JP7057812B2 - Flexion meshing gear device - Google Patents

Flexion meshing gear device Download PDF

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JP7057812B2
JP7057812B2 JP2020188577A JP2020188577A JP7057812B2 JP 7057812 B2 JP7057812 B2 JP 7057812B2 JP 2020188577 A JP2020188577 A JP 2020188577A JP 2020188577 A JP2020188577 A JP 2020188577A JP 7057812 B2 JP7057812 B2 JP 7057812B2
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gear
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internal gear
internal
resin
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JP2021036174A (en
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光拡 田村
章 山本
真大 渡辺
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Sumitomo Heavy Industries Ltd
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Description

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

高減速比を得られる小型の歯車装置として、撓み噛み合い式歯車装置が知られている。近年、歯車装置の用途が多様化しており、この種の撓み噛み合い式歯車装置で軽量化が要請されることがある。この要請に応えるものとして、特許文献１には、内歯歯車と外歯歯車に樹脂を用いた撓み噛み合い式歯車装置が開示されている。 As a small gear device that can obtain a high reduction ratio, a flexure meshing type gear device is known. In recent years, the applications of gear devices have been diversified, and there are cases where weight reduction is required for this type of flexure meshing gear device. In response to this request, Patent Document 1 discloses a flexure meshing gear device using a resin for the internal gear and the external gear.

特開２０１３－１７０６１１号公報Japanese Unexamined Patent Publication No. 2013-170611

ところで、歯車に樹脂を用いると、歯車の噛合箇所が発熱した場合に、熱劣化の影響による歯車の寿命の低下が懸念される。この対策を講じた撓み噛み合い式歯車装置は未だ提案されておらず、その提案が望まれる。 By the way, when resin is used for a gear, there is a concern that the life of the gear may be shortened due to the influence of thermal deterioration when the meshing portion of the gear generates heat. A flexure meshing gear device that takes this measure has not yet been proposed, and its proposal is desired.

本発明のある態様は、こうした状況に鑑みてなされ、その目的の１つは、軽量化を図りつつ、歯車の発熱対策を図れる撓み噛み合い式歯車装置を提供することにある。 An aspect of the present invention is made in view of such a situation, and one of the objects thereof is to provide a flexure meshing gear device capable of taking measures against heat generation of gears while reducing the weight.

本発明のある態様は撓み噛み合い式歯車装置に関し、起振体と、前記起振体により撓み変形する外歯歯車と、前記外歯歯車と噛み合う内歯歯車と、を備えた撓み噛み合い式歯車装置であって、前記外歯歯車と前記内歯歯車の一方が樹脂により構成され、前記外歯歯車と前記内歯歯車の他方が前記樹脂よりも熱伝導率が高い高熱伝導材料により構成される撓み噛み合い式歯車装置。 One aspect of the present invention relates to a flexure meshing gear device, wherein a flexure meshing gear device including a oscillating body, an external gear that is flexed and deformed by the oscillating body, and an internal gear that meshes with the external gear. One of the external gear and the internal gear is made of resin, and the other of the external gear and the internal gear is made of a high heat conductive material having a higher thermal conductivity than the resin. Meshing gear device.

本発明の撓み噛み合い式歯車装置によれば、軽量化を図りつつ、歯車の発熱対策を図れる。 According to the flexible meshing type gear device of the present invention, it is possible to take measures against heat generation of the gear while reducing the weight.

第１実施形態の歯車装置を示す側面断面図である。It is a side sectional view which shows the gear device of 1st Embodiment. 第２実施形態の歯車装置を示す側面断面図である。It is a side sectional view which shows the gear device of 2nd Embodiment. 第３実施形態の歯車装置を示す側面断面図である。It is a side sectional view which shows the gear device of 3rd Embodiment. 第４実施形態の歯車装置を示す側面断面図である。It is a side sectional view which shows the gear device of 4th Embodiment. 第５実施形態の歯車装置を示す側面断面図である。It is a side sectional view which shows the gear device of 5th Embodiment. 第６実施形態の歯車装置を示す部分拡大図である。It is a partially enlarged view which shows the gear device of 6th Embodiment.

以下、実施形態、変形例では、同一の構成要素に同一の符号を付し、重複する説明を省略する。また、各図面では、説明の便宜のため、構成要素の一部を適宜省略したり、構成要素の寸法を適宜拡大、縮小して示す。また、共通点のある別々の構成要素には、名称の冒頭に「第１、第２」等と付し、符号の末尾に「－Ａ、－Ｂ」等と付すことで区別し、総称するときはこれらを省略する。 Hereinafter, in the embodiments and modifications, the same components are designated by the same reference numerals, and duplicate description will be omitted. Further, in each drawing, for convenience of explanation, some of the constituent elements are appropriately omitted, and the dimensions of the constituent elements are appropriately enlarged or reduced. In addition, different components that have something in common are distinguished by adding "1st, 2nd", etc. at the beginning of the name and "-A, -B", etc. at the end of the code, and collectively refer to them. When, these are omitted.

（第１の実施の形態）
図１は、第１実施形態の歯車装置１０を示す側面断面図である。歯車装置１０は、内歯歯車１８－Ａ、１８－Ｂと噛み合う外歯歯車１４を撓み変形させつつ回転させることで外歯歯車１４を自転させ、その自転成分を出力する撓み噛み合い式歯車装置である。本実施形態の歯車装置は、減速用内歯歯車１８－Ａと出力用内歯歯車１８－Ｂを用いて起振体１２の回転を減速して出力する、いわゆる筒型の撓み噛み合い式歯車装置である。 (First Embodiment)
FIG. 1 is a side sectional view showing the gear device 10 of the first embodiment. The gear device 10 is a deflection meshing type gear device that rotates the external gear 14 by rotating the external gear 14 that meshes with the internal gears 18-A and 18-B while flexing and deforming, and outputs the rotation component thereof. be. The gear device of the present embodiment is a so-called cylindrical flexure meshing gear device that decelerates and outputs the rotation of the oscillator 12 by using the internal gear for reduction reduction 18-A and the internal gear for output 18-B. Is.

歯車装置１０は、主に、起振体１２と、外歯歯車１４と、起振体軸受１６－Ａ、１６－Ｂと、内歯歯車１８－Ａ、１８－Ｂと、支持部材２０と、軸受ハウジング２２－Ａ、２２－Ｂと、を備える。以下、起振体１２の回転中心線Ｌａに沿う方向を単に「軸方向Ｘ」といい、その回転中心線Ｌａ周りの周方向、径方向に関して、単に「周方向」、「径方向」ということがある。 The gear device 10 mainly includes a oscillating body 12, an external gear 14, oscillating body bearings 16-A and 16-B, internal gears 18-A and 18-B, and a support member 20. The bearing housings 22-A and 22-B are provided. Hereinafter, the direction along the rotation center line La of the oscillator 12 is simply referred to as "axial direction X", and the circumferential direction and radial direction around the rotation center line La are simply referred to as "circumferential direction" and "diameter direction". There is.

起振体１２は、剛性を持つ筒状部材である。起振体１２には、キー等を用いて、モータ等の駆動装置の駆動軸（不図示）が連結される。起振体１２の内周側には配線等が挿通される軸孔１２ａが形成される。起振体１２は、駆動軸によって、自らの軸芯を回転中心として回転させられる。なお、駆動装置は、起振体１２より軸方向Ｘの一方側（図中右側）に配置される。以下、軸方向Ｘの一方側を入力側といい、他方側（図中左側）を反入力側という。 The vibrating body 12 is a rigid tubular member. A drive shaft (not shown) of a drive device such as a motor is connected to the vibrating body 12 by using a key or the like. A shaft hole 12a through which wiring or the like is inserted is formed on the inner peripheral side of the oscillator 12. The oscillator 12 is rotated around its own axis by the drive shaft. The drive device is arranged on one side (right side in the figure) of the axial direction X from the oscillator 12. Hereinafter, one side of the axial direction X is referred to as an input side, and the other side (left side in the figure) is referred to as a non-input side.

起振体１２は、中間軸部１２ｂと、中間軸部１２ｂより入力側にある入力側軸部１２ｃと、中間軸部１２ｂより反入力側にある反入力側軸部１２ｄとを有する。中間軸部１２ｂは、その軸方向Ｘに直交する断面の外周形状が楕円状をなす。入力側軸部１２ｃ及び反入力側軸部１２ｄは、その軸方向Ｘに直交する断面の外周形状が円状をなす。本明細書での「楕円」とは、幾何学的に厳密な楕円に限定されず、略楕円も含まれる。 The vibrating body 12 has an intermediate shaft portion 12b, an input side shaft portion 12c on the input side of the intermediate shaft portion 12b, and a counter-input side shaft portion 12d on the anti-input side of the intermediate shaft portion 12b. The intermediate shaft portion 12b has an elliptical outer peripheral shape in a cross section orthogonal to the axial direction X. The input side shaft portion 12c and the counter-input side shaft portion 12d have a circular outer peripheral shape in a cross section orthogonal to the axial direction X. The term "ellipse" as used herein is not limited to a geometrically exact ellipse, but also includes a substantially ellipse.

外歯歯車１４は、起振体１２の中間軸部１２ｂの外周側に配置される。外歯歯車１４は、可撓性を持つ筒状部材である。外歯歯車１４は、筒状の基部１４ａと、基部１４ａの外周側に基部１４ａと一体的に形成された第１外歯部１４ｂ及び第２外歯部１４ｃとを有する。第１外歯部１４ｂは軸方向Ｘの入力側に配置され、後述する減速用内歯歯車１８－Ａと噛み合う。第２外歯部１４ｃは、軸方向Ｘの反入力側に配置され、後述する出力用内歯歯車１８－Ｂと噛み合う。第１外歯部１４ｂと第２外歯部１４ｃは、起振体１２の中間軸部１２ｂの長軸方向の両側部分が内歯歯車１８と噛み合う。 The external gear 14 is arranged on the outer peripheral side of the intermediate shaft portion 12b of the exciter body 12. The external gear 14 is a flexible tubular member. The external tooth gear 14 has a cylindrical base portion 14a, and a first external tooth portion 14b and a second external tooth portion 14c integrally formed with the base portion 14a on the outer peripheral side of the base portion 14a. The first external tooth portion 14b is arranged on the input side in the axial direction X and meshes with the reduction internal gear 18-A described later. The second external tooth portion 14c is arranged on the opposite side of the axial direction X and meshes with the output internal tooth gear 18-B described later. In the first external tooth portion 14b and the second external tooth portion 14c, both side portions of the intermediate shaft portion 12b of the exciter 12 in the major axis direction mesh with the internal gear 18.

