TW201535955A - Vibration power-generating strain wave gearing device - Google Patents
Vibration power-generating strain wave gearing device Download PDFInfo
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本發明，是有關於利用為了減速動作而被反覆彎曲的可撓性外齒齒輪的彎曲動作而進行振動發電的波動齒輪裝置。 The present invention relates to a wave gear device that performs vibration power generation by a bending operation of a flexible externally toothed gear that is repeatedly bent for a deceleration operation.
一般，波動齒輪裝置，是具有：圓環狀的剛性內齒齒輪、及在此內側呈同軸狀配置的可撓性外齒齒輪、及嵌合於此內側的波動發生器。在可撓性外齒齒輪中，具有平面形、杯形及禮帽形者。平面形的可撓性外齒齒輪，是成為在可撓性的圓筒部中的圓形外周面形成有外齒的構成。杯形及禮帽形的可撓性外齒齒輪，是具備：可撓性的圓筒部、及從此圓筒部的後端朝半徑方向延伸的圓盤狀的隔膜、及形成於圓筒部的前端開口側的外周面部分的外齒。可撓性外齒齒輪的圓筒部的前端開口側的部分是藉由波動發生器被彎曲成非圓形狀，一般是橢圓狀，且外齒是在其橢圓狀曲線的長軸方向的兩端部與剛性內齒齒輪的內齒嚙合。 In general, the wave gear device has a ring-shaped rigid internally toothed gear, a flexible externally toothed gear that is coaxially disposed inside, and a wave generator that is fitted inside. In the flexible externally toothed gear, it has a flat shape, a cup shape, and a top hat shape. The planar flexible externally toothed gear has a configuration in which external teeth are formed on a circular outer peripheral surface of the flexible cylindrical portion. The cup-shaped and top-hat-shaped flexible externally toothed gear includes a flexible cylindrical portion, a disk-shaped diaphragm extending radially from a rear end of the cylindrical portion, and a cylindrical portion formed in the cylindrical portion. External teeth of the outer peripheral surface portion on the front opening side. The portion on the front end opening side of the cylindrical portion of the flexible externally toothed gear is bent into a non-circular shape by a wave generator, generally elliptical, and the external teeth are at both ends in the long axis direction of the elliptical curve. The portion meshes with the internal teeth of the rigid internally toothed gear.
在杯形狀的可撓性外齒齒輪中，隔膜是從圓 筒部朝半徑方向的內側延伸，在隔膜的內周緣一體形成有轂部。在禮帽形狀的可撓性外齒齒輪中，隔膜是從圓筒部朝半徑方向的外側擴大，在隔膜的外周緣一體形成有圓環狀的轂部。 In a cup-shaped flexible externally toothed gear, the diaphragm is from a circle The tubular portion extends inward in the radial direction, and a hub portion is integrally formed on the inner peripheral edge of the diaphragm. In the flexible externally toothed gear of the top hat shape, the diaphragm is expanded outward from the cylindrical portion in the radial direction, and an annular boss portion is integrally formed on the outer peripheral edge of the diaphragm.
在其中任一形狀的可撓性外齒齒輪中，被形成有外齒的圓筒部皆藉由波動發生器朝半徑方向被反覆彎曲。且，在杯形狀或是禮帽形狀的可撓性外齒齒輪中，其圓筒部中的形成有外齒的前端開口側的部分是藉由波動發生器被彎曲成橢圓狀。因此，可撓性外齒齒輪的圓筒部，是在被彎曲成橢圓狀的狀態由其橢圓狀曲線的包含長軸的剖面被切斷的情況時，彎曲量會沿著外齒的齒筋方向，從隔膜側的端朝向前端開口漸增。由橢圓狀曲線的包含短軸的剖面被切斷的情況時，相反地，彎曲量是從隔膜側的端朝向前端開口漸減。因此，伴隨波動發生器的旋轉，在可撓性外齒齒輪的各部分中，以隔膜側的端為中心使前端開口側反覆朝半徑方向的外方及內方被彎曲的彎曲動作會發生。 In the flexible externally toothed gear of any of the shapes, the cylindrical portion formed with the external teeth is repeatedly curved in the radial direction by the wave generator. Further, in the flexible externally toothed gear having a cup shape or a top hat shape, a portion of the cylindrical portion in which the outer teeth are formed on the front end opening side is curved in an elliptical shape by a wave generator. Therefore, when the cylindrical portion of the flexible externally toothed gear is cut in an elliptical shape and is cut by a cross section including the long axis of the elliptical curve, the amount of bending is along the tooth rib of the external tooth. The direction increases from the end of the diaphragm side toward the opening of the front end. When the cross section including the short axis of the elliptical curve is cut, conversely, the amount of bending is gradually decreased from the end on the diaphragm side toward the opening in the front end. Therefore, in the respective portions of the flexible externally toothed gear, the bending operation of bending the outer end and the inner side of the front end opening side in the radial direction around the end on the diaphragm side occurs in each portion of the flexible externally toothed gear.
將可撓性外齒齒輪彎曲成橢圓狀用的波動發生器，一般是使用：將形成橢圓狀輪廓的由剛體所構成的凸輪板，透過滾珠軸承嵌入可撓性外齒齒輪的圓筒部的前端開口側的構造。滾珠軸承，其外輪及內輪是朝半徑方向可彎曲，而被稱為波動軸承。已知也有：可取代使用橢圓狀輪廓的凸輪板，而利用壓電元件將可撓性外齒齒輪呈橢圓狀彎曲的方式構成的波動發生器。具備此形式的波動發 生器的波動齒輪裝置是如專利文獻1、2所揭示。 A wave generator for bending a flexible externally toothed gear into an elliptical shape is generally used by inserting a cam plate composed of a rigid body forming an elliptical contour into a cylindrical portion of a flexible externally toothed gear through a ball bearing. The structure of the front opening side. Ball bearings, whose outer and inner wheels are bendable in the radial direction, are called wave bearings. There is also known a wave generator which is formed by a piezoelectric element which bends the flexible externally toothed gear in an elliptical shape instead of using a cam plate having an elliptical profile. Have this form of volatility The wave gear device of the generator is disclosed in Patent Documents 1 and 2.
另一方面，已知也有藉由與波動齒輪裝置相同的原理進行減速動作的摩擦卡合式波動裝置，如專利文獻2。在這種摩擦卡合式波動裝置，其可撓性環也是藉由波動發生器朝半徑方向被彎曲，伴隨波動發生器的旋轉使可撓性環的各部反覆朝半徑方向被彎曲。 On the other hand, a friction engagement type wave device which performs a deceleration operation by the same principle as the wave gear device is known, as in Patent Document 2. In such a friction engagement type wave device, the flexible ring is also bent in the radial direction by the wave generator, and the rotation of the wave generator causes the respective portions of the flexible ring to be repeatedly bent in the radial direction.
[習知技術文獻] [Practical Technical Literature]
[專利文獻] [Patent Literature]
[專利文獻1]日本特開平02-261944號公報 [Patent Document 1] Japanese Patent Laid-Open No. 02-261944
[專利文獻2]日本特開2007-71242號公報 [Patent Document 2] Japanese Patent Laid-Open Publication No. 2007-71242
如此，波動齒輪裝置的可撓性外齒齒輪及摩擦卡合式波動裝置的可撓性環，是藉由波動發生器使各部分反覆朝半徑方向被彎曲。本發明，是著眼於可撓性外齒齒輪、可撓性環的彎曲動作者，其課題，是提案：可以利用可撓性外齒齒輪、可撓性環的彎曲動作進行發電的波動齒輪裝置及摩擦卡合式波動裝置。 Thus, the flexible external gear of the wave gear device and the flexible ring of the friction engagement type wave device are each of which is repeatedly bent in the radial direction by the wave generator. The present invention is directed to a bending stalker of a flexible externally toothed gear and a flexible ring, and proposes a wave gear device that can generate power by a bending operation of a flexible externally toothed gear or a flexible ring. And friction snap-type wave device.
