WO2020059081A1 - ユニット型波動歯車装置 - Google Patents
ユニット型波動歯車装置 Download PDFInfo
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- WO2020059081A1 WO2020059081A1 PCT/JP2018/034839 JP2018034839W WO2020059081A1 WO 2020059081 A1 WO2020059081 A1 WO 2020059081A1 JP 2018034839 W JP2018034839 W JP 2018034839W WO 2020059081 A1 WO2020059081 A1 WO 2020059081A1
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- gear
- sliding bearing
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- bearing surface
- bearing
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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
- F16C17/00—Sliding-contact bearings for exclusively rotary movement
- F16C17/10—Sliding-contact bearings for exclusively rotary movement for both radial and axial load
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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
- F16C33/02—Parts of sliding-contact bearings
- F16C33/04—Brasses; Bushes; Linings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
-
- 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
- F16H57/02—Gearboxes; Mounting gearing therein
-
- 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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
-
- 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
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02091—Measures for reducing weight of gearbox
-
- 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
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H2057/085—Bearings for orbital gears
Definitions
- the present invention relates to a unit-type wave gear device provided with a sliding bearing that supports a rigid internal gear and a flexible external gear in a relatively rotatable state.
- the unit-type wave gear device is a unit housing in which the internal gear, the external gear and the wave generator are incorporated, and a bearing that supports the internal gear and the external gear in a relatively rotatable state, An output member for outputting the reduced rotation.
- rolling bearings such as cross roller bearings and four-point contact ball bearings are used as bearings.
- a unit housing is integrally formed with the outer ring of a rolling bearing.
- a sliding bearing instead of a rolling bearing, it is conceivable to further reduce the size and size of the wave gear device having a unit structure as compared with the case of using a rolling bearing.
- the present inventor has proposed a wave gear device having a unit structure having a sliding bearing in International Patent Application No. PCT / JP2017 / 39444 (filing date: October 31, 2017).
- both the radial slide bearing and the thrust slide bearing are arranged to receive a radial load and a thrust load generated between the internal gear and the external gear. Further, since the radial slide bearing is not provided with a clearance adjusting mechanism, the processing accuracy of a portion constituting the radial slide bearing is enhanced, and the mounting accuracy of the radial slide bearing is enhanced.
- An object of the present invention is to provide a light and compact unit type wave gear device provided with a sliding bearing whose distance can be easily adjusted.
- a sliding bearing is used instead of a rolling bearing as a bearing for supporting a rigid internal gear and a flexible external gear in a relatively rotatable state.
- the surface of the slide bearing is inclined with respect to the center axis of the unit-type wave gear device, so that the radial slide bearing is not required and the gap can be easily adjusted.
- the unit-type wave gear device of the present invention is: A rigid internal gear, A flexible external gear that can mesh with the internal gear; A wave generator that deflects the external gear in a non-circular shape and partially meshes with the internal gear; A cylindrical unit housing to which a first gear which is one of the internal gear and the external gear is mounted; An output member to which a second gear, which is the other of the internal gear and the external gear, is attached; A sliding bearing that supports the unit housing and the first gear, which are stationary members, and the output member and the second gear, which are rotating members, so as to be relatively rotatable; The sliding bearing includes a fixed-side sliding bearing surface formed on the fixed-side member, and a rotating-side sliding bearing surface formed on the rotating-side member and in sliding contact with the fixed-side sliding bearing surface, The fixed-side sliding bearing surface is defined by a conical surface whose center line is the center axis of the unit-type wave gear device, The rotation-side slide bearing surface is characterized by being defined by a conical surface
- a self-lubricating slide bearing can be used as the slide bearing.
- a slide bearing having a configuration in which an annular bearing bush having a fixed-side slide bearing surface formed thereon is mounted on a fixed-side member can be used.
- a pair of slide bearings is disposed between the fixed-side member and the rotation-side member.
- a slide bearing and a rolling bearing can be used.
- the rolling bearing for example, a deep groove ball bearing is used.
- a sliding bearing having a sliding bearing surface inclined with respect to the center axis can receive both a thrust load and a radial load. In some cases, it is easier to reduce the size and the size of the unit-type wave gear device as compared with the case where the thrust slide bearing and the radial slide bearing are arranged. In addition, the distance between the sliding bearing surfaces can be easily adjusted as compared with the case where a radial sliding bearing having no function of adjusting the radial gap is provided.
