TW201908620A - Wave gear device - Google Patents
Wave gear deviceInfo
- Publication number
- TW201908620A TW201908620A TW107123996A TW107123996A TW201908620A TW 201908620 A TW201908620 A TW 201908620A TW 107123996 A TW107123996 A TW 107123996A TW 107123996 A TW107123996 A TW 107123996A TW 201908620 A TW201908620 A TW 201908620A
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- Taiwan
- Prior art keywords
- externally toothed
- ball bearing
- toothed gear
- flexible externally
- axial direction
- Prior art date
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
本發明是有關於一種波動齒輪裝置。The present invention relates to a wave gear device.
於日本專利第5734102號公報中，揭示有一種波動齒輪裝置，使輸入旋轉減速後傳達至負荷側。該公報中所記載的波動齒輪裝置具備：圓環狀的剛性內齒輪；可撓性外齒輪，配置於剛性內齒輪的內側；以及波動產生器，嵌入可撓性外齒輪的內側。可撓性外齒輪因波動產生器而於徑向上產生彎曲，並與內齒輪部分地咬合。而且，藉由對應於兩齒輪的齒數差的相對旋轉，來使輸入旋轉減速。 [專利文獻1] 日本專利第5734102號公報Japanese Patent No. 5734102 discloses a wave gear device that decelerates input rotation and transmits it to the load side. The wave gear device described in this publication includes an annular rigid internal gear, a flexible external gear disposed inside the rigid internal gear, and a wave generator embedded inside the flexible external gear. The flexible external gear is bent in the radial direction by the wave generator and partially engaged with the internal gear. Moreover, the input rotation is decelerated by the relative rotation corresponding to the difference in the number of teeth of the two gears. [Patent Document 1] Japanese Patent No. 5734102
[發明所欲解決之課題] 於日本專利第5734102號公報的波動齒輪裝置中，於波動產生器中產生徑向的彎曲，藉此於波動產生器的波動軸承中產生朝向徑向外側的應力。藉此，藉由波動軸承的滾珠而朝向徑向外側按壓可撓性外齒輪。而且，高的應力施加至可撓性外齒輪中的由滾珠所按壓的部分，而存在毀壞可撓性外齒輪之虞。[Problems to be Solved by the Invention] In the wave gear device of Japanese Patent No. 5734102, a radial bending is generated in the wave generator, whereby a stress toward the radially outer side is generated in the wave bearing of the wave generator. Thereby, the flexible external gear is pressed radially outward by the balls of the wave bearing. Moreover, a high stress is applied to the portion of the flexible externally toothed wheel that is pressed by the ball, and there is a flaw in destroying the flexible externally toothed gear.
鑒於此種問題，本發明的目的在於提供一種波動齒輪裝置，減輕自軸承施加至可撓性外齒齒輪中的負荷。In view of such a problem, an object of the present invention is to provide a wave gear device that reduces the load applied from a bearing to a flexible externally toothed gear.
[解決課題之手段] 為了解決所述課題，本發明是一種波動齒輪裝置，具備：非真圓凸輪，以上下延長的中心軸為中心進行旋轉；可撓性的滾珠軸承，安裝於所述非真圓凸輪的外周面上，徑向的長度對應於所述非真圓凸輪的旋轉而於圓周方向上變化；可撓性外齒齒輪，為於軸方向上延長的筒狀，軸方向的下側端部的內周面接觸所述滾珠軸承的外周面，多個外齒以固定的間距沿著圓周方向設置於所述下側端部的外周面上；以及內齒齒輪，配置於所述可撓性外齒齒輪的徑向外側，具有齒數與所述多個外齒不同的內齒，並與所述可撓性外齒齒輪部分地咬合；所述滾珠軸承的外周面與所述可撓性外齒齒輪的所述下側端部的內周面進行面接觸；在作為所述滾珠軸承的外周面與所述可撓性外齒齒輪的所述下側端部的內周面的接觸部分、且於徑向上與所述滾珠軸承的滾珠對向的位置上，設置有空間。[Means for Solving the Problems] In order to solve the above problems, the present invention is a wave gear device comprising: a non-true circular cam that rotates around a central axis extending from above; a flexible ball bearing is attached to the non-circular The outer peripheral surface of the true circular cam has a radial length that varies in the circumferential direction corresponding to the rotation of the non-true circular cam; the flexible externally toothed gear has a cylindrical shape elongated in the axial direction and an axial direction An inner circumferential surface of the side end portion contacts an outer circumferential surface of the ball bearing, a plurality of outer teeth are circumferentially disposed on an outer circumferential surface of the lower end portion at a fixed pitch; and an internal gear is disposed in the a radially outer side of the flexible externally toothed gear, having internal teeth different in number of teeth from the plurality of external teeth, and partially engaging with the flexible externally toothed gear; an outer circumferential surface of the ball bearing and the The inner peripheral surface of the lower end portion of the flexible externally toothed gear is in surface contact; and the inner peripheral surface of the lower end portion of the flexible externally toothed gear as the outer peripheral surface of the ball bearing Contact portion and radial direction with the ball bearing The position of the ball on the provided space.
