EP1364140A1 - Harmonic drive with crowned drive ring - Google Patents

Harmonic drive with crowned drive ring

Info

Publication number
EP1364140A1
EP1364140A1 EP02710022A EP02710022A EP1364140A1 EP 1364140 A1 EP1364140 A1 EP 1364140A1 EP 02710022 A EP02710022 A EP 02710022A EP 02710022 A EP02710022 A EP 02710022A EP 1364140 A1 EP1364140 A1 EP 1364140A1
Authority
EP
European Patent Office
Prior art keywords
base plate
housing
wave gear
gear according
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP02710022A
Other languages
German (de)
French (fr)
Inventor
Martin Ruttor
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oechsler AG
Original Assignee
Oechsler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE2001105814 external-priority patent/DE10105814C1/en
Application filed by Oechsler AG filed Critical Oechsler AG
Publication of EP1364140A1 publication Critical patent/EP1364140A1/en
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/033—Series gearboxes, e.g. gearboxes based on the same design being available in different sizes or gearboxes using a combination of several standardised units
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing

Definitions

  • the invention relates to a wave gear according to the preamble of the main claim.
  • a wave gear - also known as a harmony drive or a ring belt gear - as a very strongly reducing, self-locking system with an output shaft that is coaxial with the drive shaft
  • a rotatingly driven non-circular core a so-called well generator
  • an inner wheel also known as a flexible band
  • Tires are radially deformed all the way round, thereby pressing the outer circumferential surface locally and outward slightly against the hollow cylindrical inner circumferential surface of a slightly larger circumference of a ring gear that is stationary and serves as a dimensionally stable support ring.
  • the inner wheel itself or a wheel tire rotatably mounted on it rotates non-positively via friction surfaces or positively via toothings in the support ring, the wheel or its tire rotating more slowly than the motor-driven drive core of the wave generator, depending on the circumferential difference between the support ring and the inner wheel.
  • This rotational movement which is greatly slowed down in relation to the drive, is preferably transmitted via the external toothing of the inner wheel tire to the internal toothing of a further outer ring, which is concentric with the support ring but, in contrast to that, is arranged in a non-stationary but coaxially rotatable output ring, which is designed, for example, in the form of a pot or hood and with an output shaft mounted in the gearbox.
  • the speed of rotation can be further reduced as a result of the different circumference (ie different number of teeth).
  • the well generator is usually driven by a coaxial flanged high-speed small chip voltage DC motor, the rapid rotation of which is thus reduced to a much slower rotary motion corresponding to greater torque, which is used in many ways, for example as an actuating element for engine and climate management and for other functions in the motor vehicle that replace manual interventions.
  • a non-circular wave generator (approximately triangular in axial cross section or preferably oval) drive core rotated concentrically in the hub of a radially deformable inner wheel, which can be a one-piece injection molded part with spoke-like, radially oriented tappets between the radially deformable inner wheel hub and the likewise radially deformable, externally toothed inner wheel tire of the hub radially deformed by the drive core and the tire have the effect that the external teeth, in accordance with their circumferential radial deformation, each have only a limited, circumferentially displacing arc piece with the coaxial, axially offset internal teeth of the support ring and the output ring engages.
  • the present invention is based on the technical problem of specifying a compact, yet easily assembled and versatile structure for such a shaft gear which has already proven itself in practical use.
  • the task is essentially solved in that the internal toothing of the support ring is no longer an integral part of the gearbox housing for an unproblematic, precisely producible wave gear, but instead is assembled on a housing base plate after separate production and then to be fastened separately by one Housing pot is overlapped.
  • the pot accommodates the central output shaft of the hood-shaped output ring, while the base plate has no direct bearing function for rotating gear parts.
  • reaction forces of the transmission are only absorbed by this base plate; therefore, they cannot impair the bearing function of the other housing part, which due to its fixation on the base plate also acts radially centering and axially guiding.
  • the outside of the base plate can be ge on differently available drive motors can be designed geometrically different.
  • the centering of the inner wheel does not take place directly over the base plate, but rather by means of the drive shaft which projects through it.
  • Their direct engagement in the sleeve-shaped drive core also has the advantage of eliminating the drive-side mounting in the gearbox, because this bearing function is taken over on the drive side outside the gearbox. This enables direct installation in front of the drive without the interposition of a coupling element and thus results in an axially short design of a very strongly reducing gear motor.
  • Fig.l the structure of the wave gear in an unassembled housing in an exploded view
  • Fig.2 the fully assembled wave gear in view against the base plate of its housing
  • Fig.3 two such wave gear in a cascadable arrangement.
  • FIG. 1 of the drawing The exploded view sketched in FIG. 1 of the drawing, completely made of plastic injection molded parts and designed according to the invention, has a housing 11 with a circular disk-shaped base plate 12.
  • a central through hole 13 serves for the engagement of the drive shaft 14 of a drive motor 15 in the transmission 10.
  • the diameter of the hole 13 is larger than that of the shaft 14, so that no radial bearing function occurs here.
  • the base plate 12 is provided with profiles such as incisions and / or holes for the positive engagement of complementary profiles in the end region 17 of a support ring 18 to be arranged fixed to the housing, with dimensionally stable internal teeth 19.
  • the support ring 18 can be fixed in a rotationally rigid manner to the through hole 13 on the base plate 12, independently of a housing pot 20 that is later to be slipped over with radial play, on the end face positively or non-positively - for example by crimping or soldering or gluing.
  • the support ring 18 is then axially and dial overlapped by the hood-shaped pot 20, which is also held on the end face on the base plate 12, with an inserted driven ring 27.
