CN205780628U - Geared system - Google Patents

Abstract

The purpose of this utility model is to provide a kind of and has a wobble gear and/or bearing is difficult to the geared system of structure of breakage.The application records a kind of geared system, and this geared system includes: urceolus, and it has the internal gear including multiple internal tooth；Tooth rest, it is surrounded by described urceolus；Bearing, it allows rotating against between described urceolus and described tooth rest；Wobble gear, it is swing rotary in described urceolus, rotates against described in generation.Described wobble gear includes: the multiple external tooths engaged successively with described internal gear within the period of swing rotary；It is defined as at the bottom of the tooth of described wobble gear justifying the annular section in the region between the outside circle of described wobble gear.Described bearing includes the circle with the ring-type opposite face relative with described annular section.Described opposite face is overlapping with described annular section entirety within the period of described swing rotary.

Description

Geared system

Technical field

This utility model relates to the geared system with wobble gear.

Background technology

Geared system (the ginseng with wobble gear is used in industrial robot, the such various technical fields of lathe According to patent documentation 1).Geared system, in addition to having wobble gear, also has urceolus, tooth rest and bearing.Urceolus around Tooth rest.Bearing configuration, between urceolus and tooth rest, allows rotating against between urceolus and tooth rest.Wobble gear is on one side Engage with the internal tooth being formed at urceolus while carrying out swing rotary.The swing rotary of wobble gear makes urceolus or tooth rest produce rotation Turn.

Prior art literature

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 2015-83329 publication

Utility model content

The problem that utility model is to be solved

The circle of bearing is overlapping with the outer region of wobble gear, limits the extension of the center of rotation axis of urceolus or tooth rest The displacement of the wobble gear in setting direction.Thus, within the period of above-mentioned swing rotary, the profile along wobble gear is taken turns Corner with the circle of bearing the most sometimes, the corner of the wobble gear that profile becomes strongly is collided.Impinging one another becoming makes axle in corner Hold and wobble gear produces damaged reason.

The purpose of this utility model is to provide a kind of damaged structure having and being difficult to cause wobble gear and/or bearing Geared system.

For solving the scheme of problem

The geared system of a technical scheme of the present utility model includes: urceolus, and it has the internal gear including multiple internal tooth； Tooth rest, it is surrounded by described urceolus；Bearing, it allows rotating against between described urceolus and described tooth rest；Swing tooth Wheel, it carries out swing rotary in described urceolus, rotates against described in generation.Described wobble gear includes: at swing rotary The multiple external tooths engaged successively with described internal gear in period；It is defined as circle at the bottom of the tooth of described wobble gear and described wobble gear Outside circle between the annular section in region.Described bearing includes having the ring-type opposite face relative with described annular section Circle.Described opposite face is overlapping with described annular section entirety within the period of described swing rotary.

According to said structure, the opposite face of circle is overlapping with the annular section entirety being formed with external tooth, accordingly, it is difficult at circle Collision is produced between corner and the corner of wobble gear.Thus, wobble gear and/or bearing are difficult to breakage.

In said structure, described bearing can also include being arranged in ring-type multiple rolling elements.Described circle can also be The inner ring surrounded by the plurality of rolling element.

According to said structure, the opposite face of inner ring is overlapping with the annular section entirety of wobble gear, therefore, at the angle of inner ring It is difficult between portion and the corner of wobble gear produce collision.Thus, wobble gear and/or bearing are difficult to breakage.

In said structure, described bearing can also include being arranged in ring-type multiple rolling elements.Described circle can also be Outer ring around the plurality of rolling element.

According to said structure, the opposite face of outer ring is overlapping with the annular section entirety of wobble gear, therefore, at the angle of outer ring It is difficult between portion and the corner of wobble gear produce collision.Thus, wobble gear and/or bearing are difficult to breakage.

