JP6173232B2 - Flexure meshing gear device and method for correcting tooth profile of flexure meshing gear device - Google Patents

Description

  The present invention relates to a flexure meshing gear device and a tooth profile correcting method for a flexure meshing gear device.

  Patent Document 1 discloses a flexure mesh provided with a vibration generator, an external gear that is bent and deformed by the rotation of the vibration generator, and an internal gear that has a number of teeth different from the number of teeth of the external gear. A gear device is disclosed.

JP 2009-299765 A

  When designing a tooth profile of a flexure meshing gear device as shown in Patent Document 1, for example, when an external gear is externally fitted to a vibration generator, the external gear is assumed to be deformed in a similar shape to the vibration generator. To do. Then, the tooth shapes of the external gear and the internal gear are designed so as to theoretically mesh with the deformed external gear. However, in practice, when the external gear is externally fitted to the vibration generating body, the external gear is deformed in a non-similar shape to the vibration generating body. For this reason, the position of the external teeth of the external gear is different from that at the time of design, and the meshing state between the external gear and the internal gear may not be appropriate.

  Accordingly, the present invention has been made to solve the above-described problems, and a flexure meshing gear device and a flexure meshing gear that can realize more appropriate meshing between an external gear and an internal gear. It is an object of the present invention to provide a method for correcting a tooth profile of an apparatus.

  The present invention relates to a flexure meshing type comprising an oscillator, an external gear that is bent and deformed by the rotation of the oscillator, and an internal gear having a number of teeth different from the number of teeth of the external gear. In the gear device, when it is assumed that the circumference of the outer periphery of the external gear does not change even if the external gear is fitted to the vibration generator, the first gear of the vibration generator is not loaded. When the tooth profile of the internal gear that contacts the external gear and the internal gear in each of the first quadrant to the fourth quadrant is a basic internal tooth profile, the internal gear is The above-mentioned problems are solved by the small tooth thickness.

  In a flexure meshing gear device, the external gear fitted on the vibration generator deforms into a shape that is not similar to that of the vibration generator, and as a result, the peripheral length of the outer periphery of the external gear is extended. End up. For this reason, when the external gear and the internal gear are in contact with each other, the distance (pitch) between adjacent external teeth of the external gear is increased, for example, the external teeth of the external gear and the internal teeth of the internal gear. And the meshing between the external gear and the internal gear becomes too clogged.

  Therefore, the present invention is to modify the tooth profile of the internal gear with respect to the tooth profile of the external gear that is deformed by the insertion of the vibrator.

  That is, in the present invention, the tooth profile of the internal gear is assumed to be the basic internal tooth profile when it is assumed that the peripheral length of the inner periphery of the external gear does not change even if the external gear is fitted on the vibration generator. In addition, the actual internal gear has a smaller tooth thickness than the basic internal tooth profile. For this reason, when the external gear and the internal gear are in contact with each other, the distance between the tooth surface of the external gear and the tooth surface of the internal gear can be increased. As a result, it is possible to eliminate the phenomenon that the engagement between the external gear and the internal gear is excessively blocked.

  Further, the present invention provides the vibrator in an unloaded state when it is assumed that the circumference of the outer circumference of the external gear does not change even if the external gear is fitted to the vibrator. In the first quadrant to the fourth quadrant, when the tooth form of the external gear that contacts the external gear and the internal gear is a basic external tooth form, the basic external tooth The problem is solved by the tooth thickness being smaller than the tooth profile.

  The present invention also provides a vibrator, an external gear that is bent and deformed by the rotation of the vibrator, a first internal gear having a number of teeth different from the number of teeth of the external gear, and the external teeth. And a second internal gear having the same number of teeth as that of the gear and arranged in parallel with the first internal gear, wherein the external gear is used as the vibrator. When it is assumed that the outer circumference of the external gear does not change even if it is fitted externally, the external gear and the quadrature in the first quadrant to the fourth quadrant of the vibrator in an unloaded state. When the tooth shapes of the first internal gear and the second internal gear that are in contact with the first internal gear and the second internal gear are the basic first internal tooth profile and the basic second internal tooth profile, respectively. The tooth thickness of the first internal gear is smaller than that of the basic first internal gear, and the tooth thickness of the second internal gear is smaller than that of the basic second internal gear. By listening, it is obtained by solving the above problems. Alternatively, the external gear includes a first external gear that meshes with the first internal gear and a second external gear that meshes with the second internal gear, and the external gear is the Assuming that the inner circumference of the external gear does not change even when fitted externally to the vibration generator, the first and fourth quadrants of the vibration generator are each in the first quadrant to the fourth quadrant in an unloaded state. The tooth forms of the first external gear and the second external gear, in which one external gear and the first internal gear are in contact, and the second external gear and the second internal gear are in contact with each other. When the basic first external tooth form and the basic second external tooth form are used, the first external gear has a smaller tooth thickness than the basic first external tooth form, and the second external gear has The problem is solved by the tooth thickness being larger than the basic second external tooth profile.

