TWI487858B - Harmonic driving device - Google Patents

Description

Harmonic transmission

The disclosure relates to a harmonic transmission technology, in particular to a harmonic transmission device which can make the gears outside the flexible wheel and the internal gear of the rigid wheel smoothly mesh, avoid external gear loss and prolong the service life of the harmonic transmission.

The harmonic transmission device is a mechanical transmission shifting mechanism, which has the characteristics of light weight and small volume compared with the general gear transmission. The harmonic transmission has a wide transmission ratio range (single-stage transmission ratio is 60~320, multi-stage transmission ratio can reach 1600~100000), so the transmission efficiency is high, the transmission precision is high, and the bearing capacity is strong, which can be widely used in various Industrial field. In general, harmonic transmissions are often used in applications with high reduction ratios.

The structure of the harmonic transmission device mainly includes a wave generator, a flexible wheel and a rigid wheel. The wave generator has an elliptical shape with a long axis and a short axis, and the wave generator is typically coupled to a force input shaft. The flex wheel has a thin shape and has a flexible outer gear. The outer gear is connected to a bottom, and the outer gear is integrally formed with the bottom, so that the flex wheel has a cup-shaped outer shape, and the bottom is usually connected to a force output shaft. The rigid wheel has an internal gear, the wave generator is disposed in the flexible wheel, the flexible wheel is disposed in the rigid wheel, and the outer gear of the flexible wheel meshes with the inner gear portion of the rigid wheel.

During the rotation of the wave generator, the external gear of the flex wheel corresponding to the long axis position of the wave generator is successively pushed by the wave generator to mesh with the internal gear of the rigid wheel, so as to correspond to the short of the wave generator. Gear outside the shaft position Then it is completely separated from the internal gear. Since the part connecting the external gear to the bottom is pinned by the bottom, the external gear cannot be pushed flat toward the internal gear. Because the contact surface between the external gear and the internal gear is not even, the external gear is unevenly stressed, resulting in damage to the external gear. , to reduce the service life, not only the external gear and the internal gear can not accurately mesh, and will affect the force output shaft to transmit power.

The present disclosure proposes a harmonic transmission device, which can make the gears outside the flexible wheel and the internal gear of the rigid wheel smoothly mesh, avoiding the loss of the external gear and prolonging the service life of the harmonic transmission.

In an embodiment, the present disclosure provides a harmonic transmission device including a wave generator, a rigid wheel and a flexible wheel. The rigid wheel has an internal gear, and the flexible wheel has a flexible tubular member and a plate. The first end portion is sleeved on the outside of the plate member, and the first end portion is provided with a plurality of first positioning holes, a plurality of second positioning holes are disposed at a position corresponding to the plurality of first positioning holes at the periphery of the plurality of positioning holes, and a corresponding positioning member is disposed in each of the corresponding first positioning holes and the second positioning holes, and the positioning member is The outer end of the two ends is provided with an external gear, and the flexible wheel is disposed in the rigid wheel, and the external gear is meshed with a part of the internal gear, and the wave generator is disposed in the second end.

In an embodiment, the present disclosure further provides a harmonic transmission device comprising: a wave generator; a rigid wheel having an internal gear; and a flexible wheel comprising a flexible tubular member and a Plate composition, the The tubular member has a first end portion and a second end portion, and the first end portion is sleeved outside the plate member, and the first end portion is provided with a plurality of first positioning holes on the periphery of the plate member Corresponding to the position of the plurality of first positioning holes, a plurality of second positioning holes are disposed, and each of the corresponding first positioning holes and the second positioning holes is provided with a positioning member at the second end of the cylindrical member An outer gear is disposed on the periphery of the portion, the flexible gear is disposed in the rigid wheel, the external gear is meshed with a portion of the internal gear, and the wave generator is disposed in the flexible wheel; a first drive shaft is Connected to the wave generator; and a second drive shaft coupled to the plate of the flex wheel, the rigid wheel system is fixedly disposed at a position, and one of the first drive shaft and the second drive shaft is One input shaft and the other one is a force output shaft.

The technical means and functions used in the present disclosure for the purpose of the present invention will be described with reference to the accompanying drawings, and the embodiments illustrated in the following drawings are only for the purpose of explanation, and are to be understood by the reviewing members, but the technical means of the present disclosure are It is not limited to the illustrated figures.

