TW201531634A - Flexible meshing type gear wheel device - Google Patents
Flexible meshing type gear wheel device Download PDFInfo
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- TW201531634A TW201531634A TW103137242A TW103137242A TW201531634A TW 201531634 A TW201531634 A TW 201531634A TW 103137242 A TW103137242 A TW 103137242A TW 103137242 A TW103137242 A TW 103137242A TW 201531634 A TW201531634 A TW 201531634A
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- vibrating body
- intermediate member
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- connecting member
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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
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Abstract
Description
本發明係有關一種撓曲嚙合式齒輪裝置。 The present invention relates to a flexing meshing gear device.
專利文獻1中公開有具有藉由驅動軸被旋轉驅動之起振體之撓曲嚙合式齒輪裝置。在該撓曲嚙合式齒輪裝置中,在驅動軸上構成之起振體上組裝有被稱為“十字滑塊聯軸器”之連接構件。即使在組裝時驅動軸與內齒輪之間存在偏芯(亦只稱為驅動軸的偏芯),十字滑塊聯軸器亦能夠容許偏芯並防止性能及壽命的下降。 Patent Document 1 discloses a flexure meshing gear device having a vibrating body that is rotationally driven by a drive shaft. In the flexural meshing gear device, a connecting member called a "cross slide coupling" is assembled to a vibrating body formed on a drive shaft. Even if there is an eccentricity between the drive shaft and the internal gear during assembly (also known as the eccentricity of the drive shaft), the cross-slider coupling can tolerate the eccentricity and prevent degradation in performance and life.
專利文獻1:日本特開昭60-241550號公報 Patent Document 1: Japanese Laid-Open Patent Publication No. 60-241550
然而,專利文獻1中記載的結構中存在需擔心裝置的軸向長度變長之問題。 However, in the structure described in Patent Document 1, there is a problem that the axial length of the device becomes long.
因此,本發明是為解決前述問題而完成的,其課題在 於提供一種即使存在驅動軸的偏芯亦能夠防止性能及壽命的下降,且能夠抑制軸向長度的增加之撓曲嚙合式齒輪裝置。 Therefore, the present invention has been made to solve the aforementioned problems, and the subject matter thereof is Provided is a flexural meshing gear device capable of preventing a decrease in performance and life even if an eccentric core of a drive shaft is present, and capable of suppressing an increase in axial length.
本發明是藉由如下方式來解決前述課題的,一種具有藉由驅動軸被旋轉驅動之起振體之撓曲嚙合式齒輪裝置中,前述驅動軸與前述起振體藉由容許該起振體的軸心向徑向位移之連接構件連結,該起振體與該連接構件軸向相對向,並且該起振體延伸配置於該連接構件的徑向外側。 According to the present invention, in a flexural meshing gear device having a vibrating body that is rotationally driven by a drive shaft, the drive shaft and the vibrating body allow the vibrating body The shaft center is coupled to the radially displaced connecting member, the vibrating body is axially opposed to the connecting member, and the vibrating body is disposed to extend radially outward of the connecting member.
本發明中,驅動軸與起振體藉由連接構件連結,容許起振體的軸心相對於驅動軸向徑向位移。同時,本發明中,起振體延伸配置於連接構件的徑向外側。因此,能夠抑制起振體與驅動軸的連結部的軸向長度的增加。 In the present invention, the drive shaft and the vibrating body are coupled by a connecting member, and the axial center of the vibrating body is allowed to be radially displaced with respect to the driving axial direction. Meanwhile, in the invention, the vibrating body is extended to be disposed radially outward of the connecting member. Therefore, an increase in the axial length of the joint portion between the vibrating body and the drive shaft can be suppressed.
依本發明,即使存在撓曲嚙合式齒輪裝置的驅動軸的偏芯亦能夠防止性能及壽命的下降,且能夠抑制軸向長度的增加。 According to the present invention, even if the eccentric core of the drive shaft of the flexural meshing gear device is present, it is possible to prevent a decrease in performance and life, and it is possible to suppress an increase in the axial length.
100‧‧‧撓曲嚙合式齒輪裝置 100‧‧‧Flexing meshing gear unit
101‧‧‧驅動軸 101‧‧‧ drive shaft
102‧‧‧止動構件 102‧‧‧stop member
103、103A、103B‧‧‧連接構件 103, 103A, 103B‧‧‧ connecting members
104‧‧‧驅動構件 104‧‧‧ drive components
104B、105AB、105BB、106AB、106BB‧‧‧貫穿孔 104B, 105AB, 105BB, 106AB, 106BB‧‧‧through holes
104C‧‧‧鍵槽 104C‧‧‧ keyway
104D、106AC、106BC‧‧‧凹部 104D, 106AC, 106BC‧‧‧ recess
105、105A、105B‧‧‧中間構件 105, 105A, 105B‧‧‧ intermediate components
105AC、105AD、105BC、105BD‧‧‧凸部 105AC, 105AD, 105BC, 105BD‧‧‧ convex
106、106A、106B‧‧‧起振體 106, 106A, 106B‧‧‧ vibrating body
106AA、106BA‧‧‧主體部 106AA, 106BA‧‧‧ Main Body
106AD、106BD‧‧‧延伸部 106AD, 106BD‧‧‧ Extension
110、110A、110B‧‧‧起振體軸承 110, 110A, 110B‧‧‧ starter bearing
112A、112B‧‧‧內環 112A, 112B‧‧ Inner Ring
114A、114B‧‧‧軸承保持架 114A, 114B‧‧‧ bearing cage
116A、116B‧‧‧滾子 116A, 116B‧‧‧ Roller
118A、118B‧‧‧外環 118A, 118B‧‧‧ outer ring
120、120A、120B‧‧‧外齒輪 120, 120A, 120B‧‧‧ external gear
130、130A、130B‧‧‧內齒輪 130, 130A, 130B‧‧‧ internal gear
136‧‧‧固定側構件 136‧‧‧Fixed side members
138‧‧‧輔助外殼 138‧‧‧Auxiliary enclosure
140‧‧‧驅動軸外殼 140‧‧‧Drive shaft housing
142‧‧‧第1固定構件 142‧‧‧1st fixed member
144‧‧‧第2固定構件 144‧‧‧2nd fixed member
146‧‧‧第3固定構件 146‧‧‧3rd fixing member
148、150‧‧‧對接構件 148, 150‧‧‧ docking components
152‧‧‧輸出側構件 152‧‧‧Output side members
154‧‧‧第1輸出構件 154‧‧‧1st output member
156‧‧‧第2輸出構件 156‧‧‧2nd output member
158‧‧‧第3輸出構件 158‧‧‧3rd output member
Br、Mb‧‧‧軸承 Br, Mb‧‧‧ bearing
O‧‧‧軸向 O‧‧‧Axial
Os1、Os2‧‧‧油封 Os1, Os2‧‧‧ oil seal
Pc‧‧‧將距離Rx作為半徑以虛線表示之真圓形狀 Pc‧‧·The distance Rx is taken as the radius of the true circle in dotted lines
X‧‧‧起振體的長軸 X‧‧‧ Long axis of the vibrating body
Y‧‧‧起振體的短軸 Y‧‧‧ short axis of the vibrating body
第1圖係表示包括本發明的實施形態之撓曲嚙合式齒輪裝置之整體結構的一例之剖面圖。 Fig. 1 is a cross-sectional view showing an example of an overall configuration of a flexural meshing gear device according to an embodiment of the present invention.
第2圖係第1圖的撓曲嚙合式齒輪裝置附近的剖面 圖。 Figure 2 is a section near the flexing meshing gear device of Figure 1 Figure.
第3圖係第1圖的起振體和連接構件的分解剖面圖。 Fig. 3 is an exploded cross-sectional view showing the vibrating body and the connecting member of Fig. 1.
第4圖係第3圖的驅動構件的立體圖(A)和剖面圖(B)。 Fig. 4 is a perspective view (A) and a cross-sectional view (B) of the driving member of Fig. 3.
第5圖係第3圖的中間構件的立體圖(A)和剖面圖(B)。 Fig. 5 is a perspective view (A) and a cross-sectional view (B) of the intermediate member of Fig. 3.
第6圖係第3圖的起振體的立體圖(A)和剖面圖(B)。 Fig. 6 is a perspective view (A) and a cross-sectional view (B) of the vibrating body of Fig. 3.
以下,參閱第1圖~第6圖對本發明的實施形態的一例進行詳細說明。 Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6 .
首先,對於本實施形態的整體結構進行概要說明。 First, the overall configuration of this embodiment will be briefly described.
如第1圖所示,撓曲嚙合式齒輪裝置100具有藉由驅動軸101被旋轉驅動之起振體106。並且,撓曲嚙合式齒輪裝置100構成為,被固定側構件136支撐,向輸出側構件152傳遞輸出。 As shown in Fig. 1, the flexural meshing gear device 100 has a vibrating body 106 that is rotationally driven by a drive shaft 101. Further, the flexural meshing gear device 100 is configured to be supported by the fixed side member 136 and to transmit an output to the output side member 152.
