WO2020235399A1

WO2020235399A1 - Gear device

Info

Publication number: WO2020235399A1
Application number: PCT/JP2020/019018
Authority: WO
Inventors: 田村　光拡; 山本　章; 真大渡辺; 年昭的場
Original assignee: 住友重機械工業株式会社
Priority date: 2019-05-23
Filing date: 2020-05-12
Publication date: 2020-11-26
Also published as: DE112020002504T5; CN113825930A; JP7450776B2; JP7267550B2; JP2023053303A; JP2020190306A

Abstract

This gear device comprises an externally toothed gear 14 and an internally toothed member 16 provided with an internally toothed gear 24 that meshes with the externally toothed gear 14. The internally toothed member 16 is configured from a resin material and is provided with a reinforcing member 60 that restrains radially outward deformation of the internally toothed gear 24 caused by meshing with the externally toothed gear 14, and the reinforcing member 60 is provided to the outer peripheral portion of the internally toothed member 16, in a portion where radial distance from internal teeth of the internally toothed gear 24 is smallest.

Description

歯車装置Gear device

　本発明は、歯車装置に関する。 The present invention relates to a gear device.

　近年、歯車装置の用途が多様化しており、その軽量化を要請される場合がある。この要請に応える歯車装置として、特許文献１には、内歯歯車を有する内歯部材を樹脂系素材により構成した歯車装置が開示されている。 In recent years, the applications of gear devices have diversified, and there are cases where weight reduction is required. As a gear device that meets this demand, Patent Document 1 discloses a gear device in which an internal tooth member having an internal tooth gear is made of a resin-based material.

特開２０１８－１５５３１３号公報JP-A-2018-155313

　本発明者は、特許文献１の技術を検討したところ、次の新たな認識を得た。樹脂系素材は、通常、金属製素材と比べて剛性が低い。よって、樹脂系素材の内歯部材を用いる場合、金属製素材を用いる場合と比べ、外歯歯車との噛み合いにより内歯歯車が径方向外側に変形し易くなる。これに伴い、外歯歯車と内歯歯車の正常な噛合いを確保できなくなることがある。特許文献１の技術は、この観点から工夫を講じたものではなく、改良の余地があった。 The present inventor examined the technology of Patent Document 1 and obtained the following new recognition. Resin-based materials usually have lower rigidity than metal materials. Therefore, when the internal tooth member made of a resin material is used, the internal tooth gear is more likely to be deformed radially outward due to the meshing with the external tooth gear as compared with the case where the metal material is used. As a result, it may not be possible to ensure normal meshing between the external gear and the internal gear. The technique of Patent Document 1 was not devised from this point of view, and there was room for improvement.

　本発明のある態様は、こうした状況に鑑みてなされ、その目的の１つは、軽量化を図りつつ、外歯歯車と内歯歯車の正常な噛合いを確保できる歯車装置を提供することにある。 A certain aspect of the present invention is made in view of such a situation, and one of the objects thereof is to provide a gear device capable of ensuring normal meshing of an external gear and an internal gear while reducing the weight. ..

　前述の課題を解決するための本発明のある態様は歯車装置である。この態様の歯車装置は、外歯歯車と、前記外歯歯車と噛み合う内歯歯車が設けられた内歯部材と、を備える歯車装置であって、前記内歯部材は、樹脂系素材により構成され、前記外歯歯車との噛み合いによる前記内歯歯車の径方向外側への変形を拘束する補強部材を備え、前記補強部材は、前記内歯部材の外周部のうち、前記内歯歯車の内歯からの径方向距離が最も小さい外周部に設けられる。 A certain aspect of the present invention for solving the above-mentioned problems is a gear device. The gear device of this embodiment is a gear device including an external gear and an internal tooth member provided with an internal gear that meshes with the external gear, and the internal tooth member is made of a resin-based material. A reinforcing member for restraining the radial outward deformation of the internal gear due to meshing with the external gear is provided, and the reinforcing member is the internal tooth of the internal gear among the outer peripheral portions of the internal gear. It is provided on the outer peripheral portion where the radial distance from is the smallest.

　本発明の他の態様の歯車装置は、外歯歯車と、前記外歯歯車と噛み合う内歯歯車が設けられた内歯部材と、を備える歯車装置であって、前記内歯部材は、樹脂系素材により構成され、前記外歯歯車との噛み合いによる前記内歯歯車の径方向外側への変形を拘束する補強部材を備え、前記補強部材は、軸受およびボルトとは別部材により構成される。 The gear device of another aspect of the present invention is a gear device including an external gear and an internal tooth member provided with an internal gear that meshes with the external gear, and the internal tooth member is made of resin. It is made of a material and includes a reinforcing member that restrains the radial outward deformation of the internal gear due to meshing with the external gear, and the reinforcing member is composed of a member separate from the bearing and the bolt.

　本発明のある態様によれば、軽量化を図りつつ、外歯歯車と内歯歯車の正常な噛合いを確保できる。 According to an aspect of the present invention, it is possible to ensure normal meshing of the external gear and the internal gear while reducing the weight.

実施形態の歯車装置の側面断面図である。It is a side sectional view of the gear device of an embodiment. 図１の拡大図である。It is an enlarged view of FIG.

　以下、本発明の実施形態の一例を説明する。同一の構成要素には同一の符号を付し、重複する説明を省略する。各図面では、説明の便宜のため、構成要素の一部を適宜省略したり、その寸法を適宜拡大、縮小する。図面は符号の向きに合わせて見るものとする。本明細書で言及する構造や形状には、言及している形状に厳密に一致する構造や形状のみでなく、寸法誤差や製造誤差等の誤差の分だけずれた構造や形状も含まれる。 Hereinafter, an example of the embodiment of the present invention will be described. The same components are designated by the same reference numerals, and duplicate description will be omitted. In each drawing, for convenience of explanation, some of the components are appropriately omitted, and the dimensions thereof are appropriately enlarged or reduced. The drawings shall be viewed according to the orientation of the symbols. The structures and shapes referred to in the present specification include not only structures and shapes that exactly match the referred shapes, but also structures and shapes that are deviated by an error such as a dimensional error or a manufacturing error.

　図１を参照する。実施形態の歯車装置１０は、主に、入力部材１２と、外歯歯車１４と、内歯部材１６と、ケーシング１８と、キャリヤ２０と、出力部材２２を備える。内歯部材１６には外歯歯車１４と噛み合う内歯歯車２４が設けられる。以下、内歯歯車２４の中心軸線Ｌａに沿う方向を単に「軸方向Ｘ」といい、その中心軸線Ｌａ周りの周方向、径方向に関して、単に「周方向」、「径方向」という。 Refer to FIG. The gear device 10 of the embodiment mainly includes an input member 12, an external gear 14, an internal tooth member 16, a casing 18, a carrier 20, and an output member 22. The internal tooth member 16 is provided with an internal tooth gear 24 that meshes with the external tooth gear 14. Hereinafter, the direction along the central axis La of the internal gear 24 is simply referred to as "axial direction X", and the circumferential direction and radial direction around the central axis La are simply referred to as "circumferential direction" and "diameter direction".

　本実施形態の歯車装置１０は、後述する起振体２６により外歯歯車１４を撓み変形させつつ動かすことで外歯歯車１４を自転させ、その自転成分を出力する撓み噛み合い型歯車装置である。本実施形態の歯車装置１０は、複数の内歯部材１６を用いた、いわゆる筒型の撓み噛み合い型歯車装置である。 The gear device 10 of the present embodiment is a flexure meshing type gear device that rotates the external gear 14 by rotating the external gear 14 while flexing and deforming it by a vibrating body 26 described later, and outputs the rotation component thereof. The gear device 10 of the present embodiment is a so-called tubular flexure meshing type gear device using a plurality of internal tooth members 16.

