WO2019038817A1 - 潤滑剤混合防止部を備えた波動歯車装置 - Google Patents
潤滑剤混合防止部を備えた波動歯車装置 Download PDFInfo
- Publication number
- WO2019038817A1 WO2019038817A1 PCT/JP2017/029830 JP2017029830W WO2019038817A1 WO 2019038817 A1 WO2019038817 A1 WO 2019038817A1 JP 2017029830 W JP2017029830 W JP 2017029830W WO 2019038817 A1 WO2019038817 A1 WO 2019038817A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gear
- external gear
- external
- lubricating
- lubricant
- Prior art date
Links
Images
Classifications
-
- 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/048—Type of gearings to be lubricated, cooled or heated
-
- 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
-
- 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
-
- 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0467—Elements of gearings to be lubricated, cooled or heated
- F16H57/0469—Bearings or seals
- F16H57/0472—Seals
-
- 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
- F16C2361/00—Apparatus or articles in engineering in general
- F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
-
- 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
-
- 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
- F16H55/0833—Flexible toothed member, e.g. harmonic drive
-
- 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0467—Elements of gearings to be lubricated, cooled or heated
- F16H57/0469—Bearings or seals
- F16H57/0471—Bearing
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Definitions
- the present invention relates to a wave gear device, and in particular, a lubricant supplied to an external gear meshing portion of an external gear and a lubricant of different types supplied to a portion of a wave generator inside the external gear are mutually
- the present invention relates to a wave gear device provided with a lubricant mixing preventing portion for preventing mixing with the gear.
- the wave gear device has an inner lubricating portion located inside the external gear and an outer lubricating portion located outside the external gear.
- the inner lubricating portion is a sliding portion of the wave generator and a sliding portion between the wave generator and the inner circumferential surface of the external gear
- the outer lubricating portion is a tooth between the external gear and the internal gear. It is an interlocking part. Since the optimum lubricants are different in the inner and outer lubrication parts, it is desirable to supply different lubricant characteristics respectively. However, since the inner lubricating portion and the outer lubricating portion are in close positions inside and outside the external gear, both lubricants mix. For this reason, in many cases the same kind of lubricant is used for both lubricating parts, but there are problems such as a reduction in efficiency and wear of the tooth meshing part under high load.
- ring-shaped seal members are disposed on both sides of the cylindrical external gear, and the inner lubricating portion and the outer lubricating portion are shielded to differ. Prevent mixing of lubricants of different types.
- the seal member is disposed at the open end of the external gear to prevent the mixing of the lubricant.
- the elastic seal is interposed between the external gear and the fixing member to prevent the mixing of the lubricant.
- JP 2017-96343 A Unexamined-Japanese-Patent No. 9-291985 JP-A-9-250609
- the object of the present invention is to provide a wave gear provided with a lubricant mixing preventing portion capable of suppressing the mixing of the lubricant supplied to the inner lubricating portion and the lubricant supplied to the outer lubricating portion to a degree that there is no problem in practical use. It is in providing an apparatus.
- Another object of the present invention is to provide a wave gear device provided with a lubricant mixing prevention portion capable of effectively preventing the mixing of the lubricant supplied to the inner lubricating portion and the lubricant supplied to the outer lubricating portion. It is to provide.
- the wave gear device comprises a rigid internal gear, a cup-shaped or top hat-shaped flexible external gear, a wave generator, an inner inner lubricating portion of the external gear, It has an outer lubrication portion on the outside of the external gear, and a lubricant mixing prevention portion for preventing the lubricant for lubricating the inner lubrication portion and the lubricant for lubricating the outer lubrication portion from mixing with each other.
- the external gear includes a cylindrical body, a diaphragm extending radially inward or outward from one end of the cylindrical body, and an open end which is the other end of the cylindrical body.
- the cylindrical body includes an external tooth forming portion on which external teeth are formed, and a cylindrical extension portion from an end of the external tooth forming portion to the open end.
- the internal gear is disposed so as to surround the external gear forming portion, the wave generator is disposed inside the external gear forming portion, and the external gear forming portion is bent in a non-circular manner to form the external gear.
- a tooth gear and the internal gear are partially engaged.
- the inner lubricating portion is a sliding portion of the wave generator and a contact portion between the wave generator and the inner peripheral surface of the external gear, and the outer lubricating portion is the external gear and the outer gear.
- a tooth meshing portion between the internal gear, and the cylindrical extension portion functions as a lubricant mixing preventing portion.
- the end of the external tooth forming portion is extended to form a cylindrical extension.
- the distance from the outer outer lubricating portion (tooth meshing portion) of the external gear to the inner inner lubricating portion of the external gear is increased by the provision of the cylindrical extension.
