JP7149877B2 - Flexural mesh gear device and driven device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a flexural mesh gear device and a driven device.

There has been a flexural mesh type gear device having an external gear that flexibly deforms (see, for example, Patent Document 1). The external gear is internally fitted with a vibrating body via a vibrating body bearing, and bends and deforms when the vibrating body rotates inside. Furthermore, the external gear meshes with the rigid internal gear.
Flexible mesh gear systems using such mechanical elements often require the use of internal lubricants.

JP 2018-91444 A

In the above-described conventional flexural mesh gear device, a circumferential groove is provided on the axial end face of the internal gear. For example, it is possible to lubricate the inside of the device by disposing grease, which is a lubricant, in such a circumferential groove in advance.
The circumferential groove as described above is suitable as a lubricant arrangement area, but the orientation of the opening of the circumferential groove is constant inside the device. On the other hand, the flexural meshing gear device can be used in any direction depending on the intended use and mounting position. For this reason, if the opening of the circumferential groove is kept facing upward, the internal lubricant cannot be supplied from the circumferential groove to the outside, which may result in insufficient lubrication of the surroundings.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a flexural mesh gear system and a driven device capable of good lubrication.

A flexural mesh gear device according to the present invention includes:
A flexural mesh gear device comprising a vibration generator, an external gear that is flexurally deformed by the vibration generator, and a first internal gear and a second internal gear that mesh with the external gear,
The first internal gear has a lubrication reservoir on a surface facing the second internal gear,
It is configured to have a scraping mechanism for scraping out the lubricant from the lubricating reservoir.

Further, the driven device according to the present invention includes:
The flexure mesh type gear device is configured such that the opening of the lubricating reservoir faces vertically upward.

According to the present invention, it is possible to provide a flexural mesh gear device and a driven device capable of performing good lubrication.

1 is a cross-sectional view showing a flexural mesh gear device according to an embodiment of the present invention; FIG. FIG. 2 is a cross-sectional view showing a flexural mesh gear device provided with scraping members different from that in FIG. 1 ; 1 is a configuration diagram of an industrial robot as a driven device; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Flexible mesh type gear device]
FIG. 1 is a cross-sectional view showing a flexural mesh gear device 1 according to an embodiment of the present invention. In this specification, a direction along the rotation axis O1 is defined as an axial direction, a direction orthogonal to the rotation axis O1 is defined as a radial direction, and a rotation direction about the rotation axis O1 is defined as a circumferential direction.

As shown in FIG. 1, the flexural meshing gear device 1 includes a vibrator shaft 10, an external gear 12 flexibly deformed by the vibrator shaft 10, and a first internal gear meshing with the external gear 12. a first casing 22 , an internal tooth member 23 as a second internal gear that meshes with the external gear 12 , and a vibration generator bearing 15 . Further, the flexible mesh gear device 1 includes a second casing 24, a first cover 26, a second cover 27, bearings 31, 32, a main bearing 33, sealing O-rings 34, 35, 38, an oil seal 41, 42, 43.

The vibrating body shaft 10 has a hollow shaft shape, and includes a vibrating body 10A having an elliptical outer shape in a cross section perpendicular to the rotation axis O1, and a vibrating body 10A provided on both sides in the axial direction and perpendicular to the rotation axis O1. and shaft portions 10B and 10C each having a circular cross section. Note that the elliptical shape is not limited to a geometrically strict ellipse, and includes a substantially ellipse. The vibration generator shaft 10 rotates around the rotation axis O1, and the center of the outer shape of the cross section of the vibration generator 10A perpendicular to the rotation axis O1 coincides with the rotation axis O1.

The external gear 12 is a flexible cylindrical metal and has teeth on its outer circumference.

The first casing 22 and the internal tooth member 23 (first internal gear, second internal gear) are provided with internal teeth 22g, 23g, and the internal tooth 22g of the first casing 22 extends along the axial direction of the external gear 12. The internal tooth 23g of the internal tooth member 23 meshes with the tooth on the other side of the external gear 12 from the center in the axial direction. The first casing 22 is configured such that internal teeth 22g are provided at corresponding locations on the inner peripheral portion thereof. The internal tooth member 23 is configured by providing an internal tooth 23g at a corresponding portion of the inner peripheral portion thereof.

