JPS60241550A - Deflection engagement type power transmission apparatus - Google Patents
Deflection engagement type power transmission apparatusInfo
- Publication number
- JPS60241550A JPS60241550A JP9590484A JP9590484A JPS60241550A JP S60241550 A JPS60241550 A JP S60241550A JP 9590484 A JP9590484 A JP 9590484A JP 9590484 A JP9590484 A JP 9590484A JP S60241550 A JPS60241550 A JP S60241550A
- Authority
- JP
- Japan
- Prior art keywords
- external gear
- gear
- wave generator
- internal
- power transmission
- 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
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
Description
【発明の詳細な説明】
産業上の利用分野
本発明はハーモニックドライブ(登録商標)の商品名で
知られ、各種機械装置において変速装置力
として使用される撓み噛合式動伝達装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a flexible mesh type power transmission device known by the trade name Harmonic Drive (registered trademark) and used as transmission power in various mechanical devices.
従来例の構成とその問題点
従来の撓み噛合式動力伝達装置においては第1図、第2
図、第3図にその具体構成を示すように、楕円状の外周
とボスをもつカムの外周部にボールベアリングを取付け
たウェーブゼエネレータ1と微少な歯数差をもつ2個の
内歯歯車2,3と、薄肉円筒状の撓み外歯歯車4で構成
されていた。The structure of the conventional example and its problems In the conventional flexible mesh type power transmission device, Fig. 1 and Fig. 2
As shown in Figs. 3 and 3, the wave generator 1 has a ball bearing attached to the outer periphery of a cam with an elliptical outer periphery and a boss, and two internal gears with a slight difference in the number of teeth. 2, 3, and a thin cylindrical flexible external gear 4.
その使用においては本体側6に固定される内歯歯車2と
、従動側6に固定される内歯歯車3.入力軸7に固定連
結されるウェーブゼエネレータ1と、内周においてウェ
ーブゼエネレータ1と嵌合し楕円状に撓みかつ楕円の長
軸側において2個の内歯歯車2,3と噛合う撓み外歯歯
車4で組立てられる。In its use, an internal gear 2 is fixed to the main body side 6, an internal gear 3 is fixed to the driven side 6. A wave generator 1 is fixedly connected to an input shaft 7, and an outer flexure that fits into the wave generator 1 on the inner circumference, is bent in an elliptical shape, and meshes with two internal gears 2 and 3 on the long axis side of the ellipse. It is assembled with gears 4.
その動作は入力軸7によりN 、 rpm で駆動され
たウェーブゼエネレータ1はウェーブゼエネレータ1の
長軸側で噛合う撓み外歯歯車4と2個の内両歯車2,3
に回転力を伝達し、固定側内歯歯車歯数z4.従動側内
歯歯車Z2 においては、従動側回転数N2 は、
1
式で表わされる回転数に減速され回転するものである。In its operation, the wave generator 1 is driven by an input shaft 7 at N rpm, and a flexible external gear 4 and two internal gears 2 and 3 mesh with each other on the long axis side of the wave generator 1.
The rotational force is transmitted to the fixed side internal gear tooth number z4. In the driven side internal gear Z2, the driven side rotational speed N2 is reduced to the rotational speed expressed by the following formula.
しかしながら上記のような構成では、歯数の異なる2つ
の内歯歯車2,3と撓み外歯歯車4の噛合いにおいて1
個のカムからなるウェーブゼエネレータ1により噛合わ
せるために歯車に転位を用いてバックラッシュの無い噛
合いを行なっているため歯車が摩耗しバンクラッシュが
発生し寿命が短かい、さらに、2つの内歯歯車2,3及
びウェーブゼエネレータ1の組立時の同心ズレに対し調
整機構を有しておらず駆動時に入力軸のトルク変動及び
出力軸の速度変動を発生する。また、駆動・時、撓み外
歯歯車4に対して軸方向の力が発生し本体と撓み外歯歯
車4の端面が摩擦され、効率低下の主因となっていた。However, in the above configuration, when the two internal gears 2 and 3 having different numbers of teeth mesh with the flexible external gear 4, one
In order to mesh with the wave generator 1 consisting of two cams, dislocation is used in the gears to achieve backlash-free meshing, so the gears wear and bank lash occurs, resulting in a short service life. It does not have an adjustment mechanism for concentric misalignment during assembly of the gears 2, 3 and the wave generator 1, which causes torque fluctuations of the input shaft and speed fluctuations of the output shaft during driving. Further, during driving, an axial force is generated against the flexible external gear 4, causing friction between the main body and the end face of the flexible external gear 4, which is a main cause of reduced efficiency.
