TW201533352A - Flexibly-engaged gear device - Google Patents

Abstract

The present invention provides a flexibly-engaged gear device which can allow the eccentricity of spindle of the internal gear and restrain the increase of radial dimension. The flexibly-engaged gear device (100) of the present invention comprises a vibrator (106), an external gear (120), flexibly deformed with the rotation of the vibrator (106), and an internal gear (130) engaged with the external gear (120) and including internal gear (130A) for deceleration and an internal gear (130B) for output. In the flexibly-engaged gear device, the internal gear (130) and the support element connecting with the internal gear (130) are connected with a linkage element (134) allowing the radial displacement of the spindle of the internal gear (130). The support element comprises a driving shaft outer shell (140) and a first output element (154).

Description

Flexing meshing gear device

The present invention relates to a flexing meshing gear device.

Patent Document 1 discloses a flexural meshing gear device including a vibrating body, a gear that is flexibly deformed by the rotational deformation of the vibrating body, and an internal gear that meshes with the external gear. In the flexural meshing gear device, the drive shaft and the vibrating body are coupled by using a connecting member called a "cross slide coupling", thereby reducing centering work. In addition, even if there is an eccentricity between the drive shaft and the internal gear during assembly (also referred to as the eccentricity of the shaft center of the internal gear), the cross-slider coupling can tolerate the eccentricity and prevent degradation in performance and life.

(previous technical literature) (Patent Literature)

Patent Document 1: Japanese Laid-Open Patent Publication No. 60-241550

However, in the flexural meshing gear device disclosed in Patent Document 1, There are bolt holes for fixing the internal gears. Therefore, the radial dimension of the flexing meshing gear device can only become larger.

Accordingly, the present invention has been made to solve the above problems, and an object of the invention is to provide a flexural meshing type gear device capable of permitting eccentricity of an axial center of an internal gear of a flexural meshing type gear device and suppressing an increase in radial dimension.

The present invention solves the aforementioned problems by providing a vibrating body, a gear having a vibrating body, a gear that is flexibly deformed by the rotation of the vibrating body, and a flexing meshing gear of the internal gear meshing with the external gear. In the device, the internal gear and the support member to which the internal gear is coupled are coupled by a connecting member that allows the axial center of the internal gear to be displaced in the radial direction.

In the present invention, since the internal gear and the support member are coupled by the connecting member, the axial center of the internal gear can be allowed to be displaced in the radial direction. Moreover, since the internal gear and the support member are coupled by the connecting member, it is possible to suppress an increase in the radial dimension.

According to the present invention, it is possible to allow the eccentricity of the axial center of the internal gear of the flexural meshing gear device and to suppress an increase in the radial dimension.

1, 101, 201, 301‧‧‧ drive shaft

2, 102, 202, 302‧‧‧ stop members

6, 106, 206, 306‧‧‧ vibrating body

10, 110, 110A, 110B, 210, 210A, 210B, 310‧‧‧ starter bearing

20, 120, 120A, 120B, 220, 220A, 220B, 320‧‧‧ external gear

21, 40A, 140A, 240A, 321, 340A‧‧‧Flange

22, 140B, 240B, 322‧‧‧ cylindrical parts

24, 324‧‧‧ external teeth

28, 128A, 128B, 228A, 228B, 328‧‧‧ internal teeth

30, 130, 130A, 130B, 230, 230A, 230B, 330‧‧‧ internal gears

31‧‧‧Bolt holes

32, 134, 134A, 134B, 234, 234A, 234B, 334‧‧‧ connecting members

33‧‧‧ drive components

34‧‧‧Intermediate components

36, 136, 236, 336 ‧ ‧ fixed side members

38, 138, 238, 338‧‧‧Auxiliary casing

40, 140, 240, 340‧‧‧ drive shaft housing

42, 142, 242, 342‧‧‧1st fixed member

44, 144, 244, 344‧‧‧2nd fixed member

50, 100, 200, 300‧‧‧ flexing meshing gears

52, 152, 252, 352‧‧‧ output side components

101A, 201A‧‧‧ keys

106A, 134AC, 134BC, 140C, 154D, 234AC, 234BC, 240C, 254D‧‧‧ through holes

112, 212‧‧‧ Inner Ring

114A, 114B, 214A, 214B‧‧‧ bearing cage

116A, 116B, 216A, 216B‧‧ ‧rollers

118A, 118B, 218A, 218B‧‧‧ outer ring

130AA, 130BA, 140AA, 140AB, 140AC, 154A, 154B, 154C, 230AA, 230BA, 240AA, 240AB, 254A, 254B, 254C‧‧‧ recesses (including inner circumference recesses, outer circumference recesses)

130AAA, 130AB, 130AC, 130BB, 134AAA, 134ABA, 134AE, 134AF, 140AAA, 140D, 154E, 230AB, 230AC, 230BB, 232A, 232B, 234AAA, 234ABA, 234AE, 234AF, 240AAA, 240D, 254E, 340D, 342A‧ ‧‧Side (including opposite)

130AAB‧‧‧ bottom

134AA, 134AB, 134BA, 134BB, 234AA, 234AB, 234BA, 234BB, 334B‧‧ ‧ convex

134AAB, 134ABB, 234AAB, 234ABB‧‧‧ outer perimeter

134AAC, 134ABC, 140AAB, 140AAC, 140ABB, 234AAC, 234ABC, 240AAB, 240AAC, 240ABB‧‧‧ inner circumference (including inner inner circumference and outer inner circumference)

146, 246‧‧‧3rd fixing member

148, 150‧‧‧ docking components

154, 254‧‧‧1st output member

156, 256‧‧‧2nd output member

158, 258‧‧‧3rd output member

232‧‧‧low friction members

234AD, 234BD‧‧‧ extension

Br, Mb‧‧‧ bearing

O‧‧‧Axial

Og‧‧‧O type ring groove

Os1, Os2‧‧‧ oil seal

Pt‧‧ ‧ interval

Fig. 1 is a cross-sectional view showing an example of an overall configuration of a flexural meshing gear device according to a first embodiment of the present invention.

Fig. 2 is a cross-sectional view showing only the vicinity of the flexural meshing gear device of Fig. 1.

Fig. 3 is a perspective view showing the flexural meshing gear device and the connecting member of Fig. 2.

Fig. 4 is an exploded cross-sectional view showing members in the vicinity of the internal gear in Fig. 1.

Fig. 5 is a perspective view (A) and a front view (B) showing the internal gear for deceleration of Fig. 4.

Fig. 6 is a perspective view (A) and a front view (B) showing the first connecting member of Fig. 4.

Fig. 7 is a perspective view (A) and a front view (B) showing the drive shaft housing of Fig. 4.

