CN113464610B - Flexible meshing gear device, gear device series, and manufacturing and designing methods thereof - Google Patents
Flexible meshing gear device, gear device series, and manufacturing and designing methods thereof Download PDFInfo
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- CN113464610B CN113464610B CN202110187646.5A CN202110187646A CN113464610B CN 113464610 B CN113464610 B CN 113464610B CN 202110187646 A CN202110187646 A CN 202110187646A CN 113464610 B CN113464610 B CN 113464610B
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- 238000004519 manufacturing process Methods 0.000 title claims description 10
- 238000000034 method Methods 0.000 title claims description 9
- 230000010355 oscillation Effects 0.000 claims description 19
- 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
- 230000037237 body shape Effects 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 description 8
- 230000002093 peripheral effect Effects 0.000 description 6
- 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
- 238000010276 construction 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
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- 125000006850 spacer group Chemical group 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The subject of the invention is to restrain the tooth surface pressure of an external gear. A flexible meshing gear device (1) is provided with a vibration starting body (10A), an external gear (11) which is deformed by the vibration starting body in a flexible manner, and an internal gear meshing with the external gear. In the external gear, an index A related to chordal tooth thickness represented by the following formula is 2.20X10 ‑3 Up to 2.70X10 ‑3 Within the range (R1). A=external gear chord thickness x external gear tooth root thickness x starting shape coefficient x reduction ratio ≡pcd 2.1 … … (1), wherein the tooth thickness (S) =the tooth thickness of the external gear at the center position of the tooth height (h) of the external gear (11), pcd=the diameter of the circle passing through the center of the tooth height of the external gear in the state before the vibration starting body, the tooth root thickness of the external gear=the thickness from the inner periphery of the external gear to the tooth root, and the vibration starting body shape coefficient= (vibration starting body major diameter-vibration starting body equivalent circle diameter)/(2).
Description
The present application claims priority based on japanese patent application No. 2020-060141 filed 3/30/2020. The entire contents of this japanese application are incorporated by reference into this specification.
Technical Field
The invention relates to a deflection meshing type gear device, a gear device series, a manufacturing method and a design method thereof.
Background
Conventionally, a flex-meshing gear device including a flex-deformed external gear is known (for example, refer to patent document 1). In addition to normal flexural deformation (elastic deformation), the external gear is deformed by load torque, or is affected by accumulation of manufacturing errors of the respective components, 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 becomes a cause of 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 external gear.
The present invention relates to a flexible meshing gear device including a vibration starting body, an external gear deformed by the vibration starting body, and an internal gear meshing with the external gear, the flexible meshing gear device having the following structure:
the index A represented by the following formula is 2.20X10 -3 Up to 2.70X10 -3 Within the range of (2),
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient
X reduction ratio PCD 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
The invention also relates to a gear device series, which comprises a 1 st gear device and a 2 nd gear device, wherein,
the 1 st gear device and the 2 nd gear device are respectively flexural meshing gear devices comprising a starting body, an external gear which is flexural deformed by the starting body and an internal gear which meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of PCD and reduction ratio of the external gear is different from each other,
and the index A represented by the following formula is 2.20X10 -3 Up to 2.70X10 -3 Within the range of (2),
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient
X reduction ratio PCD 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
The present invention also relates to a method for manufacturing a gear train including a 1 st gear and a 2 nd gear, wherein,
the 1 st gear device and the 2 nd gear device are respectively flexural meshing gear devices comprising a starting body, an external gear which is flexural deformed by the starting body and an internal gear which meshes with the external gear,
in the 1 st gear device and the 2 nd gear device, at least one of PCD and reduction ratio of the external gear is different from each other,
so that the index A represented by the following formula becomes 2.20X10 -3 Up to 2.70X10 -3 Each of the external gears is manufactured in a range of manners,
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient
X reduction ratio PCD 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
The invention also relates to a method for designing a gear train comprising a 1 st gear and a 2 nd gear, wherein,
the 1 st gear device and the 2 nd gear device are respectively flexural meshing gear devices comprising a starting body, an external gear which is flexural deformed by the starting body and an internal gear which meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of PCD and reduction ratio of the external gear is different from each other,
and the index A represented by the following formula is set to 2.20X10 -3 Up to 2.70X10 -3 Within the range of (2),
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient
X reduction ratio PCD 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
According to the present invention, the tooth surface pressure of the external gear can be suppressed.