発明の目的 本発明は上記欠点に鑑み、取付側の加工精度。purpose of invention In view of the above drawbacks, the present invention improves the processing accuracy on the mounting side.
組立精度を必要とせず、長寿命で摩耗の少ない、高効率
の撓み噛合式動力伝達装置を提供するものである。The present invention provides a highly efficient flexible mesh power transmission device that does not require assembly precision, has a long life, and has little wear.
発明の構成
本発明の撓み噛合式動力伝達装置は、入力軸を連結する
ボスと、前記ボスに取付けられた外周にボールベアリン
グを取付けた2個の形状の異なる楕円カムとで構成され
たウェーブゼエネレータと、ウエーブゼエネレータ外周
に組込まれ楕円状に撓まされる薄肉円筒状の撓み外歯歯
車と、楕円カムの長軸側2点で撓み外歯−歯車と噛合う
2個の微少な歯数差をもつ内歯歯車で構成されている。Composition of the Invention The flexible mesh power transmission device of the present invention is a wave gear transmission device that is composed of a boss that connects an input shaft, and two elliptical cams of different shapes that are attached to the boss and that have ball bearings attached to their outer peripheries. generator, a thin cylindrical flexible external gear built into the outer periphery of the wave generator and bent into an elliptical shape, and two minute numbers of teeth that mesh with the flexible external gear at two points on the long axis side of the elliptical cam. It is composed of internal gears with different differences.
入力軸を駆動することによりウエーブゼエネレータが回
転され、撓み外歯歯車と2個の内歯歯車はそれぞれ噛合
点を移動させつつ回転され2個の内歯歯車はその歯数差
から差動回転をするものである。The wave generator is rotated by driving the input shaft, and the flexible external gear and the two internal gears are rotated while moving their meshing points, and the two internal gears perform differential rotation due to the difference in the number of teeth. It is something that does.
この時、2個の楕円カムは撓み歯車と2個の内歯歯車の
それぞれの噛合いにおいて最も適した形状となっており
歯の摩耗が少なく効率が高いという特有の効果を有して
いる。At this time, the two elliptical cams have the most suitable shape for meshing with the flexural gear and the two internal gears, and have the unique effect of reducing tooth wear and high efficiency.
実施例の説明
以下本発明の一実施例について、図面を参照しながら説
明する。DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
第4図は本発明の実施例における撓み噛合式動力伝達装
置の分解図を示すものである。FIG. 4 shows an exploded view of a flexible mesh type power transmission device according to an embodiment of the present invention.
第4図において、8,9は微少な歯数差をもつ2個の内
歯歯車、10は内周部に凸部10′を有する薄肉円筒状
の撓み外歯歯車、11はフランジ面に角溝を有するボス
、11a 、 12bは形状の異なる楕円状で外周にボ
ールベアリングと端面に角溝を有する2個のカム、13
a、13bはリング状円形で両端面に直交する角形突起
を有する継手でありボス11及びカム13a、13bと
共にオルダム継手を構成する。14!L 、 1 +b
ハスペーサ、151L 、 15bは止メ輪でありボス
11に継手13a 、 13b及びカム12a、12b
をスペーサ14a、14b止メ輪1611L 、 15
bにより連結するもの°であり、ボス11とカム12!
L。In Fig. 4, 8 and 9 are two internal gears with a slight difference in the number of teeth, 10 is a thin-walled cylindrical flexible external gear with a convex portion 10' on the inner circumference, and 11 is a flange surface with an angle. The grooved bosses 11a and 12b are two cams 13 having different oval shapes and having a ball bearing on the outer periphery and a square groove on the end surface.
Numerals a and 13b are ring-shaped joints having square projections perpendicular to both end faces, and together with the boss 11 and cams 13a and 13b constitute an Oldham joint. 14! L, 1 +b
The spacers 151L and 15b are retaining rings, and the boss 11 has joints 13a and 13b and cams 12a and 12b.
Spacers 14a, 14b retaining rings 1611L, 15
The boss 11 and the cam 12 are connected by b.
L.
12b及び継手13a、13b、スペーサ14&。12b, joints 13a, 13b, spacer 14&.
