JP7080790B2 - Manufacturing method of flexible meshing gear device and internal gear - Google Patents

Description

The present invention relates to a flexible meshing gear device and a method for manufacturing an internal gear.

A flexible meshing gear device having two internal gears has been put into practical use for some time (see, for example, Patent Document 1). In such a flexure meshing gear device, two internal gears mesh with an external gear that flexes and deforms to reduce the input rotational motion.

Japanese Unexamined Patent Publication No. 2018-096510

In the flexure meshing gear device, the two internal gears are designed so that their central axes (rotating axes) are located on the same line. If there is a deviation between the central axes of the two internal gears, there arises a problem that the rotation accuracy is deteriorated, for example. However, in the process of forming the internal teeth in the material of the internal gear, a tolerance is generated in the central axis of the internal gear.

An object of the present invention is to provide a flexure meshing gear device capable of centering two internal gears with high accuracy and a method for manufacturing an internal gear.

The flexure meshing gear device according to the present invention is
The oscillating body, the external gear that is flexed and deformed by the oscillating body, the first internal gear that meshes with the external gear, and the external tooth that is arranged side by side in the axial direction with the first internal gear. A flexible meshing gear device including a second internal gear that meshes with a gear.
The tooth bottom diameter of the second internal gear is smaller than the tooth tip diameter of the first internal gear.

The manufacturing method according to the present invention
The oscillating body, the external gear that is flexed and deformed by the oscillating body, the first internal gear that meshes with the external gear, and the external tooth that is arranged side by side in the axial direction with the first internal gear. The method for manufacturing the first internal gear and the second internal gear in a flexure meshing gear device including a second internal gear that meshes with the gear and has a different number of teeth from the first internal gear. There,
The first material of the first internal gear and the second material of the second internal gear are chucked side by side in the axial direction, and the internal teeth are attached to the first material and the second material without re-chucking. It was the method of processing.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a flexure meshing gear device capable of centering a first internal gear and a second internal gear with high accuracy, and a method for manufacturing an internal gear.

It is sectional drawing (A) of the bending meshing type gear apparatus which concerns on Embodiment 1 of this invention, and is the enlarged view (B) around the external gear. It is a figure (A) explaining the manufacturing method of the 1st internal gear and the 2nd internal gear which concerns on Embodiment 1 of this invention, and is the partially enlarged view (B). 3 is a plan view (A) and an enlarged view (B) of an internal tooth portion as seen from the axial direction of the first internal gear and the second internal gear at the time of internal tooth processing. It is sectional drawing of the bending mesh type gear apparatus which concerns on Embodiment 2 of this invention. It is a figure (A) explaining the manufacturing method of the 1st internal gear and the 2nd internal gear which concerns on Embodiment 2 of this invention, and is the partially enlarged view (B).

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

(Embodiment 1)
FIG. 1 is a cross-sectional view (A) and an enlarged view (B) around an external gear according to the first embodiment of the present invention.

The flexure meshing gear device 1 of the first embodiment is provided in the external tooth gear 32 that flexes and deforms, the first internal tooth portion 41G provided in the first internal tooth gear 41, and the second internal tooth gear 42 provided in the second internal tooth gear 42. It is a device that decelerates and outputs the input rotational motion by meshing with the internal tooth portion 42G. The flexible meshing type gear device 1 includes a oscillating body shaft 30, a oscillating body bearing 31, an external gear 32, a first internal gear 41, a second internal gear 42, a casing 43, a first cover 44, and a second. It includes a cover 45, bearings 46 and 47, a main bearing 48 and stopper rings 51 and 52.

The exciter shaft 30 is a hollow cylindrical shaft that rotates about the rotation shaft O1. It has shaft portions 30B and 30C provided on both sides. The ellipse does not have to be a geometrically exact ellipse and includes a substantially ellipse. The shaft portions 30B and 30C are shafts having a circular outer shape in a cross section perpendicular to the rotation shaft O1.

The external gear 32 is a flexible cylindrical member, and has teeth on the outer periphery thereof. The first internal tooth gear 41 is an annular member having rigidity, and a first internal tooth portion 41G having a plurality of internal teeth t1 is provided in a part of the inner peripheral portion. The second internal tooth gear 42 is an annular member having rigidity, and a second internal tooth portion 42G having a plurality of internal teeth t2 is provided in a part of the inner peripheral portion. The first internal tooth portion 41G and the second internal tooth portion 42G are arranged in the axial direction and mesh with the external gear 32. While the number of teeth of the first internal tooth portion 41G and the number of teeth of the external tooth gear 32 are different, the number of teeth of the second internal tooth portion 42G and the number of teeth of the external tooth gear 32 are the same.

