JP7186171B2 - 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 an external gear that are arranged axially adjacent to the first internal 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, and a first internal tooth A flexural mesh gear system has been proposed that includes a main bearing that is arranged between a member and a second internal tooth member (for example, Patent Document 1).

JP 2011-112214 A

In a conventional flexural mesh gear device such as that described in Patent Document 1, the internal gear is tilted due to the moment load from the outside, and the internal gear and the external gear may come into contact with each other, resulting in wear of the gears. .

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 flexural mesh gear system capable of suppressing wear of gears.

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 second internal tooth member that rotates integrally with the gear; a main bearing disposed between the first internal tooth member and the second internal tooth member; and a first internal tooth member radially inside the main bearing. and a rolling bearing disposed between the second internal tooth member.

Another aspect of the invention is a flexural mesh gear system. This device includes 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 first internal gear are arranged in an axial direction. Flexural meshing comprising a second internal gear meshing with the gear, a first internal tooth member rotating integrally with the first internal gear, and a second internal tooth member rotating integrally with the second internal gear In the I-type gear device, the first internal tooth member has a first extension extending to the radially outer side of the second internal gear. The second internal gear has a second extension extending radially outward of the first internal gear. The flexural mesh gear system further includes a first main bearing disposed between the first extension and the second internal tooth member, and a main bearing disposed between the second extension and the first internal tooth member. and a second main bearing.

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 provide a flexural mesh gear device capable of suppressing gear wear.

1 is a cross-sectional view showing a flexural mesh gear device according to a first embodiment; FIG. FIG. 2 is an enlarged cross-sectional view showing the main bearing and rolling bearing in FIG. 1 and their surroundings; It is a cross-sectional view showing a flexural mesh gear device according to a second embodiment. FIG. 7 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to the modification of the first embodiment; FIG. 7 is an enlarged cross-sectional view showing a main bearing and rolling bearings of a bending mesh gear device according to another modification of the first embodiment, and their surroundings; FIG. 10 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to still another modification of the first embodiment; FIG. 10 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to still another modification of the first embodiment; FIG. 10 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to still another modification of the first embodiment; FIG. 7 is a cross-sectional view showing a flexural mesh gear device according to still another modification of the first embodiment; FIG. 10 is an enlarged cross-sectional view showing the main bearing and rolling bearing of FIG. 9 and their surroundings; FIG. 10 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to still another modification of the first embodiment; FIG. 10 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to still another modification of the first embodiment; FIG. 10 is an enlarged cross-sectional view showing the main bearing, the rolling bearing, and their surroundings of the flexural mesh gear device according to still another modification of the first embodiment; FIG. 11 is a cross-sectional view showing a flexural mesh gear device according to a modification of the second embodiment;

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.

(First embodiment)
FIG. 1 is a cross-sectional view showing a flexural mesh gear device 100 according to the first embodiment. The bending mesh type gear device 100 decelerates and outputs the input rotation. The flexural mesh gear device 100 includes a wave generator 2, an external gear 4, a first internal gear 6, a first internal gear 7, a second internal gear 8, and a second internal gear. 9 , a first restricting member 12 , a second restricting member 14 , a main bearing 16 , a first bearing housing 18 , a second bearing housing 20 , and a rolling bearing 50 . Lubricant (for example, grease) is enclosed in the meshing gear device 100 . The lubricant lubricates the meshing portions between the external gear 4 and the first internal gear 6 and the second internal gear 8, each bearing, and the like.

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, and a first outer ring member 28a. The second vibration generator bearing 21b includes a plurality of second rolling elements 24b, a second retainer 26b, and a second outer ring member 28b. 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. 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. 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 adjacent (side by side) 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 main body portion 52 are integrally formed. 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 .

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. 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 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.

A rolling bearing 50 is provided between the first internal tooth member 7 and the second internal tooth member 9 . The rolling bearing 50 allows relative rotation between the first internal toothed member 7 and the second internal toothed member 9 .

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 , and a bearing 32 is incorporated in the inner circumference of the second bearing housing 20 . , and is rotatably supported with respect to the first bearing housing 18 and the second bearing housing 20 .

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 rolling bearing 50, and their surroundings.

The main bearing 16 is a cross roller bearing in this embodiment, and includes an inner ring side rolling surface 56 , an outer ring side rolling surface 58 , and a plurality of rolling elements 60 . The type of the main bearing 16 is not particularly limited, and may be, for example, a four-point contact ball bearing.

The inner ring side rolling surface 56 is formed integrally with the second internal tooth member 9 on the outer periphery of the second internal tooth member 9 facing the extension portion 54 of the first internal tooth member 7 . The inner ring side raceway surface 56 has a V-shaped cross section including the rotation axis R (not shown in FIG. 2). Specifically, the inner ring raceway surface 56 includes a first inner ring raceway surface 56a and a second inner ring raceway surface 56b. Both the first inner ring side raceway surface 56a and the second inner ring side raceway surface 56b surround the rotation axis R. As shown in FIG. The second inner ring-side raceway surface 56b is located closer to the main body portion 52 of the first internal tooth member 7 than the first inner ring-side raceway surface 56a is in the axial direction.

