KR20140043491A - Flexible meshing type gear device - Google Patents

Flexible meshing type gear device Download PDF

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KR20140043491A
KR20140043491A KR1020147005321A KR20147005321A KR20140043491A KR 20140043491 A KR20140043491 A KR 20140043491A KR 1020147005321 A KR1020147005321 A KR 1020147005321A KR 20147005321 A KR20147005321 A KR 20147005321A KR 20140043491 A KR20140043491 A KR 20140043491A
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South Korea
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region
gear
tooth
internal
external
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KR1020147005321A
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Korean (ko)
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KR101493371B1 (en
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신지 요시다
마나부 안도
후미토 다나카
마사아키 시바
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스미도모쥬기가이고교 가부시키가이샤
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

Thereby suppressing an increase in backlash due to abrasion of the external gear or the internal gear. In the bending-mesh type gear unit 100 having the vibrator 104, the external gear 120 and the internal gear 130, the two gears of the external gear 120 and the internal gear 130 129A and 129B have a second region Sp located on the inner side in the axial direction O from the first region Fp and the first region Fp and in the first region Fp, A gap Gp is formed in the radial direction R of the outer gear 120 in the state before assembly so that the teeth diameter of the portion corresponding to the first region Fp is smaller than the tooth diameter of the second region Sp and the rate of change of the tooth diameter in the axial direction O is different between the first region Fp and the second region Sp.

Description

Technical Field [0001] The present invention relates to a flexible meshing type gear device,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a bending gear.

The bending gear type gear device shown in Patent Document 1 has a vibrating body and a tubular external tooth having a flexibility that is disposed on the outer periphery of the vibrating body and is flexibly deformed by rotation of the vibrating body ) Gear, a first internal gear having a stiffness in which the external gear is in contact with the internal gear, and a second internal gear disposed in parallel with the first internal gear and having a rigidity in contact with the external gear, have.

Prior art literature

(Patent Literature)

Patent Document 1: JP-A-2009-299765

However, in the bending-gear type gear device disclosed in Patent Document 1, as the internal gear and the external teeth wear due to the load applied to the bending gear, the backlash increases, and when the bending gear is mounted There has been a problem that the precision of the apparatus is deteriorated.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a bending gear capable of suppressing an increase in backlash caused by wear of an internal tooth of an external gear or internal teeth of an internal gear.

According to the present invention, there is provided a toothbrush comprising: a vibrating body; a tubular external gear disposed on the outer periphery of the vibrating body and flexibly deformed by rotation of the vibrating body; and a second internal tooth having a rigidity And a second internal gear disposed in parallel with the first internal gear and having a rigidity in contact with the external gear, the first internal gear and the second internal gear, wherein the engaging portion of the external gear and the first internal gear, Wherein at least one of the external gear and the engagement portion of the second internal gear has a first region and a second region located axially inwardly of the first region, Wherein a diameter of a tooth corresponding to the first area is smaller than a tooth diameter of a portion corresponding to the second area, And the tooth tip diameter is discontinuously changed between the first region and the second region or the rate of change in the axial direction of the tooth tip diameter is different between the first region and the second region Thus, the above problems are solved.

In the present invention, it is preferable that, in the state before the shouting gear is assembled, the teeth line diameter of the portion corresponding to the first region is larger than the tooth line diameter of the portion corresponding to the second region, And the rate of change in the axial direction of the tooth diameter is different between the first region and the second region. Therefore, in the state before the start of rotation, when the external gear and the (first and second) The internal gear is engaged in a state in which the backlash of the first region is smaller than the backlash of the second region. This makes it possible to start (turn on) the small backlash in the first area.

On the other hand, when the load increases during operation (during rotation), since a gap is formed in the radially inner side of the external gear in the first region, the portion corresponding to the first region of the external gear is radially inward It can be deformed in a direction away from the internal gear. Therefore, wear of the external gear in the first region is suppressed, and the function of the external gear in the first region such as reduction of backlash at startup is also inhibited from being impaired.

However, in the case where "the tooth tip diameter varies discontinuously between the first region and the second region, or the rate of change in the axial direction of the tooth tip diameter differs between the first region and the second region" Collectively, " the tooth diameter changes stepwise in the first region and the second region ". It is to be noted that " the teeth line diameter varies discontinuously between the first region and the second region " means that at a specific position in the axial direction (a position corresponding to the boundary between the first region and the second region) Quot; refers to a change in tooth diameter with an inclination of 90 deg.

The above object can be also solved by devising the shape of the internal gear. In this case, the present invention is characterized by comprising a vibrating body, a flexible body disposed on the outer periphery of the vibrating body and flexibly deformed by rotation of the vibrating body A first internal gear having a rigidity in which the external gear is in mesh with the first internal gear and a second internal gear in parallel with the first internal gear and having a rigidity in contact with the external gear, Wherein at least one of an engaging portion of the external gear and the engaging portion of the first internal gear and a engaging portion of the external gear and the second internal gear engage the first region and the first region in the axial direction Wherein a gap is formed in a radially inner side of said external gear in said first region and said first and second internal gears are engaged with each other in a state before assembly, Wherein a tooth line diameter of a portion corresponding to the first region is smaller than a tooth line diameter of a portion corresponding to the second region and the tooth line diameter is discontinuously changed between the first region and the second region, It is understood that the rate of change in the axial direction of the tooth tip diameter is different between the first region and the second region.

However, as described above, it is also possible to pay attention to the tooth thickness of the external teeth and the internal teeth as well as the teeth of the external teeth and internal teeth. In this case, the present invention is characterized by comprising a vibrator, A first internal gear having a rigidity such that the external gear is in contact with and in contact with the external gear, and a stiffness in contact with and engaging with the external gear in parallel with the first internal gear Wherein at least one of the engaging portion of the external gear and the first internal gear and the engaging portion of the external gear and the second internal gear engage with each other in the first region, And a second region located axially inwardly of the first region, wherein a gap is formed in the radially inner side of the external gear in the first region, and the external gear and the first and second gears It is possible to grasp that the tooth thickness of at least one of the two internal gears is larger than the portion corresponding to the first region.

According to the present invention, it is possible to suppress an increase in backlash caused by wear of the external teeth of the external gear or the internal teeth of the internal gear.

