CN110094479A - Flexible engagement gear device - Google Patents
Flexible engagement gear device Download PDFInfo
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- CN110094479A CN110094479A CN201910011748.4A CN201910011748A CN110094479A CN 110094479 A CN110094479 A CN 110094479A CN 201910011748 A CN201910011748 A CN 201910011748A CN 110094479 A CN110094479 A CN 110094479A
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- China
- Prior art keywords
- vibration body
- internal tooth
- tooth component
- internal
- input shaft
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention provides a kind of flexible engagement gear device that can reduce moment of inertia.Flexible engagement gear device (100) of the invention has: rising vibration body axis (22), has had vibration body (222)；External gear (4) is played vibration body deflection deformation；1st internal gear (6), is engaged with external gear；2nd internal gear (8), is arranged side-by-side with the 1st internal gear in the axial direction and engages with external gear；1st internal tooth component (7), integrally rotates with the 1st internal gear；And the 2nd internal tooth component (9), it is integrally rotated with the 2nd internal gear.Playing vibration body axis has the axle portion (221) integrally rotated with vibration body.Flexible engagement gear device (100) is also equipped with: the 1st input shaft bearing (30) is configured between axle portion and the 1st internal tooth component；And the 2nd input shaft bearing (32), it is configured between axle portion and the 2nd internal tooth component.The outer diameter of 1st input shaft bearing and the 2nd input shaft bearing has been less than the outer diameter of vibration body.
Description
This application claims the priority based on Japanese patent application filed on January 30th, 2018 the 2018-013533rd.
The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to a kind of flexible engagement gear devices.
Background technique
As the small-sized and light-duty geared system that can but obtain high reduction ratio, it is known to a kind of flexible engagement gear dress
It sets.In the past, it proposes the flexible engagement gear device for having a kind of so-called flat type, has: playing vibration body axis, there is vibration body；
External gear is played vibration body deflection deformation；1st internal gear, is engaged with external gear；2nd internal gear, in the axial direction with the 1st internal gear
It is arranged side-by-side and is engaged with external gear；1st internal tooth component is integrally rotated with the 1st internal gear；And the 2nd internal tooth component, with the 2nd
Internal gear integrally rotates (for example, patent document 1).
Patent document 1: Japanese Unexamined Patent Publication 2011-112214 bulletin
For drive flexible engagement gear device driving device power consumption not only by flexible engagement gear device
Friction loss influence, also influenced by the moment of inertia of flexible engagement gear device.
Summary of the invention
The present invention is completed in view of this actual conditions, and project is to provide a kind of moment of inertia that can reduce
Flexible engagement gear device.
In order to solve the above problems, the flexible engagement gear device of one embodiment of the present invention has: playing vibration body
Axis has had vibration body；External gear is played vibration body deflection deformation；1st internal gear, is engaged with external gear；2nd internal gear, in axial direction
It is upper to be arranged side-by-side with the 1st internal gear and engaged with external gear；1st internal tooth component is integrally rotated with the 1st internal gear；And in the 2nd
Teeth portion part is integrally rotated with the 2nd internal gear, wherein playing vibration body axis has the axle portion integrally rotated with vibration body.The flexure
Mesh gear device is also equipped with: the 1st input shaft bearing is configured between axle portion and the 1st internal tooth component；And the 2nd input shaft bearing, match
It is placed between axle portion and the 2nd internal tooth component.The outer diameter of 1st input shaft bearing and the 2nd input shaft bearing has been less than the outer diameter of vibration body.
In addition, by any combination of the above constitutive requirements or constitutive requirements of the invention or being expressed in method, apparatus, system
The mode being replaced mutually Deng between is also used as embodiments of the present invention and effective.
According to the present invention, a kind of flexible engagement gear device can reduce moment of inertia is provided.
Detailed description of the invention
Fig. 1 is the cross-sectional view for indicating flexible engagement gear device involved in the 1st embodiment.
Fig. 2 is the cross-sectional view for indicating flexible engagement gear device involved in the 2nd embodiment.
