CN105008763B - Flexible engagement gear device - Google Patents
Flexible engagement gear device Download PDFInfo
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- CN105008763B CN105008763B CN201380073367.XA CN201380073367A CN105008763B CN 105008763 B CN105008763 B CN 105008763B CN 201380073367 A CN201380073367 A CN 201380073367A CN 105008763 B CN105008763 B CN 105008763B
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- Prior art keywords
- limiting part
- gear
- external gear
- face
- roller bearing
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
- F16H57/022—Adjustment of gear shafts or bearings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The present invention provides a kind of flexible engagement gear device.Flexible engagement gear device (100) of the invention has possessed vibration body (104), external gear (120), roller bearing (110) and internal gear (130), wherein, in thrust bearing i.e. the 1st limiting part (150) that the fixation wall (136) for being configured at the axial direction of roller bearing (110) (O) side, the retainer (114) that restricted roller bearing (110) are configured between output device (138) and roller bearing (110) are axially (O) mobile.Lost thereby, it is possible to reduce the end face caused by roller bearing produced because the retainer of roller bearing is moved axially.
Description
Technical field
The present invention relates to a kind of flexible engagement gear device.
Background technology
Flexible engagement gear device described in patent document 1 possesses：Play vibration body；The external gear of tubular, is configured at this
Rise vibration body periphery and with the rotation that vibration body is played by this deflection deformation pliability；Roller bearing, is configured at the starting of oscillation
Between body and the external gear；1st internal gear, for the external gear internal messing and with rigidity；2nd internal gear, with the 1st internal gear
It is arranged side by side and with the external gear internal messing and with rigidity.
Conventional art document
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2012-2318 publications
The content of the invention
The invention technical task to be solved
In the flexible engagement gear device described in patent document 1, match somebody with somebody between vibration body and the external gear of tubular rising
Roller bearing is equipped with, when carrying out torque transmission, the roller of the roller bearing is possible to can be twisted.If roller is twisted, Roller Shaft
Holding can be to part (side part) side shifting of the axial side of the roller bearing for being configured at flexible engagement gear device.By
This, the end face of the retainer of roller bearing can be collided and slided so as to produce friction loss in the end face of retainer with side part
(also referred to as end face loss).
Therefore, the present invention is completed to solve the above problems, and its problem is to provide one kind to reduce because of roller
The flexible engagement gear device that the end face caused by roller bearing that the retainer of bearing is moved axially and produced loses.
Means for solving technical task
The present invention is that above-mentioned problem is solved by following flexible engagement gear device, i.e. the engagement type tooth of the flexure
Wheel apparatus possess：Play vibration body；The external gear of tubular, is configured at periphery that this plays vibration body and with the rotation that vibration body is played by this
The pliability of deflection deformation；Roller bearing, is configured at this and rises between vibration body and the external gear；1st internal gear, in the external gear
Engage and with rigidity；And the 2nd internal gear, it is arranged side by side with the 1st internal gear and with the external gear internal messing and with firm
Property, wherein, configure restricted being somebody's turn to do being configured between the side part of the axial side of the roller bearing and the roller bearing
1st limiting part of the retainer axial movement of roller bearing, the friction between the end face of the retainer and the 1st limiting part
End face of the coefficient of friction less than the retainer and the side portion between coefficient or the 1st limiting part and the side part
Coefficient of friction between part.
In the present invention, the 1st limiting part is configured between side part and roller bearing.And, the end face of retainer
Roller Shaft is less than with the coefficient of friction between the 1st limiting part or the coefficient of friction between the 1st limiting part and side part
Coefficient of friction between the end face and side part of the retainer for holding.That is, in the present invention, even if roller bearing is because twisted and axial
It is mobile, cause retainer to be collided via the 1st limiting part and side part, also can be in the end face of the less retainer of coefficient of friction
Enter line slip between the 1st limiting part, or between less 1st limiting part of coefficient of friction and side part.That is, with because
Compared with the end face that the direct slip of side part is produced loses, the present invention can drop the end face of the big retainer of coefficient of friction
Lose in low side face.
Invention effect
In accordance with the invention it is possible to reduce being caused by roller bearing of producing because the retainer of roller bearing is moved axially
End face loses.
Brief description of the drawings
Fig. 1 is integrally-built of the flexible engagement gear device involved by expression the 1st implementation method of the invention
The sectional view of example.
(A) is the front view for playing vibration body for representing Fig. 1 in Fig. 2, and (B) is the sectional view for playing vibration body for representing Fig. 1 in Fig. 2.
