JP7145616B2 - flexural mesh gearbox - Google Patents

Description

The present invention relates to a flexural mesh gear system.

A flexure mesh type gear device is known as a gear device that is compact and lightweight and can provide a high reduction ratio. Conventionally, a vibrating body, an external gear that is flexurally deformed by the vibrating body, a first internal gear that meshes with the external gear, and the first internal gear and the external gear are arranged side by side in the axial direction. A second internal gear that meshes with each other, a first internal gear that rotates integrally with the first internal gear, a second internal gear that rotates integrally with the second internal gear, and a first internal gear. and a main bearing arranged between the second internal tooth member and a flexural mesh gear device has been proposed (for example, Patent Document 1).

JP 2011-112214 A

Since the state of motion (load, speed, etc.) differs between the main bearing and the meshing portion of the gear, the lubricating agent suitable for each of them also differs. In order to prolong the life of the flexural meshing gear device, it is conceivable to fill the arrangement space where the main bearing is arranged and the meshing space where the meshing portion exists with lubricants suitable for each. Since the meshing space and the meshing space are spatially connected, the lubricant can freely move between them in the conventional flexible meshing gear device. As a result, the lubricant is mixed, and the expected effect of the lubricant cannot be exhibited, and the life of the flexural meshing type gear device cannot be extended.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide a technique for extending the life of a flexural mesh gear device.

In order to solve the above-described problems, a flexural mesh gear device according to one aspect of the present invention includes a vibrating body, an external gear that is flexurally deformed by the vibrating body, and a first internal gear that meshes with the external gear. , a second internal gear that is arranged in line with the first internal gear in the axial direction and meshes with the external gear, a first internal tooth member that rotates integrally with the first internal gear, and a second internal tooth A flexural mesh gear device comprising: a second internal tooth member that rotates integrally with a gear; and a main bearing disposed between the first internal tooth member and the second internal tooth member, the main bearing is placed and the meshing space where the meshing portions of the first internal gear and the second internal gear are present, different lubricants are enclosed, and the placement space and the meshing space are communicated A movement suppressing portion that suppresses movement of the lubricant is provided in the middle of the communicating path.

Arbitrary combinations of the above constituent elements, and mutual substitution of the constituent elements and expressions of the present invention in methods, devices, systems, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to extend the life of a bending mesh type gear device.

1 is a cross-sectional view showing a flexural mesh gear device according to an embodiment; FIG. 2 is an enlarged cross-sectional view showing the meshing portion of FIG. 1, a main bearing 16, and their surroundings. FIG. It is an expanded sectional view which shows the communicating path and its periphery which concern on a modification. It is an expanded sectional view which shows the communicating path and its periphery which concern on a modification. It is an expanded sectional view which shows the communicating path and its periphery which concern on a modification.

Hereinafter, the same or equivalent constituent elements, members, and steps shown in each drawing are denoted by the same reference numerals, and redundant description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in each drawing, some of the members that are not important for explaining the embodiments are omitted.

FIG. 1 is a cross-sectional view showing a flexural mesh gear device 100 according to an embodiment. The bending mesh type gear device 100 decelerates and outputs the input rotation. The flexural mesh gear device 100 is a so-called flat type flexural mesh gear device, and includes a wave generator 2 , an external gear 4 that is flexurally deformed by the wave generator 2 , and a second gear that meshes with the external gear 4 . 1 internal gear 6, a first internal gear member 7 rotating integrally with the first internal gear 6, arranged side by side (adjacent) to the first internal gear 6 in the axial direction, and external gear 4 a second internal gear 8 that meshes with the second internal gear 8, a second internal gear 9 that rotates integrally with the second internal gear 8, a first regulating member 12, a second regulating member 14, and a first internal gear 7 and the second internal tooth member 9, a first bearing housing 18 and a second bearing housing 20. Lubricant (for example, grease) is enclosed in the meshing gear device 100, and meshing portions between the external gear 4 and the first internal gear 6 and the second internal gear 8 (hereinafter simply referred to as "meshing It lubricates each bearing, etc.

