CN115789182A - Rotary speed-reducing transmission device - Google Patents
Rotary speed-reducing transmission device Download PDFInfo
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- CN115789182A CN115789182A CN202211534281.XA CN202211534281A CN115789182A CN 115789182 A CN115789182 A CN 115789182A CN 202211534281 A CN202211534281 A CN 202211534281A CN 115789182 A CN115789182 A CN 115789182A
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- rotation
- transmission pin
- transmission
- gear
- circumferential direction
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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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/04—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion
- F16H25/06—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying rotary motion with intermediate members guided along tracks on both rotary members
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
Provided is a rotation deceleration transmission device which can reduce the manufacturing cost, improve the durability and reliability, and realize the miniaturization and the improvement of the rotation transmission efficiency. Comprises the following components: a cam main body portion integrated with the rotation input portion, and an elliptical shaft portion having a rotating body interposed between an inner wheel and a flexible outer wheel provided on an outer periphery thereof; an inner gear part having an inner gear formed on an inner periphery thereof; a flexible gear part having an external gear having fewer teeth than the internal gear and meshing with the internal gear at a plurality of meshing positions when attached to the outer periphery of the elliptical shaft part, and having a plurality of transmission pin parts; and a rotation output mechanism having an output plate portion provided with an engagement portion forming an engagement hole for engaging each transmission pin portion, the engagement holes being provided at predetermined intervals in the circumferential direction and allowing displacement of the transmission pin portion in the circumferential direction and/or the radial direction during rotation transmission.
Description
The application is a divisional application of an invention patent application with the application date of 2017, 9 and 7, the application number of 201710799694.3 and the name of the invention of a rotary speed reduction transmission device.
Technical Field
The present invention relates to a rotation deceleration transmission device that is incorporated in a robot or the like to decelerate an input rotational motion and output the decelerated motion.
Background
Generally, an industrial robot configured by coupling a plurality of arm portions by joint mechanisms is installed in a production line of a production plant requiring mass productivity. The joint mechanism is configured to rotatably couple an end portion of an arbitrary arm portion and an end portion of another arm portion, and includes a rotation deceleration transmission device capable of decelerating the rotation of a drive motor incorporated in the arbitrary arm portion to about 1/100 to 1/200, and driving the other arm portion to rotate by a decelerated rotation output. Therefore, such a rotation deceleration transmission device requires high-precision positioning control, angle control, speed control, and the like.
Conventionally, as a rotation reduction transmission device that meets such a demand, a reduction gear based on a wave gear mechanism called harmonic drive (registered trademark) has been widely used, and as a robot or a robot-related device having the wave gear mechanism, for example, a prime mover disclosed in patent document 1, a wrist mechanism of an industrial robot disclosed in patent document 2, a multi-joint robot disclosed in patent document 3, and the like are known.
In this case, the motive power device disclosed in patent document 1 includes: a cup-shaped housing; a harmonic reducer that is formed by rotatably supporting an annular circular spline on the inner periphery of the housing and fixing a cup-shaped flexible spline, which is disposed inside the circular spline and is urged by a wave generator to mesh with the circular spline, to the housing; and a hydraulic motor in which one end of the support shaft is fixed to the housing, a housing that rotates around the support shaft is disposed inside the flexible spline, and a wave generator is disposed in the housing.
Further, the wrist device of the industrial robot disclosed in patent document 2 is provided with: a 3 rd axis for rotating the whole wrist supported by the arm in a manner of freely rotating around the arm axis; a 2 nd axis supported by the 3 rd axis and tilting a wrist tip end portion supported rotatably about a right-angled axis on the 3 rd axis; and a 1 st axis supported by the 2 nd axis, and rotating a working tool holding part at the wrist tip part supported rotatably about a right-angled axis on the 2 nd axis, wherein the 1 st axis and the 2 nd axis are decelerated inside the wrist by a speed reducer disposed to overlap on the same central axis, and the 3 rd axis is decelerated outside the wrist in advance.
Further, the articulated robot disclosed in patent document 3 includes at least 2 control arms and 2 reduction gears provided at joint portions of the two control arms and facing each other on the same axis, and is configured by a 1 st harmonic drive reduction gear and a 2 nd harmonic drive reduction gear, and the 1 st harmonic drive reduction gear and the 2 nd harmonic drive reduction gear include: a universal circular spline for fixing 2 speed reducers to a joint part of one control arm; and a bracket which is mounted on one end of the universal circular spline in a manner of being capable of rotating relative to the circular spline and is connected with the joint part of the other control arm.
Documents of the prior art
Patent literature
[ patent document 1 ] Japanese patent application laid-open No. Sho 60-098246
[ patent document 2 ] Japanese patent application laid-open No. Sho 61-146490
[ patent document 3 ] Japanese patent application laid-open No. Sho 64-011777
Disclosure of Invention
Problems to be solved by the invention
However, the conventional rotation reduction and transmission device having the wave gear mechanism has the following problems.
First, there are a flexible spline, a wave generator, and a circular spline as main components, the flexible spline is formed in a cup shape as a whole by a thin metal elastic plate, and a gear portion formed on an outer periphery of an opening portion deformed into an elliptical shape is meshed with a gear portion formed on an inner periphery of the circular spline fixed at a position. Therefore, the flexible spline integrally formed in a cup shape needs to be manufactured as a highly precise member, and therefore, the manufacturing thereof is not easy, and it is difficult to avoid the increase in cost. Further, the flexible spline is liable to cause metal fatigue and malfunction by use, and is difficult to have durability. As a result, the conventional wave gear mechanism is significantly increased in cost in both initial cost and running cost.
Secondly, since a gear portion is formed on the outer periphery of an opening portion in a cup-shaped flexible spline, the gear portion is undulatedly deformed by an elliptical wave generator, and an output shaft that outputs decelerated rotation is coupled to the center of a bottom portion, in order to make the flexible spline function, it is necessary to secure the axial length of the flexible spline to some extent, and there is a limit in achieving a reduction in thickness (reduction in size) of the overall structure of the deceleration transmission device.
Thirdly, since the overall shape of the flexible spline is formed into a cup shape and the output shaft is coupled to the center of the bottom portion having one closed end, it is not easy to secure a space for routing the connection cable. In particular, in the case of a robot, since there are a large number of joint mechanisms and a large number of drive motors for realizing rich motions are built in, the number of connection cables connecting the drive motors and a robot controller needs to be at least the number of drive motors, and the number of connection cables needs to be routed. Therefore, there is room for further improvement from the viewpoint of securing a space in which a large number of connection cables can be routed.
The present invention has an object to provide a rotation deceleration transmission device that solves the problems of the related art.
