JP7034575B2 - 波動歯車装置 - Google Patents

波動歯車装置 Download PDF

Info

Publication number
JP7034575B2
JP7034575B2 JP2021515673A JP2021515673A JP7034575B2 JP 7034575 B2 JP7034575 B2 JP 7034575B2 JP 2021515673 A JP2021515673 A JP 2021515673A JP 2021515673 A JP2021515673 A JP 2021515673A JP 7034575 B2 JP7034575 B2 JP 7034575B2
Authority
JP
Japan
Prior art keywords
tooth
external
external tooth
gear
internal
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.)
Active
Application number
JP2021515673A
Other languages
English (en)
Japanese (ja)
Other versions
JPWO2021140592A1 (https=
Inventor
教夫 城越
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
Publication of JPWO2021140592A1 publication Critical patent/JPWO2021140592A1/ja
Application granted granted Critical
Publication of JP7034575B2 publication Critical patent/JP7034575B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)
  • Facsimile Scanning Arrangements (AREA)
JP2021515673A 2020-01-08 2020-01-08 波動歯車装置 Active JP7034575B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/000326 WO2021140592A1 (ja) 2020-01-08 2020-01-08 波動歯車装置

Publications (2)

Publication Number Publication Date
JPWO2021140592A1 JPWO2021140592A1 (https=) 2021-07-15
JP7034575B2 true JP7034575B2 (ja) 2022-03-14

Family

ID=76788163

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021515673A Active JP7034575B2 (ja) 2020-01-08 2020-01-08 波動歯車装置

Country Status (7)

Country Link
US (1) US11732791B2 (https=)
EP (1) EP3913254B1 (https=)
JP (1) JP7034575B2 (https=)
KR (1) KR102513723B1 (https=)
CN (1) CN114867951B (https=)
TW (1) TWI850496B (https=)
WO (1) WO2021140592A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4660480A1 (en) 2023-01-30 2025-12-10 Harmonic Drive Systems Inc. Wave-motion gear device and external gear
EP4691745A1 (en) 2023-04-06 2026-02-11 Harmonic Drive Systems Inc. Mold and method for molding flexible external gear

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017122362A1 (ja) 2016-01-15 2017-07-20 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

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60215139A (ja) * 1984-04-09 1985-10-28 Nippon Seiko Kk 調和駆動減速装置
JPS6275153A (ja) 1985-09-30 1987-04-07 Tsubakimoto Chain Co ハ−モニツクドライブ装置
DD244796A1 (de) * 1985-12-23 1987-04-15 Wtz Getriebe & Kupplungen Veb Verzahnung an wellgetrieben, insbesondere mit topffoermigem elastischen rad
US4817457A (en) 1986-08-18 1989-04-04 Quincy Technologies, Inc. Uniform wall flexspline
JP2503027B2 (ja) * 1987-09-21 1996-06-05 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置
JPH0545881Y2 (https=) 1989-01-05 1993-11-29
JPH0552404A (ja) 1991-08-22 1993-03-02 Unitika Ltd 結露防止可能な多孔質材製ルーバー
JPH0552404U (ja) 1991-12-21 1993-07-13 第一化成株式会社 樹脂製ハーモニックドライブ減速装置
JP4650954B2 (ja) * 2004-06-21 2011-03-16 株式会社ハーモニック・ドライブ・システムズ 負偏位噛み合い歯形を有する波動歯車装置
EP2003368A2 (en) * 2006-03-31 2008-12-17 JTEKT Corporation Flexible meshing-type gear device and steering device for vehicle
KR20090098533A (ko) * 2008-03-14 2009-09-17 이부락 하모닉 감속기 치형 구조
DE112008004008B4 (de) * 2008-08-29 2026-01-29 Harmonic Drive Systems Inc. Wellgetriebe mit einem zusammengesetzten Zahnprofil, das bei positiver Verformung eingreift
DE112008004248T5 (de) * 2008-12-18 2012-03-15 Harmonic Drive Systems Inc. Wellgetriebe mit einem dreidimensional kontaktierbaren,verschobenen Zahnprofil
JP2010190373A (ja) * 2009-02-20 2010-09-02 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP5275150B2 (ja) * 2009-06-23 2013-08-28 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
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
CN103827542B (zh) * 2011-09-29 2016-09-21 谐波传动系统有限公司 具有锥形可挠性外齿轮的波动齿轮装置
WO2014027384A1 (ja) * 2012-08-17 2014-02-20 株式会社ハーモニック・ドライブ・システムズ ３次元接触歯形を有する波動歯車装置
CN104321558B (zh) * 2013-05-08 2017-02-22 谐波传动系统有限公司 波动齿轮装置的波动产生器
JP6017066B2 (ja) * 2014-07-11 2016-10-26 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
JP6370624B2 (ja) * 2014-07-23 2018-08-08 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
KR101929213B1 (ko) * 2014-08-06 2018-12-14 가부시키가이샤 하모닉 드라이브 시스템즈 플랫형 파동기어장치
JP2017044287A (ja) 2015-08-27 2017-03-02 株式会社ジェイテクト 波動歯車伝達装置
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
CN111201389B (zh) * 2017-10-19 2023-04-28 谐波传动系统有限公司 具有3维啮合齿廓的波动齿轮装置
US12222029B2 (en) * 2018-05-08 2025-02-11 Sony Corporation Method of manufacturing flexible gear, method of manufacturing flexible gear unit, and gear

