CN110185745A - The manufacturing method of gear device series and its construction method and geared system group - Google Patents
The manufacturing method of gear device series and its construction method and geared system group Download PDFInfo
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- CN110185745A CN110185745A CN201910121535.7A CN201910121535A CN110185745A CN 110185745 A CN110185745 A CN 110185745A CN 201910121535 A CN201910121535 A CN 201910121535A CN 110185745 A CN110185745 A CN 110185745A
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- internal gear
- gear
- geared system
- teeth
- outer toothed
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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
-
- 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
- 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
-
- 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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/033—Series gearboxes, e.g. gearboxes based on the same design being available in different sizes or gearboxes using a combination of several standardised units
-
- 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
- F16H2049/003—Features of the flexsplines therefor
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The present invention provides a kind of geared system for improving the installation freedom degree relative to object-based device.Gear device series have the 1st geared system and the 2nd geared system.1st geared system and the 2nd geared system are flexible engagement gear devices.In the 1st geared system, the number of teeth of 1st internal gear is more than the number of teeth of the 2nd internal gear, and from the rotation after the output deceleration of the 2nd internal gear, in the 2nd geared system, the number of teeth of 2nd internal gear is more than the number of teeth of the 1st internal gear, and exports the rotation after slowing down from the 1st internal gear.External gear has the 1st outer toothed portion and the 2nd outer toothed portion, and the teeth directional correction amount of the 1st outer toothed portion is greater than the teeth directional correction amount of the 2nd outer toothed portion.External gear is general in the 1st geared system and the 2nd geared system, and in the 1st geared system, external gear is assembled into the 1st outer toothed portion and engages with the 2nd internal gear, and in the 2nd geared system, external gear is assembled into the 1st outer toothed portion and engages with the 1st internal gear.
Description
This application claims based on 2 months 2018 Japanese patent application filed in 23 days the 2018-030326th priority.
The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to the manufacturers of a kind of gear device series, the construction method of gear device series and geared system group
Method.
Background technique
It has been known that there is the flexible engagement gear devices that the small-sized and lightweight of one kind can but obtain high reduction ratio.In the past, it proposed
There is a kind of flexible engagement gear device of so-called cartridge type, have: playing vibration body；External gear is played vibration body deflection deformation；
1st internal gear, is engaged with external gear；2nd internal gear is arranged side-by-side with the 1st internal gear in the axial direction and nibbles with external gear
It closes；Base bearing configures between the 1st internal gear and the 2nd internal gear, also, the inner ring of the 1st internal gear and base bearing one
Change, the 2nd internal gear is integrated with the outer ring of base bearing (for example, patent document 1).
Patent document 1: Japanese Unexamined Patent Publication 2011-112214 bulletin
In said gear device, expect to improve the installation freedom degree relative to object-based device.
Summary of the invention
The present invention is to complete in light of this situation, is improved its purpose is to provide a kind of relative to object-based device
The geared system of freedom degree is installed.
To solve the above-mentioned problems, the gear device series of one embodiment of the present invention have the 1st geared system and
2nd geared system, wherein the 1st geared system and the 2nd geared system are flexible engagement gear devices, are had: vibration body is played；
External gear is played vibration body deflection deformation；1st internal gear, is engaged with external gear；2nd internal gear, in the axial direction with the 1st internal gear
It is arranged side-by-side and is engaged with external gear；Base bearing, configure between the 1st internal gear and the 2nd internal gear, also, the 1st internal gear with
The inner ring integration of base bearing, the 2nd internal gear is integrated with the outer ring of base bearing, in the 1st geared system, the 1st internal gear
The number of teeth is more than the number of teeth of the 2nd internal gear, and from the rotation after the output deceleration of the 2nd internal gear, in the 2nd geared system, in the 2nd
The number of teeth of gear is more than the number of teeth of the 1st internal gear, and from the rotation after the output deceleration of the 1st internal gear, external gear has outside the 1st
Teeth portion and the 2nd outer toothed portion, the teeth directional correction amount of the 1st outer toothed portion are greater than the teeth directional correction amount of the 2nd outer toothed portion, and external gear is in the 1st tooth
General in wheel apparatus and the 2nd geared system, in the 1st geared system, external gear is assembled into the 1st outer toothed portion and nibbles with the 2nd internal gear
It closes, in the 2nd geared system, external gear is assembled into the 1st outer toothed portion and engages with the 1st internal gear.
Another embodiment of the present invention is related to a kind of construction method of gear device series.This method is that have the 1st tooth
The construction method of the gear device series of wheel apparatus and the 2nd geared system, wherein the 1st geared system and the 2nd geared system are to scratch
Bent mesh gear device, has: playing vibration body；External gear is played vibration body deflection deformation；1st internal gear, is nibbled with external gear
It closes；2nd internal gear is arranged side-by-side with the 1st internal gear in the axial direction and engages with external gear；Base bearing is configured in the 1st internal gear
Between the 2nd internal gear, also, the 1st internal gear is integrated with the inner ring of base bearing, the outer ring one of the 2nd internal gear and base bearing
Body, in the 1st geared system, the number of teeth of the 1st internal gear is more than the number of teeth of the 2nd internal gear, and subtracts from the output of the 2nd internal gear
Rotation after speed, in the 2nd geared system, the number of teeth of the 2nd internal gear is more than the number of teeth of the 1st internal gear, and from the 1st internal gear
Rotation after output deceleration, external gear have the 1st outer toothed portion and the 2nd outer toothed portion, and the teeth directional correction amount of the 1st outer toothed portion is greater than the 2nd
The teeth directional correction amount of outer toothed portion, external gear is general in the 1st geared system and the 2nd geared system, in the 1st geared system, outside
Gear is assembled into the 1st outer toothed portion and engages with the 2nd internal gear, and in the 2nd geared system, external gear is assembled into the 1st outer toothed portion and the 1st
Internal gear engagement.
