JP2010096219A - Rocking gear device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rocking gear device which lengthens the life of recessed grooves and rollers and which suppresses the occurrence of noises at the related portions. <P>SOLUTION: The rocking gear device includes: a shaft gear g1 provided at the end in the axial direction of a rotational axis 6; a rotating member, which rotates eccentrically to the axial center of the rotational axis 6 and whose rotation center axis rocks; and a rotating member gear, which is provided at the end in the axial direction of the rotating member and which engages with the shaft gear g1. The shaft gear g1 is provided with the recessed grooves g11 formed at equal intervals in the rotating direction of the gear and rollers g12 supported on the recessed grooves g11 so as to be capable of rolling. The rollers g12 are used as protruding teeth, the rotating member gear is provided with recessed grooves which engage with the rollers, and the recessed grooves are used as recessed gears. In this rocking gear device, the rollers g12 have a structure to ease a force that the rollers g12 and the recessed grooves receive when the rollers g12 engage with the recessed grooves used as the recessed grooves. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an oscillating gear device, and more particularly to an oscillating gear device that achieves a long life and low noise.

2. Description of the Related Art Conventionally, a speed reducer using an oscillating gear device is used as a transmission that is small in size and has a high reduction ratio and has high transmission efficiency. An example will be described with reference to FIGS.
As shown in FIG. 4, the substantially cylindrical first input shaft 101 is rotatably supported by a substantially cylindrical housing 104 via a bearing 111 and a bearing 121. A first gear g101 (shaft gear), which is a bevel gear, is fixed to the first input shaft 101 with the tooth surface facing the output side (hereinafter simply referred to as “output side”) in the axial direction. . A bearing gear 105 as a rotating member is disposed on the output side of the first gear g101, and the input side in the axial direction of the inner ring 151 of the bearing gear 105 (hereinafter simply referred to as “input side”). Is formed with a second gear g102 (rotating member gear) which is a face gear. Since the second gear g102 meshes with the first gear g101, the rotational force of the first input shaft 101 is transmitted to the bearing gear 105 when the first input shaft 101 is rotating. An outer ring 152 is provided so as to surround the circumferential portion of the inner ring 151 from the outer side (hereinafter simply referred to as “outer side”) in the radial direction, and between the inner ring 151 and the outer ring 152. A bearing gear 105, which is a bearing-integrated gear, is formed by interposing the rolling elements 153.

  A third gear g103 (rotating member gear) that is a face gear is formed on the output side of the inner ring 151 of the bearing gear 105. On the further output side of the third gear g103, an output shaft 103 is rotatably supported on the housing 4 via a bearing 122 and a bearing 123. A fourth gear g104, which is a bevel gear, is fixed to the output shaft 103 with the tooth surface facing the input side. Since the fourth gear g <b> 104 meshes with the third gear g <b> 103, the rotational force transmitted to the bearing gear 105 is transmitted to the output shaft 103. The first input shaft 101 and the output shaft 103 have the same rotation shaft 106.

  The structure of the first gear g101 will be described more specifically. A portion of the first gear g101 that meshes with the second gear g102 is enlarged, and as shown in FIG. 5 displayed as a schematic diagram, the first gear g101 is formed with a semi-cylindrical concave groove g111. A cylindrical rolling element g112 is supported in the concave groove so as to be able to roll. Since the cylindrical rolling element g112 is supported in the semi-cylindrical concave groove, approximately half of the outer peripheral surface of the rolling element g112 protrudes to the second gear g102 side (output side), and this protruding portion is It functions as a convex tooth of the first gear g101. On the other hand, a concave groove similar to the concave groove g111 formed in the first gear g101 is formed in the second gear g102, and this concave groove functions as a concave tooth of the second gear g102.

  Here, since the second gear g102, which is a flat face gear, is meshed with the first gear g101, which is a bevel gear, a force is locally applied to a part of the meshing portion at the start and end of meshing of the gear. Further, since the oscillating gear device is normally managed in a state where a preload is applied, that is, in a state of a negative gap, the force applied locally is further increased. Accordingly, wear or the like is more likely to occur than when the force is uniformly applied to the rolling grooves g112, the concave grooves of the first gear g101, and the entire concave grooves of the second gear g102, and noise is likely to be generated. In particular, when alignment adjustment (axis adjustment) is insufficient, wear and noise are more likely to occur, which is a problem.

As shown in FIG. 5, this locally applied force is alleviated by g112 rolling in the a1 direction and moving in the a2 direction. For example, in Patent Document 1, a retainer that supports a rolling element (roller) from the outside and inside in the a2 direction (tooth trace direction) is an elastic member, so that the rolling element is in the a2 direction (tooth trace direction) when engaged. ) Is proposed to be allowed to move. With such a configuration, it is described that “displacement in the tooth trace direction is possible against elasticity, and the frictional force between the end surface of the roller and the outer peripheral surface of the retainer is greatly reduced ([0008])”. Yes.
JP2007-247741

  However, with the technique according to Patent Document 1, even if “the frictional force between the end surface of the roller and the outer peripheral surface of the retainer is greatly reduced”, as described above, the force applied locally is all in the a2 direction. It cannot be escaped, and problems that are likely to cause wear and noise will not be solved.

