CN110869645A - Wave gear device - Google Patents
Wave gear device Download PDFInfo
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- CN110869645A CN110869645A CN201880045728.2A CN201880045728A CN110869645A CN 110869645 A CN110869645 A CN 110869645A CN 201880045728 A CN201880045728 A CN 201880045728A CN 110869645 A CN110869645 A CN 110869645A
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- Prior art keywords
- peripheral surface
- flexible
- externally toothed
- toothed gear
- axial direction
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 86
- 230000003139 buffering effect Effects 0.000 claims description 10
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- 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
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
Abstract
A wave gear device is provided with: a non-circular cam that rotates about a central axis extending vertically; a flexible bearing attached to an outer peripheral surface of the non-circular cam, the flexible bearing having a length in a radial direction that changes in a circumferential direction in accordance with rotation of the non-circular cam; a flexible externally toothed gear having a cylindrical shape extending in an axial direction, a lower end portion in the axial direction of the flexible externally toothed gear being attached to an outer peripheral surface of the flexible bearing, and a plurality of external teeth of the flexible externally toothed gear being provided at a constant pitch in a circumferential direction on the outer peripheral surface of the lower end portion; and an internal gear disposed radially outward of the flexible externally toothed gear, having internal teeth with a different number of teeth from the plurality of external teeth, the internal gear partially meshing with the flexible externally toothed gear. The inner peripheral surface of the lower end of the flexible externally toothed gear is in contact with at least the axially upper side of the outer peripheral surface of the flexible bearing. A space is provided axially below the contact position between the outer peripheral surface of the flexible bearing and the inner peripheral surface of the lower end of the flexible externally toothed gear.
Description
Technical Field
The present invention relates to a wave gear device.
Background
Japanese patent No. 5734102 discloses a wave gear device that reduces the speed of input rotation and transmits the reduced speed to the load side. The wave gear device described in this publication includes an annular rigid internal gear, a circular flexible external gear disposed inside the rigid internal gear, and a wave generator fitted inside the circular flexible external gear. The circular flexible external gear is partially meshed with the internal gear by the radial deflection of the wave generator. Then, the input rotation is decelerated by the relative rotation corresponding to the difference in the number of teeth of both gears.
Patent document 1: japanese patent No. 5734102
Disclosure of Invention
Problems to be solved by the invention
The circular flexible externally toothed gear of japanese patent No. 5734102 has a cylindrical portion, and external teeth are provided on an outer peripheral surface portion of the cylindrical portion on an opening side of a first end. The wave generator is fitted into an opening on the first end side of the cylindrical portion of the circular flexible externally toothed gear. The first end side of the cylindrical portion is deflected in an elliptical shape by the wave generator. Therefore, a contact pressure is generated between the first end side of the cylindrical portion of the circular flexible externally toothed gear and the internal gear. By this contact pressure, stress directed radially inward is applied from the circular flexible external gear to the wave generator. Therefore, a load is applied to the wave bearing of the wave generator, so that the life of the wave bearing may become short.
In view of the above problems, an object of the present invention is to provide a wave gear device that reduces a load applied to a bearing.
Means for solving the problems
In order to solve the above problem, the present invention is a wave gear device including: a non-circular cam that rotates about a central axis extending vertically; a flexible bearing attached to an outer peripheral surface of the non-circular cam, a length of the flexible bearing in a radial direction of the flexible bearing varying in a circumferential direction according to rotation of the non-circular cam; a flexible externally toothed gear having a cylindrical shape extending in an axial direction, a lower end portion in the axial direction of the flexible externally toothed gear being attached to an outer peripheral surface of the flexible bearing, and a plurality of external teeth of the flexible externally toothed gear being provided at a constant pitch in a circumferential direction on the outer peripheral surface of the lower end portion; and an internal gear disposed radially outward of the flexible externally toothed gear, the internal gear having internal teeth with a different number of teeth from the plurality of external teeth, the internal gear partially meshing with the flexible externally toothed gear, an inner peripheral surface of the lower end portion of the flexible externally toothed gear being in contact with at least an axially upper side of an outer peripheral surface of the flexible bearing, the wave gear device further including a stress buffering portion provided at a position axially lower than a contact position between the outer peripheral surface of the flexible bearing and the inner peripheral surface of the lower end portion of the flexible externally toothed gear.