Fig. 8 is a perspective view (A) and a front view (B) showing the first output member of Fig. 4.

Fig. 9 is a cross-sectional view showing an example of an overall configuration of a flexural meshing gear device according to a second embodiment of the present invention.

Fig. 10 is a cross-sectional view showing only the vicinity of the flexural meshing gear unit of Fig. 9.

Figure 11 is an exploded cross-sectional view showing members in the vicinity of the internal gear in Figure 9.

Fig. 12 is a perspective view (A) and a front view (B) showing the first connecting member of Fig. 11.

Fig. 13 is a perspective view (A) and a front view (B) showing the drive shaft housing of Fig. 11.

Fig. 14 is a perspective view (A) and a front view (B) showing the first output member of Fig. 11.

Fig. 15 is a cross-sectional view showing an example of a flexural meshing gear device according to a third embodiment of the present invention.

Fig. 16 is a cross-sectional view showing a flexural meshing gear device as a comparative example of the present embodiment.

Hereinafter, a first embodiment of the present invention will be described in detail with reference to Figs. 1 to 8 .

First, the overall configuration of this embodiment will be briefly described.

As shown in FIGS. 1 and 2, the basic structure of the flexural meshing gear device 100 includes a gear 120 that is flexibly deformed by the rotation of the vibrating body 106, and is disposed in the vibrating body 106 and the external gear 120. The vibrating body bearing 110 and the external gear 120 are in mesh with the internal gear 130. The flexure meshing gear device 100 has a cylindrical shape including an internal gear for reduction (first internal gear) 130A and an internal gear for output (second internal gear) 130B as the internal gear 130. As shown in FIG. 1, the flexural meshing gear device 100 is configured to be supported by the fixed side member 136, and is rotationally driven by the drive shaft 101 and transmits the output to the output side member 152. Further, the drive shaft 101 is a motor shaft that extends from a motor (not shown) as a drive source. As shown in FIG. 2, the drive shaft 101 is inserted from one end side of the vibrating body 106, and the movement in the axial direction O is restricted by the stopper member 102.

Next, the fixed side member 136 and the output side member 152 are said Bright.

As shown in FIG. 1 , the fixed side member 136 includes an auxiliary casing 138 , a drive shaft casing (first support member) 140 , a first fixing member 142 , a second fixing member 144 , and a third fixing member 146 . The auxiliary housing 138 has a cylindrical shape. The auxiliary housing 138 supports the oil seal Os1 in which the drive shaft 101 is embedded and is coupled to the drive shaft housing 140. The drive shaft housing 140 has a cylindrical cylindrical portion 140B and a flange portion 140A that constitutes one end side of the cylindrical portion 140B. The cylindrical portion 140B supports the drive shaft 101 via the two bearings Br inside the through hole 140C (fourth view). Further, the flange portion 140A supports the reduction internal gear 130A via the first connection member 134A (the connection structure between the flange portion 140A and the reduction internal gear 130A will be described later). Further, the first fixing member 142 is fixed to the radially outer side of the position of the first connecting member 134A that supports the flange portion 140A. On the contrary, a ring-shaped abutting member (restricting member) 148 is present on the radially inner side of the position of the first connecting member 134A that supports the flange portion 140A.

As shown in FIGS. 1 and 2, the abutting member 148 is disposed between the flexural meshing gear device 100 and the flange portion 140A so as to face the end faces of the external gear 120 and the oscillating body bearing 110. In other words, the butting member 148 is disposed on the axial O side of the external gear 120 and the oscillating body bearing 110 and restricts the movement of the external gear 120 and the oscillating body bearing 110 in the axial direction O. The docking member 148 is formed of, for example, a material having high slidability. At the same time, the hardness of the docking member 148 is higher than the flange portion 140A (for example, HRC 35 or more).

As shown in FIG. 1, the second fixing member 142 is fixed to the second fixing member. Member 144. Each of the first fixing member 142 and the second fixing member 144 has an annular shape and is disposed outside the output side member 152 in the radial direction. The first fixing member 142 is fixed to the third fixing member 146 on the outer circumference thereof. The third fixing member 146 is integrated with a fixing wall (not shown).

As shown in FIG. 1 , the output side member 152 includes a first output member (second support member) 154 , a second output member 156 , and a third output member 158 . The first output member 154 has an annular shape, and supports the output internal gear 130B via the second connecting member 134B (the connection structure between the first output member 154 and the output internal gear 130B will be described later). An annular shape abutting member (restricting member) 150 is present on a radially inner side of a portion of the second connecting member 134B to which the first output member 154 is coupled. The docking member 150 is disposed between the flexural meshing gear device 100 and the first output member 154 so as to oppose the end faces of the outer gear 120 and the vibrating body bearing 110 (the docking member 150 and the docking member 148 have the same shape and are the same Material). A main bearing Mb (a cross roller ring, an angular contact ball bearing, and a tapered roller bearing) is disposed between the first output member 154 and the first fixing member 142. The second output member 156 has a disk shape and is fixed to the first output member 154. An oil seal Os2 supported by the second fixing member 144 is disposed between the second output member 156 and the second fixing member 144. The third output member 158 is also in the shape of a disk and is fixed to the second output member 156. The third output member 158 is connected to a mechanical device (not shown).

Next, each constituent element of the flexural meshing gear device 100 will be described. Further, in the present embodiment, it is perpendicular to the axial direction O of the vibrating body 106. The cross section is a substantially elliptical shape. Therefore, in the present embodiment, the position from the axial center to the outer circumference of the vibrating body 106 is the longest position, and the direction in which the straight line connecting the two long-axis positions extends is referred to as the long-axis direction. Meanwhile, in the present embodiment, the position from the axial center to the outer circumference of the vibrating body 106 is the shortest position, and the direction in which the straight line connecting the two short-axis positions extends is referred to as the short-axis direction.

As shown in FIGS. 2 and 3, the vibrating body 106 has a substantially elliptical cylindrical cross section perpendicular to the axial direction O. Further, a through hole 106A into which the drive shaft 101 is inserted is provided at the center of the vibrating body 106. Further, a key groove 106B is provided in the through hole 106A, and the vibrating body 106 and the drive shaft 101 are coupled by a key 101A so that the vibrating body 106 rotates integrally with the drive shaft 101. Here, the distance from the axial center of the short-axis position to the outer circumference of the vibrating body 106 is shorter than the distance from the axial center of the long-axis position to the outer circumference of the vibrating body 106. That is, at the short-axis position, the non-engaged state is achieved by creating a gap between the external gear 120 and the internal gear 130A for deceleration. On the other hand, in the vicinity of the long axis position, the meshing state of the external gear 120 and the reduction internal gear 130A is achieved.

