CN109282010A - Flexible engagement gear device - Google Patents
Flexible engagement gear device Download PDFInfo
- Publication number
- CN109282010A CN109282010A CN201810666575.5A CN201810666575A CN109282010A CN 109282010 A CN109282010 A CN 109282010A CN 201810666575 A CN201810666575 A CN 201810666575A CN 109282010 A CN109282010 A CN 109282010A
- Authority
- CN
- China
- Prior art keywords
- gear
- internal gear
- internal
- flexible engagement
- teeth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
-
- 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
-
- 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
-
- 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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- Gears, Cams (AREA)
Abstract
The present invention provides a kind of flexible engagement gear device of increase for increasing and being able to suppress idle running for being able to suppress cost.Flexible engagement gear device (100) of the invention has: rising vibration body (22a)；Played the external gear (4) of vibration body (22a) deflection deformation；And the 1st internal gear (6) and the 2nd internal gear (8) engaged with external gear (4).The number of teeth of 1st internal gear (6) is different from the number of teeth of external gear (4), and the number of teeth of the 2nd internal gear (8) is identical as the number of teeth of external gear (4).1st internal gear (6) has the antiwear characteristic higher than the antiwear characteristic of the 2nd internal gear (8).
Description
This application claims the priority based on Japanese patent application filed on July 20th, 2017 the 2017-140862nd.
The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to a kind of flexible engagement gear devices.
Background technique
As the small-sized and light-duty geared system that can but obtain high reduction ratio, it is known to a kind of flexible engagement gear dress
It sets.In the past, it proposes the flexible engagement gear device for having a kind of so-called flat type, has: playing vibration body；The external gear of tubular,
It, which is configured, is playing the periphery of vibration body and is having through the rotation of vibration body by the flexibility of deflection deformation；1st internal gear, with
External gear internal messing and have rigidity；And the 2nd internal gear, be arranged side by side with the 1st internal gear and with external gear internal messing and
With rigidity (for example, patent document 1).
Patent document 1: Japanese Unexamined Patent Publication 2011-112214 bulletin
In the flexible engagement gear device recorded in patent document 1, each gear is with using and can be worn, this meeting
Lead to the increase of idle running.If improving the antiwear characteristic of each gear, it is able to suppress the increase of idle running, but this will lead to cost
Increase.
Summary of the invention
The present invention is completed in view of this situation, its purpose is to provide a kind of increase for being able to suppress cost and
It is able to suppress the flexible engagement gear device of the increase of idle running.
In order to solve the above problems, the flexible engagement gear device of one embodiment of the present invention has: playing vibration body；
Played the external gear of vibration body deflection deformation；And the 1st internal gear engaged with external gear and the 2nd internal gear.It is engaged in the flexure
In formula geared system, the number of teeth of the 1st internal gear is different from the number of teeth of external gear, the number of teeth of the 2nd internal gear and the number of teeth of external gear
It is identical, and the 1st internal gear has the antiwear characteristic higher than the antiwear characteristic of the 2nd internal gear.
In addition, being replaced mutually any combination of the above constitutive requirements, structure of the invention between method, apparatus, system etc.
It is also effective as mode of the invention at important document and characterization.
In accordance with the invention it is possible to inhibit the increase of cost, and it is able to suppress the increase of idle running.
Detailed description of the invention
Fig. 1 is the cross-sectional view for indicating flexible engagement gear device involved in embodiment.
Fig. 2 (a) is the figure in the section of the 1st internal gear in the plane indicated perpendicular to rotary shaft, and Fig. 2 (b) is to indicate vertical
Directly in the figure in the section of the 2nd internal gear in the plane of rotary shaft.
Fig. 3 (a) is the line A-A cross-sectional view of Fig. 2 (a), and Fig. 3 (b) is the line B-B cross-sectional view of Fig. 2 (b).
Fig. 4 (a) is the figure for indicating the gap between the 1st internal gear and the 1st outer toothed portion of external gear, and Fig. 4 (b) is to indicate
The figure in the gap between 2 internal gears and the 2nd outer toothed portion of external gear.
In figure: 4- external gear, the 1st internal gear of 6-, the 2nd internal gear of 8-, 22a- play vibration body, 100- flexible engagement gear dress
It sets.
Specific embodiment
Hereinafter, in the drawings, marking identical symbol to identical or equal constitutive requirements, component, process, and appropriate
Omit repeated explanation.Also, in order to make it easy to understand, in the drawings, suitably zooming in or out the size for indicating component.Also,
In the drawings, a part of the not important component of the explanation to embodiment is omitted.
