JP2020193633A - Flexible meshing gear device - Google Patents

Abstract

To suppress increase in lost motion.SOLUTION: A flexible meshing gear device 1 comprises: an exciter 30A; an external gear 32 that flexibly deforms due to the exciter 30A; a first internal gear 41G and a second internal gear 42G that mesh with the external gear 32; a first regulation member 51 that is arranged on one side of the external gear 32 in an axial direction and regulates the axial movement of the external gear 32; and a second regulation member 52 that is arranged on the other side of the external gear 32 in the axial direction and regulates the axial movement of the external gear 32. The external gear 32 is configured so that thrust force acts by rotation. Both the first regulation member 51 and the second regulation member 52 come into contact with the external gear 32 when the thrust force acting on the external gear 32 is equal to or less than a predetermined value. The first regulation member 51 is configured so that a gap G is generated between the second regulation member 52 and the external gear 32 when the thrust force acting on the external gear 32 exceeds the predetermined value.SELECTED DRAWING: Figure 2

Description

The present invention relates to a flexible meshing gear device.

Conventionally, a tubular flexible meshing gear device including an external tooth gear that flexes and deforms is known (see, for example, Patent Document 1). The external gear is internally fitted with a oscillating body via a oscillating body bearing, and the oscillating body rotates inward to bend and deform. In addition, the external gear meshes with the rigid internal gear.

Japanese Unexamined Patent Publication No. 2014-199130

In the conventional flexure meshing gear device, there is a problem that when the meshing portion between the internal gear and the external gear wears, this wear increases the lost motion.

An object of the present invention is to provide a flexure meshing gear device capable of suppressing an increase in lost motion.

The present invention includes a oscillating body, an external gear that is flexed and deformed by the oscillating body, a first internal gear and a second internal gear that mesh with the external gear, and one of the external gears in the axial direction. A first regulating member arranged on the side and restricting the axial movement of the external gear, and a second regulating member arranged on the other side of the external gear and restricting the axial movement of the external gear. It is a flexible meshing type gear device equipped with
The external gear is configured so that a thrust force acts by rotation.
Both the first regulating member and the second regulating member come into contact with the external gear when the thrust force acting on the external gear is equal to or less than a predetermined value.
The first regulating member is configured so that a gap is formed between the second regulating member and the external gear when the thrust force acting on the external gear exceeds a predetermined value. ..

According to the present invention, an increase in lost motion can be suppressed.

It is sectional drawing which shows the bending mesh type gear device which concerns on embodiment of this invention. FIG. 5 is a cross-sectional view showing a state when a thrust force exceeding a predetermined value is applied to an external gear in the flexible meshing type gear device of FIG. It is a figure for demonstrating lost motion. It is sectional drawing which shows the modification of the bending mesh type gear apparatus which concerns on this embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Structure of flexible meshing gear device]
FIG. 1 is a cross-sectional view showing a flexure meshing gear device 1 according to the present embodiment.
As shown in this figure, the flexure meshing gear device 1 according to the present embodiment is a tubular flexure meshing gear device in which the external gear 32 is flexed and deformed to transmit the rotational motion around the rotation shaft O1. Is.
Specifically, the flexible meshing type gear device 1 includes a oscillating body shaft 30, an external gear 32, a first internal gear 41G and a second internal gear 42G, a oscillating body bearing 31, a casing 43, and a first cover. It includes 44, a second cover 45, a first regulating member 51, and a second regulating member 52.

The exciter shaft 30 is a hollow tubular shaft that rotates around a rotation shaft O1, and has a non-circular (for example, elliptical) outer shape of a cross section perpendicular to the rotation shaft O1 and a vibrating body 30A. It has shaft portions 30B and 30C provided on both sides in the axial direction of 30A. The ellipse is not limited to a geometrically exact ellipse, but includes a substantially ellipse. The shaft portions 30B and 30C are shafts having a circular outer shape in a cross section perpendicular to the rotation shaft O1. The exciter shaft 30 is an input shaft connected to a drive source (not shown) such as a motor to input a driving force.
In the following description, the direction along the rotation axis O1 is referred to as "axial direction", the direction perpendicular to the rotation axis O1 is referred to as "diameter direction", and the rotation direction centered on the rotation axis O1 is referred to as "circumferential direction".

