JP6175381B2 - Bending gear system - Google Patents

Description

  The present invention relates to a flexure meshing gear device.

  Patent Document 1 discloses a flexibly meshing gear device that includes a vibrator, an external gear that is flexibly deformed by rotation of the vibrator, and an internal gear that is internally meshed with the external gear. It is disclosed. In this flexure meshing gear device, the centering operation is reduced by connecting the drive shaft and the vibration generator with a joint member called Oldham coupling. In addition, Oldham coupling allows a misalignment between the drive shaft and the internal gear at the time of assembly (referred to as a misalignment of the shaft center of the internal gear) and allows it to deteriorate in performance and life. It can be prevented.

JP 60-241550 A

  However, the flexure meshing gear device disclosed in Patent Document 1 is provided with a bolt hole for fixing the internal gear. For this reason, the radial dimension of the flexure meshing gear device has to be increased.

  Therefore, the present invention has been made to solve the above-described problems, and it is possible to suppress an increase in the radial dimension while allowing a misalignment of the axis of the internal gear of the flexure meshing gear device. It is an object to provide a flexible meshing gear device.

The present invention relates to a flexure meshing gear device comprising a vibrator, an external gear that is flexibly deformed by rotation of the vibrator, and an internal gear that is internally meshed with the external gear. The internal gear and the support member to which the internal gear is connected are connected by a joint member that allows a radial displacement of the axial center of the internal gear, and the joint member includes the internal gear and the internal gear. The support member is a separate member, and the joint member and the internal gear are coupled so as to be relatively displaceable in a first radial direction, and the joint member and the support member are connected to the first direction. the Rukoto is relatively displaceably coupled to a second direction orthogonal to the radial direction, it is obtained by solving the above problems.
Alternatively, the present invention provides a flexibly meshing gear device comprising a vibrator, an external gear that is flexibly deformed by the rotation of the vibrator, and an internal gear that is internally meshed with the external gear. The internal gear and the support member to which the internal gear is connected are connected by a joint member that allows a radial displacement of the axis of the internal gear, and the first internal gear is used as the internal gear. A cylindrical flexure meshing gear device having a tooth gear and a second internal gear, wherein the support member includes a first support member to which the first internal gear is coupled, and the second internal gear. And the joint member allows the first internal gear and the first support member to be displaced in the radial direction of the axis of the first internal gear. The first joint member, the second internal gear, and the second support member that are connected together in the radial direction of the axial center of the second internal gear. A second coupling member for coupling to permit position by having, is obtained by solving the above problems as well.
Alternatively, the present invention provides a flexibly meshing gear device comprising a vibrator, an external gear that is flexibly deformed by the rotation of the vibrator, and an internal gear that is internally meshed with the external gear. The internal gear and the support member to which the internal gear is coupled are coupled by a joint member that allows a radial displacement of the axial center of the internal gear, and the axial side of the external gear. And a regulating member that regulates the axial movement of the external gear, and the regulating member is formed integrally with the joint member to solve the above-mentioned problem in the same manner. .

  In the present invention, since the internal gear and the support member are connected by the joint member, the radial displacement of the axial center of the internal gear can be allowed. Moreover, since the internal gear and the support member are connected by the joint member, an increase in the radial dimension can be suppressed.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to suppress the increase in a radial direction dimension, accept | permitting the center shift | offset | difference of the axial center of the internal gear of a bending meshing type gear apparatus.

Sectional drawing which shows an example of the whole structure containing the bending meshing type gear apparatus which concerns on 1st Embodiment of this invention. Sectional drawing which shows only the vicinity of the flexure meshing type gear apparatus of FIG. The perspective view which shows the flexible meshing gear apparatus and coupling member of FIG. 1 is an exploded sectional view showing members in the vicinity of the internal gear in FIG. The perspective view (A) and front view (B) which show the internal gear for deceleration of FIG. The perspective view (A) and front view (B) which show the 1st coupling member of FIG. The perspective view (A) and front view (B) which show the drive-shaft casing of FIG. A perspective view (A) and a front view (B) showing the first output member of FIG. Sectional drawing which shows an example of the whole structure containing the bending meshing type gear apparatus which concerns on 2nd Embodiment of this invention. Sectional drawing which shows only the vicinity of the flexible meshing gear device of FIG. FIG. 9 is an exploded sectional view showing members in the vicinity of the internal gear in FIG. The perspective view (A) and front view (B) which show the 1st coupling member of FIG. The perspective view (A) and front view (B) which show the drive-shaft casing of FIG. The perspective view (A) and front view (B) which show the 1st output member of Drawing 11 Sectional drawing which shows an example of the bending meshing type gear apparatus which concerns on 3rd Embodiment of this invention. Sectional drawing which shows the bending meshing type gear apparatus used as the comparative example with respect to this embodiment

  Hereinafter, a first 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 FIG. 1 and FIG. 2, the schematic configuration of the flexure meshing gear device 100 includes an external gear 120 that is flexibly deformed by the rotation of the vibration generator 106, and between the vibration generator 106 and the external gear 120. And the internal gear 130 with which the external gear 120 meshes internally. The flexure meshing gear device 100 has a cylindrical shape having a reduction internal gear (first internal gear) 130A and an output internal gear (second internal gear) 130B as internal gears 130. . As shown in FIG. 1, the flexure meshing gear device 100 is supported by a fixed-side member 136 and is rotationally driven by a drive shaft 101 to transmit an output to an output-side member 152. The drive shaft 101 is a motor shaft extending from a motor (not shown) that is a drive source. As shown in FIG. 2, the drive shaft 101 is inserted from one end side of the vibrating body 106, and movement in the axial direction O is restricted by the stopper member 102.

  Next, the fixed side member 136 and the output side member 152 will be described.

  As shown in FIG. 1, the fixed side member 136 includes an auxiliary casing 138, a drive shaft casing (first support member) 140, a first fixing member 142, a second fixing member 144, and a third fixing member 146. Have. The auxiliary casing 138 has a cylindrical shape. The auxiliary casing 138 supports an oil seal Os1 into which the drive shaft 101 is inserted, and is connected to the drive shaft casing 140. The drive shaft casing 140 includes a cylindrical portion 140B having a cylindrical shape, and a flange portion 140A that constitutes one end side of the cylindrical portion 140B. The cylindrical portion 140B supports the drive shaft 101 via two bearings Br inside the through hole 140C (FIG. 4). In addition, the flange portion 140A supports the reduction internal gear 130A via the first joint member 134A (the connection structure between the flange portion 140A and the reduction internal gear 130A will be described later). Further, the first fixing member 142 is fixed on the radially outer side of the position where the first joint member 134A of the flange portion 140A is supported. On the other hand, an annular contact member (regulating member) 148 exists on the radially inner side of the position where the first joint member 134A of the flange portion 140A is supported.

