JP2019132290A - Deflection engagement type gear device - Google Patents

Deflection engagement type gear device Download PDF

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JP2019132290A
JP2019132290A JP2018012540A JP2018012540A JP2019132290A JP 2019132290 A JP2019132290 A JP 2019132290A JP 2018012540 A JP2018012540 A JP 2018012540A JP 2018012540 A JP2018012540 A JP 2018012540A JP 2019132290 A JP2019132290 A JP 2019132290A
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internal gear
gear member
internal
gear
meshing
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JP7145616B2 (en
Inventor
悠朗 石田
Hiroaki Ishida
悠朗 石田
石塚　正幸
Masayuki Ishizuka
正幸 石塚
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to JP2018012540A priority Critical patent/JP7145616B2/en
Priority to KR1020190000079A priority patent/KR102566146B1/en
Priority to CN201910007633.8A priority patent/CN110094487B/en
Priority to DE102019100586.8A priority patent/DE102019100586A1/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
    • 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
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
    • F16C19/362—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers the rollers being crossed within the single row
    • 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
    • F16C33/32—Balls
    • 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
    • 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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0427—Guidance of lubricant on rotary parts, e.g. using baffles for collecting lubricant by centrifugal force
    • 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
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • 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
    • 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
    • F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Abstract

To provide a technique for extending the life of a deflection engagement type gear device.SOLUTION: A deflection engagement type gear device comprises a vibrating body, an external gear 4 to be deflected and deformed by the vibrating body, a first internal gear 6 engaged with the external gear 4, a second internal gear 8 arranged side by side with the first internal gear 6 in an axial direction and engaged with the external gear 4, a first internal tooth member 7 to be rotated integrally with the first internal gear 6, a second internal tooth member 9 to be rotated integrally with the second internal gear 8, and a main bearing 16 arranged between the first internal tooth member 7 and the second internal tooth member 9. Different lubricants are enclosed in an arrangement space 60 in which the main bearing 16 is arranged, and an engagement space 62 in which engagement parts of the first internal gear 6 and the second internal gear 8 exist. A movement suppression part for suppressing movement of the lubricants are provided in the middle of a communication passage 70 for allowing the arrangement space 60 and the engagement space 62 to communicate with each other.SELECTED DRAWING: Figure 2

Description

本発明は、撓み噛合い式歯車装置に関する。   The present invention relates to a flexure meshing gear device.

小型かつ軽量で高減速比が得られる歯車装置として、撓み噛合い式歯車装置が知られている。従来では、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並べて配置され、外歯歯車と噛み合う第２内歯歯車と、第１内歯歯車と一体的に回転する第１内歯部材と、第２内歯歯車と一体的に回転する第２内歯部材と、第１内歯部材と第２内歯部材との間に配置される主軸受と、を備える撓み噛合い式歯車装置が提案されている（例えば特許文献１）。   As a gear device that is small and lightweight and can obtain a high reduction ratio, a flexure meshing gear device is known. Conventionally, a vibrating body, an external gear that is bent and deformed by the vibrating body, a first internal gear that meshes with the external gear, and the first internal gear that are arranged side by side in the axial direction, A meshing second internal gear, a first internal gear member that rotates integrally with the first internal gear, a second internal gear member that rotates integrally with the second internal gear, and a first internal gear member There has been proposed a flexibly meshing gear device including a main bearing disposed between the second internal gear member (for example, Patent Document 1).

特開２０１１−１１２２１４号公報JP 2011-112214 A

主軸受と歯車の噛合い部とは運動の状態（荷重、速度等）が異なるため、それぞれに適した潤滑剤も異なる。撓み噛合い式歯車装置の長寿命化のために、主軸受が配置される配置空間と噛合い部が存在する噛合い空間にそれぞれに適した潤滑剤を封入することが考えられるが、配置空間と噛合い空間とは空間的に繋がっているため、従来の撓み噛合い式歯車装置では潤滑剤が相互に自由に行き来できる。このため、潤滑剤が混じってしまい、想定した潤滑剤の効果を発揮できず、撓み噛合い式歯車装置の長寿命化を図れない。   Since the main bearing and the meshing portion of the gear are different in the state of motion (load, speed, etc.), the lubricant suitable for each is also different. In order to extend the life of the flexibly meshing gear device, it may be possible to enclose suitable lubricants in the arrangement space where the main bearing is arranged and the engagement space where the engagement portion exists. Since the meshing space and the meshing space are spatially connected, in the conventional flexure meshing gear device, the lubricant can freely move back and forth. For this reason, the lubricant is mixed, the expected effect of the lubricant cannot be exhibited, and the life of the flexibly meshing gear device cannot be extended.

本発明はこうした状況に鑑みてなされたものであり、その目的は、撓み噛合い式歯車装置の長寿命化を図る技術を提供することにある。   This invention is made | formed in view of such a condition, The objective is to provide the technique which aims at the lifetime improvement of a bending meshing type gear apparatus.

上記課題を解決するために、本発明のある態様の撓み噛合い式歯車装置は、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛み合う第１内歯歯車と、第１内歯歯車と軸方向に並んで配置され、外歯歯車と噛み合う第２内歯歯車と、第１内歯歯車と一体的に回転する第１内歯部材と、第２内歯歯車と一体的に回転する第２内歯部材と、第１内歯部材と第２内歯部材との間に配置される主軸受と、を備える撓み噛合い式歯車装置であって、主軸受が配置される配置空間と、第１内歯歯車および第２内歯歯車の噛合い部が存在する噛合い空間と、に異なる潤滑剤が封入されており、配置空間と噛合い空間とを連通する連通路の途中に、潤滑剤の移動を抑制する移動抑制部が設けられる。   In order to solve the above-described problems, a flexure meshing gear device according to an aspect of the present invention includes a vibrating body, an external gear that is bent and deformed by the vibrating body, and a first internal gear that meshes with the external gear. A second internal gear that is arranged in line with the first internal gear and meshes with the external gear, a first internal gear member that rotates integrally with the first internal gear, and a second internal gear A flexure-mesh gear device comprising: a second internal gear member that rotates integrally with a gear; and a main bearing disposed between the first internal gear member and the second internal gear member, wherein the main bearing Different lubricants are sealed in the arrangement space in which the engagement space of the first internal gear and the second internal gear is present, and the arrangement space and the engagement space communicate with each other. In the middle of the communicating path, a movement suppressing unit that suppresses the movement of the lubricant is provided.

なお、以上の構成要素の任意の組み合わせや、本発明の構成要素や表現を方法、装置、システムなどの間で相互に置換したものもまた、本発明の態様として有効である。   Note that any combination of the above-described constituent elements, and those obtained by replacing the constituent elements and expressions of the present invention with each other among methods, apparatuses, systems, etc. are also effective as an aspect of the present invention.

本発明によれば、撓み噛合い式歯車装置の長寿命化を図ることができる。   According to the present invention, it is possible to extend the life of the flexibly meshing gear device.

