JPS6332440Y2 - - Google Patents
Info
- Publication number
- JPS6332440Y2 JPS6332440Y2 JP15808983U JP15808983U JPS6332440Y2 JP S6332440 Y2 JPS6332440 Y2 JP S6332440Y2 JP 15808983 U JP15808983 U JP 15808983U JP 15808983 U JP15808983 U JP 15808983U JP S6332440 Y2 JPS6332440 Y2 JP S6332440Y2
- Authority
- JP
- Japan
- Prior art keywords
- flexspline
- outer ring
- spline
- ball bearing
- circumferential surface
- 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
- 239000000314 lubricant Substances 0.000 claims description 12
- 238000005260 corrosion Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 4
- 230000013011 mating Effects 0.000 description 4
- 239000004519 grease Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Description
【考案の詳細な説明】
この考案はハーモニツクドライブ減速装置に関
し、とくに、遊嵌合された玉軸受の外輪とフレク
ススプラインの嵌合面に発生するフレツテイング
コロージヨンを防止する手段に関する。DETAILED DESCRIPTION OF THE INVENTION This invention relates to a harmonic drive reduction gear, and more particularly to a means for preventing fretting corrosion that occurs on the fitting surface of a loosely fitted ball bearing outer ring and flexspline.
従来、例えば第１図および第２図に示すハーモ
ニツクドライブ減速では出力側固定部を有する底
部４１と、薄肉の円筒部４２からなり、ほゞコ字
形断面を有し、かつ反底部側の外周面に外側スプ
ライン４３が形成されているフレクススプライン
４と、該フレクススプラインの前記外側スプライ
ンに噛合する内側スプライン５１を有するサーキ
ユラスプライン５と、前記フレスクスプラインの
反底部側内周面４４に遊嵌合された外輪１ａ、内
輪２、およびその間に介装された玉３からなる玉
軸受Ａと、該玉軸受の前記内輪と嵌合し、内腔を
有する楕円状のウエーブジエネレータ６と、該ウ
エーブジエネレータの前記内腔に嵌合固定し、入
力軸（開示していない）を固定するボス７とから
なる。 Conventionally, for example, the harmonic drive reducer shown in FIGS. 1 and 2 consists of a bottom part 41 having an output side fixed part and a thin cylindrical part 42, which has a substantially U-shaped cross section, and has an outer periphery on the side opposite to the bottom part. A flexspline 4 having an outer spline 43 formed on its surface, a circular spline 5 having an inner spline 51 that meshes with the outer spline of the flexspline, and an inner circumferential surface 44 of the flexspline on the side opposite to the bottom. A ball bearing A consisting of an outer ring 1a, an inner ring 2, and balls 3 interposed therebetween, which are loosely fitted together, and an elliptical wave generator 6 fitted with the inner ring of the ball bearing and having a bore. , and a boss 7 that is fitted and fixed in the inner cavity of the wave generator to fix an input shaft (not shown).
説明するまでもなく、ハーモニツクドライブ減
速装置は前記内側スプラインと前記外側スプライ
ンの歯数をかえ、かつフレクススプラインを楕円
もしくは三角形状に変形させて前記サーキユラス
プラインに噛合させて、入力軸の回転数を減速し
て出力軸に伝達するものであるが、その手段とし
て楕円もしくは三角形状のウエーブジエネレータ
を用いて該ウエーブジエネレータに玉軸受を嵌合
しウエーブジエネレータと相似形状となし、さら
に軸受の外輪にフレクスプラインを遊嵌合するの
で、前記フレクススプラインもウエーブジエネレ
ータと相似形状とする。 Needless to say, the harmonic drive reduction device changes the number of teeth of the inner spline and the outer spline, deforms the flex spline into an elliptical or triangular shape, and meshes with the circular spline, thereby reducing the speed of the input shaft. The rotational speed is reduced and transmitted to the output shaft, and as a means for this, an elliptical or triangular wave generator is used, and a ball bearing is fitted to the wave generator to make it similar in shape to the wave generator. Furthermore, since the flexspline is loosely fitted to the outer ring of the bearing, the flexspline is also made to have a similar shape to the wave generator.