The external gear 32 is a flexible, substantially cylindrical member, and is provided with teeth on the outer periphery. More specifically, the external gear 32 has a tapered inner peripheral surface formed in a cylindrical shape, while the outer peripheral surface, which is a tooth surface, has a pitch conical surface whose diameter gradually increases toward the counter-output side. It is formed in a shape.
The external tooth gear 32 of the present embodiment is configured such that all of the tooth bottom diameter, the tooth tip diameter, and the pitch circle diameter gradually increase from the output side to the non-output side, but the present invention is limited to this. It suffices that at least the pitch circle diameter is gradually increased from the output side toward the counter-output side.
Here, in the axial direction, the side that outputs the decelerated motion connected to the external mating member to the mating member is called the "output side" (left side in the figure), and the side opposite to the output side is " It is called "non-output side" (right side in the figure).
That is, the external gear 32 is formed in the shape of a bevel gear having a pitch conical surface, and in the present embodiment, the tooth streaks are formed in the shape of a straight tooth bevel gear that coincides with the mother line of the pitch conical surface. By being formed into a shape having such a pitch conical surface, the external gear 32 is configured so that a thrust force acts (receives a thrust force) with rotation.
Note that FIG. 1 shows a state in which the thrust force acting on the external gear 32 is equal to or less than a predetermined value described later. Unless otherwise specified, the shapes and the like of each part in this state will be described below.

The first internal gear 41G and the second internal gear 42G rotate around the rotating shaft O1 around the exciter shaft 30. The first internal gear 41G and the second internal gear 42G are provided side by side in the axial direction and mesh with the external gear 32. Specifically, the first internal gear 41G and the second internal gear 42G are each formed in a tapered shape having a pitch conical surface whose diameter gradually increases toward the counter-output side, and each other has a pitch conical surface. The faces are on the extension line. This pitch conical surface corresponds to that of the external gear 32, and the first internal gear 41G meshes with the tooth portion on the side opposite to the axial center of the external gear 32 in the axial direction, and the second internal tooth The gear 42G meshes with the tooth portion on the output side of the external gear 32 in the axial direction.
Of these, the first internal gear 41G is configured by providing internal teeth at a corresponding portion of the inner peripheral portion of the first internal gear member 41.
On the other hand, the second internal gear 42G is configured by providing internal teeth at a corresponding portion of the inner peripheral portion of the second internal gear member 42.

The oscillating body bearing 31 is, for example, a roller bearing, and is arranged between the oscillating body 30A and the external gear 32. The exciter 30A and the external gear 32 can rotate relative to each other via the exciter bearing 31.
The oscillating body bearing 31 has an outer ring 31a fitted inside the external gear 32, a plurality of rolling elements (rollers) 31b, and a cage 31c for holding the plurality of rolling elements 31b. The plurality of rolling elements 31b are arranged in the radial direction of the first internal gear 41G, and are arranged in the radial direction of the first group of rolling elements 31b arranged in the circumferential direction and the second internal gear 42G. It has a second group of rolling elements 31b arranged in the circumferential direction. These rolling elements 31b roll with the outer peripheral surface of the oscillator 30A and the inner peripheral surface of the outer ring 31a as rolling surfaces. Two outer rings 31a are provided side by side in the axial direction corresponding to the arrangement of the plurality of rolling elements 31b. The oscillating body bearing 31 may have an inner ring that is separate from the oscillating body 30A.

The casing 43 covers the outer diameter side of the second internal gear 42G. The casing 43 is connected to the first internal gear member 41 via a connecting member such as a bolt.
The casing 43 has an outer ring portion 43o of the main bearing 48 formed on the inner peripheral portion, and rotatably supports the second internal gear member 42 via the main bearing 48.

