JP6910904B2 - Flexible meshing gear device - Google Patents

Flexible meshing gear device Download PDF

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Publication number
JP6910904B2
JP6910904B2 JP2017183119A JP2017183119A JP6910904B2 JP 6910904 B2 JP6910904 B2 JP 6910904B2 JP 2017183119 A JP2017183119 A JP 2017183119A JP 2017183119 A JP2017183119 A JP 2017183119A JP 6910904 B2 JP6910904 B2 JP 6910904B2
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metal member
gear device
exciter
oscillating body
outer peripheral
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JP2019060356A (en
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健次 白水
健次 白水
山本　章
章 山本
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to JP2017183119A priority Critical patent/JP6910904B2/en
Priority to CN201810768723.4A priority patent/CN109555819B/en
Priority to DE102018117122.6A priority patent/DE102018117122B4/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/60—Raceways; Race rings divided or split, e.g. comprising two juxtaposed rings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Rolling Contact Bearings (AREA)

Description

本発明は、撓み噛合い式歯車装置に関する。 The present invention relates to a flexible meshing gear device.

従来、起振体と、起振体により撓み変形される外歯歯車と、外歯歯車と噛合う内歯歯車と、起振体と外歯歯車との間に配置される起振体軸受けとを備えた撓み噛合い式歯車装置がある。 Conventionally, a oscillating body, an external gear that is flexed and deformed by the oscillating body, an internal gear that meshes with the external gear, and a oscillating body bearing that is arranged between the oscillating body and the external gear. There is a flexible meshing gear device equipped with.

特許文献１には、ウェーブジェネレータのウェーブプラグを有する波動歯車装置が開示されている。このウェーブプラグは、ウェーブプラグの外周面が形成された金属製の外側中空体と、ウェーブプラグの内周面が形成された金属製の内側中空体と、外側中空体と内側中空体との間に挟まれた中間中空体とを有する。さらに、中間中空体はＣＦＲＰ（Carbon Fiber Reinforced Plastic）層を備え、ウェーブプラグの軽量化が図られている。 Patent Document 1 discloses a strain wave gearing device having a wave plug of a wave generator. This wave plug is formed between a metal outer hollow body on which the outer peripheral surface of the wave plug is formed, a metal inner hollow body on which the inner peripheral surface of the wave plug is formed, and an outer hollow body and an inner hollow body. It has an intermediate hollow body sandwiched between the two. Further, the intermediate hollow body is provided with a CFRP (Carbon Fiber Reinforced Plastic) layer to reduce the weight of the wave plug.

国際公開第２０１５／１５１１４６号International Publication No. 2015/151146

撓み噛合い式歯車装置は、起振体の重量が大きいと、起振体の慣性が増すため、大きな始動トルクが必要となり、また、回転速度を変化させる際に応答性が低下するという課題が生じる。 When the weight of the exciter is large, the deflection mesh gear device requires a large starting torque because the inertia of the exciter increases, and there is a problem that the responsiveness is lowered when the rotation speed is changed. Occurs.

特許文献１の技術は、ウェーブプラグ（起振体に相当）の軽量化を図るものである。しかし、特許文献１のウェーブプラグは、軸方向の一端から他端までを金属部材が占め、十分な軽量化が得られていない。 The technique of Patent Document 1 is intended to reduce the weight of a wave plug (corresponding to a vibration exciter). However, in the wave plug of Patent Document 1, a metal member occupies one end to the other end in the axial direction, and sufficient weight reduction has not been obtained.

本発明は、撓み噛合い式歯車装置の更なる軽量化及び低イナーシャ化を図ることを目的とする。 An object of the present invention is to further reduce the weight and inertia of a flexible meshing gear device.

本発明は、起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛合う内歯歯車と、前記起振体と前記外歯歯車との間に配置される起振体軸受けと、を備えた撓み噛合い式歯車装置であって、
前記起振体の外周面は、前記起振体軸受けの転動体が転走する転走面を構成し、
前記起振体は、樹脂部材と金属部材とを軸方向に連結して構成され、
前記金属部材は、前記転走面に配置され、
さらに、前記起振体は、
前記起振体軸受けの内側に配置され、断面の外周線が非円形の起振体本体と、
前記起振体本体の軸方向両側に設けられ、断面の外周線が円形の軸部と、
を備え、
前記軸部は前記樹脂部材により構成され軸受けにより支持されている構成とした。 The present invention is arranged between the oscillating body, the external gear that is flexed and deformed by the oscillating body, the internal gear that meshes with the external gear, and the oscillating body and the external gear. It is a flexible meshing type gear device equipped with a oscillating body bearing.
The outer peripheral surface of the oscillating body constitutes a rolling surface on which the rolling element of the oscillating body bearing rolls.
The vibrating body is configured by connecting a resin member and a metal member in the axial direction.
Wherein the metal member is disposed in the rolling run surface,
Further, the oscillator is
The exciter body, which is arranged inside the exciter bearing and whose outer peripheral line of the cross section is non-circular,
A shaft portion provided on both sides of the vibrator body in the axial direction and having a circular outer peripheral line in a cross section,
With
The shaft portion is composed of the resin member and is supported by a bearing.

本発明によれば、撓み噛合い式歯車装置の更なる軽量化及び低イナーシャ化を図ることができる。 According to the present invention, it is possible to further reduce the weight and inertia of the flexible meshing gear device.

本発明の実施形態１に係る撓み噛合い式歯車装置を示す断面図（ａ）及びその部分拡大図（ｂ）である。It is sectional drawing (a) and the partial enlarged view (b) which shows the bending mesh type gear apparatus which concerns on Embodiment 1 of this invention. 図１の起振体の詳細を示す説明図である。It is explanatory drawing which shows the detail of the exciter of FIG. 本発明の実施形態２に係る撓み噛合い式歯車装置を示す断面図（ａ）及びその部分拡大図（ｂ）である。It is sectional drawing (a) and the partial enlarged view (b) which shows the bending mesh type gear apparatus which concerns on Embodiment 2 of this invention. 本発明の実施形態３に係る撓み噛合い式歯車装置を示す断面図（ａ）及びその部分拡大図（ｂ）である。It is sectional drawing (a) and the partial enlarged view (b) which shows the bending mesh type gear apparatus which concerns on Embodiment 3 of this invention. 図４の起振体の一例を示す分解斜視図である。It is an exploded perspective view which shows an example of the exciter body of FIG.

