WO2017006441A1 - 波動歯車装置を備えた回転伝達機構 - Google Patents
波動歯車装置を備えた回転伝達機構 Download PDFInfo
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- WO2017006441A1 WO2017006441A1 PCT/JP2015/069569 JP2015069569W WO2017006441A1 WO 2017006441 A1 WO2017006441 A1 WO 2017006441A1 JP 2015069569 W JP2015069569 W JP 2015069569W WO 2017006441 A1 WO2017006441 A1 WO 2017006441A1
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- gear device
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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
- 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
- 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 rotation transmission mechanism that transmits a rotational driving force output from a rotational drive source to a load-side member via a reduction gear, and more particularly to a rotation transmission mechanism in which a wave gear device is incorporated as a reduction gear.
- Patent Document 1 proposes a drive mechanism in which a torque limiter is inserted in a power transmission path that transmits output rotation from a motor.
- Patent Document 2 proposes a reduction gear unit that uses a wave gear device as a reduction gear.
- a wave gear device As typical wave gear devices, as described in Patent Documents 3 and 4, a cup-type wave gear device having a cup-shaped external gear, and a top-hat type having a top-hat-shaped external gear.
- a wave gear device and a flat wave gear device having a cylindrical external gear There are known a wave gear device and a flat wave gear device having a cylindrical external gear.
- components such as a torque limiter are arranged to prevent damage to other torque transmission components.
- a torque limiter By adding parts such as a torque limiter, there are concerns about the mass of the rotation transmission system, assembly errors, and an increase in dimensions.
- An object of the present invention is to provide a rotation transmission mechanism that uses a reduction gear to prevent the components of the power transmission system other than the reduction gear from being damaged by an overload.
- a rotation transmission mechanism that transmits a rotational driving force output from a rotational driving source to a load side member via a speed reducer
- a power transmission system comprising a plurality of power transmission members including the speed reducer;
- the speed reducer is a wave gear device;
- the allowable load torque of the power transmission member other than the wave gear device is larger than a predetermined upper limit load torque,
- the allowable load torque of the wave gear device is defined by a ratcheting torque set to a value equal to or less than the upper limit load torque,
- the wave gear device functions as a mechanical fuse.
- the ratchet is first generated in the wave gear device at the time of overload. I try to let them. After the ratcheting occurs, the wave gear device cannot be used continuously, but by making the wave gear device function as a so-called mechanical fuse, other components constituting the power transmission system are damaged by overload. Can be prevented.
- a wave gear device generally includes a rigid internal gear, a flexible external gear disposed inside the rigid gear, and a wave generator having an elliptical profile fitted inside the gear.
- the external gear is bent in an elliptical shape by the wave generator and partially meshed with the internal gear.
- the wave generator is driven to rotate by, for example, a motor.
- the wave generator rotates, the meshing position of both gears moves in the circumferential direction, resulting in a difference in the number of teeth of both gears (usually a difference in the number of teeth of the two sheets). Accordingly, relative rotation occurs between the two gears.
- the external gear is bent in the radial direction and partially meshed with the internal gear.
- a general speed reducer consisting of meshing between rigid gears, for example, a planetary gear speed reducer
- the teeth meshing simultaneously between both gears. a lot.
- the gear device can function as a mechanical fuse.
- the tooth height of a part of the teeth in the circumferential direction out of both or one of the rigid internal gear and the flexible external gear of the wave gear device is set as the ratchet of the wave gear device.
- a shorter tooth height is set.
- the fastening force for fastening and fixing the rigid internal gear in the wave gear device to the stationary side member of the wave gear device has a value larger than the upper limit load torque as the ratcheting torque of the wave gear device.
- a small fastening force may be set for a part of the internal gear in the circumferential direction.
- the meshing rigidity of the internal gear and the external gear in the part becomes lower than the meshing rigidity of the other parts. Therefore, ratcheting can be generated at the time of meshing of both gears in the part, and other parts of the power transmission system that make the wave gear device function as a mechanical fuse without impairing the function of the entire wave gear device. Can be prevented from becoming overloaded.
