JP2020060221A - Motor built-in type flexible meshing-type gear device - Google Patents

Motor built-in type flexible meshing-type gear device Download PDF

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JP2020060221A
JP2020060221A JP2018190571A JP2018190571A JP2020060221A JP 2020060221 A JP2020060221 A JP 2020060221A JP 2018190571 A JP2018190571 A JP 2018190571A JP 2018190571 A JP2018190571 A JP 2018190571A JP 2020060221 A JP2020060221 A JP 2020060221A
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rotor
fitting portion
press
knurled
motor
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JP7182985B2 (en
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石塚　正幸
Masayuki Ishizuka
正幸 石塚
稔也 南雲
Toshiya Nagumo
稔也 南雲
悠朗 石田
Hiroaki Ishida
悠朗 石田
媛媛 劉
Yuanyuan Liu
媛媛 劉
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Abstract

To provide a motor built-in type flexible meshing-type gear device capable of being shortened in an axial direction.SOLUTION: A motor built-in type flexible meshing-type gear device (1) includes a flexible meshing-type gear mechanism (30), and a motor (10) built in a central part of the flexible meshing-type gear mechanism. The motor (10) includes a stator (12), and a rotor (15) surrounding the stator, the flexible meshing-type gear mechanism (30) has an exciter (31) mounted on the rotor to be rotated integrally with the rotor (15). The rotor (15) has a press-fit portion (P1) press-fitted to the exciter, and a knurl fit portion (P3) knurled and fitted to the exciter. The press-fit portion (P1) and the knurl fit portion (P3) are disposed on a position where the press-fit portion (P1) is press-fitted before the knurl fitting of the knurl fit portion (P3) when the rotor is assembled inside of the exciter from one side in an axial direction.SELECTED DRAWING: Figure 1

Description

本発明は、モータ内蔵型撓み噛合い式歯車装置に関する。   The present invention relates to a flexural meshing gear device with a built-in motor.

特許文献１には、モータ内蔵型の撓み噛合い式歯車装置が開示されている。この撓み噛合い式歯車装置は、ロータ（４２）の回転運動を起振体（３１）に伝達するために、起振体に径方向に貫通するセットビスを設け、セットビスでロータ（４２）と起振体（３１）とを係止している。   Patent Document 1 discloses a flex-meshing gear device with a built-in motor. In this flexible mesh type gear device, in order to transmit the rotational motion of the rotor (42) to the vibrating body (31), a set screw penetrating in the radial direction is provided in the vibrating body, and the rotor (42) is set by the set screw. And the vibrating body (31).

特開２０１７−２０７１１３号公報JP, 2017-207113, A

特許文献１の構成では、セットビスの配置スペースが必要な分、モータ内蔵型撓み噛合い式歯車装置が軸方向に長くなるという課題がある。   The configuration of Patent Document 1 has a problem in that the motor-equipped flexural mesh type gear device is lengthened in the axial direction by the amount of space required for disposing the set screw.

本発明は、軸方向の短縮化を図れるモータ内蔵型撓み噛合い式歯車装置を提供することを目的とする。   SUMMARY OF THE INVENTION It is an object of the present invention to provide a motor-contained flex-meshing gear device that can be shortened in the axial direction.

本発明は、
撓み噛合い式歯車機構と、
前記撓み噛合い式歯車機構の中心部分に組み込まれたモータと、
を備え、
前記モータは、ステータと、前記ステータを取り囲むロータとを備え、
前記撓み噛合い式歯車機構は、前記ロータと一体的に回転するように前記ロータに取り付けられた起振体を有し、
前記起振体は前記ロータを取り囲み、
前記ロータは、前記起振体に圧入された圧入部と、前記起振体にローレット嵌合されたローレット嵌合部と、を有し、前記圧入部と前記ローレット嵌合部とが、前記ロータを前記起振体の内側に軸方向の一方から組み込んだときに、前記ローレット嵌合部のローレット嵌合よりも先に前記圧入部が圧入される位置に設けられている、
モータ内蔵型撓み噛合い式歯車装置である。 The present invention
A flexible meshing gear mechanism,
A motor incorporated in the central portion of the flexible mesh type gear mechanism,
Equipped with
The motor includes a stator and a rotor surrounding the stator,
The flexible mesh type gear mechanism has a vibrating body attached to the rotor so as to rotate integrally with the rotor,
The exciter surrounds the rotor,
The rotor includes a press-fitting portion that is press-fitted into the vibrating body and a knurled fitting portion that is knurled to the vibrating body, and the press-fitting portion and the knurled fitting portion are the rotor. Is installed in the inside of the vibrating body from one side in the axial direction, the press-fitting portion is provided at a position where the press-fitting portion is press-fitted before the knurling fitting of the knurling fitting portion.
It is a flexural mesh type gear device with a built-in motor.

本発明によれば、軸方向の短縮化を図れるモータ内蔵型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 flex-meshing gear device with a built-in motor, which can shorten the axial direction.

本発明の実施形態１に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。1 is a cross-sectional view of a built-in motor type flexural mesh type gear device according to a first embodiment of the present invention. 実施形態１のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。3A and 3B are diagrams illustrating a connecting portion between the rotor and the vibration generating body according to the first embodiment, where FIG. 7A shows a part of a cross section of the vibration generating body, and FIG. ロータと起振体との連結工程を説明する図であり、（Ａ）〜（Ｃ）は連結工程の第１段階から第３段階を示す。It is a figure explaining the connection process of a rotor and a vibrating body, (A)-(C) shows the 1st step of the connection process to the 3rd step. 本発明の実施形態２に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。It is sectional drawing of the motor built-in type flexural mesh type gear device which concerns on Embodiment 2 of this invention. 実施形態２のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。6A and 6B are diagrams illustrating a connecting portion between a rotor and a vibrating body according to the second embodiment, where FIG. 7A shows a part of a cross section of the vibrating body, and FIG. 本発明の実施形態３に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。It is sectional drawing of the motor built-in type flexural mesh type gear device which concerns on Embodiment 3 of this invention. 実施形態３のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。It is a figure explaining the connection part of a rotor and a vibrating body of Embodiment 3, (A) shows a part of section of a vibrating body, and (B) shows a part of section of a rotor. 参考例に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。It is sectional drawing of the motor built-in type flexural mesh type gear device which concerns on a reference example. 参考例のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。It is a figure explaining the connection part of a rotor and a vibrating body of a reference example, (A) shows a part of section of a vibrating body, and (B) shows a part of section of a rotor.

以下、本発明の各実施形態について図面を参照して詳細に説明する。   Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

（実施形態１）
図１は、本発明の実施形態１に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。本明細書では、回転軸Ｏ１に沿った方向を軸方向、回転軸Ｏ１から垂直な方向を径方向、回転軸Ｏ１を中心とした回転方向を周方向と定義する。 (Embodiment 1)
FIG. 1 is a cross-sectional view of a built-in motor type flexible mesh type gear device according to a first embodiment of the present invention. In this specification, a direction along the rotation axis O1 is defined as an axial direction, a direction perpendicular to the rotation axis O1 is defined as a radial direction, and a rotation direction around the rotation axis O1 is defined as a circumferential direction.

実施形態１のモータ内蔵型撓み噛合い式歯車装置１は、モータ１０と、撓み噛合い式歯車機構３０とを含む。モータ１０は、ステータコイル１２ａ及びステータコア１２ｂ有するステータ１２と、マグネット１５ａを筒型のロータヨーク１５ｂの内面に固定したロータ１５とを有する。ロータ１５は、ステータコイル１２ａを径方向から取り囲むように配置される。   The built-in motor type flexible meshing gear device 1 of the first embodiment includes a motor 10 and a flexible meshing gear mechanism 30. The motor 10 has a stator 12 having a stator coil 12a and a stator core 12b, and a rotor 15 having a magnet 15a fixed to the inner surface of a cylindrical rotor yoke 15b. The rotor 15 is arranged so as to surround the stator coil 12a in the radial direction.

撓み噛合い式歯車機構３０は、起振体３１、起振体軸受３２、外歯歯車３３、第１内歯歯車部材３４、第２内歯歯車部材３５、固定部材３６、ケーシング３７、軸受４１、４２及び主軸受４４を備える。モータ１０は、撓み噛合い式歯車機構３０の中心部分に撓み噛合い式歯車機構３０と同軸に組み込まれている。   The flexible mesh type gear mechanism 30 includes a vibrating body 31, a vibrating body bearing 32, an external gear 33, a first internal gear member 34, a second internal gear member 35, a fixing member 36, a casing 37, and a bearing 41. , 42 and a main bearing 44. The motor 10 is installed coaxially with the flexible meshing gear mechanism 30 at the center of the flexible meshing gear mechanism 30.