The oscillating body bearing 31 is, for example, a roller bearing, and is arranged between the oscillating body 30A and the external gear 32. The exciter 30A and the external gear 32 are supported so as to be relatively rotatable with respect to each other via the exciter bearing 31.

The stopper rings 51 and 52 are arranged on both sides of the external gear 32 and the exciter bearing 31 in the axial direction, and regulate the axial movement of the external gear 32 and the exciter bearing 31.

The casing 43 covers the outer peripheral side of the second internal gear 42. A reference surface S11 and an outer ring portion 43o of the main bearing 48 are formed on the inner peripheral portion of the casing 43. The outer ring portion 43o is formed with high positional accuracy with respect to the reference surface S11.

The first cover 44 is connected to the first internal gear 41 and covers the meshing portion between the external gear 32 and the first internal gear 41 from the counter-output side in the axial direction. A bearing 46 is arranged between the first cover 44 and the shaft portion 30B of the exciter shaft 30, and the exciter shaft 30 is rotatably supported by the first cover 44.

The second cover 45 is connected to the second internal gear 42, and covers the meshing portion between the external gear 32 and the second internal gear 42 from the output side in the axial direction. A bearing 47 is arranged between the second cover 45 and the shaft portion 30C of the exciter shaft 30, and the exciter shaft 30 is rotatably supported by the second cover 45.

The first internal tooth gear 41 has an in-row surface S1 provided on a part of the outer peripheral portion in addition to the above-mentioned first internal tooth portion 41G. The in-row surface S1 is in-row fitted to the reference surface S11 of the casing 43. Although the details will be described later, the internal tooth t1 of the first internal tooth portion 41G is processed with high positional accuracy with respect to the inlay surface S1. Further, as described above, the outer ring portion 43o of the main bearing 48 is formed with high position accuracy with respect to the reference surface S11. With these configurations, the central axis of the outer ring portion 43o of the main bearing 48 and the central axis of the internal teeth t1 of the first internal tooth portion 41G are aligned on the same line with high accuracy.

The first internal gear 41 also has a connecting hole h11 for connecting to the first cover 44, a connecting hole h12 for connecting to the casing 43, and a connecting hole h13 for connecting to a fixing member outside the apparatus. And have. Further, the first internal gear 41 is a connecting hole H1 (FIGS. 2A and 3A) that functions as an air hole for preventing an increase in internal pressure when the first internal gear 41 is assembled as a flexure meshing gear device 1. Have. The connecting hole H1 does not appear in the cross section of FIG. The connecting holes H1 are provided at a plurality of locations on the circumference having the same radius centered on the rotating shaft O1 (see FIG. 3A), and the radius of the first internal gear 41 provided with the connecting holes H1. The position substantially coincides with the radial position of the first internal gear 41 provided with the connecting hole h11. The connecting hole H1 is called a connecting hole because it is used for connecting members in the processing process.

In the second internal gear 42, in addition to the above-mentioned second internal tooth portion 42G, the reference surface S4 provided on the outer peripheral portion and the inner ring portion of the main bearing 48 machined with high position accuracy with respect to the reference surface S4. It has 42i and. Although the details will be described later, the internal tooth t2 is processed with high position accuracy with respect to the reference surface S4. With these configurations, the central axis of the inner ring portion 42i of the main bearing 48 and the central axes of the plurality of internal teeth t2 are aligned on the same line with high accuracy.

The second internal gear 42 also has a connecting hole H2 for connecting to the second cover 45, an inlay surface S2, and a connecting hole h22 used for connecting a mating member that outputs decelerated power. And have. The in-row surface S2 is used in the processing process of the internal tooth t2, and is not used for in-row fitting with other members at the stage of being assembled as the bending meshing type gear device 1. The connecting hole H2 is used for connecting to the second cover 45, while being used for connecting to another member in the processing process of the internal tooth t2.

As shown in FIG. 1 (B), the tooth tip diameters of the plurality of internal teeth t1 provided in the first internal tooth portion 41G are the root diameters of the plurality of internal teeth t2 provided in the second internal tooth portion 42G. Greater than. The external tooth gear 32 includes a first external tooth portion 32J corresponding to the internal tooth t1 of the first internal tooth portion 41G and a second external tooth portion 32K corresponding to the internal tooth t2 of the second internal tooth portion 42G. They are provided side by side in the axial direction. Corresponding to the difference in the diameters of the internal teeth t1 and t2, the tooth tip diameter of the first external tooth portion 32J is larger than the tooth tip diameter of the second external tooth portion 32K. In addition, in the example of FIG. 1B, the tooth bottom diameter of the first external tooth portion 32J is larger than the tooth bottom diameter of the second external tooth portion 32K, and the tooth lengths of both are the same. The first external tooth portion 32J and the second external tooth portion 32K are not limited to this, and may have the above-mentioned relationship of the tooth tip diameter. Further, the external tooth gear 32 is provided with an inclined portion 32R having a curvature for switching the tooth tip diameter at the time of processing the external tooth between the first external tooth portion 32J and the second external tooth portion 32K. There is.