1 is an exploded perspective view showing an example of the entire configuration of a bending gear capable of engaging with gear according to a first embodiment of the present invention.
2 is a cross-sectional view showing an example of the entire configuration in the same manner.
3 is a front view (a) and a sectional view (b) showing a vibrator.
4 is a cross-sectional view schematically showing the relationship between the vibrator bearing at the time of no-load operation and the internal gear (internal gear for decelerating internal gear output) for external gear and external gear.
Fig. 5 is a front view (a) and a side view (b) schematically showing the external gear in the state before assembly.
Fig. 6 is a sectional view (a) showing the outline of the relationship between the vibrating bearing, the external gear and the internal gear at no load, and a sectional view (b) showing the outline of the relationship between the vibrating bearing, the external gear and the internal tooth under load. to be.
Fig. 7 is a cross-sectional view (a) schematically showing the relationship between the internal gear and the external gear and the internal gear in the unbalanced gear case of the bending gear of the second embodiment of the present invention, Sectional view (b) showing the outline of the relationship between the gear and the internal gear.
FIG. 8 is a side view (a) to FIG. 8 (d) schematically showing the external teeth in the state before the assembly of the bending gears according to the first, third, and sixth embodiments of the present invention.
9 is a cross-sectional view (a) to FIG. 9 (c) showing the outline of the relationship between the internal gear and the external gear and the internal gear in the unbalanced gear of the bending gear of the seventh to ninth embodiments of the present invention.
Fig. 10 is a side view (a) and a front view (b) showing the outline of an internal gear of a bending-gear type gear device according to a tenth embodiment of the present invention.
Fig. 11 is a cross-sectional view (a) schematically showing a relationship between a vibrator bearing at the time of no-load operation and a gear relative to a internal gear, and a cross-sectional view schematically showing the relationship between a vibrator bearing, )to be.
Fig. 12 is a front view (a) and a side view (b) showing the outline of the external gear in a state before the assembling of the bending gear of the gear according to the eleventh embodiment of the present invention.
Fig. 13 is a cross-sectional view (a) showing the outline of a relationship between a vibrator bearing at the time of no-load operation and an internal gear, and a cross-sectional view schematically showing the relationship between a vibrator bearing, )to be.

Hereinafter, an example of the first embodiment of the present invention will be described in detail with reference to the drawings. In Figs. 4 to 6, exaggerated and internal teeth and gaps are exaggerated to show the state of the teeth.

First, the whole structure of this embodiment is demonstrated schematically.

1 to 5, the warping gear type gear apparatus 100 includes a vibrating body 104 and a plurality of vibrating bodies 104 disposed on the outer circumference of the vibrating body 104 and flexibly deformed by rotation of the vibrating body 104 And a deceleration internal gear 130A (first internal gear) having a rigidity in which the external gear 120A engages with and engages with the external gear 120A, and a deceleration internal gear 120B And an output internal gear 130B (second internal gear) provided in parallel with the external gear 130A and having a rigidity in contact with the external gear 120B (although the internal gear for acceleration 130A and the internal gear for output 130B are collectively referred to simply as the internal gear 130). The engaging portion 129A of the external gear 120A and the internal gear 130A for deceleration and the engaging portion 129B of the external gear 120B and the internal gear 130B for output are located in the first region Fp, And a second region Sp located on the inner side in the axial direction O than the first region Fp. A gap Gp is formed in the radial direction R of the external gear 120 in the first region Fp. Here, the external gear 120 is a part of the external gear portion 120 which corresponds to the first region Fp (indicating the distance from the center of the external gear 120 to the tooth tooth of the external tooth 124) Is larger than the tooth diameter of the portion corresponding to the second area Sp. The change ratio in the axial direction O of the tooth tip diameter is different between the first region Fp and the second region Sp. That is, the tooth diameter changes stepwise in the first area Fp and the second area Sp.

However, the engaging portions 129A (129B) refer to overlapping portions between the external teeth 124A (124B) and the internal teeth 128A (128B) as shown in Fig. The first and second regions Fp and Sp constitute the engaging portions 129A and 129B so that the boundaries of the first and second regions Fp and Sp are defined at the position of the one-dot chain line BL as shown in Fig. The first contact portion 129AA (129BA) and the second contact portion 129AB (129BB) in the first and second regions Fp and Sp are in contact with the internal teeth 128, As shown in Fig. In this embodiment, the rate of change in the axial direction O of the teeth tooth diameter is different between the first region Fp and the second region Sp in the state before assembly of the external gear 120, The change rate Rf of the distance Lf between the tooth line Tto of the external tooth 124 and the teeth tooth line Tti of the internal tooth 128 in the first region Fp, The rate of change Rs of the distance Ls between the tooth line Tto of the external tooth 124 and the teeth tooth line Tti of the internal tooth 128 in the second region Sp is stepwise different.

Hereinafter, each component will be described in detail.

As shown in Figs. 2 and 3, the vibrating body 104 has a substantially columnar shape. Specifically, the vibrating body 104 is provided with a meshing range FA based on a constant radius of curvature r1 centered on the eccentric (eccentric amount L) position, and has a combination of a plurality of radii of curvature . The vibrating body 104 is configured to realize the engagement state of the external gears 120A and 120B with the internal gear for output 130A and the internal gear for output 130B in the meshing range FA. An input shaft hole 106 into which an input shaft (not shown) is inserted is formed in the vibrating body 104. A key groove 108 is formed in the input shaft hole 106 so that the vibrating body 104 rotates integrally with the input shaft when the input shaft rotates.

The vibrator bearing 110 is a bearing disposed between the outside of the vibrating body 104 and the inside of the external gear 120 as shown in Figs. 1, 2, and 4. 4, the vibrator bearings 110A (110B) include the inner ring 112, the support 114A (114B), the rollers 116A (116B) as rolling members, ). The inner ring 112 is integrated with the vibrator bearings 110A and 110B and is disposed in contact with the outer periphery of the vibrator 104 and contacts the rollers 116A and 116B. The rollers 116A (116B) are rotatably supported by the supporting devices 114A (114B). However, the rollers 116A (116B) need only be a columnar shape and include a needle shape. As the rolling member, a ball may be used. The outer ring 118A (118B) is disposed outside the roller 116A (116B). The outer ring 118A (118B) is deflected by the rotation of the vibrating element 104, and deforms the external gear 120A (120B) disposed on the outside. 4, the end portion 118AA (118BA) of the outer ring 118A (118B) is inclined inward in the radial direction R from the outer peripheral surface toward the outer side in the axial direction O, (Thickness Tee) of the central portion of the first and second electrodes 118A and 118B (118A and 118B). Thus, a clearance Gp is formed between the outer ring gear 120 disposed on the outer side of the outer ring 118A (118B) and enlarged toward the outer side in the axial direction (O). In this embodiment, the gap Gp is formed from the position of the one-dot chain line BL separating the first region Fp and the second region Sp in the axial direction O from each other.

