KR20110138181A - Bending engagement-type gear device - Google Patents

Abstract

PURPOSE: A bending engagement type gear apparatus is provided to enlarge load torque by avoiding the interference of a tooth form of an internal and an external gear for deceleration and to control bending stress by the deformation of the external gear. CONSTITUTION: A bending engagement type gear apparatus comprises an internal gear and an external gear for deceleration, and a vibration body(104). A circumference shape of the vibration body forms so that the internal gear and the external gear for deceleration are engaged. A first curve part(FA), a second curve arc part(SA), and a third curve arc part(TA) are respectively connected. A vibration body bearing having a plurality of rolling elements is arranged between the vibration body and the external gear for deceleration.

Description

Bending engagement-type gear device

This application claims priority based on Japanese Patent Application No. 2010-139888 for which it applied on June 18, 2010. The entire contents of the application are incorporated by reference in this specification.

The present invention relates to a bending interlocking gear device.

The bending interlocking gear device of Patent Literature 1 includes an internal tooth gear having rigidity, an external gear having flexible properties that can be internally engaged with the internal gear, and its own outer periphery. A vibrating body is provided which realizes internal engagement between the internal gear and the external gear by bending deformation of the external gear. And in patent document 1, it is set as the shape which connected the circular arc of two curvature radii from which the shape of the outer periphery of the vibrating body which deflects an outer gear is deformed. Moreover, in this vibrating body, the tangent is common at the connection part of two circular arcs. For this reason, in patent document 1, the change of the curvature radius of an external gear can be minimized, the increase of the bending stress of an external gear is prevented, and the transmission torque can be improved.

Japanese Patent Publication No. 2009-299765

In patent document 1, the connection part of the two circular arcs in a vibrating body is made into the toothed shape of an external gear, and the external gear in the short axis part (circular part which an internal gear and an external gear do not mesh). It is determined paying attention to the stress of. Here, the short axis portion is determined by the engagement angle θ defining the range in which the internal gear and the external gear are engaged, and the amount of eccentricity L of the vibrating body (external gear). However, when the angle θ is small and the amount of eccentricity L is small, for example, in Patent Document 1, there is a possibility that interference between teeth of the internal gear and the external gear may occur at the short axis portion. That is, it is difficult to find the optimum value only with two parameters, the angle θ and the eccentricity L, for the three problems of the tooth shape of the external gear and the stress of the external gear in the short axis and the interference between the internal gear and the tooth of the external gear. It was.

In addition, even in the state where there is no tooth interference, geometrically, there is a possibility that tooth interference occurs at an unexpected position (in the short axis portion) due to the deformation of the external gear depending on the load torque. For this reason, it is preferable to secure the non-engagement range of the internal gear and the external gear so that the clearance between the internal gear and the external gear is as large as possible in the shortened portion.

However, in order to avoid the interference of the position type, it is also conceivable to cut the tooth line of the internal gear. However, in that case, there arises a problem that the engagement number of the internal gear and the external gear decreases.

Accordingly, the present invention has been made in order to solve the above problems, to suppress the bending stress caused by the deformation of the external gear as much as possible, to avoid the interference of the teeth of the internal gear and the external gear caused by the deformation of the external gear, and to reduce the load torque. An object of the present invention is to provide a bending interlocking gear device that can be increased.

The present invention relates to an internal tooth gear having rigidity, an external tooth gear having flexibility that can be internally engaged with the internal gear, and the internal gear and the external tooth by bending and deforming the external gear with its own circumference. In the bending interlocking gear device provided with a vibrating body which realizes the internal engagement of a gear, the shape of the said outer periphery of the said vibrating body engages the said internal gear and the external gear, and forms an arc shape. A first curved portion consisting of the first curved portion, a second curved portion having a radius of curvature smaller than the first curved portion, a radius of curvature larger than the first curved portion, and a non-engaging state of the internal gear and the external gear. In addition to the shape in which the third curved portion is sequentially connected, the tangents of the first curved portion, the second curved portion, and the third curved portion are connected to the first curved portion, the second curved portion, and the third curved portion. Solving the above problems by being common to each other will be.

