WO2012165395A1 - Transmission d'ondes du type à entraînement à friction - Google Patents

Transmission d'ondes du type à entraînement à friction Download PDF

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Publication number
WO2012165395A1
WO2012165395A1 PCT/JP2012/063689 JP2012063689W WO2012165395A1 WO 2012165395 A1 WO2012165395 A1 WO 2012165395A1 JP 2012063689 W JP2012063689 W JP 2012063689W WO 2012165395 A1 WO2012165395 A1 WO 2012165395A1
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WIPO (PCT)
Prior art keywords
circumferential
annular
elastic member
cam plate
arc
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PCT/JP2012/063689
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English (en)
Japanese (ja)
Inventor
曽根啓助
中島達雄
向井浩氣
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Ntn株式会社
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Publication of WO2012165395A1 publication Critical patent/WO2012165395A1/fr

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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

Definitions

  • the present invention relates to a wave transmission, and more particularly to a friction transmission wave transmission that performs a shift by a friction transmission mechanism.
  • This friction transmission type wave transmission generally includes an annular rigid member, an annular elastic member that can be circumscribed on the inner peripheral surface of the annular rigid member, and an elliptical cam that is disposed inside the annular elastic member. It is comprised with the wave generator with which it was equipped (for example, patent document 1)
  • the annular elastic member is bent into an elliptical shape by the wave generator, and the portions located at both ends of the long axis of the annular elastic member are in frictional contact with the annular rigid member.
  • the wave generator is rotated in this frictional contact state
  • the elliptical annular elastic member rotates, and the frictional contact position between the annular elastic member and the annular rigid member moves in the circumferential direction.
  • the frictional contact position moves in the circumferential direction in this way, relative rotation corresponding to the difference in the circumferential length of the frictional contact surface occurs between the annular elastic member and the annular rigid member. Therefore, if one member of the annular elastic member and the annular rigid member is fixed, a reduced rotational output can be obtained from the other member side.
  • the annular elastic member has a cup shape
  • This wave transmission includes an annular rigid member whose inner peripheral surface is a friction engagement surface, a cup-shaped annular elastic member whose outer peripheral surface is a friction engagement surface, and a wave generator.
  • the annular elastic member is bent into an elliptical shape by the wave generator, and the frictional engagement surfaces of the annular elastic member and the annular rigid member are engaged at both end positions in the elliptical long axis direction. By rotating the wave generator, the two friction engagement positions are moved in the circumferential direction.
  • the wave generator has an elliptical cam. For this reason, the frictional contact surface between the annular rigid member whose inner peripheral surface is circular and the annular elastic member bent into an elliptical shape by the wave generator becomes a line contact at the elliptical long diameter portion, and the torque transmission force is There is a problem that it is low.
  • the torque transmission force is improved by interposing an elastic member having a high friction coefficient between the friction contact surfaces of the annular rigid member and the annular elastic member.
  • the elastic member is easily worn and it is difficult to maintain the contact force.
  • the cost is high.
  • An object of the present invention is to provide a friction transmission type wave transmission capable of improving transmission torque and maintaining torque transmission performance over a long period with less wear of the torque transmission part.
  • a friction transmission wave transmission according to the present invention has an annular rigid member having a circular inner peripheral surface, and an outer peripheral surface disposed inside the annular rigid member and capable of contacting the inner peripheral surface of the annular rigid member.
  • a friction transmission type wave transmission comprising a wave generator that moves these contact portions in the circumferential direction, and a plurality of locations that are part of the circumferential direction of the outer circumferential surface of the annular elastic member, An arc-shaped portion having substantially the same radius as the inner peripheral surface of the annular rigid member, and the plurality of arc-shaped portions are contact portions where the annular elastic member is in contact with the annular rigid member.
  • a part of the outer peripheral surface of the annular elastic member is an arc-shaped portion having substantially the same radius as the inner peripheral surface of the annular rigid member, and the arc-shaped portion having substantially the same radius is a contact portion with respect to the annular rigid member.
  • surface contact occurs and the contact area increases.
  • the frictional force is increased and the transmission torque is improved as compared with the friction transmission type wave transmission that is in line contact. Since the annular elastic member is brought into surface contact as described above, when the same torque (contact force) is used as compared with that in which line contact is made, the surface pressure becomes lower and wear is reduced. Therefore, torque transmission performance can be maintained over a long period.
  • the wave generator is a cam plate that rotates about the cam center concentric with the axial center of the annular rigid member, and the rolling plate that is disposed on the outer periphery of the cam plate and contacts the inner peripheral surface of the annular elastic member.
  • It may be a bearing, and the cam plate may have the following outer peripheral shape.
