JPH10318338A - Flexible intermeshing geared device - Google Patents
Flexible intermeshing geared deviceInfo
- Publication number
- JPH10318338A JPH10318338A JP9133233A JP13323397A JPH10318338A JP H10318338 A JPH10318338 A JP H10318338A JP 9133233 A JP9133233 A JP 9133233A JP 13323397 A JP13323397 A JP 13323397A JP H10318338 A JPH10318338 A JP H10318338A
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- Prior art keywords
- gear
- rigid
- flexible
- cam plate
- meshing
- 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.)
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ロボットアームの
駆動機構等における減速装置として使用するのに適した
撓み噛み合い式歯車装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flexible meshing gear device suitable for use as a reduction gear in a drive mechanism of a robot arm or the like.
【０００２】[0002]
【従来の技術】ロボットアーム等の駆動機構における減
速装置としては、本願人によりハーモニック・ドライブ
という商標名で製造販売されている撓み噛み合い式歯車
装置が知られている。2. Description of the Related Art As a speed reducer in a drive mechanism such as a robot arm, there is known a flexible meshing gear device manufactured and sold by the present applicant under the trade name Harmonic Drive.
【０００３】典型的な撓み噛み合い式歯車装置は、内周
面に内歯が形成された環状の剛性内歯歯車と、この剛性
内歯歯車の内側に配置され、外周面に前記内歯に噛み合
い可能な外歯が形成されている可撓性外歯歯車と、この
可撓性外歯歯車の内側にはめ込まれ、当該可撓性外歯歯
車を半径方向に撓めることにより前記外歯を部分的に前
記内歯に噛み合わせると共に、これららの噛み合わせ位
置を円周方向に移動させる波動発生器とを有する構成と
なっている。波動発生器は、モータ回転軸等に連結され
る環状のハブと、このハブの外周に嵌めた楕円形輪郭の
カム板と、このカム板の外周面に嵌めたウエーブベアリ
ングとから構成されている。[0003] A typical flexible meshing gear device is a ring-shaped rigid internal gear having internal teeth formed on an inner peripheral surface thereof, disposed inside the rigid internal gear, and meshed with the internal teeth on an outer peripheral surface. A flexible external gear in which possible external teeth are formed; and a flexible external gear which is fitted inside the flexible external gear and bends the external teeth by bending the flexible external gear in the radial direction. And a wave generator that partially meshes with the internal teeth and moves the meshing position in the circumferential direction. The wave generator includes an annular hub connected to a motor rotating shaft and the like, an elliptical cam plate fitted on the outer periphery of the hub, and a wave bearing fitted on the outer peripheral surface of the cam plate. .
【０００４】剛性内歯歯車の内歯の歯数は可撓性外歯歯
車の外歯の歯数よりも２ｎ（ｎは正の整数）だけ異なる
ように設定されている。通常は２枚だけ多い歯数に設定
されている。剛性内歯歯車を回転しないように固定した
状態で波動発生器をモータ等によって高速回転すると、
楕円状に撓められて直径方向の両端の外歯および内歯の
噛み合い位置が円周方向に移動する。この結果、内歯と
外歯の歯数差に応じた相対回転が可撓性外歯歯車に発生
するので、歯数差に応じた減速比で減速された回転出力
が当該可撓性外歯歯車から得られる。The number of internal teeth of a rigid internal gear is set to be different from the number of external teeth of a flexible external gear by 2n (n is a positive integer). Normally, the number of teeth is set to be two more. When the wave generator is rotated at high speed by a motor etc. with the rigid internal gear fixed so as not to rotate,
The meshing position of the external teeth and the internal teeth at both ends in the diametrical direction moves in the circumferential direction by being bent in an oval shape. As a result, a relative rotation corresponding to the difference in the number of teeth between the internal teeth and the external teeth is generated in the flexible external gear, so that the rotational output reduced at a reduction ratio according to the difference in the number of teeth is output from the flexible external gear. Obtained from gears.
【０００５】[0005]
【発明が解決しようとする課題】ロボットアームの駆動
機構、そのアーム関節の駆動機構等においては、駆動機
構の重量を低減することにより、その可搬重量を大きく
することができる。また、駆動機構の重量を低減するこ
とにより、その制御性も改善される。In the drive mechanism of the robot arm, the drive mechanism of the arm joint, and the like, the weight of the drive mechanism can be reduced to increase the load capacity. Further, by reducing the weight of the drive mechanism, its controllability is also improved.
【０００６】本発明の課題は、この点に鑑みて、ロボッ
トアーム等の駆動機構の減速装置として用いた場合に、
可搬重量の増加、制御性の改善を図る上で適した撓み噛
み合い式歯車装置を提案することにある。SUMMARY OF THE INVENTION In view of the above, an object of the present invention is to provide a case where the present invention is used as a speed reducer for a drive mechanism such as a robot arm.
It is an object of the present invention to propose a flexion-meshing gear device suitable for increasing the load capacity and improving controllability.