　入力部材１２は、駆動装置（不図示）と連結され、その駆動装置から回転が入力される。駆動装置は、たとえば、モータ、ギヤモータ、エンジン等である。駆動装置は、入力部材１２に対して軸方向Ｘの一方側（図中右側）に配置される。以下、説明の便宜から、軸方向Ｘの一方側を入力側といい、他方側（図中左側）を反入力側という。 The input member 12 is connected to a drive device (not shown), and rotation is input from the drive device. The drive device is, for example, a motor, a gear motor, an engine, or the like. The drive device is arranged on one side (right side in the drawing) of the axial direction X with respect to the input member 12. Hereinafter, for convenience of explanation, one side of the axial direction X is referred to as an input side, and the other side (left side in the figure) is referred to as an anti-input side.

　本実施形態の入力部材１２は、いわゆる起振体２６が構成する。起振体２６は、自らの回転により外歯歯車１４を撓み変形させることができる程度の剛性を持つ筒状部材である。起振体２６は、軸方向Ｘの中間部に中間軸部２６ａを備える。中間軸部２６ａの軸方向Ｘに直交する断面の外周形状は楕円状をなす。本明細書での「楕円」とは、幾何学的に厳密な楕円に限定されず、略楕円も含まれる。 The input member 12 of this embodiment is composed of a so-called oscillator 26. The vibrating body 26 is a tubular member having a rigidity sufficient to bend and deform the external gear 14 by its own rotation. The exciter 26 includes an intermediate shaft portion 26a at an intermediate portion in the axial direction X. The outer peripheral shape of the cross section of the intermediate shaft portion 26a orthogonal to the axial direction X is elliptical. The term "ellipse" as used herein is not limited to a geometrically exact ellipse, but also includes a substantially ellipse.

　外歯歯車１４は、入力部材１２の外周側に配置され、入力部材１２との間に配置される第１軸受２８を介して入力部材１２に回転自在に支持される。本実施形態の外歯歯車１４は、可撓性を持つ筒状部材であり、起振体２６の中間軸部２６ａの外周側に配置される。 The external gear 14 is arranged on the outer peripheral side of the input member 12, and is rotatably supported by the input member 12 via a first bearing 28 arranged between the external gear 14 and the input member 12. The external gear 14 of the present embodiment is a flexible tubular member, and is arranged on the outer peripheral side of the intermediate shaft portion 26a of the oscillator 26.

　内歯部材１６は、外歯歯車１４の外周側に配置される環状部材であり、その内周部に内歯歯車２４が設けられる。内歯歯車２４は、内歯部材１６の内周部に全周に亘る範囲で設けられる複数の内歯により構成される。本実施形態の内歯部材１６は、起振体２６の回転に追従して変形しない程度の剛性を持つ。本実施形態の内歯部材１６には、入力側に配置される減速用内歯部材１６Ａ（第１内歯部材）と、反入力側に配置される出力用内歯部材１６Ｂ（第２内歯部材）とが含まれる。 The internal tooth member 16 is an annular member arranged on the outer peripheral side of the external tooth gear 14, and the internal tooth gear 24 is provided on the inner peripheral portion thereof. The internal tooth gear 24 is composed of a plurality of internal teeth provided on the inner peripheral portion of the internal tooth member 16 over the entire circumference. The internal tooth member 16 of the present embodiment has a rigidity that does not deform following the rotation of the oscillator 26. The internal tooth member 16 of the present embodiment includes a deceleration internal tooth member 16A (first internal tooth member) arranged on the input side and an output internal tooth member 16B (second internal tooth member) arranged on the opposite side. Members) and are included.

　本実施形態の減速用内歯部材１６Ａは外部部材（不図示）に固定される。減速用内歯部材１６Ａの内周部には外歯歯車１４と噛み合う減速用内歯歯車２４Ａ（第１内歯歯車）が設けられる。減速用内歯歯車２４Ａは、外歯歯車１４と異なる歯数、本実施形態では、外歯歯車１４よりも多い歯数である。これにより、起振体２６が一回転したとき、減速用内歯歯車２４Ａと外歯歯車１４の歯数差に応じた回転位相のずれが外歯歯車１４に生じ、そのずれ分の自転が外歯歯車１４に生じる。減速用内歯歯車２４Ａは、起振体２６の回転に連動して外歯歯車１４を自転させることになる。外歯歯車１４は、減速用内歯歯車２４Ａと外歯歯車１４の歯数差に応じた減速比のもと起振体２６の回転数よりも減速した回転数で自転する。 The deceleration internal tooth member 16A of the present embodiment is fixed to an external member (not shown). A reduction internal gear 24A (first internal gear) that meshes with the external gear 14 is provided on the inner peripheral portion of the reduction internal tooth member 16A. The reduction internal gear 24A has a number of teeth different from that of the external gear 14, and in the present embodiment, has a larger number of teeth than the external gear 14. As a result, when the exciter 26 makes one rotation, a deviation in the rotation phase corresponding to the difference in the number of teeth between the reduction internal gear 24A and the external gear 14 occurs in the external gear 14, and the rotation of the deviation is outside. It occurs in the tooth gear 14. The reduction internal gear 24A rotates the external gear 14 in conjunction with the rotation of the exciter 26. The external gear 14 rotates at a rotation speed slower than the rotation speed of the oscillator 26 based on a reduction ratio corresponding to the difference in the number of teeth between the reduction internal gear 24A and the external gear 14.

　出力用内歯部材１６Ｂの内周部には外歯歯車１４と噛み合う出力用内歯歯車２４Ｂ（第２内歯歯車）が設けられる。出力用内歯歯車２４Ｂは、外歯歯車１４と同じ歯数である。これにより、起振体２６が一回転することで外歯歯車１４が自転したとき、その自転成分と同じ大きさの回転が出力用内歯部材１６Ｂに出力される。出力用内歯歯車２４Ｂは、起振体２６の回転に連動して外歯歯車１４が自転したとき、その自転成分と同期することになる。 An output internal gear 24B (second internal gear) that meshes with the external gear 14 is provided on the inner peripheral portion of the output internal tooth member 16B. The output internal gear 24B has the same number of teeth as the external gear 14. As a result, when the external gear 14 rotates due to one rotation of the exciter 26, a rotation having the same magnitude as the rotation component is output to the output internal tooth member 16B. When the external gear 14 rotates in conjunction with the rotation of the exciter 26, the output internal gear 24B synchronizes with the rotation component thereof.

　ケーシング１８は、歯車装置１０の最外周部に設けられる環状部材である。本実施形態のケーシング１８は、出力用内歯歯車２４Ｂに対して径方向外側に配置される。ケーシング１８と出力用内歯歯車２４Ｂとの間には主軸受３０が配置される。本実施形態のケーシング１８は、主軸受３０を介して出力用内歯歯車２４Ｂを回転自在に支持する。本実施形態のケーシング１８は嵌め合い、ボルト等を用いて減速用内歯歯車２４Ａと一体化される。 The casing 18 is an annular member provided on the outermost peripheral portion of the gear device 10. The casing 18 of the present embodiment is arranged radially outward with respect to the output internal gear 24B. A main bearing 30 is arranged between the casing 18 and the output internal gear 24B. The casing 18 of the present embodiment rotatably supports the output internal gear 24B via the main bearing 30. The casing 18 of the present embodiment is fitted and integrated with the reduction internal gear 24A by using a bolt or the like.