The wave generator 2 includes a vibration generator shaft 22, a first vibration generator bearing 21a disposed between the vibration generator shaft 22 and the external gear 4 (the first external tooth portion 4a thereof), and a vibration generator. and a second vibration generator bearing 21b arranged between the body axis 22 and the external gear 4 (the second external tooth portion 4b thereof). The first vibration generator bearing 21a includes a plurality of first rolling elements 24a, a first retainer 26a that holds the plurality of first rolling elements 24a, and a first outer ring member 28a that is internally fitted to the external gear 4. ,including. The second vibration generator bearing 21b includes a plurality of second rolling elements 24b, a second retainer 26b that holds the plurality of second rolling elements 24b, and a second outer ring member 28b that is internally fitted into the external gear 4. including. The vibrating body shaft 22 is an input shaft, is connected to a rotational drive source such as a motor, and rotates around the rotation axis R. As shown in FIG. The vibration generator shaft 22 is integrally formed with a vibration generator 22a having a substantially elliptical cross section perpendicular to the rotation axis R. As shown in FIG.

Each of the plurality of first rolling elements 24a has a substantially columnar shape, and is provided at intervals in the circumferential direction with the axial direction facing in a direction substantially parallel to the direction of the rotation axis R. The first rolling element 24a is rollably held by a first retainer 26a and rolls on the outer peripheral surface 22b of the vibrating body 22a. In other words, the inner ring of the first vibrating body bearing 21a is formed integrally with the outer peripheral surface 22b of the vibrating body 22a, but is not limited to this. may The second rolling element 24b is configured similarly to the first rolling element 24a. The plurality of second rolling elements 24b are rotatably held by a second retainer 26b arranged so as to be axially aligned with the first retainer 26a, and roll on the outer peripheral surface 22b of the vibrating body 22a. In other words, the inner ring of the second vibrating body bearing 21b is formed integrally with the outer peripheral surface 22b of the vibrating body 22a, but is not limited to this. may Henceforth, the 1st rolling element 24a and the 2nd rolling element 24b are also collectively called "rolling element 24." Also, the first retainer 26a and the second retainer 26b are collectively referred to as the "retainer 26".

The first outer ring member 28a surrounds the plurality of first rolling elements 24a. The first outer ring member 28a is flexible and elliptically bent by the vibrating body 22a via the plurality of first rolling elements 24a. When the vibrating body 22a (ie, vibrating body shaft 22) rotates, the first outer ring member 28a is continuously flexurally deformed according to the shape of the vibrating body 22a. The second outer ring member 28b is configured similarly to the first outer ring member 28a. The second outer ring member 28b is formed separately from the first outer ring member 28a. The second outer ring member 28b may be formed integrally with the first outer ring member 28a. Henceforth, the 1st outer ring member 28a and the 2nd outer ring member 28b are also collectively called "outer ring member 28."

The external gear 4 is an annular member having flexibility, and the vibrating body 22a, the rolling elements 24 and the outer ring member 28 are fitted inside thereof. The external gear 4 is bent in an elliptical shape by fitting the vibration generator 22a, the rolling elements 24, and the outer ring member 28 therein. When the vibrating body 22a rotates, the external gear 4 is continuously flexurally deformed according to the shape of the vibrating body 22a. The external gear 4 includes a first external tooth portion 4a positioned outside the first outer ring member 28a, a second external tooth portion 4b positioned outside the second outer ring member 28b, and a base material 4c. The first external tooth portion 4a and the second external tooth portion 4b are formed on the base material 4c, which is a single base material, and have the same number of teeth.

The first internal gear 6 is an annular member having rigidity, and a first internal tooth portion 6a is formed on the inner periphery thereof. The first internal tooth portion 6a surrounds the first external tooth portion 4a of the external gear 4 bent in an elliptical shape, and the first external tooth portion 6a surrounds the first external tooth portion 4a in a predetermined region (two regions) near the major axis of the vibrating body 22a. It meshes with the tooth portion 4a. The first internal toothing 6a has more teeth than the first external toothing 4a.