如第1圖所示,撓曲嚙合式齒輪裝置100本身具備:起振體106;外齒輪120,係配置於起振體106的外周且具有藉由起振體106的旋轉而撓曲變形之撓性;起振體軸承110,係配置於起振體106與外齒輪120之間;減速用內齒輪(第1內齒輪)130A,係具有外齒輪120內接嚙合之剛性;及輸出用內齒輪(第2內齒輪)130B,係與減速用內齒輪130A在軸向O上並排設置且具有與外齒輪120 內接嚙合之剛性。另外,減速用內齒輪130A和輸出用內齒輪130B統稱為內齒輪130。 As shown in Fig. 1, the flexural meshing gear device 100 itself includes a vibrating body 106, and the outer gear 120 is disposed on the outer periphery of the vibrating body 106 and has a flexural deformation by the rotation of the vibrating body 106. The vibrating body bearing 110 is disposed between the vibrating body 106 and the external gear 120; the decelerating internal gear (first internal gear) 130A has the rigidity of the internal gear 120 meshing engagement; The gear (second internal gear) 130B is disposed side by side with the reduction internal gear 130A in the axial direction O and has an external gear 120 The rigidity of the internal engagement. Further, the reduction internal gear 130A and the output internal gear 130B are collectively referred to as an internal gear 130.
首先,對固定側構件136和輸出側構件152進行說明。 First, the fixed side member 136 and the output side member 152 will be described.
如第1圖所示,前述固定側構件136具有輔助外殼138、驅動軸外殼140、第1固定構件142、第2固定構件144、及第3固定構件146。輔助外殼138為圓筒形狀。輔助外殼138支撐嵌入有驅動軸101之油封Os1,並與驅動軸外殼140連接。驅動軸外殼140為一端側形成為凸緣部140A之圓筒形狀。驅動軸外殼140在其圓筒形狀的內側經由2個軸承Br支撐驅動軸101。在凸緣部140A固定有減速用內齒輪130A。並且,在固定有凸緣部140A的減速用內齒輪130A之位置的徑向外側,固定有第1固定構件142。相反,在固定有凸緣部140A的減速用內齒輪130A之位置的徑向內側,存在圓環形狀的對接構件148。對接構件148以與外齒輪120及起振體軸承110的端面相對向之方式配置於撓曲嚙合式齒輪裝置100與凸緣部140A之間。對接構件148例如由滑動性高的材料成形。 As shown in FIG. 1 , the fixed side member 136 includes an auxiliary casing 138 , a drive shaft casing 140 , a first fixing member 142 , a second fixing member 144 , and a third fixing member 146 . The auxiliary housing 138 has a cylindrical shape. The auxiliary housing 138 supports the oil seal Os1 in which the drive shaft 101 is embedded and is coupled to the drive shaft housing 140. The drive shaft housing 140 has a cylindrical shape in which one end side is formed as a flange portion 140A. The drive shaft housing 140 supports the drive shaft 101 via two bearings Br on the inside of its cylindrical shape. The reduction internal gear 130A is fixed to the flange portion 140A. Further, the first fixing member 142 is fixed to the radially outer side of the position of the decelerating internal gear 130A to which the flange portion 140A is fixed. On the contrary, a ring-shaped abutting member 148 is present on the radially inner side of the position of the decelerating internal gear 130A to which the flange portion 140A is fixed. The abutting member 148 is disposed between the flexural meshing gear device 100 and the flange portion 140A so as to face the end faces of the external gear 120 and the vibrator bearing 110. The docking member 148 is formed of, for example, a material having high slidability.
如第1圖所示,在第1固定構件142固定有第2固定構件144。第1固定構件142和第2固定構件144均為圓環形狀,且配置於輸出側構件152的徑向外側。第1固定構件142在其外周固定於第3固定構件146。第3固定構件146與未圖示之固定壁一體化。 As shown in FIG. 1, the second fixing member 144 is fixed to the first fixing member 142. Each of the first fixing member 142 and the second fixing member 144 has an annular shape and is disposed outside the output side member 152 in the radial direction. The first fixing member 142 is fixed to the third fixing member 146 on the outer circumference thereof. The third fixing member 146 is integrated with a fixing wall (not shown).
如第1圖所示,前述輸出側構件152具有第1輸出構 件154、第2輸出構件156、及第3輸出構件158。第1輸出構件154為圓環形狀,且固定於輸出用內齒輪130B。在固定有第1輸出構件154的輸出用內齒輪130B之部份的徑向內側,存在圓環形狀的對接構件150。對接構件150以與外齒輪120及起振體軸承110的端面相對向之方式配置於撓曲嚙合式齒輪裝置100與第1輸出構件154之間(對接構件150為與對接構件148相同的材質)。另外,在第1輸出構件154與第1固定構件142之間配置有主軸承Mb(交叉滾子環、角接觸球軸承、及圓錐滾子軸承等)。第2輸出構件156為圓板形狀,且固定於第1輸出構件154。在第2輸出構件156與第2固定構件144之間配置有被第2固定構件144支撐之油封Os2。第3輸出構件158亦是圓板形狀,且固定於第2輸出構件156。第3輸出構件158與未圖示之機械裝置連接。 As shown in Fig. 1, the output side member 152 has a first output configuration The member 154, the second output member 156, and the third output member 158. The first output member 154 has an annular shape and is fixed to the output internal gear 130B. A ring-shaped butt joint member 150 is present on a radially inner side of a portion of the output internal gear 130B to which the first output member 154 is fixed. The abutting member 150 is disposed between the flexural meshing gear device 100 and the first output member 154 so as to face the end faces of the external gear 120 and the oscillating body bearing 110 (the butting member 150 is the same material as the abutting member 148) . Further, a main bearing Mb (a cross roller ring, an angular contact ball bearing, a tapered roller bearing, or the like) is disposed between the first output member 154 and the first fixing member 142. The second output member 156 has a disk shape and is fixed to the first output member 154. An oil seal Os2 supported by the second fixing member 144 is disposed between the second output member 156 and the second fixing member 144. The third output member 158 is also in the shape of a disk and is fixed to the second output member 156. The third output member 158 is connected to a mechanical device (not shown).
接著,對驅動軸101、連接構件103、及撓曲嚙合式齒輪裝置100的各構成要件之間的關係進行概要說明。 Next, the relationship between the components of the drive shaft 101, the connecting member 103, and the flexural meshing gear device 100 will be briefly described.
如第1圖、第2圖所示,在撓曲嚙合式齒輪裝置100中,驅動軸101與起振體106藉由容許起振體106的軸心向徑向位移之連接構件103連結。在此,起振體106與連接構件103軸向O相對向,並且起振體106延伸配置於連接構件103的徑向外側。 As shown in FIGS. 1 and 2, in the flexural meshing gear device 100, the drive shaft 101 and the vibrating body 106 are coupled by a connecting member 103 that allows the axial center of the vibrating body 106 to be displaced in the radial direction. Here, the vibrating body 106 is opposed to the connecting member 103 in the axial direction O, and the vibrating body 106 is extended and disposed radially outward of the connecting member 103.
接著,對驅動軸101、連接構件103、及撓曲嚙合式齒輪裝置100的各構成要件進行詳細說明。另外,在本實施形態中,與起振體106的軸向O垂直的截面為大致橢圓 形狀。因此,在本實施形態中,從其軸心至起振體106的外周的距離為最大之位置稱為長軸位置,連結2個長軸位置之直線延伸之方向稱為長軸X方向。同時,在本實施形態中,從軸心至起振體106的外周的距離為最小之位置稱為短軸位置,連結2個短軸位置之直線延伸之方向稱為短軸Y方向。 Next, each constituent element of the drive shaft 101, the connecting member 103, and the flexural meshing gear device 100 will be described in detail. Further, in the present embodiment, the cross section perpendicular to the axial direction O of the vibrating body 106 is substantially elliptical. shape. Therefore, in the present embodiment, the position from the axial center to the outer circumference of the vibrating body 106 is the longest axis position, and the direction in which the straight line connecting the two long axis positions extends is referred to as the long axis X direction. Meanwhile, in the present embodiment, the position at which the distance from the axial center to the outer circumference of the vibrating body 106 is the smallest is referred to as the short-axis position, and the direction in which the straight line connecting the two short-axis positions extends is referred to as the short-axis Y direction.
驅動軸101為從作為驅動源之未圖示之馬達延伸之馬達軸等。如第1圖所示,驅動軸101經由軸承Br被驅動軸外殼140支撐為可旋轉。如第2圖所示,驅動軸101從連接構件103的一端側***,且藉由止動構件102限制向軸向O的移動。 The drive shaft 101 is a motor shaft or the like that extends from a motor (not shown) as a drive source. As shown in Fig. 1, the drive shaft 101 is rotatably supported by the drive shaft housing 140 via a bearing Br. As shown in FIG. 2, the drive shaft 101 is inserted from one end side of the connecting member 103, and the movement in the axial direction O is restricted by the stopper member 102.
連接構件103為十字滑塊聯軸器。亦即,如第1圖~第3圖所示,驅動軸101與起振體106藉由連接構件103以容許起振體106的軸心向徑向位移之方式連結。具體而言,連接構件103具有與驅動軸101一體旋轉之驅動構件104、及中間構件105(105A、105B)。亦即,如第3圖所示,連接構件103具有1個驅動構件104、配置於驅動構件104的軸向O一側之第1中間構件105A、及配置於軸向O另一側之第2中間構件105B。第1中間構件105A和第2中間構件105B為相同的結構。因此,以下,對第1中間構件105A進行說明,而基本省略對第2中間構件105B的說明。 The connecting member 103 is a cross slider coupling. That is, as shown in FIGS. 1 to 3, the drive shaft 101 and the vibrator 106 are coupled to each other by the connection member 103 so as to allow the axial center of the vibrating body 106 to be displaced in the radial direction. Specifically, the connecting member 103 has a driving member 104 that rotates integrally with the drive shaft 101, and an intermediate member 105 (105A, 105B). That is, as shown in Fig. 3, the connecting member 103 has one driving member 104, the first intermediate member 105A disposed on the axial side O of the driving member 104, and the second member disposed on the other side in the axial direction O. Intermediate member 105B. The first intermediate member 105A and the second intermediate member 105B have the same configuration. Therefore, the first intermediate member 105A will be described below, and the description of the second intermediate member 105B will be substantially omitted.
