WO2024218967A1 - 波動歯車装置 - Google Patents

波動歯車装置 Download PDF

Info

Publication number
WO2024218967A1
WO2024218967A1 PCT/JP2023/015926 JP2023015926W WO2024218967A1 WO 2024218967 A1 WO2024218967 A1 WO 2024218967A1 JP 2023015926 W JP2023015926 W JP 2023015926W WO 2024218967 A1 WO2024218967 A1 WO 2024218967A1
Authority
WO
WIPO (PCT)
Prior art keywords
device housing
gear
gap
external gear
internal gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/015926
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
智樹 寺島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Priority to EP23934110.0A priority Critical patent/EP4700255A1/en
Priority to PCT/JP2023/015926 priority patent/WO2024218967A1/ja
Priority to KR1020257033917A priority patent/KR20250167649A/ko
Priority to JP2025515014A priority patent/JPWO2024218967A1/ja
Priority to CN202380097250.9A priority patent/CN121127692A/zh
Priority to TW112150530A priority patent/TW202443048A/zh
Publication of WO2024218967A1 publication Critical patent/WO2024218967A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0463—Grease lubrication; Drop-feed lubrication
    • F16H57/0464—Grease lubrication

Definitions

  • the present invention relates to a wave gear device, and more specifically, to a wave gear device that prevents the formation of lubricant pools that cause lubricant to stagnate on the outer periphery of a flexible external gear without increasing weight.
  • wave gear devices generally used as reducers is a unit type wave gear device in which a rigid internal gear and a flexible external gear are mounted inside the device housing via main bearings so that they can rotate relative to one another.
  • Patent documents 1 and 2 describe this type of wave gear device.
  • an internal gear and a bearing are arranged on the outer periphery of an external gear inside the device housing with a specified distance in the axial direction.
  • An annular gap is formed between the internal gear and the main bearing, surrounding the external gear. This annular gap is connected to the meshing portion of the internal gear and the external gear.
  • Each part of the circumferential direction of the external gear is repeatedly deflected in the radial direction, and the external gear is repeatedly meshed with the internal gear and released from the meshing.
  • This action causes lubricant such as grease that is applied or filled in the meshing portion to flow out into the gap.
  • the gap can become a lubricant reservoir where the flowed-out lubricant accumulates. If the internal volume of this gap is large, there is a risk that the lubricant will be unnecessarily accumulated, and the meshing portion and the like will not be properly lubricated.
  • the object of the present invention is to provide a strain wave gear device that is configured so that no large gaps that could become lubricant pools are formed on the outer periphery of the external gear, without increasing the mass.
  • the wave gear device of the present invention is An apparatus housing; a rigid internal gear attached to the device housing; a flexible external gear disposed inside the device housing and the internal gear; a wave generator that radially deflects the external gear to partially mesh with the internal gear; a main bearing mounted between the device housing and the external gear and supporting the external gear in a rotatable state relative to the device housing; an annular gap portion formed among the device housing, the internal gear, the external gear, and the main bearing and surrounding the external gear; a gap filler member that is inserted into the gap to fill the gap and is attached to at least one of the device housing and the internal gear; It is equipped with The gap filling member is characterized in that it is formed from an impermeable material that does not allow the lubricant applied or supplied to the meshing portions of the internal gear and the external gear and the sliding portions of the main bearing to pass through.
  • the gap filling member is made of a lightweight material such as resin that has a smaller unit weight than the material of the device housing and the internal gear. To further reduce the mass, a hollow member or a member with a hollow portion may be used as the gap filling member.
  • a gap-filling member made of an impermeable material that does not allow lubricant to pass through is attached to the annular gap surrounding the external gear.
  • FIG. 1 is a schematic vertical cross-sectional view showing a rotation actuator according to an embodiment of the present invention.
  • 10A and 10B are explanatory diagrams showing another example of a gap filling ring which is a gap filling member.
  • FIG. 1 is a schematic vertical cross-sectional view showing a rotary actuator according to an embodiment of the present invention.
  • the rotary actuator 1 is composed of a cylindrical actuator housing 2 and a motor 3 and a strain wave gear device 4 installed inside the actuator housing 2.
  • An encoder case 5 is attached to the motor side end of the actuator housing 2, and a motor encoder 6 is installed inside the encoder case 5 (shown as an imaginary box in the figure).
  • the motor 3 is of general configuration and includes a motor shaft 31, a motor rotor 32 attached to the motor shaft 31, and a motor stator 33 attached to the inner circumferential surface portion of the actuator housing 2 on the motor side.
  • the strain wave gear device 4 includes a device housing 41 formed as a part of the actuator housing 2, a rigid internal gear 42 attached to the device housing 41, a flexible external gear 43 arranged coaxially inside the internal gear, a wave generator 44 fitted inside the external gear 43, and an input shaft 45 attached coaxially to the wave generator 44.
  • the input shaft 45 is integrally formed with the motor shaft 31.
  • the external gear 43 is supported by the device housing 41 in a rotatable state via a main bearing 46.
  • an annular gap portion 47 surrounding the external gear 43 is formed between the device housing 41, the internal gear 42, the external gear 43, and the main bearing 46.
  • a gap filling ring 48 (gap filling member) is attached to the gap portion 47 to substantially fill the gap portion 47.
  • the cylindrical device housing 41 is formed, from the motor 3 side, along the axial direction with an inner circumferential surface portion 41a for mounting the smallest diameter internal gear, an inner circumferential surface portion 41b for forming a gap with a larger inner diameter, and an inner circumferential surface portion 41c for mounting the main bearing with a larger inner diameter.
  • the internal gear 42 in this example is an annular part with a rectangular cross section, and its outer peripheral surface portion is joined to the inner peripheral surface portion 41a of the device housing 41 by casting to be integrated with the device housing 41, with internal teeth 42a formed on the circular inner peripheral surface of the internal gear 42.