- the unit housing, the internal gear, and the output member can be parts made of any one of steel, light alloy, ceramics, and plastic, respectively.
- the weight of the device can be reduced.
- the surface portion on which the sliding bearing surface is formed is a plated surface subjected to hard plating, solid lubricant plating, or the like. Thereby, required properties such as surface hardness, wear resistance / frictional property, and lubricity can be secured.
- FIG. 2 is a longitudinal sectional view showing the unit-type wave gear device of the first embodiment.
- FIG. 1B is a schematic cross-sectional view showing a portion cut along the line 1B-1B in FIG. 1A. It is explanatory drawing which shows the force which acts on the sliding bearing of the unit type wave gear apparatus of FIG. 1A. It is explanatory drawing which shows the force which acts on the slide bearing in the unit type wave gear device (comparative device) provided with the thrust slide bearing and the radial slide bearing.
- the present invention is similarly applicable to a cup-type wave gear device having a cup-shaped external gear and a silk hat-type wave gear device having a silk-hat-shaped external gear.
- the flexible external gear is bent elliptically by the wave generator and meshes simultaneously with the rigid internal gear at two positions in the circumferential direction.
- the present invention can be similarly applied to a wave gear device having a structure in which an external gear is bent in three lobes and meshes with an internal gear at three places simultaneously.
- FIG. 1A is a longitudinal sectional view showing a unit-type wave gear device according to Embodiment 1.
- FIG. 1B is a schematic cross-sectional view showing a portion cut along the line 1B-1B in FIG. 1A, and shows a meshing state of the external gear with respect to the internal gear.
- the unit-type wave gear device 1 (hereinafter, simply referred to as “wave gear device 1”) includes a cylindrical unit housing 2.
- the unit housing 2 includes, for example, a cylindrical first housing 2a and a cylindrical second housing 2b which are coaxially fastened and fixed from the direction of the central axis 1a.
- a rigid first internal gear 3 and a rigid second internal gear 4 are arranged inside the unit housing 2.
- the first and second internal gears 3 and 4 are coaxially arranged in parallel in the direction of the central axis 1a.
- One first internal gear 3 is formed integrally with the first housing 2 a of the unit housing 2.
- the first housing 2a and the first internal gear 3 may be manufactured as separate parts, and the first internal gear 3 may be coaxially fixed to the first housing 2a.
- a cylindrical output shaft 5 is formed integrally with the other second internal gear 4.
- the second internal gear 4 and the output shaft 5 may be manufactured as separate parts, and these may be coaxially fixed.
- Inside the first and second internal gears 3 and 4, a flexible external gear 6 having a cylindrical shape is coaxially arranged.
- a wave generator 7 having an elliptical contour is coaxially arranged inside the external gear 6.
- the unit housing 2 and the first internal gear 3 are fixed members A that are fastened and fixed to a mounting portion (not shown).
- the external gear 6, the second internal gear 4 (rotating internal gear), and the output shaft 5 are a rotating member B.
- the rotation-side member B is supported by the fixed-side member A via a first slide bearing 8 and a second slide bearing 9 that are spaced from each other in the direction of the central axis 1a.
- the wave generator 7 is rotatably supported by the unit housing 2 via a first rolling bearing 11 such as a ball bearing on one side in the direction of the center axis 1a, and a ball bearing or the like on the other side. Is supported rotatably relative to the output shaft 5 via the second rolling bearing 12.
- the wave generator 7 includes a hollow input shaft 7a, a rigid plug 7b having a constant width and an elliptical contour integrally formed on the outer peripheral surface of the hollow input shaft 7a, and a wave bearing 7c mounted on the elliptical outer peripheral surface of the rigid plug 7b. It is composed of The outer peripheral surface portions on both sides of the rigid plug 7b in the hollow input shaft 7a are supported by first and second rolling bearings 11, 12. For example, a rotation input gear is fixed to the hollow input shaft 7a, and high-speed rotation is input to the wave generator 7 from a motor or the like.
- the external gear 6 is bent into an elliptical shape by the wave generator 7, and meshes with each of the first and second internal gears 3, 4 at the position of the major axis Lmax of the elliptical shape.
- the first internal gear 3 and the external gear 6 have different numbers of teeth, and the second internal gear 4 and the external gear 6 have the same number of teeth.
- the output shaft 5 integrally formed with the external gear 6 outputs the reduced rotation.
