JPS63235747A - Harmonic driving device - Google Patents
Harmonic driving deviceInfo
- Publication number
- JPS63235747A JPS63235747A JP7071687A JP7071687A JPS63235747A JP S63235747 A JPS63235747 A JP S63235747A JP 7071687 A JP7071687 A JP 7071687A JP 7071687 A JP7071687 A JP 7071687A JP S63235747 A JPS63235747 A JP S63235747A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- input shaft
- internal
- external gear
- teeth
- 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
- 239000000463 material Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
-
- 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
Abstract
Description
【発明の詳細な説明】
〔概 要〕
内歯歯車に、入力軸を軸支するための支承部を設けて、
該内歯歯車で入力軸を直接位置決めすることにより、内
歯歯車と入力軸との偏心に起因する、線形入力に対する
出力の非線形性を少なくした調和駆動装置である。[Detailed Description of the Invention] [Summary] An internal gear is provided with a support portion for pivotally supporting an input shaft,
By directly positioning the input shaft with the internal gear, this harmonic drive device reduces nonlinearity in the output relative to the linear input, which is caused by eccentricity between the internal gear and the input shaft.
本発明は、例えば、ロボットの関節部においてモータの
駆動力をアームに伝達するために用いられる調和駆動装
置に係り、特に組み込み時に生ずる偏心量を小さくでき
、偏心が原因で起こる出力軸の周期的位置ずれおよびト
ルクむらを低減することが可能な調和駆動装置に関する
。The present invention relates to a harmonic drive device used for transmitting the driving force of a motor to an arm in a joint part of a robot, for example, and in particular can reduce the amount of eccentricity that occurs during installation, and can reduce the periodicity of the output shaft caused by eccentricity. The present invention relates to a harmonic drive device capable of reducing positional deviation and torque unevenness.
今日の産業用ロボットの分野では精密部品の組立用ロボ
ットの要求が高まりロボット自身の精度が必要となって
来た。このようなロボットを実現を低減することが必要
とされる。In today's industrial robot field, the demand for robots for assembling precision parts has increased, and the precision of the robots themselves has become necessary. There is a need to reduce the realization of such robots.
第2図は従来の調和駆動装置の断面図であり、ロボット
の関節部に組込まれた状態を示し、第3図は調和駆動装
置の構成を示す図で第2図における調和駆動装置部分の
みをA−A断面で示している。Fig. 2 is a sectional view of a conventional harmonic drive device, showing the state in which it is incorporated into the joint of a robot, and Fig. 3 is a diagram showing the configuration of the harmonic drive device, showing only the harmonic drive device part in Fig. 2. It is shown in the AA cross section.
まず、第2図により従来の調和駆動装置が例えば多関節
ロボットの関節部に組み込まれた状態を説明する。First, with reference to FIG. 2, a state in which a conventional harmonic drive device is incorporated into, for example, a joint part of an articulated robot will be explained.
図は1紙面上部方向に伸長している第1アーム1と、紙
面垂直方向に伸長している第2アーム2との結合部を示
しており、この両アームはベアリング6を介して相互に
回動自在に結合している。The figure shows a joint between a first arm 1 extending toward the top of the page and a second arm 2 extending perpendicular to the page, and both arms rotate with each other via a bearing 6. Connected for free movement.
上記第1又は第2アームには、駆動源となるモータ(図
示せず)が固定されておりそのロータは入力軸4に直結
されている。入力軸4はベアリング5を介して第1アー
ム1により軸支されており、モータの駆動力を減速機た
る調和駆動装置へ伝達する役目をする。A motor (not shown) serving as a driving source is fixed to the first or second arm, and its rotor is directly connected to the input shaft 4. The input shaft 4 is pivotally supported by the first arm 1 via a bearing 5, and serves to transmit the driving force of the motor to a harmonic drive device, which is a speed reducer.