  • the cam plate has a plurality of contact portion-corresponding outer peripheral portions located in the same circumferential range as the arc-shaped portions as the contact portions of the annular elastic member.
  • the outer peripheral shape of the cam plate between the direction centers is symmetrical with respect to a line segment connecting the position of the circumferential direction 1 ⁇ 2 between the circumferential centers and the cam center.
  • the cam plate outer periphery in the range of the position in the circumferential direction 1 ⁇ 2 between the circumferential center and the circumferential center is the circumferential range corresponding to the contact portion corresponding outer peripheral portion from the cam center of the cam plate to the cam plate.
  • a circular arc portion having a maximum and constant outer diameter distance that is a distance to the outer periphery, and a circumferential range from the end of the circular arc portion to a position in the circumferential direction 1 ⁇ 2 between the circumferential center is the cam plate
  • the outer diameter distance from the cam center to the outer periphery of the cam plate is a gradually decreasing diameter portion, and the outer diameter distance at the gradually decreasing diameter portion is minimum at a position in the circumferential direction 1/2 between the circumferential centers.
  • the cams with a smooth different diameter are increased along with an increase in transmission torque due to an increase in the contact surface between the outer ring of the annular elastic member and the bearing, the outer ring of the outer ring and the inner ring of the ring rigid member.
  • the plate outer peripheral shape alleviates stress concentration on the annular elastic member and the inner and outer rings of the bearing, so that the repeated deformation life is improved.
  • the outer periphery of the cam plate in the range from the circumferential center to the position in the circumferential direction 1/2 between the circumferential centers has the largest outer diameter distance from the cam center of the cam plate to the cam plate outer circumference.
  • connection point between the arc portion and the second arc portion, and the connection point between the second arc portion and the third arc portion may have a common tangent line. Having a common tangent means that arc portions having different curvatures are smoothly connected to each other.
  • the three arc portions are smoothly connected at the connection points, so that stress concentration at these connection points is alleviated and the outer periphery of the cam plate is formed by the three arc portions. Therefore, unlike a cam plate having a complicated function curve shape or the like, it can be easily designed and manufactured, is easy to manage, and is inexpensive. Note that the above three arc portions are not limited to a strict arc shape, but may be a pseudo arc shape due to manufacturing restrictions and the like.
  • the arc range of the second arc portion in the gradually decreasing diameter portion is an angle of 30 ° to 55 ° with respect to the arc center O2.
  • a range is desirable.
  • the arc range of the second arc portion described above is set to an angle range of a circumferential angle of 30 ° to 55 ° with respect to the arc center O2, so that the deformation of the bearing of the wave generator is reduced. Since the increase in the amount can be suppressed, the reduction ratio can be further reduced.
  • the inner diameter of the inner circumferential surface of the annular rigid member is slightly smaller than the outer diameter of the arcuate portion having the same radius as the inner circumferential surface of the annular rigid member in the annular elastic member. You may do it. When comprised in this way, a contact force can be easily produced between the inner peripheral surface of a cyclic
  • the wave generator bends the annular elastic member outward in the radial direction, and contacts the outer peripheral surface of the annular elastic member with the inner peripheral surface of the annular rigid member at three portions in the circumferential direction. These contact portions may be moved in the circumferential direction.
  • FIG. 1 is a longitudinal sectional view of a friction transmission type wave transmission according to a first embodiment of the present invention.
  • FIG. 2 is a sectional view taken along line II-II in FIG. It is a partially broken front view which shows the outer peripheral shape of the cam board in the wave generator of the same friction transmission type wave transmission.
  • FIG. 6 is an explanatory diagram showing the outer peripheral shape of the cam plate by a peripheral angle ⁇ and an outer diameter distance L. It is a cross-sectional view which shows the cyclic
  • FIG. 1 is a longitudinal sectional view of a friction transmission type wave transmission according to this embodiment
  • FIG. 2 is a sectional view taken along line II-II in FIG.
  • the friction transmission type wave transmission includes an annular rigid member 1 having a circular inner peripheral surface, and an inner peripheral surface of the annular rigid member 1 disposed inside the annular rigid member 1.
  • An annular elastic member 2 having an outer peripheral surface that can be contacted or circumscribed, and a wave generator 3 disposed inside the annular elastic member 2 are provided. As shown in FIG.
  • the wave generator 3 bends the annular elastic member 2 radially outward so that the outer peripheral surface of the annular elastic member 2 is a plurality of contact portions 2 a (two in this case) in the circumferential direction. Then, the contact portion 2 a is brought into contact with the inner peripheral surface of the annular rigid member 1 and moved in the circumferential direction as the wave generator 3 rotates.
