JP6031385B2 - Bending gear system - Google Patents

Description

  The present invention relates to a flexure meshing gear device.

  Patent Document 1 discloses a vibrating body, a cylindrical external gear that is arranged on the outer periphery of the vibrating body and is flexible and deformed by the rotation of the vibrating body, and the external gear and the internal gear. A flexure meshing system comprising: a first internal gear having rigidity for intermeshing engagement; and a second internal gear having rigidity for intermeshing engagement with the external gear, which is provided in parallel with the first internal gear. A gear device is disclosed. In such a flexure meshing gear device, a vibration body bearing is disposed between the vibration body and the external gear, and a lubricant is supplied to the vibration body bearing.

JP 2011-158072 A

  When a flexure-meshing gear device as shown in Patent Document 1 performs a rotation operation, the lubricant supplied to the vibration body bearing moves radially outward by centrifugal force. As a result, the lubricant does not sufficiently return to the inside of the vibration body bearing even when the rotational movement stops from the outer ring of the vibration body bearing and stops rotating. That is, the rotational movement of the flexure meshing gear device reduces the amount of lubricant remaining in the vibration body bearing, which may cause the lubricant to run out in the vibration body bearing.

  Therefore, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a flexibly meshing gear device that can prevent the lubricant from running out in the vibrator bearing.

The present invention relates to a vibrating body, a cylindrical external gear that is arranged on the outer periphery of the vibrating body and is flexible and deformed by the rotation of the vibrating body, and the external gear. A flexure meshing type comprising: a first internal gear having rigidity for meshing; and a second internal gear having rigidity disposed in parallel with the external gear and arranged in parallel with the first internal gear. In the gear device, the vibration body bearing disposed between the vibration body and the external gear includes a first roller train corresponding to the first internal gear and a first roller train corresponding to the first roller train . A first outer ring, a second roller row corresponding to the second internal gear, and a second outer ring corresponding to the second roller row and formed as a separate member from the first outer ring, and the vibrator there the inner periphery of the outer ring portion of the bearing have a recess between the first roller rows and the second roller rows, wherein the inner periphery of the first outer ring, a first track region in contact with said first roller And the axis A first large-diameter portion having an inner diameter larger than that of the first track region provided at the opposite end, and an inner periphery of the second outer ring is in contact with the second roller, A second large-diameter portion having an inner diameter larger than that of the second orbital region provided at the end portion in the axial direction, and arranging the first large-diameter portion and the second large-diameter portion facing each other. the Rukoto said recess is configured, is obtained by solving the above problems.

  That is, in the present invention, the inner periphery of the outer ring portion of the vibration body bearing has a concave portion between the first roller row and the second roller row. That is, due to the rotational operation, the lubricant supplied to the vibration body bearing moves radially outward by centrifugal force, and a corresponding amount of lubricant flows into the recess of the outer ring portion and is held. For this reason, when the rotation operation stops, the lubricant held in the concave portion is released from the centrifugal force, flows out of the concave portion, diffuses, and can lubricate the first roller row and the second roller row again.

  According to the present invention, it is possible to prevent the lubricant from running out in the vibrator bearing.

The perspective view which shows an example of the whole structure of the bending meshing gear apparatus which concerns on embodiment of this invention. Sectional view including the axis of FIG. Sectional drawing of the vibration body and vibration body bearing along the arrow III-III line of FIG. Enlarged view of the vibrator bearing shown in FIG. Schematic diagram for explaining the movement of the lubricant in the vibrator bearing of FIG. 4 (before rotation operation (A), during rotation operation (B), after rotation operation (C)) The schematic diagram for demonstrating the modification of the recessed part provided in the outer ring | wheel of the vibration body bearing of FIG. Schematic diagram for explaining the movement of the lubricant in the vibrator bearing in the state where there is no recess in the outer ring (before rotation operation (A), rotation operation initial stage (B), after rotation operation initial stage (C), after rotation operation (D))

