JP5649310B2

JP5649310B2 - Friction transmission, joint device

Info

Publication number: JP5649310B2
Application number: JP2010028944A
Authority: JP
Inventors: 信昭今村; 正前田
Original assignee: 株式会社前田精密製作所; 信昭今村
Priority date: 2010-02-12
Filing date: 2010-02-12
Publication date: 2015-01-07
Anticipated expiration: 2030-02-12
Also published as: JP2011163496A

Description

本発明は、摩擦式変速装置、及び、前記摩擦式変速装置が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置に関する。 The present invention relates to a friction transmission and a joint device that incorporates the friction transmission and rotates a pair of link members around a predetermined axis.

従来、撓み噛み合い式変速装置は、特許文献１に記載されるように、保形力を有するサーキュラスプラインと、前記サーキュラスプラインの内周部に形成された内歯の歯数より少ない歯数の外歯が形成された可撓性のフレックススプラインと、前記フレックススプラインに内接して、前記サーキュラスプラインの内歯に前記フレックススプラインの外歯を部分的に噛み合わせ、当該噛み合い位置を前記第１環状部の周方向に沿って移動させることにより、前記サーキュラスプラインと前記フレックススプラインと相対回転させるウェーブジェネレータとを備えて構成されていた。 2. Description of the Related Art Conventionally, as described in Patent Document 1, a flexure-mesh type transmission has an external number of teeth that is smaller than the number of teeth of a circular spline having a shape retaining force and the number of internal teeth formed on the inner peripheral portion of the circular spline. A flexible flex spline having teeth formed therein, and inscribed in the flex spline, the outer teeth of the flex spline are partially meshed with the internal teeth of the circular spline, and the meshing position is set in the first annular portion. The circular spline and the wave generator that rotates relative to the flex spline by moving along the circumferential direction are configured.

このような撓み噛み合い式変速装置は、サーキュラスプライン、フレックススプライン、ウェーブジェネレータの３つの基本部品で構成できるため小型、軽量であるとともに高い変速比が得られることから、ロボットアームやロボットハンドの駆動機構に広く用いられてきた。 Such a flexure-mesh type transmission can be composed of three basic parts: a circular spline, a flex spline, and a wave generator, so it is compact and lightweight, and a high gear ratio can be obtained. Has been widely used.

しかし、空間的制約の厳しい多関節ロボットフィンガーの駆動機構などでは、さらに、小型、軽量で高変速比の変速装置が求められている。従来の歯車の噛み合いを動力伝達の原理とした変速装置では、その小型化には歯型の極めて小さい歯車の加工が必要となり、従来の機械加工技術でこれに対応することは極めて困難であり、変速装置の小型化に限界があった。 However, in a multi-joint robot finger drive mechanism or the like that has severe space constraints, a transmission device that is smaller, lighter, and has a high gear ratio is required. In a transmission that uses the meshing of a conventional gear as the principle of power transmission, it is necessary to process a gear with a very small tooth shape for miniaturization, and it is extremely difficult to cope with this with conventional machining technology, There was a limit to miniaturization of the transmission.

そこで、特許文献２には、図１０に示すように、円筒状内周面２２３を有する剛性の環状部材２２０と、円筒状内周面２２３に当接する可撓性筒部を有するフレックス部材２４０と、可撓性筒部２２５の外周面部２２８を半径方向に撓ませて環状部材２２０の円筒状内周面２２３に部分的に当接し押し圧力を発生させるとともに、該当接押し圧位置を円周方向に移動させることにより、環状部材２２０及びフレックス部材２４０に相対回転移動を発生させる波動発生器２２９と、を備えた撓みフリクション式変速装置が提案されている。 Therefore, in Patent Document 2, as shown in FIG. 10, a rigid annular member 220 having a cylindrical inner peripheral surface 223, and a flex member 240 having a flexible cylindrical portion in contact with the cylindrical inner peripheral surface 223, The outer peripheral surface portion 228 of the flexible cylindrical portion 225 is bent in the radial direction to partially abut against the cylindrical inner peripheral surface 223 of the annular member 220 to generate a pressing force, and the corresponding pressing pressure position is set in the circumferential direction. There has been proposed a flexural friction transmission including a wave generator 229 that causes the annular member 220 and the flex member 240 to move relative to each other.

この撓みフリクション式変速装置は、接触による摩擦によって動力伝達を行うため、小さな歯車の加工が不要であり、さらに、フレックス部材２４０の可撓性筒部と波動発生器２２９との間に、前記押し圧力を調整する押し圧力調整手段を備えることで、変速装置の組み込み時に所定の伝達トルクの設定ができるように構成されている。 Since this flexural friction type transmission transmits power by friction caused by contact, it is not necessary to process a small gear, and further, the pushing force between the flexible cylindrical portion of the flex member 240 and the wave generator 229 is not necessary. By including a pressing force adjusting means for adjusting the pressure, a predetermined transmission torque can be set when the transmission is assembled.

具体的には、押し圧力調整手段は、波動発生器２２９の外周２２２に配置された互いに当接するテーパ面部２２４を有する可撓性の一対の楔部材２３５で構成されている。ボルト２３３で波動発生器２２９に固定された当て板２３２の外周が一対の楔部材２３５まで延在し、ディスタンスピース２３４が一対の楔部材２３５の一方及び当て板２３２の間に設けられ、一対の楔部材２３５及びディスタンスピース２３４は、当て板２３２により回転軸方向に離脱しないように構成されている。 Specifically, the pressing pressure adjusting means is composed of a pair of flexible wedge members 235 having tapered surface portions 224 disposed on the outer periphery 222 of the wave generator 229 and in contact with each other. The outer periphery of the contact plate 232 fixed to the wave generator 229 with the bolt 233 extends to the pair of wedge members 235, and the distance piece 234 is provided between one of the pair of wedge members 235 and the contact plate 232, The wedge member 235 and the distance piece 234 are configured not to be detached in the rotation axis direction by the contact plate 232.

一対の楔部材２３５は、可撓性筒部２２５の外周面部２２８を環状部材２２０の円筒状内周面２２３に部分的に当接し押し圧力を発生させるように互いに押し付けられており、外周面部２２８及び円筒状内周面２２３を相対的に転がり回転させるための前記押し圧力の適宜な設定あるいは変更は、組み込み時にディスタンスピース２３４の厚さを変えることで、一対の楔部材２３５同士を所定の力で押し付け一対の楔部材２３５の軸方向相対移動距離を変更し、押し圧力を設定する。 The pair of wedge members 235 are pressed against each other so that the outer peripheral surface portion 228 of the flexible cylindrical portion 225 partially abuts against the cylindrical inner peripheral surface 223 of the annular member 220 to generate a pressing force. The appropriate pressing force for relatively rolling and rotating the cylindrical inner peripheral surface 223 is changed by changing the thickness of the distance piece 234 at the time of assembling, so that the pair of wedge members 235 can have a predetermined force. To change the axial relative movement distance of the pair of wedge members 235 and set the pressing force.

実公平５−１９６３５号公報Japanese Utility Model Publication No. 5-19635 特開２００３−２０７００４号公報JP 2003-207004 A

しかし、上述の撓みフリクション式変速装置では、押し圧力を調整するための押し圧力調整手段は、フレックス部材２４０の可撓性筒部と波動発生器２２９との間に備えられたディスタンスピース２３４の厚さを変えることで押し圧力を設定あるいは変更する構成となっているため、例えば、ロボットハンドのフィンガーユニットや、ロボットアームの関節装置に撓みフリクション式変速装置を組み込んだ場合、押し圧力の変更する際は、当て板２３２を取り外し、ディスタンスピース２３４を取り替える必要があるため、押し圧力の調整が非常に煩雑であり、ディスタンスピース２３４も厚さの異なるものを用意する必要があるため経済的ではなかった。 However, in the above-described bending friction transmission, the pressing force adjusting means for adjusting the pressing force is the thickness of the distance piece 234 provided between the flexible cylindrical portion of the flex member 240 and the wave generator 229. For example, when a bending friction transmission is incorporated in the finger unit of a robot hand or a joint device of a robot arm, the pressure is changed by changing the pressure. Since it is necessary to remove the contact plate 232 and replace the distance piece 234, the adjustment of the pressing force is very complicated, and it is not economical because the distance piece 234 needs to be prepared with a different thickness. .

さらに、押し圧力は、ディスタンスピース２３４の厚さをかえることで一対の楔部材２３５の軸方向相対移動距離を変更して調整する構成のため、高い押し圧力を得たい場合は、ディスタンスピース２３４は厚さの厚いものを当て板２３２で回転軸方向に離脱しないように固定する必要がある。 Furthermore, since the pressing force is adjusted by changing the axial relative movement distance of the pair of wedge members 235 by changing the thickness of the distance piece 234, the distance piece 234 is It is necessary to fix a thick material so as not to be detached in the direction of the rotation axis by the contact plate 232.