外歯歯車１４は、起振体１２が回転したとき、起振体軸受１６を介して起振体１２の中間軸部１２ｂにより楕円状に撓み変形させられる。このとき、外歯歯車１４は、内歯歯車１８－Ａとの噛合位置を周方向に変えつつ、起振体１２の中間軸部１２ｂの形状に合うように撓み変形させられる。 When the exciter 12 rotates, the external gear 14 is bent and deformed in an elliptical shape by the intermediate shaft portion 12b of the exciter 12 via the exciter bearing 16. At this time, the external gear 14 is flexed and deformed to match the shape of the intermediate shaft portion 12b of the oscillator 12 while changing the meshing position with the internal gear 18-A in the circumferential direction.

起振体軸受１６は、起振体１２の中間軸部１２ｂと外歯歯車１４の間に配置される。起振体軸受１６には、外歯歯車１４の第１外歯部１４ｂと起振体１２の間に配置される第１起振体軸受１６－Ａと、外歯歯車１４の第２外歯部１４ｃと起振体１２の間に配置される第２起振体軸受１６－Ｂとが含まれる。起振体１２は、起振体軸受１６を介して外歯歯車１４を回転自在に支持する。 The oscillating body bearing 16 is arranged between the intermediate shaft portion 12b of the oscillating body 12 and the external gear 14. The oscillating body bearing 16 includes a first oscillating body bearing 16-A arranged between the first external tooth portion 14b of the external tooth gear 14 and the oscillating body 12, and the second external tooth of the external tooth gear 14. A second oscillating body bearing 16-B arranged between the portion 14c and the oscillating body 12 is included. The exciter 12 rotatably supports the external gear 14 via the exciter bearing 16.

各起振体軸受１６のそれぞれは、複数の第１転動体１６ａと、第１内輪１６ｂと、第１外輪１６ｃを有する。本実施形態の第１転動体１６ａは球体であるが、ころ等でもよい。本実施形態の第１内輪１６ｂは起振体１２の中間軸部１２ｂの外周面が構成しているが、起振体１２とは別の部材により構成されてもよい。第１外輪１６ｃは可撓性を持つ。第１外輪１６ｃは、起振体１２が回転したとき、第１転動体１６ａを介して起振体１２の中間軸部１２ｂにより楕円状に撓み変形させられる。 Each of the oscillator bearings 16 has a plurality of first rolling elements 16a, a first inner ring 16b, and a first outer ring 16c. The first rolling element 16a of the present embodiment is a sphere, but may be a roller or the like. Although the first inner ring 16b of the present embodiment is composed of the outer peripheral surface of the intermediate shaft portion 12b of the exciter body 12, it may be composed of a member different from the exciter body 12. The first outer ring 16c has flexibility. When the oscillating body 12 rotates, the first outer ring 16c is bent and deformed in an elliptical shape by the intermediate shaft portion 12b of the oscillating body 12 via the first rolling element 16a.

内歯歯車１８は、剛性を持つ環状部材である。内歯歯車１８は、外歯歯車１４の第１外歯部１４ｂや第２外歯部１４ｃの外周側に配置される。本実施形態の内歯歯車１８には、軸方向Ｘの入力側に配置される減速用内歯歯車１８－Ａ（第１内歯歯車）と、軸方向Ｘの反入力側に配置される出力用内歯歯車１８－Ｂ（第２内歯歯車）とが含まれる。 The internal gear 18 is an annular member having rigidity. The internal tooth gear 18 is arranged on the outer peripheral side of the first external tooth portion 14b and the second external tooth portion 14c of the external tooth gear 14. The internal gear 18 of the present embodiment has a deceleration internal gear 18-A (first internal gear) arranged on the input side of the axial direction X and an output arranged on the opposite side of the axial direction X. The internal gear 18-B (second internal gear) is included.

減速用内歯歯車１８－Ａは、外歯歯車１４の第１外歯部１４ｂが噛み合う第１内歯部１８ａを有する。第１内歯部１８ａの内歯数は第１外歯部１４ｂの外歯数より２ｉ（ｉは１以上の自然数）だけ多い。これにより、起振体１２が回転したとき、第１内歯部１８ａと第１外歯部１４ｂの歯数差に応じた減速比で起振体１２の回転が減速されて外歯歯車１４が自転する。なお、減速用内歯歯車１８－Ａは、ボルトＢ１がねじ込まれるボルト穴が形成された連結部１８ｂを有する。このボルトＢ１は、減速用内歯歯車１８－Ａを入力側軸受ハウジング２２－Ａに連結するために用いられる。 The reduction internal gear 18-A has a first internal tooth portion 18a in which the first external tooth portion 14b of the external tooth gear 14 meshes with the first external tooth portion 14b. The number of internal teeth of the first internal tooth portion 18a is 2i (i is a natural number of 1 or more) larger than the number of external teeth of the first external tooth portion 14b. As a result, when the oscillating body 12 rotates, the rotation of the oscillating body 12 is decelerated at a reduction ratio corresponding to the difference in the number of teeth between the first internal tooth portion 18a and the first external tooth portion 14b, and the external tooth gear 14 is moved. Rotate. The deceleration internal gear 18-A has a connecting portion 18b in which a bolt hole into which the bolt B1 is screwed is formed. This bolt B1 is used to connect the reduction internal gear 18-A to the input side bearing housing 22-A.

出力用内歯歯車１８－Ｂは、外歯歯車１４の第２外歯部１４ｃが噛み合う第２内歯部１８ｃを有する。第２内歯部１８ｃの内歯数は第２外歯部１４ｃの外歯数と同数である。これにより、起振体１２が回転したとき、出力用内歯歯車１８－Ｂには、外歯歯車１４の自転成分と同じ大きさの回転が出力される。 The output internal tooth gear 18-B has a second internal tooth portion 18c to which the second external tooth portion 14c of the external tooth gear 14 meshes. The number of internal teeth of the second internal tooth portion 18c is the same as the number of external teeth of the second external tooth portion 14c. As a result, when the exciter 12 rotates, a rotation of the same magnitude as the rotation component of the external gear 14 is output to the output internal gear 18-B.

支持部材２０は、出力用内歯歯車１８－Ｂを主軸受２４を介して回転自在に支持する外筒部２０ａを有する。外筒部２０ａは、減速用内歯歯車１８－Ａの第１内歯部１８ａより径方向外側に配置される。本実施形態の支持部材２０と減速用内歯歯車１８－Ａは単一の部材の一部を構成しており、互いに一体化されている。外筒部２０ａには、外部部材への連結に用いるボルトＢ２を挿通するための挿通孔２０ｂが形成される。外部部材は、歯車装置１０の外部に配置され、歯車装置１０を支持する役割を持つ。 The support member 20 has an outer cylinder portion 20a that rotatably supports the output internal gear 18-B via the main bearing 24. The outer cylinder portion 20a is arranged radially outside the first internal tooth portion 18a of the reduction internal gear 18-A. The support member 20 and the reduction internal gear 18-A of the present embodiment form a part of a single member and are integrated with each other. An insertion hole 20b for inserting a bolt B2 used for connection to an external member is formed in the outer cylinder portion 20a. The external member is arranged outside the gear device 10 and has a role of supporting the gear device 10.

主軸受２４は、複数の第２転動体２４ａと、第２内輪２４ｂと、第２外輪２４ｃを有する。本実施形態の第２転動体２４ａは球体であるが、ころ等でもよい。本実施形態の第２内輪２４ｂは出力用内歯歯車１８－Ｂの外周面が構成しているが、出力用内歯歯車１８－Ｂとは別の部材により構成されてもよい。第２外輪２４ｃは支持部材２０の外筒部２０ａの内周面が構成しているが、支持部材２０とは別の部材により構成されてもよい。 The main bearing 24 has a plurality of second rolling elements 24a, a second inner ring 24b, and a second outer ring 24c. The second rolling element 24a of the present embodiment is a sphere, but may be a roller or the like. The second inner ring 24b of the present embodiment is formed on the outer peripheral surface of the output internal gear 18-B, but may be formed of a member different from the output internal gear 18-B. The second outer ring 24c is formed on the inner peripheral surface of the outer cylinder portion 20a of the support member 20, but may be formed of a member different from the support member 20.

軸受ハウジング２２は、起振体１２の軸方向Ｘに間隔を空けて配置される。軸受ハウジング２２には、軸方向Ｘの入力側に配置される入力側軸受ハウジング２２－Ａと、軸方向Ｘの反入力側に配置される反入力側軸受ハウジング２２－Ｂとが含まれる。 The bearing housing 22 is arranged at intervals in the axial direction X of the exciter 12. The bearing housing 22 includes an input side bearing housing 22-A arranged on the input side in the axial direction X and a non-input side bearing housing 22-B arranged on the opposite side of the axial direction X.

入力側軸受ハウジング２２－Ａは、減速用内歯歯車１８－ＡにボルトＢ１により連結されることで一体化される。入力側軸受ハウジング２２－Ａは、減速用内歯歯車１８－Ａに連結されるとともに、外歯歯車１４の入力側端面に当接する第１当接部材として機能する。 The input side bearing housing 22-A is integrated with the reduction internal gear 18-A by being connected to the reduction internal gear 18-A by a bolt B1. The input-side bearing housing 22-A is connected to the reduction internal gear 18-A and functions as a first contact member that abuts on the input-side end surface of the external gear 14.

反入力側軸受ハウジング２２－Ｂは、出力用内歯歯車１８－ＢにボルトＢ３により連結されることで一体化される。反入力側軸受ハウジング２２－Ｂは、出力用内歯歯車１８－Ｂに連結されるとともに、外歯歯車１４の反入力側端面に当接する第２当接部材として機能する。 The counter-input side bearing housing 22-B is integrated with the output internal gear 18-B by being connected to the output internal gear 18-B by a bolt B3. The counter-input side bearing housing 22-B is connected to the output internal gear 18-B and functions as a second contact member that abuts on the counter-input side end face of the external gear 14.

