US20150167814A1 - Wave gear device and flexible internally toothed gear - Google Patents
Wave gear device and flexible internally toothed gear Download PDFInfo
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- US20150167814A1 US20150167814A1 US14/631,265 US201514631265A US2015167814A1 US 20150167814 A1 US20150167814 A1 US 20150167814A1 US 201514631265 A US201514631265 A US 201514631265A US 2015167814 A1 US2015167814 A1 US 2015167814A1
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- United States
- Prior art keywords
- toothed gear
- wave
- internally toothed
- gear
- pushed
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- Abandoned
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D7/00—Slip couplings, e.g. slipping on overload, for absorbing shock
- F16D7/02—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H35/10—Arrangements or devices for absorbing overload or preventing damage by overload
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
- F16H2055/176—Ring gears with inner teeth
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/19647—Parallel axes or shafts
Definitions
- the present invention relates to a wave gear device capable of effectively utilizing an external space of a flexible internally toothed gear thereof.
- a flexible externally toothed gear disposed on the inside of a rigid internally toothed gear has a cup shape.
- the flexible externally toothed gear comprises a cylindrical barrel part capable of flexing in the radial direction, a diaphragm extending inward in the radial direction from one end of the barrel part, and a thick annular or discoid boss formed as a continuation of the internal peripheral edge of the diaphragm.
- the region on the side of the open edge, which is the side opposite the diaphragm in the cylindrical barrel part is an external-tooth-formation portion, where external teeth are formed in the external peripheral surface.
- the flexible externally toothed gear is made to flex into an ellipsoidal shape by an ellipsoidally contoured wave generator mounted to the inside of the external-tooth-formation portion, and the flexible externally toothed gear is partially meshed with the rigid internally toothed gear.
- the wave generator When the wave generator is rotated, the meshing positions of the two gears move in the circumferential direction, and relative rotation occurs between the two gears, the rotation corresponding to the difference in the number of teeth between the two gears.
- One gear is fixed in place so as to not rotate, whereby reduced rotation is outputted from the other gear.
- the wave generator is configured from an annular rigid cam plate, and a wave bearing mounted to the ellipsoidally contoured external peripheral surface of the cam plate.
- a flexible externally toothed gear disposed on the inside of a rigid internally toothed gear has a silk hat shape.
- the flexible externally toothed gear comprises a cylindrical barrel part capable of flexing in the radial direction, a diaphragm extending outward in the radial direction from one end of the barrel part, and a thick annular boss formed as a continuation of the external peripheral edge of the diaphragm.
- the region on the side of the open edge, which is the side opposite the diaphragm in the cylindrical barrel part is an external-tooth-formation portion, where external teeth are formed in the external peripheral surface.
- the flexible externally toothed gear is made to flex into an ellipsoidal shape by an ellipsoidally contoured wave generator mounted to the inside of the external-tooth-formation portion, and the flexible externally toothed gear is partially meshed with the rigid internally toothed gear.
- the wave generator When the wave generator is rotated, the meshing positions of the two gears move in the circumferential direction, and relative rotation occurs between the two gears, the rotation corresponding to the difference in the number of teeth between the two gears.
- One gear is fixed in place so as to not rotate, whereby reduced rotation is outputted from the other gear.
- the wave generator is configured from an annular rigid cam plate, and a wave bearing mounted to the ellipsoidally contoured external peripheral surface of the cam plate.
- a wave gear device is what is referred to as a flat-type device such as is disclosed in Patent Document 3.
- a flexible externally toothed gear disposed on the inside of a rigid internally toothed gear has a simple shape comprising a cylindrical barrel part capable of flexing in the radial direction, and external teeth formed on the circular external peripheral surface of the cylindrical barrel part.
- Two rigid internally toothed gears are disposed in parallel on the outer side of the flexible externally toothed gear.
- the flexible externally toothed gear is made to flex into an ellipsoidal shape by the ellipsoidally contoured wave generator mounted to the inner side of the flexible externally toothed gear, and the flexible externally toothed gear is partially meshed with the rigid internally toothed gears.
- the meshing positions of the flexible externally toothed gear and the two rigid internally toothed gears move in the circumferential direction.
- One rigid internally toothed gear has the same number of teeth as the flexible externally toothed gear, and the other rigid internally toothed gear has more teeth than the flexible externally toothed gear.
- the flexible externally toothed gear rotates integrally with the rigid internally toothed gear that has the same number of teeth, and relative rotation occurs with the rigid internally toothed gear that has a different number of teeth, the rotation corresponding to the difference in the number of teeth between the two gears.
- One rigid internally toothed gear is fixed in place so as to not rotate, whereby reduced rotation is outputted from the other rigid internally toothed gear.
- the wave generator is configured from an annular rigid cam plate, and a wave bearing mounted to the ellipsoidally contoured external peripheral surface of the cam plate.
- the outside diameter dimension of the device is stipulated by the rigid internally toothed gear positioned farthest to the outside.
- the rigid internally toothed gear serves as a restriction, and there is a limit to reducing the outside diameter dimension of the cup-shaped wave gear device.
- a diaphragm extends radially outward from one end of a cylindrical barrel part in the silk-hat-shaped flexible externally toothed gear, and an annular boss is formed in the external peripheral edge of the diaphragm.
- a rigid internally toothed gear is disposed on the external side of the cylindrical barrel part.
- the outside diameter dimension of the device is stipulated by two rigid internally toothed gears disposed on the external side of a cylindrical flexible externally toothed gear. Therefore, similar to the case of a cup-shaped wave gear device, the rigid internally toothed gears serve as a restriction, and there is a limit to reducing the outside diameter dimension of the flat-type wave gear device.
- An object of the present invention is to provide a cup-shaped wave gear device suitable for reducing an outside diameter dimension, and a cup-shaped flexible internally toothed gear.
- Another object of the present invention is to provide a silk-hat-type wave gear device which can effectively utilize space in the external periphery, and a silk-hat-shaped flexible internally toothed gear.
- Yet another object of the present invention is to provide a flat-type wave gear device suitable for reducing an outside diameter dimension, and a flexible internally toothed gear.
- an internally toothed gear is a flexible internally toothed gear capable of flexing in a radial direction
- an externally toothed gear is a rigid externally toothed gear
- the rigid externally toothed gear is disposed on the internal side of the flexible internally toothed gear.
- An internal-tooth-formation portion in the flexible internally toothed gear, and a pushed portion pushed by the wave generator and made to flex into an ellipsoidal shape in the flexible internally toothed gear are formed in positions displaced along a center axis line of the flexible internally toothed gear.
- a wave generator is disposed on the inside of the flexible internally toothed gear, and the pushed portion is pushed radially outward from the inside by the wave generator, whereby the pushed portion is made to flex into an ellipsoidal shape.
- the internal-tooth-formation portion and the pushed portion are formed in the cylindrical barrel part of the flexible internally toothed gear in different positions along the center axis line, positions that are typically adjacent to each other. Because the internal-tooth-formation portion and the pushed portion are displaced along the center axis line, the wave generator can be disposed on the inside of the cylindrical barrel part of the flexible internally toothed gear, similar to the rigid externally toothed gear, and the pushed portion can be pushed outward from the inside to cause the pushed portion to flex into an ellipsoidal shape.
- the cylindrical barrel part as a whole flexes into an ellipsoidal shape and the internal-tooth-formation portion also flexes into an ellipsoidal shape when the pushed portion is made to flex into an ellipsoidal shape, a state can be formed in which the internal teeth formed in the internal-tooth-formation portion partially mesh with the external teeth of the rigid externally toothed gear.
- the rigid externally toothed gear and the wave generator are disposed on the inside of the cylindrical barrel part of the flexible internally toothed gear, the external space of the cylindrical barrel part of the flexible internally toothed gear can be effectively utilized.
- the outside diameter dimension of the device is determined by the outside diameter dimension of the cup-shaped flexible internally toothed gear. Compared to a configuration in which a rigid gear is disposed on the outside of a flexible gear, it is easier to reduce the outside diameter dimension of the device, and the installation space is smaller.
- the outside diameter dimension of the device is determined by the outside diameter dimension of the cylindrical flexible internally toothed gear. Consequently, it is easy to reduce the outside diameter dimension of the device, and the installation space is smaller.