The outer ring side rolling surface 58 is integrally formed with the extension portion 54 on the inner circumference of the extension portion 54 of the first internal tooth member 7 facing the second internal tooth member 9 . The outer ring side raceway surface 58 has an inverted V-shaped cross section including the rotation axis R. As shown in FIG. Specifically, the outer ring-side raceway surface 58 includes a first outer ring-side raceway surface 58a and a second outer ring-side raceway surface 58b. Both the first outer ring side raceway surface 58a and the second outer ring side raceway surface 58b surround the rotation axis R. As shown in FIG. The second outer ring-side raceway surface 58b is located closer to the main body portion 52 of the first internal tooth member 7 than the first outer ring-side raceway surface 58a is in the axial direction.

A plurality of rolling elements 60 are provided at intervals in the circumferential direction between the inner ring side rolling surface 56 and the outer ring side rolling surface 58 . A plurality of rolling elements 60 roll on the inner ring side raceway surface 56 and the outer ring side raceway surface 58 .

The rolling bearing 50 is arranged between the first internal tooth member 7 and the second internal tooth member 9 radially inward of the main bearing 16 . Here, the fact that the rolling bearing 50 is arranged radially inward of the main bearing 16 means that the portion of the rolling bearing 50 that is positioned most radially outward (in this embodiment, the rolling element 66 and its retainer). The radially outermost portion P) is radially greater than the radially outermost portion of the main bearing 16 (in this embodiment, the radially outermost portion Q of the rolling element 60). It means to be arranged so as to be located inside.

Further, in the present embodiment, the rolling bearing 50 is provided so as to overlap the main bearing 16 when viewed from the radial direction.

Rolling bearing 50 is a cylindrical roller bearing in this embodiment, and includes an inner ring side rolling surface 62 , an outer ring side rolling surface 64 , and a plurality of rolling elements 66 .

The inner ring side raceway surface 62 surrounds the rotation axis R. The inner ring side rolling surface 62 is integrally formed with the body portion 52 on the end face of the body portion 52 of the first internal tooth member 7 facing the second internal tooth member 9 in the axial direction. A dedicated inner ring may be provided separately from the body portion 52 .

The outer ring side raceway surface 64 surrounds the rotation axis R. As shown in FIG. The outer ring side rolling surface 64 is integrally formed with the second internal tooth member 9 on the end face of the second internal tooth member 9 facing the main body portion 52 of the first internal tooth member 7 in the axial direction. The outer ring raceway surface 64 is formed so that a cross section including the rotation axis R is parallel to the inner ring raceway surface 62 . A dedicated outer ring may be provided separately from the second internal tooth member 9 .

Each of the multiple rolling elements 66 has a substantially cylindrical shape. The plurality of rolling elements 66 are arranged between the inner ring raceway surface 62 and the outer ring raceway surface 64 in a state in which the axial direction is substantially parallel to the inner ring raceway surface 62 and the outer ring raceway surface 64 . are spaced apart in the circumferential direction. A plurality of rolling elements 66 roll on the inner ring side raceway surface 62 and the outer ring side raceway surface 64 .

The above is the basic configuration of the rolling bearing 50 . Next, a characteristic configuration of the rolling bearing 50 will be described.

Preferably, the rolling bearing 50 is configured such that its line of action F1 is inclined with respect to the axial direction (rotational axis R) of the main bearing 16 . In order to achieve this, the inner ring side raceway surface 62 is arranged axially toward the second internal tooth member 9 (left side in FIG. 16 axial directions). In addition, the outer ring side rolling surface 64 is arranged with respect to the rotation axis R (that is, with respect to the axial direction of the main bearing 16) so as to approach the rotation axis R toward the opposite side of the main body (left side in FIG. 2) in the axial direction. It is formed so as to incline.

More preferably, the rolling bearing 50 is configured such that its line of action F1 is parallel to the line of action F2 of the main bearing 16 . In order to achieve this, the inner ring side raceway surface 62 and the outer ring side raceway surface 64 are formed so as to be orthogonal to the line of action F2 of the main bearing 16 .

More preferably, the line of action F1 of the rolling bearing 50 and the line of action F2 of the main bearing 16 are parallel, and the angles θ1 and θ2 formed by the lines of action F1 and F2 with respect to the axial direction of the main bearing 16 are 45 degrees. is configured to be In order to achieve this, the inner ring side rolling surface 62 and the outer ring side rolling surface 64 of the rolling bearing 50 are formed to form an angle of 45 degrees with respect to the axial direction of the main bearing 16 . Similarly, the inner ring side rolling surface 56 and the outer ring side rolling surface 58 of the main bearing 16 are also formed to form an angle of 45 degrees with respect to the axial direction of the main bearing 16 .

Also, the rolling bearing 50 is configured such that the rolling elements 66 are positioned on the line of action F2 of the main bearing 16 . In order to realize this, the inner ring side raceway surface 62 and the outer ring side raceway surface 64 of the rolling bearing 50 are arranged such that the line of action F2 of the main bearing 16 extends over the inner ring side raceway surface 62 and the outer ring side raceway surface 64 . formed to pass through.