In the present invention, by forming the oscillation body with three curved portions, the number of parameters for determining the shortened portion is increased to avoid tooth interference. In the present invention, specifically, the shape of the outer periphery of the vibrating body is a shape in which the first curved portion, the second curved portion, and the third curved portion in the shape of an arc are sequentially connected. That is, the 2nd curved part which is a curvature radius smaller than the 1st curved part which makes an internal gear and an external gear meshed is arrange | positioned between the 1st curved part and the 3rd curved part which is a curvature radius larger than a 1st curved part. For this reason, the internal gear and the external gear can be made into a non-engaged state from the engaged state to a short (rotational) distance rather than simply connecting the third curved portion directly to the first curved portion. At this time, the radius of curvature of the second curved portion may be arbitrarily determined. That is, compared with the prior art, it is possible to more reliably avoid the interference of the tooth.

At the same time, in the present invention, since the curvature radius of each curved portion is limited within each curved portion, the bending stress of the outer gear in each curved portion is reduced. Since the tangents of the first curved portion, the second curved portion, and the third curved portion are common in the connecting portions of the first curved portion, the second curved portion, and the third curved portion, the sharp portion at the connecting portion of the vibrating body is sharp. Flexural deformation is prevented. That is, the bending stress due to the deformation of the external gear can be suppressed to the maximum, and the transmission torque can be improved.

However, if the second curved portion is defined with a constant radius of curvature, the parameter for defining the shape of the vibrating body can be simplified. This enables efficient design of the bending interlocking gear device.

According to the present invention, the bending stress caused by the deformation of the external gear can be suppressed as much as possible, and the load torque can be increased by avoiding the interference between the internal gear and the teeth of the external gear due to the deformation of the external gear.

1: is an exploded perspective view which shows an example of the whole structure of the bending interlocking gear apparatus which concerns on 1st Embodiment of this invention.
2 is a cross-sectional view showing an example of the overall configuration of the same thing.
3 is a view showing a vibrating body of the same thing.
4 is a schematic view for explaining the shape of a vibrating body of the same thing.
5 is a schematic diagram of a combination of a vibrating body and a vibrating bearing of the same thing.
Fig. 6 is a conceptual diagram of engagement of a virtual external gear and an internal gear of the same thing.
FIG. 7: is an exploded perspective view which shows an example of the whole structure of the bending interlocking gear apparatus which concerns on 2nd Embodiment of this invention.

EMBODIMENT OF THE INVENTION Hereinafter, with reference to drawings, an example of 1st Embodiment of this invention is described in detail.

First, the whole structure of this embodiment is demonstrated schematically using mainly FIG. 1 thru | or FIG.

The bending interlocking gear device 100 has a rigid internal gear 130A and a external gear having flexibility that can be internally engaged with the internal gear 130A. 120A) and a vibrating body 104 which realizes the internal engagement of the reduction gear 130A and the gear 120A by flexurally deforming the outer gear 120A at its own circumference. . Here, as shown in FIG. 4, the shape of the outer periphery of the vibrating body 104 (the shape of the outer periphery in the cross section orthogonal to the axial direction O) of the three different curvature radii r1, r2, r3 is obtained. The circular arc part (the 1st circular arc part FA, the 2nd circular arc part SA, and the 3rd circular arc TA are connected in order. And each circular arc part (1st circular arc part FA and the 2nd circular arc) Tangents T1 and T2 at the connecting portions C and E of the part SA and the third circular arc part TA are respectively common.

Hereinafter, each component is explained in full detail.

As shown in FIG. 3 (A) and (B), the vibrating body 104 is columnar, and the input shaft hole 106 into which the input shaft which is not shown in the center is inserted is formed. When the input shaft is inserted and rotated, the key shaft 108 is provided in the input shaft hole 106 so that the vibrating body 104 rotates integrally with the input shaft.

Here, as shown in Fig. 3A, when the rotational center of the vibrating body 104 is positioned at the center of the XY coordinates, the outer shape of the vibrating body 104 has an axisymmetric shape in both the X axis and the Y axis. do. Therefore, only the shape of the first quadrant of the vibrating body 104 will be described below with reference to FIG. 4.