- the rigid externally toothed gear and the wave generator which are to be supplied with lubricant or coated with grease, are arrayed on the inside of the flexible externally toothed gear. Therefore, compared to conventional cases in which lubricated components are disposed on the outside and inside of a flexible gear, the range supplied with lubricant or the range coated with grease can be reduced, and these regions can be more easily lubricated.
- FIG. 1A is a schematic cross-sectional view showing an embodiment of a cup-type wave gear device to which the present invention is applied, and FIG. 1B is a schematic end surface view of the same;
- FIG. 2A is a longitudinal cross-sectional view schematically showing the flexed state of the cup-shaped flexible internally toothed gear of FIG. 1
- FIG. 2B is a transverse cross-sectional view of the same;
- FIG. 3A is a schematic longitudinal cross-sectional view showing an embodiment of a silk-hat-type wave gear device to which the present invention is applied, and FIG. 3B is a schematic end surface view of the same;
- FIG. 4A is a longitudinal cross-sectional view schematically showing the flexed state of the silk-hat-shaped flexible internally toothed gear of FIG. 3
- FIG. 4B is a transverse cross-sectional view of the same;
- FIG. 5A is a schematic longitudinal cross-sectional view showing an embodiment of a flat-type wave gear device to which the present invention is applied, and FIG. 5B is a schematic end surface view of the same;
- FIG. 6 is a transverse cross-sectional view schematically showing the flexed state of the flat-shaped flexible internally toothed gear of FIG. 5 .
- FIG. 1A is a schematic cross-sectional view showing an embodiment of a cup-type wave gear device to which the present invention is applied
- FIG. 1B is a schematic end surface view of the same.
- a cup-type wave gear device 1 has a cup-shaped flexible internally toothed gear 2 , an annular rigid externally toothed gear 3 disposed coaxially on the inner side of the internally toothed gear, and a wave generator 4 disposed in a position adjacent to the rigid externally toothed gear 3 on the inner side of the flexible internally toothed gear 2 .
- the wave generator 4 causes the flexible internally toothed gear 2 to flex into an ellipsoidal shape, forming a state in which internal teeth 5 of the flexible internally toothed gear 2 mesh with external teeth 6 of the rigid externally toothed gear 3 at two locations (portions positioned on a short axis 28 ) separated 180 degrees in the circumferential direction.
- the meshing positions of the internal teeth 5 in the external teeth 6 move in the circumferential direction.
- the number of internal teeth 5 is greater by 2n (n being a positive integer) than the number of external teeth 6 .
- One gear is fixed so as to not rotate, and output rotation is acquired from the other gear.
- the flexible internally toothed gear 2 includes a cylindrical barrel part 11 capable of flexing in the radial direction, a diaphragm 12 extending radially inward from one end 11 a of the cylindrical barrel part 11 , and a thick annular boss 13 formed as a continuation of the internal peripheral edge of the diaphragm 12 .
- a plurality of bolt holes 14 are formed in the boss 13 at predetermined intervals along the circumferential direction, enabling the boss to be connected and fixed to a fixed-side member or a load-side member (not shown).
- the cylindrical barrel part 11 has, along the center axis line 1 a from the side of the diaphragm 12 , a cylindrical portion 15 of a constant length, an internal-tooth-formation cylindrical portion 16 continuing from the cylindrical portion and having the internal teeth 5 formed thereon, and a pushed cylindrical portion 17 continuing from the internal-tooth-formation cylindrical portion.
- the distal end edge of the pushed cylindrical portion 17 constitutes another open edge 11 b of the cylindrical barrel part 11 of the flexible internally toothed gear 2 .
- the pushed cylindrical portion 17 is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by the wave generator 4 , as is described hereinafter.
- the rigid externally toothed gear 3 is disposed concentrically on the inside of the internal-tooth-formation cylindrical portion 16 .
- Bolt holes or the like are formed in the rigid externally toothed gear 3 , enabling the rigid internally toothed gear to be connected and fixed to a fixed-side member or a load-side member (not shown).
- the wave generator 4 is disposed in a position adjacent to the rigid externally toothed gear 3 on the side of the open edge 11 b in the direction of the center axis line la, so as to be concentric with the inside of the pushed cylindrical portion 17 of the cylindrical barrel part 11 .
- the wave generator 4 comprises a rigid annular member 21 and a wave bearing 22 attached to the outer side of the annular member.
- the external peripheral surface 23 of the annular member 21 is a surface of constant width having an ellipsoidal contour.
- the wave bearing 22 comprises an outer ring 24 and an inner ring 25 capable of flexing in the radial direction, which are attached to the ellipsoidally contoured external peripheral surface 23 and made to flex into an ellipsoidal shape, and balls 26 are inserted so as to be capable of rolling in the ellipsoidal trajectory formed between the rings.
- the pushed cylindrical portion 17 of the cylindrical barrel part 11 of the flexible internally toothed gear 2 is fitted on the external peripheral surface of the ellipsoidally flexed outer ring 24 , and made to flex into an ellipsoidal shape.
- FIG. 2A is a longitudinal cross-sectional view schematically showing the flexed state of the flexible internally toothed gear 2
- FIG. 2B is a transverse cross-sectional view schematically showing the flexed state of the flexible internally toothed gear 2 and the meshed state with the rigid externally toothed gear 3
- the pushed cylindrical portion 17 of the cylindrical barrel part 11 is pushed outward along the radius from the inside and made to flex into an ellipsoidal shape by the wave generator 4 .
- the cylindrical barrel part 11 thereby flexes as a whole into an ellipsoidal shape.
- the amount of flexure increases according to the distance from the diaphragm 12 , from the end 11 a in the side having the diaphragm 12 toward the open edge 11 b on the opposite side.
- the amount of flexure gradually increases in a positive direction according to the distance from the diaphragm 12 in a position on the major axis 27 of the ellipse, and as shown in the top half portion of the same drawing, the amount of flexure gradually increases in a negative direction in a position on the minor axis 28 of the ellipse.
- the internal-tooth-formation cylindrical portion 16 also flexes into an ellipsoidal shape, being adjacent to the pushed cylindrical portion 17 which is flexed into an ellipsoidal shape by the wave generator 4 .
- the internal teeth 5 of the internal-tooth-formation cylindrical portion 16 also flex into an ellipsoidal shape, and a state is formed in which internal teeth portions 5 a , 5 b in positions on the minor axis 28 are meshed with external teeth portions 6 a , 6 b in the rigid externally toothed gear 3 .
- the wave generator 4 disposed on the inner side of the flexible internally toothed gear 2 functions in the same manner as a wave generator disposed in a position facing the rigid externally toothed gear 3 in the outer side of the flexible internally toothed gear 2 .
- the cup-type wave gear device 1 configured in this manner, structural components of the wave gear device 1 are not disposed on the outer side of the cup-shaped flexible internally toothed gear 2 . Therefore, because the outside diameter dimension of the wave gear device 1 is determined by the outside diameter dimension of the flexible internally toothed gear 2 , a wave gear device having a small outside diameter can be obtained. The space on the external periphery of the flexible internally toothed gear 2 can also be effectively utilized.
- the rigid externally toothed gear 3 and the wave generator 4 are disposed in adjacent positions on the inner side of the flexible internally toothed gear 2 . Therefore, the grease-coated range is smaller than in cases in which these components are disposed separately on the outer side and inner side of the flexible internally toothed gear 2 . Consequently, these components can be lubricated efficiently.
- the pushed cylindrical portion 17 is formed in the side having the open edge 11 b .
- the pushed cylindrical portion 17 can also be disposed in the diaphragm 12 side of the internal-tooth-formation cylindrical portion 16 . It is also possible for the pushed cylindrical portion 17 to be formed separated from the internal-tooth-formation cylindrical portion 16 by a predetermined distance in the direction of the center axis line 1 a.
- FIG. 3A is a schematic cross-sectional view showing an embodiment of a silk-hat-type wave gear device to which the present invention is applied
- FIG. 3B is a schematic end surface view of the same.
- a silk-hat-type wave gear device 31 has a silk-hat-shaped flexible internally toothed gear 32 , a rigid externally toothed gear 33 disposed coaxially on the inner side of the internally toothed gear, and a wave generator 34 disposed in a position adjacent to the rigid externally toothed gear 33 on the inner side of the flexible internally toothed gear 32 .
