WO2022225131A1 - Harmonic drive - Google Patents

Harmonic drive Download PDF

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Publication number
WO2022225131A1
WO2022225131A1 PCT/KR2021/019371 KR2021019371W WO2022225131A1 WO 2022225131 A1 WO2022225131 A1 WO 2022225131A1 KR 2021019371 W KR2021019371 W KR 2021019371W WO 2022225131 A1 WO2022225131 A1 WO 2022225131A1
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Prior art keywords
harmonic drive
flex spline
spline
gear
teeth
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PCT/KR2021/019371
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French (fr)
Korean (ko)
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윤호병
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윤호병
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Publication of WO2022225131A1 publication Critical patent/WO2022225131A1/en

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    • 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
    • F16H49/00—Other gearings

Definitions

  • the present invention relates to a harmonic drive.
  • the harmonic drive is a reducer with a small size, light weight, and high reduction ratio compared to the existing gear. It can realize high precision and high reduction ratio, so its application is gradually expanding in the fields of robots, precision equipment, and machine tools. It is becoming.
  • the conventional harmonic drive consists of three core elements: a wave generator 110 , a flex spline 120 , and a circular spline 130 . and, unlike the existing speed reducer, they are assembled on the same shaft.
  • the wave generator 110 is a component having an elliptical shape, and a ball bearing is assembled on the outer periphery of the elliptical cam 11d, the inner ring 11a of the bearing is fixed to the cam, and the outer ring 11b is the ball 11c. It converts the input circular power into elliptical wave-type power while performing elastic deformation motion through the
  • the flex spline 120 is a part that determines the reduction ratio of the gear and transmits power to the output side, and is a part made of a cup-shaped metal elastic body.
  • the flex spline 120 is composed of a flex spline body 12a and a diaphragm 12b.
  • the flex spline body 12a surrounds the outer ring 11b of the wave generator 110, and is made of a thin material that can be elastically deformed together with the outer ring 11b according to the rotation of the cam 11d.
  • a gear tooth T1 is formed.
  • the diaphragm (12b) forms an end of the flex spline body (12a) is connected to the output shaft (output shaft) (not shown).
  • the flex spline 120 is in contact with the elliptical wave generator 110 to transmit the decelerated power while elastically deforming it into an elliptical shape.
  • the circular spline 130 is a rigid ring-shaped part, and a plurality of gear teeth T2 are provided on the inner peripheral surface to engage the gear teeth T1 of the flex spline 120 .
  • the gear (T2) dimension of the circular spline 130 is manufactured to be larger than the gear (T1) dimension of the flex spline 120 in order to obtain a reduction ratio.
  • the flex spline 120 moves counterclockwise by the difference between the dimension of the flex spline 120 and the dimension of the circular spline 130 during one rotation of the wave generator 110 .
  • the flex spline 120 during one rotation of the wave generator 110 is relative to the circular spline 130 by two minutes. move in a counterclockwise direction. Therefore, since the reduction ratio can be given as much as the difference in the gear dimensions, a high reduction ratio can be obtained.
  • the conventional harmonic drive 600 has a limit in reducing the overall size of the harmonic drive due to the presence of the ball bearing structure of the wave generator located inside the flex spline. As an example, it is difficult to find a product with an outer diameter of less than ⁇ 20 mm of the wave generator.
  • the conventional harmonic drive is decelerated by the gear teeth of the flex spline and the gear teeth of the circular spline, but this configuration generally has a problem in that it is difficult to obtain a reduction ratio of 300:1 or more.
  • the present invention is to solve the problems of the prior art as described above, and an object of the present invention is to provide a harmonic drive capable of realizing the overall size of a harmonic drive more compactly and compactly and realizing a higher reduction ratio than the prior art. will be.
  • a harmonic drive is made of a sun gear connected to an input shaft, two or more planetary gears coupled to the sun gear and gear, and an elastic material. , having a plurality of first internal teeth and a plurality of external teeth, a flex spline in which the gear teeth of the planetary gear mesh with the first internal teeth, and a circular hollow portion in which the flex spline is located, the hollow A plurality of second internal teeth are formed around the inner wall of the part, and the external teeth of the flex spline include a circular spline that engages the second internal teeth.
  • the dimension of the second internal tooth of the circular spline is characterized in that it is larger than the dimension of the external tooth of the flex spline.
  • the input shaft corresponds to the shaft of the driving motor
  • the sun gear is formed at a distal end of the shaft of the driving motor.
  • the two or more planetary gears are characterized in that they are arranged to be spaced apart at the same angle with respect to the sun gear.
  • the plurality of first internal teeth and the plurality of external teeth of the flex spline is characterized in that it has the same dimensions ( ⁇ ).
  • the planetary gear has a through hole in its center
  • the harmonic drive further includes a carrier, and the carrier is fixed to a support bar passing through the through hole of the planetary gear, and to both ends of the support bar, respectively. and an upper plate and a lower plate, wherein the planetary gear is positioned between the upper plate and the lower plate.
  • a sleeve or bearing is provided between the support bar and the through hole of the planetary gear.
  • the flex spline has a thin cup shape with an open end, and a groove is formed on the inner wall so that a curved portion is formed toward the outer wall at the end of the first inner tooth and the outer tooth.
  • the harmonic drive according to the embodiment of the present invention having the above-described configuration has the following effects.
  • the harmonic drive of the present invention does not require the bearing configuration of the wave generator of the conventional harmonic drive, so it is possible to minimize the space for mounting the components, so that the harmonic drive can be implemented more compactly. It can be applied to various fields requiring a drive. In addition, an increased deceleration effect can be easily achieved by the combination of the sun gear and the planetary gear.
  • the harmonic drive of the present invention is configured to move the flex spline through a combination of a sun gear and a planetary gear, so that accurate deceleration driving can be achieved without a slip phenomenon.
  • the present invention also includes other effects expected from the above-described configuration.
  • FIG. 1 is a schematic diagram of a main configuration of a harmonic drive according to an embodiment of the present invention.
  • FIG. 2 shows that the sun gear of the harmonic drive of FIG. 1 is provided on the shaft of the motor drive.
  • FIG. 3 is a front view of the harmonic drive of FIG. 1 (carrier omitted);
  • FIG. 4 and 5 show a state in which a carrier is mounted in the harmonic drive of FIG. 1 .
  • Fig. 6 shows the annular flex splines of the harmonic drive of Fig. 1;
  • FIG. 7 shows a coupling relationship between a flex spline and a circular spline in the harmonic drive of FIG. 1 .
  • FIG. 8 shows a circular spline of the harmonic drive of FIG. 1 .
  • FIG. 9 is a schematic diagram illustrating the operation of the harmonic drive of FIG. 1 .
  • FIG. 10 is another embodiment of the harmonic drive of FIG. 1 .
  • FIG. 11 is another embodiment of the harmonic drive of FIG. 1 .
  • FIG. 12 shows a cup-shaped flex spline of the harmonic drive of FIG. 1 .
  • FIG. 1 is a schematic diagram of a harmonic drive 100 according to an embodiment of the present invention.