　主軸受３０は、転動体３０ａと、内輪３０ｂと、外輪３０ｃとを備える。本実施形態の転動体３０ａは球体であるが、ころ等でもよい。本実施形態において、内輪３０ｂは出力用内歯部材１６Ｂとは別の部材により構成され、外輪３０ｃはケーシング１８とは別の部材により構成される。内輪３０ｂは出力用内歯部材１６Ｂにより構成されてもよいし、その外輪３０ｃはケーシング１８により構成されてもよい。 The main bearing 30 includes a rolling element 30a, an inner ring 30b, and an outer ring 30c. The rolling element 30a of the present embodiment is a sphere, but may be a roller or the like. In the present embodiment, the inner ring 30b is made of a member different from the output inner tooth member 16B, and the outer ring 30c is made of a member different from the casing 18. The inner ring 30b may be composed of the output inner tooth member 16B, or the outer ring 30c may be composed of the casing 18.

　本実施形態のキャリヤ２０には、入力側に配置される入力側キャリヤ２０Ａと、反入力側に配置される反入力側キャリヤ２０Ｂとが含まれる。本実施形態の入力側キャリヤ２０Ａは、第１ボルトＢ１を用いて減速用内歯歯車２４Ａと連結されることで、減速用内歯歯車２４Ａと一体化される。本実施形態の反入力側キャリヤ２０Ｂは、第２ボルトＢ２を用いて出力用内歯歯車２４Ｂと連結されることで、出力用内歯歯車２４Ｂと一体化される。各キャリヤ２０と入力部材１２との間には第２軸受３２が配置され、キャリヤ２０は入力部材１２を第２軸受３２を介して回転自在に支持する。 The carrier 20 of the present embodiment includes an input side carrier 20A arranged on the input side and a non-input side carrier 20B arranged on the non-input side. The input side carrier 20A of the present embodiment is integrated with the reduction internal gear 24A by being connected to the reduction internal gear 24A by using the first bolt B1. The counter-input side carrier 20B of the present embodiment is integrated with the output internal gear 24B by being connected to the output internal gear 24B by using the second bolt B2. A second bearing 32 is arranged between each carrier 20 and the input member 12, and the carrier 20 rotatably supports the input member 12 via the second bearing 32.

　出力部材２２は、被駆動装置と連結されることで被駆動装置と一体化され、被駆動装置に回転動力を出力する。本実施形態の出力部材２２は反入力側キャリヤ２０Ｂである。 The output member 22 is integrated with the driven device by being connected to the driven device, and outputs rotational power to the driven device. The output member 22 of this embodiment is a non-input side carrier 20B.

　以上の歯車装置１０の動作を説明する。 The operation of the above gear device 10 will be described.

　駆動装置から入力部材１２に回転が伝達されると、外歯歯車１４及び内歯歯車２４が構成する減速機構を介して出力部材２２に回転が伝達される。このとき、入力部材１２の回転は、減速機構の減速比で減速されたうえで出力部材２２から被駆動装置に出力される。 When the rotation is transmitted from the drive device to the input member 12, the rotation is transmitted to the output member 22 via the reduction mechanism composed of the external gear 14 and the internal gear 24. At this time, the rotation of the input member 12 is decelerated by the reduction ratio of the reduction mechanism and then output from the output member 22 to the driven device.

　本実施形態では、起振体２６（入力部材１２）の回転に追従して、起振体２６の中間軸部２６ａにより第１軸受２８を介して楕円状に外歯歯車１４が撓み変形させられる。このとき、外歯歯車１４は、内歯歯車２４との噛合位置を周方向に変えつつ、起振体２６の中間軸部２６ａの形状に合うように撓み変形させられる。これにより、外歯歯車１４は、起振体２６が一回転するごとに、外歯歯車１４と減速用内歯歯車２４Ａとの歯数差に相当する分、減速用内歯歯車２４Ａに対して相対回転（自転）する。このとき、出力用内歯歯車２４Ｂは、入力部材１２が一回転する前後で外歯歯車１４に対する相対的な噛合位置を変えないまま、外歯歯車１４の自転成分に同期して回転する。この出力用内歯歯車２４Ｂの回転は反入力側キャリヤ２０Ｂ（出力部材２２）から被駆動装置に出力される。 In the present embodiment, following the rotation of the exciter 26 (input member 12), the external gear 14 is elliptical and deformed by the intermediate shaft portion 26a of the exciter 26 via the first bearing 28. .. At this time, the external gear 14 is bent and deformed so as to match the shape of the intermediate shaft portion 26a of the oscillator 26 while changing the meshing position with the internal gear 24 in the circumferential direction. As a result, the external gear 14 with respect to the deceleration internal gear 24A by the amount corresponding to the difference in the number of teeth between the external gear 14 and the deceleration internal gear 24A each time the exciting body 26 rotates once. Relative rotation (rotation). At this time, the output internal gear 24B rotates in synchronization with the rotation component of the external gear 14 without changing the relative meshing position with respect to the external gear 14 before and after one rotation of the input member 12. The rotation of the output internal gear 24B is output from the counter-input side carrier 20B (output member 22) to the driven device.

　図２を参照する。以上の内歯部材１６は、樹脂系素材により構成される。本実施形態では減速用内歯部材１６Ａ及び出力用内歯部材１６Ｂの両方が樹脂系素材により構成される。ここでの「樹脂系素材」には、エンジニアリングプラスチック等の他、炭素繊維強化樹脂、硝子繊維強化樹脂等の繊維強化樹脂、つまり、複合材料が含まれる。これにより、内歯部材１６に金属系素材を用いる場合より、内歯部材１６の軽量化が図られる。ここでの「金属系素材」には、鋳鉄、鋼を含む鉄系素材、アルミニウム合金を含むアルミニウム系素材が含まれる。 Refer to Fig. 2. The above internal tooth member 16 is made of a resin-based material. In the present embodiment, both the deceleration internal tooth member 16A and the output internal tooth member 16B are made of a resin-based material. The "resin-based material" here includes, in addition to engineering plastics and the like, fiber-reinforced resins such as carbon fiber-reinforced resin and glass fiber-reinforced resin, that is, composite materials. As a result, the weight of the internal tooth member 16 can be reduced as compared with the case where a metal-based material is used for the internal tooth member 16. The "metal-based material" here includes cast iron, iron-based materials including steel, and aluminum-based materials including aluminum alloys.

　減速用内歯部材１６Ａは、第１環状部３４と、第１環状部３４の内周側端部から軸方向Ｘに突き出る第１突出部３６と、第１環状部３４の内周側端部から第１突出部３６とは軸方向Ｘの反対側に突き出る第２突出部３８とを備える。また、減速用内歯部材１６Ａは、第１環状部３４の外周側端部から軸方向Ｘに突き出る第３突出部４０を備える。減速用内歯歯車２４Ａは、第１環状部３４及び第１突出部３６の内周部や第２突出部３８の基端部の内周部に設けられる。減速用内歯部材１６Ａには第１突出部３６と第３突出部４０の間に軸方向Ｘに凹む環状凹部４２が設けられる。減速用内歯部材１６Ａと入力側キャリヤ２０Ａを連結する第１ボルトＢ１は、第２突出部３８にねじ込まれる。 The deceleration internal tooth member 16A includes a first annular portion 34, a first protruding portion 36 protruding in the axial direction X from the inner peripheral side end portion of the first annular portion 34, and an inner peripheral side end portion of the first annular portion 34. A second protruding portion 38 protruding from the first protruding portion 36 on the opposite side of the axial direction X is provided. Further, the deceleration internal tooth member 16A includes a third protruding portion 40 protruding in the axial direction X from the outer peripheral side end portion of the first annular portion 34. The reduction gear 24A is provided on the inner peripheral portion of the first annular portion 34 and the first protruding portion 36 and the inner peripheral portion of the base end portion of the second protruding portion 38. The deceleration internal tooth member 16A is provided with an annular recess 42 recessed in the axial direction X between the first protrusion 36 and the third protrusion 40. The first bolt B1 connecting the deceleration internal tooth member 16A and the input side carrier 20A is screwed into the second protruding portion 38.

