JP6731835B2 - Flexible mesh gear - Google Patents

Description

The present invention relates to a flexible mesh type gear device.

2. Description of the Related Art A flexible mesh type gear device including a flexible gear has been known (for example, see FIG. 2 of Patent Document 1).
This flex mesh type gear device includes a flexibly deformable external gear, a transmission shaft that flex-deforms the external gear, two internal gears that mesh with the external gear, and a motor that applies torque to the transmission shaft. I have it.
Then, when the motor is driven, the transmission shaft imparts a cyclic bending deformation to the external gear from the inside, and one unfixed internal gear is given a rotational motion that is slower than the transmission shaft. ..

JP-A-58-180858

In such a gear mechanism, in order to perform a smooth meshing operation, a lubricant is supplied between the operating members.
However, in the above-described conventional gear mechanism, there is a possibility that the lubricant may move due to driving and the lubricity between the members may deteriorate.

An object of the present invention is to provide a flexible mesh type gear device having excellent lubricity.

The present invention provides a vibrating body, an externally toothed gear flexibly deformed by the vibrating body, a first internal gear that meshes with the external gear, and an axial direction of the first internal gear with respect to the first internal gear. A flexible meshing type gear device which is arranged next to the second internal gear, which meshes with the external gear,
The first internal gear has an extending portion extending to the second internal gear side along the axial direction,
The extending portion is located radially outside of the gap between the first internal gear and the second internal gear, and is located radially outside of the second internal gear. A second extending portion,
The maximum inner diameter of the first extending portion is larger than the minimum inner diameter of the second extending portion within the range of the tooth portion of the second internal gear in the axial direction .
Further, another aspect of the present invention is a vibrating body, an external gear to which flexural deformation is imparted by the vibrating body, a first internal gear that meshes with the external gear, and the first internal gear. On the other hand, a flexural mesh type gear device, which is arranged adjacent to the axial direction thereof, and which includes a second internal gear that meshes with the external gear, wherein the first internal gear is arranged in the axial direction. Has an extending portion extending toward the second internal gear, and the extending portion is located radially outside of the gap between the first internal gear and the second internal gear. It has a 1st extension part and a 2nd extension part located in the radial direction outside of the 2nd internal gear, and the maximum inner diameter of the 1st extension part is the minimum of the 2nd extension part. The first internal gear is larger than the inner diameter, and the first internal gear is a gear that outputs a rotation that is slower than the input rotation by the gear device.
Still another aspect of the present invention is a vibrating body, an externally toothed gear that is flexibly deformed by the vibrating body, a first internal gear that meshes with the external gear, and the first internal gear. And a second internal gear that is arranged adjacent to the axial gear with respect to the external gear and that meshes with the external gear, wherein the first internal gear has the axial direction. Along with a second internal gear side extending portion, the extending portion is located radially outside the gap between the first internal gear and the second internal gear Having a first extending portion, and a second extending portion located radially outside of the second internal gear,
The maximum inner diameter of the first extending portion is larger than the minimum inner diameter of the second extending portion, the inner periphery of the extending portion from the first internal gear to the second internal gear side, This is a configuration having a portion where the inner diameter linearly decreases.
Still another aspect of the present invention is a vibrating body, an external gear to which flexural deformation is imparted by the vibrating body, a first internal gear that meshes with the external gear, and the first internal gear. And a second internal gear that is arranged adjacent to the axial gear with respect to the external gear and that meshes with the external gear, wherein the first internal gear has the axial direction. Along with a second internal gear side extending portion, the extending portion is located radially outside the gap between the first internal gear and the second internal gear Having a first extending portion, and a second extending portion located radially outside of the second internal gear, the maximum inner diameter of the first extending portion, the second extending portion of The inner diameter is larger than the minimum inner diameter, and the outer diameter of the end of the second internal gear on the side opposite to the first internal gear is larger than the outer diameter of the end on the side of the first internal gear. The composition.

According to the present invention, it is possible to improve the lubricity in the device.

It is a longitudinal cross-sectional view showing a flexible mesh type gear device according to a first embodiment of the present invention. FIG. 2(A) is a side view of the flexible mesh type gear device as viewed in the axial direction, and FIG. 2(B) is a partially enlarged view of FIG. 2(A). It is an exploded perspective view showing a mechanism around a gear of a flexible mesh type gear device. It is a partial expanded sectional view of the 1st internal gear and the 2nd internal gear of a flexible mesh type gear device. It is a partial expanded sectional view of the 1st internal gear and the 2nd internal gear of the flexible mesh type gear device concerning a second embodiment of the present invention.