1, 2, 4 and 5, the shout gear 120 is constituted by a base member 122 and an external tooth 124, and has a cylindrical shape. The base member 122 is a tubular member having flexibility and is disposed outside the vibrator bearing 110. That is, the shout gear 120 is rotatably supported by the rolling member of the vibrator bearing 110. [ As shown in Fig. 5, in the state before assembly, the external gear 120 does not bend, and the base member 122 is parallel to the axial direction. On the other hand, as shown in Figs. 4 and 6A, after the assembly, that is, the state in which the external gear 120 is disposed outside the internal gear 110 and the external gear 120 is mounted inside the internal gear 130 The external gear 120 is slightly bent inward in the radial direction R and the external gear 120 is deformed from the broken line shape to the solid line shape. However, in this state, as shown in Fig. 4 and Fig. 6 (a), the gap Gp is secured. As shown in Figs. 2, 4 and 5, the external teeth 124 (124A, 124B) are divided in the axial direction O, but the base members 122 for supporting the external teeth 124 have. The external teeth 124A (124B) are arranged in such a manner that the external teeth 124AA (124BA) and the external teeth 124A (124B) are located at the positions of the one-dot chain line BL separating the first region Fp and the second region Sp in the axial direction And an outer center portion 124AB (124BB) on the inner side. 5A, the tooth thickness Tho of the external teeth 124A (124B) extends from the tooth height end 124AA (124BA) to the external tooth center portion 124AB (124BB) in the axial direction O And the tooth surface Tfo of the external tooth 124A (124B) is parallel to the axial direction O. [ 5 (b), the height of the tooth line Tto of the external teeth 124A (124B) becomes the maximum (Ho1) at the shortest end of the tooth external end 124AA (124BA) And is linearly changed so as to be the minimum Ho2 at the position of the chain line BL. That is, the tooth tip diameter of the tooth tip portion 124AA (124BA) which is a portion corresponding to the first region Fp of the external gear 120 is set so that the tooth tip diameter outside the axial direction O is equal to the tooth tip diameter Is larger than the diameter and linearly changes in the axial direction (O). The height of the tooth line Tto is constant and equal to the height Ho2 of the tooth line Tto at the position of the one-dot chain line BL in the shouting center portion 124AB (124BB). That is, the tooth diameter of the outer tooth center portion 124AB (124BB), which is a portion corresponding to the second area Sp, is constant in the axial direction O. In this manner, in the state before assembly, the external gear 120 has a tooth tooth diameter of a portion corresponding to the first region Fp (external teeth end 124AA, 124BA) corresponding to the second region Sp And the change ratio in the axial direction O of the tooth diameter is different between the first region Fp and the second region Sp. However, the tooth profile is determined based on the trochoid curve so as to realize theoretical engagement.

As shown in Figs. 2 and 4, the internal gear 130A for deceleration is formed of a rigid member. The internal gear 130A for deceleration has a larger dimension than i (i = 2, 4, ...) than the external teeth 124A of the external gear 120A. A casing (not shown) is fixed to the internal gear 130A through a bolt hole 132A. The internal gear 130A for deceleration is engaged with the external gear 120A, thereby contributing to the deceleration of the rotation of the vibrating body 104. [ The internal tooth 128A of the internal gear 128A for deceleration is parallel to the axial direction O in the tooth line Tti and tooth thickness Thi in the first and second regions Fp and Sp Except for the part. That is, the tooth diameter of the internal teeth 128A, which is a portion corresponding to the first and second regions Fp and Sp of the internal gear for deceleration 130A, is constant in the axial direction O. [ The internal teeth 128A are formed so as to theoretically mesh with the external teeth 124A based on the trochoidal curve.

On the other hand, as shown in Figs. 2 and 4, the output internal gear 130B is formed of a member having rigidity similar to the internal gear for deceleration 130A. The internal gear 130B for output has a dimension of the internal tooth 128B equal to the external tooth 124B of the external gear 120B and transmits the tooth tooth Tti and tooth thickness Thi to the first And parallel to the axial direction O in the second regions Fp and Sp (except for the chamfered portion). That is, the tooth diameter of the internal teeth 128B, which is a portion corresponding to the first and second areas Fp and Sp of the internal gear 130B for output, is constant in the axial direction O. [

Here, as shown in Fig. 6 (a), the difference between the tooth line Tto of the external tooth 124A (124B) and tooth tooth line Tti of the internal tooth 128A (128B) in the first region Fp The distance is longest at the shortest portion (except for the chamfered portion) where the teeth lines are overlapped, and becomes maximum (designation Lo1). On the other hand, at the position of the one-dot chain line BL which is the boundary between the first area Fp and the second area Sp, the distance in which the teeth lines overlap each other is short and becomes minimum (designation Lo2). Therefore, the rate of change Rf of the distance Lf between the tooth line Tto of the external tooth 124 and the teeth tooth line Tti of the internal tooth 128 in the first region Fp is expressed by Formula (1).

Rf = Lf / O1 = (Lo1-Lo2) / O1 (> 0) (1)

The distance between the tooth line Tto of the external tooth 124A (124B) in the second area Sp and the tooth line Tti of the internal tooth 128A (128B) is a constant value (designation Lo2) do. Therefore, the rate of change Rs of the distance Ls between the tooth line Tto of the external tooth 124 and the teeth tooth line Tti of the internal tooth 128 in the second region Sp is represented by Formula (2).

Rs = Ls / O2 = (Lo2-Lo2) / O2 = 0 (2)

That is, the rate of change Rf of the distance Lf in the first area Fp is larger than the rate of change Rs of the distance Ls in the second area Sp (Rf> Rs) The distance between the tooth line Tto of the external teeth 124A (124B) and the teeth tooth line Tti of the internal teeth 128A (128B) is stepwise differentiated between the first area Fp and the second area Sp. However, an output shaft (not shown) is mounted on the internal gear 130B for output via the bolt hole 132B, and the same rotation as the rotation of the external gear 120B is output to the outside.

