JP2010190373A - 波動歯車装置 - Google Patents

波動歯車装置 Download PDF

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Publication number
JP2010190373A
JP2010190373A JP2009037300A JP2009037300A JP2010190373A JP 2010190373 A JP2010190373 A JP 2010190373A JP 2009037300 A JP2009037300 A JP 2009037300A JP 2009037300 A JP2009037300 A JP 2009037300A JP 2010190373 A JP2010190373 A JP 2010190373A
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JP
Japan
Prior art keywords
gear
flexible external
external gear
wave
tooth
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.)
Pending
Application number
JP2009037300A
Other languages
English (en)
Japanese (ja)
Other versions
JP2010190373A5 (enExample
Inventor
Shingetsu Cho
新月 張
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
Priority to JP2009037300A priority Critical patent/JP2010190373A/ja
Priority to US12/693,486 priority patent/US8215205B2/en
Priority to CN201010120012.XA priority patent/CN101813167B/zh
Priority to KR1020100014615A priority patent/KR20100095380A/ko
Priority to DE102010008418A priority patent/DE102010008418A1/de
Publication of JP2010190373A publication Critical patent/JP2010190373A/ja
Publication of JP2010190373A5 publication Critical patent/JP2010190373A5/ja
Pending legal-status Critical Current

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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
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital 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
    • 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
    • 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
    • F16H2049/003—Features of the flexsplines therefor
    • 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
    • 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
    • Y10T74/19949—Teeth
    • Y10T74/19963—Spur
    • Y10T74/19967—Yieldable

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)
JP2009037300A 2009-02-20 2009-02-20 波動歯車装置 Pending JP2010190373A (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2009037300A JP2010190373A (ja) 2009-02-20 2009-02-20 波動歯車装置
US12/693,486 US8215205B2 (en) 2009-02-20 2010-01-26 Wave gear device
CN201010120012.XA CN101813167B (zh) 2009-02-20 2010-02-04 波动齿轮装置
KR1020100014615A KR20100095380A (ko) 2009-02-20 2010-02-18 파동 기어 장치
DE102010008418A DE102010008418A1 (de) 2009-02-20 2010-02-18 Wellgetriebe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2009037300A JP2010190373A (ja) 2009-02-20 2009-02-20 波動歯車装置

Publications (2)

Publication Number Publication Date
JP2010190373A true JP2010190373A (ja) 2010-09-02
JP2010190373A5 JP2010190373A5 (enExample) 2011-12-22

Family

ID=42558136

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2009037300A Pending JP2010190373A (ja) 2009-02-20 2009-02-20 波動歯車装置

Country Status (5)

Country Link
US (1) US8215205B2 (enExample)
JP (1) JP2010190373A (enExample)
KR (1) KR20100095380A (enExample)
CN (1) CN101813167B (enExample)
DE (1) DE102010008418A1 (enExample)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2423759A1 (en) 2010-08-27 2012-02-29 Ricoh Company, Ltd. Development device and image forming apparatus incorporating same
WO2014181373A1 (ja) * 2013-05-08 2014-11-13 株式会社ハーモニック・ドライブ・システムズ 締結用摩擦板、および波動歯車装置と出力部材の締結固定構造
JPWO2013046274A1 (ja) * 2011-09-29 2015-03-26 株式会社ハーモニック・ドライブ・システムズ テーパー型可撓性外歯車を有する波動歯車装置
WO2018134986A1 (ja) 2017-01-21 2018-07-26 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
CN111911609A (zh) * 2019-05-10 2020-11-10 纳博特斯克有限公司 波动齿轮装置
JP2022154796A (ja) * 2021-03-30 2022-10-13 日本精工株式会社 波動歯車減速機の外歯歯車及び波動歯車減速機