如第3圖、第4圖(A)、(B)所示,驅動構件104為在中心具有貫穿孔104B之圓環形狀(外徑Dd)。貫穿 孔104B設為可***驅動軸101。並且,在貫穿孔104B設有鍵槽104C,且驅動構件104與驅動軸101藉由未圖示之鍵連結,以使驅動構件104與驅動軸101一體旋轉。在驅動構件104的軸向O的兩側面104AA、104AB分別設有2個凹部104D。兩側面104AA、104AB的形狀相同,因此僅對側面104AA進行說明,省略對側面104AB的說明。 As shown in Fig. 3 and Fig. 4 (A) and (B), the drive member 104 has a ring shape (outer diameter Dd) having a through hole 104B at the center. Through The hole 104B is set to be insertable into the drive shaft 101. Further, a key groove 104C is provided in the through hole 104B, and the drive member 104 and the drive shaft 101 are coupled by a key (not shown) to integrally rotate the drive member 104 and the drive shaft 101. Two concave portions 104D are respectively provided on both side faces 104AA and 104AB of the drive member 104 in the axial direction O. Since the shapes of the both side faces 104AA and 104AB are the same, only the side face 104AA will be described, and the description of the side face 104AB will be omitted.
如第4圖(A)、(B)所示,在側面104AA中,設有2個凹部104D的位置為沿驅動構件104的外周之位置,且為相對於驅動構件104的中心彼此偏離180度相位的位置。亦即,2個凹部104D在周方向的中心線在同一條直線上,且與長軸X方向一致。並且,凹部104D的側面104DA分別與長軸X方向平行。另外,符號Ld為在凹部104D的側面104DA之間的距離(凹部104D的寬度)。並且,符號Lg為2個凹部104D之間的距離。 As shown in FIGS. 4(A) and 4(B), in the side surface 104AA, the positions of the two recessed portions 104D are provided along the outer circumference of the driving member 104, and are offset from each other by 180 degrees with respect to the center of the driving member 104. The position of the phase. That is, the center lines of the two concave portions 104D in the circumferential direction are on the same straight line and coincide with the long axis X direction. Further, the side faces 104DA of the recessed portions 104D are respectively parallel to the long axis X direction. Further, the symbol Ld is a distance between the side faces 104DA of the concave portion 104D (the width of the concave portion 104D). Further, the symbol Lg is the distance between the two concave portions 104D.
如第5圖(A)、(B)所示,第1中間構件105A為在中心具有貫穿孔105AB之圓環形狀(外徑Dj)。貫穿孔105AB的大小(直徑Lb)為即使驅動軸101的偏芯為最大且驅動構件104向徑向相對位移,亦不會與驅動軸101接觸之大小。在第1中間構件105A的軸向O兩側面105AAA、105AAB分別設有從第1中間構件105A的徑向內側至徑向外側延伸之2個凸部105AD和2個凸部105AC。 As shown in Fig. 5 (A) and (B), the first intermediate member 105A has a ring shape (outer diameter Dj) having a through hole 105AB at the center. The size (diameter Lb) of the through hole 105AB is such that the eccentricity of the drive shaft 101 is the largest and the drive member 104 is relatively displaced in the radial direction, and does not come into contact with the drive shaft 101. In the axial direction O of both sides 105AAA and 105AAB of the first intermediate member 105A, two convex portions 105AD and two convex portions 105AC extending from the radially inner side to the radially outer side of the first intermediate member 105A are provided.
如第5圖(A)、(B)所示,在一側面105AAA 中,設有2個凸部105AD的位置為相對於第1中間構件105A的中心彼此偏離180度相位的位置。亦即,2個凸部105AD在周方向的中心線在同一條直線上,且與短軸Y方向一致(因此,貫穿孔105AB的直徑Lb為2個凸部105AD之間的距離,且外徑Dj為2個凸部105AD的外周面105ADB之間的距離)。並且,凸部105AD的側面105ADA分別設為與短軸Y方向平行。另外,符號Ljx為在凸部105AD的側面105ADA之間的距離(凸部105AD的寬度)。 As shown in Figure 5 (A), (B), on one side 105AAA The position where the two convex portions 105AD are provided is a position shifted by 180 degrees from the center of the first intermediate member 105A. That is, the center line of the two convex portions 105AD in the circumferential direction is on the same straight line and coincides with the direction of the minor axis Y (thus, the diameter Lb of the through hole 105AB is the distance between the two convex portions 105AD, and the outer diameter Dj is the distance between the outer peripheral faces 105ADB of the two convex portions 105AD). Further, the side faces 105ADA of the convex portions 105AD are respectively set to be parallel to the short axis Y direction. Further, the symbol Ljx is a distance between the side faces 105ADA of the convex portions 105AD (the width of the convex portions 105AD).
如第5圖(A)、(B)所示,在另一側面105AAB中,設有2個凸部105AC的位置亦為相對於第1中間構件105A的中心彼此偏離180度相位的位置。亦即,2個凸部105AC在周方向的中心線在同一條直線上,且與長軸X方向一致(因此,貫穿孔105AB的直徑Lb為2個凸部105AC之間的距離,且外徑Dj為2個凸部105AC的外周面105ACB之間的距離)。並且,凸部105AC的側面105ACA分別設為與長軸X方向平行。另外,符號Ljy為在凸部105AC的側面105ACA之間的距離(凸部105AC的寬度)。 As shown in Fig. 5 (A) and (B), in the other side surface 105AAB, the position where the two convex portions 105AC are provided is also a position shifted by 180 degrees from the center of the first intermediate member 105A. That is, the center line of the two convex portions 105AC in the circumferential direction is on the same straight line and coincides with the long axis X direction (hence, the diameter Lb of the through hole 105AB is the distance between the two convex portions 105AC, and the outer diameter Dj is the distance between the outer peripheral faces 105ACB of the two convex portions 105AC). Further, the side faces 105ACA of the convex portions 105AC are respectively parallel to the long axis X direction. Further, the symbol Ljy is a distance between the side faces 105ACA of the convex portions 105AC (the width of the convex portions 105AC).
在此,凸部105AC和凸部105AD為相同形狀,凸部105AC的寬度Ljy和凸部105AD的寬度Ljx相同(Ljy=Ljx)。亦即,側面105AAA和側面105AAB雖然相位偏離90度,但形狀相同。並且,凸部105AC的軸向O高度比凹部104D的軸向O深度稍微小。並且,凸部 105AC的寬度Ljy比凹部104D的寬度Ld稍微窄(Ljy<Ld)。並且,外徑Dj和外徑Dd基本相同(Dj≒Dd)。並且,2個凸部105AC之間的距離Lb比2個凹部104D之間的距離Lg相應地大(Lb>Lg+α、α>0)。 Here, the convex portion 105AC and the convex portion 105AD have the same shape, and the width Ljy of the convex portion 105AC and the width Ljx of the convex portion 105AD are the same (Ljy=Ljx). That is, the side surface 105AAA and the side surface 105AAB have the same shape although the phase is shifted by 90 degrees. Further, the height of the axial direction O of the convex portion 105AC is slightly smaller than the depth of the axial direction O of the concave portion 104D. And the convex part The width Ljy of 105AC is slightly narrower than the width Ld of the recess 104D (Ljy < Ld). Also, the outer diameter Dj and the outer diameter Dd are substantially the same (Dj ≒ Dd). Further, the distance Lb between the two convex portions 105AC is larger than the distance Lg between the two concave portions 104D (Lb>Lg+α, α>0).
因此,2個凸部105AC分別設為可嵌合於2個凹部104D。此時,藉由配置2個凸部105AC(配置2個凹部104D),可限制第1中間構件105A相對於驅動構件104向短軸Y方向的相對移動。然而,能夠容許第1中間構件105A相對於驅動構件104向長軸X方向的相對移動(例如1mm以下)。亦即,驅動構件104與第1中間構件105A軸向O相對向,且連結為能夠向徑向的一個方向(長軸X方向)相對位移。如此,藉由2個凸部105AC與2個凹部104D嵌合,使驅動構件104與第1中間構件105A連結為可一體旋轉。另外,驅動構件104和第2中間構件105B亦是以相同之方式連結。並且,凸部105AC、105BC和凹部104D的形狀沒有特別限定,只要是驅動構件104與中間構件105(105A、105B)能夠向徑向相對位移,且連結為可一體旋轉之形狀即可。 Therefore, the two convex portions 105AC are respectively engageable in the two concave portions 104D. At this time, by arranging the two convex portions 105AC (disposing the two concave portions 104D), the relative movement of the first intermediate member 105A with respect to the driving member 104 in the short-axis Y direction can be restricted. However, the relative movement of the first intermediate member 105A with respect to the drive member 104 in the long axis X direction (for example, 1 mm or less) can be allowed. In other words, the drive member 104 is opposed to the first intermediate member 105A in the axial direction O, and is coupled so as to be relatively displaceable in one direction (long axis X direction) in the radial direction. In this manner, the two convex portions 105AC are fitted into the two concave portions 104D, and the driving member 104 and the first intermediate member 105A are coupled to be integrally rotatable. Further, the drive member 104 and the second intermediate member 105B are also connected in the same manner. Further, the shape of the convex portions 105AC and 105BC and the concave portion 104D is not particularly limited as long as the driving member 104 and the intermediate member 105 (105A, 105B) are relatively displaceable in the radial direction and connected to each other so as to be rotatable integrally.