為了解決上述的課題，本發明，是一種波動 齒輪裝置，具有：圓環狀的剛性內齒齒輪、及在前述剛性內齒齒輪的內側呈同軸狀配置的朝半徑方向可彎曲的可撓性外齒齒輪、及與前述可撓性外齒齒輪的內側呈同軸狀配置的波動發生器，藉由前述波動發生器，使前述可撓性外齒齒輪朝半徑方向被彎曲並對於前述剛性內齒齒輪部分地嚙合，伴隨前述波動發生器的旋轉使前述剛性內齒齒輪及前述可撓性外齒齒輪的嚙合位置朝圓周方向移動的話，這些兩齒輪之間會發生對應這些兩齒輪的齒數差的相對旋轉，其特徵為，具有：被配置於前述可撓性外齒齒輪的振動發電部、及檢出部，前述振動發電部，是藉由伴隨前述波動發生器的旋轉被反覆彎曲的前述可撓性外齒齒輪的彎曲動作而進行發電，前述檢出部，是依據前述振動發電部的發電狀態，進行：前述波動發生器的旋轉位置的檢出動作、相對旋轉的前述可撓性外齒輪或是前述剛性內齒齒輪的旋轉位置的檢出動作、或是前述可撓性外齒齒輪的扭矩檢出動作。 In order to solve the above problems, the present invention is a kind of fluctuation The gear device includes: a ring-shaped rigid internally toothed gear; and a flexible externally toothed gear that is coaxially disposed inside the rigid internally toothed gear and that is bendable in a radial direction; and the flexible externally toothed gear a wave generator having a coaxially disposed inner side, wherein the flexible external gear is bent in a radial direction and partially meshed with the rigid internal gear by the wave generator, with the rotation of the wave generator When the meshing position of the rigid internally toothed gear and the flexible externally toothed gear moves in the circumferential direction, relative rotation between the two gears corresponding to the difference in the number of teeth of the two gears is generated, and is characterized in that: The vibration power generation unit of the flexible externally toothed gear and the detection unit, wherein the vibration power generation unit generates power by the bending operation of the flexible externally toothed gear that is repeatedly curved in accordance with the rotation of the wave generator. The detection unit performs the detection operation of the rotational position of the wave generator and the relative rotation according to the power generation state of the vibration power generation unit. The flexible external gear or the operation of detecting the rotational position of the rigid toothed gear, or the torque can be flexible externally toothed gear detection operation.
振動發電部，是可以使用：利用壓電效果的壓電元件、利用靜電容量變化的元件、或是利用電磁感應的元件。使用其中任一的元件的情況時，皆可藉由伴隨波動發生器的旋轉被反覆彎曲的可撓性外齒齒輪的彎曲動作，使元件彎曲變化、靜電容變化或是磁力變化反覆發生而進行發電。 As the vibration power generation unit, a piezoelectric element using a piezoelectric effect, an element using a change in electrostatic capacitance, or an element using electromagnetic induction can be used. When any of the elements is used, the flexural movement of the flexible externally toothed gear that is repeatedly bent with the rotation of the wave generator causes the element to be bent, the static capacitance, or the magnetic force to change repeatedly. Power generation.
因為發電量是伴隨波動發生器的旋轉而周期地變化，所以可以依據發電力的變化，將波動發生器的旋 轉位置檢出。且，可以檢出相對旋轉的撓性外齒齒輪及剛性內齒齒輪之中的旋轉側的齒輪的旋轉位置。進一步，也可進行可撓性外齒齒輪的傳達扭矩的檢出。而且，發電量，是對應元件的彎曲變化、靜電容變化或是磁力變化周期地變動。過剩的應力是作用在可撓性外齒齒輪而發生大的應變的情況時，在剪斷破壞發生的情況等中會引起發電量的周期變化變調。因此，也可依據發電量的變化，檢出可撓性外齒齒輪的異常。 Since the amount of power generation is periodically changed with the rotation of the wave generator, the wave generator can be rotated according to the change of the power generation. Turn the position to check out. Further, the rotational position of the gear on the rotating side of the relatively rotating flexible externally toothed gear and the rigid internally toothed gear can be detected. Further, the transmission torque of the flexible externally toothed gear can be detected. Further, the amount of power generation is periodically changed in accordance with a change in bending of the element, a change in electrostatic capacitance, or a change in magnetic force. When the excessive stress is applied to the flexible externally toothed gear and a large strain occurs, the cycle change of the amount of power generation is changed in the case where the shearing failure occurs. Therefore, the abnormality of the flexible externally toothed gear can also be detected based on the change in the amount of power generation.
在此，可撓性外齒齒輪是平面形狀的情況時，例如，將其圓筒部中的形成有外齒的部分的一方的端或是兩端朝軸線方向延長，將壓電元件等的發電用的元件安裝在延長的部分，使伴隨圓筒部的彎曲動作反覆應變等變動即可。杯形狀及禮帽形狀的可撓性外齒齒輪的情況時，將壓電元件等的發電用的元件，安裝在可撓性外齒齒輪中的圓筒部及隔膜之中的至少一方的部位即可。使用壓電元件的情況時，考慮作業性等的話，貼附在可撓性外齒齒輪的圓筒部的外周面較佳。且，為了使發電量變多，將發電用的元件，不是安裝在圓筒部的一處，是安裝在該圓筒部的整體較佳。 When the flexible externally toothed gear has a planar shape, for example, one end or both ends of a portion of the cylindrical portion in which the external teeth are formed are extended in the axial direction, and a piezoelectric element or the like is used. The element for power generation is attached to the extended portion, and the bending operation of the cylindrical portion may be reversed by strain or the like. In the case of a flexible externally toothed gear having a cup shape and a top hat shape, an element for power generation such as a piezoelectric element is attached to at least one of a cylindrical portion and a diaphragm in the flexible externally toothed gear. can. When the piezoelectric element is used, it is preferable to attach the outer peripheral surface of the cylindrical portion of the flexible externally toothed gear in consideration of workability and the like. Further, in order to increase the amount of power generation, it is preferable that the element for power generation is not attached to one portion of the cylindrical portion, and is mounted on the entire cylindrical portion.
進一步，因為是從發電用的元件使配線被引出，所以將安裝了發電用的元件可撓性外齒齒輪無法旋轉的方式支撐，在將剛性內齒齒輪可旋轉自如的狀態下支撐，從該剛性內齒齒輪將減速旋轉輸出取出較佳。 Further, since the wiring is taken out from the element for power generation, the flexible external tooth gear to which the power generation element is mounted cannot be rotated, and the rigid internal gear is rotatably supported. It is preferred that the rigid internal gear removes the decelerating rotary output.
進一步，波動齒輪裝置的使用形態，因為是 波動發生器由一定連續旋轉速度被旋轉驅動的時間短，所以穩定發電困難的情況多。且，可撓性外齒齒輪的彎曲動作中的彎曲變動的頻率較低，而具有由發電用的元件所產生的發電效率較低的情況。在此，配置將由振動發電部所產生的發電電力儲存的蓄電部，將電力儲存，使可以從該蓄電部將穩定的電力朝外部輸出較佳。 Further, the use form of the wave gear device is because The fluctuation generator is driven by a certain continuous rotation speed for a short period of time, so that it is difficult to stabilize power generation. Further, the frequency of the bending variation in the bending operation of the flexible externally toothed gear is low, and the power generation efficiency by the element for power generation is low. Here, the power storage unit that stores the generated power generated by the vibration power generation unit is stored, and the power is stored, so that stable power can be output from the power storage unit to the outside.