しかし、高い押し圧力を得るためには大きなボルトによる締め付け力が必要となるが、当て板２３２を波動発生器２２９に固定するボルト２３３は、波動発生器２２９が小型であればあるほど小さなボルトを使用することしかできず、ディスタンスピース２３４の厚さも小さなボルトで得られる締め付け力で固定できる厚さのものしか使用することができないため、高い押し圧力を得られない問題もあった。 However, in order to obtain a high pressing force, a tightening force with a large bolt is required. However, the bolt 233 that fixes the backing plate 232 to the wave generator 229 is smaller as the wave generator 229 is smaller. Since the distance piece 234 can only be used with a thickness that can be fixed with a tightening force obtained with a small bolt, there is a problem that a high pressing force cannot be obtained.

また、環状部材の円筒状内周面とフレックス部材の可撓性筒部外周面の接触部には滑りにくい油を塗布し、楔部材２３５と可撓性筒部２２５の接触部には滑らかな摺動が行われるように滑りやすい油を塗布する場合、性状の異なる２種類の油を用意する必要があり煩雑であった。 Further, a non-slipable oil is applied to the contact portion between the cylindrical inner peripheral surface of the annular member and the outer peripheral surface of the flexible tube portion of the flex member, and the contact portion between the wedge member 235 and the flexible tube portion 225 is smooth. When oil that is slippery is applied so that sliding is performed, it is necessary to prepare two kinds of oils having different properties, which is complicated.

本発明の目的は、上述の問題点に鑑み、押圧力の調整が容易で、小型、軽量で安価な、摩擦式変速装置、及び、前記摩擦式変速装置が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置を提供する点にある。 In view of the above-described problems, an object of the present invention is to easily adjust the pressing force, and to be a compact, lightweight, and inexpensive friction transmission device, and the friction transmission device incorporated therein. It is in providing a joint device that rotates about an axis.

上述の目的を達成するため、本発明による摩擦式変速装置の第一の特徴構成は、特許請求の範囲の書類の請求項１に記載した通り、保形力を有する第１環状部と、前記第１環状部の内周部の周長より短い周長の外周部を備えた可撓性の第２環状部と、前記第２環状部に内接して、前記第１環状部の内周部に前記第２環状部の外周部を部分的に押圧接触させ、当該接触部位を前記第１環状部の周方向に沿って移動させることにより、前記第１環状部と前記第２環状部とを摩擦力により相対回転させる波動発生部と、前記第１環状部の内周部に幅方向に沿って高さが低くなる傾斜面が形成されるとともに、前記第２環状部の外周部に幅方向に沿って高さが高くなる傾斜面が形成され、両傾斜面の接触位置を前記軸心方向に調整することにより、前記第１環状部と前記第２環状部の接触部位の押圧力を調整する調圧機構と、を備え、前記調圧機構は、前記第２環状部の外周部に、幅方向中央部から両端部にかけて高さが低くなり、軸心方向の断面が山形を呈するように形成された傾斜面と、前記第１環状部が前記軸心に直交する面で二分割されるとともに、それぞれの内周部に対向側から幅方向端部に沿って高さが低くなるように形成された傾斜面と、二分割された前記第１環状部間の軸心方向距離を近接するように調整する複数の締め付けボルトを備えて構成され、前記第１環状部の内周部と前記第２環状部の外周部との接触面に、前記調圧機構による押圧力が大きくなると粘性係数が大きくなる性状の油が塗布され、二分割された前記第１環状部間に形成される空間に、前記油を貯留する油貯留部が設けられている点にある。 In order to achieve the above-mentioned object, a first characteristic configuration of the friction transmission according to the present invention includes a first annular portion having a shape-retaining force, as described in claim 1 of the claims, and A flexible second annular portion having an outer peripheral portion having a peripheral length shorter than a peripheral length of the inner peripheral portion of the first annular portion; and an inner peripheral portion of the first annular portion inscribed in the second annular portion The outer peripheral portion of the second annular portion is partially pressed and contacted, and the contact portion is moved along the circumferential direction of the first annular portion, whereby the first annular portion and the second annular portion are A wave generating portion that is relatively rotated by a frictional force, and an inclined surface whose height decreases along the width direction are formed on the inner peripheral portion of the first annular portion, and the width direction is formed on the outer peripheral portion of the second annular portion An inclined surface that increases in height is formed, and the contact position of both inclined surfaces is adjusted in the axial direction to A pressure regulating mechanism for adjusting the pressing force of the contact portion of the second annular portion and the first annular portion, wherein the pressure regulating mechanism, the outer peripheral portion of the second annular portion, both end portions in the width direction central portion And the first annular part is divided into two parts by a plane orthogonal to the axial center, and the inner peripheral part thereof. A plurality of tightenings for adjusting the axial distance between the inclined surface formed so as to decrease in height from the opposite side along the end in the width direction and the first annular portion divided into two parts Bolts are configured, and oil having a property that the viscosity coefficient increases when the pressing force by the pressure adjusting mechanism increases on the contact surface between the inner peripheral portion of the first annular portion and the outer peripheral portion of the second annular portion. The oil is stored in a space formed between the first annular portions that are applied and divided into two. Lies in the oil reservoir is provided that.

上述の構成によれば、波動発生部によって、第２環状部の外周部に形成された幅方向に沿って高さが高くなる傾斜面を部分的に第１環状部の内周部に形成された幅方向に沿って高さが低くなる傾斜面に押圧接触させ、当該接触部位の摩擦によって動力伝達を行うため、構成部品に歯車を加工する必要がないので、従来の機械加工技術で容易に小型化が可能である。変速比は、第１環状部の内周部の周長と、第２環状部の外周部の周長の差によって決定できるので、高い変速比を実現することができる。よって、安価に小型、軽量、高変速比の変速装置が実現できる。 According to the above-described configuration, the wave generation portion forms the inclined surface that increases in height along the width direction formed on the outer peripheral portion of the second annular portion, on the inner peripheral portion of the first annular portion. Since it is pressed against an inclined surface whose height decreases along the width direction and power is transmitted by friction at the contact part, it is not necessary to machine gears on the component parts. Miniaturization is possible. Since the gear ratio can be determined by the difference between the circumference of the inner circumference of the first annular portion and the circumference of the outer circumference of the second annular portion, a high gear ratio can be realized. Therefore, a small, lightweight, and high gear ratio transmission can be realized at low cost.

さらに、調圧機構によって第１環状部と第２環状部の接触部位の押圧力を調整することで、動力伝達を確実に行うことができ、また、接触部位に滑りが発生する限界のトルクを容易に調整することができる。 Furthermore, by adjusting the pressing force of the contact portion between the first annular portion and the second annular portion by the pressure adjusting mechanism, power transmission can be performed reliably, and the limit torque that causes slippage at the contact portion can be reduced. It can be adjusted easily.

そして、第２環状部の外周部に形成された傾斜面と、二分割された第１環状部のそれぞれの内周部に形成された傾斜面との接触部に、締め付けボルトによる軸心方向の締付力に応じた押圧力が発生する。締め付けボルトによる締付力を適切に設定することにより、動力伝達を確実に行うことができ、前記接触部位に滑りが発生する限界のトルクを容易に調整することができる。And in the contact part of the inclined surface formed in the outer peripheral part of the 2nd annular part, and the inclined surface formed in each inner peripheral part of the 1st annular part divided into two, it is the direction of an axial center by a bolt. A pressing force corresponding to the tightening force is generated. By appropriately setting the tightening force by the tightening bolt, it is possible to reliably transmit power and to easily adjust the limit torque at which slippage occurs at the contact portion.

第２環状部の外周部に軸心方向の断面が山形を呈するように形成された傾斜面のそれぞれに、二分割された第１環状部のそれぞれの内周部に形成された傾斜面が接触するように構成されているため、調圧機構によって両傾斜面の接触位置を前記軸心方向に調整して、第１環状部と第２環状部の接触部位の押圧力を調整しても、第１環状部と第２環状部の軸心方向の相対的な位置の変動がない。The inclined surface formed on the inner peripheral portion of each of the two divided first annular portions is in contact with each of the inclined surfaces formed so that the cross section in the axial center direction has a mountain shape on the outer peripheral portion of the second annular portion. Therefore, even if the pressure adjusting mechanism adjusts the contact position of both inclined surfaces in the axial direction and adjusts the pressing force of the contact portion of the first annular portion and the second annular portion, There is no change in the relative position of the first annular portion and the second annular portion in the axial direction.

