JP3815698B2 - Mounting structure of rigid internal gear of wave gear device - Google Patents

Mounting structure of rigid internal gear of wave gear device Download PDF

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Publication number
JP3815698B2
JP3815698B2 JP06050796A JP6050796A JP3815698B2 JP 3815698 B2 JP3815698 B2 JP 3815698B2 JP 06050796 A JP06050796 A JP 06050796A JP 6050796 A JP6050796 A JP 6050796A JP 3815698 B2 JP3815698 B2 JP 3815698B2
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Prior art keywords
rigid internal
internal gear
gear
annular
wave
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JPH09250607A (en
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芳秀 清沢
隆弘 大倉
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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Description

【０００１】
【発明の属する技術分野】
本発明は波動歯車装置の構成要素である剛性内歯歯車の取付け構造に関するものである。
【０００２】
【従来の技術】
図１には、波動歯車装置を減速機構として組み込んだロボットの関節機構等に使用される駆動装置を示してある。この駆動装置１は、駆動源としてのモーター５と、モーター５の高速回転を減速して取り出す波動歯車装置２を有している。波動歯車装置２は、装置ハウジング１１に取付け固定された剛性内歯歯車２１と、この剛性内歯歯車２１の内側に同心状に配置されたカップ状の可撓性外歯歯車２２と、この可撓性外歯歯車２２の内側に嵌め込まれて、当該可撓性外歯歯車２２を半径方向に撓めて剛性内歯歯車２１に対して部分的に噛み合わせると共に、これらの噛み合わせ位置を周方向に移動させる波動発生器２３とを有している。
【０００３】
波動発生器２３は、モーター５の出力軸５ａに連結されており、高速回転が入力される。これに対して、カップ状の可撓性外歯歯車２２の側は、そのカップ形状の底部分を規定しているボス２２ａの部分が被駆動部材３の側に連結されている。
【０００４】
波動発生器２３は一般には楕円状の輪郭をしており、可撓性外歯歯車２２を撓めて、２個所の位置で剛性内歯歯車２１の側に噛み合わせている。波動発生器２３が回転すると、歯車２１、２２の噛み合い位置も円周方向に移動する。この結果、これらの歯車の歯数差に応じた相対回転がこれらの歯車の間に発生する。剛性内歯歯車２１は固定されているので、可撓性外歯歯車２２が回転する。この回転により被駆動部材３が回転させられる。
【０００５】
【発明が解決しようとする課題】
ここで、波動歯車装置２の剛性内歯歯車２１の装置ハウジング１１に対する取付け面の精度は、当該波動歯車装置の回転精度に大きく影響する。したがって、正確に剛性内歯歯車２１を装置ハウジング１１の側に取付け固定するためには、取付け面の平面度、平行度を高精度で実現する必要がある。
【０００６】
図１に示すように、剛性内歯歯車２１の断面形状は、内歯２１ａが形成されている内周側の部分が広幅となったいんろう付き断面形状をしており、その裏面側の狭い幅の部分が装置ハウジング１１の側に取付け固定される。このように、剛性内歯歯車２１の両側の環状端面２１ｂ、２１ｃには、その内周面側が左右に突き出ている。このようないんろう付きの断面形状となっているので、装置ハウジング１１の側の取付け面１１ａ、１１ｂに取付け固定される左右の環状端面２１ｂ、２１ｃの平面度、平行度を高精度で実現することが困難であり、そのような加工を行なうと剛性内歯歯車が高価なものとなってしまう。
【０００７】
そこで、このような弊害を回避するためには、装置ハウジング１１の側に剛性内歯歯車２１が一体形成された構造とすればよい。しかし、これでは、汎用性に欠ける構造となってしまい好ましくない。
【０００８】
本発明の課題は、このような点に鑑みて、汎用性を損なうことなく、剛性内歯歯車を精度良く装置ハウジングの側に取付け固定することの可能な構造を実現することにある。
【０００９】
【課題を解決するための手段】
上記の課題を解決するために、本発明は、装置ハウジングに取付け固定された剛性内歯歯車と、この剛性内歯歯車の内側に同心状に配置された可撓性外歯歯車と、この可撓性外歯歯車の内側に嵌め込まれて、当該可撓性外歯歯車を半径方向に撓めて前記剛性内歯歯車に対して部分的に噛み合わせると共に、これらの噛み合わせ位置を周方向に移動させる波動発生器とを有する波動歯車装置において、前記剛性内歯歯車を矩形断面形状をした環状部材から形成して、その両側の環状端面を装置ハウジングへの取付け面とすると共に、当該環状部材を内周側に嵌め込み可能な芯出し用リングを有した構成を採用して、当該芯出し用リングを前記環状部材よりも広い幅に設定してある。さらには、前記装置ハウジングの側には、前記剛性内歯歯車の両側の環状端面が取付け固定される一対の環状取付け面と、これらの環状取付け面の外周側に連続して、前記芯出し用リングの環状端面および内周面の端面側の部分が取付け固定される段付きの環状取付け面とを形成しておく。そして、これらの取付け面に対して前記剛性内歯歯車および前記芯出し用リングを取付け固定する。
【００１０】
この構成を採用した場合には、剛性内歯歯車の装置ハウジングに対する芯出しは、芯出し用リングによって行なわれる。剛性内歯歯車の両側には平坦な環状端面を形成するのみでよい。これらの面、すなわち装置ハウジングの側への取付け面の加工が簡単にできる。したがって、それらの取付け面の平面度、平行度を高い精度で実現できる。
【００１１】
【発明の実施の形態】
本発明は図１に示す波動歯車装置に適用可能である。したがって、以下に、本発明をこの波動歯車装置２に適用した場合の例を説明する。波動歯車装置２の基本構成は前述してあるので省略し、剛性内歯歯車２１の装置ハウジング１１に対する取付け部分のみを説明する。
【００１２】
図２には、本発明の実施の形態による剛性内歯歯車の取付け構造を示してある。本例においては、剛性内歯歯車２１を矩形断面形状をした環状部材から形成し、その両側の平坦な環状端面６１、６２を装置ハウジング１１への取付け面としてある。
【００１３】
さらに、この剛性内歯歯車２１は、芯出し用リング７の内側に嵌め込まれた構成となっている。この芯出し用リング７は剛性内歯歯車２１よりも広い幅を備えている。したがって、その両側の環状端面７１、７２は、剛性内歯歯車２１の両側の環状端面６１、６２よりも突出している。
【００１４】
一方、装置ハウジング１１の側は、モーターケース５ｂの側に固定されたモーター側ハウジング１２と、被駆動部材の側に位置する負荷側ハウジング１３とを有している（図１参照）。これらの環状端面１２ａおよび１３ａのそれぞれに対して、剛性内歯歯車２１の環状端面６１、６２が取付けられる。このように剛性内歯歯車２１が左右から挟まれた状態で、これらの三部材が締結用ボルト６によって締結固定される（図１参照）。
【００１５】
モーター側ハウジング１２の環状端面１２ａは、剛性内歯歯車２１の環状端面６１が取付け固定される環状取付け面１２ｂと、この環状取付け面１２ｂの外周側に連続して、芯出し用リング７の環状端面７１および内周面の端側の部分が取付け固定される段付きの環状端面１２ｃを備えている。同様に、負荷側ハウジング１３の環状端面１３ａも、剛性内歯歯車２１の環状端面６２が取付け固定される環状取付け面１３ｂと、この環状取付け面１３ｂの外周側に連続して、芯出し用リング７の環状端面７２および内周面の端側の部分が取付け固定される段付きの環状端面１３ｃを備えている。
【００１６】
この構成を採用した場合には、芯出し用リング７が別途必要となる。しかし、装置ハウジング１１の側における剛性内歯歯車２１が取付けられる環状端面１２ａ、１３ａの加工が簡単になる。したがって、図１に示す形状の剛性内歯歯車に比べて、その両側の取付け面である環状端面６１、６２の平面度、平行度を高い精度で実現することができる。また、このような加工を簡単に行なうことができる。
【００１７】
【発明の効果】
以上説明したように、本発明の波動歯車装置においては、その剛性内歯歯車の断面形状を、内周面側の内歯が形成されている部分が左右に突出したいんろう付きの断面形状とせずに、剛性内歯歯車は矩形の断面形状としてその両側に平坦な環状端面を形成し、装置ハウジングの側との芯出しを行なうために芯出し用リングを用いるようにしている。装置ハウジングの側への取付け面である両側の環状端面は平坦な面となるので、それらの平面度、平行度を高い精度で実現ことが簡単になる。
【図面の簡単な説明】
【図１】 本発明を適用可能な波動歯車装置が組み込まれている駆動装置を示す構成図である。
【図２】 図１に示す波動歯車装置に本発明を適用した実施の形態を示す構成図である。
【符号の説明】
１ 駆動装置
１１ 装置ハウジング
１２ モーター側ハウジング
１２ａ モーター側ハウジングの環状端面
１２ｂ、１２ｃ 環状端面
１３ 負荷側ハウジング
１３ａ 負荷側ハウジングの環状端面
１３ｂ、１３ｃ 環状端面
２ 波動歯車装置
２１ 剛性内歯歯車
２２ 可撓性外歯歯車
２３ 波動発生器
５ モーター
５ａ 出力軸
６１、６２ 剛性内歯歯車の環状端面（取付け面）
７ 芯出し用リング
７１、７２ 芯出し用リングの環状端面[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mounting structure for a rigid internal gear which is a component of a wave gear device.
[0002]
[Prior art]