- an oil seal may be sealed between the inner and outer lubricating portions.
- the oil seal may be fixed directly to the internal gear or may be fixed to a member fixed to the internal gear. Further, in the external gear, the outer peripheral surface or the inner peripheral surface of the cylindrical extension portion can be used as a portion to which the seal lip of the oil seal abuts.
- a labyrinth seal may be formed between the cylindrical extension and the opposing member to prevent the lubricant from flowing between the inner and outer lubrication parts. Good.
- cylindrical extension portions may be formed at both ends of the cylindrical external gear, and the cylindrical extension portions may make it difficult for the lubricant to flow between the inner and outer lubricating portions.
- An oil seal or labyrinth seal may also be used to prevent the flow of lubricant between the inner and outer lubricated portions.
- the flat type wave gear device it may be possible to secure an inner peripheral surface portion capable of abutting the seal lip of the oil seal on both sides of the wave generator in the external gear.
- the cylindrical extension may be omitted.
- FIG. 1 is a schematic cross-sectional view showing a cup type wave gear device according to a first embodiment of the present invention.
- the wave gear device 1 includes a ring-shaped rigid internal gear 2, a cup-shaped flexible external gear 3 disposed inside, and a wave generator 4 disposed inside There is.
- the internal gear 2 is coaxially fixed to the inner peripheral portion of the cylindrical device housing 5.
- the external gear 3 has a cylindrical body 31, a diaphragm 32 extending radially inward from one end of the cylindrical body 31, and a rigid annular boss 33 continuously formed on the inner peripheral edge of the diaphragm. Is equipped.
- an external gear forming portion 36 in which external teeth 35 are formed is formed on the side of the open end 34 which is the other end in the cylindrical body portion 31.
- the internal gear 2 is disposed so as to surround the externally toothed portion 36.
- the wave generator 4 is disposed inside the external tooth forming portion 36.
- a disc-shaped output shaft 6 is connected and fixed to a boss 33 of the external gear 3.
- the wave generator 4 includes a cylindrical hub 41, a rigid cam plate 43 coaxially attached to the outer peripheral surface via an Oldham joint mechanism 42, and a wave bearing 44.
- the wave bearing 44 is mounted between the inner peripheral surface of the external gear forming portion 36 of the external gear 3 and the elliptical outer peripheral surface 43 a of the rigid cam plate 43.
- the external tooth forming portion 36 is bent in an elliptical manner.
- the external gear 3 is engaged with the internal gear 2 at both ends of the major axis of the elliptical shape.
- a rotation input shaft 7 such as a motor rotation shaft is coaxially connected and fixed to the hub 41.
- a partition plate 8 is fixed, which partitions between components on the rotational input side such as a motor.
- the partition plate 8 is provided with an opposing surface 8 a that faces the open end 34 of the external gear 3, and a seal member seals between the inner peripheral surface and the rotation input shaft 7.
- a tooth meshing portion of the internal gear 2 and the external gear 3 located outside the external gear 3 is an outer lubricating portion 11 lubricated by a lubricant.
- the sliding part of the wave generator 4 located inside the external gear 3 and the contact part between the wave generator 4 and the external gear 3 are different in type of lubricant from the lubricant supplied to the tooth meshing part Is the inner lubrication portion 12 lubricated by
- the wave gear device 1 is provided with a lubricant mixing preventing portion for preventing the lubricant supplied to the outer lubricating portion 11 and the lubricant supplied to the inner lubricating portion 12 from mixing with each other. is there.
- the lubricant mixing prevention portion of this embodiment is constituted of a cylindrical extension portion 37 formed on the external gear 3 and an annular oil seal 13.
- the cylindrical extension portion 37 is a portion of the external gear 3 from the end 36 a in the tooth direction of the external teeth in the external tooth forming portion 36 to the open end 34.
- the oil seal 13 is fixed to a portion on the inner peripheral edge side of the internal gear 2.
- the seal lip 13 a of the oil seal 13 abuts on the outer peripheral surface of the cylindrical extension portion 37.
- An oil seal 13 seals between the outer lubricating portion 11 and the inner lubricating portion 12.
- the oil seal 13 has a deformability capable of following the deformation of the cylindrical extension portion 37 of the external gear 3, and each circumferential portion is always kept in contact with the cylindrical extension portion 37.
- the lubricant supplied to the outer lubricating portion 11 is prevented by the oil seal 13 from flowing out to the open end 34 side.
- the lubricant supplied to the inner lubricating portion 12 flows out to the outer peripheral side of the external gear 3 through the gap portion between the cylindrical extension portion 37 and the partition plate 8.