Also preferably, the rolling elements 66 of the rolling bearing 50 have crownings. On the other hand, the rolling elements 60 of the main bearing 16 have no crowning.

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 tooth member 9 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 toothed member 7 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 member 9 by reducing the rotation of the vibrating body shaft 22 to -1/50.

According to the flexural mesh gear device 100 according to the present embodiment described above, the rolling bearing 50 that allows the relative rotation between the first internal tooth member 7 and the second internal tooth member 9 has a larger diameter than the main bearing 16. It is arranged between (the body portion 52 of) the first internal toothed member 7 and the second internal toothed member 9 on the inner side of the direction. As a result, the moment load from the outside is applied to the main bearing 16 and also received by the rolling bearing 50 . In other words, according to the present embodiment, the moment rigidity of the bending gear device 100 is improved. Improving the moment rigidity prevents the internal gear from tilting due to an external moment load, and prevents the internal gear and the external gear from coming into contact with each other. As a result, the wear of the gear is prevented. can.

Further, in the flexural mesh gear device 100 according to the present embodiment, preferably, the rolling bearing 50 is configured such that its line of action F1 is inclined with respect to the axial direction of the main bearing 16 . More preferably, the rolling bearing 50 is configured such that its line of action F1 is parallel to the line of action F2 of the main bearing 16 . More preferably, the line of action F<b>1 of the rolling bearing 50 and the line of action F<b>2 of the main bearing 16 are parallel and form an angle of 45 degrees with respect to the axial direction of the main bearing 16 . According to these, the moment load from the outside can be more reliably received by the rolling bearing 50, and the moment rigidity of the flexural mesh gear device 100 is further improved. Therefore, wear of the gear can be further suppressed.

Further, according to the flexural mesh gear device 100 according to the present embodiment, the rolling elements 60 of the main bearing 16 have no crowning, and the rolling elements 66 of the rolling bearing 50 have crowning. As a result, the rigidity of the main bearing 16 can be secured, and misalignment can be suppressed to suppress the edge load.

(Second embodiment)
FIG. 3 is a cross-sectional view showing a flexural mesh gear device 200 according to a second embodiment. FIG. 3 corresponds to FIG. 1 of the first embodiment. The main difference from the first embodiment is that no rolling bearing is provided between the first internal toothed member and the second internal toothed member, and two main bearings are provided instead. In the following, differences from the flexural mesh gear device 100 according to the first embodiment will be mainly described.

The flexural mesh gear device 200 includes a wave generator 2, an external gear 4, a first internal gear 6, a first internal gear 107, a second internal gear 8, and a second internal gear. 109 , a first restricting member 12 , a second restricting member 14 , a first main bearing 116 , a second main bearing 117 , a first bearing housing 18 and a second bearing housing 20 .

First internal tooth member 107 includes a first body portion 152 and a first extension portion 154 .

The first body portion 152 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 first main body portion 152 are integrally formed. Therefore, the first body portion 152 and the first internal tooth member 107 rotate integrally with the first internal gear 6 . Note that the first internal gear 6 and the first body portion 152 may be formed separately and then joined together.

The first extension 154 is a substantially cylindrical member. The first main body portion 152 is spigot-fitted to the first extension portion 154 and integrated with the bolt (not shown). The first extension portion 154 extends from the first body portion 152 to the radially outer side of the second internal gear 8 and surrounds the second internal gear 8 and the second internal tooth member 109 .

The second internal tooth member 109 includes a second body portion 170 and a second extension portion 172 .

The second body portion 170 is an annular 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 main body portion 170 are integrally formed. Therefore, the second body portion 170 and the second internal tooth member 109 rotate integrally with the second internal gear 8 . Note that the second internal gear 8 and the second main body portion 170 may be formed separately and then joined together.

The second extension 172 is an annular member. The second extension portion 172 is provided on the first internal tooth member 107 side (right side in FIG. 3) of the second body portion 170 in the axial direction. In the present embodiment, the second main body portion 170 and the second extension portion 172 are formed separately and then joined together by bolts. In addition, the second main body portion 170 and the second extension portion 172 may be integrally formed. The second extension portion 172 extends from the second body portion 170 to the radially outer side of the first internal gear 6 and surrounds the first internal gear 6 .

The first main bearing 116 and the second main bearing 117 are arranged back-to-back between the first internal toothed member 107 and the second internal toothed member 109 . First internal tooth member 107 supports second internal tooth member 109 via first main bearing 116 and second main bearing 117 so as to be relatively rotatable.

The first main bearing 116 is located between the first extension 154 of the first internal toothed member 107 and the second body portion 170 of the second internal toothed member 109 . First main bearing 116 is a cylindrical roller bearing in the present embodiment, and includes first inner ring-side rolling surface 156 , first outer ring-side rolling surface 158 , and multiple rolling elements 160 .

The first inner ring side rolling surface 156 is formed integrally with the second body portion 170 on the outer periphery of the second body portion 170 of the second internal tooth member 109 . The first inner ring side rolling surface 156 is formed so as to be inclined with respect to the rotation axis R so as to approach the rotation axis R in the axial direction toward the first main body portion 152 (right side in FIG. 3).

