TW201323751A - Harmonic drive and wave generator thereof - Google Patents

Harmonic drive and wave generator thereof Download PDF

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TW201323751A
TW201323751A TW100146339A TW100146339A TW201323751A TW 201323751 A TW201323751 A TW 201323751A TW 100146339 A TW100146339 A TW 100146339A TW 100146339 A TW100146339 A TW 100146339A TW 201323751 A TW201323751 A TW 201323751A
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Taiwan
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cam
side wall
outer ring
ring sleeve
annular side
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TW100146339A
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Chinese (zh)
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TWI444549B (en
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Chien-Chih Chiu
Hsi-Hung Hsiao
Dar-Jen Pen
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Ind Tech Res Inst
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H49/00Other gearings
    • F16H49/001Wave gearings, e.g. harmonic drive transmissions

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Abstract

A wave generator of harmonic device comprises a cam, a circular cover, and a bearing. The cam has a conical surface which clamps an acute angle with a rotating shaft line of the cam. The circular cover covers the cam and contacts the conical surface. The bearing surrounds the circular cover. Wherein, the cam can move relatively to the circular cover alone the rotating shaft line, the conical surface pushes the circular cover to make the circular cover deforming, so as to adjust the shape outline of the circular cover.

Description

諧波齒輪減速機及其波形產生器Harmonic gear reducer and its waveform generator

本提案係關於一種減速機及其內部元件,特別是關於諧波齒輪減速機及其波形產生器。This proposal relates to a reducer and its internal components, in particular to a harmonic gear reducer and its waveform generator.

一般於機器手臂機構設計過程中,會考量到馬達的重量限制,以及預設扭力的輸出需求。因此會選用功率較小及低扭力但高轉速輸出的馬達,再搭配適當減速比之諧波齒輪減速機(Harmonic Drive or Wave Gear Drive)來提高輸出扭力以達到輸出需求。諧波齒輪減速機與一般的齒輪傳動結構相比,具有運動精度高、幾乎零背隙、傳動比大、重量輕、體積小、以及承載能力大等優點。因此諧波齒輪應用的層面相當廣泛,除了用在多軸機械手臂關節外,在工具機進給系統、精密儀器的微調機構中也都是相當關鍵的零組件之一。Generally, during the design of the robot arm mechanism, the weight limit of the motor and the output demand of the preset torque are considered. Therefore, a motor with low power and low torque but high speed output will be selected, and a Harmonic Drive or Wave Gear Drive will be used to increase the output torque to meet the output demand. Compared with the general gear transmission structure, the harmonic gear reducer has the advantages of high motion precision, almost zero backlash, large transmission ratio, light weight, small volume, and large carrying capacity. Therefore, the application of harmonic gears is quite extensive. In addition to being used in the joints of multi-axis robots, it is also one of the most critical components in the fine-tuning mechanism of the machine tool feeding system and precision instruments.

諧波齒輪減速機的構造,其主要包括一波形產生器(Wave Generator)、一撓性外齒杯(Flexspline)及一剛性內齒環(Circular spline)。當諧波齒輪減速機運轉時,橢圓凸輪因一高速軸輸入而旋轉,並迫使軸承的一外環產生彈性變形,以連動撓性外齒杯彈性變形而與剛性內齒環產生部分囓合。此時,撓性外齒杯開始相對剛性內齒環運動,由於撓性外齒杯與剛性內齒環的齒數相差極少,因此撓性外齒杯即可以低轉速輸出相當的扭力。The construction of the harmonic gear reducer mainly includes a Wave Generator, a Flexspline and a Circular Spline. When the harmonic gear reducer is running, the elliptical cam rotates due to a high speed shaft input, and forces an outer ring of the bearing to be elastically deformed to elastically deform the flexible outer tooth cup to partially mesh with the rigid inner ring gear. At this time, the flexible outer tooth cup starts to move relative to the rigid inner ring gear, and since the number of teeth of the flexible outer tooth cup and the rigid inner ring gear is extremely small, the flexible outer tooth cup can output a considerable torque at a low rotational speed.

然而,由於諧波齒輪減速機係為精度需求相當高的裝置,當加工組裝所造成的誤差量或是因磨耗而產生元件配合的誤差量達到0.01mm時,即會影響到撓性外齒杯與剛性內齒環的囓合效果,例如產生背隙(back lash),進而造成運轉精度偏差的問題。有鑒於此,如何克服諧波齒輪減速機因加工組裝或運轉磨耗所產生的尺寸誤差,已是目前研究人員所要追求的目標。However, since the harmonic gear reducer is a device with a relatively high precision requirement, when the amount of error caused by the machining assembly or the error amount of component matching due to wear reaches 0.01 mm, the flexible outer tooth cup is affected. The meshing effect with the rigid inner ring gear, for example, produces a back lash, which causes a problem of deviation in running accuracy. In view of this, how to overcome the dimensional error caused by the machining assembly or running wear of the harmonic gear reducer is the goal that researchers are currently pursuing.

本提案在於提供一種諧波齒輪減速機及其波形產生器,藉以克服諧波齒輪減速機因加工組裝或運轉磨耗所產生的尺寸誤差。The proposal is to provide a harmonic gear reducer and a waveform generator thereof, thereby overcoming the dimensional error caused by the machining assembly or running wear of the harmonic gear reducer.

