JPS5962749A - Universal wave-generator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention - This clearing relates to a motion transmission device u, and more particularly to a wave generator of a harmonic gear mechanism.

Description of the Prior Art This invention relates to a rotary power transmission mechanism, the basic idea of which is disclosed in U.S. Pat. No. 2,901. , /'13, in which a harmonic gear type actuator makes effective the engagement of the teeth of a local spline member having a gap with the deflection of the flex spline, and To generate the wave motion, three elements are used: a flex spline, a coaxial rigid circular tin wire, and a wave generator means. Any l element among these three elements can serve as an input member, and the remaining l elements can serve as an output member.

All of these elements are necessary and manufactured to ultra-fine tolerances to ensure optimal engagement of the spline gears requiring selective assembly. The entire generator body is manufactured in a special assembly manner to compensate for deviations between the parts in the spline fit.

U.S. Patent No. 1? ! r? , 0th edition, a half-shaped wave φ generator cam is placed 9111 m outside the outer ring of the circular bearing, and the inner ring of the bearing has an oval outer surface formed in layers, and This invention discloses a mechanism for continuously changing the operating mode of a rotary disk by operating a wave generator ring characterized by a half-shaped cam. The rotary disk itself has a toothed internal N circular spline gear and includes a base that can rest on the floor. Disposed around the integral spline is a resilient internal spline (or wave support) having integral internal spline teeth that mesh with the external spline gear teeth. The rotation of this internal spline is x-7'll!
:/In theory 1 of the enerator bearing, there is a rolling element of a Dale bearing around the 66° inner ring. These bearing elements are surrounded by and housed within a resilient outer ring. In order to effectively adjust the ellipsoid from roundness to ellipticity, the cab stan mechanism rotates the outermost generator body relative to the inner ring, and adjusts the ratio of the top of the inner disk to 1kl or a harmonic gear system. The spline teeth can be easily engaged and disengaged according to the reduction ratio of the spline.

The purpose of this invention is to provide a harmonic gear transmission system of various types for wave generators, in which the wave
It is possible to give permanent strain by adjusting the elliptical shape of the outer ring of the generator in advance, and it is possible to accurately adjust the width of the deflection caused by this, making it possible to adjust the dimensions of all individual components, including the fit of splines. The purpose is to correct deviations.

This invention relates to a harmonic gear transmission in which a wave generator is adapted to process momentum on a shaft. A special feature of this wave generator is that it consists of a generator main body that has been given a predetermined elliptical shape on its circumference.

Does this generator have an inner ring, an outer ring, and multiple pieces? −
The ring 31 can be fitted with a flexible ball bearing consisting of a ball R1 disposed between the inner and outer rings. The circumference of this generator body is slightly larger than the inner diameter of the inner ring that fits into it, and these parts are assembled by press-fitting. In an embodiment, the generator body has a major axis and a minor axis.
It has a circular configuration.

When this y-doll-bearing is press-fit onto the generator body, its inner ring follows the specified oval configuration of the generator body, and its shape is transferred via the beer to its resilient outer ring.

In order to eliminate the need to manufacture a generator body with precise dimensions, the present invention makes the generator body have a predetermined elliptical shape, and changes along the circumference as a sine wave of 0 degrees. By guiding the inner ring to a single bearing on the generator body with one surface of the inner ring made in radial thickness, i.e. elliptical shape.
>It is proposed to adjust the ellipsoid of the outer ring of the W-le bearing. a molded outer periphery of the generator body;
By controlling the phase relationship between the molded inner race of the pole bearing, the amount of deflection imparted to the outer race of the pole bearing can be very precisely controlled. This makes it possible to overcome the disadvantages of prior art assemblies with constant thickness and non-adjustable inner rings.

The generator body and the one-way bearing can be engaged within the open end of a spline-shaped member called a flex spline. The closed end of this flex spline is attachable to a shaft moving within the housing. The outer circumference of the distal end of the flex-spline can have gear teeth arranged outwardly thereon. The gear teeth on the flex 0 spline can further mesh with internal gear teeth on the circular sedge line disposed within the nozzle.