接著，本發明也同樣地可適用在摩擦卡合式波動裝置。即，本發明的摩擦卡合式波動裝置，是具有：圓形內周面為摩擦卡合面的剛性環、及在前述剛性環的內側呈同軸狀配置且圓形外周面是成為摩擦卡合面的可撓性環、及在前述可撓性環的內側呈同軸狀配置的波動發生器，藉由前述波動發生器，使前述可撓性環朝半徑方向被彎曲並與前述剛性環部分地摩擦卡合，兩環的摩擦卡合位置是伴隨前述波動發生器的旋轉朝圓周方向移動的話，兩環之間會發生對應兩環的前述摩擦卡合面的周長差的相對旋轉，其特徵為：在前述可撓性環中被配置有振動發電部，前述振動發電部，是藉由伴隨前述波動發生器的旋轉被反覆彎曲的前述可撓性環的彎曲動作而進行發電。 Next, the present invention is also applicable to a friction engagement type wave device as such. In other words, the friction engagement type wave device of the present invention has a rigid ring whose circular inner peripheral surface is a friction engagement surface, and which is disposed coaxially inside the rigid ring and has a circular outer peripheral surface which is a friction engagement surface. a flexible ring and a wave generator disposed coaxially inside the flexible ring, wherein the flexible ring is bent in a radial direction and partially rubbed with the rigid ring by the wave generator When the frictional engagement position of the two rings is moved in the circumferential direction with the rotation of the wave generator, the relative rotation of the circumferential difference of the frictional engagement faces of the two rings occurs between the two rings, and is characterized in that A vibration power generation unit is disposed in the flexible ring, and the vibration power generation unit generates power by a bending operation of the flexible ring that is repeatedly curved in accordance with rotation of the wave generator.
此的情況時，振動發電部，也可以使用：利用壓電效果的壓電元件、利用靜電容量變化的元件、或是利用電磁感應的元件。使用其中任一的元件的情況時，也藉由伴隨波動發生器的旋轉被反覆彎曲的可撓性環的彎曲動作使元件的應變、靜電容量、磁力反覆變動而進行發電。 In this case, a piezoelectric element using a piezoelectric effect, an element using a change in electrostatic capacitance, or an element using electromagnetic induction may be used as the vibration power generation unit. When any of the elements is used, the strain, the electrostatic capacitance, and the magnetic force of the element are repeatedly changed by the bending operation of the flexible ring which is repeatedly bent by the rotation of the wave generator to generate electric power.
且可撓性環是平面形的情況時，例如，將形成有其圓筒部中的摩擦卡合面的部分的一方的端或是兩端朝軸線方向延長，將壓電元件等的發電用的元件安裝在延長的部分，伴隨圓筒部的彎曲動作使反覆應變等變動即可。杯形及禮帽形的可撓性環的情況時，將壓電元件等的發電用的元件，安裝在可撓性環中的圓筒部及隔膜之中的至少一方的部位即可。使用壓電元件的情況時，考慮作業性等的話，貼附在可撓性環中的摩擦卡合面以外的圓筒部的外周面部分較佳。且，為了使發電量變多，將發電用的元件，不是安裝在圓筒部的一處，而是安裝在該圓筒部的整體較佳。 In the case where the flexible ring is in the form of a flat shape, for example, one end or both ends of the portion in which the frictional engagement surface in the cylindrical portion is formed is extended in the axial direction, and power generation for a piezoelectric element or the like is used. The component is attached to the extended portion, and the creep strain may be changed in accordance with the bending operation of the cylindrical portion. In the case of a cup-shaped and top-hat-shaped flexible ring, an element for power generation such as a piezoelectric element may be attached to at least one of a cylindrical portion and a diaphragm in the flexible ring. In the case of using a piezoelectric element, it is preferable to attach the outer peripheral surface portion of the cylindrical portion other than the frictional engagement surface of the flexible ring in consideration of workability and the like. Further, in order to increase the amount of power generation, the element for power generation is preferably attached to the entire cylindrical portion instead of being attached to one portion of the cylindrical portion.
進一步，因為是從發電用的元件使配線被引出，所以將安裝了發電用的元件的可撓性環無法旋轉的方式支撐，在將剛性環可旋轉自如的狀態下支撐，從該剛性環將減速旋轉輸出取出較佳。 Further, since the wiring is taken out from the element for power generation, the flexible ring to which the element for power generation is mounted is not rotatably supported, and the rigid ring is rotatably supported, and the rigid ring is It is better to decelerate the rotation output.
進一步，波動裝置的使用方法，因為波動發生器由一定連續旋轉速度被旋轉驅動的時間短，所以具有穩定發電困難的情況。且，可撓性環的彎曲動作中的彎曲的頻率較低，而具有由發電用的元件所產生的發電效率較低的情況。配置將由振動發電部所產生的發電電力儲存的蓄電部，將電力儲存，使可以從該蓄電部將穩定的電力朝外部輸出較佳。 Further, the method of using the wave device has a situation in which the wave generator is rotationally driven by a certain continuous rotation speed for a short period of time, so that it is difficult to stably generate electricity. Further, the frequency of bending in the bending operation of the flexible ring is low, and the power generation efficiency by the element for power generation is low. The power storage unit that stores the generated power generated by the vibration power generation unit is stored, and the power is stored, so that stable power can be output from the power storage unit to the outside.
在本發明的波動齒輪裝置中，具備振動發電部，其具備利用其可撓性外齒齒輪的圓筒部的彎曲動作進行發電的壓電元件等的發電用的元件。因此，可以藉由非常簡單的構成廉價地實現具備發電機能的波動齒輪裝置。同樣地，可以藉由非常簡單的構成廉價地實現具備發電機能的摩擦卡合式波動裝置。 In the wave gear device of the present invention, the vibration power generating unit includes a piezoelectric element such as a piezoelectric element that generates electric power by the bending operation of the cylindrical portion of the flexible externally toothed gear. Therefore, the wave gear device having the generator capability can be realized inexpensively by a very simple configuration. Similarly, the frictional engagement type wave device having the generator capability can be realized inexpensively by a very simple configuration.
而且，檢出部，可依據振動發電部的發電用的元件的發電狀態，檢出：波動發生器的旋轉位置、兩齒輪之中的旋轉側的齒輪的旋轉位置、可撓性外齒齒輪的傳達扭矩。為了檢出這些的個別的元件，不需要例如磁性感測器、應變計等的配置，對於裝置的小型、輕小化、低成本化有利。 Further, the detecting unit can detect the rotational position of the wave generator, the rotational position of the gear on the rotating side of the two gears, and the flexible external gear according to the power generation state of the element for power generation of the vibration power generating unit. Communicate torque. In order to detect these individual elements, it is not necessary to arrange, for example, a magnetic sensor or a strain gauge, and it is advantageous in that the device is small, light, and low in cost.
1‧‧‧波動齒輪裝置 1‧‧‧ Wave gear device
2‧‧‧剛性內齒齒輪 2‧‧‧Rigid internal gears
3‧‧‧可撓性外齒齒輪 3‧‧‧Flexible external gear
4‧‧‧波動發生器 4‧‧‧ Wave Generator
5‧‧‧振動發電部 5‧‧‧Vibration Power Generation Department
6‧‧‧蓄電部 6‧‧‧Power Storage Department
7‧‧‧壓電元件 7‧‧‧Piezoelectric components
7A‧‧‧壓電元件 7A‧‧‧Piezoelectric components
7B‧‧‧壓電元件 7B‧‧‧Piezoelectric components
10‧‧‧檢出部 10‧‧‧Detection Department
24‧‧‧內齒 24‧‧‧ internal teeth
31‧‧‧圓筒部 31‧‧‧Cylinder
31a‧‧‧前端開口 31a‧‧‧ front opening
31b‧‧‧後端 31b‧‧‧ Backend
32‧‧‧隔膜 32‧‧‧Separator
33‧‧‧轂部 33‧‧‧ Hub
34‧‧‧外齒 34‧‧‧ external teeth
34a‧‧‧前端 34a‧‧‧ front end
34b‧‧‧後端 34b‧‧‧ Backend
100‧‧‧波動齒輪裝置 100‧‧‧ Wave gear device
102‧‧‧剛性內齒齒輪 102‧‧‧Rigid internal gears
103‧‧‧可撓性外齒齒輪 103‧‧‧Flexible external gear
104‧‧‧波動發生器 104‧‧‧ Wave Generator
105‧‧‧振動發電部 105‧‧‧Vibration Power Generation Department
106‧‧‧蓄電部 106‧‧‧Power Storage Department
107‧‧‧壓電元件 107‧‧‧Piezoelectric components
108‧‧‧變頻器 108‧‧‧Inverter
110‧‧‧檢出部 110‧‧‧Detection Department
124‧‧‧內齒 124‧‧‧ internal teeth
131‧‧‧圓筒部 131‧‧‧Cylinder
131a‧‧‧前端開口 131a‧‧‧ front opening
131b‧‧‧後端 131b‧‧‧ backend
132‧‧‧隔膜 132‧‧‧Separator
133‧‧‧轂部 133‧‧‧ Hub
134‧‧‧外齒 134‧‧‧ external teeth
200‧‧‧波動裝置 200‧‧‧ Wave device
201‧‧‧第1剛性環 201‧‧‧1st rigid ring
202‧‧‧第2剛性環 202‧‧‧2nd rigid ring
203‧‧‧可撓性環 203‧‧‧Flexible ring
204‧‧‧波動發生器 204‧‧‧ Wave Generator
205‧‧‧振動發電部 205‧‧‧Vibration Power Generation Department
206‧‧‧蓄電部 206‧‧‧Power Storage Department
207‧‧‧壓電元件 207‧‧‧Piezoelectric components
208‧‧‧變頻器 208‧‧‧Inverter
210‧‧‧檢出部 210‧‧‧Detection Department
224‧‧‧第1摩擦卡合面 224‧‧‧1st friction engagement surface
225‧‧‧第2摩擦卡合面 225‧‧‧2nd friction engagement surface
231‧‧‧圓筒部 231‧‧‧Cylinder
232‧‧‧圓筒部分 232‧‧‧Cylinder section
234‧‧‧摩擦卡合面 234‧‧‧Friction engagement surface
[第1圖]適用本發明的杯型式的波動齒輪裝置的構成圖及前視圖。 [Fig. 1] A configuration diagram and a front view of a cup type wave gear device to which the present invention is applied.
