KR101793519B1

KR101793519B1 - Flexible engagement gear device

Info

Publication number: KR101793519B1
Application number: KR1020150189690A
Authority: KR
Inventors: 신지 요시다; 마나부 안도; 타카시 이이지마
Original assignee: 스미도모쥬기가이고교 가부시키가이샤
Priority date: 2015-02-03
Filing date: 2015-12-30
Publication date: 2017-11-03
Also published as: JP6338538B2; DE102016101165B4; CN105840740A; KR20160095605A; DE102016101165A1; JP2016142370A; CN105840740B

Abstract

Provided is a bending gear type gear device capable of suppressing torque ripple while suppressing damage or deformation of a retainer.
The bending engagement type gear device includes a vibrator, a first external gear and a second external gear which are flexibly deformed by the vibrator, a first vibrator bearing disposed between the first external gear and the vibrator, And a second vibrator bearing disposed between the external gear and the vibrator. The first vibrator bearing has a plurality of first rolling members 22a and a first retainer 23a for holding the first rolling member 22a. The second vibrator bearing has a plurality of second rolling members 22b and a second retainer 23b for holding the second rolling member 22b. The first retainer 23a and the second retainer 23b are formed separately. The number of the first rolling members 22a is different from the number of the second rolling members 22b.

Description

Technical Field [0001] The present invention relates to a flexible engagement gear device,

The present application claims priority based on Japanese Patent Application No. 2015-019700 filed on February 3, 2015. The entire contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a bending gear.

BACKGROUND ART [0002] As a gear device that is small in size and light in weight and capable of achieving a high reduction ratio, a warping gear type gear device is known. This device has a structure in which an external gear is radially bent through a rigid internal gear and a flexible external gear disposed inside the internal gear and a bearing so as to partly engage with the internal gear at two places, And a vibrating body for moving the vibrating body in a direction. The bearing includes a plurality of rolling elements and a retainer for holding the plurality of rolling elements. In the related art, for example, a bending-mesh type gear device as described in Patent Document 1 has been proposed.

Patent Document 1: JP-A-60-143244

In the conventional bending gear type gear device disclosed in Patent Document 1, since the two rows of rolling elements are disposed in a zigzag shape, the distance in the circumferential direction of the adjacent rolling elements is relatively short when viewed from the direction of the rotation axis. Therefore, when the engagement load due to engagement with the internal gear is caught by the external gear, bending of the external gear in the radial direction is suppressed between adjacent rolling elements. As a result, the vibrator rotates relatively smoothly, and torque ripple can be prevented from being caused.

In this bending gear type gear device, since the rolling elements are arranged in a zigzag shape, the number of rolling elements existing in the engagement area at any moment is different for each row. Therefore, the number of rolling elements revolving while rotating is different for each row. Conversely, the number of rolling elements pushed by the retainer is different for each row. Thereby, a speed difference may occur in the revolution speed of the rolling elements and the retainer for each column. Since the retainers for retaining the rolling elements of the respective rows are combined (integrally formed), an unreasonable load is applied to the engagement portion between the retainer and the retainer due to the difference in speed between the revolving speeds. This leads to damage or deformation of the retainer.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide a bending gear capable of suppressing torque ripple while suppressing damage or deformation of a retainer.

According to an aspect of the present invention, there is provided a bending gear device according to one aspect of the present invention, which includes a vibrator, a first external gear and a second external gear that are flexibly deformed by the vibrator, And a second vibrator bearing disposed between the second external gear and the vibrator, wherein the first vibrator bearing includes a plurality of first vibrator bearings, And a first retainer for retaining the first rolling member. The second vibrator bearing has a plurality of second rolling members and a second retainer for holding the second rolling member. The first retainer and the second retainer are configured separately, and the number of the first rolling members and the number of the second rolling members are different.

Another aspect of the present invention is also a bending gear. This apparatus includes a vibrator, a first external gear and a second external gear that are flexibly deformed by the vibrator, a first vibrator bearing disposed between the first external gear and the vibrator, The first vibrator bearing has a plurality of first rolling elements and a first retainer for holding the first rolling element. The first vibrator bearing has a second vibrator bearing disposed between the vibrators. The second vibrator bearing has a plurality of second rolling members and a second retainer for holding the second rolling member. The first retainer has a plurality of first pockets for retaining the first rolling member and at least a part of the plurality of first pockets has a width in the circumferential direction Or at least some of the pillars between the first pocket and the first pocket are different in circumferential width from the other pillars.

