KR20240025190A - Hybrid strain wave gear system - Google Patents

Abstract

The present invention relates to a mixed deformation wave gear system that can improve noise, vibration, and precision by strengthening the concentric axis of rotating parts, and is connected to an input shaft and can generate waves according to rotation. and a deformation spline arranged coaxially with the wave generator and forming an external gear that can cause deformation in the radial direction according to the wave of the wave generator as an external gear, and the deformation spline It is a stationary internal gear disposed coaxially with and installed not to rotate, and has first internal teeth formed so as to engage with the external surfaces of the deformed spline, and according to deformation of the deformed spline, the external teeth and the first A first circular spline in which the internal teeth are partially engaged and the deformation spline rotates relative to the deformation spline, and an output internal gear arranged coaxially and parallel to the first circular spline, connected to the output shaft, and rotatably installed, the deformation spline Second internal teeth having a different number of teeth from the first internal teeth are formed so as to engage with the external teeth of the spline, and the external teeth and the second internal teeth are partially engaged according to the deformation of the deformed spline. A second circular spline that rotates with the rotation of the deformation spline and the wave generator are formed in a multi-stage cylindrical shape to surround the deformation spline, the first circular spline, and the second circular spline, and are accommodated in an internal space. It may include a housing coaxially constraining the wave generator, the deformed spline, the first circular spline, and the second circular spline.

Description

Hybrid strain wave gear system

The present invention relates to a mixed deformation wave gear system, and more specifically, to a mixed deformation wave gear system that can improve noise, vibration, and precision by strengthening the concentric axis of rotating parts.

Strain Wave Gear, widely known as Harmonic Drive, is one of the very efficient gear devices that achieves a high reduction ratio even with a simple structure. In particular, because of its advantage of no backlash, it is a device widely used in fields such as precision control and robotics.

In general, the mixed deformation wave gear system is largely composed of a wave generator, a flex spline, and a circular spline. The deformed spline is deformed by the wave generated by the wave generator and causes harmonic movement, so that some teeth of the deformed spline and some teeth of the circular spline mesh with each other. Since the difference between the dimensions of the deformed spline and the circular spline is slightly different from that of the deformed spline, a reducer with a relatively large reduction ratio can be implemented due to the dimensional difference.

In this mixed deformed wave gear system, in order to implement a precise reduction ratio, the rotational axes of the rotating parts, the wave generator, and the deformed spline and circular spline must be precisely concentric. However, if the concentric axes of the rotating parts do not precisely match, the meshing of each rotating part is not precise, causing noise and vibration during the operation of the mixed deformation wave gear system, and reducing the precision of gear reduction. There was this.

The present invention is intended to solve various problems including the problems described above, and its purpose is to provide a mixed deformation wave gear system that can improve noise, vibration, and precision by strengthening the concentric axis of the rotating parts. However, these tasks are illustrative and do not limit the scope of the present invention.

According to one embodiment of the present invention, a mixed strain wave gear system is provided. The mixed deformation wave gear system includes a wave generator connected to an input shaft and capable of generating waves according to rotation; A deformation spline disposed coaxially with the wave generator and forming an external gear that can cause deformation in the radial direction according to the wave of the wave generator as an external gear; It is a stationary internal gear disposed coaxially with the deformation spline and installed not to rotate, and has first internal teeth formed to engage with the external surface of the deformation spline, and is formed with the external tooth according to deformation of the deformation spline. A first circular spline in which the first internal teeth are partially engaged and the deformation spline is relatively rotated; An output-side internal gear arranged coaxially and parallel to the first circular spline, connected to the output shaft, and rotatably installed, has a number of teeth different from the first internal teeth so as to engage with the external teeth of the deformed spline. A second circular spline is formed with a second internal tooth, and the external tooth and the second internal tooth are partially engaged according to the deformation of the deformation spline and rotates with the rotation of the deformation spline; And the wave generator, the deformed spline, the first circular spline, and the first circular spline are formed in a multi-stage cylindrical shape to surround the wave generator, the deformed spline, and the second circular spline, and are accommodated in an internal space. It may include a circular spline and a housing coaxially constraining the second circular spline.

According to one embodiment of the present invention, the first circular spline is supported so as not to rotate in the housing so as to function as the stationary internal gear, and the second circular spline can function as the output internal gear. It can be rotatably supported on the housing.

According to one embodiment of the present invention, the housing is open in the direction of the output shaft so that the wave generator, the deformation spline, the first circular spline, and the second circular spline can be inserted into the internal space. A main body formed in a multi-stage cylindrical shape; and an outer bracket that is formed in a ring shape and is coupled to one open side of the main body to close at least a portion of the open side of the main body.

According to one embodiment of the present invention, the input shaft is formed in a multi-stage cylindrical shape and is formed integrally with the wave generator so that it can rotate in synchronization with the wave generator, and the output shaft is the second circular shape. It is formed in a multi-stage cylindrical shape to surround at least a portion of the spline, and can be coupled to one side of the second circular spline so that it can be rotated in synchronization with the second circular spline.

According to one embodiment of the present invention, the main body includes a through-hole portion through which the input shaft passes; a first receiving groove portion concavely formed with a first diameter to accommodate at least a portion of the wave generator, at least a portion of the deformation spline, and the first circular spline; and a second receiving groove formed concavely with a second diameter larger than the first diameter to accommodate the remaining part of the wave generator, the remaining part of the deformed spline, and the second circular spline. can do.