The second internal gear 8 is arranged axially side by side (adjacent to) the first internal gear 6 . The second internal gear 8 is a rigid cylindrical member, and a second internal tooth portion 8a is formed on the inner periphery thereof. The second internal toothed portion 8a surrounds the second externally toothed portion 4b of the externally toothed gear 4 bent in an elliptical shape, and the second external toothed portion 8a surrounds the second externally toothed portion 4b in a predetermined region (two regions) in the longitudinal direction of the vibrating body 22a. It meshes with the tooth portion 4b. The second internal toothing 8a has the same number of teeth as the second external toothing 4b. Therefore, the second internal gear 8 rotates in synchronization with the rotation of the second external gear 4b and thus the external gear 4. As shown in FIG.

The first restricting member 12 is a flat ring-shaped member and is arranged between the external gear 4 , the first outer ring member 28 a and the first retainer 26 a and the first bearing housing 18 . The second restricting member 14 is a flat ring-shaped member and is arranged between the external gear 4 , the second outer ring member 28 b and the second retainer 26 b and the second bearing housing 20 . The first restricting member 12 and the second restricting member 14 restrict axial movement of the external gear 4 , the outer ring member 28 and the retainer 26 .

The first internal tooth member 7 includes a body portion 52 and an extension portion 54 . The body portion 52 is an annular member, and the first internal gear 6 is provided on the inner peripheral side thereof. In this embodiment, the first internal gear 6 and the body portion 52 are integrally formed of a single member. Therefore, the body portion 52 and the first internal tooth member 7 rotate integrally with the first internal gear 6 . Note that the first internal gear 6 and the body portion 52 may be formed separately and then joined together.

The extension 54 is a substantially cylindrical member. The body portion 52 is spigot-fitted to the extension portion 54 and integrated with the bolt (not shown). The extension portion 54 extends from the body portion 52 to the radially outer side of the second internal gear 8 and surrounds the second internal gear 8 and the second internal tooth member 9 . Note that the body portion 52 and the extension portion 54 may be integrally formed from a single member.

The second internal toothed member 9 is arranged axially adjacent to the body portion 52 of the first internal toothed member 7 . The second internal tooth member 9 is a tubular member, and the second internal gear 8 is provided on the inner peripheral side thereof. In this embodiment, the second internal gear 8 and the second internal tooth member 9 are integrally formed of a single member. Therefore, the second internal gear member 9 rotates integrally with the second internal gear 8 . Note that the second internal gear 8 and the second internal tooth member 9 may be formed separately and then joined together.

The main bearing 16 is arranged between the extension 54 and the second internal tooth member 9 so that its axial direction coincides with the rotation axis R. As shown in FIG. The main bearing 16 is a cross roller bearing in this embodiment, and has an inner ring side rolling surface 56 integrally formed with the second internal tooth member 9 on the outer periphery of the second internal tooth member 9 and an extension portion 54. An outer ring raceway surface 58 formed integrally with the extension 54 on the inner circumference, and a plurality of rollers provided circumferentially spaced apart between the inner ring raceway surface 56 and the outer ring raceway surface 58. (rolling element) 46; A plurality of rollers 46 roll on the inner ring side raceway surface 56 and the outer ring side raceway surface 58 . The extension 54 and thus the first internal tooth member 7 support the second internal tooth member 9 through the main bearing 16 so as to be relatively rotatable. The type of the main bearing 16 is not particularly limited, and may be, for example, a four-point contact ball bearing.

The first bearing housing 18 is an annular member and surrounds the vibration generator shaft 22 . Similarly, the second bearing housing 20 is an annular member surrounding the vibration generator shaft 22 . The first bearing housing 18 and the second bearing housing 20 are arranged so as to sandwich the external gear 4, the rolling elements 24, the retainer 26, the outer ring member 28, the first restricting member 12 and the second restricting member 14 in the axial direction. be. The first bearing housing 18 is spigot-fitted to the body portion 52 of the first internal toothed member 7 and bolted. The second bearing housing 20 is spigot-fitted and bolted to the second internal toothed member 9 . A bearing 30 is incorporated in the inner circumference of the first bearing housing 18 . A bearing 32 is incorporated in the inner circumference of the second bearing housing 20 . The first bearing housing 18 and the second bearing housing 20 rotatably support the vibration generator shaft 22 via bearings 30 and 32 .

