Strain wave gearing

Patent metadata

Field	Value
Publication number	US-12018740-B2
Application number	US-202318170580-A
Country	US
Kind code	B2
Filing date	Feb 17, 2023
Priority date	Aug 2, 2022
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A strain wave gearing has three components and a temporary-fixing jig, three components being an internally toothed gear, a cup-shaped externally toothed gear, and a wave generator. The temporary-fixing jig is securely fastened to an output shaft fixed to the externally toothed gear by a temporary-fixing bolt and is securely fastened to an input shaft fixed to a cam plate of the wave generator by a temporary-fixing bolt. The temporary-fixing jig engages with the output shaft and the input shaft and maintains the three components in an assembled state. There is no need for an operation for adjusting the positions of the three components in an operation for attaching the strain wave gearing to a motor. After the strain wave gearing has been attached to the motor, the temporary-fixing jig is removed from the strain wave gearing, wherefore less space is required for installation.

First claim

The invention claimed is:

1. A strain wave gearing comprising:
a rigid internally toothed gear;
a cup-shaped flexible externally toothed gear arranged coaxially inside the internally toothed gear;
a wave generator arranged coaxially inside the externally toothed gear; and
a bearing for supporting the externally toothed gear in a state that allows rotation relative to the internally toothed gear,
wherein
the externally toothed gear has:
a radially flexible cylindrical barrel part on which external teeth capable of meshing with internal teeth of the internally toothed gear are formed;
a diaphragm extending radially inward from one end of the cylindrical barrel part; and
a rigid boss formed on an inner peripheral edge of the diaphragm,
the wave generator being provided with a rigid cam plate provided with an input shaft, and a wave-generator bearing mounted on a non-circular outer peripheral surface of the cam plate,
the wave generator is fitted into the cylindrical barrel part of the externally toothed gear, causing the cylindrical barrel part to radially flex, and causing the external teeth to partially mesh with the internal teeth,
the bearing has an outer race that is coaxially fixed to the internally toothed gear, and an inner race provided with an output shaft that is coaxially fixed to the boss of the externally toothed gear, and
the wave generator is arranged on an axial-direction input side, which is one side in an axial direction, and the output shaft is arranged on an axial-direction output side, which is the other side in the axial direction, the wave generator and the output shaft sandwiching the boss of the externally toothed gear therebetween,
the strain wave gearing further comprising:
a temporary-fixing jig for holding three members, which are the internally toothed gear, the externally toothed gear, and the wave generator, in a prescribed assembly state; and
a first temporary-fixing bolt and a second temporary-fixing bolt,
wherein
the input shaft has:
an input-side shaft end section that is securely fastened to a motor shaft to which attachment is to be made; and
an output-side shaft end section that is securely fastened to the temporary-fixing jig,
the temporary-fixing jig has:
a discoid flange positioned on the axial-direction output side relative to the output shaft;
a cylinder part protruding toward the axial-direction input side through a central hole in the output shaft and a central hole in the boss from the discoid flange; and
a hollow section extending through the discoid flange and the cylinder part,
the cylinder part has:
an axial-direction positioning surface that engages with the output-side shaft end section of the input shaft, to thereby define an axial-direction position of the wave generator relative to the externally toothed gear; and
a rotation-direction positioning surface that engages with the output-side shaft end section of the input shaft, to thereby define a rotation-direction position of the wave generator relative to the externally toothed gear; and
the temporary-fixing jig is
securely fastened coaxially to the output shaft by the first temporary-fixing bolt attached to the discoid flange from the axial-direction output side, and
is securely fastened coaxially to the output-side shaft end section of the input shaft by the second temporary-fixing bolt mounted in the hollow section from the axial-direction output side.

2. The strain wave gearing according to claim 1 , wherein:
the axial-direction positioning surface is an annular step surface that faces the axial-direction input side and that is formed on an inner peripheral surface of the hollow section in the temporary-fixing jig;
a distal-end surface of the input-side shaft end section of the input shaft inserted into the hollow section contacts the annular step surface;
the rotation-direction positioning surface is formed on the input-side inner peripheral surface of the hollow section in the temporary-fixing jig, and part of the circular inner peripheral surface assuming a form of jutting radially inward; and
an outer peripheral surface of the input-side shaft end section of the input shaft inserted into the hollow section assumes a form that is complementary to that of the rotation-direction positioning surface.

3. The strain wave gearing according to claim 1 , further comprising:
a shaft-fastening bolt that can be mounted in the hollow section after the second temporary-fixing bolt has been removed, in order to securely fasten the input-side shaft end section of the input shaft to a motor shaft to which attachment is to be made.

4. The strain wave gearing according to claim 1 , further comprising:
an end plate fixed to the internally toothed gear from the axial-direction input side;
an input-side oil seal; and
an output-side oil seal,
wherein
the input-side shaft end section of the input shaft protrudes toward the axial-direction input side through a central hole in the end plate, and a gap between the inner peripheral surface of the central hole in the end plate and the outer peripheral surface of the input-side shaft end section is sealed by the input-side oil seal, and
a gap that is opened on the axial-direction output side and that is formed between the outer race and the inner race of the primary bearing is sealed by the output-side oil seal.

Assignees

• Harmonic Drive Systems

Inventors

• Tanioka Nozomu
• Handa Jun

Classifications

• F16H2057/0062

  Tools specially adapted for assembly of transmissions · CPC title

• F16H2057/0056

  Mounting parts arranged in special position or by special sequence, e.g. for keeping particular parts in his position during assembly · CPC title

• F16H57/0472

  Seals · CPC title

• F16H53/02

  Single-track cams for single-revolution cycles; Camshafts with such cams · CPC title

• F16H1/32

  in which the central axis of the gearing lies inside the periphery of an orbital gear · CPC title