Still another aspect of the present invention is a bending gear type gear device. This apparatus includes a vibrator, a first external gear and a second external gear that are flexibly deformed by the vibrator, a first vibrator bearing disposed between the first external gear and the vibrator, The first vibrator bearing includes a first inner ring, a plurality of first rolling members, and a first rolling member holding member for holding the first rolling member. 1 retainer, and a first outer ring. The second vibrator bearing has a second inner ring, a plurality of second rolling members, a second retainer for holding the second rolling member, and a second outer ring. The first retainer and the second retainer are formed separately from each other, and the gap between the first inner ring and the first rolling member, the clearance between the first rolling member and the first outer ring, And the sum of the clearance between the second inner ring and the second rolling member and the clearance between the second rolling member and the second outer ring are different from each other.

Still another aspect of the present invention is also a bending gear device. This apparatus includes a vibrator, a first external gear and a second external gear that are flexibly deformed by the vibrator, a first vibrator bearing disposed between the first external gear and the vibrator, The first vibrator bearing has a plurality of first rolling elements and a first retainer for holding the first rolling element. The first vibrator bearing has a second vibrator bearing disposed between the vibrators. The second vibrator bearing has a plurality of second rolling members and a second retainer for holding the second rolling member. The first retainer and the second retainer are configured separately, and the first retainer has a plurality of first pockets for retaining the first rolling member. The second retainer has a plurality of second pockets for holding the second rolling member. The circumferential width of the first pocket and the circumferential width of the second pocket are different.

According to these aspects, the first retainer and the second retainer are formed separately, and the first rolling member and the second rolling member are less likely to be in the same position in the circumferential direction.

It should be noted, however, that any combination of the above-described components or that the constituent elements and expressions of the present invention are replaced with each other among methods, apparatuses, systems, and the like is also effective as an aspect of the present invention.

According to the present invention, it is possible to provide a warping gear type gear device capable of suppressing torque ripple while suppressing damage or deformation of the retainer.

1 is a cross-sectional view showing a warping gear type gear device according to a first embodiment.
In Fig. 2, Figs. 2 (a) and 2 (b) are a cross-sectional view taken along the line AA and a cross-sectional view taken along the line BB in Fig.
3 is a side view of the retainer and rolling elements viewed from the radial direction.
Fig. 4 is a view of the vibrator bearing viewed from the direction of the rotating shaft. Fig.
5 (a) and 5 (b) are cross-sectional views showing the periphery of a vibrator bearing of a warping gear type gear apparatus according to a second embodiment.
6 is a side view of the retainer and the rolling member viewed from the radial direction.
7 (a) and 7 (b) are cross-sectional views showing the periphery of a vibrator bearing of a bending-gear type gear device according to a third embodiment.
8 is a side view of the retainer and the rolling member viewed from the radial direction.
9 (a) and 9 (b) are cross-sectional views showing the periphery of a vibrator bearing of a warping gear type gear apparatus according to a fourth embodiment.
10 (a) and 10 (b) are cross-sectional views showing the periphery of a vibrator bearing of a bending gear type gear apparatus according to a fifth embodiment.
11 is a side view of the retainer and the rolling member viewed from the radial direction.

Hereinafter, the same or equivalent constituent elements or members shown in the drawings are denoted by the same reference numerals, and redundant explanations are appropriately omitted. In the drawings, the dimensions of the members are appropriately enlarged or reduced for easy understanding. In the drawings, some of the members which are not important when explaining the embodiment are omitted.

The bending gear type gearing according to the embodiment is suitably used as a deceleration mechanism for taking out the high-speed rotation output of the motor as the low-speed rotation output. For example, as a speed reducer of an actuator used in a joint portion of a robot.

(First Embodiment)

1 is a cross-sectional view showing a warping gear type gear device 100 according to a first embodiment. 2 (a) and 2 (b) are a sectional view taken along the line A-A in Fig. 1 and a sectional view taken along the line B-B, respectively. 3 is a side view of the retainer 23 and the rolling member 22 viewed from the radial direction. The bending gear type gear device 100 is fixed to the fixed wall 4 (for example, the first member of the robot). The bending gear type gear device 100 decelerates the input rotation and outputs it to the output device 6 (for example, the second member of the robot). The warping gear type gear device 100 includes a vibrator 10, a vibrator bearing 20, a shout gear 30, an internal gear 40, and an input shaft 50.

The vibrating body 10 is a member extending along the rotation axis R, and a cross section orthogonal to the rotation axis R has a substantially elliptical shape. An input shaft hole 11 is formed in the vibrating body 10 with the rotation axis R as a center. The input shaft 50 is rotatably supported by the fixed wall 4 via a bearing 8. One end of the input shaft 50 is inserted into the input shaft hole 11 and is connected to the vibrating body 10 in the rotating direction by, for example, gluing, press fitting, key connection or the like. The other end of the input shaft 50 is connected to, for example, a rotation drive source such as a motor. The vibrating body 10 rotates in accordance with the rotation of the input shaft 50.

