JPS6242198Y2 - - Google Patents
Info
- Publication number
- JPS6242198Y2 JPS6242198Y2 JP13899783U JP13899783U JPS6242198Y2 JP S6242198 Y2 JPS6242198 Y2 JP S6242198Y2 JP 13899783 U JP13899783 U JP 13899783U JP 13899783 U JP13899783 U JP 13899783U JP S6242198 Y2 JPS6242198 Y2 JP S6242198Y2
- Authority
- JP
- Japan
- Prior art keywords
- gear
- internal gear
- internal
- gears
- external
- 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.)
- Expired
Links
- 230000000694 effects Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Description
【考案の詳細な説明】
産業上の利用分野
本考案は、調和歯車装置に関し、特に調和歯車
装置における外歯歯車と内歯歯車とのバツクラツ
シを調整できる調和歯車装置に関する。[Detailed Description of the Invention] Industrial Application Field The present invention relates to a harmonic gear device, and more particularly to a harmonic gear device that can adjust the backlash between an external gear and an internal gear in the harmonic gear device.
従来技術
剛性円形内歯歯車と、この内歯歯車の内側に設
けられる薄肉円筒状の可撓性外歯歯車と、この外
歯歯車の内側にあつて該外歯歯車を楕円形に撓め
該楕円の長軸上の点で外歯歯車を内歯歯車に噛合
せるとともに楕円形状を回転させるようになつた
ウエーブジエネレータとから成る調和歯車装置は
よく知られている。この装置において外歯歯車と
内歯歯車との噛合い点におけるバツクラツシは、
使用時間が経過するにつれて歯面の摩耗等により
大きくなり、調整の必要が生じる。Prior Art A rigid circular internal gear, a thin cylindrical flexible external gear provided inside the internal gear, and a flexible external gear provided inside the external gear that bends the external gear into an elliptical shape. A harmonic gear system consisting of an external gear meshing with an internal gear at a point on the long axis of the ellipse and a wave generator adapted to rotate the elliptical shape is well known. In this device, the backlash at the meshing point between the external gear and the internal gear is:
As usage time passes, the size increases due to wear on the tooth surface, etc., and adjustment becomes necessary.
かかるバツクラツシを調整できる調和歯車装置
は、特開昭57−114051号公報（昭和57年７月15日
出願公開）により公知である。かかる公知の装置
では、２組のフラツト形調和歯車が並置され各組
の内側の内歯歯車が第２アームに、各組の外側の
内歯歯車が第１アームに固定され、第２アームに
固着された２つの内歯歯車を相対的に回転方向に
ずらして、外歯歯車との間に生ずるバツクラツシ
を調整できるようにしている。 A harmonic gear device capable of adjusting such a backlash is known from Japanese Unexamined Patent Publication No. 114051/1983 (published on July 15, 1988). In such a known device, two sets of flat harmonic gears are arranged side by side, the inner ring gear of each set is fixed to a second arm, the outer ring gear of each set is fixed to a first arm, and the outer ring gear of each set is fixed to a second arm. The two fixed internal gears are relatively shifted in the rotational direction so that the backlash that occurs between them and the external gear can be adjusted.
かかる公知の装置は内歯歯車と外歯歯車との間
のバツクラツシを調整できる点で好ましいもので
あるが、フラツト形調和歯車装置を２組必要とし
ており、費用が増すだけでなく大形化する欠点が
ある。 Although such a known device is preferable in that it is possible to adjust the backlash between the internal gear and the external gear, it requires two sets of flat harmonic gear devices, which not only increases cost but also increases the size. There are drawbacks.
考案の目的
従つて本考案の目的は、小型で安価な、バツク
ラツシ調整可能な調和歯車装置を提供するにあ
る。OBJECT OF THE INVENTION Accordingly, an object of the present invention is to provide a harmonic gearing device that is compact, inexpensive, and has adjustable backlash.
