JP5312364B2 - Bending gear system - Google Patents

Abstract

Provided is a flexible engagement gear device wherein the transmission torque is large, and the life of an oscillator bearing can be increased. A flexible engagement gear device (100) has an oscillator (104), external gears (120A, 120B) which are disposed on the outer periphery of the oscillator (104), and can flexibly change shape, internal gears (130A, 130B) which have stiffness sufficient to internally engage the external gears (120A, 120B) with the internal gears, and oscillator bearings (110A, 110B) disposed between the oscillator (104) and the external gears (120A, 120B). The oscillator bearings (110A, 110B) are provided with rollers (116A, 116B), and retainers (114A, 114B) for retaining the rollers (116A, 116B). A load reduction region (LA) in which a radial gap (Gr) for reducing the load applied from the oscillator (104) and the external gears (120A, 120B) to the rollers (116A, 116B) is formed, is provided in an non-engagement range (SA) of the oscillator (104).

Description

  The present invention relates to a flexure meshing gear device.

  As shown in Patent Document 1, a conventional flexure meshing gear device uses a ball bearing as a vibration body bearing of a vibration body. In Patent Document 1, when the pocket provided in the cage of the vibrator bearing is in the position in the long axis direction, the pocket has an arcuate surface that is substantially centered on the center of the ball held in the pocket. ing.

JP 62-72946 A

  However, in the conventional flexure meshing gear device as shown in Patent Document 1, since the ball bearing is used, the life of the vibration generator bearing is shortened.

  In order to extend the life of the vibration body bearing, it is an effective method to change from a ball bearing to a roller bearing. However, even if rollers are simply used instead of balls, there is a risk that a skew problem will occur. Due to the occurrence of the skew, even if a roller bearing is used, the transmission torque is reduced, and the vibration generator bearing is shortened.

  Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a flexure meshing gear device that can improve the transmission torque and extend the life of the vibration generator bearing. .

The present invention includes an oscillator, an external gear that is disposed on the outer periphery of the oscillator, and is flexibly deformed by the rotation of the oscillator, and the external gear meshes internally. In a flexure meshing gear device having a rigid internal gear and a vibration body bearing disposed between the vibration body and the external gear, the vibration body bearing is a rolling element. A load that reduces the load received by the roller from the vibration generator and the external gear within a specific range near the short axis of the vibration generator. reduction region is provided, in該荷weight loss area, between the outer ring of the electromotive force isolator bearing the roller, or by Rukoto radial clearance is formed between the the standing isolator and said rollers, or該荷heavy In a decreasing region, between the outer ring of the vibration body bearing and the roller, or the inner ring of the vibration body bearing By radial gap is formed between the rollers is obtained by solving the above problems.

  In the present invention, a roller is used as a vibrating body bearing without using a ball as a rolling element. For this reason, it is possible to improve the transmission torque and extend the life of the vibration body bearing.

  A skew that may occur when rollers are used is prevented by paying attention to the relationship between the external gear and the internal gear in a specific range near the minor axis of the vibration generator. That is, since the external gear and the internal gear do not mesh with each other in the specific range, a load reduction region in which the load received by the rollers from the vibration generator and the external gear is reduced in that range (non-meshing range). Is provided. Thanks to this, it is possible to virtually eliminate the radial load of the vibrating body on the roller received from the vibrating body and the external gear. Will be almost free and will only revolve. That is, even if the rollers are inclined during the revolution on the outer periphery of the vibration generating body, the rollers are aligned by the cage when the rollers move to the load reducing region, and it is possible to eliminate them. .

  For this reason, even if a roller is used as the rolling element, the present invention begins to protrude from the vibrating body of the vibrating body bearing due to skew, increases the rolling resistance, reduces the torque transmission efficiency, A decrease or the like can be prevented.

  According to the present invention, it is possible to improve the transmission torque and extend the life of the vibration body bearing.