An oil seal 40 is arranged between the vibration generator shaft 22 and the first bearing housing 18, an O-ring 34 is arranged between the first bearing housing 18 and the body portion 52 of the first internal tooth member 7, An O-ring 36 is arranged between the body portion 52 and the extension portion 54 of the first internal toothed member 7, and an oil seal is arranged between the extension portion 54 of the first internal toothed member 7 and the second internal toothed member 9. 42 is arranged, an O-ring 38 is arranged between the second internal tooth member 9 and the second bearing housing 20, and an oil seal 44 is arranged between the second bearing housing 20 and the vibration generator shaft 22. be done. As a result, it is possible to prevent the leakage of the lubricant in the flexural meshing gear device 100 .

FIG. 2 is an enlarged cross-sectional view showing the main bearing 16, the meshing portion, and the periphery thereof.
In this embodiment, an arrangement space 60 in which the main bearing 16 is arranged and a meshing space 62 in which the meshing portion exists are filled with suitable lubricants, that is, lubricants different from each other.

The arrangement space 60 and the meshing space 62 are communicated with each other by a communication passage 70 . The communication path 70 is defined by the gap between the first internal toothed member 7 and the second internal toothed member 9, and is defined by the radial gap (especially in the axial direction of the main bearing) between the first internal toothed member 7 and the second internal toothed member 9. 16), and an axial clearance 74 between the first internal toothed member 7 and the second internal toothed member 9.

As described above, the body portion 52 is spigot-fitted to the extension portion 54 . Specifically, the body portion 52 has a spigot portion 52 a that is an annular protruding portion protruding toward the second internal tooth member 9 in the axial direction, and the spigot portion 52 a is formed on the inner circumference of the extension portion 54 . Mate. In particular, the spigot portion 52 a extends radially outward of the second internal toothed member 9 .

The radial gap 72 includes a first radial gap portion 72a and a second radial gap portion 72b. The first radial clearance portion 72a is a radial clearance portion between the extension portion 54 and the second internal tooth member 9, that is, a radial clearance portion located on the main bearing 16 side in the axial direction. The second radial clearance portion 72b is a radial clearance portion between the spigot portion 52a and the second internal tooth member 9, that is, a radial clearance portion located on the first internal gear 6 side in the axial direction.

The distance (radial dimension) between the inner peripheral surface 52b of the spigot portion 52a and the outer peripheral surface 9a of the second internal toothed member 9 is the distance between the inner peripheral surface 54a of the extension portion 54 and the outer peripheral surface 9a of the second internal toothed member 9. Less than the distance (radial dimension). The distance between the inner peripheral surface 52b of the spigot portion 52a and the outer peripheral surface 9a of the second internal toothed member 9 is the distance between the end surface 52c of the main body portion 52 and the end surface 9b of the second internal toothed member 9, which face each other in the axial direction. shorter than That is, the inner peripheral surface 52b of the spigot portion 52a is closer to the surface of the second internal tooth member 9 than the surface of the other portion of the first internal tooth member 7 is. Therefore, the second radial clearance portion 72b is smaller than the first radial clearance portion 72a and the axial clearance 74. As shown in FIG. Therefore, it is difficult for the lubricant to pass through the second radial gap portion 72b, and movement of the lubricant between the arrangement space 60 and the meshing space 62 is suppressed. That is, the second radial gap portion 72b functions as a movement suppressing portion that suppresses movement of the lubricant. The inner peripheral surface 52b of the spigot portion 52a that defines the outer periphery of the second radial gap portion 72b is closer to the surface of the second internal tooth member 9 than the surface of the other portion of the first internal tooth member 7. The inner peripheral surface 52b of the spigot portion 52a may be regarded as the movement suppressing portion.

