WO2014069709A1 - Cannelure souple à roue dentée accouplée à des corps élastiques et ailettes, et dispositif d'entraînement harmonique possédant celle-ci - Google Patents

Cannelure souple à roue dentée accouplée à des corps élastiques et ailettes, et dispositif d'entraînement harmonique possédant celle-ci Download PDF

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Publication number
WO2014069709A1
WO2014069709A1 PCT/KR2012/010348 KR2012010348W WO2014069709A1 WO 2014069709 A1 WO2014069709 A1 WO 2014069709A1 KR 2012010348 W KR2012010348 W KR 2012010348W WO 2014069709 A1 WO2014069709 A1 WO 2014069709A1
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WO
WIPO (PCT)
Prior art keywords
elastic bodies
flexpline
tooth
elastic
harmonic drive
Prior art date
Application number
PCT/KR2012/010348
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English (en)
Korean (ko)
Inventor
이윤규
Original Assignee
Lee Yun Gyu
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lee Yun Gyu filed Critical Lee Yun Gyu
Publication of WO2014069709A1 publication Critical patent/WO2014069709A1/fr

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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
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • 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
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
    • F16H3/04—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion with internally-toothed gears
    • 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

Definitions

  • the present invention relates to a speed reducer, and in particular, industrial robot, humanoid robot, semiconductor (wafer) manufacturing device, electronic component insertion device, ceramic forming device, optical disk manufacturing device, medical device, NC (Numerical Control) lathe, etc. It relates to a flexplane of a reducer used in machinery that requires.
  • reducers also called harmonic drives
  • harmonic drives are industrial robots, humanoid robots, semiconductor (wafer) manufacturing devices, electronic component insertion devices, ceramic forming devices, optical disc manufacturing devices, medical devices, and NC (Numerical Control).
  • a gear reducer widely used in various devices such as lathes, it is small in size, light weight, low in noise during gear rotation, high precision reduction ratio can be obtained, and power transmission efficiency is excellent.
  • Harmonic drives basically include a wave generator, flexspline and circular spline.
  • a ball bearing is assembled to an outer circumferential surface of an elliptic cam to which an input shaft is connected, and a flexpline is fitted to the ball bearing outer ring.
  • the flexpline is a circular thin metal elastic body having a first tooth (gear teeth) formed on one outer circumferential surface, and a second spline formed on the inner circumferential surface of the circular spline corresponding to the first tooth of the flexpline.
  • the harmonic drive transmits power in the order of the input shaft, the wave generator connected to the input shaft, the flexplane, the circular spline meshed with the flexplane, and the output shaft connected to the circular spline. That is, when the wave generator coupled with the input shaft rotates in the clockwise direction, the flexpline gradually generates elastic deformation and some of the first teeth of the flexpline are coupled with some of the second teeth of the circular spline to transmit power. .
  • a speed reducer having a large reduction ratio may be implemented due to a difference between the dimension of the first tooth formed on the outer circumferential surface of the flexpline and the dimension of the second tooth of the circular spline.
  • the flexpline in order to elastically deform the flexpline through the wave generated from the wave generator, the flexpline needs to be manufactured with a relatively thin metal elastic body, which requires a relatively expensive manufacturing equipment, which is enormous for initial equipment construction. Cost is required, resulting in an increase in product cost, which lowers the economic feasibility. Furthermore, if excessive torque is applied to the flexplane repeatedly while the wave generator is fixed, plastic deformation occurs in the flexplane formed of a thin metal elastic body, thereby causing a problem such that the first tooth of the flexplane is damaged.
  • the present invention has been proposed to solve the problems of the prior art, and provides a flexplane and a harmonic drive having the same, which can be prevented from being easily broken by excessive torque and repeated torsional stress while lowering the manufacturing cost. Its purpose is to.
  • a first and second elastic body having a circular ring structure, and one side of the first elastic body in order to connect the first and second elastic bodies to each other in a symmetrical structure. And a plurality of pins fastened to the second elastic member and coupled to the second elastic member to form a tooth.
  • the first and second elastic bodies may each be made of a thermoplastic elastomer.