- the wave generator 4 causes the flexible internally toothed gear 32 to flex into an ellipsoidal shape, forming a state in which internal teeth 35 of the flexible internally toothed gear 32 mesh with external teeth 36 of the rigid externally toothed gear 33 at two locations (portions positioned on a short axis) separated 180 degrees in the circumferential direction.
- the meshing positions of the internal teeth 35 in the external teeth 36 move in the circumferential direction.
- the number of internal teeth 35 is greater by 2n (n being a positive integer) than the number of external teeth 36 .
- One gear is fixed so as to not rotate, and output rotation is acquired from the other gear.
- the flexible internally toothed gear 32 includes a cylindrical barrel part 41 capable of flexing in the radial direction, a diaphragm 42 extending radially outward from one end 41 a of the cylindrical barrel part 41 , and a thick annular boss 43 formed as a continuation of the external peripheral edge of the diaphragm 42 .
- a plurality of bolt holes 44 are formed in the boss 43 at predetermined intervals along the circumferential direction, enabling the boss to be connected and fixed to a fixed-side member or a load-side member (not shown).
- the cylindrical barrel part 41 has, along the center axis line 31 a from the side of the diaphragm 42 , a cylindrical portion 45 of a constant length, an internal-tooth-formation cylindrical portion 46 continuing from the cylindrical portion and having the internal teeth 35 formed thereon, and a pushed cylindrical portion 47 continuing from the internal-tooth-formation cylindrical portion.
- the distal end edge of the pushed cylindrical portion 47 constitutes another open edge 41 b of the cylindrical barrel part 41 of the flexible internally toothed gear 32 .
- the pushed cylindrical portion 47 is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by the wave generator 34 , as is described hereinafter.
- the rigid externally toothed gear 33 is disposed concentrically on the inside of the internal-tooth-formation cylindrical portion 46 .
- Bolt holes or the like are formed in the rigid externally toothed gear 33 , enabling the rigid internally toothed gear to be connected and fixed to a fixed-side member or a load-side member (not shown).
- the wave generator 34 is disposed in a position adjacent to the rigid externally toothed gear 33 on the side of the open edge 41 b in the direction of the center axis line 31 a , so as to be concentric with the inside of the pushed cylindrical portion 47 of the cylindrical barrel part 41 .
- the wave generator 34 comprises a rigid annular member 51 and a wave bearing 52 attached to the outer side of the annular member.
- the external peripheral surface 53 of the annular member 51 is a surface of constant width having an ellipsoidal contour.
- the wave bearing 52 comprises an outer ring 54 and an inner ring 55 capable of flexing in the radial direction, which are attached to the ellipsoidally contoured external peripheral surface 53 and made to flex into an ellipsoidal shape, and balls 56 are inserted so as to be capable of rolling in the ellipsoidal trajectory formed between the rings.
- the pushed cylindrical portion 47 of the cylindrical barrel part 41 of the flexible internally toothed gear 32 is fitted on the external peripheral surface of the ellipsoidally flexed outer ring 54 , and made to flex into an ellipsoidal shape.
- FIG. 4A is a longitudinal cross-sectional view schematically showing the flexed state of the flexible internally toothed gear 32
- FIG. 4B is a transverse cross-sectional view schematically showing the flexed state of the flexible internally toothed gear 32 and the meshed state with the rigid externally toothed gear 33
- the pushed cylindrical portion 47 of the cylindrical barrel part 41 is pushed outward along the radius from the inside and made to flex into an ellipsoidal shape by the wave generator 34 .
- the cylindrical barrel part 41 thereby flexes as a whole into an ellipsoidal shape.
- the amount of flexure increases according to the distance from the diaphragm 42 , from the end 41 a in the side having the diaphragm 42 toward the open edge 41 b on the opposite side.
- the amount of flexure gradually increases in a positive direction according to the distance from the diaphragm 42 in a position on the major axis 57 of the ellipse, and as shown in the top half portion of the same drawing, the amount of flexure gradually increases in a negative direction in a position on the minor axis 58 of the ellipse.
- the internal-tooth-formation cylindrical portion 46 also flexes into an ellipsoidal shape, being adjacent to the pushed cylindrical portion 47 which is flexed into an ellipsoidal shape by the wave generator 34 .
- the internal teeth 36 of the internal-tooth-formation cylindrical portion 46 also flex into an ellipsoidal shape, and a state is formed in which internal teeth portions 35 a , 35 b in positions on the minor axis 58 are meshed with external teeth portions 36 a , 36 b in the rigid externally toothed gear 33 .
- the wave generator 34 disposed on the inner side of the flexible internally toothed gear 32 functions in the same manner as a conventional wave generator disposed in a position facing the rigid externally toothed gear 33 in the outer side of the flexible internally toothed gear 32 .
- the rigid externally toothed gear 33 and the wave generator 34 are disposed on the inner side of the flexible internally toothed gear 32 . Therefore, the space on the external periphery of the flexible internally toothed gear 32 can be effectively utilized for installing pats, wiring and others.
- the rigid externally toothed gear 33 and the wave generator 34 are disposed in adjacent positions on the inner side of the flexible internally toothed gear 32 . Therefore, the grease-coated range is smaller than in cases in which these components are disposed separately on the outer side and inner side of the flexible internally toothed gear 32 . Consequently, these components can be lubricated efficiently.
- the wave generator 34 is disposed in the side having the open edge 41 b of the flexible internally toothed gear 32 with respect to the rigid externally toothed gear 33 .
- the wave generator 34 in the diaphragm 42 side of the flexible internally toothed gear 32 with respect to the rigid externally toothed gear 33 .
- the pushed cylindrical portion 47 is formed in the diaphragm 12 side of the internal-tooth-formation cylindrical portion 46 . It is also possible for the pushed cylindrical portion 47 to be formed separated from the internal-tooth-formation cylindrical portion 46 by a predetermined distance in the direction of the center axis line 31 a.
- FIG. 5A is a schematic longitudinal cross-sectional view showing an embodiment of a flat-type wave gear device to which the present invention is applied
- FIG. 5B is a schematic end surface view of the same.
- a flat-type hollow wave gear device 61 has a cylindrical flexible internally toothed gear 62 , annular first and second rigid externally toothed gears 63 S, 63 D disposed in parallel on the inner side of the flexible internally toothed gear, and first and second wave generators 64 ( 1 ), 64 ( 2 ) disposed coaxially on the inner side of the flexible internally toothed gear 62 .
- the first and second wave generators 64 ( 1 ), 64 ( 2 ), which sandwich the first and second rigid externally toothed gears 63 S, 63 D, are disposed adjacent to either side thereof.
- the first wave generator 64 ( 1 ) is disposed adjacent to one side of the first rigid externally toothed gear 63 S along a center axis line 61 a
- the second wave generator 64 ( 2 ) is disposed adjacent to the other side of the second rigid externally toothed gear 63 D along the center axis line 61 a .
- the first and second wave generators 64 ( 1 ), 64 ( 2 ) cause the flexible internally toothed gear 62 to flex into an ellipsoidal shape, forming a state in which the internal teeth 65 of the flexible internally toothed gear 62 mesh with external teeth 66 S, 66 D of the first and second rigid externally toothed gears 63 S, 63 D at two locations (portions positioned on a minor axis) separated 180 degrees in the circumferential direction.
- the first and second wave generators 64 ( 1 ), 64 ( 2 ) are integrally rotated about the center axis line 61 a of the hollow wave gear device 61 by a motor or another high-speed rotation drive source, the positions where the internal teeth 65 mesh with the external teeth 66 S, 66 D move in the circumferential direction.
- the number of internal teeth 65 is the same as the number of external teeth 66 D, but is greater by 2 n (n being a positive integer), commonly two, than the number of external teeth 66 S. Therefore, the second rigid externally toothed gear 63 D rotates integrally with the flexible internally toothed gear 62 .
- the flexible internally toothed gear 62 includes a cylindrical barrel part 71 capable of flexing in the radial direction, and the sides of the cylindrical barrel part 71 constitute first and second open edges 71 a , 71 b . From the side having the first open edge 71 a along the direction of the center axis line 61 a , the cylindrical barrel part 71 has a first pushed cylindrical portion 77 ( 1 ) of a constant length, an internal-tooth-formation cylindrical portion 76 in which the internal teeth 65 are formed, and a second pushed cylindrical portion 77 ( 2 ), the distal end edge of the second pushed cylindrical portion 77 ( 2 ) being the other open edge 71 b .
