JP5736301B2 - Rotating part structure - Google Patents

Description

The present invention relates to a rotary unit structure.

  A flexure meshing gear device disclosed in Patent Document 1 includes a vibrating body, and a cylindrical external gear having flexibility that is arranged on the outer periphery of the vibrating body and is bent and deformed by rotation of the vibrating body. And a first internal gear having a number of teeth larger than the number of teeth of the external gear and having a rigidity with which the external gear is inscribed and meshed, and a number of teeth equal to the number of teeth of the external gear A second internal gear that is provided in parallel with the first internal gear and has rigidity to be in mesh with the external gear.

JP 2009-299765 A

  However, in order to incorporate the flexibly meshing gear device described in Patent Document 1 into the device to be driven, a space for assembling work is required inside and outside the device to be driven, and the work efficiency of the assembling work is poor.

The present invention has been made to solve the above problems, it aims to provide a rotary unit structures improve the incorporation of the driven device is capable of flexing meshing type gear device And

According to the present invention, a vibrating body is disposed between the first member and the second member, and the outer surface of the cylindrical body having flexibility that is disposed on the outer periphery of the vibrating body and is bent and deformed by the rotation of the vibrating body. A toothed gear, a first internal gear fixed to the first member and having rigidity with which the external gear meshes internally, and fixed to the second member and aligned with the first internal gear. A rotating meshing structure in which a flexure-meshing gear device provided with a second internal gear having rigidity to be inwardly meshed with the external gear is arranged to relatively rotate the first and second members The first and second internal gears are fixed to the first and second members from the same direction in the axial direction of the external gear, and the first and second internal gears The internal gear on the back side in the direction of fixing the first and second internal gears of the tooth gear has a small-diameter portion having a smaller outer diameter than the internal gear on the near side, A large-diameter portion having a larger outer diameter than the front-side internal gear, and a fixing member for fixing the back-side internal gear is disposed in the large-diameter portion, and the front-side internal gear is The extending portion extends toward the internal gear on the back side, and the extending portion and the small diameter portion overlap each other when viewed from the radial direction, and are sandwiched between the extending portion and the small diameter portion. Since the space is a lubricant reservoir that can hold the lubricant , the problem is solved.

  Conventionally, as shown in FIG. 8, when the flexure meshing gear device 10 is incorporated in a drive target device and the rotating portion structure 50 is assembled, the arrow inside and outside the drive target device is, for example, in the axial direction O. It was necessary to insert the bolts 56 and 58 from both directions indicated by. Then, the first and second internal gears 30A and 30B had to be fixed to the first and second members 52 and 54, respectively, by tightening the bolts 56 and 58 from both directions.

  Therefore, the present invention changes the viewpoint from the conventional one, and for example, the mounting direction of a fixing member such as a bolt is the same direction with respect to the first and second internal gears. That is, in the present invention, the first and second internal gears are fixed to the first and second members from the same direction in the axial direction of the external gear. For this reason, the work space conventionally required on both sides in the axial direction can be made only on one side and can be fixed from one direction. Note that “the first and second internal gears are fixed to the first and second members from the same direction in the axial direction of the external gear” means that each fixing operation is an axis. This means that the structure is possible from the same direction, and the axial direction of the fixing member does not need to coincide with the axial direction of the external gear, and the fixing member to the first member and the second member It is not necessary that the axial directions of the fixing members coincide.

  ADVANTAGE OF THE INVENTION According to this invention, the improvement of the incorporating property to the drive object apparatus of a bending meshing type gear apparatus is attained.