The first extension portion 154 of the first internal toothed member 107 has an annular protrusion 154a that protrudes radially inward and surrounds the rotation axis R on its inner peripheral side. The first outer ring side rolling surface 158 is integrally formed with the protrusion 154a on the inner circumference of the protrusion 154a. Like the first inner ring raceway surface 156, the first outer ring raceway surface 158 is inclined with respect to the rotation axis R so as to approach the rotation axis R toward the first main body portion 152 in the axial direction. It is formed.

Each of the plurality of rolling elements 160 has a substantially cylindrical shape, and is circumferentially spaced apart from each other with its axial direction facing in a direction substantially parallel to the first inner ring side raceway surface 156 and the first outer ring side raceway surface 158 . It is set empty. A plurality of rolling elements 160 roll on the first inner ring side raceway surface 156 and the first outer ring side raceway surface 158 .

The second main bearing 117 is arranged between the second extension 172 of the second internal toothed member 109 and the first extension 154 of the first internal toothed member 107 . The second main bearing 117 is a cylindrical roller bearing in this embodiment, and includes a second inner ring raceway surface 174 , a second outer ring raceway surface 176 and a plurality of rolling elements 178 .

The second inner ring side rolling surface 174 is formed integrally with the second extension portion 172 on the outer periphery of the second extension portion 172 of the second internal tooth member 109 . The second inner ring side rolling surface 174 is formed so as to be inclined with respect to the rotation axis R so as to approach the rotation axis R in the axial direction toward the opposite side of the first main body (left side in FIG. 3).

The second outer ring-side raceway surface 176 is formed integrally with the protrusion 154a on the inner periphery of the protrusion 154a in the same manner as the first outer ring-side raceway surface 158 is. The second outer ring-side raceway surface 176 is formed closer to the first main body portion 152 than the first outer ring-side raceway surface 158 in the axial direction. Similarly to the second inner ring side raceway surface 174, the second outer ring side raceway surface 176 is inclined with respect to the rotation axis R so as to approach the rotation axis R in the axial direction opposite to the first main body side. It is formed.

Each of the plurality of rolling elements 178 has a substantially cylindrical shape, and is spaced apart in the circumferential direction while the axial direction thereof faces a direction substantially parallel to the second inner ring side raceway surface 174 and the second outer ring side raceway surface 176 . It is set empty. A plurality of rolling elements 178 roll on the second inner ring side raceway surface 174 and the second outer ring side raceway surface 176 .

As described above, in the first main bearing 116 and the second main bearing 117 in this embodiment, the inner ring and the outer ring are integrally formed with the first internal tooth member 107 and the second internal tooth member 109. , but not limited to this, a dedicated inner ring or outer ring separate from the first internal toothed member 107 or the second internal toothed member 109 may be provided. Also, the type of the rolling element is not particularly limited, and may be, for example, a ball or a tapered roller.

According to the bending mesh gear device 200 according to the present embodiment described above, the two main bearings 116 and 117 are arranged between the first internal tooth member 107 and the second internal tooth member 109 . As a result, the bearing span can be increased and the moment rigidity is improved. Therefore, wear of the gear can be suppressed. In addition, when the two main bearings 116 and 117 are arranged back to back, the action point distance can be increased, and the moment rigidity is further improved.

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.

(First modification)
FIG. 4 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 250 of the bending mesh gear device according to the modification of the first embodiment, and their surroundings. FIG. 4 corresponds to FIG. 2 of the first embodiment. In this modification, the flexural mesh gear system includes a rolling bearing 250 instead of the rolling bearing 50 .

Rolling bearing 250 is a ball bearing in this modification. In the illustrated example, rolling bearing 250 is an angular contact ball bearing, but may be other types of ball bearings. The rolling bearing 250 includes an inner ring-side rolling surface 262 , an outer ring-side rolling surface 264 and a plurality of rolling elements 266 .

Both the inner ring side raceway surface 262 and the outer ring side raceway surface 264 surround the rotation axis R. The inner ring side rolling surface 262 is integrally formed with the body portion 52 on the end surface of the body portion 52 of the first internal tooth member 7 facing the second internal tooth member 9 in the axial direction. The outer ring side rolling surface 264 is integrally formed with the second internal tooth member 9 on the end surface of the second internal tooth member 9 facing the main body portion 52 of the first internal tooth member 7 in the axial direction.

Each of the multiple rolling elements 266 has a spherical shape. A plurality of rolling elements 266 are provided between the inner ring side raceway surface 262 and the outer ring side raceway surface 264 at intervals in the circumferential direction, and roll on the inner ring side raceway surface 262 and the outer ring side raceway surface 264 . run.