Means for solving the problems
In order to solve the above problem, a rotation deceleration transmission device 1 according to the present invention is a rotation deceleration transmission device that decelerates an input rotational motion and outputs the decelerated motion, and includes: a rotation input unit 2 that inputs a rotational motion; a cam main body 3c that rotates integrally with the rotation input unit 2, and an elliptical shaft 3 in which a plurality of rolling elements 3bm are interposed between an inner ring 3bi and a flexible outer ring 3bo provided along the outer periphery of the cam main body 3c; an inner gear part 5 having an inner gear 5g formed on an inner periphery thereof and fixed in position; a flexible gear portion 4 having an external gear 4g and a plurality of transmission pin portions 4p, the external gear 4g being formed along a circumferential direction Ff of an outer periphery and having fewer teeth than the internal gear 5g, the external gear 4g meshing with the internal gear 5g at a plurality of meshing positions T on the circumferential direction Ff when attached to the outer periphery of the elliptical shaft portion 3, the plurality of transmission pin portions 4p protruding from a side surface and being provided at predetermined intervals along the circumferential direction Ff; and a rotation output mechanism 6 having an output plate 7 provided with an engagement portion 7s, the engagement portion 7s being provided with a predetermined interval along the circumferential direction Ff, and allowing displacement of the transmission pin 4p in the circumferential direction Ff and/or the radial direction Fd during rotation transmission, the engagement portion being formed of a multi-directional engagement hole that is formed in the output plate, always abuts against the circumferential surface of the transmission pin, and allows displacement of the transmission pin in the circumferential direction and the radial direction of the output plate.
In this case, according to the preferred embodiment of the present invention, the transmission pin portion 4p can be constituted by the transmission pin body 4pm protruding from the flexible gear portion 4 and the transmission roller 4pr supported to be rotatable about the transmission pin body 4pm as an axis at a central position, and the output plate portion 7 can be formed in a ring shape. On the other hand, the engaging portion 7s may be constituted by a multidirectional engaging hole 7sm formed in the output plate portion 7, always abutting on the peripheral surface of the transmission pin portion 4p, and allowing displacement of the transmission pin portion 4p in the circumferential direction Ff and the radial direction Fd of the output plate portion 7, or the engaging portion 7s may be constituted by an elastic engaging portion 7sd formed by a one-way engaging hole 7ss capable of elastically displacing in the circumferential direction Ff, the one-way engaging hole 7ss formed projecting from the output plate portion 7 in the radial direction Fd, always abutting on the peripheral surface of the transmission pin portion 4p, and allowing displacement of the transmission pin portion 4p in the radial direction Fd. In this case, the output plate portion 7 can be configured by stacking a plurality of elastic plate materials 7p having a predetermined thickness Ls in the axial direction Fs. On the other hand, the rotation input section 2 is constituted by a cylindrical input rotor 11, and the input rotor 11 is formed by forming the inner side of the inner peripheral surface 11i into a wiring space S for cables Ka, kb \8230 \ 8230and, at the same time, by providing at least the cam main body portion 3c of the elliptical shaft portion 3 on the outer peripheral surface 11 o. Further, the flexible gear portion 4 can mesh with the internal gear 5g of the inner gear portion 5 at two meshing positions T that are in a positional relationship of 180 °.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the rotation deceleration transmission device 1 of the present invention having such a configuration, the following significant effects are obtained.
(1) Since the conventional flexible spline having a cup-like overall shape does not need to be formed using a thin metal elastic plate material, the manufacturing can be easily performed, the manufacturing cost can be greatly reduced, and metal fatigue, operational failure, and the like can be greatly reduced.
(2) Since the conventional flexible spline is not required, the size of the arrangement space in the axial direction Fs can be reduced. Therefore, the entire structure can be thinned, and further miniaturization of an industrial robot or the like, in particular, which has been a limit to miniaturization, can be achieved.
(3) In a preferred embodiment, when the transmission pin portion 4p is configured by the transmission pin main body 4pm protruding from the flexible gear portion 4 and the transmission roller 4pr supported at the center position so as to be rotatable about the transmission pin main body 4pm as an axis, contact friction between the transmission pin portion 4p and the engagement hole 7sh when the transmission pin portion 4p is engaged with the engagement hole 7sh can be reduced, and therefore, rotation transmission from the flexible gear portion 4 to the output plate portion 7 can be efficiently and stably performed, and useless heat generation and loss reduction can be eliminated, and reliability in long-term use can be improved.
(4) In a preferred mode, if the output plate portion 7 is formed in a ring shape, a wiring space for the cables Ka, kb \8230; \8230canbe secured, and in particular, in combination with the input rotary body 11 formed in a cylindrical shape, simplification of the entire structure and high rigidity can be facilitated.
(5) In a preferred mode, when the engaging portion 7s is formed, if the engaging portion is formed by the multidirectional engaging hole 7sm which is formed in the output plate portion 7, always abuts on the peripheral surface of the transmission pin portion 4p, and allows displacement of the transmission pin portion 4p in the circumferential direction Ff and the radial direction Fd of the output plate portion 7, it can be said that the displacement of the transmission pin portion 4p in the circumferential direction Ff and the radial direction Fd with respect to the engaging hole 7sh, which is generated at different positions in the circumferential direction Ff, can be absorbed by the cam method, and therefore, unnecessary stress generated when the engaging hole 7sh and the transmission pin portion 4p are engaged can be eliminated, stable and smooth rotation transmission from the transmission pin portion 4p to the output plate portion 7 can be performed, and in particular, high-precision rotation transmission based on an improvement in rigidity can be performed.
(6) In a preferred mode, when the engaging portion 7s is formed, if it is formed of the elastic engaging portion 7sd in which the elastic engaging portion 7sd is formed so as to be elastically displaceable in the circumferential direction Ff by forming the one-way engaging hole 7ss which is formed to protrude in the radial direction Fd from the output plate 7 and which is always in contact with the circumferential surface of the transmission pin portion 4p and allows displacement of the transmission pin portion 4p in the radial direction Fd, it can be said that displacement of the transmission pin portion 4p in the circumferential direction Ff relative to the engaging hole 7sh, particularly in the circumferential direction Ff, can be absorbed by the elastic means, and therefore, unnecessary stress generated when the engaging hole 7sh and the transmission pin portion 4p are engaged can be eliminated, and stable and smooth rotation transmission from the transmission pin portion 4p to the output plate portion 7 can be performed, and particularly, the rotational transmission can be performed irrespective of the machining accuracy, and therefore, the implementation can be easily performed at low cost.
(7) In a preferred mode, when the output plate section 7 is configured, if a plurality of elastic plate members 7p having a predetermined thickness Ls are stacked in the axial direction Fs, appropriate elasticity can be secured even when the output plate section 7 is thick, and therefore, appropriate rotation transmission from the transmission pin section 4p to the output plate section 7 can be performed.
(8) In a preferred embodiment, when the rotation input unit 2 is configured, if the cylindrical input rotary body 11 is used, and the input rotary body 11 is configured by using the inner side of the inner peripheral surface 11i as the wiring space S for the cables Ka and Kb \8230andproviding at least the cam main body portion 3c of the elliptical shaft portion 3 on the outer peripheral surface 11o, the wiring space for the cables Ka, kb \8230and8230can be secured, and therefore, even when the number of cables Ka \8230and8230is large, the overall complexity can be avoided together with other peripheral structures.
(9) Preferably, if the flexible gear portion 4 and the ring gear 5g of the inner gear portion 5 are geared at two geared positions T that are in a positional relationship of 180 °, the flexible gear portion 4 can be formed into an elliptical shape that is the simplest shape, and therefore, for example, the accuracy required when the gears are geared at three or more geared positions T can be minimized, the ease of manufacturing and the ease of processing can be improved, and durability, quietness, and reliability can be improved.