  • This harmonic drive includes sun gear (1), planetary gear (2), flex spline (3), and circular spline (4) as main components. do.
  • the sun gear 1 may be connected to the input shaft.
  • the input shaft 400 may correspond to the shaft of the driving motor 500
  • the sun gear 1 may be formed at the distal end of the shaft of the driving motor 500 .
  • the planetary gear (2) is gear-coupled with the sun gear (1).
  • two planetary gears 2 are arranged, but the number of planetary gears 2 may be two or more.
  • these planet gears 2 are arranged to be spaced apart from each other at the same angle with respect to the sun gear 1 . Accordingly, when the two planetary gears 2 are disposed, these planetary gears 2 are positioned opposite to each other with the sun gear 1 as the center. And the planetary gear 2 may have a through hole 21 in its center.
  • the present harmonic drive does not require a bearing configuration of the wave generator 11 of the conventional harmonic drive, so it is possible to minimize the space for mounting components, and thus a more compact harmonic drive can be implemented.
  • an increased deceleration effect can be easily achieved by the combination of the sun gear and the planetary gear.
  • the present harmonic drive is configured to move the flex spline as described later through the combination of the sun gear and the planetary gear, so that accurate deceleration driving can be achieved without slip phenomenon.
  • the harmonic drive may further include a carrier 5 .
  • the carrier 5 includes a support bar 51 passing through the through hole 21 of the planetary gear 2 , and an upper plate 52 and a lower plate 53 fixed to both ends of the support bar 51 , respectively. . And the planetary gear 2 is positioned between the upper plate 52 and the lower plate 53 . A sleeve or bearing (not shown) may be provided between the support bar 51 and the through hole 21 of the planetary gear 2 (FIG. 5A).
  • the carrier 5 is for increasing durability of the harmonic drive, and may be omitted in the case of a small harmonic drive.
  • the flex spline 3 is made of an elastic material, for example, a metal elastic material. As shown in FIG. 6 , the flex spline 3 is a thin annular metal elastic body part, and a plurality of first internal gears 31 are formed on its inner wall, and a plurality of external teeth on its outer wall. gear) 32 is formed. An output shaft (not shown) may be connected to one end of the flex spline 3 .
  • the plurality of first internal teeth 31 and the plurality of external teeth 32 of the flex spline 3 have the same dimensions (number of gear teeth). Therefore, the number of irregularities (see Fig. 7B) of the internal teeth and the external teeth of the flex spline are the same, and through this, the maximum uniform stress is generated when the flexible stress is applied to the flex spline, so that the structural stability of the flex spline is can increase And the gear teeth of the planetary gear (2) are meshed with the plurality of first internal teeth (31) of the flex spline (3).
  • the flex spline (3) may have a thin cup shape with one end open.
  • a curved groove 331 is formed on the inner wall so that a curved portion 33 is formed toward the outer wall at the portion where the first inner tooth 31 and the outer tooth 32 end. It is preferable to do so.
  • the inner diameter d1 of the spline body 34 is the same as or smaller than the inner diameter of the first inner tooth 31, the first inner tooth 31 is machined first, and then the spline body 34 is fixed to the tool holder of the cutting machine to provide an external tooth. (32) is advantageous for processing. And the curved groove 331 facilitates the separation of the chips by allowing the chips to flow smoothly during machining of the first internal teeth 31, and is located at the end of the first internal teeth 31 and the external teeth 32. By reducing the thick cross-sectional area to be formed, the elastic deformation of the flex spline 3 is advantageous.
  • the curved portion 33 having a curved groove 331 induces low elastic stress and increases the durability of the flex spline 3 in comparison with the angled groove shape during elastic deformation of the flex spline 3 . and to have low deformation resistance.
  • the circular spline 4 is a rigid ring-shaped part, and has a circular hollow part 41 in which the flex spline 3 is located, and around the inner wall of the hollow part 41 is A plurality of second internal teeth 42 are formed, and the external teeth 32 of the flex spline 3 may engage the second internal teeth 42 .
  • the dimension of the second internal tooth 42 of the circular spline 4 is smaller than the dimension of the external tooth 32 of the flex spline 3, for example, two or three pieces may be smaller.
  • FIG. 9 is a view sequentially illustrating a state in which the harmonic drive of FIG. 3 is driven.
  • the planetary gear 2 has 2
  • the outer tooth of the flex spline 3 has 98
  • the circular spline 4 has 100 inner teeth
  • the sun gear 1 has a diameter of ⁇ 5. 00
  • the diameter of the planetary gear 2 is ⁇ 12.50
  • the diameter of the flex spline 3 is ⁇ 30.00.
  • the flex spline 3 is elastically deformed into an elliptical shape by a pair of planetary gears 2, and a part of the flex spline 3 shouts of the circular spline 4 interlocks with mine
  • the flex spline 3 is a circular spline 4 . 1 rotation relative to
  • the final reduction ratio of the flex spline (output shaft) 3 to the rotation speed of the sun gear (input shaft) 1 is 1/300.
  • the final reduction ratio can be obtained by appropriately adjusting the relative ratio of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, to obtain various final reduction ratios.
  • a final reduction ratio of 1/200 can be obtained.
  • the diameter of the sun gear 1 is ⁇ 15
  • the diameter of the planetary gear 2 is ⁇ 7.5
  • the diameter of the flex spline 3 is ⁇ 30.00
  • a final reduction ratio of 1/100 can be obtained.
  • FIG. 10 illustrates a harmonic drive 200 according to another embodiment of the present invention.
  • the number of planetary gears 2 is 3
  • the external teeth of the flex spline 3 are 97
  • the internal teeth of the circular spline 4 are 100.
  • the final reduction ratio for example, when the diameter of the sun gear 1 is ⁇ 5.00, the diameter of the planetary gear 2 is ⁇ 12.50, and the diameter of the flex spline 3 is ⁇ 30.00, 1/200 is obtained can Similarly, by appropriately adjusting the relative ratios of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, various final reduction ratios can be obtained.
  • FIG. 11 illustrates a harmonic drive 300 according to another embodiment of the present invention.
  • the number of planetary gears 2 is 4, the outer tooth of the flex spline 3 is 96, and the inner tooth of the circular spline 4 is 100. There is a difference from (100), and the rest of the configuration and operation are the same.
  • the final reduction ratio for example, when the diameter of the sun gear 1 is ⁇ 5.00, the diameter of the planetary gear 2 is ⁇ 12.50, and the diameter of the flex spline 3 is ⁇ 30.00, 1/150 can be obtained have.
  • the final reduction ratio can be obtained by appropriately adjusting the relative ratios of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, to obtain a desired final reduction ratio.
  • the harmonic drive according to the present invention can be used in various fields such as robots, precision instruments, and machine tools.