  As shown in FIGS. 1 and 2, the abutting member 148 is disposed between the flexure meshing gear device 100 and the flange portion 140 </ b> A so as to face the end surfaces of the external gear 120 and the vibration body bearing 110. Yes. That is, the abutting member 148 is disposed on the side of the external gear 120 and the vibration body bearing 110 in the axial direction O and restricts the movement of the external gear 120 and the vibration body bearing 110 in the axial direction O. The contact member 148 is made of, for example, a material having high slidability. At the same time, the abutting member 148 has a higher hardness (for example, HRC35 or higher) than the flange portion 140A.

  As shown in FIG. 1, a second fixing member 144 is fixed to the first fixing member 142. Both the first fixing member 142 and the second fixing member 144 have an annular shape and are arranged on the radially outer side of the output side member 152. The first fixing member 142 is fixed to the third fixing member 146 on the outer periphery thereof. The third fixing member 146 is integrated with a fixing wall (not shown).

  As shown in FIG. 1, the output side member 152 has a first output member (second support member) 154, a second output member 156, and a third output member 158. The first output member 154 has an annular shape and supports the output internal gear 130B via the second joint member 134B (about the connection structure of the first output member 154 and the output internal gear 130B). Will also be described later). An annular contact member (regulating member) 150 exists on the radially inner side of the portion where the second joint member 134B of the first output member 154 is connected. The abutting member 150 is disposed between the flexure meshing gear device 100 and the first output member 154 so as to face the end surfaces of the external gear 120 and the vibration body bearing 110 (the abutting member 150 includes: The same shape and the same material as the abutting member 148). A main bearing Mb (a cross roller ring, an angular ball bearing, a tapered roller bearing, etc.) is disposed between the first output member 154 and the first fixing member 142. The second output member 156 has a disk shape and is fixed to the first output member 154. An oil seal Os2 supported by the second fixing member 144 is disposed between the second output member 156 and the second fixing member 144. The third output member 158 also has a disk shape and is fixed to the second output member 156. The third output member 158 is connected to a mechanical device (not shown).

  Next, each component of the flexure meshing gear device 100 will be described. In the present embodiment, the cross section of the vibrator 106 perpendicular to the axial direction O is substantially elliptical. For this reason, in this embodiment, the position where the distance from the axial center to the outer periphery of the vibrating body 106 is the maximum is called the long axis position, and the direction in which the straight line connecting the two long axis positions extends is called the long axis direction. . At the same time, in the present embodiment, the position where the distance from the axial center to the outer periphery of the vibrator 106 is minimum is called the short axis position, and the direction in which the straight line connecting the two short axis positions extends is called the short axis direction.

  As shown in FIGS. 2 and 3, the vibration generator 106 has a cylindrical shape whose cross section perpendicular to the axial direction O is substantially elliptical. A through hole 106A into which the drive shaft 101 is inserted is provided at the center of the vibrator 106. In addition, a key groove 106B is provided in the through hole 106A so that the vibration generator 106 rotates integrally with the drive shaft 101, and the vibration generator 106 and the drive shaft 101 are connected by the key 101A. Here, the distance from the shaft center at the short axis position to the outer periphery of the vibration body 106 is shorter than the distance from the shaft center at the long axis position to the outer periphery of the vibration body 106. That is, at the short axis position, a gap is generated between the external gear 120 and the reduction internal gear 130A, thereby realizing a non-meshing state. On the other hand, in the vicinity of the long axis position, the meshing state between the external gear 120 and the reduction internal gear 130A is realized.

  As shown in FIG. 2, two vibrator bearings 110 (110A, 110B) are arranged side by side in the axial direction O corresponding to the reduction internal gear 130A and the output internal gear 130B. The vibration body bearings 110A and 110B have the same configuration. 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 FIG. 2, the vibration body bearing 110A includes an inner ring 112, a retainer 114A, rollers 116A as rolling elements, and an outer ring 118A.

  As shown in FIG. 2, the inner ring 112 is common to the vibration body bearing 110B and is formed of a flexible material. The inner ring 112 is disposed on the vibration generator 106 side. Then, the inner peripheral surface of the inner ring 112 is in contact with the vibration generator 106, and the inner ring 112 rotates integrally with the vibration generator 106. 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. 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 106 together with the external gear 120 disposed on the outer periphery thereof.

  As shown in FIG. 2, the external gear 120 includes external gears 120 </ b> A and 120 </ b> B arranged in parallel in the axial direction O corresponding to the reduction internal gear 130 </ b> A and the output internal gear 130 </ b> B. The external gear 120A is in mesh with the reduction internal gear 130A. The external gear 120A includes a base member and external teeth not shown. The base member is a flexible cylindrical member that supports the external teeth, and is common to the base member of the external gear 120B. The external gear 120A is arranged on the outer periphery of the vibration body bearing 110A and is bent and deformed by the rotation of the vibration body 106. The tooth profile of the external teeth is determined based on the trochoid curve so as to realize theoretical meshing.

  As shown in FIG. 2, the external gear 120B is in mesh with the output internal gear 130B. And the external gear 120B is comprised with a base member and an external tooth similarly to the external gear 120A. Although the external teeth of the external gear 120B are separated from the external teeth of the external gear 120A in the axial direction O, they have the same number and the same shape.

  The internal gear 130A for reduction and the internal gear 130B for output constituting the internal gear 130 have substantially the same outer diameter Dd (FIG. 5B), and are arranged in parallel in the axial direction O as shown in FIG. Has been. The internal gear 130 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) larger than the number of external teeth of the external gear 120A. The internal teeth 128A are formed so as to theoretically mesh with external teeth based on the trochoid curve (the internal teeth 128B of the output internal gear 130B are also the same). The reduction internal gear 130A meshes with the external gear 120A to reduce the rotation of the vibration generator 106. The connection structure between the reduction internal gear 130A and the first joint member 134A will be described later (the same applies to the output internal gear 130B).