以下、本発明の各実施の形態について図面を参照して詳細に説明する。 Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

（実施形態１）
図１は、本発明の実施形態１に係る撓み噛合い式歯車装置を示す断面図（ａ）及びその部分拡大図（ｂ）である。以下、撓み噛合い式歯車装置１の回転軸Ｏ１に沿った方向を軸方向、回転軸Ｏ１に直交する方向を径方向、回転軸Ｏ１を中心とする回転方向を周方向と定義する。 (Embodiment 1)
FIG. 1 is a cross-sectional view (a) and a partially enlarged view (b) of the flexible meshing type gear device according to the first embodiment of the present invention. Hereinafter, the direction along the rotation axis O1 of the flexible meshing gear device 1 is defined as the axial direction, the direction orthogonal to the rotation axis O1 is defined as the radial direction, and the rotation direction centered on the rotation axis O1 is defined as the circumferential direction.

本発明の実施形態１に係る撓み噛合い式歯車装置１は、起振体１０、起振体１０により撓み変形される外歯歯車２１、外歯歯車２１と噛合う２つの内歯歯車２２、２３、及び、起振体１０と外歯歯車２１との間に配置される起振体軸受け３０を備える。また、撓み噛合い式歯車装置１は、第１連結部材４１、第２連結部材４２、ケーシング部材４３、蓋部材４４、４５、主軸受け５１及び軸受け５２、５３を備える。 The flexural meshing gear device 1 according to the first embodiment of the present invention includes a vibrating body 10, an external gear 21 that is flexed and deformed by the vibrating body 10, and two internal gears 22 that mesh with the external gear 21. 23, and a oscillating body bearing 30 arranged between the oscillating body 10 and the external gear 21 are provided. Further, the flexible meshing type gear device 1 includes a first connecting member 41, a second connecting member 42, a casing member 43, lid members 44 and 45, a spindle bearing 51, and bearings 52 and 53.

起振体軸受け３０は、環状の玉軸受けであり、転動体である複数の玉３１と、複数の玉３１の周方向の間隔及び軸方向の位置を保持する図示略の保持器と、外歯歯車２１の内周面と複数の玉３１との間に挟まれる外輪３２とを有する。起振体軸受け３０は、起振体１０の外周面と外歯歯車２１の内周面との間に配置され、起振体１０を外歯歯車２１に対して相対的に回転可能に支持する。複数の玉３１は周方向に列を成し、さらに、この列が軸方向に二列設けられる。なお、外輪３２が省略されて外歯歯車２１の内周面に複数の玉３１が接触する構成としてもよい。 The exciter bearing 30 is an annular ball bearing, and includes a plurality of balls 31 which are rolling elements, a cage (not shown) for holding a circumferential interval and an axial position of the plurality of balls 31, and external teeth. It has an outer ring 32 sandwiched between the inner peripheral surface of the gear 21 and the plurality of balls 31. The oscillating body bearing 30 is arranged between the outer peripheral surface of the oscillating body 10 and the inner peripheral surface of the external gear 21, and supports the oscillating body 10 so as to be rotatable relative to the external gear 21. .. The plurality of balls 31 form a row in the circumferential direction, and two rows of the rows are provided in the axial direction. The outer ring 32 may be omitted, and a plurality of balls 31 may come into contact with the inner peripheral surface of the external gear 21.

起振体１０は、中空軸状であり、回転軸Ｏ１に垂直な断面の外周線が非円形（楕円状など）である起振体本体１３と、起振体本体１３の軸方向の両側に設けられ、回転軸Ｏ１に垂直な断面の外周線が円形である軸部１１、１２とを有する。起振体本体１３は起振体軸受け３０を挟んで外歯歯車２１の内周側に配置され、回転することで、外歯歯車２１を撓み変形させる。起振体１０の外周面は、起振体軸受け３０の内輪を兼ねており、起振体軸受け３０の玉３１が接触して転走する転走面を有する。 The exciter 10 has a hollow shaft shape, and the outer peripheral line of the cross section perpendicular to the rotation axis O1 is non-circular (oval or the like). It has shaft portions 11 and 12 which are provided and have a circular outer peripheral line in a cross section perpendicular to the rotation shaft O1. The exciter body 13 is arranged on the inner peripheral side of the external gear 21 with the exciter bearing 30 interposed therebetween, and rotates to bend and deform the external gear 21. The outer peripheral surface of the oscillating body 10 also serves as an inner ring of the oscillating body bearing 30, and has a rolling surface on which the balls 31 of the oscillating body bearing 30 come into contact with each other to roll.

図２は、図１の起振体の詳細を示す説明図である。図２は起振体１０の各部材を軸方向に分離して示した図である。 FIG. 2 is an explanatory diagram showing details of the exciter of FIG. 1. FIG. 2 is a view showing each member of the exciter 10 separated in the axial direction.

起振体１０は、図２にも示すように、樹脂部材ｊと金属部材ｍとを軸方向に連結して構成される。金属部材ｍは、径方向において起振体１０の外周面から内周面に渡る範囲を占める。樹脂部材ｊも、径方向において起振体１０の外周面から内周面に渡る範囲を占める。また、径方向に見て、金属部材ｍと樹脂部材ｊとは重ならないように設けられる。 As shown in FIG. 2, the vibrating body 10 is configured by connecting the resin member j and the metal member m in the axial direction. The metal member m occupies a range extending from the outer peripheral surface to the inner peripheral surface of the oscillator 10 in the radial direction. The resin member j also occupies a range extending from the outer peripheral surface to the inner peripheral surface of the oscillator 10 in the radial direction. Further, when viewed in the radial direction, the metal member m and the resin member j are provided so as not to overlap each other.