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

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

  As shown in FIGS. 1 and 2, the flexure meshing gear device 100 has a flexible structure 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. A cylindrical external gear 120, a reduction internal gear (first internal gear) 130 </ b> A having rigidity to be internally meshed with the external gear 120, and an external gear 120 attached to the reduction internal gear 130 </ b> A. And an output internal gear (second internal gear) 130 </ b> B having a rigidity for intermeshing with the internal gear. Here, the vibration body bearing 110 disposed between the vibration body 104 and the external gear 120 includes a roller (first roller train) 116A corresponding to the reduction internal gear 130A, and an output internal gear. And a roller (second roller row) 116B corresponding to 130B. And it has the recessed part 117 between the inner periphery of the outer ring | wheels (outer ring | wheel part) 118A, 118B of the vibration body bearing 110, and between the rollers 116A and 116B.

  Hereinafter, each component will be described in detail.

  As shown in FIGS. 2 and 3, the vibrator 104 has a substantially columnar shape with a non-circular cross section, and an input shaft hole 106 into which an input shaft (not shown) is inserted is formed at the center. In the short shaft Y portion of the vibrator 104 shown in FIG. 3, a gap is generated between the external gear 120 and the internal gears 130 (130A, 130B), and a non-engagement state is realized. On the other hand, the meshing state of the external gear 120 and the internal gear 130 is realized in the long axis X portion of the vibration body 104. A keyway 108 is provided in the input shaft hole 106 so that the vibrator 104 rotates integrally with the input shaft when the input shaft is inserted and rotated.

  As shown in FIG. 1, two vibration body bearings 110 (110A, 110B) are arranged side by side in the axial direction O. The vibration body bearing 110 is a bearing disposed between the vibration body 104 and the external gear 120. The vibration body bearings 110A and 110B have the same configuration, and the inner ring (inner ring portion) 112 is common to both. For this reason, below, the vibration body bearing 110A is demonstrated and description about the vibration body bearing 110B is abbreviate | omitted fundamentally.

  As shown in FIGS. 1 to 4, the vibration body bearing 110 </ b> A includes an inner ring 112, a retainer 114 </ b> A, a roller 116 </ b> A as a rolling element, and an outer ring (outer ring portion) 118 </ b> A.

  The inner ring 112 is made of a flexible material. The inner ring 112 is disposed on the side of the vibrating body 104, the inner peripheral surface of the inner ring 112 is in contact with the vibrating body 104, and the inner ring 112 rotates integrally with the vibrating body 104. The retainer 114A accommodates the roller 116A and regulates the position and posture in the circumferential direction of the roller 116A.

  The roller 116A has a cylindrical shape (including a needle shape). For this reason, compared with the case where a rolling element is a ball | bowl, the part which the roller 116A contacts with the inner ring | wheel 112 and the outer ring | wheel 118A is increased. That is, by using the rollers 116A, the transmission torque of the vibration body bearing 110A can be increased and the life can be extended. Note that the plurality of rollers 116A are plural and are arranged at regular intervals in the circumferential direction by the retainer 114A, and are also referred to as the first roller row 116A (the same applies to the second roller row 116B). Further, both the rollers 116A and 116B are formed in a single row in the axial direction O, but each may be formed of two or more rows.

  The outer ring 118A is disposed on the outer periphery of the roller 116A and the retainer 114A. The outer ring 118A is also formed of a flexible material. The outer ring 118 </ b> A is bent and deformed by the rotation of the vibration generator 104 together with the external gear 120 </ b> A disposed on the outer periphery thereof. That is, the vibration body bearing 110A is disposed on the radially inner side corresponding to the external gear 120A (the vibration body bearing 110B is also the same).