The disassembled perspective view which shows an example of the bending meshing type gear apparatus which comprises the rotation part structure which concerns on 1st Embodiment of this invention. Sectional drawing which similarly shows an example of a bending meshing type gear apparatus A front view (A) and a sectional view (B) showing the vibration generating body of the flexibly meshing gear device. Sectional drawing similarly showing the rotating part structure Schematic diagrams (A) to (D) showing the procedure for incorporating the flexure meshing gear device into the device to be driven. Sectional drawing (A) which shows each of the rotation part structure which concerns on 2nd, 3rd embodiment of this invention, (B) Sectional drawing which shows the rotation part structure which concerns on 4th Embodiment of this invention. Sectional drawing which shows the rotation part structure which concerns on a prior art

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

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

  As shown in FIGS. 1 to 5, the rotating part structure 150 includes a flexible meshing gear device 100 between a first arm 152 (first member) and a second arm 154 (second member) of the robot. Arranged, the first and second arms 152 and 154 of the robot are rotated relative to each other. The flexibly meshing gear device 100 includes a vibrating body 104 and cylindrical external gears 120A and 120B having flexibility that is arranged on the outer periphery of the vibrating body 104 and is bent and deformed by the rotation of the vibrating body 104. (120), and a rigid reduction internal gear 130A (first internal gear) and an output internal gear 130B (second internal gear) having rigidity. Here, the internal gear 130A for deceleration is fixed to the first arm 152, and the external gear 120A is in mesh with the internal gear. The output internal gear 130B is fixed to the second arm 154, and is juxtaposed with the reduction internal gear 130A and internally meshes with the external gear 120B. The reduction internal gears and the output internal gears 130A and 130B are fixed to the first and second arms 152 and 154 from the same direction in the axial direction O (left side in FIG. 4). The reduction internal gear 130A and the output internal gear 130B are also simply referred to as an internal gear 130.

  Hereinafter, first, each component of the flexure meshing gear device 100 will be described in detail.

  As shown in FIGS. 2 and 3, the vibrating body 104 has a substantially columnar shape. More specifically, the vibrating body 104 has a meshing range FA with a constant curvature radius r1 centered on an eccentric position (eccentricity L), and has a shape in which a plurality of curvature radii are combined. The vibrating body 104 is configured to realize a meshing state between the external gears 120A and 120B, the reduction internal gear 130A, and the output internal gear 130B in the meshing range FA. The vibration body 104 is formed with a hollow portion 106 (in this case, an input shaft hole) into which an input shaft (not shown) is inserted. The hollow portion 106 is provided with a key groove 108 so that the vibrating body 104 rotates integrally with the input shaft when the input shaft is inserted and rotated.

  As illustrated in FIGS. 1 and 2, the vibration body bearing 110 is a bearing disposed between the outside of the vibration body 104 and the inside of the external gear 120. As shown in FIG. 2, the vibrator bearing 110A (110B) includes an inner ring 112, a cage 114A (114B), rollers 116A (116B) as rolling elements, and an outer ring 118A (118B). The inner ring 112 is integrated with the vibration body bearings 110A and 110B, is disposed in contact with the outer periphery of the vibration body 104, and is in contact with the rollers 116A and 116B. The rollers 116A (116B) are rotatably held by the cage 114A (114B). The rollers 116A (116B) may have a cylindrical shape and include a needle shape. A ball may be used as the rolling element. The outer ring 118A (118B) is disposed outside the rollers 116A (116B). The outer ring 118A (118B) is bent and deformed by the rotation of the vibrating body 104, and deforms the external gear 120A (120B) disposed outside the outer ring 118A (118B).

  As shown in FIGS. 1 and 2, the external gear 120 includes a base member 122 and external teeth 124 and has a cylindrical shape. The base member 122 is a flexible cylindrical member and is disposed outside the vibration body bearing 110. That is, the external gear 120 is rotatably supported by the rolling element of the vibration body bearing 110. As shown in FIG. 2, the external teeth 124 (124 </ b> A, 124 </ b> B) are divided in the axial direction O, but the base member 122 that supports each is integrated and shared. The tooth profile of the external tooth 124 is determined based on the trochoid curve so as to realize theoretical meshing.

