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WO2019058798A1 - 撓み噛合い式歯車装置 - Google Patents

撓み噛合い式歯車装置 Download PDF

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Publication number
WO2019058798A1
WO2019058798A1 PCT/JP2018/029643 JP2018029643W WO2019058798A1 WO 2019058798 A1 WO2019058798 A1 WO 2019058798A1 JP 2018029643 W JP2018029643 W JP 2018029643W WO 2019058798 A1 WO2019058798 A1 WO 2019058798A1
Authority
WO
WIPO (PCT)
Prior art keywords
internal gear
bearing
gear
rolling
rolling surface
Prior art date
Application number
PCT/JP2018/029643
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
石塚　正幸
史人 田中
Original Assignee
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Priority to CN201880042010.8A priority Critical patent/CN111164333B/zh
Priority to DE112018005332.6T priority patent/DE112018005332B4/de
Priority to JP2019543472A priority patent/JP7186171B2/ja
Publication of WO2019058798A1 publication Critical patent/WO2019058798A1/ja

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/24—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly
    • F16C19/26—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for radial load mainly with a single row of rollers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
    • F16C19/362—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers the rollers being crossed within the single row
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/44—Needle bearings
    • F16C19/46—Needle bearings with one row or needles
    • F16C19/463—Needle bearings with one row or needles consisting of needle rollers held in a cage, i.e. subunit without race rings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/54—Systems consisting of a plurality of bearings with rolling friction
    • F16C19/546—Systems with spaced apart rolling bearings including at least one angular contact bearing
    • F16C19/547—Systems with spaced apart rolling bearings including at least one angular contact bearing with two angular contact rolling bearings
    • F16C19/548—Systems with spaced apart rolling bearings including at least one angular contact bearing with two angular contact rolling bearings in O-arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts

Definitions

  • the present invention relates to a flexible meshed gear device.
  • a flexible meshed gear device is known as a small-sized, light-weight gear device capable of obtaining a high reduction ratio.
  • an exciter an external gear that is elastically deformed by the exciter, a first internal gear that meshes with the external gear, and an axially adjacent to the first internal gear are disposed.
  • a flexible meshed gear device has been proposed which comprises a main bearing disposed between a member and a second internal gear member (for example, Patent Document 1).
  • the internal gear is inclined due to the moment load from the outside, the internal gear and the external gear are brought into partial contact, and the gear may be worn. .
  • the present invention has been made in view of these circumstances, and it is an object of the present invention to provide a flexible meshing gear device that can suppress gear wear.
  • a flexible meshing gear device includes a vibration generating body, an external gear that is elastically deformed by the vibration generating body, and a first internal gear that meshes with the external gear.
  • a second internal gear axially arranged in line with the first internal gear and meshing with the external gear, a first internal member rotating integrally with the first internal gear, and a second internal gear
  • a second internal gear member integrally rotating with the gear, a main bearing disposed between the first internal gear member and the second internal gear member, and a first internal gear member radially inward of the main bearing And a rolling bearing disposed between the second internal gear member and the second internal gear member.
  • Another aspect of the present invention is a flexible meshed gear device.
  • This device is disposed in axial alignment with the exciter, the external gear that is bent and deformed by the exciter, the first internal gear that meshes with the external gear, and the first internal gear.
  • Deflection meshing comprising a second internal gear meshing with a gear, a first internal gear rotating integrally with the first internal gear, and a second internal gear rotating integrally with the second internal gear
  • the first internal gear member has a first extension portion extended radially outward of the second internal gear.
  • the second internal gear member has a second extension that extends radially outward of the first internal gear.
  • the flexible meshed gear device is further disposed between a first main bearing disposed between the first extension and the second internal gear, and between the second extension and the first internal gear. And a second main bearing.
  • FIG. 10 is a cross-sectional view showing a flexible meshed gear device according to still another modification of the first embodiment. It is an expanded sectional view which expands and shows the main bearing of FIG. 9, a rolling bearing, and those periphery.
  • FIG. 1 is a cross-sectional view showing a flexible meshed gear device 100 according to a first embodiment.
  • the flexible meshed gear device 100 decelerates and outputs the input rotation.
  • the flexible meshed gear device 100 includes a wave generator 2, an external gear 4, a first internal gear 6, a first internal member 7, a second internal gear 8, and a second internal gear.
  • a lubricant for example, grease
  • the lubricant lubricates the meshing portion between the external gear 4 and the first internal gear 6 and the second internal gear 8, the bearings, and the like.
  • the wave generator 2 includes a exciter shaft 22, a first exciter bearing 21 a disposed between the exciter shaft 22 and the external gear 4 (the first external gear 4 a), and an exciter It has the 2nd exciter bearing 21b arrange
  • the first exciter bearing 21a includes a plurality of first rolling elements 24a, a first cage 26a, and a first outer ring member 28a.
  • the second exciter bearing 21b includes a plurality of second rolling elements 24b, a second cage 26b, and a second outer ring member 28b.
  • the exciter shaft 22 is an input shaft, and is connected to a rotational drive source such as a motor, for example, and rotates around the rotational axis R.
  • a rotational drive source such as a motor, for example, and rotates around the rotational axis R.
  • an exciter 22 a having a substantially elliptical cross section orthogonal to the rotation axis R is integrally formed.
  • Each of the plurality of first rolling elements 24a has a substantially cylindrical shape, and is provided at intervals in the circumferential direction in a state where the axial direction is in a direction substantially parallel to the rotation axis R direction.
