DE3876566T2 - Spannungswellengetriebe. - Google Patents
Spannungswellengetriebe.Info
- Publication number
- DE3876566T2 DE3876566T2 DE8888308698T DE3876566T DE3876566T2 DE 3876566 T2 DE3876566 T2 DE 3876566T2 DE 8888308698 T DE8888308698 T DE 8888308698T DE 3876566 T DE3876566 T DE 3876566T DE 3876566 T2 DE3876566 T2 DE 3876566T2
- Authority
- DE
- Germany
- Prior art keywords
- flexspline
- tooth
- circular
- circular spline
- wave generator
- 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
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
- 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
- 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
- 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
Applications Claiming Priority (1)
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 |
Publications (2)
Publication Number | Publication Date |
---|---|
DE3876566D1 DE3876566D1 (de) | 1993-01-21 |
DE3876566T2 true DE3876566T2 (de) | 1993-04-22 |
Family
ID=17006616
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE8888308698T Expired - Lifetime DE3876566T2 (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) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19835571A1 (de) * | 1998-08-06 | 2000-02-17 | Ims Morat Soehne Gmbh | Wellgetriebe und Verfahren zu dessen Zahnoptimierung |
DE102006031626B3 (de) * | 2006-07-06 | 2008-01-24 | Santo, Wilfried | Mechanischer Stell- oder Dosierknopf |
DE102008053913A1 (de) * | 2008-10-30 | 2010-05-12 | Ovalo Gmbh | Lageranordnung zur Lagerung des Wellengenerators eines Spannungswellengetriebes, Spannungswellengetriebe sowie Vorrichtung zum Überlagern von Bewegungen |
EP3169913B1 (de) | 2015-03-19 | 2018-04-18 | Harmonic Drive AG | Wellgetriebe mit trockenlauf |
DE102016223521A1 (de) | 2016-11-28 | 2018-05-30 | Schaeffler Technologies AG & Co. KG | Wellgetriebe, Verstellgetriebevorrichtung mit dem Wellgetriebe sowie ein Fahrzeug mit dem Wellgetriebe |
Families Citing this family (75)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
WO1994012808A1 (en) * | 1992-11-24 | 1994-06-09 | Harmonic Drive Systems Inc. | Tertiary negative-deflection flexing contact gears 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 | Untersetzungsgetriebe |
DE69830314T2 (de) | 1998-03-25 | 2006-02-02 | Harmonic Drive Systems Inc. | Phasenregler |
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 |
CN100453846C (zh) * | 2003-10-30 | 2009-01-21 | 谐波传动系统有限公司 | 具有宽范围啮合齿形的波动齿轮驱动装置 |
CN102151897B (zh) | 2004-04-15 | 2013-06-19 | 密尔沃基电动工具公司 | 动力工具 |
JP4650953B2 (ja) * | 2004-06-07 | 2011-03-16 | 株式会社ハーモニック・ドライブ・システムズ | 高ラチェティングトルク歯形を有する波動歯車装置 |
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 |
US20090044651A1 (en) * | 2006-03-31 | 2009-02-19 | Jtekt Corporation | Flexible Meshing-Type Gear Device and Steering Device for Vehicle |
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 |
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 |
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 |
US8661939B2 (en) | 2008-08-29 | 2014-03-04 | Harmonic Drive Systems Inc. | Wave gear device having compound tooth profile of positive deflection meshing |
DE112008004248T5 (de) | 2008-12-18 | 2012-03-15 | Harmonic Drive Systems Inc. | Wellgetriebe mit einem dreidimensional kontaktierbaren,verschobenen Zahnprofil |
DE112011103908T5 (de) | 2011-02-04 | 2013-09-19 | Harmonic Drive Systems Inc. | Wellgetriebe mit einem Evolventen-Zahnprofil mit positiver Verbiegung, das dreidimensional im Kontakt steht |
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 |
US9416861B2 (en) | 2012-01-10 | 2016-08-16 | Harmonic Drive Systems Inc. | Strain wave gearing with involute positive deflection tooth profile taking rim thickness into consideration |
TWI460365B (zh) * | 2012-06-08 | 2014-11-11 | Univ Nat Formosa | Rigid Ring Gear and Flexible Planetary Wheel of Harmonic Reducer and Its Method |
JP6340701B2 (ja) | 2012-06-19 | 2018-06-13 | ジェネシス ロボティクス エルエルピー | アクチュエータ |
KR101485863B1 (ko) | 2012-08-17 | 2015-01-26 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 3 차원 접촉 치형을 가지는 파동 기어 장치 |
US10371240B2 (en) | 2013-03-20 | 2019-08-06 | Tq-Systems Gmbh | Harmonic pin ring gearing |
WO2015001974A1 (ja) * | 2013-07-01 | 2015-01-08 | 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 |