The first cover 44 is connected to the first internal gear member 41 and covers the meshing portion between the external gear 32 and the first internal gear 41G from the opposite output side in the axial direction.
A bearing 46 is arranged between the first cover 44 and the shaft portion 30B of the exciter shaft 30, and the first cover 44 rotatably supports the exciter shaft 30 via the bearing 46. There is.

The second cover 45 is connected to the second internal gear member 42, and covers the meshing portion between the external gear 32 and the second internal gear 42G from the output side in the axial direction. The second cover 45 and the second internal gear member 42 are connected to an external mating member that outputs a decelerated motion.
A bearing 47 is arranged between the second cover 45 and the shaft portion 30C of the exciter shaft 30, and the second cover 45 rotatably supports the exciter shaft 30 via the bearing 47. There is.

The first regulating member 51 and the second regulating member 52 are members made of spring steel formed in a substantially ring shape, and are arranged on both sides of the external gear 32 and the oscillating body bearing 31 in the axial direction, and these external teeth. The axial movement of the gear 32 and the exciter bearing 31 is restricted.

Of these, the first regulating member 51 is arranged on the counter-output side of the external gear 32 and the exciter bearing 31. The first regulating member 51 has a deformed portion 51a and a fixed portion 51b.
The deformed portion 51a is provided at a radial position (opposing in the axial direction) corresponding to the external gear 32 in the middle of the first regulating member 51 in the radial direction. The deformed portion 51a is a diaphragm portion (elastic thin film portion) formed in a thin wall having a predetermined thickness in the axial direction, and is provided at an axial position on the output side of the first regulating member 51 and has a counter-output in the axial direction. It can be elastically deformed to the side. The deformed portion 51a is in contact with the external gear 32 in a normal state where the amount of deformation is equal to or less than a predetermined amount, and is pressed by the external gear 32 by the thrust force received from the external gear 32 to the axially counter-output side. Elastically deforms.
Of the first regulating member 51, the portion on the inner diameter side of the deformed portion 51a restricts the movement of the exciter bearing 31 in the axial direction. This portion and the outer ring of the bearing 46 may be in contact with each other or may have a gap interposed therebetween.

The fixing portion 51b is provided on the outer diameter side of the first restricting member 51 with respect to the deformed portion 51a, and is fixed to the first internal gear member 41 and the first cover 44 in contact with them. Specifically, the outer diameter portion of the first regulating member 51 is bent from the outer diameter side end portion of the deformed portion 51a to the counter-output side, then folded back at the counter-output side end portion and extends to the output side. Of these, the portion extending from the end on the non-output side to the output side is the fixed portion 51b. In the fixed portion 51b, the end face on the output side is in contact with the first internal gear member 41, and the end face on the non-output side is in contact with the first cover 44. That is, the fixing portion 51b is axially sandwiched by the first internal gear member 41 and the first cover 44, whereby the first regulating member 51 with respect to the first internal gear member 41 and the first cover 44 is sandwiched. Relative rotation of is suppressed.
However, in the present embodiment, the fixing portion 51b (first regulating member 51) and the first cover 44 are not in direct contact with each other, but are in contact with each other with a spherical ball member 51c interposed therebetween. .. The fixed portion 51b and the first cover 44 are respectively formed with recesses having an arcuate cross section along the circumferential direction in portions facing each other, and the ball member 51c is fitted in the recesses. Multiple are arranged. The ball member 51c is an example of a sliding promoting member according to the present invention, and reduces friction between the fixing portion 51b (first regulating member 51) and the first cover 44 to promote relative rotation with each other.
With such a configuration, as will be described later, when the thrust force acting on the external gear 32 is equal to or less than a predetermined value, the fixing portion 51b of the first regulating member 51 has the first internal gear member 41 and the first cover 44. By being sandwiched between them, the relative rotation with them is suppressed. Then, when the thrust force acting on the external gear 32 exceeds a predetermined value, the ball member 51c rolls, so that the first internal gear member 41, the first cover 44, and the first regulating member 51 are brought together. Relative rotation.