<Deceleration operation>
When a rotational motion is input from a motor or the like (not shown) and the exciter shaft 30 rotates, the motion of the exciter 30A is transmitted to the external gear 32. At this time, the external gear 32 is restricted to a shape along the outer peripheral surface of the exciter 30A, and is bent into an elliptical shape having a long axis portion and a short axis portion when viewed from the axial direction. Further, the external tooth gear 32 meshes with the first internal tooth portion 41G of the fixed first internal tooth gear 41 at the long shaft portion. Therefore, the external gear 32 does not rotate at the same rotation speed as the exciter 30A, and the exciter 30A rotates relatively inside the external gear 32. Then, with this relative rotation, the external gear 32 bends and deforms so that the major axis position and the minor axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the exciter shaft 30.

When the external tooth gear 32 bends and deforms, its long axis position moves, so that the meshing position between the external tooth gear 32 and the first internal tooth portion 41G changes in the rotational direction. Here, assuming that the number of teeth of the external gear 32 is 100 and the number of teeth of the first internal tooth portion 41G is 102, the teeth that mesh with the external tooth gear 32 and the first internal tooth portion 41G each time the meshing position goes around. The external tooth gear 32 rotates (rotates) due to the displacement. With the above number of teeth, the rotational motion of the exciter shaft 30 is decelerated at a reduction ratio of 100: 2 and transmitted to the external gear 32.

On the other hand, since the external gear 32 also meshes with the second internal tooth portion 42G of the second internal gear 42, the position where the external tooth gear 32 and the second internal tooth portion 42G mesh with each other due to the rotation of the exciter shaft 30. Also changes in the direction of rotation. On the other hand, since the number of teeth of the second internal tooth portion 42G and the number of teeth of the external tooth gear 32 match, the external tooth gear 32 and the second internal tooth portion 42G do not rotate relatively, and the external tooth gear The rotational motion of 32 is transmitted to the second internal gear 42 at a reduction ratio of 1: 1. As a result, the rotational movement of the exciter shaft 30 is decelerated at a reduction ratio of 100: 2 and transmitted to the second internal gear 42 and the second cover 45. Then, this decelerated rotational motion is output to the mating member.

<Manufacturing method of the first internal gear and the second internal gear>
FIG. 2 is a diagram (A) illustrating a method for manufacturing the first internal gear and the second internal gear according to the first embodiment of the present invention, and a partially enlarged view (B) thereof. FIG. 3 is a plan view (A) and an enlarged view (B) of the internal tooth portion when the first internal tooth gear and the second internal tooth gear are viewed from the axial direction during processing of the internal tooth.

As shown in FIG. 2A, the first internal gear 41 and the second internal gear 42 are manufactured from the first material 10 which is an annular member and the second material 20 which is an annular member, respectively. Tooth. Prior to the formation of the internal teeth, the first material 10 and the second material 20 are provided with the inner surface portions P1 and P2 on which the internal teeth are formed and the inlay surfaces S1 and S2 (FIG. 2 (FIG. 2)). B)) and a plurality of connecting holes H1 and H2 arranged at the same pitch circle diameter are formed, respectively. Further, the second material 20 is formed with a reference surface S4 having a cylindrical side surface shape on the outer peripheral portion.

The in-row surface S1 of the first material 10 and the in-row surface S2 and the reference surface S4 of the second material 20 are processed with high position accuracy.

In the pre-stage of the internal tooth processing process, first, as shown in FIG. 2A, the first material 10 and the second material 20 are in-row fitted at the in-row surfaces S1 and S2, and the connecting holes are connected. It is connected by a connecting member B1 such as a bolt via H1 and H2, and is integrated by these. The connection by the connecting member B1 is performed at a plurality of locations (for example, four locations) in the circumferential direction (see FIG. 3A). Then, in this state, the reference surface S4 of the second material 20 is chucked by the jig F1 of the chucking device F. In other words, the first material 10 and the second material 20 are connected in the axial direction and are integrally chucked by the jig F1 of the chucking device F. The axial direction means the direction along the rotation axis (central axes of a plurality of internal teeth) when the first material 10 and the second material 20 become the first internal gear 41 and the second internal gear 42. do. The chucking device F applies a large load inward in the radial direction by hydraulic pressure to the jig F1 to chuck the reference surface S4 of the second material 20.

When chucked, the second material 20 is oriented in the axial direction opposite to the orientation when assembled as the flexible meshing gear device 1 (the first material in a state where the axial direction is reversed). (Concatenated with 10). As a result, a relatively large distance is secured between one inner surface portion P1 and the other inner surface portion P2 on which the internal teeth are processed.