固定部材３６は、モータ内蔵型撓み噛合い式歯車装置１の反出力側を覆うように設けられている。出力側とは減速された運動が出力される方向（図１の左方）を意味し、反出力側とは出力側の反対の方向を意味する。固定部材３６は、径方向の中央において、回転軸Ｏ１に沿って突出した軸部３６ａを有し、軸部３６ａがステータ１２の内方に進入してボルトによりステータ１２と連結されている。   The fixing member 36 is provided so as to cover the opposite output side of the flexural meshing gear device 1 with a built-in motor. The output side means the direction in which the decelerated motion is output (left side in FIG. 1), and the counter output side means the direction opposite to the output side. The fixing member 36 has a shaft portion 36a protruding along the rotation axis O1 at the center in the radial direction, and the shaft portion 36a enters the inside of the stator 12 and is connected to the stator 12 by a bolt.

起振体３１は、中空筒状であり、回転軸Ｏ１に垂直な断面の外形が、回転軸Ｏ１を中心とする楕円状の起振体本体部３１Ｍと、同断面の外形が回転軸Ｏ１を中心とする円形の軸部３１Ｎとを含む。楕円状は、幾何学的に厳密な楕円である必要はなく、略楕円を含む。起振体３１は、モータ１０のロータ１５に外嵌されている。   The vibrating body 31 has a hollow cylindrical shape, and an outer shape of a cross section perpendicular to the rotation axis O1 is an elliptical vibrating body main body 31M having the rotation axis O1 as a center, and an outer shape of the same cross section forms the rotation axis O1. It includes a circular shaft portion 31N as a center. The elliptical shape does not need to be a geometrically exact ellipse and includes a substantially ellipse. The vibrating body 31 is fitted onto the rotor 15 of the motor 10.

外歯歯車３３は、起振体軸受３２を介して起振体本体部３１Ｍに外嵌されている。外歯歯車３３は、可撓性を有し、起振体本体部３１Ｍの外形に沿った形状（例えば軸方向に見て略楕円形状）で、撓み変形しながら、起振体本体部３１Ｍの周囲を相対的に回転可能に構成される。   The external gear 33 is externally fitted to the vibrator main body 31M via the vibrator bearing 32. The external gear 33 has flexibility and has a shape (for example, a substantially elliptical shape when viewed in the axial direction) along the outer shape of the vibrator main body 31M, and while flexurally deforming, It is configured to be relatively rotatable around its periphery.

第１内歯歯車部材３４は、環状の形態を有し、その内周部に複数の内歯が形成されて第１内歯歯車３４ｇが構成される。第１内歯歯車部材３４は、ケーシング３７及び固定部材３６にボルト等により連結されている。   The first internal gear member 34 has an annular shape, and a plurality of internal teeth are formed on the inner peripheral portion thereof to form a first internal gear 34g. The first internal gear member 34 is connected to the casing 37 and the fixing member 36 by bolts or the like.

第２内歯歯車部材３５は、環状の形態を有し、その内周部に複数の内歯が形成されて第２内歯歯車３５ｇが構成される。上記の第１内歯歯車３４ｇと第２内歯歯車３５ｇとは、軸方向に並び、それぞれ外歯歯車３３と噛み合う。   The second internal gear 35 has an annular shape, and a plurality of internal teeth are formed on the inner peripheral portion thereof to form a second internal gear 35g. The first internal gear 34g and the second internal gear 35g are aligned in the axial direction and mesh with the external gear 33, respectively.

さらに、第２内歯歯車部材３５は、主軸受４４の内輪として機能する内輪部３５ｉと、相手部材と連結されるフランジ部３５ｆとを有する。相手部材とは、減速された動力の出力先の部材である。内輪部３５ｉは、第２内歯歯車３５ｇの径方向の外方に位置する。フランジ部３５ｆは第２内歯歯車３５ｇよりも出力側に張り出して設けられている。   Further, the second internal gear member 35 has an inner ring portion 35i that functions as an inner ring of the main bearing 44, and a flange portion 35f that is connected to the mating member. The mating member is a member to which the decelerated power is output. The inner ring portion 35i is located radially outward of the second internal gear 35g. The flange portion 35f is provided so as to project to the output side with respect to the second internal gear 35g.

ケーシング３７は、ボルト等により固定部材３６に連結され、撓み噛合い式歯車機構３０の外周部、主に、第２内歯歯車部材３５の径方向外方を覆う。ケーシング３７の内周部には、主軸受４４の外輪として機能する外輪部３７ｏが設けられている。図１においてケーシング３７は、軸方向に２分割されているが、これらは単一の部材により一体的に構成されていてもよい。ケーシング３７は、主軸受４４を介して、第２内歯歯車部材３５を回転自在に支持する。   The casing 37 is connected to the fixing member 36 with a bolt or the like, and covers the outer peripheral portion of the flexible meshing gear mechanism 30, mainly the radially outer side of the second internal gear member 35. An outer ring portion 37o that functions as an outer ring of the main bearing 44 is provided on the inner peripheral portion of the casing 37. In FIG. 1, the casing 37 is divided into two in the axial direction, but these may be integrally configured by a single member. The casing 37 rotatably supports the second internal gear member 35 via the main bearing 44.

軸受４１は、ロータ１５と固定部材３６との間に配置される。軸受４２は、第２内歯歯車部材３５と起振体３１の軸部３１Ｎとの間に配置される。軸受４１及び軸受４２を介して、固定部材３６及び第２内歯歯車部材３５が、ロータ１５及び起振体３１を回転自在に支持する。   The bearing 41 is arranged between the rotor 15 and the fixed member 36. The bearing 42 is arranged between the second internal gear member 35 and the shaft portion 31N of the vibrator 31. The fixing member 36 and the second internal gear member 35 rotatably support the rotor 15 and the vibration generator 31 via the bearing 41 and the bearing 42.

＜回転動作＞
モータ１０のステータコイル１２ａに電流が流されてロータ１５が回転すると、起振体３１が回転軸Ｏ１を中心に回転し、この運動が外歯歯車３３に伝わる。このとき、外歯歯車３３は、起振体本体部３１Ｍの外周面に沿った形状に規制され、軸方向から見て、長軸部分と短軸部分とを有する楕円形状に撓んでいる。さらに、外歯歯車３３は、固定された第１内歯歯車３４ｇと噛み合っているため、外歯歯車３３は起振体３１と同じ回転速度で回転することはなく、外歯歯車３３の内側で起振体３１が相対的に回転する。そして、この相対的な回転に伴って、外歯歯車３３は長軸位置と短軸位置とが周方向に移動するように撓み変形する。この変形の周期は、ロータ１５の回転周期に比例する。 <Rotation motion>
When an electric current is applied to the stator coil 12a of the motor 10 and the rotor 15 rotates, the vibrating body 31 rotates about the rotation axis O1 and this movement is transmitted to the external gear 33. At this time, the external gear 33 is restricted to a shape along the outer peripheral surface of the vibrator main body 31M, and is bent in an elliptical shape having a major axis portion and a minor axis portion when viewed in the axial direction. Further, since the external gear 33 meshes with the fixed first internal gear 34g, the external gear 33 does not rotate at the same rotational speed as the vibrating body 31, and the internal gear 33 is The vibrating body 31 rotates relatively. Then, with this relative rotation, the external gear 33 is flexibly deformed so that the major axis position and the minor axis position move in the circumferential direction. The cycle of this deformation is proportional to the rotation cycle of the rotor 15.

外歯歯車３３が撓み変形する際、その長軸位置が回転移動することで、外歯歯車３３と第１内歯歯車３４ｇとの噛み合う位置が回転方向に変化する。ここで、外歯歯車３３の歯数が１００で、第１内歯歯車３４ｇの歯数が１０２だとすると、噛み合う位置が一周するごとに、外歯歯車３３と第１内歯歯車３４ｇとの噛み合う歯がずれていき、これにより外歯歯車３３が回転（自転）する。上記の歯数であれば、ロータ１５の回転運動は減速比１００：２で減速されて外歯歯車３３に伝達される。   When the external gear 33 is flexibly deformed, the position of the major axis of the external gear 33 is rotationally moved, so that the position at which the external gear 33 and the first internal gear 34g mesh with each other changes in the rotational direction. Here, assuming that the external gear 33 has 100 teeth and the first internal gear 34g has 102 teeth, the external gear 33 and the first internal gear 34g mesh with each other at every meshing position. The external gear 33 rotates (spins) as a result. With the above-mentioned number of teeth, the rotational movement of the rotor 15 is reduced at a reduction ratio of 100: 2 and transmitted to the external gear 33.

一方、起振体３１の回転によって外歯歯車３３と第２内歯歯車３５ｇとの噛み合う位置も回転方向に変化する。ここで、外歯歯車３３の歯数と第２内歯歯車３５ｇの歯数とが同数であるとすると、外歯歯車３３と第２内歯歯車３５ｇとは相対的に回転せず、外歯歯車３３の回転運動が減速比１：１で第２内歯歯車３５ｇへ伝達される。これらによって、ロータ１５の回転運動が、減速比１００：２で減速されて、第２内歯歯車部材３５のフランジ部３５ｆから相手部材に出力される。   On the other hand, the position at which the external gear 33 and the second internal gear 35g mesh with each other also changes in the rotational direction due to the rotation of the vibrating body 31. Here, if the number of teeth of the external gear 33 and the number of teeth of the second internal gear 35g are the same, the external gear 33 and the second internal gear 35g do not rotate relative to each other, The rotational movement of the gear 33 is transmitted to the second internal gear 35g with a reduction ratio of 1: 1. As a result, the rotational movement of the rotor 15 is decelerated at a reduction ratio of 100: 2 and is output from the flange portion 35f of the second internal gear member 35 to the mating member.

