CN113464610A - Flexible engagement gear device, gear device series and manufacturing and designing method thereof - Google Patents
Flexible engagement gear device, gear device series and manufacturing and designing method thereof Download PDFInfo
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- 238000004519 manufacturing process Methods 0.000 title claims description 10
- 238000000034 method Methods 0.000 title claims description 7
- 230000037237 body shape Effects 0.000 claims abstract 5
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 2
- 239000010962 carbon steel Substances 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 description 8
- 230000002093 peripheral effect Effects 0.000 description 5
- 239000000314 lubricant Substances 0.000 description 4
- 230000002028 premature Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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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
- 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
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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
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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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
- 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
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
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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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H2057/085—Bearings for orbital gears
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Abstract
The invention aims to suppress tooth surface pressure of an outer gear. A flexural-engagement gear device (1) is provided with a vibration generator (10A), an external gear (11) which is subjected to flexural deformation by the vibration generator, and an internal gear which meshes with the external gear. In the external gear, an index A relating to the chordal tooth thickness represented by the following formula is 2.20X 10‑3To 2.70X 10‑3In the range of (R1). A is the external gear chord tooth thickness x the external gear tooth root thickness x the starting body shape coefficient x the reduction ratio/PCD2.1… … (1), wherein the external gear chordal tooth thickness (S) is equal to the tooth height of the external gear (11)(h) PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state of being assembled before the starting vibrator, the tooth root thickness of the external gear is the thickness from the inner circumference of the external gear to the tooth root, and the shape factor of the starting vibrator is (starting vibrator major diameter — starting vibrator equivalent circle diameter) ÷ 2.
Description
The present application claims priority based on japanese patent application No. 2020-. The entire contents of this japanese application are incorporated by reference into this specification.
Technical Field
The present invention relates to a flexible engagement type gear device, a gear device series, a manufacturing method and a design method thereof.
Background
Conventionally, a flexible mesh type gear device including an external gear that is flexible and deformable is known (for example, refer to patent document 1). The external gear is deformed by load torque in addition to normal flexural deformation (elastic deformation), or is affected by accumulation of manufacturing errors of the respective parts, and the like, and thus the tooth contact state changes during operation. If the tooth contact state is poor, excessive tooth surface pressure is generated on the tooth surface, which causes premature damage.
Patent document 1: japanese patent No. 5337008
Disclosure of Invention
The present invention has been made in view of the above circumstances, and an object thereof is to suppress tooth surface pressure of an outer gear.
The present invention relates to a flexural-engagement gear device including a vibration generator, an external gear that is flexural-deformed by the vibration generator, and an internal gear that engages with the external gear, the flexural-engagement gear device being configured as follows:
the index A represented by the following formula is 2.20X 10-3To 2.70X 10-3In the range of (a) to (b),
a is the external gear chord tooth thickness, the external gear tooth root thickness and the shape coefficient of the starting vibration body
X reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
The present invention also relates to a gear train comprising a 1 st gear unit and a 2 nd gear unit, wherein,
the 1 st gear device and the 2 nd gear device are each a flexible meshing type gear device including a vibration generator, an external gear that is flexibly deformed by the vibration generator, and an internal gear that meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of the PCD of the external gear and the reduction ratio is different from each other,
and index A represented by the following formula is 2.20X 10-3To 2.70X 10-3In the range of (a) to (b),
a is the external gear chord tooth thickness, the external gear tooth root thickness and the shape coefficient of the starting vibration body
X reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
The present invention also relates to a method of manufacturing a gear train including a 1 st gear device and a 2 nd gear device, wherein,
the 1 st gear device and the 2 nd gear device are each a flexible meshing type gear device including a vibration generator, an external gear that is flexibly deformed by the vibration generator, and an internal gear that meshes with the external gear,
in the 1 st gear device and the 2 nd gear device, at least one of the PCD and the reduction ratio of the external gear is different from each other,
so that the index A represented by the following formula is 2.20X 10-3To 2.70X 10-3Each of the external gears is manufactured in such a manner that,
a is the external gear chord tooth thickness, the external gear tooth root thickness and the shape coefficient of the starting vibration body
X reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
The present invention also relates to a method for designing a gear train including a 1 st gear unit and a 2 nd gear unit, wherein,
the 1 st gear device and the 2 nd gear device are each a flexible meshing type gear device including a vibration generator, an external gear that is flexibly deformed by the vibration generator, and an internal gear that meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of the PCD of the external gear and the reduction ratio is different from each other,
and the index A represented by the following formula is set to 2.20 × 10-3To 2.70X 10-3In the range of (a) to (b),
a is the external gear chord tooth thickness, the external gear tooth root thickness and the shape coefficient of the starting vibration body
X reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
According to the present invention, the tooth surface pressure of the outer gear can be suppressed.