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

[First Embodiment]
FIG. 1 is a vertical cross-sectional view showing a flexible mesh type gear device according to a first embodiment of the present invention. 2A is a side view of the flexible meshing gear device 1 according to the first embodiment as viewed in the direction of the rotation center line (axial direction), and FIG. 2B is a partially enlarged view thereof. The rotation center line direction D is a direction parallel to a rotation center line O of a first internal gear 11 to be described later of the flexible mesh type gear device 1.
FIG. 3 is an exploded perspective view showing a mechanism around a gear of the flexible mesh type gear device 1 according to the first embodiment.

A flexible mesh type gear device 1 (hereinafter referred to as "gear device 1") according to a first embodiment of the present invention has an input shaft and an output shaft arranged coaxially and rotates at a high reduction ratio. It can be used as a speed reducer that transmits motion.

As shown in FIGS. 1 to 3, the gear device 1 includes a first internal gear 11 and a second internal gear 12, an external gear 13 as a bending gear, a bearing 14, and an eccentric as a vibrating body. And a cam 15. The first internal gear 11 and the second internal gear 12 are coaxially juxtaposed along the rotation center line O, and the external gear 13, the bearing 14, and the eccentric cam 15 are sequentially arranged inside these in the radial direction. ing. In FIG. 3, only the first internal gear 11, the second internal gear 12, the external gear 13, and the outer ring 14 a of the bearing 14 are shown.

The first internal gear 11 and the second internal gear 12 are cylindrical gears having rigidity. The first internal gear 11 and the second internal gear 12 are provided with tooth portions 11a and 12a over the entire circumference on the inner peripheral side. The tooth portion 11a of the first internal gear 11 and the tooth portion 12a of the second internal gear 12 are provided on substantially the same radius about the rotation center line O. The number of teeth of the first internal gear 11 and the number of teeth of the second internal gear 12 are set to different values. One of the first internal gear 11 and the second internal gear 12 is typically fixed, and the other is connected to the output shaft (or the driven member).

Either the first internal gear 11 or the second internal gear 12 may be fixed, but here, the case where the second internal gear 12 is fixed will be described as an example.
The term "fixed" as used herein means that the upper device incorporating the flexible meshing gear device 1 as a power transmission mechanism supports the flexible meshing gear device 1 by the supporting structure with respect to the supporting structure. Shows that it is fixed.

The eccentric cam 15 is a rigid rigid body and has a cam surface 15a that is eccentric about the rotation center line O. The cam surface 15a has a curvature that is eccentric in the circumferential direction about the rotation center line O, but has no curvature in the axial direction of the rotation center line O. The cross-sectional shape of the cam surface 15a perpendicular to the axis is, as shown in FIG. 2A, a shape close to an ellipse having a long axis La and a short axis Lb. The midpoint of the long axis La and the midpoint of the short axis Lb intersect at the rotation center line O. The major axis La has a length that meshes the external gear 13 with the first internal gear 11 and the second internal gear 12, while the minor axis Lb has the external gear 13 and the first internal gear 11 and. It has a length such that it is separated from the second internal gear 12 so as not to mesh with it.

The eccentric cam 15 is provided with, for example, a connection hole 15b, and an external shaft of the gear device 1 is connected thereto. The eccentric cam 15 is typically connected to an input shaft (a motor shaft or a shaft driven to rotate by a motor).

The external gear 13 is a flexural gear that flexibly deforms and meshes with the first internal gear 11 and the second internal gear 12, and is configured to be flexibly deformable in a direction that changes the circumferential curvature. .. The external gear 13 includes a tubular base portion 13b and a tooth portion 13a provided on the outer periphery of the base portion 13b. The tooth portion 13a is arranged to face the tooth portions 11a and 12a of the first internal gear 11 and the second internal gear 12, and is provided over the entire outer circumference of the base portion 13b. The external gear 13 is deformed along the cam surface 15a of the eccentric cam 15 and rotates in a range around a portion on the extension line of the major axis La of the eccentric cam 15 that rotates, the first internal gear 11 and the second internal gear. 12, and the remaining range is separated from the first internal gear 11 and the second internal gear 12 so as not to mesh.