【０００７】[0007]
【課題を解決するための手段】本発明は、内周面に内歯
が形成された環状の剛性内歯歯車と、この剛性内歯歯車
の内側に配置され、外周面に前記内歯に噛み合い可能な
外歯が形成されている可撓性外歯歯車と、この可撓性外
歯歯車の内側にはめ込まれ、当該可撓性外歯歯車を半径
方向に撓めることにより前記外歯を部分的に前記内歯に
噛み合わせると共に、これらの噛み合わせ位置を円周方
向に移動させる波動発生器とを有する撓み噛み合い式歯
車装置において、波動発生器の構成部品である、環状の
ハブと、このハブの外周に形成された剛性カム板と、こ
の剛性カム板の外周面と可撓性外歯歯車の内周面の間に
嵌め込まれているウエーブベアリングのうち、ハブと剛
性カム板のうちの少なくとも剛性カム板をアルミニウム
合金により形成するようにしている。According to the present invention, there is provided an annular rigid internal gear having internal teeth formed on an inner peripheral surface thereof, and is disposed inside the rigid internal gear and meshes with the internal teeth on an outer peripheral surface. A flexible external gear in which possible external teeth are formed; and a flexible external gear which is fitted inside the flexible external gear and bends the external teeth by bending the flexible external gear in the radial direction. A flexible meshing gear device having a wave generator that partially meshes with the internal teeth and moves these meshing positions in a circumferential direction, wherein an annular hub that is a component of the wave generator; Among the rigid cam plate formed on the outer periphery of the hub and the hub and the rigid cam plate, of the wave bearing fitted between the outer peripheral surface of the rigid cam plate and the inner peripheral surface of the flexible external gear. At least the rigid cam plate is formed of an aluminum alloy. It is way.
【０００８】ハブと剛性カム板の双方をアルミニウム合
金製とする場合には、これらを一体部品として形成する
ことが、組み付け剛性、組み付け精度等の点から好まし
い。When both the hub and the rigid cam plate are made of an aluminum alloy, it is preferable to form them as an integral part from the viewpoint of assembly rigidity and assembly accuracy.
【０００９】本発明では、一般的に合金鋼からなる波動
発生器の主要部品を軽量なアルミニウム合金製としてい
る。波動発生器は、撓み噛み合い式歯車装置における重
量の過半部分を占めているので、この部分をアルミニウ
ム合金製とすることにより、当該撓み噛み合い式歯車装
置の重量を大幅に低減でき、また、その慣性重量も大幅
に低減できる。したがって、撓み噛み合い式歯車装置の
軽量化を実現できるので、ロボットアーム等の駆動機構
の減速装置として用いた場合には、その可搬重量の増
加、制御性の改善等の効果を奏する。In the present invention, the main parts of the wave generator generally made of alloy steel are made of a lightweight aluminum alloy. Since the wave generator occupies the majority of the weight of the flexion gear device, by making this portion an aluminum alloy, the weight of the flexion gear device can be significantly reduced, and its inertia can be reduced. Weight can also be significantly reduced. Therefore, since the weight of the flexion gear device can be reduced, when used as a reduction gear of a drive mechanism such as a robot arm, effects such as an increase in load capacity and an improvement in controllability can be obtained.
【００１０】また、アルミニウム合金は合金鋼に比べて
放熱性に優れているので、当該撓み噛み合い式歯車装置
および当該装置が連結されるモータ等の機器が過熱状態
に陥ってしまうことを抑制できるという効果も奏する。[0010] Further, since aluminum alloy is superior in heat dissipation compared to alloy steel, it can be suppressed that the bending-meshing gear device and a device such as a motor to which the device is connected are overheated. It also has an effect.
【００１１】詳細に説明すると、撓み噛み合い式歯車装
置の発熱源は波動発生器のウエーブベアリングの部分で
ある。また、一般に、撓み噛み合い式歯車装置をモータ
と連結してロボットアーム等の駆動機構を構成した場合
には、波動発生器のハブにモータ出力軸が連結されるの
で、モータ出力軸の側からも熱が波動発生器の側に伝達
される。したがって、波動発生器の部分が最も加熱した
高温状態になりやすい。本発明のように、最も加熱しや
すい部分を放熱性のアルミニウム合金製とすることによ
り、放熱性に優れた撓み噛み合い式歯車装置を実現でき
る。More specifically, the heat source of the flexion gear system is the wave bearing of the wave generator. Also, in general, when a drive mechanism such as a robot arm is configured by connecting a bending meshing gear device to a motor, a motor output shaft is connected to a hub of a wave generator, so that the motor output shaft is also connected from the motor output shaft side. Heat is transferred to the side of the wave generator. Therefore, the portion of the wave generator is likely to be in a high temperature state where it is most heated. As in the present invention, by forming the portion that is most easily heated to be made of a heat dissipating aluminum alloy, it is possible to realize a flexible meshing gear device excellent in heat dissipation.
【００１２】ここで、剛性カム板の膨張率をウエーブベ
アリングの内外輪の膨張率と同等の値となるようにする
こと望ましい。一般に、ウエーブベアリングの内外輪は
鋼製であり、その線膨張係数は約１２×１０-6／℃であ
る。したがって、剛性カム板の線膨張係数は７〜１７×
１０-6／℃の範囲内の値とすることが望ましい。Here, it is desirable that the expansion coefficient of the rigid cam plate be equal to the expansion coefficient of the inner and outer rings of the wave bearing. Generally, the inner and outer races of a wave bearing are made of steel and have a coefficient of linear expansion of about 12 × 10 −6 / ° C. Therefore, the linear expansion coefficient of the rigid cam plate is 7 to 17 ×
It is desirable to set the value in the range of 10 −6 / ° C.