According to one embodiment of the present invention, the input shaft may be formed such that at least a portion of the end inserted into the main body is inserted into the output shaft.

According to one embodiment of the present invention, it is formed in a ring shape, is inserted into the third receiving groove concavely formed in the through hole portion of the main body with a third diameter smaller than the first diameter, and rotates the input shaft to the main body. a first ball bearing possibly securing; and a ring-shaped device that is inserted between the end of the input shaft and one internal step of the output shaft, and rotatably fixes the end of the input shaft to the output shaft so that the input shaft can rotate independently of the output shaft. It may further include a second ball bearing.

According to one embodiment of the present invention, it is formed in a ring shape and is inserted into a fourth receiving groove concavely formed with a fourth diameter larger than the second diameter at the entrance of the second receiving groove of the main body, and is inserted into the fourth receiving groove on one side of the main body. It may further include a cross roller bearing whose inner edge is in contact with one of the outer steps of the output shaft, and whose outer edge is in contact with the inner edge of the outer bracket, rotatably fixing the output shaft to the main body. You can.

According to one embodiment of the present invention, the housing is formed in a ring shape with a smaller diameter than the outer bracket, is coupled to another external step of the output shaft, and has an outer edge protruding to the outside of the other external step of the output shaft. It may further include an inner bracket in contact with the inner edge of the other surface of the cross roller bearing.

According to one embodiment of the present invention, a pair of holding collars installed on both sides of the deformation spline so that the deformation spline does not deviate from its original position between the wave generator, the first circular spline, and the second circular spline; It may further include.

According to one embodiment of the present invention, the pair of holding collars has a diameter greater than the first diameter between the first receiving groove and the third receiving groove of the main body so that it can be located on one side of the deformation spline. a first holding collar inserted into a fifth receiving groove concavely formed with a fifth diameter that is small and larger than the third diameter; and a second holding collar inserted into another inner step of the output shaft so as to be located on the other side of the deformation spline opposite to the first holding collar with respect to the deformation spline.

According to one embodiment of the present invention, at least a portion of the end is formed to penetrate the main body so that it can be inserted into the first circular spline and screwed to the first circular spline, thereby connecting the first circular spline and the main body. a plurality of first fixtures coupled to each other; A plurality of parts formed to penetrate another external step of the output shaft and coupling the second circular spline and the output shaft so that at least a portion of the end can be inserted into the second circular spline and screwed to the second circular spline. 2 fixture; a plurality of third fixtures formed to penetrate the inner bracket and coupling the output shaft and the inner bracket so that at least a portion of an end can be inserted into the other external step of the output shaft and screwed to the output shaft; and a plurality of fourth fixtures that are formed to penetrate the outer bracket and couple the main body and the outer bracket so that at least a portion of the end can be inserted into one open surface of the main body and screwed to the main body. It can be included.

According to one embodiment of the present invention, the main body has a first counter bore formed in a first fastening hole through which the plurality of first fixtures penetrate, and the head of the plurality of first fixtures is connected to the first fastening hole. 1 is inserted into the counterbore, and the output shaft has a second counterbore formed in a second fastening hole through which the plurality of second fixtures penetrate, and the head of the plurality of second fixtures is positioned in the second counterbore. Can be inserted medially.

According to one embodiment of the present invention, at least a portion of the end is formed to penetrate the main body so that it can be inserted into the first circular spline and screwed to the first circular spline, thereby connecting the first circular spline and the main body. a plurality of first fixtures coupled to each other; A plurality of second fixtures formed to penetrate the second circular spline and couple the second circular spline and the output shaft so that at least a portion of the end can be inserted into another internal step of the output shaft and screwed to the output shaft. ; a plurality of third fixtures formed to penetrate the inner bracket and coupling the output shaft and the inner bracket so that at least a portion of an end can be inserted into the other external step of the output shaft and screwed to the output shaft; and a plurality of fourth fixtures that are formed to penetrate the outer bracket and couple the main body and the outer bracket so that at least a portion of the end can be inserted into one open surface of the main body and screwed to the main body. It can be included.

According to one embodiment of the present invention, the main body has a first counter bore formed in a first fastening hole through which the plurality of first fixtures penetrate, and the heads of the plurality of first fixtures are connected to the first fasteners. It is inserted into the first counter bore, and the second circular spline has a second counter bore formed in the second fastening hole through which the plurality of second fixtures penetrate, and the head of the plurality of second fixtures is connected to the second fastener. It can be inserted into the inside of the counter bore.

According to one embodiment of the present invention, the wave generator includes a body formed in a circular plate shape; It is installed on the body, and the upper meshing point, the central point, and the lower portion where the external tooth and the first internal tooth or the second internal tooth mesh so as to press the deformation spline in the direction of the first circular spline and the second circular spline. At least one pair of pressurizing devices respectively installed in front and behind at a first angle with respect to the engagement reference line of the body connecting the engagement points; and at least at least one that is installed on the body and is installed forward and rearward by a second angle relative to the engagement reference line so that a magnetic force acts on the deformation spline in a direction away from the first circular spline and the second circular spline. It may contain a pair of permanent magnets;

According to one embodiment of the present invention, the permanent magnet is accommodated in a first groove formed in the body, and the second angle may be 90 degrees based on the engagement reference line.