As shown in FIG. 4, the shape of the outer periphery of the vibrating body 104 connected three circular arc parts (1st arc part FA, 2nd arc part SA, and 3rd arc part TA). It consists of a shape (three arc shape). The 1st circular arc part FA (1st curved part) is an arc of curvature radius r1 centering on point A (called an eccentric axis), and meshes the outer gear 120A and the deceleration internal gear 130A. The circular arc part (also called engagement range) is comprised. The second circular arc SA (second curved portion) is an arc of curvature radius r2 centered on the point D spaced apart from the point A by a distance ΔR, and the ratio between the outer gear 120A and the deceleration internal gear 130A is reduced. It forms part of the arc part (also called non-engagement range) which makes into non-engagement state. Finally, the distance ΔR is a variable for determining the gap between the external gear 120A and the deceleration internal gear 130A in the non-engagement range (shortened portion). The third arc portion TA (third curved portion) is an arc having a radius of curvature r3 centered on the point F, and an arc portion which makes the outer gear 120A and the deceleration internal gear 130A non-engaged ( The rest of the non-engagement range). The length of 1st circular arc part FA is decided by engagement angle (theta) 1 which is an angle which the long axis direction X and the tangent normal line in point C make. The length of the second circular arc SA is determined by an angle obtained by subtracting the engagement angle θ1 from the angle θ2 formed between the long axis direction X and the tangent normal line at the point E (θ2> θ1). For this reason, each coordinate of the points A, D, and F has an eccentricity of L, and (L, 0), (L + ΔR * cosθ1, ΔR * sinθ1), (0,-(L +) on Fig. 4, respectively. ΔR * cosθ1) * tanθ2 + ΔR * sinθ1).

That is, the distance r from the center of rotation of the vibrating body 104 to the point B on the outer circumference of the vibrating body 104 (in the engagement range) in the long axis direction X (the long axis radius of the vibrating body 104). In Fig. 4, the radius of curvature r1 of the first arc portion FA is expressed by Equation (1).

As shown in FIG. 4, the radius of curvature r2 of the second circular arc SA is represented by the following expression (2).

However, the tangent T1 is common at the connecting portion C of the first arc part FA and the second arc part SA.

Moreover, as shown in FIG. 4, the tangent T2 is common also in the connection part E of 2nd arc part SA and 3rd arc part TA. Since the radius of curvature r3 of the third arc part TA is (curvature radius r2 + length DF), the radius of curvature r3 is represented by Equation 3 below.

Here, since angle θ2 is larger than angle θ1, equation (4) is established.

The vibrating body bearing 110A is a bearing arrange | positioned between the outer side of the vibrating body 104, and the inner side of 120 A of external gears, as shown in FIG. As shown to FIG. 2, FIG. 5, the vibrating body bearing 110A has the inner ring 112, the support machine 114A, the roller 116A as a rolling body, and the outer ring 118A. It consists of. The inner side of the inner ring 112 abuts against the vibrating body 104, and the inner ring 112 rotates while integrally deforming with the vibrating body 104. The roller 116A is cylindrical (including a needle). For this reason, since the part which contacts the inner ring 112 and the outer ring 118A is increased in the roller 116A, compared with the case where a rolling element is a sphere, load capacity can be enlarged. That is, by using the roller 116A, the transmission torque of the vibrating body bearing 110A can be increased and the life can be extended. The outer ring 118A is disposed outside the roller 116A. The outer ring 118A deforms by bending of the vibrating body 104, and deforms the outer gear 120A disposed outside thereof.

However, as shown in FIG. 2, the vibrating body bearing 110B is comprised from the inner ring 112, the support body 114B, the roller 116B, and the outer ring 118B similarly to the vibrating body bearing 110A. The inner ring 112 is common to the vibrating bearings 110A and 110B. The supporters 114B, the rollers 116B, and the outer ring 118B are disposed in the axial direction O with the supporters 114A, the rollers 116A, and the outer ring 118A, respectively, respectively. Each has the same shape. Thereafter, the vibrating bearings 110A and 110B are collectively referred to as vibrating bearings 110.

As shown in Figs. 1 and 2, the outer gear 120A meshes with the deceleration internal gear 130A. 120 A of external gears are comprised from the base material 122 and the external tooth 124A. The base member 122 is a cylindrical member having flexibility, disposed outside the vibrating body bearing 110A, and integrally molded with the outer tooth 124A. The outer tooth 124A is molded based on the trocoid curve.

As shown in FIG. 1, FIG. 2, the external gear 120B internally meshes with the internal gear 130B for output. And the outer gear 120B is comprised from the base member 122 and the outer tooth 124B similarly to 120 A of outer gears. The outer tooth 124B has the same number as the outer tooth 124A and is molded in the same shape. Here, although the outer tooth 124A and the outer tooth 124B are divided | segmented in the axial direction O as shown in FIG. 1, the base member 122 is common. For this reason, the amount of eccentricity L of the vibrating body 104 is transmitted to the external tooth 124A and the external tooth 124B in the same phase. The external gears 120A and 120B and the external teeth 124A and 124B are collectively referred to as the external gear 120 and the external teeth 124.

