JP3220171U6 - Cycloid pin gear wave gear device - Google Patents
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Abstract
【課題】可撓性歯車の耐用年数と強度を大幅に高めることができるサイクロイドピン歯車波動歯車装置を提供する。
【解決手段】カム軸１、可撓性軸受２、可撓性歯車３、針状ころ４及び剛性歯車５を備え、可撓性軸受が楕円形のカム軸に取り付けられ、可撓性歯車の内輪が可撓性軸受の外輪と相互に嵌合し、可撓性歯車の外歯面が各針状ころに相互に接触し、針状ころが剛性歯車の半円溝内に均一に分布し、主軸受の内輪が可撓性歯車に固定して接続され、主軸受の外輪が剛性歯車に固定して接続される。歯高さと歯元がいずれもサイクロイド歯プロフィールであり、破断故障のリスクを軽減させ、深い噛み合い距離を必要とせずに非常に大きな噛合量を得られ、歯幅が大きく、すべての歯が噛合に関与し、歯面の単位圧力が小さく、非常に大きなトルクに耐えられ、所要の可撓性歯車変形量も非常に小さい。
【選択図】図１An object of the present invention is to provide a cycloid pin gear wave gear device capable of significantly improving the service life and strength of a flexible gear.
A flexible gear is provided with a cam shaft (1), a flexible bearing (2), a flexible gear (3), needle rollers (4) and a rigid gear (5), the flexible bearing being attached to an elliptical cam shaft The inner ring interfits with the outer ring of the flexible bearing, the outer teeth of the flexible gear contact each needle roller, and the needle rollers are evenly distributed in the semi-circular groove of the rigid gear The inner ring of the main bearing is fixedly connected to the flexible gear, and the outer ring of the main bearing is fixedly connected to the rigid gear. Both tooth height and tooth base are cycloid tooth profiles, reducing the risk of fracture failure, achieving very large amounts of meshing without the need for deep meshing distances, large tooth widths, meshing of all teeth Involved, the unit pressure on the flanks is small, it can withstand very high torques, and the required amount of flexible gear deformation is also very small.
[Selected figure] Figure 1
Description
本考案は、精密減速機の分野に関し、具体的には、サイクロイドピン歯車ハーモニックドライブ装置に関する。 The present invention relates to the field of precision reduction gears, and more particularly to a cycloid pin gear harmonic drive device.
産業用ロボットや様々な精密機械の分野では、精密減速機は核心部品である。これらの分野では、減速機は、小型、軽量、高剛性、過負荷耐性、安定性及びスムーズさの特徴が求められているとともに、大速度比、小隙間、小角度伝達誤差及び優れた加速度性能が求められている。 In the field of industrial robots and various precision machines, precision reduction gears are the core components. In these fields, the reduction gear is required to be characterized by small size, light weight, high rigidity, overload tolerance, stability and smoothness, as well as high speed ratio, small clearance, small angle transmission error and excellent acceleration performance. Is required.
Ｋ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差遊星伝動は、一対の遊星歯車が入力軸の１８０°離れた２つの偏心ジャーナルに取り付けられ、２つの遊星歯車が同一の内歯車と噛合し、内歯車の歯数と遊星歯車の歯数は差があり、内歯車を固定する場合、遊星歯車が１周公転すると、一定の角度で自転し、自転角度が歯数差により決定され、遊星歯車が公転するとともに自転するため、その複雑な運動に対し出力機構によって公転を相殺し、差動により形成された自転のみを出力する必要がある。通常構造の減速機に比べて、Ｋ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差行星減速機は、ギヤ比が大きく、構造がコンパクトで、軽量で、加速度性能が優れたという特徴を有し、プライマリギヤ比がｉ＝１００と高く、ギヤ比と電力が同じ円筒歯車減速機よりも大幅に軽量になる。 In the K-H-V (N) type involute small-tooth number difference planetary transmission, a pair of planetary gears are attached to two eccentric journals separated by 180 ° of the input shaft, and the two planetary gears mesh with the same internal gear. There is a difference between the number of teeth of the internal gear and the number of teeth of the planetary gear. When the internal gear is fixed, when the planetary gear makes one revolution, it rotates at a fixed angle and the rotation angle is determined by the number of teeth difference. Since the gear revolves and rotates, it is necessary to offset the rotation by the output mechanism with respect to the complex motion and output only the rotation formed by the differential. The K-H-V (N) type involute small-tooth differential gear reduction gear has features such as large gear ratio, compact structure, light weight, and excellent acceleration performance compared to the reduction gear of normal structure. The primary gear ratio is as high as i = 100, and the gear ratio and power are much lighter than cylindrical gear reducers.