[發明的效果] 根據本發明，滾珠軸承的徑向的長度藉由非真圓凸輪而變化。於該變化中，當徑向的長度變長時，滾珠軸承的外周面藉由滾珠軸承的滾珠來朝徑向外側按壓，並彎曲。該彎曲部分進入至設置於滾珠軸承與可撓性外齒齒輪之間的空間中。因此，來自滾珠軸承的應力難以傳達至可撓性外齒齒輪中。其結果是，自滾珠軸承朝可撓性外齒齒輪的負荷得到減輕，可抑制可撓性外齒齒輪的損傷。[Effects of the Invention] According to the present invention, the radial length of the ball bearing is changed by the non-true circular cam. In this variation, when the length of the radial direction becomes long, the outer peripheral surface of the ball bearing is pressed radially outward by the balls of the ball bearing and bent. The bent portion enters into a space provided between the ball bearing and the flexible externally toothed gear. Therefore, stress from the ball bearing is difficult to be transmitted to the flexible externally toothed gear. As a result, the load from the ball bearing to the flexible externally toothed gear is reduced, and damage to the flexible externally toothed gear can be suppressed.
以下，一面參照圖式，一面對本申請案的例示性的實施形態進行說明。再者，於本申請案中，將與波動齒輪裝置的中心軸平行的方向稱為「軸方向」，將與波動齒輪裝置的中心軸正交的方向稱為「徑向」，將沿著以波動齒輪裝置的中心軸為中心的圓弧的方向稱為「圓周方向」。另外，於本申請案中，將軸方向設為上下方向，相對於旋轉輸入部將旋轉輸出部側設為上方，來對各部的形狀或位置關係進行說明。但是，不存在藉由該上下方向的定義來限定本申請案的波動齒輪裝置的使用時的方向的意圖。Hereinafter, an exemplary embodiment of the present application will be described with reference to the drawings. In the present application, the direction parallel to the central axis of the wave gear device is referred to as "axis direction", and the direction orthogonal to the central axis of the wave gear device is referred to as "radial direction". The direction of the arc of the center axis of the wave gear device is referred to as "circumferential direction". In the present application, the axial direction is referred to as the vertical direction, and the rotation output portion side is set upward with respect to the rotation input portion, and the shape or positional relationship of each portion will be described. However, there is no intention to define the direction in use of the wave gear device of the present application by the definition of the up and down direction.
另外，於本申請案中，所謂「平行的方向」，亦包含大致平行的方向。另外，於本申請案中，所謂「正交的方向」，亦包含大致正交的方向。In addition, in the present application, the "parallel direction" also includes a substantially parallel direction. In addition, in the present application, the "orthogonal direction" also includes directions that are substantially orthogonal.
＜1.實施形態1＞ ＜1.1.波動齒輪裝置的構成＞ 圖1是本申請案的例示性的實施形態的波動齒輪裝置100的剖面圖。圖2是圖1的II-II線上的剖面圖。<1. Embodiment 1> <1.1. Configuration of Wave Gear Device> FIG. 1 is a cross-sectional view of a wave gear device 100 according to an exemplary embodiment of the present application. Fig. 2 is a cross-sectional view taken along line II-II of Fig. 1.