金属部材ｍは、図１（ｂ）に示すように、起振体１０の外周面に形成された玉３１を受けるための溝１５の最小径部に配置され、玉３１と接触する。起振体１０には、二列の玉３１に対応する配置で、二列の溝１５と２つの金属部材ｍとが設けられている。１つの金属部材ｍは、溝１５の幅よりも小さい幅を有する。 As shown in FIG. 1B, the metal member m is arranged in the minimum diameter portion of the groove 15 for receiving the ball 31 formed on the outer peripheral surface of the exciter 10, and comes into contact with the ball 31. The oscillator 10 is provided with two rows of grooves 15 and two metal members m in an arrangement corresponding to the two rows of balls 31. One metal member m has a width smaller than the width of the groove 15.

樹脂部材ｊは、起振体１０における金属部材ｍの配置箇所以外の部分を構成する。すなわち、樹脂部材ｊは、溝１５における最小径部以外の部分と、溝１５以外の部分と、軸部１１、１２の部分とを構成する。樹脂部材ｊとしては、例えばＦＲＰ（Fiber Reinforced Plastic）又はＣＦＲＰ（Carbon Fiber Reinforced Plastic）など、高い剛性を有する樹脂材料を適用できる。 The resin member j constitutes a portion of the exciter 10 other than the location where the metal member m is arranged. That is, the resin member j constitutes a portion of the groove 15 other than the minimum diameter portion, a portion other than the groove 15, and a portion of the shaft portions 11 and 12. As the resin member j, a resin material having high rigidity such as FRP (Fiber Reinforced Plastic) or CFRP (Carbon Fiber Reinforced Plastic) can be applied.

起振体軸受け３０に大きなスラスト荷重が加わらないことが担保されれば、玉３１は溝１５内で金属部材ｍの外周面に接触して荷重を及ぼし、玉３１は樹脂部材ｊに強く接触することがない。それ故、樹脂部材ｊが玉３１の接触で摩耗するといった不都合が生じない。したがって、この金属部材ｍの配置は、起振体軸受け３０が主にラジアル荷重を受け、大きなスラスト荷重が加わらない場合に適している。 If it is ensured that a large thrust load is not applied to the exciter bearing 30, the ball 31 contacts the outer peripheral surface of the metal member m in the groove 15 to apply a load, and the ball 31 strongly contacts the resin member j. Never. Therefore, the inconvenience that the resin member j is worn by the contact with the ball 31 does not occur. Therefore, this arrangement of the metal member m is suitable when the exciter bearing 30 mainly receives a radial load and a large thrust load is not applied.

金属部材ｍと樹脂部材ｊとから構成される起振体１０は、金属と樹脂の一体接合技術を用いて製造できる。一例としては、先ず、環状の金属部材ｍを成形し、金属部材ｍの軸方向側面に樹脂を接合可能にする表面処理（プライマー加工等）を行う。その後、金属部材ｍを型に固定し樹脂部材ｊをインサート成形する。これにより、金属部材ｍと樹脂部材ｊとが強固に接合され、起振体１０を製造できる。 The exciter 10 composed of the metal member m and the resin member j can be manufactured by using the metal-resin integral joining technique. As an example, first, an annular metal member m is molded, and a surface treatment (primer processing or the like) is performed so that a resin can be bonded to the axial side surface of the metal member m. After that, the metal member m is fixed to the mold and the resin member j is insert-molded. As a result, the metal member m and the resin member j are firmly joined to each other, and the oscillator 10 can be manufactured.

或いは、起振体１０は、各樹脂部材ｊと各金属部材ｍとを別々に成形した後、これらを接着剤で接着することで製造することもできる。 Alternatively, the vibrating body 10 can be manufactured by separately molding each resin member j and each metal member m and then adhering them with an adhesive.

その他の構成は、これに制限されないが、以下の通りである。第１連結部材４１は、環状の形態を有し、内周面の一部に一方の内歯歯車２３が設けられている。第２連結部材４２は、環状の形態を有し、内周面の一部に他方の内歯歯車２２が設けられている。内歯歯車２２、２３は、剛性を有し、外歯歯車２１の一部と噛合い、外歯歯車２１の撓み変形により噛合う箇所が変化することで回転運動が伝達される。ケーシング部材４３は、第１連結部材４１に連結されて、第２連結部材４２の外周部を覆う。一方の蓋部材４４は、環状の形態を有し、第１連結部材４１に連結されて、起振体軸受け３０及び外歯歯車２１の軸方向の一方を覆う。また、蓋部材４４は、起振体１０の一方の軸部１２の外周側を覆う。もう一方の蓋部材４５は、環状の形態を有し、第２連結部材４２に連結されて、起振体軸受け３０及び外歯歯車２１の軸方向のもう一方を覆う。また、蓋部材４５は、起振体１０のもう一方の軸部１１の外周側を覆う。主軸受け５１は、ケーシング部材４３と第２連結部材４２との間に配置され、ケーシング部材４３に対して回転可能に第２連結部材４２を支持する。軸受け５２、５３は、蓋部材４４、４５と起振体１０の軸部１１、１２との間にそれぞれ配置され、蓋部材４４、４５に対して回転可能に起振体１０を支持する。第１連結部材４１、第２連結部材４２及び起振体１０は、装置外部のベース部、出力軸及び入力軸がそれぞれ連結される。これらの接続関係は任意である。 Other configurations are as follows, but are not limited to this. The first connecting member 41 has an annular shape, and one internal gear 23 is provided on a part of the inner peripheral surface. The second connecting member 42 has an annular shape, and the other internal gear 22 is provided on a part of the inner peripheral surface. The internal gears 22 and 23 have rigidity and mesh with a part of the external gear 21, and the rotational motion is transmitted by changing the meshing portion due to the bending deformation of the external gear 21. The casing member 43 is connected to the first connecting member 41 and covers the outer peripheral portion of the second connecting member 42. One lid member 44 has an annular shape and is connected to the first connecting member 41 to cover one of the oscillator bearing 30 and the external gear 21 in the axial direction. Further, the lid member 44 covers the outer peripheral side of one shaft portion 12 of the oscillator 10. The other lid member 45 has an annular shape and is connected to the second connecting member 42 to cover the axially opposite side of the exciter bearing 30 and the external gear 21. Further, the lid member 45 covers the outer peripheral side of the other shaft portion 11 of the oscillator 10. The main bearing 51 is arranged between the casing member 43 and the second connecting member 42, and rotatably supports the second connecting member 42 with respect to the casing member 43. The bearings 52 and 53 are arranged between the lid members 44 and 45 and the shaft portions 11 and 12 of the exciter 10, respectively, and rotatably support the exciter 10 with respect to the lid members 44 and 45. The first connecting member 41, the second connecting member 42, and the oscillator 10 are connected to a base portion, an output shaft, and an input shaft outside the apparatus, respectively. These connection relationships are optional.