入力側軸受ハウジング２２－Ａと起振体１２の入力側軸部１２ｃとの間や、反入力側軸受ハウジング２２－Ｂと起振体１２の反入力側軸部１２ｄとの間には軸受２６が配置される。一対の軸受ハウジング２２－Ａ、２２－Ｂは、起振体１２を軸受２６を介して回転自在に両持ち支持する。各軸受２６は、複数の第３転動体２６ａと、第３内輪２６ｂと、第３外輪２６ｃを有する。 A bearing 26 is located between the input side bearing housing 22-A and the input side shaft portion 12c of the exciter 12, and between the anti-input side bearing housing 22-B and the anti-input side shaft portion 12d of the exciter 12. Is placed. The pair of bearing housings 22-A and 22-B rotatably support the exciter 12 via the bearing 26. Each bearing 26 has a plurality of third rolling elements 26a, a third inner ring 26b, and a third outer ring 26c.

反入力側軸受ハウジング２２－Ｂと出力用内歯歯車１８－Ｂは被駆動装置にボルトＢ４を用いて連結される。被駆動装置は、起振体１２より軸方向Ｘの反入力側に配置される。反入力側軸受ハウジング２２－Ｂには、ボルトＢ４の軸部が挿通される挿通孔２２ａが形成される。出力用内歯歯車１８－Ｂには、そのボルトＢ４がねじ込まれる雌ねじ孔１８ｄが形成される。 The counter-input side bearing housing 22-B and the output internal gear 18-B are connected to the driven device by using bolts B4. The driven device is arranged on the opposite side of the oscillator 12 in the axial direction X. An insertion hole 22a through which the shaft portion of the bolt B4 is inserted is formed in the bearing housing 22-B on the counter-input side. The output internal gear 18-B is formed with a female screw hole 18d into which the bolt B4 is screwed.

以上の歯車装置１０の動作を説明する。
駆動装置の駆動軸が回転すると、駆動軸とともに起振体１２が回転する。起振体１２が回転すると、内歯歯車１８との噛合位置を周方向に変えつつ、起振体１２の中間軸部１２ｂの形状に合うように外歯歯車１４が連続的に撓み変形させられる。第１外歯部１４ｂは、起振体１２が一回転するごとに、減速用内歯歯車１８－Ａの第１内歯部１８ａとの歯数差に相当する分、減速用内歯歯車１８－Ａに対して相対回転（自転）する。このとき、起振体１２の回転は、第１内歯部１８ａとの歯数差に応じた減速比で減速されて外歯歯車１４が自転する。出力用内歯歯車１８－Ｂの第２内歯部１８ｃは、第２外歯部１４ｃと歯数が同じである。よって、出力用内歯歯車１８－Ｂは、起振体１２が一回転した前後で第２外歯部１４ｃとの相対的な噛合位置が変わらないまま、第２外歯部１４ｃと同じ自転成分で同期して回転する。この出力用内歯歯車１８－Ｂの回転は出力用内歯歯車１８－Ｂから被駆動装置に伝達される。この結果、起振体１２の回転が減速されて出力用内歯歯車１８－Ｂから被駆動装置に出力される。 The operation of the above gear device 10 will be described.
When the drive shaft of the drive device rotates, the oscillator 12 rotates together with the drive shaft. When the exciter 12 rotates, the external gear 14 is continuously flexed and deformed so as to match the shape of the intermediate shaft portion 12b of the exciter 12 while changing the meshing position with the internal gear 18 in the circumferential direction. .. The first external tooth portion 14b is the deceleration internal tooth gear 18 by the amount corresponding to the difference in the number of teeth of the deceleration internal tooth gear 18-A from the first internal tooth portion 18a each time the exciter 12 makes one rotation. -Rotates relative to A (rotates). At this time, the rotation of the exciter 12 is decelerated at a reduction ratio corresponding to the difference in the number of teeth from the first internal tooth portion 18a, and the external gear 14 rotates on its axis. The second internal tooth portion 18c of the output internal tooth gear 18-B has the same number of teeth as the second external tooth portion 14c. Therefore, the output internal tooth gear 18-B has the same rotation component as the second external tooth portion 14c while the relative meshing position with the second external tooth portion 14c does not change before and after one rotation of the oscillator 12. Rotate synchronously with. The rotation of the output internal gear 18-B is transmitted from the output internal gear 18-B to the driven device. As a result, the rotation of the exciter 12 is decelerated and output from the output internal gear 18-B to the driven device.

ここで、第１実施形態の歯車装置１０では、前述した構成要素の一部に関して樹脂により構成し、他の構成要素に関して後述する高熱伝導材料により構成した点に特徴がある。 Here, the gear device 10 of the first embodiment is characterized in that some of the above-mentioned components are made of resin and the other components are made of a high thermal conductive material described later.

詳しくは、第１実施形態の歯車装置１０では、外歯歯車１４及び内歯歯車１８のうちの一方の歯車が樹脂により構成される。本実施形態では内歯歯車１８が樹脂により構成される。より詳しくは、減速用内歯歯車１８－Ａ、出力用内歯歯車１８－Ｂのそれぞれが樹脂により構成される。以下、便宜的に、外歯歯車１４及び内歯歯車１８のうちの一方の歯車を構成する樹脂を歯車用樹脂という。ここでの歯車用樹脂には、たとえば、ポリアセタール、ポリアミド等の汎用エンジニアプラスチック等が用いられる。 Specifically, in the gear device 10 of the first embodiment, one of the external gear 14 and the internal gear 18 is made of resin. In this embodiment, the internal gear 18 is made of resin. More specifically, each of the reduction internal gear 18-A and the output internal gear 18-B is made of resin. Hereinafter, for convenience, the resin constituting one of the external gear 14 and the internal gear 18 is referred to as a gear resin. As the resin for gears here, for example, general-purpose engineering plastics such as polyacetal and polyamide are used.

また、外歯歯車１４及び内歯歯車１８のうちの他方の歯車となる外歯歯車１４は高熱伝導材料により構成される。詳しくは、外歯歯車１４の全体、つまり、基部１４ａ、第１外歯部１４ｂ及び第２外歯部１４ｃのそれぞれは高熱伝導材料により構成される。この高熱伝導材料は、歯車用樹脂よりも熱伝導率［Ｗ／（ｍ・Ｋ）］が高いものをいう。本実施形態では、この高熱伝導材料として鉄、アルミニウム等の金属を用いているが、歯車用樹脂より熱伝導率の大きい他の樹脂等が用いられてもよい。 Further, the external gear 14 which is the other gear of the external gear 14 and the internal gear 18 is made of a high thermal conductive material. Specifically, the entire external tooth gear 14, that is, each of the base portion 14a, the first external tooth portion 14b, and the second external tooth portion 14c is made of a high thermal conductive material. This high thermal conductivity material has a higher thermal conductivity [W / (m · K)] than the resin for gears. In the present embodiment, a metal such as iron or aluminum is used as the high thermal conductivity material, but other resins having a higher thermal conductivity than the resin for gears may be used.

（Ａ）これにより、内歯歯車１８と外歯歯車１４の噛合箇所が発熱したとき、その噛合箇所から高熱伝導材料の外歯歯車１４を通して他の箇所への伝熱が促進され、その他の箇所での放熱が促進される。ここでの他の箇所には、外歯歯車１４の噛合箇所以外の箇所の他、外歯歯車１４以外の部材（本実施形態では後述する軸受ハウジング２２）が含まれる。よって、内歯歯車１８と外歯歯車１４の噛合箇所での発熱による内歯歯車１８や外歯歯車１４の高温化を抑制できる。この結果、熱劣化の影響による内歯歯車１８や外歯歯車１４の寿命の低下を防止でき、内歯歯車１８や外歯歯車１４に関して良好な耐久性を得られる。このため、外歯歯車１４と内歯歯車１８の一方に歯車用樹脂を用いることで軽量化を図りつつ、歯車の発熱対策を図れる。 (A) As a result, when the meshing portion of the internal gear 18 and the external gear 14 generates heat, heat transfer from the meshing portion to the external gear 14 of the high heat conductive material is promoted, and heat transfer to other locations is promoted. Heat transfer is promoted. The other portion here includes a portion other than the meshing portion of the external gear 14 and a member other than the external gear 14 (bearing housing 22 described later in the present embodiment). Therefore, it is possible to suppress the temperature rise of the internal gear 18 and the external gear 14 due to heat generation at the meshing portion between the internal gear 18 and the external gear 14. As a result, it is possible to prevent the life of the internal gear 18 and the external gear 14 from being shortened due to the influence of thermal deterioration, and good durability can be obtained for the internal gear 18 and the external gear 14. Therefore, by using a resin for gears on one of the external gear 14 and the internal gear 18, it is possible to reduce the weight and take measures against heat generation of the gear.

高熱伝導材料は、歯車の噛合箇所で生じる熱を他の箇所へ伝熱させる観点から、歯車用樹脂より熱伝導率が大きいほど好ましい。この観点から、高熱伝導材料の熱伝導率は、たとえば、歯車用樹脂の熱伝導率の１０．０倍以上となるように設定されると好ましい。 The high thermal conductivity material is preferable to have a higher thermal conductivity than the resin for gears from the viewpoint of transferring heat generated at the meshing portion of the gear to another portion. From this viewpoint, it is preferable that the thermal conductivity of the high thermal conductive material is set to be 10.0 times or more the thermal conductivity of the resin for gears, for example.

撓み噛み合い式歯車装置１０では、通常、外歯歯車１４の外周側に配置される内歯歯車１８の方が外歯歯車１４よりが大体積になる。本実施形態では、この大体積の内歯歯車１８を歯車用樹脂により構成しているため、小体積の外歯歯車１４を歯車用樹脂により構成するより、効果的に軽量化を図れる。 In the flexure meshing type gear device 10, the internal gear 18 arranged on the outer peripheral side of the external gear 14 usually has a larger volume than the external gear 14. In the present embodiment, since the large-volume internal gear 18 is made of the resin for gears, the weight can be effectively reduced as compared with the case where the small-volume external gear 14 is made of the resin for gears.