At the stage when the flexible meshing gear device 1 is assembled, the in-row surface S1 of the first internal gear 41 is in-row fitted to another member (reference surface S11 of the casing 43), and the first internal gear is fitted. The connecting hole H1 of 41 is used as an air hole, and the inlay surface S2 of the second internal gear 42 is not used for fitting with other members.

In the processing process of the internal teeth, the tooth cutting tool E is one of the axial directions (the first in the present embodiment) with the first material 10 and the second material 20 integrally fixed to the chucking device F. Inserted from the material 10 side), the internal teeth t1 and t2 (see FIG. 3) are processed into the inner surface portion P1 of the first material 10 and the inner surface portion P2 of the second material 20. During the processing of the internal teeth t1 and t2, the internal teeth are processed on both the inner surface portions P1 and P2 by one chucking without being re-chucked. The number of internal teeth t1 processed on the inner surface portion P1 and the number of internal teeth t2 processed on the inner surface portion P2 are different. A different type of tool may be used from the tool E for machining. As the tool E for cutting teeth, for example, a skiving cutter or a gear shaper tool can be applied.

The internal tooth t2 of the inner surface portion P2 is formed to have a smaller diameter than the internal tooth t1 of the inner surface portion P1 so that the tool E does not interfere with the internal tooth t1 of the inner surface portion P1 during machining of the second material 20 into the inner surface portion P2. Tooth. Specifically, the tooth bottom diameter φ2 of the internal tooth t2 of the inner surface portion P2 is formed to be smaller than the tooth tip diameter φ1 of the internal tooth t1 of the inner surface portion P1 (see FIG. 3B).

Since the reference surface S4 is chucked during the processing of the internal teeth t1 and t2, the central axis of the reference surface S4 and the central axes of the plurality of internal teeth t2 can be aligned on the same line with high accuracy. Will be done. Further, since the in-row surface S1 of the first material 10 is in-row fitted to the in-row surface S2 processed with high position accuracy with respect to the reference surface S4, the central axis of the in-row surface S1 and the plurality of internal teeth t1 Processing is realized in which the central axis of the is aligned on the same line with high accuracy.

When the internal teeth t1 and t2 are formed, the first material 10 and the second material 20 are removed from the chucking device F, and the connection between the first material 10 and the second material 20 is broken. After that, the main processing of other parts (for example, the inner ring portion 42i of the main bearing 48) is performed, and the processing of the first internal gear 41 and the second internal gear 42 is completed. The inner ring portion 42i (see FIG. 1) is machined with high positional accuracy with respect to the reference surface S4.

<Effects of an Embodiment of a flexure meshing gear device>
As described above, according to the flexure meshing gear device 1 of the first embodiment, the tooth bottom diameter of the internal tooth t2 of the second internal tooth gear 42 is the tooth tip diameter of the internal tooth t1 of the first internal tooth gear 41. Smaller than. According to this configuration, when the internal tooth is processed, the first internal tooth gear 41 (first material 10) and the second internal tooth gear 42 (second material 20) are integrally chucked and re-chucked. The internal teeth t1 and t2 can be machined by inserting the gear cutting tool E from one of the axial directions. Therefore, the central axis of the plurality of internal teeth t1 of the first internal gear 41 and the central axes of the plurality of internal teeth t2 of the second internal gear 42 are assembled so as to be aligned on the same line with high accuracy. The formula gear device 1 can be realized. As a result, the extra load applied to the exciter bearing 31 during deceleration operation due to the deviation of the central axis is reduced, the life of the exciter bearing 31 can be improved, and the rotation of the flexible meshing gear device 1 can be improved. The accuracy can be improved.

The internal tooth t2 of the second internal gear 42 has a smaller diameter than the internal tooth t1 of the first internal gear 41, so that a large load is applied to the tooth surface. However, according to the flexure meshing gear device 1 of the first embodiment, the number of teeth of the internal tooth t2 of the second internal gear 42 matches the number of teeth of the external gear 32. As a result, the meshing position of the internal tooth t2 of the second internal gear 42 and the external tooth of the external gear 32 does not shift, and the internal tooth t2 is less likely to be worn. Then, by allowing a large load to be applied to the internal teeth t2 of the second internal gear 42, which is less likely to be worn, the durability of the internal teeth t2 is compared with that of the internal teeth t1 of the first internal gear 41. It is possible to suppress a large decrease.

Further, according to the flexure meshing gear device 1 of the first embodiment, the first internal gear 41 and the second internal gear 42 have in-row surfaces S1 and S2 that can be in-row fitted to each other. As a result, in the machining process of the internal teeth t1 and t2, the inlay surfaces S1 and S2 are fitted in the inlay, and the first material 10 to be the first internal gear 41 and the second material 20 to be the second internal gear 42 are fitted. Can be connected with high position accuracy. This makes it possible to process the first internal gear 41 and the second internal gear 42, which can align the central axes of each other on the same line with high accuracy.