The operation of the flexural mesh gear device 100 configured as described above will be described. Here, the number of teeth of the first external tooth portion 4a is 100, the number of teeth of the second external tooth portion 4b is 100, the number of teeth of the first internal tooth portion 6a is 102, and the number of teeth of the second internal tooth portion 8a is 100. A case will be described as an example. Also, a case where the second internal gear 8 and the second bearing housing 20 are connected to the driven member will be described as an example.

When the vibrating body shaft 22 rotates in a state where the first external toothed portion 4a is meshed with the first internal toothed portion 6a at two points in the long axis direction of the elliptical shape, the first external toothed portion 4a and the first external toothed portion 4a are rotated. The meshing position with the first internal tooth portion 6a also moves in the circumferential direction. Since the first external toothed portion 4a and the first internal toothed portion 6a have different numbers of teeth, at this time, the first external toothed portion 4a rotates relative to the first internal toothed portion 6a. Since the first internal gear 6 and the first bearing housing 18 are in a fixed state, the first external toothed portion 4a rotates by an amount corresponding to the difference in the number of teeth. In other words, the rotation of the vibration generator shaft 22 is significantly decelerated and output to the first external toothed portion 4a. The reduction ratio is as follows.
Reduction ratio=(number of teeth of first external tooth 4a-number of teeth of first internal tooth 6a)/number of teeth of first external tooth 4a=(100-102)/100
=-1/50

Since the second external toothed portion 4b is integrally formed with the first external toothed portion 4a, it rotates integrally with the first external toothed portion 4a. Since the second external toothed portion 4b and the second internal toothed portion 8a have the same number of teeth, relative rotation does not occur, and the second external toothed portion 4b and the second internal toothed portion 8a rotate integrally. Therefore, the same rotation as the rotation of the first external toothed portion 4a is output to the second internal toothed portion 8a. As a result, it is possible to take out an output from the second internal gear 8 by reducing the rotation of the vibrating body shaft 22 to -1/50.

According to the flexural meshing gear device 100 according to the embodiment described above, movement of the lubricant between the arrangement space 60 and the meshing space 62 is prevented by the movement suppressing portion provided in the middle of the communicating path 70. Suppressed. That is, mixing of different lubricants sealed in the arrangement space 60 and the meshing space 62 is suppressed. As a result, the main bearing 16 and the meshing portion are properly lubricated with a suitable lubricant. As a result, the service life of the flexural mesh gear device 100 can be extended.

The flexural mesh gear device according to the embodiment has been described above. Those skilled in the art will understand that these embodiments are merely examples, and that various modifications can be made to combinations of each component and each treatment process, and such modifications are also within the scope of the present invention. By the way. Such modifications will be described below.

The flexure meshing gear device 100 may have another movement restraining portion in addition to the movement restraining portion of the embodiment or instead of the movement restraining portion of the embodiment. For example, the first internal toothed member 7 has at least one projection projecting toward the second internal toothed member 9, and the gap between the at least one projection and the second internal toothed member 9 is defined by the first internal toothed member 7. The gap between the tooth member 7 and the second internal tooth member 9 may be smaller than the other gap. In this case, the gap between at least one projecting portion of the first internal tooth member 7 and the second internal tooth member 9 functions as a movement suppressing portion. The surface of the projecting portion facing the second internal toothed member 9 and closer to the second internal toothed member 9 than the other portion of the first internal toothed member 7 is regarded as the movement suppressing portion. may

Further, for example, the second internal toothed member 9 has at least one projecting portion projecting toward the first internal toothed member 7, and the gap between the at least one projecting portion and the first internal toothed member 7 is the second It may be smaller than the gap between the internal toothed member 9 and the first internal toothed member 7 at other portions. In this case, the gap between at least one projecting portion of the second internal tooth member 9 and the first internal tooth member 7 functions as a movement suppressing portion. The surface of the projecting portion facing the first internal toothed member 7 and closer to the first internal toothed member 7 than the other portion of the second internal toothed member 9 is regarded as the movement suppressing portion. may Of course, both the first internal toothing member 7 and the second internal toothing member 9 may have at least one protrusion. Note that the protruding portions may be intermittently provided in the circumferential direction, or may be provided continuously in the circumferential direction, that is, in a ring shape. A specific example will be described below.

