JPH09280325A - Silk-hat type flexibly engaging gear device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent reduction in fitting precision in which a flexible external gear is fitted to a device housing or the like. SOLUTION: A silk-hat type flexibly engaging gear device 1 is constructed such that a first end plate 2 and a second end plate 3 can be rotated in a relative manner by a cross roller bearing 4 arranged between the first end plate 2 and the second end plate 3. A rigid internal gear is integrally formed with an inner circumferential surface of an inner ring 41 of a cross roller bearing 4. This inner ring 41 is fastened and fixed directly to a side of a first end plate 2. An end surface of the outer ring 44 of the cross roller bearing is formed with an annular groove 44a, where an annular hub 17 of the silk hat shaped flexible external gear is well fitted to the annular groove 44a and connected to it with an adhesive or welding or the like. This outer ring 44 is fastened to and filed to a side of a second an plate 3 by a bolt 81. Since the annular hub 17 is connected in advance onto the side of the outer ring 44, an assembling process for connecting these members can be eliminated. In addition, a manufacturing error of the annular hub 17 does not appear as an assembling error.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flexible mesh type gear device including a top hat type flexible external gear, and a mounting structure for attaching the top hat type flexible external gear to a device housing or the like. It is about improvement.

[0002]

2. Description of the Related Art As a flexible mesh type gear device, a flexible external gear having a top hat shape is known. The flexible external gear having this shape has a cylindrical body, an annular diaphragm that extends radially outward from one end of the cylindrical body, and an annular boss that is continuous with the outer peripheral end of the diaphragm. It is composed of external teeth formed on the outer circumference of the other open end of the body.

[0003]

The present applicant has previously proposed a structure capable of forming a top hat type flexural meshing type gear device into a small and compact structure. In particular, it proposes a flat type flexural meshing gear device capable of shortening its length (dimension in the axial direction). For example, Japanese Patent Application No. 7-12
The specification of 0957 proposes such a device.

An object of the present invention is to provide a general-shaped top hat type flexural meshing gear device and a top hat type flexural meshing gear device of the type proposed by the applicant as described above. To improve a mounting portion for mounting the flexible externally toothed gear of (1) to a device housing or the like.

[0005]

SUMMARY OF THE INVENTION According to the present invention, an annular rigid internal gear, a flexible external gear arranged inside the annular internal gear, and a flexible external gear that is bent in the radial direction are used. The rigid external gear further includes a wave generator that partially meshes with the rigid internal gear and that moves the meshing position in the circumferential direction. External teeth formed on the outer peripheral surface on the one open end side of the portion, an annular diaphragm that continuously extends toward the outer side in the radial direction at the other open end of the body, and the outer peripheral edge of the diaphragm. In a top hat type flexural meshing type gear device in which a top hat type having a continuous thick walled boss is adopted, the flexible external gear is fixed to the device housing or the like as follows. Side member or output member There. That is, the annular boss is joined to the fixed-side member or the output-side member, to which the annular boss of the flexible external gear is connected, by welding, adhesion, or the like. Here, in the present specification, the term “joint” means that a fastener such as a fastening bolt is not used.

In addition to the above-mentioned structure, a sicle-hat type flexural mesh type gear device to which the present invention can be applied is fixed to the wave generator and extends through the wave generator in the axial direction of the device. The flexible external gear may include an input shaft and a bearing arranged on the outer circumference of the cylindrical body of the flexible external gear. In this case, the outer ring of the bearing serves as the fixed member or the output member. Therefore, the annular boss of the flexible external gear is joined to the outer ring, and the rigid internal gear is fixed to the inner ring of the bearing.

Further, as a unit of the device having this structure, it has a first end plate and a second end plate located at both ends in the axial direction of the device, and the flexible plate is provided between these end plates. An external gear, the annular rigid internal gear, and the wave generator are arranged, and the input shaft is rotatably supported by the first and second end plates. In the case of this configuration, the outer ring of the bearing to which the annular boss of the flexible external gear is joined is fixed to the second end plate. The inner ring of the bearing is fixed to the first end plate together with the rigid internal gear.

Here, instead of either one of the first and second end plates, a motor housing connected to the input shaft may be directly attached. Further, it is desirable to adopt a cross roller bearing as the bearing.

In the top hat type flexural mesh type gear device of the present invention thus constructed, the boss of the flexible external gear is joined to the fixed or output side member by welding or adhesive. When fixing to a member on the fixed side or the output side using a temporary fixing bolt as in the conventional case, the processing accuracy of the boss portion affects the mounting accuracy. In addition, a temporary fixing bolt is required to attach the flexible external gear, and it is also necessary to process a bolt hole for that purpose. Further, when the temporary fixing bolt is removed, the respective members are separated, which may be difficult for the user to handle. However, if the configuration of the present invention is adopted, such a harmful effect can be eliminated.