  The operation and effect of such a cylindrical flexure meshing gear device will be described later in detail.

  Each of the above-described inventions can be substantially realized by the invention of the tooth profile correcting method for the flexibly meshing gear device.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to implement | achieve more suitable meshing between an external gear and an internal gear.

The perspective view which shows an example of the whole structure of the bending meshing gear apparatus which concerns on 1st Embodiment of this invention. Sectional view including the axis of FIG. Sectional view along line III-III in FIG. Schematic diagram for explaining deformation of external gear Schematic diagram showing the state of meshing in the region surrounded by broken line IV-1 in FIG. 3 (basic first external tooth profile and basic first internal tooth profile (A), basic second external tooth profile and basic second Internal tooth profile (B)) FIG. 3 is a schematic diagram showing a state of meshing in a region surrounded by a broken line IV-1 in FIG. 3 (first external gear and reduction internal gear (A), second external gear and output internal gear ( B)) The perspective view which shows an example of the whole structure of the bending meshing type gear apparatus which concerns on 2nd Embodiment of this invention. Sectional view including the axis of FIG. Sectional view along the line IX-IX in FIG. FIG. 9 is a schematic diagram showing a state of meshing in a region surrounded by a broken line portion XI-1 (basic first external tooth form and basic first internal tooth form (A), basic second external tooth form and basic second form). Internal tooth profile (B)) FIG. 9 is a schematic diagram showing a state of meshing in a region surrounded by a broken line portion XI-1 (first external gear and reduction internal gear (A), second external gear and output internal gear ( B)) Sectional drawing which shows an example of the whole structure of the bending meshing type gear apparatus which concerns on 3rd Embodiment of this invention. 12 is a schematic diagram showing a state of meshing in a region corresponding to the broken line portion XI-1 in FIG. 9 (basic external tooth profile and basic internal tooth profile (A), external gear and internal gear). Toothed gear (B))

  Hereinafter, an example of the first embodiment of the present invention will be described in detail with reference to FIGS. First, the overall configuration of the present embodiment will be schematically described.

  As shown in FIGS. 1 and 2, the flexure meshing gear device 100 includes a vibration generator 104, an external gear 120 that is bent and deformed by the rotation of the vibration generator 104, and the vibration generator 104 and the external gear 120. And the number of teeth of the external gear 120, the internal gear for reduction (first internal gear) 130A having a number of teeth different from the number of teeth of the external gear 120, An output internal gear (second internal gear) 130 </ b> B having the same number of teeth and arranged in parallel with the reduction internal gear 130 </ b> A. The external gear 120 includes a first external gear 120A that meshes with the reduction internal gear 130A, and a second external gear 120B that meshes with the output internal gear 130B. Here, when it is assumed that the peripheral length L of the inner periphery of the external gear 120 does not change even if the external gear 120 is fitted on the vibration generator 104, the first of the vibration generator 104 is not loaded. In each of the first quadrant to the fourth quadrant, the first external gear 120A and the reduction internal gear 130A are in contact with each other, and the second external gear 120B and the output internal gear 130B are in contact with each other. And the tooth profile of the second external gear 120B is a basic first external tooth profile 119A and a basic second external gear profile 119B (FIGS. 3 and 5). In this case, the tooth thickness of the first external gear 120A is smaller than the basic first external tooth profile 119A (Soao> Soa), and the tooth thickness of the second external gear 120B is smaller than that of the basic second external tooth profile 119B. Is large (Sobo <Sob) (FIGS. 5 and 6). The reduction internal gear 130A and the output internal gear 130B are collectively referred to as the internal gear 130.

  Hereinafter, each component will be described in detail.

  As shown in FIG. 3, the vibrator 104 has a substantially columnar shape with a non-circular cross section (specifically, an elliptical shape) perpendicular to the axial direction O, and an input shaft (not shown) is inserted in the center. An input shaft hole 106 is formed. In the minor axis Y portion of the XY coordinates of the cross section perpendicular to the axial direction O of the vibrator 104, a gap is generated between the external gear 120 and the internal gear 130, and a non-engagement state is realized. On the other hand, the meshing state of the external gear 120 and the internal gear 130 is realized in the vicinity of the major axis X of the XY coordinates of the cross section perpendicular to the axial direction O of the vibrator 104. A keyway 108 is provided in the input shaft hole 106 so that the vibrator 104 rotates integrally with the input shaft when the input shaft is inserted and rotated.

