WO2014181376A1 - 波動歯車装置の波動発生器 - Google Patents
波動歯車装置の波動発生器 Download PDFInfo
- Publication number
- WO2014181376A1 WO2014181376A1 PCT/JP2013/002968 JP2013002968W WO2014181376A1 WO 2014181376 A1 WO2014181376 A1 WO 2014181376A1 JP 2013002968 W JP2013002968 W JP 2013002968W WO 2014181376 A1 WO2014181376 A1 WO 2014181376A1
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- Prior art keywords
- retainer
- annular
- peripheral surface
- inner ring
- outer ring
- Prior art date
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/44—Needle bearings
- F16C19/46—Needle bearings with one row or needles
- F16C19/463—Needle bearings with one row or needles consisting of needle rollers held in a cage, i.e. subunit without race rings
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/46—Cages for rollers or needles
- F16C33/4605—Details of interaction of cage and race, e.g. retention or centring
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/44—Needle bearings
- F16C19/46—Needle bearings with one row or needles
- F16C19/466—Needle bearings with one row or needles comprising needle rollers and an outer ring, i.e. subunit without inner ring
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/44—Needle bearings
- F16C19/48—Needle bearings with two or more rows of needles
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/46—Cages for rollers or needles
- F16C33/4617—Massive or moulded cages having cage pockets surrounding the rollers, e.g. machined window cages
- F16C33/4623—Massive or moulded cages having cage pockets surrounding the rollers, e.g. machined window cages formed as one-piece cages, i.e. monoblock cages
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/46—Cages for rollers or needles
- F16C33/4617—Massive or moulded cages having cage pockets surrounding the rollers, e.g. machined window cages
- F16C33/4641—Massive or moulded cages having cage pockets surrounding the rollers, e.g. machined window cages comprising two annular parts joined together
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/46—Cages for rollers or needles
- F16C33/48—Cages for rollers or needles for multiple rows of rollers or needles
-
- 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 wave generator of a wave gear device, and more particularly to a wave generator provided with a roller bearing.
- a flat wave gear device is known as a wave gear device.
- a cylindrical flexible external gear capable of meshing with both rigid internal gears is disposed inside of two rigid internal gears having different numbers of teeth.
- a wave generator is disposed inside the flexible external gear.
- the flexible external gear is elliptically bowed by the wave generator to mesh with both rigid internal gears.
- the flat wave gear device may be used as a hollow wave gear device provided with a hollow portion which penetrates in the axial direction of the device.
- a hollow wave generator provided with a rigid plug having a central through hole is used.
- roller bearings in particular needle roller bearings, which are thinner in radial direction than ball bearings, for wave generators.
- Patent Document 1 discloses a flat wave gear device provided with a wave generator using a roller bearing.
- the inner ring raceway surface and the outer ring raceway surface of the roller bearing are flat surfaces when viewed along the central axis direction.
- a roller mounted between these raceways or a retainer holding the roller must be restrained so as not to move in the central axial direction.
- the inner ring is fitted to the outer peripheral surface of the rigid plug, it does not move in the central axis direction, but it is necessary to restrain the outer ring so as not to move in the central axis direction. Therefore, it is necessary to restrict the movement of the roller or the retainer and the outer ring by attaching a restricting member such as a thrust washer to the rigid plug in a state in which the roller bearing is sandwiched from both sides.
- An object of the present invention is to propose a wave generator of a wave gear device capable of restricting the movement of a retainer holding an roller and an outer ring without providing a restricting member.
- Another object of the present invention is to propose a hollow wave gear device provided with such a wave generator.
- the present invention bends the flexible external gear in an elliptical shape to partially mesh the rigid internal gear and move the mesh position of both gears in the circumferential direction.
