CN105008763A - Flexible meshing type gear device - Google Patents
Flexible meshing type gear device Download PDFInfo
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- CN105008763A CN105008763A CN201380073367.XA CN201380073367A CN105008763A CN 105008763 A CN105008763 A CN 105008763A CN 201380073367 A CN201380073367 A CN 201380073367A CN 105008763 A CN105008763 A CN 105008763A
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- Prior art keywords
- limiting part
- roller bearing
- gear
- external gear
- face
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Classifications
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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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
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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
- 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
- F16H57/022—Adjustment of gear shafts or bearings
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
- General Details Of Gearings (AREA)
- Rolling Contact Bearings (AREA)
Abstract
A flexible meshing type gear device (100) is provided with a vibration generator (104), an externally toothed gear (120), a roller bearing (110), and an internally toothed gear (130). First restriction members (150), which are thrust bearings for restricting the movement of the retainers (114) of the roller bearing (110) in the direction of the axis (O) of the roller bearing (110), are provided between the roller bearing (110), and a stationary wall (136) and an output device (138), the stationary wall (136) and the output device (138) being installed at the sides of the roller bearing (110) in the direction of the axis (O). This configuration is capable of reducing the end surface loss of the retainer of the roller bearing caused by the roller bearing due to the axial movement of the retainers of the roller bearing.
Description
Technical field
The present invention relates to a kind of flexible engagement gear device.
Background technique
Flexible engagement gear device described in patent documentation 1 possesses: play vibration body; The external gear of tubular, is configured at this periphery of playing vibration body and has and play the rotation of vibration body and the pliability of deflection deformation by this; Roller bearing, is configured at this and rises between vibration body and this external gear; 1st internal gear, supplies this external gear internal messing and has rigidity; 2nd internal gear, to be arranged side by side with the 1st internal gear and to have rigidity with described external gear internal messing.
Conventional art document
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2012-2318 publication
Summary of the invention
The technical task that invention will solve
In patent documentation 1 record flexible engagement gear device in, rise be configured with roller bearing between vibration body and the external gear of tubular, when carrying out transmission of torque, the roller of this roller bearing likely can be twisted.If roller is twisted, then roller bearing can move to parts (side parts) side of axial side of the roller bearing being configured at flexible engagement gear device.Thus, the end face of the retainer of roller bearing can collide with side parts and slides thus produce frictional loss (losing also referred to as end face) at the end face of retainer.
Therefore, the present invention completes for solving the problem, the flexible engagement gear device of the end face caused by the roller bearing loss that its problem is to provide a kind of retainer that can reduce because of roller bearing to move axially and produces.
For the means of technical solution problem
The present invention solves above-mentioned problem by following flexible engagement gear device, that is, this flexible engagement gear device possesses: play vibration body; The external gear of tubular, is configured at this periphery of playing vibration body and has and play the rotation of vibration body and the pliability of deflection deformation by this; Roller bearing, is configured at this and rises between vibration body and this external gear; 1st internal gear, supplies this external gear internal messing and has rigidity; And the 2nd internal gear, to be arranged side by side with the 1st internal gear and with described external gear internal messing, to there is rigidity, wherein, between the side parts of axial side being configured at described roller bearing and this roller bearing, be configured with the 1st limiting part that the retainer that limits this roller bearing moves axially, the friction factor between the end face of this retainer and the 1st limiting part or the friction factor between the 1st limiting part and this side parts are less than the friction factor between the end face of this retainer and described side parts.
In the present invention, between side parts and roller bearing, be configured with the 1st limiting part.And the friction factor between the end face of retainer and the 1st limiting part or the friction factor between the 1st limiting part and side parts are less than the friction factor between the end face of the retainer of roller bearing and side parts.Namely, in the present invention, even if roller bearing moves axially because of twisted, retainer is caused to collide via the 1st limiting part and side parts, also can between the end face of the less retainer of friction factor and the 1st limiting part, or slide between less the 1st limiting part of friction factor and side parts.That is, compared with losing with end face and the direct slip of side parts because of the large retainer of friction factor and the end face that produces, the present invention can reduce end face loss.
Invention effect
According to the present invention, the end face caused by the roller bearing loss that the retainer that can reduce because of roller bearing moves axially and produces.
Accompanying drawing explanation
Fig. 1 is for representing the sectional view of an integrally-built example of the flexible engagement gear device involved by the 1st mode of execution of the present invention.