Another embodiment of the invention is a kind of manufacturing method of geared system group.This method is that have the 1st gear dress
It sets and the manufacturing method of the geared system group of the 2nd geared system, wherein the 1st geared system and the 2nd geared system are flexure engagements
Formula geared system, has: playing vibration body；External gear is played vibration body deflection deformation；1st internal gear, is engaged with external gear；In 2nd
Gear is arranged side-by-side with the 1st internal gear in the axial direction and engages with external gear；Base bearing configures in the 1st internal gear and the 2nd
Between gear, also, the 1st internal gear is integrated with the inner ring of base bearing, and the 2nd internal gear is integrated with the outer ring of base bearing,
In 1st geared system, the number of teeth of the 1st internal gear is more than the number of teeth of the 2nd internal gear, and after the output deceleration of the 2nd internal gear
Rotation, in the 2nd geared system, the number of teeth of the 2nd internal gear is more than the number of teeth of the 1st internal gear, and subtracts from the output of the 1st internal gear
Rotation after speed, external gear have the 1st outer toothed portion and the 2nd outer toothed portion, and the teeth directional correction amount of the 1st outer toothed portion is greater than the 2nd outer toothed portion
Teeth directional correction amount, external gear is general in the 1st geared system and the 2nd geared system, the manufacturing method packet of this geared system group
Include following process: the manufacturing process of the 1st geared system comprising being assembled into external gear nibbles the 1st outer toothed portion with the 2nd internal gear
The process of conjunction；And the 2nd geared system manufacturing process comprising external gear is assembled into the 1st outer toothed portion and is engaged with the 1st internal gear
Process.
In addition, by any combination of the above constitutive requirements or constitutive requirements of the invention or being expressed in method, apparatus, system
The mode being replaced mutually Deng between is also effective as embodiments of the present invention.
In accordance with the invention it is possible to provide a kind of geared system for improving the installation freedom degree relative to object-based device.
Detailed description of the invention
Fig. 1 is the cross-sectional view of the 1st geared system of gear device series involved in embodiment.
Fig. 2 is each teeth portion, the 1st interior teeth portion of the 1st internal gear and the 2nd internal tooth of the 2nd internal gear for illustrating external gear
The figure of the shape in portion.
Fig. 3 is the cross-sectional view of the 2nd geared system of gear device series involved in embodiment.
Fig. 4 is for illustrating in the 1st of each teeth portion of the external gear of geared system involved in variation, the 1st internal gear the
The figure of the shape of teeth portion and the 2nd interior teeth portion of the 2nd internal gear.
In figure:
The 1st geared system of 100-, 112- vibration body axis, 130- external gear, the 1st outer toothed portion of 132-, the 2nd outer toothed portion of 134-,
The 1st internal gear of 140-, the 2nd internal gear of 150-, 162- base bearing, the 2nd geared system of 200-, the 1st internal gear of 240-, 250- the 2nd
Internal gear.
Specific embodiment
Hereinafter, in the drawings, marking identical symbol to identical or equal constitutive requirements, component and process, and fit
When omission repeated explanation.Also, in order to make it easy to understand, in the drawings, suitably zooming in or out the size for indicating component.And
And in the drawings, a part of the not important component of the explanation to embodiment is omitted.
Gear device series involved in embodiment (product group of geared system) have the 1st geared system and the 2nd tooth
Wheel apparatus.1st geared system and the 2nd geared system are the flexible engagement gear devices of so-called cartridge type.
Firstly, being illustrated to the 1st geared system.
Fig. 1 is the cross-sectional view of the 1st geared system 100 of gear device series involved in embodiment.
1st geared system 100 exports after the rotation that input comes is slowed down.1st geared system 100 is so-called cylinder
The flexible engagement gear device of type has wavegenerator 110, by the external gear of 110 deflection deformation of wavegenerator
130, the 1st internal gear 140 that is engaged with external gear 130, in the axial direction with the 1st internal gear 140 side by side (adjacent) configuration and with it is outer
150, two limiting components 160 of the 2nd internal gear that gear 130 engages, configuration the 1st internal gear 140 and the 2nd internal gear 150 it
Between base bearing 162, the 1st bearing holder (housing, cover) 164 and the 2nd bearing holder (housing, cover) 166.Be sealed in the 1st geared system 100 lubricant (for example,
Lubricating grease).Lubricant external gear wheel 130 is engaged with the engaging section of the 1st internal gear 140, external gear 130 with the 2nd internal gear 150
Portion and each bearing etc. are lubricated.
Wavegenerator 110 has included that vibration body axis 112 and configuration are playing two between vibration body axis 112 and external gear 130
Play vibration body bearing 120.Playing vibration body axis 112 is input shaft, such as is connect with rotary driving sources such as motors, and be with rotary shaft R
Center is rotated.The starting of oscillation that the section orthogonal with rotary shaft R is substantially elliptical is integrally formed on playing vibration body axis 112
Body 114.
Two rise vibration body bearings 120 respectively include multiple rolling elements 122, keep multiple rolling elements 122 retainer 124 and
It is embedded in the outer collar members 126 of external gear 130.Multiple rolling elements 122 are respectively provided with generally cylindrical shape, and with its axial court
Circumferentially it is arranged to the state in the direction substantially parallel with the direction rotary shaft R across interval.Rolling element 122 is kept device 124
Remain rolling freely, rolling element 122 rolls on the outer peripheral surface 114a for playing vibration body 114.That is, playing the inner ring of vibration body bearing 120
It is integrally constituted with the outer peripheral surface 114a for playing vibration body 114, but is not only defined in this, playing vibration body bearing 120 can also have
The dedicated inner ring seperated with vibration body 114 is played.
Outer collar members 126 are surrounded on multiple rolling elements 122.Outer collar members 126 have flexibility, via multiple rolling elements
122 and by rise a vibration body 114 deflect into ellipticity.If playing vibration body 114 (that is, rise vibration body axis 112) rotation, outer collar members 126 with
Rise vibration body 114 shape and continuous deflection deformation.Two outer collar members 126 for playing vibration body bearing 120 are separately formed each other, but
It is that can also be formed as one.
External gear 130 is flexible endless member, and being fitted on the inside of it has had vibration body 114 and vibration body bearing 120.
Due to being embedded in vibration body 114 in external gear 130 and having played vibration body bearing 120, external gear 130 can deflect into ellipse
Shape.If playing vibration body 114 to rotate, the continuous deflection deformation with the shape for playing vibration body 114 of external gear 130.External gear 130 includes
1st outer toothed portion 132, the 2nd outer toothed portion 134 being arranged side-by-side in the axial direction with the 1st outer toothed portion 132 and substrate 136.1st outer toothed portion
132 and the 2nd outer toothed portion 134 is formed in single substrate (that is, substrate 136), and the number of teeth is identical.