The summary of flexible engagement gear device involved in embodiment is as follows.
Flexible engagement gear device involved in embodiment has: playing vibration body；Played the external tooth of vibration body deflection deformation
Wheel；And the 1st internal gear engaged with external gear and the 2nd internal gear.The number of teeth of 1st internal gear is different from the number of teeth of external gear,
The number of teeth of 2nd internal gear is identical as the number of teeth of external gear.
Here, each gear is worn with using in flexible engagement gear device, idle running (Lost will lead to
Motion) increase.If improving the antiwear characteristic of each gear, it is able to suppress the abrasion of each gear, so as to inhibit empty
The increase of journey, but cost can be increase accordingly.
It is that the inventors of the present invention have made intensive studies as a result, it has been found that: compared in the number of teeth the identical with the number of teeth of external gear the 2nd
Gear, the number of teeth 1st internal gear different from the number of teeth of external gear are easier to wear.Therefore, it is bent involved in embodiment
In mesh gear device, make the 1st internal gear that there is the antiwear characteristic higher than the antiwear characteristic of the 2nd internal gear.That is, the 1st internal tooth
It is higher that wheel is configured to its antiwear characteristic.Thereby, it is possible to inhibit the abrasion of the 1st internal gear, so as to inhibit the increase of idle running.And
And the 2nd internal gear to be configured to antiwear characteristic lower.It is for example set as and the 1st internal tooth with by the antiwear characteristic of the 2nd internal gear as a result,
The case where antiwear characteristic same degree of wheel, is compared, and the increase of cost is able to suppress.That is, being scratched involved according to the present embodiment
Bent mesh gear device, is able to suppress the increase of cost, and is able to suppress the increase of idle running.Hereinafter, being specifically described.
Fig. 1 is the cross-sectional view for indicating flexible engagement gear device 100 involved in embodiment.Flexible engagement gear
Device 100 exports after the rotation that input comes is slowed down.Flexible engagement gear device 100 has wavegenerator 2, outer
Gear 4, the 1st internal gear 6, the 2nd internal gear 8, shell 10, the 1st limiting component 12, the 2nd limiting component 14, base bearing 16, the 1st axis
Hold shell 18 and the 2nd bear box 20.Lubricant (such as lubricating grease) is sealed in mesh gear device 100.Lubricant pair
The engaging section of external gear 4 and the 1st internal gear 6, external gear 4 and the engaging section of the 2nd internal gear 8 and each bearing etc. are moistened
It is sliding.
Wavegenerator 2 has included vibration body axis 22, multiple 1st rolling element 24a, multiple 2nd rolling element 24b, the 1st retainer
26a, the 2nd retainer 26b, the 1st outer collar members 28a and the 2nd outer collar members 28b.Rise vibration body axis 22 be input shaft, such as with electricity
The connection of the rotary driving sources such as machine, and pivoted about with rotary shaft R.It is integrally formed with and rotary shaft playing a vibration body axis 22
R orthogonal section is the vibration body 22a of generally elliptical shape.
Multiple 1st rolling element 24a are respectively provided with generally cylindrical shape, and are axially facing with it big with the direction rotary shaft R
The state in parallel direction is caused circumferentially to be arranged across interval.1st rolling element 24a remains rotation certainly by the 1st retainer 26a
Such as, the 1st rolling element 24a is rolled on the outer peripheral surface 22b for playing vibration body 22a.The structure and the 1st rolling element 24a of 2nd rolling element 24b
Structure it is identical.Multiple 2nd rolling element 24b by by with the 1st retainer 26a in the axial direction side by side in a manner of configure the 2nd keep
Device 26b, which is remained, to be rotated freely, and the 2nd rolling element 24b is rolled on the outer peripheral surface 22b for playing vibration body 22a.Hereinafter, by the 1st rolling element
24a and the 2nd rolling element 24b are referred to as " rolling element 24 ".Also, the 1st retainer 26a and the 2nd retainer 26b are referred to as " protecting
Holder 26 ".
1st outer collar members 28a is surrounded on multiple 1st rolling element 24a.1st outer collar members 28a has flexibility, via more
A 1st rolling element 24a and by rise a vibration body 22a deflect into ellipticity.If playing vibration body 22a (playing vibration body axis 22) rotation, outside the 1st
Coil component 28a continuous deflection deformation with the shape for playing vibration body 22a.The structure and the 1st outer collar members of 2nd outer collar members 28b
The structure of 28a is identical.2nd outer collar members 28b and the 1st outer collar members 28a are separately formed.In addition, the 2nd outer collar members 28b can also
To be formed as one with the 1st outer collar members 28a.Hereinafter, the 1st outer collar members 28a and the 2nd outer collar members 28b are referred to as " outer ring
Component 28 ".