  • the wall 21 of the pot 20 is distributed over the circumference with a few axially parallel spring hooks 22 for locking with the edge region 16 of the base plate 12 (see FIG. 2), approximately as sketched in the form of a tab-shaped opening towards the front of the pot and thus towards the base plate 12 cut-out spiral springs with angled free end faces for reaching behind the profiled edge area 16.
  • the support ring 18, which is mounted separately on the base plate 12, has the special advantage, as already stated above, of a support ring integrated into the hollow cylindrical inner wall of the pot 20, the internal toothing 19 of which is more precisely circular manufacture and thereby achieve a low-loss, that is to say particularly low-noise transmission run.
  • the opposite bottom 23 of the pot 20 represents the free end face of the housing 11 and thus also of the gear 10 and contains the only bearing point of this gear 10.
  • the pot bottom 23 is a bearing plate with a sock-shaped reinforcement for forming a radial bearing 24 for a transmission output shaft 25 projecting coaxially to the motor drive shaft 14.
  • This is torsionally rigid with a likewise cup-shaped or hood-shaped output ring 27 provided with dimensionally stable internal toothing 26. Its average diameter is roughly the same as that of the support ring 18 fixed to the housing axially in front of the base plate 12, so that the driven ring 27 is axially guided between that and the inner surface of the bottom 23 in the pot 20.
  • the radial holding ring of the driven ring 27 takes place by means of its driven shaft 25 anchored in the hood base or integrally formed therewith in the housing bearing 24 and, if necessary, also in relation to the hollow cylindrical inner surface of the pot or housing wall 21.
  • a radially deformable inner wheel 28 with external teeth 29 is arranged within the two coaxially held, axially adjacent rings 18-27 with their different numbers of teeth in accordance with the slightly different inner circumferences. This is axially longer than each of the two adjacent, dimensionally stable rings 18, 27 and therefore meshes simultaneously via the radially bulged arc piece with its two internal teeth 19, 26.
  • the inner wheel 28 is preferably as long as the two rings 18-27 together and is thus guided axially between the base plate 12 and the hood base of the driven ring 27.
  • a cross-sectionally non-circular, preferably oval sleeve-shaped drive core 30, which is rotated by a motor from outside the transmission 10.
  • the inner wheel 28 and its central drive core 30 are not supported in the housing 11 of the transmission 10 and are therefore not centered in the rings 18, 27 of larger inner diameter.
  • the radial alignment takes place, however, in that the base plate 12 is mounted centered with respect to the drive shaft 14 projecting through it and into the drive core 30, that is to say that the shaft 14 engages in the drive core 30 with the base plate 12 coaxially mounted on its end plate 32.
  • This end shield 32 in turn represents the end closure of the housing of the drive motor 15.
  • the engagement of the drive shaft 14 in the drive core 30 can be non-positive;
  • a form fit is to be preferred, for example due to the cross-sectionally flattened cross-section of the shaft 14, as can be seen for the shafts 25/14 in FIG. 3.
  • the base plate 12 can have a coaxial recess 31 (see FIG. 2) on the outside, that is to say in its free end face, into which a base 35 in the form of a truncated cone on the end plate 32 for the driving shaft 14 (in particular the drive motor) 15) engages axially.
  • the assembly itself is expediently carried out by means of integrally formed or separate fastening elements such as short clamping screws 33 which are axially parallel through the base plate 12 and screwed into threaded bores 34 in the end shield 32. If not yet done, the support ring 18 can now be mounted on the base plate 12.
  • the projecting through the base plate 12 free end of the drive shaft 14 is equipped with the drive core 30 and this with the inner wheel 28, whereupon the hood-shaped output ring 27 over the axially protruding from the support ring 18 part of the inner wheel 28 and finally the pot 20 until it locks the base plate 12 are placed over the output ring 27.
  • the output shaft 25 of the gear 10 then protrudes through the housing bearing 24, whereby the wave gear 10 is already assembled ready for operation.
  • the base 23 of the housing pot 20 serving as the gear-side bearing plate, like the bearing plate of the drive motor 15, is also equipped with fastening means such as threaded holes 34 for tensioning screws 33.
  • Wave gear 10 with its base plate recess 31 instead of in front of a drive motor 15 in the same way also in front of another such wave gear 10 with its centering protruding bearing base 35 and the gear reduction thereby cascaded, as indicated in FIG. 3.
  • the freely protruding shaft from the foremost pot base 23 of the foremost transmission 10 serves as an output shaft 25, while the others each serve as drive shafts 14.
  • a wave gear 10 of such a cascade is then mounted with its base plate 12 in front of the pot base 23 of the preceding wave gear 10, the base 23 of which thereby acts as a bearing plate 32 for a drive shaft 14 which centers the inner wheel 28 in the housing 11 of the following gear stage.
  • end shields 32 of drive motors 15 or of gearboxes 10 to be cascaded form themselves directly as the base plates for housings of the shaft gearboxes 10 connected here, whereby a separate assembly via the tensioning screws 33 or similar fastening elements can be omitted.
  • an unproblematically producible and easily - also cascaded - mountable wave gear 10 results in that the support ring 18, which is manufactured separately from the housing 11, is mounted on the end on a housing base plate 12 in a rotationally rigid manner and by a housing which is also to be fastened to the base plate 12 thereafter.
  • Pot 20 is overlapped, in the base 23 of which the output shaft 25 of the hood-shaped output ring 27, which is rotatable relative to the support ring 18, is mounted in a floating manner.
