WO1996019683A1 - Transmission semi-rigide a engrenement ayant un profil de dents a depassement et deviation negative - Google Patents
Transmission semi-rigide a engrenement ayant un profil de dents a depassement et deviation negative Download PDFInfo
- Publication number
- WO1996019683A1 WO1996019683A1 PCT/JP1994/002141 JP9402141W WO9619683A1 WO 1996019683 A1 WO1996019683 A1 WO 1996019683A1 JP 9402141 W JP9402141 W JP 9402141W WO 9619683 A1 WO9619683 A1 WO 9619683A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gear
- tooth
- tooth profile
- curve
- convex
- Prior art date
Links
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
- 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
- F16H2049/006—Wave generators producing a non-elliptical shape of flexsplines, i.e. with a qualified different shape than elliptical
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
Definitions
- the present invention relates to a flexural gear device. More specifically, the present invention relates to the shape of the teeth of a rigid internal gear and a flexible external gear used in a flexural gear device.
- a typical flexible meshing gear device is a rigid circular internal gear, which is bent elliptically inside the internal gear so as to mesh with the internal gear, for example, at two places, and is 2n more than the internal gear. (N is a positive integer), a flexible external gear having a small number of teeth, and a wave generator fitted inside the external gear and bending the external gear into an elliptical shape.
- both of the tooth shapes are not considered.
- a specific cross section of the tooth trace for example, a non-deflection cross section corresponding to a normal amount of deflection
- both of the tooth shapes are not considered.
- the present invention fundamentally improves the tooth profile of the rigid internal gear and the flexible external gear in place of the conventional continuous contact tooth profile of the convex curves performing the passing type meshing.
- the working tooth profile of either the rigid internal gear or the flexible external gear is changed to a new convex curve tooth profile.
- the working tooth profile of one of the gears is a concave curve, so that the meshing of the two gears is an overtaking mesh between the convex and concave teeth, which is advantageous for lubrication.
- the present invention provides a rigid internal gear, a flexible external gear inside thereof, and an elliptical cross-section perpendicular to the axis of the external gear, and partially converting the flexible external gear into the rigid internal gear.
- a wave generator for rotating these meshing positions in the circumferential direction, and a flexure meshing gear device for generating relative rotation between the two gears by the rotation of the wave generator. It is characterized by having the configuration of
- the deflection (w) in the radial direction of the cross section perpendicular to the reference axis set at a predetermined position of the tooth trace of the flexible external gear is a negative deviation smaller than the normal deflection (w.). Is set to be the amount of deflection.
- Both the rigid internal gear and the flexible external gear shall be spur gears.
- the working tooth profile of the first gear which is one of the rigid internal gear and the flexible external gear, is a convex curved tooth profile, and the shape of the tooth is such that the tooth of the gear is different from that of the other second gear.
- the top part of the locus of the locus approximated by the rack approximation which is drawn on the cross section perpendicular to the reference axis of the tooth trace, belongs to the convex portion of the other gear, and the vertex of the locus of the locus is used as the origin to enlarge the magnification ratio ( ⁇ ) Is a convex curve or an approximation of the convex curve.
- the working tooth profile of the other second gear is a concave curve, and its shape is defined by the same ratio in the above-mentioned movement locus as the origin, and the vertex of the movement locus is set as the origin by the enlargement ratio (S + 1).
- S + 1 the enlargement ratio
- the concave tooth profile of the second gear whose working tooth profile is a concave curve It is desirable to form the top of the tooth as a convex curve or to shorten the tooth tip, depending on the need to avoid interference.
- the tooth profile of the present invention can also be applied to a flexion-engagement type gear device having a cup-shaped flexible external gear.
- a flexion-engagement type gear device having a cup-shaped flexible external gear.
- the opening of the cup-shaped flexible external gear and the inner side of the diaphragm side with respect to the cross section perpendicular to the reference axis of the tooth trace it is desirable to apply relief to the end according to the need to avoid interference.
- the tooth profile of the present invention is also applicable to a flexural gear device in which a flexible external gear is bent into a trilobal shape to engage a rigid internal gear at three locations in a circumferential direction. it can.
- the number of teeth of the flexible external gear may be set to be smaller than the number of teeth of the rigid internal gear by 3 ⁇ ( ⁇ is a positive integer).