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  • General Engineering & Computer Science (AREA)
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Abstract

A harmonic drive according to an embodiment of the present invention is characterized by comprising: a sun gear connected to an input shaft; at least two planet gears which are gear-engaged with the sun gear; a flex spline which is made of an elastic material and has a plurality of first inner teeth and a plurality of outer teeth, wherein gear teeth of the planet gears are engaged with the first inner teeth; and a circular spline which has a circular hollow portion, in which the flex spline is located, and a plurality of second inner teeth, which are formed along the inner wall of the hollow portion, wherein the outer teeth of the flex spline are engaged with the second inner teeth.

Description

하모닉 드라이브harmonic drive
본 발명은 하모닉 드라이브에 관한 것이다.The present invention relates to a harmonic drive.
하모닉 드라이브(harmonic Drive)는 기존의 감속기(gear)에 비해 소형, 경량, 고감속비를 갖는 감속기로서, 고정밀도 및 고감속비를 실현할 수 있어 로봇, 정밀기기, 공작기계 등의 분야에서 활용도가 점점 확대되고 있는 실정이다.The harmonic drive is a reducer with a small size, light weight, and high reduction ratio compared to the existing gear. It can realize high precision and high reduction ratio, so its application is gradually expanding in the fields of robots, precision equipment, and machine tools. It is becoming.
도 13에 도시된 바와 같이, 기존의 하모닉 드라이브는 웨이브 제너레이터(wave generator)(110), 플렉스 스플라인(flex spline)(120), 및 서큘러 스플라인(circular spline)(130)의 3가지 핵심요소로 구성되며, 이들은 기존 감속기와 달리 동일 축에 조립이 되는 구조이다.As shown in FIG. 13 , the conventional harmonic drive consists of three core elements: a wave generator 110 , a flex spline 120 , and a circular spline 130 . and, unlike the existing speed reducer, they are assembled on the same shaft.
구체적으로, 웨이브 제너레이터(110)는 타원형상을 한 부품으로서, 타원형상의 캠(11d) 외주에 볼베어링이 조립되고, 베어링의 내륜(11a)은 캠에 고정되고, 외륜(11b)은 볼(11c)을 매개로 탄성 변형 운동하면서, 입력된 원형의 동력을 타원의 웨이브 형태의 동력으로 바꾸어준다.Specifically, the wave generator 110 is a component having an elliptical shape, and a ball bearing is assembled on the outer periphery of the elliptical cam 11d, the inner ring 11a of the bearing is fixed to the cam, and the outer ring 11b is the ball 11c. It converts the input circular power into elliptical wave-type power while performing elastic deformation motion through the
플렉스 스플라인(120)은 기어의 감속비를 결정하고 출력 측에 동력을 전달하는 역할을 하는 부품으로서 컵형상을 한 금속 탄성체로 이루어진 부품이다. 플렉스 스플라인(120)은 플렉스 스플라인 몸체(12a)와 다이어프램(diaphram)(12b)으로 구성된다. 플렉스 스플라인 몸체(12a)는 웨이브 제너레이터(110)의 외륜(11b)을 감싸고, 캠(11d)의 회전에 따라 외륜(11b)과 함께 탄성 변형이 가능한 얇은 재질로 이루어지며, 컵의 외주에 복수의 기어치(T1)가 형성된다. 그리고 다이어프램(12b)은 플렉스 스플라인 몸체(12a)의 단부를 이루며 출력부 축(output shaft)(미도시)과 연결된다. 이와 같이, 플렉스 스플라인(120)은 타원의 웨이브 제너레이터(110)에 접촉되어 타원형태로 탄성변형 하면서 감속된 동력을 전달한다. The flex spline 120 is a part that determines the reduction ratio of the gear and transmits power to the output side, and is a part made of a cup-shaped metal elastic body. The flex spline 120 is composed of a flex spline body 12a and a diaphragm 12b. The flex spline body 12a surrounds the outer ring 11b of the wave generator 110, and is made of a thin material that can be elastically deformed together with the outer ring 11b according to the rotation of the cam 11d. A gear tooth T1 is formed. And the diaphragm (12b) forms an end of the flex spline body (12a) is connected to the output shaft (output shaft) (not shown). As such, the flex spline 120 is in contact with the elliptical wave generator 110 to transmit the decelerated power while elastically deforming it into an elliptical shape.
서큘러 스플라인(130)은 강체의 링 형상의 부품으로서, 플렉스 스플라인(120)의 기어치(T1)와 맞물리도록 내주면에 복수의 기어치(T2)가 구비된다. 특히, 감속비를 얻기 위해 서큘러 스플라인(130)의 기어(T2) 치수는 플렉스 스플라인(120)의 기어(T1) 치수보다 많게 제작된다. 서큘러 스플라인(130)은 플렉스 스플라인(120)과의 접촉시, 타원 형상의 플렉스 스플라인(120)으로 인하여 일부분의 기어치끼리 상호 결합에 의해 소정의 감속비를 가지게 된다. The circular spline 130 is a rigid ring-shaped part, and a plurality of gear teeth T2 are provided on the inner peripheral surface to engage the gear teeth T1 of the flex spline 120 . In particular, the gear (T2) dimension of the circular spline 130 is manufactured to be larger than the gear (T1) dimension of the flex spline 120 in order to obtain a reduction ratio. When the circular spline 130 is in contact with the flex spline 120 , due to the elliptical flex spline 120 , a portion of the gear teeth are mutually coupled to each other to have a predetermined reduction ratio.
이러한 구성을 통하여, 웨이브 제너레이터(110)의 1회전시 플렉스 스플라인(120)의 치수와 서큘러 스플라인(130)의 치수의 차이만큼, 플렉스 스플라인(120)이 반시계방향으로 이동한다. 예를 들면, 플렉스 스플라인(120)의 치수가 서큘러 스플라인(130)의 치수보다 2개 작을 경우, 웨이브 제너레이터(110)의 1회전시 플렉스 스플라인(120)은 서큘러 스플라인(130)에 상대적으로 2개분만큼 반시계방향으로 이동한다. 따라서, 기어치수의 차이만큼 감속비를 줄 수 있기 때문에 높은 감속비를 얻을 수 있다.Through this configuration, the flex spline 120 moves counterclockwise by the difference between the dimension of the flex spline 120 and the dimension of the circular spline 130 during one rotation of the wave generator 110 . For example, if the dimension of the flex spline 120 is smaller than the dimension of the circular spline 130 by two, the flex spline 120 during one rotation of the wave generator 110 is relative to the circular spline 130 by two minutes. move in a counterclockwise direction. Therefore, since the reduction ratio can be given as much as the difference in the gear dimensions, a high reduction ratio can be obtained.
그러나 기존의 하모닉 드라이브(600)는 플렉스 스플라인 내부에 위치하는 웨이브 제너레이터의 볼베어링 구조의 존재로 인하여, 하모닉 드라이브의 전체 크기를 줄이는데 한계가 있었다. 한 예로, 웨이브 제너레이터의 외경이 φ20 mm 정도 미만의 제품을 찾기가 어렵다.However, the conventional harmonic drive 600 has a limit in reducing the overall size of the harmonic drive due to the presence of the ball bearing structure of the wave generator located inside the flex spline. As an example, it is difficult to find a product with an outer diameter of less than φ20 mm of the wave generator.
