WO2023042331A1 - 波動歯車装置 - Google Patents
波動歯車装置 Download PDFInfo
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- WO2023042331A1 WO2023042331A1 PCT/JP2021/034077 JP2021034077W WO2023042331A1 WO 2023042331 A1 WO2023042331 A1 WO 2023042331A1 JP 2021034077 W JP2021034077 W JP 2021034077W WO 2023042331 A1 WO2023042331 A1 WO 2023042331A1
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- transmission
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Classifications
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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
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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
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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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring 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
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
Definitions
- the present disclosure relates to strain wave gearing.
- a strain wave gearing device disclosed in Patent Document 1 includes a flex gear portion that is fitted to a wave motion generating portion that is an input rotation element, an internal gear portion that meshes with the flex gear portion, and an output gear that rotates according to the rotation of the flex gear portion. and a plate portion.
- the output plate portion is an output element for reduced rotation in the strain wave gearing.
- the flex gear portion is provided with a plurality of transmission pin portions arranged along the circumferential direction.
- the transmission pin portion includes a transmission pin body extending along the rotation axis of the output element and a transmission roller rotatably supported on the transmission pin body.
- the output plate portion is provided with a hole into which the transmission roller is inserted and which allows displacement of the transmission pin portion in at least one of the circumferential direction and the radial direction during rotation transmission.
- Patent Document 2 describes a dual-type wave gear device provided with a pair of a first internal gear and a second internal gear as a configuration corresponding to the internal gear portion.
- the external gear corresponding to the flex gear portion has first external teeth that mesh with the first internal gear, second external teeth that mesh with the second internal gear, and a rim that connects the two. formed integrally.
- the first internal gear is a fixed element that does not rotate, while the second internal gear is rotatable and the output element of the strain wave gearing. That is, this dual-type strain wave gearing device transmits the rotational power of the external gear from the second external gear to the second internal gear to obtain a reduced rotational output.
- the device described in Patent Document 1 can suppress the generation of the unnecessary torsional force.
- this device also has a complicated structure, and it is not easy to work to attach the transmission pin portion to the flex gear portion with high accuracy.
- the flex gear portion may become fragile due to the process of attaching the transmission pin portion to the flex gear portion.
- An object of the present disclosure is to provide a strain wave gearing that has a simple structure and can reduce the risk of failure.
- the strain wave gearing includes: an internal gear portion having an inner gear formed along the inner peripheral surface; a wave generator having a cam portion that rotates about an axis in response to rotational input; a flex gear portion having a ring-shaped outer gear formed along an outer peripheral surface with fewer teeth than the inner gear and having an inner peripheral side fitted into the wave motion generating portion; an output section that rotates with the flex gear section relative to the internal gear section;
- the cam portion has N (N is an integer equal to or greater than 2) pole portions positioned at equal intervals in a circumferential direction about the axis, and the outer gear is meshed with the inner gear at N points, the flex gear portion has a first annular portion integrally formed of the same material as the outer gear and positioned closer to the output portion than the outer gear in the direction along the axis;
- the output portion has a second annular portion facing the first annular portion in a radial direction about the axis, One of the first annular portion and
- a plurality of transmission pairs which are pairs of the transmission tooth and the recess, are arranged in the circumferential direction.
- FIG. 1 is a schematic cross-sectional view of a main configuration of a strain wave gearing according to an embodiment of the present disclosure
- FIG. FIG. 4 is a view of the main configuration of the strain wave gearing according to the same embodiment as viewed from the axial direction, showing a case where the number of poles of the cam portion is two
- FIG. 3 is a view showing part of the outer peripheral surface of the flex gear portion of FIG. 2; The figure for demonstrating the arrangement
- FIG. 4 is a view of the cam portion and the flex gear portion as seen from the axial direction, showing the case where the number of poles of the cam portion is 3
- FIG. 10 is a view of the cam portion and the flex gear portion as seen from the axial direction, showing a case where the number of poles of the cam portion is four;
- FIG. 5 is a diagram for explaining the arrangement and function of transmission pairs according to Modification 1;
- FIG. 10 is a diagram showing the shape of a transmission pair according to Modification 2;
- the strain wave gearing 100 is incorporated into an industrial robot 200 as shown in FIG.
- the robot 200 is composed of, for example, a vertically articulated robot.
- the robot 200 includes a first arm 211, a second arm 212 connected to the first arm 211 via the wave gear device 100, a motor 213, and a controller (not shown).
- the motor 213 is composed of a servo motor or the like, and operates under the control of a controller.
- the controller rotates the second arm 212 via the motor 213 built in the first arm 211 and the wave gear device 100 to control the positioning, angle, and rotation speed of the second arm 212 with respect to the first arm 211. control.
- the strain wave gear device 100 includes a wave motion generating section 10 , a flex gear section 20 , an internal gear section 30 , an output section 40 and a support section 50 .
- FIG. 1 hatching indicating a cross section of a part of the configuration is omitted in consideration of visibility, and configurations other than the strain wave gearing 100 are indicated by phantom lines.
- the right side in FIG. 1 may be called the input side (Si in the drawing), and the left side may be called the output side (So in the drawing).
- the wave motion generator 10 includes a cylindrical shaft portion 11, a cam portion 12 integrally formed with the cylindrical shaft portion 11, and a wave bearing 13.
- the cylindrical shaft portion 11 has an input-side end rotatably supported by the bearing B1 and an output-side end rotatably supported by the bearing B2.
- the bearing B ⁇ b>1 is provided on a stationary portion 211 a that is stationary with respect to the first arm 211 .
- the bearing B2 is provided on the inner peripheral surface of the output portion 40 .
- the bearings B1 and B2 are, for example, ball bearings.