Drawings
Fig. 1 is a cross-sectional view showing a flexible meshing gear device according to the present embodiment.
Fig. 2 is a diagram for explaining the gear shape of the external gear.
Fig. 3 is a graph showing the relationship between the index a regarding the chordal tooth thickness of the external gear and the tooth surface pressure.
In the figure: 1-flex meshing gear device, 1A-1 st gear device, 1B-2 nd gear device, 10-starting body shaft, 10A-starting body, 11-external gear, d 1-addendum circle diameter, d 2-root circle diameter, d 3-internal diameter, h-tooth height, S-chord tooth thickness, 31G-1 st internal gear, 32G-2 nd internal gear, O1-rotation shaft, 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 accompanying drawings.
[ Structure of flex-mesh Gear device ]
Fig. 1 is a cross-sectional view showing a flexible meshing gear device 1 according to the present invention.
As shown in fig. 1, the flexible meshing gear device 1 is a cylindrical flexible meshing gear device, and includes a vibrator shaft 10, an external gear 11, a 1 st internal gear 31G, a 2 nd internal gear 32G, a vibrator bearing 12, a housing 33, a 1 st cover 34, and a 2 nd cover 35.
The oscillating body shaft 10 is a hollow cylindrical shaft that rotates around a rotation axis O1, and has an oscillating body 10A having 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 oscillating body 10A in the axial direction. The ellipse is not limited to an ellipse in a strict sense of geometry, but includes a substantially ellipse. The shaft portions 10B and 10C are shafts having circular outer shapes in 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) of the driven member that is coupled to the outside in the axial direction and outputs the motion after deceleration 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 its outer periphery.
The 1 st internal gear 31G and the 2 nd internal gear 32G rotate around the oscillation starting body shaft 10 around the rotation axis O1. These 1 st internal gear 31G and 2 nd internal gear 32G are arranged in the axial direction and mesh with the external gear 11. Specifically, one of the 1 st internal gear 31G and the 2 nd internal gear 32G meshes with the teeth of the external gear 11 on one side of the center in the axial direction, and the other meshes with the teeth 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 oscillating body bearing 12 is, for example, a roller bearing, and is disposed between the oscillating body 10A and the external gear 11. The oscillating body 10A and the external gear 11 are rotatable relative to each other via an oscillating body bearing 12.
The vibrator bearing 12 includes: an outer ring 12a fitted inside the outer gear 11; a plurality of rolling elements (rollers) 12b; and a cage 12c that holds the plurality of rolling elements 12b.
The plurality of rolling elements 12b includes: a 1 st group of rolling elements 12b arranged radially inward of the 1 st internal gear 31G and circumferentially arranged; and the 2 nd group of rolling elements 12b arranged radially inward of the 2 nd internal gear 32G and circumferentially arranged. The rolling elements 12b roll with the outer peripheral surface of the starting element 10A and the inner peripheral surface of the outer ring 12a as rolling surfaces. Regarding the outer ring 12a, two outer rings of the same shape are arranged in the axial direction corresponding to the arrangement of the plurality of rolling elements 12b. The oscillating body bearing 12 may have an inner ring separate from the oscillating body 10A.
Spacer rings 41, 42 that come into contact with the oscillating body bearing 12 and the external gear 11 to restrict movement thereof in the axial direction are provided as restricting members on both sides in the axial direction.
The casing 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 peripheral portion thereof, and the housing 33 rotatably supports the 2 nd internal gear member 32 via the main bearing 38. When the flexible meshing gear device 1 is connected to an external target device, the housing 33 and the 1 st internal gear member 31 are both fastened to the target device.