In Fig. 2, (A) is for representing the plan view playing vibration body of Fig. 1, and in Fig. 2, (B) is for representing the sectional view playing vibration body of Fig. 1.
Fig. 3 is the schematic diagram playing an example of the position relationship between vibration body, roller bearing, external gear and the 1st limiting part, the 2nd limiting part representing Fig. 1.
Fig. 4 is the schematic diagram playing an example of the position relationship between vibration body, roller bearing, external gear and internal gear representing Fig. 1.
Fig. 5 is for representing the schematic diagram of an example of the position relationship between the 1st limiting part shown in Fig. 3, the 2nd limiting part.
Fig. 6 is for representing the sectional view of an integrally-built example of the flexible engagement gear device involved by the 2nd mode of execution of the present invention.
Embodiment
Below, be described in detail with reference to the example of accompanying drawing to the 1st mode of execution of the present invention.
First, the overall structure of present embodiment is outlined.
As shown in Figure 1, flexible engagement gear device 100 possesses: play vibration body 104; The external gear 120 (120A, 120B) of tubular, has been configured at the periphery of vibration body 104 and has had the pliability of deflection deformation by a rotation of vibration body 104; Roller bearing 110 (110A, 110B), has been configured between vibration body 104 and external gear 120; To slow down with internal gear (the 1st internal gear) 130A, for external gear 120A internal messing, there is rigidity; And export with internal gear (the 2nd internal gear) 130B, be arranged side by side with deceleration internal gear 130A and with external gear 120B internal messing there is rigidity (in addition, deceleration internal gear 130A and output internal gear 130B being referred to as internal gear 130).And, be configured at the fixed wall 136 of axial O side of roller bearing 110A, 110B, output unit 138 (side parts) respectively and between roller bearing 110A, 110B, be configured with the 1st limiting part 150A, 150B (150) of the axial O movement of retainer 114A, 114B (114) limiting roller bearing 110A, 110B.Wherein, the 1st limiting part 150 is thrust bearing.
Below, each constitutive requirements are described in detail.
As shown in Figure 1 and Figure 2, vibration body 104 is played in roughly cylindrical shape.Specifically, a vibration body 104 possesses the engagement range FA based on certain radius of curvature r1 centered by the position of eccentric (eccentricity L), and in the shape that multiple radius of curvature is combined.And, play vibration body 104 and realize the engagement of external gear 120A and deceleration internal gear 130A and the engagement of external gear 120B and output internal gear 130B at engagement range FA.Play vibration body 104 and be formed with input shaft bore 106 for inserting input shaft 102 in central authorities.In order to make vibration body 104 and input shaft 102 rotate integrally when to be inserted at input shaft 102 in input shaft bore 106 and to rotate, input shaft bore 106 is provided with keyway 108.In addition, input shaft 102 is supported on fixed wall 136 via the rotatable earth's axis of bearing 140,142.
As shown in Figure 1, roller bearing 110 is for being configured at the bearing between the outside of vibration body 104 and the inner side of external gear 120.Roller bearing 110A (110B) is by inner ring 112, retainer 114A (114B), form as the roller 116A (116B) of rolling element and outer ring 118A (118B).Inner ring 112 supporting roller 116A, 116B, and be configured to contact with the periphery of playing vibration body 104.In addition, roller 116A (116B), as long as cylindrical, also comprises needle roller shape.Retainer 114 (114A, 114B) keeps roller 116A, 116B can rotate across certain intervals each other in the circumferential to make it.Outer ring 118A (118B) is configured at the outside of roller 116A (116B).The rotation of vibration body 104 has been passed through and deflection deformation in outer ring 118 (118A, 118B), thus the external gear 120 be configured at outside it is radially out of shape.The 1st limiting part 150 (aftermentioned) is configured with outside the axial O of roller bearing 110.
As shown in Figure 1, external gear 120 is made up of base member 122 and external tooth 124 (124A, 124B), and in tubular.Base member 122 for having flexual cartridge, and is configured at the outside of roller bearing 110.As shown in Figure 1, external tooth 124 is split on axial O, but the base member 122 supporting this external tooth 124 respectively forms as one and shared.In addition, in order to realization theory engagement, according to the profile of tooth of trochoid determination external tooth 124.The 2nd limiting part 152 (aftermentioned) is configured with outside the axial O of external gear 120.