The inner ring side raceway surface 262 and the outer ring side raceway surface 264 are formed so that the line of action F2 of the main bearing 16 passes through. Both the inner ring side rolling surface 262 and the outer ring side rolling surface 264 have a substantially arcuate cross section including the rotation axis R, and the line of action F1 of the rolling bearing 250 is inclined with respect to the axial direction of the main bearing 16. is formed as In the illustrated example, the inner ring side raceway surface 262 and the outer ring side raceway surface 264 are such that the line of action F1 of the rolling bearing 250 is parallel to the line of action F2 of the main bearing 16, and the lines of action F1 and F2 are parallel to the main bearing. The angles θ1 and θ2 formed with respect to the 16 axial directions are 45 degrees.

According to this modified example, it is possible to achieve the same operational effects as the flexible meshing gear device 100 according to the embodiment.

(Second modification)
FIG. 5 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 350 of the flexural mesh gear device according to another modification of the first embodiment, and their surroundings. FIG. 5 corresponds to FIG. 2 of the first embodiment. In this modification, the flexural mesh gear system includes a rolling bearing 350 instead of the rolling bearing 50 .

Rolling bearing 350 is a cylindrical roller bearing as in the first embodiment, and includes inner ring side rolling surface 362 , outer ring side rolling surface 364 , and multiple rolling elements 66 .

The main body portion 52 of the first internal toothed member 7 has an annular recessed portion 52a which is axially recessed toward the opposite side of the second internal toothed member 9 on the end face facing the second internal toothed member 9 in the axial direction. . The inner ring side rolling surface 362 is integrally formed with the main body portion 52 on the peripheral wall on the inner peripheral side of the recess 52a. The cross section of the inner ring side raceway surface 362 including the rotation axis R is parallel to the axial direction.

The second internal tooth member 9 has an annular protruding portion 9a axially protruding toward the main body portion 52 on the end surface facing the main body portion 52 of the first internal tooth member 7 in the axial direction. The outer ring side rolling surface 364 is integrally formed with the protrusion 9a on the inner circumference of the protrusion 9a. A cross section of the outer ring side raceway surface 364 including the rotation axis R is parallel to the axial direction.

Each of the plurality of rolling elements 66 is axially oriented substantially parallel to the inner ring raceway surface 362 and the outer ring raceway surface 364 . Circumferentially spaced between them. A plurality of rolling elements 66 roll on the inner ring side raceway surface 362 and the outer ring side raceway surface 364 . The axial direction of the rolling element 66 is also parallel to the rotation axis R.

According to this modified example, it is possible to achieve the same operational effects as the flexible mesh gear device 100 according to the embodiment. In addition, according to this modification, an inner ring side rolling surface 362 is formed in the recessed portion 52a. Accordingly, at least a portion of each of the plurality of rolling elements 66 is positioned within the recess 52a. As a result, for example, the main body portion 52 of the first internal toothed member 7 is also provided with a protrusion projecting toward the second internal toothed member 9 in the axial direction, and the inner ring side rolling surface 362 is formed on this protrusion. , the axial dimension of the flexural meshing gear device can be reduced. It should be noted that the body portion 52 of the first internal tooth member 7 may be formed with a protrusion and the second internal tooth member 9 may be formed with a recess.

(Third modification)
FIG. 6 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 450 of the flexural mesh gear device according to still another modification of the first embodiment, and their surroundings. FIG. 6 corresponds to FIG. 5 of the second modification. In this modification, the flexural mesh gear system includes rolling bearings 450 instead of rolling bearings 350 .

Rolling bearing 450 is a ball bearing in this modification. Rolling bearing 450 includes an inner ring side rolling surface 462 , an outer ring side rolling surface 464 and a plurality of rolling elements 266 .

The inner ring side rolling surface 462 is formed integrally with the main body portion 52 on the inner peripheral wall of the recess 52 a formed in the main body portion 52 of the first internal tooth member 7 . The outer ring side rolling surface 464 is integrally formed with the main body portion 52 on the inner periphery of the projecting portion 9 a formed on the second internal tooth member 9 . A plurality of rolling elements 266 are arranged between the inner ring side raceway surface 462 and the outer ring side raceway surface 464 and roll on the inner ring side raceway surface 462 and the outer ring side raceway surface 464 .

According to this modified example, it is possible to achieve the same operational effects as the flexible mesh gear device 100 according to the embodiment. In addition, according to this modification, an inner ring side rolling surface 462 is formed in the recessed portion 52a. Accordingly, each of the plurality of rolling elements 266 is at least partially located within this recess 52a. As a result, for example, the main body portion 52 of the first internal tooth member 7 is also provided with a protrusion projecting toward the second internal tooth member 9 in the axial direction, and the inner ring side rolling surface 462 is formed on this protrusion. , the axial dimension of the flexural meshing gear device can be reduced. It should be noted that the body portion 52 of the first internal tooth member 7 may be formed with a protrusion and the second internal tooth member 9 may be formed with a recess.

(Fourth modification)
FIG. 7 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 550 of the flexural mesh gear device according to still another modification of the first embodiment, and their surroundings. FIG. 7 corresponds to FIG. 5 of the second modification. In this modification, the flexural mesh gear system includes rolling bearings 550 instead of rolling bearings 350 .

Rolling bearing 550 is a cylindrical roller bearing in this modification. Rolling bearing 550 includes an inner ring member 562 , an outer ring member 564 and a plurality of rolling elements 66 .