上記構成の撓み噛合い式歯車装置１においては、典型的には、起振体１０に入力軸が接続され、一方の内歯歯車２２に出力軸が接続され、他方の内歯歯車２３に支持部材が固定される。さらに、一方の内歯歯車２２の歯数と外歯歯車２１の歯数が同数に設定され、他方の内歯歯車２３の歯数と外歯歯車２１の歯数とが異なるように設定される。このような構成により、入力軸の回転駆動により起振体１０が回転すると、起振体軸受け３０を介して起振体１０の運動が外歯歯車２１に伝わる。外歯歯車２１は、固定された内歯歯車２３に一部が噛合っているので、起振体１０の回転に追従するように外歯歯車２１が回転することはなく、外歯歯車２１に対して起振体１０が相対的に回転する運動が得られる。このとき、外歯歯車２１は起振体本体１３の外周面に沿った形状に規制されているため、外歯歯車２１は起振体１０の回転に従って撓み変形する。この変形の周期は、起振体１０の回転周期に比例する。起振体１０の回転により外歯歯車２１が変形すると、起振体本体１３の径が大きい部分が回転方向に移動し、これにより外歯歯車２１と内歯歯車２３との噛合う位置が回転方向に変化する。外歯歯車２１と内歯歯車２３との歯数に違いがあるため、噛合う位置が一周するごとに、外歯歯車２１と内歯歯車２３との噛合う歯がずれていき、これにより外歯歯車２１が回転する。例えば、内歯歯車２３の歯数が１０２で、外歯歯車２１の歯数が１００であれば、起振体１０の回転運動は減速比１００：２で減速されて外歯歯車２１に伝達される。一方、外歯歯車２１は内歯歯車２２とも同様に噛合っているため、起振体１０の回転によって外歯歯車２１と内歯歯車２２との噛合う位置も同様に回転方向に変化する。内歯歯車２２の歯数と外歯歯車２１の歯数とは同数であるので、外歯歯車２１と内歯歯車２２とは相対的に回転せずに、外歯歯車２１の回転運動が減速比１：１で内歯歯車２２へ伝達される。これにより、内歯歯車２２が回転して出力軸から減速された回転運動が出力される。なお、減速比は、外歯歯車２１と内歯歯車２３、２２との歯数の設定により変えることができる。また、入力軸と出力軸とに接続される部材、支持部材へ固定される部材は、上記の例に限られず、起振体１０及び一方と他方の内歯歯車２２、２３の間で任意に変更されてもよい。 In the flexible meshing gear device 1 having the above configuration, typically, an input shaft is connected to the exciter 10, an output shaft is connected to one internal gear 22, and the other internal gear 23 is supported. The member is fixed. Further, the number of teeth of one internal gear 22 and the number of teeth of the external gear 21 are set to be the same, and the number of teeth of the other internal gear 23 and the number of teeth of the external gear 21 are set to be different. .. With such a configuration, when the oscillating body 10 is rotated by the rotational drive of the input shaft, the motion of the oscillating body 10 is transmitted to the external gear 21 via the oscillating body bearing 30. Since the external gear 21 is partially meshed with the fixed internal gear 23, the external gear 21 does not rotate so as to follow the rotation of the exciter 10, and the external gear 21 becomes the external gear 21. On the other hand, a motion in which the exciter 10 rotates relatively can be obtained. At this time, since the external gear 21 is restricted to a shape along the outer peripheral surface of the exciting body 13, the external gear 21 bends and deforms according to the rotation of the exciting body 10. The period of this deformation is proportional to the rotation period of the exciter 10. When the external gear 21 is deformed by the rotation of the exciter 10, the portion of the exciter body 13 having a large diameter moves in the rotation direction, whereby the meshing position between the external gear 21 and the internal gear 23 rotates. Change in direction. Since there is a difference in the number of teeth between the external gear 21 and the internal gear 23, the meshing teeth of the external gear 21 and the internal gear 23 shift each time the meshing position goes around, which causes the external gear 21 and the internal gear 23 to mesh with each other. The tooth gear 21 rotates. For example, if the number of teeth of the internal gear 23 is 102 and the number of teeth of the external gear 21 is 100, the rotational motion of the exciter 10 is decelerated at a reduction ratio of 100: 2 and transmitted to the external gear 21. NS. On the other hand, since the external gear 21 meshes with the internal gear 22 in the same manner, the meshing position between the external gear 21 and the internal gear 22 also changes in the rotational direction due to the rotation of the exciter 10. Since the number of teeth of the internal gear 22 and the number of teeth of the external gear 21 are the same, the rotational movement of the external gear 21 is decelerated without the external gear 21 and the internal gear 22 rotating relatively. It is transmitted to the internal gear 22 at a ratio of 1: 1. As a result, the internal gear 22 rotates and the rotational motion decelerated from the output shaft is output. The reduction ratio can be changed by setting the number of teeth of the external gear 21 and the internal gears 23 and 22. Further, the members connected to the input shaft and the output shaft and the members fixed to the support members are not limited to the above examples, and may be arbitrary between the exciter 10 and the internal gears 22 and 23 of one and the other. May be changed.