波動齒輪裝置100具備：以中心軸9為中心進行旋轉的波動產生器4。波動產生器4具有：非真圓凸輪41與滾珠軸承42。The wave gear device 100 includes a wave generator 4 that rotates around the center axis 9 . The wave generator 4 has a non-true circular cam 41 and a ball bearing 42.
於非真圓凸輪41上，連接未圖示的旋轉輸入部。旋轉輸入部例如自馬達傳達旋轉力，而以中心軸9為中心於圓周方向上進行旋轉。非真圓凸輪41自旋轉輸入部傳達旋轉，而與旋轉輸入部一同以中心軸9為中心進行旋轉。自軸方向觀察，非真圓凸輪41為橢圓形。A rotation input unit (not shown) is connected to the non-true round cam 41. The rotation input unit transmits a rotational force from the motor, for example, and rotates in the circumferential direction around the central axis 9. The non-true circular cam 41 transmits rotation from the rotation input unit, and rotates around the central axis 9 together with the rotation input unit. The non-true circular cam 41 is elliptical when viewed from the axial direction.
滾珠軸承42配置於非真圓凸輪41的徑向外側，且安裝於非真圓凸輪41的外周面上。滾珠軸承42具有可撓性，若安裝於非真圓凸輪41上，則自軸方向觀察，彎曲成沿著非真圓凸輪41的外周面的橢圓形。The ball bearing 42 is disposed on the outer side in the radial direction of the non-true round cam 41 and is attached to the outer peripheral surface of the non-true round cam 41. The ball bearing 42 has flexibility, and when attached to the non-true round cam 41, it is curved in an elliptical shape along the outer peripheral surface of the non-true circular cam 41 as viewed in the axial direction.
波動齒輪裝置100具備內齒齒輪3。內齒齒輪3為包圍中心軸9的圓筒狀，自軸方向觀察為真圓形。內齒齒輪3配置於滾珠軸承42的徑向外側。另外，內齒齒輪3例如不可旋轉地固定於波動齒輪裝置100的未圖示的蓋子等上。多個內齒31以固定的間距沿著圓周方向設置於內齒齒輪3的內周面上。The wave gear device 100 includes an internal gear 3 . The internal gear 3 is a cylindrical shape surrounding the central axis 9, and is a true circular shape when viewed from the axial direction. The internal gear 3 is disposed radially outward of the ball bearing 42. Further, the internal gear 3 is, for example, non-rotatably fixed to a cover or the like (not shown) of the wave gear device 100. A plurality of internal teeth 31 are provided on the inner circumferential surface of the internal gear 3 in a circumferential direction at a fixed pitch.
波動齒輪裝置100具備可撓性外齒齒輪5。可撓性外齒齒輪5是包圍中心軸9，並於軸方向上延長的筒狀構件。可撓性外齒齒輪5的軸方向的下側端部50，配置於滾珠軸承42與內齒齒輪3之間。下側端部50的內周面與滾珠軸承42的外周面接觸。齒數與內齒齒輪3的多個內齒31不同的多個外齒501，以固定的間距沿著圓周方向設置於下側端部50的外周面上。The wave gear device 100 includes a flexible externally toothed gear 5. The flexible externally toothed gear 5 is a cylindrical member that surrounds the center shaft 9 and is elongated in the axial direction. The lower end portion 50 of the flexible externally toothed gear 5 in the axial direction is disposed between the ball bearing 42 and the internal gear 3 . The inner circumferential surface of the lower end portion 50 is in contact with the outer circumferential surface of the ball bearing 42. A plurality of external teeth 501 having a different number of teeth than the plurality of internal teeth 31 of the internal gear 3 are provided on the outer circumferential surface of the lower end portion 50 in the circumferential direction at a fixed pitch.