[第2圖]顯示第1圖的波動齒輪裝置的可撓性外齒齒輪的彎曲狀況用的說明圖。(a)是顯示變形前的可撓性外齒齒輪的縱剖面的狀態，(b)是顯示變形成橢圓狀的可撓性外齒齒輪的包含長軸的位置中的縱剖面的狀態，(c)是顯示變形成橢圓狀的可撓性外齒齒輪的包含短軸的位置中的縱剖面的狀態，(d)是將壓電元件的貼附位置中的可撓性外齒齒輪的彎曲狀態誇張顯示的說明圖。 [Fig. 2] is an explanatory view showing a state of bending of a flexible externally toothed gear of the wave gear device of Fig. 1. (a) is a state in which a longitudinal section of the flexible externally toothed gear before deformation is displayed, and (b) is a state in which a longitudinal section in a position including a long axis of the flexible externally toothed gear that is deformed in an elliptical shape is displayed ( c) is a state in which a longitudinal section in a position including a short axis of the flexible externally toothed gear that is deformed into an elliptical shape is displayed, and (d) is a bending of the flexible externally toothed gear in a position where the piezoelectric element is attached. An explanatory diagram of the state exaggerated display.
[第3圖]顯示杯形狀的可撓性外齒齒輪中的壓電元件的貼附位置的說明圖。 [Fig. 3] An explanatory view showing a position at which a piezoelectric element in a cup-shaped flexible externally toothed gear is attached.
[第4圖]顯示適用本發明的禮帽型的波動齒輪裝置的構成圖。 [Fig. 4] A configuration diagram showing a swing-hat type wave gear device to which the present invention is applied.
[第5圖]顯示適用本發明的平面型的摩擦卡合式波動裝置的構成圖及前視圖。 [Fig. 5] A configuration view and a front view showing a flat type frictional engagement type wave device to which the present invention is applied.
(實施例1) (Example 1)
第1圖(a)是顯示適用本發明的實施例1的杯型式的波動齒輪裝置的概略構成圖，第1圖(b)是其概略前視圖。如這些的圖所示，波動齒輪裝置1，是具有：圓環狀的剛性內齒齒輪2、及被配置於其內側的可撓性外齒齒輪3、及嵌入此內側的橢圓狀輪廓的波動發生器4。剛性內齒齒輪2及可撓性外齒齒輪3皆是模數m的平齒輪。且，兩齒輪的齒數差是2n(n是正的整數)，在本例中為2枚(n=1)，剛性內齒齒輪2的齒數較多。可撓性外齒齒輪3是藉由橢圓狀輪廓的波動發生器4被彎曲成橢圓狀，其外齒34是在橢圓狀的長軸L1方向的兩端部分與剛性內齒齒輪2的內齒24嚙合。 Fig. 1(a) is a schematic configuration view showing a cup type wave gear device according to a first embodiment to which the present invention is applied, and Fig. 1(b) is a schematic front view thereof. As shown in these figures, the wave gear device 1 has a ring-shaped rigid internally toothed gear 2, a flexible externally toothed gear 3 disposed inside thereof, and an undulation of an elliptical profile embedded in the inner side. Generator 4. Both the rigid internally toothed gear 2 and the flexible externally toothed gear 3 are spur gears of a modulus m. Further, the difference in the number of teeth between the two gears is 2n (n is a positive integer), and in this example, two (n = 1), and the number of teeth of the rigid internally toothed gear 2 is large. The flexible externally toothed gear 3 is bent into an elliptical shape by a wave generator 4 having an elliptical profile, and the external teeth 34 are end portions of the elliptical long axis L1 and the internal teeth of the rigid internally toothed gear 2. 24 meshing.
將波動發生器4旋轉的話，兩齒輪2、3的嚙合位置會朝圓周方向移動，對應兩齒輪的齒數差的相對旋轉會發生於兩齒輪2、3之間。在本例中，波動發生器4 是被連結固定在未圖示的馬達，可撓性外齒齒輪3是被固定於未圖示的固定側構件且被支撐成無法旋轉，剛性內齒齒輪2是被固定於未圖示的負荷側構件。從波動發生器4被輸入的高速輸入旋轉，是從剛性內齒齒輪2作為減速旋轉輸出被取出，並被傳達至未圖示的負荷側構件。 When the wave generator 4 is rotated, the meshing positions of the two gears 2, 3 are moved in the circumferential direction, and the relative rotation of the difference in the number of teeth of the two gears occurs between the two gears 2, 3. In this example, the wave generator 4 It is connected and fixed to a motor (not shown), and the flexible externally toothed gear 3 is fixed to a fixed side member (not shown) and is supported so as not to be rotatable, and the rigid internally toothed gear 2 is fixed to a load (not shown). Side member. The high-speed input rotation input from the wave generator 4 is taken out from the rigid internal gear 2 as a deceleration rotation output, and is transmitted to a load side member (not shown).
可撓性外齒齒輪3是杯形狀者，具備：可撓性的圓筒部31、及與其後端31b連續朝半徑方向的內側擴大的圓盤狀的隔膜32、及與隔膜32的內周緣連續的圓環狀的轂部33、及形成於圓筒部31的前端開口31a側的外周面部分的外齒34。橢圓狀輪廓的波動發生器4，是嵌入可撓性外齒齒輪3的圓筒部31中的前端開口31a側的外齒形成部分的內側。藉由波動發生器4被彎曲成橢圓狀的圓筒部31的彎曲量，是從其隔膜側的後端31b朝向前端開口31a，朝半徑方向的外側或是內側漸增。 The flexible externally toothed gear 3 is a cup shape, and includes a flexible cylindrical portion 31 and a disk-shaped diaphragm 32 that continuously expands inward in the radial direction toward the rear end 31b, and an inner circumference of the diaphragm 32. The continuous annular boss portion 33 and the external teeth 34 formed on the outer peripheral surface portion of the cylindrical portion 31 on the distal end opening 31a side. The wave generator 4 having an elliptical profile is an inner side of the outer tooth forming portion on the side of the front end opening 31a of the cylindrical portion 31 of the flexible externally toothed gear 3. The amount of bending of the cylindrical portion 31 that is curved in an elliptical shape by the wave generator 4 is gradually increased toward the outer side or the inner side in the radial direction from the rear end 31b on the diaphragm side toward the distal end opening 31a.
