TW201346157A - Large ratio strain wave gearing speed changing apparatus - Google Patents

Abstract

A strain wave gearing speed changing apparatus for changing an input speed to an output either greatly slower or faster, the apparatus has a coaxial pair of circular splines that includes a large circular spline having a tooth number A and a small circular spline having a tooth number D. A coaxial pair of flex splines includes a large flex spline having a tooth number B and a small flex spline having a tooth number C. The large flex spline meshes with the large circular spline and the small flex spline meshes with the circular spline. A wave generator member is connected to one of the input and output shafts of the apparatus. Two splines of one of the two coaxial pairs being fixed together to operate wavingly on the wave generator. One spline of the other of the two coaxial pairs being fixed to the frame of the apparatus and the other spline being connected to the other of the input and output shafts. In the apparatus, the four splines satisfy the tooth number relationship of A = K+i, B = K, C = K-j and D = K+i-j.

Description

Large-scale stress wave gear speed conversion device

The present invention relates generally to speed changing apparatus, and in particular to a large scale speed converting apparatus. More particularly, the present invention relates to a large scale strain wave gearing speed shifting device.

The change in speed is indispensable. Primer movers often have to operate at higher rotational speeds for better efficiency, but the loads they drive often have to operate at tens or even a hundredth of their speed. One way to achieve such a large percentage of the speed reduction ratio is to use a cascade of individual reducers (or reducers, reducers) that are slower in ratio but more efficient, cascaded in tandem. Deceleration system.

However, since the entire load of the deceleration system must be successively passed through each of the individual speed reducers in the series, the tandem speed reduction practice of the tandem front and back will essentially reduce the overall speed conversion efficiency. The problem. In addition, because each individual cascaded stage in the system must have sufficient power to withstand the entire system and the 100% total power generated by the prime mover, this tandem arrangement also changes the overall system. It’s huge and bulky.

Currently widely used is a "single stage" type of speed reducer which is a cycloidal drive manufactured by Sumitomo Heavy Industries, Ltd., Tokyo, Japan. Although it has a relatively compact configuration in a range of speed conversion ratios from tens to more than one hundred, such a cycloidal speed reducer is substantially after a cycloidal gearing stage. A system configuration coupled to an off-axis power extraction stage.

Figure 1 shows in cross section a cross section of such a cycloidal speed reducer. The prior art device of Figure 1 has a fixed ring gear (or internal gear) 11 and a specially shaped planet element 12, which may be a shaped disc or may be simple. The ground is for a gear. The planet element 12 engages with the ring gear 11 and engages in a planetary motion (moves inside epicyclically). The difference between the working pitch diameters (or, the pitch pitch diameters) is as small as possible.

The off-axis power take-up stage has a coaxially fixed planet element 12 on the axis 19 A disc 13 is provided with a plurality of circular holes 17 therein to permit engagement with each of the same number of roller pins 18 on the plate 14. The circular plate 14 is coupled to the output shaft 16 of the reducer and is aligned with the central axis 10 of the overall system arrangement. These "power draw" mechanisms allow the cycloid reducer to produce a -K/i speed reduction ratio, where K is the pitch diameter of the planet element 12 and i is the pitch between the components 11 and 12. The difference. In a typical example in which the ring gear 11 is 80 teeth and its gear type planetary element 12 is 79 teeth (K=80 and i=1), when the mechanical power transmitted by the reducer is input via the shaft 15, The reduction ratio of this system is -80.

2 is a schematic view showing the off-axis power extraction coupling mechanism used in the conventional cycloidal speed reducer of FIG. 1. At any one time, only one of the typically eight or more rollers that engage the holes in the cycloidal disc transmits torque at full force. For example, in the case of the off-axis relative angular position and the direction of rotation shown in the figure, only the pairing of the rollers 18C and the holes 17C in the system is transmitting power with full force.

The above is obvious because the edge of the hole 17C of the drive disk 13 and the roller 18C of the driven plate 14 are in contact with each other, and must be located behind the roller 18C in the direction of rotation, and the drive plate 13 can drive the driven plate. 14. According to this principle, since the contact point of the pair of rollers and the holes is opposite to the direction of rotation of the disk 13 and the plate 14, the pair of rollers and holes indicated as B and D in the figure only locally generate power transmission. effect. By the same principle, since the driven roller 18G is advanced to the rear of the hole 17G which is supposed to be driven, the pairing of the roller 18G and the hole 17G does not have any transmission at all.