External gear 4 is flexible endless member, and vibration body 22a, rolling element 24 and outer ring portion have been embedded on the inside of it
Part 28.Due to being embedded in vibration body 22a, rolling element 24 and outer collar members 28 in external gear 4, external gear 4 can be bent
At ellipticity.If playing vibration body 22a rotation, the continuous deflection deformation with the shape for playing vibration body 22a of external gear 4.External gear 4 wraps
Include the 1st outer toothed portion 4a, the 2nd outer toothed portion 4b positioned at the outside of the 2nd outer collar members 28b positioned at the outside of the 1st outer collar members 28a
And substrate 4c.1st outer toothed portion 4a and the 2nd outer toothed portion 4b are formed on single substrate (i.e. substrate 4c), and the number of teeth is identical.
1st internal gear 6 is to be formed with the 1st interior teeth portion 6a in its inner circumferential with the endless member of rigidity.1st interior teeth portion 6a
It is surrounded on the 1st outer toothed portion 4a for deflecting into elliptoid external gear 4, and the predetermined region near the long axis for playing vibration body 22a
(two regions) is engaged with the 1st outer toothed portion 4a.The number of teeth of 1st interior teeth portion 6a is more than the number of teeth of the 1st outer toothed portion 4a.
2nd internal gear 8 is to be formed with the 2nd interior teeth portion 8a in its inner circumferential with the cylinder-like part of rigidity.2nd interior teeth portion
8a is surrounded on the 2nd outer toothed portion 4b for deflecting into elliptoid external gear 4, and the regulation area near the long axis for playing vibration body 22a
It is engaged with the 2nd outer toothed portion 4b in domain (two regions).The number of teeth of 2nd interior teeth portion 8a is identical as the number of teeth of the 2nd outer toothed portion 4b.Therefore,
The rotation synchronous rotary of 2nd internal gear 8 and the 2nd outer toothed portion 4b (or even external gear 4).
1st internal gear 6 (especially the 1st interior teeth portion 6a) has more resistance to than the 2nd internal gear 8 (especially the 2nd interior teeth portion 8a)
Grind the high antiwear characteristic of characteristic.Realize that the structure of the characteristic will be aftermentioned.
1st limiting component 12 is flat endless member, is configured at external gear 4, the 1st outer collar members 28a and the 1st is kept
Between device 26a and the 1st bear box 18.2nd limiting component 14 is also flat endless member, and it is configured at external gear 4, the
Between 2 outer collar members 28b and the 2nd retainer 26b and the 2nd bear box 20.1st limiting component 12 and the 2nd limiting component 14 limit
External gear 4, outer collar members 28 and retainer 26 processed are axially moveable.
Shell 10 is substantially cylindric component, is surrounded on the 2nd internal gear 8.1st internal gear 6 by lock it is chimeric with
10 integration of shell.Base bearing 16 is configured between shell 10 and the 2nd internal gear 8.In the present embodiment, base bearing 16 is
Crossed roller bearing comprising the multiple rollers (rolling element) 46 being circumferentially arranged across interval.Multiple rollers 46 are in the 2nd
It is rolled on the rolling surface 8b of gear 8 and the rolling surface 10a of shell 10.That is, the peripheral side of the 2nd internal gear 8 is as base bearing 16
Inner ring and play a role, the inner circumferential side of shell 10 as base bearing 16 outer ring and play a role.Shell 10 is via base bearing 16
It is to be rotated freely relative to shell 10 by the bearing of the 2nd internal gear 8.
1st bear box 18 is cricoid component, and it has been surrounded on vibration body axis 22.In the same manner, the 2nd bear box 20
For cricoid component, and it has been surrounded on vibration body axis 22.1st bear box 18 is configured to the 2nd bear box 20, in the axial direction
Clamp external gear 4, rolling element 24, retainer 26, outer collar members 28, the 1st limiting component 12 and the 2nd limiting component 14.1st bearing
The lock of shell 18 is chimeric and bolt is fixed on the 1st internal gear 6.2nd bear box 20 lock is chimeric and bolt is fixed on the 2nd internal tooth
Wheel 8.It is assembled with bearing 30 in the inner circumferential of the 1st bear box 18, is assembled with bearing 32, the 1st axis in the inner circumferential of the 2nd bear box 20
The bearing of vibration body axis 22 will be played via bearing 30 and bearing 32 as relative to the 1st bear box by holding shell 18 and the 2nd bear box 20
18 and the 2nd bear box 20 rotates freely.