The vibration generator bearing 15 is arranged between the vibration generator 10A and the external gear 12 . The vibration generator bearing 15 has a plurality of rolling elements (rollers) 15A, an outer ring 15B, and a retainer 15C that holds the plurality of rolling elements 15A. The plurality of rolling elements 15A are arranged radially inward of one internal tooth 22g and arranged radially inward of the first group of rolling elements 15A and the other internal tooth 23g arranged in the circumferential direction. and a second group of rolling elements 15A arranged side by side. The plurality of rolling elements 15A roll using the outer peripheral surface of the vibratory element 10A and the inner peripheral surface of the outer ring 15B as rolling surfaces.

Spacer rings 36 and 37 are provided on both axial sides of the external gear 12, the outer ring 15B, and the retainer 15C to prevent them from being displaced in the axial direction.

The first casing 22 and the second casing 24 are connected to each other and cover the inner teeth 22 g and 23 g and the external gear 12 radially outward.

The first cover 26 is connected to the first casing 22 and covers the outer peripheral portion on the one end side of the vibration generator shaft 10 .

The second cover 27 covers the outer peripheral portion on the other end side of the vibration generator shaft 10 . The second cover 27 and the internal tooth member 23 are provided with bolt connection holes 27h and 23h extending continuously in the axial direction at the output side end portions.
In the flexural mesh gear device 1, the side that is connected to the mating member and outputs the reduced motion to the mating member is called the "output side", and the side opposite to the output side in the axial direction is called the "counter-output side". call.
When the flexural meshing type gear device 1 is connected to the mating device, the second cover 27 and the internal tooth member 23 are connected to the driven member of the mating device by fastening together through the bolt connection holes 27h and 23h. The bolt connection holes 27h and 23h are provided at a plurality of locations in the circumferential direction. The second cover 27 and the internal gear member 23 are provided with bolt holes 27j and 23j for temporarily fixing them.

The bearing 31 is, for example, a ball bearing, and is arranged between the shaft portion 10B of the vibration generator shaft 10 and the first cover 26 . The first cover 26 rotatably supports the vibration generator shaft 10 via the bearing 31 .
The vibrating body shaft 10 is provided with a step h1 adjacent to the location where the bearing 31 is arranged (on the center side in the axial direction), the outer diameter of which greatly changes. The first cover 26 is provided with a step h2 adjacent to the location where the bearing 31 is arranged (on one end side in the axial direction), the inner diameter of which varies slightly. In the axial direction, the bearing 31 is arranged between the steps h1, h2. The steps h1 and h2 function as stoppers that stop the bearing 31 from moving in the axial direction. That is, the bearing 31 is attached to each of the first cover 26 and the vibrating body shaft 10 by a spigot fitting structure, and the steps h1 and h2 position the bearing 31 in the axial direction.

The bearing 32 is, for example, a ball bearing, and is arranged between the shaft portion 10C of the vibration generator shaft 10 and the second cover 27 . The second cover 27 rotatably supports the vibration generator shaft 10 via the bearing 32 .
The vibrating body shaft 10 is provided with a step h3 adjacent to the position where the bearing 32 is arranged (on the center side in the axial direction), the outer diameter of which greatly changes. The second cover 27 is provided with a step h4 adjacent to the position where the bearing 32 is arranged (on one end side in the axial direction) and having a small change in the inner diameter. In the axial direction, the bearing 32 is arranged between the steps h3, h4. The steps h3 and h4 function as stoppers that stop the bearing 32 from moving in the axial direction. That is, the bearing 32 is attached to each of the second cover 27 and the vibrating body shaft 10 by a spigot fitting structure, and the steps h3 and h4 position the bearing 32 in the axial direction.
Although the bearings 31 and 32 are ball bearings, other radial bearings may be used.

The main bearing 33 is, for example, a cross roller bearing, and is arranged between the internal gear member 23 and the second casing 24 . The second casing 24 rotatably supports the internal gear member 23 via the main bearing 33 . The main bearing 33 has an inner ring integrated with the inner tooth member 23, an outer ring integrated with the second casing 24, and a plurality of rolling elements arranged between the inner ring and the outer ring. The main bearing 33 may be composed of a plurality of bearings (angular ball bearings, tapered bearings, etc.) spaced apart in the axial direction between the internal gear member 23 and the second casing 24 .