  On the other hand, the output internal gear 130B includes internal teeth 128B having the same number of teeth as the external teeth 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.

  Note that the flexure meshing gear device 100 is filled with a lubricant. The lubricant lubricates a portion where the external gear 120 and the internal gear 130 mesh with each other.

  Next, the structure from the drive shaft casing 140 including the first joint member 134A, the second joint member 134B, and the internal gear 130 to the first output member 154 will be mainly described with reference to FIGS. .

  As shown in FIGS. 3 and 4, the reduction internal gear 130 </ b> A and the drive shaft casing 140 are connected by a first joint member 134 </ b> A that allows a radial displacement of the shaft center of the reduction internal gear 130 </ b> A. . At the same time, the output internal gear 130B and the first output member 154 are connected by a second joint member 134B that allows the radial displacement of the shaft center of the output internal gear 130B. In other words, in the present embodiment, the connection structure between the reduction internal gear 130A and the drive shaft casing 140 and the connection structure between the output internal gear 130B and the first output member 154 are the same Oldham coupling mechanism. It is configured. Here, although the reduction internal gear 130A and the output internal gear 130B have different numbers of teeth, the reduction internal gear 130A and the output internal gear 130B have the same connection structure. Further, the first joint member 134A and the second joint member 134B have the same shape. For this reason, hereinafter, the connection structure between the internal gear 130A for reduction and the drive shaft casing 140 will be described, and the description about the connection structure between the internal gear 130B for output and the first output member 154 will be basically omitted. . The joint member 134 includes a first joint member 134A and a second joint member 134B, and the support member includes a drive shaft casing 140 and a first output member 154. For this reason, it can be said that the internal gear 130 and the support member are connected by the joint member 134 that allows the radial displacement of the axial center of the internal gear 130.

  Hereinafter, the shape of each element realizing the above connection structure will be described.

  First, as shown in FIGS. 4, 5A, and 5B, two concave portions 130AA are provided on the side surface 130AC of the reduction internal gear 130A (outer diameter Dd) on the first joint member 134A side. Yes. The position where the two recesses 130AA are provided is a position along the outer periphery of the internal gear 130A for reduction and outside the internal tooth 128A, and 180 degrees with respect to the center of the internal gear 130A for reduction. The position is out of phase. That is, the center line in the circumferential direction of the two recesses 130AA is connected in a straight line as shown in FIG. The side surfaces 130AAA that face the circumferential direction of the recess 130AA are parallel to the X direction. In addition, the code | symbol Ld is the distance (the circumferential direction width | variety of recessed part 130AA) between side surface 130AAA in recessed part 130AA. Reference sign Lg is the distance between the bottom surfaces 130AAB of the two recesses 130AA.

  Note that a low friction process is performed on the facing surface 130AB of the reduction internal gear 130A that faces the output internal gear 130B. That is, in the present embodiment, the friction coefficient μ0 between the facing surface 130AB and the facing surface 130BB of the output internal gear 130B is between the facing surface 130AB and the facing surface 130BB when the low friction treatment is not performed. Is smaller than the friction coefficient μ1 (μ0 <μ1). As a specific example of the low friction treatment, surface polishing that reduces the surface roughness as compared with the conventional surface may be used. Alternatively, a film whose main component is a highly lubricious material (such as molybdenum disulfide, graphite, DLC, or PTFE) can be formed on the opposing surface 130AB. Such low friction processing may be performed simultaneously on the opposing surface 130BB of the output internal gear 130B (or when low friction processing is applied to the opposing surface of the output internal gear 130B, the internal speed reduction gear The opposing surface of the toothed gear does not need to be subjected to a low friction treatment).

  As shown in FIGS. 3, 4, 6A and 6B, the first joint member 134A has an annular shape (outer diameter Dj) having a through hole 134AC in the center. On both side surfaces 134AE and 134AF in the axial direction O of the first joint member 134A, two convex portions 134AA and two convex portions 134AB are provided, respectively. The positions of the inner peripheral surface 134AAC (134ABC) and the outer peripheral surface 134AAB (134ABB) of the convex portion 134AA (134AB) are the same as the positions of the inner peripheral surface and the outer peripheral surface of the first joint member 134A themselves in the radial direction. It is said that. For this reason, the size of the through hole 134AC defined by the diameter Lb is the same even if the axial misalignment of the internal gear 130A for reduction is at a maximum and the internal gear 130A for reduction is relatively displaced in the radial direction. The inner peripheral surface 134AAC of the two convex portions 134AA of the joint member 134A is sized so as not to contact the bottom surface 130AAB of the two concave portions 130AA of the reduction internal gear 130A.

  On one side surface 134AE, as shown in FIGS. 6A and 6B, the positions where the two convex portions 134AA are provided are positions that are 180 degrees out of phase with respect to the center of the first joint member 134A. It is said that. That is, the center line in the circumferential direction of the two convex portions 134AA is connected in a straight line and coincides with the X direction as shown in FIG. 6B (for this reason, the diameter Lb of the through hole 134AC is equal to that of the two convex portions 134AA. This is the distance between the inner peripheral surface 134AAC and the outer diameter Dj is the distance between the outer peripheral surfaces 134AAB of the two convex portions 134AA). The side surfaces 134AAA facing the circumferential direction of the convex portion 134AA are parallel to the X direction. In addition, the code | symbol Lji is the distance (the circumferential direction width | variety of convex part 134AA) between side surface 134AAA in convex part 134AA.

  On the other side surface 134AF, as shown in FIGS. 6A and 6B, the positions where the two convex portions 134AB are provided are also positions that are 180 degrees out of phase with respect to the center of the first joint member 134A. It is said that. That is, the center line in the circumferential direction of the two protrusions 134AB is connected in a straight line as shown in FIG. 6B, and the direction is the Y direction (therefore, the diameter Lb of the through hole 134AC is two protrusions). The distance between the inner peripheral surface 134ABC of the portion 134AB and the outer diameter Dj is the distance between the outer peripheral surfaces 134ABB of the two convex portions 134AB). The Y direction is perpendicular to the X direction. The side surfaces 134ABA facing the circumferential direction of the convex portion 134AB are parallel to the Y direction. Note that the symbol Ljx is the distance between the side surfaces 134ABA of the convex portion 134AB (the circumferential width of the convex portion 134AB).