  The reduction internal gear 130A is formed of a rigid member, as shown in FIG. The internal gear 130A for reduction has a number of teeth that is i (i = 2, 4,...) Greater than the number of teeth of the external teeth 124A of the external gear 120A. The internal gear 130A for speed reduction is provided with a bolt hole 132A (a fixing portion) (which enables the bolt 156 to be disposed). The bolt hole 132A has a bolt (fixing member) 156 for fixing the reduction internal gear 130A to a surface facing the output internal gear 130B in the axial direction O, that is, a surface facing the direction in which the bolt 156 is inserted. A counterbore (recess) 132AA for receiving the bolt head is provided. The reduction internal gear 130A contributes to the reduction of the rotation of the vibration generator 104 by meshing with the external gear 120A. The internal teeth 128A of the reduction internal gear 130A are shaped so as to theoretically mesh with the external teeth 124A based on the trochoid curve.

  On the other hand, as shown in FIG. 2, the output internal gear 130B is also formed of a rigid member, like the reduction internal gear 130A. The output internal gear 130B has the same number of teeth of the internal teeth 128B as the number of teeth of the external teeth 124B of the external gear 120B (constant speed transmission). The output internal gear 130B is also provided with a bolt hole 132B (fixing portion) (which enables the bolt 158 to be disposed).

  Next, the rotating part structure 150 will be described with reference to FIG.

  The rotating portion structure 150 includes first and second arms 152 and 154 of a robot fixed to the flexure meshing gear device 100. The internal gear 130A for reduction is fixed to the first arm 152 from the left side of FIG. Further, the output internal gear 130B is fixed to the second arm 154 from the same direction (from the left side in FIG. 4) as the reduction internal gear 130A is fixed to the first arm 152 by the bolt 158. . The second arm 154 is rotatably supported by the first arm 152 via the main bearing 142. The rotating part structure 150 constitutes a robot arm, for example. At that time, a pulley (not shown) to which rotation from a motor (not shown) is transmitted is arranged inside the first arm 152, and the shaft of the pulley is inserted and fixed to the vibration generator 104 as an input shaft.

  Next, an example of a method for assembling the rotating part structure 150 will be described with reference to FIG.

  First, the output internal gear 130B with the external gear 120 fitted therein is fastened and fixed to the second arm 154 from the left side of FIG. 5 with the bolt 158 in a state separated from the reduction internal gear 130A. (FIG. 5A). The fixing direction by tightening the bolt 158 from the left side of FIG. 5 is such that the reduction internal gear 130A (to the first arm 152) is bolted (to the first arm 152) in a state after the rotating portion structure 150 is assembled (described below). The direction is the same as that fixed by 156.

  Next, the reduction internal gear 130A is fastened and fixed to the first arm 152 from the left side of FIG. At this time, the main bearing 142 is attached to the first arm 152 (FIG. 5B). At this stage, since the first arm 152 and the second arm 154 are separated, the bolt 156 can be fixed not only from the left side in FIG. 5 but also from any direction (bolt 158). But the same). Further, the direction in which the internal gear 130A for deceleration is fixed in the same direction as the bolt 156 in the state after the rotating part structure 150 is assembled is the first arm 152 and the second arm 154. Are assembled in a state in which they can be rotated relative to each other via the flexibly meshing gear device 100, and the direction in which the reduction internal gear 130A is fixed to the first arm 152 by the bolt 156 and the output That is, the direction in which the internal gear 130B is fixed to the second arm 154 by the bolt 158 is the same. In the present embodiment, the output internal gear 130B is fixed to the second arm 154 with the external gear 120 fitted in the output internal gear 130B. After fixing the output internal gear, the external gear may be fitted into the output internal gear.