  • the first rolling element 24a is rotatably held by the first cage 26a, and rolls on the outer peripheral surface 22b of the exciter 22a. That is, although the inner ring of the first exciter bearing 21a is configured integrally with the outer peripheral surface 22b of the exciter 22a, the present invention is not limited to this, and a dedicated inner ring separate from the exciter 22a is provided. May be
  • the second rolling element 24b is configured in the same manner as the first rolling element 24a.
  • the plurality of second rolling elements 24b are rotatably held by the second cage 26b arranged to be axially aligned with the first cage 26a, and roll along the outer peripheral surface 22b of the vibration body 22a. That is, although the inner ring of the second exciter bearing 21b is configured integrally with the outer circumferential surface 22b of the exciter 22a, the present invention is not limited to this, and a dedicated inner ring separate from the exciter 22a is provided. May be Hereinafter, the first rolling element 24a and the second rolling element 24b are collectively referred to as "rolling element 24". In addition, the first holder 26a and the second holder 26b are collectively referred to as "holder 26".
  • the first outer ring member 28a surrounds the plurality of first rolling elements 24a.
  • the first outer ring member 28a has flexibility, and is elliptically bent by the exciter 22a via the plurality of first rolling elements 24a.
  • the first outer ring member 28a is continuously bent and deformed in accordance with the shape of the exciter 22a.
  • the second outer ring member 28 b is configured in the same manner as the first outer ring member 28 a.
  • the second outer ring member 28b is formed separately from the first outer ring member 28a.
  • the second outer ring member 28 b may be formed integrally with the first outer ring member 28 a.
  • the first outer ring member 28a and the second outer ring member 28b are collectively referred to as "the outer ring member 28".
  • the external gear 4 is a flexible annular member, and the exciter 22a, the rolling member 24 and the outer ring member 28 are fitted inside thereof.
  • the external gear 4 is bent in an elliptical shape as the exciter 22a, the rolling element 24 and the outer ring member 28 are fitted.
  • the external gear 4 is continuously bent and deformed in accordance with the shape of the exciter 22a when the exciter 22a rotates.
  • the external gear 4 includes a first external gear 4a located outside the first outer ring member 28a, a second external gear 4b located outside the second outer ring member 28b, and a base 4c.
  • the first external teeth 4a and the second external teeth 4b are formed on a base 4c which is a single base, and have the same number of teeth.
  • the first internal gear 6 is a rigid annular member, and a first internal gear 6a is formed on the inner periphery thereof.
  • the first internal gear portion 6 a surrounds the first external gear portion 4 a of the external gear 4 that is bent in an elliptical shape, and the first external gear portion is formed in a predetermined region (two regions) near the major axis of the exciter 22 a. It meshes with the teeth 4a.
  • the first internal teeth 6a have more teeth than the first external teeth 4a.
  • the second internal gear 8 is disposed axially adjacent to (in line with) the first internal gear 6.
  • the second internal gear 8 is a rigid cylindrical member, and a second internal gear 8a is formed on the inner periphery thereof.
  • the second internal gear portion 8a surrounds the second external gear portion 4b of the external gear 4 bent in an elliptical shape, and the second external portion is formed in a predetermined region (two regions) in the major axis direction of the exciter 22a. It meshes with the teeth 4b.
  • the second internal teeth 8a have the same number of teeth as the second external teeth 4b. Therefore, the second internal gear 8 rotates in synchronization with the rotation of the second external gear 4 b and hence the external gear 4.
  • the first restriction member 12 is a flat ring-shaped member, and is disposed 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 restriction member 14 is a flat ring-shaped member, and is disposed 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 the axial movement of the external gear 4, the outer ring member 28 and the retainer 26.
  • the first internal gear member 7 includes a main body 52 and an extension 54.
  • the main body portion 52 is an annular member, and the first internal gear 6 is provided on the inner peripheral side thereof.
  • the first internal gear 6 and the main body 52 are integrally formed. Therefore, the main body portion 52 and thus the first internal gear 7 rotate integrally with the first internal gear 6.
  • the first internal gear 6 and the main body 52 may be formed separately and then coupled.
  • the extension portion 54 is a substantially cylindrical member.
  • the main body 52 is inlay-fitted to the extension 54 and integrated by a bolt (not shown).
  • the extension portion 54 extends from the main body 52 to the radial outside of the second internal gear 8 and surrounds the second internal gear 8 and the second internal gear 9.
  • the second internal gear member 9 is disposed axially adjacent to the main body portion 52 of the first internal gear member 7.
  • the second internal gear member 9 is a cylindrical member, and the second internal gear 8 is provided on the inner peripheral side thereof.
  • the second internal gear 8 and the second internal gear 9 are integrally formed. Therefore, the second internal gear member 9 rotates integrally with the second internal gear 8.
  • the second internal gear 8 and the second internal gear 9 may be formed separately and then coupled.
  • the main bearing 16 is disposed between the extension 54 and the second internal gear member 9 so that the axial direction coincides with the rotation axis R.
  • the extension 54 and thus the first internal gear 7 supports the second internal gear 9 relatively rotatably via the main bearing 16.
  • the rolling bearing 50 is provided between the first internal gear member 7 and the second internal gear member 9.
  • the rolling bearing 50 allows relative rotation between the first internal gear 7 and the second internal gear 9.
