrange | positioned between the body shaft 22 and the external gear 4 (the 2nd external gear part 4b). The first exciter bearing 21a includes a plurality of first rolling elements 24a, a first cage 26a, and a first outer ring member 28a. The second exciter bearing 21b includes a plurality of second rolling elements 24b, a second cage 26b, and a second outer ring member 28b. The exciter shaft 22 is an input shaft, and is connected to a rotational drive source such as a motor, for example, and rotates around the rotational axis R. On the exciter shaft 22, an exciter 22 a having a substantially elliptical cross section orthogonal to the rotation axis R is integrally formed.

複数の第１転動体２４ａはそれぞれ、略円柱形状を有し、軸方向が回転軸Ｒ方向と略平行な方向を向いた状態で周方向に間隔を空けて設けられる。第１転動体２４ａは、第１保持器２６ａにより転動自在に保持され、起振体２２ａの外周面２２ｂを転走する。つまり、第１起振体軸受２１ａの内輪は、起振体２２ａの外周面２２ｂと一体的に構成されているが、これに限らず、起振体２２ａとは別体の専用の内輪を備えてもよい。第２転動体２４ｂは、第１転動体２４ａと同様に構成される。複数の第２転動体２４ｂは、第１保持器２６ａと軸方向に並ぶように配置された第２保持器２６ｂにより転動自在に保持され、起振体２２ａの外周面２２ｂを転走する。つまり、第２起振体軸受２１ｂの内輪は、起振体２２ａの外周面２２ｂと一体的に構成されているが、これに限らず、起振体２２ａとは別体の専用の内輪を備えてもよい。以降では、第１転動体２４ａと第２転動体２４ｂとをまとめて「転動体２４」とも呼ぶ。また、第１保持器２６ａと第２保持器２６ｂとをまとめて「保持器２６」とも呼ぶ Each of the plurality of first rolling elements 24 a has a substantially cylindrical shape, and is provided at an interval in the circumferential direction in a state where the axial direction is in a direction substantially parallel to the rotation axis R direction. The first rolling element 24a is rotatably held by the first cage 26a, and rolls on the outer peripheral surface 22b of the exciter 22a. That is, although the inner ring of the first exciter bearing 21a is configured integrally with the outer peripheral surface 22b of the exciter 22a, the present invention is not limited to this, and a dedicated inner ring separate from the exciter 22a is provided. May be The second rolling element 24b is configured in the same manner as the first rolling element 24a. The plurality of second rolling elements 24b are rotatably held by the second cage 26b arranged to be axially aligned with the first cage 26a, and roll along the outer peripheral surface 22b of the vibration body 22a. That is, although the inner ring of the second exciter bearing 21b is configured integrally with the outer circumferential surface 22b of the exciter 22a, the present invention is not limited to this, and a dedicated inner ring separate from the exciter 22a is provided. May be Hereinafter, the first rolling element 24a and the second rolling element 24b are collectively referred to as "rolling element 24". In addition, the first holder 26a and the second holder 26b are collectively referred to as "holder 26".

第１外輪部材２８ａは、複数の第１転動体２４ａを環囲する。第１外輪部材２８ａは、可撓性を有し、複数の第１転動体２４ａを介して起振体２２ａにより楕円状に撓められる。第１外輪部材２８ａは、起振体２２ａ（すなわち起振体軸２２）が回転すると、起振体２２ａの形状に合わせて連続的に撓み変形する。第２外輪部材２８ｂは、第１外輪部材２８ａと同様に構成される。第２外輪部材２８ｂは、第１外輪部材２８ａとは別体として形成される。なお、第２外輪部材２８ｂは、第１外輪部材２８ａと一体に形成されてもよい。以降では、第１外輪部材２８ａと第２外輪部材２８ｂとをまとめて「外輪部材２８」とも呼ぶ。 The first outer ring member 28a surrounds the plurality of first rolling elements 24a. The first outer ring member 28a has flexibility, and is elliptically bent by the exciter 22a via the plurality of first rolling elements 24a. When the exciter 22a (that is, the exciter shaft 22) rotates, the first outer ring member 28a is continuously bent and deformed in accordance with the shape of the exciter 22a. The second outer ring member 28 b is configured in the same manner as the first outer ring member 28 a. The second outer ring member 28b is formed separately from the first outer ring member 28a. The second outer ring member 28 b may be formed integrally with the first outer ring member 28 a. Hereinafter, the first outer ring member 28a and the second outer ring member 28b are collectively referred to as "the outer ring member 28".

外歯歯車４は、可撓性を有する環状の部材であり、その内側には起振体２２ａ、転動体２４および外輪部材２８が嵌まる。外歯歯車４は、起振体２２ａ、転動体２４および外輪部材２８が嵌まることによって楕円状に撓められる。外歯歯車４は、起振体２２ａが回転すると、起振体２２ａの形状に合わせて連続的に撓み変形する。外歯歯車４は、第１外輪部材２８ａの外側に位置する第１外歯部４ａと、第２外輪部材２８ｂの外側に位置する第２外歯部４ｂと、基材４ｃと、を含む。第１外歯部４ａと第２外歯部４ｂとは単一の基材である基材４ｃに形成されており、同歯数である。 The external gear 4 is a flexible annular member, and the exciter 22a, the rolling member 24 and the outer ring member 28 are fitted inside thereof. The external gear 4 is bent in an elliptical shape as the exciter 22a, the rolling element 24 and the outer ring member 28 are fitted. The external gear 4 is continuously bent and deformed in accordance with the shape of the exciter 22a when the exciter 22a rotates. The external gear 4 includes a first external gear 4a located outside the first outer ring member 28a, a second external gear 4b located outside the second outer ring member 28b, and a base 4c. The first external teeth 4a and the second external teeth 4b are formed on a base 4c which is a single base, and have the same number of teeth.

第１内歯歯車６は、剛性を有する環状の部材であり、その内周に第１内歯部６ａが形成されている。第１内歯部６ａは、楕円状に撓められた外歯歯車４の第１外歯部４ａを環囲し、起振体２２ａの長軸近傍の所定領域（２領域）で第１外歯部４ａと噛み合う。第１内歯部６ａは、第１外歯部４ａよりも多くの歯を有する。 The first internal gear 6 is a rigid annular member, and a first internal gear 6a is formed on the inner periphery thereof. The first internal gear portion 6 a surrounds the first external gear portion 4 a of the external gear 4 that is bent in an elliptical shape, and the first external gear portion is formed in a predetermined region (two regions) near the major axis of the exciter 22 a. It meshes with the teeth 4a. The first internal teeth 6a have more teeth than the first external teeth 4a.

第２内歯歯車８は、第１内歯歯車６と軸方向に並べて（隣接して）配置される。第２内歯歯車８は、剛性を有する円筒状の部材であり、その内周に第２内歯部８ａが形成されている。第２内歯部８ａは、楕円状に撓められた外歯歯車４の第２外歯部４ｂを環囲し、起振体２２ａの長軸方向の所定領域（２領域）で第２外歯部４ｂと噛み合う。第２内歯部８ａは、第２外歯部４ｂと同数の歯を有する。したがって、第２内歯歯車８は、第２外歯部４ｂひいては外歯歯車４の自転と同期して回転する。 The second internal gear 8 is arranged in line with (adjacent to) the first internal gear 6 in the axial direction. The second internal gear 8 is a rigid cylindrical member, and a second internal gear 8a is formed on the inner periphery thereof. The second internal gear portion 8a surrounds the second external gear portion 4b of the external gear 4 bent in an elliptical shape, and the second external portion is formed in a predetermined region (two regions) in the major axis direction of the exciter 22a. It meshes with the teeth 4b. The second internal teeth 8a have the same number of teeth as the second external teeth 4b. Therefore, the second internal gear 8 rotates in synchronization with the rotation of the second external gear 4 b and hence the external gear 4.

第１規制部材１２は、平たいリング状の部材であり、外歯歯車４、第１外輪部材２８ａおよび第１保持器２６ａと第１軸受ハウジング１８との間に配置される。第２規制部材１４は、平たいリング状の部材であり、外歯歯車４、第２外輪部材２８ｂおよび第２保持器２６ｂと第２軸受ハウジング２０との間に配置される。第１規制部材１２および第２規制部材１４は、外歯歯車４、外輪部材２８および保持器２６の軸方向の移動を規制する。 The first restriction member 12 is a flat ring-shaped member, and is disposed between the external gear 4, the first outer ring member 28 a and the first retainer 26 a and the first bearing housing 18. The second restriction member 14 is a flat ring-shaped member, and is disposed between the external gear 4, the second outer ring member 28 b and the second retainer 26 b and the second bearing housing 20. The first restricting member 12 and the second restricting member 14 restrict the axial movement of the external gear 4, the outer ring member 28 and the retainer 26.

ケーシング１０は、略円筒状の部材であり、第２内歯歯車８を環囲する。ケーシング１０には、第１内歯歯車６がインロー嵌合され、ボルト（不図示）により一体化される。ケーシング１０と第２内歯歯車８との間には主軸受１６が配置される。主軸受１６は、本実施の形態ではクロスローラ軸受であり、周方向に間隔を空けて設けられる複数のローラ（転動体）４６を含む。複数のローラ４６は、第２内歯歯車８の転走面８ｂおよびケーシング１０の転走面１０ａを転走する。つまり、第２内歯歯車８の外周側は主軸受１６の内輪として機能し、ケーシング１０の内周側は主軸受１６の外輪として機能する。ケーシング１０は、主軸受１６を介して、第２内歯歯車８を相対回転自在に支持する。なお、主軸受１６の軸受の種類は特に限定されるものではなく、例えば４点接触ボール軸受であってもよい。 The casing 10 is a substantially cylindrical member and encloses the second internal gear 8. The first internal gear 6 is inlaid with the casing 10 and integrated with a bolt (not shown). A main bearing 16 is disposed between the casing 10 and the second internal gear 8. The main bearing 16 is a cross roller bearing in the present embodiment, and includes a plurality of rollers (rolling elements) 46 provided at intervals in the circumferential direction. The plurality of rollers 46 roll on the rolling surface 8 b of the second internal gear 8 and the rolling surface 10 a of the casing 10. That is, the outer peripheral side of the second internal gear 8 functions as the inner ring of the main bearing 16, and the inner peripheral side of the casing 10 functions as the outer ring of the main bearing 16. The casing 10 supports the second internal gear 8 relatively rotatably via the main bearing 16. In addition, the kind of bearing of the main bearing 16 is not specifically limited, For example, a four-point contact ball bearing may be sufficient.

第１軸受ハウジング１８は、環状の部材であり、起振体軸２２を環囲する。同様に、第２軸受ハウジング２０は、環状の部材であり、起振体軸２２を環囲する。第１軸受ハウジング１８と第２軸受ハウジング２０とは、外歯歯車４、転動体２４、保持器２６、外輪部材２８、第１規制部材１２および第２規制部材１４を軸方向に挟むよう配置される。第１軸受ハウジング１８は、第１内歯歯車６に対してインロー嵌合されボルト固定される。第２軸受ハウジング２０は、第２内歯歯車８に対してインロー嵌合されボルト固定される。第１軸受ハウジング１８の内周には軸受３０が組み込まれ、第２軸受ハウジング２０の内周には軸受３２が組み込まれており、起振体軸２２は、軸受３０および軸受３２を介して、第１軸受ハウジング１８および第２軸受ハウジング２０に対して回転自在に支持される。 The first bearing housing 18 is an annular member and encloses the exciter shaft 22. Similarly, the second bearing housing 20 is an annular member and encloses the exciter shaft 22. The first bearing housing 18 and the second bearing housing 20 are arranged to axially sandwich the external gear 4, the rolling element 24, the cage 26, the outer ring member 28, the first restricting member 12 and the second restricting member 14. Ru. The first bearing housing 18 is inlay-fitted and bolted to the first internal gear 6. The second bearing housing 20 is inlay-fitted and bolted to the second internal gear 8. A bearing 30 is incorporated on the inner periphery of the first bearing housing 18, and a bearing 32 is incorporated on the inner periphery of the second bearing housing 20. The exciter shaft 22 includes the bearing 30 and the bearing 32 via The first bearing housing 18 and the second bearing housing 20 are rotatably supported.