ところで、外歯歯車１４が収容されている収容空間２８は、内歯歯車１８と外歯歯車１４の間に形成され、歯車装置１０の周囲の外部空間３０から離れた奥まった箇所にある。よって、外歯歯車１４の収容空間２８と外部空間３０との間では空気が流通し難く、その収容空間２８には外歯歯車１４から放熱された熱がこもり易い。特に、この収容空間２８は、軸受ハウジング２２や軸受２６により軸方向Ｘの両側から挟まれた箇所に形成されていることもあり、いっそう熱がこもり易い。次に、このように熱のこもり易い箇所にある外歯歯車１４の放熱を促進するための工夫を説明する。 By the way, the accommodation space 28 in which the external gear 14 is accommodated is formed between the internal gear 18 and the external gear 14, and is located in a deep place away from the external space 30 around the gear device 10. Therefore, it is difficult for air to flow between the accommodation space 28 of the external gear 14 and the external space 30, and the heat radiated from the external gear 14 tends to be trapped in the accommodation space 28. In particular, the accommodation space 28 may be formed at a position sandwiched from both sides in the axial direction X by the bearing housing 22 and the bearing 26, and heat is more likely to be trapped. Next, a device for promoting heat dissipation of the external gear 14 in such a place where heat is likely to be trapped will be described.

前述の通り、入力側軸受ハウジング２２－Ａや反入力側軸受ハウジング２２－Ｂは、外歯歯車１４に当接している当接部材として機能する。これら軸受ハウジング２２は、その一部分が外部空間３０に露出している。ここでの一部分とは、たとえば、軸受ハウジング２２の軸方向Ｘ外側に臨む面や径方向外側の外周面である。これら軸受ハウジング２２は、前述の歯車用樹脂より熱伝導率が高い高熱伝導材料により構成される。本実施形態では、この高熱伝導材料として外歯歯車１４と同等の熱伝導率を持つ金属を用いているが、歯車用樹脂より熱伝導率が大きければ、その具体例は特に限定されない。たとえば、軸受ハウジング２２は、外歯歯車１４とは異なる素材を用いて構成されてもよい。 As described above, the input side bearing housing 22-A and the non-input side bearing housing 22-B function as contact members in contact with the external gear 14. A part of these bearing housings 22 is exposed to the external space 30. The partial portion here is, for example, a surface of the bearing housing 22 facing the outer side in the axial direction X and an outer peripheral surface on the outer side in the radial direction. These bearing housings 22 are made of a high thermal conductive material having a higher thermal conductivity than the above-mentioned resin for gears. In the present embodiment, a metal having a thermal conductivity equivalent to that of the external tooth gear 14 is used as the high thermal conductivity material, but the specific example thereof is not particularly limited as long as the thermal conductivity is higher than that of the resin for gears. For example, the bearing housing 22 may be configured using a material different from that of the external gear 14.

これにより、外歯歯車１４に当接している軸受ハウジング２２に外歯歯車１４の熱を伝熱でき、軸受ハウジング２２からも外歯歯車１４の熱を放熱できる。よって、歯車の噛合箇所で生じた熱の放熱箇所を増やすことで、内歯歯車１８や外歯歯車１４の高温化をより抑制できる。特に、軸受ハウジング２２から周囲の外部空間３０に放熱できるため、収容空間２８に配置される外歯歯車１４から外部空間３０への放熱が促進され、内歯歯車１８や外歯歯車１４の高温化を効果的に抑制できる。 As a result, the heat of the external gear 14 can be transferred to the bearing housing 22 in contact with the external gear 14, and the heat of the external gear 14 can be dissipated from the bearing housing 22 as well. Therefore, by increasing the number of heat radiating points generated at the meshing points of the gears, it is possible to further suppress the increase in temperature of the internal tooth gear 18 and the external tooth gear 14. In particular, since heat can be dissipated from the bearing housing 22 to the surrounding external space 30, heat dissipation from the external gear 14 arranged in the accommodation space 28 to the external space 30 is promoted, and the temperature of the internal gear 18 and the external gear 14 becomes high. Can be effectively suppressed.

なお、本実施形態の歯車装置１０は、軽量化を図るため、起振体軸受１６の第１外輪１６ｃ、軸受２６の第３外輪２６ｃ及び第３内輪２６ｂ、起振体１２のそれぞれが樹脂により構成される。これらは内歯歯車１８と同等の熱伝導率の歯車用樹脂により構成されてもよいし、他の樹脂により構成されてもよい。起振体軸受１６の第１転動体１６ａ、主軸受２４の第２転動体２４ａ、軸受２６の第３転動体２６ａは、金属により構成される。これは、軸受の転動体は、外輪や内輪より要求強度が大きいためである。 In the gear device 10 of the present embodiment, in order to reduce the weight, the first outer ring 16c of the oscillating body bearing 16, the third outer ring 26c and the third inner ring 26b of the bearing 26, and the oscillating body 12 are each made of resin. It is composed. These may be made of a resin for gears having a thermal conductivity equivalent to that of the internal tooth gear 18, or may be made of another resin. The first rolling element 16a of the oscillating body bearing 16, the second rolling element 24a of the main bearing 24, and the third rolling element 26a of the bearing 26 are made of metal. This is because the rolling element of the bearing has a higher required strength than the outer ring and the inner ring.

また、支持部材２０は、減速用内歯歯車１８－Ａと同じ単一の部材の一部を構成していることから、減速用内歯歯車１８－Ａと同様に歯車用樹脂により構成される。 Further, since the support member 20 constitutes a part of the same single member as the deceleration internal tooth gear 18-A, it is made of the gear resin like the deceleration internal tooth gear 18-A. ..

また、この他にも、本実施形態の歯車装置１０は、樹脂により構成される部材と他の部材を連結するボルトＢ１、Ｂ３を備える。ここでの「樹脂により構成される部材」と「他の部材」の組み合わせは、本実施形態でいえば、減速用内歯歯車１８－Ａと入力側軸受ハウジング２２－Ａの組み合わせや、出力用内歯歯車１８－Ｂと反入力側軸受ハウジング２２－Ｂの組み合わせである。 In addition to this, the gear device 10 of the present embodiment includes bolts B1 and B3 for connecting a member made of resin and other members. The combination of the "member made of resin" and the "other member" here is, in the present embodiment, a combination of the internal gear for reduction reduction 18-A and the bearing housing 22-A on the input side, or for output. It is a combination of the internal gear 18-B and the bearing housing 22-B on the non-input side.

このボルトＢ１、Ｂ３は、外歯歯車１４等と同様、高熱伝導材料としての金属により構成される。これにより、放熱量の小さい樹脂により構成される部材でも、高熱伝導材料により構成されるボルトＢ１、Ｂ３を通して放熱を促進でき、その部材の熱劣化を抑制できる。なお、この「他の部材」は、本実施形態では、伝熱及び放熱を促進する観点から、高熱伝導材料により構成される例を説明したが、歯車用樹脂により構成されてもよい。 The bolts B1 and B3 are made of metal as a high thermal conductive material, like the external gear 14 and the like. As a result, even a member made of a resin having a small amount of heat dissipation can promote heat dissipation through the bolts B1 and B3 made of a high thermal conductive material, and can suppress thermal deterioration of the member. Although this "other member" has been described as an example of being made of a high heat conductive material from the viewpoint of promoting heat transfer and heat dissipation in the present embodiment, it may be made of a resin for gears.

（第２の実施の形態）
図２は、第２実施形態の歯車装置１０を示す側面断面図である。本実施形態では、熱のこもり易い箇所にある外歯歯車１４の放熱を促進するための他の工夫を説明する。第１実施形態では、このような工夫として、軸受ハウジング２２を高熱伝導材料により構成する例を説明した。本実施形態では、この工夫を実現するため、軸受ハウジング２２ではなく、起振体１２と起振体軸受１６を高熱伝導材料により構成している。 (Second embodiment)
FIG. 2 is a side sectional view showing the gear device 10 of the second embodiment. In this embodiment, another device for promoting heat dissipation of the external gear 14 in a place where heat is likely to be trapped will be described. In the first embodiment, as such a device, an example in which the bearing housing 22 is made of a high thermal conductive material has been described. In the present embodiment, in order to realize this device, the exciter 12 and the exciter bearing 16 are made of a high thermal conductive material instead of the bearing housing 22.

詳しくは、本実施形態では、起振体軸受１６の第１転動体１６ａ及び第１外輪１６ｃのそれぞれと、起振体１２とを高熱伝導材料としての金属により構成している。起振体軸受１６が起振体１２とは別体の第１内輪１６ｂを有する場合、第１内輪１６ｂも高熱伝導材料により構成すればよい。本実施形態では、この高熱伝導材料として外歯歯車１４と同等の熱伝導率を持つ金属を用いているが、歯車用樹脂より熱伝導率が大きければ、その具体例は特に限定されない。たとえば、起振体１２と起振体軸受１６は、外歯歯車１４とは異なる素材を用いて構成されてもよい。 Specifically, in the present embodiment, each of the first rolling element 16a and the first outer ring 16c of the oscillating body bearing 16 and the oscillating body 12 are made of metal as a high thermal conductive material. When the oscillating body bearing 16 has a first inner ring 16b separate from the oscillating body 12, the first inner ring 16b may also be made of a high thermal conductive material. In the present embodiment, a metal having a thermal conductivity equivalent to that of the external tooth gear 14 is used as the high thermal conductivity material, but the specific example thereof is not particularly limited as long as the thermal conductivity is higher than that of the resin for gears. For example, the exciter 12 and the exciter bearing 16 may be configured by using a material different from that of the external gear 14.

なお、この起振体１２の一部分は外部空間３０に露出している。ここでの一部分とは、起振体１２の軸方向Ｘ両端部の外周面や、軸方向Ｘ外側に臨む端面等である。 A part of the exciter 12 is exposed to the external space 30. Here, a part thereof is an outer peripheral surface of both ends of the oscillator 12 in the axial direction X, an end surface facing the outside of the axial direction X, and the like.