Next, the operation of the flexural-mesh type gear unit 100 will be described with reference to Figs. 2, 3, and 6. Fig.

When the vibrator 104 rotates due to the rotation of the input shaft (not shown), the external gear 120 is flexibly deformed through the vibrator bearing 110 (that is, the external gear 120B And is flexurally deformed in phase with the external gear 120A).

The external tooth 124 is moved outward in the radial direction R in the meshing range FA by deflecting the external gear 120 by the vibrating body 104 so that the internal teeth 128 of the internal gear 130 It engages.

In the engagement, the vibrator bearings 110A and 110B each have a portion that supports the external teeth 124A and a portion that supports the external teeth 124B in the axial direction O, respectively. As a result, the skew of the roller 116B caused by the engagement of the deceleration internal gear 130A with the external teeth 124A and the roller 116A caused by the engagement of the internal gears 130B and 124B for output, Respectively.

The external tooth 124 has a portion engaged with the deceleration internal gear 130A (external tooth 124A) and a portion engaged with the internal gear for output 130B (external teeth 124B) in the axial direction O. [ . Thereby, when the external gear 124A is deformed, for example, when the internal gear 120A and the internal gear 124A for deceleration are engaged with each other, the external tooth 124A is not deformed by the deformation. Similarly, when the external gear 124A is deformed, the internal gear 124B is not deformed by the deformation of the external gear 124A when the external gear 124B and the internal gear for output 130B are engaged with each other. That is, by dividing the external teeth 124, it is possible to prevent the other external teeth 124B (124A) from being deformed by the deformation of the one external teeth 124A (124B) to deteriorate the meshing relation.

The distance Lo1 between the tooth line Tto of the external tooth 124A (124B) in the first region Fp and the teeth tooth line Tti of the internal tooth 128A (128B) in the first region Fp, Is maintained longer than the distance Lo2 between the tooth line Tto of the external tooth 124A (124B) in the second area Sp and the tooth line Tti of the internal tooth 128A (128B) (Lo1> Lo2). As a result, deep engagement can be realized in the first region Fp as compared with the second region Sp (backlash is small). On the other hand, when the load is applied, a force is applied to the external teeth 124A (124B) from the outer periphery and the external tooth end 124AA (124BA) enters the internal gap Gp in the radial direction R, . 6 (b), the distance between the tooth line Tto of the external tooth 124A (124B) in the first area Fp and the teeth tooth line Tti of the internal tooth 128A (128B) (Lo1 ') becomes substantially equal to the distance Lo2 between the tooth line Tto of the external tooth 124A (124B) in the second area Sp and the tooth tooth line Tti of the internal tooth 128A (128B) (Lo1 '? Lo2). That is, in the first region Fp, the depth of engagement becomes shallower as compared with no load. Therefore, even when wear of the external teeth 124A (124B) and the internal teeth 128A (128B) occurs at the time of load, deformation of the external teeth 120 is recovered at no load, The external teeth 124A (124B) and the internal teeth 128A (128B) in the one area Fp are deeply engaged again, and the increase of the backlash is suppressed. Here, in the present embodiment, the gap Gp in which the inner peripheral surface of the external gear 120 contacts the outer peripheral surfaces of the outer rings 118A and 118B of the vibrator bearing 110 is formed at the time of loading, The gap Gp may be set so that a gap remains between the outer ring and the outer ring of the vibrator bearing, for example, even after the shroud is deformed to the inner circumference. In the present embodiment, however, since the tooth diameter of the internal teeth 128 is constant in the axial direction O regardless of the first and second areas Fp and Sp, The change of the backlash corresponding to the change can be similarly explained.

The engagement position of the external gear 120A and the internal gear for acceleration 130A is rotationally moved in accordance with the rotation of the vibrator 104. [ Here, when the vibrator 104 makes one revolution, the rotation phase is delayed by the difference in dimension between the external gear 120A and the internal gear for acceleration 130A. That is, the reduction ratio by the deceleration internal gear 130A can be obtained as ((the dimension of the external gear 120A - the dimension of the internal gear for acceleration 130A) / the dimension of the external gear 120A.

Since both the external gear 120B and the internal gear 130B for output are the same in size, the external gear 120B and the internal gear 130B for output are engaged with each other at the same intervals without moving the meshed portions. For this reason, the rotation similar to the rotation of the external gear 120B is output from the output internal gear 130B. As a result, the decelerated output can be extracted from the internal gear 130B for output based on the reduction ratio by the internal gear for acceleration 130A for rotation of the vibrator 104. [

In the present embodiment, in the state before assembly of the external gear 120, the teeth line diameter of the portion corresponding to the first region Fp is larger than the tooth line diameter of the portion corresponding to the second region Sp, Since the rate of change in the axial direction O of the tooth tip diameter differs between the first region Fp and the second region Sp, the external tooth gear 120 and the internal tooth gear 130 ) Is engaged with the backlash of the first area Fp being smaller than the backlash of the second area Sp. This makes it possible to start (turn on) the small backlash in the first area Fp.

On the other hand, when the load increases during operation (during rotation), since the clearance Gp is formed in the radial direction R of the external gear 120 of the first region Fp, The portion corresponding to the first region Fp can be deformed inward in the radial direction R, that is, in a direction away from the internal gear 130. This can suppress the wear of the external gear 120 in the first region Fp and reduce the function of the external gear 120 in the first region Fp such as reduction of backlash at startup .

In this embodiment, as shown in Figs. 4 and 5A and 5B, the teeth of the external gears 120 and the teeth of the internal gear 130 corresponding to the second regions Sp, The diameter is constant in the axial direction (O). Therefore, in the second region Sp, the uniform torque transmission is performed in the axial direction O, so that stable torque transmission is possible even when a large load is applied to the gear unit 100, And the internal teeth 128 can be prevented from being locally abraded.

In the present embodiment, the outer peripheral surface of the end portion 118AA (118BA) of the outer ring 118A (118BA) is inclined so that the thickness of the end portion 118AA (118BA) is made thinner than the center portion thereof, (Gp). As a result, the gap Gp can be easily and accurately formed.

That is, in the present embodiment, increase in backlash due to wear of the external teeth 124A (124B) of the external gear 120 or the internal teeth 128A (128B) of the internal gear 130 can be suppressed.