Oil sealing 40 is configured between vibration body axis 22 and the 1st bear box 18 rising, in the 1st bear box 18 and the 1st internal tooth
It is configured with o-ring 34 between wheel 6, o-ring 36 is configured between the 1st internal gear 6 and shell 10, in shell 10 and the 2nd internal tooth
It is configured with oil sealing 42 between wheel 8, o-ring 38 is configured between the 2nd internal gear 8 and the 2nd bear box 20, in the 2nd cartridge housing
Oil sealing 44 is configured between body 20 and vibration body axis 22.Thereby, it is possible to inhibit the lubricant in flexible engagement gear device 100
Leakage.
In the following, being illustrated to the movement of the flexible engagement gear device 100 of above structure.Here, illustrating the 1st
The number of teeth that the number of teeth that the number of teeth of outer toothed portion 4a is the 100, the 2nd outer toothed portion 4b is the 100, the 1st interior teeth portion 6a is the 102, the 2nd interior teeth portion 8a
The number of teeth be 100 the case where.Also, it illustrates the 2nd internal gear 8 and the 2nd bear box 20 is linked in driven member
Situation.
In the state that two position of the 1st outer toothed portion 4a on elliptical long axis direction is engaged with the 1st interior teeth portion 6a
Under, it is rotated if playing vibration body axis 22, the position of engagement of the 1st outer toothed portion 4a and the 1st interior teeth portion 6a is also circumferentially moved therewith.Due to
The number of teeth of 1st outer toothed portion 4a is different from the number of teeth of the 1st interior teeth portion 6a, and therefore, the 1st outer toothed portion 4a is relative to the 1st interior teeth portion at this time
6a is rotated.Since the 1st internal gear 6 and the 1st bear box 18 are in stationary state, the 1st outer toothed portion 4a rotation is suitable
In the amount of teeth number difference.That is, the rotation for playing vibration body axis 22 exports after substantially being slowed down to the 1st outer toothed portion 4a.Its reduction ratio is as follows.
Reduction ratio=(number of teeth of the 1 interior teeth portion 6a of the number of teeth-the of the 1st outer toothed portion 4a)/the 1st outer toothed portion 4a number of teeth
=(100-102)/100
=-1/50
Since the 2nd outer toothed portion 4b and the 1st outer toothed portion 4a is formed as one, the 2nd outer toothed portion 4b and the 1st outer toothed portion 4a mono-
Rotate to body.Since the number of teeth of the 2nd outer toothed portion 4b is identical as the number of teeth of the 2nd interior teeth portion 8a, do not occur relative rotation, the 2nd
Outer toothed portion 4b is integrally rotated with the 2nd interior teeth portion 8a.Therefore, rotation identical with the rotation of the 1st outer toothed portion 4a is exported in the 2nd
Teeth portion 8a.As a result, it is possible to -1/50 output is decelerated to from the 2nd interior teeth portion 8 output rotation of vibration body axis 22 by.
Then, the structure of external gear wheel 4, the 1st internal gear 6 and the 2nd internal gear 8 is described in more details.Fig. 2 (a)
It is the figure for indicating the section of the 1st internal gear 6 on the plane perpendicular to rotary shaft R, Fig. 2 (b) is indicated perpendicular to rotation
The figure in the section of the 2nd internal gear 8 in the plane of axis R.Fig. 3 (a) is the line A-A cross-sectional view of Fig. 2 (a), and Fig. 3 (b) is Fig. 2 (b)
Line B-B cross-sectional view.Fig. 4 (a) is the figure for indicating the gap between the 1st internal gear 6 and the 1st outer toothed portion 4a of external gear 4, Fig. 4
It (b) is the figure for indicating the gap between the 2nd internal gear 8 and the 2nd outer toothed portion 4b of external gear 4.
Firstly, being illustrated to the definition of several terms.
" tooth is high " refers to: section (i.e. outside circle) of the tooth top cylinder of internal gear on the plane perpendicular to rotary shaft R
At a distance from radial direction between the section (i.e. root circle) of tooth root cylinder.Specifically, the high h of tooth of the 1st internal gear 61
Refer to: section (i.e. outside circle Ca of the tooth top cylinder of the 1st internal gear 6 on the plane perpendicular to rotary shaft R1) and tooth root cylinder
Section (i.e. root circle Cb1) between radial direction on distance (refer to Fig. 2 (a)).Also, the high h of tooth of the 2nd internal gear2It is
Refer to: section (i.e. outside circle Ca of the tooth top cylinder of the 2nd internal gear 8 on the plane perpendicular to rotary shaft R2) and tooth root cylinder
Section (i.e. root circle Cb2) between radial direction on distance (refer to Fig. 2 (b)).