- the cam portion 12 is provided so as to protrude in the outer diameter direction from the outer peripheral surface of the cylindrical shaft portion 11 .
- the cam portion 12 is provided at a position adjacent to the bearing B1 in the direction along the axis AX (hereinafter also referred to as "axial direction").
- the cam portion 12 has N (N is an integer equal to or greater than 2) pole portions positioned at equal intervals in the circumferential direction around the axis AX.
- the number of pole portions that the cam portion 12 has is referred to as the number of poles.
- the cam portion 12 has an elliptical shape when viewed from the axial direction, as shown in FIG.
- the wave bearing 13 is inserted between the inner ring 13i fixed to the outer peripheral surface of the cam portion 12, the flexible outer ring 13o, and the inner ring 13i and the outer ring 13o in a rollable state. and a plurality of balls 13b that are formed.
- the inner ring 13 i may be configured by a portion including the outer peripheral surface of the cam portion 12 .
- the flex gear portion 20 is made of a metal material such as special steel with flexibility, and has an outer gear 21 , a first annular portion 22 and a connection portion 23 .
- the outer gear 21, the first annular portion 22 and the connecting portion 23 are integrally formed of the same material.
- the outer gear 21 has a plurality of teeth 21 a formed along the outer peripheral surface and is formed in a ring shape, and the inner peripheral side is fitted to the outer ring 13 o of the wave motion generating section 10 .
- a plurality of teeth 21a in the outer gear 21 are arranged along the circumferential direction at a constant pitch.
- the number of teeth t which is the number of teeth 21a of the outer gear 21, is smaller than the number of teeth T, which is the number of teeth 31a of the inner gear 31, which will be described later.
- the first annular portion 22 is an annular portion positioned closer to the output portion 40 than the outer gear 21 in the axial direction. As shown in FIG. 4, the first annular portion 22 is provided with recesses 6b into which transmission teeth 6a provided on the output portion 40 are inserted. The power of the flex gear portion 20 is transmitted to the output portion 40 by the engagement of the transmission teeth 6a and the recesses 6b.
- the recesses 6b are provided in the same number as the transmission teeth 6a, and are provided in plurality along the circumferential direction about the axis AX. The transmission teeth 6a and recesses 6b will be described in detail later.
- the connecting portion 23 connects the outer gear 21 and the first annular portion 22 having a smaller diameter than the outer gear 21 . As shown in FIG. 1, the connecting portion 23 is inclined from the outer gear 21 toward the first annular portion 22 so as to approach the axis AX.
- FIG. 3 is a view of part of the outer peripheral surface of the flex gear portion 20 viewed from the 0° direction shown in FIG.
- the internal gear portion 30 is rigidly formed from a metal material and fixed inside the first arm 211 .
- the internal gear portion 30 has an inner gear 31 that partially meshes with the outer gear 21 of the flex gear portion 20 bent by the cam portion 12 .
- the inner gear 31 is formed in a ring shape having a plurality of teeth 31a formed along the inner peripheral surface. A plurality of teeth 31a in the inner gear 31 are arranged along the circumferential direction at a constant pitch.
- the internal gear portion 30 is generally cylindrical. On the input side of the strain wave gearing 100, the internal gear portion 30 and the stationary portion 211a provided with the bearing B1 face each other in the axial direction. An annular groove centered on the axis AX is provided in a portion of the internal gear portion 30 facing the stationary portion 211a, and an O-ring 71 is fitted in this groove.
- the internal gear portion 30 is fixed to the stationary portion 211a by a screw 81 along the axial direction.
- the output section 40 rotates with respect to the internal gear section 30 together with the flex gear section 20 .
- the output portion 40 is supported by the support portion 50 so as to be rotatable about the axis AX with respect to the internal gear portion 30 .
- the output part 40 is made of, for example, a metal material and has rigidity and is formed in a ring shape.
- the output portion 40 has a second annular portion 41 that faces the first annular portion 22 and a second annular portion 41 that faces the first annular portion 22 in a radial direction about the axis AX (hereinafter also simply referred to as a “radial direction”). and a supported portion 42 which is a portion positioned on the side and supported by the support portion 50 .
- the second annular portion 41 of this embodiment is positioned on the inner peripheral side of the first annular portion 22 of the flex gear portion 20 .
- the second annular portion 41 is provided with transmission teeth 6a.
- the support portion 50 is composed of, for example, a cross roller bearing, and includes an outer ring 51 fixed to the internal gear portion 30 and an inner ring 52 fixed to the supported portion 42 of the output portion 40 .
- the outer ring 51 is fixed to the internal gear portion 30 with screws 82 .
- the inner ring 52 is fixed to the supported portion 42 with screws 83 . Both screws 82 and 83 are axially aligned.
- the internal gear portion 30 and the outer ring 51 of the support portion 50 face each other in the axial direction.
- the internal gear portion 30 is formed along the axial direction and includes an insertion hole 32 into which the screw 82 is inserted, and a specific portion 33 positioned between the insertion hole 32 and the first annular portion 22 .
- the specific portion 33 has an annular groove 33a around the axis AX in a portion facing the outer ring 51 in the axial direction.
- An O-ring 72 is fitted in the annular groove 33a. The O-ring 72 and the O-ring 71 described above prevent water from entering from the outside of the device, oil from leaking from the inside of the device, and the like.
- the output section 40 is connected to the second arm 212 which is the load of the strain wave gearing 100 via the inner ring 52 of the support section 50 .
- the second arm 212 rotates around the axis AX as the output section 40 rotates. The manner in which the output section 40 is supported by the support section 50 and the connection method between the output section 40 and the load can be arbitrarily changed.
- the first annular portion 22 of the flex gear portion 20 and the second annular portion 41 of the output portion 40 are positioned between the support portion 50 and the cam portion 12 in the axial direction.