Although the first embodiment of the present invention has been described, the present invention is not limited to the first embodiment. It is needless to say that improvements and design changes can be made without departing from the gist of the present invention.

For example, in the first embodiment, the gap Gp is formed only inside the first region Fp in the radial direction R, but the present invention is not limited to this. For example, it may be the same as the second embodiment shown in Figs. 7 (a) and 7 (b). Fig. 7 (a) shows the outline of the relationship between the vibrator bearing at the time of no-load operation and the internal gear, and Fig. 7 (b) shows the relationship between the vibrator bearing at the time of load and the internal gear Outline. 7 (a) and 7 (b), the illustration of the supporting device is omitted (the same applies to the following drawings). In Fig. 7A, the shout gear is in a state after it is mounted on the inner side of the internal gear, and the shout gear is originally slightly bent as shown in Figs. 4 and 6A . However, the illustration of slight warping is omitted (the same applies to the subsequent drawings).

In the second embodiment, as shown in Figs. 7A and 7B, the two engagement portions 229A and 229B in the axial direction O are engaged with each other in the radial direction R, A separate gap Gpc is formed between the gear 220 and the outer rings 218A and 218B. That is, in the second embodiment, the inner peripheral surface of the portion located between the two engaging portions 229A and 229B of the external gear 220 is in contact with the outer rings 218A and 218B As shown in Fig. Concretely, the outer peripheral surfaces of the end portions of the outer rings 218A and 218B facing each other between two two-dot chain lines BLc shown in FIG. 7B are inclined so that the thickness Tec thereof is equal to the thickness Tc, the gap Gpc is formed. As a result, as shown in Fig. 7A, deep engagement can be realized in the first region Fp as compared with the second region Sp (backlash is small) as in the first embodiment.

On the other hand, when the load is applied, a force is applied to the external teeth 224A (224B) from the outer periphery, and the gap Gp decreases as in the first embodiment. At the same time, the end portion 224ABA (224BBA) of the shoe central portion 224AB (224BB) also enters the inner gap Gpc in the radial direction R, and the gap Gpc is reduced. 7 (b), the second region Sp (excluding the portion of the second region Sp between the first region Fp and the two dot-and-dash line BLc) The depth of the engagement becomes shallower than that at the portion of the second region Sp between the two dash-dotted lines BLc. That is, at the portion of the second region Sp between the first region Fp and the two dot-and-dash line BLc, the depth of meshing becomes shallow as compared with no load. Therefore, even if wear of the external teeth 224A (224A) and the internal teeth (228A 228B) occurs during the load, the deformation of the external teeth is recovered at no load, The external teeth 224A 224B and the internal teeth 228A 228B at the ends of the first area Sp and the second area Sp are deeply engaged again so that the increase of the backlash is further suppressed. However, when the tooth line of the external teeth at the end of the second area Sp is formed in the same shape as that of the teeth of the external teeth in the first area Fp, the increase of the backlash is further suppressed. However, also in this embodiment, after the shaking gear is deformed to the inner circumferential side, the gap Gp may be set so that a gap remains between the outer ring and the outer ring of the vibrator bearing (the same applies to the following embodiments).

In the first embodiment, the gear tooth diameter of the portion corresponding to the first region Fp of the external gear 120 is smaller than the tooth tooth diameter outside the axial direction O, (FIG. 5 (b) and FIG. 8 (a)), the present invention is not limited to this. For example, as in the third embodiment shown in FIG. 8B, the tooth-line diameter of the tooth-like edge portion 324BA, which is a portion corresponding to the first region Fp of the external gear, It may be changing in the enemy. 8B is a shape of the external teeth 124B shown in Fig. 8A. Alternatively, as in the fourth embodiment shown in FIG. 8 (c), the teeth line diameter of the tooth edge portion 424BA, which is a portion corresponding to the first region Fp of the external gear, , And there may be a linear change from the position to the position of the boundary line (dot-dash line BL) with the shoe central portion 424BB. In this case also, the rate of change in the axial direction O of the tooth tip diameter becomes different in the first region Fp and the second region Sp. Alternatively, as in the fifth embodiment shown in FIG. 8D, the height Ho1 of the tooth line Tto of the outer tooth end 524BA of the outer tooth 524B in the axial direction O is the outer tooth central portion 524BB. The tooth line diameter is higher than the height Ho2 of the tooth line Tto, and any tooth line diameter is constant in the axial direction O, so that the tooth line diameter changes stepwise in the first region Fp and the second region Sp. (In this case, the height of the tooth line Tti of the internal tooth becomes constant, and the specific position (first region Fp and second region Sp) in the axial direction O in the outer tooth 424B of the external gear. In the boundary line (position of the dashed-dotted line BL), the tooth line diameter changes with the inclination of 90 degrees with respect to the axial direction O, “The tooth line diameter is the 1st area | region Fp and the 2nd area | region Sp. Is changing discontinuously). Alternatively, as in the case of the sixth embodiment shown in FIG. 8E, a groove for separating the external tooth portion 624BA and the external tooth center portion 624BB in the axial direction O from the external teeth 124B of the first embodiment, A groove Gr may be formed between a portion corresponding to the first region Fp and a portion corresponding to the second region Sp. According to this structure, when the load is applied, deformation of the first gear (Fp) of the external gear to the inner peripheral side is smooth.

In the first and second embodiments, the gap Gp is formed by inclining the outer peripheral surface of the end portion of the outer ring and reducing the thickness of the outer ring (Tc → Tee), but the present invention is not limited to this . The thickness T of the outer rings 718A and 718B is not changed in the axial direction O and the outer diameter of the end portions of the inner peripheral surfaces of the outer teeth 720 The gap Gp may be formed by increasing the diameter of the central portions 720AA and 720BB relative to the diameter of the central portion. Alternatively, the gap Gp may be formed by making the thickness of the end portion of the outer ring thinner than the center portion and increasing the diameter of the end portion of the inner circumferential surface of the external gear relative to the diameter of the central portion. Alternatively, as in the eighth embodiment shown in FIG. 9B, the vibrator bearings 810A and 810B are disposed inside the external tooth portions 824AA and 824BA of the external teeth 824A and 824B in the radial direction R The gap Gp is formed by disposing the vibrator bearings 810A and 810B (meaning Tee = 0) only in the inside of the shout central portions 824AB and 824BB in the radial direction R . Alternatively, the outer ring located in the inner side of the outer tooth center portion in the radial direction R may not be disposed inside the outer tooth end portion. Alternatively, the gap Gp may be formed by inclining the rotation axis K of the rollers 916A and 916B with respect to the axial direction O as in the ninth embodiment shown in FIG. 9C. Concretely, as shown in FIG. 9C, a pair of tapered roller bearings are used for the vibrator bearing 910, and a uniform thickness Tee is formed along the inclination of the rollers 916A and 916B The outer rings 918A and 918B are used. The outer gear 920 having an inner circumferential surface parallel to the axial direction O may be disposed on the outer side to form a gap Gp between the outer rings 918A and 918B and the outer tooth gear 920. [ According to such a configuration, it is possible to transmit a larger torque without machining the inner peripheral surface of the external gear 920 as in the eighth embodiment.