  Next, the first arm 152 and the second arm 154 are brought closer to each other so that the internal gear 130A for reduction and the external gear 120 are in a predetermined positional relationship (FIG. 5C). Then, the external gear 120 fitted in the output internal gear 130B is fitted in the reduction internal gear 130A fixed to the first arm 152, and the positions of the external gears 120A are adjusted. The assembly of the body 150 is completed (FIG. 5D). At this time, the direction in which the second arm 154 approaches the first arm 152 and the direction in which the external gear 120 is fitted into the internal gear 130 </ b> A for deceleration are the The direction is the same direction as that fixed to the arm 152 (the direction from the left side in FIG. 5).

  In this embodiment, the output internal gear 130B is first fixed to the second arm 154, and then the reduction internal gear 130A is fixed to the first arm 152. However, this fixing order is reversed. Also good. In the present embodiment, the external gear 120 fitted in the output internal gear 130B is fitted in the reduction internal gear 130A fixed to the first arm 152. The external gear fitted inside the tooth gear may be fitted inside the output internal gear fixed to the second arm. In that case, the output internal gear with the external gear fitted therein may be fixed to the second arm, or after the output internal gear is fixed to the second arm, the external gear is fixed. You may fit in the internal gear for output. Alternatively, by assembling the first arm and the second arm accurately, the internal gear for speed reduction and the internal gear for output are arranged side by side, and the external gear is internally fitted to both internal gears simultaneously. You may let them.

  Next, the operation of the rotating part structure 150 will be described with reference to FIGS.

  When the vibration generator 104 is rotated by rotation of an input shaft (not shown), the external gear 120 is bent and deformed via the vibration generator bearing 110 according to the rotation state (that is, the external gear 120B is external gear). It bends and deforms in the same phase as 120A).

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

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

  Since both the external gear 120B and the output internal gear 130B have the same number of teeth, the external gear 120B and the output internal gear 130B do not move with each other, and the same teeth can move. Will be engaged. For this reason, the same rotation as the rotation of the external gear 120B is output from the output internal gear 130B. As a result, from the second arm 154 of the output internal gear 130B, the rotation of the vibration generator 104 is caused by the reduction internal gear 130A relative to the first arm 152 to which the reduction internal gear 130A is fixed. The output decelerated based on the reduction ratio can be taken out.

  As described above, in this embodiment, the bolts 156 and 158 are attached in the same direction with respect to the reduction internal gear and the output internal gears 130A and 130B. That is, the internal gears for reduction and the internal gears for output 130A and 130B are fixed to the first and second arms 152 and 154 in the same direction (left side) in the axial direction O, respectively. For this reason, the work space conventionally required on both sides in the axial direction O can be made only on one side and can be fixed from one direction.

  Further, a counterbore that accommodates a bolt 156 that fixes the internal gear for reduction 130A in the internal gear for reduction 130A on the surfaces of the internal gear for reduction and the internal gears for output 130A and 130B facing each other in the axial direction O. 132AA is provided. For this reason, it is not necessary to enlarge any of the outer diameters of the internal gear for reduction and the internal gears for output 130A and 130B than the other, and the rotating part structure 150 can be kept compact.

  Further, the vibrator 104 has a hollow portion 106, that is, has a hollow structure. For this reason, an input shaft can be inserted there, and it can be set as the compact rotation part structure 150. FIG. Further, it is possible to pass wiring or the like through the hollow portion, and when the rotating portion structure 150 is a robot arm as in this embodiment, the movable range can be prevented from being hindered.

  That is, in the present embodiment, it is possible to improve the assemblability of the flexure meshing gear device 100 into a robot that is a device to be driven.

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

  For example, in the first embodiment, the counterbore 132AA is provided in the internal gear 130A for reduction, but the present invention is not limited to this. For example, when the bolt is fastened and fixed from the direction opposite to the direction of the present embodiment, the output internal gear is positioned on the back side in the fixing direction. In this case, the counterbore accommodates a bolt for fixing the output internal gear in the output internal gear on the surfaces of the internal gear for reduction and the internal gear for output facing each other in the axial direction O. Will be provided.

