JPH0547589U - Phase adjustment unit - Google Patents

Abstract

(57) [Summary] [Purpose] To realize a phase adjustment unit with a new structure using a harmonic reduction mechanism. The hollow phase adjusting unit 10 includes first and second wave generators 11 and 12, first and second flexible internal gears 21 and 22 fitted inside the first and second wave generators, and inner sides thereof. The cylindrical first to third rigid external gears 31 mounted on the
To 33. The input shaft 17 and the output shaft 18 are connected to the first and third rigid external gears 31 and 33, respectively. The harmonic reduction mechanism incorporated in the unit 10 is always in operation, and in normal operation, the first and third rigid external gears 31, 33 rotate at a rotation ratio of 1: 1. At the time of phase adjustment, the second wave generator 12 is rotated by a required amount by the external rotation drive source connected to the outer teeth 12c of the second wave generator 12.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a phase adjustment unit using a gear type harmonic reducer.

[0002]

[Prior Art]

 As a phase adjusting mechanism using a gear type harmonic transmission, the applicant of the present invention has a structure shown in FIG. As shown in the figure, the phase adjusting mechanism 1 includes a wave generator 2 having an elliptic cylindrical shape with an inner circumference, a flexible internal gear 3 fitted inside the wave generator 2, and a two-dimensional structure provided inside the wave generator 2. It incorporates a gear-type harmonic reduction mechanism consisting of a pair of rigid external gears 4, 5. One rigid external gear 4 usually has two fewer teeth than the flexible internal gear 3, and the other rigid external gear 5 has the same number of teeth as the flexible internal gear 3. Rotating shafts 6 and 7 are coupled to these rigid external gears 4 and 5, respectively. Normally, the wave generator 2 is fastened by fastening bolts (not shown), so the harmonic reduction mechanism does not function. It therefore only functions as a coupling for both shafts 6, 7. When adjusting the phases of both shafts 6 and 7, loosen the tightening bolts, switch the harmonic reduction mechanism to a drivable state, and operate the wave generator with one rigid external gear fixed. Turn with. By this operation, both shafts 6 and 7 rotate relative to each other. Tighten the fastening bolts again at the target rotational position.

[0003]

[Problems to be solved by the device]

 An object of the present invention is to realize a phase adjusting unit having a new structure that can always keep the gear type harmonic reduction mechanism in an operating state and can adjust the phase when necessary.

[0004]

[Means for Solving the Problems]

 In order to solve the above-mentioned problems, in the phase adjusting unit of the present invention, the first and second wave generators having an elliptic cylindrical inner circumference are arranged adjacent to each other in a coaxial state. The first and second tubular flexible internal gears having the same number of teeth are fitted into the inside of the wave generator of, respectively, and the first and second flexible internal gears of the first and second flexible internal gears are attached to the inner sides of the first and second flexible internal gears, respectively. Cylindrical first, second and third rigid external gears are mounted from the side of the first flexible internal gear toward the side of the second flexible internal gear.

Here, the first and third rigid external gears located on both sides have an even smaller number of teeth than the first and second flexible internal gears, and the second rigid external gear is sandwiched between them. The rigid external gear has the same number of teeth as the first and second flexible internal gears. Then, both the first and second flexible internal gears, which are bent into an elliptical shape by the wave generator, are meshed with the second rigid external gear located in the center at positions of both ends of the elliptical minor axis. It is matched.

Further, one side of the first and second wave generators is supported in a non-rotatable state, and the other side is supported so as to be switchable between a non-rotatable state and a rotatable state. In addition to this, the wave generator that can be switched between non-rotatable and rotatable is equipped with an input mechanism of rotational force.

[0007]

[Action]

 In the present invention, the first and third rigid external gears rotate at a rotation ratio of 1: 1. Therefore, when the input shaft and the output shaft are connected to the first and third rigid external gears, these input and output shafts rotate at a rotation ratio of 1: 1. When adjusting the phase of the input and output shafts, one of the wave generators is rotated by the required angle via the rotational force input mechanism arranged there. By doing so, an angular deviation occurs between the first and third rigid external gears, and the phase between the input and output shafts coupled to them can be adjusted.

[0008]

【Example】

 An embodiment of the present invention will be described below with reference to FIG.

The hollow phase adjusting unit 10 of the present embodiment includes first and second wave generators 11 and 12, and first and second flexible internal gears 21 and 22 fitted inside them. Further, it is basically composed of first, second and third rigid external gears 31, 32 and 33 mounted inside these.

The first and second wave generators 11 and 12 are cylindrical bodies having an elliptical shape with the same inner circumference, and are arranged adjacent to each other in a coaxial state. These wave generators 11 and 12 are composed of rigid cylindrical members 11a and 12a having an elliptical inner circumference, and ball bearings 11b and 12b fitted to their inner peripheral surfaces. The first wave generator 11 is fixed to the unit casing 14 side, and the second wave generator 12 is rotatably supported on the unit casing 14 side via a ball bearing 15. A thrust bearing 16 is arranged between the first and second wave generators 11 and 12.

A cylindrical first flexible internal gear 21 is fitted inside the first wave generator 11, and is bent into an elliptical shape. Similarly, a cylindrical second flexible internal gear 22 is fitted inside the second wave generator 12 and is bent into an elliptical shape.