According to one embodiment of the present invention, the permanent magnet may be formed by arranging a plurality of unit magnets to overlap within the first groove to strengthen magnetic force.

According to one embodiment of the present invention, at least a portion of the pressing device is accommodated in a second groove formed in the body, and the first angle may be 5 degrees to 30 degrees based on the engagement reference line.

According to one embodiment of the present invention, the pressing device may include a roller bearing, the rotation axis of which is rotatably inserted into the second groove to press the deformed spline.

According to one embodiment of the present invention made as described above, the rotating parts of the wave generator, the deformation spline, the first circular spline, and the second circular spline are inserted so as to be coaxially constrained inside the housing formed in a multi-stage cylindrical shape. By doing so, it is possible to induce a precise meshing operation by strengthening the concentric axis of the rotating parts, thereby reducing noise and vibration during the operation of the mixed deformation wave gear system and increasing the precision of gear reduction.

In addition, a universal standard ball bearing and By having a structure in which crossed roller bearings can be inserted, the operation precision of the mixed deformation wave gear system can be improved while reducing the product cost, and by improving the fastening structure of the second circular spline and the output shaft, a compact mixed deformation wave gear system can be achieved. Design may be possible.

In this way, due to the housing structure that can restrain the rotating parts so that they form a precise concentric axis, the concentric axis of the rotating parts can be strengthened, thereby reducing vibration and noise when driving the device, increasing the lifespan, and providing an accurate gear ratio. It is possible to implement a mixed deformation wave gear system capable of precise driving. Of course, the scope of the present invention is not limited by this effect.

1 and 2 are perspective views schematically showing the front and rear sides of a mixed strain wave gear system according to an embodiment of the present invention.
Figure 3 is a plan view schematically showing the front of a mixed strain wave gear system according to an embodiment of the present invention.
Figures 4 and 5 are cross-sectional views schematically showing the cross-section of the mixed strain wave gear system taken along the cutting lines AA and BB of Figure 3, respectively.
Figure 6 is a conceptual diagram schematically showing a meshing structure of rotating parts of a mixed deformation wave gear system according to an embodiment of the present invention.
Figure 7 is a perspective view schematically showing the front of a mixed deformation wave gear system according to another embodiment of the present invention.
Figure 8 is a cross-sectional view schematically showing a cross-section of the mixed strain wave gear system taken along the cutting line CC of Figure 7.

Hereinafter, various preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art, and the following examples may be modified into various other forms, and the scope of the present invention is as follows. It is not limited to the examples. Rather, these embodiments are provided to make the present disclosure more faithful and complete and to fully convey the spirit of the present invention to those skilled in the art. Additionally, the thickness and size of each layer in the drawings are exaggerated for convenience and clarity of explanation.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will now be described with reference to drawings that schematically show ideal embodiments of the present invention. In the drawings, variations of the depicted shape may be expected, for example, depending on manufacturing technology and/or tolerances. Accordingly, embodiments of the present invention should not be construed as being limited to the specific shape of the area shown in this specification, but should include, for example, changes in shape resulting from manufacturing.

Figures 1 and 2 are perspective views schematically showing the front and rear of the mixed strain wave gear system 1000 according to an embodiment of the present invention, and Figure 3 is a mixed strain wave gear system (1000) according to an embodiment of the present invention. 1000) is a plan view schematically showing the front surface, and FIGS. 4 and 5 are cross-sectional views schematically showing the cross-section of the mixed deformation wave gear system 1000 taken along the cut line A-A and B-B of FIG. 3, respectively, and FIG. This is a conceptual diagram schematically showing the meshing structure of the rotating parts 100, 200, 300, and 400 of the mixed deformation wave gear system 1000 according to an embodiment of the invention. And, Figure 7 is a perspective view schematically showing the front of the mixed-strain wave gear system 2000 according to another embodiment of the present invention, and Figure 8 is a view of the mixed-strain wave gear system 2000 taken along the cutting line C-C of Figure 7. This is a cross-sectional view schematically showing a cross-section.

First, as shown in FIGS. 1 to 4, the mixed deformation wave gear system 1000 according to an embodiment of the present invention largely includes a wave generator 100 and a flex spline. It may include (200), a first circular spline (300), a second circular spline (400), and a housing (500).

As shown in Figures 1 to 4, the wave generator 100 is connected to the input shaft 10 and is a device capable of generating waves according to rotation, and the deformation spline 200 is the wave generator 100. It is arranged coaxially with the wave generator 100 in a form surrounding the , and has an external gear (T1 in FIG. 6) that can be deformed in the radial direction according to the wave of the wave generator 100 as an external gear. It may be a type of deformable external gear in the form of a thin ring.

In addition, the first circular spline 300 is arranged coaxially with the deformed spline 200 in a form surrounding at least a portion of the deformed spline 200, and is a stationary internal gear installed so as not to rotate in the housing 500, which will be described later. As, a first internal tooth is formed to engage with the external external tooth (T1) of the deformed spline 200, and the external external tooth (T1) and the first internal tooth are partially engaged according to the deformation of the deformed spline 200. The deformation spline 200 may be rotated relative to the first circular spline 300.