The geared system of another technical scheme of the present utility model includes: urceolus, and it has the internal tooth including multiple internal tooth Ring；Tooth rest, it is surrounded by described urceolus；Bearing, it allows rotating against between described urceolus and described tooth rest；Swing Gear, it carries out swing rotary in described urceolus, rotates against described in generation.Described wobble gear includes: at swing rotary Period in multiple external tooths of engaging successively with described internal gear；It is defined as circle at the bottom of the tooth of described wobble gear and described swing tooth The annular section in the region between the outside circle of wheel.Described bearing includes: the 1st circle, it surrounds described tooth rest；Multiple rollings Body, it is arranged in ring-type along described 1st circle；2nd circle, it cooperates with described 1st circle and clips the plurality of rolling element.Described One in 1st circle and described 2nd circle includes the ring-type opposite face relative with described annular section.Described 1st circle and Another one in described 2nd circle includes the ring-type edge surface (Japanese: along face) extended along described opposite face.Described relatively The width width of edge surface described in the width ratio in face.

According to said structure, the thickness of the opposite face relative with the whole annular section being formed with external tooth is thicker than edge surface Degree thickness, therefore, the designer of design gear device can use broad region to construct the unwanted shifting to wobble gear Position carries out the structure limited.Thus, wobble gear and/or bearing are difficult to wear and tear.

In said structure, the one in described 1st circle and described 2nd circle can also be around the plurality of rolling element Outer ring.Another one in described 1st circle and described 2nd circle can also be the inner ring surrounded by the plurality of rolling element.

Have relative with the whole annular section being formed with external tooth according to the one in said structure, outer ring and inner ring Opposite face.Geared system can use the wider opposite face of the one in outer ring and inner ring to limit being not required to of wobble gear The displacement wanted.Thus, wobble gear and/or bearing are difficult to wear and tear.

Can also be that, in said structure, the center delineation Circular test ground of described wobble gear is around described urceolus or described The center of rotation axis convolution of tooth rest.The internal diameter of described opposite face is the diameter of diameter of a circle at the bottom of described tooth and described Circular test Difference below.

According to said structure, the internal diameter of opposite face is below the difference of the diameter of diameter of a circle at the bottom of tooth and Circular test, therefore, edge It is difficult to produce collision between corner and the corner of wobble gear of the inner peripheral formation circle.Thus, wobble gear and/or bearing It is difficult to breakage.

Can also be that, in said structure, the external diameter of described opposite face is described tooth top diameter of a circle and described Circular test Diameter sum more than.

According to said structure, the external diameter of opposite face is more than the diameter sum of tooth top diameter of a circle and Circular test, therefore, edge It is difficult to produce collision between corner and the corner of wobble gear of the outer peripheral edge formation circle.Thus, wobble gear and/or bearing It is difficult to breakage.

The effect of utility model

Above-mentioned geared system is difficult to produce wobble gear and/or the breakage of bearing.

Accompanying drawing explanation

Fig. 1 is the front view (the 1st embodiment) of the outline of wobble gear.

Fig. 2 is the concept map of the rotation displacement representing the wobble gear shown in Fig. 1.

Fig. 3 A is the sectional view of the outline of the geared system of the 2nd embodiment.

Fig. 3 B is the sectional view of the outline of the geared system along the A A line shown in Fig. 3 A.

Fig. 4 is the amplification view of the outline of the geared system shown in Fig. 3 A.

Fig. 5 is the enlarged partial sectional view of the geared system of the 3rd embodiment.

Description of reference numerals

100,100A, geared system；200, urceolus；220, interior alligator；300,300A, tooth rest；410, the 1st gear； 411, external tooth；420, the 2nd gear；421, external tooth；600,600A, base bearing；610, inner ring；611, opposite face；620,620A, outer Circle；622, opposite face；630,630A, steel ball；ADC, outside circle；CTJ, Circular test；EXT, external tooth；OGR, wobble gear；RCX、 Center of rotation axis；Circle at the bottom of RTC, tooth；Di, the internal diameter of circle；Do, the external diameter of circle；

Diameter of a circle at the bottom of dr, tooth；Da, tooth top diameter of a circle；Dc, the diameter of Circular test of central point of wobble gear.