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8661940B2 (en) * 2011-05-09 2014-03-04 Harmonic Drive Systems Inc. Wave gear device having three-dimensional continuous contact tooth profile
DE112012000049B4 (de) * 2012-05-23 2024-06-13 Harmonic Drive Systems Inc. Wellgetriebe und flexibles, außen verzahntes Zahnrad
WO2013175533A1 (ja) * 2012-05-23 2013-11-28 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の波動発生器
US9109662B2 (en) * 2012-05-23 2015-08-18 Harmonic Drive Systems Inc. Wave generator for wave gear device
US9341252B2 (en) * 2013-07-10 2016-05-17 Harmonic Drive Systems Inc. Wave generator and strain wave gearing
US9371899B2 (en) * 2014-05-27 2016-06-21 Hamilton Sundstrand Corporation Harmonic drive assembly with selective disconnect and reconnect
CN105003625A (zh) * 2015-05-11 2015-10-28 上海鑫君传动科技有限公司 高负载谐波减速机
JP6461332B2 (ja) * 2015-05-29 2019-01-30 株式会社ハーモニック・ドライブ・システムズ 遊星歯車装置のシリーズ
KR101971981B1 (ko) * 2015-11-06 2019-04-24 가부시키가이샤 하모닉 드라이브 시스템즈 가요성 외접기어 및 파동기어장치
JP2017096478A (ja) * 2015-11-27 2017-06-01 住友重機械工業株式会社 撓み噛合い式歯車装置およびその起振体の製造方法
US10364878B2 (en) * 2016-10-24 2019-07-30 Simmons Precision Products, Inc. Compact flex gear for strain wave gearing
JP7072144B2 (ja) * 2018-02-07 2022-05-20 国立研究開発法人宇宙航空研究開発機構 波動歯車装置
DE112019001775T5 (de) * 2018-04-04 2020-12-17 Bando Chemical Industries, Ltd. Zahnriemen
KR102513723B1 (ko) * 2020-01-08 2023-03-23 가부시키가이샤 하모닉 드라이브 시스템즈 파동기어장치
JP7641713B2 (ja) * 2020-08-12 2025-03-07 住友重機械工業株式会社 撓み噛合い式歯車装置および撓み噛合い式歯車装置の製造方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08166052A (ja) * 1994-12-14 1996-06-25 Harmonic Drive Syst Ind Co Ltd シルクハット型撓み噛み合い式歯車装置
JP2000179631A (ja) * 1998-12-21 2000-06-27 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP2008180259A (ja) * 2007-01-24 2008-08-07 Harmonic Drive Syst Ind Co Ltd フラット型波動歯車装置

Family Cites Families (10)

* 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
JP2535503Y2 (ja) 1991-05-20 1997-05-14 株式会社ハーモニック・ドライブ・システムズ カップ型歯車式調和変速装置における外歯および内歯の噛み合わせ構造
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
CA2183251C (en) * 1994-12-14 2005-10-18 Noboru Takizawa Silk hat type flexible mesh engagement gear device
JP4132113B2 (ja) 1996-11-27 2008-08-13 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
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
JP4476051B2 (ja) * 2004-07-01 2010-06-09 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の剛性内歯歯車の製造方法
JP2007303592A (ja) * 2006-05-12 2007-11-22 Honda Motor Co Ltd 波動歯車装置
US7891272B2 (en) * 2006-11-14 2011-02-22 Schonlau William J Robotic harmonic flex-drive
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08166052A (ja) * 1994-12-14 1996-06-25 Harmonic Drive Syst Ind Co Ltd シルクハット型撓み噛み合い式歯車装置
JP2000179631A (ja) * 1998-12-21 2000-06-27 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP2008180259A (ja) * 2007-01-24 2008-08-07 Harmonic Drive Syst Ind Co Ltd フラット型波動歯車装置

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2423759A1 (en) 2010-08-27 2012-02-29 Ricoh Company, Ltd. Development device and image forming apparatus incorporating same
JPWO2013046274A1 (ja) * 2011-09-29 2015-03-26 株式会社ハーモニック・ドライブ・システムズ テーパー型可撓性外歯車を有する波動歯車装置
WO2014181373A1 (ja) * 2013-05-08 2014-11-13 株式会社ハーモニック・ドライブ・システムズ 締結用摩擦板、および波動歯車装置と出力部材の締結固定構造
JP5885849B2 (ja) * 2013-05-08 2016-03-16 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置と出力部材の締結固定方法
US9500234B2 (en) 2013-05-08 2016-11-22 Harmonic Drive Systems Inc. Fastening friction plate, and fastening and fixing structure for strain wave gearing and output member
WO2018134986A1 (ja) 2017-01-21 2018-07-26 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
KR20190102230A (ko) 2017-01-21 2019-09-03 가부시키가이샤 하모닉 드라이브 시스템즈 파동기어장치
EP3572691B1 (en) * 2017-01-21 2021-08-11 Harmonic Drive Systems Inc. Wave gear device
US11143283B2 (en) 2017-01-21 2021-10-12 Harmonic Drive Systems Inc. Strain wave gearing
CN111911609A (zh) * 2019-05-10 2020-11-10 纳博特斯克有限公司 波动齿轮装置
CN111911609B (zh) * 2019-05-10 2024-05-28 纳博特斯克有限公司 波动齿轮装置
JP2022154796A (ja) * 2021-03-30 2022-10-13 日本精工株式会社 波動歯車減速機の外歯歯車及び波動歯車減速機

Also Published As

Publication number Publication date
US8215205B2 (en) 2012-07-10
CN101813167A (zh) 2010-08-25
DE102010008418A1 (de) 2010-09-16
CN101813167B (zh) 2014-04-16
KR20100095380A (ko) 2010-08-30
US20100212446A1 (en) 2010-08-26

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