In addition, the second circular spline 400 is arranged coaxially with the deformed spline 200 and the first circular spline 300 in a form surrounding the remaining portion of the deformed spline 200, and the first circular spline 300 ) is formed with the same diameter and is arranged in parallel, connected to the output shaft 20, and is a first internal gear on the output side rotatably installed in the housing 500 so as to engage with the external T1 of the deformed spline 200. A second internal tooth (T2 in FIG. 6) having a different number of teeth from the first internal tooth of the circular spline 300 is formed, and according to the deformation of the deformed spline 200, the external tooth (T1) and the second internal tooth are formed. 2 The internal teeth (T2) may partially engage and rotate with the rotation of the deformation spline (200).

The wave generator 100, the deformed spline 200, the first circular spline 300, and the second circular spline 400 may be made of iron-based materials, metal materials such as cemented carbide, or composite materials. You can.

However, the materials of the wave generator 100, the deformed spline 200, the first circular spline 300, and the second circular spline 400 are not necessarily limited thereto. For example, the deformed spline 200, etc. , it may be made of rubber elastomer or thermoplastic elastomer so that shape deformation due to the waveform can be stably achieved.

In addition, the wave generator 100 can generate a wave that can transform the deformation spline 200 into an elliptical shape by deforming it in the radial direction. In order to generate such a wave, a wide variety of actuators can be applied. there is.

For example, as shown in FIG. 6, the wave generator 100 may include a body 110, a pressing device 120, and a permanent magnet 130.

More specifically, the body 110 is installed inside the deformation spline 200 so as to be spaced apart from the deformation spline 200, the first circular spline 300, and the second circular spline 400, and various actuators. It may be formed in an overall circular plate shape that can be connected to the input shafts 10 of the input shafts 10.

At this time, as shown in FIG. 6, the body 110 includes at least two pressing devices 120 that serve as fulcrum points of a kind of lever to deform the deformation spline 200 and at least two pressure devices that serve as force points of the lever. A permanent magnet 130 may be installed. However, the number of installed pressurizing devices 120 and permanent magnets 130 is not necessarily limited to FIG. 6, and a plurality of them, such as three or four, may be installed.

For example, the pressing device 120 is installed on the body 110 and has an external tooth T1 so as to pressurize the deformed spline 200 in the direction of the first circular spline 300 and the second circular spline 400. And the first internal tooth or the second internal tooth (T2) is centered on the engagement reference line (L) of the body 110 connecting the upper engagement point (P1), the central point (C), and the lower engagement point (P2). At least one pair may be installed in the front and rear, respectively, equal to 1 angle A1.

In addition, the permanent magnet 130 is installed on the body 110 and engages the deformation spline 200 so that magnetic force can be applied in a direction away from the first circular spline 300 and the second circular spline 400. At least one pair may be installed in front and behind the second angle A2 based on the reference line L.

For example, as shown in FIG. 6, the permanent magnet 130 is accommodated in the first groove G1 formed in the body 110, and the second angle A2 is based on the engagement reference line L. It may be 90 degrees or 90 degrees. It may be desirable for the permanent magnet 130 to be formed by arranging a plurality of unit magnets to overlap within the first groove G1 to strengthen magnetic force.

In addition, the pressing device 120 is a roller bearing 121 whose rotating shaft 121a is rotatably inserted into the second groove G2 to press the deformed spline 200, and at least a portion is attached to the body 110. It is accommodated in the formed second groove (G2), and the first angle (A1) may be 5 degrees to 30 degrees or 5 degrees to 30 degrees based on the engagement reference line (L).

Accordingly, the pressing device 120 may serve as a fulcrum of a kind of lever, and the permanent magnet 130 formed on one side of the pressing device 120 may serve as a force point of a kind of lever.

That is, when a portion of the deformation spline 200 is pulled in a direction away from the first circular spline 300 and the second circular spline 400 by the magnetic force of the permanent magnet 130 and serves as a force point, the pressing device ( Using 120) as the fulcrum of the lever, the other part of the deformed spline 200 is lifted from the upper engagement point (P1) or the lower engagement point (P2) in the direction of the first circular spline (300) and the second circular spline (400). As it acts as an action point, the meshed state can be firmly maintained even under various wave conditions or operating environments generated by the wave generator 100.

Therefore, the basic driving force for the deformation of the deformation spline 200 is the magnetic force of the permanent magnet 130, and the pressure device 120 is applied to the wave generator 100 and the deformation spline 200 as a contact point corresponding to the fulcrum. Using this, the deformation occurring in the deformation spline 200 due to the magnetic force of the permanent magnet 130 is amplified at the contact portion of the deformation spline 200 and the first circular spline 300 and the second circular spline 400 by the action of the lever. It can be.

In particular, in the pressurizing device 120, which is the contact point between the wave generator 100 and the deformed spline 200, the first circular spline 300, the second circular spline 400, and the deformed spline 200 are spaced apart from each other and directly connected to each other. Since it does not occlude, it does not require high dimensional precision like a conventional mechanical wave generator. However, since the deformation caused by the magnetic force of the permanent magnet 130 is strengthened by a lever effect, the contact area of the splines is better than that of a conventional magnetic wave generator. becomes wider, contact pressure also increases, and backlash and allowable torque can be greatly improved.