Drawings
Fig. 1 is a perspective view showing a whole of a rotation deceleration transmission device in a basic form, which is cut out, for explaining the principle of the rotation deceleration transmission device of the present invention.
Fig. 2 is a sectional side view showing the whole of the rotation deceleration transmission device.
Fig. 3 is an exploded perspective view of essential parts of the rotation deceleration transmission device.
Fig. 4 is a front view including a partially extracted enlarged view showing a relationship between the flexible gear portion and the inside gear portion of the rotation reduction transmission device.
Fig. 5 is an explanatory view showing a part of the flexible gear portion of the rotation reduction and transmission device.
Fig. 6 is a cross-sectional configuration diagram illustrating the principle of the rotation deceleration transmission device in the direction perpendicular to the axis including the elliptical shaft portion.
Fig. 7 is a front view including a partially extracted enlarged view showing a relationship between the output plate portion and the transmission pin portion of the rotation deceleration transmission device.
Fig. 8 is an axial sectional view showing a part of a main part of the rotation deceleration transmission device.
Fig. 9 is an external view of an industrial robot using the rotation deceleration transmission device.
Fig. 10 is an explanatory diagram of the operation of the rotation deceleration transmission device.
Fig. 11 is a front view of the output plate section showing a state in which the transmission pin section of the rotation deceleration transmission device according to the preferred embodiment (first embodiment) of the present invention is engaged.
Fig. 12 is a sectional side view of the output plate portion including a partially extracted enlarged view showing a state in which the transmission pin portion of the rotation deceleration transmission device is engaged.
Fig. 13 is an explanatory view of the operation of the output plate section showing a state in which the transmission pin section of the rotation deceleration transmission device is engaged.
Fig. 14 is a front view of only a part of the flexible gear portion of the rotation reduction and transmission device.
Fig. 15 is a front view of the output plate section showing a state in which the transmission pin section of the rotation deceleration transmission device according to another preferred embodiment (second embodiment) of the present invention is engaged.
Fig. 16 is an explanatory view of the operation of the output plate section showing a state in which the transmission pin section of the rotation deceleration transmission device is engaged.
Fig. 17 is a sectional side view of the output plate portion including a partially extracted enlarged view showing a state in which the transmission pin portion of the rotation deceleration transmission device is engaged.
Description of the reference symbols
1: rotation deceleration transmission device, 2: rotation input unit, 3: elliptical shaft portion, 3c: cam main body portion, 3bi: inner wheel, 3bo: outer wheel, 3bm: rotor, 4: flexible gear portion, 4g: external gear, 4p: transmission pin, 4pm: transfer pin body, 4pr: transfer roller, 5: inner gear portion, 5g: internal gear, 6: rotation output mechanism, 7: output plate portion, 7s: engaging portion, 7p: elastic plate, 7sh: engagement hole, 7sd: elastic engaging portion, 7ss: one-way clamping hole, 7sm: multidirectional engaging hole, 11: input rotating body, 11i: inner peripheral surface, 11o: outer peripheral surface, ff: circumferential direction, fd: emission direction, fs: axial direction, T: engagement position, ls: thickness, ka: cables, kb: cables, S: wiring space
Detailed Description
Next, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First, in order to facilitate understanding of the rotation deceleration transmission device 1 according to the preferred embodiment, the configuration and operation of the rotation deceleration transmission device 100 according to the basic embodiment will be described with reference to fig. 1 to 10.
Such a rotation deceleration transmission device 100, 1 can be used for the joint mechanism Mj of the industrial robot R shown in fig. 9. The illustrated industrial robot R is a vertical articulated robot Rv, and includes a robot main body 22 provided on the upper surface of a base 21, and a robot controller 23, and the robot controller 23 is housed in a lower base of the base 21 to drive and control the robot main body 22. The robot main body 22 includes a 1 st arm (arbitrary arm) 15 and a 2 nd arm (other arm) 16, and the 1 st arm 15 and the 2 nd arm 16 are coupled via a joint mechanism Mj. That is, the rotation deceleration transmission devices 100 and 1 are incorporated in the front end portion 15s of the 1 st arm portion 15, and the rear end portion 16r of the 2 nd arm portion 16 is rotationally driven by the rotation deceleration transmission devices 100 and 1. This enables positioning control, angle control, speed control, and the like of the 2 nd arm 16.
Fig. 1 and 2 show the overall structure of the rotation deceleration transmission apparatus 100. In fig. 2, the front end portion 15s of the 1 st arm portion 15 and the rear end portion 16R of the 2 nd arm portion 16 in the industrial robot R shown in fig. 9 are shown by imaginary lines. As shown in fig. 1 and 2, the rotation reduction and transmission device 100 includes a rotation input portion 2, an elliptical shaft portion 3, a flexible gear portion 4, an inner gear portion 5, and a rotation output mechanism 6 (output plate portion 7) substantially from the upstream side in the transmission direction of rotation. Thereby, the rotational motion inputted to the rotation input unit 2 is decelerated at a level of 1/100 to 1/200 set in advance, and the decelerated rotational motion is outputted from the rotation output mechanism 6.
The structure of each portion will be specifically described below. The rotation input unit 2 is constituted by an input rotary body 11 formed in a cylindrical shape as a whole. The input rotary member 11 is rotatably supported by a bearing (ball bearing or the like) 31. In this case, the bearing 31 fixes the outer ring to the support tube 32, and fixes the inner ring to the outer peripheral surface of the input rotary body 11, wherein the support tube 32 is attached to the inner surface of the 1 st arm portion 15. As shown in fig. 2, the inner peripheral surface 11i of the input rotary member 11 is provided with a wiring space S for cables Ka, kb \8230, and \8230. Therefore, the inner diameter can be selected in consideration of the size of the wiring space S to be secured. Further, a cam main body portion 3c is integrally formed at a middle portion in the axial direction Fs of the outer peripheral surface 11o of the input rotary body 11, and this cam main body portion 3c constitutes the elliptical shaft portion 3.
Therefore, if such a cylindrical input rotary body 11 is used, the wiring space S of the cables Ka and Kb \8230canbe secured, and therefore, there are the following advantages: even when the number of cables Ka and Kb \8230islarge, the entire complication can be avoided together with other peripheral structures. Further, reference numeral 33 denotes an input transmission fixed to an end face of the input rotary body 11.
As shown in fig. 6, the elliptical shaft portion 3 has: a cam body portion 3c integrally formed with the input rotary member 11; an inner ring 3bi provided along the outer peripheral surface of the cam body 3c; a flexible outer wheel 3bo; a plurality of rolling bodies 3bm interposed between the inner ring 3bi and the outer ring 3 bo. The exemplified rotor 3bm is a ball. The inner ring 3bi can also serve as the outer peripheral surface of the cam main body 3c. Accordingly, the cross-sectional shape of the inner peripheral surface 11i of the cam body 3c in the axial direction is circular, and the cross-sectional shape of the outer peripheral surface 11o of the cam body 3c in the axial direction is elliptical (see fig. 6).
