ATE83300T1 - Spannungswellengetriebe. - Google Patents

Spannungswellengetriebe.

Info

Publication number
ATE83300T1
ATE83300T1 AT88308698T AT88308698T ATE83300T1 AT E83300 T1 ATE83300 T1 AT E83300T1 AT 88308698 T AT88308698 T AT 88308698T AT 88308698 T AT88308698 T AT 88308698T AT E83300 T1 ATE83300 T1 AT E83300T1
Authority
AT
Austria
Prior art keywords
flexspline
tooth
circular
circular spline
wave generator
Prior art date
Application number
AT88308698T
Other languages
English (en)
Inventor
Shoichi Ishikawa
Yoshihide Kiyosawa
Original Assignee
Harmonic Drive Systems
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 filed Critical Harmonic Drive Systems
Application granted granted Critical
Publication of ATE83300T1 publication Critical patent/ATE83300T1/de

Links

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
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • 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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
    • F01L1/344—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear
    • F01L1/352—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear using bevel or epicyclic gear
    • F01L2001/3521—Harmonic drive of flexspline type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
AT88308698T 1987-09-21 1988-09-20 Spannungswellengetriebe. ATE83300T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP62236843A JP2503027B2 (ja) 1987-09-21 1987-09-21 撓みかみ合い式歯車装置
EP88308698A EP0309197B1 (de) 1987-09-21 1988-09-20 Spannungswellengetriebe

Publications (1)

Publication Number Publication Date
ATE83300T1 true ATE83300T1 (de) 1992-12-15

Family

ID=17006616

Family Applications (1)

Application Number Title Priority Date Filing Date
AT88308698T ATE83300T1 (de) 1987-09-21 1988-09-20 Spannungswellengetriebe.

Country Status (7)

Country Link
US (1) US4974470A (de)
EP (1) EP0309197B1 (de)
JP (1) JP2503027B2 (de)
KR (1) KR920008646B1 (de)
AT (1) ATE83300T1 (de)
CA (1) CA1309273C (de)
DE (1) DE3876566T2 (de)

