WO2016194066A1 - フラット型波動歯車装置 - Google Patents
フラット型波動歯車装置 Download PDFInfo
- Publication number
- WO2016194066A1 WO2016194066A1 PCT/JP2015/065630 JP2015065630W WO2016194066A1 WO 2016194066 A1 WO2016194066 A1 WO 2016194066A1 JP 2015065630 W JP2015065630 W JP 2015065630W WO 2016194066 A1 WO2016194066 A1 WO 2016194066A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gear
- rigid
- ring
- groove
- internal
- Prior art date
Links
- 230000002093 peripheral effect Effects 0.000 claims abstract description 66
- 238000004804 winding Methods 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000002411 adverse Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000314 lubricant Substances 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
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
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B21/00—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings
- F16B21/10—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings by separate parts
- F16B21/16—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings by separate parts with grooves or notches in the pin or shaft
- F16B21/18—Means for preventing relative axial movement of a pin, spigot, shaft or the like and a member surrounding it; Stud-and-socket releasable fastenings by separate parts with grooves or notches in the pin or shaft with circlips or like resilient retaining devices, i.e. resilient in the plane of the ring or the like; Details
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/14—Construction providing resilience or vibration-damping
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/14—Construction providing resilience or vibration-damping
- F16H55/16—Construction providing resilience or vibration-damping relating to teeth only
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H55/18—Special devices for taking up backlash
-
- 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 present invention relates to a flat wave gear device including two rigid gears and a cylindrical flexible gear that is bent in a radial direction by a wave generator and partially meshes with each of the rigid gears.
- one internal gear 102 is fixed to the housing 101 so as not to rotate, and the other internal gear 103 is rotatably supported by the housing 101.
- the internal gear 103 rotates integrally with the external gear 104.
- the wave generator 105 is rotationally driven by a motor 106, and the rotation of the internal gear 103 is output from an output shaft 107 that is coaxially fixed to the internal gear 103.
- a thrust force toward the fixed-side internal gear 102 is generated, and during acceleration operation, a thrust force toward the rotation-side internal gear 103 is generated.
- detents 108 and 109 are provided on both sides of the external gear 104 to restrict the movement. ing.
- the thrust force acting on the external gear 104 is maximized when the external gear 104 is moving in the direction of the apparatus center axis 100a, and the thrust force is in a state where the external gear 104 does not move due to abutting against the detent portion 108 or 109. It shows a large value of about 3 to 4 times.
- the restricting members are arranged on both sides of the external gear so that the external gear does not move in the axial direction due to the thrust force.
- a flat type wave gear device in order to restrict the movement of the external gear in the direction of the central axis of the device, if detents or regulating members are arranged on both sides of the flat gear device, the size of the device and the cost increase accordingly.
- a detent portion or a regulating member is disposed on both sides of the external gear in the direction of the central axis of the device, the flow of the lubricant to the meshing portion of both gears via both sides of the external gear may be hindered. .
- problems such as an increased amount of wear at the meshing portion due to insufficient lubrication.
- an object of the present invention is to restrict the movement of the flexible gear without arranging a member such as a detent portion or a regulating member on both sides in the direction of the central axis of the flexible gear.
- An object of the present invention is to provide a flat wave gear device having a possible mechanism.
- the flat wave gear device of the present invention is A first rigid gear; A second rigid gear disposed coaxially next to the first rigid gear; A cylindrical flexible gear coaxially disposed on the outer peripheral side or the inner peripheral side of the first and second rigid gears; A wave generator that flexes the flexible gear into a non-circular shape, partially meshes with the first and second rigid gears, and moves the meshing position in the circumferential direction; A first groove formed over the entire circumference in the tooth portion of the first rigid gear; A second groove formed on the entire circumference of the tooth portion of the flexible gear so as to face the first groove; A first ring radially deformable disposed between the first and second grooves, The first ring can be engaged with the groove inner peripheral surfaces of the first and second grooves from the direction along the central axis of the device at the meshing position of the first rigid gear and the flexible gear. It is characterized by being.
- the mechanism for preventing the flexible gear from moving in the direction of the central axis of the device with respect to the first rigid gear is provided with the first groove formed in the tooth portion of the first rigid gear. It consists of a second groove formed in the tooth portion of the flexible gear and a first ring.
- the second groove on the flexible gear side also moves in the same direction with respect to the first groove on the first rigid gear side.
- the first ring mounted in the first and second grooves engages with the groove inner peripheral surface of the first groove on one side in the direction of the center axis of the device at the meshing position of both gears, and the other side. And engages with the inner circumferential surface of the second groove. Therefore, the first ring functions as a member for restricting the movement of the flexible gear.