1st internal gear 140 is to be formed with the 1st interior teeth portion 142 in its inner circumferential with the cartridge of rigidity.1st interior teeth portion
142 are surrounded on the 2nd outer toothed portion 134 for deflecting into elliptoid external gear 130, and the rule near the long axis for playing vibration body 114
Determine region (two regions) to engage with the 2nd outer toothed portion 134.The number of teeth of 1st interior teeth portion 142 more than the 2nd outer toothed portion 134 the number of teeth and
The number of teeth of 2nd interior teeth portion 156 (by aftermentioned).
2nd internal gear 150 includes main part 152 and extension 154.Main part 152 in the axial direction with the 1st internal gear 140
(adjacent) configuration side by side.Main part 152 is that its inner circumferential side is provided with the 2nd interior teeth portion 156 with the endless member of rigidity.2nd
Interior teeth portion 156 is surrounded on the 1st outer toothed portion 132 for deflecting into elliptoid external gear 130, and attached in the long axis for playing vibration body 114
Close predetermined region (two regions) is engaged with the 1st outer toothed portion 132.The number of teeth of 2nd interior teeth portion 156 and the tooth of the 1st outer toothed portion 132
Number is identical.Therefore, the rotation synchronous rotary of the 2nd internal gear 150 and the 1st outer toothed portion 132 (or even external gear 130).
Extension 154 is substantially cylindric component.The lock of main part 152 is embedded in extension 154 and passes through bolt
(not shown) is integrated with extension 154.Extension 154 extends to the radial outside of the 1st internal gear 140 from main part 152, and
It is surrounded on the 1st internal gear 140.In addition, main part 152 can also be formed as one with extension 154 by single component.
Two limiting components 160 are flat endless members, are configured to clamping external gear 130 and two are played vibration body bearing
120.External gear 130 is limited by two limiting components 160 and two are played vibration body bearing 120 and are axially moveable.
Base bearing 162 by its it is axial with rotary shaft R it is consistent in a manner of configure extension 154 and the 1st internal gear 140 it
Between.In the present embodiment, base bearing 162 is crossed roller bearing comprising: inner ring 170, the 1st internal gear 140 periphery with
1st internal gear, 140 integration；Outer ring 172, it is integrated with extension 154 in the inner circumferential of extension 154；And multiple rollers (roll
Body) 174, circumferentially across being arranged at intervals between inner ring 170 and outer ring 172.Multiple rollers 174 are in inner ring 170 and outer ring 172
Upper rolling.Extension 154 (or even the 2nd internal gear 150) is via base bearing 162 by the bearing of the 1st internal gear 140 for relative to extension
Portion 154 (or even the 2nd internal gear 150) rotates freely.In addition, the type of base bearing 162 and be not particularly limited, such as can also be with
It is four-point contact ball.
1st bearing holder (housing, cover) 164 is endless member, has been surrounded on vibration body axis 112.Similarly, the 2nd bearing holder (housing, cover) 166 is also ring
Shape component has been surrounded on vibration body axis 112.1st bearing holder (housing, cover) 164 and the 2nd bearing holder (housing, cover) 166 are configured to clamp external gear in the axial direction
130, two are played vibration body bearing 120 and two limiting components 160.1st bearing holder (housing, cover) 164 and the 2nd bearing holder (housing, cover) 166 are general (that is, shape
The pitch diameter of shape, size and screw hole H is identical in design) component.
1st bearing holder (housing, cover) 164 lock is chimeric and bolt is fixed on the 1st internal gear 140, thus with 140 one of the 1st internal gear
Change.The chimeric simultaneously bolt of 2nd bearing holder (housing, cover) 166 lock is fixed on the main part 152 of the 2nd internal gear 150, thus with the 2nd internal gear 150
Integration.
Input shaft bearing 180 is assembled in the inner circumferential of the 1st bearing holder (housing, cover) 164.Input is assembled in the inner circumferential of the 2nd bearing holder (housing, cover) 166
Bearing 182.1st bearing holder (housing, cover) 164 and the 2nd bearing holder (housing, cover) 166 will play 112, vibration body axis via input shaft bearing 180 and input shaft bearing 182
It holds to be rotated freely relative to the 1st bearing holder (housing, cover) 164 and the 2nd bearing holder (housing, cover) 166.
About the 1st bearing holder (housing, cover) (the 1st installing component) 164, by the way that its periphery lock is embedded in consolidating as object Part
Determine wall 12 and bolt is inserted into screw hole H, so that bolt is fixed on the fixation wall 12 as object Part.1st bearing as a result,
164 (or even the 1st internal gears 140) of set are installed on fixation wall 12.About the 2nd bearing holder (housing, cover) (the 2nd installing component) 166, by by its
Periphery lock is embedded in the output device 14 as object Part and bolt is inserted into screw hole H, so that bolt is fixed on work
For the output device 14 of object Part.The 2nd bearing holder (housing, cover) 166 (or even the 2nd internal gear 150) is installed on output device 14 as a result,.Such as
Shown in dotted line in Fig. 1, output device 14 can also be directly mounted at the 2nd internal gear 150.
Oil sealing 184 is configured between vibration body axis 112 and the 1st bearing holder (housing, cover) 164 rising, in the 1st bearing holder (housing, cover) 164 and the 1st internal tooth
It is configured with o-ring 186 between wheel 140, oil sealing is configured between the 1st internal gear 140 and the extension 154 of the 2nd internal gear 150
188, o-ring 190 is configured between the extension 154 and main part 152 of the 2nd internal gear 150, in the master of the 2nd internal gear 150
It is configured with o-ring 192 between body portion 152 and the 2nd bearing holder (housing, cover) 166, is configured between the 2nd bearing holder (housing, cover) 166 and vibration body axis 112
Oil sealing 194.Thereby, it is possible to inhibit the lubricant leakage in the 1st geared system 100.
