JP6238777B2

JP6238777B2 - Bending gear system

Info

Publication number: JP6238777B2
Application number: JP2014022894A
Authority: JP
Inventors: 安藤　学; 学安藤; 真司吉田
Original assignee: Sumitomo Heavy Industries Ltd
Current assignee: Sumitomo Heavy Industries Ltd
Priority date: 2014-02-07
Filing date: 2014-02-07
Publication date: 2017-11-29
Anticipated expiration: 2034-02-07
Also published as: KR20150093578A; CN104832604B; TW201531634A; CN104832604A; KR101644955B1; JP2015148326A; TWI553245B; DE102014018184A1

Description

本発明は、撓み噛合い式歯車装置に関する。 The present invention relates to a flexure meshing gear device.

特許文献１に、駆動軸によって回転駆動される起振体を有する撓み噛合い式歯車装置が開示されている。この撓み噛合い式歯車装置では、オルダムカップリングと呼ばれる継手部材が駆動軸に構成され起振体に組み込まれている。オルダムカップリングは、組み立て時の駆動軸と内歯歯車との間に芯ずれ（単に駆動軸の芯ずれともいう）が存在してもそれを許容して性能及び寿命の低下を防止可能としている。 Patent Document 1 discloses a flexure meshing gear device having a vibrating body that is rotationally driven by a drive shaft. In this flexure meshing gear device, a joint member called Oldham coupling is formed on a drive shaft and incorporated in a vibration generator. Oldham coupling allows to prevent the deterioration of performance and life by allowing the misalignment between drive shaft and internal gear during assembly (also simply referred to as misalignment of drive shaft). .

特開昭６０−２４１５５０公報JP 60-241550 A

しかしながら、特許文献１の構造では、装置の軸方向長さが長くなるおそれがあった。 However, in the structure of Patent Document 1, the axial length of the device may be increased.

そこで、本発明は、前記問題点を解決するべくなされたもので、撓み噛合い式歯車装置の駆動軸の芯ずれが存在しても性能及び寿命の低下を防止でき、軸方向長さの増大を抑制した撓み噛合い式歯車装置を提供することを課題とする。 Therefore, the present invention has been made to solve the above-mentioned problems, and even if there is a misalignment of the drive shaft of the flexure meshing gear device, it is possible to prevent a decrease in performance and life, and an increase in the axial length. It is an object of the present invention to provide a flexure meshing gear device that suppresses the above-described problem.

本発明は、駆動軸によって回転駆動される起振体と、該起振体の回転により撓み変形される可撓性を有した外歯歯車と、を有する撓み噛合い式歯車装置において、前記駆動軸と前記起振体とが、該起振体の軸心の径方向への変位を許容する継手部材によって連結され、前記起振体が、前記継手部材と軸方向に対向する本体部と、該本体部の径方向外側端部から軸方向前記継手部材側に一体的に延在された延在部と、を有し、前記本体部および前記延在部の外周に軸受が配置され、前記延在部の径方向内側に前記継手部材が配置されることにより、前記課題を解決したものである。 The present invention relates to a flexure meshing gear device having a vibrator that is rotationally driven by a drive shaft and a flexible external gear that is flexibly deformed by the rotation of the vibrator. The shaft and the vibration body are connected by a joint member that allows displacement in the radial direction of the axial center of the vibration body, and the vibration body is a main body portion facing the joint member in the axial direction; An extension portion integrally extending from the radially outer end of the main body portion toward the joint member side in the axial direction, and a bearing is disposed on the outer periphery of the main body portion and the extension portion, The said subject is solved by arrange | positioning the said joint member inside the radial direction of an extension part .

本発明では、駆動軸と起振体とが継手部材によって連結されており、駆動軸に対する起振体の軸心の径方向への変位を許容している。同時に、本発明では、起振体が継手部材の径方向外側に延在して配置されている。このため、起振体と駆動軸との連結部の軸方向長さの増大を抑制することができる。 In the present invention, the drive shaft and the vibration generator are connected by the joint member, and the displacement of the shaft center of the vibration generator relative to the drive shaft in the radial direction is allowed. At the same time, in the present invention, the vibrator is arranged so as to extend outward in the radial direction of the joint member. For this reason, it is possible to suppress an increase in the axial length of the connecting portion between the vibrator and the drive shaft.

本発明によれば、撓み噛合い式歯車装置の駆動軸の芯ずれが存在しても性能及び寿命の低下を防止でき、軸方向長さの増大を抑制することが可能となる。 According to the present invention, it is possible to prevent a decrease in performance and life even if there is a misalignment of the drive shaft of the flexure meshing gear device, and it is possible to suppress an increase in the axial length.

本発明の実施形態に係る撓み噛合い式歯車装置を含む全体構成の一例を示す断面図Sectional drawing which shows an example of the whole structure containing the bending meshing type gear apparatus which concerns on embodiment of this invention. 図１の撓み噛合い式歯車装置の近傍のみの断面図1 is a cross-sectional view of only the vicinity of the flexure meshing gear device of FIG. 図１の起振体と継手部材の分解断面図FIG. 1 is an exploded cross-sectional view of the vibrator and joint member of FIG. 図３の駆動部材の斜視図（Ａ）と断面図（Ｂ）The perspective view (A) and sectional drawing (B) of the drive member of FIG. 図３の中間部材の斜視図（Ａ）と断面図（Ｂ）The perspective view (A) and sectional view (B) of the intermediate member of FIG. 図３の起振体の斜視図（Ａ）と断面図（Ｂ）A perspective view (A) and a sectional view (B) of the vibrator of FIG.

以下、図１〜図６を参照して、本発明の実施形態の一例を詳細に説明する。 Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to FIGS.

最初に、本実施形態の全体構成について、概略的に説明する。 First, the overall configuration of the present embodiment will be schematically described.

撓み噛合い式歯車装置１００は、図１に示す如く、駆動軸１０１によって回転駆動される起振体１０６を有する。そして、撓み噛合い式歯車装置１００は、固定側部材１３６に支持され、出力を出力側部材１５２に伝達する構成となっている。 As shown in FIG. 1, the flexure meshing gear device 100 includes a vibrating body 106 that is rotationally driven by a drive shaft 101. The flexure meshing gear device 100 is supported by the stationary member 136 and transmits the output to the output member 152.

撓み噛合い式歯車装置１００自体は、図１に示す如く、起振体１０６と、起振体１０６の外周に配置され、起振体１０６の回転により撓み変形される可撓性を有した外歯歯車１２０と、起振体１０６と外歯歯車１２０との間に配置される起振体軸受１１０と、外歯歯車１２０が内接噛合する剛性を有した減速用内歯歯車（第１内歯歯車）１３０Ａと、減速用内歯歯車１３０Ａに軸方向Ｏに並設され外歯歯車１２０と内接噛合する剛性を有した出力用内歯歯車（第２内歯歯車）１３０Ｂと、を備える。なお、減速用内歯歯車１３０Ａと出力用内歯歯車１３０Ｂとをまとめて内歯歯車１３０と称する。 As shown in FIG. 1, the flexure meshing gear device 100 itself is arranged on the outer periphery of the vibration generator 106 and the vibration generator 106, and has a flexible outer shape that is bent and deformed by the rotation of the vibration generator 106. The toothed gear 120, the vibration generating body bearing 110 disposed between the vibration generating body 106 and the external gear 120, and the internal gear for reduction (the first internal gear) having the rigidity with which the external gear 120 is internally meshed. Toothed gear) 130A, and an output internal gear (second internal gear) 130B that is provided in parallel with the speed reduction internal gear 130A in the axial direction O and has the rigidity to be in mesh with the external gear 120. . The reduction internal gear 130A and the output internal gear 130B are collectively referred to as an internal gear 130.

まず、固定側部材１３６と出力側部材１５２とについて説明する。 First, the fixed side member 136 and the output side member 152 will be described.

前記固定側部材１３６は、図１に示す如く、補助ケーシング１３８と、駆動軸ケーシング１４０と、第１固定部材１４２と、第２固定部材１４４と、第３固定部材１４６と、を有する。補助ケーシング１３８は、円筒形状である。補助ケーシング１３８は、駆動軸１０１が嵌入されるオイルシールＯｓ１を支持し、駆動軸ケーシング１４０に接続されている。駆動軸ケーシング１４０は、一端側がフランジ部１４０Ａとされた円筒形状である。駆動軸ケーシング１４０は、その円筒形状の内側で２つの軸受Ｂｒを介して駆動軸１０１を支持している。フランジ部１４０Ａには、減速用内歯歯車１３０Ａが固定されている。また、フランジ部１４０Ａの減速用内歯歯車１３０Ａが固定されている位置の径方向外側には、第１固定部材１４２が固定されている。逆に、フランジ部１４０Ａの減速用内歯歯車１３０Ａが固定されている位置の径方向内側には、円環形状の当て部材１４８が存在する。当て部材１４８は、外歯歯車１２０及び起振体軸受１１０の端面に対向するように、撓み噛合い式歯車装置１００とフランジ部１４０Ａとの間に配置されている。当て部材１４８は、たとえば摺動性の高い材料から成形されている。 As shown in FIG. 1, the fixed side member 136 includes an auxiliary casing 138, a drive shaft casing 140, a first fixing member 142, a second fixing member 144, and a third fixing member 146. 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 has a cylindrical shape in which one end side is a flange portion 140A. The drive shaft casing 140 supports the drive shaft 101 via two bearings Br inside the cylindrical shape. A speed reducing internal gear 130A is fixed to the flange portion 140A. The first fixing member 142 is fixed on the radially outer side of the position where the speed reducing internal gear 130A of the flange portion 140A is fixed. On the contrary, an annular contact member 148 exists on the radially inner side of the position where the reduction gear 130A of the flange portion 140A is fixed. The abutting member 148 is disposed between the flexure meshing gear device 100 and the flange portion 140 A so as to face the external gear 120 and the end surfaces of the vibration body bearing 110. The contact member 148 is formed from a material having high slidability, for example.

