WO2022225131A1 - Démultiplicateur harmonique - Google Patents

Démultiplicateur harmonique Download PDF

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Publication number
WO2022225131A1
WO2022225131A1 PCT/KR2021/019371 KR2021019371W WO2022225131A1 WO 2022225131 A1 WO2022225131 A1 WO 2022225131A1 KR 2021019371 W KR2021019371 W KR 2021019371W WO 2022225131 A1 WO2022225131 A1 WO 2022225131A1
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WO
WIPO (PCT)
Prior art keywords
harmonic drive
flex spline
spline
gear
teeth
Prior art date
Application number
PCT/KR2021/019371
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English (en)
Korean (ko)
Inventor
윤호병
Original Assignee
윤호병
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Filing date
Publication date
Application filed by 윤호병 filed Critical 윤호병
Publication of WO2022225131A1 publication Critical patent/WO2022225131A1/fr

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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
    • 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

Definitions

  • the present invention relates to a harmonic drive.
  • the harmonic drive is a reducer with a small size, light weight, and high reduction ratio compared to the existing gear. It can realize high precision and high reduction ratio, so its application is gradually expanding in the fields of robots, precision equipment, and machine tools. It is becoming.
  • the conventional harmonic drive consists of three core elements: a wave generator 110 , a flex spline 120 , and a circular spline 130 . and, unlike the existing speed reducer, they are assembled on the same shaft.
  • the wave generator 110 is a component having an elliptical shape, and a ball bearing is assembled on the outer periphery of the elliptical cam 11d, the inner ring 11a of the bearing is fixed to the cam, and the outer ring 11b is the ball 11c. It converts the input circular power into elliptical wave-type power while performing elastic deformation motion through the
  • the flex spline 120 is a part that determines the reduction ratio of the gear and transmits power to the output side, and is a part made of a cup-shaped metal elastic body.
  • the flex spline 120 is composed of a flex spline body 12a and a diaphragm 12b.
  • the flex spline body 12a surrounds the outer ring 11b of the wave generator 110, and is made of a thin material that can be elastically deformed together with the outer ring 11b according to the rotation of the cam 11d.
  • a gear tooth T1 is formed.
  • the diaphragm (12b) forms an end of the flex spline body (12a) is connected to the output shaft (output shaft) (not shown).
  • the flex spline 120 is in contact with the elliptical wave generator 110 to transmit the decelerated power while elastically deforming it into an elliptical shape.
  • the circular spline 130 is a rigid ring-shaped part, and a plurality of gear teeth T2 are provided on the inner peripheral surface to engage the gear teeth T1 of the flex spline 120 .
  • the gear (T2) dimension of the circular spline 130 is manufactured to be larger than the gear (T1) dimension of the flex spline 120 in order to obtain a reduction ratio.
  • the flex spline 120 moves counterclockwise by the difference between the dimension of the flex spline 120 and the dimension of the circular spline 130 during one rotation of the wave generator 110 .
  • the flex spline 120 during one rotation of the wave generator 110 is relative to the circular spline 130 by two minutes. move in a counterclockwise direction. Therefore, since the reduction ratio can be given as much as the difference in the gear dimensions, a high reduction ratio can be obtained.
  • the conventional harmonic drive 600 has a limit in reducing the overall size of the harmonic drive due to the presence of the ball bearing structure of the wave generator located inside the flex spline. As an example, it is difficult to find a product with an outer diameter of less than ⁇ 20 mm of the wave generator.
  • the conventional harmonic drive is decelerated by the gear teeth of the flex spline and the gear teeth of the circular spline, but this configuration generally has a problem in that it is difficult to obtain a reduction ratio of 300:1 or more.
  • the present invention is to solve the problems of the prior art as described above, and an object of the present invention is to provide a harmonic drive capable of realizing the overall size of a harmonic drive more compactly and compactly and realizing a higher reduction ratio than the prior art. will be.
  • a harmonic drive is made of a sun gear connected to an input shaft, two or more planetary gears coupled to the sun gear and gear, and an elastic material. , having a plurality of first internal teeth and a plurality of external teeth, a flex spline in which the gear teeth of the planetary gear mesh with the first internal teeth, and a circular hollow portion in which the flex spline is located, the hollow A plurality of second internal teeth are formed around the inner wall of the part, and the external teeth of the flex spline include a circular spline that engages the second internal teeth.
  • the dimension of the second internal tooth of the circular spline is characterized in that it is larger than the dimension of the external tooth of the flex spline.