The shout gear 30 is an annular member having flexibility, and a vibrator 10 and a vibrator bearing 20 are sandwiched inside the shout gear 30. The external gear 30 is bent into an elliptical shape by fitting the vibrating body 10 thereinto. The shout gear 30 is continuously deformed in accordance with the shape of the vibrating body 10 when the vibrating body 10 is rotated. The external gear 30 includes a first external gear 30a and a second external gear 30b. The first external gear 30a is located on the fixed wall 4 side (right side in Fig. 1) than the second external gear 30b. The first external gear 30a and the second external gear 30b are formed on a single substrate and have the same number of teeth.

The internal gear 40 includes a first internal gear 40a and a second internal gear 40b. The first internal gear 40a and the second internal gear 40b are formed separately. The first internal gear 40a is an annular member having rigidity. The first internal gear 40a surrounds the first external gear 30a bent in an elliptical shape and meshes with the first external gear 30a in two regions in the longitudinal direction of the vibrator 10. [ The first internal gear 40a has more teeth than the first external gear 30a. The first internal gear 40a is provided with a plurality of bolt insertion holes 41a penetrating in the direction of the rotation axis R. [ And the bolt 42a is inserted into the bolt insertion hole 41a and screwed into the screw hole 4a formed in the fixing wall 4 so that the warping gear 100 is fixed to the fixing wall 4. [

The second internal gear 40b is an annular member having rigidity. The second internal gear 40b surrounds the second external gear 30b bent in an elliptical shape and meshes with the second external gear 30b in two regions in the longitudinal direction of the vibrator 10. The second internal gear 40b has the same number of teeth as the second external gear 30b. The second internal gear 40b is formed with a plurality of bolt insertion holes 41b penetrating in the direction of the rotation axis R. [ The bolt 42b is inserted into the bolt insertion hole 41b and screwed into the screw hole 6a formed in the output device 6 so that the warping gear 100 and the output device 6 are connected. Thereby, the output of the flexural-mesh type gear device 100 is transmitted to the output device 6. [

The vibrator bearing 20 is a bearing for supporting the external gear 30 and includes a first vibrator bearing 20a disposed between the first external gear 30a and the vibrator 10, And a second vibrator bearing 20b positioned between the gear 30b and the vibrator 10. [ The first vibrator bearing 20a includes a first portion 21a of the inner wheel member 21, a plurality of first rolling members 22a, and a first retaining portion 22a holding a plurality of first rolling members 22a. A gear 23a, and a first outer ring member 24a. The second vibrator bearing 20b includes a second portion 21b of the inner wheel member 21, a plurality of second rolling members 22b, and a second retaining portion 22b for holding the plurality of second rolling members 22b. A gear 23b, and a second outer ring member 24b.

The inner ring member 21 is an annular member and is fitted to the outside of the vibrating body 10. The inner ring member 21 has flexibility and is warped into an elliptical shape when the vibrating body 10 is fitted. The inner wheel member 21 is fixed to the vibrating body 10 by adhesion or press fitting, and rotates integrally with the vibrating body 10. [ The inner ring member 21 is integrally formed as both inner ring members of the first vibrator bearing 20a and the second vibrator bearing 20b. However, the inner ring member 21 may be formed integrally with the vibrating body 10.

The first outer ring member 24a surrounds the plurality of first rolling members 22a. The first outer ring member 24a has flexibility and runs in an elliptical shape through the first rolling member 22a when the vibrating member 10 is fitted in the inner ring member 21. [ The first outer ring member 24a is continuously deformed in accordance with the shape of the vibrating body 10 when the vibrating body 10 is rotated. The second outer race member 24b is configured similarly to the first outer race member 24a. The second outer race member 24b is formed as a separate member from the first outer race member 24a. However, the second outer race member 24b may be formed integrally with the first outer race member 24a. Hereinafter, the first outer ring member 24a and the second outer ring member 24b are collectively referred to as " outer race member 24 ".

The first retainer 23a is an annular member disposed between the first portion 21a of the inner wheel member 21 and the first outer wheel member 24a and includes ring portions 26a and 27a and ring portions 26a And a plurality of first pockets 25a formed by adjacent pillar portions 28a. The first pockets 25a are formed by a plurality of pillar portions 28a extending between the first and second pillar portions 28a and 27a. A first rolling member 22a is disposed in each of the plurality of first pockets 25a. Each of the plurality of first rolling elements 22a has a substantially columnar shape and is arranged in a circumferential direction in a state in which the axial direction thereof is directed in a direction substantially parallel to the rotational axis R direction. The first rolling member 22a rotates and revolves by itself when it enters a region where the external gear 30 and the internal gear 40 mesh with each other (hereinafter referred to as " engagement region "). A part of the first rolling member 22a in the engaging area pushes the first retainer 23a by the revolution so that the first retainer 23a revolves. When the first rolling member 22a enters the non-engagement region, the first rolling member 22a is pushed by the first retainer 23a to revolve.