Please refer to the first and second embodiments of a harmonic transmission device, which includes a Wave Generator 10 (shown in the second figure), a Flexspline 20, and a rigid wheel ( Circular Spline) 30. The wave generator 10 is composed of a cam 11 and a bearing module 12. In one embodiment, the cam 11 is an elliptical cam. The bearing module 12 includes a bearing ball outer ring 13, a bearing ball inner ring 14 and a bearing ball 15, wherein the bearing ball inner ring 14 is sleeved on the periphery of the cam 11, and the bearing ball 15 is sleeved on the bearing ball inner ring. 14 other than The bearing ball outer ring 13 is sleeved on the periphery of the bearing ball 15. In the present embodiment, the bearing ball outer ring 13 and the bearing ball inner ring 14 are circular before being assembled, and after being assembled and combined with the cam 11, the cam is elliptical, the bearing ball outer ring 13 and the bearing The inner ball ring 14 is deformed by force to form an elliptical shape matching the contour of the cam 11, thereby making the wave generator 10 elliptical. It should be noted that after the bearing ball outer ring 13 and the bearing ball inner ring 14 are detached from the cam 11, they are deformed by force to become an elliptical contour.

In addition, the rigid wheel 30 has a circular ring shape and has an internal gear 31 which may be an involute tooth shape or a circular arc tooth. In this embodiment, the internal gear 31 has a tooth profile. It is a circular arc tooth. The rigid wheel 30 is fixedly disposed at a position, for example, on a frame of a machine or a power unit. The wave generator 10 is connected to a first drive shaft 40, and the flexible wheel 20 is coupled to a second drive shaft 50. In one embodiment, when the first drive shaft 40 is a force input shaft, the second drive shaft 50 is a force output shaft; in another embodiment, when the first drive shaft 40 is a force output shaft, the second drive shaft 50 For a force input shaft.

The flexible wheel 20 is composed of a flexible tubular member 21 and a plate member 22. The tubular member 21 has a first axial length L1, and the plate member 22 has a second axial length L2, the first axial length L1. Greater than the second axial length L2. In an embodiment, the tubular member 21 is a cylindrical member. In addition, the tubular member 21 has a first end portion 211 and a second end portion 212 in the axial direction. The plate member 22 has a first surface 221 and a second surface 222 opposite to each other. A plurality of first positioning holes 213 are disposed on the surface of the tubular member 21 adjacent to the first end portion 211, and a plurality of second positioning holes 223 are disposed at positions corresponding to the plurality of first positioning holes 213 at the periphery of the plate member 22, and each of the plurality of positioning holes 223 is disposed at a position corresponding to the plurality of first positioning holes 213 Corresponding first positioning hole 213 A positioning member 23 is disposed in the second positioning hole 223. The first positioning hole 213 and the second positioning hole 223 are circular holes, and the second positioning hole 223 is provided with an internal thread. The positioning member 23 is a cylindrical plug body, and the diameter D1 of the first positioning hole 213 is greater than or equal to the positioning. The locating member 23 is disposed in the first positioning hole 213 and screwed into the second positioning hole 223. In the present embodiment, when the tubular member 21 is not subjected to any external force, the positioning member 23 is loosely engaged with the first positioning hole 213.

In addition, a flange 225 is disposed around the outer side wall 224 of the plate member 22. The flange 22 abuts the first surface 221, and the outer side wall 224 and the flange 225 are adjacent to each other to form a stepped shape. The inner side wall 214 of the first end portion 211 of the tubular member 21 is disposed around the center of the tubular member 21 with a recess 215. The tubular member 21 is sleeved outside the plate member 22 by the first end portion 211. The outer side wall 224 and the flange 225 are adjacent to the groove 215, and the outer side wall 224 and the flange 225 of the plate member 22 respectively correspond to the inner side wall 214 of the cylindrical member 21 on the opposite sides of the groove 215. The flange 225 abuts against the inner side wall 214, and a distance d1 between the outer side wall 224 of the plate member 22 and the inner side wall 214 of the tubular member 21 is provided. The first end portion 211 of the tubular member 21 is adjacent to the first surface 221, and the second end portion 212 of the tubular member 21 is provided with an external gear 216, which may be an involute tooth shape or a circle. In the present embodiment, the tooth shape of the external gear 216 is a circular arc tooth. The number of teeth of the outer gear 216 is different from the number of teeth of the inner gear 31. The number of teeth of the inner gear 31 is larger than the number of teeth of the outer gear 216, such as two teeth. The second surface 222 of the plate member 22 is provided with a recess 226 which is recessed in a circular shape on the second surface 222.