以上のように、実施形態１の撓み噛合い式歯車装置１によれば、起振体１０が樹脂部材ｊと金属部材ｍとを軸方向に連結して構成される。そして、起振体１０の軸方向の一端から他端までを金属部材が占めない。また、金属部材ｍは起振体軸受け３０の玉３１の転走面に配置される。したがって、起振体１０の大幅な軽量化を図ることができ、かつ、起振体１０の転走面の耐摩耗性を損なうことがない。特に、軸部１１、１２を有するような軸方向に長い起振体１０において、大幅に軽量化できる。これにより、撓み噛合い式歯車装置１が低イナーシャ化し、始動トルクの軽減及び加減速時の応答性の向上を実現できる。撓み噛合い式歯車装置１が、同じ動作を周期的に繰り返す用途で利用される場合には、加減速時の応答性が向上されることから、周期的な動作のサイクルタイムの短縮を図ることができる。 As described above, according to the flexible meshing type gear device 1 of the first embodiment, the exciting body 10 is configured by connecting the resin member j and the metal member m in the axial direction. Then, the metal member does not occupy from one end to the other end of the oscillator 10 in the axial direction. Further, the metal member m is arranged on the rolling surface of the ball 31 of the exciter bearing 30. Therefore, the weight of the exciter 10 can be significantly reduced, and the wear resistance of the rolling surface of the exciter 10 is not impaired. In particular, in the axially long oscillator 10 having the shaft portions 11 and 12, the weight can be significantly reduced. As a result, the deflection meshing type gear device 1 can be reduced in inertia, and the starting torque can be reduced and the responsiveness at the time of acceleration / deceleration can be improved. When the flexural meshing gear device 1 is used for the purpose of periodically repeating the same operation, the responsiveness at the time of acceleration / deceleration is improved, so that the cycle time of the periodic operation should be shortened. Can be done.

（実施形態２）
図３は、本発明の実施形態２に係る撓み噛合い式歯車装置を示す断面図（ａ）及びその部分拡大図（ｂ）である。 (Embodiment 2)
FIG. 3 is a cross-sectional view (a) and a partially enlarged view (b) of the flexible meshing type gear device according to the second embodiment of the present invention.

実施形態２の撓み噛合い式歯車装置１Ａは、起振体１０Ａを構成する金属部材ｍの配置及び個数を異ならせたもので、その他の構成要素は実施形態１と同様である。実施形態１と同一の構成要素については同一符号を付して詳細な説明を省略する。 In the flexible meshing type gear device 1A of the second embodiment, the arrangement and the number of the metal members m constituting the exciting body 10A are different, and other components are the same as those of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

実施形態２の起振体１０Ａは、樹脂部材ｊ，ｊ１と金属部材ｍとが軸方向に連結されて構成される。金属部材ｍは径方向において起振体１０Ａの外周面から内周面に渡る範囲を占める。樹脂部材ｊ、ｊ１も径方向において起振体１０Ａの外周面から内周面に渡る範囲を占める。また、径方向に見て、金属部材ｍと樹脂部材ｊ、ｊ１とは重ならないように設けられる。 The oscillator 10A of the second embodiment is configured by connecting the resin members j and j1 and the metal member m in the axial direction. The metal member m occupies a range extending from the outer peripheral surface to the inner peripheral surface of the exciter 10A in the radial direction. The resin members j and j1 also occupy a range extending from the outer peripheral surface to the inner peripheral surface of the oscillator 10A in the radial direction. Further, when viewed in the radial direction, the metal member m and the resin members j and j1 are provided so as not to overlap each other.

実施形態２では、溝１５の最小径部には樹脂部材ｊ１が配置される。また、最小径部を占める樹脂部材ｊ１の軸方向の両側に金属部材ｍが配置される。樹脂部材ｊ１の外周面は僅かに小径に形成され、玉３１が接触しないように間隙が設けられる。最小径部を占める樹脂部材ｊ１とその両側の金属部材ｍとを足した幅は溝１５の幅以下にするとよい。 In the second embodiment, the resin member j1 is arranged in the minimum diameter portion of the groove 15. Further, metal members m are arranged on both sides of the resin member j1 occupying the minimum diameter portion in the axial direction. The outer peripheral surface of the resin member j1 is formed to have a slightly smaller diameter, and a gap is provided so that the balls 31 do not come into contact with each other. The total width of the resin member j1 occupying the minimum diameter portion and the metal members m on both sides thereof may be equal to or less than the width of the groove 15.

樹脂部材ｊ、ｊ１と金属部材ｍとの接合は、実施形態１に示した方法により実現できる。 The joining of the resin members j and j1 and the metal member m can be realized by the method shown in the first embodiment.

このような起振体１０Ａによれば、起振体１０Ａが回転し、起振体軸受け３０の玉３１が転走する際、溝１５の軸方向両側から金属部材ｍが玉３１に接触して荷重を受け、溝１５内の樹脂部材ｊは玉３１に接触しない、或いは、強く接触しない。 According to such a oscillating body 10A, when the oscillating body 10A rotates and the ball 31 of the oscillating body bearing 30 rolls, the metal member m comes into contact with the ball 31 from both sides in the axial direction of the groove 15. Under the load, the resin member j in the groove 15 does not come into contact with the ball 31 or does not come into contact with the ball 31 strongly.

