DE102008039943A1 - Harmonic drive transmission is provided with wave generator of revolving wheel transmission, and paired flex spline - Google Patents

Abstract

The harmonic drive transmission (100) is provided with a wave generator (1) of a revolving wheel transmission. A paired flex spline (2) is provided, where a circular spline (3) and a dynamic spline are operatively connected with the flex spline. The wave generator is coupled with an input shaft, the circular spline, dynamic spline or flex spline. The wave generator acts on the outer side flex spline.

Description

The The invention relates to a voltage wave transmission with a wave generator in the manner of an epicyclic gear, a flexspline coupled thereto and with a circular spline and / or a dynamic spline which are operatively connected to the Flexspline, wherein the wave generator with an input shaft and the Circular Spline, Dynamic Spline or Flexspline with an output shaft of the stress wave transmission can be coupled.

State of the art

Such a voltage wave transmission is from the DE 101 61 493 A1 known. The known voltage wave transmission has a shaft generator, which is formed by a planetary gear. The planetary gear has a sun gear and at least two planet gears meshing with the sun gear. The sun gear is non-rotatably arranged on a drive shaft arranged centrally with respect to the axis of rotation of the transmission. The planetary gears engage with their external teeth in engagement with the outer teeth of the sun gear and simultaneously with the internal teeth of the flex spline of the stress wave transmission. It is elastically deformed by the planet wheels of the Flexspline. The deformation of the flexspline shifts circumferentially with rotation of the shaft generator, so that the so-called wave motion of the stress wave transmission is generated.

The known stress wave transmission is a transmission in micro construction, in which the planet wheels are floating, so a carrier for the planetary gears not is provided. The planet gears are between the sun gear and the Flexspline braced. Therefore, in the known stress wave transmission the planet gears ring with a relatively large Diameter formed opposite the sun gear. The sizing the sun gear and the input shaft connected to the sun gear or output shaft is thereby considerably limited. A stress wave transmission with a large diameter input shaft or Output shaft is not feasible there.

task

From that Based on the object of the invention, a voltage wave transmission to propose with the features mentioned, in which the input shaft and / or the output shaft with larger Diameters than previously realized.

Invention and advantageous effects

to Solution to the problem, a voltage wave transmission is proposed which has the features mentioned in claim 1.

The Spannwellengetriebe has a shaft generator in the manner of a planetary gear, a coupled flexspline and a circular spline and / or a dynamic spline. Circular Spline and Dynamic Spline are included operatively connected to the Flexspline. Furthermore, in the voltage wave transmission the wave generator with an input shaft and the circular spline, Dynamic spline or flexspline with an output shaft of the stress wave transmission coupled.

in the According to the invention is under Flexspline the elastically deformable Ring component of the stress wave transmission understood. Furthermore, will this is not the case under Circular Spline and Dynamic Spline elastically deformable wheel of the stress wave transmission understood. Flexspline, Circular Spline and Dynamic Spline can each provided with a toothing or be designed as friction wheels. If the Flexspline, Dynamic Spline and Circular Spline with a Gear teeth is provided, the Dynamic Spline has the same number of teeth and the circular spline a slightly smaller number of teeth like the flexspline on.

According to the invention it now provided that the wave generator from the outside up the Flexspline acts.

By This measure can the planetary gear of the Wave generator can be arranged outside the Flexsplines, so that the space within the Flexsplines no longer limited by this becomes. The voltage wave transmission according to the invention is thus also for input shafts or output waves with large diameter, which easily through the Flexspline can be passed. Also This is a simple installation of the entire stress wave transmission allows, since the Flexspline before its assembly is not more needs to be deformed as before. In the inventive Voltage shaft gears can be mounted on the Flexspline without deformation be because the wave generator from the outside on the flexspline acts.

According to a first embodiment of the invention, it is provided that the wave generator has at least one wheel which acts from the outside on the Flexspline. This ensures that even with an external wave generator, the flexspline is brought into operative connection with the wave generator, at least with a portion of its circumference, and as a result a deformation of the flexpline Flexsplines can be done.