- the tooth height of both or one of the rigid internal gear and the flexible external gear of the wave gear device is determined by the ratcheting torque of the wave gear device as the upper limit load. It is also possible to set a shorter tooth height than when a value larger than the torque is obtained.
- the amount of bending in the radial direction of the external gear is determined by the curve of the wave gear device. In some cases, it is possible to set the amount of bending to a small amount as compared with the case where a value larger than the upper limit load torque is obtained as the checking torque.
- FIG. 1 is an explanatory view showing a rotation transmission mechanism according to the embodiment.
- the rotation transmission mechanism 1 includes a motor 2 that is a rotational drive source, a cup-type wave gear device 3 that decelerates the output rotation of the motor 2, and a coupling 4 that transmits the reduced rotation output from the cup-type wave gear device 3. , And a load side member 5 such as a robot hand that is driven by decelerated rotation transmitted through the coupling 4.
- cup-type wave gear device 3 and the coupling 4 are shown as power transmission members constituting the power transmission system 6 in order to simplify the description.
- a power transmission system between the motor 2 and the load side member 5 is composed of a larger number of parts.
- the allowable load torque of power transmission components other than the cup-type wave gear device 3, such as the coupling 4 and the load side member 5, is set to a value larger than a predetermined upper limit load torque.
- the allowable load torque of the cup-type wave gear device 3 is defined by a ratcheting torque set to a value equal to or lower than the upper limit load torque.
- FIG. 2A is a schematic longitudinal sectional view and a schematic front view showing the cup-type wave gear device 3.
- the cup-type wave gear device 3 includes a cylindrical device housing 11, an annular rigid internal gear 12 that is coaxially fixed to the device housing 11, and a cup-shaped external tooth that is coaxially disposed on the inside.
- a gear 13 and a wave generator 14 with an elliptical contour fitted inside the gear 13 are provided.
- the wave generator 14 is connected to the output shaft 2 a of the motor 2 and is driven to rotate by the motor 2.
- the portion of the cup-shaped external gear 13 where the external teeth 13 a are formed is bent elliptically by the wave generator 14, and the external teeth 13 a located at both end portions of the major axis L of the internal gear 12. It meshes with the internal teeth 12a.
- the wave generator 14 When the wave generator 14 is rotated at a high speed by the motor 2, relative rotation corresponding to the difference in the number of teeth of the two gears 12 and 13 is generated between the two gears. Since the internal gear 12 is fixed to the device housing 11 that is a stationary member, the external gear 13 rotates, and a reduced speed rotation is output from the output shaft 13c that is coaxially connected to the boss 13b. 4 to the load side member 5 (see FIG. 1).
- a part of the tooth height in the circumferential direction for example, a plurality of external teeth located in a region surrounded by a one-dot chain line A in FIG.
- the tooth height of 13a (2) is shorter than that of the other external teeth 13a (1).
- FIG. 3B is an explanatory view showing the external teeth 13a (1) having a standard tooth height and the external teeth 13a (2) having a short tooth height h1.
- the tooth height h1 of the external teeth 13a (2) is set to be shorter than the tooth height h0 when the ratcheting torque of the wave gear device 3 is larger than the upper limit load torque.
- the tooth profile of the external tooth 13a (2) is a shift tooth profile having a short tooth height h1 obtained by applying a negative shift to the tooth profile of the external tooth 13a (1) having a tooth height h0 indicated by an imaginary line. .
- the ratcheting torque can be set to a value equal to or lower than the upper limit load torque while maintaining the function as the speed reducer.
- the wave gear device 3 is the weakest part in the power transmission system. When overloading, the wave gear device 3 is first damaged due to ratcheting, and other components are damaged by overload. Can be avoided.
- the internal teeth 12a may have a short tooth length in a part of the circumferential direction. In both the external teeth 13a and the internal teeth 12a, some external teeth and internal teeth in the circumferential direction can be made shorter.
- the fastening force for fastening and fixing the internal gear 12 in the wave gear device 3 to the device housing 11 which is a stationary member of the wave gear device 3 may be reduced. That is, compared with the case where a value larger than the upper limit load torque is obtained as the ratcheting torque of the wave gear device 3, the meshing rigidity of both gears is reduced for a part in their circumferential direction. It is also possible to lower the ratcheting torque below the vertical load torque.
