JP7108725B1 - 波動歯車装置 - Google Patents
波動歯車装置 Download PDFInfo
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- JP7108725B1 JP7108725B1 JP2021010600A JP2021010600A JP7108725B1 JP 7108725 B1 JP7108725 B1 JP 7108725B1 JP 2021010600 A JP2021010600 A JP 2021010600A JP 2021010600 A JP2021010600 A JP 2021010600A JP 7108725 B1 JP7108725 B1 JP 7108725B1
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- gear
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- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910000851 Alloy steel Inorganic materials 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 239000010962 carbon steel Substances 0.000 description 2
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
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- 229910001018 Cast iron Inorganic materials 0.000 description 1
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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
- F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- Retarders (AREA)
- Gears, Cams (AREA)
Abstract
Description
1 < { ZR ・ ( DaR + DdR + DaF + DdF- 4D ) } / { ZF ・ ( DaR + DdR + DaF + DdF + 4D ) } ≦ 1.11
の関係を満たしていることが好ましい。この場合、3か所以上の噛み合い部分を確実に確保しつつ、動力伝達効率を向上させることができる。
・・・(2)
外歯歯車:DpF = ( DaR + DdR + DaF+ DdF ) / 4 - D・・・(3a)
内歯歯車:DpR= ( DaR + DdR + DaF + DdF ) / 4 + D・・・(3b)
外歯歯車:DpF= DaF - 2 ・ fha ・ m = ( DaR + DaF ) / 2 - D・・・(4a)
内歯歯車:DpR= DaR + 2 ・ fha ・ m = ( DaR + DaF ) / 2 + D・・・(4b)
外歯歯車:DpF= DdF + 2 ・ fhd ・ m = ( DdR + DdF ) / 2 - D・・・(5a)
内歯歯車:DpR= DdR - 2 ・ fhd ・ m = ( DdR + DdF ) / 2 + D・・・(5b)
内歯歯車2の噛み合いピッチ円周長:π ・ DpR・・・(6b)
なお、式(6a)と式(6b)において、πは円周率である。
内歯歯車2の歯2aの間隔:π ・ DpR / ZR = π ・( m2 - 2 ・ xR・ m2 / ZR) ・・・(7b)
X > 1・・・(8)
Claims (3)
- 内歯歯車と、
可撓性を有しているとともに前記内歯歯車の内周側に配置される外歯歯車と、
前記外歯歯車の内周に組み付けられることによって前記外歯歯車を非円形に撓ませて当該外歯歯車に前記内歯歯車との噛み合い部分を形成させるとともに当該噛み合い部分を前記内歯歯車の周方向に移動させる波動発生器と、を備えており、
前記波動発生器は、前記噛み合い部分が前記外歯歯車の周方向の3か所以上に形成されるように構成されており、
前記外歯歯車を前記波動発生器に組み付ける前の状態において、前記外歯歯車の噛み合いピッチ円直径DpF を当該外歯歯車の歯数ZF で除した値(DpF / ZF )は、前記内歯歯車の噛み合いピッチ円直径DpR を当該内歯歯車の歯数ZR で除した値(DpR / ZR )よりも大きく、
前記内歯歯車の、歯先円直径Da R 、歯底円直径Dd R 及び歯数Z R と、
前記外歯歯車の、歯先円直径Da F 、歯底円直径Dd F 及び歯数Z F と、
前記外歯歯車を前記波動発生器に組み付けることによって生じた当該外歯歯車の噛み合いピッチ円のリフト量Dと、は、
1 < { Z R ・ ( Da R + Dd R + Da F + Dd F - 4D ) } / { Z F ・ ( Da R + Dd R + Da F + Dd F + 4D ) } ≦ 1.11
の関係を満たしている、波動歯車装置。 - 前記内歯歯車と前記外歯歯車との少なくともいずれか一方は、樹脂材を含んでいる、請求項1に記載された波動歯車装置。
- 前記内歯歯車と前記外歯歯車との少なくともいずれか一方の歯には、摩擦低減処理が施されている、請求項1または2に記載された波動歯車装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021010600A JP7108725B1 (ja) | 2021-01-26 | 2021-01-26 | 波動歯車装置 |
CN202180091470.1A CN116783409A (zh) | 2021-01-26 | 2021-11-18 | 波动齿轮装置 |
US18/262,378 US11959539B2 (en) | 2021-01-26 | 2021-11-18 | Strain wave gear device |
KR1020237025441A KR20230121146A (ko) | 2021-01-26 | 2021-11-18 | 파동기어장치 |
PCT/JP2021/042499 WO2022163083A1 (ja) | 2021-01-26 | 2021-11-18 | 波動歯車装置 |