FIG. 1 shows a drive device used in a joint mechanism of a robot incorporating a wave gear device as a speed reduction mechanism. The drive device 1 includes a motor 5 as a drive source and a wave gear device 2 that decelerates and extracts the high-speed rotation of the motor 5. The wave gear device 2 includes a rigid internal gear 21 fixedly attached to the device housing 11, a cup-shaped flexible external gear 22 disposed concentrically inside the rigid internal gear 21, The flexible external gear 22 is fitted inside, and the flexible external gear 22 is bent in the radial direction so as to partially mesh with the rigid internal gear 21, and these meshing positions are rotated around. And a wave generator 23 that moves in the direction.
[0003]
The wave generator 23 is connected to the output shaft 5a of the motor 5 and receives high speed rotation. On the other hand, on the side of the cup-shaped flexible external gear 22, the portion of the boss 22 a that defines the cup-shaped bottom portion is connected to the driven member 3 side.
[0004]
The wave generator 23 generally has an elliptical outline, and the flexible external gear 22 is bent and meshed with the rigid internal gear 21 at two positions. When the wave generator 23 rotates, the meshing position of the gears 21 and 22 also moves in the circumferential direction. As a result, relative rotation according to the difference in the number of teeth of these gears occurs between these gears. Since the rigid internal gear 21 is fixed, the flexible external gear 22 rotates. The driven member 3 is rotated by this rotation.
[0005]
[Problems to be solved by the invention]
Here, the accuracy of the mounting surface of the rigid internal gear 21 of the wave gear device 2 with respect to the device housing 11 greatly affects the rotation accuracy of the wave gear device. Therefore, in order to accurately mount and fix the rigid internal gear 21 on the apparatus housing 11 side, it is necessary to realize the flatness and parallelism of the mounting surface with high accuracy.
[0006]
As shown in FIG. 1, the cross-sectional shape of the rigid internal gear 21 is a cross-sectional shape with brazing where the inner peripheral side portion where the internal teeth 21a are formed is wide, and the back side is narrow. The width portion is attached and fixed to the device housing 11 side. Thus, the inner peripheral surface side of the annular end surfaces 21b and 21c on both sides of the rigid internal gear 21 protrudes left and right. Since it has such a brazed cross-sectional shape, the flatness and parallelism of the left and right annular end surfaces 21b and 21c attached and fixed to the mounting surfaces 11a and 11b on the apparatus housing 11 side are realized with high accuracy. However, if such a process is performed, the rigid internal gear becomes expensive.
[0007]
Therefore, in order to avoid such an adverse effect, a structure in which the rigid internal gear 21 is integrally formed on the device housing 11 side may be adopted. However, this is not preferable because the structure lacks versatility.
[0008]
In view of these points, an object of the present invention is to realize a structure capable of accurately mounting and fixing a rigid internal gear to the apparatus housing side without impairing versatility.
[0009]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention provides a rigid internal gear fixedly attached to an apparatus housing, a flexible external gear concentrically disposed inside the rigid internal gear, It is fitted inside the flexible external gear, and the flexible external gear is bent in the radial direction so as to partially mesh with the rigid internal gear, and the meshing position thereof is set in the circumferential direction. In the wave gear device having a wave generator to be moved, the rigid internal gear is formed from an annular member having a rectangular cross-sectional shape, and annular end surfaces on both sides thereof are used as attachment surfaces to the device housing, and the annular member The centering ring is set to have a width wider than that of the annular member. Furthermore, on the device housing side, a pair of annular mounting surfaces to which the annular end surfaces on both sides of the rigid internal gear are fixedly mounted, and the centering-use surface are continuously provided on the outer peripheral side of these annular mounting surfaces. An annular end surface of the ring and a stepped annular mounting surface to which a portion on the end surface side of the inner peripheral surface is attached and fixed are formed. Then, the rigid internal gear and the centering ring are attached and fixed to these attachment surfaces.
[0010]