Fig. 2 is each teeth portion, the 1st interior teeth portion 142 and the 2nd internal gear of the 1st internal gear 140 for illustrating external gear 130
The figure of the shape of 150 the 2nd interior teeth portion 156.The imaginary circle of the pitch circle with each teeth portion by external gear 130 is shown in Fig. 2
Cylinder cuts cross-sectional view obtained by each teeth portion, the 1st interior teeth portion 142 and the 2nd interior teeth portion 156 of external gear 130.In order to make it easy to understand,
Showing in Fig. 2 slides the 1st interior teeth portion 142 and the 2nd interior teeth portion 156 circumferentially to make it away from each teeth portion of external gear 130
State, and exaggerate and depict the tooth surface shape of teeth portion.In Fig. 2, horizontal axis is the position in the axial direction away from a certain base position
It sets.In order to refer to, show the scale of circumferential size on longitudinal axis (scale is 10 μm).In the present embodiment, the 1st internal tooth
The axial length in portion 142 is shorter than the axial length of the 2nd outer toothed portion 134, all ranges and the 2nd in the axial direction of the 1st interior teeth portion 142
Outer toothed portion 134 engages.Therefore, the axial length and the 1st interior teeth portion of the engagement range of the 1st interior teeth portion 142 and the 2nd outer toothed portion 134
142 axial length is equal.Also, in the present embodiment, the axial length of the 2nd interior teeth portion 156 is shorter than the 1st outer toothed portion 132
Axial length, all ranges in the axial direction of the 2nd interior teeth portion 156 engage with the 1st outer toothed portion 132.Therefore, the 2nd interior teeth portion 156
It is equal with the axial length of the 2nd interior teeth portion 156 with the axial length of the engagement range of the 1st outer toothed portion 132.
It is most thick that 1st outer toothed portion 132 includes the 1st external tooth on the position (that is, position radially) on the high direction of a certain tooth
Portion 132a, transverse tooth thickness is maximum on the high direction position of the tooth；1st outside transverse tooth thickness reduction portion 132b, from the 1st external tooth the thickest portion
132a towards it is axially external (that is, be directed away between the 1st outer toothed portion 132 and the 2nd outer toothed portion 134 center direction) extend and
Reduce with towards its axially external transverse tooth thickness；And the 1st inside transverse tooth thickness reduction portion 132c, from the 1st external tooth the thickest portion 132a direction
Axially inner side (that is, towards the direction in the center between the 1st outer toothed portion 132 and the 2nd outer toothed portion 134) extends and with direction
Its transverse tooth thickness of axially inner side reduces.Position of 1st outer toothed portion 132 preferably on the high direction of tooth engaged with the 2nd interior teeth portion 156 has
1st external tooth the thickest portion 132a, the 1st outside transverse tooth thickness reduction portion 132b and the 1st inside transverse tooth thickness reduction portion 132c can be with as representative
Central location on the high direction of tooth has the 1st external tooth the thickest portion 132a, the 1st outside transverse tooth thickness reduction portion 132b and the 1st inner tines
Thick reduction portion 132c.In the present embodiment, the 1st outer toothed portion 132 is in the tooth Gao Fang until its tooth top position to root position
Upward all positions all have the 1st external tooth the thickest portion 132a, the 1st outside transverse tooth thickness reduction portion 132b and the 1st inside transverse tooth thickness reduces
Portion 132c.
1st outer toothed portion 132 has relative to the symmetrical shape of its transverse tooth thickness median plane S130.Here, " transverse tooth thickness median plane " is
Refer to: including rotary shaft R and by the face in the center on the transverse tooth thickness direction of the maximum the thickest portion of transverse tooth thickness.Two of 1st outer toothed portion 132
The flank of tooth is all formed as, and in the 1st outside transverse tooth thickness reduction portion 132b, the distance between transverse tooth thickness median plane S130 is with from the 1st
External tooth the thickest portion 132a is towards axially external and reduce, in the 1st inside transverse tooth thickness reduction portion 132c, with transverse tooth thickness median plane S130
The distance between reduce with from the 1st external tooth the thickest portion 132a towards axially inner side.
2nd outer toothed portion 134 includes the 2nd external tooth the thickest portion 134a on the position on the high direction of a certain tooth, in tooth height
Transverse tooth thickness is maximum on position on direction；2nd outside transverse tooth thickness reduction portion 134b, it is outside towards axis from the 2nd external tooth the thickest portion 134a
Side extends and reduces with towards its axially external transverse tooth thickness；And the 2nd inside transverse tooth thickness reduction portion 134c, from the 2nd external tooth the thickest portion
134a extends towards axially inner side and reduces with towards its transverse tooth thickness of axially inner side.2nd outer toothed portion 134 preferably with the 1st internal tooth
The position on the high direction of tooth that portion 142 is engaged has in the 2nd external tooth the thickest portion 134a, the 2nd outside transverse tooth thickness reduction portion 134b and the 2nd
Side transverse tooth thickness reduction portion 134c can have the 2nd external tooth the thickest portion 134a, the 2nd in the central location on the high direction of tooth as representative
Outside transverse tooth thickness reduction portion 134b and the 2nd inside transverse tooth thickness reduction portion 134c.In the present embodiment, the 2nd outer toothed portion 134 is from its tooth
All positions on the high direction of tooth until the position to root position of top all have the 2nd external tooth the thickest portion 134a, the 2nd outside transverse tooth thickness
Reduction portion 134b and the 2nd inside transverse tooth thickness reduction portion 134c.
2nd outer toothed portion 134 is formed as symmetrical relative to transverse tooth thickness median plane S130.That is, two flank of tooth of the 2nd outer toothed portion 134
It is all formed as, in the 2nd outside transverse tooth thickness reduction portion 134b, the distance between transverse tooth thickness median plane S130 is with from the 2nd external tooth
The thickest portion 134a is towards axially external and reduce, in the 2nd inside transverse tooth thickness reduction portion 134c, between transverse tooth thickness median plane S130
Distance reduce with from the 2nd external tooth the thickest portion 134a towards axially inner side.
As be described hereinafter, external gear 130 is formed as follows: the 2nd internal tooth of the 2nd internal gear 150 of the rotation after slowing down with output
The teeth directional correction amount for the 1st outer toothed portion 132 that portion 156 is engaged is greater than the teeth directional correction amount of the 2nd outer toothed portion 134.Teeth directional correction amount is
The correction amount of the outside side end of spindle, in the present embodiment, teeth directional correction amount refers to: the external tooth the thickest portion and axial direction of outer toothed portion
Transverse tooth thickness between outboard end is poor.Therefore, specifically, in the example in figure 2, external gear 130 is formed as, the 1st outer toothed portion 132
The 1st external tooth the thickest portion 132a thickness it is identical as the thickness of the 2nd external tooth the thickest portion 134a of the 2nd outer toothed portion 134, and the 1st
Transverse tooth thickness between 1st external tooth the thickest portion 132a of outer toothed portion 132 and the axially external end of the 1st outside transverse tooth thickness reduction portion 132b is poor
Between axially external end greater than the 2nd external tooth the thickest portion 134a and the 2nd outside transverse tooth thickness reduction portion 134b of the 2nd outer toothed portion 134
Transverse tooth thickness it is poor.