可撓性外齒齒輪5的下側端部50安裝於滾珠軸承42上。滾珠軸承42如所述般彎曲成橢圓形。因此，安裝於滾珠軸承42上的可撓性外齒齒輪5的下側端部50亦彎曲成橢圓形。彎曲成橢圓形的下側端部50的短軸，比真圓形的內齒齒輪3的內徑短。另外，下側端部50的長軸與內齒齒輪3的內徑大致相同。因此，於下側端部50的長軸部分中，可撓性外齒齒輪5的外齒501與內齒齒輪3的內齒31咬合。The lower end portion 50 of the flexible externally toothed gear 5 is attached to the ball bearing 42. The ball bearing 42 is bent into an elliptical shape as described above. Therefore, the lower end portion 50 of the flexible externally toothed gear 5 attached to the ball bearing 42 is also curved in an elliptical shape. The short axis of the lower end portion 50 bent into an elliptical shape is shorter than the inner diameter of the true circular internal tooth gear 3. Further, the long axis of the lower end portion 50 is substantially the same as the inner diameter of the internal gear 3 . Therefore, in the long-axis portion of the lower end portion 50, the external teeth 501 of the flexible externally toothed gear 5 mesh with the internal teeth 31 of the internal gear 3.
若非真圓凸輪41進行旋轉，則可撓性外齒齒輪5的徑向的長度於圓周方向上變位。藉此，可撓性外齒齒輪5與內齒齒輪3的咬合位置於圓周方向上移動。另外，內齒齒輪3被不可旋轉地固定。其結果是，當齒數不同的可撓性外齒齒輪5與內齒齒輪3相對旋轉時，可撓性外齒齒輪5以比非真圓凸輪41小的轉數進行旋轉。When the non-true round cam 41 rotates, the length of the flexible externally toothed gear 5 in the radial direction is displaced in the circumferential direction. Thereby, the meshing position of the flexible externally toothed gear 5 and the internal gear 3 moves in the circumferential direction. In addition, the internal gear 3 is non-rotatably fixed. As a result, when the flexible externally toothed gear 5 having different numbers of teeth rotates relative to the internal gear 3, the flexible externally toothed gear 5 rotates at a smaller number of revolutions than the non-true circular cam 41.
可撓性外齒齒輪5的軸方向的上側端部，朝徑向內側擴展。雖然未圖示，但波動齒輪裝置100具備：能夠以中心軸9為中心進行旋轉、且與負荷連接的輸出軸。可撓性外齒齒輪5的軸方向的上側端部固定於輸出軸上。藉此，若可撓性外齒齒輪5以中心軸9為中心進行旋轉，則輸出軸亦進行旋轉。而且，朝負荷傳達旋轉。如上所述，可撓性外齒齒輪5以比非真圓凸輪41小的轉數進行旋轉。即，與可撓性外齒齒輪5一同進行旋轉的輸出軸，亦以比非真圓凸輪41小的轉數進行旋轉。如此，自未圖示的馬達朝非真圓凸輪41中輸入的旋轉被減速，並經由輸出軸而朝負荷輸出。The upper end portion of the flexible externally toothed gear 5 in the axial direction expands inward in the radial direction. Although not shown, the wave gear device 100 includes an output shaft that is rotatable about the center axis 9 and connected to the load. The upper end portion of the flexible externally toothed gear 5 in the axial direction is fixed to the output shaft. Thereby, when the flexible externally toothed gear 5 rotates around the central axis 9, the output shaft also rotates. Moreover, the rotation is transmitted toward the load. As described above, the flexible externally toothed gear 5 rotates at a smaller number of revolutions than the non-true round cam 41. In other words, the output shaft that rotates together with the flexible externally toothed gear 5 also rotates at a smaller number of revolutions than the non-true circular cam 41. As described above, the rotation input from the motor (not shown) to the non-true round cam 41 is decelerated, and is output to the load via the output shaft.