考案の構成
かかる目的を達成するため、本考案による調和
歯車装置では、剛性円形内歯歯車が同じ歯数を有
する２つの部分から成り、一方の内歯歯車部分は
他方の内歯歯車部分に対して回転するように取付
けられており、この回転による両歯車部分の偏角
を所定の値に維持する部材が設けられて成る。Structure of the Invention In order to achieve the above object, in the harmonic gear device according to the present invention, the rigid circular internal gear is composed of two parts having the same number of teeth, and one internal gear part has a difference with respect to the other internal gear part. A member is provided to maintain the deflection angle of both gear portions at a predetermined value due to this rotation.
考案の作用
両歯車部分の歯みぞによつて形成される内歯歯
車としての歯みぞの幅は、両歯車部分の偏角の大
きさによつて変化し、例えば摩耗によつて歯みぞ
幅が大きくなりバツクラツシが大きくなつた場
合、両歯車部分の偏角を大きくして歯みぞ幅を小
さくしこれによつてバツクラツシを適正に調整す
ることができる。Effect of the invention The width of the tooth groove as an internal gear formed by the tooth grooves of both gear parts changes depending on the magnitude of the declination angle of both gear parts.For example, the tooth groove width may change due to wear. When the diameter increases and the backlash increases, the deflection angle of both gears is increased to reduce the tooth groove width, thereby making it possible to appropriately adjust the backlash.
考案の効果
従つて本考案によれば、２つのフラツト形調和
歯車装置を用いることなく、内歯歯車を２つに分
割するだけの簡単な構成で、バツクラツシを調整
することができ、これにより安価で小形の、バツ
クラツシ調整可能な調和歯車装置が提供される。Effects of the invention Therefore, according to the invention, it is possible to adjust the backlash with a simple configuration of just dividing the internal gear into two without using two flat harmonic gear devices, which makes it possible to adjust the backlash at low cost. A compact, backlash-adjustable harmonic gearing device is provided.
実施例
以下図面を参照しながら本考案の実施例につい
て説明する。第１図及び第２図において、本考案
によるバツクラツシ調整機構を備えたカツプ形調
和歯車装置が示されている。本考案が適用される
調和歯車装置は、図示のカツプ形のものに限られ
ず、例えば、剛性の円形材料で成る偏平な２つの
内歯歯車と両歯車の内歯に噛み合う可撓性の外歯
歯車とこの外歯歯車を楕円に撓ませて外歯歯車を
回転させることなく楕円を回転させるウエーブジ
エネレータとから成るフラツト形調和歯車装置で
あつてもよい。Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2, a cup-shaped harmonic gearing device with a backlash adjustment mechanism according to the present invention is shown. The harmonic gear device to which the present invention is applied is not limited to the cup-shaped one shown in the figure, but includes, for example, two flat internal gears made of a rigid circular material and flexible external gears that mesh with the internal teeth of both gears. It may be a flat harmonic gear device comprising a gear and a wave generator that bends the external gear into an ellipse and rotates the ellipse without rotating the external gear.
図示のカツプ形調和歯車装置１は、１つの剛性
の円形内歯歯車２と、この内歯歯車２の内側に設
けられ且つ側方に延長して終端部が内方に収束し
たカツプ状に形成された薄肉円筒状の外歯歯車３
と、この外歯歯車３の内側にあつて該外歯歯車３
を楕円形に撓め該楕円の長軸上の点で外歯歯車３
を内歯歯車２に噛合せるとともに楕円形状を回転
させるようになつたウエーブジエネレータ４とか
ら成り、ウエーブジエネレータ４は、楕円形のカ
ム板５と外歯歯車３を回転させることなくカム板
５を回転させるベアリング６とから成る。外歯歯
車３と内歯歯車２の歯数は例えば２歯の差をもつ
て形成されており、ウエーブジエネレータ４の回
転により外歯歯車３の内歯歯車２に対する噛合い
点が歯数差だけずれ相対回転することになる。こ
れを利用して、例えば内歯歯車２を機枠等に固定
すると外歯歯車３がウエーブジエネレータ４の１
回転に対し２歯分だけ回転して大きな減速比を得
ることができる。 The illustrated cup-shaped harmonic gear device 1 includes one rigid circular internal gear 2, and is formed into a cup shape that extends laterally and converges inwardly on the inside of this internal gear 2. thin-walled cylindrical external gear 3
And, inside this external gear 3, the external gear 3
is bent into an ellipse, and the external gear 3 is bent at a point on the long axis of the ellipse.
