JPH0433486Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to the structure of the output section of a harmonic reducer.

BACKGROUND ART As a harmonic reduction gear represented by Harmonic Drive (registered trademark of Harmonic Drive Systems Co., Ltd.), a structure shown in FIG. 3 is widely known. As is well known, this harmonic reducer includes a cylindrical flexspline 1 having outer spline teeth 1a formed at one end, an annular circular spline 2 having inner spline teeth 2a formed at one end, and one end of the flexspline 1. It is composed of a wave generator 3 arranged on the inner periphery.

The wave generator 3 includes an oval cam 4 connected to a rotating shaft 7 of a motor 6 as an input shaft via a hub 14, and a ball bearing 5 disposed on the outer periphery of the cam 4.
The outer ring of is inscribed in the flexspline 1.
Then, the motor 6 and the circular spline 2
is fixed to a casing 8, which is a fixed member, by bolts 9 and dowel pins 10, while flexspline 1 is connected to a driven member (a mating member) 13 by bolts 11 and dowel pins 12.

Therefore, when the wave generator 3 rotates, the flex spline 1 is elastically deformed, and the meshing position with the circular spline 2 sequentially moves. Since the flexspline 1 has two fewer teeth than the circular spline 2, when the wave generator 3 rotates once, the flexspline 1 rotates in the opposite direction to the rotational direction of the wave generator 2 by the difference in the number of teeth. rotates, which is transmitted to the driven member 13 as a deceleration output.

Problems to be solved by the invention In the above structure, the flexspline 1
has a so-called bottomed cup shape, and the end of the flexspline 1, which is the output part, has a relatively small diameter flange 15 structure, so the thickness, number, arrangement, etc. of the bolts 11 and knock pins 12, etc. is restricted, and when trying to transmit the reduced high output torque to the driven member 13, the rigidity,
The strength may not be sufficient and the bolt hole 16 or knock pin hole 17 may be damaged. Further, since the flange 15 has a small diameter, it is difficult to effectively utilize the inside of the flex spline.

Means for Solving the Problems The present invention makes it possible to transmit large torque by improving the shape of the flexspline that is the output part and the structure of its end.As shown in the examples, A thick-walled body integrally formed to protrude in the axial direction from the other end of a hollow cylindrical flexspline without a bottom, and a mating member fitted to this body with a predetermined fitting gap maintained. , a wedge ring interposed in the fitting gap, and a wedge ring tightened and fixed to the body,
It is composed of a pressing member that presses the wedge ring and presses the wedge ring against the body and the mating member.

Function The flexspline has a hollow cylindrical shape and is formed straight, so a large inner diameter can be secured.
Furthermore, since the body and the mating member are connected by the wedge action of the wedge ring, large torque can be transmitted.

Embodiment FIG. 1 is a diagram showing an embodiment of the present invention, and parts common to those in FIG. 3 are given the same reference numerals.

The inner diameter D of the cam 4 of the wave generator 3 is formed to be relatively large, and the input shaft 18 is connected to this cam 4. The flex spline 21 is formed into a hollow cylindrical shape without a bottom, and has an outer spline tooth 1a formed at one end that meshes with the circular spline 2, and a thick wall protruding in the axial direction at the other end. A cylindrical body portion 19 is integrally formed. The outer diameter Ho of the body portion 19 is set smaller than the maximum diameter H of the flexspline 21.

The body 19 has a driven member 20 as a mating member.
are fitted, and a fitting gap C is formed between them. A pair of wedge rings 22 and 23 having a wedge-shaped cross section are interposed in the fitting gap C, and the slopes of these wedge rings 22 and 23 are in contact with each other. Further, a ring-shaped holding member 24 is disposed on the end face of the body 19 so as to abut one of the wedge rings 23, and the holding member 24 is tightened and fixed to the body 19 by bolts 25. In other words, by pushing the wedge rings 22 and 23 with the pressing member 24, the wedge action of the wedge rings 22 and 23 causes the trunk 19 to
and the driven member 20 are firmly pressed together.

According to this embodiment, the output rotational torque of the flexspline 21 is transmitted from the body 19 to the wedge ring 2.
2 and 23 to the driven member 20, the bolt hole 1 can only be formed with a relatively thin wall due to the structure, as in the conventional structure shown in FIG.
6 and the knock pin hole 17 can be reliably prevented from being destroyed.

Further, by adjusting the tightening force of the bolt 25, even if an excessive external force is applied to the body 19, the wedge rings 22 and 23 can be caused to slip, thereby preventing damage to the device itself.

Furthermore, the inner diameter of the cam 4 and the body part 19 are enlarged compared to the conventional one, and the flex spline 21 is formed straight in a hollow cylindrical shape.
For example, wiring and piping attached to the equipment can be easily routed through the internal space.

FIG. 2 is a diagram showing a second embodiment of the present invention.
In contrast, in the second embodiment, a mating member 30 is connected to the inner periphery of the body portion 29.

That is, in this embodiment, the flexspline 2
1 is equipped with a motor 26, and the motor 26 is connected to the body 29 via wedge rings 22 and 23.
The rotating shaft 27 of the motor 26 is connected to the cam 4 of the wave generator 3 as an input shaft.
The motor 26 is fixed to the driven member 30.

In the case of this embodiment, since the motor 26 is installed inside the flexspline 21, the inside of the flexspline 21 can be effectively utilized, and the motor 26 is installed inside the flexspline 21.
The overall length of the speed reducer including the speed reducer 6 can be reduced to make it more compact.

Furthermore, if the driven member 30 is fixed in FIG. 2, the deceleration output can be taken out from the circular spline 2.

Effects of the invention According to the invention, the body of the flexspline and the mating member are connected through a wedge ring instead of the conventional direct bolt tightening structure. Damage to the product can be reliably prevented.

In addition, the inner diameter of the body has been significantly expanded compared to the previous model, and the hollow cylindrical shape has been formed straight, allowing the internal space of the flexspline to be used for wiring and wiring.
It can be effectively used as a mounting space for a group of piping or a power source.

[Brief explanation of the drawing]

FIG. 1 is a sectional view showing a first embodiment of the present invention;
FIG. 2 is a sectional view showing a second embodiment of the present invention, and FIG. 3 is a sectional view showing a conventional output section structure. 2... Circular spline, 3... Wave generator, 18... Input shaft, 19... Body,
20... Driven member as a mating member, 21...
Flex spline, 22, 23... Wedge ring, 24... Holding member, 25... Bolt, 2
6... Motor, 27... Rotating shaft as input shaft,
29... Body portion, 30... Driven member, C... Fitting gap.

Claims (1)

[Scope of utility model registration request] an annular circular spline formed with internal spline teeth; a cylindrical flexspline formed at one end with external spline teeth that mesh with the internal spline teeth; A harmonic reducer has a wave generator connected to the shaft as an element, and a thick-walled body integrally protrudes in the axial direction from the other end of a hollow cylindrical flexspline without a bottom; a mating member that is fitted to the body while maintaining a predetermined fitting gap; a wedge ring that is interposed in the fitting gap; and a wedge ring that is tightened and fixed to the body;
1. An output section structure for a harmonic speed reducer, comprising a pressing member that presses a wedge ring to press the wedge ring against a body and a mating member.