TW201641840A - Tooth profile formation structure of transmission device - Google Patents

Abstract

A tooth profile forming method of a transmission device, which mainly provides a machining process for best lightweight formation for a transmission device possessing tooth number difference transmission operation. The transmission device comprises at least an internal tooth-difference ring, an external tooth-difference ring, and a harmonic wave generator. A lightweight metal material is used as a base support of the internal tooth-difference ring and a tooth profile is formed through over molding to have engineering plastics bonded to an internal circumferential surface of the ring. The external tooth-difference ring is formed through engineering plastic molds such that the external tooth-difference ring possesses an advantage in respect of tooth ratio and tooth profile variation over the internal tooth-difference ring during the manufacture thereof to thereby greatly reduce inventory and manufacture costs and also achieving lightweight of the transmission device and reduction of inertial loading of operation thereof.

Description

Gear shaping method for shifting device

The invention relates to a tooth profile processing method of a shifting device, in particular to a special tooth profile of a harmonic-shaped reducer molded by an engineering plastic material, so that the tooth type of the harmonic gear reducer can be easily formed and combined. Processing method with light weight.

As is well known, in the field of mechanical automation, a robotic arm is an automatic control device that mimics the function of a human arm and can perform various tasks. The robotic system has multiple joints and allows movement or use in a plane or a three-dimensional space. Linear displacement moves. At present, the robotic arm is the most widely used automatic mechanical device in the field of robotics. In addition to its main use in industrial manufacturing, commercial agriculture, medical rescue, entertainment services, military preservation and even space exploration, its application devices can be found. .

The shaft joints of this robot arm are mostly applied by Harmonic Drive (HD), which is a traditional application of metal elastic mechanics. The flexible spline used in the HD is a cup type. Or a cap-shaped metal shell elastomer having a tooth profile cut at its outer peripheral opening portion and a diaphragm (Diaphrgam) at the bottom of the tooth profile. Since the flexible rack is made of special steel with extremely high fatigue strength, and the harmonic reducer The transmission mode is different from that of the general gear. The tooth backlash value is extremely small. Therefore, the machining of the metal tooth type must be carried out with a special tool. Except for the tool and special steel material, the cost is not high. Fiji adds difficulty in processing and manufacturing costs if the location of the formed tooth profile is not suitable for tooling. In addition, since the entire HD structure is composed of a combination of metal materials, when assembled in the middle and end portions of the robot arm, the load torque at the joint of the front end of the arm is increased, resulting in a poor effective load value of the robot arm.

To this end, the present invention is directed to the tooth type of the harmonic reducer, and carries out an innovative design of the material and the processing method, and uses the engineering plastic to directly form the internal tooth difference ring by the mold, so that the complex processing factor of the tooth type in the traditional method is completely completed. The screen is removed, and the difference in material strength is overcome by the increase of the tooth width, so that the torque resistance of the tooth meshing transmission is improved. In addition, in the original HD design, the external toothed ring portion that meshes with the internal tooth difference ring, the present invention is coated with an injection molding method, and the engineering plastic is coated on the meshing surface of the inner ring of the outer tooth difference ring. Make it mesh with the internal tooth difference ring in the same material to get the best running-in configuration.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tooth profile processing method for a shifting device that achieves the purpose of reducing weight and rapid production of a shifting device member through a plastic injection molding method.

In order to achieve the above object, a preferred embodiment of the tooth profile processing method of the transmission device of the present invention comprises: at least one external tooth difference ring, which is composed of a lightweight metal material, and the ring surface is coated and injection molded in the ring body. Way to work The tooth form of the plastic molding is combined to construct the internal tooth of the external tooth difference ring; an internal tooth difference ring is formed by engineering plastic molding, and the outer ring surface has external teeth, the external tooth The number of teeth is less than the number of internal teeth of the external tooth difference ring to form a difference in the number of teeth; a harmonic generator comprising a cam and a bearing, the bearing is sleeved on the outer surface of the cam, and the harmonic generator is externally toothed Ring coaxial setting. In this way, the internal tooth difference ring is sleeved on the periphery of the bearing of the harmonic generator, so that the external teeth of the internal tooth difference ring and the internal teeth of the external tooth difference ring are partially meshed with each other, and the gear unit is composed of the structure. That is to achieve the design goal of lightweight and rapid tooth formation.