As shown in Fig. 2, the vibrating body 110 (110A, 110B) corresponds to the decelerating internal gear 130A and the output internal gear 130B, and two of them are arranged side by side in the axial direction O. The oscillating body bearings 110A and 110B have the same structure. Therefore, the vibrating body bearing 110A will be described below, and the description of the vibrating body bearing 110B will be substantially omitted.

As shown in Fig. 2, the vibrating body bearing 110A is composed of an inner ring 112, a bearing holder 114A, a roller 116A as a rolling element, and an outer ring 118A. to make.

As shown in Fig. 2, the inner ring 112 is shared with the oscillating body bearing 110B and is formed of a flexible material. The inner ring 112 is disposed on the side of the vibrating body 106. Further, the inner circumferential surface of the inner ring 112 abuts against the vibrating body 106, and the inner ring 112 rotates integrally with the vibrating body 106. The bearing holder 114A accommodates the roller 116A and limits the position and posture of the roller 116A in the circumferential direction. The roller 116A has a cylindrical shape (including a needle shape). Therefore, the portion where the roller 116A is in contact with the inner ring 112 and the outer ring 118A is increased as compared with the case where the rolling elements are balls. 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 on the outer circumference of the roller 116A and the bearing holder 114A. Outer ring 118A is also formed from a flexible material. The outer ring 118A is flexibly deformed together with the gear 120 disposed outside the outer circumference thereof by the rotation of the vibrating body 106.

As shown in Fig. 2, the external gear 120 is constituted by gears 120A and 120B which are provided in parallel with the reduction internal gear 130A and the output internal gear 130B and which are arranged side by side in the axial direction O. The outer gear 120A is in meshing engagement with the internal gear 130A for reduction. The external gear 120A is composed of a base member and external teeth (not shown). The base member is a cylindrical member having flexibility to support the external teeth, and is shared with the base member of the external gear 120B. Further, the external gear 120A is disposed on the outer circumference of the oscillating body bearing 110A, and is flexibly deformed by the rotation of the oscillating body 106. The external teeth determine the tooth shape based on the trochoidal curve to achieve theoretical engagement.

As shown in Fig. 2, the external gear 120B is in meshing engagement with the output internal gear 130B. Further, the external gear 120B is composed of a base member and external teeth similarly to the external gear 120A. The external teeth of the outer gear 120B are in the axial direction O and The outer teeth of the outer gear 120A are separated, but they are composed of the same number and the same shape.

As shown in Fig. 2, the reduction internal gear 130A and the output internal gear 130B constituting the internal gear 130 have substantially the same outer diameter Dd (Fig. 5(B)), and are arranged side by side in the axial direction O. The internal gear 130 is formed of a member having rigidity. The reduction internal gear 130A includes internal teeth 128A that are larger than the number of teeth of the external gear of the external gear 120A (i is 2 or more). The internal teeth 128A are formed in a manner to theoretically mesh with the teeth according to the trochoidal curve (the internal teeth 128B of the output internal gear 130B are also the same). The reduction internal gear 130A decelerates the rotation of the vibrating body 106 by meshing with the external gear 120A. The connection structure between the reduction internal gear 130A and the first connection member 134A will be described later (the output internal gear 130B will be described later).

On the other hand, the output internal gear 130B includes internal teeth 128B having the same number of teeth as the external teeth of the external gear 120B. The same rotation as the rotation of the external gear 120B is outputted from the output internal gear 130B to the outside.

Further, a lubricant is sealed in the flexural meshing gear device 100. Further, the lubricant lubricates the meshing portion of the external gear 120 and the internal gear 130, and the like.

Next, a configuration from between the drive shaft housing 140 including the first connecting member 134A, the second connecting member 134B, and the internal gear 130 to the first output member 154 will be mainly described with reference to FIGS. 3 to 8 .

As shown in FIGS. 3 and 4, the reduction internal gear 130A and the drive shaft housing 140 are radially oriented by the axial center of the internal gear 130A for deceleration. The first connecting member 134A of the displacement is coupled. At the same time, the output internal gear 130B and the first output member 154 are coupled by the second connecting member 134B that allows the axial center of the output internal gear 130B to be displaced in the radial direction. In other words, in the present embodiment, the connection structure between the reduction internal gear 130A and the drive shaft housing 140 and the connection structure between the output internal gear 130B and the first output member 154 are constituted by the same Oldham coupling mechanism. Here, although the number of teeth of the reduction internal gear 130A and the output internal gear 130B is different, the reduction internal gear 130A and the output internal gear 130B have the same connection structure. Further, the first connecting member 134A and the second connecting member 134B have the same shape. Therefore, the connection structure between the reduction internal gear 130A and the drive shaft housing 140 will be described below, and the connection structure between the output internal gear 130B and the first output member 154 will be basically omitted. Further, the connecting member 134 has a first connecting member 134A and a second connecting member 134B, and the supporting member has a drive shaft housing 140 and a first output member 154. Therefore, it can be said that the internal gear 130 and the supporting member are coupled by the connecting member 134 that allows the axial center of the internal gear 130 to be displaced in the radial direction.

Hereinafter, the shape of each of the above-described connection structures will be described.

First, as shown in FIG. 4 and FIG. 5 (A) and (B), two concave portions 130AA are provided on the side surface 130AC on the first connecting member 134A side of the reduction internal gear 130A (outer diameter Dd). The position where the two recessed portions 130AA are provided is a position outside the inner teeth 128A at the position along the outer circumference of the reduction internal gear 130A, and is shifted from the center of the reduction internal gear 130A by a phase of 180 degrees. That is, as shown in Figure 5 (B), 2 The center line of the concave portions 130AA in the circumferential direction is on the same straight line, and the direction thereof is referred to as the X direction. Further, the side surface 130AAA facing the circumferential direction of the concave portion 130AA is parallel to the X direction. Further, the symbol Ld is a distance between the side faces 130AAA of the concave portion 130AA (the circumferential width of the concave portion 130AA). Further, the symbol Lg is the distance between the bottom faces 130AAB of the two recesses 130AA.

Moreover, the low-friction treatment is performed on the opposing surface 130AB facing the output internal gear 130B of the internal gear 130A for deceleration. That is, in the present embodiment, the friction coefficient μ0 between the opposing surface 130AB and the opposing surface 130BB of the output internal gear 130B is higher than the friction between the opposing surface 130AB and the opposing surface 130BB when the low friction treatment is not performed. The coefficient μ1 is small (μ0 < μ1). As a specific example of the low friction treatment, a polishing process of a surface having a surface roughness lower than that of the prior art may be used. Alternatively, a film having a high frictional property (such as molybdenum disulfide, graphite, DLC, or fluoro resin such as PTFE) as a main component may be formed on the opposite surface 130AB. Further, such a low-friction treatment may be simultaneously performed on the opposing surface 130BB of the output internal gear 130B (or may also be used in the pair of internal gears for deceleration when the opposite surface of the output internal gear is subjected to low friction processing) No low friction treatment is applied to the face).