＜1.2.關於滾珠軸承42的應力＞ 滾珠軸承42因非真圓凸輪41而彎曲成橢圓形。此時，於成為滾珠軸承42的長軸的部分中，產生朝向徑向外側的應力。而且，滾珠軸承42的外周面（外環的外周面）藉由滾珠來朝徑向外側按壓，且經按壓的部分發生彎曲。如先前般，若滾珠軸承42的外周面的彎曲部分抵接於可撓性外齒齒輪5的內周面上，則有可能於可撓性外齒齒輪5中產生由點接觸所產生的高的應力，而導致可撓性外齒齒輪5受損。因此，於本實施形態中，可撓性外齒齒輪5變成：難以被傳達來自滾珠軸承42的應力的構成。<1.2. Stress on Ball Bearing 42> The ball bearing 42 is curved in an elliptical shape due to the non-true round cam 41. At this time, in the portion which becomes the long axis of the ball bearing 42, a stress toward the outside in the radial direction is generated. Further, the outer circumferential surface of the ball bearing 42 (the outer circumferential surface of the outer ring) is pressed outward in the radial direction by the balls, and the pressed portion is bent. As before, if the curved portion of the outer peripheral surface of the ball bearing 42 abuts against the inner peripheral surface of the flexible externally toothed gear 5, there is a possibility that a high point due to point contact occurs in the flexible externally toothed gear 5. The stress causes the flexible externally toothed gear 5 to be damaged. Therefore, in the present embodiment, the flexible externally toothed gear 5 has a configuration in which it is difficult to transmit the stress from the ball bearing 42.
圖3是可撓性外齒齒輪5與內齒齒輪3的接觸部分的放大圖。3 is an enlarged view of a contact portion of the flexible externally toothed gear 5 and the internal gear 3 .
可撓性外齒齒輪5的下側端部50的內周面與滾珠軸承42的外周面接觸。於下側端部50的內周面上，設置有朝徑向外側凹陷的凹部51。如圖2所示，凹部51沿著圓周方向設置於在徑向上與滾珠軸承42的滾珠中心點對向的位置上。凹部51的軸方向的長度為滾珠軸承42的滾珠的直徑的20%～120%。但是，更佳為凹部51的軸方向的長度為滾珠軸承42的滾珠的直徑的80%～100%。藉由凹部51，而在下側端部50的內周面與滾珠軸承42的外周面之間，設置空間55。The inner peripheral surface of the lower end portion 50 of the flexible externally toothed gear 5 is in contact with the outer peripheral surface of the ball bearing 42. A concave portion 51 that is recessed outward in the radial direction is provided on the inner peripheral surface of the lower end portion 50. As shown in FIG. 2, the concave portion 51 is provided at a position facing the ball center point of the ball bearing 42 in the radial direction along the circumferential direction. The length of the recess 51 in the axial direction is 20% to 120% of the diameter of the ball of the ball bearing 42. However, it is more preferable that the length of the concave portion 51 in the axial direction is 80% to 100% of the diameter of the ball of the ball bearing 42. A space 55 is provided between the inner circumferential surface of the lower end portion 50 and the outer circumferential surface of the ball bearing 42 by the concave portion 51.
如上所述，滾珠軸承42的外周面，因來自滾珠的按壓而朝徑向外側彎曲。而且，滾珠軸承42的外周面的彎曲部分進入至空間55中。因此，彎曲部分的徑向的頂點附近，不抵接於可撓性外齒齒輪5的內周面上。藉此，自滾珠軸承42朝可撓性外齒齒輪5的負荷得到減輕，可抑制可撓性外齒齒輪5的損傷。As described above, the outer circumferential surface of the ball bearing 42 is curved outward in the radial direction due to the pressing from the balls. Moreover, the curved portion of the outer peripheral surface of the ball bearing 42 enters the space 55. Therefore, the vicinity of the apex of the curved portion in the radial direction does not abut against the inner peripheral surface of the flexible externally toothed gear 5. Thereby, the load from the ball bearing 42 to the flexible externally toothed gear 5 is reduced, and damage of the flexible externally toothed gear 5 can be suppressed.
＜2.實施形態2＞ 以下對實施形態2進行說明。實施形態2的用以使自滾珠軸承42朝可撓性外齒齒輪5的應力難以傳達的構成，與實施形態1不同。<2. Second embodiment> The second embodiment will be described below. The configuration of the second embodiment is different from the first embodiment in that the stress from the ball bearing 42 to the flexible externally toothed gear 5 is hard to be transmitted.
圖4是可撓性外齒齒輪5與內齒齒輪3的接觸部分的放大圖。4 is an enlarged view of a contact portion of the flexible externally toothed gear 5 and the internal gear 3 .