- FIG. 1 is a perspective view of a bending-engagement type gear device provided with a cup-shaped flexible external gear.
- FIG. 2 is a schematic front view of the apparatus of FIG.
- FIG. 3 is an explanatory view showing the bending state of the cup-shaped flexible external gear due to the coning.
- (A) is a sectional view including the shaft before deformation
- (b) is a view of the web generator. This is an axial section including the major axis
- (c) is an axial section including the minor axis.
- Fig. 4 shows the movement trajectory of the tooth of the other gear, either the flexible external gear or the rigid internal gear, by the rack approximation on the cross section perpendicular to the reference axis in the case of negative deviation. It is.
- FIG. 5 is an explanatory diagram showing a method for guiding a tooth profile according to the present invention.
- Fig. 6 shows the toothed end of the concave curve of one of the gears with a convex It is explanatory drawing which shows the process of replacement.
- FIG. 7 is an explanatory diagram depicting the engagement of the tooth profile in a cross section perpendicular to the reference tooth of the present invention with respect to one tooth groove of one of the gears over time.
- FIG. 8 shows the meshing of the tooth profile in the cross section perpendicular to the reference tooth of the present invention, where the tooth profile of the main part of the flexible external gear is convex and the tooth profile of the main part of the rigid internal gear is concave.
- FIG. 4 is an explanatory diagram spatially drawn over all the teeth of the rigid internal gear.
- FIG. 9 is an explanatory view spatially depicting the meshing of the tooth profiles when the tooth profile of the main parts of both gears in FIG. 8 is reversed.
- FIGS. 10A and 10B are explanatory views showing an example of interference of meshing of the tooth profile in a cross section other than a cross section perpendicular to the reference tooth of the present invention, wherein FIG. (B) is a section of the diaphragm side from the section perpendicular to the reference tooth.
- FIG. 11 is an explanatory view of the relieving of the teeth of the flexible external gear.
- FIGS. 12A and 12B are explanatory diagrams showing an example of tooth profile engagement in a section subjected to releaving other than a section perpendicular to the reference tooth of the present invention.
- FIG. 12A is a section from the section perpendicular to the reference tooth to the opening side.
- (B) is a cross section of the diaphragm side from the cross section perpendicular to the reference tooth.
- FIG. 13 is an explanatory view showing the engagement in each cross section without relieving when the tooth profile of the cup-shaped flexible external gear is modified (a) is a cross section of the opening, (B) is the reference section, and (c) is the section at the inner end.
- FIG. 14 is an explanatory diagram spatially depicting the engagement of the tooth profile at the cross-section perpendicular to the reference tooth of the present invention in the case of three teeth difference between all the teeth.
- FIG. 1 and FIG. 2 are a perspective view and a front view, respectively, of a known flexural gear device to which the present invention can be applied.
- This flexion-engagement type gear device 1 includes a cylindrical rigid internal gear 2, a cup-shaped flexible external gear 3 arranged inside the rigid internal gear 2, and an elliptical wave gear mounted inside the inside. It consists of a generator 4.
- the cup-shaped flexible external gear 3 is in an elliptical shape by the elliptical wave generator 4.
- the directions of the major axis and the minor axis of the ellipse of the wave generator 4 are indicated by reference numerals 4a and 4b, respectively.
- FIG. 3 shows a bending state of the flexible external gear by so-called coning by bending the opening of the cup-shaped flexible external gear 3 into an elliptical shape in a cross section including the axis.
- Fig. 3 (a) is a diagram showing the state before deformation
- Fig. 3 (b) is a cross-sectional view including the major axis 4a of the wave generator 4 (c), and (c) is its minor axis 4b.
- FIG. As can be seen from these figures, the cup-shaped flexible external gear 3 has the largest amount of deflection at its opening-side cross section 3a due to corning, and its inner end on the side of the diaphragm 3b. Deflection gradually decreases toward section side section 3c.
- Fig. 4 shows a cross section perpendicular to the reference tooth of the one of the rigid internal gear and the flexible external gear (hereinafter referred to as the first gear).
- the other gear of the first gear 100 (hereinafter referred to as a second gear 200) in the cross section at the center of the tooth trace indicated by line IV—IV in FIG. ).