本提案所揭露之諧波齒輪減速機,其包含一剛性內齒環、一撓性外齒杯及一波形產生器。撓性外齒杯設置於剛性內齒環內。波形產生器設置於撓性外齒杯內,且波形產生器包含一凸輪、一凸輪外環套及一軸承。凸輪具有一斜錐面,且斜錐面與凸輪的一旋轉軸線夾一銳角。凸輪外環套套設於凸輪,且與斜錐面相接觸。軸承環繞設置於凸輪外環套,且夾設於撓性外齒杯與凸輪外環套之間。其中,凸輪可沿著旋轉軸線而相對凸輪外環套位移,使斜錐面推抵凸輪外環套,令凸輪外環套產生變形,以調整凸輪外環套之外型輪廓。一外力帶動凸輪及凸輪外環套旋轉,並透過軸承而迫使撓性外齒杯彈性變形而部分嚙合於剛性內齒環,並且使剛性內齒環與撓性外齒杯相嚙合之位置沿著一環形路徑移動。The harmonic gear reducer disclosed in the proposal comprises a rigid inner ring gear, a flexible outer tooth cup and a wave generator. The flexible outer tooth cup is disposed in the rigid inner ring gear. The waveform generator is disposed in the flexible outer tooth cup, and the waveform generator comprises a cam, a cam outer ring sleeve and a bearing. The cam has a tapered surface, and the tapered surface is at an acute angle to an axis of rotation of the cam. The cam outer ring sleeve is sleeved on the cam and is in contact with the inclined taper surface. The bearing is disposed around the cam outer ring sleeve and is sandwiched between the flexible outer tooth cup and the cam outer ring sleeve. Wherein, the cam is displaceable relative to the cam outer ring sleeve along the rotation axis, so that the inclined cone surface is pushed against the cam outer ring sleeve, and the cam outer ring sleeve is deformed to adjust the outer contour of the cam outer ring sleeve. An external force drives the cam and the cam outer ring to rotate, and the flexible outer tooth cup is elastically deformed through the bearing to partially mesh with the rigid inner ring gear, and the rigid inner ring gear is engaged with the flexible outer tooth cup along the position A circular path moves.

本提案所揭露之用於諧波齒輪減速機的波形產生器,係設置於諧波齒輪減速機的一撓性外齒杯內。波形產生器包含一凸輪、一凸輪外環套及一軸承。凸輪具有一斜錐面,且斜錐面與凸輪的一旋轉軸線夾一銳角。凸輪外環套套設於凸輪,且與斜錐面相接觸。軸承環繞設置於凸輪外環套。其中,凸輪可沿著旋轉軸線而相對凸輪外環套位移,使斜錐面推抵凸輪外環套,令凸輪外環套產生變形,以調整凸輪外環套之外型輪廓。The waveform generator for the harmonic gear reducer disclosed in the present proposal is disposed in a flexible external tooth cup of the harmonic gear reducer. The waveform generator includes a cam, a cam outer collar and a bearing. The cam has a tapered surface, and the tapered surface is at an acute angle to an axis of rotation of the cam. The cam outer ring sleeve is sleeved on the cam and is in contact with the inclined taper surface. The bearing is circumferentially disposed on the outer cam sleeve. Wherein, the cam is displaceable relative to the cam outer ring sleeve along the rotation axis, so that the inclined cone surface is pushed against the cam outer ring sleeve, and the cam outer ring sleeve is deformed to adjust the outer contour of the cam outer ring sleeve.

根據上述本提案所揭露之諧波齒輪減速機及其波形產生器,係藉由凸輪的斜錐面之設計,使得波形產生器的凸輪外環套可透過凸輪的軸向位移而達到調整其外型輪廓的效果,以補償諧波齒輪減速機因加工組裝或運轉磨耗所產生的尺寸誤差之問題。According to the above-mentioned proposal, the harmonic gear reducer and the waveform generator thereof are designed such that the cam outer ring sleeve of the wave generator can be adjusted by the axial displacement of the cam by the design of the inclined taper surface of the cam. The effect of the profile is to compensate for the dimensional error of the harmonic gear reducer due to machining assembly or running wear.

有關本提案的特徵、實作與功效,茲配合圖式作最佳實施例詳細說明如下。The features, implementation and efficacy of this proposal are described in detail below with reference to the preferred embodiment of the drawings.

請參照「第1圖」至「第3圖」,「第1圖」係為根據本提案一實施例之諧波齒輪減速機的結構示意圖,「第2圖」係為根據本提案一實施例之諧波齒輪減速機的結構分解示意圖,「第3圖」係為根據本提案一實施例之波形產生器的部分結構分解示意圖。Please refer to "1" to "3", and "1" is a schematic structural view of a harmonic gear reducer according to an embodiment of the present proposal, and "2" is an embodiment according to the present proposal. A structural exploded view of the harmonic gear reducer, and "FIG. 3" is a partial exploded view of the waveform generator according to an embodiment of the present proposal.