When this configuration is adopted, centering of the rigid internal gear with respect to the device housing is performed by a centering ring. It is only necessary to form flat annular end faces on both sides of the rigid internal gear. These surfaces, that is, the mounting surfaces on the side of the device housing, can be easily processed. Therefore, the flatness and parallelism of those mounting surfaces can be realized with high accuracy.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
The present invention is applicable to the wave gear device shown in FIG. Accordingly, an example in which the present invention is applied to the wave gear device 2 will be described below. Since the basic configuration of the wave gear device 2 has been described above, it will be omitted, and only the attachment portion of the rigid internal gear 21 to the device housing 11 will be described.
[0012]
FIG. 2 shows a mounting structure for a rigid internal gear according to an embodiment of the present invention. In this example, the rigid internal gear 21 is formed from an annular member having a rectangular cross-sectional shape, and flat annular end surfaces 61 and 62 on both sides thereof are used as attachment surfaces to the apparatus housing 11.
[0013]
Further, the rigid internal gear 21 is configured to be fitted inside the centering ring 7. The centering ring 7 is wider than the rigid internal gear 21. Therefore, the annular end surfaces 71 and 72 on both sides protrude from the annular end surfaces 61 and 62 on both sides of the rigid internal gear 21.
[0014]
On the other hand, the device housing 11 side has a motor side housing 12 fixed to the motor case 5b side and a load side housing 13 located on the driven member side (see FIG. 1). The annular end surfaces 61 and 62 of the rigid internal gear 21 are attached to the annular end surfaces 12a and 13a, respectively. Thus, these three members are fastened and fixed by the fastening bolts 6 with the rigid internal gear 21 sandwiched from the left and right (see FIG. 1).
[0015]
The annular end surface 12a of the motor-side housing 12 is connected to the annular mounting surface 12b to which the annular end surface 61 of the rigid internal gear 21 is fixed and the outer peripheral side of the annular mounting surface 12b. A stepped annular end surface 12c to which the end surface 71 and the end portion of the inner peripheral surface are attached and fixed is provided. Similarly, the annular end surface 13a of the load-side housing 13 is also connected to the annular mounting surface 13b to which the annular end surface 62 of the rigid internal gear 21 is fixed and the outer peripheral side of the annular mounting surface 13b. 7 is provided with a stepped annular end surface 13c to which the end portion of the annular end surface 72 and the inner peripheral surface are attached and fixed.
[0016]
When this configuration is adopted, a centering ring 7 is separately required. However, the processing of the annular end faces 12a and 13a to which the rigid internal gear 21 on the apparatus housing 11 side is attached is simplified. Therefore, compared with the rigid internal gear having the shape shown in FIG. 1, the flatness and parallelism of the annular end surfaces 61 and 62 which are the attachment surfaces on both sides thereof can be realized with high accuracy. Further, such processing can be easily performed.
[0017]
【The invention's effect】
As described above, in the wave gear device according to the present invention, the cross-sectional shape of the rigid internal gear is set to a cross-sectional shape with a brazing projecting from the left and right at the portion where the internal teeth on the inner peripheral surface side are formed. Instead, the rigid internal gear has a rectangular cross-sectional shape and flat annular end faces on both sides thereof, and a centering ring is used for centering with the device housing side. Since the annular end surfaces on both sides, which are mounting surfaces to the device housing side, are flat surfaces, it is easy to realize their flatness and parallelism with high accuracy.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a drive device incorporating a wave gear device to which the present invention can be applied.
FIG. 2 is a configuration diagram showing an embodiment in which the present invention is applied to the wave gear device shown in FIG. 1;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Drive device 11 Device housing 12 Motor side housing 12a Motor-side housing annular end surface 12b, 12c Annular end surface 13 Load-side housing 13a Load-side housing annular end surface 13b, 13c Annular end surface 2 Wave gear device 21 Rigid internal gear 22 Flexible External gear 23 Wave generator 5 Motor 5a Output shaft 61, 62 Annular end face (mounting surface) of rigid internal gear
7 Centering rings 71, 72 An annular end face of the centering ring