【００１３】この理由は次の通りである。剛性カム板の
線膨張係数が７×１０-6／℃よりも小さい場合には、当
該剛性カム板およびウエーブベアリングの内輪が加熱さ
れた場合に、内輪の方が膨張量が大きいので、剛性カム
板の外周面と内輪の間が剥離するおそれがあるからであ
る。一方、剛性カム板の線膨張係数が１７×１０-6／℃
を超える値の場合には、双方の部材が加熱された時に、
剛性カム板の膨張量の方が大きいので、剛性カム板によ
って内輪が押し広げられて、当該ウエーブベアリングの
ラジアル隙間が小さくなり、当該ウエーブベアリングの
円滑な回転が阻害されるおそれがあるからである。The reason is as follows. When the linear expansion coefficient of the rigid cam plate is smaller than 7 × 10 −6 / ° C., when the inner ring of the rigid cam plate and the wave bearing is heated, the inner ring has a larger expansion amount. This is because there is a risk that the outer peripheral surface of the plate and the inner ring may separate. On the other hand, the coefficient of linear expansion of the rigid cam plate is 17 × 10 −6 / ° C.
If the value exceeds, when both members are heated,
Because the expansion amount of the rigid cam plate is larger, the inner ring is pushed out by the rigid cam plate, and the radial gap of the wave bearing is reduced, which may hinder smooth rotation of the wave bearing. .
【００１４】次に、撓み噛み合い式歯車装置の軽量化を
更に図るためには、剛性内歯歯車もアルミニウム合金製
とすることが望ましい。Next, in order to further reduce the weight of the flexible meshing gear device, it is desirable that the rigid internal gear is also made of an aluminum alloy.
【００１５】この場合には、アルミニウム合金製の剛性
カム板の膨張率を、当該剛性内歯歯車の膨張率よりも小
さい値とすることが望ましい。前述したように、撓み噛
み合い式歯車装置では、波動発生器の部分が最も加熱し
た高温状態になりやすい。これに対して、前記剛性内歯
歯車の側は装置の外周側に位置しており、発熱源から遠
く、しかも放熱性が良い。In this case, it is desirable that the expansion coefficient of the rigid cam plate made of an aluminum alloy be smaller than the expansion coefficient of the rigid internal gear. As described above, in the flexion meshing gear device, the wave generator portion is likely to be in the most heated high temperature state. On the other hand, the side of the rigid internal gear is located on the outer peripheral side of the device, is far from the heat source, and has good heat radiation.
【００１６】波動発生器の剛性カム板の膨張率を、剛性
内歯歯車の膨張率よりも小さくしておけば、双方の部材
をほぼ同程度に熱変形させることができる。よって、外
歯と内歯の噛み合い状態、噛み合い位置の移動を適切な
状態に保持することができるのである。If the expansion coefficient of the rigid cam plate of the wave generator is made smaller than that of the rigid internal gear, both members can be thermally deformed to substantially the same extent. Therefore, the meshing state of the external teeth and the internal teeth and the movement of the meshing position can be maintained in an appropriate state.
【００１７】ここで、アルミニウム合金製の剛性内歯歯
車の歯面は、合金鋼からなる場合に比べて耐磨耗性の点
で劣る場合が多い。この弊害を回避するためには、剛性
内歯歯車の内歯の歯部表面に無電解ニッケルめっき等の
表面処理を施こすことが望ましい。Here, the tooth surface of the rigid internal gear made of an aluminum alloy is often inferior in wear resistance as compared with the case made of an alloy steel. In order to avoid this adverse effect, it is desirable to apply a surface treatment such as electroless nickel plating to the tooth surface of the internal teeth of the rigid internal gear.
【００１８】表面処理を施す代わりに、前記剛性内歯歯
車を、アルミニウム合金製の環状部材と、この環状部材
の内周面に鋳込まれて一体化された鋼製の環状部材から
構成し、当該鋼製の環状部材の内周面に前記内歯を形成
すればよい。このように歯部のみを耐磨耗性の高い素材
から形成してもよい。Instead of applying a surface treatment, the rigid internal gear is constituted by an annular member made of an aluminum alloy and a steel annular member cast and integrated on the inner peripheral surface of the annular member, The internal teeth may be formed on the inner peripheral surface of the steel annular member. Thus, only the teeth may be formed from a material having high wear resistance.
【００１９】一方、本発明の撓み噛み合い式歯車装置に
おいては、剛性内歯歯車のみをアルミニウム合金から形
成した場合においても、当該装置の軽量化を実現できる
ので、ロボットアーム等の駆動機構の減速装置として用
いた場合には、その可搬重量の増加、慣性重量低減化に
よる制御性の改善を図ることができる。この場合におい
ても、剛性内歯歯車の内歯の部分の耐磨耗性、耐久性を
改善するために、無電解ニッケルめっきなどの表面処理
を施すことが望ましい。あるいは、剛性内歯歯車を、ア
ルミニウム合金製の環状部材と、この環状部材の内周面
に鋳込まれて一体化された鋼製の環状部材から構成し
て、当該鋼製の環状部材の内周面に内歯を形成してもよ
い。On the other hand, in the flexible meshing gear device of the present invention, even when only the rigid internal gear is formed of an aluminum alloy, the weight of the device can be reduced. When it is used, the controllability can be improved by increasing the payload and reducing the inertial weight. Also in this case, it is desirable to apply a surface treatment such as electroless nickel plating in order to improve the wear resistance and durability of the internal teeth of the rigid internal gear. Alternatively, the rigid internal gear is constituted by an aluminum alloy annular member and a steel annular member cast and integrated on the inner peripheral surface of the annular member. Internal teeth may be formed on the peripheral surface.