In the following, being illustrated to the movement of the 1st geared system 100 of above structure.Here, illustrating the 1st outer toothed portion
132, the number of teeth of the 2nd outer toothed portion 134 and the 2nd interior teeth portion 156 is the case where number of teeth of the 100, the 1st interior teeth portion 142 is 102.
In the shape that two position of the 2nd outer toothed portion 134 on elliptical long axis direction is engaged with the 1st interior teeth portion 142
Under state, rotated if playing vibration body axis 112, the position of engagement of the 1st interior teeth portion 142 and the 2nd outer toothed portion 134 is also circumferentially moved therewith
It is dynamic.Since the number of teeth of the 1st interior teeth portion 142 is different from the number of teeth of the 2nd outer toothed portion 134, at this time the 2nd outer toothed portion 134 relative to
1st interior teeth portion 142 is rotated.Since the 1st internal gear 140 and the 1st bearing holder (housing, cover) 164 are in stationary state, the 2nd outer toothed portion
134 rotations are equivalent to the amount of its teeth number difference between the 1st interior teeth portion 142.That is, the rotation for playing vibration body axis 112 is substantially slowed down
After export to the 2nd outer toothed portion 134.Its reduction ratio is as follows.
Reduction ratio=(number of teeth of 1 interior teeth portion 142 of the number of teeth-the of the 2nd outer toothed portion 134)/the 2nd outer toothed portion 134 number of teeth
=(100-102)/100
=-1/50
Since the 1st outer toothed portion 132 is formed as one with the 2nd outer toothed portion 134, the 1st outer toothed portion 132 and the 2nd outer toothed portion
134 integrally rotate.Since the number of teeth of the 1st outer toothed portion 132 is identical as the number of teeth of the 2nd interior teeth portion 156, will not occur opposite
Rotation, the 1st outer toothed portion 132 are integrally rotated with the 2nd interior teeth portion 156.Therefore, rotation identical with the rotation of the 2nd outer toothed portion 134
It exports to the 2nd interior teeth portion 156.Subtract as a result, exporting the rotation of vibration body axis 112 by output device 14 from the 2nd internal gear 150
Rotation after speed to -1/50.
Then, the 2nd geared system is illustrated.
Fig. 3 is the cross-sectional view of the 2nd geared system 200 of gear device series involved in embodiment.
2nd geared system 200 has component parts identical with the 1st geared system 100.2nd geared system 200 has wave
Dynamic generator 110, external gear 130, the 1st internal gear 240, the 2nd internal gear 250, two including main part 252 and extension 154
A limiting component 160, base bearing 162, the 1st bearing holder (housing, cover) 164 and the 2nd bearing holder (housing, cover) 166.In addition, in the 1st geared system 100 and the 2nd
In geared system 200, the identical constitutive requirements of symbol are the general (shapes in the 1st geared system 100 and the 2nd geared system 200
And size is identical) constitutive requirements.Therefore, other than the 1st internal gear and the 2nd internal gear, the 1st geared system 100 and the 2nd tooth
Wheel apparatus 200 has identical constitutive requirements.Hereinafter, the emphasis pair point different from the 1st geared system 100 is illustrated.
Structure of the structure substantially with the 1st internal gear 140, the 2nd internal gear 150 of 1st internal gear 240, the 2nd internal gear 250
Identical, still, the number of teeth of the 1st interior teeth portion 242 of the 1st internal gear 240 is identical as the number of teeth of outer toothed portion, and the of the 2nd internal gear 250
The number of teeth of 2 interior teeth portions 256 is more than outer toothed portion and the number of teeth of the 1st interior teeth portion 242.
About the 1st bearing holder (housing, cover) 164, it is embedded in output device 14 by being latched and bolt is inserted into screw hole H, from
And bolt is fixed on output device 14.About the 2nd bearing holder (housing, cover) 166, fixation wall 12 is embedded in and by bolt by being latched
It is inserted into screw hole H, so that bolt is fixed on fixation wall 12.Therefore, in the 2nd geared system 200, the 1st internal gear 240 is installed on
The 14, the 2nd internal gear 250 of output device is installed on fixation wall 12.Therefore, in the 2nd geared system 200, rotation after deceleration from
The output of 1st internal gear 240.In addition, as shown in phantom in figure 4, fixation wall 12 can also be directly mounted at the 2nd internal gear 250.
External gear 130 is assembled into, the 1st outer toothed portion 132 by the 1st interior teeth portion 242 of the 1st internal gear 240 surround and with the 1st in
Teeth portion 242 engages, and the 2nd outer toothed portion 134 is surround and engaged with the 2nd interior teeth portion 256 by the 2nd interior teeth portion 256 of the 2nd internal gear 250,
That is, the 1st outer toothed portion 132 and the 1st interior teeth portion 242 of the 1st internal gear 240 of the rotation after output deceleration that teeth directional correction amount is bigger
Engagement.Therefore, in the 1st geared system 100 and the 2nd geared system 200, the 1st outer toothed portion 132 and the 2nd outer toothed portion 134 and the 1st
Meshing relation between internal gear and the 2nd internal gear is opposite.Specifically, the manufacturing process of the 1st geared system 100 includes
External gear 130, which is assembled into, to be engaged the 1st outer toothed portion 132 with the 2nd interior teeth portion 156 of the 2nd internal gear 150 and makes the 2nd outer toothed portion
134 processes engaged with the 1st interior teeth portion 142 of the 1st internal gear 140, the manufacturing process of the 2nd geared system 200 include by external tooth
Wheel 130, which is assembled into, to be engaged the 1st outer toothed portion 132 with the 1st interior teeth portion 242 of the 1st internal gear 240 and makes the 2nd outer toothed portion 134 and the
The process of the 2nd interior teeth portion 256 engagement of 2 internal gears 250.
In the following, being illustrated to the movement of the 2nd geared system 200 of above structure.