As shown in Figure 1, deceleration internal gear 130A is formed by the parts with rigidity.Deceleration internal gear 130A possess the external tooth 124A of gear ratio external gear 120A the many i of the number of teeth (i=2,4 ...) the internal tooth 128A of sheet.In deceleration with on internal gear 130A, be fixed with the fixed wall 136 for fixing flexible engagement gear device 100 via bolt hole 132A with bolt 134A.Deceleration internal gear 130A contributes the deceleration of the rotation playing vibration body 104 by engaging with external gear 120A.Internal tooth 128A is shaped to and can engages with the external tooth 124A theory based on trochoid.
On the other hand, as shown in Figure 1, identical with deceleration internal gear 130A, output internal gear 130B is also formed by the parts with rigidity.Output internal gear 130B possesses the number of teeth internal tooth 128B (constant-speed transmission) identical with the number of teeth of the external tooth 124B of external gear 120B.In output with on internal gear 130B, be fixed with output unit 138 via bolt hole 132B with bolt 134B, this output unit 138 transmit the output had from flexible engagement gear device 100.
In addition, as shown in Figure 1, in present embodiment, the axial O length playing vibration body 104, roller bearing 110 and external gear 120 being positioned at the radially inner side of internal gear 130 is shorter than the axial O length of internal gear 130, and is configured with the 1st limiting part 150 and the 2nd limiting part 152 (aftermentioned) at the radially inner side of internal gear 130.But be not limited to this, playing vibration body, roller bearing and external gear also can be identical with the axial O length of internal gear.
Then, Fig. 1, Fig. 3 ~ Fig. 5 is utilized to be described in detail to the 1st limiting part 150 (150A, 150B), the 2nd limiting part 152 (152A, 152B).
1st limiting part 150A is configured at roller bearing 110A and is configured between the fixed wall 136 of axial O side of roller bearing 110A, 1st limiting part 150B is configured at roller bearing 110B and is configured between the output unit 138 of axial O side of roller bearing 110B, moves with the axial O limiting retainer 114A, 114B.And as shown in Figure 1, the 1st limiting part 150 is configured at the radially inner side of the 2nd limiting part 152.As mentioned above, the 1st limiting part 150 is the thrust bearing of ring-type, and has 2 lassos and be clipped in the rolling element (rolling element can be ball also can be roller (needle roller)) between 2 lassos.
As shown in Figure 1, the end face outside 150AA (150BA) of a lasso is fixed on the side 136A (the side 138A of output unit 138) of fixed wall 136 with the mode of the end face 114AC (114BC) of retainer 114A (114B) adjacent (having gapless) to make the inner side end 150AB (150BB) of another lasso on axial O.Namely, can say that present embodiment is configured to, the coefficientoffrictionμ 2 between the 1st limiting part 150A (150B) and the end face 114AC of retainer 114A is less than the coefficientoffrictionμ 0 (μ 2 < μ 0) between the end face 114AC (the end face 114BC of retainer 114B) of retainer 114A and fixed wall 136 (output unit 138).
2nd limiting part 152A, 152B is and the 1st limiting part 150 independently parts, and it is configured between fixed wall 136 and external gear 120 and between output unit 138 and external gear 120 respectively, and the axial O of restriction external gear 120 moves.And as shown in Figure 1, the 2nd limiting part 152A, 152B is configured at the radial outside of the 1st limiting part 150A, 150B and the radially inner side of deceleration internal gear 130A, output internal gear 130B respectively.2nd limiting part 152A, 152B is the low friction means be made up of resin (the heat resistance macromolecule resin that slip resistance is lower and PEEK material, nylon, fluorine resin etc.), and circular in configuration.That is, the 1st limiting part 150 is different from the material of the 2nd limiting part 152.
As shown in Figure 1, the end face outside 152AA (152BA) of the 2nd limiting part 152A (152B) is fixed on the side 136A (the side 138A of output unit 138) of fixed wall 136 with the mode of the end face 118AC (118BC) of the end face 120AC (120BC) of external gear 120A (120B) and outer ring 118A (118B) adjacent (having gapless) to make the inner side end 152AB (152BB) of the 2nd limiting part 152A (152B) on axial O.And the coefficientoffrictionμ 4 between the end face 120AC of external gear 120A and the 2nd limiting part 152A (the end face 120BC of external gear 120B and the 2nd limiting part 152B) is less than the coefficientoffrictionμ 3 (μ 4 < μ 3) between the end face 120AC of external gear 120A and fixed wall 136 (the end face 120BC of external gear 120B and output unit 138).
