JP5139854B2 - Oscillating gear device, unit-type gear device including the same, and assembly method thereof - Google Patents

Description

  The present invention relates to a rocking gear device having a rocking generator that can be easily fitted inside a flexible external gear, a unit-type gear device including the rocking gear device, and an assembling method thereof. It is.

  2. Description of the Related Art Conventionally, a wave gear reducer is known as a gear reducer that is lightweight, compact, and capable of obtaining high accuracy and a high reduction ratio without using a complicated mechanism or structure. A typical wave gear reducer includes an annular rigid internal gear, a cup-shaped flexible external gear disposed on the inside thereof, and the flexible external gear flexed into an ellipse to form a rigid internal gear. And a wave generator having an elliptical profile that meshes with the tooth gear and moves the meshing position of both gears in the circumferential direction. When the meshing position moves in the circumferential direction, relative rotation occurs between the two gears due to the difference in the number of teeth of the two gears. Generally, the wave generator is rotated at a high speed by a high-speed rotation source such as a motor, and the rigid internal gear side is fixed, so that a rotational output that is greatly decelerated can be obtained from the flexible external gear side (patent) Reference 1).

The present inventor has two circular contour eccentric rollers instead of the elliptic contour wave generator used in the conventional wave gear reducer as a gear reducer with the same high accuracy and high reduction ratio. And a flexible external gear using a swing generator configured to be overlapped so that the centers of the circular contours of the eccentric rollers are spaced apart from the rotation shaft by the predetermined amount in the opposite directions. 8 is developed to mesh with the rigid internal gear and move the meshing position of both gears in the circumferential direction to obtain a significantly reduced rotational output, as shown in FIG. As described above, a unit-type gear device 100 including this oscillating gear device is under development.
JP-A-10-110790

  As shown in FIG. 8A, the unit-type gear device 100 under development by the present inventor includes the above-described oscillating gear device 110. When the unit-type gear device 100 is assembled, the unit-type gear device 100 is oscillated. The swing generator 140 having the above-described configuration is fitted into the circular opening of the cup-shaped flexible external gear 130 of the dynamic gear device 110 to cause the flexible external gear 130 to bend and swing. After the axis of the rotation shaft of the generator 140 and the axis of the rotation shaft of the flexible external gear 130 are matched, the flexible external gear 130 and the rigid internal gear 120 are properly meshed, and then output. The unit 200 and the input unit 300 need to be connected and fixed.

  However, in the unit type gear device 100 shown in FIG. 8A, as shown in an enlarged view in FIG. 8B, there is no contrivance on the outer peripheral surface of the eccentric roller 141 or the boundary between the output unit 200 and the input unit 300. Therefore, there is a problem that the unit-type gear device 100 is not easily assembled. Specifically, in assembling the oscillating gear device 110, the length of the long axis of the oscillating generator 140 is longer than the diameter of the opening of the flexible external gear 130. Both ends of the long axis 140 were caught in the opening of the flexible external gear 130 and could not be fitted smoothly. If the axis of the rotation shaft of the oscillation generator 140 and the axis of the rotation shaft of the flexible external gear 130 do not coincide with each other, the outer teeth and the inner teeth are not properly engaged with each other. The burden of making adjustments to properly mesh the teeth was great.

  Therefore, the present invention provides a swing that can easily fit the swing generator inside the flexible external gear and correctly mesh the rigid internal gear with the flexible external gear. It is an object of the present invention to provide a gear device, a unit gear device including the swing gear device, and an assembling method thereof.

In order to solve the above-described problems, an oscillating gear device of the present invention includes an annular rigid internal gear, an annular flexible external gear disposed inside the rigid internal gear, and the flexibility. A swing generator fitted inside the external gear, the flexible external gear is bent, and the two gears are partially connected at two positions facing each other across the center of the rigid internal gear. An oscillating gear for generating relative rotation between the rigid internal gear and the flexible external gear by meshing and moving the meshing position of both gears in the circumferential direction by rotation of the oscillation generator The swing generator includes a circular contour eccentric cam that rotates eccentrically around a rotation axis of the swing generator, a bearing fitted on an outer periphery of the eccentric cam, Two eccentric rollers having a circular contour provided with wheels arranged on the outer periphery; La is arranged so that the center of the circular contour of each eccentric roller is located at a predetermined distance away from the rotation axis in the opposite direction, and the eccentric roller is cut along a plane including the rotation axis In this case, the cross-section of the outer peripheral surface of the eccentric roller has an arc shape or a taper shape protruding outward in the radial direction of the eccentric roller .