One oil seal 41 is disposed between the shaft portion 10B of the vibrating body shaft 10 and the first cover 26 at one end portion in the axial direction, and suppresses the outflow of the lubricant to the outside in the axial direction.
The other oil seal 42 is disposed between the shaft portion 10C of the vibrating body shaft 10 and the second cover 27 at the other end portion in the axial direction, and restrains the lubricant from flowing out axially outward.
The oil seal 43 is arranged between the second casing 24 and the internal toothed member 23 to prevent the lubricant from flowing out from this portion.

O-rings 34, 35, and 38 for sealing are provided between the first casing 22 and the first cover 26, between the first casing 22 and the second casing 24, and between the inner tooth member 23 and the second cover 27, respectively. to prevent lubricant leakage. In other words, the internal space (the space in which the external gear 12 and the main bearing 33 exist) of the flexural mesh gear device 1 of this embodiment is a lubricant enclosing space in which a lubricant is enclosed. , 38 and oil seals 41 , 42 , 43 .

[Lubrication structure in flexural mesh gear device]
Since the bending mesh gear train 1 can be installed in any orientation and can be used in any orientation, any orientation is conceivable. In this embodiment, it is assumed that the bending gear device 1 is used with the rotational axis O1 oriented vertically and the output side (the side of the second cover 27) in the axial direction oriented upward. described as.

Lubricant is supplied in advance to each part in the lubricant-filled space of the flexural mesh gear device 1 . Here, the case where the amount of lubricant supplied is 40% of the volume of the lubricant-filled space is exemplified. A two-dot chain line L1 in FIG. 1 indicates the interfacial height when all the lubricant in the above supply amount virtually accumulates below the lubricant enclosing space.

By the way, the first casing 22 as the first internal gear has a lubricating pool 221 on the surface facing the internal tooth member 23 as the second internal gear. This lubricating reservoir 221 is a concave circumferential groove centered on the rotation axis O1. Lubricant may be pre-filled in this lubricating reservoir 221 before use.
As described above, when the output side of the bending gear device 1 faces upward, the opening of the lubrication pool 221 faces vertically upward. In addition, the facing surface of the first casing 22 on the side of the internal tooth member 23 in which the lubricating reservoir 221 is formed is located above the interfacial height L1 of the lubricant described above.
In this case, when the output side of the flexible meshing gear device 1 is directed upward, the lubricant in the lubricant pool 221 stays and is not supplied to each part in the lubricant enclosure space, resulting in insufficient lubrication. obtain.

For this reason, the bending meshing gear device 1 is provided with a scraping mechanism for scraping out the lubricant from the lubricant reservoir 221 in the lubricant enclosing space.
The scraping mechanism has a scraping member 44 extending axially toward the first casing 22 from the facing surface of the internal tooth member 23 as the second internal gear on the first casing 22 side. .

The scraping member 44 is provided at a position radially aligned with the lubricating reservoir 221 on the surface of the internal gear member 23 facing the first casing 22 .
Further, the scraping member 44 is a rod-shaped body along the axial direction, and is attached to the internal gear member 23 while being inserted into the lubricating reservoir 221 . Further, the extending end of the scraping member 44 extends to the vicinity of the bottom of the lubricating reservoir 221 . It is preferable that the gap between the extended end of the scraping member 44 and the bottom of the lubricating reservoir 221 is narrow. Further, although the radial width of the scraping member 44 is narrower than the radial width of the lubricating reservoir 221, it is preferable to approximate them as much as possible within a range that does not cause sliding.
Further, the extending end of the scraping member 44 may be shaped like a spatula for scooping up the lubricant in the lubricating reservoir 221 instead of the rod-like shape. In this case, the extending end of the scraping member 44 is positioned so that the tip of the spatula is in an oblique direction combining the bottom side of the lubricating pool 221 and the downstream side in the direction of relative rotational movement of the internal gear member 23 with respect to the first casing 22 . It is preferably extended.

Also, the raking member 44 is a separate member from the internal toothed member 23 . The raking member 44 has a boss portion 441 that can be press-fitted into a mounting hole 231 as a mounting portion formed on the facing surface of the internal tooth member 23 on the side of the first casing 22 . can be attached.

