JP2013177938A - Flexible meshing type gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable reduction in friction loss caused by bumping between an external gear with a member disposed on a side in an axial direction of the external gear.SOLUTION: A flexible meshing type gear device 100 includes an exciting body 104, an external gear 120, and an internal gear 130. Restriction members 150 restricting movement of the external gear 120 in an axial direction O are disposed between a fixed wall 136 disposed on a side in the axial direction O of the external gear 120 and an output device 138, and the external gear 120, so that a friction coefficient μ1 between the restriction members 150, and the fixed wall 136 and the output device 138 is smaller than a friction coefficient μ0 between end faces 120AC, 120BC of the external gear 120, and the fixed wall 136 and the output device 138.

Description

  The present invention relates to a flexure meshing gear device.

  A flexure meshing gear device disclosed in Patent Document 1 includes a vibrating body, and a cylindrical external gear having flexibility that is arranged on the outer periphery of the vibrating body and is bent and deformed by rotation of the vibrating body. A first internal gear having rigidity with which the external gear meshes internally, and a second internal gear having rigidity with which the external gear is arranged side by side and meshed with the external gear And.

JP 2011-110976 A

  In the flexure meshing gear device as described in Patent Document 1, the external gear is not fixed in the axial direction because the external gear is cylindrical. For this reason, the external gear moves toward the member (side member) arranged on the side in the axial direction of the external gear of the flexure meshing gear device, and the external gear and the side member collide with each other. There is a risk of friction loss. Here, in Patent Document 1, a movement restriction plate that restricts the movement of the external gear in the axial direction is abutted against the axial end (end surface) of the external gear and is fixedly disposed on a side member or the like. Yes. However, this movement limiting plate is for preventing an increase in frictional resistance between the inner peripheral surface of the external gear and the outer peripheral surface of the vibrating body. In Patent Document 1, the external gear and the movement limiting plate collide with each other. The friction loss caused by this was not considered. That is, Patent Document 1 does not propose any solution for the problem that the external gear moves toward the side member and the external gear collides with the side member to generate a friction loss.

  Accordingly, the present invention has been made to solve the above-described problems, and is a flexure meshing that can reduce friction loss caused by a collision between an external gear and a member arranged on the side of the external gear in the axial direction. It is an object of the present invention to provide a square gear device.

  The present invention relates to a vibrator, a cylindrical external gear that is arranged on the outer periphery of the vibrator and has a flexibility that is bent and deformed by the rotation of the vibrator, and the external gear is inscribed. A flexure meshing type comprising: a first internal gear having rigidity for meshing; and a second internal gear having rigidity disposed in parallel with the external gear and arranged in parallel with the first internal gear. In the gear device, a restricting member for restricting the movement of the external gear in the axial direction is disposed between the side member disposed on the lateral side of the external gear and the external gear. The problem is solved by the fact that the coefficient of friction between the regulating member and the side member is smaller than the coefficient of friction between the end face of the external gear and the side member. is there.

  In the present invention, the restricting member is disposed between the side member and the external gear. And the friction coefficient between the said regulating member and this side member is made smaller than the friction coefficient between the end surface of an external gear and the said side member. That is, in the present invention, the radial movement and the rotation movement of the external gear caused by the meshing with the first and second internal gears are transmitted to the regulating member disposed between the side member and the external gear. Then, the regulating member having a small friction coefficient and the side member collide with each other, and sliding is performed there. That is, the present invention can reduce the friction loss as compared with the friction loss caused by the direct collision between the end face of the external gear having a large friction coefficient and the side member.

  The present invention includes a vibrator, a cylindrical external gear having flexibility that is disposed on the outer periphery of the vibrator and is flexibly deformed by rotation of the vibrator, and the external gear. A flexure meshing system comprising: a first internal gear having rigidity for intermeshing engagement; and a second internal gear having rigidity for intermeshing engagement with the external gear that is arranged in parallel with the first internal gear. In the rectangular gear device, a regulating member for regulating movement of the external gear in the axial direction is provided between a side member arranged on the lateral side of the external gear and the external gear. The same effect can be obtained when the friction coefficient between the end face of the external gear and the regulating member is smaller than the friction coefficient between the end face of the external gear and the side member. Play.