On the other hand, a drive motor 34 such as a servomotor is fixed to the inner surface of the 1 st arm part 15, and a drive gear 34g attached to a rotary shaft of the drive motor 34 is engaged with the input transmission device 33. Thereby, the rotational motion from the drive motor 34 is input to the rotatably supported input rotary member 11. As described above, if the rotational motion of the drive motor 34 is input to the rotation input unit 2 (input rotating body 11), the rotation deceleration transmission device 100 can be configured to include the drive unit of the drive motor 34, and therefore, for example, the following advantages are obtained: the drive unit built in the arm of the industrial robot can be miniaturized, and durability and reliability can be improved. Further, although the gear transmission mechanism is exemplified as the rotation transmission method from the drive motor 34 to the rotation input portion 2, another rotation transmission method such as a belt transmission mechanism using a timing belt and a pulley may be used.
The flexible gear portion 4 is formed in an annular band shape having flexibility as a whole by a metal material (special steel or the like), and is attached along the outer peripheral surface of the outer ring 3bo of the elliptical shaft portion 3 as shown in fig. 6. Fig. 4 shows the overall shape of the flexible gear part 4, and fig. 5 shows a partially enlarged shape of the flexible gear part 4. The flexible gear portion 4 has an external gear 4g formed on an outer peripheral surface thereof along a circumferential direction Ff.
Further, the transmission pin body 4pm is embedded (press-fitted into the hole) in every other tooth portion (mountain portion) 4gs among the tooth portions (mountain portions) 4gs constituting the external gear 4g. In this case, since each tooth portion (peak portion) 4gs has a function of supporting each transmission pin body 4pm, a thickness and a shape capable of securing a supporting strength are selected. Although the example in which the transmission pin bodies 4pm are arranged on every other tooth portion (peak portion) 4gs among the respective tooth portions (peak portions) 4gs has been described, the intervals between the respective transmission pin bodies 4pm can be arbitrarily set. Each transmission pin body 4pm is formed into a circular rod shape having a circular cross section as shown in fig. 3 to 5, using a metal material having high rigidity and abrasion resistance, and as shown in fig. 8, one end side is embedded in each tooth portion (mountain portion) 4gs, and the other end side is projected laterally (upward in fig. 8) from the side surface of the flexible gear portion 4. Thereby, the transmission pin bodies 4pm are arranged at regular intervals along the circumferential direction Ff of the flexible gear portion 4.
The eccentric position of the transmission roller 4pr is rotatably attached to the other end side of each transmission pin body 4pm protruding from the lateral side of the flexible gear portion 4. Thereby, the eccentric position of each transmission roller 4pr is rotatably supported by each transmission pin body 4pm. In this way, the transmission pin portion 4p is constituted by the transmission pin body 4pm protruding from the flexible gear portion 4 and the transmission roller 4pr supported at an eccentric position so as to be rotatable about the transmission pin body 4pm as an axis. It is preferable that the transmission pin portion 4p is constituted by the transmission pin main body 4pm and the transmission roller 4pr, but an integrated transmission pin portion 4p having the shape of the transmission pin main body 4pm may be selected without using the transmission roller 4 pr.
On the other hand, on the inner peripheral surface of the flexible gear portion 4, notches 4c having a U-shape in the radial direction Fd are formed at positions corresponding to the valley portions 4gd between the teeth (mountain portions) 4gs, as shown in fig. 5. Thus, the thickness between each valley portion 4gd and each notch portion 4c ensures flexibility (elasticity) that can smoothly and stably follow the rotation of the elliptical shaft portion 3. The solid line portion in fig. 5 shows the shape when the flexible gear portion 4 shown in fig. 4 is farthest from the inner gear portion 5, and the imaginary line portion in fig. 5 shows the shape when the flexible gear portion 4 shown in fig. 4 is closest to the inner gear portion 5.
The inner gear portion 5 is formed in a rigid ring shape as a whole by a metal material, and as shown in fig. 3, an inner gear 5g is formed on an inner peripheral surface along a circumferential direction Ff. As shown in fig. 2, the outer peripheral surface of the inner gear portion 5 is fixedly attached to the inner surface of the 1 st arm portion 15, and the external gear 4g of the flexible gear portion 4 is meshed with the internal gear 5g. At this time, the number of teeth of the internal gear 5g formed in the inner gear portion 5 for one revolution is set to be larger than the number of teeth of the external gear 4g formed in the flexible gear portion 4 for one revolution. In the illustrated case, the number of teeth of the external gear 4g is set to "N", and the number of teeth of the internal gear 5g is set to "N +2".
In this case, since the entire outer peripheral shape of the flexible gear portion 4 is an oval shape, the flexible gear portion 4 meshes with the internal gear 5g at two meshing positions T that are 180 ° in positional relationship. In this way, if the flexible gear portion 4 and the ring gear 5g are meshed at two meshing positions T that are 180 ° in positional relationship, the flexible gear portion 4 can be selected to have an elliptical shape that is the simplest shape, and therefore, for example, there are the following advantages: the accuracy required for engagement at the three or more engagement positions T can be further reduced, the ease of manufacture and the ease of processing can be improved, and the durability, the quietness, and the reliability can be improved.
The rotation output mechanism 6 includes an output plate holder 12 formed in an annular shape, and the output plate holder 12 supports the inner peripheral surface side by a bearing (roller bearing) 36 disposed between the inner peripheral surface and the outer peripheral surface of the input rotary body 11, and supports the outer peripheral surface side by a cross roller bearing 37 disposed between the outer peripheral surface of the output plate holder 12 and the inner surface of the 1 st arm portion 15. An end face 12s of the output plate holder 12 facing the flexible gear portion 4 is formed with a ring recess 12h into which the output plate portion 7 is fitted, and the ring recess 12h is fitted into the output plate portion 7 shown in fig. 2. On the other hand, the output connection plate 38 is fixed to the end surface 12t of the output plate holder 12 on the side opposite to the end surface 12s having the ring recess 12 h.
The output plate portion 7 is formed in an annular shape (ring plate shape), and has a plurality of engagement holes 7sh through which the transfer rollers 4pr can be engaged. The engagement holes 7sh are formed at predetermined intervals along the circumferential direction Ff of the output plate 7, and are formed as long slit-like holes along the radial direction Fd so as to allow displacement of the transfer roller 4pr when the output plate 7 rotates. Further, if the output plate portion 7 is formed in a ring shape, the wiring space of cables Ka, kb \8230;, can be secured, and particularly, by combining with the input rotary member 11 formed in a cylindrical shape, there is an advantage of contributing to simplification and high rigidity of the entire structure. In fig. 1 and 2, reference numeral 40 denotes a seal ring.
In this way, when the rotation output mechanism 6 is configured by using the transmission roller 4pr for supporting the eccentric position with the transmission pin main body 4pm as the axis and the annular output plate 7 provided with the plurality of engagement holes 7sh for engaging the transmission roller 4pr and formed at predetermined intervals along the circumferential direction Ff, and allowing the displacement of the transmission roller 4pr when the rotation transmission is performed, the displacement of the transmission pin portion 4p generated at different positions in the circumferential direction Ff with respect to the engagement holes 7sh can be effectively absorbed. Therefore, unnecessary stress generated when the engagement hole 7sh and the transmission pin body 4pm are directly engaged can be eliminated, rotation can be stably and smoothly transmitted from the transmission pin portion 4p to the rotation output mechanism 6, and an unnecessary loss portion can be eliminated to further improve the rotation transmission efficiency.