또한, 기존의 하모닉 드라이브는 플렉스 스플라인의 기어치와, 서큘러 스플라인의 기어치에 의해 감속되는 방식인데, 이러한 구성은 일반적으로 300:1 이상의 감속비를 얻기는 어려운 문제점이 있었다.In addition, the conventional harmonic drive is decelerated by the gear teeth of the flex spline and the gear teeth of the circular spline, but this configuration generally has a problem in that it is difficult to obtain a reduction ratio of 300:1 or more.
본 발명은 상술한 바와 같은 종래기술의 문제점을 해결하기 위한 것으로서, 본 발명의 목적은 하모닉 드라이브의 전체 크기를 더욱 콤팩트하게 소형으로 구현할 수 있고, 종래보다 높은 감속비를 구현할 수 있는 하모닉 드라이브를 제공하는 것이다.SUMMARY OF THE INVENTION The present invention is to solve the problems of the prior art as described above, and an object of the present invention is to provide a harmonic drive capable of realizing the overall size of a harmonic drive more compactly and compactly and realizing a higher reduction ratio than the prior art. will be.
상기의 목적을 달성하기 위하여, 본 발명의 실시예에 따른 하모닉 드라이브는 입력축에 연결된 썬기어(sun gear), 상기 썬기어와 기어 결합하는 2개 이상의 유성기어(planetary gear), 탄성체 소재로 이루어지고, 복수 개의 제1 내치와 복수 개의 외치를 구비하며, 상기 유성기어의 기어치가 상기 제1 내치에 맞물리는 플렉스 스플라인(flex spline), 그리고 상기 플렉스 스플라인이 위치하는 원형의 중공부를 구비하고, 상기 중공부의 내벽 둘레에는 복수 개의 제2 내치가 형성되고, 상기 플렉스 스플라인의 외치는 상기 제2 내치와 맞물리는 서큘러 스플라인(circular spline)을 포함하는 것을 특징으로 한다. In order to achieve the above object, a harmonic drive according to an embodiment of the present invention is made of a sun gear connected to an input shaft, two or more planetary gears coupled to the sun gear and gear, and an elastic material. , having a plurality of first internal teeth and a plurality of external teeth, a flex spline in which the gear teeth of the planetary gear mesh with the first internal teeth, and a circular hollow portion in which the flex spline is located, the hollow A plurality of second internal teeth are formed around the inner wall of the part, and the external teeth of the flex spline include a circular spline that engages the second internal teeth.
또한, 상기 서큘러 스플라인의 제2 내치의 치수(齒數)는 상기 플렉스 스플라인의 외치의 치수(齒數)보다 많은 것을 특징으로 한다. In addition, the dimension of the second internal tooth of the circular spline is characterized in that it is larger than the dimension of the external tooth of the flex spline.
또한, 상기 입력축은 구동모터의 축에 해당하고, 상기 썬기어는 상기 구동모터의 축의 말단부에 형성된 것을 특징으로 한다. In addition, the input shaft corresponds to the shaft of the driving motor, and the sun gear is formed at a distal end of the shaft of the driving motor.
또한, 2개 이상의 상기 유성기어는 상기 썬기어를 중심으로 동일 각도로 떨어지게 배치된 것을 특징으로 한다. In addition, the two or more planetary gears are characterized in that they are arranged to be spaced apart at the same angle with respect to the sun gear.
또한, 상기 플렉스 스플라인의 복수 개의 제1 내치와 복수 개의 외치는 동일한 치수(齒數)를 가지는 것을 특징으로 한다. In addition, the plurality of first internal teeth and the plurality of external teeth of the flex spline is characterized in that it has the same dimensions (齒數).
또한, 상기 유성기어는 그 중심에 관통홀을 구비하고, 상기 하모닉 드라이브는 캐리어를 더 포함하며, 상기 캐리어는, 상기 유성기어의 관통홀을 관통하는 지지바, 그리고 상기 지지바의 양단에 각각 고정된 상판 및 하판을 구비하며, 상기 유성기어는 상기 상판 및 상기 하판 사이에 위치하는 것을 특징으로 한다. In addition, the planetary gear has a through hole in its center, and the harmonic drive further includes a carrier, and the carrier is fixed to a support bar passing through the through hole of the planetary gear, and to both ends of the support bar, respectively. and an upper plate and a lower plate, wherein the planetary gear is positioned between the upper plate and the lower plate.
또한, 상기 지지바와 상기 유성기어의 관통홀 사이에는 슬리브 또는 베어링이 구비되는 것을 특징으로 한다. In addition, a sleeve or bearing is provided between the support bar and the through hole of the planetary gear.
또한, 상기 플렉스 스플라인은 일단이 개방된 얇은 두께의 컵형상이고, 상기 제1 내치와 상기 외치가 끝나는 부위에, 외벽 쪽으로 만곡부가 형성되도록 내벽에 홈이 형성된 것을 특징으로 한다. In addition, the flex spline has a thin cup shape with an open end, and a groove is formed on the inner wall so that a curved portion is formed toward the outer wall at the end of the first inner tooth and the outer tooth.
상술한 구성을 가진 본 발명의 실시예에 따른 하모닉 드라이브는 다음과 같은 효과를 가진다.The harmonic drive according to the embodiment of the present invention having the above-described configuration has the following effects.
본 발명의 하모닉 드라이브는, 종래의 하모닉 드라이브의 웨이브 제너레이터의 베어링 구성이 필요하지 않아, 구성요소 장착을 위한 공간을 최소화할 수 있어, 더욱 콤팩트(compact) 하게 하모닉 드라이브를 구현할 수 있어, 소형의 하모닉 드라이브를 필요로 하는 다양한 분야에 적용될 수 있다. 또한, 썬기어와 유성기어의 조합으로 증대된 감속 효과를 용이하게 달성할 수 있다.The harmonic drive of the present invention does not require the bearing configuration of the wave generator of the conventional harmonic drive, so it is possible to minimize the space for mounting the components, so that the harmonic drive can be implemented more compactly. It can be applied to various fields requiring a drive. In addition, an increased deceleration effect can be easily achieved by the combination of the sun gear and the planetary gear.
또한, 본 발명의 하모닉 드라이브는 썬기어와 유성기어의 조합을 통해 플렉스 스플라인을 이동시키는 구성이어서, 슬립(slip) 현상이 발생함이 없이 정확한 감속 구동을 달성할 수 있다. In addition, the harmonic drive of the present invention is configured to move the flex spline through a combination of a sun gear and a planetary gear, so that accurate deceleration driving can be achieved without a slip phenomenon.
한편, 본 발명은 명시적으로 기재되지는 않았지만 상술한 구성으로부터 기대할 수 있는 다른 효과도 물론 포함한다.On the other hand, although not explicitly described, the present invention also includes other effects expected from the above-described configuration.
도 1은 본 발명의 한 실시예에 따른 하모닉 드라이브의 주요 구성의 모식도이다.1 is a schematic diagram of a main configuration of a harmonic drive according to an embodiment of the present invention.