The second retainer 23b is formed as a separate member from the first retainer 23a. That is, the first retainer 23a and the second retainer 23b are relatively movable in the circumferential direction. Is an annular member disposed between the second portion 21b of the inner wheel member 21 and the second outer wheel member 24b and is an annular member disposed between the ring portions 26b and 27b and between the ring portion 26b and the ring portion 27b And a plurality of second pockets 25b formed by the adjacent pillar portions 28b. A second rolling member 22b is disposed in each of the plurality of second pockets 25b. Each of the plurality of second rolling elements 22b has a substantially columnar shape and is arranged in the circumferential direction in a state in which the axial direction thereof is directed in a direction substantially parallel to the rotational axis R direction. Similar to the first rolling member 22a, the second rolling member 22b itself rotates and revolves when it enters the engagement region. A part of the second rolling member 22b in the engaging region pushes the second retainer 23b by the revolving motion to revolve the second retainer 23b. When the second rolling member 22b enters the non-engagement region, the second rolling member 22b pivots by the second retainer 23b.

Thereafter, the first retainer 23a and the second retainer 23b are collectively referred to as the " retainer 23 ", the column portion 28a and the column portion 28b are collectively referred to as the " column portion 28 " , And the first pocket 25a and the second pocket 25b are collectively referred to as " pocket 25 ". The first rolling member 22a and the second rolling member 22b are collectively referred to as " rolling member 22 ".

Here, as one technique for improving the load capacity of the vibrator bearing 20, there is a technique in which the diameter of the rolling member 22 is increased. It is necessary to increase the circumferential width of the pocket 25 by enlarging the rolling member 22. Therefore, if the diameter of the rolling member 22 is increased by keeping the number of the rolling members 22, The width in the circumferential direction of the retainer 23 becomes narrow, and the strength of the retainer 23 becomes weak. Therefore, when the diameter of the rolling member 22 is increased, the number of the rolling members 22 is reduced.

When the number of rolling elements 22 is reduced, the distance between the contact points P of the rolling member 22 and the outer ring member 24 becomes longer. 4 (a), when the first rolling member 22a and the second rolling member 22b are at the same position in the circumferential direction, that is, when the first rolling member 22a and the second rolling member 22b 22b are overlapped with each other in the direction of the rotation axis R when the engaging load caused by engagement with the internal gear 40 is caught by the external gear 30, And the outer race member 24 can be recessed inward in the radial direction. Therefore, as the longitudinal axis of the vibrating member 10 passes through the bent portion, the vibrating member 10 is rotated while pushing the bending outward in the radial direction. As a result, torque ripple is caused.

4B, when the first rolling member 22a and the second rolling member 22b are at different positions in the circumferential direction, that is, when the first rolling member 22a and the second rolling member 22b The distance in the circumferential direction of the contact point P between the rolling member 22 and the outer ring member 24 is shortened. Thus, when the engagement load due to engagement with the internal gear 40 is caught by the external gear 30, the external gear 30 is less likely to bend between the contact points P adjacent in the circumferential direction. This makes it difficult to cause torque ripple.

In order to prevent the first rolling member 22a and the second rolling member 22b from being in the same position in the circumferential direction (that is, in a state of FIG. 4 (a)), The first and second pockets 25a and 25b are shifted in the circumferential direction from each other so that the first and second pockets 25a and 25b are shifted in the circumferential direction, It is conceivable to combine (integrate). In this case, since the positions of the first pockets 25a and the second pockets 25b are shifted in the circumferential direction, the number of the first rolling members 22a in the engagement region and the number 2 rolling elements 22b. Therefore, the number of the first rolling members 22a that revolve while rotating by itself and the number of the second rolling members 22b that revolve while rotating by itself are different. Conversely, the number of the first rolling members 22a pivoted by the first retainer 23a is different from the number of the second rolling members 22b pivoted by the second retainer 23b. This can cause a speed difference between the revolution speeds of the first rolling member 22a and the first retainer 23a and the revolution speeds of the second rolling member 22b and the second retainer 23b. At this time, if the first and second retainers 23a and 23b are engaged with each other, an excessive load is applied to the engaging portion, so that the retainer 23 is broken or the retainer 23 is deformed It causes.

Therefore, in the present embodiment, the number of the first rolling members 22a (and the first pockets 25a) and the number of the first rolling members 22a The number of the moving bodies 22b (and the second pockets 25b) is made different. In this case, the positions of the first rolling member 22a and the second rolling member 22b in the circumferential direction are basically different. However, the number of the first rolling members 22a may be greater than the number of the second rolling members 22b, and the number of the second rolling members 22b may be larger than the number of the first rolling members 22a. In the present embodiment, the number of the first rolling members 22a is smaller than the number of the second rolling members 22b, and therefore, in FIG. 3, the interval in the circumferential direction of the first rolling member 22a is smaller than that of the second rolling member 22b 22b in the circumferential direction. However, from the viewpoint of the load capacity of the bearing, the number of the rolling elements 22 is preferably as large as possible. Therefore, the difference between the number of the first rolling members 22a and the number of the second rolling members 22b is preferably " 1 ".