  ADVANTAGE OF THE INVENTION According to this invention, the friction loss which arises by the collision with the member arrange | positioned at the side of the axial direction of an external gear and an external gear can be reduced.

Sectional drawing which shows an example of the whole structure of the bending meshing gear apparatus which concerns on 1st Embodiment of this invention. A front view (A) and a cross-sectional view (B) showing the vibrator as well Sectional drawing which shows an example of the whole structure of the bending meshing type gear apparatus which concerns on 2nd Embodiment of this invention. Sectional drawing which shows an example of the whole structure of the bending meshing type gear apparatus which concerns on 3rd Embodiment of this invention. Sectional drawing which shows an example of the whole structure of the bending meshing type gear apparatus which concerns on 4th Embodiment of this invention. Sectional drawing which shows an example of the whole structure of the bending meshing type gear apparatus which concerns on 5th Embodiment of this invention.

  Hereinafter, an example of the first embodiment of the present invention will be described in detail with reference to the drawings.

  First, the overall configuration of the present embodiment will be schematically described.

  As shown in FIG. 1, the flexure meshing gear device 100 is formed in a tubular shape having a flexible structure that is arranged on the outer periphery of the vibrating body 104 and is bent and deformed by the rotation of the vibrating body 104. External gears 120A and 120B (120), a reduction internal gear 130A (first internal gear) having rigidity with which external gear 120A is in meshingly engaged, and reduction internal gear 130A are arranged in parallel. An output internal gear 130B (second internal gear) having a rigidity to be in mesh with the tooth gear 120B (note that the reduction internal gear 130A and the output internal gear 130B are combined). Simply referred to as internal gear 130). Then, the movement of the external gear 120 in the axial direction O is between the fixed wall 136 and the output device 138 (side member) arranged on the side of the external gear 120 in the axial direction O and the external gear 120. A first restriction member 150 </ b> A and a second restriction member 150 </ b> B (restriction member 150) are disposed. Here, the friction coefficient μ0 between the end surfaces 120AC and 120BC (side member side end surfaces) of the external gear 120 and the fixed wall 136 and the inner side surfaces 136A and 138A (external gear side surfaces) of the output device 138 is more restricted. The coefficient of friction μ1 between the outer end surfaces 150AA and 150BA (side member side end surfaces) of the member 150 and the fixed wall 136 and the inner surfaces 136A and 138A of the output device 138 is reduced.

  As shown in FIGS. 1 and 2, the vibrator 104 has a substantially columnar shape. More specifically, the vibrating body 104 has a meshing range FA with a constant curvature radius r1 centered on an eccentric position (eccentricity L), and has a shape in which a plurality of curvature radii are combined. The vibrating body 104 is configured to realize a meshing state between the external gears 120A and 120B, the reduction internal gear 130A, and the output internal gear 130B in the meshing range FA. The vibrator 104 is formed with an input shaft hole 106 into which the input shaft 102 is inserted at the center. A keyway 108 is provided in the input shaft hole 106 so that the vibrating body 104 rotates integrally with the input shaft 102 when the input shaft 102 is inserted and rotated. The input shaft 102 is rotatably supported on the fixed wall 136 via bearings 140 and 142.

  As shown in FIG. 1, the vibration body bearing 110 is a bearing arranged between the outside of the vibration body 104 and the inside of the external gear 120. The vibration body bearing 110A (110B) includes an inner ring 112, a cage 114A (114B), rollers 116A (116B) as rolling elements, and an outer ring 118A (118B). The inner ring 112 is integrated with the vibration body bearings 110A and 110B, is disposed in contact with the outer periphery of the vibration body 104, and is in contact with the rollers 116A and 116B. The rollers 116A (116B) are rotatably held by the cage 114A (114B). The rollers 116A (116B) may have a cylindrical shape and include a needle shape. A ball may be used as the rolling element. The outer ring 118A (118B) is disposed outside the rollers 116A (116B). The outer ring 118 (118 </ b> A, 118 </ b> B) is bent and deformed by the rotation of the vibrating body 104 and deforms the external gear 120 disposed on the outer side thereof in the radial direction.