- the first pushed cylindrical portion 77 ( 1 ) is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by the first wave generator 64 ( 1 ) as is described hereinafter
- the second pushed cylindrical portion 77 ( 2 ) is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by the second wave generator 64 ( 2 ).
- the first and second rigid externally toothed gears 63 S, 63 D are disposed adjacent to each other in a concentric manner on the inner side of the internal-tooth-formation cylindrical portion 76 . Both the first and second rigid externally toothed gears 63 S, 63 D can be connected and fixed to a fixed-side member or a load-side member (not shown).
- the first and second wave generators 64 ( 1 ), 64 ( 2 ), which have the same configuration, are disposed in positions adjacent to the sides of the first and second rigid externally toothed gears 63 S, 63 D that face the open edges 71 a , 71 b , respectively, and are disposed concentrically with each other on the inner sides of the first and second pushed cylindrical portions 77 ( 1 ), 77 ( 2 ) of the cylindrical barrel part 71 .
- the first and second wave generators 64 ( 1 ), 64 ( 2 ) rotate integrally with each other at the same speed and in the same direction.
- Each of the wave generators 64 ( 1 ), 64 ( 2 ) has a rigid annular member 81 and a wave bearing 82 attached on the outer side of the annular member.
- the external peripheral surface 83 of the annular member 81 is a surface of a constant width having an ellipsoidal contour.
- the wave bearing 82 comprises an outer ring 84 and an inner ring 85 capable of flexing in the radial direction, which are attached to the ellipsoidally contoured external peripheral surface 83 and made to flex into an ellipsoidal shape, and balls 86 are inserted so as to be capable of rolling in the ellipsoidal trajectory formed between the rings.
- the first and second pushed cylindrical portions 77 ( 1 ), 77 ( 2 ) of the cylindrical barrel part 71 of the flexible internally toothed gear 62 are fitted in into the respective external peripheral surfaces of the ellipsoidally flexed outer rings 84 , and made to flex into an ellipsoidal shape.
- FIG. 6 is a transverse cross-sectional view schematically showing the flexed state of the flexible internally toothed gear 62 and the meshed state with the second rigid externally toothed gear 63 D.
- the first and second pushed cylindrical portions 77 ( 1 ), 77 ( 2 ) of the cylindrical barrel part 71 are pushed from the inside of the radial direction to the outside and made to flex into an ellipsoidal shape respectively by the first and second wave generators 64 ( 1 ), 64 ( 2 ), as can be seen in FIGS. 5A and 6 .
- the pushed cylindrical portions thereby flex into the same ellipsoidal shape in positions along the center axis line 61 a of the cylindrical barrel part 71 .
- first and second wave generators 64 ( 1 ), 64 ( 2 ) disposed on the inner side of the flexible internally toothed gear 62 function in the same manner as a wave generator disposed in a position facing the first and second rigid externally toothed gears 63 S, 63 D in the inner side of the flexible internally toothed gear 62 as in conventional practice.
- the flat-type hollow wave gear device 61 configured in this manner, no structural components of the hollow wave gear device 61 are disposed on the outer side of the cylindrical flexible internally toothed gear 62 .
- the outside diameter dimension of the hollow wave gear device 61 is therefore determined by the outside diameter dimension of the flexible internally toothed gear 62 , and a wave gear device of a small outside diameter can therefore be obtained.
- the space on the external peripheral side of the flexible internally toothed gear 2 can also be efficiently utilized.
- the first and second rigid externally toothed gears 63 S, 63 D and the first and second wave generators 64 ( 1 ), 64 ( 2 ) are disposed in parallel on the outer side of the flexible internally toothed gear 62 . Therefore, the grease-coated range is smaller than in cases in which these components are disposed on the outer side and inner side of the flexible internally toothed gear 62 . Consequently, these components can be lubricated efficiently.
- the pushed cylindrical portions 77 ( 1 ), 77 ( 2 ) are disposed adjacently on both sides of the internal-tooth-formation cylindrical portion 76 . These portions can also be disposed as being spaced apart from each other. Another possibility is to omit one pushed cylindrical portion and its corresponding wave generator, and to employ a configuration comprising a single pushed cylindrical portion and a single wave generator.
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Abstract
In a wave gear device, an annular rigid externally toothed gear is disposed on the inner side of a cup-shaped flexible internally toothed gear. An internal-tooth-formation portion of the flexible internally toothed gear and a pushed portion pushed by a wave generator and flexed ellipsoidally are formed in different positions along the center axis line. The wave generator is disposed on the inner side of the flexible internally toothed gear, the pushed cylindrical portion is pushed from the inner side to the outside along the radial direction thereof by the wave generator, whereby the pushed cylindrical portion is flexed ellipsodially. As the outside diameter dimension of the wave gear device is determined by that of the flexible internally toothed gear, a wave gear device having a small outside diameter dimension can be obtained.
Description
- This application is a divisional of application Ser. No. 13/820,666, filed Mar. 4, 2013, the contents of which are incorporated herein by reference, which in turn claims priority to Japanese Application No. PCT/JP2012/003615, filed May 31, 2012.
- The present invention relates to a wave gear device capable of effectively utilizing an external space of a flexible internally toothed gear thereof.
- One known example of a wave gear device is what is known as a cup-type device, such as is disclosed in
Patent Document 1. In this type of wave gear device, a flexible externally toothed gear disposed on the inside of a rigid internally toothed gear has a cup shape. The flexible externally toothed gear comprises a cylindrical barrel part capable of flexing in the radial direction, a diaphragm extending inward in the radial direction from one end of the barrel part, and a thick annular or discoid boss formed as a continuation of the internal peripheral edge of the diaphragm. The region on the side of the open edge, which is the side opposite the diaphragm in the cylindrical barrel part, is an external-tooth-formation portion, where external teeth are formed in the external peripheral surface. - The flexible externally toothed gear is made to flex into an ellipsoidal shape by an ellipsoidally contoured wave generator mounted to the inside of the external-tooth-formation portion, and the flexible externally toothed gear is partially meshed with the rigid internally toothed gear. When the wave generator is rotated, the meshing positions of the two gears move in the circumferential direction, and relative rotation occurs between the two gears, the rotation corresponding to the difference in the number of teeth between the two gears. One gear is fixed in place so as to not rotate, whereby reduced rotation is outputted from the other gear. The wave generator is configured from an annular rigid cam plate, and a wave bearing mounted to the ellipsoidally contoured external peripheral surface of the cam plate.
- Another known example of a wave gear device is what is referred to as a silk-hat-type device such as is disclosed in
Patent Document 2. In this type of wave gear device, a flexible externally toothed gear disposed on the inside of a rigid internally toothed gear has a silk hat shape. The flexible externally toothed gear comprises a cylindrical barrel part capable of flexing in the radial direction, a diaphragm extending outward in the radial direction from one end of the barrel part, and a thick annular boss formed as a continuation of the external peripheral edge of the diaphragm. The region on the side of the open edge, which is the side opposite the diaphragm in the cylindrical barrel part, is an external-tooth-formation portion, where external teeth are formed in the external peripheral surface. - The flexible externally toothed gear is made to flex into an ellipsoidal shape by an ellipsoidally contoured wave generator mounted to the inside of the external-tooth-formation portion, and the flexible externally toothed gear is partially meshed with the rigid internally toothed gear. When the wave generator is rotated, the meshing positions of the two gears move in the circumferential direction, and relative rotation occurs between the two gears, the rotation corresponding to the difference in the number of teeth between the two gears. One gear is fixed in place so as to not rotate, whereby reduced rotation is outputted from the other gear. The wave generator is configured from an annular rigid cam plate, and a wave bearing mounted to the ellipsoidally contoured external peripheral surface of the cam plate.
