JP7349937B2 - Flexible mesh gear system - Google Patents

Flexible mesh gear system Download PDF

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JP7349937B2
JP7349937B2 JP2020036325A JP2020036325A JP7349937B2 JP 7349937 B2 JP7349937 B2 JP 7349937B2 JP 2020036325 A JP2020036325 A JP 2020036325A JP 2020036325 A JP2020036325 A JP 2020036325A JP 7349937 B2 JP7349937 B2 JP 7349937B2
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shim
bearing
outer ring
spacer
axial
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JP2021139417A (en
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正幸 石塚
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Sumitomo Heavy Industries Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/7816—Details of the sealing or parts thereof, e.g. geometry, material
    • F16C33/782—Details of the sealing or parts thereof, e.g. geometry, material of the sealing region
    • F16C33/7823—Details of the sealing or parts thereof, e.g. geometry, material of the sealing region of sealing lips
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/7886—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members mounted outside the gap between the inner and outer races, e.g. sealing rings mounted to an end face or outer surface of a race
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0469—Bearings or seals
    • F16H57/0471—Bearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Description

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

従来、撓み変形する外歯歯車を備えた撓み噛合い式歯車装置が知られている（例えば、特許文献１参照）。外歯歯車は、起振体軸受を介して起振体軸が内嵌され、起振体軸が内側で回転することで撓み変形する。起振体軸は、外歯歯車の軸方向両側に配置された軸受を介して軸受ハウジングに支持される。 BACKGROUND ART Conventionally, a flexible mesh gear device including an external gear that is flexibly deformed has been known (see, for example, Patent Document 1). In the external gear, a vibration generator shaft is fitted inside via a vibration generator bearing, and the vibration generator shaft rotates inside, thereby being deflected and deformed. The vibrator shaft is supported by the bearing housing via bearings arranged on both sides of the external gear in the axial direction.

このような撓み噛合い式歯車装置においては、外歯歯車を回転自在とするための軸方向隙間（遊び）を確保するために、軸受間の軸方向距離を調整する必要がある。そこで、軸受と軸受ハウジングの間に調整用のシムを挟む場合があった。 In such a flexible mesh gear device, it is necessary to adjust the axial distance between the bearings in order to ensure an axial clearance (play) for making the external gear rotatable. Therefore, an adjustment shim is sometimes inserted between the bearing and the bearing housing.

特許第５３３７００８号公報Patent No. 5337008

しかしながら、単純に軸受と軸受ハウジングの間にシムを配置した場合、軸受からのアキシャル荷重等によりシムが変形（摩耗、損傷、破断を含む）するおそれがある。
本発明は、上記事情に鑑みてなされたもので、シムの変形を抑制することを目的とする。 However, if the shim is simply placed between the bearing and the bearing housing, there is a risk that the shim will be deformed (including wear, damage, and breakage) due to the axial load from the bearing.
The present invention was made in view of the above circumstances, and an object of the present invention is to suppress deformation of the shim.

本発明は、起振体を有する起振体軸と、前記起振体により撓み変形する外歯歯車と、前記外歯歯車と噛合う内歯歯車と、を備えた撓み噛合い式歯車装置であって、
前記起振体軸を支持する軸受と、前記軸受の外輪を支持する支持部材と、前記支持部材と前記外輪との間に配置されるスペーサ及びシムと、を有し、
前記支持部材は、前記外輪の外周と対向する外輪配置面と、前記外輪の軸方向端面と対向する軸方向規制面と、を有し、
前記スペーサは、前記シムよりも前記軸方向規制面側に配置され、前記シムよりも軸方向幅が大きく、軸方向から見て前記シムと重なる面積が前記軸方向規制面よりも大きい構成とした。 The present invention provides a flexible mesh gear device comprising a vibration generating body shaft having a vibration generating body, an external gear that is flexibly deformed by the vibration generating body, and an internal gear that meshes with the external gear. There it is,
A bearing that supports the vibrating body shaft, a support member that supports an outer ring of the bearing, and a spacer and a shim that are arranged between the support member and the outer ring,
The support member has an outer ring arrangement surface that faces the outer periphery of the outer ring, and an axial regulation surface that faces the axial end face of the outer ring,
The spacer is arranged closer to the axial restriction surface than the shim, has a larger axial width than the shim, and has a larger area overlapping the shim than the axial restriction surface when viewed from the axial direction. .

本発明によれば、シムの変形を抑制することができる。 According to the present invention, deformation of the shim can be suppressed.

本実施形態に係る撓み噛合い式歯車装置を示す断面図である。FIG. 1 is a sectional view showing a flexible mesh gear device according to the present embodiment. 図１のＡ部の拡大図である。FIG. 2 is an enlarged view of section A in FIG. 1. FIG. シム及びスペーサを入力側軸受に配置した変形例を示す図である。FIG. 7 is a diagram showing a modification in which a shim and a spacer are arranged on the input side bearing.

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

［撓み噛合い式歯車装置の構成］
図１は、本発明に係る撓み噛合い式歯車装置１を示す断面図である。
この図に示すように、撓み噛合い式歯車装置１は、筒型の撓み噛合い式歯車装置であり、起振体軸１０、外歯歯車１１、第１内歯歯車３１Ｇ及び第２内歯歯車３２Ｇ、起振体軸受１２、ケーシング３３、第１軸受ハウジング３４、第２軸受ハウジング３５を備える。 [Configuration of flexible mesh gear device]
FIG. 1 is a sectional view showing a flexible mesh gear device 1 according to the present invention.
As shown in this figure, the flexible mesh gear device 1 is a cylindrical flexible mesh gear device, which includes a vibrator shaft 10, an external gear 11, a first internal gear 31G, and a second internal gear. It includes a gear 32G, a vibrator bearing 12, a casing 33, a first bearing housing 34, and a second bearing housing 35.