  • the input shaft corresponds to the shaft of the driving motor
  • the sun gear is formed at a distal end of the shaft of the driving motor.
  • the two or more planetary gears are characterized in that they are arranged to be spaced apart at the same angle with respect to the sun gear.
  • the plurality of first internal teeth and the plurality of external teeth of the flex spline is characterized in that it has the same dimensions ( ⁇ ).
  • the planetary gear has a through hole in its center
  • the harmonic drive further includes a carrier, and the carrier is fixed to a support bar passing through the through hole of the planetary gear, and to both ends of the support bar, respectively. and an upper plate and a lower plate, wherein the planetary gear is positioned between the upper plate and the lower plate.
  • a sleeve or bearing is provided between the support bar and the through hole of the planetary gear.
  • the flex spline has a thin cup shape with an open end, and a groove is formed on the inner wall so that a curved portion is formed toward the outer wall at the end of the first inner tooth and the outer tooth.
  • the harmonic drive according to the embodiment of the present invention having the above-described configuration has the following effects.
  • the harmonic drive of the present invention does not require the bearing configuration of the wave generator of the conventional harmonic drive, so it is possible to minimize the space for mounting the components, so that the harmonic drive can be implemented more compactly. It can be applied to various fields requiring a drive. In addition, an increased deceleration effect can be easily achieved by the combination of the sun gear and the planetary gear.
  • the harmonic drive of the present invention is configured to move the flex spline through a combination of a sun gear and a planetary gear, so that accurate deceleration driving can be achieved without a slip phenomenon.
  • the present invention also includes other effects expected from the above-described configuration.
  • FIG. 1 is a schematic diagram of a main configuration of a harmonic drive according to an embodiment of the present invention.
  • FIG. 2 shows that the sun gear of the harmonic drive of FIG. 1 is provided on the shaft of the motor drive.
  • FIG. 3 is a front view of the harmonic drive of FIG. 1 (carrier omitted);
  • FIG. 4 and 5 show a state in which a carrier is mounted in the harmonic drive of FIG. 1 .
  • Fig. 6 shows the annular flex splines of the harmonic drive of Fig. 1;
  • FIG. 7 shows a coupling relationship between a flex spline and a circular spline in the harmonic drive of FIG. 1 .
  • FIG. 8 shows a circular spline of the harmonic drive of FIG. 1 .
  • FIG. 9 is a schematic diagram illustrating the operation of the harmonic drive of FIG. 1 .
  • FIG. 10 is another embodiment of the harmonic drive of FIG. 1 .
  • FIG. 11 is another embodiment of the harmonic drive of FIG. 1 .
  • FIG. 12 shows a cup-shaped flex spline of the harmonic drive of FIG. 1 .
  • FIG. 1 is a schematic diagram of a harmonic drive 100 according to an embodiment of the present invention.
  • This harmonic drive includes sun gear (1), planetary gear (2), flex spline (3), and circular spline (4) as main components. do.
  • the sun gear 1 may be connected to the input shaft.
  • the input shaft 400 may correspond to the shaft of the driving motor 500
  • the sun gear 1 may be formed at the distal end of the shaft of the driving motor 500 .
  • the planetary gear (2) is gear-coupled with the sun gear (1).
  • two planetary gears 2 are arranged, but the number of planetary gears 2 may be two or more.
  • these planet gears 2 are arranged to be spaced apart from each other at the same angle with respect to the sun gear 1 . Accordingly, when the two planetary gears 2 are disposed, these planetary gears 2 are positioned opposite to each other with the sun gear 1 as the center. And the planetary gear 2 may have a through hole 21 in its center.
  • the present harmonic drive does not require a bearing configuration of the wave generator 11 of the conventional harmonic drive, so it is possible to minimize the space for mounting components, and thus a more compact harmonic drive can be implemented.
  • an increased deceleration effect can be easily achieved by the combination of the sun gear and the planetary gear.
  • the present harmonic drive is configured to move the flex spline as described later through the combination of the sun gear and the planetary gear, so that accurate deceleration driving can be achieved without slip phenomenon.
  • the harmonic drive may further include a carrier 5 .
  • the carrier 5 includes a support bar 51 passing through the through hole 21 of the planetary gear 2 , and an upper plate 52 and a lower plate 53 fixed to both ends of the support bar 51 , respectively. . And the planetary gear 2 is positioned between the upper plate 52 and the lower plate 53 . A sleeve or bearing (not shown) may be provided between the support bar 51 and the through hole 21 of the planetary gear 2 (FIG. 5A).
  • the carrier 5 is for increasing durability of the harmonic drive, and may be omitted in the case of a small harmonic drive.