- the transmission tooth 6a of the second annular portion 41 is pushed in the circumferential direction about the axis AX by the concave portion 6b of the first annular portion 22 (hereinafter also simply referred to as the “circumferential direction”), the output portion 40 rotates with the flex gear portion 20 .
- the transmission teeth 6a are configured to transmit the power of the flex gear portion 20 to the output portion 40.
- the transmission teeth 6 a project radially from the outer peripheral surface of the second annular portion 41 and are inserted into the recesses 6 b of the first annular portion 22 .
- the recess 6 b is provided on the inner peripheral surface of the first annular portion 22 .
- the recesses 6b are wider than the transmission teeth 6a along the circumferential direction (the direction of symbol C shown in FIGS. 2 and 3).
- the concave portion 6b allows relative displacement with respect to the transmission teeth 6a in the circumferential direction (that is, relative displacement in the circumferential direction of the flex gear portion 20 and the output portion 40).
- the widths of the transmission teeth 6a and the recesses 6b along the circumferential direction should be set so that a first pair 61 and a second pair 62, which will be described later, can appear as pairs of the transmission teeth 6a and the recesses 6b.
- a plurality of transmission pairs, which are pairs of transmission teeth 6a and recesses 6b, are provided along the circumferential direction and are arranged at equal intervals in the circumferential direction.
- the rotational power of the motor 213 is transmitted to the cam portion 12 of the wave generating portion 10 via a transmission mechanism (not shown), and the cam portion 12 moves relatively around the axis AX. Spin at high speed.
- the cam portion 12 before the start of rotation is in the initial position where the long axis of the elliptical shape coincides with the axis passing through 0° and 180°, as shown in FIG. shall be
- the cam portion 12 at the initial position meshes the outer gear 21 of the flex gear portion 20 with the inner gear 31 of the internal gear portion 30 at two meshing positions of 0° and 180° corresponding to the two poles.
- the illustrated angle is an angle centered on the axis AX, and assumes that the direction of 12 o'clock is 0° and the angle increases clockwise. It is also assumed that the cam portion 12 rotates clockwise.
- the flex gear portion 20 is elastically deformed according to the rotation of the cam portion 12, and the meshing position with the internal gear portion 30 is sequentially moved.
- the cam portion 12 rotates by 360°
- the rotation of the load (in this example, the second arm 212) connected to the output section 40 can be controlled with high precision by the output reduced by the reduction ratio i. .
- the speed reduction ratio i is arbitrary, but can be set, for example, from about 1/30 to 1/320.
- the outer gear 21 of the flex gear portion 20 is flexed via the wave bearing 13 by the cam portion 12 having N poles, and meshes with the inner gear 31 of the internal gear portion 30 at N points.
- the number of poles of the cam portion 12 is N
- the flex gear portion 20 moves counterclockwise by N teeth.
- the flex gear portion 20 moves by one tooth with respect to the internal gear portion 30 when the cam portion 12 rotates by an angle of (360°/N).
- the cam portion 12 of the wave motion generating portion 10 rotates accordingly, the meshing positions of the gears of the flex gear portion 20 and the internal gear portion 30 move in the circumferential direction, and according to the difference in the number of teeth between the two gears, The flex gear portion 20 rotates in the opposite direction to the cam portion 12 with respect to the internal gear portion 30 .
- FIG. 4 is a diagram (hereinafter referred to as a relative displacement diagram) showing the relative displacement of the transmission tooth 6a and the recessed portion 6b in the range of 0° to 180° while rotating around the center.
- the position of the transmission tooth 6a with respect to the concave portion 6b is not uniform at each position where the transmission tooth 6a is provided. This is due to the occurrence of the phase shift as described in the above problem.
- the strain wave gearing 100 according to the present embodiment reduces the generation of unnecessary stress that does not contribute to the rotation of the output section 40 due to the phase shift due to the action of the transmission tooth 6a and the concave portion 6b, which will be described below. To rotate the output part 40 with good transmission efficiency.
- the second annular portion 41 of the output portion 40 is provided with 16 transmission teeth 6a arranged at regular intervals in the circumferential direction.
- the transmission tooth 6a positioned in the 90° direction when the transmission tooth 6a is positioned in the center of the recess 6b in the circumferential direction, the transmission tooth 6a positioned in the 90° direction , and the transmission tooth 6a located in the 180° direction is located in the center in the circumferential direction of the corresponding recess 6b.
- the transmission teeth 6a positioned in the directions of 0°, 90°, and 180° are not in contact with the corresponding recessed portions 6b in the circumferential direction, and thus do not contribute to the rotation of the output portion 40.
- the transmission pair in which the transmission tooth 6a is located in the center of the recess 6b in the circumferential direction such as the transmission pair located in each direction of 0°, 90° and 180° in FIG.
- the transmission pair in the first state does not contribute to rotation of the output section 40 .
- the transmission tooth 6a positioned in the 135° direction is positioned at the other circumferential end (counterclockwise end in the drawing) of the recess 6b into which it is inserted.
- the output portion 40 contributes to the rotation of Since the transmission teeth 6a located in the 135° direction come into circumferential contact with the concave portions 6b of the flex gear portion 20 that move clockwise when the cam portion 12 rotates counterclockwise, the output portion 40 contributes to the rotation of
- a transmission pair in which the transmission tooth 6a abuts the concave portion 6b in the circumferential direction is referred to as a transmission pair in the second state. That is, the transmission pair in the second state contributes to rotation of the output section 40 .
- the transmission pairs located in the respective directions of 22.5°, 67.5°, 112.5°, and 157.5° are transmission pairs in the middle of transition from one of the first state and the second state to the other. pair.