Detailed description of the invention

<the 1st embodiment>

The geared system with wobble gear is generally of urceolus, tooth rest and bearing.Bearing configuration is in urceolus and by outward Between the tooth rest that cylinder surrounds.If fixed outer cylinder, then bearing can make tooth rest rotate.If fixed gear frame, then bearing makes Urceolus can rotate.The swing rotary of the wobble gear in urceolus is to be caused by the driving force from motor, other driving sources. Within the period carrying out swing rotary, wobble gear is the most sometimes on the direction along the center of rotation axis of urceolus or tooth rest Displacement.The effect of the rolling element (steel ball, roller) in protection bearing not only born by the circle of bearing, also bears along center of rotation The displacement of the wobble gear in the direction of axis carries out the effect limited.The present inventor etc. are found that touching between wobble gear and circle Hit and make the reliability of geared system reduce such problem.In the 1st embodiment, illustrate for maintaining gear dress with high level The know-why of the reliability put.In 1st embodiment, the know-why of explanation can be applicable to have the various of wobble gear Geared system.Thus, the know-why of the 1st embodiment is not limited to the specific structure of geared system.

Fig. 1 is the front view of the outline of wobble gear OGR.The swing rotary of wobble gear OGR is described with reference to Fig. 1.

Fig. 1 represents the central point CPT of wobble gear OGR and the center of rotation axis RCX of geared system (not shown).Swing The central point CPT of gear OGR separates with the center of rotation axis RCX of geared system.The urceolus (not shown) of geared system or tooth Wheel carrier (not shown) rotates around center of rotation axis RCX.

Fig. 1 represents the Circular test CTJ centered by center of rotation axis RCX.Phase at the swing rotary of wobble gear OGR In, central point CPT moves along Circular test CTJ.

Fig. 1 represents the outside circle ADC of circle RTC and wobble gear OGR at the bottom of the tooth of wobble gear OGR.In the following description, At the bottom of tooth, the region between circle RTC and outside circle ADC is referred to as " annular section ".Wobble gear OGR be included in annular section in Radial prominent multiple external tooth EXT.Between wobble gear OGR, multiple external tooth EXT and the internal tooth being formed at urceolus (are not schemed Show) engage successively.

Fig. 2 is the concept map of the rotation displacement representing wobble gear OGR.With reference to Fig. 2, the rotation of wobble gear OGR is described Displacement.

Fig. 2 represents the wobble gear OGR (solid line) being positioned at the 1st position and the wobble gear OGR (point being positioned at the 2nd position Line).It is present in the wobble gear OGR of the 1st position and the 2nd position around the position of rotation differences of 180 ° of center of rotation axis RCX Between wobble gear OGR.

The common rotation being not changed in from the position of central point CPT is different, in the wobble gear OGR under swing rotary Heart point changes in all directions.Thus, as in figure 2 it is shown, the position of annular section also changes.It is positioned at the wobble gear OGR of the 2nd position Annular section be in the lower section of annular section of the wobble gear OGR being positioned at the 1st position.

If the present inventor etc. are it is found that the inner circumferential profile of circle (not shown) of bearing (not shown) and/or circumferential profile quilt Specify in the mobility scale of annular section, then the corner point that the corner enclosed specifies with the appearance profile along wobble gear OGR Contact or linear contact lay, circle and/or wobble gear OGR are prone to produce breakage.If as in figure 2 it is shown, the inner circumferential profile of circle and circle Circumferential profile is defined in outside the mobility scale of annular section, then the circle of bearing can contact with wobble gear OGR face.Its knot Really, circle and/or wobble gear OGR are difficult to produce breakage.

Designer can also determine the internal diameter of circle in the way of meeting the condition represented by following inequality.

[several 1]

The diameter of the diameter-Circular test CTJ of circle RTC at the bottom of the internal diameter≤tooth of circle

Designer can also determine the external diameter of circle in the way of meeting the condition represented by following inequality.

[several 2]

The diameter of the diameter+Circular test CTJ of the external diameter >=outside circle ADC of circle

＜ the 2nd embodiment ＞

The design principle illustrated explicitly with the 1st embodiment can be applicable to various geared system.The 2nd embodiment party In formula, the geared system illustrated is described.

