CN114110095A - Flexible engagement type gear device - Google Patents

Flexible engagement type gear device Download PDF

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Publication number
CN114110095A
CN114110095A CN202110851084.XA CN202110851084A CN114110095A CN 114110095 A CN114110095 A CN 114110095A CN 202110851084 A CN202110851084 A CN 202110851084A CN 114110095 A CN114110095 A CN 114110095A
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CN
China
Prior art keywords
gear
internal gear
gear device
flexure
mesh
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110851084.XA
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Chinese (zh)
Inventor
石塚正幸
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Publication date
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Publication of CN114110095A publication Critical patent/CN114110095A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F16C19/16—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls
    • F16C19/163—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls with angular contact
    • F16C19/166—Four-point-contact ball bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/60—Raceways; Race rings divided or split, e.g. comprising two juxtaposed rings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/723—Shaft end sealing means, e.g. cup-shaped caps or covers
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/72—Sealings
    • F16C33/76—Sealings of ball or roller bearings
    • F16C33/78—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members
    • F16C33/7869—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members mounted with a cylindrical portion to the inner surface of the outer race and having a radial portion extending inward
    • F16C33/7873—Sealings of ball or roller bearings with a diaphragm, disc, or ring, with or without resilient members mounted with a cylindrical portion to the inner surface of the outer race and having a radial portion extending inward with a single sealing ring of generally L-shaped cross-section
    • 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
    • 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
    • F16H2057/085—Bearings for orbital gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

The invention aims to form a device compactly along an axial direction. A flexural-engagement gear device (1) is provided with a vibration generator (11), an external gear (12) which is deformed by the vibration generator (11) in a flexural manner, a 2 nd internal gear (23) which meshes with the external gear (12), and a main bearing (36) which is arranged between the 2 nd internal gear (23) and a 2 nd housing (34). The flex-mesh gear device further comprises a cover member (35) which is arranged adjacent to the 2 nd internal gear (23) in the axial direction and is connected to the 2 nd internal gear (23). The inner ring of the main bearing (36) is composed of a 2 nd internal gear (23) and a cover component (35).

Description

Flexible engagement type gear device
The present application claims priority based on japanese patent application No. 2020-143140, applied 8/27/2020. The entire contents of this japanese application are incorporated by reference into this specification.
Technical Field
The present invention relates to a flexible engagement gear device.
Background
Conventionally, a flexible mesh type gear device including an external gear that deforms by flexing and an internal gear that meshes with the external gear is known (for example, see patent document 1). The internal gear is supported by the housing via a main bearing.
Patent document 1: japanese patent No. 5337008
In the above-described conventional flex-mesh gear device, if the internal gear is simply supported by the main bearing, the internal gear may be lengthened in the axial direction, and the entire device may be enlarged in the axial direction.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and an object thereof is to configure a device compactly in an axial direction.
The present invention relates to a flexural meshing type gear device including a vibration generator, an external gear which is flexural-deformed by the vibration generator, an internal gear, and a main bearing which is disposed between the internal gear and a housing,
the flex-mesh gear device further has an adjacent member disposed adjacent to the internal gear in the axial direction and joined together with the internal gear,
the inner ring of the main bearing is composed of the internal gear and the adjacent component.
According to the present invention, the device can be compactly configured in the axial direction.
Drawings
Fig. 1 is a sectional view showing a flexible mesh gear device according to embodiment 1.
Fig. 2 is a sectional view showing a flexible mesh gear device in which the 2 nd internal gear and the cover member are integrated.
Fig. 3 is a sectional view showing a flexible mesh gear device according to embodiment 2.
In the figure: 1. 1A-flex-mesh type gear device, 10A-vibrator shaft, 10 b-contact part, 11A-vibrator, 12A-external gear, 15A-vibrator bearing, 22-1 st internal gear, 22 g-tooth, 23-2 nd internal gear, 23A-1 st inner ring side rolling surface, 23A-internal gear, 23 b-locking part, 23 g-tooth, 33-1 st outer shell (intermediate part), 34-2 nd outer shell, 35-cover part (adjacent part), 35A-2 nd inner ring side rolling surface, 36-main bearing, 36 a-roller, 41, 42A-limiting part, 51, 52-bolt, 60A-motor output shaft, 63-flange part, 121A-cylindrical part, 122A-flange portion, 123A-locking portion, C-void, O1-axis of rotation, S-space.