In figure: 4- external gear, the 1st internal gear of 6-, the 1st internal tooth component of 7-, the 2nd internal gear of 8-, the 2nd internal tooth component of 9-, 22-
Rise vibration body axis, the 1st input shaft bearing of 30-, the 2nd input shaft bearing of 32-, 100- flexible engagement gear device, 221- axle portion, 222- rise
Vibration body.
Specific embodiment
Hereinafter, in the drawings, marking identical symbol to identical or equal constitutive requirements, component and process, and fit
When omission repeated explanation.Also, in order to make it easy to understand, in the drawings, suitably zooming in or out the size for indicating component.And
And in the drawings, a part of the not important component of the explanation to embodiment is omitted.
(the 1st embodiment)
Fig. 1 is the cross-sectional view for indicating flexible engagement gear device 100 involved in the 1st embodiment.It bends engagement type
Geared system 100 exports after the rotation of input is slowed down.Flexible engagement gear device 100 is scratching for so-called flat type
Bent mesh gear device, has: wavegenerator 2；External gear 4, by 2 deflection deformation of wavegenerator；1st internal gear 6,
It is engaged with external gear 4；1st internal tooth component 7 is integrally rotated with the 1st internal gear 6；2nd internal gear 8, axial (that is, with rotation
Axis R parallel direction) on the 1st internal gear 6 side by side it is (adjacent) configuration and engaged with external gear 4；And the 2nd internal tooth component 9, with
2 internal gears 8 integrally rotate；And base bearing 16, it is configured between the 1st internal tooth component 7 and the 2nd internal tooth component 9.It bends engagement type
It is sealed in geared system 100 lubricant (such as lubricating grease), the engaging section of external gear wheel 4 and the 1st internal gear 6 is (hereinafter, letter
Referred to as " engaging section "), the engaging section (hreinafter referred to as " engaging section ") of external gear 4 and the 2nd internal gear 8 and each bearing etc. into
Row lubrication.
Wavegenerator 2 has included vibration body axis 22；1st vibration body bearing 21a, has been configured at vibration body axis 22 and external tooth
Between 1st outer toothed portion 4a (aftermentioned) of wheel 4；And the 2nd vibration body bearing 21b, it has been configured at the of vibration body axis 22 and external gear 4
Between 2 outer toothed portion 4b (aftermentioned).
It plays vibration body axis 22 and includes axle portion 221；Vibration body 222 is played, is integrally rotated with axle portion 221；And interconnecting piece 223,
It connects axle portion 221 and plays vibration body 222.
Axle portion 221 is input shaft, such as is connect with driving devices (not shown) such as motors, and centered on rotary shaft R
It is rotated.The side (being right side in Fig. 1) of axle portion 221 is protruding to the outside through the 1st internal tooth component 7.Hereinafter, will be from the 1st
The end (being the end on right side in Fig. 1) of the axle portion 221 protruding to the outside of internal tooth component 7 is known as prominent side end 221a, by axis
The end (being the end in left side in Fig. 1) of the side opposite with prominent side end 221a in portion 221 is known as prominent opposite side end
221b.Driving device, which is configured at, more leans on the side in axial direction than prominent side end 221a.
Axle portion 221 has hollow part 221c.The opposite side end 221b of the protrusion of hollow part 221c is provided with opening, hollow part
221c is connected to via the opening with engaging section and each bearing etc..Therefore, can make hollow part 221c as accumulate should supply to
The lubricant reservoir of the lubricant of engaging section and each bearing etc. and play a role.The protrusion side end 221a of hollow part 221c
It is closed in order to avoid lubricant leaks to the outside.It is as shown in Figure 1 that hollow part 221c is configured to its protrusion side end 221a
It is provided with and is open and is blocked by sealing cover 48, be also configured to prominent side end 221a and not opening have bottom hollow part.