Further, according to the flexible meshing gear device 1 of the first embodiment, the in-row surfaces S1 and S2 are not in-row fitted to each other in the state of being assembled as the flexible meshing gear device 1, and one of the in-row surfaces is not fitted to each other. S1 is in-row fitted with the reference surface S11 of the casing 43. Since the in-row surfaces S1 and S2 are not in-row fitted to each other, the relative rotation of the first internal gear 41 and the second internal gear 42 is possible. Further, by fitting the in-row surface S1 with the casing 43 in-row, the first internal gear 41 and the second internal gear 42 are highly accurate including other parts (main bearing 48 in the first embodiment). Centering (aligning the central axis) can be realized.

Further, according to the flexure meshing gear device 1 of the first embodiment, the inlay surfaces S1 and S2 are in the same axial direction (output side in the present embodiment) in a state where the flexure meshing gear device 1 is assembled. ). That is, when the internal teeth t1 and t2 are machined, the orientation of one of the first material 10 (first internal gear 41) and the second material 20 (second internal gear 42) is reversed in the axial direction, and the inlay is Can be fitted. As a result, when machining the internal teeth, the machining position of the internal teeth t1 and the machining position of the internal teeth t2 can be separated in the axial direction, and when one of the internal teeth t1 and t2 is machined, the other interferes with the tool E. Can be easily avoided.

Further, according to the flexure meshing gear device 1 of the first embodiment, the first internal gear 41 and the second internal gear 42 are provided with connecting holes H1 and H2 which can be connected to each other by the connecting member B1. ing. Then, by connecting the connecting holes H1 and H2 and the connecting member B1, the first material 10 (first internal gear 41) and the second material 20 (second internal tooth) are used in the processing process of the internal teeth t1 and t2. The gear 42) can be connected with high strength. As a result, it is possible to prevent the connection position between the first material 10 and the second material 20 from being displaced during the processing of the internal teeth t1 and t2, and the yields of the first internal gear 41 and the second internal gear 42 are reduced. Can be improved.

Further, according to the flexible meshing gear device 1 of the first embodiment, the connecting hole H2 of the second internal gear 42 is connected to the second cover 45 when assembled as the flexible meshing gear device 1. Used when. As a result, the connecting hole H2 can be effectively utilized both during processing and after assembly.

Further, according to the flexure meshing gear device 1 of the first embodiment, the tooth tip diameter of the first external tooth portion 32J of the external tooth gear 32 is larger than the tooth tip diameter of the second external tooth portion 32K. As a result, it is possible to realize meshing between the internal teeth t1 of the first internal gear 41 and the internal teeth t2 of the second internal gear 42, which have different diameters of the internal teeth, and these and the external gear 32. ..

<Effect of the embodiment of the manufacturing method>
According to the method for manufacturing an internal gear according to the first embodiment, the first material 10 to be the first internal gear 41 and the second material 20 to be the second internal gear 42 are chucked side by side in the axial direction. The first material without re-chucking (rather than canceling the chucking once after machining the first internal gear 41 and re-chucking and then machining the second internal gear 42). The internal tooth t1 is processed in 10 and the internal tooth t2 is processed in the second material 20. In the process of processing internal teeth, there is an element that the central axis shifts during chucking. However, according to the above manufacturing method, the tolerance of the axis deviation generated at the time of chucking does not occur at both the time of processing the internal tooth t1 and the time of processing the internal tooth t2, and the central axis of the plurality of internal teeth t1. The internal teeth t1 and t2 can be formed in a state where the central axes of the plurality of internal teeth t2 are aligned on the same line with high accuracy. Therefore, when the flexible meshing type gear device 1 is assembled, the first internal gear 41 and the second internal gear 42 that can be centered with high accuracy can be manufactured.

Further, according to the method for manufacturing an internal tooth gear according to the first embodiment, the tool E is inserted from the same axial direction to process the internal tooth t1 of the first material 10 and the internal tooth t2 of the second material 20. .. As a result, the moving device of the tool E can be shared between the time of machining the internal tooth t1 and the time of machining the internal tooth t2, and the central axis of the plurality of internal teeth t1 and the central axis of the plurality of internal teeth t2 at the time of machining can be shared. Axis misalignment can be suppressed. Therefore, when the flexible meshing type gear device 1 is assembled, the first internal gear 41 and the second internal gear 42 that can be centered with high accuracy can be manufactured.