そのために、外側スプラインと内側スプライン
は２ケ所もしくは３ケ所で噛合することになり、
入力軸の回転に伴つて回転するウエーブジエネレ
ータによつて、ハーモニツク運動が生じ、例え
ば、第２図における噛合点P1，P2が暫次円周方
向に移動してサーキユラスプラインに大きな減速
比で回転を伝達することになる。 Therefore, the outer spline and inner spline will mesh at two or three places,
A harmonic motion occurs due to the wave generator rotating as the input shaft rotates, and for example, the engagement points P 1 and P 2 in Fig. 2 temporarily move in the circumferential direction, causing a large deceleration in the circular spline. Rotation will be transmitted by the ratio.
このような構造において、特に軸受に注目した
問題点は、外輪１ａとフレクススプラインが遊嵌
合であり、しかも、第２図に示すように方向ａ，
ｂおよびｃにおいては、第３図ａ、第３図ｂ、第
３図ｃにて説明するように、フレクススプライン
の底部側は円であり、これに対して反底部側は楕
円であるために、フレクススプライン内周面と外
輪外周面の嵌合状態が暫次変化し、すなわち、第
３図ａでは図面上外輪右側角部と、第３図ｂでは
外輪外周部とほゞ均一に、第３図ｃでは外輪の左
側角部と当ることになり、この状態がくり返され
ることになる。 In such a structure, the problem with particular attention to the bearing is that the outer ring 1a and the flexspline are loosely fitted, and as shown in FIG.
In b and c, as explained in Fig. 3a, Fig. 3b, and Fig. 3c, the bottom side of the flexspline is a circle, whereas the opposite bottom side is an ellipse. 3, the fitting condition between the inner circumferential surface of the flexspline and the outer circumferential surface of the outer ring changes temporarily, that is, the fitting state of the inner circumferential surface of the flexspline and the outer circumferential surface of the outer ring changes temporarily, that is, the fit state is almost uniform between the right corner of the outer ring in the drawing in FIG. 3a and the outer circumference of the outer ring in FIG. 3b. , in FIG. 3c, it will come into contact with the left corner of the outer ring, and this situation will be repeated.
軸受の潤滑剤としてグリースを使用する場合
に、外輪１ａとフレクススプライン内周面４４と
の嵌合面は、油を使う場合に比べ潤滑剤が供給さ
れないので、フレツテイングコロージヨンが発生
し、さらに振動条件がきびしい場合には発生後の
進行が助長され、嵌合面の摩耗が進行して、つい
には嵌合面のすきまが増大してガタが生じ異音の
原因になるし、極端な場合、元来薄肉のフレクス
スプラインの割れなどに発展して減速装置として
の耐久性を低下させる問題を招来する。 When grease is used as a bearing lubricant, less lubricant is supplied to the fitting surface between the outer ring 1a and the flexspline inner circumferential surface 44 than when oil is used, so fretting corrosion occurs. Furthermore, if the vibration conditions are severe, the progression of the occurrence will be accelerated, the wear of the mating surfaces will progress, and the clearance between the mating surfaces will eventually increase, causing backlash and abnormal noise. In this case, the flex spline, which is originally thin, develops into cracks, resulting in problems that reduce the durability of the speed reduction device.
まして、第３図ａないし第３図ｃで説明したご
とき当り方をくりかえすことは、フレクススプラ
イン内周面の局部的摩耗を助長することになる。 Moreover, repeating the abutment method described in FIGS. 3a to 3c will promote local wear on the inner circumferential surface of the flexspline.
一般的に軸受の嵌合面のフレツテイングコロー
ジヨンを防止する方法の１つとして、嵌合面に潤
滑剤を塗布する等の方法が効果あるが、上述のよ
うな場合には塗布した潤滑剤の流出があつて長期
間の効果を期待することは出来ない。 Generally speaking, one effective way to prevent fretting corrosion on the mating surface of a bearing is to apply a lubricant to the mating surface. It is not possible to expect long-term effects due to the outflow of water.
