JP4010520B2 - Unit-type flexibly meshing gear unit - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a flexure meshing gear device, and more particularly to a unit-type flexure meshing gear device whose components are held in an assembled state.
[0002]
[Problems to be solved by the invention]
As is well known, the flexure meshing gear device has three main components: a rigid internal gear, a flexible external gear, and a wave generator. In general, the wave generator is connected to a high-speed rotation output shaft such as a motor, and the flexible external gear side is connected to the speed reduction output shaft side connected to the member to be driven. When the output shaft of a motor or the like is supported in advance, the three parts are individually incorporated at the attachment locations. The work of assembling the three parts in such a disjointed state is troublesome.
[0003]
An object of the present invention is to propose a unit-type flexibly meshing gear device in which three parts are integrated in advance and can be assembled as a unit to an attachment site.
[0004]
[Means for Solving the Problems]
The present invention includes an annular rigid internal gear, a flexible external gear disposed concentrically on the inside thereof, and a concentric configuration disposed on the inside thereof, and flexing the flexible external gear in a radial direction. In accordance with the difference in the number of teeth of the rigid internal gear and the flexible external gear by partially meshing with the rigid internal gear and moving the mesh position in the circumferential direction. In a flexure meshing gear device having a wave generator for generating relative rotation between the two gears, the rigid internal gear and the flexible external gear are relatively rotatable in the device axial direction. It is characterized by being connected by a connecting member.
[0005]
According to this configuration, the rigid internal gear and the flexible external gear are assembled in a state in which they do not deviate in the apparatus axial direction, and the wave generator bends the flexible external gear in the radial direction. In this state, it is fitted into the flexible external gear. Accordingly, the three members can be handled in a state of being assembled in advance so as to be integrated. For this reason, since it is not necessary to assemble three members in an actual attachment place, the assembling work is simplified.
[0006]
In the present invention, in addition to the above configuration, the connection member and the rigid internal gear are engaged in a relatively rotatable state, and the connection member and the flexible external gear are connected to rotate integrally. May be. On the contrary, the connecting member and the flexible external gear are engaged in a relatively rotatable state, and the connecting member and the rigid internal gear are connected so as to rotate integrally . Or you may make it engage the said connection member in the state which can be relatively rotated with respect to both gears. To this end, in the present invention, a first annular engagement portion formed on the rigid internal gear and a first member formed on the connection member engaged with the first annular engagement portion. Two annular engaging portions, a third annular engaging portion formed on the flexible external gear, and a fourth formed on the connecting member engaged with the third annular engaging portion. And an engagement state between the first and second annular engagement portions and an engagement between the third and fourth annular engagement portions. The engagement state of at least one of the states is set to an engagement state in which sliding in the circumferential direction is possible.
[0007]
A typical engagement structure may include a combination of an annular protrusion and an annular groove. When this combination is employed, one of the first and second annular engaging portions may be an annular protrusion, and the other may be an annular groove into which the annular protrusion can be fitted. Similarly, one of the third and fourth annular engaging portions may be an annular protrusion, and the other may be an annular groove into which the annular protrusion can be fitted.
[0008]
Next, as the flexible external gear, a top hat type and a cup type are known. The top hat-shaped flexible external gear includes a cylindrical body, an annular diaphragm extending radially outward from one end of the body, and an annular boss formed on the outer periphery of the diaphragm. And external teeth formed on the outer peripheral surface on the other end side of the body portion. In this case, the first annular engagement portion of the rigid internal gear is formed on the annular inner peripheral surface adjacent to the internal teeth of the rigid internal gear, and the third boss is formed on the inner peripheral surface of the boss . An annular engagement portion can be formed.
[0009]
The cup-shaped flexible external gear includes a cylindrical body, an annular diaphragm extending radially inward from one end of the body, a boss formed at the center of the annular diaphragm, And external teeth formed on the outer peripheral surface on the other end side of the body portion. In this case, the first annular engagement portion of the rigid internal gear is formed on the annular inner peripheral surface adjacent to the internal teeth of the rigid internal gear, and protrudes outward from the annular diaphragm of the boss. The third annular engagement portion can be formed on the outer peripheral surface.
[0010]
In the case of a cup-shaped flexible external gear, if a wave generator is assembled in advance, the inner end face of the boss cannot be accessed, and the work for connecting the main shaft or the like to the boss becomes difficult. Therefore, it is desirable to form a plurality of tap holes concentrically around the device axis so that the boss can be attached to the main shaft or the like from the outer end face side of the boss.