  Two vibration body bearings 110 (110A, 110B) are arranged side by side in the axial direction O as shown in FIG. The vibration body bearings 110A and 110B have the same configuration, and the inner ring 112 is common to both. For this reason, below, the vibration body bearing 110A is demonstrated and description about the vibration body bearing 110B is abbreviate | omitted fundamentally.

  As shown in FIGS. 1 to 3, the vibration body bearing 110 </ b> A includes an inner ring 112, a retainer 114 </ b> A, a roller 116 </ b> A as a rolling element, and an outer ring 118 </ b> A. The inner ring 112 is made of a flexible material. The inner ring 112 is disposed on the side of the vibrating body 104, the inner circumference of the inner ring 112 contacts the outer circumference of the vibrating body 104, and the inner ring 112 rotates integrally with the vibrating body 104. The retainer 114A accommodates the roller 116A and regulates the position and posture in the circumferential direction of the roller 116A. The roller 116A has a cylindrical shape (including a needle shape). For this reason, compared with the case where a rolling element is a ball | bowl, the part which the roller 116A contacts with the inner ring | wheel 112 and the outer ring | wheel 118A is increased. That is, by using the roller 116A, the transmission torque of the vibration body bearing 110A can be increased and the life can be extended (the rolling elements are not limited to the rollers 116A and 116B but may be balls). . The outer ring 118A is disposed on the outer periphery of the retainer 114A and the roller 116A. The outer ring 118A is also formed of a flexible material. The outer ring 118 </ b> A is bent and deformed by the rotation of the vibrating body 104 together with the external gear 120 arranged on the outer periphery thereof.

  The external gear 120 includes a first external gear 120A and a second external gear 120B, and two are arranged side by side in the axial direction O corresponding to the vibration body bearings 110A and 110B, as shown in FIG. ing. As shown in FIGS. 1 and 2, the first external gear 120A internally meshes with the reduction internal gear 130A. As shown in FIG. 3, the first external gear 120A and the reduction internal gear 130A are in the first quadrant to the second quadrant in the XY coordinates of the cross section perpendicular to the axial direction O of the vibration generator 104 in the no-load state. Each of the four areas VI-1 to VI-4 surrounded by the four-quadrant broken line simultaneously contacts. The first external gear 120A includes a base member 122 and external teeth 124A. The base member 122 is a flexible thin-walled cylindrical member that supports the external teeth 124 </ b> A. The base member 122 is disposed on the outer periphery of the vibration body bearing 110 and is bent and deformed by the rotation of the vibration body 104. The external teeth 124A are constituted by pins, and the pin diameter is Da.

  The second external gear 120B also meshes internally with the output internal gear 130B, as shown in FIGS. That is, the second external gear 120B and the output internal gear 130B are in a no-load state, similar to the contact state between the first external gear 120A and the reduction internal gear 130A shown in FIG. In the XY coordinates of the cross section perpendicular to the axial direction O of the vibrator 104, the first and fourth quadrants are simultaneously contacted. And the 2nd external gear 120B is provided with the base member 122 and the external gear 124B similarly to the 1st external gear 120A. Similarly to the external teeth 124A, the external teeth 124B are configured by pins and are configured in the same number as the external teeth 124A. However, it is separated from the external teeth 124A in the axial direction O, and the pin diameter Db is larger than the pin diameter Da (Db> Da). Here, the base member 122 supports the external teeth 124A and the external teeth 124B in common. For this reason, the eccentric amount of the vibrator 104 is transmitted to the external teeth 124A and the external teeth 124B in the same phase. The determination of the pin diameters Da and Db of the external teeth 124A and 124B will be described later.

  The internal gears 130 (deceleration internal gear 130A, output internal gear 130B) are arranged side by side in the axial direction O as shown in FIGS. The internal gear 130 is formed of a rigid member. The reduction internal gear 130A includes internal teeth 128A having a number of teeth i (i is 2 or more) larger than the number of teeth of the external teeth 124A of the first external gear 120A (that is, the reduction internal gear 130A is an external gear). The number of teeth differs from the number of teeth of the tooth gear 120). The inner teeth 128A are formed so as to mesh with the outer teeth 124A (the inner teeth 128B are the same). Each of the internal teeth 128A and 128B will be described later. The reduction internal gear 130 </ b> A meshes with the first external gear 120 </ b> A to reduce the rotation of the vibration generator 104. The internal gear 130A for deceleration is fixed to a fixed wall (not shown) via a bolt hole 132A, for example.

  On the other hand, the output internal gear 130B includes internal teeth 128B having the same number of teeth as the external teeth 124B of the second external gear 120B. From the output internal gear 130B, the same rotation as the rotation of the second external gear 120B is output to the outside. The output internal gear 130B is fixed to an output device (not shown) via a bolt hole 132B, for example.