起振体軸２２と第１軸受ハウジング１８の間にはオイルシール４０が配置され、第１軸受ハウジング１８と第１内歯歯車６の間にはＯリング３４が配置され、第１内歯歯車６とケーシング１０との間にはＯリング３６が配置され、ケーシング１０と第２内歯歯車８との間にはオイルシール４２が配置され、第２内歯歯車８と第２軸受ハウジング２０との間にはＯリング３８が配置され、第２軸受ハウジング２０と起振体軸２２との間にはオイルシール４４が配置される。これにより、撓み噛合い式歯車装置１００内の潤滑剤が漏れるのを抑止できる。 An oil seal 40 is disposed between the exciter shaft 22 and the first bearing housing 18, and an O-ring 34 is disposed between the first bearing housing 18 and the first internal gear 6. An O-ring 36 is disposed between the housing 6 and the casing 10, and an oil seal 42 is disposed between the casing 10 and the second internal gear 8. The second internal gear 8 and the second bearing housing 20 Between the second bearing housing 20 and the exciter shaft 22, an oil seal 44 is disposed. Thereby, the lubricant in the flexible meshed gear device 100 can be prevented from leaking.

以上のように構成された撓み噛合い式歯車装置１００の動作を説明する。ここでは、第１外歯部４ａの歯数が１００、第２外歯部４ｂの歯数が１００、第１内歯部６ａの歯数が１０２、第２内歯部８ａの歯数が１００の場合を例に説明する。また、第２内歯歯車８および第２軸受ハウジング２０が被駆動部材に連結される場合を例に説明する。 The operation of the flexible meshed gear device 100 configured as described above will be described. Here, the number of teeth of the first external gear 4a is 100, the number of teeth of the second external gear 4b is 100, the number of teeth of the first internal gear 6a is 102, and the number of teeth of the second internal gear 8a is 100 The case of will be described as an example. Further, a case where the second internal gear 8 and the second bearing housing 20 are connected to the driven member will be described as an example.

第１外歯部４ａが楕円形状の長軸方向の２箇所で第１内歯部６ａと噛み合っている状態で、起振体軸２２が回転すると、これに伴って第１外歯部４ａと第１内歯部６ａとの噛み合い位置も周方向に移動する。第１外歯部４ａと第１内歯部６ａとは歯数が異なるため、この際、第１内歯部６ａに対して第１外歯部４ａが相対的に回転する。第１内歯歯車６および第１軸受ハウジング１８が固定状態にあるため、第１外歯部４ａは、歯数差に相当する分だけ自転することになる。つまり、起振体軸２２の回転が大幅に減速されて第１外歯部４ａに出力される。その減速比は以下のようになる。
減速比＝（第１外歯部４ａの歯数−第１内歯部６ａの歯数）／第１外歯部４ａの歯数
＝（１００−１０２）／１００
＝−１／５０ When the exciter shaft 22 rotates in a state in which the first external teeth 4a are engaged with the first internal teeth 6a at two places in the major axis direction of the elliptical shape, the first external teeth 4a and The meshing position with the first internal gear 6a also moves in the circumferential direction. Since the first external teeth 4 a and the first internal teeth 6 a have different numbers of teeth, the first external teeth 4 a rotate relative to the first internal teeth 6 a at this time. Since the first internal gear 6 and the first bearing housing 18 are in a fixed state, the first external gear 4a rotates by an amount corresponding to the difference in the number of teeth. That is, the rotation of the exciter shaft 22 is significantly reduced and output to the first external gear 4a. The reduction ratio is as follows.
Reduction ratio = (number of teeth of first external teeth 4a−number of teeth of first internal teeth 6a) / number of teeth of first external teeth 4a = (100−102) / 100
= -1 / 50

第２外歯部４ｂは、第１外歯部４ａと一体的に形成されているため、第１外歯部４ａと一体に回転する。第２外歯部４ｂと第２内歯部８ａは歯数が同一であるため、相対回転は発生せず、第２外歯部４ｂと第２内歯部８ａとは一体に回転する。このため、第１外歯部４ａの自転と同一の回転が第２内歯部８ａに出力される。結果として、第２内歯歯車８からは起振体軸２２の回転を−１／５０に減速した出力を取り出すことができる。 Since the second external gear 4b is integrally formed with the first external gear 4a, the second external gear 4b rotates integrally with the first external gear 4a. Since the second external gear 4b and the second internal gear 8a have the same number of teeth, relative rotation does not occur, and the second external gear 4b and the second internal gear 8a rotate integrally. Therefore, the same rotation as the rotation of the first external gear 4a is output to the second internal gear 8a. As a result, from the second internal gear 8, an output obtained by decelerating the rotation of the exciter shaft 22 to -1/50 can be taken out.

続いて、外歯歯車４、第１内歯歯車６および第２内歯歯車８の構成をさらに詳細に説明する。 Subsequently, the configurations of the external gear 4, the first internal gear 6 and the second internal gear 8 will be described in more detail.

図２は、外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図２では、周方向から見た、外歯歯車４の第１外歯部４ａの歯先、第２外歯部４ｂの歯先、第１内歯歯車６の第１内歯部６ａの歯先、第２内歯歯車８の第２内歯部８ａの歯先を示す。図２では、理解を容易にするため、第１内歯部６ａの歯先および第２内歯部８ａの歯先を、外歯歯車４から離れるように径方向外側にスライドさせた状態を示す。図２において、横軸は、ある基準位置からの軸方向の位置である。縦軸には、参考のために径方向の寸法目盛（１目盛りが１０μｍ）を示す。また、図２において、中心線Ｃ１は、回転軸Ｒ（図２では不図示）に直交する線であって、第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央を通る線を示す。本実施の形態では、第１内歯部６ａは、第１外歯部４ａよりも軸方向の長さが短く、軸方向における全範囲で第１外歯部４ａと噛み合っている。したがって、第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向の長さは第１内歯部６ａの軸方向の長さと等しく、中心線Ｃ１は第１内歯部６ａの歯先の軸方向における中央を通る。また、中心線Ｃ２は、回転軸Ｒに直交する線であって、第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央を通る線を示す。本実施の形態では、第２内歯部８ａは、第２外歯部４ｂよりも軸方向の長さが短く、軸方向における全範囲で第２外歯部４ｂと噛み合っている。したがって、第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向の長さは第２内歯部８ａの軸方向の長さと等しく、中心線Ｃ２は第２内歯部８ａの歯先の軸方向における中央を通る。 FIG. 2 is a view for explaining the shapes of the external gear 4, the first internal gear 6 and the second internal gear 8. In FIG. 2, the tooth tips of the first external gear 4 a of the external gear 4, the tooth tips of the second external gear 4 b, and the teeth of the first internal gear 6 a of the first internal gear 6 viewed from the circumferential direction The tip of the second internal gear 8a of the second internal gear 8 is shown. In FIG. 2, in order to facilitate understanding, the tips of the first internal teeth 6 a and the tips of the second internal teeth 8 a are illustrated as being slid radially outward away from the external gear 4. . In FIG. 2, the horizontal axis is an axial position from a certain reference position. On the vertical axis, a radial scale (one scale is 10 μm) is shown for reference. Further, in FIG. 2, the center line C1 is a line orthogonal to the rotation axis R (not shown in FIG. 2), and in the axial direction of the meshing range of the first external teeth 4a and the first internal teeth 6a. Show a line through the center. In the present embodiment, the first internal teeth 6a are shorter in axial length than the first external teeth 4a, and mesh with the first external teeth 4a in the entire range in the axial direction. Therefore, the axial length of the meshing range between the first external gear 4a and the first internal gear 6a is equal to the axial length of the first internal gear 6a, and the center line C1 is the first internal gear 6a. Through the axial center of the tip of the The center line C2 is a line perpendicular to the rotation axis R, and passing through the center in the axial direction of the meshing range of the second external teeth 4b and the second internal teeth 8a. In the present embodiment, the second internal teeth 8a have a shorter axial length than the second external teeth 4b, and mesh with the second external teeth 4b in the entire range in the axial direction. Therefore, the axial length of the meshing range between the second external gear 4b and the second internal gear 8a is equal to the axial length of the second internal gear 8a, and the center line C2 is the second internal gear 8a. Through the axial center of the tip of the

第１外歯部４ａの歯先は、第１外歯部４ａにおいて外径が最大となる第１最外径部４ａ１と、第１最外径部４ａ１から軸方向外側に向かって（すなわち第１外歯部４ａと第２外歯部４ｂの間の中央から遠ざかる方向に向かって）外径が減少する第１外側減少部４ａ２と、第１最外径部４ａ１から軸方向内側に向かって（すなわち第１外歯部４ａと第２外歯部４ｂの間の中央に近づく方向に向かって）外径が減少する第１内側減少部４ａ３と、を有する。 The tooth tips of the first external teeth 4a are axially outward from the first outermost diameter 4a1 where the outer diameter is the largest at the first external teeth 4a, and from the first outermost diameter 4a1 (that is, the first outer teeth 4a) 1) the first outer reduced portion 4a2 whose outer diameter decreases in the direction of going away from the center between the outer tooth portion 4a and the second outer tooth portion 4b, and the first outermost diameter portion 4a1 axially inward A first inner reduced portion 4a3 whose outer diameter decreases (that is, in a direction toward the center between the first external teeth 4a and the second external teeth 4b).

第１最外径部４ａ１は、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側に、さらに言い換えると第１内歯部６ａの歯先の軸方向中央よりも外側に位置する。本実施の形態ではさらに、第１最外径部４ａ１は、第１外歯部４ａの歯先の軸方向中央よりも外側に位置する。第１外側減少部４ａ２は、第１最外径部４ａ１から軸方向外側に向かって、曲線的に外径が減少するよう構成される。第１内側減少部４ａ３は、第１最外径部４ａ１から軸方向内側に向かって、曲線的に外径が減少するよう構成される。また、第１内側減少部４ａ３は、第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する（すなわち対向する）部分まで延在するよう構成される。また、第１外側減少部４ａ２および第１内側減少部４ａ３はいずれも、第１最外径部４ａ１から離れるほど軸方向に対する外径の減少割合（＝外径の減少量／軸方向の移動量）が増加するように構成される。 The first outermost diameter portion 4a1 is outside the center line C1, that is, outside the center in the axial direction of the meshing range of the first external teeth 4a and the first internal teeth 6a, in other words, the first outermost diameter 4a1. It is located outside the axial direction center of the tooth tip of internal tooth part 6a. Furthermore, in the present embodiment, the first outermost diameter portion 4a1 is located outside the axial center of the tooth tip of the first external tooth portion 4a. The first outer reduction portion 4a2 is configured such that the outer diameter thereof decreases in a curve toward the axially outer side from the first outermost diameter portion 4a1. The first inner reduced portion 4a3 is configured such that the outer diameter thereof decreases in a curve inward in the axial direction from the first outermost diameter portion 4a1. Further, the first inner reduced portion 4a3 is configured to extend to a portion corresponding to (i.e., opposed to) the radial inner side of the gap 7 between the first internal gear 6 and the second internal gear 8. In addition, the first outer reduced portion 4a2 and the first inner reduced portion 4a3 both decrease in outer diameter relative to the axial direction as they move away from the first outermost diameter portion 4a1 (= decrease amount of outer diameter / axial movement amount ) Is configured to increase.