如第2圖、第3圖所示、起振體106具有與第1中間構件105A連結之第1起振體106A、及與第2中間構件105B連結之第2起振體106B。第1起振體106A、第2起振體106B分別與減速用內齒輪130A、輸出用內齒輪130B的徑向內側對應配置。第1起振體106A和第2起振 體106B均為相同的結構。因此,以下,對第1起振體106A進行說明,而基本省略對第2起振體106B的說明。 As shown in FIGS. 2 and 3, the vibrating body 106 has a first vibrating body 106A coupled to the first intermediate member 105A and a second vibrating body 106B coupled to the second intermediate member 105B. The first vibrating body 106A and the second vibrating body 106B are disposed corresponding to the radially inner side of the decelerating internal gear 130A and the output internal gear 130B, respectively. The first vibrating body 106A and the second oscillating body The bodies 106B are all of the same structure. Therefore, the first vibrating body 106A will be described below, and the description of the second vibrating body 106B will be basically omitted.
如第6圖(A)、(B)所示,第1起振體106A為非圓形的圓筒形狀。具體而言,第1起振體106A具有主體部106AA和延伸部106AD。 As shown in Fig. 6 (A) and (B), the first vibrating body 106A has a cylindrical shape that is not circular. Specifically, the first vibrating body 106A has a main body portion 106AA and an extending portion 106AD.
如第6圖(A)、(B)所示,主體部106AA在中心具有貫穿孔106AB。貫穿孔106AB的大小(直徑Lp)為即使驅動軸101的偏芯為最大且驅動構件104與第1中間構件105A向徑向相對位移,亦不會與驅動軸101接觸之大小。從軸向O觀察之主體部106AA的外形與從軸向O觀察之第1起振體106A的外形相同。亦即,如第6圖(B)所示,從短軸Y方向上之軸心至主體部106AA的外周的距離Ry比從長軸X方向上之軸心至主體部106AA的外周的距離Rx短(Ry<Rx)。亦即,在短軸Y位置,藉由外齒輪120與減速用內齒輪130A之間產生間隙,從而實現非嚙合狀態。另一方面,在長軸X位置的附近,實現外齒輪120與減速用內齒輪130A的嚙合狀態(另外,符號Pc表示將距離Rx作為半徑以虛線表示之真圓形狀)。 As shown in Fig. 6 (A) and (B), the main body portion 106AA has a through hole 106AB at the center. The size (diameter Lp) of the through hole 106AB is such that the eccentricity of the drive shaft 101 is maximum and the drive member 104 and the first intermediate member 105A are relatively displaced in the radial direction, and are not in contact with the drive shaft 101. The outer shape of the main body portion 106AA viewed from the axial direction O is the same as the outer shape of the first oscillating body 106A viewed from the axial direction O. That is, as shown in Fig. 6(B), the distance Ry from the axial center in the short-axis Y direction to the outer circumference of the main body portion 106AA is larger than the distance Rx from the axial center in the long-axis X direction to the outer circumference of the main body portion 106AA. Short (Ry<Rx). That is, at the short-axis Y position, a gap is generated between the external gear 120 and the internal gear 130A for deceleration, thereby achieving a non-engaged state. On the other hand, in the vicinity of the position of the long axis X, the meshing state of the external gear 120 and the internal gear 130A for deceleration is realized (in addition, the symbol Pc represents a true circular shape in which the distance Rx is indicated by a broken line as a radius).
並且,如第6圖(A)、(B)所示,在主體部106AA的軸向O的延伸部106AD延伸之一側的側面106AAA設有從主體部106AA的徑向內側延伸至徑向外側的延伸部106AD的內周之2個凹部106AC。設有2個凹部106AC的位置為相對於主體部106AA的中心彼此偏離180度相位的位置。亦即,2個凹部106AC在周方向的中 心線在同一條直線上,並且與短軸Y方向一致(因此,貫穿孔106AB的直徑Lp成為2個凹部106AC之間的距離,並且延伸部106AD的內徑Dw成為2個凹部106AC的外側內周面106ACB之間的距離)。並且,凹部106AC的側面106ACA分別與短軸Y方向平行。另外,符號Lw為凹部106AC之側面106ACA之間的距離(凹部106AC的寬度)。 Further, as shown in Fig. 6 (A) and (B), the side surface 106AAA on the side where the extending portion 106AD of the main body portion 106AA in the axial direction O extends is provided from the radially inner side to the radially outer side of the main body portion 106AA. Two recesses 106AC on the inner circumference of the extension portion 106AD. The position where the two recesses 106AC are provided is a position deviated from the center of the main body portion 106AA by 180 degrees from each other. That is, the two recesses 106AC are in the circumferential direction The core lines are on the same straight line and coincide with the short axis Y direction (thus, the diameter Lp of the through hole 106AB becomes the distance between the two concave portions 106AC, and the inner diameter Dw of the extending portion 106AD becomes the outer side of the two concave portions 106AC The distance between the circumferential faces 106ACB). Further, the side faces 106ACA of the recessed portions 106AC are respectively parallel to the short axis Y direction. Further, the symbol Lw is the distance between the side faces 106ACA of the concave portion 106AC (the width of the concave portion 106AC).
如第3圖、第6圖(A)、(B)所示,延伸部106AD為從主體部106AA沿軸向O延伸之圓筒形狀的部份。延伸部106AD的內徑Dw比驅動構件104的外徑Dd及第1中間構件105A的外徑Dj相應地大(Dw>Dd(Dj)+β、β>0)。亦即,內徑Dw為驅動軸101的偏心為最大且徑向位移之驅動構件104和第1中間構件105A不會接觸之大小。延伸部106AD延伸配置於第1中間構件105A及驅動構件104的徑向外側。具體而言,延伸部106AD設為覆蓋第1中間構件105A及驅動構件104的一部份(驅動構件104的軸向O長度的大致一半)的外周。另外,由於內徑Dw為固定,因此延伸部106AD的短軸Y位置之徑向厚度Ty比長軸X位置之徑向厚度Tx薄(Ty<Tx)。 As shown in FIGS. 3 and 6 (A) and (B), the extending portion 106AD is a cylindrical portion extending from the main body portion 106AA in the axial direction O. The inner diameter Dw of the extending portion 106AD is larger than the outer diameter Dd of the driving member 104 and the outer diameter Dj of the first intermediate member 105A (Dw>Dd(Dj)+β, β>0). That is, the inner diameter Dw is a size in which the eccentricity of the drive shaft 101 is the largest and the radial displacement of the drive member 104 and the first intermediate member 105A are not in contact. The extending portion 106AD is disposed to extend outward in the radial direction of the first intermediate member 105A and the driving member 104. Specifically, the extending portion 106AD is an outer circumference that covers a part of the first intermediate member 105A and the driving member 104 (approximately half of the axial length O of the driving member 104). Further, since the inner diameter Dw is fixed, the radial thickness Ty of the short-axis Y position of the extending portion 106AD is thinner than the radial thickness Tx of the long-axis X position (Ty<Tx).
在此,凸部105AD(凸部105AC)的軸向O高度比凹部106AC的軸向O深度稍微小。並且,凸部105AD的寬度Ljx比凹部106AC的寬度Lw稍微窄(Ljx<Lw)。並且,如上述,內徑Dw比外徑Dj、外徑Dd相應地大 (Dw>Dd(Dj)+β、β>0)。亦即,2個凸部105AD的外周面105ADB之間的距離Dj(第5圖(A)、(B))比2個凹部106AC的外側內周面106ACB之間的距離Dw相應地小。 Here, the height of the axial direction O of the convex portion 105AD (the convex portion 105AC) is slightly smaller than the depth of the axial direction O of the concave portion 106AC. Further, the width Ljx of the convex portion 105AD is slightly narrower than the width Lw of the concave portion 106AC (Ljx < Lw). Further, as described above, the inner diameter Dw is correspondingly larger than the outer diameter Dj and the outer diameter Dd. (Dw>Dd(Dj)+β, β>0). In other words, the distance Dj between the outer circumferential surfaces 105ADB of the two convex portions 105AD (Fig. 5 (A), (B)) is smaller than the distance Dw between the outer circumferential surfaces 106ACB of the two concave portions 106AC.