- This intermediate transmission pair also does not contribute to the rotation of the output section 40 because the transmission tooth 6a is not in contact with the concave portion 6b in the circumferential direction.
- the behavior of the transmission teeth 6a and the recesses 6b in each range of 180° to 360° is the same as that of the transmission teeth 6a and the recesses 6b in the range of 0° to 180°. That is, the transmission pair in the first state and the transmission pair in the second state appear alternately at each position where the central angle with respect to the axis AX is 45°. Also, although the relative displacement diagram in FIG. 4 is static, the transmission pair in the first state transitions to the transmission pair in the second state via an intermediate state according to the rotation of the flex gear portion 20 . Conversely, the transmission pair in the second state transitions to the transmission pair in the first state via an intermediate state.
- the flex gear portion 20 moves by one tooth with respect to the internal gear portion 30 when the cam portion 12 rotates by an angle of (360°/2).
- the transmission pair within this range of 180° includes a first pair 61 in which the transmission tooth 6a is located at one end of the recess 6b in the circumferential direction, and a first pair 61 in which the transmission tooth 6a is located at the other end in the circumferential direction of the recess 6b. 2 pairs 62 and .
- the first pair 61 is the transmission pair positioned at 45° and the second pair 62 is the transmission pair positioned at 135°. If this is considered within a range of 360°, the 16 transmission pairs consist of two first pairs 61 equally spaced in the circumferential direction and two first pairs 61 equally spaced in the circumferential direction. second pair 62 of . Within 360°, the first pair 61 and the second pair 62 alternate every 90°.
- N an integer equal to or greater than 2
- (4 ⁇ N) is selected as the number excluding transmission pairs in intermediate states.
- the transmission pairs are evenly spaced in the circumferential direction.
- Transmission pairs within this (360°/N) range include a first pair 61 and a second pair 62 .
- the (4 ⁇ N) number of transmission pairs are equal to the number of N first pairs 61 arranged at equal intervals in the circumferential direction. and N second pairs 62 arranged.
- the first pair 61 and the second pair 62 alternate every 360°/(2 ⁇ N).
- the transmission pair in the first state and the transmission pair in the second state appear alternately, so that the relative displacement of the transmission tooth 6a and the recess 6b in the circumferential direction can be absorbed by a so-called cam system. Therefore, according to the strain wave gearing 100, unnecessary stress that does not contribute to the torque for rotating the output section 40 is reduced from being generated in each of the flex gear section 20 and the output section 40, and unnecessary torsional force is reduced. The force applied to the gear portion 20 can be reduced.
- FIG. 4 corresponds to a state in which the flex gear portion 20 is meshed with the internal gear portion 30 at two points of 0° and 180° corresponding to the extreme portions of the cam portion 12 . That is, the flex gear portions 20 shown in FIGS. 2 and 4 correspond.
- the transmission teeth 6a and the recesses 6b are radially separated in the transmission pairs in the 0° and 180° directions. At this time, in the transmission pairs in the 90° and 270° directions, the transmission teeth 6a and the recesses 6b are closest in the radial direction.
- the transmission teeth 6a and the recesses 6b When the transmission teeth 6a and the recesses 6b are closest to each other in the radial direction, the transmission teeth 6a and the recesses 6b may or may not be in contact with each other in the radial direction.
- the radial distance between the transmission tooth 6a and the recess 6b In the transmission pair between 0° and 90°, the radial distance between the transmission tooth 6a and the recess 6b gradually narrows as 90° is approached.
- the radial spacing between the transmission teeth 6a and the recesses 6b In transmission pairs between 90° and 180°, gradually increases as 180° is approached. This relationship is the same in the range of 180° to 360°.
- the transmission teeth 6a and the recesses 6b are separated in the radial direction.
- the first annular portion 22 allows radial displacement with respect to the second annular portion 41 .
- the transmission teeth 6a and the concave portions 6b are separated in the radial direction.
- the first annular portion 22 allows radial displacement with respect to the second annular portion 41 .
- each of the plurality of transmission pairs is set in such a shape that the transmission tooth 6a does not come off from the concave portion 6b in any of the first state, the second state, and the intermediate state.
- the transmission pairs in the second state include a first pair 61 and a second pair 62 equally spaced in the circumferential direction. Thereby, the force in the circumferential direction can be efficiently transmitted from the flex gear portion 20 to the output portion 40 .
- the mechanical loss that occurs when the flex gear portion 20 and the output portion 40 are completely fixed can be greatly reduced, and good transmission efficiency can be achieved. can be done. Moreover, it is possible to suppress damage to the flex gear portion 20 .
- the output points (that is, the positions where the transmission pairs are provided) for transmitting force from the flex gear portion 20 to the output portion 40 can be evenly distributed in the circumferential direction, the meshing points of the flex gear portion 20 and the internal gear portion 30 is reduced, and as a result, the output section 40 can be rotated with high torque.
- the number of transmission pairs is not limited to (4 ⁇ N).
- the number of transmission pairs can be changed arbitrarily.
- the 32 transmission pairs consist of eight first pairs 61 equally spaced in the circumferential direction and eight pairs 61 equally spaced in the circumferential direction.
- second pair 62 of .
- the number of transmission pairs may be set regardless of the number of N.
- the output section 40 can be stably rotated. In this way, the output portion 40 provided with the transmission teeth 6a can be shared regardless of the number of poles N of the cam portion 12, so that manufacturing efficiency can be improved.
- the strain wave gearing 100 in which the number of transmission pairs is set to (2 ⁇ N) or set to a fixed value (for example, 16) regardless of the number of N can be used in the same manner as described above. This action can reduce unnecessary stress and achieve good transmission efficiency.