  Next, the tooth profiles of the external gear 120 and the internal gear 130 in this embodiment will be described with reference to FIGS. The external gear 120 and the internal gear 130 are simultaneously in contact with each other in each of the first quadrant to the fourth quadrant in the XY coordinates of the cross section perpendicular to the axial direction O of the vibrating body 104 in a no-load state (hereinafter referred to as “the fourth gear”) Simply indicated as the first to fourth quadrants of the vibrator 104). For this reason, since it is an axis object with respect to the major axis X direction and the minor axis Y direction of the vibrator 104, only the first quadrant of the vibrator 104 is shown in FIGS.

  First, an outline of the deformation of the tooth profile will be described.

  The external gear 120 is formed in a perfect circle shape as shown in FIG. However, the vibration body 104 has a non-circular cross section perpendicular to the axial direction O, and the vibration body bearing 110 fitted on the outer periphery of the vibration body 104 follows that, as shown in FIG. (The broken line indicates the outer periphery of the outer rings 118A and 118B of the vibration body bearing 110). That is, when the external gear 120 is externally fitted to the non-circular exciter 104 via the exciter bearing 110, the external gear 120 is deformed from a perfect circle. Here, when the external gear 120 is deformed to completely follow the non-circular vibration body 104 via the vibration body bearing 110, the peripheral length L of the inner periphery of the external gear 120 does not change. Has been. However, the externally toothed gear 120 that is originally formed in a perfect circle shape may pass through the vibration body bearing 110, and may have a non-circular vibration body that has flexibility but does not have a constant curvature. When fitted on 104, it cannot be completely deformed following the outer periphery of the vibrator 104. That is, for example, a gap is generated in a part between the outer circumferences of the outer rings 118A and 118B of the vibration body bearing 110 and the external gear 120, so that the circumferential length L of the inner circumference of the external gear 120 results in α ( > 0). That is, the distance (pitch interval) between the adjacent external teeth 124 of the external gear 120 is different from that when the external gear 120 is formed in a perfect circle shape. For this reason, in order to maintain appropriate meshing between the external gear 120 and the internal gear 130, the external gear 120 (or the internal gear 130) may be adjusted in accordance with the change in the pitch interval of the external teeth 124. It is necessary to correct the tooth profile.

  Therefore, the first external gear 120A and the second external gear 120B when it is assumed that the peripheral length L of the inner periphery of the external gear 120 does not change even if the external gear 120 is externally fitted to the vibrator 104. The tooth shapes of the reduction internal gear 130A and the output internal gear 130B are the basic first external tooth shape 119A, basic second external tooth shape 119B, basic first internal tooth shape 129A, and basic second internal tooth, respectively. The tooth profile is 129B. At this time, in the no-load state, the first external gear 120A and the reduction internal gear 130A, and the second external gear 120B and the output internal gear 130B are in the first quadrant to the second quadrant of the vibration generator 104. The four quadrants are in contact with each other and satisfy the conditions for realizing ideal engagement in each. For example, the engagement between the basic first external tooth profile 119A and the basic first internal tooth profile 129A, and the engagement between the basic second external tooth profile 119B and the basic second internal tooth profile 129B are shown in FIG. (B) Each is shown. Reference numeral 121 is a base member, reference numerals 123A and 123B are external teeth, and reference numerals 127A and 127B are internal teeth. The tooth thicknesses of the external teeth 123A and 123B at this time are indicated by reference signs Soao and Sobo, respectively. Here, since the external teeth 123A and the external teeth 123B have the same pin diameter Do, the tooth thickness is the same (Soao = Sobo). The tooth thickness in the present embodiment is a tooth thickness measured on an intermediate circle Cc passing through the center between the tip circle Tc and the root circle Rc.

  As described above, actually, when the external gear 120 is externally fitted to the vibration generator 104, the circumferential length L of the inner periphery of the external gear 120 changes. Here, the internal gear 130A for deceleration is different from the first external gear 120A in the number of teeth. Therefore, in the state where the first external gear 120A and the reduction internal gear 130A are in contact with each other, if the external teeth 123A are used, the external teeth 123A and The distance between the internal teeth 128A is too close and the meshing between the first external gear 120A and the reduction internal gear 130A is too clogged. Therefore, in the present embodiment, as indicated by the solid line in FIG. 6A, the tooth thickness Soa of the external teeth 124A causes an extra pressurization due to the contact between the first external gear 120A and the reduction internal gear 130A. In order not to occur, it is made smaller than the tooth thickness Soao of the external tooth 123A (Soa <Soao). That is, the pin diameter Da of the external teeth 124A is made smaller than the pin diameter Do of the external teeth 123A (Da <Do). In other words, the tooth thickness of the first external gear 120A is made smaller than that of the basic first external tooth profile 119A. For this reason, when the external gear 120 is externally fitted to the vibration body 104, the distance between the external teeth 124A of the first external gear 120A and the internal teeth 128A of the reduction internal gear 130A approaches, The distance between the tooth surface of the tooth 124A and the tooth surface of the internal tooth 128A can be increased. As a result, the phenomenon in which the engagement between the first external gear 120A and the reduction internal gear 130A is excessively blocked is eliminated. That is, the actual meshing between the first external gear 120A and the reduction internal gear 130A can be brought close to the meshing in an appropriate state at the time of design. In the present embodiment, in the first external gear 120A, the base member 122 is the same as the base member 121, and the reduction internal gear 130A is the same as the basic first internal gear 129A.

