JPH09257108A - Harmonious reduction mechanism - Google Patents
Harmonious reduction mechanismInfo
- Publication number
- JPH09257108A JPH09257108A JP9300796A JP9300796A JPH09257108A JP H09257108 A JPH09257108 A JP H09257108A JP 9300796 A JP9300796 A JP 9300796A JP 9300796 A JP9300796 A JP 9300796A JP H09257108 A JPH09257108 A JP H09257108A
- Authority
- JP
- Japan
- Prior art keywords
- flexspline
- rollers
- internal gear
- wave generator
- outer peripheral
- 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.)
- Pending
Links
- 239000004033 plastic Substances 0.000 claims abstract description 7
- 229920003023 plastic Polymers 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims description 19
- 239000000314 lubricant Substances 0.000 claims description 2
- 238000005452 bending Methods 0.000 claims 1
- 230000001154 acute effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Retarders (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、高速回転駆動され
る調和形減速機構の改良に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in a harmonic reduction mechanism driven at high speed.
【０００２】[0002]
【従来の技術】調和形減速機構は、入出力が同軸の減速
機構としての利便性を期待されながらフレクスプライン
を内歯歯車と係合せしめるウェーブジェネレータが高価
で、減速機構としても通常の平歯車の組合せによる減速
機構に価格対抗出来ず、使用分野が限定されてきた。2. Description of the Related Art In a harmonic reduction gear, a wave generator that engages a flexspline with an internal gear is expensive while expecting the convenience of a reduction gear with coaxial input and output, and an ordinary spur gear is also used as a reduction gear. The speed reduction mechanism by the combination of the above cannot compete with the price, and the field of use has been limited.
【０００３】従ってこのウェーブジェネレータの改良と
して種々試みられており、構成の簡素化と価格低減の構
想として、回転円板とこれに回転自在に保持されたロー
ラ群との組合せが、特開昭６３ー１２５２４７号，特開
平３ー２６５７４２号，特開平４ー２４４６３６号等の
公報に開示されている。Therefore, various attempts have been made to improve this wave generator. As a concept of simplifying the structure and reducing the price, a combination of a rotating disk and a roller group rotatably held by the rotating disk is disclosed in Japanese Patent Laid-Open No. 63-63. -125247, JP-A-3-265742, JP-A-4-244636 and the like.
【０００４】[0004]
【課題を解決するための手段】前記に掲げられた公報に
記載の構成は、製作の容易さと価格面での改善では大き
く前進したが、ウェーブジェネレータを構成するローラ
群が径小となることに起因して、高速動作の条件下では
動作音が大きくなるという問題を派生している。The structure described in the above publications has made great progress in terms of ease of manufacture and improvement in price, but the diameter of the roller group forming the wave generator is reduced. Due to this, the problem that the operation sound becomes loud under the condition of high speed operation is derived.
【０００５】本発明に成る調和形減速機構は、ウェーブ
ジェネレータを構成するローラが、当接するフレクスプ
ラインの開口端側に大きくなる勾配を有し、もしくはそ
の両端に所定の大きさ円弧面を形成し、もしくはその外
周面に溝を形成し、該溝にゴムリングを嵌着し、該ゴム
リングをフレクスプラインに当接転動し、そして／もし
くは該ローラがプラスチックスで形成されると共に、前
記ローラの内周面に潤滑剤を内包するブッシュを併設し
て該ローラを回転自在に保持する如く構成される。In the harmonic deceleration mechanism according to the present invention, the rollers forming the wave generator have a large slope on the opening end side of the abutting flexspline, or arc surfaces of a predetermined size are formed on both ends thereof. Alternatively, a groove is formed on the outer peripheral surface thereof, a rubber ring is fitted in the groove, the rubber ring is abutted on and rolled by a flexspline, and / or the roller is formed of plastics, and the roller is A bush containing a lubricant is provided on the inner peripheral surface of the roller to rotatably hold the roller.