Axle portion 221 has the radial lubrication channel 221d for radially passing through the axle portion 221.Radial lubrication channel 221d is opened on
Gap between the 1st extension 58 and axle portion 221 configured with the 1st input shaft bearing 30.Therefore, hollow part 221c passes through radial profit
Gap bypass between slide-through road 221d and the 1st extension 58 and axle portion 221.The quantity of radial lubrication channel 221d is not by spy
It does not limit, for example, multiple radial lubrication channel 221d can circumferentially be arranged at equal intervals.
Playing vibration body 222 includes the 1st vibration body 222a and the 2nd vibration body 222b.1st vibration body 222a and the 2nd vibration body
222b is surrounded on the 1st extension 58 and the 2nd extension 68 (aftermentioned), and the periphery in its section orthogonal with rotary shaft R respectively
Shape is in generally oblong shape.In the present specification, " ellipse " is not only defined in geometric proper ellipse,
It further include generally oblong.
Interconnecting piece 223 is in substantially disk-shaped, connection axle portion 221 and the 1st vibration body 222a and the 2nd vibration body 222b.Even
Socket part 223 has in radial position identical with the 1st input shaft bearing 30 and the 2nd input shaft bearing 32 axially through the interconnecting piece
223 axial lubrication channel 223a.Therefore, between the 1st extension 58 and axle portion 221 configured with the 1st input shaft bearing 30
Gap passes through by axial direction lubrication channel 223a and the 2nd extension 68 configured with the 2nd input shaft bearing 32 and the gap between axle portion 221
It is logical.
Also, interconnecting piece 223 is with the outer circumference end for radially extending to the interconnecting piece 223 from axial lubrication channel 223a
Radial lubrication channel 223b.Axial lubrication channel 223a passes through the outer peripheral surface of lubrication channel 223b and the 1st vibration body 222a of radial direction
The outer peripheral surface 222d connection of 222c and the 2nd vibration body.In addition, radial direction lubrication channel 223b can also further prolong to radially inner side
It stretches and is connected to hollow part 221c.
The quantity of axial lubrication channel 223a and radial lubrication channel 223b are simultaneously not particularly limited, for example, can be along week
To multiple axial direction lubrication channel 223a and radial lubrication channel 223b are arranged at equal intervals.
1st vibration body bearing 21a includes: multiple 1st rolling element 24a；1st retainer 26a keeps multiple 1st rolling elements
24a；And the 1st outer collar members 28a, it is embedded in external gear 4.2nd vibration body bearing 21b includes: multiple 2nd rolling element 24b；2nd
Retainer 26b keeps multiple 2nd rolling element 24b；And the 2nd outer collar members 28b, it is embedded in external gear 4.
Multiple 1st rolling element 24a are respectively provided with generally cylindrical shape, and with central shaft direction and the direction rotary shaft R
The state in substantially parallel direction is circumferentially arranged across interval.1st rolling element 24a remains rotation by the 1st retainer 26a
Freely, the 1st rolling element 24a is rolled on the outer peripheral surface 222c of the 1st vibration body 222a.That is, the inner ring of the 1st vibration body bearing 21a
It is integrally constituted with the outer peripheral surface 222c of the 1st vibration body 222a, but is not only limited in this, the 1st vibration body bearing 21a can also be with
Have the dedicated inner ring seperated with vibration body 222 is played.The structure of 2nd rolling element 24b is identical as the structure of the 1st rolling element 24a.It is more
A 2nd rolling element 24b by by with the 1st retainer 26a in the axial direction side by side in a manner of the 2nd retainer 26b that configures remain rotation
Turn freely, the 2nd rolling element 24b is rolled on the outer peripheral surface 222d of the 2nd vibration body 222b.That is, the 2nd vibration body bearing 21b's is interior
It encloses and is integrally constituted with the outer peripheral surface 222d of the 2nd vibration body 222b, but be not only limited in this, the 2nd vibration body bearing 21b can also
To have the dedicated inner ring seperated with vibration body 222 is played.Hereinafter, the 1st rolling element 24a and the 2nd rolling element 24b are referred to as " rolling
Kinetoplast 24 ".Also, the 1st retainer 26a and the 2nd retainer 26b are referred to as " retainer 26 ".