Effects of the invention
According to the present invention, the length of the flexible externally toothed gear in the radial direction changes in the circumferential direction in accordance with the rotation of the non-circular cam. Also, the flexible externally toothed gear partially meshes with the internally toothed gear. Contact pressure is generated at the meshing position of the flexible externally toothed gear and the internally toothed gear. By this contact pressure, stress toward the radially inner side is applied to the flexible bearing. At this time, the stress buffering portion makes it difficult for the stress to be transmitted from the flexible externally toothed gear to the flexible bearing. As a result, the load applied to the flexible bearing is reduced, and damage to the flexible bearing due to the load can be suppressed.
Drawings
Fig. 1 is a cross-sectional view of a wave gear device according to an exemplary embodiment of the present application.
Fig. 2 is a sectional view taken along line II-II of fig. 1.
Fig. 3 is an enlarged view of a contact portion of the flexible externally toothed gear and the internally toothed gear.
Fig. 4 is an enlarged view of a contact portion of the flexible externally toothed gear and the internally toothed gear.
Fig. 5 is an enlarged view of a contact portion of the flexible externally toothed gear and the internally toothed gear.
Fig. 6 is a cross-sectional view of another example wave gear device.
Detailed Description
Hereinafter, exemplary embodiments of the present application will be described with reference to the drawings. In the present application, a direction parallel to the central axis of the wave gear device is referred to as an "axial direction", a direction perpendicular to the central axis of the wave gear device is referred to as a "radial direction", and a direction along an arc centered on the central axis of the wave gear device is referred to as a "circumferential direction". In the present application, the axial direction is defined as the vertical direction, and the rotation output portion side is defined as the upper side with respect to the rotation input portion, and the shape and positional relationship of the respective portions will be described. However, the definition of the up-down direction does not limit the direction in which the wave gear device of the present application is used.
In the present application, the "parallel direction" also includes a substantially parallel direction. In the present application, the "vertical direction" also includes a substantially vertical direction.
< 1. embodiment 1 >
< 1.1. Structure of wave gear device
Fig. 1 is a cross-sectional view of a wave gear device 100 of an exemplary embodiment of the present application. Fig. 2 is a sectional view taken along line II-II of fig. 1.
The wave gear device 100 includes a wave generator 4 that rotates about a central axis 9. The wave generator 4 has a non-circular cam 41 and a flexible bearing 42.
A rotation input unit, not shown, is connected to the non-circular cam 41. For example, a rotational force is transmitted from the motor to the rotation input portion, so that the rotation input portion rotates in the circumferential direction around the central axis 9. The rotation is transmitted from the rotation input portion to the non-circular cam 41, and the non-circular cam 41 rotates together with the rotation input portion around the central axis 9. The non-circular cam 41 has an elliptical shape when viewed from the axial direction.
The flexible bearing 42 is a ball bearing having flexibility. The flexible bearing 42 is disposed radially outward of the non-circular cam 41 and attached to the outer peripheral surface of the non-circular cam 41. When attached to the non-circular cam 41, the flexible bearing 42 is deformed in an elliptical shape along the outer peripheral surface of the non-circular cam 41 when viewed in the axial direction.
The wave gear device 100 includes an internal gear 3. The internal gear 3 is cylindrical surrounding the central axis 9, and is circular when viewed from the axial direction. The internal gear 3 is disposed radially outward of the flexible bearing 42. The internal gear 3 is fixed to, for example, a cover, not shown, of the wave gear device 100 so as not to be rotatable. On the inner peripheral surface of the internal gear 3, a plurality of internal teeth 31 are provided at a constant pitch in the circumferential direction.
The wave gear device 100 includes a flexible externally toothed gear 5. The flexible externally toothed gear 5 is a cylindrical member that surrounds the center axis 9 and extends in the axial direction. The lower end 50 of the flexible externally toothed gear 5 in the axial direction is disposed between the flexible bearing 42 and the internally toothed gear 3. The inner peripheral surface of the lower end portion 50 is in contact with the outer peripheral surface of the flexible bearing 42. A plurality of external teeth 501 having a different number of teeth from the plurality of internal teeth 31 of the internal gear 3 are provided on the outer peripheral surface of the lower end portion 50 at a constant pitch in the circumferential direction.
