JP7455687B2 - Flexible mesh gear system - Google Patents

Flexible mesh gear system Download PDF

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JP7455687B2
JP7455687B2 JP2020119620A JP2020119620A JP7455687B2 JP 7455687 B2 JP7455687 B2 JP 7455687B2 JP 2020119620 A JP2020119620 A JP 2020119620A JP 2020119620 A JP2020119620 A JP 2020119620A JP 7455687 B2 JP7455687 B2 JP 7455687B2
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gear
internal gear
external gear
driven member
external
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JP2022016734A (en
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央雅 長崎
健次 白水
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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
    • 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
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/24—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly
    • F16C19/28—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly with two or more rows of rollers
    • 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
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • 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
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/55—Systems consisting of a plurality of bearings with rolling friction with intermediate floating or independently-driven rings rotating at reduced speed or with other differential ball or roller 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
    • 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
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/088—Profiling with corrections on tip or foot of the teeth, e.g. addendum relief for better approach contact

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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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.

従来の撓み噛合い式歯車装置は、起振体と、コロ軸受からなる起振体軸受と、外歯歯車と、内歯歯車とを備えていた。
そして、起振体に対して回転が入力されると、起振体軸受を介して外歯歯車が変形し、外歯歯車と内歯歯車との噛合位置が起振体の回転に応じて周回移動し、これによって内歯歯車と外歯歯車との間で，その歯数差に応じた相対的な減速回転が生じ、外歯歯車又は内歯歯車から減速回転を取り出して、被駆動部材に出力を行っていた（例えば、特許文献１参照）。 A conventional flexible mesh gear device includes a vibrating body, a vibrating body bearing made of a roller bearing, an external gear, and an internal gear.
When rotation is input to the vibration generating body, the external gear is deformed via the vibration generating body bearing, and the meshing position of the external gear and the internal gear rotates according to the rotation of the vibration generating body. This causes relative deceleration of rotation between the internal gear and the external gear according to the difference in the number of teeth, extracting the deceleration rotation from the external gear or the internal gear and transmitting it to the driven member. (For example, see Patent Document 1).

特開２００９－２９９７６５号公報Japanese Patent Application Publication No. 2009-299765

上記従来の撓み噛合い式歯車装置は、起振体軸受の転動体であるコロが、内歯歯車と外歯歯車の噛合い範囲の内側に配置されていた。
そして、撓み噛合い式歯車装置は、被駆動部材側からモーメントが負荷されると、内歯歯車と外歯歯車との噛合い荷重が被駆動部材側に偏りを生じる場合がある。その場合、コロの軸方向における被駆動部材側の端部近傍において、外歯歯車との接触圧が増加し、外歯歯車に曲げ応力が生じて、損傷の原因となるおそれがあった。 In the conventional flexible mesh gear device described above, the rollers, which are the rolling elements of the vibrator bearing, are arranged inside the meshing range of the internal gear and the external gear.
In the flexible mesh gear device, when a moment is applied from the driven member side, the meshing load between the internal gear and the external gear may be biased toward the driven member side. In this case, the contact pressure with the external gear increases near the end of the roller on the driven member side in the axial direction, and bending stress is generated in the external gear, which may cause damage.

本発明は、外歯歯車を効果的に保護することを目的とする。 The present invention aims to effectively protect external gears.

本発明は、
起振体と、
前記起振体により撓み変形する外歯歯車と、
前記起振体と前記外歯歯車の間に配置される起振体軸受と、
内歯歯車と、
を備える撓み噛合い式歯車装置であって、
前記起振体軸受の転動体は、コロにより構成され、
前記コロの軸方向端面が、前記内歯歯車と前記外歯歯車の噛合い範囲よりも被駆動部材側で、かつ前記噛み合い範囲の軸方向外側に突出している構成とした。
さらに、他の本発明は、
起振体と、
前記起振体により撓み変形する外歯歯車と、
前記起振体と前記外歯歯車の間に配置される起振体軸受と、
内歯歯車と、
を備える撓み噛合い式歯車装置であって、
前記起振体軸受の転動体は、コロにより構成され、
前記コロの軸方向端面が、前記内歯歯車と前記外歯歯車の噛合い範囲よりも被駆動部材側に突出しており、
前記内歯歯車として、第１内歯歯車と、前記被駆動部材に連結される第２内歯歯車と、を有し、
前記コロの軸方向端面が、前記第２内歯歯車と前記外歯歯車の噛合い範囲よりも被駆動部材側に突出している構成とした。 The present invention
A vibrating body,
an external gear that is deflected and deformed by the vibrating body;
a vibration generator bearing disposed between the vibration generator and the external gear;
internal gear,
A flexible mesh gear device comprising:
The rolling elements of the vibrator bearing are constituted by rollers,
The axial end face of the roller is configured to be closer to the driven member than the meshing range between the internal gear and the external gear and protrude axially outward of the meshing range .
Furthermore, other present inventions include:
A vibrating body,
an external gear that is deflected and deformed by the vibrating body;
a vibration generator bearing disposed between the vibration generator and the external gear;
internal gear,
A flexible mesh gear device comprising:
The rolling elements of the vibrator bearing are constituted by rollers,
The axial end surface of the roller protrudes toward the driven member side beyond the meshing range of the internal gear and the external gear,
The internal gear includes a first internal gear and a second internal gear connected to the driven member,
The axial end face of the roller is configured to protrude toward the driven member side beyond the meshing range of the second internal gear and the external gear.

本発明によれば、外歯歯車を効果的に保護することが可能となる。 According to the present invention, it is possible to effectively protect external gears.

本発明の第１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。1 is a sectional view showing a flexible mesh gear device according to a first embodiment of the present invention. 第１内歯歯車及び第２内歯歯車と外歯歯車の噛合い範囲と起振体軸受の転動体の位置関係を示した拡大断面図である。It is an enlarged sectional view showing the meshing range of the first internal gear, the second internal gear, and the external gear, and the positional relationship of the rolling elements of the vibrator bearing. 比較例における第１内歯歯車及び第２内歯歯車と外歯歯車の噛合い範囲と起振体軸受の転動体の位置関係を示した拡大断面図である。It is an enlarged sectional view showing the meshing range of the first internal gear, the second internal gear, and the external gear and the positional relationship of the rolling elements of the vibrator bearing in a comparative example. 本発明の第２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. 3 is a sectional view showing a flexible mesh gear device according to a second embodiment of the present invention. 第１内歯歯車及び第２内歯歯車と外歯歯車の噛合い範囲と起振体軸受の転動体の位置関係を示した拡大断面図である。It is an enlarged sectional view showing the meshing range of the first internal gear, the second internal gear, and the external gear, and the positional relationship of the rolling elements of the vibrator bearing.