- the cylindrical extension portion 37 suppresses the outflow of the external gear 3 to the outer peripheral side.
- the lubricant that has flowed out to the outer peripheral side is prevented from flowing into the outer lubricating portion 11 by the oil seal 13.
- the mixing of both lubricants can be reliably prevented, and both the outer lubricating portion 11 and the inner lubricating portion 12 can be maintained in an appropriate lubricating state.
- FIG. 2A is a schematic half sectional view showing an example of the lubricant mixing prevention unit of this configuration.
- the annular oil seal 14 is fixed to the outer peripheral surface of a cylindrical portion 8 b formed on the inner peripheral edge portion of the partition plate 8.
- the seal lip 14 a of the oil seal 14 is in contact with the inner peripheral surface of the cylindrical extension portion 37 of the external gear 3.
- the oil seal 14 has a deformability capable of following the deformation of the cylindrical extension portion 37 of the external gear 3, and each circumferential portion is always in contact with the inner peripheral surface of the cylindrical extension portion 37. It is kept in contact.
- FIG. 2B is a schematic half sectional view showing an example of a lubricant mixing prevention unit not using an oil seal.
- the length of the cylindrical extension portion 37 is appropriately set, and the dimension of the gap between the open end 34 and the partition plate 8 is appropriately set.
- a very simple lubricant mixing prevention can substantially prevent the mixing of both lubricants.
- FIG. 2C is a schematic half sectional view showing an example in the case of using a labyrinth seal as a lubricant mixing prevention part.
- a groove 8 c having an annular rectangular cross section is formed on the facing surface 8 a of the partition plate 8 facing the opening end 34 of the cylindrical extension portion 37 of the external gear 3.
- a portion of the open end 34 of the cylindrical extension portion 37 is inserted into the groove 8c.
- the width of the groove 8c is set so as not to interfere with the portion of the open end 34 even if the portion is deformed.
- a labyrinth seal is formed between the inner peripheral surface of the groove 8 c and the outer peripheral surface portion of the open end 34 of the cylindrical extension portion 37.
- the lubricant mixing prevention portion constituted by the cylindrical extension portion 37 and the labyrinth seal can surely prevent the lubricant from mixing with each other.
- FIG. 3A is a schematic cross-sectional view showing a wave gear device according to a second embodiment to which the present invention is applied
- FIG. 3B is a partially enlarged cross-sectional view showing a part thereof.
- the wave gear device 100 is a flat wave gear device, and the rigid first and second internal gears 101 and 102 arranged in parallel and the cylindrical flexible external gear 103 arranged on the inner side thereof.
- a hollow type wave generator 104 disposed on the inner side.
- a motor 105 is coaxially incorporated in the hollow portion of the wave generator 104.
- the first and second internal gears 101 and 102 are relatively rotatably supported by the cross roller bearing 106, and the first internal gear 101 is fixed to the device housing 107.
- An annular output shaft portion 108 is integrally formed on the second internal gear 102.
- the wave generator 104 includes a rigid cam plate portion 110 integrally formed with the motor rotor 109 and a wave bearing 111 mounted on the elliptical outer peripheral surface of the rigid cam plate portion 110. Ball bearings 112 and 113 are disposed on both sides of the wave bearing 111.
- the motor rotor 109 is supported by the device housing 107 and the output shaft 108 via ball bearings 112 and 113.
- the external gear 103 is elliptically bent by the wave generator 104 and is engaged with the first and second internal gears 101 and 102.
- the motor rotor 109 rotates by driving the motor 105
- the rigid cam plate portion 110 integrally formed thereon also rotates, and the meshing positions of the external gear 103 with respect to the first and second internal gears 101 and 102 are also circumferential. Move in the direction.
- the second internal gear 102 and the external gear 103 have the same number of teeth.
- the number of teeth of the fixed first internal gear 101 is larger than the number of teeth by two.
- a tooth meshing portion between the external gear 103 and the first and second internal gears 101 and 102 located on the outer side of the external gear 103 is an outer lubricating portion 121 lubricated by a lubricant. It is.
- the sliding part of the wave generator 104 located inside the external gear 103 and the contact part between the wave generator 104 and the external gear 103 are lubricated by a lubricant different from that used for the tooth meshing part Inner lubricated portion 122.
- the wave gear device 100 is provided with a lubricant mixing preventing portion for preventing the lubricant supplied to the outer lubricating portion 121 and the lubricant supplied to the inner lubricating portion 122 from being mixed with each other. is there.
- annular first and second oil seals 123 and 124 which seal between the outer lubricating portion 121 and the inner lubricating portion 122 are disposed as the lubricant mixing preventing portion.