When explaining the operation process of the mixed deformation wave gear system 1000 having the rotating parts of the above configuration, when the input shaft 10 is rotationally driven to rotate the wave generator 100, the wave generator 100 rotates once. Meanwhile, the deformed spline 200 may rotate relative to the first circular spline 300 on the fixed side by an angle corresponding to the difference in the number of teeth. At this time, the second circular spline 400 on the output side is integrated with the deformed spline 200 and can rotate at the same number of rotations or at different rotation rates depending on the difference in the number of teeth. As such, the rotation of the second circular spline 400 may be output to a load member not shown in the drawing through the output shaft 20.

By the above-described operating principle, the rotational drive of the input shaft 10 can be decelerated at a predetermined rate and output as the rotational drive of the output shaft 20, and the output reduction ratio is the deformed spline 200 and the first circular spline. It can be set in a variety of ways depending on the difference in the number of teeth of the second circular spline (300) and the second circular spline (400).

Meanwhile, as shown in FIGS. 1 to 5, the housing 500 includes the above-described rotating parts such as the wave generator 100, the deformed spline 200, the first circular spline 300, and the second circular spline. It is formed in a multi-stage cylindrical shape to surround (400), and the wave generator 100 accommodated in the internal space, the deformed spline 200, the first circular spline 300, and the second circular spline 400 are coaxially It can be configured to bind.

For example, the housing 500 has an output shaft 20 so that the wave generator 100, the deformed spline 200, the first circular spline 300, and the second circular spline 400 can be inserted into the internal space. ) is formed in a multi-stage cylindrical shape with an open direction, so that the main body 510 and a ring shape are formed with a plurality of receiving grooves (512, 513, 514, 515, 516) formed in multi-stage in the internal space, It may include an outer bracket 520 that is coupled to one open side of the main body 510 and closes at least a portion of the open side of the main body 510, that is, an edge portion of the open side of the main body 510.

The main body 510 of the housing 500 includes a through-hole portion 511 through which the input shaft 10 passes, at least a portion of the wave generator 100, at least a portion of the deformed spline 200, and the first circular spline. The first receiving groove 512 and the remaining portion of the wave generator 100, which are concavely formed with the first diameter D1, so that 300 can be accommodated, the remaining portion of the deformation spline 200, and the first receiving groove portion 512 which is concavely formed with a first diameter D1. 2 In order to accommodate the circular spline 400, it may include a second receiving groove 513 that is concavely formed with a second diameter D2 larger than the first diameter D1.

Here, the input shaft 10 formed to pass through the through-hole portion 511 of the main body 510 is formed in a multi-stage cylindrical shape, so that it can be rotated in synchronization with the wave generator 100. The output shaft 20, which is formed integrally with and is formed on one open side of the main body 510, is formed in a multi-stage cylindrical shape to surround at least a portion of the second circular spline 400 installed inside the main body 510. , It can be coupled to one side of the second circular spline 400 so that it can be rotated in synchronization with the second circular spline 400. At this time, the input shaft 10 has at least a portion of the end inserted into the main body 510 inside the output shaft 20 so that it can be aligned coaxially with the output shaft 20 by the second ball bearing 700, which will be described later. It can be formed to be inserted.

In addition, inside the main body 510, a deformed spline 200, a first circular spline 300, and a second circular spline 400 accommodated in the first receiving groove 512 and the second receiving groove 513. A first ball bearing 600, a second ball bearing 700, and a cross roller bearing 800 may be installed so as to be rotatably constrained coaxially.

More specifically, the first ball bearing 600 is formed in a ring shape and has a third concavely formed third diameter D3 smaller than the first diameter D1 in the through-hole portion 511 of the main body 510. By being inserted into the receiving groove 514, the input shaft 10 can be rotatably fixed to the main body 510, and the second ball bearing 700 is formed in a ring shape and is connected to the end of the input shaft 10 and the output shaft. It is inserted between any one of the internal steps 21 of (20), and the end of the input shaft 10 is rotatably fixed to the output shaft 20 so that the input shaft 10 can rotate independently of the output shaft 20. You can do it.

In addition, the cross roller bearing 800 is formed in a ring shape, and is concavely formed with a fourth diameter (D4) larger than the second diameter (D2) at the entrance of the second receiving groove 513 of the main body 510. It is inserted into the fourth receiving groove 515, so that the inner edge of one side is in contact with one of the outer steps 23 of the output shaft 20, and the outer edge of the other side is in contact with the inner edge of the outer bracket 520. , the output shaft 20 can be rotatably fixed to the main body 510.

At this time, so that the cross roller bearing 800 can be stably fixed to the fourth receiving groove 515 of the main body 510, the housing 500 is formed in a ring shape with a smaller diameter than the outer bracket 520, The inner edge is coupled to another external step 24 of the output shaft 20, and the outer edge protruding outward from the other outer step 24 of the output shaft 20 is in contact with the inner edge of the other surface of the cross roller bearing 800. A bracket 530 may be further included.

In addition, the deformed spline 200, the first circular spline 300, and the second circular spline 400 are installed inside the main body 510 and accommodated in the first receiving groove 512 and the second receiving groove 513. ) The ball bearings (600, 700) and cross roller bearings (800) that coaxially rotatably restrain the ball bearings (800) can be general-purpose products on the market, and accordingly, the ball bearings (600, 700) and cross roller bearings (800) ) The diameter of the third receiving groove 514, the fourth receiving groove 515, and any one of the internal steps 21 of the output shaft 20 are determined by the ball bearings 600 and 700 and the cross roller. It can be determined by referring to the standard size of the bearing 800.