在可撓性外齒齒輪3中配置有振動發電部5，在振動發電部5中，連接有將由該振動發電部發生的電力儲存用的蓄電部6。電力是成為可從蓄電部6供給。振動發電部5，是具備藉由伴隨波動發生器4的旋轉被反覆彎曲的可撓性外齒齒輪3的彎曲動作而變位並進行發電的壓電元件7。壓電元件7，是對於可撓性外齒齒輪3的圓筒部31中的外齒34鄰接於隔膜32側的外周面部分，與該外周面部分成為一體而變位的方式被貼附。例如，在該外周面部分朝圓周方向貼附有複數壓電元件7。 The vibration power generation unit 5 is disposed in the flexible externally toothed gear 3, and the power storage unit 6 for storing electric power generated by the vibration power generation unit is connected to the vibration power generation unit 5. The electric power is supplied from the power storage unit 6. The vibration power generation unit 5 is provided with a piezoelectric element 7 that is displaced by the bending operation of the flexible externally toothed gear 3 that is repeatedly curved in accordance with the rotation of the wave generator 4 to generate electric power. The piezoelectric element 7 is attached to the outer peripheral surface portion of the cylindrical portion 31 of the flexible externally toothed gear 3 adjacent to the diaphragm 32 side, and is integrally displaced with the outer peripheral surface portion. For example, a plurality of piezoelectric elements 7 are attached to the outer circumferential surface portion in the circumferential direction.
且在可撓性外齒齒輪3中具備依據各壓電元 件7的發電狀態檢出剛性內齒齒輪2的旋轉位置的檢出部10。貼附有各壓電元件7的可撓性外齒齒輪3的圓筒部31，是每波動發生器4轉半圈就朝半徑方向被彎曲一次。因此，波動發生器4是每圈2周期地振動。隨此，壓電元件7也因為被同樣地彎曲，所以其發電量也由波動發生器4的每圈2周期地變化。因此，使用配置於變化的周期的相位為90度不同的位置之壓電元件7的輸出的話，可以獲得A相訊號及B相訊號。因此，與使用磁性感測器等的旋轉感測器同樣地，可以依據壓電元件7的輸出，將波動發生器4或是剛性內齒輪2的旋轉位置檢出。且，檢出部10的電力驅動源可利用蓄電部6。 And in the flexible externally toothed gear 3, according to each piezoelectric element The detecting portion 10 of the rotational position of the rigid internally toothed gear 2 is detected in the power generation state of the member 7. The cylindrical portion 31 of the flexible externally toothed gear 3 to which the piezoelectric elements 7 are attached is bent once in the radial direction every half turn of the wave generator 4. Therefore, the wave generator 4 is vibrated every 2 cycles. Accordingly, since the piezoelectric element 7 is also bent in the same manner, the amount of power generation is also changed by the fluctuation generator 4 every two cycles. Therefore, the A-phase signal and the B-phase signal can be obtained by using the output of the piezoelectric element 7 disposed at a position where the phase of the varying period is 90 degrees. Therefore, similarly to the rotation sensor using a magnetic sensor or the like, the rotational position of the wave generator 4 or the rigid internal gear 2 can be detected based on the output of the piezoelectric element 7. Further, the power storage unit 6 can be used as the electric drive source of the detecting unit 10.
第2圖是顯示波動齒輪裝置1的可撓性外齒齒輪3的彎曲狀況用的說明圖。第2圖(a)是顯示變形前的可撓性外齒齒輪3的縱剖面的狀態，第2圖(b)是顯示變形成橢圓狀的可撓性外齒齒輪3的包含長軸的位置中的縱剖面的狀態，第2圖(c)是顯示變形成橢圓狀的可撓性外齒齒輪3的包含短軸的位置中的縱剖面的狀態，第2圖(d)是將壓電元件的貼附位置中的可撓性外齒齒輪3的彎曲狀態誇張顯示的說明圖。又，第2圖(a)~(c)的實線是顯示杯形狀的可撓性外齒齒輪3，虛線是顯示後述的第4圖所示的禮帽形狀的可撓性外齒齒輪的情況。 Fig. 2 is an explanatory view showing a state of bending of the flexible externally toothed gear 3 of the wave gear device 1. Fig. 2(a) is a view showing a longitudinal section of the flexible externally toothed gear 3 before deformation, and Fig. 2(b) is a view showing a position including a long axis of the flexible externally toothed gear 3 which is formed into an elliptical shape. In the state of the longitudinal section in the middle, FIG. 2(c) shows a state in which the longitudinal section of the flexible externally toothed gear 3 that is deformed into an elliptical shape includes the short axis, and FIG. 2(d) shows the piezoelectric state. An explanatory view of an exaggerated display of the bending state of the flexible externally toothed gear 3 in the attachment position of the element. In addition, the solid line in FIGS. 2(a) to 2(c) is a flexible externally toothed gear 3 that displays a cup shape, and the broken line is a case where a flexible externally toothed gear having a top hat shape as shown in FIG. 4 to be described later is displayed. .
在包含圓筒部31中的橢圓狀曲線的長軸L1的剖面位置中，如第2圖(b)所示，朝外側的彎曲量，是與從後端31b的距離大致成比例，從後端31b朝向前端開 口31a漸增。在包含橢圓狀曲線的短軸L2的剖面位置中，如第2圖(c)所示，朝內側的彎曲量，是與從後端31b的距離大致成比例，從後端31b朝向前端開口31a漸增。 In the cross-sectional position including the long axis L1 of the elliptical curve in the cylindrical portion 31, as shown in Fig. 2(b), the amount of bending toward the outside is substantially proportional to the distance from the rear end 31b, and thereafter End 31b opens toward the front end The mouth 31a is increasing. In the cross-sectional position of the short axis L2 including the elliptical curve, as shown in Fig. 2(c), the amount of bending toward the inner side is substantially proportional to the distance from the rear end 31b, and the rear end 31b faces the front end opening 31a. Increasing.
因此，形成於圓筒部31的前端開口31a側的外周面部分的外齒34的彎曲量，也在其齒筋方向中的各軸直角剖面變化。即，從外齒34的齒筋方向中的隔膜側的後端34b朝向前端開口31a側的前端34a的彎曲量，是在橢圓狀曲線的包含長軸L1的剖面內，與從後端31b的距離大致成比例地漸增。 Therefore, the amount of bending of the external teeth 34 formed on the outer peripheral surface portion on the side of the front end opening 31a of the cylindrical portion 31 also changes in the cross-sectional angle of each axis in the direction of the rib. In other words, the amount of bending from the rear end 34b on the diaphragm side in the direction of the ribs of the external teeth 34 toward the front end 34a on the side of the distal end opening 31a is in the cross section including the long axis L1 of the elliptical curve, and the cross section from the rear end 31b. The distance is roughly proportionally increasing.
在此，在外齒34的齒筋方向中的任意的位置的軸直角剖面，將通過被彎曲成橢圓狀的前的該外齒34的齒底邊框的厚度方向的中央的圓稱為邊框中立圓，將通過被彎曲成橢圓狀之後的齒底邊框的厚度方向的中央的曲線稱為橢圓狀邊框中立線的話，對於橢圓狀邊框中立線的長軸位置中的邊框中立圓的長軸方向的彎曲量，是將κ設成彎曲係數的話，為2 κ mn。 Here, in a right-angled cross section at any position in the tooth-tooth direction of the external teeth 34, a circle centered in the thickness direction of the tooth bottom frame of the front outer teeth 34 that is bent in an elliptical shape is referred to as a frame neutral circle. When the curve of the center in the thickness direction of the tooth bottom frame after being bent into an elliptical shape is referred to as an elliptical frame neutral line, the long axis direction of the frame neutral circle in the long axis position of the elliptical frame neutral line is bent. The amount is 2 κ mn when κ is set to a bending coefficient.
