JPS59190541A - Harmonic gear device - Google Patents

Abstract

PURPOSE:To prevent backlash by providing a wave-generator to line up three internal gears in parallel and dividing an exteral gear engaged therewith into two axially for sliding their long axes with each other. CONSTITUTION:Outside the first internal gear 11 and the second internal gear 12 of the same tooth number, the third internal gear 13 of a different tooth number is coaxially arranged in parallel. An external gear is divided into the first external gear part 14 to be engaged with the first internal gear 11 and the second internal gear 12 and the second external gear part 15 to be engaged with the second internal gear 12 and the third internal gear 13. On radial insides of external gear parts 14 and 15, an oval cam-shaped main body part 17 and an oval flange part 18 of an oval wave-generator 16 to bend the external gear into an oval shape are provided to be adjustable in phase.

Description

[Detailed description of the invention]

The present invention relates to a harmonic gear device, and more particularly to a device for visiting backlash in Furano and shape harmonization cities. Conventional technology flat type 1)! The Waryoichi device is well known along with the Cup J [kai j1a Japanese gear 2ton device, and the basic configuration of this flat type harmonic wheel device is two flat internal gears and an external tooth that meshes with the internal teeth of both gears. It consists of a gear and a wave generator that rotates the ellipse without rotating the external tooth tjj by bending the external tooth 11 into an ellipse, and one of the internal gears and the external tooth 1j have the same number of teeth. Then, the number of teeth of the other internal gear is increased by, for example, two, the input shaft is attached to the wave generator, one of the internal teeth is fixed, and the output member is attached to the other internal tooth. (A large 41' reduction ratio has been obtained. One example of its use is the joint mechanism of the arm of an industrial robot. When a Fra-nod type harmonic toothing device is used for this joint mechanism, Since the entire gear device is thin and small, the joint mechanism becomes large, and the output) - M's output is +E (preferable because it can generate the torque required for 11 in RC. However, 1111i 1 phase 1 (4) The device is also two-sided, and there is meshing play between the internal gear and the external gear, so Basokufunoshi, 1
7 has occurred. Prevent this hacklash