3は調和駆動装置で、入力軸4に嵌着固定された楕円形
の剛体カム30aとその周囲を取り巻(ベアリング30
bとからなる波動発生器30と、該波動発生器30の円
周上に配設された可撓性部材よりなる外歯歯車31と、
内周に外歯歯車31より歯数が少ない内歯を存するリン
グ状の固定内@歯車32と、内周に外歯歯車31と同一
歯数の内歯を有するリング状の出力内歯歯車33とから
なっている。3 is a harmonic drive device, which includes an oval rigid cam 30a fitted and fixed to the input shaft 4 and surrounding it (bearing 30
a wave generator 30 consisting of b; an external gear 31 made of a flexible member disposed on the circumference of the wave generator 30;
A ring-shaped fixed internal @ gear 32 having internal teeth with a smaller number of teeth than the external gear 31 on its inner periphery, and a ring-shaped output internal gear 33 having internal teeth with the same number of teeth as the external gear 31 on its inner periphery. It consists of
固定内歯歯車32は第1アーム1に、出力内歯歯車33
は第2アーム2にそれぞれ固定され、両内歯歯車間の相
対運動を両アーム間の相対運動として取り出し、第2ア
ーム2を第1アーム1に対して回動させるようになって
いる。The fixed internal gear 32 is connected to the first arm 1, and the output internal gear 33 is connected to the first arm 1.
are respectively fixed to the second arm 2, and the relative movement between both internal gears is extracted as the relative movement between both arms, and the second arm 2 is rotated with respect to the first arm 1.
次に、第3図により調和駆動装置の動作を説明する。Next, the operation of the harmonic drive device will be explained with reference to FIG.
図において、30は剛体カム30a とベアリング30
bとよりなる波動発生器、31は可撓性材料よりなる外
歯歯車、32は剛体の固定内歯歯車、33は固定内歯歯
車32の裏側に配設された剛体の出力内歯歯車である。In the figure, 30 is a rigid cam 30a and a bearing 30.
31 is an external gear made of a flexible material, 32 is a rigid fixed internal gear, and 33 is a rigid output internal gear disposed on the back side of the fixed internal gear 32. be.
外歯歯車31は、波動発生器30により楕円状にたわめ
られ、楕円の長軸の部分で固定内歯歯車32および出力
内歯歯車33と歯がかみ合い短軸の部分では歯が完全に
離れる。The external gear 31 is bent into an elliptical shape by the wave generator 30, and the teeth mesh with the stationary internal gear 32 and the output internal gear 33 at the major axis of the ellipse, and the teeth completely mesh at the minor axis. Leave.
4要素を組合せた状態で、固定内歯歯車32を固定し、
波動発生器30の剛体カム30aを回転させると、外歯
歯車31はベアリング30bを介して剛体カム30a上
に配設されているため、弾性変形しながら2個の内歯歯
車とのかみ合い位置が順次移動する。波動発生器30が
1回転したとき、外歯歯車31は、固定内歯歯車32に
対して歯数が少ないので、歯数の差の分だけ波動発生器
30の回転方向に移動することになる。一方、出力内歯
歯車33は外歯歯、車31と歯数が同じなので外歯歯車
31に対する相対移動がなく、固定内歯歯車32に対す
る外歯歯車31の移動を出力として取り出し、外部の部
材(第2アーム)へ伝達する。Fixing the fixed internal gear 32 with the four elements combined,
When the rigid cam 30a of the wave generator 30 is rotated, since the external gear 31 is disposed on the rigid cam 30a via the bearing 30b, the meshing position with the two internal gears is changed while being elastically deformed. Move sequentially. When the wave generator 30 rotates once, the external gear 31 has fewer teeth than the fixed internal gear 32, so it moves in the rotational direction of the wave generator 30 by the difference in the number of teeth. . On the other hand, since the output internal gear 33 has the same external teeth and the same number of teeth as the wheel 31, there is no relative movement with respect to the external gear 31, and the movement of the external gear 31 with respect to the fixed internal gear 32 is taken out as an output, and the external member (second arm).
即ち、第2図において、入力軸が1回転すると、調和駆
動装置3を介して、歯数の差に相当する角度だけ、第2
アーム2が第1アーム1に対して回転する。That is, in FIG. 2, when the input shaft rotates once, the second
Arm 2 rotates relative to first arm 1.