Detailed Description
[ embodiment 1 ]
Hereinafter, embodiment 1 of the present invention will be described in detail with reference to the drawings.
< Structure of flexural engaging Gear device >
Fig. 1 is a sectional view showing a flexible mesh gear device 1 according to embodiment 1.
As shown in fig. 1, the flexible mesh gear device 1 is a cylindrical flexible mesh gear device, and includes a starting body shaft 10, an external gear 12, a 1 st internal gear 22, a 2 nd internal gear 23, and a starting body bearing 15. The flexible mesh gear device 1 further includes a 1 st housing 33, a 2 nd housing 34, a cover member 35, and a main bearing 36.
The oscillator shaft 10 is a hollow cylindrical shaft that rotates about a rotation axis O1, and has an oscillator 11 whose cross section perpendicular to the rotation axis O1 has a non-circular (for example, elliptical) outer shape. The ellipse is not limited to an ellipse in a geometrically strict sense, but includes a substantially ellipse. Contact portions 10b are provided on both axial sides of an inner diameter side (radially inner side) portion (inner peripheral edge portion) of the start body shaft 10, and the contact portions 10b project on both axial sides of the start body shaft 11, and contact the later-described restricting members 41, 42 to position the restricting members 41, 42 in the axial direction.
A tip end portion 61 of a motor output shaft 60 of a drive source (i.e., a motor) (not shown) is inserted into the oscillation body shaft 10, and the motor output shaft 60 is coupled to the oscillation body shaft 10 via a key 62 so as to be capable of transmitting power. The motor is disposed on one side (right side in the drawing) of the flexure mesh type gear device 1 and drives the motor output shaft 60 to rotate.
In the following description, a direction along the rotation axis O1 is referred to as an "axial direction", a direction perpendicular to the rotation axis O1 is referred to as a "radial direction", and a rotation direction around the rotation axis O1 is referred to as a "circumferential direction". The side on which the decelerated rotational motion is output in the axial direction (left side in the drawing) is referred to as "output side", and the side opposite to the output side (right side in the drawing) is referred to as "opposite output side".
The external gear 12 is a cylindrical member having flexibility and centered on the rotation axis O1, and has teeth provided on the outer periphery thereof.
The 1 st ring gear 22 and the 2 nd ring gear 23 have teeth 22g and 23g, respectively, in the inner diameter portion. The teeth 22g, 23g are arranged in the axial direction, one of which meshes with the teeth of the external gear 12 on one side of the center in the axial direction, and the other of which meshes with the teeth of the external gear 12 on the other side of the center in the axial direction. The teeth 22g and 23g are formed by performing a gear cutting process using a gear shaping machine, a gear turning machine, or the like.
The 2 nd ring gear 23 constitutes a portion of the main bearing 36 on the opposite side to the output side in the inner ring, and has a 1 st inner ring side rolling surface 23a at the end portion on the output side in the outer peripheral surface thereof.
The oscillator bearing 15 is, for example, a roller bearing, and is disposed between the oscillator 11 and the external gear 12. The oscillator bearing 15 includes: an outer ring 15a fitted inside the external gear 12; a plurality of rolling elements (rollers) 15 b; and a retainer 15c that retains the plurality of rolling elements 15 b. The plurality of rolling elements 15b roll on the outer peripheral surface of the oscillator 11 and the inner peripheral surface of the outer ring 15a as rolling surfaces (also referred to as raceway surfaces). The oscillator bearing 15 may have an inner ring separate from the oscillator 11.
Regulating members 41 and 42 are provided on both sides of the outer gear 12 and the oscillator bearing 15 in the axial direction so as to abut against them and regulate their movement in the axial direction.