  • the internal gear 42 is also integrally formed with a disk-shaped partition plate 42b that separates the internal space of the harm gear device 4 from the internal space of the motor 3.
  • the partition plate 42b extends from the end face of the internal gear 42 on the motor side, and a bearing holder 42c extending toward the motor side is formed on its inner peripheral edge.
  • the shaft portion of the input shaft 45 extending from the wave generator 44 toward the motor side is supported by a bearing 7 attached to the bearing holder 42c.
  • the external gear 43 is cup-shaped and includes a cylindrical portion 43a that is radially flexible, external teeth 43b formed on the outer peripheral surface portion on the side of the open end, which is one end of the cylindrical portion 43a, a diaphragm 43c that extends radially inward from the other end of the cylindrical portion 43a, and a rigid boss 43d in the shape of a ring that is integrally formed on the inner peripheral edge of the diaphragm 43c.
  • a cylindrical bearing holder 8 is attached to the boss 43d, and the shaft portion of the input shaft 45 that extends from the wave generator 44 to the opposite side to the motor is supported by a bearing 9 attached to the bearing holder 8.
  • the wave generator 44 comprises a cam plate 44a with an elliptical contour formed integrally with the input shaft 45, and a wave generator bearing 44b attached to the elliptical outer circumferential surface of the cam plate 44a.
  • the portion of the external gear 43 where the external teeth 43b are formed is bent into an elliptical shape by the wave generator 44, and the external teeth 43b located at both ends of the long axis of the ellipse mesh with the internal teeth 42a.
  • the cam plate 44a of the wave generator 44 rotates, the meshing position of the two gears moves in the circumferential direction, and a relative rotation occurs between the two gears according to the difference in the number of teeth between the two gears.
  • the internal gear 42 is a fixed member attached to the device housing 41, and the external gear 43 rotates.
  • the rotation of the external gear 43 is output to the load side (not shown) as a reduced rotation.
  • the main bearing 46 comprises an outer ring 46a attached to the inner peripheral surface portion 41c of the device housing 41, an inner ring 46b attached to the boss 43d of the external gear 43, and a number of rolling elements 46c mounted between them.
  • the gap portion 47 is formed between the cylindrical portion 43a of the external gear 43 and the inner peripheral surface portion 41b of the device housing 41 surrounding the cylindrical portion 43a, between the internal gear 42 and the main bearing 46, which face each other in the axial direction.
  • This gap portion 47 is connected to the meshing portion 40 of the internal gear 42 and the external gear 43, and is also connected to the raceway portion of the rolling element 46c formed between the outer ring 46a and the inner ring 46b of the main bearing 46.
  • the gap filling ring 48 attached to the gap portion 47 is made of a lightweight material with a smaller unit weight than the materials of the device housing 41, the internal gear 42, and the main bearing 46.
  • a resin ring with a rectangular cross section is used.
  • the gap filling ring 48 is an impermeable ring that does not allow the lubricant applied or supplied to the meshing portion 40 of the internal gear 42 and the external gear 43 and the sliding portion (inside the raceway) of the main bearing 46 to pass through. Therefore, the gap filling ring 48 does not absorb and retain the lubricant.
  • the gap filling ring 48 is fixed to the inner surface portion 41b of the device housing 41 with an adhesive or the like. Fixing means other than adhesive can also be used.
  • the gap filling ring 48 is arranged so that a predetermined gap is obtained between the outer peripheral surface of the cylindrical portion 43a of the external gear 43 so as not to interfere with the cylindrical portion 43a of the external gear 43 that is deflected in the radial direction. If it is placed in contact with the cylindrical portion 43a, or if there is a possibility of contact, the gap filling ring 48 can be made from a material that can flex and deform in response to the flexure of the cylindrical portion 43a.
  • the meshing position of the external gear 43 relative to the internal gear 42 moves circumferentially with the rotation of the wave generator 44, and reduced rotation according to the difference in the number of teeth between the two gears 42, 43 is extracted from the external gear 43.
  • the reduced rotation of the external gear 43 is output to the load side (not shown) from the inner ring 46b of the main bearing 46, which functions as the output shaft.
  • the gap portion 47 is substantially filled by a gap filling ring 48 made of a lightweight material. This makes it possible to avoid the problem of lubricant accumulating in the gap portion 47 and preventing proper lubrication of the parts to be lubricated, such as the meshing parts.
  • the gap filling ring 48 is a lightweight resin member, it does not result in an increase in mass, unlike when the inner peripheral surface portion 41b of the device housing 41 is extended inward to prevent the creation of a gap portion 47 with a large internal volume.
  • the shape and internal volume of the gap 47 vary depending on the mechanical properties, shape, layout, etc. required for the external gear 43, main bearing 46, etc.
  • the axial width dimension and radial height dimension of the gap vary depending on the axial length of the cylindrical portion 43a of the external gear 43, the tooth width of the external teeth, the size of the main bearing, and the axial arrangement position.
  • the shape and material of the gap filling member 48 for filling the gap 47 can be appropriately set accordingly.
  • a rectangular solid member is used as the gap filling ring 48.
  • a hollow member or a member with a hollow portion can also be used.
  • a hollow resin ring 48A with a rectangular cylindrical cross section can be used as the gap filling ring 48.
  • a single gap-filling ring 48 is provided, although in some cases, two or more gap-filling rings of the same or different shapes may be provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
PCT/JP2023/015926 2023-04-21 2023-04-21 波動歯車装置 Ceased WO2024218967A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP23934110.0A EP4700255A1 (en) 2023-04-21 2023-04-21 Strain wave gear device
PCT/JP2023/015926 WO2024218967A1 (ja) 2023-04-21 2023-04-21 波動歯車装置
KR1020257033917A KR20250167649A (ko) 2023-04-21 2023-04-21 파동기어장치
JP2025515014A JPWO2024218967A1 (https=) 2023-04-21 2023-04-21
CN202380097250.9A CN121127692A (zh) 2023-04-21 2023-04-21 波动齿轮装置
TW112150530A TW202443048A (zh) 2023-04-21 2023-12-25 諧波齒輪裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/015926 WO2024218967A1 (ja) 2023-04-21 2023-04-21 波動歯車装置