【０００６】[0006]
【発明の実施の形態】以下図面によって本発明の実施例
について説明する。図１は本発明に成る調和形減速機構
の実施例の断面図で、該例ではウェーブジェネレータを
構成する腕８とロラ１０を軸支する柱９は一体をなし、
前記ローラ１０はその内周面にブッシュ１１を併置して
いる。図示されている断面は軸対称に配置される対のロ
ーラ１０がフレクスプライン４の外歯歯車４ー１を筺体
１側の内歯歯車３に係合する長軸部位を示している。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a sectional view of an embodiment of a harmonic reduction mechanism according to the present invention, in which an arm 8 constituting a wave generator and a column 9 for pivotally supporting a roller 10 are integrated,
The roller 10 has a bush 11 on its inner peripheral surface. The illustrated cross section shows a major axis portion where a pair of rollers 10 arranged axially symmetrically engages the external gear 4-1 of the flexspline 4 with the internal gear 3 on the housing 1 side.
【０００７】図２は該例のフレクスプライン４とローラ
１０との関係を説明する部分拡大図で、周知の通りロー
ラ１０が構成する長軸部位はフレクスプライン４の内周
面を押圧し外方向に押し広げるように作用するので、フ
レクスプライン４は保持円板部４ー３側に位置する底部
で円形を保ちつつ外歯歯車４ー１が形成されているその
開口端側では押し広げられるので、外歯歯車４ー１が形
成されている部分は開口端側が径大の勾配が派生してお
り図２で示すθがその勾配を示す。FIG. 2 is a partially enlarged view for explaining the relationship between the flexspline 4 and the roller 10 in this example. As is well known, the major axis portion of the roller 10 presses the inner peripheral surface of the flexspline 4 to the outside. Since the flexspline 4 keeps a circular shape at the bottom located on the side of the holding disc portion 4-3, the flexspline 4 is pushed and spread at the opening end side where the external gear 4-1 is formed. In the portion where the external gear 4-1 is formed, a large-diameter gradient is generated on the opening end side, and θ shown in FIG. 2 indicates the gradient.
【０００８】前記の従来技術の開示例では、この微少な
勾配に配慮することなく、ウェーブジェネレータを構成
するローラを単純な円筒状としていたため、ローラの高
速転動により不具合を派生していたのである。In the above-mentioned disclosed example of the prior art, since the roller forming the wave generator has a simple cylindrical shape without considering this slight gradient, a defect is caused by the high-speed rolling of the roller. is there.
【０００９】図３は前記の第１の実施例に使用する外周
面に勾配を持たせたローラ１０の断面図で、プラスチッ
クスで形成されその内周面にブッシュ１１を併設した例
を示している。FIG. 3 is a cross-sectional view of the roller 10 used in the first embodiment, which has an inclined outer peripheral surface, and shows an example in which a bush 11 is formed on the inner peripheral surface of plastics. There is.
【００１０】図４はプラスチックスで形成された円筒状
ローラ１０の両端に所定寸法の円弧部Ｒを形成した例
で、前記の小さな勾配を持つフレクスプライン４を押圧
する際、該円弧面での鋭角的な接触摺動が回避されるの
で、特にフレクスプライン４の内周面の損傷を防止する
構成である。該構成では実用範囲のフレクスプライン４
の勾配θに対応して、フレクスプライン４の外歯歯車４
ー１と筺体１側の内歯歯車３との係合に影響を与えず、
フレクスプライン４の内周面との当接転動で騒音を低減
し損傷を回避できる円弧Ｒの大きさはローラ１０の幅を
Ｗとした時（．０６〜．２）Ｗの範囲が適切であること
が確認されている。FIG. 4 shows an example in which a circular arc portion R having a predetermined size is formed at both ends of a cylindrical roller 10 made of plastics, and when pressing the flexspline 4 having the small slope, the circular arc surface R Since the contact sliding at an acute angle is avoided, the inner peripheral surface of the flexspline 4 is prevented from being damaged. Flexspline 4 in the practical range with this configuration
Corresponding to the gradient θ of the external spur gear 4 of the flexspline 4
-1 does not affect the engagement between the internal gear 3 on the housing 1 side,
When the width of the roller 10 is W (0.06 to 0.2), the range of W is appropriate for the size of the arc R that can reduce noise and avoid damage by abutting rolling with the inner peripheral surface of the flexspline 4. It has been confirmed that there is.