- the transmission tooth 6a is positioned at one end of the recess 6b in the circumferential direction
- the transmission tooth 6a is in contact with or is close to one end of the recess 6b in the circumferential direction. Any form is acceptable.
- the transmission tooth 6a is located at the other end of the recess 6b in the circumferential direction” means that the transmission tooth 6a is in contact with or close to the other end of the recess 6b in the circumferential direction.
- the first pair 61 and the second pair 62 are arranged in such a manner that when the flex gear portion 20 moves toward the transmission tooth 6a, the recess 6b immediately pushes the transmission tooth 6a in the circumferential direction. I wish I had.
- a plurality of transmission pairs "arranged at equal intervals in the circumferential direction" means that the plurality of transmission teeth 6a arranged at equal intervals in the circumferential direction are inserted into the corresponding plurality of concave portions 6b. It is acceptable if it is in a state where For example, transmission pairs positioned in directions of 0°, 90° and 180° refer to transmission pairs in which the transmission teeth 6a are positioned in directions of 0°, 90° and 180°. This relationship is the same for other angles. Since the concave portion 6b is provided in the flexible flex gear portion 20, there is a deviation of -2 degrees to +2 degrees with respect to the corresponding transmission tooth 6a depending on the state of the transmission pair. occur.
- the plurality of transmission pairs need not be arranged at regular intervals in the circumferential direction.
- the center of gravity of the entire output section 40 provided with the plurality of transmission teeth 6a should be aligned with the axis AX to minimize the moment of inertia around the axis AX. is preferred.
- the first annular portion 22 of the flex gear portion 20 and the second annular portion 41 of the output portion 40 are positioned between the support portion 50 and the cam portion 12 .
- the distance in the axial direction from the rotational input element to the rotational output element can be shortened.
- each configuration can be made compact in the axial direction, and the strain wave gearing 100 can be configured in a small size.
- the flex gear portion 20 and the internal gear portion 30 that mesh with each other are less likely to receive stress in a direction oblique to the axis AX.
- one tooth crest and the other tooth bottom in the flex gear portion 20 and the internal gear portion 30 can be brought into contact along the axial direction, thereby suppressing mutual wear of the gears.
- the wave gear device 100 not only the cam portion 12 but also the flex gear portion 20 and the output portion 40 are hollow ring-shaped when viewed from the axial direction. Therefore, it is possible to secure a space inside the device for passing wiring and the like.
- the end of the flex gear portion 20 on the output side is not closed, the flexibility of the flex gear portion 20 can be maintained while ensuring a certain thickness of the flex gear portion 20 . Therefore, the flex gear portion 20 can have good buckling resistance and is less likely to be damaged.
- the thickness of the flex gear portion 20 is not limited, it can be set to about 0.5 mm to 1 mm, for example.
- the flex gear portion 20 has a bottomless tubular shape, it is easy to process. Of course, according to the strain wave gearing 100, backlash can be eliminated in principle and lost motion can be minimized.
- the number of teeth t should be increased, or the ratio of the diameter d of the flex gear portion 20 to the diameter D of the internal gear portion 30 should be increased.
- the number of teeth t is decreased, or the ratio of the diameter d of the flex gear portion 20 to the diameter D of the internal gear portion 30 is decreased.
- the elliptical cam portion 12 imposes various restrictions on the size and conditions of the device, making it difficult to achieve all reduction ratios.
- setting the number of teeth T and t, and changing the diameters of the flex gear portion 20 and the internal gear portion 30 can realize an almost infinite number of variations of the reduction ratio. can.
- the output portion 40 may be positioned on the outer peripheral side of the flex gear portion 20 as in Modification 1 shown in FIG.
- the second annular portion 41 of the output portion 40 is positioned on the outer peripheral side of the first annular portion 22 of the flex gear portion 20 .
- the transmission tooth 6 a fixed to the second annular portion 41 extends toward the axis AX and is inserted into the recess 6 b provided in the first annular portion 22 .
- FIG. 7 the flex gear portion 20 and the output portion 40 seen from the axial direction are shown on the outer peripheral side of the drawing.
- FIG. 10 is a diagram showing the relative displacement of the transmission tooth 6a and the recess 6b in the illustrated range of 0° to 180° when rotating about .
- the number and functions of transmission pairs which are pairs of transmission teeth 6a and recesses 6b, can be considered in the same manner as in the above-described embodiment.
- the transmission teeth 6a protrude with a uniform width and the recesses 6b are also recessed with a uniform width.
- the transmission tooth 6a may be tapered toward the recess 6b, and the recess 6b may also be formed from a tapered recess corresponding to the transmission portion 6a. good.
- the second annular portion 41 is provided with the transmission tooth 6a and the first annular portion 22 is provided with the recessed portion 6b
- this relationship may be reversed.
- the recesses are provided in the second annular part 41, and the transmission teeth are formed in the first annular part 22. It can also be expressed as having been provided. Even if this expression is used, the number and functions of pairs of transmission teeth and recesses can be considered in the same way as in the above-described embodiment.
- a plurality of transmission pairs "arranged at equal intervals in the circumferential direction" means, for example, that a plurality of recesses arranged at equal intervals in the circumferential direction are provided with a plurality of corresponding transmission teeth. is inserted.
- the strain wave gearing 100 can be incorporated in various robots such as horizontal articulated robots and delta robots. Further, the device into which the strain wave gearing 100 is incorporated is not limited to a robot, and any device may be used as long as it is used for the purpose of obtaining a rotational output reduced by a desired reduction ratio with respect to a rotational input.
- the strain wave gearing 100 may be incorporated in, for example, precision machines other than robots, hobby goods, household appliances, vehicle-mounted parts, and the like.