本提案所揭露之諧波齒輪減速機10(Harmonic Drive),其包含一剛性內齒環200(Circular Spline)、一撓性外齒杯300(Flexspline)及一波形產生器100(Wave Generator)。其中,剛性內齒環200係為一環形體,其內側壁面上具有複數個環狀排列的內齒202。撓性外齒杯300設置於剛性內齒環200內。撓性外齒杯300係為一杯形體,其具有相對的一開口部306及一底部308。並且,撓性外齒杯300於其開口部306與底部308之間的表面上設有複數個環狀排列的外齒302,這些外齒302係對應於剛性內齒環200的內齒202。一般而言,外齒302的齒數係少於內齒202的齒數約2-4齒,但不以此為限。並且,在本實施例或其他實施例當中,撓性外齒杯300的底部308可具有一接合結構304,接合結構304可包含多個螺孔,但不以此為限。接合結構304用以使撓性外齒杯300與一輸出軸(未繪示)相接。The Harmonic Drive 10 disclosed in the present proposal comprises a rigid internal spiral ring 200 (Circular Spline), a flexible external toothed cup 300 (Flexspline) and a waveform generator 100 (Wave Generator). The rigid inner ring gear 200 is an annular body having a plurality of inner teeth 202 arranged in a ring shape on the inner wall surface. The flexible outer tooth cup 300 is disposed within the rigid inner ring gear 200. The flexible outer tooth cup 300 is a cup shape having an opposite opening 306 and a bottom 308. Further, the flexible outer cup 300 is provided with a plurality of annularly arranged outer teeth 302 on the surface between the opening portion 306 and the bottom portion 308, and the outer teeth 302 correspond to the inner teeth 202 of the rigid inner ring gear 200. In general, the number of teeth of the outer teeth 302 is less than about 2-4 teeth of the inner teeth 202, but not limited thereto. In addition, in the embodiment or other embodiments, the bottom 308 of the flexible outer cup 300 may have a joint structure 304, and the joint structure 304 may include a plurality of screw holes, but not limited thereto. The joint structure 304 is used to connect the flexible outer cup 300 with an output shaft (not shown).

此外,波形產生器100經由撓性外齒杯300的開口部306而被套設於撓性外齒杯300內,波形產生器100包含一凸輪110、一凸輪外環套120及一軸承130。其中,凸輪110係為一橢圓凸輪,但不以此為限。凸輪110具有相對的一第一側面111及一第二側面112,以及介於第一側面111及第二側面112之間的一環形的斜錐面113。斜錐面113與凸輪110的一旋轉軸線A夾一銳角θ(如「第3圖」所示)。其中,本實施例之銳角θ的值可為2至5度,但不以此為限,熟悉此項技藝者可根據實際需求調整銳角θ的設計值。此外,凸輪110的第一側面111上更可具有一接合結構115,本實施例之接合結構115可為一貫穿凸輪110的套接孔,但不以此為限。接合結構115用以使凸輪110與一輸入軸(未繪示)相接。In addition, the waveform generator 100 is sleeved in the flexible outer tooth cup 300 via the opening 306 of the flexible outer tooth cup 300. The waveform generator 100 includes a cam 110, a cam outer ring cover 120 and a bearing 130. The cam 110 is an elliptical cam, but is not limited thereto. The cam 110 has a first side 111 and a second side 112 opposite to each other, and an annular tapered surface 113 between the first side 111 and the second side 112. The tapered surface 113 is at an acute angle θ with an axis of rotation A of the cam 110 (as shown in Fig. 3). The value of the acute angle θ of the embodiment may be 2 to 5 degrees, but is not limited thereto. The design value of the acute angle θ may be adjusted according to actual needs by those skilled in the art. In addition, the first side 111 of the cam 110 can have a joint structure 115. The joint structure 115 of the embodiment can be a sleeve hole extending through the cam 110, but is not limited thereto. The engagement structure 115 is used to connect the cam 110 to an input shaft (not shown).

請繼續參照「第2圖」及「第3圖」。本實施例之凸輪外環套120係套設於凸輪110,且與斜錐面113相接觸。其中,凸輪外環套120的材質可採用撓性較佳的材質,如金屬。Please continue to refer to "Figure 2" and "Figure 3". The cam outer ring sleeve 120 of the embodiment is sleeved on the cam 110 and is in contact with the inclined taper surface 113. The material of the cam outer ring sleeve 120 can be made of a material with good flexibility, such as metal.

軸承130環繞設置於凸輪外環套120,且夾設於撓性外齒杯300與凸輪外環套120之間。其中,本實施例之軸承130可以是滾珠型軸承,但不以此為限。譬如在其他實施例當中,軸承130也可以是滾柱型軸承。The bearing 130 is disposed around the cam outer ring sleeve 120 and is interposed between the flexible outer tooth cup 300 and the cam outer ring sleeve 120. The bearing 130 of this embodiment may be a ball type bearing, but is not limited thereto. For example, in other embodiments, the bearing 130 can also be a roller type bearing.

在本實施例或其他實施例當中,凸輪外環套120係可包含一環形側壁122以及一設置於環形側壁122一側的端板124,以使其外型概略為一杯形體。其中,環形側壁122具有相對的一內壁面1221及一外壁面1222,內壁面1221係與斜錐面113相接觸,外壁面1222係與軸承130相接觸。此外,凸輪外環套120的端板124係面向凸輪110的第二側面112。其中,凸輪110可沿著旋轉軸線A而相對凸輪外環套120位移,使斜錐面113推抵凸輪外環套120的環形側壁122,令凸輪外環套120的環形側壁122產生變形,以調整由環形側壁122所構成之凸輪外環套120的外型輪廓。並且,當一外力(譬如輸入軸)帶動凸輪110及凸輪外環套120旋轉時,係透過軸承130而迫使撓性外齒杯300彈性變形而使部分的外齒302嚙合於剛性內齒環200的內齒202。並且,剛性內齒環200之內齒202與撓性外齒杯300之外齒302相嚙合之位置係沿著一環形路徑移動,以使得撓性外齒杯300相對剛性內齒環200以較低的轉速旋轉而達到減速效果。In this embodiment or other embodiments, the cam outer ring cover 120 can include an annular side wall 122 and an end plate 124 disposed on one side of the annular side wall 122 to make the outer shape of the cup shape. The annular sidewall 122 has an opposite inner wall surface 1221 and an outer wall surface 1222. The inner wall surface 1221 is in contact with the inclined tapered surface 113, and the outer wall surface 1222 is in contact with the bearing 130. Additionally, the end plate 124 of the cam outer collar 120 faces the second side 112 of the cam 110. The cam 110 is displaceable relative to the cam outer ring sleeve 120 along the rotation axis A, and the inclined cone surface 113 is pushed against the annular side wall 122 of the cam outer ring sleeve 120 to deform the annular side wall 122 of the cam outer ring sleeve 120. The contour of the outer cam sleeve 120 formed by the annular side wall 122 is adjusted. Moreover, when an external force (such as an input shaft) drives the cam 110 and the cam outer ring 120 to rotate, the flexible outer tooth cup 300 is elastically deformed through the bearing 130 to partially engage the outer teeth 302 to the rigid inner ring gear 200. Internal teeth 202. Moreover, the position of the inner teeth 202 of the rigid inner ring gear 200 meshing with the outer teeth 302 of the flexible outer tooth cup 300 is moved along an annular path such that the flexible outer tooth cup 300 is relatively rigid to the inner ring gear 200. The low speed rotates to achieve a deceleration effect.