実施の形態に係る撓み噛合い式歯車装置を示す断面図である。It is sectional drawing which shows the bending meshing type gear apparatus which concerns on embodiment. 図１の噛合い部および主軸受１６とそれらの周辺を拡大して示す拡大断面図である。It is an expanded sectional view which expands and shows the meshing part and main bearing 16 of FIG. 1, and those periphery. 変形例に係る連通路とその周辺を示す拡大断面図である。It is an expanded sectional view which shows the communicating path which concerns on a modification, and its periphery. 変形例に係る連通路とその周辺を示す拡大断面図である。It is an expanded sectional view which shows the communicating path which concerns on a modification, and its periphery. 変形例に係る連通路とその周辺を示す拡大断面図である。It is an expanded sectional view which shows the communicating path which concerns on a modification, and its periphery.

以下、各図面に示される同一または同等の構成要素、部材、工程には、同一の符号を付するものとし、適宜重複した説明は省略する。また、各図面における部材の寸法は、理解を容易にするために適宜拡大、縮小して示される。また、各図面において実施の形態を説明する上で重要ではない部材の一部は省略して表示する。   Hereinafter, the same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are appropriately omitted. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

図１は、実施の形態に係る撓み噛合い式歯車装置１００を示す断面図である。撓み噛合い式歯車装置１００は、入力された回転を減速して出力する。撓み噛合い式歯車装置１００は、いわゆるフラット型の撓み噛合い式歯車装置であり、波動発生器２と、波動発生器２により撓み変形される外歯歯車４と、外歯歯車４と噛み合う第１内歯歯車６と、第１内歯歯車６と一体的に回転する第１内歯部材７と、第１内歯歯車６と軸方向に並べて（隣接して）配置され、外歯歯車４と噛み合う第２内歯歯車８と、第２内歯歯車８と一体的に回転する第２内歯部材９と、第１規制部材１２と、第２規制部材１４と、第１内歯部材７と第２内歯部材９との間に配置される主軸受１６と、第１軸受ハウジング１８と、第２軸受ハウジング２０と、を備える。噛合い式歯車装置１００には、潤滑剤（例えばグリース）が封入されており、外歯歯車４と第１内歯歯車６および第２内歯歯車８との噛合い部（以下、単に「噛合い部」と呼ぶ）や各軸受等を潤滑する。   FIG. 1 is a cross-sectional view showing a flexure meshing gear device 100 according to an embodiment. The flexure meshing gear device 100 decelerates and outputs the input rotation. The flexure meshing gear device 100 is a so-called flat-type flexure meshing gear device. The flexure meshing gear device 100 meshes with the wave generator 2, the external gear 4 that is flexibly deformed by the wave generator 2, and the external gear 4. The first internal gear 6, the first internal gear member 7 that rotates integrally with the first internal gear 6, and the first internal gear 6 are arranged side by side (adjacent) in the axial direction. A second internal gear 8 that meshes with the second internal gear 8, a second internal gear member 9 that rotates integrally with the second internal gear 8, a first regulating member 12, a second regulating member 14, and a first internal gear member 7. And the second internal gear member 9, a first bearing housing 18, and a second bearing housing 20. The meshing gear device 100 is filled with a lubricant (for example, grease), and meshes between the external gear 4 and the first internal gear 6 and the second internal gear 8 (hereinafter simply referred to as “meshing”). Lubricate the bearings).

波動発生器２は、起振体軸２２と、起振体軸２２と外歯歯車４（の第１外歯部４ａ）との間に配置される第１起振体軸受２１ａと、起振体軸２２と外歯歯車４（の第２外歯部４ｂ）との間に配置される第２起振体軸受２１ｂと、を有する。第１起振体軸受２１ａは、複数の第１転動体２４ａと、複数の第１転動体２４ａを保持する第１保持器２６ａと、外歯歯車４に内嵌される第１外輪部材２８ａと、を含む。第２起振体軸受２１ｂは、複数の第２転動体２４ｂと、複数の第２転動体２４ｂを保持する第２保持器２６ｂと、外歯歯車４に内嵌される第２外輪部材２８ｂとを含む。起振体軸２２は、入力軸であり、例えばモータ等の回転駆動源に接続され、回転軸Ｒを中心に回転する。起振体軸２２には、回転軸Ｒに直交する断面が略楕円形状である起振体２２ａが一体に形成されている。   The wave generator 2 includes a vibration body shaft 22, a first vibration body bearing 21a disposed between the vibration body shaft 22 and the external gear 4 (the first external tooth portion 4a thereof), and a vibration body. A second vibration body bearing 21b disposed between the body shaft 22 and the external gear 4 (the second external tooth portion 4b). The first vibration body bearing 21a includes a plurality of first rolling elements 24a, a first cage 26a that holds the plurality of first rolling elements 24a, and a first outer ring member 28a that is internally fitted to the external gear 4. ,including. The second vibration body bearing 21b includes a plurality of second rolling elements 24b, a second cage 26b that holds the plurality of second rolling elements 24b, and a second outer ring member 28b that is fitted into the external gear 4. including. The vibrator shaft 22 is an input shaft, and is connected to a rotational drive source such as a motor, and rotates around the rotational axis R. The vibration body shaft 22 is integrally formed with a vibration body 22a having a substantially elliptical cross section orthogonal to the rotation axis R.

複数の第１転動体２４ａはそれぞれ、略円柱形状を有し、軸方向が回転軸Ｒ方向と略平行な方向を向いた状態で周方向に間隔を空けて設けられる。第１転動体２４ａは、第１保持器２６ａにより転動自在に保持され、起振体２２ａの外周面２２ｂを転走する。つまり、第１起振体軸受２１ａの内輪は、起振体２２ａの外周面２２ｂと一体的に構成されているが、これに限られず、起振体２２ａとは別体の専用の内輪を備えてもよい。第２転動体２４ｂは、第１転動体２４ａと同様に構成される。複数の第２転動体２４ｂは、第１保持器２６ａと軸方向に並ぶように配置された第２保持器２６ｂにより転動自在に保持され、起振体２２ａの外周面２２ｂを転走する。つまり、第２起振体軸受２１ｂの内輪は、起振体２２ａの外周面２２ｂと一体的に構成されているが、これに限られず、起振体２２ａとは別体の専用の内輪を備えてもよい。以降では、第１転動体２４ａと第２転動体２４ｂとをまとめて「転動体２４」とも呼ぶ。また、第１保持器２６ａと第２保持器２６ｂとをまとめて「保持器２６」とも呼ぶ   Each of the plurality of first rolling elements 24a has a substantially cylindrical shape, and is provided at intervals in the circumferential direction with the axial direction facing a direction substantially parallel to the rotation axis R direction. The 1st rolling element 24a is hold | maintained so that rolling is possible by the 1st holder | retainer 26a, and rolls on the outer peripheral surface 22b of the vibrating body 22a. That is, the inner ring of the first vibration body bearing 21a is configured integrally with the outer peripheral surface 22b of the vibration body 22a, but is not limited thereto, and includes a dedicated inner ring that is separate from the vibration body 22a. May be. The 2nd rolling element 24b is comprised similarly to the 1st rolling element 24a. The plurality of second rolling elements 24b are rotatably held by a second holder 26b arranged so as to be aligned with the first holder 26a in the axial direction, and roll on the outer peripheral surface 22b of the vibrating body 22a. That is, the inner ring of the second vibration body bearing 21b is configured integrally with the outer peripheral surface 22b of the vibration body 22a, but is not limited thereto, and includes a dedicated inner ring that is separate from the vibration body 22a. May be. Hereinafter, the first rolling element 24a and the second rolling element 24b are collectively referred to as “rolling element 24”. In addition, the first cage 26a and the second cage 26b are collectively referred to as “the cage 26”.