In the above-described embodiment, in the state before the assembly of the external gear, the gear tooth diameter of the portion corresponding to the first region Fp is larger than the tooth tooth diameter of the portion corresponding to the second region Sp, The diameter is varied discontinuously between the first area Fp and the second area Sp or the rate of change in the axial direction O of the tooth diameter is larger than the first area Fp and the second area Sp ), But the present invention is not limited to this. For example, the shape of the internal gear may be designed as in the tenth embodiment shown in Figs. 10 (a), 10 (b) and 11 (a) and 11 (b). Fig. 10 (a) is a side view schematically showing the internal gear, and Fig. 11 (b) is a front view thereof. 11 (a) shows the outline of the relationship between the vibrator bearing at the time of no-load operation and the internal gear, and Fig. 11 (b) shows the relationship between the vibrator bearing at the time of loading and the internal gear Outline.

In the tenth embodiment, the internal gear 1030 is arranged such that the tooth line diameter of the portion corresponding to the first region Fp is smaller than the tooth line diameter of the portion corresponding to the second region Sp, O is different between the first region Fp and the second region Sp. The tooth diameter of the internal gear 1030 is represented by the distance from the center of the internal gear 1030 to the tooth tooth of the internal tooth 1028. More specifically, as shown in Figs. 10A and 11A, the internal teeth 1028A (1028B) are divided into a first region Fp and a second region Sp in the axial direction O, (1028AA (1028BA)) and an inner tooth center portion (1028AB (1028BB)) at the position of the one-dot chain line (BL) 10 (b), the tooth thickness Thi of the internal tooth 1028A (1028B) extends from the internal tooth end 1028AA (1028BA) to the internal tooth center portion 1028AB (1028BB) in the axial direction O And the tooth surface Tfi of the internal teeth 1028A (1028B) is parallel to the axial direction (O). 10 (a), the height of the tooth line Tti of the internal tooth 1028A (1028B) becomes the maximum (Hi1) at the shortest end of the internal tooth end 1028AA (1028BA) Is changed linearly so as to be at a minimum (Hi2) at the position of the chain line BL (although not shown, it may be curvedly changed). That is, the tooth tip diameter of the internal tooth portion 1028AA (1028BA), which is a portion corresponding to the first region Fp of the internal gear 1030, Is smaller than the diameter and linearly changes in the axial direction (O). The height of the tooth line Tti is constant and equal to the height Hi2 of the tooth line Tti at the position of the one-dot chain line BL in the inner-tooth central portion 1028AB (1028BB). That is, the tooth-line diameter of the inner-tooth central portion (1028AB (1028BB)) corresponding to the second region Sp is constant in the axial direction (O). However, the height of the tooth line Tto of the external teeth 1024A (1024B) is the same in the axial direction O.

11A, the distance Li1 between the tooth line Tto of the external tooth 1024A (1024B) in the first region Fp and the teeth tooth line Tti of the internal tooth 1028A (1028B) Is maintained longer than the distance Li2 between the tooth line Tto of the external tooth 1024A (1024B) in the second area Sp and the teeth tooth line Tti of the internal tooth 1028A (1028B) (Li1> Li2). As a result, deep engagement can be realized in the first region Fp as compared with the second region Sp (backlash is small). On the other hand, when the load is applied, a force is applied from the outer periphery to the external teeth 1024A (1024B), and the external tooth end 1024AA (1024BA) enters the internal gap Gp in the radial direction R, . That is, as shown in Fig. 11 (b), the depth of engagement becomes shallower in the first region Fp than in no-load state. Therefore, even if wear of the external teeth 1024A (1024B) and internal teeth (1028A) is caused during the load, deformation of the external gears is recovered at the time of no load, The external teeth 1024A (1024B) and the internal teeth (1028A (1028B)) in the internal teeth (Fp) are deeply engaged again, and the increase of backlash is suppressed. In the tenth embodiment, however, only the tooth line diameter of the internal teeth 1028A (1028B) changes in the axial direction O, but the teeth line diameter of the external teeth and internal teeth may change in the axial direction O. [ In the tenth embodiment, the gear tooth diameter of the portion corresponding to the first region Fp of the internal gear 1030 linearly changes in the axial direction O. However, according to the third embodiment, the axial direction O ) May be changed in a curved manner.

In the above embodiment, the teeth diameter of a portion corresponding to the second region Sp of the external gear and the internal gear is constant in the axial direction O. However, the present invention is not limited to this, The tooth diameter does not have to be constant in the axial direction (O).

In the above-described embodiment, attention has been paid to the teeth line of the external teeth and the internal teeth, but the present invention is not limited to this. For example, as in the eleventh embodiment shown in Figs. 12 (a), (b), and 13 (a) and 13 (b), attention may be paid to the tooth thickness of the external teeth and internal teeth. Fig. 12 (a) is a front view schematically showing the state before the external gear is assembled, and Fig. 12 (b) is a side view thereof. Fig. 13 (a) shows the outline of the relationship between the vibrator bearing at the time of no load and the internal gear, and Fig. 13 (b) shows the relationship between the vibrator bearing at the time of loading and the internal gear Outline. However, the magnitude of tooth thickness shall be compared with the same distance in the radial direction (R).