In addition, 2nd limiting part 152A, 152B also can not be fixed on fixed wall 136, output unit 138, now, the coefficientoffrictionμ 5 between the 2nd limiting part 152A and fixed wall 136 (the 2nd limiting part 152B and output unit 138) is less than the coefficientoffrictionμ 3 (μ 5 < μ 3) between the end face 120AC of external gear 120A and fixed wall 136 (the end face 120BC of external gear 120B and output unit 138).
Fig. 3 has represented an example of the position relationship between vibration body 104, roller bearing 110, external gear 120 and the 1st limiting part 150, the 2nd limiting part 152.Substantially be configured to, when observing from axial O, the 1st limiting part 150 is overlapping with retainer 114 in the position of minor axis Y, and the 2nd limiting part 152 is overlapping with external gear 120 and outer ring 118 in the position of major axis X.Below, Fig. 4, Fig. 5 is utilized to be specifically described the position relationship between each constitutive requirements.
In flexible engagement gear device 100, if compare playing the rotational speed omega 1 of vibration body 104 (comprising inner ring 112), the rotational speed omega 2 of the retainer 114 of roller bearing 110 and the rotational speed omega 3 of external gear 120 (comprising outer ring 118), the rotational speed omega 1 then playing vibration body 104 is the fastest, the rotational speed omega 3 the slowest (ω 1 > ω 2 > ω 3) of external gear 120.Therefore, preferably not overlapping with a vibration body 104 and external gear 120 throughout whole circumference by axial O is configured to the 1st limiting part 150 that retainer 114 adjoins on axial O.Meanwhile, preferably the 2nd limiting part 152 adjacent with external gear 120 on axial O is configured on axial O not overlapping with retainer 114 and internal gear 130 throughout whole circumference.In addition, the relation between the major axis X length of vibration body 104 and minor axis Y length has suitably been changed according to the design of reduction speed ratio etc.Therefore, in present embodiment, in order to rotational speed omega 3 mutual noninterference of the rotational speed omega 2 with external gear 120 that make the retainer 114 of roller bearing 110, the external diameter R2 of the 1st limiting part 150 is set to the minimum inner circumferential footpath Roi (R2 < Roi) of the outer ring 118 being less than roller bearing 110, the internal diameter R3 of the 2nd limiting part 152 is set to the maximum outside diameter Rro (R3 > Rro) of end face 114AC, 114BC of being greater than retainer 114.In addition, as shown in Figure 4, the minimum inner circumferential footpath Roi of the outer ring 118 of roller bearing 110 obtains in the position of minor axis Y, and the maximum outside diameter Rro of end face 114AC, 114BC of retainer 114 obtains in the position of major axis X.
Further, as shown in Figure 3, in the position of major axis X, the 1st limiting part 150 with play the overlapping position of vibration body 104 and become maximum.Therefore, the internal diameter R1 of the 1st limiting part 150 is for forming the diameter of the thrust bearing supporting MIN twisted produced load.
Then, the action of Fig. 1 to flexible engagement gear device 100 is utilized to be described.
If rise a vibration body 104 rotated by the rotation of input shaft 102, then external gear 120 according to this rise vibration body 104 rotation status and via roller bearing 110 deflection deformation (that is, external gear 120B is with the phase place deflection deformation identical with external gear 120A).
External gear 120 has passed through vibration body 104 and deflection deformation, and thus, at engagement range FA, external tooth 124 moves to radial outside and engages with the internal tooth 128 of internal gear 130.
The engaging position of external gear 120A and deceleration internal gear 130A is in rotary moving along with the rotation of a vibration body 104.At this, if play a vibration body 104 to rotate 1 time, then to postpone the number of teeth of itself and deceleration internal gear 130A poor for the rotatable phase of external gear 120A.That is, the reduction speed ratio of the external gear 120A produced by the deceleration internal gear 130A being fixed on fixed wall 136 can be obtained according to (number of teeth of (number of teeth of the number of teeth-deceleration internal gear 130A of external gear 120A)/external gear 120A).
External gear 120B is identical with the number of teeth of output internal gear 130B, and therefore the intermeshing part of external gear 120B and output internal gear 130B can not move and be engaged with each other with same tooth.Therefore, the rotation identical with the rotation of external gear 120B (external gear 120A) is exported from output internal gear 130B.Its result, the output unit 138 being connected to output internal gear 130B can export the output after the rotation of input shaft 102 being slowed down according to the reduction speed ratio produced by deceleration internal gear 130A.