【００２０】[0020]
【発明の実施の形態】以下に、図１および図２を参照し
て、本発明を適用したカップ型撓み噛み合い式歯車装置
を説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A cup-type flexible meshing gear device to which the present invention is applied will be described below with reference to FIGS.
【００２１】カップ型撓み噛み合い式歯車装置１は、内
周面に内歯２１が形成された環状の剛性内歯歯車２を備
えている。この剛性内歯歯車２の内側には、同心状に、
カップ型の可能撓性外歯歯車３が配置されている。この
可撓性外歯歯車３は、円筒状の胴部３１と、この胴部３
１の一端から半径方向の内側に直角に延びている環状の
ダイヤフラム３２と、この環状のダイヤフラム３２の内
周端に連続して形成された厚肉の環状ボス３３とから構
成され、胴部３１の他端が開口端となったカップ型をし
ている。この胴部３１の開口端の外周面には、上記の内
歯２１に噛み合い可能な外歯３４が円周方向に向けて形
成されている。The cup-type flexible meshing gear device 1 includes an annular rigid internal gear 2 having internal teeth 21 formed on the inner peripheral surface. Inside this rigid internal gear 2, concentrically,
A cup-shaped flexible external gear 3 is arranged. The flexible external gear 3 includes a cylindrical body 31 and a body 3
1 comprises an annular diaphragm 32 extending radially inward at a right angle from one end of the annular diaphragm 32 and a thick annular boss 33 formed continuously at the inner peripheral end of the annular diaphragm 32. Has a cup shape with the other end open. On the outer peripheral surface of the opening end of the body portion 31, external teeth 34 that can mesh with the internal teeth 21 are formed in the circumferential direction.
【００２２】この構成の可撓性外歯歯車３の外歯形成位
置の内側には、楕円形輪郭をした波動発生器４が同心状
に嵌め込まれている。波動発生器４は、環状のハブ部分
４１と、このハブ部分４１の外周面に一体形成された楕
円形輪郭の剛性カム板４２と、この剛性カム板４２の外
周面に嵌めたウエーブベアリング４３とから構成されて
いる。An elliptical wave generator 4 is fitted concentrically inside the external teeth forming position of the flexible external gear 3 having this configuration. The wave generator 4 includes an annular hub portion 41, a rigid cam plate 42 having an elliptical contour integrally formed on the outer peripheral surface of the hub portion 41, and a wave bearing 43 fitted on the outer peripheral surface of the rigid cam plate 42. It is composed of
【００２３】可撓性外歯歯車３の外歯３４の形成部分
は、波動発生器４によって楕円形に撓められている。こ
の結果、外歯３４の直径方向の両端部分が、剛性内歯歯
車２の側の内歯２１の部分に噛み合っている。波動発生
器４をモータ等によって回転させると、噛み合い位置が
円周方向に移動する。外歯の歯数は一般に内歯の歯数よ
りも２枚少ない数に設定されているので、噛み合い位置
の移動に伴って、両歯車の間に相対回転が発生する。一
般には、剛性内歯歯車２の側が固定されているので、カ
ップ型可撓性外歯歯車３の環状ボス３３に連結された出
力軸（図示せず）の側から減速回転を得ることができ
る。The portion of the flexible external gear 3 where the external teeth 34 are formed is bent by the wave generator 4 into an elliptical shape. As a result, both ends in the diameter direction of the external teeth 34 mesh with the internal teeth 21 on the side of the rigid internal gear 2. When the wave generator 4 is rotated by a motor or the like, the meshing position moves in the circumferential direction. Since the number of external teeth is generally set to two less than the number of internal teeth, relative rotation occurs between the two gears as the meshing position moves. Generally, since the side of the rigid internal gear 2 is fixed, reduced rotation can be obtained from the side of the output shaft (not shown) connected to the annular boss 33 of the cup-shaped flexible external gear 3. .
【００２４】ここで、波動発生器４の構成部品である、
環状のハブ部分４１と剛性カム板４２はアルミニウム合
金製の一体部品である。波動発生器は、撓み噛み合い式
歯車装置１における重量の過半部分を占めているので、
この部分をアルミニウム合金製とすることにより、当該
撓み噛み合い式歯車装置１の重量を大幅に低減でき、ま
た、その慣性重量も大幅に低減できる。したがって、撓
み噛み合い式歯車装置１の軽量化を実現できるので、ロ
ボットアーム等の駆動機構の減速装置として用いた場合
には、その可搬重量の増加、制御性の改善等の効果を奏
する。Here, the components of the wave generator 4 are as follows:
The annular hub portion 41 and the rigid cam plate 42 are integral parts made of an aluminum alloy. Since the wave generator accounts for a majority of the weight in the flexion gear device 1,
By making this portion made of an aluminum alloy, the weight of the flexible meshing gear device 1 can be significantly reduced, and the inertial weight thereof can also be significantly reduced. Therefore, the weight of the flexion meshing gear device 1 can be reduced, and when it is used as a speed reducer of a drive mechanism such as a robot arm, effects such as an increase in load capacity and an improvement in controllability can be obtained.