接著,將針對如何調整凸輪外環套120之外型輪廓的原理進行說明。請同時參照「第3圖」及「第4圖」,「第4圖」係為根據本提案一實施例之調整波形產生器之外型輪廓的示意圖。Next, the principle of how to adjust the profile of the outer cam sleeve 120 will be described. Please refer to "Fig. 3" and "Fig. 4" at the same time. "Fig. 4" is a schematic diagram of adjusting the contour of the waveform generator according to an embodiment of the present proposal.

詳細來說,當凸輪外環套120套設於凸輪110時,環形側壁122的內壁面1221係與斜錐面113接觸。由於斜錐面113係為一傾斜面,使得斜錐面113不與內壁面1221平行。因此凸輪外環套120套設於凸輪110時,斜錐面113係與內壁面1221相干涉而迫使環形側壁122彈性變形而向外擴張,進而改變凸輪外環套120的外型輪廓。並且,由於斜錐面113靠近第二側面112的一端與旋轉軸線A的距離D2係小於斜錐面113靠近第一側面112的一端與旋轉軸線A的距離D1,因此若凸輪110的第二側面112與端板124越靠近(即凸輪110越深入凸輪外環套120內),則環形側壁122受到斜錐面113的推抵而越往軸承130的方向外擴,使得凸輪外環套120具有較大的外型輪廓。相反地,若凸輪110的第二側面112與端板124之距離越遠,則環形側壁122往軸承130方向外擴的幅度便較小,使得凸輪外環套120具有較小的外型輪廓。In detail, when the cam outer ring cover 120 is sleeved on the cam 110, the inner wall surface 1221 of the annular side wall 122 is in contact with the inclined tapered surface 113. Since the tapered surface 113 is an inclined surface, the inclined tapered surface 113 is not parallel to the inner wall surface 1221. Therefore, when the cam outer ring sleeve 120 is sleeved on the cam 110, the inclined cone surface 113 interferes with the inner wall surface 1221 to force the annular side wall 122 to elastically deform and expand outward, thereby changing the outer contour of the cam outer ring sleeve 120. Moreover, since the distance D2 between the one end of the inclined cone surface 113 close to the second side surface 112 and the rotation axis A is smaller than the distance D1 of the end of the inclined cone surface 113 close to the first side surface 112 from the rotation axis A, if the second side of the cam 110 The closer the 112 is to the end plate 124 (i.e., the deeper the cam 110 is deep into the outer cam sleeve 120), the annular side wall 122 is pushed by the inclined taper surface 113 and expanded outward in the direction of the bearing 130, so that the cam outer ring cover 120 has Large outline. Conversely, if the second side 112 of the cam 110 is at a greater distance from the end plate 124, the extent of the annular sidewall 122 expanding outwardly toward the bearing 130 is less, such that the cam outer collar 120 has a smaller profile.

如此一來,藉由調整凸輪外環套120之環形側壁122的外擴幅度,可使得軸承130的外型輪廓透過外壁面1222的推抵而一併地改變,以達到調整整體波形產生器100之外型輪廓的效果。In this way, by adjusting the extent of the annular side wall 122 of the cam outer ring sleeve 120, the outer contour of the bearing 130 can be collectively changed by the pushing of the outer wall surface 1222 to adjust the overall waveform generator 100. The effect of the outline.

因此,藉由上述凸輪110的斜錐面113之設計,使得波形產生器100可透過凸輪110相對凸輪外環套120之軸向位移而達到調整外型輪廓的效果,以用來補償諧波齒輪減速機10因加工組裝或運轉磨耗所產生的尺寸誤差之問題。Therefore, by the design of the inclined cone surface 113 of the cam 110, the waveform generator 100 can achieve the effect of adjusting the outer contour through the axial displacement of the cam 110 relative to the outer cam sleeve 120 to compensate the harmonic gear. The size error of the reducer 10 due to machining assembly or running wear.

請繼續參照「第2圖」及「第3圖」。此外,在本實施例或其他實施例當中,凸輪110的第二側面112上更具有一定位柱114,凸輪外環套120的端板124上更具有一定位孔1241。當凸輪外環套120套設於凸輪110時,定位柱114係插設於定位孔1241內,以達到凸輪110與凸輪外環套120之間的定位效果,以確保凸輪110相對凸輪外環套120軸向位移時能夠保持共軸心。Please continue to refer to "Figure 2" and "Figure 3". In addition, in the embodiment or other embodiments, the second side 112 of the cam 110 further has a positioning post 114, and the end plate 124 of the cam outer ring sleeve 120 further has a positioning hole 1241. When the cam outer ring sleeve 120 is sleeved on the cam 110, the positioning post 114 is inserted into the positioning hole 1241 to achieve the positioning effect between the cam 110 and the cam outer ring sleeve 120 to ensure the cam 110 is opposite to the cam outer ring sleeve. The 120-axis displacement maintains the coaxiality.

