Wave gear device and flexible externally toothed gear
A cup-shaped flexible externally toothed gear of a wave gear device comprises a cylindrical body part, and an external-teeth area thereof includes a pushed portion pushed radially outward by a wave generator and a groove formed in a position adjacent to the pushed portion toward a diaphragm. The reaction force of the wave generator can be reduced because the groove is formed to partially reduce thickness in a portion that does not affect the root strength of the external teeth. The increase in root stress can be suppressed when the roots of the external teeth are thickened, and root strength can be effectively increased. The load torque of the wave gear device can thereby be increased.
1. A wave gear device comprising:
an annular rigid internally toothed gear, a flexible externally toothed gear disposed on an inner side of the rigid internally toothed gear, and a wave generator disposed on an inner side of the flexible externally toothed gear;
the flexible externally toothed gear having a cylindrical body part capable of flexing radially, a diaphragm expanding radially inward or outward as a continuation of one edge of the cylindrical body part, and external teeth formed in an external peripheral surface portion of the cylindrical body part on the other side of the cylindrical body part having an open edge;
the wave generator having an external-teeth-pushing surface for pushing radially outward an internal peripheral surface portion of an external-teeth area of the cylindrical body part where the external teeth are formed; and
the external-teeth area of the flexible externally toothed gear being made to flex into a non-circular shape by the external-teeth-pushing surface, the external teeth meshing with internal teeth of the rigid internally toothed gear in a plurality of circumferentially separated regions, and, when the wave generator is rotated, the meshing positions of the external teeth and the internal teeth also moving circumferentially and relative rotation corresponding to the difference in the number of the external teeth and internal teeth occurring between the flexible externally toothed gear and the rigid internally toothed gear;
the wave gear device wherein:
the external-teeth area in the cylindrical body part includes a pushed portion pushed radially outward by the external-teeth-pushing surface of an outer ring and wherein the pushed portion is in direct contact with the external-teeth-pushing surface of the outer ring, an adjacent portion adjacent to the pushed portion toward the diaphragm, and a groove formed in the adjacent portion;
the groove extends along an internal peripheral surface of the external-teeth area through the entire periphery thereof; and
a thickness of the adjacent portion where the groove is formed is reduced compared to that of the pushed portion.
2. The wave gear device of claim 1 , wherein:
when the external-teeth area is sectioned along a plane including a gear center axis, a cross-sectional shape of the groove is defined by a concave curve.
3. The wave gear device of claim 1 , wherein:
the wave generator includes a rigid member having a non-circular external peripheral surface and a wave bearing having an outer ring and an inner ring capable of flexing radially, the wave bearing being mounted in a non-circular flexed state to an external peripheral surface of the rigid member; and
an external peripheral surface of the outer ring is the external-teeth-pushing surface.
4. A flexible externally toothed gear of a wave gear device, comprising:
a cylindrical body part capable of flexing radially, a diaphragm expanding radially inward or outward as a continuation of one edge of the cylindrical body part, and external teeth formed in an external peripheral surface portion of the cylindrical body part on the other side of the cylindrical cup part having an open edge;
an external-teeth area in the cylindrical body part including a pushed portion pushed radially outward by an external-teeth-pushing surface of an outer ring and wherein the pushed portion is in direct contact with the external-teeth-pushing surface of the outer ring, an adjacent portion adjacent to the pushed portion toward the diaphragm, and a groove formed in the adjacent portion; and
the groove extending along an internal peripheral surface of the external-teeth area through the entire periphery thereof.
5. The flexible externally toothed gear of a wave gear device of claim 4 , wherein:
when a section along a plane including a gear center axis, a cross-sectional shape of the groove is defined by a concave curve.