Next, the first to third rigid external gears 31, 32, 33 mounted inside the first and second flexible internal gears 21, 22 have a cylindrical shape. In this order, they are arranged concentrically from the first flexible internal gear 21 side. The tooth width of the first rigid external gear 31 is approximately half the tooth width of the flexible internal gear 21, and is arranged at a position facing the outer half of the flexible internal gear 21. Similarly, the tooth width of the third rigid external gear 33 is also approximately half that of the flexible internal gear 22, and is arranged at a position facing the outer half of the flexible internal gear 22. The second rigid external gear 32 arranged between them has a tooth width that extends over both the first and second flexible internal gears 21, 22. It is facing the inside half of 21, 22.

The input shaft 17 is coaxially coupled to the outer annular end surface 31 a of the first rigid external gear 31. The output shaft 18 is coaxially coupled to the outer annular end surface 33a of the third rigid external gear 33. On the other hand, the outer peripheral surface of the rigid tubular member 12a of the second wave generator 12 is a perfect circle, and the external teeth 12c are formed here. The external teeth 12c are connected to a rotary drive source via a gear train (not shown).

The operation of the hollow type phase adjusting unit 10 having this configuration will be described. The second wave generator 12 in this unit 10 is normally held in a non-rotatable state. When the input shaft 17 is rotated in this state, the first rigid external gear connected to the input shaft 17 integrally rotates. The input rotation is performed at a rotation ratio of 1: 1 from the third rigid external gear 33 via the first flexible internal gear 21, the second rigid external gear 32, and the second flexible internal gear 22. It is taken out as output rotation. Therefore, the output shaft 18 coupled to the third rigid external gear 33 rotates with the input shaft 17 at a rotation ratio of 1: 1. That is, in this state, although each part of the unit 10 operates, it functions as a coupling of the input / output shaft.

Next, the operation of adjusting the phases of the input / output shafts 17 and 18 will be described. In this case, the rotational force from the rotary drive source (not shown) is also transmitted to the outer teeth 12c of the second wave generator 12 via the gear train (not shown) to target the second wave generator 12. And rotate by the angle. By doing so, the third rigid external gear 33 is angularly displaced from the first rigid external gear 31 by a certain amount. Therefore, the phases of the input / output shafts 17 and 18 can be adjusted by rotating the second wave generator 12 by a necessary angle and returning it to the fixed state at the rotational position.

In this example, the second wave generator 12 is rotated to adjust the phase of the input / output shaft, but the first wave generator 11 is rotated to adjust the phase. May be configured to do. Further, in order to rotate the wave generator, the outer teeth 12c are formed on the outer circumference in this example, but a configuration other than this may be adopted to rotate the wave generator. Of course. Further, in the present example, the hollow portion is formed by using the first to third rigid external gears having a cylindrical shape. However, when the hollow portion is not required, these rigid external gears have a disk shape. You can use one.

[0017]

[Effect of the device]

 As described above, in the phase adjusting unit of the present invention, the gear type harmonic reduction mechanism incorporated therein is always in the operating state, and the transmission of the rotational force and the phase are performed without switching the operation to the enabled or disabled state. Both adjustments can be made. Further, the phase adjustment can be easily performed by transmitting the rotational force from the outside of the unit to the rotation input section (the outer teeth 12c in the above example) formed in the wave generator. Furthermore, when a hollow portion is formed in the center of the unit, there is an advantage that this portion can be used as a wiring space or the like.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view showing a hollow phase adjusting unit according to an embodiment of the present invention.

FIG. 2 is a vertical sectional view showing a conventional phase adjustment unit.

[Explanation of symbols]

 10 ... Hollow type phase adjustment unit 11 ... 1st wave generator 12 ... 2nd wave generator 12c ... External tooth 14 ... Unit casing 15, 16 ... Bearing 17・ ・ ・ Input shaft 18 ・ ・ ・ Output shaft 21 ・ ・ ・ First flexible internal gear 22 ・ ・ ・ Second flexible internal gear 31 ・ ・ ・ First rigid external gear 32 ・ ・ ・Second rigid external gear 33 ... Third rigid external gear

Claims (2)

[Scope of utility model registration request] 1. A first and a second cylinder having an elliptic cylindrical inner circumference.
The wave generators are coaxially arranged adjacent to each other, and the first and second wave generators are respectively fitted with tubular first and second flexible internal gears having the same number of teeth, Inside these first and second flexible internal gears,
The first, second, and third rigid external gears are mounted from the first flexible internal gear side toward the second flexible internal gear side, and the first and third rigid external gears are mounted. The rigid external gear is the first
And the second flexible external gear has an even number of teeth less than that of the second flexible internal gear, and the second rigid external gear has the same number of teeth as the first and second flexible internal gears. The first and second flexible internal gears that are bent in an elliptical shape by the first and second wave generators have an elliptical minor axis with respect to the first and third rigid external gears, respectively. The first and second flexible internal gears mesh with each other at both ends, and both mesh with the second rigid external gear at positions of both ends of an elliptical minor axis. One side of the second wave generator is supported in a non-rotatable state, and the other side is switchably supported in a non-rotatable and rotatable state, and the non-rotatable and rotatable sides are switchable. The wave generator has a torque input mechanism to rotate it. Phase adjustment unit, wherein Rukoto. 2. The hollow phase adjusting unit according to claim 1, wherein the first to third rigid external gears have a tubular shape and a hollow portion penetrating the center of the unit is formed.