- the movement of the flexible gear relative to the first rigid gear is restricted without arranging members for restricting the movement on both sides of the flexible gear.
- the number of teeth of the first rigid gear is the same as the number of teeth of the flexible gear, and the number of teeth of the second rigid gear is less than the number of teeth of the first rigid gear.
- the second rigid gear is fixed to an apparatus housing or the like so as not to rotate.
- the flexible gear rotates relative to the second rigid gear according to the difference in the number of teeth, and the first rigid gear is integrated with the flexible gear. And rotate.
- the first ring mounted between these gears also rotates substantially integrally with these gears. Therefore, it is possible to regulate the movement of the flexible gear while suppressing the occurrence of adverse effects such as the performance degradation of the wave gear device.
- the first groove is located at a distance of 1 ⁇ 2 or more of the tooth width of the first rigid gear from the end of the first rigid gear on the second rigid gear side in the direction of the device center axis. It is desirable that it is formed.
- the first and second grooves are arranged at positions deviating outward from the center in the tooth width direction. Therefore, influences, such as an increase in tooth surface stress caused by meshing of both gears caused by providing the first and second grooves, can be reduced.
- 1 ⁇ 2 of the difference between the outer diameter and the inner diameter of the first ring may be set equal to or less than the tooth height of the flexible gear.
- the flat wave gear device of the present invention includes a third groove formed over the entire circumference in the tooth portion of the second rigid gear, and the flexible gear.
- a fourth groove formed over the entire circumference so as to face the third groove, and a flexible second ring disposed between the third and fourth grooves are provided.
- the second ring is engageable with the inner circumferential surfaces of the third and fourth grooves from the direction along the center axis of the device at the meshing position of the second rigid gear and the flexible gear. Placed in a state.
- the third groove is separated from the end of the second rigid gear on the first rigid gear side in the direction of the device central axis by more than 1 ⁇ 2 of the tooth width of the second rigid gear. It is desirable that it is formed at a position.
- 1/2 of the difference between the outer diameter and the inner diameter of the second ring is equal to or less than the tooth height of the flexible gear.
- the first rigid gear is a first internal gear
- the second rigid gear is a second internal gear
- the flexible gear Is an external gear
- the wave generator bends the external gear into an elliptical shape, and meshes the external gear with the first and second internal gears at both ends of the major axis of the elliptical shape
- the number of teeth of the first internal gear is the same as the number of teeth of the external gear
- the number of teeth of the second internal gear is 2n more than the number of teeth of the first internal gear, where n is a positive integer.
- the second internal gear is fixed so as not to rotate, and for each rotation of the wave generator, the external gear rotates relative to the second internal gear by a difference in the number of teeth.
- the internal gear rotates integrally with the external gear.
- the first groove is separated from the end of the first internal gear on the second internal gear side in the direction of the center axis of the device by more than 1 ⁇ 2 of the tooth width of the first internal gear. It is desirable that it is formed at a position.
- the inner diameter of the first ring is the same as the diameter of the groove bottom in the second groove formed in the external gear so that the first ring is integrated with the external gear and bent into an elliptical shape. It is desirable.
- the thickness of the bottom rim of the flexible gear is reduced, and the bottom diameter of the second groove is set so that the bottom fatigue strength is not reduced. It is desirable that it is larger than the root diameter of the external gear.
- the first internal gear is arranged so that the outer peripheral surface portion of the first ring bent into an elliptical shape does not interfere with the first internal gear at both ends of the long axis of the elliptical shape, which is the meshing position of both gears. It is desirable that the diameter of the groove bottom of the first groove formed in the above is larger than the outer diameter at the major axis position of the first ring bent into an elliptical shape.
- 1/2 of the difference between the outer diameter and the inner diameter of the first ring may be set to a value equal to or less than the tooth height of the first internal gear or the external gear.
- the first ring has high rigidity in the direction of its central axis, is easily bent in the radial direction, and can be easily squeezed and expanded in the radial direction as a whole.
- a ring made of a diagonally wound coil spring can be used as the first ring having such characteristics.
- a ring configured by winding a leaf spring in a spiral shape, a ring made of a garter spring, a bellows-shaped ring configured by bending the leaf spring into a bellows shape, or the like can be used.
- (A) is a longitudinal cross-sectional view which shows the flat type wave gear apparatus to which this invention is applied
- (b) is the front view.
- (A) is the elements on larger scale which expand and show a part of flat type wave gear device of Drawing 1
- (b) is an explanatory view showing the wearing part of a ring.