130 A of internal gears for deceleration are formed from the member which has rigidity. 130 A of internal gears for deceleration are provided with i (i = 2, 4, ...) dimensions more than the dimension of the external tooth 124A of 120 A of external gears. A casing (not shown) is fixed to the reduction internal gear 130A through the bolt hole 132A. And 130 A of reduction gears engage with 120 A of external gears, and contribute to the deceleration of rotation of the vibrating body 104. As shown in FIG. The internal teeth 128A of the deceleration internal gear 130A are shaped so as to theoretically engage the outer teeth 124A based on the trocoid curve.

On the other hand, the output internal gear 130B is also formed of a member having rigidity similarly to the speed reduction internal gear 130A. The internal gear 130B for output has the dimension of the internal tooth 128B which is the same as the dimension of the external tooth 124B of the external gear 120B (constant transmission). However, an output shaft (not shown) is attached to the output internal gear 130B through the bolt hole 132B, and the same rotation as that of the external gear 120B is output to the outside. Thereafter, the deceleration internal gear 130A, the output internal gear 130B, and internal teeth 128A and 128B are collectively referred to as internal gear 130 and internal teeth 128.

Next, the relationship between the vibrating body 104, the outer gear 120, and the internal gear 130 is demonstrated.

As mentioned above, the shape of the outer periphery of the vibrating body 104 is prescribed | regulated by Formula (1)-(3). Here, when it is assumed that the internal tooth 128 of the internal gear 130 is a cylindrical pin, the distance from the center of rotation of the vibrating body 104 to the position of the center of the internal tooth 128 (pin) in the engagement range. R is regarded as the radius of the substance of the tooth of the internal gear 130. The shape of the outer gear 120 can be prescribed | regulated by the radius of curvature R1-R3 calculated | required by Formula (5)-(7) from Formula (1)-(3), respectively.

Here, when the radius before the bending deformation of the outer gear 120 is Rd, the relationship between the distance ΔR, the angle θ1, θ2, the radius R, and the eccentricity L with respect to the circumferential length 2πRd of the outer gear 120 is represented by Equation 8 It can be expressed as

Equation 8 may be modified as in Equation 9 with respect to the radius R.

Here, the contact point generated by the engagement between the eccentric shaft A and the straight line passing through the center of rotation of the vibrating body 104 and the external gear 124 (outside tooth 124) and the internal tooth 130 (inner tooth 128). The intersection point of the common normal of is taken as the pitch point by the external gear 120 and the internal gear 130. In addition, in the circular virtual gear (referred to as a virtual external gear) 120C having a circular radius R1 that defines the external gear 120 (internally engaged with the internal gear 130), the reduction ratio (virtual reduction ratio) N is set. Therefore, as shown in Equation 10, the ratio of the radius R and the distance (n + 1) * L from the center of rotation of the vibrating body 104 to the pitch point by the external gear 120 and the deceleration internal gear 130 is shown. Denotes a parameter Gs (called a pitch coefficient). By introducing the pitch coefficient Gs, it is possible to easily grasp the relative positional relationship between the positions of the entities of the respective tooth shapes of the external gear 120 and the internal gear 130 and the pitch point, and to easily adjust the parameters. Can be. However, the pitch coefficient Gs and the virtual reduction ratio n are different in the combination of the external gear 120A, the internal gear 130A for deceleration, the external gear 120B, and the internal gear 130B for output.

From Equations 9 and 10, Equation 11 for the eccentricity L can be obtained.

Here, based on the contents proposed in Japanese Patent Application No. 2009-169392 (Unknown), by appropriately selecting the pitch coefficient Gs, the number of simultaneous engagement of the external gear 120 and the internal gear 130 is increased, and the internal ( V) It is possible to improve the ratcheting performance.

That is, by using the relationship of the peripheral length of the outer gear 120, the distance ΔR, the angle θ1, θ2, the radius R, and the eccentricity L are increased while increasing the number of simultaneous engagements of the outer gear 120 and the internal gear 130. It can be decided in a right way.