Fig. 3 A and Fig. 3 B represents the geared system 100 of the 2nd embodiment.Fig. 3 A is cuing open of the outline of geared system 100 View.Fig. 3 B is the sectional view of the outline of the geared system 100 along the A A line shown in Fig. 3 A.With reference to Fig. 1～Fig. 3 B explanation Geared system 100.

Geared system 100 have urceolus 200, tooth rest 300 (with reference to Fig. 3 A), gear part 400 (with reference to Fig. 3 A), 3 drive Motivation structure 500 (Fig. 3 A represents 1 in 3 drive mechanisms 500) and two base bearings 600 (with reference to Fig. 3 A).Gear part 400 Motion continue to use the explanation relevant with the swing rotary of the wobble gear OGR of the 1st embodiment.

Urceolus 200 includes substantially cylindric outer shell barrel 210 and multiple interior alligator 220.Outer shell barrel 210 regulation is used for housing The cylindric inner space of tooth rest 300, gear part 400 and drive mechanism 500.Interior alligator 220 is along outer shell barrel 210 Inner peripheral surface is arranged in ring-type, forms internal gear.In the present embodiment, multiple internal tooths are illustrated by interior alligator 220.

Two base bearings 600 be configured at urceolus 200 and by urceolus 200 around tooth rest 300 between.Two base bearings 600 are able to make to carry out between urceolus 200 with tooth rest 300 relative rotary motion.Say explicitly with the 1st embodiment The design principle of bright bearing is applicable to each of two base bearings 600.

Fig. 3 A and Fig. 3 B represents the center of rotation axis RCX with reference to Fig. 1 explanation respectively.Interior alligator 220 respectively along The columned component that the bearing of trend of center of rotation axis RCX extends.Interior alligator 220 is respectively embedded into and is formed on outer shell barrel The groove portion of the inwall of 210.Thus, interior alligator 220 is properly maintained by outer shell barrel 210 respectively.

Multiple interior alligators 220 configure with constant interval around center of rotation axis RCX.The interior respective half cycle of alligator 220 Face highlights towards center of rotation axis RCX from the inwall of outer shell barrel 210.Thus, multiple interior alligators 220 as with gear part 400 The internal tooth function of engagement.

Tooth rest 300 includes base portion 310 (with reference to Fig. 3 A) and end plate 320 (with reference to Fig. 3 A).Tooth rest 300 on the whole in Cylindric.As it has been described above, tooth rest 300 can rotate against relative to urceolus 200.If fixed gear frame 300, then urceolus 200 Rotate around center of rotation axis RCX.If fixed outer cylinder 200, then tooth rest 300 rotates around center of rotation axis RCX.

Base portion 310 includes baseplate part 311 (with reference to Fig. 3 A) and 9 axle portions 312 (with reference to Fig. 3 B).9 axle portions 312 respectively from Baseplate part 311 extends towards end plate 320.End plate 320 is connected with 9 respective top end faces in axle portion 312.End plate 320 is also Driving fit bolt, alignment pin, other appropriate technique for fixing and 9 respective top end faces in axle portion 312 can be utilized to connect.This reality Execute the principle of mode be not limited to end plate 20 and 9 axle portions 312 each between specific interconnection technique.

Gear part 400 is configured between baseplate part 311 and end plate 320.9 through gear part in axle portion 312 400 and with end Plate portion 320 connects.

Gear part 400 includes the 1st gear 410 (with reference to Fig. 3 A) and the 2nd gear 420 (with reference to Fig. 3 A).1st gear 410 is joined It is placed between baseplate part the 311 and the 2nd gear 420.2nd gear 420 is configured between end plate the 320 and the 1st gear 410.

1st gear the 410 and the 2nd gear 420 can also be formed based on common design drawing.1st gear 410 and the 2nd Gear 420 is corresponding with the wobble gear OGR being illustrated with reference to Fig. 1 respectively.The 1st gear 410 shown in Fig. 3 A can also Corresponding with the wobble gear OGR being positioned at the 1st position being illustrated with reference to Fig. 2.The 2nd gear 420 shown in Fig. 3 A also may be used With corresponding with the wobble gear OGR being positioned at the 2nd position being illustrated with reference to Fig. 2.