- the roller bearing includes an elliptical inner ring raceway formed on the outer peripheral surface of the plug, an outer ring that can be bent in the radial direction, an outer ring raceway surface formed on the inner peripheral surface of the outer ring, the inner ring raceway surface and the outer ring
- a plurality of rollers rotatably mounted between the raceway surfaces, and a cylindrical retainer having a pocket in which each of the rollers is held rollably at a predetermined interval
- the outer peripheral surface of the plug includes a retainer engaging portion which engages with the retainer to be moved in the axial direction of the roller bearing and restricts the axial movement of the retainer.
- the retainer is characterized by
- the wave generator of the wave gear device of the present invention is provided with a roller bearing, and the inner ring raceway surface of the roller bearing is formed directly on the outer peripheral surface of the elliptical plug of the rigid plug to omit the inner ring. Therefore, the radial thickness of the roller bearing can be reduced, and a hollow through hole with a larger inner diameter can be formed in the wave generator of the same diameter as compared with the conventional case.
- the wave generator of the present invention is suitable for use as a wave generator of a hollow wave gear device having a hollow portion with a large inner diameter.
- a retainer engaging portion is provided on the plug outer peripheral surface, and the retainer is restricted so as not to move in the central axial direction.
- an outer ring engaging portion is provided on the retainer, and the outer ring is restricted so as not to move in the central axial direction. That is, the outer ring is regulated so as not to move in the central axial direction with respect to the rigid plug via the retainer. Therefore, there is no need to separately provide a restricting member for restricting movement of the retainer holding the roller and the outer ring.
- the inner ring of the roller bearing is omitted, and a restricting member for restricting the movement of the retainer and the outer ring is unnecessary. Therefore, the structure is simplified, the weight is reduced, and the number of component parts is reduced. It is possible to reduce.
- the roller bearings of the wave generator are mounted between the rigid plug rotating at high speed and the flexible external gear decelerating.
- the restricting member attached to the rigid plug rotating at high speed since the rotational speed difference between the restricting member and the outer ring is large, the contact portion of these members is easily abraded.
- the movement of the outer ring is restricted by the retainer whose rotational speed is lower than that of the rigid plug (inner ring). Therefore, since the rotational speed difference between them is small, it is possible to suppress the wear generated on these abutting portions.
- the retainer engaging portion and the outer ring engaging portion are configured as follows. That is, in the wave generator of the present invention, First and second small-diameter outer peripheral surface portions smaller in diameter than the inner ring raceway surface are formed on the plug outer peripheral surface at portions on both sides of the inner ring raceway surface, Between the inner ring raceway surface and the first small diameter outer peripheral surface portion, a first annular step surface is formed facing the one of the central axis direction, and between the inner ring raceway surface and the second small diameter outer peripheral surface portion A second annular step surface facing the other in the central axis direction,
- the retainer has a cylindrical portion in which the pockets are circumferentially formed at predetermined intervals, first and second annular inner protrusions projecting radially inward from both end portions of the cylindrical portion, and And first and second annular outer protrusions projecting radially outward from the both ends of the cylindrical portion,
- the inner ring raceway surface is located between the first and second annular inner protrusion
- the retainer engaging portion and the outer ring engaging portion can be configured as follows. That is, An inner ring raceway groove having a constant width and a constant depth extending in the circumferential direction is formed on the plug outer peripheral surface, The inner ring raceway surface is formed on the bottom surface of the inner ring raceway groove,
- the retainer includes a cylindrical portion in which the pockets are circumferentially formed at predetermined intervals, and first and second annular outer protrusions projecting outward in the radial direction from both end portions of the cylindrical portion. , The retainer is positioned in the inner ring raceway groove, and the outer ring is positioned between the first and second annular outer protrusions.
- the retainer engaging portion is a groove side surface on both sides of the inner ring raceway groove,
- the outer ring engaging portion is the first and second annular outer protrusions.
- the hollow wave gear device of the present invention is Rigid internal gear, A flexible external gear disposed inside the rigid internal gear and capable of meshing with the rigid internal gear;
- the flexible external gear is disposed inside the flexible external gear, and the flexible external gear is elliptically bent to partially mesh with the rigid internal gear, and the meshing positions of the both gears are circumferential.