- an end face 107 a facing the first open end 103 a which is one open end of the external gear 103 is formed.
- the inner peripheral edge of the end face 107a is connected to a circular inner peripheral surface 107b, and the outer ring 114 of the ball bearing 112 is fixed to the circular inner peripheral surface 107b.
- a first oil seal 123 is fixed to an end surface 115 of the outer ring 114 on the side of the wave generator 104.
- the seal lip 123 a of the first oil seal 123 is in contact with the inner peripheral surface portion on the side of the first open end 103 a of the external gear 103.
- an end face 108 a is formed opposite to the second open end 103 b which is the other open end of the external gear 103.
- the inner peripheral edge of the end face 108a is connected to a circular inner peripheral surface 108b, and the outer ring 116 of the ball bearing 113 is fixed to the circular inner peripheral surface 108b.
- a second oil seal 124 is fixed to the end surface 117 of the outer ring 116 on the side of the wave generator 104.
- the seal lip 124 a of the second oil seal 124 is in contact with the inner peripheral surface portion on the side of the second open end 103 b of the external gear.
- the wave gear device 100 includes the rigid first and second internal gear wheels, the cylindrical flexible external gear wheel, and the wave generator, and the first and second external gear wheels are provided with the first and second internal gear wheels.
- Two internal gears are arranged in parallel, and a wave generator is arranged inside the external gears.
- the inner inner lubricating portion of the external gear, the outer outer lubricating portion of the outer gear, the lubricant for lubricating the inner lubricating portion, and the lubricant for lubricating the outer lubricating portion are mutually associated.
- a lubricant mixing prevention portion for preventing mixing with the lubricant.
- the inner lubrication portion is a sliding portion of the wave generator and a contact portion between the wave generator and the inner peripheral surface of the external gear
- the outer lubrication portion is an external gear and the first and second gears. It is a tooth meshing part between each of the internal gear.
- the first oil seal is fixed to the first internal gear, or the first oil seal is provided with a first oil seal and a second oil seal that seal between the inner lubricating portion and the outer lubricating portion as the lubricant mixing preventing portion.
- the first oil seal is fixed to a member fixed to the internal gear, the seal lip of the first oil seal is in contact with the inner peripheral surface of the external gear, and the second oil seal is fixed to the second internal gear.
- the second oil seal is fixed to a member fixed to the second internal gear, and the seal lip of the second oil seal is in contact with the inner circumferential surface of the external gear.
- the first and second oil seals 123 and 124 have a deformability capable of following the deformation of the external gear 3, and each portion in the circumferential direction is always in contact with the inner peripheral surface of the external gear 3. Maintained.
- the first and second oil seals 123 and 124 can reliably prevent the lubricant from mixing, and both the outer lubricating portion 121 and the inner lubricating portion 122 can be maintained in an appropriate lubricating state.
- the oil seals 123 and 124 can be omitted, for example, when two types of lubricants are difficult to mix with each other.
- the inner peripheral surface portions of the external gear 103 on both sides of the wave bearing 111 may be narrow, and the oil seals 123 and 124 may not be disposed.
- each has a predetermined length without external teeth.
- the first cylindrical extension portion 131 and the second cylindrical extension portion 132 are formed.
- the seal lips 123a and 124a of the first and second oil seals 123 and 124 are brought into contact with the inner peripheral surfaces of the first and second cylindrical extension portions 131 and 132, respectively.
- the lubricant mixing preventing portion provided with the first and second oil seals 123 and 124 and the first and second cylindrical extension portions 131 and 132 can surely prevent the lubricant from being mixed, and the outer lubricating portion 121 And both the inner lubrication portion 122 can be maintained in an appropriate lubrication state.
- a labyrinth seal can be used as a lubricant mixture preventing structure instead of the oil seal.
- the end face 107a of the device housing 107 faces the first open end 131a which is the open end of the first cylindrical extension portion 131 of the external gear 103A.
- a groove 107c having an annular rectangular cross section is formed on the end surface 107a.
- a portion of the first open end 131a of the first cylindrical extension portion 131 is inserted into the groove 107c.
- the opening width of the groove 107 c is set so as not to interfere with the deformation of the first cylindrical extension portion 131.
- a first labyrinth seal is formed between the groove 107 c and the portion of the first open end 131 a of the first cylindrical extension portion 131.
- the end face 108a of the output shaft 108 faces the second open end 132a which is the open end of the second cylindrical extension portion 132 of the external gear 103A.
