JP2003097654A - Flexible gear of harmonic drive reduction unit - Google Patents

Flexible gear of harmonic drive reduction unit

Info

Publication number
JP2003097654A
JP2003097654A JP2001333481A JP2001333481A JP2003097654A JP 2003097654 A JP2003097654 A JP 2003097654A JP 2001333481 A JP2001333481 A JP 2001333481A JP 2001333481 A JP2001333481 A JP 2001333481A JP 2003097654 A JP2003097654 A JP 2003097654A
Authority
JP
Japan
Prior art keywords
spline
cup
gear
flexible
flexi
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
JP2001333481A
Other languages
Japanese (ja)
Other versions
JP4915604B2 (en
Inventor
Yuichi Kiryu
悠一 桐生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to JP2001333481A priority Critical patent/JP4915604B2/en
Publication of JP2003097654A publication Critical patent/JP2003097654A/en
Application granted granted Critical
Publication of JP4915604B2 publication Critical patent/JP4915604B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

PROBLEM TO BE SOLVED: To solve such a problem that, because a flexible spline of a harmonic drive is manufactured by machining a flexible gear portion, a cup portion, and a boss portion thereof by cutting from one block of material, a lot of chips are produced during manufacturing and a material utilization factor of a completed product is very low. SOLUTION: The cup portion is formed from sheet metal by press work. A gear ring of sheet metal manufactured by a hydraulic forming press is fitted onto the cup portion. A space between the cup portion and the gear ring is filled with filler in order to produce the flexible integrated spline. By this method, the material utilization factor becomes very high, the machining time is reduced, and the service life becomes long because the flexural deformation can be distributed over the whole peripheral range of the cup.