- Wave generator to move to A rotary input shaft consisting of a hollow shaft, Have The wave generator is a wave generator of the above configuration, The rigid plug of the wave generator is integrally formed on an outer peripheral surface of the rotational input shaft.
- the wave generator incorporated in the hollow wave gear device of the present invention has a small number of components and a small radial thickness. Therefore, it is possible to realize a hollow wave gear device having a hollow portion with a large inner diameter.
- the hollow wave gear device is provided as a rigid internal gear, including a first internal gear and a second internal gear with different numbers of teeth arranged in the direction of the device axis, and a flexible external gear
- the gear can be a flat wave gear device including a radially deformable cylindrical body and external teeth formed on the outer peripheral surface of the cylindrical body.
- FIG. 4 is a partial perspective view and an explanatory view showing an assembled type retainer which can be used instead of the retainer of FIG. 3; It is an explanatory view showing a retainer of a double row roller bearing to which the present invention is applied. It is a fragmentary sectional view which shows another example of the wave generator to which this invention is applied.
- FIG. 1 is a longitudinal sectional view showing a hollow type wave gear device according to the present embodiment.
- the hollow wave gear device 1 comprises a hollow input shaft 2, a wave generator 3 integrally rotating with the hollow input shaft 2, a flexible external gear 4, a first rigid internal gear 5 and a second rigid internal gear.
- a gear 6 and an annular output flange 7 are provided.
- the hollow section 2a of the circular cross section of the hollow input shaft 2 extends through the hollow wave gear device 1 in the direction of the device axis 1a.
- the hollow input shaft 2 is rotatably supported by a first rigid internal gear 5 via a ball bearing 8.
- the second rigid internal gear 6 is rotatably supported by the first rigid internal gear 5 via the cross roller bearing 9.
- the side of the output flange 7 in the direction of the axis 1a is called the rotation output side, and the opposite side is called the rotation input side.
- the wave generator 3 is disposed on the axially outer peripheral portion of the hollow input shaft 2.
- the wave generator 3 includes a rigid plug 11 integrally formed on the outer peripheral surface portion of the hollow input shaft 2 and a needle roller bearing 13 mounted on an elliptical plug outer peripheral surface 12 of the rigid plug 11.
- a cylindrical flexible external gear 4 is disposed on the outer peripheral side of the wave generator 3.
- the flexible external gear 4 includes a cylindrical body 4a which can be bent in the radial direction, and external teeth 4b formed on the outer peripheral surface of the cylindrical body 4a.
- the first rigid internal gear 5 and the second rigid internal gear 6 are coaxially arranged adjacent to each other in the direction of the device axis 1a.
- the first rigid internal gear 5 is disposed on the rotation input side
- the second rigid internal gear 6 is disposed on the rotation output side.
- the flexible external gear 4 is elliptically bent by the wave generator 3.
- the external teeth 4b at both ends of the major axis of the flexible externally toothed gear 4 bent into an elliptical shape are respectively used as the first internal teeth 5a and the second internal teeth 6a of the first and second rigid internal gears 5, 6 It is engaged.
- the first rigid internal gear 5 has the input side annular portion 5b and the output side annular portion 5c formed by projecting the portions on the outer peripheral side to the rotational input side and the rotational output side respectively in an annular shape.
- a ball bearing 8 is mounted between the input side annular portion 5 b and a circular outer peripheral surface portion on the rotational input side of the rigid plug 11 in the hollow input shaft 2.
- the outer ring 9 a of the cross roller bearing 9 is fastened and fixed coaxially with the annular end face of the output side annular portion 5 c of the first rigid internal gear 5.
- An annular inner ring 9b on which the first rigid internal gear 5 is integrally formed is disposed inside the outer ring 9a.
- An annular raceway of rectangular cross section is formed between the outer ring 9a and the inner ring 9b.