The restricting members 41 and 42 are in contact with the contact portions 10b on both sides of the start body shaft 10 in the axial direction so as to sandwich the start body shaft 10, and are attached to the distal end portion 61 of the motor output shaft 60 inserted through the start body shaft 10 via the C-ring 43 in this state. Thus, the restricting members 41 and 42 are provided integrally (integrally rotated) with the oscillation start body shaft 10 coupled to the motor output shaft 60 via the key 62.
A gap C is provided between the regulating members 41 and 42 and the axial end surface of the oscillator 11. Grease (lubricant) is accumulated in the gap C, and lubrication of the starting oscillator bearing 15 and the like is improved.
The 1 st outer shell 33 is disposed on the outer diameter side of the 1 st internal gear 22. A flange member 63 that supports the motor output shaft 60 is coupled to the non-output side of the 1 st housing 33 by a coupling member not shown. The motor output shaft 60 is inserted through the inner diameter side of the flange member 63 and is supported by the flange member 63 via a bearing 64. The flange member 63 is coupled to the 1 st outer casing 33 in a state of being centered (positioned in the radial direction) with respect to the 1 st internal gear 22.
When the flexible engagement gear device 1 is connected to an external target device (not shown), the 1 st housing 33 and the flange member 63 are fastened and connected to the target device.
The 2 nd outer casing 34 is disposed on the outer diameter side of the 2 nd internal gear 23 and the cover member 35 and on the output side of the 1 st outer casing 33, and is integrally coupled to the 1 st outer casing 33 and the 1 st internal gear 22. Specifically, the 2 nd outer case 34 is fitted to the outer peripheral surface 22a of the 1 st internal gear 22 together with the 1 st outer case 33, is centered, and is axially abutted with the protruding portion on the opposite side of the output of the 1 st internal gear 22 via the 1 st outer case 33. The 2 nd outer casing 34, the 1 st outer casing 33, and the 1 st internal gear 22 are coupled together by bolts 51 at portions that axially abut against each other.
The 2 nd housing 34 has an outer ring 34a of the main bearing 36 (i.e., an outer ring side rolling surface of the roller 36a of the main bearing 36) in an inner diameter portion thereof.
The cover member 35 is an example of an adjacent member according to the present invention, and is disposed adjacent to the output side in the axial direction of the 2 nd ring gear 23, and is connected to the 2 nd ring gear 23. More specifically, a locking portion 23b is provided in a projecting manner on an inner diameter portion on the output side of the 2 nd internal gear 23, and the cover member 35 is fitted (preferably, interference fitted) to an outer peripheral surface of the locking portion 23b so as to be centered with respect to the 2 nd internal gear 23. The shroud member 35 axially abuts against the 2 nd internal gear 23 in this state, and the shroud member 35 is coupled to the 2 nd internal gear 23 by the bolt 52 at the abutting portion. The contact surface of the cover member 35 and the 2 nd internal gear 23 is located on the outer diameter side of the teeth 23g of the 2 nd internal gear 23 and on the inner diameter side of the main bearing 36.
The cover member 35 constitutes an output-side portion of the inner ring of the main bearing 36, and has a 2 nd inner ring-side rolling surface 35a at an end portion of the outer circumferential surface thereof on the opposite side to the output side.
When the flexible engagement gear device 1 is connected to an external target device, the cover member 35 is coupled to a driven member (not shown) of the target device, and outputs the reduced rotation to the driven member.
The cover member 35 is formed in a substantially disk shape, and covers the internal space of the flexible mesh gear device 1 from the output side in the axial direction. That is, the cover member 35 does not have a hollow structure (hollow structure), and does not have a bearing for supporting the oscillator 11 and an oil seal that is in sliding contact with the oscillator 11, which are required to be disposed when the hollow structure is employed. Therefore, these bearings and oil seals can be omitted, and accordingly, the device can be compactly configured in the axial direction, and power loss caused by the oil seals can be eliminated.
In the present embodiment, the main bearing 36 is a cross roller bearing, and is disposed on the outer diameter side of the teeth 23g of the 2 nd internal gear 23. The main bearing 36 includes an outer ring 34a provided in the 2 nd housing 34, an inner ring including the 2 nd ring gear 23 and the cover member 35, and rollers (rolling elements) 36a disposed between the outer ring and the inner ring. The main bearing 36 supports the 2 nd ring gear 23 and the cover member 35 to be rotatable relative to the 2 nd housing 34.