1st gear the 410 and the 2nd gear 420 is while engaging with interior alligator 220, while circling round in outer shell barrel 210 Mobile.During this period, as being illustrated explicitly with the 1st embodiment, the 1st gear the 410 and the 2nd gear 420 Center around center of rotation axis RCX circle round.

3 drive mechanisms 500 include respectively transmitting gear 510 (with reference to Fig. 3 A), 520, two bearings of journals 530 of bent axle with And two crankshaft bearings 540.Transmission gear 510 accepts the driving generated from the such appropriate driving source (not shown) of motor Power.Transmission gear 510 can also be directly connected to driving source.As an alternative, transmission gear 510 can also drive via transmitting Other mechanisms of power accept driving force (indirectly connecting).The principle of present embodiment is not limited to transmit gear 510 And the specific connecting structure between driving source.

Bent axle 520 includes the 1st axle journal 521 (with reference to Fig. 3 A), the 2nd axle journal 522 (with reference to Fig. 3 A), the 1st eccentric part 523 (ginseng According to Fig. 3 A) and the 2nd eccentric part 524 (with reference to Fig. 3 A).1st axle journal 521 by the baseplate part 311 of tooth rest 300 around.2nd axle Neck 522 by the end plate 320 of tooth rest 300 around.One in two bearings of journals 530 is configured at the 1st axle journal 521 and substrate Between portion 311.Another one in two bearings of journals 530 is configured between the 2nd axle journal 522 and end plate 320.Additionally, it is above-mentioned Transmission gear 510 be installed on the 2nd axle journal 522.

1st eccentric part 523 is between the 1st axle journal the 521 and the 2nd eccentric part 524.2nd eccentric part 524 is positioned at the 2nd axle journal Between 522 and the 1st eccentric part 523.One in two crankshaft bearings 540 be configured at the 1st eccentric part the 523 and the 1st gear 410 it Between.Another one in two crankshaft bearings 540 is configured between the 2nd eccentric part the 524 and the 2nd gear 420.

1st axle journal 521 is coaxial with the 2nd axle journal 522, rotates around common axis of rotation line.1st eccentric part 523 and the 2nd is inclined Heart portion 524 is respectively formed as cylindric, from the rotation axis off-center of the 1st axle journal the 521 and the 2nd axle journal 522.1st gear 410 with Convolution phase contrast between 2nd gear 420 is determined by the 1st eccentric part the 523 and the 2nd eccentric part 524.

If transmission gear 510 rotates, then bent axle 520 rotates.Its result, the 1st eccentric part the 523 and the 2nd eccentric part 524 enters Row eccentric rotary.During this period, the 1st gear 410 being connected with the 1st eccentric part 523 by crankshaft bearing 540 can be with many Individual interior alligator 220 engages, while circling round mobile in urceolus 200.Similarly, by crankshaft bearing the 540 and the 2nd eccentric part 524 The 2nd gear 420 connected can be while engaging with multiple interior alligators 220, while circling round mobile in urceolus 200.Its result, the 1 gear the 410 and the 2nd gear 420 is able to the swing carrying out illustrating explicitly with the 1st embodiment in urceolus 200 Rotate.

If fixed outer cylinder 200, then within the period of the swing rotary of the 1st gear the 410 and the 2nd gear 420, tooth rest 300 rotate in urceolus 200.If fixed gear frame 300, then in phase of swing rotary of the 1st gear the 410 and the 2nd gear 420 In, urceolus 200 rotates in the outside of tooth rest 300.

Fig. 4 is the amplification view of the outline of the geared system 100 around base bearing 600.With reference to Fig. 1, Fig. 3 A～Fig. 4, Further illustrate geared system 100.

1st gear 410 includes multiple external tooth 411 (with reference to Fig. 3 B).Within the period of the swing rotary of the 1st gear 410, many Individual external tooth 411 engages successively with internal gear (being arranged in ring-type multiple interior alligator 220).Similarly, the 2nd gear 420 includes many Individual external tooth 421.Within the period of the swing rotary of the 2nd gear 420, multiple external tooths 421 engage successively with internal gear.