［第１実施形態］
以下、本発明の第１実施形態について、図面を参照して詳細に説明する。図１は第１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。
以下では、図中の回転軸Ｏ１に沿った方向を「軸方向」、回転軸Ｏ１から垂直な方向を「径方向」、回転軸Ｏ１を中心とする回転方向を「周方向」と定義する。 [First embodiment]
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a sectional view showing a flexible mesh gear device according to a first embodiment.
Hereinafter, the direction along the rotation axis O1 in the figure will be defined as the "axial direction", the direction perpendicular to the rotation axis O1 will be defined as the "radial direction", and the rotation direction around the rotation axis O1 will be defined as the "circumferential direction".

図１に示すように、撓み噛合い式歯車装置１は、外歯歯車１２が撓み変形して回転軸Ｏ１回りの回転運動が伝達される筒型の撓み噛合い式歯車装置である。
具体的に、撓み噛合い式歯車装置１は、起振体軸１０、起振体軸１０により撓み変形される外歯歯車１２、外歯歯車１２と噛合う第１内歯歯車２２ｇ及び第２内歯歯車２３ｇ、並びに、起振体軸受１５を備える。さらに、撓み噛合い式歯車装置１は、第１ケーシング２２、内歯歯車部材２３、第２ケーシング２４、第１カバー２６、第２カバー２７、入力軸受３１、３２及び主軸受３３を備える。 As shown in FIG. 1, the flexible mesh gear device 1 is a cylindrical flexible mesh gear device in which the external gear 12 is flexibly deformed to transmit rotational motion around the rotation axis O1.
Specifically, the flexible meshing gear device 1 includes a vibrator shaft 10, an external gear 12 that is flexibly deformed by the vibrator shaft 10, a first internal gear 22g that meshes with the external gear 12, and a second internal gear 22g. An internal gear 23g and a vibrator bearing 15 are provided. Further, the flexible mesh gear device 1 includes a first casing 22, an internal gear member 23, a second casing 24, a first cover 26, a second cover 27, input bearings 31 and 32, and a main bearing 33.

起振体軸１０は、中空軸状であり、回転軸Ｏ１に垂直な断面の外形が楕円状である起振体１０Ａと、起振体１０Ａの軸方向の両側に設けられ回転軸Ｏ１に垂直な断面の外形が円形である軸部１０Ｂ、１０Ｃとを有する。なお、楕円状とは、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。起振体軸１０は、回転軸Ｏ１を中心に回転し、起振体１０Ａの回転軸Ｏ１に垂直な断面の外形形状の中心は回転軸Ｏ１と一致する。この起振体軸１０は、モータ等の駆動源（図示省略）に連結されて駆動力が入力される入力軸である。 The vibration generator shaft 10 has a hollow shaft shape, and includes a vibration generator 10A having an elliptical outer shape in a cross section perpendicular to the rotation axis O1, and a vibration generator shaft 10 provided on both sides of the vibration generator 10A in the axial direction and perpendicular to the rotation axis O1. The shaft portions 10B and 10C have circular cross-sectional outlines. Note that the elliptical shape is not limited to a geometrically strict ellipse, but includes a substantially ellipse. The vibration generator shaft 10 rotates around the rotation axis O1, and the center of the external shape of the cross section perpendicular to the rotation axis O1 of the vibration generator 10A coincides with the rotation axis O1. The vibrator shaft 10 is an input shaft connected to a drive source (not shown) such as a motor, and into which driving force is input.

外歯歯車１２は、可撓性を有する円筒状の金属であり、外周に歯が設けられている。 The external gear 12 is a flexible cylindrical metal and has teeth on its outer periphery.

第１内歯歯車２２ｇと第２内歯歯車２３ｇは、回転軸Ｏ１に軸心を一致させて配置され、第1内歯歯車２２ｇは外部部材５５に連結され、第２内歯歯車２３ｇは被駆動部材５６に連結される。
これら第１内歯歯車２２ｇと第２内歯歯車２３ｇは、軸方向に並んで設けられ、外歯歯車１２と噛合している。具体的には、第１内歯歯車２２ｇ及び第２内歯歯車２３ｇの一方が、外歯歯車１２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１２の軸方向の中央よりもう一方の片側の歯部に噛合する。第１内歯歯車２２ｇは、第１ケーシング２２の内周部の該当箇所に内歯が設けられて構成される。第２内歯歯車２３ｇは、内歯歯車部材２３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 22g and the second internal gear 23g are arranged with their axes aligned with the rotation axis O1, the first internal gear 22g is connected to the external member 55, and the second internal gear 23g is connected to the external member 55. The driving member 56 is connected to the drive member 56 .
The first internal gear 22g and the second internal gear 23g are arranged side by side in the axial direction and mesh with the external gear 12. Specifically, one of the first internal gear 22g and the second internal gear 23g meshes with the teeth on one side of the external gear 12 from the center in the axial direction, and the other engages with the teeth on one side of the external gear 12 in the axial direction. meshes with the teeth on one side of the other side. The first internal gear 22g is configured such that internal teeth are provided at corresponding locations on the inner peripheral portion of the first casing 22. The second internal gear 23g is configured such that internal teeth are provided at corresponding locations on the inner circumference of the internal gear member 23.

起振体軸受１５は、起振体１０Ａと外歯歯車１２との間に配置される。起振体軸受１５は、複数の転動体（コロ）１５Ａ，１５Ｂと、複数の転動体１５Ａ，１５Ｂを保持する保持器１５Ｃとを有する。複数の転動体１５Ａ，１５Ｂは、起振体１０Ａの外周面と外歯歯車１２の内周面とを転動面として転動する。
転動体１５Ａは、外歯歯車１２を介して第１内歯歯車２２ｇの径方向内側に位置しており、複数の転動体１５Ａが周方向に並んで設けられて転動を行う。同様に、転動体１５Ｂは、外歯歯車１２を介して第２内歯歯車２３ｇの径方向内側に位置しており、複数の転動体１５Ｂが周方向に並んで設けられて転動を行う。
なお、起振体軸受１５は、起振体１０Ａとは別体の内輪や、外歯歯車１２とは別体の外輪を有してもよい。 The vibration generator bearing 15 is arranged between the vibration generator 10A and the external gear 12. The vibrator bearing 15 includes a plurality of rolling elements (rollers) 15A, 15B and a retainer 15C that holds the plurality of rolling elements 15A, 15B. The plurality of rolling elements 15A and 15B roll on the outer circumferential surface of the vibrator 10A and the inner circumferential surface of the external gear 12 as rolling surfaces.
The rolling elements 15A are located radially inside the first internal gear 22g via the external gear 12, and a plurality of rolling elements 15A are arranged in the circumferential direction and roll. Similarly, the rolling elements 15B are located inside the second internal gear 23g in the radial direction via the external gear 12, and a plurality of rolling elements 15B are provided side by side in the circumferential direction and roll.
Note that the vibration generator bearing 15 may have an inner ring separate from the vibration generator 10A and an outer ring separate from the external gear 12.