The second regulating member 52 is arranged on the output side of the external gear 32 and the oscillating body bearing 31, and is formed in a shape obtained by reversing the first regulating member 51 in the axial direction. Specifically, the second regulating member 52 has a deformed portion 52a and a fixed portion 52b.
The deformed portion 52a is provided at a radial position of the second regulating member 52, which is in the middle of the radial direction and corresponds to the external gear 32. The deformed portion 52a is a diaphragm portion (elastic thin film portion) formed in a thin wall having a predetermined thickness in the axial direction, and is provided at an axial position on the non-output side of the second regulating member 52 to output in the axial direction. It can be elastically deformed to the side. The deformed portion 52a is in contact with the external gear 32 in a normal state where the amount of deformation is equal to or less than a predetermined amount.
Of the second regulating member 52, the portion on the inner diameter side of the deformed portion 52a restricts the movement of the exciter bearing 31 in the axial direction. This portion and the outer ring of the bearing 47 may be in contact with each other or may have a gap interposed therebetween.

The fixing portion 52b is provided on the outer diameter side of the second regulating member 52 with respect to the deformed portion 52a, and comes into contact with the second internal gear member 42 and the second cover 45 and is fixed to them. Specifically, the outer diameter portion of the second regulating member 52 is bent from the outer diameter side end portion of the deformed portion 52a to the output side, then folded back at the output side end portion and extends to the opposite output side. The portion extending from the end on the output side to the non-output side is the fixed portion 52b. In the fixed portion 52b, the end face on the non-output side is in contact with the second internal gear member 42, and the end face on the output side is in contact with the second cover 45. That is, the fixing portion 52b is axially sandwiched by the second internal gear member 42 and the second cover 45, whereby the second restricting member 52 with respect to the second internal gear member 42 and the second cover 45 Relative rotation of is suppressed.
However, in the present embodiment, the fixing portion 52b (second regulating member 52) and the second cover 45 are not in direct contact with each other, but are in contact with each other with a spherical ball member 52c interposed therebetween. .. The fixed portion 52b and the second cover 45 are respectively formed with concave portions having an arcuate cross section along the circumferential direction in portions facing each other, and the ball member 52c is fitted in the concave portions. Multiple are arranged.

The second regulating member 52 comes into contact with the external gear 32 and restrains the external gear 32 at a low rotation speed (rotation speed range corresponding to ± 3% of the rated torque described later). Anything that does. Since the second regulating member 52 is arranged on the side that does not receive the thrust force acting on the external gear 32, it does not have to have the deformed portion 52a, and the ball is placed between the second regulating member 52 and the second cover 45. The member 52c does not have to be interposed. However, it is preferable that the fixing portion 52b that comes into contact with the second internal gear member 42 and the second cover 45 is provided so that the second regulating member 52 can suitably restrain the external gear 32.

[Deceleration operation]
When the exciter shaft 30 is rotationally driven by a drive source such as a motor, the motion of the exciter 30A is transmitted to the external gear 32. At this time, the external gear 32 is restricted to a shape along the outer peripheral surface of the oscillator 30A, and is bent into an elliptical shape having a long axis portion and a short axis portion when viewed from the axial direction. Further, the external gear 32 meshes with the fixed first internal gear 41G at a long shaft portion. Therefore, the external gear 32 does not rotate at the same rotation speed as the exciting body 30A, and the exciting body 30A rotates relatively inside the external gear 32. Then, with this relative rotation, the external gear 32 bends and deforms so that the major axis position and the minor axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the exciter shaft 30.

When the external gear 32 bends and deforms, its long axis position moves, so that the meshing position between the external gear 32 and the first internal gear 41G changes in the rotational direction. Here, for example, assuming that the number of teeth of the external gear 32 is 100 and the number of teeth of the first internal gear 41G is 102, the external gear 32 and the first internal gear 41G are arranged every time the meshing position goes around. The meshing teeth of the teeth are displaced, which causes the external gear 32 to rotate (rotate). With the above number of teeth, the rotational motion of the exciter shaft 30 is decelerated at a reduction ratio of 100: 2 and transmitted to the external gear 32.