  • the present invention according to another aspect for achieving the above object is to connect the wave generator, the first and second elastic body made of a circular ring structure, and the first and second elastic body in a mutually symmetric structure
  • One side is coupled to the first elastic body and the other side includes a plurality of pins are fastened to the second elastic body to form a first tooth, the way part generator is inserted into the inner peripheral surface and fastened to the wave generated in the wave generator
  • a body having a flexpline having a shape deformation of the first and second elastic bodies and a circular ring structure having a second tooth formed on an inner circumferential surface into which the flexpline is inserted.
  • a circular spline that partially engages the pin forming the first tooth of the flexpline by shape deformation of the first and second elastic bodies. It provides a harmonic drive.
  • the first and second elastic bodies may each be made of a thermoplastic elastomer.
  • the wave generator is coupled to the input shaft, the elliptical cam member is rotated in conjunction with the input shaft to generate the wave, the inner ring in contact with the outer peripheral surface of the cam member, and the inner peripheral surface of the flexplane It may include a bearing including an outer ring, and a movable body provided between the inner ring and the outer ring to press the outer ring in accordance with the rotation of the cam member.
  • the dimension of the second tooth may be 2n (n is a natural number) more than the number of the pins.
  • the first and second elastic body, and the flexplane including a plurality of pins that interconnect the first and second elastic body to partially engage the teeth of the circular supply;
  • FIG. 1 is an exploded perspective view showing a harmonic drive according to an embodiment of the present invention.
  • FIG. 2 is an assembled cross sectional view showing a cross section in an assembled state of the harmonic drive shown in FIG.
  • FIG. 3 is a perspective view showing a cross section in an assembled state of the harmonic drive shown in FIG.
  • FIG. 4 is a side perspective view of a wave generator according to the present invention.
  • FIG. 5 is a front view of the wave generator shown in FIG. 4 as viewed from the front;
  • FIG. 6 is an assembled perspective view showing the flexpline according to the present invention.
  • FIG. 7 is an exploded perspective view showing the flexpline shown in FIG. 6.
  • FIG. 8 is a perspective view of a circular spline according to the present invention.
  • FIG. 9 is a front view of the circular spline shown in FIG. 8.
  • FIG. 9 is a front view of the circular spline shown in FIG. 8.
  • FIG. 1 is an exploded perspective view showing a harmonic drive according to an embodiment of the present invention
  • Figure 2 is an assembled cross-sectional view showing a cross section of the assembled state of the harmonic drive shown in Figure 1
  • Figure 3 is A perspective view showing a cross section of the harmonic drive shown in FIG.
  • a harmonic drive includes a wave generator 10 for generating waves and a flexpline whose shape is deformed by waves generated by the wave generator 10. 20 and the circular spline 30 which decelerates and rotates by interaction with the flexpline 20.
  • the wave generator 10 may further include a house 40 in which the wave generator 10, the flexpline 20, and the circular spline 30 are accommodated.
  • FIG. 4 is a side perspective view illustrating the wave generator according to the present invention
  • FIG. 5 is a front view of the wave generator shown in FIG.
  • the wave generator 10 includes a cam member 11, a cam member 11, and a flexpline 20, in which an input shaft (not shown) is coupled to generate a wave. Interposed between the) includes a bearing 12 to facilitate the relative rotation.
  • the cam member 11 includes an insertion hole 11a into which the input shaft is inserted.
  • the input shaft may be a driving shaft before deceleration as an output shaft of the driving motor.
  • the cam member 11 may be formed in an elliptical shape having a long axis and a short axis.
  • the flexpline 20 of the portion corresponding to the long axis of the cam member 11 is engaged with the circular spline 30, and the flexpline 20 of the portion corresponding to the short axis is spaced apart from the circular spline 30. do.
  • the bearing 12 is deformed in accordance with the shape of the cam member 11 when coupled to the outside of the cam member 11, in conjunction with the shape deformation of the cam member 11, the flexpline 20 also cam member 11
  • the shape is deformed in correspondence with the deformed shape.
  • the bearing 12 may be made of engineering plastic, thereby making it easy to deform the shape according to the wave generated by the cam member 11 as compared to the bearing made of a conventional metal material.
  • the bearing 12 includes a plurality of movable bodies 12b and an inner ring 12a and an outer ring 12c that support the movable body 12b in a rolling motion.
  • the movable body 12b may be either a ball or a needle.