- (A) is explanatory drawing which shows the mounting part of a ring
- (b) is explanatory drawing which shows the cross-sectional shape of a 1st, 2nd groove
- (A), (b) is explanatory drawing which shows the characteristic required for a ring, (c), (d) is explanatory drawing which shows a ring.
- (A) is a half longitudinal cross-sectional view which shows another example of the flat type wave gear apparatus which can apply this invention
- (b) is the semi-front view. It is a schematic longitudinal cross-sectional view which shows the conventional flat type wave gear apparatus.
- FIG. 1 (a) is a longitudinal sectional view showing a flat wave gear device according to the present embodiment
- FIG. 1 (b) is a front view thereof.
- the flat wave gear device 1 includes a fixed-side internal gear 2 and an output-side (rotation-side) internal gear 3 that are rigid gears, a cylindrical external gear 4 that is a flexible gear, a wave generator 5, and the like. It has.
- the internal gears 2 and 3 are coaxially arranged with a slight gap in the direction of the device center axis 1a.
- the external gear 4 is coaxially arranged inside the internal gears 2 and 3.
- the external gear 4 has a tooth width including the internal gears 2 and 3.
- the external tooth 4 a of the external gear 4 has a portion on one side in the tooth width direction facing the internal tooth 2 a of the internal gear 2 and a portion on the other side facing the internal tooth 3 a of the internal gear 3.
- the wave generator 5 bends the external gear 4 into a non-circular shape, in this example an elliptical shape, and meshes with the internal gears 2 and 3 at the position of the major axis L of the elliptical shape.
- the wave generator 5 rotates, the meshing position between the external gear 4 and the internal gears 2 and 3 moves in the circumferential direction.
- the number of teeth of the output-side internal gear 3 is 2n fewer than the number of teeth of the fixed-side internal gear 2 (n is a positive integer).
- the number of teeth of the internal gear 3 and the external gear 4 is the same. While the wave generator 5 rotates once, the external gear 4 rotates relative to the fixed-side internal gear 2 by an angle corresponding to the difference in the number of teeth.
- the output-side internal gear 3 rotates together with the external gear 4. The rotation of the internal gear 3 is output to a load member (not shown).
- FIG. 2A is a partially enlarged longitudinal sectional view showing a part of the flat wave gear device 1 in an enlarged manner
- FIG. 2B is an explanatory view showing a part of FIG. 2A further enlarged. is there.
- an inner peripheral groove 11 (first groove) that opens to the inside is formed in the portion of the internal tooth 3a of the output-side internal gear 3.
- the inner circumferential groove 11 is formed over the entire circumference in a direction perpendicular to the tooth width direction with respect to the inner teeth 3a.
- the outer teeth 4a of the external gear 4 are also formed with outer peripheral grooves 12 (second grooves) that are open to the outside over the entire circumference at portions facing the inner peripheral grooves 11.
- a flexible ring 13 that can be bent in the radial direction is mounted between the inner peripheral groove 11 and the outer peripheral groove 12.
- the ring 13 has a circular cross section.
- FIG. 3A is an explanatory view showing the inner peripheral groove 11, the outer peripheral groove 12 and the ring 13
- FIG. 3B is an explanatory view showing the cross-sectional shapes of the inner peripheral groove 11 and the outer peripheral groove 12.
- the inner peripheral groove 11, the outer peripheral groove 12, and the ring 13 will be described in more detail with reference to FIGS.
- the cross-sectional shape and groove bottom diameter of the inner peripheral groove 11 and the outer peripheral groove 12, and the cross-sectional shape and size of the ring 13 are appropriately set as described below. Further, in the meshing position of the internal gear 3 and the external gear 4, that is, the long axis position, the ring 13 is arranged in the left and right grooves of the inner circumferential groove 11 and the outer circumferential groove 12 from the direction along the apparatus central axis 1a. The peripheral side surfaces 11a, 11b, 12a and 12b can be engaged.
- the inner circumferential groove 11 is a groove having a rectangular cross section, and the groove width is the same as or slightly wider than the diameter d of the ring 13. Further, the inner circumferential groove 11 is separated from the end of the internal gear 3 on the other internal gear 2 side in the direction of the apparatus central axis 1a (see FIG. 1) by more than 1/2 of the tooth width W of the internal gear 3. It is formed at a position of distance L1. For example, it is formed at a position approximately 2/3 apart. At the position outside the center in the tooth width direction, the influence of tooth surface stress due to the meshing of both gears 3 and 4 is small. Accordingly, it is possible to minimize adverse effects such as a significant increase in the tooth surface stress of the gears 3 and 4 due to the formation of the inner circumferential groove 11 and the outer circumferential groove 12.