The tooth profile processing method of the shifting device according to the above preferred embodiment, wherein the outer tooth difference ring is an aluminum alloy metal ring body.

In the tooth profile processing method of the transmission device according to the above preferred embodiment, the inner ring of the outer toothed ring is provided with a groove, and the engineering plastic of the internal tooth is attached to the groove.

The tooth profile processing method of the shifting device according to the above preferred embodiment, wherein the inner side end of the ring gear of the inner toothed ring is formed with an elastic flange.

1‧‧‧ external tooth difference ring

11‧‧‧Act

111‧‧‧Inlay

12‧‧‧ internal teeth

2‧‧‧ internal tooth difference ring

21‧‧‧ external teeth

3‧‧‧Harmonic generator

31‧‧‧ cam

32‧‧‧ Bearing

4‧‧‧Fixed outer ring

41‧‧‧roller

The first figure is an exploded state reference diagram of an application embodiment of the tooth profile processing method of the shifting device of the present invention.

The second figure is a partial cross-sectional view showing the structure of the outer tooth difference ring of the present invention.

The third figure is a partial cross-sectional view showing another structure of the external tooth difference ring of the present invention.

The fourth figure is an application example of the tooth profile processing method of the shifting device of the present invention. A schematic diagram of the combined state.

Figure 5 is a partial cross-sectional view showing another structural embodiment of the internal tooth difference ring of the present invention.

The sixth figure is a schematic diagram of a combined state of an application embodiment of the present invention.

The structural features and other functions and purposes of the present invention are described in detail below with reference to the accompanying drawings:

As shown in the first to fourth figures, the tooth profile processing method of the shifting device of the present invention is applied to the tooth profile forming of the harmonic reducer, and the preferred embodiment of the harmonic reducer 10 includes At least one external tooth difference ring 1, an internal tooth difference ring 2 and a harmonic generator 3, wherein:

The external tooth difference ring 1 is made of a light-weight aluminum metal material as a ring body 11 substrate. Through the plastic overmolding method, the tooth shape of the engineering plastic molding is constructed on the inner ring surface of the ring body to form an outer shape. The inner teeth 12 of the toothed ring 1 and the inner ring surface of the ring body 11 are provided with a fitting groove 111 for attaching and fixing the inner teeth 12 when molded.

The inner tooth difference ring 2 is integrally molded by engineering plastics, and has external teeth 21 on the outer ring surface, and the outer teeth 21 have fewer teeth than the inner teeth 12 corresponding to the outer tooth difference ring 1 The number of teeth is poor.

The harmonic generator 3 is mainly connected to the power input end, and includes a cam 31 and a bearing 32. The bearing 32 is sleeved on the outer surface of the cam 31, and the harmonic generator 3 is coaxially disposed with the outer tooth difference ring 1.

With the above-mentioned members, the internal tooth difference ring 2 is sheathed around the periphery of the bearing 32 of the harmonic generator 3, so that the external teeth 21 of the internal tooth difference ring 2 and the outer tooth difference ring 1 are inside. The gear 12 is in a partially segmented state, and the gear unit composed of the structure can achieve the design purpose of light weight and rapid tooth formation.

Furthermore, the external tooth difference ring 1 and the internal tooth difference ring 2 are combined with the fixed end or the output end of the reduction gear, so that the two-ring system can support the servo through a fixed outer ring 4 (please refer to As shown in FIG. 6 , the fixed outer ring 4 is made of a lightweight aluminum metal material, and is provided with a roller 41 arranged in a cross arrangement with the external tooth difference ring 1 so that the outer tooth difference ring 1 can be obtained. The shaft and the radial two-way stable servo, so that when the reduction gear is applied to the robot arm, the advantages of high rigidity support and positioning are achieved, and the positioning accuracy of the robot arm can be improved.