In the flexible mesh type gear device having the above structure, if the inner ring and the rigid internal gear are integrally formed, the number of parts of the device can be reduced and the assembling step is not required. Has the advantage that
Further, the same advantage can be obtained when the first end plate and the rigid internal gear are integrated. Further, even if the rigid cam plate of the wave generator is integrally formed on the outer circumference of the input shaft, the same advantage can be obtained.

If the input shaft is a hollow shaft, this hollow portion can be used for wiring or the like, which is convenient.

[0012]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a cross-sectional structure of a top hat type flexural mesh type gear device to which the present invention is applied. The top hat type flexural mesh type gear device 1 has a device axis 1
It is provided with a first end plate 2 and a second end plate 3 which are arranged at regular intervals in the direction of a. These first and second
A cross roller bearing 4 is arranged between the end plates 2 and 3 at the outer peripheral side thereof.

An input rotary shaft 5 extends through the centers of the first and second end plates 2 and 3 in the direction of the apparatus axis 1a. The input rotary shaft 5 is rotatably supported on the inner peripheral surfaces 21 and 31 of the first and second end plates 2 and 3 via ball bearings 6 and 7, respectively.

A rigid internal gear is integrally formed on the inner ring 41 of the cross roller bearing 4. That is, the inner teeth 11 of the rigid internal gear are formed on the inner peripheral surface 42 of the inner ring 41. Inside the internal teeth 11, a top hat-shaped flexible external gear 13 having external teeth 12 capable of meshing with the internal teeth 11 is arranged. Further, inside the flexible external gear 13, a wave generator 14 having an elliptical contour is fitted.

A top hat-shaped flexible external gear 13
Is a cylindrical body portion 15 and an annular diaphragm 1 extending outward from an opening end of the body portion on the second end plate 3 side.
6 and an annular boss 17 continuous with the outer peripheral end of the diaphragm 16. The first end plate 2 of the body portion 15
External teeth 12 are formed on the outer periphery of the open end on the side of. The wave generator 14 includes an elliptical rigid cam plate 18 and a wave bearing 19 fitted on the outer peripheral surface of the rigid cam plate 18. In this example, the rigid cam plate 18 is integrally formed on the outer peripheral surface of the input rotary shaft 5.

Here, in this example, in the outer ring 44 of the cross roller bearing 4, an annular groove 44a is formed on the inner peripheral side of the annular end surface on the second end plate 3 side. In the annular groove 44a, the flexible external gear 13
The annular boss 17 is just fitted, and is joined and integrated with the annular groove 44a by a method such as an adhesive or welding. In the joined state, the end surface of the outer ring 44 and the end surface of the annular boss 17 are flush with each other.

The cross roller bearing outer ring 44 in which the annular boss 44 is integrated is fixed to the second end plate 3 side. That is, these members are provided with temporary fixing bolt holes 8a and 8b, and these members are fastened and fixed to each other by the temporary fixing bolts 81 attached thereto.

Further, the second end plate 3 and the outer ring 44 have fastening bolt holes 9a and 9b for fastening and fixing to a fixed member such as a motor housing (not shown) or an output member. Are formed.

On the other hand, the cross roller bearing 4
The inner ring 41 side of the
Is fastened and fixed to the side of the end plate 2. Further, also in the first end plate 2 and the inner ring 41, fastening bolt holes 9c and 9d for fastening and fixing to a fixed member such as a motor housing or a member on the output side are formed.

In the top hat type flexural mesh type gear device 1 having this structure, for example, the second end plate 3 of the input rotary shaft 5 is used.
The protruding portion protruding from is connected and fixed to a rotation source such as a motor output shaft. Also, the first end plate 2 or the second
The end plate 3 of is connected and fixed to the load side. When the input rotary shaft 5 rotates at a high speed, it is bent into an elliptical shape by the elliptical wave generator 14, and the meshing portions of the outer teeth 12 meshing with the inner teeth 11 at two circumferential positions are circumferentially aligned. Moving. Since the external teeth and the internal teeth have different numbers of teeth, relative rotation according to the difference in the number of teeth occurs between the external teeth and the internal teeth. This rotation is significantly reduced compared to the input rotation speed. Since one of the second end plate 2 and the second end plate 3 is connected to the load side and the other is fixed so as not to rotate, decelerated rotation is output from the end plate side connected to the load side. Is transmitted to the load side.

In the device 1 of this example, as described above, the outer ring 4 is
The annular boss 17 of the flexible external gear is joined to the No. 4 by an adhesive, welding, or the like. That is, the annular boss 17 is joined to the outer ring 44 that also serves as the device housing. Therefore, unlike the prior art, it is not necessary to fix the annular boss 17 to the outer ring 44 side using the temporary fixing bolt. In other words, it is not necessary to connect the flexible external gear 13 to the side of the device housing with a bolt.

Therefore, the bolt is not required, and the hole forming process and the bolt fastening process are not required. Further, due to the processing accuracy of the annular boss 17, a mounting error does not occur in the mounting portion between the boss 17 and the outer ring 44, and the misalignment does not occur. In addition to this, since the annular boss 17 is previously integrated with the outer ring 44, these parts do not come off. Therefore, it is easy for the user to handle.