- the first sliding bearing 8 includes a first bearing bush 8a, a first fixed-side sliding bearing surface 8b formed on the first bearing bush 8a, and a first sliding contact with the first fixed-side sliding bearing surface 8b. And a rotation-side sliding bearing surface 8c.
- An annular concave portion that opens inward is formed on the inner peripheral surface of the unit housing 2 in the fixed member A.
- a first bearing bush 8a is mounted on the inner end surface portion of the recess on the side where the first internal gear 3 is formed, from the direction of the central axis 1a.
- the first bearing bush 8a is mounted, as necessary, with a shim plate (not shown) for adjusting the distance therebetween.
- the annular end surface of the first bearing bush 8a on the side of the second slide bearing 9 is a first fixed-side slide bearing surface 8b defined by a conical surface whose center line is the center axis 1a.
- the bearing angle ⁇ is 0 ⁇ ⁇ 90 °, and the inclination angle with respect to the central axis 1a is (90 ° ⁇ ).
- a first rotation side sliding bearing surface 8c is formed on an end surface portion of the second internal gear 4 integrally formed with the output shaft 5.
- the first rotating side sliding bearing surface 8c is defined by a conical surface having a shape complementary to the first fixed side sliding bearing surface 8b, and is in sliding contact with the first fixed side sliding bearing surface 8b.
- the second sliding bearing 9 includes a second bearing bush 9a, a second fixed-side sliding bearing surface 9b formed on the second bearing bush 9a, and a second rotating-side sliding that comes into sliding contact with the second fixed-side sliding bearing surface. And a bearing surface 9c.
- a second bearing bush 9a is mounted on the inner end surface of the fixed member A opposite to the first internal gear 3 in the recess formed in the inner peripheral surface of the unit housing 2 from the direction of the center axis 1a. Have been.
- the second bearing bush 9a is also mounted with a shim plate (not shown) for adjusting the distance therebetween if necessary.
- the annular end surface of the second bearing bush 9a on the side of the first bearing bush 8a is a second fixed-side sliding bearing surface 9b defined by a conical surface whose center line is the center axis 1a.
- the second fixed-side sliding bearing surface 9b is a conical surface opposite to the first rotating-side sliding bearing surface 8b, and has the same angle in the opposite direction to the first rotating-side sliding bearing surface 8b. It is inclined.
- a second rotation side sliding bearing surface 9c is formed on an end surface portion of the output shaft 5 opposite to the second internal gear 4.
- the second rotation-side sliding bearing surface 9c is defined by a conical surface having a shape complementary to the second fixed-side sliding bearing surface 9b, and is in sliding contact with the second fixed-side sliding bearing surface 9b.
- the sliding bearing surface is inclined at a predetermined angle with respect to the center axis 1a.
- the first and second sliding bearings 8 and 9 provided with are provided. Each of the first and second sliding bearings 8, 9 receives a radial load and a thrust load.
- a radial slide bearing having no gap adjusting function is not required, and the gap between the slide bearing surfaces can be easily adjusted.
- the unit housing 2, the first internal gear 3, the second internal gear 4, the external gear 6, the hollow input shaft 7a, the rigid plug 7b, and the output shaft 5 of the wave generator 7 are made of steel, light, respectively. It can be made from any one material of alloys, ceramics and plastics. If these parts are manufactured from materials such as light alloys and plastics, the weight of the device can be reduced.
- the hardness, abrasion / friction properties, lubricity, etc. of the surface portions of the first and second sliding bearings 8, 9 where the first and second rotating side sliding bearing surfaces 8c, 9c are formed. May not meet the required characteristics.
- these surface portions are subjected to surface treatment such as hard plating treatment and solid lubricant dispersion plating treatment. By performing the surface treatment, desired surface hardness, wear resistance / frictional properties, and lubricity can be imparted.
- FIG. 2A is an explanatory diagram showing loads generated on the first and second sliding bearings 8 and 9 when an external load (radial load) is applied to the wave gear device 1 of the present example.
- FIG. 2B is an explanatory diagram showing loads generated in each bearing when an external load is applied to a unit-type wave gear device (hereinafter, referred to as a “comparative device”) including a radial sliding bearing and a pair of thrust sliding bearings. It is.
- a unit-type wave gear device hereinafter, referred to as a “comparative device”
- the comparison device 100 is disposed inside the cylindrical unit housing 122, the first internal gear 133 and the second internal gear 134 disposed inside the unit housing 122, and the first and second internal gears 133 and 134.
- the unit housing 122 and the first internal gear 133 are fixed members, and the second internal gear 134 and the output shaft 135 are rotating members.