The lower end 50 of the flexible externally toothed gear 5 is attached to the flexible bearing 42. As described above, the flexible bearing 42 flexes in an elliptical shape. Therefore, the lower end 50 of the flexible externally toothed gear 5 attached to the flexible bearing 42 also bends in an elliptical shape. The minor axis of the lower end 50 having the elliptical deflection is shorter than the inner diameter of the internal gear 3 having a perfect circle shape. The major axis of the lower end 50 is substantially the same as the inner diameter of the internal gear 3. Therefore, at the long axis portion of the lower end portion 50, the external teeth 501 of the flexible externally toothed gear 5 mesh with the internal teeth 31 of the internal gear 3.
When the non-circular cam 41 rotates, the length of the flexible externally toothed gear 5 in the radial direction is displaced in the circumferential direction. Thereby, the meshing position of the flexible externally toothed gear 5 and the internally toothed gear 3 moves in the circumferential direction. The internal gear 3 is fixed so as not to be rotatable. As a result, when the flexible externally toothed gear 5 and the internal gear 3 having different numbers of teeth rotate relative to each other, the flexible externally toothed gear 5 rotates at a rotational speed lower than that of the non-circular cam 41.
The axial upper end of the flexible externally toothed gear 5 expands radially inward. Although not shown, the wave gear device 100 includes an output shaft that is rotatable about the central axis 9 and is connected to a load. The upper end portion in the axial direction of the flexible externally toothed gear 5 is fixed to the output shaft. As a result, when the flexible externally toothed gear 5 rotates about the center axis 9, the output shaft also rotates. Also, the rotation is transmitted to the load. As described above, the flexible externally toothed gear 5 rotates at a rotational speed less than that of the non-circular cam 41. That is, the output shaft that rotates together with the flexible externally toothed gear 5 also rotates at a rotational speed that is less than that of the non-perfect circular cam 41. In this way, the rotation input to the non-circular cam 41 from the motor, not shown, is decelerated and output to the load via the output shaft.
< 1.2 > about contact pressure of the flexible externally toothed gear 5 with the internally toothed gear 3
At the meshing position of the flexible externally toothed gear 5 and the internally toothed gear 3, a contact pressure is generated at the meshing portion of the flexible externally toothed gear and the internally toothed gear 3. However, the wave gear device 100 is configured such that the contact pressure between the flexible externally toothed gear 5 and the internally toothed gear 3 is hardly transmitted to the flexible bearing 42.
Fig. 3 is an enlarged view of a contact portion of the flexible externally toothed gear 5 and the internally toothed gear 3.
The inner peripheral surface of the lower end 50 of the flexible externally toothed gear 5 has a first inner peripheral surface 51 parallel to the axial direction in a state of a single member to which no external force is applied, and a second inner peripheral surface 52 located axially below the first inner peripheral surface 51 and gradually expanding radially outward from the first inner peripheral surface 51. The outer peripheral surface of the flexible bearing 42 is parallel to the axial direction. The first inner peripheral surface 51 of the lower end portion 50 of the flexible externally toothed gear 5 contacts the outer peripheral surface of the flexible bearing 42. Since the second inner peripheral surface 52 of the lower end portion 50 gradually expands radially outward from the first inner peripheral surface 51, a space 55 is provided between the second inner peripheral surface 52 and the outer peripheral surface of the flexible bearing 42. The space 55 is an example of the "stress buffering portion" in the present application.
The flexible externally toothed gear 5 is cylindrical, and the lower end portion 50 is deformed in an elliptical shape by the wave generator 4. Therefore, the cylindrical flexible externally toothed gear 5 has a shape in which the diameter thereof gradually expands from the upper side toward the lower side in the axial direction in the long axis portion. Accordingly, the outer peripheral surface of the flexible bearing 42 is also formed into a shape expanding in the radial direction from the axial upper side toward the lower side. Therefore, the contact pressure between the flexible externally toothed gear 5 and the internally toothed gear 3 increases toward the lower side in the axial direction.