- the end face 108a is formed with a groove 108c having an annular rectangular cross section. A portion of the second open end 132a of the second cylindrical extension portion 132 is inserted into the groove 108c. The opening width of the groove 108 c is set so as not to interfere with the deformation of the second cylindrical extension portion 132. A second labyrinth seal is formed between the groove 108 c and the portion of the second cylindrical extension 132.
- the lubricant mixing preventing structure provided with the first and second labyrinth seals can reliably prevent the lubricant from mixing, and can maintain both the outer lubricating portion 121 and the inner lubricating portion 122 in an appropriate lubricating state.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Details Of Gearings (AREA)
- Lubricants (AREA)
- Stringed Musical Instruments (AREA)
- Retarders (AREA)
Abstract
Description
図1は本発明の実施の形態1に係るカップ型の波動歯車装置を示す概略断面図である。波動歯車装置1は、円環形状をした剛性の内歯歯車2と、この内側に配置したカップ形状の可撓性の外歯歯車3と、この内側に配置した波動発生器4とを備えている。内歯歯車2は、円筒状の装置ハウジング5の内周部分に同軸に固定されている。
ここで、オイルシールを内側潤滑部分12の側に配置することもできる。図2Aは、この構成の潤滑剤混合防止部の一例を示す概略半断面図である。円環状のオイルシール14は、仕切り板8の内周縁部分に形成した円筒部8bの外周面に固定されている。オイルシール14のシールリップ14aは、外歯歯車3の円筒状延長部分37の内周面に当接している。この場合においても、オイルシール14は、外歯歯車3の円筒状延長部分37の変形に追従可能な変形性を備え、円周方向の各部分が常に円筒状延長部分37の内周面に当接状態に維持される。
また、オイルシール13、14を省略可能な場合もある。例えば、潤滑剤が相互に混ざり難い特性を備えている場合には、オイルシールを省略できる。図2Bは、オイルシールを使用しない潤滑剤混合防止部の一例を示す概略半断面図である。この場合には、円筒状延長部分37の長さを適切に設定して、その開口端34と仕切り板8との間の隙間寸法を適切に設定しておく。これにより、実用上、障害とならない程度に、潤滑剤が混ざり合うことを抑制できる。きわめて簡単な潤滑剤混合防止部によって、双方の潤滑剤が混ざり合うことを実質的に防止できる。
図2Cは、潤滑剤混合防止部としてラビリンスシールを利用した場合の一例を示す概略半断面図である。外歯歯車3の円筒状延長部分37の開口端34に対峙する仕切り板8の対峙面8aに、円環状の矩形断面の溝8cを形成する。溝8cに、円筒状延長部分37の開口端34の部分が挿入された状態を形成する。溝8cの幅は、開口端34の部分が変形しても、当該部分に干渉しない寸法に設定されている。溝8cの内周面と円筒状延長部分37の開口端34の部分の外周面部分との間に、ラビリンスシールが形成される。円筒状延長部分37と、ラビリンスシールとから構成される潤滑剤混合防止部によって、潤滑剤が相互に混ざり合うことを確実に防止できる。
図3Aは、本発明を適用した実施の形態2に係る波動歯車装置を示す概略断面図であり、図3Bはその一部を示す部分拡大断面図である。波動歯車装置100はフラット型の波動歯車装置であり、並列配置された剛性の第1、第2内歯歯車101、102と、この内側に配置された円筒形状の可撓性の外歯歯車103と、この内側に配置した中空型の波動発生器104とを備えている。波動発生器104の中空部には同軸にモータ105が組み込まれている。
ここで、2種類の潤滑剤が相互に混ざり難い場合などにおいては、オイルシール123、124を省略できる。また、外歯歯車103において、ウエーブベアリング111の両側の外歯歯車103の内周面部分が狭く、オイルシール123、124を配置できない場合がある。このような場合には、図4Aに示すように、外歯歯車103Aにおいて、外歯が形成されている円筒状の外歯形成部分の両側の端から、それぞれ、外歯の無い状態で所定長さだけ延びている第1円筒状延長部分131および第2円筒状延長部分132を形成する。第1、第2円筒状延長部分131、132の内周面に、それぞれ、第1、第2オイルシール123、124のシールリップ123a、124aを当接させる。
また、潤滑剤混合防止構造として、オイルシールの代わりに、ラビリンスシールを利用できる。図4Bに示すように、波動歯車装置100において、外歯歯車103Aの第1円筒状延長部分131の開口端である第1開口端131aには、装置ハウジング107の端面107aが対峙している。端面107aには、円環状の矩形断面の溝107cが形成されている。溝107cには、第1円筒状延長部分131の第1開口端131aの部分が挿入された状態となっている。溝107cの開口幅は、第1円筒状延長部分131の変形に干渉しない寸法に設定されている。溝107cと、第1円筒状延長部分131の第1開口端131aの部分との間に第1ラビリンスシールが形成されている。