The wave generator 4 is configured to mesh with the internal gear 2 and rotate the elliptical shape. 5 and a bearing 6 that rotates the bearing 5. The number of teeth of the external gear 3 and the internal gear 2 are formed to have a difference of, for example, two teeth, and as the wave generator 4 rotates, the meshing point of the external gear 3 with the internal gear 2 changes to the difference in the number of teeth. This results in a relative rotation. Utilizing this, for example, when the internal gear 2 is fixed to a machine frame, the external gear 3 is attached to one part of the wave generator 4.
A large reduction ratio can be obtained by rotating by two teeth.
上記のように内歯歯車２と外歯歯車３とは噛合
つており、両歯の間にはバツクラツシが形成され
る。このバツクラツシが適正な値であれば、両歯
車は滑らかな回転をする。しかし、長期の使用に
よつて歯面が摩耗すると歯みぞの幅が増大し、バ
ツクラツシが増加して適正な値から外れてくる。 As described above, the internal gear 2 and the external gear 3 mesh with each other, and a backlash is formed between the two teeth. If this backlash is an appropriate value, both gears will rotate smoothly. However, when the tooth surface wears out due to long-term use, the width of the tooth groove increases, and the breakage increases and deviates from the appropriate value.
本考案においては、剛性円形内歯歯車２が、同
じ歯数を有する２つの部分８及び９から成る。両
部分８，９は内歯歯車の歯を２等分する厚さを有
するのが好ましく、これにより、内歯歯車２の歯
みぞの全体幅は同じ長さの各部分の歯みぞによつ
て形成される。内歯歯車部分８には例えば円形凹
所が形成され、もう１つの内歯歯車部分９をすつ
ぽりその凹所内に受入れるようになつている。凹
所内に受入れられた内歯歯車部分９は、他の内歯
歯車部分８に対して回転するように取付けられて
いる。その回転は１回転できるものでなくとも、
１ピツチ分ずれる程度で十分である。例えば、両
内歯歯車部分８，９が歯をそろえた状態では歯み
ぞの幅がW1（第３図ａ）であるすると、内歯歯
車部分９を他の内歯歯車部分８に対して偏角θ
（第３図ｂ）だけ回転させると、内歯歯車部分９
の歯みぞと他の内歯歯車部分８の歯みぞとがず
れ、両部分の進み側歯面と追い側歯面とで作る内
歯歯車２の全体としての歯みぞの幅W2が第３図
ａの歯みぞの幅W1より小さくなる。この歯みぞ
の幅W1は、歯面の摩耗等によつて大きくなるが
歯の１ピツチを越えることはできず、それを越え
る場合には歯車自体の損壊であるから交換される
べきであり、部分９が部分８に対して回転できる
のは１ピツチ分で十分である。 In the present invention, the rigid circular internal gear 2 consists of two parts 8 and 9 with the same number of teeth. Both parts 8, 9 preferably have a thickness that bisects the teeth of the internal gear, so that the overall width of the tooth groove of the internal gear 2 is determined by the tooth grooves of each part having the same length. It is formed. For example, a circular recess is formed in the internal gear part 8 and is adapted to receive a further internal gear part 9 snugly into the recess. The internal gear part 9 received in the recess is mounted for rotation with respect to the other internal gear part 8 . Even if the rotation is not one rotation,
A deviation of one pitch is sufficient. For example, when the teeth of both internal gear parts 8 and 9 are aligned, the width of the tooth groove is W 1 (Fig. 3 a). Declination angle θ
(Fig. 3b), the internal gear part 9
The tooth groove of the internal gear 2 and the tooth groove of the other internal gear part 8 are misaligned, and the width W 2 of the tooth groove as a whole of the internal gear 2 formed by the leading side tooth surface and the trailing side tooth surface of both parts is 3rd. It will be smaller than the tooth groove width W 1 in figure a. The width W1 of this tooth groove increases due to wear on the tooth surface, etc., but it cannot exceed one tooth pitch, and if it exceeds that, the gear itself is damaged and should be replaced. , one pitch is sufficient for portion 9 to rotate with respect to portion 8.