第１外輪部材２８ａは、複数の第１転動体２４ａを環囲する。第１外輪部材２８ａは、可撓性を有し、複数の第１転動体２４ａを介して起振体２２ａにより楕円状に撓められる。第１外輪部材２８ａは、起振体２２ａ（すなわち起振体軸２２）が回転すると、起振体２２ａの形状に合わせて連続的に撓み変形する。第２外輪部材２８ｂは、第１外輪部材２８ａと同様に構成される。第２外輪部材２８ｂは、第１外輪部材２８ａとは別体として形成される。なお、第２外輪部材２８ｂは、第１外輪部材２８ａと一体に形成されてもよい。以降では、第１外輪部材２８ａと第２外輪部材２８ｂとをまとめて「外輪部材２８」とも呼ぶ。   The first outer ring member 28a surrounds the plurality of first rolling elements 24a. The first outer ring member 28a has flexibility and is bent in an elliptical shape by the vibrating body 22a via the plurality of first rolling elements 24a. When the vibrating body 22a (that is, the vibrating body shaft 22) rotates, the first outer ring member 28a is continuously bent and deformed in accordance with the shape of the vibrating body 22a. The second outer ring member 28b is configured similarly to the first outer ring member 28a. The second outer ring member 28b is formed as a separate body from the first outer ring member 28a. The second outer ring member 28b may be formed integrally with the first outer ring member 28a. Hereinafter, the first outer ring member 28a and the second outer ring member 28b are collectively referred to as “outer ring member 28”.

外歯歯車４は、可撓性を有する環状の部材であり、その内側には起振体２２ａ、転動体２４および外輪部材２８が嵌まる。外歯歯車４は、起振体２２ａ、転動体２４および外輪部材２８が嵌まることによって楕円状に撓められる。外歯歯車４は、起振体２２ａが回転すると、起振体２２ａの形状に合わせて連続的に撓み変形する。外歯歯車４は、第１外輪部材２８ａの外側に位置する第１外歯部４ａと、第２外輪部材２８ｂの外側に位置する第２外歯部４ｂと、基材４ｃと、を含む。第１外歯部４ａと第２外歯部４ｂとは単一の基材である基材４ｃに形成されており、同歯数である。   The external gear 4 is an annular member having flexibility, and the vibration generator 22a, the rolling element 24, and the outer ring member 28 are fitted inside thereof. The external gear 4 is bent into an elliptical shape by fitting the vibrating body 22a, the rolling element 24, and the outer ring member 28. When the vibration generating body 22a rotates, the external gear 4 is continuously bent and deformed in accordance with the shape of the vibration generating body 22a. The external gear 4 includes a first external tooth portion 4a located outside the first outer ring member 28a, a second external tooth portion 4b located outside the second outer ring member 28b, and a base material 4c. The 1st external tooth part 4a and the 2nd external tooth part 4b are formed in base material 4c which is a single base material, and are the same number of teeth.

第１内歯歯車６は、剛性を有する環状の部材であり、その内周に第１内歯部６ａが形成されている。第１内歯部６ａは、楕円状に撓められた外歯歯車４の第１外歯部４ａを環囲し、起振体２２ａの長軸近傍の所定領域（２領域）で第１外歯部４ａと噛み合う。第１内歯部６ａは、第１外歯部４ａよりも多くの歯を有する。   The first internal gear 6 is an annular member having rigidity, and a first internal tooth portion 6a is formed on the inner periphery thereof. The first internal tooth portion 6a surrounds the first external tooth portion 4a of the external gear 4 bent in an elliptical shape, and is formed in a predetermined region (two regions) in the vicinity of the major axis of the vibrator 22a. It meshes with the tooth part 4a. The first internal tooth portion 6a has more teeth than the first external tooth portion 4a.

第２内歯歯車８は、第１内歯歯車６と軸方向に並べて（隣接して）配置される。第２内歯歯車８は、剛性を有する円筒状の部材であり、その内周に第２内歯部８ａが形成されている。第２内歯部８ａは、楕円状に撓められた外歯歯車４の第２外歯部４ｂを環囲し、起振体２２ａの長軸方向の所定領域（２領域）で第２外歯部４ｂと噛み合う。第２内歯部８ａは、第２外歯部４ｂと同数の歯を有する。したがって、第２内歯歯車８は、第２外歯部４ｂひいては外歯歯車４の自転と同期して回転する。   The second internal gear 8 is arranged side by side (adjacent) to the first internal gear 6 in the axial direction. The second internal gear 8 is a cylindrical member having rigidity, and a second internal tooth portion 8a is formed on the inner periphery thereof. The second internal tooth portion 8a surrounds the second external tooth portion 4b of the external gear 4 bent in an elliptical shape, and the second outer tooth portion 8a is formed in a predetermined region (two regions) in the major axis direction of the vibration generator 22a. It meshes with the tooth part 4b. The second internal tooth portion 8a has the same number of teeth as the second external tooth portion 4b. Accordingly, the second internal gear 8 rotates in synchronization with the rotation of the second external gear portion 4b and the external gear 4.

第１規制部材１２は、平たいリング状の部材であり、外歯歯車４、第１外輪部材２８ａおよび第１保持器２６ａと第１軸受ハウジング１８との間に配置される。第２規制部材１４は、平たいリング状の部材であり、外歯歯車４、第２外輪部材２８ｂおよび第２保持器２６ｂと第２軸受ハウジング２０との間に配置される。第１規制部材１２および第２規制部材１４は、外歯歯車４、外輪部材２８および保持器２６の軸方向の移動を規制する。   The first restricting member 12 is a flat ring-shaped member, and is disposed between the external gear 4, the first outer ring member 28 a, the first cage 26 a, and the first bearing housing 18. The second restricting member 14 is a flat ring-shaped member, and is disposed between the external gear 4, the second outer ring member 28 b and the second cage 26 b and the second bearing housing 20. The first restricting member 12 and the second restricting member 14 restrict the movement of the external gear 4, the outer ring member 28, and the cage 26 in the axial direction.

第１内歯部材７は、本体部５２と、延長部５４と、を含む。本体部５２は、環状の部材であり、その内周側に第１内歯歯車６が設けられている。本実施の形態では、第１内歯歯車６と本体部５２とは、単一の部材により一体的に形成される。したがって、本体部５２ひいては第１内歯部材７は、第１内歯歯車６と一体的に回転する。なお、第１内歯歯車６と本体部５２とは、別体として形成された上で、結合されてもよい。   The first internal tooth member 7 includes a main body portion 52 and an extension portion 54. The main body 52 is an annular member, and the first internal gear 6 is provided on the inner peripheral side thereof. In the present embodiment, the first internal gear 6 and the main body 52 are integrally formed of a single member. Therefore, the main body 52 and the first internal gear member 7 rotate integrally with the first internal gear 6. In addition, after forming the 1st internal gear 6 and the main-body part 52 as a different body, you may couple | bond together.