  Further, the second external gear 120B and the output internal gear 130B are in contact with each other. Since the output internal gear 130B has the same number of teeth as the second external gear 120B, if the external teeth 123B are used, as shown by the broken line in FIG. The space | interval with the tooth | gear 128B is separated too much, and a clearance gap will arise by mesh | engagement with the 2nd external gear 120B and the internal gear 130B for output. Therefore, in the present embodiment, as indicated by the solid line in FIG. 6B, the external thickness 124B of the external teeth 124B is set so that the second external gear 120B and the output internal gear 130B can be kept in contact with each other. It is larger than the tooth thickness Sobo of the tooth 123B (Sob> Sobo). That is, the pin diameter Db of the external teeth 124B is larger than the pin diameter Do of the external teeth 123B (Db> Do) (the pin diameter Da of the first external gear 120A is the pin diameter of the second external gear 120B) It is made smaller than the diameter Db). In other words, the tooth thickness of the second external gear 120B is larger than that of the basic second external tooth profile 119B. For this reason, when the external gear 120 is externally fitted to the vibration body 104, the distance between the tooth surface of the external tooth 124B and the tooth surface of the internal tooth 128B, although the space between the external tooth 124B and the internal tooth 128B is separated. Can be narrowed. This eliminates the phenomenon that a gap is left due to the meshing between the second external gear 120B and the output internal gear 130B. That is, backlash that occurs in the gap can be prevented, and the actual meshing between the second external gear 120B and the output internal gear 130B can be brought close to the meshing in an appropriate state at the time of design. In the present embodiment, in the second external gear 120B, the base member 122 is the same as the base member 121, and the output internal gear 130B is the same as the basic second internal gear 129B.

  The tooth thicknesses Soa and Sob of the first external gear 120A and the second external gear 120B can be easily adjusted by changing the pin diameters Da and Db of the external teeth 124A and 124B, respectively. For this reason, by preparing a plurality of types of pin diameters Da and Db of the external teeth 124A and 124B, and incorporating each of them, it is possible to modify the optimum tooth profile. Alternatively, the pin diameters Da and Db of the external teeth 124A and 124B may be determined by obtaining the amount by which the external gear 120 is stretched in advance by calculation such as a finite element method.

  Next, the operation of the flexibly meshing gear device 100 will be described mainly with reference to FIGS.

  When the vibration generator 104 is rotated by rotation of an input shaft (not shown), the first external gear 120A is bent and deformed via the vibration generator bearing 110A according to the rotation state. At this time, the second external gear 120B is also bent and deformed in the same phase as the first external gear 120A via the vibration body bearing 110B.

  When the external gear 120 is bent and deformed by the vibrator 104, the external teeth 124A of the first external gear 120A mesh with the internal teeth 128A of the reduction internal gear 130A. Similarly, the external teeth 124B of the second external gear 120B mesh with the internal teeth 128B of the output internal gear 130B.

  The meshing position of the first external gear 120 </ b> A and the deceleration internal gear 130 </ b> A rotates as the major axis X portion of the vibration generator 104 moves. Here, when the vibrating body 104 rotates once, the rotation phase of the first external gear 120A is delayed by a difference in the number of teeth from the reduction internal gear 130A. That is, the reduction ratio of the reduction internal gear 130A can be obtained by ((the number of teeth of the first external gear 120A−the number of teeth of the reduction internal gear 130A) / the number of teeth of the first external gear 120A). . The specific reduction ratio is ((100−102) / 100 = −1 / 50). Here, “−” indicates that the input / output is in a reverse rotation relationship.

  Since both the second external gear 120B and the output internal gear 130B have the same number of teeth, the second external gear 120B and the output internal gear 130B are the same without moving their meshing portions. The teeth will mesh with each other. For this reason, the same rotation as the rotation of the second external gear 120B is output from the output internal gear 130B. As a result, an output obtained by reducing the rotation of the vibrating body 104 to (−1/50) can be extracted from the output internal gear 130B.