도 2는 도 1의 하모닉 드라이브의 썬기어가 모터구동의 축에 구비된 것을 나타낸다.FIG. 2 shows that the sun gear of the harmonic drive of FIG. 1 is provided on the shaft of the motor drive.
도 3은 도 1의 하모닉 드라이브의 정면도이다(캐리어 생략). 3 is a front view of the harmonic drive of FIG. 1 (carrier omitted);
도 4 및 도 5는 도 1의 하모닉 드라이브에서 캐리어가 장착된 모습을 나타낸다.4 and 5 show a state in which a carrier is mounted in the harmonic drive of FIG. 1 .
도 6은 도 1의 하모닉 드라이브의 환형의 플렉스 스플라인을 나타낸다.Fig. 6 shows the annular flex splines of the harmonic drive of Fig. 1;
도 7은 도 1의 하모닉 드라이브에서, 플렉스 스플라인과 서큘러 스플라인의 결합 관계를 나타낸다.7 shows a coupling relationship between a flex spline and a circular spline in the harmonic drive of FIG. 1 .
도 8은 도 1의 하모닉 드라이브의 서큘러 스플라인을 나타낸다.FIG. 8 shows a circular spline of the harmonic drive of FIG. 1 .
도 9는 도 1의 하모닉 드라이브의 작동을 나타내는 모식도이다.9 is a schematic diagram illustrating the operation of the harmonic drive of FIG. 1 .
도 10은 도 1의 하모닉 드라이브의 다른 실시예이다.FIG. 10 is another embodiment of the harmonic drive of FIG. 1 .
도 11은 도 1의 하모닉 드라이브의 또 다른 실시예이다.11 is another embodiment of the harmonic drive of FIG. 1 .
도 12는 도 1의 하모닉 드라이브의 컵형상의 플렉스 스플라인을 나타낸다.12 shows a cup-shaped flex spline of the harmonic drive of FIG. 1 .
도 13은 종래의 하모닉 드라이브를 나타낸다.13 shows a conventional harmonic drive.
이하, 첨부한 도면을 참고로 하여 본 발명의 실시예에 대하여 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자가 실시할 수 있도록 상세히 설명한다. 그러나 본 발명은 여러 가지 상이한 형태로 구현될 수 있으며 여기에서 설명하는 실시예에 한정되지 않는다.Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can practice. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein.
도 1에는 본 발명의 한 실시예에 따른 하모닉 드라이브(100)의 모식도가 도시되어 있다. 1 is a schematic diagram of a harmonic drive 100 according to an embodiment of the present invention.
본 하모닉 드라이브는, 썬기어(sun gear)(1), 유성기어(planetary gear)(2), 플렉스 스플라인(flex spline)(3), 그리고 서큘러 스플라인(circular spline)(4)을 주요 구성으로 포함한다. This harmonic drive includes sun gear (1), planetary gear (2), flex spline (3), and circular spline (4) as main components. do.
썬기어(1)는 입력축에 연결될 수 있다. 예시적으로, 도 2에 도시된 바와 같이, 입력축(400)은 구동모터(500)의 축에 해당하고, 썬기어(1)는 구동모터(500)의 축의 말단부에 형성될 수 있다.The sun gear 1 may be connected to the input shaft. For example, as shown in FIG. 2 , the input shaft 400 may correspond to the shaft of the driving motor 500 , and the sun gear 1 may be formed at the distal end of the shaft of the driving motor 500 .
유성기어(2)는 썬기어(1)와 기어결합 한다. 본 실시예에서는 예시적으로 2개의 유성기어(2)가 배치되어 있으나, 유성기어(2)의 개수는 2개 이상일 수 있다.The planetary gear (2) is gear-coupled with the sun gear (1). In this embodiment, for example, two planetary gears 2 are arranged, but the number of planetary gears 2 may be two or more.
한편, 도 3에 도시된 바와 같이, 이들 유성기어(2)는 썬기어(1)를 중심으로 동일 각도로 떨어지게 배치된다. 이에 따라, 2개의 유성기어(2)가 배치된 경우, 이들 유성기어(2)는 썬기어(1)를 중심으로 서로 반대편에 위치한다. 그리고 유성기어(2)는 그 중심에 관통홀(21)을 구비할 수 있다.On the other hand, as shown in FIG. 3 , these planet gears 2 are arranged to be spaced apart from each other at the same angle with respect to the sun gear 1 . Accordingly, when the two planetary gears 2 are disposed, these planetary gears 2 are positioned opposite to each other with the sun gear 1 as the center. And the planetary gear 2 may have a through hole 21 in its center.
따라서, 본 하모닉 드라이브는, 기존의 하모닉 드라이브의 웨이브 제너레이터(11)의 베어링 구성이 필요하지 않아, 구성요소 장착을 위한 공간을 최소화할 수 있어, 더욱 콤팩트하게 하모닉 드라이브를 구현할 수 있다. 또한, 썬기어와 유성기어의 조합으로 증대된 감속 효과를 용이하게 달성할 수 있다.Accordingly, the present harmonic drive does not require a bearing configuration of the wave generator 11 of the conventional harmonic drive, so it is possible to minimize the space for mounting components, and thus a more compact harmonic drive can be implemented. In addition, an increased deceleration effect can be easily achieved by the combination of the sun gear and the planetary gear.
또한, 본 하모닉 드라이브는 썬기어와 유성기어의 조합을 통해 후술하는 바와 같이, 플렉스 스플라인을 이동시키는 구성이어서, 슬립 현상이 발생함이 없이 정확한 감속 구동을 달성할 수 있다. In addition, the present harmonic drive is configured to move the flex spline as described later through the combination of the sun gear and the planetary gear, so that accurate deceleration driving can be achieved without slip phenomenon.
도 4에 도시된 바와 같이, 하모닉 드라이브는 캐리어(5)를 더 포함할 수 있다. As shown in FIG. 4 , the harmonic drive may further include a carrier 5 .
캐리어(5)는, 유성기어(2)의 관통홀(21)을 관통하는 지지바(51), 그리고 지지바(51)의 양단에 각각 고정된 상판(52) 및 하판(53)을 구비한다. 그리고 유성기어(2)는 상판(52) 및 하판(53) 사이에 위치한다. 그리고 지지바(51)와 유성기어(2)의 관통홀(21) 사이(도 5의 A)에는 슬리브 또는 베어링(미도시)이 구비될 수 있다. 이러한 캐리어(5)는 하모닉 드라이브의 내구성 증대를 위한 것으로, 소형의 하모닉 드라이브의 경우에는 생략해도 무방하다.The carrier 5 includes a support bar 51 passing through the through hole 21 of the planetary gear 2 , and an upper plate 52 and a lower plate 53 fixed to both ends of the support bar 51 , respectively. . And the planetary gear 2 is positioned between the upper plate 52 and the lower plate 53 . A sleeve or bearing (not shown) may be provided between the support bar 51 and the through hole 21 of the planetary gear 2 (FIG. 5A). The carrier 5 is for increasing durability of the harmonic drive, and may be omitted in the case of a small harmonic drive.