通常の調和駆動装置では、ロボットの関節部に組み込ま
れる際の寸法誤差により内歯、外歯の両歯車間に偏心が
生じても、円滑な動作が確保できるように、両内歯歯車
32.33のピッチ円直径に対する外歯歯車31のピッ
チ円の長軸径は、15μm程度だけ小さく設定されてい
る。In a normal harmonic drive device, both internal gears 32. The major axis diameter of the pitch circle of the external gear 31 is set to be smaller than the pitch circle diameter of the external gear 33 by about 15 μm.
上記従来の調和駆動装置では、各構成要素がロボット関
節部を構成する異なった部材に固定されており、構成要
素間の相対位置関係は、関節部材を介して間接的に定ま
る。例えば、波動発生器30に対する固定内歯歯車32
や出力内歯歯車33の位置はそれぞれ、ベアリング5−
第1アーム1や、ベアリング5−第1アーム1−ベアリ
ング6−第2アーム2を介して定まる。このため、関節
部を構成する部材の加工誤差や組立時の位置出し誤差が
累積し、両内歯歯車32.33の波動発生器30に対す
る偏心量を小さくすることが困難であった。In the conventional harmonic drive device described above, each component is fixed to a different member constituting the robot joint, and the relative positional relationship between the components is indirectly determined via the joint member. For example, the fixed internal gear 32 for the wave generator 30
The positions of the output internal gear 33 and the bearing 5-
It is determined via the first arm 1 and the bearing 5 - first arm 1 - bearing 6 - second arm 2. For this reason, processing errors of the members constituting the joint portion and positioning errors during assembly accumulate, making it difficult to reduce the amount of eccentricity of both internal gears 32 and 33 with respect to the wave generator 30.
上述の偏心が起こると、例え許容偏心量の範囲内であっ
ても、入力軸の回転と共に内歯歯車32.33と外歯歯
車31とのかみ合いの深さが変化し入力に対する出力の
線形性を乱すことになる。When the above-mentioned eccentricity occurs, even if it is within the allowable eccentricity range, the depth of engagement between the internal gears 32 and 33 and the external gear 31 changes as the input shaft rotates, and the linearity of the output with respect to the input changes. It will disturb the
第4図は波動発生器30と内歯歯車32.33との間に
組み込み誤差が発生した状態を示す図であり、図中一点
鎖線Cを内歯歯車32.33のピッチ円直径、一点鎖線
dを波動発生器30の外周上の外歯歯車31のピッチ円
直径とするとき、両者の回転中心O3,0−が上下方向
に偏心量Δχ分ずれてい葛ことを示している。図はかみ
合い深さが最大の状態を示し、入力軸が90度回転する
と水平方向は偏心量が0のためかみ合いは最も浅くなり
、さらに90度回転すると最大となる。即ち、入力軸の
1回転につき二つの頂点△、ムが一度ずつ偏心方向へく
るので、かみ合い深さが2回大きく変化す名。FIG. 4 is a diagram showing a state in which an assembly error has occurred between the wave generator 30 and the internal gears 32.33. When d is the pitch circle diameter of the external gear 31 on the outer periphery of the wave generator 30, it is shown that the rotation centers O3, 0- of both are shifted in the vertical direction by an amount of eccentricity Δχ. The figure shows a state where the depth of engagement is at its maximum; when the input shaft is rotated 90 degrees, the eccentricity in the horizontal direction is 0, so the engagement is at its shallowest, and when the input shaft is further rotated 90 degrees, it becomes maximum. In other words, the two vertices △ and △ move toward the eccentric direction once per revolution of the input shaft, so the depth of engagement changes significantly twice.
この現象はロボットアームの先端では、入力軸の回転角
に関係する周期的位置ずれ量となって現れ、ロボットの
精度に悪影響を与えている。At the tip of the robot arm, this phenomenon appears as a periodic positional deviation related to the rotation angle of the input shaft, which adversely affects the accuracy of the robot.
上記問題を解決するため本発明による調和駆動装置は、
固定内歯歯車と出力内歯歯車の少なくとも一方に、入力
軸を軸支するための支承部を、歯車のピッチ円と同心に
設けたものである。In order to solve the above problem, the harmonic drive device according to the present invention has the following features:
At least one of the fixed internal gear and the output internal gear is provided with a support portion for supporting the input shaft concentrically with the pitch circle of the gear.