第２外歯部４ｂの歯先は、第２外歯部４ｂにおいて外径が最大となる第２最外径部４ｂ１と、第２最外径部４ｂ１から軸方向外側に向かって外径が減少する第２外側減少部４ｂ２と、第２最外径部４ｂ１から軸方向内側に向かって外径が減少する第２内側減少部４ｂ３と、を有する。 The tooth tips of the second external teeth 4b have an outer diameter in the axial direction from the second outermost diameter 4b1 where the outer diameter is the largest at the second external teeth 4b and the second outermost diameter 4b1. It has the 2nd outside reduction part 4b2 which decreases, and the 2nd inside reduction part 4b3 from which the outside diameter decreases in the direction of an axis inside from the 2nd outermost diameter part 4b1.

第２最外径部４ｂ１は、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側に、さらに言い換えると第２内歯部８ａの歯先の軸方向中央よりも外側に位置する。本実施の形態ではさらに、第２最外径部４ｂ１は、第２外歯部４ｂの歯先の軸方向中央よりも外側に位置する。第２外側減少部４ｂ２は、第２最外径部４ｂ１から軸方向外側に向かって、曲線的に外径が減少するよう構成される。第２内側減少部４ｂ３は、第２最外径部４ｂ１から軸方向内側に向かって、曲線的に外径が減少するよう構成される。また、第２内側減少部４ｂ３は、第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する部分まで延在するよう構成される。また、第２外側減少部４ｂ２および第２内側減少部４ｂ３はいずれも、第２最外径部４ｂ１から離れるほど軸方向に対する外径の減少割合が増加するように構成される。第２外側減少部４ｂ２は、第１外側減少部４ａ２よりも、軸方向に対する外径の減少割合が大きくなるよう構成される。 The second outermost diameter portion 4b1 is outside the center line C2, that is, outside the center in the axial direction of the meshing range of the second external gear portion 4b and the second internal gear portion 8a, in other words, the second outermost diameter portion 4b1. It is located outside the axial center of the tooth tip of the internal tooth portion 8a. Further, in the present embodiment, the second outermost diameter portion 4b1 is located outside the axial center of the tooth tip of the second external gear portion 4b. The second outer reduction portion 4b2 is configured such that the outer diameter thereof decreases in a curve toward the axially outer side from the second outermost diameter portion 4b1. The second inner reduced portion 4b3 is configured such that the outer diameter thereof decreases in a curve inward in the axial direction from the second outermost diameter portion 4b1. Further, the second inner reduced portion 4 b 3 is configured to extend to a portion corresponding to the radially inner side of the gap 7 between the first internal gear 6 and the second internal gear 8. Further, the second outer reduction portion 4b2 and the second inner reduction portion 4b3 are both configured such that the reduction ratio of the outer diameter with respect to the axial direction increases with distance from the second outermost diameter portion 4b1. The second outer reduction portion 4b2 is configured such that the reduction ratio of the outer diameter in the axial direction is larger than that of the first outer reduction portion 4a2.

なお、第１外側減少部４ａ２、第１内側減少部４ａ３、第２外側減少部４ｂ２および第２内側減少部４ｂ３の各減少部は、軸方向に対する外径の減少割合が次式を満たすように構成される。
（式１）減少割合＝外径（直径）の減少量（ｍｍ）／軸方向の移動量（ｍｍ）≦０．１
ここで、一般的に、面取りの場合の軸方向に対する外径の減少割合は次式を満たす。
（式２）面取りの外径（直径）の減少量（ｍｍ）／軸方向の移動量（ｍｍ）≧１．１５
したがって、各減少部と面取りとは、オーダーが異なり、明らかに区別される。 In the respective reduced portions of the first outer reduced portion 4a2, the first inner reduced portion 4a3, the second outer reduced portion 4b2 and the second inner reduced portion 4b3, the reduction ratio of the outer diameter in the axial direction satisfies the following equation Configured
(Equation 1) Reduction ratio = reduction amount of outer diameter (diameter) (mm) / axial movement amount (mm) ≦ 0.1
Here, in general, the reduction ratio of the outer diameter to the axial direction in the case of chamfering satisfies the following equation.
(Equation 2) Decrease amount (mm) of outer diameter (diameter) of chamfering / axial movement amount (mm) 1.1 1.15
Thus, the reductions and the chamfers are of different orders and are clearly distinguished.

第１内歯部６ａの歯先は、軸方向において内径が実質的に一定になるよう構成される。同様に、第２内歯部８ａの歯先は、軸方向において内径が実質的に一定になるよう構成される。 The tips of the first internal teeth 6a are configured such that the inner diameter is substantially constant in the axial direction. Similarly, the tips of the second internal teeth 8a are configured such that the inner diameter is substantially constant in the axial direction.

以上説明した本実施の形態に係る撓み噛合い式歯車装置１００によると、第１外歯部４ａの歯先は、第１最外径部４ａ１から軸方向外側および軸方向内側に向かって外径が減少するように構成され、第２外歯部４ｂの歯先は、第２最外径部４ｂ１から軸方向外側および軸方向内側に向かって外径が減少するように構成される。これにより、第１外歯部４ａおよび第２外歯部４ｂの歯幅端（内歯の軸方向端部に対応する位置）に生じる片当たり荷重を低減でき、歯車の過度な摩耗を低減できる。 According to the flexible meshing gear device 100 according to the present embodiment described above, the tooth tips of the first external gear 4a have an outer diameter from the first outermost diameter portion 4a1 axially outward and axially inward. Is reduced, and the tips of the second external teeth 4b are configured such that the outer diameter decreases axially outward and axially inward from the second outermost diameter portion 4b1. As a result, it is possible to reduce the contact load generated at the tooth width end (the position corresponding to the axial end of the internal tooth) of the first external gear 4a and the second external gear 4b, and to reduce excessive wear of the gear. .

また、本実施の形態に係る撓み噛合い式歯車装置１００によると、外歯歯車４の各最外径部は、外歯部と内歯部の噛み合い範囲の軸方向中央よりも外側に位置する。これにより、各最外径部が噛み合い範囲の軸方向中央または軸方向中央よりも内側に位置する場合と比べ、片当たり荷重をより低減できる。 Further, according to the flexible meshing gear device 100 according to the present embodiment, each outermost diameter portion of the external gear 4 is positioned outside the axial center of the meshing range of the external gear portion and the internal gear portion. . As a result, the per-piece load can be further reduced as compared with the case where each outermost diameter portion is located at or axially inside the axial center of the engagement range.

また、本実施の形態に係る撓み噛合い式歯車装置１００によると、第１内側減少部４ａ３、第２内側減少部４ｂ３はそれぞれ、第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する部分まで延在するよう構成される。これにより、外歯歯車が内歯歯車に対して軸方向にずれることによる影響を吸収できる。 Further, according to the flexible meshing gear device 100 in accordance with the present embodiment, the first inner reduced portion 4a3 and the second inner reduced portion 4b3 respectively form the gap between the first internal gear 6 and the second internal gear 8. It is configured to extend to a portion corresponding to the radially inner side of 7. Thus, the influence of the external gear being shifted in the axial direction with respect to the internal gear can be absorbed.

本発明者達は、効果を確認するために、シミュレーションを行った。図３（ａ）は、比較例に係る撓み噛合い式歯車装置のシミュレーション結果を示し、図３（ｂ）は本実施の形態に係る撓み噛合い式歯車装置１００のシミュレーション結果を示す。図３（ａ）、（ｂ）において、横軸は、外歯歯車４の軸方向位置であり、縦軸は、その軸方向位置での外歯歯車４にかかるラジアル荷重である。なお、比較例に係る撓み噛合い式歯車装置は、第１外歯部、第２外歯部、第１内歯部および第２内歯部はいずれも、歯先の径が軸方向において実質的に一定になるよう構成される。 The inventors conducted simulations to confirm the effect. FIG. 3A shows the simulation result of the flexible meshing gear device according to the comparative example, and FIG. 3B shows the simulation result of the flexible meshing gear device 100 according to the present embodiment. 3A and 3B, the horizontal axis is the axial position of the external gear 4 and the vertical axis is the radial load applied to the external gear 4 at that axial position. In the flexible meshed gear device according to the comparative example, the diameter of the tooth tips of the first external gear, the second external gear, the first internal gear, and the second internal gear is substantially the same in the axial direction. Configured to be constant.

図３（ａ）に示されるように、比較例に係る撓み噛合い式歯車装置では、外歯歯車の歯幅端（点線で囲った部分）におけるラジアル荷重が比較的大きく、片当たりが発生していることが分かる。 As shown in FIG. 3 (a), in the flexible meshed gear device according to the comparative example, the radial load at the tooth width end (portion surrounded by the dotted line) of the external gear is relatively large, and a partial contact occurs. Know that

一方、図３（ｂ）に示されるように、本実施の形態に係る撓み噛合い式歯車装置１００では、外歯歯車の歯幅端におけるラジアル荷重が比較的小さく、片当たりが低減されていることがわかる。また、本実施の形態に係る撓み噛合い式歯車装置１００では、歯幅端に限らず、外歯歯車４に作用するラジアル荷重が全体的に低減されている。これらより、本実施の形態によれば、歯車の過度な摩耗を低減できることが分かる。 On the other hand, as shown in FIG. 3B, in the flexible meshing gear device 100 according to the present embodiment, the radial load at the tooth width end of the external gear is relatively small, and the partial contact is reduced. I understand that. Further, in the flexible meshed gear device 100 according to the present embodiment, the radial load acting on the external gear 4 as a whole is reduced, not limited to the tooth width end. From these, it can be seen that according to the present embodiment, excessive wear of the gear can be reduced.

（第２の実施の形態）
図４は、第２の実施の形態に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図４は、第１の実施の形態の図２に対応する。第１の実施の形態との主な違いは、外歯部の歯先の径ではなく、内歯部の歯先の径が軸方向において変化する点である。以下、第１の実施の形態に係る撓み噛合い式歯車装置１００との相違点を中心に説明する。 Second Embodiment
FIG. 4 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the second embodiment. FIG. 4 corresponds to FIG. 2 of the first embodiment. The main difference from the first embodiment is that the diameter of the tips of the internal teeth, not the diameter of the tips of the external teeth, changes in the axial direction. Hereinafter, differences from the flexible meshing gear device 100 according to the first embodiment will be mainly described.

第１外歯部４ａの歯先は、軸方向において外径が実質的に一定になるよう構成される。同様に、第２外歯部４ｂの歯先は、軸方向において外径が実質的に一定になるよう構成される。第１外歯部４ａ、第２外歯部４ｂはいずれも、第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する部分まで延在するよう構成される。 The tips of the first external teeth 4a are configured such that the outer diameter is substantially constant in the axial direction. Similarly, the tips of the second external teeth 4b are configured such that the outer diameter is substantially constant in the axial direction. Each of the first external gear 4 a and the second external gear 4 b is configured to extend to a portion corresponding to the radially inner side of the gap 7 between the first internal gear 6 and the second internal gear 8. .

第１内歯部６ａの歯先は、第１内歯部６ａにおいて内径が最小となる第１最内径部６ａ１と、第１最内径部６ａ１から軸方向外側に向かって内径が増大する第１外側増大部６ａ２と、第１最内径部６ａ１から軸方向内側に向かって内径が増大する第１内側増大部６ａ３と、を有する。 The tips of the first internal teeth 6a have a first innermost diameter 6a1 at which the inner diameter is the smallest at the first internal teeth 6a, and a first inner diameter which increases outward in the axial direction from the first inner diameter 6a1. It has an outer increase portion 6a2 and a first inner increase portion 6a3 whose inner diameter increases inward in the axial direction from the first innermost diameter portion 6a1.