  • the first bearing housing 18 is an annular member and encloses the exciter shaft 22.
  • the second bearing housing 20 is an annular member and encloses the exciter shaft 22.
  • the first bearing housing 18 and the second bearing housing 20 are arranged to axially sandwich the external gear 4, the rolling element 24, the cage 26, the outer ring member 28, the first restricting member 12 and the second restricting member 14. Ru.
  • the first bearing housing 18 is inlay-fitted and bolted to the main body 52 of the first internal gear member 7.
  • the second bearing housing 20 is inlay-fitted and bolted to the second internal gear member 9.
  • a bearing 30 is incorporated on the inner periphery of the first bearing housing 18, a bearing 32 is incorporated on the inner periphery of the second bearing housing 20, and the exciter shaft 22 is interposed between the bearing 30 and the bearing 32. It is rotatably supported with respect to the first bearing housing 18 and the second bearing housing 20.
  • An oil seal 40 is disposed between the exciter shaft 22 and the first bearing housing 18, and an O-ring 34 is disposed between the first bearing housing 18 and the main body 52 of the first internal gear member 7,
  • An O-ring 36 is disposed between the main body 52 and the extension 54 of the first internal gear 7, and an oil seal is provided between the extension 54 of the first internal gear 7 and the second internal gear 9.
  • 42 is disposed, an O-ring 38 is disposed between the second internal gear member 9 and the second bearing housing 20, and an oil seal 44 is disposed between the second bearing housing 20 and the exciter shaft 22. Be done. Thereby, the lubricant in the flexible meshed gear device 100 can be prevented from leaking.
  • FIG. 2 is an enlarged sectional view showing the main bearing 16 and the rolling bearing 50 and their surroundings in an enlarged manner.
  • the main bearing 16 is a cross roller bearing in the present 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 kind of bearing of the main bearing 16 is not specifically limited, For example, a four-point contact ball bearing may be sufficient.
  • the inner race side rolling surface 56 is integrally formed with the second internal gear member 9 on the outer periphery of the second internal gear member 9 facing the extension 54 of the first internal gear member 7.
  • the inner race side rolling surface 56 has a V-shaped cross section including the rotation axis R (not shown in FIG. 2).
  • the inner race side rolling surface 56 includes a first inner race side rolling surface 56 a and a second inner race side rolling surface 56 b.
  • Each of the first inner race side rolling surface 56 a and the second inner race side rolling surface 56 b encloses the rotation axis R.
  • the second inner race side rolling surface 56 b is located on the main body 52 side of the first inner tooth member 7 in the axial direction with respect to the first inner race side rolling surface 56 a.
  • the outer race side rolling surface 58 is integrally formed with the extension 54 on the inner periphery of the extension 54 of the first internal gear 7 facing the second internal gear 9.
  • the outer race side rolling surface 58 has an inverted V-shaped cross section including the rotation axis R.
  • the outer race side rolling surface 58 includes a first outer race side rolling surface 58 a and a second outer race side rolling surface 58 b.
  • the first outer race side rolling surface 58a and the second outer race side rolling surface 58b both surround the rotation axis R.
  • the second outer race side rolling surface 58b is located on the main body 52 side of the first internal gear member 7 in the axial direction with respect to the first outer race side rolling surface 58a.
  • the plurality of rolling elements 60 are provided between the inner race side rolling surface 56 and the outer race side rolling surface 58 at intervals in the circumferential direction.
  • the plurality of rolling elements 60 roll on the inner race side rolling surface 56 and the outer race side rolling surface 58.
  • the rolling bearing 50 is disposed between the first internal gear member 7 and the second internal gear member 9 radially inward of the main bearing 16.
  • the fact that the rolling bearing 50 is disposed radially inward of the main bearing 16 means that the portion of the rolling bearing 50 located radially outward (in this embodiment, the rolling element 66 and its cage)
  • the portion P) located at the radially outermost position is the radial direction of the portion located at the radially outer side of the main bearing 16 (in the present embodiment, the portion Q located at the outermost radial direction of the rolling element 60) It means that it is arranged to be located inside.
  • the rolling bearing 50 is provided so as to overlap the main bearing 16 as viewed in the radial direction.
  • the rolling bearing 50 is a cylindrical roller bearing in the present 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 race side rolling surface 62 encloses the rotation axis R.
  • the inner race side rolling surface 62 is integrally formed with the main body 52 on the end face of the main body 52 of the first internal gear 7 opposed to the second internal gear 9 in the axial direction.
  • the main body 52 may have a dedicated inner ring separate from the main body 52.
  • the outer ring side raceway surface 64 surrounds the rotation axis R.
  • the outer race side rolling surface 64 is integrally formed with the second internal gear member 9 on the end face of the second internal gear member 9 opposed to the main body 52 of the first internal gear member 7 in the axial direction.
  • the outer race side rolling surface 64 is formed such that a cross section including the rotation axis R is parallel to the inner race side rolling surface 62.
  • Each of the plurality of rolling elements 66 has a substantially cylindrical shape. Between the inner race side rolling face 62 and the outer race side rolling face 64, with the plurality of rolling elements 66 facing in a direction substantially parallel to the inner race side rolling face 62 and the outer race side rolling face 64. It is provided at intervals in the circumferential direction. The plurality of rolling elements 66 roll on the inner race side rolling surface 62 and the outer race side rolling surface 64.