Therefore, the rotation deceleration transmission apparatus 100 according to the basic mode includes: a rotation input unit 2 that inputs a rotational motion; a cam main body 3c that rotates integrally with the rotation input unit 2, and an elliptical shaft 3 that has a plurality of rolling elements 3bm interposed between an inner ring 3bi and a flexible outer ring 3bo provided along the outer periphery of the cam main body 3c; an inner gear part 5 having an inner gear 5g formed on an inner periphery thereof and fixed in position; a flexible gear portion 4 having an external gear 4g and a transmission pin portion 4p including a plurality of transmission pin bodies 4pm and a transmission roller 4pr, the external gear 4g being formed along a circumferential direction Ff of an outer periphery and having fewer teeth than the internal gear 5g, the external gear 4g meshing with the internal gear 5g at two (generally a plurality of) meshing positions T in the circumferential direction Ff when attached to the outer periphery of the elliptical shaft portion 3, the plurality of transmission pin bodies 4pm protruding from a side surface and being provided at predetermined intervals along the circumferential direction Ff, the transmission roller 4pr being supported so as to be rotatable about the transmission pin bodies 4pm at an eccentric position; and a rotation output mechanism 6, the rotation output mechanism 6 having an output plate portion 7 provided with a plurality of engaging holes 7sh in the radial direction Fd, the plurality of engaging holes 7sh being engaged with the transmission pin portion 4p, being provided at predetermined intervals along the circumferential direction Ff, and allowing displacement of the transmission pin portion 4p during rotation transmission, so that it is not necessary to form the entire shape of a conventional flexible spline in a cup shape using a thin metal elastic plate material.
As a result, the manufacturing can be easily performed, the manufacturing cost can be greatly reduced, metal fatigue, operational failure, and the like can be greatly reduced, durability and reliability can be improved, and both the initial cost and the running cost can be greatly reduced. Further, since the conventional flexible spline is not required, the size of the arrangement space in the axial direction Fs can be reduced, and the overall structure can be made thin. Therefore, the miniaturization has been limited, and in particular, further miniaturization of industrial robots and the like can be achieved.
Further, if the rotation deceleration transmission device 100 is used to couple the joint mechanism Mj of any arm portion 15 and another arm portion 16 constituting the robot R, it is possible to contribute to the reduction in thickness (reduction in size) and the improvement in durability and reliability of the joint mechanism Mj, and in particular, there is an advantage that it is possible to construct an industrial robot (vertical articulated robot Rv, horizontal articulated robot, triangular robot, etc.) that is optimal for installation on a production line.
Next, with reference to fig. 1 to 9, the operation of the rotation deceleration transmission device 100 having such a basic configuration will be described mainly with reference to (a) to (d) of fig. 10. Since fig. 10 (a) to (d) are schematic diagrams, the elliptical shape of the cam main body portion 3c is drawn in an exaggerated elongated shape.
First, if the drive motor 34 is subjected to start (ON) control by the robot controller 23, the drive motor 34 is operated, and the drive gear 34g rotates. This rotational motion is transmitted to the input transmission 33, and is transmitted to the input rotary body 11 including the cam main body portion 3c. Thereby, the cam main body portion 3c rotates at a relatively high speed.
Fig. 10 (a) shows a state before the start of rotation of the cam main body portion 3c. In this state, the cam main body 3c stops at a position Ps, and the longitudinal direction (the direction in which the ellipse diameter is largest) of the cam main body 3c is the vertical direction. Therefore, the starting point of the flexible gear portion 4 is located at the position of reference numeral Xs, and coincides with the reference point Xo of the inner gear portion 5. In the state of fig. 10 (a), the external gear 4g of the flexible gear portion 4 meshes with the internal gear 5g of the inner gear portion 5 at the meshing positions T of the upper and lower two locations.
Next, assume a state where the cam main body portion 3c is rotated 90 ° in the arrow Dr direction from the position Ps in fig. 10 (a). This state is shown in fig. 10 (b). In this case, the cam main body portion 3c is displaced from the position Ps to a position P1 rotated by 90 ° clockwise. Thereby, the longitudinal direction of the cam main body portion 3c becomes the left-right direction shown in fig. 10 (b). Therefore, when the cam main body portion 3c rotates, the upper meshing position T at which the external gear 4g meshes with the internal gear 5g (and the lower meshing position T) is engaged and moved by 90 ° in the clockwise direction. At this time, the number of teeth of the external gear 4g is N, and the number of teeth of the internal gear 5g is N +2, and therefore, the starting point of the flexible gear portion 4 is displaced to the position X1, which is the counterclockwise direction, by the angle Q1= (360 °/N) × 2)/4 with respect to the reference point Xo.
Then, a state is assumed in which the cam main body portion 3c is rotated by 90 ° in the arrow Dr direction from the position P1 in fig. 10 (b). Fig. 10 (c) shows this state. In this case, the cam main body portion 3c is displaced from the position P1 to a position P2 rotated by 90 ° clockwise. As a result, as shown in fig. 10 (c), the longitudinal direction of the cam main body 3c becomes the vertical direction. Therefore, the starting point of the flexible gear portion 4 is displaced to the position X2 as the counterclockwise direction by the angle Q2= (360 °/N) × 2)/2 with respect to the reference point Xo.
Next, assume a state where the cam main body portion 3c is rotated 180 ° in the arrow Dr direction from the state of fig. 10 (c). This state is shown in fig. 10 (d). In this case, the cam main body portion 3c is displaced from the position P2 to a position P3 rotated by 180 °. Thereby, the longitudinal direction of the cam main body portion 3c becomes the vertical direction, and is vertically reversed with respect to the position of fig. 10 (c). Therefore, the starting point of the flexible gear portion 4 is displaced to the position X3 as the counterclockwise direction by the angle Q3= (360 °/N) × 2) with respect to the reference point Xo. As described above, the cam main body portion 3c rotates 1 rotation in the clockwise direction, and the flexible gear portion 4 performs the deceleration process in which the tooth number "2" moves in the counterclockwise direction.
Further, the rotational motion of the flexible gear portion 4 after the deceleration is transmitted to the rotation output mechanism 6. That is, since the transmission pin portion 4p protruding from the flexible gear portion 4 has the transmission roller 4pr supported at the eccentric position engaged with the engagement hole 7sh of the output plate portion 7, the output plate portion 7 rotates in exactly the same step as the rotational motion of the flexible gear portion 4. In this case, the transmission pin portion 4p is reversely displaced in the radial direction Dd according to the locus of the outer peripheral surface of the cam main body portion 3c, but this displacement is absorbed by the engagement hole 7sh formed through the long hole.
As shown in fig. 2, the rotational movement of the output plate portion 7 is largely decelerated with respect to the input rotational movement, and is transmitted to the 2 nd arm portion 16 via the rotation output mechanism 6 other than the output plate portion 7 including the output plate holder 12 and the output connection plate 38, so that the 2 nd arm portion 16 performs rotational displacement. That is, the rotation is controlled with high accuracy with the 1 st arm portion 15 as a fulcrum.