  As shown in FIG. 1, the external gear 120 is composed of a base member 122 and external teeth 124 (124A, 124B) and has a cylindrical shape. The base member 122 is a flexible cylindrical member and is disposed outside the vibration body bearing 110. As shown in FIG. 1, the external teeth 124 are divided in the axial direction O, but the base members 122 that support them are integrated and made common. The external tooth 124 has a tooth profile determined based on a trochoid curve so as to realize theoretical meshing. The axial length L1 of the external gear 120 is shorter than the axial length L2 of the outer ring 118 (the sum of the axial lengths of the outer ring 118A and the outer ring 118B). On the outer periphery of the outer ring 118, first and second restricting members 150 </ b> A and 150 </ b> B are disposed adjacent to the end faces 120 </ b> AC and 120 </ b> BC on both sides of the external gear 120 in the axial direction O, respectively. In the present embodiment, the first and second restricting members 150A and 150B are arranged with no gap between the outer periphery of the outer ring 118 and the end surfaces 120AC and 120BC of the external gear 120. There may be a gap between them.

  The first and second regulating members 150A and 150B (regulating member 150) are made of resin (a PEEK material of low heat resistance polymer resin, nylon, fluorine resin, etc.), and the external gear 120 is When meshing with the internal gear 130, the ring shape has an outer shape that does not contact the internal gear 130. The Young's modulus of the regulating member 150 is smaller than the Young's modulus of the external gear 120, and can be easily bent following the outer ring 118. A thickness To in the axial direction O of the regulating member 150 is set to be larger than a gap Gp between the outer ring 118 and the output device 138 (fixed wall 136).

  As shown in FIG. 1, the internal gear 130A for deceleration is formed of a rigid member. The reduction internal gear 130A includes internal teeth 128A having i (i = 2, 4,...) More teeth than the external teeth 124A of the external gear 120A. A fixed wall 136 for fixing the flexure meshing gear device 100 is fixed to the reduction internal gear 130A with a bolt 134A through a bolt hole 132A. The reduction internal gear 130A contributes to the reduction of the rotation of the vibration generator 104 by meshing with the external gear 120A. The inner teeth 128A are shaped to theoretically mesh with the outer teeth 124A based on the trochoid curve.

  On the other hand, the output internal gear 130B is also formed of a rigid member, like the reduction internal gear 130A, as shown in FIG. The output internal gear 130B has the same number of teeth of the internal teeth 128B as the number of teeth of the external teeth 124B of the external gear 120B (constant speed transmission). An output device 138 to which an output from the flexure meshing gear device 100 is transmitted is fixed to the output internal gear 130B with a bolt 134B through a bolt hole 132B.

  Next, the operation of the flexure meshing gear device 100 will be described with reference to FIG.

  When the vibration generator 104 is rotated by the rotation of the input shaft 102, the external gear 120 is bent and deformed via the vibration generator bearing 110 according to the rotation state (that is, the external gear 120B is external gear 120A). And bend and deform in the same phase).

  When the external gear 120 is bent and deformed by the vibrating body 104, the external teeth 124 move radially outward in the meshing range FA and mesh with the internal teeth 128 of the internal gear 130.

  In the axial direction O, the external teeth 124 are divided into a portion meshing with the reduction internal gear 130A (external teeth 124A) and a portion meshing with the output internal gear 130B (external teeth 124B). For this reason, when the external gear 120A meshes with the reduction internal gear 130A, even if the external teeth 124B are deformed, the deformation does not cause the external teeth 124A to be deformed. Similarly, when the external gear 120B meshes with the output internal gear 130B, even if the external teeth 124A are deformed, the external teeth 124B are not deformed by the deformation. That is, by dividing the external teeth 124, it is possible to prevent the deformation of one external tooth 124A (124B) from deforming the other external tooth 124B (124A) to deteriorate the meshing relationship.