3 to 5 are enlarged cross-sectional views showing a communication passage 70 and its surroundings according to a modification, respectively.
In the modified example of FIG. 3, the body portion 52 of the first internal toothed member 7 has a projecting portion 52d. The protruding portion 52d axially protrudes from the end surface 52c of the main body portion 52 toward the end surface 9b of the second internal tooth member 9. As shown in FIG. A tip surface 52e of the projecting portion 52d is closer to the surface of the second internal toothed member 9 than the surface of the other portion of the first internal toothed member 7 is. Therefore, in the axial clearance 74, a clearance portion 74a between the projecting portion 52d and the second internal tooth member 9 is smaller than a clearance portion 74b between the other portion of the body portion 52 and the second internal tooth member 9. there is In this modified example, the axial gap portion 74a functions as a movement suppressing portion. Note that the tip surface 52e of the projecting portion 52d that is close to the surface of the second internal tooth member 9 may be regarded as the movement suppressing portion. According to this modification, the same effects as those of the embodiment can be obtained.

4(a) and 4(b), the main body portion 52 of the first internal toothed member 7 has a projecting portion 52d axially projecting from the end surface 52c toward the end surface 9b of the second internal toothed member 9. have. An end surface 9b of the second internal tooth member 9 is formed with an annular recess 9c recessed axially toward the opposite side of the main body (to the left in FIGS. 4(a) and 4(b)). The projecting portion 52d enters the recessed portion 9c. FIG. 4A shows a case where there is one projecting portion 52d and one recessed portion 9c, and FIG. 4B shows a case where there are a plurality (three) of projecting portions 52d and recessed portions 9c. A tip surface 52e, an outer peripheral surface 52f, and an inner peripheral surface 52g of the projecting portion 52d are close to the bottom surface 9d and the peripheral surface 9e of the recess 9c, that is, the surface of the second internal tooth member 9. As shown in FIG. The tip surface 52e, the outer peripheral surface 52f and the inner peripheral surface 52g of the protruding portion 52d are particularly closer to the surface of the second internal toothed member 9 than the surface of other portions of the first internal toothed member 7 are. Therefore, of the axial clearance 74, a clearance portion 74a between the projecting portion 52d and (the recessed portion 9c of) the second internal tooth member 9 is a clearance portion 74b between the other portion of the main body portion 52 and the second internal tooth member 9. is smaller than In this modified example, the axial gap portion 74a functions as a movement suppressing portion. Note that the tip surface 52e, the outer peripheral surface 52f, and the inner peripheral surface 52g of the protruding portion 52d, which are close to the surface of the second internal tooth member 9, may be regarded as movement suppressing portions. According to this modification, the same effects as those of the embodiment can be obtained. In addition, in this modification, the communication path 70 is bent and the distance is increased by the protruding portion 52d entering the recessed portion 9c. For this reason, the communication passage 70 functions as a labyrinth for the lubricant, further suppressing movement of the lubricant.

The extension portion 54 of the first internal toothed member 7 may have a projection projecting radially inward, and the outer peripheral surface 9a of the second internal toothed member 9 may be formed with a recess corresponding to the projection. Alternatively, the second internal tooth member 9 may have a protrusion that protrudes axially or radially outward, and a recess corresponding to the protrusion may be formed in the body portion 52 or the extension portion 54 .

In the variant of FIG. 5, the second internal toothed member 9 has a projecting portion 9h that projects toward the first internal toothed member 7 . In this modified example, the protruding portion 9h protrudes in a direction inclined with respect to the axial direction. In particular, the projecting portion 9h is inclined so that the tip thereof is separated from the rotating shaft R (not shown in FIG. 5) and the main bearing 16. As shown in FIG. The body portion 52 of the first internal tooth member 7 is formed with a concave portion 52h having a shape corresponding to the projecting portion 9h. The tip surface 9i of the projecting portion 9h is closer to the surface of the first internal toothed member 7 than the surface of the other portion of the second internal toothed member 9 is. Therefore, a gap portion 74c between the tip end surface 9i of the projecting portion 9h and the first internal tooth member 7 is smaller than the gap between the first internal tooth member 7 and the second internal tooth member 9 at other portions. In this modified example, the gap portion 74c functions as a movement suppressing portion. Note that the tip surface 9i of the projecting portion 9h that is close to the surface of the first internal tooth member 7 may be regarded as the movement suppressing portion. According to this modification, the same effects as those of the embodiment can be obtained.

