This strain wave gear device is provided with a rigid internally toothed gear, a flexible gear, and a wave generator. The rigid internally toothed gear has a plurality of internal teeth on the inner peripheral surface, and expands in a ring shape about the central axis. The flexible gear has external teeth that partially mesh with the plurality of internal teeth of the rigid internal tooth gear. The wave generator rotates around the central axis on the radial inner side of the flexible gear, and has an outer diameter that varies depending on the position in the circumferential direction. The flexible gear has a tooth portion, a body portion, and a bottom portion. The tooth portion extends in a cylindrical shape along the central axis, and has a plurality of outer teeth extending in a direction away from the central axis on an outer side surface. The main body portion is a cylindrical portion disposed on one side in the axial direction than the tooth portion and extending in a direction including a component in a direction parallel to the central axis. The bottom portion expands radially inward from an end portion on one axial side of the main body portion. When the Vickers hardness of the inner peripheral surface of the rigid internally toothed gear is set to be Vig and the Vickers hardness of the tooth portion of the flexible gear is set to be Vfg, the relationship of 200HV < = Vig < = Vfg is satisfied.

    本发明的波动齿轮装置具有刚性内齿齿轮、挠性齿轮和波动发生器。刚性内齿齿轮在内周面具有多个内齿,并以中心轴为中心呈圆环状扩展。挠性齿轮具有相对于刚性内齿齿轮的多个内齿部分地啮合的外齿。波动发生器在挠性齿轮的径向内侧绕中心轴旋转,具有根据周向的位置而不同的外径。挠性齿轮具有齿部、主体部和底部。齿部沿中心轴呈筒状延伸,且在外侧面具有沿离开中心轴的方向延伸的多个外齿。主体部是配置在比齿部靠轴向一方侧,且在包含与中心轴平行的方向的成分的方向延伸的筒状的部位。底部从主体部的轴向一方侧的端部向径向内侧扩展。当将刚性内齿齿轮的内周面的维氏硬度设为Vig、将挠性齿轮的齿部的维氏硬度设为Vfg时,则200HV≤Vig≤Vfg的关系成立。


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    Title :

    Strain wave gear device and robot


    Additional title:

    波动齿轮装置以及机器人


    Contributors:

    Publication date :

    2024-04-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    F16H Getriebe , GEARING / B21D WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL , Bearbeiten oder Verarbeiten von Blechen, Metallrohren, -stangen oder -profilen ohne wesentliches Abtragen des Werkstoffs / B25J Manipulatoren , MANIPULATORS / B62M RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES , Antrieb von Radfahrzeugen oder Schlitten durch den Fahrer / C21D Veränderung der physikalischen Struktur von Eisenmetallen , MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS / C22C Legierungen , ALLOYS



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