  The meshing position between the external gear 120 </ b> A and the reduction internal gear 130 </ b> A rotates as the vibration generator 104 rotates. Here, when the vibrating body 104 rotates once, the rotation phase of the external gear 120A is delayed by a difference in the number of teeth from the internal gear 130A for deceleration. That is, the reduction ratio of the external gear 120A by the reduction internal gear 130A fixed to the fixed wall 136 is ((the number of teeth of the external gear 120A−the number of teeth of the reduction internal gear 130A) / the external gear 120A. (Number of teeth).

  Since both the external gear 120B and the output internal gear 130B have the same number of teeth, the external gear 120B and the output internal gear 130B do not move with each other, and the same teeth can move. Will be engaged. For this reason, the same rotation as the rotation of the external gear 120B (external gear 120A) is output from the output internal gear 130B. As a result, the output device 138 connected to the output internal gear 130B can extract the output obtained by reducing the rotation of the input shaft 102 based on the reduction ratio of the reduction internal gear 130A.

  In the present embodiment, the regulating member 150 is disposed between the fixed wall 136, the output device 138, and the external gear 120. Here, each of the external gear 120, the fixing member 136, and the output device 138 is made of metal, and the restriction member 150 is made of resin. Therefore, the outer end surfaces 150AA and 150BA of the regulating member 150 and the fixed wall 136 are larger than the friction coefficient μ0 between the end surfaces 120AC and 120BC of the external gear 120 and the fixed wall 136 and the inner surfaces 136A and 138A of the output device 138. The coefficient of friction μ1 between the inner surfaces 136A and 138A of the output device 138 is reduced. That is, even if the external gear 120 moves in the axial direction O due to the meshing with the internal gear 130, the radial movement and the rotational motion of the external gear 120 caused by the meshing are transmitted to the regulating member 150, and the friction coefficient The outer end surfaces 150AA and 150BA of the regulating member 150 having a small μ1 collide with the fixed wall 136 and the inner surfaces 136A and 138A of the output device 138, and sliding occurs there. That is, friction loss (for example, the external teeth 124 are fixed walls 136, 120 A and 120 BC of the external gear 120 having a large friction coefficient μ 0 and direct contact between the fixed wall 136 and the inner surfaces 136 A and 138 A of the output device 138. The friction loss can be reduced as compared with a loss caused by biting into the output device 138.

  Further, in the present embodiment, the axial length L1 of the external gear 120 is shorter than the axial length L2 of the outer ring 118, and the regulating member 150 is adjacent to the external gear 120 in the axial direction O on the outer periphery of the outer ring 118. Has been placed. For this reason, it is possible to reliably prevent the external teeth 124 from directly colliding with the fixed wall 136 and the output device 138 (including biting). At the same time, the restricting member 150 is brought into contact with the outer periphery of the outer ring 118 and the end faces 120AC, 120BC of the external gear 120 without any gap, and the external gear 120 and the restricting member 150 move in the same manner. It can be avoided that the regulating member 150 is worn between the two. Further, the thickness To in the axial direction O of the regulating member 150 is made larger than the gap Gp between the outer ring 118, the fixed wall 136, and the output device 138. For this reason, even if force is applied to the regulating member 150 from, for example, the external gear 120 and the regulating member 150 moves in the axial direction O, the regulating member 150 is not detached from the outer periphery of the outer ring 118, and the friction loss can be reduced stably. The effect can be maintained.

  Further, in the present embodiment, the Young's modulus of the regulating member 150 is made smaller than the Young's modulus of the external gear 120. For this reason, the regulating member 150 can bend (elastically deformed) simultaneously with the external gear 120 following the bending of the outer ring 118 without delay. For this reason, the abrasion by the external gear 120 of the regulating member 150 can be further prevented.

  That is, in this embodiment, it is possible to reduce the friction loss caused by the collision between the external gear 120 and the fixed wall 136 disposed on the side of the external gear 120 in the axial direction O and the output device 138.

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

  For example, in the first embodiment, the restricting member 150 is disposed only on the end surfaces 120AC and 120BC of the external gear 120, but the present invention is not limited to this. For example, it may be as in the second embodiment shown in FIG. Since all but the restricting member 250 are the same as those in the first embodiment, the other two digits except for the restricting member 250 are the same, and redundant description is omitted. Further, with respect to the restricting member 250, the same parts as those of the restricting member 150 of the first embodiment are denoted by the same last two digits, and redundant description is omitted.