Drawings
Fig. 1 is a sectional view showing a flexible mesh gear device according to the present embodiment.
Fig. 2 is a diagram for explaining a gear shape of the external gear.
Fig. 3 is a graph showing a relationship between an index a relating to the chordal tooth thickness of the external gear and the tooth surface pressure.
In the figure: 1-flex-mesh gear device, 1A-1 st gear device, 1B-2 nd gear device, 10-start-oscillation body shaft, 10A-start-oscillation body, 11-external gear, d 1-tip circle diameter, d 2-root circle diameter, d 3-inner diameter, h-tooth height, S-chord thickness, 31G-1 st internal gear, 32G-2 nd internal gear, O1-rotation axis, A-index, R1-range, P1, P2-inflection point.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[ Structure of flexural-meshing Gear device ]
Fig. 1 is a sectional view showing a flexible engagement gear device 1 according to the present invention.
As shown in fig. 1, the flex-mesh gear device 1 is a cylindrical flex-mesh gear device, and includes a start body shaft 10, an external gear 11, a 1 st internal gear 31G, a 2 nd internal gear 32G, a start body bearing 12, a housing 33, a 1 st cover 34, and a 2 nd cover 35.
The oscillator shaft 10 is a hollow cylindrical shaft that rotates about a rotation axis O1, and has an oscillator 10A with a non-circular (for example, elliptical) outer shape in a cross section perpendicular to the rotation axis O1, and shaft portions 10B and 10C provided on both sides of the oscillator 10A in the axial direction. The ellipse is not limited to an ellipse in a geometrically strict sense, but includes a substantially ellipse. The shaft portions 10B and 10C are shafts having a circular outer shape in a cross section perpendicular to the rotation axis O1.
In the following description, a direction along the rotation axis O1 is referred to as an "axial direction", a direction perpendicular to the rotation axis O1 is referred to as a "radial direction", and a rotation direction around the rotation axis O1 is referred to as a "circumferential direction". The side (left side in the drawing) that is coupled to the external driven member in the axial direction and outputs the decelerated motion to the driven member is referred to as "output side", and the side (right side in the drawing) opposite to the output side is referred to as "opposite output side".
The external gear 11 is a cylindrical member having flexibility and centered on the rotation axis O1, and has teeth provided on the outer periphery thereof.
The 1 st ring gear 31G and the 2 nd ring gear 32G rotate around the start body shaft 10 around the rotation shaft O1. These 1 st internal gear 31G and 2 nd internal gear 32G are arranged in an axial direction and mesh with external gear 11. Specifically, one of the 1 st internal gear 31G and the 2 nd internal gear 32G meshes with the tooth portion of the external gear 11 on one side of the center in the axial direction, and the other meshes with the tooth portion of the external gear 11 on the other side of the center in the axial direction.
Here, the 1 st internal gear 31G is configured by providing internal teeth at corresponding portions of the inner peripheral portion of the 1 st internal gear member 31. On the other hand, the 2 nd internal gear 32G is configured by providing internal teeth at corresponding portions of the inner peripheral portion of the 2 nd internal gear member 32.
The oscillator bearing 12 is, for example, a roller bearing, and is disposed between the oscillator 10A and the external gear 11. The oscillator 10A and the external gear 11 are relatively rotatable via an oscillator bearing 12.
The oscillator bearing 12 includes: an outer ring 12a fitted inside the external gear 11; a plurality of rolling elements (rollers) 12 b; and a cage 12c that holds the plurality of rolling elements 12 b.