この考案は、上記の問題を解決するためになさ
れたものであり、この考案の目的は軸受をグリー
スで潤滑する場合、フレクススプラインの内周面
４４と外輪外周面との間に塗布した潤滑剤を長期
間にわたつて保持し、フレツテイングコロージヨ
ンの発生を長期間防止して耐久性の高いハーモニ
ツクドライブ減速装置を提供することを目的とし
ている。 This invention was made to solve the above problem, and the purpose of this invention is to reduce the amount of lubricant applied between the inner circumferential surface 44 of the flexspline and the outer circumferential surface of the outer ring when lubricating the bearing with grease. The purpose of the present invention is to provide a highly durable harmonic drive speed reduction device that retains the agent for a long period of time and prevents the occurrence of fretting corrosion for a long period of time.
以下、この考案の実施例について図面を参照し
て説明する。第４図はこの考案の実施例を示す半
縦断面図で中心線より上側は断面図、下側は外輪
外周面を示す。 Hereinafter, embodiments of this invention will be described with reference to the drawings. FIG. 4 is a half-longitudinal cross-sectional view showing an embodiment of this invention, with the upper side of the center line showing the cross-sectional view and the lower side showing the outer peripheral surface of the outer ring.
同図において、１は外輪、２は内輪、３は外輪
と内輪の間に介装された玉であり、外輪の外周部
１１にはＶ字形の溝１２を刻設している。 In the figure, 1 is an outer ring, 2 is an inner ring, and 3 is a ball interposed between the outer ring and the inner ring, and a V-shaped groove 12 is carved in the outer circumference 11 of the outer ring.
この実施例によるとフレクススプライン内周面
４４と外輪外周面との間に塗布された潤滑剤はＶ
字形の溝が潤滑剤の付着面積を大としているから
嵌合面から流出しにくく長期間の潤滑剤の保持が
出来る。 According to this embodiment, the lubricant applied between the flexspline inner circumferential surface 44 and the outer ring outer circumferential surface is V
Since the letter-shaped grooves have a large surface area for lubricant to adhere to, it is difficult for the lubricant to flow out from the fitting surface, allowing the lubricant to be retained for a long period of time.
又、好ましくは図示していないが、外輪中央部
に前記Ｖ形状の溝に連設した周溝を形成すれば潤
滑剤の保持がさらに向上すると云う効果を奏す
る。 Although not shown, it is preferable to form a circumferential groove connected to the V-shaped groove in the center of the outer ring to further improve lubricant retention.
さらに好ましくは外輪外周面を球面形状にすれ
ば、前記第３図ａないし第３図ｃにおいて説明し
た外輪外周面とフレクススプライン内周面との角
部当りをさけることが出来、部分的な応力集中を
低下させることにつながる効果を併せ奏すること
が出来る。 More preferably, if the outer ring outer circumferential surface is made into a spherical shape, it is possible to avoid the contact between the outer ring outer circumferential surface and the flexspline inner circumferential surface at the corner explained in FIGS. 3a to 3c, and the partial This can also have the effect of reducing stress concentration.
尚、以上の実施例では外輪外周部にＶ形状溝な
どの解決手段を施したものについて説明したが、
フレクススプラインの内周面に外輪外周面と同様
な手段を施してもよく、さらには外輪外周面の手
段とフレクススプライン内周面の手段とを組合せ
ても実施出来る。 Incidentally, in the above embodiment, an example in which a solution such as a V-shaped groove was applied to the outer circumference of the outer ring was explained.
The inner circumferential surface of the flexspline may be provided with the same means as the outer circumferential surface of the outer ring, or the means on the outer circumferential surface of the outer ring and the means on the inner circumferential surface of the flexspline may be combined.
又、実施例では玉軸受およびフレクススプライ
ンを楕円形状に変形させるウエーブジエネレータ
を示しているが、楕円に限定せず、減速比、伝達
トルクの選定で必要があれば三角形状もしくは、
それ以上の多角形状に変形させるウエーブジエネ
レータを選んでもよい。尚、潤滑油を保持する溝
の形状については実施例に限定することなく、単
なる傾斜溝、周溝、スパイラル溝など適宜選ぶこ
とが出来る。 In addition, although the embodiment shows a wave generator that deforms the ball bearing and the flex spline into an elliptical shape, the wave generator is not limited to an ellipse shape, and may be shaped into a triangular shape or a triangular shape if necessary depending on the selection of the reduction ratio and transmission torque.
