CA2062080C - Wave gear drive - Google Patents

Wave gear drive Download PDF

Info

Publication number
CA2062080C
CA2062080C CA002062080A CA2062080A CA2062080C CA 2062080 C CA2062080 C CA 2062080C CA 002062080 A CA002062080 A CA 002062080A CA 2062080 A CA2062080 A CA 2062080A CA 2062080 C CA2062080 C CA 2062080C
Authority
CA
Canada
Prior art keywords
gear
curve
wave generator
wave
external gear
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
CA002062080A
Other languages
English (en)
French (fr)
Other versions
CA2062080A1 (en
Inventor
Shoichi Ishikawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
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 Inc filed Critical Harmonic Drive Systems Inc
Publication of CA2062080A1 publication Critical patent/CA2062080A1/en
Application granted granted Critical
Publication of CA2062080C publication Critical patent/CA2062080C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • 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
    • 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
    • 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)
CA002062080A 1991-03-01 1992-02-28 Wave gear drive Expired - Lifetime CA2062080C (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP3-35819 1991-03-01
JP3035819A JP2916012B2 (ja) 1991-03-01 1991-03-01 波動歯車装置
ES09201405A ES2068094B1 (es) 1991-03-01 1992-07-08 Transmision de engranajes en ondas.
NL9201234A NL194594C (nl) 1991-03-01 1992-07-09 Golftandwielaandrijving.
CH02420/92A CH688658A5 (fr) 1991-03-01 1992-07-31 Commande ondulatoire d'engrenages.

Publications (2)

Publication Number Publication Date
CA2062080A1 CA2062080A1 (en) 1992-09-02
CA2062080C true CA2062080C (en) 2004-01-06

Family

ID=27428432

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002062080A Expired - Lifetime CA2062080C (en) 1991-03-01 1992-02-28 Wave gear drive

Country Status (9)

Country Link
US (1) US5282398A ( )
EP (1) EP0501522B1 ( )
JP (1) JP2916012B2 ( )
CA (1) CA2062080C ( )
CH (1) CH688658A5 ( )
DE (1) DE69208113T2 ( )
ES (1) ES2068094B1 ( )
NL (1) NL194594C ( )
SE (1) SE9201949L ( )

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
KR100381798B1 (ko) * 1994-12-14 2003-11-28 가부시키가이샤 하모닉 드라이브 시스템즈 실크해트형휨맞물림식기어장치
JP3739017B2 (ja) * 1995-12-15 2006-01-25 株式会社ハーモニック・ドライブ・システムズ 非干渉広域かみ合い歯形を有する撓みかみ合い式歯車装置
WO1999018364A1 (fr) * 1997-10-02 1999-04-15 Harmonic Drive Systems Inc. Systeme d'engrenages souples en forme de chapeau
JP3887762B2 (ja) * 1997-10-16 2007-02-28 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
JP3942249B2 (ja) 1997-11-28 2007-07-11 株式会社ハーモニック・ドライブ・システムズ ３次元非干渉広域かみ合い歯形を有する撓み噛み合い式歯車装置
JP5256249B2 (ja) * 2010-06-18 2013-08-07 住友重機械工業株式会社 撓み噛合い式歯車装置
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
DE102012102802B4 (de) * 2012-03-30 2016-07-07 Wittenstein Ag Getriebe
WO2015004693A1 (ja) 2013-07-10 2015-01-15 株式会社ハーモニック・ドライブ・システムズ 波動発生器および波動歯車装置
JP5698333B1 (ja) * 2013-10-28 2015-04-08 上銀科技股▲分▼有限公司 高調波減速機
US9470042B2 (en) 2013-11-22 2016-10-18 Halliburton Energy Services, Inc. Down hole harmonic drive transmission
TWI513925B (zh) * 2014-06-16 2015-12-21 Hiwin Tech Corp Can improve the bite rate of the harmonic reducer
CN105822725B (zh) * 2015-01-06 2018-04-24 上银科技股份有限公司 可提升传动精度的谐波减速机
JP5976854B2 (ja) * 2015-01-21 2016-08-24 上銀科技股▲分▼有限公司 伝動精度を向上させる波動歯車装置
EP3617549B1 (en) 2017-04-28 2021-09-01 Harmonic Drive Systems Inc. Wave gear device and wave generator
US10975947B2 (en) * 2018-02-27 2021-04-13 The Boeing Company Optimized harmonic drive
CN109099115B (zh) * 2018-10-25 2021-04-20 北京工商大学 一种柔轮具有自动定位功能的谐波齿轮传动装置
CN109458441B (zh) * 2018-11-20 2021-01-08 广州市昊志机电股份有限公司 一种凸轮式波发生器
CN109707821A (zh) * 2019-01-30 2019-05-03 成都瑞迪机械科技有限公司 波发生器及具有该波发生器的谐波减速机
DE102020201392A1 (de) 2020-02-05 2021-08-05 Zf Friedrichshafen Ag Formoptimierte Wellscheibe
CN113931990B (zh) * 2021-08-31 2023-04-14 北京精密机电控制设备研究所 一种谐波传动凸轮