　出力用内歯部材１６Ｂは、出力用内歯歯車２４Ｂが内周部に設けられる第２環状部４４と、第２環状部４４から軸方向Ｘに突き出る第４突出部４６と、第２環状部４４から第４突出部４６とは軸方向Ｘの反対側に突き出る第５突出部４８とを備える。出力用内歯部材１６Ｂと反入力側キャリヤ２０Ｂを連結する第２ボルトＢ２は、第４突出部４６にねじ込まれる。第５突出部４８は、減速用内歯部材１６Ａの環状凹部４２の内側に配置され、径方向から見て、減速用内歯部材１６Ａの第１突出部３６と重なる位置に設けられる。 The output internal tooth member 16B includes a second annular portion 44 in which the output internal gear 24B is provided on the inner peripheral portion, a fourth protruding portion 46 protruding from the second annular portion 44 in the axial direction X, and a second annular portion. A fifth protruding portion 48 protruding from the 44 to the opposite side of the fourth protruding portion 46 in the axial direction X is provided. The second bolt B2 connecting the output internal tooth member 16B and the non-input side carrier 20B is screwed into the fourth protruding portion 46. The fifth protrusion 48 is arranged inside the annular recess 42 of the reduction internal tooth member 16A, and is provided at a position overlapping the first protrusion 36 of the reduction internal tooth member 16A when viewed from the radial direction.

　減速用内歯部材１６Ａは、第１突出部３６が構成する第１外周部５０と、第２突出部３８が構成する第２外周部５２と、第１環状部３４及び第３突出部４０が構成する第３外周部５４とを備える。出力用内歯部材１６Ｂは、第２環状部４４及び第４突出部４６や第５突出部４８の基端側部分が構成する第４外周部５６と、第５突出部４８の先端側部分が構成する第５外周部５８とを備える。ここでの「外周部」とは、言及している内歯部材１６において径方向外側を向く面が構成する箇所をいう。この「面」は、本実施形態において、軸方向Ｘに延びる平坦面であり、内歯部材１６の中心軸線Ｌａ周りの全周に亘る範囲で設けられる。 The deceleration internal tooth member 16A includes a first outer peripheral portion 50 formed by the first protruding portion 36, a second outer peripheral portion 52 formed by the second protruding portion 38, a first annular portion 34, and a third protruding portion 40. A third outer peripheral portion 54 is provided. The output internal tooth member 16B has a fourth outer peripheral portion 56 formed by a second annular portion 44, a fourth protruding portion 46, and a base end side portion of the fifth protruding portion 48, and a tip end side portion of the fifth protruding portion 48. A fifth outer peripheral portion 58 is provided. The term "outer peripheral portion" as used herein refers to a portion of the referred internal tooth member 16 formed by a surface facing outward in the radial direction. In the present embodiment, this "plane" is a flat surface extending in the axial direction X, and is provided in a range extending over the entire circumference of the central axis La of the internal tooth member 16.

　減速用内歯部材１６Ａの減速用内歯歯車２４Ａの内歯６４から第１外周部５０、第２外周部５２及び第３外周部５４までの径方向距離をＬ１、Ｌ２、Ｌ３という。出力用内歯部材１６Ｂの出力用内歯歯車２４Ｂの内歯６６から第４外周部５６及び第５外周部５８までの径方向距離をＬ４、Ｌ５という。この「径方向距離」は、言及している内歯歯車２４の内歯の歯底から、言及している外周部が構成する径方向外側を向く面までの距離をいう。このとき、本実施形態では、減速用内歯部材１６Ａの複数の外周部５０、５２、５４のうち、第１外周部５０の径方向距離Ｌ１が最も小さく、次に第２外周部５２の径方向距離Ｌ２が小さく、第３外周部５４の径方向距離Ｌ３が最も大きくなる。また、本実施形態では、出力用内歯歯車２４Ｂの複数の外周部５６、５８のうち、第４外周部５６の径方向距離Ｌ４が最も小さく、第５外周部５８の径方向距離Ｌ５が最も大きくなる。 The radial distances from the internal teeth 64 of the deceleration internal gear 24A of the deceleration internal tooth member 16A to the first outer peripheral portion 50, the second outer peripheral portion 52, and the third outer peripheral portion 54 are referred to as L1, L2, and L3. The radial distances from the internal teeth 66 of the output internal gear 24B of the output internal tooth member 16B to the fourth outer peripheral portion 56 and the fifth outer peripheral portion 58 are referred to as L4 and L5. The "diameter distance" refers to the distance from the tooth bottom of the internal tooth of the referred internal gear 24 to the surface of the referred outer peripheral portion that faces outward in the radial direction. At this time, in the present embodiment, among the plurality of outer

peripheral portions

50, 52, 54 of the deceleration internal tooth member 16A, the radial distance L1 of the first outer peripheral portion 50 is the smallest, and then the diameter of the second outer peripheral portion 52. The directional distance L2 is small, and the radial distance L3 of the third outer peripheral portion 54 is the largest. Further, in the present embodiment, among the plurality of outer

peripheral portions

56, 58 of the output internal gear 24B, the radial distance L4 of the fourth outer peripheral portion 56 is the smallest, and the radial distance L5 of the fifth outer peripheral portion 58 is the largest. growing.

　外歯歯車１４との噛み合いにより内歯歯車２４には径方向外側に向かう荷重が付与され、その荷重により外径が部分的に大きくなるように変形しようとする。歯車装置１０は、このような、外歯歯車１４との噛み合いによる内歯歯車２４の径方向外側への変形を拘束する補強部材６０を備える。本実施形態の補強部材６０には、減速用内歯歯車２４Ａの変形を拘束する第１補強部材６０Ａと、出力用内歯歯車２４Ｂの変形を拘束する第２補強部材６０Ｂとが含まれる。 A load toward the outer side in the radial direction is applied to the internal gear 24 by meshing with the external gear 14, and the internal gear 24 tries to be deformed so that the outer diameter is partially increased by the load. The gear device 10 includes a reinforcing member 60 that restrains the radial outward deformation of the internal gear 24 due to meshing with the external gear 14. The reinforcing member 60 of the present embodiment includes a first reinforcing member 60A that restrains the deformation of the reduction internal gear 24A and a second reinforcing member 60B that restrains the deformation of the output internal gear 24B.

　補強部材６０は、補強部材６０が用いられる内歯部材１６を構成する樹脂系素材よりもヤング率［Ｐａ］が大きい素材を用いて構成される。これを実現するため、本実施形態の補強部材６０は、金属系素材により構成される。これにより、内歯部材１６を構成する樹脂系素材を用いるより、内歯部材１６の変形を効果的に拘束できる。この効果との関係では、補強部材６０のヤング率は大きいほど好ましい。補強部材６０のヤング率は、たとえば、内歯部材１６を構成する樹脂系素材のヤング率の１０倍以上となるように設定される。これは、たとえば、内歯部材１６をエンジニアプラスチックにより構成したうえで、補強部材６０を金属系素材（たとえば、鉄系素材）により構成することで実現される。 The reinforcing member 60 is configured by using a material having a Young's modulus [Pa] larger than that of the resin-based material constituting the internal tooth member 16 in which the reinforcing member 60 is used. In order to realize this, the reinforcing member 60 of the present embodiment is made of a metal-based material. As a result, the deformation of the internal tooth member 16 can be effectively restrained by using the resin-based material constituting the internal tooth member 16. In relation to this effect, the larger the Young's modulus of the reinforcing member 60, the more preferable. The Young's modulus of the reinforcing member 60 is set to be, for example, 10 times or more the Young's modulus of the resin-based material constituting the internal tooth member 16. This is realized by, for example, the internal tooth member 16 being made of engineering plastic and the reinforcing member 60 being made of a metal-based material (for example, an iron-based material).