延長部５４は、略円筒状の部材である。延長部５４には、本体部５２がインロー嵌合されボルト（不図示）により一体化される。延長部５４は、本体部５２から第２内歯歯車８の径方向外側まで延び、第２内歯歯車８および第２内歯部材９を環囲する。なお、本体部５２と延長部５４は、単一の部材により一体的に形成されてもよい。   The extension 54 is a substantially cylindrical member. The main body 52 is fitted in the extension 54 with a bolt (not shown). The extension portion 54 extends from the main body portion 52 to the radially outer side of the second internal gear 8 and surrounds the second internal gear 8 and the second internal gear member 9. The main body portion 52 and the extension portion 54 may be integrally formed with a single member.

第２内歯部材９は、第１内歯部材７の本体部５２と軸方向に隣接して配置される。第２内歯部材９は、筒状の部材であり、その内周側に第２内歯歯車８が設けられている。本実施の形態では、第２内歯歯車８と第２内歯部材９とは、単一の部材により一体的に形成される。したがって、第２内歯部材９は、第２内歯歯車８と一体的に回転する。なお、第２内歯歯車８と第２内歯部材９とは、別体として形成された上で、結合されてもよい。   The second internal gear member 9 is disposed adjacent to the main body 52 of the first internal gear member 7 in the axial direction. The second internal gear member 9 is a cylindrical member, and the second internal gear 8 is provided on the inner peripheral side thereof. In the present embodiment, the second internal gear 8 and the second internal gear member 9 are integrally formed by a single member. Therefore, the second internal gear member 9 rotates integrally with the second internal gear 8. Note that the second internal gear 8 and the second internal gear member 9 may be formed as separate bodies and then combined.

主軸受１６は、その軸方向が回転軸Ｒと一致するように、延長部５４と第２内歯部材９との間に配置される。主軸受１６は、本実施の形態ではクロスローラ軸受であり、第２内歯部材９の外周に第２内歯部材９と一体的に形成された内輪側転走面５６と、延長部５４の内周に延長部５４と一体的に形成された外輪側転走面５８と、内輪側転走面５６と外輪側転走面５８との間に周方向に間隔を空けて設けられる複数のローラ（転動体）４６と、を含む。複数のローラ４６は、内輪側転走面５６および外輪側転走面５８を転走する。延長部５４ひいては第１内歯部材７は、主軸受１６を介して、第２内歯部材９を相対回転自在に支持する。なお、主軸受１６の軸受の種類は特に限定されるものではなく、例えば４点接触ボール軸受であってもよい。   The main bearing 16 is disposed between the extension portion 54 and the second internal gear member 9 so that the axial direction thereof coincides with the rotation axis R. The main bearing 16 is a cross roller bearing in the present embodiment, and the inner ring side rolling surface 56 formed integrally with the second inner tooth member 9 on the outer periphery of the second inner tooth member 9, and the extension portion 54. An outer ring-side rolling surface 58 formed integrally with the extension portion 54 on the inner periphery, and a plurality of rollers provided at intervals in the circumferential direction between the inner ring-side rolling surface 56 and the outer ring-side rolling surface 58 (Rolling element) 46. The plurality of rollers 46 roll on the inner ring side rolling surface 56 and the outer ring side rolling surface 58. The extension portion 54 and the first internal gear member 7 support the second internal gear member 9 via the main bearing 16 so as to be relatively rotatable. In addition, the kind of bearing of the main bearing 16 is not specifically limited, For example, a 4-point contact ball bearing may be sufficient.

第１軸受ハウジング１８は、環状の部材であり、起振体軸２２を環囲する。同様に、第２軸受ハウジング２０は、環状の部材であり、起振体軸２２を環囲する。第１軸受ハウジング１８と第２軸受ハウジング２０とは、外歯歯車４、転動体２４、保持器２６、外輪部材２８、第１規制部材１２および第２規制部材１４を軸方向に挟むよう配置される。第１軸受ハウジング１８は、第１内歯部材７の本体部５２に対してインロー嵌合されボルト固定される。第２軸受ハウジング２０は、第２内歯部材９に対してインロー嵌合されボルト固定される。第１軸受ハウジング１８の内周には軸受３０が組み込まれている。第２軸受ハウジング２０の内周には軸受３２が組み込まれている。第１軸受ハウジング１８および第２軸受ハウジング２０は、軸受３０および軸受３２を介して、起振体軸２２を回転自在に支持する。   The first bearing housing 18 is an annular member and surrounds the vibration body shaft 22. Similarly, the second bearing housing 20 is an annular member and surrounds the vibration body shaft 22. The first bearing housing 18 and the second bearing housing 20 are arranged so as to sandwich the external gear 4, the rolling element 24, the cage 26, the outer ring member 28, the first regulating member 12 and the second regulating member 14 in the axial direction. The The first bearing housing 18 is inlay-fitted and bolted to the main body 52 of the first internal gear member 7. The second bearing housing 20 is inlay-fitted to the second internal gear member 9 and fixed with bolts. A bearing 30 is incorporated in the inner periphery of the first bearing housing 18. A bearing 32 is incorporated in the inner periphery of the second bearing housing 20. The first bearing housing 18 and the second bearing housing 20 rotatably support the vibration body shaft 22 via the bearing 30 and the bearing 32.

起振体軸２２と第１軸受ハウジング１８の間にはオイルシール４０が配置され、第１軸受ハウジング１８と第１内歯部材７の本体部５２との間にはＯリング３４が配置され、第１内歯部材７の本体部５２と延長部５４との間にはＯリング３６が配置され、第１内歯部材７の延長部５４と第２内歯部材９との間にはオイルシール４２が配置され、第２内歯部材９と第２軸受ハウジング２０との間にはＯリング３８が配置され、第２軸受ハウジング２０と起振体軸２２との間にはオイルシール４４が配置される。これにより、撓み噛合い式歯車装置１００内の潤滑剤が漏れるのを抑止できる。   An oil seal 40 is disposed between the vibrator shaft 22 and the first bearing housing 18, and an O-ring 34 is disposed between the first bearing housing 18 and the main body 52 of the first internal gear member 7, An O-ring 36 is disposed between the main body portion 52 and the extension portion 54 of the first internal tooth member 7, and an oil seal is provided between the extension portion 54 of the first internal tooth member 7 and the second internal tooth member 9. 42 is disposed, an O-ring 38 is disposed between the second internal gear member 9 and the second bearing housing 20, and an oil seal 44 is disposed between the second bearing housing 20 and the vibration body shaft 22. Is done. Thereby, it can suppress that the lubricant in the bending meshing gear device 100 leaks.

図２は、主軸受１６と、噛合い部と、それらの周辺を拡大して示す拡大断面図である。
本実施の形態では、主軸受１６が配置される配置空間６０と、噛合い部が存在する噛合い空間６２には、それぞれに適した潤滑剤、すなわち互いに異なる潤滑剤が封入されている。 FIG. 2 is an enlarged cross-sectional view showing the main bearing 16, the meshing portion, and the periphery thereof in an enlarged manner.
In the present embodiment, the arrangement space 60 in which the main bearing 16 is disposed and the meshing space 62 in which the meshing portion is present are filled with lubricants suitable for each, that is, different lubricants.