起振体軸１０は、回転軸Ｏ１を中心に回転する中空筒状の軸であり、回転軸Ｏ１に垂直な断面の外形が非円形（例えば楕円状）の起振体１０Ａと、起振体１０Ａの軸方向の両側に設けられた軸部１０Ｂ、１０Ｃとを有する。楕円状は、幾何学的に厳密な楕円に限定されるものではなく、略楕円を含む。軸部１０Ｂ、１０Ｃは、回転軸Ｏ１に垂直な断面の外形が円形の軸である。
なお、以下の説明では、回転軸Ｏ１に沿った方向を「軸方向」、回転軸Ｏ１に垂直な方向を「径方向」、回転軸Ｏ１を中心とする回転方向を「周方向」という。また、軸方向のうち、外部の被駆動部材と連結されて減速された運動を当該被駆動部材に出力する側（図中の左側）を「出力側」といい、出力側とは反対側であって回転運動が入力される側（図中の右側）を「入力側」という。 The vibration generator shaft 10 is a hollow cylindrical shaft that rotates around the rotation axis O1, and includes a vibration generator 10A whose cross section perpendicular to the rotation axis O1 has a non-circular (for example, elliptical) outer shape; It has shaft portions 10B and 10C provided on both sides of the shaft 10A in the axial direction. The elliptical shape is not limited to a geometrically strict ellipse, but includes a substantially ellipse. The shaft portions 10B and 10C are shafts having a circular outer shape in a cross section perpendicular to the rotation axis O1.
In the following description, the direction along the rotation axis O1 will be referred to as the "axial direction," the direction perpendicular to the rotation axis O1 will be referred to as the "radial direction," and the rotation direction around the rotation axis O1 will be referred to as the "circumferential direction." In addition, in the axial direction, the side that is connected to an external driven member and outputs decelerated motion to the driven member (the left side in the diagram) is called the "output side", and the side opposite to the output side The side on which rotational motion is input (the right side in the figure) is called the "input side."

外歯歯車１１は、可撓性を有するとともに回転軸Ｏ１を中心とする円筒状の部材であり、外周に歯が設けられている。 The external gear 11 is a flexible cylindrical member centered on the rotation axis O1, and has teeth on its outer periphery.

第１内歯歯車３１Ｇと第２内歯歯車３２Ｇは、回転軸Ｏ１を中心として起振体軸１０の周囲で回転を行う。これら第１内歯歯車３１Ｇと第２内歯歯車３２Ｇは、軸方向に並んで設けられ、外歯歯車１１と噛合している。具体的には、第１内歯歯車３１Ｇ及び第２内歯歯車３２Ｇの一方が、外歯歯車１１の軸方向の中央より片側の歯部に噛合し、他方が、外歯歯車１１の軸方向の中央よりもう一方の片側の歯部に噛合する。
このうち、第１内歯歯車３１Ｇは、第１内歯歯車部材３１の内周部の該当箇所に内歯が設けられて構成される。一方、第２内歯歯車３２Ｇは、第２内歯歯車部材３２の内周部の該当箇所に内歯が設けられて構成される。 The first internal gear 31G and the second internal gear 32G rotate around the vibrator shaft 10 with the rotation axis O1 as the center. The first internal gear 31G and the second internal gear 32G are arranged side by side in the axial direction and mesh with the external gear 11. Specifically, one of the first internal gear 31G and the second internal gear 32G meshes with the teeth on one side of the external gear 11 from the center in the axial direction, and the other engages with the teeth on one side of the external gear 11 in the axial direction. meshes with the teeth on one side of the other side.
Among these, the first internal gear 31G is configured such that internal teeth are provided at corresponding locations on the inner peripheral portion of the first internal gear member 31. On the other hand, the second internal gear 32G is configured such that internal teeth are provided at corresponding locations on the inner circumference of the second internal gear member 32.

起振体軸受１２は、例えばコロ軸受であり、起振体１０Ａと外歯歯車１１との間に配置される。起振体１０Ａと外歯歯車１１とは、起振体軸受１２を介して相対回転可能となっている。
起振体軸受１２は、外歯歯車１１の内側に嵌入される外輪１２ａと、複数の転動体（コロ）１２ｂと、複数の転動体１２ｂを保持する保持器１２ｃとを有する。
複数の転動体１２ｂは、第１内歯歯車３１Ｇの径方向内方に配置され、周方向に並ぶ第１群の転動体１２ｂと、第２内歯歯車３２Ｇの径方向内方に配置され、周方向に並ぶ第２群の転動体１２ｂとを有する。これらの転動体１２ｂは、起振体１０Ａの外周面と外輪１２ａの内周面とを転走面として転動する。外輪１２ａは、複数の転動体１２ｂの配列に対応して同形状のものが軸方向に二つ並んで設けられている。なお、起振体軸受１２は、起振体１０Ａとは別体の内輪を有してもよい。 The vibration generator bearing 12 is, for example, a roller bearing, and is arranged between the vibration generator 10A and the external gear 11. The vibration generator 10A and the external gear 11 can rotate relative to each other via the vibration generator bearing 12.
The vibrator bearing 12 includes an outer ring 12a fitted inside the external gear 11, a plurality of rolling elements (rollers) 12b, and a retainer 12c that holds the plurality of rolling elements 12b.
The plurality of rolling elements 12b are arranged radially inward of the first internal gear 31G, and arranged radially inward of the first group of rolling elements 12b arranged in the circumferential direction and the second internal gear 32G, It has a second group of rolling elements 12b arranged in the circumferential direction. These rolling elements 12b roll on the outer circumferential surface of the vibrator 10A and the inner circumferential surface of the outer ring 12a as rolling surfaces. Two outer rings 12a having the same shape are provided side by side in the axial direction in correspondence with the arrangement of the plurality of rolling elements 12b. Note that the vibrating body bearing 12 may have an inner ring that is separate from the vibrating body 10A.