即，可撓性外齒齒輪3的外齒34的齒數設成ZF、剛性內齒齒輪2的內齒24的齒數設成ZC、波動齒輪裝置1的減速比設成R(=ZF/(ZC-ZF)=ZF/2n)，將可撓性外齒齒輪3的間距圓直徑mZF由減速比R除算的值(mZF/R=2mn)作為長軸方向的正規的彎曲量wO。波動齒輪裝置1，一般是在其可撓性外齒齒輪3的齒筋方向中的波動發生器4的波軸承的球中心的位置，由正規的彎曲量(=2mn)彎曲的方式被設計。彎曲係數κ，是顯示將可撓性 外齒齒輪3的齒筋方向的各軸直角剖面中的彎曲量w由正規的彎曲量除算的值。因此，在外齒34，可獲得正規的彎曲量的位置的彎曲係數是成為κ=1，比此少的彎曲量w的剖面位置的彎曲係數是成為κ<1，比此多的彎曲量w的剖面位置的彎曲係數是成為κ>1。 That is, the number of teeth of the external teeth 34 of the flexible externally toothed gear 3 is set to Z F , the number of teeth of the internal teeth 24 of the rigid internally toothed gear 2 is set to Z C , and the reduction ratio of the wave gear device 1 is set to R (= Z F /(Z C -Z F )=Z F /2n), the value of the pitch circle diameter mZ F of the flexible externally toothed gear 3 divided by the reduction ratio R (mZ F /R=2mn) is used as the regularity in the long axis direction The amount of bending w O . The wave gear device 1 is generally designed such that the position of the ball center of the wave bearing of the wave generator 4 in the direction of the rib of the flexible externally toothed gear 3 is curved by a normal amount of bending (= 2 mn). The bending coefficient κ is a value indicating that the bending amount w in each of the axial orthogonal cross sections of the tooth direction of the flexible externally toothed gear 3 is divided by the normal bending amount. Therefore, in the external teeth 34, the bending coefficient at the position where the normal bending amount can be obtained is κ = 1, and the bending coefficient at the cross-sectional position of the bending amount w which is smaller than this is κ < 1, and the bending amount w is larger than this. The bending coefficient of the cross-sectional position is κ>1.
如第2圖(d)所示，貼附了壓電元件7的可撓性外齒齒輪3的外周面部分，也伴隨波動發生器4的旋轉朝半徑方向被反覆彎曲。因此，因為各壓電元件7也伴隨圓筒部31的彎曲動作朝半徑方向被反覆彎曲，所以藉由該壓電效果進行發電。例如，著眼在1枚的壓電元件7的話，從彎曲量最多的7A的狀態至彎曲量最少的7B的狀態之間被反覆彎曲，隨此進行發電。壓電元件7的發電電流是透過例如變頻器8被轉換成直流電流之後被供給至蓄電部6，且在此被儲存(第1圖參照)。 As shown in Fig. 2(d), the outer peripheral surface portion of the flexible externally toothed gear 3 to which the piezoelectric element 7 is attached is also repeatedly curved in the radial direction in accordance with the rotation of the wave generator 4. Therefore, since each piezoelectric element 7 is also repeatedly curved in the radial direction along with the bending operation of the cylindrical portion 31, power generation is performed by the piezoelectric effect. For example, when one piezoelectric element 7 is focused on, the state is changed from the state of 7A with the largest amount of bending to the state of 7B with the least amount of bending, and power generation is performed therewith. The power generation current of the piezoelectric element 7 is converted into a direct current by, for example, the inverter 8, and is supplied to the power storage unit 6, and is stored therein (refer to FIG. 1).
如此，壓電元件7是在波動發生器4旋轉1圈的期間有2次朝半徑方向反覆變化。即，壓電元件7，是在波動發生器4的旋轉1圈由2周期被反覆彎曲。壓電元件7的發電量因為是對應彎曲量(變位量)變化，所以發電量也依據波動發生器4的旋轉1圈由2周期反覆變化。壓電元件7A及壓電元件7B，因為是由波動發生器4的旋轉角度被配置於90度遠離的位置，所以依據這些的輸出，可以獲得90度相位的不同的A相訊號及B相訊號。在第2圖(d)所示的例中，8枚的壓電元件7，是被配置於每次遠離波動發生器4的旋轉角度45度的位置，檢出部 10，可以依據這些的相位的不同的各壓電元件7的輸出，將波動發生器4或是剛性內齒齒輪2的旋轉位置檢出。 As described above, the piezoelectric element 7 repeatedly changes in the radial direction twice during the rotation of the wave generator 4 once. That is, the piezoelectric element 7 is repeatedly bent by two cycles in one rotation of the wave generator 4. Since the amount of electric power generated by the piezoelectric element 7 is changed in accordance with the amount of bending (displacement amount), the amount of power generation is also changed repeatedly by two cycles in accordance with the rotation of the wave generator 4. Since the piezoelectric element 7A and the piezoelectric element 7B are disposed at a position distant from 90 degrees by the rotation angle of the wave generator 4, different A-phase signals and B-phase signals having a phase of 90 degrees can be obtained based on these outputs. . In the example shown in Fig. 2(d), the eight piezoelectric elements 7 are disposed at a position 45 degrees away from the fluctuation angle of the wave generator 4, and the detecting portion 10. The rotational position of the wave generator 4 or the rigid internal gear 2 can be detected based on the output of each of the piezoelectric elements 7 having different phases.
且如此各壓電元件7的輸出是周期地變動。在可撓性外齒齒輪3發生剪斷破壞等的情況時，會使壓電元件7的其中任一的輸出的周期變動變調。因此，檢出部10也可依據壓電元件7的輸出，檢出這種可撓性外齒齒輪3的異常狀態。 Further, the output of each of the piezoelectric elements 7 is periodically changed. When the flexible externally toothed gear 3 is sheared or the like, the periodic variation of the output of any one of the piezoelectric elements 7 is changed. Therefore, the detecting portion 10 can detect the abnormal state of the flexible externally toothed gear 3 based on the output of the piezoelectric element 7.
接著，被儲存在蓄電部7的電力，是可以將波動發生器4利用作為旋轉驅動用的馬達的驅動用電力的一部分，作為緊急用電源利用也可以。或是各種的感測器是被搭載在波動齒輪裝置1的情況時，可以利用作為那些的感測器的驅動用電源。進一步，可以藉由手動操作將波動發生器旋轉驅動的話，利用波動齒輪裝置1作為緊急時等中的手動發電裝置也可以。 Then, the electric power stored in the electric storage unit 7 may be used as an emergency power source by using the fluctuation generator 4 as a part of the driving electric power of the motor for rotational driving. When the various sensors are mounted on the wave gear device 1, the power source for driving the sensors can be utilized. Further, if the wave generator is rotationally driven by manual operation, the wave gear device 1 may be used as a manual power generating device in an emergency or the like.
又，可撓性外齒齒輪3中的壓電元件7的貼附位置是與本例不同的位置也可以。例如，如第3圖所示，從圓筒部31橫跨隔膜32的外周面部分7(1)，將壓電元件7安裝在隔膜32的表面部分7(2)也可以。或是將圓筒部31的前端比外齒34更前方地延長，將此延長部分的圓形外周面或是圓形內周面作為壓電元件7的安裝部分7(3)也可以。進一步，將壓電元件7安裝在圓筒部31的圓形內周面、隔膜32的內側的表面也可以。且，檢出部10，是依據安裝於隔膜32的表面部分7(2)等的壓電元件7的輸出，進行扭矩檢出也可以。 Further, the attachment position of the piezoelectric element 7 in the flexible externally toothed gear 3 may be a position different from that of the present example. For example, as shown in Fig. 3, the piezoelectric element 7 may be attached to the surface portion 7 (2) of the diaphragm 32 from the cylindrical portion 31 across the outer peripheral surface portion 7 (1) of the diaphragm 32. Alternatively, the front end of the cylindrical portion 31 may be extended more forward than the external teeth 34, and the circular outer peripheral surface or the circular inner peripheral surface of the extended portion may be the mounting portion 7 (3) of the piezoelectric element 7. Further, the piezoelectric element 7 may be attached to the circular inner circumferential surface of the cylindrical portion 31 or the inner surface of the diaphragm 32. Further, the detecting portion 10 may perform torque detection depending on the output of the piezoelectric element 7 attached to the surface portion 7 (2) of the diaphragm 32 or the like.