As shown in FIGS. 3, 4, and 6 (A) and (B), the first connecting member 134A has a ring shape (outer diameter Dj) having a through hole 134AC at the center. Two convex portions 134AA and two convex portions 134AB are provided on both side faces 134AE and 134AF of the first connecting member 134A in the axial direction O, respectively. Inner peripheral surface 134AAC of convex portion 134AA (134AB) The position of the (134ABC) and the position of the outer peripheral surface 134AAB (134ABB) are the same in the radial direction and the position of the inner peripheral surface of the first connecting member 134A itself and the position of the outer peripheral surface. Therefore, the size of the through hole 134AC defined by the diameter Lb is such that the eccentricity of the axial center of the decelerating internal gear 130A is maximum and the decelerating internal gear 130A is relatively displaced in the radial direction, and the two convex portions 134AA of the first connecting member 134A The inner circumferential surface 134AAC is also not in contact with the bottom surface 130AAB of the two recessed portions 130AA of the reduction internal gear 130A.

As shown in FIGS. 6(A) and (B), in one side surface 134AE, the position where the two convex portions 134AA are provided is a position shifted by 180 degrees from the center of the first connecting member 134A. As shown in Fig. 6(B), the center line of the two convex portions 134AA in the circumferential direction is on the same straight line and coincides with the X direction (hence, the diameter Lb of the through hole 134AC is two convex portions 134AA). The distance between the inner peripheral faces 134AAC, and the outer diameter Dj is the distance between the outer peripheral faces 134AAB of the two convex portions 134AA). Further, the side surface 134AAA facing the circumferential direction of the convex portion 134AA is parallel to the X direction. Further, the symbol Ljy is a distance between the side faces 134AAA of the convex portions 134AA (the circumferential width of the convex portions 134AA).

As shown in FIGS. 6(A) and (B), in the other side surface 134AF, the position where the two convex portions 134AB are provided is also a position shifted by 180 degrees from the center of the first connecting member 134A. As shown in Fig. 6(B), that is, the center lines of the two convex portions 134AB in the circumferential direction are on the same straight line, and the direction thereof is referred to as the Y direction (hence, the through hole 134AC) The diameter Lb is the distance between the inner circumferential surfaces 134ABC of the two convex portions 134AB. Further, the outer diameter Dj is a distance between the outer circumferential surfaces 134ABB of the two convex portions 134AB). In addition, the Y direction is orthogonal to the X direction. Further, the side surface 134ABA facing the circumferential direction of the convex portion 134AB is parallel to the Y direction. Further, the symbol Ljx is a distance between the side faces 134ABA of the convex portions 134AB (the circumferential width of the convex portions 134AB).

Here, the convex portion 134AA has the same shape as the convex portion 134AB, and the circumferential width Ljy of the convex portion 134AA is the same as the circumferential width Ljx of the convex portion 134AB (Ljy = Ljx). That is, the side surface 134AE and the side surface 134AF have the same shape although the phase is shifted by 90 degrees. Further, the height O of the convex portion 134AA (the convex portion 134AB) in the axial direction is smaller than the depth of the axial portion O of the concave portion 130AA. Further, the circumferential width Ljy of the convex portion 134AA is slightly narrower than the circumferential width Ld of the concave portion 130AA (Ljy<Ld). Further, the outer diameter Dj is substantially the same as the outer diameter Dd (Dj ≒ Dd). Further, the distance Lb between the inner circumferential surfaces 134AAC of the two convex portions 134AA is larger than the distance Lg between the bottom surfaces 130AAB of the two concave portions 130AA (Lb>Lg+α, α>0).

Therefore, the two convex portions 134AA are respectively engageable in the two concave portions 130AA. At this time, in FIG. 6(B), by arranging the two convex portions 134AA (two concave portions 130AA are disposed), the relative movement of the first connecting member 134A in the Y direction with respect to the internal gear 130A for deceleration can be restricted. However, the relative movement (for example, 1 mm or less) of the first connecting member 134A with respect to the decelerating internal gear 130A in the X direction can be allowed. That is, the internal gear 130A for deceleration is opposed to the first connecting member 134A in the axial direction O, Further, the connection is such that it can be relatively displaced in one direction in the radial direction (the X direction in FIG. 6(B)). By fitting the two convex portions 134AA to the two concave portions 130AA, the decelerating internal gear 130A and the first connecting member 134A are integrally coupled in the circumferential direction.

Further, the output internal gear 130B and the second connecting member 134B are also connected in the same manner. Further, the shape of the convex portion 134AA and the concave portion 130AA is not particularly limited, and the internal gear 130 (the reduction internal gear 130A and the output internal gear 130B) and the connection member 134 (the first connection member 134A and the second connection member 134B) can be used. It is sufficient that the particles are relatively displaced in the radial direction and are integrally connected in the circumferential direction.

As shown in Fig. 4 and Fig. 7 (A) and (B), the drive shaft housing 140 has a flange portion 140A and a cylindrical portion 140B. As shown in Fig. 7 (A) and (B), the flange portion 140A has a through hole 140C at the center. Further, an inner circumferential concave portion 140AC and an outer circumferential concave portion 140AB are formed concentrically on the side surface 140D of the flange portion 140A. The maximum inner diameter Ls of the inner circumferential recess 140AC is larger than the outer diameter of the abutting member 148. At the same time, in the axial direction O, the height from the bottom surface of the inner circumferential recess 140AC to the front end of the interval Pt is only slightly larger than the thickness of the axial direction O of the abutting member 148. Therefore, the inner circumferential recess 140AC can accommodate the entire docking member 148.

As shown in FIGS. 7(A) and (B), the outer circumferential concave portion 140AB is formed outside the inner circumferential concave portion 140AC with a gap Pt therebetween. The outer peripheral recess 140AB is defined by a minimum inner diameter Lp and a maximum inner diameter Dw. The minimum inner diameter Lp is smaller than the diameter Lb of the through hole 134AC of the first connecting member 134A (Lp<Lb), and the maximum inner diameter Dw is larger than the outer diameter Dj of the first connecting member 134A. (Dw>Dj). In the outer peripheral recess 140AB, two recesses 140AA are further provided in the axial direction O. The position of the inner inner circumferential surface 140AAC of the concave portion 140AA and the position of the outer inner circumferential surface 140AAB are the same in the radial direction with the position of the minimum inner diameter Lp and the position of the maximum inner diameter Dw, respectively. The position where the two concave portions 140AA are provided is a position shifted from the center of the flange portion 140A by 180 degrees from each other. That is, as shown in Fig. 7(B), the center lines of the two concave portions 140AA in the circumferential direction are on the same straight line and coincide with the Y direction (hence, the minimum inner diameter Lp is the inner inner circumference of the two concave portions 140AA). The distance between the faces 140AAC, and the maximum inner diameter Dw is the distance between the outer inner peripheral faces 140AAB of the two recesses 140AA). Further, the side surface 140AAA facing the circumferential direction of the concave portion 140AA is parallel to the Y direction. Further, the symbol Lw is a distance between the side faces 140AAA of the concave portion 140AA (the circumferential width of the concave portion 140AA).