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017122362A1 (ja) 2016-01-15 2017-07-20 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

Also Published As

Publication number Publication date
JPWO2021140592A1 (https=) 2021-07-15
TW202132703A (zh) 2021-09-01
EP3913254C0 (en) 2024-11-20
EP3913254B1 (en) 2024-11-20
EP3913254A4 (en) 2022-08-03
TWI850496B (zh) 2024-08-01
EP3913254A1 (en) 2021-11-24
US20220333673A1 (en) 2022-10-20
US11732791B2 (en) 2023-08-22
CN114867951B (zh) 2025-07-18
KR102513723B1 (ko) 2023-03-23
CN114867951A (zh) 2022-08-05
KR20210091173A (ko) 2021-07-21
WO2021140592A1 (ja) 2021-07-15

Similar Documents

Publication Publication Date Title
JP7034575B2 (ja) 波動歯車装置
CN101929527B (zh) 波动齿轮装置
JP4357054B2 (ja) 追い越し型極大歯たけの歯形を有する負偏位撓みかみ合い式歯車装置
WO1996018833A1 (en) Silk hat type flexible mesh engagement gear device
CN105431654B (zh) 具有使用圆弧齿形而形成的连续接触齿形的波动齿轮装置
JP6017063B2 (ja) ２度接触の負偏位歯形を有する波動歯車装置
JPWO2010070712A1 (ja) ３次元接触可能な転位歯形を有する波動歯車装置
JP4618806B2 (ja) 歯車
CN111417794B (zh) 杯型的波动齿轮装置
CN109707821A (zh) 波发生器及具有该波发生器的谐波减速机
JP6067183B2 (ja) 追い越し型かみ合いの負偏位波動歯車装置
JP7680180B2 (ja) 波動歯車装置および外歯歯車
CN116194685B (zh) 具有三维齿形的波动齿轮装置
US6845689B2 (en) Silk hat shaped wave gear device
JP4132113B2 (ja) 撓み噛み合い式歯車装置
JP4135794B2 (ja) 射出成形プラスチックギヤ
WO1998053224A1 (en) Flat wave gearing
CN112119243A (zh) 波动齿轮装置
JP7203275B2 (ja) 三次元歯形を備えた波動歯車装置
EP4691745A1 (en) Mold and method for molding flexible external gear
JP3230245U (ja) 波動歯車装置
JP2006308107A (ja) 射出成形プラスチックギヤ
JP2019047597A (ja) ギアードモータ
JPWO1998053224A1 (ja) 扁平型波動歯車装置
JP2019196805A (ja) 樹脂歯車及び減速機並びにモータユニット

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210319

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210506

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220105

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220201

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220301

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20220301

R150 Certificate of patent or registration of utility model

Ref document number: 7034575

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250