外歯歯車１２と、起振体軸受１５の保持器１５Ｃと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３６、３７が設けられている。 Spacer rings 36 and 37 are provided on both sides of the external gear 12 and the retainer 15C of the vibrating body bearing 15 in the axial direction, as regulating members that come into contact with these and regulate their movement in the axial direction. It is being

第１ケーシング２２及び第２ケーシング２４は、連結部材であるボルト５７により互いに連結されて、第１内歯歯車２２ｇ、第２内歯歯車２３ｇ及び外歯歯車１２の径方向外側を覆う。このうち、第１ケーシング２２は、上述のように、内周部の一部に内歯が設けられており、第１内歯歯車２２ｇと一体的に構成されている。 The first casing 22 and the second casing 24 are connected to each other by a bolt 57 that is a connecting member, and cover the outside of the first internal gear 22g, the second internal gear 23g, and the external gear 12 in the radial direction. Among these, the first casing 22 is provided with internal teeth on a part of its inner peripheral portion, as described above, and is integrally configured with the first internal gear 22g.

また、第１ケーシング２２及び第２ケーシング２４には、反負荷側（図１における右側）の端部に軸方向に一続きに延びるボルト連結用穴２２ｈ、２４ｈが設けられている。撓み噛合い式歯車装置１が装置外部の外部部材５５（例えば、ロボットの基端側アーム部材）と接続される際、第１ケーシング２２と第２ケーシング２４は、ボルト連結用穴２２ｈ、２４ｈを介して連結部材であるボルト５３により外部部材５５に共締めにより連結される。これらボルト連結用穴２２ｈ、２４ｈは、周方向の複数の箇所に設けられている。また、第１ケーシング２２及び第２ケーシング２４は、ボルト連結用穴２２ｈ、２４ｈとは別のボルト穴２２ｊ、２４ｊを有しており、このボルト穴２２ｊ、２４ｊに挿通・螺合された前述のボルト５７により互いに連結（仮止め）されている。 Further, the first casing 22 and the second casing 24 are provided with bolt connection holes 22h and 24h that extend continuously in the axial direction at the ends on the opposite load side (right side in FIG. 1). When the flexible mesh gear device 1 is connected to an external member 55 outside the device (for example, a proximal arm member of a robot), the first casing 22 and the second casing 24 have bolt connection holes 22h and 24h. It is connected to an external member 55 through a bolt 53 which is a connecting member by tightening together. These bolt connection holes 22h, 24h are provided at multiple locations in the circumferential direction. Furthermore, the first casing 22 and the second casing 24 have bolt holes 22j and 24j that are separate from the bolt connection holes 22h and 24h, and the aforementioned bolt holes 22j and 24j are inserted and screwed into the bolt holes 22j and 24j. They are connected (temporarily fastened) to each other by bolts 57.

内歯歯車部材２３は、第２ケーシング２４の径方向内側でかつ起振体軸１０の径方向外側に、少なくとも一部が配置されている。また、内歯歯車部材２３は、上述のように、内周部の一部に内歯が設けられており、第２内歯歯車２３ｇと一体的に構成されている。 At least a portion of the internal gear member 23 is disposed inside the second casing 24 in the radial direction and outside the vibrator shaft 10 in the radial direction. Further, as described above, the internal gear member 23 is provided with internal teeth on a part of its inner peripheral portion, and is integrally configured with the second internal gear 23g.

第１カバー２６及び第１ケーシング２２は、反負荷側にボルト穴２６ｋ、２２ｋを有しており、このボルト穴２６ｋ、２２ｋに挿通・螺合されたボルト５１により互いに連結されている。
そして、第１カバー２６は、起振体軸１０の一端側における外周部を覆う。 The first cover 26 and the first casing 22 have bolt holes 26k, 22k on the anti-load side, and are connected to each other by bolts 51 inserted and screwed into the bolt holes 26k, 22k.
The first cover 26 covers the outer peripheral portion of the vibrating body shaft 10 at one end side.

第２カバー２７は、内歯歯車部材２３と連結されて、起振体軸１０の他端側における外周部を覆う。第２カバー２７及び内歯歯車部材２３には、負荷側（図１における左側）の端部に軸方向に一続きに延びるボルト連結用穴２７ｈ、２３ｈが設けられている。撓み噛合い式歯車装置１が装置外部の被駆動部材５６（例えば、ロボットの先端側アーム部材）に負荷側から接続される際、第２カバー２７と内歯歯車部材２３は、ボルト連結用穴２７ｈ、２３ｈを介して連結部材であるボルト５４により被駆動部材５６に共締めにより連結される。これらボルト連結用穴２７ｈ、２３ｈは、周方向の複数の箇所に設けられている。また、第２カバー２７及び内歯歯車部材２３は、ボルト連結用穴２７ｈ、２３ｈとは別のボルト穴２７ｊ、２３ｊを有しており、このボルト穴２７ｊ、２３ｊに挿通・螺合されたボルト５２により互いに連結（仮止め）されている。 The second cover 27 is connected to the internal gear member 23 and covers the outer peripheral portion of the vibration generator shaft 10 on the other end side. The second cover 27 and the internal gear member 23 are provided with bolt connection holes 27h and 23h that extend continuously in the axial direction at the end on the load side (the left side in FIG. 1). When the flexible mesh gear device 1 is connected from the load side to a driven member 56 outside the device (for example, the arm member on the distal end side of a robot), the second cover 27 and the internal gear member 23 have holes for bolt connection. It is connected to the driven member 56 by bolts 54, which are connection members, through 27h and 23h. These bolt connection holes 27h, 23h are provided at multiple locations in the circumferential direction. Further, the second cover 27 and the internal gear member 23 have bolt holes 27j and 23j separate from the bolt connection holes 27h and 23h, and the bolts inserted and screwed into the bolt holes 27j and 23j They are connected (temporarily fixed) to each other by 52.