- the internal gear 12 is attached to the device housing 11 by a plurality of fastening bolts 21 (indicated by a one-dot chain line in FIG. 2A) at a predetermined pitch along the circumferential direction. Fastened and fixed.
- a fastening bolt of a part of the internal gear 12 in the circumferential direction for example, as shown in FIG. 2B, the fastening force by the three fastening bolts 21 ⁇ / b> A is made smaller than the fastening force of the other fastening bolts 21. deep.
- the meshing rigidity between the portion of the internal gear 12 and the external gear 13 that are fastened by the fastening bolt 21 ⁇ / b> A is greater than the meshing rigidity between the other portion of the internal gear 12 and the external gear 13. Also lower. Therefore, the ratcheting torque can be made lower than the upper limit load torque in a state where the inner teeth of the portion fastened by the fastening bolt 21A mesh with the outer teeth.
- a portion having a lower rigidity in the radial direction than the other portion may be formed in a portion of the internal gear 12 in the circumferential direction.
- the portion of the internal gear fastened by a part of the fastening bolt 21 in the circumferential direction can be provided to reduce the rigidity in the radial direction as compared with other portions.
- the wave gear device 3 is used as a speed reducer arranged in the power transmission system, and the wave gear device 3 is used as the weakest part in the power transmission system. is there.
- the wave gear device can be used as a mechanical fuse so that other components such as a torque limiter are not added to the power transmission system and other components of the power transmission system are not overloaded. Can be protected.
- the wave gear device 3 includes a gear that is elastically deformed, unlike a planetary gear speed reducer that is formed by meshing between rigid gears, and has a large number of gears that mesh simultaneously with each other. Therefore, it can function as a mechanical fuse without impairing the function of the wave gear device.
- the wave gear device 3 is a cup type wave gear device, but it is needless to say that a top hat type wave gear device, a flat type wave gear device, and other wave gear devices can be used.
- the deflection amount w of the external gear 13 is the difference between the pitch circle diameter C and the pitch curve diameter at the position of the long axis L.
- the amount w1 of bending of the external gear 13 in the radial direction when the external gear 13 is bent in the radial direction and meshed with the internal gear 12 is expressed by the ratcheting torque of the wave gear device 3.
- a smaller deflection amount may be set.
- ratcheting torque can be set to a value below upper limit load torque.
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Abstract
Description
回転駆動源から出力される回転駆動力を、減速機を介して、負荷側部材に伝達する回転伝達機構であって、
前記減速機を含む複数の動力伝達部材から構成される動力伝達系を備えており、
前記減速機は波動歯車装置であり、
前記波動歯車装置以外の前記動力伝達部材の許容負荷トルクは、予め定めた上限負荷トルクよりも大きく、
前記波動歯車装置の許容負荷トルクは、前記上限負荷トルク以下の値に設定したラチェッティングトルクによって規定され、
前記波動歯車装置はメカニカルフューズとして機能することを特徴としている。
なお、上記の波動歯車装置3はカップ型波動歯車装置であるが、シルクハット型波動歯車装置、フラット型波動歯車装置、その他の波動歯車装置を用いることができることは勿論である。
Claims (4)
- 回転駆動源から出力される回転駆動力を、減速機を介して、負荷側部材に伝達する回転伝達機構であって、
前記減速機を含む複数の動力伝達部材から構成される動力伝達系を備えており、
前記減速機は波動歯車装置であり、