第１固定部材１４２には、図１に示す如く、第２固定部材１４４が固定されている。第１固定部材１４２と第２固定部材１４４とはともに、円環形状であり、出力側部材１５２の径方向外側に配置されている。第１固定部材１４２は、その外周で第３固定部材１４６に固定されている。第３固定部材１４６は、図示せぬ固定壁と一体化されている。 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).

前記出力側部材１５２は、図１に示す如く、第１出力部材１５４と、第２出力部材１５６と、第３出力部材１５８と、を有する。第１出力部材１５４は、円環形状であり、出力用内歯歯車１３０Ｂに固定されている。第１出力部材１５４の出力用内歯歯車１３０Ｂが固定されている部分の径方向内側には、円環形状の当て部材１５０が存在する。当て部材１５０は、外歯歯車１２０及び起振体軸受１１０の端面に対向するように、撓み噛合い式歯車装置１００と第１出力部材１５４との間に配置されている（当て部材１５０は、当て部材１４８と同様の材質とされている）。なお、第１出力部材１５４と第１固定部材１４２との間には、主軸受Ｍｂ（クロスローラリング、アンギュラ玉軸受、テーパーローラ軸受など）が配置されている。第２出力部材１５６は、円板形状であり、第１出力部材１５４に固定されている。第２出力部材１５６と第２固定部材１４４との間には、第２固定部材１４４に支持されるオイルシールＯｓ２が配置されている。第３出力部材１５８も、円板形状であり、第２出力部材１５６に固定されている。第３出力部材１５８は、図示せぬ機械装置に接続される。 As shown in FIG. 1, the output side member 152 includes a first output member 154, a second output member 156, and a third output member 158. The first output member 154 has an annular shape and is fixed to the output internal gear 130B. An annular contact member 150 is present on the radially inner side of the portion of the first output member 154 where the output internal gear 130B is fixed. 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 material is the same as that of the contact 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).

次に、駆動軸１０１と、継手部材１０３と、撓み噛合い式歯車装置１００の各構成要素との関係について概略的に説明する。 Next, the relationship among the drive shaft 101, the joint member 103, and each component of the flexure meshing gear device 100 will be schematically described.

撓み噛合い式歯車装置１００において、図１、図２に示す如く、駆動軸１０１と起振体１０６とは、起振体１０６の軸心の径方向への変位を許容する継手部材１０３によって連結されている。ここで、起振体１０６と継手部材１０３とは軸方向Ｏに対向している。そして、起振体１０６は、継手部材１０３の径方向外側に延在して配置されている。 In the flexure meshing gear device 100, as shown in FIG. 1 and FIG. 2, the drive shaft 101 and the vibration generator 106 are connected by a joint member 103 that allows displacement of the shaft center of the vibration generator 106 in the radial direction. Has been. Here, the vibrating body 106 and the joint member 103 are opposed to each other in the axial direction O. And the vibration body 106 is arrange | positioned extending in the radial direction outer side of the coupling member 103. As shown in FIG.

次に、駆動軸１０１と、継手部材１０３と、撓み噛合い式歯車装置１００の各構成要素とについて詳細に説明を行う。なお、本実施形態では、起振体１０６の軸方向Ｏに垂直な断面が略楕円形状である。このため、本実施形態では、その軸心から起振体１０６の外周までの距離が最大となる位置を長軸位置と呼び、２つの長軸位置を結ぶ直線が延びる方向を長軸Ｘ方向と呼ぶ。同時に、本実施形態では、軸心から起振体１０６の外周までの距離が最小となる位置を短軸位置と呼び、２つの短軸位置を結ぶ直線が延びる方向を短軸Ｙ方向と呼ぶ。 Next, the drive shaft 101, the joint member 103, and each component of the flexure meshing gear device 100 will be described in detail. 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 the long axis X direction. Call. 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 Y direction.

駆動軸１０１は、駆動源である図示せぬモータから伸びるモータ軸などである。駆動軸１０１は、図１に示す如く、駆動軸ケーシング１４０に軸受Ｂｒを介して回転可能に支持されている。駆動軸１０１は、図２に示す如く、継手部材１０３の一端側から挿入され、止め部材１０２で軸方向Ｏへの移動が規制されている。 The drive shaft 101 is a motor shaft that extends from a motor (not shown) that is a drive source. As shown in FIG. 1, the drive shaft 101 is rotatably supported by the drive shaft casing 140 via a bearing Br. As shown in FIG. 2, the drive shaft 101 is inserted from one end side of the joint member 103, and movement in the axial direction O is restricted by the stopper member 102.

継手部材１０３は、オルダムカップリングとされている。即ち、駆動軸１０１と起振体１０６とは、図１〜図３に示す如く、継手部材１０３により起振体１０６の軸心の径方向への変位を許容するように連結されている。具体的に、継手部材１０３は、駆動軸１０１と一体的に回転する駆動部材１０４と、中間部材１０５（１０５Ａ、１０５Ｂ）と、を有している。つまり、継手部材１０３は、図３に示す如く、１つの駆動部材１０４と、駆動部材１０４の軸方向Ｏ一方側に配置される第１中間部材１０５Ａと、軸方向Ｏ他方側に配置される第２中間部材１０５Ｂと、を有する。第１中間部材１０５Ａと第２中間部材１０５Ｂとは、同一の構成である。このため、以降、第１中間部材１０５Ａについて説明し、第２中間部材１０５Ｂについての説明は基本的に省略する。 The joint member 103 is an Oldham coupling. That is, as shown in FIGS. 1 to 3, the drive shaft 101 and the vibrating body 106 are connected by the joint member 103 so as to allow displacement of the axial center of the vibrating body 106 in the radial direction. Specifically, the joint member 103 includes a drive member 104 that rotates integrally with the drive shaft 101, and intermediate members 105 (105A and 105B). That is, the joint member 103 includes one driving member 104, a first intermediate member 105A disposed on one side in the axial direction O of the driving member 104, and a first member disposed on the other side in the axial direction O as shown in FIG. 2 intermediate members 105B. The first intermediate member 105A and the second intermediate member 105B have the same configuration. Therefore, hereinafter, the first intermediate member 105A will be described, and the description of the second intermediate member 105B will be basically omitted.

駆動部材１０４は、図３、図４（Ａ）、（Ｂ）に示す如く、中心に貫通孔１０４Ｂを有する円環形状（外径Ｄｄ）とされている。貫通孔１０４Ｂは、駆動軸１０１の挿入が可能とされている。また、駆動部材１０４が駆動軸１０１と一体で回転するように、貫通孔１０４Ｂにはキー溝１０４Ｃが設けられ、駆動部材１０４と駆動軸１０１とは図示せぬキーで連結される。駆動部材１０４の軸方向Ｏの両側面１０４ＡＡ、１０４ＡＢにはそれぞれ、２つの凹部１０４Ｄが設けられている。両側面１０４ＡＡ、１０４ＡＢの形状は同一なので、側面１０４ＡＡのみについて説明し、側面１０４ＡＢについての説明は省略する。 The driving member 104 has an annular shape (outer diameter Dd) having a through hole 104B at the center, as shown in FIGS. The drive hole 101 can be inserted into the through hole 104B. In addition, a key groove 104C is provided in the through hole 104B so that the drive member 104 rotates integrally with the drive shaft 101, and the drive member 104 and the drive shaft 101 are connected by a key (not shown). Two concave portions 104D are provided on both side surfaces 104AA and 104AB in the axial direction O of the drive member 104, respectively. Since both side surfaces 104AA and 104AB have the same shape, only the side surface 104AA will be described, and description of the side surface 104AB will be omitted.

側面１０４ＡＡにおいて、図４（Ａ）、（Ｂ）に示す如く、２つの凹部１０４Ｄの設けられている位置は、駆動部材１０４の外周に沿った位置であり、且つ駆動部材１０４の中心に対して互いに１８０度位相のずれた位置とされている。即ち、２つの凹部１０４Ｄの周方向における中心線は、一直線に繋がり、且つ長軸Ｘ方向と一致する。そして、凹部１０４Ｄの側面１０４ＤＡはそれぞれ、長軸Ｘ方向と平行とされている。なお、符号Ｌｄは、凹部１０４Ｄにおける側面１０４ＤＡ間の距離（凹部１０４Ｄの幅）である。また、符号Ｌｇは、２つの凹部１０４Ｄの間の距離である。 On the side surface 104AA, as shown in FIGS. 4A and 4B, the position where the two recesses 104D are provided is a position along the outer periphery of the drive member 104, and with respect to the center of the drive member 104. The positions are 180 degrees out of phase with each other. That is, the center line in the circumferential direction of the two concave portions 104D is connected in a straight line and coincides with the major axis X direction. The side surface 104DA of the recess 104D is parallel to the major axis X direction. In addition, the code | symbol Ld is the distance between the side surfaces 104DA in the recessed part 104D (width | variety of the recessed part 104D). Moreover, the code | symbol Lg is the distance between the two recessed parts 104D.