(實施例2) (Example 2)
第4圖是顯示適用本發明的實施例2的禮帽型式的波動齒輪裝置的概略構成圖。禮帽型式的波動齒輪裝置100的基本構成是與杯型式的波動齒輪裝置1同樣，具備：剛性內齒齒輪102、及可撓性外齒齒輪103、及波動發生器104。可撓性外齒齒輪103是禮帽形狀者，具備：可撓性的圓筒部131、及與其後端131b連續朝半徑方向的外側擴大的圓盤狀的隔膜132、及與隔膜132的外周緣連續的圓環狀的轂部133、及形成於圓筒部131的前端開口131a側的外周面部分的外齒134。外齒134是朝剛性內齒齒輪102的內齒124可彎曲。橢圓狀輪廓的波動發生器104，是嵌入可撓性外齒齒輪103的圓筒部131中的前端開口131a側的外齒形成部分的內側。藉由波動發生器104被彎曲成橢圓狀的圓筒部131的彎曲量，是從其隔膜側的後端131b朝向前端開口131a，朝半徑方向的外側或是內側漸增。 Fig. 4 is a schematic block diagram showing a swing-type wave gear device of a second embodiment to which the present invention is applied. The nut-type wave gear device 100 has a basic configuration similar to the cup-type wave gear device 1 and includes a rigid internal gear 102, a flexible external gear 103, and a wave generator 104. The flexible externally toothed gear 103 is in the shape of a top hat, and includes a flexible cylindrical portion 131 and a disk-shaped diaphragm 132 that continuously expands outward in the radial direction from the rear end 131b, and an outer circumference of the diaphragm 132. The continuous annular boss portion 133 and the outer teeth 134 formed on the outer peripheral surface portion of the cylindrical portion 131 on the distal end opening 131a side. The outer teeth 134 are bendable toward the inner teeth 124 of the rigid internally toothed gear 102. The wave generator 104 having an elliptical profile is an inner side of the outer tooth forming portion on the side of the front end opening 131a of the cylindrical portion 131 of the flexible externally toothed gear 103. The amount of bending of the cylindrical portion 131 that is curved in an elliptical shape by the wave generator 104 is gradually increased toward the outer side or the inner side in the radial direction from the rear end 131b on the diaphragm side toward the distal end opening 131a.
在可撓性外齒齒輪103中被配置有振動發電部105，在振動發電部105中，連接有將由該振動發電部發生的電力儲存用的蓄電部106，成為可從此蓄電部106將電力供給。振動發電部105，是具備藉由伴隨波動發生器104的旋轉被反覆彎曲的可撓性外齒齒輪103的彎曲動作而變位並進行發電的壓電元件107。壓電元件107，是使成為與該外周面部分一體變位的方式，被貼附在對於可 撓性外齒齒輪103的圓筒部131中的外齒134鄰接於隔膜132側的外周面部分。例如，在該外周面部分朝圓周方向貼附有複數壓電元件107。壓電元件107的發電電流是在振動發電部105的變頻器108被轉換成直流電流之後被供給至蓄電部106，在此被儲存。 The vibration power generation unit 105 is disposed in the flexible external gear 103, and the power storage unit 106 for storing electric power generated by the vibration power generation unit is connected to the power storage unit 106. . The vibration power generation unit 105 is provided with a piezoelectric element 107 that is displaced by the bending operation of the flexible externally toothed gear 103 that is repeatedly curved in accordance with the rotation of the wave generator 104, and generates electric power. The piezoelectric element 107 is attached to the outer peripheral surface portion so as to be attached to the piezoelectric element 107. The external teeth 134 in the cylindrical portion 131 of the flexible externally toothed gear 103 are adjacent to the outer peripheral surface portion on the side of the diaphragm 132. For example, a plurality of piezoelectric elements 107 are attached to the outer peripheral surface portion in the circumferential direction. The power generation current of the piezoelectric element 107 is supplied to the power storage unit 106 after the inverter 108 of the vibration power generation unit 105 is converted into a direct current, and is stored therein.
且在可撓性外齒齒輪103中配置有檢出部110。檢出部110，可以依據振動發電部105的壓電元件107的發電狀態(輸出)，進行：波動發生器104的旋轉位置檢出、剛性內齒齒輪102的旋轉位置檢出、可撓性外齒齒輪103的扭矩檢出或是異常檢出等。進一步，可以利用來自蓄電部106的電力作為檢出部110的電力驅動源。 Further, the detecting portion 110 is disposed in the flexible externally toothed gear 103. The detecting unit 110 can detect the rotational position of the wave generator 104, the rotational position of the rigid internal gear 102, and the flexibility in accordance with the power generation state (output) of the piezoelectric element 107 of the vibration power generating unit 105. The torque of the tooth gear 103 is detected or abnormally detected. Further, the electric power from the power storage unit 106 can be used as the electric drive source of the detecting unit 110.
又，可撓性外齒齒輪103中的壓電元件107的貼附位置，可以是例如，在第4圖如想像線所示，從圓筒部131橫跨隔膜132的外周面部分107(1)、隔膜132的表面部分107(2)。或是將圓筒部131的前端比外齒134更朝前方延長，將此延長部分的圓形外周面或是圓形內周面作為壓電元件107的安裝部分107(3)也可以。進一步，將壓電元件107安裝在圓筒部131的圓形內周面、隔膜132的內側的表面也可以。 Further, the attachment position of the piezoelectric element 107 in the flexible externally toothed gear 103 may be, for example, as shown in the imaginary line in Fig. 4, across the outer peripheral surface portion 107 of the diaphragm 132 from the cylindrical portion 131 (1) ), surface portion 107 (2) of diaphragm 132. Alternatively, the front end of the cylindrical portion 131 may be extended forward than the external teeth 134, and the circular outer peripheral surface or the circular inner peripheral surface of the extended portion may be the mounting portion 107 (3) of the piezoelectric element 107. Further, the piezoelectric element 107 may be attached to the circular inner circumferential surface of the cylindrical portion 131 or the inner surface of the diaphragm 132.
(實施例3) (Example 3)
第5圖(a)是適用本發明的實施例3的平面型式的摩擦卡合式波動裝置的概略構成圖，第5圖(b)是其概略前視圖。摩擦卡合式波動裝置200，是具備：圓環狀的第1、 第2剛性環201、202、及在這些第1、第2剛性環201、202的內側呈同軸狀配置態的可撓性環203、及嵌合於可撓性環203的內側的橢圓狀輪廓的波動發生器204。第1、第2剛性環201、202的圓形內周面是各別成為第1摩擦卡合面224、225，在可撓性環203的圓形外周面也形成有摩擦卡合面234。 Fig. 5(a) is a schematic configuration diagram of a flat type frictional engagement type wave device according to a third embodiment of the present invention, and Fig. 5(b) is a schematic front view thereof. The friction engagement type wave device 200 has the first shape of an annular shape The second rigid rings 201 and 202 and the flexible ring 203 disposed coaxially inside the first and second rigid rings 201 and 202 and the elliptical contour fitted to the inner side of the flexible ring 203 The fluctuation generator 204. The circular inner circumferential surfaces of the first and second rigid rings 201 and 202 are the first friction engagement surfaces 224 and 225, respectively, and the friction engagement surface 234 is also formed on the circular outer circumferential surface of the flexible ring 203.
波動發生器204是將可撓性環203彎曲成橢圓狀，藉此，該可撓性環203的摩擦卡合面234是對於第1、第2剛性環201、202的第1、第2摩擦卡合面224、225在圓周方向部分地摩擦卡合。將波動發生器204旋轉的話，這些的摩擦卡合位置會朝圓周方向移動。 The wave generator 204 bends the flexible ring 203 into an elliptical shape, whereby the frictional engagement surface 234 of the flexible ring 203 is the first and second frictions of the first and second rigid rings 201 and 202. The engaging faces 224, 225 are partially frictionally engaged in the circumferential direction. When the wave generator 204 is rotated, these frictional engagement positions are moved in the circumferential direction.