Claims (6)
- 剛性の内歯歯車と、
カップ形状あるいはシルクハット形状をした可撓性の外歯歯車と、
波動発生器と、
前記外歯歯車の内側の内側潤滑部分と、
前記外歯歯車の外側の外側潤滑部分と、
前記内側潤滑部分を潤滑する潤滑剤と前記外側潤滑部分を潤滑する潤滑剤とが相互に混ざり合うことを防止するための潤滑剤混合防止部と、
を有しており、
前記外歯歯車は、円筒状胴部と、この円筒状胴部における一方の端から半径方向の内方あるいは外方に延びるダイヤフラムと、前記円筒状胴部の他方の端である開口端とを備え、
前記円筒状胴部は、外歯が形成されている外歯形成部分と、この外歯形成部分の端から前記開口端までの間の円筒状延長部分とを備え、
前記内歯歯車は、前記外歯形成部分を取り囲む状態に配置され、
前記波動発生器は、前記外歯形成部分の内側に配置され、当該外歯形成部分を非円形に撓めて、前記外歯歯車と前記内歯歯車を部分的にかみ合わせており、
前記内側潤滑部分は、前記波動発生器の摺動部分、および、前記波動発生器と前記外歯歯車の内周面の間の接触部分であり、
前記外側潤滑部分は、前記外歯歯車と前記内歯歯車の間の歯かみ合い部分であり、
前記円筒状延長部分は潤滑剤混合防止部である波動歯車装置。 - 請求項1において、
前記潤滑剤混合防止部として、前記内側潤滑部分と前記外側潤滑部分の間を封鎖しているオイルシールを有し、
前記オイルシールは、前記内歯歯車に固定され、あるいは前記内歯歯車に固定された部材に固定され、
前記オイルシールのシールリップは前記外歯歯車の前記円筒状延長部分の外周面あるいは内周面に当接している波動歯車装置。 - 請求項1において、
前記円筒状延長部分の前記開口端に対峙する対峙部材を有し、
前記対峙部材は、前記円筒状延長部分の前記開口端が挿入された環状溝を備え、
前記開口端と前記環状溝の間にラビリンスシールが形成されている波動歯車装置。 - 剛性の第1、第2内歯歯車、円筒形状をした可撓性の外歯歯車、および波動発生器を備え、前記外歯歯車の外側に前記第1、第2内歯歯車が並列配置され、前記外歯歯車の内側に前記波動発生器が配置されている波動歯車装置であって、
前記外歯歯車の内側の内側潤滑部分と、
前記外歯歯車の外側の外側潤滑部分と、
前記内側潤滑部分を潤滑する潤滑剤と前記外側潤滑部分を潤滑する潤滑剤とが相互に混ざり合うことを防止するための潤滑剤混合防止部と、
を有しており、
前記内側潤滑部分は、前記波動発生器の摺動部分、および、前記波動発生器と前記外歯歯車の内周面の間の接触部分であり、
前記外側潤滑部分は、前記外歯歯車と前記第1、第2内歯歯車のそれぞれとの間の歯かみ合い部分であり、
前記外歯歯車は、外歯が形成されている円筒状の外歯形成部分と、この外歯形成部分における歯筋方向の両側の端から、外歯の無い状態で所定長さだけ延びている第1円筒状延長部分および第2円筒状延長部分を備え、
前記第1、第2円筒状延長部分は、前記潤滑剤混合防止部である波動歯車装置。 - 請求項4において、
前記潤滑剤混合防止部として、前記内側潤滑部分と前記外側潤滑部分の間を封鎖している第1、第2オイルシールを備え、
前記第1オイルシールは、前記第1内歯歯車に固定され、あるいは前記第1内歯歯車に固定された第1部材に固定され、当該第1オイルシールのシールリップは、前記第1円筒状延長部分の外周面あるいは内周面に当接しており、
前記第2オイルシールは、前記第2内歯歯車に固定され、あるいは前記第2内歯歯車に固定された第2部材に固定され、当該第2オイルシールのシールリップは、前記第2円筒状延長部分の外周面あるいは内周面に当接している波動歯車装置。 - 請求項4において、
前記第1円筒状延長部分の先端の第1開口端に対峙する第1対峙部材と、
前記第2円筒状延長部分の先端の第2開口端に対峙する第2対峙部材と、
を有しており、
前記第1対峙部材は、前記第1円筒状延長部分の前記第1開口端が挿入された第1環状溝を備え、
前記第2対峙部材は、前記第2円筒状延長部分の前記第2開口端が挿入された第2環状溝を備え、
前記第1開口端と前記第1環状溝の間に第1ラビリンスシールが形成され、
前記第2開口端と前記第2環状溝の間に第2ラビリンスシールが形成されている波動歯車装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201780093843.2A CN110998139B (zh) | 2017-08-21 | 2017-08-21 | 具备润滑剂混合防止部的波动齿轮装置 |
PCT/JP2017/029830 WO2019038817A1 (ja) | 2017-08-21 | 2017-08-21 | 潤滑剤混合防止部を備えた波動歯車装置 |
EP17922218.7A EP3674579B1 (en) | 2017-08-21 | 2017-08-21 | Wave motion gear device provided with lubricant mixing prevention part |
US16/633,391 US11118669B2 (en) | 2017-08-21 | 2017-08-21 | Strain wave gearing provided with lubricant-mixing-prevention part |
JP2019537446A JP6739888B2 (ja) | 2017-08-21 | 2017-08-21 | 潤滑剤混合防止部を備えた波動歯車装置 |
KR1020207006093A KR102269120B1 (ko) | 2017-08-21 | 2017-08-21 | 윤활제 혼합방지부를 구비한 파동기어장치 |
TW107122027A TWI770208B (zh) | 2017-08-21 | 2018-06-27 | 具備潤滑劑混合防止部的諧波齒輪裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/029830 WO2019038817A1 (ja) | 2017-08-21 | 2017-08-21 | 潤滑剤混合防止部を備えた波動歯車装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019038817A1 true WO2019038817A1 (ja) | 2019-02-28 |