Here, the minimum inner diameter Lp of the outer peripheral recessed portion 140AB is such that the eccentricity of the axial center of the decelerating internal gear 130A is maximized, and the decelerating internal gear 130A and the first connecting member 134A are relatively displaced in the radial direction, and the interval between the flange portions 140A is Pt is also not in contact with the first connecting member 134A. That is, the minimum inner diameter Lp of the outer peripheral recess 140AB is smaller than the diameter Lb of the through hole 134AC of the first connecting member 134A. In other words, the distance Lp between the inner inner circumferential surfaces 140AAC of the two concave portions 140AA is smaller than the distance Lb between the inner circumferential surfaces 134ABC of the two convex portions 134AB (Lb>Lp+β, β>0). In addition, the maximum inner diameter Dw of the outer peripheral recessed portion 140AB is such that the eccentricity of the axial center of the decelerating internal gear 130A is maximized, and the decelerating internal gear 130A and the first connecting member 134A are relatively displaced in the radial direction. The inner circumferential surface 140ABB of the outer circumferential concave portion 140AB does not come into contact with the outer circumference of the first connecting member 134A and the outer circumference of the internal gear 130A for deceleration. That is, the maximum inner diameter Dw of the outer peripheral recess 140AB is correspondingly larger than the outer diameter Dd and the outer diameter Dj. In other words, the distance Dw between the outer circumferential surfaces 140AAB of the two concave portions 140AA is larger than the distance Dj between the outer circumferential surfaces 134ABB of the two convex portions 134AB (Dw>Dj(Dd)+β, β>0). Further, the height O of the convex portion 134AB (the convex portion 134AA) in the axial direction is smaller than the depth of the axial portion O of the concave portion 140AA. Further, the circumferential width Ljx of the convex portion 134AB is slightly narrower than the circumferential width Lw of the concave portion 140AA (Ljx < Lw).

Therefore, the two convex portions 134AB can be fitted to the two concave portions 140AA, respectively. At this time, in FIG. 7(B), by arranging the two concave portions 140AA (two convex portions 134AB are disposed), the first connecting member 134A can be restricted from moving relative to the drive shaft housing 140 in the X direction. However, the first connecting member 134A can be allowed to relatively move in the Y direction with respect to the drive shaft housing 140 (for example, 1 mm or less). In other words, the drive shaft housing 140 and the first connecting member 134A are opposed to each other in the axial direction O, and are coupled so as to be relatively displaceable in one direction in the radial direction (Y direction of FIG. 7(B)). As described above, the drive shaft housing 140 and the first connecting member 134A are integrally coupled in the circumferential direction by the fitting of the two convex portions 134AB and the two concave portions 140AA. In addition, in Fig. 7 (A) and (B), the symbol Og indicates an O-ring groove.

As shown in Fig. 8 (A) and (B), the side surface 154E of the first output member 154 includes the first connecting member 134A of the side surface 140D of the drive shaft housing 140 shown in Figs. 7(A) and 7(B). Linked part And configuring the same shape of the part of the docking member 148. In other words, the side surface 154E includes an inner circumferential concave portion 154C, a space Pt, and an outer circumferential concave portion 154B in this order in the radial outer side of the through hole 154D. Further, the shapes and arrangements of the inner circumferential concave portion 154C, the interval Pt, and the outer circumferential concave portion 154B are also the same (Do = Dw, Lr = Ls, Lq = Lp). Further, the shape of the two concave portions 154A provided in the outer circumferential concave portion 154B and the arrangement on the outer circumferential concave portion 154B are the same as the two concave portions 140AA (Lo = Lw).

Further, as described above, the first connecting member 134A and the second connecting member 134B have the same shape. That is, as shown in Fig. 4, the second connecting member 134B is also in the shape of a ring having a through hole 134BC at the center. That is, the diameter of the through hole 134BC is the diameter Lb, and the outer diameter of the second connecting member 134B is the outer diameter Dj. Further, the shape of the two convex portions 134BA and the two convex portions 134BB provided on both side surfaces of the second connecting member 134B in the axial direction O and the arrangement on the second connecting member 134B are also respectively provided with two convex portions 134AA and two The convex portions 134AB are the same.

Therefore, as shown in FIG. 4, the two convex portions 134BB can be fitted to the two concave portions 154A, respectively. At this time, in the eighth drawing (B), by arranging the two concave portions 154A (the two convex portions 134BB are disposed), the second connecting member 134B can be restricted from moving relative to the first output member 154 in the X direction. However, the second connecting member 134B can be allowed to relatively move in the Y direction (for example, 1 mm or less) with respect to the first output member 154. In other words, the first output member 154 and the second connecting member 134B are opposed to each other in the axial direction O, and are connected so as to be relatively displaceable in one direction in the radial direction (Y direction of FIG. 8(B)). Thus, by the two convex portions 134BB and the two concave portions 154A In the fitting, the first output member 154 and the second connecting member 134B are integrally coupled in the circumferential direction.

Further, the shapes of the convex portions 134AB and 134BB and the concave portions 140AA and 154A are not particularly limited as long as the support members (the drive shaft housing 140 and the first output member 154) and the connecting members 134 (134A, 134B) are relatively displaceable in the radial direction. It is also possible to connect the shapes into one body in the circumferential direction.

Next, the operation of the flexural meshing type gear device 100 will be mainly described with reference to FIGS. 1 and 2 .

When the vibrating body 106 rotates, the external gear 120A is flexibly deformed via the vibrating body bearing 110A by the rotation of the drive shaft 101. At this time, the external gear 120B is also flexibly deformed in the same phase as the external gear 120A via the oscillating body bearing 110B.

The external gears 120A and 120B are flexibly deformed by the vibrating body 106, and the external teeth of the external gear 120A mesh with the internal teeth 128A of the internal gear 130A for deceleration. Similarly, the external teeth of the external gear 120B mesh with the internal teeth 128B of the output internal gear 130B.