Further, according to the method for manufacturing an internal tooth gear according to the first embodiment, both internal teeth t1 and t2 are processed in a state where the first material 10 and the second material 20 are connected in the axial direction. As a result, the first is such that the central axes of the plurality of internal teeth t1 and the central axes of the plurality of internal teeth t2 are aligned on the same line based on the connection point between the first material 10 and the second material 20. The internal gear 41 and the second internal gear 42 can be manufactured. Then, by using such a first internal gear 41 and a second internal gear 42, it is possible to realize a flexure meshing gear device 1 capable of obtaining high rotational accuracy.

(Embodiment 2)
FIG. 4 is a cross-sectional view of the flexure meshing gear device according to the second embodiment of the present invention.

The deflection mesh gear device 1A of the second embodiment is different in the shape and the function of a part of the first internal gear 41A and the second internal gear 42A. Other components are the same as those of the flexible meshing type gear device 1 of the first embodiment, and the same components are designated by the same reference numerals and detailed description thereof will be omitted.

The first internal tooth gear 41A has an in-row surface S6 provided on a part of the outer peripheral portion in addition to the first internal tooth portion 41G. The in-row surface S6 is in-row-fitted with the reference surface S11 of the casing 43, while it is fitted with the jig F2 in the processing process of the internal teeth t1. Although the details will be described later, the internal tooth t1 of the first internal tooth portion 41G is processed with high positional accuracy with respect to the inlay surface S6. Further, the outer ring portion 43o of the main bearing 48 is formed with high position accuracy with respect to the reference surface S11 of the casing 43. With these configurations, the central axis of the outer ring portion 43o of the main bearing 48 and the central axis of the internal teeth t1 of the first internal tooth portion 41G are aligned on the same line with high accuracy.

In addition to the second internal tooth portion 42G, the second internal tooth gear 42A includes a reference surface S8 provided on the outer peripheral portion and an inner ring portion 42i of the main bearing 48 machined with high positional accuracy with respect to the reference surface S8. Has. Although the details will be described later, the internal tooth t2 is processed with high position accuracy with respect to the reference surface S8. With these configurations, the central axis of the inner ring portion 42i of the main bearing 48 and the central axes of the plurality of internal teeth t2 are aligned on the same line with high accuracy.

The second internal gear 42A further has a connecting hole h22 for connecting to a mating member that outputs decelerated power, and a connecting hole h23 for connecting to the second cover 45.

<Manufacturing method of the first internal gear and the second internal gear>
FIG. 5 is a diagram (A) illustrating a method for manufacturing the first internal gear and the second internal gear according to the second embodiment of the present invention and a partially enlarged view (B) thereof.

The manufacturing method of the second embodiment is the same as the manufacturing method of the first embodiment except that the fixing structure of the first material 10A and the second material 20A is different. In the following, only the different parts will be described in detail. The portion with the same reference numeral as that of the first embodiment has the same structure as that of the first embodiment and operates in the same manner as that of the first embodiment.

As shown in FIG. 5A, the first internal gear 41A and the second internal gear 42A are manufactured from the first material 10A which is an annular member and the second material 20A which is an annular member, respectively. Tooth. Prior to the formation of the internal teeth, as shown in FIG. 5A, the first material 10A has an in-row surface S6 that is in-row-fitted to a part of the jig F2 of the chucking device F, and the internal teeth. The inner surface portion P1 to be formed is formed. In addition, the second material 20A is formed with a reference surface S8 gripped by the jig F2 of the chucking device F and an inner surface portion P2 on which the internal teeth are formed. The inlay surface S6 of the first material 10A and the reference surface S8 of the second material 20A have a cylindrical side surface shape and are processed with high position accuracy.

The jig F2 of the chucking device F is provided with a fitting portion U1 that fits into the inlay surface S6 of the first material 10A and a grip portion U2 that grips the reference surface S8 of the second material 20A. ..

In the first stage of the processing process of the internal teeth, the reference surface S8 of the second material 20A is gripped by the gripping portion U2 of the jig F2. At the same time, the first material 10A and the second material 20A are brought into contact with each other in the axial direction, and the inlay surface S6 of the first material 10A is fitted to the fitting portion U1 of the jig F2. The chucking device F applies a large load inward in the radial direction to the jig F2 by hydraulic pressure, whereby the first material 10A and the second material 20A are chucked to the chucking device F by arranging them in the axial direction. To. In the manufacturing method of the second embodiment, unlike the first embodiment, the first material 10A and the second material 20A are integrally chucked without being connected.

When chucked, the second material 20A is axially opposite to the orientation when assembled as the flexible meshing gear device 1A, whereby the inner surface portion P1 on which the internal teeth are machined is formed. A relatively large distance is secured between the surface portion P2 and the other inner surface portion P2.

The processing from the processing of the internal teeth t1 and t2 on the inner surface portions P1 and P2 to the main processing of other portions such as the inner ring portion 42i (see FIG. 4) of the main bearing 48 is performed in the same manner as in the first embodiment.