第１中間部材１０５Ａは、図５（Ａ）、（Ｂ）に示す如く、中心に貫通孔１０５ＡＢを有する円環形状（外径Ｄｊ）とされている。貫通孔１０５ＡＢの大きさ（直径Ｌｂ）は、駆動軸１０１の芯ずれが最大となり駆動部材１０４が径方向に相対変位しても、駆動軸１０１と接触しない大きさとされている。第１中間部材１０５Ａの軸方向Ｏの両側面１０５ＡＡＡ、１０５ＡＡＢにはそれぞれ、第１中間部材１０５Ａの径方向内側から径方向外側まで続く２つの凸部１０５ＡＤと２つの凸部１０５ＡＣとが設けられている。 As shown in FIGS. 5A and 5B, the first intermediate member 105A has an annular shape (outer diameter Dj) having a through hole 105AB in the center. The size (diameter Lb) of the through-hole 105AB is set to a size that does not come into contact with the drive shaft 101 even when the drive shaft 104 has a maximum misalignment and the drive member 104 is relatively displaced in the radial direction. On both side surfaces 105AAA and 105AAB in the axial direction O of the first intermediate member 105A, there are provided two convex portions 105AD and two convex portions 105AC that extend from the radially inner side to the radially outer side of the first intermediate member 105A. Yes.

一方の側面１０５ＡＡＡにおいて、図５（Ａ）、（Ｂ）に示す如く、２つの凸部１０５ＡＤの設けられている位置は、第１中間部材１０５Ａの中心に対して互いに１８０度位相のずれた位置とされている。即ち、２つの凸部１０５ＡＤの周方向における中心線は、一直線に繋がり、且つ短軸Ｙ方向と一致する（このため、貫通孔１０５ＡＢの直径Ｌｂは２つの凸部１０５ＡＤの間の距離となり、且つ外径Ｄｊは２つの凸部１０５ＡＤの外周面１０５ＡＤＢの間の距離となる）。そして、凸部１０５ＡＤの側面１０５ＡＤＡはそれぞれ、短軸Ｙ方向と平行とされている。なお、符号Ｌｊｘは、凸部１０５ＡＤにおける側面１０５ＡＤＡ間の距離（凸部１０５ＡＤの幅）である。 On one side surface 105AAA, as shown in FIGS. 5A and 5B, the positions at which the two convex portions 105AD are provided are positions that are 180 degrees out of phase with respect to the center of the first intermediate member 105A. It is said that. That is, the center line in the circumferential direction of the two convex portions 105AD is connected to a straight line and coincides with the short axis Y direction (for this reason, the diameter Lb of the through hole 105AB is a distance between the two convex portions 105AD, and The outer diameter Dj is the distance between the outer peripheral surfaces 105ADB of the two convex portions 105AD). The side surface 105ADA of the convex portion 105AD is parallel to the minor axis Y direction. Note that the symbol Ljx is the distance between the side surfaces 105ADA in the convex portion 105AD (the width of the convex portion 105AD).

他方の側面１０５ＡＡＢにおいて、図５（Ａ）、（Ｂ）に示す如く、２つの凸部１０５ＡＣの設けられている位置も、第１中間部材１０５Ａの中心に対して互いに１８０度位相のずれた位置とされている。即ち、２つの凸部１０５ＡＣの周方向における中心線は、一直線に繋がり、且つ長軸Ｘ方向と一致する（このため、貫通孔１０５ＡＢの直径Ｌｂは２つの凸部１０５ＡＣの間の距離となり、且つ外径Ｄｊは２つの凸部１０５ＡＣの外周面１０５ＡＣＢの間の距離となる）。そして、凸部１０５ＡＣの側面１０５ＡＣＡはそれぞれ、長軸Ｘ方向と平行とされている。なお、符号Ｌｊｙは、凸部１０５ＡＣにおける側面１０５ＡＣＡ間の距離（凸部１０５ＡＣの幅）である。 On the other side surface 105AAB, as shown in FIGS. 5A and 5B, the positions where the two convex portions 105AC are provided are also positions that are 180 degrees out of phase with respect to the center of the first intermediate member 105A. It is said that. That is, the center line in the circumferential direction of the two convex portions 105AC is connected in a straight line and coincides with the long axis X direction (for this reason, the diameter Lb of the through hole 105AB is a distance between the two convex portions 105AC, and The outer diameter Dj is the distance between the outer peripheral surfaces 105ACB of the two convex portions 105AC). The side surfaces 105ACA of the convex portions 105AC are parallel to the major axis X direction. In addition, the code | symbol Lji is the distance (width | variety of convex part 105AC) between the side surfaces 105ACA in convex part 105AC.

ここで、凸部１０５ＡＣと凸部１０５ＡＤとは同一形状で、凸部１０５ＡＣの幅Ｌｊｙと凸部１０５ＡＤの幅Ｌｊｘとは同一である（Ｌｊｙ＝Ｌｊｘ）。つまり、側面１０５ＡＡＡと側面１０５ＡＡＢとは、位相が９０度ずれているものの、形状は同一とされている。また、凸部１０５ＡＣの軸方向Ｏ高さは、凹部１０４Ｄの軸方向Ｏ深さよりも若干小さくされている。そして、凸部１０５ＡＣの幅Ｌｊｙは、凹部１０４Ｄの幅Ｌｄよりも若干狭くされている（Ｌｊｙ＜Ｌｄ）。そして、外径Ｄｊと外径Ｄｄとはほぼ同一とされている（Ｄｊ≒Ｄｄ）。そして、２つの凸部１０５ＡＣの間の距離Ｌｂは、２つの凹部１０４Ｄの間の距離Ｌｇよりも相応に大きくされている（Ｌｂ＞Ｌｇ＋α、α＞０）。 Here, the convex portion 105AC and the convex portion 105AD have the same shape, and the width Ljy of the convex portion 105AC and the width Ljx of the convex portion 105AD are the same (Lji = Ljx). That is, although the side surface 105AAA and the side surface 105AAB are 90 degrees out of phase, the shape is the same. Further, the axial O height of the convex portion 105AC is slightly smaller than the axial O depth of the concave portion 104D. The width Lji of the convex portion 105AC is slightly narrower than the width Ld of the concave portion 104D (Lji <Ld). The outer diameter Dj and the outer diameter Dd are substantially the same (Dj≈Dd). The distance Lb between the two convex portions 105AC is correspondingly larger than the distance Lg between the two concave portions 104D (Lb> Lg + α, α> 0).

このため、２つの凸部１０５ＡＣはそれぞれ、２つの凹部１０４Ｄに嵌合可能となっている。このとき、２つの凸部１０５ＡＣの配置（２つの凹部１０４Ｄの配置）により、駆動部材１０４に対する第１中間部材１０５Ａの短軸Ｙ方向への相対移動は規制される。しかしながら、駆動部材１０４に対する第１中間部材１０５Ａの長軸Ｘ方向への相対移動は許容されることとなる（例えば１ｍｍ以下）。即ち、駆動部材１０４と第１中間部材１０５Ａとは、軸方向Ｏに対向し、径方向の一方向（長軸Ｘ方向）に相対変位可能に連結されていることとなる。このように、２つの凸部１０５ＡＣと２つの凹部１０４Ｄの嵌合により、駆動部材１０４と第１中間部材１０５Ａとは一体的に回転可能に連結される。なお、駆動部材１０４と第２中間部材１０５Ｂも同様に連結される。また、凸部１０５ＡＣ、１０５ＢＣや凹部１０４Ｄの形状は、特に限定されず、駆動部材１０４と中間部材１０５（１０５Ａ、１０５Ｂ）とが径方向に相対変位可能、且つ一体的に回転可能に連結される形状であればよい。 For this reason, each of the two convex portions 105AC can be fitted into the two concave portions 104D. At this time, the relative movement of the first intermediate member 105A in the minor axis Y direction with respect to the drive member 104 is restricted by the arrangement of the two convex portions 105AC (the arrangement of the two concave portions 104D). However, relative movement in the major axis X direction of the first intermediate member 105A with respect to the drive member 104 is allowed (for example, 1 mm or less). That is, the drive member 104 and the first intermediate member 105A are opposed to each other in the axial direction O, and are connected so as to be relatively displaceable in one radial direction (long axis X direction). As described above, the drive member 104 and the first intermediate member 105A are integrally connected to be rotatable by fitting the two convex portions 105AC and the two concave portions 104D. The drive member 104 and the second intermediate member 105B are similarly connected. Further, the shapes of the convex portions 105AC and 105BC and the concave portion 104D are not particularly limited, and the driving member 104 and the intermediate member 105 (105A and 105B) are connected to each other so as to be relatively displaceable in the radial direction and integrally rotatable. Any shape is acceptable.

起振体１０６は、図２、図３に示す如く、第１中間部材１０５Ａと連結される第１起振体１０６Ａと、第２中間部材１０５Ｂと連結される第２起振体１０６Ｂと、を有する。第１起振体１０６Ａ、第２起振体１０６Ｂはそれぞれ、減速用内歯歯車１３０Ａ、出力用内歯歯車１３０Ｂの径方向内側に対応して配置されている。第１起振体１０６Ａと第２起振体１０６Ｂとはともに、同一の構成である。このため、以下、第１起振体１０６Ａについて説明し、第２起振体１０６Ｂについての説明は基本的に省略する。 As shown in FIGS. 2 and 3, the vibrator 106 includes a first vibrator 106A coupled to the first intermediate member 105A and a second vibrator 106B coupled to the second intermediate member 105B. Have. The first vibration body 106A and the second vibration body 106B are arranged corresponding to the radially inner sides of the reduction internal gear 130A and the output internal gear 130B, respectively. Both the first vibrator 106A and the second vibrator 106B have the same configuration. Therefore, hereinafter, the first vibration body 106A will be described, and the description of the second vibration body 106B will be basically omitted.

第１起振体１０６Ａは、図６（Ａ）、（Ｂ）に示す如く、非円形の円筒形状とされている。具体的に、第１起振体１０６Ａは、本体部１０６ＡＡと延在部１０６ＡＤとを有する。 As shown in FIGS. 6A and 6B, the first vibrator 106A has a non-circular cylindrical shape. Specifically, the first vibrator 106A has a main body portion 106AA and an extending portion 106AD.