前記動力伝達部材における前記波動歯車装置以外の部材の許容負荷トルクは、予め定めた上限負荷トルクよりも大きく、
前記波動歯車装置の許容負荷トルクは、前記上限負荷トルク以下の値に設定したラチェッティングトルクによって規定され、
前記波動歯車装置はメカニカルフューズとして機能する回転伝達機構。 - 前記波動歯車装置の剛性の内歯歯車および可撓性の外歯歯車のうちの双方あるいは一方の歯のうち、円周方向における一部分の歯の歯丈は、当該波動歯車装置の許容負荷トルクが前記上限負荷トルクよりも大きな値になる場合に比べて短い歯丈に設定され、これにより、前記ラチェッティングトルクは前記上限負荷トルク以下の値となっている請求項1に記載の回転伝達機構。
- 前記波動歯車装置における剛性の内歯歯車を当該波動歯車装置の固定側部材に締結固定する締結力は、前記波動歯車装置の許容負荷トルクが前記上限負荷トルクよりも大きな値となる場合に比べて、前記内歯歯車の円周方向における一部分について小さな締結力に設定され、これにより、前記ラチェッティングトルクが前記上限負荷トルク以下の値となっている請求項1に記載の回転伝達機構。
- 前記波動歯車装置における剛性の内歯歯車における円周方向の一部分は、円周方向の他の部分に比べて半径方向の剛性を低くした低剛性部分であり、当該低剛性部分の内歯と外歯歯車の外歯とのかみ合い剛性が、それ以外の部分のかみ合い剛性よりも低く、これにより、前記ラチェッティングトルクが前記上限負荷トルク以下の値となっている請求項1に記載の回転伝達機構。
Priority Applications (9)
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PCT/JP2015/069569 WO2017006441A1 (ja) | 2015-07-07 | 2015-07-07 | 波動歯車装置を備えた回転伝達機構 |
KR1020187000837A KR102075908B1 (ko) | 2015-07-07 | 2015-07-07 | 파동기어장치를 구비한 회전전달기구 |
US15/738,172 US11002349B2 (en) | 2015-07-07 | 2015-07-07 | Rotation transmission mechanism provided with strain wave gearing |
CN201580081060.3A CN107835906B (zh) | 2015-07-07 | 2015-07-07 | 具有波动齿轮装置的旋转传递机构 |
JP2017527016A JP6425258B2 (ja) | 2015-07-07 | 2015-07-07 | 波動歯車装置を備えた回転伝達機構 |
EP15897704.1A EP3321540B1 (en) | 2015-07-07 | 2015-07-07 | Rotation transmission mechanism provided with strain-wave gearing |
TW105115983A TWI677634B (zh) | 2015-07-07 | 2016-05-23 | 具備諧波齒輪裝置的轉動傳達機構 |
US17/076,364 US11391351B2 (en) | 2015-07-07 | 2020-10-21 | Rotation transmission mechanism provided with strain wave gearing |
US17/076,194 US11441650B2 (en) | 2015-07-07 | 2020-10-21 | Rotation transmission mechanism provided with strain wave gearing |
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PCT/JP2015/069569 WO2017006441A1 (ja) | 2015-07-07 | 2015-07-07 | 波動歯車装置を備えた回転伝達機構 |
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US15/738,172 A-371-Of-International US11002349B2 (en) | 2015-07-07 | 2015-07-07 | Rotation transmission mechanism provided with strain wave gearing |
US17/076,194 Division US11441650B2 (en) | 2015-07-07 | 2020-10-21 | Rotation transmission mechanism provided with strain wave gearing |
US17/076,364 Division US11391351B2 (en) | 2015-07-07 | 2020-10-21 | Rotation transmission mechanism provided with strain wave gearing |
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EP (1) | EP3321540B1 (ja) |
JP (1) | JP6425258B2 (ja) |
KR (1) | KR102075908B1 (ja) |
CN (1) | CN107835906B (ja) |
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CN110096796B (zh) * | 2019-04-29 | 2021-05-25 | 电子科技大学 | 一种多失效模式下工业机器人rv减速器的可靠性分析方法 |
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DE102022128423B3 (de) * | 2022-10-27 | 2023-12-28 | Schaeffler Technologies AG & Co. KG | Verfahren und ein Antriebsmodul zur Detektion, Quantifikation und Kompensation einer Eingriffsstörung eines Spannungswellengetriebes |
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2015
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- 2015-07-07 EP EP15897704.1A patent/EP3321540B1/en active Active
- 2015-07-07 CN CN201580081060.3A patent/CN107835906B/zh active Active
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US20210033177A1 (en) | 2021-02-04 |
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US11391351B2 (en) | 2022-07-19 |
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