[1- In order to do this, a joint mechanism using a two-silk flat type R circumferential tooth rlj device was proposed in Japanese Patent Application Laid-Open No.
7-1. It is known from 'I 4.051 // No. 4 (application published on July 15, 1981). In such a known device, two flat translations of one word are juxtaposed and each
The inner internal teeth m+!, of each set are fixed to the second arm, the outer internal teeth of each set are fixed to the first arm, and the two inner teeth 1mai, Nj fixed to the second arm are fixed to the second arm. 7 to eliminate the gap that occurs between the external gear and the external gear.
This prevents hacking and crashes. Such a known device has an IlI between the internal gear and the external gear.
This is preferable in that it eliminates jostling play, but it requires two devices for the flat type.
[Increased cost] It has the disadvantage of becoming larger rather than being removed. In addition, the output internal gear is shifted in the direction of rotation nof to eliminate meshing play due to external reasons, but the deviation angle is a small angle deviation of less than 1°, and the iHd alignment is extremely rigid. It's a piece. According to one aspect of the invention, one object of the present invention is to prevent
Improved the flat type winding gear device and reduced the size to 1J.
To provide a harmonic gear device which can be made as small as possible and can be easily adjusted to eliminate meshing play between an external gear and a southeast internal tooth. Structure of the Invention In order to achieve the above object, the present invention includes a conventional flat harmonic tooth 1F device in which a third Mll type inner mountain inner tooth is juxtaposed to the southeast of the two inner teeth, and among the three inner teeth southeast, The number of teeth on the two outer gears is the same, and the external gears are set to 1st Uchiyama Yamato and 2nd gear.
The first outer Iψi mountain that interlocks with Uchiyamayama City and C1! 11 lees]
and a second outer gear part that meshes with the second inner gear and the third inner gear part, and a first outer gear part that bends the first outer gear into an elliptical shape. The second external gear part and the second external gear are bent in the same elliptical shape, and the second wave generator part is bent into an elliptical shape with respect to the first wave generator H<3. are connected so that their long axes can be angled at a certain angle. Effect of the Invention According to the configuration 6, when the second +'), y-1 Bouzier unraked part is widened by 1 times i1 with respect to the first Wavegier unraked part, and the long axis of the 147 circle is shifted by a certain angle α, The point at which the second part of the external gear gear meshes with the second and third internal gears is deviated by an angle α, so it must be rotated before rotating.
Therefore, the vermilion of the second external gear that was included should be shifted by an angle β from the meshing point. Since the ratio of the 1111 rotation angle of the wave generator and the rotation IM angle of the outer 1 pulse exceeds the reduction ratio of the harmonic gear device, the angle β becomes 1 part of the reduction of the angle α, and the first wave generator is When the rake part is shifted by a large angle α, the first outer float part will be shifted by a small angle β with respect to the internal gear, so that the first outer float part and the first and second inner float parts The contact point G between the second external gear and the third and second internal gears 1. The points of contact with the H car are shifted by an apparent angle of β, each 1'! The interlocking play between the i cities is eliminated. Effects of the Invention According to the present invention, one internal gear is added to one known harmonic gear device without using 2 silk tuning A harmonic gearing device without puncture crash can be provided by simply dividing into two parts, so the device can be made smaller and can be integrated into small parts such as robot joints by reducing the space it occupies. The number of parts is also smaller than that using two harmonic gears, making it more economical. In addition, when adjusting III and I to eliminate meshing play, the wave sienne rake portion is rotated as described above, so the adjustment range becomes larger by the amount of deceleration and the force for rotation is 41.
Reduced by the ratio of Since the side surface of the wave gear without rake can be exposed, there is also the advantage that it can be adjusted into the cylinder after assembling the device. The number of teeth may be the same as the number of teeth, or the first and third inner IM? teeth 4i may be made the same as the number of teeth of the outer tooth 1'l) wheel 77. As a result, the internal tooth 11 (having the same number of teeth as the external gear) does not rotate relative to the external tooth IIf, and the internal gear having a different number of teeth rotates relative to the external tooth IIf. and the second external gear are separated by a partition plate, and the phase of the image part /V
- It is also preferable to eliminate contact L7. It is also preferred that the second wave generator part is configured as a flange rotatably attached to the first wave generator part, which makes it very easy to rotate the wave generator part. Furthermore, a manual shaft may be attached to the wave generator, a projecting member may be attached to the second internal gear, and the first and third internal gears may be fixed, thereby making it possible to apply a joint mechanism, etc. Embodiments of the invention will be described with reference to the drawings. First, prior to detailed explanation of the present invention, harmonic teeth +
, give a general explanation of the principle of the device. As shown in FIG.