  • the radially deformable inner wheel 28, which extends axially through the two radially dimensionally stable rings 18-27 with radial play, is not, however, mounted in the housing 11 itself, but rather via its wave generator drive core 30 on the under radial play through the base plate 12 coaxially into Housing 11 protruding drive shaft 14, in front of its bearing plate 32, the base plate 12 is rotatably mounted.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

A shaft drive (10), which may be produced without problem and easily -even in a cascade- assembled, may be achieved, whereby the support ring (18) produced such as to be floating relative to the housing is rotationally fixed on the front side to a housing base plate (12) and enclosed by a housing cover (20), similarly fixed to the base plate (12), in which the drive shaft (25) for the crowned drive ring (27), which may rotate relative to the support ring (18), has a floating bearing. The inner wheel (28), extending through both rings is however not supported in the housing, but rather mounted on the drive shaft (14) extending coaxially into the housing (11) through the base plate (12), by means of the wave generator drive core (30), the base plate (12) being non-rotationally mounted in front of the bearing plate (32) of the above.

Description

Wellgetriebe mit haubenförmigem Abtriebsring Wave gear with hood-shaped output ring
Die Erfindung betrifft ein Wellgetriebe gemäß dem Oberbegriff des Hauptanspruches.The invention relates to a wave gear according to the preamble of the main claim.
Die Funktion eines - auch als Harmonie Drive oder als Ringband-Getriebe bekannten - Wellgetriebes als sehr stark untersetzendem, selbsthemmendem System mit zur Antriebswelle koaxialer Abtriebswelle beruht darauf, daß ein rotierend angetriebener unrunder Kern, ein sogenannter Well-Generator, einen auch als Flexband bezeichneten Innenrad-Reifen umlaufend radial verformt und dadurch dessen Außenmantelfläche umlaufend lokal nach außen gegen die hohlzylindrische Innenmantelfläche geringfügig größeren U - fanges eines gehäusefest stationären, als formstabiler Stützring dienenden Hohlrades andrückt. Infolgedessen wälzt sich das Innenrad selbst oder ein darauf verdrehbar gelagerter Radreifen kraftschlüssig über Reibflächen oder formschlüssig über Verzahnungen im Stützring ab, wobei das Rad bzw. sein Reifen sich nach Maßgabe der Umfangsdifferenz zwischen Stützring und Innenrad langsamer als der motorisch angetriebene Triebkern des Wellgenerators dreht. Diese gegenüber dem Antrieb stark verlangsamte Drehbewegung wird vorzugsweise über die Außenverzahnung des Innenrad-Reifens auf die Innenverzahnung eines weiteren Außenringes, des zum Stützring konzentrischen aber im Gegensatz zu jenem nicht stationär sondern koaxial verdrehbar angeordneten Abtriebsringes übertragen, der z.B. topf- oder haubenförmig gestaltet und mit einer im Getriebegehäuse gelagerten Abtriebswelle ausgestattet ist. In der Verzahnung vom Innenrad zum Abtriebsring kann dabei noch eine weitere Untersetzung der Drehgeschwindigkeit infolge unterschiedlichen Umfanges (also unterschiedlicher Zähnezahl) erfolgen. Der Antrieb des Well-Generators erfolgt üblicherweise über einen koaxial angeflanschten hochtourigen Kleinspan- nungs-Gleichstrommotor, dessen schnelle Rotation so in eine sehr viel langsamere Drehbewegung entsprechend größeren Drehmomentes untersetzt wird, was vielfältig Anwendung etwa als Stellelement für das Motor- und Klimamanagement und für andere insbesondere manuelle Eingriffe ersetzende Funktionen im Kraftfahrzeug findet.The function of a wave gear - also known as a harmony drive or a ring belt gear - as a very strongly reducing, self-locking system with an output shaft that is coaxial with the drive shaft is based on the fact that a rotatingly driven non-circular core, a so-called well generator, has an inner wheel, also known as a flexible band Tires are radially deformed all the way round, thereby pressing the outer circumferential surface locally and outward slightly against the hollow cylindrical inner circumferential surface of a slightly larger circumference of a ring gear that is stationary and serves as a dimensionally stable support ring. As a result, the inner wheel itself or a wheel tire rotatably mounted on it rotates non-positively via friction surfaces or positively via toothings in the support ring, the wheel or its tire rotating more slowly than the motor-driven drive core of the wave generator, depending on the circumferential difference between the support ring and the inner wheel. This rotational movement, which is greatly slowed down in relation to the drive, is preferably transmitted via the external toothing of the inner wheel tire to the internal toothing of a further outer ring, which is concentric with the support ring but, in contrast to that, is arranged in a non-stationary but coaxially rotatable output ring, which is designed, for example, in the form of a pot or hood and with an output shaft mounted in the gearbox. In the toothing from the inner wheel to the driven ring, the speed of rotation can be further reduced as a result of the different circumference (ie different number of teeth). The well generator is usually driven by a coaxial flanged high-speed small chip voltage DC motor, the rapid rotation of which is thus reduced to a much slower rotary motion corresponding to greater torque, which is used in many ways, for example as an actuating element for engine and climate management and for other functions in the motor vehicle that replace manual interventions.
Bei den vom insoweit gattungsbildenden Deutschen Gebrauchsmuster 2 96 14 738 bekannten und in dem Beitrag „Genial einfach" von H. Hirn (KEM Antriebstechnik Heft 10/1996) näher beschriebenen Ausführungsformen solcher Wellgetriebe wird als Wellgenerator ein unrunder (im Axial-Querschnitt etwa dreieckförmiger oder bevorzugt ovaler) Triebkern konzentrisch in der Nabe eines radial verformbaren Innenrades gedreht. Dieses kann ein einstückiges Spritzgußteil mit speichenartig radial orientierten Stößeln zwischen der radial verformbaren Innenrad-Nabe und dem ebenfalls radial verformbaren, außen verzahnten Innenrad-Reifen sein. Die in Längsrichtung formstabilen Speichen zwischen der vom Triebkern umlaufend radial verformten Nabe und dem Reifen bewirken, daß die Außenverzahnung entsprechend ihrer umlaufenden radialen Verformung jeweils nur über ein begrenztes, sich umlaufend verlagerndes Bogenstück mit den koaxialen, axial gegeneinander versetzten Innenverzahnungen des Stützringes und des Abtriebsringes in Eingriff gerät.In the embodiments of such wave gears known from the generic German utility model 2 96 14 738 and described in more detail in the contribution “Genially simple” by H. Hirn (KEM Antriebstechnik issue 10/1996), a non-circular wave generator (approximately triangular in axial cross section or preferably oval) drive core rotated concentrically in the hub of a radially deformable inner wheel, which can be a one-piece injection molded part with spoke-like, radially oriented tappets between the radially deformable inner wheel hub and the likewise radially deformable, externally toothed inner wheel tire of the hub radially deformed by the drive core and the tire have the effect that the external teeth, in accordance with their circumferential radial deformation, each have only a limited, circumferentially displacing arc piece with the coaxial, axially offset internal teeth of the support ring and the output ring engages.