【００２５】また、当該撓み噛み合い式歯車装置および
当該装置が連結されるモータ等の機器が過熱状態に陥っ
てしまうことを抑制できるという効果も奏する。すなわ
ち、撓み噛み合い式歯車装置１の発熱源は波動発生器４
のウエーブベアリング４３の部分である。また、一般
に、撓み噛み合い式歯車装置１をモータと連結してロボ
ットアーム等の駆動機構を構成した場合には、波動発生
器４のハブ４１にモータ出力軸が連結されるので、モー
タ出力軸の側からも熱が波動発生器４の側に伝達され
る。したがって、波動発生器の部分が最も加熱した高温
状態になりやすい。しかし、ハブ部分４１および剛性カ
ム板４２は放熱性の良いアルミニウム合金製であるの
で、放熱性に優れた撓み噛み合い式歯車装置を実現でき
る。In addition, there is also an effect that it is possible to suppress that the device such as the flexible meshing gear device and the motor to which the device is connected is overheated. That is, the heat source of the flexion-meshing gear device 1 is the wave generator 4.
Of the wave bearing 43 of FIG. In general, when a drive mechanism such as a robot arm is configured by connecting the flexible meshing gear device 1 to a motor, the motor output shaft is connected to the hub 41 of the wave generator 4, so that the motor output shaft Heat is also transmitted from the side to the wave generator 4 side. Therefore, the portion of the wave generator is likely to be in a high temperature state where it is most heated. However, since the hub portion 41 and the rigid cam plate 42 are made of an aluminum alloy having good heat dissipation, a flexible meshing gear device excellent in heat dissipation can be realized.
【００２６】本例では、更に、剛性カム板４２の膨張率
をウエーブベアリング４３の内外輪４３ａ、４３ｂの膨
張率と同等の値となるように設定してある。ウエーブベ
アリングの内外輪４３ａ、４３ｂは鋼製であり、その線
膨張係数は約１２×１０-6／℃であるので、剛性カム板
４２の線膨張係数を７〜１７×１０-6／℃の範囲内の値
としてある。この結果、ウエーブベアリング４３および
剛性カム板４２が熱変形した場合においても、剛性カム
板の外周面と内輪の間が剥離する事態を回避でき、ま
た、ウエーブベアリング４３のラジアル隙間が小さくな
り当該ウエーブベアリングの円滑な回転が阻害される事
態も回避できる。In this embodiment, the expansion coefficient of the rigid cam plate 42 is set to be equal to the expansion coefficients of the inner and outer rings 43a and 43b of the wave bearing 43. The inner and outer rings 43a and 43b of the wave bearing are made of steel and have a linear expansion coefficient of about 12 × 10 −6 / ° C., so that the rigid cam plate 42 has a linear expansion coefficient of 7 to 17 × 10 −6 / ° C. As a value within the range. As a result, even when the wave bearing 43 and the rigid cam plate 42 are thermally deformed, it is possible to avoid a situation in which the outer peripheral surface of the rigid cam plate is separated from the inner ring, and the radial gap of the wave bearing 43 is reduced, so that the wave A situation in which the smooth rotation of the bearing is hindered can also be avoided.
【００２７】次に、本例では、剛性内歯歯車２もアルミ
ニウム合金製としてある。しかし、上記の波動発生器４
の側で使用しているアルミニウム合金に比べて、膨張率
が大きなアルミニウム合金を使用している。前述のよう
に、撓み噛み合い式歯車装置１では、波動発生器４の部
分が最も加熱した高温状態になりやすいので、この部分
の熱膨張率を小さくし、最も加熱の少ない剛性内歯歯車
２の側の熱膨張率を大きくしておけば、双方の部材の熱
変形状態をほぼ同程度に保持できる。この結果、外歯３
４と内歯２１の噛み合い状態、噛み合い位置の移動を適
切な状態に保持できる。Next, in this embodiment, the rigid internal gear 2 is also made of an aluminum alloy. However, the above wave generator 4
The aluminum alloy used has a larger expansion coefficient than the aluminum alloy used on the side of. As described above, in the flexion meshing gear device 1, since the portion of the wave generator 4 is likely to be in the most heated high temperature state, the coefficient of thermal expansion of this portion is reduced, and the rigid internal gear 2 of the least heated portion is heated. If the thermal expansion coefficient on the side is increased, the thermal deformation state of both members can be maintained at substantially the same level. As a result, external teeth 3
The meshing state between the gear 4 and the internal teeth 21 and the movement of the meshing position can be maintained in an appropriate state.