The meshing position of the outer gear 120A and the reduction internal gear 130A is rotationally moved in accordance with the movement of the long axis position of the vibrating body 106. Here, when the vibrating body 106 rotates once, the rotational phase of the external gear 120A is delayed only by the difference in the number of teeth from the internal gear 130A for deceleration. In other words, the reduction ratio based on the reduction internal gear 130A can be obtained ((the number of teeth of the external gear 120A - the number of teeth of the reduction internal gear 130A) / the number of teeth of the external gear 120A). The specific numerical reduction ratio is ((100-102)/100=-1/50). Here, "-" means that the input and output are in a reverse rotation relationship.

The number of teeth of the outer gear 120B and the output inner gear 130B are the same, and therefore the portions where the outer gear 120B and the output inner gear 130B mesh with each other do not move, but the same teeth mesh with each other. Therefore, the same rotation as the rotation of the external gear 120B is output from the output internal gear 130B. As a result, it is possible to take out the output of the output internal gear 130B and decelerate the rotation of the vibrating body 106 to (-1/50). That is, the rotation of the drive shaft 101 is decelerated to (-1/50), and the output can be taken out by the output side member 152.

When the drive shaft 101 is shifted by a predetermined amount from the axial center of the reduction internal gear 130A (the output internal gear 130B) in the Y direction, the reduction internal gear 130A is integrated with the first connection member 134A (the output internal gear 130B) The drive shaft housing 140 (first output member 154) is displaced by only a predetermined amount in the Y direction with respect to the second link member 134B. When the drive shaft 101 is shifted by a predetermined amount from the axial center of the reduction internal gear 130A (the output internal gear 130B) in the X direction, the internal gear 130A for reduction (the internal gear 130B for output) is driven with respect to the first connecting member 134A. The shaft housing 140 (the second connecting member 134B and the first output member 154) is displaced by only a predetermined amount in the X direction. Thereby, the connecting member 134 can individually allow the axial center of each of the decelerating internal gear 130A and the output internal gear 130B to be displaced in the radial direction. Thereby, the centering work when assembling the flexural meshing type gear device 100 can be reduced by the connecting member 134.

Further, in the cylindrical flexural meshing gear device according to the present embodiment, when the drive shaft and the vibrating body are coupled by the connecting member, the vibrating body corresponds to the two internal gears and is separately movable by the two portions. Composition. That is, at this time, the portions of the external gears corresponding to the two internal gears are different from each other. The direction is displaced, thereby generating a step difference in the external gear and generating shear stress on the external gear.

However, in the present embodiment, the connecting member 134 is not attached to the drive shaft 101. Therefore, in the present embodiment, the shear stress is not generated in the external gear 120, and the eccentricity can be allowed to be extended and the life of the external gear 120 can be extended. Further, in the present embodiment, the connection between the vibrating body 106 and the drive shaft 101 can be realized by a single structure.

Further, in the present embodiment, it is not necessary to firmly fix the internal gear 130 to the support member (the drive shaft housing 140 and the first output member 154). That is, in the present embodiment, it is not necessary to use the internal gear 130 for fixing to the bolt holes of the drive shaft housing 140 and the first output member 154, and the radial thickness of the internal gear 130 can be minimized.

Further, in the present embodiment, since the reduction internal gear 130A and the output internal gear 130B are not fixed yet, they can be displaced in the axial direction O. However, the friction surfaces 130AB and 130BB of the internal gear 130A for deceleration and the internal gear 130B for output are subjected to low friction processing. Therefore, even if the decelerating internal gear 130A and the output internal gear 130B are displaced in the axial direction O and are in contact with each other, and the friction is generated by the speed difference between the decelerating internal gear 130A and the output internal gear 130B, the friction loss can be reduced.

Further, in the present embodiment, the butting members 148 and 150 are higher in hardness than the flange portion 140A, and are formed of a material having high slidability. Therefore, even if the end faces of the external gear 120 and the oscillating body bearing 110 are in contact with the abutting members 148, 150, it is difficult to generate abrasion powder, and it is possible to prevent the occurrence of abrasion. The decrease in efficiency and the contamination of the lubricating oil caused by the abrasion of the powder. At the same time, the docking members 148, 150 can also restrict the movement of the outer gear 120 and the oscillating body bearing 110 in the axial direction O. Further, the butt joint member may be formed of only a resin (a PEEK material having a low sliding resistance and a heat resistant polymer resin, a nylon, a fluorine resin, or the like).

Further, in the present embodiment, the first connecting member 134A and the second connecting member 134B have the same shape. That is, since the ratio of the members to be shared can be increased, the member management is easy, and the cost reduction of the members can be promoted. In addition to this, the first connecting member 134A and the second connecting member 134B have no directivity. Therefore, the orientation of the first connecting member 134A and the second connecting member 134B can be ignored, and the first connecting member 134A and the second connecting member 134B can be easily assembled to the internal gear 130.

Therefore, in the present embodiment, the eccentricity of the axial center of the internal gear 130 of the flexural meshing gear device 100 can be allowed, and the increase in the radial dimension of the flexural meshing gear device 100 can be suppressed.

In the first embodiment, the connecting member 134 and the mating members 148 and 150 are separate. However, the present invention is not limited thereto, and the second embodiment shown in Figs. 9 to 14 may be employed. In the drawings, FIG. 9 is a cross-sectional view showing an example of the entire configuration of the flexural meshing gear device according to the second embodiment of the present invention, and FIG. 10 is a view showing only the flexing engagement type of FIG. FIG. 11 is an exploded cross-sectional view showing a member in the vicinity of the internal gear in FIG. 9, and FIG. 12 is a perspective view (A) and a front view (B) showing the first connecting member in FIG. Fig. 13 is a perspective view showing the drive shaft housing of Fig. 11 (A) and front view (B), Fig. 14 is a perspective view (A) and a front view (B) showing the first output member of Fig. 11.

The flexural meshing gear device 200 of the second embodiment has a cylindrical shape as in the first embodiment, and the first connecting member 234A and the second connecting member 234B are provided with extending portions 234AD and 234BD corresponding to the abutting members. That is, the docking member is integrally formed with the connecting member. Therefore, the same components and operations as those of the flexural meshing gear device 100 of the first embodiment are omitted since the last two digits of the symbol are the same.

As shown in Fig. 10 and Fig. 11, in the present embodiment, the decelerating internal gear 230A and the drive shaft housing 240 are coupled to each other by the first connecting member 234A that allows the axial center of the decelerating internal gear 230A to be displaced in the radial direction. At the same time, the output internal gear 230B and the first output member 254 are coupled to each other by the second connecting member 234B that allows the axial center of the output internal gear 230B to be displaced in the radial direction. In other words, in the present embodiment, the connection structure between the reduction internal gear 230A and the drive shaft housing 240 and the connection structure between the output internal gear 230B and the first output member 254 constitute a cross slide coupling. Therefore, the shape of each of the above-described connection structures will be described below. In the following, a portion of the connection structure between the reduction internal gear 230A and the drive shaft housing 240 which is different from the above-described embodiment will be described, and the connection structure between the output internal gear 230B and the first output member 254 and other components will be described. Function and structure, only the last two digits of the symbol are shared and the repeated description is omitted.