  • the rolling bearing 50 is configured such that its action line F1 is inclined with respect to the axial direction (rotational axis R) of the main bearing 16.
  • the inner race side rolling surface 62 is placed closer to the rotation axis R in the axial direction toward the second inner gear member 9 (left side in FIG. 2) with respect to the rotation axis R (ie main bearing It is formed to be inclined with respect to the 16 axial directions).
  • the outer race side rolling surface 64 is placed on the rotation axis R so as to approach the rotation axis R on the side opposite to the main body in the axial direction (left side in FIG. 2) (ie, in the axial direction of the main bearing 16) It is formed to be inclined.
  • the rolling bearing 50 is configured such that its action line F 1 is parallel to the action line F 2 of the main bearing 16.
  • the inner race side rolling surface 62 and the outer race side rolling surface 64 are formed to be orthogonal to the working line F 2 of the main bearing 16.
  • the working line F1 of the rolling bearing 50 and the working line F2 of the main bearing 16 are parallel and the working lines F1 and F2 form an angle ⁇ 1 or ⁇ 2 of 45 degrees with respect to the axial direction of the main bearing 16.
  • the inner race side rolling surface 62 and the outer race side rolling surface 64 of the rolling bearing 50 are formed at 45 degrees with respect to the axial direction of the main bearing 16.
  • the inner race side rolling surface 56 of the main bearing 16 and the outer race side rolling surface 58 are also formed to form 45 degrees with respect to the axial direction of the main bearing 16.
  • the rolling bearing 50 is configured such that the rolling element 66 is located on the action line F2 of the main bearing 16.
  • the action line F2 of the main bearing 16 is on the inner ring side rolling surface 62 and the outer ring side rolling surface 64. It is formed to pass through.
  • the rolling elements 66 of the rolling bearing 50 have crowning.
  • the rolling elements 60 of the main bearing 16 do not have crowning.
  • the number of teeth of the first external gear 4a is 100
  • the number of teeth of the second external gear 4b is 100
  • the number of teeth of the first internal gear 6a is 102
  • the number of teeth of the second internal gear 8a is 100
  • the case of will be described as an example.
  • the case where the second internal gear member 9 and the second bearing housing 20 are connected to the driven member will be described as an example.
  • the second external gear 4b Since the second external gear 4b is integrally formed with the first external gear 4a, the second external gear 4b rotates integrally with the first external gear 4a. Since the second external gear 4b and the second internal gear 8a have the same number of teeth, relative rotation does not occur, and the second external gear 4b and the second internal gear 8a rotate integrally. Therefore, the same rotation as the rotation of the first external gear 4a is output to the second internal gear 8a. As a result, from the second internal gear member 9, an output obtained by decelerating the rotation of the exciter shaft 22 to -1/50 can be taken out.
  • the rolling bearing 50 allowing relative rotation between the first internal gear member 7 and the second internal gear member 9 has a diameter larger than that of the main bearing 16 Inside the direction, it is disposed between (the main body 52 of) the first internal gear member 7 and the second internal gear member 9.
  • an external moment load is applied to the main bearing 16 and also received by the rolling bearing 50.
  • the moment rigidity of the flexible meshing gear device 100 is improved. The improvement of the moment rigidity prevents the external gear from tilting the internal gear due to the external moment load, and prevents the internal gear and the external gear from coming into contact with each other. As a result, the gear wear is suppressed. it can.
  • the rolling bearing 50 is configured such that the action line F1 thereof inclines with respect to the axial direction of the main bearing 16. More preferably, the rolling bearing 50 is configured such that its action line F 1 is parallel to the action line F 2 of the main bearing 16. More preferably, the action line F1 of the rolling bearing 50 and the action line F2 of the main bearing 16 are parallel to each other and form 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 flexible meshed gear device 100 is further improved. Therefore, wear of the gear can be further suppressed.
  • the rolling elements 60 of the main bearing 16 do not have crowning, and the rolling elements 66 of the rolling bearing 50 have crowning. Thereby, the rigidity of the main bearing 16 can be secured, and the misalignment can be suppressed to suppress the edge load.
  • FIG. 3 is a cross-sectional view showing a flexible meshed gear device 200 according to the 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 gear member and the second internal gear member, and instead, two main bearings are provided.
  • differences from the flexible meshing gear device 100 according to the first embodiment will be mainly described.
  • the flexible meshed gear device 200 includes a wave generator 2, an external gear 4, a first internal gear 6, a first internal member 107, a second internal gear 8, and a second internal gear.
  • a first control member 12, a second control member 14, a first main bearing 116, a second main bearing 117, a first bearing housing 18, and a second bearing housing 20 are provided.
  • the first internal gear member 107 includes a first main body 152 and a first extension 154.
  • the first main body portion 152 is an annular member, and the first internal gear 6 is provided on the inner peripheral side thereof.
  • the first internal gear 6 and the first main portion 152 are integrally formed. Therefore, the first main body portion 152 and thus the first internal gear member 107 rotate integrally with the first internal gear 6.
  • the first internal gear 6 and the first body portion 152 may be formed separately and then coupled.
  • the first extension portion 154 is a substantially cylindrical member.
  • the first body portion 152 is inlaid with the first extension portion 154 and integrated by a bolt (not shown).
  • the first extension portion 154 extends from the first main body portion 152 to the radial outer side of the second internal gear 8 and encloses the second internal gear 8 and the second internal gear 109.
  • the second internal gear member 109 includes a second main body 170 and a second extension 172.