起振体軸受１２及び外歯歯車１１の軸方向の両側には、これらに当接して、これらの軸方向の移動を規制する規制部材としてのスペーサリング４１、４２が設けられている。 Spacer rings 41 and 42 are provided on both sides of the vibrating body bearing 12 and the external gear 11 in the axial direction, as regulating members that abut thereon and regulate their movement in the axial direction.

ケーシング３３は、ボルト５１により第１内歯歯車部材３１と連結され、第２内歯歯車３２Ｇの外径側を覆う。ケーシング３３は、内周部に形成された主軸受３８（例えばクロスローラ軸受）の外輪部を有しており、当該主軸受３８を介して第２内歯歯車部材３２を回転自在に支持している。撓み噛合い式歯車装置１が外部の相手装置と接続される際、ケーシング３３と第１内歯歯車部材３１は相手装置（被駆動部材とは異なる固定部材）に共締めにより連結される。 The casing 33 is connected to the first internal gear member 31 by a bolt 51, and covers the outer diameter side of the second internal gear 32G. The casing 33 has an outer ring portion of a main bearing 38 (for example, a cross roller bearing) formed on its inner circumference, and rotatably supports the second internal gear member 32 via the main bearing 38. There is. When the flexible mesh gear device 1 is connected to an external mating device, the casing 33 and the first internal gear member 31 are connected to the mating device (a fixed member different from the driven member) by fastening together.

第１軸受ハウジング３４は、ボルト５２により第１内歯歯車部材３１と連結され、外歯歯車１１と第１内歯歯車３１Ｇとの噛合い箇所を軸方向の入力側から覆う。第１軸受ハウジング３４は、起振体軸１０の軸部１０Ｂとの間に配置された入力側軸受３６（例えば玉軸受）の外輪３６ａを支持している。つまり、第１軸受ハウジング３４は、入力側軸受３６を介して起振体軸１０を回転自在に支持している。入力側軸受３６の外輪３６ａは、第１軸受ハウジング３４（の後述の外輪配置面３４ａ）に締まり嵌めにより嵌合されている。
また、第１軸受ハウジング３４は、特に限定はされないが、軽量化等の目的で、アルミニウムや樹脂等で構成されている。これらの素材は、鉄鋼系素材からなる入力側軸受３６の外輪３６ａよりも線膨張係数が大きい。 The first bearing housing 34 is connected to the first internal gear member 31 by a bolt 52, and covers the meshing portion between the external gear 11 and the first internal gear 31G from the input side in the axial direction. The first bearing housing 34 supports an outer ring 36a of an input side bearing 36 (for example, a ball bearing) disposed between the first bearing housing 34 and the shaft portion 10B of the vibrator shaft 10. That is, the first bearing housing 34 rotatably supports the vibrator shaft 10 via the input side bearing 36. The outer ring 36a of the input-side bearing 36 is fitted into the first bearing housing 34 (outer ring arrangement surface 34a, which will be described later) by tight fit.
Further, the first bearing housing 34 is made of aluminum, resin, or the like for the purpose of weight reduction, although not particularly limited thereto. These materials have a larger coefficient of linear expansion than the outer ring 36a of the input side bearing 36 made of a steel-based material.

第２軸受ハウジング３５は、ボルト５３により第２内歯歯車部材３２と連結され、外歯歯車１１と第２内歯歯車３２Ｇとの噛合い箇所を軸方向の出力側から覆う。第２軸受ハウジング３５は、起振体軸１０の軸部１０Ｃとの間に配置された出力側軸受３７（例えば玉軸受）の外輪３７ａを支持している。つまり、第２軸受ハウジング３５は、出力側軸受３７を介して起振体軸１０を回転自在に支持している。出力側軸受３７の外輪３７ａは、第２軸受ハウジング３５（の後述の外輪配置面３５ａ）に締まり嵌めにより嵌合されている。撓み噛合い式歯車装置１が外部の相手装置と接続される際、第２軸受ハウジング３５と第２内歯歯車部材３２は、相手装置の被駆動部材に共締めにより連結され、減速された回転を当該被駆動部材に出力する。
また。第２軸受ハウジング３５は、特に限定はされないが、軽量化等の目的で、アルミニウムや樹脂等で構成されている。これらの素材は、鉄鋼系素材からなる出力側軸受３７の外輪３７ａよりも線膨張係数が大きい。 The second bearing housing 35 is connected to the second internal gear member 32 by a bolt 53, and covers the meshing portion between the external gear 11 and the second internal gear 32G from the output side in the axial direction. The second bearing housing 35 supports an outer ring 37a of an output side bearing 37 (for example, a ball bearing) disposed between the second bearing housing 35 and the shaft portion 10C of the vibrator shaft 10. That is, the second bearing housing 35 rotatably supports the vibrator shaft 10 via the output side bearing 37. The outer ring 37a of the output side bearing 37 is fitted into the second bearing housing 35 (outer ring arrangement surface 35a, which will be described later) by tight fit. When the flexible mesh gear device 1 is connected to an external mating device, the second bearing housing 35 and the second internal gear member 32 are connected to the driven member of the mating device by co-tightening, and the rotation is reduced. is output to the driven member.
Also. Although not particularly limited, the second bearing housing 35 is made of aluminum, resin, or the like for the purpose of weight reduction. These materials have a larger coefficient of linear expansion than the outer ring 37a of the output side bearing 37 made of a steel-based material.

