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
  • 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 tension wave transmission according to the preamble of claim 1.
• a stress wave transmission is known from WO 2018/157910 A1, which essentially consists of three components.
• the first component is an elliptical drive component which is also referred to as a wave generator or wave generator.
• the second component is a flexible, externally toothed transmission component, also called Flexspline.
• the third component is a gear component, which is also called circular spline and has a circular internal toothing.
• the elliptical drive component deforms the flexible transmission component into an elliptical shape so that its external toothing is in engagement in opposite areas with the internal toothing of the transmission component. By turning the drive component, the large axis of the ellipse and the tooth engagement area between the external toothing and the internal toothing are shifted.
• the internal toothing of the transmission component has fewer teeth than the external toothing of the flexible transmission component. This results in a relative movement with a high transmission ratio between the drive component and the flexible transmission component when driving the drive component.
• the transmission component serves as an output and is, for example, non-rotatably connected to an output shaft.
• the drive component and the transmission component are rotatably mounted relative to one another by means of a pivot bearing.
• Such voltage wave gears are used, for example, in industrial robots, where they are driven by electric drives to move individual members of industrial robots.
• the tension wave gear unit is provided with a lubricant quantity intended for life-time lubrication. This amount of lubricant is intended in particular for lubricating the toothing and the rolling bearing mentioned.
• a nendichtung in is provided to seal a space adjacent to a pivot bearing of the Spannwellenge gear unit against a bearing space of the pivot bearing. In this way, the pivot bearing is to be protected from the entry of harmful substances and leakage through the pivot bearing is prevented will. In addition to contamination of the environment, a leak could also cause the Flexspline to run dry and result in component damage.
• the object of the present invention is to further improve a stress wave transmission of the type mentioned above, in particular with regard to a reliable lubricant supply and function of the stress wave transmission over the longest possible service life.
• a stress wave transmission which comprises a drive component, an elastically deformable transmission component with an external toothing and a transmission component with an internal toothing.
• the transmission component can be designed as a rigid component and aufwei sen the internal toothing on an inner circumference, which is preferably designed in the form of a circular ring.
• the drive component is designed in particular so that it can be connected to an electrical machine as a drive.
• the elastic, deformable transmission component is often also called flexspline and is usually designed either in a so-called hat shape or in a so-called pot shape.
• said external toothing can be arranged on a cylindrical sleeve section of the transmission component, the cylindrical sleeve section absorbing at least most of the elastic deformation's rule.
• the external toothing is deformed by the drive component in such a way that it can be partially brought into engagement or is in engagement with the internal toothing.
• the transmission component is generally elliptically deformed at least in the area of the external toothing, with two opposing engagement areas resulting between the internal toothing and the external toothing, which lie on the main axis of the ellipse.
• the external toothing of the transmission component is therefore partly in engagement with the internal toothing of the rigid transmission component at two points, the engagement areas, on the circumference of the internal toothing.
• the transmission component and the transmission component are rotatably supported relative to one another by means of a main bearing.
• the main bearing can advantageously be designed as a roller bearing, for example as a roller bearing.
• the internal toothing and the external toothing have an unequal number of teeth. This has the consequence that the transmission component and the transmission component are rotated relative to one another by a rotational movement of the drive component.
• the drive component can be connected to a drive motor, in particular to an electric motor.
• the drive motor causes the drive component to rotate during operation.
• the number of teeth of the internal toothing and the external toothing differ only by a small difference, typically by two teeth. This results in a high transmission ratio between drive and output.
• the transmission component and the main bearing at least partially enclose an interior space.
• the transmission component and the main bearing are arranged with respect to one another in such a way that they form an interior space between them.
• the transmission component has at least one through opening which opens into the interior.
• the interior space is connected to another space on the other side of the transmission component.
• the at least one through opening enables lubricant to pass from the interior through the transmission component and thus prevent lubricant from accumulating in the interior or even from building up pressure in the interior.
• the cause of a flow of lubricant into the interior of the voltage shaft transmission is the flexing movements that occur between the internal teeth and the external teeth during operation. The flexing movements exert a certain pumping effect on the lubricant. This effectively turns lubricant into pumped the interior.
• lubricant can escape from the interior again at another point.
