JP7145601B2 - 撓み噛み合い式歯車装置 - Google Patents
撓み噛み合い式歯車装置 Download PDFInfo
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- JP7145601B2 JP7145601B2 JP2017204323A JP2017204323A JP7145601B2 JP 7145601 B2 JP7145601 B2 JP 7145601B2 JP 2017204323 A JP2017204323 A JP 2017204323A JP 2017204323 A JP2017204323 A JP 2017204323A JP 7145601 B2 JP7145601 B2 JP 7145601B2
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- Japan
- Prior art keywords
- gear
- vibrating body
- external gear
- external
- shaft portion
- 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.)
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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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
- F16H57/022—Adjustment of gear shafts or bearings
-
- 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
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
- F16C19/56—Systems consisting of a plurality of bearings with rolling friction in which the rolling bodies of one bearing differ in diameter from those of another
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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
- 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
-
- 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
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
-
- 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)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- Retarders (AREA)
Description
図1は、第1実施形態の歯車装置10を示す側面断面図である。歯車装置10は、内歯歯車と噛み合う外歯歯車を撓み変形させつつ内歯歯車に対する噛合位置を周方向に変えることで外歯歯車を自転させ、その自転成分を出力する撓み噛み合い式歯車装置である。本実施形態の歯車装置は、減速用内歯歯車18-Aと出力用内歯歯車18-Bを用いて起振体12の回転を減速して出力する、いわゆる筒型の撓み噛み合い式歯車装置である。
図4は、第2実施形態の歯車装置10の一部を示す側面断面図である。本実施形態の歯車装置10は、第1実施形態と比べて、起振体軸受16の点で相違する。起振体軸受16は、複数の転動体16aと、リテーナ16bの他に、内輪16cを有する。内輪16cは、複数の転動体16aや起振体12とは別体である。内輪16cは、複数の転動体16aと起振体12の中間軸部12bの間に配置される。内輪16cは、その軸方向Xに直交する断面の外周形状が楕円状をなす。内輪16cは、起振体12の中間軸部12bと一体的に回転可能に設けられる。本実施形態では、第1起振体軸受16-Aと第2起振体軸受16-Bで単数の内輪16cが共用されている。
Claims (4)
- 軸方向と直交する断面の外周形状が楕円状をなす起振体と、
前記起振体により撓み変形する外歯歯車と、
前記起振体と前記外歯歯車の間に配置される起振体軸受と、
前記外歯歯車と噛み合う内歯歯車と、を備えた撓み噛み合い式歯車装置であって、
前記内歯歯車が樹脂により構成され、
前記外歯歯車が前記樹脂よりも熱伝導率が高い高熱伝導材料により構成され、
前記起振体軸受は、前記外歯歯車の内周面を転動する転動体を有し、
前記起振体及び前記起振体軸受は、金属により構成される撓み噛み合い式歯車装置。 - 前記高熱伝導材料は、前記樹脂よりも弾性定数が大きい請求項1に記載の撓み噛み合い
式歯車装置。 - 前記起振体は、前記起振体軸受が配置される中間軸部と、前記中間軸部よりも入力側に
ある入力側軸部と、前記中間軸部よりも反入力側にある反入力側軸部と、軸方向に貫通す
るホロー部と、を有し、
前記ホロー部の前記中間軸部における内径は、前記ホロー部の前記入力側軸部及び前記
反入力側軸部における内径より大きい請求項1または2に記載の撓み噛み合い式歯車装置
。 - 前記内歯歯車として、第1内歯歯車及び第2内歯歯車を有し、
前記第1内歯歯車と前記第2内歯歯車とを相対回転自在に支持する主軸受を有し、
前記主軸受は、金属により構成される請求項1から3のいずれかに記載の撓み噛み合い
式歯車装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017204323A JP7145601B2 (ja) | 2017-10-23 | 2017-10-23 | 撓み噛み合い式歯車装置 |
DE102018124839.3A DE102018124839B4 (de) | 2017-10-23 | 2018-10-09 | Getriebevorrichtung des Biegeeingriffstyps |
KR1020180120390A KR102503263B1 (ko) | 2017-10-23 | 2018-10-10 | 휨맞물림식 기어장치 |
CN201811183040.9A CN109695663A (zh) | 2017-10-23 | 2018-10-11 | 挠曲啮合式齿轮装置 |
Applications Claiming Priority (1)
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JP2017204323A JP7145601B2 (ja) | 2017-10-23 | 2017-10-23 | 撓み噛み合い式歯車装置 |
Publications (2)
Publication Number | Publication Date |
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JP2019078304A JP2019078304A (ja) | 2019-05-23 |
JP7145601B2 true JP7145601B2 (ja) | 2022-10-03 |
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JP2017204323A Active JP7145601B2 (ja) | 2017-10-23 | 2017-10-23 | 撓み噛み合い式歯車装置 |
Country Status (4)
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---|---|