1st outer collar members 28a is surrounded on multiple 1st rolling element 24a.1st outer collar members 28a has flexibility, via more
A 1st rolling element 24a and by rise a vibration body 222 deflect into ellipticity.If playing vibration body 222 (that is, playing vibration body axis 22) rotation, the 1st
Outer collar members 28a continuous deflection deformation with the shape for playing vibration body 222.The structure of 2nd outer collar members 28b and the 1st outer ring portion
The structure of part 28a is identical.2nd outer collar members 28b and the 1st outer collar members 28a are separately formed.In addition, the 2nd outer collar members 28b
It can be formed as one with the 1st outer collar members 28a.Hereinafter, the 1st outer collar members 28a and the 2nd outer collar members 28b are referred to as " outer
Coil component 28 ".
External gear 4 is flexible endless member, and being fitted on the inside of it has had vibration body 222, rolling element 24 and outer ring portion
Part 28.There are vibration body 222, rolling element 24 and outer collar members 28 due to being fitted into external gear 4, thus external gear 4 can be bent
At ellipticity.If playing vibration body 222 to rotate, the continuous deflection deformation with the shape for playing vibration body 222 of external gear 4.External gear 4 wraps
Include the 1st outer toothed portion 4a, the 2nd outer toothed portion 4b positioned at the outside of the 2nd outer collar members 28b positioned at the outside of the 1st outer collar members 28a
And substrate 4c.1st outer toothed portion 4a and the 2nd outer toothed portion 4b are formed in single substrate (i.e. substrate 4c), and the number of teeth is identical.
1st internal gear 6 is to be formed with the 1st interior teeth portion 6a in its inner circumferential with the endless member of rigidity.1st interior teeth portion 6a
It is surrounded on the 1st outer toothed portion 4a for deflecting into elliptoid external gear 4, and the predetermined region near the long axis for playing vibration body 222
(two regions) is engaged with the 1st outer toothed portion 4a.The number of teeth of 1st interior teeth portion 6a is more than the number of teeth of the 1st outer toothed portion 4a.
2nd internal gear 8 is configured to, in the axial direction with the 1st internal gear 6 side by side it is (adjacent) configuration.2nd internal gear 8 be with
The cylinder-like part of rigidity, is formed with the 2nd interior teeth portion 8a in its inner circumferential.2nd interior teeth portion 8a, which is surrounded on, to be deflected into outside elliptoid
2nd outer toothed portion 4b of gear 4, and predetermined region (two regions) and the 2nd outer toothed portion 4b near the long axis for playing vibration body 222
Engagement.The number of teeth of 2nd interior teeth portion 8a is identical as the number of teeth of the 2nd outer toothed portion 4b.Therefore, the 2nd internal gear 8 and the 2nd outer toothed portion 4b be (very
To external gear 4) rotation synchronous rotary.
1st internal tooth component 7 includes the 1st main part 52, around portion 54, the 1st limiting unit 56 and the 1st extension 58.In this reality
It applies in mode, the 1st main part 52, the 1st limiting unit 56 and the 1st extension 58 are formed as one, but it is also possible to by multiple components
Link and constitutes.1st main part 52 is endless member, its inner circumferential side is provided with the 1st internal gear 6.In the present embodiment,
1 internal gear 6 is formed as one with the 1st main part 52.Therefore, the 1st main part 52 (or even the 1st internal tooth component 7) and the 1st internal gear
6 integrally rotate.Alternatively, it is also possible to separately formed 1st internal gear 6 and the 1st main part 52 and integrate them.
It is substantially cylinder-like part around portion 54.1st main part 52 is by latching chimeric and bolt (not shown) and surrounding
54 integration of portion.The radial outside of the 2nd internal gear 8 is extended to from the 1st main part 52 around portion 54, and is surrounded on the 2nd internal tooth
Take turns the 8 and the 2nd internal tooth component 9.