Claims (1)

装置ハウジングに取付け固定された剛性内歯歯車と、この剛性内歯歯車の内側に同心状に配置された可撓性外歯歯車と、この可撓性外歯歯車の内側に嵌め込まれて、当該可撓性外歯歯車を半径方向に撓めて前記剛性内歯歯車に対して部分的に噛み合わせると共に、これらの噛み合わせ位置を周方向に移動させる波動発生器とを有する波動歯車装置において、
前記剛性内歯歯車は矩形断面形状をした環状部材から形成されており、
当該環状部材を内周側に嵌め込み可能な芯出し用リングを有し、
当該芯出し用リングは、前記環状部材よりも広い幅に設定されており、
前記装置ハウジングの側には、前記剛性内歯歯車の両側の環状端面が取付け固定される一対の環状取付け面と、これらの環状取付け面の外周側に連続して、前記芯出し用リングの環状端面および内周面の端面側の部分が取付け固定される段付きの環状取付け面とが形成されており、
これらの取付け面に対して前記剛性内歯歯車および前記芯出し用リングが取付け固定されていることを特徴とする波動歯車装置の剛性内歯歯車取付け構造。A rigid internal gear fixedly attached to the device housing, a flexible external gear disposed concentrically inside the rigid internal gear, and fitted inside the flexible external gear, In a wave gear device having a wave generator that flexes a flexible external gear in a radial direction and partially meshes with the rigid internal gear and moves the meshing position in the circumferential direction.
The rigid internal gear is formed from an annular member having a rectangular cross-sectional shape,
A ring for centering capable of fitting the annular member on the inner peripheral side;
The centering ring is set to a width wider than the annular member,
On the device housing side, a pair of annular mounting surfaces to which annular end surfaces on both sides of the rigid internal gear are mounted and fixed, and an annular ring of the centering ring are connected to the outer peripheral side of these annular mounting surfaces. A stepped annular mounting surface to which the end surface and the end surface side portion of the inner peripheral surface are mounted and fixed is formed,
A rigid internal gear mounting structure for a wave gear device, wherein the rigid internal gear and the centering ring are fixedly attached to these mounting surfaces.
JP06050796A 1996-03-18 1996-03-18 Mounting structure of rigid internal gear of wave gear device Expired - Lifetime JP3815698B2 (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
JP06050796A JP3815698B2 (en) 1996-03-18 1996-03-18 Mounting structure of rigid internal gear of wave gear device