ハーモニックドライブは、弾性変形が制御可能な可撓性インボリュート歯車、剛性内歯車及び楕円形の波発生器を主要な機械構造とするものであり、可撓性歯車と剛性内歯車の歯数は差があるため、ハーモニックドライブも差動伝動である。ハーモニックドライブの原理はＫ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差遊星伝動として理解することができ、可撓性歯車は２つの遊星歯車の融合変形として理解することができ、波発生器は偏心軸の変形として理解することができ、可撓性歯車のケースはＫ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差遊星伝動出力機構として機能する。従って、本質的には、ハーモニックドライブもＫ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差遊星伝動である。この考案によれば、Ｋ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差遊星伝動は、構造がより簡単になり、よりコンパクトで軽量である。 The harmonic drive mainly consists of a flexible involute gear whose elastic deformation can be controlled, a rigid internal gear and an elliptical wave generator, and the number of teeth of the flexible gear and the rigid internal gear is different. Therefore, harmonic drive is also differential transmission. The principle of harmonic drive can be understood as KH-V (N) type involute small gear difference number planetary transmission, flexible gear can be understood as fusion deformation of two planet gears, wave generator Can be understood as a deformation of the eccentric shaft, and the case of the flexible gear functions as a KH-V (N) type involute small-tooth number difference planetary transmission output mechanism. Therefore, essentially, the harmonic drive is also a KH-V (N) type involute small-tooth number difference planetary transmission. According to this invention, the KH-V (N) type involute small-tooth number difference planetary transmission is simpler in construction, more compact and lighter.
インボリュート小歯数差遊星伝動とハーモニックドライブは、歯数差が小さすぎる場合、歯プロフィール重なり干渉や節点相手の歯先干渉が生じるという問題があり、歯高さ減少と圧力角増大の方法によって解決できるが、この問題を根本的に解決できなない。 Involute small teeth difference planetary transmission and harmonic drive have the problem that tooth profile overlap interference and nodal tip interference occur if the difference in teeth number is too small, which is solved by the method of decreasing the tooth height and increasing the pressure angle I can, but I can not solve this problem fundamentally.
サイクロイドピン歯車遊星伝動は、Ｋ−Ｈ−Ｖ（Ｎ）型インボリュート小歯数差遊星伝動の歯形を徹底的に変更し、インボリュート内歯車とインボリュート遊星歯車をピン歯車及びサイクロイド歯車に変更する。サイクロイド歯車の歯プロフィールの形成原理、針状ころの直径及び偏心運動半径等の間の独特な関係によって、１歯数差サイクロイドピン歯車遊星伝動は、理論上、半分の歯数の針状ころがサイクロイド歯車と同時噛合し、すべての針状ころがサイクロイド歯車に同時接触する。このような歯形の噛合伝動は、インボリュート小歯数差遊星伝動の歯プロフィール重なり干渉と節点相手の歯先干渉の問題を徹底的に解決するとともに、伝動精度と機構の剛性を大幅に向上させ、ノイズを低減させる。 The cycloid pin gear planet transmission radically changes the tooth shape of the K-H-V (N) type involute small teeth difference planet transmission, and changes the involute internal gear and the involute planet gear into a pin gear and a cycloid gear. Due to the unique relationship between the formation principle of the tooth profile of the cycloid gear, the diameter of the needle roller and the eccentric radius of motion, etc., the difference in the number of teeth of a single gear cycloid pin gear planetary transmission theoretically has a needle roller with half the number of teeth. Simultaneously meshing with the cycloid gear, all needle rollers simultaneously contact the cycloid gear. Such a tooth form gear transmission completely solves the problem of the tooth profile overlap interference of the involute small tooth number difference planetary transmission and the tip interference of the nodal point partner, and greatly improves the transmission accuracy and the rigidity of the mechanism, Reduce noise.
現在、ハーモニックドライブではサイクロイドピン歯車噛合の伝動形式を用いるものが見出されておらず、本考案は、上記背景に鑑みてサイクロイドピン歯車ハーモニックドライブを提供する。インボリュート歯形ハーモニックドライブの歯プロフィール重なり干渉と節点相手の歯先干渉の問題を回避するために、ハーモニックドライブの波発生器の長軸と短軸の長さ差をできるだけ大きくする必要があるが、可撓性歯車及び軸受の材料性能は波発生器の長軸と短軸の長さ差をできるだけ小さくすることが求められ、この矛盾によって、ハーモニック減速機は設計において剛性と耐衝撃性を犠牲にし、本考案は上記矛盾の問題を改善できるとともに、噛合率と剛性を高める。 At present, no harmonic drive has been found to use the transmission type of cycloid pin gear meshing, and the present invention provides a cycloid pin gear harmonic drive in view of the above background. In order to avoid the problem of tooth profile overlap interference of the involute toothed harmonic drive and nodal point interference, it is necessary to make the length difference between the major axis and minor axis of the harmonic drive of the harmonic drive as large as possible. The material performance of the flexible gears and bearings is required to minimize the length difference between the major and minor axes of the wave generator, which contradicts the harmonic reducer at the expense of stiffness and impact resistance in the design. The present invention can improve the meshing rate and rigidity while improving the problem of contradiction.