  • the wave generator 10 may further include a bearing 13 and a snap ring 14 interposed between the inner ring 12a and the cam member 11 of the bearing 12.
  • the bearing 13 buffers the radial load and thrust load transmitted from the input shaft to the cam member 11 to block the transmission to the bearing 12 of the wave generator 10 coupled with the flexplane 20.
  • the snap ring 14 prevents the cap member 11 from interfering with the house 40.
  • FIG. 6 is an assembled perspective view for explaining the flexplane according to the present invention
  • Figure 7 is an exploded perspective view.
  • the flexpline 20 according to the present invention is coupled to the cam member 11 with the bearing 12 of the wave generator 10 interposed therebetween. Through this, the flexpline 20 is deformed by the wave generated by the cam member 11.
  • the flexpline 20 includes a first elastic body 21 having a circular ring structure, a second elastic body 22 having a circular ring structure similar to the first elastic body 21, and first and second elastic bodies.
  • a plurality of pins 23 having one side fastened to the first elastic body 21 and the other side fastened to the second elastic body 22 to form a tooth (hereinafter, referred to as a first tooth) to connect the 21 and 22 to each other. ).
  • Coupling grooves in which one side of the plurality of pins 23 is inserted into one side of the first elastic body 21 to face the second elastic body 22 to be stably coupled to the plurality of pins 23, for example.
  • a first coupling groove the coupling groove into which the second elastic member 22 and the other side of the pin 23 is inserted into one side facing the first elastic body 21 (Not shown) (hereinafter referred to as a second coupling groove) may be provided.
  • the plurality of pins 23 connect the first and second elastic bodies 21 and 22 to each other so that the first and second elastic bodies 21 and 22 are symmetrical with each other so that the first and second elastic bodies 21 and 22 are connected to each other.
  • the first tooth is formed therebetween.
  • the pin 23 forming the first tooth is partially engaged with the tooth of the circular spline 30 (hereinafter referred to as the second tooth).
  • the number of such pins 23 differs from the dimensions of the second tooth of the circular spline 30.
  • the number of the pins 23 is 2n (n is a natural number) smaller than the dimension of the second tooth of the circular spline 30.
  • the dimension of the second tooth of the circular spline 30 may be formed by 2n more than the number of the pins 23.
  • the first and second elastic bodies 21 and 22 have a simple manufacturing process and can be manufactured through a molding process, for example, a thermoplastic elastomer, in order to stably shape the shape due to the waveform of the wave generator 10. It is preferable to form.
  • thermoplastic elastomers include SBC (styrene), Styrenic Block Copolymer (styrene), TPO (Thermoplastic Olefinic Elastomer), an olefin, TPU (Thermoplastic Polyurethane), and amide (urethane).
  • amide) TPAE Thermoplastic Polyamide
  • TPEE polyester-based polyester-based Thermoplastic Engineering Elastomer
  • TPV Thermoplastic Vulcanizates
  • TPR Thermoplastic Rubber
  • FIG. 8 is a perspective view illustrating a circular spline according to the present invention
  • FIG. 9 is a front view.
  • the circular spline 30 includes a body 31 having a circular ring structure in which the flexpline 20 is inserted into an inner circumferential surface thereof.
  • a second tooth 32 which partially engages with the plurality of pins 23 of the flexpline 20.
  • the size of the second teeth 32 formed on the inner circumference of the body 31 of the circular spline 30 is formed by 2n more than the number of the pins 23, through which the deceleration rotation can be implemented.
  • the reduction ratio is 100: 2 (50). It becomes: 1). That is, when the cam member 11 rotates 50 turns, the circular spline 30 rotates one turn.
  • the harmonic drive according to the present invention may further include a rear ring 51, an oil sealing 52, and a rear cover 60 coupled to the rear side of the house 40 as shown in FIGS. 1 to 3. have.
  • the rear ring 51 fixes a part of the cross roller bearing 53 fitted to the groove provided in the center of the outer circumferential surface of the circular spline 30 together with the house 40.
  • the rear cover 60 is bolted to the rear of the circular spline 30.
  • the harmonic drive Referring to the operation characteristics of the harmonic drive according to an embodiment of the present invention having such a configuration, first, when the elliptical cam member 11 is rotated by the input shaft, a wave is generated by the cam member 11, thus generated The wave causes shape deformation of the first and second elastic bodies 21, 22 of the flexpline 20.
  • the first teeth of the flexpline 20, that is, the plurality of pins 23 and the second teeth 32 formed on the body 31 of the circular spline 30 are partially engaged with each other.
  • the decelerated output through the circular spline 30 is transmitted to the output stage.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

