JPS59113344A - Reduction gear - Google Patents

Reduction gear

Info

Publication number
JPS59113344A
JPS59113344A JP22435682A JP22435682A JPS59113344A JP S59113344 A JPS59113344 A JP S59113344A JP 22435682 A JP22435682 A JP 22435682A JP 22435682 A JP22435682 A JP 22435682A JP S59113344 A JPS59113344 A JP S59113344A
Authority
JP
Japan
Prior art keywords
circular
spline
wave generator
thin
teeth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP22435682A
Other languages
Japanese (ja)
Inventor
Masato Morimoto
正人 森本
Akio Nakamura
昭雄 中村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP22435682A priority Critical patent/JPS59113344A/en
Publication of JPS59113344A publication Critical patent/JPS59113344A/en
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

PURPOSE:To reduce uneveness in driving torque in a harmonic drive reduction gear by installing an thin, cylindrical, and elastic part on the outside of an oval wave generator and by bringing the elastic part into pressure contact with the inner surface of a thin, flexible cylinder with external teeth. CONSTITUTION:When an oval wave generator 6 is rotated via a driving shaft while a circular spline 9 being fixed, the external teeth of a flexible spline 5, which is a thin flexible cylinder, are engaged with the internal teeth of two circular splines 8 and 9 via both a bearing 7 and an elastic body 10 at the major axial end area of the generator 6. The contact point is shifted as the generator 6 rotates. For one revolution of the wave generator 6, the circular spline 8 rotates at a speed reduced by the amount of difference in the number of teeth between the circular splines 8 and 9. At that time, even if an overload should occur at the gear engaging part, it can be absorbed by deformation of the elastic body 10.

Description

【発明の詳細な説明】 産業上の利用分野 本発明は小型高減速比減速機として各種装置に使用され
るハーモニックドライブ減速機に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a harmonic drive reducer used in various devices as a small-sized high reduction ratio reducer.

従来例の構成とその問題点 従来のハーモニックドライブ減速機は第１図にその具体
構成を示すように、可撓性薄肉円筒で、外歯歯車を有す
るフレクスプライン１と、フレクスプラインを変、形さ
せるウェーブゼネレータ？、変形させられたフレクスプ
ラインと噛み合うサーキュラスプライン３、このサーキ
ュラスプライン３と同志で、わずかな歯数差を持ち、変
形させられたフレクスプラインと噛み合うサーキュラス
プライン４とで構成されており、ウェーブゼネレータ２
を回転させることにより、フレクスプライン１と２個の
サーキュラスプライン３，４との噛み合い点は順次移動
し、その歯数差からサーキュラスプライン３．４は相対
回転を行ない。１個を固定することにより他の１個は減
速回転を行なうものであった。このような構成では、サ
ーキュラスプライン、ウェーブゼネレータの同志度、直
角度等の組立精度によってウェーブゼネレータの駆動ト
ルクムラが発生するため、高精度部品、精密組立が必要
であった。The structure of the conventional example and its problems As the specific structure of the conventional harmonic drive reducer is shown in Fig. 1, it is a flexible thin-walled cylinder with a flexspline 1 having an external gear, and a flexspline that is modified and shaped. A wave generator? , a circular spline 3 that meshes with the deformed flexspline, and a circular spline 4 that is similar to this circular spline 3, has a slight difference in the number of teeth, and meshes with the deformed flexspline, and the wave generator 2
By rotating the flexspline 1 and the two circular splines 3 and 4, the meshing points between the flexspline 1 and the two circular splines 3 and 4 move sequentially, and the circular splines 3 and 4 perform relative rotation due to the difference in the number of teeth. By fixing one piece, the other one rotated at a reduced speed. In such a configuration, uneven driving torque of the wave generator occurs due to assembly precision such as the degree of comradeship and perpendicularity of the circular spline and the wave generator, so high-precision parts and precision assembly are required.

発明の目的 本発明は上記従来の欠点に鑑み、駆動トルクムラか少な
く、部品及び組立精度を必要としないハーモニックドラ
イブ減速機、を提供するものである。OBJECTS OF THE INVENTION In view of the above-mentioned conventional drawbacks, the present invention provides a harmonic drive speed reducer that has less drive torque unevenness and does not require parts or assembly precision.

発明の構成 本発明は内歯歯車を有する第１のサーキュラスプライン
と、この第１のサーキュラスプラインと同志で、わずか
な歯数差を持つ第２のサーキュラスプラインと可撓性薄
肉円筒で、外歯歯車を有するフレクスプラインと、この
フレクスプラインを変形させ２個のサーキュラスプライ
ンと噛み合わせるウェーブゼネレータで構成され、前記
ウェーブゼネレータ外周に薄肉円筒状の弾性部を設け、
フレクスプライン内周面に加圧接触する構成としたもの
で、組〜ｌ精度による駆動トルクムラを減少さ仕ること
ができ、部品及び組立精度を特に必要としないという特
有の効果を発揮する。Structure of the Invention The present invention comprises a first circular spline having an internal gear, a second circular spline which is similar to the first circular spline and has a slight difference in the number of teeth, and a flexible thin-walled cylinder. It is composed of a flex spline having gears and a wave generator that deforms the flex spline and meshes with two circular splines, and a thin cylindrical elastic part is provided on the outer periphery of the wave generator,
It is configured to pressurize into contact with the inner circumferential surface of the flexspline, and can reduce drive torque unevenness due to assembly accuracy, and has the unique effect of not requiring any parts or assembly accuracy.

実施例の説明 以下に、本発明の一実施例を図にもとづ−て説明する。Description of examples An embodiment of the present invention will be described below with reference to the drawings.