The flexible engagement gear device 1 further includes an oil seal 45 for sealing and O- rings 46 and 47.
The oil seal 45 is arranged between the cover member 35 and the 2 nd housing 34 at the end portion on the output side in the axial direction, thereby suppressing the outflow of the lubricant to the output side.
O- rings 46, 47 are provided between the 1 st housing 33 and the flange member 63, and between the 1 st housing 33 and the 2 nd housing 34, respectively, so as to suppress the lubricant from moving therebetween.
< materials of the parts >
The material of each member is not particularly limited, but in the present embodiment, the configuration is as follows.
The starting body shaft 10, the external gear 12, the 1 st internal gear 22, the 2 nd internal gear 23, the 2 nd outer shell 34, the cover member 35, and the restricting members 41, 42 are made of a metal material such as a steel material. Although not particularly limited, more specifically, the start body shaft 10 is made of a steel material such as chromium molybdenum steel, the external gear 12 is made of a steel material such as nickel chromium molybdenum steel, and the restricting members 41 and 42 are made of a steel material such as high carbon chromium bearing steel. Further, since the 2 nd internal gear 23, the 2 nd outer shell 34, and the cover member 35 constitute the inner ring and the outer ring of the main bearing 36, they are made of a steel material such as high carbon chromium bearing steel, for example, and the 1 st internal gear 22 is also made of a steel material such as high carbon chromium bearing steel, for example.
The 1 st outer shell 33 is made of a material different from at least one of the 2 nd outer shell 34 and the 1 st internal gear 22, and in the present embodiment, the 1 st outer shell 33 is made of a material different from both the 2 nd outer shell 34 and the 1 st internal gear 22 made of a steel material, for example, a material having a specific gravity smaller than that of the steel material, such as resin or aluminum. By making the 1 st housing 33 with a large outer diameter (large volume) of resin or aluminum, the weight of the apparatus can be reduced.
< actions of Gear device >
When the motor of the drive source rotates the oscillation start body shaft 10 via the motor output shaft 60, the motion of the oscillation start body 11 is transmitted to the external gear 12. At this time, the shape of the external gear 12 is restricted to a shape conforming to the outer peripheral surface of the oscillator 11, and the external gear 12 is flexed into an elliptical shape having a major axis portion and a minor axis portion when viewed from the axial direction. Further, the major axis portion of the external gear 12 meshes with the fixed 1 st internal gear 22. Therefore, the external gear 12 does not rotate at the same rotational speed as the oscillator 11, but the oscillator 11 relatively rotates inside the external gear 12. Then, the external gear 12 is flexurally deformed so that the long axis position and the short axis position thereof move in the circumferential direction in accordance with the relative rotation. The period of this deformation is proportional to the rotation period of the start-up body shaft 10.
When the external gear 12 is deformed, the long-axis position thereof moves, and therefore the meshing position between the external gear 12 and the 1 st internal gear 22 changes in the rotational direction. Here, for example, when the number of teeth of the external gear 12 is 100 and the number of teeth of the 1 st internal gear 22 is 102, the external gear 12 rotates (rotates) by shifting the meshing teeth between the external gear 12 and the 1 st internal gear 22 every rotation of the meshing position. If the number of teeth is set as described above, the rotational motion of the oscillator shaft 10 is reduced at a reduction ratio of 100:2 and then transmitted to the external gear 12.
On the other hand, since the external gear 12 is also meshed with the 2 nd internal gear 23, the meshing position between the external gear 12 and the 2 nd internal gear 23 is also changed in the rotational direction as the starting body shaft 10 rotates. Here, if the number of teeth of the 2 nd internal gear 23 is equal to the number of teeth of the external gear 12, the external gear 12 and the 2 nd internal gear 23 do not rotate relative to each other, and the rotational motion of the external gear 12 is transmitted to the 2 nd internal gear 23 at a reduction ratio of 1: 1. Thus, the rotational motion of the oscillation starting body shaft 10 is reduced in speed at a reduction ratio of 100:2 and then transmitted to the 2 nd ring gear 23 and the cover member 35, and the rotational motion is output to a driven member connected to the cover member 35.