On the other hand, since the external gear 32 also meshes with the second internal gear 42G, the meshing position between the external gear 32 and the second internal gear 42G also changes in the rotation direction due to the rotation of the exciter shaft 30. .. Here, assuming that the number of teeth of the second internal gear 42G and the number of teeth of the external gear 32 are the same, the external gear 32 and the second internal gear 42G do not rotate relatively, and the external teeth The rotational movement of the gear 32 is transmitted to the second internal gear 42G at a reduction ratio of 1: 1. As a result, the rotational movement of the exciter shaft 30 is decelerated at a reduction ratio of 100: 2 and transmitted to the second internal gear member 42 and the second cover 45, and this rotational movement is output to the mating member.

During this rotation, the external gear 32 has a tapered shape in which the tooth surface (outer peripheral surface) that meshes with the first internal gear 41G and the second internal gear 42G gradually increases in diameter toward the counter-output side. Because it is formed in, it receives a thrust force to the counter-output side according to the rotation speed.
Therefore, when the rotation speed of the external gear 32 is still low and the thrust force acting on the external gear 32 is equal to or less than a predetermined value, the external gear 32 is in contact with both the first regulating member 51 and the second regulating member 52. Due to the increase in thrust force as the rotation speed increases, the deformed portion 51a of the first regulating member 51 is pressed and deformed while moving to the counter-output side. Here, the "predetermined value" thrust force is larger than the maximum thrust force acting on the external gear 32 in the rotation speed range corresponding to a torque of ± 3% of the rated torque, which is a region of lost motion described later. It is a large value. That is, when the load of the second cover 45 (output shaft) is within the torque range of ± 3% of the rated torque, the external gear 32 comes into contact with both the first regulating member 51 and the second regulating member 52. There is.

Then, when the thrust force acting on the external gear 32 exceeds a predetermined value, as shown in FIG. 2, the amount of deformation of the deformed portion 51a of the first regulating member 51 becomes sufficiently large, and finally the second regulating member A gap G is formed between the 52 and the external gear 32. As a result, the external gear 32 is released from the restraint by the second regulating member 52 and can rotate smoothly. At this time, since the ball member 51c is arranged between the first regulating member 51 and the first cover 44, the relative rotation of the ball member 51c is promoted, so that the first regulating member 51 is placed on the side of the first cover 44. It is possible to make it easier to rotate the external gear 32 that is pressed against.

After that, when the rotation of the external gear 32 decreases toward the stop, the thrust force acting on the external gear 32 becomes equal to or less than a predetermined value again, and as shown in FIG. 1, the first regulating member 51 Both the second regulating member 52 and the second regulating member 52 are in contact with the external gear 32. At this time, the first regulating member 51 is fixed to the first internal gear member 41 and the first cover 44 by the fixing portion 51b, and the second regulating member 52 is fixed to the second internal gear member 42 and the first cover 44 by the fixing portion 52b. 2 It is fixed to the cover 45. Therefore, the external gear 32 is restrained from both sides in the axial direction by the first regulating member 51 and the second regulating member 52, and the relative movement with respect to the first internal gear member 41 and the second internal gear member 42 is suppressed. Tooth.
By restraining the external gear 32 in this way, play is less likely to occur in the meshing of the external gear 32 with the first internal gear 41G and the second internal gear 42G. Therefore, even when the teeth of the external gear 32, the first internal gear 41G, and the second internal gear 42G are worn, the increase in lost motion can be suppressed.

FIG. 3 is an explanatory diagram for explaining lost motion. Fix the input shaft (high-speed shaft) of the speed reducer, slowly apply a load from the output shaft (low-speed shaft) side to the rated torque, measure the load until unloading, and measure the displacement (twist angle) of the low-speed shaft, and the relationship. Is shown, a hysteresis curve of rigidity as shown in FIG. 3 can be obtained. Lost motion is defined as the twist angle at the point where the torque is ± 3% of the rated torque. In the flexure meshing gear device 1 of the present embodiment, the input shaft corresponds to the exciter shaft 30, and the output shaft corresponds to the second cover 45 and the second internal gear member 42.
Since the problem of lost motion becomes apparent immediately before the device is stopped (rotation stop) when the torque becomes small, the device can be stopped suitably by suppressing the increase in the lost motion.