  • the outer shape of the wave generator 3 is such that the contact portion 2a of the outer peripheral surface of the annular elastic member 2 that contacts the inner peripheral surface of the annular rigid member 1 is substantially the same as the inner diameter of the inner peripheral surface of the annular rigid member 1.
  • the arc-shaped portion is formed. In FIG. 2, a portion in the range of the peripheral angle 2 ⁇ of the outer peripheral surface of the annular elastic member 2 is shown as an arc-shaped portion that becomes the contact portion 2 a.
  • the annular rigid member 1 has a large-diameter cylindrical portion 1a and a small-diameter cylindrical portion 1b that is continuous from one end of the large-diameter cylindrical portion 1a. The end of each is closed by a ring-shaped lid member 6 having an L-shaped cross section connected by a bolt 22 except for the shaft center portion. The annular rigid member 1 is fixed to a fixing member (not shown).
  • the annular rigid member 1 is made of a metal material such as steel.
  • the annular elastic member 2 has a cup shape along the inner surface of the annular rigid member 1, and a peripheral wall portion thereof is disposed concentrically within the large-diameter cylindrical portion 1 a of the annular rigid member 1.
  • An output shaft 7 is connected to an end of the annular elastic member 2 facing the small-diameter cylindrical portion 1 b of the annular rigid member 1, and the output shaft 7 protrudes outside the annular rigid member 1.
  • the output shaft 7 is rotatably supported on the inner periphery of the small-diameter cylindrical portion 1b of the annular rigid member 1 via a double row rolling bearing 8.
  • the end of the annular elastic member 2 on the output shaft 7 side is sandwiched between a hub 7 a formed on the output shaft 7 and an annular member 9 disposed inside the annular elastic member 2 concentrically with the output shaft 7.
  • these members are connected to the output shaft 7 by bolts 10 penetrating in the axial direction.
  • the output shaft 7 is connected to an input shaft of a driven member (not shown).
  • the annular elastic member 2 is made of a thin metal material.
  • the wave generator 3 includes a cam plate 4 and a rolling bearing 5 disposed on the outer periphery of the cam plate 4 and in contact with the inner peripheral surface of the annular elastic member 2.
  • FIG. 6 shows a cross-sectional view in which the wave generator 3 and the annular elastic member 2 are combined.
  • the rolling bearing 5 a ball bearing including an inner ring 31, an outer ring 32, a ball 33 as a rolling element, and a cage 34 is used as the rolling bearing 5, a ball bearing including an inner ring 31, an outer ring 32, a ball 33 as a rolling element, and a cage 34 is used.
  • the cam plate 4 is inserted into the inner diameter surface of the inner ring 31 of the rolling bearing 5 in a fitted state.
  • the peripheral length of the inner diameter surface of the inner ring 31 and the peripheral length of the outer peripheral surface of the cam plate 4 are the same.
  • the cam plate 4 is provided with an input shaft 21 that passes through the cam center O1 that is the rotation axis thereof, and one end thereof is directed from the inside of the large-diameter cylindrical portion 1a of the annular rigid member 1 toward the side opposite to the output shaft 7. Projects outward.
  • the input shaft 21 is connected to the cam plate 4 by a bolt 25 that is formed in an intermediate portion thereof and that is inserted in the axial direction from the hub 21 a that contacts one side of the cam plate 4 toward the cam plate 4.
  • One end of the input shaft 21 facing the output shaft 7 is rotatably supported on the inner periphery of the annular member 9 via a rolling bearing 23.
  • the other end of the input shaft 21 is rotatably supported on the inner periphery of the annular lid member 6 via a double row rolling bearing 24.
  • the input shaft 21 is centered.
  • the cam center O ⁇ b> 1 is held at the axial center of the annular rigid member 1. Therefore, by adopting the double-sided structure, vibration during rotation due to uneven thickness of parts, misalignment, etc. can be suppressed compared to the cantilever structure.
  • the input shaft 21 is connected to an output shaft of a motor (not shown), for example.
  • the circumferential length of the inner circumferential surface of the annular rigid member 1 shown in a cross-sectional view in FIG. 5 is P1
  • the wave generator 3 is arranged inside the annular elastic member 2 as shown in FIG.
  • the reduction ratio R can be expressed as follows.
  • R P2 / (P1-P2)
  • D1 indicates the inner diameter of the annular rigid member 1
  • D2 indicates the outer diameter between the two contact portions 2a, 2a in the combined body in which the wave generator 3 is disposed inside the annular elastic member 2. Indicates distance.
  • the cam plate 4 of the wave generator 3 corresponds to the contact portions 2a and 2a (in FIG. 2, the portion in the angular range of the circumferential angle 2 ⁇ ) where the outer peripheral surface of the annular elastic member 2 contacts the inner peripheral surface of the annular rigid member 1. It has the contact part corresponding
  • a curve C indicating a perfect circle shape indicates the inner diameter surface before deformation of the inner ring 31 of the rolling bearing 5 fitted to the cam plate 4, that is, before fitting.