  The present invention has been made in view of such circumstances, and at the start of meshing and at the end of meshing, by reducing the force applied to the rolling elements and the grooves, the life of the grooves and rolling elements can be extended. The purpose is to suppress the generation of noise that can be placed on the part.

  The oscillating gear device according to the present invention comprises a shaft gear provided at an axial end of a rotating shaft, and a rotation that rotates eccentrically with respect to the axis of the rotating shaft and the rotating central shaft oscillates. And a rotating member gear which is provided at an end portion in the axial direction of the rotating member and meshes with the shaft gear. Further, either the shaft gear or the rotating member gear includes a concave groove formed at equal intervals in the rotation direction of the gear, and a rolling element supported so as to roll in the concave groove, In this oscillating gear device, a rolling element is used as a convex tooth, and the other one of the shaft gear or the rotating member gear is provided with a concave groove that meshes with the rolling element, and the concave groove is used as a concave tooth. Furthermore, a structure that relaxes the force received by the rolling element and the concave groove when the rolling element used as a convex tooth and the concave groove used as a concave tooth mesh with each other is the concave part used as the rolling element and the concave tooth. At least one of the grooves has.

  According to the above configuration, the structure that relaxes the force received by the rolling element and the concave groove when the rolling element used as the convex tooth meshes with the concave groove used as the concave tooth, at least of the concave groove used as the rolling element and the concave tooth. Since either one has, it becomes possible to suppress generation | occurrence | production of the wear and noise by a rolling element and a ditch | groove receiving force.

  In the oscillating gear device according to the present invention, it is preferable that at least one of the rolling elements and the concave grooves used as the concave teeth is formed of a material having a resin as a main component and elasticity.

  According to the above configuration, since at least one of the rolling elements and the concave grooves used as the concave teeth is made of a material having a resin as a main component and elasticity, the force received by the rolling elements and the concave grooves is reduced by elasticity. can do. Therefore, it is possible to suppress the occurrence of wear and noise due to the rolling elements and the concave grooves receiving force. In addition, since the resin is a general-purpose and inexpensive material, it can be easily configured as described above.

The oscillating gear device according to the present invention preferably includes a reinforcing material for reinforcing the resin in the material containing the resin as a main component.
According to the above configuration, the material containing resin as a main component includes a reinforcing material for reinforcing the resin, so that, for example, a reduction in strength is suppressed as compared with a case where rolling elements and concave grooves are formed of metal. However, it is possible to suppress the generation of wear and noise due to the rolling elements and the concave grooves receiving force.

In the oscillating gear device according to the present invention, it is preferable that the reinforcing material is an aramid fiber.
According to the above configuration, since the reinforcing material is an aramid fiber, for example, the reinforcing material is a concave groove or a rolling element as compared with the case where glass fiber, which is a reinforcing material generally used as a reinforcing material for resin, is used as the reinforcing material. It is possible to suppress wear and noise due to the rolling elements and the grooves receiving force while suppressing the possibility of damaging the roller.

  In the oscillating gear device according to the present invention, it is also preferable that the rolling element is formed by a member in which a rolling body main body formed of a metal material is coated with a material having a resin as a main component and elasticity. .

  According to the above configuration, the rolling element is formed of a member in which the rolling element main body formed of a metal material has a resin as a main component and is coated with an elastic material. For example, the rolling element is formed of metal. As compared with the case, it is possible to suppress the occurrence of wear and noise due to the rolling elements and the grooves receiving force while suppressing the decrease in strength of the rolling elements.

  In the oscillating gear device according to the present invention, it is also preferable that at least one of the rolling element and the concave groove used as the concave tooth is formed of a metal material having a gap inside.

  According to the above configuration, since at least one of the rolling element and the concave groove used as the concave tooth is formed of a metal material having a gap inside, for example, compared with the case where the rolling element and the concave groove are formed of metal. Thus, it is possible to suppress the generation of wear and noise due to the rolling elements and the concave grooves receiving force while suppressing a decrease in strength of the rolling elements.

  According to the present invention, at the start of meshing and at the end of meshing, the force applied to the rolling elements and the concave grooves is alleviated, thereby extending the life of the concave grooves and the rolling elements, and generating noise in such parts. It becomes possible to suppress.

(First embodiment)
Hereinafter, an embodiment of an oscillating gear device embodying the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the oscillating gear device according to the present embodiment includes a substantially cylindrical housing 4, a substantially columnar first input shaft 1 inserted into the housing, and a substantially cylindrical second input. The shaft 2 includes a substantially cylindrical output shaft 3 and first to fourth gears, which are supported via bearings. That is, it is a rocking gear device having two input shafts and one output shaft.

