WO2009115219A1 - Dispositif de compensation de l'usure sur des transmissions harmoniques, en particulier en matière plastique - Google Patents

Dispositif de compensation de l'usure sur des transmissions harmoniques, en particulier en matière plastique Download PDF

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Publication number
WO2009115219A1
WO2009115219A1 PCT/EP2009/001725 EP2009001725W WO2009115219A1 WO 2009115219 A1 WO2009115219 A1 WO 2009115219A1 EP 2009001725 W EP2009001725 W EP 2009001725W WO 2009115219 A1 WO2009115219 A1 WO 2009115219A1
Authority
WO
WIPO (PCT)
Prior art keywords
toothed ring
core
annular gear
external
transmission according
Prior art date
Application number
PCT/EP2009/001725
Other languages
German (de)
English (en)
Inventor
Frank PÖHLAU
Original Assignee
Harmonic Drive Polymer Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Polymer Gmbh filed Critical Harmonic Drive Polymer Gmbh
Publication of WO2009115219A1 publication Critical patent/WO2009115219A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F16H2049/003—Features of the flexsplines therefor

Definitions

  • the invention relates to means for ensuring the backlash on a so-called. Harmonic Drive gear over its life, especially in such a transmission with large hollow shaft and made of plastic.
  • Harmonic Drive transmissions consist of only three components: a non-circular core, the so-called WAVE GENERATOR, a flexible, externally toothed intermediate gear ring, the so-called FLEXSPLINE, and a fixed, internally toothed external gear ring, the so-called CIRCULAR SPLINE.
  • a core having two diametrically opposite clamping elements as a driven part deforms the intermediate toothed ring elliptically, so that it is in engagement with the internally toothed outer toothed ring in the opposite regions of its large ellipse axis.
  • the large ellipse axis and correspondingly the tooth engagement area of the intermediate toothed ring shift. Since the intermediate toothed ring has fewer teeth than the outer toothed ring, a relative movement between the intermediate toothed ring and the outer toothed ring takes place in a counterclockwise direction per revolution of the core.
  • the intermediate toothed ring is deformed, which usually takes place via a ball bearing whose outer ring is elastically deformable.
  • the intermediate toothed ring is designed as an elastic pot in the vast majority of harmonic drive gear, acts on the bottom of the output. Due to the deformation of the meshing with the external tooth ring "pot edge" of such an intermediate ring by means of the Aufspannide of the core to the ellipse, the wall surface of the pot is complex deformed, wherein a section through the pot in the axis of the large ellipse semi-axis of the core the shape of a Central axis of the pot symmetrical trapezoid shows, the long side of the "pot edge" is.
  • the intermediate toothed ring can also have an outwardly directed flange, thus the shape of a "cylindrical hat without a lid.”
  • the deformation of the pot wall takes place analogously.
  • the ball bearing has no significant wear, on the other possibly occurring, minimal wear in the teeth between the intermediate ring and outer ring by the spring properties of the interest in the peripheral area frustoconical widened and in the Area of the toothing on the cylindrical outer tooth ring conforming intermediate gear ring is compensated.
  • Subject of DE 195 20 555 A1 is a harmonic drive (Harmonic Drive Gethebe), in which the intermediate toothed ring is not directly but via a flexible plug-in shaft connection with the output shaft in connection.
  • the actual intermediate toothed ring is deformed only elliptical and it is consequently always the entire tooth width of the teeth of external ring and intermediate toothed ring for power transmission available.
  • a wear-related game extension automatically adjusts, but this can only apply to the game between the plug-in shaft connection and the actual intermediate gear ring and for their storage. A compensation of the wear due to wear of the teeth of external ring and intermediate ring expanding game is not expected.
  • the plug-in shaft connection also requires additional parts and increased installation costs.
  • the invention has for its object to provide a simple and cost-effective way to compensate for wear and to ensure freedom from play over the life of harmonic drive gears, especially plastic, with the largest possible hollow shaft diameter to be achieved.
  • This object is achieved according to the invention by making sure that the core or its Aufspannetti - axially displaced or tracked over the course of the service life of the transmission, so that the intermediate toothed ring is increasingly clamped.
  • the core or the clamping elements on the other, firmly clamped, im As a result, the mounting dimension with respect to the intermediate toothed ring is increased and the wear in the area of the toothing between the toothed ring and the outer toothed ring is compensated.