Sectional drawing which shows an example of the whole structure of the bending meshing gear apparatus which concerns on 1st Embodiment of this invention. The figure which also shows a vibration body The figure which also shows a vibration body Schematic diagram of a combination of a vibrator and a vibrator bearing The figure which similarly shows the relationship between the roller of a vibration body bearing and a cage Similarly, meshing concept diagram of internal gear and virtual external gear Similarly, meshing diagram of external gear and internal gear The figure showing the shape of the vibration body which concerns on 2nd Embodiment of this invention

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a cross-sectional view showing an example of the overall configuration of the flexure meshing gear device according to the first embodiment of the present invention, FIGS. 2 and 3 are diagrams showing the same vibrator, and FIG. 4 is the same. FIG. 5 is a diagram showing the relationship between the roller of the vibration generator bearing and the cage, FIG. 6 is a conceptual diagram of meshing between the internal gear and the virtual external gear, FIG. FIG. 8 is a diagram showing the meshing of the external gear and the internal gear, and FIG. 8 is a diagram showing the shape of the vibrator according to the second embodiment of the present invention.

  First, the overall configuration of the present embodiment will be schematically described mainly with reference to FIGS. 1 and 2.

  The flexure meshing gear device 100 includes a vibrating body 104, external gears 120A and 120B having flexibility that are arranged on the outer periphery of the vibrating body 104 and are bent and deformed by the rotation of the vibrating body 104. The external gears 120A and 120B have internal rigidity for gear reduction 130A and output internal gears 130B having rigidity to be internally meshed with each other, and are arranged between the vibrator 104 and the external gears 120A and 120B. Vibration body bearings 110A and 110B.

  Hereinafter, each component will be described in detail.

  As shown in FIGS. 2 (A) and 2 (B), the vibrator 104 has a column shape, and an input shaft hole 106 into which an input shaft (not shown) is inserted is formed at the center. A keyway 108 is provided in the input shaft hole 106 so that the vibrator 104 rotates integrally with the input shaft when the input shaft is inserted and rotated.

  As shown in FIGS. 2 and 3, the vibrating body 104 is configured in a shape in which two arc portions (first arc portion FA and second arc portion SA) are connected. The first arc portion FA has a radius of curvature R1 and constitutes an arc portion (also referred to as a meshing range) for meshing the external gear 120A and the reduction internal gear 130A. The second arc portion SA has a radius of curvature R2 and constitutes an arc portion (also referred to as a non-meshing range) in a range where the external gear 120A and the reduction internal gear 130A do not mesh. The length of the first arc portion FA is determined by the angle θ.

At this time, as shown in FIG. 3, if the radius of the longitudinal direction X of the vibrating body 104 is R, the curvature radius R1 of the first arc part FA is expressed by the equation (1), where L is the eccentric amount. The
R1 = RL (1)

Further, as shown in FIG. 3, the tangent line T is shared by the connecting portion A between the first arc portion FA and the second arc portion SA. For this reason, the radius of curvature R2 of the vibrating body 104 has in common with the radius of curvature R1 from the connecting portion A to the point B of the first arc portion FA and the second arc portion SA at the angle θ. It is defined by the length to the intersection C with the extended Y-axis (short axis direction of the vibrator 104). That is, the radius of curvature R2 of the second arc portion SA is expressed by Expression (2).
R2 = RL−L / cos θ (2)

  Here, the curvature radius of the external gear 120A that is bent and deformed by the first arc portion FA having the curvature radius R1 is defined as the curvature radius of the virtual external gear 120C. The virtual external gear 120C is a gear temporarily assumed as a gear having a perfect shape and a rigid shape as shown in FIG. 6 in order to ideally mesh the external gear 120A and the reduction internal gear 130A. . By assuming such a virtual external gear 120 </ b> C, the angle θ and the eccentric amount L of the vibration body 104 can be easily determined.

  The vibration body bearing 110A is a bearing disposed between the outer side (outer periphery) of the vibration body 104 and the inner side of the external gear 120A, and as shown in FIG. 1, the inner ring 112, the cage 114A, and the rolling element. As a roller 116A and an outer ring 118A. The inner side of the inner ring 112 abuts on the vibrating body 104, and the inner ring 112 rotates integrally with the vibrating body 104.

  As shown in FIG. 4, the retainer 114 </ b> A is a perfect circular member provided with a pocket 114 </ b> AA and a pillar 114 </ b> AB. The pockets 114AA are holes provided at regular intervals in the circumferential direction so as to rotatably hold the rollers 116A along the outer periphery of the inner ring 112. The pillar 114AB has its pocket 114AA divided in the circumferential direction, and the cage 114A has a perfect circle shape. The roller 116A has a cylindrical shape (including a needle). For this reason, compared with the case where a rolling element is a ball | bowl, the part which the roller 116A contacts with the inner ring | wheel 112 and the outer ring | wheel 118A is increased. That is, by using the rollers 116A, the transmission torque of the vibration body bearing 110A can be increased and the life can be extended.

  The outer ring 118A is disposed outside the roller 116A. The outer ring 118 </ b> A is bent and deformed by the rotation of the vibration generator 104 together with the external gear 120 </ b> A arranged on the outer side thereof.

  Here, without changing the outer diameter (diameter) Doo of the outer ring 118A, only the inner diameter (diameter) Doi is made larger than usual (that is, the radial thickness To of the outer ring 118A is reduced). Then, when the vibration body bearing 110 </ b> A is mounted on the vibration body 104 (when the vibration body bearing 110 </ b> A is disposed on the outer periphery of the vibration body 104), a specific range near the short axis of the vibration body 104 is used. A load reduction area LA that reduces the load received by the rollers 116A from the vibrating body 104 and the external gear 120A can be provided in a certain non-meshing range SA. Specifically, as shown in FIG. 4, in the non-engagement range SA, by providing a radial gap Gr between the roller 116A and the inner peripheral surface (referred to as outer ring raceway surface) 118AA of the outer ring 118A, the roller 116A. It is possible to eliminate the load in the radial direction of the vibrating body 104 received by the. That is, “reducing the load” in this case is to eliminate (or eliminate) the radial load of the vibrating body 104 received by the roller 116A from the vibrating body 104 and the external gear 120A. The load reduction area LA is an angular range including an angle in the non-engagement range SA and excluding the radial load of the vibration body 104 with respect to the rollers 116A. In the present embodiment, as shown in FIG. 4, the load reduction region LA is set to an angular range that is the same as or narrower than the non-engagement range SA.

  Here, the movement of the roller 116A and the cage 114A shown in FIG. 5 will be described. The roller 116A that enters the non-engagement range SA from the position P1 of the meshing end immediately stalls in a region where the radial gap Gr is formed (load reduction region LA) and becomes free. In the vicinity of the position P2 in the minor axis direction Y, the rollers 116A are pushed and aligned in the circumferential direction by the pillars 114AB of the cage 114A. Then, the rollers 116A enter the meshing range FA at the meshing end position P3 in an aligned state, and rotate and revolve themselves.

  As shown in FIG. 1, the external gear 120 </ b> A meshes internally with the reduction internal gear 130 </ b> A. The external gear 120A includes a base member 122 and external teeth 124A. The base member 122 is a flexible cylindrical member that supports the external teeth 124 </ b> A, and is disposed outside the vibration body bearing 110 </ b> A. The external teeth 124A are constituted by cylindrical pins, and are held on the base member 122 by a ring member 126A.

  As shown in FIG. 1, the external gear 120B is in mesh with the output internal gear 130B. And the external gear 120B is comprised from the base member 122 and the external tooth 124B similarly to the external gear 120A. The external teeth 124B have the same number as the external teeth 124A and are configured by the same cylindrical pin, and are held by the base member 122 by the ring member 126B. Here, the base member 122 supports the external teeth 124B together with the external teeth 124A. For this reason, the eccentric amount L of the vibrator 104 is transmitted to the external teeth 124A and the external teeth 124B in the same phase.

  As shown in FIG. 1, the internal gear 130A for deceleration is formed of a rigid member. The reduction internal gear 130A has a number of teeth i (i is 2 or more) larger than the number of teeth of the external teeth 124A of the external gear 120A. A casing (not shown) is fixed to the reduction internal gear 130A via a bolt hole 132A. And the internal gear 130A for deceleration reduces the rotation of the vibration body 104 by meshing with the external gear 120A.

  On the other hand, the output internal gear 130B is also formed of a rigid member, like the reduction internal gear 130A. The output internal gear 130B has the same number of teeth of the internal teeth 128B as the number of teeth of the external teeth 124B of the external gear 120B. Note that an output shaft (not shown) is attached to the output internal gear 130B via a bolt hole 132B, and the same rotation as the rotation of the external gear 120B is output to the outside.

  Here, in order to determine the tooth profile to be engaged, a virtual external gear 120C shown in FIG. 6 is determined. The number of teeth (102) of the internal teeth 128A of the reduction internal gear 130A is increased by two teeth with respect to the number of teeth (100) of the external teeth 124A of the external gear 120A. That is, the tooth number difference i = 2. Therefore, assuming that the number of teeth (102) of the internal gear 130A for reduction is, for example, 4 fewer (j = 4, j> i), the virtual external gear 120C is used as a reference. In this embodiment, since the external gear 120A uses a cylindrical pin as the external tooth 124A, the tooth profile is an arc tooth profile. That is, the reference tooth profile of the virtual external gear 120C is an arc tooth profile formed by the external teeth 124A. Therefore, the trochoidal tooth profile is determined as the internal tooth 128A in order to realize a complete theoretical mesh between the external tooth 124A and the internal tooth 128A.

  When the virtual external gear 120C is determined, the shape of the outer periphery of the vibrator 104 can be obtained. A trochoidal tooth profile may be applied to the tooth profile of the inner tooth 128B that meshes with the outer tooth 124B, or another tooth profile may be applied.

  Next, the operation of the flexure meshing gear device 100 will be described mainly with reference to FIG.

  When the vibration generator 104 is rotated by rotation of an input shaft (not shown), the external gear 120A is bent and deformed via the vibration generator bearing 110A according to the rotation state. At this time, the external gear 120B is also bent and deformed in the same phase as the external gear 120A via the vibration body bearing 110B.

  The external gears 120 </ b> A and 120 </ b> B are bent and deformed according to the shape of the radius of curvature R <b> 1 in the major axis direction X of the vibrating body 104. That is, since the curvature is constant at the position of the first circular arc part FA of the radius of curvature R1 on the outer periphery of the vibrator 104 shown in FIG. 4, the bending stress is constant. Since the tangent line T is the same at the position of the first arc part FA and the second arc part SA in the connecting part A, sudden deformation at the connecting part is prevented. At the same time, since there is no abrupt position change of the rollers 116A and 116B in the connecting portion A, the rollers 116A and 116B are less slipped and torque transmission loss is small.

  When the external gears 120A and 120B are bent and deformed by the vibrating body 104, the outer peripheral surface (inner ring raceway surface) of the inner ring 112 of the vibrating body bearings 110A and 110B at the first arc portion (meshing range) FA. ) However, due to the contact with 116A and 116B, a bending load radially outward is transmitted from the vibrating body 104 to the rollers 116A and 116B via the inner ring 112. At the same time, the rollers 116A and 116B and the inner rings 118A and 118BA of the outer rings 118A and 118B of the vibrator bearings 110A and 110B are brought into contact with each other, so that the rollers 116A and 116B and the outer rings 118A of the vibrator bearings 110A and 110B are contacted. , 118B, the bending load radially outward is transmitted. Due to the bending load transmitted to the outer ring 118A, the outer teeth 124A move radially outward (ΔQo) and mesh with the inner teeth 128A of the reduction internal gear 130A. Similarly, the external teeth 124B mesh with the internal teeth 128B of the output internal gear 130B by the deflection load transmitted to the outer ring 118B. Here, FIG. 7A shows a state where the reduction internal gear 130A and the external gear 120A mesh, and FIG. 7B shows a state where the output internal gear 130B and the external gear 120B mesh. Each is shown. When meshing, the external teeth 124A and 124B are rotatable pins, so that loss of transmission torque due to meshing is reduced. Further, since the tooth profile of the inner tooth 128A is formed so as to be completely theoretically engaged with the outer tooth 124A, it is meshed with a plurality of teeth simultaneously. For this reason, the surface pressure concerning a tooth surface is disperse | distributed and a big torque can be transmitted.

  Further, since the rollers 116A and 116B have a cylindrical shape, the load resistance is large, and the life of the vibration generator bearings 110A and 110B can be extended and the transmission torque can be improved. At the same time, the cylindrical rollers 116A and 116B bend and deform the base member 122 of the external gears 120A and 120B in parallel to the axial direction O. For this reason, the lifetime of the external teeth 124A and 124B and the internal teeth 128A and 128B is extended and high torque transmission is maintained.

  Furthermore, the external teeth 124A and 124B are divided in the axial direction O into a portion where the internal gear for reduction 130A meshes and a portion where the output internal gear 130B meshes. Therefore, when the external gear 120A and the reduction internal gear 130A mesh with each other, the meshing area that the external teeth 124A and the internal teeth 128A should mesh with each other in the axial direction O is not affected by the external teeth 124B. Engage with. Similarly, when the external gear 120B meshes with the output internal gear 130B, the meshing area that the external teeth 124B and the internal teeth 128B should originally mesh in the axial direction O without being affected by the external teeth 124A. Engage with. That is, by dividing the external teeth 124A and 124B, it is possible to maintain rotational accuracy and prevent a reduction in transmission torque.

  Due to the bending deformation, the vibration body bearings 110A and 110B are bent and deformed inward in the radial direction (ΔQi) at the position in the short axis direction Y of the vibration body 104 in the second arc portion (non-engagement range) SA. . At this time, since the inner diameter Doi of the outer rings 118A and 118B is increased, a radial gap Gr is formed between the inner peripheral surfaces (outer ring raceway surfaces) 118AA and 118BA of the outer rings 118A and 118B, and 116A and 116B. Contactless. That is, in a specific range (non-engagement range SA) near the short axis and in a region where the radial gap Gr is formed (load reduction region LA), the rollers 116A and 116B are in the radial direction of the vibration body 104. No load is applied, and it becomes almost free. For this reason, even if the rollers 116A and 116B are inclined in the meshing range FA, the vibrating body 104 that tries to maintain the tilted state of the rollers 116A and 116B in the load reduction region LA in the non-meshing range SA. The radial force is lost. Therefore, the rollers 116A and 116B return to the state without inclination (aligned) by being pushed by the retainers 114A and 114B in the circumferential direction.

  The meshing position of the external gear 120 </ b> A and the reduction internal gear 130 </ b> A rotates as the vibration body 104 moves in the long axis direction X. Here, when the vibrating body 104 rotates once, the rotation phase of the external gear 120A is delayed by a difference in the number of teeth from the internal gear 130A for deceleration. That is, the reduction ratio by the internal gear 130A for reduction can be obtained by ((number of teeth of external gear 120A−number of teeth of internal gear 130A for reduction) / number of teeth of external gear 120A). The specific reduction ratio is ((100−102) / 100 = −1 / 50). Here, “−” indicates that the input / output is in a reverse rotation relationship.

  Since both the external gear 120B and the output internal gear 130B have the same number of teeth, the external gear 120B and the output internal gear 130B do not move with each other, and the same teeth can move. Will mesh. For this reason, the same rotation as the rotation of the external gear 120B is output from the output internal gear 130B. As a result, an output obtained by reducing the rotation of the vibrating body 104 to (−1/50) can be extracted from the output internal gear 130B.

  The result of trial manufacture of the flexure meshing gear device 100 according to the present embodiment will be described. In the trial production, the inner diameter Doi of the outer rings 118A and 118B when the outer diameter Doo of the outer rings 118A and 118B of the vibrator bearings 110A and 110B = 49.41 mm was set to a value larger than usual (47 mm → 47.01 mm). When mounted, a radial gap Gr (6.5 μm or more) could be provided at the position in the minor axis direction Y (one side). For this reason, it has been confirmed that the rolling resistance Rt is lower than usual (76.8 mNm → 36.4 mNm). That is, as shown in this embodiment, the rolling resistance Rt of the roller 116A can be effectively reduced by enlarging the inner diameter Doi while maintaining the outer diameter Doo of the outer rings 118A and 118B. That is, since the radial load applied to the rollers 116A and 116B can be eliminated, the skew prevention of the rollers 116A and 116B can be effectively realized.

  In this embodiment, the rollers 116A and 116B are used for the vibration body bearings 110A and 110B without using balls as rolling elements. For this reason, it is possible to improve the transmission torque and extend the life of the vibration body bearings 110A and 110B.

  Then, a load reduction region LA for reducing the load received by the rollers 116A and 116B from the vibration generator 104 and the external gears 120A and 120B so as to include the minor axis direction Y of the vibration generator 104 in the non-meshing range SA. Provided. Specifically, a radial gap Gr is provided between the rollers 116A and 116B and the outer ring raceway surfaces 118AA and 118BA of the vibration body bearings 110A and 110B in the load reduction region LA. Since the radial gap Gr is provided without deforming the vibrating body 104, the rigidity of the vibrating body 104 is not reduced. Further, the radial load of the vibration body 104 on the rollers 116A and 116B received from the vibration body 104 and the external gears 120A and 120B is virtually eliminated. For this reason, the rollers 116A and 116B are in a substantially free state except for the cages 114A and 114B in the load reduction region LA, and only perform revolution. That is, even if the rollers 116A and 116B are inclined during the revolution on the outer periphery of the vibration body 104, when the rollers 116A and 116B move to the load reducing area LA, the rollers 116A and 116B are pushed in the circumferential direction by the cages 114A and 114B. The rollers 116A and 116B are aligned, and the inclined state can be eliminated.

  Therefore, according to the present invention, even when the rollers 116A and 116B are used as rolling elements, the exciter bearings 110A and 110B are caused to protrude from the vibrating body 104 due to skew, the rolling resistance is increased, the torque is increased. It is possible to prevent a decrease in transmission efficiency and a decrease in service life. That is, according to the present invention, it is possible to improve the transmission torque and extend the life of the vibration body bearings 110A and 110B.

  Although the present invention has been described with reference to the first embodiment, the present invention is not limited to the first embodiment. That is, it goes without saying that improvements and design changes can be made without departing from the scope of the present invention.

  For example, in the first embodiment, the shape of the vibrating body 104 is a shape obtained by combining two arcs, but the present invention is not limited to this. For example, as shown in the second embodiment shown in FIG. 8, only the portion of the first arc portion FA that defines the meshing range is formed in the vibration generator 304, and the non-meshing range is between the meshing end portions. Or you may provide the load reduction area | region LA by shape | molding linearly (including the curve etc. near a straight line) in the narrower range. In that case, the inner ring raceway surface of the vibration body bearing can be directly formed on the outer peripheral surface 304A of the vibration body 304. Then, the radial gap Gr in the load reduction region LA can be provided between the roller and the inner ring raceway surface of the vibration body bearing, that is, between the roller and the vibration body 304, and the same effect as in the first embodiment. Can be played. In that case, compared with the case of the vibrator shown in the first embodiment, the inner ring can be made unnecessary and the outer ring is not made thinner. The theoretical engagement in FA can be made more complete.

  A vibration body bearing having an inner ring may be used for the vibration body 304. In that case, the radial gap Gr in the load reduction region LA is provided between the inner ring of the vibration generator bearing and the outer peripheral surface 304A of the vibration generator 304, that is, also in this case, between the roller and the vibration generator 304. . Also in this case, since the radial load applied to the roller from the vibrating body 304 can be appropriately eliminated, the same effect as that of the first embodiment can be appropriately obtained.

  Further, in the case of the shape of the vibration body 104 shown in the first embodiment, by reducing the outer diameter without changing the inner diameter of the inner ring of the vibration body bearing, the gap between the roller and the inner ring of the vibration body bearing is reduced. A radial gap Gr in the load reducing area LA may be provided.

  In the above embodiment, the load reducing area LA includes the minor axis direction Y. However, the present invention is not limited to this. For example, the minor axis direction Y is not included, and both sides thereof are used as the load reducing area LA. Also good.

  In the first embodiment, the external teeth 124A and 124B are configured by cylindrical pins, but the present invention is not limited to this. For example, the external teeth 124A and 124B may be formed directly on the base member 122. That is, the external teeth do not have to be arc teeth, and trochoidal teeth may be used, or other teeth may be used. Even in this case, a tooth profile corresponding to the external tooth can be used as the internal tooth.

  In the first embodiment, the output decelerated from the output internal gear 130B is taken out, but the present invention is not limited to this. For example, without using an output internal gear, a so-called cup-type external gear that bends and deforms may be used, and the present invention may be applied to a flexure meshing gear device that extracts only its rotation component from the external gear. . In this case, bending deformation of the external gear also occurs in the axial direction, but in consideration of this point, a tapered roller may be adopted for the bearing, or the external gear or the vibrator bearing The axial shape may be provided with an inclination for bending deformation in advance.

  In the first embodiment, the difference i between the number of teeth of the internal teeth 128A of the internal gear 130A and the number of teeth of the external teeth 124A of the external gear 120A is set to 2, but in the present invention, this difference in the number of teeth. i is not limited to 2. For example, an appropriate number is sufficient as long as it is an even number 2i of 2 or more. Further, the number of teeth of the virtual external gear 120C may be an appropriate number as long as it is smaller than the actual number of teeth of the external teeth 124A of the external gear 120A, and the virtual external gear 120C is not necessarily assumed.

DESCRIPTION OF SYMBOLS 100 ... Flexure-meshing type gear apparatus 104,304 ... Excitation body 110A, 110B ... Excitation body bearing 112 ... Inner ring 114A, 114B ... Cage 114AA, 114BA ... Cage pocket 114AB, 114BB ... Cage pillar 116A, 116B ... Rollers 118A, 118B ... Outer rings 118AA, 118BA ... Outer ring raceway surfaces 120A, 120B ... External gears 122 ... Base members 124A, 124B ... External teeth 126A, 126B ... Ring members 128A, 128B ... Internal teeth 130A ... Internal teeth for deceleration Gear (Internal gear)
130B: Internal gears for output 132A, 132B: Bolt hole 304A: Outer peripheral surface of the vibrating body O: Axial direction X: Long axis direction of the vibrating body Y: Short axis direction of the vibrating body FA: First arc portion ( Meshing range)
SA ... 2nd circular arc part (non-meshing range)
LA: Load reduction area Gr: Radial gap
R: Long axis radius of the exciter R1: Curvature radius of the first arc portion of the exciter R2: Curvature radius of the second arc portion of the exciter

Claims (2)

A vibration generator, an external gear having flexibility which is arranged on the outer periphery of the vibration generator and is bent and deformed by the rotation of the vibration generator, and a rigidity with which the external gear meshes internally. In a flexibly meshing gear device having an internal gear, and a vibration body bearing disposed between the vibration body and the external gear,
The vibration body bearing includes a roller as a rolling element, and a cage that holds the roller.
In a specific range near the minor axis of the vibration generator, a load reduction region for reducing the load received by the rollers from the vibration generator and the external gear is provided,
In the load reducing region, wherein between the outer ring of the electromotive isolator bearing the roller, or mesh type gear device deflection, characterized in that the radial clearance is formed between the the standing isolator and said rollers. A vibration generator, an external gear having flexibility which is arranged on the outer periphery of the vibration generator and is bent and deformed by the rotation of the vibration generator, and a rigidity with which the external gear meshes internally. In a flexibly meshing gear device having an internal gear, and a vibration body bearing disposed between the vibration body and the external gear,
The vibration body bearing includes a roller as a rolling element, and a cage that holds the roller.
In a specific range near the minor axis of the vibration generator, a load reduction region for reducing the load received by the rollers from the vibration generator and the external gear is provided,
In the load reducing region, wherein between the outer ring of the electromotive isolator bearing the roller, or the standing isolator deflection mesh type, wherein a radial gap is formed between the bearing inner ring and the rollers Gear device.

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