In the flexural meshing gear device 1, when the vibrator shaft 10 rotates, a relative rotational motion occurs between the first casing 22 and the internal toothed member 23 about the rotation axis O1. Since the first casing 22 and the internal toothed member 23 are concentric, when they rotate relatively, the scraping member 44 moves inside the lubricating reservoir 221 along the circumference relatively along the lubricating reservoir 221. move around. Therefore, the lubricant remaining in the lubricating pool 221 can be scraped out of the lubricating pool 221 by the scraping member 44 .

A part of the lubricant scraped out from the lubricating reservoir 221 by the scraping member 44 flows into the gap space between the internal tooth member 23 and the second casing 24, passes between the rolling elements and the rolling surfaces of the main bearing 33, and fills the gap. It reaches the space on the side opposite to the lubrication pool (output side) of the main bearing 33 in the space. The “space on the side opposite to the lubrication pool” is the gap space between the internal gear member 23 and the second casing 24 and indicates the portion on the side opposite to the scraping member 44 with respect to the main bearing 33 in the axial direction.
On the other hand, in the internal tooth member 23, a communication hole 232 is formed radially penetrating from the outer peripheral surface to the inner peripheral surface (the external gear 12 side) on the side opposite to the lubrication pool (output side) of the main bearing 33. ing.
As a result, the lubricant scraped out from the lubricating reservoir 221 by the scraping member 44 flows back to the external gear 12 through the communication hole 232 of the internal gear member 23 .
In this manner, through the communication hole 232 provided in the internal toothed member 23, the lubricant scraped out from the lubricating reservoir 221 by the scraping member 44 can be circulated from the radially outer side to the radially inner side of the internal toothed member 23. , the main bearing 33, the bearings 31, 32 provided around the internal tooth member 23, the meshing portions between the external gear 12 and the internal teeth 22g, 23g, etc. can be supplied effectively.

One communication hole 232 of the internal tooth member 23 may be provided, or a plurality of communication holes may be provided. When one communication hole 232 is provided, it is preferable that the raking member 44 and the communication hole 232 overlap each other when viewed from the axial direction. When a plurality of communication holes 232 are provided, they may be provided intensively around the raking member 44 in the circumferential direction, or may be provided at regular intervals in the circumferential direction.

[Operation of flexure mesh type gear device]
In the flexural meshing gear device 1 , rotational motion is input from a motor (not shown) or the like, and when the vibrating body shaft 10 rotates, the motion of the vibrating body 10 A is transmitted to the external gear 12 . At this time, the external gear 12 is regulated to a shape along the outer peripheral surface of the vibrating body 10A, and is flexed in an elliptical shape having a major axis portion and a minor axis portion when viewed from the axial direction. Furthermore, the external gear 12 meshes with the internal teeth 22g of the fixed first casing 22 at the longitudinal portion. Therefore, the external gear 12 does not rotate at the same rotational speed as the vibrating body 10A, and the vibrating body 10A rotates inside the external gear 12 relatively. Along with this relative rotation, the external gear 12 is flexurally deformed so that the major axis position and the minor axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the vibration generator shaft 10 .

When the external gear 12 is flexurally deformed, the position of the long axis moves, and thus the meshing position between the external gear 12 and the internal teeth 22g changes in the rotational direction. Here, assuming that the number of teeth of the external gear 12 is 100 and the number of teeth of the internal tooth 22g is 102, the meshing teeth of the external gear 12 and the internal tooth 22g are displaced each time the meshing position rotates. , thereby causing the external gear 12 to rotate (rotate). With the above number of teeth, the rotational motion of the vibration generator shaft 10 is reduced at a reduction ratio of 100:2 and transmitted to the external gear 12 .

On the other hand, since the external gear 12 is also meshed with the other internal tooth 23g, the rotation of the vibration generator shaft 10 also changes the meshing position between the external gear 12 and the internal tooth 23g in the rotational direction. On the other hand, since the number of teeth of the internal gear 23g and the number of teeth of the external gear 12 are the same, the external gear 12 and the internal tooth member 23 do not rotate relatively, and the external gear 12 rotates. It is transmitted to the internal gear member 23 at a reduction ratio of 1:1. By these, the rotational motion of the vibration generator shaft 10 is reduced at a reduction ratio of 100:2 and transmitted to the internal gear member 23 and the second cover 27 . Then, this decelerated rotational motion is output to the mating member.