Publications (1)

Publication Number Publication Date
WO2024218967A1 true WO2024218967A1 (ja) 2024-10-24

Family

ID=93152275

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/015926 Ceased WO2024218967A1 (ja) 2023-04-21 2023-04-21 波動歯車装置

Country Status (6)

Country Link
EP (1) EP4700255A1 (https=)
JP (1) JPWO2024218967A1 (https=)
KR (1) KR20250167649A (https=)
CN (1) CN121127692A (https=)
TW (1) TW202443048A (https=)
WO (1) WO2024218967A1 (https=)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0618749U (ja) * 1992-08-18 1994-03-11 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の摩耗粉除去機構
JPH0629549Y2 (ja) * 1989-03-02 1994-08-10 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の潤滑剤流出防止装置
JPH07119800A (ja) * 1993-10-23 1995-05-09 Teijin Seiki Co Ltd オイルシール付撓み噛み合い式歯車装置
WO2014091522A1 (ja) * 2012-12-12 2014-06-19 株式会社ハーモニック・ドライブ・システムズ 入力軸受け付き波動歯車ユニット
JP2014206265A (ja) 2013-03-19 2014-10-30 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置および中空型回転アクチュエータ
WO2015173959A1 (ja) * 2014-05-16 2015-11-19 株式会社ハーモニック・ドライブ・システムズ 中空波動歯車装置および中空アクチュエータ
JP2020509311A (ja) * 2017-02-28 2020-03-26 ハーモニック ドライブ アーゲーＨａｒｍｏｎｉｃ Ｄｒｉｖｅ Ａｇ インナーシール部材を有する波動歯車装置
JP2022010593A (ja) 2020-06-29 2022-01-17 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置ユニット