First, as shown in Fig. 11, two concave portions 230AA are provided on the side surface 230AC of the decelerating internal gear 230A on the first connecting member 234A side. side Since the configuration of the surface 230AC is the same as that of the first embodiment, the description thereof is omitted. However, unlike the first embodiment, the opposing surface 230AB facing the output internal gear 230B of the internal gear 230A for deceleration is not subjected to a low friction process capable of reducing the friction loss when it comes into contact with the output internal gear 230B. On the other hand, as shown in Fig. 11, in the present embodiment, the annular low-friction member 232 that covers most of the opposing surface 230AB of the reduction internal gear 230A is disposed in the reduction internal gear 230A and the output. Between the internal gears 230B.

In the low friction member 232, the friction coefficient μ2 between the opposing surface 230AB of the reduction internal gear 230A and the side surface 232A of the low friction member 232 is larger than the pair of the opposite surface 230AB of the reduction internal gear 230A and the output internal gear 230B. The friction coefficient μ3 between the faces 230BB is small (μ2 < μ3). That is, the same low-friction treatment as in the first embodiment is performed on the side surface 232A. In other words, it is also possible to perform a polishing process for the surface having a surface roughness lower than that of the prior art with respect to the side surface 232A. Alternatively, a film having a high frictional property (a molybdenum disulfide, graphite, DLC, or a fluorine-based resin such as PTFE) which can reduce the friction coefficient may be formed on the side surface 232A. Further, such a low-friction treatment may be simultaneously performed on the side surface 232B facing the output internal gear 230B (or may be used in the internal gear for deceleration when the opposite surface of the output internal gear is subjected to low friction processing). The opposite surface is not subjected to low friction treatment). Needless to say, the low friction member 232 itself may be formed as a main component of the above-described material or the like having high lubricity which can reduce the friction coefficient.

Therefore, similarly to the first embodiment, it is possible to reduce the output by The friction loss caused by the rotation of the internal gear 230B with respect to the internal gear 230A for deceleration. At the same time, the risk of deteriorating the gear accuracy of the internal gear 230A for deceleration can be eliminated by the low friction treatment of the opposing surface 230AB. Further, since the low friction member 232 can be formed separately from the internal gear 230A for deceleration, the manufacturing cycle of the flexural meshing gear device 200 can be shortened, and the yield of the internal gear 230A for deceleration can be improved.

As shown in Fig. 11 and Fig. 12 (A) and (B), the first connecting member 234A has a ring shape (outer diameter Dj) having a through hole 234AC at the center. Similarly to the first embodiment, the two side faces 234AE and 234AF of the first connecting member 234A in the axial direction O are provided with two convex portions 234AA and two convex portions 234AB, respectively. The shape and function of the two convex portions 234AA and the two convex portions 234AB are substantially the same as those of the first embodiment, and thus the description thereof will be omitted. However, in the present embodiment, unlike the first connecting member 134A of the first embodiment, the two convex portions 234AA (two convex portions 234AB) of the first connecting member 234A are integrally provided with a circular ring shape on the radially inner side of the first connecting member 234A. Extended extension 234AD. The extending portion 234AD corresponds to the butting member 148 of the first embodiment. In other words, the first connecting member 234A is disposed on the side of the outer gear 220 and the axial direction O of the vibrating body 210, and restricts the outer gear 220 and the vibrator bearing 210 from moving in the axial direction O. The hardness of the extending portion 234AD (which may be the entire first connecting member 234A or the surface of only the extending portion 234AD) is higher than the flange portion 240A (for example, HRC 35 or more). Therefore, even if it comes into contact with the end faces of the external gear 220 and the oscillating body bearing 210, it is difficult to generate abrasion powder, and it is possible to prevent a decrease in efficiency due to abrasion and contamination of lubricating oil due to abrasion of powder. At this time, in addition to the hard material In addition to the chemical treatment, for example, tungsten can be used as a material, or DLC or the like can be applied. Further, the extending portion 234AD (which may be the entire first connecting member 234A or the surface of only the extending portion 234AD) may be formed of, for example, a material having high slidability (including a material having high slidability capable of reducing the friction coefficient). At this time, the friction loss occurring at the end faces of the outer gear 220 and the oscillating body bearing 210 can be reduced. Further, the through hole 234AC (diameter Di) provided on the radially inner side of the extending portion 234AD is smaller than the minimum diameter of the external gear 220, and the eccentricity of the shaft center of the decelerating internal gear 230A is the maximum and the decelerating internal gear 230A It is relatively displaced in the radial direction and does not come into contact with the drive shaft 201.

Further, as shown in FIGS. 13(A), (B), and 14 (A) and (B), the drive shaft housing 240 and the first output member 254 are different from the drive shaft housing 140 and the first embodiment. The 1 output member 154 has substantially the same structure. However, in other words, since the butting member is integrated with the first connecting member 234A, there is only a difference in the interval Pt. Therefore, the description of the drive shaft housing 240 and the first output member 254 will be omitted.

Further, unlike the present embodiment, in other words, the butt joint member may be integrated with the internal gear. However, the internal gear is a tooth shape formed by cutting teeth such as a pinion cutter. Therefore, considering the flank face of a cutter such as a pinion cutter, the shape of the abutment member is limited by the cutter. That is, at this time, even if the butting member and the internal gear are integrated, it is difficult to be compact in the axial direction O. Alternatively, it is also conceivable to integrate the docking member and the vibrating body (or the drive shaft). However, at this time, since the vibrating body (or the drive shaft) rotates at a high speed, the docking member can rotate at a high speed. That is, the vibrating body integrated with the docking member (or the drive shaft) is greatly different from the rotational speed of the external gear and the oscillating body bearing, so that the efficiency due to friction is reduced and the wear of the external gear and the oscillating body bearing is increased.

On the contrary, in the present embodiment, it can be said that the connecting member 234 and the docking member are integrated. Therefore, the docking members do not exist alone, so the number of components is small and component management is easy. Further, since there is no interval Pt, the processing of the drive shaft housing 240 and the first output member 254 is also easy. Further, the speed difference between the connecting member 234 and the external gear 220 and the oscillating body bearing 210 is smaller than the speed difference between the oscillating body 206 and the connecting member 234. Therefore, the friction loss due to the contact between the connecting member 234 and the external gear 220 and the oscillating body bearing 210 and the generation of the friction powder can be reduced.