  According to the above configuration, when the eccentric roller is cut along a plane including the rotation shaft of the oscillation generator, the cross section of the outer peripheral surface of the eccentric roller has an arc shape or a taper shape. When the generator is fitted into the flexible external gear, both ends of the long shaft of the oscillation generator are not caught in the opening of the flexible external gear, and can be fitted smoothly and easily.

The length of the cross-sectional center of the outer peripheral surface of the eccentric roller to said rotary shaft, the difference between the length of up to the rotary shaft from the cross-sectional end portion of the outer peripheral surface of the eccentric roller, a value obtained by the following formula (1) same, or preferably greater than that value.
{(Zc−Zf) / 2} × m (1)
However,
m: Module of rigid internal gear and flexible external gear Zc: Number of teeth of rigid internal gear Zf: Number of teeth of flexible external gear By moving the meshing position of the gear in the circumferential direction, An oscillating gear device for generating relative rotation between a rigid internal gear and the flexible external gear, wherein the oscillating generator rotates eccentrically about a rotation axis of the oscillating generator. Two eccentric rollers each having a circular contour eccentric cam, a bearing fitted on the outer periphery of the eccentric cam, and a wheel disposed on the outer periphery of the bearing. When the center of the circular contour of each eccentric roller is disposed so as to be spaced apart from the rotation axis by the predetermined amount in the opposite direction, and when the eccentric roller is cut by a plane including the rotation axis, The cross section of the outer peripheral surface of the eccentric roller has an arc shape, or It is characterized by having a tapered shape.

  According to the above configuration, the length from the center of the cross section of the outer peripheral surface of the eccentric roller to the rotation shaft of the swing generator, and the length from the end of the cross section of the outer peripheral surface of the eccentric roller to the rotation shaft of the swing generator Therefore, the length of the long axis of the swing generator at the end of the cross section of the outer peripheral surface of the eccentric roller is the flexible external tooth. It is substantially the same or smaller than the diameter of the gear opening. Therefore, when the swing generator is fitted into the flexible external gear, both ends of the long shaft of the direction swing generator are not caught in the opening of the flexible external gear, and can be fitted smoothly and easily. it can.

  In order to solve the above-described problems, a unit-type gear device of the present invention is a unit-type gear device including the oscillating gear device of the present invention, and includes a rigid internal gear, a flexible external gear, and the flexible gear. An output shaft coupled to and fixed to the external external gear, and an output unit having an output unit housing that supports them, the oscillation generator, an input shaft to which the oscillation generator is coupled and fixed, and the input An input unit having an input unit housing that supports the shaft, and the outer periphery of the input unit side end of the output unit and the inner periphery of the output unit side end of the input unit are connected to the axis of the output shaft and the input shaft. A unit-type gear device, which is fitted so that its axes coincide with each other.

According to the above configuration, the inner periphery of the output unit side end of the input unit guides the outer periphery of the input unit side end of the output unit, and the axis of the output shaft and the axis of the input shaft match smoothly. And an output unit and an input unit can be easily fitted together.
At the same time, the flexible external gear and the swing generator of the swing gear device included in the unit-type gear device also prevent the both ends of the long axis of the swing generator from being caught in the opening of the flexible external gear. Fits smoothly and easily. Further, since the axis of the output shaft of the assembled unit gear device and the axis of the input shaft are coincident with each other, it is connected and fixed to the axis of the rotation shaft of the swing generator connected and fixed to the input shaft and the output shaft. The axis of the rotation axis of the flexible external gear is also coincident with each other, and the flexible external gear and the rigid internal gear are properly meshed with each other.