플렉스 스플라인(3)은 탄성체 소재, 예를 들면, 금속제 탄성체 소재로 이루어진다. 도 6에 도시된 바와 같이, 플렉스 스플라인(3)은 얇은 두께의 환형 금속 탄성체 부품으로서, 그 내벽에 복수 개의 제1 내치(internal gear)(31)가 형성되고, 그 외벽에 복수 개의 외치(external gear)(32)가 형성된다. 플렉스 스플라인(3)의 일 단부에는 출력축(미도시)이 연결될 수 있다. The flex spline 3 is made of an elastic material, for example, a metal elastic material. As shown in FIG. 6 , the flex spline 3 is a thin annular metal elastic body part, and a plurality of first internal gears 31 are formed on its inner wall, and a plurality of external teeth on its outer wall. gear) 32 is formed. An output shaft (not shown) may be connected to one end of the flex spline 3 .
플렉스 스플라인(3)의 복수 개의 제1 내치(31)와 복수 개의 외치(32)는 동일한 치수(number of gear teeth)를 가진다. 따라서, 플렉스 스플라인의 내치와 외치의 요철(도 7의 B 참조)의 개수는 동일하게 되며, 이를 통하여, 플렉스 스플라인에 가요성 응력이 작용할 때 최대한 균일한 응력이 발생하도록 하여, 플렉스 스플라인의 구조 안정성을 증대시킬 수 있다. 그리고 플렉스 스플라인(3)의 복수 개의 제1 내치(31)에는 유성기어(2)의 기어치가 맞물린다. The plurality of first internal teeth 31 and the plurality of external teeth 32 of the flex spline 3 have the same dimensions (number of gear teeth). Therefore, the number of irregularities (see Fig. 7B) of the internal teeth and the external teeth of the flex spline are the same, and through this, the maximum uniform stress is generated when the flexible stress is applied to the flex spline, so that the structural stability of the flex spline is can increase And the gear teeth of the planetary gear (2) are meshed with the plurality of first internal teeth (31) of the flex spline (3).
한편, 도 12에 도시된 바와 같이, 플렉스 스플라인(3)은 일단이 개방된 얇은 두께의 컵형상을 가질 수도 있다. 이때, 도 12의 (b)에 도시된 바와 같이, 제1 내치(31)와 외치(32)가 끝나는 부위에, 외벽 쪽으로 만곡부(33)가 형성되도록 내벽에 곡선 형상의 홈(331)이 형성되도록 하는 것이 바람직하다. On the other hand, as shown in Figure 12, the flex spline (3) may have a thin cup shape with one end open. At this time, as shown in (b) of FIG. 12 , a curved groove 331 is formed on the inner wall so that a curved portion 33 is formed toward the outer wall at the portion where the first inner tooth 31 and the outer tooth 32 end. It is preferable to do so.
스플라인몸체(34)의 내경(d1)이 제1 내치(31)의 내경과 같거나 작아야 제1 내치(31)를 먼저 가공한 후, 스플라인몸체(34)를 절삭기계의 공구홀더에 고정하여 외치(32)를 가공하기에 유리하다. 그리고 곡선 형상의 홈(331)은 제1 내치(31)의 가공시 절삭칩이 원활하게 유동하게 하여 절삭칩의 분리를 수월하게 하고, 제1 내치(31)와 외치(32)가 끝나는 부위에 형성될 두꺼운 단면적을 줄여서 플렉스 스플라인(3)의 탄성변형을 유리하게 한다. 또한, 곡선 형상의 홈(331)을 구비하는 만곡부(33)는 플렉스 스플라인(3)의 탄성변형 시 각이 진 홈형상 대비하여, 낮은 탄성스트레스를 유발하고, 플렉스 스플라인(3)의 내구성을 증대시키며, 낮은 변형저항을 갖도록 한다. When the inner diameter d1 of the spline body 34 is the same as or smaller than the inner diameter of the first inner tooth 31, the first inner tooth 31 is machined first, and then the spline body 34 is fixed to the tool holder of the cutting machine to provide an external tooth. (32) is advantageous for processing. And the curved groove 331 facilitates the separation of the chips by allowing the chips to flow smoothly during machining of the first internal teeth 31, and is located at the end of the first internal teeth 31 and the external teeth 32. By reducing the thick cross-sectional area to be formed, the elastic deformation of the flex spline 3 is advantageous. In addition, the curved portion 33 having a curved groove 331 induces low elastic stress and increases the durability of the flex spline 3 in comparison with the angled groove shape during elastic deformation of the flex spline 3 . and to have low deformation resistance.
서큘러 스플라인(4)은 도 8에 도시된 바와 같이, 강체의 링 형상의 부품으로서, 플렉스 스플라인(3)이 위치하는 원형의 중공부(41)를 구비하고, 중공부(41)의 내벽 둘레에는 복수 개의 제2 내치(42)가 형성되고, 플렉스 스플라인(3)의 외치(32)는 제2 내치(42)와 맞물릴 수 있다. As shown in FIG. 8, the circular spline 4 is a rigid ring-shaped part, and has a circular hollow part 41 in which the flex spline 3 is located, and around the inner wall of the hollow part 41 is A plurality of second internal teeth 42 are formed, and the external teeth 32 of the flex spline 3 may engage the second internal teeth 42 .
한편, 서큘러 스플라인(4)의 제2 내치(42)의 치수는 플렉스 스플라인(3)의 외치(32)의 치수보다 작으며, 예를 들면 2매 또는 3매가 작을 수 있다. On the other hand, the dimension of the second internal tooth 42 of the circular spline 4 is smaller than the dimension of the external tooth 32 of the flex spline 3, for example, two or three pieces may be smaller.
이하에서는, 도 9를 참조하여, 상술한 구성을 가진 본 발명의 한 실시예에 따른 하모닉 드라이브의 작용에 대하여 설명한다.Hereinafter, an operation of a harmonic drive according to an embodiment of the present invention having the above-described configuration will be described with reference to FIG. 9 .
도 9는 도 3의 하모닉 드라이브가 구동되는 상태를 순차적으로 나타낸 도면이다. 예시적으로, 유성기어(2)가 2개, 플렉스 스플라인(3)의 외치의 치수는 98개, 서큘러 스플라인(4)의 내치의 치수는 100개이며, 썬기어(1)의 직경은 φ5.00, 유성기어(2)의 직경은 φ12.50, 플렉스 스플라인(3)의 직경은 φ30.00 인 경우이다.9 is a view sequentially illustrating a state in which the harmonic drive of FIG. 3 is driven. Illustratively, the planetary gear 2 has 2, the outer tooth of the flex spline 3 has 98, the circular spline 4 has 100 inner teeth, and the sun gear 1 has a diameter of φ5. 00, the diameter of the planetary gear 2 is φ12.50, and the diameter of the flex spline 3 is φ30.00.