  • the second main body portion 170 is an annular member, and the second internal gear 8 is provided on the inner peripheral side thereof.
  • the second internal gear 8 and the second main body portion 170 are integrally formed. Therefore, the second main body portion 170 and the second internal gear member 109 rotate integrally with the second internal gear 8.
  • the second internal gear 8 and the second body portion 170 may be formed separately and then coupled.
  • the second extension 172 is an annular member.
  • the second extension portion 172 is provided on the side of the first inner tooth member 107 (the right side in FIG. 3) of the second main body portion 170 in the axial direction.
  • the second main body portion 170 and the second extension portion 172 are separately formed and then joined by a bolt.
  • 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 main portion 170 to the radial 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 disposed back-to-back between the first internal gear member 107 and the second internal gear member 109.
  • the first internal gear member 107 supports the second internal gear member 109 relatively rotatably via the first main bearing 116 and the second main bearing 117.
  • the first main bearing 116 is disposed between the first extension 154 of the first internal gear 107 and the second main body 170 of the second internal gear 109.
  • the first main bearing 116 is a cylindrical roller bearing in the present embodiment, and includes a first inner race side rolling surface 156, a first outer race side rolling surface 158, and a plurality of rolling elements 160.
  • the first inner race side rolling surface 156 is integrally formed with the second main body portion 170 on the outer periphery of the second main body portion 170 of the second internal gear member 109.
  • the first inner race side rolling surface 156 is formed 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 152 (right side in FIG. 3).
  • the first extension 154 of the first internal gear member 107 is a protrusion projecting radially inward on its inner circumferential side, and has an annular protrusion 154 a that surrounds the rotation axis R.
  • the first outer race side rolling surface 158 is integrally formed with the protrusion 154 a on the inner periphery of the protrusion 154 a.
  • the first outer race side rolling surface 158 is 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 in the same manner as the first inner race side rolling surface 156 It is formed.
  • Each of the plurality of rolling elements 160 has a substantially cylindrical shape, and an axial direction of the plurality of rolling elements 160 is circumferentially spaced in a direction substantially parallel to the first inner race side rolling surface 156 and the first outer race side rolling surface 158 It is provided empty.
  • the plurality of rolling elements 160 roll on the first inner race side rolling surface 156 and the first outer race side rolling surface 158.
  • the second main bearing 117 is disposed between the second extension 172 of the second internal gear 109 and the first extension 154 of the first internal gear 107.
  • the second main bearing 117 is a cylindrical roller bearing in the present embodiment, and includes a second inner race side rolling surface 174, a second outer race side rolling surface 176, and a plurality of rolling elements 178.
  • the second inner race side rolling surface 174 is integrally formed with the second extension 172 on the outer periphery of the second extension 172 of the second internal gear member 109.
  • the second inner race side rolling surface 174 is formed to be inclined with respect to the rotation axis R so as to be closer to the rotation axis R in the axial direction toward the first main body side (left side in FIG. 3).
  • the second outer ring side rolling surface 176 is integrally formed with the protrusion 154a on the inner periphery of the protrusion 154a.
  • the second outer race side rolling surface 176 is formed closer to the first main body portion 152 than the first outer race side rolling surface 158 in the axial direction.
  • the second outer ring side rolling surface 176 is inclined with respect to the rotation axis R so as to be closer to the rotation axis R in the axial direction toward the first main body portion. It is formed.
  • the plurality of rolling elements 178 each have a substantially cylindrical shape, and an interval in the circumferential direction is made in a state where the axial direction is in a direction substantially parallel to the second inner race side raceway 174 and the second outer race side raceway 176. It is provided empty. The plurality of rolling elements 178 roll on the second inner race side rolling surface 174 and the second outer race side rolling surface 176.
  • the inner ring and the outer ring are integrally configured with the first inner tooth member 107 and the second inner tooth member 109.
  • the present invention is not limited to this, and a dedicated inner ring and outer ring separate from the first internal gear member 107 and the second internal gear member 109 may be provided.
  • the type of rolling element is not particularly limited, and may be, for example, a ball or a tapered roller.
  • the two main bearings 116, 117 are disposed between the first internal gear member 107 and the second internal gear member 109.
  • the bearing span can be increased, and the moment rigidity is improved. Therefore, wear of the gear can be suppressed.
  • the action point distance can be further increased, and the moment rigidity is further improved.
  • FIG. 4 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 250 of the flexible meshed gear device according to the modification of the first embodiment and the periphery thereof.
  • FIG. 4 corresponds to FIG. 2 of the first embodiment.
  • the flexible meshed gear device includes a rolling bearing 250 instead of the rolling bearing 50.
  • the rolling bearing 250 is a ball bearing in this modification.
  • the rolling bearing 250 is an angular ball bearing, but may be another type of ball bearing.
  • 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.
  • the inner race side raceway surface 262 and the outer race side raceway surface 264 both surround the rotation axis R.
  • the inner race side rolling surface 262 is integrally formed with the main body 52 on the end face of the main body 52 of the first internal gear 7 opposed to the second internal gear 9 in the axial direction.
  • the outer race side rolling surface 264 is integrally formed with the second internal gear member 9 on the end face of the second internal gear member 9 opposed to the main body 52 of the first internal gear member 7 in the axial direction.
  • Each of the plurality of rolling elements 266 has a spherical shape.