【００１１】図５はプラスチックスで形成された円筒状
ローラ１０の外周面に円周方向の溝を形成し、この溝に
ゴムリング１２を嵌着した例で、フレクスプライン４の
内周面を押圧するときに弾性をもって作用するので、押
圧作用における摺動音の低減等に効果のある構成であ
る。FIG. 5 shows an example in which a groove in the circumferential direction is formed on the outer peripheral surface of a cylindrical roller 10 made of plastics, and a rubber ring 12 is fitted into this groove. The inner peripheral surface of the flexspline 4 is shown in FIG. Since it acts elastically when pressed, it is a structure effective in reducing sliding noise due to the pressing action.
【００１２】[0012]
【発明の効果】本発明に成る調和形減速機構は、前記の
ような構成であるから高速動作において動作音を低減し
効率を高めることができる効果がある。EFFECTS OF THE INVENTION Since the harmonic reduction mechanism according to the present invention has the above-mentioned structure, it has an effect of reducing operating noise and increasing efficiency in high speed operation.
【図１】本発明に成る調和形減速機構の実施例の要部断
面図である。FIG. 1 is a cross-sectional view of essential parts of an embodiment of a harmonic reduction mechanism according to the present invention.
【図２】図１の例のフレクスプラインとローラとの関係
を説明する部分拡大図である。FIG. 2 is a partially enlarged view illustrating the relationship between the flexspline and the roller in the example of FIG.
【図３】図１の例のローラの拡大図である。FIG. 3 is an enlarged view of the roller of the example of FIG.
【図４】本発明に成る調和形減速機構の第２の実施例の
ローラの拡大断面図である。FIG. 4 is an enlarged cross-sectional view of a roller of a second embodiment of the harmonic reduction mechanism according to the present invention.
【図５】本発明に成る調和形減速機構の第３の実施例の
ローラの拡大断面図である。FIG. 5 is an enlarged sectional view of a roller of a third embodiment of the harmonic reduction mechanism according to the present invention.
１ 筺体Ａ ２ 筺体Ｂ ３ 筺体側の内歯歯車 ４ フレクスプライン ４ー１ フレクスプラインの外歯歯車 ４ー２ フレクスプラインの可撓性付与のためのＵター
ン形状部 ４ー３ フレクスプラインの保持円板部 ５ 出力軸 ６ 軸受 ７ 入力軸 ８ 腕 ９ 柱 １０ ローラ １１ ブッシュ １２ ゴムリング1 Enclosure A 2 Enclosure B 3 Enclosure side internal gear 4 Flexspline 4-1 Flexspline external gear 4-2 U-turn shape part for flexspline flexibility 4-3 Flexspline holding circle Plate 5 Output shaft 6 Bearing 7 Input shaft 8 Arm 9 Pillar 10 Roller 11 Bushing 12 Rubber ring
Claims (6)
ターナルギヤと、該インターナルギヤとモジュールが等
しく且つ歯数が少ない外歯歯車を形成し而も可撓性を有
するフレクスプラインと、該フレクスプラインの中心に
設けられた出力軸と、前記インターナルギヤと前記フレ
クスプラインとを軸対称の径方向長軸部位で係合せしめ
る為回転自在の回転板とその外周縁近傍の柱で回転自在
に軸支された複数のローラとより成るローラ転動形ウエ
ーブジェネレータと、を備える調和形減速機構におい
て、前記ウエーブジェネレータを構成する複数のローラ
はその外径寸法が、該ローラに当接するフレクスプライ
ンの開口端側に大きくなる勾配を有し、前記当接するフ
レクスプラインの撓みに倣いつつ転動すること、を特徴
とする調和形減速装置。1. An internal gear that is held in a housing and forms an internal gear, and a flexspline that is flexible and forms an external gear that has the same number of modules as the internal gear and a small number of teeth. In order to engage the output shaft provided at the center of the flexspline, the internal gear and the flexspline at the axially symmetrical radial major axis portion, the rotatable rotary plate and the column near the outer peripheral edge of the rotatable rotary plate rotate. In a harmonic deceleration mechanism including a roller rolling type wave generator composed of a plurality of rollers supported freely, a plurality of rollers constituting the wave generator have an outer diameter dimension of a flexure which comes into contact with the rollers. A harmonic reduction gear having a slope that increases toward the opening end of the spline and rolls while following the bending of the abutting flexspline. .