  As shown in FIG. 4, the outer ring 118 </ b> A is flat from the raceway region (rolling region) 118 </ b> AB that can contact the roller 116 </ b> A on the inner periphery to the outer end in the axial direction O. In other words, it does not have a portion having an inner diameter smaller than that of the track region 118AB outside the track region 118AB in the axial direction O (not necessarily such a shape. May be formed). Further, an inclined end portion 118AA inclined at a substantially constant angle with respect to the axial direction O is provided on the inner peripheral side of the inner end portion in the axial direction O (the outer ring 118B has the same configuration). Normally, chamfered portions are provided at the inner end portion and the outer end portion in the axial direction O of the outer ring, but the inclined end portion 118AA has a shape different from that of the chamfered portion. The inclined end portion 118AA may have a similar shape to the chamfered portion, but the size (notch amount) is actually larger than the chamfered portion. Thus, even if the inclined end portion 118AA is similar to the chamfered portion but has a different size, the inclined end portion 118AA has a “different shape” from the chamfered portion.

  The inclined end portions 118AA and 118BA face each other, so that the inner periphery of the outer ring 118 (118A and 118B) of the vibration body bearing 110 is provided with a recess 117 between the rollers 116A and 116B. The recess 117 has a triangular O-section in the axial direction when the opening side (inner side in the radial direction) is the base. Here, the cross section in the axial direction O refers to a cross section obtained by cutting along a plane including the shaft center (axial center line) O of the vibration body bearing 110, that is, a section including the axial center line O. The maximum depth in the radial direction of the recess 117 corresponding to the triangular height is set to 1/4 or more, more preferably 1/2 or more, of the radial thickness of the outer ring 118A. The bottom length L2 may be equal to or greater than the diameter of the rollers 116A and 116B, but is shorter than the distance L1 between the rollers 116A and 116B (L1> L2). That is, the inclined end portion 118AA (118BA) is provided on the outer ring 118A (118B) without reducing the track region 118AB (118BB) of the outer ring 118A (118B). In other words, the recess 117 is formed so as not to overlap the rollers 116A and 116B in the radial direction. The recess 117 is provided in a ring shape over the entire circumference of the outer ring 118. Lubricant GR such as grease is supplied to the vibration body bearing 110.

  As shown in FIGS. 1 and 2, the external gear 120 </ b> A meshes internally with a reduction internal gear 130 </ b> A. That is, the external gear 120A is a portion of the external gear 120 that is in mesh with the internal gear 130A for reduction. The external gear 120A includes a base member 122 and external teeth 124A. The base member 122 is a flexible cylindrical member that supports the external teeth 124 </ b> A, is arranged on the outer periphery of the vibration body bearing 110, and is bent and deformed by the rotation of the vibration body 104. The tooth profile of the external tooth 124A is determined based on the trochoid curve so as to realize theoretical meshing.

  As shown in FIGS. 1 and 2, the external gear 120B meshes internally with the output internal gear 130B. That is, the external gear 120B is a portion of the external gear 120 that is in mesh with the output internal gear 130B. And the external gear 120B is comprised from the base member 122 and the external tooth 124B similarly to the external gear 120A. The external teeth 124B are configured in the same number and shape as the external teeth 124A. Here, the base member 122 supports the external teeth 124A and the external teeth 124B in common. For this reason, the eccentric amount of the vibrator 104 is transmitted to the external teeth 124A and the external teeth 124B in the same phase.

  As shown in FIGS. 1 and 2, the reduction internal gear 130 </ b> A and the output internal gear 130 </ b> B are arranged side by side in the axial direction O corresponding to the vibration body bearings 110 </ b> A and 110 </ b> B. The reduction internal gear 130A is formed of a rigid member. The reduction internal gear 130A includes internal teeth 128A whose number of teeth is i (i is 2 or more) greater than the number of external teeth 124A of the external gear 120A. The inner teeth 128A are shaped to theoretically mesh with the outer teeth 124A based on the trochoid curve (the inner teeth 128B are also the same). The internal gear 130A for deceleration reduces the rotation of the vibration generator 104 by meshing with the external gear 120A. The internal gear 130A for deceleration is fixed to a fixed wall (not shown) via a bolt hole 132A, for example.

  On the other hand, the output internal gear 130B is also formed of a rigid member, like the reduction internal gear 130A. The output internal gear 130B includes internal teeth 128B having the same number of teeth as the external teeth 124B of the external gear 120B. From the output internal gear 130B, the same rotation as the rotation of the external gear 120B is output to the outside. The output internal gear 130B is fixed to an output device (not shown) via a bolt hole 132B, for example.