【００２８】また、本例では、アルミニウム合金製の剛
性内歯歯車２の内歯２１の耐磨耗性、耐久性を改善する
ために、剛性内歯歯車２の内歯２１の歯部表面に無電解
ニッケルめっきを施こしてある。Further, in this embodiment, in order to improve the wear resistance and durability of the internal teeth 21 of the rigid internal gear 2 made of an aluminum alloy, the surface of the teeth of the internal teeth 21 of the rigid internal gear 2 is provided. Electroless nickel plating is applied.
【００２９】（そのほかの実施の形態）上記の説明は、
カップ型撓み噛み合い式歯車装置に本発明を適用した場
合である。本発明は、可撓性外歯歯車がシルクハット型
をした撓み噛み合い式歯車装置に対しても同様に適用で
きる。なお、シルクハット型の撓み噛み合い式歯車装置
では、その可撓性外歯歯車は、円筒状の胴部と、この一
端に連続して半径方向の外側に広がっている環状のボス
と、このボスの外周端に連続している厚肉の環状ボスを
備えた形状をしている。(Other Embodiments)
This is a case where the present invention is applied to a cup-type flexible meshing gear device. The present invention can be similarly applied to a flexible meshing gear device in which a flexible external gear has a silk hat shape. In the silk hat type meshing gear device, the flexible external gear has a cylindrical body, an annular boss extending radially outward continuously from one end thereof, and a boss. Has a thick annular boss that is continuous with the outer peripheral end of the boss.
【００３０】また、本発明は、外歯と内歯の噛み合い位
置が３箇所以上の撓み噛み合い式歯車装置に適用でき
る。例えば、三つ葉型の輪郭形状をした波動発生器を備
え、３箇所で両歯車が噛み合う形式の撓み噛み合い式歯
車装置にも適用できる。The present invention can be applied to a flexible meshing gear device having three or more meshing positions of external teeth and internal teeth. For example, the present invention can also be applied to a flexion-type gear device that includes a wave generator having a three-leaf-shaped contour and in which both gears mesh at three locations.
【００３１】さらに、アルミニウム合金製の内歯歯車の
内歯の部分の耐磨耗性、耐久性を改善するための表面処
理としては、上記のニッケルめっき以外の処理方法を採
用してもよい。Further, as a surface treatment for improving the abrasion resistance and durability of the internal gear portion of the internal gear made of an aluminum alloy, a treatment method other than the above-described nickel plating may be employed.
【００３２】[0032]
【発明の効果】以上説明したように、本発明の撓み噛み
合い式歯車装置においては、その装置重量の過半部分を
占めると共に最も高温状態になりやすい波動発生器の部
分を、軽量で放熱性に優れたアルミニウム合金製として
ある。したがって、本発明によれば、軽量で放熱性に優
れた撓み噛み合い式歯車装置を実現でき、ロボットアー
ム等の駆動機構の減速装置として用いた場合には、その
可搬性および制御性を改善できるという効果を奏する。As described above, in the flexible meshing gear device of the present invention, the wave generator which occupies the majority of the weight of the device and is most likely to be in the highest temperature is light in weight and excellent in heat dissipation. It is made of aluminum alloy. Therefore, according to the present invention, it is possible to realize a flexible meshing gear device that is lightweight and excellent in heat dissipation, and that when used as a reduction gear of a drive mechanism such as a robot arm, its portability and controllability can be improved. It works.
【００３３】また、本発明では、アルミニウム合金製の
波動発生器の部分の熱膨張係数、およびアルミニウム合
金製の剛性内歯歯車の熱膨張係数を適切な値に設定して
あるので、装置の熱変形に伴う弊害も回避できるという
効果を奏する。In the present invention, the thermal expansion coefficient of the aluminum alloy wave generator and the thermal expansion coefficient of the aluminum alloy rigid internal gear are set to appropriate values. This has the effect that adverse effects due to deformation can be avoided.
【図１】本発明を適用したカップ型撓み噛み合い式歯車
装置の断面構成を示す概略構成図である。FIG. 1 is a schematic configuration diagram showing a cross-sectional configuration of a cup-type flexible meshing gear device to which the present invention is applied.