Family
ID=65439432
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/029830 WO2019038817A1 (ja) | 2017-08-21 | 2017-08-21 | 潤滑剤混合防止部を備えた波動歯車装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US11118669B2 (ja) |
EP (1) | EP3674579B1 (ja) |
JP (1) | JP6739888B2 (ja) |
KR (1) | KR102269120B1 (ja) |
CN (1) | CN110998139B (ja) |
TW (1) | TWI770208B (ja) |
WO (1) | WO2019038817A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021025614A (ja) * | 2019-08-07 | 2021-02-22 | Ntn株式会社 | 玉軸受 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020034128A (ja) * | 2018-08-31 | 2020-03-05 | セイコーエプソン株式会社 | 歯車装置、歯車装置ユニットおよびロボット |
JP2022032789A (ja) * | 2020-08-14 | 2022-02-25 | セイコーエプソン株式会社 | 歯車装置およびロボット |
JP2022077275A (ja) * | 2020-11-11 | 2022-05-23 | セイコーエプソン株式会社 | 駆動装置、及び駆動装置の組立て方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09250609A (ja) | 1996-03-18 | 1997-09-22 | Harmonic Drive Syst Ind Co Ltd | 撓みかみ合い式歯車装置の潤滑機構 |
JPH09291985A (ja) | 1996-04-30 | 1997-11-11 | Harmonic Drive Syst Ind Co Ltd | 撓み噛み合い式歯車装置の潤滑剤封止機構 |
JP2008164149A (ja) * | 2007-01-04 | 2008-07-17 | Jtekt Corp | 波動歯車減速機の潤滑剤混入防止機構及び伝達比可変操舵装置 |
WO2015037105A1 (ja) * | 2013-09-12 | 2015-03-19 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置ユニット |
JP2017096343A (ja) | 2015-11-19 | 2017-06-01 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2434834C2 (de) * | 1974-07-19 | 1985-07-25 | Werner Dr.-Ing. 2000 Hamburg Ohm | Getriebemotor |
JPS59113343A (ja) * | 1982-12-20 | 1984-06-30 | Matsushita Electric Ind Co Ltd | 減速機 |
JPS6057058A (ja) * | 1983-09-05 | 1985-04-02 | Haamonitsuku Drive Syst:Kk | 調和歯車装置の潤滑油封止装置 |
SU1321962A2 (ru) * | 1985-02-11 | 1987-07-07 | Военный Инженерный Краснознаменный Институт Им.А.Ф.Можайского | Волнова зубчата передача |
JP2901424B2 (ja) * | 1992-08-06 | 1999-06-07 | 住友重機械工業株式会社 | 低速ギヤドモータ |
JPH0942466A (ja) * | 1995-07-28 | 1997-02-14 | Suzuki Motor Corp | ドライブシャフトにおけるオイルシール構造 |
US5984048A (en) * | 1997-09-10 | 1999-11-16 | Harmonic Drive Systems, Inc. | Lubricant supplying mechanism for a wave gear drive |
WO2012157022A1 (ja) * | 2011-05-16 | 2012-11-22 | 株式会社ハーモニック・ドライブ・システムズ | ユニット型波動歯車装置 |
DE102015104308A1 (de) * | 2015-03-23 | 2016-09-29 | Harmonic Drive Ag | Getriebeeinbausatz mit einem Abtriebslager und einem darin lagerbaren Spannungswellengetriebe |
CN104832622A (zh) * | 2015-05-20 | 2015-08-12 | 蒋桂云 | 一种结构改良的谐波减速器 |
CN105864365B (zh) * | 2016-06-16 | 2018-09-07 | 南通慧幸智能科技有限公司 | 自动润滑的谐波减速器 |
CN107588177A (zh) * | 2017-09-28 | 2018-01-16 | 深圳市领略数控设备有限公司 | 一种摆线针轮谐波传动装置 |
-
2017
- 2017-08-21 EP EP17922218.7A patent/EP3674579B1/en active Active