本体部１０６ＡＡは、図６（Ａ）、（Ｂ）に示す如く、中心に貫通孔１０６ＡＢを有している。貫通孔１０６ＡＢの大きさ（直径Ｌｐ）は、駆動軸１０１の芯ずれが最大となり駆動部材１０４と第１中間部材１０５Ａとが径方向に相対変位しても、駆動軸１０１と接触しない大きさとされている。軸方向Ｏから見た本体部１０６ＡＡの外形は、軸方向Ｏから見た第１起振体１０６Ａの外形と同一である。つまり、短軸Ｙ方向における軸心から本体部１０６ＡＡの外周までの距離Ｒｙは、図６（Ｂ）に示す如く、長軸Ｘ方向における軸心から本体部１０６ＡＡの外周までの距離Ｒｘよりも短くされている（Ｒｙ＜Ｒｘ）。即ち、短軸Ｙ位置では外歯歯車１２０と減速用内歯歯車１３０Ａとの間に隙間が生じることで、非噛合状態が実現される。一方で、長軸Ｘ位置の付近では、外歯歯車１２０と減速用内歯歯車１３０Ａとの噛合状態が実現される（なお、符号Ｐｃは、距離Ｒｘを半径とする破線で示す真円形状を示している）。 As shown in FIGS. 6A and 6B, the main body portion 106AA has a through hole 106AB in the center. The size (diameter Lp) of the through-hole 106AB is set such that the center deviation of the drive shaft 101 is maximized and the drive member 104 and the first intermediate member 105A do not come into contact with the drive shaft 101 even if they are relatively displaced in the radial direction. ing. The outer shape of the main body portion 106AA viewed from the axial direction O is the same as the outer shape of the first vibrator 106A viewed from the axial direction O. That is, the distance Ry from the axis in the minor axis Y direction to the outer periphery of the main body 106AA is shorter than the distance Rx from the axis in the major axis X direction to the outer periphery of the main body 106AA, as shown in FIG. (Ry <Rx). That is, in the short axis Y 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 position of the long axis X, the meshing state of the external gear 120 and the reduction internal gear 130A is realized (note that the symbol Pc has a perfect circle shape indicated by a broken line with the radius of the distance Rx). Shown).

また、図６（Ａ）、（Ｂ）に示す如く、本体部１０６ＡＡの軸方向Ｏの延在部１０６ＡＤが延在する側の側面１０６ＡＡＡには、本体部１０６ＡＡの径方向内側から径方向外側の延在部１０６ＡＤの内周まで続く２つの凹部１０６ＡＣが設けられている。２つの凹部１０６ＡＣの設けられている位置は、本体部１０６ＡＡの中心に対して互いに１８０度位相のずれた位置とされている。即ち、２つの凹部１０６ＡＣの周方向における中心線は、一直線に繋がり、且つ短軸Ｙ方向と一致する（このため、貫通孔１０６ＡＢの直径Ｌｐは２つの凹部１０６ＡＣの間の距離となり、且つ延在部１０６ＡＤの内径Ｄｗは、２つの凹部１０６ＡＣの外側内周面１０６ＡＣＢの間の距離となる）。そして、凹部１０６ＡＣの側面１０６ＡＣＡはそれぞれ、短軸Ｙ方向と平行とされている。なお、符号Ｌｗは、凹部１０６ＡＣにおける側面１０６ＡＣＡ間の距離（凹部１０６ＡＣの幅）である。 Further, as shown in FIGS. 6A and 6B, the side surface 106AAA on the side where the extending portion 106AD in the axial direction O of the main body portion 106AA extends extends from the radially inner side to the radially outer side of the main body portion 106AA. Two concave portions 106AC extending to the inner periphery of the extending portion 106AD are provided. The positions where the two concave portions 106AC are provided are positions that are 180 degrees out of phase with respect to the center of the main body portion 106AA. That is, the center line in the circumferential direction of the two recesses 106AC is connected in a straight line and coincides with the minor axis Y direction (for this reason, the diameter Lp of the through hole 106AB is a distance between the two recesses 106AC and extends. The inner diameter Dw of the portion 106AD is the distance between the outer peripheral surfaces 106ACB of the two recesses 106AC). The side surfaces 106ACA of the recesses 106AC are parallel to the minor axis Y direction. Note that the symbol Lw is the distance between the side surfaces 106ACA of the recess 106AC (the width of the recess 106AC).

延在部１０６ＡＤは、図３、図６（Ａ）、（Ｂ）に示す如く、本体部１０６ＡＡから軸方向Ｏに延在した円筒形状の部分である。延在部１０６ＡＤの内径Ｄｗは、駆動部材１０４の外径Ｄｄ及び第１中間部材１０５Ａの外径Ｄｊよりも相応に大きくされている（Ｄｗ＞Ｄｄ（Ｄｊ）＋β、β＞０）。つまり、内径Ｄｗは、駆動軸１０１の芯ずれが最大となり径方向に変位した駆動部材１０４と第１中間部材１０５Ａとが接触しない大きさとされている。延在部１０６ＡＤは、第１中間部材１０５Ａ及び駆動部材１０４の径方向外側に延在して配置されている。具体的には、延在部１０６ＡＤは、第１中間部材１０５Ａ及び駆動部材１０４の一部（駆動部材１０４の軸方向Ｏ長さのほぼ半分まで）の外周を覆うように設けられている。なお、内径Ｄｗが一定なので、延在部１０６ＡＤの短軸Ｙ位置における径方向厚みＴｙは、長軸Ｘ位置における径方向厚みＴｘよりも薄くされている（Ｔｙ＜Ｔｘ）。 The extending portion 106AD is a cylindrical portion extending in the axial direction O from the main body portion 106AA, as shown in FIGS. 3, 6A, and 6B. The inner diameter Dw of the extending portion 106AD is correspondingly larger than the outer diameter Dd of the drive member 104 and the outer diameter Dj of the first intermediate member 105A (Dw> Dd (Dj) + β, β> 0). That is, the inner diameter Dw is set such that the drive member 104 and the first intermediate member 105A that are displaced in the radial direction are not in contact with each other because the misalignment of the drive shaft 101 is maximized. The extending portion 106AD is arranged to extend outward in the radial direction of the first intermediate member 105A and the driving member 104. Specifically, the extending portion 106AD is provided so as to cover the outer circumferences of the first intermediate member 105A and a part of the driving member 104 (up to approximately half of the length of the driving member 104 in the axial direction O). Since the inner diameter Dw is constant, the radial thickness Ty at the short axis Y position of the extending portion 106AD is thinner than the radial thickness Tx at the long axis X position (Ty <Tx).

ここで、凸部１０５ＡＤの（凸部１０５ＡＣ）の軸方向Ｏ高さは、凹部１０６ＡＣの軸方向Ｏ深さよりも若干小さくされている。そして、凸部１０５ＡＤの幅Ｌｊｘは、凹部１０６ＡＣの幅Ｌｗよりも若干狭くされている（Ｌｊｘ＜Ｌｗ）。そして、上述の如く、内径Ｄｗは、外径Ｄｊ、外径Ｄｄよりも相応に大きくされている（Ｄｗ＞Ｄｄ（Ｄｊ）＋β、β＞０）。つまり、２つの凸部１０５ＡＤの外周面１０５ＡＤＢの間の距離Ｄｊ（図５（Ａ）、（Ｂ））は、２つの凹部１０６ＡＣの外側内周面１０６ＡＣＢの間の距離Ｄｗよりも相応に小さくされている。 Here, the axial direction O height of the convex portion 105AD (the convex portion 105AC) is slightly smaller than the axial direction O depth of the concave portion 106AC. The width Ljx of the convex portion 105AD is slightly narrower than the width Lw of the concave portion 106AC (Ljx <Lw). As described above, the inner diameter Dw is appropriately larger than the outer diameter Dj and the outer diameter Dd (Dw> Dd (Dj) + β, β> 0). That is, the distance Dj between the outer peripheral surfaces 105ADB of the two convex portions 105AD (FIGS. 5A and 5B) is made appropriately smaller than the distance Dw between the outer inner peripheral surfaces 106ACB of the two concave portions 106AC. ing.

このため、２つの凸部１０５ＡＤはそれぞれ、２つの凹部１０６ＡＣに嵌合可能である。このとき、２つの凸部１０５ＡＤの配置（２つの凹部１０６ＡＣの配置）により、第１起振体１０６Ａに対する第１中間部材１０５Ａの長軸Ｘ方向への相対移動は規制される。しかしながら、第１起振体１０６Ａに対する第１中間部材１０５Ａの短軸Ｙ方向への相対移動は許容されることとなる（例えば１ｍｍ以下）。即ち、第１起振体１０６Ａは、短軸Ｙ位置に第１中間部材１０５Ａと嵌合する凹部１０６ＡＣを有している構成である。そして、第１起振体１０６Ａと第１中間部材１０５Ａとは、軸方向Ｏに対向するとともに、長軸Ｘ方向と直交する方向（短軸Ｙ方向）に相対変位可能に連結されていることとなる。 For this reason, each of the two convex portions 105AD can be fitted into the two concave portions 106AC. At this time, the relative movement of the first intermediate member 105A in the major axis X direction with respect to the first vibrating body 106A is restricted by the arrangement of the two convex portions 105AD (the arrangement of the two concave portions 106AC). However, relative movement of the first intermediate member 105A in the short axis Y direction with respect to the first vibrator 106A is allowed (for example, 1 mm or less). That is, the first vibrating body 106A has a concave portion 106AC that fits with the first intermediate member 105A at the minor axis Y position. The first vibrator 106A and the first intermediate member 105A are opposed to each other in the axial direction O and are coupled so as to be relatively displaceable in a direction (short axis Y direction) orthogonal to the long axis X direction. Become.