The wave generator 3 consists of an elliptical wave generator 3 which is installed inside the external gear gear +2 and bends the external gear gear 2 into an elliptical shape. A ball hair ring 4 is provided so that - can be rotated. Since the externally geared float 2 is bent into an oval shape, its teeth are in the direction of the arrows relative to the internally geared middle gear 1. ) It only meshes at two points in 3. Note that the number of internal teeth r1 (1) is different from the number of teeth of the external gear 2, and for example, two internal teeth are formed more than the external teeth. The relationship between the internal gear 1 and the external gear 2 when the generator 3 is rotated clockwise is shown. When the wave generator 3 is in the position shown by arrow 1 in FIG.
'l#i Gear IQ) One reason 5 meshes with one tooth (3) of the external gear 2.
When rotated 90° as shown in figure ft)l, external tooth i
+j 2 rotates in its elliptical shape without being rotated by the bearing 4, and the meshing position of the internal gear 1 and the external gear 2 moves in accordance with the movement of the long axis of the elliptical wave generator 3. As shown in Figure 2 +C1, when the wave generator 3 rotates 18 (+'), the teeth 5 and 6
The teeth engage with each other, but their position is shifted by one tooth in the opposite direction to the direction of rotation. And the 21st! l
((As shown in 11, the wave generator 3 is 36
1) When rotated, 5 and 6 shift in the opposite direction to the direction of rotation by two teeth. In this way, if the output is the movement in which the position i is shifted by lFf degrees, and if we extract a, then
A large deceleration force L can be obtained. What is known as a cup-shaped harmonic gear device is one in which the external teeth +2 described in 2 are formed into a cup shape. i? Although it has a relatively compact structure, it has the disadvantage of being large in size. In order to reduce the size, there is a flat type gear device in which an internal gear having the same number of teeth as the external gear 2 is arranged coaxially with the internal gear 1. In this device, the external gear 2 has an intermediate ff
It is made of I4 material and has a thin overall dimension, and a large reduction ratio is obtained by the relative rotation of the internal gears. In this flat type gear device, a problem occurs due to the meshing play between the first internal gear and the external gear, and the meshing play between the outer 1') 1 gear and the second internal gear. . The harmonic gear device of the present invention prevents this backlash. FIG. 3 shows a harmonic gearing according to the invention. This gear device 10 is the above-described flat harmonic gear device, but in addition to the first external gear 11 and the second internal gear 12,
A third internal gear 13 is coaxially juxtaposed adjacent to the second internal gear 12 . Each of these internal gears is a rigid circular internal gear, and has the same number of teeth as the first and third internal gears 11 and ]3, and the second internal gear 12 has the same number of teeth as the bevel gears 11 and 13. For example 2
Only one piece has been reduced. This difference in the number of teeth is usually an even number, and it goes without saying that the difference may be 1, more or less than 1, as long as the difference is different. The external gear is then formed as a flexible spline,
Also, a first external gear portion 14 that meshes with the first internal gear 11 and the second internal gear 12, a second internal gear 12 and a third internal gear portion
It is divided into a second external gear portion 15 that meshes with the internal gear 13. Since the second internal gear 12 meshes with both external gear parts, it is preferable to make it slightly thicker.1. They may be thin as long as they can be sufficiently engaged, and thinner ones are preferable because the dimensions can be made smaller. External gear float part 1
An elliptical wave generator 16 that deflects the external gear in an elliptical shape is coaxially provided on the radially inner side of 4.15. The wave generator 16 includes an elliptical cam-shaped main body portion 17 that deflects the first external gear portion 14 in an elliptical shape, and a multi-flange portion 1 that deflects the second external gear portion 15 in the same oval shape.
8, and between the main body portion 17 and the first external gear α1 wheel portion 14, and between the flange) f (5 minutes 18) and the second external gear portion 15, there is a ball bearing 19.
and 20 are provided. Therefore, the first external gear part 14 and the second external gear part 15 are bent into an elliptical shape and mesh with the corresponding internal gears at two points on the long axis of the ellipse, but the wave generator 16 is rotated. Even if the external gear is rotated, the external gear will not rotate together and the meshing point with the internal gear will move. Wave generation - Due to the rotation of 1G, the main body part 1
A human power shaft 23 extending from a motor 22 is keyed at the center of the shaft 7 . It goes without saying that the input shaft 23 may be directly connected to a motor as shown, or may be driven via a transmission means such as a belt. The flange portion 18 is rotatably mounted to the body portion 17 such that the flange portion 18 is rotated relative to the long axis of the ellipse of the body portion 17.
The long axis of the ellipse can be shifted by a certain angle, and the flange portion 18 is fixed to the main body portion 17 with a plurality of screws 24. As shown in FIG. 4, the flange portion 18 is provided with an arcuate long hole 25 through which a screw 24 is passed, and the leg of a jig (not shown) that rotates the flange portion 18 is engaged. Preferably, holes 26 are provided for alignment. In this embodiment, the third internal teeth 11 and 1
3 is attached and fixed by fixing members 28 and 29G such as frames, etc., and the frame 3o of the motor 22 is fixed to the fixing member 28 (,. A window 31 is provided in the center of the side surface of the fixing member 29 to expose the hub portion 18 of the wave generator. It is very nice that the lid 32 is closed. The second internal tooth 2 acts as an output member, and this tooth +1