  In the second embodiment, as shown in FIG. 3, the restricting member 250 further includes an outer ring restricting portion 250AD that restricts the movement of the outer ring 218 in the axial direction O between the fixed wall 236, the output device 238 and the outer ring 218. , 250BD. That is, the outer ring restricting portions 250AD and 250BD are external tooth restricting portions 250AC and 250BC (portions arranged adjacent to the external gear 220 in the axial direction O and restricting the movement of the external gear 220 in the axial direction O). It is set as the form which protruded to the radial inside of the external gear 220 from the axial direction edge part.

  In this embodiment, it is possible to avoid not only the external gear 220 but also the outer ring 218 moving in the axial direction O and directly colliding with the fixed wall 236 and the output device 238, so that the friction loss caused by the outer ring 218 is reduced. It is also possible to do. In the present embodiment, as in the first embodiment, the external tooth restricting portions 250AC and 250BC of the restricting member 250 are in contact with the outer periphery of the outer ring 218 and the end of the external gear 220 without any gaps. The external gear 220 and the regulating member 250 perform the same movement. For this reason, it is possible to avoid the restriction member 250 from being worn away with the external gear 220. Further, the thickness To in the axial direction O of the external tooth restricting portions 250AC and 250BC is made larger than the gap Gp between the outer ring 218, the fixed wall 236, and the output device 238. For this reason, the external tooth restricting portions 250AC and 250BC of the restricting member 250 can be stably maintained without detaching from the outer periphery of the outer ring 218. In this embodiment, the outer ring restricting portions 250AD and 250BD extend radially inward beyond the thickness of the outer ring 218. However, the outer ring restricting portion may be slightly applied to the outer ring, or the outer ring restricting portion may be The part may extend just as much as the thickness of the outer ring.

  Or it may be like 3rd Embodiment shown in FIG. The third embodiment is the same as the first embodiment except for the restricting member 350, and therefore, the description of the other two parts other than the restricting member 350 is the same with the same reference numerals being omitted. Further, with respect to the restricting member 350, the same parts as those of the restricting member 250 of the second embodiment are denoted by the same last two digits, and redundant description is omitted.

  In the third embodiment, the regulating member 350 further includes projecting portions 350AE and 350BE that project to the inside of the outer ring 318. That is, the protrusions 350AE and 350BE are provided radially inward from the outer ring restricting portions 350AD and 350BD (the length corresponding to the thickness of the outer ring 218 in the outer ring restricting portions 250AD and 250BD of the second embodiment). Yes. In the present embodiment, the protrusions 350AE and 350BE are in contact with the inner circumference of the outer ring 318 and are in contact with the cages 314A and 314B of the vibration body bearing 310 in the axial direction O. The protrusion and the inner periphery of the outer ring may not be in contact with each other, or may not be in contact with the cage. Further, the thicknesses Tr and To in the axial direction O of both the protruding portions 350AE and 350BE and the external tooth restricting portions 350AC and 350BC are larger than the gap Gp between the outer ring 318, the fixed wall 336, and the output device 338. . In the present embodiment, the outer ring 318 is sandwiched between the external tooth restricting portions 350AC and 350BC and the protruding portions 350AE and 350BE, but there may be a gap.

  For this reason, in the present embodiment, as compared with the second embodiment, the regulating member 350 can follow the deformation of the outer ring 318 and behaves the same as the external gear 320. For this reason, in addition to the effect acquired by 2nd Embodiment, it can further avoid that the regulating member 350 wears down between the external gears 320. FIG.

  Moreover, in the said embodiment, although the axial direction length L1 of the external gear was made shorter than the axial direction length L2 of an outer ring | wheel, this invention is not limited to this. For example, as in the fourth embodiment shown in FIG. 5, the axial length of the external gear 420 may be equal to the axial length of the outer ring 418. Since all but the restricting member 450 and the external gear 420 are the same as those in the above embodiment, the description of the other than the restricting member 450 and the external gear 420 is the same with the last two digits being omitted. In addition, with respect to the restriction member 450 and the external gear 420 as well, the same parts as those in the above embodiment are denoted by the same last two digits, and redundant description is omitted.