[Technical effect of this embodiment]
As described above, according to the flexible meshing type gear device 1 of the present embodiment, when the thrust force acting on the external tooth gear 32 with rotation is equal to or less than a predetermined value, the first regulating member 51 and the second regulating member Both sides of 52 are in contact with the external gear 32. Then, when the thrust force acting on the external gear 32 exceeds a predetermined value, the first regulating member 51 creates a gap G between the second regulating member 52 and the external gear 32.
As a result, when the external gear 32 rotates at a high speed, the restraint by the second regulating member 52 can be released to facilitate the rotation of the external gear 32. Further, when the external gear 32 rotates at a low speed, the external gear 32 is restrained by the first regulating member 51 and the second regulating member 52, and the external gear 32, the first internal gear 41G, and the second internal gear 42G are restrained. It is possible to prevent rattling from occurring in meshing with.
Therefore, it is possible to preferably suppress an increase in lost motion.

Further, according to the present embodiment, the first regulating member 51 has a deformed portion 51a that is deformed by a thrust force received from the external gear 32.
As a result, the external gear 32 can be moved in the axial direction in accordance with the rotation by the first regulating member 51 having a simple structure having only the deformed portion 51a.

Further, according to the present embodiment, the first regulating member 51 is in contact with the first internal gear 41G, and the second regulating member 52 is in contact with the second internal gear 42G.
Therefore, the external gear 32 constrained by both the first regulating member 51 and the second regulating member 52 is suppressed from moving relative to the first internal gear 41G and the second internal gear 42G. Therefore, even if there is play in the meshing of the external gear 32 with the first internal gear 41G and the second internal gear 42G, these can be integrally operated and stopped.
It should be noted that at least one of the first regulating member 51 and the second regulating member 52 is on the same side in the axial direction with respect to the external gear 32 of the first internal gear 41G and the second internal gear 42G. It suffices that the member that rotates integrally with the member arranged in is in contact with at least one of the axial direction and the radial direction. That is, both the first regulating member 51 and the second regulating member 52 do not have to be in contact with the member that rotates integrally with the first internal gear 41G or the second internal gear 42G, and the first regulating member 51 does not have to be in contact with the member. It suffices that the member that rotates integrally with the first internal gear 41G is in contact with the member, or the second regulating member 52 is in contact with the member that rotates integrally with the second internal gear 42G. As a result, the external gear 32 can be restrained by at least one of the first regulating member 51 and the second regulating member 52.

Further, according to the present embodiment, the first cover 44 that rotates integrally with the first internal gear 41G (the first internal gear member 41) and the first regulation member 51 are connected to each other via the ball member 51c. Are in contact.
As a result, the relative rotation between the first regulating member 51 and the first cover 44 is promoted, so that when the external gear 32 presses the first regulating member 51 toward the first cover 44, the outside The tooth gear 32 can be made easier to rotate.

[Other]
Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.
For example, in the above embodiment, the outer peripheral surface (tooth surface) of the external gear 32 is formed in a tapered shape in which the diameter gradually increases toward the counter-output side. However, the taper shape of the external gear 32 is not limited to this, and as shown in FIG. 4A, for example, the taper is in the opposite direction in the axial direction (that is, the diameter gradually increases toward the output side). ) May be. In the case of this example, when the external gear 32 rotates, a thrust force toward the output side acts on the external gear 32, the second regulating member 52 is deformed, and the first regulating member 51 and the external gear 32 A gap is created between the two. Therefore, it is the second regulatory member 52 that corresponds to the first regulatory member in the claims, and the first regulatory member 51 that corresponds to the second regulatory member in the claims. The same applies to the first and second internal gears. As described above, the "first" and "second" in the claims may not necessarily correspond to the "first" and "second" in the embodiment.
Further, the external gear 32 may have a portion where the pitch circle diameter changes along the axial direction, and the pitch circle diameter does not have to change over the entire length in the axial direction. For example, as shown in FIG. 4 (b), among the external gears 32, it corresponds to either the first internal gear 41G or the second internal gear 42G (the first internal gear 41G in the example of the figure). The pitch circle diameter may be changed (tapered) only in the portion.
Furthermore, the external gear 32 may be configured such that a thrust force acts by rotation, and the specific configuration thereof is not limited.