  The substantially cylindrical first input shaft 1 is rotatably supported by a substantially cylindrical housing 4 via a bearing 11 and a bearing 12. Further, a first gear g1 (shaft gear), which is a bevel gear, is fixed to the first input shaft 1 with the tooth surface facing the output side (hereinafter simply referred to as “output side”) in the axial direction. Yes. A bearing gear 5 that is a rotating member is disposed on the output side of the first gear g1, and the input side in the axial direction of the inner ring 51 of the bearing gear 5 (hereinafter simply referred to as “input side”). Is formed with a second gear g2 (rotating member gear) which is a face gear. Since the second gear g2 meshes with the first gear g1, the rotational force of the first input shaft 1 is transmitted to the bearing gear 5 when the first input shaft 1 is rotating. An outer ring 52 is provided so as to surround the circumferential portion of the inner ring 51 from the outside (hereinafter simply referred to as “outside”) in the radial direction, and between the inner ring 51 and the outer ring 52. A bearing gear 5 that is a bearing-integrated gear is formed by interposing the rolling elements 53.

  A third gear g3 (rotating member gear) that is a face gear is formed on the output side of the inner ring 51 of the bearing gear 5. On the further output side of the third gear g3, the output shaft 3 is rotatably supported by the housing 4 via a bearing 22 and a bearing 23. A fourth gear g4 (shaft gear), which is a bevel gear, is fixed to the output shaft 3 with the tooth surface facing the input side. Since the fourth gear g4 is engaged with the third gear g3, the rotational force transmitted to the bearing gear 5 is transmitted to the output shaft 3. The first input shaft 1 and the output shaft 3 have the same rotation shaft 6.

  A substantially cylindrical second input shaft 2 is supported on the housing 4 via a bearing 22 and a bearing 23 so as to surround the first gear g1 to the fourth gear g4 from the outside. The inner peripheral surface 21 of the second input shaft 2 has a cylindrical shape that is eccentric with respect to the rotation shaft 6. Further, the outer ring 52 of the above-described bearing gear 5 is fitted into the inner peripheral surface 21. As a result, the outer ring 52 and the bearing gear 5 are provided in an eccentric state with respect to the rotating shaft 6.

Hereinafter, the relationship between the input from the first input shaft 1 and the second input shaft 2 and the output shaft 3 will be described.
First, the case where the second input shaft 2 is fixed and the first input shaft 1 is in a rotating state in the state of FIG. 1 will be described. Since the second input shaft 2 is fixed, the outer ring 52 of the bearing gear 5 fitted therein is also fixed. Therefore, the bearing gear 5 is kept in a state where its rotation shaft is fixed. In this state, the rotational force of the first input shaft 1 is transmitted to the bearing gear 5 via the first gear g1 and the second gear g2, and the rotational force transmitted to the bearing gear 5 is transmitted to the third gear. Since the torque is transmitted to the output shaft 3 via g3 and the fourth gear g4, the rotational force of the first input shaft 1 is decelerated according to the gear ratio of the first gear g1 to the fourth gear g4, and the output shaft 3 Is transmitted to.

  Next, the case where the first input shaft 1 is fixed and the second input shaft 2 is in the rotating state in the state of FIG. 1 will be described. Since the second input shaft 2 rotates, the outer ring 52 of the bearing gear 5 fitted therein also rotates. Here, since the inner peripheral surface 21 of the second input shaft 2 has a cylindrical shape that is eccentric with respect to the rotating shaft 6, the entire bearing gear 5 changes the eccentric shaft via the outer ring 52. A rotating rocking motion is performed. Here, since the first input shaft 1 is fixed, the rotational force of the second input shaft 2 is transmitted to the bearing gear 5 through the outer ring 52, and the rotational force transmitted to the bearing gear 5 is And transmitted to the output shaft 3 via the third gear g3 and the fourth gear g4. Accordingly, the rotational force of the second input shaft 2 is decelerated according to the gear ratio of the first gear g1 to the fourth gear g4 and transmitted to the output shaft 3. As described above, when either the first input shaft 1 or the second input shaft 2 is fixed, the rotational force from the unfixed input shaft is the gears of the first gear g1 to the fourth gear g4. It is decelerated according to the ratio and transmitted to the output shaft 3.

  Furthermore, the case where the 1st input shaft 1 and the 2nd input shaft 2 are in the rotation state in the state of FIG. 1 is demonstrated. In this case, the rotational force of the second input shaft 2 is transmitted to the output shaft 3 by swinging the entire bearing gear 5, and the rotational force of the first input shaft 1 is also transmitted to the output shaft 3. . Therefore, the resultant force of the rotational force of the first input shaft 1 and the rotational force of the second input shaft 2 can be transmitted to the output shaft 3. As described above, when neither the first input shaft 1 nor the second input shaft 2 is fixed, the rotational force from the first input shaft 1 and the second input shaft 2 becomes the first gear g1. ~ Decelerated according to the gear ratio of the fourth gear g4 and transmitted to the output shaft 3. That is, the rotational force of the output shaft 3 can be freely changed by controlling the rotational force of the first input shaft 1 and the rotational force of the second input shaft 2, respectively.