- the inner diameter Di (13) of the ring 13 is bent into an elliptical shape integrally with the external gear 4, and the groove bottom diameter D (12) of the outer peripheral groove 12 formed in the external gear 4 is set. Is almost the same. Further, the diameter d of the circular contour of the ring 13, that is, 1/2 of the difference between the outer diameter Do (13) and the inner diameter Di (13) is the same as the tooth height L (4a) of the external gear 4, or Is set to a slightly smaller dimension.
- the outer peripheral groove 12 on the side of the external gear 4 is a groove having a substantially semicircular cross section, and the groove width at the opening end thereof is the same as or slightly wider than the diameter d of the ring 13.
- the diameter D (12) of the groove bottom of the outer peripheral groove 12 is set to be slightly larger than the tooth bottom circle diameter D (4a) of the external gear 4.
- the outer peripheral groove 12 having an arc-shaped cross section can relieve stress concentration caused by a cross-sectional defect and can suppress a decrease in root fatigue strength.
- the groove bottom diameter D (11) of the inner circumferential groove 11 on the side of the internal gear 3 is set to be larger than the outer diameter at the long axis position of the flexible ring 13 bent into an elliptical shape. ing. As a result, the outer peripheral surface portion of the flexible ring 13 bent into an elliptical shape does not interfere with the internal gear 3 side at the meshing positions (both ends of the long axis) of the two gears 3 and 4.
- FIGS. 4A and 4B are explanatory views showing characteristics required for the ring 13.
- the ring 13 is required to have high axial rigidity as shown in FIG. Thereby, the movement of the external gear 4 can be reliably regulated.
- the ring 13 is easily bent in the radial direction and needs to have an elliptical shape along the bottom of the groove when the ring 13 is attached to the outer peripheral groove 12. Furthermore, the ring 13 as a whole can be easily squeezed to have a small diameter by a force acting radially inward from the outer peripheral side, and radially outward from the inner peripheral side. It is necessary to be able to be easily expanded so as to have a large diameter easily by the acting force. Thereby, the assembly
- a ring formed by spirally winding a leaf spring can be used.
- a garter spring in which both ends of a closely wound coil spring are connected to form a ring can be used.
- variety in bellows shape can be used.
- the ring 13 can be assembled between the inner peripheral groove 11 of the internal gear 3 and the outer peripheral groove 12 of the external gear 4 by the following procedure. First, the ring 13 is expanded and attached to the outer peripheral groove 12 of the external gear 4 in a perfect circle state. The external gear 4 to which the ring 13 is mounted is mounted inside the internal gears 2 and 3.
- the outer diameter of the ring 13 attached to the external gear 4 and the tooth tip circles of the internal gears 2 and 3 may slightly overlap. Since the ring 13 has elasticity that can be squeezed inward in the radial direction, the ring 13 can be elastically deformed so that the external gear 4 can be mounted inside the internal gears 2 and 3. When the external gear 4 is mounted on the internal gears 2 and 3, the ring 13 is mounted between the outer peripheral groove 12 of the external gear 4 and the inner peripheral groove 11 of the internal gear 3.
- the wave generator 5 is mounted on the inner peripheral surface of the external gear 4.
- the external gear 4 is bent into an elliptical shape and is engaged with the internal gears 2 and 3 at both ends of the long axis.
- the ring 13 has an inner circumferential groove 11 and an inner circumferential side surface 11a of the outer circumferential groove 12 from the direction of the apparatus central axis 1a. 11b, 12a, and 12b can be engaged.
- the external gear 4 is engaged with the side of the internal gear 3 via the groove inner peripheral side surface 12a of the outer peripheral groove 12, the ring 13 and the groove inner peripheral side surface 11b of the inner peripheral groove 11, and moves in the direction of the arrow A1. Is regulated. The movement of the external gear 4 in the reverse direction (the direction of the arrow A2) is similarly restricted.
- a mechanism for restricting movement of the external gear 4 is provided between the output-side internal gear 3 and the external gear 4.
- a similar mechanism may be provided between the internal gear 2 and the external gear 4 on the other fixed side.
- the inner peripheral groove 21 is formed over the entire circumference of the inner tooth 2a of the internal gear 2.
- an outer peripheral groove 22 is formed over the entire circumference at a position facing the inner peripheral groove 21.
- a flexible ring 23 is mounted between the inner peripheral groove 21 and the outer peripheral groove 22.
- the formation position of the inner circumferential groove 21 is a position away from the end on the side of the internal gear 3 by 1/2 or more of the tooth width.