因此,2個凸部105AD能夠分別嵌合於2個凹部106AC。此時,藉由配置2個凸部105AD(配置2個凹部106AC),可限制第1中間構件105A相對於第1起振體106A向長軸X方向的相對移動。然而,能夠容許第1中間構件105A相對於第1起振體106A向短軸Y方向的相對移動(例如1mm以下)。亦即,第1起振體106A為在短軸Y位置具有與第1中間構件105A嵌合之凹部106AC之結構。並且,第1起振體106A與第1中間構件105A連結為軸向O相對向,並且能夠向與長軸X方向正交之方向(短軸Y方向)相對位移。 Therefore, the two convex portions 105AD can be fitted to the two concave portions 106AC, respectively. At this time, by arranging the two convex portions 105AD (two concave portions 106AC are disposed), the relative movement of the first intermediate member 105A with respect to the first vibrating body 106A in the long axis X direction can be restricted. However, the relative movement of the first intermediate member 105A with respect to the first vibrating body 106A in the short-axis Y direction (for example, 1 mm or less) can be allowed. In other words, the first vibrating body 106A has a configuration in which the concave portion 106AC fitted to the first intermediate member 105A is provided at the short-axis Y position. Further, the first vibrating body 106A and the first intermediate member 105A are coupled to each other in the axial direction O, and are relatively displaceable in a direction orthogonal to the long axis X direction (short axis Y direction).
另外,2個凸部105AD的外周面105ADB之間的距離Dj比2個凹部106AC之間的距離Lp與1個凹部106AC的徑向長度((Dw-Lp)/2)之和大(Dj>(Dw+Lp)/2)。因此,即使第1中間構件105A相對於第1起振體106A以最大限度向徑向相對位移,亦必需構成為2個凸部105AD分別與2個凹部106AC嵌合,且任一的凸部105AD亦不會從所對應之凹部106AC偏離。 Further, the distance Dj between the outer peripheral faces 105ADB of the two convex portions 105AD is larger than the sum of the distance Lp between the two concave portions 106AC and the radial length of one concave portion 106AC ((Dw-Lp)/2) (Dj> (Dw+Lp)/2). Therefore, even if the first intermediate member 105A is relatively displaced in the radial direction with respect to the first vibrating body 106A, it is necessary to configure the two convex portions 105AD to be fitted to the two concave portions 106AC, respectively, and any one of the convex portions 105AD Nor will it deviate from the corresponding recess 106AC.
如此,藉由2個凸部105AD與2個凹部106AC的嵌合,使第1起振體106A與第1中間構件105A連結為可一體旋轉。另外,第2起振體106B與第2中間構件105B 亦是以相同之方式連結。並且,凸部105AD、105BD和凹部106AC、106BC的形狀沒有特別限定,只要是起振體106(106A、106B)與中間構件105(105A、105B)能夠向徑向相對位移,且連結為可一體旋轉之形狀即可。 In this manner, the first vibrating body 106A and the first intermediate member 105A are coupled to each other so as to be rotatable together by the fitting of the two convex portions 105AD and the two concave portions 106AC. In addition, the second vibrating body 106B and the second intermediate member 105B It is also linked in the same way. Further, the shapes of the convex portions 105AD and 105BD and the concave portions 106AC and 106BC are not particularly limited as long as the vibrating body 106 (106A, 106B) and the intermediate member 105 (105A, 105B) are relatively displaceable in the radial direction, and are connected as one body. Rotate the shape.
另外,第2起振體106B亦是與第1起振體106A相同的形狀。因此,起振體106構成為覆蓋連接構件103的軸向O全長。 Further, the second vibrating body 106B has the same shape as the first vibrating body 106A. Therefore, the vibrating body 106 is configured to cover the entire length of the connecting member 103 in the axial direction O.
如第2圖所示,起振體軸承110(110A、110B)與減速用內齒輪130A和輸出用內齒輪130B對應,且在軸向O上並排配置2個。起振體軸承110A、起振體軸承110B均為相同的結構。因此,以下對起振體軸承110A進行說明,而基本省略對起振體軸承110B的說明。 As shown in Fig. 2, the vibrating body bearings 110 (110A, 110B) correspond to the decelerating internal gear 130A and the output internal gear 130B, and are arranged side by side in the axial direction O. Both the vibrating body bearing 110A and the vibrating body bearing 110B have the same structure. Therefore, the vibrating body bearing 110A will be described below, and the description of the vibrating body bearing 110B will be substantially omitted.
如第2圖所示,起振體110A由內環112A、軸承保持架114A、作為滾動體的滾子116A、及外環118A構成。 As shown in Fig. 2, the vibrating body 110A is composed of an inner ring 112A, a bearing holder 114A, a roller 116A as a rolling element, and an outer ring 118A.
內環112A由撓性的材料形成。內環112A配置於第1起振體106A側。並且,內環112A的內周面與第1起振體106A抵接,內環112A與第1起振體106A一體旋轉。軸承保持架114A收容滾子116A,並限制滾子116A在周方向的位置及姿勢。亦即,軸承保持架114A的軸向O長度L2比滾子116A的軸向O長度L2大(L2>L1)。滾子116A為圓柱形狀(包括滾針形狀)。外環118A配置於滾子116A及軸承保持架114A的外周。外環118A亦由撓性的材料形成。外環118A藉由起振體106的旋轉與配置於其外周之外齒輪120一同撓曲變形。另外,如第2圖所 示,在軸向O上,內環112A和軸承保持架114A及外環118A的軸向O外側的端部的位置幾乎一致。但是,內環112A和軸承保持架114A及外環118A的軸向O外側的端部位置比第1起振體106A的軸向O外側的端部位置稍微靠內側。 Inner ring 112A is formed from a flexible material. The inner ring 112A is disposed on the side of the first vibrating body 106A. Further, the inner circumferential surface of the inner ring 112A abuts against the first vibrating body 106A, and the inner ring 112A rotates integrally with the first vibrating body 106A. The bearing holder 114A accommodates the roller 116A and limits the position and posture of the roller 116A in the circumferential direction. That is, the axial length L2 of the bearing holder 114A is larger than the axial length L2 of the roller 116A (L2>L1). The roller 116A has a cylindrical shape (including a needle shape). The outer ring 118A is disposed on the outer circumference of the roller 116A and the bearing holder 114A. Outer ring 118A is also formed from a flexible material. The outer ring 118A is flexibly deformed together with the gear 120 disposed outside the outer circumference thereof by the rotation of the vibrating body 106. In addition, as shown in Figure 2 It is shown that in the axial direction O, the positions of the inner ring 112A and the ends of the outer side of the axial direction O of the bearing holder 114A and the outer ring 118A are almost identical. However, the end position of the inner ring 112A, the bearing holder 114A and the outer ring 118A on the outer side in the axial direction O is slightly inside than the end position on the outer side in the axial direction O of the first vibrating body 106A.
另外,如第2圖所示,起振體軸承110A中,第1起振體106A的外周的軸向O長度L比滾子116A的軸向O長度L1長(L1<L)。在此,起振體軸承110A中實際傳遞轉矩的是滾子116A。因此,可以說第1起振體106A的外周的軸向O長度L比實際配置於第1起振體106A的外周之起振體軸承110A的軸向O長度L2長。並且,如第2圖所示,軸承保持架114A與對接構件148之間的間隙γ1比從滾子116A的外側端部至軸承保持架114A的外側端部的距離γ2窄(γ1<γ2)。因此,即使滾子116A向軸向O外側移動,滾子116A的移動亦僅是間隙γ1。亦即,即使滾子116A向軸向O外側移動時,滾子116A的軸向O長度全部停留在第1起振體106A的外周的軸向O長度L內。 Further, as shown in Fig. 2, in the vibrator bearing 110A, the axial length O of the outer circumference of the first vibrating body 106A is longer than the axial length O1 of the roller 116A (L1 < L). Here, the actual transmission torque in the vibrating body bearing 110A is the roller 116A. Therefore, it can be said that the axial length O of the outer circumference of the first vibrating body 106A is longer than the axial length O2 of the vibrating body bearing 110A that is actually disposed on the outer circumference of the first vibrating body 106A. Further, as shown in Fig. 2, the gap γ1 between the bearing holder 114A and the abutting member 148 is narrower than the distance γ2 from the outer end portion of the roller 116A to the outer end portion of the bearing holder 114A (γ1 < γ2). Therefore, even if the roller 116A moves outward in the axial direction O, the movement of the roller 116A is only the gap γ1. That is, even when the roller 116A moves outward in the axial direction O, the axial length O of the roller 116A stays in the axial length L of the outer circumference of the first vibrating body 106A.
如第2圖所示,外齒輪120由與減速用內齒輪130A及輸出用內齒輪130B對應且並排設置於軸向O之外齒輪120A、120B構成。外齒輪120A與減速用內齒輪130A內接嚙合。外齒輪120A由未圖示之基構件及外齒構成。基構件為具有支撐外齒之撓性之筒狀構件,且與外齒輪120B的基構件共用。並且,外齒輪120A配置於起振體軸 承110A的外周,並藉由第1起振體106A的旋轉而撓曲變形。外齒輪依據次擺線曲線來決定齒形,以實現理論嚙合。 As shown in FIG. 2, the external gear 120 is constituted by gears 120A and 120B which are provided in parallel with the reduction internal gear 130A and the output internal gear 130B and which are arranged side by side in the axial direction O. The outer gear 120A is in meshing engagement with the internal gear 130A for reduction. The external gear 120A is composed of a base member and external teeth (not shown). The base member is a cylindrical member having flexibility to support the external teeth, and is shared with the base member of the external gear 120B. Further, the external gear 120A is disposed on the oscillating body shaft The outer circumference of the bearing 110A is flexibly deformed by the rotation of the first vibrating body 106A. The external gear determines the tooth profile based on the trochoidal curve to achieve theoretical engagement.