  • the axial displacement of the core and possibly according to the Aufspannetti can be done by axial spring bias of the core relative to a housing.
  • the springs may be metallic or plastic and inserted between the core and a housing or housing part or formed directly on the core. This is particularly advantageous for small sizes and cores made of plastic, which are produced by injection molding.
  • the axial displacement of the core or the clamping elements in comparison to the intermediate toothed ring can alternatively be effected by a linear actuator, for example a pneumatic or hydraulic cylinder. This is particularly advantageous for larger sizes where more accurate readjustment is required.
  • Linear actuator can be controlled, for example, by a sensor signal, e.g. is output by a position, force or torque sensor.
  • the axial relative displacement between the core or Aufspannettin and intermediate toothed ring causes a clearance compensation and thus provides freedom from play over the entire life of the transmission, even with a cost-effective and compact design with plain bearings, clamping elements and / or plastic core.
  • the geometry of the core is simplified, in particular in the area radially inside the clamping elements. It is also essential that less space is needed, so that a larger hollow shaft with the same outer diameter can be realized.
  • Fig. 1 shows in the view according to ll of Fig. 2, a harmonic drive gear formed by semicircle-like projections clamping elements 11, which are provided on the core 10 instead of (known in the prior art) rollers.
  • the clamping elements 11 slide in the intermediate toothed ring 30.
  • the support provided is an annular structure with a correspondingly large hollow shaft 12, which in principle makes it possible to achieve an external geometry similar to that in the device according to EP 0 743 474 B1.
  • 2 and 3 each show in a section according to 11-11 of FIG. 1 by a harmonic drive gear with cup-shaped intermediate toothed ring (30), wherein the embodiments of FIGS. 2 and 3 differ only by the design of the intermediate toothed ring 30 , This is shown in FIG. 2 at its the
  • External teeth 31 opposite end provided with a possibly opening for an output shaft of the core 10 having bottom 33.
  • a circumferential flange 34 is provided instead of a bottom 33.
  • Figs. 1 to 3 show the basic structure of a harmonic drive transmission.
  • This consists of three basic elements which are arranged coaxially to each other, namely a core 10 in the form of a hollow shaft 12 - in the embodiment two opposing - Aufspannementn 11, an outer surface 20 surrounding an outer ring 20 and a substantially cup-shaped intermediate toothed ring 30.
  • the outer toothed ring 20 is provided with an internal toothing 21, with which a provided on the bottom 33 or flange 34 of the core 10 end of the intermediate toothed ring 30 outer teeth 31 meshes, but only in the areas in which the intermediate toothed ring 30 is widened by the clamping elements 11 on the core 10 ,
  • FIGS. 4 a to 4 c show, in a sectional view corresponding to FIG. 3, three embodiments of a harmonic drive transmission according to the invention, in which the core 10 or the clamping elements 11 are prestressed in the direction of the bottom 33 or flange 34 of the intermediate toothed ring 30.
  • Fig. 4b 10 spring elements 13 are attached to a core.
  • the core 10 is made of plastic and is molded in one piece with the spring elements 13.
  • a plunger 51 having linear actuator 50 for example, a pneumatic or hydraulic cylinder, which may be controlled by a sensor signal.
  • Fig. 5 is a schematic illustration for illustrating the effect of wear.
  • the illustration on the left in the drawing shows outer ring 20 and intermediate ring 30 in the new condition, i. without wear-related play.
  • the illustration on the right in the drawing shows the corresponding parts 20, 30 in the worn state after appropriate running time. It can be seen that both the teeth 22a of the external toothed ring 20 and the clamping element 11a for the intermediate toothed ring 30 on the core 10 can be worn, resulting in a corresponding clearance between the external toothed ring 20 and the intermediate toothed ring 30.
  • Fig. 6 is finally schematically (in a section corresponding to FIG. 3), the axial displacement of the core 10 and the Aufspannement 11 (section through large ellipse semi-axis) in a harmonic drive gear to compensate for wear and to avoid play between the Gears 21, 31 of the outer ring 20 and the intermediate gear 30 shown.
  • a gearbox is shown in the new state top left.
  • Fig. 6, top right shows a worn gear with a corresponding clearance between the teeth of the outer toothed ring and the intermediate toothed ring.
  • the illustrations in Fig. 6, bottom show the positions of the parts of the transmission after displacement of the core (left) and the Aufspannement (right) to the right in the drawing, whereby the pot of the intermediate gear ring further widened and thereby the existing game itself between the teeth is compensated.