The inner ring has an elliptical configuration;
Alternatively, this inner ring can have an outer periphery or surface that defines an elliptical configuration. The edge of this inner ring can be marked with a mark indicating its long sleeve or shaft. The body exhibiting a similar 4r# circular shape has its length till near its edges.
Alternatively, a mark indicating the short axis can be attached.

With the bearing press-fitted onto the body, the arcuate displacement or phase relationship between the mark on the inner ring of the wave generator bearing and the mark on the generator body is determined by each ellipsoidal member, in other words, by these phase relationships. Determine the additive or subtractive properties of the resulting sine wave. In this way, the width of the elliptical shape of the combination C can be determined by disassembling the generator body and generator bearing, rotating the required arcuate amount, and resetting the bearing. It can be easily changed by press-fitting and re-fixing.

When the long axis of the main body and the thickest part of the inner ring are in the same phase, the width of the sine wave of each member is under additive properties, producing a maximum elliptical shape in the outer ring. Similarly, when the long axis of the body and the thinnest part of the inner ring are in the same phase, the width of the sine wave of each member is subtractive, and the outer ring produces the smallest elliptical shape.

At an intermediate position in the above relationship between the inner ring and the generator main body 1'tfi, the resulting 4-if circle of the outer ring will fall at an intermediate position within both 4-fi end positions rt cDi depending on the state of the phase shift of the picture components.

The inner ring of the bearing is preferably glued to the outer periphery of the main body to prevent undesirable deviation between the two. Adhesives or other fixing means applied to the body are only for prevention of dislodgement and do not interfere with subsequent disassembly.

The generator body can have three ropes on it, and the inner ring of the bearing similarly has three radially thickened ropes arranged around its circumference, this arrangement This constitutes one alternative embodiment. This 3
The radial thickness of the inner ring in the embodiment with two ropes varies sinusoidally through a period of 720 degrees;
This/period is not 1 gO degree as that of the elliptical embodiment.

Displacement from one of the three ropes on the body of the inner ring of the bearing changes the position of the wave generator causing a change in the respective cumulative wave width.

Furthermore, seven embodiments featuring annular wave/tidal energizers other than those described above are
It has a circular shape. The bearing combined therewith has an outer ring of varying thickness and an elliptical shape on the outside, with each mating member Vr
- is marked. The angular positions of the marks from the long axes or from each other form cumulative waves of subtractive nature because they are out of phase. This annular wave regulator can be arranged in three rope shapes similar to the seven of the embodiments described in the previous part of this specification.

Furthermore, embodiments other than those described above have a j-shaped ring, and are characterized in that the wall thickness in the radial direction varies sinusoidally over 1 gθ degree on the circumference. In this embodiment, the 3!1 ring allows the variable thickness inner ring to have a uniform thickness in the radial direction. The hole or inner circumference of this annular ring is slightly smaller than the circumference of the generator body. Once the annular ring is pressed onto the generator body, the ring follows the overall shape of the body, changing the radial wall thickness of the annular ring and the length of the long axis of the annular ring and the generator body. A change in the arcuate displacement with respect to the axis results in a change in the width of the deflection waves of this assembly. The outer surface of this annular ring can act as a journal φ bearing for the mating flex spline bore, or it can be press-fit onto a conventional wave generator bearing whose inner ring has a uniform radial thickness. I can do it.

The objects and benefits of the present invention will become more apparent from the following drawings attached to this specification.

Referring to the drawings in more detail, and with particular reference to FIGS. 1 and 2, wave generator 20 is illustrated in US Pat. No. 1,901. ．． No. 1IIJ; Ko, q! q, No. 043 and 3. It is used in motion transmission devices such as those shown in No. AO'l, -g7.