此外,在本實施例或其他實施例當中,凸輪外環套120上更可具有複數道軸向延伸的開槽1224。並且,這些開槽1224彼此間係環繞旋轉軸線A而間隔排列,且這些開槽1224係由環形側壁122遠離端板124的一側朝端板124延伸。如此一來,藉由開槽1224的設置,更可增加凸輪外環套120的撓性。需注意的是,上述開槽1224的開設及延伸方向並非用以限定本提案,在其他實施例當中,凸輪外環套120上更可同時具有由端板124朝環形側壁122延伸的複數道開槽1224’,如「第6圖」所示。In addition, in this embodiment or other embodiments, the cam outer ring sleeve 120 may further have a plurality of axially extending slots 1224. Moreover, the slots 1224 are spaced apart from each other about the axis of rotation A, and the slots 1224 extend from the side of the annular sidewall 122 away from the end plate 124 toward the end plate 124. In this way, the flexibility of the cam outer ring cover 120 can be increased by the provision of the slot 1224. It should be noted that the opening and extending direction of the slot 1224 is not intended to limit the present proposal. In other embodiments, the cam outer ring sleeve 120 may have multiple lanes extending from the end plate 124 toward the annular sidewall 122. The groove 1224' is as shown in "Fig. 6".

請接著參照「第2圖」並同時搭配「第5圖」,「第5圖」係為第1圖沿著55剖面線的諧波齒輪減速機之剖視圖。Please refer to "Picture 2" and at the same time with "5th", "5th" is a cross-sectional view of the harmonic gear reducer along the line 55 in Figure 1.

在本實施例或其他實施例當中,波形產生器100更可具有至少一第一軸向調整件141及一第二軸向調整件142,第一軸向調整件141及一第二軸向調整件142係用以調整凸輪110相對凸輪外環套120的軸向位移,以控制凸輪外環套120的外型輪廓。而在本實施例圖示中,係以一對第一軸向調整件141及一對第二軸向調整件142為例,但不以此為限。並且,本實施例之第一軸向調整件141及第二軸向調整件142係可分別為一螺栓,且第一軸向調整件141的長度係小於第二軸向調整件142的長度。In this embodiment or other embodiments, the waveform generator 100 further has at least one first axial adjustment member 141 and a second axial adjustment member 142, a first axial adjustment member 141 and a second axial adjustment. The member 142 is used to adjust the axial displacement of the cam 110 relative to the cam outer collar 120 to control the contour of the cam outer collar 120. In the embodiment of the present invention, a pair of first axial adjustment members 141 and a pair of second axial adjustment members 142 are taken as an example, but not limited thereto. Moreover, the first axial adjustment member 141 and the second axial adjustment member 142 of the embodiment are respectively a bolt, and the length of the first axial adjustment member 141 is smaller than the length of the second axial adjustment member 142.

此外,凸輪外環套120的端板124上更可具有至少一貫穿的螺孔1244。更進一步來說,本實施例之螺孔1244的數量係匹配於第一軸向調整件141的數量。其中,第一軸向調整件141鎖附並穿設過螺孔1244,使得第一軸向調整件141的一端係抵靠於凸輪110的第二側面112。工程人員可藉由調整第一軸向調整件141相對螺孔1244的位置(譬如增加第一軸向調整件141穿設出端板124的長度),使得第一軸向調整件141的一端推抵凸輪110的第二側面112,而使凸輪110的第二側面112朝遠離端板124之方向位移,以縮減凸輪外環套120的外型輪廓。In addition, the end plate 124 of the cam outer ring sleeve 120 may further have at least one through hole 1244. Furthermore, the number of the screw holes 1244 of the present embodiment is matched to the number of the first axial adjustment members 141. The first axial adjustment member 141 is locked and passed through the screw hole 1244 such that one end of the first axial adjustment member 141 abuts against the second side 112 of the cam 110. The engineer can adjust the position of the first axial adjustment member 141 relative to the screw hole 1244 (for example, increase the length of the first axial adjustment member 141 through the end plate 124), so that one end of the first axial adjustment member 141 is pushed. The second side 112 of the cam 110 is urged to displace the second side 112 of the cam 110 away from the end plate 124 to reduce the contour of the cam outer collar 120.

此外,凸輪外環套120的端板124上更可具有至少一貫穿的通孔1243,凸輪110的第二側面112上更可具有至少一螺孔118。更進一步來說,本實施例之通孔1243與螺孔118的數量係匹配於第二軸向調整件142的數量。其中,第二軸向調整件142穿設過通孔1243並鎖附於螺孔118。工程人員可藉由調整第二軸向調整件142相對螺孔118的位置(譬如增加第二軸向調整件142鎖入螺孔118內的長度),以令凸輪110的第二側面112與凸輪外環套120的端板124相靠近,以增加凸輪外環套120的外型輪廓。In addition, the end plate 124 of the cam outer ring sleeve 120 can have at least one through hole 1243. The second side 112 of the cam 110 can further have at least one screw hole 118. Furthermore, the number of the through holes 1243 and the screw holes 118 of the present embodiment is matched with the number of the second axial adjustment members 142. The second axial adjustment member 142 is disposed through the through hole 1243 and is locked to the screw hole 118. The engineer can adjust the position of the second axial adjustment member 142 relative to the screw hole 118 (for example, increase the length of the second axial adjustment member 142 locked into the screw hole 118) so that the second side 112 of the cam 110 and the cam The end plates 124 of the outer ring sleeve 120 are adjacent to increase the contour of the outer cam sleeve 120.