Der vorliegenden Erfindung liegt nun die technische Problemstellung zugrunde, einen kompakten, dennoch leicht montierbaren und vielfältig einsetzbaren Aufbau für ein solches an sich schon im praktischen Einsatz bewährtes Wellgetriebe anzugeben.The present invention is based on the technical problem of specifying a compact, yet easily assembled and versatile structure for such a shaft gear which has already proven itself in practical use.
Gemäß der Merkmalskombination des Hauptanspruches ist die Aufgabe im wesentlichen dadurch gelöst, daß für ein unproblematisch präzise herstellbares Wellgetriebe die Innenverzahnung des Stützringes nicht mehr integraler Bestandteil des Getriebegehäuses ist, sondern nach separater Fertigung auf eine Gehäuse-Grundplatte montiert und dann von einem separat daneben zu befestigenden Gehäuse-Topf übergriffen wird. Dadurch ist ein exakter Rundlauf der Verzahnungsbauteile zueinander gewährleistbar. Der Topf nimmt in sich mit fliegender Lagerung die zentrale Abtriebswelle des haubenförmigen Abtriebsringes auf, während die Grundplatte keine unmittelbare Lagerfunktion für rotierende Getriebeteile erfüllt. Andererseits werden Reaktionskräfte des Getriebes nur von dieser Grundplatte aufgenommen; sie können deshalb die Lagerfunktion des anderen Gehäuseteiles nicht beeinträchtigen, das infolge seiner Fixierung auf der Grundplatte zusätzlich radial zentrierend und axial führend wirkt. Die Grundplatte kann an ihrer Außenseite zur Monta- ge an unterschiedlich verfügbaren Antriebsmotoren geometrisch unterschiedlich ausgelegt sein.According to the combination of features of the main claim, the task is essentially solved in that the internal toothing of the support ring is no longer an integral part of the gearbox housing for an unproblematic, precisely producible wave gear, but instead is assembled on a housing base plate after separate production and then to be fastened separately by one Housing pot is overlapped. This ensures an exact concentricity of the gear components with each other. With floating bearings, the pot accommodates the central output shaft of the hood-shaped output ring, while the base plate has no direct bearing function for rotating gear parts. On the other hand, reaction forces of the transmission are only absorbed by this base plate; therefore, they cannot impair the bearing function of the other housing part, which due to its fixation on the base plate also acts radially centering and axially guiding. The outside of the base plate can be ge on differently available drive motors can be designed geometrically different.
Die Zentrierung des Innenrades erfolgt also nicht unmittelbar über die Grundplatte, sondern mittels der diese durchragenden Antriebswelle. Deren unmittelbarer Eingriff in den hülsenförmigen Triebkern erbringt auch den Vorteil des Fortfalls einer antriebsseitigen Lagerung im Getriebegehäuse, weil diese Lagerfunktion antriebsseitig außerhalb des Getriebes übernommen wird. Das ermöglicht die direkte Montage vor dem Antrieb ohne Zwischenschalten eines Kupplungselementes und erbringt somit eine axial kurze Bauform eines sehr stark untersetzenden Getriebemotors.The centering of the inner wheel does not take place directly over the base plate, but rather by means of the drive shaft which projects through it. Their direct engagement in the sleeve-shaped drive core also has the advantage of eliminating the drive-side mounting in the gearbox, because this bearing function is taken over on the drive side outside the gearbox. This enables direct installation in front of the drive without the interposition of a coupling element and thus results in an axially short design of a very strongly reducing gear motor.
Hinsichtlich weiterer Vorteile sowie besonderer Ausbildungen und Weiterbildungen und deren Vorteilen wird außer auf die weiteren Ansprüche auch auf die nachstehende Beschreibung eines bevorzugten Realisierungsbeispieles zur erfindungsgemäßen Lösung Bezug genommen. In der Zeichnung zeigt unter Beschränlcung auf das konstruktiv Wesentliche angenähert maßstabsgerechtWith regard to further advantages as well as special training and further developments and their advantages, reference is made not only to the further claims but also to the following description of a preferred implementation example for the solution according to the invention. In the drawing, limited to the essentials of construction, shows approximately to scale
Fig.l den Aufbau des Wellgetriebes bei noch unmontiertem Gehäuse in Explosionsdar- stellung, Fig.2 das fertig montierte Wellgetriebe in Ansicht gegen die Grundplatte seines Gehäuses und Fig.3 zwei derartige Wellgetriebe in kaskadierbarer Anordnung.Fig.l the structure of the wave gear in an unassembled housing in an exploded view, Fig.2 the fully assembled wave gear in view against the base plate of its housing and Fig.3 two such wave gear in a cascadable arrangement.