入力軸受３１は、例えば内輪３１ａ、外輪３１ｂ及び転動体３１ｃを有する玉軸受であり、起振体軸１０の軸部１０Ｂと第１カバー２６との間に配置される。第１カバー２６は、入力軸受３１を介して起振体軸１０を回転自在に支持する。なお、入力軸受３１は、玉軸受に限定されるものではなく、各種軸受を採用でき、例えばコロ軸受であってもよい。また、専用の内輪や外輪を有することなく、内輪が起振体軸１０と一体的に構成されたり、外輪が第１カバー２６と一体的に構成されてもよい。
入力軸受３２は、例えば内輪３２ａ、外輪３２ｂ及び転動体３２ｃを有する玉軸受であり、起振体軸１０の軸部１０Ｃと第２カバー２７との間に配置される。第２カバー２７は、入力軸受３２を介して起振体軸１０を回転自在に支持する。なお、入力軸受３２は、玉軸受に限定されるものではなく、各種軸受を採用でき、例えばコロ軸受であってもよい。また、専用の内輪や外輪を有することなく、内輪が起振体軸１０と一体的に構成されたり、外輪が第２カバー２７と一体的に構成されてもよい。
また、入力軸受３１、３２はいずれも、内部に潤滑剤が封入されたシール付きの軸受であるが、シール付きでなくともよい。 The input bearing 31 is, for example, a ball bearing having an inner ring 31a, an outer ring 31b, and a rolling element 31c, and is arranged between the shaft portion 10B of the vibrating body shaft 10 and the first cover 26. The first cover 26 rotatably supports the vibrator shaft 10 via the input bearing 31. Note that the input bearing 31 is not limited to a ball bearing, and various types of bearings may be used, such as a roller bearing. Alternatively, the inner ring may be configured integrally with the vibrator shaft 10, or the outer ring may be configured integrally with the first cover 26, without having a dedicated inner ring or outer ring.
The input bearing 32 is, for example, a ball bearing having an inner ring 32a, an outer ring 32b, and a rolling element 32c, and is arranged between the shaft portion 10C of the vibrator shaft 10 and the second cover 27. The second cover 27 rotatably supports the vibration generator shaft 10 via the input bearing 32 . Note that the input bearing 32 is not limited to a ball bearing, and various types of bearings may be employed, for example, a roller bearing may be used. Alternatively, the inner ring may be configured integrally with the vibrator shaft 10, or the outer ring may be configured integrally with the second cover 27, without having a dedicated inner ring or outer ring.
In addition, although the input bearings 31 and 32 are both sealed bearings with a lubricant sealed inside, they do not need to be sealed.

主軸受３３は、例えば内輪３３ａ、外輪３３ｂ及び転動体３３ｃを有する玉軸受であり、内歯歯車部材２３と第２ケーシング２４との間に配置される。第２ケーシング２４は、主軸受３３を介して内歯歯車部材２３を回転自在に支持する。なお、主軸受３３は、玉軸受に限定されるものではなく、各種軸受を採用できる。例えば、クロスローラ軸受でもよいし、また内歯歯車部材２３と第２ケーシング２４との間で、軸方向に離間した複数の軸受（アンギュラ玉軸受、テーパ軸受等）から構成されてもよい。また、主軸受３３は、専用の内輪や外輪を有することなく、内輪が内歯歯車部材２３と一体的に構成されたり、外輪が第２ケーシング２４と一体的に構成されてもよい。また、主軸受３３は、特に限定はされないが、内部に潤滑剤が封入されたシール付きの軸受であってもよい。 The main bearing 33 is, for example, a ball bearing having an inner ring 33a, an outer ring 33b, and rolling elements 33c, and is arranged between the internal gear member 23 and the second casing 24. The second casing 24 rotatably supports the internal gear member 23 via the main bearing 33. Note that the main bearing 33 is not limited to a ball bearing, and various types of bearings can be used. For example, a cross roller bearing may be used, or a plurality of bearings (angular ball bearing, tapered bearing, etc.) spaced apart in the axial direction between the internal gear member 23 and the second casing 24 may be used. Further, the main bearing 33 may have an inner ring configured integrally with the internal gear member 23 or an outer ring configured integrally with the second casing 24 without having a dedicated inner ring or outer ring. Further, the main bearing 33 may be a sealed bearing with a lubricant sealed inside, although it is not particularly limited.

入力軸受３１、３２及び主軸受３３の撓み噛合い式歯車装置１の機構部が収納される潤滑剤封入空間Ｓに対する軸方向外側には、これら軸受に対するシール性を担保するための軸封部であるシール部４１～４３が設けられている。 On the axially outer side of the input bearings 31, 32 and the main bearing 33 with respect to the lubricant sealing space S in which the mechanical parts of the flexible mesh gear device 1 are housed, a shaft sealing part is provided to ensure sealing performance for these bearings. Certain seal portions 41-43 are provided.

入力軸受３１のシール部４１は、第１カバー２６から径方向内側に向かって起振体軸１０（軸部１０Ｂ）の外周面近傍まで延出され、入力軸受３１の軸方向外側を覆う壁面からなり、軸部１０Ｂの外周との間に狭小な隙間を形成して、潤滑剤の移動を阻害する。
入力軸受３２のシール部４２は、第２カバー２７から径方向内側に向かって起振体軸１０（軸部１０Ｃ）の外周面近傍まで延出され、入力軸受３２の軸方向外側を覆う壁面からなり、軸部１０Ｃの外周との間に狭小な隙間を形成して、潤滑剤の移動を阻害する。
主軸受３３のシール部４３は、第２ケーシング２４から径方向内側に向かって第２カバー２７の外周面近傍まで延出され、主軸受３３の軸方向外側を覆う壁面からなり、第２カバー２７の外周との間に狭小な隙間を形成して、潤滑剤の移動を阻害する。また、シール部４３の内側（主軸受３３側）には、第２カバー２７から径方向外側に突出する突起を有している。これらシール部４３と突起とにより、ラビリンス構造が構成されている。 The seal portion 41 of the input bearing 31 extends radially inward from the first cover 26 to near the outer peripheral surface of the vibrator shaft 10 (shaft portion 10B), and extends from the wall surface covering the axial outside of the input bearing 31. Therefore, a narrow gap is formed between the shaft portion 10B and the outer periphery of the shaft portion 10B, thereby inhibiting the movement of the lubricant.
The seal portion 42 of the input bearing 32 extends radially inward from the second cover 27 to near the outer peripheral surface of the vibrator shaft 10 (shaft portion 10C), and extends from the wall surface covering the axial outside of the input bearing 32. Therefore, a narrow gap is formed between the shaft portion 10C and the outer periphery of the shaft portion 10C, thereby inhibiting the movement of the lubricant.
The seal portion 43 of the main bearing 33 extends radially inward from the second casing 24 to near the outer circumferential surface of the second cover 27 , and is formed of a wall surface that covers the axial outside of the main bearing 33 . A narrow gap is formed between the outer periphery of the lubricant and the lubricant movement. Further, on the inside of the seal portion 43 (on the main bearing 33 side), there is a protrusion that protrudes radially outward from the second cover 27. These seal portions 43 and the protrusions constitute a labyrinth structure.

