KR101838926B1 - 듀얼타입의 파동기어장치 - Google Patents

듀얼타입의 파동기어장치 Download PDF

Info

Publication number
KR101838926B1
KR101838926B1 KR1020167036440A KR20167036440A KR101838926B1 KR 101838926 B1 KR101838926 B1 KR 101838926B1 KR 1020167036440 A KR1020167036440 A KR 1020167036440A KR 20167036440 A KR20167036440 A KR 20167036440A KR 101838926 B1 KR101838926 B1 KR 101838926B1
Authority
KR
South Korea
Prior art keywords
tooth
teeth
external
internal
gear
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
KR1020167036440A
Other languages
English (en)
Korean (ko)
Other versions
KR20170010325A (ko
Inventor
요시히데 기요사와
준 한다
신 유에 장
노보루 다키자와
Original Assignee
가부시키가이샤 하모닉 드라이브 시스템즈
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 가부시키가이샤 하모닉 드라이브 시스템즈 filed Critical 가부시키가이샤 하모닉 드라이브 시스템즈
Publication of KR20170010325A publication Critical patent/KR20170010325A/ko
Application granted granted Critical
Publication of KR101838926B1 publication Critical patent/KR101838926B1/ko
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
    • 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
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/14—Construction providing resilience or vibration-damping
    • F16H55/16—Construction providing resilience or vibration-damping relating to teeth only
    • 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
    • F16C2370/00—Apparatus relating to physics, e.g. instruments
    • 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
    • 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)
KR1020167036440A 2014-07-23 2015-07-03 듀얼타입의 파동기어장치 Active KR101838926B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014149374A JP6218692B2 (ja) 2014-07-23 2014-07-23 デュアルタイプの波動歯車装置
JPJP-P-2014-149374 2014-07-23
PCT/JP2015/069246 WO2016013382A1 (ja) 2014-07-23 2015-07-03 デュアルタイプの波動歯車装置

Publications (2)

Publication Number Publication Date
KR20170010325A KR20170010325A (ko) 2017-01-26
KR101838926B1 true KR101838926B1 (ko) 2018-03-15

Family

ID=55162914

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020167036440A Active KR101838926B1 (ko) 2014-07-23 2015-07-03 듀얼타입의 파동기어장치

Country Status (10)

Country Link
US (1) US10197145B2 (https=)
EP (1) EP3173658B1 (https=)
JP (1) JP6218692B2 (https=)
KR (1) KR101838926B1 (https=)
CN (1) CN106536975B (https=)
BR (1) BR112017000374B1 (https=)
MX (1) MX376698B (https=)
RU (1) RU2655578C1 (https=)
TW (1) TWI620883B (https=)
WO (1) WO2016013382A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106641183B (zh) * 2016-12-28 2019-01-29 重庆奔腾智能装备技术有限公司 谐波传动齿条近似齿廓设计方法
US10253864B2 (en) * 2017-07-03 2019-04-09 Optimal Actuation Inc. Bearing wave generator assembly
DE102017119323A1 (de) * 2017-08-24 2018-09-06 Schaeffler Technologies AG & Co. KG Verzahnungspaarung und Wellgetriebe
JP6552571B2 (ja) * 2017-09-29 2019-07-31 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
US11092224B2 (en) 2017-10-10 2021-08-17 Hamilton Sundstrand Corporation Method of developing spline profile
CN108730478B (zh) * 2018-08-14 2021-06-15 台邦电机工业集团有限公司 谐波齿轮
CN110671482A (zh) * 2019-10-11 2020-01-10 重庆大学 双波复波式活齿减速器
KR102616219B1 (ko) 2023-07-05 2023-12-20 주식회사 퓨트로닉 2단 감속기

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1984000056A1 (en) * 1982-06-18 1984-01-05 Matsushita Electric Industrial Co Ltd Reduction gear
JPS6479448A (en) * 1987-09-21 1989-03-24 Harmonic Drive Systems Deflection engagement type gear device
JPH01108441A (ja) * 1987-10-20 1989-04-25 Sumitomo Heavy Ind Ltd 差動歯車機構
JPH02275147A (ja) * 1989-04-17 1990-11-09 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP2009156462A (ja) * 2007-12-04 2009-07-16 Harmonic Drive Syst Ind Co Ltd フラット型波動歯車装置の同歯数側歯車の歯形設定方法
US20110088496A1 (en) * 2008-06-24 2011-04-21 Korea Institute Of Science And Technology Harmonic drive using profile shifted gear
JP2012251588A (ja) * 2011-06-01 2012-12-20 Harmonic Drive Systems Inc テーパ型の可撓性外歯車を備えた波動歯車装置
JP2013119919A (ja) * 2011-12-08 2013-06-17 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置
JP2013194836A (ja) * 2012-03-21 2013-09-30 Honda Motor Co Ltd 波動歯車装置および歩行補助装置
JP2018000259A (ja) * 2016-06-27 2018-01-11 サミー株式会社 スロットマシン