  In the first embodiment, the outer diameters of the reduction internal gear and the output internal gears 130A and 130B are substantially the same, but the present invention is not limited to this. For example, it may be as in the second embodiment shown in FIG.

  In the second embodiment, among the reduction internal gears and the output internal gears 230A and 230B, the direction in which the reduction internal gears and the output internal gears 230A and 230B are fixed (left in FIG. 6A). To the right), the outer diameter of the inner gear (reduction internal gear 230A) on the back side is larger than the outer diameter of the inner gear (output internal gear 230B) on the front side. Is formed, and a fixing member for fixing the internal gear 230A for deceleration on the back side is arranged in the large diameter portion 230AA. That is, a bolt hole 232A (fixing portion) is provided in which the bolt 256 for fixing the first arm 252 can be disposed on the large-diameter portion 230AA of the internal gear 230A for reduction.

  Therefore, it is not necessary to separate the reduction internal gear 230A and the output internal gear 230B in advance when fixing the reduction internal gear 230A to the first arm 252. That is, in assembling the rotating part structure 250, the adjustment work of the reduction internal gear 230A and the external gear 220 can be reduced. When there is a reduction internal gear on the front side and an output internal gear on the back side, the outer diameter of the output internal gear is made larger than the outer diameter of the reduction internal gear, A bolt hole that allows a bolt for fixing the second arm to be disposed in a portion of the internal gear for output that is larger than the internal gear for deceleration in the direction may be provided.

  In the second embodiment, the surfaces facing each other of the internal gear for reduction and the internal gears 230A and 230B for output in the axial direction O are not specially shaped, but the present invention is not limited to this. . For example, it may be as in the third embodiment shown in FIG.

  In the third embodiment, the external gear 320, the reduction internal gear, the output internal gear 330A, and the output internal gear 330A, 330B face each other in the axial direction O. 330B and a lubricant reservoir Os that can hold a lubricant that lubricates the main bearing 342 is provided. As a specific example of the lubricant reservoir Os, as shown in FIG. 6B, the outer peripheral side of the reduction internal gear 330A is made thinner than in FIG. 6A, and the outermost peripheral of the output internal gear 330B. The portion may be extended toward the internal gear for speed reduction.

  Therefore, the lubricant can be continuously supplied when the external gear 320 is engaged with the reduction internal gear and the output internal gears 330A and 330B, and the long life of the flexibly meshing gear device can be achieved.

  Moreover, in the said embodiment, although it was the type (component type) by which a main bearing is arrange | positioned on the outer side of a bending meshing type gear apparatus, this invention is not limited to this. For example, it may be as in the fourth embodiment shown in FIG.

  In the fourth embodiment, a case of a unit type flexure meshing gear device 400 including a main bearing 442 is shown. Oil seals 445 and 446 are disposed at both ends of the vibration generator 404 in the axial direction O, and bearings 440 and 441 are disposed inside the adjacent ones. A front cover 434 and a rear cover 438 are disposed outside the bearings 440 and 441 in the radial direction of the external gear 420, respectively. The front cover 434 is fixed to the reduction gear 430A with a bolt (not shown). The rear cover 438 is also fixed to the output internal gear 430B with a bolt (not shown). Note that an intermediate cover 436 is fixed to the reduction internal gear 430A with a bolt (not shown) so as to sandwich the main bearing 442 with respect to the output internal gear 430B from the outside in the radial direction. An oil seal 444 is disposed on the left side in the axial direction O with respect to the main bearing 442. The middle cover and the rear cover 436, 438 are respectively provided with bolt holes 436A, 438A that coincide with the bolt holes 432A, 432B of the reduction internal gears and the output internal gears 430A, 430B. Note that, as shown in the third embodiment, the symbol Os is a lubricant reservoir provided between the opposing surfaces of the reduction internal gear and the output internal gears 430A and 430B in the axial direction O. . Moreover, the code | symbol Dt has shown the dent for arrange | positioning oil seal members, such as an O ring.