歯みぞの幅W1（第３図ａ）が歯面の摩耗等に
より大きくなつてバツクラツシが適正な値より大
きくなつた場合、第３図ｂに示すように内歯歯車
部分９を部分８に対して偏角θだけ回転させ適正
な歯みぞ幅W2を得てバツクラツシを調整するこ
とができる。この調整のため、第２図に最もよく
示すように、内歯歯車部分８には調整ねじ１０が
ねじ込まれており、その先端は内歯歯車部分９に
形成された凹所１１の肩１２に当接している。従
つてねじ１０をねじ込むとその先端が肩１２を押
して内歯歯車部分９を回転させる。偏角θの維持
は、ねじ１０の先端が肩１２に当接するだけで十
分である。これは、内歯に噛み合う外歯歯車の歯
面もテーパしており、その噛み合いの際に両部分
８，９をそろえる、すなわち偏角θを零にしよう
と作用するので、ねじ１０により偏角θだけずら
す方向に押すだけでよいからである。従つて、調
整ねじ１０は偏角θだけ内歯歯車部分９を回転さ
せるだけでなく、その偏角θを維持する作用も果
す。 If the width W 1 of the tooth groove (Fig. 3a) increases due to tooth surface wear, etc., and the backlash becomes larger than the appropriate value, the internal gear part 9 should be changed to the part 8 as shown in Fig. 3b. On the other hand, it is possible to adjust the backlash by rotating the tooth groove by the angle θ to obtain an appropriate tooth groove width W2 . For this adjustment, as best shown in FIG. are in contact. Therefore, when the screw 10 is screwed in, its tip presses against the shoulder 12 and rotates the internal gear portion 9. In order to maintain the deflection angle θ, it is sufficient that the tip of the screw 10 contacts the shoulder 12. This is because the tooth surface of the external gear that meshes with the internal teeth is also tapered, and when they mesh, it acts to align both parts 8 and 9, that is, to make the declination angle θ zero, so the screw 10 is used to reduce the declination angle. This is because it is only necessary to push in the direction of shifting by θ. Therefore, the adjusting screw 10 not only rotates the internal gear portion 9 by the deflection angle θ, but also serves to maintain the deflection angle θ.
なお、上記の例では、２つに分割された内歯歯
車部分の内、一方が他方にすつぽりと収容される
ように構成したが、２分割された並置構造のもの
でよいことは当然であり、この場合には、バツク
ラツシ調整兼維持部材としてはビス・ナツトある
いは他の任意の固着具が用いられるであろう。ま
た、カツプ形調和歯車装置だけでなく、内歯歯車
を一対用いるフラツト形調和歯車装置にも本考案
を適用することができる。更に調整ねじのロツク
のために、止めねじを付加してもよい。 In addition, in the above example, one of the internal gear parts divided into two parts was constructed so as to be accommodated in the other part, but it is also possible to have a structure in which the two parts are juxtaposed. Of course, in this case, screws and nuts or any other fastening device would be used as the backlash adjustment and maintenance member. Furthermore, the present invention can be applied not only to cup-type harmonic gears but also to flat-type harmonic gears that use a pair of internal gears. Furthermore, a set screw may be added to lock the adjustment screw.
第１図は本考案によるバツクラツシ調整機構を
設けたカツプ形調和歯車装置の断面図であつて、
第２図のＡ−Ａ線断面図、第２図は第１図の矢印
Ｂ方向から見た平面図、第３図ａ及びｂはバツク
ラツシの調整の様子を示す説明図である。
１……調和歯車装置、２……内歯歯車、３……
外歯歯車、４……ウエーブジエネレータ、８，９
……内歯歯車部分、１０……調整ねじ、１１……
凹所、１２……肩。
FIG. 1 is a sectional view of a cup-shaped harmonic gear device equipped with a backlash adjustment mechanism according to the present invention,
FIG. 2 is a cross-sectional view taken along the line A--A in FIG. 2, FIG. 2 is a plan view seen from the direction of arrow B in FIG. 1, and FIGS. 1... Harmonic gear device, 2... Internal gear, 3...