調圧機構は、二分割された第１環状部間の軸心方向距離を調整するように構成されているので、波動発生部および第二環状部の大きさによらず、締め付けトルクの大きい締め付けボルトを用いることができる。また、摩擦式変速装置を分解することなく、第１環状部と第２環状部の接触部位の押圧力の調整を容易に行うことができる。Since the pressure adjusting mechanism is configured to adjust the axial distance between the two divided first annular portions, the tightening torque is large regardless of the size of the wave generating portion and the second annular portion. Bolts can be used. Further, it is possible to easily adjust the pressing force at the contact portion between the first annular portion and the second annular portion without disassembling the friction transmission.

さらに、油貯留部に貯留された油が、第１環状部の内周部と第２環状部の外周部との接触面に適宜供給されるので、接触面の直接の摺動により、滑りが発生する限界のトルクより大きなトルクの伝達が可能となるとともに、接触面の磨耗を防止して、第１環状部の内周部と第２環状部の外周部との接触面の摩擦力を安定させることができ、より確実な動力伝達が可能となる。Furthermore, since the oil stored in the oil storage portion is appropriately supplied to the contact surface between the inner peripheral portion of the first annular portion and the outer peripheral portion of the second annular portion, slippage is caused by direct sliding of the contact surface. Torque larger than the limit torque that can be generated can be transmitted, and the friction of the contact surface between the inner peripheral portion of the first annular portion and the outer peripheral portion of the second annular portion is stabilized by preventing wear of the contact surface. Therefore, more reliable power transmission is possible.

同第二の特徴構成は、同請求項２に記載した通り、保形力を有する第１環状部と、前記第１環状部の内周部の周長より短い周長の外周部を備えた可撓性の第２環状部と、前記第２環状部に内接して、前記第１環状部の内周部に前記第２環状部の外周部を部分的に押圧接触させ、当該接触部位を前記第１環状部の周方向に沿って移動させることにより、前記第１環状部と前記第２環状部とを摩擦力により相対回転させる波動発生部と、前記第１環状部の内周部に幅方向に沿って高さが低くなる傾斜面が形成されるとともに、前記第２環状部の外周部に幅方向に沿って高さが高くなる傾斜面が形成され、両傾斜面の接触位置を前記軸心方向に調整することにより、前記第１環状部と前記第２環状部の接触部位の押圧力を調整する調圧機構と、を備え、前記調圧機構は、前記第２環状部の外周部に、幅方向中央部から両端部にかけて高さが高くなり、軸心方向の断面が谷形を呈するように形成された傾斜面と、前記第１環状部が前記軸心に直交する面で二分割されるとともに、それぞれの内周部に対向側から幅方向端部に沿って高さが高くなるように形成された傾斜面と、二分割された前記第１環状部間の軸心方向距離を離隔するように調整する複数の締め付けボルトを備えて構成され、前記第１環状部の内周部と前記第２環状部の外周部との接触面に、前記調圧機構による押圧力が大きくなると粘性係数が大きくなる性状の油が塗布され、二分割された前記第１環状部間に形成される空間に、前記油を貯留する油貯留部が設けられている点にある。 As described in the second aspect, the second characteristic configuration includes a first annular portion having a shape retaining force and an outer peripheral portion having a peripheral length shorter than the peripheral length of the inner peripheral portion of the first annular portion. A flexible second annular portion is inscribed in the second annular portion, the outer peripheral portion of the second annular portion is partially pressed into contact with the inner peripheral portion of the first annular portion, and the contact portion is By moving along the circumferential direction of the first annular portion, a wave generating portion that relatively rotates the first annular portion and the second annular portion by a frictional force, and an inner peripheral portion of the first annular portion An inclined surface whose height decreases along the width direction is formed, and an inclined surface whose height increases along the width direction is formed on the outer peripheral portion of the second annular portion. A pressure adjusting mechanism that adjusts the pressing force of the contact portion between the first annular portion and the second annular portion by adjusting in the axial direction. The pressure adjusting mechanism has an inclined surface formed on the outer peripheral portion of the second annular portion so as to increase in height from the center portion in the width direction to both end portions, and the cross section in the axial direction exhibits a valley shape, The first annular portion is divided into two parts by a plane orthogonal to the axis, and an inclined surface is formed on each inner peripheral portion so as to increase in height from the opposite side along the widthwise end portion; The inner ring portion of the first annular portion and the outer periphery portion of the second annular portion are configured to include a plurality of tightening bolts that adjust the axial distance between the first annular portions divided into two parts. Is applied to the contact surface with the pressure adjusting mechanism to increase the viscosity coefficient, and the oil is stored in a space formed between the two divided first annular portions. The oil storage section is provided .

上述の構成によれば、第２環状部の外周部に形成された傾斜面と、二分割された第１環状部のそれぞれの内周部に形成された傾斜面との接触部に、締め付けボルトによる軸心方向の締付力に応じた押圧力が発生する。締め付けボルトによる締付力を適切に設定することにより、動力伝達を確実に行うことができ、また、接触部位に滑りが発生する限界のトルクを容易に調整することができる。 According to the above-described configuration, the tightening bolt is attached to the contact portion between the inclined surface formed on the outer peripheral portion of the second annular portion and the inclined surface formed on the inner peripheral portion of each of the two divided first annular portions. A pressing force corresponding to the tightening force in the axial direction is generated. By appropriately setting the tightening force by the tightening bolt, power transmission can be performed reliably, and the limit torque at which slippage occurs at the contact portion can be easily adjusted.

さらに、第２環状部の外周部に軸心方向の断面が谷形を呈するように形成された傾斜面のそれぞれに、二分割された第１環状部のそれぞれの内周部に形成された傾斜面が接触するように構成されているため、調圧機構によって両傾斜面の接触位置を前記軸心方向に調整して、第１環状部と第２環状部の接触部位の押圧力を調整しても、第１環状部と第２環状部の軸心方向の相対的な位置の変動がない。 Furthermore, the slope formed on each inner peripheral portion of the first annular portion divided into two on each of the inclined surfaces formed so that the cross section in the axial direction in the outer peripheral portion of the second annular portion exhibits a valley shape Since the surfaces are in contact with each other, the pressure adjusting mechanism adjusts the contact position of both inclined surfaces in the axial direction to adjust the pressing force at the contact portion between the first annular portion and the second annular portion. However, there is no change in the relative position of the first annular portion and the second annular portion in the axial direction.

調圧機構は、二分割された第１環状部間の軸心方向距離を調整するように構成されているので、波動発生部および第二環状部の大きさによらず、締め付けトルクの大きい締め付けボルトを用いることができる。また、摩擦式変速装置を分解することなく、第１環状部と第２環状部の接触部位の押圧力の調整を容易に行うことができる。 Since the pressure adjusting mechanism is configured to adjust the axial distance between the two divided first annular portions, the tightening torque is large regardless of the size of the wave generating portion and the second annular portion. Bolts can be used . Also, without disassembling the friction transmission system, the adjustment of the first annular portion pressing force of the contact portion of the second annular part it can be easily performed.

同第三の特徴構成は、同請求項３に記載した通り、上述の第一または第二の特徴構成に加えて、前記波動発生部は、前記第２環状部に内接させたときに、前記第２環状部の外周部は長径位置で前記第１環状部の内周部に接するような楕円体で構成されている点にある。 In the third feature configuration, in addition to the first or second feature configuration described above, when the wave generation unit is inscribed in the second annular portion, The outer peripheral part of the second annular part is constituted by an ellipsoid that is in contact with the inner peripheral part of the first annular part at the major axis position.

上述の構成によれば、波動発生部は、第２環状部に内接させたときに、第２環状部の外周部が長径位置で第１環状部の内周部に接するような楕円体で構成されているので、楕円体の回転軸心がずれることなく、第１環状部と第２環状部の回転軸心と一致させることができる。 According to the above-described configuration, the wave generating portion is an ellipsoid in which the outer peripheral portion of the second annular portion is in contact with the inner peripheral portion of the first annular portion at the major axis position when inscribed in the second annular portion. Since it is comprised, it can be made to correspond with the rotating shaft center of a 1st annular part and a 2nd annular part, without the rotational axis center of an ellipsoid shifting | deviating.

同第四の特徴構成は、同請求項４に記載した通り、上述の第三特徴構成に加えて、前記楕円体は、前記第２環状部の内周部に内接するベアリング機構と、前記ベアリング機構に内接する楕円状のカム部を備えている点にある。 The fourth characterizing feature of, in addition to the street, the third characterizing feature of the above described in the claim 4, wherein the ellipsoid has a bearing mechanism inscribed in the inner peripheral portion of the second annular portion, the bearing It is in the point provided with the elliptical cam part inscribed in the mechanism.

上述の構成によれば、ベアリング機構を備えているので、第２環状部の内周部とカム部が直接摺動しないため、騒音や磨耗による破損の虞を低減でき、スムーズな動力の伝達が可能となる。 According to the above-described configuration, since the bearing mechanism is provided, the inner peripheral portion of the second annular portion and the cam portion do not slide directly, so that the risk of damage due to noise and wear can be reduced, and smooth power transmission can be achieved. It becomes possible.