The 1 st cover 34 is coupled to the 1 st internal gear member 31 by bolts 52, and covers the meshing portion between the external gear 11 and the 1 st internal gear member 31G on the opposite side of the output in the axial direction. A bearing 36 (e.g., a ball bearing) is disposed between the 1 st cover 34 and the shaft portion 10B of the oscillating body shaft 10, and the 1 st cover 34 rotatably supports the oscillating body shaft 10 via the bearing 36.
The 2 nd housing 35 is coupled to the 2 nd internal gear member 32 by bolts 53, and covers the meshing portion between the external gear 11 and the 2 nd internal gear 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 portion 10C of the oscillating body shaft 10, and the 2 nd cover 35 rotatably supports the oscillating body shaft 10 via the bearing 37. When the flexible meshing gear device 1 is connected to an external target device, the 2 nd housing 35 and the 2 nd internal gear member 32 are fastened together to a driven member of the target device, and the decelerated rotation is output to the driven member.
The flexible meshing gear device 1 further includes seal oil seals 43, 44, 45 and O-rings 46, 47, 48.
The oil seal 43 is disposed between the shaft portion 10B of the oscillating body shaft 10 and the 1 st cover 34 at the end portion opposite to the output in the axial direction, and suppresses the outflow of the lubricant to the opposite output side. The oil seal 44 is disposed between the shaft portion 10C of the oscillating body shaft 10 and the 2 nd casing 35 at the output side end in the axial direction, and suppresses the outflow of lubricant to the output side. The oil seal 45 is disposed between the housing 33 and the 2 nd internal gear member 32, and suppresses outflow of lubricant from that portion.
An O-ring 46 is provided between the 1 st internal gear member 31 and the 1 st housing 34, an O-ring 47 is provided between the 1 st internal gear member 31 and the casing 33, and an O-ring 48 is provided between the 2 nd internal gear member 32 and the 2 nd housing 35, thereby suppressing the outflow of lubricant therebetween.
[ Gear shape of external Gear ]
The external gear 11 is elastically deformed by the oscillating body 10A or deformed by the load torque, and in addition to this, the external gear 11 is affected by the accumulation of manufacturing errors of the respective components, 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 becomes a cause of premature damage. Therefore, suppression of tooth surface pressure is desired.
In this connection, the inventors have found that the tooth surface pressure is a convex function with respect to the chordal tooth thickness of the external gear 11. Therefore, the increase in tooth surface pressure can be suppressed as long as the chord tooth thickness can be set within an appropriate range. However, when simply taking the thickness of the chords as a parameter, the optimum range of the thicknesses of the chords varies 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 tooth thickness of the external gear 11 by another characteristic value, and can set the optimum range for the use regardless of the type of equipment.
The index a is represented by the following formula (1).
A=external gear chord thickness x external gear tooth root thickness x starting shape coefficient
X reduction ratio PCD 2.1 ……(1)
Wherein, as shown in figure 2,
external gear chord thickness s=chord thickness at the PCD position (center position of tooth height h) of external gear 11, pcd= (diameter of circle passing through center of tooth height h of external gear 11 in the state before assembly in starting body 10A)
= (addendum circle diameter d 1-root circle diameter d 2)/(2 + root circle diameter d 2),
external gear tooth root thickness = thickness of internal circumference of external gear 11 to tooth root
= (root circle diameter d 2-inner diameter d 3)/(2),
shape coefficient of oscillation starting body = amount of deformation of oscillation starting body 10A into substantially elliptical shape
= (major diameter of oscillating body 10A-quite circle diameter)/(2),
quite right circular diameter = diameter of a right circle of a circumference equal to the circumference of the substantially elliptical-shaped oscillating body 10A,
reduction ratio=the number of teeth of the external gear 11 ≡ (the number of teeth of the 1 st internal gear 31G-the number of teeth of the external gear 11).
Fig. 3 is a graph showing a relationship between the index a and the tooth surface pressure. In fig. 3, the tooth surface pressures of a total of nine equipment categories, in which the size and the reduction ratio of the external gear 11 are respectively different in three levels (large, medium, small) from each other, are shown.