Fig. 3 is the position risen between vibration body, roller bearing, external gear and the 1st limiting part, the 2nd limiting part for representing Fig. 1
Put the schematic diagram of of relation.
Fig. 4 is showing for that plays the position relationship between vibration body, roller bearing, external gear and internal gear of expression Fig. 1
It is intended to.
Fig. 5 is the signal of of the position relationship between the 1st limiting part, the 2nd limiting part shown in expression Fig. 3
Figure.
Fig. 6 is integrally-built of the flexible engagement gear device involved by expression the 2nd implementation method of the invention
The sectional view of example.
Specific embodiment
Hereinafter, refer to the attached drawing is described in detail to one of the 1st implementation method of the invention.
First, the overall structure to present embodiment is outlined.
As shown in figure 1, flexible engagement gear device 100 possesses：Play vibration body 104；Tubular external gear 120 (120A,
120B), the periphery of vibration body 104 it has been configured at and with the pliability by playing the rotation of vibration body 104 and deflection deformation；Roller Shaft
110 (110A, 110B) are held, has been configured between vibration body 104 and external gear 120；Slow down and use internal gear (the 1st internal gear) 130A,
For external gear 120A internal messings and with rigidity；And output internal gear (the 2nd internal gear) 130B, with deceleration internal gear 130A
It is arranged side by side and with external gear 120B internal messings and with rigidity (in addition, by deceleration internal gear 130A and output internal gear
130B is referred to as internal gear 130).And, in the fixation wall of the axial O sides for being respectively arranged at roller bearing 110A, 110B
136th, output device 138 (side part) configures restricted roller bearing 110A, 110B and roller bearing 110A, 110B between
The 1st limiting part 150A, 150B (150) of retainer 114A, 114B (114) axial direction O movements.Wherein, the 1st limiting part 150
It is thrust bearing.
Hereinafter, each constitutive requirements are described in detail.
As shown in Figure 1 and Figure 2, vibration body 104 is played in generally cylindrical in shape.Specifically, vibration body 104 is played to possess with eccentric (inclined
Heart amount L) position centered on the engagement range FA based on certain radius of curvature r1, and in by multiple radius of curvature combine
Shape.And, rise vibration body 104 engagement range FA realize external gear 120A and deceleration internal gear 130A engagement and
External gear 120B uses the engagement of internal gear 130B with output.Vibration body 104 is played to be formed with for inserting input shaft 102 in center
Input shaft bore 106.In order to make vibration body 104 and input shaft when input shaft 102 is inserted in input shaft bore 106 and rotates
102 are rotated integrally, and keyway 108 is provided with input shaft bore 106.In addition, input shaft 102 via bearing 140,142 rotatably
E axle supporting is in fixation wall 136.
As shown in figure 1, roller bearing 110 is the axle being configured between the inner side of the outside of vibration body 104 and external gear 120
Hold.Roller bearing 110A (110B) by inner ring 112, retainer 114A (114B), the roller 116A (116B) as rolling element and
Outer ring 118A (118B) is constituted.Inner ring 112 supporting roller 116A, 116B, and be configured to be contacted with the periphery for playing vibration body 104.
In addition, roller 116A (116B) as long as cylinder, also including needle roller shape.Retainer 114 (114A, 114B) keeps rolling
Sub- 116A, 116B are so that it across certain intervals and can rotate each other in the circumferential.Outer ring 118A (118B) is configured at roller
The outside of 116A (116B).Outer ring 118 (118A, 118B) deflection deformation by the rotation of a vibration body 104, so that being configured at
External gear 120 on the outside of it radially deforms.Be configured with the outside of the axial O of roller bearing 110 the 1st limiting part 150 (after
State).
As shown in figure 1, external gear 120 is made up of base member 122 and external tooth 124 (124A, 124B), and it is cylindrical in shape.Base
Part 122 is the cartridge with pliability, and is configured at the outside of roller bearing 110.As shown in figure 1, external tooth 124 is in axle
Split on O, but support the base member 122 of the external tooth 124 respectively and then form as one and shared.In addition, in order to realize reason
By engagement, the tooth form of external tooth 124 is determined according to trochoid.The 2nd limiting part 152 is configured with the outside of the axial O of external gear 120
(aftermentioned).