The inner ring member 562 is fixed to the inner peripheral wall of the recessed portion 52a formed in the main body portion 52 by adhesion, press-fitting, or by using both adhesion and press-fitting. The outer ring member 564 is fixed to the inner periphery of the projecting portion 9a by adhesion, press-fitting, or by using both adhesion and press-fitting. The multiple rolling elements 66 are arranged between the inner ring member 562 and the outer ring member 564 and roll on the outer peripheral surface of the inner ring member 562 and the inner peripheral surface of the outer ring member 564 . That is, the outer peripheral surface of the inner ring member 562 and the inner peripheral surface of the outer ring member 564 each function as rolling surfaces.

According to this modification, it is possible to achieve the same effects as those of the flexural mesh gear devices according to the first embodiment and the second modification.

(Fifth Modification)
FIG. 8 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 650 of the flexural mesh gear device according to still another modification of the first embodiment, and their surroundings. FIG. 8 corresponds to FIG. 6 of the third modification. In this modification, the flexural mesh gear system includes rolling bearings 650 instead of rolling bearings 450 .

Rolling bearing 650 is a ball bearing in this modification. Rolling bearing 650 includes an inner ring member 662 , an outer ring member 664 and a plurality of rolling elements 266 .

The inner ring member 662 is fixed to the inner circumferential wall of the recessed portion 52a formed in the main body portion 52 by adhesion, press-fitting, or by using both adhesion and press-fitting. The outer ring member 664 is fixed to the inner periphery of the projecting portion 9a by adhesion, press-fitting, or by using both adhesion and press-fitting. A plurality of rolling elements 266 are arranged between the inner ring member 662 and the outer ring member 664 and roll on the outer peripheral surface of the inner ring member 662 and the inner peripheral surface of the outer ring member 664 . That is, the outer peripheral surface of the inner ring member 662 and the inner peripheral surface of the outer ring member 664 each function as rolling surfaces.

According to this modification, it is possible to achieve the same effects as those of the flexural mesh gear devices according to the first embodiment and the third modification.

(Sixth modification)
FIG. 9 is a cross-sectional view showing a flexural mesh gear device 400 according to a modification of the first embodiment. FIG. 10 is an enlarged cross-sectional view showing the main bearing 16 and rolling bearing 750 of FIG. 9 and their surroundings. 9 and 10 respectively correspond to FIGS. 1 and 2 of the first embodiment. In this modification, the flexural mesh gear device 400 includes a rolling bearing 750 instead of the rolling bearing 50 .

The flexural mesh gear device 400 includes a wave generator 2, an external gear 4, a first internal gear 6, a first internal gear 7, a second internal gear 8, and a second internal gear. 9 , a first restricting member 12 , a second restricting member 14 , a main bearing 16 , a first bearing housing 18 , a second bearing housing 20 , and a rolling bearing 750 .

Rolling bearing 750 is a thrust ball bearing in this modification. Rolling bearing 750 includes disk-shaped first and second bearing washers 762 and 764 and a plurality of rolling elements 266 .

The main body portion 52 of the first internal toothed member 7 has an annular recessed portion 52a which is axially recessed toward the opposite side of the second internal toothed member 9 on the end face facing the second internal toothed member 9 in the axial direction. . The first bearing washer 762 is fixed to the inner circumferential wall of the recess 52a by adhesion, press-fitting, or a combination of adhesion and press-fitting. Accordingly, at least a portion of the first bearing washer 762 is positioned within the recess 52a.

The second internal tooth member 9 has an annular protruding portion 9a axially protruding toward the main body portion 52 on the end surface facing the main body portion 52 of the first internal tooth member 7 in the axial direction. The second bearing washer 764 is fixed to the inner circumference of the projecting portion 9a by adhesion, press-fitting, or by using both adhesion and press-fitting.

A plurality of rolling elements 266 are arranged between a first bearing washer 762 and a second bearing washer 764, and are arranged on a facing surface 762a of the first bearing washer 762 that faces the second bearing washer 764 and the first bearing washer 762. is rolled on the facing surface 764a of the second bearing washer 764 facing the . That is, the facing surface 762a of the first bearing washer 762 and the facing surface 764a of the second bearing washer 764 function as rolling surfaces. At least a portion of each of the plurality of rolling elements 266 may be positioned within the recess 52a.

According to this modified example, it is possible to achieve the same operational effects as the flexible meshing gear device according to the first embodiment. In addition, according to this modification, the first bearing washer 762 is at least partially positioned within the recess 52a. As a result, it is possible to reduce the axial dimension of the flexural mesh gear device. In addition, since the rolling bearing 750 is composed of a thrust bearing, it can be installed between the first internal toothed member 7 and the second internal toothed member 9 in the axial direction, thereby improving the ease of assembly. It should be noted that the body portion 52 of the first internal tooth member 7 may be formed with a protrusion and the second internal tooth member 9 may be formed with a recess.

(Seventh Modification)
FIG. 11 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 850 of the flexural mesh gear device according to still another modification of the first embodiment, and their surroundings. FIG. 11 corresponds to FIG. 10 of the sixth modification. In this modification, the flexural mesh gear system includes rolling bearings 850 instead of rolling bearings 750 .