Publications (2)

Publication Number Publication Date
JPH09250607A JPH09250607A (en) 1997-09-22
JP3815698B2 true JP3815698B2 (en) 2006-08-30

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JP06050796A Expired - Lifetime JP3815698B2 (en) 1996-03-18 1996-03-18 Mounting structure of rigid internal gear of wave gear device

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Families Citing this family (6)

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Publication number Priority date Publication date Assignee Title
JP2010266008A (en) 2009-05-15 2010-11-25 Denso Wave Inc Harmonic reduction gear for robot
JP5293529B2 (en) * 2009-09-17 2013-09-18 株式会社デンソーウェーブ Speed reducer mounting structure and speed reducer manufacturing method
CN103629306B (en) * 2012-08-20 2016-03-30 刘旭训 The harmonic speed reducer of electric bicycle driver
JP5984606B2 (en) * 2012-10-04 2016-09-06 株式会社ハーモニック・ドライブ・システムズ Wave gear unit with input bearing
KR101774227B1 (en) * 2013-07-04 2017-09-04 가부시키가이샤 하모닉 드라이브 시스템즈 Fastening method for fastening driven member to wave gear device unit, and wave gear device unit
JP7037619B2 (en) * 2020-11-25 2022-03-16 日本電産シンポ株式会社 Strain wave gear reducer unit

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