< technical Effect of embodiment 1 >
As described above, according to the present embodiment, the 2 nd internal gear 23 and the cover member 35 are disposed adjacent to each other in the axial direction and are coupled to each other, and the inner ring of the main bearing 36 is constituted by the 2 nd internal gear 23 and the cover member 35.
By thus axially dividing the inner ring of the main bearing 36, it is not necessary to provide a space for tool withdrawal when performing gear cutting on one of the 2 nd internal gears 23, and the device can be configured compactly in the axial direction.
That is, if the 2 nd ring gear 23 is integrated with the cover member 35 and the 2 nd ring gear 23 is supported by the main bearing 36 in order to reduce the number of parts, the 2 nd ring gear 23 has a portion on the inner diameter side of the teeth 23g as shown in fig. 2. Therefore, for example, when the teeth 23g are subjected to gear cutting using a gear shaping machine, a gear turning machine, or the like, a tool is inserted from the right side in fig. 2 to form the teeth 23a, and at this time, the head side of the tool is inserted to the left side of the teeth 23a beyond the left end portion of the teeth 23a, and at this time, a space (i.e., a tool retracting space) needs to be secured in the axial direction so as not to contact the inner diameter side portion of the internal gear 23 with respect to the teeth 23g, and as a result, the 2 nd internal gear 23 becomes longer in the axial direction.
In this regard, in the present embodiment, since the inner ring of the main bearing 36 is divided into the 2 nd ring gear 23 and the cover member 35 adjacent thereto, the inner circumference of the 2 nd ring gear 23 can be penetrated, and the relief space width of the tool in the tooth cutting process of the teeth 23g is not required.
Therefore, as compared with the case where the 2 nd internal gear 23 is solely used as the inner ring of the main bearing 36, the device can be configured compactly in the axial direction. Further, the axial distance between the output-side surface of the cover member 35 to which the driven member is attached and the main bearing 36 can be shortened, and the load of the main bearing 36 due to the load of the driven member can be reduced.
Further, according to the present embodiment, the cover member 35 covers the internal space of the flexible mesh gear device 1 from the axial direction, and the bearing for supporting the vibration generator 11 and the oil seal in sliding contact with the vibration generator 11 are not disposed in the cover member 35.
Therefore, the flexible mesh gear device 1 can be configured compactly in the axial direction, and the power loss due to the oil seal can be eliminated.
Further, according to the present embodiment, the 1 st outer shell 33 is made of a material different from at least one of the 2 nd outer shell 34 and the 1 st internal gear 22 joined thereto.
Thus, the 1 st housing 33 and the like can be made of a light material such as resin or aluminum, and the weight of the flexible mesh gear device 1 can be reduced.
Further, according to the present embodiment, the restricting members 41 and 42 that restrict the axial movement of the oscillator bearing 15 are provided integrally with the oscillator shaft 10, and the gap C is provided between the restricting members 41 and 42 and the axial end surface of the oscillator 11.
Therefore, grease (lubricant) can be accumulated in the gap C, and lubrication of the oscillator bearing 15 and the like can be improved.
[ 2 nd embodiment ]
Next, a flexible mesh gear device according to embodiment 2 of the present invention will be described. Hereinafter, the same components as those in embodiment 1 are denoted by the same reference numerals, and detailed description thereof is omitted.
Fig. 3 is a sectional view showing a flexible mesh gear device 1A according to embodiment 2.
As shown in fig. 3, the flexible mesh gear device 1A according to embodiment 2 is a silk hat type flexible mesh gear device, unlike the flexible mesh gear device 1 according to embodiment 1 described above. Specifically, the flexural-mesh gear device 1A includes the oscillator body shaft 10A, the external gear 12A, the internal gear 23A, and the oscillator bearing 15A. The flexible mesh gear device 1A further includes a 1 st housing 33, a 2 nd housing 34, a cover member 35, and a main bearing 36.