本考案が解決しようとする技術的問題は、従来技術の欠陥を効果的に解決するサイクロイドピン歯車ハーモニックドライブ装置を提供することである。 The technical problem to be solved by the present invention is to provide a cycloid pin gear harmonic drive device that effectively solves the deficiencies of the prior art.
本考案は以下の技術案によって実現される。サイクロイドピン歯車ハーモニックドライブ装置であって、カム軸、可撓性軸受、可撓性歯車、針状ころ及び剛性歯車を備え、可撓性軸受が楕円形のカム軸に取り付けられ、可撓性歯車の内輪が可撓性軸受の外輪と相互に嵌合し、可撓性歯車の外歯面が各針状ころに相互に接触し、針状ころが剛性歯車の半円溝内に均一に分布し、主軸受の内輪が可撓性歯車に固定して接続され、主軸受の外輪が剛性歯車に固定して接続される。 The present invention is realized by the following technical solutions. A cycloid pin gear harmonic drive device comprising a camshaft, a flexible bearing, a flexible gear, needle rollers and a rigid gear, wherein the flexible bearing is attached to an elliptical camshaft, the flexible gear The inner ring of the inner ring interfits with the outer ring of the flexible bearing, the outer teeth of the flexible gear contact each other with the needle rollers, and the needle rollers are uniformly distributed in the semicircular groove of the rigid gear The inner ring of the main bearing is fixedly connected to the flexible gear, and the outer ring of the main bearing is fixedly connected to the rigid gear.
好ましくは、前記カム軸が可撓性軸受の内輪に密着しており、両者が波発生器を構成し、可撓性歯車の内輪が可撓性軸受の外輪に密着している。 Preferably, the camshaft is in close contact with the inner ring of the flexible bearing, both of which constitute a wave generator, and the inner ring of the flexible gear is in close contact with the outer ring of the flexible bearing.
好ましくは、前記針状ころは剛性歯車の半円溝内に円周方向に均一に分布し、剛性歯車の半円溝はフランジを有する構造であり、フランジの内径は針状ころの分布円直径より小さくすべきではない。 Preferably, the needle rollers are uniformly distributed circumferentially in the semicircular groove of the rigid gear, and the semicircular groove of the rigid gear has a flange, and the inner diameter of the flange is the distributed circle diameter of the needle rollers It should not be smaller.
好ましくは、前記可撓性歯車がカップ型構造であり、可撓性歯車の底部が貫通孔として設計され、主軸受の内輪が対応するねじ穴を有し、両者がねじによって固定して接続され、剛性歯車の外輪がねじ穴であり、主軸受の外輪が対応する貫通孔を有し、両者もねじによって固定して接続され、主軸受がクロスローラー軸受である。 Preferably, the flexible gear is a cup-shaped structure, the bottom of the flexible gear is designed as a through hole and the inner ring of the main bearing has a corresponding threaded hole, both fixedly connected by a screw The outer ring of the rigid gear is a screw hole, the outer ring of the main bearing has a corresponding through hole, both are fixed and connected by screws, and the main bearing is a cross roller bearing.
サイクロイド歯車が固定され、針状ころは所定の法則に従ってサイクロイド歯車に対して相対運動し、前記運動法則は減速機の機構とギヤ比によって決定され、針状ころはサイクロイド歯車の周辺で所定の運動法則に従って連続的に移動し、針状ころ外円はサイクロイド歯車の周辺で連続的に密閉した包絡線を形成し、この包絡線はサイクロイド歯車の歯プロフィール曲線である。 The cycloid gear is fixed, the needle roller moves relative to the cycloid gear according to a predetermined law, the motion law is determined by the mechanism and gear ratio of the reduction gear, and the needle roller has a predetermined movement around the cycloid gear Moving continuously according to the law, the needle roller outer circle forms a continuously closed envelope around the periphery of the cycloid gear, which is the tooth profile curve of the cycloid gear.
サイクロイドの設計パラメータはそれぞれ、針状ころの中心のピン歯車ハウジング上に分布する基準円の半径Ｒ、針状ころの数Ｚ、針状ころの半径ｒ、遊星運動の偏心距離Ｅである。サイクロイド歯車の中心を座標原点とし、時間ｔに対する針状ころの中心座標（ｘ，ｙ）のパラメータ方程式は以下の通りである。 The design parameters of the cycloid are respectively the radius R of the reference circle distributed on the pin gear housing at the center of the needle roller, the number Z of needle rollers, the radius r of the needle rollers, and the eccentricity distance E of the planetary motion. The parameter equation of the center coordinates (x, y) of the needle roller with respect to time t is as follows, with the center of the cycloid gear set as the coordinate origin.