因此,藉由適當地調整第一軸向調整件141相對螺孔1244的位置以及第二軸向調整件142相對螺孔118的位置,可容易地改變凸輪110相對凸輪外環套120的軸向位置,以達到調整整體波形產生器100之外型輪廓的效果。Therefore, the axial direction of the cam 110 relative to the cam outer collar 120 can be easily changed by appropriately adjusting the position of the first axial adjustment member 141 with respect to the screw hole 1244 and the position of the second axial adjustment member 142 with respect to the screw hole 118. Position to achieve the effect of adjusting the profile of the overall waveform generator 100.

根據上述實施例之諧波齒輪減速機及其波形產生器,係藉由凸輪的斜錐面之設計,使得波形產生器可透過凸輪相對凸輪外環套軸向位移而達到調整外型輪廓的效果。如此一來,本實施例之波形產生器的結構設計可用來補償諧波齒輪減速機因加工組裝或運轉磨耗所產生的尺寸誤差(如背隙)之問題。According to the harmonic gear reducer and the waveform generator of the above embodiment, the design of the inclined taper surface of the cam enables the waveform generator to achieve the effect of adjusting the outer contour through the axial displacement of the cam relative to the cam outer ring sleeve. . In this way, the structural design of the waveform generator of the embodiment can be used to compensate for the dimensional error (such as backlash) caused by the machining assembly or running wear of the harmonic gear reducer.

此外,藉由凸輪外環套上的開槽設計,可增加凸輪外環套的撓性,以提升調整波形產生器之整體外型輪廓的效果。In addition, by the slotted design on the cam outer ring sleeve, the flexibility of the cam outer ring sleeve can be increased to enhance the effect of adjusting the overall contour of the waveform generator.

並且,搭配第一軸向調整件以及第二軸向調整件的設置,令工程人員可容易的改變凸輪相對凸輪外環套的軸向位置,以增加波形產生器之實際微調的操作便利性。Moreover, with the arrangement of the first axial adjustment member and the second axial adjustment member, the engineer can easily change the axial position of the cam relative to the outer cam sleeve to increase the operational convenience of the actual fine adjustment of the waveform generator.

雖然本提案以前述之較佳實施例揭露如上,然其並非用以限定本提案,任何熟習相像技藝者,在不脫離本提案之精神和範圍內,當可作些許之更動與潤飾,因此本提案之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。While the present invention has been disclosed in the foregoing preferred embodiments, it is not intended to limit the present invention. Any skilled person skilled in the art can make some changes and refinements without departing from the spirit and scope of the present proposal. The scope of patent protection of the proposal shall be subject to the definition of the scope of the patent application attached to this specification.

10...諧波齒輪減速機10. . . Harmonic gear reducer

100...波形產生器100. . . Waveform generator

110...凸輪110. . . Cam

111...第一側面111. . . First side

112...第二側面112. . . Second side

113...斜錐面113. . . Oblique taper

114...定位柱114. . . Positioning column

115...接合結構115. . . Joint structure

118...螺孔118. . . Screw hole

120...凸輪外環套120. . . Cam outer ring cover

122...環形側壁122. . . Annular side wall

1221...內壁面1221. . . Inner wall

1222...外壁面1222. . . Outer wall

1224...開槽1224. . . Slotting

1224’...開槽1224’. . . Slotting

124...端板124. . . End plate

1241...定位孔1241. . . Positioning hole

1243...通孔1243. . . Through hole

1244...螺孔1244. . . Screw hole

130...軸承130. . . Bearing

141...第一軸向調整件141. . . First axial adjustment member

142...第二軸向調整件142. . . Second axial adjustment member

200...剛性內齒環200. . . Rigid internal ring

202...內齒202. . . Internal tooth

300...撓性外齒杯300. . . Flexible outer tooth cup

302...外齒302. . . External tooth

304...接合結構304. . . Joint structure

306...開口部306. . . Opening

308...底部308. . . bottom

第1圖係為根據本提案一實施例之諧波齒輪減速機的結構示意圖。Fig. 1 is a schematic view showing the structure of a harmonic gear reducer according to an embodiment of the present proposal.

第2圖係為根據本提案一實施例之諧波齒輪減速機的結構分解示意圖。Fig. 2 is a schematic exploded view showing the structure of a harmonic gear reducer according to an embodiment of the present proposal.

第3圖係為根據本提案一實施例之波形產生器的部分結構分解示意圖。Fig. 3 is a partially exploded perspective view showing the waveform generator according to an embodiment of the present proposal.

第4圖係為根據本提案一實施例之調整波形產生器之外型輪廓的示意圖。Figure 4 is a schematic diagram of the contour of the waveform generator according to an embodiment of the present proposal.

第5圖係為第1圖沿著55剖面線的諧波齒輪減速機之剖視圖。Fig. 5 is a cross-sectional view of the harmonic gear reducer taken along line 55 of Fig. 1 .

第6圖係為根據本提案另一實施例之凸輪外環套的結構示意圖。Figure 6 is a schematic view showing the structure of a cam outer ring according to another embodiment of the present proposal.