配置空間６０と噛合い空間６２とは、連通路７０により連通されている。連通路７０は、第１内歯部材７と第２内歯部材９との隙間により構成され、第１内歯部材７と第２内歯部材９との径方向隙間（特に軸方向で主軸受１６よりも第１内歯部材７側の隙間）７２と、第１内歯部材７と第２内歯部材９との軸方向隙間７４と、を含む。   The arrangement space 60 and the meshing space 62 are communicated with each other through a communication path 70. The communication path 70 is configured by a gap between the first internal gear member 7 and the second internal gear member 9, and a radial clearance between the first internal gear member 7 and the second internal gear member 9 (particularly the main bearing in the axial direction). 16) and a gap 74 in the axial direction between the first internal gear member 7 and the second internal gear member 9.

上述したように、延長部５４には本体部５２がインロー嵌合される。具体的には、本体部５２が、軸方向で第２内歯部材９側に突出する環状の突出部であるインロー部５２ａを有し、このインロー部５２ａが、延長部５４の内周にインロー嵌合する。インロー部５２ａは特に、第２内歯部材９の径方向外側まで延びている。   As described above, the main body portion 52 is fitted into the extension portion 54 in an inlay. Specifically, the main body portion 52 has an inlay portion 52 a that is an annular protrusion portion that protrudes toward the second internal tooth member 9 in the axial direction, and the inlay portion 52 a is formed on the inner periphery of the extension portion 54. Mating. In particular, the inlay portion 52 a extends to the radially outer side of the second internal gear member 9.

径方向隙間７２は、第１径方向隙間部分７２ａと、第２径方向隙間部分７２ｂと、を含む。第１径方向隙間部分７２ａは、延長部５４と第２内歯部材９との径方向隙間、すなわち軸方向において主軸受１６側に位置する径方向隙間部分である。第２径方向隙間部分７２ｂは、インロー部５２ａと第２内歯部材９との径方向隙間、すなわち軸方向において第１内歯歯車６側に位置する径方向隙間部分である。   The radial gap 72 includes a first radial gap portion 72a and a second radial gap portion 72b. The first radial gap portion 72a is a radial gap between the extension portion 54 and the second internal gear member 9, that is, a radial gap portion located on the main bearing 16 side in the axial direction. The second radial gap portion 72b is a radial gap between the spigot portion 52a and the second internal gear member 9, that is, a radial gap portion located on the first internal gear 6 side in the axial direction.

インロー部５２ａの内周面５２ｂと第２内歯部材９の外周面９ａとの距離（径方向寸法）は、延長部５４の内周面５４ａと第２内歯部材９の外周面９ａとの距離（径方向寸法）よりも短い。また、インロー部５２ａの内周面５２ｂと第２内歯部材９の外周面９ａとの距離は、軸方向において対向する本体部５２の端面５２ｃと第２内歯部材９の端面９ｂとの距離よりも短い。つまり、インロー部５２ａの内周面５２ｂは、第１内歯部材７の他の部分の表面よりも第２内歯部材９の表面と近接している。したがって、第２径方向隙間部分７２ｂは、第１径方向隙間部分７２ａや軸方向隙間７４よりも小さくなっている。このため、潤滑剤が第２径方向隙間部分７２ｂを通過するのは困難であり、配置空間６０と噛合い空間６２との間での潤滑剤の行き来は抑制される。つまり、第２径方向隙間部分７２ｂは、潤滑剤の移動を抑制する移動抑制部として機能する。なお、第２径方向隙間部分７２ｂの外周を定めるインロー部５２ａの内周面５２ｂであって、第１内歯部材７の他の部分の表面よりも第２内歯部材９の表面に近接するインロー部５２ａの内周面５２ｂを移動抑制部と捉えてもよい。   The distance (radial dimension) between the inner peripheral surface 52b of the spigot part 52a and the outer peripheral surface 9a of the second internal tooth member 9 is the distance between the inner peripheral surface 54a of the extension part 54 and the outer peripheral surface 9a of the second internal tooth member 9. It is shorter than the distance (radial dimension). The distance between the inner peripheral surface 52b of the spigot part 52a and the outer peripheral surface 9a of the second internal tooth member 9 is the distance between the end surface 52c of the main body part 52 and the end surface 9b of the second internal tooth member 9 facing each other in the axial direction. Shorter than. That is, the inner peripheral surface 52 b of the spigot part 52 a is closer to the surface of the second internal tooth member 9 than the surface of the other part of the first internal tooth member 7. Therefore, the second radial gap portion 72 b is smaller than the first radial gap portion 72 a and the axial gap 74. For this reason, it is difficult for the lubricant to pass through the second radial gap portion 72b, and the passage of the lubricant between the arrangement space 60 and the meshing space 62 is suppressed. That is, the second radial gap portion 72b functions as a movement suppressing unit that suppresses the movement of the lubricant. In addition, it is the inner peripheral surface 52b of the spigot part 52a which defines the outer periphery of the second radial direction gap portion 72b, and is closer to the surface of the second internal tooth member 9 than the surface of the other part of the first internal tooth member 7. The inner peripheral surface 52b of the spigot part 52a may be regarded as a movement suppressing part.

以上のように構成された撓み噛合い式歯車装置１００の動作を説明する。ここでは、第１外歯部４ａの歯数が１００、第２外歯部４ｂの歯数が１００、第１内歯部６ａの歯数が１０２、第２内歯部８ａの歯数が１００の場合を例に説明する。また、第２内歯歯車８および第２軸受ハウジング２０が被駆動部材に連結される場合を例に説明する。   The operation of the flexure meshing gear device 100 configured as described above will be described. Here, the number of teeth of the first external tooth portion 4a is 100, the number of teeth of the second external tooth portion 4b is 100, the number of teeth of the first internal tooth portion 6a is 102, and the number of teeth of the second internal tooth portion 8a is 100. An example will be described. The case where the second internal gear 8 and the second bearing housing 20 are connected to the driven member will be described as an example.