  Here, the convex part 134AA and the convex part 134AB have the same shape, and the circumferential width Ljy of the convex part 134AA and the circumferential width Ljx of the convex part 134AB are the same (Lji = Ljx). That is, although the side surface 134AE and the side surface 134AF are out of phase by 90 degrees, the shape is the same. Moreover, the axial direction O height of convex part 134AA (convex part 134AB) is made smaller than the axial direction O depth of recessed part 130AA. The circumferential width Lji of the convex portion 134AA is slightly narrower than the circumferential width Ld of the concave portion 130AA (Lji <Ld). The outer diameter Dj and the outer diameter Dd are substantially the same (Dj≈Dd). The distance Lb between the inner peripheral surfaces 134AAC of the two convex portions 134AA is correspondingly larger than the distance Lg between the bottom surfaces 130AAB of the two concave portions 130AA (Lb> Lg + α, α> 0).

  For this reason, each of the two convex portions 134AA can be fitted into the two concave portions 130AA. At this time, in FIG. 6B, the relative movement in the Y direction of the first joint member 134A with respect to the internal gear for deceleration 130A is restricted by the arrangement of the two convex portions 134AA (the arrangement of the two concave portions 130AA). . However, relative movement in the X direction of the first joint member 134A with respect to the internal gear 130A for reduction is allowed (for example, 1 mm or less). That is, the internal gear 130A for deceleration and the first joint member 134A are opposed to each other in the axial direction O and are coupled so as to be relatively displaceable in one radial direction (X direction in FIG. 6B). Become. Thus, the internal gear for reduction 130A and the first joint member 134A are integrally connected in the circumferential direction by fitting the two convex portions 134AA and the two concave portions 130AA.

  The output internal gear 130B and the second joint member 134B are similarly connected. Moreover, the shape of convex part 134AA and recessed part 130AA is not specifically limited, Internal gear 130 (Internal gear 130A for deceleration, Internal gear 130B for output) and joint member 134 (1st joint member 134A, 2nd joint) Any shape may be used as long as the member 134B) is relatively displaceable in the radial direction and is integrally connected in the circumferential direction.

  The drive shaft casing 140 has a flange portion 140A and a cylindrical portion 140B as shown in FIGS. 4, 7A, and 7B. As shown in FIGS. 7A and 7B, the flange portion 140A has a through hole 140C at the center. An inner circumferential recess 140AC and an outer circumferential recess 140AB are concentrically formed on the side surface 140D of the flange portion 140A. The maximum inner diameter Ls of the inner circumferential recess 140AC is made larger than the outer diameter of the abutting member 148. At the same time, in the axial direction O, the height from the bottom surface of the inner circumferential recess 140AC to the tip of the partition Pt is slightly larger than the axial direction O thickness of the abutting member 148. For this reason, the inner peripheral recess 140AC can accommodate the entire abutting member 148.

  As shown in FIGS. 7A and 7B, the outer peripheral recess 140AB is formed outside the inner peripheral recess 140AC with the partition Pt therebetween. The outer circumferential recess 140AB is defined by a minimum inner diameter Lp and a maximum inner diameter Dw. The minimum inner diameter Lp is smaller than the diameter Lb of the through hole 134AC of the first joint member 134A (Lp <Lb), and the maximum inner diameter Dw is larger than the outer diameter Dj of the first joint member 134A (Dw> Dj). The outer circumferential recess 140AB is further provided with two recesses 140AA in the axial direction O. The position of the inner inner peripheral surface 140AAC and the position of the outer inner peripheral surface 140AAB of the recess 140AA are respectively the same as the position of the minimum inner diameter Lp and the position of the maximum inner diameter Dw in the radial direction. The positions where the two concave portions 140AA are provided are positions that are 180 degrees out of phase with respect to the center of the flange portion 140A. That is, the center line in the circumferential direction of the two recesses 140AA is connected in a straight line and coincides with the Y direction as shown in FIG. 7B (for this reason, the minimum inner diameter Lp is the inner inner circumferential surface 140AAC of the two recesses 140AA). Also, the maximum inner diameter Dw is the distance between the outer inner peripheral surfaces 140AAB of the two recesses 140AA). The side surfaces 140AAA facing the circumferential direction of the recess 140AA are parallel to the Y direction. In addition, the code | symbol Lw is the distance (the circumferential direction width | variety of recessed part 140AA) between side surface 140AAA in recessed part 140AA.

  Here, the minimum inner diameter Lp of the outer circumferential recess 140AB is such that the center misalignment of the center axis of the reduction internal gear 130A becomes the maximum and the reduction internal gear 130A and the first joint member 134A are relatively displaced in the radial direction. The size of the partition Pt of the flange portion 140A is not in contact with the first joint member 134A. That is, the minimum inner diameter Lp of the outer circumferential recess 140AB is appropriately smaller than the diameter Lb of the through hole 134AC of the first joint member 134A. In other words, the distance Lp between the inner inner peripheral surfaces 140AAC of the two concave portions 140AA is made correspondingly smaller than the distance Lb between the inner peripheral surfaces 134ABC of the two convex portions 134AB (Lb> Lp + β, β > 0). In addition, the maximum inner diameter Dw of the outer peripheral recess 140AB is such that the center misalignment of the shaft of the internal gear for reduction 130A is maximized, and the outer peripheral gear 140A and the first joint member 134A are displaced relative to each other in the radial direction. The inner peripheral surface 140ABB of the recess 140AB is set to a size that does not contact the outer periphery of the first joint member 134A and the outer periphery of the internal gear 130A for reduction. In other words, the maximum inner diameter Dw of the outer peripheral recess 140AB is appropriately larger than the outer diameter Dd and the outer diameter Dj. In other words, the distance Dw between the outer inner peripheral surfaces 140AAB of the two concave portions 140AA is correspondingly larger than the distance Dj between the outer peripheral surfaces 134ABB of the two convex portions 134AB (Dw> Dj (Dd)). + Β, β> 0). Moreover, the axial direction O height of convex part 134AB (convex part 134AA) is made smaller than the axial direction O depth of recessed part 140AA. The circumferential width Ljx of the convex portion 134AB is slightly narrower than the circumferential width Lw of the concave portion 140AA (Ljx <Lw).