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* Cited by examiner, † Cited by third party
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JP2718540B2 (ja) * 1989-04-17 1998-02-25 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
JPH0814233B2 (ja) * 1990-07-18 1996-02-14 株式会社ハーモニック・ドライブ・システムズ 部材の姿勢制御装置および掘削機の掘削方向制御装置
JP2916012B2 (ja) * 1991-03-01 1999-07-05 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
JP2995118B2 (ja) * 1992-01-23 1999-12-27 石油公団 部材の位置決め装置およびこの装置を用いた掘削機の掘削方向制御装置
DE69305570T2 (de) * 1992-06-03 1997-02-20 Sumitomo Heavy Industries Zykloidengetriebe
EP0622566B1 (de) * 1992-11-24 1997-02-05 Harmonic Drive Systems Inc. Flexible kontaktverzahnung mit nicht profilverschobenen aus zwei kreisbögen generiertem zahnprofil
EP0622565B1 (de) * 1992-11-24 1997-02-05 Harmonic Drive Systems Inc. Flexible kontaktverzahnung mit tertiärer negativ-deformation und einem nicht profilverschobenen zahnprofil
US5417186A (en) * 1993-06-28 1995-05-23 Clemson University Dual-acting apparatus for variable valve timing and the like
US5456139A (en) * 1993-08-30 1995-10-10 Teppin Seiki Boston, Inc. Tooth profile arrangement to eliminate tooth intererence in extended contact harmonic drive devices
JP3441160B2 (ja) * 1994-04-19 2003-08-25 株式会社ハーモニック・ドライブ・システムズ 追い越し接触型歯形の撓み噛み合い式歯車装置
DE29614738U1 (de) 1996-08-24 1996-10-24 Hirn Helmut Dipl Ing Untersetzungsgetriebe
EP0984201B1 (de) 1998-03-25 2005-05-25 Harmonic Drive Systems Inc. Phasenregler
DE19835571A1 (de) * 1998-08-06 2000-02-17 Ims Morat Soehne Gmbh Wellgetriebe und Verfahren zu dessen Zahnoptimierung
JP4392787B2 (ja) 2003-08-29 2010-01-06 株式会社ハーモニック・ドライブ・システムズ 広域３次元かみ合い歯形を有する波動歯車装置
DE20319172U1 (de) * 2003-09-18 2004-04-22 Litens Automotive Partnership, Woodbridge Nicht kreisförmige Rotationskomponente
JP4597051B2 (ja) * 2003-10-30 2010-12-15 株式会社ハーモニック・ドライブ・システムズ 広域噛み合い歯形を有する波動歯車装置
US20050247177A1 (en) 2004-04-15 2005-11-10 Hetcher Jason D Table and base assembly for a power tool
US7530292B2 (en) * 2004-06-07 2009-05-12 Harmonic Drive Systems Inc. Wave gear drive having high ratcheting torque tooth profile
US7735396B2 (en) 2004-06-21 2010-06-15 Harmonic Drive Systems Inc. Wave gear drive having negative deflection meshing tooth profile
US7552664B2 (en) * 2005-11-04 2009-06-30 Northrop Grumman Guidance and Electronics Co., Inc. Harmonic drive gear assembly with asymmetrical wave generator and associated flexspline
JP4777792B2 (ja) 2006-02-09 2011-09-21 株式会社ハーモニック・ドライブ・システムズ 連続噛み合い高ラチェティングトルク歯形を有する波動歯車装置
EP2003368A2 (de) 2006-03-31 2008-12-17 JTEKT Corporation Getriebevorrichtung des flexiblen zahneingrifftyps und lenkvorrichtung für fahrzeug
DE102006031626B3 (de) * 2006-07-06 2008-01-24 Santo, Wilfried Mechanischer Stell- oder Dosierknopf
JP4877837B2 (ja) * 2007-12-04 2012-02-15 株式会社ハーモニック・ドライブ・システムズ フラット型波動歯車装置の同歯数側歯車の歯形設定方法
US20090139357A1 (en) 2007-12-04 2009-06-04 Harmonic Drive Systems Inc. Method For Setting Nonpositive Deflection, Maximum Meshable Tooth Profile In Flat Wave Gear Device
US8028603B2 (en) 2007-12-04 2011-10-04 Harmonic Drive Systems Inc. Method for setting gear tooth profile in flat wave gear device on side where gears have same number of teeth
JP4877836B2 (ja) * 2007-12-04 2012-02-15 株式会社ハーモニック・ドライブ・システムズ フラット型波動歯車装置の非正偏位極大かみ合い可能な歯形設定方法
JP4948479B2 (ja) * 2008-06-26 2012-06-06 株式会社ハーモニック・ドライブ・システムズ 複合型波動歯車減速機
WO2010023710A1 (ja) 2008-08-29 2010-03-04 株式会社ハーモニック・ドライブ・システムズ 正偏位噛み合い複合歯形を有する波動歯車装置
DE102008053913B4 (de) * 2008-10-30 2017-05-18 Ovalo Gmbh Spannungswellengetriebe sowie Vorrichtung zum Überlagern von Bewegungen
JP5138783B2 (ja) * 2008-12-18 2013-02-06 株式会社ハーモニック・ドライブ・システムズ ３次元接触可能な転位歯形を有する波動歯車装置
WO2012104927A1 (ja) * 2011-02-04 2012-08-09 株式会社ハーモニック・ドライブ・システムズ ３次元接触のインボリュート正偏位歯形を有する波動歯車装置
JP5165120B2 (ja) 2011-05-09 2013-03-21 株式会社ハーモニック・ドライブ・システムズ ３次元連続接触歯形を有する波動歯車装置
JP5734102B2 (ja) 2011-06-01 2015-06-10 株式会社ハーモニック・ドライブ・システムズ テーパ型の可撓性外歯車を備えた波動歯車装置
DE112011105695T5 (de) 2011-09-29 2014-07-17 Harmonic Drive Systems Inc. Wellgetriebe mit einem sich verjüngenden flexiblen außen verzahnten Zahnrad
KR101782041B1 (ko) 2012-01-10 2017-10-23 가부시키가이샤 하모닉 드라이브 시스템즈 림 두께를 고려한 인벌류트 양편위 치형을 갖는 파동 기어 장치
TWI460365B (zh) * 2012-06-08 2014-11-11 Univ Nat Formosa Rigid Ring Gear and Flexible Planetary Wheel of Harmonic Reducer and Its Method