" facewidth " refers to: the axial distance of the centre between the tooth top and tooth root of internal gear.Specifically, the 1st internal tooth
The facewidth w of wheel1Refer to: the tooth top Ta of the 1st internal gear1With tooth root Tb1Between centre axial distance (refer to Fig. 3 (a)).
Also, the facewidth w of the 2nd internal gear2Refer to: the tooth top Ta of the 2nd internal gear2With tooth root Tb2Between centre axial distance
(referring to Fig. 3 (b)).
" back lash " refers to: radial clearance on the long axis position between internal gear and external gear 4 (with reference to Fig. 4 (a) and
Fig. 4 (b)).Specifically, back lash is determined by following formula 1.
Back lash gi=(error of the long axis OBD of the i-th gear part of error-external gear of the BBD of the i-th internal gear)/2
(i is 1 or 2) ... (formula 1)
Wherein, BBD is the bat spacing (Between Ball Diameter) of internal gear, and long axis OBD is to be played vibration body
Across the bat diameter (Over Pin Diameter) of maximum of the external gear 4 of 22a deflection deformation, error is that design is subtracted from measured value
The difference of value.In addition, the design value of BBD, the design value of long axis OBD are back lash g respectivelyiOBD, BBD when for 0mm.
Then, to making the 1st internal gear 6 that there is the external gear 4 of the antiwear characteristic higher than the antiwear characteristic of the 2nd internal gear 8, the
The structure of 1 internal gear 6 and the 2nd internal gear 8 is illustrated.In addition, to (1)~(5), this five structures are illustrated below, but this
A little structures can be used alone, and can also be used in any combination.
(1) the 1st internal gear 6 and the 2nd internal gear 8 are configured to, the flank of tooth S of the 1st interior teeth portion 6a1Surface hardness be higher than the 2nd
The flank of tooth S of interior teeth portion 8a2Surface hardness.This can be by being formed in the 1st with the material harder than the material of the 2nd internal gear 8
Gear 6 realizes, can also more improve surface hardness by the surface treatment for implementing to the 1st internal gear 6 than the 2nd internal gear 8
Surface treatment realize, can also and be used to realize.Preferably, the 1st internal gear 6 and the 2nd internal gear 8 are configured to, and the 1st
The flank of tooth S of interior teeth portion 6a1Flank of tooth S of the surface hardness than the 2nd interior teeth portion 8a2The high Brinell hardness 20 [HB] of surface hardness more than.
As an example, the flank of tooth S of the 1st interior teeth portion 6a of the 1st internal gear 61Surface hardness be set as Brinell hardness HB400, the 2nd internal gear
The flank of tooth S of 8 the 2nd interior teeth portion 8a2Surface hardness be set as Brinell hardness HB300.Brinell hardness is by based on JIS Z2243
Method measure.
(2) the 1st internal gears 6 and the 2nd internal gear 8 are configured to, and the 1st interior teeth portion 6a has antiwear characteristic than the 2nd interior teeth portion 8a
High surface-treated layer.For example, the surface-treated layer that can only have the 1st interior teeth portion 6a to have antiwear characteristic high.Also, such as
1 interior teeth portion 6a can have the 1st surface-treated layer, and the 2nd interior teeth portion 8a can have antiwear characteristic lower than the 1st surface-treated layer
2nd surface-treated layer of antiwear characteristic.The high surface-treated layer of so-called antiwear characteristic can be to implement and improve surface hardness
The layer of surface treatment is also possible to implement the layer for the surface treatment for improving lubricity (for example, implementing to be formed for improving profit
The layer of the surface treatment of the minute asperities (micro dimple) of the retention property of lubrication prescription.In the example of Fig. 2 (a) and Fig. 2 (b)
In, only the 1st interior teeth portion 6a of the 1st internal gear 6 has the surface-treated layer L for implementing peening.By implementing peening,
The flank of tooth S of 1st interior teeth portion 6a1Surface hardness improve, and the retention property of lubricant also improves so that the 1st interior teeth portion 6a
Lubricity improves.