So, in present embodiment, between fixed wall 136 (output unit 138) and roller bearing 110, be configured with the 1st limiting part 150.At this, the 1st limiting part 150 is thrust bearing.Therefore, present embodiment can prevent the end face 114AC (the end face 114BC of retainer 114B) of retainer 114A and the direct slip of fixed wall 136 (output unit 138).And, the sliding friction between the end face 114AC of retainer 114A (the end face 114BC of retainer 114B) and fixed wall 136 (output unit 138) can be changed into the rolling friction of roller bearing 110.Namely, can say that present embodiment is, by the rolling friction of the 1st limiting part 150 itself, the coefficientoffrictionμ 2 between the end face 114AC (the end face 114BC of the 1st limiting part 150B and retainer 114B) of the 1st limiting part 150A and retainer 114A becomes the structure being less than the coefficientoffrictionμ 0 produced by the sliding friction between the end face 114AC of the retainer 114A of roller bearing 110A and fixed wall 136 (the end face 114BC of the 114B of the retainer of roller bearing 110B and output unit 138).Namely, even if roller bearing 110 moves because of twisted and axial O, cause retainer 114 to collide via the 1st limiting part 150 and fixed wall 136 (output unit 138), also can slide between less the 1st limiting part 150 of coefficientoffrictionμ 2 and retainer 114.That is, can be less than the end face that the direct slip between the end face 114AC of the larger retainer 114A of coefficientoffrictionμ 0 and fixed wall 136 (the end face 114BC of retainer 114B and output unit 138) produces to lose by the end face damage control.
Further, in present embodiment, be configured with between fixed wall 136 and external gear 120A (output unit 138 and external gear 120B) and limit 2nd limiting part 152 of external gear 120 to axial O movement.And the coefficientoffrictionμ 4 between the end face 120AC of external gear 120A and the 2nd limiting part 152A (the end face 120BC of external gear 120B and the 2nd limiting part 152B) is less than the coefficientoffrictionμ 3 (μ 4 < μ 3) between the end face 120AC of external gear 120A and fixed wall 136 (the end face 120BC of external gear 120B and output unit 138).Therefore, when the axial O creating external gear 120 moves, external gear 120 can not slide with fixed wall 136 (output unit 138) direct collision, but slides between external gear 120 and the 2nd limiting part 152.That is, the end face loss caused by external gear 120 can be reduced.In addition, outer ring 118 and external gear 120 deflection deformation integratedly.Therefore, the end face loss caused by the end face 118AC of outer ring 118A (the end face 118BC of outer ring 118B) can be prevented by the 2nd limiting part 152 simultaneously.
And the 1st limiting part 150 and the 2nd limiting part 152 are parts independent of each other, and the 1st limiting part 150 is different from the material of the 2nd limiting part 152.Therefore, it is possible to when not affecting rotational speed omega 3 of external gear 120, the end face loss caused by retainer 114 can be reduced by the 1st limiting part 150.Meanwhile, when not affecting rotational speed omega 2 of roller bearing 110, the end face loss caused by external gear 120 can be reduced by the 2nd limiting part 152.Further, because the power putting on the 1st limiting part 150 and the 2nd limiting part 152 is independent of each other the other side each other, therefore, it is possible to extend the life-span of the 1st limiting part 150 and the 2nd limiting part 152.
In addition, as mentioned above, present embodiment also can be configured to, and the 2nd limiting part 152A is not fixed on fixed wall 136 and slides relative to fixed wall 136, and the 2nd limiting part 152B is not fixed on output unit 138 and slides relative to output unit 138.Now, fixed wall 136, output unit 138 can possess the recess (not shown) that can position the 2nd limiting part 152A, 152B respectively.Certainly, the 2nd limiting part also can be fixed on external gear.
Further, in present embodiment, the external diameter R2 of the 1st limiting part 150 is less than the minimum inner circumferential footpath Roi of the outer ring 118 of roller bearing 110, and the internal diameter R3 of the 2nd limiting part 152 is greater than the maximum outside diameter Rro of end face 114AC, 114BC of retainer 114.Therefore, the 1st limiting part 150 bears the power from roller bearing 110, and does not bear the power from external gear 120.On the contrary, the 2nd limiting part 152 bears the power from external gear 120, and does not bear the power from roller bearing 110.That is, by said structure, the rotational speed omega 2 of roller bearing 110 and external gear 120, ω 3 can be reliably avoided to interfere with each other via the 1st limiting part 150, the 2nd limiting part 152.In addition, be not limited to this, suitably can change the shape of the 1st limiting part and the 2nd limiting part.