  Thus, in the present embodiment, the tooth profile of the external gear 120 is further modified with respect to the tooth profile of the external gear 120 that is deformed by the insertion of the vibrating body 104. In other words, in the present embodiment, the basic first external tooth profile 119A when assuming that the inner circumferential length L of the external gear 120 does not change even if the external gear 120 is externally fitted to the vibration generator 104, A basic second external tooth profile 119B, a basic first internal tooth profile 129A, and a basic second internal tooth profile 129B are defined. In addition, the reduction internal gear 130A is the same as the basic first internal gear 129A, and the output internal gear 130B is the same as the basic second internal gear 129B. The first external gear 120A is assumed to have a smaller tooth thickness than the basic first external tooth profile 119A, as shown in FIGS. 5A and 6A (Soa <Soao). At the same time, as shown in FIGS. 5B and 6B, the tooth thickness of the second external gear 120B is assumed to be larger than that of the basic second external tooth profile 119B (Sob> Sobo). For this reason, a gap is formed by the phenomenon that the engagement between the first external gear 120A and the reduction internal gear 130A is excessively blocked and the engagement between the second external gear 120B and the output internal gear 130B. The phenomenon can be resolved.

  In addition, in the present embodiment, since the external teeth 124A and 124B are composed of pins, it is easy to independently change the tooth thickness Soa of the first external gear 120A and the tooth thickness Sob of the second external gear 120B. It is. In addition, even if both external teeth are not comprised with a pin, you may make it change the tooth thickness of an external tooth.

  Therefore, in this embodiment, even if the tooth profile of the external gear 120 is deformed by the insertion of the vibrating body 104, it is possible to achieve more appropriate meshing between the external gear 120 and the internal gear 130. Is possible.

  In the first embodiment, the external teeth 124 </ b> A and 124 </ b> B are configured by pins, but the present invention is not limited to this, and may be as in the second embodiment shown in FIGS. 7 to 11. 7 is a perspective view showing an example of the overall configuration of the flexibly meshing gear device according to the second embodiment of the present invention, FIG. 8 is a sectional view including the axis of FIG. 7, and FIG. 9 is an arrow of FIG. FIG. 10 is a schematic view showing a state of meshing in a region surrounded by a broken line portion XI-1 in FIG. 9 (basic first external tooth profile and basic first internal tooth profile ( A), basic second external tooth profile and basic second internal tooth profile (B)), FIG. 11 is a schematic diagram showing a state of meshing in a region surrounded by a broken line portion XI-1 in FIG. A tooth gear and a reduction internal gear (A), a second external gear and an output second internal gear (B)) are shown.

  In the flexure meshing gear device 200 of the second embodiment, the outer teeth 224A are not configured by pins and are shaped based on the trochoidal curve formula, but are formed into a cylindrical shape as in the first embodiment. Yes. For this reason, about the component and operation | movement similar to the bending meshing type gear apparatus 100 of 1st Embodiment, the last two digits of a code | symbol are made the same and description is abbreviate | omitted.

  As shown in FIGS. 7 and 8, in the flexibly meshing gear device 200 of the present embodiment, the external teeth 224A of the first external gear 220A and the external teeth 224B of the second external gear 220B are in the axial direction O. Although separated, they are each integrated with the base member 212. For this reason, in this embodiment, the tooth profile of the internal gear 230 that is originally separated is modified.

  That is, in this embodiment, the tooth profile of the internal gear 230 is modified with respect to the tooth profile of the external gear 220 that is deformed by the insertion of the vibration generator 204. That is, in this embodiment as well, as in the first embodiment, the basic assumption is that the inner circumferential length L of the external gear 220 does not change even if the external gear 220 is externally fitted to the vibration generator 204. A first external tooth form 219A, a basic second external tooth form 219B, a basic first internal tooth form 229A, and a basic second internal tooth form 229B are defined. In addition, the first external gear 220A is the same as the basic first external tooth profile 219A, and the second external gear 220B is the same as the basic second external gear profile 219B. And as for the internal gear 230A for deceleration, as shown to FIG. 10 (A) and FIG. 11 (A), it is supposed that tooth thickness is smaller than the basic 1st internal tooth profile 229A (Sia <Siao). At the same time, the tooth thickness of the output internal gear 230B is assumed to be larger than the basic second internal tooth profile 229B (Sib> Sibo), as shown in FIGS. 10B and 11B. For this reason, a gap is formed by the phenomenon in which the engagement between the first external gear 220A and the reduction internal gear 230A is excessively clogged and the engagement between the second external gear 220B and the output internal gear 230B. The phenomenon can be resolved.

  In addition, even if both external teeth are comprised with the pin, you may make it change the direction of the tooth thickness of an internal tooth. Moreover, not only this but an internal tooth may be comprised with the pin.