To An advantageous development of the invention is provided that the at least one wheel of the wave generator with a predeterminable or predetermined contact force acts on the Flexspline. Thereby the Flexspline is deformable as far as possible by means of the wheel that permanently a trouble-free function of the stress wave transmission is reached. In addition, the contact pressure in the Be given way that a backlash connection between Wheel and Flexspline is made so that the inventive Voltage shaft gear for applications with more precise Motion transmission is particularly suitable. such Applications are for example adjustment procedures and / or positioning of items, goods or the like Units.

To An advantageous embodiment of the invention is provided that the wave generator is a carrier for the has at least one wheel through which the at least one Wheel with a contact force on the Flexspline acts. This is the result Generation of the contact pressure on simple and inexpensive Realizable manner, as to the very complex in the production and expensive wheel does not need to be self-designed for power generation.

Much more it is provided according to the advantageous embodiment of the invention, that the contact pressure generated by the carrier of the wave generator becomes. It makes sense that the carrier at least having an elastically acting portion which on the at least a wheel works. This will change the material property of the wearer or its section made use of to the Flexspline To produce effective contact force. The section the carrier itself serves as a memory for the expended for generating the contact force mechanical energy, thereby the section changes its outer shape.

Prefers the section has spring elastic properties. hereby Ensures that while relaxing the section or the wheel of the flexspline the section to its original Form returns. The section of the carrier is This can be preloaded as often as desired without causing fatigue comes in the form of plastic deformations on the carrier.

Farther It makes sense that the carrier at least a part the housing of the stress wave transmission forms. Thereby comes to the carrier to the already existing double function, namely as a carrier for the at least To serve a wheel of Umlaufrädergetriebes and a contact pressure to generate, in addition to a housing function. Such a multiple function supported by the carrier a particularly compact and lightweight Training the entire stress wave transmission.

To An advantageous embodiment of the invention is provided that the wave generator two from the outside on the flexspline having acting wheels, which preferably substantially diametrically are arranged to each other. This is due to the two on Flexspline acting wheels a deformation of the Flexsplines to realize an ellipse. Here, the minor axis runs the ellipse through the area of the attacking wheels of the Umlaufrädergetriebes and transverse to the main axis. Thereby This results in a symmetrical structure and that on the Flexspline Compensate for acting contact forces of the wave generator mutually, leaving a load of stock due to the acting contact forces is avoided.

To Another advantageous embodiment of the invention is provided that the circular spline and / or the dynamic spline lie within the flexspline. As a result, on the one hand a power transmission from the flexspline to the output shaft, namely via the Circular Spline or the Dynamic Spline. As it is the Circular Spline or the Dynamic Spline is only a single component, which viewed in the radial direction, within the flexspline is the circular spline or the Dynamic spline with an output shaft with much larger Diameter coupled, as in the known voltage wave gears with internal wave generator.

there It makes sense that the input shaft, the output shaft, the Wave Generator, Flexspline and Circular Spline and / or Dynamic spline are arranged coaxially to each other and preferably are rotatable about a common center axis. This is a special compact design of the entire stress wave transmission achieved. About that In addition, can be particularly easy in such an arrangement Guide media and / or information through the transmission.

For this purpose, it is provided according to a particularly advantageous embodiment of the invention that input shaft and output shaft in the direction of its axis of rotation in each case have a through opening, channel, bore or the like passage. Preferably, the passage of the input shaft and the passage of the output shaft should be formed to each other such that a passage through the voltage wave transmission is realized. In the voltage wave transmission according to the invention thus the dimension of the passage of the input shaft and the passage of the output shaft in the radial direction of the stress wave transmission only by the outer contour of the Dynamic Splines or Circular Splines, which is in operative contact with the Flexspline.

A advantageous embodiment of the stress wave transmission consists further, that the flexspline is non-rotatable with the output shaft is connected and the Circular Spline or Dynamic Spline fixed to the housing is arranged. This is for a transmission operation the Flexspline only with the Circular Spline or the Dynamic Pair spline so that on one of the two elaborate and expensive gears can be dispensed with. The stress wave transmission can be realized in the so-called pot shape, that is, that the Flexspline is cup-shaped and with its open end in operative contact with the Dynamic Spline or Circular Spline stands and rotates with its bottom to the output shaft is coupled.