As shown in FIG. 3, the index A is preferably 2.20X10 between inflection points P1-P2 where the tooth surface pressure increases sharply -3 Up to 2.70X10 -3 (0.0022 to 0.0027) R1. If the index a falls within the range R1, a sharp rise 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 increase in the tooth surface pressure regardless of the size and the reduction ratio -3 Up to 2.60×10 -3 Within the range R2 of (2), more preferably within the range of 2.37X10 -3 Up to 2.50X10 -3 Is within range R3 of (c).
The index a may be set according to a desired allowable tooth surface pressure. When the flexible meshing gear device 1 is used for general purposes (for example, joints of a robot arm, a machine tool, and the like), the tooth surface pressure when the external gear 11 receives the maximum torque is required to be equal to or lower than the allowable tooth surface pressure. The maximum torque is the maximum torque allowed at the time of starting or stopping. The allowable tooth surface pressure mainly depends on the material of the external gear 11 and the surface hardness of the tooth surface. In this case, the index a may be set according to an allowable tooth surface pressure corresponding to the surface hardness that can be achieved by alloy steel or carbon steel for mechanical structure of the external gear 11 that is generally used in the flexible-meshed gear device 1.
[ deceleration action of flex-mesh Gear device ]
Next, a deceleration operation of the flexible meshing gear device 1 will be described.
When a drive source such as a motor drives the vibrator shaft 10 to rotate, the motion of the vibrator 10A is transmitted to the external gear 11. At this time, the shape of the external gear 11 is limited to conform to the outer peripheral surface of the oscillating body 10A, whereby the external gear 11 flexes into an elliptical shape having a major axis portion and a minor axis portion when viewed from the axial direction. Further, the long shaft portion of the external gear 11 meshes with the fixed 1 st internal gear 31G. Therefore, the external gear 11 does not rotate at the same rotation speed as the vibration starting body 10A, and the vibration starting body 10A relatively rotates inside the external gear 11. Then, with this relative rotation, the external gear 11 is deformed so as to move in the circumferential direction in the major axis position and the minor axis position. The period of this deformation is proportional to the rotation period of the vibrator shaft 10.
When the external gear 11 is deformed by deflection, 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 one rotation of the meshing position. With the above-described number of teeth, the rotational motion of the oscillating body shaft 10 is decelerated 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 with the 2 nd internal gear 32G also changes in the rotation direction by the rotation of the oscillating body shaft 10. Here, if the number of teeth of the 2 nd internal gear 32G is set to be the same as the number of teeth of the external gear 11, the external gear 11 and the 2 nd internal gear 32G do not rotate relatively, 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 vibrator shaft 10 is decelerated at a reduction ratio of 100:2 and then transmitted to the 2 nd internal gear member 32 and the 2 nd cover 35, and then the rotational motion is output to the driven member.
In the flex-meshing gear device 1, the index a related to the chordal tooth thickness of the external gear 11 is 2.20×10 -3 Up to 2.70X10 -3 In the range R1 of (c), the tooth surface pressure is suppressed between the inflection points P1-P2, and the abrupt rise of the tooth surface pressure is suppressed.
[ technical effects of the present embodiment ]
As described above, according to the present embodiment, the index a related to the chordal tooth thickness S of the external gear 11 is 2.20×10 -3 Up to 2.70X10 -3 So that the tooth surface pressure is suppressed between the inflection points P1-P2. This suppresses abrupt increases in the tooth surface pressure of the external gear 11, and further prevents premature damage to the external gear 11.
In particular, in the external gear 11 in which the size range is set simply from the viewpoint of ease of manufacturing, 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 machining accuracy of the external gear 11. In contrast, in the present embodiment, the occurrence of variation in the durability of the external gear 11 can be favorably suppressed by using the quantitative design index, which is the index a related to the chordal tooth thickness S.