  In the fourth embodiment, since it is a unit-type flexibly meshing gear device 400, the internal gear for reduction and the internal gears for output 430A, 430B are respectively connected from the same direction without worrying about the arrangement of the main bearing and oil leakage. The bolts 456 and 458 can be fixed to the first and second arms 452 and 454 (the rotating part structure 450 can be easily assembled). In addition, since an input shaft (not shown) is connected to the vibrator 404 with the bolt hole 404A only at the outer peripheral portion of the hollow portion 406, wiring or the like can be passed through the hollow portion 406.

  Moreover, in the said embodiment, although the axial direction of the volt | bolt (fixing member) and the axial direction O of the external gear corresponded, this invention is not limited to this. In the present invention, the first and second internal gears are fixed to the first and second members from the same direction in the axial direction O of the external gear. In other words, it means that each fixing work can be performed in the same direction in the axial direction O. For this reason, the axial direction of the fixing member does not need to coincide with the axial direction O of the external gear, and the axial direction of the fixing member to the first member and the fixing member to the second member also need to coincide. Absent.

  Moreover, in the said embodiment, although the vibrator provided the hollow part in all, this invention is not limited to this, A hollow part does not need to be.

  In the above embodiment, the device to be driven is a robot, and the first and second members are the first and second arms of the robot. However, the present invention is not limited to this, and the device to be driven is provided. The two members that rotate relative to each other can be used as the first and second members.

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

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

10, 100, 200, 300, 400 ... flexure meshing gear devices 30A, 130A, 230A, 330A, 430A ... internal gears for reduction 30B, 130B, 230B, 330B, 430B ... internal gears for output 42, 142, 242, 342, 442 ... main bearings 50, 150, 250, 350, 450 ... rotating part structure 52, 152, 252, 352, 452 ... first arm of the robot 54, 154, 254, 354, 454 ... 2 arms 56, 58, 156, 158, 256, 258, 356, 358, 456, 458 ... bolt (fixing member)
104, 204, 304, 404 ... exciter 106, 206, 306, 406 ... hollow part 110, 110A, 110B, 210, 310, 410 ... exciter bearing 112 ... inner ring 114A, 114B ... retainer 116A, 116B ... Rollers 118A, 118B ... Outer rings 120, 120A, 120B, 220, 320, 420 ... External gears 122 ... Base members 124, 124A, 124B ... External teeth 128, 128A, 128B ... Internal teeth 130 ... Internal gears 132A, 132B, 232A, 232B, 332A, 332B, 432A, 432B, 436A, 438A ... Bolt hole (fixed part)
132AA ... Counterbore (recess)
230AA, 330AA ... large diameter portion 434 ... front cover 436 ... middle cover 438 ... back cover 440,441 ... bearings 444-446 ... oil seal

Claims (1)

An exciter, between the first member and the second member, and a cylindrical external gear having flexibility that is disposed on the outer periphery of the exciter and is bent and deformed by rotation of the exciter A first internal gear fixed to the first member and having a rigidity with which the external gear meshes internally, and fixed to the second member and parallel to the first internal gear. A rotating mesh structure is provided that includes a flexure-meshing gear device having a second internal gear having rigidity to be internally meshed with an external gear, and relatively rotates the first and second members. And
The fixing of the first and second internal gears to the first and second members is performed in the same direction in the axial direction of the external gear ,
Of the first and second internal gears, the inner gear on the back side in the direction of fixing the first and second internal gears has a small-diameter portion having a smaller outer diameter than the internal gear on the near side, A large diameter portion having a larger outer diameter than the internal gear on the front side, and
A fixing member for fixing the inner gear on the back side is disposed in the large diameter portion,
The front-side internal gear has an extending portion that extends toward the back-side internal gear,
The extending portion and the small diameter portion overlap each other when viewed from the radial direction,
A rotating part structure characterized in that a space sandwiched between the extending part and the small diameter part is a lubricant reservoir capable of holding a lubricant .

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