The bearing 14 is interposed between the external gear 13 and the eccentric cam 15 to restrict the external gear 13 to a shape along the eccentric cam surface 15 a of the eccentric cam 15, while the external gear 13 and the eccentric cam 15 are regulated. This is for realizing relative rotational movement with respect to 15 with a small resistance. The bearing 14 is, for example, a roller bearing, and has a cylindrical outer ring 14a, a plurality of rollers 14b, and a cage 14c that holds the intervals between the plurality of rollers 14b. The inner ring of the bearing 14 is provided integrally with the eccentric cam 15. The cam surface 15 a of the eccentric cam 15 is in contact with the inside of the bearing 14, and the inner peripheral surface of the external gear 13 is in contact with the outside of the bearing 14.

The outer ring 14a is made of a member that has a high hardness against a compressive force in the thickness direction, but is elastically deformable in a direction that changes the curvature in the circumferential direction. The outer ring 14a is provided to reduce the rolling resistance of the plurality of rollers 14b. The outer ring 14a comes into contact with the inner peripheral surface of the external gear 13 to be flexibly deformed integrally with the external gear 13, and when the external gear 13 rotates, rotates integrally with the external gear 13.

The bearing 14 may have an inner ring between the plurality of rollers 14b and the eccentric cam 15. In this case, the inner ring contacts the cam surface of the eccentric cam 15 and rotates integrally with the eccentric cam 15.

[Lubricant holding structure]
FIG. 4 is an enlarged cross-sectional view along a cross section passing through the rotation center line O of the first internal gear 11 and the second internal gear 12 of the gear mechanism 1.
Generally, in a flexible mesh type gear device, when there is a place where the members slide or wear during operation, a lubricant such as grease or lubricating oil is previously applied or applied between the members. It is supplied and the operation is smoothed.
However, if the operation is continued, the lubricant flows and retreats from the portion where the lubricant is required, and for example, lubrication of the meshing portion of the external gear 13 and the first and second internal gears 11 and 12 is performed. May deteriorate.
Therefore, in the flexible meshing gear device 1, a lubricant holding structure is provided between the first internal gear 11 and the second internal gear 12 described above.

As shown in FIG. 4, the first internal gear 11 includes a main body 110 having a tooth 11a, and a second internal gear 12 extending from the end of the main body 110 on the second internal gear 12 side along the rotation center line direction D. It has a substantially cylindrical extending portion 111 extending toward the internal gear 12 side. The inside of the extending portion 111 has a lubricant holding structure.
The main body 110 and the extension 111 are integrally formed, and have the same outer diameter and a larger outer diameter than the second internal gear 12. The inner diameter of the extending portion 111 is generally larger than the outer diameter of the second internal gear 12, and the second internal gear 12 is arranged inside thereof.

The second internal gear 12 has the same width as the main body 110 of the first internal gear 11 in the rotation center line direction D, and the outer diameter thereof is uniform over the entire length in the rotation center line direction D.
Then, between the end surface of the main body 110 of the first internal gear 11 on the side of the second internal gear 12 and the end surface of the second internal gear 12 on the side of the first internal gear 11, a gap d having a constant width is provided. Are formed.

The extending portion 111 is located on the radially outer side of the gap d between the first internal gear 11 and the second internal gear 12, and on the radially outer side of the second internal gear 12. It has the 2nd extending part 113 located. That is, the first extending portion 112 has the same width as the gap d in the rotation center line direction D, and the second extending portion 113 has the same width as the second internal gear 12 in the rotation center line direction D.

The maximum diameter R1max of the first extending portion 112 is larger than the minimum inner diameter R2min of the second extending portion 113, and the inner diameter of the first extending portion 112 is uniform over the entire length in the rotation center line direction D. Is.
On the other hand, the second extending portion 113 has a portion 113a having a constant inner diameter in the rotation center line direction D and a maximum inner diameter R2max, and a portion 113a having a constant inner diameter in the rotation center line direction D and a minimum inner diameter R2min. And a portion 113b.
The inner diameter of the end of the second extending portion 113 on the first extending portion 112 side is the maximum inner diameter R2max, and the maximum inner diameter R2max of the second extending portion 113 and the maximum inner diameter R1max of the first extending portion 112 are equal. The boundary between the portion 113a having the maximum inner diameter R2max and the portion 113b having the minimum inner diameter R2min of the second extending portion 113 is an end face perpendicular to the rotation center line direction D.