- the dimensions of the inner circumferential groove 21, outer circumferential groove 22, and ring 23 are desirably set in the same relationship as in the case of the inner circumferential groove 11, outer circumferential groove 12, and ring 13.
- FIG. 5A is a half cross-sectional view showing an example of another type of flat wave gear device to which the present invention is applicable
- FIG. 5B is a half front view thereof.
- the flat wave gear device 30 shown in these drawings includes a first external gear 32 and a second external gear 33 that are rigid gears, and an internal gear that is a cylindrical flexible gear that is coaxially disposed on the outer sides thereof. 34 and a wave generator 35 fitted to the outside of the internal gear 34.
- the internal gear 34 includes a cylindrical barrel portion 34c that can be bent in the radial direction, and internal teeth 34a and 34b formed on the circular inner peripheral surface of the cylindrical barrel portion 34c.
- the internal teeth 34 a and 34 b can mesh with the external teeth 32 a and 33 a of the first and second external gears 32 and 33.
- the wave generator 35 includes a rigid plug 35a having an elliptical inner peripheral surface and a pair of wave generator bearings 35b attached to the elliptical inner peripheral surface of the plug 35a.
- the wave generator bearing 35b as a whole is bent into an elliptical shape along the elliptical inner peripheral surface of the plug 35a. Therefore, the internal gear 34 is also bent into an elliptical shape along the elliptical inner peripheral surface of the plug 35a, and the internal teeth 34a and 34b at the short diameter position thereof are the first and second external gears 32 and 33.
- the second external teeth 32a and 33a are engaged with each other.
- an outer peripheral groove 41, an inner peripheral groove 42, and a ring 43 for restricting the movement of the internal gear 34 are disposed between the first external gear 32 and the internal gear 34.
- an outer peripheral groove, an inner peripheral groove and a ring for restricting the movement of the internal gear 34 can be disposed between the second external gear 33 and the internal gear 34.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
第1剛性歯車と、
前記第1剛性歯車の隣に同軸に配置された第2剛性歯車と、
前記第1、第2剛性歯車の外周側あるいは内周側に同軸に配置した円筒状の可撓性歯車と、
前記可撓性歯車を非円形に撓めて、前記第1、第2剛性歯車に対して、それぞれ部分的にかみ合わせ、かみ合わせ位置を円周方向に移動させる波動発生器と、
前記第1剛性歯車の歯部において全周に亘って形成された第1溝と、
前記可撓性歯車の歯部において、前記第1溝に対峙するように全周に亘って形成された第2溝と、
第1、第2溝の間に配置された半径方向に撓み可能な第1リングと
を有しており、
前記第1リングは、前記第1剛性歯車と前記可撓性歯車とのかみ合い位置において、装置中心軸線に沿った方向から前記第1、第2溝のそれぞれの溝内周面に係合可能であることを特徴としている。
上記のフラット型波動歯車装置1では、出力側の内歯車3と外歯車4との間に、外歯車4の移動を規制するための機構(内周溝11、外周溝12、リング13)を設けている。これに加えて、他方の固定側の内歯車2と外歯車4との間に、同様な機構を設けてもよい。
図5(a)は、本発明を適用可能な別の構成のフラット型波動歯車装置の例を示す半断面図であり、図5(b)はその半正面図である。これらの図に示すフラット型波動歯車装置30は、剛性歯車である第1外歯車32および第2外歯車33と、これらの外側に同軸に配置した円筒形状をした可撓性歯車である内歯車34と、内歯車34の外側に嵌めた波動発生器35とを備えている。
Claims (12)
- 第1剛性歯車と、
前記第1剛性歯車の隣に同軸に配置された第2剛性歯車と、
前記第1、第2剛性歯車の外周側あるいは内周側に同軸に配置した円筒状の可撓性歯車と、
前記可撓性歯車を非円形に撓めて、前記第1、第2剛性歯車に対して、それぞれ部分的にかみ合わせ、かみ合わせ位置を円周方向に移動させる波動発生器と、
前記第1剛性歯車の歯部において全周に亘って形成された第1溝と、
前記可撓性歯車の歯部において、前記第1溝に対峙するように全周に亘って形成された第2溝と、
