TWM449212U - Clearance compensating structure of harmonizing transmission device - Google Patents

Description

Clearance compensation structure of harmonic transmission

The present invention relates to a clearance compensation structure of a harmonic transmission device, and more particularly to a structural design for automatically compensating for the power transmission clearance of the harmonic transmission device.

According to the deceleration principle employed in the harmonic drive transmission disclosed in U.S. Patent No. 2,906,143, as shown in the sixth figure, the elliptical cam 10 is assembled in a cup or ring. In the flexible gear 20, after the cam 10 is operated by the driving force, the flexible gear 20 can be stretched at both ends of the long axial direction of the cam 10 to make the flexible gear 20 match the circular shape. The rigid internal spline 30 produces a tight, gap-free engagement condition that produces a reduction drive effect due to the difference in the number of teeth designed by the flex gear 20 and the internal spline 30.

In the manufacture and assembly of the above-mentioned harmonic transmission device, the dimensional tolerance of each component (cam 10, flexible gear 20 and internal spline 30) is extremely required to achieve the power transmission principle of zero backlash. Therefore, as shown in the seventh figure, the harmonic transmission device has a major axis dimension a of the cam 10, and the total size b of the meshing between the flexible gear 20 and the internal spline 30 is in an absolute size. Under the condition requirements, otherwise it will cause insufficient meshing and form a Gear Blacklash on the non-stressed surface of the gear teeth; therefore, the processing and assembly processes of the above-mentioned components require strict precision, resulting in The processing and assembly costs are quite expensive. As a result, the market price of the robot arm is high, and the automation equipment industry is not easy to expand.

Moreover, after the harmonic transmission device has been operated for a period of time, the teeth of the flexible gear 20 and the internal spline 30 are continuously worn against each other, causing the Gear Blacklash of the gear to expand, and the zero back cannot be achieved. The requirement of the gap transmission; however, the prior art lacks the technical solution that the harmonic transmission can automatically compensate the gear tooth wear, and the flexible gear 20 and the internal spline 30 must be frequently replaced if such a harmonic transmission device is applied to the automation device. On the robot arm of the industry, the backlash of the tooth will affect the precision of the angular momentum of the servo motor, which is not conducive to the operation and maintenance cost of the production line.

In view of the technical problems encountered in the flexible gear of the above harmonic transmission device, the creator deeply feels that there is still room for improvement, so the clearance compensation structure of the harmonic transmission device is proposed, and the harmonic transmission device can easily compensate the transmission. Clearance, to achieve the transmission requirements of zero backlash, and to achieve the benefits of improving the precision of the harmonic transmission, reducing costs and extending the life of the overall device.

The main purpose of the present invention is to provide a clearance compensation structure of the harmonic transmission device, so that the harmonic transmission device can automatically compensate the gap of the meshing portion of the device transmission, so that the transmission behavior of the zero backlash is implemented.

In order to achieve the above object, a preferred embodiment of the present invention comprises a circular internal spline, a flexible gear disposed in the internal spline, and a deformed flexible gear and the internal spline An intermeshing cam set, wherein: the cam set comprises a cam, a set of bearings disposed on the cam wheel face, and a gap-filling element; the fit-receiving element is an elastic body matched with the outer ring of the bearing, The lashing element is supported between the bearing and the flexible gear.

In a preferred embodiment, the elastomeric structure of the interstitial element can be an annular ring.

In a preferred embodiment, the elastomeric structure of the interstitial element can be a long strip having a winding property.

In a preferred embodiment, the elastomeric strip of the interstitial element is a corrugated ring.

In a preferred embodiment, the cam system is in the shape of an ellipse.

In a preferred embodiment, the bearing is a flexible ball bearing.

In a preferred embodiment, the bearing is a flexible needle bearing.

By the above-mentioned component composition, the creation is disposed between the bearing and the flexible gear through the interstitial element, so that the movement matching gap between the cam, the bearing, the flexible gear and the internal spline can be automatically controlled by the interstitial element Compensation, and thus achieve the power transmission effect of the zero backlash.

In order to make your reviewers understand the purpose, features and effects of this creation, the following specific examples are used, together with the attached drawings, to give a detailed explanation of the creation, as follows:

As shown in the first to fifth figures, the clearance compensation structure of the present harmonic transmission device comprises a circular internal spline 1 , a flexible gear 2 disposed in the internal spline 1 , and a a cam group 3 that drives the flexible gear 2 to be in mesh with the internal spline 1; the internal spline 1 is a rigid cover structure having a perforation for receiving the flexible gear 2 in the center of the housing 11, The periphery of the perforation 11 is internally formed with a key 12; the flexible gear 2 is an annular body, and a tooth 21 is formed on the outer side of the ring body to match the modulus of the key 12; wherein: the cam set 3 comprises an ellipse The shaped cam 31, a set of bearings 32 disposed on the tread of the cam 31, and a gap-retaining member 33, the cam 31 is operatively coupled to the power, and the bearing 32 disposed on the tread of the cam 31 is a flexible a ball bearing or a flexible needle bearing; the gap element 33 is an elastic body matched with the outer ring of the bearing 32, and the structure of the elastic body may be an annular ring (as shown in the first figure) or a roll Round strips (as shown in Figure 4).

