JPH09291983A - Mounting structure of flexible external gear of top hat type flexural mesh type gear device - Google Patents

Abstract

(57) An object of the present invention is to improve a mounting portion for mounting a flexible external gear of a top hat type flexural mesh type gear device to a device housing or the like. SOLUTION: In a top hat type flexural mesh type gear device 1, these are relatively rotatable by a cross roller bearing 4 arranged between first and second end plates 2 and 3. A rigid internal gear is integrally formed on the inner peripheral surface of the inner ring 41 of the cross roller bearing 4. The inner ring 41 is directly fastened and fixed to the first end plate 2 side. The outer ring 44 of the cross roller bearing is fastened and fixed to the side of the second end plate 3 through the annular boss 17 of the top hat-shaped flexible external gear. The annular boss 17 has a cross-sectional shape in which end surfaces 17a and 17b on both sides in the direction of the apparatus axis 1a project from end surfaces 16a and 16b on both sides of the diaphragm 16. Since the thickness of the annular boss 17 can be increased, the section modulus of that portion can be increased and the outer diameter dimension can be decreased.

Description

Detailed Description of the Invention

[0001]

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

[0002]

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

[0003]

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

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

[0005]

SUMMARY OF THE INVENTION According to the present invention, an annular rigid internal gear, a flexible external gear arranged inside the annular internal gear, and a flexible external gear that is bent in the radial direction are used. The rigid external gear has a wave generator that partially meshes with the rigid internal gear and moves the meshing position in the circumferential direction, and the flexible external gear has a cylindrical body and a body. External teeth formed on the outer peripheral surface on the one opening end side of the portion, an annular diaphragm continuously expanding toward the outer side in the radial direction at the other opening end of the body portion, and the outer peripheral edge of the diaphragm. The following configuration is adopted in the top hat type flexural meshing type gear device which is a top hat type having a continuous thick annular boss.

That is, in the annular boss of the flexible external gear, the annular end faces on both sides of the annular boss project in the direction of the apparatus axis from the end faces on both sides of the diaphragm to which the annular boss is continuous. It is set to have a cross-sectional shape.

Further, the top hat type flexural mesh type gear device of the present invention is located between the first end plate and the second end plate located at both ends in the device axial direction, and between these end plates.
Cylindrical body part, external teeth formed on the outer peripheral surface of the open end of the body part on the side of the first end plate, and radially outward from the open end of the body part on the side of the second end plate A flexible external gear of the hat hat type, which is provided with an annular diaphragm that is continuous toward and a continuous thick annular boss on the outer peripheral edge of the diaphragm, and an inner peripheral surface that is arranged on the outer periphery of the outer tooth. A ring-shaped rigid internal gear having internal teeth capable of meshing with the external teeth, and a cylindrical body portion arranged inside the cylindrical body portion having the external teeth formed therein in a radial direction. A wave generator that flexes to partially mesh the outer teeth with the inner teeth and move the meshing position in the circumferential direction; and a wave generator that is fixed to the wave generator and penetrates the wave generator. And one side is rotatably supported by the first end plate. , The other side is arranged on the outer periphery of the input shaft rotatably supported by the second end plate and the cylindrical body portion of the flexible external gear, and the outer ring is provided with the first ring via the annular boss. A second end plate, and a bearing whose inner ring is fixed to the first end plate via the rigid internal gear. The annular boss of the flexible external gear that is fixed to these members while being sandwiched between the second end plate and the outer ring of the bearing has annular end faces on both sides thereof. Has a cross-sectional shape protruding toward the second end plate side and the outer ring side from the end surfaces on both sides of the continuous diaphragm.

Conventionally, no particular consideration has been given to the shape of the annular boss of the top hat-shaped flexible external gear, and the sectional shape of the diaphragm protruding toward the side opposite to the body connecting side. It is said that. By adopting a cross-sectional shape that protrudes to both sides as in the present invention, for example, the advantage that the outer diameter dimension can be reduced is obtained, and the degree of freedom in mounting the second end plate and the bearing on the outer ring is increased. .

Here, the annular boss has a substantially brazed sectional shape with a step toward one side in the axial direction as a whole with respect to the diaphragm, instead of the sectional shape as described above. Good.