  In the above-described embodiment, both of the flexure meshing gear devices are cylindrical with two internal gears for reduction and output, but the present invention is not limited to this, and FIG. The third embodiment shown in FIG. 12 is a cross-sectional view showing an example of the overall configuration of the flexibly meshing gear device according to the third embodiment of the present invention. FIG. 13 is a flexure meshing gear device of FIG. 1 is a schematic diagram showing a state of meshing in a region corresponding to 1 (basic external tooth profile and basic internal tooth profile (A), external gear and internal gear (B)).

  Unlike the first and second embodiments, the flexibly meshing gear device 300 of the third embodiment is a cup type (or top hat type) including one internal gear 330. The external gear 320 includes a flange portion 321, a cylindrical portion 322, and external teeth 324, and has a number of teeth different from the number of teeth of the internal gear 330. That is, the internal gear 330 has the same function as the speed reduction internal gear shown in the first and second embodiments. For this reason, in this embodiment, about the component and operation | movement similar to the bending meshing gear apparatus of 1st, 2nd embodiment, the last two digits of a code | symbol are made the same and description is abbreviate | omitted. In FIG. 12, reference numeral 302 indicates an input shaft, and reference numeral 340 indicates an output shaft.

  Also in this embodiment, the tooth profile of the internal gear 330 is modified with respect to the tooth profile of the external gear 320 that is deformed by the insertion of the vibration generator 304. That is, in this embodiment as well, as in the first and second embodiments, it is assumed that the outer circumferential length L of the external gear 320 does not change even when the external gear 320 is externally fitted to the vibration generator 304. The basic external tooth profile 319 and the basic internal tooth profile 329 are defined. In addition, the external gear 320 is the same as the basic external tooth profile 319. The internal gear 330 is assumed to have a smaller tooth thickness than the basic internal tooth profile 329 (Si <Sio), as shown in FIGS. For this reason, it is possible to eliminate a phenomenon in which the meshing between the external gear 320 and the internal gear 330 is clogged too much.

  However, the present invention is not limited to this, and the thickness of the external teeth may be changed. Of course, either the external teeth or the internal teeth may be constituted by pins.

  Although the present invention has been described with reference to the above embodiment, the present invention is not limited to the above embodiment. That is, it goes without saying that improvements and design changes can be made without departing from the scope of the present invention.

  For example, in the above-described embodiment, the vibration body bearing has an inner ring and an outer ring, but the present invention is not limited to this, and the outer peripheral portion of the vibration body may be an inner ring. Moreover, it is not necessary to have an outer ring | wheel, for example, a roller and a ball | bowl support the external gear directly so that rotation is possible, and the inner peripheral part of an external gear may be made into the outer ring | wheel.

  Moreover, in the said embodiment, although the external tooth was made into the shape based on a pin or trochoid curve type, the tooth shape of an external gear is not specifically limited, For example, you may be made into involute shape etc. Further, the tooth profile of the internal gear is not particularly limited to the above embodiment.

  The present invention can be widely applied to a flexure meshing gear device including a cylindrical, cup-type, or top-hat type external gear.

DESCRIPTION OF SYMBOLS 100,200,300 ... Flexure meshing gear apparatus 104,204,304 ... Vibration body 110,110A, 110B, 210A, 210B, 310 ... Vibration body bearing 112,212 ... Inner ring 114A, 114B, 214A, 214B ... Retainer 116A, 116B, 216A, 216B ... Roller 118A, 118B, 218A, 218B ... Outer ring 119A, 119B, 219A, 219B, 319 ... Basic external tooth profile (including basic first external tooth profile, basic second external tooth profile)
120, 120A, 120B, 220, 220A, 220B, 320 ... external gears 121, 122, 221, 222 ... base members 123A, 123B, 124, 124A, 124B, 223A, 223B, 224A, 224B, 323, 324 ... outside Teeth 127A, 127B, 128, 128A, 128B, 227A, 227B, 228A, 228B, 327, 328 ... internal teeth 129A, 129B, 229A, 229B, 329 ... basic internal teeth (basic first internal teeth, basic second (Including internal tooth profile)
130, 130A, 130B, 230A, 230B, 330 ... Internal gear 302 ... Input shaft 321 ... Flange portion 322 ... Cylindrical portion 340 ... Output shaft O ... Axial direction X ... Long axis of the vibrator Y ... Short of the vibrator Shaft Da, Db, Do ... Pin diameter Tc ... Addendum circle Rc ... Bottom root circle Cc ... Intermediate circle L ... Circumference of the inner circumference of the external gear before being externally fitted to the vibrator Sia, Sib, Soa, Sob , Siao, Sibo, Soao, Sobo, Si, Sio ... tooth thickness

Claims (9)