  Next, the reduction ratio will be described separately for each case. First, the case where the second input shaft 2 is fixed and the first input shaft 1 is in a rotating state will be described. The rotation of the first input shaft 1 is transmitted to the bearing gear 5 in accordance with the ratio of the number of teeth n1 of the first gear g1 and the number of teeth n2 of the second gear g2, that is, n1 / n2. For example, if the number of teeth n1 of the first gear g1 is 100 and the number of teeth n2 of the second gear g2 is 102, the first input shaft 1 makes one revolution and the first gear g1 makes one revolution. The two gears g2 rotate 100/102, and the rotation of the first input shaft 1 is transmitted to the bearing gear 5. That is, in this case, the first stage deceleration of 100/102 is performed.

  Similarly, the rotation of the second input shaft 2 is transmitted to the bearing gear 5 corresponding to the ratio of the number of teeth n3 of the third gear g3 and the number of teeth n4 of the fourth gear g4, that is, n3 / n4. For example, if the number of teeth n3 of the third gear g3 is 110 and the number of teeth n4 of the fourth gear g4 is 112, the inner ring 51 of the bearing gear 5 rotates once and the third gear g3 rotates once. The four gears g4 rotate 110/112, and the rotation of the first input shaft 1 is transmitted to the bearing gear 5. That is, in this case, 110/112 second-stage deceleration is performed. Therefore, the rotation of the first input shaft 1 is decelerated at a reduction ratio of n3 / n4 × n1 / n2 = (n1 · n3) / (n2 · n4) due to the deceleration of the first stage and the second stage. It becomes. In the above example, a reduction ratio of 110/112 × 100/102 = (100 · 110) / (102 · 112) ≈0.963, that is, about 96.3% is obtained.

  Next, a case where the first input shaft 1 is fixed and the second input shaft 2 is in a rotating state will be described. The rotation of the second input shaft 2 is transmitted to the bearing gear 5 corresponding to the difference between the number of teeth n1 of the first gear g1 and the number of teeth n2 of the second gear g2, that is, n2−n1. For example, if the number of teeth n1 of the first gear g1 is 100 and the number of teeth n2 of the second gear g2 is 102, the second input shaft 2 makes one rotation and the bearing gear 5 makes one rotation. The rotation of the second input shaft 2 is transmitted to the bearing gear 5 as the gear g2 rotates 102-100, that is, two teeth. Therefore, the reduction ratio is (n2-n1) / n2. That is, in this case, the first-stage deceleration of (102-100) / 102 is performed.

When the second input shaft 2 is in the rotating state, on the one hand, the second input shaft corresponds to the difference between the number of teeth n4 of the fourth gear g4 and the number of teeth n3 of the third gear g3, that is, n4-n3. The rotation of 2 is transmitted to the output shaft 3 via the bearing gear 5. For example, if the number of teeth n3 of the third gear g3 is 110 and the number of teeth n4 of the fourth gear g4 is 112, the inner ring 51 of the bearing gear 5 rotates once and the third gear g3 rotates once. The rotation of the second input shaft 2 is transmitted to the output shaft 3 as the four gears g4 rotate 112-110, that is, two teeth. Therefore, the reduction ratio is (n4-n3) / n4. Here, since the number of rotations of the third gear g3 is reduced by the ratio between the number of teeth n1 of the first gear g1 and the second gear g2 by the first-stage deceleration, (n4-n3) / n4 × n1 / n2 That is, in this case, the second-stage deceleration of (112−110) / 112 × 100/102 is performed. Therefore, combining the first stage deceleration and the second stage deceleration,
(N2-n1) / n2 + (n4-n3) / n4 × n1 / n2
That is, (102-100) / 102 + (112-110) / 112 × 100/102
≒ 0.0196 + 0.0175
= 0.0371
That is, a reduction ratio of about 3.71% is obtained.

  As described above, the reduction gear ratio can be freely changed by changing the number of teeth n1 to 4n of the first gear g1 to the fourth gear g4, and is particularly large for the input from the second input shaft 2. The reduction ratio can be easily obtained.

  Here, the oscillating gear device according to the present embodiment is characterized in that the rolling elements used for the shaft gear are formed of a material having a resin as a main component and elasticity. Although it does not specifically limit about resin, It has a requirement to have the intensity | strength as a convex tooth, and to have the elasticity for disperse | distributing the force which generate | occur | produces locally at the time of meshing with a concave tooth. From such a viewpoint, polyamide, polyacetal, or other engineering plastics are preferable.

  More specifically, FIG. 2 (a) schematically showing the meshing portion between the first gear g1 and the second gear g2, and an enlarged view of the meshing portion between the first gear g1 and the second gear g2. As shown in FIG. 2 (b), a semi-cylindrical groove g11 is formed in the first gear g1, and a rolling element g12 made of resin is supported in the groove g11 so as to be able to roll. . Since the cylindrical rolling element g12 is supported by the semi-cylindrical concave groove g11, approximately half of the outer peripheral surface of the rolling element g12 protrudes toward the second gear g2, and this protruding portion is the first gear. It functions as a convex tooth of g1. On the other hand, a concave groove g21 similar to the concave groove g11 formed in the first gear g1 is formed in the second gear g2. The concave groove g21 functions as a concave tooth of the second gear g2. That is, the portion of the rolling element g12 that protrudes toward the second gear g2 meshes with the concave groove g21 of the second gear g2. Therefore, the sliding that occurs when the rolling element g12 and the concave groove g21 are engaged is absorbed by the rolling of the rolling element g12 indicated by the arrow a1 in FIG. Therefore, since it is not necessary to provide a backlash, it is possible to precisely adjust the meshing and reduce vibration and noise. In addition, since a preload can be applied between the gears, the meshing adjustment can be performed more precisely, and vibration and noise can be reduced.