Rolling bearing 850 is a thrust ball bearing in this modification. Rolling bearing 850 includes a first rolling surface 862 , a second rolling surface 864 , and multiple rolling elements 266 .

The first rolling surface 862 is formed integrally with the main body portion 52 on the bottom surface of the recessed portion 52a (the surface facing the second internal tooth member 9 in the axial direction). The second rolling surface 864 is formed integrally with the second internal tooth member 9 on the axial end face of the second internal tooth member 9 facing the main body portion 52 of the first internal tooth member 7 in the axial direction. A plurality of rolling elements 266 are arranged between the first raceway surface 862 and the second raceway surface 864 and roll on the first raceway surface 862 and the second raceway surface 864 .

According to this modified example, it is possible to achieve the same operational effects as the flexible mesh gear device 100 according to the first embodiment. In addition, as in the sixth modification, the rolling bearing 850 is composed of a thrust bearing, which improves the ease of assembly. In addition, according to this modification, the first rolling surface 862 is formed in the recess 52a. Accordingly, at least a portion of each of the plurality of rolling elements 266 is positioned within the recess 52a. As a result, the axial dimension of the flexural mesh gear device can be reduced compared to the case where the concave portion 52a is not provided. Instead of the concave portion 52a, an annular concave portion axially recessed toward the side opposite to the main body portion may be formed in the end surface of the second internal tooth member 9 facing the main body portion 52 in the axial direction.

(Eighth modification)
FIG. 12 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 950 of the flexural mesh gear device according to still another modification of the first embodiment, and their surroundings. FIG. 12 corresponds to FIG. 10 of the sixth modification. In this modification, the flexural mesh gear system includes rolling bearings 950 instead of rolling bearings 650 .

Rolling bearing 950 is a thrust cylindrical roller bearing in this modification. The rolling bearing 950 includes disk-shaped first and second bearing washers 962 and 964 and a plurality of rolling elements 66 .

The first bearing washer 962 is fixed to the inner peripheral wall of the recessed portion 52a by adhesion, press-fitting, or by using both adhesion and press-fitting. Accordingly, at least a portion of the first bearing washer 962 is positioned within the recess 52a. The second bearing washer 764 is fixed to the inner periphery of the projecting portion 9a by adhesion, press-fitting, or by using both adhesion and press-fitting.

Each of the plurality of rolling elements 66 is arranged between the first bearing washer 962 and the second bearing washer 964 with the axial direction facing the radial direction of the rolling bearing 950 , and faces the second bearing washer 964 . It rolls on the facing surface 962 a of the first bearing washer 962 and the facing surface 964 a of the second bearing washer 964 facing the first bearing washer 962 . That is, the facing surface 962a of the first bearing washer 962 and the facing surface 964a of the second bearing washer 964 function as rolling surfaces. At least a portion of each of the plurality of rolling elements 66 may be positioned within the recess 52a.

According to this modification, it is possible to achieve the same effects as those of the flexural mesh gear devices according to the first embodiment and the sixth modification.

(Ninth modification)
FIG. 13 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 1050 of the flexural mesh gear device according to still another modification of the first embodiment, and their surroundings. FIG. 13 corresponds to FIG. 11 of the seventh modification. In this modification, the flexural mesh gear system includes rolling bearings 1050 instead of rolling bearings 750 .

Rolling bearing 1050 is a thrust cylindrical roller bearing in this modification. Rolling bearing 1050 includes a first rolling surface 1062 , a second rolling surface 1064 and multiple rolling elements 66 .

The first rolling surface 1062 is formed integrally with the main body portion 52 on the bottom surface of the recessed portion 52a (the surface facing the second internal tooth member 9 in the axial direction). The second rolling surface 1064 is integrally formed with the second internal tooth member 9 on the end face of the second internal tooth member 9 facing the main body portion 52 of the first internal tooth member 7 in the axial direction. A plurality of rolling elements 66 are arranged between first raceway surface 1062 and second raceway surface 1064 and roll on first raceway surface 1062 and second raceway surface 1064 .

According to this modification, it is possible to obtain the same effects as those of the flexural mesh gear devices according to the first embodiment and the seventh modification.

(Tenth Modification)
FIG. 14 is a cross-sectional view showing a flexural mesh gear device 300 according to a modification of the second embodiment. FIG. 14 corresponds to FIG. 3 of the second embodiment. The main difference from the second embodiment is the configuration of two main bearings.

The second body portion 170 and the second extension portion 172 of the second internal tooth member 109 are integrally formed. Note that the second main body portion 170 and the second extension portion 172 may be formed separately and then joined together.

In this modification, instead of the first main bearing 116 and the second main bearing 117, a first main bearing 716 and a second main bearing 717 are provided. The first main bearing 716 and the second main bearing 717 are arranged face to face between the first internal toothed member 107 and the second internal toothed member 109 .

The first main bearing 716 is located between the first extension 154 of the first internal toothed member 107 and the second body portion 170 of the second internal toothed member 109 .