第１最内径部６ａ１は、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側に、さらに言い換えると（第１外歯部４ａと第１内歯部６ａのうちの軸方向長さが短い方である）第１内歯部６ａの歯先の軸方向中央よりも外側に位置する。第１外側増大部６ａ２は、第１最内径部６ａ１から軸方向外側に向かって、曲線的に内径が増大するよう構成される。第１内側増大部６ａ３は、第１最内径部６ａ１から軸方向内側に向かって、曲線的に内径が増大するよう構成される。また、第１内側増大部６ａ３は、第１最内径部６ａ１から離れるほど軸方向に対する内径の増大割合（＝内径の増大量／軸方向の移動量）が増加するように構成される。 In other words, the first innermost diameter portion 6a1 is outside the center line C1, that is, outside the center in the axial direction of the meshing range of the first external teeth 4a and the first internal teeth 6a. The axial length of the external tooth portion 4a and the first internal tooth portion 6a is shorter than the axial center of the tooth tip of the first internal tooth portion 6a. The first outer increase portion 6a2 is configured such that the inner diameter increases in a curved manner toward the axially outer side from the first innermost diameter portion 6a1. The first inner increase portion 6a3 is configured such that the inner diameter increases in a curved manner inward in the axial direction from the first innermost diameter portion 6a1. Further, the first inner increase portion 6a3 is configured such that the increase ratio of the inner diameter in the axial direction (= the increase amount of the inner diameter / the movement amount in the axial direction) increases with distance from the first innermost diameter portion 6a1.

第２内歯部８ａの歯先は、第２内歯部８ａにおいて内径が最小となる第２最内径部８ａ１と、第２最内径部８ａ１から軸方向外側に向かって内径が増大する第２外側増大部８ａ２と、第２最内径部８ａ１から軸方向内側に向かって内径が増大する第２内側増大部８ａ３と、を有する。 The tooth tips of the second internal teeth 8a have a second innermost diameter 8a1 whose inner diameter is the smallest at the second internal teeth 8a, and a second inner diameter which increases outward in the axial direction from the second innermost diameter 8a1 It has an outer increase portion 8a2 and a second inner increase portion 8a3 whose inner diameter increases inward in the axial direction from the second innermost diameter portion 8a1.

第２最内径部８ａ１は、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側に、さらに言い換えると（第２外歯部４ｂと第２内歯部８ａのうちの軸方向長さが短い方である）第２内歯部８ａの歯先の軸方向中央よりも外側に位置する。第２外側増大部８ａ２は、第２最内径部８ａ１から軸方向外側に向かって、曲線的に内径が増大するよう構成される。第２内側増大部８ａ３は、第２最内径部８ａ１から軸方向内側に向かって、曲線的に内径が増大するよう構成される。また、第２内側増大部８ａ３は、第２最内径部８ａ１から離れるほど軸方向に対する内径の増大割合が増加するように構成される。 In other words, the second innermost diameter portion 8a1 is outside the center line C2, that is, outside the center in the axial direction of the meshing range of the second external teeth 4b and the second internal teeth 8a. The axial length of the external tooth portion 4 b and the second internal tooth portion 8 a is shorter than the axial center of the tooth tip of the second internal tooth portion 8 a. The second outer increase portion 8a2 is configured such that the inner diameter increases in a curved manner toward the axially outer side from the second innermost diameter portion 8a1. The second inner increase portion 8a3 is configured such that the inner diameter increases in a curved manner inward in the axial direction from the second innermost diameter portion 8a1. In addition, the second inner increase portion 8a3 is configured such that the increase ratio of the inner diameter in the axial direction increases with distance from the second innermost diameter portion 8a1.

なお、第１外側増大部６ａ２、第１内側増大部６ａ３、第２外側増大部８ａ２および第２内側増大部８ａ３の各増大部は、軸方向に対する内径の増大割合が次式を満たすように構成される。
（式３）増大割合＝外径（直径）の増大量（ｍｍ）／軸方向の移動量（ｍｍ）≦０．１
したがって、第１の実施の形態の各減少部と同様に、各増大部と面取りとは、オーダーが異なり、明らかに区別される。 In addition, each increase portion of the first outer increase portion 6a2, the first inner increase portion 6a3, the second outer increase portion 8a2, and the second inner increase portion 8a3 is configured such that the increase ratio of the inner diameter in the axial direction satisfies the following expression. Be done.
(Equation 3) increase ratio = increase amount of outer diameter (diameter) (mm) / axial movement amount (mm) ≦ 0.1
Therefore, as with the respective reductions in the first embodiment, the respective growths and the chamfers are different in order and clearly distinguished.

以上説明した本実施の形態に係る撓み噛合い式歯車装置によると、第１内歯部６ａの歯先は、第１最内径部６ａ１から軸方向外側および軸方向内側に向かって内径が増大するように構成され、第２内歯部８ａの歯先は、第２最内径部８ａ１から軸方向外側および軸方向内側に向かって内径が増大するように構成される。これにより、第１外歯部４ａおよび第２外歯部４ｂの歯幅端に生じる片当たり荷重を低減でき、歯車の過度な摩耗を低減できる。 According to the flexible meshing gear device in accordance with the present embodiment described above, the internal diameter of the tooth tips of the first internal gear portion 6a increases axially outward and axially inward from the first innermost diameter portion 6a1. The tooth tips of the second internal tooth portion 8a are configured to increase in inner diameter axially outward and axially inward from the second innermost diameter portion 8a1. As a result, it is possible to reduce the contact load generated at the tooth width end of the first external teeth 4a and the second external teeth 4b, and to reduce excessive wear of the gear.

また、本実施の形態に係る撓み噛合い式歯車装置によると、第１内歯歯車６、第２内歯歯車８はそれぞれ、最内径部が外歯部と内歯部の噛み合い範囲の軸方向中央よりも外側に位置する。これにより、最内径部が噛み合い範囲の軸方向中央または軸方向中央よりも内側に位置する場合と比べ、片当たり荷重をより低減できる。 Further, according to the flexible meshing gear device according to the present embodiment, the first internal gear 6 and the second internal gear 8 each have an axial direction in which the innermost diameter portion is the meshing range of the external gear portion and the internal gear portion. Located outside the center. As a result, compared to the case where the innermost diameter portion is located at or axially inside the axial center of the engagement range, the per-piece load can be further reduced.

また、本実施の形態に係る撓み噛合い式歯車装置によると、第１外歯部４ａの歯先、第２外歯部４ｂの歯先はそれぞれ、第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する部分まで延在するよう構成される。これにより、外歯歯車が内歯歯車に対して軸方向にずれることによる影響を吸収できる。 Further, according to the flexible meshing gear device according to the present embodiment, the tooth tip of the first external gear 4a and the tooth tip of the second external gear 4b are respectively the first internal gear 6 and the second internal gear. It is configured to extend to a portion corresponding to the radially inner side of the gap 7 with the gear 8. Thus, the influence of the external gear being shifted in the axial direction with respect to the internal gear can be absorbed.

（第３の実施の形態）
図５は、第３の実施の形態に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図５は、第１の実施の形態の図２に対応する。第１の実施の形態との主な違いは、外歯部および内歯部がともに、歯先の径が軸方向において変化する部分を有する点である。以下、第１の実施の形態に係る撓み噛合い式歯車装置１００との相違点を中心に説明する。 Third Embodiment
FIG. 5 is a view for explaining the shapes of the external gear 4, the first internal gear 6 and the second internal gear 8 of the flexible meshed gear device according to the third embodiment. FIG. 5 corresponds to FIG. 2 of the first embodiment. The main difference from the first embodiment is that both the external teeth and the internal teeth have a portion where the diameter of the tooth tip changes in the axial direction. Hereinafter, differences from the flexible meshing gear device 100 according to the first embodiment will be mainly described.

第１外歯部４ａの歯先は、第１最外径部４ａ１と、第１の実施の形態と同様の第１外側減少部４ａ２と、を有する。すなわち、第１外歯部４ａの歯先は第１内側減少部を有さず、代わりに第１最外径部４ａ１が、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第１内歯部６ａの歯先の軸方向中央よりも外側の位置から、第２外歯部４ｂの歯先に接続する位置まで、すなわち第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する部分まで軸方向に延在する。なお、第１外歯部４ａの歯先は、第１内側減少部を有していてもよい。 The tooth tip of the first external tooth portion 4a has a first outermost diameter portion 4a1 and a first outer reduced portion 4a2 similar to that of the first embodiment. That is, the tips of the first external teeth 4a do not have the first inner decreasing portions, and instead, the first outermost diameter portion 4a1 is outside the center line C1, in other words, the first external teeth 4a and the first external teeth 4a. 1 from the position outside the center in the axial direction of the meshing range with the internal tooth portion 6a, in other words, from the position outside the axial center of the tooth tip of the first internal tooth portion 6a, the tooth tip of the second external tooth portion 4b It extends in the axial direction up to the position where it is connected, that is, to a portion corresponding to the radially inner side of the gap 7 between the first internal gear 6 and the second internal gear 8. The tips of the first external teeth 4a may have a first inner reduced portion.

第２外歯部４ｂの歯先は、第２最外径部４ｂ１と、第１の実施の形態と同様の第２外側減少部４ｂ２と、を有する。すなわち、第２外歯部４ｂの歯先は第２内側減少部を有さず、代わりに第２最外径部４ｂ１が、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第２内歯部８ａの歯先の軸方向中央よりも外側の位置から、第１外歯部４ａの歯先に接続する位置まで、すなわち第１内歯歯車６と第２内歯歯車８との隙間７の径方向内側に対応する部分まで軸方向に延在する。なお、第２外歯部４ｂの歯先は、第２内側減少部を有していてもよい。 The tooth tip of the second external tooth portion 4b has a second outermost diameter portion 4b1 and a second outer reduced portion 4b2 similar to the first embodiment. That is, the tooth tip of the second external gear 4b does not have the second inner reduced portion, and instead the second outermost diameter portion 4b1 is outside the center line C2, in other words, the second external gear 4b and the second external gear 4b The tooth tip of the first external gear 4a from the position outside the center in the axial direction of the meshing range with the internal gear 8a, in other words, outside the axial center of the tooth tip of the second internal gear 8a It extends in the axial direction up to the position where it is connected, that is, to a portion corresponding to the radially inner side of the gap 7 between the first internal gear 6 and the second internal gear 8. The tips of the second external teeth 4 b may have a second inner reduced portion.

第１内歯部６ａの歯先は、第１最内径部６ａ１と、第２の実施の形態と同様の第１内側増大部６ａ３と、を有する。すなわち、第１内歯部６ａの歯先は第１外側増大部を有さず、代わりに第１最内径部６ａ１が、中心線Ｃ１よりも外側、すなわち第１外歯部４ａの歯先の軸方向中央よりも外側の位置から軸方向外側に延在する。なお、第１内歯部６ａの歯先は、第１外側増大部を有していてもよい。 The tooth tip of the first internal tooth portion 6a has a first innermost diameter portion 6a1 and a first inner increased portion 6a3 similar to that of the second embodiment. That is, the tooth tip of the first internal tooth portion 6a does not have the first outer increased portion, and instead, the first innermost diameter portion 6a1 is outside the center line C1, ie, the tooth tip of the first outer tooth portion 4a. It extends axially outward from a position outside the axial center. The tip of the first internal tooth portion 6a may have a first outer increased portion.

第２内歯部８ａの歯先は、第２最内径部８ａ１と、第２の実施の形態と同様の第２内側増大部８ａ３と、を有する。すなわち、第２内歯部８ａの歯先は第２外側増大部を有さず、代わりに第１最内径部６ａ１が、中心線Ｃ２よりも外側、すなわち第２外歯部４ｂの歯先の軸方向中央よりも外側の位置から軸方向外側に延在する。なお、第２内歯部８ａの歯先は、第２外側増大部を有していてもよい。 The tooth tip of the second internal tooth portion 8a has a second innermost diameter portion 8a1 and a second inner enlarged portion 8a3 similar to the second embodiment. That is, the tooth tip of the second internal tooth portion 8a does not have the second outer increase portion, and instead, the first innermost diameter portion 6a1 is outside the center line C2, ie, the tooth tip of the second outer tooth portion 4b. It extends axially outward from a position outside the axial center. The tip of the second internal tooth portion 8a may have a second outer increase portion.