- the roller 9c is mounted rotatably in this orbit.
- An output flange 7 projecting in an annular shape is integrally formed on the inner ring 9b on the rotational output side.
- a load side member (not shown) is fastened and fixed to the output flange 7.
- a cylindrical cover 21 is attached to the hollow wave gear device 1 from the rotational output side thereof.
- the cylindrical cover 21 covers the outer ring 9 a of the cross roller bearing 9 and the first rigid internal gear 5.
- An oil seal 22 is attached to the inside of the end portion on the rotational output side of the cylindrical cover 21 and seals the end surface on the rotational output side of the cross roller bearing 9.
- An annular outer ring stop 23 is fastened and fixed to the end face on the rotational input side of the input-side annular portion 5 b of the first rigid internal gear 5, and the outer peripheral portion of the shaft end of the hollow input shaft 2 is annular.
- the inner ring stop 24 is fixed.
- the number of teeth of the first rigid internal gear 5 is 2n more than the number of teeth of the second rigid internal gear 6 (n is a positive integer). Generally two more.
- the number of teeth of the second rigid internal gear 6 and the number of teeth of the flexible external gear 4 are the same.
- the first rigid internal gear 5 is fixed to a fixed member (not shown) so as not to rotate.
- meshing positions of the external teeth 4b and the first and second internal teeth 5a, 6a move in the circumferential direction.
- the flexible external gear 4 rotates at a rotational speed decelerated according to the difference in the number of teeth of the first rigid internal gear 5 and the flexible external gear 4.
- the second rigid internal gear 6 having the same number of teeth as the flexible external gear 4 rotates integrally with the flexible external gear 4. Therefore, the decelerating rotation is output to the load-side member from the output flange 7 on which the second rigid internal gear 6 is integrally formed.
- FIG. 2 is a partial cross-sectional view showing a portion including the wave generator of FIG.
- FIG. 3 is a partial perspective view showing a retainer of a needle roller bearing of the wave generator 3.
- the wave generator 3 includes a rigid plug 11 and a needle roller bearing 13 mounted on the elliptical plug outer peripheral surface 12 of the rigid plug 11.
- Needle roller bearing 13 includes an elliptical inner ring raceway surface 31 formed on an elliptical plug outer peripheral surface 12, a cylindrical outer ring 32 which can be bent in the radial direction, and an outer ring raceway surface formed on the inner peripheral surface of outer ring 32.
- the needle roller 34 is held in a rollable state at a constant interval in the circumferential direction by a radially deformable cylindrical retainer 35.
- the outer peripheral surface 12 of the rigid plug 11 is engaged with the retainer 35 which is to be moved in the direction of the device axis 1a (the central axis of the needle roller bearing), and the movement of the retainer 35 in the direction of the device axis 1a
- a retainer engaging portion is formed to restrict the Further, the retainer 35 is formed with an outer ring engaging portion which engages with the outer ring 32 moving in the direction of the device axis 1 a and restricts the movement of the outer ring 32 in the direction of the device axis 1 a.
- an elliptical first small diameter outer peripheral surface portion 41 and a second small diameter outer peripheral surface portion 42 which are slightly smaller than the inner ring raceway surface 31 are formed on the plug outer peripheral surface 12 on both sides of the inner ring raceway surface 31. ing. Between the inner ring raceway surface 31 and the first small diameter outer peripheral surface portion 41, a first annular step surface 43 facing the rotation output side (facing one of the directions of the axis 1a) is formed. Between the inner ring raceway surface 31 and the second small diameter outer peripheral surface portion 42, a second annular step surface 44 facing the rotation input side (facing the other in the direction of the axis 1a) is formed.
- the retainer 35 has a cylindrical portion 52 having a constant width, in which pockets 51 for holding the needle rollers 34 in a rollable state are formed circumferentially at regular intervals, and the cylindrical portion 52.