　第１補強部材６０Ａは、軸受およびボルトとは別部材により構成される。ここでの「軸受」は、歯車装置１０に用いられる互いに相対回転可能な複数の構成要素の間に配置される。本実施形態では、たとえば、第１軸受け２８、主軸受３０等が該当する。ここでの「ボルト」は、歯車装置１０に用いられる複数の構成要素の連結に用いられる。本実施形態では、たとえば、第１ボルトＢ１、第２ボルトＢ２が該当する。本実施形態の第２補強部材６０Ｂは、主軸受３０の内輪３０ｂにより構成される。 The first reinforcing member 60A is composed of a member separate from the bearing and the bolt. The "bearing" here is arranged between a plurality of components that can rotate relative to each other used in the gear device 10. In this embodiment, for example, the first bearing 28, the main bearing 30, and the like are applicable. The "bolt" here is used to connect a plurality of components used in the gear device 10. In this embodiment, for example, the first bolt B1 and the second bolt B2 are applicable. The second reinforcing member 60B of the present embodiment is composed of the inner ring 30b of the main bearing 30.

　第１補強部材６０Ａは無端リング状をなす。第２補強部材６０Ｂは無端リング状をなす。ここでの「無端リング状」とは、中心軸線Ｌａ周りの全周に亘る範囲で連続しており、周方向に端部が無い形状をいう。 The first reinforcing member 60A has an endless ring shape. The second reinforcing member 60B has an endless ring shape. The term "endless ring shape" as used herein means a shape that is continuous over the entire circumference around the central axis La and has no end in the circumferential direction.

　第１補強部材６０Ａは、減速用内歯部材１６Ａの第１外周部５０に嵌合されることで、その第１外周部５０に設けられる。第１補強部材６０Ａは、第１補強部材６０Ａが用いられる減速用内歯部材１６Ａの外周部５０、５２、５４のうち、前述の径方向距離Ｌ１が最も小さい第１外周部５０に設けられることになる。第１補強部材６０Ａは、締まり嵌め、中間嵌め等により嵌合される。 The first reinforcing member 60A is provided on the first outer peripheral portion 50 by being fitted to the first outer peripheral portion 50 of the deceleration internal tooth member 16A. The first reinforcing member 60A is provided on the first outer peripheral portion 50 having the smallest radial distance L1 among the outer

peripheral portions

50, 52, 54 of the deceleration internal tooth member 16A in which the first reinforcing member 60A is used. become. The first reinforcing member 60A is fitted by tightening, intermediate fitting, or the like.

　本実施形態の減速用内歯部材１６Ａの第１環状部３４には軸方向Ｘに窪むとともに周方向に延びる環状の溝部６２が形成され、第１補強部材６０Ａの一部は溝部６２に嵌め込まれる。 An annular groove portion 62 that is recessed in the axial direction X and extends in the circumferential direction is formed in the first annular portion 34 of the deceleration internal tooth member 16A of the present embodiment, and a part of the first reinforcing member 60A is fitted into the groove portion 62. ..

　第２補強部材６０Ｂは、出力用内歯部材１６Ｂの第４外周部５６に嵌合されることで、その第４外周部５６に設けられる。第２補強部材６０Ｂは、第２補強部材６０Ｂが用いられる出力用内歯部材１６Ｂの外周部５６、５８のうち、前述の径方向距離Ｌ４が最も小さい第４外周部５６に設けられることになる。第２補強部材６０Ｂは、締まり嵌め、中間嵌め等により嵌合される。 The second reinforcing member 60B is provided on the fourth outer peripheral portion 56 by being fitted to the fourth outer peripheral portion 56 of the output internal tooth member 16B. The second reinforcing member 60B is provided on the fourth outer peripheral portion 56 having the smallest radial distance L4 among the outer

peripheral portions

56 and 58 of the output internal tooth member 16B in which the second reinforcing member 60B is used. .. The second reinforcing member 60B is fitted by tightening, intermediate fitting, or the like.

　以上の歯車装置１０の効果を説明する。 The effects of the above gear device 10 will be explained.

　本実施形態の歯車装置１０によれば、外歯歯車１４との噛み合いにより内歯歯車２４が径方向外側に変形しようとしたとき、その変形を補強部材６０により拘束できる。よって、金属系素材と比べて剛性が低い樹脂系素材を内歯部材１６に用いた場合でも、補強部材６０がないときと比べ、外歯歯車１４と内歯歯車２４の正常な噛合いを確保できる。このため、内歯部材１６に樹脂系素材を用いることで軽量化を図りつつ、外歯歯車１４と内歯歯車２４の正常な噛合いを確保できる。 According to the gear device 10 of the present embodiment, when the internal gear 24 tries to be deformed radially outward due to meshing with the external gear 14, the deformation can be restrained by the reinforcing member 60. Therefore, even when a resin-based material having a lower rigidity than the metal-based material is used for the internal tooth member 16, normal meshing of the external tooth gear 14 and the internal tooth gear 24 is ensured as compared with the case where the reinforcing member 60 is not provided. it can. Therefore, by using a resin-based material for the internal tooth member 16, it is possible to secure normal meshing between the external tooth gear 14 and the internal tooth gear 24 while reducing the weight.

　仮に、内歯歯車２４が径方向外側に変形した場合、作用するトルクが大きくなるほど、内歯歯車２４と外歯歯車１４の間でラチェッティング（歯飛び）が生じ易くなる。この点、本実施形態によれば、内歯歯車２４の径方向外側への変形を抑制することでラチェッティングの抑制を図れる。よって、内歯部材１６に樹脂系素材を用いることで軽量化を図りつつ、歯車装置１０の許容トルクの高トルク化を図れる。 If the internal gear 24 is deformed radially outward, the larger the torque that acts, the easier it is for ratcheting (tooth skipping) to occur between the internal gear 24 and the external gear 14. In this respect, according to the present embodiment, ratcheting can be suppressed by suppressing the deformation of the internal gear 24 in the radial direction. Therefore, by using a resin-based material for the internal tooth member 16, it is possible to increase the allowable torque of the gear device 10 while reducing the weight.

　また、外歯歯車１４と内歯歯車２４の正常な噛合いを確保できない場合、局所的な摩耗の原因となる。この点、本実施形態によれば、外歯歯車１４と内歯歯車２４の正常な噛合いを確保できるため、局所的な摩耗の抑制を図れる。 Further, if the normal meshing of the external gear 14 and the internal gear 24 cannot be ensured, it may cause local wear. In this respect, according to the present embodiment, since the normal meshing of the external gear 14 and the internal gear 24 can be ensured, local wear can be suppressed.

　補強部材６０は、内歯部材１６の外周部のうち、内歯歯車２４の内歯からの径方向距離が最も小さい外周部５０、５６に設けられる。この利点を説明する。 The reinforcing member 60 is provided on the outer

peripheral portions

50 and 56 of the outer peripheral portion of the internal tooth member 16 where the radial distance from the internal tooth of the internal gear 24 is the smallest. This advantage will be explained.