以上の構成により、外歯歯車１４に当接する起振体軸受１６を通して起振体１２に外歯歯車１４の熱を伝熱でき、起振体軸受１６や起振体１２からも外歯歯車１４の熱を放熱できる。よって、歯車の噛合箇所で生じた熱の放熱箇所を増やすことで、内歯歯車１８や外歯歯車１４の高温化をより抑制できる。特に、起振体１２から周囲の外部空間３０に放熱できるうえ、起振体１２から起振体１２に接続される駆動装置の駆動軸へも放熱できる。よって、収容空間２８に配置される外歯歯車１４から外部空間３０や駆動軸への放熱が促進され、内歯歯車１８や外歯歯車１４の高温化を効果的に抑制できる。 With the above configuration, the heat of the external gear 14 can be transferred to the exciter 12 through the exciter bearing 16 that abuts on the external gear 14, and the external gear 14 can also be transferred from the exciter bearing 16 and the exciter 12. Can dissipate heat. Therefore, by increasing the number of heat radiating points generated at the meshing points of the gears, it is possible to further suppress the increase in temperature of the internal tooth gear 18 and the external tooth gear 14. In particular, heat can be radiated from the oscillating body 12 to the surrounding external space 30, and also radiating from the oscillating body 12 to the drive shaft of the drive device connected to the oscillating body 12. Therefore, heat dissipation from the external gear 14 arranged in the accommodation space 28 to the external space 30 and the drive shaft is promoted, and the temperature rise of the internal gear 18 and the external gear 14 can be effectively suppressed.

また、起振体１２が金属により構成されるため、次の利点がある。起振体１２は、通常、大外径になり易く、曲げモーメントの増大に伴い大負荷が付与され易く、要求強度も大きくなり易い。この点、起振体１２は金属により構成されるため、起振体１２を歯車用樹脂により構成する場合と比べ、起振体１２の要求強度を確保し易くなる。よって、歯車装置１０の軽量化や歯車の発熱対策を図りつつ、起振体１２の要求強度を確保し易くなる。 Further, since the exciter 12 is made of metal, it has the following advantages. The vibrating body 12 usually tends to have a large outer diameter, a large load is likely to be applied as the bending moment increases, and the required strength tends to increase. In this respect, since the exciter 12 is made of metal, it becomes easier to secure the required strength of the exciter 12 as compared with the case where the exciter 12 is made of a resin for gears. Therefore, it becomes easy to secure the required strength of the exciter 12 while reducing the weight of the gear device 10 and taking measures against heat generation of the gear.

本実施形態でも、第１実施形態と同様、外歯歯車１４と内歯歯車１８の一方に歯車用樹脂を用いることで軽量化を図りつつ、歯車の発熱対策を図れる。 Also in this embodiment, as in the first embodiment, by using a resin for gears on one of the external gear 14 and the internal gear 18, it is possible to reduce the weight and take measures against heat generation of the gear.

なお、本実施形態では軸受ハウジング２２は歯車用樹脂により構成されるが、第１実施形態と同様、高熱伝導材料により構成されてもよい。また、本実施形態では、外歯歯車１４、内歯歯車１８、主軸受２４、軸受２６等の他の構成要素は第１実施形態と同様の素材により構成される。つまり、外歯歯車１４、主軸受２４の第２転動体２４ａ、軸受２６の第３転動体２６ａは高熱伝導材料としての金属により構成され、内歯歯車１８、軸受２６の第３外輪２６ｃ及び第３内輪２６ｂは歯車用樹脂により構成される。 Although the bearing housing 22 is made of a resin for gears in the present embodiment, it may be made of a high thermal conductive material as in the first embodiment. Further, in the present embodiment, other components such as the external gear 14, the internal gear 18, the main bearing 24, and the bearing 26 are made of the same material as in the first embodiment. That is, the external gear 14, the second rolling element 24a of the main bearing 24, and the third rolling element 26a of the bearing 26 are made of metal as a high heat conductive material, and the internal gear 18, the third outer ring 26c of the bearing 26, and the first. 3 The inner ring 26b is made of a resin for gears.

（第３の実施の形態）
図３は、第３実施形態の歯車装置１０を示す側面断面図である。第１実施形態、第２実施形態では、外歯歯車１４が高熱伝導材料により構成され、内歯歯車１８が歯車用樹脂により構成される例を説明した。本実施形態では、外歯歯車１４が歯車用樹脂により構成され、内歯歯車１８が高熱伝導材料により構成される。詳しくは、内歯歯車１８のうちの出力用内歯歯車１８－Ｂが高熱伝導材料により構成され、減速用内歯歯車１８－Ａが歯車用樹脂により構成される。 (Third embodiment)
FIG. 3 is a side sectional view showing the gear device 10 of the third embodiment. In the first embodiment and the second embodiment, an example in which the external gear 14 is made of a high thermal conductive material and the internal gear 18 is made of a resin for gears has been described. In the present embodiment, the external gear 14 is made of a resin for gears, and the internal gear 18 is made of a high thermal conductive material. Specifically, among the internal gears 18, the output internal gear 18-B is made of a high thermal conductive material, and the reduction internal gear 18-A is made of a gear resin.

本実施形態によっても、内歯歯車１８と外歯歯車１４の噛合箇所が発熱したとき、その噛合箇所から高熱伝導材料の出力用内歯歯車１８－Ｂを通して他の箇所への伝熱が促進され、その他の箇所での放熱が促進される。ここでの他の箇所には、出力用内歯歯車１８－Ｂの噛合箇所以外の箇所が含まれる。よって、前述の（Ａ）で記載した内容と同様、出力用内歯歯車１８－Ｂと外歯歯車１４の噛合箇所での発熱による出力用内歯歯車１８－Ｂと外歯歯車１４の高温化を抑制できる。この結果、熱劣化の影響による出力用内歯歯車１８－Ｂや外歯歯車１４の寿命の低下を防止でき、出力用内歯歯車１８－Ｂや外歯歯車１４に関して良好な耐久性を得られる。このため、外歯歯車１４と内歯歯車１８の一方に歯車用樹脂を用いることで軽量化を図りつつ、歯車の発熱対策を図れる。 Also in this embodiment, when the meshing portion of the internal gear 18 and the external gear 14 generates heat, heat transfer from the meshing portion to the other portion is promoted through the internal gear 18-B for output of the high heat conductive material. , Heat transfer is promoted in other places. The other portion here includes a portion other than the meshing portion of the output internal gear 18-B. Therefore, similar to the content described in (A) above, the temperature of the output internal gear 18-B and the external gear 14 is increased due to heat generation at the meshing point of the output internal gear 18-B and the external gear 14. Can be suppressed. As a result, it is possible to prevent the life of the output internal gear 18-B and the external gear 14 from being shortened due to the influence of thermal deterioration, and good durability can be obtained for the output internal gear 18-B and the external gear 14. .. Therefore, by using a resin for gears on one of the external gear 14 and the internal gear 18, it is possible to reduce the weight and take measures against heat generation of the gear.

また、出力用内歯歯車１８－Ｂは、高熱伝導材料としての金属により構成されるため、次の利点がある。出力用内歯歯車１８－Ｂは、被駆動装置に連結されるため、被駆動装置から回転中心線Ｌａを傾斜させるような曲げモーメントが付与されることがある。これに伴い、外歯歯車１４との噛合箇所や主軸受２４の転動面に大負荷が付与され易く、要求強度が大きくなり易い。この点、出力用内歯歯車１８－Ｂは金属により構成されるため、出力用内歯歯車１８－Ｂを歯車用樹脂により構成する場合と比べ、出力用内歯歯車１８－Ｂの要求強度を確保し易くなる。よって、歯車装置１０の軽量化や歯車の発熱対策を図りつつ、出力用内歯歯車１８－Ｂの要求強度を確保し易くなる。 Further, since the output internal gear 18-B is made of metal as a high thermal conductive material, it has the following advantages. Since the output internal gear 18-B is connected to the driven device, a bending moment that tilts the rotation center line La from the driven device may be applied. Along with this, a large load is likely to be applied to the meshing portion with the external gear 14 and the rolling surface of the main bearing 24, and the required strength is likely to increase. In this respect, since the output internal tooth gear 18-B is made of metal, the required strength of the output internal tooth gear 18-B is higher than that of the case where the output internal tooth gear 18-B is made of gear resin. It will be easier to secure. Therefore, it becomes easy to secure the required strength of the internal gear for output 18-B while reducing the weight of the gear device 10 and taking measures against heat generation of the gear.

なお、本実施形態の歯車装置１０は、軽量化を図るため、起振体軸受１６の第１外輪１６ｃ、軸受２６の第３外輪２６ｃ及び第３内輪２６ｂ、起振体１２、軸受ハウジング２２のそれぞれが樹脂により構成される。これらは外歯歯車１４と同等の熱伝達率の歯車用樹脂により構成されてもよいし、他の樹脂により構成されてもよい。起振体軸受１６の第１転動体１６ａ、主軸受２４の第２転動体２４ａ、軸受２６の第３転動体２６ａは、金属により構成される。これは、軸受の転動体は、他の箇所よりも要求強度が大きいためである。また、この他にも、本実施形態のボルトＢ１、Ｂ３は、第１実施形態、第２実施形態と同様、高熱伝導材料としての金属により構成される。 In the gear device 10 of the present embodiment, in order to reduce the weight, the first outer ring 16c of the oscillating body bearing 16, the third outer ring 26c and the third inner ring 26b of the bearing 26, the oscillating body 12, and the bearing housing 22 are provided. Each is composed of resin. These may be made of a resin for gears having a heat transfer coefficient equivalent to that of the external gear 14, or may be made of another resin. The first rolling element 16a of the oscillating body bearing 16, the second rolling element 24a of the main bearing 24, and the third rolling element 26a of the bearing 26 are made of metal. This is because the rolling elements of the bearing have higher required strength than other parts. In addition to this, the bolts B1 and B3 of the present embodiment are made of a metal as a high thermal conductive material as in the first embodiment and the second embodiment.

本実施形態では、出力用内歯歯車１８－Ｂのみを高熱伝導材料により構成し、減速用内歯歯車１８－Ａは歯車用樹脂により構成する例を説明した。この他にも、減速用内歯歯車１８－Ａと出力用内歯歯車１８－Ｂの両方を高熱伝導材料により構成してもよいし、減速用内歯歯車１８－Ａのみを高熱伝導材料により構成してもよい。いずれの場合も、外歯歯車１４は歯車用樹脂により構成される。 In this embodiment, an example has been described in which only the output internal gear 18-B is made of a high thermal conductive material and the reduction internal gear 18-A is made of a gear resin. In addition, both the reduction internal gear 18-A and the output internal gear 18-B may be made of a high thermal conductive material, or only the reduction internal gear 18-A may be made of a high thermal conductive material. It may be configured. In either case, the external gear 14 is made of a resin for gears.