In addition, as shown in FIG. 4, inside the main body 510, the deformation spline 200 is positioned at the correct position between the wave generator 100 and the first circular spline 300 and the second circular spline 400. To prevent it from coming off, a pair of holding collars 900 may be installed on both sides of the deformation spline 200.

More specifically, the pair of holding collars 900 are positioned between the first receiving groove 512 and the third receiving groove 514 of the main body 510 so that they can be located on one side of the deformation spline 200. Based on the first holding collar 910 and the deformation spline 200 inserted into the fifth receiving groove 516 concavely formed with a fifth diameter D5 that is smaller than the first diameter D1 and larger than the third diameter D3. It may include a second holding collar 920 inserted into another internal step 22 of the output shaft 20 so that it can be located on the other side of the deformation spline 200 opposite to the first holding collar 910. .

This pair of holding collars 900 are in contact with the side surface of the deformed spline 200 so that the deformed spline 200 is between the wave generator 100 and the first circular spline 300 and the second circular spline 400. In order to prevent the spline from deviating from its correct position, it may be desirable for the spline to be made of a material with good lubricity or to have a lubricant coating layer to prevent wear from friction with the side of the rotating deformable spline 200.

As described above, the rotating parts (100, 200, 300, 400) coaxially rotatably installed in the inner space of the housing 500, as shown in FIGS. 4 and 5, have a plurality of fixtures (B1) , B2, B3, and B4) can be used to secure the components to the inner space of the housing 500 and to connect each component.

For example, the mixed deformation wave gear system 1000 according to an embodiment of the present invention has a main body so that at least a portion of the end can be inserted into the first circular spline 300 and screwed to the first circular spline 300. A plurality of first fixtures B1 are formed to penetrate through 510 and couple the first circular spline 300 and the main body 510, and at least a portion of the end portion is inserted into the second circular spline 400 to form a second A plurality of second fixtures (B2) formed to penetrate another external step of the output shaft 20 so as to be screwed to the circular spline 400 and coupling the second circular spline 400 and the output shaft 20, At least a portion of the end is formed to penetrate the inner bracket 530 so that it can be inserted into another external step 24 of the output shaft 20 and screwed to the output shaft 20, thereby forming the output shaft 20 and the inner bracket 530. A plurality of third fixtures B3 that combine and at least a portion of the end are formed to penetrate the outer bracket 520 so that they can be inserted into one open surface of the main body 510 and screwed to the main body 510. may include a plurality of fourth fixtures B4 that couple the main body 510 and the outer bracket 520.

At this time, the head portion of some of the fixtures is formed inside the mixed strain wave gear system 1000, so that the mixed strain wave gear system 1000 can be configured compactly, the main body 510 includes a plurality of first fixtures B1. ) is formed in the first fastening hole H1 through which the first counter bore CB1 (Count bore) is formed, and the heads of the plurality of first fixtures B1 are inserted into the first counter bore CB1 , the output shaft 20 has a second counter bore (CB2) formed in the second fastening hole portion (H2) through which the plurality of second fixtures (B2) penetrate, and the head portion of the plurality of second fixtures (B2) is the first. 2 Can be inserted into the counter bore (CB2).

In addition, like the mixed strain wave gear system 2000 according to another embodiment of the present invention shown in FIGS. 7 and 8, the fastening direction of the second fixture (B2) is changed to change the mixed strain wave gear system 2000. This can also be configured to be more compact.

For example, the mixed deformation wave gear system 2000 according to another embodiment of the present invention has a main body so that at least a portion of the end can be inserted into the first circular spline 300 and screwed to the first circular spline 300. A plurality of first fixtures B1 are formed to penetrate through 510 and couple the first circular spline 300 and the main body 510, and at least a portion of the end is inserted into another internal step of the output shaft 20. A plurality of second fixtures (B2) formed to penetrate the second circular spline 400 and couple the second circular spline 400 and the output shaft 20 so that they can be screwed to the output shaft 20, and It is formed to penetrate the inner bracket 530 so that at least a portion can be inserted into another external step 24 of the output shaft 20 and screwed to the output shaft 20, thereby coupling the output shaft 20 and the inner bracket 530. The plurality of third fixtures B3 and at least a portion of the end portion are formed to penetrate the outer bracket 520 so that they can be inserted into one open surface of the main body 510 and screwed to the main body 510. It may include a plurality of fourth fixtures B4 that couple the 510 and the outer bracket 520.

At this time, the head portion of some of the fixtures is formed inside the mixed strain wave gear system 1000, so that the mixed strain wave gear system 1000 can be configured compactly, the main body 510 includes a plurality of first fixtures B1. ) is formed in the first fastening hole H1 through which the first counter bore CB1 (Count bore) is formed, and the heads of the plurality of first fixtures B1 are inserted into the first counter bore CB1 , the second circular spline 400 has a second counterbore (CB2) formed in the second fastening hole portion (H2) through which the plurality of second fixtures (B2) penetrate, and is formed at the head of the plurality of second fixtures (B2). An addition may be inserted into the second counter bore CB2.

Therefore, according to the mixed deformation wave gear system (1000, 2000) according to various embodiments of the present invention, the rotating parts of the wave generator 100, the deformation spline 200, the first circular spline 300, and the second By inserting the circular spline 400 to be coaxially constrained inside the housing 500 formed in a multi-stage cylindrical shape, the concentric axis of the rotating parts 100, 200, 300, and 400 is strengthened to induce a precise meshing operation and mix. It is possible to reduce noise and vibration during the operation of the strain wave gear system (1000, 2000) and increase the precision of gear reduction.