The operation of the above-described flexural-meshing gear device 100 will be described. Here, the first external gear 30a has a dimension of 100, the second external gear 30b has a dimension of 100, the first internal gear 40a has a dimension of 102, the second internal gear 40b has a dimension of 100 Is explained as an example.

When the vibrating body 10 is rotated by the rotation of the input shaft 50 in a state where the first external gear 30a is engaged with the first internal gear 40a at two positions in the major axis direction on the elliptical shape, The engagement position of the external gear 30a and the first internal gear 40a also moves in the circumferential direction. Since the first external gear 30a and the first internal gear 40a have different sizes, the first external gear 30a is relatively rotated with respect to the first internal gear 40a. In this embodiment, since the first internal gear 40a is in a fixed state, the first external gear 30a is rotated by an amount corresponding to the dimensional difference. That is, the rotation of the vibrator 10 is decelerated to a large extent and output to the first external gear 30a. The reduction ratio is as follows.

Reduction ratio = (the dimension of the first external gear 30a - the dimension of the first internal gear 40a) / the dimension of the first external gear 30a

= (100-102) / 100

= -1 / 50

Since the second external gear 30b is integrally formed with the first external gear 30a, it rotates integrally with the first external gear 30a. Since the second external gear 30b and the second internal gear 40b have the same size, no relative rotation occurs, and the second external gear 30b and the second internal gear 40b rotate integrally. As a result, the rotation equivalent to the rotation of the first external gear 30a is output to the second internal gear 40b. As a result, the output from the second internal gear 40b, which is obtained by decelerating the rotation of the vibrator 10 (input shaft 50) by -1/50, can be extracted.

The number of the first rolling members 22a of the first vibrator bearing 20a and the number of the second rolling members 22b of the second vibrator bearing 20b ). Due to this, the positions of the first rolling member 22a and the second rolling member 22b in the circumferential direction are basically different. Thereby, even when the diameter of the rolling member 22 is increased and the number of the rolling members 22 is reduced so as to improve the load capacity of the bearing, the contact point P between the rolling member 22 and the outer ring member 24 ) Is relatively short. As a result, bending of the external gear 30 between the adjacent contact points P is suppressed, and the magnitude of the torque ripple can be suppressed to a level at which there is no practical problem. In addition, since the first and second retainers 23a and 23b are not coupled to each other, an excessive load can be suppressed from being applied to the first and second retainers 23a and 23b.

(Second Embodiment)

The main difference between the warping gear type gear apparatus according to the second embodiment and the warping gear type gear apparatus according to the first embodiment is the structure of the vibrator bearing.

5 (a) and 5 (b) are cross-sectional views showing the periphery of a vibrator bearing 20 of a warping gear type gear apparatus according to a second embodiment. Figs. 5 (a) and 5 (b) correspond to Figs. 2 (a) and 2 (b), respectively. 6 is a side view of the retainer 23 and the rolling member 22 viewed from the radial direction. Fig. 6 corresponds to Fig.

The first vibrator bearing 20a and the second vibrator bearing 20b are formed so that the number of the first rolling members 22a and the number of the second rolling members 22b are equal to each other. In other words, the first vibrator bearing 20a and the second vibrator bearing 20b are arranged such that the number of the first pockets 25a of the first retainer 23a and the number of the first pockets 25a of the second retainer 23b, (25b) are equal to each other.

In the present embodiment, the first retainer 23a is different from the first retainer 23a in the circumferential width of the first pocket 25a in the circumferential direction of at least a part of the first pockets 25a, The width in the circumferential direction is made equal. The second retainer 23b is formed so that the circumferential widths of all the second pockets 25b are equal to each other and the circumferential widths of all the columnar portions 28b are equal to each other. The configuration of the first retainer 23a and the configuration of the second retainer 23b may be reversed.

Since the first retainer 23a includes the first pocket 25a having a narrow circumferential width and the first pocket 25a having a wider circumferential width, the number of the first rolling elements 22a in the engaging region And the number of the second rolling elements 22b in the engaging region may be different. For example, the number of the first rolling elements 22a in the engaging area may be larger than the number of the second rolling elements 22b in the engaging area. In this case, the number of the first rolling members 22a that revolve by themselves becomes larger than the number of the second rolling members 22b that revolve by themselves. Conversely, the number of the first rolling members 22a pivoted by the first retainer 23a is smaller than the number of revolving second rolling members 22b pushed by the second retainer 23b. Thus, the revolution speeds of the first rolling member 22a and the first retainer 23a become higher than the revolution speeds of the second rolling member 22b and the second retainer 23b. Therefore, even if the first rolling member 22a and the second rolling member 22b are at the same position in the circumferential direction at any timing, the first rolling member 22a and the second rolling member 22b The position of the moving body 22b in the circumferential direction is directly shifted. Therefore, the positions of the first rolling member 22a and the second rolling member 22b in the circumferential direction are basically different.

