JP5178542B2 - 波動歯車装置の波動発生器 - Google Patents
波動歯車装置の波動発生器 Download PDFInfo
- Publication number
- JP5178542B2 JP5178542B2 JP2009004452A JP2009004452A JP5178542B2 JP 5178542 B2 JP5178542 B2 JP 5178542B2 JP 2009004452 A JP2009004452 A JP 2009004452A JP 2009004452 A JP2009004452 A JP 2009004452A JP 5178542 B2 JP5178542 B2 JP 5178542B2
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- Prior art keywords
- flexible
- wave
- gear device
- ball diameter
- bearing
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- 230000002093 peripheral effect Effects 0.000 claims description 11
- 230000000052 comparative effect Effects 0.000 description 11
- 238000005452 bending Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Images
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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
- F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
- F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
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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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C27/00—Elastic or yielding bearings or bearing supports, for exclusively rotary movement
- F16C27/04—Ball or roller bearings, e.g. with resilient rolling bodies
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/58—Raceways; Race rings
- F16C33/583—Details of specific parts of races
- F16C33/585—Details of specific parts of races of raceways, e.g. ribs to guide the rollers
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
- F16C2240/40—Linear dimensions, e.g. length, radius, thickness, gap
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2240/00—Specified values or numerical ranges of parameters; Relations between them
- F16C2240/40—Linear dimensions, e.g. length, radius, thickness, gap
- F16C2240/70—Diameters; Radii
- F16C2240/76—Osculation, i.e. relation between radii of balls and raceway groove
-
- 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
Description
剛性プラグと、
この剛性プラグの非円形外周面によって非円形に撓められている円環状の可撓性ベアリングとを有し、
前記可撓性ベアリングは、半径方向に撓み可能な円環状の可撓性外輪および可撓性内輪を備えた深みぞ玉軸受であり、
当該可撓性ベアリングのボール径Daは、各型番の現行品寸法に対して5〜15%大きい寸法に設定され、
内輪の軌道面半径roとボール径Daの比ro/Da、および、外輪の軌道面半径riとボール径Daの比ri/Daは、共に、各型番の現行品における各比に対して、0.8〜2%小さくなるように、内外輪の軌道面半径ro、riの寸法が設定されていることを特徴としている。
比ro/Daおよびri/Daは、それぞれ、各型番の現行品における各比に対して、1.2%小さくなるように、内外輪の軌道面半径ro、riの寸法が設定されていることが望ましい。
型番 ボール径(mm)
8 2.000
11 2.381
14 3.175
17 4.000
20 4.763
25 5.556
32 7.144
40 9.525
45 11.000
50 11.906
58 13.494
65 14.288
80 19.050
90 21.431
100 23.813
2 剛性内歯歯車
3 可撓性外歯歯車
4 波動発生器
5 剛性プラグ
5a 楕円形外周面
6 可撓性ベアリング
7 ハブ
11 内輪
11a 軌道面
12 外輪
12a 軌道面
13 ボール
Da ボール径
ro 内輪の軌道面半径
ri 外輪の軌道面半径
Claims (3)
- 円環状の剛性内歯歯車(2)の内側に配置された可撓性外歯歯車(3)を非円形に撓めて剛性内歯歯車(2)に部分的に噛み合わせ、これら両歯車(2,3)の噛み合い位置を円周方向に移動させ、両歯車(2,3)の間に両歯車(2,3)の歯数差に起因する相対回転を発生させる波動歯車装置(1)の波動発生器(4)であって、
剛性プラグ(5)と、
この剛性プラグ(5)の非円形外周面(5a)によって非円形に撓められている円環状の可撓性ベアリング(6)とを有し、
この可撓性ベアリング(6)は、半径方向に撓み可能な円環状の可撓性外輪(12)および可撓性内輪(11)を備えた深みぞ玉軸受であり、
この可撓性ベアリング(6)のボール径Daは、各型番の現行品寸法に対して5〜15%大きい寸法に設定され、
可撓性内輪(11)の軌道面半径roとボール径Daの比ro/Da、および、可撓性外輪(12)の軌道面半径riとボール径Daの比ri/Daは共に、各型番の現行品における各比に対して、0.8〜2%小さくなるように、これら内外輪の軌道面半径ro、riの寸法が設定されていることを特徴とする波動歯車装置(1)の波動発生器(4)。 - ボール径Daは、各型番の現行品寸法に対して11%大きい寸法に設定されており、
比ro/Daおよびri/Daは、それぞれ、各型番の現行品における各比に対して、1.2%小さくなるように、内外輪の軌道面半径ro、riの寸法が設定されていることを特徴とする請求項1に記載の波動歯車装置(1)の波動発生器(4)。 - 剛性プラグ(5)は楕円形外周面(5a)を備えており、
可撓性ベアリング(6)および可撓性外歯歯車(3)は楕円形に撓められることを特徴とする請求項1または2に記載の波動歯車装置(1)の波動発生器(4)。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009004452A JP5178542B2 (ja) | 2009-01-13 | 2009-01-13 | 波動歯車装置の波動発生器 |