於該例中，於滾珠軸承42的外周面的軸方向中央部，設置有朝徑向內側凹陷的凹部43。凹部43設置於在徑向上與滾珠軸承42的滾珠中心點對向的位置上。另外，與實施形態1的凹部51同樣地，凹部43沿著圓周方向來設置。凹部43的軸方向的長度為滾珠軸承42的滾珠的直徑的20%～120%。但是，更佳為凹部51的軸方向的長度為滾珠軸承42的滾珠的直徑的80%～100%。藉由凹部43，而在滾珠軸承42的外周面與可撓性外齒齒輪5的下側端部50的內周面之間，設置空間45。In this example, a concave portion 43 that is recessed inward in the radial direction is provided at a central portion in the axial direction of the outer circumferential surface of the ball bearing 42. The recessed portion 43 is provided at a position opposed to the center point of the ball of the ball bearing 42 in the radial direction. Further, similarly to the concave portion 51 of the first embodiment, the concave portion 43 is provided along the circumferential direction. The length of the recessed portion 43 in the axial direction is 20% to 120% of the diameter of the ball of the ball bearing 42. However, it is more preferable that the length of the concave portion 51 in the axial direction is 80% to 100% of the diameter of the ball of the ball bearing 42. A space 45 is provided between the outer circumferential surface of the ball bearing 42 and the inner circumferential surface of the lower end portion 50 of the flexible externally toothed gear 5 by the concave portion 43.
與實施形態1同樣地，若滾珠軸承42的外周面因來自滾珠的按壓而朝徑向外側彎曲，則於凹部43的表面上產生的彎曲部分進入至空間45中。因此，彎曲部分的徑向的頂點附近，不抵接於可撓性外齒齒輪5的內周面上。藉此，自滾珠軸承42朝可撓性外齒齒輪5的負荷得到減輕，可抑制可撓性外齒齒輪5的損傷。In the same manner as in the first embodiment, when the outer circumferential surface of the ball bearing 42 is bent outward in the radial direction by the pressing of the balls, the curved portion generated on the surface of the concave portion 43 enters the space 45. Therefore, the vicinity of the apex of the curved portion in the radial direction does not abut against the inner peripheral surface of the flexible externally toothed gear 5. Thereby, the load from the ball bearing 42 to the flexible externally toothed gear 5 is reduced, and damage of the flexible externally toothed gear 5 can be suppressed.
＜3.變形例＞ 以上，對本發明的例示性的實施形態進行了說明，但本發明並不限定於所述實施形態。<3. Modifications> Although the exemplary embodiments of the present invention have been described above, the present invention is not limited to the embodiments.
圖5是另一例的波動齒輪裝置100A的剖面圖。波動齒輪裝置100A所具備的可撓性外齒齒輪5A的軸方向的上側端部，朝徑向外側擴展。於該構成的情況下，可將與負荷連接的輸出軸配置於比圖1的情況更靠近徑向外側。Fig. 5 is a cross-sectional view showing a wave gear device 100A of another example. The upper end portion of the flexible externally toothed gear 5A provided in the wave gear device 100A in the axial direction expands outward in the radial direction. In the case of this configuration, the output shaft connected to the load can be disposed radially outward of the case of FIG. 1 .
於實施形態1、實施形態2中，將空間45、空間55的軸方向的長度，設為滾珠軸承42的滾珠的直徑的20%～120%，更佳為設為80%～100%，但並不限定於此。另外，空間45、空間55的徑向的長度（深度）可對應於滾珠軸承42的外周面的彎曲程度而適宜變更。另外，亦可在可撓性外齒齒輪5的內周面與滾珠軸承42的外周面兩者上設置凹部，來設置空間。In the first embodiment and the second embodiment, the length of the space 45 and the space 55 in the axial direction is set to 20% to 120% of the diameter of the ball of the ball bearing 42, and more preferably 80% to 100%. It is not limited to this. Further, the length (depth) of the radial direction of the space 45 and the space 55 can be appropriately changed in accordance with the degree of bending of the outer peripheral surface of the ball bearing 42. In addition, a recess may be provided in both the inner circumferential surface of the flexible externally toothed gear 5 and the outer circumferential surface of the ball bearing 42 to provide a space.