  For this reason, each of the two convex portions 134AB can be fitted into the two concave portions 140AA. At this time, in FIG. 7B, the relative movement in the X direction of the first joint member 134A with respect to the drive shaft casing 140 is restricted by the arrangement of the two concave portions 140AA (the arrangement of the two convex portions 134AB). However, relative movement in the Y direction of the first joint member 134A with respect to the drive shaft casing 140 is allowed (for example, 1 mm or less). That is, the drive shaft casing 140 and the first joint member 134A are opposed to each other in the axial direction O and are connected so as to be capable of relative displacement in one radial direction (Y direction in FIG. 7B). Thus, the drive shaft casing 140 and the first joint member 134A are integrally connected in the circumferential direction by fitting the two convex portions 134AB and the two concave portions 140AA. In FIGS. 7A and 7B, the symbol Og indicates an O-ring groove.

  As shown in FIGS. 8A and 8B, the side surface 154E of the first output member 154 is connected to the first joint member 134A of the side surface 140D of the drive shaft casing 140 shown in FIGS. 7A and 7B. And the portion where the abutting member 148 is disposed have the same shape. That is, the side surface 154E includes an inner circumferential recess 154C, a partition Pt, and an outer circumferential recess 154B in this order on the radially outer side of the through hole 154D. The inner peripheral recess 154C, the partition Pt, and the outer peripheral recess 154B are equal in shape and arrangement (Do = Dw, Lr = Ls, Lq = Lp). The two recesses 154A provided in the outer periphery recess 154B have the same shape and the arrangement on the outer periphery recess 154B as the two recesses 140AA (Lo = Lw).

  As described above, the first joint member 134A and the second joint member 134B have the same shape. That is, as shown in FIG. 4, the second joint member 134B has an annular shape having a through hole 134BC in the center. That is, the diameter of the through hole 134BC is the diameter Lb, and the outer diameter of the second joint member 134B is the outer diameter Dj. The two convex portions 134BA and the two convex portions 134BB provided on both side surfaces in the axial direction O of the second joint member 134B are both shaped and arranged on the second joint member 134B, and the two convex portions 134AA. It is the same as the two convex portions 134AB.

  Therefore, as shown in FIG. 4, the two convex portions 134BB can be fitted into the two concave portions 154A. At this time, in FIG. 8B, the relative movement in the X direction of the second joint member 134B relative to the first output member 154 is restricted by the arrangement of the two concave portions 154A (the arrangement of the two convex portions 134BB). However, relative movement in the Y direction of the second joint member 134B with respect to the first output member 154 is allowed (for example, 1 mm or less). That is, the first output member 154 and the second joint member 134B are opposed to each other in the axial direction O, and are connected so as to be relatively displaceable in one radial direction (Y direction in FIG. 8B). . In this manner, the first output member 154 and the second joint member 134B are integrally connected in the circumferential direction by fitting the two convex portions 134BB and the two concave portions 154A.

  The shapes of the convex portions 134AB, 134BB and the concave portions 140AA, 154A are not particularly limited, and the support member (drive shaft casing 140, first output member 154) and the joint member 134 (134A, 134B) are relatively relative to each other in the radial direction. Any shape that can be displaced and that is integrally connected in the circumferential direction may be used.

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

  When the vibration generator 106 is rotated by the rotation of the drive shaft 101, 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 106, the external teeth of the external gear 120A mesh with the internal teeth 128A of the reduction internal gear 130A. Similarly, the external teeth of the external gear 120B mesh with the internal teeth 128B of the output internal gear 130B.

  The meshing position between the external gear 120 </ b> A and the reduction internal gear 130 </ b> A rotates as the major axis position of the vibration generator 106 moves. Here, when the vibrating body 106 makes one rotation, the rotation speed of the external gear 120A is delayed by the 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, and the same teeth 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 106 to (−1/50) can be extracted from the output internal gear 130B. That is, the rotation of the drive shaft 101 is decelerated to (−1/50), and the output can be taken out by the output side member 152.

  When the drive shaft 101 is deviated by a predetermined amount in the Y direction from the axis of the reduction internal gear 130A (output internal gear 130B), the reduction internal gear 130A and the first joint member 134A. Are integrated (the output internal gear 130B and the second joint member 134B are integrated), and are displaced by the predetermined amount in the Y direction with respect to the drive shaft casing 140 (first output member 154). When the drive shaft 101 is shifted by a predetermined amount in the X direction from the axis of the reduction internal gear 130A (output internal gear 130B), the reduction internal gear 130A (output internal gear 130B). Is displaced by the predetermined amount in the X direction with respect to the first joint member 134A and the drive shaft casing 140 (second joint member 134B and first output member 154). As a result, the joint member 134 can independently permit displacement in the radial direction of the axis of each of the reduction internal gear 130A and the output internal gear 130B. Therefore, the joint member 134 can reduce the centering work at the time of assembling the flexure meshing gear device 100.

  In the cylindrical flexure meshing gear device as shown in the present embodiment, when the drive shaft and the vibration generator are connected by a joint member, the vibration generator is independent of the two internal gears. It consists of two parts that can be displaced. That is, in this case, the external gear portions corresponding to the two internal gears are displaced in different directions, resulting in a step in the external gear and shear stress in the external gear. It becomes.

  However, in this embodiment, the joint member 134 is not incorporated in the drive shaft 101. For this reason, in the present embodiment, the above-described shear stress is not generated in the external gear 120, and the life of the external gear 120 can be extended while allowing misalignment. And in this embodiment, it becomes possible to implement | achieve connection with the vibration body 106 and the drive shaft 101 with a simple structure.

  In the present embodiment, it is not necessary to rigidly fix the internal gear 130 to the support member (the drive shaft casing 140, the first output member 154). That is, in this embodiment, it is possible to eliminate the configuration of a bolt hole or the like for fixing the internal gear 130 to the drive shaft casing 140 and the first output member 154, and the radial thickness of the internal gear 130 is necessary. It can be minimized.

  In the present embodiment, the reduction internal gear 130A and the output internal gear 130B are not fixed, so that they can be displaced in the axial direction O. However, low friction processing is performed on the opposing surfaces 130AB and 130BB of the internal gear 130A for reduction and the internal gear 130B for output. Therefore, the reduction internal gear 130A and the output internal gear 130B are displaced in the axial direction O and come into contact with each other, and friction is generated due to the speed difference between the reduction internal gear 130A and the output internal gear 130B. Even if it occurs, the friction loss can be reduced.