14b、止メ輪15a 、15bで構成したものをウェ
ーブゼエネレータ16と呼ぶ。ウェーブゼエネレータ1
6は撓み外歯歯車1oの内周部で、2個のカム121L
、 12b外径は撓み外歯歯車1Qの内径と嵌合し撓
み外歯歯車、10を楕円状に撓めせしめさらに内周凸部
を挾み込む形で構成する。14b, retaining rings 15a, and 15b are called a wave generator 16. Wave Ze Generator 1
6 is the inner peripheral part of the flexible external gear 1o, and two cams 121L
, 12b has an outer diameter that fits into the inner diameter of the flexible external gear 1Q, so that the flexible external gear 10 is bent into an elliptical shape, and the inner circumferential convex portion is inserted between the outer diameter and the outer diameter of the flexible external gear 1Q.
2個の形状の異なる楕円カム12a、12bにより楕円
状に撓められた撓み外歯歯車1oは長軸側2点で2個の
内歯歯車8.Sと噛合わされる。この時の楕円カム12
a 、 12bの形状は第6図に示す。第6図Aにおい
て16は歯数の多い内歯歯車8の基準ピッチ円である、
17は歯数の少ない内歯歯車9の基準ピッチ円、18は
撓み外歯歯車歯
10の基準ピッチ円′を示しこのように撓み外歯車10
の基準ピッチ円は3個の歯車において最も小径の基準ピ
ッチ円を持つものである、この撓み外歯歯車10の基準
ピッチ円18を2個の内歯歯車8.9に噛合わす為には
第6図B及び0図に示すように楕円状に撓めその長軸が
内歯歯車8,9の基準ピッチ円と同寸法とすることであ
り、楕円カム12a 、 12bはこのように設定され
ているものである。The flexible external gear 1o, which is bent into an elliptical shape by two different shaped elliptical cams 12a and 12b, is connected to two internal gears 8. at two points on the long axis side. It meshes with S. Oval cam 12 at this time
The shapes of a and 12b are shown in FIG. In FIG. 6A, 16 is the reference pitch circle of the internal gear 8 with a large number of teeth.
Reference numeral 17 indicates a reference pitch circle for the internal gear 9 with a small number of teeth, and reference numeral 18 indicates a reference pitch circle for the flexible external gear teeth 10.
The reference pitch circle has the smallest diameter among the three gears.In order to mesh the reference pitch circle 18 of the flexible external gear 10 with the two internal gears 8.9, As shown in Figures 6B and 0, the cams 12a and 12b are bent in an elliptical shape, and the long axis thereof is the same size as the reference pitch circle of the internal gears 8 and 9, and the elliptical cams 12a and 12b are set in this way. It is something that exists.
以上のように構成された撓み噛合式動力伝達装置につい
て、以下その実機への組込とその動作を説明する。第6
図において、本体側19に内歯歯車8及び従動側20に
内歯歯車9が固定され、入力軸21にウェーブゼエネレ
ータ(ボス11.カム12L 、 12b 、継手13
2L 、 13b )16が連結されており、撓み外歯
歯車10はウェーブゼエネレータ16の外周部に組込ま
れ楕円状に撓められ長軸方向において内歯歯車8,9と
噛合っている。入力軸の回転駆動により、内歯歯車8,
9はそれぞれ噛合点を移動させつつ回転され歯数差から
差動回転を行ない従動側20は本体側19に対して減速
回転を行なわせしめるものである。Regarding the flexible mesh power transmission device configured as described above, its incorporation into an actual machine and its operation will be described below. 6th
In the figure, an internal gear 8 is fixed to the main body side 19, an internal gear 9 is fixed to the driven side 20, and a wave generator (boss 11, cams 12L, 12b, joint 13) is fixed to the input shaft 21.
2L, 13b) 16 are connected to each other, and the flexible external gear 10 is built into the outer circumference of the wave generator 16, is bent into an ellipse, and meshes with the internal gears 8 and 9 in the longitudinal direction. Due to the rotational drive of the input shaft, the internal gear 8,
9 are rotated while moving their meshing points, and differential rotation is performed due to the difference in the number of teeth, and the driven side 20 is caused to perform deceleration rotation with respect to the main body side 19.
このように、2個の形状の異なる楕円状のカム12&
、 12bを使用することにより歯数の異なる内歯歯車
8,9と撓み外歯歯車1oを歯車の転位を用いることな
く最適に噛合わすことができ、歯車の摩耗が少なく長寿
命化される。In this way, two elliptical cams 12 &
, 12b, the internal gears 8, 9 having different numbers of teeth and the flexible external gear 1o can be optimally meshed without using gear dislocation, resulting in less gear wear and longer life.