Alternatively, it is also possible to make the cross-sectional shape of a brazed portion having a step only on the outer peripheral portion of the annular boss.

[0011]

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

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

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

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

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

Next, the outer ring 4 of the cross roller bearing 4
4 is fixed to the second end plate 3 side. That is, the annular boss 17 of the above-described top hat-shaped flexible external gear 13 is sandwiched between the outer ring 44 and the second end plate 3. In this state, these three members are fastened and fixed to each other by the fastening bolts 81 mounted in the bolt holes 8 formed in these members. On the other hand, the inner ring 41 side of the cross roller bearing 4 is fastened and fixed to the first end plate 2 side by fastening bolts 82. A plurality of fastening bolts 81 and 82 are attached at regular intervals in the circumferential direction.

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

Here, the ring-shaped boss 17 of the top hat-shaped flexible external gear 13 has ring-shaped end faces 17a, 1 on both sides thereof.
7b is set so as to have a cross-sectional shape that protrudes from both end surfaces of the diaphragm 16 that is continuous with the annular boss. That is, the annular end surfaces 17a and 17b of the annular boss 17 are set to have a cross-sectional shape that protrudes from the end surfaces 16a and 16b of the diaphragm 16 by a substantially equal thickness in the direction of the axis 1a. In this way, the annular boss 17 (hereinafter,
This cross-sectional shape is called a double boss shape. ), The thickness can be made sufficiently large, so that it is possible to reduce the outer diameter dimension of the flexible external gear.

(Other Embodiments) FIG. 2 shows another sectional shape of the annular boss 17 of the top hat-shaped flexible external gear 13.

First, the example shown in FIG. 2A is a double boss type adopted in the apparatus 1 of FIG.

Next, in the example shown in FIG. 2 (B), the annular boss 170 which is continuous with the diaphragm 16 as a whole has a sectional shape with a step on one side in the direction of the apparatus axis. (Hereinafter, this cross-sectional shape is referred to as a brazing shape). That is, one end surface shape of the annular boss 170 is an annular end surface 171 and an annular inner peripheral surface 172 that connects the annular boss 170 to the end surface 16 a of the diaphragm 16.
Stipulated by and. A mounting surface 201 having a shape corresponding to the annular end surface 171 and the annular inner peripheral surface 172 is formed on the side of the member 200 forming the apparatus housing. Similarly, the shape of the other end surface of the annular boss 170 is the same as that of the annular end surface 173 and the diaphragm 16.
Is defined by an annular outer peripheral surface 174 which is continuous with the end surface 16b. Further, a mounting surface 301 having a shape corresponding to the annular end surface 173 and the annular outer peripheral surface 174 is formed on the side of the member 300 forming the apparatus housing.

The example shown in FIG. 2C is an annular boss 1700.
The stepped portion 1701 projecting in the device axial direction is formed only on the outer peripheral portion of the device (hereinafter, this sectional shape is referred to as an outer brazing shape). In this example, the outer peripheral portion of the end surface 1702 of the annular boss 1700 on the apparatus housing 300 side is made to project by a certain amount in the apparatus axial direction.

Instead of this, as shown in FIG.
Both sides of the outer peripheral portion of the annular boss 1710 may have a cross-sectional shape protruding in the apparatus axial direction (hereinafter, this cross-sectional shape is referred to as a double-sided outer brazing shape).

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

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

Further, in the above description, the flexible mesh type gear device is used as the speed reducing device, but it is needless to say that it may be used as the speed increasing device.

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

[0028]

As described above, in the top hat type flexural mesh type gear device of the present invention, various top pins are used as annular bosses for attaching the top hat type flexible external gear to the device housing or the like. The brazing shape is adopted.

Therefore, according to the present invention, the degree of freedom in designing the portion where the flexible external gear is attached to the device housing or the like is increased. In particular, the one having the brazing on the outer peripheral side can have a cross section having a large section modulus, so that there is an advantage that the outer diameter dimension can be reduced.