＜ロータと起振体との連結構造＞
図２は、実施形態１のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。図３は、ロータと起振体との連結工程を説明する図であり、（Ａ）〜（Ｃ）は連結工程の第１段階から第３段階を示す。以下では、連結工程において、ロータ１５を起振体３１に嵌入する側の端を「先端」、その逆の端を「後端」と呼ぶ。 <Connecting structure of rotor and vibrator>
2A and 2B are views for explaining a connecting portion between the rotor and the vibration generating body according to the first embodiment. FIG. 2A shows a part of a cross section of the vibration generating body, and FIG. 2B shows a part of a cross section of the rotor. Show. FIG. 3 is a diagram for explaining a connecting step between the rotor and the vibration generator, and (A) to (C) show first to third steps of the connecting step. In the following, in the coupling step, the end on which the rotor 15 is fitted into the vibrating body 31 is referred to as the "tip" and the opposite end is referred to as the "rear end".

図２（Ｂ）に示すように、ロータヨーク１５ｂの外周部には、軸方向に沿って先端側から順に、圧入部Ｐ１、挿入部Ｐ２、ローレット嵌合部Ｐ３及び軸部Ｐ４を有する。圧入部Ｐ１は、圧入用に挿入部Ｐ２よりも外径が大きい。挿入部Ｐ２は、起振体３１との間に間隙ｇ１を設けるために、圧入部Ｐ１及びローレット嵌合部Ｐ３よりも外径が小さい。起振体３１の対応する部位の内径が大きくされることで、挿入部Ｐ２の外径は圧入部Ｐ１と同等又は圧入部Ｐ１よりも大きくすることもできる。ローレット嵌合部Ｐ３は圧入部Ｐ１及び挿入部Ｐ２よりも外径が大きく、外周部がローレット加工されている。軸部Ｐ４は、軸受４１が外嵌される部位であり、ローレット嵌合部Ｐ３よりも外径が小さい。なお、ローレット嵌合部Ｐ３とは、ローレット加工された部位の全部を指すのではなく、そのうち、起振体３１に嵌合されている範囲を指す。圧入部Ｐ１についても、起振体３１に圧入されている範囲を指す。   As shown in FIG. 2B, the outer peripheral portion of the rotor yoke 15b has a press-fitting portion P1, an insertion portion P2, a knurling fitting portion P3, and a shaft portion P4 in this order from the tip side along the axial direction. The press-fitting portion P1 has a larger outer diameter than the insertion portion P2 for press-fitting. The insertion portion P2 has a smaller outer diameter than the press-fitting portion P1 and the knurled fitting portion P3 in order to provide a gap g1 with the vibrating body 31. By increasing the inner diameter of the corresponding portion of the vibrating body 31, the outer diameter of the insertion portion P2 can be made equal to or larger than that of the press-fitting portion P1. The knurled fitting portion P3 has a larger outer diameter than the press-fitting portion P1 and the insertion portion P2, and the outer peripheral portion is knurled. The shaft portion P4 is a portion to which the bearing 41 is fitted, and has an outer diameter smaller than that of the knurled fitting portion P3. Note that the knurled fitting portion P3 does not refer to the entire knurled portion, but refers to a range of the knurled fitting portion P3 that is fitted to the vibration generator 31. The press-fitting portion P1 also indicates a range in which the vibrator 31 is press-fitted.

ローレット嵌合部Ｐ３は、ロータヨーク１５ｂの軸方向中央よりも後端側に設けられている。圧入部Ｐ１は、ロータヨーク１５ｂの軸方向中央よりも先端側に設けられている。   The knurled fitting portion P3 is provided on the rear end side with respect to the axial center of the rotor yoke 15b. The press-fitting portion P1 is provided closer to the tip side than the axial center of the rotor yoke 15b.

図３（Ａ）に示すように、起振体３１の内周部には、径が異なる複数の段部Ｓ１、Ｓ２、Ｓ３、Ｓ４が設けられている。段部とは径が略同一の連続する内周面を指し、１つの段部と隣接する段部との間に段差があるものとする。複数の段部Ｓ１〜Ｓ４は、軸方向の一方（先端側）から他方（後端側）にかけて、順に径が大きくなるように設けられている。段部Ｓ１は、ロータ１５を通さない径を有する。段部Ｓ２は、ロータ１５の先端部の圧入部Ｐ１が圧入される径を有する。すなわち段部Ｓ２の内径は圧入部Ｐ１の外径より僅かに小さい。段部Ｓ３は、ロータ１５の圧入部Ｐ１及び挿入部Ｐ２の外径よりも大きな内径を有する。段部Ｓ４は、ロータ１５のローレット嵌合部Ｐ３がローレット嵌合される径を有する。すなわち、変形前のローレット嵌合部Ｐ３の山部外径よりも、段部Ｓ４の内径が小さく、段部Ｓ４の内径よりも、ローレット嵌合部Ｐ３の谷部の外径が小さい。   As shown in FIG. 3A, a plurality of step portions S1, S2, S3, and S4 having different diameters are provided on the inner peripheral portion of the vibrating body 31. The step portion refers to a continuous inner peripheral surface having substantially the same diameter, and it is assumed that there is a step between one step portion and an adjacent step portion. The plurality of step portions S1 to S4 are provided such that the diameter increases in order from one (front end side) to the other (rear end side) in the axial direction. The step portion S1 has a diameter that does not allow the rotor 15 to pass therethrough. The step portion S2 has a diameter into which the press-fitting portion P1 at the tip of the rotor 15 is press-fitted. That is, the inner diameter of the step portion S2 is slightly smaller than the outer diameter of the press-fitting portion P1. The step portion S3 has an inner diameter larger than the outer diameters of the press-fitting portion P1 and the insertion portion P2 of the rotor 15. The step portion S4 has a diameter such that the knurled fitting portion P3 of the rotor 15 is knurled. That is, the inner diameter of the step portion S4 is smaller than the outer diameter of the peak portion of the knurled fitting portion P3 before deformation, and the outer diameter of the valley portion of the knurled fitting portion P3 is smaller than the inner diameter of the step portion S4.

ローレット嵌合とは、ローレット部、その嵌合面又はこれら両方に、ローレット部と嵌合面との間の圧力によって、削れ等の変形が生じた嵌合を言う。ローレット嵌合には、内周が円筒面の筒体と、ローレット加工された外周部を有する軸体との嵌合、あるいは、外周が円筒面の軸体と、ローレット加工された内周部を有する筒体との嵌合が含まれる。   The knurled fitting refers to fitting in which the knurled portion, the fitting surface thereof, or both of them are deformed such as scraped by the pressure between the knurled portion and the fitting surface. For knurling, a cylindrical body with an inner circumference and a shaft body with a knurled outer circumference are fitted, or a shaft body with a cylindrical outer circumference and a knurled inner circumference is used. The fitting with the cylindrical body included is included.

図３（Ａ）に示すように、ロータ１５は、組み付け時、例えばモータ内蔵型撓み噛合い式歯車装置１の反出力側から出力側へ起振体３１の中空部に押し込まれる。圧入部Ｐ１及び段部Ｓ２と、ローレット嵌合部Ｐ３及び段部Ｓ４とは、ロータ１５を起振体３１に組み付ける際に、圧入部Ｐ１の圧入が先に開始され、その後、ローレット嵌合部Ｐ３のローレット嵌合が行われる位置に設けられている。これにより、ロータ１５を起振体３１に組み付ける際、先ず、図３（Ａ）に示すように、ロータヨーク１５ｂの圧入部Ｐ１が起振体３１の段部Ｓ２に圧入され始めることで、ロータ１５と起振体３１との芯出しが高い精度でなされる。続いて、図３（Ｂ）、（Ｃ）に示すように、ロータヨーク１５ｂのローレット嵌合部Ｐ３が起振体３１の段部Ｓ４にローレット嵌合して、これらの間の大きな伝達トルク容量を実現することができる。   As shown in FIG. 3A, when assembled, the rotor 15 is pushed into the hollow portion of the vibrating body 31 from the opposite output side to the output side of the flexural meshing gear device 1 with a built-in motor, for example. The press-fitting portion P1 and the step portion S2, and the knurling fitting portion P3 and the step portion S4, when the rotor 15 is assembled to the vibrating body 31, the press-fitting portion P1 is first press-fitted, and then the knurling fitting portion. It is provided at a position where P3 knurling is performed. As a result, when the rotor 15 is assembled to the vibrating body 31, first, as shown in FIG. 3A, the press-fitting portion P1 of the rotor yoke 15b begins to be press-fitted into the step S2 of the vibrating body 31, whereby the rotor 15 The centering of the vibrating body 31 and the vibrating body 31 is performed with high accuracy. Subsequently, as shown in FIGS. 3 (B) and 3 (C), the knurled fitting portion P3 of the rotor yoke 15b is knurled to the step portion S4 of the vibrating body 31 to provide a large transfer torque capacity therebetween. Can be realized.