  In the present embodiment, the contact members 148 and 150 are made of a material having higher hardness and higher slidability than the flange portion 140A. For this reason, even if the end surfaces of the external gear 120 and the vibrator bearing 110 come into contact with the contact members 148 and 150, wear powder is not easily generated, and efficiency deterioration due to wear and contamination of the lubricating oil due to wear dust are prevented. Can do. At the same time, the abutting members 148 and 150 can also restrict the movement of the external gear 120 and the vibration body bearing 110 in the axial direction O. However, the present invention is not limited to this, and the contact member may be simply made of a resin (a PEEK material having a low sliding resistance, a heat-resistant polymer resin, nylon, a fluorine-based resin, or the like).

  In the present embodiment, the first joint member 134A and the second joint member 134B have the same shape. That is, since the ratio of the common members can be increased, the member management is easy and the cost of the members can be reduced. In addition, the first joint member 134A and the second joint member 134B have no directionality. For this reason, it becomes possible to easily incorporate the first joint member 134A and the second joint member 134B into the internal gear 130 without worrying about the orientation of the first joint member 134A and the second joint member 134B.

  Therefore, in the present embodiment, it is possible to suppress an increase in the radial dimension of the flexure meshing gear device 100 while allowing misalignment of the axis of the internal gear 130 of the flexure meshing gear device 100. It becomes.

  In the first embodiment, the joint member 134 and the abutting members 148 and 150 are separate bodies, but the present invention is not limited to this, and may be as in the second embodiment shown in FIGS. 9 to 14. . FIG. 9 is a cross-sectional view showing an example of the entire configuration including a flexure meshing gear device according to a second embodiment of the present invention, and FIG. 10 is a cross-sectional view showing only the vicinity of the flexure meshing gear device of FIG. 11 is an exploded sectional view showing members in the vicinity of the internal gear in FIG. 9, FIG. 12 is a perspective view (A) and a front view (B) showing the first joint member in FIG. 11, and FIG. 13 is a drive of FIG. A perspective view (A) and a front view (B) showing the shaft casing, and FIG. 14 are a perspective view (A) and a front view (B) showing the first output member of FIG. 11, respectively.

  The flexure meshing gear device 200 of the second embodiment has a cylindrical shape as in the first embodiment, and the first joint member 234A and the second joint member 234B have extended portions 234AD and 234BD corresponding to the contact members. Prepare. That is, the contact member and the joint member are integrally formed. For this reason, about the component and operation | movement similar to the bending meshing type gear apparatus 100 of 1st Embodiment, the last two digits of a code | symbol are made the same and description is abbreviate | omitted.

  Also in the present embodiment, as shown in FIGS. 10 and 11, the reduction internal gear 230 </ b> A and the drive shaft casing 240 are the first joint members that allow the radial displacement of the shaft center of the reduction internal gear 230 </ b> A. 234A. At the same time, the output internal gear 230B and the first output member 254 are connected by a second joint member 234B that allows the radial displacement of the shaft center of the output internal gear 230B. That is, also in the present embodiment, the connection structure between the reduction internal gear 230A and the drive shaft casing 240 and the connection structure between the output internal gear 230B and the first output member 254 constitute an Oldham coupling. . Therefore, the shape of each element realizing the above connection structure will be described below. In the following description, a portion of the connection structure between the reduction internal gear 230 </ b> A and the drive shaft casing 240 that is different from that of the above embodiment will be described, and the connection between the output internal gear 230 </ b> B and the first output member 254. Regarding the structure and other functions and configurations, only the last two digits of the reference numerals are common, and redundant description is omitted.

  First, as shown in FIG. 11, two concave portions 230AA are provided on the side surface 230AC of the internal gear 230A for reduction on the first joint member 234A side. Since the configuration of the side surface 230AC is the same as that of the first embodiment, description thereof is omitted. However, unlike the first embodiment, the opposing surface 230AB of the reduction internal gear 230A that faces the output internal gear 230B is low in friction loss when it comes into contact with the output internal gear 230B. Friction treatment is not applied. Instead, in the present embodiment, as shown in FIG. 11, an annular low friction member 232 that covers most of the opposing surface 230AB of the internal gear 230A for speed reduction is connected to the internal gear 230A for output and the output gear. It arrange | positions between the internal gears 230B.

  In the low friction member 232, the friction coefficient μ2 between the opposing surface 230AB of the reduction internal gear 230A and the side surface 232A of the low friction member 232 is equal to the opposing surface 230AB of the reduction internal gear 230A and the output internal gear. The coefficient of friction between the opposing surface 230BB of 230B is smaller than μ3 (μ2 <μ3). That is, the side surface 232A is subjected to the same low friction treatment as in the first embodiment. That is, the side surface 232A may be subjected to surface polishing that reduces the surface roughness as compared with the conventional case. Alternatively, a film whose main component is a highly lubricious material (such as molybdenum disulfide, graphite, DLC, or PTFE) that can reduce the friction coefficient may be formed on the side surface 232A. Note that such low friction processing may be performed simultaneously on the side surface 232B facing the output internal gear 230B (or when the low friction processing is performed on the opposing surface of the output internal gear 230B, the speed reduction processing is performed. The surface facing the internal gear need not be subjected to low friction treatment). Of course, the low friction member 232 itself may be formed using the above-described material having high lubricity and the like that can reduce the friction coefficient as a main component.

  For this reason, similarly to the first embodiment, it is possible to reduce the friction loss caused by the rotation of the output internal gear 230B with respect to the reduction internal gear 230A. At the same time, there is no possibility of deteriorating the gear accuracy of the internal gear 230A for deceleration due to the low friction treatment of the facing surface 230AB. Further, since the low friction member 232 can be formed separately from the reduction internal gear 230A, the manufacturing cycle of the flexure meshing gear device 200 can be shortened, and the yield rate of the reduction internal gear 230A can be improved. .