Since the first extension portion 112 and the portion 113a of the second extension portion 113 which has the maximum inner diameter R2max have the same inner diameter, the first extension portion 112 and the portion 113a of the second extension portion 113 make one round around the inner peripheral surface of the extension portion 111 and extend radially outward. As a result, a groove-shaped region M that becomes concave is formed.
When the flexible mesh type gear device 1 is driven, the lubricant applied or supplied to various places in the device moves from the center of rotation to the outside, but the extending portion 111 has the second internal teeth. Since the gear 12 is surrounded, the lubricant is trapped in the groove-shaped region M.
Further, since the portion 113b having the minimum inner diameter R2min of the second extending portion 113 exists on the second internal gear 12 side with respect to the groove-shaped region M, the lubrication captured in the groove-shaped region M is provided. The agent is restrained from moving toward the open end side of the extending portion 111, and can be retained in the groove-shaped region M.

It is desirable that the minimum inner diameter R2min of the second extending portion 113 be close to the outer diameter of the second internal gear 12 within a range in which the second internal gear 12 does not interfere with the second internal gear 12. Thereby, the passage of the lubricant can be narrowed, and the movement of the extending portion 111 toward the opening end can be further reduced.
Further, although the rotation center line O of the flexible meshing gear device 1 is not essential, it is preferably in a direction inclined with respect to the vertical up and down direction, and more preferably oriented in a horizontal or substantially horizontal state.

[Operation of flexible mesh type gear device]
Next, the operation of the gear device 1 will be described. As described above, here, the configuration in which the eccentric cam 15 is connected to the input shaft (drive source side), the first internal gear 11 is connected to the output shaft, and the second internal gear 12 is fixed will be described. .. Further, although not particularly limited, the first internal gear 11 and the external gear 13 have the same number of teeth, and the second internal gear 12 and the external gear 13 have different numbers of teeth. I shall. The relationship between the numbers of teeth of the first internal gear 11 and the second internal gear 12 may be reversed.

When the eccentric cam 15 rotates due to the rotational driving of the input shaft, the motion of the eccentric cam 15 is transmitted to the external gear 13 via the bearing 14. Since the external gear 13 is partially meshed with the fixed second internal gear 12, the external gear 13 does not rotate following the rotation of the eccentric cam 15, and the external gear 13 does not rotate. On the other hand, a motion in which the eccentric cam 15 relatively rotates is obtained. At this time, since the external gear 13 is restricted to the shape along the cam surface 15 a of the eccentric cam 15, the external gear 13 is flexibly deformed according to the rotation of the eccentric cam 15. Specifically, the positions of the external gear 13 having a large curvature and the position having a small curvature are deformed so as to periodically move. The cycle of this deformation is proportional to the high-speed rotation cycle of the eccentric cam 15.

As described above, when the external gear 13 is deformed by the rotation of the eccentric cam 15, the position where the external gear 13 and the second internal gear 12 mesh with each other changes in the rotational direction as the major axis La of the eccentric cam 15 rotates. .. If there is a difference in the number of teeth between the externally toothed gear 13 and the second internally toothed gear 12, the corresponding relationship between the toothed portions 13a and 12a that are meshed with each other when the meshing position makes one revolution shifts. This causes relative rotation between the external gear 13 and the second internal gear 12. Here, since the second internal gear 12 is fixed, the external gear 13 rotates.
For example, if the number of teeth of the second internal gear 12 is 102 and the number of teeth of the external gear 13 is 100, the rotational movement of the eccentric cam 15 is reduced at a reduction ratio of 100:2 and transmitted to the external gear 13. To be done.

On the other hand, since the external gear 13 is also meshed with the first internal gear 11, the position where the eccentric cam 15 meshes with the external gear 13 and the first internal gear 11 is also in the rotational direction. Change. Since the number of teeth of the first internal gear 11 and the number of teeth of the external gear 13 are the same, the external gear 13 and the first internal gear 11 do not rotate relative to each other, and the external gear 13 Is transmitted to the first internal gear 11 at a reduction ratio of 1:1. As a result, the first internal gear 11 rotates and the decelerated rotational movement is output from the output shaft.