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

Abstract

L'invention porte sur une transmission composée d'un noyau (10) ayant une section en faux rond, d'un anneau denté extérieur (20) fixe, présentant une surface intérieure cylindrique portant une denture intérieure et d'un anneau denté intermédiaire (30), déformable élastiquement, placé entre le noyau (10) et l'anneau denté extérieur (20) et présentant substantiellement la forme d'un cylindre creux, avec une denture extérieure (31) présente au moins dans une zone de sa surface extérieure à l'une de ses extrémités axiales, qui correspond par les dimensions de ses dents à la denture intérieure (21) de l'anneau denté extérieur (20) mais qui possède sur sa périphérie un nombre de dents inférieur à celui de la denture intérieure (21) de l'anneau denté extérieur (20), ces éléments étant coaxiaux l'un à l'autre, dans laquelle, à l'aide d'au moins un élément tendeur (11) qui est monté sur le noyau (10) et engagé vers l'intérieur contre l'anneau denté intermédiaire (30), au niveau de la denture extérieure (31), et dont l'extension radiale maximale est plus grande que le rayon intérieur de l'anneau denté intermédiaire (30), l'anneau denté intermédiaire (30) est déformé de telle manière que la denture extérieure (31) de l'anneau denté intermédiaire (30) ne s'engrène dans la denture intérieure (21) de l'anneau denté extérieur (20) que dans une ou plusieurs zones périphériques, transmission dite harmonique, dans laquelle l'anneau denté intermédiaire (30), afin de compenser le jeu produit par l'usure, est configuré de manière à ce que sa surface extérieure, à son extrémité éloignée de la denture extérieure (31), indépendamment de l'engagement dudit au moins un élément tendeur (11) sur le noyau (10), conserve substantiellement la forme de cylindre creux et dans laquelle le noyau (10) ou ledit au moins un élément tendeur (11) est monté en pouvant coulisser axialement à l'intérieur de l'anneau denté intermédiaire (30).
PCT/EP2009/001725 2008-03-16 2009-03-11 Dispositif de compensation de l'usure sur des transmissions harmoniques, en particulier en matière plastique WO2009115219A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810014222 DE102008014222B3 (de) 2008-03-16 2008-03-16 Anordnung zum Verschleißausgleich bei insbesondere aus Kunststoff bestehenden sog. "Harmonic-Drive"-Getrieben
DE102008014222.0 2008-03-16

Publications (1)

Publication Number Publication Date
WO2009115219A1 true WO2009115219A1 (fr) 2009-09-24

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PCT/EP2009/001725 WO2009115219A1 (fr) 2008-03-16 2009-03-11 Dispositif de compensation de l'usure sur des transmissions harmoniques, en particulier en matière plastique

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DE (1) DE102008014222B3 (fr)
WO (1) WO2009115219A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013214453B9 (de) * 2013-07-24 2019-06-27 Ovalo Gmbh Linearversteller
DE102021210012A1 (de) 2021-09-10 2022-07-28 Zf Friedrichshafen Ag Abrollbuchse für ein Wellgetriebe und Wellgetriebe

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB905015A (en) * 1957-12-16 1962-09-05 United Shoe Machinery Corp Improvements in or relating to devices for adjustably positioning one element of an apparatus relatively to another
DE19520555A1 (de) * 1995-06-06 1996-12-12 Fickelscher Kurt G Dipl Ing Elastische Steckwellenverbindung für Planetengetriebe mit flexiblem Planetenrad
EP0743474B1 (fr) * 1995-05-17 1999-10-13 MAX STEGMANN Gmbh ANTRIEBSTECHNIK - ELEKTRONIK Dispositif de déclenchement d'une action en fonction de la position angulaire d'un arbre
EP1319870A1 (fr) * 2001-12-11 2003-06-18 Teijin Seiki Co., Ltd. Couronne flexible pour une transmission harmonique et une transmission harmonique avec couronne flexible

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB905015A (en) * 1957-12-16 1962-09-05 United Shoe Machinery Corp Improvements in or relating to devices for adjustably positioning one element of an apparatus relatively to another
EP0743474B1 (fr) * 1995-05-17 1999-10-13 MAX STEGMANN Gmbh ANTRIEBSTECHNIK - ELEKTRONIK Dispositif de déclenchement d'une action en fonction de la position angulaire d'un arbre
DE19520555A1 (de) * 1995-06-06 1996-12-12 Fickelscher Kurt G Dipl Ing Elastische Steckwellenverbindung für Planetengetriebe mit flexiblem Planetenrad
EP1319870A1 (fr) * 2001-12-11 2003-06-18 Teijin Seiki Co., Ltd. Couronne flexible pour une transmission harmonique et une transmission harmonique avec couronne flexible

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
MUSSER C W: "THE HARMONIC DRIVE", 14 April 1960, MACHINE DESIGN, PENTON MEDIA, CLEVELAND, OH, US, PAGE(S) 160 - 173, ISSN: 0024-9114, XP002031070 *

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