ｘ＝Ｅ＊Ｃｏｓ（Ｚ＊ｔ）＋Ｒ＊Ｃｏｓ（ｔ）
ｙ＝Ｅ＊Ｓｉｎ（Ｚ＊ｔ）＋Ｒ＊Ｓｉｎ（ｔ）
x = E * Cos (Z * t) + R * Cos (t)
y = E * Sin (Z * t) + R * Sin (t)
上記の方法及びパラメータを用いて設計される１歯数差サイクロイドピン歯車遊星伝動は、伝動中、すべての針状ころ外円が常にサイクロイド歯車の歯プロフィール曲線に接し、サイクロイド歯車全体の輪郭曲線が連続的で且つどこでも微分可能であり、噛合伝動中の噛合率が５０％であり、歯先干渉や歯プロフィール重なり干渉がなく、歯高さが偏心距離の２倍であり、サイクロイド歯車の歯数がＺ−１であるという特徴を有する。 The one-tooth differential cycloid pin gear planet transmission designed using the above method and parameters, during transmission, all needle outer circles always contact the tooth profile curve of the cycloid gear, and the contour curve of the entire cycloid gear is Continuous and differentiable, with 50% meshing ratio during meshing transmission, no tooth tip interference or tooth profile overlap interference, double height of eccentricity distance, number of teeth of cycloid gear Is characterized by being Z-1.
上記の特徴によって、伝動過程が安定し、伝動過程では噛合歯の交互衝撃がなく、噛合率が大きい利点を有する。 According to the above-mentioned features, the transmission process is stabilized, and there is no alternate impact of the meshing teeth in the transmission process, which has the advantage that the meshing ratio is large.
本考案のサイクロイドピン歯車ハーモニックドライブにおける可撓性歯車は、組立前に標準的な円形可撓性歯車であり、組立後にそれと隣接する部品の制限で変形して楕円形になる。 The flexible gear in the cycloid pin gear harmonic drive of the present invention is a standard circular flexible gear prior to assembly and, after assembly, deforms into an oval shape due to the restriction of parts adjacent to it.
以下、可撓性歯車のサイクロイド歯プロフィール曲線と波発生器の具体的な設計過程を説明する。 The specific design process of the cycloidal tooth profile curve of the flexible gear and the wave generator will now be described.
前記可撓性歯車のサイクロイド歯プロフィール曲線の設計方法は包絡法であり、可撓性歯車のサイクロイド歯プロフィール曲線形成原理は上記の１歯数差サイクロイドピン歯車遊星伝動のサイクロイド歯車の歯プロフィール曲線形成原理と同じである。 The design method of the cycloid tooth profile curve of the flexible gear is the envelope method, and the cycloid tooth profile curve forming principle of the flexible gear is the tooth profile curve formation of the cycloid gear of the one-tooth number difference cycloid pin gear planetary transmission mentioned above It is the same as the principle.
前記可撓性歯車サイクロイドの設計パラメータはそれぞれ、針状ころの中心の剛性歯車上に分布する基準円の半径Ｒ、針状ころの数Ｚ、針状ころの半径ｒ、遊星運動の偏心距離Ｅである。可撓性歯車の中心を座標原点として、時間ｔに対する針状ころの中心座標（ｘ，ｙ）のパラメータ方程式は以下の通りである。 The design parameters of the flexible gear cycloid are the radius R of the reference circle distributed on the rigid gear at the center of the needle roller, the number Z of needle rollers Z, the radius r of the needle rollers, and the eccentric distance E of the planetary motion It is. The parameter equation of the center coordinates (x, y) of the needle roller with respect to time t with the center of the flexible gear as the coordinate origin is as follows.
ｘ＝Ｅ＊Ｃｏｓ（ｔ＊（Ｚ−１））＋（Ｒ−Ｅ）＊Ｃｏｓ（ｔ）
ｙ＝Ｅ＊Ｓｉｎ（ｔ＊（Ｚ−１））＋（Ｒ＋Ｅ）＊Ｓｉｎ（ｔ）
x = E * Cos (t * (Z-1)) + (R−E) * Cos (t)
y = E * Sin (t * (Z-1)) + (R + E) * Sin (t)
上記のパラメータ方程式は可撓性歯車の変形後の瞬時状態であり、可撓性歯車の実際変形が仮設と近似する状態でもある。 The above parameter equation is an instantaneous state after deformation of the flexible gear, and is also a state in which the actual deformation of the flexible gear approximates temporary.