In the state of two position 2nd interior teeth portion 256 engagement of the 2nd outer toothed portion 134 on elliptical long axis direction
Under, it is rotated if playing vibration body axis 112, the position of engagement of the 2nd interior teeth portion 256 and the 2nd outer toothed portion 134 is also circumferentially moved therewith.
Since the number of teeth of the 2nd interior teeth portion 256 is different from the number of teeth of the 2nd outer toothed portion 134, the 2nd outer toothed portion 134 is relative to the 2nd at this time
Interior teeth portion 256 is rotated.Since the 2nd internal gear 250 and the 2nd bearing holder (housing, cover) 166 are in stationary state, the 2nd outer toothed portion 134
Rotation is equivalent to the amount of its teeth number difference between the 2nd interior teeth portion 256.That is, the rotation for playing vibration body axis 112 is defeated after substantially being slowed down
Out to the 2nd outer toothed portion 134.Its reduction ratio is identical as the reduction ratio in the 1st geared system 100.
Since the 1st outer toothed portion 132 is formed as one with the 2nd outer toothed portion 134, the 1st outer toothed portion 132 and the 2nd outer toothed portion
134 integrally rotate.Since the number of teeth of the 1st outer toothed portion 132 is identical as the number of teeth of the 1st interior teeth portion 242, will not occur opposite
Rotation, the 1st outer toothed portion 132 are integrally rotated with the 1st interior teeth portion 242.Therefore, rotation identical with the rotation of the 2nd outer toothed portion 134
It exports to the 1st interior teeth portion 242.Subtract as a result, exporting the rotation of vibration body axis 112 by output device 14 from the 1st internal gear 240
Rotation after speed.
Then, the effect of gear device series involved in present embodiment is described.In flexible engagement gear
In device, because of the external moment load from output device 14, especially in the rotation after slowing down to the output of output device 14
Center line can be generated on gear and is not overlapped (misalignment), it is possible to will lead to the internal gear and external gear 130 1 terminates
Touching, so that gear wear.Also, since external gear 130 and the number of teeth internal gear different from the number of teeth of external gear 130 are with its engagement
The mode of positional shift carries out relative rotation, therefore, compared with the mutually the same situation of the number of teeth, wears bigger.Therefore, if from tooth
Rotation after the number internal gear output deceleration different from the number of teeth of external gear 130, then may result in the internal gear and external gear
130 excessive wears.In contrast, gear device series involved according to the present embodiment, are needing to export from the 2nd internal gear
The 1st geared system 100 is used when rotation after deceleration, then uses the 2nd in the rotation after needing to slow down from the output of the 1st internal gear
Geared system 200, as a result, from the rotation Shi Junneng after any one internal gear output deceleration in the 1st internal gear and the 2nd internal gear
The rotation after slowing down from the number of teeth internal gear output different from the number of teeth of external gear 130 is avoided, enough so as to avoid generating tooth
The excessive wear of wheel.
Also, the gear device series according to involved in embodiment, external gear 130 are assembled into, and teeth directional correction amount is bigger
The 1st outer toothed portion 132 slow down with output after the interior teeth portion of internal gear of rotation engage.Thereby, it is possible to mitigate in the 1st outer toothed portion
The end thereof contacts load that 132 facewidth end generates, so as to mitigate the rotation after the 1st outer toothed portion 132 is slowed down with output
The abrasion that the interior teeth portion of internal gear generates.Therefore, the 1st interior teeth portion in the 1st internal gear can be made corresponding with external gear 130
It the abrasion that is generated between outer toothed portion and is produced between the 2nd interior teeth portion outer toothed portion corresponding with external gear 130 of the 2nd internal gear
Raw abrasion reduces same degree.
As described above, the rotation after slowing down can either be exported from the 1st internal gear while inhibiting gear to generate excessive wear
Turn that the rotation after slowing down can be exported from the 2nd internal gear again, it is thus possible to improve the installation freedom degree relative to object-based device.
Also, the gear device series according to involved in embodiment, external gear 130 need to change assembling direction and can lead to
With (although different objects, its design shape is identical), therefore, in the 1st geared system 100 and the 2nd geared system 200,
The main part that the 1st internal gear and the 2nd internal gear need to only be changed can construct series, therefore can provide tooth with relatively low cost
Wheel apparatus series.
More than, flexible engagement gear device involved in embodiment is illustrated.These embodiments are to show
Example, it will be appreciated by those skilled in the art that there may be various in the combination of these each constitutive requirements or each processing step
Variation, and this variation is also within the scope of the invention.Hereinafter, being illustrated to this variation.
(variation 1)
In embodiments, illustrate that external gear wheel 130 applies the modified example of teeth directional on transverse tooth thickness direction, but not
It is defined in this, it can also be using the teeth directional amendment on the high direction of tooth to replace the teeth directional on transverse tooth thickness direction to correct or in addition to transverse tooth thickness side
It can also be using the teeth directional amendment on the high direction of tooth other than upward teeth directional amendment.Hereinafter, being corrected to the teeth directional on the high direction of tooth
It is illustrated.
Fig. 4 is for illustrating each teeth portion of the external gear 130 of the 1st geared system, the 1st internal gear involved in variation
The figure of the shape of 140 the 1st interior teeth portion 142 and the 2nd interior teeth portion 156 of the 2nd internal gear 150.It is shown from circumferential in Fig. 4
The tooth top of each teeth portion of external gear 130, the tooth top of the 1st interior teeth portion 142 of the 1st internal gear 140, the 2nd internal gear 150 the 2nd
The tooth top of interior teeth portion 156.
In order to make it easy to understand, showing the tooth top of the tooth top and the 2nd interior teeth portion 156 that make the 1st interior teeth portion 142 in Fig. 4 to diameter
Outside Slideslip is so that its state far from external gear 130.In Fig. 4, horizontal axis is the position in the axial direction away from a certain base position
It sets.In order to refer to, show radial dimension of scale on longitudinal axis (scale is 10 μm).In this variation, the 1st internal gear
The axial length of 140 the 1st interior teeth portion 142 is shorter than the axial length of the 2nd outer toothed portion 134, the 1st interior teeth portion of the 1st internal gear 140
All ranges in 142 axial direction are engaged with the 2nd outer toothed portion 134.Also, the axial direction of the 2nd interior teeth portion 156 of the 2nd internal gear 150
Be shorter in length than the axial length of the 1st outer toothed portion 132, all ranges in the axial direction of the 2nd interior teeth portion 156 of the 2nd internal gear 150 with
The engagement of 1st outer toothed portion 132.