Description

【発明の詳細な説明】 【０００１】 【発明の属する技術分野】本発明は、調和減速機の一種
であって、可撓性の歯車を用いる商品名ハーモニックド
ライブとしてよく知られた減速機の可撓歯車、一般名称
フレキシスプラインの構造に関する。以下の説明では、
当該分野の技術者に馴染があるハーモニックドライブ、
フレキシスプライン等の呼称を使用する。 【０００２】 【従来の技術】電動機を動力とする小型から中型のロボ
ットにおいて、ハーモニックドライブは利用されること
が極めて多い減速機である。コンパクトな構造でありな
がら５０から２００程度の大きな減速比が得られ、回転
剛性も高く、メンテナビリティーにも優れた実用性が高
い機械要素として知られ、ロボットは勿論、多くの他の
用途にも利用されてきた。 【０００３】減速機としての実用的なハーモニックドラ
イブの基本的構造には３種ある。それらはフレキシスプ
ラインの形状によってカップ型、シルクハット型及びフ
ラット型（パンケーキ型と呼ばれることもある）であ
る。調和減速機としての動作原理は全て同じであるか
ら、以下の説明ではカップ型のハーモニックドライブを
対象として取り上げる。 【０００４】 【発明が解決しようとする課題】ハーモニックドライブ
を構成する主要部品は内歯車であるサーキュラスプライ
ン、楕円形のディスクの外側に可撓ボールベアリングを
嵌合したウエーブジェネレータ、前述可撓ボールベアリ
ングの外輪に緩く嵌合して前述サーキュラスプラインの
内歯車に直径方向の２ヶ所でその外歯車が噛み合う可撓
性歯車であるフレキシスプラインの三つである。 【０００５】図１はフレキシスプラインの円周方向断面
を示す図である。図１の歯の山１を通るＡ−Ａ断面を示
したのが図２である。図１は図２のＢ−Ｂ断面に相当す
る。従来のフレキシスプラインの標準的な加工方法で
は、一つの材料から切削によって歯車の山１と谷２、カ
ップ３及びボス４を作り出していた。この加工方法では
材料の殆どの部分を切削によって切粉となし、僅かな部
分が完成品として残ることになる。つまり、材料に対す
る完成品の材料利用率が極めて低い問題がある。 【０００６】 【課題を解決するための手段】断面構造が図２であるよ
うな複雑な形状を切削加工により製造するからこのよう
に材料利用率が低くなる。カップ部分を薄板からプレス
加工によって製造し、別途製造した歯車の歯の部分をカ
ップの開放口側に接合し、カップの底側にボス部分を接
合すれば、材料に殆ど無駄が発生しないカップ型フレキ
シスプラインを得ることができる。 【０００７】 【発明の実施の形態】以上のような本発明になる構造を
実現する実施の形態について、図３及び図４を用いて以
下に説明する。 【０００８】図３はこの発明になるフレキシスプライン
の円周方向断面を示す図である。図３においてはカップ
５は薄板を材料としてプレス成形で製造され、その外周
部に薄板を歯車状に成形した歯車リング６が外接してい
る。 【０００９】歯車リング６の歯の山１の裏側とカップ５
の間の空間は樹脂等の充填材７で充填されており、この
フレキシスプラインとサーキュラスプラインが噛み合う
際に歯車リング６に加わる圧力に抗して所定の形状を維
持する。カップ５と歯車リング６は充填材７の接着力に
より接合されており、一体となって動作する。充填材の
材質としては硬質ウレタンのような樹脂が好適である。 【００１０】歯車リング６は歯の谷２の裏側でカップ５
に接触している。このようにカップ５と歯車リング６が
分離構成されていると、可撓性歯車であるフレキシスプ
ラインがウエーブジェネレータの曲率半径の大きい部分
から曲率半径の小さな部分へと１回転中に２回屈曲され
る場合に、屈曲変形がカップ５の全域に分散して行われ
ることになる。対して従来のフレキシスプラインでは図
１に見るように、歯の山１は剛性が大きいため屈曲変形
の大部分は歯の谷２に集中することになり、同一の屈曲
変形に対して本発明になるフレキシスプラインではカッ
プ５に加わる最大繰返し応力が従来型のフレキシスプラ
インに対して著しく小さな値となる。このため、同一屈
曲変形において従来型のフレキシスプラインに対して本
発明になるフレキシスプラインは著しく耐久性が大き
く、長寿命である。また、同じ耐久性においてはより大
きな屈曲変形を要する設計に適合することができる。 【００１１】歯車リング６はリング状の薄板を内歯車で
ある金型に液圧成形等で内側から強力に加圧して金型の
形状を転写することにより製造できる。従来のフレキシ
スプラインが切削加工法で歯車の創成加工を行うため、
長い加工時間を要したのに対し、本発明のように液圧加
工法等により金型面の転写加工を行えば、殆ど瞬間的に
正確な歯車の歯面を得ることができる。 【００１２】図４は図３のＡ−Ａ断面であり、図３は図
４の歯の山１におけるＢ−Ｂ断面である。図４の右側に
おいて、カップ５の底部はボスリング８に接合されてい
る。従来型のフレキシスプラインが図２のように１個の
部品であったのに対して、本発明のフレキシスプライン
は４個の部品で構成されており、部品点数は多くなつた
が、夫々の部品の材料利用率が著しく高く、総合した製
造コストが安いため、利用者にとって大きな経済性を提
供することができる。 【００１３】 【発明の効果】この発明は、以上に説明したように構成
されているので、従来の１ブロックの材料から切削で製
造したフレキシスプラインと比較して、材料利用率が著
しく高く、製造コストが安いフレキシスプラインを提供
することができる。 【００１４】また、従来型のフレキシスプラインが屈曲
変形を歯車の谷部分に集中していたのに対して、この発
明のフレキシスプラインでは屈曲変形をカップの全域に
均等に分散させることができるので、従来型に対して使
用寿命が長く、設計の自由度が大きいメリットを有す
る。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is a type of harmonic reduction gear, and is a type of harmonic reduction gear known as a harmonic drive using a flexible gear. The present invention relates to a structure of a flexible gear, a general name of a flexi spline. In the following description,
Harmonic drive familiar to engineers in the field,
Use a name such as flexi spline. 2. Description of the Related Art Harmonic drives are very often used in small to medium-sized robots powered by electric motors. Although it is a compact structure, it has a large reduction ratio of about 50 to 200, is high in rotational rigidity, is excellent in maintainability, and is known as a highly practical machine element. Has also been used. There are three basic structures of a practical harmonic drive as a speed reducer. They are cup type, top hat type and flat type (sometimes called pancake type) depending on the shape of the flexi spline. Since the operating principles of the harmonic reducer are all the same, the following description will focus on a cup-type harmonic drive. [0004] The main components of the harmonic drive are a circular spline as an internal gear, a wave generator in which a flexible ball bearing is fitted on the outside of an elliptical disk, and the above-mentioned flexible ball bearing. And three flexible splines, which are flexible gears, which are loosely fitted to the outer ring and mesh with the inner gear of the circular spline at two locations in the diameter direction. FIG. 1 is a view showing a circumferential section of a flexi spline. FIG. 2 shows an AA cross section passing through the tooth ridge 1 of FIG. FIG. 1 corresponds to a BB section in FIG. In the conventional standard processing method of the flexi spline, the ridges 1 and the valleys 2, the cup 3, and the boss 4 of the gear are formed by cutting one