- Yet another known example of a wave gear device is what is referred to as a flat-type device such as is disclosed in
Patent Document 3. In this type of wave gear device, a flexible externally toothed gear disposed on the inside of a rigid internally toothed gear has a simple shape comprising a cylindrical barrel part capable of flexing in the radial direction, and external teeth formed on the circular external peripheral surface of the cylindrical barrel part. - Two rigid internally toothed gears are disposed in parallel on the outer side of the flexible externally toothed gear. The flexible externally toothed gear is made to flex into an ellipsoidal shape by the ellipsoidally contoured wave generator mounted to the inner side of the flexible externally toothed gear, and the flexible externally toothed gear is partially meshed with the rigid internally toothed gears. When the wave generator is rotated, the meshing positions of the flexible externally toothed gear and the two rigid internally toothed gears move in the circumferential direction. One rigid internally toothed gear has the same number of teeth as the flexible externally toothed gear, and the other rigid internally toothed gear has more teeth than the flexible externally toothed gear. Therefore, the flexible externally toothed gear rotates integrally with the rigid internally toothed gear that has the same number of teeth, and relative rotation occurs with the rigid internally toothed gear that has a different number of teeth, the rotation corresponding to the difference in the number of teeth between the two gears. One rigid internally toothed gear is fixed in place so as to not rotate, whereby reduced rotation is outputted from the other rigid internally toothed gear. The wave generator is configured from an annular rigid cam plate, and a wave bearing mounted to the ellipsoidally contoured external peripheral surface of the cam plate.
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- [Patent Document 1] JP-A 2012-072912
- [Patent Document 2] JP-A 2009-257510
- [Patent Document 3] JP-A 2009-156462
- In a conventional cup-shaped wave gear device, the outside diameter dimension of the device is stipulated by the rigid internally toothed gear positioned farthest to the outside. The rigid internally toothed gear serves as a restriction, and there is a limit to reducing the outside diameter dimension of the cup-shaped wave gear device.
- In conventional silk-hat-type wave gear device, a diaphragm extends radially outward from one end of a cylindrical barrel part in the silk-hat-shaped flexible externally toothed gear, and an annular boss is formed in the external peripheral edge of the diaphragm. A rigid internally toothed gear is disposed on the external side of the cylindrical barrel part. Thus, the diaphragm, the boss, and the rigid internally toothed gear are positioned on the side of the external peripheral portion of the cylindrical barrel part, and a large dead space forms readily in between these components.
- In a conventional flat-type wave gear device, the outside diameter dimension of the device is stipulated by two rigid internally toothed gears disposed on the external side of a cylindrical flexible externally toothed gear. Therefore, similar to the case of a cup-shaped wave gear device, the rigid internally toothed gears serve as a restriction, and there is a limit to reducing the outside diameter dimension of the flat-type wave gear device.
- An object of the present invention is to provide a cup-shaped wave gear device suitable for reducing an outside diameter dimension, and a cup-shaped flexible internally toothed gear.
- Another object of the present invention is to provide a silk-hat-type wave gear device which can effectively utilize space in the external periphery, and a silk-hat-shaped flexible internally toothed gear.
- Yet another object of the present invention is to provide a flat-type wave gear device suitable for reducing an outside diameter dimension, and a flexible internally toothed gear.
- In a wave gear device of the present invention, an internally toothed gear is a flexible internally toothed gear capable of flexing in a radial direction, an externally toothed gear is a rigid externally toothed gear, and the rigid externally toothed gear is disposed on the internal side of the flexible internally toothed gear. An internal-tooth-formation portion in the flexible internally toothed gear, and a pushed portion pushed by the wave generator and made to flex into an ellipsoidal shape in the flexible internally toothed gear, are formed in positions displaced along a center axis line of the flexible internally toothed gear. Furthermore, a wave generator is disposed on the inside of the flexible internally toothed gear, and the pushed portion is pushed radially outward from the inside by the wave generator, whereby the pushed portion is made to flex into an ellipsoidal shape.
- Thus, in the present invention, the internal-tooth-formation portion and the pushed portion are formed in the cylindrical barrel part of the flexible internally toothed gear in different positions along the center axis line, positions that are typically adjacent to each other. Because the internal-tooth-formation portion and the pushed portion are displaced along the center axis line, the wave generator can be disposed on the inside of the cylindrical barrel part of the flexible internally toothed gear, similar to the rigid externally toothed gear, and the pushed portion can be pushed outward from the inside to cause the pushed portion to flex into an ellipsoidal shape. Because the cylindrical barrel part as a whole flexes into an ellipsoidal shape and the internal-tooth-formation portion also flexes into an ellipsoidal shape when the pushed portion is made to flex into an ellipsoidal shape, a state can be formed in which the internal teeth formed in the internal-tooth-formation portion partially mesh with the external teeth of the rigid externally toothed gear.
- In the wave gear device of the present invention, because the rigid externally toothed gear and the wave generator are disposed on the inside of the cylindrical barrel part of the flexible internally toothed gear, the external space of the cylindrical barrel part of the flexible internally toothed gear can be effectively utilized.
- In the case of a cup-type wave gear device, the outside diameter dimension of the device is determined by the outside diameter dimension of the cup-shaped flexible internally toothed gear. Compared to a configuration in which a rigid gear is disposed on the outside of a flexible gear, it is easier to reduce the outside diameter dimension of the device, and the installation space is smaller.
- In the case of a silk-hat-type wave gear device, because there are no gears or other structural components on the external periphery of the cylindrical barrel part of the silk-hat-shaped flexible internally toothed gear, the space in the external periphery is not left as dead space partitioned by the diaphragm, the boss, and the gears; this space can be effectively utilized as a space for installing components or the like.
- In the case of a flat-type wave gear device, the outside diameter dimension of the device is determined by the outside diameter dimension of the cylindrical flexible internally toothed gear. Consequently, it is easy to reduce the outside diameter dimension of the device, and the installation space is smaller.
- In the present invention, the rigid externally toothed gear and the wave generator, which are to be supplied with lubricant or coated with grease, are arrayed on the inside of the flexible externally toothed gear. Therefore, compared to conventional cases in which lubricated components are disposed on the outside and inside of a flexible gear, the range supplied with lubricant or the range coated with grease can be reduced, and these regions can be more easily lubricated.
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FIG. 1A is a schematic cross-sectional view showing an embodiment of a cup-type wave gear device to which the present invention is applied, andFIG. 1B is a schematic end surface view of the same; -
FIG. 2A is a longitudinal cross-sectional view schematically showing the flexed state of the cup-shaped flexible internally toothed gear ofFIG. 1 , andFIG. 2B is a transverse cross-sectional view of the same; -
FIG. 3A is a schematic longitudinal cross-sectional view showing an embodiment of a silk-hat-type wave gear device to which the present invention is applied, andFIG. 3B is a schematic end surface view of the same; -
FIG. 4A is a longitudinal cross-sectional view schematically showing the flexed state of the silk-hat-shaped flexible internally toothed gear ofFIG. 3 , andFIG. 4B is a transverse cross-sectional view of the same; -
FIG. 5A is a schematic longitudinal cross-sectional view showing an embodiment of a flat-type wave gear device to which the present invention is applied, andFIG. 5B is a schematic end surface view of the same; and -
FIG. 6 is a transverse cross-sectional view schematically showing the flexed state of the flat-shaped flexible internally toothed gear ofFIG. 5 . - An embodiment of a wave gear device to which the present invention is applied is described hereinbelow with reference to the drawings.