In the eleventh embodiment, the tooth thickness of the external gear 1120 is larger than the portion corresponding to the first area Fp, corresponding to the second area Sp. More specifically, as shown in Figs. 12A and 13A, the external teeth 1124A (1124B) are divided into a first region Fp and a second region Sp in the axial direction O, (1124AA (1124BA)) and a shouting central portion (1124AB (1124BB)) at the position of the one-dot chain line (BL) 12A, the tooth thickness of the external teeth 1124A (1124B) becomes maximum (Tho1) at the shortest end of the external tooth end 1124AA (1124BA), and the tooth thickness of the external tooth 1124A (In other words, linearly) so as to become the minimum value (Tho2) in the first embodiment (although it is not shown, it may be changed in a so-called curved manner). That is, the tooth thickness of the tooth external end portion 1124AA (1124BA), which is a portion corresponding to the first region Fp of the external gear 1120, is larger than the tooth thickness outside the axial direction O, Is larger than the tooth thickness, and changes linearly (curvilinearly) in the axial direction (O). In the shoe central portion 1124AB (1124BB), the tooth thickness is the same as the tooth thickness Tho2 at the position of the one-dot chain line BL and is constant. That is, the tooth thickness of the outer tooth center portion 1124AB (1124BB), which is a portion corresponding to the second region Sp, is constant in the axial direction (O). In this manner, the tooth thickness of the external gear 1120 is such that the rate of change of the tooth thickness in the axial direction O is different between the first region Fp and the second region Sp. On the other hand, as shown in FIG. 12B, the height of the tooth line Tto of the external teeth 1124A (1124B) is larger than the height of the tooth line Tto from the external teeth 1124AA 1124BA to the external tooth center portion 1124AB (1124BB) (Ho). However, the tooth thickness Thi of the internal teeth 1128A (1128B) is constant in the axial direction O and the tooth surface Tfi is parallel to the axial direction O. [ That is, the tooth thickness of the portion corresponding to the second area Sp of the internal gear 1130 is constant in the axial direction O.

13A, the sum of the tooth thickness Tho1 of the external teeth 1124A (1124B) and the teeth thickness (Thi) of the internal teeth 1128A (1128B) in the first region Fp is , And becomes the maximum at the shortest end. On the other hand, the sum is minimized at the position of the one-dot chain line BL which is the boundary between the first region Fp and the second region Sp. Therefore, the rate of change (Qf) of the sum of the tooth thicknesses in the first region Fp is expressed by Formula (3).

Qf = (Tho1 + Thi- (Tho2 + Thi)) / O1

  = (Tho1-Tho2) / O1 (> 0) (3)

The sum of the tooth thickness Tho2 of the external teeth 1124A 1124B and the tooth thickness Thi of the internal teeth 1128A 1128B in the second area Sp becomes a constant value. As a result, the rate of change Qs of the sum of the tooth thicknesses in the second region Sp is represented by Formula (4).

Qs = (Tho2 + Thi- (Tho2 + Thi)) / O2

  = 0 (4)

That is, since the change rate Qf of the sum of tooth thicknesses in the first region Fp is larger than the change rate Qs of the sum of the tooth thicknesses in the second region Sp, the external teeth 1124A (1124B) And the tooth thickness Thi of the internal teeth 1128A (1128B) are made to be stepwise different from each other in the first area Fp and the second area Sp. This makes it possible to keep the contact pressure at the first contact portion 1129AA (1129BA) higher than that at the second contact portion 1129AB (1129BB) of the second region Sp in the first region Fp Is small). On the other hand, when the load is applied, a force is applied from the outer periphery to the external teeth 1124A (1124B), and the external teeth 1124AA (1124BA) enters the internal gap Gp in the radial direction R, . That is, as shown in Fig. 13B, the depth of engagement becomes shallower in the first region Fp than in no-load state. Therefore, even if wear of the external teeth 1124A (1124A 1124B) and internal teeth (1128A 1128B) occurs during the load, the deformation of the external teeth is restored at no load, and the wear of the first region The external teeth 1124A (1124B) and the internal teeth 1128A (1128B) in the teeth Fp are deeply engaged with each other again, thereby suppressing an increase in backlash. In the eleventh embodiment, only the tooth thickness Tho of the external gear 1120 is changed. However, only the tooth thickness Tho, Thi of the external gear and the internal gear, or the tooth thickness Thi of the internal tooth, The portion corresponding to the first region Fp may be larger than the portion corresponding to the second region Sp. In the eleventh embodiment, the tooth thickness of the external gear 1120 is such that the rate of change of the tooth thickness in the axial direction O is different between the first region Fp and the second region Sp, (The position of the boundary line between the first region Fp and the second region Sp) in the axial direction O (based on the same mapping as in the fifth embodiment) The tooth thickness may be changed by the inclination so that the tooth thickness is discontinuously changed between the first region Fp and the second region Sp.

The eleventh embodiment is merely an example of an embodiment focused on the tooth thickness Tho, Thi, unlike the tenth embodiment. That is, by paying attention to the tooth thickness Tho, Thi, the same embodiment as the above-described embodiment is possible. For example, in a state in which a load is applied to the bending gear type gear unit, the inner peripheral surface of the portion located between the two engaging portions of the external gear may be in contact with the outer peripheral surface of the outer ring. Alternatively, grooves may be formed in the external gear between a portion corresponding to the first region Fp and a portion corresponding to the second region Sp.

In the eleventh embodiment, the tooth thickness of the portion corresponding to the second region Sp of the external gear 1120 and the internal gear 1130 is constant in the axial direction O. However, However, the present invention is not limited to this and any thickness may not be constant in the axial direction O. However, the tooth thickness of the external gear and the internal gear may be continuously changed in the first region Fp and the second region Sp, and the rate of change of the tooth thickness in the axial direction O (Fp) and the second region (Sp).

In the above embodiment, the gap Gp is formed inside the first region Fp of the two engaging portions in the radial direction R, but the present invention is not limited to this, and at least one engaging portion The gap Gp may be formed inside the first region Fp of the negative portion.

In the above embodiment, the vibrator bearing has the inner ring and the outer ring, but the present invention is not limited to this. For example, it may be integrated with the vibrating body without the inner ring, or the rolling body may directly support the external gear without rotating the outer ring.

In the above embodiment, the tooth profile is based on the shouting trochoid curve, but the present invention is not limited to this. The shouting tooth may be an arc tooth shape or another tooth shape may be used.

Industrial availability

The present invention can be widely applied to a warping gear type gear device in which a cylindrical external gear is an essential constituent requirement.

The disclosure of Japanese Patent Application No. 2011-268545 filed on December 8, 2011 in the specification, drawings, and claims is incorporated herein by reference in its entirety.