Next, based on such a basic configuration, the rotation deceleration transmission device 1 according to the preferred embodiment of the present invention will be described in detail with reference to fig. 11 to 17. Fig. 11 to 14 show a first embodiment of the rotation deceleration transmission device 1, and fig. 15 to 17 show a second embodiment of the rotation deceleration transmission device 1.
[ first embodiment ] to provide a liquid crystal display device
First, the rotation deceleration transmission device 1 according to the first embodiment will be described with reference to fig. 11 to 14.
The first embodiment differs in that the transmission pin portion 4p and the output plate portion 7 in the above-described basic form are particularly modified. That is, as shown in fig. 11 to 14, the first embodiment has a flexible gear portion 4, and the flexible gear portion 4 has a plurality of transmission pin portions 4p protruding from a side surface and provided at predetermined intervals along a circumferential direction Ff, and has an output plate portion 7 provided with an engagement portion 7s, and the engagement portion 7s is provided at predetermined intervals along the circumferential direction Ff, and allows displacement of the transmission pin portions 4p when rotation transmission is performed, and the basic configuration is the same as the basic configuration, but differs in the following point.
First, in the case of configuring the transmission pin portion 4p, a configuration is adopted in which the eccentric position of the transmission roller 4pr is supported by the transmission pin body 4pm in the basic form, but in the first embodiment, in configuring the transmission pin portion 4p, it is configured by the transmission pin body 4pm protruding from the flexible gear portion 4 and the transmission roller 4pr supported so as to be rotatable about the transmission pin body 4pm as an axis at a central position. Therefore, since the contact friction between the transmission pin portion 4p and the engagement hole 7sh when the transmission pin portion 4p is engaged with the engagement hole 7sh can be reduced, the rotation transmission from the flexible gear portion 4 to the output plate portion 7 can be efficiently and stably performed, and the unnecessary heat generation and the loss can be eliminated, and the reliability in long-term use can be improved, which is the same as the basic configuration.
Second, when the plurality of engagement holes 7sh formed at predetermined intervals along the circumferential direction Ff of the output plate 7 formed in the annular plate shape are provided, in the basic form, the plurality of engagement holes 7sh are formed by slit-shaped long holes along the radial direction Fd so that the displacement of the transmission roller 4pr when the output plate 7 rotates can be allowed, and in the first embodiment, as shown in fig. 11 to 13, the plurality of engagement holes 7sh are formed by multi-directional engagement holes 7sm which are constantly in contact with the circumferential surface of the transmission pin portion 4p (the circumferential surface of the transmission roller 4 pr) and which allow the transmission pin portion 4p to be displaced in the circumferential direction Ff of the output plate 7 and the radial direction Fd.
That is, as shown in fig. 13, since the multidirectional engagement holes 7sm are formed at intervals of Qs (exemplified as 14.4) along the circumferential direction Ff of the output plate portion 7, seven multidirectional engagement holes 7sm are formed in a range Zs of approximately 1/4 of the circumference, for example. Therefore, now, as shown in fig. 13, it is assumed that the upper end position of the transmission roller 4pr of the multi-directional engagement hole 7sm located at the uppermost portion abuts on an abutment position X1 which is the upper end of the inner surface of the multi-directional engagement hole 7sm. If the rotation direction of the output plate portion 7 is clockwise, the cam main body portion 3c is rotated Qs [ ° ], and the contact position X2 between the transfer roller 4pr and the multidirectional engagement hole 7sm is displaced by Qs [ °] in the counterclockwise direction when viewed from the transfer roller 4 pr. Similarly, the contact position X3 of the transfer roller 4pr and the multidirectional engagement hole 7sm is displaced by Qs [ (° ] X2 in the counterclockwise direction when viewed from the transfer roller 4pr by rotating the cam main body 3c by Qs + [ ]x2, and the contact position X4 of the transfer roller 4pr and the multidirectional engagement hole 7sm is displaced by Qs [ (° ] X3 in the counterclockwise direction when viewed from the transfer roller 4pr by rotating the cam main body 3c by Qs [ (° ]x3. Then, if the cam main body portion 3c is rotated at Qs ([ ]. Times.6), the contact position X7 between the transmission roller 4pr and the multidirectional engagement hole 7sm is displaced at Qs ([ ]. Times.6) in the counterclockwise direction as viewed from the transmission roller 4pr, and approximately 1/4 cycle is performed. Further, X5 and X6 also show the contact positions in the middle.
Therefore, the multidirectional engagement hole 7sm may be formed in the following shape: the outer peripheral surface of the transmission roller 4pr is in contact with the inner peripheral surface of the multidirectional engagement hole 7sm at any angular position of 360 ° ] of rotation of the cam body 3c, and in particular, can be in contact with the same pressure at all times. Therefore, although high machining accuracy (shape accuracy) is required when forming the multidirectional engagement hole 7sm, it can be said that the displacement of the transmission pin portion 4p generated at different positions in the circumferential direction Ff with respect to the circumferential direction Ff and the radial direction Fd of the engagement hole 7sh can be absorbed by the cam method, and therefore useless stress generated when engaging the engagement hole 7sh and the transmission pin portion 4p can be eliminated, stable and smooth rotation transmission from the transmission pin portion 4p to the output plate portion 7 can be performed, and particularly, there is an advantage that high-accuracy rotation transmission can be performed due to improvement in rigidity.
Fig. 14 shows a flexible gear portion 4 used in the first embodiment, which is a modification example in which the basic configuration is changed as follows: the notches 4c are formed wider, and transmission pin bodies 4pm are arranged between the notches 4c. In fig. 11 to 14, the same components as those in fig. 1 to 10 are denoted by the same reference numerals to clarify the structures, and detailed descriptions thereof are omitted.
[ second embodiment ]
Next, the rotation deceleration transmission device 1 according to the second embodiment will be described with reference to fig. 15 to 17.
In the second embodiment, the output plate section 7 of the first embodiment is modified, and as shown in fig. 15 to 17, the output plate section 7 is provided with an engagement section 7s, and the engagement section 7s is formed with an engagement hole 7sh, and the engagement hole 7sh is provided along the circumferential direction Ff with a predetermined interval for engaging each transmission pin portion 4p, and allows displacement of the transmission pin portion 4p during rotation transmission.
That is, the output plate section 7 of the second embodiment is configured by the elastic engaging section 7sd, when the engaging section 7s is configured, the elastic engaging section 7sd is configured by forming the one-way engaging hole 7ss which is formed to protrude from the output plate section 7 in the radial direction Fd, is always in contact with the peripheral surface of the transmission pin section 4p, and allows the transmission pin section 4p to be displaced in the radial direction Fd, so that the elastic engaging section 7sd can be elastically displaced in the circumferential direction Ff.