The tooth top of 1st outer toothed portion 132 includes the 1st most outer diameter part 132x, and outer diameter is maximum in the 1st outer toothed portion 132；1st
Outside outer diameter reduction portion 132y, from the 1st most outer diameter part 132x towards it is axially external (that is, be directed away from the 1st outer toothed portion 132 with
The direction in the center between the 2nd outer toothed portion 134) extend and reduces with towards its axially external outer diameter；And the 1st inside outer diameter subtract
Small portion 132z, from the 1st most outer diameter part 132x towards axially inner side (that is, towards close to the 1st outer toothed portion 132 and the 2nd outer toothed portion
The direction in the center between 134) extend and reduces with towards its outer diameter of axially inner side.
The tooth top of 2nd outer toothed portion 134 includes the 2nd most outer diameter part 134x, and outer diameter is maximum in the 2nd outer toothed portion 134；2nd
Outside outer diameter reduction portion 134y, from the 2nd most outer diameter part 134x towards axially external extension and with towards axially external outside it
Diameter reduces；And the 2nd inside outer diameter reduction portion 134z, extend from the 2nd most outer diameter part 134x towards axially inner side and with direction
Its outer diameter of axially inner side reduces.
External gear 130 is formed as follows: the teeth directional that the teeth directional correction amount of the 1st outer toothed portion 132 is greater than the 2nd outer toothed portion 134 is repaired
Positive quantity.In this variation, teeth directional correction amount refers to: outer diameter between the axially external end and most outer diameter part of outer toothed portion it
Difference.Therefore, specifically, in the example in fig. 4, external gear 130 is formed as, the 1st most outer diameter part 132x of the 1st outer toothed portion 132
Outer diameter it is identical as the outer diameter of the 2nd most outer diameter part 134x of the 2nd outer toothed portion 134, and the 1st most outer diameter part of the 1st outer toothed portion 132
Outer diameter difference between 132x and the axially external end of the 1st outside outer diameter reduction portion 132y is greater than the 2nd of the 2nd outer toothed portion 134 most
Outer diameter between outer diameter part 134x and the axially external end of the 2nd outside outer diameter reduction portion 134y is poor.
It is identical as embodiment, it is also can reduce according to this modification in one end of the facewidth end of the 1st outer toothed portion 132 generation
Contact load, so as to mitigate the mill that the interior teeth portion of internal gear of the rotation after the 1st outer toothed portion 132 is slowed down with output generates
Damage.
(variation 2)
In embodiment and above-mentioned variation, illustrate that external gear wheel 130 applies transverse tooth thickness direction and/or tooth Gao Fangxiang
On the modified example of teeth directional, but not limited to this, can also be applied on internal gear.Specifically, in the 1st gear
In device 100, the 1st internal gear 140 and the 2nd internal gear 150 are formed as, and the teeth directional of the 2nd interior teeth portion 156 of the 2nd internal gear 150 is repaired
Positive quantity is greater than the teeth directional correction amount of the 1st interior teeth portion 142 of the 1st internal gear 140.Also, in the 2nd geared system 200, in the 1st
Gear 240 and the 2nd internal gear 250 are formed as, and the teeth directional correction amount of the 1st interior teeth portion 242 of the 1st internal gear 240 is greater than the 2nd internal tooth
The teeth directional correction amount of 2nd interior teeth portion 256 of wheel 250.In this variation, the teeth directional correction amount on transverse tooth thickness direction refers to interior teeth portion
The maximum internal tooth the thickest portion of transverse tooth thickness and the axially external end of interior teeth portion between transverse tooth thickness it is poor, the amendment of teeth directional on the high direction of tooth
Amount refers to the difference in internal diameters between the smallest innermost diameter portion of the internal diameter of interior teeth portion and the axially external end of interior teeth portion.
According to this modification, effect identical with embodiment or above-mentioned variation can also be played.
In addition, the present invention can also provide the construction method of gear device series and the manufacturing method of geared system group.
Claims (7)
1. a kind of gear device series have the 1st geared system and the 2nd geared system, the feature of the gear device series
It is,
1st geared system and the 2nd geared system are flexible engagement gear devices, are had: playing vibration body；External tooth
Wheel, by described vibration body deflection deformation；1st internal gear is engaged with the external gear；2nd internal gear, in the axial direction with described
1 internal gear is arranged side-by-side and engages with the external gear；And base bearing, it configures in the 1st internal gear and the 2nd internal gear
Between, also, the 1st internal gear is integrated with the inner ring of base bearing, the outer ring one of the 2nd internal gear and base bearing
Change,
In the 1st geared system, the number of teeth of the 1st internal gear is more than the number of teeth of the 2nd internal gear, and from described
Rotation after the output deceleration of 2nd internal gear,
In the 2nd geared system, the number of teeth of the 2nd internal gear is more than the number of teeth of the 1st internal gear, and from described
Rotation after the output deceleration of 1st internal gear,
The external gear has the 1st outer toothed portion and the 2nd outer toothed portion, and the teeth directional correction amount of the 1st outer toothed portion is greater than outside the described 2nd
The teeth directional correction amount of teeth portion,
The external gear is general in the 1st geared system and the 2nd geared system, in the 1st geared system, institute
It states external gear and is assembled into the 1st outer toothed portion and engaged with the 2nd internal gear, in the 2nd geared system, the external gear
The 1st outer toothed portion is assembled into engage with the 1st internal gear.
2. gear device series according to claim 1, which is characterized in that
1st geared system and the 2nd geared system have: the 1st installing component, integrated with the 1st internal gear
And object Part can be installed on；And the 2nd installing component, it is integrated with the 2nd internal gear and object portion can be installed on
The shape of part, the 1st installing component is identical as the shape of the 2nd installing component.
3. gear device series according to claim 2, which is characterized in that
The periphery of 1st installing component and the periphery lock of the 2nd installing component are embedded in object Part.
4. gear device series according to claim 2 or 3, which is characterized in that
1st installing component and the 2nd installing component are equipped with the bearing holder (housing, cover) for having supported the input shaft bearing of vibration body.
5. gear device series according to any one of claim 2 to 4, which is characterized in that
The screw hole that 1st installing component and the 2nd installing component have pitch diameter mutually the same.