That is, in present embodiment, the end face caused by roller bearing 110 loss that the axial O of retainer 114 that can reduce roller bearing 110 moves and produces.
In addition, in present embodiment, roller bearing 110A, 110B are set to the part of part and the supporting external tooth 124B supporting external tooth 124A on axial O respectively.Therefore, the flexible engagement gear device 100 of present embodiment is configured to, the twisted generation of roller 116A that can reduce the twisted of the roller 116B caused with engaging between external tooth 124A by deceleration internal gear 130A and be caused with engaging between external tooth 124B by output internal gear 130B.
Above, describe the present invention for the 1st mode of execution, but the present invention is not limited to the 1st mode of execution.That is, can carry out without departing from the scope of spirit of the present invention improving and design alteration.
Such as, in the 1st mode of execution, the 1st limiting part 150 is thrust bearing, and the 2nd limiting part 152 is the material low friction means different from the 1st limiting part 150, but the present invention is not limited to this.Such as, the 1st limiting part can adopt identical material with the 2nd limiting part.Such as, also can be the 2nd limiting part is also set to thrust bearing and lasso is fixed on the structure of fixed wall (output unit).Or, also can be the 2nd mode of execution as shown in Figure 6.In addition, except the 1st limiting part 250, other structures are all identical with the 1st mode of execution, therefore for the parts except the 1st limiting part 250, and the symbol that after mark, double figures is identical, and omit repeat specification.
As shown in Figure 6, in the 2nd mode of execution, the 1st limiting part 250 is the low friction means that material is identical with the 2nd limiting part 252.And, fixed wall 236 (output unit 238) possesses the recess (not shown) that can position the 1st limiting part 250, and the 1st limiting part 250 all can slide relative to retainer 214, fixed wall 236 (output unit 238).And the coefficientoffrictionμ 2 between the end face 214AC of retainer 214 and the 1st limiting part 250A (the end face 214BC of retainer 214 and the 1st limiting part 250B) and the coefficientoffrictionμ 1 between the 1st limiting part 250A and fixed wall 236 (the 1st limiting part 250B and output unit 238) are less than the coefficientoffrictionμ 0 (μ 1 < μ 0, μ 2 < μ 0) between the end face 214AC of retainer 214 and fixed wall 236 (the end face 214BC of retainer 214 and output unit 238).Therefore, present embodiment can not only obtain the effect identical with the 1st mode of execution, and compared with the 1st mode of execution, can assemble the 1st limiting part 250 more like a cork and can reduce costs.In addition, be not limited to this, the 1st limiting part 250A, 250B also can be individually fixed in fixed wall 236, output unit 238.Further, the 1st limiting part 250 also can be fixed on retainer 214.Now, the coefficientoffrictionμ 1 between the 1st limiting part 250 and fixed wall 236 (the 1st limiting part 250 and output unit 238) is less than the coefficientoffrictionμ 0 between the end face 214AC of retainer 214A and fixed wall 236 (the end face 214BC of retainer 214B and output unit 238).
Further, in above-mentioned mode of execution, the 1st limiting part and the 2nd limiting part are arranged at fixed wall side and these both sides, output unit side, but also only the 1st limiting part can be arranged at fixed wall side and these both sides, output unit side.Or the 1st limiting part and the 2nd limiting part are only arranged at the side in fixed wall side and output unit side.Or the 1st limiting part (or the 2nd limiting part) being arranged at fixed wall side and these both sides, output unit side also can be set to different structures (shape or material).
And, in above-mentioned mode of execution, by fixed wall, output unit and external gear are set to metal, and the 2nd limiting part (with the 1st limiting part 250 of the 2nd mode of execution) is set to resin, change the size of friction factor thus, but the present invention is not limited to this.Such as, as long as fixed wall, output unit and external gear are Ferrious material, then the 1st, the 2nd limiting part can be set to the higher metal of the sliding that is primary coil such as copper or aluminium.Or the material that also can be set to the 1st, the 2nd limiting part is identical with fixed wall, output unit and external gear, and surface treatment, fine finishing are different.By this structural difference, the size of friction factor also can be changed.
And, in above-mentioned mode of execution, flexible engagement gear device possesses the roller bearing with inner ring, retainer, rolling element and outer ring, but the present invention is not limited to this, and roller bearing is without the need to having and play the inner ring of vibration body split and the outer ring with external gear split.Such as, inner ring also can form as one with starting of oscillation body, and outer ring also can form as one with external gear.