As shown in figure 1, deceleration internal gear 130A is formed by with rigid part.Deceleration internal gear 130A possesses tooth
The internal tooth 128A of i (i=2,4 ... ...) piece more than the number of teeth of external tooth 124A of the number than external gear 120A.In deceleration internal gear 130A
On, it is fixed with the fixation wall 136 for fixing flexible engagement gear device 100 via bolt hole 132A and with bolt 134A.
Deceleration internal gear 130A is by engaging with external gear 120A and the deceleration to playing the rotation of vibration body 104 is contributed.Internal tooth 128A
It is shaped to be engaged with the external tooth 124A theories based on trochoid.
On the other hand, as shown in figure 1, identical with internal gear 130A with deceleration, internal gear 130B is also by with firm for output
The part of property is formed.Output internal gear 130B possesses the number of teeth identical internal tooth of the number of teeth and the external tooth 124B of external gear 120B
128B (constant-speed transmission).In output with internal gear 130B, output device is fixed with via bolt hole 132B and with bolt 134B
138, transmission has the output from flexible engagement gear device 100 on the output device 138.
In addition, as shown in figure 1, in present embodiment, the radially inner side positioned at internal gear 130 plays vibration body 104, Roller Shaft
Hold 110 and external gear 120 axial O length it is shorter than the axial O length of internal gear 130, and the radially inner side in internal gear 130 is matched somebody with somebody
It is equipped with the 1st limiting part 150 and the 2nd limiting part 152 (aftermentioned).But, however it is not limited to this, play vibration body, roller bearing and outer
Gear can also be identical with the axial O length of internal gear.
Then, using Fig. 1, Fig. 3~Fig. 5 to the 1st limiting part 150 (150A, 150B), the 2nd limiting part 152 (152A,
152B) it is described in detail.
1st limiting part 150A is configured at roller bearing 110A and configuration consolidating in the axial O sides of roller bearing 110A
Determine between wall 136, the 1st limiting part 150B is configured at roller bearing 110B and configuration in the axial O sides of roller bearing 110B
Output device 138 between, with limit retainer 114A, 114B axial O move.And, as shown in figure 1, the 1st limiting part
150 radially inner sides for being configured at the 2nd limiting part 152.As described above, the 1st limiting part 150 is the thrust bearing of ring-type, and
With 2 lassos and the rolling element being clipped between 2 lassos (rolling element can be that ball can also be roller (needle roller)).
As shown in figure 1, an end face outside 150AA (150BA) for lasso is so that the inner side end 150AB of another lasso
(150BB) abuts the mode of (having gapless) on axial O with the end face 114AC (114BC) of retainer 114A (114B)
It is fixed on the side 136A (the side 138A of output device 138) of fixation wall 136.I.e., it is possible to say that present embodiment is configured to, the
End of the friction coefficient μ 2 less than retainer 114A between 1 limiting part 150A (150B) and the end face 114AC of retainer 114A
(the ＜ μ of μ 2 of friction coefficient μ 0 between face 114AC (the end face 114BC of retainer 114B) and fixation wall 136 (output device 138)
0)。
2nd limiting part 152A, 152B is the part independent with the 1st limiting part 150, and it is respectively arranged at fixation wall
Between 136 and external gear 120 and between output device 138 and external gear 120, the axial O movements of external gear 120 are limited.And,
As shown in figure 1, the 2nd limiting part 152A, 152B is respectively arranged at radial outside and the deceleration of the 1st limiting part 150A, 150B
With internal gear 130A, the radially inner side of output internal gear 130B.2nd limiting part 152A, 152B is by resin (resistance to sliding
Relatively low heat resistance macromolecule resin is PEEK materials, nylon, fluorine resin etc.) the low friction part that is made, and shape in a ring
Shape.That is, the 1st limiting part 150 is different from the material of the 2nd limiting part 152.
As shown in figure 1, the end face outside 152AA (152BA) of the 2nd limiting part 152A (152B) is so that the 2nd limiting part
The inner side end 152AB (152BB) of 152A (152B) on axial O with the end face 120AC (120BC) of external gear 120A (120B)
With the side that the mode of the end face 118AC (118BC) adjacent (having gapless) of outer ring 118A (118B) is fixed on fixation wall 136
Face 136A (the side 138A of output device 138).And, the end face 120AC and the 2nd limiting part 152A of external gear 120A are (outward
The end face 120BC and the 2nd limiting part 152B of gear 120B) between friction coefficient μ 4 less than external gear 120A end face
Friction coefficient μ 3 (the ＜ μ 3 of μ 4) between 120AC and fixation wall 136 (the end face 120BC and output device 138 of external gear 120B).