The soft wheel 20 is disposed in the rigid wheel 30, and the wave generator 10 is disposed in the second end portion 212 of the flex wheel 20, since the wave generator 10 is elliptical, because This forces the second end portion 212 of the flexure wheel 20 to deform so that the second end portion 212 of the flex wheel 20 is elliptical, and the gear 216 is meshed with the inner gear 31 at the corresponding position outside the elliptical major axis portion. The gear 216 is located outside the elliptical short-axis portion and is separated from the internal gear 31 at the corresponding position, that is, the external gear 216 is meshed with a portion of the internal gear 31.

When the first drive shaft 40 drives the wave generator 10 to rotate, the wave generator 10 will drive the flexible wheel 20 to rotate. Since the tubular member 21 has flexibility, the outer shape of the tubular member 21 will continue to be deformed to different positions. The external gear 216 will successively mesh with the internal gear 31. The working principle of the present disclosure is that, since the number of teeth of the internal gear 31 is larger than the number of teeth of the external gear 216, when the wave generator 10 is rotated 360 degrees, the flexible wheel 20 is caused to reversely move the tooth difference, for example, if the internal gear 31 is external The gear 216 has two teeth. When the wave generator 10 rotates 180 degrees clockwise, the flex wheel 20 moves one tooth counterclockwise. When the wave generator 10 rotates 360 degrees clockwise, the flex wheel 20 moves the two teeth counterclockwise. Therefore, the rotational speed of the second drive shaft 50 connected to the flex wheel 20 is lower than the rotational speed of the first drive shaft 40.

By the cylindrical member 21 and the plate member 22 being independent members, when the wave generator 10 is rotated to cause the cam 11 to rotate the flexible wheel 20, the wave generator 10 can push the gear 216 outside the cylindrical member 21 straight. The internal gear 31 causes the external gear 216 to be in flat engagement with the internal gear 31, and the external gear 216 is not skewed. Since the internal gear 31 and the external gear 216 are both arc-shaped teeth in this embodiment, the internal gear 31 can be avoided. The stress is concentrated, and the external gear 216 and the internal gear 31 are subjected to force average, so that the loss of the external gear 216 can be avoided, and the service life of the harmonic drive can be prolonged. It is to be noted that the circular arc-shaped teeth are formed by a circular tooth profile. Please refer to the fourth to fourth B charts As shown in FIG. 4A, the internal gear 31 and the external gear 216 have a circular arc-shaped tooth shape, and in the fourth B diagram, the internal gear 31a and the external gear 216a have teeth having a circular arc shape. Shape, but in this embodiment, the top mask of the arc-shaped tooth has a plane. The configuration and size of the arcuate teeth can be determined according to requirements, and are not limited by the aspects shown in the fourth A and fourth B drawings. In addition, the inner side wall 214 of the tubular member 21 and the flange 225 are fitted to each other, the recess 215 is disposed, and the structural design of the inner side wall 214 of the tubular member 21 and the outer side wall 224 of the plate member 22 has a spacing d1 to ensure the cylindrical member 21 The concentricity is maintained with the panel 22 during the deformation. In addition, during the deformation of the tubular member 21, the plurality of first positioning holes 213 are also deformed. Referring to the third figure, the first positioning hole 213 having a circular shape has a first axis X1 perpendicular to each other. And a second axis Y1, the first axis X1 is parallel to the axial direction of the tubular member 21, and the second axis Y1 is perpendicular to the axial direction of the tubular member 21. When the first positioning hole 213 has not been deformed, the first axis The axis X1 and the second axis Y1 are equal to the diameter D1 of the first positioning hole 213 (refer to the third figure). When the tubular member 21 is deformed, the first axis X1 is shortened to a first short axis X2, and the second axis The axis Y1 is elongated into a second long axis Y2 (as indicated by the required line in the third figure), so that the first positioning hole 213 has an elliptical shape, and the length of the first short axis X2 is smaller than the diameter D2 of the positioning member 23, so The first short axis X2 of the first positioning hole 213 can be clamped on the two sides of the positioning member 23, and the cylindrical member 21 and the plate member 22 can be synchronously rotated with the positioning member 23 without loosening.

However, the above description is only for the embodiments of the present disclosure, and the scope of the disclosure is not limited thereto. That is to say, the average changes and modifications made by the applicants in accordance with the scope of the application for patents should still fall within the scope of the disclosure of this patent. I would like to ask your review committee to give a clear understanding and pray for the best.