本発明による関節装置の特徴構成は、同請求項５に記載した通り、上述の第一から第四の何れかの特徴構成を備えた摩擦式変速装置が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置であって、前記波動発生部が一方のリンク部材に組み付けられた伝動機構を介して回転するように該一方のリンク部材に設置され、前記第２環状部が一方のリンク部材に固定されるとともに、前記第１環状部が他方のリンク部材に直接又は間接的に固定されている点にある。 As described in the fifth aspect of the present invention, the joint device according to the present invention includes a friction transmission including any one of the first to fourth features described above, and a pair of link members are connected to a predetermined shaft. A joint device that rotates around a core, wherein the wave generating unit is installed on the one link member so as to rotate via a transmission mechanism assembled to the one link member, and the second annular portion is installed on one of the link members. In addition to being fixed to the link member, the first annular portion is directly or indirectly fixed to the other link member.

上述の特徴構成によれば、本発明による摩擦式変速装置を用いて関節装置を構成することで、関節装置の小型化が可能となった。 According to the above-described characteristic configuration, the joint device is configured by using the friction transmission according to the present invention, so that the joint device can be reduced in size.

第２環状部が固定された一方のリンク部材に組みつけられた伝動機構を介して波動発生部が回転すると、第１環状部と第２環状部に相対的な回転が発生する。すると、第１環状部に直接又は間接的に固定された他方のリンク部材が波動発生部の回転軸心周りに相対的に回転することとなる。 When the wave generating portion rotates through the transmission mechanism assembled to the one link member to which the second annular portion is fixed, relative rotation occurs between the first annular portion and the second annular portion. Then, the other link member fixed directly or indirectly to the first annular portion relatively rotates around the rotation axis of the wave generating portion.

さらに、他方のリンク部材に、伝達機構によって伝達される回転トルクと逆方向に外力が付与された場合、第１環状部と第２環状部の接触部に働く摩擦力より大きい力であれば、第１環状部と第２環状部の接触部には滑りが発生し、前記外力が伝達機構へと伝達されないので、関節装置の破損を防止することができる。 Furthermore, when an external force is applied to the other link member in the direction opposite to the rotational torque transmitted by the transmission mechanism, if the force is greater than the frictional force acting on the contact portion between the first annular portion and the second annular portion, Slip occurs at the contact portion between the first annular portion and the second annular portion, and the external force is not transmitted to the transmission mechanism, so that the joint device can be prevented from being damaged.

関節装置の用いられる環境により、調圧機構によって第１環状部と第２環状部の接触部に働く摩擦力を適宜設定できるので、ロボットハンドのフィンガーユニットや、ロボットアーム等様々な用途に柔軟に対応できるようになった。 Depending on the environment in which the joint device is used, the frictional force acting on the contact part between the first and second annular parts can be set as appropriate by the pressure adjustment mechanism, so it can be flexibly used in various applications such as finger units of robot hands and robot arms. Now available.

以上説明した通り、本発明によれば、押圧力の調整が容易で、小型、軽量で安価な、摩擦式変速装置、及び、前記摩擦式変速装置が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置を提供することができるようになった。 As described above, according to the present invention, the frictional transmission that is easy to adjust the pressing force, is compact, lightweight, and inexpensive, and the frictional transmission is incorporated, and the pair of link members are connected to a predetermined axis. It has become possible to provide a joint device that rotates around.

（ａ）は本発明による摩擦式変速装置の正面図、（ｂ）は摩擦式変速装置の側断面図、（ｃ）は摩擦式変速装置の背面図(A) is a front view of a friction transmission according to the present invention, (b) is a side sectional view of the friction transmission, and (c) is a rear view of the friction transmission. 第１環状部材の説明図Explanatory drawing of the 1st annular member （ａ）は第２環状部の正面図、（ｂ）は第２環状部の側面図、（ｃ）は第２環状部の側断面図(A) is a front view of the second annular portion, (b) is a side view of the second annular portion, and (c) is a side sectional view of the second annular portion. （ａ）は波動発生部の側断面図、（ｂ）は波動発生部の背面図(A) is a side cross-sectional view of the wave generator, and (b) is a rear view of the wave generator. 摩擦式変速装置の要部拡大図Enlarged view of main parts of friction transmission 本発明によるハーモニックドライブ（登録商標）の回転動作説明図Rotation operation explanatory diagram of harmonic drive (registered trademark) according to the present invention 別実施形態による摩擦式変速装置の要部説明図Explanatory drawing of the principal part of the friction-type transmission by another embodiment 別実施形態による摩擦式変速装置の要部説明図Explanatory drawing of the principal part of the friction-type transmission by another embodiment 関節装置の説明図Illustration of joint device 従来技術による変速装置の要部説明図Explanatory drawing of the principal part of a transmission according to the prior art

以下に本発明による摩擦式変速装置、及び、前記摩擦式変速装置が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置の実施の形態を説明する。 Embodiments of a friction transmission according to the present invention and a joint device that incorporates the friction transmission and rotates a pair of link members around a predetermined axis will be described below.

図１に示すように、摩擦式変速装置１は、共通の軸心ＣＬ周りに配置された第１環状部１０、第２環状部２０、波動発生部３０と、第１環状部１０と第２環状部２０の接触部位の押圧力を調整する調圧機構４０を備えている。 As shown in FIG. 1, the friction transmission 1 includes a first annular portion 10, a second annular portion 20, a wave generating portion 30, a first annular portion 10, and a second annular portion disposed around a common axis CL. A pressure adjusting mechanism 40 that adjusts the pressing force of the contact portion of the annular portion 20 is provided.

図２及び図５に示すように、第１環状部１０は、軸心ＣＬに直交する面で二分割されて構成された保形力を有する環状部材１１（１１ａ，１１ｂ）で構成され、環状部材１１（１１ａ，１１ｂ）のそれぞれの内周部１２（１２ａ，１２ｂ）には、対向側から幅方向端部に沿って高さが低くなるように、例えば、軸心ＣＬとなす角度が夫々θである傾斜面１３（１３ａ，１３ｂ）が形成されている。環状部材１１ｂの周面には、適当な間隔で後述する調圧機構４０を構成する締め付けボルト４１を螺合するための螺子孔１４が複数形成され、環状部材１１ａの周面には、螺子孔１４と対応する位置に締め付けボルト４１を挿通する開口１５が形成されている。 As shown in FIGS. 2 and 5, the first annular portion 10 is composed of an annular member 11 (11 a, 11 b) having a shape retaining force that is divided into two parts by a plane orthogonal to the axis CL. For example, each inner peripheral portion 12 (12a, 12b) of the member 11 (11a, 11b) has an angle formed with the axis CL so that the height decreases from the opposite side along the end in the width direction. An inclined surface 13 (13a, 13b) that is θ is formed. A plurality of screw holes 14 are formed on the circumferential surface of the annular member 11b for screwing fastening bolts 41 constituting a pressure adjusting mechanism 40, which will be described later, at appropriate intervals, and screw holes 14 are formed on the circumferential surface of the annular member 11a. An opening 15 through which the fastening bolt 41 is inserted is formed at a position corresponding to 14.

図３（ａ），（ｂ），（ｃ）及び図５に示すように、第２環状部２０は、第１環状部１０の内周部１２（１２ａ，１２ｂ）の周長より短い周長の外周部２１を一端部に備えた円筒状部材で構成され、外周部２１に、幅方向中央部から両端部にかけて高さが低くなり、軸心ＣＬ方向の断面が山形を呈するように形成され、例えば、軸心ＣＬとなす角度が夫々θである傾斜面２２（２２ａ，２２ｂ）が形成されている。第２環状部２０の他端部には、ボス部２３が一体形成されている。なお、ボス部２３には、ボルトを螺合するための螺子孔２４が複数形成され、他の部材を接続可能に構成されている。 As shown in FIGS. 3A, 3 </ b> B, 3 </ b> C, and 5, the second annular portion 20 has a shorter circumference than the inner circumference 12 (12 a, 12 b) of the first annular portion 10. The outer peripheral portion 21 is formed of a cylindrical member provided at one end portion, and is formed on the outer peripheral portion 21 such that the height decreases from the central portion in the width direction to both end portions, and the cross section in the axial center CL direction exhibits a mountain shape. For example, inclined surfaces 22 (22a, 22b) having an angle θ with the axis CL are formed. A boss portion 23 is integrally formed at the other end portion of the second annular portion 20. The boss portion 23 is formed with a plurality of screw holes 24 for screwing bolts, so that other members can be connected.