A alternative embodiment of the stress wave transmission is that the Dynamic Spline rotatably connected to the output shaft is and the Circular Spline is fixed to the housing. As a result, the stress wave transmission in the so-called flat construction feasible, in which the voltage wave gear in the direction of Rotary axis can be built very compact. Of course is the reverse arrangement possible, namely that the circular spline rotatably connected to the output shaft is and the Dynamic Spline is fixed to the housing.

alternative It can also be provided that the stress wave transmission as a superposition gear is formed and another input shaft or output shaft is provided. The stress wave transmission is characterized for a coupling of a further movement or decoupling of a additional movement, so that the movement of the Output shaft or the movement of the two output shafts respectively consists of a proportion of movement of the input shaft.

From The advantage here is that the other input shaft or output shaft with the Flexspline, the Circular Spline or the Dynamic Spline rotatably connected.

A Development of the invention is that the stress wave transmission a microgear is. In the context of the invention is a transmission to be understood with an outer diameter of less than 20 mm. A trained as a gear transmission voltage wave transmission in Micro construction also has a tooth module smaller 200 microns on.

Prefers are at a voltage wave transmission in micro construction, at least the components of the wave generator made of a plastic and / or a Nickel-iron alloy produced. Of course can the components of the wave generator even at a Voltage shaft gear in conventional size consist of a plastic and / or a nickel-iron alloy.

In terms of the voltage wave transmission according to the invention Reference is made to the patent application "Transmission, in particular micro gearbox "of Micromotion GmbH, whose Content is hereby incorporated in this application. The registration "gear, in particular microgear "and the present application were filed on the same day.

embodiments

Further Objectives, advantages, features and applications of the The present invention will become apparent from the following description of two Embodiments with reference to the drawing. Make up all described and / or illustrated features for itself or in any meaningful combination the object of present invention, also independent of their summary in the claims or their dependency.

It demonstrate:

1 a possible embodiment of a stress wave transmission with a shaft generator in the manner of a planetary gear, shown in cross section,

2 the stress wave gear according to 1 as a sectional view along the section line AA according to 1 .

3 the stress wave gear according to 1 in a schematic representation,

4 and 5 Other possible embodiments of a stress wave transmission with a wave generator in the manner of a planetary gear in a schematic representation.

1 and 2 show a stress wave transmission 100 with a wave generator 1 in the manner of an epicyclic gearbox. 3 shows the stress wave transmission 100 in a schematic representation.

The stress wave transmission 100 is preferably designed in a microstructure and has an elastically deformable ring 2 , the so-called flexspline, which in the embodiment according to 1 and 2 is provided with an internal toothing. Inside the flexspline 2 are two wheels 3 . 4 in the direction of the axis of rotation 11 the stress wave transmission 100 one after the other ordered, each with its external teeth with the internal teeth of the Flexsplines 2 comb. The one wheel 3 is the so-called Circular Spline, whose teeth have a slightly smaller number of teeth than the teeth of the Flexsplines 2 , The other wheel 4 is the so-called Dynamic Spline, whose teeth have the same number of teeth as the teeth of the Flexsplines 2 having. The circular spline 3 is with the case 15 the stress wave transmission 100 firmly connected. The circular spline 3 is supported preferably in the axial direction against a stop 14 from which is formed in the manner of a disc and preferably in turn against a shoulder of the housing 15 supported.

In the stress wave transmission 100 according to the 1 to 3 the wave generator acts 1 from the outside onto the flexspline 2 , The wave generator formed by the epicyclic gear train 1 has at least one wheel, preferably two wheels 7 . 8th on which diametrically opposite to the Flexspline 2 , preferably under a predetermined contact force, act. Through the wheels 7 . 8th becomes the Flexspline 2 between the wheels 7 . 8th and the circular spline 3 as well as the Dynamic Spline 4 tense so that the flexspline 2 This gives an elliptical deformation. The minor axis 16 The ellipse runs through the wheel 7 . 8th generated engagement area between Flexspline 2 and Circular Spline 3 or Dynamic Spline 4 , With turning of the wave generator 1 or revolving the wheels 7 . 8th around the outer circumference of the flexspline 2 the minor axis shifts 16 and thus the meshing area between Flexspline 2 and Circular Spline 3 or Dynamic Spline 4 so in this way the Flexspline 2 is brought into a circulating wave motion.