  • the plurality of rolling elements 266 are provided between the inner race side rolling surface 262 and the outer race side rolling surface 264 at intervals in the circumferential direction, and the inner race side rolling surface 262 and the outer race side rolling surface 264 Run.
  • the inner race side rolling surface 262 and the outer race side rolling surface 264 are formed such that the action line F2 of the main bearing 16 passes through.
  • the inner ring side rolling surface 262 and the outer ring side rolling surface 264 have a substantially arc shape in cross section including the rotation axis R, and the action line F1 of the rolling bearing 250 is inclined with respect to the axial direction of the main bearing 16 Formed as.
  • the action line F1 of the rolling bearing 250 is parallel to the action line F2 of the main bearing 16, and each of the action lines F1 and F2 is a main bearing
  • the angles ⁇ 1 and ⁇ 2 formed with respect to the 16 axial directions are set to 45 degrees.
  • FIG. 5 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 350 of the flexible meshing gear device according to another modification of the first embodiment and the periphery thereof.
  • FIG. 5 corresponds to FIG. 2 of the first embodiment.
  • the flexible meshing gear device includes a rolling bearing 350 instead of the rolling bearing 50.
  • the rolling bearing 350 is a cylindrical roller bearing as in the first embodiment, and includes an inner ring side rolling surface 362, an outer ring side rolling surface 364 and a plurality of rolling elements 66.
  • the main body portion 52 of the first internal gear member 7 is formed with an annular recess 52 a that is recessed toward the second internal gear member side in the axial direction on the end surface facing the second internal gear member 9 in the axial direction.
  • the inner race side raceway surface 362 is integrally formed with the main body portion 52 on the peripheral wall on the inner peripheral side of the recess 52 a.
  • a cross section including the rotation axis R is parallel to the axial direction.
  • the second internal gear member 9 has an annular projecting portion 9 a projecting on the side of the main body portion 52 in the axial direction on the end surface facing the main body portion 52 of the first internal gear member 7 in the axial direction.
  • the outer race side rolling surface 364 is integrally formed with the protrusion 9 a on the inner periphery of the protrusion 9 a.
  • the cross section including the rotation axis R is parallel to the axial direction.
  • Each of the plurality of rolling elements 66 has the axial direction facing the inner ring side raceway 362 and the outer ring side raceway 364 in a direction substantially parallel to the inner ring side raceway 362 and the outer ring side raceway 364. It is provided at intervals in the circumferential direction.
  • the plurality of rolling elements 66 roll on the inner race side rolling surface 362 and the outer race side rolling surface 364.
  • the axial direction of the rolling element 66 is also parallel to the rotation axis R.
  • the same operation and effect as the operation and effect exhibited by the flexible meshed gear device 100 according to the embodiment can be achieved.
  • the inner race side rolling surface 362 is formed in the recess 52 a. Therefore, at least a portion of each of the plurality of rolling elements 66 is located in the recess 52a.
  • the main body 52 of the first internal gear member 7 is provided with a projection projecting toward the second internal gear member 9 in the axial direction, and the inner race side rolling surface 362 is formed in this projection.
  • the axial dimension of the flexible meshed gear can be reduced.
  • a protrusion may be formed on the main body 52 of the first internal gear member 7 and a recess may be formed on the second internal gear member 9.
  • FIG. 6 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 450 of the flexible mesh gear device according to still another modification of the first embodiment and the periphery thereof.
  • FIG. 6 corresponds to FIG. 5 of the second modification.
  • the flexible meshing gear device includes a rolling bearing 450 instead of the rolling bearing 350.
  • the rolling bearing 450 is a ball bearing in this modification.
  • the 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 race side rolling surface 462 is integrally formed with the main body 52 on the peripheral wall on the inner peripheral side of the recess 52 a formed in the main body 52 of the first internal gear member 7.
  • the outer race side rolling surface 464 is integrally formed with the main body 52 on the inner periphery of the protrusion 9 a formed on the second internal gear member 9.
  • the plurality of rolling elements 266 are disposed between the inner ring side rolling surface 462 and the outer ring side rolling surface 464, and roll on the inner ring side rolling surface 462 and the outer ring side rolling surface 464.
  • the same operation and effect as the operation and effect exhibited by the flexible meshed gear device 100 according to the embodiment can be achieved.
  • the inner race side rolling surface 462 is formed in the recess 52a. Therefore, at least a portion of each of the plurality of rolling elements 266 is located in the recess 52a.
  • the main body 52 of the first internal gear member 7 is provided with a projection projecting toward the second internal gear member 9 in the axial direction, and the inner race side rolling surface 462 is formed in this projection.
  • the axial dimension of the flexible meshed gear can be reduced.
  • a protrusion may be formed on the main body 52 of the first internal gear member 7 and a recess may be formed on the second internal gear member 9.
  • FIG. 7 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 550 of the flexible meshing gear device according to still another modification of the first embodiment and the periphery thereof.
  • FIG. 7 corresponds to FIG. 5 of the second modification.
  • the flexible meshed gear device includes a rolling bearing 550 instead of the rolling bearing 350.
  • the rolling bearing 550 is a cylindrical roller bearing in this modification.
  • the 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 peripheral wall on the inner peripheral side of the recess 52 a formed in the main body portion 52 by bonding or press fitting, or by using both bonding and press fitting.
  • the outer ring member 564 is fixed to the inner periphery of the projecting portion 9 a by bonding or press fitting, or by using both bonding and press fitting.