ターナルギヤと、該インターナルギヤとモジュールが等
しく且つ歯数が少ない外歯歯車を形成し而も可撓性を有
するフレクスプラインと、該フレクスプラインの中心に
設けられた出力軸と、前記インターナルギヤと前記フレ
クスプラインとを軸対称の径方向長軸部位で係合せしめ
る為回転自在の回転板とその外周縁近傍の柱で回転自在
に軸支された複数のローラとより成るローラ転動形ウエ
ーブジェネレータと、を備える調和形減速機構におい
て、前記ウエーブジェネレータを構成する複数のローラ
はその外周面端部に、前記ローラの幅をＷとした時その
半径が（．０６〜．２）Ｗの範囲の円弧部Ｒを形成して
いること、を特徴とする調和形減速機構。2. An internal gear which is held in a housing and forms an internal gear, and a flexspline which is flexible and forms an external gear having the same number of modules as the internal gear and a small number of teeth. In order to engage the output shaft provided at the center of the flexspline, the internal gear and the flexspline at the axially symmetrical radial major axis portion, the rotatable rotary plate and the column near the outer peripheral edge of the rotatable rotary plate rotate. In a harmonic deceleration mechanism including a roller rolling type wave generator composed of a plurality of rollers rotatably supported, a plurality of rollers forming the wave generator have an outer peripheral surface end portion with a width of the roller. Harmonic reduction mechanism having a radius of (0.06 to .2) W when the arc portion R is formed.
ターナルギヤと、該インターナルギヤとモジュールが等
しく且つ歯数が少ない外歯歯車を形成し而も可撓性を有
するフレクスプラインと、該フレクスプラインの中心に
設けられた出力軸と、前記インターナルギヤと前記フレ
クスプラインとを軸対称の径方向長軸部位で係合せしめ
る為回転自在の回転板とその外周縁近傍の柱で回転自在
に軸支された複数のローラとより成るローラ転動形ウエ
ーブジェネレータと、を備える調和形減速機構におい
て、前記ウエーブジェネレータを構成する複数のローラ
はその外周面に弾性を有する円環部材が併設され該弾性
部材の外周面がフレクスプラインに当接転動すること、
を特徴とする調和形減速機構。3. An internal gear, which is held in a housing and forms an internal gear, and a flexspline, which is flexible and forms an external gear having the same number of modules as the internal gear and a small number of teeth. In order to engage the output shaft provided at the center of the flexspline, the internal gear and the flexspline at the axially symmetrical radial major axis portion, the rotatable rotary plate and the column near the outer peripheral edge of the rotatable rotary plate rotate. In a harmonic deceleration mechanism including a roller rolling type wave generator composed of a plurality of rollers supported freely, a plurality of rollers forming the wave generator are provided with elastic ring members on their outer peripheral surfaces. And the outer peripheral surface of the elastic member abuts and rolls on the flexspline,
Harmonic reduction mechanism characterized by.
