JP3781313B2 - Top hat flexure meshing gear system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a flexure-meshing gear device provided with a top-hat-shaped flexible external gear, and to a structure capable of making the device small, compact and highly rigid.
[0002]
[Prior art]
As a flexure meshing gear device, a flexible external gear having a top hat shape is known. A flexible external gear having this shape includes a cylindrical body, an annular diaphragm extending radially outward from one end thereof, and an annular boss continuing to the outer peripheral end of the diaphragm, It is comprised from the external tooth formed in the outer periphery of the other opening end of a trunk | drum.
[0003]
[Problems to be solved by the invention]
The present applicant has previously proposed a structure that can be configured in a compact and compact manner in a top-hat type flexure meshing gear device. In particular, a flat-type flexibly meshing gear device capable of shortening the length (dimension in the axial direction) has been proposed. For example, such an apparatus is proposed in the specification of Japanese Patent Application No. 7-120957.
[0004]
An object of the present invention is to propose a structure capable of making the top hat type flexure meshing gear device smaller and more compact.
[0005]
Another object of the present invention is to propose a structure that can contribute to increasing the rigidity of a top-hat type flexure meshing gear device.
[0006]
[Means for Solving the Problems]
The top hat type flexure meshing gear device of the present invention includes a first and second end plates arranged at a constant interval in the device axial direction, and a cross roller bearing arranged between the first and second end plates. A rotating shaft extending through the center of the first and second end plates in the apparatus axis direction and rotatably supported by the first and second end plates, and the cross roller bearing A rigid internal gear integrally formed on the inner peripheral surface of the inner ring , a top hat-shaped flexible external gear disposed inside the rigid internal gear, and an inner side of the flexible external gear The inner ring of the cross roller bearing has a radial thickness dimension of the annular shape of the flexible external gear. Diaphragm radial Is identical to the size, the fixed to the side of the first end plate, the outer ring of the cross roller bearing, the radial width of the radial thickness dimension of the annular said flexible external gear boss The dimensions are the same, and are fixed to the second end plate via an annular boss of the flexible external gear, and the first and second end plates are relatively rotatable. ing.
[0007]
As described above, in the present invention, the rigid internal gear is integrally formed with the inner ring of the cross roller bearing. The rigid internal gear needs to be fixed to the side of the first end plate and to the side of the inner ring of the cross roller bearing so that it can rotate relative to the flexible external gear. However, since the rigid internal gear is integrally formed with the inner ring of the cross roller bearing, the fastening structure of these three members is simplified. Therefore, the entire apparatus can be configured to be small and compact.
[0008]
Further, if these three members are integrally formed, that is, if the inner ring of the cross roller bearing is integrally formed on the first end plate and the rigid internal gear is integrally formed on the inner ring, the device can be further reduced in size and size. Can be achieved.
[0009]
In addition, it is preferable to integrate separate members in this manner because there is no assembly accuracy error between these components. In addition, the rigidity of the device is improved by integrating the parts.
[0010]
Next, in the present invention, the tooth portion of the rigid internal gear is set so as to be substantially located radially inward with respect to the roller raceway surface of the cross roller bearing. If this structure is employ | adopted, the load deformation | transformation of the part of a rigid internal gear can be suppressed. Therefore, adverse effects on the cross roller due to load deformation can be suppressed.
[0011]
The rotating shaft can be a hollow rotating shaft. In this way, the hollow portion can be used for wiring or the like.
[0012]
In addition, a rigid cam plate, which is a component of the wave generator, can be integrally formed on the outer periphery of the rotating shaft.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0014]
FIG. 1 shows a cross-sectional configuration of a top hat type flexure meshing gear device to which the present invention is applied. The top hat type flexure meshing gear device 1 includes a first end plate 2 and a second end plate 3 arranged at a predetermined interval in the direction of the device axis 1a. Between these 1st and 2nd end plates 2 and 3, it arrange | positions in the state by which the cross roller bearing 4 was pinched | interposed into the part of the outer peripheral side.
[0015]
The input rotary shaft 5 extends through the center of the first and second end plates 2 and 3 in the direction of the device axis 1a. The input rotary shaft 5 is supported in a freely rotatable state via ball bearings 6 and 7 with respect to the inner peripheral surfaces 21 and 31 of the first and second end plates 2 and 3, respectively.
[0016]
A rigid internal gear is integrally formed on the inner ring 41 of the cross roller bearing 4. That is, the inner teeth 11 of the rigid internal gear are formed on the inner peripheral surface 42 of the inner ring 41. Inside the internal teeth 11, a silk hat-shaped flexible external gear 13 in which external teeth 12 that can mesh with the internal teeth 11 are formed. Furthermore, a wave generator 14 having an elliptical contour is fitted inside the flexible external gear 13.
[0017]
The top hat-shaped flexible external gear 13 includes a cylindrical body portion 15, an annular diaphragm 16 extending outward from the opening end of the body portion on the second end plate 3 side, An annular boss 17 is provided at the outer peripheral end of the diaphragm 16. External teeth 12 are formed on the outer periphery of the opening end of the body portion 15 on the first end plate 2 side. The wave generator 14 includes an elliptical rigid cam plate 18 and a wave bearing 19 fitted on the outer peripheral surface. In this example, the rigid cam plate 18 is integrally formed on the outer peripheral surface of the input rotary shaft 5.
[0018]
Next, the outer ring 44 of the cross roller bearing 4 is fixed to the second end plate 3 side. That is, the annular boss 17 of the top hat-shaped flexible external gear 13 is sandwiched between the outer ring 44 and the second end plate 3. In this state, these three members are fastened and fixed to each other by fastening bolts 81 attached to the bolt holes 8 opened in these members. On the other hand, the inner ring 41 side of the cross roller bearing 4 is fastened and fixed to the first end plate 2 side by fastening bolts 82. A plurality of fastening bolts 81 and 82 are attached at regular intervals in the circumferential direction.
[0019]
In the top hat type flexure meshing gear device 1 having this configuration, the protruding portion protruding from the second end plate 3 of the input rotating shaft 5 is connected and fixed to a rotation source such as a motor output shaft. Further, the first end plate 2 or the second end plate 3 is connected and fixed to the load side. When the input rotation shaft 5 rotates at a high speed, the meshed portion of the external teeth 12 that are bent into an elliptic shape by the elliptical wave generator 14 and mesh with the internal teeth 11 at two locations in the circumferential direction are in the circumferential direction Moving. Since the number of teeth of the external teeth and the internal teeth is different, relative rotation corresponding to the difference in the number of teeth occurs between the external teeth and the internal teeth. This rotation is greatly decelerated compared to the input rotation speed. Since one of the second end plate 2 and the second end plate 3 is connected to the load side and the other is fixed so as not to rotate, the decelerated rotation is output from the end plate side connected to the load side. And transmitted to the load side.
[0020]
Here, in this example, the formation position of the inner teeth 11 is located substantially inside the track surface 47 of the roller 46 of the cross roller bearing 4. Accordingly, it is possible to suppress the cross roller bearing 4 from being adversely affected by the deformation generated in the inner ring 11 due to the load acting on the inner ring 11.
[0021]
In the above-described top hat type flexure meshing gear device, the rigid internal gear is integrally formed on the inner ring of the cross roller bearing. In order to further reduce the size of the device, for example, an inner ring integrally formed with a rigid internal gear may be integrally formed on the first end plate. If the three members are integrally formed in this way, an assembly error between these members does not occur. Further, no backlash occurs between these members. Furthermore, the rigidity of these members is also increased.
[0022]
In the above description, the input rotation shaft is a hollow shaft, but, of course, a solid shaft may be used.
[0023]
Furthermore, in the above description, the flexure meshing gear device is used as the speed reducer, but it is needless to say that it may be used as a speed increasing device.
[0024]
【The invention's effect】
As described above, in the top hat type flexure meshing gear device of the present invention, the flexure meshing gear mechanism is incorporated between the first and second end plates, and these can be rotated relative to each other. An inner ring of the cross roller bearing is directly attached to the first end plate, and a rigid internal gear is integrally formed with the inner ring. Therefore, the top-hat type flexure meshing gear device can be made compact and compact.
[0025]
Further, in the present invention, the internal teeth of the rigid internal gear are formed on the inner peripheral surface of the internal teeth so as to be positioned radially inside with respect to the raceway surface of the roller. Therefore, it is possible to prevent the inner roller from being deformed into an inappropriate state due to the load acting on the inner ring from the inner teeth and causing a problem in the cross roller bearing.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing a shaft-containing cross section of a top hat type flexure meshing gear device to which the present invention is applied.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Top hat type bending meshing gear apparatus 1a Apparatus axis 2 1st end plate 3 2nd end plate 4 Cross roller bearing 41 Inner ring 42 Inner ring inner peripheral surface 44 Outer ring 46 Roller 5 Input rotation shaft 11 Inside of rigid internal gear Teeth 12 External teeth 13 Flexible external gear 14 Wave generator 17 Flexible external gear boss 18 Rigid cam plate 19 on wave generator 19 Wave bearing