なお、２つの凸部１０５ＡＤの外周面１０５ＡＤＢの間の距離Ｄｊは、２つの凹部１０６ＡＣの間の距離Ｌｐと、１つの凹部１０６ＡＣの径方向長さ（（Ｄｗ−Ｌｐ）／２）との和よりも大きくされている（Ｄｊ＞（Ｄｗ＋Ｌｐ）／２）。このため、第１中間部材１０５Ａが第１起振体１０６Ａに対して最大限に径方向に相対変位しても、必ず２つの凸部１０５ＡＤがそれぞれ、２つの凹部１０６ＡＣと嵌合し、いずれの凸部１０５ＡＤも対応する凹部１０６ＡＣから外れない構成となっている。 The distance Dj between the outer peripheral surfaces 105ADB of the two convex portions 105AD is the sum of the distance Lp between the two concave portions 106AC and the radial direction length ((Dw−Lp) / 2) of the single concave portion 106AC. (Dj> (Dw + Lp) / 2). For this reason, even if the first intermediate member 105A is maximally radially displaced with respect to the first vibrator 106A, the two convex portions 105AD are always fitted with the two concave portions 106AC, The convex portion 105AD is configured not to be detached from the corresponding concave portion 106AC.

このように、２つの凸部１０５ＡＤと２つの凹部１０６ＡＣの嵌合により、第１起振体１０６Ａと第１中間部材１０５Ａとは一体的に回転可能に連結される。なお、第２起振体１０６Ｂと第２中間部材１０５Ｂも同様に連結される。また、凸部１０５ＡＤ、１０５ＢＤや凹部１０６ＡＣ、１０６ＢＣの形状は、特に限定されず、起振体１０６（１０６Ａ、１０６Ｂ）と中間部材１０５（１０５Ａ、１０５Ｂ）とが径方向に相対変位可能、且つ一体的に回転可能に連結される形状であればよい。 As described above, by fitting the two convex portions 105AD and the two concave portions 106AC, the first vibrating body 106A and the first intermediate member 105A are integrally connected to be rotatable. The second vibrator 106B and the second intermediate member 105B are similarly connected. Further, the shapes of the convex portions 105AD and 105BD and the concave portions 106AC and 106BC are not particularly limited, and the vibrator 106 (106A and 106B) and the intermediate member 105 (105A and 105B) can be relatively displaced in the radial direction, and can be integrated. Any shape can be used as long as it is rotatably connected.

なお、第２起振体１０６Ｂも第１起振体１０６Ａと同一形状とされている。このため、起振体１０６は、継手部材１０３の軸方向Ｏ全長を覆う構成とされている。 The second vibrator 106B has the same shape as the first vibrator 106A. For this reason, the vibrator 106 is configured to cover the entire length of the joint member 103 in the axial direction O.

起振体軸受１１０（１１０Ａ、１１０Ｂ）は、図２に示す如く、減速用内歯歯車１３０Ａと出力用内歯歯車１３０Ｂとに対応して、軸方向Ｏに２つ並べて配置されている。起振体軸受１１０Ａ、起振体軸受１１０Ｂはともに、同一の構成である。このため、以下、起振体軸受１１０Ａについて説明し、起振体軸受１１０Ｂについての説明は基本的に省略する。 As shown in FIG. 2, two vibration body 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. Both the vibration body bearing 110A and the vibration body bearing 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.

起振体軸受１１０Ａは、図２に示す如く、内輪１１２Ａと、リテーナ１１４Ａと、転動体としてのころ１１６Ａと、外輪１１８Ａと、から構成される。 As shown in FIG. 2, the vibration body bearing 110A includes an inner ring 112A, a retainer 114A, rollers 116A as rolling elements, and an outer ring 118A.

内輪１１２Ａは、可撓性の素材で形成されている。内輪１１２Ａは第１起振体１０６Ａ側に配置されている。そして、内輪１１２Ａの内周面は第１起振体１０６Ａと当接して、内輪１１２Ａは第１起振体１０６Ａと一体で回転する。リテーナ１１４Ａは、ころ１１６Ａを収容し、ころ１１６Ａの周方向における位置及び姿勢を規制する。つまり、リテーナ１１４Ａの軸方向Ｏ長さＬ２は、ころ１１６Ａの軸方向Ｏ長さＬ２より大きくされている（Ｌ２＞Ｌ１）。ころ１１６Ａは、円柱形状（ニードル形状を含む）である。外輪１１８Ａは、ころ１１６Ａ及びリテーナ１１４Ａの外周に配置される。外輪１１８Ａも、可撓性の素材で形成されている。外輪１１８Ａは、その外周に配置される外歯歯車１２０とともに起振体１０６の回転により撓み変形する。なお、内輪１１２Ａとリテーナ１１４Ａと外輪１１８Ａの軸方向Ｏ外側の端部の位置は、図２に示す如く、軸方向Ｏで、ほぼ一致している。しかし、内輪１１２Ａとリテーナ１１４Ａと外輪１１８Ａの軸方向Ｏ外側の端部の位置は、第１起振体１０６Ａの軸方向Ｏ外側の端部の位置よりも若干内側とされている。 The inner ring 112A is made of a flexible material. The inner ring 112A is disposed on the first vibration body 106A side. The inner circumferential surface of the inner ring 112A is in contact with the first vibration body 106A, and the inner ring 112A rotates integrally with the first vibration body 106A. The retainer 114A accommodates the roller 116A and regulates the position and posture in the circumferential direction of the roller 116A. That is, the axial direction O length L2 of the retainer 114A is larger than the axial direction O length L2 of the roller 116A (L2> L1). The roller 116A has a cylindrical shape (including a needle shape). 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 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. Note that the positions of the outer ends of the inner ring 112A, the retainer 114A, and the outer ring 118A on the outer side in the axial direction O substantially coincide with each other in the axial direction O as shown in FIG. However, the positions of the outer ends in the axial direction O of the inner ring 112A, the retainer 114A, and the outer ring 118A are slightly inward from the positions of the outer ends in the axial direction O of the first vibrator 106A.

なお、図２に示す如く、起振体軸受１１０Ａのうち、ころ１１６Ａの軸方向Ｏ長さＬ１よりも第１起振体１０６Ａの外周の軸方向Ｏ長さＬの方が長くされている（Ｌ１＜Ｌ）。ここで、起振体軸受１１０Ａで実質的にトルク伝達するのはころ１１６Ａである。このため、第１起振体１０６Ａの外周の軸方向Ｏ長さＬは、実質的に第１起振体１０６Ａの外周に配置される起振体軸受１１０Ａの軸方向Ｏ長さＬ２より長くされているといえる。また、図２で示す如く、リテーナ１１４Ａと当て部材１４８との間の隙間γ１は、ころ１１６Ａの外側端部からリテーナ１１４Ａの外側端部までの距離γ２よりも狭くされている（γ１＜γ２）。このため、ころ１１６Ａが軸方向Ｏ外側に移動しても、ころ１１６Ａの移動は隙間γ１だけである。つまり、ころ１１６Ａが軸方向Ｏ外側に移動した場合でも、ころ１１６Ａの軸方向Ｏ長さ全てが第１起振体１０６Ａの外周の軸方向Ｏ長さＬ内に留まることとなる。 2, in the vibration body bearing 110A, the axial direction O length L of the outer periphery of the first vibration body 106A is longer than the axial direction O length L1 of the roller 116A (see FIG. 2). L1 <L). Here, it is the roller 116 A that substantially transmits torque by the vibration body bearing 110 A. For this reason, the axial direction O length L of the outer periphery of the first vibration body 106A is substantially longer than the axial direction O length L2 of the vibration body bearing 110A disposed on the outer periphery of the first vibration body 106A. It can be said that. 2, the gap γ1 between the retainer 114A and the abutting member 148 is narrower than the distance γ2 from the outer end of the roller 116A to the outer end of the retainer 114A (γ1 <γ2). . For this reason, even if the roller 116A moves outward in the axial direction O, the roller 116A moves only by the clearance γ1. That is, even when the roller 116A moves outward in the axial direction O, the entire axial length O of the roller 116A remains within the axial O length L of the outer periphery of the first vibrator 106A.

外歯歯車１２０は、図２に示す如く、減速用内歯歯車１３０Ａ、出力用内歯歯車１３０Ｂに対応して軸方向Ｏに並設された外歯歯車１２０Ａ、１２０Ｂで構成されている。外歯歯車１２０Ａは、減速用内歯歯車１３０Ａと内接噛合する。外歯歯車１２０Ａは、図示せぬ基部材及び外歯で構成される。基部材は、外歯を支持する可撓性を有した筒状部材であり、外歯歯車１２０Ｂの基部材と共通とされている。そして、外歯歯車１２０Ａは、起振体軸受１１０Ａの外周に配置され、第１起振体１０６Ａの回転により撓み変形する。外歯は、理論噛合を実現するようにトロコイド曲線に基づいて歯形が決定されている。 As shown in FIG. 2, the external gear 120 includes external gears 120 A and 120 B arranged in parallel in the axial direction O corresponding to the reduction internal gear 130 A and the output internal gear 130 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 disposed on the outer periphery of the vibration body bearing 110A, and is bent and deformed by the rotation of the first vibration body 106A. The tooth profile of the external teeth is determined based on the trochoid curve so as to realize theoretical meshing.

外歯歯車１２０Ｂは、図２に示す如く、出力用内歯歯車１３０Ｂと内接噛合する。そして、外歯歯車１２０Ｂは、外歯歯車１２０Ａと同様に、基部材及び外歯で構成される。外歯歯車１２０Ｂの外歯は、外歯歯車１２０Ａの外歯とは軸方向Ｏで分離されているものの、同一の数、同一の形状で構成されている。 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.