An output arm 35 is fixed to the protruding part 34 of the second part with a claw L; is provided. Therefore, when the second Uchiyama gear 2 rotates at the same time as the first Uchiyama gear 11, the output arm 35 is moved to the fixed member 28.
It will rotate above. Further, it is preferable that the second internal gear 12 be inserted in the radial direction, so that the first external gear portion 14 and the second external gear portion 15 do not come into contact with each other. For convenience of explanation, 1st and 3rd Uchiyama Toshiichi 11, J3 is the 2nd
It is assumed that the first and second external gears 14 and 5 have the same number of teeth as the second internal gear 1, for example, two more teeth than the internal gear 12. When the wave generator 6 is rotated, since the first and third internal gears 11 and 3 are fixed, the first and second external teeth east portions J4 and 15 will direct the rotation of the wave generator 16. The second internal gear 12 also rotates in the opposite direction by the difference in the number of teeth, and therefore the second internal gear 12 also rotates in the same manner as the external gear. The output arm 35 is decelerated by the difference in the number of peaks and rotates slowly but with a strong force. When the motor 22 is reversed, a delay is applied until the output arm 35 rotates iJ. This is due to the meshing play between the external gear and the internal gear. In the case of this embodiment, the meshing play is between the first Uchiyama Yoshiichi 1 [and the first external tooth tooth market portion 14, between the first external tooth east portion 14 and the second internal tooth Yoshii +, ]2. Between, the second inner side 112 and the second outer side 15 minutes, and the second outer side 11<
It appears at four checkpoints between the part 15 and the second internal gear 1; 3. In order to eliminate these loose play, the flange part of the wave generator 16]8 should be replaced with the main body part]
It must be rotated against 7. This situation will be explained using FIG. 5 and FIGS. 6(a) to (<j). In the wave generator 1 fi, the lid 32 is used to rotate the flange portion 18 relative to the main body portion 17.
is removed to open the window 31, the screw 24 is loosened, and the manual shaft 23 is fixed by excitation of the shaft 22 or the like. Next, by rotating the flange portion 18 with a jig or by hand to align the long axis of the ellipse with respect to the main body portion 17, the second
The middle part 15 of the external tooth moves slightly by the amount of deceleration (21 degrees in Fig. 3 (7)), and the gingiva on the right side of the second external tooth 115 and the third The tooth surface on the left side of the inner tooth gap 13 is brought into close contact with each other, eliminating any play in the teeth in this area. Also, regarding the relationship between the second internal gear +-12 and the second external gear 15, as shown in FIG.
5 Yamauchi and ' on the left! fJ2 is in close contact with the right gingiva of internal tooth j2, eliminating play in engagement between the two. Furthermore, when the flange portion 18 of the wave generator 16 is rotated simultaneously with respect to the main body portion] 7, the second external gear pitch portion 15 is rotated to reduce the rotation angle of the flange portion 1). Since the rotation is made smaller by the same amount, the rotation is as follows:
2, and further attempts to rotate the first external tooth i'+ portion I4 in the same manner. For this reason, Fig. 6 (C1
As shown in Neo, the second internal tooth +, the left tooth surface of 12 and the first
The right side of the external gear 14 in the t'Jft direction is in 1+A contact with the -(
To eliminate interlocking play and to make it td+ in Figure 6? , 1 external tooth! +j14 left gingiva and 1st Uchiyama i
'F'i city 1 [close to Yamauchi on the right side 7, this part]
Nioriro meshing play has also been eliminated. Therefore, as shown in FIG. 5, the wave Y. When the flange portion 18 of the j1/j 16 is rotated by a certain angle and the long axis of the ellipse of the flange portion j8 is moved by an angle α with respect to the long axis of the ellipse of the main body portion 17, the deceleration of the angle is The small angle β or the second external tooth east portion j5 moves in the opposite direction 7 to eliminate the meshing play between the third and second inner ridge teeth +13 and 12, and furthermore, the second inner ridge teeth ? J! <1
2, the meshing play between the gear 12 and the first internal gear portion 4 and between the external gear portion 14 and the first Uchiyama Yamato 11 is also eliminated, thereby completely eliminating bank lash. removed. After the meshing play is removed, the screws 124 are tightened to fix the flange portion 18 to the main body portion 17, and the lid 32 is fixed. In addition, since the gears rotate smoothly, the play between the gears can be adjusted as desired. Also,
The rotation of the flange portion 18 rotates the external gear by the amount of reduction, which has the advantage of a wide co-rotation angle and a wide adjustment range.Furthermore, the rotation force is a weak force corresponding to the reduction ratio.
) is sufficient, and for this reason, backlash can be prevented very visually and easily. In the embodiment 1- below, the first and third internal gears are explained as having a larger number of teeth than the second internal gear, but of course, the number of teeth can be reversed and the number of the second internal gear can be changed. You can also increase
Also, the number of teeth of the external gear is 1. 1st inner gear instead of 2nd inner gear
It may also be the same as the third internal gear. Alternatively, the second internal gear may be fixed and the third internal gear may be used as an output member. Furthermore, the second wave generator rake part does not have a flange structure (even if it has a structure that divides the wave generator into two), the point is that the first and second wave generator rake parts rotate in unison. Anything that can be used is fine.