Das in Fig.l der Zeichnung in Explosionsdarstellung skizzierte, komplett aus Kunststoff-Spritzgußteilen gefertigte und erfindungsgemäß ausgestaltete Wellgetriebe 10. weist ein Gehäuse 11 mit einer kreisscheibenförmigen Grundplatte 12 auf. Ein zentrales Durchgangs-Loch 13 dient dem Eingriff der Antriebswelle 14 eines Antriebsmotors 15 in das Getriebe 10. Der Durchmesser des Loches 13 ist aber größer als derjenige der Welle 14, so daß hier keine radiale Lagerfunktion auftritt.The exploded view sketched in FIG. 1 of the drawing, completely made of plastic injection molded parts and designed according to the invention, has a housing 11 with a circular disk-shaped base plate 12. A central through hole 13 serves for the engagement of the drive shaft 14 of a drive motor 15 in the transmission 10. However, the diameter of the hole 13 is larger than that of the shaft 14, so that no radial bearing function occurs here.
Die Grundplatte 12 ist in ihrem Randbereich 16 mit Profilierungen wie Einschnitten und / oder Löchern zum formschlüssigen Eingriff komplementärer Profilierungen im Stirnbereich 17 eines gehäusefest anzuordnenden Stützringes 18 mit formstabiler Innenverzahnung 19 ausgestattet. So kann der Stützring 18 unabhängig von einem später unter radialem Spiel überzustülpenden Gehäuse-Topf 20 stirnseitig form- oder kraftschlüssig — etwa durch Verkrimpen oder Löten bzw. Kleben - konzentrisch zum Durchgangsloch 13 drehstarr an der Grundplatte 12 festgelegt werden. Der Stützring 18 wird danach axial und ra- dial von dem haubenförmigen, ebenfalls stirnseitig auf der Grundplatte 12 gehalterten Topf 20 mit eingelegtem Abtriebsring 27 übergriffen. Die Wandung 21 des Topfes 20 ist über den Umfang verteilt mit einigen achsparallelen Federhaken 22 zum Verrasten mit dem Randbereich 16 der Grundplatte 12 (vgl. Fig.2) ausgestattet, etwa wie skizziert in Form von zur stirnseitigen Topföffnung und somit zur Grundplatte 12 hin laschenförmig freigeschnittenen Biegefedern mit abgewinkelt verlaufenden freien Stirnenden zum Hintergreifen des profilierten Randbereiches 16. Der so separat auf die Grundplatte 12 montierte Stützring 18 erbringt gegenüber einem in die hohlzylindrische Innenwandung des Topfes 20 integrierten Stützring wie oben schon ausgeführt u.a. den besonderen Vorteil, dessen Innenverzahnung 19 präziser kreisrund herstellen und dadurch einen verlustarmen, also auch besonders geräuscharmen Getriebelauf erreichen zu können.In its edge region 16, the base plate 12 is provided with profiles such as incisions and / or holes for the positive engagement of complementary profiles in the end region 17 of a support ring 18 to be arranged fixed to the housing, with dimensionally stable internal teeth 19. Thus, the support ring 18 can be fixed in a rotationally rigid manner to the through hole 13 on the base plate 12, independently of a housing pot 20 that is later to be slipped over with radial play, on the end face positively or non-positively - for example by crimping or soldering or gluing. The support ring 18 is then axially and dial overlapped by the hood-shaped pot 20, which is also held on the end face on the base plate 12, with an inserted driven ring 27. The wall 21 of the pot 20 is distributed over the circumference with a few axially parallel spring hooks 22 for locking with the edge region 16 of the base plate 12 (see FIG. 2), approximately as sketched in the form of a tab-shaped opening towards the front of the pot and thus towards the base plate 12 cut-out spiral springs with angled free end faces for reaching behind the profiled edge area 16. The support ring 18, which is mounted separately on the base plate 12, has the special advantage, as already stated above, of a support ring integrated into the hollow cylindrical inner wall of the pot 20, the internal toothing 19 of which is more precisely circular manufacture and thereby achieve a low-loss, that is to say particularly low-noise transmission run.
Der gegenüberliegende Boden 23 des Topfes 20 stellt die freie Stirnseite des Gehäuses 11 und damit auch des Getriebes 10 dar und enthält die einzige Lagerstelle dieses Getriebes 10. Dafür ist der Topf-Boden 23 als Lagerschild mit einer sockeiförmigen Verstärkung zum Ausbilden einer radialen Lagerung 24 für eine koaxial zur Motor- Antriebswelle 14 hindurchragende Getriebe-Abtriebswelle 25 ausgestattet. Diese ist drehstarr mit einem ebenfalls topf- oder haubenförmigen, mit formstabiler Innenverzahnung 26 versehenen Abtriebsring 27 verbunden. Dessen mittlerer Durchmesser gleicht etwa demjenigen des zur Grundplatte 12 hin axial davor gelegenen gehäusefesten Stützringes 18, so daß der Abtriebsring 27 zwischen jenem und der innenseitigen Oberfläche des Bodens 23 im Topf 20 axial geführt ist. Die radiale Halterang des Abtriebsringes 27 erfolgt mittels seiner im Haubenboden verankerten oder einstückig damit ausgebildeten Abtriebswelle 25 in der Gehäuse-Lagerung 24 und bedarfsweise zusätzlich gegenüber der hohlzylindrischen Innenmantelfläche der Topf- oder Gehäuse-Wandung 21.The opposite bottom 23 of the pot 20 represents the free end face of the housing 11 and thus also of the gear 10 and contains the only bearing point of this gear 10. For this purpose, the pot bottom 23 is a bearing plate with a sock-shaped reinforcement for forming a radial bearing 24 for a transmission output shaft 25 projecting coaxially to the motor drive shaft 14. This is torsionally rigid with a likewise cup-shaped or hood-shaped output ring 27 provided with dimensionally stable internal toothing 26. Its average diameter is roughly the same as that of the support ring 18 fixed to the housing axially in front of the base plate 12, so that the driven ring 27 is axially guided between that and the inner surface of the bottom 23 in the pot 20. The radial holding ring of the driven ring 27 takes place by means of its driven shaft 25 anchored in the hood base or integrally formed therewith in the housing bearing 24 and, if necessary, also in relation to the hollow cylindrical inner surface of the pot or housing wall 21.