- the number t of teeth of the flex gear portion 20 and the number T of teeth of the internal gear portion 30 are arbitrary as long as T>t.
- the material of the members constituting the strain wave gearing 100 is arbitrary, and is not limited to metal, and can be appropriately selected according to the purpose from engineering plastics, resins, ceramics, and the like.
- the strain wave gearing 100 described above has transmission pairs, which are pairs of transmission teeth 6a and recesses 6b, as a configuration for transmitting the power of the flex gear portion 20 to the output portion 40.
- FIG. The recesses 6b are wider in the circumferential direction than the transmission teeth 6a, and allow relative displacement of the flex gear portion 20 and the output portion 40 in the circumferential direction. According to this configuration, as described above, unnecessary stress mainly applied to the flex gear portion 20 can be suppressed, so the strain wave gearing 100 is less likely to be damaged.
- the flex gear portion 20 also has a first annular portion 22 integrally formed of the same material as the outer gear 21 . Therefore, the structure is simple.
- the flex gear portion 20 including the first annular portion 22 that transmits force to the output portion 40 as well as the outer gear 21 can be manufactured at one time by, for example, cutting, manufacturing is easy. be.
- the flex gear portion 20 and the output portion 40 rotate together. In other words, even if the cam portion 12 rotates, the transmission tooth 6a inserted into a certain recessed portion 6b will not move to the adjacent recessed portion 6b. Relations are preserved.
- the outer gear 21 rotates with respect to the internal gear portion 30 while the meshing position with the inner gear 31 is shifted, while the first annular portion 22 engages with the second annular portion 41 of the output portion 40 .
- the number of transmission pairs is 2 ⁇ N or more, and may be arranged at regular intervals in the circumferential direction. According to this configuration, the output points for transmitting force from the flex gear portion 20 to the output portion 40 can be evenly distributed in the circumferential direction, so that the output portion 40 can be rotated with high torque.
- the number of transmission pairs may be 4 ⁇ N or more, or a fixed number (for example, 16) regardless of the number N of poles.
- the plurality of transmission pairs include transmission pairs that satisfy the conditions of the first pair 61 and the second pair 62 while the cam portion 12 is rotating around the axis AX. According to this configuration, as described above, the force in the circumferential direction can be efficiently transmitted from the flex gear portion 20 to the output portion 40 .
- the transmission tooth 6a and the recessed portion 6b are separated in the radial direction.
- the first annular portion 22 allows radial displacement with respect to the second annular portion 41 .
- the first annular portion 22 has a smaller diameter than the outer gear 21 .
- the flex gear portion 20 connects the outer gear 21 and the first annular portion 22 and has a connection portion 23 integrally formed of the same material as the outer gear 21 and the first annular portion 22 . With this configuration, the space existing on the outer peripheral side of the first annular portion 22 can be effectively used. Further, since the flex gear portion 20 including the outer gear 21, the first annular portion 22 and the connecting portion 23 can be manufactured at once by cutting, for example, manufacturing is easy.