  Next, the operation of the flexibly meshing gear device 100 will be described mainly with reference to FIGS.

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

  When the external gears 120A and 120B are bent and deformed by the vibrator 104, the external teeth 124A of the external gear 120A mesh with the internal teeth 128A of the reduction internal gear 130A. Similarly, the external teeth 124B of the external gear 120B mesh with the internal teeth 128B of the output internal gear 130B.

  At the time of meshing, a load (direction and size) different from that of the external teeth 124B is applied to the external teeth 124A. However, the vibrator bearings 110A and 110B, except for the inner ring 112, in the axial direction O, a portion for the external tooth 124A that meshes with the reduction internal gear 130A and the external tooth 124B that meshes with the output internal gear 130B. It is separated into parts. For this reason, each of the skew of the roller 116B caused by the meshing between the reduction internal gear 130A and the external tooth 124A, and the skew of the roller 116A caused by the meshing between the output internal gear 130B and the external tooth 124B, respectively. Is prevented.

  Since the rollers 116A and 116B have a cylindrical shape, the load resistance is large, and the life of the vibration generator bearings 110A and 110B can be extended and the transmission torque can be improved. At the same time, the cylindrical rollers 116A and 116B bend and deform the base member 122 of the external gears 120A and 120B in parallel to the axial direction O. For this reason, the vibration body bearings 110A and 110B extend the life of the outer teeth 124A and 124B and the inner teeth 128A and 128B, and maintain high torque transmission.

  The meshing position of the external gear 120 </ b> A and the reduction internal gear 130 </ b> A rotates as the long axis X portion of the vibration generator 104 moves. 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 internal gear 130A for reduction can be obtained by ((number of teeth of external gear 120A−number of teeth of internal gear 130A for reduction) / number of teeth of external gear 120A). The specific reduction ratio is ((100−102) / 100 = −1 / 50). Here, “−” indicates that the input / output is in a reverse rotation relationship.

  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, an output obtained by reducing the rotation of the vibrating body 104 to (−1/50) can be extracted from the output internal gear 130B.

  In the flexibly meshing gear device in which there is no recess in the outer ring of the vibration body bearing, there is a possibility that the lubricant GR of the vibration body bearings 10A and 10B may be cut off due to the rotation operation. This will be described with reference to FIG.

  As shown in FIG. 7A, in the initial state before the rotation operation, the lubricant GR is supplied to the rollers 16A and 16B, and the lubricant GR stays on the vibrator bearings 10A and 10B. When the rotation operation is started, as shown in FIG. 7B, the lubricant GR moves to the radially outer side (outer ring 18A, 18B side) and is pressed against the inner circumference of the outer ring 18A, 18B by centrifugal force. The lubricant GR near the ends of the vibration body bearings 10A and 10B is sequentially pushed out from the vibration body bearings 10A and 10B and flows out to the outside. In addition, the outflow of the lubricant GR is further promoted by the formation of the spiral processed stitches on the inner circumferences of the outer rings 18A and 18B. When the rotation operation is continued or the rotation operation is performed at a higher speed, the lubricant GR pressed against the inner periphery of the outer rings 18A and 18B has a thickness in the radial direction as shown in FIG. 7C. The thinned lubricant GR is pushed out from the vibrator bearings 10A and 10B and flows out to the outside. Thereafter, the rotational operation is stopped, but as shown in FIG. 7D, the lubricant GR once flowing out of the vibrator bearings 10A and 10B is sufficiently supplied to the vibrator bearings 10A and 10B. Never come back. As described above, as the rotational operation is performed, the lubricant GR held by the vibration body bearings 10A and 10B decreases, and as a result, the lubricant GR runs out.