ロボット関節部の組立の際、関節部槽成部材を介すこと
なく、人力軸を内歯歯車の支承部で直接位曹決めするこ
とにより、内歯歯車と波動発生器との間の偏心量を小さ
くすることができ、該偏心量に起因するアーム先端の周
期的位置ずれを防止できる。When assembling the robot joint, the amount of eccentricity between the internal gear and the wave generator can be reduced by aligning the human power shaft directly with the bearing of the internal gear without using the joint component. It is possible to reduce the amount of eccentricity, and to prevent periodic positional displacement of the tip of the arm due to the amount of eccentricity.
以下図面を参照しながら本発明の詳細な説明する。 The present invention will be described in detail below with reference to the drawings.
第1図は本発明に係る調和駆動装置の断面図で、入力軸
に取りつけられた状態を示している。FIG. 1 is a sectional view of a harmonic drive device according to the present invention, showing a state where it is attached to an input shaft.
図において、4はモータ等の駆動源に直結される人力軸
でベアリング5が嵌入されている。30は楕円形の波動
発生器で、中心に入力軸4が嵌入され、円周上には2個
のベアリングを介して、可撓性部材よりなる外歯歯車3
1が配設されている。In the figure, reference numeral 4 denotes a human power shaft directly connected to a drive source such as a motor, into which a bearing 5 is fitted. Reference numeral 30 denotes an elliptical wave generator, into which the input shaft 4 is fitted, and on the circumference, via two bearings, an external gear 3 made of a flexible member is inserted.
1 is provided.
32は固定内歯歯車で、内周面32bに外歯歯車31と
かみ合い且つ歯数の多い内歯を有し、さらに側面の中心
部に上記内歯のピッチ円と同心に、上記入力軸4上のベ
アリング5の外輪と嵌合する支承部32aが設けられて
いる。33は出力内歯歯車で内周面33bに外歯歯車3
1と歯数が同じの内歯を有し、固定内歯歯車32と同様
に支承部33aが設けられている。Reference numeral 32 denotes a fixed internal gear, which has internal teeth with a large number of teeth that mesh with the external gear 31 on the internal peripheral surface 32b, and further has the input shaft 4 concentrically with the pitch circle of the internal teeth in the center of the side surface. A support portion 32a that fits into the outer ring of the upper bearing 5 is provided. 33 is an output internal gear, and an external gear 3 is provided on the inner peripheral surface 33b.
The fixed internal gear 32 has internal teeth with the same number of teeth as the fixed internal gear 32, and is provided with a support portion 33a like the fixed internal gear 32.
これらの支承部32a 、 33bは同一部材上に且つ
内歯の歯先円と同一加工工程で形成するので、内歯に対
する偏心誤差を極めて小さくできる。Since these bearing portions 32a and 33b are formed on the same member and in the same machining process as the tip circle of the internal teeth, the eccentricity error with respect to the internal teeth can be extremely reduced.
以上の如く形成された調和駆動装置を第2図で説明した
ロボットの関節部に適用した場合、組み込みの際、内歯
と同心性が良い支承部32a 、33aで入力軸4を位
置決めするので、波動発生器30の円周上の外歯歯車3
1と二つの内歯歯車32.33との間の偏心量を小さく
できる。When the harmonic drive device formed as described above is applied to the joint part of the robot explained in FIG. 2, the input shaft 4 is positioned by the support parts 32a and 33a, which are well concentric with the internal teeth, during assembly. External gear 3 on the circumference of the wave generator 30
The amount of eccentricity between 1 and the two internal gears 32 and 33 can be reduced.
従って、この偏心量に起因する入力軸の回転に伴う歯車
のかみ合い深さの変動が減少し、ロボットアームの先端
に現れる周期的位置ずれを少なくすることができ、ロボ
ットの精度を向上させることが可能となる。Therefore, fluctuations in the meshing depth of the gears due to the rotation of the input shaft due to this amount of eccentricity are reduced, and the periodic positional deviation that appears at the tip of the robot arm can be reduced, improving the accuracy of the robot. It becomes possible.