ここで、第１環状部１０の内周部１２の周長を、内周部１２に形成された傾斜面１３の一番高さが高い位置の周長とすると、第２環状部２０の外周部２１の周長とは、外周部２１に形成された傾斜面２２であって、後述する波動発生部３０によって撓まされ、傾斜面１３の一番高さが高い位置と接する箇所を通る周長をいう。 Here, if the circumferential length of the inner circumferential portion 12 of the first annular portion 10 is the circumferential length of the position where the highest height of the inclined surface 13 formed in the inner circumferential portion 12 is the outer circumference of the second annular portion 20 The circumferential length of the portion 21 is an inclined surface 22 formed on the outer peripheral portion 21, which is bent by a wave generation unit 30 described later and passes through a place where the inclined surface 13 is in contact with the highest height position. Say long.

第１環状部１０の内周部１２の周長は、内周部１２に形成された傾斜面１３の一番高さが高い位置の周長でなくとも、傾斜面１３の一番高さが低い位置の周長であってもよい。つまり、軸心ＣＬに直行する仮想断面上の第１環状部１０の内周部１２と、第２環状部２０の外周部２１の周長を比較したときに、第１環状部１０の内周部１２の周長より、第２環状部２０の外周部２１の周長が短ければよく、次式で示すように周長の差によって変速比が決定される。 Even if the circumferential length of the inner peripheral portion 12 of the first annular portion 10 is not the circumferential length at the position where the highest height of the inclined surface 13 formed on the inner peripheral portion 12 is, the highest height of the inclined surface 13 is The circumference of a low position may be sufficient. That is, when the circumference of the inner peripheral portion 12 of the first annular portion 10 on the virtual cross section orthogonal to the axis CL and the outer peripheral portion 21 of the second annular portion 20 are compared, the inner periphery of the first annular portion 10 is compared. As long as the circumference of the outer peripheral part 21 of the second annular part 20 is shorter than the circumference of the part 12, the gear ratio is determined by the difference in circumference as shown in the following equation.

Ｒ＝Ｌ１／（Ｌ１−Ｌ２）
Ｒ：変速比
Ｌ１：第１環状部の内周部の周長
Ｌ２：第２環状部の外周部の周長 R = L1 / (L1-L2)
R: Transmission ratio L1: Peripheral length of the inner peripheral portion of the first annular portion L2: Perimeter length of the outer peripheral portion of the second annular portion

図４に示すように、波動発生部３０は、第２環状部２０の内周部２５に内接するベアリング機構３２と、ベアリング機構３２に内接する楕円状のカム部３３と、カム部３３と一体に形成されカム部３３を軸心周りに回転させる軸部３４とを備えた楕円体３１で構成され、楕円体３１が第２環状部２０に内接して楕円状に撓ませ、撓ませた第２環状部２０の外周部２１の長径となる箇所を第１環状部１０の内周部に部分的に当接させて押圧力を発生させるとともに、当該押圧位置を円周方向に移動させることにより、第１環状部１０と第２環状部２０に相対的な回転を発生させる。 As shown in FIG. 4, the wave generating unit 30 is integrated with the bearing mechanism 32 inscribed in the inner peripheral portion 25 of the second annular portion 20, the elliptical cam portion 33 inscribed in the bearing mechanism 32, and the cam portion 33. And an ellipsoid 31 having a shaft portion 34 that rotates the cam portion 33 around the axis thereof. The ellipsoid 31 is inscribed in the second annular portion 20 and is bent into an elliptic shape. By causing a portion of the outer circumferential portion 21 of the two annular portions 20 to be in contact with the inner circumferential portion of the first annular portion 10 to generate a pressing force and moving the pressing position in the circumferential direction. The first annular portion 10 and the second annular portion 20 are caused to rotate relative to each other.

ベアリング機構３２は、可撓性の外輪部３５及び内輪部３６と、外輪部３５及び内輪部３６に夫々形成された溝部３５ａ，３６ａに沿って回転自在に介装された複数のボール３７と、複数のボール３７を適当な間隔で保持する図示しない保持部を備えて構成されている。 The bearing mechanism 32 includes a flexible outer ring portion 35 and an inner ring portion 36, and a plurality of balls 37 rotatably provided along grooves 35a and 36a formed in the outer ring portion 35 and the inner ring portion 36, respectively. A holding portion (not shown) that holds the plurality of balls 37 at appropriate intervals is provided.

ベアリング機構３２は、カム部３３に沿って楕円状となり、第２環状部２０に内接させたときに、第２環状部２０の外周部２１は長径となる箇所で第１環状部の内周部１２に接することとなる。 The bearing mechanism 32 has an elliptical shape along the cam portion 33, and when the bearing mechanism 32 is inscribed in the second annular portion 20, the outer peripheral portion 21 of the second annular portion 20 has a longer diameter at the inner periphery of the first annular portion. It will contact the part 12.

このように、ベアリング機構３２によって、第２環状部２０の内周部とカム部３３が直接摺動しないように構成できるので、騒音や磨耗による破損の虞を低減でき、スムーズな動力の伝達が可能となる。 In this way, the bearing mechanism 32 can be configured so that the inner peripheral portion of the second annular portion 20 and the cam portion 33 do not slide directly, so that the risk of damage due to noise and wear can be reduced, and smooth transmission of power can be achieved. It becomes possible.

なお、ベアリング機構３２は上述のように複数のボール３７を備えて構成される場合に限らず、複数の円筒状のコロを備える構成であってもよい。 The bearing mechanism 32 is not limited to the configuration including the plurality of balls 37 as described above, and may be configured to include a plurality of cylindrical rollers.

また、ベアリング機構３２を用いずに波動発生部３０の楕円体３１を構成する場合は、カム部３３の外周部が第２環状部２０の内周部に内接して摺動することになるので、騒音や磨耗による破損の虞を低減し、スムーズな動力の伝達ができるように潤滑油を塗布することが好ましい。 Further, when the ellipsoid 31 of the wave generating unit 30 is configured without using the bearing mechanism 32, the outer peripheral portion of the cam portion 33 slides in contact with the inner peripheral portion of the second annular portion 20. It is preferable to apply lubricating oil so as to reduce the risk of damage due to noise and wear and to enable smooth power transmission.

さらに、波動発生部３０は、楕円体で構成する必要はなく、頂点が滑らかな三角形状等の多角形状であってもよい。 Furthermore, the wave generation unit 30 does not need to be configured by an ellipsoid, and may be a polygonal shape such as a triangular shape with smooth vertices.

図５に示すように、調圧機構４０は、第２環状部２０の外周部２１に形成された傾斜面２２（２２ａ，２２ｂ）と、第１環状部１０のそれぞれの内周部１２（１２ａ，１２ｂ）に形成された傾斜面１３（１３ａ，１３ｂ）と、二分割された環状部材１１（１１ａ，１１ｂ）間の軸心ＣＬ方向距離を近接するように調整する複数の締め付けボルト４１を備えて構成され、両傾斜面１３，２２の接触位置を軸心ＣＬ方向に調整することにより、第１環状部１０と第２環状部２０の接触部位の押圧力を調整するように構成されている。 As shown in FIG. 5, the pressure adjusting mechanism 40 includes inclined surfaces 22 (22 a, 22 b) formed on the outer peripheral portion 21 of the second annular portion 20, and inner peripheral portions 12 (12 a) of the first annular portion 10. , 12b) and a plurality of tightening bolts 41 for adjusting the distance in the axial center CL direction between the inclined surface 13 (13a, 13b) formed on the two-divided annular member 11 (11a, 11b). It is comprised so that the pressing force of the contact part of the 1st annular part 10 and the 2nd annular part 20 may be adjusted by adjusting the contact position of both the inclined surfaces 13 and 22 to the axial center CL direction. .

第１環状部１０の内周部１２（１２ａ，１２ｂ）と第２環状部２０の外周部２１との接触面に、調圧機構４０による押圧力が大きくなると粘性係数が大きくなる性状の油が塗布されているので、前記接触面の直接の摺動によって滑りが発生する限界のトルクより大きなトルクの伝達が可能となるとともに、前記接触面の磨耗を防止できる。 On the contact surface between the inner peripheral portion 12 (12a, 12b) of the first annular portion 10 and the outer peripheral portion 21 of the second annular portion 20, oil having a property that the viscosity coefficient increases as the pressing force by the pressure adjusting mechanism 40 increases. Since it is applied, it is possible to transmit a torque larger than the limit torque at which slip occurs due to direct sliding of the contact surface, and it is possible to prevent wear of the contact surface.

二分割された第１環状部１０の環状部材１１（１１ａ，１１ｂ）間に形成される空間に、前記油を貯留する油貯留部１６が設けられている。第１環状部１０の環状部材１１の側面に油貯留部１６に連通する注油口（図示せず）が形成され、前記注油口から油貯留部１６に前記油を注油するように構成されている。 An oil storage portion 16 for storing the oil is provided in a space formed between the annular members 11 (11a, 11b) of the first annular portion 10 divided into two. An oil inlet (not shown) communicating with the oil reservoir 16 is formed on the side surface of the annular member 11 of the first annular portion 10, and is configured to inject the oil from the oil inlet into the oil reservoir 16. .

