Wave gear drive with continuous meshing, high ratcheting torque tooth profile

Abstract

A wave gear drive comprises a circular rigid internal gear and a flexible external gear inside the rigid internal gear. A wave generator in the flexible external gear flexes the flexible external gear into an elliptical shape. The cross-section of the flexible external gear perpendicular to the axis at a point in the tooth trace direction of the flexible external gear is set as the main cross-section. The rigid internal gear and flexible external gear are gears with a module m, and the flexible external gear has a number of teeth that is smaller than the number of teeth of the rigid internal gear. The moving route M of a tooth of the flexible external gear with respect to a tooth of the rigid internal gear that accompanies rotation of the wave generator when meshing of the teeth in the main cross-section is approximated by rack meshing. On the entering side of the meshing of the teeth to the major axis of the moving route M, a first similar curve AC is obtained by similarity transformation of a pressure angle α orthogonal to the direction of the moving route M. The first similar curve AC is employed as the basic addendum tooth profile of the rigid internal gear. A second similar curve CB is obtained by rotating the first similar curve AC 180 E about endpoint C, and by a similarity transformation in which the first similar curve AC is multiplied by a ratio of similitude (1-λ)/λ The second similar curve CB is employed as the basic addendum tooth profile of the flexible external gear.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a general front view of a wave gear drive according to the present invention.

FIG. 2 is an explanatory diagram showing an axial cross-section that includes the flexing condition of the flexible external gear, with (a) showing the state before deformation, (b) a cross-section that includes the major axis of the ellipse after deformation, and (c) a cross-section that includes the minor axis of the ellipse after deformation.

FIG. 3 shows the moving route of a rack in a case in which the tooth profile formation of the present invention is based on κ>1.

FIG. 4 is an explanatory diagram showing the moving route of FIG. 3 utilized for tooth profile formation.

FIG. 5 is an explanatory diagram showing an example of the tooth profiles set for the two gears.

FIG. 6 is an explanatory diagram showing the tooth shape used by the two gears to realize effective meshing other than at the main cross-section.

Claims

1. A wave gear drive, comprising: a circular rigid internal gear;a flexible external gear disposed within the rigid internal gear;a wave generator disposed within the flexible external gear;the flexible external gear having a flexible cylindrical body and an annular diaphragm that extends in a radial direction from a back end of the cylindrical body, a toothed portion formed on a front end opening portion of the cylindrical body that is flexed into an elliptical shape by a flexing amount generated by the wave generator from a back end portion on the diaphragm side to a front end portion on the opening side thereof that is approximately proportional to distance from the diaphragm;wherein a cross-section of the flexible external gear perpendicular to the axis at a prescribed location in a tooth trace direction of the flexible external gear is set to be a main cross-section;the rigid internal gear and flexible external gear are gears with a module m;the flexible external gear has a number of teeth that is set to be smaller by 2 n (n is a positive integer) than a number of teeth of the rigid internal gear;a radial flexing amount of a major axis of an elliptical rim neutral line of the flexible external gear is set at κmn (κ>1);a moving route M of a tooth of the flexible external gear with respect to a tooth of the rigid internal gear that accompanies rotation of the wave generator when meshing of the teeth in the main cross-section is approximated by rack meshing is obtained;on an entering side of the meshing of the teeth to the major axis of the moving route M, a first similar curve AC is obtained by similarity transformation of a pressure angle α defined as an angle of inclination in a direction orthogonal to the direction of the moving route M in a range that is from 90° at point A in an initial meshing phase to a minimum of 0° at point B, or a range that is midway from point A to point B, using a ratio of similitude λ(λ<1) with point A as center of similarity,the first similar curve AC is employed as a basic addendum tooth profile of the rigid internal gear,a second similar curve CB is obtained by rotating the first similar curve AC through an angle of 180° with the endpoint C thereof as center of similarity, and by similarity transformation in which the first similar curve AC is multiplied by a ratio of similitude (1−λ)λ, andthe second similar curve CB is employed as a basic addendum tooth profile of the flexible external gear.

2. A wave gear drive according to claim 1, wherein a generation curve is obtained that is generated by moving the basic tooth profile defined by the second similar curve CB of the flexible external gear along the moving route M, from a deepest point D on the major axis of the moving route M to a point E on a tooth departing side on the moving route M at which the pressure angle is αe, (0°<αe<20°),the generation curve is employed as a basic dedendum tooth profile of the rigid internal gear, andat an endpoint F on the generation curve corresponding to point C on the second similar curve CB, a dedendum tooth profile defined by the generation curve and the basic addendum profile defined by the first similar curve AC are connected by a straight line representing a line tangent to the generation curve, and employed to form the tooth profile of the rigid internal gear.

3. A wave gear drive according to claim 2, wherein at point F on the second similar curve CB at which the pressure angle is αe when endpoint B of the second similar curve CB that defines the basic addendum tooth profile of the flexible external gear reaches point E on the moving route M, a straight line FG of a prescribed length representing a line tangent to the curve is connected to endpoint F of curve EF, and the endpoint G of line FG is smoothly connected to a fillet curve GH that defines a dedendum tooth profile so as not to interfere with the basic addendum tooth profile of the rigid internal gear, whereby obtaining the tooth profile of the flexible external gear.

4. A wave gear drive according to claim 3, wherein relieving is applied that extends from the main cross-section of the flexible external gear to the opening portion and the diaphragm.

5. A wave gear drive according to claim 3, wherein the main cross-section of the flexible external gear takes in the opening portion, relieving is applied that extends to the diaphragm, and a position of the shallowest apex of the moving route obtained in each cross-section perpendicular to the tooth trace of the flexible external gear matches the opening portion.