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FIG. 1A is a schematic cross-sectional view showing an embodiment of a cup-type wave gear device to which the present invention is applied, andFIG. 1B is a schematic end surface view of the same. In the drawings, a cup-typewave gear device 1 has a cup-shaped flexible internallytoothed gear 2, an annular rigid externallytoothed gear 3 disposed coaxially on the inner side of the internally toothed gear, and awave generator 4 disposed in a position adjacent to the rigid externallytoothed gear 3 on the inner side of the flexible internallytoothed gear 2. Thewave generator 4 causes the flexible internallytoothed gear 2 to flex into an ellipsoidal shape, forming a state in whichinternal teeth 5 of the flexible internallytoothed gear 2 mesh withexternal teeth 6 of the rigid externallytoothed gear 3 at two locations (portions positioned on a short axis 28) separated 180 degrees in the circumferential direction. - When the
wave generator 4 is rotated by a motor or another high-speed rotation drive source about acenter axis line 1 a of thewave gear device 1, the meshing positions of theinternal teeth 5 in theexternal teeth 6 move in the circumferential direction. The number ofinternal teeth 5 is greater by 2n (n being a positive integer) than the number ofexternal teeth 6. Commonly, there are two moreinternal teeth 5. Therefore, when the meshing positions of thegears - The flexible internally
toothed gear 2 includes acylindrical barrel part 11 capable of flexing in the radial direction, adiaphragm 12 extending radially inward from oneend 11 a of thecylindrical barrel part 11, and a thickannular boss 13 formed as a continuation of the internal peripheral edge of thediaphragm 12. A plurality of bolt holes 14 are formed in theboss 13 at predetermined intervals along the circumferential direction, enabling the boss to be connected and fixed to a fixed-side member or a load-side member (not shown). - The
cylindrical barrel part 11 has, along thecenter axis line 1 a from the side of thediaphragm 12, acylindrical portion 15 of a constant length, an internal-tooth-formationcylindrical portion 16 continuing from the cylindrical portion and having theinternal teeth 5 formed thereon, and a pushedcylindrical portion 17 continuing from the internal-tooth-formation cylindrical portion. The distal end edge of the pushedcylindrical portion 17 constitutes anotheropen edge 11 b of thecylindrical barrel part 11 of the flexible internallytoothed gear 2. The pushedcylindrical portion 17 is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by thewave generator 4, as is described hereinafter. - The rigid externally
toothed gear 3 is disposed concentrically on the inside of the internal-tooth-formationcylindrical portion 16. Bolt holes or the like are formed in the rigid externallytoothed gear 3, enabling the rigid internally toothed gear to be connected and fixed to a fixed-side member or a load-side member (not shown). - The
wave generator 4 is disposed in a position adjacent to the rigid externallytoothed gear 3 on the side of theopen edge 11 b in the direction of the center axis line la, so as to be concentric with the inside of the pushedcylindrical portion 17 of thecylindrical barrel part 11. Thewave generator 4 comprises a rigidannular member 21 and a wave bearing 22 attached to the outer side of the annular member. The externalperipheral surface 23 of theannular member 21 is a surface of constant width having an ellipsoidal contour. Thewave bearing 22 comprises anouter ring 24 and aninner ring 25 capable of flexing in the radial direction, which are attached to the ellipsoidally contoured externalperipheral surface 23 and made to flex into an ellipsoidal shape, andballs 26 are inserted so as to be capable of rolling in the ellipsoidal trajectory formed between the rings. The pushedcylindrical portion 17 of thecylindrical barrel part 11 of the flexible internallytoothed gear 2 is fitted on the external peripheral surface of the ellipsoidally flexedouter ring 24, and made to flex into an ellipsoidal shape. -
FIG. 2A is a longitudinal cross-sectional view schematically showing the flexed state of the flexible internallytoothed gear 2, andFIG. 2B is a transverse cross-sectional view schematically showing the flexed state of the flexible internallytoothed gear 2 and the meshed state with the rigid externallytoothed gear 3. The pushedcylindrical portion 17 of thecylindrical barrel part 11 is pushed outward along the radius from the inside and made to flex into an ellipsoidal shape by thewave generator 4. Thecylindrical barrel part 11 thereby flexes as a whole into an ellipsoidal shape. The amount of flexure increases according to the distance from thediaphragm 12, from theend 11 a in the side having thediaphragm 12 toward theopen edge 11 b on the opposite side. - As shown in the bottom half portion of
FIG. 2A , the amount of flexure gradually increases in a positive direction according to the distance from thediaphragm 12 in a position on themajor axis 27 of the ellipse, and as shown in the top half portion of the same drawing, the amount of flexure gradually increases in a negative direction in a position on theminor axis 28 of the ellipse. As a result, the internal-tooth-formationcylindrical portion 16 also flexes into an ellipsoidal shape, being adjacent to the pushedcylindrical portion 17 which is flexed into an ellipsoidal shape by thewave generator 4. Consequently, theinternal teeth 5 of the internal-tooth-formationcylindrical portion 16 also flex into an ellipsoidal shape, and a state is formed in whichinternal teeth portions minor axis 28 are meshed withexternal teeth portions toothed gear 3. - Therefore, the
wave generator 4 disposed on the inner side of the flexible internallytoothed gear 2 functions in the same manner as a wave generator disposed in a position facing the rigid externallytoothed gear 3 in the outer side of the flexible internallytoothed gear 2. - Referring again to
FIG. 1 , in the cup-typewave gear device 1 configured in this manner, structural components of thewave gear device 1 are not disposed on the outer side of the cup-shaped flexible internallytoothed gear 2. Therefore, because the outside diameter dimension of thewave gear device 1 is determined by the outside diameter dimension of the flexible internallytoothed gear 2, a wave gear device having a small outside diameter can be obtained. The space on the external periphery of the flexible internallytoothed gear 2 can also be effectively utilized. - The rigid externally
toothed gear 3 and thewave generator 4 are disposed in adjacent positions on the inner side of the flexible internallytoothed gear 2. Therefore, the grease-coated range is smaller than in cases in which these components are disposed separately on the outer side and inner side of the flexible internallytoothed gear 2. Consequently, these components can be lubricated efficiently. - In the example above, relative to the internal-tooth-formation
cylindrical portion 16, the pushedcylindrical portion 17 is formed in the side having theopen edge 11 b. The pushedcylindrical portion 17 can also be disposed in thediaphragm 12 side of the internal-tooth-formationcylindrical portion 16. It is also possible for the pushedcylindrical portion 17 to be formed separated from the internal-tooth-formationcylindrical portion 16 by a predetermined distance in the direction of thecenter axis line 1 a. -
FIG. 3A is a schematic cross-sectional view showing an embodiment of a silk-hat-type wave gear device to which the present invention is applied, andFIG. 3B is a schematic end surface view of the same. In the drawings, a silk-hat-typewave gear device 31 has a silk-hat-shaped flexible internallytoothed gear 32, a rigid externallytoothed gear 33 disposed coaxially on the inner side of the internally toothed gear, and awave generator 34 disposed in a position adjacent to the rigid externallytoothed gear 33 on the inner side of the flexible internallytoothed gear 32. Thewave generator 4 causes the flexible internallytoothed gear 32 to flex into an ellipsoidal shape, forming a state in whichinternal teeth 35 of the flexible internallytoothed gear 32 mesh withexternal teeth 36 of the rigid externallytoothed gear 33 at two locations (portions positioned on a short axis) separated 180 degrees in the circumferential direction. - When the
wave generator 34 is rotated by a motor or another high-speed rotation drive source about acenter axis line 31 a of thewave gear device 31, the meshing positions of theinternal teeth 35 in theexternal teeth 36 move in the circumferential direction. The number ofinternal teeth 35 is greater by 2n (n being a positive integer) than the number ofexternal teeth 36. Commonly, there are two moreinternal teeth 35. Therefore, when the meshing positions of thegears - The flexible internally
toothed gear 32 includes acylindrical barrel part 41 capable of flexing in the radial direction, adiaphragm 42 extending radially outward from oneend 41 a of thecylindrical barrel part 41, and a thickannular boss 43 formed as a continuation of the external peripheral edge of thediaphragm 42. A plurality of bolt holes 44 are formed in theboss 43 at predetermined intervals along the circumferential direction, enabling the boss to be connected and fixed to a fixed-side member or a load-side member (not shown). - The
cylindrical barrel part 41 has, along thecenter axis line 31 a from the side of thediaphragm 42, acylindrical portion 45 of a constant length, an internal-tooth-formationcylindrical portion 46 continuing from the cylindrical portion and having theinternal teeth 35 formed thereon, and a pushedcylindrical portion 47 continuing from the internal-tooth-formation cylindrical portion. The distal end edge of the pushedcylindrical portion 47 constitutes anotheropen edge 41 b of thecylindrical barrel part 41 of the flexible internallytoothed gear 32. The pushedcylindrical portion 47 is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by thewave generator 34, as is described hereinafter. - The rigid externally
toothed gear 33 is disposed concentrically on the inside of the internal-tooth-formationcylindrical portion 46. Bolt holes or the like are formed in the rigid externallytoothed gear 33, enabling the rigid internally toothed gear to be connected and fixed to a fixed-side member or a load-side member (not shown). - The