The first inner peripheral surface 51 of the lower end portion 50 contacts the outer peripheral surface of the flexible bearing 42 at a portion axially above the ball center point of the flexible bearing 42, which is a ball bearing. That is, the space 55 is provided axially below the ball center point of the flexible bearing 42, which is a ball bearing. Therefore, the space 55 is provided at a portion where the contact pressure is large on the lower side in the axial direction. Therefore, the stress directed radially inward is less likely to be transmitted from the internal gear 3 to the flexible bearing 42 via the lower end portion 50 of the flexible externally toothed gear 5. This reduces the load applied to the flexible bearing 42, and can suppress damage to the flexible bearing 42 due to the load.
< 2 > embodiment mode 2
Embodiment 2 will be described below. Embodiment 2 differs from embodiment 1 in the configuration for providing the space 55 as an example of the "stress buffering portion" in the present application.
Fig. 4 is an enlarged view of a contact portion of the flexible externally toothed gear 5 and the internally toothed gear 3.
The inner peripheral surface of the lower end 50 of the flexible externally toothed gear 5 is parallel to the axial direction in a state of a member alone to which no external force is applied. The outer peripheral surface of the flexible bearing 42 has a first outer peripheral surface 421 parallel to the axial direction in a state where no external force is applied alone, and a second outer peripheral surface 422 located below the first outer peripheral surface 421 in the axial direction and gradually expanding radially inward from the first outer peripheral surface 421. The first outer peripheral surface 421 of the flexible bearing 42 contacts the outer peripheral surface of the flexible externally toothed gear 5. Since the second outer circumferential surface 422 of the flexible bearing 42 gradually expands radially inward from the first outer circumferential surface 421, a space 55 is provided between the second outer circumferential surface 422 and the inner circumferential surface of the lower end portion 50 of the flexible externally toothed gear 5, as in embodiment 1.
Thus, as in embodiment 1, the stress directed radially inward is less likely to be transmitted from the internal gear 3 to the flexible bearing 42 via the lower end portion 50 of the flexible externally toothed gear 5. This reduces the load applied to the flexible bearing 42, and can suppress damage to the flexible bearing 42 due to the load.
< 3 > embodiment mode 3
Fig. 5 is an enlarged view of a contact portion of the flexible externally toothed gear 5 and the internally toothed gear 3.
The inner peripheral surface of the lower end 50 of the flexible externally toothed gear 5 is parallel to the axial direction. The outer peripheral surface of the flexible bearing 42 has a first outer peripheral surface 423 parallel to the axial direction in a state where no external force is applied alone, and a second outer peripheral surface 424 which is located on the upper side in the axial direction than the first outer peripheral surface 423 and gradually spreads from the first outer peripheral surface 423 toward the inner side in the radial direction.
As described in embodiment 1, the cylindrical flexible externally toothed gear 5 has a shape that gradually expands in diameter from the upper side toward the lower side in the axial direction in the long axis portion. Therefore, the inner peripheral surface of the flexible externally toothed gear 5 is inclined with respect to the axial direction. Further, the second outer circumferential surface 424 of the flexible bearing 42 is also inclined with respect to the axial direction. Further, the inner peripheral surface of the flexible externally toothed gear 5 is in contact with the second outer peripheral surface 424 of the flexible bearing 42. The first outer peripheral surface 423 of the flexible bearing 42 is parallel to the axial direction, and the inner peripheral surface of the flexible externally toothed gear 5 is inclined with respect to the axial direction. Therefore, as in embodiment 1, a space 55 is provided between the first outer peripheral surface 423 and the inner peripheral surface of the lower end portion 50 of the flexible externally toothed gear 5.
Thus, as in embodiment 1, the stress directed radially inward is less likely to be transmitted from the internal gear 3 to the flexible bearing 42 via the lower end portion 50 of the flexible externally toothed gear 5. This reduces the load applied to the flexible bearing 42, and can suppress damage to the flexible bearing 42 due to the load.
< 4. modification
Although the present invention has been described above with reference to the exemplary embodiments, the present invention is not limited to the above-described embodiments.