さらに、撓み噛合い式歯車装置１は、シール用のオイルシール４３，４４，４５及びＯリング４６，４７，４８を備える。
オイルシール４３は、軸方向の入力側の端部で、起振体軸１０の軸部１０Ｂと第１軸受ハウジング３４との間に配置され、入力側への潤滑剤の流出を抑制する。オイルシール４４は、軸方向の出力側の端部で、起振体軸１０の軸部１０Ｃと第２軸受ハウジング３５との間に配置され、出力側への潤滑剤の流出を抑制する。オイルシール４５は、ケーシング３３と第２内歯歯車部材３２との間に配置され、この部分からの潤滑剤の流出を抑制する。
Ｏリング４６，４７，４８は、第１内歯歯車部材３１と第１軸受ハウジング３４との間、第１内歯歯車部材３１とケーシング３３との間、第２内歯歯車部材３２と第２軸受ハウジング３５との間にそれぞれ設けられ、これらの間で潤滑剤が移動することを抑制する。 Further, the flexible mesh gear device 1 includes oil seals 43, 44, 45 and O-rings 46, 47, 48 for sealing.
The oil seal 43 is disposed at the end on the input side in the axial direction between the shaft portion 10B of the vibrator shaft 10 and the first bearing housing 34, and prevents lubricant from flowing out to the input side. The oil seal 44 is disposed at the end on the output side in the axial direction between the shaft portion 10C of the vibrator shaft 10 and the second bearing housing 35, and suppresses outflow of lubricant to the output side. The oil seal 45 is disposed between the casing 33 and the second internal gear member 32, and prevents lubricant from flowing out from this portion.
The O-rings 46, 47, and 48 are provided between the first internal gear member 31 and the first bearing housing 34, between the first internal gear member 31 and the casing 33, and between the second internal gear member 32 and the second The lubricant is provided between the bearing housing 35 and the bearing housing 35 to suppress movement of lubricant therebetween.

［調整シム］
図２は、図１のＡ部の拡大図である。
この図に示すように、第２軸受ハウジング３５の内周部であって当該第２軸受ハウジング３５と出力側軸受３７の間には、入力側軸受３６と出力側軸受３７の間の軸方向距離を調整するためのシム６１及びスペーサ６２が配置されている。
具体的には、第２軸受ハウジング３５の内周部は、出力側軸受３７の外輪３７ａの外周と対向する外輪配置面３５ａと、外輪配置面３５ａよりも出力側かつ小径であってオイルシール４４の外周と対向するシール配置面３５ｂと、外輪配置面３５ａ及びシール配置面３５ｂの間を連結する段付き面３５ｃとを有している。
段付き面３５ｃは、軸方向に垂直な円環状の平面であり、外輪３７ａの出力側の軸方向端面と対向して、当該外輪３７ａ（出力側軸受３７）の軸方向の移動を規制する軸方向規制面となっている。
また、外輪配置面３５ａのうち出力側の端部（段付き面３５ｃとの連結部）には、ヌスミ（凹部）３５ｄが形成されている。なお、ヌスミ３５ｄに代えて、段付き面３５ｃにまで及ぶ逃げ加工やＲ加工等を施してもよい。ただし、ヌスミ３５ｄの方が、段付き面３５ｃの面積（スペーサ６２との接触面積）を大きく確保しやすい点で、より好ましい。 [Adjustment shim]
FIG. 2 is an enlarged view of section A in FIG.
As shown in this figure, in the inner peripheral part of the second bearing housing 35 and between the second bearing housing 35 and the output side bearing 37, there is a distance in the axial direction between the input side bearing 36 and the output side bearing 37. A shim 61 and a spacer 62 are disposed for adjusting.
Specifically, the inner peripheral part of the second bearing housing 35 has an outer ring arrangement surface 35a facing the outer periphery of the outer ring 37a of the output side bearing 37, and an oil seal 44 that is on the output side and has a smaller diameter than the outer ring arrangement surface 35a. It has a seal arrangement surface 35b facing the outer periphery of the outer ring arrangement surface 35b, and a stepped surface 35c that connects the outer ring arrangement surface 35a and the seal arrangement surface 35b.
The stepped surface 35c is an annular plane perpendicular to the axial direction, and is a shaft that opposes the output side axial end surface of the outer ring 37a and restricts the axial movement of the outer ring 37a (output side bearing 37). It is a direction regulating surface.
Furthermore, a recess (recess) 35d is formed at the output side end (connection to the stepped surface 35c) of the outer ring arrangement surface 35a. Note that in place of the threaded surface 35d, relief machining or R machining that extends to the stepped surface 35c may be performed. However, the padded surface 35d is more preferable in that it is easy to ensure a large area of the stepped surface 35c (contact area with the spacer 62).

シム６１及びスペーサ６２は、第２軸受ハウジング３５の段付き面３５ｃと、出力側軸受３７の外輪３７ａとの間に、軸方向に重ねて配置される。
このうち、シム６１は、例えばステンレス鋼（ＳＵＳ材）や炭素工具鋼（ＳＫ材）などで構成され、薄い円環板状に形成されている。シム６１は、スペーサ６２と略同一の外径と、スペーサ６２よりも小さい内径とを有しており、スペーサ６２の略全面と接触している。
一方、スペーサ６２は、例えばシム６１と同様にステンレス鋼や炭素工具鋼などで構成されて円環板状に形成され、シム６１よりも段付き面３５ｃ側（出力側）に配置されて当該段付き面３５ｃと当接する。スペーサ６２は、外輪配置面３５ａよりもやや小さい外径と、シール配置面３５ｂよりも小さい内径とを有しており、段付き面３５ｃの略全面と接触している。また、スペーサ６２は、外周側のヌスミ３５ｄ内に脱落することのないよう、ヌスミ３５ｄよりも大きい所定の軸方向幅（厚さ）に形成されている。 The shim 61 and the spacer 62 are arranged between the stepped surface 35c of the second bearing housing 35 and the outer ring 37a of the output side bearing 37 so as to overlap in the axial direction.
Of these, the shim 61 is made of, for example, stainless steel (SUS material) or carbon tool steel (SK material), and is formed into a thin annular plate shape. The shim 61 has an outer diameter that is substantially the same as that of the spacer 62 and an inner diameter that is smaller than that of the spacer 62, and is in contact with substantially the entire surface of the spacer 62.
On the other hand, the spacer 62 is made of, for example, stainless steel or carbon tool steel, like the shim 61, and is formed into an annular plate shape, and is arranged on the stepped surface 35c side (output side) than the shim 61. It comes into contact with the attached surface 35c. The spacer 62 has an outer diameter slightly smaller than the outer ring arrangement surface 35a and an inner diameter smaller than the seal arrangement surface 35b, and is in contact with substantially the entire surface of the stepped surface 35c. Furthermore, the spacer 62 is formed to have a predetermined axial width (thickness) larger than the diaphragm 35d so that it does not fall into the diaphragm 35d on the outer circumferential side.