Wave generator 20 features a generator body 22 in a preferred embodiment having an outer ring circumference 24 arranged in an elliptical shape. This generator main body 22,
Although not shown, it has a central hole 26 in which the shaft can be fixed. This generator body 22 is press-fitted into the bearing 30. The bearing 30 includes an elastic inner ring 32, an elastic outer ring 34, nine elements 36 including multiple rollers,
It consists of a cage or ball disassembly member 38 and an annular backing ring, not shown.

The inner ring 32 of the bearing 30 has a varying thickness.

In an unpress-fitted state (not press-fitted into the generator main body 22), the inner ring 32 has a circular outer surface 40. Preferably, the inner ring 32 has an elliptical inner surface 42, which means that the radial thickness of the inner ring 32 is equal to 31.0 divided by N equal to the number of lobes.
This means that it changes along the circumference as a sine wave of degrees.

An elliptical shape can be molded onto the outer surface 40 of the inner ring 32, and a circular inner surface is easily explainable, but will be explained later in this patent specification. In either case, inner ring 3
The inner periphery of the generator body 22 is slightly smaller than the outer periphery of the generator body 22, so that when the inner ring 32 is press-fitted into the generator body 22, its outer surface follows the elliptical (or non-circular) shape of the generator body and the inner ring The thickness of 32 changes and undergoes mutation.

Body 22 has a longitudinal axis A--A shown in FIG. Inner race 32 has a major axis B--B that is coincident with axis A--A in FIG. 1 and shown q0 degrees out of phase in FIG.

FIG. 3 is a sine wave diagram generated when the long axes of the tf1 circular wave generator members coincide with each other;
Here wave l represents the wave generated by the generator body 22 and wave 2 is the radial direction of the inner ring 32 implemented by the elliptical curvature of the outer surface 40 (or inner surface) of the inner ring 32, which is an embodiment of the element of FIG. It represents the waves generated by changes in the thickness of the . The algebraic sum of wave 1 and wave 20 is represented by wave 3, which is an additive property because the generators 22 and 32 are "in phase," and the width of wave 30 is larger than wave 1 or wave 2. Figure 1 is a sine wave diagram where the long axes of the elliptical wave generator members are generated in sets that are 90 degrees out of phase with each other, where wave 1 represents the wave generated by the generator body 22. , wave 2 is generated by the elliptical curvature of the outer surface 40 of the inner ring 32, and the long axis of the inner ring 32 is depicted 90 degrees out of phase as shown in FIG. The algebraic sum of wave 1 and wave 2 shows that wave 1 and wave 2 are out of phase by /gθ/N degrees, and wave 1 has a wider outer width than wave 2, so the composite wave 3 In this case, both are multiplied as a result. FIG. 1IA is a sine wave diagram generated when the long axes of the elliptical wave generator members are in phase IA of tS degrees with respect to each other, and has a width larger than wave 1 and wave 2, and a wave The sum of is an additive property in this part,
The remaining portions have subtractive properties. "N" in these diagrams represents the number of nodes or lobes in the generator body.

One alternative generator 50, shown slightly stretched in FIG. S, has a recoidal body 52 or trilogue wave generator having a central hole 54. This tricoidal body 52 has an outer periphery 58 arranged in a 30-b shape with three lobes labeled X IY and 2 instead of the λ lobes of the elliptical shape. The body 521 can be press fit into the bearing 60. This bearing 60 has an elastic inner ring 62 and an elastic outer ring 64.
and a plurality of rolling elements 66 between them.

Among the bearings 60, 111ia62 has a change in JJ.

In the unassembled and unpress-fitted state, the inner ring 62 has a perfectly circular inner surface 7.
0 and a trichoidal shaped outer surface 68. This 3
The radial thickness variation in the 0-wave embodiment varies through three sinusoidal periods of /period/, 20 degrees, instead of at λ in the elliptical shape.

Outer ring 64 is of uniform radius in the preferred embodiment. Angular movement of the inner ring 62 with respect to the tricoidal shape of the outer periphery 58 of the body 52, as in the embodiment described in the previous part of this specification, causes a phase shift and thus changes the width of their combined waves.