油貯留部１６に貯留した前記油が、第１環状部１０の内周部１２（１２ａ，１２ｂ）と第２環状部２０の外周部２１との接触部に供給される。 The oil stored in the oil storage part 16 is supplied to the contact part between the inner peripheral part 12 (12a, 12b) of the first annular part 10 and the outer peripheral part 21 of the second annular part 20.

調圧機構４０による押圧力が大きくなると粘性係数が大きくなる性状の油とは、例えばナフテン系やパラフィン系の鉱油や、ポリオレフィン、シクロアルカン類、ヒドリンダン、アダマンダン、ケタール等の合成油等のトラクション係数が高い油が好ましく用いられる。 The oil whose properties increase in viscosity coefficient when the pressing force by the pressure adjusting mechanism 40 is increased is, for example, a traction coefficient such as a naphthenic or paraffinic mineral oil or a synthetic oil such as polyolefin, cycloalkane, hydrindane, adamandane, or ketal. High oil is preferably used.

締め付けボルト４１を締め付けると、環状部材１１（１１ａ，１１ｂ）間の軸心ＣＬ方向距離を近接するような方向に力Ｆがかかる。すると、第１環状部１０の内周部及び、波動発生部３０の楕円体３１の外周部の間に挟まれる第２環状部２０の外周部２１に加えられる押圧力ｆが増加する。押圧力ｆが増加すると、傾斜面１３（１３ａ，１３ｂ）と傾斜面２２（２２ａ，２２ｂ）の接触部に塗布された０．１〜数μｍのうすい油膜は高圧にさらされ、いわゆる弾性流体潤滑膜となり粘度が上昇し剪断抵抗が増加する。この油膜が、傾斜面１３（１３ａ，１３ｂ）と傾斜面２２（２２ａ，２２ｂ）の接触部の周方向の摩擦力、つまり、第１環状部１０と第２環状部を、相対的に回転させる法線力を接触面に与え、少量の滑りを伴いながら、いわゆるトラクションドライブにより動力伝達がされる。 When the tightening bolt 41 is tightened, a force F is applied in a direction in which the axial center CL direction distance between the annular members 11 (11a, 11b) is close. Then, the pressing force f applied to the outer peripheral portion 21 of the second annular portion 20 sandwiched between the inner peripheral portion of the first annular portion 10 and the outer peripheral portion of the ellipsoid 31 of the wave generating portion 30 increases. When the pressing force f increases, the thin oil film of 0.1 to several μm applied to the contact portion between the inclined surfaces 13 (13a, 13b) and the inclined surfaces 22 (22a, 22b) is exposed to high pressure, so-called elastohydrodynamic lubrication. It becomes a film, the viscosity increases, and the shear resistance increases. This oil film relatively rotates the circumferential frictional force of the contact portion between the inclined surface 13 (13a, 13b) and the inclined surface 22 (22a, 22b), that is, the first annular portion 10 and the second annular portion. A normal force is applied to the contact surface, and power is transmitted by a so-called traction drive with a small amount of slip.

上述のように構成された摩擦式変速装置１の波動発生部３０の軸部３４に回転入力を与えると、ベアリング機構３１の外輪部３５が、第２環状部２０の内周部２５に内接して、第１環状部１０の内周部１２に第２環状部２０の外周部２１を部分的に押圧接触させ、当該接触部位を第１環状部１０の内周部１２の周方向に沿って移動させることにより、第１環状部１０と第２環状部１０とを摩擦力により相対回転させることとなる。このとき、第２環状部２０を固定すると、第１環状部１０から減速された回転及び増大されたトルクが出力されることとなる。 When a rotational input is given to the shaft portion 34 of the wave generating portion 30 of the friction transmission 1 configured as described above, the outer ring portion 35 of the bearing mechanism 31 is inscribed in the inner peripheral portion 25 of the second annular portion 20. Then, the outer peripheral portion 21 of the second annular portion 20 is partially pressed and contacted with the inner peripheral portion 12 of the first annular portion 10, and the contact portion is along the circumferential direction of the inner peripheral portion 12 of the first annular portion 10. By moving, the first annular portion 10 and the second annular portion 10 are relatively rotated by frictional force. At this time, when the second annular portion 20 is fixed, the reduced rotation and increased torque are output from the first annular portion 10.

逆に、第１環状部１０を固定すると、第２環状部２０のボス部２３から減速された回転及び増大されたトルクが出力されることとなる。 Conversely, when the first annular portion 10 is fixed, the decelerated rotation and increased torque are output from the boss portion 23 of the second annular portion 20.

つまり、図６に示すように、波動発生部３０に動力が入力され、図中破線矢印で示される方向に回転すると、それに伴ない第２環状部２０が弾性変形し、第２環状部２０の外周部２１に形成された傾斜面２２と、第１環状部１０の内周部１２に形成された傾斜面１３との接触位置が順次移動しながら、第１環状部１０が第２環状部２０に対して図中実線矢印で示される方向に相対的に回転する。 That is, as shown in FIG. 6, when power is input to the wave generator 30 and rotates in the direction indicated by the broken line arrow in the figure, the second annular portion 20 is elastically deformed accordingly, and the second annular portion 20 While the contact position between the inclined surface 22 formed on the outer peripheral portion 21 and the inclined surface 13 formed on the inner peripheral portion 12 of the first annular portion 10 sequentially moves, the first annular portion 10 becomes the second annular portion 20. Rotate relative to the direction indicated by the solid arrow in the figure.

また、第１環状部１０を固定し、第２環状部２０のボス部に回転入力を与えると、波動発生部３０の軸部３４から増速された回転と減少されたトルクが出力され、第２環状部２０を固定し、第１環状部１０に回転入力を与えると、波動発生部３０の軸部３４から増速された回転と減少されたトルクが出力されることとなる。 Further, when the first annular portion 10 is fixed and a rotational input is given to the boss portion of the second annular portion 20, the increased rotation and reduced torque are output from the shaft portion 34 of the wave generating portion 30, and the first When the two annular portions 20 are fixed and a rotational input is given to the first annular portion 10, the increased rotation and the reduced torque are output from the shaft portion 34 of the wave generating portion 30.

いずれにしても、第１環状部１０と第２環状部は、接触部の摩擦によって動力を伝達するため、歯車による動力の伝達に比べて、騒音、振動が少なく、高速回転が容易となる。また、歯車のバックラッシュや機械的遊びによるガタの発生がない。 In any case, the first annular portion 10 and the second annular portion transmit power by friction of the contact portion, so that noise and vibration are reduced and high-speed rotation is facilitated compared to transmission of power by a gear. Also, there is no backlash due to gear backlash or mechanical play.

さらに、調圧機構の締め付けの程度によって、所定の回転トルクは伝達し、それより大きい回転トルクが入力された場合は、接触面に滑りが発生し、動力を伝達しないトルクリミッタとして利用できる。 Furthermore, a predetermined rotational torque is transmitted depending on the degree of tightening of the pressure adjusting mechanism, and when a rotational torque larger than that is input, the contact surface slips and can be used as a torque limiter that does not transmit power.

なお、調圧機構は上述のように構成する場合に限らず、図７に示すように、調圧機構６０は、第２環状部６１の外周部に、幅方向中央部から両端部にかけて高さが高くなり、軸心ＣＬ方向の断面が谷形を呈するように形成された傾斜面６２（６２ａ，６２ｂ）と、軸心ＣＬに直交する面で二分割された第１環状部６３（６３ａ，６３ｂ）のそれぞれの内周部に対向側から幅方向端部に沿って高さが高くなるように形成された傾斜面６４（６４ａ，６４ｂ）と、二分割された第１環状部６３（６３ａ，６３ｂ）間の軸心ＣＬ方向距離を離隔するように調整する複数の締め付けボルト６５を備えて構成してもよい。 Note that the pressure adjusting mechanism is not limited to the above-described configuration, and as shown in FIG. 7, the pressure adjusting mechanism 60 has a height from the central portion in the width direction to both end portions of the second annular portion 61. And the first annular portion 63 (63a, 63a, 62b divided into two by the inclined surface 62 (62a, 62b) formed so that the cross section in the direction of the axis CL has a valley shape and the plane orthogonal to the axis CL. 63b) and an inclined surface 64 (64a, 64b) formed so as to increase in height from the opposite side along the end in the width direction, and a first annular portion 63 (63a) divided in two. , 63b) may be provided with a plurality of tightening bolts 65 that adjust the distance in the axial center CL direction to be separated from each other.