External gear, 4... Wave generator, 8, 9
... Internal gear part, 10 ... Adjustment screw, 11 ...
Recess, 12...Shoulder.
Claims (1)
設けられる薄肉円筒状の可撓性外歯歯車と、こ
の外歯歯車の内側にあつて該外歯歯車を楕円形
に撓め該楕円の長軸上の点で外歯歯車を内歯歯
車に噛合せるとともに楕円形状を回転させるよ
うになつたウエーブジエネレータとから成る調
和歯車装置において、前記剛性円形内歯歯車が
同じ歯数を有する２つの部分から成り、一方の
内歯歯車部分は他方の内歯歯車部分に対して回
転するように取付けられており、この回転によ
る両歯車部分の偏角を所定の値に維持する部材
が設けられて成ることを特徴とする調和歯車装
置。 ２ 一方の内歯歯車部分は他方の内歯歯車部分に
形成された円形凹所内に組込まれるように形成
されており、前記偏角を維持する部材は他方の
内歯歯車部分から一方の歯車部分に延びるねじ
であつて該ねじの螺入により偏角が増すように
なつている前記第１項記載の装置。 ３ 一方の内歯歯車部分と他方の内歯歯車部分と
が並置されており、前記偏角を維持する部材は
両歯車を固定するビス・ナツトである前記第１
項記載の装置。 ４ 外歯歯車が側方に延長しその終端が半径方向
内方に収束してカツプ形状に形成されている前
記第１項記載の装置。 ５ 内歯歯車が共軸に並置された一対の歯車から
成り、外歯歯車に両内歯歯車が噛み合つてお
り、両内歯歯車の歯数が異なつている前記第１
項記載の装置。[Scope of Claim for Utility Model Registration] 1. A rigid circular internal gear, a thin cylindrical flexible external gear provided inside the internal gear, and the external gear located inside the external gear. and a wave generator which is bent into an elliptical shape so that the external gear meshes with the internal gear at a point on the long axis of the ellipse and rotates the elliptical shape. A gear consists of two parts having the same number of teeth, one internal gear part is attached to rotate with respect to the other internal gear part, and the deflection angle of both gear parts due to this rotation is determined by a predetermined value. A harmonic gear device comprising a member for maintaining the value of . 2. One internal gear part is formed to be incorporated into a circular recess formed in the other internal gear part, and the member for maintaining the declination angle is connected to one gear part from the other internal gear part. 2. The device according to claim 1, wherein the device is a screw extending in the direction of the arrow, and the deflection angle increases as the screw is threaded into the device. 3. One internal gear portion and the other internal gear portion are juxtaposed, and the member for maintaining the declination angle is a screw nut that fixes both gears.
Apparatus described in section. 4. The device according to item 1, wherein the external gear extends laterally and has a terminal end converging radially inward to form a cup shape. 5. The above-mentioned first gear, in which the internal gear is composed of a pair of coaxially arranged gears, both internal gears are meshed with the external gear, and the numbers of teeth of both internal gears are different.
Apparatus described in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13899783U JPS6045959U (en) | 1983-09-06 | 1983-09-06 | harmonic gearing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13899783U JPS6045959U (en) | 1983-09-06 | 1983-09-06 | harmonic gearing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6045959U JPS6045959U (en) | 1985-04-01 |
| JPS6242198Y2 true JPS6242198Y2 (en) | 1987-10-29 |
Family
ID=30311691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13899783U Granted JPS6045959U (en) | 1983-09-06 | 1983-09-06 | harmonic gearing |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6045959U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2003368A2 (en) * | 2006-03-31 | 2008-12-17 | JTEKT Corporation | Flexible meshing-type gear device and steering device for vehicle |
-
1983
- 1983-09-06 JP JP13899783U patent/JPS6045959U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6045959U (en) | 1985-04-01 |
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