DE112021006965.9T DE112021006965T5 (de) | 2021-01-26 | 2021-11-18 | Dehnungswellengetriebevorrichtung |
Applications Claiming Priority (1)
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JP2021010600A JP7108725B1 (ja) | 2021-01-26 | 2021-01-26 | 波動歯車装置 |
Publications (2)
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JP7108725B1 true JP7108725B1 (ja) | 2022-07-28 |
JP2022114338A JP2022114338A (ja) | 2022-08-05 |
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JP2021010600A Active JP7108725B1 (ja) | 2021-01-26 | 2021-01-26 | 波動歯車装置 |
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---|---|
US (1) | US11959539B2 (ja) |
JP (1) | JP7108725B1 (ja) |
KR (1) | KR20230121146A (ja) |
CN (1) | CN116783409A (ja) |
DE (1) | DE112021006965T5 (ja) |
WO (1) | WO2022163083A1 (ja) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5332403B2 (ja) | 2008-08-27 | 2013-11-06 | 凸版印刷株式会社 | ガスバリア性積層フィルム |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2719780B2 (ja) * | 1987-03-30 | 1998-02-25 | 工業技術院長 | 増減速駆動機用歯車 |
JPH02275166A (ja) * | 1989-04-13 | 1990-11-09 | Harmonic Drive Syst Ind Co Ltd | 波動歯車装置 |
JPH0592557U (ja) * | 1992-03-11 | 1993-12-17 | 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 |
JPH05332403A (ja) * | 1992-05-28 | 1993-12-14 | Nitto Seiko Co Ltd | 減速機 |
JP2000120811A (ja) * | 1998-08-12 | 2000-04-28 | Teijin Seiki Co Ltd | 撓み噛み合い式減速機 |
DE10258188A1 (de) * | 2002-12-12 | 2004-06-24 | Siemens Ag | Getriebe |
JP4626211B2 (ja) * | 2004-07-30 | 2011-02-02 | 株式会社ジェイテクト | 波動歯車装置、伝達比可変装置、及び波動歯車装置の製造方法 |
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 |
JP6587064B2 (ja) | 2016-03-18 | 2019-10-09 | 日立オートモティブシステムズ株式会社 | 内燃機関用リンク機構のアクチュエータ及び波動歯車減速機 |
JP6633577B2 (ja) | 2016-07-29 | 2020-01-22 | 三ツ星ベルト株式会社 | 熱硬化性ポリウレタン組成物及びその用途 |
JP6748595B2 (ja) | 2017-03-23 | 2020-09-02 | 日立オートモティブシステムズ株式会社 | 波動歯車減速機および内燃機関の可変圧縮装置のアクチュエータ |
KR101901379B1 (ko) | 2017-11-30 | 2018-09-21 | 김태호 | 표류형 수상 인명구조장비 |
-
2021
- 2021-01-26 JP JP2021010600A patent/JP7108725B1/ja active Active
- 2021-11-18 WO PCT/JP2021/042499 patent/WO2022163083A1/ja active Application Filing
- 2021-11-18 US US18/262,378 patent/US11959539B2/en active Active
- 2021-11-18 DE DE112021006965.9T patent/DE112021006965T5/de active Pending
- 2021-11-18 CN CN202180091470.1A patent/CN116783409A/zh active Pending
- 2021-11-18 KR KR1020237025441A patent/KR20230121146A/ko active IP Right Grant
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5332403B2 (ja) | 2008-08-27 | 2013-11-06 | 凸版印刷株式会社 | ガスバリア性積層フィルム |
Also Published As
Publication number | Publication date |
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US11959539B2 (en) | 2024-04-16 |
JP2022114338A (ja) | 2022-08-05 |
US20240084884A1 (en) | 2024-03-14 |
WO2022163083A1 (ja) | 2022-08-04 |
DE112021006965T5 (de) | 2023-11-09 |
CN116783409A (zh) | 2023-09-19 |
KR20230121146A (ko) | 2023-08-17 |
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