Claims (5)

First and second end plates arranged at regular intervals in the apparatus axial direction, a cross roller bearing arranged between the first and second end plates, and the centers of the first and second end plates And a rigid shaft integrally formed on the inner peripheral surface of the inner ring of the cross roller bearing, and a rotary shaft that is rotatably supported by the first and second end plates. A toothed gear, a top hat-shaped flexible external gear disposed inside the rigid internal gear, and an inner side of the flexible external gear and fixed to the outer periphery of the rotating shaft A wave generator,
The inner ring of the cross roller bearing has a radial thickness dimension identical to a radial width dimension of the annular diaphragm of the flexible external gear, and is fixed to the first end plate.
The outer ring of said cross roller bearing, its radial thickness is the same as the radial width of the annular boss of said flexible external gear, said second end plate via the boss A top-hat type flexibly meshing gear device, characterized in that the first and second end plates are fixed and are rotatable relative to each other. 2. The top hat type flexure meshing gear device according to claim 1, wherein an inner ring of the cross roller bearing is integrally formed with the first end plate. 3. The top hat type according to claim 1, wherein the tooth portion of the rigid internal gear is set so as to be substantially located radially inward with respect to a roller raceway surface of the cross roller bearing. Flexure meshing gear device. 4. The top hat type flexibly meshing gear device according to claim 1, wherein the rotating shaft is a hollow rotating shaft. 5. The top hat type flexure meshing gear device according to claim 1, wherein a rigid cam plate as a component of the wave generator is integrally formed on an outer periphery of the rotating shaft.

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