[Technical effects of flexible mesh type gear device]
In the flexible mesh type gear device 1, the first internal gear 11 has an extension portion 111, and the extension portion 111 has a gap d between the first internal gear 11 and the second internal gear 12. Has a first extending portion 112 located on the outer side in the radial direction and a second extending portion 113 located on the outer side in the radial direction of the second internal gear 12, and the maximum inner diameter R1max of the first extending portion 112 is , Larger than the minimum inner diameter R2min of the second extending portion 113.
Therefore, when the flexible meshing gear device 1 is driven, the lubricant in the device that moves outward from the center of rotation is captured by the portion having the maximum inner diameter R1max of the first extending portion 112. Since the portion 113b having the minimum inner diameter R2min of the second extending portion 113 exists outside the second internal gear 12, the trapped lubricant is prevented from moving to the outside of the extending portion 111. However, it becomes possible to retain the lubricant in the device. Then, when the rotation stops, the retained lubricant returns to the meshing portion.
Therefore, in the flexible meshing gear device 1, in particular, the lubricity of the meshing portion is improved, and the high lubricity can be maintained for a longer time.

When the first internal gear 11 is a gear that outputs a rotation that is decelerated from the input rotation by the gear device 1, the first internal gear 11 is held within the maximum inner diameter R1max of the first extending portion 112. The lubricant can be moved by gravity due to the rotation of the first internal gear 11, and a part of the lubricant can be recirculated to a portion of the apparatus that requires the lubricant.

When the inner diameter of the first extending portion 112 is constant over the entire length in the rotation center line direction D, more lubricant can be retained, and high lubricity can be maintained for a longer period of time. It will be possible.

Further, when the second extending portion 113 is configured to have the portion 113b having the minimum inner diameter R2min within a certain range along the rotation center line direction D, the maximum inner diameter R1max of the first extending portion 112 is obtained. It is possible to further suppress the lubricant trapped in the portion from moving to the outside of the extension portion 111, and more effectively retain the lubricant in the device.

Further, when the maximum inner diameter R1max of the first extending portion 112 and the maximum inner diameter R2max of the second extending portion 113 are made equal to each other, a larger amount of lubricant can be retained, and high lubricity can be maintained for a longer period of time. It becomes possible.

[Second embodiment]
Another example different from the above-described lubricant holding structure of FIG. 4 will be described with reference to FIG. FIG. 5 is an enlarged cross-sectional view taken along a cross section passing through the rotation center line O of the first internal gear 11A and the second internal gear 12A.
In the following description, only points different from the above-described flexible mesh type gear device 1 will be mainly described, and description of common parts will be omitted. Further, the same reference numerals are used for the same components as those of the flexible meshing gear device 1 described above, and the duplicated description will be omitted.

As shown in FIG. 5, the first internal gear 11A includes a main body 110 having a tooth 11a, and a second internal gear 12A extending from the end of the main body 110 on the side of the second internal gear 12A along the rotation center line direction D. It has a substantially cylindrical extending portion 111A extending toward the internal gear 12 side. The inside of the extending portion 111A has a lubricant holding structure.
The main body 110 and the extending portion 111A are integrally formed, and have the same outer diameter and a larger outer diameter than the second internal gear 12A. The extension portion 111A has the second internal gear 12A disposed inside, and the inner diameter of each portion of the extension portion 111A in the rotation center line direction D is of a size that does not interfere with the second internal gear 12A. ing.

The extending portion 111A is located outside the first extending portion 112A in the radial direction of the gap d between the first internal gear 11A and the second internal gear 12A and the outside in the radial direction of the second internal gear 12A. It has the 2nd extension part 113A located.
Also in the case of the first extending portion 112A, the maximum inner diameter R1max is larger than the minimum inner diameter R2min of the second extending portion 113A.

In the extending portion 111A, the inner diameter of the end portion on the main body portion 110 side (left side in FIG. 5) in the rotation center line direction D is the maximum inner diameter R1max.
Further, the extending portion 111A has a uniform inner diameter at the end on the second internal gear 12 side (right side in FIG. 5) in the rotation centerline direction D with a constant inner diameter R2min and a constant width in the rotation centerline direction D. It has an equal-diameter portion 114A that is

Then, in the range from the end having the maximum inner diameter R1max of the extending portion 111A to the equal diameter portion 114A, the reduced diameter portion 115A is formed from the first extending portion 112A to the second extending portion 113A. Has been done.
The inner diameter of the reduced diameter portion 115A gradually decreases toward the second internal gear 12 side in the rotation center line direction D at a constant rate. That is, the cross-sectional shape of the reduced diameter portion 115A is linearly inclined with respect to the rotation center line direction D, and the inner peripheral surface of the reduced diameter portion 115A is a conical surface. The first extending portion 112A and the second extending portion 113A are connected by this conical surface.