另外，關於波動齒輪裝置100的細微部分的形狀，亦可與本申請案的各圖中所示的形狀不同。另外，亦可於不產生矛盾的範圍內，將所述實施形態或變形例中出現的各元件適宜組合。In addition, the shape of the minute portion of the wave gear device 100 may be different from the shape shown in each drawing of the present application. Further, each element appearing in the above-described embodiment or modification may be appropriately combined within a range in which no contradiction occurs.
[產業上之可利用性] 本申請案可用於波動齒輪裝置。[Industrial Applicability] This application can be applied to a wave gear device.
3‧‧‧內齒齒輪3‧‧‧ internal gear
4‧‧‧波動產生器4‧‧‧ fluctuation generator
5‧‧‧可撓性外齒齒輪5‧‧‧Flexible external gear
5A‧‧‧可撓性外齒齒輪5A‧‧‧Flexible external gear
9‧‧‧中心軸9‧‧‧ center axis
31‧‧‧內齒31‧‧‧ internal teeth
41‧‧‧非真圓凸輪41‧‧‧Non-circular cam
42‧‧‧滾珠軸承42‧‧‧Ball bearings
43‧‧‧凹部43‧‧‧ recess
45‧‧‧空間45‧‧‧ Space
50‧‧‧下側端部50‧‧‧lower end
51‧‧‧凹部51‧‧‧ recess
55‧‧‧空間55‧‧‧ Space
100‧‧‧波動齒輪裝置100‧‧‧ Wave gear device
100A‧‧‧波動齒輪裝置100A‧‧‧ Wave gear device
501‧‧‧外齒501‧‧‧ external teeth
圖1是本申請案的例示性的實施形態的波動齒輪裝置的剖面圖。 圖2是圖1的II-II線上的剖面圖。 圖3是可撓性外齒齒輪與內齒齒輪的接觸部分的放大圖。 圖4是可撓性外齒齒輪與內齒齒輪的接觸部分的放大圖。 圖5是另一例的波動齒輪裝置的剖面圖。Fig. 1 is a cross-sectional view showing a wave gear device of an exemplary embodiment of the present application. Fig. 2 is a cross-sectional view taken along line II-II of Fig. 1. Fig. 3 is an enlarged view of a contact portion of a flexible externally toothed gear and an internally toothed gear. 4 is an enlarged view of a contact portion of a flexible externally toothed gear and an internally toothed gear. Fig. 5 is a cross-sectional view showing a wave gear device of another example.
Claims (8)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017137608A JP2019019862A (en) | 2017-07-14 | 2017-07-14 | Wave gear device |
| JP2017-137608 | 2017-07-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW201908620A true TW201908620A (en) | 2019-03-01 |
Family
ID=65002046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW107123996A TW201908620A (en) | 2017-07-14 | 2018-07-12 | Wave gear device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2019019862A (en) |
| TW (1) | TW201908620A (en) |
| WO (1) | WO2019013190A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114402147A (en) * | 2019-10-03 | 2022-04-26 | 住友电工烧结合金株式会社 | Sintered member and electromagnetic coupler |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015223419A1 (en) * | 2015-11-26 | 2016-11-10 | Schaeffler Technologies AG & Co. KG | The wave gear |
| JP2017110705A (en) * | 2015-12-15 | 2017-06-22 | 株式会社ジェイテクト | Wave gear transmission device |
-
2017
- 2017-07-14 JP JP2017137608A patent/JP2019019862A/en active Pending
-
2018
- 2018-07-10 WO PCT/JP2018/025988 patent/WO2019013190A1/en active Application Filing
- 2018-07-12 TW TW107123996A patent/TW201908620A/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114402147A (en) * | 2019-10-03 | 2022-04-26 | 住友电工烧结合金株式会社 | Sintered member and electromagnetic coupler |
| CN114402147B (en) * | 2019-10-03 | 2023-12-15 | 住友电工烧结合金株式会社 | Sintered component and electromagnetic coupler |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019019862A (en) | 2019-02-07 |
| WO2019013190A1 (en) | 2019-01-17 |
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