[ 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 flex engagement gear device 1. However, the present invention can also be regarded as a product group (gear train) including the flex engagement type gear units of the 1 st gear unit 1A and the 2 nd gear unit 1B having the general index a range. 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 external gear 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 construction method or a design method of a gear system (gear system group) from the viewpoint of how to construct or design each gear system included in the system. The present invention can also be regarded as a method for manufacturing a gear train (gear train group) including a plurality of gears from the viewpoint of how to manufacture the gear train (gear train group). In the above embodiment, the driven member of the target device is coupled to the 2 nd housing 35 and the 2 nd internal gear member 32. However, the driven member may be coupled to the housing 33, the 1 st internal gear member 31, and the 1 st cover 34, and the decelerated rotation may be output from the housing 33, the 1 st internal gear member 31, and the 1 st cover 34.
In the above embodiment, a cylindrical flex engagement gear device is illustrated as the flex engagement gear device 1. However, the present invention is not limited to this, and the present invention can be suitably applied to, for example, a cup-shaped or top hat-shaped flex-engagement gear device.
The details shown in the above embodiments may be changed as appropriate without departing from the spirit of the present invention.
Claims (8)
1. A flexible meshing gear device comprising a vibration starting body, an external gear which is flexible and deformed by the vibration starting body, and an internal gear which meshes with the external gear,
the index A represented by the following formula is 2.20X10 -3 Up to 2.70X10 -3 Within the range of (2),
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient x reduction ratio ≡pcd 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
2. The flex engagement gear device according to claim 1, wherein,
the external gear is made of alloy steel for mechanical structure or carbon steel for mechanical structure.
3. The flexible meshing gear device according to claim 1 or 2, wherein,
the flex engagement gear device is a cylindrical flex engagement gear device having a 1 st internal gear and a 2 nd internal gear as the internal gears.
4. A flexible meshing gear device according to any one of claim 1 to 3, wherein,
the index A is 2.30X10 -3 Up to 2.60×10 -3 Is of (2)And is enclosed inside.
5. The flexible meshing gear device according to any one of claims 1 to 4, wherein,
the index A is 2.37X10 -3 Up to 2.50X10 -3 Within a range of (2).
6. A gear device series comprises a 1 st gear device and a 2 nd gear device, wherein,
the 1 st gear device and the 2 nd gear device are respectively flexural meshing gear devices comprising a starting body, an external gear which is flexural deformed by the starting body and an internal gear which meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of PCD and reduction ratio of the external gear is different from each other,
and the index A represented by the following formula is 2.20X10 -3 Up to 2.70X10 -3 Within the range of (2),
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient x reduction ratio ≡pcd 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
7. A method for manufacturing a gear train comprising a 1 st gear and a 2 nd gear, wherein,
the 1 st gear device and the 2 nd gear device are respectively flexural meshing gear devices comprising a starting body, an external gear which is flexural deformed by the starting body and an internal gear which meshes with the external gear,
in the 1 st gear device and the 2 nd gear device, at least one of PCD and reduction ratio of the external gear is different from each other,
so that the index A represented by the following formula becomes 2.20X10 -3 Up to 2.70X10 -3 Each of the external gears is manufactured in a range of manners,
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient x reduction ratio ≡pcd 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
8. A design method of a gear device series comprises a 1 st gear device and a 2 nd gear device, wherein,
the 1 st gear device and the 2 nd gear device are respectively flexural meshing gear devices comprising a starting body, an external gear which is flexural deformed by the starting body and an internal gear which meshes with the external gear,
in the 1 st gear device and the 2 nd gear device,
at least one of PCD and reduction ratio of the external gear is different from each other,
and the index A represented by the following formula is set to 2.20X10 -3 Up to 2.70X10 -3 Within the range of (2),
a=external gear chord thickness x external gear tooth root thickness x starting shape coefficient x reduction ratio ≡pcd 2.1 ……(1)
Wherein,
external gear chord thickness = chord thickness at the central location of the tooth height of the external gear,
pcd=diameter of a circle passing through the center of the tooth height of the external gear in a state before being assembled to the starting body,
external gear tooth root thickness = thickness of the internal circumference of the external gear up to the tooth root,
oscillation starting shape coefficient= (oscillation starting body long diameter-oscillation starting body equivalent circular diameter)/(2).
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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 |
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| JP2021156422A (en) | 2021-10-07 |
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