JPS59166747A - Reduction gear - Google Patents

Reduction gear

Info

Publication number
JPS59166747A
JPS59166747A JP4176383A JP4176383A JPS59166747A JP S59166747 A JPS59166747 A JP S59166747A JP 4176383 A JP4176383 A JP 4176383A JP 4176383 A JP4176383 A JP 4176383A JP S59166747 A JPS59166747 A JP S59166747A
Authority
JP
Japan
Prior art keywords
spline
bent
circular
wave generator
circular spline
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
JP4176383A
Other languages
Japanese (ja)
Inventor
Masato Morimoto
正人 森本
Hiromasa Ishihara
石原　陽呂雅
Toshitoki Inoue
井上　利勅
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 JP4176383A priority Critical patent/JPS59166747A/en
Publication of JPS59166747A publication Critical patent/JPS59166747A/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 make the assembling of a reduction gear easy with sufficient strength as well as to facilitate a direct drive to a rotor, by installing such a flexible spline as of a thin link being bent in oval form and engaging with a circular spline in an oval long diametrical direction. CONSTITUTION:A harmonic drive reduction gear is constituted of a cycloid circular spline 12 carrying an internal gear, a flexile spline 13 like a thin link being bent in oval form and engaging with the circular spline 12 in an oval long diametrical direction, and a wave generator 14 having the flexible spline 13 bent in oval form. A flange part of the flexible spline 13 is bent upon following in the flection of an external gear ring part by the wave generator 14. According to this method, there is not setting part inside the flexible spline 13 so that assembling a motor bearing inside comes possible to be done.

Description

【発明の詳細な説明】 産業上の利用分野 本発明は定速比の減速装置として利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 speed reducer used as a constant speed ratio speed reduction device.

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。Conventional configuration and its problems Figure 1 shows a conventional harmonic drive reducer.

第２図にその具体構成を示すように、内歯歯車を有する
円形のサーキュラスプライン１と、外歯歯車を有するカ
ップ状で、楕円状に撓みその楕円の長径方向でサーキュ
ラスプライン１と噛合う７レクスプライン２と、このフ
レクスプライン２を楕円状に撓ませるウェーブゼネレー
タ３で構成されている。そして第３図にその実機組込状
態を示すように、サーキュラスプライン４はケース６に
固定されており、フレクスプライン６は出力軸７に固定
されており、出力軸７は軸受８で支持されている。ウェ
ーブゼネレータ９は入力軸１０に固定されており、入力
軸１０は軸受１１に支持されている。サーキュラスプラ
イン４とフレクスプライン６はわずかな歯数差を持ち、
ウェーブゼネレータ９により楕円状に撓まれたフレクス
プライン６は長径方向でサーキュラスプライン４と噛合
っている。入力軸１０を回転する事により噛合い点を移
動し、歯数差相当の回転を出力軸が行なうものであった
。このような構成では、フレクスプライン６の取付をカ
ップの底部で行なわねばならす組立上、強度上問題があ
った。さらに出力軸を用いる事無く、回転体への直接駆
動を構成する場合この形状においでは困難であった。As shown in FIG. 2, its specific configuration includes a circular circular spline 1 having an internal gear, and a cup-shaped circular spline 7 having an external gear, which is bent into an ellipse and meshes with the circular spline 1 in the major axis direction of the ellipse. It is composed of a flexspline 2 and a wave generator 3 that bends the flexspline 2 into an elliptical shape. As shown in FIG. 3, the circular spline 4 is fixed to a case 6, the flexspline 6 is fixed to an output shaft 7, and the output shaft 7 is supported by a bearing 8. There is. The wave generator 9 is fixed to an input shaft 10, and the input shaft 10 is supported by a bearing 11. Circular spline 4 and flex spline 6 have a slight difference in the number of teeth,
The flexspline 6 bent into an elliptical shape by the wave generator 9 meshes with the circular spline 4 in the major axis direction. By rotating the input shaft 10, the meshing point was moved, and the output shaft rotated by an amount corresponding to the difference in the number of teeth. In this configuration, the flexspline 6 must be attached to the bottom of the cup, which poses problems in terms of assembly and strength. Furthermore, this shape makes it difficult to configure direct drive to the rotating body without using an output shaft.

発明の目的 本発明は、」二記従来の欠点を解消するものであり、組
立を容易にし十分な強度を有したたけで無く、回転体へ
の直接駆動を容易にし、装置への組込を有利にするもの
である。OBJECTS OF THE INVENTION The present invention overcomes the drawbacks of the prior art as described in (2), and is not only easy to assemble and has sufficient strength, but also facilitates direct drive to a rotating body and facilitates incorporation into equipment. It gives you an advantage.