Referring to FIG. 5, the internal tooth difference ring 2 can be integrally formed with an elastic flange 22 at the axial side end of the ring body, and the elastic toothed edge 22 is used to make the inner tooth difference ring 2 and the outer tooth difference ring. 1 when the multi-section is engaged, it can have more radial elastic action and is combined with the fixed outer ring 4. As shown in the application examples shown in the fifth and sixth figures, the internal tooth difference ring 2 is composed of The top of the harmonic generator 3 is meshed with the outer toothed ring 1 at 180 degrees to the opposite side segments. Since the inner tooth difference ring 2 is integrally formed of engineering plastic, it has a material other than The elastic characteristic can further assist the tooth difference creep rotation in the multi-section meshing through the structural elastic flange 22, and the torque resistance of the meshing transmission of the external tooth 21 and the internal tooth 12 can also be transmitted through the meshing tooth width. The widening has been improved. Therefore, in the present invention, the function of the internal tooth difference ring 2 on the harmonic reducer can be completely presented without flaws, and at the same time, the selection of the lightweight material can easily achieve the weight reduction of the shifting device. The purpose of not losing the strength due to the choice of materials, in terms of weight and strength requirements Get the best balance between the people.

In addition, since the internal teeth 12 of the external tooth difference ring 1 and the external teeth 21 of the internal tooth difference ring 2 are formed in the mold in advance, if the tooth types of the internal teeth 12 and the external teeth 21 are to be changed, only It is easy to achieve the mold cutting of the mold, which is a method that simplifies the manufacturing process and reduces the cost. It is not necessary to have a tooth type that is made of metal as a conventional one, and it is necessary to prepare various types of tooth forming and forming tools in order to cope with the needs of various tooth ratios, so that the manufacturing cost cannot be reduced.

In summary, the tooth profile processing method of the shifting device of the present invention has practicality and creativity, and the application of the technical means is also novel and undoubted, and the effect and design purpose are in line with the fact that it has been reasonably improved. To this end, the invention patent application was filed according to law, but the bureau was requested to give a detailed examination, and the patent was granted as a prayer.

1‧‧‧ external tooth difference ring

11‧‧‧Act

12‧‧‧ internal teeth

2‧‧‧ internal tooth difference ring

21‧‧‧ external teeth

3‧‧‧Harmonic generator

31‧‧‧ cam

32‧‧‧ Bearing

Claims (4)

A gear shaping method for a shifting device for tooth forming of a harmonic reducer, the main components of the reducer comprising: at least one external tooth difference ring, which is made of a metal material as a ring body substrate, and is overmolded by plastic In the construction method, the tooth profile of the engineering plastic molding is constructed on the inner ring surface of the ring body to form the internal teeth of the outer tooth difference ring; an internal tooth difference ring is formed by engineering plastic molding, and the outer ring is formed. The surface has external teeth, the number of external teeth is less than the number of internal teeth of the external tooth difference ring to form a difference in the number of teeth; and a harmonic generator comprising a cam and a bearing, the bearing sleeve is disposed on the outer surface of the cam The harmonic generator is disposed coaxially with the external tooth difference ring. The tooth profile processing method of the transmission device according to claim 1, wherein the outer tooth difference ring is an aluminum alloy metal ring body. The tooth profile processing method of the transmission device according to the first aspect of the invention, wherein the inner ring surface of the ring body of the outer toothed ring is provided with a fitting groove, and the engineering plastic of the internal tooth is attached to the groove. The tooth profile processing method of the transmission device according to claim 1, wherein the inner side end of the ring gear of the inner toothed ring is formed with an elastic flange.