In the above-described embodiment, each of the flexural meshing gear devices has a cylindrical shape including two internal gears for reduction and internal gears for output. However, the present invention is not limited thereto, and may be as shown in FIG. 3 implementation. Fig. 15 is a cross-sectional view showing an example of a flexural meshing gear device according to a third embodiment of the present invention. In addition, Fig. 16 is a cross-sectional view showing a flexural meshing gear device as a comparative example of the present embodiment.

Unlike the first and second embodiments, the flexural meshing gear device 300 of the third embodiment is a cup type (or a top hat type) including one internal gear 330. The outer gear 320 includes a flange portion 321 , a cylindrical portion 322 , and outer teeth 324 . Further, the output side member 352 is connected to the flange portion 321 of the external gear 320, and the rotation of the external gear 320 can be taken out as an output. Further, the external gear 320 has a number of teeth different from the number of teeth of the internal gear 330. That is, the internal gear 330 has the deceleration shown in the first and second embodiments. Use the same function as the internal gear. Therefore, in the present embodiment, the same components and operations as those of the flexural meshing gear device of the above-described embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

As shown in Fig. 15, in the present embodiment, the internal gear 330 and the first fixing member 342 to which the internal gear 330 is coupled are coupled by a connecting member 334. The connection structure of the connecting member 334 is substantially the same as that of the above embodiment. However, in the present embodiment, the first fixing member 342 is coupled to the connecting member 334. In other words, the shape of the side surface 342A of the first fixing member 342 coupled to the connecting member 334 in the axial direction O is substantially the same as the shape of the side surface of the flange portion of the drive shaft housing in the axial direction O shown in the above embodiment. structure. Further, in the present embodiment, the side surface 340D of the drive shaft housing 340 in the axial direction O restricts only the movement of the internal gear 330 in the axial direction O. Therefore, in the present embodiment, the low friction treatment of the side surface of the internal gear shown in the above embodiment and the arrangement of the low friction member between the internal gears are not required.

In addition, Fig. 16 shows a comparative example in which the drive shaft 1 and the vibrating body 6 are coupled to each other by the connecting member 32 with respect to the flexural meshing gear device 50 of the same type as the present embodiment. Here, the connecting member 32 is composed of a driving member 33 coupled to the drive shaft 1 and an intermediate member 34 coupled to the driving member 33. Therefore, in this comparative example, the eccentricity between the drive shaft 1 and the internal gear 30 can be allowed. However, in this comparative example, since the connecting member 32 is composed of two members of the driving member 33 and the intermediate member 34, the connecting structure of the drive shaft 1 and the vibrating body 6 becomes complicated. Further, the internal gear 30 is required to be fixed to the bolt hole 31 of the first fixing member 42, and thus the internal gear 30 It becomes larger in the radial direction itself.

On the other hand, in the present embodiment, as shown in Fig. 15, as in the above-described embodiment, it is not necessary to provide a bolt hole in the internal gear 330, and the size of the internal gear 330 can be minimized in the radial direction. That is, in the present embodiment, the radial dimension of the flexural meshing gear device 300 can be reduced as compared with the comparative example shown in Fig. 16. Further, even if the eccentricity of the drive shaft 301 is generated, the number of components does not increase, and the drive shaft 301 and the vibrating body 306 can be easily coupled.

The present invention has been described by way of the above embodiments, but the present invention is not limited to the above embodiments. In other words, modifications and changes in design can be made without departing from the spirit and scope of the invention.

In the above embodiment, the vibrating body bearing has an inner ring and an outer ring. However, the present invention is not limited thereto, and the outer peripheral portion of the vibrating body may also serve as an inner ring. Further, the outer ring may not be provided. For example, the roller may directly support the outer gear rotatably and the inner peripheral portion of the outer gear may serve as an outer ring. Also, in the cylindrical flexural meshing gear device, the rotating body may not be a roller but a ball.

Further, in the above embodiment, the external teeth are in the form of teeth based on the trochoidal curve, but the present invention is not limited thereto. The external teeth may be arcuate, and other shapes may be used. Similarly, the internal teeth are not particularly limited, and various tooth shapes can be employed.

In addition, the connection member is not limited to the configuration of the above-described embodiment, and may be configured such that the axial center of the internal gear is allowed to be displaced in the radial direction, and the internal gear and the support member are integrally coupled in the circumferential direction.

[Industrial availability]

The present invention can be widely applied to a flexure meshing gear device having an outer gear of a cylindrical shape, a cup type, or a high top hat type.

100‧‧‧Flexing meshing gear unit

101‧‧‧ drive shaft

102‧‧‧stop member

106‧‧‧Starting body

110‧‧‧Starting body bearing

120‧‧‧External gear

130‧‧‧Internal gear

130A, 130B‧‧‧ connecting members

134A‧‧‧1st connecting member

134B‧‧‧2nd connecting member

136‧‧‧Fixed side members

138‧‧‧Auxiliary enclosure

140‧‧‧Drive shaft housing

140A‧‧‧Flange

140B‧‧‧Cylinder

142‧‧‧1st fixed member

144‧‧‧2nd fixed member

146‧‧‧3rd fixing member

148, 150‧‧‧ docking components

152‧‧‧Output side members

154‧‧‧1st output member

156‧‧‧2nd output member

158‧‧‧3rd output member

O‧‧‧Axial

Os1, Os2‧‧‧ oil seal

Br, Mb‧‧‧ bearing

Claims (6)

A flexing meshing gear device is provided with a vibrating body, a gear that is flexibly deformed by the rotational deformation of the vibrating body, and a flexing meshing gear device in which the external gear is meshed with the internal gear, and is characterized by The internal gear and the support member to which the internal gear is coupled are coupled by a connecting member that allows the axial center of the internal gear to be displaced in the radial direction. The flexural meshing gear device according to claim 1, wherein the first internal gear and the second internal gear are used as the cylindrical flexural meshing gear device of the internal gear, wherein the support member has a connection a first support member having the first internal gear and a second support member to which the second internal gear is coupled, the connection member having a first connecting member that allows the axial center of the first internal gear to be displaced and connected in the radial direction The first internal gear, the first support member, and the second connecting member allow the axial center of the second internal gear to be displaced in the radial direction and connect the second internal gear and the second connecting member. The flexural meshing gear device according to claim 2, wherein the low friction treatment is performed on at least one of the opposing faces of the first internal gear and the second internal gear. The flexural meshing gear device according to claim 2, wherein a low friction is disposed between the first internal gear and the second internal gear. Wipe the component. The flexural meshing gear device according to any one of claims 1 to 3, wherein the flexural meshing gear device has an axial side portion disposed on the outer gear and restricts the outer gear An axially moving restricting member integrally formed with the aforementioned connecting member. The flexural meshing gear device according to claim 5, wherein the restricting member has a higher hardness than the support member.