<Effects of an Embodiment of a flexure meshing gear device>
As described above, in the flexure meshing gear device 1A of the second embodiment, the tooth bottom diameter of the internal tooth t2 of the second internal tooth gear 42A is the internal tooth t1 of the first internal tooth gear 41A, as in the first embodiment. The number of teeth of the internal tooth t2 of the second internal tooth gear 42A matches the number of teeth of the external tooth gear 32, and the tooth tip of the first external tooth portion 32J of the external tooth gear 32 It has a configuration in which the diameter is larger than the tooth tip diameter of the second external tooth portion 32K. Therefore, also in the flexure meshing type gear device 1A of the second embodiment, the effects related to these configurations described in the first embodiment can be similarly obtained.

<Effect of the embodiment of the manufacturing method>
The method for manufacturing the internal tooth gear of the second embodiment is the same as the manufacturing method of the first embodiment, in which the first material 10A and the second material 20A are chucked side by side in the axial direction without re-chucking. A method of machining the teeth t1 and t2 and a method of inserting the tool E from the same axial direction to machine the internal teeth t1 and t2 are adopted. Therefore, also in the method for manufacturing the internal gear of the second embodiment, the effects related to these methods described in the first embodiment can be obtained in the same manner.

Further, according to the method for manufacturing an internal gear according to the second embodiment, first, an in-row surface S6 to be in-row-fitted with the casing 43 is formed on the first material 10A. After that, the first material 10A and the second material 20A are chucked with the inlay surface S6 fitted to the jig F2 in the inlay, and the internal teeth t1 and t2 are processed into these. Therefore, the first internal gear 41A and the second internal gear 42A that can be centered with high accuracy are provided with reference to the inlay surface S6 of the first material 10A and the fixed portion (reference surface S8) of the second material 20A. Can be manufactured.

The embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment. For example, in the first embodiment, of the in-row surfaces S1 and S2 in which the first material 10 and the second material 20 are in-row fitted in the manufacturing process, the first material is assembled as the flexible meshing type gear device 1. The configuration in which the in-row surface S1 of the (first internal gear 41) 10 is in-row fitted with another member is shown. However, when assembled as a flexible meshing gear device, the in-row surface of the second material (second internal tooth gear) may be in-row-fitted with another member, or both of these in-row surfaces may be other in-row surfaces. It may be fitted with a member in an inlay. Alternatively, both of these in-row surfaces need not be in-row fitted with other members. Similarly, in the first embodiment, among the connecting holes H1 and H2 for connecting the first material 10 and the second material 20 in the manufacturing process, when the second material is assembled as the flexible meshing gear device 1. The configuration in which the connecting hole H2 is used for connecting to other members is shown. However, when assembled as a flexible meshing gear device, the connecting holes of the first material may be used to connect with other members, or the connecting holes of both the first material and the second material. However, it does not have to be used to connect with other members. Further, in the above embodiment, in order to connect the second material 20 and the first material 10 in the processing process of the internal teeth, a hole that functions as an air hole when assembled as a flexible meshing gear device 1 is provided. The configuration of the connecting hole H1 to be used is shown. However, the connecting hole h11 for connecting to the first cover 44 may be configured to be used for connecting the second material 20 and the first material 10 in the processing process of the internal teeth.

Further, in the above-described first and second embodiments, in the manufacturing process of the internal gear, an example is shown in which the second material is fixed in the direction opposite to the state in which the second material is assembled as a flexure meshing gear device in the axial direction. , The internal tooth may be processed by arranging the first material and the second material in the axial direction without reversing the direction. Alternatively, in the manufacturing process of the internal gear, the first material, or both the first material and the second material, are fixed in the direction opposite to the state in which the flexible meshing gear device is assembled. The internal teeth may be processed in the state. In these cases, an inlay surface and a connecting hole may be provided so that the first material and the second material can be fitted in an inlay, connected by a connecting member, or both according to these fixing methods.

Further, in the second embodiment described above, an example is shown in which the in-row surface of the first material is in-row-fitted to the jig to fix the first material, but the second material may be in-row-fitted or the second material may be fitted in the in-row. Both the 1st material and the 2nd material may be in-row fitted. Alternatively, both the first material and the second material may be gripped and fixed with a jig, for example, by hydraulic pressure, without fitting in the inlay.