このような組み付け時の作用は、図３（Ａ）に示すように、ロータ１５の所定部分の長さＬ４が、起振体３１の所定部分の長さＬ３よりも長い構造により実現される。長さＬ４は、ロータ１５の圧入部Ｐ１の先端からローレット嵌合部Ｐ３の先端までの軸方向の長さである。長さＬ３は、起振体３１における圧入部Ｐ１が圧入される段部Ｓ２の後端からローレット嵌合部Ｐ３が嵌合される段部Ｓ４の後端までの軸方向長さである。ここでは、ロータ１５の組み付け方向の先方と後方とで後先の向きを表わしている。また、ロータ１５と起振体３１との組み付け後の構造においては、上記の組み付け時の作用は、例えば、圧入部Ｐ１の軸方向における長さＬ１（図３（Ｃ））が、ローレット嵌合部Ｐ３の軸方向における長さＬ２（図３（Ｃ））よりも長い構造により実現される。なお、上記の組み付け時の作用が得られる、ロータ１５と起振体３１との組み付け後の構造は、上記の長さＬ１、Ｌ２の関係を有した構造に限られない。例えば、圧入部Ｐ１の途中の区間又はロータ１５の挿入方向の先端側の区間は、起振体３１の内径が大きくされて、連結工程の途中から圧入が解除される構造であっても、上記の組み付け時の作用は実現される。この場合、組み付け後の圧入部Ｐ１の長さＬ１は、ローレット嵌合部Ｐ３の長さＬ３よりも短くなる場合がある。   As shown in FIG. 3 (A), such an action at the time of assembling is realized by a structure in which the length L4 of the predetermined portion of the rotor 15 is longer than the length L3 of the predetermined portion of the vibrating body 31. The length L4 is an axial length from the tip of the press-fitting portion P1 of the rotor 15 to the tip of the knurling fitting portion P3. The length L3 is an axial length from the rear end of the step S2 into which the press-fitting portion P1 of the vibrating body 31 is press fitted to the rear end of the step S4 into which the knurled fitting portion P3 is fitted. Here, the front end and the rear end of the assembling direction of the rotor 15 represent the front end direction. In addition, in the structure after the rotor 15 and the vibration generator 31 are assembled, the action at the time of the above assembling is, for example, that the length L1 (FIG. 3C) of the press-fitting portion P1 in the axial direction is knurled. It is realized by a structure longer than the length L2 (FIG. 3C) in the axial direction of the portion P3. It should be noted that the structure after the rotor 15 and the vibrating body 31 are assembled to obtain the above-described action during assembly is not limited to the structure having the relationship of the lengths L1 and L2. For example, in a section in the middle of the press-fitting portion P1 or a section on the tip end side in the insertion direction of the rotor 15, even if the press-fitting is released from the middle of the coupling process by increasing the inner diameter of the vibrating body 31, The action at the time of assembling is realized. In this case, the length L1 of the press-fitting portion P1 after assembly may be shorter than the length L3 of the knurling fitting portion P3.

ロータ１５と起振体３１との間には、間隙ｇ１が設けられる。間隙ｇ１は、ステータコイル１２ａに生じるジュール熱が起振体３１から撓み噛合い式歯車機構３０に伝達することを抑制し、撓み噛合い式歯車機構３０の減速動作や寿命に熱の悪影響が及ぼされることを抑制する。   A gap g1 is provided between the rotor 15 and the vibrator 31. The gap g1 suppresses the Joule heat generated in the stator coil 12a from being transmitted from the vibration generator 31 to the flexible meshing gear mechanism 30, and the deceleration operation and life of the flexible meshing gear mechanism 30 are adversely affected by heat. To be suppressed.

軸受４１は、ローレット嵌合部Ｐ３を位置決め部として軸方向の移動が規制された状態で軸部Ｐ４に嵌合される。一方、ロータヨーク１５ｂにおいてローレット嵌合部Ｐ３に連続する部位（ローレット加工された部位）の軸方向長さは、起振体３１の段部Ｓ４の軸方向長さよりも長い。これにより、軸受４１の外輪と起振体３１との間に間隙ｇ２が設けられる。   The bearing 41 is fitted to the shaft portion P4 with the knurled fitting portion P3 serving as a positioning portion so that movement in the axial direction is restricted. On the other hand, the axial length of the portion of the rotor yoke 15b that is continuous with the knurled fitting portion P3 (the knurled portion) is longer than the axial length of the step portion S4 of the vibrator 31. As a result, a gap g2 is provided between the outer ring of the bearing 41 and the vibrator 31.

＜実施形態効果＞
以上のように、実施形態１のモータ内蔵型撓み噛合い式歯車装置１によれば、ロータ１５の圧入部Ｐ１の圧入が先に行われ、その後、ローレット嵌合部Ｐ３がローレット嵌合されるように、圧入部Ｐ１とローレット嵌合部Ｐ３が設けられている。この構成により、ロータ１５と起振体３１との芯出しを高い精度で実現でき、かつ、ロータ１５と起振体３１との大きな伝達トルク容量を実現できる。さらに、ロータ１５と起振体３１とをセットビスで係止するような構造が不要であるため、モータ内蔵型撓み噛合い式歯車装置１の軸方向長さの短縮化を図ることができる。 <Effect of Embodiment>
As described above, according to the flexural mesh type gear device 1 with a built-in motor of the first embodiment, the press-fitting portion P1 of the rotor 15 is first press-fitted, and then the knurled fitting portion P3 is knurled. Thus, the press fitting portion P1 and the knurling fitting portion P3 are provided. With this configuration, centering of the rotor 15 and the vibration generator 31 can be realized with high accuracy, and a large transfer torque capacity between the rotor 15 and the vibration generator 31 can be realized. Further, since the structure for locking the rotor 15 and the vibration generator 31 with the set screw is not necessary, the axial length of the motor-integrated flexible meshing gear device 1 can be shortened.

さらに、実施形態１のモータ内蔵型撓み噛合い式歯車装置１によれば、ロータ１５の圧入部Ｐ１が、ロータ１５の軸方向中央より先端側に位置し、ロータ１５のローレット嵌合部Ｐ３が、ロータ１５の軸方向中央より後端側に位置する。これにより、モーメント荷重に対するロータ１５と起振体３１との連結強度を高めることができる。   Furthermore, according to the flexural mesh type gear device 1 with a built-in motor of the first embodiment, the press-fitting portion P1 of the rotor 15 is located closer to the tip side than the axial center of the rotor 15, and the knurled fitting portion P3 of the rotor 15 is. , Located on the rear end side of the axial center of the rotor 15. As a result, the connection strength between the rotor 15 and the vibrator 31 against the moment load can be increased.

さらに、実施形態１のモータ内蔵型撓み噛合い式歯車装置１によれば、ローレット嵌合部Ｐ３が軸受４１の軸方向の移動を規制する位置決め部として機能する。これにより、位置決め部を別途設ける場合と比較して、装置の軸方向長さの短縮、部品点数の削減、及び、組立工数の削減を図れる。   Further, according to the flexural meshing gear device 1 with a built-in motor of the first embodiment, the knurled fitting portion P3 functions as a positioning portion that restricts the axial movement of the bearing 41. As a result, the axial length of the device can be shortened, the number of parts can be reduced, and the number of assembling steps can be reduced as compared with the case where the positioning portion is separately provided.

（実施形態２）
図４は、本発明の実施形態２に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。図５は、実施形態２のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。 (Embodiment 2)
FIG. 4 is a cross-sectional view of a built-in motor type flexible mesh type gear device according to a second embodiment of the present invention. 5A and 5B are views for explaining a connecting portion between the rotor and the vibration generating body according to the second embodiment. FIG. 5A shows a part of a cross section of the vibration generating body, and FIG. 5B shows a part of a cross section of the rotor. Show.

実施形態２のモータ内蔵型撓み噛合い式歯車装置１Ａは、起振体３１Ａとロータヨーク１５Ａｂとの連結構造の一部が異なる他は、実施形態１と同様である。同様の構成要素については、実施形態１と同一符号を付して詳細な説明を省略する。   The built-in motor type flexural mesh type gear device 1A of the second embodiment is the same as that of the first embodiment except that a part of the connecting structure between the vibration generator 31A and the rotor yoke 15Ab is different. The same components are assigned the same reference numerals as those in the first embodiment, and detailed description will be omitted.