Conventional cycloidal gear reducers must rely on their axes to deviate from each other, and simultaneous engagement between two components (gears) of different pitch diameters can be operated. However, due to the aforementioned low utilization ratio, such a mechanism is not an optimized structure: half of all eight pairs of rollers and holes in Figure 2 (ie four to five pairs, depending on the angular position) ) failed to be in the position to drive the load. Among the other half of the pairing, only one pair can be in the position where the full force is driven, and the remaining three pairs only produce a partial driving effect. Due to such limitations, cycloidal gear reducers typically achieve only about 80% efficiency under normal load conditions.

In addition, in order to achieve the reduction ratio K, the cycloidal gear reducer must have a fixed ring gear with K+1 teeth. To achieve a large reduction ratio. When it is necessary to load a considerable rated torque and a large tooth size must be used, the large number of teeth of the ring gear can make the reducer bulky and bulky. In other words, if the cycloidal speed reducer is to be made denser, its rated torque and power will be limited.

Based on advantages such as no backlash, tight construction, and relatively small mass, another large-scale reducer widely used in precision machinery and aerospace applications is tuned to drive systems from Tokyo, Japan. A harmonic drive manufactured by Harmonic Drive Systems Inc. Tuned drivers operate on the basic principles of strain wave gearing, which has relatively low transmission power relative to other reduction gears. Under normal load conditions, since the drive's spline element is bent and deformed at any time when the mechanical power is transmitted, such a device can usually achieve an efficiency of less than 60%.

Fig. 1A is a schematic view showing the cross-sectional configuration of such a stress wave gear reducer. The prior art device of FIG. 1A has a fixed circular spline 111 and a deformable flex spline 112. When driven by a wave generator 115E through the input shaft 115 of the actuator, the deformable pinch wheel 112 and the fixed circular pinch wheel 111 are bitely engaged therein for movement. In the example shown in FIG. 1A, the number of teeth of the deformable bolt wheel 112 is K, and the number of teeth of the fixed round bolt wheel 111 is K+i, then the reduction ratio on the output shaft 116 of the driver device is -K. /i.

Similar to the cycloidal drive, if the stress wave gear drive has a large reduction ratio, the difference in the number of teeth between the two bolting wheels must be as small as possible. Although the physical structure of the conventional stress wave gear speed conversion device is different from that of the cycloidal drive device, the stress wave gear device still has the same disadvantages in its operational characteristics, namely, the relatively low power and low power/weight ratio as described above. Wait.

In addition to the reduction gears for large-scale reduction and speed reduction, there is also a need for a speed increase device that can increase the input speed by tens to hundreds of times.

It is an object of the present invention to provide a large-scale speed conversion device having a conversion ratio of several tens to several hundreds or more using a relatively small number of pinch pulleys.

Another object of the present invention is to provide a large scale speed conversion device without backlash.

Still another object of the present invention is to construct a high-density, large-ratio speed conversion device with a large-toothed small-toothed pin wheel member.

To achieve the above and other objects, the present invention provides a stress wave gear speed conversion device that converts an input shaft input speed into a slower or faster output speed of an output shaft, the device including a pair of coaxial circles The bolt-shaped sheave wheel comprises a large round bolt groove wheel with one tooth number A and a small round bolt groove wheel with one tooth number D. The pair of coaxial deformable bolt grooves includes a large deformable bolt groove wheel having a number of teeth B and a small deformable bolt groove wheel having a number of teeth C. The large round bolt groove wheel is engaged with the large deformable bolt groove gear, and the small round bolt groove wheel is engaged with the small deformable bolt groove gear to form two sets of tooth bite pairs. a stress wave generator component is coupled to One of the input and output shafts of the conversion device. One of the two pairs of coaxial pairs is fixed to each other to fluctuate around the stress wave generator assembly. One of the pair of coaxial pairs, one of the pair of pins, is fixed to the housing frame of the conversion device, and the other of the pinch rollers is coupled to the input and output shafts of the conversion device. One. In the speed conversion device, the four bolting wheels satisfy the tooth number relationship of A=K+i, B=K, C=K-j and D=K+i-j, where K, i and j are integers.