It is formed with the annular section that the region of multiple external tooth 411 is equivalent to be illustrated with reference to Fig. 1.Similarly, formed The region having multiple external tooth 421 also corresponds to the annular section being illustrated with reference to Fig. 1.

As shown in Figure 4, two base bearings 600 include respectively inner ring 610, outer ring 620 and multiple steel ball 630 (Fig. 4 for Two base bearings 600 represent 1 steel ball 630 respectively).Tooth rest 300 embeds inner ring 610.Outer ring 620 surrounds inner ring 610, and props up Hold urceolus 200.Multiple steel balls 630 are arranged in ring-type between inner ring 610 and outer ring 620.Say explicitly with the 1st embodiment The design principle of bright circle is applicable to inner ring 610.In the present embodiment, multiple rolling elements are illustrated by multiple steel balls 630.

As shown in Figure 4, inner ring 610 includes the ring-type opposite face 611 relative with annular section.Design gear device 100 Designer the internal diameter of opposite face 611 can be set to and fully meet by " several 1 " illustrated explicitly with the 1st embodiment The relation that shown inequality specifies.Similarly, the external diameter of opposite face 611 can be set to and fully meet by with the by designer The relation that the inequality shown in " several 2 " that 1 embodiment illustrates explicitly specifies.Thus, opposite face 611 is at the 1st gear 410 And the 2nd gear 420 swing rotary period in overlapping with annular section entirety.

As shown in Figure 4, cooperate with inner ring 610 clip the outer ring 620 of multiple steel ball 630 include abutting with urceolus 200 and The bearing surface 621 substantially flush with opposite face 611.Bearing surface 621 extends in the form of a ring along opposite face 611, around opposite face 611.The internal diameter of bearing surface 621 can also be set to the value less with the difference of external diameter than the internal diameter of opposite face 611 with the difference of external diameter.Its As a result, designer can give less value to the internal diameter of urceolus 200.In the present embodiment, during the 1st circle and the 2nd encloses One is illustrated by inner ring 610.Another one in 1st circle and the 2nd circle is illustrated by outer ring 620.

<the 3rd embodiment>

The design principle illustrated explicitly with the 1st embodiment is readily adaptable for use in the outer ring of bearing.The 3rd embodiment party In formula, to including that the geared system with the illustration of the bearing of thicker outer ring illustrates.

Fig. 5 is the enlarged partial sectional view of the geared system 100A of the 3rd embodiment.It is marked and the 2nd embodiment The key element of identical reference continues to use the explanation of the 2nd embodiment.With reference to Fig. 5, geared system 100A is described.

In a same manner as in the second embodiment, geared system 100A has the 1st gear the 410 and the 2nd gear 420.1st gear 410 And the 2nd the swing rotary of gear 420 be to be caused by the structure that drives in a same manner as in the second embodiment.1st gear the 410, the 2nd Gear 420 and drive their structure that drives to continue to use the explanation of the 2nd embodiment.

In a same manner as in the second embodiment, geared system 100A also has urceolus 200.The 2nd embodiment continued to use by urceolus 200 Explanation.

Geared system 100A also has two base bearing 600A and tooth rest 300A.Outside two base bearing 600A include respectively Circle 620A and multiple steel ball 630A (Fig. 4 represents 1 steel ball 630A respectively for two base bearing 600A).Multiple steel ball 630A with Mode around the outer peripheral face of tooth rest 300A is arranged in ring-type.Different from the 2nd embodiment, multiple steel ball 630A and tooth rest 300A directly contacts.The outer peripheral face of tooth rest 300A is processed to allow that multiple steel ball 630A rolls.Other of tooth rest 300A The feature of structure continues to use the explanation of the 2nd embodiment.