In addition, the 2nd limiting part 152A, 152B can also be not secured to fixation wall 136, output device 138, now, the 2nd
Friction coefficient μ 5 between limiting part 152A and fixation wall 136 (the 2nd limiting part 152B and output device 138) is less than external tooth
Take turns the friction system between the end face 120AC and fixation wall 136 (the end face 120BC and output device 138 of external gear 120B) of 120A
Number μ 3 (the ＜ μ 3 of μ 5).
Fig. 3 has represented vibration body 104, roller bearing 110, the limiting part 150 of external gear 120 and the 1st, the 2nd limiting part 152
Between one of position relationship.Be basically configured to, when being observed from axial O, the 1st limiting part 150 the position of short axle Y with
Retainer 114 is overlapped, and the 2nd limiting part 152 is overlap with external gear 120 and outer ring 118 in the position of major axis X.Hereinafter, using figure
4th, Fig. 5 is specifically described to the position relationship between each constitutive requirements.
In flexible engagement gear device 100, if the rotational speed omega 1, roller bearing to playing vibration body 104 (including inner ring 112)
The rotational speed omega 2 of 110 retainer 114 and the rotational speed omega 3 of external gear 120 (including outer ring 118) are compared, then play vibration body 104
Rotational speed omega 1 it is most fast, the rotational speed omega 3 of external gear 120 is most slow (the ＞ ω 3 of 1 ＞ ω of ω 2).It is therefore desirable to by axial O with protect
Holder 114 adjoining the 1st limiting part 150 be configured on axial O throughout whole circumference not with rise vibration body 104 and an external gear
120 overlap.Meanwhile, preferably the 2nd limiting part 152 abutted with external gear 120 on axial O is configured in axial O on time
And it is whole circumferential overlap with retainer 114 and internal gear 130.In addition, the design according to speed reducing ratio etc. has suitably changed vibration body
Relation between 104 major axis X length and short axle Y length.Therefore, in present embodiment, in order that the holding of roller bearing 110
The rotational speed omega 2 of device 114 is non-interference with the rotational speed omega 3 of external gear 120, and the external diameter R2 of the 1st limiting part 150 is set to less than rolling
The minimum inner circumferential footpath Roi (R2 ＜ Roi) of the outer ring 118 of sub- bearing 110, the internal diameter R3 of the 2nd limiting part 152 is set to more than guarantor
The maximum outside diameter Rro (R3 ＞ Rro) of end face 114AC, 114BC of holder 114.In addition, as shown in figure 4, roller bearing 110 it is outer
The minimum inner circumferential footpath Roi of circle 118 is obtained in the position of short axle Y, the maximum outside diameter Rro of end face 114AC, 114BC of retainer 114
Obtained in the position of major axis X.
Also, as shown in figure 3, in the position of major axis X, the 1st limiting part 150 position Chong Die with vibration body 104 is played becomes
It is maximum.Therefore, the internal diameter R1 of the 1st limiting part 150 be can constitute supporting bottom line it is twisted produced by load only
The diameter of thrust bearing.
Then, the action using Fig. 1 to flexible engagement gear device 100 is illustrated.
If playing vibration body 104 to be rotated by the rotation of input shaft 102, external gear 120 plays the rotation of vibration body 104 according to this
State and via the deflection deformation of roller bearing 110 (that is, external gear 120B with the deflection deformation of external gear 120A identical phases).
The deflection deformation by a vibration body 104 of external gear 120, thus, in engagement range FA, external tooth 124 is to radial outside
Movement is simultaneously engaged with the internal tooth 128 of internal gear 130.
External gear 120A is in rotary moving with the rotation for playing vibration body 104 with the position of engagement of internal gear 130A with deceleration.
If here, play vibration body 104 rotating 1 time, the rotatable phase of external gear 120A postpones its number of teeth with deceleration internal gear 130A
Difference.I.e., it is possible to according to (number of teeth of (number of teeth of external gear 120A-deceleration number of teeth of internal gear 130A)/external gear 120A)
Obtain the speed reducing ratio of the external gear 120A produced with internal gear 130A by the deceleration for being fixed on fixation wall 136.
External gear 120B is identical with the number of teeth of internal gear 130B with output, therefore external gear 120B and output internal gear
The intermeshing part of 130B will not move and is engaged with each other with same tooth.Therefore, from output with internal gear 130B export with
The rotation identical rotation of external gear 120B (external gear 120A).As a result, being connected to the output dress of output internal gear 130B
Put 138 can export according to by deceleration internal gear 130A produce speed reducing ratio and by the rotational deceleration of input shaft 102 after it is defeated
Go out.