Therefore, when the output plate portion 7 is configured, as shown in fig. 17, a plurality of elastic plate materials 7p having a predetermined thickness Ls are stacked in the axial direction Fs. Fig. 17 (a) shows an example in which 5 elastic plate materials 7p are stacked, and fig. 17 (b) shows a cross section of an example in which 3 elastic plate materials 7p are stacked. In this way, if the output plate section 7 is configured by stacking a plurality of elastic plate members 7p having a predetermined thickness Ls in the axial direction Fs, appropriate elasticity can be secured even when the output plate section 7 is thick, and therefore, there is an advantage that appropriate rotation transmission from the transmission pin section 4p to the output plate section 7 (rotation output mechanism 6) can be performed.
Thus, in the case of the second embodiment, it can be said that the displacement of the transmission pin portion 4p, particularly, in the circumferential direction Ff with respect to the engagement hole 7sh, which is generated at a different position in the circumferential direction Ff can be absorbed by the elastic means. The elastic engaging portion 7sd shown by a solid line in fig. 16 indicates the elastic engaging portion 7sd located at the uppermost portion in fig. 15, and the elastic engaging portion 7sd shown by a phantom line in fig. 16 indicates the elastic engaging portion 7sd at a position rotated approximately 1/4 of the way from the uppermost portion. Thus, the displacement of the transmission pin 4p in the radial direction Fd is allowed by the guidance of the one-way engagement hole 7ss, and the displacement of the transmission pin 4p in the circumferential direction Ff is allowed by the elastic displacement of the elastic engagement portion 7sd. Therefore, in the configuration of the second embodiment, unnecessary stress generated when the engagement hole 7sh and the transmission pin portion 4p are engaged can be eliminated, stable and smooth rotation transmission from the transmission pin portion 4p to the output plate portion 7 (the rotation output mechanism 6) can be performed, and in particular, there is an advantage that it can be easily performed at low cost because it is not dependent on the processing accuracy.
In the second embodiment, the flexible gear portion 4 shown in fig. 14 in the first embodiment can be used. The structure of the transmission pin portion 4p in the second embodiment can be the same as that of the first embodiment. In fig. 11 to 14, the same components as those in fig. 1 to 10 are denoted by the same reference numerals to clarify the structures, and detailed descriptions thereof are omitted.
Therefore, the rotation deceleration transmission device 1 according to the present embodiment as described above has, as a basic configuration, in particular: a rotation input unit 2 that inputs a rotational motion; a cam main body 3c that rotates integrally with the rotation input unit 2, and an elliptical shaft 3 that has a plurality of rolling elements 3bm interposed between an inner ring 3bi and a flexible outer ring 3bo provided along the outer periphery of the cam main body 3c; an inner gear part 5 having an inner gear 5g formed on an inner periphery thereof and fixed in position; a flexible gear portion 4 having an external gear 4g and a plurality of transmission pin portions 4p, the external gear 4g being formed along a circumferential direction Ff of an outer periphery and having fewer teeth than the internal gear 5g, the external gear 4g meshing with the internal gear 5g at a plurality of meshing positions T in the circumferential direction Ff when attached to the outer periphery of the elliptical shaft portion 3, the plurality of transmission pin portions 4p protruding from a side surface and being provided at predetermined intervals along the circumferential direction Ff; and a rotation output mechanism 6, the rotation output mechanism 6 having an output plate portion 7 provided with an engagement portion 7s, the engagement portion 7s forming an engagement hole 7sh, the engagement hole 7sh being provided along the circumferential direction Ff so as to engage with each of the transmission pin portions 4p, and allowing displacement of the transmission pin portions 4p in the circumferential direction Ff and/or the radial direction Fd during rotation transmission, and therefore, the same operational effects as those of the rotation deceleration transmission device 100 of the basic form described above can be obtained.
That is, since there is no need to form the conventional spline having a cup-like overall shape using a thin metal elastic plate material, it is possible to easily manufacture the spline, to significantly reduce manufacturing costs, and to significantly reduce metal fatigue, operational failure, and the like. Further, since the conventional flexible spline is not required, the size of the arrangement space in the axial direction Fs can be reduced. Therefore, the entire structure can be thinned, and further miniaturization of an industrial robot or the like, in particular, which has been a limit to miniaturization, can be realized.
Although the preferred embodiments (the first embodiment and the second embodiment) have been described in detail, the present invention is not limited to such embodiments, and the structure, shape, material, number, numerical value, and the like of the detailed portions may be changed, added, or deleted arbitrarily without departing from the scope of the present invention.
For example, although the case where the transmission pin portion 4p is constituted by the transmission pin main body 4pm protruding from the flexible gear portion 4 and the transmission roller 4pr supported at the center position to be rotatable about the transmission pin main body 4pm as an axis is shown, the integrated transmission pin portion 4p may be constituted by selecting the shape of the transmission pin main body 4pm without using the transmission roller 4 pr. Although the output plate portion 7 is formed in a ring shape and the rotary input portion 2 is formed by the cylindrical input rotary body 11, the ring shape or the cylindrical shape is not required when the wiring space S for the cables Ka and Kb 8230is not provided. Further, although the case where at least the cam main body portion 3c of the elliptical shaft portion 3 is integrally formed on the outer peripheral surface 11o of the rotation input portion 2 is shown, a separate cam main body portion 3c may be attached by a predetermined attachment means. On the other hand, the case where the output plate portion 7 is configured by stacking a plurality of elastic plate materials 7p having a predetermined thickness Ls in the axial direction Fs is shown, but an integral (single) output plate portion 7 may be used.
On the other hand, the case where the flexible gear portion 4 and the ring gear 5g of the inner gear portion 5 mesh at two meshing positions T that are 180 ° in positional relationship is exemplified, but the cam main body portion 3c may be formed in a triangular shape, a quadrangular shape, or a pentagonal shape and mesh at three meshing positions T, four meshing positions T, or five meshing positions T. Further, the embodiment in which the rotary output mechanism 6 is provided with the ring-shaped output plate holding body 12 which is rotatably supported and in which the ring-shaped concave portion 12h for holding the output plate portion 7 is formed in the end surface 12s is exemplified, but it is not excluded that the rotary output mechanism is replaced by another structure which can exhibit the same function. Further, although the case where the transmission pins 4p are provided so as to correspond to the positions of the teeth portions (ridge portions) 4gs in the external gear 4g has been described, it is not necessary to correspond the positions, and it is not necessary to match the number and the intervals of the transmission pins 4p with the number and the intervals of the teeth portions (ridge portions) 4 gs. On the other hand, the rotational motion of the drive motor 34 is exemplified as the input rotational motion, but other various rotational motion sources can be applied. Further, although a metal material is exemplified as a material for forming each part, the material may be a synthetic resin material, a fiber-reinforced composite material, or the like, or a ceramic material or the like as a member that does not require elasticity, and the type of the material is not limited. Further, although the case where the U-shaped notches 4c are formed in the radial direction Fd at the positions corresponding to the valley portions 4gd between the teeth portions (mountain portions) 4gs on the inner peripheral surface of the flexible gear portion 4 has been described, the shapes and positions (intervals) of the notches 4c are arbitrary and do not necessarily need to be provided.
[ possibility of Industrial utilization ]
The rotation deceleration transmission device according to the present invention is applicable to various rotation deceleration transmission devices that require a function of decelerating and outputting an input rotation motion, including a joint mechanism to which an arm portion of an industrial robot is coupled.