10‧‧‧wave generator

11‧‧‧ cam

12‧‧‧ bearing module

13‧‧‧ bearing ball outer ring

14‧‧‧ bearing ball inner ring

15‧‧‧ Bearing Balls

20‧‧‧Flex

21‧‧‧Clocks

211‧‧‧ first end

212‧‧‧second end

213‧‧‧First positioning hole

214‧‧‧ inner side wall

215‧‧‧ Groove

216,216a‧‧‧ external gear

22‧‧‧ boards

221‧‧‧ first side

222‧‧‧ second side

223‧‧‧Second positioning hole

224‧‧‧Outer side wall

225‧‧‧Flange

226‧‧‧ recess

23‧‧‧ Positioning parts

30‧‧‧ just round

31, 31a‧‧‧ internal gear

40‧‧‧First drive shaft

50‧‧‧second drive shaft

D1‧‧‧ spacing

D1, D2‧‧‧ diameter

L1‧‧‧first axial length

L2‧‧‧second axial length

X1‧‧‧ first axis

X2‧‧‧ first short axis

Y1‧‧‧ second axis

Y2‧‧‧ second long axis

The first figure is a schematic exploded view of an embodiment of the present disclosure.

The second drawing is a schematic cross-sectional structural view of an embodiment of the present disclosure.

The third figure is a structural schematic diagram of deformation of the first positioning hole of the embodiment of the present disclosure.

The fourth to fourth B drawings are schematic views of different arcuate teeth embodiments of the present disclosure.

10‧‧‧wave generator

11‧‧‧ cam

12‧‧‧ bearing module

13‧‧‧ bearing ball outer ring

14‧‧‧ bearing ball inner ring

15‧‧‧ Bearing Balls

20‧‧‧Flex

21‧‧‧Clocks

211‧‧‧ first end

212‧‧‧second end

213‧‧‧First positioning hole

214‧‧‧ inner side wall

215‧‧‧ Groove

216‧‧‧ external gear

22‧‧‧ boards

221‧‧‧ first side

222‧‧‧ second side

223‧‧‧Second positioning hole

224‧‧‧Outer side wall

225‧‧‧Flange

226‧‧‧ recess

23‧‧‧ Positioning parts

30‧‧‧ just round

31‧‧‧Internal gear

40‧‧‧First drive shaft

50‧‧‧second drive shaft

D1‧‧‧ spacing

D1, D2‧‧‧ diameter

L1‧‧‧first axial length

L2‧‧‧second axial length

Claims (21)