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906143A (en) * 1955-03-21 1959-09-29 United Shoe Machinery Corp Strain wave gearing
US2930254A (en) * 1958-02-26 1960-03-29 United Shoe Machinery Corp Harmonic gearing with extended contact
DE1165376B (de) * 1958-12-10 1964-03-12 United Shoe Machinery Corp Antriebsvorrichtung zur Drehbewegungsuebertragung unter Verwendung eines Spannungswellengetriebes
US2931248A (en) * 1959-03-23 1960-04-05 United Shoe Machinery Corp Strain wave gearing-strain inducer species
US3005358A (en) * 1960-05-16 1961-10-24 United Shoe Machinery Corp Irreversible high efficiency transmission
US3034375A (en) * 1961-06-06 1962-05-15 United Shoe Machinery Corp Multiple wave generators for harmonic drive
US3667320A (en) * 1971-01-18 1972-06-06 Usm Corp Wave generator configurations
IL69585A0 (en) * 1982-09-03 1983-11-30 Usm Corp Universal wave generator
DE3336661C2 (de) * 1983-10-08 1985-08-14 Balcke-Dürr AG, 4030 Ratingen Planetengetriebe
US4703670A (en) * 1985-03-30 1987-11-03 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Wave gear drive and gear generating method
JPH0784896B2 (ja) * 1986-11-05 1995-09-13 株式会社ハーモニック・ドライブ・システムズ 撓み噛み合い式歯車装置
JP2503027B2 (ja) * 1987-09-21 1996-06-05 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置
SU1527434A1 (ru) * 1988-01-21 1989-12-07 Куйбышевский политехнический институт им.В.В.Куйбышева Одноволнова зубчата передача
JP2675854B2 (ja) * 1989-04-21 1997-11-12 株式会社ハーモニック・ドライブ・システムズ 波動歯車の波動発生器
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

Also Published As

Publication number Publication date
JP2916012B2 (ja) 1999-07-05
NL9201234A (nl) 1994-02-01
EP0501522A1 (en) 1992-09-02
EP0501522B1 (en) 1996-02-07
DE69208113D1 (de) 1996-03-21
SE469609B (sv) 1993-08-02
ES2068094R ( ) 1996-08-16
ES2068094B1 (es) 1997-03-01
DE69208113T2 (de) 1996-09-12
NL194594C (nl) 2002-08-05
US5282398A (en) 1994-02-01
CH688658A5 (fr) 1997-12-31
SE9201949L (sv) 1993-08-02
JPH04277354A (ja) 1992-10-02
NL194594B (nl) 2002-04-02
SE9201949D0 (sv) 1992-06-24
CA2062080A1 (en) 1992-09-02
ES2068094A2 (es) 1995-04-01

Similar Documents

Publication Publication Date Title
CA2062080C (en) Wave gear drive
EP0266972B1 (en) Tooth profile of spline of strain wave gearing
US5456139A (en) Tooth profile arrangement to eliminate tooth intererence in extended contact harmonic drive devices
US5918508A (en) Strain wave gearing having a non-interfering wide mesh range tooth profile
KR100648776B1 (ko) 최대의 치 높이를 보유한 통과 치형을 갖는 음편위 가요성 물림식 기어 장치
US8776638B2 (en) Wave gear device having three-dimensionally contactable shifted tooth profile
EP0741256A1 (en) Silk hat type flexible mesh engagement gear device
US5782143A (en) Flexible meshing type gear device with negative deflection passing tooth profile
EP0693640A1 (en) Internally meshing planetary gear structure of the flexible gear type
WO2005124189A1 (ja) 負偏位噛み合い歯形を有する波動歯車装置
US20030159539A1 (en) Wave gearing with three-dimensional deviatedly meshed tooth profile
US20050044986A1 (en) Wave gear drive with wide mesh three-dimensional tooth profile
JPWO2005121597A1 (ja) 高ラチェティングトルク歯形を有する波動歯車装置
JP3132777B2 (ja) 撓み噛み合い式歯車装置
JPH05172195A (ja) 撓み噛み合い式歯車装置の３次元無転位歯形の形成方法
JP2672811B2 (ja) ひずみ波動歯車装置の内側波動発生器を製造する方法
EP0161072B1 (en) Mechanical reduction gear system
KR100224512B1 (ko) 파동 기어 구동장치
JP2675853B2 (ja) 波動歯車の歯形及びその製造方法
US3946620A (en) Gear with a trochoidal curved disk
JPH0215743B2 ( )
JP2771415B2 (ja) 撓み噛合い式歯車噛合構造
JP2828580B2 (ja) 内接噛合遊星歯車構造及び撓み噛合い式歯車噛合構造
JP2529703B2 (ja) 撓み噛み合い式歯車装置
RU2019761C1 (ru) Косозубая цилиндрическая передача

Legal Events

Date Code Title Description
EEER Examination request
MKEX Expiry