1st limiting unit 56 extends from the side opposite with the 2nd internal tooth component 9 of the 1st main part 52 towards radially inner side.The
Axially inside (side between the 1st outer toothed portion 4a and the 2nd outer toothed portion 4b of the 1st limiting unit 56) has in axial direction 1 limiting unit 56
The upper opposed faces 56a opposed with external gear 4, outer collar members 28 and retainer 26.1st limiting unit 56 and aftermentioned 2nd limiting unit
66 limit external gear 4, outer collar members 28 and retainer 26 together is axially moveable.
1st extension 58 is axially extended from the radially inner side of the 1st limiting unit 56.In particular, the 1st extension 58 extends to
The radially inner side of 1 vibration body 222a.That is, 1st extension 58 is Chong Die with the 1st vibration body 222a when from radial.
2nd internal tooth component 9 includes the 2nd main part 62, cover portion 64, the 2nd limiting unit 66 and the 2nd extension 68.In this implementation
In mode, the 2nd main part 62, cover portion 64, the 2nd limiting unit 66 and the 2nd extension 68 are formed as one, but it is also possible to by more
A component links and constitutes.2nd main part 62 is endless member, its inner circumferential side is provided with the 2nd internal gear 8.In this embodiment party
In formula, the 2nd internal gear 8 is formed as one with the 2nd main part 62.Therefore, the 2nd main part 62 (or even the 2nd internal tooth component 9) and the
2 internal gears 8 integrally rotate.Alternatively, it is also possible to separately formed 2nd internal gear 8 and the 2nd main part 62 and it is incorporated into one
It rises.
Cover portion 64 be substantially disk-shaped component, with close the 2nd main part 62 with the 1st main part opposite side (Fig. 1
In be left side) opening mode (or even with close flexible engagement gear device 100 in the axial direction be provided with driving dress
The mode of the opening of the opposite side in the side set (that is, input opposite side)) it is main in the radially inner side of the 2nd main part 62 and the 2nd
Body portion 62 is formed as one.Axle portion 221 and not through cover portion 64 (that is, the 2nd internal tooth component 9).
2nd limiting unit 66 is axially inner side (the of cover portion 64 for the radially inner side and cover portion 64 for being set to the 2nd main part 62
Side between 1 outer toothed portion 4a and the 2nd outer toothed portion 4b) endless member.2nd limiting unit 66 axially inside (the 2nd limiting unit 66
Side between 1st outer toothed portion 4a and the 2nd outer toothed portion 4b) with opposed with external gear 4, outer collar members 28 and retainer 26 in the axial direction
Opposed faces 66a.As described above, the 2nd limiting unit 66 and the 1st limiting unit 56 limit external gear 4, outer collar members 28 together and keep
Device 26 is axially moveable.
2nd extension 68 is axially extended from cover portion 64.In particular, the 2nd extension 68 extends to the diameter of the 2nd vibration body 222b
Inwardly.That is, 2nd extension 68 is Chong Die with the 2nd vibration body 222b when from radial.
1st input shaft bearing 30 is configured between axle portion 221 and the 1st internal tooth component 7, and the 2nd input shaft bearing 32 is configured at axle portion
Between 221 and the 2nd internal tooth component 9.1st input shaft bearing 30 and the 2nd input shaft bearing 32 all have outside the minimum for being less than vibration body 222
The outer diameter of diameter (that is, minor axis diameter).1st internal tooth component 7 and the 2nd internal tooth component 9 are via the 1st input shaft bearing 30 and the 2nd input shaft
32 are held to rotatably support axle portion 221.
Preferably, the 1st input shaft bearing 30 is configured between axle portion 221 and the 1st extension 58 of the 1st internal tooth component 7, and the 2nd
Input shaft bearing 32 is configured between axle portion 221 and the 2nd extension 68 of the 2nd internal tooth component 9.Moreover, the 1st input shaft bearing 30 and
At least one Bearing configuration in 2 input shaft bearing 32 is at least part has been located at the radially inner side of vibration body 222 (that is, from diameter
To when observation, at least part is Chong Die with vibration body 222 is played).It is further preferred that as shown in Figure 1, the 1st input shaft bearing 30 and
2nd input shaft bearing 32 is configured to, and the radially inner side for being integrally located at vibration body 222 (that is, when from radially, integrally and rises
Vibration body 222 is overlapped).