内歯歯車１３０を構成する減速用内歯歯車１３０Ａ、出力用内歯歯車１３０Ｂは、図２に示す如く、軸方向Ｏに並設されている。内歯歯車１３０は剛性を有した部材で形成されている。減速用内歯歯車１３０Ａは、外歯歯車１２０Ａの外歯の歯数よりもｉ（ｉは２以上）多い歯数の内歯を備える。内歯は、トロコイド曲線に基づいた外歯に理論噛合するように成形されている（出力用内歯歯車１３０Ｂの内歯も同様）。減速用内歯歯車１３０Ａは、外歯歯車１２０Ａと噛合することによって、起振体１０６の回転を減速する。 The reduction internal gear 130A and the output internal gear 130B constituting the internal gear 130 are juxtaposed in the axial direction O as shown in FIG. The internal gear 130 is formed of a rigid member. The internal gear 130A for speed reduction includes internal teeth having a number of teeth i (i is 2 or more) larger than the number of external teeth of the external gear 120A. The internal teeth are shaped so as to theoretically mesh with external teeth based on the trochoid curve (the internal teeth 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.

一方、出力用内歯歯車１３０Ｂは、外歯歯車１２０Ｂの外歯の歯数と同一の歯数の内歯を備える。出力用内歯歯車１３０Ｂからは、外歯歯車１２０Ｂの自転と同一の回転が外部に出力される。 On the other hand, the output internal gear 130B includes internal teeth 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.

なお、撓み噛合い式歯車装置１００には、潤滑剤が封入されている。そして、その潤滑剤は、外歯歯車１２０と内歯歯車１３０との噛合う部分などを潤滑している。 Note that the flexure meshing gear device 100 is filled with a lubricant. The lubricant lubricates the meshing portion of the external gear 120 and the internal gear 130.

次に、撓み噛合い式歯車装置１００の動作について、主に図１、図２を用いて説明する。 Next, the operation of the flexibly meshing gear device 100 will be described mainly with reference to FIGS.

駆動軸１０１の回転により、起振体１０６が回転すると、その回転状態に応じて、起振体軸受１１０Ａを介して、外歯歯車１２０Ａが撓み変形する。このとき、外歯歯車１２０Ｂも、起振体軸受１１０Ｂを介して、外歯歯車１２０Ａと同位相で撓み変形する。 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.

外歯歯車１２０Ａ、１２０Ｂが起振体１０６で撓み変形することにより、外歯歯車１２０Ａの外歯が減速用内歯歯車１３０Ａの内歯に噛合する。同様に、外歯歯車１２０Ｂの外歯が出力用内歯歯車１３０Ｂの内歯に噛合する。 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 of the reduction internal gear 130A. Similarly, the external teeth of the external gear 120B mesh with the internal teeth of the output internal gear 130B.

外歯歯車１２０Ａと減速用内歯歯車１３０Ａとの噛合位置は、起振体１０６の長軸Ｘ位置の移動に伴い、回転移動する。ここで、起振体１０６が１回転すると、外歯歯車１２０Ａは減速用内歯歯車１３０Ａとの歯数差だけ、回転位相が遅れる。つまり、減速用内歯歯車１３０Ａによる減速比は（（外歯歯車１２０Ａの歯数−減速用内歯歯車１３０Ａの歯数）／外歯歯車１２０Ａの歯数）で求めることができる。具体的な数値による減速比は（（１００−１０２）／１００＝−１／５０）となる。ここで、「−」は入出力が逆回転の関係となることを示している。 The meshing position of the external gear 120 A and the reduction internal gear 130 A rotates with the movement of the long axis X position of the vibration generator 106. 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.

外歯歯車１２０Ｂと出力用内歯歯車１３０Ｂとはともに歯数が同一であるので、外歯歯車１２０Ｂと出力用内歯歯車１３０Ｂとは互いに噛合する部分が移動することなく、同一の歯同士で噛合することとなる。このため、出力用内歯歯車１３０Ｂから外歯歯車１２０Ｂの自転と同一の回転が出力される。結果として、出力用内歯歯車１３０Ｂからは起振体１０６の回転を（−１／５０）に減速した出力を取り出すことができる。即ち、駆動軸１０１の回転が（−１／５０）に減速され、その出力を出力側部材１５２で取り出すことが可能となる。 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.

なお、駆動軸１０１が減速用内歯歯車１３０Ａ（出力用内歯歯車１３０Ｂ）の軸心から短軸Ｙ方向に所定の量だけずれている場合には、駆動部材１０４と第１中間部材１０５Ａ（第２中間部材１０５Ｂ）とに対して、第１起振体１０６Ａ（第２起振体１０６Ｂ）が短軸Ｙ方向に当該所定の量だけ変位する。駆動軸１０１が減速用内歯歯車１３０Ａ（出力用内歯歯車１３０Ｂ）の軸心から長軸Ｘ方向に所定の量だけずれている場合には、駆動部材１０４に対して第１中間部材１０５Ａ（第２中間部材１０５Ｂ）と第１起振体１０６Ａ（第２起振体１０６Ｂ）とが一体となって長軸Ｘ方向に当該所定の量だけ変位する。これにより、継手部材１０３は、第１起振体１０６Ａ、第２起振体１０６Ｂそれぞれの軸心の径方向への変位を独立して許容することができる。 When the drive shaft 101 is deviated by a predetermined amount in the minor axis Y direction from the axis of the internal gear 130A for reduction (the internal gear 130B for output), the drive member 104 and the first intermediate member 105A ( The first vibrator 106A (second vibrator 106B) is displaced in the minor axis Y direction by the predetermined amount with respect to the second intermediate member 105B). When the drive shaft 101 is deviated by a predetermined amount in the major axis X direction from the axis of the deceleration internal gear 130A (output internal gear 130B), the first intermediate member 105A ( The second intermediate member 105B) and the first vibration body 106A (second vibration body 106B) are integrally displaced by the predetermined amount in the major axis X direction. As a result, the joint member 103 can independently permit the radial displacement of the shaft centers of the first vibrator 106A and the second vibrator 106B.

このように、本実施形態では、駆動軸１０１と起振体１０６とが継手部材１０３によって連結されている。このため、駆動軸１０１に対する起振体１０６の軸心の径方向への変化を許容することが可能となる。また、起振体１０６と継手部材１０３とは軸方向Ｏに対向する構成でありながら、起振体１０６は継手部材１０３の径方向外側に延在して配置されている。ここで、起振体１０６の外周には、起振体軸受１１０や外歯歯車１２０が配置される。このため、起振体１０６の外周は軸方向Ｏに相応の長さが必要である。本実施形態では、その起振体１０６の外周の一部（延在部１０６ＡＤ、１０６ＢＤ）が継手部材１０３の径方向外側に配置されている。そのため、起振体１０６の外周の必要な軸方向Ｏ長さを確保できるとともに、起振体１０６と継手部材１０３の連結構造全体での軸方向Ｏ長さの増大を抑制できる。同時に、本実施形態では、起振体１０６の延在部１０６ＡＤ、１０６ＢＤにより起振体１０６の剛性を高めることができ、本体部１０６ＡＡ、１０６ＢＡの軸方向Ｏ厚みＬｏ（図３）を薄くすることも可能となる。 Thus, in this embodiment, the drive shaft 101 and the vibration generator 106 are connected by the joint member 103. For this reason, it is possible to allow a change in the radial direction of the shaft center of the vibrator 106 with respect to the drive shaft 101. Further, the vibration generator 106 and the joint member 103 are configured to oppose each other in the axial direction O, but the vibration generator 106 is disposed so as to extend radially outward of the joint member 103. Here, a vibration body bearing 110 and an external gear 120 are arranged on the outer periphery of the vibration body 106. For this reason, the outer periphery of the vibrator 106 needs to have a length corresponding to the axial direction O. In the present embodiment, a part of the outer periphery of the vibrating body 106 (extending portions 106AD and 106BD) is disposed on the radially outer side of the joint member 103. Therefore, the required axial O length of the outer periphery of the vibrator 106 can be secured, and an increase in the axial O length of the entire connecting structure of the vibrator 106 and the joint member 103 can be suppressed. At the same time, in the present embodiment, the rigidity of the vibrator 106 can be increased by the extending parts 106AD and 106BD of the vibrator 106, and the axial O thickness Lo (FIG. 3) of the main body parts 106AA and 106BA is reduced. Is also possible.

また、本実施形態では、継手部材１０３が駆動部材１０４と中間部材１０５とを有している。そして、駆動部材１０４と中間部材１０５とは径方向の一方向（長軸Ｘ方向）に相対変位可能に連結されている。さらに、中間部材１０５と起振体１０６とは長軸Ｘ方向と直交する方向（短軸Ｙ方向）に相対変位可能に連結されている。そして、起振体１０６は、中間部材１０５と軸方向Ｏに対向するとともに、中間部材１０５の径方向外側に延在して配置されている。即ち、継手部材１０３は、簡素且つ部品点数を少なく構成することが可能でありながら、駆動軸１０１と減速用内歯歯車１３０Ａ及び出力用内歯歯車１３０Ｂとの芯ずれを確実に許容することができる。なお、これに限らず、継手部材は駆動部材及び中間部材を備えないような、例えば板ばねやコイルばねを用いた構成であってもよい。 In the present embodiment, the joint member 103 includes a drive member 104 and an intermediate member 105. The drive member 104 and the intermediate member 105 are coupled so as to be capable of relative displacement in one radial direction (long axis X direction). Further, the intermediate member 105 and the vibrator 106 are coupled so as to be capable of relative displacement in a direction (short axis Y direction) orthogonal to the long axis X direction. The vibrator 106 is disposed so as to face the intermediate member 105 in the axial direction O and to extend outward in the radial direction of the intermediate member 105. That is, the joint member 103 can be configured simply and with a small number of parts, but can reliably allow misalignment between the drive shaft 101 and the reduction internal gear 130A and the output internal gear 130B. it can. However, the present invention is not limited to this, and the joint member may be configured to use, for example, a leaf spring or a coil spring that does not include the drive member and the intermediate member.