Figure 3 is a schematic cross-sectional view of a rotational speed conversion device in accordance with the present invention showing an equivalent mechanism of the conventional off-axis power take-up configuration used in the device of the present invention. 1 and 2, the speed conversion device of the present invention in FIG. 3 replaces the plate 14 having the plurality of rollers 18 and the cycloidal disk 13 having the same number of corresponding holes 17 engaged therewith using different arrangements of power extraction. .

As shown, when the planet gears 32 move in a planetary motion within the ring gear 31 on the housing frame, the planet gears 33 coaxially fixed with the gears 32 are also in the pairing of the second pair of ring gears and spur gears. Planetary motion is carried out in the ring gear 34. As the gear 33 rotates within the gear 34 and moves planetaryally, its outermost edge 33P (the pitch ring) draws a trajectory 33T. This trajectory 33T is arranged to exactly coincide with the pitch circle of the ring gear 34. That is, the ring gear 34 in the second set of matings, together with the spur gears 33 that are engaged with each other, produces a similar function to the off-axis power pick-up mechanism of the prior art cycloidal gear reducer but at the same time allows the invention to be more The speed conversion device produces a much larger speed conversion ratio.

Figure 4 is a schematic cross-sectional view showing a rotational speed conversion device in accordance with the present invention showing the dimensional relationships of the various components of the device of the present invention. The speed conversion device of the present invention has a pair of coaxial ring gears including a large ring gear 41 having a pitch diameter A and a small ring gear 44 having a pitch diameter D. The apparatus of the present invention further has a pair of coaxial spur gears including a large spur gear 42 having a pitch diameter B and a small spur gear 43 having a pitch diameter C. The large spur gear 42 is engaged with the large ring gear 41, and the small spur gear 43 is engaged with the small ring gear 44 to form two sets of tooth bite pairs. A carrier member 45E is coupled to the input shaft 45 of the conversion device. Planet carrier assembly 45E, which is a version of a "twisted short arm" of a conventional planetary carrier in a conventional planetary gear system, is paired with gears 42 and 43 in conjunction with input shaft 45 (located on the central axis 40 of the overall system) The central axis of its own axis 49 is formed.

In addition, the coaxial two gears 42 and 43 are fixed to each other to operate on the planet carrier 45E. In the example illustrated in Figure 4, the large ring gear 41 is fixed to the housing frame of the speed converting device as a reaction force component of the system, and the small ring gear 44 is coupled to the output shaft.

Among the speed conversion gear system devices, the four gears 41, 42, 43 and 44 satisfy the dimensional relationship of A = K + i, B = K, C = K - j and D = K + i - j. As will be understood by those skilled in the art, when gears are used to fabricate the speed conversion device embodying the present invention, the K, i and j dimension values should be set to integers.

The speed conversion device of Fig. 4 uses the carrier 45E as an input, the small ring gear 44 as an output, and the large ring wheel 41 as a reaction force member. The coaxial two spur gears 42 and 43 which are fixed to each other at this time perform planetary revolving motion in the system. The speed conversion ratio achieved by the speed conversion device of Fig. 4 is K(K + i - j) / ij. In such a speed conversion system constructed on the basis of gears, if the number of teeth is A=16T (tooth), B=15T, C=14T and D=15T, that is, K=15, i=1 and j=1, then the conversion ratio is 225.

In contrast, the conventional cycloidal speed reducer (Fig. 1) has a speed conversion ratio of only -15 if its A = 16T and B = 15T. This means that under the same number of teeth, the speed conversion device of the present invention can achieve a speed conversion ratio of a square of the conventional cycloidal gear system.

4A is a cross-sectional view showing a stress wave gear speed conversion device according to the present invention, wherein the number of teeth of each component of the apparatus of the present invention is shown. The stress wave gear speed conversion device has a pair of coaxial circular bolt wheels, including The large circular pinch wheel 141 having one tooth number A and the small circular bolt groove wheel 144 having one tooth number D. The device also has a pair of coaxial deformable bolt wheels including a large deformable bolt wheel 142 having one of the number of teeth B and a small deformable bolt wheel 143 having a number of teeth C. The large round bolt wheel 141 and the large deformable bolt wheel 142 are meshed with each other, and the small round bolt wheel 144 is meshed with the small deformable bolt wheel 143 to form a pair of tooth bite pairs. A stress wave generator 145E is coupled to the input shaft 145 of the speed conversion device. The stress wave generator 145E is constructed by combining the pair of deformable pinch wheels 142 and 143 with the input shaft 145 (coaxial with the central axis 140 of the entire system).