  The first joint member 234A has an annular shape (outer diameter Dj) having a through hole 234AC at the center, as shown in FIGS. 11, 12A, and 12B. Similar to the first embodiment, two convex portions 234AA and two convex portions 234AB are provided on both side surfaces 234AE and 234AF in the axial direction O of the first joint member 234A. Since the shapes and functions of the two convex portions 234AA and the two convex portions 234AB are substantially the same as those in the first embodiment, their descriptions are omitted. However, in the present embodiment, unlike the first joint member 134A of the first embodiment, the two joints 234AA (two convex parts 234AB) of the first joint member 234A extend in an annular shape radially inward. The existing extending part 234AD is provided integrally. This extending portion 234AD corresponds to the abutting member 148 of the first embodiment. That is, the first joint member 234 </ b> A is disposed on the side of the external gear 220 and the vibration body bearing 210 in the axial direction O, and restricts the movement of the external gear 220 and the vibration body bearing 210 in the axial direction O. The extending portion 234AD (the entire first joint member 234A or only the surface of the extending portion 234AD) may have a higher hardness (for example, HRC35 or higher) than the flange portion 240A. For this reason, even if the external gear 220 and the end face of the vibration body bearing 210 are in contact with each other, wear powder is not easily generated, and it is possible to prevent a decrease in efficiency due to wear and contamination of the lubricating oil due to wear powder. In this case, not only the curing treatment of the material but also tungsten, for example, DLC or the like can be applied. Further, the extending portion 234AD (the entire first joint member 234A or only the surface of the extending portion 234AD may be) is, for example, a highly slidable material (a material having high lubricity that can reduce the above-described friction coefficient). May be formed. In that case, the friction loss which arises in the end surface of the external gear 220 and the vibration body bearing 210 can be reduced. Note that the through hole 234AC (diameter Di) provided on the radially inner side of the extending portion 234AD is smaller than the minimum diameter of the external gear 220, and the center misalignment of the axis of the internal gear 230A for reduction is small. Even when the internal gear 230A for deceleration is relatively displaced in the radial direction, the size is set so as not to contact the drive shaft 201.

  In addition, the drive shaft casing 240 and the first output member 254 are the drive shaft casing 140 and the first output member 254 of the first embodiment, as shown in FIGS. 13 (A), (B), FIGS. 14 (A) and (B), respectively. The output member 154 has almost the same configuration. However, since the contact member is integrated with the first joint member 234A, only the presence or absence of the partition Pt is different. For this reason, description of the drive shaft casing 240 and the first output member 254 is also omitted.

  In addition, unlike this embodiment, it can be considered that the contact member and the internal gear are integrated. However, the internal gear is cut by a cutting tool such as a pinion cutter to form a tooth profile. For this reason, when the escape of a cutting tool such as a pinion cutter is considered, the shape of the contact member is restricted by the cutting tool. That is, in this case, even if the contact member and the internal gear are integrated, it is difficult to reduce the size in the axial direction O. Alternatively, it is also conceivable to integrate the contact member and the vibrator (or drive shaft). However, in that case, the vibrator (or drive shaft) rotates at a high speed, so that the contact member rotates at a high speed. In other words, the vibrator (or drive shaft) integrated with the abutment member has a rotational speed that is significantly different from that of the external gear and the vibrator bearing, so that the efficiency decreases due to friction and the wear of the external gear and the vibrator bearing. Will be increased.

  On the other hand, in this embodiment, the joint member 234 is integrated with the contact member. For this reason, since the contact member does not exist alone, the number of parts is small, and parts management is easy. Further, since there is no partition Pt, the processing of the drive shaft casing 240 and the first output member 254 is facilitated. The speed difference between the joint member 234 and the external gear 220 and the vibration body bearing 210 is not as large as the speed difference between the vibration body 206 and the joint member 234. For this reason, it becomes possible to reduce the friction loss and the generation | occurrence | production of the abrasion powder by the contact of the coupling member 234, the external gear 220, and the vibration body bearing 210.

  In the above-described embodiment, both of the flexure meshing gear devices are cylindrical with two internal gears for reduction and output, but the present invention is not limited to this, and FIG. It may be as shown in the third embodiment. FIG. 15 is a cross-sectional view illustrating an example of a flexure meshing gear device according to a third embodiment of the present invention. FIG. 16 is a cross-sectional view showing a flexure meshing gear device that is a comparative example for the present embodiment.

  Unlike the first and second embodiments, the flexibly meshing gear device 300 of the third embodiment is a cup type (or top hat type) including one internal gear 330. The external gear 320 includes a flange portion 321, a cylindrical portion 322, and external teeth 324. Further, the output side member 352 is connected to the flange portion 321 of the external gear 320, and the rotation of the external gear 320 can be taken out as an output. The external gear 320 has a number of teeth different from the number of teeth of the internal gear 330. That is, the internal gear 330 has the same function as the speed reduction internal gear shown in the first and second embodiments. For this reason, in this embodiment, about the component and operation | movement similar to the bending meshing type gear apparatus of the said embodiment, the last two digits of a code | symbol are made the same, and description is abbreviate | omitted.

  In the present embodiment, as shown in FIG. 15, the internal gear 330 and the first fixing member 342 to which the internal gear 330 is connected are connected by a joint member 334. The connection structure by the joint member 334 is substantially the same as that in the above embodiment. However, in the present embodiment, the first fixing member 342 is connected to the joint member 334. That is, the shape of the side surface 342A in the axial direction O of the first fixing member 342 connected to the joint member 334 is substantially the same as the shape of the side surface in the axial direction O of the flange portion of the drive shaft casing shown in the above embodiment. It has a configuration. In the present embodiment, the side surface 340D of the drive shaft casing 340 in the axial direction O only restricts the movement of the internal gear 330 in the axial direction O. For this reason, in this embodiment, the low friction process of the side surface of the internal gear shown in the said embodiment, and arrangement | positioning between the internal gears of a low friction member can be made unnecessary.

  In addition, in FIG. 16, the comparative example which connected the drive shaft 1 and the vibration body 6 with the joint member 32 with respect to the flexure meshing type gear apparatus 50 of the same type as this embodiment is shown. Here, the joint member 32 includes a drive member 33 connected to the drive shaft 1 and an intermediate member 34 connected to the drive member 33. For this reason, even in this comparative example, misalignment between the drive shaft 1 and the internal gear 30 can be allowed. However, in this comparative example, since the joint member 32 is composed of two members, the drive member 33 and the intermediate member 34, the connection structure between the drive shaft 1 and the vibration generator 6 is complicated. Moreover, since the internal gear 30 and the bolt hole 31 for fixing to the 1st fixing member 42 are required, the internal gear 30 itself is large in radial direction.