- First and second annular inner protrusions 53a and 54a protruding inward in the radial direction from both ends of the first and second annular outer sides protruding outward in the radial direction from both ends of the cylindrical portion 52
- the protrusions 53b and 54b are provided. That is, it has a flat H-shaped cross section.
- the retainer 35 is disposed on the outer periphery of the rigid plug 11 so that the inner ring raceway surface 31 is positioned between the first and second annular inner protrusions 53a and 54a of the retainer 35 of this shape, each pocket 51 of the retainer 35
- the needle roller 34 held by is in contact with the inner ring raceway surface 31.
- the outer ring is disposed on the outer periphery of the retainer 35 so that the outer ring 32 is positioned between the first and second annular outer protrusions 53 b and 54 b of the retainer 35, and the needle roller 34 held in each pocket 51 is the outer ring 32. Is in contact with the outer ring raceway surface 33 of FIG.
- the retainer 35 When the retainer 35 tries to move in the direction of the device axis 1a, one of the first and second annular inner protrusions 53a and 54a on both sides thereof is formed on the plug outer peripheral surface 12 in the first and second annular step surfaces. Contact one of 43 and 44. Therefore, the first and second annular step surfaces 43 and 44 of the plug outer peripheral surface 12 function as a retainer engaging portion, and restrict the retainer 35 so as not to move in the direction of the device axis 1a.
- the outer ring 32 When the outer ring 32 tries to move in the direction of the device axis 1a, the outer ring 32 abuts on one of the first and second annular outer protrusions 53b and 54b on both sides of the retainer 35. Therefore, the first and second annular outer protrusions 53b and 54b function as an outer ring engaging portion, and restrict the outer ring 32 not to move in the direction of the axis 1a. Since the retainer 35 is restricted by the rigid plug 11 not to move in the direction of the device axis 1a by the rigid plug 11 as described above, the outer ring 32 is prevented from moving in the direction of the axis 1a by the rigid plug 11 via the retainer 35 It is regulated.
- FIGS. 4A and 4B are a partial perspective view and an explanatory view showing another example of the retainer 35.
- the retainer 60 shown in these figures includes an annular retainer main body 61 and an annular rib 62, and the annular rib 62 is attachable to and detachable from the retainer main body 61.
- connection plates 64 project in parallel from the inner annular side surface of the annular rib 63 at a constant interval.
- the connection recess 65 formed at the tip of each connection plate 64 is detachable with respect to a connection shaft 67 formed inside the insertion hole 66 formed in the other annular rib 62.
- the annular inner protrusions 63 a, 62 a protruding inward in the radial direction of the left and right annular ribs 63, 62 are the first and second annular step surfaces of the rigid plug 11. It is a portion that can contact 43, 44. Further, the outer ring 32 can be in contact with the annular outer protrusions 63 b and 62 b protruding outward in the radial direction of the left and right annular ribs 63 and 62 of the retainer 60.
- the needle roller bearing 13 shown in FIGS. 1 and 2 can be a double-row needle roller bearing.
- the needle roller 34 may be disposed.
- FIG. 5 is a partial perspective view showing an example of a two-row retainer used in this case.
- the retainer 70 includes a cylindrical body 71 and annular ribs 72 and 73 of rectangular cross section formed at both ends thereof. At the center in the width direction of the cylindrical body 71, an annular rib 74 extending in the circumferential direction is formed. On both sides of the annular rib 74, first and second pockets 75a and 75b for holding the needle roller are formed at regular intervals in the circumferential direction.
- the annular inner protrusions 72 a and 73 a protruding inward in the radial direction of the left and right annular ribs 72 and 73 are the first and second annular step surfaces 43 and 44 of the rigid plug 11. It is a portion that can be in contact with the Further, the outer ring 32 can be in contact with the annular outer protrusions 72 b and 73 b protruding outward in the radial direction of the left and right annular ribs 72 and 73 of the retainer 70.