먼저, 도 9의 (a)에 도시된 바와 같이, 한 쌍의 유성기어(2)에 의해 플렉스 스플라인(3)은 타원형으로 탄성 변형되고, 플렉스 스플라인(3)의 일부 외치는 서큘러 스플라인(4)의 내치와 맞물린다. First, as shown in Fig. 9 (a), the flex spline 3 is elastically deformed into an elliptical shape by a pair of planetary gears 2, and a part of the flex spline 3 shouts of the circular spline 4 interlocks with mine
다음, 도 9의 (b)에 도시된 바와 같이, 입력축(모터축)에 연결된 썬기어(1)가 일 방향(예컨대, 시계방향)으로 회전하면, 이에 연동하여 한 쌍의 유성기어(2)는 반시계방향으로 회전하면서, 썬기어(1)를 중심으로 시계방향으로 이동한다(공전). 이때, 플렉스 스플라인(230)은 탄성 변형되면서 계속해서 반시계방향으로 감속된 상태로 회전된다. 즉, 도 9에 도시된 바와 같이, 플렉스 스플라인(230)의 포지션(P)이 서큘러 스플라인(4)의 기준점(Q)에 상대적으로 반시계방향으로, 소정의 각도만큼 이동되는 것을 확인할 수 있다.Next, as shown in (b) of FIG. 9, when the sun gear 1 connected to the input shaft (motor shaft) rotates in one direction (eg, clockwise), a pair of planetary gears 2 in conjunction with it While rotating counterclockwise, it moves clockwise around the sun gear 1 (orbit). At this time, the flex spline 230 is rotated in a decelerated state in the counterclockwise direction while being elastically deformed. That is, as shown in FIG. 9 , the position P of the flex spline 230 is moved counterclockwise relative to the reference point Q of the circular spline 4 by a predetermined angle.
다음, 도 9의 (c)에 도시된 바와 같이, 썬기어(1)의 회전에 따라 한 쌍의 유성기어(2)가 썬기어(1)를 중심으로 180°공전하는 동안, 플렉스 스플라인(3)은 서큘러 스플라인(4)에 대해 상대적으로 반시계 방향으로 치수 1매분만큼 회전한다. Next, as shown in (c) of FIG. 9, while the pair of planetary gears 2 revolve 180° around the sun gear 1 according to the rotation of the sun gear 1, the flex splines 3 ) rotates relative to the circular spline 4 in a counterclockwise direction by one dimension per minute.
또한, 도 9의 (d)에 도시된 바와 같이, 썬기어(1)의 회전에 따라 한 쌍의 유성기어(2)가 썬기어(1)를 중심으로 360°공전하면, 플렉스 스플라인(3)은 서큘러 스플라인(4)에 대해 상대적으로 반시계 방향으로 치수 2매분만큼 회전한다. In addition, as shown in (d) of FIG. 9, when a pair of planetary gears 2 revolve 360° around the sun gear 1 according to the rotation of the sun gear 1, the flex spline (3) rotates in a counterclockwise direction relative to the circular spline 4 by a dimension of 2 pieces.
이와 같이, 도 9에 예시된 본 하모닉 드라이브의 한 실시예의 경우, 한 쌍의 유성기어(2)가 썬기어(1)를 중심으로 50회 공전하면, 플렉스 스플라인(3)은 서큘러 스플라인(4)에 대해 상대적으로 1회전 하게 된다. 또한, 썬기어(입력축)(1)의 회전수 대비 플렉스 스플라인(출력축)(3)의 최종 감속비는 1/300 이 된다. As such, in the case of one embodiment of the present harmonic drive illustrated in FIG. 9 , when a pair of planetary gears 2 revolve around the sun gear 1 50 times, the flex spline 3 is a circular spline 4 . 1 rotation relative to In addition, the final reduction ratio of the flex spline (output shaft) 3 to the rotation speed of the sun gear (input shaft) 1 is 1/300.
한편, 최종 감속비는 썬기어(1), 유성기어(2), 그리고 플렉스 스플라인(3)의 직경의 상대적인 비율을 적절히 조절함으로써, 다양한 최종 감속비를 얻을 수 있게 된다. 예컨대, 썬기어(1)의 직경은 φ7.50, 유성기어(2)의 직경은 φ11.25, 플렉스 스플라인(3)의 직경은 φ30.00 인 경우, 최종 감속비 1/200 을 얻을 수 있다. 또한, 썬기어(1)의 직경은 φ15, 유성기어(2)의 직경은 φ7.5, 플렉스 스플라인(3)의 직경은 φ30.00 인 경우, 최종 감속비 1/100 을 얻을 수 있다. On the other hand, the final reduction ratio can be obtained by appropriately adjusting the relative ratio of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, to obtain various final reduction ratios. For example, when the diameter of the sun gear 1 is φ7.50, the diameter of the planetary gear 2 is φ11.25, and the diameter of the flex spline 3 is φ30.00, a final reduction ratio of 1/200 can be obtained. In addition, when the diameter of the sun gear 1 is φ15, the diameter of the planetary gear 2 is φ7.5, and the diameter of the flex spline 3 is φ30.00, a final reduction ratio of 1/100 can be obtained.
도 10에는 본 발명에 다른 실시예에 따른 하모닉 드라이브(200)가 도시되어 있다. 본 하모닉 드라이브(200)는, 유성기어(2)의 개수가 3개이고, 플렉스 스플라인(3)의 외치의 치수는 97개, 서큘러 스플라인(4)의 내치의 치수는 100개인 점에서 상술한 하모닉 드라이브(100)와 차이가 있으며, 나머지 구성 및 작용은 동일하다. 10 illustrates a harmonic drive 200 according to another embodiment of the present invention. In this harmonic drive 200, the number of planetary gears 2 is 3, the external teeth of the flex spline 3 are 97, and the internal teeth of the circular spline 4 are 100. There is a difference from (100), and the rest of the configuration and operation are the same.
그리고 최종 감속비는, 예컨대, 썬기어(1)의 직경은 φ5.00, 유성기어(2)의 직경은 φ12.50, 플렉스 스플라인(3)의 직경은 φ30.00 인 경우, 1/200 을 얻을 수 있다. 마찬가지로, 최종 감속비는 썬기어(1), 유성기어(2), 그리고 플렉스 스플라인(3)의 직경의 상대적인 비율을 적절히 조절함으로써, 다양한 최종 감속비를 얻을 수 있다.And the final reduction ratio, for example, when the diameter of the sun gear 1 is φ5.00, the diameter of the planetary gear 2 is φ12.50, and the diameter of the flex spline 3 is φ30.00, 1/200 is obtained can Similarly, by appropriately adjusting the relative ratios of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, various final reduction ratios can be obtained.
도 11에는 본 발명에 또 다른 실시예에 따른 하모닉 드라이브(300)가 도시되어 있다. 본 하모닉 드라이브(300)는, 유성기어(2)의 개수가 4개이고, 플렉스 스플라인(3)의 외치의 치수는 96개, 서큘러 스플라인(4)의 내치의 치수는 100개인 점에서 상술한 하모닉 드라이브(100)와 차이가 있으며, 나머지 구성 및 작용은 동일하다. 11 illustrates a harmonic drive 300 according to another embodiment of the present invention. In this harmonic drive 300, the number of planetary gears 2 is 4, the outer tooth of the flex spline 3 is 96, and the inner tooth of the circular spline 4 is 100. There is a difference from (100), and the rest of the configuration and operation are the same.