上記の方法によって可撓性歯車曲線の設計パラメータを得て、さらに上記の１歯数差サイクロイドピン歯車遊星伝動のサイクロイド歯車設計方法によって円形可撓性歯車の歯プロフィール曲線を得て、円形の可撓性歯車歯プロフィール曲線が加工可能性を有し、可撓性歯車の実際動作状態は隣接する部品によって制限された変形状態である。 The design parameters of the flexible gear curve are obtained by the above method, and the tooth profile curve of the circular flexible gear is obtained by the cycloid gear design method of the one-tooth number difference cycloid pin gear planet transmission described above. The flexible gear tooth profile curve has machinability and the actual operating state of the flexible gear is the deformation state limited by the adjacent parts.
カム軸１０１の輪郭曲線は密閉した楕円曲線であり、長軸半径ｂと短軸半径ａとの差が偏心距離の２倍である。前記楕円の具体的なサイズは選択した薄肉軸受の内輪直径ｄによって決定され、前記楕円曲線のパラメータ方程式は以下の通りである。 The contour curve of the cam shaft 101 is a closed elliptic curve, and the difference between the major axis radius b and the minor axis radius a is twice the eccentric distance. The specific size of the ellipse is determined by the inner ring diameter d of the selected thin-walled bearing, and the parameter equation of the elliptic curve is as follows:
ｘ＝ａ＊ｃｏｓ（ｔ）
ｙ＝ｂ＊ｓｉｎ（ｔ）
x = a * cos (t)
y = b * sin (t)
コンピュータによって楕円の周囲長を積分して計算し、さらに対応する円の直径を計算し、結果を選択した軸受１０２の内径ｄと比較し、反復を繰り返してａとｂの正確値を得ることができ、このようにして楕円の輪郭曲線が決定される。 The computer may integrate and calculate the perimeter of the ellipse, calculate the diameter of the corresponding circle, compare the result with the inner diameter d of the selected bearing 102, and repeat the iteration to obtain accurate values of a and b The contour curve of the ellipse is determined in this way.
上記の方法及びパラメータによって設計されるサイクロイドピン歯車ハーモニックドライブは、伝動中、すべての針状ころ外円が常に可撓性歯車の歯プロフィール曲線に接し、可撓性歯車全体の輪郭曲線が連続的で且つどこでも微分可能であり、噛合伝動中の噛合率が５０％であり、歯先干渉や歯プロフィール重なり干渉がなく、歯高さが偏心距離の２倍であり、可撓性歯車の歯数がＺ−２であるという特徴を有する。従って、本考案のハーモニックドライブは２歯数差の差動伝動である。 The cycloid pin gear harmonic drive designed by the above method and parameters, during transmission, all needle roller outer circles always touch the tooth profile curve of the flexible gear, and the contour curve of the entire flexible gear is continuous And can be differentiated anywhere, the engagement ratio during engagement transmission is 50%, there is no tooth tip interference or tooth profile overlap interference, the tooth height is twice the eccentric distance, and the number of teeth of the flexible gear Is characterized by being Z-2. Therefore, the harmonic drive of the present invention is a differential transmission with two teeth difference.
上記の特徴によって、普通歯形のハーモニックドライブに比べて、サイクロイドピン歯車ハーモニックドライブは、過程が安定し、伝動過程では噛合歯の交互衝撃がなく、噛合率が大きい利点を有する。波発生器の長軸と短軸の半径差が大幅に減少し、可撓性歯車の長さをより短く設計することができ、可撓性歯車をより厚く設計することができ、さらにハーモニックドライブのねじり剛性を向上させる。 Due to the above-mentioned features, the cycloid pin gear harmonic drive has the advantage that the process is stable, there is no alternate impact of the meshing teeth in the transmission process, and the meshing ratio is large compared to the ordinary toothed harmonic drive. The difference in radius between the major and minor axes of the wave generator is greatly reduced, the flexible gear can be designed to be shorter, the flexible gear can be designed to be thicker, and the harmonic drive Improve the torsional rigidity of
本考案の実施例又は従来技術の技術案をより明瞭に説明するために、以下、実施例又は従来技術の説明に必要な図面を簡単に説明し、明らかなように、後述する図面は本考案のいくつかの実施例に過ぎず、当業者であれば、創造的な努力をせずに、これらの図面に基づきほかの図面を想到し得る。また、本明細書に開示されてすべての特徴、又は開示されるすべての方法又はプロセスのステップは、互いに排他的な特徴及び／又はステップを除き、任意の形態で組み合わせることができる。 BRIEF DESCRIPTION OF THE DRAWINGS In order to describe the embodiments of the present invention or the technical solutions of the prior art more clearly, the drawings necessary for describing the embodiments or the prior art will be briefly described below, and it is obvious that the drawings described below are the present invention. These are merely some examples, and one skilled in the art may conceive of other drawings based on these drawings without creative efforts. Also, all features disclosed herein or steps of any method or process disclosed herein may be combined in any form, except mutually exclusive features and / or steps.
