JP6218691B2 - デュアルタイプの波動歯車装置 - Google Patents

デュアルタイプの波動歯車装置 Download PDF

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Publication number
JP6218691B2
JP6218691B2 JP2014149373A JP2014149373A JP6218691B2 JP 6218691 B2 JP6218691 B2 JP 6218691B2 JP 2014149373 A JP2014149373 A JP 2014149373A JP 2014149373 A JP2014149373 A JP 2014149373A JP 6218691 B2 JP6218691 B2 JP 6218691B2
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JP
Japan
Prior art keywords
teeth
external
internal
gear
wave
Prior art date
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Active
Application number
JP2014149373A
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English (en)
Japanese (ja)
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JP2016023745A (ja
JP2016023745A5 (enExample
Inventor
芳秀 清澤
芳秀 清澤
純 半田
純 半田
登 滝沢
登 滝沢
新月 張
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
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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
Priority to JP2014149373A priority Critical patent/JP6218691B2/ja
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Priority to MX2017001002A priority patent/MX386801B/es
Priority to KR1020167035481A priority patent/KR101834816B1/ko
Priority to BR112017000371-6A priority patent/BR112017000371B1/pt
Priority to US15/322,664 priority patent/US10253862B2/en
Priority to CN201580038739.4A priority patent/CN106536978B/zh
Priority to PCT/JP2015/069245 priority patent/WO2016013381A1/ja
Priority to EP15823995.4A priority patent/EP3173657B1/en
Priority to RU2016148941A priority patent/RU2668455C2/ru
Priority to TW104123406A priority patent/TWI614428B/zh
Publication of JP2016023745A publication Critical patent/JP2016023745A/ja
Publication of JP2016023745A5 publication Critical patent/JP2016023745A5/ja
Application granted granted Critical
Publication of JP6218691B2 publication Critical patent/JP6218691B2/ja
Active legal-status Critical Current
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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
    • 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
    • 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
    • F16C19/08—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 two or more rows of balls
    • 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
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
JP2014149373A 2014-07-23 2014-07-23 デュアルタイプの波動歯車装置 Active JP6218691B2 (ja)

Priority Applications (10)

Application Number Priority Date Filing Date Title
JP2014149373A JP6218691B2 (ja) 2014-07-23 2014-07-23 デュアルタイプの波動歯車装置
RU2016148941A RU2668455C2 (ru) 2014-07-23 2015-07-03 Сдвоенная волновая зубчатая передача
BR112017000371-6A BR112017000371B1 (pt) 2014-07-23 2015-07-03 Engrenagem com onda de tensão do tipo duplo
US15/322,664 US10253862B2 (en) 2014-07-23 2015-07-03 Dual-type strain wave gearing
CN201580038739.4A CN106536978B (zh) 2014-07-23 2015-07-03 双联型波动齿轮装置
PCT/JP2015/069245 WO2016013381A1 (ja) 2014-07-23 2015-07-03 デュアルタイプの波動歯車装置
MX2017001002A MX386801B (es) 2014-07-23 2015-07-03 Dispositivo de engranaje de ondas tipo dual.
KR1020167035481A KR101834816B1 (ko) 2014-07-23 2015-07-03 듀얼타입의 파동기어장치
EP15823995.4A EP3173657B1 (en) 2014-07-23 2015-07-03 Dual-type wave gear device
TW104123406A TWI614428B (zh) 2014-07-23 2015-07-20 雙模式諧波齒輪裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2014149373A JP6218691B2 (ja) 2014-07-23 2014-07-23 デュアルタイプの波動歯車装置

Publications (3)

Publication Number Publication Date
JP2016023745A JP2016023745A (ja) 2016-02-08
JP2016023745A5 JP2016023745A5 (enExample) 2017-01-12
JP6218691B2 true JP6218691B2 (ja) 2017-10-25

Family

ID=55162913

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014149373A Active JP6218691B2 (ja) 2014-07-23 2014-07-23 デュアルタイプの波動歯車装置

Country Status (10)

Country Link
US (1) US10253862B2 (enExample)
EP (1) EP3173657B1 (enExample)
JP (1) JP6218691B2 (enExample)
KR (1) KR101834816B1 (enExample)
CN (1) CN106536978B (enExample)
BR (1) BR112017000371B1 (enExample)
MX (1) MX386801B (enExample)
RU (1) RU2668455C2 (enExample)
TW (1) TWI614428B (enExample)
WO (1) WO2016013381A1 (enExample)