Innerhalb der beiden koaxial gehalterten, axial einander benachbarten Ringe 18-27 mit ihren entsprechend den geringfügig unterschiedlichen Innenumfängen unterschiedlichen Zähnezahlen ist ein radial verformbares Innenrad 28 mit Außenverzahnung 29 angeordnet. Das ist axial länger als jeder einzelne der beiden einander benachbarten, formstabilen Ringe 18, 27 und kämmt demzufolge über das gerade radial ausgebeulte Bogenstück mit deren beiden Innenverzahnungen 19, 26 gleichzeitig. Vorzugsweise ist das Innenrad 28 so lang wie die beiden Ringe 18-27 zusammen und dadurch zwischen der Grundplatte 12 und dem Haubenboden des Abtriebsringes 27 axial geführt. Für das Umlaufen des infolge Radial- Verformung kämmenden Bogenstückes des Innenrades 28 nimmt dessen hohle, ebenfalls radial verformbare Nabe radial spielfrei einen im Querschnitt unrunden, vorzugsweise ovalen hülsenförmigen Triebkern 30 auf, der von außerhalb des Getriebes 10 motorisch in Drehbewegung versetzt wird.A radially deformable inner wheel 28 with external teeth 29 is arranged within the two coaxially held, axially adjacent rings 18-27 with their different numbers of teeth in accordance with the slightly different inner circumferences. This is axially longer than each of the two adjacent, dimensionally stable rings 18, 27 and therefore meshes simultaneously via the radially bulged arc piece with its two internal teeth 19, 26. The inner wheel 28 is preferably as long as the two rings 18-27 together and is thus guided axially between the base plate 12 and the hood base of the driven ring 27. For the circulation of the radial Deformation-combing arc piece of the inner wheel 28 receives its hollow, also radially deformable hub radially free of play, a cross-sectionally non-circular, preferably oval sleeve-shaped drive core 30, which is rotated by a motor from outside the transmission 10.
Das Innenrad 28 und sein zentraler Triebkern 30 sind im Gehäuse 11 des Getriebes 10 nicht gelagert und deshalb an sich nicht in den Ringen 18, 27 größeren Innendurchmessers zentriert. Die radiale Ausrichtung erfolgt aber, indem die Grundplatte 12 bezüglich der durch sie hindurch und in den Triebkern 30 hinein ragenden Antriebswelle 14 zentriert montiert wird, indem also die Welle 14 bei auf deren Lagerschild 32 koaxial montierter Grundplatte 12 in den Triebkern 30 eingreift. Dabei stellt dieses Lagerschild 32 seinerseits den stirnseitigen Abschluß des Gehäuses des Antriebsmotors 15 dar. Der Eingriff der Antriebswelle 14 in den Triebkern 30 kann kraftschlüssig sein; für eine leichte Steckmontage und dennoch zuverlässige, schlupffreie Drehmomentenübertragung ist jedoch ein Formschluß etwa infolge bereichsweise abgeflachten Querschnitts der Welle 14 zu bevorzugen, wie bei den Wellen 25 / 14 in Fig.3 ersichtlich.The inner wheel 28 and its central drive core 30 are not supported in the housing 11 of the transmission 10 and are therefore not centered in the rings 18, 27 of larger inner diameter. The radial alignment takes place, however, in that the base plate 12 is mounted centered with respect to the drive shaft 14 projecting through it and into the drive core 30, that is to say that the shaft 14 engages in the drive core 30 with the base plate 12 coaxially mounted on its end plate 32. This end shield 32 in turn represents the end closure of the housing of the drive motor 15. The engagement of the drive shaft 14 in the drive core 30 can be non-positive; For an easy plug-in assembly and nevertheless reliable, slip-free torque transmission, a form fit is to be preferred, for example due to the cross-sectionally flattened cross-section of the shaft 14, as can be seen for the shafts 25/14 in FIG. 3.
Zum Fördern einer zentrierten Montage kann die Grundplatte 12 außen, also in ihrer freien Stirnfläche eine koaxiale Eindrehung 31 (siehe Fig.2) aufweisen, in die in flacher hohlke- gelstumpfförmiger Sockel 35 auf dem Lagerschild 32 für die antreibende Welle 14 (insbesondere des Antriebsmotors 15) axial eingreift. Die Montage selbst erfolgt zweckmäßigerweise mittels angeformter oder separater Befestigungselemente wie kurzer Spannschrauben 33, die getriebeseitig achsparallel durch die Grundplatte 12 hindurchgesteckt und in Gewindebohrungen 34 im Lagerschild 32 hinein verschraubt werden. Falls noch nicht geschehen, kann nun der Stützring 18 auf die Grundplatte 12 montiert werden. Das durch die Grundplatte 12 hindurchragende freie Stirnende der Antriebswelle 14 wird mit dem Triebkern 30 und dieser mit dem Innenrad 28 bestückt, woraufhin der haubenförmige Abtriebsring 27 über den aus dem Stützring 18 axial vorstehenden Teil des Innenrades 28 und schließlich der Topf 20 bis zum Verrasten mit der Grundplatte 12 über den Abtriebsring 27 gestülpt werden. Die Abtriebswelle 25 des Getriebes 10 ragt dann durch die Gehäuse-Lagerung 24 hindurch, womit das Wellgetriebe 10 schon betriebsfertig montiert ist.To promote a centered assembly, the base plate 12 can have a coaxial recess 31 (see FIG. 2) on the outside, that is to say in its free end face, into which a base 35 in the form of a truncated cone on the end plate 32 for the driving shaft 14 (in particular the drive motor) 15) engages axially. The assembly itself is expediently carried out by means of integrally formed or separate fastening elements such as short clamping screws 33 which are axially parallel through the base plate 12 and screwed into threaded bores 34 in the end shield 32. If not yet done, the support ring 18 can now be mounted on the base plate 12. The projecting through the base plate 12 free end of the drive shaft 14 is equipped with the drive core 30 and this with the inner wheel 28, whereupon the hood-shaped output ring 27 over the axially protruding from the support ring 18 part of the inner wheel 28 and finally the pot 20 until it locks the base plate 12 are placed over the output ring 27. The output shaft 25 of the gear 10 then protrudes through the housing bearing 24, whereby the wave gear 10 is already assembled ready for operation.