第1、第2溝の間に配置された半径方向に撓み可能な第1リングと
を有しており、
前記第1リングは、前記第1剛性歯車と前記可撓性歯車とのかみ合い位置において、装置中心軸線に沿った方向から前記第1、第2溝のそれぞれの溝内周面に係合可能であるフラット型波動歯車装置。 - 前記第1剛性歯車の歯数は前記可撓性歯車の歯数と同一であり、
前記第2剛性歯車の歯数は前記第1剛性歯車の歯数よりも多く、
前記第2剛性歯車は回転しないように固定されており、
前記波動発生器が回転すると、前記可撓性歯車は前記第2剛性歯車に対して歯数差に応じて相対回転し、前記第1剛性歯車は前記可撓性歯車と一体となって回転する請求項1に記載のフラット型波動歯車装置。 - 前記第1溝は、前記第1剛性歯車における前記第2剛性歯車の側の端から前記装置中心軸線の方向に、前記第1剛性歯車の歯幅の1/2以上離れた位置に形成されている請求項1に記載のフラット型波動歯車装置。
- 前記第1リングの外径と内径の差の1/2は、前記可撓性歯車の歯丈と同一あるいはそれ以下の値である請求項1に記載のフラット型波動歯車装置。
- 前記第2剛性歯車の歯部において全周に亘って形成された第3溝と、
前記可撓性歯車の歯部において、前記第3溝に対峙するように全周に亘って形成された第4溝と、
前記第3、第4溝の間に配置された半径方向に撓み可能な第2リングと
を有しており、
前記第2リングは、前記第2剛性歯車と前記可撓性歯車とのかみ合い位置において、装置中心軸線に沿った方向から前記第3、第4溝のそれぞれの溝内周面に係合可能である請求項1に記載のフラット型波動歯車装置。 - 前記第3溝は、前記第2剛性歯車における前記第1剛性歯車の側の端から前記装置中心軸線の方向に、前記第2剛性歯車の歯幅の1/2以上離れた位置に形成されている請求項5に記載のフラット型波動歯車装置。
- 前記第2リングの外径と内径の差の1/2は、前記第2剛性歯車あるいは前記可撓性歯車の歯丈と同一あるいはそれ以下の値である請求項5に記載のフラット型波動歯車装置。
- 前記第1剛性歯車は第1内歯車であり、
前記第2剛性歯車は第2内歯車であり、
前記可撓性歯車は外歯車であり、
前記波動発生器は、前記外歯車を楕円状形状に撓めて、当該楕円状形状の長軸両端において前記外歯車を前記第1、第2内歯車にかみ合わせており、
前記第1内歯車の歯数は前記外歯車の歯数と同一であり、
前記第2内歯車の歯数は、nを正の整数とすると、前記第1内歯車の歯数よりも2n枚多く、
前記第2内歯車は回転しないように固定されており、
前記波動発生器の1回転毎に、前記外歯車は前記第2内歯車に対して歯数差分だけ相対回転し、前記第1内歯車は前記外歯車と一体となって回転する請求項1に記載のフラット型波動歯車装置。 - 前記第1溝は、前記第1内歯車における前記第2内歯車の側の端から前記装置中心軸線の方向に、前記第1内歯車の歯幅の1/2以上離れた位置に形成されている請求項8に記載のフラット型波動歯車装置。
- 前記第1リングの内径は、前記外歯車に形成した前記第2溝における溝底の径と同一であり、
前記第2溝の溝底の径は、楕円状形状に撓められる前の前記外歯車の歯底円径よりも大きく、
前記第1内歯車に形成した前記第1溝の溝底の径は、楕円状形状に撓められた前記第1リングの長径よりも大きい請求項8に記載のフラット型波動歯車装置。 - 前記第1リングの外径と内径の差の1/2は、前記外歯車の歯丈と同一あるいはそれ以下の値である請求項10に記載のフラット型波動歯車装置。
- 前記第1リングは、
板ばねを渦巻き状に巻いて構成したリング、
ガーターばねからなるリング、
板ばねをベローズ状に湾曲させながら構成したベローズ形状リング、または、
斜め巻コイルスプリングからなるリング
である請求項11に記載のフラット型波動歯車装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016524604A JP6091710B1 (ja) | 2015-05-29 | 2015-05-29 | フラット型波動歯車装置 |
CN201580002537.4A CN107614929B (zh) | 2015-05-29 | 2015-05-29 | 扁平式波动齿轮装置 |
DE112015000197.2T DE112015000197T5 (de) | 2015-05-29 | 2015-05-29 | Flaches Verformungswellgetriebe |
KR1020167014510A KR101743461B1 (ko) | 2015-05-29 | 2015-05-29 | 플랫형 파동기어장치 |
US15/033,815 US10352426B2 (en) | 2015-05-29 | 2015-05-29 | Flat strain wave gearing |
PCT/JP2015/065630 WO2016194066A1 (ja) | 2015-05-29 | 2015-05-29 | フラット型波動歯車装置 |
TW105113112A TWI619895B (zh) | 2015-05-29 | 2016-04-27 | 扁平型諧波齒輪裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/065630 WO2016194066A1 (ja) | 2015-05-29 | 2015-05-29 | フラット型波動歯車装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016194066A1 true WO2016194066A1 (ja) | 2016-12-08 |
Family
ID=57440257
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2015/065630 WO2016194066A1 (ja) | 2015-05-29 | 2015-05-29 | フラット型波動歯車装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10352426B2 (ja) |
JP (1) | JP6091710B1 (ja) |
KR (1) | KR101743461B1 (ja) |
CN (1) | CN107614929B (ja) |
DE (1) | DE112015000197T5 (ja) |
TW (1) | TWI619895B (ja) |
WO (1) | WO2016194066A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108286588A (zh) * | 2017-01-05 | 2018-07-17 | 通用电气公司 | 用于管理齿轮上的夹紧负载的设备和方法 |
WO2023079641A1 (ja) | 2021-11-04 | 2023-05-11 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置 |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11226027B2 (en) * | 2015-09-10 | 2022-01-18 | Schaeffler Technologies AG & Co. KG | Gearing having an elastic gear |