• the at least one through opening also prevents lubricant accumulated in the interior from being conveyed further into the main bearing, which is frequently provided with a different lubricant that is especially suitable for the main bearing. Mixing different lubricants could lead to a loss of the lubricating effect in the main bearing and consequently to its failure.
• the through opening can also be used to prevent the accumulated lubricant from leaking from the stress wave transmission, with undesirable consequences such as contamination of the environment.
• conventional stress wave transmissions of this type often have a sealing ring between an outer bearing ring and an inner bearing ring of the main bearing, with which the leakage of lubricant into the environment is to be prevented.
• lubricant leaks at this point cannot be completely prevented despite the sealing ring mentioned.
• this is possible, since at least not so much lubricant can accumulate in the interior space that it reaches the surroundings through the main bearing and the sealing ring.
• the elastically deformable transmission component can in particular be designed to be rotationally symmetrical, with the deformation mentioned above by the drive component canceling the rotational symmetry in the installed state.
• the transmission component preferably has a sleeve portion and a flange portion extending in ra dialer direction.
• the sleeve section is at least approximately cylindrical in shape. Due to the elastic deformation by means of the drive part, the sleeve section assumes an elliptical shape in the assembled state of the tension wave gear, at least in the area of the external toothing.
• the flange section serves primarily to connect the transmission component with another component, for example with an output shaft. Due to its radial extension, the flange section is essentially disk-shaped. A part of the flange section can be used for this purpose Have machined contact surface, via which the flange section can be fastened, for example, to an outer bearing ring of the main bearing.
• the at least one through opening is arranged in the sleeve section.
• the at least one through opening can also be arranged in the flange section.
• the invention also includes embodiments in which through-openings are arranged in the sleeve section and in the flange section. The distribution and flow of the lubricant in the stress wave transmission can be specifically influenced by a certain arrangement, size, shape and number of the passage openings.
• the arrangement of the at least one through opening in the sleeve section is particularly advantageous when a lubricant reservoir is provided on the inside of the sleeve section.
• the lubricant guided from the lubricant reservoir through the internal and external teeth can be returned to the lubricant reservoir by the shortest route.
• through openings are preferably arranged distributed over the circumference of the transmission component.
• twelve through openings can be arranged at an angular distance of 30 degrees each over the circumference of the transmission part.
• the through openings are preferably formed by simple circular bores. However, other shapes are also conceivable, for example elongated holes.
• a component adjoining the interior has a contour that directs the flow of lubricant in the direction of the at least one through opening.
• an inner bearing ring of the main bearing can have a projection for this purpose, which directs the flow of lubricant in the direction of the at least one through opening and thus supports the flow of lubricant through the at least one through opening.
• the projection can protrude into the interior.
• the main bearing has an outer bearing ring that is connected to the transmission component in a rotationally fixed manner and an inner bearing ring that is connected to the transmission component in a rotationally fixed manner.
• the bearing outer ring can, for example, be screwed to the flange portion of the transmission component.
• the inner bearing ring can, for example, be screwed to the internally toothed transmission component or made from one piece together with it.
• a seal for example a paper sealing ring, can be arranged between the bearing inner ring and the transmission component in order to reliably seal the interior space at this point.
• the inner bearing ring can also be connected to the transmission component in a rotationally fixed manner, while the outer bearing ring is connected to the transmission component in a rotationally fixed manner.
• the projection can advantageously be arranged on the bearing inner ring in such a way that it blocks a possible path of the lubricant from the toothing area of the external and internal toothing to a bearing gap or at least narrows it so that the lubricant is directed through the at least one through opening.
• the projection can be arranged at least approximately opposite the at least one through opening on the bearing inner ring.
• the projection can protrude into the interior so that the lubricant flows through the through opening or openings from the interior because the flow resistance on this path is lower than if the lubricant would flow further in the direction of the bearing gap.
• the bearing space is, for example, the area in which the rolling elements of a main bearing designed as a rolling bearing are arranged. In the case of plain bearings, the space between the bearings is given by the respective plain bearing surfaces or contact surfaces.
• the flow of lubricant through the through opening can be improved in that a lubricant deflecting element is arranged in the interior, which directs the flow of lubricant in the direction of the through opening.
• a lubricant deflecting element is arranged in the interior, which directs the flow of lubricant in the direction of the through opening.
• the lubricant deflection element is a separate component.