  In the fourth embodiment, the restricting member 450 includes outer ring restricting portions 450AD and 450BD and projecting portions 450AE and 450BE in addition to the external tooth restricting portions 450AC and 450BC. The outer ring restricting portions 450AD and 450BD have the same thickness as the axial thickness of the external tooth restricting portions 450AC and 450BC, and restrict the movement of the outer ring 418 in the axial direction O. The protruding portions 450AE and 450BE are provided on the radially inner side of the external gear 420 from the outer ring restricting portions 450AD and 450BD, and protrude on the inner side of the outer ring 418. In this embodiment, the protrusions 450AE and 450BE are in contact with the inner periphery of the outer ring 418 and are in contact with the cages 414A and 414B of the vibration body bearing 410 in the axial direction O. The protrusion and the inner periphery of the outer ring may not be in contact with each other, or may not be in contact with the cage. Further, the thickness Tr in the axial direction O of the protrusions 450AE and 450BE is made larger than the gap Gp between the outer ring 418, the fixed wall 436, and the output device 438.

  For this reason, in this embodiment, the effect similar to 2nd Embodiment can be acquired. That is, it is possible to avoid not only the external gear 420 but also the outer ring 418 moving in the axial direction O and directly colliding with the fixed wall 436 and the output device 438, so that the friction loss caused by the outer ring 418 can be reduced. It becomes. And it can also be avoided that the regulating member 450 is worn between the external gear 420. Furthermore, the projecting portions 450AE and 450BE of the regulating member 450 can be stably maintained without detaching from the inner periphery of the outer ring 418.

  Furthermore, in the present embodiment, the external gear 420 does not have to be shortened in the axial direction as compared with the above embodiment, so that a larger torque transmission and longer life can be achieved than in the above embodiment.

  Or it may be like 5th Embodiment shown in FIG. The fifth embodiment is the same as the fourth embodiment except for the restricting member 550, and therefore, except for the restricting member 550, the last two digits are the same, and redundant description is omitted. Further, with respect to the restricting member 550, the same parts as those of the restricting member of the above-described embodiment are the same as the last two digits of the reference numerals, and redundant description is omitted.

  In the fifth embodiment, a restricting member 550 that restricts the movement of the external gear 520 in the axial direction O is disposed between the fixed wall 536, the output device 538, and the external gear 520, as in the above embodiment. Has been. In the fifth embodiment, the end surface 520AC of the external gear 520 is larger than the friction coefficient μ0 between the end surfaces 520AC and 520BC of the external gear 520 and the fixed wall 536 and the inner surfaces 536A and 538A of the output device 538. Friction coefficient μ2 between 520BC and inner end surfaces 550AB and 550BB (external gear side end surfaces) of regulating member 550 is reduced. The regulating member 550 is a ring-shaped flat plate member.

  In this embodiment, the radial movement and the rotation of the external gear 520 caused by the meshing with the internal gear 530 are restricted between the fixed wall 536, the output device 538 and the external gear 520. It is transmitted to the member 550. That is, the inner end surfaces 550AB and 550BB of the regulating member 550 having a small friction coefficient μ2 and the end surfaces 520AC and 520BC of the external gear 520 collide with each other, and sliding is performed there. That is, in the present embodiment, as in the above-described embodiment, by the direct collision between the end surfaces 520AC and 520BC of the external gear 520 having a large friction coefficient μ0 and the fixed wall 536 and the inner surfaces 536A and 538A of the output device 538. The friction loss can be made smaller than the friction loss that occurs (for example, including the loss caused by the external teeth 524 biting into the fixed wall 536 and the output device 538). In addition, in this embodiment, since the regulating member 550 is also disposed between the outer ring 518, the fixed wall 536, and the output device 538, friction loss due to the outer ring 518 can also be reduced.