material. In this processing method, most of the material is turned into chips by cutting, and a small portion remains as a finished product. That is, there is a problem that the material utilization ratio of the finished product to the material is extremely low. [0006] Since a complicated shape having a sectional structure as shown in Fig. 2 is manufactured by cutting, the material utilization rate is reduced as described above. If the cup part is manufactured from a thin plate by press working, the tooth part of the separately manufactured gear is joined to the open mouth side of the cup, and the boss part is joined to the bottom side of the cup, the cup type that hardly wastes material A flexi spline can be obtained. An embodiment for realizing the above-described structure according to the present invention will be described below with reference to FIGS. 3 and 4. FIG. FIG. 3 is a diagram showing a circumferential cross section of the flexi spline according to the present invention. In FIG. 3, the cup 5 is manufactured by press molding using a thin plate as a material, and a gear ring 6 in which the thin plate is formed into a gear shape is circumscribed around the outer periphery thereof. The back of the tooth ridge 1 of the gear ring 6 and the cup 5
Is filled with a filler 7 such as resin, and maintains a predetermined shape against the pressure applied to the gear ring 6 when the flexi spline and the circular spline mesh with each other. The cup 5 and the gear ring 6 are joined by the adhesive force of the filler 7 and operate integrally. As the material of the filler, a resin such as hard urethane is preferable. [0010] The gear ring 6 is provided with a cup 5
Is in contact with When the cup 5 and the gear ring 6 are separated as described above, the flexible spline, which is a flexible gear, is bent twice during one rotation from a portion having a large radius of curvature of the wave generator to a portion having a small radius of curvature. In this case, the bending deformation is distributed and performed over the entire area of the cup 5. On the other hand, in the conventional flexi-spline, as shown in FIG. 1, most of the bending deformation is concentrated on the tooth valley 2 because the tooth ridge 1 is large in rigidity. In the case of the flexi spline, the maximum cyclic stress applied to the cup 5 is significantly smaller than that of the conventional flex spline. For this reason, the flexi spline according to the present invention has remarkably high durability and a long service life with respect to the conventional flexi spline in the same bending deformation. In addition, it can be adapted to a design requiring a larger bending deformation at the same durability. The gear ring 6 can be manufactured by transferring a ring-shaped thin plate to a mold serving as an internal gear by applying strong pressure from the inside by means of hydraulic molding or the like to transfer the shape of the mold. Because the conventional flexi spline creates gears by the cutting method,
Although a long processing time is required, when the transfer processing of the mold surface is performed by a hydraulic processing method or the like as in the present invention, an accurate gear tooth surface can be obtained almost instantaneously. FIG. 4 is an AA section of FIG. 3, and FIG. 3 is a BB section of the tooth ridge 1 of FIG. On the right side of FIG. 4, the bottom of the cup 5 is joined to the boss ring 8. While the conventional flexi-spline is one part as shown in FIG. 2, the flexi-spline of the present invention is composed of four parts, and the number of parts is increased. The material utilization rate is extremely high, and the overall manufacturing cost is low, so that great economical efficiency can be provided for users. Since the present invention is configured as described above, the material utilization is significantly higher than that of a conventional flexi-spline manufactured by cutting from one block of material. A low cost flexi spline can be provided. Further, while the conventional flex spline concentrates the bending deformation on the valley portion of the gear, the flex spline of the present invention can evenly distribute the bending deformation over the entire area of the cup. It has the advantage that the service life is longer and the degree of freedom in design is greater than the conventional type.