Further, in the above-described first and second embodiments, the internal tooth gear (second internal tooth gear) having a tooth bottom diameter smaller than the tooth tip diameter of one of the two internal tooth gears is arranged on the output side. An example is shown in which an internal tooth gear (first internal tooth gear) having a tooth tip diameter larger than the tooth bottom diameter of one internal tooth gear is arranged on the counter-output side. Then, in this arrangement, the number of teeth of the internal gear (second internal gear) arranged on the output side is set to the same number as the number of teeth of the external gear. However, the arrangement of the first internal gear and the second internal gear is not limited to this, and may be an arrangement reversed from the above arrangement. That is, the internal tooth gear (second internal tooth gear) having a tooth bottom diameter smaller than the tooth tip diameter of one of the two internal tooth gears is arranged on the counter-output side, and the tooth of one internal tooth gear. An internal tooth gear (first internal tooth gear) having a tooth tip diameter larger than the bottom diameter may be arranged on the output side. Further, in this arrangement, the number of teeth of the internal gear (second internal gear) arranged on the counter-output side may be the same as the number of teeth of the external gear. Further, the number of teeth of the second internal gear may be different from the number of teeth of the external gear. In addition, the details shown in the embodiment can be appropriately changed without departing from the spirit of the invention.

1,1A Flexion meshing gear device 10, 10A 1st material 41, 41A 1st internal tooth gear 41G 1st internal tooth part P1, P2 Inner surface part t1, t2 Internal tooth S1, S2, S6 In-row surface H1, H2 connection Holes 20, 20A 2nd material 42, 42A 2nd internal tooth gear 42G 2nd internal tooth part 42i Inner ring part S4, S8 Reference surface B1 Connecting member E Tool F Chucking device F1, F2 Jig 32 External tooth gear 32J 1st External tooth part 32K Second external tooth part 43 Casing 43o Outer ring part 48 Main bearing

Claims (13)

The oscillating body, the external gear that is flexed and deformed by the oscillating body, the first internal gear that meshes with the external gear, and the external tooth that is arranged side by side in the axial direction with the first internal gear. A flexible meshing gear device including a second internal gear that meshes with a gear.
The tooth bottom diameter of the second internal gear is smaller than the tooth tip diameter of the first internal gear.
Flexion meshing gear device. The second internal gear has the same number of teeth as the external gear.
The flexible meshing gear device according to claim 1. The flexure meshing gear device according to claim 1 or 2, wherein the first internal gear and the second internal gear have an in-row surface that can be in-row fitted to each other. The in-row surface of the first internal gear and the in-row surface of the second internal gear are not fitted to each other or are not fitted to each other in a state of being assembled as the flexible meshing gear device.
At least one of the in-row surface of the first internal gear and the in-row surface of the second internal gear is assembled as the flexible meshing gear device, and the first internal gear and the second internal gear are assembled. In-row fitting with a member different from the internal gear,
The flexible meshing gear device according to claim 3. The in-row surface of the first internal gear and the in-row surface of the second internal gear are provided in the same axial direction in a state of being assembled as the flexible meshing gear device.
The flexure meshing gear device according to claim 3 or 4. The first internal gear and the second internal gear have connecting holes having equal pitch circle diameters to which connecting members for connecting each other can be arranged.
The flexure meshing gear device according to any one of claims 1 to 5. At least one of the connecting hole of the first internal gear and the connecting hole of the second internal gear is assembled as the flexible meshing gear device, and the first internal gear and the second internal gear are assembled. Used for connecting with members different from internal gears,
The flexible meshing gear device according to claim 6. Of the external gears, the tooth tip diameter of the first external tooth portion that meshes with the first internal tooth gear is larger than the tooth tip diameter of the second external tooth portion that meshes with the second internal tooth gear.
The flexure meshing gear device according to any one of claims 1 to 7. The oscillating body, the external gear that is flexed and deformed by the oscillating body, the first internal gear that meshes with the external gear, and the external tooth that is arranged side by side in the axial direction with the first internal gear. The method for manufacturing the first internal gear and the second internal gear in a flexure meshing gear device including a second internal gear that meshes with a gear and has a different number of teeth from the first internal gear. There,
The first material of the first internal gear and the second material of the second internal gear are chucked side by side in the axial direction, and the internal teeth are attached to the first material and the second material without re-chucking. Manufacturing method of internal gears to be machined. A tool for processing internal teeth is inserted from the same axial direction at the time of processing the internal teeth of the first material and at the time of processing the internal teeth of the second material.
The method for manufacturing an internal gear according to claim 9. With the first material and the second material connected in the axial direction, the first material and the second material are chucked, and internal teeth are processed into the first material and the second material.
The method for manufacturing an internal gear according to claim 9 or 10. The first material and the second material are pivoted in a state in which at least one of the first material and the second material is reversed in the axial direction from the state in which the first material and the second material are assembled as the flexure meshing gear device. Connect in the direction,
The method for manufacturing an internal gear according to claim 11. An inlay surface is formed on at least one of the first material and the second material.
With the in-row surface fitted in the jig, the first material and the second material are chucked, and internal teeth are processed into the first material and the second material.
The method for manufacturing an internal gear according to any one of claims 9 to 12.

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