The plurality of rolling elements 12b have: a 1 st group of rolling elements 12b arranged radially inward of the 1 st internal gear 31G and arranged in the circumferential direction; and a 2 nd group rolling element 12b arranged radially inward of the 2 nd internal gear 32G and arranged in the circumferential direction. These rolling elements 12b roll with the outer peripheral surface of the oscillator 10A and the inner peripheral surface of the outer ring 12a as rolling surfaces. The outer ring 12a is provided with two outer rings having the same shape and arranged in the axial direction in accordance with the arrangement of the plurality of rolling elements 12 b. The oscillator bearing 12 may have an inner ring separate from the oscillator 10A.
On both sides in the axial direction of the oscillator bearing 12 and the external gear 11, spacer rings 41 and 42 are provided as restricting members that abut against them and restrict their movement in the axial direction.
The outer case 33 is coupled to the 1 st internal gear member 31 by bolts 51, and covers the radially outer side of the 2 nd internal gear 32G. The housing 33 has an outer ring portion of a main bearing 38 (for example, a cross roller bearing) formed on an inner circumferential portion thereof, and the housing 33 rotatably supports the 2 nd internal gear member 32 via the main bearing 38. When the bending mesh type gear device 1 is connected to an external target device, the housing 33 and the 1 st internal gear member 31 are fastened and connected to the target device together.
The 1 st cover body 34 is coupled to the 1 st internal gear member 31 by bolts 52, and covers a meshing portion between the external gear wheel 11 and the 1 st internal gear member 31G from the opposite side to the output side in the axial direction. A bearing 36 (e.g., a ball bearing) is disposed between the 1 st cover 34 and the shaft 10B of the starting body shaft 10, and the 1 st cover 34 rotatably supports the starting body shaft 10 via the bearing 36.
The 2 nd cover body 35 is coupled to the 2 nd internal gear member 32 by bolts 53, and covers a meshing portion between the external gear wheel 11 and the 2 nd internal gear member 32G from the output side in the axial direction. A bearing 37 (e.g., a ball bearing) is disposed between the 2 nd cover 35 and the shaft 10C of the starting body shaft 10, and the 2 nd cover 35 rotatably supports the starting body shaft 10 via the bearing 37. When the flexible mesh gear device 1 is connected to an external target device, the 2 nd cover 35 is fastened to a driven member of the target device together with the 2 nd internal gear member 32, and outputs the rotation after deceleration to the driven member.
The flexible meshing gear device 1 further includes oil seals 43, 44, and 45 for sealing, and O- rings 46, 47, and 48.
The oil seal 43 is disposed between the shaft portion 10B of the oscillation body shaft 10 at the end on the opposite side of the output in the axial direction and the 1 st cover 34, and suppresses the lubricant from flowing out to the opposite side of the output. The oil seal 44 is disposed between the shaft portion 10C of the excitation shaft 10 on the output side end in the axial direction and the 2 nd cover 35, and suppresses the outflow of the lubricant to the output side. The oil seal 45 is disposed between the casing 33 and the 2 nd inner gear member 32, and inhibits the outflow of lubricant therefrom.
The O-ring 46 is provided between the 1 st internal gear member 31 and the 1 st cover 34, the O-ring 47 is provided between the 1 st internal gear member 31 and the housing 33, and the O-ring 48 is provided between the 2 nd internal gear member 32 and the 2 nd cover 35, thereby suppressing the lubricant from flowing out therebetween.
[ Gear shape of external Gear ]
The external gear 11 is elastically deformed by the oscillator 10A or is deformed by load torque, and in addition, the external gear 11 is affected by accumulation of manufacturing errors of the respective parts, and the tooth contact state changes during operation. If the tooth contact state is poor, excessive tooth surface pressure is generated on the tooth surface, which causes premature damage. Therefore, suppression of the tooth surface pressure is expected.
In this regard, the present inventors have found that the tooth surface pressure is a convex function with respect to the chordal tooth thickness of the external gear wheel 11. Therefore, the increase in the tooth surface pressure can be suppressed as long as the chordal tooth thickness can be set within an appropriate range. However, simply setting only the chordal tooth thickness as a parameter makes the optimum range of the chordal tooth thickness different between the types of devices having different gear sizes or reduction ratios.