以上のように、実施形態２の撓み噛合い式歯車装置１Ａによれば、起振体１０Ａが樹脂部材ｊ、ｊ１と金属部材ｍとを軸方向に連結して構成される。そして、起振体１０の軸方向の一端から他端までを金属部材が占めない。また、金属部材ｍは起振体軸受け３０の玉３１の転走面に配置される。したがって、起振体１０の大幅な軽量化を図ることができ、かつ、起振体１０の転走面の耐摩耗性を損なうことがない。これにより、撓み噛合い式歯車装置１Ａが低イナーシャ化し、始動トルクを軽減し、また、加減速時の応答性を向上できる。 As described above, according to the flexible meshing type gear device 1A of the second embodiment, the exciting body 10A is configured by connecting the resin members j and j1 and the metal member m in the axial direction. Then, the metal member does not occupy from one end to the other end of the oscillator 10 in the axial direction. Further, the metal member m is arranged on the rolling surface of the ball 31 of the exciter bearing 30. Therefore, the weight of the exciter 10 can be significantly reduced, and the wear resistance of the rolling surface of the exciter 10 is not impaired. As a result, the deflection meshing type gear device 1A can have low inertia, reduce the starting torque, and improve the responsiveness at the time of acceleration / deceleration.

さらに、実施形態２の撓み噛合い式歯車装置１Ａによれば、溝１５において２つの金属部材ｍが軸方向両側から玉３１に接触して荷重を受ける。したがって、起振体軸受け３０にラジアル荷重及びスラスト荷重が加わる場合にも、高い耐摩耗性を維持することができる。 Further, according to the flexible meshing gear device 1A of the second embodiment, the two metal members m in the groove 15 come into contact with the balls 31 from both sides in the axial direction to receive a load. Therefore, high wear resistance can be maintained even when a radial load and a thrust load are applied to the vibrating body bearing 30.

（実施形態３）
図４は、本発明の実施形態３に係る撓み噛合い式歯車措置を示す断面図（ａ）及びその部分拡大図（ｂ）である。 (Embodiment 3)
FIG. 4 is a cross-sectional view (a) and a partially enlarged view (b) thereof showing a flexure meshing gear measure according to a third embodiment of the present invention.

実施形態３の撓み噛合い式歯車装置１Ｂは、起振体軸受け３０Ｂの転動体としてコロ３１Ｂを採用し、起振体１０Ｂの金属部材ｍ１をこれに対応させたものであり、その他の構成要素については実施形態１と同様である。同様の構成要素については、実施形態１と同一符号を付して詳細な説明を省略する。 The flexible meshing gear device 1B of the third embodiment employs a roller 31B as a rolling element of the oscillating body bearing 30B, and corresponds to the metal member m1 of the oscillating body 10B, and other components. Is the same as in the first embodiment. Similar components are designated by the same reference numerals as those in the first embodiment, and detailed description thereof will be omitted.

実施形態３の起振体軸受け３０Ｂは、環状のコロ軸受けであり、転動体である複数のコロ３１Ｂと、複数のコロ３１Ｂに対して周方向の間隔及び軸方向の位置を保持する図示略の保持体と、外輪３２Ｂとを有する。複数のコロ３１Ｂは周方向に列を成し、さらに、この列が軸方向に二列設けられる。コロ３１Ｂは、起振体１０Ｂの外周面に接触して転走する。 The exciter bearing 30B of the third embodiment is an annular roller bearing, and is not shown. It has a holding body and an outer ring 32B. The plurality of rollers 31B form a row in the circumferential direction, and two rows of the rows are provided in the axial direction. The roller 31B comes into contact with the outer peripheral surface of the exciter 10B and rolls.

実施形態３の起振体１０Ｂは、樹脂部材ｊ、ｊ２と金属部材ｍ１とが軸方向に連結されて構成される。金属部材ｍ１は径方向において起振体１０Ｂの外周面から内周面に渡る範囲を占める。樹脂部材ｊ、ｊ２も径方向において起振体１０Ｂの外周面から内周面に渡る範囲を占める。また、径方向に見て、金属部材ｍ１と樹脂部材ｊ、ｊ２とは重ならないように設けられる。 The oscillator 10B of the third embodiment is configured by connecting the resin members j and j2 and the metal member m1 in the axial direction. The metal member m1 occupies a range extending from the outer peripheral surface to the inner peripheral surface of the exciter 10B in the radial direction. The resin members j and j2 also occupy a range extending from the outer peripheral surface to the inner peripheral surface of the exciter 10B in the radial direction. Further, when viewed in the radial direction, the metal member m1 and the resin members j and j2 are provided so as not to overlap each other.

図４（ｂ）に示すように、金属部材ｍ１の軸方向の幅寸Ｌ１は、コロ３１Ｂの接触面の幅寸Ｌ２（コロ３１Ｂが転走面に接触する部分における軸方向の幅寸を意味する）よりも大きい。具体的には、幅寸Ｌ１は、コロ３１Ｂの接触面の幅寸Ｌ２に、コロ３１Ｂがクリアランスにより軸方向に動ける長さを加えた長さ以上、かつ、この長さとほぼ同等に設定するとよい。金属部材ｍ１は、コロ３１Ｂの接触面の軸方向の全域と重なるように配置される。二列のコロ３１Ｂに対応して、２つの金属部材ｍ１が設けられる。なお、金属部材ｍ１の幅寸Ｌ１は、コロ３１Ｂの軸方向長さよりも大きくしてもよい。 As shown in FIG. 4B, the axial width dimension L1 of the metal member m1 means the axial width dimension L2 of the contact surface of the roller 31B (the axial width dimension at the portion where the roller 31B contacts the rolling surface). Is larger than Specifically, the width dimension L1 may be set to be equal to or greater than the length obtained by adding the length that the roller 31B can move in the axial direction due to the clearance to the width dimension L2 of the contact surface of the roller 31B, and is substantially equal to this length. .. The metal member m1 is arranged so as to overlap the entire axial direction of the contact surface of the roller 31B. Two metal members m1 are provided corresponding to the two rows of rollers 31B. The width dimension L1 of the metal member m1 may be larger than the axial length of the roller 31B.