- FIG. 6 is a partial cross-sectional view showing another example of the wave generator 3.
- the wave generator 80 in this example includes a rigid plug 81 integrally formed on the hollow input shaft 2 and a needle roller bearing 83 mounted on the elliptical plug outer peripheral surface 82 of the rigid plug 81.
- the needle roller bearing 83 includes an inner ring raceway surface 84 formed on the plug outer peripheral surface 82, an annular outer ring 85 which can be bent in the radial direction, and a needle roller 86 mounted so as to be rollable therebetween.
- a retainer 90 for holding each of the needle rollers 86.
- the retainer engaging portion and the outer ring engaging portion are configured as follows. First, an inner ring raceway groove 87 having a constant width and a constant depth extending in the circumferential direction is formed on the plug outer peripheral surface 82. An elliptical inner ring raceway surface 84 is formed at the bottom of the inner ring raceway groove 87.
- the retainer 90 has a cylindrical portion 92 in which the pockets 91 are circumferentially formed at predetermined intervals, and first and second annular outer protrusions 93 projecting outward in the radial direction from both end portions of the cylindrical portion 92. , 94 and.
- the retainer 90 is disposed in the inner ring raceway groove 87, and the outer ring 85 is disposed between the first and second annular outer protrusions 93 and 94.
- the both end surfaces abut the groove side surfaces 88 and 89 on both sides of the inner ring raceway groove 87, and the movement of the retainer 90 is restricted.
- the groove side surfaces 88, 89 function as a retainer engaging portion.
- the both end surfaces abut the first and second annular outer protrusions 93 and 94 on both sides of the retainer 90.
- the first and second annular outer protrusions 93 and 94 function as the outer ring engaging portion.
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Abstract
Description
剛性プラグと、当該剛性プラグの楕円状のプラグ外周面に装着したローラーベアリングとを有し、
