JP7210123B2 - 扁平波動歯車装置 - Google Patents

扁平波動歯車装置 Download PDF

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Publication number
JP7210123B2
JP7210123B2 JP2021548127A JP2021548127A JP7210123B2 JP 7210123 B2 JP7210123 B2 JP 7210123B2 JP 2021548127 A JP2021548127 A JP 2021548127A JP 2021548127 A JP2021548127 A JP 2021548127A JP 7210123 B2 JP7210123 B2 JP 7210123B2
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Japan
Prior art keywords
rigid
axial direction
gear
forming portion
circumferential direction
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JP2021548127A
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English (en)
Japanese (ja)
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JPWO2021059494A5 (https=
JPWO2021059494A1 (https=
Inventor
優 小林
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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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
    • F16H—GEARING
    • F16H53/00—Cams or cam-followers, e.g. rollers for gearing mechanisms
    • F16H53/02—Single-track cams for single-revolution cycles; Camshafts with such cams
    • F16H53/025—Single-track cams for single-revolution cycles; Camshafts with such cams characterised by their construction, e.g. assembling or manufacturing features
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as 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
    • 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)
JP2021548127A 2019-09-27 2019-09-27 扁平波動歯車装置 Active JP7210123B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/038184 WO2021059494A1 (ja) 2019-09-27 2019-09-27 扁平波動歯車装置

Publications (3)

Publication Number Publication Date
JPWO2021059494A1 JPWO2021059494A1 (https=) 2021-04-01
JPWO2021059494A5 JPWO2021059494A5 (https=) 2022-02-25
JP7210123B2 true JP7210123B2 (ja) 2023-01-23

Family

ID=75165211

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021548127A Active JP7210123B2 (ja) 2019-09-27 2019-09-27 扁平波動歯車装置

Country Status (7)

Country Link
US (1) US11841071B2 (https=)
EP (1) EP4036441B1 (https=)
JP (1) JP7210123B2 (https=)
KR (1) KR102565616B1 (https=)
CN (1) CN114402149B (https=)
TW (1) TWI831988B (https=)
WO (1) WO2021059494A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102691869B1 (ko) * 2022-06-03 2024-08-06 현대모비스 주식회사 차량용 코너 모듈 장치
CN116044958A (zh) * 2022-12-05 2023-05-02 浙江夏厦精密制造股份有限公司 一种减速器
CN118602092A (zh) * 2024-08-11 2024-09-06 上海进顺机电技术有限公司 机电融合的并联式复合柔盘型轴向谐波减速器

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018094679A (ja) 2016-12-14 2018-06-21 セイコーエプソン株式会社 ロボット、可撓性歯車および歯車装置

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2849897A (en) * 1956-11-06 1958-09-02 Leendert Prins Drive for a step-up or step-down gear
US3187605A (en) * 1962-03-26 1965-06-08 William L Ericson Strain wave drive
JPS4869947A (https=) 1971-12-25 1973-09-22
DE2520368A1 (de) * 1975-05-07 1976-11-18 Juergen Ing Grad Muellerschoen Untersetzungsgetriebe
SU934083A1 (ru) * 1979-12-25 1982-06-07 Марийский Политехнический Институт Им.М.Горького Волнова зубчата торцова передача
FR2544435B1 (fr) 1983-04-12 1989-06-09 Assistance Indle Dauphinoise Dispositif de transmission d'un mouvement de rotation entre un arbre menant et un arbre mene
JPS60129455A (ja) 1983-12-14 1985-07-10 Matsushita Electric Works Ltd 動力伝達装置
JPS60132155A (ja) * 1983-12-20 1985-07-15 Matsushita Electric Works Ltd 動力伝達装置
IT1196675B (it) * 1984-01-10 1988-11-25 Oscar Cordara Dispositivo meccanico coassiale per la riduzione della velocita angolare nel moto rotatorio
JPS6389453U (https=) * 1986-11-29 1988-06-10
JPH04109245U (ja) * 1991-03-07 1992-09-22 株式会社ハーモニツク・ドライブ・システムズ 調和変速装置におけるカツプ形の可撓性部材
JPH04370445A (ja) 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置
JP4132113B2 (ja) * 1996-11-27 2008-08-13 株式会社ハーモニック・ドライブ・システムズ 撓み噛み合い式歯車装置
JP4233163B2 (ja) * 1998-12-21 2009-03-04 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
DE19938957B4 (de) * 1999-08-17 2006-08-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Axiales Spannungswellen-Getriebe
AU2003246707A1 (en) * 2002-07-24 2004-02-23 Ina-Schaeffler Kg Device for modifying the control times of an internal combustion engine
JP2007303592A (ja) 2006-05-12 2007-11-22 Honda Motor Co Ltd 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
CN105090372A (zh) * 2014-05-09 2015-11-25 良世机械科技(上海)有限公司 波发生器外置式新型谐波齿轮传动装置
JP2019138412A (ja) * 2018-02-14 2019-08-22 セイコーエプソン株式会社 ロボットおよび歯車装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018094679A (ja) 2016-12-14 2018-06-21 セイコーエプソン株式会社 ロボット、可撓性歯車および歯車装置

Also Published As

Publication number Publication date
EP4036441C0 (en) 2025-05-21
CN114402149A (zh) 2022-04-26
TWI831988B (zh) 2024-02-11
WO2021059494A1 (ja) 2021-04-01
TW202113251A (zh) 2021-04-01
EP4036441A4 (en) 2023-05-03
KR20220007737A (ko) 2022-01-18
CN114402149B (zh) 2024-10-01
KR102565616B1 (ko) 2023-08-09
EP4036441B1 (en) 2025-05-21
US20220290752A1 (en) 2022-09-15
EP4036441A1 (en) 2022-08-03
US11841071B2 (en) 2023-12-12
JPWO2021059494A1 (https=) 2021-04-01

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