The bending-gear type gearing device according to the present embodiment exhibits the same operational effects as those exhibited by the bending-gear type gearing device 100 according to the first embodiment.

The second retainer 23b has the same width in the circumferential direction of all the second pockets 25b as in the conventional retainer, (28b) are equal to each other in the circumferential direction. That is, at least one retainer 23 can be used as a retainer for retaining the rolling member 22, which has a track record.

(Third Embodiment)

The main difference between the warping gear type gear apparatus according to the third embodiment and the warping gear type gear apparatus according to the second embodiment is the structure of the retainer.

Figs. 7 (a) and 7 (b) are cross-sectional views showing the periphery of the vibrator bearing 20 of the bending gear type gear apparatus according to the third embodiment. Fig. Figs. 7 (a) and 7 (b) correspond to Figs. 2 (a) and 2 (b), respectively. 8 is a side view of the retainer 23 and the rolling member 22 viewed from the radial direction. Fig. 8 corresponds to Fig.

In the present embodiment, the first retainer 23a has the same width in the circumferential direction as all the first pockets 25a, and the circumferential width of at least some of the columnar portions 28a is different from the circumferential width of the other columnar portions 28a Direction width. The second retainer 23b is formed so that the circumferential widths of all the second pockets 25b are equal to each other and the circumferential widths of all the columnar portions 28b are equal to each other. However, the configuration of the first retainer 23a and the configuration of the second retainer 23b may be reversed.

Since the first retainer 23a includes the columnar portion 28a having a small circumferential width and the wide columnar portion 28a, the number of the first rolling members 22a in the engaging region The number of the second rolling elements 22b in the region may be different. Therefore, in the same manner as in the warping gear type gear device according to the second embodiment, the revolution speeds of the first rolling member 22a and the first retainer 23a and the revolution speeds of the second rolling member 22b and the second retainer 23b, A speed difference may occur at the revolution speed of the engine. Therefore, even if the first rolling member 22a and the second rolling member 22b are at the same position in the circumferential direction at any timing, the first rolling member 22a and the second rolling member 22b The position of the moving body 22b in the circumferential direction is directly shifted. Therefore, the positions of the first rolling member 22a and the second rolling member 22b in the circumferential direction are basically different.

The bending-gear type gearing device according to the present embodiment has the same function and effect as those of the bending-gear type gearing device according to the second embodiment.

According to the warping gear device of the present embodiment, the first retainer 23a is formed such that the circumferential widths of all the first pockets 25a are equal to each other. When the circumferential widths of the first pockets 25a are made different from each other, there is a possibility that the first rolling member 22a skews in the first pocket 25a having a large circumferential width. In this case, According to the type of gear device, it is possible to make the circumferential width of the first pocket 25a to be a track width that has no possibility of skewing or is very low in fear of skewing.

(Fourth Embodiment)

The main difference between the flexural-meshing gear device according to the fourth embodiment and the flexural-meshing-type gear device according to the first embodiment is the structure of the vibrator bearing 20.

Figs. 9 (a) and 9 (b) are cross-sectional views showing the periphery of a vibrating bearing 20 of a bending gear of the fourth embodiment. Figs. 9 (a) and 9 (b) correspond to Figs. 2 (a) and 2 (b), respectively.

The first vibrator bearing 20a and the second vibrator bearing 20b are in a state before being fitted to the outside of the vibrating body 10 in other words, The gap between the first portion 21a of the inner ring member 21 and the first rolling member 22a in the radial direction and the gap between the first rolling member 22a and the first outer ring member 22a, (Hereinafter referred to as a first inner clearance) of the second portion 21b of the inner ring member 21 and the gap in the radial direction of the second rolling member 22b and the second clearance between the second portion 21b and the second rolling member 22b, The sum of the radial clearances of the rolling member 22b and the second outer race member 24b (hereinafter referred to as the second inner clearance) is formed differently.

When the first internal clearance is increased, the outer diameter of the first portion 21a of the inner ring member 21 may be reduced, the diameter of the first rolling member 22a may be decreased, Increase the inner diameter. Or they may be used in combination. When the first internal clearance is made smaller, the outer diameter of the first portion 21a of the inner ring member 21 is increased, the diameter of the first rolling member 22a is increased, or the outer diameter of the first rolling member 24a Reduce the inner diameter. Or they may be used in combination.