第１最外径部４ａ１と第１外側減少部４ａ２との境界の軸方向における位置は、第１最内径部６ａ１と第１内側増大部６ａ３との境界の軸方向における位置と実質的に一致する。また、これらの境界は、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第１内歯部６ａの歯先の軸方向中央よりも外側に位置する。本実施の形態ではさらに、これらの境界は、第１外歯部４ａの歯先の軸方向中央よりも外側に位置する。 The axial position of the boundary between the first outermost diameter portion 4a1 and the first outer reduced portion 4a2 substantially coincides with the axial position of the boundary between the first innermost diameter portion 6a1 and the first inner expanded portion 6a3. Do. Further, these boundaries are outside the center line C1, in other words, outside the center in the axial direction of the meshing range of the first external teeth 4a and the first internal teeth 6a, in other words, the first internal teeth It is located outside the axial center of the tip of 6a. Furthermore, in the present embodiment, these boundaries are located outside the axial center of the tooth tips of the first external teeth 4a.

同様に、第２最外径部４ｂ１と第２外側減少部４ｂ２との境界の軸方向における位置は、第２最内径部８ａ１と第２内側増大部８ａ３との境界の軸方向における位置と実質的に一致する。また、これらの境界は、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側に、さらに言い換えると第２内歯部８ａの歯先の軸方向中央よりも外側に位置する。本実施の形態ではさらに、これらの境界は、第２外歯部４ｂの歯先の軸方向中央よりも外側に位置する。 Similarly, the axial position of the boundary between the second outermost diameter portion 4b1 and the second outer reduction portion 4b2 is substantially the same as the axial position of the boundary between the second inner diameter portion 8a1 and the second inner expansion portion 8a3. Match. Further, these boundaries are outside the center line C2, in other words, outside the center in the axial direction of the meshing range of the second external teeth 4b and the second internal teeth 8a, in other words, the second internal teeth It is located outside the axial center of the tip of the portion 8a. Furthermore, in the present embodiment, these boundaries are located outside the axial center of the tip of the second external teeth 4b.

本実施の形態に係る撓み噛合い式歯車装置によると、外歯部の歯先は、第１の実施の形態と同様に、外側減少部を有する。一方、外歯部の歯先は、第１の実施の形態とは異なり、内側減少部は有しない。しかしながら代わりに、内歯部の歯先が内側増大部を有する。これにより、本実施の形態に係る撓み噛合い式歯車装置によると、第１の実施の形態に係る撓み噛合い式歯車装置１００によって奏される作用効果と同様の作用効果が奏される。 According to the flexible meshing gear device of the present embodiment, the tooth tips of the external teeth have an outer reduction portion as in the first embodiment. On the other hand, unlike the first embodiment, the tips of the external teeth do not have an inner reduction portion. However, instead, the tips of the internal teeth have an inner increase. Thereby, according to the flexible meshing gear device according to the present embodiment, the same operation and effect as those exhibited by the flexible meshing gear device 100 according to the first embodiment can be obtained.

（第４の実施の形態）
図６は、第４の実施の形態に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図６は、第１の実施の形態の図２に対応する。第１の実施の形態との主な違いは、外歯部および内歯部がともに、歯先の径が軸方向において変化する部分を有する点である。以下、第１の実施の形態に係る撓み噛合い式歯車装置１００との相違点を中心に説明する。 Fourth Embodiment
FIG. 6 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the fourth embodiment. FIG. 6 corresponds to FIG. 2 of the first embodiment. The main difference from the first embodiment is that both the external teeth and the internal teeth have a portion where the diameter of the tooth tip changes in the axial direction. Hereinafter, differences from the flexible meshing gear device 100 according to the first embodiment will be mainly described.

第１外歯部４ａの歯先は、第１最外径部４ａ１と、第１の実施の形態と同様の第１内側減少部４ａ３と、を有する。すなわち、第１外歯部４ａの歯先は第１外側減少部を有さず、代わりに第１最外径部４ａ１が、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第１内歯部６ａの歯先の軸方向中央よりも外側の位置から軸方向外側に延在する。なお、第１外歯部４ａの歯先は、第１外側減少部を有していてもよい。 The tooth tip of the first external tooth portion 4a has a first outermost diameter portion 4a1 and a first inner reduced portion 4a3 similar to the first embodiment. That is, the tip of the first external gear 4a does not have the first outer reduction portion, and instead the first outermost diameter portion 4a1 is outside the center line C1, in other words, the first external gear 4a and the first external gear 4a. It extends axially outward from a position outside the center in the axial direction of the meshing range with the internal tooth portion 6a, in other words outside the axial center of the tip of the first internal tooth portion 6a. The tips of the first external teeth 4a may have a first outer reduction portion.

第２外歯部４ｂの歯先は、第２最外径部４ｂ１と、第１の実施の形態と同様の第２内側減少部４ｂ３と、を有する。すなわち、第２外歯部４ｂの歯先は第２外側減少部を有さず、代わりに第２最外径部４ｂ１が、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第２内歯部８ａの歯先の軸方向中央よりも外側の位置から軸方向外側に延在する。なお、第２外歯部４ｂの歯先は、第２外側減少部を有していてもよい。 The tooth tip of the second external tooth portion 4b has a second outermost diameter portion 4b1 and a second inner reduced portion 4b3 similar to that of the first embodiment. That is, the tip of the second external gear 4b does not have the second outer reduction portion, and instead, the second outermost diameter portion 4b1 is outside the center line C2, in other words, the second external gear 4b and the second external gear 4b. It extends axially outward from a position outside the center in the axial direction of the meshing range with the internal teeth 8a, in other words, outside the axial center of the tooth tips of the second internal teeth 8a. In addition, the tooth tip of the 2nd external tooth part 4b may have the 2nd outside reduction part.

第１内歯部６ａの歯先は、第１最内径部６ａ１と、第２の実施の形態と同様の第１外側増大部６ａ２と、を有する。すなわち、第１内歯部６ａの歯先は第１内側増大部を有さず、代わりに第１最内径部６ａ１が、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第１内歯部６ａの歯先の軸方向中央よりも外側の位置から軸方向内側に延在する。なお、第１内歯部６ａの歯先は、第１内側増大部を有していてもよい。 The tooth tip of the first internal tooth portion 6a has a first innermost diameter portion 6a1 and a first outer increased portion 6a2 similar to that of the second embodiment. That is, the tip of the first internal tooth portion 6a does not have the first inner increase portion, and instead, the first innermost diameter portion 6a1 is outside the center line C1, in other words, the first external tooth portion 4a and the first external tooth portion 4a. It extends axially inward from a position outside the center in the axial direction of the meshing range with the internal tooth portion 6a, in other words outside the axial center of the tooth tip of the first internal tooth portion 6a. The tips of the first internal teeth 6a may have a first inner increased portion.

第２内歯部８ａの歯先は、第２最内径部８ａ１と、第２の実施の形態と同様の第２外側増大部８ａ２と、を有する。すなわち、第２内歯部８ａの歯先は第２内側増大部を有さず、代わりに第２最内径部８ａ１が、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第２内歯部８ａの歯先の軸方向中央よりも外側の位置から軸方向内側に延在する。なお、第２内歯部８ａの歯先は、第２内側増大部を有していてもよい。 The tooth tip of the second internal tooth portion 8a has a second innermost diameter portion 8a1 and a second outer increase portion 8a2 similar to that of the second embodiment. That is, the tip of the second internal tooth portion 8a does not have the second inner increase portion, and instead, the second innermost diameter portion 8a1 is outside the center line C2, in other words, the second external tooth portion 4b and the second external tooth portion 4b. It extends axially inward from a position outside the center in the axial direction of the meshing range with the internal tooth portion 8a, and in other words outside the axial center of the tooth tip of the second internal tooth portion 8a. The tip of the second internal tooth portion 8a may have a second inner increased portion.

第１最外径部４ａ１と第１内側減少部４ａ３との境界の軸方向における位置は、第１最内径部６ａ１と第１外側増大部６ａ２との境界の軸方向における位置と実質的に一致する。また、これらの境界は、中心線Ｃ１よりも外側、言い換えると第１外歯部４ａと第１内歯部６ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第１内歯部６ａの歯先の軸方向中央よりも外側に位置する。本実施の形態ではさらに、これらの境界は、第１外歯部４ａの歯先の軸方向中央よりも外側に位置する。 The axial position of the boundary between the first outermost diameter portion 4a1 and the first inner reduced portion 4a3 substantially matches the axial position of the boundary between the first innermost diameter portion 6a1 and the first outer increased portion 6a2. Do. Further, these boundaries are outside the center line C1, in other words, outside the center in the axial direction of the meshing range of the first external teeth 4a and the first internal teeth 6a, in other words, the first internal teeth It is located outside the axial center of the tip of 6a. Furthermore, in the present embodiment, these boundaries are located outside the axial center of the tooth tips of the first external teeth 4a.

同様に、第２最外径部４ｂ１と第１内側減少部４ａ３との境界の軸方向における位置は、第２最内径部８ａ１と第２外側増大部８ａ２との境界の軸方向における位置と実質的に一致する。また、これらの境界は、中心線Ｃ２よりも外側、言い換えると第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向における中央よりも外側、さらに言い換えると第２内歯部８ａの歯先の軸方向中央よりも外側に位置する。本実施の形態ではさらに、これらの境界は、第２外歯部４ｂの歯先の軸方向中央よりも外側に位置する。 Similarly, the position in the axial direction of the boundary between the second outermost diameter portion 4b1 and the first inner reduced portion 4a3 is substantially the same as the position in the axial direction of the boundary between the second innermost diameter portion 8a1 and the second outer increased portion 8a2. Match. Further, these boundaries are outside the center line C2, in other words, outside the center in the axial direction of the meshing range of the second external teeth 4b and the second internal teeth 8a, in other words, the second internal teeth It is located outside the axial center of the tooth tip of 8a. Furthermore, in the present embodiment, these boundaries are located outside the axial center of the tip of the second external teeth 4b.

本実施の形態に係る撓み噛合い式歯車装置によると、外歯部の歯先は、第１の実施の形態と同様に、内側減少部を有する。一方、外歯部の歯先は、第１の実施の形態とは異なり、外側減少部は有しない。しかしながら代わりに、内歯部の歯先が外側増大部を有する。これにより、本実施の形態に係る撓み噛合い式歯車装置によると、第１の実施の形態に係る撓み噛合い式歯車装置１００によって奏される作用効果と同様の作用効果が奏される。 According to the flexible meshing gear device of the present embodiment, the tooth tips of the external teeth have an inner reduction portion as in the first embodiment. On the other hand, unlike the first embodiment, the external teeth do not have an outer reduction portion unlike the first embodiment. However, instead, the tips of the internal teeth have an outer increase. Thereby, according to the flexible meshing gear device according to the present embodiment, the same operation and effect as those exhibited by the flexible meshing gear device 100 according to the first embodiment can be obtained.

（第５の実施の形態）
図７は、第５の実施の形態に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図７は、第１の実施の形態の図２に対応する。第１の実施の形態との主な違いは、第２外歯部４ｂの歯先の径だけが軸方向において変化する点である。以下、第１の実施の形態に係る撓み噛合い式歯車装置１００との相違点を中心に説明する。 Fifth Embodiment
FIG. 7 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the fifth embodiment. FIG. 7 corresponds to FIG. 2 of the first embodiment. The main difference from the first embodiment is that only the diameter of the tips of the second external teeth 4b changes in the axial direction. Hereinafter, differences from the flexible meshing gear device 100 according to the first embodiment will be mainly described.