In addition, inside the housing 500, the rotating parts such as the wave generator 100, the deformed spline 200, the first circular spline 300, and the second circular spline 400 form a concentric axis, enabling smooth rotation. By having a structure in which universal standard ball bearings 600, 700 and cross roller bearings 800 can be inserted into the housing 500 so that they can be restrained, the operation precision of the mixed deformation wave gear system (1000, 2000) is improved. The product cost can be reduced while improving, and the design of a compact mixed deformation wave gear system (1000, 2000) can be possible by improving the fastening structure of the second circular spline (400) and the fixture (B2) of the output shaft (20). .

In this way, due to the structure of the housing 500 that can restrain the rotating parts (100, 200, 300, and 400) so that they form a precise concentric axis, the concentric axis of the rotating parts (100, 200, 300, and 400) is strengthened. , when driving the device, vibration and noise can be reduced, lifespan can be increased, and precise driving can be achieved with an accurate gear ratio.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the attached patent claims.

10: input shaft
20: output shaft
21: Any one internal step
22: Another internal step
23: Any one external step
24: Other external steps
100: wave generator
110: body
120: pressurizing device
121: roller bearing
121a: rotation axis
130: permanent magnet
200: Deformation spline
300: first circular spline
400: Second circular spline
500: housing
510: body
511: Through hole part
512: First receiving groove
513: Second receiving groove
514: Third receiving groove
515: 4th receiving groove
516: 5th receiving groove
520: Outer bracket
530: Inner bracket
600: first ball bearing
700: second ball bearing
800: Crossed roller bearing
900: A pair of holding collars
910: first holding collar
920: second holding collar
1000, 2000:
B1: plurality of first fixtures
B2: plurality of second fixtures
B3: plural third fixtures
B4: plurality of fourth fixtures
T1: Otzi
T2: 2nd natch
P1: Upper engagement point
P2: Lower engagement point
C: center point
L: Occlusal reference line
H1: 1st fastening hole
H2: 2nd fastening hole
CB1: 1st counterbore
CB2: Second counterbore
G1: 1st groove
G2: Second groove

Claims (20)