  The restricting member 550 may be fixed to the fixed wall 536 and the output device 538, respectively, or the notch (not shown) is provided in each of the fixed wall 536 and the output device 538, and the restricting member 550 is disposed there. 550 may be slidable with respect to the fixed wall 536 and the output device 538.

  In the present embodiment, the regulating member 550 is also disposed between the external gear 520 and the outer ring 518 and the fixed wall 536 and the output device 538, but only between the external gear and the fixed wall and the output device. A regulating member may be disposed. Also in the above-described embodiment, the friction coefficient μ0 between the end face of the external gear and the fixed wall and the inner face of the output device as in the fifth embodiment is less than the end face of the external gear and the inner end face of the regulating member. And the regulating member may be slidable with respect to the external gear, or the regulating member may be fixed to the external gear or the outer ring.

  Moreover, in the said embodiment, although the fixed wall, the output device, and the external gear changed to the magnitude of a friction coefficient by the metal and the regulating member being resin, the present invention is not limited to this. For example, if the fixed wall, the output device, and the external gear are ferrous metals, the restricting member may be a highly slidable metal mainly composed of copper or aluminum. Alternatively, even if the restriction member is the same material as the fixed wall, the output device, and the external gear, the surface treatment and finishing may be different from each other. The magnitude of the friction coefficient can be changed also by such a difference in configuration.

  Moreover, in the said embodiment, although the same regulating member was arrange | positioned at the end surface of the both sides of an external gear, this invention is not limited to this, A regulating member is arrange | positioned at any one end surface of an external gear. The first restricting member and the second restricting member may have different configurations (shapes and materials).

  Moreover, in the said embodiment, although the bending meshing type gear apparatus was equipped with the vibration body bearing which has an inner ring, a holder | retainer, a rolling element, and an outer ring, this invention is not limited to this, A vibration body bearing Does not necessarily have to have an inner ring, a cage, a rolling element, and an outer ring. For example, there may be no inner ring and it may be integrated with a vibration body, or there may be no outer ring and a rolling element may directly support an external gear rotatably.

  Further, the regulating member of the first embodiment, the external tooth regulating portion of the second and third embodiments, and the third and fourth than the gap Gp between the outer ring, the fixed wall, and the output device (side member). Although the thickness in the axial direction O of the projecting portion of the embodiment is all increased, the present invention is not limited to this, and any thickness may be smaller than the gap Gp, or the external tooth restricting portion and the projecting portion. The thickness of only one of the portions may be smaller than the gap Gp.

  In the above embodiment, the Young's modulus of the regulating member is smaller than the Young's modulus of the external gear, but the present invention is not limited to this, and the Young's modulus of the regulating member is equal to or greater than the Young's modulus of the external gear. It may be said.

  Moreover, in 5th Embodiment, although the control member was made into the ring-shaped flat plate member, this invention is not limited to this, It does not need to be made into a ring shape.

  Moreover, in the said embodiment, although it was set as the tooth profile based on the trochoid curve for the external tooth, this invention is not limited to this. The external teeth may be arc teeth or other teeth.

  Moreover, in the said embodiment, although the side member was made into the fixed wall and output device which were fixed to the internal gear, this invention is not limited to this, A side member is fixed to the internal gear. There is no need to be, and a member disposed on the side in the axial direction O of the external gear may be widely used as a side member.

  The present invention is widely applicable to a flexure meshing gear device having a cylindrical external gear.