The oscillator shaft 10A is a hollow cylindrical shaft that rotates about a rotation axis O1, and has an oscillator 11A with a non-circular (for example, elliptical) outer shape in a cross section perpendicular to the rotation axis O1. The ellipse is not limited to an ellipse in a geometrically strict sense, but includes a substantially ellipse.
A tip end portion 61A of a motor output shaft 60A of a drive source (i.e., a motor) (not shown) is inserted into the start body shaft 10A, and the motor output shaft 60A is coupled to the start body shaft 10A via a key 62A so as to be capable of transmitting power.
External gear 12A has a cylindrical portion 121A having a predetermined length in the axial direction, a flange portion 122A, and a locking portion 123A.
The cylindrical portion 121A is a flexible cylindrical member centered on the rotation axis O1, and has teeth provided on the outer circumference of approximately half of the output side thereof.
The flange portion 122A protrudes from the end portion of the cylindrical portion 121A on the opposite side to the output side toward the outer diameter side. The output side surface of the flange portion 122A abuts against the 1 st housing 33, and the external gear 12A is integrally coupled to the 1 st housing 33 and the 2 nd housing 34 by the bolts 51 at the flange portion 122A.
The locking portion 123A is formed in a cylindrical shape extending from the output-side surface of the flange portion 122A over the entire circumference in the radial direction on the outer diameter side of the cylindrical portion 121A. The outer peripheral surface of the locking portion 123A serves as a locking surface to be fitted into the 1 st case 33 and the 2 nd case 34.
The cylindrical portion 121A, a portion protruding from the end portion of the cylindrical portion 121A on the opposite side to the output side toward the outer diameter side, and the locking portion 123A define a space S having a U-shaped cross section opening toward the output side over the entire circumference. This space S communicates with the main bearing 36, and functions as a grease reservoir while suppressing an increase in internal pressure, thereby improving the reliability of preventing grease leakage.
The ring gear 23A is configured similarly to the 2 nd ring gear 23 of the above-described embodiment 1, and has teeth 23g on an inner diameter portion thereof. The teeth 23g mesh with the teeth of the outer periphery of the external gear 12.
The ring gear 23A constitutes a portion of the main bearing 36 on the opposite output side in the inner ring, and has a 1 st inner ring rolling surface 23A at the end portion on the output side in the outer peripheral surface thereof.
The oscillator bearing 15A is, for example, a ball bearing, and is disposed between the oscillator 11A and the external gear 12A.
A regulating member 42A for regulating the axial movement of the oscillator bearing 15A is provided on the output side of the oscillator bearing 15A. The outer diameter of the regulating member 42A corresponds to the radial position of the outer ring of the oscillator bearing 15A. Therefore, the grease sealed in the starting element bearing 15A can be suppressed from leaking toward the output side by the regulating member 42A.
The 1 st housing 33 is disposed on the outer diameter side of the flange portion 122A and the locking portion 123A of the external gear 12A. The flange member 63 that supports the motor output shaft 60A is coupled to the 1 st housing 33 in a state centered with respect to the flange portion 122A of the external gear 12A. Also, the 1 st outer case 33 may be made of a material having a specific gravity smaller than that of the outer gear 12A or the 2 nd outer case 34 made of a steel material, for example, an aluminum alloy or a resin.
The cover member 35 is disposed adjacent to the output side of the ring gear 23A in the axial direction and is coupled to the ring gear 23A. More specifically, the lock portions 23b are provided in a protruding manner on the inner diameter portion on the output side of the ring gear 23A, and the cover member 35 is fitted (preferably, interference-fitted) to the outer circumferential surface of the lock portions 23b so as to be centered with respect to the ring gear 23A, and is coupled together by the bolts 52.
The main bearing 36 includes an outer ring 34a provided in the 2 nd housing 34, an inner ring including the ring gear 23A and the cover member 35, and rollers (rolling elements) 36a disposed between the outer ring and the inner ring. The main bearing 36 supports the ring gear 23A and the cover member 35 to be rotatable relative to the 2 nd housing 34.