図５（Ｂ）に示すように、ロータヨーク１５Ａｂの外周部には、軸方向に沿って先端側から順に、挿入部Ｐ１１、圧入部Ｐ１２、ローレット嵌合部Ｐ３及び軸部Ｐ４を有する。挿入部Ｐ１１は、起振体３１Ａとの間に間隙ｇ１を設けるために、圧入部Ｐ１２よりも外径が小さい。圧入部Ｐ１２は、圧入用に挿入部Ｐ１１よりも外径が大きい。ローレット嵌合部Ｐ３は、圧入部Ｐ１２よりも外径が大きく、外周部がローレット加工されている。圧入部Ｐ１２及びローレット嵌合部Ｐ３は、ロータヨーク１５Ａｂの軸方向中央よりも後端側に設けられている。   As shown in FIG. 5B, an outer peripheral portion of the rotor yoke 15Ab has an insertion portion P11, a press-fitting portion P12, a knurled fitting portion P3, and a shaft portion P4 in this order from the tip side along the axial direction. The insertion portion P11 has a smaller outer diameter than the press-fitting portion P12 because a gap g1 is provided between the insertion portion P11 and the vibration generating body 31A. The press-fitting portion P12 has a larger outer diameter than the insertion portion P11 for press-fitting. The knurled fitting portion P3 has a larger outer diameter than the press-fitting portion P12, and the outer peripheral portion is knurled. The press-fitting portion P12 and the knurling fitting portion P3 are provided on the rear end side with respect to the axial center of the rotor yoke 15Ab.

図５（Ａ）に示すように、起振体３１Ａの内周部には、径が異なる複数の段部Ｓ１、Ｓ１２、Ｓ４が設けられている。複数の段部Ｓ１、Ｓ１２、Ｓ４は、軸方向の一方（先端側）から他方（後端側）にかけて、順に径が大きくなるように設けられている。段部Ｓ１２は、ロータヨーク１５Ａｂの挿入部Ｐ１１の外径よりも大きな内径を有する一方、圧入部Ｐ１２が圧入される内径を有する。   As shown in FIG. 5A, a plurality of step portions S1, S12, S4 having different diameters are provided on the inner peripheral portion of the vibrator 31A. The plurality of step portions S1, S12, S4 are provided such that the diameter increases in order from one side (front end side) to the other side (rear end side) in the axial direction. The step portion S12 has an inner diameter larger than the outer diameter of the insertion portion P11 of the rotor yoke 15Ab, and has an inner diameter into which the press-fitting portion P12 is press-fitted.

ロータヨーク１５Ａｂは、組み付け時、反出力側から出力側へ起振体３１Ａの中空部に押し込まれる。圧入部Ｐ１２及び段部Ｓ１２と、ローレット嵌合部Ｐ３及び段部Ｓ４とは、ロータヨーク１５Ａｂを起振体３１Ａに組み付ける際に、圧入部Ｐ１２の圧入が先に開始され、その後、ローレット嵌合部Ｐ３のローレット嵌合が行われる位置に設けられている。この組み付け時の作用は、特に限定されないが、一例として、圧入部Ｐ１２の軸方向における長さが、ローレット嵌合部Ｐ３の軸方向における長さよりも長い構造により実現される。   When assembled, the rotor yoke 15Ab is pushed into the hollow portion of the vibrating body 31A from the opposite output side to the output side. The press-fitting portion P12 and the stepped portion S12 and the knurled fitting portion P3 and the stepped portion S4 start the press-fitting of the press-fitting portion P12 first when the rotor yoke 15Ab is assembled to the vibrating body 31A, and then the knurled fitting portion P12. It is provided at a position where P3 knurling is performed. The action at the time of this assembling is not particularly limited, but as an example, it is realized by a structure in which the axial length of the press-fitting portion P12 is longer than the axial length of the knurled fitting portion P3.

＜実施形態効果＞
以上のように、実施形態２のモータ内蔵型撓み噛合い式歯車装置１Ａによれば、ロータヨーク１５Ａｂの圧入部Ｐ１２と、ローレット嵌合部Ｐ３とが、先に圧入部Ｐ１２の圧入が開始され、その後にローレット嵌合部Ｐ３の嵌合が行われる位置に設けられている。この構成によれば、組み付け時に、先に圧入部Ｐ１２の圧入が開始されることで、ロータヨーク１５Ａｂと起振体３１Ａとの芯出しを高い精度で実現でき、その後のローレット嵌合部Ｐ３の嵌合により、ロータヨーク１５Ａｂと起振体３１Ａとの大きな伝達トルク容量を実現できる。さらに、ロータヨーク１５Ａｂと起振体３１Ａとをセットビスで係止するような構造が不要であるため、モータ内蔵型撓み噛合い式歯車装置１Ａの軸方向長さの短縮化を図ることができる。 <Effect of Embodiment>
As described above, according to the flexure meshing gear device 1A with a built-in motor according to the second embodiment, the press-fitting portion P12 of the rotor yoke 15Ab and the knurling fitting portion P3 are first press-fitted into the press-fitting portion P12, After that, it is provided at a position where the knurled fitting portion P3 is fitted. According to this configuration, the press-fitting of the press-fitting portion P12 is started at the time of assembly, so that the rotor yoke 15Ab and the vibrator 31A can be centered with high accuracy, and the subsequent fitting of the knurling fitting portion P3. As a result, a large transfer torque capacity between the rotor yoke 15Ab and the vibrator 31A can be realized. Further, since the structure for locking the rotor yoke 15Ab and the vibrating body 31A with the set screw is unnecessary, the axial length of the built-in motor type flexible mesh type gear device 1A can be shortened.

（実施形態３）
図６は、本発明の実施形態３に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。図７は、実施形態３のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。 (Embodiment 3)
FIG. 6 is a cross-sectional view of a built-in motor type flexible meshing gear device according to a third embodiment of the present invention. 7A and 7B are diagrams illustrating a connecting portion between the rotor and the vibration generating body according to the third embodiment. FIG. 7A shows a part of a cross section of the vibration generating body, and FIG. 7B shows a part of a cross section of the rotor. Show.

実施形態３のモータ内蔵型撓み噛合い式歯車装置１Ｂは、起振体３１Ｂとロータヨーク１５Ｂｂとの連結構造及びその周辺の構成が異なる他は、実施形態１及び実施形態２と同様である。同様の構成要素については、実施形態１及び実施形態２と同一符号を付して詳細な説明を省略する。   The flexural mesh type gear device 1B with a built-in motor of the third embodiment is the same as the first and second embodiments, except that the connecting structure between the vibrating body 31B and the rotor yoke 15Bb and the peripheral structure are different. Similar components are assigned the same reference numerals as those in the first and second embodiments, and detailed description thereof will be omitted.

実施形態３のモータ内蔵型撓み噛合い式歯車装置１Ｂは、起振体３１Ｂとロータヨーク１５Ｂｂとの間に配置される熱伝達部材３８を更に備える。   The flexural mesh type gear device 1B with a built-in motor of the third embodiment further includes a heat transfer member 38 arranged between the vibrating body 31B and the rotor yoke 15Bb.

熱伝達部材３８は、筒状であり、熱伝達率に異方性を有し、径方向の熱伝達率よりも軸方向の熱伝達率の方が大きい。熱伝達部材３８は、例えばヒートパイプであり、限定されるものではないが、例えばグラファイトを径方向に積層して構成できる。熱伝達部材３８は、起振体３１Ｂとロータヨーク１５Ｂｂとの間で、ロータヨーク１５Ｂｂの圧入部Ｐ１２及びローレット嵌合部Ｐ３よりも先端側（出力側）に配置される。熱伝達部材３８は、さらに、出力側に径方向における内方へ張り出した張出部３８ａを有する。熱伝達部材３８の出力側の端面は、軸方向におけるローレット嵌合部Ｐ３がある側とは反対側において、モータ内蔵型撓み噛合い式歯車装置１Ｂの外部に露出している。この端面は、第２内歯歯車部材３５のフランジ部３５ｆの出力側端面と略面一である。ロータヨーク１５Ｂｂの圧入部Ｐ１２は、軸方向においてローレット嵌合部Ｐ３と熱伝達部材３８との間に位置する。熱伝達部材３８は、起振体３１Ｂに出力側から嵌入されて組み付けられる。   The heat transfer member 38 has a cylindrical shape, has anisotropy in heat transfer coefficient, and has a larger heat transfer coefficient in the axial direction than in the radial direction. The heat transfer member 38 is, for example, a heat pipe, and is not limited, but may be configured by stacking graphite in the radial direction, for example. The heat transfer member 38 is arranged between the vibrating body 31B and the rotor yoke 15Bb on the tip side (output side) of the press-fitting portion P12 and the knurled fitting portion P3 of the rotor yoke 15Bb. The heat transfer member 38 further has an overhanging portion 38a that projects inward in the radial direction on the output side. The end face on the output side of the heat transfer member 38 is exposed to the outside of the built-in motor type flexible mesh type gear device 1B on the side opposite to the side where the knurled fitting portion P3 is located in the axial direction. This end surface is substantially flush with the output side end surface of the flange portion 35f of the second internal gear member 35. The press-fitting portion P12 of the rotor yoke 15Bb is located between the knurling fitting portion P3 and the heat transfer member 38 in the axial direction. The heat transfer member 38 is fitted and assembled into the vibrating body 31B from the output side.