- the first annular portion 22 and the second annular portion 41 are positioned between the support portion 50 and the cam portion 12 . According to this configuration, as described above, the length in the axial direction from the cam portion 12 to the output point of the flex gear portion 20 can be reduced.
- the internal gear portion 30 also includes an insertion hole 32 into which the screw 82 is inserted, and a specific portion 33 positioned between the insertion hole 32 and the first annular portion 22 .
- the specific portion 33 has an annular groove 33a around the axis AX in a portion facing the outer ring 51 in the axial direction.
- An O-ring 72 is fitted in the annular groove 33a.
- the strain wave gear device 100 a structure is adopted in which the power of the flex gear portion 20 is transmitted to the output portion 40 by meshing the first annular portion 22 and the second annular portion 41.
- the support portion 50 is not limited to a cross roller bearing, and may be a ball bearing, a bearing that supports the output portion 40 so as to be slidable, or the like.
- SYMBOLS 100... Strain wave gearing 10... Wave motion generating part, AX... Axis line 11... Cylindrical shaft part, 12... Cam part, 13... Wave bearing 20... Flex gear part 21... Outer gear, 22... First annular part, 23... Connection part 30 ... Internal gear part 31... Inner gear, 32... Insertion hole, 33... Specific part, 33a... Annular groove 40... Output part 41... Second annular part, 42... Supported part 50... Support part 51... Outer ring, 52... Inner ring 6a... transmission tooth, 6b... recess, 61... first pair, 62... second pair, 72... O-ring
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Abstract
Description
内周面に沿って形成されたインナギアを有するインターナルギア部と、
回転入力に応じて軸線を中心として回転するカム部を有する波動発生部と、
前記インナギアよりも少ない歯数で外周面に沿って形成され、内周側が前記波動発生部に嵌め込まれたリング状のアウタギアを有するフレックスギア部と、
前記インターナルギア部に対し、前記フレックスギア部と共に回転する出力部と、を備え、
前記カム部は、前記軸線を中心とした円周方向において等間隔で位置するN(Nは、2以上の整数)個の極部を有し、前記アウタギアをN箇所で前記インナギアと噛み合わせ、
前記フレックスギア部は、前記アウタギアと同じ材料で一体に形成され、前記軸線に沿う方向において前記アウタギアよりも前記出力部の近くに位置する第1環状部を有し、
前記出力部は、前記軸線を中心とした径方向において前記第1環状部と対向する第2環状部を有し、
前記第1環状部及び前記第2環状部の一方には前記径方向に沿って突起する伝達歯が設けられ、前記第1環状部及び前記第2環状部の他方には前記伝達歯が挿入される凹部が設けられ、
前記凹部は、前記伝達歯よりも前記円周方向に沿う幅が広く、前記フレックスギア部及び前記出力部の前記円周方向における相対的な変位を許容し、
前記伝達歯及び前記凹部の対である伝達対は、複数あり、前記円周方向に配列されている。
次に、波動歯車装置100の減速動作について説明する。カム部12の極数Nは、2以上の整数であれば目的に応じて任意であるが、ここでは、カム部12が、N=2で楕円形状をなす場合について説明する。
そして、例えば、カム部12が時計方向に360°回転すると、フレックスギア部20がN歯分、反時計方向に移動する。つまり、カム部12の極数がNの場合、カム部12が(360°/N)の角度を回転すると、1歯分、インターナルギア部30に対してフレックスギア部20が移動する。カム部12の極数がNの場合、フレックスギア部20に固定された出力部40は、カム部12の回転速度に対して、減速比i=(T-t)/t=N/tで減速される。
ここからは、伝達歯6a及び凹部6bについて説明する。図4は、カム部12の極数がN=2の場合に好適な、伝達歯6a及び凹部6bの配置例を示している。
0°~90°の間の伝達対においては、90°に近付くにつれて、伝達歯6aと凹部6bとの径方向の間隔が徐々に狭くなっていく。90°~180°の間の伝達対においては、180°に近付くにつれて、伝達歯6aと凹部6bとの径方向の間隔が徐々に広くなっていく。この関係は、180°~360°の範囲においても同様である。
例えば、カム部12の極数NがN=8の場合、伝達対を(4×N)=32個とすると、インターナルギア部30に対してフレックスギア部20を1歯分移動させるためのカム部12の回転角度である(360°/N)=45°の範囲内においては、{360°/(4×N)}=11.25°毎に、第1状態の伝達対と第2状態の伝達対とが交互に出現する。これを、360°の範囲内で考えれば、32個ある伝達対は、円周方向で等間隔に配列された8個の第1の対61と、円周方向で等間隔に配列された8個の第2の対62とを含む。
しかしながら、第1の対61と第2の対62は、それぞれ、4個ずつあれば、出力部40を安定して回転させるに充分であると考えられるため、伝達対を(2×N)=16個としてもよい。また、N=8の場合だけでなく、伝達対を(2×N)の個数に設定し、且つ、第1の対61と第2の対62をそれぞれN個ずつ設けることで、全ての伝達歯6aが出力部40の回転に寄与する構成も可能であると考えられる。さらに、Nの数によらず、伝達対の個数を設定してもよい。例えば、伝達対を円周方向に等間隔で16個配列するとともに、第1の対61の第2の対62のそれぞれを少なくとも4個以上設ければ、Nの数によらず、出力部40を安定して回転させることができる。こうすれば、伝達歯6aを設けた出力部40を、カム部12の極数Nによらず、共用することができるため、製造の効率化を図ることもできる。
図7に示す変形例1のように、出力部40をフレックスギア部20の外周側に位置させてもよい。この場合、出力部40の第2環状部41は、フレックスギア部20の第1環状部22の外周側に位置する。そして、第2環状部41に固定された伝達歯6aは、軸線AXに向かって延び、第1環状部22に設けられた凹部6bに挿入される。なお、図7において、軸線方向から見たフレックスギア部20及び出力部40の図の外周側に示した図は、極数がN=2のカム部12がモータ213の動作に応じて軸線AXを中心に回転している際における、図示0°~180°の範囲での伝達歯6a及び凹部6bの相対変位を示す図である。変形例1においても、伝達歯6a及び凹部6bの対である伝達対の個数及び機能は、前述の実施形態と同様に考えることができる。