- a radial slide bearing 128 and a pair of thrust slide bearings 129 and 130 are mounted between the fixed side member and the rotation side member. The rotation-side member is supported by the fixed-side member via these slide bearings 128, 129, and 130 in a relatively rotatable state.
- the moment load M and the bearing loads F1, F2, F3 are as follows.
- M Fro ⁇ L
- F1 M ⁇ dp / cos ⁇ +
- F2 M ⁇ dp / cos ⁇
- F3 Fr / 2sin ⁇
- the first and second sliding bearings 8 and 9 are changed by changing the bearing angle ⁇ in the wave gear device 1 and changing the action point (distance L) of the external load Fro (radial load) in the wave gear device 1 and the comparison device 100.
- the loads acting on the radial slide bearing 128 and the thrust slide bearings 129 and 130 were calculated and compared.
- the bearing load F1 is the largest in the wave gear device 1 of this example
- the bearing load F12 is the largest in the comparison device 100 of FIG. 2B.
- the change in the distance L between the load points affects the bearing load F2 in the case of the wave gear device 1 of the present embodiment, and affects the bearing load F11 in the case of the comparative device 100. 1 and the effect on the bearing load F12 in the comparison device 100 is very small.
- the bearing angle ⁇ may be increased to reduce the bearing load F1 which is the maximum bearing load.
- the bearing angle ⁇ is set to a value of about 30 ° or more, the bearing load F1 can be changed to a wave gear device including a radial sliding bearing and a pair of thrust sliding bearings as in the comparative device 100.
- the bearing angle ⁇ of the first and second sliding bearings 8 and 9 is set within a range of 25 ° ⁇ ⁇ ⁇ 35 °.
- FIG. 3 is a longitudinal sectional view showing a wave gear device according to Embodiment 2 to which the present invention is applied.
- the wave gear device 20 of the present embodiment has the same basic configuration as the wave gear device 1 shown in FIG. 1, and therefore, the corresponding portions are denoted by the same reference characters and description thereof will be omitted.
- the wave gear device 20 includes a first sliding bearing 28 instead of the first sliding bearing 8, and includes a second sliding bearing 29 instead of the second sliding bearing 9.
- the first sliding bearing 28 is defined by a conical surface opposite to the conical surface defining the first fixed-side sliding bearing surface 8b and the first rotating-side sliding bearing surface 8c of the first sliding bearing 8.
- a first fixed-side sliding bearing surface 28b and a first rotating-side sliding bearing surface 28c are provided.
- the first fixed-side sliding bearing surface 28b is formed on an end surface of the first bearing bush 28a.
- the second sliding bearing 29 has a conical surface that is opposite to the conical surface that defines the second fixed-side sliding bearing surface 9b and the second rotating-side sliding bearing surface 9c of the second sliding bearing 9.
- a second fixed side sliding bearing surface 29b and a second rotating side sliding bearing surface 29c are provided.
- the second fixed-side sliding bearing surface 29b is formed on an end surface of the second bearing bush 29a. Also in this case, it is desirable to set the bearing angle ⁇ to an angle in the range of 25 ° ⁇ ⁇ ⁇ 35 °, and it is more preferable to set the bearing angle ⁇ to approximately 30 °.
- FIG. 4 is a longitudinal sectional view showing a wave gear device according to Embodiment 3 to which the present invention is applied.
- the basic configuration of the wave gear device 40 of the present example is the same as that of the wave gear device 20 shown in FIG. 3, and therefore, corresponding portions are denoted by the same reference numerals and description thereof will be omitted.
- the wave gear device 40 includes a rolling bearing 49, for example, a deep groove ball bearing, instead of the second sliding bearing 29.
- one bearing can be a rolling bearing and the other bearing can be a sliding bearing.