The second internal gear 12A has the same outer diameter at the end portion of the first internal gear 11A (left side in FIG. 5) in the rotation center line direction D and has the same outer diameter in a certain range in the rotation center line direction D. It has an equal-diameter portion 121A.
Further, the second internal gear 12A is adjacent to the equal-diameter portion 121A and gradually increases from the minimum outer diameter to the maximum outer diameter on the second internal gear 12A side (right side in FIG. 5) in the rotation center line direction D. It has an enlarged diameter portion 122A. That is, the enlarged diameter portion 122A has a sectional shape inclined with respect to the rotation center line direction D, and the outer peripheral surface of the enlarged diameter portion 122A is a conical surface.
The maximum outer diameter of the expanded diameter portion 122A (which is also the maximum outer diameter of the second internal gear 12A) is smaller than the minimum internal diameter R2min of the extending portion 111A described above, and is smaller than the first internal gear 11A and the second internal gear 11A. It does not interfere with the relative rotation of the gear 12A.

Even in the case of the first internal gear 11A, the minimum inner diameter R2min of the second extending portion 113A is equal to the maximum outer diameter of the second internal gear 12A within a range that does not interfere with the second internal gear 12A. It is preferable that the sizes are close to each other.
Further, also in the case of the first internal gear 11A and the second internal gear 12A, it is more preferable that the rotation center lines O of the first internal gear 11A and the second internal gear 12A be oriented in a direction inclined with respect to the vertical direction and further in a horizontal or substantially horizontal state.

Thus, also in the case of the first internal gear 11A, since the maximum inner diameter R1max of the first extending portion 112A is larger than the minimum inner diameter R2min of the second extending portion 113A, the lubricant is retained in the device, It is possible to improve and maintain the lubricity.
Further, since the equal-diameter portion 114A having the minimum inner diameter R2min of the second extending portion 113A is provided in a certain range along the rotation center line direction D, the lubricant is suppressed from moving to the outside of the extending portion 111A, and the lubricant is lubricated. It becomes possible to hold the agent in the device more effectively.

Further, when the inner circumference of the extending portion 111A has a reduced diameter portion 115A whose inner diameter decreases linearly from the first internal gear 11A toward the second internal gear 12A side, The lubricant trapped in the existing portion 111A can be returned to the first internal gear 11A side, and high lubricity can be maintained for a longer period of time.

Furthermore, the outer diameter of the end of the second internal gear 12A on the first internal gear 11A side (the outer diameter of the equal-diameter portion 121A) is larger than the outer diameter of the end on the opposite side to the first internal gear 11A side. When the outer diameter (maximum outer diameter) is made larger, more lubricant can be retained, and high lubricity can be maintained for a longer period of time.

[Other]
As shown in FIG. 4, the first internal gear 11 and the second internal gear 12 described above have the positions of the end portions on the second internal gear 12 side (the right side in FIG. 4) in the respective rotation center line directions D. Although the aligned state is illustrated, the present invention is not limited to this. That is, the end positions of the first internal gear 11 and the second internal gear 12 do not coincide with each other in the rotation center line direction D, and one of them extends further away along the rotation center line direction D. May be. Further, the widths of the main body 110 of the first internal gear 11 and the second internal gear 12 in the rotation center line direction D do not have to be equal. The same applies to the first internal gear 11A and the second internal gear 12A shown in FIG.

At the boundary between the first extending portion 112 and the second extending portion 113 in the extending portion 111 of the above-described first internal gear 11, the inner diameter is increased from the first internal gear 11 toward the second internal gear 12. A tapering conical surface may be provided.

Further, both of the first internal gears 11 and 11A have a portion with the smallest inner diameter and the same diameter, but they are not essential. For example, the entire inner peripheral surface of the first internal gear 11 and 11A may be configured by one or a plurality of conical surfaces.

Further, in the configuration of FIG. 4, instead of the second internal gear 12, the outer diameter of the end on the opposite side (right side of FIG. 4) of the outer diameter of the end on the first internal gear 11 side (left side of FIG. 4) is used. A second internal gear having a larger diameter may be provided.
Similarly, in the configuration of FIG. 5, instead of the second internal gear 12A, a second internal gear having a uniform outer diameter over the entire length in the rotation center line direction D may be provided.