La présente invention se rapporte à un dispositif d'entraînement harmonique et prévoit : des premier et second corps élastiques qui ont la forme d'une structure en anneau circulaire ; et une cannelure souple qui comprend une pluralité d'ailettes se présentant sous la forme de dents de sorte qu'une première partie latérale de celle-ci soit accouplée au premier corps élastique et que l'autre partie latérale soit accouplée au second corps élastique afin de relier de façon symétrique les premier et second corps élastiques l'un à l'autre. Par conséquent, on peut éviter à la cannelure souple de subir des dégâts provoqués par des couples excessifs et une contrainte de déformation répétitive.
PCT/KR2012/010348 2012-10-31 2012-11-30 Cannelure souple à roue dentée accouplée à des corps élastiques et ailettes, et dispositif d'entraînement harmonique possédant celle-ci WO2014069709A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020120121903A KR101280291B1 (ko) 2012-10-31 2012-10-31 탄성체와 핀이 결합된 치차를 구비한 플렉스플라인 및 이를 구비한 하모닉 드라이브
KR10-2012-0121903 2012-10-31

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WO2014069709A1 true WO2014069709A1 (fr) 2014-05-08

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111051733A (zh) * 2017-09-07 2020-04-21 谐波传动系统有限公司 波动齿轮装置的波轮轴承
CN111173893A (zh) * 2020-03-16 2020-05-19 北京微分航宇科技有限公司 一种低回差的行星齿轮减速器
CN113339464A (zh) * 2021-06-16 2021-09-03 苏州兴域机器人装备有限责任公司 大传动比行星齿轮柔性滤波变速器

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KR101664534B1 (ko) 2013-12-03 2016-10-10 현대자동차주식회사 하모닉 감속기
KR101608306B1 (ko) * 2014-06-27 2016-04-26 주식회사 액셜스페이스 기어의 치형부 및 이와 결합되는 지지부를 구비하는 하모닉 감속기
KR101695805B1 (ko) * 2016-08-18 2017-01-12 정우엔텍 주식회사 씨엠피장치용 컨디셔너 구조
JP7535449B2 (ja) * 2020-04-28 2024-08-16 美的集団股▲フン▼有限公司 波動歯車装置、アクチュエータ及びカバー体
KR20210153237A (ko) 2020-06-10 2021-12-17 쎄네스테크놀로지(주) 탄성 변형 진동 완충 기능을 구비한 플렉스 스플라인 및 이를 구비한 하모닉 드라이브
KR20230060702A (ko) 2021-10-28 2023-05-08 인하대학교 산학협력단 플렉스 스플라인 내부에 컴플라이언트 스프링 형상을 적용시킨 하모닉 드라이브

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JP4087630B2 (ja) 2001-03-27 2008-05-21 Ｎｔｎ株式会社 保持器付きころおよびこれを用いた減速装置
JP2002310162A (ja) 2001-04-11 2002-10-23 Ntn Corp 保持器付きころ装置およびこれを用いた遊星歯車装置

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JP2001323935A (ja) * 2000-05-18 2001-11-22 Ntn Corp 保持器付きころおよびこれを用いた減速装置
KR20090087612A (ko) * 2008-02-13 2009-08-18 한국과학기술연구원 하모닉 감속기
KR20100084005A (ko) * 2009-01-15 2010-07-23 서울산업대학교 산학협력단 이단 플라스틱 하모닉 감속기
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Publication number Priority date Publication date Assignee Title
CN111051733A (zh) * 2017-09-07 2020-04-21 谐波传动系统有限公司 波动齿轮装置的波轮轴承
EP3680513A4 (fr) * 2017-09-07 2021-01-27 Harmonic Drive Systems Inc. Palier à ondes pour dispositif d'engrenage à mouvement ondulatoire
CN111173893A (zh) * 2020-03-16 2020-05-19 北京微分航宇科技有限公司 一种低回差的行星齿轮减速器
CN113339464A (zh) * 2021-06-16 2021-09-03 苏州兴域机器人装备有限责任公司 大传动比行星齿轮柔性滤波变速器
CN113339464B (zh) * 2021-06-16 2024-05-17 苏州兴域机器人装备有限责任公司 大传动比行星齿轮柔性滤波变速器

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