In this way, in present embodiment, the 1st is configured between fixation wall 136 (output device 138) and roller bearing 110
Limiting part 150.Here, the 1st limiting part 150 is thrust bearing.Therefore, present embodiment is prevented from retainer 114A's
The direct slip of end face 114AC (the end face 114BC of retainer 114B) and fixation wall 136 (output device 138).And, can
By between the end face 114AC (the end face 114BC of retainer 114B) and fixation wall 136 (output device 138) of retainer 114A
Sliding friction is changed to the rolling friction of roller bearing 110.I.e., it is possible to say that present embodiment is, by the 1st limiting part 150
The rolling friction of body, end face 114AC (the 1st limiting part 150B and the retainer of the 1st limiting part 150A and retainer 114A
The end face 114BC of 114B) between friction coefficient μ 2 become less than by the end face 114AC of the retainer 114A of roller bearing 110A
With the sliding friction between fixation wall 136 (the end face 114BC and output device 138 of the 114B of the retainer of roller bearing 110B)
The structure of the friction coefficient μ 0 of generation.Even if that is, roller bearing 110 because twisted and axial O move, cause retainer 114 via
1st limiting part 150 and fixation wall 136 (output device 138) collision, also can be in less 1st limiting part of friction coefficient μ 2
Enter line slip between 150 and retainer 114.That is, can be the retainer larger less than friction coefficient μ 0 by the end face damage control
Direct slip between the end face 114AC and fixation wall 136 (the end face 114BC and output device 138 of retainer 114B) of 114A
And the end face loss for producing.
Also, in present embodiment, fixation wall 136 and external gear 120A (output device 138 and external gear 120B) it
Between configure the 2nd limiting part 152 that restricted external gear 120 is moved to axial O.And, the end face 120AC of external gear 120A with
Friction coefficient μ 4 between 2nd limiting part 152A (the end face 120BC and the 2nd limiting part 152B of external gear 120B) is less than outer
Friction between the end face 120AC and fixation wall 136 (the end face 120BC and output device 138 of external gear 120B) of gear 120A
Coefficient μ 3 (the ＜ μ 3 of μ 4).Therefore, in the case where the axial O for generating external gear 120 is moved, external gear 120 will not be with fixation
(output device 138) direct collision of wall 136 is simultaneously slided, but enters line slip between the limiting part 152 of external gear 120 and the 2nd.
That is, the end face caused by external gear 120 can be reduced to lose.In addition, outer ring 118 and the integratedly deflection deformation of external gear 120.Cause
This, can prevent from being drawn by the end face 118AC (the end face 118BC of outer ring 118B) of outer ring 118A simultaneously by the 2nd limiting part 152
The end face loss for rising.
And, the 1st limiting part 150 and the 2nd limiting part 152 are parts independent of each other, and the 1st limiting part 150
Material from the 2nd limiting part 152 is different.Therefore, it is possible in the case of the rotational speed omega 3 for not influenceing external gear 120, by
1 limiting part 150 can reduce the end face caused by retainer 114 and lose.Meanwhile, it is capable to not influence roller bearing 110
In the case of rotational speed omega 2, the end face caused by external gear 120 can be reduced by the 2nd limiting part 152 and lost.Also, due to
The power for putting on the 1st limiting part 150 and the 2nd limiting part 152 is independent of each other other side each other, therefore, it is possible to extend the 1st limitation
The life-span of the limiting part 152 of part 150 and the 2nd.
In addition, as described above, present embodiment can also be configured to, the 2nd limiting part 152A is not secured to fixation wall 136
And slided relative to fixation wall 136, the 2nd limiting part 152B is not secured to output device 138 and is slided relative to output device 138
It is dynamic.Now, fixation wall 136, output device 138 can respectively possess the 2nd limiting part 152A, 152B can be positioned
Recess (not shown).Certainly, the 2nd limiting part can also be fixed on external gear.