In the present embodiment, however, two dimensions 102 of the internal teeth 128A of the reduction gear 130A are provided with respect to the dimensions 100 of the external teeth 124A of the external gear 120A. many. That is, the dimension difference i = 2. Therefore, for example, four fewer (j = 4, j> i) virtual external gears 120C are assumed than the size 102 of the reduction gear 130A. For this reason, the tooth shape of the external gear 120 bending-deformed by the 1st circular arc part FA prescribed | regulated by angle (theta) 1 is set so that it may become the same as the tooth shape of the virtual external gear 120C shown in FIG. It becomes.

Next, the operation | movement of the bending interlocking gear apparatus 100 is demonstrated mainly using FIG.

When the vibrating body 104 rotates by the rotation of an input shaft (not shown), the outer gear 120A flexes and deforms through the vibrating body bearing 110A according to the rotational state thereof. However, at this time, the outer gear 120B also bends and deforms in the same phase as the outer gear 120A via the vibrating bearing 110B.

The bending deformation of the outer gear 120 is made in response to the curvature radii r1, r2, and r3, which are shapes of the outer circumference of the vibrating body 104. Since the curvature is constant in the 1st circular arc part FA, the 2nd circular arc part SA, and the 3rd circular arc part TA of the vibrating body 104 shown to FIG. 3, FIG. 4, the external gear in each circular arc part The bending stress of 120 becomes constant. In the position in the connection part C of the 1st circular arc part FA and the 2nd circular arc part SA, and the connection part E of the 2nd circular arc part SA and the 3rd circular arc part TA, respectively, Since the tangent T1 and T2 are the same, abrupt bending deformation in a connection part is prevented. At the same time, the rate of change of the distance from the center of rotation of the vibrating body 104 to the rollers 116A and 116B (called the roller 116) is minimal. That is, in the connection parts C and E, since there is no abrupt track | orbit fluctuation of the roller 116, the roller 116 slips little and torque transmission loss is small.

As the outer gear 120 is bent and deformed by the vibrating body 104, the outer tooth 124 moves radially outward in the portion of the first arc portion FA (engagement range), so that the inner gear 130 Meshes with internal tooth 128. The outer tooth 124 is a shape based on a trocoid curve, and the tooth shape of the inner tooth 128 is a shape which theoretically meshes with the outer tooth 124. For this reason, the engagement of the outer tooth 124 and the inner tooth 128 increases the viscosity at which the number of simultaneous engagements increases, so that even if the load torque is large, the ratcheting performance is high and the loss is high. Torque transmission efficiency can be realized.

In engagement, the external teeth 124A are loaded with a different load (direction and size) than the external teeth 124B. However, the vibrating body bearings 110A and 110B, except for the inner ring 112, have a portion in the axial direction O with respect to the outer tooth 124A meshing with the deceleration internal gear 130A, and the output internal gear ( 130B) and into parts for the outer tooth 124B. For this reason, the roller 116A which causes skew of the roller 116B which causes engagement of the reduction gear internal gear 130A and the outer tooth 124A, and the engagement of the output gear tooth 130B and outer tooth 124B. Each skew of is prevented.

In addition, since the roller 116 has a circumferential shape, its internal load is greater than that of a ball bearing having balls of the same size, and there are many parts in contact with the inner ring 112 and the outer ring 118A, 118B. Therefore, load torque can be enlarged.

In addition, in the axial direction O, the outer tooth 124 is divided into a portion (outer tooth 124A) where the deceleration internal gear 130A meshes (external tooth 124A) and a portion where the output inner gear 130B meshes (outer tooth 124B). . For this reason, when the external gear 120A and the internal gear 130A for deceleration engage, even if there exists a deformation | transformation etc. in the external tooth 124B, the external tooth 124A will not be deformed by the deformation. Similarly, when the external gear 120B and the internal gear 130B for output engage, even if the external tooth 124A is deformed or the like, the external tooth 124B is not deformed by the deformation. That is, by dividing the outer tooth 124, it is possible to prevent the lowering of the transmission torque such that the other outer tooth 124B 124A is deformed by the deformation of one outer tooth 124A 124B, thereby deteriorating the meshing relationship.