In addition, the coaxial two deformable pinch pulleys 142 and 143 are fixed to each other to fluctuate above the stress wave generator 145E. In the example depicted in FIG. 4A, the large circular bolt wheel 141 is fixed to the housing frame of the speed conversion device as a reaction force component of the system, and the small circular bolt wheel 144 is coupled to Output shaft 146.

Among the speed conversion gear system devices, the four bolting wheels 141, 142, 143 and 144 satisfy the tooth number relationship of A = K + i, B = K, C = K - j and D = K + i - j. As will be understood by those skilled in the art, when the speed change device embodying the present invention is fabricated using a pinch wheel, the K, i and j size tooth values should be set to an integer.

The stress wave gear speed conversion device in Fig. 4A uses the stress wave generator 145E as an input, which is small The circular pinch wheel 144 is used as an output, and the large round pinch wheel 141 is used as a reaction force component. The coaxial two deformable pinch pulleys 142 and 143 that are fixed to each other at this time are moved within the system. The speed conversion ratio achieved by the speed conversion device of Fig. 4A is K(K + i - j) / ij. In the speed conversion system constructed on the basis of the bolting wheel, if the number of teeth is A=16T (tooth), B=15T, C=14T and D=15T, that is, K=15, i= 1 and j=1, the speed conversion ratio is 225.

The schematic of Figure 4B shows that the deformable bolt wheels 142 and 143 are secured together to form the dual deformable bolt wheel of the apparatus of Figure 4A. In a preferred embodiment of the stress wave gear speed shifting device of the present invention shown in Figure 4A, the assembly 148 can be fabricated using a single metal tubular member. Two sets of pin teeth 142S and 143S are formed on the cylindrical outer surfaces of the deformable pin grooves 142 and 143, respectively. It is noted that only a plurality of pin teeth are shown in FIG. 4B. In fact, the pin teeth 142S and 143S should completely surround the cylindrical outer surfaces of the deformable pin grooves 142 and 143, respectively.

4C is a cross-sectional view of the speed converter of FIG. 4A taken along line 4C-4C of the drawing, and FIG. 4D is a cross section taken along line 4D-4D.

The cycloidal speed conversion device of the present invention can be applied to different speed conversion fabric applications according to the different input, output and reaction force components of the respective component gears and their planet carrier assemblies. The invention relates to a speed conversion device for general use, that is, for fixing the ring gear or the spur gear to provide a reaction force for use in deceleration or speed increase, the mechanism construction arrangement may have a pair of coaxial ring gears, It includes a large ring gear with a pitch diameter of A and a small ring gear with a pitch diameter of D. It also has a pair of coaxial spur gears, including a large spur gear having a pitch diameter of B and a small spur gear having a pitch diameter of C. The large spur gear meshes with the large ring gear teeth, and the small spur gear meshes with the small ring gear teeth to form two sets of tooth bite pairs. One of the planet carrier assemblies can be coupled to one of the input or output shafts of the device. One of the two pairs of coaxial pairs is paired with two gear trains that are fixed to each other for rotation on the planet carrier. One of the two pairs of coaxial pairs is fixed to the housing frame of the device, and the other gear is coupled to the other of the input and output shafts of the device. In this speed conversion device, the four gears thereof must satisfy the dimensional relationship of A = K + i, B = K, C = K - j and D = K + i - j.

In contrast, the stress wave gear speed conversion device of the present invention can be applied to different speed conversion fabrics according to different input, output and reaction force components of the constituent pin groove wheel and its stress wave generator. Among the uses. The invention relates to a stress wave gear speed conversion device for general use, that is, whether it is a circular bolt wheel with one internal tooth or a deformable bolt groove wheel with external teeth, so as to provide a reaction force for use in For the purpose of deceleration or speed increase, the mechanism construction arrangement may have a pair of coaxial circular bolt wheels, including the number of teeth It is a large round bolt groove wheel of A and a small round bolt groove wheel with a number of teeth D. The utility model also has a pair of coaxial deformable bolt groove wheels, comprising a large deformable bolt groove wheel having a number of teeth B and a small deformable bolt groove wheel having a number of teeth C. The large round bolt groove wheel is engaged with the large deformable bolt groove gear, and the small round bolt groove wheel is engaged with the small deformable bolt groove gear to form two sets of tooth bite pairing. One of the stress wave generating components can be coupled to one of the input or output shafts of the device. Two of the two sets of coaxial pairs are paired with the two pinch wheel trains fixed to each other to fluctuate on the stress wave generator. One of the other pairs of the two sets of coaxial pairs is fixed to the housing frame of the device, and the other of the bolting wheels is coupled to the other of the input and output shafts of the device. Among the speed conversion devices, the four bolting wheels must satisfy the tooth number relationship of A=K+i, B=K, C=K-j and D=K+i-j.