The outer rings 34 and 64 of the first and first embodiments are each engaged in a flex spline as shown in the last of the above referenced.

Furthermore, 4rlJ is shown in Figure 6 as another fruit.
It is shown as comprising an annular wave generator 82 having a perfectly circular periphery 84 .

The annular wave generator 82 may have an oval-shaped hole 86 into which a bearing 88 is press-fit. 88 bearings, 90 elastic outer rings,
consisting of a resilient inner ring 92 and an array of rolling elements 94;
These rolling elements are the pole separating members 9 that force the spacing.
It is located in 9. In this embodiment, the outer ring 90
The outer ring 90 has a perfectly circular outer periphery 96 and an elliptical inner periphery 9B as a means for changing the thickness of the outer ring 90 in the radial direction around its entire circumference, as in the inner ring described in the previous part of #IiF. have. The inner ring 92 has a perfect circular shape, has a uniform radial thickness, and is fitted with an elastic spline 100 that has spline teeth arranged around the inner periphery of its lip. It can be a cup-shaped member having a. This elastic spline 100
is radially displaceable about a circularly splined member 102 and has an input or an output, and an annular wave generator 8 that is an output or an input, respectively.
2 can be characterized.

Still another embodiment is shown in FIG. Here's the wave
- A generator 110 is partially shown, and this wave generator 110 has an elliptical (non-circular) generator body 112 and a Dale bearing 11
It consists of 4.

This pole bearing is provided with an elastic inner ring 118 having a uniform thickness in the radial direction, and between the inner ring 118 and the outer ring 116. - a plurality of poles arranged in the pole separation part +4122. This outer ring 11
6 mates with a deflection cup, not shown, for transmitting deflection waves. The J-shaped ring 124 is disposed between the generator main body 112 and the inner ring 11B. This annular ring 124 &:I has a radial bias that varies around its entire circumference and, like the bearing race of the embodiment described in the previous part of this specification, has a /N degrees, it turns into a sinusoidal wave. This annular ring 124 is of varying radial thickness, so that the race(s) of the bearing 114 in this embodiment are preferably As mentioned, it has a uniform radial thickness. The inner circumference of this annular ring 124 is slightly smaller than the circumference of the generator body 1120 with which it is matched.

When this annular ring 124 is press-fitted onto the generator main body 112, the annular ring CL/generator main body 112
, but as was the case with the example lace described earlier in this specification, the modified outer surface also , 15 between the generator body 112 and the +v, 1-shaped link ring 124 depending on its own radial thickness.
．． l] Also have an influence on the person in charge.

Each embodiment includes at least one of the plurality of lobes to identify a region in its immediate vicinity as a high point of the lobe.
near the arcuate center point are included in this specification for reference purposes. The designated letter "M" is entered as a mark. The ``L#'' character mark designated herein is placed on the edge of the variable thickness lace to indicate the thickest portion of the lobe or major axis of each lace.

In operation of the wave generator 20.50 or 80, their bearings are pressed into the generator body 22.52 or 82, respectively, with marks displaced in an arc according to the desired location, in order to produce the desired composite wave output. do. These races may be secured to their respective generator bodies with adhesive or other means to prevent undesired movement between them during operation of the wave generator.

If, due to misassembly or tolerance correction, it is necessary to reset or modify the wave output of a particular wave generator consisting of its main body or engineering ring VJ2, it
) can be disassembled from each bearing, realigning the respective marks and repressing them together.

In this alternative embodiment, only the respective races adjacent to the generator body or annular ring generator can be of variable JQ, with the other races on each of the respective bearings being of uniform thickness. Please be careful.

Although the invention has been described in some detail with respect to its most preferred embodiments, it is to be understood that the appended claims are in an exemplary manner and not limited to that particular embodiment.