In the stress wave transmission 100 according to the 1 to 3 are the wheels 7 . 8th of the wave generator or planetary gear 1 with the Flexspline 2 non-positively, preferably via friction surfaces, coupled together.

Of course, the wheels can 7 . 8th with the Flexspline 2 positively, preferably via a peripheral toothing, be coupled together. In this case, the wheels have 7 . 8th the wave generator each has an external toothing and the flexspline also has an external toothing.

The wheels 7 . 8th are in a carrier 9 added. For this purpose, the carrier 9 elastic, preferably elastic sections 10 on, at the free end 18 each one of the wheels 7 . 8th supports, preferably rotatably supported. Preferred are in the axial direction of the stress wave transmission 100 two successively arranged lying sections 10 provided between which the respective wheel 7 respectively. 8th is arranged, in particular from 2 is apparent. The wheel 7 respectively. 8th is about an axle, shaft or the like connecting element 17 with the sections 10 connected.

The sections 10 are with their other end 19 with a base part 20 of the carrier 9 connected, preferably molded or worked out of it. The base part 20 of the carrier 9 is preferably annular, wherein seen in the radial direction, the other components of the stress wave transmission 100 like the Flexspline 2 , the Circular Spline 3 , the Dynamic Spline 4 , the input shaft 5 as well as the output shaft 6 the stress wave transmission 100 as well as the sections 10 with the wheels 7 . 8th are located.

In the stress wave transmission 100 according to the 1 to 3 is the carrier 9 , preferably the base part 20 of the carrier 9 , with the input shaft 5 rotatably connected. It causes the rotational movement of the input shaft 5 a twisting of the carrier 9 and therefore the wheels 7 . 8th around the flexspline 2 , causing the rotary motion on the Dynamic Spline 4 and from there to the output shaft 6 is transmitted. The Dynamic Spline 4 is non-rotatable with the output shaft 6 connected.

The input shaft 5 , the output shaft 6 , the wave generator 1 , the Flexspline 2 , the Circular Spline 3 and the Dynamic Spline 4 are coaxial with respect to the axis of rotation 11 the stress wave transmission 100 arranged, with the axis of rotation 11 the central axis in the longitudinal direction of the stress wave transmission 100 is.

The input shaft 5 and the output shaft 6 point in the direction of its axis of rotation 11 in each case a through opening, channel, bore or the like passage 12 on, with the respective passage 12 a passage 13 through the stress wave transmission 100 form.

4 and 5 show in schematic representation further variants of a stress wave transmission 100 ' respectively. 100 '' with a wave generator 1 , which from the outside on the Flexspline 2 acts.

Components of the stress wave transmission 100 ' according to the 4 and the stress wave transmission 100 '' according to the 5 , which with the components of the stress wave transmission 100 according to the 1 to 3 are identical, are provided with the same reference numerals. In that regard, the description of the 1 to 3 directed.

The stress wave transmission 100 ' according to the 4 differs from the stress wave transmission 100 according to the 3 amongst other things in that a cup-shaped Flexspline 2 ' is provided and this non-rotatably with the output shaft 6 connected is. The stress wave transmission 100 ' has only the fixed housing fixed Circular Spline 3 on, but no Dynamic Spline.

The stress wave transmission 100 '' according to 5 differs from the stress wave transmission 100 according to 3 as well as the stress wave transmission 100 ' according to 4 among other things, that the stress wave transmission 100 '' is designed as a superposition gear and thus a further output shaft 6 ' is provided. Instead of the other output shaft 6 ' Of course, an alternative embodiment can provide a further input shaft.

In the stress wave transmission 100 '' according to the 5 is the other output shaft 6 ' with the pot-shaped Flexspline 2 ' rotatably connected. The further output shaft 6 ' is formed as a hollow shaft, which is the output shaft 6 surrounds. The stress wave transmission 100 '' has a circular spline 3 ' on, which with the output shaft 6 rotatably connected. A Dynamic Spline is at the stress wave transmission 100 '' according to 5 not provided.