Therefore, the present inventors have used the index a obtained by normalizing the chordal tooth thickness of the external gear wheel 11 by another characteristic value, and have set a general optimum range regardless of the type of equipment.
The index a is represented by the following formula (1).
A is the external gear chord tooth thickness, the external gear tooth root thickness and the shape coefficient of the starting vibration body
X reduction ratio/PCD2.1……(1)
In which, as shown in figure 2,
the external gear chordal tooth thickness S is the chordal tooth thickness at the PCD position (the central position of the tooth height h) of the external gear 11, and PCD is the diameter of a circle passing through the center of the tooth height h of the external gear 11 in a perfect circle state (in a state of being assembled before the starting body 10A)
The tooth tip diameter d 1-root circle diameter d2 ÷ 2+ root circle diameter d2,
outer gear tooth root thickness is the thickness from the inner circumference of the outer gear 11 to the tooth root
Root circle diameter d 2-inner diameter d3 ÷ 2,
the shape coefficient of the oscillator is the amount of deformation of the oscillator 10A into a substantially elliptical shape
The length of the oscillator 10A is equal to the diameter of the corresponding circle divided by 2,
the equivalent circle diameter is a diameter of a circle having a circumference equal to the circumference of the substantially elliptical vibrating element 10A,
the reduction ratio is the number of teeth of external gear 11 ÷ (number of teeth of 1 st internal gear 31G — number of teeth of external gear 11).
Fig. 3 is a graph showing the relationship between the index a and the tooth surface pressure. In fig. 3, tooth surface pressures of a total of nine equipment types, in which the size and the reduction ratio of the external gear 11 are different from each other in three levels (large, medium, and small), respectively, are shown.
As shown in FIG. 3, the index A is preferably 2.20X 10 between inflection points P1-P2 where the tooth surface pressure rises sharply-3To 2.70X 10-3(0.0022 to 0.0027) in a range R1. If the index a is within the range R1, a sharp increase in the tooth surface pressure can be suppressed. Further, the index a is more preferably 2.30 × 10 from the viewpoint of more reliably suppressing the rise in the tooth surface pressure regardless of the size and the reduction gear ratio-3To 2.60X 10-3More preferably 2.37X 10 in the range of R2-3To 2.50X 10-3In range R3.
The index a may be set according to a desired allowable tooth surface pressure. When the flexible engagement gear device 1 is used in general applications (for example, joints of a robot, a machine tool, or the like), the tooth surface pressure of the external gear 11 when receiving the maximum torque is required to be equal to or less than the allowable tooth surface pressure. The maximum torque is the maximum torque allowed at the time of start or stop. The allowable tooth surface pressure depends mainly on the material of the external gear 11 and the surface hardness of the tooth surface. At this time, the index a may be set according to an allowable tooth surface pressure corresponding to the surface hardness that can be achieved by the alloy steel or the carbon steel for the mechanical structure generally used for the external gear 11 of the flexible mesh gear device 1.
[ deceleration action of flexural-meshing Gear device ]
Next, a deceleration operation of the flexible mesh gear device 1 will be described.
When the start body shaft 10 is rotationally driven by a drive source such as a motor, the motion of the start body 10A is transmitted to the external gear 11. At this time, the shape of the external gear 11 is restricted to conform to the outer peripheral surface of the oscillator 10A, whereby the external gear 11 is flexed into an elliptical shape having a major axis portion and a minor axis portion as viewed in the axial direction. Further, the major axis portion of the external gear wheel 11 meshes with the fixed 1 st internal gear wheel 31G. Therefore, the external gear 11 does not rotate at the same rotational speed as the oscillator 10A, and the oscillator 10A rotates relatively inside the external gear 11. Then, the external gear wheel 11 is deformed in a flexural manner so that the long axis position and the short axis position thereof move in the circumferential direction in accordance with the relative rotation. The period of this deformation is proportional to the rotation period of the start-up body shaft 10.