In order to solve the above-mentioned problem, an assembly method of the unit gear device of the present invention is an assembly method of assembling the unit speed reducer of the present invention.
(A) assembling an output unit including a rigid internal gear, a flexible external gear, an output shaft, and an output unit housing;
(B) assembling an input unit including an input shaft, a swing generator, and an input unit housing;
(C) fitting the output unit and the input unit while guiding the outer periphery of the input unit side end of the output unit by the inner periphery of the output unit side end of the input unit;
It is characterized by including.

  According to the above configuration, the output unit and the input unit can be fitted together smoothly and easily while guiding the outer periphery of the input unit side end of the output unit by the inner periphery of the output unit side end of the input unit. . At the same time, the flexible external gear and the swing generator of the swing gear reducer provided in the unit type gear device may also be caught by the opening of the flexible external gear at both ends of the long axis of the swing generator. It fits smoothly and easily. In addition, since the output unit and the input unit are fitted together, the axis of the output shaft of the assembled unit gear device and the axis of the input shaft coincide with each other. Therefore, the oscillation generator connected and fixed to the input shaft The axis of the rotary shaft and the axis of the rotary shaft of the flexible external gear connected and fixed to the output shaft also coincide with each other, and the flexible external gear and the rigid internal gear are in proper meshing state. .

  According to the present invention, the swing that can easily fit the swing generator inside the flexible external gear and correctly mesh the rigid internal gear with the flexible external gear. It is possible to provide a gear device and a unit gear device including the swing gear device.

  Hereinafter, with reference to the drawings, a rocking gear device according to an embodiment of the present invention and a unit gear device including the same will be described.

  FIG. 1 is a cross-sectional view in a plane including a device axis line of a unit gear device including a swing gear device according to an embodiment of the present invention. The unit-type gear device 1 includes an output unit 2 and an input unit 3. The oscillating gear device 10 is incorporated in the end of the output unit 2 on the input unit 3 side.

  The oscillating gear device 10 includes an annular rigid internal gear 20, an annular flexible external gear 30 that can be elastically deformed, and an oscillation generator 40. The rigid internal gear 20 includes an internal tooth portion 21 formed on the inner peripheral surface. The flexible external gear 30 has a cup shape and includes an external tooth portion 31 formed on the outer peripheral surface of the opening of the cup. The swing generator 40 includes two eccentric rollers 41.

  In the oscillating gear device 10, a flexible external gear 30 is arranged inside a rigid internal gear 20, and a oscillating generator 40 is fitted inside the flexible external gear 30, so that a flexible external tooth is provided. By bending the gear 30, the internal teeth formed in the internal tooth portion 21 of the rigid internal gear 20 and the external teeth formed in the external tooth portion 31 of the flexible external gear 30 are rigid internal teeth. The gear 20 is configured so as to mesh at two locations facing each other across the center of the gear 20.

  The swing generator 40 includes two eccentric rollers 41 having a circular contour that rotate about the rotation axis of the swing generator 40. The eccentric roller 41 includes a circular contour eccentric cam 42 that rotates eccentrically by a predetermined amount, a bearing 43 fitted on the outer periphery of the eccentric cam 42, and a wheel 44 disposed on the outer periphery of the bearing 43. The eccentric cam 42 is fixed to the input shaft 61 so as to rotate about the rotation axis of the swing generator 40. The axis of the rotation shaft of the swing generator 40 coincides with the axis of the input shaft 61, that is, coincides with the device axis 1a.

  Next, the output unit 2 and the input unit 3 will be described with reference to FIG. FIG. 2 is a cross-sectional view showing a state where the output unit and the input unit of the unit-type gear device of FIG. 1 are separated.

  As shown in FIG. 2, the output unit 2 in the separated state includes a rigid internal gear 20, a flexible external gear 30, and an output shaft 51. The rigid internal gear 20 is fixed to the output unit housing 50 and the bearing holder 54 with a rigid internal gear fixing bolt 23. An output shaft 51 is connected and fixed to the bottom surface of the flexible external gear 30 in a coaxial state. The flexible external gear 30 and the output shaft 51 are provided in the bolt hole of the thick output shaft mounting portion 32 provided on the bottom surface portion of the cup-shaped flexible external gear 30. A flexible external gear mounting bolt 34 is fitted with the presser plate 35 in between, and is fixedly connected. The output shaft 51 is supported by an output side bearing 52, and the output side bearing 52 is held by a bearing holder 54 and a bearing pressing plate 55. As the output side bearing 52, a cross roller bearing is usually used. Further, an output side oil seal 53 is provided next to the output side bearing 52.