Base bearing 16 is configured at the circular portion 54 and the 2nd of the 1st internal tooth component 7 in such a way that its axial and rotary shaft R is consistent
Between 2nd main part 62 of internal tooth component 9.1st internal tooth component 7 via base bearing 16 by the 2nd internal tooth component 9 bearing for relative to
1st internal tooth component 7 rotates freely.
It is configured with oil sealing 40 between the 1st extension 58 of the axle portion 221 and the 1st internal tooth component 7 that play vibration body axis 22, the
1st main part 52 of 1 internal tooth component 7 and o-ring 36 is configured between the portion 54, the 1st internal tooth component 7 circular portion 54 and
Oil sealing 42 is configured between 2nd main part 62 of the 2nd internal tooth component 9.Thereby, it is possible to inhibit flexible engagement gear device 100
Interior lubricant leakage.
Hereinafter, being illustrated to the movement of the flexible engagement gear device 100 of above structure.Here, illustrating the 1st
The number of teeth that the number of teeth that the number of teeth of outer toothed portion 4a is the 100, the 2nd outer toothed portion 4b is the 100, the 1st interior teeth portion 6a is the 102, the 2nd interior teeth portion 8a
The number of teeth be 100 the case where.Also, it illustrates the 2nd internal gear 8 and is linked to the situation in driven member.
In the state that the 1st outer toothed portion 4a is engaged in two positions on elliptical long axis direction with the 1st interior teeth portion 6a
Under, it is rotated if playing vibration body axis 22, the position of engagement of the 1st outer toothed portion 4a and the 1st interior teeth portion 6a is also circumferentially moved therewith.Due to
1st outer toothed portion 4a is different from the number of teeth of the 1st interior teeth portion 6a, and therefore, the 1st outer toothed portion 4a is carried out relative to the 1st interior teeth portion 6a at this time
Rotation.Since the 1st internal gear 6 is in stationary state, the 1st outer toothed portion 4a rotation is equivalent to the amount of teeth number difference.That is, playing vibration body
The rotation of axis 22 exports after substantially being slowed down to the 1st outer toothed portion 4a.Its reduction ratio is as follows.
Reduction ratio=(number of teeth of the 1 interior teeth portion 6a of the number of teeth-the of the 1st outer toothed portion 4a)/the 1st outer toothed portion 4a number of teeth
=(100-102)/100
=-1/50
Since the 2nd outer toothed portion 4b and the 1st outer toothed portion 4a is formed as one, the 2nd outer toothed portion 4b and the 1st outer toothed portion 4a mono-
Rotate to body.Since the number of teeth of the 2nd outer toothed portion 4b is identical as the number of teeth of the 2nd interior teeth portion 8a, do not occur relative rotation, the 2nd
Outer toothed portion 4b is integrally rotated with the 2nd interior teeth portion 8a.Therefore, rotation identical with the rotation of the 1st outer toothed portion 4a is exported in the 2nd
Teeth portion 8a.As a result, it is possible to the outputs after the rotation of vibration body axis 22 decelerates to -1/50 by from the output of the 2nd interior teeth portion 8.
Then, the effect of present embodiment is described.According to the present embodiment, the 1st input shaft bearing 30 and the 2nd inputs
Bearing 32 has the outer diameter for the minimum outer diameter for being less than vibration body 222.Thereby, it is possible to by the outer diameter for playing vibration body 222 be set as it is larger from
And realize desired torque, and the 1st input shaft bearing 30 and the 2nd input shaft bearing 32 can be reduced.That is, can be realized desired
Torque and can reduce moment of inertia and friction loss.
Also, since the 1st input shaft bearing 30 and the 2nd input shaft bearing 32 have the outer of the minimum outer diameter for being less than vibration body 222
Diameter, thus the 1st input shaft bearing 30 and the 2nd input shaft bearing 32 can be configured to its at least part radially with rise a vibration body
222 overlappings, so as to make the densification in the axial direction of flexible engagement gear device 100.It, can if realizing axial upper densification
Enough reduce moment of inertia.