wave generator 34 is disposed in a position adjacent to the rigid externallytoothed gear 33 on the side of theopen edge 41 b in the direction of thecenter axis line 31 a, so as to be concentric with the inside of the pushedcylindrical portion 47 of thecylindrical barrel part 41. Thewave generator 34 comprises a rigidannular member 51 and a wave bearing 52 attached to the outer side of the annular member. The externalperipheral surface 53 of theannular member 51 is a surface of constant width having an ellipsoidal contour. Thewave bearing 52 comprises anouter ring 54 and aninner ring 55 capable of flexing in the radial direction, which are attached to the ellipsoidally contoured externalperipheral surface 53 and made to flex into an ellipsoidal shape, andballs 56 are inserted so as to be capable of rolling in the ellipsoidal trajectory formed between the rings. The pushedcylindrical portion 47 of thecylindrical barrel part 41 of the flexible internallytoothed gear 32 is fitted on the external peripheral surface of the ellipsoidally flexedouter ring 54, and made to flex into an ellipsoidal shape. -
FIG. 4A is a longitudinal cross-sectional view schematically showing the flexed state of the flexible internallytoothed gear 32, andFIG. 4B is a transverse cross-sectional view schematically showing the flexed state of the flexible internallytoothed gear 32 and the meshed state with the rigid externallytoothed gear 33. The pushedcylindrical portion 47 of thecylindrical barrel part 41 is pushed outward along the radius from the inside and made to flex into an ellipsoidal shape by thewave generator 34. Thecylindrical barrel part 41 thereby flexes as a whole into an ellipsoidal shape. The amount of flexure increases according to the distance from thediaphragm 42, from theend 41 a in the side having thediaphragm 42 toward theopen edge 41 b on the opposite side. - As shown in the bottom half portion of
FIG. 4A , the amount of flexure gradually increases in a positive direction according to the distance from thediaphragm 42 in a position on themajor axis 57 of the ellipse, and as shown in the top half portion of the same drawing, the amount of flexure gradually increases in a negative direction in a position on theminor axis 58 of the ellipse. As a result, the internal-tooth-formationcylindrical portion 46 also flexes into an ellipsoidal shape, being adjacent to the pushedcylindrical portion 47 which is flexed into an ellipsoidal shape by thewave generator 34. Consequently, theinternal teeth 36 of the internal-tooth-formationcylindrical portion 46 also flex into an ellipsoidal shape, and a state is formed in whichinternal teeth portions minor axis 58 are meshed withexternal teeth portions toothed gear 33. - Therefore, the
wave generator 34 disposed on the inner side of the flexible internallytoothed gear 32 functions in the same manner as a conventional wave generator disposed in a position facing the rigid externallytoothed gear 33 in the outer side of the flexible internallytoothed gear 32. - Referring again to
FIG. 3 , in the silk-hat-typewave gear device 31 configured in this manner, the rigid externallytoothed gear 33 and thewave generator 34 are disposed on the inner side of the flexible internallytoothed gear 32. Therefore, the space on the external periphery of the flexible internallytoothed gear 32 can be effectively utilized for installing pats, wiring and others. - Furthermore, the rigid externally
toothed gear 33 and thewave generator 34 are disposed in adjacent positions on the inner side of the flexible internallytoothed gear 32. Therefore, the grease-coated range is smaller than in cases in which these components are disposed separately on the outer side and inner side of the flexible internallytoothed gear 32. Consequently, these components can be lubricated efficiently. - In the example above, the
wave generator 34 is disposed in the side having theopen edge 41 b of the flexible internallytoothed gear 32 with respect to the rigid externallytoothed gear 33. Instead, it is possible to arrange thewave generator 34 in thediaphragm 42 side of the flexible internallytoothed gear 32 with respect to the rigid externallytoothed gear 33. In other words, relative to the internal-tooth-formationcylindrical portion 46, the pushedcylindrical portion 47 is formed in thediaphragm 12 side of the internal-tooth-formationcylindrical portion 46. It is also possible for the pushedcylindrical portion 47 to be formed separated from the internal-tooth-formationcylindrical portion 46 by a predetermined distance in the direction of thecenter axis line 31 a. -
FIG. 5A is a schematic longitudinal cross-sectional view showing an embodiment of a flat-type wave gear device to which the present invention is applied, andFIG. 5B is a schematic end surface view of the same. Referring to these drawings for the description, a flat-type hollowwave gear device 61 has a cylindrical flexible internallytoothed gear 62, annular first and second rigid externallytoothed gears toothed gear 62. - The first and second wave generators 64(1), 64(2), which sandwich the first and second rigid externally
toothed gears toothed gear 63S along acenter axis line 61 a, and the second wave generator 64(2) is disposed adjacent to the other side of the second rigid externallytoothed gear 63D along thecenter axis line 61 a. The first and second wave generators 64(1), 64(2) cause the flexible internallytoothed gear 62 to flex into an ellipsoidal shape, forming a state in which theinternal teeth 65 of the flexible internallytoothed gear 62 mesh withexternal teeth toothed gears - When the first and second wave generators 64(1), 64(2) are integrally rotated about the
center axis line 61 a of the hollowwave gear device 61 by a motor or another high-speed rotation drive source, the positions where theinternal teeth 65 mesh with theexternal teeth internal teeth 65 is the same as the number ofexternal teeth 66D, but is greater by 2 n (n being a positive integer), commonly two, than the number ofexternal teeth 66S. Therefore, the second rigid externallytoothed gear 63D rotates integrally with the flexible internallytoothed gear 62. When the meshing positions of the first rigid externallytoothed gear 63S and the flexible internallytoothed gear 62 move in the circumferential direction, relative rotation occurs between the two gears according to the difference in the number of teeth between the two gears. For example, when the first rigid externallytoothed gear 63S is fixed so as to not rotate, the other second rigid externallytoothed gear 63D rotates integrally with the flexible internallytoothed gear 62, and output rotation is therefore acquired from the second rigid externally toothed gear. - The flexible internally
toothed gear 62 includes acylindrical barrel part 71 capable of flexing in the radial direction, and the sides of thecylindrical barrel part 71 constitute first and secondopen edges open edge 71 a along the direction of thecenter axis line 61 a, thecylindrical barrel part 71 has a first pushed cylindrical portion 77(1) of a constant length, an internal-tooth-formationcylindrical portion 76 in which theinternal teeth 65 are formed, and a second pushed cylindrical portion 77(2), the distal end edge of the second pushed cylindrical portion 77(2) being the otheropen edge 71 b. The first pushed cylindrical portion 77(1) is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by the first wave generator 64(1) as is described hereinafter, and the second pushed cylindrical portion 77(2) is a portion pushed from the inside to the outside and made to flex into an ellipsoidal shape by the second wave generator 64(2). - The first and second rigid externally
toothed gears cylindrical portion 76. Both the first and second rigid externallytoothed gears - The first and second wave generators 64(1), 64(2), which have the same configuration, are disposed in positions adjacent to the sides of the first and second rigid externally
toothed gears open edges cylindrical barrel part 71. The first and second wave generators 64(1), 64(2) rotate integrally with each other at the same speed and in the same direction. - Each of the wave generators 64(1), 64(2) has a rigid
annular member 81 and a wave bearing 82 attached on the outer side of the annular member. The externalperipheral surface 83 of theannular member 81 is a surface of a constant width having an ellipsoidal contour. The wave bearing 82 comprises anouter ring 84 and an inner ring 85 capable of flexing in the radial direction, which are attached to the ellipsoidally contoured externalperipheral surface 83 and made to flex into an ellipsoidal shape, andballs 86 are inserted so as to be capable of rolling in the ellipsoidal trajectory formed between the rings. The first and second pushed cylindrical portions 77(1), 77(2) of thecylindrical barrel part 71 of the flexible internallytoothed gear 62 are fitted in into the respective external peripheral surfaces of the ellipsoidally flexedouter rings 84, and made to flex into an ellipsoidal shape. -
FIG. 6 is a transverse cross-sectional view schematically showing the flexed state of the flexible internallytoothed gear 62 and the meshed state with the second rigid externallytoothed gear 63D. The first and second pushed cylindrical portions 77(1), 77(2) of thecylindrical barrel part 71 are pushed from the inside of the radial direction to the outside and made to flex into an ellipsoidal shape respectively by the first and second wave generators 64(1), 64(2), as can be seen inFIGS. 5A and 6 . The pushed cylindrical portions thereby flex into the same ellipsoidal shape in positions along thecenter axis line 61 a of thecylindrical barrel part 71. - Therefore, the first and second wave generators 64(1), 64(2) disposed on the inner side of the flexible internally
toothed gear 62 function in the same manner as a wave generator disposed in a position facing the first and second rigid externallytoothed gears toothed gear 62 as in conventional practice. - Referring again to
FIG. 5 , with the flat-type hollowwave gear device 61 configured in this manner, no structural components of the hollowwave gear device 61 are disposed on the outer side of the cylindrical flexible internallytoothed gear 62. The outside diameter dimension of the hollowwave gear device 61 is therefore determined by the outside diameter dimension of the flexible internallytoothed gear 62, and a wave gear device of a small outside diameter can therefore be obtained. The space on the external peripheral side of the flexible internallytoothed gear 2 can also be efficiently utilized. - The first and second rigid externally
toothed gears toothed gear 62. Therefore, the grease-coated range is smaller than in cases in which these components are disposed on the outer side and inner side of the flexible internallytoothed gear 62. Consequently, these components can be lubricated efficiently. - In the example above, the pushed cylindrical portions 77(1), 77(2) are disposed adjacently on both sides of the internal-tooth-formation
cylindrical portion 76. These portions can also be disposed as being spaced apart from each other. Another possibility is to omit one pushed cylindrical portion and its corresponding wave generator, and to employ a configuration comprising a single pushed cylindrical portion and a single wave generator.