  The structure of the first gear g1 will be described more specifically. As shown in FIG. 3A in which the portion of the first gear g1 that meshes with the second gear g2 is shown as a partially enlarged view from the AA direction, the first gear g1 has a semi-cylindrical concave groove g11. Is formed in the concave groove, and a rolling element g12 made of resin is supported so as to be able to roll. Since the cylindrical rolling element g12 is supported by the semi-cylindrical concave groove, approximately half of the outer peripheral surface of the rolling element g12 protrudes to the second gear g2 side (output side), and this protruding portion is It functions as a convex tooth of the first gear g1. On the other hand, a concave groove g21 similar to the concave groove g11 formed in the first gear g1 is formed in the second gear g2, and this concave groove g21 functions as a concave tooth of the second gear g2.

  Here, since the second gear g2 that is a flat face gear is meshed with the first gear g1 that is a bevel gear, a force is locally applied to a part of the meshing portion at the start and end of meshing of the gear. This locally applied force is mitigated by the rolling element g12 rolling in the a1 direction, moving in the a2 direction, and the elasticity of the rolling element g12.

  More specifically, of the force applied to the rolling element g12 at the start and end of meshing of the gear, the component applied in the tangential direction of the outer peripheral surface of the rolling element g12 is caused by the rolling element g12 rolling in the a1 direction. Can be relaxed. Moreover, about the component applied to a radial direction, it can relieve because the rolling element g12 moves to a2 direction. Further, the component acting in the axial direction can be relaxed by the elastic deformation of the rolling element g12 in the a3 direction. Thus, since the force applied to the rolling element g12 can be dispersed in three directions and alleviated, the rolling element g12 and the groove g11 can be more localized than the conventional one that can be dispersed and relaxed in only two directions. It is possible to suppress the application of a strong load, and it is possible to suppress wear of the same part and generation of noise in the same part.

  Note that the meshing between the fourth gear g4 and the third gear g3 is the same as the description of the meshing between the first gear g1 and the second gear g2 described above, and a detailed description thereof is omitted, but the fourth gear g4 is omitted. Is formed with a semi-cylindrical concave groove g41, and a resin rolling element g42 is supported in the concave groove g41 in a rollable manner. On the other hand, a concave groove g31 similar to the concave groove g41 formed in the fourth gear g4 is formed in the third gear g3. The concave groove g31 functions as a concave tooth of the third gear g3. Further, since the rolling element g42 is made of resin like the rolling element g12, the axial force generated when the third gear g3, which is the face gear, meshes with the fourth gear g4, which is the bevel gear, is the shaft force. About the component applied to a direction, it can relieve | moderate when the rolling element g42 elastically deforms to an axial direction. Therefore, compared with the above-mentioned conventional technique that can only be dispersed and relaxed in two directions, it is possible to further suppress the local strong load on the rolling elements g42 and the concave grooves g31, and to suppress wear of the same part and generation of noise in the same part. be able to.

According to the oscillating gear device of the above embodiment, the following effects can be obtained.
(1) According to the oscillating gear device of the above-described embodiment, the structure that relaxes the force received by the rolling element g12 and the concave groove g11 when the rolling element g12 used as convex teeth and the concave groove g11 used as concave teeth mesh. Therefore, it is possible to suppress wear and noise generation due to the rolling element g12 and the concave groove g11 receiving force. The same applies to the rolling elements g42 used as convex teeth and the concave grooves g31 used as concave teeth.

  (2) According to the oscillating gear device of the above embodiment, since the rolling element g12 is made of a resin having elasticity, the force received by the rolling element g12 and the groove g11 can be relaxed by elasticity. . Therefore, it is possible to suppress the occurrence of wear and noise due to the rolling elements and the concave grooves receiving force. In addition, if a general-purpose and inexpensive resin is used, the effect can be more easily achieved. Further, the effect is the same for the rolling elements g42 used as convex teeth and the concave grooves g31 used as concave teeth.

In addition, you may change the said embodiment as follows.
-In above-mentioned embodiment, although the rolling element g12 and the rolling element g42 are provided in the 1st gear g1 and the 4th gear g4, another structure may be sufficient. For example, the second gear g2 and the third gear g3 may be provided. In other words, any structure that can absorb the sliding at the time of meshing by meshing the rolling element and the groove is acceptable.

  In the above embodiment, the present invention is applied to an oscillating gear device having two input shafts and one output shaft. However, the present invention is applied to an oscillating gear device having one input shaft and one output shaft. The present invention may be applied. For example, the first gear g1 may be fixed to the housing and input from only the second input shaft.