なお、スペーサ６２の軸方向幅は、少なくともシム６１の軸方向幅よりも大きければよい。つまり、スペーサ６２はシム６１よりも変形しにくいものであればよい。
また、スペーサ６２の径方向の形状・大きさは、軸方向から見てシム６１と重なる面積が段付き面３５ｃよりも大きくなるものであればよい。すなわち、軸方向から見てスペーサ６２とシム６１との重なる面積が、軸方向から見て段付き面３５ｃとシム６１との重なる面積よりも大きければよい。これにより、シム６１がスペーサ６２を介さずに段付き面３５ｃと直接接触する場合に比べ、シム６１の接触面積を増やしてシム６１の面圧を低減できる。さらに、スペーサ６２は、このような形状であれば円環状に限定されない。 Note that the axial width of the spacer 62 should be at least larger than the axial width of the shim 61. In other words, the spacer 62 only needs to be less deformable than the shim 61.
Further, the shape and size of the spacer 62 in the radial direction may be such that the area overlapping with the shim 61 is larger than the stepped surface 35c when viewed from the axial direction. That is, the overlapping area between the spacer 62 and the shim 61 when viewed from the axial direction is only required to be larger than the overlapping area between the stepped surface 35c and the shim 61 when viewed from the axial direction. Thereby, the contact area of the shim 61 can be increased and the surface pressure of the shim 61 can be reduced compared to the case where the shim 61 directly contacts the stepped surface 35c without using the spacer 62. Furthermore, the spacer 62 is not limited to an annular shape as long as it has such a shape.

シム６１は、上述したように、入力側軸受３６と出力側軸受３７の間の軸方向距離を調整する。より詳しくは、シム６１は、起振体軸１０を支持するハウジング側における入力側軸受３６と出力側軸受３７との間の軸受間距離Ｌ１を調整する（図１参照）。ハウジング側の軸受間距離Ｌ１は、入力側軸受３６の外輪３６ａと軸方向に当接して入力側軸受３６の入力側の軸方向位置を規定する第１軸受ハウジング３４の段付き面３４ｓから、出力側軸受３７の出力側の軸方向位置を規定するスペーサ６２の入力側の端面までの距離である。
実際のシム６１の厚さは、組立時において、軸受間距離Ｌ１が所定の長さとなるように、各部の軸方向寸法を実際に計測して決定される。
これにより、入力側軸受３６と出力側軸受３７の間の軸受間距離Ｌ１を適切な値に調整できる。ひいては、外歯歯車１１を回転自在とするための軸方向隙間（遊び）を適切に確保できるとともに、起振体軸１０の軸方向の移動を好適に抑制できる。 As described above, the shim 61 adjusts the axial distance between the input side bearing 36 and the output side bearing 37. More specifically, the shim 61 adjusts the inter-bearing distance L1 between the input-side bearing 36 and the output-side bearing 37 on the housing side that supports the vibration generator shaft 10 (see FIG. 1). The distance L1 between the bearings on the housing side is defined as the distance from the stepped surface 34s of the first bearing housing 34 that axially contacts the outer ring 36a of the input side bearing 36 to define the axial position of the input side of the input side bearing 36, to the output side. This is the distance to the input side end face of the spacer 62 that defines the axial position of the output side of the side bearing 37.
The actual thickness of the shim 61 is determined by actually measuring the axial dimensions of each part during assembly so that the distance L1 between the bearings is a predetermined length.
Thereby, the inter-bearing distance L1 between the input side bearing 36 and the output side bearing 37 can be adjusted to an appropriate value. As a result, it is possible to appropriately secure an axial clearance (play) for making the external gear 11 freely rotatable, and it is also possible to suitably suppress movement of the vibrator shaft 10 in the axial direction.

［撓み噛合い式歯車装置の減速動作］
続いて、撓み噛合い式歯車装置１の減速動作について説明する。
モータ等の駆動源により起振体軸１０の回転駆動が行われると、起振体１０Ａの運動が外歯歯車１１に伝わる。このとき、外歯歯車１１は、起振体１０Ａ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１１は、固定された第１内歯歯車３１Ｇと長軸部分で噛合っている。このため、外歯歯車１１は起振体１０Ａと同じ回転速度で回転することはなく、外歯歯車１１の内側で起振体１０Ａ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１１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、起振体軸１０の回転周期に比例する。 [Deceleration operation of flexible mesh gear device]
Next, the deceleration operation of the flexible mesh gear device 1 will be explained.
When the vibration generator shaft 10 is rotationally driven by a drive source such as a motor, the motion of the vibration generator 10A is transmitted to the external gear 11. At this time, the external gear 11 is restricted to a shape along the outer circumferential surface of the vibrating body 10A, and is bent into an elliptical shape having a long axis portion and a short axis portion when viewed from the axial direction. Further, the external gear 11 meshes with the fixed first internal gear 31G at its long axis portion. Therefore, the external gear 11 does not rotate at the same rotational speed as the vibration generator 10A, and the vibration generator 10A rotates relatively inside the external gear 11. As a result of this relative rotation, the external gear 11 is flexibly deformed such that the major axis position and the minor axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the vibrator shaft 10.