The outer diameter of the second portion 21b of the inner ring member 21 may be reduced or the diameter of the second rolling member 22b may be decreased or the diameter of the second outer ring member 24b may be reduced, Increase the inner diameter. Or they may be used in combination. When the second inner clearance is made smaller, the outer diameter of the second portion 21b of the inner ring member 21 is increased, the diameter of the second rolling member 22b is increased, or the outer diameter of the second outer ring member 24b Reduce the inner diameter. Or they may be used in combination.

The inner ring member 21 and the outer ring member 24 are bent so that the inner clearance corresponding to the longitudinal direction of the vibrating body 10 is lost when the vibrating body 10 is fitted in the inner ring member 21. [ The load from the internal gear 40 is caught by the rolling member 22 through the external gear 30 and the outer ring member 24. In this case, Therefore, the rolling member 22 starts rotating and starts to revolve itself. The smaller the inner clearance before the vibrating body 10 is fitted, the larger the range of the inner ring member 21 and the outer ring member 24 is bent and the inner clearance disappears. As a result, The number of the moving bodies 22 increases. That is, the number of the rolling elements 22 rotating at a certain moment (i.e., the rolling elements 22 that are idling themselves) increases. Conversely, the number of rolling elements 22 pivoted by the retainer 23 at any moment is reduced. Therefore, the smaller the internal clearance before the vibration member 10 is fitted, the faster the revolution speed of the rolling member 22 and the retainer 23 becomes.

In the present embodiment, the first vibrator bearing 20a and the second vibrator bearing 20b are formed so that the first internal clearance becomes smaller than the second internal clearance. Therefore, the number of the first rolling members 22a (that is, the first rolling member 22a that revolves by itself), which is rotating under the load at a certain moment, is larger than the number of the second rolling members 22b (that is, the second rolling member 22b that revolves by itself). Conversely, at any moment, the number of the first rolling members 22a pivoted by the first retainer 23a is equal to the number of revolutions of the second rolling member 22b pivoted by the second retainer 23b, Lt; / RTI > As a whole, the revolving speed of the first rolling member 22a and the first retainer 23a is higher than the revolving speed of the second rolling member 22b and the second retainer 23b. Therefore, even if the first rolling member 22a and the second rolling member 22b are at the same position in the circumferential direction at any timing, the first rolling member 22a and the second rolling member 22b The position in the circumferential direction of the guide groove 22b is directly displaced. That is, the positions of the first rolling member 22a and the second rolling member 22b in the circumferential direction are basically different. However, the first vibrator bearing 20a and the second vibrator bearing 20b may be formed so that the second internal clearance becomes smaller than the first internal clearance.

According to the flexural-mesh type gear apparatus of the present embodiment, the same operational effects as those of the flexural-mesh type gear apparatus 100 according to the first embodiment are obtained.

(Fifth Embodiment)

The main difference between the flexural-meshing gear device according to the fifth embodiment and the flexural-meshing-type gear device according to the second embodiment is the structure of the vibrator bearing.

10 (a) and 10 (b) are cross-sectional views showing the periphery of a vibrator bearing 20 of a warping gear type gear apparatus according to a fifth embodiment. 10 (a) and 10 (b) correspond to FIGS. 2 (a) and 2 (b), respectively. 11 is a side view of the retainer 23 and the rolling member 22 viewed from the radial direction. Fig. 11 corresponds to Fig.

The first vibrator bearing 20a and the second vibrator bearing 20b are arranged in such a manner that the number of the first pockets 25a of the first rolling member 22a and the first retainer 23a and the number of the first pockets 25a of the second rolling member 22b And the number of the second pockets 25b of the second retainer 23b are the same. The first retainer 23a is formed so that the circumferential width of all the first pockets 25a is the same (in other words, the circumferential width of all the column portions 28a is the same). Similarly, the second retainer 23b is formed so that the circumferential widths of all the second pockets 25b are the same (in other words, the circumferential width of the column portion 28b is the same). However, the circumferential width of the first pocket 25a and the circumferential width of the second pocket 25b are different. In other words, the circumferential width of the column portion 28a and the circumferential width of the column portion 28b are different.

The first vibrator bearing 20a and the second vibrator bearing 20b are arranged such that the circumferential width of the first pocket 25a of the first holder 23a is smaller than that of the second holder 23b, Is shorter than the circumferential width of the second pocket (25b). In other words, the circumferential width of the columnar portion 28a of the first retainer 23a is formed to be longer than the circumferential width of the columnar portion 28b of the second retainer 23b. In this case, at any moment, the number of the first rolling elements 22a in the engagement area is larger than the number of the second rolling elements 22b in the engagement area. Therefore, in the same manner as in the warping gear type gear device according to the second embodiment, the revolution speeds of the first rolling member 22a and the first retainer 23a and the revolution speeds of the second rolling member 22b and the second retainer 23b, A speed difference may occur at the revolution speed of the engine. Therefore, even if the first rolling member 22a and the second rolling member 22b are at the same position in the circumferential direction at any timing, the first rolling member 22a and the second rolling member 22b The position of the moving body 22b in the circumferential direction is directly shifted. Therefore, the positions of the first rolling member 22a and the second rolling member 22b in the circumferential direction are basically different.