A wave generator connected to the input shaft and capable of generating waves according to rotation;
A deformation spline disposed coaxially with the wave generator and forming an external gear that can cause deformation in the radial direction according to the wave of the wave generator as an external gear;
It is a stationary internal gear disposed coaxially with the deformation spline and installed not to rotate, and has first internal teeth formed to engage with the external surface of the deformation spline, and is formed with the external tooth according to deformation of the deformation spline. A first circular spline in which the first internal teeth are partially engaged and the deformation spline is relatively rotated;
An output-side internal gear arranged coaxially and parallel to the first circular spline, connected to the output shaft, and rotatably installed, has a number of teeth different from the first internal teeth so as to engage with the external teeth of the deformed spline. A second circular spline is formed with a second internal tooth, and the external tooth and the second internal tooth are partially engaged according to the deformation of the deformation spline and rotates with the rotation of the deformation spline; and
The wave generator, the deformed spline, and the first circular spline are formed in a multi-stage cylindrical shape to surround the wave generator, the deformed spline, and the second circular spline, and are accommodated in an internal space. a housing coaxially constraining the splines and the second circular spline;
A mixed strain wave gear system comprising: According to claim 1,
The first circular spline is,
Supported so as not to rotate in the housing so as to function as the stationary internal gear,
The second circular spline is,
A mixed strain wave gear system rotatably supported on the housing to function as the output side internal gear. According to claim 1,
The housing is,
a main body formed in a multi-stage cylindrical shape with the output shaft direction open so that the wave generator, the deformation spline, the first circular spline, and the second circular spline can be inserted into the internal space; and
an outer bracket that is formed in a ring shape and is coupled to one open side of the main body to close at least a portion of the open side of the main body;
A mixed strain wave gear system comprising: According to claim 3,
The input shaft is,
It is formed in a multi-stage cylindrical shape and is formed integrally with the wave generator so that it can be rotated in synchronization with the wave generator,
The output shaft is,
A mixed deformation wave gear system formed in a multi-stage cylindrical shape to surround at least a portion of the second circular spline and coupled to one side of the second circular spline so that it can rotate in synchronization with the second circular spline. According to claim 4,
The main body is,
a through-hole portion through which the input shaft passes;
a first receiving groove portion concavely formed with a first diameter to accommodate at least a portion of the wave generator, at least a portion of the deformation spline, and the first circular spline; and
a second receiving groove portion concavely formed with a second diameter larger than the first diameter to accommodate the remaining portion of the wave generator, the remaining portion of the deformed spline, and the second circular spline;
A mixed strain wave gear system comprising: According to claim 5,
The input shaft is,
A mixed strain wave gear system, wherein at least a portion of the end inserted into the main body is formed to be inserted into the inside of the output shaft. According to claim 6,
a first ball bearing formed in a ring shape, inserted into a third receiving groove concavely formed in the through-hole portion of the main body with a third diameter smaller than the first diameter, and rotatably fixing the input shaft to the main body; and
A ring-shaped device is inserted between the end of the input shaft and one of the inner steps of the output shaft, and rotatably fixes the end of the input shaft to the output shaft so that the input shaft can rotate independently of the output shaft. 2 ball bearings;
A mixed strain wave gear system further comprising: According to claim 5,
It is formed in a ring shape and is inserted into a fourth receiving groove concavely formed with a fourth diameter larger than the second diameter at the entrance portion of the second receiving groove of the main body, and the inner edge of one surface is connected to one of the output shafts. a cross roller bearing that contacts an external step and whose outer edge portion contacts an inner edge portion of the outer bracket to rotatably fix the output shaft to the main body;
A mixed strain wave gear system further comprising: According to claim 8,
The housing is,
It is formed in a ring shape with a smaller diameter than the outer bracket, is coupled to another external step of the output shaft, and an outer edge protruding outward from the other outer step of the output shaft contacts an inner edge portion of the other surface of the cross roller bearing. Inner bracket;
A mixed strain wave gear system further comprising: According to claim 8,
a pair of holding collars installed on both sides of the deformable spline to prevent the deformed spline from deviating from its original position between the wave generator, the first circular spline, and the second circular spline;
A mixed strain wave gear system further comprising: According to claim 10,
The pair of holding collars is,
A fifth accommodation concavely formed with a fifth diameter smaller than the first diameter and larger than the third diameter between the first and third accommodation grooves of the main body so as to be located on one side of the deformation spline. a first holding collar inserted into the groove; and
a second holding collar inserted into another inner step of the output shaft so as to be located on the other side of the deformation spline opposite to the first holding collar with respect to the deformation spline;
A mixed strain wave gear system comprising: According to clause 9,
a plurality of first fixtures formed to penetrate the main body and coupling the first circular spline and the main body so that at least a portion of an end portion can be inserted into the first circular spline and screwed to the first circular spline;
A plurality of parts formed to penetrate another external step of the output shaft and coupling the second circular spline and the output shaft so that at least a portion of the end can be inserted into the second circular spline and screwed to the second circular spline. 2 fixtures;
a plurality of third fixtures formed to penetrate the inner bracket and coupling the output shaft and the inner bracket so that at least a portion of an end can be inserted into the other external step of the output shaft and screwed to the output shaft; and
a plurality of fourth fixtures that are formed to penetrate the outer bracket and couple the main body and the outer bracket so that at least a portion of an end can be inserted into one open surface of the main body and screwed to the main body;
A mixed strain wave gear system comprising: According to claim 12,
The main body is,
A first counter bore is formed in the first fastening hole through which the plurality of first fixtures penetrate, and the heads of the plurality of first fixtures are inserted into the first counter bore,
The output shaft is,
A mixed deformation wave gear system in which a second counter bore is formed in a second fastening hole through which the plurality of second fixtures penetrate, and the heads of the plurality of second fixtures are inserted into the second counter bore. According to clause 9,
a plurality of first fixtures formed to penetrate the main body and coupling the first circular spline and the main body so that at least a portion of an end portion can be inserted into the first circular spline and screwed to the first circular spline;
A plurality of second fixtures formed to penetrate the second circular spline and couple the second circular spline and the output shaft so that at least a portion of the end can be inserted into another internal step of the output shaft and screwed to the output shaft. ;
a plurality of third fixtures formed to penetrate the inner bracket and coupling the output shaft and the inner bracket so that at least a portion of an end can be inserted into the other external step of the output shaft and screwed to the output shaft; and
a plurality of fourth fixtures that are formed to penetrate the outer bracket and couple the main body and the outer bracket so that at least a portion of an end can be inserted into one open surface of the main body and screwed to the main body;
A mixed strain wave gear system comprising: According to claim 14,
The main body is,
A first counter bore is formed in the first fastening hole through which the plurality of first fixtures penetrate, and the heads of the plurality of first fixtures are inserted into the first counter bore,
The second circular spline is,
A mixed deformation wave gear system in which a second counter bore is formed in a second fastening hole through which the plurality of second fixtures penetrate, and the heads of the plurality of second fixtures are inserted into the second counter bore. According to claim 1,
The wave generator is,
A body formed in a circular plate shape;
It is installed on the body, and the upper meshing point, the central point, and the lower portion where the external tooth and the first internal tooth or the second internal tooth mesh so as to press the deformation spline in the direction of the first circular spline and the second circular spline. At least one pair of pressurizing devices respectively installed in front and behind at a first angle with respect to the engagement reference line of the body connecting the engagement points; and
At least one device installed on the body and installed forward and backward by a second angle with respect to the engagement reference line so that magnetic force acts on the deformation spline in a direction away from the first circular spline and the second circular spline. Pair of permanent magnets;
A mixed strain wave gear system comprising: According to claim 16,
The permanent magnet is,
Received in a first groove formed in the body,
The second angle is,
A mixed deformation wave gear system with an angle of 90 degrees relative to the meshing reference line. According to claim 17,
The permanent magnet is,
A mixed strain wave gear system formed by overlapping a plurality of unit magnets inside the first groove to strengthen magnetic force. According to claim 16,
The pressurizing device is,
At least a portion is received in a second groove formed in the body,
The first angle is,
A mixed deformation wave gear system that is 5 degrees to 30 degrees based on the meshing baseline. According to claim 19,
The pressurizing device is,
a roller bearing whose rotation axis is rotatably inserted into the second groove to press the deformed spline;
A mixed strain wave gear system comprising:

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