  • the flex spline 3 is made of an elastic material, for example, a metal elastic material. As shown in FIG. 6 , the flex spline 3 is a thin annular metal elastic body part, and a plurality of first internal gears 31 are formed on its inner wall, and a plurality of external teeth on its outer wall. gear) 32 is formed. An output shaft (not shown) may be connected to one end of the flex spline 3 .
  • the plurality of first internal teeth 31 and the plurality of external teeth 32 of the flex spline 3 have the same dimensions (number of gear teeth). Therefore, the number of irregularities (see Fig. 7B) of the internal teeth and the external teeth of the flex spline are the same, and through this, the maximum uniform stress is generated when the flexible stress is applied to the flex spline, so that the structural stability of the flex spline is can increase And the gear teeth of the planetary gear (2) are meshed with the plurality of first internal teeth (31) of the flex spline (3).
  • the flex spline (3) may have a thin cup shape with one end open.
  • a curved groove 331 is formed on the inner wall so that a curved portion 33 is formed toward the outer wall at the portion where the first inner tooth 31 and the outer tooth 32 end. It is preferable to do so.
  • the inner diameter d1 of the spline body 34 is the same as or smaller than the inner diameter of the first inner tooth 31, the first inner tooth 31 is machined first, and then the spline body 34 is fixed to the tool holder of the cutting machine to provide an external tooth. (32) is advantageous for processing. And the curved groove 331 facilitates the separation of the chips by allowing the chips to flow smoothly during machining of the first internal teeth 31, and is located at the end of the first internal teeth 31 and the external teeth 32. By reducing the thick cross-sectional area to be formed, the elastic deformation of the flex spline 3 is advantageous.
  • the curved portion 33 having a curved groove 331 induces low elastic stress and increases the durability of the flex spline 3 in comparison with the angled groove shape during elastic deformation of the flex spline 3 . and to have low deformation resistance.
  • the circular spline 4 is a rigid ring-shaped part, and has a circular hollow part 41 in which the flex spline 3 is located, and around the inner wall of the hollow part 41 is A plurality of second internal teeth 42 are formed, and the external teeth 32 of the flex spline 3 may engage the second internal teeth 42 .
  • the dimension of the second internal tooth 42 of the circular spline 4 is smaller than the dimension of the external tooth 32 of the flex spline 3, for example, two or three pieces may be smaller.
  • FIG. 9 is a view sequentially illustrating a state in which the harmonic drive of FIG. 3 is driven.
  • the planetary gear 2 has 2
  • the outer tooth of the flex spline 3 has 98
  • the circular spline 4 has 100 inner teeth
  • the sun gear 1 has a diameter of ⁇ 5. 00
  • the diameter of the planetary gear 2 is ⁇ 12.50
  • the diameter of the flex spline 3 is ⁇ 30.00.
  • the flex spline 3 is elastically deformed into an elliptical shape by a pair of planetary gears 2, and a part of the flex spline 3 shouts of the circular spline 4 interlocks with mine
  • the flex spline 3 is a circular spline 4 . 1 rotation relative to
  • the final reduction ratio of the flex spline (output shaft) 3 to the rotation speed of the sun gear (input shaft) 1 is 1/300.
  • the final reduction ratio can be obtained by appropriately adjusting the relative ratio of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, to obtain various final reduction ratios.
  • a final reduction ratio of 1/200 can be obtained.
  • the diameter of the sun gear 1 is ⁇ 15
  • the diameter of the planetary gear 2 is ⁇ 7.5
  • the diameter of the flex spline 3 is ⁇ 30.00
  • a final reduction ratio of 1/100 can be obtained.
  • FIG. 10 illustrates a harmonic drive 200 according to another embodiment of the present invention.
  • the number of planetary gears 2 is 3
  • the external teeth of the flex spline 3 are 97
  • the internal teeth of the circular spline 4 are 100.
  • the final reduction ratio for example, when the diameter of the sun gear 1 is ⁇ 5.00, the diameter of the planetary gear 2 is ⁇ 12.50, and the diameter of the flex spline 3 is ⁇ 30.00, 1/200 is obtained can Similarly, by appropriately adjusting the relative ratios of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, various final reduction ratios can be obtained.
  • FIG. 11 illustrates a harmonic drive 300 according to another embodiment of the present invention.
  • the number of planetary gears 2 is 4, the outer tooth of the flex spline 3 is 96, and the inner tooth of the circular spline 4 is 100. There is a difference from (100), and the rest of the configuration and operation are the same.
  • the final reduction ratio for example, when the diameter of the sun gear 1 is ⁇ 5.00, the diameter of the planetary gear 2 is ⁇ 12.50, and the diameter of the flex spline 3 is ⁇ 30.00, 1/150 can be obtained have.
  • the final reduction ratio can be obtained by appropriately adjusting the relative ratios of the diameters of the sun gear 1, the planetary gear 2, and the flex spline 3, to obtain a desired final reduction ratio.
  • the harmonic drive according to the present invention can be used in various fields such as robots, precision instruments, and machine tools.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