如第2圖所示,外齒輪120B與輸出用內齒輪130B內接嚙合。並且,外齒輪120B與外齒輪120A同樣地由基構件及外齒構成。外齒輪120B的外齒雖然在軸向O上與外齒輪120A的外齒分離,但由相同的個數、相同的形狀構成。 As shown in Fig. 2, the external gear 120B is in meshing engagement with the output internal gear 130B. Further, the external gear 120B is composed of a base member and external teeth similarly to the external gear 120A. Although the external teeth of the external gear 120B are separated from the external teeth of the external gear 120A in the axial direction O, they are composed of the same number and the same shape.
如第2圖所示,構成內齒輪130之減速用內齒輪130A、輸出用內齒輪130B並排設置於軸向O。內齒輪130由具有剛性之構件形成。減速用內齒輪130A具備比外齒輪120A的外齒的齒數多i(i為2以上)的內齒。內齒以與依據次擺線曲線之外齒理論嚙合之方式成形(輸出用內齒輪130B的內齒亦相同)。減速用內齒輪130A藉由與外齒輪120A嚙合來對起振體106的旋轉進行減速。 As shown in FIG. 2, the reduction internal gear 130A and the output internal gear 130B constituting the internal gear 130 are arranged side by side in the axial direction O. The internal gear 130 is formed of a member having rigidity. The reduction internal gear 130A includes internal teeth that are larger than the number of teeth of the external gear of the external gear 120A (i is 2 or more). The internal teeth are shaped in such a manner as to mesh with the teeth based on the trochoidal curve (the internal teeth of the output internal gear 130B are also the same). The reduction internal gear 130A decelerates the rotation of the vibrating body 106 by meshing with the external gear 120A.
另一方面,輸出用內齒輪130B具備與外齒輪120B的外齒的齒數相同的齒數的內齒。從輸出用內齒輪130B向外部輸出與外齒輪120B的自轉相同的旋轉。 On the other hand, the output internal gear 130B includes internal teeth having the same number of teeth as the external teeth of the external gear 120B. The same rotation as the rotation of the external gear 120B is outputted from the output internal gear 130B to the outside.
另外,在撓曲嚙合式齒輪裝置100中封入有潤滑劑。並且,其潤滑劑對外齒輪120與內齒輪130的嚙合部份等進行潤滑。 Further, a lubricant is sealed in the flexural meshing gear device 100. Further, the lubricant lubricates the meshing portion of the external gear 120 and the internal gear 130, and the like.
接著,主要利用第1圖、第2圖對撓曲嚙合式齒輪裝置100的動作進行說明。 Next, the operation of the flexural meshing type gear device 100 will be mainly described with reference to FIGS. 1 and 2 .
藉由驅動軸101的旋轉,若起振體106旋轉,則外齒 輪120A藉由其旋轉狀態,經由起振體軸承110A撓曲變形。此時,外齒輪120B亦經由起振體軸承110B,與外齒輪120A同相位撓曲變形。 By the rotation of the drive shaft 101, if the vibrating body 106 rotates, the external teeth The wheel 120A is flexibly deformed via the vibrating body bearing 110A by its rotation state. At this time, the external gear 120B is also flexibly deformed in the same phase as the external gear 120A via the oscillating body bearing 110B.
外齒輪120A、120B因起振體106而撓曲變形,從而外齒輪120A的外齒與減速用內齒輪130A的內齒嚙合。同樣地,外齒輪120B的外齒與輸出用內齒輪130B的內齒嚙合。 The external gears 120A and 120B are flexibly deformed by the vibrating body 106, and the external teeth of the external gear 120A mesh with the internal teeth of the internal gear 130A for deceleration. Similarly, the external teeth of the external gear 120B mesh with the internal teeth of the output internal gear 130B.
外齒輪120A與減速用內齒輪130A的嚙合位置隨著起振體106的長軸X位置的移動而旋轉移動。在此,若起振體106旋轉1圈,則外齒輪120A的旋轉相位僅延遲與減速用內齒輪130A的齒數差。亦即,能夠以((外齒輪120A的齒數-減速用內齒輪130A的齒數)/外齒輪120A的齒數)之方式求出基於減速用內齒輪130A之減速比。具體數值的減速比為((100-102)/100=-1/50)。在此,“-”表示輸入輸出為反向旋轉的關係。 The meshing position of the outer gear 120A and the reduction internal gear 130A is rotationally moved in accordance with the movement of the position of the long axis X of the vibrating body 106. Here, when the vibrating body 106 rotates once, the rotational phase of the external gear 120A is delayed only by the difference in the number of teeth from the internal gear 130A for deceleration. In other words, the reduction ratio based on the reduction internal gear 130A can be obtained ((the number of teeth of the external gear 120A - the number of teeth of the reduction internal gear 130A) / the number of teeth of the external gear 120A). The specific numerical reduction ratio is ((100-102)/100=-1/50). Here, "-" means that the input and output are in a reverse rotation relationship.
外齒輪120B與輸出用內齒輪130B的齒數均相同,因此外齒輪120B與輸出用內齒輪130B彼此嚙合之部份不移動,而是相同的齒彼此嚙合。因此,從輸出用內齒輪130B輸出與外齒輪120B的自轉相同的旋轉。其結果,能夠從輸出用內齒輪130B取出將起振體106的旋轉減速至(-1/50)之輸出。亦即,驅動軸101的旋轉減速至(-1/50),能夠藉由輸出側構件152取出其輸出。 The number of teeth of the outer gear 120B and the output inner gear 130B are the same, and therefore the portions where the outer gear 120B and the output inner gear 130B mesh with each other do not move, but the same teeth mesh with each other. Therefore, the same rotation as the rotation of the external gear 120B is output from the output internal gear 130B. As a result, it is possible to take out the output of the output internal gear 130B and decelerate the rotation of the vibrating body 106 to (-1/50). That is, the rotation of the drive shaft 101 is decelerated to (-1/50), and the output can be taken out by the output side member 152.
另外,驅動軸101從減速用內齒輪130A(輸出用內齒輪130B)的軸心向短軸Y方向僅偏離規定的量時,相 對於驅動構件104和第1中間構件105A(第2中間構件105B),第1起振體106A(第2起振體106B)向短軸Y方向僅位移該規定的量。驅動軸101從減速用內齒輪130A(輸出用內齒輪130B)的軸心向長軸X方向僅偏離規定的量時,相對於驅動構件104,第1中間構件105A(第2中間構件105B)和第1起振體106A(第2起振體106B)成為一體且向長軸X方向僅位移該規定的量。由此,連接構件103能夠單獨容許第1起振體106A、第2起振體106B各自的軸心向徑向位移。 Further, when the drive shaft 101 is shifted from the axial center of the reduction internal gear 130A (the output internal gear 130B) by a predetermined amount in the short-axis Y direction, the phase In the drive member 104 and the first intermediate member 105A (second intermediate member 105B), the first vibrator 106A (second vibrating body 106B) is displaced by only a predetermined amount in the short-axis Y direction. When the drive shaft 101 is shifted by a predetermined amount from the axial center of the reduction internal gear 130A (the output internal gear 130B) in the long axis X direction, the first intermediate member 105A (the second intermediate member 105B) and the drive member 104 are The first vibrating body 106A (the second vibrating body 106B) is integrated and is displaced by only a predetermined amount in the long axis X direction. Thereby, the connecting member 103 can individually allow the axial center of each of the first vibrating body 106A and the second vibrating body 106B to be displaced in the radial direction.
如此,本實施形態中,驅動軸101與起振體106藉由連接構件103連結。因此,能夠容許起振體106的軸心相對於驅動軸101向徑向變化。並且,起振體106與連接構件103軸向O相對向,且起振體106延伸配置於連接構件103的徑向外側。在此,在起振體106的外周配置有起振體軸承110和外齒輪120。因此,起振體106的外周需要與軸向O相應的長度。在本實施形態中,其起振體106的外周的一部份(延伸部106AD、106BD)配置於連接構件103的徑向外側。因此,能夠確保起振體106的外周所需的軸向O長度,並且能夠抑制起振體106和連接構件103的整個連結結構的軸向O長度的增加。同時,在本實施形態中,藉由起振體106的延伸部106AD、106BD能夠提高起振體106的剛性,且還能夠減少主體部106AA、106BA的軸向O厚度Lo(第3圖)。 As described above, in the present embodiment, the drive shaft 101 and the vibrating body 106 are coupled by the connecting member 103. Therefore, the axial center of the vibrating body 106 can be allowed to change in the radial direction with respect to the drive shaft 101. Further, the vibrating body 106 faces the connecting member 103 in the axial direction O, and the vibrating body 106 extends and is disposed radially outward of the connecting member 103. Here, the vibrating body bearing 110 and the external gear 120 are disposed on the outer circumference of the vibrating body 106. Therefore, the outer circumference of the vibrating body 106 needs a length corresponding to the axial direction O. In the present embodiment, a part (extension portions 106AD, 106BD) of the outer circumference of the vibrating body 106 is disposed radially outward of the connecting member 103. Therefore, the axial length O required for the outer circumference of the vibrating body 106 can be ensured, and an increase in the axial length O of the entire joint structure of the vibrating body 106 and the connecting member 103 can be suppressed. At the same time, in the present embodiment, the rigidity of the vibrating body 106 can be increased by the extending portions 106AD and 106BD of the vibrating body 106, and the axial thickness O of the main body portions 106AA and 106BA can be reduced (Fig. 3).