［噛合い範囲と転動体の配置］
図２は第１内歯歯車２２ｇ及び第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲と起振体軸受１５の転動体１５Ｂの位置関係を示した拡大断面図である。
前述した通り、起振体軸受１５の各転動体１５Ａ，１５Ｂは、コロ（ニードルを含む）により構成されている。
そして、被駆動部材５６に連結された第２内歯歯車２３ｇに対応する（軸方向について配置が重なる）転動体１５Ｂは、その軸方向の全幅ＣＬにおける被駆動部材５６側の軸方向端面（図２における転動体１５Ｂの左端面、換言すれば軸方向で最も被駆動部材５６側に位置する部位）が第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲Ｇｂ１よりも被駆動部材５６側に（軸方向に）突出している。 [Meshing range and rolling element arrangement]
FIG. 2 is an enlarged sectional view showing the meshing range of the first internal gear 22g and the second internal gear 23g and the external gear 12, and the positional relationship of the rolling elements 15B of the vibrator bearing 15.
As described above, each of the rolling elements 15A and 15B of the vibrator bearing 15 is composed of rollers (including needles).
The rolling element 15B corresponding to the second internal gear 23g connected to the driven member 56 (overlapping in arrangement in the axial direction) has an axial end face on the driven member 56 side in the full width CL in the axial direction (Fig. The left end surface of the rolling element 15B in 2 (in other words, the part located closest to the driven member 56 in the axial direction) is closer to the driven member 56 than the meshing range Gb1 between the second internal gear 23g and the external gear 12. It protrudes (in the axial direction).

図３は、本発明の特徴的構成を具備していない比較例における第１内歯歯車２２ｇ及び第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲と起振体軸受１５の転動体１５Ｂの位置関係を示した拡大断面図である。なお、この比較例の図では、便宜的に、発明を具現化した撓み噛合い式歯車装置１（図２び構成）と同じ符号を付している。 FIG. 3 shows the meshing range of the first internal gear 22g and the second internal gear 23g and the external gear 12 and the rolling element 15B of the vibrator bearing 15 in a comparative example that does not have the characteristic configuration of the present invention. FIG. In addition, in the drawings of this comparative example, for convenience, the same reference numerals as those of the flexible mesh gear device 1 (configuration in FIG. 2) embodying the invention are attached.

撓み噛合い式歯車装置１は、回転動作時に、被駆動部材５６側から外力や部材の自重等の種々の要因によりモーメントの負荷が加わると、被駆動部材５６に連結された第２内歯歯車２３ｇと外歯歯車１２との噛合い荷重が被駆動部材５６側に偏りを生じる場合がある。
その場合、図３の比較例の場合には、転動体１５Ｂにおける被駆動部材５６側の端部（角部付近）に外歯歯車１２に対する接触圧が集中し、外歯歯車１２に曲げ応力が加えられて、損傷が生じるおそれが生じる。 In the flexible mesh gear device 1, when a moment load is applied from the driven member 56 side due to various factors such as an external force or the member's own weight during rotational operation, the second internal gear connected to the driven member 56 23g and the external gear 12 may be biased toward the driven member 56 side.
In that case, in the case of the comparative example shown in FIG. 3, the contact pressure against the external gear 12 is concentrated at the end of the rolling element 15B on the driven member 56 side (near the corner), and bending stress is applied to the external gear 12. In addition, there is a risk that damage may occur.

これに対して、図２の構成では、第２内歯歯車２３ｇと外歯歯車１２との噛合い荷重が被駆動部材５６側に偏りを生じた場合であっても、転動体１５Ｂの被駆動部材５６側の軸方向端面が、第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲Ｇｂ１より被駆動部材５６側に位置しているので、転動体１５Ｂにおける被駆動部材５６側の端部の接触圧の集中を回避することができ、外歯歯車１２の損傷の発生を抑制することができる。 In contrast, in the configuration of FIG. 2, even if the meshing load between the second internal gear 23g and the external gear 12 is biased toward the driven member 56, the driven member 15B Since the axial end face on the member 56 side is located closer to the driven member 56 than the meshing range Gb1 between the second internal gear 23g and the external gear 12, the end of the rolling element 15B on the driven member 56 side concentration of contact pressure can be avoided, and damage to the external gear 12 can be suppressed.