5 and 6 show cross sections of two speed conversion devices in accordance with the present invention, each having a different arrangement of input and output components. The examples in Figures 5 and 6 each show the use of two pairs of gears with different gear modules (gear module numbers) and spur gears, with a reduction ratio of more than 200 reduction ratios. In the two examples, the first pair of bite-matching large ring gears and large spur gears are both modulus 2 (ie, M2), 80-tooth ring gears 51 and 61, and have a pitch diameter of 160 mm, and both are 75T, M2 The spur gears 52 and 62 have a pitch diameter of 150 mm. The two pairs of the second pair of bite-fitted small ring gears and small spur gears are both 2.5- and 60-tooth ring gears 54 and 64 with a pitch diameter of 150 mm, and both are 56T, M2.5 spur gears. 53 and 63, the pitch diameter is 140 mm. Thus, when the assembly of Figure 5 has its large spur gear fixed to the housing frame of the shifting device system to provide a reaction force, the achieved reduction ratio is -224.

On the other hand, the configuration of the apparatus of Fig. 6 uses the same four gears as in Fig. 5, but the input, output and reaction force functions of the respective gears are the same as those described in Fig. 4. The large ring gear 61 is fixed to the casing frame 61F and is a reaction force member.

Note that the dimensions of the examples in Figures 5 and 6 are K = 15, i = 1, and j = 1.

In addition, the stress wave gear version of the cycloidal device of Figure 5 is also feasible. For example, the fixed part of the drive is a circular bolt wheel (corresponding to 52) with external teeth instead of a normal internal tooth part, and the waved part is a deformable bolt wheel with internal teeth.

In summary, the speed conversion device of the present invention, such as the cycloidal or stress wave gear type, as described in Figures 4 and 4A-4D, respectively, can have four different speed conversion setting configurations listed in Table 1. In the following Tables 1 and 2, R, O and I in each column respectively indicate the reaction forces of the respective rotating components of the apparatus of the present invention, and the output and input functions are assigned.

As will be understood by those skilled in the art, each of the deceleration fabrics in Table 1 can be easily transformed into a speed increasing fabric by simply changing the role designation of I and O.

Figure 7 is a schematic cross-sectional view of a cycloidal speed converter in accordance with the present invention showing the dimensional relationships of the various components of the apparatus of the present invention for optimum speed conversion use in accordance with weight, size or power density. In contrast, the schematic diagrams of FIGS. 7A and 7B show a cross section taken along line 4C-4C and 4D-4D of FIG. 4A, similar to the stress wave gear speed conversion device of FIG. 4A, having the FIG. The structural dimensions of the line device. In this special state, the composition of the above list 1 becomes the following Table 2.

The cycloidal speed reduction ratio listed in the above two tables shows that the gear of the present invention can construct a speed reducer having a substantial reduction ratio of K ² using a gear having a K value of the center number of teeth. This can be compared to the reduction ratio value K of the conventional conventional cycloidal gear reducer. The stress wave gear speed changing device of the present invention also has similar characteristic comparisons in this respect.

With regard to the cycloidal application of the present invention, it is noted that, as will be understood by those skilled in the art, the spur gear (i.e., external gear) that normally engages inside a ring gear must have a sufficiently small number of teeth. The number of teeth of the ring gear. For example, a common 20 degree pressure angle gear is usually required to have a difference in the number of teeth of 8 teeth or more. To use a smaller difference in the number of teeth in the system, a typical practice to avoid gear interference between the two gears is to profile shifting for the gears. Another approach is to use a larger pressure angle.