外歯歯車１１が撓み変形する際、その長軸位置が移動することで、外歯歯車１１と第１内歯歯車３１Ｇとの噛合う位置が回転方向に変化する。ここで、例えば、外歯歯車１１の歯数が１００で、第１内歯歯車３１Ｇの歯数が１０２だとすると、噛合う位置が一周するごとに、外歯歯車１１と第１内歯歯車３１Ｇとの噛合う歯がずれていき、これにより外歯歯車１１が回転（自転）する。上記の歯数であれば、起振体軸１０の回転運動は減速比１００：２で減速されて外歯歯車１１に伝達される。 When the external gear 11 bends and deforms, the position of its long axis moves, so that the meshing position between the external gear 11 and the first internal gear 31G changes in the rotational direction. Here, for example, if the number of teeth of the external gear 11 is 100 and the number of teeth of the first internal gear 31G is 102, the external gear 11 and the first internal gear 31G change each time the meshing position goes around. The meshing teeth of the external gear 11 shift from each other, causing the external gear 11 to rotate (rotate). With the above number of teeth, the rotational motion of the vibrator shaft 10 is transmitted to the external gear 11 at a speed reduction ratio of 100:2.

一方、外歯歯車１１は第２内歯歯車３２Ｇとも噛合っているため、起振体軸１０の回転によって外歯歯車１１と第２内歯歯車３２Ｇとの噛合う位置も回転方向に変化する。ここで、第２内歯歯車３２Ｇの歯数と外歯歯車１１の歯数とが同数であるとすると、外歯歯車１１と第２内歯歯車３２Ｇとは相対的に回転せず、外歯歯車１１の回転運動が減速比１：１で第２内歯歯車３２Ｇへ伝達される。これらによって、起振体軸１０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３２及び第２軸受ハウジング３５へ伝達され、この回転運動が被駆動部材に出力される。 On the other hand, since the external gear 11 also meshes with the second internal gear 32G, the rotation of the vibration generator shaft 10 also changes the meshing position between the external gear 11 and the second internal gear 32G in the rotational direction. . Here, if the number of teeth of the second internal gear 32G and the number of teeth of the external gear 11 are the same, the external gear 11 and the second internal gear 32G do not rotate relatively, and the external gear The rotational motion of the gear 11 is transmitted to the second internal gear 32G at a reduction ratio of 1:1. As a result, the rotational motion of the vibrator shaft 10 is reduced by a reduction ratio of 100:2 and transmitted to the second internal gear member 32 and the second bearing housing 35, and this rotational motion is output to the driven member. .

ここで、撓み噛合い式歯車装置１では、入力側軸受３６と出力側軸受３７との間の軸受間距離Ｌ１を調整するシム６１が、第２軸受ハウジング３５の段付き面３５ｃとの間にスペーサ６２を介在させている。そして、このスペーサ６２は、シム６１よりも厚く、かつ、軸方向から見てシム６１と重なる面積が段付き面３５ｃよりも大きい。
これにより、シム６１を段付き面３５ｃに直接接触させる場合に比べ、シム６１よりも変形しにくいスペーサ６２を用いてシム６１の面圧を低減できる。したがって、シム６１にアキシャル荷重（例えば、主軸受３８のミスアライメントや外歯歯車１１のトルクによる捩れ変形などに起因する誘起アキシャル荷重）が作用した場合であっても、シム６１の変形（摩耗、損傷、破断を含む）を抑制し、シム６１での調整による適切な軸受間距離Ｌ１を好適に維持できる。 Here, in the flexible mesh gear device 1, the shim 61 that adjusts the inter-bearing distance L1 between the input side bearing 36 and the output side bearing 37 is located between the stepped surface 35c of the second bearing housing 35 and A spacer 62 is interposed. The spacer 62 is thicker than the shim 61, and the area overlapping the shim 61 when viewed from the axial direction is larger than the stepped surface 35c.
Thereby, compared to the case where the shim 61 is brought into direct contact with the stepped surface 35c, the surface pressure of the shim 61 can be reduced by using the spacer 62 which is less deformable than the shim 61. Therefore, even if an axial load (for example, an induced axial load caused by misalignment of the main bearing 38 or torsional deformation due to the torque of the external gear 11) is applied to the shim 61, the shim 61 will deform (wear, (including damage and breakage), and an appropriate inter-bearing distance L1 can be suitably maintained by adjustment using the shim 61.

［本実施形態の技術的効果］
以上のように、本実施形態によれば、第２軸受ハウジング３５と出力側軸受３７の外輪３７ａとの間にスペーサ６２とシム６１が配置されている。スペーサ６２は、シム６１よりも第２軸受ハウジング３５の段付き面３５ｃ側に配置され、シム６１よりも軸方向幅が大きく、軸方向から見てシム６１と重なる面積が段付き面３５ｃよりも大きい。
これにより、シム６１を段付き面３５ｃに直接接触させる場合に比べ、シム６１よりも変形しにくいスペーサ６２を用いてシム６１の面圧を低減できる。したがって、シム６１にアキシャル荷重が作用した場合であっても、シム６１の変形を抑制することができる。 [Technical effects of this embodiment]
As described above, according to the present embodiment, the spacer 62 and the shim 61 are arranged between the second bearing housing 35 and the outer ring 37a of the output side bearing 37. The spacer 62 is arranged closer to the stepped surface 35c of the second bearing housing 35 than the shim 61, has a larger axial width than the shim 61, and has an area overlapping with the shim 61 larger than the stepped surface 35c when viewed from the axial direction. big.
Thereby, compared to the case where the shim 61 is brought into direct contact with the stepped surface 35c, the surface pressure of the shim 61 can be reduced by using the spacer 62 which is less deformable than the shim 61. Therefore, even if an axial load is applied to the shim 61, deformation of the shim 61 can be suppressed.