本明細書（添付の請求項、要約及び図面を含む）に開示される任意の特徴は、別段の記載がない限り、ほかの同等、又は類似目的を有する代替特徴に置き換えることができる。すなわち、別段の記載がない限り、各特徴は一連の同等又は類似の特徴の一例に過ぎない。 Optional features disclosed in the specification (including the appended claims, abstract and drawings) may be replaced with alternative features having other equivalent or similar purposes, unless otherwise stated. That is, unless stated otherwise, each feature is only an example of a series of equivalent or similar features.
図１−図４に示すように、可撓性軸受２が楕円形のカム軸１に取り付けられ、可撓性歯車３の内輪が可撓性軸受２の外輪と相互に嵌合し、可撓性歯車３の外歯面が各針状ころ４に相互に接触し、針状ころ４が剛性歯車５の半円溝内に均一に分布し、主軸受６の内輪が可撓性歯車２に固定して接続され、主軸受６の外輪が剛性歯車５に固定して接続される。 As shown in FIGS. 1 to 4, the flexible bearing 2 is attached to the elliptical cam shaft 1, and the inner ring of the flexible gear 3 interdigitates with the outer ring of the flexible bearing 2 to be flexible. The outer tooth surfaces of the flexible gear 3 contact each needle roller 4, the needle rollers 4 are uniformly distributed in the semi-circular groove of the rigid gear 5, and the inner ring of the main bearing 6 is flexible gear 2 The outer ring of the main bearing 6 is fixedly connected to the rigid gear 5.
さらに、使用されるカム軸１が可撓性軸受２の内輪に密着しており、両者が波発生器を構成し、可撓性歯車３の内輪が可撓性軸受２の外輪に密着しており、カム軸１の外形が楕円曲線であるため、理論上、可撓性軸受２の内輪、可撓性軸受２の外輪及び可撓性歯車３の内輪がいずれもにカム軸１の楕円の等距離曲線である。 Furthermore, the camshaft 1 to be used is in close contact with the inner ring of the flexible bearing 2, and both constitute a wave generator, and the inner ring of the flexible gear 3 is in close contact with the outer ring of the flexible bearing 2 In principle, the inner ring of the flexible bearing 2, the outer ring of the flexible bearing 2 and the inner ring of the flexible gear 3 have an oval shape of the cam shaft 1, since the outer shape of the cam shaft 1 is an elliptic curve. It is an equidistant curve.
さらに、針状ころ４は剛性歯車５の半円溝内に円周方向に均一に分布し、針状ころ２の軸方向脱出を防止するために、剛性歯車５の半円溝はフランジを有する構造として設計され、可撓性歯車２との干渉を防止するために、フランジの内径は針状ころ４の分布円直径より小さくすべきではない。 Furthermore, the needle rollers 4 are uniformly distributed circumferentially in the semicircular groove of the rigid gear 5 and the semicircular groove of the rigid gear 5 has a flange in order to prevent axial escape of the needle roller 2 The inner diameter of the flange should not be smaller than the distributed circular diameter of the needle rollers 4 in order to be designed as a structure and to prevent interference with the flexible gear 2.
さらに、可撓性歯車３がカップ型構造であり、可撓性歯車３の底部が貫通孔として設計され、主軸受６の内輪が対応するねじ穴を有し、それらがねじによって固定して接続され、剛性歯車５の外輪がねじ穴として設計され、主軸受６の外輪が対応する貫通孔を有し、それらもねじによって固定して接続され、主軸受６がクロスローラー軸受であり、それにより半径方向荷重に耐えられるとともに、軸方向荷重及び曲げモーメントに耐えられる。 Furthermore, the flexible gear 3 is a cup-shaped structure, the bottom of the flexible gear 3 is designed as a through hole, the inner ring of the main bearing 6 has corresponding screw holes, which are fixedly connected by screws The outer ring of the rigid gear 5 is designed as a screw hole, the outer ring of the main bearing 6 has corresponding through holes, which are also fixedly connected by screws, the main bearing 6 is a cross roller bearing, It can withstand radial loads as well as axial loads and bending moments.
さらに、理論上、可撓性歯車３の歯プロフィールの設計パラメータはそれぞれ、針状ころ４の中心の剛性歯車５上に分布する基準円の半径Ｒ、針状ころ４の数Ｚ、針状ころ４の半径ｒ、遊星運動の偏心距離Ｅである。可撓性歯車３の中心を座標原点とし、時間ｔに対する針状ころ４の中心座標（ｘ，ｙ）のパラメータ方程式は以下の通りである。 Furthermore, theoretically, the design parameters of the tooth profile of the flexible gear 3 are respectively the radius R of the reference circle distributed on the rigid gear 5 at the center of the needle 4, the number Z of the needle 4, the needle The radius r of 4 and the eccentric distance E of the planetary motion. A parameter equation of center coordinates (x, y) of needle roller 4 with respect to time t with the center of flexible gear 3 as a coordinate origin is as follows.