[Brief description of drawings]

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

FIG. 2 is a view showing a modified example of the cross-sectional shape of the annular boss of the top hat type flexible external gear according to the present invention, (A)
Is an explanatory view showing a double boss shape, (B) is an explanatory view showing an anchored shape, (C) is an explanatory view showing an outer anchored shape, and (D) is a double-sided anchored shape It is explanatory drawing which shows what has a shape.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Top hat type flexural mesh type gear device 1a Device axis line 2 First end plate 3 Second end plate 4 Cross roller bearing 41 Inner ring 42 Inner ring inner peripheral surface 44 Outer ring 46 Roller 5 Input rotating shaft 11 Rigid internal gear Tooth 12 External Tooth 13 Flexible External Tooth Gear 14 Wave Generator 16 Diaphragm 16a, 16b End Face of Diaphragm 17 Annular Boss 17a, 17b of Flexible External Tooth Gear Annular End Face of Annular Boss 18 Rigid Cam Plate on Wave Generator 19 Wave bearing

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[Procedure amendment]

[Submission date] June 6, 1996

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG.

[Fig. 2]

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hideo Asawa 1856-1, Maki, Hodaka-cho, Minamiazumi-gun, Nagano Pref. Harmonic Drive Systems Co., Ltd.

Claims (4)

[Claims] 1. A ring-shaped rigid internal gear, a flexible external gear arranged inside the annular internal gear, and a portion of the flexible external gear that is bent in the radial direction with respect to the rigid internal gear. And a wave generator that moves the meshing position in the circumferential direction, and the flexible external gear has a cylindrical body portion and one of the opening end sides of the body portion. External teeth formed on the outer peripheral surface, an annular diaphragm that continuously extends to the outer side in the radial direction at the other open end of the body, and a thick annular boss that is continuous at the outer peripheral edge of the diaphragm. In a top hat type flexural meshing gear device having a top hat shape, the annular boss of the flexible external gear has annular end faces on both sides thereof on both sides of a diaphragm to which the annular boss is continuous. Toward the device axis, rather than the end face of Mounting structure of the flexible external gear of the silk hat type flexible meshing type gear device characterized in that it is set to be the cross-sectional shape that protrudes Re respectively. 2. A first end plate and a second end plate located at both ends in the apparatus axial direction, and a cylindrical body portion located between these end plates, and the first end plate in the body portion. Teeth formed on the outer peripheral surface of the open end on the side of, and an annular diaphragm continuous from the open end of the body on the side of the second end plate toward the outer side in the radial direction, and the outer peripheral edge of the diaphragm. A top hat type flexible external gear with a continuous thick annular boss,
An annular rigid internal gear having inner teeth formed on the outer circumference of the outer teeth and capable of meshing with the outer teeth, and arranged inside the cylindrical body portion having the outer teeth. A wave generator that flexes the cylindrical body in the radial direction to partially mesh the outer teeth with the inner teeth and move the meshing position in the circumferential direction; and An input shaft that is fixed and extends through the wave generator, and has one side rotatably supported by the first end plate and the other side rotatably supported by the second end plate. And an outer ring fixed to the second end plate via the annular boss, the outer ring being arranged on the outer periphery of the cylindrical body of the flexible external gear.
An inner ring having a bearing fixed to the first end plate through the rigid internal gear, and being sandwiched between the second end plate and the outer ring of the bearing, The annular boss of the flexible external gear to be fixed has the annular end surfaces on both sides of the second end plate and the outer ring more than the end surfaces on both sides of the diaphragm to which the annular boss is continuous. A flexible external gear mounting structure for a top hat type flexural mesh type gear device, wherein the cross-sectional shape is set so as to project toward the sides. 3. The diaphragm according to claim 1, wherein the annular boss of the flexible externally toothed gear has a cross-sectional shape that protrudes to both sides with respect to both end surfaces of the diaphragm, instead of the diaphragm. A mounting structure for a flexible external gear of a top hat type flexural meshing type gear device, characterized in that it has a cross-section with a flat brazed portion having a step toward one side as a whole in the axial direction. 4. The outer peripheral portion of the annular boss according to claim 1 or 2, instead of the annular boss of the flexible external gear having a cross-sectional shape protruding to both sides with respect to both end surfaces of the diaphragm. A structure for mounting a flexible external gear of a top hat type flexural mesh type gear device, which is characterized in that it has a cross section with a flat brazed portion only at the end.