The first inner ring side rolling surface 756 of the first main bearing 716 is formed integrally with the second body portion 170 on the outer periphery of the second body portion 170 of the second internal tooth member 109 . In this modification, the first inner ring side rolling surface 756 is formed so as to be inclined with respect to the rotation axis R so as to approach the rotation axis R in the axial direction opposite to the first main body portion side (left side in FIG. 14). be done.

The second outer ring side rolling surface 758 is integrally formed with the protrusion 154a on the inner circumference of the protrusion 154a. The second outer ring-side raceway surface 758, like the first inner ring-side raceway surface 756, is inclined with respect to the rotation axis R so as to approach the rotation axis R in the axial direction opposite to the first main body side. It is formed.

The second main bearing 717 is located between the first body portion 152 of the first internal toothed member 107 and the second extension 172 of the second internal toothed member 109 .

A second inner ring side rolling surface 774 of the second main bearing 717 is formed integrally with the second extension portion 172 on the outer periphery of the second extension portion 172 of the second internal tooth member 109 . In this modification, the second inner ring side rolling surface 774 is formed so as to be inclined with respect to the rotation axis R so as to approach the rotation axis R toward the first main body portion 152 side (right side in FIG. 14) in the axial direction. be done.

The second outer ring side rolling surface 776 is provided on the end face of the first body portion 152 of the first internal tooth member 107 facing the second extension portion 172 of the second internal tooth member 109 in the axial direction. integrally formed. Like the second inner ring raceway surface 774, the second outer raceway raceway surface 776 is aligned with the rotation axis R so as to approach the rotation axis R toward the first main body 152 side (right side in FIG. 14) in the axial direction. formed so as to be inclined with respect to

4 external gear 4a first external tooth portion 4b second external tooth portion 6 first internal gear 7 first internal tooth member 7 8 second internal gear 9 second internal tooth member 16 main Bearing 22a Vibrating body 50 Rolling bearing 100 Flexural mesh gear system.

INDUSTRIAL APPLICABILITY The present invention can be used for a bending mesh type gear device.

Claims (9)

a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
a second internal tooth member that rotates integrally with the second internal gear;
a main bearing disposed between the first internal tooth member and the second internal tooth member;
a rolling bearing disposed between the first internal tooth member and the second internal tooth member radially inward of the main bearing ;
A flexural mesh gear device , wherein the main bearing is a cross roller bearing or a four-point contact ball bearing . a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
a second internal tooth member that rotates integrally with the second internal gear;
a main bearing disposed between the first internal tooth member and the second internal tooth member;
a rolling bearing disposed between the first internal tooth member and the second internal tooth member radially inward of the main bearing;
A flexural mesh gear device, wherein the line of action of the rolling bearing is inclined with respect to the axial direction of the main bearing. a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
a second internal tooth member that rotates integrally with the second internal gear;
a main bearing disposed between the first internal tooth member and the second internal tooth member;
a rolling bearing disposed between the first internal tooth member and the second internal tooth member radially inward of the main bearing;
A flexural mesh gear device, wherein the line of action of the rolling bearing is parallel to the line of action of the main bearing. a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
a second internal tooth member that rotates integrally with the second internal gear;
a main bearing disposed between the first internal tooth member and the second internal tooth member;
a rolling bearing disposed between the first internal tooth member and the second internal tooth member radially inward of the main bearing;
A flexural mesh gear characterized in that the main bearing is a cross roller bearing, the rolling bearing is a cylindrical roller bearing, and the lines of action of both are at 45 degrees with respect to the axial direction of the main bearing. Device. 5. The flexural mesh gear unit according to claim 1, wherein the rolling elements of said main bearing do not have crownings, and the rolling elements of said rolling bearings have crownings. a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
a second internal tooth member that rotates integrally with the second internal gear;
a main bearing disposed between the first internal tooth member and the second internal tooth member;
a rolling bearing disposed between the first internal tooth member and the second internal tooth member radially inward of the main bearing;
A flexural mesh gear device, wherein the rolling elements of the rolling bearing are on the line of action of the main bearing. a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
a second internal tooth member that rotates integrally with the second internal gear;
a main bearing disposed between the first internal tooth member and the second internal tooth member;
a rolling bearing disposed between the first internal tooth member and the second internal tooth member radially inward of the main bearing;
A flexural mesh gear device, wherein the main bearing and the rolling bearing overlap when viewed in a radial direction. 8. A flexural mesh gear unit according to claim 1, wherein said rolling bearing is a thrust bearing. a vibrating body;
an external gear that is flexurally deformed by the vibrating body;
a first internal gear meshing with the external gear;
a second internal gear arranged axially in line with the first internal gear and meshing with the external gear;
a first internal tooth member that rotates integrally with the first internal gear;
A flexural mesh gear device comprising a second internal tooth member that rotates integrally with the second internal gear,
The first internal tooth member has a first extension extending to the radially outer side of the second internal gear,
The second internal tooth member has a second extension extending to the radially outer side of the first internal gear,
This flexure mesh type gear device further:
a first main bearing disposed between the first extension and the second internal tooth member;
a second main bearing disposed between the second extension and the first internal tooth member.

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