The bending-gear type gearing device according to the present embodiment exhibits the same operational effects as the bending-and-mesh type gearing device according to the second embodiment.

The configuration and operation of the flexural-mesh type gear apparatus according to the embodiment have been described above. It is to be understood by those skilled in the art that these embodiments are illustrative and that various combinations of combinations of the components are possible and that such modifications are also within the scope of the present invention.

(Modified Example 1)

In the first to fifth embodiments, the case where the rolling body is a cylindrical roller having a substantially cylindrical shape has been described, but the present invention is not limited thereto. The rolling elements may be, for example, balls or conical rollers.

(Modified example 2)

In the second embodiment, the retainer 23 is formed such that at least a part of the pockets 25 in the circumferential direction is different from the circumferential width of the other pockets 25, and the widths of all the pillar portions 28 in the circumferential direction are the same The case where it has been described has been described. In the third embodiment, the retainer 23 is arranged such that all the pockets 25 have the same circumferential width and at least a part of the columnar portion 28 has a circumferential width different from that of the other columnar portion 28 in the circumferential direction And the width is different from that of the first embodiment. However, the present invention is not limited to this, and the retainer 23 may be configured such that at least a part of the pockets 25 in the circumferential direction is different from the circumferential width of the other pockets 25, And the width may be different from the circumferential width of the other column portion 28. [ That is, the second embodiment and the third embodiment may be combined.

Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. The new embodiments resulting from the combination combine the effects of each of the embodiments and variants to be combined.

10 Vibrations
20a first vibrator bearing
20b Second vibrator bearing
21 inner wheel member
22a First rolling member
22b Second rolling member
23a first retainer
23b second retainer
24a First outer ring member
24b The second outer ring member
25a first pocket
25b second pocket
28a and 28b,
30 shout gear
40 internal gear
100 bending gear

Claims

A first external gear and a second external gear which are flexibly deformed by the vibrator; a first vibrator bearing disposed between the first external gear and the vibrator; And a second vibrator bearing disposed between the vibrators,
The first vibrator bearing has a plurality of first rolling members and a first retainer for holding the first rolling member,
The second vibrator bearing has a plurality of second rolling members and a second retainer for holding the second rolling member,
The first retainer and the second retainer are configured separately,
The number of the first rolling members and the number of the second rolling members differ,
Wherein only the first vibrator bearing is disposed as a vibrator bearing between the first external gear and the vibrator, and between the second external gear and the vibrator, as the vibrator bearing, the second vibrator bearing Wherein the first and second gears are disposed only in the first direction.

A first external gear and a second external gear which are flexibly deformed by the vibrator; a first vibrator bearing disposed between the first external gear and the vibrator; And a second vibrator bearing disposed between the vibrators,
The first vibrator bearing has a plurality of first rolling members and a first retainer for holding the first rolling member,
The second vibrator bearing has a plurality of second rolling members and a second retainer for holding the second rolling member,
The first retainer and the second retainer are configured separately,
Wherein the first retainer has a plurality of first pockets for retaining the first rolling member, at least a portion of the plurality of first pockets being different in circumferential width from the other first pockets, At least a part of the pillars between the pockets is different in circumferential width from the other pillars,
The second retainer has a plurality of second pockets for holding the second rolling member, the circumferential widths of all the second pockets and the circumferential widths of all the pillars are the same,
Wherein only the first vibrator bearing is disposed as a vibrator bearing between the first external gear and the vibrator, and between the second external gear and the vibrator, as the vibrator bearing, the second vibrator bearing Wherein the first and second gears are disposed only in the first direction.

3. The method of claim 2,
Wherein the first retainer has a circumferential width equal to that of all the first pockets and at least a part of the pawls has a different circumferential width from the other pawls.

delete

A first external gear and a second external gear which are flexibly deformed by the vibrator; a first vibrator bearing disposed between the first external gear and the vibrator; And a second vibrator bearing disposed between the vibrators,
The first vibrator bearing has a plurality of first rolling members and a first retainer for holding the first rolling member,
The second vibrator bearing has a plurality of second rolling members and a second retainer for holding the second rolling member,
The first retainer and the second retainer are configured separately,
Wherein the first retainer has a plurality of first pockets for retaining the first rolling member,
The second retainer has a plurality of second pockets for holding the second rolling member,
A circumferential width of the first pocket is different from a circumferential width of the second pocket,
Wherein only the first vibrator bearing is disposed as a vibrator bearing between the first external gear and the vibrator, and between the second external gear and the vibrator, a second vibrator bearing Wherein the first and second gears are disposed only in the first direction.