100, 200, 300, 400, 500 ... flexure meshing gear device 104, 204, 304, 404, 504 ... exciter 110, 110A, 110B, 210, 210A, 210B, 310, 310A, 310B, 410, 410A 410B, 510, 510A, 510B ... vibrator bearings 112, 212, 312, 412, 512 ... inner rings 114A, 114B, 214A, 214B, 314A, 314B, 414A, 414B, 514A, 514B ... cages 118, 118A, 118B, 218, 218A, 218B, 318, 318A, 318B, 418, 418A, 418B, 518, 518A, 518B ... Outer ring 120, 120A, 120B, 220, 220A, 220B, 320, 320A, 320B, 420, 420A, 420B , 20, 520A, 520B ... external gear 120AC, 120BC, 520AC, 520BC ... end face 124, 124A, 124B, 224, 224A, 224B, 324, 324A, 324B, 424, 424A, 424B, 524, 524A, 524B ... external teeth 128, 128A, 128B, 228, 228A, 228B, 328, 328A, 328B, 428, 428A, 428B, 528, 528A, 528B ... internal teeth 130, 230, 330, 430, 530 ... internal gears 130A, 230A, 330A 430A, 530A ... Deceleration internal gears 130B, 230B, 330B, 430B, 530B ... Output internal gears 136, 236, 336, 436, 536 ... Fixed walls 136A, 138A, 536A, 538A ... Inner side surfaces 138, 238 , 38, 438, 538... Output device 150, 250, 350, 450, 550 ... Restriction member 150A, 250A, 350A, 450A, 550A ... First restriction member 150B, 250B, 350B, 450B, 550B ... Second restriction member 150AA, 150BA: Outer end face 250AC, 250BC, 350AC, 350BC, 450AC, 450BC ... External tooth restricting portion 250AD, 250BD, 350AD, 350BD, 450AD, 450BD ... Outer ring restricting portion 350AE, 350BE, 450AE, 450BE ... Protruding portion 550AB, 550BB ... Inside End face

Claims (10)

A vibratory body, a cylindrical external gear that is arranged on the outer periphery of the vibrator and has a flexibility that is bent and deformed by the rotation of the vibrator, and a rigidity with which the external gear meshes internally. In a flexibly meshing gear device, comprising: a first internal gear having a first internal gear; and a second internal gear provided in parallel with the first internal gear and having a rigidity to mesh with the external gear.
A regulating member for regulating movement of the external gear in the axial direction is arranged between a side member arranged on the lateral side of the external gear and the external gear,
A flexure meshing gear device characterized in that a friction coefficient between the regulating member and the side member is smaller than a friction coefficient between an end surface of the external gear and the side member. . In claim 1,
A bearing disposed between the external gear and the vibrator,
The bearing has a rolling element and an outer ring disposed outside the rolling element,
The axial length of the external gear is shorter than the axial length of the outer ring,
The flexure meshing gear device, wherein the regulating member is disposed adjacent to the external gear in the axial direction on an outer periphery of the outer ring. In claim 2,
The flexure meshing gear device, wherein the axial thickness of the restricting member is larger than the gap between the outer ring and the side member. In claim 2, further:
The flexure meshing gear device, wherein the regulating member includes an outer ring regulating portion that regulates movement of the outer ring in the axial direction between the side member and the outer ring. In claim 4, further:
The said restriction member is provided with the protrusion part which protrudes inside the said outer ring | wheel. The bending meshing type gear apparatus characterized by the above-mentioned. In claim 1,
A bearing disposed between the external gear and the vibrator,
The bearing has a rolling element and an outer ring disposed outside the rolling element,
The restricting member includes an outer ring restricting portion that restricts movement of the outer ring in the axial direction;
A projecting portion projecting from the outer ring restricting portion to the inside of the outer ring. In claim 5 or 6,
The flexure meshing gear device, wherein an axial thickness of the protruding portion is larger than a gap between the outer ring and the side member. In any one of Claims 1 thru | or 7,
A flexure meshing gear device, wherein the Young's modulus of the restricting member is smaller than the Young's modulus of the external gear. A vibratory body, a cylindrical external gear that is arranged on the outer periphery of the vibrator and has a flexibility that is bent and deformed by the rotation of the vibrator, and a rigidity with which the external gear meshes internally. In a flexibly meshing gear device, comprising: a first internal gear having a first internal gear; and a second internal gear provided in parallel with the first internal gear and having a rigidity to mesh with the external gear.
A regulating member for regulating movement of the external gear in the axial direction is arranged between a side member arranged on the lateral side of the external gear and the external gear,
A flexure meshing type characterized in that the friction coefficient between the end face of the external gear and the regulating member is smaller than the friction coefficient between the end face of the external gear and the side member. Gear device. In claim 9,
The restricting member is a ring-shaped flat plate member.

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