ターナルギヤと、該インターナルギヤとモジュールが等
しく且つ歯数が少ない外歯歯車を形成し而も可撓性を有
するフレクスプラインと、該フレクスプラインの中心に
設けられた出力軸と、前記インターナルギヤと前記フレ
クスプラインとを軸対称の径方向長軸部位で係合せしめ
る為回転自在の回転板とその外周縁近傍の柱で回転自在
に軸支された複数のローラとより成るローラ転動形ウエ
ーブジェネレータと、を備える調和形減速機構におい
て、前記ウエーブジェネレータを構成する複数のローラ
はその外周面に円周方向の溝が形成され、該溝にゴムリ
ングが嵌着され、該ゴムリングがフレクスプラインに当
接転動すること、を特徴とする調和形減速機構。4. An internal gear which is held by a housing and forms an internal gear, and a flexspline which is flexible and forms an external gear having the same number of modules as the internal gear and a small number of teeth. In order to engage the output shaft provided at the center of the flexspline, the internal gear and the flexspline at the axially symmetrical radial major axis portion, the rotatable rotary plate and the column near the outer peripheral edge of the rotatable rotary plate rotate. In a harmonic deceleration mechanism including a roller rolling type wave generator composed of a plurality of rollers supported freely, a plurality of rollers forming the wave generator have circumferential grooves formed on their outer peripheral surfaces. A harmonic reduction mechanism, wherein a rubber ring is fitted in the groove, and the rubber ring abuts and rolls on the flexspline.
形成されていること、を特徴とする請求項１〜４に記載
の調和形減速機構。5. The harmonic reduction mechanism according to claim 1, wherein the plurality of rollers are made of plastics.
成されると共に、前記ローラの内周面に潤滑剤を内包す
るブッシュを併設し前記ローラを回転自在に保持してい
ること、を特徴とする請求項１〜４に記載の調和形減速
機構。6. The plurality of rollers are formed of plastics, and a bush containing a lubricant is provided on the inner peripheral surface of the rollers to hold the rollers rotatably. The harmonic reduction mechanism according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9300796A JPH09257108A (en) | 1996-03-25 | 1996-03-25 | Harmonious reduction mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9300796A JPH09257108A (en) | 1996-03-25 | 1996-03-25 | Harmonious reduction mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09257108A true JPH09257108A (en) | 1997-09-30 |
Family
ID=14070345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9300796A Pending JPH09257108A (en) | 1996-03-25 | 1996-03-25 | Harmonious reduction mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09257108A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012057674A (en) * | 2010-09-07 | 2012-03-22 | Sumitomo Heavy Ind Ltd | Bending meshing type gear device |
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| WO2020111129A1 (en) * | 2018-11-29 | 2020-06-04 | 日本電産シンポ株式会社 | Wave gear device |
| DE112012000022B4 (en) | 2012-05-23 | 2024-04-25 | Harmonic Drive Systems Inc. | Wave generator of a wave gear |
-
1996
- 1996-03-25 JP JP9300796A patent/JPH09257108A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012057674A (en) * | 2010-09-07 | 2012-03-22 | Sumitomo Heavy Ind Ltd | Bending meshing type gear device |
| CN102401090A (en) * | 2010-09-07 | 2012-04-04 | 住友重机械工业株式会社 | Flexibly-engaged gear drive |
| WO2012103786A1 (en) * | 2011-02-01 | 2012-08-09 | 配天(安徽)电子技术有限公司 | Flexspline, harmonic reducer and robot joint structure |
| DE112012000022B4 (en) | 2012-05-23 | 2024-04-25 | Harmonic Drive Systems Inc. | Wave generator of a wave gear |
| WO2020111129A1 (en) * | 2018-11-29 | 2020-06-04 | 日本電産シンポ株式会社 | Wave gear device |
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