The silk hat type flexible engagement gear device 1A having the above-described configuration can also obtain the same effects as those of the cylindrical flexible engagement gear device 1 in embodiment 1.
That is, the ring gear 23A and the cover member 35 are disposed adjacent to each other in the axial direction and coupled to each other, and the inner ring of the main bearing 36 is constituted by the ring gear 23A and the cover member 35, so that the device can be configured compactly in the axial direction as compared with a case where the ring gear 23A is solely used as the inner ring of the main bearing 36 (see fig. 2).
[ others ]
The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments and modifications thereof.
For example, in embodiment 1 described above, the 1 st inner ring side rolling surface 23a is provided on the outer periphery of the 2 nd ring gear 23, and the 2 nd inner ring side rolling surface 35a is provided on the outer periphery of the cover member 35. However, the inner ring of the main bearing 36 may be constituted by the 2 nd ring gear 23 and the cover member 35, and it is not necessary that the 2 nd ring gear 23 and the cover member 35 have rolling surfaces of the rollers 36a of the main bearing 36.
The main bearing 36 is not limited to the cross roller bearing as long as it is a four-point contact bearing capable of dividing the inner ring into the output side and the opposite output side. For example, a four-point contact ball bearing is also possible.
In the above-described embodiment, an example in which the flexible engagement gear device according to the present invention is applied to a cylindrical type or a silk hat type is described. However, the flexible mesh gear device according to the present invention can be applied to the cup type as well.
Further, the details shown in the above embodiments can be changed as appropriate within the scope not departing from the gist of the present invention.

Claims (9)

1. A flexural-mesh gear device comprising a vibration generator, an external gear which is flexural-deformed by the vibration generator, an internal gear, and a main bearing which is disposed between the internal gear and a housing,
the flex-mesh gear device further has an adjacent member disposed adjacent to the internal gear in the axial direction and joined together with the internal gear,
the inner ring of the main bearing is composed of the internal gear and the adjacent component.
2. The flexure-mesh gear device according to claim 1,
and a 1 st inner ring side rolling surface is arranged on the periphery of the internal gear, and a 2 nd inner ring side rolling surface is arranged on the periphery of the adjacent component.
3. The flexure-mesh gear device according to claim 1 or 2,
the adjacent member covers an inner space of the flexure mesh type gear device from an axial direction.
4. The flexure-mesh gear unit of claim 3,
no bearing for supporting the oscillating body is disposed on the adjacent member.
5. The flexure-mesh gear device according to claim 3 or 4,
the adjacent member is not provided with an oil seal that is in sliding contact with the vibration generating body.
6. The flexure-meshing gear device according to any one of claims 1 to 5,
the flexible mesh gear device is a cylindrical flexible mesh gear device having a 1 st internal gear and a 2 nd internal gear as the internal gears,
the 2 nd internal gear forms an inner ring of the main bearing,
the 1 st internal gear is integrated with an outer ring of the main bearing,
the 1 st internal gear and the outer ring of the main bearing are coupled together via an intermediate member,
the intermediate member is made of a material different from at least one of the outer ring of the main bearing and the 1 st internal gear.
7. The flexure-meshing gear device according to any one of claims 1 to 6,
the flexure mesh type gear device further includes a restricting member that restricts a movement in an axial direction of a vibration generator bearing disposed between the vibration generator and the external gear,
the restricting member is provided integrally with the oscillation start body shaft having the oscillation start body.
8. The flexure-mesh gear unit of claim 7,
the oscillation start body shaft has an abutting portion that protrudes in an axial direction and abuts against the regulating member,
a gap is provided between the axial end surface of the oscillator and the limiting member.
9. The flexure-meshing gear device according to any one of claims 1 to 8,
the driven member is coupled to the adjacent member.
CN202110851084.XA 2020-08-27 2021-07-27 Flexible engagement type gear device Pending CN114110095A (en)

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JP2020-143140 2020-08-27
JP2020143140A JP7419193B2 (en) 2020-08-27 2020-08-27 Flexible mesh gear system

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