なお、第２内歯歯車２３ｇは、内歯の歯先の軸方向両端部に面取り部２３ｍ、２３ｍが形成されているが、上記の噛合い範囲Ｇｂ１は、第２内歯歯車２３ｇの内歯の歯先の面取り部２３ｍ、２３ｍを除いた範囲を示している。
そして、転動体１５Ｂの被駆動部材５６側の軸方向端面は、第２内歯歯車２３ｇの両側の面取り部２３ｍ、２３ｍを含む範囲Ｇｂ２よりもさらに被駆動部材５６側に突出している。つまり、転動体１５Ｂの被駆動部材５６側の軸方向端面は、第２内歯歯車２３ｇの被駆動部材５６側の面取り部２３ｍの終端２３ｍｓよりもさらに被駆動部材５６側に突出している。ここで、面取り部２３ｍの終端２３ｍｓは、面取り部２３ｍの内径が最大となる部位である。
これにより、第２内歯歯車２３ｇと外歯歯車１２との噛合い荷重の偏り発生時の転動体１５Ｂにおける被駆動部材５６側の端部の接触圧の集中をさらに効果的に回避することができ、損傷の発生を抑制することができる。
本実施形態においては、第２内歯歯車２３ｇの軸方向範囲全体が、外歯歯車１２の軸方向範囲内に収まっているので、第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲Ｇｂ１は、第２内歯歯車２３ｇの軸方向範囲に一致している。しかし、これに限定されるものではなく、外歯歯車１２の軸方向範囲全体が第２内歯歯車２３ｇの軸方向範囲に収まっている場合には、外歯歯車１２の軸方向範囲が噛合い範囲Ｇｂ１となる。また、第２内歯歯車２３ｇの軸方向範囲と外歯歯車１２の軸方向範囲が軸方向にずれて噛合っている場合には、両者が噛合っている範囲が噛合い範囲Ｇｂ１となる。 Note that the second internal gear 23g has chamfered portions 23m, 23m formed at both ends in the axial direction of the tips of the internal teeth. The area excluding the chamfered portions 23m and 23m of the tooth tips is shown.
The axial end surface of the rolling element 15B on the driven member 56 side protrudes further toward the driven member 56 than the range Gb2 including the chamfered portions 23m, 23m on both sides of the second internal gear 23g. That is, the axial end surface of the rolling element 15B on the driven member 56 side protrudes further toward the driven member 56 side than the terminal end 23ms of the chamfered portion 23m of the second internal gear 23g on the driven member 56 side. Here, the terminal end 23ms of the chamfered portion 23m is a portion where the inner diameter of the chamfered portion 23m is maximum.
Thereby, it is possible to more effectively avoid concentration of contact pressure at the end of the rolling element 15B on the driven member 56 side when an imbalance occurs in the meshing load between the second internal gear 23g and the external gear 12. It is possible to suppress the occurrence of damage.
In this embodiment, the entire axial range of the second internal gear 23g falls within the axial range of the external gear 12, so the meshing range Gb1 between the second internal gear 23g and the external gear 12 corresponds to the axial range of the second internal gear 23g. However, the invention is not limited to this, and when the entire axial range of the external gear 12 falls within the axial range of the second internal gear 23g, the axial range of the external gear 12 is meshed. The range becomes Gb1. Further, when the axial range of the second internal gear 23g and the axial range of the external gear 12 are shifted in the axial direction and mesh with each other, the range where the two mesh with each other becomes the meshing range Gb1.

なお、回転動作時のモーメントの負荷による噛合い荷重の被駆動部材５６側への偏りは、第２内歯歯車２３ｇの被駆動部材５６側とは逆側の端部には生じ難い。従って、図２に示すように、転動体１５Ｂの被駆動部材５６側とは逆側の軸方向端面（図２における転動体１５Ｂの右端面）は、第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲Ｇｂ１及び第２内歯歯車２３ｇの面取り部を含む範囲Ｇｂ２の範囲内に収まっている。 Incidentally, the bias of the meshing load toward the driven member 56 side due to the moment load during the rotation operation is unlikely to occur at the end of the second internal gear 23g on the opposite side from the driven member 56 side. Therefore, as shown in FIG. 2, the axial end surface of the rolling element 15B on the opposite side to the driven member 56 side (the right end surface of the rolling element 15B in FIG. 2) is connected to the second internal gear 23g and the external gear 12. It falls within a range Gb2 including the meshing range Gb1 and the chamfered portion of the second internal gear 23g.

また、回転動作時のモーメントの負荷による噛合い荷重の被駆動部材５６側への偏りは、第１内歯歯車２２ｇと外歯歯車１２との間には生じ難い。従って、図２に示すように、転動体１５Ａの軸方向の全幅ＣＲにおける被駆動部材５６側の端部に位置するコロの軸方向端面（図２における転動体１５Ａの左端面）は、第１内歯歯車２２ｇと外歯歯車１２の噛合い範囲Ｇａ１及び第１内歯歯車２２ｇの面取り部を含む範囲Ｇａ２の範囲内に収まっている。 In addition, biasing of the meshing load toward the driven member 56 due to the moment load during rotational operation is unlikely to occur between the first internal gear 22g and the external gear 12. Therefore, as shown in FIG. 2, the axial end surface of the roller located at the end on the driven member 56 side in the full axial width CR of the rolling element 15A (the left end surface of the rolling element 15A in FIG. 2) is the first It falls within the meshing range Ga1 between the internal gear 22g and the external gear 12 and the range Ga2 including the chamfered portion of the first internal gear 22g.

［動作説明］
上記構成の撓み噛合い式歯車装置１にあっては、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１２に伝わる。このとき、外歯歯車１２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１２は、固定された第１内歯歯車２２ｇと長軸部分で噛合っている。このため、外歯歯車１２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１２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１２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。 [Operation explanation]
In the flexible mesh gear device 1 having the above configuration, 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 12. At this time, the external gear 12 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 12 meshes with the fixed first internal gear 22g at its long axis portion. Therefore, the external gear 12 does not rotate at the same rotational speed as the vibration generator 10A, and the vibration generator 10A rotates relatively inside the external gear 12. As a result of this relative rotation, the external gear 12 is flexibly deformed so 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１２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１２と第１内歯歯車２２ｇ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１２の歯数が１００で、第１内歯歯車２２ｇ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１２と第１内歯歯車２２ｇとの噛合う歯がずれを生じる。例えば、外部部材５５が固定されている場合には、第１内歯歯車２２ｇは、固定されるので、外歯歯車１２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１２に伝達される。 When the external gear 12 bends and deforms, the position of its long axis moves, so that the meshing position between the external gear 12 and the first internal gear 22g changes in the rotational direction. Here, for example, if the number of teeth of the external gear 12 is 100 and the number of teeth of the first internal gear 22g is 102, the external gear 12 and the first internal gear 22g are The meshing teeth of the teeth become misaligned. For example, when the external member 55 is fixed, the first internal gear 22g is fixed, so the external gear 12 rotates (rotates). With the above number of teeth, the rotational motion of the vibrating body shaft 10 is reduced at a reduction ratio of 100:2 and transmitted to the external gear 12.

一方、外歯歯車１２は、第２内歯歯車２３ｇ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１２と第２内歯歯車２３ｇ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２３ｇの歯数と外歯歯車１２の歯数とが同数であるとすると、外歯歯車１２と第２内歯歯車２３ｇとは相対的に回転せず、外歯歯車１２の回転運動が減速比１：１で第２内歯歯車２３ｇ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、内歯歯車部材２３及び第２カバー２７へ伝達され、この回転運動が被駆動部材５６に出力される。 On the other hand, since the external gear 12 also meshes with the second internal gear 23g, the rotation of the vibration generator shaft 10 also changes the meshing position between the external gear 12 and the second internal gear 23g in the rotational direction. do. Here, if the number of teeth of the second internal gear 23g and the number of teeth of the external gear 12 are the same, the external gear 12 and the second internal gear 23g do not rotate relatively, and the external gear The rotational motion of the gear 12 is transmitted to the second internal gear 23g 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 internal gear member 23 and the second cover 27, and this rotational motion is output to the driven member 56.