Further, in the above embodiment, the tooth streaks of the external gear 32 have a straight tooth bevel gear shape that coincides with the mother line of the pitch conical surface, but a helical gear shape tooth streaks inclined with respect to the axis line. It may be. However, in the case of a straight tooth bevel gear-shaped tooth streak as in the above embodiment, it is more preferable that the same effect can be obtained regardless of the rotation direction of the external gear 32.

Further, in the above embodiment, only the external gear 32 is moved in the axial direction by the thrust force, but the outer ring 31a of the oscillator bearing 31 fitted into the external gear 32 is integrated with the external gear 32. It may be moved as a target.

Further, in the above embodiment, the first regulating member 51 deforms the deformed portion 51a to move the external gear 32 in the axial direction. However, the first regulating member 51 is configured so that a gap is generated between the second regulating member 52 and the external gear 32 when the thrust force generated in the external gear 32 exceeds a predetermined value. The specific configuration is not particularly limited. For example, the deformed portion 51a of the first regulating member 51 may have a leaf spring shape instead of a diaphragm shape.
Further, the ball member 51c between the first regulating member 51 and the first cover 44 does not have to be arranged, and even if it is arranged, it is not limited to the ball member as long as it can promote sliding, for example, sliding. It may be a bearing.
Further, in the present specification, the member that rotates integrally with a certain member is not only when another member is connected to the certain member and rotates integrally, but also is integrally formed of the same material as the certain member. It also includes the case where it rotates integrally.
In addition, the details shown in the above-described embodiment can be appropriately changed without departing from the spirit of the invention.

1 Deflection meshing gear device 30 Exciting body shaft 30A Exciting body 31 Exciting body bearing 32 External gear 41 First internal gear member 41G First internal gear 42 Second internal gear member 42G Second internal tooth Gear 44 1st cover 45 2nd cover 51 1st regulation member 51a Deformation part 51b Fixing part 51c Ball member 52 2nd regulation member 52a Deformation part 52b Fixing part 52c Ball member G Gap O1 Rotating shaft

Claims (6)

A oscillating body, an external gear that is bent and deformed by the oscillating body, a first internal gear and a second internal gear that mesh with the external gear, and an axial first internal gear of the external gear. A first regulating member arranged on the side to regulate the axial movement of the external gear and a second regulating member arranged on the side of the external gear on the axial second internal gear side to regulate the axial movement of the external gear. A flexible meshing gear device equipped with a regulating member.
The external gear is configured so that a thrust force acts by rotation.
Both the first regulating member and the second regulating member come into contact with the external gear when the thrust force acting on the external gear is equal to or less than a predetermined value.
The first regulating member is configured so that a gap is formed between the second regulating member and the external gear when the thrust force acting on the external gear exceeds a predetermined value.
Flexible meshing gear device. The first regulating member has a deformed portion that is deformed by a thrust force received from the external gear.
The flexible meshing gear device according to claim 1. The first regulating member contacts at least one of the axial direction and the radial direction with respect to the member that rotates integrally with the first internal gear.
The flexible meshing gear device according to claim 1 or 2. The second regulating member contacts at least one of the axial direction and the radial direction with respect to the member that rotates integrally with the second internal gear.
The flexible meshing gear device according to any one of claims 1 to 3. A member that rotates integrally with the first internal gear and the first regulating member come into contact with each other via a sliding promoting member.
The flexible meshing gear device according to any one of claims 1 to 4. The external gear has a portion in which the pitch circle diameter changes along the axial direction.
The flexible meshing gear device according to any one of claims 1 to 5.

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