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0629549Y2 (ja) * 1989-03-02 1994-08-10 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の潤滑剤流出防止装置
JPH0618749U (ja) * 1992-08-18 1994-03-11 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の摩耗粉除去機構
JPH07119800A (ja) * 1993-10-23 1995-05-09 Teijin Seiki Co Ltd オイルシール付撓み噛み合い式歯車装置
WO2014091522A1 (ja) * 2012-12-12 2014-06-19 株式会社ハーモニック・ドライブ・システムズ 入力軸受け付き波動歯車ユニット
JP2014206265A (ja) 2013-03-19 2014-10-30 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置および中空型回転アクチュエータ
WO2015173959A1 (ja) * 2014-05-16 2015-11-19 株式会社ハーモニック・ドライブ・システムズ 中空波動歯車装置および中空アクチュエータ
JP2020509311A (ja) * 2017-02-28 2020-03-26 ハーモニック ドライブ アーゲーＨａｒｍｏｎｉｃ Ｄｒｉｖｅ Ａｇ インナーシール部材を有する波動歯車装置
JP2022010593A (ja) 2020-06-29 2022-01-17 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置ユニット

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4700255A1

Also Published As

Publication number Publication date
KR20250167649A (ko) 2025-12-01
JPWO2024218967A1 (https=) 2024-10-24
EP4700255A1 (en) 2026-02-25
TW202443048A (zh) 2024-11-01
CN121127692A (zh) 2025-12-12

Similar Documents

Publication Publication Date Title
JP5839524B2 (ja) 中空型波動歯車ユニット
JP5839525B2 (ja) 波動歯車装置
JP6045694B2 (ja) 軸受機構および波動歯車装置
CN110388421B (zh) 挠曲啮合式齿轮装置
JP7032011B2 (ja) ユニットタイプの波動歯車装置
JP6909141B2 (ja) 撓み噛合い式歯車装置
JPWO2014108932A1 (ja) 波動歯車装置
JP7175084B2 (ja) 撓み噛合い式歯車装置
CN110185745B (zh) 齿轮装置系列及其构建方法、以及齿轮装置组的制造方法
CN112640266A (zh) 驱动装置
WO2024218967A1 (ja) 波動歯車装置
JP6656755B2 (ja) 扁平アクチュエータ
WO2021033319A1 (ja) ユニットタイプの波動歯車装置
JP7253089B2 (ja) 撓み噛合い式歯車装置
JP7494394B2 (ja) 波動歯車装置
JPH09303497A (ja) シルクハット型撓み噛み合い式歯車装置
JP6981182B2 (ja) 動力伝達装置
JP7467046B2 (ja) 歯車装置
JP2015045392A (ja) 変速装置
JP6426017B2 (ja) 回転装置
CN120826551A (zh) 波动齿轮装置
JP2024100232A (ja) バランサ装置
JP2006250260A (ja) 歯車装置における潤滑剤のシール構造
JP2018168961A (ja) 差動装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23934110

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2025515014

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2025515014

Country of ref document: JP

ENP Entry into the national phase

Ref document number: 1020257033917

Country of ref document: KR

Free format text: ST27 STATUS EVENT CODE: A-0-1-A10-A15-NAP-PA0105 (AS PROVIDED BY THE NATIONAL OFFICE)

WWE Wipo information: entry into national phase

Ref document number: KR1020257033917

Country of ref document: KR

Ref document number: 1020257033917

Country of ref document: KR

WWE Wipo information: entry into national phase

Ref document number: CN2023800972509

Country of ref document: CN

WWE Wipo information: entry into national phase

Ref document number: 2023934110

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

WWP Wipo information: published in national office

Ref document number: 1020257033917

Country of ref document: KR

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

ENP Entry into the national phase

Ref document number: 2023934110

Country of ref document: EP

Effective date: 20251121

WWP Wipo information: published in national office

Ref document number: 2023934110

Country of ref document: EP