Also, in present embodiment, the external diameter R2 of the 1st limiting part 150 less than roller bearing 110 outer ring 118 most
Small inner circumferential footpath Roi, the maximum outside diameters of the internal diameter R3 more than end face 114AC, 114BC of retainer 114 of the 2nd limiting part 152
Rro.Therefore, the 1st limiting part 150 bears the power from roller bearing 110, and is not subject to the power from external gear 120.Phase
Instead, the 2nd limiting part 152 bears the power from external gear 120, and is not subject to the power from roller bearing 110.That is, by upper
Structure is stated, rotational speed omega 2, the ω 3 of roller bearing 110 and external gear 120 can be reliably avoided via the 1st limiting part 150,
2 limiting parts 152 are interfered with each other.In addition, however it is not limited to this, can suitably change the shape of the 1st limiting part and the 2nd limiting part
Shape.
That is, in present embodiment, can reduce roller bearing 110 the axial direction of retainer 114 O movement and produce by roller
The end face loss that bearing 110 causes.
In addition, in present embodiment, roller bearing 110A, 110B are set to be supported on axial O the portion of external tooth 124A
Divide and support the part of external tooth 124B.Therefore, the flexible engagement gear device 100 of present embodiment is configured to, and can reduce
The roller 116B caused with engaging between internal gear 130A and external tooth 124A by slowing down twisted and by output internal gear
The twisted generation of the roller 116A that engaging between 130B and external tooth 124B causes.
More than, the present invention is described by taking the 1st implementation method as an example, but the present invention is not limited to the 1st embodiment party
Formula.That is, can be improved without departing from the scope of spirit of the present invention and design alteration.
For example, in the 1st implementation method, the 1st limiting part 150 is thrust bearing, the 2nd limiting part 152 be material with
The different low friction part of 1st limiting part 150, but the present invention is not limited thereto.For example, the 1st limiting part and the 2nd limiting unit
Part can use identical material.For example, it is also possible to be the 2nd limiting part to be also set into thrust bearing and a lasso is fixed on
The structure of fixation wall (output device).Or, or the 2nd implementation method as shown in Figure 6.In addition, except the 1st limiting unit
Beyond part 250, other structures are identical with the 1st implementation method, therefore for the part in addition to the 1st limiting part 250, mark
Double figures identical symbol after note, and omit repeat specification.
As shown in fig. 6, in the 2nd implementation method, the 1st limiting part 250 is material and the identical of the 2nd limiting part 252
Low friction part.And, fixation wall 236 (output device 238) possesses the recess that can be positioned to the 1st limiting part 250
(not shown), the 1st limiting part 250 can be slided relative to retainer 214, fixation wall 236 (output device 238).And,
The end face 214AC and the 1st limiting part 250A (the end face 214BC and the 1st limiting part 250B of retainer 214) of retainer 214
Between the limiting part 250A of friction coefficient μ 2 and the 1st and fixation wall 236 (the 1st limiting part 250B and output device 238) it
Between end face 214AC and fixation wall 236 (the end face 214BC of retainer 214 and output of the friction coefficient μ 1 less than retainer 214
Device 238) between friction coefficient μ 0 (the ＜ μ 0 of μ 1, the ＜ μ 0 of μ 2).Therefore, present embodiment can not only be obtained and implemented with the 1st
Mode identical effect, and compared with the 1st implementation method, can more easily control assemble the 1st limiting part 250 and can reduce
Cost.In addition, however it is not limited to which this, the 1st limiting part 250A, 250B can also be individually fixed in fixation wall 236, output device
238.Also, the 1st limiting part 250 can also be fixed on retainer 214.Now, the 1st limiting part 250 and fixation wall 236
End face 214AC of the friction coefficient μ 1 less than retainer 214A and fixation between (the 1st limiting part 250 and output device 238)
Friction coefficient μ 0 between wall 236 (the end face 214BC and output device 238 of retainer 214B).
Also, in above-mentioned implementation method, the 1st limiting part and the 2nd limiting part are arranged at fixation wall side and output device
This both sides of side, but it is also possible to the 1st limiting part is only arranged at fixation wall side and this both sides of output device side.Or, the 1st limitation
Part and the 2nd limiting part are only arranged at the side in fixation wall side and output device side.Or, it is arranged at fixation wall side and defeated
The 1st limiting part (or the 2nd limiting part) for going out this both sides of device side can also be set to different structures (shape or material).
Also, in above-mentioned implementation method, metal is set to by by fixation wall, output device and external gear, and the 2nd is limited
Part (and the 1st limiting part 250 of the 2nd implementation method) is set to resin, thus changes the size of coefficient of friction, but the present invention is simultaneously
Not limited to this.As long as example, fixation wall, output device and external gear are Ferrious material, then the 1st, the 2nd limiting part can be set
It is sliding with copper or aluminium etc. as principal component metal higher.Or, it is also possible to be set to the 1st, material of the 2nd limiting part with
Fixation wall, output device and external gear are identical, and be surface-treated, finish it is different.By the difference in this structure,
The size of coefficient of friction can be changed.