Fig. 6 is a cross-sectional view of another example wave gear device 100A. The upper end portion in the axial direction of the flexible externally toothed gear 5A included in the wave gear device 100A is expanded radially outward. In this configuration, the output shaft connected to the load can be disposed radially outward of the case of fig. 1.
The space 55 is not particularly limited as long as it is provided at least between the lower end portion of the outer peripheral surface of the flexible bearing 42 and the first inner peripheral surface 51 of the lower end portion 50. The length of the space 55 in the radial direction is not particularly limited. It is sufficient that the stress from the internal gear 3 via the flexible externally toothed gear 5 is not transmitted to the flexible bearing 42 through the space 55.
In the above-described embodiments, the "stress buffering portion" in the present application is defined as a space, but may be any member capable of buffering stress, for example, an elastic member. The space 55 may be interposed with another member for absorbing stress.
The shape of the detailed portion of the wave gear device 100 may be different from the shape shown in the drawings of the present application. Further, the respective elements appearing in the above-described embodiment or modification may be appropriately combined within a range in which no contradiction occurs.
The present application claims priority based on japanese patent application No. 2017-137607 as a japanese patent application filed on 7/14/2017, and incorporates the entire contents of the description in the japanese patent application.
Industrial applicability
The present application can be applied to a wave gear device.
Description of the reference symbols
3: an internal gear; 4: a wave generator; 5. 5A: a flexible externally toothed gear; 9: a central axis; 31: internal teeth; 41: a non-right circular cam; 42: a flexible bearing; 50: a lower end portion; 51: a first inner peripheral surface; 52: a second inner peripheral surface; 55: a space; 100: a wave gear device; 100A: a wave gear device; 421: a first outer peripheral surface; 422: a second outer peripheral surface; 423: a first outer peripheral surface; 424: a second outer peripheral surface; 501: and (4) external teeth.
Claims (8)
1. A wave gear device is provided with:
a non-circular cam that rotates about a central axis extending vertically;
a flexible bearing attached to an outer peripheral surface of the non-circular cam, a length of the flexible bearing in a radial direction of the flexible bearing varying in a circumferential direction according to rotation of the non-circular cam;
a flexible externally toothed gear having a cylindrical shape extending in an axial direction, a lower end portion in the axial direction of the flexible externally toothed gear being attached to an outer peripheral surface of the flexible bearing, and a plurality of external teeth of the flexible externally toothed gear being provided at a constant pitch in a circumferential direction on the outer peripheral surface of the lower end portion; and
an internal gear disposed radially outward of the flexible externally toothed gear and having internal teeth with a different number of teeth from the plurality of external teeth, the internal gear partially meshing with the flexible externally toothed gear,
an inner peripheral surface of the lower end portion of the flexible externally toothed gear is in contact with at least an axially upper side of an outer peripheral surface of the flexible bearing,
the wave gear device further includes a stress buffering portion provided axially below a contact position between an outer peripheral surface of the flexible bearing and an inner peripheral surface of the lower end portion of the flexible externally toothed gear.
2. The wave gear device according to claim 1,
the stress buffering part is a space.
3. The wave gear device according to claim 1 or 2,
the flexible bearing is a ball bearing,
the stress buffering portion is provided axially below a ball center of the ball bearing.
4. A wave gear device according to any one of claims 1-3,
an inner peripheral surface of the lower end portion of the flexible externally toothed gear includes:
a first inner peripheral surface parallel to the axial direction; and
a second inner peripheral surface located axially below the first inner peripheral surface and gradually expanding radially outward from the first inner peripheral surface,
the outer peripheral surface of the flexible bearing is parallel to the axial direction at least at an upper portion in the axial direction,
the first inner peripheral surface of the flexible externally toothed gear is in contact with an outer peripheral surface of the flexible bearing parallel to the axial direction.
5. A wave gear device according to any one of claims 1-3,
the outer peripheral surface of the flexible bearing has:
a first outer circumferential surface parallel to the axial direction; and
a second outer circumferential surface located axially below the first outer circumferential surface and gradually expanding radially inward from the first outer circumferential surface,
the inner peripheral surface of the flexible externally toothed gear is parallel to the axial direction at least at an upper portion in the axial direction,
the first outer peripheral surface of the flexible bearing is in contact with an inner peripheral surface of the flexible externally toothed gear parallel to the axial direction.