  It is also conceivable that a ring-shaped recess is formed in the outer ring, and rollers (first roller array and second roller array) are disposed in the recess. In that case, the lubricant GR enters the concave portion by the rotating operation and the lubricant GR is retained, but the retained lubricant GR covers the raceway surface more than necessary, resulting in a large viscosity loss during the rotating operation. This may cause a loss in torque transmission.

  In contrast, in the present embodiment, a recess 117 is provided between the rollers 116A and 116B on the inner periphery of the outer ring 118 of the vibration body bearing 110. For this reason, the lubricant GR can be held in the recess 117. That is, as shown in FIG. 5A, in the initial state before the rotation operation, as described above, the lubricant GR is supplied to the rollers 116A and 116B, and the lubricant GR stays on the vibrator bearing 110. When the rotation operation is started, as shown in FIG. 5B, the lubricant GR moves to the outer side in the radial direction (outer rings 118A and 118B side) due to centrifugal force to the inner circumference of the outer rings 118A and 118B. The lubricant GR is pressed from the lubricant GR near the ends of the vibration body bearings 110A and 110B, and is sequentially pushed out from the vibration body bearings 110A and 110B and flows out to the outside. However, even if the lubricant GR supplied to the vibrator bearing 110 is moved radially outward by the centrifugal force by this rotational operation, a corresponding amount of the lubricant GR flows into the recess 117 of the outer ring 118. Will be held. Even if the rotation operation is continued or the rotation operation is performed at a higher speed, the lubricant GR is held up to the maximum capacity of the concave portion 117 of the outer ring 118, and the held lubricant GR is held for a long period of time. Is done. At the same time, since the lubricant GR is not configured to stay in the track regions 118AB and 118BB of the outer rings 118A and 118B, it is possible to prevent an increase in viscosity loss during the rotation operation. That is, the transmission torque loss is not increased. When the rotation operation stops, as shown in FIG. 5C, the lubricant GR held in the recess 117 is released from the centrifugal force, flows out from the recess 117 (in the axial direction O), and diffuses again. 116A and 116B can be lubricated.

  Further, in the present embodiment, the recess 117 is provided in a ring shape over the entire circumference of the outer ring 118. For this reason, a large amount of lubricant GR can be accommodated in the recess 117. In addition, coupled with the fact that the outer rings 118A and 118B are separated from each other, the recess 117 can be easily and accurately processed. However, the present invention is not limited to this, and the recess may not be provided in a ring shape over the entire circumference of the outer ring, and the outer ring is not divided, and the outer rings 118A and 118B may be integrated.

  Moreover, in this embodiment, the recessed part 117 is made into the triangle shape in the axial direction O cross section. For this reason, after the lubricant GR flows into the recess 117, when the rollers 116A and 116B are lubricated again, the lubricant GR held in the recess 117 is smoothly diffused from the recess 117 in the axial direction O without leaving any excess. be able to. At the same time, the ease of processing of the recess 117 can be ensured.

  Further, in the present embodiment, the concave portion 117 is formed so as not to overlap the roller 116A as the first roller row and the roller 116B as the second roller row in the radial direction. That is, since the recess 117 does not reduce the track regions 118AB and 118BB of the rollers 116A and 116B, the torque that can be transmitted by the rollers 116A and 116B is not reduced. However, the present invention is not limited to this, and the concave portion may overlap the first roller row and the second roller row as long as they are slightly in the radial direction.

  Therefore, in this embodiment, it is possible to prevent the lubricant GR from running out without increasing the loss of transmission torque.

  Although the present invention has been described with reference to the above embodiment, the present invention is not limited to the above 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 above embodiment, as shown in FIG. 6A, the recess 117 in the outer ring 118 of the vibration body bearing 110 has a triangular shape in the cross section in the axial direction O, but the present invention is not limited to this. For example, the outer ring of the vibration body bearing may be a modified example shown in FIG.