【図２】図１の撓み噛み合い式歯車装置の側面構成を示
す概略構成図である。FIG. 2 is a schematic configuration diagram showing a side configuration of the flexible meshing gear device of FIG. 1;
１ 撓み噛み合い式歯車装置 ２ 剛性内歯歯車 ２１ 内歯 ３ 可撓性外歯歯車 ３１ 胴部 ３２ ダイヤフラム ３３ ボス ３４ 外歯 ４ 波動発生器 ４１ 環状のハブ部分 ４２ 剛性カム板部分 ４３ ウエーブベアリング ４３ａ 内輪 ４３ｂ 外輪 REFERENCE SIGNS LIST 1 flexible meshing gear device 2 rigid internal gear 21 internal gear 3 flexible external gear 31 body 32 diaphragm 33 boss 34 external gear 4 wave generator 41 annular hub portion 42 rigid cam plate portion 43 wave bearing 43a inner ring 43b Outer ring
Claims (13)
歯歯車と、この剛性内歯歯車の内側に配置され、外周面
に前記内歯に噛み合い可能な外歯が形成されている可撓
性外歯歯車と、この可撓性外歯歯車の内側にはめ込ま
れ、当該可撓性外歯歯車を半径方向に撓めることにより
前記外歯を部分的に前記内歯に噛み合わせると共に、こ
れらの噛み合わせ位置を円周方向に移動させる波動発生
器とを有する撓み噛み合い式歯車装置において、 前記波動発生器は、環状のハブと、このハブの外周に形
成された剛性カム板と、この剛性カム板の外周面と前記
可撓性外歯歯車の内周面の間に嵌め込まれているウエー
ブベアリングとを備えており、 前記ハブと前記剛性カム板のうち、少なくとも前記剛性
カム板はアルミニウム合金により形成されていることを
特徴とする撓み噛み合い式歯車装置。1. An annular rigid internal gear having internal teeth formed on an inner peripheral surface thereof, and external teeth arranged on the inner side of the rigid internal gear and capable of meshing with the internal teeth are formed on an outer peripheral surface thereof. A flexible external gear that is fitted inside the flexible external gear and radially flexing the flexible external gear to partially mesh the external teeth with the internal teeth. A flexible meshing gear device having a wave generator for moving the meshing position in the circumferential direction together with the gear, wherein the wave generator includes an annular hub and a rigid cam plate formed on an outer periphery of the hub. And a wave bearing fitted between the outer peripheral surface of the rigid cam plate and the inner peripheral surface of the flexible external gear, and at least the rigid cam of the hub and the rigid cam plate is provided. The plate must be made of aluminum alloy Flexible meshing type gear device according to claim.
カム板は、アルミニウム合金製の一体部品として形成さ
れていることを特徴とする撓み噛み合い式歯車装置。2. The flexible meshing gear device according to claim 1, wherein the hub and the rigid cam plate are formed as an integral part made of an aluminum alloy.
ム板の膨張率は前記ウエーブベアリングの内外輪の膨張
率と同等の値であることを特徴とする撓み噛み合い式歯
車装置。3. The flexible mesh gear device according to claim 1, wherein an expansion coefficient of the rigid cam plate is equal to an expansion coefficient of inner and outer rings of the wave bearing.
膨張係数は７〜１７×１０-6／℃であり、前記ウエーブ
ベアリングの内外輪の線膨張係数は約１２×１０-6／℃
であることを特徴とする撓み噛み合い式歯車装置。4. The rigid cam plate according to claim 3, wherein the linear expansion coefficient of the rigid cam plate is 7 to 17 × 10 −6 / ° C., and the linear expansion coefficient of the inner and outer rings of the wave bearing is about 12 × 10 −6 / ° C.
A flexible meshing gear device, characterized in that:
歯歯車はアルミニウム合金製であることを特徴とする撓
み噛み合い式歯車装置。5. The gear according to claim 1, wherein the rigid internal gear is made of an aluminum alloy.
張率は前記ウエーブベアリングの内外輪の膨張率と同等
の値であることを特徴とする撓み噛み合い式歯車装置。6. The flexible meshing gear device according to claim 5, wherein an expansion coefficient of the rigid cam plate is equal to an expansion coefficient of inner and outer rings of the wave bearing.
膨張係数は７〜１７×１０-6／℃であり、前記ウエーブ
ベアリングの内外輪の線膨張係数は約１２×１０-6／℃
であることを特徴とする撓み噛み合い式歯車装置。7. The rigid cam plate according to claim 6, wherein the linear expansion coefficient of the rigid cam plate is 7 to 17 × 10 −6 / ° C., and the linear expansion coefficient of the inner and outer rings of the wave bearing is about 12 × 10 −6 / ° C.
A flexible meshing gear device, characterized in that:
において、前記剛性カム板の膨張率は前記剛性内歯歯車
の膨張率よりも小さいことを特徴とする撓み噛み合い式
歯車装置。8. The flexible meshing gear device according to claim 5, wherein an expansion coefficient of the rigid cam plate is smaller than an expansion coefficient of the rigid internal gear.
において、前記剛性内歯歯車の前記内歯の歯部表面には
無電解ニッケルめっき等の耐磨耗性を改善するための表
面処理が施されていることを特徴とする撓み噛み合い式
歯車装置。9. A surface for improving abrasion resistance, such as electroless nickel plating, on a tooth surface of the internal teeth of the rigid internal gear, according to any one of claims 5 to 8. A flexing gear device characterized by being subjected to processing.
項において、前記剛性内歯歯車は、アルミニウム合金製
の環状部材と、この環状部材の内周面に鋳込まれて一体
化された鋼製の環状部材とを備え、当該鋼製の環状部材
の内周面に前記内歯が形成されていることを特徴とする
撓み噛み合い式歯車装置。10. The rigid internal gear according to any one of claims 5 to 8, wherein the rigid internal gear is integrated with an annular member made of an aluminum alloy by being cast into an inner peripheral surface of the annular member. A flexible meshing gear device comprising a steel annular member, wherein the internal teeth are formed on an inner peripheral surface of the steel annular member.