二分割された第１環状部６３（６３ａ，６３ｂ）の間にさらバネ６６等の弾性体を介すことにより、二分割された第１環状部６３（６３ａ，６３ｂ）には軸心ＣＬ方向で離隔する方向に弾性力がかかり、当該弾性力を締め付けボルト６５によって調整することで、第２環状部６１と第１環状部６４の接触部に働く押圧力を調整することができる。 By inserting an elastic body such as a spring 66 between the two divided first annular portions 63 (63a, 63b), the two divided first annular portions 63 (63a, 63b) have an axial center CL direction. The elastic force is applied in the direction of separating at a distance, and the elastic force is adjusted by the tightening bolt 65, whereby the pressing force acting on the contact portion between the second annular portion 61 and the first annular portion 64 can be adjusted.

調圧機構６０は、さらバネ６６のような弾性体を備える構成に限らず、二分割された第１環状部６３（６３ａ，６３ｂ）間の軸心ＣＬ方向距離を離隔するように調整するように構成されていればよい。例えば、締め付けボルト６５に螺合するナットを二分割された第１環状部６３（６３ａ，６３ｂ）の間に介して、締め付けボルト６５を第１環状部６４ｂの螺子孔に螺合し、前記ナットを第１環状部６４ａ側への締め付けを調整することで、二分割された第１環状部６３（６３ａ，６３ｂ）を軸心ＣＬ方向で離隔する方向の力を調整することができる。 The pressure adjusting mechanism 60 is not limited to a configuration including an elastic body such as a spring spring 66, and adjusts the distance in the axial center CL direction between the two divided first annular portions 63 (63a, 63b). It suffices to be configured. For example, the tightening bolt 65 is screwed into the screw hole of the first annular portion 64b via the nut divided into two divided first annular portions 63 (63a, 63b), and the nut is engaged with the tightening bolt 65. By adjusting the tightening to the first annular portion 64a side, it is possible to adjust the force in the direction separating the two divided first annular portions 63 (63a, 63b) in the axial center CL direction.

また、図８に示すように、調圧機構７０は、第１環状部７１の内周部に幅方向に沿って高さが低くなる傾斜面７２が形成されるとともに、第２環状部７３の外周部に幅方向に沿って高さが高くなる傾斜面７４が形成され、両傾斜面の接触位置を軸心ＣＬ方向に調整することにより、第１環状部７１と第２環状部７３の接触部位の押圧力を調整する締め付けボルト７５を備えて構成してもよい。 As shown in FIG. 8, the pressure adjusting mechanism 70 is formed with an inclined surface 72 whose height decreases along the width direction on the inner peripheral portion of the first annular portion 71, and the second annular portion 73. An inclined surface 74 whose height increases along the width direction is formed on the outer peripheral portion, and the contact position between the both inclined surfaces is adjusted in the direction of the axis CL so that the first annular portion 71 and the second annular portion 73 are in contact with each other. A tightening bolt 75 that adjusts the pressing force of the part may be provided.

この場合、第２環状部７３の端部と当接し締め付けボルト７５と螺合する螺子孔７６が形成された押さえ部材７７を備え、締め付けボルト７５によって第１環状部７１と押さえ部材７７の軸心ＣＬ方向距離を近接するように調整することで、第１環状部７１と第２環状部７１の接触部位の押圧力を調整する。 In this case, a pressing member 77 having a screw hole 76 that is in contact with the end portion of the second annular portion 73 and screwed into the fastening bolt 75 is provided, and the axial center of the first annular portion 71 and the holding member 77 is provided by the fastening bolt 75. By adjusting the distance in the CL direction so as to be close, the pressing force at the contact portion between the first annular portion 71 and the second annular portion 71 is adjusted.

上述した実施形態では、第１環状部、第２環状部、波動発生部等の摩擦式変速装置を構成する各部の材質について明示しなかったが、第１環状部は、第２環状部に比べて可撓性の少ない物質で構成し、第２環状部は、波動発生部によって撓まされる程度の可撓性のある物質で構成すればよい。本発明による摩擦式変速装置の用途、サイズ等に応じて、ステンレスのような金属材料や高分子ポリエチレンのような樹脂材料等から適宜選択すればよい。さらに、摩擦式変速装置の用途により、例えば、手術に用いる医療器具のように、前記油を用いることが好ましくない場合は、必ずしも前記油を塗布する必要はない。 In the above-described embodiment, the material of each part constituting the friction transmission such as the first annular part, the second annular part, and the wave generating part was not clearly shown. However, the first annular part is compared with the second annular part. The second annular portion may be made of a material that is flexible enough to be bent by the wave generating portion. What is necessary is just to select suitably from metal materials, such as stainless steel, resin materials, such as high molecular polyethylene, etc. according to the use, size, etc. of the friction transmission by this invention. Furthermore, depending on the use of the friction transmission, for example, when it is not preferable to use the oil as in a medical instrument used for surgery, it is not always necessary to apply the oil.

次に、上述の摩擦式変速装置１が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置の実施の形態について説明する。 Next, an embodiment of a joint device that incorporates the above-described friction transmission 1 and rotates a pair of link members around a predetermined axis will be described.

図９に示すように、関節装置５０は、一対のリンク部材５１，５２と、第２環状部２０がボルト５４によってリンク部材５１に設置され一対のリンク部材５１，５２を軸心ＣＬ周りに回転する摩擦式変速装置１と、一方のリンク部材５１に固定された軸心ＣＬと直交する方向に回転軸を有するエンコーダ内蔵のモータＭと、伝動機構Ｔを備え、リンク部材５１の一端に固定されたモータＭの出力が伝動機構Ｔを介してリンク部材５１の他端に軸支された摩擦式変速装置１の波動発生部３０に伝達され、摩擦式変速装置１が軸心ＣＬ周りに回転することで、摩擦式変速装置１の第１環状部１０に直接又は間接的に接続されたリンク部材５２がリンク部材５１に対して相対的に回転するように構成されている。 As shown in FIG. 9, in the joint device 50, the pair of link members 51 and 52 and the second annular portion 20 are installed on the link member 51 by bolts 54, and the pair of link members 51 and 52 rotate around the axis CL. And a motor M with a built-in encoder having a rotation shaft in a direction perpendicular to the axis CL fixed to one link member 51, and a transmission mechanism T, and fixed to one end of the link member 51. The output of the motor M is transmitted to the wave generator 30 of the friction transmission 1 that is pivotally supported on the other end of the link member 51 via the transmission mechanism T, and the friction transmission 1 rotates about the axis CL. Thus, the link member 52 connected directly or indirectly to the first annular portion 10 of the friction transmission 1 is configured to rotate relative to the link member 51.

伝動機構Ｔは、小径のベベルギアＧ１と、ベベルギアＧ１と噛合する大径のベベルギアＧ２と、平歯車Ｇ３と、平歯車Ｇ３と噛合する平歯車Ｇ４で構成されている。ベベルギアＧ１はモータＭの出力軸に嵌入連結され、ベベルギアＧ２は平歯車Ｇ３の回転軸に止めねじ５３で嵌入固定され、平歯車Ｇ４の回転軸には波動発生部３０が連結されている。 The transmission mechanism T includes a small-diameter bevel gear G1, a large-diameter bevel gear G2 that meshes with the bevel gear G1, a spur gear G3, and a spur gear G4 that meshes with the spur gear G3. The bevel gear G1 is fitted and connected to the output shaft of the motor M, the bevel gear G2 is fitted and fixed to the rotating shaft of the spur gear G3 with a set screw 53, and the wave generating unit 30 is connected to the rotating shaft of the spur gear G4.

なお、伝達機構Ｔを構成するベベルギアＧ１，Ｇ２、平歯車Ｇ３，Ｇ４を夫々いわゆるトラクションドライブによるによる動力伝達機構で構成してもよい。 Note that the bevel gears G1 and G2 and the spur gears G3 and G4 constituting the transmission mechanism T may be configured by a power transmission mechanism using a so-called traction drive.

上述の構成により、関節装置５０は、モータＭを一方向に回転駆動することにより、その出力が伝動機構Ｔを介して摩擦式変速装置１の波動発生部３０を駆動し、第２環状部２０リンク部材５１へ固定されているため、第１環状部１０が軸心ＣＬ周りに回転し、リンク部材５２はリンク部材５１に対して相対的に回転（以下、「正回転」と記す。）することとなる。モータＭを逆方向に回転駆動することにより、リンク部材５２は、正回転とは逆方向に回転することとなる。 With the above-described configuration, the joint device 50 rotates the motor M in one direction, so that the output drives the wave generating unit 30 of the friction transmission 1 via the transmission mechanism T, and the second annular unit 20 Since it is fixed to the link member 51, the first annular portion 10 rotates around the axis CL, and the link member 52 rotates relative to the link member 51 (hereinafter referred to as “forward rotation”). It will be. By rotating the motor M in the reverse direction, the link member 52 rotates in the direction opposite to the normal rotation.