Further, in above-mentioned mode of execution, the 1st, the 2nd limiting part is continuous print annular shape, but the present invention is not limited to this, also can in the shape of circumferentially interval configuration.
Further, in above-mentioned mode of execution, external tooth is set to the profile of tooth based on trochoid, but the present invention is not limited to this.External tooth also can be arc toothed, can also adopt other profiles of tooth.
And, in above-mentioned mode of execution, will the fixed wall of internal gear and output unit be fixed on as side parts, but the present invention is not limited to this, side parts, without the need to being fixed on internal gear, can be configured at the side parts of parts as broad sense of the axial O side of external gear.
Utilizability in industry
The present invention can be widely used in the external gear of the roller bearing and tubular with retainer as in the flexible engagement gear device of necessary constitutive requirements.
All the elements disclosed in specification, accompanying drawing and claims of No. 2013-75409th, the Japanese patent application of application on March 29th, 2013 are by reference to being applied in this specification.
Symbol description
100, 200-flexible engagement gear device, 104, 204-plays vibration body, and 110, 110A, 110B, 210, 210A, 210B-roller bearing, 112, 212-inner ring, 114, 114A, 114B, 214, 214A, 214B-retainer, 118, 118A, 118B, 218, 218A, 218B-outer ring, 120, 120A, 120B, 220, 220A, 220B-external gear, 114AC, 114BC, 118AC, 118BC, 120AC, 120BC, 214AC, 214BC, 218AC, 218BC, 220AC, 220BC-end face, 124, 124A, 124B, 224, 224A, 224B-external tooth, 128, 128A, 128B, 228, 228A, 228B-internal tooth, 130, 230-internal gear, 130A, 230A-deceleration internal gear, 130B, 230B-output internal gear, 136, 236-fixed wall, 136A, 138A, 236A, 238A-side, 138, 238-output unit, 150, 150A, 150B, 250, 250A, 250B-the 1st limiting part, 152, 152A, 152B, 252, 252A, 252B-the 2nd limiting part, 150AA, 150BA, 152AA, 152BA, 250AA, 250BA, 252AA, 252BA-end face outside, 150AB, 150BB, 152AB, 152BB, 250AB, 250BB, 252AB, 252BB-inner side end.
Claims (5)
1. a flexible engagement gear device, it possesses: play vibration body; The external gear of tubular, is configured at this periphery of playing vibration body and has and play the rotation of vibration body and the pliability of deflection deformation by this; Roller bearing, is configured at this and rises between vibration body and this external gear; 1st internal gear, supplies this external gear internal messing and has rigidity; And the 2nd internal gear, be arranged side by side with the 1st internal gear and have rigidity with described external gear internal messing, the feature of this flexible engagement gear device is,
The 1st limiting part that the retainer that limits this roller bearing moves axially is configured with between the side parts of axial side being configured at described roller bearing and this roller bearing,
Friction factor between the end face of this retainer and the 1st limiting part or the friction factor between the 1st limiting part and this side parts are less than the friction factor between the end face of this retainer and described side parts.
2. flexible engagement gear device according to claim 1, is characterized in that,
The 2nd limiting part limiting this external gear and move axially is configured with between described side parts and this external gear,
Friction factor between the end face of this external gear and described 2nd limiting part or the friction factor between the 2nd limiting part and described side parts are less than the friction factor between the end face of this external gear and described side parts,
2nd limiting part and described 1st limiting part are independently parts.
3. flexible engagement gear device according to claim 2, is characterized in that,
Described 1st limiting part is different from the material of described 2nd limiting part.
4. the flexible engagement gear device according to Claims 2 or 3, is characterized in that,
The external diameter of described 1st limiting part is less than the minimum inner circumferential footpath of the outer ring of described roller bearing,
The internal diameter of described 2nd limiting part is greater than the maximum outside diameter of the end face of described retainer.