CN107237875B (zh) * | 2013-11-19 | 2019-05-10 | 谐波传动系统有限公司 | 波动发生器 |
JP6017063B2 (ja) | 2013-11-29 | 2016-10-26 | 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 |
WO2016006102A1 (ja) | 2014-07-11 | 2016-01-14 | 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 |
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 |
RU2659313C1 (ru) * | 2014-08-06 | 2018-06-29 | Хармоник Драйв Системс Инк. | Плоская волновая зубчатая передача |
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 |
JP6377271B2 (ja) * | 2015-06-02 | 2018-08-22 | 日産自動車株式会社 | 内燃機関の可変圧縮比機構 |
US10871213B2 (en) | 2015-06-02 | 2020-12-22 | Harmonic Drive Systems Inc. | Strain wave gearing with compound meshing that involves congruity of tooth surfaces |
BR112017026109B1 (pt) * | 2015-06-02 | 2023-04-04 | Nissan Motor Co, Ltd. | Mecanismo de razão de compressão variável para motor de combustão interna |
DE102015109426A1 (de) * | 2015-06-12 | 2016-12-15 | Ovalo Gmbh | Radial bauraumsparendes Spannungswellengetriebe |
US10634230B2 (en) * | 2015-07-07 | 2020-04-28 | Harmonic Drive Systems Inc. | Strain wave gearing and wave generator |
US10883589B2 (en) | 2015-12-04 | 2021-01-05 | Harmonic Drive Systems Inc. | Two stress-separation strain wave gearing |
US10788115B2 (en) | 2016-01-15 | 2020-09-29 | Harmonic Drive Systems Inc. | Strain wave gearing with full separation of two stresses |
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 |
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 |
KR20200130430A (ko) * | 2018-05-14 | 2020-11-18 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 파동기어장치 |
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 |
EP3913254A4 (de) * | 2020-01-08 | 2022-08-03 | Harmonic Drive Systems Inc. | Wellengetriebevorrichtung |
KR102573214B1 (ko) | 2020-10-30 | 2023-08-30 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 3차원 치형을 구비한 파동기어장치 |
CN116194686A (zh) | 2020-10-30 | 2023-05-30 | 谐波传动系统有限公司 | 具有三维齿形的波动齿轮装置 |
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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-
1987
- 1987-09-21 JP JP62236843A patent/JP2503027B2/ja not_active Expired - Lifetime
-
1988
- 1988-09-14 CA CA000577386A patent/CA1309273C/en not_active Expired - Lifetime
- 1988-09-15 US US07/244,926 patent/US4974470A/en not_active Expired - Lifetime
- 1988-09-20 DE DE8888308698T patent/DE3876566T2/de not_active Expired - Lifetime
- 1988-09-20 EP EP88308698A patent/EP0309197B1/de not_active Expired - Lifetime
- 1988-09-20 AT AT88308698T patent/ATE83300T1/de not_active IP Right Cessation
- 1988-09-20 KR KR1019880012132A patent/KR920008646B1/ko not_active IP Right Cessation
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19835571A1 (de) * | 1998-08-06 | 2000-02-17 | Ims Morat Soehne Gmbh | Wellgetriebe und Verfahren zu dessen Zahnoptimierung |
US6230587B1 (en) * | 1998-08-06 | 2001-05-15 | Ims Morat Soehne Gmbh | Corrugated gear and process for calculating gear profiles for corrugated gears |
DE102006031626B3 (de) * | 2006-07-06 | 2008-01-24 | Santo, Wilfried | Mechanischer Stell- oder Dosierknopf |
DE102008053913A1 (de) * | 2008-10-30 | 2010-05-12 | Ovalo Gmbh | Lageranordnung zur Lagerung des Wellengenerators eines Spannungswellengetriebes, Spannungswellengetriebe sowie Vorrichtung zum Überlagern von Bewegungen |
DE102008053913B4 (de) * | 2008-10-30 | 2017-05-18 | Ovalo Gmbh | Spannungswellengetriebe sowie Vorrichtung zum Überlagern von Bewegungen |
EP3169913B1 (de) | 2015-03-19 | 2018-04-18 | Harmonic Drive AG | Wellgetriebe mit trockenlauf |
DE102016223521A1 (de) | 2016-11-28 | 2018-05-30 | Schaeffler Technologies AG & Co. KG | Wellgetriebe, Verstellgetriebevorrichtung mit dem Wellgetriebe sowie ein Fahrzeug mit dem Wellgetriebe |
Also Published As
Publication number | Publication date |
---|---|
KR890005419A (ko) | 1989-05-13 |
US4974470A (en) | 1990-12-04 |
CA1309273C (en) | 1992-10-27 |
EP0309197B1 (de) | 1992-12-09 |
EP0309197A2 (de) | 1989-03-29 |
EP0309197A3 (en) | 1989-12-13 |
JPS6479448A (en) | 1989-03-24 |
DE3876566D1 (de) | 1993-01-21 |
ATE83300T1 (de) | 1992-12-15 |
KR920008646B1 (ko) | 1992-10-08 |
JP2503027B2 (ja) | 1996-06-05 |
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