- 2017-08-21 JP JP2019537446A patent/JP6739888B2/ja active Active
- 2017-08-21 CN CN201780093843.2A patent/CN110998139B/zh active Active
- 2017-08-21 KR KR1020207006093A patent/KR102269120B1/ko active IP Right Grant
- 2017-08-21 US US16/633,391 patent/US11118669B2/en active Active
- 2017-08-21 WO PCT/JP2017/029830 patent/WO2019038817A1/ja unknown
-
2018
- 2018-06-27 TW TW107122027A patent/TWI770208B/zh active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09250609A (ja) | 1996-03-18 | 1997-09-22 | Harmonic Drive Syst Ind Co Ltd | 撓みかみ合い式歯車装置の潤滑機構 |
JPH09291985A (ja) | 1996-04-30 | 1997-11-11 | Harmonic Drive Syst Ind Co Ltd | 撓み噛み合い式歯車装置の潤滑剤封止機構 |
JP2008164149A (ja) * | 2007-01-04 | 2008-07-17 | Jtekt Corp | 波動歯車減速機の潤滑剤混入防止機構及び伝達比可変操舵装置 |
WO2015037105A1 (ja) * | 2013-09-12 | 2015-03-19 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置ユニット |
JP2017096343A (ja) | 2015-11-19 | 2017-06-01 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP3674579A4 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021025614A (ja) * | 2019-08-07 | 2021-02-22 | Ntn株式会社 | 玉軸受 |
JP7401990B2 (ja) | 2019-08-07 | 2023-12-20 | Ntn株式会社 | 玉軸受 |
Also Published As
Publication number | Publication date |
---|---|
CN110998139A (zh) | 2020-04-10 |
EP3674579A1 (en) | 2020-07-01 |
JPWO2019038817A1 (ja) | 2020-07-02 |
KR20200032740A (ko) | 2020-03-26 |
TW201920852A (zh) | 2019-06-01 |
CN110998139B (zh) | 2022-09-13 |
US20200232549A1 (en) | 2020-07-23 |
US11118669B2 (en) | 2021-09-14 |
JP6739888B2 (ja) | 2020-08-12 |
KR102269120B1 (ko) | 2021-06-23 |
EP3674579A4 (en) | 2021-03-17 |
TWI770208B (zh) | 2022-07-11 |
EP3674579B1 (en) | 2022-10-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019038817A1 (ja) | 潤滑剤混合防止部を備えた波動歯車装置 | |
US11566695B2 (en) | Unit-type strain wave gearing device | |
JP6479259B2 (ja) | 遊星歯車装置および車輪駆動装置 | |
JP3233524U (ja) | ユニットタイプの波動歯車装置 | |
JP6466593B2 (ja) | 波動歯車装置 | |
JP6021694B2 (ja) | 車輪駆動装置のシリーズ | |
JPH09250609A (ja) | 撓みかみ合い式歯車装置の潤滑機構 | |
JP7482895B2 (ja) | 波動歯車装置 | |
TWI818083B (zh) | 諧波齒輪裝置的潤滑方法 | |
JP2007263201A (ja) | 歯車装置における潤滑剤のシール構造 | |
JP2009109002A (ja) | 歯車装置 | |
JP5143718B2 (ja) | 回転装置 | |
JP2022536629A (ja) | 波動歯車装置 | |
CN114245852A (zh) | 单元式的波动齿轮装置 | |
JP2004301276A (ja) | 変速機のグリース封止構造 | |
JP2017075619A (ja) | 密封装置 | |
JP2006250260A (ja) | 歯車装置における潤滑剤のシール構造 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17922218 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2019537446 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20207006093 Country of ref document: KR Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2017922218 Country of ref document: EP Effective date: 20200323 |