[0011]
In this case, an insertion hole for a fastening bolt is formed in the boss instead of a tap hole, a reinforcing plate is fastened and fixed to the inner end face of the boss, and a tap hole is formed in a portion corresponding to the insertion hole in the reinforcing plate. It is also possible to adopt the configuration described above.
[0014]
In the unit-type flexibly meshing gear device of the present invention configured as described above, the three members can be carried into an actual mounting place or the like in the state where the three members are assembled in advance, and can be assembled as they are. Therefore, since it can be handled as a unit, its handling, loading and unloading become easy, and the work of assembling the three members at the actual mounting location becomes unnecessary, and the assembling work itself becomes simple.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows an example of a unit type bending mesh gear device to which the present invention is applied.
[0016]
The unit-type flexure meshing gear device 1 includes an annular rigid internal gear 2, a cup-shaped flexible external gear 3 disposed concentrically on the inside thereof, and a concentrically disposed on the inside thereof. By flexing the flexible external gear 3 in the radial direction and partially meshing with the rigid internal gear 2 and moving the meshing position in the circumferential direction, the rigid internal gear 2 and the movable internal gear 2 can be moved. And a wave generator 4 that generates a relative rotation between the two gears according to the difference in the number of teeth of the flexible external gear 3. Moreover, it has the connection member 5 which connects the rigid internal gear 2 and the flexible external gear 3 so that relative rotation is possible, and it does not remove | deviate in the direction of the apparatus axis line 1a. Furthermore, the rigid internal gear 2 includes a support portion 6 that supports the wave generator 4 so as to be rotatable and not move in the direction of the apparatus axis 1a.
[0017]
The flexible external gear 3 includes a cylindrical body portion 31, an annular diaphragm 32 that extends radially inward from one end of the body portion 31, and a boss 33 that is formed at the center of the diaphragm 32. And a cup-shaped flexible external gear provided with outer teeth 34 formed on the outer peripheral surface of the body portion 31 on the other end opening side. The rigid internal gear 2 includes an annular member 21 in which inner teeth 24 are formed on the inner peripheral surface, and a plurality of fastening bolt holes 22 formed in an annular portion extending outward from the center of the outer peripheral surface of the annular member 21. And a support portion 6 formed at a position adjacent to the internal teeth 24 of the annular member 21.
[0018]
The connecting member 5 includes a cylindrical part 51 having a size slightly larger than the body part 31 of the flexible external gear 3 and an annular plate part extending perpendicularly from one end of the cylindrical part 51 to the inside in the radial direction. 52, an annular projection 53 (second annular engagement portion) formed on the outer peripheral surface of the opening edge of the cylindrical portion 51, and an annular projection 54 (fourth annular engagement) formed on the inner peripheral edge of the annular plate portion 52. Part).
[0019]
The annular member 21 of the rigid internal gear 2 is formed with an inner peripheral surface 25 that recedes outward from the inner teeth 24 at a portion adjacent to the inner teeth 24 on the opposite side of the support portion 6. The inner peripheral surface 25 is formed with an annular groove 26 (first annular engagement portion) into which the annular protrusion 53 of the connecting member 5 is fitted. On the other hand, the boss 33 of the flexible external gear 3 is thicker than the diaphragm 32, and an outer peripheral surface 33a projecting outward is formed at a boundary portion with the diaphragm 32. The outer peripheral surface 33a has the above-described outer peripheral surface 33a. An annular groove 33b (third annular engagement portion) into which the annular protrusion 54 of the connecting member 5 is fitted is formed.
[0020]
The connecting member 5 is made of a material having a low coefficient of friction and elastic properties, for example, a synthetic resin. Therefore, the annular protrusions 53 and 54 at both ends can be pushed into the corresponding annular grooves 26 and 33b in a state where the connecting member 5 is forcibly elastically deformed. When the connecting member 5 is subsequently opened, the connecting member 5 is restored to its original shape by the elastic restoring force, and both ends are engaged with the rigid internal gear 2 and the flexible external gear 3, respectively. Is formed.
[0021]
Here, as shown in FIG. 2A, the annular protrusions 53 and 54 of the connecting member 5 are fitted in the corresponding annular grooves 26 and 33b in a state where there is play. Further, as described above, the connecting member 5 is formed of a material having a low friction coefficient. Therefore, both members of these engaging portions are slidable. That is, the rigid internal gear 2 and the flexible external gear 3 connected by the connecting member 5 are relatively rotatable.