Outer ring 620A includes the ring-type opposite face 622 relative with annular section.The designer of design gear device 100A The internal diameter of opposite face 622 can be set to fully meet by shown in " several 1 " illustrated explicitly with the 1st embodiment not The relation of equation states.Similarly, the external diameter of opposite face 622 can be set to and is associated by with the 1st embodiment by designer The relation that the inequality shown in " several 2 " of ground explanation specifies.Thus, opposite face 622 is at the 1st gear the 410 and the 2nd gear 420 Swing rotary period in overlapping with annular section entirety.Outer ring 620A is corresponding to illustrating explicitly with the 1st embodiment Circle.

The design principle illustrated explicitly with above-mentioned various embodiments can be applicable to various geared system.With upper A part in the various features that 1 embodiment in the various embodiments stated illustrates explicitly be readily adaptable for use in The geared system that another embodiment illustrates explicitly.

Industrial applicability

The principle of above-mentioned embodiment is applicable to the geared system with the gear of swing rotary.

Claims (9)

1. a geared system, it is characterised in that

This geared system includes:

Urceolus, it has the internal gear including multiple internal tooth；

Tooth rest, it is surrounded by described urceolus；

Bearing, it allows rotating against between described urceolus and described tooth rest；

Wobble gear, it is swing rotary in described urceolus, rotates against described in generation,

Described wobble gear includes: the multiple external tooths engaged successively with described internal gear within the period of swing rotary；It is defined as The annular section in region between the outside circle of described wobble gear is justified at the bottom of the tooth of described wobble gear,

Described bearing includes the circle with the ring-type opposite face relative with described annular section,

Described opposite face is overlapping with described annular section entirety within the period of described swing rotary.

Geared system the most according to claim 1, it is characterised in that

Described bearing includes being arranged in ring-type multiple rolling elements,

Described circle is the inner ring surrounded by the plurality of rolling element.

Geared system the most according to claim 1, it is characterised in that

Described bearing includes being arranged in ring-type multiple rolling elements,

Described circle is around the outer ring of the plurality of rolling element.

4. according to the geared system according to any one of claims 1 to 3, it is characterised in that

The center delineation Circular test ground of described wobble gear circles round around the center of rotation axis of described urceolus or described tooth rest,

The internal diameter of described opposite face is below the difference of the diameter of diameter of a circle at the bottom of described tooth and described Circular test.

Geared system the most according to claim 4, it is characterised in that

The external diameter of described opposite face is more than the described diameter sum of described tooth top diameter of a circle and described Circular test.

6. a geared system, it is characterised in that

This geared system includes:

Urceolus, it has the internal gear including multiple internal tooth；

Tooth rest, it is surrounded by described urceolus；

Bearing, it allows rotating against between described urceolus and described tooth rest；

Wobble gear, it is swing rotary in described urceolus, rotates against described in generation,

Described wobble gear includes: the multiple external tooths engaged successively with described internal gear within the period of swing rotary；It is defined as The annular section in region between the outside circle of described wobble gear is justified at the bottom of the tooth of described wobble gear,

Described bearing includes: the 1st circle, it surrounds described tooth rest；Multiple rolling elements, it is arranged in ring-type along described 1st circle； 2nd encloses, and it cooperates with described 1st circle and clips the plurality of rolling element,

One in described 1st circle and described 2nd circle includes the ring-type opposite face relative with described annular section,

Another one in described 1st circle and described 2nd circle includes the ring-type edge surface extended along described opposite face,

The width width of edge surface described in the width ratio of described opposite face.

Geared system the most according to claim 6, it is characterised in that

One in described 1st circle and described 2nd circle is around the outer ring of the plurality of rolling element,

Another one in described 1st circle and described 2nd circle is the inner ring surrounded by the plurality of rolling element.

8. according to the geared system described in claim 6 or 7, it is characterised in that

The center delineation Circular test ground of described wobble gear circles round around the center of rotation axis of described urceolus or described tooth rest,

The internal diameter of described opposite face is below the difference of the diameter of diameter of a circle at the bottom of described tooth and described Circular test.

Geared system the most according to claim 8, it is characterised in that

The external diameter of described opposite face is more than the described diameter sum of described tooth top diameter of a circle and described Circular test.