Preferably, the 1st input shaft bearing 30 is configured between the 1st extension 58 and axle portion 221, the configuration of the 2nd input shaft bearing 32
Between the 2nd extension 68 and axle portion 221.1st extension 58 and the 2nd extension 68 extend to the radially inner side for playing vibration body 222.
Therefore, each input shaft bearing has been configured at the radially inner side of vibration body 222, that is, is configured at the Shi Yuqi vibration body 222 from radial and is overlapped
Position.The densification further in the axial direction of flexible engagement gear device 100 as a result, to further decrease moment of inertia.
Also, according to the present embodiment, axle portion 221 has hollow part 221c.Thereby, it is possible to make 221 lightness of axle portion from
And reduce moment of inertia.
Also, according to the present embodiment, interconnecting piece 223 has axial direction lubrication channel 223a and radial lubrication channel 223b.
The path length until hollow part 221c to each bearing etc. shortens as a result, thus, for example enclosing by lubricant in hollow
In the case where in portion 221c, lubricant is easy to be supplied to each bearing etc..As a result, it is possible to realize flexible engagement gear device
100 long lifetime.
Also, according to the present embodiment, the 1st main part 52, the 1st limiting unit 56 and the 1st extension of the 1st internal tooth component 7
58 are formed as one.Also, the 2nd main part 62, cover portion 64, the 2nd limiting unit 66 and 68 shape of the 2nd extension of the 2nd internal tooth component 9
It is integrally formed.Thereby, it is possible to make the 1st internal tooth component 7 and the 2nd internal tooth component 9 (or even flexible engagement gear device 100) in axis
Become upwards than relatively thin.As a result, it is possible to reduce moment of inertia.
(the 2nd embodiment)
Fig. 2 is the cross-sectional view for indicating flexible engagement gear device 100 involved in the 2nd embodiment.Here, being conceived to
With the difference of Fig. 1.
In the present embodiment, flexible engagement gear device 100 is also equipped with the 1st limiting component 12 and the 2nd limiting component
14.1st limiting component 12 is flat endless member, is configured to, axially inner side (the 1st outer toothed portion of the 1st limiting component 12
Side between 4a and the 2nd outer toothed portion 4b) face 12a it is opposed with external gear 4, the 1st outer collar members 28a and the 1st retainer 26a.2nd limit
Component 14 processed is flat cricoid component, is configured to, axially inner side (the 1st outer toothed portion 4a of the 2nd limiting component 14 and the
Side between 2 outer toothed portion 4b) face 14a it is opposed with external gear 4, the 2nd outer collar members 28b and the 2nd retainer 26b.
In the 1st internal tooth component 7, the 1st main part 52 and the 1st limiting unit 56 and the 1st extension 58 are separately formed, and lead to
Cross bolt integration.Similarly, in the 2nd internal tooth component 9, the 2nd main part 62 extends with cover portion 64, the 2nd limiting unit 66 and the 2nd
Portion 68 is separately formed, and passes through bolt integration.
1st limiting unit 56 of the 1st internal tooth component 7 limits the 1st limiting component 12 and is axially moveable, and the of the 2nd internal tooth component 9
2 limiting units 66 limit the 2nd limiting component 14 and are axially moveable.That is, the 1st limiting unit 56 and the 2nd limiting unit 66 are via the 1st limiting unit
Part 12 and the 2nd limiting component 14 and limit external gear 4, outer collar members 28 and retainer 26 and be axially moveable.
Related flexible engagement gear device 100 according to the present embodiment can obtain identical as the 1st embodiment
Function and effect.Moreover, the 1st of the 100, the 1st internal tooth component 7 of flexible engagement gear device involved according to the present embodiment the
Main part 52 and the 1st limiting unit 56 and the 1st extension 58 are separately formed, therefore compared with the case where being formed as one, due to shape
Shape is fairly simple, therefore processing becomes easy.Similarly, the 2nd main part 62 of the 2nd internal tooth component 9 is limited with cover portion the 64, the 2nd
Portion 66 and the 2nd extension 68 are separately formed, therefore compared with the case where being formed as one, since shape is fairly simple, plus
Work becomes easy.