• the lubricant deflecting element can, for example, be disk-shaped, the disk-shaped lubricant deflecting element being clamped at its outer circumferential area between the flange section of the transmission component and the bearing outer ring.
• the disk-shaped lubricant deflecting element can rest on the bearing inner ring so that the lubricant is directed by the disk-shaped lubricant deflecting element in the direction of the at least one through opening which is also arranged in the flange section.
• the bearing interspace of the main bearing can be sealed off from the interior by an additional inner seal.
• an inner seal can be designed, for example, in the form of a so-called Z-disk, as it is also used ver for sealing standard roller bearings.
• Such an inner seal can completely seal the bearing gap between the bearing outer ring and the bearing inner ring from the interior. In this way it is ensured that no lubricant gets into the bearing space from the interior. Instead, the entire lubricant flow that is created by the flexing movements between the internal toothing and the external toothing is passed through the at least one through opening.
• a lubricant reservoir is preferably arranged on an inner side of the sleeve section, that is to say in the area of the inner diameter of the transmission component.
• the lubricant reservoir can extend in the axial direction up to a drive bearing or through the drive bearing.
• the drive bearing is arranged on an el liptically shaped outer periphery of the drive component and is preferably also designed as a roller bearing.
• An outer ring of the drive bearing rests against the inner circumference of the transmission component and deforms it in such a way that the external toothing of the transmission component is pressed into the internal toothing of the transmission component.
• the drive bearing accordingly transmits the elliptical deformation from the drive component to the elastically deformable transmission component.
• the drive bearing can be designed to be at least partially elastically deformable.
• the lubricant circuit results in the stress wave transmission.
• the Walkbewe conditions between the internal teeth and the external teeth lubricant tel is promoted from the lubricant reservoir through a drive bearing, the internal and external teeth, the interior and the at least one through opening through back into the lubricant reservoir.
• a long-term and reliable supply of lubricant to the drive bearing and the toothing area of the external and internal toothing is ensured.
• a lack of lubricant in this area of the stress wave transmission can no longer occur.
• a continuous supply of lubricant to the drive bearing 23 and the toothed area 21 is ensured, the service life of the Spannwellenge transmission is extended and lubricant leaks into the environment are avoided.
• the invention comprises a transmission component with at least one through opening which is suitable for use in the voltage wave transmission described above.
• Fig. 1 shows a first embodiment according to the invention of a voltage wave transmission in a sectional view
• FIG. 2 shows the transmission component from the stress wave transmission according to FIG. 1,
• Fig. 3 shows a second embodiment according to the invention of a voltage wave transmission in a sectional view
• FIG. 4 shows the transmission component from the stress wave transmission according to FIG. 3.
• the stress wave transmission 1 is constructed essentially rotationally symmetrical to the axis of rotation 2.
• the directions used in this document radially, axially and in the circumferential direction relate to the axis of rotation 2, unless expressly stated otherwise.
• the essential components of the stress wave transmission 1 are a drive component 3, an elastically deformable transmission component 4 with an external toothing 5 and a transmission component 6 with an internal toothing 7.
• the external toothing 5 of the elastically deformable transmission component 4 is deformed to an ellipse by the drive component 3 in such a way that the external toothing 5 engages with the internal toothing 7 of the rigid transmission component 6 at two opposing engagement areas.
• the drive bearing 23 is designed as a roller bearing, in the present case as a ball bearing.
• a drive bearing outer ring 24 is elliptically deformed during the rotation of the drive component 3, as a result of which the internal toothing 7 of the transmission component 4 lying radially outside is also elliptically deformed.
• the transmission component 4 and the transmission component 6 are rotatably mounted relative to each other by means of a Hauptla gers 8.
• the main bearing 8 is designed as a roller bearing, more precisely as a crossed roller bearing with cylindrical roller bodies 9.
• the main bearing 8 also has an outer bearing ring 10 and an inner bearing ring 11.
• the bearing outer ring 10 is fastened to the transmission component 4, so that the two components are arranged non-rotatably with respect to one another.
• the La rinnenring 1 1 is attached to the transmission component 6 in a rotationally fixed manner.
• a sealing ring is arranged between the La flute ring 1 1 and the transmission component 6, whereby the interior space 12 is reliably sealed.
• Such a sealing ring can preferably be designed as an O-ring, which is arranged, for example, in a groove provided for this purpose in the transmission component 6.