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JP6400200B2 (ja) * 2015-07-07 2018-10-03 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置および波動発生器
DE102016104287B3 (de) * 2016-03-09 2017-02-16 Pierburg Gmbh Vorrichtung zur Phasenverschiebung eines Drehwinkels eines Antriebsteils zu einem Abtriebsteil
US10253864B2 (en) * 2017-07-03 2019-04-09 Optimal Actuation Inc. Bearing wave generator assembly
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
JP6552571B2 (ja) * 2017-09-29 2019-07-31 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
DE102017217379A1 (de) * 2017-09-29 2019-04-04 Aktiebolaget Skf Lageranordnung, die mit einem Wälzlager und einem Scherenzahnrad ausgestattet ist, insbesondere für eine Ausgleichswelle
EP3967900B1 (en) * 2019-05-17 2025-08-06 Harmonic Drive Systems Inc. Speed ratio-switching strain wave gearing device
EP3892889A1 (de) 2020-04-07 2021-10-13 Ovalo GmbH Spannungswellengetriebe
JP7530267B2 (ja) * 2020-10-16 2024-08-07 美的集団股▲フン▼有限公司 波動歯車装置及びアクチュエータ
WO2022254586A1 (ja) * 2021-06-01 2022-12-08 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の歯形設計方法
CN115899212B (zh) * 2022-11-03 2025-10-21 南通振康机械有限公司 一种单对齿啮合的双刚轮谐波减速机
KR20240129223A (ko) * 2023-01-30 2024-08-27 가부시키가이샤 하모닉 드라이브 시스템즈 파동기어장치 및 외치기어

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JPS6491151A (en) 1987-10-02 1989-04-10 Ricoh Kk Device for operating copying machine
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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
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
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
UA78075C2 (en) * 2005-02-07 2007-02-15 Robert Vachahan Ambartsumiants Method for determination of teeth module of involute cylindrical toothed wheels
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
JP2007303592A (ja) * 2006-05-12 2007-11-22 Honda Motor Co Ltd 波動歯車装置
JP4999475B2 (ja) 2007-01-24 2012-08-15 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
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
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JP5337008B2 (ja) 2009-11-30 2013-11-06 住友重機械工業株式会社 撓み噛合い式歯車装置、及びその外歯歯車の製造方法
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
CN102959275B (zh) * 2011-02-04 2015-09-02 谐波传动系统有限公司 具有三维接触渐开线正偏位齿形的波动齿轮装置
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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
DE112011105628T5 (de) * 2011-09-16 2014-08-28 Harmonic Drive Systems Inc. Verformungswellgetriebe, das aus Vibration Energie erzeugt
US9534681B2 (en) * 2011-09-29 2017-01-03 Harmonic Drive Systems Inc. Wave gear device having tapered flexible external gear
JP5639992B2 (ja) 2011-12-08 2014-12-10 住友重機械工業株式会社 撓み噛合い式歯車装置
DE112012005619T5 (de) * 2012-01-10 2014-10-09 Harmonic Drive Systems Inc. Verformungswellgetriebe mit einem Involutenzahnprofil mit positiver Biegung, das die Randdicke berücksichtigt
JP5833480B2 (ja) * 2012-03-21 2015-12-16 本田技研工業株式会社 波動歯車装置および歩行補助装置

Also Published As

Publication number Publication date
RU2016148941A3 (enExample) 2018-08-27
EP3173657B1 (en) 2020-11-04
JP2016023745A (ja) 2016-02-08
US20170175869A1 (en) 2017-06-22
CN106536978A (zh) 2017-03-22
EP3173657A4 (en) 2018-05-02
BR112017000371A2 (pt) 2018-03-13
CN106536978B (zh) 2019-05-17
MX386801B (es) 2025-03-19
RU2668455C2 (ru) 2018-10-01
WO2016013381A1 (ja) 2016-01-28
TW201612437A (en) 2016-04-01
BR112017000371B1 (pt) 2023-02-14
MX2017001002A (es) 2017-09-01
US10253862B2 (en) 2019-04-09
RU2016148941A (ru) 2018-08-27
KR101834816B1 (ko) 2018-03-06
EP3173657A1 (en) 2017-05-31
KR20170008824A (ko) 2017-01-24
TWI614428B (zh) 2018-02-11

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