図５は、図４の起振体の一例を示す分解斜視図である。 FIG. 5 is an exploded perspective view showing an example of the exciter of FIG. 4.

樹脂部材ｊ、ｊ２と金属部材ｍ１との接合は、実施形態１に示した方法により実現できる。或いは、起振体１０Ｂは、図５に示すような部材同士の嵌合により、樹脂部材ｊ、ｊ２と金属部材ｍ１とを接合することもできる。図５の例では、金属部材ｍ１、ｍ１の軸方向の側部、及び、樹脂部材ｊ、ｊ２の軸方向の側部に、軸方向に延びる複数の嵌合孔ｄを設ける一方、これらの嵌合孔ｄにそれぞれ嵌合する複数の棒材ｆを用意する。棒材ｆは、軽量化の点から樹脂により構成するとよいが、これに限られない。そして、金属部材ｍ１、ｍ１及び樹脂部材ｊ、ｊ２を通すように、複数の嵌合孔ｄに複数の棒材ｆを嵌合させることで、金属部材ｍ１、ｍ１と樹脂部材ｊ、ｊ２とを接合することができる。また、このような嵌合構造と接着剤による接合とを併合してもよい。このような嵌合構造により強固な接合を容易な製造工程で達成できる。 The joining of the resin members j and j2 and the metal member m1 can be realized by the method shown in the first embodiment. Alternatively, the vibrating body 10B can join the resin members j and j2 and the metal member m1 by fitting the members as shown in FIG. In the example of FIG. 5, a plurality of fitting holes d extending in the axial direction are provided on the axial side portions of the metal members m1 and m1 and the axial side portions of the resin members j and j2, while fitting these. A plurality of rods f to be fitted to each of the holes d are prepared. The bar material f may be made of resin from the viewpoint of weight reduction, but the rod material f is not limited to this. Then, by fitting the plurality of rods f into the plurality of fitting holes d so as to pass the metal members m1 and m1 and the resin members j and j2, the metal members m1 and m1 and the resin members j and j2 are made to fit. Can be joined. Further, such a fitting structure and the joining by an adhesive may be merged. With such a fitting structure, strong bonding can be achieved in an easy manufacturing process.

このような起振体１０Ｂによれば、起振体１０Ｂが回転し、起振体軸受け３０Ｂのコロ３１Ｂが転走する際、金属部材ｍ１がコロ３１Ｂに接触して荷重を受け、樹脂部材ｊ、ｊ２はコロ３１Ｂに接触しない。 According to such a oscillating body 10B, when the oscillating body 10B rotates and the roller 31B of the oscillating body bearing 30B rolls, the metal member m1 comes into contact with the roller 31B and receives a load, and the resin member j , J2 does not come into contact with the roller 31B.

以上のように、実施形態３の撓み噛合い式歯車装置１Ｂによれば、起振体１０Ｂが樹脂部材ｊ、ｊ２と金属部材ｍ１とを軸方向に連結して構成され、起振体１０の軸方向の一端から他端までを金属部材が占めない。また、金属部材ｍ１は起振体軸受け３０Ｂのコロ３１Ｂの転動面に配置される。したがって、起振体１０Ｂの大幅な軽量化を図ることができ、かつ、起振体１０Ｂの転動面の耐摩耗性を損なうことがない。これにより、撓み噛合い式歯車装置１Ｂが低イナーシャ化し、始動トルクの軽減及び加減速時の応答性の向上を実現できる。 As described above, according to the flexible meshing gear device 1B of the third embodiment, the exciter 10B is configured by connecting the resin members j and j2 and the metal member m1 in the axial direction, and the exciter 10 The metal member does not occupy from one end to the other end in the axial direction. Further, the metal member m1 is arranged on the rolling surface of the roller 31B of the exciter bearing 30B. Therefore, the weight of the exciter 10B can be significantly reduced, and the wear resistance of the rolling surface of the exciter 10B is not impaired. As a result, the deflection meshing type gear device 1B can be reduced in inertia, and the starting torque can be reduced and the responsiveness during acceleration / deceleration can be improved.

さらに、実施形態３の撓み噛合い式歯車装置１Ｂによれば、コロ３１Ｂの外周面のうち軸方向の全域と重なるように金属部材ｍ１が配置され、コロ３１Ｂから荷重を受ける。したがって、起振体軸受け３０に非常に大きなラジアル荷重が加わる場合にも、円滑な起振体１０Ｂの回転を実現でき、さらに、起振体１０Ｂの転動面において高い耐摩耗性を維持することができる。 Further, according to the flexible meshing gear device 1B of the third embodiment, the metal member m1 is arranged so as to overlap the entire axial direction of the outer peripheral surface of the roller 31B, and receives a load from the roller 31B. Therefore, even when a very large radial load is applied to the oscillating body bearing 30, smooth rotation of the oscillating body 10B can be realized, and high wear resistance is maintained on the rolling surface of the oscillating body 10B. Can be done.