(3) the 1st internal gears 6 and the 2nd internal gear 8 are configured to, the facewidth w of the 1st interior teeth portion 6a1Greater than the 2nd interior teeth portion 8a's
Facewidth w2(referring to Fig. 3 (a) and Fig. 3 (b)).The face pressure decline of 1st interior teeth portion 6a as a result, that is, the antiwear characteristic of the 1st internal gear 6
It improves.Preferably, the 1st internal gear 6 and the 2nd internal gear 8 are configured to, the facewidth w of the 1st interior teeth portion 6a1With the tooth of the 2nd interior teeth portion 8a
Wide w2Difference be greater than 0.2mm.
(4) external gear 4, the 1st internal gear 6 and the 2nd internal gear 8 are configured to, between the 1st interior teeth portion 6a and the 1st outer toothed portion 4a
Back lash g1Greater than the back lash g between the 2nd interior teeth portion 8a and the 2nd outer toothed portion 4b2(referring to Fig. 4 (a) and Fig. 4 (b)).
At this point, reducing based on the 1st interior teeth portion 6a with the calorific value of the 1st outer toothed portion 4a engaged and generated, therefore it is able to suppress lubricant
Temperature rise, and then be able to suppress the decline of Basic oil Viscosity, as a result, it is possible to reduce the abrasion of the 1st interior teeth portion 6a.That is,
The antiwear characteristic of 1st internal gear 6 is got higher.Preferably, external gear 4, the 1st internal gear 6 and the 2nd internal gear 8 are configured to meet following formula
2。
[numerical expression 1]
Wherein, m is the modulus of external gear 4.Modulus is value of the pitch diameter divided by the number of teeth, " pitch circle according to pitch diameter
Diameter=calculated the value in (tip diameter+root diameter)/2 ".
(5) the 1st internal gears 6 and the 2nd internal gear 8 are configured to, the high h of tooth of the 1st interior teeth portion 6a1Less than the 2nd interior teeth portion 8a's
The high h of tooth2(referring to Fig. 2 (a) and Fig. 2 (b)).At this point, the high tooth top of sliding speed is shorter, therefore base in the 1st interior teeth portion 6a
The calorific value caused by friction is reduced, and so as to inhibit the temperature of lubricant to rise, and then is able to suppress the base of lubricant
The decline of plinth oil viscosity, as a result, it is possible to reduce the abrasion of the 1st interior teeth portion 6a.That is, the antiwear characteristic of the 1st internal gear 6 is got higher.
Preferably, the 1st internal gear 6 and the 2nd internal gear 8 are configured to, the high h of tooth of the 2nd interior teeth portion 8a2With the high h of tooth of the 1st interior teeth portion 6a1It
Difference is greater than 0.01mm.
According to the 100, the 1st internal gear 6 of flexible engagement gear device and the 2nd internal gear involved in above-mentioned present embodiment
8 are configured to, and the antiwear characteristic of the 1st interior teeth portion 6a is higher than the antiwear characteristic of the 2nd interior teeth portion 8a.That is, being easier in the 1st of abrasion
The antiwear characteristic of gear 6 is set as higher.Thereby, it is possible to inhibit the abrasion of the 1st internal gear 6, so as to inhibit the increase of idle running.
Also, the antiwear characteristic of the 2nd internal gear 8 of more difficult abrasion is set as lower.As a result, for example and by the wear-resisting spy of the 2nd internal gear 8
Compared with property is set as with the antiwear characteristic same degree of the 1st internal gear 6 the case where, it is able to suppress the increase of cost.That is, according to this reality
Flexible engagement gear device 100 involved in mode are applied, the increase of cost is able to suppress, and are able to suppress the increasing of idle running
Greatly.
More than, flexible engagement gear device involved in embodiment is illustrated.The embodiment is to illustrate,
It will be appreciated by those skilled in the art that the combination of these each constitutive requirements or each processing routine may exist various modifications example, and
And this variation is also within the scope of the invention.
Claims (7)
1. a kind of flexible engagement gear device, has:
Play vibration body；
External gear, by described vibration body deflection deformation；And
1st internal gear and the 2nd internal gear are engaged with the external gear,
The number of teeth of 1st internal gear is different from the number of teeth of the external gear, the number of teeth of the 2nd internal gear and the external gear
The number of teeth it is identical,
The flexible engagement gear device is characterized in that,
1st internal gear has the antiwear characteristic higher than the antiwear characteristic of the 2nd internal gear.
2. flexible engagement gear device according to claim 1, which is characterized in that
The rotation after being decelerated is exported from the 2nd internal gear, the 2nd internal gear is linked to driven member.