ｘ＝Ｅ＊Ｃｏｓ（ｔ＊（Ｚ−１））＋（Ｒ−Ｅ）＊Ｃｏｓ（ｔ）
ｙ＝Ｅ＊Ｓｉｎ（ｔ＊（Ｚ−１））＋（Ｒ＋Ｅ）＊Ｓｉｎ（ｔ）
x = E * Cos (t * (Z-1)) + (R−E) * Cos (t)
y = E * Sin (t * (Z-1)) + (R + E) * Sin (t)
可撓性歯車３の歯プロフィールは針状ころ４の中心の曲線の等距離曲線であり、曲線のオフセット量は針状ころ４の半径であり、オフセット方向は中心に沿う。針状ころ４を可撓性歯車３に接させるために、遊星運動の偏心距離Ｅはカム軸１の長半軸と短半軸との差の半分に等しいことが求められる。 The tooth profile of the flexible gear 3 is an equidistant curve of the curve of the center of the needle roller 4, the offset of the curve is the radius of the needle 4 and the offset direction is along the center. In order to bring the needle roller 4 into contact with the flexible gear 3, the eccentric distance E of the planetary motion is required to be equal to half the difference between the long half axis and the short half axis of the camshaft 1.
さらに、上記のような楕円形の歯プロフィールは加工し難く且つ使用できないため、本考案は以下の方法によって可撓性歯車３の歯プロフィールを得る。 Furthermore, since the oval tooth profile as described above is difficult to process and can not be used, the present invention obtains the tooth profile of the flexible gear 3 by the following method.
以下の設計方程式を採用する。
ｘ＝Ｅ＊Ｃｏｓ（ｔ＊（Ｚ−１））＋Ｒ＊Ｃｏｓ（ｔ）
ｙ＝Ｅ＊Ｓｉｎ（ｔ＊（Ｚ−１））＋Ｒ＊Ｓｉｎ（ｔ）
The following design equation is adopted.
x = E * Cos (t * (Z-1)) + R * Cos (t)
y = E * Sin (t * (Z-1)) + R * Sin (t)
ここで、偏心距離Ｅはカム軸１の長半軸と短半軸との差の半分に等しく、Ｒは針状ころ４の分布円半径に等しく、Ｚは針状ころ４の数である。この曲線を中心へ等距離オフセットさせ、オフセット距離が針状ころ４の半分に等しく、得られた曲線は可撓性歯車３の自由時の曲線であり、カム軸１が可撓性軸受２内に嵌入され、可撓性軸受２内に可撓性歯車３が嵌入されると、カム軸１の楕円によって可撓性歯車３の曲線が変化し、その結果、針状ころ４が可撓性歯車２にどこでも接する。 Here, the eccentric distance E is equal to half of the difference between the long half axis and the short half axis of the cam shaft 1, R is equal to the distributed circle radius of the needle rollers 4, and Z is the number of needle rollers 4. This curve is offset equidistantly to the center, the offset distance is equal to half of the needle roller 4, the curve obtained is the curve when the flexible gear 3 is free and the camshaft 1 is in the flexible bearing 2 When the flexible gear 3 is inserted into the flexible bearing 2, the curve of the flexible gear 3 is changed by the ellipse of the camshaft 1, and as a result, the needle roller 4 is flexible. Contact the gear 2 anywhere.
動作時、カム軸１が可撓性軸受２に取り付けられ、可撓性軸受２がさらに可撓性歯車３に取り付けられると、可撓性歯車３が弾性変形して楕円状になり、その長軸では可撓性歯車３の歯元が針状ころ４に嵌入され、歯元で２箇所接する状態を形成し、その短軸では可撓性歯車３の歯先が針状ころ４にも接し、接触保持状態にある。カム軸１が連続的に回転すると、可撓性歯車３が連続的に変形し、可撓性歯車３と針状ころ４が接触する位置が連続的に変化し、所謂歯ずらし運動を発生させ、それにより運動伝達を実現する。 In operation, when the camshaft 1 is attached to the flexible bearing 2 and the flexible bearing 2 is further attached to the flexible gear 3, the flexible gear 3 elastically deforms into an elliptical shape, and its length In the shaft, the tooth root of the flexible gear 3 is fitted into the needle roller 4 to form a state in which two contact points are formed at the tooth root, and in the short axis, the tooth tip of the flexible gear 3 is also in contact with the needle roller 4 , In contact holding state. When the camshaft 1 is continuously rotated, the flexible gear 3 is continuously deformed, and the position at which the flexible gear 3 and the needle roller 4 are in contact is continuously changed, generating so-called tooth shift movement. , Thereby achieving motion transmission.