  As shown in FIG. 2, the input unit 3 in a separated state includes a swing generator 40 and an input shaft 61, and the swing generator 40 is coaxial with the tip of the input shaft 61. It is fixed. The input shaft 61 is supported by an input side bearing 62, and the input side bearing 62 is held by an input unit housing 60. An input side oil seal 63 is provided next to the input side bearing 62. A guide portion 60 a having a shape that can be fitted to the outer periphery of the input unit 3 side end of the output unit 2, that is, the outer periphery of the rigid internal gear 20, is provided at the end of the input unit housing 60 on the output unit 2 side. ing.

  1 is assembled by fitting the output unit 2 and the input unit 3 and connecting and fixing the input unit housing 60 and the rigid internal gear 20 with the unit connecting bolt 64. In the assembled state, the axis of the output shaft 51 coincides with the axis of the input shaft 61, which coincides with the device axis 1a (see FIG. 1).

  Here, the arrangement state of the two eccentric rollers 41 of the swing generator 40 will be described. FIG. 3 is an explanatory view schematically showing an arrangement state of two eccentric rollers of the swing generator. As shown in FIG. 3, the two eccentric rollers 41 of the swing generator 40 are arranged so that the center 41c of the circular contour of each eccentric roller 41 is opposite to the rotation axis of the swing generator 40, that is, from the device axis 1a. They are arranged so as to be separated by a predetermined amount (ε). Since the swing generator 40 has such a shape, when the swing generator 40 is fitted inside the flexible external gear 30, the outer peripheral surface of the eccentric roller 41 becomes the flexible external gear. 30, the flexible external gear 30 bends in contact with the inner peripheral surface of the external tooth portion 31, and the external teeth of the flexible external gear 30 are the internal teeth of the rigid internal gear 20 and the rigid internal gear 20. Can be engaged with each other at two opposite locations.

  Next, operation | movement of the rocking gear apparatus 10 is demonstrated using FIG. FIG. 4 is an explanatory diagram of the operation of the oscillating gear device.

  As shown in FIG. 4, before rotation, the internal teeth indicated by diagonal lines of the rigid internal gear 20 mesh with the external teeth indicated by black of the flexible external gear 30. When the input shaft 61 is driven by a motor or the like, the swing generator 40 starts to rotate. When the swing generator 40 rotates 90 degrees, the meshing position moves 90 degrees in the circumferential direction. In this oscillating gear device 10, since the difference between the number of teeth of the internal teeth of the rigid internal gear 20 and the number of teeth of the flexible external gear 30 is two, the oscillating generator 40 has a meshing position around the circumference. In order for the meshing position to return to the internal teeth indicated by the diagonal lines of the rigid internal gear 20, the flexible external gear 30 rotates by the number of external teeth plus two. There must be. That is, when the swing generator 40 rotates 360 degrees, the external teeth adjacent to the external teeth shown in black are meshed with the internal teeth shown in diagonal lines. As a result, the flexible external gear 30 rotates relative to the rotation direction of the oscillation generator 40 by the number of teeth of two sheets. Since the unit type gear device 1 of the present embodiment is fixed to the output unit housing 50 so that the rigid internal gear 20 does not relatively rotate, the number of teeth of the internal teeth and external teeth from the flexible external gear 30. The rotation that is greatly decelerated according to the difference can be output to the output shaft 51.