第１外歯部４ａが楕円形状の長軸方向の２箇所で第１内歯部６ａと噛み合っている状態で、起振体軸２２が回転すると、これに伴って第１外歯部４ａと第１内歯部６ａとの噛合い位置も周方向に移動する。第１外歯部４ａと第１内歯部６ａとは歯数が異なるため、この際、第１内歯部６ａに対して第１外歯部４ａが相対的に回転する。第１内歯歯車６および第１軸受ハウジング１８が固定状態にあるため、第１外歯部４ａは、歯数差に相当する分だけ自転することになる。つまり、起振体軸２２の回転が大幅に減速されて第１外歯部４ａに出力される。その減速比は以下のようになる。
減速比＝（第１外歯部４ａの歯数−第１内歯部６ａの歯数）／第１外歯部４ａの歯数
＝（１００−１０２）／１００
＝−１／５０ When the vibrator shaft 22 rotates in a state where the first external tooth portion 4a is engaged with the first internal tooth portion 6a at two positions in the major axis direction of the elliptical shape, the first external tooth portion 4a and The meshing position with the first internal tooth portion 6a also moves in the circumferential direction. Since the first external tooth portion 4a and the first internal tooth portion 6a have different numbers of teeth, the first external tooth portion 4a rotates relative to the first internal tooth portion 6a. Since the first internal gear 6 and the first bearing housing 18 are in a fixed state, the first external tooth portion 4a rotates by an amount corresponding to the difference in the number of teeth. That is, the rotation of the vibration body shaft 22 is greatly decelerated and output to the first external tooth portion 4a. The reduction ratio is as follows.
Reduction ratio = (number of teeth of first external tooth portion 4a−number of teeth of first internal tooth portion 6a) / number of teeth of first external tooth portion 4a = (100−102) / 100
= -1 / 50

第２外歯部４ｂは、第１外歯部４ａと一体的に形成されているため、第１外歯部４ａと一体に回転する。第２外歯部４ｂと第２内歯部８ａは歯数が同一であるため、相対回転は発生せず、第２外歯部４ｂと第２内歯部８ａとは一体に回転する。このため、第１外歯部４ａの自転と同一の回転が第２内歯部８ａに出力される。結果として、第２内歯歯車８からは起振体軸２２の回転を−１／５０に減速した出力を取り出すことができる。   Since the second external tooth portion 4b is formed integrally with the first external tooth portion 4a, it rotates integrally with the first external tooth portion 4a. Since the second external tooth portion 4b and the second internal tooth portion 8a have the same number of teeth, relative rotation does not occur, and the second external tooth portion 4b and the second internal tooth portion 8a rotate integrally. For this reason, the same rotation as the rotation of the first external tooth portion 4a is output to the second internal tooth portion 8a. As a result, an output obtained by reducing the rotation of the vibration body shaft 22 to −1/50 can be extracted from the second internal gear 8.

以上説明した実施の形態に係る撓み噛合い式歯車装置１００によると、連通路７０の途中に設けられた移動抑制部により、配置空間６０と噛合い空間６２との間での潤滑剤の行き来が抑制される。つまり、配置空間６０と噛合い空間６２に封入された互いに異なる潤滑剤が混じるのが抑制される。これにより、主軸受１６と噛合い部は、それぞれに適した潤滑剤により適切な潤滑が施される。その結果、撓み噛合い式歯車装置１００の長寿命化を図れる。   According to the flexure meshing gear device 100 according to the embodiment described above, the movement of the lubricant between the arrangement space 60 and the meshing space 62 is caused by the movement suppressing portion provided in the middle of the communication path 70. It is suppressed. That is, mixing of different lubricants enclosed in the arrangement space 60 and the meshing space 62 is suppressed. As a result, the main bearing 16 and the meshing portion are appropriately lubricated by a lubricant suitable for each. As a result, the life of the flexibly meshing gear device 100 can be extended.

以上、実施の形態に係る撓み噛合い式歯車装置について説明した。これらの実施の形態は例示であり、それらの各構成要素や各処理プロセスの組合せにいろいろな変形例が可能なこと、またそうした変形例も本発明の範囲にあることは当業者に理解されるところである。以下、こうした変形例について説明する。   Heretofore, the flexibly meshing gear device according to the embodiment has been described. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way. Hereinafter, such modifications will be described.

撓み噛合い式歯車装置１００は、実施の形態の移動抑制部に加えて、または実施の形態の移動抑制部に代えて、別の移動抑制部を有していてもよい。例えば、第１内歯部材７が第２内歯部材９に向かって突出する少なくとも１つの突出部を有し、この少なくとも１つの突出部と第２内歯部材９との隙間を、第１内歯部材７と第２内歯部材９との他の部分の隙間よりも小さくしてもよい。この場合、第１内歯部材７の少なくとも１つの突出部と第２内歯部材９との隙間が移動抑制部として機能する。なお、第２内歯部材９と対向する突出部の面であって、第１内歯部材７の他の部分よりも第２内歯部材９に近接する突出部の面を移動抑制部と捉えてもよい。   The flexure meshing gear device 100 may have another movement suppression unit in addition to the movement suppression unit of the embodiment or instead of the movement suppression unit of the embodiment. For example, the first internal tooth member 7 has at least one protrusion that protrudes toward the second internal tooth member 9, and a gap between the at least one protrusion and the second internal tooth member 9 is defined as the first internal tooth member 9. You may make it smaller than the clearance gap of the other part of the tooth member 7 and the 2nd internal tooth member 9. FIG. In this case, a gap between at least one protrusion of the first internal gear member 7 and the second internal gear member 9 functions as a movement suppression unit. Note that the surface of the protruding portion that faces the second internal tooth member 9 and that is closer to the second internal tooth member 9 than the other portion of the first internal tooth member 7 is regarded as a movement suppressing portion. May be.

また例えば、第２内歯部材９が第１内歯部材７に向かって突出する少なくとも１つの突出部を有し、この少なくとも１つの突出部と第１内歯部材７との隙間を、第２内歯部材９と第１内歯部材７との他の部分の隙間よりも小さくしてもよい。この場合、第２内歯部材９の少なくとも１つの突出部と第１内歯部材７との隙間が移動抑制部として機能する。なお、第１内歯部材７と対向する突出部の面であって、第２内歯部材９の他の部分よりも第１内歯部材７に近接する突出部の面を移動抑制部と捉えてもよい。もちろん、第１内歯部材７および第２内歯部材９の両方が、少なくとも１つの突出部を有してもよい。なお突出部は、周方向に間欠的に設けられてもよく、周方向に連続的にすなわちリング状に設けられてもよい。以下、具体的な例を説明する。   Further, for example, the second internal tooth member 9 has at least one protrusion that protrudes toward the first internal tooth member 7, and a gap between the at least one protrusion and the first internal tooth member 7 is defined as the second internal tooth member 7. You may make it smaller than the clearance gap of the other part of the internal gear member 9 and the 1st internal gear member 7. FIG. In this case, a gap between at least one projecting portion of the second internal gear member 9 and the first internal gear member 7 functions as a movement suppressing portion. In addition, it is the surface of the protrusion part which opposes the 1st internal tooth member 7, Comprising: The surface of the protrusion part which adjoins the 1st internal tooth member 7 rather than the other part of the 2nd internal tooth member 9 is regarded as a movement suppression part. May be. Of course, both the first internal gear member 7 and the second internal gear member 9 may have at least one protrusion. The protrusions may be provided intermittently in the circumferential direction, or may be provided continuously in the circumferential direction, that is, in a ring shape. A specific example will be described below.