【図面の簡単な説明】 【図１】 従来型のフレキシスプラインの円周方向一部
断面図である。 【図２】 従来型のフレキシスプラインの軸方向一部断
面図である。 【図３】 本発明になるフレキシスプラインの円周方向
一部断面図である。 【図４】 本発明になるフレキシスプラインの軸方向一
部断面図である。 【符号の説明】 １ 歯の山 ２ 歯の谷 ３ カップ ４ ボス ５ カップ ６ 歯車リング ７ 充填材 ８ ボスBRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a partial cross-sectional view in the circumferential direction of a conventional flexi spline. FIG. 2 is an axial partial cross-sectional view of a conventional flexi spline. FIG. 3 is a partial cross-sectional view in the circumferential direction of a flexi spline according to the present invention. FIG. 4 is a partial sectional view in the axial direction of a flexi spline according to the present invention. [Description of Signs] 1 tooth ridge 2 tooth valley 3 cup 4 boss 5 cup 6 gear ring 7 filler 8 boss

Claims (1)

【特許請求の範囲】 【請求項１】内径部分は精密加工された筒形状の薄板で
あり、 歯車の歯列部分は歯の形状に波型に成形した薄板であ
り、 前述内径部分とその外径に密着する前述歯列部分の向き
合った部分を樹脂等で接合・充填してなるハーモニック
減速機の可撓歯車。Claims: 1. The inner diameter portion is a precision-machined cylindrical thin plate, and the tooth row portion of the gear is a thin plate formed into a tooth shape in a corrugated shape. A flexible gear of a harmonic reducer in which opposite portions of the above-mentioned tooth row portion closely contacting with a diameter are joined and filled with a resin or the like.
JP2001333481A 2001-09-26 2001-09-26 Harmonic reduction gear flexible gear Expired - Fee Related JP4915604B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2001333481A JP4915604B2 (en) 2001-09-26 2001-09-26 Harmonic reduction gear flexible gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2001333481A JP4915604B2 (en) 2001-09-26 2001-09-26 Harmonic reduction gear flexible gear

Publications (2)

Publication Number Publication Date
JP2003097654A true JP2003097654A (en) 2003-04-03
JP4915604B2 JP4915604B2 (en) 2012-04-11

Family

ID=19148731

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2001333481A Expired - Fee Related JP4915604B2 (en) 2001-09-26 2001-09-26 Harmonic reduction gear flexible gear

Country Status (1)

Country Link
JP (1) JP4915604B2 (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006029508A (en) * 2004-07-20 2006-02-02 Toyoda Mach Works Ltd Harmonic drive device, transmission ratio varying device, and harmonic gear manufacturing method
JP2007232083A (en) * 2006-03-01 2007-09-13 Honda Motor Co Ltd Undulation wave gearing
CN100402226C (en) * 2006-07-13 2008-07-16 重庆海通机械制造有限公司 Process of making annulus with bar steel
CN102717241A (en) * 2012-07-06 2012-10-10 湖北大旗液压有限公司 Manufacturing process of engine toothed ring
CN103671727A (en) * 2013-11-28 2014-03-26 苏州绿的谐波传动科技有限公司 Precision harmonic reducer
WO2017077657A1 (en) * 2015-11-06 2017-05-11 株式会社ハーモニック・ドライブ・システムズ Flexible external gear and strain wave gearing device
JP2020106140A (en) * 2018-12-28 2020-07-09 Ｓｋｇ株式会社 Rotation deceleration transmission device
CN117090917A (en) * 2023-10-18 2023-11-21 国茂精密传动(常州)有限公司 Precise harmonic reducer flexspline component and processing method and processing system thereof

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103527720A (en) * 2012-07-05 2014-01-22 北京精密机电控制设备研究所 Harmonic reducer