また、本実施形態では、駆動部材１０４と中間部材１０５とが軸方向Ｏに対向し、起振体１０６は駆動部材１０４の径方向外側まで延在して配置されている。このため、駆動部材１０４の軸方向Ｏ厚み分まで利用して、起振体１０６の外周に起振体軸受１１０を配置できる。即ち、撓み噛合い式歯車装置１００の軸方向Ｏ長さをより短くすることも可能となるとともに、起振体１０６が起振体軸受１１０からの荷重を安定して受け止めることも可能となる。同時に、第１起振体１０６Ａ、第２起振体１０６Ｂ同士の軸方向Ｏで生じる隙間を狭くできるので、第１起振体１０６Ａ、第２起振体１０６Ｂの軸方向Ｏの変位を互いに規制することも可能となる。なお、これに限らず、駆動部材と中間部材とが軸方向Ｏに対向しなくてもよいし、起振体が駆動部材の径方向外側まで延在して配置されていなくてもよい。 In the present embodiment, the drive member 104 and the intermediate member 105 are opposed to each other in the axial direction O, and the vibration generator 106 is disposed so as to extend to the radially outer side of the drive member 104. For this reason, the vibrator bearing 110 can be disposed on the outer periphery of the vibrator 106 by utilizing the thickness of the driving member 104 in the axial direction O. That is, the axial length O of the flexure meshing gear device 100 can be further shortened, and the vibration generator 106 can stably receive the load from the vibration generator bearing 110. At the same time, since the gap generated in the axial direction O between the first vibrator 106A and the second vibrator 106B can be narrowed, the displacement of the first vibrator 106A and the second vibrator 106B in the axial direction O is mutually restricted. It is also possible to do. However, the present invention is not limited to this, and the drive member and the intermediate member may not face each other in the axial direction O, and the vibrator may not be disposed so as to extend radially outside the drive member.

また、本実施形態では、減速用内歯歯車１３０Ａと出力用内歯歯車１３０Ｂとを備え、継手部材１０３は１つの駆動部材１０４と第１中間部材１０５Ａと第２中間部材１０５Ｂとを有し、起振体１０６は第１起振体１０６Ａと第２起振体１０６Ｂとを有している。このため、筒型の撓み噛合い式歯車装置１００の減速用内歯歯車１３０Ａ、出力用内歯歯車１３０Ｂそれぞれに対しての駆動軸１０１の芯ずれを独立して許容することが可能となる。 Further, in the present embodiment, a reduction internal gear 130A and an output internal gear 130B are provided, and the joint member 103 includes one drive member 104, a first intermediate member 105A, and a second intermediate member 105B. The vibrator 106 includes a first vibrator 106A and a second vibrator 106B. For this reason, it is possible to independently allow the misalignment of the drive shaft 101 with respect to each of the reduction internal gear 130A and the output internal gear 130B of the cylindrical flexure meshing gear device 100.

また、本実施形態では、第１起振体１０６Ａ、第２起振体１０６Ｂが短軸Ｙ位置に第１中間部材１０５Ａ、第２中間部材１０５Ｂと嵌合する凹部１０６ＡＣ、１０６ＢＣを有している。このため、長軸Ｘ位置には凹部を設ける必要がなく、長軸Ｘ位置の本体部１０６ＡＡの軸方向Ｏ厚みを確保することができる。加えて、長軸Ｘ位置の延在部１０６ＡＤ（１０６ＢＤ）の径方向厚みＴｘは短軸Ｙ位置の延在部１０６ＡＤ（１０６ＢＤ）の径方向厚みＴｙよりも厚くされている（Ｔｙ＜Ｔｘ）。即ち、起振体１０６にかかる荷重が最も大きくなる長軸Ｘ位置の付近において、起振体１０６の剛性を高めることができる。このため、起振体１０６の長軸Ｘ位置の付近において、安定してその荷重を受け止めることが可能となり、起振体１０６の変形や破損を確実に防止することも可能となる。なお、これに限らず、短軸Ｙ位置以外に中間部材と嵌合する凹部を有する構成であってもよい。 In the present embodiment, the first vibrator 106A and the second vibrator 106B have recesses 106AC and 106BC that fit the first intermediate member 105A and the second intermediate member 105B at the short axis Y position. . For this reason, it is not necessary to provide a concave portion at the position of the long axis X, and the axial O thickness of the main body 106AA at the position of the long axis X can be secured. In addition, the radial thickness Tx of the extending portion 106AD (106BD) at the long axis X position is larger than the radial thickness Ty of the extending portion 106AD (106BD) at the short axis Y position (Ty <Tx). That is, the rigidity of the vibrator 106 can be increased in the vicinity of the position of the long axis X where the load applied to the vibrator 106 is the largest. Therefore, it is possible to stably receive the load in the vicinity of the position of the long axis X of the vibration generating body 106, and it is possible to reliably prevent the vibration generating body 106 from being deformed or damaged. However, the present invention is not limited to this, and a configuration having a recess that fits with the intermediate member other than the position of the short axis Y may be used.

また、本実施形態では、起振体１０６が継手部材１０３の軸方向Ｏ全長を覆う構成とされている。このため、継手部材１０３の存在に影響されることなく起振体軸受１１０の組み込みを行うことができ、組み立て時に起振体軸受１１０及び起振体１０６を不用意に傷つけるおそれを低減することが可能となる。なお、これに限らず、起振体が継手部材の軸方向Ｏ全長を覆わずに一部だけ覆う構成であってもよい。 In the present embodiment, the vibrator 106 covers the entire length O of the joint member 103 in the axial direction. For this reason, the vibration body bearing 110 can be incorporated without being affected by the presence of the joint member 103, and the possibility of inadvertently damaging the vibration body bearing 110 and the vibration body 106 during assembly can be reduced. It becomes possible. However, the configuration is not limited thereto, and the vibrator may cover only a part of the joint member without covering the entire length in the axial direction O.

また、本実施形態では、転動体がころ１１６Ａ、１１６Ｂである。つまり、転動体が球である場合に比べて、ころ１１６Ａ、１１６Ｂが内輪１１２Ａ、１１２Ｂ及び外輪１１８Ａ、１１８Ｂと接触する部分を増加させている。このため、ころ１１６Ａ、１１６Ｂを用いることにより、起振体軸受１１０の伝達トルクを増大させ、かつ長寿命化させることができる。 In this embodiment, the rolling elements are rollers 116A and 116B. That is, compared with the case where the rolling element is a sphere, the portions where the rollers 116A and 116B are in contact with the inner rings 112A and 112B and the outer rings 118A and 118B are increased. For this reason, by using the rollers 116A and 116B, the transmission torque of the vibration body bearing 110 can be increased and the life can be extended.

加えて、本実施形態では、第１起振体１０６Ａ（第２起振体１０６Ｂ）の外周の軸方向Ｏ長さＬが起振体軸受１１０Ａ（１１０Ｂ）の（ころ１１６Ａ（１１６Ｂ）の）軸方向Ｏ長さＬ１より長くされている。このため、起振体軸受１１０が軸方向Ｏに変位していなければ、起振体軸受１１０から起振体１０６にかかる荷重が大きくても、その荷重をころ１１６Ａ（１１６Ｂ）の軸方向Ｏ長さで確実に分散することができる。つまり、起振体１０６の変形や破損などを更に防止することもできる。なお、これに限らず、起振体１０６の外周の軸方向Ｏ長さＬが起振体軸受の軸方向Ｏ長さＬ２より長くなくてもよい。 In addition, in this embodiment, the axial direction O length L of the outer periphery of the first vibration body 106A (second vibration body 106B) is the axis of the vibration body bearing 110A (110B) (of the rollers 116A (116B)). The direction O is longer than the length L1. For this reason, if the vibration body bearing 110 is not displaced in the axial direction O, even if the load applied to the vibration body 106 from the vibration body bearing 110 is large, the load is applied to the length O of the roller 116A (116B) in the axial direction. Now it can be reliably dispersed. That is, deformation and breakage of the vibrator 106 can be further prevented. However, the present invention is not limited to this, and the axial O length L of the outer periphery of the vibrator 106 may not be longer than the axial O length L2 of the vibrator bearing.

更には、本実施形態では、起振体軸受１１０が軸方向Ｏに変位しても必ず第１起振体１０６Ａ（第２起振体１０６Ｂ）の外周の軸方向Ｏ長さＬ内にころ１１６Ａ（１１６Ｂ）が留まる構成となっている。このため、起振体軸受１１０が軸方向Ｏに変位しても、第１起振体１０６Ａ（第２起振体１０６Ｂ）は、ころ１１６Ａ（１１６Ｂ）にかかる荷重を安定して受けることができる。 Furthermore, in this embodiment, even if the vibration body bearing 110 is displaced in the axial direction O, the roller 116A is always within the axial direction O length L of the outer periphery of the first vibration body 106A (second vibration body 106B). (116B) remains. For this reason, even if the vibration body bearing 110 is displaced in the axial direction O, the first vibration body 106A (second vibration body 106B) can stably receive the load applied to the rollers 116A (116B). .