さらに、図５に示すように、剛性歯車５が固定されると仮定し、カム軸１が０°回転する時、可撓性歯車２と剛性歯車５が矢印で重なり、カム軸１が時計回りに１８０°回転する時、図中の可撓性歯車の矢印に示すように、可撓性歯車２が反時計回りに１歯の距離回転し、カム軸１が時計回りに３６０°回転する時、図中の可撓性歯車の矢印に示すように、可撓性歯車２が反時計回りに２歯の距離回転し、従って、剛性歯車が固定され、可撓性歯車が回転する時、減速比が可撓性歯車２の歯数の半分に等しい。 Furthermore, as shown in FIG. 5, assuming that the rigid gear 5 is fixed, when the camshaft 1 rotates by 0 °, the flexible gear 2 and the rigid gear 5 overlap in the arrow, and the camshaft 1 rotates clockwise. When rotating 180 degrees, as shown by the arrow of the flexible gear in the figure, when the flexible gear 2 rotates a distance of one tooth counterclockwise and the camshaft 1 rotates 360 degrees clockwise As shown by the arrow of the flexible gear in the figure, the flexible gear 2 is rotated counterclockwise by a distance of two teeth, so that the rigid gear is fixed and the gear is decelerated when the flexible gear is rotated. The ratio is equal to half the number of teeth of the flexible gear 2.
カム軸１の楕円は数値制御加工方式により形成され、可撓性歯車２は低速ワイヤーカット又はホッビングにより加工され、剛性歯車５はＣＮＣフライス盤、低速ワイヤーカット又は歯車形削りにより加工され、加工が極めて簡単である。 The ellipse of the camshaft 1 is formed by numerical control processing method, the flexible gear 2 is processed by low speed wire cutting or hobbing, the rigid gear 5 is processed by CNC milling machine, low speed wire cutting or gear shaping, and the processing is extremely It is easy.
針状ころ４は軸受鋼材質からなり、熱処理後の硬度がＨＲＣ６０−６２、粗度がＲａ０．４以上であり、摩耗軽減及び耐用年数延長に寄与する。 The needle roller 4 is made of a bearing steel material, and the hardness after heat treatment is HRC 60-62, and the roughness is Ra 0.4 or more, which contributes to the reduction of wear and the extension of the service life.
図６に示すように、サイクロイド歯車２０１が固定され、針状ころ２０２は一定の法則に従ってサイクロイド歯車に対して相対運動し、前記運動法則は減速機の機構とギヤ比によって決定され、針状ころはサイクロイド歯車の周辺で所定の運動法則に従って連続的に移動し、針状ころ外円はサイクロイド歯車の周辺で連続的に密閉した包絡線を形成し、この包絡線はサイクロイド歯車の歯プロフィール曲線である。 As shown in FIG. 6, the cycloid gear 201 is fixed, the needle roller 202 moves relative to the cycloid gear according to a certain rule, and the law of motion is determined by the mechanism and gear ratio of the reduction gear. Are continuously moved around the cycloid gear according to a predetermined law of motion, and the needle roller outer circle forms a continuously closed envelope around the cycloid gear, and this envelope is a tooth profile curve of the cycloid gear is there.
以上は、本考案の具体的な実施形態に過ぎず、本考案の保護範囲を限定するものではなく、創造的な努力をせずに想到し得る変更や置換はすべて、本考案の保護範囲に属する。従って、本考案の保護範囲は実用新案登録請求の範囲に限定される保護範囲に準じるべきである。 The above is only a specific embodiment of the present invention, and does not limit the protection scope of the present invention, and all changes and replacements that can be conceived without creative efforts are within the protection scope of the present invention. Belongs. Therefore, the scope of protection of the present invention should be in accordance with the scope of protection limited to the scope of the utility model registration request.
Claims (4)
The flexible gear is a cup-shaped structure, the bottom of the flexible gear is designed as a through hole, the inner ring of the main bearing has a corresponding threaded hole, both are fixedly connected by screws, the rigid gear The outer ring of the present invention is a screw hole, the outer ring of the main bearing has a corresponding through hole, both are fixedly connected by screws, and the main bearing is a cross roller bearing. Cycloid pin gear harmonic drive device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721257493.2 | 2017-09-28 | ||
| CN201721257493.2U CN207261609U (en) | 2017-09-28 | 2017-09-28 | A kind of cycloidal-pin wheel harmonic drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP3220171U JP3220171U (en) | 2019-02-21 |
| JP3220171U6 true JP3220171U6 (en) | 2019-06-27 |
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