The foregoing gap-retaining element 33 can be molded by using a plastic material having a slight elastic change, such as nylon (Nylon), as shown in the first embodiment in the second and third figures. Or Polyurethane (PU) or the like; and the lashing element 33 is a corrugated ring (tolerance ring) when the second embodiment is presented in the form of a long strip in the fourth and fifth figures. Applying the application; the interstitial element 33 is stretched between the bearing 32 and the flexible gear 2 in a pre-stressed state, and compensates for the harmonic transmission by the micro-elasticity margin of the material itself or the flexibility of the corrugated structure. Drive clearance.

In this way, in addition to increasing the machining tolerance of the harmonic transmission device and greatly reducing the processing cost, after the long-term operation of the harmonic transmission device, the wear clearance formed by the meshing transmission can also be automatically compensated by the clearance device 33. , resulting in an extended life of the overall harmonic transmission.

Furthermore, the lashing element 33 is embodied in a waveform ring (tolerance ring) with continuous waves (ie as shown in the fourth and fifth figures), and its waveform ring The material selected may be a stainless steel sheet, and the stainless steel sheet is formed into a wavy shape to give the gap-filling element 33 a moderate elasticity, so that the gap remains within the allowable range of the stress load when the clearance is adjusted and compensated. Does not cause permanent deformation and loses its interstitial elasticity.

After the ridge member 33 is wound around the outer surface of the bearing 32 by the above-described configuration, when the long-axis end of the cam 31 is pushed against the flexible gear 2, the teeth 21 of the flexible gear 2 can be made. The key 12 of the internal spline 1 can maintain a meshing state of zero backlash. At the same time, for the thermal expansion factor generated by the harmonic transmission device under frequent high-speed operation, the elasticity of the interstitial member 33 is also compensated for by compensating for different thermal expansion ratios between the components.

Furthermore, the play compensation structure of the present harmonic transmission device, in the application examples of the type and material selected for the gap-filling component, is merely for convenience in explaining the creation and not limiting, without departing from the spirit of the creation. All kinds of simple changes and modifications that can be made by those skilled in the art should still be covered by the patent scope of this creation.

In summary, the design of the clearance compensation structure of the original harmonic transmission device ensures that the flexible gear and the internal spline are assisted by the interstitial components, thereby adding a more stable meshing effect, and achieving zero backlash as expected. The role of transmission of power, so it has been seen that the effectiveness of the promotion is innocent, and the use of its means is also the first innovation, should be in line with the new requirements, for this purpose, apply for a new type of law, but please the bureau to give detailed examination and grant a patent, the real sense of virtue .

1‧‧‧ internal tooth spline

11‧‧‧Perforation

12‧‧‧ key teeth

2‧‧‧Flexible gears

21‧‧‧ teeth

3‧‧‧Cam Group

31‧‧‧ cam

32‧‧‧ Bearing

33‧‧‧Package components

The first figure shows an exploded perspective view of the creation.

The second figure shows a schematic view of a partial combination of the creation.

The third figure shows a schematic cross-sectional view of the first embodiment of the creation.

The fourth figure shows a perspective view of a second embodiment of the lashing element in the present creation.

The fifth figure shows a schematic cross-sectional view of the second embodiment of the present creation.

The sixth figure shows an exploded perspective view of a conventional harmonic transmission.

The seventh figure shows a schematic view of a partial combination of a conventional harmonic transmission.

1‧‧‧ internal tooth spline

11‧‧‧Perforation

12‧‧‧ key teeth

2‧‧‧Flexible gears

21‧‧‧ teeth

3‧‧‧Cam Group

31‧‧‧ cam

32‧‧‧ Bearing

33‧‧‧Package components

Claims (7)

A clearance compensation structure for a harmonic transmission device, comprising a circular internal spline, a flexible gear disposed in a cup shape in the internal spline, and a deformation gear for the flexible gear a cam set in which the internal splines are engaged with each other, wherein: the cam set includes a cam, a set of bearings disposed on the cam wheel face, and a gap-retaining element; the fit-receiving element is elastically matched with the outer ring of the bearing The body is supported between the bearing and the flexible gear. The clearance compensation structure of the harmonic transmission device of claim 1, wherein the elastic structure of the gap-retaining element is an annular ring. The clearance compensation structure of the harmonic transmission device of claim 1, wherein the elastic structure of the gap-retaining element is a long strip having winding properties. The clearance compensation structure of the harmonic transmission device of claim 3, wherein the elastic strip of the interstitial element is a corrugated ring. The clearance compensation structure of the harmonic transmission device according to claim 1, wherein the cam system has an elliptical shape. The clearance compensation structure of the harmonic transmission device of claim 1 or 5, wherein the bearing is a flexible ball bearing. The clearance compensation structure of the harmonic transmission device according to claim 1 or 5, wherein the bearing is a flexible needle roller bearing.