また、本実施形態では、内歯歯車１８を高熱伝導材料により構成しつつ、起振体１２、起振体軸受１６の第１外輪１６ｃ、軸受ハウジング２２を樹脂により構成する例を説明した。このように内歯歯車１８を高熱伝導材料により構成する場合も、起振体１２、起振体軸受１６、軸受ハウジング２２を高熱伝導材料により、詳しくは、金属により構成してもよい。 Further, in the present embodiment, an example has been described in which the internal gear 18 is made of a high heat conductive material, and the exciting body 12, the first outer ring 16c of the exciting body bearing 16, and the bearing housing 22 are made of resin. When the internal gear 18 is made of a high heat conductive material as described above, the exciting body 12, the exciting body bearing 16, and the bearing housing 22 may be made of a high heat conductive material, more specifically, of metal.

（第４の実施の形態）
図４は、第４実施形態の歯車装置１０を示す側面断面図である。図１～図３の例では、反入力側軸受ハウジング２２－Ｂと出力用内歯歯車１８－Ｂが別体である例を説明した。 (Fourth Embodiment)
FIG. 4 is a side sectional view showing the gear device 10 of the fourth embodiment. In the examples of FIGS. 1 to 3, an example in which the counter-input side bearing housing 22-B and the output internal gear 18-B are separate bodies has been described.

本実施形態の反入力側軸受ハウジング２２－Ｂは、出力用内歯歯車１８－Ｂと同じ部材の一部を構成しており、互いに一体化されている。これは、出力用内歯歯車１８－Ｂが軸受ハウジング２２の機能を兼ねていることを意味している。軸受ハウジング２２の機能を兼ねる出力用内歯歯車１８－Ｂは、歯車用樹脂により構成される。 The counter-input side bearing housing 22-B of the present embodiment constitutes a part of the same member as the output internal gear 18-B, and is integrated with each other. This means that the output internal gear 18-B also functions as the bearing housing 22. The output internal gear 18-B, which also functions as the bearing housing 22, is made of a gear resin.

歯車用樹脂と高熱伝導材料の組み合わせは、この他の点では、第２実施形態と同様である。つまり、起振体１２、外歯歯車１４、起振体軸受１６の第１転動体１６ａ、主軸受２４の第２転動体２４ａ、軸受２６の第３転動体２６ａは、高熱伝導材料としての金属により構成される。入力側軸受ハウジング２２－Ａ、減速用内歯歯車１８－Ａ、起振体軸受１６の第１外輪１６ｃ、軸受２６の第３外輪２６ｃ及び第３内輪２６ｂは樹脂により構成される。 The combination of the gear resin and the high thermal conductive material is otherwise the same as in the second embodiment. That is, the oscillating body 12, the external gear 14, the first rolling element 16a of the oscillating body bearing 16, the second rolling element 24a of the main bearing 24, and the third rolling element 26a of the bearing 26 are metals as high heat conductive materials. Consists of. The input side bearing housing 22-A, the reduction internal gear 18-A, the first outer ring 16c of the exciter bearing 16, the third outer ring 26c and the third inner ring 26b of the bearing 26 are made of resin.

本実施形態でも、他の実施形態と同様、外歯歯車１４と内歯歯車１８の一方に歯車用樹脂を用いることで軽量化を図りつつ、歯車の発熱対策を図れる。 Also in this embodiment, as in the other embodiments, by using a gear resin for one of the external gear 14 and the internal gear 18, it is possible to reduce the weight and take measures against heat generation of the gear.

（第５の実施の形態）
図５は、第５実施形態の歯車装置１０を示す側面断面図である。第１～第４実施形態では、筒型の撓み噛み合い式歯車装置を説明した。本実施形態では、出力用内歯歯車１８－Ｂを用いずに、単数の減速用内歯歯車１８－Ａのみを用いて、起振体１２の回転を減速して出力する、いわゆるシルクハット型の撓み噛み合い式減速装置を説明する。 (Fifth Embodiment)
FIG. 5 is a side sectional view showing the gear device 10 of the fifth embodiment. In the first to fourth embodiments, a cylindrical flexure meshing gear device has been described. In this embodiment, a so-called top hat type is used in which the rotation of the exciter 12 is decelerated and output by using only a single deceleration internal gear 18-A without using the output internal gear 18-B. The deflection meshing type speed reducer of the above will be described.

外歯歯車１４は、筒状の基部１４ａと、基部１４ａの入力側端部から径方向の外側に張り出すフランジ部１４ｄとを有する。外歯歯車１４の基部１４ａとフランジ部１４ｄはシルクハット状をなす。基部１４ａの反入力側部分は、基部１４ａの入力側部分より厚肉に形成される。外歯歯車１４は、基部１４ａの反入力側部分の外周側に基部１４ａと一体的に形成された第１外歯部１４ｂを有する。 The external gear 14 has a cylindrical base portion 14a and a flange portion 14d projecting outward in the radial direction from the input side end portion of the base portion 14a. The base portion 14a and the flange portion 14d of the external gear 14 form a top hat shape. The counter-input side portion of the base portion 14a is formed to be thicker than the input side portion of the base portion 14a. The external tooth gear 14 has a first external tooth portion 14b formed integrally with the base portion 14a on the outer peripheral side of the counter-input side portion of the base portion 14a.

外歯歯車１４は、ボルトＢ１がねじ込まれるボルト穴が形成された連結部１４ｅを有する。このボルトＢ１は、外歯歯車１４を入力側軸受ハウジング２２－Ａに連結するために用いられる。連結部１４ｅは、フランジ部１４ｄの径方向外側に設けられる。 The external gear 14 has a connecting portion 14e formed with a bolt hole into which the bolt B1 is screwed. This bolt B1 is used to connect the external gear 14 to the input side bearing housing 22-A. The connecting portion 14e is provided on the radial outer side of the flange portion 14d.

外歯歯車１４は、減速用内歯歯車１８－Ａを主軸受２４を介して回転自在に支持する外筒部２０ａを有する支持部材２０と一体化される。本実施形態の支持部材２０と外歯歯車１４は単一の部材の一部を構成しており、これにより互いに一体化されている。 The external gear 14 is integrated with a support member 20 having an outer cylinder portion 20a that rotatably supports the reduction internal gear 18-A via the main bearing 24. The support member 20 and the external gear 14 of the present embodiment form a part of a single member, whereby they are integrated with each other.

減速用内歯歯車１８－Ａは、第１実施形態と同様、剛性を持つ環状部材である。減速用内歯歯車１８－Ａは、外歯歯車１４の第１外歯部１４ｂの外周側に配置される。減速用内歯歯車１８－Ａは、外歯歯車１４の第１外歯部１４ｂが噛み合う第１内歯部１８ａを有する。第１内歯部１８ａの内歯数は、第１実施形態と同様、第１外歯部１４ｂの外歯数より２ｉだけ多い。 The reduction internal gear 18-A is an annular member having rigidity as in the first embodiment. The reduction internal gear 18-A is arranged on the outer peripheral side of the first external tooth portion 14b of the external gear 14. The reduction internal gear 18-A has a first internal tooth portion 18a in which the first external tooth portion 14b of the external tooth gear 14 meshes with the first external tooth portion 14b. The number of internal teeth of the first internal tooth portion 18a is 2i larger than the number of external teeth of the first external tooth portion 14b, as in the first embodiment.

減速用内歯歯車１８－Ａは、被駆動装置にボルトＢ５を用いて連結される。減速用内歯歯車１８－Ａには、そのボルトＢ５がねじ込まれる雌ねじ孔１８ｅが形成される。 The reduction internal gear 18-A is connected to the driven device by using a bolt B5. The internal gear for reduction reduction 18-A is formed with a female screw hole 18e into which the bolt B5 is screwed.

本実施形態の反入力側軸受ハウジング２２－Ｂは、減速用内歯歯車１８－Ａと同じ部材の一部を構成しており、互いに一体化されている。これは、減速用内歯歯車１８－Ａが反入力側軸受ハウジング２２の機能を兼ねていることを意味する。この反入力側軸受ハウジング２２の機能を兼ねた減速用内歯歯車１８－Ａと起振体１２の反入力側軸部１２ｄの間には軸受２６が配置される。 The counter-input side bearing housing 22-B of the present embodiment constitutes a part of the same member as the reduction internal gear 18-A, and is integrated with each other. This means that the reduction internal gear 18-A also functions as the counter-input side bearing housing 22. A bearing 26 is arranged between the reduction internal gear 18-A, which also functions as the counter-input side bearing housing 22, and the counter-input side shaft portion 12d of the oscillator 12.

以上の歯車装置１０の動作を説明する。
駆動装置の駆動軸が回転すると、駆動軸とともに起振体１２が回転する。起振体１２が回転すると、減速用内歯歯車１８－Ａとの噛合位置を周方向に変えつつ、起振体１２の中間軸部１２ｂの形状に合うように外歯歯車１４が連続的に撓み変形させられる。起振体１２が回転すると、外歯歯車１４の第１外歯部１４ｂと減速用内歯歯車１８－Ａの第１内歯部１８ａの歯数差に応じた相対回転が外歯歯車１４と減速用内歯歯車１８－Ａに発生する。本実施形態では、外歯歯車１４がボルトＢ２を用いて外部部材に固定されている。よって、起振体１２の回転によって、外歯歯車１４に対して減速用内歯歯車１８－Ａが回転し、その回転が被駆動装置に出力される。このとき、起振体１２の回転は、外歯歯車１４と内歯歯車１８の歯数差に応じた減速比で減速されて出力される。この結果、起振体１２の回転が減速されて減速用内歯歯車１８－Ａから被駆動装置に出力される。 The operation of the above gear device 10 will be described.
When the drive shaft of the drive device rotates, the oscillator 12 rotates together with the drive shaft. When the exciter 12 rotates, the external gear 14 continuously moves to match the shape of the intermediate shaft portion 12b of the exciter 12 while changing the meshing position with the deceleration internal gear 18-A in the circumferential direction. It bends and deforms. When the exciter 12 rotates, the relative rotation according to the difference in the number of teeth between the first external tooth portion 14b of the external gear 14 and the first internal tooth portion 18a of the deceleration internal gear 18-A becomes the external gear 14. It occurs in the deceleration internal tooth gear 18-A. In the present embodiment, the external gear 14 is fixed to the external member by using the bolt B2. Therefore, due to the rotation of the exciter 12, the deceleration internal gear 18-A rotates with respect to the external gear 14, and the rotation is output to the driven device. At this time, the rotation of the exciter 12 is decelerated and output at a reduction ratio corresponding to the difference in the number of teeth between the external gear 14 and the internal gear 18. As a result, the rotation of the exciter 12 is decelerated and output from the deceleration internal gear 18-A to the driven device.