- the movement trajectory L 1 shown here is the amount of deflection in the radial direction (the maximum radius and the pitch circle half when the pitch circle of the flexible external gear is deformed into an elliptical or trilobal shape). Is the normal value W.
- the amount of deflection in the radial direction is W. It is a case where it is expressed.
- the movement trajectory L 1 shown in the figure is a case where the flexible external gear is bent in an elliptical shape, and the arrow 101 indicates the movement of the teeth of the first gear 100. Indicates the direction.
- the bending engagement type gear device has a large number of teeth and the engagement can be regarded as a rack in which the number of teeth is approximately infinite, the drawing shown in FIG.
- FIG. 5 is an explanatory diagram showing a method for guiding a tooth profile according to the present invention.
- point 0 is the vertex of the locus L1 of the tooth of the first gear (the part that goes deepest into the tooth groove of the second gear), and point V is the point of the second gear on the locus L1.
- it is an inflection point that changes from a convex portion to a concave portion.
- ⁇ is the value that the distance in the tooth direction (vertical direction in the figure) from point 0 at point C is equal to or close to the amplitude 0 ⁇ in the tooth direction of locus L 1. And take it. In other words, by taking the point C in this way, s ⁇ -(OC / OA)-1
- the tooth tip of the second gear is replaced by a convex envelope curve due to the creation action of the tooth profile of the first gear before the mesh reaches point A of the movement trajectory.
- Figure 6 illustrates this situation.
- the DE part is the DE part.
- the engagement of this part is a passing type.
- the shaft of the first gear is used in a bending-engagement type gear device having a cup-shaped flexible external gear as shown in FIG. 3.
- the shape of the envelope curve changes depending on the position of the perpendicular section, and the bite of the second gear into the tooth tip is maximized at the inner end (the position indicated by reference numeral 3c in FIG. 3 (a)).
- FIG. 7 illustrates the engagement of the tooth profile in the cross section perpendicular to the reference axis of the present invention with respect to one tooth space of the second gear, with the passage of time.
- FIG. 8 also shows that the first gear 100 is a flexible external gear 3 and the second gear 200 is a rigid internal gear 2, and is spatially distributed over the total number of teeth. The drawing is shown.
- FIG. 9 shows the first gear 100 as a rigid internal gear 2 and the second gear 200 as a flexible external gear 3. is there.
- the tip of the first gear 100 is shifted to the second gear 20 by the position of the cross section perpendicular to the axis.
- the shape of the curve enveloped at 0 changes (see Fig. 6).
- a shape that gives a slight relief to the envelope curve or a shape that simply shortens the tooth tip is a perfect overtaking type that is advantageous for lubrication. You can also.
- FIG. 10 shows an example in which the first gear 100 is the flexible external gear 3 and the second gear 200 is the rigid internal gear 2.
- the reference section is taken at the center of the tooth trace (the position shown by the IV-IV line in Fig. 3 (a)).
- (B) shows the engagement in the cross section on the inner end side located on the diaphragm side from the reference cross section.
- the teeth interfere with each other in the section that goes to both sides from the reference section.
- One way to avoid this, as shown in Fig. 11, is to apply relief to the teeth on both sides from the reference cross-section in a manner that matches the amount of interference.
- FIGS. 12 (a) and (b) show the engagement in the cross-section on the opening side and the cross-section on the inner end side, respectively, when the releasing is performed in this manner.
- the tooth profile of the flexible external gear is appropriately modified according to the amount of interference to obtain continuous contact along the tooth trace without relieving.
- Fig. 13 (a), (b) and (c) show the engagement in the opening section, the reference section and the inner end section, respectively, in this case.
- FIG. 14 spatially shows an example of the engagement in the reference cross section in this case.
- the introduction of the overtaking type engagement can greatly increase the holding force of the lubricating oil film between the tooth surfaces, and the deflection engagement based on the tooth surface wear.
- the permissible transmission torque of the gear unit can be greatly improved.
- the bending stress due to bending near the long axis and short axis of the flexible external gear is reduced, the rim strength of the flexible external gear is improved, and Improve engagement rigidity by contact Can be.