  The unit-type gear device 1 according to the present embodiment includes a swing gear device 10 having a swing generator 40 in which a cross section of an outer peripheral surface 41a of an eccentric roller 41 has an arc shape or a taper shape. FIG. 5 is an enlarged view of the meshing portion of the swing gear device of the unit-type gear device of FIG. 1 and the boundary portion between the output unit and the input unit. The cross section of the outer peripheral surface 41a of the eccentric roller 41 shown in FIG. 5 has an arc shape. 6A and 6B are enlarged views of the outer peripheral surface of the eccentric roller. FIG. 6A is a cross-sectional view of the eccentric roller having an arc-shaped outer peripheral surface, and FIG. 6B is an eccentric surface having a tapered outer peripheral surface. It is sectional drawing of a roller.

  The swing generator 40 is fitted inside the flexible external gear 30, and the outer peripheral surface 41 a of the eccentric roller 41 is in contact with the inner peripheral surface of the flexible external gear 30. The gear 30 is bent so that the flexible external gear 30 and the rigid internal gear 20 are partially meshed at two locations. Therefore, the length of the long axis of the oscillation generator 40 must be longer than the diameter of the opening of the flexible external gear 30. However, since the length of the long axis of the swing generator 40 is longer than the diameter of the opening of the flexible external gear 30, the swing generator 40 is inserted into the flexible external gear 30. The both ends of the long axis of the swing generator 40 are caught by the opening of the flexible external gear 30. Therefore, it is necessary to fit the swing generator 40 while being inclined with respect to the opening of the flexible external gear 30 so that both ends of the long shaft are not caught. As described above, when the swing generator 40 is fitted to the opening of the flexible external gear 30 at an angle, the flexible external gear 30 and the rigid internal gear 20 are brought into contact with each other at the time of the fitting. Since the gears are not properly meshed with each other, the axis of the rotation shaft of the swing generator 40 and the axis of the flexible external gear 30 must be aligned with each other so that a correct meshing state can be obtained. Was big.

  Therefore, by making the cross section of the outer peripheral surface 41a of the eccentric roller 41 included in the swing generator 40 into an arc shape or a tapered shape, both ends of the long axis of the swing generator 40 are openings of the flexible external gear 30. The swing generator 40 can be smoothly and easily fitted inside the flexible external gear 30 without being caught on the inner side.

Furthermore, as shown in FIG. 6, the difference d between the length from the center 41b of the outer peripheral surface 41a of the eccentric roller 41 to the rotation axis and the length from the end of the outer surface 41a to the rotation axis is expressed by the following formula ( The swing generator 40 can be smoothly and extremely easily fitted inside the flexible external gear 30 by making it substantially the same as or larger than the value obtained in 1). .
(1) {(Zc−Zf) / 2} × m
Here, m is a module of the rigid internal gear 20 and the flexible external gear 30, Zc is the number of teeth of the rigid internal gear 20, and Zf is the number of teeth of the flexible external gear 30.

  FIG. 7 is a diagram schematically showing the rigid internal gear, the flexible external gear, and the oscillation generator before the oscillation generator is fitted into the flexible external gear. The eccentric roller 41 included in the swing generator 40 of the swing gear device 10 shown in FIG. 7 has a circular cross section on the outer peripheral surface, and the value of d is a value obtained by the above formula (1), that is, The difference between the radius of the inner periphery of the rigid internal gear 20 and the radius of the opening of the flexible external gear 30 is larger. As a result, the length of the long axis of the swing generator at the cross-sectional end of the outer peripheral surface of the eccentric roller 41 is smaller than the diameter of the opening of the flexible external gear. That is, when the swing generator 40 is fitted into the flexible external gear 30 without being tilted, the portion of the eccentric roller 41 in contact with the opening of the flexible external gear 30 becomes an arc-shaped outer peripheral surface. Therefore, the swing generator 40 does not get caught in the opening of the flexible external gear 30 and gradually bends the flexible external gear 30 as the swing generator 40 is pushed into the flexible external gear 30. However, the flexible external gear 30 and the rigid internal gear 20 can be deformed so as to partially mesh with each other at two locations. That is, the swing generator 40 can be smoothly and extremely easily fitted inside the flexible external gear 30.