また、本実施形態では、第１中間部材１０５Ａと第２中間部材１０５Ｂとが同一で、且つ第１起振体１０６Ａ、と第２起振体１０６Ｂとが同一である。即ち、共通の部材の割合を多くできるので部材管理が容易であるとともに、部材の低コスト化を進めることも可能である。加えて、第１中間部材１０５Ａと第２中間部材１０５Ｂには方向性がない。このため、第１中間部材１０５Ａと第２中間部材１０５Ｂの向きを気にしなくてよいので、継手部材１０３の組み立てを容易に行うことが可能となる。 In the present embodiment, the first intermediate member 105A and the second intermediate member 105B are the same, and the first vibration body 106A and the second vibration body 106B are the same. 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 intermediate member 105A and the second intermediate member 105B have no directionality. For this reason, since it is not necessary to care about the direction of 105 A of 1st intermediate members and the 2nd intermediate member 105B, it becomes possible to assemble the coupling member 103 easily.

また、本実施形態では、摺動性の高い材料から成形された当て部材１４８、１５０を外歯歯車１２０及び起振体軸受１１０の端面に対向させて配置している。このため、外歯歯車１２０及び起振体軸受１１０の端面で生じる摩擦ロスを低減することができる。同時に、当て部材１４８は、外歯歯車１２０及び起振体軸受１１０の軸方向Ｏの移動も規制可能である。 In the present embodiment, the contact members 148 and 150 formed from a material having high slidability are disposed so as to face the external gear 120 and the end surfaces of the vibration body bearing 110. For this reason, the friction loss which arises in the end surface of the external gear 120 and the vibration body bearing 110 can be reduced. At the same time, the contact member 148 can also restrict the movement of the external gear 120 and the vibration body bearing 110 in the axial direction O.

従って、本実施形態においては、撓み噛合い式歯車装置１００の駆動軸１０１と内歯歯車１３０との間に芯ずれが存在しても性能及び寿命の低下を防止でき、撓み噛合い式歯車装置１００の軸方向Ｏ長さの増大を抑制することが可能となる。 Therefore, in this embodiment, even if there is a misalignment between the drive shaft 101 and the internal gear 130 of the flexure meshing gear device 100, it is possible to prevent the performance and life from being reduced, and the flexure meshing gear device. An increase in 100 axial O lengths can be suppressed.

本発明について上記実施形態を挙げて説明したが、本発明は上記実施形態に限定されるものではない。即ち、本発明の要旨を逸脱しない範囲においての改良並びに設計の変更が可能なことは言うまでも無い。 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.

上記実施形態においては、起振体軸受１１０が内輪１１２Ａ、１１２Ｂ及び外輪１１８Ａ、１１８Ｂを有していたが、本発明はこれに限定されず、起振体の外周部分が内輪とされていてもよい。また、外輪を有する必要もなく、例えば、ころが直接的に外歯歯車を回転可能に支持して外歯歯車の内周部分が外輪とされていてもよい。また、転動体がころではなく、玉であってもよい。 In the above embodiment, the vibration body bearing 110 has the inner rings 112A and 112B and the outer rings 118A and 118B. However, the present invention is not limited to this, and the outer peripheral portion of the vibration body may be an inner ring. Good. 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, the rolling elements may be balls instead of rollers.

また、上記実施形態においては、外歯をトロコイド曲線に基づいた歯形としたが、本発明はこれに限定されない。外歯は、円弧歯形でもよいし、その他の歯形を用いてもよい。 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.

また、上記実施形態では、減速用内歯歯車１３０Ａと出力用内歯歯車１３０Ｂとを有する筒型の撓み噛合い式歯車装置１００であったが、本発明はこれに限定されるものではない。例えば、内歯歯車と外歯歯車とがそれぞれ１つとされ、カップ型（若しくはシルクハット型）の撓み変形する外歯歯車を有する撓み噛合い式歯車装置に適用しても構わない。 Moreover, in the said embodiment, although it was the cylindrical bending meshing type gear apparatus 100 which has the internal gear 130A for deceleration and the internal gear 130B for output, this invention is not limited to this. For example, the present invention may be applied to a flexure-meshing gear device in which there is one internal gear and one external gear and each has a cup-type (or top hat-type) external gear that bends and deforms.

また、継手部材は、上記実施形態の構造に限定されず、起振体の軸心の径方向の変位を許容しつつ、駆動軸と起振体とを一体的に回転可能に連結する構造であればよい。 In addition, the joint member is not limited to the structure of the above-described embodiment, and has a structure in which the drive shaft and the vibration generator are connected so as to be integrally rotatable while allowing radial displacement of the shaft center of the vibration generator. I just need it.

本発明は、筒型、カップ型、若しくはシルクハット型の外歯歯車を備える撓み噛合い式歯車装置に対して広く適用可能である。 The present invention can be widely applied to a flexure meshing gear device including a cylindrical, cup-type, or top-hat type external gear.

１００…撓み噛合い式歯車装置
１０１…駆動軸
１０２…止め部材
１０３、１０３Ａ、１０３Ｂ…継手部材
１０４…駆動部材
１０４Ｂ、１０５ＡＢ、１０５ＢＢ、１０６ＡＢ、１０６ＢＢ…貫通孔
１０４Ｃ…キー溝
１０４Ｄ、１０６ＡＣ、１０６ＢＣ…凹部
１０５、１０５Ａ、１０５Ｂ…中間部材
１０５ＡＣ、１０５ＡＤ、１０５ＢＣ、１０５ＢＤ…凸部
１０６、１０６Ａ、１０６Ｂ…起振体
１０６ＡＡ、１０６ＢＡ…本体部
１０６ＡＤ、１０６ＢＤ…延在部
１１０、１１０Ａ、１１０Ｂ…起振体軸受
１１２Ａ、１１２Ｂ…内輪
１１４Ａ、１１４Ｂ…リテーナ
１１６Ａ、１１６Ｂ…ころ
１１８Ａ、１１８Ｂ…外輪
１２０、１２０Ａ、１２０Ｂ…外歯歯車
１３０、１３０Ａ、１３０Ｂ…内歯歯車
１３６…固定側部材
１３８…補助ケーシング
１４０…駆動軸ケーシング
１４２…第１固定部材
１４４…第２固定部材
１４６…第３固定部材
１４８、１５０…当て部材
１５２…出力側部材
１５４…第１出力部材
１５６…第２出力部材
１５８…第３出力部材
Ｂｒ、Ｍｂ…軸受
Ｏ…軸方向
Ｏｓ１、Ｏｓ２…オイルシール
Ｐｃ…距離Ｒｘを半径とする破線で示す真円形状
Ｘ…起振体の長軸
Ｙ…起振体の短軸 DESCRIPTION OF SYMBOLS 100 ... Flexure meshing gear apparatus 101 ... Drive shaft 102 ... Stopping member 103, 103A, 103B ... Joint member 104 ... Drive member 104B, 105AB, 105BB, 106AB, 106BB ... Through-hole 104C ... Keyway 104D, 106AC, 106BC ... Concave portion 105, 105A, 105B ... Intermediate member 105AC, 105AD, 105BC, 105BD ... Convex portion 106, 106A, 106B ... Vibration body 106AA, 106BA ... Main body portion 106AD, 106BD ... Extension portion 110, 110A, 110B ... Vibration body Bearing 112A, 112B ... Inner ring 114A, 114B ... Retainer 116A, 116B ... Roller 118A, 118B ... Outer ring 120, 120A, 120B ... External gear 130, 130A, 130B ... Internal gear 136 ... Fixed side member 138 ... Auxiliary member Sing 140 ... drive shaft casing 142 ... first fixing member 144 ... second fixing member 146 ... third fixing member 148, 150 ... abutting member 152 ... output side member 154 ... first output member 156 ... second output member 158 ... first 3 Output member Br, Mb ... Bearing O ... Axial direction Os1, Os2 ... Oil seal Pc ... Perfect circle shape shown by broken line with distance Rx as radius X ... Long axis of vibration body Y ... Short axis of vibration body

Claims

In a flexure meshing gear device having a vibration generator that is rotationally driven by a drive shaft and a flexible external gear that is bent and deformed by rotation of the vibration generator,
The drive shaft and the vibrator are connected by a joint member that allows displacement in the radial direction of the shaft center of the vibrator,
The vibrator includes a main body portion that is axially opposed to the joint member, and an extending portion that extends integrally from the radially outer end of the main body portion toward the joint member side in the axial direction. And
A bearing is disposed on the outer periphery of the main body and the extension,
The joint member is arranged on the radially inner side of the extending portion .

In claim 1,
The joint member includes a drive member that rotates integrally with the drive shaft, and an intermediate member,
The drive member and the intermediate member are coupled so as to be relatively displaceable in one direction in the radial direction, and the intermediate member and the vibrator are coupled so as to be relatively displaceable in a direction perpendicular to the one direction,
The flexure meshing gear device, wherein the main body portion is opposed to the intermediate member in the axial direction, and the intermediate member is disposed radially inward of the extending portion .

In claim 2,
The drive member and the intermediate member face each other in the axial direction, and the intermediate member and the drive member are disposed radially inside the extending portion .

In claim 2 ,
Wherein said external gear that will be placed on the outer periphery of the electromotive force isolator, disposed in parallel with the first internal gear having a rigid external gear is internally engaged in the axial direction to the first internal gear the A second internal gear having rigidity with which the external gear meshes internally,
The joint member includes one of the driving members, a first intermediate member disposed on one side in the axial direction of the driving member, and a second intermediate member disposed on the other side in the axial direction,
The exciter includes a first exciter connected to the first intermediate member and a second exciter connected to the second intermediate member. apparatus.

In any of claims 2 to 4,
The flexure-type gear device, wherein the vibration generator has a concave portion that fits with the intermediate member at a short axis position.

In any one of Claims 1 thru | or 5,
The flexure-mesh gear device, wherein the vibration generator covers an entire axial length of the joint member.

In any one of Claims 1 thru | or 6.
The flexure meshing gear device, wherein the axial length of the outer periphery of the vibration generator is longer than the axial length of a bearing disposed on the outer periphery of the vibration generator.