前記ローラーベアリングは、前記プラグ外周面に形成した楕円状の内輪軌道面と、半径方向に撓み可能な外輪と、前記外輪の内周面に形成した外輪軌道面と、前記内輪軌道面および前記外輪軌道面の間に転動可能な状態で装着された複数個のローラーと、前記ローラーのそれぞれが所定の間隔で転動可能な状態で保持されているポケットを有する円筒状のリテーナーとを備え、
前記プラグ外周面は、前記ローラーベアリングの軸線方向に移動しようとする前記リテーナーに係合して当該リテーナーの前記軸線方向の移動を規制するリテーナー係合部を備え、
前記リテーナーは、前記軸線方向に移動しようとする前記外輪に係合して当該外輪の前記中心軸線方向の移動を規制する外輪係合部を備えていることを特徴としている。
前記プラグ外周面には、前記内輪軌道面の両側の部分に、当該内輪軌道面よりも小径の第1、第2小径外周面部分が形成され、
前記内輪軌道面と前記第1小径外周面部分の間には、前記中心軸線方向の一方を向く第1円環状段差面が形成され、前記内輪軌道面と前記第2小径外周面部分の間には、前記中心軸線方向の他方を向く第2円環状段差面が形成され、
前記リテーナーは、前記ポケットが所定の間隔で周方向に形成されている円筒部と、当該円筒部の両端部から半径方向の内側に突出している第1、第2円環状内側突部と、前記円筒部の前記両端部から半径方向の外側に突出している第1、第2円環状外側突部とを備え、
前記第1、第2円環状内側突部の間に前記内輪軌道面が位置し、
前記第1、第2円環状外側突部の間に前記外輪が位置し、
前記リテーナー係合部は、前記第1、第2円環状段差面であり、
前記外輪係合部は、前記第1、第2円環状外側突部である。
前記プラグ外周面には、その周方向に延びる一定幅および一定深さの内輪軌道溝が形成され、
前記内輪軌道溝の溝底面には前記内輪軌道面が形成され、
前記リテーナーは、前記ポケットが所定の間隔で周方向に形成されている円筒部と、当該円筒部の両端部から半径方向の外側に突出している第1、第2円環状外側突部とを備え、
前記リテーナーは前記内輪軌道溝内に位置し、前記外輪は前記第1、第2円環状外側突部の間に位置し、
前記リテーナー係合部は、前記内輪軌道溝の両側の溝側面であり、
前記外輪係合部は、前記第1、第2円環状外側突部である。
剛性内歯歯車と、
前記剛性内歯歯車の内側に配置され、前記剛性内歯歯車にかみ合い可能な可撓性外歯歯車と、
前記可撓性外歯歯車の内側に配置され、前記可撓性外歯歯車を楕円状に撓めて前記剛性内歯歯車に部分的にかみ合わせると共に、これら両歯車のかみ合い位置を円周方向に移動させる波動発生器と、
中空軸からなる回転入力軸と、
を有し、
前記波動発生器は、上記構成の波動発生器であり、
前記波動発生器の前記剛性プラグは、前記回転入力軸の外周面に一体形成されていることを特徴としている。
図1は本実施の形態に係る中空型波動歯車装置を示す縦断面図である。中空型波動歯車装置1は、中空入力軸2と、中空入力軸2と一体回転する波動発生器3と、可撓性外歯歯車4と、第1剛性内歯歯車5および第2剛性内歯歯車6と、円環状の出力フランジ7とを備えている。中空入力軸2の円形断面の中空部2aは、中空型波動歯車装置1を装置軸線1aの方向に貫通して延びている。
図2は図1の波動発生器を含む部分を取り出して示す部分断面図である。図3は波動発生器3のニードルローラーベアリングのリテーナーを示す部分斜視図である。図2および図3を参照して説明すると、波動発生器3は、剛性プラグ11と、剛性プラグ11の楕円状のプラグ外周面12に装着したニードルローラーベアリング13とを備えている。ニードルローラーベアリング13は、楕円状のプラグ外周面12に形成した楕円状の内輪軌道面31と、半径方向に撓み可能な円筒状の外輪32と、外輪32の内周面に形成した外輪軌道面33と、内輪軌道面31および外輪軌道面33の間に装着した複数個のニードルローラー34とを備えている。ニードルローラー34は、半径方向に撓み可能な円筒状のリテーナー35によって、周方向に一定の間隔で、転動自在の状態に保持されている。
図4(a)および(b)はリテーナー35の別の例を示す部分斜視図および説明図である。これらの図に示すリテーナー60は、円環状のリテーナー本体部61と、円環状リブ62とを備え、円環状リブ62がリテーナー本体部61に対して着脱可能となっている。リテーナー本体部61において、円環状リブ63の内側の円環状側面からは、一定の間隔で連結板64が平行に突出している。各連結板64の先端に形成した連結用凹部65は、他方の円環状リブ62に形成した差込穴66の内部に形成した連結軸67に対して着脱可能となっている。リテーナー本体部61に円環状リブ62を連結すると、周方向に一定の間隔で、ニードルローラー保持用のポケット68が形成されたリテーナー60が得られる。
なお、上記の例は、本発明をフラット型波動歯車装置の波動発生器に適用したものである。本発明は、カップ型波動歯車装置あるいはシルクハット型波動歯車装置の波動発生器に対しても同様に適用可能である。