RU2728990C1 (ru) * | 2017-01-21 | 2020-08-03 | Хармоник Драйв Системс Инк. | Волновая передача |
JP7175084B2 (ja) * | 2018-01-30 | 2022-11-18 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
CN108730478B (zh) * | 2018-08-14 | 2021-06-15 | 台邦电机工业集团有限公司 | 谐波齿轮 |
JP7386608B2 (ja) * | 2018-12-18 | 2023-11-27 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
JP7414375B2 (ja) * | 2019-10-28 | 2024-01-16 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
EP4352383A1 (en) * | 2021-06-01 | 2024-04-17 | Locudrive Ltd. | Low profile wave strain gearbox |
CN117836539A (zh) | 2021-08-24 | 2024-04-05 | 谐波传动***有限公司 | 波动齿轮装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS611757U (ja) * | 1984-06-12 | 1986-01-08 | 株式会社 ハ−モニツク・ドライブ・システムズ | 調和歯車装置のシ−ル機構 |
JPH05106623A (ja) * | 1991-03-22 | 1993-04-27 | Loehr & Bromkamp Gmbh | 止め輪 |
JPH0579089U (ja) * | 1992-03-31 | 1993-10-26 | 北海道水道機材株式会社 | ハーモニックドライブ減速機 |
JP2007177961A (ja) * | 2005-12-28 | 2007-07-12 | Toyota Motor Corp | 車両用自動変速機 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US834799A (en) * | 1906-01-26 | 1906-10-30 | J P Keller | Wrench. |
DE834799C (de) * | 1950-05-13 | 1952-03-24 | Daimler Benz Ag | Geraeuschlos laufende Zahnraeder, insbesondere zum UEbertragen ungleichfoermiger Drehmomente |
JPS60232392A (ja) | 1984-04-27 | 1985-11-19 | 白井実業株式会社 | 繊維スリング |
JPH0791181B2 (ja) * | 1989-12-26 | 1995-10-04 | 花王株式会社 | 浴用剤組成物 |
JPH09280325A (ja) * | 1996-04-19 | 1997-10-28 | Harmonic Drive Syst Ind Co Ltd | シルクハット型撓み噛み合い式歯車装置 |
JP2008089038A (ja) * | 2006-09-29 | 2008-04-17 | Jtekt Corp | 波動歯車装置およびそれを用いた伝達比可変装置 |
US8028603B2 (en) * | 2007-12-04 | 2011-10-04 | Harmonic Drive Systems Inc. | Method for setting gear tooth profile in flat wave gear device on side where gears have same number of teeth |
US20090139357A1 (en) * | 2007-12-04 | 2009-06-04 | Harmonic Drive Systems Inc. | Method For Setting Nonpositive Deflection, Maximum Meshable Tooth Profile In Flat Wave Gear Device |
JP4948479B2 (ja) * | 2008-06-26 | 2012-06-06 | 株式会社ハーモニック・ドライブ・システムズ | 複合型波動歯車減速機 |
JP2011110976A (ja) | 2009-11-24 | 2011-06-09 | Jtekt Corp | 伝達比可変装置 |
KR20130030041A (ko) * | 2011-09-16 | 2013-03-26 | 주식회사 에스비비테크 | 조화감속기 |
JP5812897B2 (ja) | 2012-02-28 | 2015-11-17 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
WO2013175533A1 (ja) * | 2012-05-23 | 2013-11-28 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置の波動発生器 |
DE202013101970U1 (de) * | 2013-05-06 | 2013-05-29 | Hiwin Technologies Corp. | Lager mit einem Antirutschmechanismus |
US9500234B2 (en) * | 2013-05-08 | 2016-11-22 | Harmonic Drive Systems Inc. | Fastening friction plate, and fastening and fixing structure for strain wave gearing and output member |
US9377096B2 (en) * | 2013-05-08 | 2016-06-28 | Harmonic Drive Systems Inc. | Wave generator of strain wave gearing |
JP6177327B2 (ja) * | 2013-07-25 | 2017-08-09 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置 |
US9360098B2 (en) * | 2013-10-29 | 2016-06-07 | Roopnarine | Strain wave drive with improved performance |