内歯歯車と、この剛性内歯歯車の内側に配置され、外周
面に前記内歯に噛み合い可能な外歯が形成されている可
撓性外歯歯車と、この可撓性外歯歯車の内側にはめ込ま
れ、当該可撓性外歯歯車を半径方向に撓めることにより
前記外歯を部分的に前記内歯に噛み合わせると共に、こ
れららの噛み合わせ位置を円周方向に移動させる波動発
生器とを有する撓み噛み合い式歯車装置において、 前記剛性内歯歯車はアルミニウム合金により形成されて
いることを特徴とする撓み噛み合い式歯車装置。11. An annular rigid internal gear having internal teeth formed on an inner peripheral surface thereof, and external teeth disposed on the inner side of the rigid internal gear and capable of meshing with the internal teeth are formed on an outer peripheral surface thereof. A flexible external gear that is fitted inside the flexible external gear and radially flexing the flexible external gear to partially mesh the external teeth with the internal teeth. And a wave generator for moving these meshing positions in the circumferential direction together with the rigid internal gear, wherein the rigid internal gear is formed of an aluminum alloy. Gear device.
車の前記内歯の歯部表面には無電解ニッケルめっき等の
耐磨耗性を改善するための表面処理が施されていること
を特徴とする撓み噛み合い式歯車装置。12. The rigid internal gear according to claim 11, wherein the surface of the tooth portion of the internal tooth of the rigid internal gear is subjected to a surface treatment for improving abrasion resistance such as electroless nickel plating. And a meshing gear device.
車は、アルミニウム合金製の環状部材と、この環状部材
の内周面に鋳込まれて一体化された鋼製の環状部材とを
備え、当該鋼製の環状部材の内周面に前記内歯が形成さ
れていることを特徴とする撓み噛み合い式歯車装置。13. The rigid internal gear according to claim 11, wherein the rigid internal gear includes an annular member made of an aluminum alloy, and a steel annular member cast and integrated with an inner peripheral surface of the annular member. A flexible meshing gear device, wherein the internal teeth are formed on an inner peripheral surface of the steel annular member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13323397A JP3912848B2 (en) | 1997-05-23 | 1997-05-23 | Flexure meshing gear unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13323397A JP3912848B2 (en) | 1997-05-23 | 1997-05-23 | Flexure meshing gear unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10318338A true JPH10318338A (en) | 1998-12-04 |
| JP3912848B2 JP3912848B2 (en) | 2007-05-09 |
Family
ID=15099833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13323397A Expired - Fee Related JP3912848B2 (en) | 1997-05-23 | 1997-05-23 | Flexure meshing gear unit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3912848B2 (en) |
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| JP2002340140A (en) * | 2001-05-22 | 2002-11-27 | Harmonic Drive Syst Ind Co Ltd | Lightweight wave gear device |
| JP2002349645A (en) * | 2001-05-23 | 2002-12-04 | Harmonic Drive Syst Ind Co Ltd | Non-lubricating type strain wave gearing device |
| US6647827B2 (en) | 2001-05-10 | 2003-11-18 | Harmonic Drive Systems, Inc. | Lightweight wave gear drive |
| EP1612453A1 (en) * | 2004-07-01 | 2006-01-04 | Harmonic Drive Systems Inc. | Method of manufacturing a rigid internal gear of a wave gear device formed of two aluminium alloys by powder forging or hot extrusion |
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| JP2017227333A (en) * | 2017-07-25 | 2017-12-28 | ナブテスコ株式会社 | Eccentric oscillation type gear device |
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| EP1612453A1 (en) * | 2004-07-01 | 2006-01-04 | Harmonic Drive Systems Inc. | Method of manufacturing a rigid internal gear of a wave gear device formed of two aluminium alloys by powder forging or hot extrusion |
| US7748118B2 (en) | 2004-07-01 | 2010-07-06 | Harmonic Drive Systems Inc. | Method for manufacturing rigid internal gear of wave gear device |
| US8051566B2 (en) | 2004-07-01 | 2011-11-08 | Harmonic Drive Systems, Inc. | Method for manufacturing rigid internal gear of wave gear device |
| WO2015021971A1 (en) * | 2013-08-14 | 2015-02-19 | Schaeffler Technologies Gmbh & Co. Kg | Adjustment apparatus, in particular for combustion engines |
| KR20180030130A (en) | 2015-09-17 | 2018-03-21 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Wave motion generator for wave motion gear device |
| CN108027020A (en) * | 2015-09-17 | 2018-05-11 | 谐波传动***有限公司 | The wavegenerator of Wave gear device |
| EP3351822A4 (en) * | 2015-09-17 | 2019-05-29 | Harmonic Drive Systems Inc. | Wave motion generator for wave motion gear device |
| US10907716B2 (en) | 2015-09-17 | 2021-02-02 | Harmonic Drive Systems Inc. | Wave generator for strain wave gearing |
| JP2016128723A (en) * | 2016-04-06 | 2016-07-14 | ナブテスコ株式会社 | Eccentric oscillation type gear device |
| JP2017207113A (en) * | 2016-05-17 | 2017-11-24 | 株式会社ハーモニック・ドライブ・システムズ | Motor built-in type wave gear device |
| JP2017227333A (en) * | 2017-07-25 | 2017-12-28 | ナブテスコ株式会社 | Eccentric oscillation type gear device |
| JP2020122582A (en) * | 2018-11-30 | 2020-08-13 | ナブテスコ株式会社 | Eccentric oscillation type gear device |
| CN114087338A (en) * | 2021-11-17 | 2022-02-25 | 亚超特工业有限公司 | Lightweight harmonic gear device |
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| JP3912848B2 (en) | 2007-05-09 |
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