　補強部材６０と内歯部材１６を径方向に隔てる境界を境界位置といい、外歯歯車１４に対する内歯歯車２４の歯当たり位置に径方向外側に向かう一定の荷重が付与される場合を考える。この場合、内歯部材１６の歯当たり位置から境界位置までの径方向範囲が広くなるほど、その径方向範囲での内歯部材１６の圧縮変形量が増大し易くなり、その歯当たり位置が径方向に変化し易くなる。 The boundary that separates the reinforcing member 60 and the internal tooth member 16 in the radial direction is called a boundary position, and consider a case where a constant load toward the outer side in the radial direction is applied to the tooth contact position of the internal gear 24 with respect to the external gear 14. In this case, the wider the radial range from the tooth contact position to the boundary position of the internal tooth member 16, the more easily the amount of compression deformation of the internal tooth member 16 in the radial range increases, and the tooth contact position becomes radial. It becomes easy to change to.

　この点、本実施形態によれば、内歯歯車２４の内歯からの径方向距離が遠い外周部５２、５４、５８に補強部材６０を設ける場合と比べ、内歯部材１６の歯当たり位置から境界位置までの径方向範囲を狭めることができる。これに伴い、外歯歯車１４に対する内歯歯車２４の歯当たり位置に荷重が付与された場合に、前述の径方向範囲での圧縮変形量を低減でき、外歯歯車１４と内歯歯車２４の正常な噛合いをより確保できる。 In this respect, according to the present embodiment, as compared with the case where the reinforcing member 60 is provided on the outer

peripheral portions

52, 54, 58, which are far from the internal teeth of the internal gear 24 in the radial direction, from the tooth contact position of the internal tooth member 16. The radial range to the boundary position can be narrowed. Along with this, when a load is applied to the tooth contact position of the internal gear 24 with respect to the external gear 14, the amount of compression deformation in the above-mentioned radial range can be reduced, and the external gear 14 and the internal gear 24 can be reduced. More normal meshing can be secured.

　補強部材６０は無端リング状をなす。よって、補強部材６０が周方向に端部が有る有端状をなす場合と比べ、補強部材６０の高剛性化を図れ、補強部材６０により内歯部材１６の変形をより拘束し易くなる。 The reinforcing member 60 has an endless ring shape. Therefore, as compared with the case where the reinforcing member 60 has an end portion in the circumferential direction, the reinforcing member 60 can be made more rigid, and the reinforcing member 60 can more easily restrain the deformation of the internal tooth member 16.

　樹脂系素材により補強部材６０を構成した場合、内歯部材１６のみならず、補強部材６０もヒケの影響を受けてしまい、補強部材６０と内歯部材１６の寸法精度を確保し難くなる。これに起因して、内歯部材１６の外周部に補強部材６０を嵌合するうえで、内歯部材１６と補強部材６０の間に大きな隙間が生じ易くなり、補強部材６０による変形拘束効果を安定して得にくくなる。 When the reinforcing member 60 is made of a resin-based material, not only the internal tooth member 16 but also the reinforcing member 60 is affected by sink marks, and it becomes difficult to secure the dimensional accuracy of the reinforcing member 60 and the internal tooth member 16. Due to this, when the reinforcing member 60 is fitted to the outer peripheral portion of the internal tooth member 16, a large gap is likely to occur between the internal tooth member 16 and the reinforcing member 60, and the deformation restraining effect of the reinforcing member 60 is exerted. It becomes stable and difficult to obtain.

　この点、本実施形態によれば、金属系素材により補強部材６０が構成されるため、補強部材６０に樹脂系素材を用いる場合と比べ、補強部材６０の寸法精度を確保し易くなる。これに伴い、内歯部材１６の外周部に補強部材６０を嵌合するうえで、内歯部材１６と補強部材６０の間に大きな隙間が生じ難くなり、補強部材６０による変形拘束効果を安定して得やすくなる。 In this respect, according to the present embodiment, since the reinforcing member 60 is composed of the metal-based material, it becomes easier to secure the dimensional accuracy of the reinforcing member 60 as compared with the case where the resin-based material is used for the reinforcing member 60. Along with this, when the reinforcing member 60 is fitted to the outer peripheral portion of the internal tooth member 16, a large gap is less likely to occur between the internal tooth member 16 and the reinforcing member 60, and the deformation restraining effect of the reinforcing member 60 is stabilized. It will be easier to obtain.

　補強部材６０には、外歯歯車１４を自転させる減速用内歯部材１６Ａの変形を拘束する第１補強部材６０Ａが含まれる。この利点を説明する。 The reinforcing member 60 includes a first reinforcing member 60A that restrains deformation of the deceleration internal tooth member 16A that rotates the external gear 14. This advantage will be explained.

　出力用内歯歯車２４Ｂは外歯歯車１４の自転成分と同期する。よって、理想的には、出力用内歯歯車２４Ｂの各内歯の噛合相手となる外歯歯車１４の外歯は、起振体２６の回転数によらず同じとなる。一方、減速用内歯歯車２４Ａは、外歯歯車１４の自転により外歯歯車１４に対して相対回転する。よって、減速用内歯歯車２４の各内歯の噛合相手となる外歯歯車１４の外歯は、起振体２６の回転数に応じて変化する。外歯歯車１４の各外歯は寸法誤差の影響により寸法が変化するため、起振体２６の回転数に応じて内歯歯車２４の各内歯の噛合相手が変化すると、外歯歯車１４に対する各内歯の歯当たり位置も変化する恐れがある。この結果、減速用内歯歯車２４Ａは、出力用内歯歯車２４Ｂと比べて、歯先側での局所的な摩耗が生じ易いという問題がある。本実施形態によれば、このような前提のもとでも、減速用内歯歯車２４Ａの変形を第１補強部材６０Ａにより拘束できるため、その歯先側での局所的な摩耗の抑制を効果的に図れる。 The output internal gear 24B synchronizes with the rotation component of the external gear 14. Therefore, ideally, the external teeth of the external tooth gear 14, which is the meshing partner of each internal tooth of the output internal gear 24B, are the same regardless of the rotation speed of the exciter 26. On the other hand, the reduction internal gear 24A rotates relative to the external gear 14 due to the rotation of the external gear 14. Therefore, the external teeth of the external gear 14, which is the meshing partner of each internal tooth of the deceleration internal gear 24, change according to the rotation speed of the exciting body 26. Since the dimensions of each external tooth of the external gear 14 change due to the influence of the dimensional error, when the meshing partner of each internal tooth of the internal gear 24 changes according to the rotation speed of the exciter 26, the external tooth gear 14 is subjected to a change. The tooth contact position of each internal tooth may also change. As a result, the reduction internal gear 24A has a problem that local wear is likely to occur on the tooth tip side as compared with the output internal gear 24B. According to this embodiment, even under such a premise, the deformation of the reduction internal gear 24A can be restrained by the first reinforcing member 60A, so that it is effective to suppress local wear on the tooth tip side. It can be planned.

　次に、本実施形態の減速装置の他の工夫点を説明する。 Next, other ingenuity of the speed reducer of this embodiment will be described.

　第１補強部材６０Ａは、径方向から見て、第１補強部材６０Ａが用いられる減速用内歯歯車２４Ａの内歯６４と重なる位置に設けられる。本実施形態では、減速用内歯歯車２４Ａの内歯６４の軸方向の一部と重なる位置に設けられる。詳しくは、この内歯６４の軸方向中央部６４ａを含む範囲と重なる位置に設けられる。この範囲とは、本実施形態では、内歯６４の軸方向全長Ｌａに対して半分以上の範囲となる。 The first reinforcing member 60A is provided at a position overlapping the internal teeth 64 of the reduction internal gear 24A in which the first reinforcing member 60A is used when viewed from the radial direction. In the present embodiment, it is provided at a position overlapping a part of the internal teeth 64 of the reduction internal gear 24A in the axial direction. Specifically, it is provided at a position overlapping the range including the axial central portion 64a of the internal tooth 64. In this embodiment, this range is more than half of the total length La of the internal teeth 64 in the axial direction.