Abstract
Description
剛性の内歯歯車と、
前記内歯歯車にかみ合い可能な可撓性の外歯歯車と、
前記外歯歯車を非円形に撓めて前記内歯歯車に対して部分的にかみ合わせている波動発生器と、
前記内歯歯車および前記外歯歯車のうちの一方の歯車である第1歯車が取り付けられている筒状のユニットハウジングと、
前記内歯歯車および前記外歯歯車のうちの他方の歯車である第2歯車が取り付けられている出力部材と、
固定側部材である前記ユニットハウジングおよび前記第1歯車と、回転側部材である前記出力部材および前記第2歯車との間を、相対回転可能に支持している滑り軸受と
を有しており、
前記滑り軸受は、前記固定側部材に形成される固定側滑り軸受面と、前記回転側部材に形成され、前記固定側滑り軸受面に滑り接触する回転側滑り軸受面とを備え、
前記固定側滑り軸受面は、ユニット型波動歯車装置の中心軸線を中心線とする円錐面によって規定され、
前記回転側滑り軸受面は、前記固定側滑り軸受面とは逆向きの円錐面によって規定されていることを特徴としている。
図1Aは実施の形態1に係るユニット型波動歯車装置を示す縦断面図である。図1Bは図1Aの1B-1B線で切断した部分を示す概略横断面図であり、内歯歯車に対する外歯歯車のかみ合い状態を示す。ユニット型波動歯車装置1(以下、単に「波動歯車装置1」と呼ぶ。)は、円筒状のユニットハウジング2を備えている。ユニットハウジング2は、例えば、中心軸線1aの方向から同軸に締結固定された円筒状の第1ハウジング2aと、円筒状の第2ハウジング2bから構成される。
図2Aは、本例の波動歯車装置1において、外部荷重(ラジアル荷重)が加わった場合に、第1、第2滑り軸受8、9に生じる荷重を示す説明図である。図2Bは、ラジアル滑り軸受と一対のスラスト滑り軸受を備えたユニット型波動歯車装置(以下、「比較装置」と呼ぶ。)に外部荷重が加わった場合に、各軸受に生じる荷重を示す説明図である。
Fro:外部荷重(ラジアル荷重)(N)
L:軸受中心からの距離(mm)
dp:軸受のピッチ(mm)
M:モーメント荷重(N・M)
Fr(=Fro):軸受中心に作用するラジアル荷重(N)
F1,F2,F3:軸受荷重(N)
θ:軸受角度(deg)
F11,F12,F13:軸受荷重(N)
M=Fro×L
F1=M×dp/cosθ+Fr/2sinθ
F2=M×dp/cosθ
F3=Fr/2sinθ
M=Fro×L
F11=M×dp
F12=Fr=Fro
F13=F11
図3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縦断面図である。本例の波動歯車装置20は、図1に示す波動歯車装置1の基本構成と同一であるので、対応する部位には同一の符号を使用し、それらの説明は省略する。波動歯車装置20は、第1滑り軸受8の代わりに第1滑り軸受28を備えており、第2滑り軸受9の代わりに第2滑り軸受29を備えている。
図4は、本発明を適用した実施の形態3に係る波動歯車装置を示す縦断面図である。本例の波動歯車装置40の基本構成は、図3に示す波動歯車装置20と同一であるので、対応する部位には同一の符号を付し、それらの説明は省略する。波動歯車装置40は、第2滑り軸受29の代わりに、転がり軸受49、例えば、深溝玉軸受を備えている。このように、一方の軸受を、転がり軸受とし、他方の軸受を滑り軸受とすることができる。この場合においても、第1滑り軸受28の軸受角度θを、25°≦θ≦35°の範囲内の角度にすることが望ましく、ほぼ30°に設定することがより望ましい。
Claims (6)
- 剛性の内歯歯車と、
前記内歯歯車にかみ合い可能な可撓性の外歯歯車と、
前記外歯歯車を非円形に撓めて前記内歯歯車に対して部分的にかみ合わせている波動発生器と、
前記内歯歯車および前記外歯歯車のうちの一方の歯車である第1歯車が取り付けられている筒状のユニットハウジングと、
前記内歯歯車および前記外歯歯車のうちの他方の歯車である第2歯車が取り付けられている出力部材と、
固定側部材である前記ユニットハウジングおよび前記第1歯車と、回転側部材である前記出力部材および前記第2歯車との間を、相対回転可能に支持している滑り軸受と
を有しており、
前記滑り軸受は、前記固定側部材に形成される固定側滑り軸受面と、前記回転側部材に形成され、前記固定側滑り軸受面に滑り接触する回転側滑り軸受面とを備え、
前記固定側滑り軸受面は、ユニット型波動歯車装置の中心軸線を中心線とする円錐面によって規定され、
前記回転側滑り軸受面は、前記固定側滑り軸受面とは逆向きの円錐面によって規定されていることを特徴とするユニット型波動歯車装置。 - 請求項1において、
前記滑り軸受は、前記固定側部材に装着された円環形状の軸受ブッシュを備え、
前記軸受ブッシュに前記固定側滑り軸受面が形成されているユニット型波動歯車装置。 - 請求項1において、
前記滑り軸受として、前記中心軸線に沿った方向における一方の側に位置する第1滑り軸受と、他方の側に位置する第2滑り軸受とを備え、
前記第1滑り軸受は、前記固定側滑り軸受面として第1固定側滑り軸受面を備え、前記回転側滑り軸受面として第1回転側滑り軸受面を備え、
