JP6452370B2 - 波動歯車装置の製造方法及び波動歯車装置 - Google Patents

波動歯車装置の製造方法及び波動歯車装置 Download PDF

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Publication number
JP6452370B2
JP6452370B2 JP2014199758A JP2014199758A JP6452370B2 JP 6452370 B2 JP6452370 B2 JP 6452370B2 JP 2014199758 A JP2014199758 A JP 2014199758A JP 2014199758 A JP2014199758 A JP 2014199758A JP 6452370 B2 JP6452370 B2 JP 6452370B2
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Japan
Prior art keywords
rigid internal
internal gear
gear
reference surface
housing
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JP2014199758A
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Japanese (ja)
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JP2015108444A5 (enExample
JP2015108444A (ja
Inventor
矢島　明
明 矢島
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Canon Inc
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Canon Inc
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Priority to JP2014199758A priority Critical patent/JP6452370B2/ja
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Publication of JP2015108444A5 publication Critical patent/JP2015108444A5/ja
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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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • 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
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49462—Gear making
    • Y10T29/49464—Assembling of gear into force transmitting device
    • 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
    • Y10T74/19642—Directly cooperating gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
JP2014199758A 2013-10-21 2014-09-30 波動歯車装置の製造方法及び波動歯車装置 Active JP6452370B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2014199758A JP6452370B2 (ja) 2013-10-21 2014-09-30 波動歯車装置の製造方法及び波動歯車装置

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2013218142 2013-10-21
JP2013218142 2013-10-21
JP2014199758A JP6452370B2 (ja) 2013-10-21 2014-09-30 波動歯車装置の製造方法及び波動歯車装置

Publications (3)

Publication Number Publication Date
JP2015108444A JP2015108444A (ja) 2015-06-11
JP2015108444A5 JP2015108444A5 (enExample) 2017-09-14
JP6452370B2 true JP6452370B2 (ja) 2019-01-16

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JP2014199758A Active JP6452370B2 (ja) 2013-10-21 2014-09-30 波動歯車装置の製造方法及び波動歯車装置

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Country Link
US (2) US9874272B2 (enExample)
EP (1) EP2863090A3 (enExample)
JP (1) JP6452370B2 (enExample)
CN (1) CN104565281B (enExample)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9856968B2 (en) * 2013-11-10 2018-01-02 II Thurman Tyus Automatic transmission device
WO2017041802A1 (de) * 2015-09-10 2017-03-16 Schaeffler Technologies AG & Co. KG Getriebe mit elastischem zahnrad
US11028915B2 (en) * 2015-12-11 2021-06-08 Harmonic Drive Systems Inc. Flat strain wave gearing
JP6699213B2 (ja) * 2016-02-12 2020-05-27 日本電産株式会社 電動機付き減速機
CN106286763B (zh) * 2016-10-11 2019-06-18 湖南大学 一种谐波减速器及其输入传动结构
KR101924387B1 (ko) * 2017-04-14 2018-12-03 주식회사 로보스타 2단 하모닉 드라이브
CN107882949A (zh) * 2017-10-27 2018-04-06 哈尔滨工业大学 一种超短设计寿命的重载单波形发生器谐波减速器
CN109366477A (zh) * 2018-11-21 2019-02-22 华中科技大学 一种关节机器人串联弹性驱动器
JP7319822B2 (ja) * 2019-05-10 2023-08-02 ナブテスコ株式会社 波動歯車装置
JP2024020994A (ja) * 2022-08-02 2024-02-15 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
CN116006654A (zh) * 2022-12-30 2023-04-25 珠海格力电器股份有限公司 一种谐波减速机和机器人
US12460710B2 (en) * 2023-10-05 2025-11-04 I-Hub For Robotics And Autonomous Systems Innovation Foundation Flexible spline and wave generator for strain wave gearing

Family Cites Families (15)

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Publication number Priority date Publication date Assignee Title
US3407902A (en) * 1966-03-15 1968-10-29 United Shoe Machinery Corp Lubrication systems
EP0130763A1 (en) * 1983-06-29 1985-01-09 USM Corporation Diaphragm protection arrangement for harmonic drive mechanisms
JPS60143245A (ja) * 1983-12-29 1985-07-29 Mitsubishi Electric Corp ハ−モニツクギヤ装置
JPS60143244A (ja) * 1983-12-29 1985-07-29 Mitsubishi Electric Corp ハ−モニツクギヤ装置
US4784015A (en) 1987-01-23 1988-11-15 Schumacher Larry L Momentum compensated rotary actuator with harmonic drive
DE10010156C1 (de) 2000-03-04 2001-10-31 Oechsler Ag Wellgetriebe und Innenrad für ein solches Getriebe
CN2481905Y (zh) 2001-02-16 2002-03-13 北京中技克美谐波传动有限责任公司 一种带有杯形柔轮的谐波传动装置
JP2002243000A (ja) * 2001-02-19 2002-08-28 Harmonic Drive Syst Ind Co Ltd 波動歯車減速機を備えたアクチュエータ
CN2634199Y (zh) 2003-09-04 2004-08-18 辛洪兵 一种无级变速谐波传动装置
JP4646233B2 (ja) 2006-02-28 2011-03-09 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の入力側保持トルクの低減方法および回転アクチュエータ
JP2009257409A (ja) * 2008-04-15 2009-11-05 Denso Wave Inc ハーモニック減速機の組立方法
CN101868903B (zh) * 2009-02-03 2013-12-04 谐波传动系统有限公司 齿轮传动电动机组件
JP2010266008A (ja) * 2009-05-15 2010-11-25 Denso Wave Inc ロボット用ハーモニック減速機
JP5418239B2 (ja) * 2010-01-14 2014-02-19 株式会社デンソーウェーブ 波動歯車減速機ユニット、及び、その製造方法
DE112013004707T5 (de) * 2013-09-11 2015-06-11 Harmonic Drive Systems Inc. Wellgenerator und Verformungswellgetriebe

Also Published As

Publication number Publication date
EP2863090A3 (en) 2016-06-01
US20180106354A1 (en) 2018-04-19
US20150107388A1 (en) 2015-04-23
CN104565281A (zh) 2015-04-29
US9874272B2 (en) 2018-01-23
JP2015108444A (ja) 2015-06-11
EP2863090A2 (en) 2015-04-22
CN104565281B (zh) 2017-07-07
US10760664B2 (en) 2020-09-01

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