第４図〜６図において、５ｔ／′ｉフレクスプライン、
６はウェーブゼネレータ、７はウェーブゼネレータベア
リング、８，９はサーキュラスプライン、１ｏは弾性体
である。In Figures 4 to 6, 5t/'i flex spline,
6 is a wave generator, 7 is a wave generator bearing, 8 and 9 are circular splines, and 1o is an elastic body.

以上のように構成された減速機について、以下その動作
を説明する。The operation of the reduction gear configured as described above will be described below.

まず、サーキュラスプライン１１は固定され、ウェーブ
ゼネレータ６け５駆動軸によって回転させられる。ウェ
ーブゼネレータ６は楕円形で、その長軸ｌＮ１１２点で
フレクスプライン６が２個のサーキュラスプライン８，
９と噛み合うようにフレクスプラインを撓めている。ウ
ェーブゼネレータ６０回転にともない、噛み合い点は移
動し、ウェーブゼネレータの１回転で２個のサーキュラ
スプライン８．９の噛微差分だけ、サーキュラスプライ
ン８を回転せしめることにより減速することとなる。First, the circular spline 11 is fixed and rotated by six wave generators and five drive shafts. The wave generator 6 has an elliptical shape, and the flex spline 6 has two circular splines 8 at its major axis lN112 points.
The flex spline is bent so that it meshes with 9. As the wave generator rotates 60 times, the engagement point moves, and the circular spline 8 is rotated by the difference in engagement between the two circular splines 8 and 9 in one rotation of the wave generator, resulting in deceleration.

このとき、フレクスプラインはウェーブイネ１／−タ外
周に設けられた薄肉円筒状の弾性部により内周を加圧接
触しているため、サーキュラスプラインとウェーブゼネ
レータの同志ズレにより歯車の噛み合い点において過負
荷が発生した場合弾性部は変形しフレクスプラインは求
芯作用を行なう。At this time, the inner periphery of the flexspline is in pressure contact with the thin cylindrical elastic part provided on the outer periphery of the wave generator 1/-. When a load occurs, the elastic portion deforms and the flexspline performs a centripetal action.

発明の効果 このように本発明によれば、組立精度による駆動トルク
ムラを減少させることができ、部品及び組立精度を特に
必要としない構成にすることかで−きる。Effects of the Invention As described above, according to the present invention, it is possible to reduce drive torque unevenness due to assembly accuracy, and it is possible to create a structure that does not particularly require parts or assembly accuracy.

また、上記ハーモニック減速機において、サーキュラス
プラインは、取付面に薄肉弾性体を備えており、その取
付に対して、若干の調整を可能とし、取付面の精度によ
る駆動トルクムラをも減少させることができる。In addition, in the harmonic reducer described above, the circular spline has a thin elastic body on the mounting surface, which allows slight adjustment of the mounting, and can also reduce drive torque unevenness due to the precision of the mounting surface. .

【図面の簡単な説明】[Brief explanation of the drawing]

の □□−一二 図、第６図は同分解斜視図である０ ５・・・・・・フレクスプライン、６・・・・・・ウェ
ーブゼネレータ、８，９・・・・・・サーキュラスプラ
イン、１゜・・・・・・弾性体、１１．１２・・・・・
・薄肉弾性体。 代理人の氏名　弁理士　中　尾　敏　男　ほか１名第１
図 第３図　　４ ＠４図 第５ＶＡFigures □□-12 and 6 are exploded perspective views of 0 5... Flex spline, 6... Wave generator, 8, 9... Circular spline , 1°...Elastic body, 11.12...
・Thin elastic body. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 3 Figure 4 @ Figure 4 Figure 5 VA

Claims (2)

【特許請求の範囲】[Claims] （１）内歯歯車を有する第１のサーキュラスプラインと
、この第１のサーキュラスプラインと同志で、わずかな
歯数差を持つ第２のサーキュラスプラインと、可撓性薄
肉円筒状で、外歯歯車を有するフレクスプラインと、こ
のフレクスプラインを撓ませ、２個のサーキュラスプラ
インと噛み合わせるウェーブゼネレータとで構成すると
ともに、ウェーブゼネレータ外周に薄肉円筒状の弾性部
を設け、フレクスプライン内周面に加圧接触するよう構
成した減速機。(1) A first circular spline having an internal gear, a second circular spline which is similar to the first circular spline and has a slight difference in the number of teeth, and a flexible thin-walled cylindrical spline and an external gear. It consists of a flexspline having A reducer configured to make contact. （２）前記第１および第２のサーキュラスプライン− は、取付面に薄肉弾性体を備えている特許請求範囲第１
項記載の減速機。(2) The first and second circular splines are provided with a thin elastic body on the mounting surface.
Reducer described in section.
JP22435682A 1982-12-20 1982-12-20 Reduction gear Pending JPS59113344A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22435682A JPS59113344A (en) 1982-12-20 1982-12-20 Reduction gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22435682A JPS59113344A (en) 1982-12-20 1982-12-20 Reduction gear

Publications (1)

Publication Number Publication Date
JPS59113344A true JPS59113344A (en) 1984-06-30

Family

ID=16812475

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22435682A Pending JPS59113344A (en) 1982-12-20 1982-12-20 Reduction gear

Country Status (1)

Country Link
JP (1) JPS59113344A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111288077A (en) * 2018-12-10 2020-06-16 镁亚精密股份有限公司 Speed reduction transmission bearing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111288077A (en) * 2018-12-10 2020-06-16 镁亚精密股份有限公司 Speed reduction transmission bearing

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