10...諧波齒輪減速機10. . . Harmonic gear reducer

100...波形產生器100. . . Waveform generator

110...凸輪110. . . Cam

111...第一側面111. . . First side

112...第二側面112. . . Second side

113...斜錐面113. . . Oblique taper

114...定位柱114. . . Positioning column

115...接合結構115. . . Joint structure

120...凸輪外環套120. . . Cam outer ring cover

122...環形側壁122. . . Annular side wall

1221...內壁面1221. . . Inner wall

1222...外壁面1222. . . Outer wall

1224...開槽1224. . . Slotting

124...端板124. . . End plate

1241...定位孔1241. . . Positioning hole

130...軸承130. . . Bearing

141...第一軸向調整件141. . . First axial adjustment member

142...第二軸向調整件142. . . Second axial adjustment member

200...剛性內齒環200. . . Rigid internal ring

202...內齒202. . . Internal tooth

300...撓性外齒杯300. . . Flexible outer tooth cup

302...外齒302. . . External tooth

304...接合結構304. . . Joint structure

306...開口部306. . . Opening

308...底部308. . . bottom

Claims (14)

一種諧波齒輪減速機,包含:一剛性內齒環;一撓性外齒杯,設置於該剛性內齒環內;以及一波形產生器,設置於該撓性外齒杯內,其包含:一凸輪,具有一斜錐面,且該斜錐面與該凸輪的一旋轉軸線夾一銳角;一凸輪外環套,套設於該凸輪,且與該斜錐面相接觸;以及一軸承,環繞設置於該凸輪外環套,且夾設於該撓性外齒杯與該凸輪外環套之間;其中,該凸輪可沿著該旋轉軸線而相對該凸輪外環套位移,使該斜錐面推抵該凸輪外環套,令該凸輪外環套產生變形,以調整該凸輪外環套之外型輪廓,一外力帶動該凸輪及該凸輪外環套旋轉,並透過該軸承而迫使該撓性外齒杯彈性變形而部分嚙合於該剛性內齒環,並且使該剛性內齒環與該撓性外齒杯相嚙合之位置沿著一環形路徑移動。A harmonic gear reducer comprising: a rigid inner ring gear; a flexible outer tooth cup disposed in the rigid inner ring gear; and a wave generator disposed in the flexible outer tooth cup, comprising: a cam having a tapered surface, and the inclined tapered surface is at an acute angle to an axis of rotation of the cam; a cam outer ring sleeve is sleeved on the cam and is in contact with the inclined tapered surface; and a bearing surrounds The cam outer ring sleeve is disposed between the flexible outer tooth cup and the cam outer ring sleeve; wherein the cam is displaceable relative to the cam outer ring sleeve along the rotation axis, so that the inclined cone Pushing the cam outer ring sleeve to deform the cam outer ring sleeve to adjust the outer contour of the cam outer ring sleeve, an external force driving the cam and the cam outer ring sleeve to rotate, and forcing the bearing through the bearing The flexible outer tooth cup is elastically deformed to partially mesh with the rigid inner ring gear, and the position where the rigid inner ring gear meshes with the flexible outer tooth cup moves along an annular path. 如請求項1所述之諧波齒輪減速機,其中該凸輪更具有一定位柱,該凸輪外環套更包含一環形側壁以及一設置於該環形側壁一側的端板,該端板具有一定位孔,該凸輪的該斜錐面與該環形側壁相接觸,且該定位柱插設於該定位孔。The harmonic gear reducer of claim 1, wherein the cam further has a positioning post, the cam outer ring sleeve further comprising an annular side wall and an end plate disposed on one side of the annular side wall, the end plate having a a positioning hole, the inclined tapered surface of the cam is in contact with the annular side wall, and the positioning post is inserted into the positioning hole. 如請求項1所述之諧波齒輪減速機,其中該凸輪外環套更包含一環形側壁以及一設置於該環形側壁一側的端板,該凸輪的該斜錐面與該環形側壁相接觸,該端板上具有一貫穿的螺孔,該波形產生器更具有一第一軸向調整件,鎖附並穿設過該螺孔,且該第一軸向調整件的一端抵靠於該凸輪。The harmonic gear reducer of claim 1, wherein the cam outer ring sleeve further comprises an annular side wall and an end plate disposed on a side of the annular side wall, the inclined tapered surface of the cam being in contact with the annular side wall The end plate has a through hole, the wave generator further has a first axial adjustment member, and is locked and threaded through the screw hole, and one end of the first axial adjustment member abuts against the screw hole Cam. 如請求項1所述之諧波齒輪減速機,其中該凸輪外環套更包含一環形側壁以及一設置於該環形側壁一側的端板,該凸輪的該斜錐面與該環形側壁相接觸,該端板上具有一通孔,該凸輪具有一螺孔,該波形產生器更具有一第二軸向調整件,該第二軸向調整件穿設過該通孔並鎖附於該螺孔。The harmonic gear reducer of claim 1, wherein the cam outer ring sleeve further comprises an annular side wall and an end plate disposed on a side of the annular side wall, the inclined tapered surface of the cam being in contact with the annular side wall The end plate has a through hole, the cam has a screw hole, and the wave generator further has a second axial adjustment member, the second axial adjustment member passes through the through hole and is locked to the screw hole . 如請求項1所述之諧波齒輪減速機,其中該凸輪外環套具有複數道開槽。The harmonic gear reducer of claim 1, wherein the cam outer ring sleeve has a plurality of slots. 如請求項5所述之諧波齒輪減速機,其中該凸輪外環套包含一環形側壁以及一設置於該環形側壁一側的端板,該些開槽係由該環形側壁遠離該端板的一側朝該端板延伸。The harmonic gear reducer of claim 5, wherein the cam outer ring sleeve comprises an annular side wall and an end plate disposed on a side of the annular side wall, the slots being separated from the end plate by the annular side wall One side extends toward the end plate. 如請求項5所述之諧波齒輪減速機,其中該凸輪外環套包含一環形側壁以及一設置於該環形側壁一側的端板,該些開槽係由該端板朝該環形側壁延伸。