6. A wave gear device according to any one of claims 1-3,
the outer peripheral surface of the flexible bearing has:
a first outer circumferential surface parallel to the axial direction; and
a second outer circumferential surface located axially above the first outer circumferential surface and gradually expanding radially inward from the first outer circumferential surface,
the inner peripheral surface of the flexible externally toothed gear is parallel to the axial direction,
the second outer circumferential surface of the flexible bearing is in contact with an inner circumferential surface of the flexible externally toothed gear.
7. A wave gear device according to any one of claims 1 to 6,
an axially upper end portion of the flexible externally toothed gear is expanded radially inward.
8. A wave gear device according to any one of claims 1 to 6,
the axial upper end of the flexible externally toothed gear expands radially outward.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017137607A JP2019019861A (en) | 2017-07-14 | 2017-07-14 | Wave gear device |
| JP2017-137607 | 2017-07-14 | ||
| PCT/JP2018/026017 WO2019013200A1 (en) | 2017-07-14 | 2018-07-10 | Wave gear device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110869645A true CN110869645A (en) | 2020-03-06 |
Family
ID=65002482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880045728.2A Pending CN110869645A (en) | 2017-07-14 | 2018-07-10 | Wave gear device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2019019861A (en) |
| CN (1) | CN110869645A (en) |
| TW (1) | TWI679359B (en) |
| WO (1) | WO2019013200A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111539079B (en) * | 2020-04-20 | 2022-11-22 | 上海机器人产业技术研究院有限公司 | Simulation method for special bearing in speed reducer for robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02119547U (en) * | 1989-03-15 | 1990-09-26 | ||
| CN1424520A (en) * | 2001-12-11 | 2003-06-18 | 帝人制机株式会社 | Flexural multiple keys and contacting gear device therewith |
| CN102401090A (en) * | 2010-09-07 | 2012-04-04 | 住友重机械工业株式会社 | Flexibly-engaged gear drive |
| JP2013057397A (en) * | 2011-08-15 | 2013-03-28 | Canon Inc | Wave gear speed reducer |
| JP2015209931A (en) * | 2014-04-28 | 2015-11-24 | キヤノン株式会社 | Undulation gear device and robot arm |
| CN105308357A (en) * | 2013-06-20 | 2016-02-03 | 谐波传动系统有限公司 | Bearing holder, bearing mechanism, and strain wave gearing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0629366Y2 (en) * | 1988-07-05 | 1994-08-10 | 積水ハウス株式会社 | Rails for transporting panels, etc. and their connecting devices at construction sites |
-
2017
- 2017-07-14 JP JP2017137607A patent/JP2019019861A/en active Pending
-
2018
- 2018-07-10 WO PCT/JP2018/026017 patent/WO2019013200A1/en active Application Filing
- 2018-07-10 CN CN201880045728.2A patent/CN110869645A/en active Pending
- 2018-07-12 TW TW107123997A patent/TWI679359B/en active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02119547U (en) * | 1989-03-15 | 1990-09-26 | ||
| CN1424520A (en) * | 2001-12-11 | 2003-06-18 | 帝人制机株式会社 | Flexural multiple keys and contacting gear device therewith |
| CN102401090A (en) * | 2010-09-07 | 2012-04-04 | 住友重机械工业株式会社 | Flexibly-engaged gear drive |
| JP2013057397A (en) * | 2011-08-15 | 2013-03-28 | Canon Inc | Wave gear speed reducer |
| CN105308357A (en) * | 2013-06-20 | 2016-02-03 | 谐波传动系统有限公司 | Bearing holder, bearing mechanism, and strain wave gearing device |
| JP2015209931A (en) * | 2014-04-28 | 2015-11-24 | キヤノン株式会社 | Undulation gear device and robot arm |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019019861A (en) | 2019-02-07 |
| WO2019013200A1 (en) | 2019-01-17 |
| TW201908621A (en) | 2019-03-01 |
| TWI679359B (en) | 2019-12-11 |
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