US9945458B2 (en) 2012-06-19 2018-04-17 Genesis Robotics Llp Actuator using expansion or contraction to produce linear or rotary motion
CN103748382B (zh) 2012-08-17 2016-12-07 谐波传动系统有限公司 具有三维接触齿形的波动齿轮装置
WO2014147583A1 (de) * 2013-03-20 2014-09-25 Tq-Systems Gmbh Harmonisches pinring-getriebe
JPWO2015001974A1 (ja) * 2013-07-01 2017-02-23 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
US9470301B2 (en) 2013-10-21 2016-10-18 Hiwin Technologies Corp. Harmonic drive gear reduction mechanism
US9360098B2 (en) 2013-10-29 2016-06-07 Roopnarine Strain wave drive with improved performance
WO2015075781A1 (ja) * 2013-11-19 2015-05-28 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、摩擦係合式の波動装置、および波動発生器
WO2015079576A1 (ja) 2013-11-29 2015-06-04 株式会社ハーモニック・ドライブ・システムズ ２度接触の負偏位歯形を有する波動歯車装置
CN105020347B (zh) * 2014-04-29 2017-10-31 宁波宏志机器人科技有限公司 一种偏心摆动型行星齿轮装置
US20170184190A1 (en) * 2014-05-06 2017-06-29 Genesis Robotics Llp Flex spline torque transfer device
KR101771186B1 (ko) 2014-07-11 2017-08-24 가부시키가이샤 하모닉 드라이브 시스템즈 원호 치형을 이용하여 형성한 연속 접촉 치형을 갖는 파동 기어 장치
JP6218692B2 (ja) * 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6218690B2 (ja) * 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6218693B2 (ja) * 2014-07-23 2017-10-25 株式会社ハーモニック・ドライブ・システムズ デュアルタイプの波動歯車装置
JP6351724B2 (ja) * 2014-08-06 2018-07-04 株式会社ハーモニック・ドライブ・システムズ フラット型波動歯車装置
JP2016040485A (ja) * 2014-08-12 2016-03-24 リン パン−チェン 高変速比波動歯車変速装置
TWI551791B (zh) * 2014-12-22 2016-10-01 Harmonic Drive Systems Harmonic generator and harmonic gear device
CN105987152A (zh) * 2015-02-03 2016-10-05 重庆科谷机械有限公司 摆线活齿减速机的柔性滚动非圆全啮合激波器装置
DE102015104135A1 (de) 2015-03-19 2016-09-22 Harmonic Drive Ag Wellgetriebe mit Trockenlauf
MY167357A (en) * 2015-06-02 2018-08-16 Nissan Motor Variable compression ratio mechanism for internal combustion engine
CN107614851B (zh) * 2015-06-02 2019-03-08 日产自动车株式会社 内燃机的可变压缩比机构
JP6513194B2 (ja) 2015-06-02 2019-05-15 株式会社ハーモニック・ドライブ・システムズ 歯面の一致を伴う複合かみ合い波動歯車装置
DE102015109426A1 (de) * 2015-06-12 2016-12-15 Ovalo Gmbh Radial bauraumsparendes Spannungswellengetriebe
CN107850187B (zh) * 2015-07-07 2020-05-05 谐波传动系统有限公司 波动齿轮装置以及波动发生器
US10883589B2 (en) 2015-12-04 2021-01-05 Harmonic Drive Systems Inc. Two stress-separation strain wave gearing
JP6522791B2 (ja) 2016-01-15 2019-05-29 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
LU93010B1 (de) * 2016-03-30 2017-10-23 Ovalo Gmbh Spannungswellengetriebe
US20170321790A1 (en) * 2016-05-09 2017-11-09 Genesis Robotics Llp Flex spline actuator
DE102016223521A1 (de) 2016-11-28 2018-05-30 Schaeffler Technologies AG & Co. KG Wellgetriebe, Verstellgetriebevorrichtung mit dem Wellgetriebe sowie ein Fahrzeug mit dem Wellgetriebe
DE102016122845A1 (de) 2016-11-28 2018-05-30 Tq-Systems Gmbh Harmonisches Pinring-Getriebe, Drehmomentmessvorrichtung und Freilaufanordnung
RU2728990C1 (ru) * 2017-01-21 2020-08-03 Хармоник Драйв Системс Инк. Волновая передача
JP6830736B2 (ja) 2017-06-05 2021-02-17 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
US10955039B2 (en) * 2017-09-15 2021-03-23 Nidec Corporation Transmission and actuator
JP6912989B2 (ja) * 2017-09-27 2021-08-04 住友重機械工業株式会社 撓み噛合い式歯車装置
WO2019077719A1 (ja) 2017-10-19 2019-04-25 株式会社ハーモニック・ドライブ・システムズ ３次元かみ合い歯形を有する波動歯車装置
JP7145601B2 (ja) * 2017-10-23 2022-10-03 住友重機械工業株式会社 撓み噛み合い式歯車装置
US10975947B2 (en) * 2018-02-27 2021-04-13 The Boeing Company Optimized harmonic drive
JPWO2019220515A1 (ja) * 2018-05-14 2021-02-12 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
CN112709802A (zh) * 2019-10-25 2021-04-27 罗普伺达机器人有限公司 用于谐波驱动器结构的减速器的波发生器
CN114867951A (zh) * 2020-01-08 2022-08-05 谐波传动系统有限公司 波动齿轮装置
WO2022091384A1 (ja) 2020-10-30 2022-05-05 株式会社ハーモニック・ドライブ・システムズ 三次元歯形を備えた波動歯車装置
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CN114857235A (zh) * 2021-02-04 2022-08-05 盟英科技股份有限公司 谐波减速装置

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Also Published As

Publication number Publication date
EP0309197A3 (en) 1989-12-13
JP2503027B2 (ja) 1996-06-05
US4974470A (en) 1990-12-04
JPS6479448A (en) 1989-03-24
CA1309273C (en) 1992-10-27
DE3876566D1 (de) 1993-01-21
EP0309197A2 (de) 1989-03-29
EP0309197B1 (de) 1992-12-09
KR920008646B1 (ko) 1992-10-08
DE3876566T2 (de) 1993-04-22
KR890005419A (ko) 1989-05-13

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