5. flexible engagement gear device according to any one of claim 1 to 4, is characterized in that,
Described 1st limiting part is thrust bearing.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-075409 | 2013-03-29 | ||
| JP2013075409A JP6031397B2 (en) | 2013-03-29 | 2013-03-29 | Bending gear system |
| PCT/JP2013/078118 WO2014155791A1 (en) | 2013-03-29 | 2013-10-17 | Flexible meshing type gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105008763A true CN105008763A (en) | 2015-10-28 |
| CN105008763B CN105008763B (en) | 2017-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380073367.XA Active CN105008763B (en) | 2013-03-29 | 2013-10-17 | Flexible engagement gear device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6031397B2 (en) |
| KR (1) | KR101740421B1 (en) |
| CN (1) | CN105008763B (en) |
| DE (1) | DE112013006889B4 (en) |
| WO (1) | WO2014155791A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2015019420A1 (en) | 2013-08-06 | 2015-02-12 | 株式会社ハーモニック・ドライブ・システムズ | Rotary actuator and strain wave gearing reduction drive unit |
| JP6324832B2 (en) * | 2014-07-23 | 2018-05-16 | 株式会社ハーモニック・ドライブ・システムズ | Dual type wave gear device |
| EP3388713B1 (en) * | 2015-12-11 | 2022-02-02 | Harmonic Drive Systems Inc. | Flat strain wave gearing device |
| JP6723657B2 (en) | 2016-12-05 | 2020-07-15 | 住友重機械工業株式会社 | Reducer |
| CN106545622A (en) * | 2016-12-09 | 2017-03-29 | 深圳市荣德机器人科技有限公司 | Planet-cycloid reducer |
| JP6898876B2 (en) * | 2018-02-28 | 2021-07-07 | 住友重機械工業株式会社 | Eccentric swing type speed reducer |
| DE102019105114B4 (en) * | 2019-02-28 | 2021-09-02 | Höhn Gmbh | Planetary gear |
| JP7262368B2 (en) | 2019-10-23 | 2023-04-21 | 住友重機械工業株式会社 | Gear device series, manufacturing method and design method thereof |
| JP7408262B2 (en) | 2021-11-04 | 2024-01-05 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device |
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| JP2007187284A (en) * | 2006-01-16 | 2007-07-26 | Jtekt Corp | Thrust roller bearing |
| WO2011096347A1 (en) * | 2010-02-03 | 2011-08-11 | 住友重機械工業株式会社 | Flexible engagement gear device |
| CN102287484A (en) * | 2010-06-18 | 2011-12-21 | 住友重机械工业株式会社 | Flexural engage type gear device |
| JP2012042031A (en) * | 2010-08-23 | 2012-03-01 | Jtekt Corp | Bearing device |
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| JP2008303992A (en) * | 2007-06-08 | 2008-12-18 | Nsk Ltd | Radial needle roller bearing |
| JP5758764B2 (en) | 2011-09-30 | 2015-08-05 | 株式会社ブリヂストン | Window film and method for manufacturing the same, and window using the window film and method for manufacturing the same |
| JP5812897B2 (en) * | 2012-02-28 | 2015-11-17 | 住友重機械工業株式会社 | Bending gear system |
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2013
- 2013-03-29 JP JP2013075409A patent/JP6031397B2/en active Active
- 2013-10-17 CN CN201380073367.XA patent/CN105008763B/en active Active
- 2013-10-17 DE DE112013006889.3T patent/DE112013006889B4/en active Active
- 2013-10-17 KR KR1020157022392A patent/KR101740421B1/en active IP Right Grant
- 2013-10-17 WO PCT/JP2013/078118 patent/WO2014155791A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2290729Y (en) * | 1996-05-28 | 1998-09-09 | 中国人民解放军国防科工委后勤部应用技术研究所 | Complex stage harmonic gear mechanism |
| JP2007187284A (en) * | 2006-01-16 | 2007-07-26 | Jtekt Corp | Thrust roller bearing |
| WO2011096347A1 (en) * | 2010-02-03 | 2011-08-11 | 住友重機械工業株式会社 | Flexible engagement gear device |
| CN102287484A (en) * | 2010-06-18 | 2011-12-21 | 住友重机械工业株式会社 | Flexural engage type gear device |
| JP2012042031A (en) * | 2010-08-23 | 2012-03-01 | Jtekt Corp | Bearing device |
Also Published As
| Publication number | Publication date |
|---|---|
| DE112013006889T5 (en) | 2015-12-24 |
| KR20150110661A (en) | 2015-10-02 |
| JP6031397B2 (en) | 2016-11-24 |
| KR101740421B1 (en) | 2017-05-26 |
| CN105008763B (en) | 2017-06-13 |
| WO2014155791A1 (en) | 2014-10-02 |
| JP2014199130A (en) | 2014-10-23 |
| DE112013006889B4 (en) | 2018-07-26 |
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