図３〜５はそれぞれ、変形例に係る連通路７０とその周辺を示す拡大断面図である。
図３の変形例では、第１内歯部材７の本体部５２が突出部５２ｄを有している。突出部５２ｄは、本体部５２の端面５２ｃから第２内歯部材９の端面９ｂに向かって軸方向に突出している。突出部５２ｄの先端面５２ｅは、第１内歯部材７の他の部分の表面よりも第２内歯部材９の表面と近接している。したがって、軸方向隙間７４のうち、突出部５２ｄと第２内歯部材９との隙間部分７４ａは、本体部５２の他の部分と第２内歯部材９との隙間部分７４ｂよりも小さくなっている。本変形例では、この軸方向隙間部分７４ａが移動抑制部として機能する。なお、第２内歯部材９の表面に近接する突出部５２ｄの先端面５２ｅを移動抑制部と捉えてもよい。本変形例によれば、実施の形態と同様の効果を奏することができる。 3 to 5 are enlarged cross-sectional views showing the communication passage 70 and its surroundings according to the modification, respectively.
In the modification of FIG. 3, the main body portion 52 of the first internal gear member 7 has a protruding portion 52d. The protruding portion 52 d protrudes in the axial direction from the end surface 52 c of the main body portion 52 toward the end surface 9 b of the second internal gear member 9. The front end surface 52e of the protrusion 52d is closer to the surface of the second internal tooth member 9 than the surface of the other part of the first internal tooth member 7. Accordingly, in the axial gap 74, the gap portion 74a between the protruding portion 52d and the second internal gear member 9 is smaller than the gap portion 74b between the other portion of the main body portion 52 and the second internal gear member 9. Yes. In this modification, the axial gap portion 74a functions as a movement suppressing unit. In addition, you may catch the front end surface 52e of the protrusion part 52d adjacent to the surface of the 2nd internal tooth member 9 as a movement suppression part. According to this modification, the same effects as in the embodiment can be obtained.

図４（ａ）、（ｂ）の変形例では、第１内歯部材７の本体部５２が、その端面５２ｃから第２内歯部材９の端面９ｂに向かって軸方向に突出する突出部５２ｄを有している。また、第２内歯部材９の端面９ｂには、軸方向において反本体部側（図４（ａ）、（ｂ）では左側）に凹んだ環状の凹部９ｃが形成されている。突出部５２ｄは凹部９ｃに進入している。図４（ａ）は突出部５２ｄと凹部９ｃとが１つの場合を示し、図４（ｂ）は突出部５２ｄと凹部９ｃとが複数（３つ）の場合を示している。突出部５２ｄの先端面５２ｅ、外周面５２ｆおよび内周面５２ｇは、凹部９ｃの底面９ｄや周面９ｅ、すなわち第２内歯部材９の表面と近接している。突出部５２ｄの先端面５２ｅ、外周面５２ｆおよび内周面５２ｇは特に、第１内歯部材７の他の部分の表面よりも第２内歯部材９の表面と近接している。したがって、軸方向隙間７４のうち、突出部５２ｄと第２内歯部材９（の凹部９ｃ）との隙間部分７４ａは、本体部５２の他の部分と第２内歯部材９との隙間部分７４ｂよりも小さくなっている。本変形例では、この軸方向隙間部分７４ａが移動抑制部として機能する。なお、第２内歯部材９の表面に近接する突出部５２ｄの先端面５２ｅ、外周面５２ｆおよび内周面５２ｇを移動抑制部と捉えてもよい。本変形例によれば、実施の形態と同様の効果を奏することができる。また本変形例では、突出部５２ｄが凹部９ｃに進入していることにより、連通路７０が屈曲し、距離も長くなっている。このため、連通路７０が潤滑剤に対するラビリンスとして機能し、潤滑剤の行き来がさらに抑制される。   4 (a) and 4 (b), the main body 52 of the first internal gear member 7 protrudes in the axial direction from the end surface 52c toward the end surface 9b of the second internal gear member 9. have. In addition, the end surface 9b of the second internal gear member 9 is formed with an annular recess 9c that is recessed toward the side opposite to the main body in the axial direction (left side in FIGS. 4A and 4B). The protrusion 52d enters the recess 9c. FIG. 4A shows a case where there are one protrusion 52d and one recess 9c, and FIG. 4B shows a case where there are a plurality (three) of protrusions 52d and nine recesses 9c. The front end surface 52e, the outer peripheral surface 52f, and the inner peripheral surface 52g of the protrusion 52d are close to the bottom surface 9d and the peripheral surface 9e of the recess 9c, that is, the surface of the second internal tooth member 9. The tip surface 52e, the outer peripheral surface 52f, and the inner peripheral surface 52g of the protrusion 52d are particularly closer to the surface of the second internal tooth member 9 than the surface of the other part of the first internal tooth member 7. Therefore, in the axial gap 74, the gap portion 74a between the protruding portion 52d and the second internal gear member 9 (the concave portion 9c) is the gap portion 74b between the other portion of the main body portion 52 and the second internal gear member 9. Is smaller than In this modification, the axial gap portion 74a functions as a movement suppressing unit. Note that the front end surface 52e, the outer peripheral surface 52f, and the inner peripheral surface 52g of the protruding portion 52d that are close to the surface of the second internal tooth member 9 may be regarded as a movement suppressing portion. According to this modification, the same effects as in the embodiment can be obtained. Moreover, in this modification, since the protrusion part 52d has approached the recessed part 9c, the communication path 70 is bent and the distance is also long. For this reason, the communication path 70 functions as a labyrinth for the lubricant, and the passage of the lubricant is further suppressed.

なお、第１内歯部材７の延長部５４が径方向内側に突出する突出部を有し、第２内歯部材９の外周面９ａに突出部に対応する凹部が形成されてもよい。また、第２内歯部材９が軸方向または径方向外側に突出する突出部を有し、本体部５２または延長部５４に突出部に対応する凹部が形成されてもよい。   In addition, the extension part 54 of the 1st internal tooth member 7 may have a protrusion part which protrudes to radial inside, and the recessed part corresponding to a protrusion part may be formed in the outer peripheral surface 9a of the 2nd internal tooth member 9. Moreover, the 2nd internal tooth member 9 may have a protrusion part which protrudes to an axial direction or a radial direction outer side, and the recessed part corresponding to a protrusion part may be formed in the main-body part 52 or the extension part 54. FIG.

図５の変形例では、第２内歯部材９が、第１内歯部材７に向かって突出する突出部９ｈを有している。本変形例では、突出部９ｈは軸方向に対して傾斜した方向に突出している。突出部９ｈは特に、先端ほど回転軸Ｒ（図５では不図示）および主軸受１６から離れるように傾斜している。第１内歯部材７の本体部５２には、突出部９ｈに対応する形状の凹部５２ｈが形成されている。突出部９ｈの先端面９ｉは、第２内歯部材９の他の部分の表面よりも第１内歯部材７の表面と近接している。したがって、突出部９ｈの先端面９ｉと第１内歯部材７との隙間部分７４ｃは、第１内歯部材７と第２内歯部材９との他の部分の隙間よりも小さくなっている。本変形例では、この隙間部分７４ｃが移動抑制部として機能する。なお、第１内歯部材７の表面に近接する突出部９ｈの先端面９ｉを移動抑制部と捉えてもよい。本変形例によれば、実施の形態と同様の効果を奏することができる。   In the modification of FIG. 5, the second internal gear member 9 has a protruding portion 9 h that protrudes toward the first internal gear member 7. In this modification, the protrusion 9h protrudes in a direction inclined with respect to the axial direction. In particular, the protruding portion 9h is inclined so as to be away from the rotation axis R (not shown in FIG. 5) and the main bearing 16 toward the tip. A concave portion 52h having a shape corresponding to the protruding portion 9h is formed in the main body portion 52 of the first internal tooth member 7. The tip end surface 9 i of the protruding portion 9 h is closer to the surface of the first internal tooth member 7 than the surface of the other part of the second internal tooth member 9. Accordingly, the gap portion 74 c between the tip end surface 9 i of the protruding portion 9 h and the first internal gear member 7 is smaller than the gap between the other portions of the first internal gear member 7 and the second internal gear member 9. In the present modification, the gap portion 74c functions as a movement suppressing unit. In addition, you may catch the front end surface 9i of the protrusion part 9h close to the surface of the 1st internal tooth member 7 as a movement suppression part. According to this modification, the same effects as in the embodiment can be obtained.