Zweckmäßigerweise ist auch der als getriebeseitiges Lagerschild dienende Boden 23 des Gehäuse-Topfes 20, wie das Lagerschild des Antriebsmotors 15, mit Befestigungsmitteln wie Gewindebohrungen 34 für Spannschrauben 33 ausgestattet. Dann kann ein solches Wellgetriebe 10 mit seiner Grundplatten-Eindrehung 31 statt vor einen Antriebsmotor 15 in gleicher Weise auch vor ein anderes derartiges Wellgetriebe 10 mit seinem zentrierend vorstehenden Lagersockel 35 montiert und die getriebliche Untersetzung dadurch kaska- diert werden, wie in Fig.3 angedeutet. Nun dient nur die aus dem vordersten Topf-Boden 23 frei herausragende Welle des vordersten Getriebes 10 als Abtriebs welle 25, während die anderen jeweils als Antriebswellen 14 dienen. Ein Wellgetriebe 10 einer solchen Kaskade ist dann also mit seiner Grundplatte 12 vor den Topf-Boden 23 des vorangehenden Wellgetriebes 10 montiert, dessen Boden 23 dadurch als Lagerschild 32 für eine Antriebswelle 14 wirkt, die das Innenrad 28 im Gehäuse 11 der folgenden Getriebestufe zentriert.Expediently, the base 23 of the housing pot 20 serving as the gear-side bearing plate, like the bearing plate of the drive motor 15, is also equipped with fastening means such as threaded holes 34 for tensioning screws 33. Then one can Wave gear 10 with its base plate recess 31 instead of in front of a drive motor 15 in the same way also in front of another such wave gear 10 with its centering protruding bearing base 35 and the gear reduction thereby cascaded, as indicated in FIG. 3. Now only the freely protruding shaft from the foremost pot base 23 of the foremost transmission 10 serves as an output shaft 25, while the others each serve as drive shafts 14. A wave gear 10 of such a cascade is then mounted with its base plate 12 in front of the pot base 23 of the preceding wave gear 10, the base 23 of which thereby acts as a bearing plate 32 for a drive shaft 14 which centers the inner wheel 28 in the housing 11 of the following gear stage.
In Weiterbildung der Erfindung kann auch vorgesehen sein, die Lagerschilde 32 von Antriebsmotoren 15 oder von zu kaskadierenden Getrieben 10 unmittelbar selbst als die Grundplatten für Gehäuse der hier anschließenden Wellgetriebe 10 auszubilden, womit eine separate Montage über die Spannschrauben 33 oder dergleichen Befestigungselemente entfallen kann.In a further development of the invention, it can also be provided that the end shields 32 of drive motors 15 or of gearboxes 10 to be cascaded form themselves directly as the base plates for housings of the shaft gearboxes 10 connected here, whereby a separate assembly via the tensioning screws 33 or similar fastening elements can be omitted.
Ein unproblematisch fertigbares und leicht - auch kaskadiert - montierbares Wellgetriebe 10 ergibt sich also gemäß vorliegender Erfindung, indem der gesondert vom Gehäuse 11 gefertigte Stützring 18 stirnseitig drehstarr auf eine Gehäuse-Grundplatte 12 montiert und von einem danach ebenfalls an der Grundplatte 12 zu befestigenden Gehäuse-Topf 20 übergriffen wird, in dessen Boden 23 die Abtriebswelle 25 des gegenüber dem Stützring 18 verdrehbaren, haubenförmigen Abtriebsringes 27 fliegend gelagert ist. Das sich mit radialem Spiel axial durch die beiden radial formstabilen Ringe 18 - 27 hindurch erstreckende, radial verformbare Innenrad 28 ist dagegen nicht im Gehäuse 11 selbst gelagert, sondern über seinen Wellgenerator-Triebkern 30 auf der unter radialem Spiel durch die Grundplatte 12 hindurch koaxial ins Gehäuse 11 hineinragenden Antriebswelle 14, vor deren Lagerschild 32 die Grundplatte 12 verdrehfest montiert ist. According to the present invention, an unproblematically producible and easily - also cascaded - mountable wave gear 10 results in that the support ring 18, which is manufactured separately from the housing 11, is mounted on the end on a housing base plate 12 in a rotationally rigid manner and by a housing which is also to be fastened to the base plate 12 thereafter. Pot 20 is overlapped, in the base 23 of which the output shaft 25 of the hood-shaped output ring 27, which is rotatable relative to the support ring 18, is mounted in a floating manner. The radially deformable inner wheel 28, which extends axially through the two radially dimensionally stable rings 18-27 with radial play, is not, however, mounted in the housing 11 itself, but rather via its wave generator drive core 30 on the under radial play through the base plate 12 coaxially into Housing 11 protruding drive shaft 14, in front of its bearing plate 32, the base plate 12 is rotatably mounted.