  Further, in the unit type gear device 1 of the present embodiment, the outer periphery of the input unit 3 side end portion of the output unit 2 and the inner periphery of the output unit 2 side end portion of the input unit 3 are the axis line of the output shaft 51 and the input shaft. The 61 axes are fitted so that they coincide. Specifically, as shown in FIGS. 2 and 5, a guide that can be fitted to the outer periphery of the input side end of the output unit 2 on the inner periphery of the output side end of the input unit housing 60 of the input unit 3. A portion 60a is provided. In the present embodiment, since the outer periphery of the input side end of the output unit 2 is the outer periphery of the rigid internal gear 20, the guide portion 60 a can be fitted to the outer periphery of the rigid internal gear 20. By providing such a guide portion 60a, it is possible to fit the output unit 2 and the input unit 3 smoothly and easily while guiding the outer periphery of the input side end portion of the output unit 2. At this time, the unit-type gear device 1 of the present embodiment includes the already described oscillating gear device 10 of the present invention, so that both ends of the major axis of the oscillating generator 40 are openings of the flexible external gear 30. It is smoothly and easily fitted without being caught on the part.

  Furthermore, in order for the rigid internal gear 20 and the flexible external gear 30 to partially mesh properly at two locations facing each other across the center of the rigid internal gear 20, the axis of the rotation shaft of the oscillation generator 40 is used. And the axis of the rotary shaft of the flexible external gear 30 need to coincide with each other, but the axis of the output shaft 51 of the assembled unit type gear device 1 and the axis of the input shaft 61 coincide with each other. The axis of the rotation shaft of the oscillation generator 40 connected and fixed to the input shaft 61 and the axis of the rotation shaft of the flexible external gear 30 connected and fixed to the output shaft 51 also coincide with each other. Therefore, the rigid internal gear 20 and the flexible external gear 30 of the oscillating gear device 10 of the assembled unit type gear device 1 are properly meshed with each other.

Next, a method for assembling the unit gear device 1 of the present invention will be described. The assembling method of the unit type gear device 1 of the present invention only needs to include the following steps (A), (B), and (C).
(A) Step of assembling output unit 2 including rigid internal gear 20, flexible external gear 30, output shaft 51 and output unit housing 50 (B) Input shaft 61, swing generator 40 and input unit housing 60 (C) The output unit 2 and the input unit 3 are guided while guiding the outer periphery of the input unit 3 side end of the output unit 2 by the inner periphery of the output unit 2 side end of the input unit 3. The process of fitting

  In step (A), the output unit 2 is assembled. In step (B), the input unit 3 is assembled. Either step (A) or step (B) may be performed first or simultaneously. Since the configuration of the output unit 2 and the configuration of the input unit 3 have already been described with reference to FIG. 2, the output unit 2 and the input unit 3 can be assembled by referring to the corresponding description and FIG. .

  Step (C) is a step of fitting the assembled output unit 2 and input unit 3 together. At this time, the input unit of the output unit 2 is guided by the guide 60 a provided on the inner periphery of the output unit 2 side end of the input unit 3, that is, the inner periphery of the output side end of the input unit housing 60 of the input unit 3. The output unit 2 and the input unit 3 are fitted together while guiding the outer periphery of the three side end portions.

  By using the method of assembling the unit gear device 1 of the present invention, the output unit 2 and the input unit 3 can be fitted together smoothly and easily. At the same time, the swing generator 40 can be smoothly and easily fitted into the flexible external gear 30 of the swing gear device 10. Furthermore, the rigid internal gear 20 and the flexible external gear 30 of the oscillating gear device 10 of the assembled unit gear device 1 are in a properly meshed state.

  The embodiment of the present invention has been described above, but the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made within the scope shown in the claims.