Claims (5)
- 可撓性外歯歯車を楕円状に撓めて剛性内歯歯車に部分的に噛み合わせると共に、両歯車のかみ合い位置を円周方向に移動させる波動歯車装置の波動発生器であって、
剛性プラグと、前記剛性プラグの楕円状のプラグ外周面に装着したローラーベアリングとを有し、
前記ローラーベアリングは、前記プラグ外周面に形成した楕円状の内輪軌道面と、半径方向に撓み可能な外輪と、前記外輪の内周面に形成した外輪軌道面と、前記内輪軌道面および前記外輪軌道面の間に転動可能な状態で装着された複数個のローラーと、前記ローラーのそれぞれが所定の間隔で転動可能な状態で保持されているポケットを有する円筒状のリテーナーとを備え、
前記プラグ外周面は、前記ローラーベアリングの軸線方向に移動しようとする前記リテーナーに係合して当該リテーナーの前記軸線方向への移動を規制するリテーナー係合部を備え、
前記リテーナーは、前記軸線方向に移動しようとする前記外輪に係合して当該外輪の前記軸線方向への移動を規制する外輪係合部を備えていることを特徴とする波動歯車装置の波動発生器。 - 前記プラグ外周面には、前記内輪軌道面の両側の部分に、当該内輪軌道面よりも小径の第1、第2小径外周面部分が形成され、
前記内輪軌道面と前記第1小径外周面部分の間には、前記中心軸線方向の一方を向く第1円環状段差面が形成され、前記内輪軌道面と前記第2小径外周面部分の間には、前記中心軸線方向の他方を向く第2円環状段差面が形成され、
前記リテーナーは、前記ポケットが所定の間隔で周方向に形成されている円筒部と、当該円筒部の両端部から半径方向の内側に突出している第1、第2円環状内側突部と、前記円筒部の前記両端部から半径方向の外側に突出している第1、第2円環状外側突部とを備え、
前記第1、第2円環状内側突部の間に前記内輪軌道面が位置し、
前記第1、第2円環状外側突部の間に前記外輪が位置し、
前記リテーナー係合部は、前記第1、第2円環状段差面であり、
前記外輪係合部は、前記第1、第2円環状外側突部である請求項1に記載の波動歯車装置の波動発生器。 - 前記プラグ外周面は、その周方向に延びる一定幅および一定深さの内輪軌道溝を備え、
前記内輪軌道溝の溝底面に前記内輪軌道面が形成され、
前記リテーナーは、前記ポケットが所定の間隔で周方向に形成されている円筒部と、当該円筒部の両端部から半径方向の外側に突出している第1、第2円環状外側突部とを備え、
前記リテーナーは前記内輪軌道溝内に位置し、前記外輪は前記第1、第2円環状外側突部の間に位置し、
前記リテーナー係合部は、前記内輪軌道溝の両側の溝側面であり、
前記外輪係合部は、前記第1、第2円環状外側突部である請求項1に記載の波動歯車装置の波動発生器。 - 剛性内歯歯車と、
前記剛性内歯歯車の内側に配置され、前記剛性内歯歯車にかみ合い可能な可撓性外歯歯車と、
前記可撓性外歯歯車の内側に配置され、前記可撓性外歯歯車を楕円状に撓めて前記剛性内歯歯車に部分的にかみ合わせると共に、これら両歯車のかみ合い位置を円周方向に移動させる波動発生器と、
中空軸からなる回転入力軸と、
を有し、
前記波動発生器は、請求項1ないし3のうちのいずれか一つの項に記載の波動発生器であり、
前記波動発生器の前記剛性プラグは、前記回転入力軸の外周面に一体形成されていることを特徴とする中空型波動歯車装置。 - 前記剛性内歯歯車として、装置軸線の方向に配置された歯数の異なる第1内歯歯車および第2内歯歯車を備え、
前記可撓性外歯歯車は、半径方向に撓み可能な円筒体と、前記円筒体の外周面に形成した外歯とを備えている請求項4に記載の中空型波動歯車装置。
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CN201380023130.0A CN104321558B (zh) | 2013-05-08 | 2013-05-08 | 波动齿轮装置的波动产生器 |
US14/397,526 US9377096B2 (en) | 2013-05-08 | 2013-05-08 | Wave generator of strain wave gearing |
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US20160047451A1 (en) | 2016-02-18 |
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US9377096B2 (en) | 2016-06-28 |
JP5839522B2 (ja) | 2016-01-06 |
DE112013002132T5 (de) | 2015-02-19 |
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