図７（Ｂ）に示すように、ロータヨーク１５Ｂｂの外周部には、軸方向に沿って先端側から順に、挿入部Ｐ２１、圧入部Ｐ１２、ローレット嵌合部Ｐ３及び軸部Ｐ４を有する。挿入部Ｐ２１は、熱伝達部材３８の内側に挿入可能な外径を有する。挿入部Ｐ２１の軸方向長さは、熱伝達部材３８の反出力側の端部から張出部３８ａまでの軸方向長さよりも短い。これにより、熱伝達部材３８の反出力側の端面と、ロータヨーク１５Ｂｂの挿入部Ｐ２１と圧入部Ｐ１２との間の段差面とが接触する。また、挿入部Ｐ２１の外径は、熱伝達部材３８の反出力側の端部から張出部３８ａまでの内径よりも小さい。これにより、挿入部Ｐ２１の外周面と、熱伝達部材３８の内周面との間に間隙ｇ３が設けられる。   As shown in FIG. 7B, an outer peripheral portion of the rotor yoke 15Bb has an insertion portion P21, a press-fitting portion P12, a knurled fitting portion P3, and a shaft portion P4 in this order from the front end side along the axial direction. The insertion portion P21 has an outer diameter that can be inserted inside the heat transfer member 38. The axial length of the insertion portion P21 is shorter than the axial length from the end on the opposite output side of the heat transfer member 38 to the protruding portion 38a. As a result, the end surface on the opposite output side of the heat transfer member 38 comes into contact with the step surface between the insertion portion P21 and the press-fitting portion P12 of the rotor yoke 15Bb. Further, the outer diameter of the insertion portion P21 is smaller than the inner diameter from the end portion on the opposite output side of the heat transfer member 38 to the protruding portion 38a. As a result, a gap g3 is provided between the outer peripheral surface of the insertion portion P21 and the inner peripheral surface of the heat transfer member 38.

図７（Ａ）に示すように、起振体３１Ｂの内周部には、先端側から、熱伝達部材３８が嵌合される段部Ｓ２１、ロータヨーク１５Ｂｂの圧入部Ｐ１２が圧入される段部Ｓ１２、並びに、ロータヨーク１５Ｂｂのローレット嵌合部Ｐ３がローレット嵌合される段部Ｓ１３が設けられている。段部Ｓ２１は、熱伝達部材３８が嵌合する内径を有し、熱伝達部材３８の外周面が接触する。熱伝達部材３８が嵌合する段部Ｓ２１の内径は、圧入部Ｐ１２が圧入される段部Ｓ１２の内径よりも大きい。段部Ｓ２１の軸方向長さは、熱伝達部材３８の軸方向長さよりも長い。   As shown in FIG. 7 (A), a step portion S21 into which the heat transfer member 38 is fitted and a step portion into which the press-fitting portion P12 of the rotor yoke 15Bb is press-fitted from the tip end side to the inner peripheral portion of the vibrating body 31B. S12 and a stepped portion S13 into which the knurled fitting portion P3 of the rotor yoke 15Bb is knurled are provided. The step portion S21 has an inner diameter into which the heat transfer member 38 fits, and the outer peripheral surface of the heat transfer member 38 contacts. The inner diameter of the step portion S21 into which the heat transfer member 38 is fitted is larger than the inner diameter of the step portion S12 into which the press-fitting portion P12 is press-fitted. The axial length of the step S21 is longer than the axial length of the heat transfer member 38.

＜実施形態効果＞
以上のように、実施形態３のモータ内蔵型撓み噛合い式歯車装置１Ｂによれば、ロータヨーク１５Ｂｂの圧入部Ｐ１２とローレット嵌合部Ｐ３とが、実施形態２と同様に、先に圧入部Ｐ１２の圧入が開始され、その後にローレット嵌合部Ｐ３の嵌合が行われる位置に設けられている。これにより、組み付け時に、圧入部Ｐ１２の圧入によりロータヨーク１５Ｂｂと起振体３１Ｂとの芯出しを高い精度で実現でき、かつ、ローレット嵌合部Ｐ３の嵌合により大きな伝達トルク容量を実現できる。さらに、ロータヨーク１５Ｂｂと起振体３１Ｂとをセットビスで係止する構造と比べて、セットビスの配置スペースが不要な分、モータ内蔵型撓み噛合い式歯車装置１Ｂの軸方向長さを短縮化できる。 <Effect of Embodiment>
As described above, according to the flexural mesh type gear device 1B with a built-in motor of the third embodiment, the press-fitting portion P12 and the knurling fitting portion P3 of the rotor yoke 15Bb are first press-fitting portion P12 as in the second embodiment. Is started at a position where the knurling fitting portion P3 is fitted thereafter. As a result, at the time of assembly, the rotor yoke 15Bb and the vibration generator 31B can be centered with high accuracy by press-fitting the press-fitting portion P12, and a large transfer torque capacity can be realized by fitting the knurling fitting portion P3. Further, as compared with the structure in which the rotor yoke 15Bb and the vibrating body 31B are locked with the set screw, the axial length of the built-in motor type flexible mesh type gear device 1B is shortened by the amount of space required for setting the set screw. it can.

さらに、実施形態３のモータ内蔵型撓み噛合い式歯車装置１Ｂによれば、ロータヨーク１５Ｂｂと起振体３１Ｂとの間に径方向の熱伝達率よりも軸方向の熱伝達率が大きい熱伝達部材３８が配置されている。これにより、ステータコア１２ｂの熱が、熱伝達部材３８により軸方向に多く伝達される。したがって、ステータコア１２ｂの熱が径方向に伝達されて、撓み噛合い式歯車機構３０に伝わることを抑制できる。これにより、撓み噛合い式歯車機構３０の温度上昇を抑えて、温度によって撓み噛合い式歯車機構３０の運動に異常が生じることを抑制できる。   Further, according to the flexural mesh type gear device 1B with a built-in motor of the third embodiment, the heat transfer member having a larger heat transfer coefficient in the axial direction than in the radial direction between the rotor yoke 15Bb and the vibrator 31B. 38 are arranged. As a result, much heat of the stator core 12b is transferred in the axial direction by the heat transfer member 38. Therefore, the heat of the stator core 12b can be prevented from being radially transmitted to the flexible meshing gear mechanism 30. As a result, it is possible to suppress the temperature rise of the flexible meshing gear mechanism 30 and to prevent the motion of the flexible meshing gear mechanism 30 from being abnormal due to the temperature.

さらに、実施形態３のモータ内蔵型撓み噛合い式歯車装置１Ｂによれば、熱伝達部材３８は、軸方向におけるローレット嵌合部Ｐ３とは反対側に露出している。これにより、熱伝達部材３８を介して軸方向に伝達された熱を、装置外部へ放出できる。あるいは、熱伝達部材３８の装置外部へ露出した端面の近傍に、動力の出力先である相手部材が配置される場合には、熱伝達部材３８から相手部材へ熱を効率的に放出することができる。そして、撓み噛合い式歯車機構３０の温度上昇をより抑えることができる。   Furthermore, according to the flexural meshing gear device 1B with a built-in motor of the third embodiment, the heat transfer member 38 is exposed on the side opposite to the knurled fitting portion P3 in the axial direction. As a result, the heat transferred in the axial direction via the heat transfer member 38 can be released to the outside of the device. Alternatively, when the mating member, which is the output destination of the power, is disposed near the end surface of the heat transfer member 38 exposed to the outside of the device, the heat can be efficiently released from the heat transfer member 38 to the mating member. it can. Then, it is possible to further suppress the temperature rise of the flexible meshing gear mechanism 30.

さらに、実施形態３のモータ内蔵型撓み噛合い式歯車装置１Ｂによれば、ロータヨーク１５Ｂｂの圧入部Ｐ１２が、熱伝達部材３８とローレット嵌合部Ｐ３との間に位置する。圧入部Ｐ１２の熱伝達率はローレット嵌合部Ｐ３の熱伝達率よりも高く、ステータコア１２ｂの熱は、他の箇所よりも圧入部Ｐ１２の箇所で多く撓み噛合い式歯車機構３０へ伝わる。しかし、この部位に熱伝達部材３８が近いことで、圧入部Ｐ１２を伝わる熱を、装置外部へ多く放出することができ、撓み噛合い式歯車機構３０の温度上昇を抑えることができる。   Furthermore, according to the flexural mesh type gear device 1B with a built-in motor of the third embodiment, the press-fitting portion P12 of the rotor yoke 15Bb is located between the heat transfer member 38 and the knurling fitting portion P3. The heat transfer coefficient of the press-fitting portion P12 is higher than the heat transfer coefficient of the knurled fitting portion P3, and the heat of the stator core 12b is transferred to the flexible meshing gear mechanism 30 more at the place of the press-fitting portion P12 than at other places. However, since the heat transfer member 38 is close to this portion, a large amount of heat transmitted through the press-fitting portion P12 can be released to the outside of the device, and the temperature increase of the flexible meshing gear mechanism 30 can be suppressed.