- the flexible external gear is formed at an arbitrary angle of the joint of the flexible external gear, and the flexible external gear has a short body length. Can also be applied. Also, the present invention can be applied to the case of a ring-shaped flexible external gear without a joint.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Description
Claims
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP51965796A JP3483570B2 (ja) | 1994-12-19 | 1994-12-19 | 負偏位追い越し歯形の撓み噛み合い式歯車装置 |
KR1019960704424A KR100340814B1 (ko) | 1994-12-19 | 1994-12-19 | 마이너스편위추월치형의휨맞물림식기어장치 |
EP95902992A EP0745786B1 (en) | 1994-12-19 | 1994-12-19 | Flexible meshing type gear having a negative deflection over-running tooth profile |
PCT/JP1994/002141 WO1996019683A1 (fr) | 1994-12-19 | 1994-12-19 | Transmission semi-rigide a engrenement ayant un profil de dents a depassement et deviation negative |
US08/687,485 US5782143A (en) | 1994-12-19 | 1994-12-19 | Flexible meshing type gear device with negative deflection passing tooth profile |
DE69423654T DE69423654T2 (de) | 1994-12-19 | 1994-12-19 | Elastische auflaufverzahnung mit negativer deformation |
CA002183540A CA2183540C (en) | 1994-12-19 | 1994-12-19 | Flexible meshing type gear having a negative deflection over-running tooth profile |
TW085204054U TW295216U (en) | 1994-12-19 | 1995-01-19 | Flexible meshing type gear device with negative deflection passing tooth profile |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP1994/002141 WO1996019683A1 (fr) | 1994-12-19 | 1994-12-19 | Transmission semi-rigide a engrenement ayant un profil de dents a depassement et deviation negative |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996019683A1 true WO1996019683A1 (fr) | 1996-06-27 |
Family
ID=14098877
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/002141 WO1996019683A1 (fr) | 1994-12-19 | 1994-12-19 | Transmission semi-rigide a engrenement ayant un profil de dents a depassement et deviation negative |
Country Status (8)
Country | Link |
---|---|
US (1) | US5782143A (ja) |
EP (1) | EP0745786B1 (ja) |
JP (1) | JP3483570B2 (ja) |
KR (1) | KR100340814B1 (ja) |
CA (1) | CA2183540C (ja) |
DE (1) | DE69423654T2 (ja) |
TW (1) | TW295216U (ja) |
WO (1) | WO1996019683A1 (ja) |
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WO2005043006A1 (ja) * | 2003-10-30 | 2005-05-12 | Harmonic Drive Systems Inc. | 広域噛み合い歯形を有する波動歯車装置 |
WO2005121597A1 (ja) * | 2004-06-07 | 2005-12-22 | Harmonic Drive Systems Inc. | 高ラチェティングトルク歯形を有する波動歯車装置 |
WO2005124189A1 (ja) * | 2004-06-21 | 2005-12-29 | Harmonic Drive Systems Inc. | 負偏位噛み合い歯形を有する波動歯車装置 |
DE102010024565A1 (de) | 2009-06-23 | 2010-12-30 | Harmonic Drive Systems Inc. | Wellgetriebe |
WO2015079576A1 (ja) * | 2013-11-29 | 2015-06-04 | 株式会社ハーモニック・ドライブ・システムズ | 2度接触の負偏位歯形を有する波動歯車装置 |
WO2016092636A1 (ja) * | 2014-12-09 | 2016-06-16 | 株式会社ハーモニック・ドライブ・システムズ | 追い越し型かみ合いの負偏位波動歯車装置 |
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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 |
JP3887762B2 (ja) * | 1997-10-16 | 2007-02-28 | 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 |