Claims (7)
1. A wave gear device comprising:
a flexible internally toothed gear;
a rigid externally toothed gear disposed on an inner side of the flexible internally toothed gear, the rigid externally toothed gear functioning as a rotation output member; and
a wave generator for flexing the flexible internally toothed gear into an ellipsoidal shape to mesh partially with the rigid externally toothed gear, and for moving meshing positions of the two gears in a circumferential direction, wherein
the flexible internally toothed gear is a silk hat shaped flexible internally toothed gear which has a cylindrical barrel part capable of flexing in a radial direction thereof, one end of the cylindrical barrel part being an open edge, and a diaphragm extending outward in the radial direction from the other end of the cylindrical barrel part,
the cylindrical barrel part has an outer peripheral surface with no external teeth and an inner peripheral surface including an internal-tooth-formation portion and a pushed portion, the internal-tooth-formation portion where the internal teeth are formed, and the pushed portion pushed by the wave generator so as to flex the internal-tooth-formation portion into an ellipsoidal shape,
the internal-tooth-formation portion and the pushed portion are formed in different positions of the inner peripheral surface of the cylindrical barrel part when viewed along a direction of a center axis line of the flexible internally toothed gear, and
the wave generator is disposed on an inner side of the cylindrical barrel part, and pushes the pushed portion in a radial, direction thereof from an inner side toward an outer side to flex it elliptically,
wherein no structural components of the wave gear device are located on a radially outward side of the cylindrical barrel part of the flexible internally toothed gear.
2. The wave gear device according to claim 1 , wherein
the internal-tooth-formation portion and the pushed portion are formed in positions adjacent to each other in the direction of the center axis line.
3. The wave gear device according to claim 2 , wherein
the pushed portion is a portion having a predetermined length in the direction of the center axis line from the open edge of the cylindrical barrel part.
4. The wave gear device according to claim 1 , wherein
the wave generator comprises a rigid member having an outer peripheral surface of an ellipsoidal contour, and a wave bearing attached on the outer peripheral surface in an ellipsoidally flexed state, and
the pushed portion of the cylindrical barrel part is flexed ellipsoidally by the outer peripheral surface of an outer ring of the wave bearing.
5. A silk hat shaped flexible internally toothed gear of the wave gear device according to claim 1 .
6. The flexible internally toothed gear of the wave gear device according to claim 5 , wherein
the internal-tooth-formation portion and the pushed portion are formed in positions adjacent to each other along the center axis line.
7. The flexible internally toothed gear of the wave gear device according to claim 6 , wherein
the pushed portion is a portion having a predetermined length in the direction of the center axis line from the open edge of the cylindrical barrel part.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/631,265 US20150167814A1 (en) | 2012-05-31 | 2015-02-25 | Wave gear device and flexible internally toothed gear |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2012/003615 WO2013179354A1 (en) | 2012-05-31 | 2012-05-31 | Wave gear device and flexible internal gear |
US201313820666A | 2013-03-04 | 2013-03-04 | |
US14/631,265 US20150167814A1 (en) | 2012-05-31 | 2015-02-25 | Wave gear device and flexible internally toothed gear |
Related Parent Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/003615 Division WO2013179354A1 (en) | 2012-05-31 | 2012-05-31 | Wave gear device and flexible internal gear |
US13/820,666 Division US8997607B2 (en) | 2012-05-31 | 2012-05-31 | Wave gear device and flexible internally toothed gear |
Publications (1)
Publication Number | Publication Date |
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US20150167814A1 true US20150167814A1 (en) | 2015-06-18 |
Family
ID=49668645
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/820,666 Active 2032-07-30 US8997607B2 (en) | 2012-05-31 | 2012-05-31 | Wave gear device and flexible internally toothed gear |
US14/631,265 Abandoned US20150167814A1 (en) | 2012-05-31 | 2015-02-25 | Wave gear device and flexible internally toothed gear |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
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US13/820,666 Active 2032-07-30 US8997607B2 (en) | 2012-05-31 | 2012-05-31 | Wave gear device and flexible internally toothed gear |
Country Status (6)
Country | Link |
---|---|
US (2) | US8997607B2 (en) |
JP (1) | JP5496416B1 (en) |
KR (1) | KR101423218B1 (en) |
CN (1) | CN103562594B (en) |
DE (1) | DE112012000188B4 (en) |
WO (1) | WO2013179354A1 (en) |
Cited By (1)
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US11697202B2 (en) | 2017-10-10 | 2023-07-11 | Fanuc Corporation | Joint shaft structure and horizontal articulated robot |
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US9605742B2 (en) * | 2010-11-04 | 2017-03-28 | Panchien LIN | Large-ratio strain wave gearing speed changing apparatus |
WO2013179354A1 (en) * | 2012-05-31 | 2013-12-05 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device and flexible internal gear |
KR101698017B1 (en) * | 2013-09-11 | 2017-01-19 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Wave generator and wave gear device |
CN104832603B (en) * | 2014-02-12 | 2017-09-12 | 上银科技股份有限公司 | Hollow type speed reducer |
JP6218692B2 (en) * | 2014-07-23 | 2017-10-25 | 株式会社ハーモニック・ドライブ・システムズ | Dual type wave gear device |
KR20170092611A (en) * | 2015-01-08 | 2017-08-11 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Wave generator and wave gearing |
US10823268B2 (en) * | 2016-08-05 | 2020-11-03 | Hamilton Sunstrand Corporation | Inverted compound harmonic drive |
RU2730295C1 (en) * | 2017-04-28 | 2020-08-21 | Хармоник Драйв Системс Инк. | Stressed wave gear and wave generator |
JP6912989B2 (en) * | 2017-09-27 | 2021-08-04 | 住友重機械工業株式会社 | Flexible meshing gear device |
USD931350S1 (en) * | 2018-10-12 | 2021-09-21 | Flender Gmbh | Gear with casing |
USD905143S1 (en) * | 2018-11-12 | 2020-12-15 | Antonio Zamperla S.P.A. | Amusement ride safety gear |
JP7467893B2 (en) * | 2019-11-22 | 2024-04-16 | セイコーエプソン株式会社 | Gear device and robot |
KR102577893B1 (en) * | 2023-05-26 | 2023-09-13 | 성서용 | Dual-type Wave Gear Device for High Reduction |
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Also Published As
Publication number | Publication date |
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JP5496416B1 (en) | 2014-05-21 |
WO2013179354A1 (en) | 2013-12-05 |
US20130319151A1 (en) | 2013-12-05 |
KR20140001202A (en) | 2014-01-06 |
KR101423218B1 (en) | 2014-07-25 |
US8997607B2 (en) | 2015-04-07 |
DE112012000188T5 (en) | 2014-04-24 |
DE112012000188B4 (en) | 2023-07-13 |
CN103562594A (en) | 2014-02-05 |
JPWO2013179354A1 (en) | 2016-01-14 |
CN103562594B (en) | 2016-05-25 |
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