　第２補強部材６０Ｂは、径方向から見て、第２補強部材６０Ｂが用いられる出力用内歯歯車２４Ｂの内歯６６と重なる位置に設けられる。本実施形態では、出力用内歯歯車２４Ｂの内歯６６の軸方向の一部と重なる位置に設けられる。詳しくは、この内歯６６の軸方向中央部６６ａを含む範囲と重なる位置に設けられる。この範囲とは、本実施形態では、内歯６６の軸方向全長Ｌｂに対して半分以上の範囲となる。 The second reinforcing member 60B is provided at a position overlapping the internal teeth 66 of the output internal gear 24B in which the second reinforcing member 60B is used when viewed from the radial direction. In the present embodiment, it is provided at a position overlapping a part of the internal teeth 66 of the output internal gear 24B in the axial direction. Specifically, it is provided at a position overlapping the range including the axial central portion 66a of the internal tooth 66. In this embodiment, this range is more than half of the total length Lb of the internal teeth 66 in the axial direction.

　これにより、径方向から見て、内歯歯車２４と重ならない位置に補強部材６０を設ける場合と比べ、内歯歯車２４の歯当たり位置から径方向外側に荷重が付与されたとき、その荷重を補強部材６０によりしっかりと受け易くなる。これに伴い、内歯歯車２４の径方向外側への変形を補強部材６０により効果的に拘束できる。 As a result, when a load is applied radially outward from the tooth contact position of the internal gear 24, the load is applied as compared with the case where the reinforcing member 60 is provided at a position that does not overlap with the internal gear 24 when viewed from the radial direction. The reinforcing member 60 makes it easier to receive firmly. Along with this, the deformation of the internal gear 24 in the radial direction can be effectively restrained by the reinforcing member 60.

　このような効果を効果的に得る観点から、補強部材６０は、径方向から見て、補強部材６０が用いられる内歯歯車２４の内歯６６、６８の軸方向全長Ｌａ、Ｌｂと重なる位置に設けられると好ましい。 From the viewpoint of effectively obtaining such an effect, the reinforcing member 60 is positioned at a position where the reinforcing member 60 overlaps the total axial lengths La and Lb of the internal teeth 66 and 68 of the internal gear 24 in which the reinforcing member 60 is used when viewed from the radial direction. It is preferable to be provided.

　各構成要素の変形例を説明する。 A modified example of each component will be explained.

　歯車装置１０は、互いに噛み合う外歯歯車１４と内歯部材１６を備えるものであれば、その具体例は特に限定されない。たとえば、撓み噛み合い型歯車装置の他に、偏心揺動型歯車装置、単純遊星歯車装置等でもよい。偏心揺動型歯車装置は、内歯歯車２４の中心軸線Ｌａ上に入力部材１２となるクランク軸が配置されるセンタークランクタイプでもよい。この他にも、その中心軸線Ｌａからオフセットした位置にクランク軸が配置される振り分けタイプでもよい。撓み噛み合い型歯車装置は、筒型に限定されず、たとえば、シルクハット型、カップ型等が用いられてもよい。 The specific example of the gear device 10 is not particularly limited as long as it includes an external tooth gear 14 and an internal tooth member 16 that mesh with each other. For example, in addition to the flexible mesh gear device, an eccentric swing type gear device, a simple planetary gear device, or the like may be used. The eccentric swing type gear device may be a center crank type in which a crankshaft serving as an input member 12 is arranged on the central axis La of the internal gear 24. In addition to this, a distribution type in which the crankshaft is arranged at a position offset from the central axis La may be used. The flexible meshing type gear device is not limited to the tubular type, and for example, a top hat type, a cup type, or the like may be used.

　出力部材２２は、いずれのキャリヤ２０が構成してもよいし、ケーシング１８が構成してもよい。 The output member 22 may be composed of any carrier 20 or the casing 18.

　歯車装置１０の構成要素のうち、内歯部材１６以外の構成要素の素材は特に限定されない。たとえば、外歯歯車１４は金属系素材及び樹脂系素材の何れが用いられてもよい。他の構成要素も同様である。 Among the components of the gear device 10, the materials of the components other than the internal tooth member 16 are not particularly limited. For example, the external gear 14 may be made of either a metal-based material or a resin-based material. The same applies to other components.

　複数の内歯部材１６が用いられる場合、一つの内歯部材１６のみを樹脂系素材とし、他の内歯部材１６を他の素材としてもよい。この場合、歯車装置１０は、樹脂系素材の内歯部材１６の変形を拘束する補強部材６０を備えていればよい。たとえば、歯車装置１０は、樹脂系素材の第１内歯部材１６Ａと、金属系素材の第２内歯部材１６Ｂと、第１内歯部材１６Ａの変形を拘束する第１補強部材６０Ａとを備え、第２内歯部材１６Ｂの変形を拘束する第２補強部材６０Ｂを備えなくともよい。この他にも、歯車装置１０は、金属系素材の第１内歯部材１６Ａと、樹脂系素材の第２内歯部材１６Ｂと、第２内歯部材１６Ｂの変形を拘束する第２補強部材６０Ｂとを備え、第１内歯部材１６Ａの変形を拘束する第１補強部材６０Ａを備えなくともよい。 When a plurality of internal tooth members 16 are used, only one internal tooth member 16 may be used as a resin-based material, and the other internal tooth member 16 may be used as another material. In this case, the gear device 10 may include a reinforcing member 60 that restrains the deformation of the internal tooth member 16 made of a resin material. For example, the gear device 10 includes a first internal tooth member 16A made of a resin material, a second internal tooth member 16B made of a metal material, and a first reinforcing member 60A that restrains deformation of the first internal tooth member 16A. , The second reinforcing member 60B that restrains the deformation of the second internal tooth member 16B may not be provided. In addition to this, the gear device 10 includes a first internal tooth member 16A made of a metal material, a second internal tooth member 16B made of a resin material, and a second reinforcing member 60B that restrains deformation of the second internal tooth member 16B. It is not necessary to provide the first reinforcing member 60A that restrains the deformation of the first internal tooth member 16A.

　補強部材６０は、補強部材６０が用いられる内歯部材１６の外周部のうち、その内歯部材１６の内歯に対して径方向外側にて径方向距離が最も小さい外周部に設けられる例を説明した。この他にも、内歯部材１６の内歯に対して径方向内側にて径方向距離が最も小さい外周部に設けられてもよい。 An example in which the reinforcing member 60 is provided on the outer peripheral portion of the inner tooth member 16 in which the reinforcing member 60 is used, which has the smallest radial distance on the outer side in the radial direction with respect to the inner teeth of the internal tooth member 16. explained. In addition to this, it may be provided on the outer peripheral portion where the radial distance is the smallest on the inner side in the radial direction with respect to the internal teeth of the internal tooth member 16.

　補強部材６０は、軸受およびボルトとは別部材により構成される場合、内歯部材１６の内部に埋め込まれてもよい。また、この場合、補強部材６０は、補強部材６０が用いられる内歯部材１６の外周部のうち、その径方向距離が他より大きい外周部に設けられてもよい。たとえば、第１補強部材６０Ａは、第１内歯部材１６Ａの第２外周部５２や第３外周部５４に設けられてもよいということである。 When the reinforcing member 60 is composed of a member other than the bearing and the bolt, the reinforcing member 60 may be embedded inside the internal tooth member 16. Further, in this case, the reinforcing member 60 may be provided on the outer peripheral portion of the outer peripheral portion of the internal tooth member 16 in which the reinforcing member 60 is used, whose radial distance is larger than the others. For example, the first reinforcing member 60A may be provided on the second outer peripheral portion 52 or the third outer peripheral portion 54 of the first internal tooth member 16A.