US12/652,217 US20100175503A1 (en) | 2009-01-13 | 2010-01-05 | Wave Generator for Wave Gear Device |
KR1020100000781A KR20100083712A (ko) | 2009-01-13 | 2010-01-06 | 파동기어장치의 파동발생기 |
DE102010004286A DE102010004286A1 (de) | 2009-01-13 | 2010-01-11 | Wellgenerator für ein Wellgetriebe |
US13/616,318 US8770064B2 (en) | 2009-01-13 | 2012-09-14 | Wave generator for wave gear device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009004452A JP5178542B2 (ja) | 2009-01-13 | 2009-01-13 | 波動歯車装置の波動発生器 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010164068A JP2010164068A (ja) | 2010-07-29 |
JP2010164068A5 JP2010164068A5 (ja) | 2011-11-24 |
JP5178542B2 true JP5178542B2 (ja) | 2013-04-10 |
Family
ID=42317637
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009004452A Active JP5178542B2 (ja) | 2009-01-13 | 2009-01-13 | 波動歯車装置の波動発生器 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20100175503A1 (ja) |
JP (1) | JP5178542B2 (ja) |
KR (1) | KR20100083712A (ja) |
DE (1) | DE102010004286A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015109426A1 (de) * | 2015-06-12 | 2016-12-15 | Ovalo Gmbh | Radial bauraumsparendes Spannungswellengetriebe |
US10907716B2 (en) | 2015-09-17 | 2021-02-02 | Harmonic Drive Systems Inc. | Wave generator for strain wave gearing |
EP3372867B1 (en) * | 2015-11-06 | 2020-06-24 | Harmonic Drive Systems Inc. | Flexible external gear and strain wave gearing device |
DE102016115147A1 (de) * | 2016-08-16 | 2018-02-22 | Thyssenkrupp Ag | Wälzlager für die Lagerung einer Antriebsschnecke einer elektro-mechanischen Hilfskraftlenkung eines Kraftfahrzeugs |
CN106640958B (zh) * | 2016-11-09 | 2021-07-13 | 上海斐赛轴承科技有限公司 | 谐波齿轮传动装置用新型柔轮和波发生器组件 |
JP6602504B2 (ja) | 2017-09-07 | 2019-11-06 | 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 |
DE102020118799A1 (de) * | 2020-07-16 | 2022-01-20 | Schaeffler Technologies AG & Co. KG | Wellgetriebe für einen Roboter sowie Roboter mit einem Wellgetriebe |
Family Cites Families (15)
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US4715247A (en) * | 1985-09-26 | 1987-12-29 | Kabushiki Kaisha Toshiba | Transmission apparatus with reduced frictional force |
US4776708A (en) * | 1987-07-17 | 1988-10-11 | Quincy Technologies, Inc. | Extended contact variable ball planetary type wave generator |
JPH0545881Y2 (ja) | 1989-01-05 | 1993-11-29 | ||
JP3230595B2 (ja) | 1991-12-24 | 2001-11-19 | 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の3次元無転位歯形の形成方法 |
JP3580506B2 (ja) | 1994-12-14 | 2004-10-27 | 株式会社ハーモニック・ドライブ・システムズ | シルクハット型撓み噛み合い式歯車装置 |
JP3625984B2 (ja) * | 1997-03-19 | 2005-03-02 | 日本電産株式会社 | スピンドルモータ |
JP4807689B2 (ja) * | 2001-05-23 | 2011-11-02 | 株式会社ハーモニック・ドライブ・システムズ | 無潤滑型波動歯車装置 |
JP2004232683A (ja) * | 2003-01-29 | 2004-08-19 | Koyo Seiko Co Ltd | 水ポンプ用玉軸受装置 |
JP2005016608A (ja) * | 2003-06-25 | 2005-01-20 | Nsk Ltd | ラジアル玉軸受 |
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 |
JP5078216B2 (ja) * | 2003-09-25 | 2012-11-21 | 京セラ株式会社 | 燃料電池 |
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 |
-
2009
- 2009-01-13 JP JP2009004452A patent/JP5178542B2/ja active Active
-
2010
- 2010-01-05 US US12/652,217 patent/US20100175503A1/en not_active Abandoned
- 2010-01-06 KR KR1020100000781A patent/KR20100083712A/ko not_active Application Discontinuation
- 2010-01-11 DE DE102010004286A patent/DE102010004286A1/de active Pending
Also Published As
Publication number | Publication date |
---|---|
US20100175503A1 (en) | 2010-07-15 |
KR20100083712A (ko) | 2010-07-22 |
JP2010164068A (ja) | 2010-07-29 |
DE102010004286A1 (de) | 2010-08-12 |
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