While rotational motion is input from the motor or the like and decelerated rotation is output from the internal toothed member 23 and the second cover 27, in the lubrication reservoir 221 of the first casing 22, along with the decelerated rotation of the internal toothed member 23, The scraping member 44 moves around to scrape out the lubricant accumulated inside.
The scraped-out lubricant moves into the gap space between the inner tooth member 23 and the second casing 24, passes through the main bearing 33, and moves to the space on the side opposite to the lubrication reservoir side (output side) of the main bearing 33 in the gap space. do. Then, it is returned radially inwardly of the internal tooth member 23 through the communicating hole 232 of the internal tooth member 23 .
On the radially inner side of the internal tooth member 23, the external gear 12 and the internal teeth 22g, 23g mesh with each other, and the external gear 12 rotates in the major axis position, so the lubricant flows radially outward. It is pushed out and returned to the lube sump 221 .
In this way, the lubricant circulates radially outward and radially inwardly of the internal gear 23 and spreads throughout the lubricant-filled space.

[Technical effect of the embodiment of the invention]
The flexible meshing gear device 1 has a lubricating reservoir 221 on the facing surface of the first casing 22 on the side of the internal tooth member 23, and has a scraping mechanism for scraping out the lubricant from the lubricating reservoir 221. Even if the lubricant is stagnant with the opening facing upward, it can be scraped out, lubricated well, and effectively suppressing the shortage of lubricant in the lubricant enclosure space. It becomes possible.
Here, the flexural mesh gear device 1 is used by being incorporated into various driven devices such as machine tools and robots. be. However, it is not limited to such a built-in mode. Here, "directing the opening of the lubricating reservoir 221 vertically upward" means that the angle formed by the normal direction of the opening and the vertically upward direction is -90 degrees to 90 degrees.

In addition, since the scraping mechanism has the scraping member 44 that rotates integrally with the internal toothed member 23, the relative rotational movement that occurs between the first casing 22 and the internal toothed member 23 causes the scraping member 44 to lubricate the lubricating pool. 221, it is possible to effectively scrape out the lubricant without providing an independent drive source for performing the scraping operation of the scraping member 44. FIG.

The scraping member 44 is formed as a separate member from the internal gear 23, and the internal gear 23 is provided with a mounting hole 231 into which the boss portion 441 of the scraping member 44 is press-fitted.
Therefore, it becomes possible to retrofit the scraping member 44 to the internal tooth member 23 of the bending mesh type gear device 1 . Therefore, the flexible meshing gear device 1 that is not used or installed with the opening of the lubrication reservoir 221 facing upward is used with the opening of the lubrication reservoir 221 facing upward without mounting the scraping member 44. Alternatively, it is possible to attach the scraping member 44 only to the bending mesh type gear device 1 to be installed.
As a result, the bending member 44 can be omitted from the flexible meshing gear device 1 when it is not necessary to scrape out the lubricant from the lubricating reservoir 221, thereby reducing the number of parts. becomes.
In addition, parts can be shared between the flexible meshing gear device 1 that does not require the work of scraping out the lubricant in the lubricating pool 221 and the flexible meshing gear device 1 that requires scraping out of the lubricant. It is possible to increase the productivity of In other words, even when manufacturing a flexural meshing gear device that does not have the scraping member 44, by using the internal gear 23 provided with the mounting hole 231, all parts other than the scraping member 44 can be shared. Thus, it is possible to manufacture a flexural mesh gear system with the scraping member 44 and a flexural mesh gear system without the scraping member 44 .

Further, in the bending meshing gear device 1, the internal tooth member 23 has the communication hole 232 that communicates the space on the side of the main bearing 33 opposite to the lubrication pool and the space on the side of the external gear 12. Lubricant scraped out from inside 221 can be circulated from the radially outer side to the radially inner side of internal tooth member 23, and the lubricant can be effectively supplied to any place in the lubricant enclosing space. .

[others]
The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments, and details shown in the embodiments can be changed as appropriate without departing from the scope of the invention.

For example, the scraping member 44 described above is attached by press-fitting the boss portion 441 into the attachment hole 231 of the internal tooth member 23, but the attachment structure is not limited to this.
For example, like the raking member 44A shown in FIG. It is good also as a structure which has it in an edge part. The extending end portion of the scraping member 44</b>A on the lubricant reservoir 221 side may have the same shape as the scraping member 44 .
Like the scraping member 44, the scraping member 44A can improve the productivity during mass production by using common parts.
Furthermore, since the scraping member 44A is fixed to the internal gear member 23 by screwing, it is possible to remove the scraping member 44A when it becomes unnecessary.