  -In above-mentioned embodiment, although the rolling element g12 and the rolling element g42 are formed only with resin, another structure may be sufficient. For example, it may be formed of a material containing a resin as a main component and a reinforcing material for reinforcing the resin, FRP, or the like. Since the rolling elements g12 and the rolling elements g42 are formed of metal, the rolling elements g12, the rolling elements g42, the concave grooves g11, and the concave grooves are suppressed while suppressing a decrease in strength as compared with the case where the rolling elements g12 and the rolling elements g42 are formed of metal. It becomes possible to suppress the generation of wear and noise due to g41 receiving a force.

  -In the said modification, it is preferable that the reinforcing material for reinforcing resin is an aramid fiber. Since the aramid fiber has a lower hardness than metal, for example, the aramid fiber, which is a reinforcing material generally used as a reinforcing material for resin, is used as a reinforcing material. The possibility of damaging the groove g41 is low. Accordingly, it is possible to suppress wear and noise due to the rolling elements and the groove receiving force, while suppressing the damage to the groove g11 or the groove g41.

  In the above embodiment, the present invention is applied to an oscillating gear device having two input shafts and one output shaft. However, the present invention is applied to an oscillating gear device having one input shaft and one output shaft. The present invention may be applied. For example, the first gear g1 may be fixed to the housing and input from only the second input shaft.

  In the above embodiment, at least one of the rolling element g12 and the rolling element g42 is formed of resin or the like, but at least one of the first gear g1 and the fourth gear g4 may be formed of resin or the like. . Moreover, you may form both a rolling element and a gearwheel with resin. In short, it is only necessary that the components applied in the axial direction among the local forces generated when the convex teeth and the concave teeth mesh can be alleviated by elastic deformation of the rolling elements or gears.

(Second Embodiment)
Next, a second embodiment of the oscillating gear device embodying the present invention will be described. In addition, since 2nd Embodiment is a structure which only changed the structure of the rolling element g12 and rolling element g42 of 1st Embodiment, the detailed description is abbreviate | omitted about the same part.

  In the oscillating gear device according to the second embodiment, the rolling element used in the shaft gear is formed by a member in which a rolling element main body formed of a metal material is coated with an elastic material and a resin as a main component. It is characterized in that it is formed.

  More specifically, as shown in FIG. 3B, the rolling element g12 is formed of a rolling element body I and a resin member S that is a coating member that coats the outer peripheral surface of the rolling element body I. Although it does not specifically limit about resin, It has a requirement to have the intensity | strength as a convex tooth, and to have the elasticity for disperse | distributing the force which generate | occur | produces locally at the time of meshing with a concave tooth. From such a viewpoint, polyamide, polyacetal, or other engineering plastics are preferable.

  Here, as shown in FIG. 3A, the first gear g1 is formed with a semi-cylindrical concave groove g11, and the concave groove has a cylindrical shape and a resin-made rolling groove. The moving body g12 is supported so that it can roll. Since the cylindrical rolling element g12 is supported by the semi-cylindrical concave groove, approximately half of the outer peripheral surface of the rolling element g12 protrudes to the second gear g2 side (output side), and this protruding portion is It functions as a convex tooth of the first gear g1. On the other hand, a concave groove g21 similar to the concave groove g11 formed in the first gear g1 is formed in the second gear g2, and this concave groove g21 functions as a concave tooth of the second gear g2.

  Here, since the second gear g2 that is a flat face gear is meshed with the first gear g1 that is a bevel gear, a force is locally applied to a part of the meshing portion at the start and end of meshing of the gear. This locally applied force is mitigated by the rolling element g12 rolling in the a1 direction, moving in the a2 direction, and the elasticity of the rolling element g12.

  More specifically, of the force applied to the rolling element g12 at the start and end of meshing of the gear, the component applied in the tangential direction of the outer peripheral surface of the rolling element g12 is caused by the rolling element g12 rolling in the a1 direction. Can be relaxed. Moreover, about the component applied to a radial direction, it can relieve because the rolling element g12 moves to a2 direction. Further, the component acting in the axial direction can be relaxed by the elastic deformation of the rolling element g12 in the a3 direction. Thus, since the force applied to the rolling element g12 can be dispersed in three directions and alleviated, the rolling element g12 and the groove g11 can be more localized than the conventional one that can be dispersed and relaxed in only two directions. It is possible to suppress the application of a strong load, and it is possible to suppress wear of the same part and generation of noise in the same part.

  Note that the meshing of the fourth gear g4 and the third gear g3 is the same as the description of the meshing of the first gear g1 and the second gear g2 described above, and thus the detailed description is omitted. A semi-cylindrical concave groove g41 is formed in g4, and a resin rolling element g42 is supported in the concave groove g41 so as to be able to roll. On the other hand, a concave groove g31 similar to the concave groove g41 formed in the fourth gear g4 is formed in the third gear g3. The concave groove g31 functions as a concave tooth of the third gear g3. Further, since the rolling element g42 is made of resin like the rolling element g12, the axial force generated when the third gear g3, which is the face gear, meshes with the fourth gear g4, which is the bevel gear, is the shaft force. About the component applied to a direction, it can relieve | moderate when the rolling element g42 elastically deforms to an axial direction. Therefore, compared with the above-mentioned conventional technique that can only be dispersed and relaxed in two directions, it is possible to further suppress the local strong load on the rolling elements g42 and the concave grooves g31, and to suppress wear of the same part and generation of noise in the same part. be able to.