Further, the lubricant is not limited to paste-like one such as grease, and liquid one may be used.
In addition, the details shown in the embodiment can be appropriately changed without departing from the spirit of the invention.

1 Gear device (flexible meshing gear device)
11, 11A 1st internal gear 11a Teeth 12,12A 2nd internal gear 12a Teeth 13 External gear 13a Teeth 14 Bearing 15 Eccentric cam (oscillator)
110 Main Body 111, 111A Extensions 112, 112A First Extensions 113, 113A Second Extensions 113a Part 113b with the Largest Inner Diameter 114A Part with the Smallest Inner Diameter 114A Equal Diameter 115A Reduced Diameter 121A Equal Diameter 122A Expanded part D Rotation center line direction (axial direction)
d Gap M Region O Rotation center line
R1max, R2max maximum inner diameter
R2min Minimum inner diameter

Claims (7)

A vibrating body,
An external gear to which flexural deformation is imparted by the vibrating body,
A first internal gear that meshes with the external gear,
A second internal gear that is arranged adjacent to the first internal gear in the axial direction thereof and that meshes with the external gear,
A flexible mesh type gear device comprising:
The first internal gear has an extending portion extending to the second internal gear side along the axial direction,
The extending portion is located radially outside of the gap between the first internal gear and the second internal gear, and is located radially outside of the second internal gear. A second extending portion,
The flexible meshing gear device wherein the maximum inner diameter of the first extending portion is larger than the minimum inner diameter of the second extending portion within the range of the tooth portion of the second internal gear in the axial direction . A vibrating body,
An external gear to which flexural deformation is imparted by the vibrating body,
A first internal gear that meshes with the external gear,
A second internal gear that is arranged adjacent to the first internal gear in the axial direction thereof and that meshes with the external gear,
A flexible mesh type gear device comprising:
The first internal gear has an extending portion extending to the second internal gear side along the axial direction,
The extending portion is located radially outside of the gap between the first internal gear and the second internal gear, and is located radially outside of the second internal gear. A second extending portion,
The maximum inner diameter of the first extending portion is larger than the minimum inner diameter of the second extending portion,
The first meshing gear device is a flexible mesh gear device, which is a gear that outputs a rotation that is decelerated by an input rotation by the gear device. A vibrating body,
An external gear to which flexural deformation is imparted by the vibrating body,
A first internal gear that meshes with the external gear,
A second internal gear that is arranged adjacent to the first internal gear in the axial direction thereof and that meshes with the external gear,
A flexible mesh type gear device comprising:
The first internal gear has an extending portion extending to the second internal gear side along the axial direction,
The extending portion is located radially outside of the gap between the first internal gear and the second internal gear, and is located radially outside of the second internal gear. A second extending portion,
The maximum inner diameter of the first extending portion is larger than the minimum inner diameter of the second extending portion,
The flexible meshing gear device, wherein the inner circumference of the extending portion has a portion in which the inner diameter linearly decreases from the first internal gear toward the second internal gear. A vibrating body,
An external gear to which flexural deformation is imparted by the vibrating body,
A first internal gear that meshes with the external gear,
A second internal gear that is arranged adjacent to the first internal gear in the axial direction thereof and that meshes with the external gear,
A flexible mesh type gear device comprising:
The first internal gear has an extending portion extending to the second internal gear side along the axial direction,
The extending portion is located radially outside of the gap between the first internal gear and the second internal gear, and is located radially outside of the second internal gear. A second extending portion,
The maximum inner diameter of the first extending portion is larger than the minimum inner diameter of the second extending portion,
The second internal gear has a flexible meshing gear in which the outer diameter of the end opposite to the first internal gear is larger than the outer diameter of the end on the first internal gear side. apparatus. The flexible meshing gear device according to any one of claims 1 to 4 , wherein an inner diameter of the first extending portion is constant over the entire length in the axial direction. The flexible meshing gear device according to any one of claims 1 to 5 , wherein the second extending portion has a portion having the minimum inner diameter within a certain range along the axial direction. The flexible meshing gear device according to any one of claims 1 to 6 , wherein a maximum inner diameter of the first extending portion is equal to a maximum inner diameter of the second extending portion.

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