The harmonic gear reducer of claim 5, wherein the cam outer ring sleeve comprises an annular side wall and an end plate disposed on a side of the annular side wall, the slots extending from the end plate toward the annular side wall . 一種用於諧波齒輪減速機的波形產生器,設置於該諧波齒輪減速機的一撓性外齒杯內,該波形產生器包含:一凸輪,具有一斜錐面,且該斜錐面與該凸輪的一旋轉軸線夾一銳角;一凸輪外環套,套設於該凸輪,且與該斜錐面相接觸;以及一軸承,環繞設置於該凸輪外環套;其中,該凸輪可沿著該旋轉軸線而相對該凸輪外環套位移,使該斜錐面推抵該凸輪外環套,令該凸輪外環套產生變形,以調整該凸輪外環套之外型輪廓。A waveform generator for a harmonic gear reducer is disposed in a flexible outer tooth cup of the harmonic gear reducer, the waveform generator includes: a cam having a tapered surface, and the tapered surface An acute angle is formed with an axis of rotation of the cam; a cam outer ring sleeve is sleeved on the cam and is in contact with the inclined cone surface; and a bearing is disposed around the cam outer ring sleeve; wherein the cam can be along The rotation axis is displaced relative to the cam outer ring sleeve, so that the inclined cone surface pushes against the cam outer ring sleeve, and the cam outer ring sleeve is deformed to adjust the outer contour of the cam outer ring sleeve. 如請求項8所述之波形產生器,其中該凸輪更具有一定位柱,該凸輪外環套更包含一環形側壁以及一設置於該環形側壁一側的端板,該端板具有一定位孔,該凸輪的該斜錐面與該環形側壁相接觸,且該定位柱插設於該定位孔。The waveform generator of claim 8, wherein the cam further has a positioning post, the cam outer ring sleeve further comprising an annular side wall and an end plate disposed on one side of the annular side wall, the end plate having a positioning hole The inclined tapered surface of the cam is in contact with the annular sidewall, and the positioning post is inserted into the positioning hole. 如請求項8所述之波形產生器,其中該凸輪外環套更包含一環形側壁以及一設置於該環形側壁一側的端板,該凸輪的該斜錐面與該環形側壁相接觸,該端板上具有一貫穿的螺孔,該波形產生器更具有一第一軸向調整件,鎖附並穿設過該螺孔,且該第一軸向調整件的一端並抵靠該凸輪。The waveform generator of claim 8, wherein the cam outer ring sleeve further comprises an annular side wall and an end plate disposed on a side of the annular side wall, the inclined tapered surface of the cam being in contact with the annular side wall, The end plate has a through hole, and the wave generator further has a first axial adjustment member that is locked and threaded through the screw hole, and one end of the first axial adjustment member abuts against the cam. 如請求項8所述之波形產生器,其中該凸輪外環套更包含一環形側壁以及一設置於該環形側壁一側的端板,該凸輪的該斜錐面與該環形側壁相接觸,該端板上具有一通孔,該凸輪具有一螺孔,該波形產生器更具有一第二軸向調整件,該第二軸向調整件穿設過該通孔並鎖附於該螺孔。The waveform generator of claim 8, wherein the cam outer ring sleeve further comprises an annular side wall and an end plate disposed on a side of the annular side wall, the inclined tapered surface of the cam being in contact with the annular side wall, The end plate has a through hole, the cam has a screw hole, and the wave generator further has a second axial adjusting member, and the second axial adjusting member passes through the through hole and is locked to the screw hole. 如請求項8所述之波形產生器,其中該凸輪外環套具有複數道開槽。The waveform generator of claim 8, wherein the cam outer collar has a plurality of channel slots. 如請求項12所述之波形產生器,其中該凸輪外環套包含一環形側壁以及一設置於該環形側壁一側的端板,該些開槽係由該環形側壁遠離該端板的一側朝該端板延伸。The waveform generator of claim 12, wherein the cam outer ring sleeve comprises an annular side wall and an end plate disposed on a side of the annular side wall, the slots being separated from the side of the end plate by the annular side wall Extend toward the end plate. 如請求項12所述之波形產生器,其中該凸輪外環套包含一環形側壁以及一設置於該環形側壁一側的端板,該些開槽係由該端板朝該環形側壁延伸。The waveform generator of claim 12, wherein the cam outer collar comprises an annular side wall and an end plate disposed on a side of the annular side wall, the slots extending from the end plate toward the annular side wall.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105020381A (en) * 2015-07-30 2015-11-04 湖南同晟精传技术有限公司 Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation
CN107387719A (en) * 2017-09-05 2017-11-24 杨庆华 Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator
CN110469651A (en) * 2018-05-11 2019-11-19 日本电产新宝株式会社 Wave gear device
WO2022062620A1 (en) * 2020-09-28 2022-03-31 珠海格力电器股份有限公司 Rigidity compensation device, harmonic reducer and robot

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Publication number Priority date Publication date Assignee Title
TWI633245B (en) * 2017-01-16 2018-08-21 新普科技股份有限公司 A harmonic drive

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105020381A (en) * 2015-07-30 2015-11-04 湖南同晟精传技术有限公司 Harmonic reducer with function of eliminating or decreasing clearance between gears through automatic compensation
CN107387719A (en) * 2017-09-05 2017-11-24 杨庆华 Harmonic speed reducer, the assembly method of harmonic speed reducer and manipulator
CN110469651A (en) * 2018-05-11 2019-11-19 日本电产新宝株式会社 Wave gear device
WO2022062620A1 (en) * 2020-09-28 2022-03-31 珠海格力电器股份有限公司 Rigidity compensation device, harmonic reducer and robot

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