上記構成において、カム12&、12bは入力軸21に
対してオルダム継手により連絡されており、入力軸21
と内歯歯車8,9の心ズレに自動対応して入力軸21の
トルク変動を均一化、低下せしめさらに、等角速度で伝
達されるため縦動側の速度変動を回避するものである。In the above configuration, the cams 12&, 12b are connected to the input shaft 21 by an Oldham joint, and the input shaft 21
The torque fluctuations of the input shaft 21 are uniformized and reduced by automatically responding to misalignment of the internal gears 8 and 9, and furthermore, since the torque is transmitted at a constant angular velocity, speed fluctuations on the longitudinal side are avoided.
撓み外歯歯車10の内周面の凸部10′は、2個のカム
12L 、 12bのベアリングにより微少な隙間を持
ちつつ挾まれた構成としており撓み外歯歯車10の軸方
向への移動を制限し、撓み外歯歯車10の端面の本体側
19及び従動側2oへの摩擦を防げ摩耗とトルクロスを
低下せしめたものである。The convex portion 10' on the inner circumferential surface of the flexible external gear 10 is sandwiched between the bearings of the two cams 12L and 12b with a slight gap between them, thereby preventing the flexible external gear 10 from moving in the axial direction. This prevents friction of the end surface of the flexible external gear 10 against the main body side 19 and the driven side 2o, thereby reducing wear and torque loss.
発明の効果
以上のように、2個の形状の異なる楕円カムを使用し、
微少な歯数差を有する内歯歯車と撓み外歯歯車を噛合わ
す構成であ′るだめ、各歯車の噛合いにおいて最適のも
のとすることができ、・長寿命化が達成され、オルダム
継手の構成により取付精度によるトルクムラ及び速度変
動の発生を解消させ高精度化が行なわれた。As described above, two elliptical cams with different shapes are used,
Since the structure meshes an internal gear with a small difference in the number of teeth and a flexible external gear, the meshing of each gear can be optimized, resulting in a long service life and an Oldham coupling. This configuration eliminates torque unevenness and speed fluctuations caused by mounting accuracy and achieves high accuracy.
第1図は従来の撓み噛合式動力伝達装置の分解斜視図、
第2図は同噛合図、第3図は同断面図、第4図は本発明
の一実施例の分解斜視図、第6図人、B、Oは同噛合説
明図、第6図は本発明の一実施例の撓み噛合式動力伝達
装置の断面図である。
1・・・・・・ウェーブゼエネレータ、2,3・・・・
・・内歯歯車、4・・・・・・撓み外歯歯車、8,9・
・・・・・内歯歯車、1o・・・・・・撓み外歯歯車、
11・・・・・・ボス、12a。
12b・・・・・・カム、131L、13b・・・・・
・継手。
代理人の氏名 弁理士 中 尾 敏 男 ほか1名第1
図
第5図
第6図Figure 1 is an exploded perspective view of a conventional flexible mesh power transmission device.
Fig. 2 is a diagram of the same engagement, Fig. 3 is a sectional view of the same, Fig. 4 is an exploded perspective view of an embodiment of the present invention, Fig. 6 is an explanatory diagram of the same engagement, and Fig. 6 is an illustration of the same engagement. FIG. 1 is a sectional view of a flexible mesh power transmission device according to an embodiment of the invention. 1...Wave Ze Generator, 2, 3...
・・Internal gear, 4・・Flexible external gear, 8, 9・
...Internal gear, 1o...Flexible external gear,
11...Boss, 12a. 12b...Cam, 131L, 13b...
・Joints. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 5 Figure 6
Claims (3)
た外周にボールベアリングを取付けた2個の形状の異な
る楕円カムとで構成されたウェーブゼエネレータと、微
少な歯数差をもつ2個の内歯歯車と、薄肉円筒状の撓み
外歯歯車とを備えた撓み噛合式動力伝達装置。(1) A wave generator consists of a boss that connects the input shaft, two elliptical cams of different shapes with ball bearings attached to the outer periphery attached to the boss, and two cams with a slight difference in the number of teeth. A flexible mesh power transmission device comprising two internal gears and a thin-walled cylindrical flexible external gear.
撓み噛合式動力伝達装置。(2) The flexible mesh power transmission device according to claim 1, wherein the two elliptical cams are each connected to the boss through an Oldham joint via a 9-way pin.