A harmonic transmission device comprising: a wave generator; a rigid wheel having an internal gear; and a flexible wheel formed by a flexible tubular member and a plate member, the cylindrical member having a relative one a first end portion and a second end portion, the first end portion is sleeved on the outside of the plate member, and the first end portion is provided with a plurality of first positioning holes, corresponding to the plurality of the periphery of the plate member a plurality of second positioning holes are disposed at a position of the positioning hole, and each of the corresponding first positioning holes and the second positioning hole is provided with a positioning member, and the outer portion of the second end portion of the cylindrical member is provided outside a gear, the flex wheel is disposed in the rigid wheel, the external gear is meshed with a portion of the internal gear, and the wave generator is disposed in the flexible wheel, wherein the outer wall of the plate is surrounded by a flange, The inner side wall of the first end portion of the tubular member is provided with a groove around the center of the cylindrical member, and the outer side wall of the plate member and the flange adjacent to the groove correspond to the groove, the outer side wall of the plate member Positioning with the flange respectively corresponding to the inner side wall of the tubular member on opposite sides of the groove, the flange being coupled to the first end The inner side walls abutting, the spacing between the side walls and having a first end portion of the inner side wall of the outside plate member. The harmonic transmission device of claim 1, wherein the plate member has a first surface and a second surface, the flange is circumferentially disposed on the outer side wall of the plate member and adjacent to the first surface. . The harmonic transmission device of claim 2, wherein the first end of the tubular member abuts the first surface. The harmonic transmission device of claim 1, wherein the cylinder The member has a first axial length, the plate member having a second axial length, the first axial length being greater than the second axial length. The harmonic transmission device of claim 1, wherein the number of teeth of the external gear is smaller than the number of teeth of the internal gear. The harmonic transmission device of claim 5, wherein the number of teeth of the external gear is smaller than the number of teeth of the internal gear. The harmonic transmission device of claim 1, wherein the wave generator is coupled to a first drive shaft, and the plate of the flexible wheel is coupled to a second drive shaft, the rigid wheel system is fixedly disposed on In one position, one of the first drive shaft and the second drive shaft is a force input shaft, and the other one is a force output shaft. The harmonic transmission device of claim 7, wherein the first positioning hole is a circular hole, and the positioning member is a cylindrical plug body, and the inner diameter of the first positioning hole is greater than or equal to the positioning member. The outer diameter of the first drive shaft drives the wave generator to rotate, the wave generator drives the tubular member and the plurality of first positioning holes to be deformed. The harmonic transmission device of claim 1, wherein the wave generator is composed of a cam and a bearing module, and the bearing module is sleeved on the periphery of the cam. The harmonic transmission device of claim 9, wherein the bearing module comprises a bearing ball outer ring, a bearing ball inner ring and a bearing ball, wherein the bearing ball inner ring is sleeved on the periphery of the cam The bearing ball is sleeved on the outer periphery of the bearing ball inner ring, and the bearing ball outer ring is sleeved on the periphery of the bearing ball. A harmonic transmission device as claimed in claim 1, wherein the inner Both the gear and the external gear are in the shape of a circular arc or an involute. A harmonic transmission device comprising: a wave generator; a rigid wheel having an internal gear; and a flexible wheel formed by a flexible tubular member and a plate member, the cylindrical member having a relative one a first end portion and a second end portion, the first end portion is sleeved on the outside of the plate member, and the first end portion is provided with a plurality of first positioning holes, corresponding to the plurality of the periphery of the plate member a plurality of second positioning holes are disposed at a position of the positioning hole, and each of the corresponding first positioning holes and the second positioning hole is provided with a positioning member, and the outer portion of the second end portion of the cylindrical member is provided outside a gear, the flex wheel is disposed in the rigid wheel, the external gear is meshed with a portion of the internal gear, and the wave generator is disposed in the flexible wheel, wherein a peripheral edge of the plate is surrounded by a flange. The inner side wall of the first end portion of the tubular member is provided with a groove around the center of the cylindrical member, and the outer side wall of the plate member and the flange adjacent to the flange correspond to the groove, the outer side of the plate member Positioning the wall and the flange respectively corresponding to inner side walls of the tubular member on opposite sides of the groove, the flange being associated with the first The inner side wall of the portion abuts, the outer side wall of the plate member and the inner side wall of the first end portion have a spacing; a first driving shaft is connected to the wave generator; and a second driving shaft, The plate is connected to the flexible wheel. The rigid wheel is fixedly disposed at a position, and one of the first drive shaft and the second drive shaft is a force input shaft, and the other is a force output shaft. The harmonic transmission device of claim 13, wherein the first positioning hole is a circular hole, and the positioning member is a cylindrical plug body. The inner diameter of the first positioning hole is greater than or equal to the outer diameter of the positioning member. When the first driving shaft drives the wave generator to rotate, the wave generator drives the cylindrical member and the plurality of first positioning holes to be deformed. The harmonic transmission device of claim 12, wherein the plate member has a first surface opposite to the first surface and a second surface, the flange is circumferentially disposed on the outer side wall of the plate member and adjacent to the first surface . The harmonic transmission of claim 14, wherein the first end of the tubular member abuts the first face. The harmonic transmission device of claim 12, wherein the tubular member has a first axial length, the plate member has a second axial length, the first axial length being greater than the second axial length length. The harmonic transmission device of claim 12, wherein the number of teeth of the external gear is smaller than the number of teeth of the internal gear. The harmonic transmission device of claim 17, wherein the number of teeth of the external gear is smaller than the number of teeth of the internal gear. The harmonic transmission device of claim 12, wherein the wave generator is composed of a cam and a bearing module, and the bearing module is sleeved on the periphery of the cam. The harmonic transmission device of claim 19, wherein the bearing module comprises a bearing ball outer ring, a bearing ball inner ring and a bearing ball, wherein the bearing ball inner ring is sleeved on the periphery of the cam The bearing ball is sleeved on the outer periphery of the bearing ball inner ring, and the bearing ball outer ring is sleeved on the periphery of the bearing ball. The harmonic transmission device of claim 12, wherein the internal gear and the external gear are both a circular arc tooth or an involute tooth shape.