Therefore, according to the second embodiment, the following effect can be obtained instead of the effect (2) described in the first embodiment.
(2) In the second embodiment, the rolling element g12 and the rolling element g42 are formed of a member obtained by coating a rolling member body I formed of a metal material with a resin member S having elasticity. Therefore, for example, compared with the case where the rolling elements g12 and g42 are formed of metal, wear and noise are generated due to the rolling elements and the grooves receiving force while suppressing a decrease in strength of the rolling elements. Can be suppressed.

In addition, you may change this embodiment as follows.
In the above embodiment, the resin member S is formed only of resin, but may have other configurations. For example, it may be formed of a material containing a resin as a main component and a reinforcing material for reinforcing the resin, FRP, or the like. Since the rolling elements g12 and the rolling elements g42 are formed of metal, the rolling elements g12, the rolling elements g42, the concave grooves g11, and the concave grooves are suppressed while suppressing a decrease in strength as compared with the case where the rolling elements g12 and the rolling elements g42 are formed of metal. It becomes possible to suppress the generation of wear and noise due to g41 receiving a force.

  -In the said modification, it is preferable that the reinforcing material for reinforcing resin is an aramid fiber. Since the aramid fiber has a lower hardness than metal, for example, the aramid fiber, which is a reinforcing material generally used as a reinforcing material for resin, is used as a reinforcing material. The possibility of damaging the groove g41 is low. Accordingly, it is possible to suppress wear and noise due to the rolling elements and the groove receiving force, while suppressing the damage to the groove g11 or the groove g41.

(Third embodiment)
Next, a description will be given of a third embodiment of the oscillating gear device embodying the present invention. In addition, since 2nd Embodiment is a structure which changed only the structure of the rolling element g12 and the rolling element g42 of 1st Embodiment and 2nd Embodiment, it is the detailed description about the same part. Omitted.

  The oscillating gear device according to the third embodiment is characterized in that the rolling elements g12 and g42 used in the shaft gear are formed of a metal material having a gap inside. Since the metal material having voids inside has a large internal friction, the force applied to the rolling elements g12 and g42 can be consumed as heat.

  More specifically, the rolling element g12 is formed of a metal material having voids inside such as a sintered metal or a foam metal. Although it does not specifically limit about a metal raw material, It has a requirement to have the intensity | strength as a convex tooth, and to consume the force which generate | occur | produces locally at the time of meshing with a concave tooth by internal friction.

  Here, as shown in FIG. 3A, the first gear g1 is formed with a semi-cylindrical concave groove g11, and the concave groove has a cylindrical shape and a resin-made rolling groove. The moving body g12 is supported so that it can roll. Since the cylindrical rolling element g12 is supported by the semi-cylindrical concave groove, approximately half of the outer peripheral surface of the rolling element g12 protrudes to the second gear g2 side (output side), and this protruding portion is It functions as a convex tooth of the first gear g1. On the other hand, a concave groove g21 similar to the concave groove g11 formed in the first gear g1 is formed in the second gear g2, and this concave groove g21 functions as a concave tooth of the second gear g2.

  Here, since the second gear g2 that is a flat face gear is meshed with the first gear g1 that is a bevel gear, a force is locally applied to a part of the meshing portion at the start and end of meshing of the gear. This locally applied force is mitigated by the rolling element g12 rolling in the a1 direction, moving in the a2 direction, and the rolling element g12 being consumed by internal friction.

  More specifically, of the force applied to the rolling element g12 at the start and end of meshing of the gear, the component applied in the tangential direction of the outer peripheral surface of the rolling element g12 is caused by the rolling element g12 rolling in the a1 direction. Can be relaxed. Moreover, about the component applied to a radial direction, it can relieve because the rolling element g12 moves to a2 direction. Further, the component acting in the axial direction can be relaxed by being converted into heat by the internal friction of the rolling element g12. Thus, since the force applied to the rolling element g12 can be dispersed in three directions and alleviated, the rolling element g12 and the groove g11 can be more localized than the conventional one that can be dispersed and relaxed in only two directions. It is possible to suppress the application of a strong load, and it is possible to suppress wear of the same part and generation of noise in the same part.

  Note that the meshing of the fourth gear g4 and the third gear g3 is the same as the description of the meshing of the first gear g1 and the second gear g2 described above, and thus the detailed description is omitted. A semi-cylindrical concave groove g41 is formed in g4, and a resin rolling element g42 is supported in the concave groove g41 so as to be able to roll. On the other hand, a concave groove g31 similar to the concave groove g41 formed in the fourth gear g4 is formed in the third gear g3. The concave groove g31 functions as a concave tooth of the third gear g3. Further, since the rolling element g42 is made of resin like the rolling element g12, the axial force generated when the third gear g3, which is the face gear, meshes with the fourth gear g4, which is the bevel gear, is the shaft force. About the component applied to a direction, it can relieve | moderate by converting into heat by the internal friction which the rolling element g42 has. Therefore, compared with the above-mentioned conventional technique that can only be dispersed / relieved in two directions, it is possible to further suppress the local strong load on the rolling element g42 and the concave groove g31, and to suppress wear and noise generation in the same part. be able to.