ここで、本実施形態の歯車装置１０でも、外歯歯車１４が歯車用樹脂により構成され、減速用内歯歯車１８－Ａが高熱伝導材料としての金属により構成される。なお、支持部材２０は、減速用内歯歯車１８－Ａと同じ単一の部材の一部を構成していることから、減速用内歯歯車１８－Ａと同様に歯車用樹脂により構成されることになる。 Here, also in the gear device 10 of the present embodiment, the external gear 14 is made of a gear resin, and the reduction internal gear 18-A is made of a metal as a high heat conductive material. Since the support member 20 constitutes a part of the same single member as the deceleration internal gear 18-A, it is made of the gear resin like the deceleration internal gear 18-A. It will be.

歯車用樹脂と高熱伝導材料の組み合わせは、この他の点では、第３実施形態と同様である。つまり、起振体１２、起振体軸受１６の第１外輪１６ｃ、入力側軸受ハウジング２２－Ａ、軸受２６の第３外輪２６ｃ及び第３内輪２６ｂは樹脂により構成される。起振体軸受１６の第１転動体１６ａ、主軸受２４の第２転動体２４ａ、軸受２６の第３転動体２６ａは、金属により構成される。ボルトＢ１は高熱伝導材料としての金属により構成される。 The combination of the gear resin and the high thermal conductive material is otherwise the same as that of the third embodiment. That is, the oscillating body 12, the first outer ring 16c of the oscillating body bearing 16, the input side bearing housing 22-A, the third outer ring 26c of the bearing 26, and the third inner ring 26b are made of resin. The first rolling element 16a of the oscillating body bearing 16, the second rolling element 24a of the main bearing 24, and the third rolling element 26a of the bearing 26 are made of metal. Bolt B1 is made of metal as a high thermal conductive material.

以上の歯車装置１０でも、外歯歯車１４と内歯歯車１８の一方の歯車が歯車用樹脂により構成され、他方の歯車が高熱伝導材料により構成される。よって、他の実施形態と同様、一方の歯車に歯車用樹脂を用いることで軽量化を図りつつ、歯車の発熱対策を図れる。 Also in the above gear device 10, one gear of the external gear 14 and the internal gear 18 is made of a gear resin, and the other gear is made of a high heat conductive material. Therefore, as in the other embodiments, by using a resin for gears for one of the gears, it is possible to reduce the weight and take measures against heat generation of the gears.

また、減速用内歯歯車１８－Ａの外周側に配置される支持部材２０は、通常、減速用内歯歯車１８－Ａより大体積になり易い。本実施形態では、この支持部材２０も外歯歯車１４とともに歯車用樹脂により構成しているため、支持部材２０を金属により構成するより、効果的に軽量化を図れる。 Further, the support member 20 arranged on the outer peripheral side of the deceleration internal gear 18-A usually tends to have a larger volume than the deceleration internal gear 18-A. In the present embodiment, since the support member 20 is also made of a gear resin together with the external gear 14, the weight can be effectively reduced as compared with the case where the support member 20 is made of metal.

本実施形態では、出力用内歯歯車１８－Ｂを用いずに、単数の減速用内歯歯車１８－Ａのみを用いて、起振体１２の回転を減速して出力している。よって、出力用内歯歯車１８－Ｂを用いる場合と比べ、内歯歯車１８と外歯歯車１４の噛合箇所を減らせる。これは、出力用内歯歯車１８－Ｂを用いる場合と比べ、歯車の発熱箇所を減らすことで、内歯歯車１８や外歯歯車１４が高温化し難い状況にできることを意味している。よって、外歯歯車１４や内歯歯車１８が熱劣化の影響を受け難くなり、その熱劣化の影響による内歯歯車１８や外歯歯車１４の寿命の低下を防止できる。 In the present embodiment, the rotation of the exciter 12 is decelerated and output by using only a single deceleration internal gear 18-A without using the output internal gear 18-B. Therefore, the number of meshing points between the internal gear 18 and the external gear 14 can be reduced as compared with the case where the output internal gear 18-B is used. This means that the internal tooth gear 18 and the external tooth gear 14 can be made difficult to become hot by reducing the heat generation points of the gear as compared with the case of using the output internal gear 18-B. Therefore, the external gear 14 and the internal gear 18 are less likely to be affected by the thermal deterioration, and the life of the internal gear 18 and the external gear 14 can be prevented from being shortened due to the influence of the thermal deterioration.

なお、本実施形態では、減速用内歯歯車１８－Ａが被駆動装置に連結され、外歯歯車１４と一体化された支持部材２０が外部部材に固定される例を説明した。この他にも、減速用内歯歯車１８－Ａが外部部材に固定され、外歯歯車１４と一体化された支持部材２０が被駆動装置に連結されてもよい。この場合、起振体１２が回転したとき、起振体１２の回転は、外歯歯車１４と減速用内歯歯車１８－Ａにより減速されたうえで、外歯歯車１４や支持部材２０を通して被駆動装置に出力される。 In this embodiment, an example has been described in which the reduction internal gear 18-A is connected to the driven device and the support member 20 integrated with the external gear 14 is fixed to the external member. In addition to this, the reduction internal gear 18-A may be fixed to the external member, and the support member 20 integrated with the external gear 14 may be connected to the driven device. In this case, when the exciter 12 rotates, the rotation of the exciter 12 is decelerated by the external gear 14 and the internal gear for reduction reduction 18-A, and then covered through the external gear 14 and the support member 20. It is output to the drive unit.

（第６の実施の形態）
図６は、第６実施形態の歯車装置１０を示す部分拡大図である。本実施形態の歯車装置１０は、第４実施形態の歯車装置１０と比べ、主に、外歯歯車１４の構造が相違している。 (Sixth Embodiment)
FIG. 6 is a partially enlarged view showing the gear device 10 of the sixth embodiment. The gear device 10 of the present embodiment is different from the gear device 10 of the fourth embodiment mainly in the structure of the external gear 14.

外歯歯車１４は、前述の実施形態と同様、基部１４ａと、第１内歯歯車１８と噛み合う第１外歯部１４ｂと、第２内歯歯車１８と噛み合う第２外歯部１４ｃとを有する。なお、本実施形態でも、第４実施形態と同様、外歯歯車１４は歯車用樹脂により構成され、起振体１２、起振体軸受１６の第１外輪１６ｃ、入力側軸受ハウジング２２－Ａは樹脂により構成される。また、減速用内歯歯車１８－Ａ、出力用内歯歯車１８－Ｂ、起振体軸受１６の第１転動体１６ａは高熱伝導材料としての金属により構成される。 The external tooth gear 14 has a base portion 14a, a first external tooth portion 14b that meshes with the first internal tooth gear 18, and a second external tooth portion 14c that meshes with the second internal tooth gear 18, as in the above-described embodiment. .. In this embodiment as well, as in the fourth embodiment, the external gear 14 is made of a resin for gears, and the exciter 12, the first outer ring 16c of the exciter bearing 16, and the input side bearing housing 22-A are It is composed of resin. Further, the reduction internal gear 18-A, the output internal gear 18-B, and the first rolling element 16a of the oscillating body bearing 16 are made of metal as a high thermal conductive material.

外歯歯車１４の第１外歯部１４ｂと第２外歯部１４ｃには、第１内歯歯車１８や第２内歯歯車１８との噛み合い時、互いに周方向の逆向きの力が付与される。この結果、第１外歯部１４ｂと第２外歯部１４ｃの歯面はねじれ易くなり、内歯歯車１８の内歯部１８ａ、１８ｃに歯面の一部のみが強く当たる片当たりが生じ易くなる。 When the first external tooth portion 14b and the second external tooth portion 14c of the external tooth gear 14 are meshed with the first internal tooth gear 18 and the second internal tooth gear 18, forces in opposite directions in the circumferential direction are applied to each other. Tooth. As a result, the tooth surfaces of the first external tooth portion 14b and the second external tooth portion 14c are likely to be twisted, and the internal tooth portions 18a and 18c of the internal tooth gear 18 are likely to be hit by one side where only a part of the tooth surface is strongly hit. Become.

この対策として、外歯歯車１４は、第１外歯部１４ｂと第２外歯部１４ｃの間に設けられる溝部１４ｇを有する。この溝部１４ｇは、第１外歯部１４ｂと第２外歯部１４ｃそれぞれの歯先から歯底までの径方向の範囲を含むように設けられ、第１外歯部１４ｂと第２外歯部１４ｃを軸方向Ｘに分離させている。これにより、第１外歯部１４ｂと第２外歯部１４ｃに互いに周方向の逆向きに力が付与された場合でも、その力の影響が相互に及び難くなり、片当たりの発生を抑制できる。 As a countermeasure, the external tooth gear 14 has a groove portion 14g provided between the first external tooth portion 14b and the second external tooth portion 14c. The groove portion 14g is provided so as to include a radial range from the tooth tip to the tooth bottom of each of the first external tooth portion 14b and the second external tooth portion 14c, and the first external tooth portion 14b and the second external tooth portion are provided. 14c is separated in the axial direction X. As a result, even when a force is applied to the first external tooth portion 14b and the second external tooth portion 14c in opposite directions in the circumferential direction, the influence of the force becomes difficult to reach each other, and the occurrence of one-sided contact can be suppressed. ..