FIG. 2 shows an example in which a motor housing 30 is attached instead of the second end plate 3. On the output shaft side end surface of the motor housing 30, for example, a mounting flange 31 having the same shape as the second end plate 3 is arranged. By mounting the fastening bolts 91 in the fastening bolt holes 9 a formed in the flange 31 and the fastening bolt holes 9 b of the outer ring 44, the device 1 can be attached to the motor housing 30.

In the top hat type flexural mesh type gear device described above, a rigid internal gear is integrally formed on the inner ring of the cross roller bearing. To make the device smaller and more compact, for example, in the first end plate,
An inner ring integrally formed with a rigid internal gear may be integrally formed. If the three members are integrally formed in this way, an assembly error between these members does not occur. Further, there is no backlash between these members. Furthermore, the rigidity of these members is also increased.

Next, in the above description, the input rotary shaft is a hollow shaft, but of course, a solid shaft may be used.

On the other hand, the above description is for the case where the present invention is applied to the top hat type flexural mesh type gear device in which the end surfaces on both sides of the device are defined by the first and second end plates. Is. However, the present invention can be similarly applied to a commonly used top hat type flexural mesh type gear device.

[0028]

As described above, in the top hat type flexural mesh type gear device of the present invention, an annular boss for attaching the top hat type flexible external gear to the device housing or the like is provided with a bolt or the like. It employs a configuration in which the device housing, the output side member, and the like are joined to each other by an adhesive agent, welding, or the like without using a fastener.

If this structure is adopted, unlike the case where both members are connected by using a bolt or the like, the bolt is not necessary and the bolt hole for that is also unnecessary. Also,
Due to the manufacturing error of the annular boss, the mounting accuracy of these members is not deteriorated.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a shaft-containing cross section of a top hat type flexural meshing gear device to which the present invention is applied.

FIG. 2 is a schematic cross-sectional view showing an example in which a motor is attached to the device shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Top hat type flexural meshing gear device 1a Device axis 2 First end plate 3 Second end plate 4 Cross roller bearing 41 Inner ring 42 Inner ring inner peripheral surface 44 Outer ring 44a Outer ring annular groove 46 Roller 5 Input rotation Shaft 11 Internal teeth of rigid internal gear 12 External teeth 13 Flexible external gear 14 Wave generator 16 Diaphragms 16a, 16b End face of diaphragm 17 Annular boss of flexible external gear 18 Rigid cam plate for wave generator 19 Wave bearing

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] May 15, 1996

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG.

[Fig. 2]

Claims (9)

[Claims] 1. A ring-shaped rigid internal gear, a flexible external gear arranged inside the annular internal gear, and a portion of the flexible external gear that is bent in the radial direction with respect to the rigid internal gear. And a wave generator for moving the meshing position in the circumferential direction, and as the flexible externally toothed gear, a cylindrical body portion and one opening end side of the body portion are provided. External teeth formed on the outer peripheral surface, an annular diaphragm that continuously extends to the outer side in the radial direction at the other open end of the body, and a thick annular boss that is continuous at the outer peripheral edge of the diaphragm. In a top hat type flexural meshing type gear device that employs a top hat type having a fixed side member or an output side member to which the annular boss of the flexible external gear is connected, The annular boss is welded and adhered to the member Deflection silk hat type, characterized in that it is joined by meshing type gear device. 2. The cylinder of the flexible external gear according to claim 1, further comprising: an input shaft fixed to the wave generator and extending through the wave generator in an apparatus axial direction. A bearing arranged on the outer periphery of the cylindrical body, and the outer ring of the bearing is the fixed-side member or the output-side member, and the annular boss of the flexible external gear is joined to the outer ring. The top hat type flexural meshing gear device is characterized in that the rigid internal gear is fixed to the inner ring of the bearing. 3. The flexible external gear according to claim 2, further comprising a first end plate and a second end plate located at both ends in the device axial direction, and between the end plates. The annular rigid internal gear and the wave generator are arranged, the input shaft is rotatably supported by the first and second end plates, and the annular boss of the flexible external gear is joined. The outer ring of the bearing being secured to the second end plate,
An inner ring of the bearing is fixed to the first end plate together with the rigid internal gear, and a top hat type flexible meshing gear device is provided. 4. The first and the second according to claim 3,
In place of either one of the end plates, a housing of a motor connected to the input shaft is attached, and a top hat type flexural mesh type gear device. 5. The top hat type flexural mesh type gear device according to claim 3, wherein the bearing is a cross roller bearing. 6. The top hat type flexural mesh type gear device according to claim 3, wherein the inner ring and the rigid internal gear are integrally formed. 7. The top-hat type flexural mesh type according to claim 3, wherein the first end plate and the rigid internal gear are integrally formed. Gear device. 8. The top hat type flexural mesh according to claim 2, wherein a rigid cam plate of the wave generator is integrally formed on an outer periphery of the input shaft. Gear device. 9. The top hat type flexural mesh type gear device according to claim 2, wherein the input shaft is a hollow shaft.