[Brief explanation of the drawing]

FIG. 1 shows a wave diagram constructed in accordance with the principles of the present invention.
FIG. 3 is a side view of the generator. Figure W, 2 is a diagram of a wave generator according to the invention with components in an out-of-phase relationship. FIG. 3 is a phase relationship waveform diagram showing the wave generator of FIG. 7 in an in-phase relationship. Figure 2 shows the wave generator (1q configuration 81
It is a waveform diagram for ~ minutes. The PIIA diagram is a waveform diagram of the components of the wave generator under intermediate phase relationships. FIG. S is a diagram showing an alternative embodiment to that of FIG. FIG. 6 is a diagram showing another embodiment of the annular wave generator. FIG. 7 shows a further embodiment j-Vll showing parts of the generator body and bearing having "l-shaped rings with different radial thicknesses. 22, , 52, 82......Wave whirring non-rake main body 24.58, 86......Wave generation surrounding surface 3
Q, (3(1, 88...Bearing 32.62.90...Bearing ring F
IG, 3”

Claims (1)

[Claims] (11 Wave generator main body (22; 52; 82
) has a wave-generating peripheral surface (24; 58; 86) thereon; and a bearing (30; 6) on said wave-generating peripheral surface of said body.
0; 88) are fitted, and the bearing also has a wave-generating peripheral surface thereon, and the main body (22; "52; 82) and the bearing (
30; 60; 88) are mutually fixed and create a specific output wave from them.
generator mechanism. (2. In the mechanism set forth in claim 1, the wave υ1 generating peripheral surface of the bearing (30; 60; 88) constitutes a bearing ring (32; 62; 90), and the bearing ring constitutes the bearing ring (32; 62; A wave generator mechanism in which the thickness in the radial direction is changed along the circumference. (3) In the mechanism according to claim 1, the generator body (22; 52; 82) The surrounding surface is elliptical and has a ring (30; 6
0;88) Upper HQ bearing ring (32;62;90)
Wave generator machine 496 (4) consisting of (mouth 1'' (j shape) cedar L) 6 self-listed in claim 1 (in the above-mentioned pair lJy/'(30;6o
;5s) v) Upper NjE hair ring <32; 6
2 ; 90) dt Uesadami generator body (22
;52;82) Surrounding surface of the Shangguanchi wave generation (24;58
;86) to create a wave generator machine. (5) At σ%IΔ as stated in claim 2, the periphery of the generator main body (52)
8) is a wave generator mechanism having a trichoidal shape, and the bearing 1.4 (62) of the upper bearing (60) also forms a trichoidal shape.・(6) In the second claim, f<Isobu Y
In the generator main body (82), the generator body (82) constitutes an annular ring having an inner circumferential surface (86) with an outline J shape σ, and the bearing (88) is arranged within the inner circumferential surface (86) of the annular ring. The wave generator mechanism is provided in which the ring of the upper tiG bearing (88) is the outermost ring (90) and has an alternating thickness. (Force) In the mechanism according to claim 1, the wave generator body (22; 52; 82) and the bearing (30; 60; 88) are press-fitted into each other in a smooth-fitting relationship. Generator mechanism. (8) In the mechanism set forth in claim 1, the generator body (22; 52; 82) and the bearing ring (32; 62; 90) are free from undesirable deviations between them. A wave generator mechanism fixed to each other in order to prevent - Generator mechanism. tS In the mechanism according to claim 6,
A wave generator mechanism in which the generated waves are directed inward from the generator body. aυ Disturbing the mechanism described in claim 181:
The generator body (112) waves above it! 41I generating peripheral surface; an annular ring (124) is connected to the generator body (112);
), said annular ring (124) having a wave-generating peripheral surface thereon; said generator body (112) and said annular ring (1
24) are mutually placed, and an output wave is created from this. α ri In the mechanism described in claim 1/1,
The annular ring (124) is a wave generator mechanism in which the thickness in the radial direction changes along its circumference. Q31 In the mechanism according to claim 1, the bearing (114) has an elastic outer ring (116) and an elastic inner ring (118), and the bearing ring (116;
118) having uniform radial thickness along their periphery.