[0022]
2B, a wide annular flange is formed at the tip of the annular protrusion 53 (54) of the connecting member 5, and an annular groove having a semicircular cross section is formed on the outer peripheral surface (inner peripheral surface). An annular protrusion having a semicircular cross section may be formed on the side of the annular member 21 of the corresponding rigid internal gear 2 (the side of the corresponding boss 33).
[0023]
Next, the support portion 6 formed on the rigid internal gear 2 will be described. The support portion 6 includes an annular plate portion 27 extending inward in the radial direction from a position adjacent to the inner teeth 24 on the opposite side of the annular groove 26. Here, the wave generator 4 includes a hollow shaft 41 extending through the central opening of the annular plate portion 27, and an elliptical contour is formed on a portion of the hollow shaft 41 located inside the external teeth 34. A cam plate 42 having a shape is integrally formed, and a wave bearing 43 is fitted on the outer periphery of the cam plate 42. A motor output shaft (not shown) or the like is inserted and fixed in the shaft hole of the hollow shaft 41.
[0024]
The outer periphery of the hollow shaft 41 of the wave generator 4 is rotatably supported by the annular plate portion 27 via a ball bearing 62 attached to the inner peripheral surface of the annular plate portion 27 constituting the support portion 6. ing. The inner ring 62a of the ball bearing 62 is fixed so as not to move in the direction of the apparatus axis 1a by the annular end surface 41a formed by the hollow shaft 41 and the inner ring receiver 63 (restraining member). Similarly, the outer ring 62b of the ball bearing 62 is fixed so as not to move in the direction of the apparatus axis 1a by an annular end surface 27a formed on the inner peripheral surface of the annular plate portion 27 and an outer ring receiver 64 (restraint member).
[0025]
In this way, the rigid internal gear 2 and the wave generator 4 are connected to each other via the support portion 6 so as to be relatively rotatable and not to be deviated in the direction of the apparatus axis 1a.
[0026]
Here, since the opening side of the cup-shaped flexible external gear 3 is sealed by the wave generator 4 fitted in advance, the boss 33 of the flexible external gear 3 is covered from the outside. It is necessary to be able to be fastened to a main shaft (not shown) of a driving member. For this purpose, the boss 33 of the flexible external gear 3 is formed with a plurality of fastening bolt insertion holes 33c concentrically with the device axis 1a. A circular reinforcing plate 35 is fastened and fixed to the inner end face of the boss 33, and a tap hole 35a is formed in a portion corresponding to each insertion hole 33a in the reinforcing plate 35. As a result, the boss 33 can be fastened to the main shaft of the driven member from the outer end face side.
[0027]
Next, FIG. 3 is a cross-sectional configuration diagram when the present invention is applied to a flexure meshing gear device having a top-hat-shaped flexible external gear. The flexible external gear 13 includes a cylindrical body 131, an annular diaphragm 132 extending radially outward from one end of the body 131, and an annular boss formed on the outer periphery of the diaphragm 132. 133 and a top hat shape including external teeth 134 formed on the outer peripheral surface on the other end side of the body portion 131. The connecting member 50 includes a cylindrical portion 151 that is slightly larger than the diaphragm 132 and an annular plate portion 152 that extends radially outward from the end of the cylindrical portion 151, and is provided on the outer periphery of the opening edge of the cylindrical portion 151. An annular protrusion 153 (second annular engagement portion) is formed, and an annular protrusion 154 (fourth annular engagement portion) is formed on the outer peripheral edge of the annular plate portion 152. An annular groove 133 a (third annular engagement portion) in which the annular protrusion 154 is fitted is formed on the inner peripheral surface of the boss 133. Since the other configuration is the same as that of the flexibly meshing gear device shown in FIG. 1, the corresponding parts are denoted by the same reference numerals, and the description thereof is omitted.
[0028]
【The invention's effect】
As described above, the unit type flexure meshing gear device of the present invention has a configuration in which the rigid internal gear, the flexible external gear, and the wave generator, which are the main components, are assembled together in advance. ing. Therefore, in an actual attachment place, it can be attached in a united state.
[0029]
Therefore, it is not necessary to assemble the three members with each other, and it is only necessary to assemble a unitized one, so that the handling and assembling operations are extremely simple. Furthermore, grease can be applied to each portion in a unit state. Furthermore, there is also an advantage that there is no poor assembly, such as a de-idal, which is likely to occur when the speed ratio is large, and where both gears are assembled in a state where the meshing between the inner teeth and the outer teeth is shifted by one.