Also, a plurality of scraping members 44 and 44A may be provided along the circumferential direction. In that case, it is preferable that the raking members 44 and 44A are arranged at regular intervals in the circumferential direction.
In addition, the lubricating reservoir 221 only needs to have a structure capable of storing the lubricant, and its specific structure is not particularly limited. Not limited. For example, when the output rotation range of the flexure meshing type gear device 1 is used in a range less than 360°, the lubrication reservoir 221 may be formed within the range in which it is used.

Here, FIG. 3 shows an example of an industrial robot 100 which is a driven device equipped with the flexural mesh gear device 1 as a speed reducer and a driven member driven by the flexural mesh gear device 1. shown in
In this industrial robot 100, a case in which the flexible mesh gear device 1 is incorporated with the opening of the lubrication pool 221 facing vertically upward is illustrated.

As shown in FIG. 3, this industrial robot 100 is a horizontal multi-joint robot, and includes a base portion 110 fixed to a working space and a head unit 120 having a head 121 for gripping an object attached to its tip. ing. The head unit 120 is connected to the base portion 110 via two joints 131 and 132 and an arm member 133 so as to be horizontally movable. Specifically, a joint portion 131 on the base end side connects the base portion 110 and the arm member 133 , and a joint portion 132 on the distal end side connects the arm member 133 and the head unit 120 .

The two articulations 131, 132 respectively comprise servo motors 111, 123 and flexure mesh gear trains 1, 1, and rotate the servo motors 111, 123 to the flexure mesh gear trains 1, 1. The slowed motion causes the two coupled members to rotate relative to each other.

The head unit 120 accommodates two motors 124 and 125 connected to a shaft portion 122 having a head 121 at its tip (lower end). One of the motors 124 moves the shaft portion 122 vertically (vertically), and the other motor 125 rotates the shaft portion 122 about the vertical axis.

In the industrial robot 100 described above, in the flexible meshing gear device 1 of the joint portion 131 on the base end side, the arm member 133 is fixed to the second cover 27 and the internal tooth member 23 by rotational motion input from below. is driven as a driven member. On the other hand, in the flexible mesh gear device 1 of the joint portion 132 on the distal end side, the head unit 120 fixed to the second cover 27 and the internal tooth member 23 is driven as a driven member by rotational motion input from above. be.
In the case of the industrial robot 100 as well, in the bending mesh type gear device 1, the lubrication is performed satisfactorily by the scraping mechanism, and the joints 131 and 132 are smoothly operated.

Reference Signs List 1 Flexural meshing gear device 10 Vibration generator shaft 10A Vibration generator 12 External gear 22 First casing (first internal gear)
22g internal tooth 221 lubricating reservoir 23 internal tooth member (second internal gear)
23g inner tooth 231 mounting hole (mounting part)
231A screw hole (mounting part)
232 Communication hole 33 Main bearings 34, 35, 38 O-rings 41, 42, 43 Oil seals 44, 44A Scraping member 441 Boss portion 441A Screw shaft 100 Industrial robot (driven device)
O1 rotation axis

Claims (5)

A flexural mesh gear device comprising a vibration generator, an external gear that is flexurally deformed by the vibration generator, and a first internal gear and a second internal gear that mesh with the external gear,
The first internal gear has a lubrication reservoir on a surface facing the second internal gear,
Having a scraping mechanism for scraping lubricant from the lubricating reservoir,
Flexure mesh type gear system. The scraping mechanism has a scraping member that rotates integrally with the second internal gear,
A flexural mesh gear device according to claim 1. The raking member is a separate member from the second internal gear,
The second internal gear is provided with a mounting portion for the scraping member,
A flexural mesh gear device according to claim 2. The second internal gear has a communication hole that communicates a space on the side opposite to the lubrication pool of the main bearing and a space on the side of the external gear,
A flexural mesh gear device according to any one of claims 1 to 3. A driven device incorporating the flexural mesh gear device according to any one of claims 1 to 4,
A driven device according to claim 1, characterized in that said bending mesh type gear device is incorporated so that the opening of said lubrication reservoir faces vertically upward.

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