When the external gear 11 is deformed, the long-axis position thereof moves, and therefore, the meshing position between the external gear 11 and the 1 st internal gear 31G changes in the rotational direction. Here, for example, when the number of teeth of the external gear 11 is 100 and the number of teeth of the 1 st internal gear 31G is 102, the external gear 11 rotates (rotates) by gradually shifting the meshing teeth of the external gear 11 and the 1 st internal gear 31G every rotation of the meshing position. If the number of teeth is set as described above, the rotational motion of the oscillator shaft 10 is reduced at a reduction ratio of 100:2 and then transmitted to the external gear 11. At this time, the reduction ratio is "50".
On the other hand, since the external gear 11 is also meshed with the 2 nd internal gear 32G, the meshing position of the external gear 11 and the 2 nd internal gear 32G is also changed in the rotational direction by the rotation of the starting body shaft 10. Here, if the number of teeth of the 2 nd internal gear 32G is equal to the number of teeth of the external gear 11, the external gear 11 and the 2 nd internal gear 32G do not rotate relative to each other, and the rotational motion of the external gear 11 is transmitted to the 2 nd internal gear 32G at a reduction ratio of 1: 1. Thus, the rotational motion of the oscillator shaft 10 is reduced at a reduction ratio of 100:2, transmitted to the 2 nd internal gear member 32 and the 2 nd cover 35, and then output to the driven member.
Here, in the flexible mesh gear device 1, the index a relating to the chordal tooth thickness of the external gear wheel 11 is 2.20 × 10-3To 2.70X 10-3Is within the range of R1, the tooth surface pressure is suppressed between inflection points P1-P2, and a sharp rise in the tooth surface pressure is suppressed.
[ technical effects of the present embodiment ]
As described above, according to the present embodiment, the index a relating to the chordal tooth thickness S of the external gear wheel 11 is 2.20 × 10-3To 2.70X 10-3Is within the range R1, the tooth surface pressure is suppressed between the inflection points P1-P2. This can suppress a rapid increase in the tooth surface pressure of the external gear wheel 11, and can prevent premature damage to the external gear wheel 11.
In addition, in particular, in the external gear 11 having a size range set simply from the viewpoint of ease of manufacture, there is a large variation in durability in the case where the machining of the small-modulus gear is difficult and it is desired to alleviate the requirement for the machining accuracy of the external gear 11. In contrast, in the present embodiment, by using a certain amount of design index, index a relating to the chordal tooth thickness S, it is possible to favorably suppress the occurrence of variations in durability of external gear wheel 11.
[ others ]
The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments.
For example, in the above-described embodiment, the description has been made from the viewpoint of the structure of the single flexible mesh gear device 1. However, the present invention can also be regarded as a product group (gear train) including the flexible engagement type gear devices of the 1 st gear device 1A and the 2 nd gear device 1B having the common range of the index a. At this time, in the 1 st gear device 1A and the 2 nd gear device 1B, at least one of the PCD and the reduction ratio of the external gear 11 is different. As described above, the index a of each of the external gears 11 of the 1 st gear device 1A and the 2 nd gear device 1B is within the range R1.
The present invention can also be regarded as a method of constructing or designing a gear train (gear train set) from the viewpoint of how to construct or design each gear train included in the train. The present invention can also be regarded as a method for manufacturing a gear train (gear train set) including a plurality of gear trains from the viewpoint of how to manufacture the gear train (gear train set). In the above embodiment, the driven member of the target device is coupled to the 2 nd cover 35 and the 2 nd internal gear member 32. However, the driven member may be coupled to the outer case 33, the 1 st internal gear member 31, and the 1 st cover 34, and the decelerated rotation may be output from the outer case 33, the 1 st internal gear member 31, and the 1 st cover 34.
In the above embodiment, a cylindrical type flexible engagement gear device is exemplified as the flexible engagement gear device 1. However, the present invention is not limited to this, and for example, the present invention can be suitably applied to a cup-type or top-hat-type flexible engagement gear device.
In addition, the details shown in the above embodiments may be appropriately modified without departing from the spirit of the present invention.
Claims (8)
1. A flexural-engagement gear device comprising a vibration generator, an external gear which is flexural-deformed by the vibration generator, and an internal gear which engages with the external gear,
the index A represented by the following formula is 2.20X 10-3To 2.70X 10-3In the range of (a) to (b),
a is the external gear chord tooth thickness x the external gear tooth root thickness x the starting body shape coefficient x the reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
2. The flexure mesh gear device of claim 1,
the external gear is made of alloy steel for mechanical structure or carbon steel for mechanical structure.