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1137269A1 (ru) * 1980-06-30 1985-01-30 МВТУ им.Н.Э.Баумана Сдвоенна волнова зубчата передача
JPS6491151A (en) 1987-10-02 1989-04-10 Ricoh Kk Device for operating copying machine
JPH0451235Y2 (https=) 1987-12-10 1992-12-02
JP3739017B2 (ja) * 1995-12-15 2006-01-25 株式会社ハーモニック・ドライブ・システムズ 非干渉広域かみ合い歯形を有する撓みかみ合い式歯車装置
UA78075C2 (en) * 2005-02-07 2007-02-15 Robert Vachahan Ambartsumiants Method for determination of teeth module of involute cylindrical toothed wheels
US20090044651A1 (en) * 2006-03-31 2009-02-19 Jtekt Corporation Flexible Meshing-Type Gear Device and Steering Device for Vehicle
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
US8028603B2 (en) * 2007-12-04 2011-10-04 Harmonic Drive Systems Inc. Method for setting gear tooth profile in flat wave gear device on side where gears have same number of teeth
JP5337008B2 (ja) 2009-11-30 2013-11-06 住友重機械工業株式会社 撓み噛合い式歯車装置、及びその外歯歯車の製造方法
US8475315B2 (en) * 2010-02-15 2013-07-02 Jtekt Corporation Swing internal contact type planetary gear device and rotation drive device
JP5256249B2 (ja) * 2010-06-18 2013-08-07 住友重機械工業株式会社 撓み噛合い式歯車装置
US9425712B2 (en) * 2011-09-16 2016-08-23 Harmonic Drive Systems Inc. Vibration power-generating strain wave gearing
US9534681B2 (en) * 2011-09-29 2017-01-03 Harmonic Drive Systems Inc. Wave gear device having tapered flexible external gear
WO2013179354A1 (ja) * 2012-05-31 2013-12-05 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置および可撓性内歯歯車
KR20160008615A (ko) * 2013-07-01 2016-01-22 가부시키가이샤 하모닉 드라이브 시스템즈 파동 기어 장치
US9341252B2 (en) * 2013-07-10 2016-05-17 Harmonic Drive Systems Inc. Wave generator and strain wave gearing
KR101700726B1 (ko) * 2013-11-19 2017-01-31 가부시키가이샤 하모닉 드라이브 시스템즈 파동기어장치, 마찰결합식의 파동장치 및 파동발생기
KR101763719B1 (ko) * 2014-03-31 2017-08-01 가부시키가이샤 하모닉 드라이브 시스템즈 파동기어장치 및 다층중공체의 제조방법
JP6282340B2 (ja) * 2014-05-08 2018-02-21 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の波動発生器および波動発生器の製造方法
KR101771186B1 (ko) * 2014-07-11 2017-08-24 가부시키가이샤 하모닉 드라이브 시스템즈 원호 치형을 이용하여 형성한 연속 접촉 치형을 갖는 파동 기어 장치

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1984000056A1 (en) * 1982-06-18 1984-01-05 Matsushita Electric Industrial Co Ltd Reduction gear
JPS6479448A (en) * 1987-09-21 1989-03-24 Harmonic Drive Systems Deflection engagement type gear device
JPH01108441A (ja) * 1987-10-20 1989-04-25 Sumitomo Heavy Ind Ltd 差動歯車機構
JPH02275147A (ja) * 1989-04-17 1990-11-09 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP2009156462A (ja) * 2007-12-04 2009-07-16 Harmonic Drive Syst Ind Co Ltd フラット型波動歯車装置の同歯数側歯車の歯形設定方法
US20110088496A1 (en) * 2008-06-24 2011-04-21 Korea Institute Of Science And Technology Harmonic drive using profile shifted gear
JP2012251588A (ja) * 2011-06-01 2012-12-20 Harmonic Drive Systems Inc テーパ型の可撓性外歯車を備えた波動歯車装置
JP2013119919A (ja) * 2011-12-08 2013-06-17 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置
JP2013194836A (ja) * 2012-03-21 2013-09-30 Honda Motor Co Ltd 波動歯車装置および歩行補助装置
JP2018000259A (ja) * 2016-06-27 2018-01-11 サミー株式会社 スロットマシン

Also Published As

Publication number Publication date
WO2016013382A1 (ja) 2016-01-28
EP3173658A4 (en) 2018-05-02
US20170198802A1 (en) 2017-07-13
CN106536975B (zh) 2018-12-04
US10197145B2 (en) 2019-02-05
RU2655578C1 (ru) 2018-05-28
MX2017001003A (es) 2017-09-01
JP6218692B2 (ja) 2017-10-25
EP3173658B1 (en) 2019-10-16
MX376698B (es) 2025-03-07
EP3173658A1 (en) 2017-05-31
TWI620883B (zh) 2018-04-11
JP2016023746A (ja) 2016-02-08
BR112017000374A2 (pt) 2018-03-27
CN106536975A (zh) 2017-03-22
TW201616013A (zh) 2016-05-01
KR20170010325A (ko) 2017-01-26
BR112017000374B1 (pt) 2023-02-14

Similar Documents

Publication Publication Date Title
KR101838926B1 (ko) 듀얼타입의 파동기어장치
KR101838928B1 (ko) 듀얼타입의 파동기어장치
KR101834816B1 (ko) 듀얼타입의 파동기어장치
KR101918011B1 (ko) 듀얼타입의 파동기어장치
KR101834815B1 (ko) 듀얼타입의 파동기어장치
KR101900261B1 (ko) 듀얼타입의 파동기어장치
WO2019065070A1 (ja) デュアルタイプの波動歯車装置

Legal Events

Date Code Title Description
A201 Request for examination
P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

D14-X000 Search report completed

St.27 status event code: A-1-2-D10-D14-srh-X000

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

GRNT Written decision to grant
PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 5

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 6

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 7

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 8

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 9

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-OTH-PR1001 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 9