並且,本實施形態中,連接構件103具有驅動構件 104和中間構件105。並且,驅動構件104與中間構件105連結為能夠向徑向的一個方向(長軸X方向)相對位移。並且,中間構件105和起振體106連結為能夠向與長軸X方向正交之方向(短軸Y方向)相對位移。並且,起振體106與中間構件105軸向O相對向,並且該起振體延伸配置於中間構件105的徑向外側。亦即,連接構件103能夠簡化且以較少之組件個數構成,並能夠可靠地容許驅動軸101與減速用內齒輪130A及輸出用內齒輪130B的偏心。另外,並不限定於此,連接構件亦可以使用不具備驅動構件及中間構件之例如板簧和線圈彈簧來構成。 Further, in the present embodiment, the connecting member 103 has a driving member 104 and intermediate member 105. Further, the drive member 104 and the intermediate member 105 are coupled so as to be relatively displaceable in one direction (long axis X direction) in the radial direction. Further, the intermediate member 105 and the vibrator 106 are coupled so as to be relatively displaceable in a direction orthogonal to the long axis X direction (short axis Y direction). Further, the vibrating body 106 is opposed to the intermediate member 105 in the axial direction O, and the vibrating body is disposed to extend radially outward of the intermediate member 105. That is, the connecting member 103 can be simplified and configured with a small number of components, and can reliably allow the eccentricity of the drive shaft 101 and the internal gear 130A for deceleration and the internal gear 130B for output. Further, the present invention is not limited thereto, and the connecting member may be configured using, for example, a leaf spring and a coil spring that do not include the driving member and the intermediate member.
並且,本實施形態中,驅動構件104與中間構件105軸向O相對向,起振體106延伸配置至驅動構件104的徑向外側。因此,利用驅動構件104的軸向O厚度,能夠在起振體106的外周配置起振體軸承110。亦即,能夠縮短撓曲嚙合式齒輪裝置100的軸向O長度,並且起振體106能夠穩定地承受來自起振體軸承110的荷載。同時,能夠縮小第1起振體106A、第2起振體106B之間在軸向O上產生之間隙,因此還能夠彼此限制第1起振體106A、第2起振體106B向軸向O位移。另外,並不限定於此,驅動構件與中間構件亦可以不在軸向O相對向,起振體亦可以不延伸配置至驅動構件的徑向外側。 Further, in the present embodiment, the drive member 104 faces the intermediate member 105 in the axial direction O, and the vibrator 106 extends to the radially outer side of the drive member 104. Therefore, the vibrating body bearing 110 can be disposed on the outer circumference of the vibrating body 106 by the thickness of the axial direction O of the driving member 104. That is, the axial length O of the flexural meshing gear device 100 can be shortened, and the vibrating body 106 can stably withstand the load from the vibrating body bearing 110. At the same time, since the gap between the first vibrating body 106A and the second vibrating body 106B in the axial direction O can be reduced, the first vibrating body 106A and the second vibrating body 106B can be restricted from each other in the axial direction. Displacement. Further, the present invention is not limited thereto, and the driving member and the intermediate member may not face each other in the axial direction O, and the vibrating body may not be extended to the radially outer side of the driving member.
並且,本實施形態中具備減速用內齒輪130A和輸出用內齒輪130B,連接構件103具有1個驅動構件104、第1中間構件105A、及第2中間構件105B,起振體106具 有第1起振體106A和第2起振體106B。因此,能夠單獨容許相對於筒形撓曲嚙合式齒輪裝置100的減速用內齒輪130A、輸出用內齒輪130B各自的驅動軸101的偏心。 Further, in the present embodiment, the decelerating internal gear 130A and the output internal gear 130B are provided, and the connecting member 103 has one driving member 104, the first intermediate member 105A, and the second intermediate member 105B, and the vibrating body 106 has There are a first vibrating body 106A and a second vibrating body 106B. Therefore, the eccentricity of the drive shaft 101 of each of the reduction internal gear 130A and the output internal gear 130B of the cylindrical flexural meshing gear device 100 can be individually permitted.
並且,本實施形態中,第1起振體106A、第2起振體106B在短軸Y位置具有與第1中間構件105A、第2中間構件105B嵌合之凹部106AC、106BC。因此,無需在長軸X位置設置凹部,能夠確保長軸X位置的主體部106AA的軸向O厚度。除此之外,長軸X位置的延伸部106AD(106BD)的徑向厚度Tx比短軸Y位置的延伸部106AD(106BD)的徑向厚度Ty厚(Ty<Tx)。亦即,在施加於起振體106的荷載變最大之長軸X位置的附近,能夠提高起振體106的剛性。因此,在起振體106的長軸X位置的附近,能夠穩定地承受其荷載,還能夠可靠地防止起振體106的變形和破損。另外,並不限定於此,亦可以是除短軸Y位置之外具有與中間構件嵌合之凹部之結構。 In the present embodiment, the first vibrating body 106A and the second vibrating body 106B have recesses 106AC and 106BC that are fitted to the first intermediate member 105A and the second intermediate member 105B at the short-axis Y position. Therefore, it is not necessary to provide the concave portion at the position of the long axis X, and the thickness of the axial direction O of the main body portion 106AA at the position of the long axis X can be secured. In addition to this, the radial thickness Tx of the extension portion 106AD (106BD) of the long axis X position is thicker than the radial thickness Ty of the extension portion 106AD (106BD) at the short axis Y position (Ty<Tx). In other words, the rigidity of the vibrating body 106 can be increased in the vicinity of the position of the long axis X where the load applied to the vibrating body 106 becomes maximum. Therefore, in the vicinity of the position of the long axis X of the vibrating body 106, the load can be stably received, and deformation and breakage of the vibrating body 106 can be reliably prevented. Further, the present invention is not limited thereto, and may have a configuration in which a concave portion fitted to the intermediate member is provided in addition to the position of the short axis Y.
並且,本實施形態中,起振體106構成為覆蓋連接構件103的軸向O全長。因此,不會因連接構件103的存在而受到影響,能夠進行起振體軸承110的組裝,且能夠降低組裝時不小心損傷起振體軸承110及起振體106之風險。另外,並不限定於此,起振體亦可以構成為不覆蓋連接構件的軸向O全長而僅覆蓋一部份。 Further, in the present embodiment, the vibrating body 106 is configured to cover the entire length of the connecting member 103 in the axial direction O. Therefore, it is not affected by the presence of the connecting member 103, the assembly of the vibrating body bearing 110 can be performed, and the risk of inadvertently damaging the vibrating body bearing 110 and the vibrating body 106 during assembly can be reduced. Further, the present invention is not limited thereto, and the vibrating body may be configured to cover only a part of the entire length of the connecting member in the axial direction O.
並且,本實施形態中,滾動體為滾子116A、116B。亦即,與滾動體為球之情況相比,增加了滾子116A、116B與內環112A、112B及外環118A、118B接觸之部 份。因此,藉由使用滾子116A、116B,能夠增大起振體軸承110的傳遞轉矩,並能夠延長壽命。 Further, in the present embodiment, the rolling elements are the rollers 116A and 116B. That is, the contact between the rollers 116A, 116B and the inner rings 112A, 112B and the outer rings 118A, 118B is increased as compared with the case where the rolling elements are balls. Share. Therefore, by using the rollers 116A and 116B, the transmission torque of the vibrating body bearing 110 can be increased, and the life can be extended.
除此之外,本實施形態中,第1起振體106A(第2起振體106B)的外周的軸向O長度L比起振體軸承110A(110B)的(滾子116A(116B)的)軸向O長度L1長。因此,只要起振體軸承110沒有向軸向O位移,即使從起振體軸承110施加於起振體106之荷載增加,亦能夠以滾子116A(116B)的軸向O長度可靠地分散其荷載。亦即,能夠進一步防止起振體106的變形和破損。另外,並不限定於此,起振體106的外周的軸向O長度L亦可以比起振體軸承的軸向O長度L2長。 In addition, in the present embodiment, the axial length O of the outer circumference of the first vibrating body 106A (second vibrating body 106B) is larger than that of the vibrating body bearing 110A (110B) (roller 116A (116B) The axial length L1 is long. Therefore, as long as the vibrating body bearing 110 is not displaced in the axial direction O, even if the load applied to the vibrating body 106 from the vibrating body bearing 110 is increased, the axial length O of the roller 116A (116B) can be reliably dispersed. Load. That is, deformation and breakage of the vibrating body 106 can be further prevented. Further, the present invention is not limited thereto, and the axial length O of the outer circumference of the vibrating body 106 may be longer than the axial length O2 of the vibrating body bearing.
並且,本實施形態中,起振體軸承110構成為即使向軸向O變位,滾子116A(116B)亦必需停留在第1起振體106A(第2起振體106B)的外周的軸向O長度L內。因此,即使起振體軸承110向軸向O位移,第1起振體106A(第2起振體106B)亦能夠穩定地承受施加於滾子116A(116B)之荷載。 Further, in the present embodiment, the oscillating body bearing 110 is configured such that the roller 116A (116B) must stay on the outer circumference of the first oscillating body 106A (second oscillating body 106B) even if it is displaced in the axial direction O. To the length L of O. Therefore, even if the vibrating body bearing 110 is displaced in the axial direction O, the first vibrating body 106A (the second vibrating body 106B) can stably withstand the load applied to the roller 116A (116B).
