TWI831988B - 扁平諧波齒輪裝置 - Google Patents

扁平諧波齒輪裝置 Download PDF

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Publication number
TWI831988B
TWI831988B TW109121272A TW109121272A TWI831988B TW I831988 B TWI831988 B TW I831988B TW 109121272 A TW109121272 A TW 109121272A TW 109121272 A TW109121272 A TW 109121272A TW I831988 B TWI831988 B TW I831988B
Authority
TW
Taiwan
Prior art keywords
gear
rigid
axial direction
tooth
harmonic
Prior art date
Application number
TW109121272A
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English (en)
Chinese (zh)
Other versions
TW202113251A (zh
Inventor
小林優
Original Assignee
日商和諧驅動系統股份有限公司
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 日商和諧驅動系統股份有限公司 filed Critical 日商和諧驅動系統股份有限公司
Publication of TW202113251A publication Critical patent/TW202113251A/zh
Application granted granted Critical
Publication of TWI831988B publication Critical patent/TWI831988B/zh

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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
    • F16H55/10—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
    • 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)
  • Retarders (AREA)
TW109121272A 2019-09-27 2020-06-23 扁平諧波齒輪裝置 TWI831988B (zh)

Applications Claiming Priority (2)

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
WOPCT/JP2019/038184 2019-09-27

Publications (2)

Publication Number Publication Date
TW202113251A TW202113251A (zh) 2021-04-01
TWI831988B true TWI831988B (zh) 2024-02-11

Family

ID=75165211

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109121272A TWI831988B (zh) 2019-09-27 2020-06-23 扁平諧波齒輪裝置

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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0148809A2 (en) * 1984-01-10 1985-07-17 U.T.A.S. S.p.A. Motion transmitting device between two coaxial rotating members
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
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 (17)

* 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
JPS6389453U (https=) * 1986-11-29 1988-06-10
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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0148809A2 (en) * 1984-01-10 1985-07-17 U.T.A.S. S.p.A. Motion transmitting device between two coaxial rotating members
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
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
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
JP7210123B2 (ja) 2023-01-23
US11841071B2 (en) 2023-12-12
JPWO2021059494A1 (https=) 2021-04-01

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