発明の構成 本発明は、内歯歯車を有する円形のサーキュラスプライ
ンと、外歯歯車と７ランジを有し、楕円状に撓む薄肉リ
ング状で、楕円の長径方向にてサーキュラスプラインと
噛合うフレクスプラインと、フレクスプラインを楕円状
に撓ませるウェーブゼネレータで構成され、組立を容易
にし十分な強度を有しており、回転体への直接駆動が容
易とし、装置への組込上きわめて有利である。Structure of the Invention The present invention provides a thin ring-shaped flex that has a circular circular spline having an internal gear, an external gear, and seven flange, and is bent in an elliptical shape, and meshes with the circular spline in the long axis direction of the ellipse. Consisting of a spline and a wave generator that bends the flexspline into an elliptical shape, it is easy to assemble, has sufficient strength, and can be easily driven directly to a rotating body, making it extremely advantageous for integration into equipment. .

実施例の説明 以下に、本発明の一実施例を第３図〜第４図にもとづい
て説明する。第４図において、１２はサーキュラスプラ
イン、１３はフレクスプライン、１４はウェーブゼネレ
ータである。サーキュラスプライン１２は内歯歯車を有
している。ウェーブゼネレータ１４は楕円状で、ボス部
と外周にころがり軸受を有している。フレクスプライン
１３は外歯歯車と取付用７ランジを有しており、薄肉リ
ング状の外歯歯車部内径はウェーブゼネレータと嵌合し
、楕円状に撓み楕円の長径方向にて、サーキュラスプラ
イン１２の内歯歯車と噛合うものである。第６図は本発
明の減速機を組込状態を示すものである。図において、
１５は固定された本体、１６はこの本体１５に固定され
たフレクスプライン、１７はころがり軸受、１８はころ
がり軸受に支持された入力軸、１９は入力軸１８に固定
されたウェーブゼネレータ、２０はウェーブゼネレータ
１９により楕円状に撓められたフレークスプライン１６
の楕円長径方向で噛合うサーキュラスプライン、２１は
サーキュラスプライン２０を固定す−る回転部、２２は
ころがり軸受である。この減速部において、入力軸１８
を回転する事によりサーキュラスプライン２ｏを直結し
た回転部２１を回転させる事ができるものである。DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 3 and 4. In FIG. 4, 12 is a circular spline, 13 is a flex spline, and 14 is a wave generator. The circular spline 12 has an internal gear. The wave generator 14 has an elliptical shape and has a boss portion and a rolling bearing on the outer periphery. The flexspline 13 has an external gear and seven mounting langes, and the inner diameter of the thin ring-shaped external gear fits into the wave generator, bends into an ellipse, and connects the circular spline 12 in the long axis direction of the ellipse. It meshes with the internal gear. FIG. 6 shows a state in which the speed reducer of the present invention is installed. In the figure,
15 is a fixed main body, 16 is a flex spline fixed to this main body 15, 17 is a rolling bearing, 18 is an input shaft supported by the rolling bearing, 19 is a wave generator fixed to the input shaft 18, and 20 is a wave Flake spline 16 bent into an elliptical shape by generator 19
21 is a rotating part that fixes the circular spline 20, and 22 is a rolling bearing. In this reduction section, the input shaft 18
By rotating the circular spline 2o, it is possible to rotate the rotating part 21 to which the circular spline 2o is directly connected.

上記構成の減速機において、フレクスプライン１３のフ
ランジ部は円弧状もしくは楔状の断面を有し、ウェーブ
ゼネレータ１４による外歯歯車リング部の撓みに対して
フランジ部が追随して撓むものである。In the reducer having the above configuration, the flange portion of the flexspline 13 has an arc-shaped or wedge-shaped cross section, and the flange portion flexes following the flexure of the external gear ring portion caused by the wave generator 14.

発明の→効光 以上のように本発明は、内歯歯車を有する円形のサーキ
ュラスプラインと、外歯歯車と７ランジを有し楕円状に
撓む薄肉リンク状で、楕円の長径方向にてサーキュラス
プラインと噛合う７レクスプラインと、フレクスプライ
ンを楕円状に撓ませるβエープゼネレータで構成される
ハーモニックドライブ減速機であるため、組立が容易で
あり、十分な強度を有している。さらに、回転体への直
接駆動が容易となり、装置への組込上きわめて有利なも
のである。また、フレクスプライン内部に取付部が無い
ため、内部にモータ軸受の組込みが可能となシ、装置の
コンパクト化が可能という特徴も奏している。→Effects of the Invention As described above, the present invention comprises a circular circular spline having an internal gear, an external gear, and a thin link having seven flange and bending in an elliptical shape. Since it is a harmonic drive reducer composed of a 7-rex spline that meshes with the spline and a β-ape generator that bends the flex spline into an elliptical shape, it is easy to assemble and has sufficient strength. Furthermore, it is easy to drive directly to a rotating body, which is extremely advantageous for incorporation into a device. Additionally, since there is no mounting part inside the flexspline, it is possible to incorporate a motor bearing inside, and the device can be made more compact.