More than, flexible engagement gear device involved in embodiment is illustrated.These embodiments are to show
Example, it will be appreciated by those skilled in the art that the combination of these each constitutive requirements or each treatment process may exist various modifications example,
And this variation is also within the scope of the invention.
Claims (6)
1. a kind of flexible engagement gear device, has: playing vibration body axis, there is vibration body；External gear is scratched by described vibration body
Song deformation；1st internal gear is engaged with the external gear；2nd internal gear, be arranged side-by-side in the axial direction with the 1st internal gear and
It is engaged with the external gear；1st internal tooth component is integrally rotated with the 1st internal gear；And the 2nd internal tooth component, with described
2 internal gears integrally rotate, and the flexible engagement gear device is characterized in that,
Described vibration body axis has the axle portion integrally rotated with described vibration body,
The flexible engagement gear device is also equipped with:
1st input shaft bearing is configured between the axle portion and the 1st internal tooth component；And
2nd input shaft bearing is configured between the axle portion and the 2nd internal tooth component,
The outer diameter of 1st input shaft bearing and the 2nd input shaft bearing is less than the outer diameter for playing vibration body.
2. flexible engagement gear device according to claim 1, which is characterized in that
The 1st internal tooth component has the 1st extension extended towards the radially inner side for playing vibration body,
1st input shaft bearing is configured between the axle portion and the 1st extension.
3. flexible engagement gear device according to claim 2, which is characterized in that
The 2nd internal tooth component has the 2nd extension extended towards the radially inner side for playing vibration body,
2nd input shaft bearing is configured between the axle portion and the 2nd extension.
4. flexible engagement gear device according to any one of claim 1 to 3, which is characterized in that
Described vibration body axis has the interconnecting piece for connecting the axle portion and described vibration body,
The interconnecting piece includes axial lubrication channel, axially through the linking part；Radial lubrication channel makes the axial direction
Lubrication channel and the external Zhou Liantong of the starting of oscillation.
5. flexible engagement gear device according to any one of claim 1 to 4, which is characterized in that
The axle portion is protruding to the outside through the 1st internal tooth component, and the axle portion has hollow part,
The protrusion side end of the hollow part is closed, and the opposite side end of the protrusion of the hollow part is then provided with opening.
6. flexible engagement gear device according to any one of claim 1 to 5, which is characterized in that
The 2nd internal tooth component closes the opposite side opening of input of the flexible engagement gear device,
The axle portion does not run through the 2nd internal tooth component.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018013533A JP7175084B2 (en) | 2018-01-30 | 2018-01-30 | flexural mesh gearbox |
| JP2018-013533 | 2018-01-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110094479A true CN110094479A (en) | 2019-08-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910011748.4A Pending CN110094479A (en) | 2018-01-30 | 2019-01-07 | Flexible engagement gear device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7175084B2 (en) |
| KR (1) | KR102566949B1 (en) |
| CN (1) | CN110094479A (en) |
| DE (1) | DE102019100730A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112728013A (en) * | 2019-10-28 | 2021-04-30 | 住友重机械工业株式会社 | Flexible engagement type gear device |
| WO2022051910A1 (en) * | 2020-09-08 | 2022-03-17 | Abb Schweiz Ag | Harmonic reducer and industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7262368B2 (en) * | 2019-10-23 | 2023-04-21 | 住友重機械工業株式会社 | Gear device series, manufacturing method and design method thereof |
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Also Published As
| Publication number | Publication date |
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| KR20190092262A (en) | 2019-08-07 |
| KR102566949B1 (en) | 2023-08-11 |
| JP7175084B2 (en) | 2022-11-18 |
| JP2019132317A (en) | 2019-08-08 |
| DE102019100730A1 (en) | 2019-08-01 |
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