［本実施形態の技術的効果］
上記撓み噛合い式歯車装置１では、第２内歯歯車２３ｇに対応する起振体軸受１５の転動体１５Ｂの被駆動部材５６側の軸方向端面が、第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲Ｇｂ１よりも被駆動部材５６側に突出している。
このため、第２内歯歯車２３ｇと外歯歯車１２との噛合い荷重が被駆動部材５６側に偏りを生じた場合であっても、転動体１５Ｂにおける被駆動部材５６側の端部の接触圧の集中を回避することができ、外歯歯車１２の損傷の発生を抑制することができる。 [Technical effects of this embodiment]
In the flexible mesh gear device 1, the axial end surface on the driven member 56 side of the rolling element 15B of the vibrator bearing 15 corresponding to the second internal gear 23g is connected to the second internal gear 23g and the external gear. It protrudes toward the driven member 56 side beyond the meshing range Gb1 of No. 12.
Therefore, even if the meshing load between the second internal gear 23g and the external gear 12 is biased toward the driven member 56 side, the end portion of the rolling element 15B on the driven member 56 side makes contact. Concentration of pressure can be avoided, and damage to the external gear 12 can be suppressed.

さらに、撓み噛合い式歯車装置１は、転動体１５Ｂの被駆動部材５６側の軸方向端面が第２内歯歯車２３ｇの被駆動部材５６側の面取り部２３ｍの終端２３ｍｓよりも被駆動部材５６側に突出している。
これにより、第２内歯歯車２３ｇと外歯歯車１２との噛合い荷重の被駆動部材５６側への偏りの発生時の、転動体１５Ｂの被駆動部材５６側の端部の接触圧の集中をより効果的に回避することができ、外歯歯車１２の損傷の発生をさらに抑制することが可能となる。 Further, in the flexible mesh gear device 1, the axial end face of the rolling element 15B on the driven member 56 side is closer to the driven member 56 than the terminal end 23ms of the chamfered portion 23m on the driven member 56 side of the second internal gear 23g. protrudes to the side.
As a result, when the meshing load between the second internal gear 23g and the external gear 12 is biased toward the driven member 56 side, the contact pressure is concentrated on the end of the rolling element 15B on the driven member 56 side. can be more effectively avoided, and the occurrence of damage to the external gear 12 can be further suppressed.

また、転動体１５Ｂの被駆動部材５６とは逆側の軸方向他端面は、第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲Ｇｂ１内に収まっている。
前述したように、転動体１５Ｂは、被駆動部材５６側の端面が噛合い範囲Ｇｂ１よりも被駆動部材５６側に突出した配置となっているので、転動体１５Ｂの軸方向他端面を噛合い範囲Ｇｂ１内とすることにより、軸方向について転動体１５Ｂの大型化を抑えることができ、転動体１５Ｂの転動時の接触面積の縮小化よって転動時の損失の低減を図ることが可能となる。 Further, the other axial end surface of the rolling element 15B on the side opposite to the driven member 56 falls within the meshing range Gb1 between the second internal gear 23g and the external gear 12.
As described above, the rolling element 15B is arranged such that the end surface on the driven member 56 side protrudes beyond the meshing range Gb1 toward the driven member 56, so that the other end surface in the axial direction of the rolling element 15B is engaged with the other end surface in the axial direction. By setting it within the range Gb1, it is possible to prevent the rolling element 15B from increasing in size in the axial direction, and it is possible to reduce the loss during rolling by reducing the contact area of the rolling element 15B during rolling. Become.

［第２実施形態］
本発明の第２実施形態について、図面を参照して詳細に説明する。
この第２実施形態の撓み噛合い式歯車装置１は、構成の大部分が第１実施形態の撓み噛合い式歯車装置１と同一であるため、これらの異なる点のみを主に説明する。 [Second embodiment]
A second embodiment of the present invention will be described in detail with reference to the drawings.
Since most of the configuration of the flexible mesh gear device 1 of the second embodiment is the same as the flexible mesh gear device 1 of the first embodiment, only these different points will be mainly described.

図４は第２実施形態に係る撓み噛合い式歯車装置１を示す断面図、図５は第１内歯歯車２２ｇ及び第２内歯歯車２３ｇと外歯歯車１２の噛合い範囲と起振体軸受１５の転動体１５Ａ及び１５Ｂの位置関係を示した拡大断面図である。
図４及び図５に示すように、第２実施形態では、撓み噛合い式歯車装置１は、第１内歯歯車２２ｇに対応する転動体１５Ａの軸方向における全範囲が第１内歯歯車２２ｇと外歯歯車１２の噛合い範囲Ｇａ１内であって、さらに、第１内歯歯車２２ｇの両端部の面取り部を含む範囲Ｇａ２内に収まっている点が、前述した第１実施形態の撓み噛合い式歯車装置１と異なっている。 FIG. 4 is a sectional view showing a flexible mesh gear device 1 according to the second embodiment, and FIG. 5 is a meshing range of the first internal gear 22g, the second internal gear 23g, and the external gear 12, and the vibration generating body. FIG. 2 is an enlarged sectional view showing the positional relationship between rolling elements 15A and 15B of the bearing 15. FIG.
As shown in FIGS. 4 and 5, in the second embodiment, in the flexible mesh gear device 1, the entire range in the axial direction of the rolling elements 15A corresponding to the first internal gear 22g is The flexible mesh of the first embodiment described above is within the meshing range Ga1 of the external gear 12 and further within the range Ga2 including the chamfered portions at both ends of the first internal gear 22g. This is different from the type gear device 1.

回転動作時のモーメントの負荷による噛合い荷重の被駆動部材５６側への偏りは、第１内歯歯車２２ｇには生じ難い。従って、転動体１５Ａの軸方向における全範囲が第１内歯歯車２２ｇと外歯歯車１２の噛合い範囲Ｇａ１内に収めても、第２内歯歯車２３ｇ側の転動体１５Ｂのように転動体１５Ａの端部における接触圧の集中は生じ難い。
一方、転動体１５Ａは、全範囲が噛合い範囲Ｇａ１内とすることにより、軸方向について転動体１５Ａの大型化を抑えることができ、転動体１５Ａの転動時の接触面積の縮小化により、転動時の損失の低減を図ることが可能となる。 It is difficult for the first internal gear 22g to be biased in the meshing load toward the driven member 56 due to the moment load during the rotational operation. Therefore, even if the entire range of the rolling elements 15A in the axial direction is within the meshing range Ga1 between the first internal gear 22g and the external gear 12, the rolling elements 15B on the second internal gear 23g side Concentration of contact pressure at the end of 15A is unlikely to occur.
On the other hand, by making the entire range of the rolling elements 15A within the meshing range Ga1, it is possible to suppress the increase in size of the rolling elements 15A in the axial direction, and by reducing the contact area during rolling of the rolling elements 15A, It becomes possible to reduce loss during rolling.