3. flexible engagement gear device according to claim 1 or 2, which is characterized in that
The surface hardness of the flank of tooth of 1st internal gear is higher than the surface hardness of the flank of tooth of the 2nd internal gear.
4. flexible engagement gear device according to any one of claim 1 to 3, which is characterized in that
The surface-treated layer that 1st internal gear has antiwear characteristic higher than the 2nd internal gear.
5. flexible engagement gear device according to any one of claim 1 to 4, which is characterized in that
The facewidth of 1st internal gear is greater than the facewidth of the 2nd internal gear.
6. flexible engagement gear device according to any one of claim 1 to 5, which is characterized in that
Back lash between 1st internal gear and the external gear is greater than between the 2nd internal gear and the external gear
Back lash.
7. flexible engagement gear device according to any one of claim 1 to 6, which is characterized in that
The tooth that the tooth height of 1st internal gear is less than the 2nd internal gear is high.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017140862A JP6871818B2 (en) | 2017-07-20 | 2017-07-20 | Flexible meshing gear device |
| JP2017-140862 | 2017-07-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109282010A true CN109282010A (en) | 2019-01-29 |
| CN109282010B CN109282010B (en) | 2021-11-05 |
Family
ID=64951494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810666575.5A Active CN109282010B (en) | 2017-07-20 | 2018-06-26 | Flexible engagement type gear device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6871818B2 (en) |
| KR (1) | KR102416790B1 (en) |
| CN (1) | CN109282010B (en) |
| DE (1) | DE102018115627B4 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795119A (en) * | 2019-04-09 | 2020-10-20 | 住友重机械工业株式会社 | Gear device and method for manufacturing gear device |
| CN113007309A (en) * | 2019-12-20 | 2021-06-22 | 住友重机械工业株式会社 | Flexural engagement gear device and method for manufacturing same |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6871818B2 (en) | 2017-07-20 | 2021-05-12 | 住友重機械工業株式会社 | Flexible meshing gear device |
| JP7253928B2 (en) * | 2019-01-22 | 2023-04-07 | 住友重機械工業株式会社 | Driven device |
| CN110242710B (en) * | 2019-06-05 | 2022-05-10 | 南通振康机械有限公司 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
| JP7454946B2 (en) * | 2020-01-08 | 2024-03-25 | 住友重機械工業株式会社 | Flexible mesh gear system |
| KR102579863B1 (en) * | 2021-12-13 | 2023-09-19 | 주식회사 뉴로메카 | Hybrid strain wave gear system and assembly thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082222A (en) * | 1997-10-27 | 2000-07-04 | Harmonic Drive Systems, Inc. | Rigid internal gear of a wave gear drive |
| KR20120046703A (en) * | 2010-11-02 | 2012-05-10 | 주식회사 에스비비테크 | Strain wave gearing reducer |
| CN102537223A (en) * | 2012-03-15 | 2012-07-04 | 大连交通大学 | Movable-tooth harmonic reducer |
| WO2015011820A1 (en) * | 2013-07-25 | 2015-01-29 | 株式会社ハーモニック・ドライブ・システムズ | Harmonic gear device |
| WO2016194510A1 (en) * | 2015-06-02 | 2016-12-08 | 日産自動車株式会社 | Variable compression ratio mechanism for internal combustion engine |
| CN207598855U (en) * | 2017-12-21 | 2018-07-10 | 香河皓达机器人谐波减速器制造有限公司 | Flexbile gear and harmonic speed changer |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09303500A (en) * | 1996-05-17 | 1997-11-25 | Harmonic Drive Syst Ind Co Ltd | Flexible meshing gear device having abrasion-resistant rigid internal gear |
| DE19835571A1 (en) | 1998-08-06 | 2000-02-17 | Ims Morat Soehne Gmbh | Wave gear and method for tooth optimization |
| JP2002340140A (en) * | 2001-05-22 | 2002-11-27 | Harmonic Drive Syst Ind Co Ltd | Lightweight wave gear device |
| KR20090059119A (en) * | 2006-09-25 | 2009-06-10 | 나부테스코 가부시키가이샤 | Eccentric oscillating reduction gear and stabilizer shaft rotating device using eccentric oscillating reduction gear |
| DE102008053914A1 (en) | 2008-10-30 | 2010-05-06 | Ovalo Gmbh | Wave generator for a stress wave transmission and stress wave transmission |