According to the oscillating gear device of the above embodiment, the following effects can be obtained.
Therefore, according to the third embodiment, the following effect can be obtained instead of the effect (2) described in the first embodiment and the second embodiment.

  (2) In 2nd Embodiment, the rolling element g12 and the rolling element g42 are formed with the metal material which has a space | gap inside. As a result, for example, the rolling element g12, the rolling element g42, the concave groove g21, the concave groove g31 is suppressed while suppressing a decrease in strength of the rolling element as compared with the case where the rolling element g12 and the rolling element g42 are formed of metal. It is possible to suppress the generation of wear and noise due to the force applied to the.

In addition, you may change this embodiment as follows.
In the above embodiment, the rolling element g12 and the rolling element g42 are formed of a metal material having a gap inside, but the first gear g1 and the fourth gear g4 are formed of a metal material having a gap inside. Also good. Moreover, you may form both a rolling element and a gearwheel with the metal material which has a space | gap inside. In short, it is only necessary that the component force applied in the axial direction among the local forces generated when the convex teeth and the concave teeth mesh can be alleviated by consuming the internal friction of the rolling elements or gears.

  Since the present invention relates to an oscillating gear device that is easy to manufacture, the present invention can be widely used for small devices that require a high reduction ratio.

It is drawing explaining one Embodiment of the rocking | fluctuation type gear apparatus concerning this invention, Comprising: It is an axial sectional view. BRIEF DESCRIPTION OF THE DRAWINGS It is drawing explaining one Embodiment of the rocking | fluctuation type gear apparatus concerning this invention, Comprising: (a) is a partial expansion schematic diagram about the meshing part of a 1st gear-a 4th gear, (b) is 1st. It is an enlarged view about the meshing part of a gearwheel and a 2nd gearwheel. BRIEF DESCRIPTION OF THE DRAWINGS It is drawing explaining one Embodiment of the rocking | fluctuation type gear apparatus concerning this invention, Comprising: (a) is a partially expanded view from the AA direction of FIG. 2, (b) is the structure of a rolling element. It is a perspective view shown. It is drawing explaining the conventional oscillating gear apparatus, Comprising: It is an axial sectional view. It is drawing explaining the conventional oscillating gear apparatus, Comprising: It is a partially expanded view of a 1st gearwheel.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... 1st input shaft, 2 ... 2nd input shaft, 3 ... Output shaft, 4 ... Housing, 5 ... Bearing gear (rotating member), 6 ... Rotary shaft, 11 ... Bearing, 12 ... Bearing, 21 ... Inside Peripheral surface, 22 ... bearing, 23 ... bearing, 51 ... inner ring, 52 ... outer ring, 53 ... rolling element, g1 ... first gear (shaft gear), g2 ... second gear (rotating member gear), g3 ... third gear (Rotary member gear), g4 ... fourth gear (shaft gear), g11 ... concave groove, g12 ... rolling element, g21 ... concave groove, g31 ... concave groove, g41 ... concave groove, g42 ... rolling element, 101 ... input shaft , Output shaft, 103, 105, bearing gear, 106, rotating shaft, 111, bearing, 121, bearing, 151, inner ring, 152, outer ring, 153, rolling element, g101, first gear, g102, second gear, g103. ... 3rd gear, g104 ... 4th gear, g111 ... Groove, g112 ... Rolling , I ... rolling element body, S ... resin member.

Claims (6)

A shaft gear provided at the axial end of the rotating shaft;
A rotating member that rotates eccentrically with respect to the axis of the rotating shaft and in which a rotation center shaft swings;
A rotating member gear provided at an axial end of the rotating member and meshing with the shaft gear;
Either the shaft gear or the rotating member gear includes a concave groove formed at equal intervals in the rotational direction of the gear, and a rolling element supported so as to roll in the concave groove, and the rolling element As convex teeth,
The other one of the shaft gear or the rotating member gear includes a concave groove that meshes with the rolling element, and the swinging gear device that uses the concave groove as a concave tooth,
The structure that relaxes the force received by the rolling element and the concave groove when the rolling element used as the convex tooth and the concave groove used as the concave tooth mesh with each other, the structure of the concave groove used as the rolling element and the concave tooth At least one of them has a rocking gear device.   2. The oscillating gear according to claim 1, wherein at least one of the rolling elements and the concave grooves used as the concave teeth is formed of a material having a resin as a main component and having elasticity. apparatus.   The oscillating gear device according to claim 2, wherein the material containing the resin as a main component includes a reinforcing material for reinforcing the resin.   The rocking gear device according to claim 3, wherein the reinforcing material is an aramid fiber.   2. The rocking die according to claim 1, wherein the rolling element is formed by a member in which a rolling element main body formed of a metal material is coated with a material having a resin as a main component and an elasticity. Gear device.   2. The oscillating gear device according to claim 1, wherein at least one of the rolling elements and the concave grooves used as the concave teeth is formed of a metal material having a gap inside.

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