EP1013534B1 (de) * | 1998-12-08 | 2002-09-18 | Ford-Werke Aktiengesellschaft | Elektrische Servolenkung, insbesondere für Kraftfahrzeuge |
JP4357054B2 (ja) * | 1999-11-22 | 2009-11-04 | 株式会社ハーモニック・ドライブ・システムズ | 追い越し型極大歯たけの歯形を有する負偏位撓みかみ合い式歯車装置 |
JP4165810B2 (ja) * | 2001-03-29 | 2008-10-15 | 株式会社ハーモニック・ドライブ・システムズ | 3次元偏位噛み合い歯形を有する波動歯車装置 |
JP4392787B2 (ja) * | 2003-08-29 | 2010-01-06 | 株式会社ハーモニック・ドライブ・システムズ | 広域3次元かみ合い歯形を有する波動歯車装置 |
JP4777792B2 (ja) * | 2006-02-09 | 2011-09-21 | 株式会社ハーモニック・ドライブ・システムズ | 連続噛み合い高ラチェティングトルク歯形を有する波動歯車装置 |
WO2010070712A1 (ja) * | 2008-12-18 | 2010-06-24 | 株式会社ハーモニック・ドライブ・システムズ | 3次元接触可能な転位歯形を有する波動歯車装置 |
JP5423460B2 (ja) * | 2010-02-12 | 2014-02-19 | 株式会社ジェイテクト | 揺動歯車の加工方法および加工装置 |
US8661940B2 (en) * | 2011-05-09 | 2014-03-04 | Harmonic Drive Systems Inc. | Wave gear device having three-dimensional continuous contact tooth profile |
US9052004B2 (en) * | 2012-08-17 | 2015-06-09 | Harmonic Drive Systems Inc. | Wave gear device having three-dimensional-contact tooth profile |
JP6513194B2 (ja) * | 2015-06-02 | 2019-05-15 | 株式会社ハーモニック・ドライブ・システムズ | 歯面の一致を伴う複合かみ合い波動歯車装置 |
JP2018017317A (ja) | 2016-07-28 | 2018-02-01 | セイコーエプソン株式会社 | ロボット、歯車装置および歯車装置の製造方法 |
TWI641771B (zh) * | 2016-12-29 | 2018-11-21 | 財團法人工業技術研究院 | 諧波傳動裝置 |
JP6886415B2 (ja) * | 2018-02-23 | 2021-06-16 | 住友重機械工業株式会社 | 歯車装置のシリーズ、歯車装置のシリーズの構築方法、および歯車装置群の製造方法 |
CN109723800A (zh) * | 2019-03-05 | 2019-05-07 | 苏州绿的谐波传动科技股份有限公司 | 一种三次谐波减速器 |
USD937332S1 (en) * | 2020-06-30 | 2021-11-30 | Harmonic Drive Systems Inc. | Speed reducer |
USD971978S1 (en) * | 2020-09-09 | 2022-12-06 | Harmonic Drive Systems Inc. | Speed reducer |
US20240159305A1 (en) * | 2021-06-01 | 2024-05-16 | Harmonic Drive Systems Inc. | Tooth profile designing method for strain wave gearing |
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US2906143A (en) * | 1955-03-21 | 1959-09-29 | United Shoe Machinery Corp | Strain wave gearing |
JPH0784896B2 (ja) * | 1986-11-05 | 1995-09-13 | 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 |
US5458023A (en) * | 1992-11-24 | 1995-10-17 | Harmonic Drive Systems, Inc. | Flexing contact type gear drive of non-profile-shifted two-circular-arc composite tooth profile |
EP0622565B1 (en) * | 1992-11-24 | 1997-02-05 | Harmonic Drive Systems Inc. | Tertiary negative-deflection flexing contact gears of non-profile-shifted tooth profile |
-
1994
- 1994-12-19 US US08/687,485 patent/US5782143A/en not_active Expired - Lifetime
- 1994-12-19 EP EP95902992A patent/EP0745786B1/en not_active Expired - Lifetime
- 1994-12-19 DE DE69423654T patent/DE69423654T2/de not_active Expired - Lifetime
- 1994-12-19 WO PCT/JP1994/002141 patent/WO1996019683A1/ja active IP Right Grant
- 1994-12-19 CA CA002183540A patent/CA2183540C/en not_active Expired - Lifetime
- 1994-12-19 JP JP51965796A patent/JP3483570B2/ja not_active Expired - Lifetime
- 1994-12-19 KR KR1019960704424A patent/KR100340814B1/ko not_active IP Right Cessation
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1995
- 1995-01-19 TW TW085204054U patent/TW295216U/zh unknown
Patent Citations (2)