The engagement position of the external gear 120A and the reduction gear 130A rotates in accordance with the movement of the major axis direction X of the vibrating body 104. Here, when the vibrating body 104 is rotated once, the rotational phase is delayed by the difference in dimension between the external gear 120A and the reduction internal gear 130A. That is, the reduction ratio by the reduction internal gear 130A is ((dimension of external gear 120A) -dimension of reduction internal gear 130A) / dimension of external gear 120A. Can be obtained as

Since both the external gear 120B and the internal gear 130B for output have the same dimensions, the external gear 120B and the internal gear 130B for output 130B do not move, and the same teeth are not moved. Interlocked. For this reason, the rotation similar to the rotation of the external gear 120B is output from the output internal gear 130B. As a result, the output which reduced the rotation of the vibrating body 104 based on the reduction ratio by the deceleration internal gear 130A can be taken out from the output internal gear 130B.

In this embodiment, the shape of the outer periphery of the vibrating body 104 is a shape which connected the 1st circular arc part FA, the 2nd circular arc part SA, and the 3rd circular arc part TA in order. That is, the 2nd circular arc part SA of the radius of curvature smaller than the 1st circular arc part FA which makes the internal gear 130 and the external gear 120 mesh is the 1st circular arc part FA and the 1st circular arc. It is arrange | positioned between 3rd arc part TA of the curvature radius r3 larger than the part FA. For this reason, the internal gear 130 and the external gear 120 are shortened from the engaged state by a shorter (rotational) distance than simply connecting the third circular arc TA directly to the first circular arc FA. It can be in a non-engaged state. At this time, the radius of curvature r2 of the second arc portion SA can be arbitrarily determined (by freely determining the distance ΔR). For this reason, the internal gear 130 and the external gear 120 of the short gear part (the circular arc part which the internal gear 130 and the external gear 120 do not mesh, or a non-engagement range) are The gap can be secured in a short time from the engaged state, and the gap can be freely determined. That is, compared with the prior art, it is possible to more reliably avoid the interference of the teeth.

At the same time, in this embodiment, the bending stress of the outer gear 120 in each arc part FA, SA, TA becomes constant, respectively. The first arc part FA, the second arc part SA, and the third arc at the connecting portion of the first arc part FA, the second arc part SA, and the third arc part TA. The tangents T1 and T2 of the arc part TA are common. For this reason, abrupt bending deformation in the connection parts C and E of the vibrating body 104 is prevented. That is, the bending stress due to the deformation of the external gear 120 can be suppressed as much as possible, thereby improving the transmission torque.

In addition, since the second circular arc SA is also defined by a constant radius of curvature r2, the parameter defining the shape of the vibrating body 104 can be simplified. This enables efficient design of the bending interlocking gear device 100.

In addition, in this embodiment, the vibrating body bearing 110 which has some roller 116 is arrange | positioned between the vibrating body 104 and the external gear 120. The rate of change of the distance from the center of rotation of the vibrating body 104 to the roller 116 is minimal. That is, since there is no sudden track fluctuation of the rollers 116 in the connecting portions C and E, the rollers 116 are less slippery, and the bending of the outer gear 120 can be performed with high efficiency, so that the transmission torque can be improved. Can be.

In addition, in this embodiment, when the dimension difference of 130 A of reduction gears and 120 A of external gears is set to i = 2, the difference of dimensions between 130 A of reduction gears is i (= External gear having a larger j (= 4) than 2) and a rigid external gear 120C having rigidity meshing internally with the deceleration internal gear 130A, and deflected and deformed by the first arc part FA. The tooth shape of 120A is set to be the same as the tooth shape of the virtual external gear 120C. For this reason, it is easy to design the tooth | gear of the vibrating body 104, the outer gear 120, and the internal gear 130 easily, especially realizing the theoretical engagement of the outer gear 120A and the reduction gear 130A. It is possible.

That is, according to this embodiment, the bending stress by the deformation | transformation of the external gear 120 is suppressed as much as possible, and the interference of the tooth shape of the internal gear 130 and the external gear 120 by the deformation | transformation of the external gear 120 is avoided. Thus, the load torque can be increased.

Although the present invention has been described with reference to the first embodiment, the present invention is not limited to the first embodiment. That is, it goes without saying that the improvement and the design change in the range which do not deviate from the summary of this invention are possible.

For example, in this embodiment, although the outer tooth 124 was shape | molded based on the trocoid curve, this invention is not limited to this. The shouting tooth may be an arc tooth shape, or other teeth may be used. And the internal tooth can use the tooth shape corresponding to an external tooth. For example, as in the second embodiment of FIG. 7, a cylindrical pin may be disposed on the base member 222 and the outer fins 224A and 224B may be used. In this case, the outer teeth 224A and 224B become rotatable arc tooth shapes, and teeth corresponding to the trocoid curves that correspond to each other.