• the transmission component 4 and the main bearing 8 enclose an interior 12.
• the interior 12 is thus arranged between the transmission component 4 and the main bearing 8.
• the interior 12 extends from the toothing area 21 first in the axial direction to the end of a cylindrical Hülsenab section 14 of the transmission component 4 and from there extends in the radial direction outward to a bearing gap 19 of the main bearing 8.
• the transmission component 4 has a sleeve section 14 and a flange section 15 extending in the radial direction.
• the sleeve section 14 has a cylindrical basic shape.
• a plurality of fürgangsöff openings 13 are arranged, which open into the interior 12.
• the through openings 13 thus connect the interior space 12 with the space on the inside of the Hülsenab section 14.
• a lubricant reservoir 20 is provided in this space on the inside of the sleeve section 14.
• the flange section 15 connects to one end of the sleeve section 14 and extends radially outward.
• This shape of the elastically deformable transmission component 4 is also called a hat shape.
• the flange portion 15 is reinforced in its radially outer area, whereby a mounting flange for loading attachment to an outer bearing ring 10 results.
• a sealing ring 22 is provided to seal off the contact area between the fastening flange and the bearing outer ring 10.
• the sealing ring 22 in the form of an O-ring is arranged in a groove in the bearing outer ring 10.
• the arrangement shown has the effect that during operation of the stress wave transmission 1 a lubricant circuit results in which the lubricant is moved by flexing movements between the internal toothing 7 and the external toothing 5 from the lubricant reservoir 20 through the drive bearing 23, the internal and external teeth 5, 7 , is conveyed through the interior 12 and through the at least one fürgangsöff opening 13 back into the lubricant reservoir 20.
• the bearing space 19 is sealed off from the environment by a radial shaft seal 25.
• the radial shaft sealing ring 25 between the bearing outer ring 1 0 and the bearing inner ring 1 1 is arranged on the side of the bearing space 19 opposite the interior 12.
• FIG. 2 the transmission component 4 of the first embodiment from FIG. 1 is shown in a perspective view. It can be seen that a plurality of through openings 13 are arranged uniformly distributed around the circumference of the sleeve section 14 in the transmission component 4.
• FIG. 3 shows a second embodiment of the stress wave transmission 1 in a sectional view, with only one half of the substantially rotationally symmetrical stress wave transmission 1 also being shown.
• the second embodiment differs from the first embodiment only in a few components. Therefore, the same components in Fig. 1 and Fig. 3 are provided with the same reference characters. Above all, the different features of the second embodiment are explained in more detail below.
• the through openings 26 are arranged in the second embodiment in the flange portion 15 which extends in the radial direction. As a result, the lubricant conveyed by the toothed area 21 into the interior 12 is guided outward in the axial direction in the radial direction after it has passed through the interior 12 before it can leave the interior 12 through the through openings 26.
• a lubricant deflecting element 18 is arranged in the interior 12, which directs the flow of lubricant in the direction of the through opening 26.
• the lubricant deflecting element 18 is designed as a deflecting disk which is clamped on its outer circumference between the flange section 15 of the transmission component 4 and the bearing outer ring 10.
• the disk-shaped lubricant deflecting element 18 rests against the bearing inner ring 11 in the radial inward direction. In this way, the lubricant gets through the Lubricant deflecting element 18 is directed in the direction of the through openings 26 and pressed through them.
• no lubricant can accumulate to such an extent that it is pressed through the bearing space 19. In this way, for example, a separation of different lubricants in the drive bearing 23 and in the main bearing 8 can be achieved and maintained.
• FIG. 4 shows the transmission component 4 of the second embodiment from FIG. 3 in a perspective view. It can be seen that twelve through-openings 26 are evenly distributed around the circumference of the flange section 15 in the transmission component 4. A shoulder 27 results in a space in which the lubricant emerging from the through openings 26 can flow back radially inward to a lubricant reservoir 20 on the inside of the sleeve section 14.

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• 2019
  • 2019-04-12 DE DE102019205338.6A patent/DE102019205338A1/de active Pending
• 2020
  • 2020-03-20 CN CN202080027866.5A patent/CN113661345A/zh active Pending
  • 2020-03-20 WO PCT/EP2020/057834 patent/WO2020207765A1/de active Application Filing

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