  For example, as shown in FIG. 6B, the recess 217 may have a quadrangular shape in the axial O cross section. In this case, the concave portion 217 can hold the amount of the lubricant GR most. Alternatively, the concave portion 317 has a trapezoidal shape (FIG. 6C) in the axial O cross section, and the concave portion 417 has a semicircular shape in the axial O cross section (FIG. There may be. In this case, the amount of the lubricant GR can be held correspondingly, and the lubricant GR held in the recesses 317 and 417 can be smoothly diffused from the recesses 317 and 417 in the axial direction O without leaving any excess. Further, the concave portion 517 may have a reverse arc shape (FIG. 6E) in which a quarter arc (not necessarily an arc having a constant curvature) is back-to-back in the axial O cross section. Also in this case, the lubricant GR held in the recess 517 can be smoothly diffused in the axial direction O from the recess 517.

  Moreover, in the said embodiment, although the vibration body bearing 110 had the inner ring | wheel 112 and the outer ring | wheel 118, this invention is not limited to this, The outer peripheral part of a vibration body may be made into the inner ring | wheel part. . Moreover, it is not necessary to have an outer ring, for example, the roller may directly support the external gear so as to be rotatable, and the inner peripheral portion of the external gear may be the outer ring portion.

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

  The present invention includes a vibration generator, a cylindrical external gear, first and second internal gears, and a vibration generator bearing includes a first roller train corresponding to the first internal gear, and a second internal gear. The present invention can be widely applied to a flexibly meshing gear device including a second roller train corresponding to a tooth gear.

10A, 10B, 110, 110A, 110B, 210A, 210B, 310A, 310B, 410A, 410B, 510A, 510B ... vibrator bearings 12, 112 ... inner rings 14A, 14B, 114A, 114B ... retainers 16A, 16B, 116A, 116B ... Roller (roller train)
18A, 18B, 118, 118A, 118B, 218A, 218B, 318A, 318B, 418A, 418B, 518A, 518B ... Outer ring 100 ... Flexible mesh gear device 104 ... Exciter 117,217,317,417,517 ... Recessed part 120, 120A, 120B ... external gear 122 ... base member 124, 124A, 124B ... external tooth 128, 128A, 128B ... internal tooth 130 ... internal gear 130A ... internal gear for reduction 130B ... internal gear for output GR ... Lubricant O ... Axial direction X ... Long axis of vibration body Y ... Short axis of vibration body

Claims (4)

A vibratory body, a cylindrical external gear that is arranged on the outer periphery of the vibrator and has a flexibility that is bent and deformed by the rotation of the vibrator, and a rigidity that meshes with the external gear. In a flexibly meshing gear device, comprising: a first internal gear having a first internal gear; and a second internal gear provided in parallel with the first internal gear and having a rigidity to mesh with the external gear.
A vibration body bearing disposed between the vibration body and the external gear includes a first roller train corresponding to the first internal gear, a first outer ring corresponding to the first roller train, A second roller row corresponding to the second internal gear, and a second outer ring corresponding to the second roller row and a separate member from the first outer ring ,
The have a concave between the first roller rows and the second roller rows there in the inner periphery of the outer ring portion of the force isolator bearings,
The inner periphery of the first outer ring has a first track region that contacts the first roller, and a first large-diameter portion having an inner diameter larger than that of the first track region provided at an axial end portion. ,
The inner periphery of the second outer ring has a second track region that contacts the second roller, and a second large diameter portion having an inner diameter larger than the second track region provided at an axial end portion. ,
The first large-diameter portion and said second meshing type gear device flexing said recess, characterized in that that consists by arranging face-to-face the large-diameter portion. In claim 1,
The first large diameter portion has the maximum inner diameter at the axial end edge of the first outer ring, and the second large diameter portion has the maximum inner diameter at the axial end edge of the second outer ring.
A flexure meshing gear device characterized by the above. In claim 1 or 2,
The first large diameter portion has an inner diameter that increases from the first track region side toward the axial end edge side, and the second large diameter portion extends from the second track region side toward the axial end edge side. The inner diameter is increased according to
A flexure meshing gear device characterized by the above. In any one of Claims 1 thru | or 3,
The maximum depth in the radial direction of the recess is not less than ½ of the radial thickness of the first outer ring and the second outer ring.
A flexure meshing gear device characterized by the above.

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