JP (1) | JP7145601B2 (ja) |
KR (1) | KR102503263B1 (ja) |
CN (1) | CN109695663A (ja) |
DE (1) | DE102018124839B4 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7145601B2 (ja) | 2017-10-23 | 2022-10-03 | 住友重機械工業株式会社 | 撓み噛み合い式歯車装置 |
CN110748611A (zh) * | 2019-10-25 | 2020-02-04 | 青岛郑洋机器人有限公司 | 一种大中空结构偏心输入轴刚性齿轮传动的减速器 |
JP7414375B2 (ja) * | 2019-10-28 | 2024-01-16 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
JP7282053B2 (ja) * | 2020-03-30 | 2023-05-26 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置、歯車装置のシリーズ、その製造方法及び設計方法 |
JP2021181126A (ja) | 2020-05-18 | 2021-11-25 | 住友重機械工業株式会社 | 歯車の製造方法、歯車及び撓み噛合い式歯車装置 |
JP2021196038A (ja) * | 2020-06-17 | 2021-12-27 | 住友重機械工業株式会社 | 歯車装置 |
JP7455687B2 (ja) * | 2020-07-13 | 2024-03-26 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
JP7368344B2 (ja) * | 2020-07-29 | 2023-10-24 | 美的集団股▲フン▼有限公司 | 内接噛合遊星歯車装置及びアクチュエータ |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005188740A (ja) | 2003-12-05 | 2005-07-14 | Mitsubishi Heavy Ind Ltd | 減速機 |
JP2011112214A (ja) | 2009-11-30 | 2011-06-09 | Sumitomo Heavy Ind Ltd | 撓み噛合い式歯車装置、及びその外歯歯車の製造方法 |
JP2013177938A (ja) | 2012-02-28 | 2013-09-09 | Sumitomo Heavy Ind Ltd | 撓み噛合い式歯車装置 |
JP2014199119A (ja) | 2013-03-29 | 2014-10-23 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
Family Cites Families (14)
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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 |
JPH05332403A (ja) * | 1992-05-28 | 1993-12-14 | Nitto Seiko Co Ltd | 減速機 |
JP2006132726A (ja) * | 2004-11-09 | 2006-05-25 | Mitsubishi Heavy Ind Ltd | 歯車装置及びこれを利用する調和型減速機 |
JP5312364B2 (ja) * | 2010-02-03 | 2013-10-09 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
TWI616873B (zh) | 2011-05-20 | 2018-03-01 | 半導體能源研究所股份有限公司 | 儲存裝置及信號處理電路 |
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 |
JP5938933B2 (ja) | 2012-02-20 | 2016-06-22 | アイシン精機株式会社 | 波動歯車装置 |
JP6268974B2 (ja) | 2013-11-21 | 2018-01-31 | アイシン精機株式会社 | 波動歯車装置 |
JP2016121712A (ja) * | 2014-12-24 | 2016-07-07 | 株式会社ジェイテクト | 波動減速機、波動減速機用の玉軸受、及び波動減速機用の玉軸受の組み立て方法 |
JP6338538B2 (ja) * | 2015-02-03 | 2018-06-06 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
JP2016194315A (ja) * | 2015-03-31 | 2016-11-17 | 住友理工株式会社 | 波動歯車装置用のフレクスプラインとそれを用いた波動歯車装置 |
JP6779116B2 (ja) * | 2015-12-08 | 2020-11-04 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
JP6795433B2 (ja) | 2017-03-17 | 2020-12-02 | 住友重機械工業株式会社 | 撓み噛み合い式歯車装置 |
JP7145601B2 (ja) | 2017-10-23 | 2022-10-03 | 住友重機械工業株式会社 | 撓み噛み合い式歯車装置 |
-
2017
- 2017-10-23 JP JP2017204323A patent/JP7145601B2/ja active Active
-
2018
- 2018-10-09 DE DE102018124839.3A patent/DE102018124839B4/de active Active
- 2018-10-10 KR KR1020180120390A patent/KR102503263B1/ko active IP Right Grant
- 2018-10-11 CN CN201811183040.9A patent/CN109695663A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005188740A (ja) | 2003-12-05 | 2005-07-14 | Mitsubishi Heavy Ind Ltd | 減速機 |
JP2011112214A (ja) | 2009-11-30 | 2011-06-09 | Sumitomo Heavy Ind Ltd | 撓み噛合い式歯車装置、及びその外歯歯車の製造方法 |
JP2013177938A (ja) | 2012-02-28 | 2013-09-09 | Sumitomo Heavy Ind Ltd | 撓み噛合い式歯車装置 |
JP2014199119A (ja) | 2013-03-29 | 2014-10-23 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
Also Published As
Publication number | Publication date |
---|---|
DE102018124839A1 (de) | 2019-04-25 |
KR20190045060A (ko) | 2019-05-02 |
KR102503263B1 (ko) | 2023-02-22 |
JP2019078304A (ja) | 2019-05-23 |
DE102018124839B4 (de) | 2023-07-06 |
CN109695663A (zh) | 2019-04-30 |
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