以上、本発明の実施形態について説明した。しかし、本発明は上記の実施形態に限られない。例えば、上記実施形態では、軸部１１、１２と起振体本体１３とを有する起振体１０を例にとって説明したが、起振体は軸部１１、１２を有さない構成であってもよい。また、上記実施形態では、二列の転動体を有する起振体軸受けを例にとって説明したが、転動体は一列の構成でもよいし、三列以上の構成であってもよい。また、上記実施形態では、フラット型の撓み噛合い式歯車装置を例にとって説明したが、本発明の撓み噛合い式歯車装置は、例えばカップ型、シルクハット型など、様々な形式の撓み噛合い式歯車装置に適用可能である。また、起振体の樹脂部材と金属部材との接合は、突起とこれと嵌合する溝とを対向する一対の接合面に設けて両者を接合するインロー構造により実現してもよい。この場合、径方向から見たときに、樹脂部材と金属部材の一部同士が重なるが、樹脂部材と金属部材とのうち一方の軸方向の全範囲が他方に重なることはない。その他、実施の形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 The embodiment of the present invention has been described above. However, the present invention is not limited to the above embodiment. For example, in the above embodiment, the oscillating body 10 having the shaft portions 11 and 12 and the oscillating body main body 13 has been described as an example, but the oscillating body may have a configuration that does not have the shaft portions 11 and 12. good. Further, in the above embodiment, the exciter bearing having two rows of rolling elements has been described as an example, but the rolling elements may have a one-row configuration or a three-row or more configuration. Further, in the above embodiment, the flat type flexible meshing gear device has been described as an example, but the flexible meshing gear device of the present invention has various types of flexible meshing such as a cup type and a top hat type. Applicable to type gear devices. Further, the joining of the resin member and the metal member of the exciter may be realized by an inlay structure in which a protrusion and a groove fitted with the protrusion are provided on a pair of facing joining surfaces to join the two. In this case, when viewed from the radial direction, a part of the resin member and the metal member overlap each other, but the entire axial range of the resin member and the metal member does not overlap the other. In addition, the details shown in the embodiments can be appropriately changed without departing from the spirit of the invention.

１、１Ａ、１Ｂ 撓み噛合い式歯車装置
１０、１０Ａ、１０Ｂ 起振体
１１、１２ 軸部
１３ 起振体本体
１５ 溝
２１ 外歯歯車
２２、２３ 内歯歯車
３０、３０Ｂ 起振体軸受け
３１ 玉（転動体）
３１Ｂ コロ（転動体）
５２、５３ 軸受け
ｊ、ｊ１、ｊ２ 樹脂部材
ｍ、ｍ１ 金属部材
ｆ 棒材
ｄ 嵌合孔 1, 1A, 1B Flexible meshing gear device 10, 10A, 10B Exciting body 11, 12 Shaft 13 Exciting body body 15 Groove 21 External gear 22, 23 Internal gear 30, 30B Exciting body bearing 31 balls (Rolling body)
31B roller (rolling body)
52, 53 Bearing j, j1, j2 Resin member m, m1 Metal member f Bar member d Fitting hole

Claims (6)

起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛合う内歯歯車と、前記起振体と前記外歯歯車との間に配置される起振体軸受けと、を備えた撓み噛合い式歯車装置であって、
前記起振体の外周面は、前記起振体軸受けの転動体が転走する転走面を構成し、
前記起振体は、樹脂部材と金属部材とを軸方向に連結して構成され、
前記金属部材は、前記転走面に配置され、
さらに、前記起振体は、
前記起振体軸受けの内側に配置され、断面の外周線が非円形の起振体本体と、
前記起振体本体の軸方向両側に設けられ、断面の外周線が円形の軸部と、
を備え、
前記軸部は前記樹脂部材により構成され軸受けにより支持される、
撓み噛合い式歯車装置。 A oscillating body, an external gear that is flexed and deformed by the oscillating body, an internal gear that meshes with the external gear, and a oscillating body that is arranged between the oscillating body and the external gear. A flexible meshing gear device equipped with a bearing.
The outer peripheral surface of the oscillating body constitutes a rolling surface on which the rolling element of the oscillating body bearing rolls.
The vibrating body is configured by connecting a resin member and a metal member in the axial direction.
Wherein the metal member is disposed in the rolling run surface,
Further, the oscillator is
The exciter body, which is arranged inside the exciter bearing and whose outer peripheral line of the cross section is non-circular,
A shaft portion provided on both sides of the vibrator body in the axial direction and having a circular outer peripheral line in a cross section,
With
The shaft portion is composed of the resin member and is supported by a bearing.
Flexible meshing gear device. 前記金属部材は、前記起振体の内周面から外周面に渡る範囲に設けられる、
請求項１記載の撓み噛合い式歯車装置。 The metal member is provided in a range extending from the inner peripheral surface to the outer peripheral surface of the oscillator.
The flexible meshing gear device according to claim 1. 前記転動体は玉であり、
前記金属部材は、前記玉が嵌る溝の最小径部に配置されている、
請求項１又は請求項２記載の撓み噛合い式歯車装置。 The rolling element is a ball
The metal member is arranged in the minimum diameter portion of the groove into which the ball fits.
The flexible meshing gear device according to claim 1 or 2. 前記転動体は玉であり、
前記金属部材は、前記玉が嵌る溝の最小径部に配置された樹脂部材の両側に配置され、
前記最小径部に配置された樹脂部材は前記玉に接触しない径を有する、
請求項１又は請求項２記載の撓み噛合い式歯車装置。 The rolling element is a ball
The metal member is arranged on both sides of the resin member arranged in the minimum diameter portion of the groove into which the ball fits.
The resin member disposed on the outermost diameter portion has a diameter that does not contact the ball,
The flexible meshing gear device according to claim 1 or 2. 前記転動体はコロであり、前記金属部材の外周面の前記軸方向における長さは前記コロの接触面の前記軸方向における長さより大きい、
請求項１又は請求項２記載の撓み噛合い式歯車装置。 The rolling element is a roller, and the length of the outer peripheral surface of the metal member in the axial direction is larger than the length of the contact surface of the roller in the axial direction.
The flexible meshing gear device according to claim 1 or 2. 前記樹脂部材と前記金属部材とは嵌合孔を有し、
前記樹脂部材の前記嵌合孔と前記金属部材の前記嵌合孔とに棒材が嵌合して前記樹脂部材と前記金属部材とが連結している、
請求項１から請求項５のいずれか一項に記載の撓み噛合い式歯車装置。 The resin member and the metal member have a fitting hole and have a fitting hole.
A rod member is fitted into the fitting hole of the resin member and the fitting hole of the metal member, and the resin member and the metal member are connected to each other.
The flexible meshing gear device according to any one of claims 1 to 5.
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