第１内歯部６ａと歯数が異なる第１外歯部４ａの歯先は、軸方向において外径が実質的に一定で、かつ、第２外歯部４ｂの最小外径と同じ外径となるよう構成される。 The external diameter of the tips of the first external teeth 4a different in the number of teeth from the first internal teeth 6a is substantially constant in the axial direction, and is the same as the minimum external diameter of the second external teeth 4b. It is configured to be

第２内歯部８ａと歯数が同じである第２外歯部４ｂの歯先は、第２最外径部４ｂ１と、第２内側減少部４ｂ３と、を有する。すなわち、第２外歯部４ｂの歯先は、第２外側減少部を有しない。第２最外径部４ｂ１は、軸方向外側の端部に位置する。第２内側減少部４ｂ３は、第２外歯部４ｂの歯先の軸方向範囲の８０％以上を占め（図示の例では、ほぼ１００％を占め）、第２最外径部４ｂ１から軸方向内側に向かって連続的に外径が減少するように、より具体的には曲線的に外径が減少するように構成される。 The tooth tip of the second external gear 4b, which has the same number of teeth as the second internal gear 8a, has a second outermost diameter portion 4b1 and a second inner reduced portion 4b3. That is, the tip of the second external gear 4b does not have the second outer reduction portion. The second outermost diameter portion 4b1 is located at the axially outer end. The second inner reduced portion 4b3 occupies 80% or more of the axial range of the tooth tips of the second external teeth 4b (approximately 100% in the illustrated example), and extends axially from the second outermost portion 4b1. More specifically, the outer diameter is configured to decrease as the outer diameter decreases continuously toward the inside.

本実施の形態に係る撓み噛合い式歯車装置によると、第２内歯部８ａと歯数が同じである第２外歯部４ｂ、すなわち出力側の歯車である第２外歯部４ｂの歯先は、第２最外径部４ｂ１から軸方向内側に向かって外径が減少し、かつ、その減少部分（すなわち第２内側減少部４ｂ３）が第２外歯部４ｂの歯先の軸方向範囲の８０％以上を占めるように構成される。これにより、より負荷がかかりやすい出力側の外歯部である第２外歯部４ｂの歯幅端に生じる片当たり荷重を低減でき、歯車の過度な摩耗を低減できる。 According to the flexible meshing gear device of the present embodiment, the teeth of the second external gear 4b having the same number of teeth as the second internal gear 8a, that is, the teeth of the second external gear 4b which is a gear on the output side The point is that the outer diameter decreases inward in the axial direction from the second outermost diameter portion 4b1, and the reduced portion (that is, the second inner reduced portion 4b3) is in the axial direction of the tooth tip of the second outer tooth 4b. It is configured to occupy 80% or more of the range. As a result, it is possible to reduce the contact load generated at the tooth width end of the second external gear 4b, which is the output-side external gear that is more easily loaded, and to reduce excessive wear of the gear.

また、本実施の形態に係る撓み噛合い式歯車装置によると第１外歯部４ａの歯先、第２外歯部４ｂの歯先（特に第２内側減少部４ｂ３）はそれぞれ、第１内歯歯車６と第２内歯歯車８との隙間７に対応する部分まで延在するよう構成される。これにより、外歯歯車が内歯歯車に対して軸方向にずれることによる影響を吸収できる。 Further, according to the flexible meshing gear device in accordance with the present embodiment, the tooth tips of the first external gear 4a and the tooth tips of the second external gear 4b (in particular, the second inner reduced portion 4b3) respectively It is configured to extend to a portion corresponding to the gap 7 between the tooth gear 6 and the second internal gear 8. Thus, the influence of the external gear being shifted in the axial direction with respect to the internal gear can be absorbed.

（第６の実施の形態）
図８は、第６の実施の形態に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図８は、第２の実施の形態の図４に対応する。第２の実施の形態との主な違いは、第２の実施の形態との主な違いは、第２内歯部８ａの歯先の径だけが軸方向において変化する点である。以下、第１の実施の形態に係る撓み噛合い式歯車装置１００との相違点を中心に説明する。 Sixth Embodiment
FIG. 8 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the sixth embodiment. FIG. 8 corresponds to FIG. 4 of the second embodiment. The main difference from the second embodiment is that the main difference from the second embodiment is that only the diameter of the tips of the second internal teeth 8a changes in the axial direction. Hereinafter, differences from the flexible meshing gear device 100 according to the first embodiment will be mainly described.

第１外歯部４ａの歯先は、軸方向において外径が実質的に一定になるよう構成される。同様に、第２外歯部４ｂの歯先は、軸方向において外径が実質的に一定になるよう構成される。 The tips of the first external teeth 4a are configured such that the outer diameter is substantially constant in the axial direction. Similarly, the tips of the second external teeth 4b are configured such that the outer diameter is substantially constant in the axial direction.

第１外歯部４ａと歯数が異なる第１内歯部６ａの歯先は、軸方向において内径が実質的に一定で、かつ、第２内歯部８ａの最小内径と同じ内径となるよう構成される。 The tips of the first internal teeth 6a having a different number of teeth from the first external teeth 4a have an inner diameter substantially constant in the axial direction and have the same inner diameter as the minimum inner diameter of the second inner teeth 8a. Configured

第２外歯部４ｂと歯数が同じである第２内歯部８ａの歯先は、第２最内径部８ａ１と、第２内側増大部８ａ３と、を有する。すなわち、第２内歯部８ａの歯先は、第２外側増大部を有しない。第２最内径部８ａ１は、軸方向外側の端部に位置する。第２内側増大部８ａ３は、第２内歯部８ａの歯先の軸方向範囲の８０％以上を占め（図示の例では、ほぼ１００％を占め）、第２最内径部８ａ１から軸方向内側に向かって、連続的に内径が増大するように、より具体的には曲線的に内径が増大するように構成される。 The tooth tip of the second internal tooth portion 8a having the same number of teeth as the second external tooth portion 4b has a second innermost diameter portion 8a1 and a second inner increased portion 8a3. That is, the tip of the second internal tooth portion 8a does not have the second outer increase portion. The second innermost diameter portion 8a1 is located at the axially outer end. The second inner increase portion 8a3 occupies 80% or more of the axial range of the tooth tip of the second internal tooth portion 8a (in the illustrated example, approximately 100%), and is axially inner from the second innermost diameter portion 8a1 In order to increase the inner diameter continuously, more specifically, the inner diameter increases in a curved manner.

本実施の形態に係る撓み噛合い式歯車装置によると、第５の実施の形態に係る撓み噛合い式歯車装置によって奏される作用効果と同様の作用効果が奏される。 According to the flexible meshing gear device of the present embodiment, the same operational effects as those achieved by the flexible meshing gear device of the fifth embodiment can be obtained.

以上、実施の形態に係る撓み噛合い式歯車装置について説明した。これらの実施の形態は例示であり、それらの各構成要素や各処理プロセスの組合せにいろいろな変形例が可能なこと、またそうした変形例も本発明の範囲にあることは当業者に理解されるところである。 The flexible meshed gear device according to the embodiment has been described above. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to the combination of each component and each processing process, and such modifications are also within the scope of the present invention. It is a place.

（変形例１）
第１〜第６の実施の形態では、減少部、増大部それぞれの外径や内径が曲線的に減少、増大するよう構成されている場合について説明したが、これに限られず、これらは直線的に減少、増大するよう構成されてもよい。 (Modification 1)
In the first to sixth embodiments, the outer diameter and the inner diameter of each of the decrease portion and the increase portion are configured to decrease and increase in a curved manner, but the present invention is not limited thereto. It may be configured to decrease or increase.

図９は、第１の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図９は第１の実施の形態の図２に対応する。本変形例では、第１外側減少部４ａ２は軸方向外側に向かって直線的に外径が減少するよう構成され、第１内側減少部４ａ３は軸方向内側に向かって直線的に外径が減少するよう構成される。また、第２外側減少部４ｂ２は軸方向外側に向かって直線的に外径が減少するよう構成され、第２内側減少部４ｂ３は軸方向内側に向かって直線的に外径が減少するよう構成される。第１内側減少部４ａ３および第２内側減少部４ｂ３の少なくとも一方は、軸方向に対する傾きが異なる、別の言い方をすると回転軸Ｒ（図１参照）とのなす角が異なる、２つの直線部を有する。内側減少部の２つの直線部のうち、外側に位置する直線部すなわち最外径部に近い側の直線部は、内側に位置する直線部すなわち最外径部から遠い側の直線部よりも傾きが小さい、すなわち回転軸Ｒとのなす角が小さい。なお、図９では、第１内側減少部４ａ３および第２内側減少部４ｂ３の両方が、傾きが異なる２つの直線部を有する場合を示している。 FIG. 9 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to a modification of the first embodiment. . FIG. 9 corresponds to FIG. 2 of the first embodiment. In the present modification, the first outer reduction portion 4a2 is configured such that the outer diameter decreases linearly outward in the axial direction, and the first inner reduction portion 4a3 decreases in outer diameter linearly in the axial direction. Configured to In addition, the second outer reduction portion 4b2 is configured to decrease the outer diameter linearly outward in the axial direction, and the second inner reduction portion 4b3 is configured to decrease the outer diameter linearly in the axial direction. Be done. At least one of the first inner reduction portion 4a3 and the second inner reduction portion 4b3 has two straight portions having different inclinations with respect to the axial direction, in other words, different angles with respect to the rotation axis R (see FIG. 1) Have. Of the two straight portions of the inner decreasing portion, the straight portion located on the outer side, that is, the straight portion on the side closer to the outermost diameter portion is inclined more than the straight portion located on the inner side Is small, that is, the angle with the rotation axis R is small. In addition, in FIG. 9, the case where both 1st inner side reduced part 4a3 and 2nd inner side reduced part 4b3 have two linear parts from which inclination differs is shown.

図１０は、第２の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図１０は第２の実施の形態の図４に対応する。本変形例では、第１外側増大部６ａ２は軸方向外側に向かって直線的に内径が増大するよう構成され、第１内側増大部６ａ３は軸方向内側に向かって直線的に内径が増大するよう構成される。また、第２外側増大部８ａ２は軸方向外側に向かって直線的に内径が増大するよう構成され、第２内側増大部８ａ３は軸方向内側に向かって直線的に内径が増大するよう構成される。第１内側増大部６ａ３および第２内側増大部８ａ３の少なくとも一方は、軸方向に対する傾きが異なる、別の言い方をすると回転軸Ｒ（図１参照）とのなす角が異なる、２つの直線部を有する。内側増大部の２つの直線部のうち、外側に位置する直線部すなわち最内径部に近い側の直線部は、内側に位置する直線部すなわち最内径部から遠い側の直線部よりも傾きが小さい、すなわち回転軸Ｒとのなす角が小さい。なお、図１１では、第１内側増大部６ａ３および第２内側増大部８ａ３の両方が、傾きが異なる２つの直線部を有する場合を示している。 FIG. 10 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the modification of the second embodiment. . FIG. 10 corresponds to FIG. 4 of the second embodiment. In this modification, the first outer increase portion 6a2 is configured such that the inner diameter increases linearly outward in the axial direction, and the first inner increase portion 6a3 increases in inner diameter linearly in the axial direction. Configured Also, the second outer increase portion 8a2 is configured to increase the inner diameter linearly outward in the axial direction, and the second inner increase portion 8a3 is configured to increase the inner diameter linearly in the axial direction. . At least one of the first inner increase portion 6a3 and the second inner increase portion 8a3 has two straight portions having different inclinations with respect to the axial direction, in other words, different angles with respect to the rotation axis R (see FIG. 1) Have. Of the two straight portions of the inner increase portion, the straight portion located on the outer side, ie, the straight portion closer to the innermost diameter portion, has a smaller inclination than the straight portion located on the inner side, ie That is, the angle formed with the rotation axis R is small. In addition, in FIG. 11, the case where both the 1st inside increase part 6a3 and the 2nd inside increase part 8a3 have two linear parts from which inclination differs is shown.