It is sectional drawing in the plane containing the apparatus axis line of a unit-type gear apparatus provided with the rocking gear apparatus in one Embodiment of this invention. It is sectional drawing which shows the state which the output unit and input unit of the unit type gear apparatus of FIG. 1 isolate | separated. It is explanatory drawing which shows typically the arrangement | positioning state of two eccentric rollers of a rocking | fluctuation generator. It is explanatory drawing of operation | movement of a rocking gear apparatus. It is an enlarged view of the meshing part of the rocking | fluctuation gear apparatus of the unit type gear apparatus of FIG. 1, and the boundary part of an output unit and an input unit. (A) is sectional drawing of the eccentric roller which has an arc-shaped outer peripheral surface, (b) is sectional drawing of the eccentric roller which has a taper-shaped outer peripheral surface. It is the figure which showed typically the rigid internal gear, the flexible external gear, and the rocking | fluctuation generator before a rocking | fluctuation generator was fitted by the flexible external gear. (A) is sectional drawing in the plane containing the apparatus axis line of the unit type gear apparatus provided with the swing gear apparatus before improvement, (b) is meshing | engagement of the swing gear apparatus of the unit type gear apparatus of (a). It is an enlarged view of the boundary part of a part and an output unit and an input unit.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Unit type gear apparatus 1a Apparatus axis line 2 Output unit 3 Input unit 10 Oscillating gear apparatus 20 Rigid internal gear 21 Internal tooth part 23 Rigid internal gear fixing bolt 30 Flexible external gear 31 External tooth part 32 Output shaft Mounting portion 34 Flexible external gear mounting bolt 35 Flexible external gear presser plate 40 Oscillating generator 41 Eccentric roller 41a Outer peripheral surface of eccentric roller 41b Center of cross section of outer peripheral surface of eccentric roller 42 Eccentric cam 43 Bearing 44 Wheel 50 Output unit housing 51 Output shaft 52 Output side bearing 53 Output side oil seal 54 Bearing holder 55 Bearing retainer plate 60 Input unit housing 60a Guide 61 Input shaft 62 Input side bearing 63 Input side oil seal 64 Unit connection bolt

Claims (4)

An annular rigid internal gear, an annular flexible external gear disposed inside the rigid internal gear, and a swing generator fitted inside the flexible external gear The flexible external gear is bent so that the two gears are partially meshed at two positions facing each other across the center of the rigid internal gear, and the meshing position of both gears is determined by the rotation of the oscillation generator. An oscillating gear device that causes relative rotation between the rigid internal gear and the flexible external gear by moving in a circumferential direction,
The swing generator is disposed on an outer periphery of the eccentric cam, a circular contour eccentric cam that rotates eccentrically around a rotation axis of the swing generator, a bearing fitted on the outer periphery of the eccentric cam, and Two eccentric rollers each having a circular contour provided with a wheel, and the two eccentric rollers are overlapped so that the centers of the circular contours of the eccentric rollers are positioned away from the rotation shaft by the predetermined amount in the opposite directions. Arranged,
When the eccentric roller is cut along a plane including the rotation shaft, a cross section of the outer peripheral surface of the eccentric roller has an arc shape or a taper shape protruding radially outward of the eccentric roller. A swing gear device characterized by the above. The difference between the length from the center of the cross section of the outer peripheral surface of the eccentric roller to the rotating shaft and the length from the end of the cross section of the outer peripheral surface of the eccentric roller to the rotating shaft is a value obtained by the following equation (1): The oscillating gear device according to claim 1, wherein the oscillating gear device is the same or larger than the value.
{(Zc−Zf) / 2} × m (1)
However,
m: Module of rigid internal gear and flexible external gear Zc: Number of teeth of rigid internal gear Zf: Number of teeth of flexible external gear A unit-type gear device comprising the oscillating gear device according to claim 1 or 2,
An output unit having the rigid internal gear, the flexible external gear, an output shaft connected to and fixed to the flexible external gear, and an output unit housing that supports them;
The swing generator, an input shaft to which the swing generator is connected and fixed, and an input unit having an input unit housing that supports the input shaft,
The outer periphery of the output unit side end of the output unit and the inner periphery of the output unit side end of the input unit are fitted so that the axis of the output shaft and the axis of the input shaft coincide. A unit-type gear device. An assembly method for assembling the unit type gear device according to claim 3,
(A) assembling an output unit including the rigid internal gear, the flexible external gear, the output shaft, and the output unit housing;
(B) assembling an input unit including the input shaft, the swing generator, and the input unit housing;
(C) fitting the output unit and the input unit together while guiding the outer periphery of the input unit side end of the output unit by the inner periphery of the output unit side end of the input unit;
A method of assembling a unit type gear device comprising:

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