Claims

Ansprüche Expectations
1. Wellgetriebe (10) mit einer zentral gelochten Gehäuse-Grundplatte (12) und mit einem Wellgenerator-Triebkern (30) in einem umlaufend radial verformbaren Innenrad (28), das sich axial durch einen gehäusefesten radial formstabilen Stützring (18) in einen haubenförmigen, mit seiner Abtriebswelle (25) im Gehäuse (11) gelagerten radial formstabilen Abtriebsring (27) jeweils etwas größeren Innendurchmessers als des un- verformten Innenrad-Außendurchmessers erstreckt, dadurch gekennzeichnet, daß ein gehäuseunabhängiger Stützring (18) stirnseitig auf die. Grundplatte (12) montiert und von einem Gehäuse-Topf (20) übergriffen ist, dessen Boden (23) mit der Lagerung (24) für die Abtriebswelle (25) ausgestattet und dessen dem Boden (23) gegenüberliegender Stirnrand mit der Grundplatte (12) fest verbunden ist.1. wave gear (10) with a centrally perforated housing base plate (12) and with a wave generator drive core (30) in a circumferentially radially deformable inner wheel (28) which is axially through a radially dimensionally stable support ring (18) in a hood-shaped , with its output shaft (25) mounted in the housing (11) radially dimensionally stable output ring (27) each slightly larger inner diameter than the undeformed inner wheel outer diameter, characterized in that a housing-independent support ring (18) on the end face. Base plate (12) is mounted and overlapped by a housing pot (20), the bottom (23) of which is equipped with the bearing (24) for the output shaft (25) and the front edge opposite the bottom (23) of the base plate (12) is firmly connected.
2. Wellgetriebe nach dem vorangehenden Anspruch, dadurch gekennzeichnet, daß die Grundplatte (12) mit einem profilierten Randbereich (16) zur formschlüssigen Aufnahme des Stützringes (18) und des Gehäuse-Topfes (20) ausgestattet ist.2. wave gear according to the preceding claim, characterized in that the base plate (12) is equipped with a profiled edge region (16) for the positive reception of the support ring (18) and the housing pot (20).
3. Wellgetriebe nach dem vorangehenden Anspruch, dadurch gekennzeichnet, daß die hohlzylindrische Wandung (21) des Topfes (20) mit Federhaken (22) zum Hinter greifen der Grundplatte (12) ausgestattet ist.3. wave gear according to the preceding claim, characterized in that the hollow cylindrical wall (21) of the pot (20) is equipped with spring hooks (22) for reaching behind the base plate (12).
4. Wellgetriebe nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß der haubenförmige Abtriebsring (27) im Topf (20) des Gehäuses (11), dagegen das Innenrad (28) samt seinem Triebkern (30) auf der hier ungelagert durch die Grundplatte (12) hindurch in das Gehäuse (11) hinein ragenden Antriebswelle (14) an deren Lagerschild (32) gelagert ist.4. wave gear according to one of the preceding claims, characterized in that the hood-shaped output ring (27) in the pot (20) of the housing (11), on the other hand the inner wheel (28) together with its drive core (30) on the here unsupported by the base plate ( 12) through which the drive shaft (14) protruding into the housing (11) is mounted on its end plate (32).
5. Wellgetriebe nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Grundplatte (12) auf ihrer freien Stirnfläche mit einer koaxialen Eindrehung (31) zum zentrierenden Eingriff eines Lagersockels (35) für die antreibende Welle (14) ausgestattet ist. 5. wave gear according to one of the preceding claims, characterized in that the base plate (12) on its free end face with a coaxial recess (31) for centering engagement of a bearing base (35) for the driving shaft (14) is equipped.
6. Wellgetriebe nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß der antreibende Lagerschild (32) mit Befestigungsmitteln für die Grundplatte (12) ausgestattet ist.6. wave gear according to one of the preceding claims, characterized in that the driving end shield (32) is equipped with fastening means for the base plate (12).
7. Wellgetriebe nach dem vorangehenden Anspruch, dadurch gekennzeichnet, daß die Grundplatte (12) mit achsparallelen kurzen Spannschrauben (33) vor dem antreibenden Lagerschild (32) befestigt ist.7. wave gear according to the preceding claim, characterized in that the base plate (12) with axially parallel short clamping screws (33) is fixed in front of the driving end shield (32).
8. Wellgetriebe nach dem vorangehenden Anspruch, dadurch gekennzeichnet, daß das Lagerschild (32) für eine Antriebswelle (14) zur Aufnahme der Getriebegehäuse-Grundplatte (12) mit Gewindebohrungen (34) zum Eingriff von Spannschrauben (33) ausgestattet ist.8. wave gear according to the preceding claim, characterized in that the bearing plate (32) for a drive shaft (14) for receiving the gear housing base plate (12) with threaded holes (34) for engaging clamping screws (33) is equipped.
9. Wellgetriebe nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß der Boden (23) eines Getriebe-Gehäusetopfes (20) als Lagerschild (32) für das Innenrad (28) in einem davor gelegenen Getriebe (10) dient, dessen Gehäuse-Grundplatte (12) vor jenen Boden (23) montiert ist.9. wave gear according to one of the preceding claims, characterized in that the bottom (23) of a gear housing pot (20) serves as a bearing plate (32) for the inner wheel (28) in a gearbox (10) located in front thereof, the housing base plate (12) is mounted in front of that floor (23).
10. Wellgetriebe nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß ein antreibender Lagerschild zugleich die Funktion der Gehäuse-Grundplatte einer ihm folgenden Getriebestufe übernimmt. 10. Corrugated gear according to one of claims 1 to 3, characterized in that a driving end plate also takes over the function of the housing base plate of a gear stage following it.
EP02710022A 2001-02-08 2002-01-22 Harmonic drive with crowned drive ring Ceased EP1364140A1 (en)

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