図１１は、第３の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図１１は第３の実施の形態の図５に対応する。本変形例では、第１外側減少部４ａ２は軸方向外側に向かって直線的に外径が減少するよう構成され、第１内側増大部６ａ３は軸方向内側に向かって直線的に内径が増大するように構成される。また、第２外側減少部４ｂ２は軸方向外側に向かって直線的に外径が減少するよう構成され、第２内側増大部８ａ３は軸方向内側に向かって直線的に内径が増大するように構成される。 FIG. 11 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the modification of the third embodiment. . FIG. 11 corresponds to FIG. 5 of the third embodiment. In the present modification, the first outer reduction portion 4a2 is configured such that the outer diameter decreases linearly outward in the axial direction, and the inner diameter of the first inner increase portion 6a3 linearly increases in the axial direction. Configured as. Further, the second outer reduction portion 4b2 is configured to decrease the outer diameter linearly outward in the axial direction, and the second inner increase portion 8a3 is configured to increase the inner diameter linearly in the axial direction. Be done.

図１２は、第４の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図１２は第４の実施の形態の図６に対応する。本変形例では、第１内側減少部４ａ３は軸方向内側に向かって直線的に外径が減少するよう構成され、第１外側増大部６ａ２は軸方向外側に向かって直線的に内径が増大するよう構成される。また、第２内側減少部４ｂ３は軸方向内側に向かって直線的に外径が減少するよう構成され、第２外側増大部８ａ２は軸方向外側に向かって直線的に内径が増大するよう構成される。 FIG. 12 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to the modification of the fourth embodiment. . FIG. 12 corresponds to FIG. 6 of the fourth embodiment. In this modification, the first inner reduced portion 4a3 is configured such that the outer diameter decreases linearly inward in the axial direction, and the inner diameter of the first outer increased portion 6a2 linearly increases outward in the axial direction. Configured. Further, the second inner reduced portion 4b3 is configured such that the outer diameter decreases linearly inward in the axial direction, and the second outer increased portion 8a2 is configured such that the inner diameter increases linearly outward in the axial direction. Ru.

図１３は、第５の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図１３は第５の実施の形態の図７に対応する。本変形例では、第２内側減少部４ｂ３は、第２最外径部４ｂ１から軸方向内側に向かって、直線的に外径が減少するように構成される。 FIG. 13 is a view for explaining the shapes of the external gear 4, the first internal gear 6 and the second internal gear 8 of the flexible meshed gear device according to a modification of the fifth embodiment. . FIG. 13 corresponds to FIG. 7 of the fifth embodiment. In the present modification, the second inner reduced portion 4b3 is configured such that the outer diameter thereof decreases linearly inward in the axial direction from the second outermost diameter portion 4b1.

図１４は、第５の実施の形態の別の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図１４は第５の実施の形態の図７に対応する。本変形例では、第２内側減少部４ｂ３は、第２最外径部４ｂ１から軸方向内側に向かって、直線的に外径が減少するように構成される。また、本変形例では、第１外歯部４ａは、第１最外径部４ａ１と、第１内側減少部４ａ３と、を有する。第１最外径部４ａ１は、軸方向に延在する。第１内側減少部４ａ３は、第１最外径部４ａ１から軸方向内側に向かって、直線的に外径が減少する。第１内側減少部４ａ３は特に、その軸方向寸法Ｄ１が、第２内側減少部４ｂ３の軸方向寸法Ｄ２よりも小さくなるよう構成される。 FIG. 14 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible mesh gear device according to another modification of the fifth embodiment. It is. FIG. 14 corresponds to FIG. 7 of the fifth embodiment. In the present modification, the second inner reduced portion 4b3 is configured such that the outer diameter thereof decreases linearly inward in the axial direction from the second outermost diameter portion 4b1. Further, in the present modification, the first external tooth portion 4a has a first outermost diameter portion 4a1 and a first inner reduced portion 4a3. The first outermost diameter portion 4a1 extends in the axial direction. The outer diameter of the first inner reduced portion 4a3 decreases linearly inward in the axial direction from the first outermost diameter portion 4a1. In particular, the first inner reduction 4a3 is configured such that its axial dimension D1 is smaller than the axial dimension D2 of the second inner reduction 4b3.

図１５は、第６の実施の形態の変形例に係る撓み噛合い式歯車装置の外歯歯車４、第１内歯歯車６および第２内歯歯車８の形状を説明するための図である。図１５は第６の実施の形態の図８に対応する。本変形例では、第２内側増大部８ａ３は、第２最内径部８ａ１から軸方向内側に向かって、直線的に内径が増大するように構成される。 FIG. 15 is a view for explaining the shapes of the external gear 4, the first internal gear 6, and the second internal gear 8 of the flexible meshed gear device according to a modification of the sixth embodiment. . FIG. 15 corresponds to FIG. 8 of the sixth embodiment. In the present modification, the second inner increase portion 8a3 is configured such that the inner diameter increases linearly inward in the axial direction from the second innermost diameter portion 8a1.

図９〜図１５の変形例において、各減少部は、軸方向に対する外径の減少割合が上述の式１を満たすように構成され、各増大部は、軸方向に対する内径の増大割合が上述の式２を満たすように構成される。 In the modification of FIGS. 9 to 15, each reduction portion is configured such that the reduction ratio of the outer diameter in the axial direction satisfies the above equation 1, and each increase portion has the above-mentioned increase ratio of the inner diameter It is comprised so that Formula 2 may be satisfy | filled.

図９〜図１５の変形例によれば、実施の形態に係る撓み噛合い式歯車装置によって奏される作用効果と同様の作用効果が奏される。加えて、本変形例によれば、直線的な歯先形状の歯部しか加工できない加工機すなわち曲線的な歯先形状の歯部を加工できない加工機を、歯車の製造に使用することができる。 According to the modification of FIGS. 9-15, the effect similar to the effect show | played by the bending mesh type gear apparatus which concerns on embodiment is show | played. In addition, according to this modification, it is possible to use a processing machine capable of processing only straight tooth-shaped teeth, that is, a processing machine which can not process curved tooth-shaped teeth, for manufacturing gears. .

（変形例２）
第１の実施の形態では、第１最外径部４ａ１および第２最外径部４ｂ１の両方が、対応する外歯部と内歯部との噛み合い範囲の軸方向中央よりも外側に位置する場合について説明したが、これに限られず、第１最外径部４ａ１および第２最外径部４ｂ１の一方だけが、対応する外歯部と内歯部との噛み合い範囲の軸方向中央よりも外側に位置してもよい。例えば、第２内歯部８ａと歯数が同じである第２外歯部４ｂ、すなわち出力側の歯車である第２外歯部４ｂの第２最外径部４ｂ１だけが、第２外歯部４ｂと第２内歯部８ａとの噛み合い範囲の軸方向中央よりも外側に位置してもよい。 (Modification 2)
In the first embodiment, both of the first outermost diameter portion 4a1 and the second outermost diameter portion 4b1 are located outside the axial center of the meshing range of the corresponding outer teeth portion and the inner teeth portion. Although the case has been described, the present invention is not limited thereto, and only one of the first outermost diameter portion 4a1 and the second outermost diameter portion 4b1 is closer than the axial center of the meshing range between the corresponding outer teeth portion and inner teeth portion. It may be located outside. For example, only the second outer teeth 4b having the same number of teeth as the second inner teeth 8a, that is, only the second outermost diameter portion 4b1 of the second outer teeth 4b that is a gear on the output side are the second outer teeth. You may be located outside the axial direction center of the meshing range of the part 4b and the 2nd internal tooth part 8a.

同様に、第２の実施の形態では、第１最内径部６ａ１および第２最内径部８ａ１の両方が、対応する外歯部と内歯部との噛み合い範囲の軸方向中央よりも外側に位置する場合について説明したが、これに限られず、第１最内径部６ａ１および第２最内径部８ａ１の一方だけが、対応する外歯部と内歯部との噛み合い範囲の軸方向中央よりも外側に位置してもよい。 Similarly, in the second embodiment, both the first innermost diameter portion 6a1 and the second innermost diameter portion 8a1 are positioned outside the axial center of the meshing range of the corresponding outer teeth portion and the inner teeth portion. However, the present invention is not limited thereto. Only one of the first innermost diameter portion 6a1 and the second innermost diameter portion 8a1 is outside the axial center of the meshing range between the corresponding outer teeth portion and the inner teeth portion. It may be located at

また、第３、第４の実施の形態では、第１外歯部４ａおよび第１内歯部６ａにおける境界と、第２外歯部４ｂおよび第２内歯部８ａにおける境界の両方が、対応する外歯部と内歯部との噛み合い範囲の軸方向中央よりも外側に位置する場合について説明したが、これに限られず、第１外歯部４ａおよび第１内歯部６ａにおける境界と、第２外歯部４ｂおよび第２内歯部８ａにおける境界の一方だけが、対応する外歯部と内歯部との噛み合い範囲の軸方向中央よりも外側に位置してもよい。 Further, in the third and fourth embodiments, both the boundaries of the first external teeth 4a and the first internal teeth 6a and the boundaries of the second external teeth 4b and the second internal teeth 8a correspond to each other. However, the present invention is not limited to this, and the boundary between the first external teeth 4a and the first internal teeth 6a, and Only one of the boundaries of the second external teeth 4b and the second internal teeth 8a may be located outside the axial center of the meshing range of the corresponding external teeth and internal teeth.

（変形例３）
第１〜第６の実施の形態および上述の変形例では、内歯部が外歯部よりも軸方向の長さが短い場合について説明したが、これに限られない。外歯部は、内歯部よりも軸方向の長さが短く、軸方向における全範囲で内歯部と噛み合うように構成されてもよい。つまり、外歯部と内歯部との噛み合い範囲の軸方向の長さが外歯部の軸方向の長さと等しくなるよう構成されてもよい。この場合、例えば、第１の実施の形態における各最外径部、第２の実施の形態における各最内径部、第３の実施の形態における最外径部と外側減少部との各境界、および第４の実施の形態における最外径部と内側減少部との各境界は、対応する外歯部と内歯部の噛み合い範囲の軸方向中央よりも外側、言い換えると、対応する外歯部の歯先の軸方向中央よりも外側に位置する。 (Modification 3)
In the first to sixth embodiments and the above-described modified example, although the case where the internal tooth portion has a shorter axial length than the external tooth portion has been described, the present invention is not limited thereto. The external teeth may have a shorter axial length than the internal teeth and may be configured to mesh with the internal teeth in the entire axial direction. That is, the axial length of the meshing range between the external teeth and the internal teeth may be equal to the axial length of the external teeth. In this case, for example, each outermost diameter portion in the first embodiment, each innermost diameter portion in the second embodiment, each boundary between the outermost diameter portion and the outer reduction portion in the third embodiment, Each boundary between the outermost diameter portion and the inner reduction portion in the fourth embodiment is outside the axial center of the meshing range of the corresponding outer teeth portion and the inner teeth portion, in other words, the corresponding outer teeth portion Located outside the axial center of the tip of the tooth.

４外歯歯車、４ａ第１外歯部、４ｂ第２外歯部、４ａ１第１最外径部、４ａ２第１外側減少部、４ａ３第１内側減少部、６第１内歯歯車、８第２内歯歯車、２２ａ起振体、１００撓み噛合い式歯車装置。 4 External gear, 4a 1st external gear, 4b 2nd external gear, 4a1 1st outermost diameter, 4a 2 1st outer reduction, 4a 3 1st inner reduction, 6 1st internal gear, 8 2 Internal gear, 22a exciter, 100 flexible mesh gear.