1

wave generator

2, 2 '

flexpline

3, 3 '

Circular spline

4

Dynamic spline

5

input shaft

6 6 '

output shaft

7

wheel

8th

wheel

9

carrier

10

elastic section

11

axis of rotation

12

passage

13

passage

14

attack

15

casing

16

minor axis

17

Axis, wave

18

The End

19

The End

20

base

100 100 ', 100' '

Tension shaft gear

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 10161493 A1 [0002]

Claims (16)

Stress wave transmission ( 100 ; 100 '; 100 '' ) with a wave generator ( 1 ) in the manner of an epicyclic gear, a Flexspline coupled thereto ( 2 ) and with a circular spline ( 3 ; 3 ' ) and / or a Dynamic Spline ( 4 ), which with the Flexspline ( 2 ; 2 ' ) are actively connected, wherein the wave generator ( 1 ) with an input shaft ( 5 ) and the circular spline ( 3 ; 3 ' ), Dynamic Spline ( 4 ) or Flexspline ( 2 ; 2 ' ) with an output shaft ( 6 ) of the stress wave transmission ( 100 ; 100 '; 100 '' ) are coupled, characterized in that the wave generator ( 1 ) from the outside onto the Flexspline ( 2 ; 2 ' ) acts. Voltage wave transmission according to claim 1, characterized in that the wave generator ( 1 ) at least one wheel ( 7 . 8th ), which from the outside on the Flexspline ( 2 ; 2 ' ) acts. Voltage wave transmission according to claim 1 or 2, characterized in that the at least one wheel ( 7 . 8th ) of the wave generator ( 1 ) with a predeterminable contact force on the Flexspline ( 2 ; 2 ' ) acts. Voltage wave transmission according to one of the preceding claims, characterized in that the wave generator ( 1 ) a carrier ( 9 ) for the at least one wheel ( 7 . 8th ), by which the at least one wheel ( 7 . 8th ) with a contact force on the Flexspline ( 2 ) acts. Voltage wave transmission according to claim 4, characterized in that the carrier ( 9 ) at least one elastically, preferably resiliently acting portion ( 10 ), which on the at least one wheel ( 7 . 8th ) acts. Voltage wave transmission according to claim 4 or 5, characterized in that the carrier ( 9 ) at least a part of the housing of the stress wave transmission ( 100 ; 100 '; 100 '' ). Voltage wave transmission according to one of the preceding claims, characterized in that the wave generator ( 1 ) two from the outside on the Flexspline ( 2 ; 2 ' ) acting wheels ( 7 . 8th ), which are arranged substantially diametrically opposite each other. Voltage wave transmission according to one of the preceding claims, characterized in that Circular Spline ( 3 ; 3 ' ) and / or Dynamic Spline ( 4 ) within the Flexspline ( 2 ) lie. Voltage wave transmission according to one of the preceding claims, characterized in that the input shaft ( 5 ), the output shaft ( 6 ), the wave generator ( 1 ), the Flexspline ( 2 ; 2 ' ) and the circular spline ( 3 ; 3 ' ) and / or Dynamic Spline ( 4 ) are arranged coaxially to one another and preferably around a common central axis ( 11 ) are rotatable. Voltage wave transmission according to one of the preceding claims, characterized in that input shaft ( 5 ) and output shaft ( 6 ) in the direction of its axis of rotation ( 11 ) each have a through opening, channel, bore or the like passage ( 12 ) and preferably a passage ( 13 ) by the stress wave transmission ( 100 ) form. Voltage wave transmission according to one of the preceding claims, characterized in that the Flexspline ( 2 ' ) with the output shaft ( 6 ) is rotatably connected and the circular spline ( 3 ) or Dynamic Spline is fixed to the housing. Voltage wave transmission according to one of claims 1 to 10, characterized in that the dynamic spline ( 4 ) with the output shaft ( 6 ) is rotatably connected and the circular spline ( 3 ) is arranged fixed to the housing. Voltage wave transmission according to one of claims 1 to 10, characterized in that the stress wave transmission as a superposition ( 100 '' ) is formed and another input shaft or output shaft ( 6 ' ) is provided. Voltage wave transmission according to claim 13, characterized in that the further input shaft or output shaft ( 6 ' ) with the Flexspline ( 2 ' ), the circular spline ( 3 ' ) or the Dynamic Spline is rotatably connected. Stress wave transmission according to one of the preceding claims, characterized in that the stress wave transmission is a micro gear ( 1 ). Transmission according to one of the preceding claims, characterized in that at least the components of the wave generator ( 1 ) consist of a plastic and / or a nickel-iron alloy.