6. a kind of construction method of gear device series, the gear device series have the 1st geared system and the 2nd gear dress
It sets, the construction method is characterized in that,
1st geared system and the 2nd geared system are flexible engagement gear devices, are had: playing vibration body；External tooth
Wheel, by described vibration body deflection deformation；1st internal gear is engaged with the external gear；2nd internal gear, in the axial direction with described
1 internal gear is arranged side-by-side and engages with the external gear；And base bearing, it configures in the 1st internal gear and the 2nd internal gear
Between, also, the 1st internal gear is integrated with the inner ring of base bearing, the outer ring one of the 2nd internal gear and base bearing
Change,
In the 1st geared system, the number of teeth of the 1st internal gear is more than the number of teeth of the 2nd internal gear, and from described
Rotation after the output deceleration of 2nd internal gear,
In the 2nd geared system, the number of teeth of the 2nd internal gear is more than the number of teeth of the 1st internal gear, and from described
Rotation after the output deceleration of 1st internal gear,
The external gear has the 1st outer toothed portion and the 2nd outer toothed portion, and the teeth directional correction amount of the 1st outer toothed portion is greater than outside the described 2nd
The teeth directional correction amount of teeth portion,
The external gear is general in the 1st geared system and the 2nd geared system, in the 1st geared system, institute
It states external gear and is assembled into the 1st outer toothed portion and engaged with the 2nd internal gear, in the 2nd geared system, the external gear
The 1st outer toothed portion is assembled into engage with the 1st internal gear.
7. a kind of manufacturing method of geared system group, the geared system group have the 1st geared system and the 2nd geared system, institute
Manufacturing method is stated to be characterized in that,
1st geared system and the 2nd geared system are flexible engagement gear devices, are had: playing vibration body；External tooth
Wheel, by described vibration body deflection deformation；1st internal gear is engaged with the external gear；2nd internal gear, in the axial direction with described
1 internal gear is arranged side-by-side and engages with the external gear；And base bearing, it configures in the 1st internal gear and the 2nd internal gear
Between, also, the 1st internal gear is integrated with the inner ring of base bearing, the outer ring one of the 2nd internal gear and base bearing
Change,
In the 1st geared system, the number of teeth of the 1st internal gear is more than the number of teeth of the 2nd internal gear, and from described
Rotation after the output deceleration of 2nd internal gear,
In the 2nd geared system, the number of teeth of the 2nd internal gear is more than the number of teeth of the 1st internal gear, and from described
Rotation after the output deceleration of 1st internal gear,
The external gear has the 1st outer toothed portion and the 2nd outer toothed portion, and the teeth directional correction amount of the 1st outer toothed portion is greater than the 2nd outer toothed portion
Teeth directional correction amount,
The external gear is general in the 1st geared system and the 2nd geared system,
The manufacturing method of the geared system group comprises the following steps:
The manufacturing process of 1st geared system comprising being assembled into the external gear makes the 1st outer toothed portion and described the
The process of 2 internal gears engagement；And
The manufacturing process of 2nd geared system comprising being assembled into the external gear makes the 1st outer toothed portion and described the
The process of 1 internal gear engagement.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-030326 | 2018-02-23 | ||
| JP2018030326A JP6886415B2 (en) | 2018-02-23 | 2018-02-23 | Gear device series, how to build a series of gear devices, and how to manufacture a group of gear devices |
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| CN110185745A true CN110185745A (en) | 2019-08-30 |
| CN110185745B CN110185745B (en) | 2021-12-31 |
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| CN201910121535.7A Active CN110185745B (en) | 2018-02-23 | 2019-02-19 | Gear device series, method for constructing same, and method for manufacturing gear device group |
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| Country | Link |
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| JP (1) | JP6886415B2 (en) |
| CN (1) | CN110185745B (en) |
| DE (1) | DE102019103673A1 (en) |
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| 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 |
| JP7292226B2 (en) * | 2020-02-04 | 2023-06-16 | 住友重機械工業株式会社 | flexural mesh gearbox |
| WO2024135129A1 (en) * | 2022-12-23 | 2024-06-27 | 住友重機械工業株式会社 | Flexible meshing type gear device |
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|---|---|---|---|---|
| JPH05209655A (en) * | 1991-11-07 | 1993-08-20 | Harmonic Drive Syst Ind Co Ltd | Deflection engagement type gear device |
| EP0745786A1 (en) * | 1994-12-19 | 1996-12-04 | Harmonic Drive Systems Inc. | Flexible meshing type gear having a negative deflection over-running tooth profile |
| CN103827543A (en) * | 2011-12-08 | 2014-05-28 | 住友重机械工业株式会社 | Flexible meshing type gear device |
| CN103827542A (en) * | 2011-09-29 | 2014-05-28 | 谐波传动系统有限公司 | Wave gear device having tapered flexible external gear |
| CN107250606A (en) * | 2015-02-26 | 2017-10-13 | 谐波传动系统有限公司 | Wave gear device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2904418B2 (en) * | 1988-08-29 | 1999-06-14 | 株式会社ハーモニック・ドライブ・システムズ | Spline tooth profile of flexible mesh gears |
| 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 |
| JP2017223246A (en) * | 2016-06-13 | 2017-12-21 | 株式会社ジェイテクト | Wave gear transmission |
-
2018
- 2018-02-23 JP JP2018030326A patent/JP6886415B2/en active Active
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2019
- 2019-02-13 DE DE102019103673.9A patent/DE102019103673A1/en active Pending
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05209655A (en) * | 1991-11-07 | 1993-08-20 | Harmonic Drive Syst Ind Co Ltd | Deflection engagement type gear device |
| EP0745786A1 (en) * | 1994-12-19 | 1996-12-04 | Harmonic Drive Systems Inc. | Flexible meshing type gear having a negative deflection over-running tooth profile |
| CN103827542A (en) * | 2011-09-29 | 2014-05-28 | 谐波传动系统有限公司 | Wave gear device having tapered flexible external gear |
| CN103827543A (en) * | 2011-12-08 | 2014-05-28 | 住友重机械工业株式会社 | Flexible meshing type gear device |
| CN107250606A (en) * | 2015-02-26 | 2017-10-13 | 谐波传动系统有限公司 | Wave gear device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019143749A (en) | 2019-08-29 |
| CN110185745B (en) | 2021-12-31 |
| JP6886415B2 (en) | 2021-06-16 |
| DE102019103673A1 (en) | 2019-08-29 |
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