In a flexure meshing gear device comprising an oscillator, an external gear that is flexibly deformed by the rotation of the oscillator, and an internal gear having a number of teeth different from the number of teeth of the external gear,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. When the tooth profile of the internal gear that contacts the external gear and the internal gear in each of the four quadrants is a basic internal tooth profile,
The internal gear has a thickness smaller than that of the basic internal tooth profile. Exciter, external gear that is bent and deformed by rotation of the oscillator, first internal gear having a number of teeth different from the number of teeth of the external gear, and the same number of teeth as the external gear A flexure meshing gear device having a number of teeth and a second internal gear arranged in parallel with the first internal gear;
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. In each of the four quadrants, the tooth shapes of the first internal gear and the second internal gear in which the external gear contacts the first internal gear and the second internal gear are respectively referred to as basic first internal tooth form and In case of basic second internal tooth profile,
About the first internal gear, the tooth thickness is smaller than the basic first internal tooth profile,
About the said 2nd internal gear, the tooth | gear thickness is larger than this basic 2nd internal tooth profile. In a flexure meshing gear device comprising an oscillator, an external gear that is flexibly deformed by the rotation of the oscillator, and an internal gear having a number of teeth different from the number of teeth of the external gear,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. When the tooth profile of the external gear that contacts the external gear and the internal gear in each of the four quadrants is a basic external tooth profile,
The external gear has a smaller thickness than the basic external tooth profile. Exciter, external gear that is bent and deformed by rotation of the oscillator, first internal gear having a number of teeth different from the number of teeth of the external gear, and the same number of teeth as the external gear A flexure meshing gear device having a number of teeth and a second internal gear arranged in parallel with the first internal gear;
The external gear has a first external gear that meshes with the first internal gear, and a second external gear that meshes with the second internal gear,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. In each of the four quadrants, the first external gear and the first internal gear are in contact with each other, and the second external gear and the second internal gear are in contact with each other. When the tooth profile of the external gear is the basic first external tooth profile and the basic second external tooth profile,
About the first external gear, the tooth thickness is smaller than the basic first external tooth profile,
The second external gear has a greater thickness than the basic second external tooth profile. In claim 4,
The external teeth of the first external gear and the second external gear are constituted by pins,
A flexure meshing gear device, wherein the pin diameter of the first external gear is smaller than the pin diameter of the second external gear. Tooth profile of a flexure meshing gear device comprising an oscillator, an external gear flexibly deformed by the rotation of the oscillator, and an internal gear having a number of teeth different from the number of teeth of the external gear In the remediation method,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. When the tooth profile of the internal gear that contacts the external gear and the internal gear in each of the four quadrants is a basic internal tooth profile,
About the internal gear, the tooth thickness is made smaller than that of the basic internal tooth profile. Exciter, external gear that is bent and deformed by rotation of the oscillator, first internal gear having a number of teeth different from the number of teeth of the external gear, and the same number of teeth as the external gear In a tooth profile modification method for a flexibly meshing gear device comprising a second internal gear having a number of teeth and being arranged in parallel with the first internal gear,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. In each of the four quadrants, the tooth shapes of the first internal gear and the second internal gear in which the external gear contacts the first internal gear and the second internal gear are respectively referred to as basic first internal tooth form and In case of basic second internal tooth profile,
About the first internal gear, the tooth thickness is made smaller than the basic first internal tooth profile,
For the second internal gear, the tooth thickness is made larger than that of the basic second internal tooth profile. Tooth profile of a flexure meshing gear device comprising an oscillator, an external gear flexibly deformed by the rotation of the oscillator, and an internal gear having a number of teeth different from the number of teeth of the external gear In the remediation method,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. When the tooth profile of the external gear that contacts the external gear and the internal gear in each of the four quadrants is a basic external tooth profile,
About the said external gear, tooth thickness is made smaller than this basic external tooth profile. The tooth profile correction method of the flexure meshing gear apparatus characterized by the above-mentioned. Exciter, external gear that is bent and deformed by rotation of the oscillator, first internal gear having a number of teeth different from the number of teeth of the external gear, and the same number of teeth as the external gear In a tooth profile modification method for a flexibly meshing gear device comprising a second internal gear having a number of teeth and being arranged in parallel with the first internal gear,
The external gear has a first external gear that meshes with the first internal gear, and a second external gear that meshes with the second internal gear,
When it is assumed that the outer circumference of the external gear does not change even if the external gear is externally fitted to the vibration generator, the first quadrant to the second quadrant of the vibration generator under no load condition. In each of the four quadrants, the first external gear and the first internal gear are in contact with each other, and the second external gear and the second internal gear are in contact with each other. When the tooth profile of the external gear is the basic first external tooth profile and the basic second external tooth profile,
For the first external gear, the tooth thickness is smaller than the basic first external tooth profile,
About the said 2nd external gear, tooth thickness is made larger than this basic 2nd external tooth profile. The tooth profile correction method of the flexure meshing gear apparatus characterized by the above-mentioned.

Images