Claims

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、
前記外歯歯車は、前記第１内歯歯車と噛み合う第１外歯部と、前記第２内歯歯車と噛み合う第２外歯部と、を有し、
前記第１外歯部の歯先は、外径が最大となる第１最外径部と、前記第１最外径部から軸方向外側に向かって外径が減少する第１外側減少部と、前記第１最外径部から軸方向内側に向かって外径が減少する第１内側減少部と、を有し、
前記第２外歯部の歯先は、外径が最大となる第２最外径部と、前記第２最外径部から軸方向外側に向かって外径が減少する第２外側減少部と、前記第２最外径部から軸方向内側に向かって外径が減少する第２内側減少部と、を有することを特徴とする撓み噛合い式歯車装置。 A generator, an external gear that is elastically deformed by the generator, a first internal gear that meshes with the external gear, and an external gear that are arranged in the axial direction with the first internal gear. And a second meshing internal gear.
The external gear includes a first external gear that meshes with the first internal gear, and a second external gear that meshes with the second internal gear.
The tips of the first external teeth have a first outermost diameter portion where the outer diameter is the largest, and a first outer reduced portion where the outer diameter decreases axially outward from the first outermost diameter portion A first inner decreasing portion whose outer diameter decreases inward in the axial direction from the first outermost diameter portion;
The tooth tips of the second external teeth portion have a second outermost diameter portion where the outer diameter is the largest, and a second outer reduced portion where the outer diameter decreases axially outward from the second outermost diameter portion A flexible meshed gear device, comprising: a second inner reduced portion whose outer diameter decreases inward in the axial direction from the second outermost diameter portion.

前記第１最外径部および前記第２最外径部の少なくとも一方は、互いに噛み合う外歯部および内歯部のうち軸方向幅が小さい方の歯部の軸方向中央よりも外側に位置することを特徴とする請求項１に記載の撓み噛合い式歯車装置。 At least one of the first outermost diameter portion and the second outermost diameter portion is located outside the axial center of the tooth portion having a smaller axial width out of the external tooth portion and the internal tooth portion that mesh with each other A flexible meshed gear device according to claim 1, characterized in that.

前記第１外側減少部、前記第２外側減少部、前記第１内側減少部および前記第２内側減少部は、直線的に外径が減少することを特徴とする請求項１または２に記載の撓み噛合い式歯車装置。 The outer diameter of the first outer reduction portion, the second outer reduction portion, the first inner reduction portion, and the second inner reduction portion decrease linearly. Flexible meshing gear unit.

前記第１内側減少部および前記第２内側減少部の少なくとも一方は、傾きが異なる２つの直線部を有することを特徴とする請求項１から３のいずれかに記載の撓み噛合い式歯車装置。 The flexible meshed gear device according to any one of claims 1 to 3, wherein at least one of the first inner reduction portion and the second inner reduction portion has two straight portions having different inclinations.

前記傾きが異なる２つの直線部のうちの軸方向外側に位置する直線部は、軸方向内側に位置する直線部よりも軸方向に対する傾きが小さいことを特徴とする請求項４に記載の撓み噛合い式歯車装置。 5. The deflection meshing according to claim 4, wherein a straight portion located outside in the axial direction of the two straight portions different in inclination has a smaller inclination with respect to the axial direction than a straight portion located inside in the axial direction. Gear system.

前記第１内側減少部および前記第２内側減少部は、前記第１内歯歯車と前記第２内歯歯車との隙間の径方向内側に対応する部分まで延在するよう構成されることを特徴とする請求項１から５のいずれかに記載の撓み噛合い式歯車装置。 The first inner reduction portion and the second inner reduction portion are configured to extend to a portion corresponding to a radially inner side of a gap between the first internal gear and the second internal gear. The flexible meshed gear device according to any one of claims 1 to 5, wherein:

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、
前記第１内歯歯車の内歯部の歯先は、内径が最小となる第１最内径部と、前記第１最内径部から軸方向外側に向かって内径が増大する第１外側増大部と、前記第１最内径部から軸方向内側に向かって内径が増大する第１内側増大部と、を有し、
前記第２内歯歯車の内歯部の歯先は、内径が最小となる第２最内径部と、前記第２最内径部から軸方向外側に向かって内径が増大する第２外側増大部と、前記第２最内径部から軸方向内側に向かって内径が増大する第２内側増大部と、を有することを特徴とする撓み噛合い式歯車装置。 A generator, an external gear that is elastically deformed by the generator, a first internal gear that meshes with the external gear, and an external gear that are arranged in the axial direction with the first internal gear. And a second meshing internal gear.
The tooth tip of the internal tooth portion of the first internal gear includes a first innermost diameter portion having a minimum inner diameter, and a first outer increasing portion having an inner diameter increasing axially outward from the first inner diameter portion. A first inner increase portion whose inner diameter increases inward in the axial direction from the first innermost diameter portion;
A tooth tip of an internal tooth portion of the second internal gear includes a second innermost diameter portion having a minimum inner diameter, and a second outer increasing portion having an inner diameter increasing outward in the axial direction from the second inner diameter portion. A flexible meshed gear device comprising: a second inner increase portion whose inner diameter increases inward in the axial direction from the second innermost diameter portion.

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、
前記外歯歯車は、前記第１内歯歯車の第１内歯部と噛み合う第１外歯部と、前記第２内歯歯車の第２内歯部と噛み合う第２外歯部と、を有し、
前記第１外歯部の歯先は、外径が最大となる第１最外径部と、前記第１最外径部から軸方向外側に向かって外径が減少する第１外側減少部と、を有し、
前記第２外歯部の歯先は、外径が最大となる第２最外径部と、前記第２最外径部から軸方向外側に向かって外径が減少する第２外側減少部と、を有し、
前記第１内歯部の歯先は、内径が最小となる第１最内径部と、前記第１最内径部から軸方向内側に向かって内径が増大する第１内側増大部と、を有し、
前記第２内歯部の歯先は、内径が最小となる第２最内径部と、前記第２最内径部から軸方向内側に向かって内径が増大する第２内側増大部と、を有することを特徴とする撓み噛合い式歯車装置。 A generator, an external gear that is elastically deformed by the generator, a first internal gear that meshes with the external gear, and an external gear that are arranged in the axial direction with the first internal gear. And a second meshing internal gear.
The external gear includes a first external gear engaging with a first internal gear of the first internal gear, and a second external gear engaging with a second internal gear of the second internal gear. And
The tips of the first external teeth have a first outermost diameter portion where the outer diameter is the largest, and a first outer reduced portion where the outer diameter decreases axially outward from the first outermost diameter portion And have
The tooth tips of the second external teeth portion have a second outermost diameter portion where the outer diameter is the largest, and a second outer reduced portion where the outer diameter decreases axially outward from the second outermost diameter portion And have
The tip of the first internal tooth portion has a first innermost diameter portion with the smallest inner diameter, and a first inner increased diameter portion with the inner diameter increasing inward in the axial direction from the first innermost diameter portion. ,
The tip of the second internal tooth portion has a second innermost diameter portion with the smallest inner diameter, and a second inner increased diameter portion with the inner diameter increasing inward in the axial direction from the second innermost diameter portion. A flexible meshed gear device characterized by

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、
前記外歯歯車は、前記第１内歯歯車の第１内歯部と噛み合う第１外歯部と、前記第２内歯歯車の第２内歯部と噛み合う第２外歯部と、を有し、
前記第１外歯部の歯先は、外径が最大となる第１最外径部と、前記第１最外径部から軸方向内側に向かって外径が減少する第１内側減少部と、を有し、
前記第２外歯部の歯先は、外径が最大となる第２最外径部と、前記第２最外径部から軸方向内側に向かって外径が減少する第２内側減少部と、を有し、
前記第１内歯部の歯先は、内径が最小となる第１最内径部と、前記第１最内径部から軸方向外側に向かって内径が増大する第１外側増大部と、を有し、
前記第２内歯部の歯先は、内径が最小となる第２最内径部と、前記第２最内径部から軸方向外側に向かって内径が増大する第２外側増大部と、を有することを特徴とする撓み噛合い式歯車装置。 A generator, an external gear that is elastically deformed by the generator, a first internal gear that meshes with the external gear, and an external gear that are arranged in the axial direction with the first internal gear. And a second meshing internal gear.
The external gear includes a first external gear engaging with a first internal gear of the first internal gear, and a second external gear engaging with a second internal gear of the second internal gear. And
The tips of the first external teeth have a first outermost diameter portion where the outer diameter is the largest, and a first inner reduced portion where the outer diameter decreases inward in the axial direction from the first outermost diameter portion And have
A tooth tip of the second external tooth portion has a second outermost diameter portion where the outer diameter is maximum, and a second inner reduced portion where the outer diameter decreases inward in the axial direction from the second outermost diameter portion And have
The tip of the first internal tooth portion has a first innermost diameter portion where the inner diameter is the smallest, and a first outer increased diameter portion where the inner diameter increases outward in the axial direction from the first innermost diameter portion. ,
The tooth tip of the second internal tooth portion has a second innermost diameter portion where the inner diameter is the smallest, and a second outer increased diameter portion where the inner diameter increases axially outward from the second innermost diameter portion. A flexible meshed gear device characterized by

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、
前記外歯歯車は、前記第１内歯歯車の第１内歯部と噛み合う第１外歯部であって、前記第１内歯部と歯数が異なる第１外歯部と、前記第２内歯歯車の第２内歯部と噛み合う第２外歯部であって、前記第２内歯部と歯数が同じ第２外歯部と、を有し、
前記第２外歯部の歯先は、外径が最大となる第２最外径部と、前記第２最外径部から軸方向内側に向かって外径が連続的に減少する第２内側減少部と、を有し、
前記第２内側減少部は、前記第２外歯部の歯先の軸方向範囲の８０％以上を占めることを特徴とする撓み噛合い式歯車装置。 A generator, an external gear that is elastically deformed by the generator, a first internal gear that meshes with the external gear, and an external gear that are arranged in the axial direction with the first internal gear. And a second meshing internal gear.
The external gear is a first external gear meshing with a first internal gear of the first internal gear, the first external gear having a different number of teeth from the first internal gear, and the second external gear A second external gear engaged with a second internal gear of the internal gear, the second external gear having the same number of teeth as the second internal gear;
The tooth tip of the second external tooth portion has a second outermost diameter portion where the outer diameter is maximum, and a second inner diameter where the outer diameter continuously decreases inward in the axial direction from the second outermost diameter portion And a decreasing portion,
The second gear part according to claim 1, wherein the second inner reduction part occupies 80% or more of the axial range of the tooth tips of the second external teeth.

前記第１外歯部は、外径が最大となる第１最外径部と、前記第１最外径部から軸方向内側に向かって外径が減少する第１内側減少部と、を有し、
前記第１内側減少部は、前記第２内側減少部よりも軸方向寸法が小さいことを特徴とする請求項１０に記載の撓み噛合い式歯車装置。 The first external tooth portion has a first outermost diameter portion where the outer diameter is maximized, and a first inner reduced portion where the outer diameter decreases inward in the axial direction from the first outermost diameter portion. And
The flexible meshed gear device according to claim 10, wherein the first inner reduction portion has an axial dimension smaller than that of the second inner reduction portion.

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、を備える撓み噛合い式歯車装置であって、
前記内歯歯車は、前記外歯歯車の第２外歯部と噛み合う第２内歯部であって、前記第２外歯部と歯数が同じ第２内歯部を有し、
前記第２内歯部は、内径が最小となる最内径部と、前記最内径部から軸方向内側に向かって外径が連続的に増大する内側増大部を有し、
前記内側増大部は、前記第２内歯部の歯先の軸方向範囲の８０％以上を占めることを特徴とする撓み噛合い式歯車装置。 A generator, an external gear that is elastically deformed by the generator, a first internal gear that meshes with the external gear, and an external gear that are arranged in the axial direction with the first internal gear. And a second meshing internal gear.
The internal gear is a second internal gear engaged with a second external gear of the external gear, and has a second internal gear having the same number of teeth as the second external gear.
The second internal tooth portion has an innermost diameter portion where the inner diameter is minimized, and an inner increased portion where the outer diameter continuously increases inward in the axial direction from the innermost diameter portion.
The flexible meshed gear device, wherein the inner increase portion occupies 80% or more of an axial range of a tooth tip of the second internal tooth portion.