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4867149A (en) * 1971-12-20 1973-09-13
JPS5854272A (en) * 1981-09-04 1983-03-31 アンダ−ソン・クツク・インコ−ポレ−テツド Composite metal-plastic gear and its manufacture
JPH01102557A (en) * 1986-10-01 1989-04-20 Agfa Gevaert Ag Color photographic recording material containing pyrazoloazole based color coupler
JPH0272260A (en) * 1988-09-07 1990-03-12 Harmonic Drive Syst Ind Co Ltd Flexible spline of wave motion gear device
JPH08296703A (en) * 1995-04-26 1996-11-12 Japan Servo Co Ltd Flexible spline for harmonic type decelerating mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4867149A (en) * 1971-12-20 1973-09-13
JPS5854272A (en) * 1981-09-04 1983-03-31 アンダ−ソン・クツク・インコ−ポレ−テツド Composite metal-plastic gear and its manufacture
JPH01102557A (en) * 1986-10-01 1989-04-20 Agfa Gevaert Ag Color photographic recording material containing pyrazoloazole based color coupler
JPH0272260A (en) * 1988-09-07 1990-03-12 Harmonic Drive Syst Ind Co Ltd Flexible spline of wave motion gear device
JPH08296703A (en) * 1995-04-26 1996-11-12 Japan Servo Co Ltd Flexible spline for harmonic type decelerating mechanism

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006029508A (en) * 2004-07-20 2006-02-02 Toyoda Mach Works Ltd Harmonic drive device, transmission ratio varying device, and harmonic gear manufacturing method
JP4645086B2 (en) * 2004-07-20 2011-03-09 株式会社ジェイテクト Wave gear device, transmission ratio variable device, and method of manufacturing wave gear device
JP2007232083A (en) * 2006-03-01 2007-09-13 Honda Motor Co Ltd Undulation wave gearing
CN100402226C (en) * 2006-07-13 2008-07-16 重庆海通机械制造有限公司 Process of making annulus with bar steel
CN102717241A (en) * 2012-07-06 2012-10-10 湖北大旗液压有限公司 Manufacturing process of engine toothed ring
CN103671727A (en) * 2013-11-28 2014-03-26 苏州绿的谐波传动科技有限公司 Precision harmonic reducer
WO2017077657A1 (en) * 2015-11-06 2017-05-11 株式会社ハーモニック・ドライブ・システムズ Flexible external gear and strain wave gearing device
JPWO2017077657A1 (en) * 2015-11-06 2018-06-28 株式会社ハーモニック・ドライブ・システムズ Flexible external gear and wave gear device
CN108350990A (en) * 2015-11-06 2018-07-31 谐波传动***有限公司 Flexible external tooth gear and Wave gear device
US10801585B2 (en) 2015-11-06 2020-10-13 Harmonic Drive Systems Inc. Flexible external gear and strain wave gearing
JP2020106140A (en) * 2018-12-28 2020-07-09 Ｓｋｇ株式会社 Rotation deceleration transmission device
CN117090917A (en) * 2023-10-18 2023-11-21 国茂精密传动(常州)有限公司 Precise harmonic reducer flexspline component and processing method and processing system thereof
CN117090917B (en) * 2023-10-18 2024-02-13 国茂精密传动(常州)有限公司 Precise harmonic reducer flexspline component and processing method and processing system thereof

Also Published As

Publication number Publication date
JP4915604B2 (en) 2012-04-11

Similar Documents

Publication Publication Date Title
JP5860548B2 (en) Crown gear reduction mechanism
JP2003097654A (en) Flexible gear of harmonic drive reduction unit
JP5860549B2 (en) Method for manufacturing crown gear reduction mechanism
JP2021008953A (en) Strain wave gear reducer and manufacturing method of the same
WO1999020917A1 (en) Silk hat flexible engagement gear device
JP3916101B2 (en) Flexure meshing gear unit
JPH0349576A (en) Ultrasonic motor
JP3781315B2 (en) Top hat flexure meshing gear system
JPH088369Y2 (en) Wave gearing
JPS61142979A (en) Motor using piezoelectric element
JP3142443U (en) Power output device for electric tools
JPS61171885U (en)
JPH08334163A (en) Cam gear structure
CN214838236U (en) Driven gear for gear transmission
TWI762138B (en) Harmonic drive and detachable spline thereof
JP5054853B1 (en) Crown gear reduction mechanism
JP2729968B2 (en) Inscribed planetary gear set
JPH0619872Y2 (en) Wave gearing
JPS6170631U (en)
JP6403582B2 (en) gear
RU22691U1 (en) FRICTIONAL TRANSMISSION
JPH0222448U (en)
JPH03101189U (en)
JPH0446248U (en)
JPH034955U (en)

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20080902

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110425

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20110510

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110707

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120110

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120112

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20180203

Year of fee payment: 6

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

LAPS Cancellation because of no payment of annual fees