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JPH05172196A (ja) * | 1991-12-24 | 1993-07-09 | Harmonic Drive Syst Ind Co Ltd | 撓み噛み合い式歯車装置の3次元無転位歯形の形成方法 |
JPH05172195A (ja) * | 1991-12-24 | 1993-07-09 | Harmonic Drive Syst Ind Co Ltd | 撓み噛み合い式歯車装置の3次元無転位歯形の形成方法 |
Cited By (21)
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---|---|---|---|---|
JPWO2005043006A1 (ja) * | 2003-10-30 | 2007-10-04 | 株式会社ハーモニック・ドライブ・システムズ | 広域噛み合い歯形を有する波動歯車装置 |
US7328632B2 (en) | 2003-10-30 | 2008-02-12 | Harmonic Drive Systems Inc. | Wave gear drive having widely engaging tooth profile |
JP4597051B2 (ja) * | 2003-10-30 | 2010-12-15 | 株式会社ハーモニック・ドライブ・システムズ | 広域噛み合い歯形を有する波動歯車装置 |
WO2005043006A1 (ja) * | 2003-10-30 | 2005-05-12 | Harmonic Drive Systems Inc. | 広域噛み合い歯形を有する波動歯車装置 |
WO2005121597A1 (ja) * | 2004-06-07 | 2005-12-22 | Harmonic Drive Systems Inc. | 高ラチェティングトルク歯形を有する波動歯車装置 |
JPWO2005121597A1 (ja) * | 2004-06-07 | 2008-04-10 | 株式会社ハーモニック・ドライブ・システムズ | 高ラチェティングトルク歯形を有する波動歯車装置 |
US7530292B2 (en) | 2004-06-07 | 2009-05-12 | Harmonic Drive Systems Inc. | Wave gear drive having high ratcheting torque tooth profile |
JP4650953B2 (ja) * | 2004-06-07 | 2011-03-16 | 株式会社ハーモニック・ドライブ・システムズ | 高ラチェティングトルク歯形を有する波動歯車装置 |
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 |
WO2005124189A1 (ja) * | 2004-06-21 | 2005-12-29 | Harmonic Drive Systems Inc. | 負偏位噛み合い歯形を有する波動歯車装置 |
JPWO2005124189A1 (ja) * | 2004-06-21 | 2008-04-10 | 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 |
US7735396B2 (en) | 2004-06-21 | 2010-06-15 | Harmonic Drive Systems Inc. | Wave gear drive having negative deflection meshing tooth profile |
DE102010024565A1 (de) | 2009-06-23 | 2010-12-30 | Harmonic Drive Systems Inc. | Wellgetriebe |
US8302507B2 (en) | 2009-06-23 | 2012-11-06 | Harmonic Drive Systems Inc. | Wave gear device |
DE102010024565B4 (de) | 2009-06-23 | 2023-09-28 | Harmonic Drive Systems Inc. | Wellgetriebe |
WO2015079576A1 (ja) * | 2013-11-29 | 2015-06-04 | 株式会社ハーモニック・ドライブ・システムズ | 2度接触の負偏位歯形を有する波動歯車装置 |
JP6017063B2 (ja) * | 2013-11-29 | 2016-10-26 | 株式会社ハーモニック・ドライブ・システムズ | 2度接触の負偏位歯形を有する波動歯車装置 |
US9746065B2 (en) | 2013-11-29 | 2017-08-29 | Harmonic Drive System Inc. | Strain wave gearing having double-contact negative deflection tooth profile |
WO2016092636A1 (ja) * | 2014-12-09 | 2016-06-16 | 株式会社ハーモニック・ドライブ・システムズ | 追い越し型かみ合いの負偏位波動歯車装置 |
JP6067183B2 (ja) * | 2014-12-09 | 2017-01-25 | 株式会社ハーモニック・ドライブ・システムズ | 追い越し型かみ合いの負偏位波動歯車装置 |
US10174825B2 (en) | 2014-12-09 | 2019-01-08 | Harmonic Drive Systems Inc. | Passing-type-meshing negative-deflection strain wave gearing |
Also Published As
Publication number | Publication date |
---|---|
EP0745786A4 (en) | 1998-01-28 |
KR970701321A (ko) | 1997-03-17 |
US5782143A (en) | 1998-07-21 |
CA2183540C (en) | 2004-05-25 |
EP0745786A1 (en) | 1996-12-04 |
CA2183540A1 (en) | 1996-06-27 |
JP3483570B2 (ja) | 2004-01-06 |
KR100340814B1 (ko) | 2002-11-30 |
EP0745786B1 (en) | 2000-03-22 |
TW295216U (en) | 1997-01-01 |
DE69423654D1 (de) | 2000-04-27 |
DE69423654T2 (de) | 2000-11-02 |
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