ここで、モータＭにより摩擦式変速装置１を介してリンク部材５２に付与される回転トルクと逆方向に、第１環状部１０と第２環状部２０の接触部に塗布された油による剪断抵抗より大きな外力が付与されると、第１環状部１０と第２環状部２０の接触部には滑りが発生し、外力に伴って第１環状部１０が回転トルクと逆方向へ回転するので、前記外力が関節装置５０を破損する虞が回避されるのである。 Here, the shear resistance due to the oil applied to the contact portion of the first annular portion 10 and the second annular portion 20 in the direction opposite to the rotational torque applied to the link member 52 via the friction transmission 1 by the motor M. When a larger external force is applied, slip occurs at the contact portion between the first annular portion 10 and the second annular portion 20, and the first annular portion 10 rotates in the direction opposite to the rotational torque with the external force. The possibility that the external force damages the joint device 50 is avoided.

さらに、例えば、複数の関節装置５０のリンク部材を順に連結してロボットハンドのフィンガーユニットやアームユニットを構成することができる。 Furthermore, for example, the link members of the plurality of joint devices 50 can be sequentially connected to form a finger unit or an arm unit of the robot hand.

上述したように、関節装置５０の駆動機構として、アクチュエータからの動力を摩擦式変速装置１を介して関節軸へ伝達して、一対のリンク部材を相対的に回転駆動する方式を採用すると、摩擦式変速装置１によって増力することができるため、小さな出力のアクチュエータでもリンク部材を駆動するために必要な大きな動力が得られるという利点を持つ。 As described above, when the driving mechanism of the joint device 50 employs a method in which the power from the actuator is transmitted to the joint shaft via the friction transmission 1 and the pair of link members are driven to rotate relative to each other, friction is achieved. Since the power can be increased by the transmission 1, there is an advantage that a large power necessary for driving the link member can be obtained even with an actuator having a small output.

上述の実施形態で説明した摩擦式変速装置、及び、前記摩擦式変速装置が組み込まれ、一対のリンク部材を所定軸心周りに回転する関節装置の各具体的構造は一実施形態に過ぎず、本発明の範囲がこれによって制限されるものではなく、同様の作用効果を奏する範囲において適宜構成を変更することも可能である。 The specific structures of the friction transmission described in the above-described embodiment and the joint device that incorporates the friction transmission and rotates a pair of link members around a predetermined axis are only one embodiment. The scope of the present invention is not limited by this, and the configuration can be changed as appropriate within the range where the same effects can be obtained.

１：摩擦式変速装置
１０：第１環状部
１１（１１ａ，１１ｂ）：環状部材
１２（１２ａ，１２ｂ）：内周部
１３（１３ａ，１３ｂ）：傾斜面
１４：螺子孔
１５：開口
１６：油貯留部
２０：第２環状部
２１：外周部
２２（２２ａ，２２ｂ）：傾斜面
２３：ボス部
２４：螺子孔
２５：内周部
３０：波動発生部
３１：楕円体
３２：ベアリング機構
３３：カム部
３４：軸部
３５：外輪部
３６：内輪部
３５ａ，３６ａ：溝部
３７：ボール
４０：調圧機構
４１：締め付けボルト
５０：関節装置
５１，５２：リンク部材
５３：止めねじ
５４：ボルト
６０：調圧機構
６１：第２環状部
６２（６２ａ，６２ｂ）：傾斜面
６３（６３ａ，６３ｂ）：第１環状部
６４（６４ａ，６４ｂ）：傾斜面
６５：締め付けボルト
６６：さらバネ
７０：調圧機構
７１：第１環状部
７２：傾斜面
７３：第２環状部
７４：傾斜面
７５：締め付けボルト
７６：螺子孔
７７：押さえ部材
ＣＬ：軸心
Ｍ：モータ
Ｔ：伝動機構
1: Friction transmission 10: First annular portion 11 (11a, 11b): annular member 12 (12a, 12b): inner peripheral portion 13 (13a, 13b): inclined surface 14: screw hole 15: opening 16: oil Reservoir 20: second annular portion 21: outer peripheral portion 22 (22a, 22b): inclined surface 23: boss portion 24: screw hole 25: inner peripheral portion 30: wave generating portion 31: ellipsoid 32: bearing mechanism 33: cam Part 34: Shaft part 35: Outer ring part 36: Inner ring part 35a, 36a: Groove part 37: Ball 40: Pressure adjusting mechanism 41: Tightening bolt 50: Joint device 51, 52: Link member 53: Set screw 54: Bolt 60: Adjustment Pressure mechanism 61: second annular portion 62 (62a, 62b): inclined surface 63 (63a, 63b): first annular portion 64 (64a, 64b): inclined surface 65: tightening bolt 66: spring spring 70: pressure adjusting mechanism 71: 1st annular part 2: inclined surface 73: second annular portion 74: inclined surface 75: fastening bolt 76: threaded hole 77: pressing member CL: axis M: Motor T: transmission mechanism

Claims

A first annular portion having a shape retaining force;
A flexible second annular portion having an outer peripheral portion having a peripheral length shorter than the peripheral length of the inner peripheral portion of the first annular portion;
Inscribed in the second annular portion, the outer peripheral portion of the second annular portion is partially pressed into contact with the inner peripheral portion of the first annular portion, and the contact portion is along the circumferential direction of the first annular portion. By moving the first annular part and the second annular part relative to each other by a frictional force,
An inclined surface whose height decreases along the width direction is formed on the inner peripheral portion of the first annular portion, and an inclined surface whose height increases along the width direction on the outer peripheral portion of the second annular portion. A pressure adjusting mechanism that is formed and adjusts the pressing force of the contact portion of the first annular portion and the second annular portion by adjusting the contact position of both inclined surfaces in the axial direction;
With
The pressure regulating mechanism is
On the outer periphery of the second annular portion, an inclined surface formed such that the height decreases from the widthwise center portion to both end portions, and the cross section in the axial direction exhibits a mountain shape;
The first annular portion is divided into two at a plane orthogonal to the axis, and an inclined surface is formed on each inner peripheral portion so that the height decreases from the opposite side along the widthwise end portion;
A plurality of fastening bolts for adjusting the axial distance between the first annular parts divided in two so as to be close to each other;
The contact surface between the inner peripheral portion of the first annular portion and the outer peripheral portion of the second annular portion is coated with oil having a property that increases the viscosity coefficient when the pressing force by the pressure adjusting mechanism increases. A friction transmission in which an oil storage part for storing the oil is provided in a space formed between the first annular parts .

A first annular portion having a shape retaining force;
A flexible second annular portion having an outer peripheral portion having a peripheral length shorter than the peripheral length of the inner peripheral portion of the first annular portion;
Inscribed in the second annular portion, the outer peripheral portion of the second annular portion is partially pressed into contact with the inner peripheral portion of the first annular portion, and the contact portion is along the circumferential direction of the first annular portion. By moving the first annular part and the second annular part relative to each other by a frictional force,
An inclined surface whose height decreases along the width direction is formed on the inner peripheral portion of the first annular portion, and an inclined surface whose height increases along the width direction on the outer peripheral portion of the second annular portion. A pressure adjusting mechanism that is formed and adjusts the pressing force of the contact portion of the first annular portion and the second annular portion by adjusting the contact position of both inclined surfaces in the axial direction;
With
The pressure regulating mechanism is
On the outer periphery of the second annular portion, an inclined surface formed such that the height increases from the widthwise central portion to both ends, and the cross section in the axial direction exhibits a valley shape;
The first annular portion is divided into two parts by a plane orthogonal to the axis, and an inclined surface is formed on each inner peripheral portion so as to increase in height from the opposite side along the widthwise end portion;
A plurality of tightening bolts for adjusting the axial distance between the first annular portions divided into two to be separated ;
The contact surface between the inner peripheral portion of the first annular portion and the outer peripheral portion of the second annular portion is coated with oil having a property that increases the viscosity coefficient when the pressing force by the pressure adjusting mechanism increases. A friction transmission in which an oil storage part for storing the oil is provided in a space formed between the first annular parts .

When the wave generating portion is inscribed in the second annular portion, the outer peripheral portion of the second annular portion is configured by an ellipsoid that is in contact with the inner peripheral portion of the first annular portion at a long diameter position. The friction transmission according to claim 1 or 2 .

4. The friction transmission according to claim 3 , wherein the ellipsoid includes a bearing mechanism inscribed in an inner circumferential portion of the second annular portion, and an elliptical cam portion inscribed in the bearing mechanism.

A joint device that incorporates the friction transmission according to any one of claims 1 to 4 and rotates a pair of link members around a predetermined axis,
The wave generating portion is installed on the one link member so as to rotate via a transmission mechanism assembled to the one link member, the second annular portion is fixed to the one link member, and the first A joint device in which an annular portion is fixed directly or indirectly to the other link member.