TWI850496B - 諧波齒輪裝置 - Google Patents

諧波齒輪裝置 Download PDF

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Publication number
TWI850496B
TWI850496B TW109141071A TW109141071A TWI850496B TW I850496 B TWI850496 B TW I850496B TW 109141071 A TW109141071 A TW 109141071A TW 109141071 A TW109141071 A TW 109141071A TW I850496 B TWI850496 B TW I850496B
Authority
TW
Taiwan
Prior art keywords
tooth
gear
teeth
outer tooth
extension portion
Prior art date
Application number
TW109141071A
Other languages
English (en)
Chinese (zh)
Other versions
TW202132703A (zh
Inventor
城越教夫
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 TW202132703A publication Critical patent/TW202132703A/zh
Application granted granted Critical
Publication of TWI850496B publication Critical patent/TWI850496B/zh

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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
    • 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
    • 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
    • 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)
  • Facsimile Scanning Arrangements (AREA)
TW109141071A 2020-01-08 2020-11-24 諧波齒輪裝置 TWI850496B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/JP2020/000326 WO2021140592A1 (ja) 2020-01-08 2020-01-08 波動歯車装置
WOPCT/JP2020/000326 2020-01-08

Publications (2)

Publication Number Publication Date
TW202132703A TW202132703A (zh) 2021-09-01
TWI850496B true TWI850496B (zh) 2024-08-01

Family

ID=76788163

Family Applications (1)

Application Number Title Priority Date Filing Date
TW109141071A TWI850496B (zh) 2020-01-08 2020-11-24 諧波齒輪裝置

Country Status (7)

Country Link
US (1) US11732791B2 (https=)
EP (1) EP3913254B1 (https=)
JP (1) JP7034575B2 (https=)
KR (1) KR102513723B1 (https=)
CN (1) CN114867951B (https=)
TW (1) TWI850496B (https=)
WO (1) WO2021140592A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4660480A1 (en) 2023-01-30 2025-12-10 Harmonic Drive Systems Inc. Wave-motion gear device and external gear
EP4691745A1 (en) 2023-04-06 2026-02-11 Harmonic Drive Systems Inc. Mold and method for molding flexible external gear

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0291238U (https=) * 1989-01-05 1990-07-19
KR20090098533A (ko) * 2008-03-14 2009-09-17 이부락 하모닉 감속기 치형 구조
US20140047937A1 (en) * 2012-08-17 2014-02-20 Harmonic Drive Systems Inc. Wave gear device having three-dimensional-contact tooth profile
KR20150005944A (ko) * 2013-05-08 2015-01-15 가부시키가이샤 하모닉 드라이브 시스템즈 파동 기어 장치의 파동 발생기
WO2017122362A1 (ja) * 2016-01-15 2017-07-20 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
EP3196507A1 (en) * 2014-08-06 2017-07-26 Harmonic Drive Systems Inc. Flat wave gearing
KR20190090003A (ko) * 2017-10-19 2019-07-31 가부시키가이샤 하모닉 드라이브 시스템즈 3차원 맞물림 치형을 갖는 파동기어장치
WO2019216039A1 (ja) * 2018-05-08 2019-11-14 ソニー株式会社 可撓性歯車の製造方法及び可撓性歯車ユニットの製造方法、並びに歯車

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60215139A (ja) * 1984-04-09 1985-10-28 Nippon Seiko Kk 調和駆動減速装置
JPS6275153A (ja) 1985-09-30 1987-04-07 Tsubakimoto Chain Co ハ−モニツクドライブ装置
DD244796A1 (de) * 1985-12-23 1987-04-15 Wtz Getriebe & Kupplungen Veb Verzahnung an wellgetrieben, insbesondere mit topffoermigem elastischen rad
US4817457A (en) 1986-08-18 1989-04-04 Quincy Technologies, Inc. Uniform wall flexspline
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
JPH0552404A (ja) 1991-08-22 1993-03-02 Unitika Ltd 結露防止可能な多孔質材製ルーバー
JPH0552404U (ja) 1991-12-21 1993-07-13 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
JP4650954B2 (ja) * 2004-06-21 2011-03-16 株式会社ハーモニック・ドライブ・システムズ 負偏位噛み合い歯形を有する波動歯車装置
EP2003368A2 (en) * 2006-03-31 2008-12-17 JTEKT Corporation Flexible meshing-type gear device and steering device for vehicle
DE112008004008B4 (de) * 2008-08-29 2026-01-29 Harmonic Drive Systems Inc. Wellgetriebe mit einem zusammengesetzten Zahnprofil, das bei positiver Verformung eingreift
DE112008004248T5 (de) * 2008-12-18 2012-03-15 Harmonic Drive Systems Inc. Wellgetriebe mit einem dreidimensional kontaktierbaren,verschobenen Zahnprofil
JP2010190373A (ja) * 2009-02-20 2010-09-02 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP5275150B2 (ja) * 2009-06-23 2013-08-28 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
JP5734102B2 (ja) * 2011-06-01 2015-06-10 株式会社ハーモニック・ドライブ・システムズ テーパ型の可撓性外歯車を備えた波動歯車装置
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
JP6017066B2 (ja) * 2014-07-11 2016-10-26 株式会社ハーモニック・ドライブ・システムズ 円弧歯形を用いて形成した連続接触歯形を有する波動歯車装置
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
JP2017044287A (ja) 2015-08-27 2017-03-02 株式会社ジェイテクト 波動歯車伝達装置
JP6830736B2 (ja) * 2017-06-05 2021-02-17 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0291238U (https=) * 1989-01-05 1990-07-19
KR20090098533A (ko) * 2008-03-14 2009-09-17 이부락 하모닉 감속기 치형 구조
US20140047937A1 (en) * 2012-08-17 2014-02-20 Harmonic Drive Systems Inc. Wave gear device having three-dimensional-contact tooth profile
KR20150005944A (ko) * 2013-05-08 2015-01-15 가부시키가이샤 하모닉 드라이브 시스템즈 파동 기어 장치의 파동 발생기
EP3196507A1 (en) * 2014-08-06 2017-07-26 Harmonic Drive Systems Inc. Flat wave gearing
WO2017122362A1 (ja) * 2016-01-15 2017-07-20 株式会社ハーモニック・ドライブ・システムズ ２応力純分離の波動歯車装置
KR20190090003A (ko) * 2017-10-19 2019-07-31 가부시키가이샤 하모닉 드라이브 시스템즈 3차원 맞물림 치형을 갖는 파동기어장치
WO2019216039A1 (ja) * 2018-05-08 2019-11-14 ソニー株式会社 可撓性歯車の製造方法及び可撓性歯車ユニットの製造方法、並びに歯車

Also Published As

Publication number Publication date
JPWO2021140592A1 (https=) 2021-07-15
TW202132703A (zh) 2021-09-01
EP3913254C0 (en) 2024-11-20
EP3913254B1 (en) 2024-11-20
EP3913254A4 (en) 2022-08-03
JP7034575B2 (ja) 2022-03-14
EP3913254A1 (en) 2021-11-24
US20220333673A1 (en) 2022-10-20
US11732791B2 (en) 2023-08-22
CN114867951B (zh) 2025-07-18
KR102513723B1 (ko) 2023-03-23
CN114867951A (zh) 2022-08-05
KR20210091173A (ko) 2021-07-21
WO2021140592A1 (ja) 2021-07-15

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