You may also choose a wave generator that deforms the shape into a polygon shape larger than that. Note that the shape of the groove for holding lubricating oil is not limited to the embodiment, and can be appropriately selected such as a simple inclined groove, a circumferential groove, a spiral groove, etc.
以上説明したごとく、この考案によれば、外輪
外周面とフレクススプラインとの嵌合面に潤滑剤
を長期間保持出来る構成としたので、前記嵌合面
の摩耗が少くなり、耐久性の高いハーモニツクド
ライブ減速装置を得ることが出来る。 As explained above, according to this invention, the lubricant can be retained for a long period of time on the fitting surface between the outer circumferential surface of the outer ring and the flexspline, so the wear on the fitting surface is reduced and the durability is high. A harmonic drive speed reduction device can be obtained.
第１図はハーモニツクドライブ装置の要部を示
す縦断面図、第２図は第１図におけるＸ−Ｘ断面
図、第３図ａないし第３図ｃは作動時におけるフ
レクススプライン内周面と外輪との当り方を示す
説明図、第４図は本考案の実施例である。
符号の説明、１……外輪、１１……外輪外周
面、１２……Ｖ形状溝、２……内輪、３……玉、
Ａ……玉軸受、４……フレクススプライン。
Figure 1 is a vertical sectional view showing the main parts of the harmonic drive device, Figure 2 is a sectional view taken along line XX in Figure 1, and Figures 3a to 3c are the inner peripheral surfaces of the flexspline during operation. FIG. 4 is an explanatory diagram showing how the outer ring contacts the outer ring, and is an embodiment of the present invention. Explanation of symbols, 1... Outer ring, 11... Outer ring outer circumferential surface, 12... V-shaped groove, 2... Inner ring, 3... Ball,
A...Ball bearing, 4...Flex spline.
Claims (1)
プラインと、前記サーキユラスプラインに噛合
する外側スプラインを外周に有するフレクスス
プラインと、該フレクススプラインの内周面に
遊嵌合する玉軸受と、該玉軸受の内輪に嵌合
し、前記玉軸受および前記玉軸受の外輪と遊嵌
合しているフレクススプラインを楕円もしくは
三角形状に変形させるウエーブジエネレータか
らなるハーモニツクドライブ減速装置におい
て、前記玉軸受の外輪外周部もしくはフレクス
スプラインの前記外輪嵌合部の一方、または両
方に潤滑剤を保持する溝を有することを特徴と
するハーモニツクドライブ減速装置。 (2) 実用新案登録請求の範囲第１項において潤滑
剤を保持する溝がＶ形溝であるハーモニツクド
ライブ減速装置。[Claims for Utility Model Registration] (1) A circular spline having an inner spline on the inner circumference, a flexspline having an outer spline on the outer circumference that meshes with the circular spline, and a flexspline on the inner circumferential surface of the flexspline. Consists of a loosely fitted ball bearing and a wave generator that fits into the inner ring of the ball bearing and deforms the flex spline loosely fitted to the ball bearing and the outer ring of the ball bearing into an elliptical or triangular shape. A harmonic drive speed reduction device, characterized in that one or both of the outer circumference of the outer ring of the ball bearing or the outer ring fitting portion of the flexspline has a groove for retaining lubricant. (2) The harmonic drive reduction gear device according to claim 1 of the utility model registration claim, in which the groove for retaining lubricant is a V-shaped groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15808983U JPS6065451U (en) | 1983-10-14 | 1983-10-14 | harmonic drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15808983U JPS6065451U (en) | 1983-10-14 | 1983-10-14 | harmonic drive device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6065451U JPS6065451U (en) | 1985-05-09 |
| JPS6332440Y2 true JPS6332440Y2 (en) | 1988-08-30 |
Family
ID=30348361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15808983U Granted JPS6065451U (en) | 1983-10-14 | 1983-10-14 | harmonic drive device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6065451U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6790648B2 (en) * | 2016-09-21 | 2020-11-25 | セイコーエプソン株式会社 | Manufacturing methods for robots, gear devices and gear devices |
-
1983
- 1983-10-14 JP JP15808983U patent/JPS6065451U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6065451U (en) | 1985-05-09 |
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