また、本実施形態によれば、スペーサ６２の軸方向幅が、外輪配置面３５ａの出力側の端部に形成されたヌスミ（凹部）３５ｄよりも大きいので、スペーサ６２がヌスミ３５ｄ内に脱落することがない。 Further, according to the present embodiment, the axial width of the spacer 62 is larger than the slot (recess) 35d formed at the output side end of the outer ring arrangement surface 35a, so the spacer 62 falls into the slot 35d. Never.

また、本実施形態によれば、第２軸受ハウジング３５が、減速された回転を出力する出力部材であり、第２軸受ハウジング３５の外周側には当該第２軸受ハウジング３５を支持する主軸受３８が配置され、外輪３７ａが締まり嵌めにより第２軸受ハウジング３５に嵌合されている。
そのため、出力部材である第２軸受ハウジング３５にラジアル荷重が作用することで、主軸受３８にミスアライメントが生じ、起振体軸１０を支持している出力側軸受３７にもラジアル荷重が作用してクリープ（軸受ハウジングに対して外輪が相対回転する現象）が発生するおそれがあるところ、本実施形態では外輪３７ａが第２軸受ハウジング３５に締まり嵌めされているため、クリープの発生を抑制できる。 Further, according to the present embodiment, the second bearing housing 35 is an output member that outputs decelerated rotation, and the main bearing 38 that supports the second bearing housing 35 is provided on the outer peripheral side of the second bearing housing 35. is arranged, and the outer ring 37a is fitted into the second bearing housing 35 by an interference fit.
Therefore, a radial load acts on the second bearing housing 35, which is an output member, causing misalignment in the main bearing 38, and a radial load also acts on the output side bearing 37, which supports the vibration generator shaft 10. However, in this embodiment, since the outer ring 37a is tightly fitted into the second bearing housing 35, the occurrence of creep can be suppressed.

また、本実施形態によれば、第２軸受ハウジング３５が、出力側軸受３７の外輪３７ａよりも線膨張係数が大きい素材で構成されている。そのため、外輪３７ａのクリープが生じやすく、シム６１が損傷しやすいところ、このような構成であっても、スペーサ６２の適用によりシム６１の変形を好適に抑制できる。 Further, according to the present embodiment, the second bearing housing 35 is made of a material having a larger coefficient of linear expansion than the outer ring 37a of the output side bearing 37. Therefore, although creep of the outer ring 37a is likely to occur and the shim 61 is likely to be damaged, even with such a configuration, the deformation of the shim 61 can be suitably suppressed by applying the spacer 62.

［その他］
以上、本発明の実施形態について説明したが、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、スペーサ６２及びシム６１を出力側軸受３７に対して配置したが、スペーサ６２及びシム６１は、入力側軸受３６及び出力側軸受３７のいずれか一方のみに配置されればよい。つまり、スペーサ６２及びシム６１は、出力側軸受３７と第２軸受ハウジング３５との間に代えて、入力側軸受３６とこれを支持する第１軸受ハウジング３４との間に配置してもよい。
この場合には、各部の形状を軸方向に反転させつつ、出力側軸受３７に配置する場合と同様に構成すればよい。具体的には、図３に示すように、第１軸受ハウジング３４の内周部を、入力側軸受３６の外輪３６ａの外周と対向する外輪配置面３４ａと、外輪配置面３４ａよりも入力側かつ小径であってオイルシール４３の外周と対向するシール配置面３４ｂと、外輪配置面３４ａ及びシール配置面３４ｂの間を連結する段付き面３４ｃとを有する形状とする。外輪配置面３４ａのうち入力側の端部（段付き面３４ｃとの連結部）には、ヌスミ（凹部）３４ｄを形成する。そして、スペーサ６２及びシム６１を、第１軸受ハウジング３４の段付き面３４ｃと、入力側軸受３６の外輪３６ａとの間に、入力側からこの順に重ねて配置すればよい。その他の構成は、上記実施形態の出力側軸受３７に配置する場合と同様に構成すればよい。
このように、スペーサ６２及びシム６１を入力側軸受３６に配置する場合でも、上記実施形態の出力側軸受３７に配置した場合と同様の効果が得られる。また、スペーサ６２及びシム６１は、入力側軸受３６及び出力側軸受３７の両方に配置されてもよい。 [others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.
For example, in the above embodiment, the spacer 62 and the shim 61 are arranged with respect to the output side bearing 37, but the spacer 62 and the shim 61 may be arranged only with either the input side bearing 36 or the output side bearing 37. good. That is, the spacer 62 and the shim 61 may be arranged between the input side bearing 36 and the first bearing housing 34 that supports it, instead of between the output side bearing 37 and the second bearing housing 35.
In this case, the shape of each part may be reversed in the axial direction and configured in the same manner as when disposed in the output side bearing 37. Specifically, as shown in FIG. 3, the inner periphery of the first bearing housing 34 is arranged between an outer ring arrangement surface 34a that faces the outer periphery of the outer ring 36a of the input side bearing 36, and an outer ring arrangement surface 34a that is closer to the input side than the outer ring arrangement surface 34a. The seal arrangement surface 34b has a small diameter and faces the outer periphery of the oil seal 43, and a stepped surface 34c connects the outer ring arrangement surface 34a and the seal arrangement surface 34b. A recess (recess) 34d is formed at the input side end (connection to the stepped surface 34c) of the outer ring arrangement surface 34a. Then, the spacer 62 and the shim 61 may be stacked and arranged in this order from the input side between the stepped surface 34c of the first bearing housing 34 and the outer ring 36a of the input side bearing 36. Other configurations may be configured in the same manner as in the case where the output side bearing 37 of the above embodiment is arranged.
In this way, even when the spacer 62 and the shim 61 are disposed on the input side bearing 36, the same effects as when disposed on the output side bearing 37 of the embodiment described above can be obtained. Further, the spacer 62 and the shim 61 may be arranged on both the input side bearing 36 and the output side bearing 37.