Claims (6)
1. A rotation deceleration transmission device that decelerates an input rotational motion and outputs the decelerated rotational motion, comprising:
a rotation input unit that inputs a rotational motion;
a cam main body portion that rotates integrally with the rotation input portion, and an elliptical shaft portion in which a plurality of rotating bodies are interposed between an inner ring and a flexible outer ring provided along an outer periphery of the cam main body portion;
an inner gear part having an inner gear formed on an inner periphery thereof and fixed in position;
a flexible gear portion having an external gear formed along a circumferential direction of an outer periphery thereof and having a plurality of transmission pin portions that are provided at predetermined intervals along the circumferential direction, the external gear having a smaller number of teeth than the internal gear, and meshing with the internal gear at a plurality of meshing positions in the circumferential direction when attached to the outer periphery of the elliptical shaft portion, the plurality of transmission pin portions protruding from a side surface; and
a rotation output mechanism having an output plate portion provided with an engagement portion formed with an engagement hole for engaging each transmission pin portion and provided at a predetermined interval along a circumferential direction, the rotation output mechanism allowing displacement of the transmission pin portion in the circumferential direction and/or a radial direction during rotation transmission,
the engaging portion is formed of a multidirectional engaging hole which is formed in the output plate portion, always abuts against the circumferential surface of the transmission pin portion, and allows displacement of the transmission pin portion in the circumferential direction and the radial direction of the output plate portion.
2. The rotation deceleration transfer apparatus according to claim 1,
the transmission pin portion includes a transmission pin body protruding from the flexible gear portion, and a transmission roller supported at a center position to be rotatable about the transmission pin body.
3. The rotation deceleration transfer apparatus according to claim 1,
the output plate portion is formed in a ring shape.
4. The rotation deceleration transfer apparatus according to claim 1,
the rotation input portion is formed of a cylindrical input rotating body having an inner peripheral surface formed as a cable-like wiring space and an outer peripheral surface provided with at least the cam main body portion of the elliptical shaft portion.
5. The rotation deceleration transfer apparatus according to claim 1,
the flexible gear portion meshes with the inner gear of the inner gear portion at two meshing positions that are in a positional relationship of 180 °.
6. The rotation deceleration transfer apparatus according to claim 2,
notches for ensuring flexibility are formed in the inner peripheral surface of the flexible gear portion, and the transmission pin body is disposed between the notches.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-100885 | 2017-05-22 | ||
| JP2017100885A JP6918343B2 (en) | 2017-05-22 | 2017-05-22 | Rotation deceleration transmission device |
| CN201710799694.3A CN108953503B (en) | 2017-05-22 | 2017-09-07 | Rotation deceleration transmission device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710799694.3A Division CN108953503B (en) | 2017-05-22 | 2017-09-07 | Rotation deceleration transmission device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115789182A true CN115789182A (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211534281.XA Pending CN115789182A (en) | 2017-05-22 | 2017-09-07 | Rotary speed-reducing transmission device |
| CN201710799694.3A Active CN108953503B (en) | 2017-05-22 | 2017-09-07 | Rotation deceleration transmission device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710799694.3A Active CN108953503B (en) | 2017-05-22 | 2017-09-07 | Rotation deceleration transmission device |
Country Status (4)
| Country | Link |
|---|---|
| JP (2) | JP6918343B2 (en) |
| KR (1) | KR20180127885A (en) |
| CN (2) | CN115789182A (en) |
| TW (1) | TW201901062A (en) |
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|---|---|---|---|---|
| JP2020106140A (en) * | 2018-12-28 | 2020-07-09 | Ｓｋｇ株式会社 | Rotation deceleration transmission device |
| JP7307905B2 (en) * | 2018-12-28 | 2023-07-13 | Ｓｋｇ株式会社 | Rotation reduction transmission device |
| JP2020106139A (en) * | 2018-12-28 | 2020-07-09 | Ｓｋｇ株式会社 | Rotation deceleration transmission device |
| US11060597B2 (en) | 2019-03-14 | 2021-07-13 | Skg Inc. | Rotation deceleration transmission apparatus |
| EP3779239B1 (en) * | 2019-08-13 | 2021-08-11 | maxon international ag | High reduction transmission |
| CN112706188B (en) * | 2019-10-24 | 2023-09-19 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| JP7039097B1 (en) * | 2021-09-16 | 2022-03-22 | Ｓｋｇ株式会社 | Wave gear device |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61146490A (en) * | 1984-12-21 | 1986-07-04 | 株式会社安川電機 | Wrist mechanism for industrial robot |
| JPS6362934A (en) * | 1986-09-04 | 1988-03-19 | Fujitsu Ltd | Power transmission device |
| DE3840367A1 (en) * | 1988-11-30 | 1990-05-31 | Wolfgang Prof Dr Ing Ziegler | Direct drive |
| JPH08318490A (en) * | 1996-07-01 | 1996-12-03 | Fujitsu Ltd | Harmonized deceleration mechanism of robot hinge |
| JP4165776B2 (en) * | 1998-06-16 | 2008-10-15 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device |
| US6100619A (en) * | 1998-07-30 | 2000-08-08 | General Motors Corporation | Drive apparatus, in particular for a sliding door of a motor vehicle |
| US7552664B2 (en) * | 2005-11-04 | 2009-06-30 | Northrop Grumman Guidance and Electronics Co., Inc. | Harmonic drive gear assembly with asymmetrical wave generator and associated flexspline |
| WO2007125800A1 (en) * | 2006-04-25 | 2007-11-08 | Nabtesco Corporation | Rotation device |
| JP5697356B2 (en) * | 2010-04-06 | 2015-04-08 | キヤノン株式会社 | Wave gear device and robot arm |
| CN103438156B (en) * | 2013-09-06 | 2015-10-28 | 上海鑫君传动科技有限公司 | A kind of harmonic wave speed reducing machine avoiding gear tooth interference |
| JP2015169256A (en) * | 2014-03-06 | 2015-09-28 | アイシン精機株式会社 | wave gear device |
| JP6356514B2 (en) * | 2014-07-18 | 2018-07-11 | 日本電産シンポ株式会社 | Decelerator |
-
2017
- 2017-05-22 JP JP2017100885A patent/JP6918343B2/en active Active
- 2017-09-05 TW TW106130206A patent/TW201901062A/en unknown
- 2017-09-06 KR KR1020170113631A patent/KR20180127885A/en not_active Application Discontinuation
- 2017-09-07 CN CN202211534281.XA patent/CN115789182A/en active Pending
- 2017-09-07 CN CN201710799694.3A patent/CN108953503B/en active Active
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2021
- 2021-05-06 JP JP2021078730A patent/JP7162280B2/en active Active
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| JP2021169862A (en) | 2021-10-28 |
| TW201901062A (en) | 2019-01-01 |
| JP6918343B2 (en) | 2021-08-11 |
| CN108953503A (en) | 2018-12-07 |
| KR20180127885A (en) | 2018-11-30 |
| JP7162280B2 (en) | 2022-10-28 |
| CN108953503B (en) | 2023-02-24 |
| JP2018194150A (en) | 2018-12-06 |
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