Un démultiplicateur harmonique selon un mode de réalisation de la présente invention est caractérisé en ce qu'il comprend : un planétaire raccordé à un arbre d'entrée ; au moins deux satellites qui sont en prise par engrenage avec le planétaire ; une cannelure flexible qui est constituée d'un matériau élastique et qui présente une pluralité de premières dents internes et une pluralité de dents externes, des dents d'engrenage des satellites étant en prise avec les premières dents internes ; et une cannelure circulaire qui présente une partie creuse circulaire, dans laquelle la cannelure flexible est située, et une pluralité de secondes dents internes, qui sont formées le long de la paroi interne de la partie creuse, les dents externes de la cannelure flexible étant en prise avec les secondes dents internes.
PCT/KR2021/019371 2021-04-22 2021-12-20 Démultiplicateur harmonique WO2022225131A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020210052291A KR102321140B1 (ko) 2021-04-22 2021-04-22 하모닉 드라이브
KR10-2021-0052291 2021-04-22

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Publication Number Publication Date
WO2022225131A1 true WO2022225131A1 (fr) 2022-10-27

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PCT/KR2021/019371 WO2022225131A1 (fr) 2021-04-22 2021-12-20 Démultiplicateur harmonique

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WO (1) WO2022225131A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102321140B1 (ko) * 2021-04-22 2021-11-02 윤호병 하모닉 드라이브

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070070654A (ko) * 2005-12-29 2007-07-04 김영석 하모닉 드라이브를 이용한 감속유닛
KR20100070607A (ko) * 2008-12-18 2010-06-28 삼익에이치디에스(주) 탄성 이중 링기어형 감속기
KR20130075864A (ko) * 2011-12-28 2013-07-08 재단법인 포항산업과학연구원 플렉 스플라인 및 이를 포함하는 하모닉 드라이브
KR20190001542A (ko) * 2017-06-27 2019-01-04 나부테스코 가부시키가이샤 감속기
KR102321140B1 (ko) * 2021-04-22 2021-11-02 윤호병 하모닉 드라이브

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070070654A (ko) * 2005-12-29 2007-07-04 김영석 하모닉 드라이브를 이용한 감속유닛
KR20100070607A (ko) * 2008-12-18 2010-06-28 삼익에이치디에스(주) 탄성 이중 링기어형 감속기
KR20130075864A (ko) * 2011-12-28 2013-07-08 재단법인 포항산업과학연구원 플렉 스플라인 및 이를 포함하는 하모닉 드라이브
KR20190001542A (ko) * 2017-06-27 2019-01-04 나부테스코 가부시키가이샤 감속기
KR102321140B1 (ko) * 2021-04-22 2021-11-02 윤호병 하모닉 드라이브

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