  • the plurality of rolling elements 66 are disposed between the inner ring member 562 and the outer ring member 564 and roll along 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 function as rolling surfaces.
  • FIG. 8 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 650 of the flexible mesh gear device according to still another modification of the first embodiment and the periphery thereof.
  • FIG. 8 corresponds to FIG. 6 of the third modification.
  • the flexible meshed gear device includes a rolling bearing 650 instead of the rolling bearing 450.
  • the rolling bearing 650 is a ball bearing in this modification.
  • the 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 peripheral wall on the inner peripheral side of the recess 52 a formed in the main body portion 52 by bonding or press fitting, or by using both bonding and press fitting.
  • the outer ring member 664 is fixed to the inner periphery of the protrusion 9 a by bonding or press-fitting, or by using both bonding and press-fitting.
  • the plurality of rolling elements 266 are disposed between the inner ring member 662 and the outer ring member 664, and roll along 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 a rolling surface.
  • FIG. 9 is a cross-sectional view showing a flexible meshed gear device 400 according to a modification of the first embodiment.
  • FIG. 10 is an enlarged sectional view showing the main bearing 16 and the rolling bearing 750 of FIG. 9 and their surroundings in an enlarged manner. 9 and 10 correspond to FIGS. 1 and 2 of the first embodiment, respectively.
  • the flexible meshed gear device 400 includes a rolling bearing 750 instead of the rolling bearing 50.
  • the flexible meshed gear device 400 includes a wave generator 2, an external gear 4, a first internal gear 6, a first internal member 7, a second internal gear 8, and a second internal gear.
  • the rolling bearing 750 is a thrust ball bearing in this modification.
  • the rolling bearing 750 includes a disk-shaped first bearing washer 762 and a second bearing washer 764, and a plurality of rolling elements 266.
  • the main body portion 52 of the first internal gear member 7 is formed with an annular recess 52a which is recessed toward the second internal gear member side in the axial direction on the end surface facing the second internal gear member 9 in the axial direction .
  • the first bearing washer 762 is fixed to the peripheral wall on the inner peripheral side of the recess 52 a by bonding or press fitting, or by using both bonding and press fitting. Therefore, at least a portion of the first bearing washer 762 is located in the recess 52a.
  • the second internal gear member 9 has an annular projecting portion 9 a projecting on the side of the main body portion 52 in the axial direction on the end surface facing the main body portion 52 of the first internal gear member 7 in the axial direction.
  • the second bearing washer 764 is fixed to the inner periphery of the projecting portion 9a by bonding or press fitting, or by using a combination of bonding and press fitting.
  • the plurality of rolling elements 266 are disposed between the first bearing washer 762 and the second bearing washer 764, and face an opposite surface 762a of the first bearing washer 762 facing the second bearing washer 764, and the first bearing washer 762 And the opposing surface 764a of the 2nd bearing plate 764 which opposes. That is, the opposing surface 762a of the first bearing plate 762 and the opposing surface 764a of the second bearing plate 764 each function as a rolling surface. Note that each of the plurality of rolling elements 266 may be at least partially located in the recess 52a.
  • the same operation and effect as the operation and effect exhibited by the flexible meshed gear device according to the first embodiment can be achieved.
  • the first bearing washer 762 is at least partially located in the recess 52a.
  • the rolling bearing 750 since the rolling bearing 750 is a thrust bearing, it may be assembled in the axial direction between the first internal gear member 7 and the second internal gear member 9, so that the assembling property is improved.
  • a protrusion may be formed on the main body 52 of the first internal gear member 7 and a recess may be formed on the second internal gear member 9.
  • FIG. 11 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 850 of the flexible mesh gear device according to still another modification of the first embodiment and the periphery thereof.
  • FIG. 11 corresponds to FIG. 10 of the sixth modification.
  • the flexible meshed gear device includes a rolling bearing 850 instead of the rolling bearing 750.
  • the rolling bearing 850 is a thrust ball bearing in this modification.
  • the rolling bearing 850 includes a first rolling surface 862, a second rolling surface 864, and a plurality of rolling elements 266.
  • the first rolling surface 862 is integrally formed with the main body 52 on the bottom surface of the recess 52 a (the surface facing the second internal gear member 9 in the axial direction).
  • the second rolling surface 864 is integrally formed with the second internal gear member 9 at the axial end surface of the second internal gear member 9 opposed to the main body 52 of the first internal gear member 7 in the axial direction.
  • the plurality of rolling elements 266 are disposed between the first rolling surface 862 and the second rolling surface 864, and roll on the first rolling surface 862 and the second rolling surface 864.
  • the rolling bearing 850 is a thrust bearing, so that the assembling property is improved.
  • the first rolling surface 862 is formed in the recess 52a. Therefore, at least a portion of each of the plurality of rolling elements 266 is located in the recess 52a. As a result, the axial dimension of the flexible meshed gear can be reduced as compared with the case where the recess 52a is not provided.
  • an annular recess may be formed on the end face of the second internal gear member 9 opposed to the main body 52 in the axial direction so as to be opposite to the main body in the axial direction.
  • FIG. 12 is an enlarged sectional view showing the main bearing 16 and the rolling bearing 950 of the flexible mesh gear device according to still another modification of the first embodiment and the periphery thereof.
  • FIG. 12 corresponds to FIG. 10 of the sixth modification.
  • the flexible meshed gear device includes a rolling bearing 950 instead of the rolling bearing 650.