[Brief explanation of the drawing]

Figure 1 is a schematic front view of a general G111 sum gear system, Figure 2
Figures (al to (dl) are operation explanatory diagrams of the harmonic gear device N, the third
The figure shows one embodiment 1 of the present invention. A partially cutaway side view of this harmonic gear device, FIG. 4 is a partial sectional view of the flange portion of the wave generator, FIG. 5 is a diagram of the BU+ operating principle of the device in FIG. 3, and FIG. dl is an explanatory diagram showing the relationship between each tooth jt in the operating state of FIG. ...Harmonized gear device according to the present invention,]■...First internal tooth tooth, 12...Second internal tooth tooth, j3...Third Uchiyama Yutun, 14...First external tooth Tooth army part, 15..., second external tooth i1j part, 16... 1
-Bouget non-rake, 17... Main body part, 18... Flange part, 11), 20.38... Aling, 22... Morph, 23... Input shaft, 24.
...tl two-piece, 28.29...fixing member, 35.
...Output arm. Figure 1 Figure 2 (a) ' (b) (.)/(d) Figure 3

Claims (1)

[Claims] 1. First and second rigid circular internal tooth widths having different numbers of teeth are coaxially juxtaposed, and a flexible circular tooth width is coaxially arranged inside the internal internal gear in the radial direction thereof. An external gear is arranged, and an elliptical wave georator is arranged inside the external gear in the radial direction. = 1 is meshed with each of the first and second inner @ floats at 2 south on the long axis of the ellipse, and 1. In a flat harmonic gear device in which an elliptical shape is rotated by the rotation of a wave generator without rotating an externally geared float. A third [11-shaped circular internal gear is disposed coaxially and in contact with y1 to the second internal gear, and the first and third internal gears on both sides have the same number of teeth, and the external gear has the same number of teeth. The tooth market is the first [inner t'i
It is divided into a first external gear portion that meshes with the la@ wheel and the second internal gear, and a second external gear portion that meshes with the second internal tooth gear and the third internal tooth east, and also includes a wave generator. consists of a first part that deflects the first external gear in an elliptical shape and a second part that deflects the second external gear in the same elliptical shape.
The wave georator part is connected to the first J-b generator part so that the long axis of the ellipse can be angled at a certain angle. 2゜Second The device according to item 1, wherein the number of teeth of the internal gear and the number of teeth of the external gear are the same. 3. The number of teeth of the first and third internal gears and the number of teeth of the external gear 4. The first external gear portion and the second external gear portion are partitioned by a partition plate extending inward in the second internal direction 4 5. The second wave generator portion is a flange rotatably mounted to the first wave generator portion; The device according to Item 1 of iiJ, which is fixed to the wave generator part with screws. 6. The input shaft is attached to the wave generator, the first and third Uchiyama Yunaka: are fixed, and Ni. 2. Internal teeth now act as output members 1)
11. The device described in Section 1.