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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
  • Storage Of Web-Like Or Filamentary Materials (AREA)
  • Harvester Elements (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Holo Graphy (AREA)
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)

Families Citing this family (84)

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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
DE69317129T2 (de) * 1992-06-03 1998-06-18 Sumitomo Heavy Industries Zykloidgetriebe des Typs mit elastischem Zahnrad
EP0622566B1 (de) * 1992-11-24 1997-02-05 Harmonic Drive Systems Inc. Flexible kontaktverzahnung mit nicht profilverschobenen aus zwei kreisbögen generiertem zahnprofil
US5485766A (en) * 1992-11-24 1996-01-23 Harmonic Drive Systems, Inc. Tertiary negative-deviation flexing contact type gear drive of non-profile-shifted tooth profile
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., 72147 Nehren Untersetzungsgetriebe
DE69830314T2 (de) 1998-03-25 2006-02-02 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
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DE112004002092B4 (de) * 2003-10-30 2015-09-10 Harmonic Drive Systems Inc. Wellgetreibe mit ausgedehnten Eingriff lieferndem Zahnprofil
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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
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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
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
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
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
JP5117570B2 (ja) 2008-08-29 2013-01-16 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
WO2010070712A1 (ja) * 2008-12-18 2010-06-24 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
EP2414704B8 (de) 2009-03-30 2013-10-16 TQ-Systems GmbH Getriebe, motorgetriebeeinheit, fahrzeug, generator mit einem getriebe und kraftübertragungselement
CN102959275B (zh) * 2011-02-04 2015-09-02 谐波传动系统有限公司 具有三维接触渐开线正偏位齿形的波动齿轮装置
US8661940B2 (en) 2011-05-09 2014-03-04 Harmonic Drive Systems Inc. Wave gear device having three-dimensional continuous contact tooth profile
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
KR101485863B1 (ko) 2012-08-17 2015-01-26 가부시키가이샤 하모닉 드라이브 시스템즈 3 차원 접촉 치형을 가지는 파동 기어 장치
WO2014147583A1 (de) 2013-03-20 2014-09-25 Tq-Systems Gmbh Harmonisches pinring-getriebe
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CN106989144B (zh) * 2013-11-19 2019-02-12 谐波传动系统有限公司 摩擦卡合式的波动装置
KR101751475B1 (ko) 2013-11-29 2017-06-27 가부시키가이샤 하모닉 드라이브 시스템즈 2회 접촉의 음편위 치형을 갖는 파동 기어 장치
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
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JP6017066B2 (ja) 2014-07-11 2016-10-26 株式会社ハーモニック・ドライブ・システムズ 円弧歯形を用いて形成した連続接触歯形を有する波動歯車装置
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
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
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
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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
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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
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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
KR20200130430A (ko) * 2018-05-14 2020-11-18 가부시키가이샤 하모닉 드라이브 시스템즈 파동기어장치
EP3803153B1 (de) 2018-05-31 2023-07-19 TQ-Systems GmbH Getriebe mit zugmittel
CN112709802B (zh) * 2019-10-25 2024-07-19 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
CN114867951B (zh) * 2020-01-08 2025-07-18 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
KR102573210B1 (ko) 2020-10-30 2023-08-30 가부시키가이샤 하모닉 드라이브 시스템즈 3차원 치형을 구비한 파동기어장치
CN114857235B (zh) * 2021-02-04 2025-07-29 盟英科技股份有限公司 谐波减速装置
GB202205215D0 (en) * 2022-04-08 2022-05-25 Saltapes Estebane Gear Arrangement
CN115899212B (zh) * 2022-11-03 2025-10-21 南通振康机械有限公司 一种单对齿啮合的双刚轮谐波减速机

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Also Published As

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

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