In addition, since the size of the two-coaxially paired planetary revolving components of the speed conversion device of the present invention is relatively close to the size of another coaxial pair that is separately engaged, it is actually only possible to use a pair of planetary revolving components. . Therefore, the use of a counterweight is necessary in the actual implementation of the conversion device of the present invention, i.e., the weight 65W depicted in a schematic manner in the embodiment of Fig. 6. This counterweight is utilized to balance the mass of the coaxial gear pair that deviates from the planetary revolution outside the rotationally symmetric central axis of the system.

On the other hand, in the application of the stress wave gear type of the present invention, there is no problem such as the conventional standard tooth form interference when the difference in the number of the pin gear teeth is reduced to the lowest one or the second tooth. There is also no issue of eccentric weighting.

The invention has been described above by way of a preferred embodiment, and the above description is not intended to limit the invention. Anyone skilled in the art can make some changes and changes without departing from the spirit of the invention. For example, although the preferred embodiment illustrated by the description of the large-scale speed conversion device of the present invention uses a gear as a component of the occlusion transmission, it corresponds to a version constructed by a nip drive assembly such as a traction drive. It is equally feasible to carry out the device of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

10, 30, 40, 50, 60, 70‧‧‧ system center axis

110,140,170‧‧‧ system center axis

11,31,41,51,61,71‧‧‧large ring gear

111,141,171‧‧‧ large round bolting wheel

12,32,42,52,62,72‧‧‧ Large spur gear

112,142,172‧‧‧Great deformable bolt groove wheel

142S‧‧‧Great deformable bolt slotted bolt teeth

13,33,43,53,63,73‧‧‧Small spur gear

113,143,173‧‧‧Small deformable bolt trough

143S‧‧‧Small deformable bolt slotted bolt teeth

14,34,44,54,64,74‧‧‧ Small ring gear

114,144,174‧‧‧Small round bolting sheave

15,35,45,55,65,75‧‧‧ input shaft

115,145,175‧‧‧ input shaft

35E, 45E, 55E, 65E, 75E‧‧‧ planet carrier assembly

115E, 145E, 175E‧‧‧ Stress Wave Generator Assembly

16,36,46,56,66,76‧‧‧ Output shaft

116,146,176‧‧‧ Output shaft

17,17C, 17G‧‧‧ round hole

18,18C,18G‧‧·roller

19,39,49,59,69,79‧‧‧Eccentric axis

Figure 1 is a schematic view showing a conventional high-profile cycloidal speed reducer.

Figure 1A is a schematic view of another prior art large scale stress wave gear reducer.

2 is a schematic view showing an off-axis power extraction coupling mechanism used in a conventional cycloidal speed reducer.

Figure 3 is a schematic view showing the construction of an off-axis power take-up stage used in the apparatus of the present invention in accordance with a cross section of a rotational speed converting apparatus in accordance with the present invention.

Figure 4 is a schematic cross-sectional view showing a rotational speed conversion device in accordance with the present invention showing the dimensional relationships of the various components of the device of the present invention.

Figure 4A is a schematic cross-sectional view showing a stress wave gear speed converting device in accordance with the present invention, showing the relationship of the number of teeth of the components of the device of the present invention.

Figure 4B is a schematic illustration of the dual deformable bolt sheave of the apparatus of Figure 4A.

Figure 4C is a schematic cross-sectional view of the velocity converter of Figure 4A taken along line 4C-4C of the Figure.

Figure 4D is a schematic cross-sectional view of the velocity converter of Figure 4A taken along line 4D-4D of the Figure.

5 and 6 show cross sections of two speed conversion devices in accordance with the present invention, each having a different arrangement of input and output components.

Figure 7 is a schematic cross-sectional view showing a rotational speed conversion device in accordance with the present invention showing the dimensional relationship of the dimensions of the components of the apparatus of the present invention in accordance with the optimized rotational speed conversion application.

7A and 7B are cross-sectional views taken along line 4C-4C and 4D-4D of Fig. 4A, respectively, similar to the stress wave gear speed conversion device of Fig. 4A, having the configuration of the cycloidal device of Fig. 7. scale.