Moreover, in the said embodiment, although the vibrating bearing which has a roller was used, this invention is not limited to this, The member which promotes sliding simply is arrange | positioned between a vibrating body and an external gear without a rolling body. You may be.

In addition, in the said embodiment, although the decelerated output was taken out from the internal gear for output, this invention is not limited to this. For example, it may be a bending interlocking gear device that uses a so-called cup-shaped outer gear that does not use an output inner gear and draws out only its rotating component from the outer gear.

In addition, in 1st Embodiment, although the difference i of the dimension of the inner tooth 128A of the reduction gear 130A and the outer tooth 124A of the outer gear 120A was set to 2, In the present invention, this dimension difference i is not limited to two. For example, if the dimension difference i is two or more even numbers, it is good as a suitable number. Moreover, if the dimension of a virtual external gear is also smaller than the actual dimension of the external value of an external gear, it may be a suitable number, and it is not necessary to necessarily assume a virtual external gear.

In addition, in the said embodiment, the 1st curved part, the 2nd curved part, and the 3rd curved part which comprise the outer periphery of the vibrating body 104 are respectively the arc-shaped 1st circular arc part FA and the 2nd circular arc part ( SA) and the third arc portion TA, but the second curved portion and the third curved portion are not limited to the arc shape. The curvature radius of the curvature radius smaller than a 1st curve part may be sufficient about a 2nd curve part, and the curvature radius of a curvature radius larger than a 1st curve part may be sufficient about a 3rd curve part. However, the third curved portion may include the same radius of curvature as the first curved portion.

The present invention can increase the load torque by avoiding the interference between the teeth of the internal gear and the external gear, and thus can be applied to various fields where a reduction mechanism is required regardless of the magnitude of the load torque.

100, 200: bending interlocking gear device
104: kinematic body
110, 110A, 110B, 210, 210A, 210B: vibratory bearing
112: inner ring
114A, 114B: Supporting Machine
116, 116A, 116B: Roller
118A, 118B: outer ring
120, 120A, 120B, 220, 220A, 220B: Shout Gear
120C: Virtual Shouting Gear
122, 222: donation of base materials
124, 124A, 124B, 224, 224A, 224B
128, 128A, 128B: Internal
130, 130A, 230, 230A: Deceleration Internal Gears
130B, 230B: Internal gear for output
132A, 132B: Bolt Hole
O: axial direction
X: long axis direction of vibrating body
Y: short axis direction of vibrating body
FA: 1st arc part (1st curve part)
SA: 2nd arc part (2nd curve part)
TA: 3rd arc part (3rd curve part)
r: long axis radius of vibrating body
r1: radius of curvature of the first arc portion of the vibrating body
r2: radius of curvature of the second circular arc of the vibrating body
r3: radius of curvature of the third circular arc of the vibrating body

Claims (3)

Internal tooth gears having rigidity, external tooth gears having flexible flexibility that can be interlocked with the internal gears, and internal tooth gears and external tooth teeth by bending deformation of the external gears at their own periphery In the bending interlocking gear device provided with a vibrating body which realizes internal gear engagement of a gear,
The outer periphery of the vibrating body has a first curved portion having an arc shape, the second curved portion having a radius of curvature smaller than the first curved portion, while the internal gear and the external gear are engaged. A curvature radius larger than the first curved portion and a shape in which the third curved portion which makes the internal gear and the external gear non-engaged are sequentially connected,
Tangential portions of the first curved portion, the second curved portion, and the third curved portion are common in the connecting portions of the first curved portion, the second curved portion, and the third curved portion.
Bending interlocking gear device, characterized in that. The method according to claim 1,
A vibrating body bearing having a plurality of rolling bodies is disposed between the vibrating body and the outer gear.
Bending interlocking gear device, characterized in that. The method according to claim 1 or 2,
When the difference between the internal gear and the external gear is i (i = 2, 4, ...), the difference between the internal gear and j is larger than i and j is larger than i. Suppose a virtual external gear with stiffness interlocking,
The tooth shape of the external gear bent and deformed by the first curved portion is set to be the same as the tooth shape of the virtual external gear.
Bending interlocking gear device, characterized in that.

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