［その他］
以上、本発明の実施形態について説明したが、本発明は上記の各実施形態に限られない。
例えば、上記各実施形態では、撓み噛合い式歯車装置１として、所謂筒型の撓み噛合い式歯車装置を示した。しかし、本発明は、これに限定されず、例えば所謂カップ型又はシルクハット型の撓み噛合い式歯車装置にも適用可能である。
これらの撓み噛合い式歯車装置は、内歯歯車を一つ有する構成となるが、当該内歯歯車または外歯歯車が被駆動部材に連結される場合、起振体軸受のコロからなる転動体の軸方向端面が、内歯歯車と外歯歯車の噛合い範囲よりも被駆動部材側に突出するように構成する。
これにより、カップ型又はシルクハット型の撓み噛合い式歯車装置の場合も、内歯歯車と外歯歯車との噛合い荷重が被駆動部材側に偏りを生じた場合に、転動体における被駆動部材側の端部の接触圧の集中を回避することができ、外歯歯車の損傷の発生を抑制することが可能となる。 [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 each of the embodiments described above, a so-called cylindrical flexible mesh gear device is shown as the flexible mesh gear device 1. However, the present invention is not limited thereto, and can also be applied to, for example, a so-called cup-type or top-hat type flexible mesh gear device.
These flexible mesh gear devices have one internal gear, but when the internal gear or external gear is connected to a driven member, a rolling element consisting of rollers of a vibrator bearing is used. The axial end face of the gear is configured to protrude toward the driven member side beyond the meshing range of the internal gear and the external gear.
As a result, even in the case of a cup-shaped or top hat-shaped flexible mesh gear device, when the meshing load between the internal gear and the external gear is biased toward the driven member side, the driven member on the rolling element Concentration of contact pressure at the end of the member can be avoided, and damage to the external gear can be suppressed.

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。 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
１０Ａ 起振体
１２ 外歯歯車
１５ 起振体軸受
１５Ａ，１５Ｂ 転動体
２２ 第１ケーシング
２２ｇ 第１内歯歯車
２３ 内歯歯車部材
２３ｇ 第２内歯歯車
２４ 第２ケーシング
５５ 外部部材
５６ 被駆動部材
Ｇａ１，Ｇｂ１ 噛合い範囲 1 Flexible mesh gear device 10A Vibrator 12 External gear 15 Vibrator bearings 15A, 15B Rolling elements 22 First casing 22g First internal gear 23 Internal gear member 23g Second internal gear 24 Second casing 55 External member 56 Driven member Ga1, Gb1 Meshing range

Claims (5)

起振体と、
前記起振体により撓み変形する外歯歯車と、
前記起振体と前記外歯歯車の間に配置される起振体軸受と、
内歯歯車と、
を備える撓み噛合い式歯車装置であって、
前記起振体軸受の転動体は、コロにより構成され、
前記コロの軸方向端面が、前記内歯歯車と前記外歯歯車の噛合い範囲よりも被駆動部材側で、かつ前記噛み合い範囲の軸方向外側に突出している撓み噛合い式歯車装置。 A vibrating body,
an external gear that is deflected and deformed by the vibrating body;
a vibration generator bearing disposed between the vibration generator and the external gear;
internal gear,
A flexible mesh gear device comprising:
The rolling elements of the vibrator bearing are constituted by rollers,
A flexible mesh gear device in which an axial end face of the roller is closer to the driven member than a meshing range between the internal gear and the external gear and protrudes axially outside of the meshing range . 起振体と、
前記起振体により撓み変形する外歯歯車と、
前記起振体と前記外歯歯車の間に配置される起振体軸受と、
内歯歯車と、
を備える撓み噛合い式歯車装置であって、
前記起振体軸受の転動体は、コロにより構成され、
前記コロの軸方向端面が、前記内歯歯車と前記外歯歯車の噛合い範囲よりも被駆動部材側に突出しており、
前記内歯歯車として、第１内歯歯車と、前記被駆動部材に連結される第２内歯歯車と、を有し、
前記コロの軸方向端面が、前記第２内歯歯車と前記外歯歯車の噛合い範囲よりも被駆動部材側に突出している
撓み噛合い式歯車装置。 A vibrating body,
an external gear that is deflected and deformed by the vibrating body;
a vibration generator bearing disposed between the vibration generator and the external gear;
internal gear,
A flexible mesh gear device comprising:
The rolling elements of the vibrator bearing are constituted by rollers,
The axial end surface of the roller protrudes toward the driven member side beyond the meshing range of the internal gear and the external gear,
The internal gear includes a first internal gear and a second internal gear connected to the driven member,
An axial end surface of the roller protrudes toward the driven member side beyond a meshing range between the second internal gear and the external gear.
Flexible mesh gear system. 前記第１内歯歯車に対応するコロは、前記第１内歯歯車と前記外歯歯車の噛合い範囲内に収まっている
請求項２に記載の撓み噛合い式歯車装置。 The rollers corresponding to the first internal gear are within the meshing range of the first internal gear and the external gear.
The flexible mesh gear device according to claim 2 . 前記内歯歯車の内歯の軸方向端部に面取り部が設けられ、
前記コロの軸方向端面が面取り部の終端よりも前記被駆動部材側に突出している
請求項１から請求項３のいずれか一項に記載の撓み噛合い式歯車装置。 A chamfer is provided at the axial end of the internal tooth of the internal gear,
An axial end surface of the roller protrudes toward the driven member side beyond a terminal end of the chamfered portion.
The flexible mesh gear device according to any one of claims 1 to 3 . 前記コロの軸方向他端面は、前記内歯歯車と前記外歯歯車の噛合い範囲内に収まっている
請求項１から４のいずれか一項に記載の撓み噛合い式歯車装置。 The flexible mesh gear device according to any one of claims 1 to 4, wherein the other end surface of the roller in the axial direction falls within a meshing range of the internal gear and the external gear.
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