在此，第1剛性環201的第1摩擦卡合面224的周長因為是比可撓性環203的摩擦卡合面234的周長更長，所以伴隨波動發生器204的旋轉，會在第1剛性環201及可撓性環203之間發生對應周長差的相對旋轉。對於此，第2剛性環202的第2摩擦卡合面225的周長因為是與可撓性環203的摩擦卡合面234的周長相同，所以這些第2剛性環202及可撓性環203之間不發生相對旋轉且成為時常一體旋轉。 Here, since the circumferential length of the first friction engagement surface 224 of the first rigid ring 201 is longer than the circumferential length of the friction engagement surface 234 of the flexible ring 203, the rotation of the wave generator 204 may occur. The relative rotation of the difference between the first rigid ring 201 and the flexible ring 203 occurs. Since the circumferential length of the second friction engagement surface 225 of the second rigid ring 202 is the same as the circumferential length of the friction engagement surface 234 of the flexible ring 203, the second rigid ring 202 and the flexible ring are provided. There is no relative rotation between 203 and it becomes a common one-time rotation.
在本例中，第2剛性環202是被固定於未圖示的固定側構件使無法旋轉地被支撐，第1剛性環201是與未圖示的負荷側構件連結。因此，波動發生器204是藉由馬達等高速旋轉的話，減速旋轉輸出是從第1剛性環201側被取出並傳達至負荷側構件。 In the present example, the second rigid ring 202 is fixed to a fixed side member (not shown) so as to be rotatable, and the first rigid ring 201 is coupled to a load side member (not shown). Therefore, when the wave generator 204 is rotated at a high speed by a motor or the like, the deceleration rotation output is taken out from the first rigid ring 201 side and transmitted to the load side member.
在此，在可撓性環203中被配置有振動發電部205，在振動發電部205中，連接有將由該振動發電部205發生的電力儲存用的蓄電部206，成為可從蓄電部206將電力供給。振動發電部205，是具備：藉由伴隨波動發生器204的旋轉被反覆彎曲的可撓性環203的彎曲動作而變位並進行發電的壓電元件207、及將在此發生的發電電流轉換成直流並供給至蓄電部206用的變頻器208。 Here, the vibration power generation unit 205 is disposed in the flexible ring 203, and the power storage unit 206 for storing electric power generated by the vibration power generation unit 205 is connected to the power storage unit 206. Power supply. The vibration power generation unit 205 includes a piezoelectric element 207 that is displaced by the bending operation of the flexible ring 203 that is repeatedly bent in accordance with the rotation of the wave generator 204, and generates a power generation current that is generated here. The inverter is supplied to the inverter 208 for the power storage unit 206.
且在可撓性環203中配置有檢出部210。檢出部210，可以依據振動發電部205的壓電元件207的發電狀態(輸出)，進行：波動發生器204的旋轉位置檢出、第1剛性環201的旋轉位置檢出、可撓性環203的扭矩檢出或是異常檢出等。 Further, the detecting portion 210 is disposed in the flexible ring 203. The detecting unit 210 can detect the rotational position of the wave generator 204, detect the rotational position of the first rigid ring 201, and the flexible ring in accordance with the power generation state (output) of the piezoelectric element 207 of the vibration power generating unit 205. 203 torque detection or abnormal detection.
在本例中，可撓性環203，是具備：可撓性的圓筒部231、及形成於此外周面的摩擦卡合面234、及從圓筒部231中的第2剛性環202側的端朝外方延長(突出)的圓筒部分232，在此圓筒部分232的外周面中，使與該圓筒部分232成為一體地變位的方式，貼附有複數壓電元件207。又，將壓電元件207貼附在圓筒部分232的內周面也可以。 In the present embodiment, the flexible ring 203 includes a flexible cylindrical portion 231, a friction engagement surface 234 formed on the other circumferential surface, and a second rigid ring 202 side from the cylindrical portion 231. The cylindrical portion 232 whose end is extended (projected) toward the outside is attached to the outer peripheral surface of the cylindrical portion 232 so that the plurality of piezoelectric elements 207 are attached so as to be displaced integrally with the cylindrical portion 232. Further, the piezoelectric element 207 may be attached to the inner circumferential surface of the cylindrical portion 232.
(其他的實施例) (Other embodiments)
又，上述的例，雖是將本發明適用在杯型式及禮帽型式的波動齒輪裝置的例，但是本發明也同樣地可適用於平面型式的波動齒輪裝置。 Further, the above-described example is an example in which the present invention is applied to a cup type and a top hat type wave gear device, but the present invention is also applicable to a flat type wave gear device.
且上述的例雖是將本發明適用在平面型式的摩擦卡合式波動裝置的例，但是本發明也同樣地可適用於杯型式、禮帽型式的摩擦卡合式波動裝置。 Further, the above-described example is an example in which the present invention is applied to a flat type frictional engagement type wave device. However, the present invention is also applicable to a cup type or top hat type frictional engagement type wave device.
1‧‧‧波動齒輪裝置 1‧‧‧ Wave gear device
2‧‧‧剛性內齒齒輪 2‧‧‧Rigid internal gears
3‧‧‧可撓性外齒齒輪 3‧‧‧Flexible external gear
4‧‧‧波動發生器 4‧‧‧ Wave Generator
5‧‧‧振動發電部 5‧‧‧Vibration Power Generation Department
6‧‧‧蓄電部 6‧‧‧Power Storage Department
7‧‧‧壓電元件 7‧‧‧Piezoelectric components
8‧‧‧INV 8‧‧‧INV
10‧‧‧檢出部 10‧‧‧Detection Department
24‧‧‧內齒 24‧‧‧ internal teeth
31‧‧‧圓筒部 31‧‧‧Cylinder
31a‧‧‧前端開口 31a‧‧‧ front opening
31b‧‧‧後端 31b‧‧‧ Backend
32‧‧‧隔膜 32‧‧‧Separator
33‧‧‧轂部 33‧‧‧ Hub
34‧‧‧外齒 34‧‧‧ external teeth
L1‧‧‧橢圓狀曲線的長軸 The long axis of the L1‧‧‧ elliptic curve
L2‧‧‧橢圓狀曲線的短軸 The short axis of the L2‧‧‧ elliptic curve
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103108145A TWI619343B (en) | 2014-03-10 | 2014-03-10 | Wave gear device for vibration power generation and friction-clamping wave device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103108145A TWI619343B (en) | 2014-03-10 | 2014-03-10 | Wave gear device for vibration power generation and friction-clamping wave device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201535955A true TW201535955A (en) | 2015-09-16 |
| TWI619343B TWI619343B (en) | 2018-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW103108145A TWI619343B (en) | 2014-03-10 | 2014-03-10 | Wave gear device for vibration power generation and friction-clamping wave device |
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| TW (1) | TWI619343B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110730878A (en) * | 2017-06-16 | 2020-01-24 | 谐波传动***有限公司 | Wave gear device |
| WO2023071231A1 (en) * | 2021-10-25 | 2023-05-04 | 美的集团股份有限公司 | Harmonic gear device, manufacturing method for harmonic gear device, robot joint device, gear component for robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2714429B2 (en) * | 1989-03-31 | 1998-02-16 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device |
| JP2006083905A (en) * | 2004-09-15 | 2006-03-30 | Kyushu Institute Of Technology | Wave motion gear device |
| JP4744989B2 (en) * | 2005-09-05 | 2011-08-10 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device and friction engagement wave device |
| WO2011105642A1 (en) * | 2010-02-25 | 2011-09-01 | (주)사람과 환경 | Piezoelectric generator unit using piezoelectric bimorph |
-
2014
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110730878A (en) * | 2017-06-16 | 2020-01-24 | 谐波传动***有限公司 | Wave gear device |
| EP3614019A4 (en) * | 2017-06-16 | 2020-10-14 | Harmonic Drive Systems Inc. | Wave gear device |
| TWI756410B (en) * | 2017-06-16 | 2022-03-01 | 日商和諧驅動系統股份有限公司 | Strain wave gearing |
| CN110730878B (en) * | 2017-06-16 | 2022-08-19 | 谐波传动***有限公司 | Wave gear device |
| WO2023071231A1 (en) * | 2021-10-25 | 2023-05-04 | 美的集团股份有限公司 | Harmonic gear device, manufacturing method for harmonic gear device, robot joint device, gear component for robot |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI619343B (en) | 2018-03-21 |
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