なお、図３〜５では、突出部の断面形状や突出部が侵入する凹部の断面形状を矩形で示したが、これには限定されない。   In addition, in FIGS. 3-5, although the cross-sectional shape of the protrusion part and the cross-sectional shape of the recessed part into which a protrusion invades were shown by the rectangle, it is not limited to this.

また、実施の形態および上述の変形例では特に言及しなかったが、撓み噛合い式歯車装置１００は、好ましくは、径方向隙間を移動抑制部として機能させる場合は当該径方向隙間が０．２ｍｍ〜１．０ｍｍとなるよう構成され、軸方向隙間を移動抑制部として機能させる場合は当該軸方向隙間が３．０ｍｍ〜５．０ｍｍとなるよう構成される。これより大きい場合は、移動を抑制する効果が十分に得られず、これより小さい場合は加工誤差や熱変形等によって第１内歯部材７と第２内歯部材９とが干渉するおそれがある。   Although not particularly mentioned in the embodiment and the above-described modification, the flexure meshing gear device 100 preferably has a radial clearance of 0.2 mm when the radial clearance functions as a movement suppressing unit. It is comprised so that it may become -1.0mm, and when making an axial clearance gap function as a movement suppression part, the said axial clearance is comprised so that it may become 3.0mm-5.0mm. If it is larger than this, the effect of suppressing the movement cannot be obtained sufficiently, and if it is smaller than this, the first internal gear member 7 and the second internal gear member 9 may interfere with each other due to a processing error or thermal deformation. .

４ 外歯歯車、 ６ 第１内歯歯車、 ７ 第１内歯部材７、 ８ 第２内歯歯車、 ９ 第２内歯部材、 １６ 主軸受、 ２２ａ 起振体、 ６０ 配置空間、 ６２ 噛合い空間、 ７０ 連通路、 １００ 撓み噛合い式歯車装置。   4 external gears, 6 first internal gears, 7 first internal gear members 7, 8 second internal gears, 9 second internal gear members, 16 main bearings, 22a vibrator, 60 arrangement space, 62 meshing Space, 70 communication path, 100 flexure meshing gear device.

Claims (4)

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛み合う第１内歯歯車と、前記第１内歯歯車と軸方向に並んで配置され、前記外歯歯車と噛み合う第２内歯歯車と、前記第１内歯歯車と一体的に回転する第１内歯部材と、前記第２内歯歯車と一体的に回転する第２内歯部材と、前記第１内歯部材と前記第２内歯部材との間に配置される主軸受と、を備える撓み噛合い式歯車装置であって、
前記主軸受が配置される配置空間と、前記第１内歯歯車および前記第２内歯歯車と前記外歯歯車との噛合い部が存在する噛合い空間と、に異なる潤滑剤が封入されており、
前記配置空間と前記噛合い空間とを連通する連通路の途中に、潤滑剤の移動を抑制する移動抑制部が設けられることを特徴とする撓み噛合い式歯車装置。 A vibration generator, an external gear that is bent and deformed by the vibration generator, a first internal gear that meshes with the external gear, and the first internal gear that are arranged side by side in the axial direction. A second internal gear that meshes with the gear; a first internal gear member that rotates integrally with the first internal gear; a second internal gear member that rotates integrally with the second internal gear; A flexibly meshing gear device comprising a main bearing disposed between one internal gear member and the second internal gear member,
Different lubricants are enclosed in an arrangement space in which the main bearing is arranged and an engagement space in which an engagement portion between the first internal gear and the second internal gear and the external gear is present. And
A flexure meshing gear device, characterized in that a movement restraining portion that restrains the movement of the lubricant is provided in the middle of a communication path that connects the arrangement space and the meshing space. 前記第１内歯部材は、前記第２内歯部材の径方向外側まで延び、
前記連通路は、前記第１内歯部材と前記第２内歯部材との径方向隙間を含み、
前記径方向隙間は、前記主軸受側に位置する第１径方向隙間部分と、当該第１径方向隙間部分より前記第１内歯歯車側に位置し前記第１径方向隙間部分より径方向寸法小さい前記移動抑制部としての第２径方向隙間部分と、を含むことを特徴とする請求項１に記載の撓み噛合い式歯車装置。 The first internal gear member extends to the radially outer side of the second internal gear member,
The communication path includes a radial clearance between the first internal gear member and the second internal gear member,
The radial gap is a first radial gap portion located on the main bearing side and a radial dimension located on the first internal gear side from the first radial gap portion and a radial dimension from the first radial gap portion. The flexure meshing gear device according to claim 1, further comprising a second radial clearance portion as the small movement restraining portion. 前記１内歯部材は、内周側に前記第１内歯歯車が設けられた本体部と、前記第２内歯部材の径方向外側まで延び、前記第２内歯部材との間に前記主軸受が配置された延長部と、を有し、
前記本体部と前記延長部とは別体であり、前記本体部は前記延長部の内周とインロー嵌合するインロー部を有し、
前記第２径方向隙間部分は、前記インロー部と前記第２内歯部材との径方向隙間であることを特徴とする請求項２に記載の撓み噛合い式歯車装置。 The first internal gear member extends to a radially outer side of the main body portion provided with the first internal gear on the inner peripheral side and the second internal gear member, and the main gear member is interposed between the main gear member and the second internal gear member. An extension in which the bearing is disposed,
The main body portion and the extension portion are separate bodies, and the main body portion has a spigot portion that fits into the inner periphery of the extension portion.
The bending meshing gear device according to claim 2, wherein the second radial gap portion is a radial gap between the spigot portion and the second internal gear member. 前記第１内歯部材および前記第２内歯部材の一方は、前記第１内歯部材および前記第２内歯部材の他方に向かって突出する突出部を有し、
前記突出部と前記他方との隙間は、前記第１内歯部材と前記第２内歯部材との他の部分における隙間よりも小さく、前記移動抑制部を構成することを特徴とする請求項１から３のいずれかに記載の撓み噛合い式歯車装置。 One of the first internal gear member and the second internal gear member has a protruding portion that protrudes toward the other of the first internal gear member and the second internal gear member,
2. The gap between the projecting portion and the other is smaller than the gap between other portions of the first internal gear member and the second internal gear member, and constitutes the movement suppressing portion. 4. The flexibly meshing gear device according to any one of items 1 to 3.
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