최종 감속비는, 예컨대, 썬기어(1)의 직경은 φ5.00, 유성기어(2)의 직경은 φ12.50, 플렉스 스플라인(3)의 직경은 φ30.00 인 경우, 1/150 을 얻을 수 있다. 마찬가지로, 최종 감속비는 썬기어(1), 유성기어(2), 그리고 플렉스 스플라인(3)의 직경의 상대적인 비율을 적절히 조절함으로써, 원하는 최종 감속비를 얻을 수 있다.The final reduction ratio, for example, when the diameter of the sun gear 1 is φ5.00, the diameter of the planetary gear 2 is φ12.50, and the diameter of the flex spline 3 is φ30.00, 1/150 can be obtained have. Likewise, the final reduction ratio can be obtained by appropriately adjusting the relative ratios of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, to obtain a desired final reduction ratio.
이상에서 본 발명의 바람직한 실시예에 대하여 상세하게 설명하였지만 본 발명의 권리범위는 이에 한정되는 것은 아니고 다음의 청구범위에서 정의하고 있는 본 발명의 기본 개념을 이용한 당업자의 여러 변형 및 개량 형태 또한 본 발명의 권리범위에 속하는 것이다.Although the preferred embodiment of the present invention has been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also provided. is within the scope of the
본 발명에 따른 하모닉 드라이브는 로봇, 정밀기기, 공작기계 등의 다양한 분야에 사용될 수 있다.The harmonic drive according to the present invention can be used in various fields such as robots, precision instruments, and machine tools.

Claims (8)

  1. 입력축에 연결된 썬기어(sun gear),sun gear connected to the input shaft,
    상기 썬기어와 기어 결합하는 2개 이상의 유성기어(planetary gear),Two or more planetary gears coupled to the sun gear and gear,
    탄성체 소재로 이루어지고, 복수 개의 제1 내치와 복수 개의 외치를 구비하며, 상기 유성기어의 기어치가 상기 제1 내치에 맞물리는 플렉스 스플라인(flex spline), 그리고A flex spline made of an elastic material, having a plurality of first internal teeth and a plurality of external teeth, the gear teeth of the planetary gear meshing with the first internal teeth, and
    상기 플렉스 스플라인이 위치하는 원형의 중공부를 구비하고, 상기 중공부의 내벽 둘레에는 복수 개의 제2 내치가 형성되고, 상기 플렉스 스플라인의 외치는 상기 제2 내치와 맞물리는 서큘러 스플라인(circular spline)Having a circular hollow portion in which the flex spline is located, a plurality of second internal teeth are formed around the inner wall of the hollow portion, and the outer teeth of the flex spline are engaged with the second internal teeth circular spline (circular spline)
    을 포함하는 containing
    하모닉 드라이브.harmonic drive.
  2. 제1항에서,In claim 1,
    상기 서큘러 스플라인의 제2 내치의 치수(齒數)는 상기 플렉스 스플라인의 외치의 치수(齒數)보다 많은 하모닉 드라이브.A dimension of the second internal tooth of the circular spline is greater than a dimension of the external tooth of the flex spline.
  3. 제1항에서,In claim 1,
    상기 입력축은 구동모터의 축에 해당하고, 상기 썬기어는 상기 구동모터의 축의 말단부에 형성된 하모닉 드라이브.The input shaft corresponds to a shaft of the driving motor, and the sun gear is formed at a distal end of the shaft of the driving motor.
  4. 제1항에서,In claim 1,
    2개 이상의 상기 유성기어는 상기 썬기어를 중심으로 동일 각도로 떨어지게 배치된 하모닉 드라이브.Two or more of the planetary gears are arranged to be spaced apart at the same angle with respect to the sun gear as a center of the harmonic drive.
  5. 제1항에서, In claim 1,
    상기 플렉스 스플라인의 복수 개의 제1 내치와 복수 개의 외치는 동일한 치수(齒數)를 가지는 하모닉 드라이브.A harmonic drive having the same dimensions as the plurality of first internal teeth and the plurality of external teeth of the flex spline.
  6. 제1항에서,In claim 1,
    상기 유성기어는 그 중심에 관통홀을 구비하고,The planetary gear has a through hole in its center,
    상기 하모닉 드라이브는 캐리어를 더 포함하며, The harmonic drive further includes a carrier,
    상기 캐리어는,The carrier is
    상기 유성기어의 관통홀을 관통하는 지지바, 그리고A support bar passing through the through hole of the planetary gear, and
    상기 지지바의 양단에 각각 고정된 상판 및 하판Upper and lower plates respectively fixed to both ends of the support bar
    을 구비하며,is provided,
    상기 유성기어는 상기 상판 및 상기 하판 사이에 위치하는 The planetary gear is positioned between the upper plate and the lower plate.
    하모닉 드라이브.harmonic drive.
  7. 제6항에서,In claim 6,
    상기 지지바와 상기 유성기어의 관통홀 사이에는 슬리브 또는 베어링이 구비되는 하모닉 드라이브.A harmonic drive having a sleeve or a bearing between the support bar and the through hole of the planetary gear.
  8. 제1항에서,In claim 1,
    상기 플렉스 스플라인은 일단이 개방된 얇은 두께의 컵형상이고, 상기 제1 내치와 상기 외치가 끝나는 부위에, 외벽 쪽으로 만곡부가 형성되도록 내벽에 곡선 형상의 홈이 형성된 하모닉 드라이브.The flex spline has a thin cup shape with an open end, and a curved groove is formed on the inner wall so that a curved portion is formed toward the outer wall at the end of the first inner tooth and the outer tooth.
PCT/KR2021/019371 2021-04-22 2021-12-20 Harmonic drive WO2022225131A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070070654A (en) * 2005-12-29 2007-07-04 김영석 Reduction unit
KR20100070607A (en) * 2008-12-18 2010-06-28 삼익에이치디에스(주) Flexible double ring gear type reducer
KR20130075864A (en) * 2011-12-28 2013-07-08 재단법인 포항산업과학연구원 Flex spline and harmonic drive comprising it
KR20190001542A (en) * 2017-06-27 2019-01-04 나부테스코 가부시키가이샤 Decelerator
KR102321140B1 (en) * 2021-04-22 2021-11-02 윤호병 Harmonic drive

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070070654A (en) * 2005-12-29 2007-07-04 김영석 Reduction unit
KR20100070607A (en) * 2008-12-18 2010-06-28 삼익에이치디에스(주) Flexible double ring gear type reducer
KR20130075864A (en) * 2011-12-28 2013-07-08 재단법인 포항산업과학연구원 Flex spline and harmonic drive comprising it
KR20190001542A (en) * 2017-06-27 2019-01-04 나부테스코 가부시키가이샤 Decelerator
KR102321140B1 (en) * 2021-04-22 2021-11-02 윤호병 Harmonic drive

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