3. The flexure mesh gear device according to claim 1 or 2,
the flexible mesh gear device is a tubular flexible mesh gear device having a 1 st internal gear and a 2 nd internal gear as the internal gears.
4. The flexure mesh gear device according to any one of claims 1 to 3,
the index A is 2.30 x 10-3To 2.60X 10-3Within the range of (1).
5. The flexure mesh gear device according to any one of claims 1 to 4,
the index A is 2.37 multiplied by 10-3To 2.50X 10-3Within the range of (1).
6. A gear train comprising a 1 st gear arrangement and a 2 nd gear arrangement, wherein,
the 1 st gear device and the 2 nd gear device are each a flexible meshing type gear device including a vibration generator, an external gear that is flexibly deformed by the vibration generator, and an internal gear that meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of the PCD of the external gear and the reduction ratio is different from each other,
and index A represented by the following formula is 2.20X 10-3To 2.70X 10-3In the range of (a) to (b),
a is the external gear chord tooth thickness x the external gear tooth root thickness x the starting body shape coefficient x the reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
7. A method of manufacturing a gear train including a 1 st gear unit and a 2 nd gear unit, wherein,
the 1 st gear device and the 2 nd gear device are each a flexible meshing type gear device including a vibration generator, an external gear that is flexibly deformed by the vibration generator, and an internal gear that meshes with the external gear,
in the 1 st gear device and the 2 nd gear device, at least one of the PCD and the reduction ratio of the external gear is different from each other,
so that the index A represented by the following formula is 2.20X 10-3To 2.70X 10-3Each of the external gears is manufactured in such a manner that,
a is the external gear chord tooth thickness x the external gear tooth root thickness x the starting body shape coefficient x the reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
8. A method of designing a gear train comprising a 1 st gear unit and a 2 nd gear unit, wherein,
the 1 st gear device and the 2 nd gear device are each a flexible meshing type gear device including a vibration generator, an external gear that is flexibly deformed by the vibration generator, and an internal gear that meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of the PCD of the external gear and the reduction ratio is different from each other,
and the index A represented by the following formula is set to 2.20 × 10-3To 2.70X 10-3In the range of (a) to (b),
a is the external gear chord tooth thickness x the external gear tooth root thickness x the starting body shape coefficient x the reduction ratio/PCD2.1……(1)
Wherein,
the thickness of the external gear chord tooth is equal to that of the chord tooth at the central position of the tooth height of the external gear,
PCD is the diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the vibration generating body,
the tooth root thickness of the external gear is the thickness from the inner periphery of the external gear to the tooth root,
the shape coefficient of the starting vibrator is (starting vibrator long diameter-starting vibrator equivalent circle diameter) ÷ 2.
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| JP2020060141A JP7282053B2 (en) | 2020-03-30 | 2020-03-30 | Flexible meshing gearbox, series of gearboxes, manufacturing method and designing method thereof |
| JP2020-060141 | 2020-03-30 |
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| JPS5337008B2 (en) | 1974-05-31 | 1978-10-06 | ||
| JP5337008B2 (en) | 2009-11-30 | 2013-11-06 | 住友重機械工業株式会社 | Flexure meshing gear device and method of manufacturing the external gear |
| JP6218693B2 (en) * | 2014-07-23 | 2017-10-25 | 株式会社ハーモニック・ドライブ・システムズ | Dual type wave gear device |
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| JP2011021729A (en) * | 2009-07-17 | 2011-02-03 | Sumitomo Heavy Ind Ltd | Flexible meshing type gear device, and method for determining tooth profile of the same |
| CN104040217A (en) * | 2012-01-10 | 2014-09-10 | 谐波传动系统有限公司 | Strain wave gearing with involute positive deflection tooth profile taking rim thickness into consideration |
| CN104534031A (en) * | 2015-01-05 | 2015-04-22 | 西北工业大学 | Transmission device for robot joint |
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| DE102021107871A1 (en) | 2021-09-30 |
| CN113464610B (en) | 2024-04-05 |
| JP2021156422A (en) | 2021-10-07 |
| JP7282053B2 (en) | 2023-05-26 |
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