並且,本實施形態中,第1中間構件105A與第2中間構件105B相同,且第1起振體106A與第2起振體106B相同。亦即,能夠增加共用的構件的比例,因此構件管理較容易,並且還能夠促進構件的低成本化。除此之外,第1中間構件105A和第2中間構件105B沒有方向性。因此,可以忽視第1中間構件105A和第2中間構件105B的朝向,從而能夠輕鬆地進行連接構件103的組 裝。 Further, in the present embodiment, the first intermediate member 105A is the same as the second intermediate member 105B, and the first vibrating body 106A is the same as the second vibrating body 106B. That is, since the ratio of the members to be shared can be increased, the member management is easy, and the cost reduction of the members can be promoted. In addition to this, the first intermediate member 105A and the second intermediate member 105B have no directivity. Therefore, the orientation of the first intermediate member 105A and the second intermediate member 105B can be ignored, so that the group of the connecting members 103 can be easily performed. Installed.
並且,本實施形態中,將由滑動性高的材料成形之對接構件148、150與外齒輪120及起振體110軸承的端面相對向配置。因此,能夠減少在外齒輪120及起振體軸承110的端面產生之摩擦損失。同時,對接構件148還能夠限制外齒輪120及起振體軸承110向軸向O移動。 Further, in the present embodiment, the butting members 148 and 150 formed of a material having high slidability are disposed to face the end faces of the outer gear 120 and the bearing of the vibrating body 110. Therefore, the friction loss generated at the end faces of the outer gear 120 and the oscillating body bearing 110 can be reduced. At the same time, the docking member 148 can also restrict the outer gear 120 and the oscillating body bearing 110 from moving in the axial direction O.
因此,在本實施形態中,即使在撓曲嚙合式齒輪裝置100的驅動軸101與內齒輪130之間存在偏芯亦能夠防止性能及壽命的下降,且能夠抑制撓曲嚙合式齒輪裝置100的軸向O長度的增加。 Therefore, in the present embodiment, even if an eccentricity exists between the drive shaft 101 of the flexural meshing gear device 100 and the internal gear 130, the performance and the life can be prevented from being lowered, and the flexural meshing gear device 100 can be suppressed. The increase in axial O length.
雖列舉上述實施形態對本發明進行了說明,但本發明並不限定於上述實施形態。亦即,衆所周知,在不脫離本發明的主旨範圍內能夠進行改良及設計的變更。 Although the present invention has been described with reference to the above embodiments, the present invention is not limited to the above embodiments. In other words, modifications and changes in design can be made without departing from the spirit and scope of the invention.
在上述實施形態中,起振體軸承110具有內環112A、112B及外環118A、118B,但本發明並不限定於此,起振體的外周部份亦可以作為內環。並且,亦可以無需具有外環,例如,亦可以是滾子直接可旋轉地支撐外齒輪且外齒輪的內周部份作為外環。並且,轉動體可以不是滾子,而是球。 In the above embodiment, the vibrating body bearing 110 has the inner rings 112A and 112B and the outer rings 118A and 118B. However, the present invention is not limited thereto, and the outer peripheral portion of the vibrating body may be used as the inner ring. Further, it is not necessary to have an outer ring. For example, the roller may directly rotatably support the external gear and the inner peripheral portion of the outer gear may serve as an outer ring. Also, the rotating body may not be a roller but a ball.
並且,在上述實施形態中,外齒設置為依據次擺線曲線之齒形,但本發明並不限定於此。外齒可以是圓弧齒形,亦可以使用其他齒形。 Further, in the above embodiment, the external teeth are provided in a tooth shape according to the trochoidal curve, but the present invention is not limited thereto. The external teeth may be arcuate, and other shapes may be used.
並且,上述實施形態中,筒形撓曲嚙合式齒輪裝置100具有減速用內齒輪130A和輸出用內齒輪130B,但本 發明並不限定於此。例如,亦可以適用於內齒輪和外齒輪分別為1個且具有杯形(或者高筒禮帽型)的撓曲變形之外齒輪之撓曲嚙合式齒輪裝置。 Further, in the above embodiment, the cylindrical flexural meshing gear device 100 includes the reduction internal gear 130A and the output internal gear 130B, but this The invention is not limited to this. For example, it is also applicable to a flexural meshing gear device in which the internal gear and the external gear are each one and have a cup-shaped (or high-top hat type) flexural deformation-out gear.
並且,連接構件並不限定於上述實施形態的結構,只要構成為容許起振體的軸心向徑向位移,且驅動軸與起振體連結為可一體旋轉即可。 Further, the connecting member is not limited to the configuration of the above-described embodiment, and may be configured such that the axial center of the vibrating body is allowed to be displaced in the radial direction, and the drive shaft and the vibrating body are coupled so as to be rotatable together.
本發明能夠廣泛地適用於具備筒形、杯型、或者高筒禮帽型的外齒輪之撓曲嚙合式齒輪裝置。 The present invention can be widely applied to a flexure meshing gear device having an outer gear of a cylindrical shape, a cup type, or a high top hat type.
100‧‧‧撓曲嚙合式齒輪裝置 100‧‧‧Flexing meshing gear unit
101‧‧‧驅動軸 101‧‧‧ drive shaft
102‧‧‧止動構件 102‧‧‧stop member
103、103A、103B‧‧‧連接構件 103, 103A, 103B‧‧‧ connecting members
104‧‧‧驅動構件 104‧‧‧ drive components
105A、105B‧‧‧中間構件 105A, 105B‧‧‧Intermediate components
106、106A、106B‧‧‧起振體 106, 106A, 106B‧‧‧ vibrating body
110、110A、110B‧‧‧起振體軸承 110, 110A, 110B‧‧‧ starter bearing
112A、112B‧‧‧內環 112A, 112B‧‧ Inner Ring
114A、114B‧‧‧軸承保持架 114A, 114B‧‧‧ bearing cage
116A、116B‧‧‧滾子 116A, 116B‧‧‧ Roller
118A、118B‧‧‧外環 118A, 118B‧‧‧ outer ring
120、120A、120B‧‧‧外齒輪 120, 120A, 120B‧‧‧ external gear
130、130A、130B‧‧‧內齒輪 130, 130A, 130B‧‧‧ internal gear
148、150‧‧‧對接構件 148, 150‧‧‧ docking components
O‧‧‧軸向 O‧‧‧Axial
L、L1、L2‧‧‧軸向O長度 L, L1, L2‧‧‧ axial O length
γ1‧‧‧間隙 Γ1‧‧‧ gap
γ2‧‧‧距離 Γ2‧‧‧ distance
Claims (7)
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JP2014022894A JP6238777B2 (en) | 2014-02-07 | 2014-02-07 | Bending gear system |
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TW201531634A true TW201531634A (en) | 2015-08-16 |
TWI553245B TWI553245B (en) | 2016-10-11 |
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KR (1) | KR101644955B1 (en) |
CN (1) | CN104832604B (en) |
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JP6795433B2 (en) | 2017-03-17 | 2020-12-02 | 住友重機械工業株式会社 | Flexion mesh gear device |
JP7175084B2 (en) * | 2018-01-30 | 2022-11-18 | 住友重機械工業株式会社 | flexural mesh gearbox |
JP7414375B2 (en) * | 2019-10-28 | 2024-01-16 | 住友重機械工業株式会社 | Flexible mesh gear system |
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JPS60241550A (en) * | 1984-05-14 | 1985-11-30 | Matsushita Electric Ind Co Ltd | Deflection engagement type power transmission apparatus |
JPS6155435A (en) * | 1984-08-27 | 1986-03-19 | Matsushita Electric Ind Co Ltd | Reduction gear |
JPS61103036A (en) * | 1984-10-24 | 1986-05-21 | Matsushita Electric Ind Co Ltd | Reduction gear |
FI873139A (en) * | 1987-07-15 | 1989-01-16 | Antti Mikael Poro | VAEXELSAMMANSAETTNING. |
FR2702575B1 (en) * | 1993-01-30 | 1996-02-02 | Samsung Electronics Co Ltd | DEVICE FOR CONTROLLING THE ROTATION OF AT LEAST ONE ADJUSTING MEMBER. |
JP2735809B2 (en) * | 1995-04-18 | 1998-04-02 | 春吉 根塚 | Flexible joint |
FR2749361B1 (en) * | 1996-05-28 | 1998-08-07 | Somfy | REDUCER WITH HOLDAM COUPLING |
JP4597051B2 (en) * | 2003-10-30 | 2010-12-15 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device having a wide meshing tooth profile |
JP2007187284A (en) * | 2006-01-16 | 2007-07-26 | Jtekt Corp | Thrust roller bearing |
US7421990B2 (en) * | 2006-08-22 | 2008-09-09 | Delphi Technologies, Inc. | Harmonic drive camshaft phaser |
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US8298114B2 (en) * | 2010-08-13 | 2012-10-30 | General Electric Company | Planetary gear assembly |
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JP2014022894A (en) | 2012-07-17 | 2014-02-03 | Japan Advanced Institute Of Science & Technology Hokuriku | Amplitude modulation signal transmitting apparatus, amplitude modulation signal receiving apparatus, amplitude modulation signal transmitting method, and amplitude modulation signal receiving method |
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