また、上記実施形態では、相手装置の被駆動部材が第２軸受ハウジング３５及び第２内歯歯車部材３２に連結され、相手装置のうち被駆動部材とは異なる固定部材がケーシング３３及び第１内歯歯車部材３１に連結されることとした。しかし、相手装置の被駆動部材がケーシング３３、第１内歯歯車部材３１及び第１軸受ハウジング３４に連結され、相手装置の固定部材が第２軸受ハウジング３５及び第２内歯歯車部材３２に連結されることとしてもよい。つまり、第２軸受ハウジング３５及び第２内歯歯車部材３２を相手装置に固定し、ケーシング３３、第１内歯歯車部材３１及び第１軸受ハウジング３４から出力を取り出すこととしてもよい。 Further, in the above embodiment, the driven member of the counterpart device is connected to the second bearing housing 35 and the second internal gear member 32, and the fixed member different from the driven member of the counterpart device is connected to the casing 33 and the first internal gear member. It was decided that it would be connected to the gear member 31. However, the driven member of the counterpart device is connected to the casing 33, the first internal gear member 31, and the first bearing housing 34, and the fixed member of the counterpart device is connected to the second bearing housing 35 and the second internal gear member 32. It may also be done. That is, the second bearing housing 35 and the second internal gear member 32 may be fixed to a mating device, and the output may be taken out from the casing 33, the first internal gear member 31, and the first bearing housing 34.

また、上記実施形態では、撓み噛合い式歯車装置１として筒型の噛合い式歯車装置を例に挙げて説明した。しかし、本発明は、これに限定されず、例えばカップ型又はシルクハット型の撓み噛合い式歯車装置などにも好適に適用できる。
その他、上記実施形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 Furthermore, in the embodiment described above, a cylindrical meshing gear device was used as an example of the flexible meshing gear device 1. However, the present invention is not limited thereto, and can be suitably applied to, for example, a cup-shaped or top hat-shaped flexible mesh gear device.
In addition, the details shown in the above embodiments can be changed as appropriate without departing from the spirit of the invention.

１ 撓み噛合い式歯車装置
１０ 起振体軸
１０Ａ 起振体
１１ 外歯歯車
３１ 第１内歯歯車部材
３１Ｇ 第１内歯歯車
３２ 第２内歯歯車部材
３２Ｇ 第２内歯歯車
３４ 第１軸受ハウジング（支持部材）
３４ａ 外輪配置面
３４ｃ 段付き面（軸方向規制面）
３４ｄ ヌスミ（凹部）
３５ 第２軸受ハウジング（支持部材）
３５ａ 外輪配置面
３５ｃ 段付き面（軸方向規制面）
３５ｄ ヌスミ（凹部）
３６ 入力側軸受
３６ａ 外輪
３７ 出力側軸受
３７ａ 外輪
３８ 主軸受
６１ シム
６２ スペーサ
Ｌ１ 軸受間距離
Ｏ１ 回転軸 1 Flexible mesh gear device 10 Vibrating body shaft 10A Vibrating body 11 External gear 31 First internal gear member 31G First internal gear 32 Second internal gear member 32G Second internal gear 34 First bearing Housing (support member)
34a Outer ring arrangement surface 34c Stepped surface (axial regulation surface)
34d Nusumi (concave part)
35 Second bearing housing (support member)
35a Outer ring arrangement surface 35c Stepped surface (axial regulation surface)
35d Nusumi (concave part)
36 Input side bearing 36a Outer ring 37 Output side bearing 37a Outer ring 38 Main bearing 61 Shim 62 Spacer L1 Distance between bearings O1 Rotating shaft

Claims (3)

起振体を有する起振体軸と、前記起振体により撓み変形する外歯歯車と、前記外歯歯車と噛合う内歯歯車と、を備えた撓み噛合い式歯車装置であって、
前記起振体軸を支持する軸受と、前記軸受の外輪を支持する支持部材と、前記支持部材と前記外輪との間に配置されるスペーサ及びシムと、を有し、
前記支持部材は、前記外輪の外周と対向する外輪配置面と、前記外輪の軸方向端面と対向する軸方向規制面と、を有し、
前記スペーサは、前記シムよりも前記軸方向規制面側に配置され、前記シムよりも軸方向幅が大きく、軸方向から見て前記シムと重なる面積が前記軸方向規制面よりも大きい、
撓み噛合い式歯車装置。 A flexible mesh gear device comprising a vibrating body shaft having a vibrating body, an external gear that is flexibly deformed by the vibrating body, and an internal gear that meshes with the external gear,
A bearing that supports the vibrating body shaft, a support member that supports an outer ring of the bearing, and a spacer and a shim that are arranged between the support member and the outer ring,
The support member has an outer ring arrangement surface that faces the outer periphery of the outer ring, and an axial regulation surface that faces the axial end face of the outer ring,
The spacer is disposed closer to the axial restriction surface than the shim, has a larger axial width than the shim, and has a larger area overlapping the shim than the axial restriction surface when viewed from the axial direction.
Flexible mesh gear system. 前記支持部材は、前記外輪配置面のうち前記軸方向規制面側の端部に凹部を有し、
前記スペーサは、前記凹部よりも軸方向幅が大きい、
請求項１に記載の撓み噛合い式歯車装置。 The support member has a recessed portion at an end of the outer ring arrangement surface on the axial direction regulating surface side,
the spacer has a larger axial width than the recess;
The flexible mesh gear device according to claim 1. 前記シムの内径は、前記スペーサの内径よりも小さい、
請求項１又は請求項２に記載の撓み噛合い式歯車装置。
an inner diameter of the shim is smaller than an inner diameter of the spacer;
The flexible mesh gear device according to claim 1 or 2 .
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