Also, in above-mentioned implementation method, flexible engagement gear device possesses with inner ring, retainer, rolling element and outer
The roller bearing of circle, but the present invention is not limited thereto, roller bearing need not have with the inner ring for playing vibration body split and with
The outer ring of external gear split.For example, inner ring can also be integrally formed with the starting of oscillation bodily form, outer ring can also be formed as one with external gear
Body.
Also, in above-mentioned implementation method, the 1st, the 2nd limiting part be in continuous annular shape, but the present invention is not limited to
This, it is also possible to is in the shape of circumferentially interval configuration.
Also, in above-mentioned implementation method, external tooth is set to the tooth form based on trochoid, but the present invention is not limited thereto.Outward
Tooth can also be arc toothed, can also use other tooth forms.
Also, in above-mentioned implementation method, the fixation wall and output device of internal gear will be fixed on as side part, but this
Invention is not limited to this, and side part need not be fixed on internal gear, and the part that can will be configured at the axial O sides of external gear is made
It is the side part of broad sense.
Industrial applicability
Present invention can be extensively applied to roller bearing and the external gear of tubular with retainer as necessary structure
Into in the flexible engagement gear device of important document.
The specification of Japanese patent application filed in 29 days March in 2013 the 2013-75409th, accompanying drawing and claim
All the elements disclosed in book are by reference to being applied in the specification.
Symbol description
100th, 200- flexible engagement gear devices, 104,204- rise vibration body, 110,110A, 110B, 210,210A,
210B- roller bearings, 112,212- inner rings, 114,114A, 114B, 214,214A, 214B- retainer, 118,118A, 118B,
218th, 218A, 218B- outer ring, 120,120A, 120B, 220,220A, 220B- external gear, 114AC, 114BC, 118AC,
118BC, 120AC, 120BC, 214AC, 214BC, 218AC, 218BC, 220AC, 220BC- end face, 124,124A, 124B, 224,
224A, 224B- external tooth, 128,128A, 128B, 228,228A, 228B- internal tooth, 130,230- internal gears, 130A, 230A- slow down
With internal gear, 130B, 230B- output internal gear, 136,236- fixation walls, 136A, 138A, 236A, 238A- side, 138,
238- output devices, 150,150A, 150B, 250, the limiting part of 250A, 250B- the 1st, 152,152A, 152B, 252,252A,
The limiting parts of 252B- the 2nd, 150AA, 150BA, 152AA, 152BA, 250AA, 250BA, 252AA, 252BA- end face outside,
150AB, 150BB, 152AB, 152BB, 250AB, 250BB, 252AB, 252BB- inner side end.
Claims (3)
1. a kind of flexible engagement gear device, it possesses：Play vibration body；The external gear of tubular, is configured at the periphery for playing vibration body
And with the rotation that vibration body is played by this deflection deformation pliability；Roller bearing, is configured at this and plays vibration body and the external gear
Between；1st internal gear, for the external gear internal messing and with rigidity；And the 2nd internal gear, it is arranged side by side simultaneously with the 1st internal gear
With the external gear internal messing and with rigidity, the flexible engagement gear device is characterised by,
The restricted roller is configured between the side part of the axial side of the roller bearing and the roller bearing being configured at
1st limiting part of the retainer axial movement of bearing,
Coefficient of friction or the 1st limiting part and the side part between the end face of the retainer and the 1st limiting part
Between coefficient of friction less than the retainer end face and the side part between coefficient of friction；
Wherein, the 2nd limiting part of restricted external gear axial movement is configured between the side part and the external gear,
Coefficient of friction or the 2nd limiting part and the side between the end face of the external gear and the 2nd limiting part
Coefficient of friction between part is less than the coefficient of friction between the end face of the external gear and the side part,
2nd limiting part is independent part with the 1st limiting part；
Wherein, the external diameter of the 1st limiting part is less than the minimum inner circumferential footpath of the outer ring of the roller bearing,
Maximum outside diameter of the internal diameter of the 2nd limiting part more than the end face of the retainer.
2. flexible engagement gear device according to claim 1, it is characterised in that
1st limiting part is different from the material of the 2nd limiting part.