| JP5337008B2 (en) | 2009-11-30 | 2013-11-06 | 住友重機械工業株式会社 | Flexure meshing gear device and method of manufacturing the external gear |
| DE102015104135A1 (en) | 2015-03-19 | 2016-09-22 | Harmonic Drive Ag | Wave gear with dry running |
| JP2017096478A (en) * | 2015-11-27 | 2017-06-01 | 住友重機械工業株式会社 | Flexible engagement type gear device and process of manufacture of its exciter |
| JP2017140862A (en) | 2016-02-08 | 2017-08-17 | トヨタ自動車株式会社 | Hybrid vehicle |
| JP6795433B2 (en) | 2017-03-17 | 2020-12-02 | 住友重機械工業株式会社 | Flexion mesh gear device |
| JP6871818B2 (en) | 2017-07-20 | 2021-05-12 | 住友重機械工業株式会社 | Flexible meshing gear device |
-
2017
- 2017-07-20 JP JP2017140862A patent/JP6871818B2/en active Active
-
2018
- 2018-06-22 KR KR1020180072072A patent/KR102416790B1/en active IP Right Grant
- 2018-06-26 CN CN201810666575.5A patent/CN109282010B/en active Active
- 2018-06-28 DE DE102018115627.8A patent/DE102018115627B4/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6082222A (en) * | 1997-10-27 | 2000-07-04 | Harmonic Drive Systems, Inc. | Rigid internal gear of a wave gear drive |
| KR20120046703A (en) * | 2010-11-02 | 2012-05-10 | 주식회사 에스비비테크 | Strain wave gearing reducer |
| CN102537223A (en) * | 2012-03-15 | 2012-07-04 | 大连交通大学 | Movable-tooth harmonic reducer |
| WO2015011820A1 (en) * | 2013-07-25 | 2015-01-29 | 株式会社ハーモニック・ドライブ・システムズ | Harmonic gear device |
| WO2016194510A1 (en) * | 2015-06-02 | 2016-12-08 | 日産自動車株式会社 | Variable compression ratio mechanism for internal combustion engine |
| CN207598855U (en) * | 2017-12-21 | 2018-07-10 | 香河皓达机器人谐波减速器制造有限公司 | Flexbile gear and harmonic speed changer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111795119A (en) * | 2019-04-09 | 2020-10-20 | 住友重机械工业株式会社 | Gear device and method for manufacturing gear device |
| CN113007309A (en) * | 2019-12-20 | 2021-06-22 | 住友重机械工业株式会社 | Flexural engagement gear device and method for manufacturing same |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6871818B2 (en) | 2021-05-12 |
| KR20190010429A (en) | 2019-01-30 |
| CN109282010B (en) | 2021-11-05 |
| JP2019019944A (en) | 2019-02-07 |
| DE102018115627A1 (en) | 2019-01-24 |
| KR102416790B1 (en) | 2022-07-04 |
| DE102018115627B4 (en) | 2023-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109282010A (en) | Flexible engagement gear device | |
| US6517460B2 (en) | Eccentric orbiting type speed reducer and joint for industrial machine equipped with the same | |
| TWI703286B (en) | Flat type strain wave gearing | |
| TWI619895B (en) | Flat strain wave gearing | |
| JP7072144B2 (en) | Wave gear device | |
| CN108150623A (en) | deceleration device | |
| TWI695942B (en) | Wave generator and strain wave gearing | |
| CN105008763B (en) | Flexible engagement gear device | |
| CN108150612A (en) | Flexible Engagement Gear Device | |
| JPWO2013051422A1 (en) | Gear transmission | |
| CN109563879A (en) | Ball bearing, main shaft device and lathe | |
| CN110094487A (en) | Flexible engagement gear device | |
| RU2659196C1 (en) | Dual harmonic gear drive | |
| CN109555831A (en) | Flexible engagement gear device | |
| WO2013157397A2 (en) | Gearwheel drive | |
| CN110094479A (en) | Flexible engagement gear device | |
| CN203202013U (en) | Angular-contact ball bearing | |
| CN110185745A (en) | The manufacturing method of gear device series and its construction method and geared system group | |
| CN110005781A (en) | Flexible engagement gear device | |
| JP4743176B2 (en) | Combination ball bearings and double row ball bearings | |
| JP2007270963A (en) | Automatic self-aligning roller bearing with cage | |
| JP7370242B2 (en) | Flexible mesh gear device and its manufacturing method | |
| JP4572875B2 (en) | Manufacturing method of rolling sliding parts | |
| JP2006292046A (en) | Rolling bearing, and transmission for automobile, motor and generator using the same | |
| CN108291610A (en) | Rotating plate device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |