JP6221892B2 - Flexure meshing gear unit - Google Patents

Description

  The present invention relates to a flexure meshing gear device.

  2. Description of the Related Art Conventionally, a bent external gear disposed on the inner side of an internal gear and a bent external gear disposed on the inner side of the bent external gear to bend and partially mesh with the internal gear. In addition, there is a flexure meshing gear device including a wave generator capable of rotating the flexure shape. For example, a flexibly meshing gear device described in Patent Document 1 includes first and second internal gears having different numbers of teeth and arranged coaxially. The bent external gear is configured to mesh with both of these two internal gears.

  In such a flexure meshing gear device, the rigidity of the flexure external gear is an important factor that determines the magnitude of torque that can be transmitted, that is, the torque transmission capacity. And the said patent document 1 describes the optimal design method regarding the thickness (rim thickness) of the cylindrical part which influences the rigidity of the bending external gear.

JP 2008-180259 A

  However, even when the above-described conventional technology is adopted, there is no change in that the flexibility of the bending external gear is reduced by increasing the rim thickness in order to increase the rigidity. And since this is an obstacle to further improving the performance, there is still room for improvement in this respect.

  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 having a flexure external gear having high rigidity and excellent flexibility. is there.

A flexure meshing gear device that solves the above-described problems includes a first internal gear and a second internal gear that have different numbers of teeth and are coaxially arranged side by side, and the first internal gear and the second internal gear. A bending external gear disposed on the inside, and a bending external gear disposed on the inside of the bending external gear to bend the bending external gear and partially with respect to the first internal gear and the second internal gear. And a wave generator capable of rotating the bending shape of the bending external gear, and the bending external gear has the same number of teeth as the first internal gear and is axially It is preferable that a thicker portion having a thick rim is provided in the meshing region side with respect to the second internal gear than the meshing region with respect to the first internal gear in FIG.

That is, in the bent external gear meshing with both the first internal gear and the second internal gear having different numbers of teeth, the comparison is made with the meshing region for the first internal gear having the same number of teeth as the bent external gear. to, the meshing area for different second internal gear number of teeth, so that a larger load is applied. Therefore, the flexural external gear is provided with a thick portion at a portion to which a large load is applied due to meshing with the second internal gear having a different number of teeth , thereby effectively ensuring excellent flexibility and effectively The rigidity of the toothed gear can be increased.
A flexure meshing gear device that solves the above-described problems includes a first internal gear and a second internal gear that have different numbers of teeth and are coaxially arranged side by side, and the first internal gear and the second internal gear. A bending external gear disposed on the inside, and a bending external gear disposed on the inside of the bending external gear to bend the bending external gear and partially with respect to the first internal gear and the second internal gear. And a wave generator capable of rotating the bending shape of the bending external gear, and the bending external gear has the same number of teeth as the first internal gear and is axially The intermediate region between the meshing region for the first internal gear and the meshing region for the second internal gear, which is closer to the meshing region for the second internal gear than the meshing region for the first internal gear in FIG. The area should have a thick part with a thick rim. Masui.
That is, for a bent external gear that meshes with both the first internal gear and the second internal gear arranged coaxially so as to straddle in the axial direction, the flexible external gear is twisted off. "Shear stress" will act. Therefore, as described above, by setting the thick portion in the intermediate region between the meshing region for the first internal gear and the meshing region for the second internal gear, on which this “shear stress” acts strongly, The rigidity of the flexural external gear can be effectively increased while ensuring the flexibility.

  In the flexibly meshing gear device that solves the above problem, the wave generator has an abutting member that abuts against an inner peripheral surface of the flexural external gear, and the abutting surface of the corresponding abutting member includes the thick wall It is preferable that a concave portion corresponding to the protruding portion formed on the inner peripheral surface of the bent external gear is formed by setting the portion.

  According to the above configuration, the contact member of the wave generator is brought into contact with the inner peripheral surface of the bent external gear with substantially equal surface pressure regardless of the rim thickness difference set in the axial direction of the bent external gear. It becomes possible to make it. Thus, the bent external gear can be bent substantially uniformly over the entire area in the axial direction, and can be rotated while maintaining the uniform bent shape. In addition, the protrusion formed on the inner peripheral surface of the bent external gear interferes with the recess formed on the contact surface on the contact member side, so that the gap between the bent external gear and the contact member is reduced. Relative axial movement is restricted. And thereby, the favorable meshing state between the 1st internal gear, the 2nd internal gear, and the bending external gear can be maintained.

In the bending meshing gear device that solves the above-described problem, it is preferable that the bending external gear includes a thick portion having a thick rim in a meshing region with respect to the second internal gear.
According to the said structure, a thick part is formed in the part to which a big load is added by meshing with the 2nd internal gear with different number of teeth. As a result, it is possible to effectively increase the rigidity of the bent external gear while ensuring excellent flexibility.

  According to the present invention, it is possible to increase the rigidity while ensuring excellent flexibility.

The perspective view of a flexure meshing gear apparatus. The front view of a bending meshing type gear apparatus. Sectional drawing of a bending meshing gear apparatus (III-III sectional drawing in FIG. 2). Sectional drawing of a bending meshing gear apparatus (IV-IV sectional drawing in FIG. 3). Sectional drawing of a bending meshing type gear apparatus (VV sectional drawing in FIG. 3). The perspective view of the bending external gear and wave generator in 1st Embodiment. The expanded sectional view of the bending external gear in a 1st embodiment (III-III sectional view in Drawing 2). The expanded sectional view of the bending external gear and wave generator in a 1st embodiment (III-III sectional view in Drawing 2). The perspective view of the bending external gear and wave generator in 2nd Embodiment. The expanded sectional view of the bending external gear in 2nd Embodiment (III-III sectional drawing in FIG. 2). The expanded sectional view of the bent external gear and wave generator in a 2nd embodiment (III-III sectional view in Drawing 2). Explanatory drawing which shows typically the wave generator of another example.

[First Embodiment]
Hereinafter, a first embodiment relating to a flexure meshing gear device will be described with reference to the drawings.
As shown in FIG. 1 to FIG. 3, the flexure meshing gear device 1 of the present embodiment includes a flat, generally cylindrical housing 2 having a flange 2 a extending radially outward, and one end side in the axial direction of the housing 2 ( And a substantially disc-shaped lid member 3 for closing the opening 2b formed on the left side in FIG.

  Moreover, as shown in FIGS. 3-5, in the case 10 which these housing 2 and the cover member 3 form, it has the 1st internal gear 11 and the 2nd which were coaxially juxtaposed with a different number of teeth. An internal gear 12 is provided. Furthermore, the bending meshing gear device 1 includes a bending external gear 20 disposed inside the first internal gear 11 and the second internal gear 12. In the present embodiment, the bent external gear 20 is formed using resin. Then, inside the bent external gear 20, the bent external gear 20 is bent into a substantially elliptic shape and partially meshed with the first internal gear 11 and the second internal gear 12. A wave generator 30 capable of rotating the bent elliptical shape (deflection shape) is provided.

  Specifically, as shown in FIG. 3, a through hole 31 is formed in the bottom 2 c of the housing 2. In addition, a first shaft-like member 33 having a substantially disc-shaped flange 33a on one end side (left side in FIG. 3) is inserted into the through hole 31. And the 1st internal gear 11 of this embodiment is formed in one with the above-mentioned 1st shaft-like member 33 in the mode which surrounds the peripheral edge of the flange 33a.

  Specifically, the first shaft member 33 of the present embodiment is pivotally supported by bearings (slide bearings) 2e and 2f provided in the through hole 31 in a state where the flange 33a is disposed in the case 10. ing. Thus, the flexure meshing gear device 1 of the present embodiment is configured such that the first internal gear 11 provided integrally with the first shaft-like member 33 rotates coaxially within the case 10. Yes.

  Further, the second internal gear 12 of the present embodiment is formed integrally with the lid member 3. In this embodiment, the lid member 3 is fastened to the axial end of the housing 2 in which the opening 2b is formed. Thus, in the flexure meshing gear device 1 of the present embodiment, the second internal gear 12 disposed in the case 10 is disposed coaxially with the first internal gear 11 in a non-rotatable state. It is comprised so that.

  More specifically, as shown in FIGS. 1 to 3, in the present embodiment, a through hole 35 is provided in the center of the lid member 3. The second shaft member 36 is inserted through the through hole 35. The wave generator 30 of the present embodiment includes a carrier 38 as a rotating body that rotates integrally with the second shaft member 36, and a plurality of rollers 40 that are rotatably supported by the carrier 38. Configured.

  Specifically, as shown in FIGS. 3 to 6, the carrier 38 of the present embodiment includes a shaft portion 38 a that is fixed so as not to rotate relative to the second shaft-shaped member 36, and one end of the shaft portion 38 a. And a support shaft 38c extending from the arm portion 38b in the axial direction (left and right direction in FIG. 3) of the shaft portion 38a.

  In the carrier 38 of the present embodiment, the shaft portion 38 a is rotatably supported by a bearing (sliding bearing) 3 a provided in the through hole 35. The shaft portion 38a is fixed coaxially with the second shaft-shaped member 36 by spline fitting. The distal end of the second shaft-like member 36 that passes through the shaft portion 38 a in the axial direction is pivotally supported by a bearing (sliding bearing) 33 b provided on the flange 33 a of the first shaft-like member 33.

  Further, in the carrier 38 of the present embodiment, the arm portion 38b is formed in a rotationally symmetric shape with the shaft portion 38a as the center, specifically, a long and approximately rhombus shape. The arm portion 38b is provided with two support shafts 38c arranged at regular intervals (180 ° intervals) in the circumferential direction.

  On the other hand, the roller 40 of this embodiment is formed in a substantially cylindrical shape using resin. And the wave generator 30 of this embodiment is provided with the two rollers 40 pivotally supported by each said support shaft 38c.

  That is, in the wave generator 30 of the present embodiment, the two rollers 40 are brought into contact with the inner peripheral surface 20s of the bent external gear 20 to bend the bent external gear 20 into a substantially elliptical shape. The first internal gear 11 and the second internal gear 12 are engaged with each other. Then, the abutting position of each roller 40 is moved in the circumferential direction by the rotation of the carrier 38 based on the input of the driving torque, so that the bending shape of the bending external gear 20 can be rotated.

  Here, the number of teeth slightly larger than the number of teeth of the first internal gear 11 is set in the second internal gear 12 of the present embodiment. The difference in the number of teeth between the first internal gear 11 and the second internal gear 12 is set to about two teeth, for example. In the bending external gear 20, the same number of teeth as that of the first internal gear 11 is set.

  That is, when the wave generator 30 bends and rotates the bending shape of the external gear 20 as described above, the meshing position with respect to the first internal gear 11 and the second internal gear 12 also moves in the circumferential direction. Then, the flexure meshing gear device 1 of the present embodiment is configured such that the first internal gear 11 and the second internal gear 12 rotate relative to each other based on the difference in the number of teeth.

  Note that the flexure meshing gear device 1 of the present embodiment uses a flange 2a to fix the housing 2 so that the housing 2 and the lid member 3 that constitutes the case 10 are formed integrally with the housing 2. The toothed gear 12 is configured to be a fixed element. Thus, the speed reduction device using the second shaft-shaped member 36 connected to the wave generator 30 as an input shaft and the first shaft-shaped member 33 formed integrally with the first internal gear 11 as an output shaft. It is supposed to function as.

(Reinforced structure of flexible external gear)
Next, the reinforcement structure of the bending external gear in this embodiment is demonstrated.
As shown in FIG. 7, the bending external gear 20 includes a first internal gear 11 and a second internal gear that are coaxially juxtaposed as described above so as to straddle the axial direction (left and right direction in FIG. 7). 12 meshes with both. In other words, the bending external gear 20 has a meshing region (first meshing region α1) for the first internal gear 11 on one end side (right side in FIG. 7) in the axial direction, and the other end side (FIG. 7). A meshing area (second meshing area α2) with respect to the second internal gear 12 is provided on the middle and left side. The bending external gear 20 of the present embodiment has a cylindrical thickness excluding the tooth portion 20a on the second meshing region α2 side with respect to the first meshing region α1 in the axial direction, that is, a thick rim thickness. A meat part 50 is provided.

  More specifically, the bending external gear 20 of the present embodiment is formed such that the rim thickness D2 in the second meshing region α2 is thicker than the rim thickness D1 of other parts including the first meshing region α1. (D2> D1). That is, in the present embodiment, the thick portion 50 is formed in the second meshing region α2. Specifically, as shown in FIG. 6, the thick-walled portion 50 forms a belt-like protruding portion 51 over the entire circumference of the bent external gear 20 on the inner peripheral surface 20 s side of the bent external gear 20. It is formed in an embodiment. In the present embodiment, the rigidity of the bending external gear 20 can be increased while ensuring the excellent flexibility.

  As shown in FIG. 8, in this embodiment, each roller 40 constituting the contact member on the wave generator 30 side has a contact surface 40 s with respect to the inner peripheral surface 20 s of the bending external gear 20. By setting the thick portion 50, a concave portion 52 corresponding to the protruding portion 51 formed on the inner peripheral surface 20s of the bent external gear 20 is formed (see FIG. 6).

  Specifically, the roller 40 of the present embodiment has a second diameter R1 that is larger than the diameter R1 of the portion (first contact region β1) that contacts the inner peripheral surface 20s of the bent external gear 20 in the first meshing region α1. The diameter R2 of the portion (second contact region β2) that contacts the inner peripheral surface 20s of the bending external gear 20 in the meshing region α2 is formed to be small (R2 <R1). In this embodiment, a rim thickness difference (ΔD = D2−D1) in which one half of the diameter difference (ΔR = R1−R2), that is, “depth of the recess 52” is set in the external gear 20 by bending. ) Is set to a value substantially equal to (ΔR / 2≈ΔD), the first contact region β1 and the second contact region β2 are bent with substantially equal surface pressure to the inner peripheral surface 20s of the external gear 20. It is possible to abut.

As described above, according to the present embodiment, the following effects can be obtained.
(1) That is, in the bent external gear 20 that meshes with both the first internal gear 11 and the second internal gear 12 with different numbers of teeth, the meshing region for the first internal gear 11 with the same number of teeth ( Compared with the first meshing region α1), a larger load is applied to the meshing region (second meshing region α2) side of the second internal gear 12 having a different number of teeth. Therefore, the rim thickness is limited to the second meshing region α2 side with respect to the first meshing region α1 in the axial direction, and the flexural external gear 20 is effectively secured while ensuring excellent flexibility. The rigidity of can be increased.

  That is, by increasing the rigidity of the flexural external gear 20, it becomes difficult to cause a meshing phase shift (so-called “tooth skip”) between the second internal gears 12 having different numbers of teeth. As a result, the torque transmission capacity can be improved and the service life can be extended. Moreover, the force required in order to bend the bending external gear 20 and hold | maintain the bending shape by the outstanding flexibility becomes small. Thereby, high torque transmission efficiency can be ensured. Furthermore, a sufficient meshing margin for the first internal gear 11 and the second internal gear 12 can be ensured. And thereby, the bending meshing gear apparatus 1 can be operated stably.

(2) The bending external gear 20 is formed such that the rim thickness D2 in the second meshing region α2 is thicker than the rim thickness D1 of other portions including the first meshing region α1 (D2> D1). .
According to the said structure, the thick part 50 is formed in 2nd meshing area | region (alpha) 2 where a big load is added by meshing with the 2nd internal gear 12 with which the number of teeth differs. As a result, it is possible to effectively increase the rigidity of the bending external gear 20 while ensuring excellent flexibility.

  (3) On the contact surface 40s of each roller 40 constituting the contact member on the wave generator 30 side, the protruding portion formed on the inner peripheral surface 20s of the bent external gear 20 by the setting of the thick portion 50. A recess 52 corresponding to 51 is formed.

  According to the above configuration, each roller 40 is brought into contact with the inner peripheral surface 20s of the bent external gear 20 with a substantially uniform surface pressure regardless of the rim thickness difference set in the axial direction of the bent external gear 20. It becomes possible. Thus, the bent external gear 20 can be bent substantially uniformly over the entire region in the axial direction, and can be rotated while maintaining the uniform bent shape. Further, the protrusion 51 formed on the inner peripheral surface 20s of the bending external gear 20 interferes with the recess 52 formed on the contact surface 40s on each roller 40 side, so that the bending external gear 20 and each The relative axial movement with the roller 40 is restricted. And thereby, the favorable meshing state between the 1st internal gear 11 and the 2nd internal gear 12 and the bending external gear 20 can be maintained. As a result, higher torque transmission efficiency can be ensured.

[Second Embodiment]
Hereinafter, a second embodiment relating to a flexure meshing gear device will be described with reference to the drawings. For convenience of explanation, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  As shown in FIGS. 9 to 11, the flexure meshing gear device 1 </ b> B of the present embodiment is compared with the flexure meshing gear device 1 of the first embodiment in its flexural external gear 20 </ b> B (20) and The shape of the wave generator 30B (30) is different.

  More specifically, the bent external gear 20B of the present embodiment also has a thick portion 50B having a thick rim on the second meshing region α2 side with respect to the first meshing region α1 in the axial direction (left and right direction in FIG. 10). It has. The bending external gear 20B of the present embodiment includes the first meshing region α1 and the second meshing region α2 in the intermediate region α3 between the first meshing region α1 and the second meshing region α2, and other parts. A thick portion 50B having a rim thickness D3 (maximum value) greater than the rim thickness D0 (D3> D0).

  Specifically, the thick portion 50B is formed in such a manner that a ring-shaped protrusion 51B is formed on the inner peripheral surface 20s side of the bending external gear 20B. Further, in this thick portion 50B, the cross-sectional shape of the projecting portion 51B formed on the inner peripheral surface 20s of the bent external gear 20B (the cross-sectional shape along the axial direction of the bent external gear 20B) is substantially semicircular. It is formed as follows. In the present embodiment, the rigidity of the bending external gear 20B can be increased while ensuring the excellent flexibility.

  Further, also in the present embodiment, each of the rollers 40B constituting the contact member on the wave generator 30B side is provided with the thick portion 50B on the contact surface 40s with respect to the inner peripheral surface 20s of the bent external gear 20B. Thus, a recess 52B corresponding to the protrusion 51B formed on the inner peripheral surface 20s of the bent external gear 20B is formed.

  Specifically, as shown in FIG. 11, in this embodiment, the intermediate region β3 between the first contact region β1 and the second contact region β2 on the contact surface 40s of each roller 40B A concave portion 52B having a substantially semicircular cross-sectional shape substantially the same as the cross-sectional shape of the protruding portion 51B formed on the inner peripheral surface 20s of the flexible external gear 20B is formed over the entire circumference of each roller 40B. .

  Further, the roller 40B of the present embodiment is formed so that the diameter thereof is minimized at the bottom 52b of the recess 52B. The roller 40B has half the diameter difference (ΔR = R0−R3) between the diameter R3 of the bottom 52b of the recess 52B and the diameter R0 of the other portion, that is, the “depth of the recess 52B”. The rim thickness difference (ΔD = D3−D0) set for the bending external gear 20B is set to a value (ΔR / 2> ΔD).

  As described above, also in the present embodiment, as in the first embodiment, it is possible to effectively increase the rigidity of the bending external gear 20 while ensuring excellent flexibility. And the following characteristic effects can be acquired by employ | adopting the structure of this embodiment.

  (1) That is, the bending external gear 20B that meshes with both the first internal gear 11 and the second internal gear 12 that are arranged coaxially so as to straddle in the axial direction includes the bending external gear 20B. "Shearing stress" that twists through the surface acts. Therefore, as described above, the thick portion 50B is limited to the intermediate region α3 between the first meshing region α1 and the second meshing region α2 where the “shear stress” acts strongly. The rigidity of the bending external gear 20B can be effectively increased while ensuring the flexibility.

  (2) On the contact surface 40s of each roller 40B constituting the contact member on the wave generator 30B side, a protruding portion 51B formed on the inner peripheral surface 20s of the bent external gear 20B is set by setting the thick portion 50B. A recess 52B corresponding to is formed. Each roller 40B has a bending external gear 20B having a half of the difference in diameter between the diameter R3 of the bottom 52b of the recess 52B and the diameter R0 of the other portion, that is, the “depth of the recess 52B”. The rim thickness difference is set to a value larger than the rim thickness difference.

  According to the above configuration, the roller 40B is brought into contact with the inner peripheral surface 20s of the bent external gear 20B with substantially equal surface pressure regardless of the rim thickness difference in the axial direction caused by the setting of the thick portion 50B. Can do. Specifically, the first contact region β1 and the second contact region β2 can be brought into contact with the first engagement region α1 and the second engagement region α2.

  (3) Further, when the bending external gear 20B is formed by resin using a mold, it is preferable to set the die splitting surface to the thick portion 50B. And thereby, while ensuring high rigidity, the manufacture can be made easy.

In addition, you may change each said embodiment as follows.
The flexure meshing gear device 1 (1B) of each of the above embodiments uses the second internal gear 12 as a fixed element, thereby using the wave generator 30 (second shaft member 36) as an input element, and the first The internal gear 11 (first shaft-like member 33) functions as a reduction gear as an output element. However, the configuration is not limited thereto, and the first internal gear 11 may be a fixed element. Further, it may be used as a 2-input 1-output or 1-input 2-output differential mechanism.

  In the first embodiment, the thick portion 50 is formed in the second meshing region α2, and in the second embodiment, a thick region is formed in the intermediate region α3 between the first meshing region α1 and the second meshing region α2. The meat part 50B was formed. However, the present invention is not limited to this, and a thick portion is formed over the entire region closer to the second meshing region α2 than the first meshing region α1 in the axial direction of the bent external gear, that is, over the second meshing region α2 and the intermediate region α3. It may be a configuration. Further, when the thick portion 50 is set in the second meshing region α2, it is not always necessary that the second meshing region α2 be the thick portion 50. Similarly, when the thick portion 50B is set in the intermediate region α3, all of the intermediate region α3 may not be the thick portion 50. And about the 2nd meshing area | region (alpha) 2 and intermediate | middle area | region (alpha) 3, the structure which forms a thick part partially, respectively may be sufficient.

  In each of the above embodiments, the bending external gear 20 (20B) and each roller 40 (40B) are formed using a resin, but the material may be arbitrarily changed, for example, using a metal. May be.

  In each of the above embodiments, the contact surface 40s of each roller 40 (40B) is formed on the inner peripheral surface 20s of the bent external gear 20 (20B) by setting the thick portion 50 (50B). A recess 52 (52B) corresponding to the protrusion 51 (51B) is formed. However, the present invention is not limited to this. For example, when the protruding portion 51 (51B) on the side of the bent external gear 20 (20B) is small, such a recess 52 (52B) is not necessarily formed.

  In the first embodiment, one half of the diameter difference (ΔR = R1−R2) between the first contact region β1 and the second contact region β2 in the roller 40, that is, “the depth of the recess 52”. Is set to a value (ΔR / 2≈ΔD) substantially equal to the rim thickness difference (ΔD = D2−D1) on the bending external gear 20 side, but may be a value larger than the rim thickness difference. (ΔR / 2> ΔD).

  In addition, for the roller 40B in the second embodiment, a half of the diameter difference (ΔR = R0−R3) between the diameter R3 of the bottom 52b of the recess 52B and the diameter R0 of the other part, that is, “ The "depth of the recess 52B" may be formed so as to be a value substantially equal to the rim thickness difference (ΔD = D3-D0) set in the bending external gear 20B (ΔR / 2≈ΔD).

  In each of the above embodiments, the wave generator 30 (30B) using a pair of rollers 40 arranged at equal intervals (180 ° intervals) in the circumferential direction as contact members is used. However, the configuration is not limited to this, and an elliptic ball bearing may be used, for example. Also, as shown in FIG. 12, a plurality of spokes 61 that are radially arranged so that one end thereof is bent and abuts against the inner peripheral surface 20s of the external gear 20C, and the flexibility of connecting these spokes 61 are provided. A wave generator 30 </ b> C including the annular connecting portion 62 and the elliptical cam 63 that is rotatably provided in a state in which the other end side of each spoke 61 is in contact with the circumferential surface 63 s may be used. And also when using such a wave generator 30C, it was formed in the inner peripheral surface of the bending external gear by setting the thick part in the contact surface (end surface of the spoke 61) of the contact member. A recess corresponding to the protruding portion may be formed.

  -Each roller 40 (40B) does not necessarily need to be constituted by one member. For example, it may be composed of two roller members constituting the first contact region β1 and the second contact region β2, and in addition to these, a third roller member constituting the intermediate region β3 is provided. It may be. And the manufacture can be facilitated by adopting such a divided structure.

Next, technical ideas that can be grasped from the above embodiments will be described together with effects.
(A) The wave generator includes a rotating body that rotates based on a driving torque, and a plurality of contact members that are rotatably supported by the rotating body. apparatus.

  That is, when such a wave generator is used, it is important to keep the bending shape of the bending external gear constant. Therefore, a more remarkable effect can be obtained by applying the structure of each claim to such a thing.

  (B) The bending external gear has the protruding portion that protrudes from an inner peripheral surface of the bending external gear in a meshing region with the second internal gear.

  (C) The bent external gear protrudes from the inner peripheral surface of the bent external gear in an intermediate area between the meshing area for the first internal gear and the meshed area for the second internal gear. A flexure-meshing gear device characterized by comprising a portion.

  DESCRIPTION OF SYMBOLS 1,1B ... Flexure meshing gear apparatus, 11 ... 1st internal gear, 12 ... 2nd internal gear, 20, 20B, 20C ... Flex external gear, 20a ... Tooth part, 20s ... Inner peripheral surface, 30, 30B ... Wave generator, 38 ... Carrier (rotary body), 40, 40B ... Roller (contact member), 40s ... Contact surface, 50, 50B ... Thick part, 51, 51B ... Projection part, 52, 52B ... Recess, 52b ... bottom, α1 ... first engagement region, α2 ... second engagement region, α3 ... intermediate region, D0, D1, D2, D3 ... rim thickness, β1 ... first contact region, β2 ... second contact Region, β3 ... middle region, R0, R1, R2, R3 ... diameter.

Claims (4)

A first internal gear and a second internal gear having different numbers of teeth and coaxially arranged;
A bent external gear disposed inside the first internal gear and the second internal gear;
By being arranged inside the bent external gear, the bent external gear is bent to partially mesh with the first internal gear and the second internal gear, and the bent external gear is bent. A wave generator capable of rotating the shape,
The bending external gear has the same number of teeth as the first internal gear, and is closer to the meshing region side with respect to the second internal gear than the meshing region with respect to the first internal gear in the axial direction , and A flexure meshing gear device comprising a thick portion having a large rim thickness in a meshing region with respect to a second internal gear. A first internal gear and a second internal gear having different numbers of teeth and coaxially arranged;
A bent external gear disposed inside the first internal gear and the second internal gear;
By being arranged inside the bent external gear, the bent external gear is bent to partially mesh with the first internal gear and the second internal gear, and the bent external gear is bent. A wave generator capable of rotating the shape,
The bending external gear has the same number of teeth as the first internal gear, and is closer to the meshing region side with respect to the second internal gear than the meshing region with respect to the first internal gear in the axial direction, and A flexure meshing gear device comprising a thick portion with a thick rim in an intermediate region between a meshing region for a first internal gear and a meshing region for the second internal gear. In the flexibly meshing gear device according to claim 2,
The bending external gear includes a thick mesh portion with a thick rim in a meshing region with the second internal gear. In the flexibly meshing gear device according to any one of claims 1 to 3 ,
The wave generator includes an abutting member that abuts on an inner peripheral surface of the bent external gear, and an inner surface of the bent external gear is set on the abutting surface of the corresponding contact member by setting the thick portion. A flexure meshing gear device, characterized in that a concave portion corresponding to a protruding portion formed on a surface is formed.