[Brief description of the drawings]
FIG. 1 is a schematic cross-sectional view of a unit-type flexibly meshing gear device to which the present invention is applied.
2A is a partially enlarged sectional view showing an engaging portion in the apparatus of FIG. 1, and FIG. 2B is a partially enlarged sectional view showing a modified example thereof.
FIG. 3 is a schematic sectional view of another unit-type flexibly meshing gear device to which the present invention is applied.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Unit type bending meshing gear apparatus 2 Rigid internal gear 26 Annular groove | channel (1st annular engaging part)
3 flexible external gear 33b annular groove (third annular engagement portion)
33c Fastening bolt insertion hole 35 Reinforcing plate 35a Tap hole 4 Wave generator 5 Connection member 53 Annular projection (second annular engagement portion)
54 annular protrusion (fourth annular engagement portion)
6 Supporting portion 27 Annular plate portion 62 Ball bearing 63 Inner ring receiver 64 Outer ring receiver

Claims (8)

An annular rigid internal gear, a flexible external gear concentrically disposed on the inner side thereof, and a concentrically disposed inner gear on the inner side, and flexibly bending the flexible external gear in the radial direction to achieve the rigidity. By partially meshing with the internal gear and moving these meshing positions in the circumferential direction, relative rotation according to the difference in the number of teeth of the rigid internal gear and the flexible external gear is achieved. In a flexibly meshing gear device having a wave generator generated between the two gears,
A connecting member that connects the rigid internal gear and the flexible external gear in a device axial direction so as to be relatively rotatable ;
A first annular engagement portion formed on the rigid internal gear;
A second annular engagement portion formed on the connecting member engaged with the first annular engagement portion;
A third annular engagement portion formed on the flexible external gear;
A fourth annular engagement portion formed on the connecting member engaged with the third annular engagement portion,
At least one of the engagement state between the first and second annular engagement portions and the engagement state between the third and fourth annular engagement portions is a circle. A unit-type flexibly meshing gear device characterized by being in an engaged state capable of sliding in a circumferential direction. In claim 1,
One of the first and second annular engaging portions is an annular protrusion, and the other is an annular groove into which the annular protrusion can be fitted,
One of the third and fourth annular engaging portions is an annular protrusion, and the other is an annular groove into which the annular protrusion can be fitted . In claim 2,
The first annular engagement portion of the rigid internal gear is formed on an annular inner peripheral surface adjacent to the internal teeth of the rigid internal gear,
The flexible external gear includes a cylindrical body, an annular diaphragm extending radially outward from one end of the body, an annular boss formed on the outer periphery of the diaphragm, and the body A top hat-like flexible external gear provided with external teeth formed on the outer peripheral surface on the other end side of the part,
A unit-type flexibly meshing gear device , wherein the third annular engaging portion is formed on an inner peripheral surface of the boss . In claim 2,
The first annular engagement portion of the rigid internal gear is formed on an annular inner peripheral surface adjacent to the internal teeth of the rigid internal gear,
The flexible external gear includes a cylindrical body, an annular diaphragm extending radially inward from one end of the body, a boss formed at the center of the annular diaphragm , A cup-shaped flexible external gear provided with external teeth formed on the outer peripheral surface on the other end side,
The unit-type flexibly meshing gear device , wherein the third annular engagement portion is formed on an outer peripheral surface of the boss projecting outward from the annular diaphragm . In claim 4,
A unit type flexibly meshing gear device , wherein a plurality of tap holes are concentrically formed around the device axis in the boss . In claim 5,
An insertion hole for a fastening bolt is formed in the boss instead of a tap hole, a reinforcing plate is fastened and fixed to the inner end surface of the boss, and a tap hole is formed in a portion corresponding to the insertion hole in the reinforcing plate. and unit type flexible meshing type gear device characterized in that is. In any one of claims 3 to 6,
The rigid internal gear includes a support portion that supports the wave generator so that the wave generator is rotatable and does not move in the apparatus axial direction . In claim 7,
The support portion includes an annular plate portion extending inward in the radial direction from a position adjacent to the opposite side of the first annular engagement portion with respect to the internal teeth of the rigid internal gear,
The wave generator comprises a shaft portion extending through a central opening of the annular plate portion;
The support portion further includes a bearing for rotatably supporting the shaft portion by the annular plate portion, and a restraining member for restraining movement of the shaft portion in the apparatus axial direction. Die-type meshing gear device.

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