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

第１図は従来のハーモニックトライブ減速機の外観図、
第２図は従来のノ・−モニックドライブ減速機の組込状
態を示す断面図、第３図は本発明減速機の外観図、第４
図は本発明減速機の組込状態を示す断面図である。 １２・・・・・・サーキュラスプライン、１３・・・フ
レクスプライン、１４・・・・ウェーブゼネレータ。Figure 1 is an external view of a conventional harmonic tribe reducer.
Fig. 2 is a sectional view showing the assembled condition of a conventional monic drive reducer, Fig. 3 is an external view of the inventive reducer, and Fig. 4
The figure is a sectional view showing the assembled state of the reduction gear of the present invention. 12... Circular spline, 13... Flex spline, 14... Wave generator.

Claims (2)

【特許請求の範囲】[Claims] （１）内歯歯車を有する円形のサーキュラスプラインと
、外歯歯車とフランジを有し、楕円状に撓む薄肉リンク
状で、楕円の長径方向にてサーキュラスプライン噛合う
フレクスプインと、上記フレクスプラインを楕円状に撓
ませるウェーブゼネレータとを備えた　　　　　　−゛
減速機。(1) A circular circular spline that has an internal gear, a flex spline that has an external gear and a flange, is a thin link that bends in an ellipse, and meshes with the circular spline in the long axis direction of the ellipse, and the flex spline. −゛Reducer equipped with a wave generator that bends in an elliptical shape. （２）前記フレクスプラインのフランジ部は、円弧状も
しくは楔状の断面を有し、歯車軸直角方向へフランジが
撓むよう構成した特許請求の範囲第１項記載の減速機。(2) The speed reducer according to claim 1, wherein the flange portion of the flexspline has an arcuate or wedge-shaped cross section, and is configured to flex in a direction perpendicular to the gear axis.
JP4176383A 1983-03-14 1983-03-14 Reduction gear Pending JPS59166747A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4176383A JPS59166747A (en) 1983-03-14 1983-03-14 Reduction gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4176383A JPS59166747A (en) 1983-03-14 1983-03-14 Reduction gear

Publications (1)

Publication Number Publication Date
JPS59166747A true JPS59166747A (en) 1984-09-20

Family

ID=12617438

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4176383A Pending JPS59166747A (en) 1983-03-14 1983-03-14 Reduction gear

Country Status (1)

Country Link
JP (1) JPS59166747A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61177243U (en) * 1985-04-24 1986-11-05
EP0741256A1 (en) * 1994-12-14 1996-11-06 Harmonic Drive Systems Inc. Silk hat type flexible mesh engagement gear device
WO1996036822A1 (en) * 1995-05-19 1996-11-21 Harmonic Drive Systems Inc. Flat wave-motion gear
US6065362A (en) * 1996-02-15 2000-05-23 Harmonic Drive Systems, Inc. Sealed-type wave gear device
US6817267B2 (en) * 2001-02-19 2004-11-16 Harmonic Drive Systems Inc. Actuator having a wave gear reduction drive
CN102434635A (en) * 2011-12-19 2012-05-02 福建长江工业有限公司 Integrated harmonic drive motor

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61177243U (en) * 1985-04-24 1986-11-05
EP0741256A1 (en) * 1994-12-14 1996-11-06 Harmonic Drive Systems Inc. Silk hat type flexible mesh engagement gear device
EP0741256A4 (en) * 1994-12-14 1998-10-07 Harmonic Drive Systems Silk hat type flexible mesh engagement gear device
WO1996036822A1 (en) * 1995-05-19 1996-11-21 Harmonic Drive Systems Inc. Flat wave-motion gear
JPH08312730A (en) * 1995-05-19 1996-11-26 Harmonic Drive Syst Ind Co Ltd Flat-type wave gear device
US5850765A (en) * 1995-05-19 1998-12-22 Harmonic Drive Systems, Inc. Flat wave gear drive
US6065362A (en) * 1996-02-15 2000-05-23 Harmonic Drive Systems, Inc. Sealed-type wave gear device
US6817267B2 (en) * 2001-02-19 2004-11-16 Harmonic Drive Systems Inc. Actuator having a wave gear reduction drive
CN102434635A (en) * 2011-12-19 2012-05-02 福建长江工业有限公司 Integrated harmonic drive motor

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