In FIGS. 3 to 5, the cross-sectional shape of the protrusion and the cross-sectional shape of the recess into which the protrusion enters are shown as rectangles, but the shape is not limited to this.

Moreover, although not particularly mentioned in the embodiment and the above-described modified example, the flexural mesh gear device 100 preferably has a radial clearance of 0.2 mm when the radial clearance functions as a movement suppressing portion. 1.0 mm, and when the axial clearance functions as a movement suppressing portion, the axial clearance is configured to be 3.0 mm to 5.0 mm. If it is larger than this, the effect of suppressing the movement cannot be sufficiently obtained, and if it is smaller than this, there is a possibility that the first internal tooth member 7 and the second internal tooth member 9 may interfere with each other due to processing errors, thermal deformation, or the like. .

4 external gear 6 first internal gear 7 first internal gear 7 8 second internal gear 9 second internal gear 16 main bearing 22a vibrator 60 arrangement space 62 engagement space, 70 communication path, 100 flexural mesh gear system.

Claims (2)

a vibrating body, an external gear that is flexurally deformed by the vibrating body, a first internal gear that meshes with the external gear, and a first internal gear arranged axially in line with the external gear; a second internal gear that meshes with the gear; a first internal gear that rotates integrally with the first internal gear; a second internal gear that rotates integrally with the second internal gear; A flexural mesh gear device comprising a main bearing arranged between one internal tooth member and the second internal tooth member,
Different lubricants are filled in an arrangement space in which the main bearing is arranged and a meshing space in which meshing portions between the first internal gear and the second internal gear and the external gear exist. cage,
A movement suppressing portion that suppresses movement of the lubricant is provided in the middle of the communication path that communicates the arrangement space and the meshing space ,
The first internal tooth member extends radially outward of the second internal tooth member,
the communicating path includes a radial gap between the first internal toothed member and the second internal toothed member;
The radial clearance includes a first radial clearance portion located on the main bearing side and a radial dimension greater than the first radial clearance portion located closer to the first internal gear than the first radial clearance portion. and a second radial gap portion as the movement suppressing portion having a small
A flexural mesh gear device , wherein the radial gap of the second radial gap portion is 0.2 mm to 1.0 mm . a vibrating body, an external gear that is flexurally deformed by the vibrating body, a first internal gear that meshes with the external gear, and a first internal gear arranged axially in line with the external gear; a second internal gear that meshes with the gear; a first internal gear that rotates integrally with the first internal gear; a second internal gear that rotates integrally with the second internal gear; A flexural mesh gear device comprising a main bearing arranged between one internal tooth member and the second internal tooth member,
Different lubricants are filled in an arrangement space in which the main bearing is arranged and a meshing space in which meshing portions between the first internal gear and the second internal gear and the external gear exist. cage,
A movement suppressing portion that suppresses movement of the lubricant is provided in the middle of the communication path that communicates the arrangement space and the meshing space,
the first internal tooth member extends radially outward of the second internal tooth member;
the communicating path includes a radial gap between the first internal toothed member and the second internal toothed member;
The radial clearance includes a first radial clearance portion located on the main bearing side and a radial dimension greater than the first radial clearance portion located closer to the first internal gear than the first radial clearance portion. and a second radial gap portion as the movement suppressing portion having a small
The first internal tooth member extends to the outside in the radial direction of the second internal tooth member and the main body having the first internal gear on the inner peripheral side thereof, and is located between the second internal tooth member. an extension in which the main bearing is arranged;
The body portion and the extension portion are separate bodies, and the body portion has a spigot portion that is fitted to the inner circumference of the extension portion,
A flexural mesh gear device, wherein the second radial gap portion is a radial gap between the spigot portion and the second internal tooth member.

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