尚木実施例では、両内歯歯車に支承部を設けた場合を説
明したが、いずれか一方に設けても、従来例に比べて精
度が向上する。In the Naoki embodiment, a case has been described in which a bearing portion is provided on both internal gears, but even if the bearing portion is provided on either one, the accuracy is improved compared to the conventional example.
以上説明したように、本発明によれば、ロボットの関節
部等に適用した場合にロボットの精度を向上できる調和
駆動装置を提供することが可能となる。As described above, according to the present invention, it is possible to provide a harmonic drive device that can improve the precision of a robot when applied to the joints of a robot.
第1図は、本発明に係る調和駆動装置の断面図、第2図
は、従来の調和駆動装置の断面図、第3図は、調和駆動
装置の構成を示す図、第4図は、組込み誤差が発生した
状態を示す図である。
図において、
1・−第1アーム、 2・−・第2アーム3・−
・調和駆動装置、 4−・人力軸。
5−・−ベアリング、 6・・−ベアリング、
30−・−波動発生器、 30a・・−剛体カム
、30b−・・ベアリング、 3t−外歯歯車、3
2−・−固定内歯歯車、 32a −支承部、33
−出力内歯歯車、 33a −支承部、である。
纜1図FIG. 1 is a cross-sectional view of a harmonic drive device according to the present invention, FIG. 2 is a cross-sectional view of a conventional harmonic drive device, FIG. 3 is a diagram showing the configuration of the harmonic drive device, and FIG. 4 is a built-in FIG. 3 is a diagram showing a state where an error has occurred. In the figure, 1.-first arm, 2.--second arm 3.-
・Harmonic drive device, 4-・Human power axis. 5--Bearing, 6--Bearing,
30--Wave generator, 30a--Rigid cam, 30b--Bearing, 3t-External gear, 3
2--Fixed internal gear, 32a-Supporting portion, 33
- output internal gear, 33a - bearing part. Figure 1
Claims (1)
グとを備えた楕円形の波動発生器(30)と、前記波動
発生器(30)の外周上に配設された可撓性材料よりな
る外歯歯車(31)と、 前記外歯歯車(31)より歯数の少ない内歯で前記外歯
歯車(31)とかみ合う固定内歯歯車(32)と、前記
外歯歯車(31)と歯数の等しい内歯で前記外歯歯車(
31)とかみ合う出力内歯歯車(33)と、から構成さ
れ、 前記固定内歯歯車(32)と前記出力内歯歯車(33)
との少なくとも一方に、入力軸(4)を軸支する支承部
(32a)、(33a)を設けたことを特徴とする調和
駆動装置。[Scope of Claims] An elliptical wave generator (30) having a hole in the center that fits into the input shaft (4) and a bearing on the circumference; an external gear (31) made of a flexible material, and a fixed internal gear (32) that meshes with the external gear (31) through internal teeth having a smaller number of teeth than the external gear (31). and the external gear (31) with internal teeth having the same number of teeth as the external gear (31).
an output internal gear (33) that meshes with the fixed internal gear (32) and the output internal gear (33).
A harmonic drive device characterized in that support parts (32a) and (33a) for pivotally supporting an input shaft (4) are provided on at least one of the input shaft (4) and the input shaft (4).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7071687A JPS63235747A (en) | 1987-03-25 | 1987-03-25 | Harmonic driving device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7071687A JPS63235747A (en) | 1987-03-25 | 1987-03-25 | Harmonic driving device |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS63235747A true JPS63235747A (en) | 1988-09-30 |
Family
ID=13439568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP7071687A Pending JPS63235747A (en) | 1987-03-25 | 1987-03-25 | Harmonic driving device |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS63235747A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8409051B2 (en) | 2010-06-18 | 2013-04-02 | Hyundai Motor Company | Planetary gear set for transmission |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59113343A (en) * | 1982-12-20 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
-
1987
- 1987-03-25 JP JP7071687A patent/JPS63235747A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59113343A (en) * | 1982-12-20 | 1984-06-30 | Matsushita Electric Ind Co Ltd | Reduction gear |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8409051B2 (en) | 2010-06-18 | 2013-04-02 | Hyundai Motor Company | Planetary gear set for transmission |
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