  • the rolling bearing 950 is a thrust cylindrical roller bearing in this modification.
  • the rolling bearing 950 includes a disk-shaped first bearing washer 962 and a second bearing washer 964, and a plurality of rolling elements 66.
  • the first bearing washer 962 is fixed to the peripheral wall on the inner peripheral side of the recess 52 a by bonding or press-fitting, or by using a combination of bonding and press-fitting. Therefore, at least a portion of the first bearing washer 962 is located in the recess 52a.
  • the second bearing washer 764 is fixed to the inner periphery of the protrusion 9 a by bonding or press-fitting, or by using a combination of bonding and press-fitting.
  • Each of the plurality of rolling elements 66 is disposed 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
  • the opposing surface 962 a of the first bearing plate 962 and the opposing surface 964 a of the second bearing plate 964 facing the first bearing plate 962 are rotated. That is, the facing surface 962a of the first bearing plate 962 and the facing surface 964a of the second bearing plate 964 function as rolling surfaces.
  • At least a part of each of the plurality of rolling elements 66 may be located in the recess 52a.
  • FIG. 13 is an enlarged cross-sectional view showing the main bearing 16 and the rolling bearing 1050 of the flexible mesh gear device according to still another modification of the first embodiment and the periphery thereof.
  • FIG. 13 corresponds to FIG. 11 of the seventh modification.
  • the flexible meshed gear device includes a rolling bearing 1050 instead of the rolling bearing 750.
  • the rolling bearing 1050 is a thrust cylindrical roller bearing in this modification.
  • the rolling bearing 1050 includes a first rolling surface 1062, a second rolling surface 1064, and a plurality of rolling elements 66.
  • the first rolling surface 1062 is integrally formed with the main body portion 52 on the bottom surface of the recess 52 a (the surface facing the second internal gear member 9 in the axial direction).
  • the second rolling surface 1064 is integrally formed with the second internal gear member 9 on the end face of the second internal gear member 9 opposed to the main body 52 of the first internal gear member 7 in the axial direction.
  • the plurality of rolling elements 66 are disposed between the first rolling surface 1062 and the second rolling surface 1064 and roll on the first rolling surface 1062 and the second rolling surface 1064.
  • FIG. 14 is a cross-sectional view showing a flexible meshed 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 the two main bearings.
  • the second main body portion 170 and the second extension portion 172 of the second internal gear member 109 are integrally formed.
  • the second body portion 170 and the second extension portion 172 may be formed separately and then coupled.
  • a first main bearing 716 and a second main bearing 717 are provided instead of the first main bearing 116 and the second main bearing 117.
  • the first main bearing 716 and the second main bearing 717 are disposed face-to-face between the first internal gear member 107 and the second internal gear member 109.
  • the first main bearing 716 is disposed between the first extension 154 of the first internal gear 107 and the second main body 170 of the second internal gear 109.
  • the first inner race side rolling surface 756 of the first main bearing 716 is integrally formed with the second main body portion 170 on the outer periphery of the second main body portion 170 of the second internal gear member 109.
  • the first inner race side rolling surface 756 is formed to be inclined with respect to the rotation axis R so as to be closer to the rotation axis R in the axial direction toward the first main body side (left side in FIG. 14) in this modification. Be done.
  • the second outer race side rolling surface 758 is integrally formed with the protrusion 154 a on the inner periphery of the protrusion 154 a. Similarly to the first inner ring side rolling surface 756, the second outer ring side rolling surface 758 is inclined with respect to the rotation axis R so as to be closer to the rotation axis R in the axial direction toward the first main body side. It is formed.
  • the second main bearing 717 is disposed between the first main body portion 152 of the first internal gear member 107 and the second extension 172 of the second internal gear member 109.
  • the second inner race side rolling surface 774 of the second main bearing 717 is integrally formed with the second extension 172 on the outer periphery of the second extension 172 of the second internal gear member 109.
  • the second inner race side rolling surface 774 is formed to be inclined with respect to 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. Be done.
  • the second outer race side raceway surface 776 is formed on the end face of the first main body portion 152 of the first internal gear member 107 opposed to the second extension portion 172 of the second internal gear member 109 in the axial direction, It is integrally formed.
  • the second outer race side rolling surface 776 is similar to the second inner race side rolling surface 774 in that the rotation axis R is closer to the rotation axis R in the axial direction toward the first main body 152 (right side in FIG. 14). It is formed to be inclined with respect to it.
  • the present invention is applicable to a flexible meshed gear device.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Rolling Contact Bearings (AREA)
PCT/JP2018/029643 2017-09-20 2018-08-07 撓み噛合い式歯車装置 WO2019058798A1 (ja)

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WO2022270670A1 (ko) * 2021-06-25 2022-12-29 주식회사 에스비비테크 파동 기어 장치

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JP7419193B2 (ja) 2020-08-27 2024-01-22 住友重機械工業株式会社 撓み噛合い式歯車装置
CN112628291A (zh) * 2020-12-07 2021-04-09 珠海格力电器股份有限公司 交叉滚子轴承、谐波减速器以及具有其的机器人
DE102022106949A1 (de) 2022-03-24 2023-09-28 Schaeffler Technologies AG & Co. KG Lager für ein Wellgetriebe und Wellgetriebe mit einem solchen Lager

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DE112018005332T5 (de) 2020-06-18
DE112018005332B4 (de) 2023-06-22

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