3. flexible engagement gear device according to claim 1 and 2, it is characterised in that
1st limiting part is thrust bearing.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013075409A JP6031397B2 (en) | 2013-03-29 | 2013-03-29 | Bending gear system |
| JP2013-075409 | 2013-03-29 | ||
| PCT/JP2013/078118 WO2014155791A1 (en) | 2013-03-29 | 2013-10-17 | Flexible meshing type gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105008763A CN105008763A (en) | 2015-10-28 |
| CN105008763B true CN105008763B (en) | 2017-06-13 |
Family
ID=51622829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380073367.XA Active CN105008763B (en) | 2013-03-29 | 2013-10-17 | Flexible engagement gear device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6031397B2 (en) |
| KR (1) | KR101740421B1 (en) |
| CN (1) | CN105008763B (en) |
| DE (1) | DE112013006889B4 (en) |
| WO (1) | WO2014155791A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101718683B1 (en) | 2013-08-06 | 2017-03-22 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Rotary actuator and strain wave gearing reduction drive unit |
| JP6324832B2 (en) * | 2014-07-23 | 2018-05-16 | 株式会社ハーモニック・ドライブ・システムズ | Dual type wave gear device |
| US11028915B2 (en) * | 2015-12-11 | 2021-06-08 | Harmonic Drive Systems Inc. | Flat strain wave gearing |
| JP6723657B2 (en) | 2016-12-05 | 2020-07-15 | 住友重機械工業株式会社 | Reducer |
| CN106545622A (en) * | 2016-12-09 | 2017-03-29 | 深圳市荣德机器人科技有限公司 | Planet-cycloid reducer |
| JP6898876B2 (en) * | 2018-02-28 | 2021-07-07 | 住友重機械工業株式会社 | Eccentric swing type speed reducer |
| DE102019105114B4 (en) * | 2019-02-28 | 2021-09-02 | Höhn Gmbh | Planetary gear |
| JP7262368B2 (en) | 2019-10-23 | 2023-04-21 | 住友重機械工業株式会社 | Gear device series, manufacturing method and design method thereof |
| CN118103618A (en) | 2021-11-04 | 2024-05-28 | 谐波传动系统有限公司 | Wave gear device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2290729Y (en) * | 1996-05-28 | 1998-09-09 | 中国人民解放军国防科工委后勤部应用技术研究所 | Complex stage harmonic gear mechanism |
| CN102287484A (en) * | 2010-06-18 | 2011-12-21 | 住友重机械工业株式会社 | Flexural engage type gear device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007187284A (en) * | 2006-01-16 | 2007-07-26 | Jtekt Corp | Thrust roller bearing |
| JP2008303992A (en) * | 2007-06-08 | 2008-12-18 | Nsk Ltd | Radial needle roller bearing |
| JP5312364B2 (en) * | 2010-02-03 | 2013-10-09 | 住友重機械工業株式会社 | Bending gear system |
| JP2012042031A (en) * | 2010-08-23 | 2012-03-01 | Jtekt Corp | Bearing device |
| JP5758764B2 (en) | 2011-09-30 | 2015-08-05 | 株式会社ブリヂストン | Window film and method for manufacturing the same, and window using the window film and method for manufacturing the same |
| JP5812897B2 (en) * | 2012-02-28 | 2015-11-17 | 住友重機械工業株式会社 | Bending gear system |
-
2013
- 2013-03-29 JP JP2013075409A patent/JP6031397B2/en active Active
- 2013-10-17 WO PCT/JP2013/078118 patent/WO2014155791A1/en active Application Filing
- 2013-10-17 CN CN201380073367.XA patent/CN105008763B/en active Active
- 2013-10-17 DE DE112013006889.3T patent/DE112013006889B4/en active Active
- 2013-10-17 KR KR1020157022392A patent/KR101740421B1/en active IP Right Grant
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2290729Y (en) * | 1996-05-28 | 1998-09-09 | 中国人民解放军国防科工委后勤部应用技术研究所 | Complex stage harmonic gear mechanism |
| CN102287484A (en) * | 2010-06-18 | 2011-12-21 | 住友重机械工业株式会社 | Flexural engage type gear device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105008763A (en) | 2015-10-28 |
| DE112013006889B4 (en) | 2018-07-26 |
| KR20150110661A (en) | 2015-10-02 |
| JP2014199130A (en) | 2014-10-23 |
| WO2014155791A1 (en) | 2014-10-02 |
| JP6031397B2 (en) | 2016-11-24 |
| DE112013006889T5 (en) | 2015-12-24 |
| KR101740421B1 (en) | 2017-05-26 |
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