WO2015075781A1 (ja) * | 2013-11-19 | 2015-05-28 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置、摩擦係合式の波動装置、および波動発生器 |
-
2015
- 2015-05-29 WO PCT/JP2015/065630 patent/WO2016194066A1/ja active Application Filing
- 2015-05-29 CN CN201580002537.4A patent/CN107614929B/zh active Active
- 2015-05-29 JP JP2016524604A patent/JP6091710B1/ja active Active
- 2015-05-29 KR KR1020167014510A patent/KR101743461B1/ko active IP Right Grant
- 2015-05-29 US US15/033,815 patent/US10352426B2/en active Active
- 2015-05-29 DE DE112015000197.2T patent/DE112015000197T5/de active Pending
-
2016
- 2016-04-27 TW TW105113112A patent/TWI619895B/zh active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS611757U (ja) * | 1984-06-12 | 1986-01-08 | 株式会社 ハ−モニツク・ドライブ・システムズ | 調和歯車装置のシ−ル機構 |
JPH05106623A (ja) * | 1991-03-22 | 1993-04-27 | Loehr & Bromkamp Gmbh | 止め輪 |
JPH0579089U (ja) * | 1992-03-31 | 1993-10-26 | 北海道水道機材株式会社 | ハーモニックドライブ減速機 |
JP2007177961A (ja) * | 2005-12-28 | 2007-07-12 | Toyota Motor Corp | 車両用自動変速機 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108286588A (zh) * | 2017-01-05 | 2018-07-17 | 通用电气公司 | 用于管理齿轮上的夹紧负载的设备和方法 |
CN108286588B (zh) * | 2017-01-05 | 2021-06-15 | 通用电气公司 | 用于管理齿轮上的夹紧负载的设备和方法 |
WO2023079641A1 (ja) | 2021-11-04 | 2023-05-11 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置 |
KR20230066329A (ko) | 2021-11-04 | 2023-05-15 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 파동기어장치 |
US12038077B1 (en) | 2021-11-04 | 2024-07-16 | Harmonic Drive Systems Inc. | Strain wave gearing |
Also Published As
Publication number | Publication date |
---|---|
JPWO2016194066A1 (ja) | 2017-06-15 |
TWI619895B (zh) | 2018-04-01 |
US20170009868A1 (en) | 2017-01-12 |
CN107614929A (zh) | 2018-01-19 |
CN107614929B (zh) | 2019-12-03 |
TW201700880A (zh) | 2017-01-01 |
KR101743461B1 (ko) | 2017-06-05 |
JP6091710B1 (ja) | 2017-03-08 |
DE112015000197T5 (de) | 2017-02-16 |
US10352426B2 (en) | 2019-07-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6091710B1 (ja) | フラット型波動歯車装置 | |
KR102148521B1 (ko) | 파동 기어 장치 | |
US10060517B2 (en) | Strain wave gearing, frictional engagement wave device, and wave generator | |
JP5925387B2 (ja) | 波動発生器および波動歯車装置 | |
JP6644447B2 (ja) | フラット型波動歯車装置 | |
EP3372867B1 (en) | Flexible external gear and strain wave gearing device | |
TWI695942B (zh) | 諧波產生器及諧波齒輪裝置 | |
TW201804098A (zh) | 諧波產生器及諧波齒輪裝置 | |
EP3358219B1 (en) | Sliding contact-type wave generator, strain wave gearing device, and wave-generating method | |
US11585422B2 (en) | Bending meshing type gear device | |
WO2017006443A1 (ja) | 波動歯車装置および波動発生器 | |
JP6816304B2 (ja) | ユニット構造の波動歯車装置 | |
TW202342902A (zh) | 波動齒輪裝置的波動產生器及波動齒輪裝置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2016524604 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15033815 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120150001972 Country of ref document: DE Ref document number: 112015000197 Country of ref document: DE |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15894101 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 15894101 Country of ref document: EP Kind code of ref document: A1 |