140‧‧‧System Center Axis

141‧‧‧ Large round bolting wheel

142‧‧‧Great deformable bolt trough

143‧‧‧Small round bolting wheel

144‧‧‧Small deformable bolt groove wheel

145‧‧‧ input shaft

145E‧‧‧stress wave generator assembly

146‧‧‧ Output shaft

Claims (13)

A stress wave gear speed conversion device converts an input shaft input speed into a slower or faster output speed of an output shaft, the device comprising: a pair of coaxial circular bolt wheels including a number of teeth A large circular bolt groove wheel and a small circular bolt groove wheel having a number of teeth D; a pair of coaxial deformable bolt groove wheels, comprising a large deformable bolt groove wheel with a number of teeth B and a number of teeth C a small deformable bolt groove wheel; the large round bolt groove wheel and the large deformable bolt groove gear bite, and the small round bolt groove wheel meshes with the small deformable bolt groove tooth to form two sets of tooth bite pairing; a stress wave generator assembly coupled to one of an input and an output shaft of the conversion device; wherein one of the two pairs of coaxial pairs is fixed to each other for stress wave generation Fluctuating turnover on the component; one of the two pairs of coaxial pairs is fixed to the housing frame of the conversion device, and the other bolting wheel is coupled to the input and output of the conversion device One of the other of the shafts; and the four bolting wheels are satisfied A = K + i, B = K, C = K - j and D = K + i - j The number of teeth relationship, where K, i and j are integers. The device of claim 1, wherein i and j are both less than 5. The device of claim 1, wherein K/i is less than 30/1 or K/j is less than 30/1. A device as claimed in claim 1, wherein i is equal to j. The device of claim 1, wherein one of the input and output shafts coupled to the stress wave generator assembly is an input shaft. The device of claim 1, wherein one of the input and output shafts coupled to the stress wave generator assembly is an output shaft. A stress wave gear speed conversion device converts an input shaft input speed into an output shaft output The rotating speed comprises: a pair of coaxial circular bolting wheels, comprising a large round bolting wheel with one tooth number A and a small circular bolting wheel with one tooth number D; a pair of coaxial deformable bolt slots The wheel comprises a large deformable bolt groove wheel with one tooth number B and a small deformable bolt groove wheel with a tooth number C; the large deformable bolt groove wheel and the large round bolt groove tooth bite, and the small deformable bolt groove The wheel is engaged with the small circular bolt teeth to form two sets of tooth biting pairs; and a stress wave generator assembly is coupled to the input shaft of the converting device; wherein the two sets of coaxial pairs are paired with two bolting wheels The wires are fixed to each other to fluctuate on the stress wave generator assembly; one of the other pair of the pair of coaxial pairs is fixed to the housing frame of the conversion device, and the other of the slots The wheel is coupled to the output shaft; and the four bolting wheels satisfy the tooth number relationship of A=K+i, B=K, C=Kj and D=K+ij, where K, i and j are integers. The device of claim 7 wherein i and j are both less than 5. The device of claim 7, wherein K/i is less than 30/1 or K/j is less than 30/1. A device as claimed in claim 7 wherein i is equal to j. The device of claim 7, wherein the two pinch pulleys are fixed to each other to oscillate the torsion coils on the stress wave generator assembly to form a coaxial pairing of the deformable bolt wheels. The device of claim 7, wherein the two pin slots are fixed to each other to oscillate the torsion coils on the stress wave generator assembly to form a coaxial pairing of the circular pin wheels. A stress wave gear speed conversion device converts an input shaft input speed into an output shaft output speed, and the device comprises: a pair of coaxial circular bolt wheels, including a large circular bolt with a number of teeth A The groove wheel and the small round bolt groove wheel having the number of teeth D; A pair of coaxial deformable bolt groove wheels, comprising a large deformable bolt groove wheel with one tooth number B and a small deformable bolt groove wheel with a number of teeth C; a large deformable bolt groove wheel and a large round bolt groove tooth Engaging, and the small deformable bolt wheel is engaged with the small round bolt groove to form two sets of tooth bite pairs; and a stress wave generator assembly coupled to the output shaft of the conversion device; wherein the two sets are coaxially matched One of the paired two pinch wheel trains are fixed to each other to fluctuate around the stress wave generator assembly; one of the other pair of the pair of coaxial pairs is fixed to the housing frame of the conversion device And the other bolting wheel is connected to the input shaft of the converting device; and the four bolting wheels satisfy the tooth number relationship of A=K+i, B=K, C=Kj and D=K+ij , where K, i and j are integers.