エネレータに対して軸方向の移動を制限し阜 た特許請求範囲第1項記載の撓み噛合式動力伝達装置。(3) The flexible mesh type power transmission device according to claim 1, wherein the flexible external gear has a convex portion on the inner circumferential portion to limit movement in the axial direction with respect to the wave generator.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9590484A JPS60241550A (en) | 1984-05-14 | 1984-05-14 | Deflection engagement type power transmission apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9590484A JPS60241550A (en) | 1984-05-14 | 1984-05-14 | Deflection engagement type power transmission apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS60241550A true JPS60241550A (en) | 1985-11-30 |
Family
ID=14150279
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9590484A Pending JPS60241550A (en) | 1984-05-14 | 1984-05-14 | Deflection engagement type power transmission apparatus |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60241550A (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5016491A (en) * | 1987-07-15 | 1991-05-21 | Innoke Oy | Gear assembly |
CN104832604A (en) * | 2014-02-07 | 2015-08-12 | 住友重机械工业株式会社 | Flexible engagement gear device |
CN104864037A (en) * | 2014-02-21 | 2015-08-26 | 住友重机械工业株式会社 | Flexible engagement gear device |
WO2017006443A1 (en) * | 2015-07-07 | 2017-01-12 | 株式会社ハーモニック・ドライブ・システムズ | Strain wave gearing and wave generator |
KR20180002817A (en) * | 2015-06-02 | 2018-01-08 | 닛산 지도우샤 가부시키가이샤 | The variable compression ratio mechanism |
EP3306054A4 (en) * | 2015-06-02 | 2018-05-23 | Nissan Motor Co., Ltd. | Variable compression ratio mechanism for internal combustion engine |
CN112728013A (en) * | 2019-10-28 | 2021-04-30 | 住友重机械工业株式会社 | Flexible engagement type gear device |
-
1984
- 1984-05-14 JP JP9590484A patent/JPS60241550A/en active Pending
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5016491A (en) * | 1987-07-15 | 1991-05-21 | Innoke Oy | Gear assembly |
CN104832604A (en) * | 2014-02-07 | 2015-08-12 | 住友重机械工业株式会社 | Flexible engagement gear device |
DE102014018184A1 (en) | 2014-02-07 | 2015-08-13 | Sumitomo Heavy Industries, Ltd. | Transmission device of flexibly engaging type |
JP2015148326A (en) * | 2014-02-07 | 2015-08-20 | 住友重機械工業株式会社 | Flexible meshing type gear device |
CN104864037A (en) * | 2014-02-21 | 2015-08-26 | 住友重机械工业株式会社 | Flexible engagement gear device |
DE102014017530A1 (en) | 2014-02-21 | 2015-08-27 | Sumitomo Heavy Industries, Ltd. | Transmission device of flexibly engaging type |
JP2015158218A (en) * | 2014-02-21 | 2015-09-03 | 住友重機械工業株式会社 | Flexible meshing-type gear device |
KR20180002817A (en) * | 2015-06-02 | 2018-01-08 | 닛산 지도우샤 가부시키가이샤 | The variable compression ratio mechanism |
CN107614851A (en) * | 2015-06-02 | 2018-01-19 | 日产自动车株式会社 | The variable compression ratio of internal combustion engine |
EP3306054A4 (en) * | 2015-06-02 | 2018-05-23 | Nissan Motor Co., Ltd. | Variable compression ratio mechanism for internal combustion engine |
EP3306053A4 (en) * | 2015-06-02 | 2018-05-23 | Nissan Motor Co., Ltd. | Variable compression ratio mechanism for internal combustion engine |
US10400667B2 (en) | 2015-06-02 | 2019-09-03 | Nissan Motor Co., Ltd. | Variable compression ratio mechanism for internal combustion engine |
US10400666B2 (en) | 2015-06-02 | 2019-09-03 | Nissan Motor Co., Ltd. | Variable compression ratio mechanism for internal combustion engine |
WO2017006443A1 (en) * | 2015-07-07 | 2017-01-12 | 株式会社ハーモニック・ドライブ・システムズ | Strain wave gearing and wave generator |
CN112728013A (en) * | 2019-10-28 | 2021-04-30 | 住友重机械工业株式会社 | Flexible engagement type gear device |
JP2021067343A (en) * | 2019-10-28 | 2021-04-30 | 住友重機械工業株式会社 | Flexible meshing gear device |
DE102020128086B4 (en) | 2019-10-28 | 2024-07-18 | Sumitomo Heavy Industries, Ltd. | BENDING ENGAGEMENT TYPE GEAR DEVICE |
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