以上の実施形態及び変形例1では、伝達歯6aが一様な幅で突起し、凹部6bも一様な幅で凹んでいる例を示したが、伝達部6a及び凹部6bの形状は限定されず、任意に変更可能である。例えば、図8に示す変形例2のように、伝達歯6aは凹部6bに向かって先細りのテーパ状であってもよく、凹部6bも伝達部6aに対応したテーパ状の凹みから形成されてもよい。
また、フレックスギア部20は、アウタギア21と同じ材料で一体に形成された第1環状部22を有する。このため、構造が簡潔である。また、アウタギア21だけでなく、出力部40へ力を伝達する部分である第1環状部22を備えるフレックスギア部20を、例えば、切削加工で一度に製造することができるため、製造が容易である。
また、本開示の波動歯車装置100において、フレックスギア部20及び出力部40は、共に回転する。つまり、カム部12が回転しても、ある凹部6bに挿入された伝達歯6aが、その隣の凹部6bに移動することは無く、1つの伝達対を構成する伝達歯6aと凹部6bの係合関係は保たれる。本開示のフレックスギア部20は、アウタギア21がインターナルギア部30に対し、インナギア31との噛合位置がずれつつ回転する一方で、第1環状部22が出力部40の第2環状部41と係合しながら回転するギア機構を構成する。これは、フレックスギア部20に相当する外歯歯車と、出力要素に設けられた歯車との噛み合い位置がずれていく、前述のデュアルタイプの波動歯車装置との大きな差異である。上記のように、伝達歯6aと凹部6bの係合関係が保たれる波動歯車装置100によれば、デュアルタイプの波動歯車装置と比較して、フレックスギア部20と出力要素の相対位置が所望の位置からずれる問題が発生する可能性が少ない。
また、極数のNを任意に設定すれば、種々の減速比を簡易な構成で実現することができる。
(4)好ましくは、第1の対61はN個あり、第2の対62はN個ある。
(5)好ましくは、第1の対61と第2の対62は、軸線AXを中心とした角度において、360°/(2×N)毎に交互に存在する。
また、インターナルギア部30は、ネジ82が挿入される挿入孔32と、挿入孔32と第1環状部22との間に位置する特定部33と、を備える。特定部33は、軸線方向において外輪51と対向する部分に、軸線AXを中心とした環状の溝33aを有する。環状の溝33aには、Oリング72が嵌められている。ここで、波動歯車装置100では、第1環状部22と第2環状部41の噛み合いにより、フレックスギア部20の動力を出力部40に伝達する構造が採用され、フレックスギア部20を出力部40に固定するためのピン、ネジなどの固定部品が設けられていない。この固定部品を径方向に設けた場合、特定部33が径方向に狭くなってしまう。しかしながら、以上の波動歯車装置100によれば、この固定部品を設けずに済むため、Oリング72が嵌められる特定部33の配置スペースを確保できる。したがって、シール機能が損なわれずに済む。
なお、支持部50は、クロスローラーベアリングに限られず、ボールベアリング、出力部40を摺動回転可能に支持する軸受などであってもよい。
10…波動発生部、AX…軸線
11…円筒軸部、12…カム部、13…ウェーブベアリング
20…フレックスギア部
21…アウタギア、22…第1環状部、23…接続部
30…インターナルギア部
31…インナギア、32…挿入孔、33…特定部、33a…環状の溝
40…出力部
41…第2環状部、42…被支持部
50…支持部
51…外輪、52…内輪
6a…伝達歯、6b…凹部、61…第1の対、62…第2の対
72…Oリング
Claims (10)
- 内周面に沿って形成されたインナギアを有するインターナルギア部と、
回転入力に応じて軸線を中心として回転するカム部を有する波動発生部と、
前記インナギアよりも少ない歯数で外周面に沿って形成され、内周側が前記波動発生部に嵌め込まれたリング状のアウタギアを有するフレックスギア部と、
前記インターナルギア部に対し、前記フレックスギア部と共に回転する出力部と、を備え、
前記カム部は、前記軸線を中心とした円周方向において等間隔で位置するN(Nは、2以上の整数)個の極部を有し、前記アウタギアをN箇所で前記インナギアと噛み合わせ、
前記フレックスギア部は、前記アウタギアと同じ材料で一体に形成され、前記軸線に沿う方向において前記アウタギアよりも前記出力部の近くに位置する第1環状部を有し、
前記出力部は、前記軸線を中心とした径方向において前記第1環状部と対向する第2環状部を有し、
前記第1環状部及び前記第2環状部の一方には前記径方向に沿って突起する伝達歯が設けられ、前記第1環状部及び前記第2環状部の他方には前記伝達歯が挿入される凹部が設けられ、
前記凹部は、前記伝達歯よりも前記円周方向に沿う幅が広く、前記フレックスギア部及び前記出力部の前記円周方向における相対的な変位を許容し、
前記伝達歯及び前記凹部の対である伝達対は、複数あり、前記円周方向に配列されている、
波動歯車装置。 - 前記伝達対は、2×N個以上あり、前記円周方向において等間隔で配列されている、
請求項1に記載の波動歯車装置。 - 複数の前記伝達対は、
前記カム部が前記軸線を中心として回転している際に、前記伝達歯が前記凹部の前記円周方向における一端に位置する第1の対と、前記伝達歯が前記凹部の前記円周方向における他端に位置する第2の対と、を含む、
請求項1又は2に記載の波動歯車装置。 - 前記第1の対はN個あり、前記第2の対はN個ある、
請求項3に記載の波動歯車装置。 - 前記第1の対と前記第2の対は、前記軸線を中心とした角度において、360°/(2×N)毎に交互に存在する、
請求項4に記載の波動歯車装置。 - 複数の前記伝達対のうち、少なくとも、前記カム部の極部に対応する位置にあるN個の伝達対においては、前記径方向で前記伝達歯と前記凹部とが離れ、
前記第1環状部は、前記第2環状部に対する前記径方向の変位を許容する、
請求項1乃至5のいずれか1項に記載の波動歯車装置。 - 前記第1環状部は、前記アウタギアよりも直径が小さく、
前記フレックスギア部は、前記アウタギアと前記第1環状部を接続するとともに、前記アウタギア及び前記第1環状部と同じ材料で一体に形成された接続部を有する、
請求項1乃至6のいずれか1項に記載の波動歯車装置。 - 前記第2環状部は、前記第1環状部の内周側に位置する、
請求項1乃至7のいずれか1項に記載の波動歯車装置。 - 前記第2環状部は、前記第1環状部の外周側に位置する、
請求項1乃至7のいずれか1項に記載の波動歯車装置。 - 前記出力部を前記インターナルギア部に対して回転可能に支持する支持部をさらに備え、
前記第1環状部及び前記第2環状部は、前記支持部と前記カム部との間に位置し、
前記支持部は、前記インターナルギア部と前記軸線方向に沿うネジによって固定される外輪と、前記出力部と固定される内輪とを備え、
前記インターナルギア部は、
前記軸線方向に沿って形成され、前記ネジが挿入される挿入孔と、
前記挿入孔と前記第1環状部との間に位置する特定部と、を備え、
前記特定部は、前記軸線方向において前記外輪と対向する部分に、前記軸線を中心とした環状の溝を有し、
前記環状の溝には、Oリングが嵌められている、
請求項8に記載の波動歯車装置。
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JP2018194150A (ja) * | 2017-05-22 | 2018-12-06 | Skg株式会社 | 回転減速伝達装置 |
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JP2018194150A (ja) * | 2017-05-22 | 2018-12-06 | Skg株式会社 | 回転減速伝達装置 |
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CN117425787A (zh) | 2024-01-19 |
TW202314140A (zh) | 2023-04-01 |
JP7039097B1 (ja) | 2022-03-22 |
KR20240007653A (ko) | 2024-01-16 |
JPWO2023042331A1 (ja) | 2023-03-23 |
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