前記第2滑り軸受は、前記固定側滑り軸受面として、前記第1固定側滑り軸受面とは逆向きの第2固定側滑り軸受面を備え、前記回転側滑り軸受面として、前記第1回転側滑り軸受面とは逆向きの第2回転側滑り軸受面を備えているユニット型波動歯車装置。 - 請求項3において、
前記第1滑り軸受は、前記固定側部材に装着された円環形状の第1軸受ブッシュを備え、
前記第1軸受ブッシュに前記第1固定側滑り軸受面が形成されており、
前記第2滑り軸受は、前記固定側部材に装着された円環形状の第2軸受ブッシュを備え、
前記第2軸受ブッシュに前記第2固定側滑り軸受面が形成されているユニット型波動歯車装置。 - 請求項1において、
前記固定側部材と前記回転側部材との間を、相対回転可能に支持している転がり軸受を備えており、
前記中心軸線に沿った方向における一方の側に前記滑り軸受が配置され、他方の側に前記転がり軸受が配置されているユニット型波動歯車装置。 - 請求項1において、
前記内歯歯車に対して、同軸に、並列配置され、前記出力部材と一体回転する円環状の回転側内歯歯車を備え、
前記内歯歯車は前記ユニットハウジングと一体回転する前記第1歯車であり、前記外歯歯車は前記第2歯車であり、
前記外歯歯車は、前記内歯歯車および前記回転側内歯歯車の内側に同軸に配置され、前記波動発生器によって非円形に撓められて、前記内歯歯車および前記回転側内歯歯車のそれぞれにかみ合っており、
前記波動発生器の回転に伴って、前記内歯歯車と前記外歯歯車との間に相対回転が発生するように、前記内歯歯車と前記外歯歯車とは歯数が相違し、
前記波動発生器の回転に伴って前記回転側内歯歯車と一体回転するように、前記外歯歯車は、前記回転側内歯歯車と同一の歯数を備えているユニット型波動歯車装置。
Priority Applications (8)
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EP18934159.7A EP3690281B1 (en) | 2018-09-20 | 2018-09-20 | Unit type wave gear device |
KR1020207011970A KR102340718B1 (ko) | 2018-09-20 | 2018-09-20 | 유닛형 파동기어장치 |
JP2020518828A JP6961812B2 (ja) | 2018-09-20 | 2018-09-20 | ユニット型波動歯車装置 |
PCT/JP2018/034839 WO2020059081A1 (ja) | 2018-09-20 | 2018-09-20 | ユニット型波動歯車装置 |
US16/753,394 US11168775B2 (en) | 2018-09-20 | 2018-09-20 | Unit-type strain wave gearing |
TW108124850A TWI799616B (zh) | 2018-09-20 | 2019-07-15 | 單元型諧波齒輪裝置 |
CN201910643589.XA CN110925382A (zh) | 2018-09-20 | 2019-07-17 | 单元型波动齿轮装置 |
CN201921117311.0U CN210461597U (zh) | 2018-09-20 | 2019-07-17 | 单元型波动齿轮装置 |
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EP (1) | EP3690281B1 (ja) |
JP (1) | JP6961812B2 (ja) |
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JP7087075B2 (ja) * | 2018-06-19 | 2022-06-20 | 株式会社ハーモニック・ドライブ・システムズ | 中空型波動歯車装置 |
EP3882483A4 (en) * | 2018-11-16 | 2022-04-27 | Harmonic Drive Systems Inc. | UNIT TYPE TENSION WAVE GEAR |
CN113280050B (zh) * | 2021-06-25 | 2022-05-03 | 东方电气集团东方电机有限公司 | 轴承装置及风力发电设备 |
CN114087338A (zh) * | 2021-11-17 | 2022-02-25 | 亚超特工业有限公司 | 一种轻量化谐波齿轮装置 |
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US11168775B2 (en) | 2021-11-09 |
CN110925382A (zh) | 2020-03-27 |
EP3690281A4 (en) | 2021-03-03 |
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