（参考例）
図８は、参考例に係るモータ内蔵型撓み噛合い式歯車装置の断面図である。図９は、参考例のロータと起振体との連結部位を説明する図であり、（Ａ）は起振体の断面の一部を示し、（Ｂ）はロータの断面の一部を示す。 (Reference example)
FIG. 8 is a cross-sectional view of a flexural mesh type gear device with a built-in motor according to a reference example. 9A and 9B are views for explaining a connecting portion between the rotor and the vibrator in the reference example. FIG. 9A shows a part of the cross section of the vibrator, and FIG. 9B shows a part of the cross section of the rotor. .

参考例のモータ内蔵型撓み噛合い式歯車装置１Ｃは、起振体３１Ｃとロータヨーク１５Ｃｂとの連結構造及びその周辺の構成が異なる他は、実施形態１から実施形態３と同様である。同様の構成要素については、実施形態１から実施形態３と同一符号を付して詳細な説明を省略する。   The built-in motor type flexural mesh type gear device 1C of the reference example is the same as that of the first to third embodiments, except that the connecting structure between the vibrator 31C and the rotor yoke 15Cb and the peripheral structure are different. Similar components are assigned the same reference numerals as those in the first to third embodiments, and detailed description thereof will be omitted.

参考例のモータ内蔵型撓み噛合い式歯車装置１Ｃは、起振体３１Ｃとロータヨーク１５Ｃｂとの間に熱伝達部材３８が設けられている。熱伝達部材３８、先に説明したように、径方向の熱伝達率よりも軸方向の熱伝達率が高い。熱伝達部材３８は、軸方向の一方（出力側）において、モータ内蔵型撓み噛合い式歯車装置１Ｃの外部に露出されている。熱伝達部材３８の出力側の端面は、第２内歯歯車部材３５のフランジ部３５ｆの端面とほぼ面一である。熱伝達部材３８は、ロータヨーク１５Ｃｂの連結部Ｐ３２よりも出力側に配置されている。   In the flexural meshing gear device 1C with a built-in motor of the reference example, a heat transfer member 38 is provided between the vibrator 31C and the rotor yoke 15Cb. As described above, the heat transfer member 38 has a higher heat transfer coefficient in the axial direction than in the radial direction. The heat transfer member 38 is exposed to the outside of the built-in motor type flexible mesh type gear device 1C on one side (output side) in the axial direction. The end surface on the output side of the heat transfer member 38 is substantially flush with the end surface of the flange portion 35f of the second internal gear member 35. The heat transfer member 38 is arranged on the output side of the connecting portion P32 of the rotor yoke 15Cb.

ロータヨーク１５Ｃｂと起振体３１Ｃとは、ロータヨーク１５Ｃｂの連結部Ｐ３２において、セットビスＢ１により連結されている。特に限定されないが、図９（Ｂ）に示すように、ロータヨーク１５Ｃｂの外周部には、先端側から、熱伝達部材３８の内側に嵌合する嵌合部Ｐ３１と、起振体３１Ｃの内側に遊嵌されてセットビスＢ１により連結される連結部Ｐ３２と、軸受４１が嵌合される軸部Ｐ４とが設けられている。嵌合部Ｐ３１の外径は、連結部Ｐ３２の外径よりも小さい。連結部Ｐ３２の外径は、軸部Ｐ４の外径よりも大きい。   The rotor yoke 15Cb and the vibrator 31C are connected by a set screw B1 at a connecting portion P32 of the rotor yoke 15Cb. Although not particularly limited, as shown in FIG. 9 (B), on the outer peripheral portion of the rotor yoke 15Cb, from the tip side to the fitting portion P31 that fits inside the heat transfer member 38 and the inside of the vibrating body 31C. A connecting portion P32, which is loosely fitted and connected by the set screw B1, and a shaft portion P4, into which the bearing 41 is fitted, are provided. The outer diameter of the fitting portion P31 is smaller than the outer diameter of the connecting portion P32. The outer diameter of the connecting portion P32 is larger than the outer diameter of the shaft portion P4.

また、特に限定されないが、図９（Ａ）に示すように、起振体３１Ｃの内周部には、先端側から、熱伝達部材３８の外側に嵌合する段部Ｓ３１と、ロータヨーク１５Ｃｂの連結部Ｐ３２を遊嵌する段部Ｓ３２とが設けられている。段部Ｓ３１の内径は、段部Ｓ３２の内径よりも大きい。さらに、起振体３１Ｃの段部Ｓ３２には、周方向における複数箇所にネジ孔ｈ１が設けられ、セットビスＢ１が螺合されている。セットビスＢ１は、起振体３１Ｃを径方向に貫き、ロータヨーク１５Ｃｂの連結部Ｐ３２に当接して、起振体３１Ｃとロータヨーク１５Ｃｂとが相対的に回転しないように、これらを連結する。   In addition, although not particularly limited, as shown in FIG. 9 (A), a step portion S31 fitted to the outside of the heat transfer member 38 and the rotor yoke 15Cb are fitted to the inner peripheral portion of the vibrating body 31C from the tip side. A step portion S32 that loosely fits the connecting portion P32 is provided. The inner diameter of the step S31 is larger than the inner diameter of the step S32. Further, in the step portion S32 of the vibrating body 31C, screw holes h1 are provided at a plurality of positions in the circumferential direction, and set screws B1 are screwed together. The set screw B1 penetrates the vibrating body 31C in the radial direction, contacts the connecting portion P32 of the rotor yoke 15Cb, and connects the vibrating body 31C and the rotor yoke 15Cb so as not to rotate relative to each other.

＜参考例効果＞
以上のように、参考例のモータ内蔵型撓み噛合い式歯車装置１Ｃによれば、ロータヨーク１５Ｃｂと起振体３１Ｃとの間に径方向の熱伝達率よりも軸方向の熱伝達率が大きい熱伝達部材３８が配置されている。これにより、ステータコア１２ｂの熱が、熱伝達部材３８により軸方向に多く伝達される。したがって、ステータコア１２ｂの熱が径方向に伝達されて、撓み噛合い式歯車機構３０に伝わることを抑制できる。これにより、撓み噛合い式歯車機構３０の温度上昇を抑えて、温度によって撓み噛合い式歯車機構３０の運動に異常が生じることを抑制できる。 <Reference example effect>
As described above, according to the flexural mesh type gear device with built-in motor 1C of the reference example, the heat transfer coefficient between the rotor yoke 15Cb and the vibrator 31C is larger than that in the radial direction. The transmission member 38 is arranged. As a result, much heat of the stator core 12b is transferred in the axial direction by the heat transfer member 38. Therefore, the heat of the stator core 12b can be prevented from being radially transmitted to the flexible meshing gear mechanism 30. As a result, it is possible to suppress the temperature rise of the flexible meshing gear mechanism 30 and to prevent the motion of the flexible meshing gear mechanism 30 from being abnormal due to the temperature.

さらに、参考例のモータ内蔵型撓み噛合い式歯車装置１Ｃによれば、熱伝達部材３８は、軸方向において、ロータヨーク１５Ｃｂと起振体３１Ｃとの連結部Ｐ３２とは反対側へ露出している。これにより、熱伝達部材３８を介して軸方向に伝達された熱を、装置外部へ放出できる。あるいは、熱伝達部材３８の装置外部へ露出した端面の近傍に、動力の出力先である相手部材が配置される場合には、熱伝達部材３８から相手部材へ熱を効率的に放出することができる。これにより、ステータコア１２ｂの熱が、撓み噛合い式歯車機構３０に伝達される量をより抑制でき、撓み噛合い式歯車機構３０の温度上昇をより抑えることができる。   Furthermore, according to the flexural meshing gear device 1C with a built-in motor of the reference example, the heat transfer member 38 is exposed to the side opposite to the connecting portion P32 between the rotor yoke 15Cb and the vibrator 31C in the axial direction. . As a result, the heat transferred in the axial direction via the heat transfer member 38 can be released to the outside of the device. Alternatively, when the mating member, which is the output destination of the power, is disposed near the end surface of the heat transfer member 38 exposed to the outside of the device, the heat can be efficiently released from the heat transfer member 38 to the mating member. it can. As a result, the amount of heat of the stator core 12b transferred to the flexible meshing gear mechanism 30 can be further suppressed, and the temperature rise of the flexible meshing gear mechanism 30 can be further suppressed.

さらに、参考例のモータ内蔵型撓み噛合い式歯車装置１Ｃによれば、ロータヨーク１５Ｃｂの連結部Ｐ３２の部分が、熱伝達部材３８に軸方向から接触している。ステータコア１２ｂの熱は、連結部Ｐ３２を介してロータヨーク１５Ｃｂから起振体３１Ｃに多く伝達される。しかし、連結部Ｐ３２がある部位に熱伝達部材３８が接触していることで、この部分の熱を、熱伝達部材３８を介して効率的に放出し、撓み噛合い式歯車機構３０の温度上昇を抑えることができる。   Further, according to the flexural mesh type gear device with built-in motor 1C of the reference example, the portion of the connecting portion P32 of the rotor yoke 15Cb is in contact with the heat transfer member 38 in the axial direction. A large amount of heat of the stator core 12b is transferred from the rotor yoke 15Cb to the vibration generator 31C via the connecting portion P32. However, since the heat transfer member 38 is in contact with the portion where the connecting portion P32 is present, the heat of this portion is efficiently released through the heat transfer member 38, and the temperature of the flexible meshing gear mechanism 30 rises. Can be suppressed.