  On the other hand, in this embodiment, as in the above embodiment, as shown in FIG. 15, it is not necessary to provide a bolt hole in the internal gear 330, and the internal gear 330 is made to have a minimum size in the radial direction. It can be. That is, also in this embodiment, it is possible to make the radial dimension of the flexure meshing gear device 300 smaller than in the comparative example shown in FIG. Further, even if the drive shaft 301 is misaligned, the drive shaft 301 and the vibrator 306 can be easily connected without increasing the number of components.

  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.

  In the said embodiment, the vibration body bearing had the inner ring | wheel and the outer ring | wheel, However, this invention is not limited to this, The outer peripheral part of the vibration body may be made into the inner ring | wheel. Further, there is no need 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 an outer ring. Further, in the cylindrical flexure meshing gear device, the rolling elements may be balls instead of rollers.

  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. Similarly, for the internal teeth, the tooth profile is not particularly limited, and various tooth shapes can be adopted.

  Further, the joint member is not limited to the structure of the above embodiment, and has a structure in which the internal gear and the support member are integrally connected in the circumferential direction while allowing the radial displacement of the shaft center of the internal gear. I just need it.

  The present invention can be widely applied to a flexure meshing gear device including a cylindrical, cup-type, or top-hat type external gear.

DESCRIPTION OF SYMBOLS 1, 101, 201, 301 ... Drive shaft 2, 102, 202, 302 ... Stopping member 6, 106, 206, 306 ... Exciter 10, 110, 110A, 110B, 210, 210A, 210B, 310 ... Exciter Bearing 20, 120, 120A, 120B, 220, 220A, 220B, 320 ... External gear 21, 40A, 140A, 240A, 321, 340A ... Flange part 22, 140B, 240B, 322 ... Cylindrical part 24, 324 ... External tooth 28, 128A, 128B, 228A, 228B, 328 ... Internal teeth 30, 130, 130A, 130B, 230, 230A, 230B, 330 ... Internal gear 31 ... Bolt holes 32, 134, 134A, 134B, 234, 234A, 234B 334 ... Joint member 33 ... Drive member 34 ... Intermediate member 36, 136, 23 336: Fixed side member 38, 138, 238, 338 ... Auxiliary casing 40, 140, 240, 340 ... Drive shaft casing 42, 142, 242, 342 ... First fixing member 44, 144, 244, 344 ... Second fixing Member 50, 100, 200, 300 ... Flexure meshing gear device 52, 152, 252, 352 ... Output side member 101A, 201A ... Key 106A, 134AC, 134BC, 140C, 154D, 234AC, 234BC, 240C, 254D ... Through Hole 112, 212 ... Inner ring 114A, 114B, 214A, 214B ... Retainer 116A, 116B, 216A, 216B ... Roller 118A, 118B, 218A, 218B ... Outer ring 130AA, 130BA, 140AA, 140AB, 140AC, 154A, 154B, 154C 230AA, 230BA, 240AA, 240AB, 254A, 254B, 254C ... recess (inner circumferential recess includes an outer peripheral recess)
130AAA, 130AB, 130AC, 130BB, 134AAA, 134ABA, 134AE, 134AF, 140AAA, 140D, 154E, 230AB, 230AC, 230BB, 232A, 232B, 234AAA, 234ABA, 234AE, 234AF, 240AAA, 240D, 254E, 340D, 342A ... Side surface (including facing surface)
130AAB ... bottom surface 134AA, 134AB, 134BA, 134BB, 234AA, 234AB, 234BA, 234BB, 334B ... convex part 134AAB, 134ABB, 234AAB, 234ABB ... outer peripheral surface 134AAC, 134ABC, 140AAB, 140AAC, 140ABB, 234AAC, 234A, 234AAC, 234A , 240ABB ... inner peripheral surface (including inner inner peripheral surface and outer inner peripheral surface)
146, 246 ... third fixing member 148, 150 ... contact member 154, 254 ... first output member 156, 256 ... second output member 158, 258 ... third output member 232 ... low friction member 234AD, 234BD ... extending portion Br, Mb ... Bearing O ... Axial direction Og ... O-ring groove Os1, Os2 ... Oil seal Pt ... Partition

Claims (6)

In a flexure meshing gear device comprising an oscillator, an external gear that is flexibly deformed by the rotation of the oscillator, and an internal gear that is internally meshed with the external gear,
The internal gear and the support member to which the internal gear is coupled are coupled by a joint member that allows a radial displacement of the axial center of the internal gear ,
The joint member is a separate member from the internal gear and the support member,
The joint member and the internal gear are coupled so as to be relatively displaceable in a first radial direction,
Wherein A joint member and the support member, the first direction and the second direction of the radial direction perpendicular Ru is relatively displaceably coupled meshing deflection and said gearing. In a flexure meshing gear device comprising an oscillator, an external gear that is flexibly deformed by the rotation of the oscillator, and an internal gear that is internally meshed with the external gear,
The internal gear and the support member to which the internal gear is coupled are coupled by a joint member that allows a radial displacement of the axial center of the internal gear,
A cylindrical flexure meshing gear device having a first internal gear and a second internal gear as the internal gear,
The support member includes a first support member to which the first internal gear is coupled, and a second support member to which the second internal gear is coupled,
The joint member includes a first joint member that connects the first internal gear and the first support member while allowing radial displacement of the axial center of the first internal gear;
And a second coupling member that connects the second internal gear and the second support member while allowing a radial displacement of the axial center of the second internal gear. Type gear device. In claim 2,
A flexure meshing gear device, characterized in that at least one of the opposing surfaces of the first internal gear and the second internal gear is subjected to a low friction process. In claim 2 or 3,
A low-friction member is disposed between the first internal gear and the second internal gear. In a flexure meshing gear device comprising an oscillator, an external gear that is flexibly deformed by the rotation of the oscillator, and an internal gear that is internally meshed with the external gear,
The internal gear and the support member to which the internal gear is coupled are coupled by a joint member that allows a radial displacement of the axial center of the internal gear,
A restricting member that is disposed on an axial side of the external gear and restricts the axial movement of the external gear;
The restricting member is formed integrally with the joint member. In claim 5,
The restricting member has a higher hardness than the support member.

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