　補強部材６０は周方向に端部が有る有端状をなしてもよい。これは、たとえば、Ｃ型の止め輪等により補強部材６０を構成する場合を想定している。また、補強部材６０は、リング形状を周方向に分割した複数の分割体により構成してもよい。 The reinforcing member 60 may have an end shape having an end portion in the circumferential direction. This assumes, for example, a case where the reinforcing member 60 is configured by a C-shaped retaining ring or the like. Further, the reinforcing member 60 may be composed of a plurality of divided bodies in which the ring shape is divided in the circumferential direction.

　補強部材６０は、金属系素材に限定されず、たとえば、樹脂系素材により構成されてもよい。この場合も、補強部材６０が用いられる内歯部材１６を構成する樹脂系素材よりもヤング率が大きい素材を補強部材６０に用いてもよい。この場合、補強部材６０は、内歯部材１６と共通の樹脂系素材をベースとして、そのベース中に繊維を埋め込んで構成する繊維強化樹脂を用いてもよい。この場合、繊維を埋め込んだ部分が補強部材６０となる。補強部材６０は、内歯部材１６と別の部材により構成される場合に限られず、内歯部材１６と同じ部材の一部として構成されてもよいということである。 The reinforcing member 60 is not limited to the metal-based material, and may be made of, for example, a resin-based material. In this case as well, a material having a Young's modulus larger than that of the resin-based material constituting the internal tooth member 16 in which the reinforcing member 60 is used may be used for the reinforcing member 60. In this case, the reinforcing member 60 may use a fiber-reinforced resin composed of a resin-based material common to the internal tooth member 16 as a base and fibers embedded in the base. In this case, the portion where the fiber is embedded becomes the reinforcing member 60. The reinforcing member 60 is not limited to the case where it is composed of a member different from the internal tooth member 16, and may be configured as a part of the same member as the internal tooth member 16.

　内歯部材１６の外周部に補強部材６０を嵌合する場合、内歯部材１６に溝部６２が形成されていなくともよい。 When the reinforcing member 60 is fitted to the outer peripheral portion of the internal tooth member 16, the groove portion 62 does not have to be formed in the internal tooth member 16.

　補強部材６０は、径方向から見て、補強部材６０が用いられる内歯歯車２４の内歯と重ならない位置に設けられていてもよい。 The reinforcing member 60 may be provided at a position where the reinforcing member 60 does not overlap with the internal teeth of the internal gear 24 in which the reinforcing member 60 is used when viewed from the radial direction.

　以上、本発明の実施形態や変形例について詳細に説明した。前述した実施形態や変形例は、いずれも本発明を実施するにあたっての具体例を示したものにすぎない。実施形態や変形例の内容は、本発明の技術的範囲を限定するものではなく、発明の思想を逸脱しない範囲において、構成要素の変更、追加、削除等の多くの設計変更が可能である。前述の実施形態では、このような設計変更が可能な内容に関して、「実施形態」との記載を付して強調しているが、そのような表記のない内容でも設計変更が許容される。以上の構成要素の任意の組み合わせも、本発明の態様として有効である。図面の断面に付したハッチングは、ハッチングを付した対象の材質を限定するものではない。 The embodiments and modifications of the present invention have been described in detail above. The above-described embodiments and modifications are merely specific examples for carrying out the present invention. The contents of the embodiments and modifications do not limit the technical scope of the present invention, and many design changes such as modification, addition, and deletion of components can be made without departing from the idea of the invention. In the above-described embodiment, the contents that can be changed in design are emphasized by adding the description of "the embodiment", but the design change is allowed even in the contents without such notation. Any combination of the above components is also valid as an aspect of the present invention. The hatching attached to the cross section of the drawing does not limit the material of the object to which the hatching is attached.

１０…歯車装置、１４…外歯歯車、１６…内歯部材、２４…内歯歯車、２６…起振体、５０、５２、５４、５６、５８…外周部、６０…補強部材。 10 ... Gear device, 14 ... External tooth gear, 16 ... Internal tooth member, 24 ... Internal tooth gear, 26 ... Propulsion body, 50, 52, 54, 56, 58 ... Outer peripheral part, 60 ... Reinforcing member.

Claims

　外歯歯車と、
　前記外歯歯車と噛み合う内歯歯車が設けられた内歯部材と、を備える歯車装置であって、
　前記内歯部材は、樹脂系素材により構成され、
　前記外歯歯車との噛み合いによる前記内歯歯車の径方向外側への変形を拘束する補強部材を備え、
　前記補強部材は、前記内歯部材の外周部のうち、前記内歯歯車の内歯からの径方向距離が最も小さい外周部に設けられる歯車装置。 External gear and
A gear device including an internal tooth member provided with an internal tooth gear that meshes with the external tooth gear.
The internal tooth member is made of a resin-based material.
A reinforcing member for restraining the radial outward deformation of the internal gear due to meshing with the external gear is provided.
The reinforcing member is a gear device provided on the outer peripheral portion of the outer peripheral portion of the internal tooth member, which has the smallest radial distance from the internal teeth of the internal gear.
　外歯歯車と、
　前記外歯歯車と噛み合う内歯歯車が設けられた内歯部材と、を備える歯車装置であって、
　前記内歯部材は、樹脂系素材により構成され、
　前記外歯歯車との噛み合いによる前記内歯歯車の径方向外側への変形を拘束する補強部材を備え、
　前記補強部材は、軸受およびボルトとは別部材により構成される歯車装置。 External gear and
A gear device including an internal tooth member provided with an internal tooth gear that meshes with the external tooth gear.
The internal tooth member is made of a resin-based material.
A reinforcing member for restraining the radial outward deformation of the internal gear due to meshing with the external gear is provided.
The reinforcing member is a gear device composed of a member separate from the bearing and the bolt.
　前記補強部材は、無端リング状をなす請求項１または２に記載の歯車装置。 The gear device according to claim 1 or 2, wherein the reinforcing member has an endless ring shape.
　前記補強部材は、前記内歯部材の外周部に嵌合され、金属系素材により構成される請求項１から３のいずれかに記載の歯車装置。 The gear device according to any one of claims 1 to 3, wherein the reinforcing member is fitted to the outer peripheral portion of the internal tooth member and is made of a metal-based material.
　前記補強部材は、径方向から見て、前記内歯歯車の内歯と重なる位置に設けられる請求項１から４のいずれかに記載の歯車装置。 The gear device according to any one of claims 1 to 4, wherein the reinforcing member is provided at a position overlapping the internal teeth of the internal gear when viewed from the radial direction.
　前記補強部材は、径方向から見て、前記内歯歯車の内歯の軸方向全長と重なる位置に設けられる請求項５に記載の歯車装置。 The gear device according to claim 5, wherein the reinforcing member is provided at a position overlapping the overall length of the internal teeth of the internal gear when viewed from the radial direction.
　前記外歯歯車を撓み変形させる起振体を備え、
　前記内歯部材には、
　前記外歯歯車を自転させる第１内歯歯車が設けられた第１内歯部材と、
　前記外歯歯車の自転成分と同期する第２内歯歯車が設けられた第２内歯部材と、が含まれ、
　前記補強部材には、前記第１内歯歯車の径方向外側への変形を拘束する第１補強部材が含まれる請求項１から６のいずれかに記載の歯車装置。 A vibrating body that bends and deforms the external gear is provided.
The internal tooth member
A first internal tooth member provided with a first internal tooth gear that rotates the external tooth gear, and
A second internal tooth member provided with a second internal gear that synchronizes with the rotation component of the external gear is included.
The gear device according to any one of claims 1 to 6, wherein the reinforcing member includes a first reinforcing member that restrains the deformation of the first internal gear in the radial direction.