ここで、本実施形態の外歯歯車１４は、溝部１４ｇの径方向内側にて、外歯歯車１４の内周側に設けられる凸部１４ｈを有する。凸部１４ｈは、基部１４ａから径方向内側に突出している。凸部１４ｈは、溝部１４ｇの軸方向Ｘの全長に亘る範囲で溝部１４ｇより径方向内側にあるように設けられる。つまり、凸部１４ｈは、径方向から見たとき、溝部１４ｇの全長に亘る範囲で溝部１４ｇと重なるように配置される。凸部１４ｈは、第１起振体軸受１６－Ａと第２起振体軸受１６－Ｂの間に配置される。 Here, the external gear 14 of the present embodiment has a convex portion 14h provided on the inner peripheral side of the external gear 14 on the radial inside of the groove portion 14g. The convex portion 14h projects radially inward from the base portion 14a. The convex portion 14h is provided so as to be radially inside the groove portion 14g in a range extending over the entire length of the groove portion 14g in the axial direction X. That is, the convex portion 14h is arranged so as to overlap the groove portion 14g within the range over the entire length of the groove portion 14g when viewed from the radial direction. The convex portion 14h is arranged between the first oscillating body bearing 16-A and the second oscillating body bearing 16-B.

これにより、外歯歯車１４の溝部１４ｇ周りの部位を凸部１４ｈにより補強でき、その溝部１４ｇ周りの部位のねじれに対する強度の向上を図れる。また、起振体軸受１６と内歯歯車１８の間での外歯歯車１４の周方向寸法の増大を招くことなく補強できる利点もある。この他にも、第１起振体軸受１６－Ａと第２起振体軸受１６－Ｂの間のスペースを利用して補強できる利点もある。また、外歯歯車１４は歯車用樹脂により構成され、金属と比べて強度を確保し難いが、凸部１４ｈにより強度を確保できる利点もある。 As a result, the portion of the external gear 14 around the groove portion 14g can be reinforced by the convex portion 14h, and the strength of the portion around the groove portion 14g against twisting can be improved. Further, there is an advantage that the external gear 14 can be reinforced without increasing the circumferential dimension between the oscillator bearing 16 and the internal gear 18. In addition to this, there is an advantage that the space between the first oscillating body bearing 16-A and the second oscillating body bearing 16-B can be used for reinforcement. Further, the external gear 14 is made of a resin for gears, and although it is difficult to secure the strength as compared with metal, there is an advantage that the strength can be secured by the convex portion 14h.

なお、本実施形態では、凸部１４ｈを有する外歯歯車１４が歯車用樹脂により構成される例を説明したが、凸部１４ｈを有する外歯歯車１４が高熱伝導材料、詳しくは、金属により構成されてもよい。 In the present embodiment, an example in which the external tooth gear 14 having the convex portion 14h is made of a resin for a gear has been described, but the external tooth gear 14 having the convex portion 14h is made of a high heat conductive material, more specifically, a metal. May be done.

以上、本発明の実施形態の例について詳細に説明した。前述した実施形態は、いずれも本発明を実施するにあたっての具体例を示したものにすぎない。実施形態の内容は、本発明の技術的範囲を限定するものではなく、請求の範囲に規定された発明の思想を逸脱しない範囲において、構成要素の変更、追加、削除等の多くの設計変更が可能である。前述の実施形態では、このような設計変更が可能な内容に関して、「実施形態の」「実施形態では」等との表記を付して説明しているが、そのような表記のない内容に設計変更が許容されないわけではない。また、図面の断面に付したハッチングは、ハッチングを付した対象の材質を限定するものではない。 The examples of the embodiments of the present invention have been described in detail above. All of the above-described embodiments are merely specific examples for carrying out the present invention. The contents of the embodiment do not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are made within the range not deviating from the idea of the invention defined in the claims. It is possible. In the above-described embodiment, the contents that can be changed in such a design are described with the notations such as "in the embodiment" and "in the embodiment", but the contents are designed without such notations. It's not that changes aren't tolerated. Further, the hatching attached to the cross section of the drawing does not limit the material of the object to which the hatching is attached.

歯車装置１０の構成要素は、外歯歯車１４と内歯歯車１８の一方が樹脂、他方が高熱伝導材料により構成されていれば、その他の構成要素の素材は特に限定されるものではない。たとえば、外歯歯車１４と内歯歯車１８以外の構成要素として、起振体１２、起振体軸受１６、主軸受２４、軸受ハウジング２２、軸受２６、ボルトＢ１、Ｂ３等があるが、これらは、外歯歯車１４と内歯歯車１８の素材にかかわりなく、樹脂及び高熱伝導材料の何れが用いられてもよい。 The components of the gear device 10 are not particularly limited as long as one of the external gear 14 and the internal gear 18 is made of resin and the other is made of a high heat conductive material. For example, components other than the external gear 14 and the internal gear 18 include a oscillating body 12, a oscillating body bearing 16, a main bearing 24, a bearing housing 22, a bearing 26, bolts B1 and B3, and the like. Regardless of the materials of the external gear 14 and the internal gear 18, either resin or high heat conductive material may be used.

撓み噛み合い式歯車装置の種類は、特に限定されず、筒型、シルクハット型の他に、いわゆるカップ型等でもよい。 The type of the flexible meshing type gear device is not particularly limited, and may be a so-called cup type or the like in addition to the tubular type and the top hat type.

減速用内歯歯車１８－Ａと支持部材２０は、単一の部材の一部を構成しており、互いに一体化される例を説明した。この他にも、これらを別々の部材として設け、これらを連結することで一体化してもよい。 An example has been described in which the reduction gears 18-A and the support member 20 form a part of a single member and are integrated with each other. In addition to this, these may be provided as separate members and integrated by connecting them.

当接部材は、軸受ハウジング２２を例に説明したが、外歯歯車１４に当接するものであればよく、その具体例は特に限定されない。 Although the bearing housing 22 has been described as an example of the abutting member, the abutting member may be any as long as it abuts on the external gear 14, and the specific example thereof is not particularly limited.

１０…歯車装置、１２…起振体、１４…外歯歯車、１４ａ…基部、１４ｂ…第１外歯部、１４ｃ…第２外歯部、１４ｇ…溝部、１４ｈ…凸部、１６…起振体軸受、１８…内歯歯車、１８－Ａ…減速用内歯歯車（第１内歯歯車）、１８－Ｂ…出力用内歯歯車（第２内歯歯車）、２０…支持部材、２２－Ａ…入力側軸受ハウジング（第１当接部材）、２２－Ｂ…反入力側軸受ハウジング（第２当接部材）。 10 ... Gear device, 12 ... Exciting body, 14 ... External gear, 14a ... Base, 14b ... First external tooth, 14c ... Second external tooth, 14g ... Groove, 14h ... Convex, 16 ... Excitation Body bearing, 18 ... Internal gear, 18-A ... Deceleration internal gear (first internal gear), 18-B ... Output internal gear (second internal gear), 20 ... Support member, 22- A ... Input side bearing housing (first contact member), 22-B ... Anti-input side bearing housing (second contact member).

Claims (7)

起振体と、
前記起振体により撓み変形する外歯歯車と、
前記外歯歯車と噛み合う内歯歯車と、を備えた撓み噛み合い式歯車装置であって、
前記外歯歯車及び前記内歯歯車の一方が樹脂により構成され、
前記外歯歯車及び前記内歯歯車の他方が前記樹脂よりも熱伝導率が高い高熱伝導材料により構成され、
前記樹脂により構成される部材と他の部材を連結するボルトを備え、
前記ボルトは、前記樹脂よりも熱伝導率が高い高熱伝導材料により構成され、
前記他の部材は、樹脂により構成される撓み噛み合い式歯車装置。 The oscillating body and
An external gear that bends and deforms due to the vibrating body,
A flexure meshing gear device including an internal gear that meshes with the external gear.
One of the external gear and the internal gear is made of resin.
The other of the external gear and the internal gear is made of a high thermal conductive material having a higher thermal conductivity than the resin.
A bolt for connecting a member made of the resin to another member is provided.
The bolt is made of a high thermal conductive material having a higher thermal conductivity than the resin.
The other member is a flexible meshing gear device made of resin. 前記内歯歯車は、前記樹脂により構成され、
前記外歯歯車は、前記高熱伝導材料により構成される請求項１に記載の撓み噛み合い式歯車装置。 The internal gear is made of the resin and is composed of the resin.
The flexure meshing gear device according to claim 1, wherein the external gear is made of the high thermal conductive material. 前記外歯歯車は、前記高熱伝導材料としての金属により構成される請求項１または２に記載の撓み噛み合い式歯車装置。 The flexure meshing gear device according to claim 1 or 2 , wherein the external gear is made of a metal as the high thermal conductive material. 前記他の部材は、前記起振体を入力軸受を介して支持する軸受ハウジングである請求項１から３のいずれかに記載の撓み噛み合い式歯車装置。 The flexible meshing gear device according to any one of claims 1 to 3 , wherein the other member is a bearing housing that supports the oscillating body via an input bearing. 前記樹脂により構成される前記外歯歯車及び前記内歯歯車の一方は、前記ボルトがねじ込まれるボルト穴を有する請求項１から４のいずれかに記載の撓み噛み合い式歯車装置。 The flexure meshing gear device according to any one of claims 1 to 4 , wherein one of the external gear and the internal gear made of the resin has a bolt hole into which the bolt is screwed. 前記内歯歯車には、第１内歯歯車と、第２内歯歯車とが含まれ、前記第１内歯歯車及び前記第２内歯歯車は、前記樹脂により構成され、
前記他の部材には、前記起振体を第１入力軸受を介して支持する第１軸受ハウジングと、前記起振体を第２入力軸受を介して支持する第２軸受ハウジングとが含まれ、
前記ボルトには、前記第１内歯歯車と前記第１軸受ハウジングを連結する第１ボルトと、前記第２内歯歯車と前記第２軸受ハウジングを連結する第２ボルトとが含まれる請求項１から５のいずれかに記載の撓み噛み合い式歯車装置。 The internal gear includes a first internal gear and a second internal gear, and the first internal gear and the second internal gear are made of the resin.
The other member includes a first bearing housing that supports the exciter via a first input bearing, and a second bearing housing that supports the exciter via a second input bearing.
The bolt includes a first bolt connecting the first internal gear and the first bearing housing, and a second bolt connecting the second internal gear and the second bearing housing. The flexure meshing type gear device according to any one of 5 to 5 . 外部部材に連結するボルトを挿通する挿通孔を有する連結部を備え、
前記連結部は、前記内歯歯車と単一の素材により一体的に構成されている請求項１から６のいずれかに記載の撓み噛み合い式歯車装置。 A connecting portion having an insertion hole for inserting a bolt to be connected to an external member is provided.
The flexure meshing gear device according to any one of claims 1 to 6 , wherein the connecting portion is integrally formed of the internal gear and a single material.
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