以上、本発明の各実施形態について説明した。しかし、本発明は上記の実施形態に限られない。例えば、上記実施形態ではロータと起振体とのローレット嵌合部として、ロータのローレット部と起振体の内周部とが嵌合した例を示した。しかし、例えば起振体の内周部をローレット加工することで起振体にローレット部を設け、このローレット部とロータの外周面とを嵌合させた部分を、本発明に係るローレット嵌合部として採用してもよい。また、上記実施形態では、ロータにおいて圧入部よりもローレット嵌合部が後端側（ロータを起振体に挿入する方向の逆側）に位置する例を示した。しかし、これらの配置は逆にすることも可能である。   The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. For example, in the above-described embodiment, an example in which the knurled portion of the rotor and the inner peripheral portion of the vibrator are fitted as the knurled fitting portion of the rotor and the vibrator. However, for example, a knurled portion is provided on the vibrator by knurling the inner peripheral portion of the vibrator, and the portion where the knurled portion and the outer peripheral surface of the rotor are fitted together is the knurled fitting portion according to the present invention. May be adopted as Further, in the above-described embodiment, an example has been shown in which the knurled fitting portion of the rotor is located on the rear end side (the side opposite to the direction in which the rotor is inserted into the vibrator) with respect to the press fitting portion. However, these arrangements can be reversed.

また、上記の実施形態では、所謂筒型の撓み噛合い式歯車機構を採用した構成を例にとって説明したが、本発明に係る撓み噛合い式歯車機構はこれに限定されず、例えば所謂カップ型又はシルクハット型の撓み噛合い式歯車機構が適用されてもよい。また、上記の実施形態において、単一の部材により一体的に形成された構成要素は、複数の部材に分割されて互いに連結又は固着された構成要素に置換されてもよい。また、複数の部材が連結されて構成された構成要素は、単一の部材により一体的に形成された構成要素に置換されてもよい。その他、実施形態で具体的に示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。   Further, in the above-described embodiment, the configuration in which the so-called tubular flexible meshing gear mechanism is adopted has been described as an example, but the flexible meshing gear mechanism according to the present invention is not limited to this, and is, for example, a so-called cup type. Alternatively, a top hat type flexible meshing gear mechanism may be applied. Further, in the above-described embodiment, the constituent element integrally formed by a single member may be replaced with a constituent element that is divided into a plurality of members and connected or fixed to each other. Further, a constituent element configured by connecting a plurality of members may be replaced with a constituent element integrally formed by a single member. In addition, the details specifically shown in the embodiments can be appropriately changed without departing from the spirit of the invention.

１、１Ａ〜１Ｃ モータ内蔵型撓み噛合い式歯車装置
１０ モータ
１２ ステータ
１２ａ ステータコイル
１２ｂ ステータコア
１５ ロータ
１５ａ マグネット
１５ｂ、１５Ａｂ、１５Ｂｂ、１５Ｃｂ ロータヨーク
３０ 撓み噛合い式歯車機構
３１、３１Ａ、３１Ｂ、３１Ｃ 起振体
３２ 起振体軸受
３３ 外歯歯車
３４ 第１内歯歯車部材
３４ｇ 第１内歯歯車
３５ 第２内歯歯車部材
３５ｇ 第２内歯歯車
３５ｆ フランジ部
３５ｉ 内輪部
３６ 固定部材
３７ ケーシング
３８ 熱伝達部材
４１、４２ 軸受
４４ 主軸受
Ｐ１、Ｐ１２ 圧入部
Ｐ３ ローレット嵌合部 DESCRIPTION OF SYMBOLS 1, 1A-1C Built-in motor flexural mesh type gear device 10 Motor 12 Stator 12a Stator coil 12b Stator core 15 Rotor 15a Magnet 15b, 15Ab, 15Bb, 15Cb Rotor yoke 30 Flexible mesh type gear mechanism 31, 31A, 31B, 31C Vibration body 32 Excitation body bearing 33 External tooth gear 34 First internal tooth gear member 34g First internal tooth gear 35 Second internal tooth gear member 35g Second internal tooth gear 35f Flange portion 35i Inner ring portion 36 Fixing member 37 Casing 38 Heat Transmission member 41, 42 Bearing 44 Main bearing P1, P12 Press-fitting part P3 Knurled fitting part

Claims (6)

撓み噛合い式歯車機構と、
前記撓み噛合い式歯車機構の中心部分に組み込まれたモータと、
を備え、
前記モータは、ステータと、前記ステータを取り囲むロータとを備え、
前記撓み噛合い式歯車機構は、前記ロータと一体的に回転するように前記ロータに取り付けられた起振体を有し、
前記起振体は前記ロータを取り囲み、
前記ロータは、前記起振体に圧入された圧入部と、前記起振体にローレット嵌合されたローレット嵌合部と、を有し、前記圧入部と前記ローレット嵌合部とが、前記ロータを前記起振体の内側に軸方向の一方から組み込んだときに、前記ローレット嵌合部のローレット嵌合よりも先に前記圧入部が圧入される位置に設けられている、
モータ内蔵型撓み噛合い式歯車装置。 A flexible meshing gear mechanism,
A motor incorporated in the central portion of the flexible mesh type gear mechanism,
Equipped with
The motor includes a stator and a rotor surrounding the stator,
The flexible mesh type gear mechanism has a vibrating body attached to the rotor so as to rotate integrally with the rotor,
The exciter surrounds the rotor,
The rotor includes a press-fitting portion that is press-fitted into the vibrating body and a knurled fitting portion that is knurled to the vibrating body, and the press-fitting portion and the knurled fitting portion are the rotor. Is installed in the inside of the vibrating body from one side in the axial direction, the press-fitting portion is provided at a position where the press-fitting portion is press-fitted before the knurling fitting of the knurling fitting portion.
Flexible gear type gear unit with built-in motor. 前記ローレット嵌合部は前記ロータにおける軸方向中央よりも軸方向の一方に設けられ、前記圧入部は前記ロータにおける軸方向中央よりも軸方向の他方に設けられている、
請求項１記載のモータ内蔵型撓み噛合い式歯車装置。 The knurled fitting portion is provided on one side in the axial direction of the rotor in the axial direction, and the press-fitting portion is provided on the other side in the axial direction of the rotor in the axial direction.
A flexible mesh type gear device with a built-in motor according to claim 1. 前記ローレット嵌合部は、前記ロータを支持する軸受の軸方向の移動を規制する、
請求項１又は請求項２記載のモータ内蔵型撓み噛合い式歯車装置。 The knurled fitting portion restricts axial movement of a bearing that supports the rotor,
A flexible mesh type gear device with a built-in motor according to claim 1 or 2. 前記ロータと前記起振体との間に、径方向への熱伝達率よりも軸方向への熱伝達率が高い熱伝達部材が配置されている、
請求項１から請求項３のいずれか一項に記載のモータ内蔵型撓み噛合い式歯車装置。 A heat transfer member having a higher heat transfer coefficient in the axial direction than in the radial direction is arranged between the rotor and the vibrating body.
The built-in motor type flexible mesh type gear device according to any one of claims 1 to 3. 前記熱伝達部材は、軸方向における前記ローレット嵌合部がある側とは反対側で歯車装置外部へ露出している、
請求項４記載のモータ内蔵型撓み噛合い式歯車装置。 The heat transfer member is exposed to the outside of the gear device on the side opposite to the side where the knurled fitting portion is located in the axial direction.
A flexible mesh type gear device with a built-in motor according to claim 4. 前記ローレット嵌合部と前記熱伝達部材の間に前記圧入部が位置する、
請求項４又は請求項５記載のモータ内蔵型撓み噛合い式歯車装置。 The press-fitting portion is located between the knurled fitting portion and the heat transfer member,
A flexural mesh type gear device with a built-in motor according to claim 4 or claim 5.
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JP2022077564A (en) * 2020-11-12 2022-05-24 住友重機械工業株式会社 Bending meshing-type gear device
JP7462548B2 (en) 2020-12-23 2024-04-05 住友重機械工業株式会社 Reduction gear

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Publication number Priority date Publication date Assignee Title
JP2022077564A (en) * 2020-11-12 2022-05-24 住友重機械工業株式会社 Bending meshing-type gear device
JP7414379B2 (en) 2020-11-12 2024-01-16 住友重機械工業株式会社 Flexible mesh gear system
JP7462548B2 (en) 2020-12-23 2024-04-05 住友重機械工業株式会社 Reduction gear

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