100: warping gear unit
104: vibrator
110, 110A, 110B, 210, 210A, 210B, 710A, 710B, 810A, 810B, 910, 910A, 910B, 1010A, 1010B, 1110A, 1110B:
112, 212, 712, 812, 912, 1012, 1112: inner ring
114A and 114B:
116A, 116B, 216A, 216B, 716A, 716B, 816A, 816B, 916A, 916B, 1016A, 1016B, 1116A,
118A, 118B, 218A, 218B, 718A, 718B, 818A, 818B, 918A, 918B, 1018A, 1018B, 1118A,
120, 120A, 120B, 220, 220A, 220B, 720, 720A, 720B, 820A, 820B, 920, 920A, 920B, 1020, 1020A, 1020B, 1120, 1120A, 1120B:
122, 222, 1022, 1122: base member
124, 124A, 124B, 224A, 224B, 324B, 424B, 524B, 624B, 724A, 724B, 824A, 824B, 924A, 924B, 1024A, 1024B, 1124A,
1288, 128A, 128B, 228A, 228B, 728A, 728B, 828A, 828B, 928A, 928B, 1028, 1028A, 1028B, 1128A,
129A, 129B, 229A, 229B, 1029A, 1029B, 1129A, 1129B:
129AA, 129BA, 229AA, 229BA, 1029AA, 1029BA, 1129AA, 1129BA:
129AB, 129BB, 229AB, 229BB, 1029AB, 1029BB, 1129AB, 1129BB:
229AC, 229BC: third contact
130, 1030, 1130: internal gear
130A: Internal gear for deceleration
130B: Internal gear for output
132A, 132B: Bolt hole
Fp: first region
Sp: second region
Gp, Gpc: Clearance

Claims (11)

A first internal gear which has a vibration body, a cylindrical external gear disposed on the outer periphery of the vibration body and flexibly deformed by rotation of the vibration body, and a stiffness which is in contact with the external gear, And a second internal gear disposed in parallel with the first internal gear and having rigidity in contact with the external gear,
At least one of the engaging portion of the external gear and the engaging portion of the first internal gear and the engaging portion of the external gear and the second internal gear has a first region and a second region located axially inward of the first region , Also,
A gap is formed in the first region in the radial direction of the external gear,
Wherein the tooth gear diameter of the portion corresponding to the first region is larger than the tooth diameter of the portion corresponding to the second region in the state before assembling and the teeth tooth diameter is larger than the tooth tooth diameter of the first region and the second region And the change ratio in the axial direction of the tooth diameter is different in the first region and the second region. A first internal gear which has a vibration body, a cylindrical external gear disposed on the outer periphery of the vibration body and flexibly deformed by rotation of the vibration body, and a stiffness which is in contact with the external gear, And a second internal gear disposed in parallel with the first internal gear and having rigidity in contact with the external gear,
At least one of the engaging portion of the external gear and the engaging portion of the first internal gear and the engaging portion of the external gear and the second internal gear has a first region and a second region located axially inward of the first region , Also,
A gap is formed in the first region in the radial direction of the external gear,
Wherein the first and second internal gears are formed so that, in a state before assembling, the teeth tooth diameter of the portion corresponding to the first region is smaller than the tooth tooth diameter of the portion corresponding to the second region, Wherein the first region and the second region vary discontinuously between the region and the second region, or the rate of change in the axial direction of the tooth line diameter is different in the first region and the second region. 3. The method according to claim 1 or 2,
Wherein a tooth line diameter of a portion corresponding to said second region of said external gear or said first and second internal gears is constant in the axial direction. The method according to claim 1,
Wherein a tooth diameter of a portion corresponding to said first region of said external gear is larger than a tooth diameter of an axially inner side in a radially outward direction and changes linearly or curvilinearly in an axial direction, Gear device. 3. The method of claim 2,
The tooth-line diameter of the portion corresponding to the first area of the first and second internal gears is characterized in that the tooth-line diameter on the outer side in the axial direction is smaller than the tooth-line diameter on the inner side in the axial direction and linearly or curvilineally changes in the axial direction Of the gear unit. A first internal gear which has a vibration body, a cylindrical external gear disposed on the outer periphery of the vibration body and flexibly deformed by rotation of the vibration body, and a stiffness which is in contact with the external gear, And a second internal gear disposed in parallel with the first internal gear and having rigidity in contact with the external gear,
At least one of the engaging portion of the external gear and the engaging portion of the first internal gear and the engaging portion of the external gear and the second internal gear has a first region and a second region located axially inward of the first region , Also,
A gap is formed in the first region in the radial direction of the external gear,
Wherein a tooth thickness of at least one of said external gear and said first and second internal gears is larger than a portion corresponding to said first region larger than a portion corresponding to said second region. The method according to claim 6,
Wherein the tooth thickness is discontinuously changed between the first region and the second region or the rate of change of the tooth thickness in the axial direction is different between the first region and the second region Flexible gearing. 8. The method according to claim 6 or 7,
Wherein a tooth thickness of a portion corresponding to said second region of said external gear or said first and second internal gears is constant in the axial direction. 9. The method according to any one of claims 6 to 8,
The tooth thickness of the external tooth gear or the portion corresponding to the first area of the first and second internal gears is larger than the tooth thickness of the axially outer side in the axial direction and linearly or curvilinearly in the axial direction Wherein the first gear and the second gear change. 10. The method according to any one of claims 1 to 9,
And a vibrating body bearing having a rolling body and an outer ring disposed outside of the rolling body, between the vibrating body and the shouting gear,
And the inner peripheral surface of the portion located between the two engaging portions of the external gear is in contact with the outer peripheral surface of the outer ring in a state in which the load is applied to the bending gear. Device. 11. The method according to any one of claims 1 to 10,
Wherein the external gear is further provided with a groove between a portion corresponding to the first region and a portion corresponding to the second region.
KR1020147005321A 2011-12-08 2012-07-27 Flexible meshing type gear device KR101493371B1 (en)

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JP5639992B2 (en) 2014-12-10
KR101493371B1 (en) 2015-02-13
WO2013084538A1 (en) 2013-06-13
CN103827543A (en) 2014-05-28
JP2013119919A (en) 2013-06-17
CN103827543B (en) 2016-07-13
DE112012005159T5 (en) 2014-12-04
DE112012005159B4 (en) 2017-10-05

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