  • the outer peripheral surface of the cam plate 4 is the outer periphery of the cam plate between the centers in the circumferential direction of adjacent contact portion-corresponding outer peripheral portions 4 a (positions indicating the line segment A that is the circumferential center line in FIG. 3).
  • the shape is formed so as to be a line object with respect to the line segment B connecting the position 1/2 in the circumferential direction between the centers in the circumferential direction (the position where the line segment B passes) and the cam center O1.
  • the position of the line segment B is a position that forms a circumferential angle of 90 ° with respect to the line segment A.
  • the outer periphery of the cam plate in the range from the circumferential center (position of the line segment A) to the circumferential half position (position of the line segment B) between the circumferential centers is the following (1), (2) It is formed as follows.
  • the circumferential range is indicated by a circumferential angle ⁇ in FIG.
  • the outer diameter distance L is the radius r1 of the arc in the first arc portion 4aa, and the center of curvature, that is, the arc center of the first arc portion 4aa is the cam center O1.
  • the second arc portion 4ba (that is connected to the first arc portion 4aa and whose outer diameter distance L is a radius r2 smaller than the radius r1)
  • the circumferential range is indicated by the peripheral angle ⁇ in FIG. 3 and the arc center is indicated by O2.
  • a third arc portion 4bb connected to the second arc portion 4ba and having a radius r3 larger than the first arc portion 4aa (the circumferential range in FIG. The angle ⁇ is shown, and the arc center is shown by O3).
  • connection point between the first arc part 4aa and the second arc part 4ba and the connection point between the second arc part 4ba and the third arc part 4bb are formed so as to have a common tangent line. That is, the connection points are smoothly connected although the curvatures on both sides thereof are changed.
  • a part of the outer peripheral surface of the annular elastic member 2 is formed into an arcuate portion having substantially the same radius as the inner peripheral surface of the annular rigid member 1. Since the arc-shaped portion is the contact portion 2a with respect to the annular rigid member 1, surface contact occurs and the contact area increases. As a result, even in the case of the same surface pressure and the same friction coefficient, the frictional force becomes larger than that of the conventional friction transmission wave transmission, and the transmission torque can be improved. The size can be reduced by improving the transmission torque. Further, since the outer peripheral shape of the cam plate 4 only needs to be changed from the conventional elliptical shape, the cost is reduced. In addition, since the surface contact is made as described above, when the same torque (contact force) is used as compared to the line contact, the surface pressure is reduced, so that wear hardly occurs. Therefore, torque transmission performance can be maintained over a long period.
  • the transmission torque increases as the contact surface between the outer peripheral surface of the annular elastic member 2 and the inner peripheral surface of the annular rigid member 1 increases.
  • the outer peripheral shape of the cam plate having a different diameter alleviates stress concentration in the annular elastic member 2 and the inner and outer rings of the bearing, and the repeated deformation life is improved.
  • FIG. 7 shows an example of the outer peripheral shape of the cam plate 4 as a diagram.
  • the peripheral angle from the circumferential center (line segment A) of the contact portion corresponding outer peripheral portion 4a is ⁇
  • the outer diameter distance from the cam center O1 of the cam plate 4 is L
  • the axis indicates the ratio L / r0 (%) of the outer diameter distance L to the perfect inner diameter r0 of the rolling bearing 5 before deformation.
  • the horizontal axis indicates the circumferential angle ⁇ .
  • the outer diameter distance L in the circumferential range of the first arc portion 4aa (radius r1), the outer diameter distance L is the maximum and is indicated by a flat line, and from the second arc portion 4ba (radius r2).
  • the cam plate outer periphery of the cam plate When the outer periphery of the cam plate is formed in this way, the three arc portions 4aa, 4ba, 4bb are more smoothly connected at each connection point, so that the stress concentration at these connection points is alleviated and the three arc portions 4aa. , 4ba and 4bb form the outer periphery of the cam plate, so that it can be easily designed and manufactured, and is easy to manage and inexpensive, unlike the complicated function curve shape. If you want to simplify the outer shape of the cam plate due to manufacturing restrictions, etc., the cam plate outer shape consisting of the three arc portions 4aa, 4ba, 4bb is used as a basic shape, and this is a slightly modified shape. Even if is adopted, the same effect can be obtained.
  • Table 1 below shows the results of a trial confirmation of the relationship between the circumferential angle ⁇ of the second arcuate portion 4ba and whether the wave generator 3 can be assembled in the outer peripheral shape of the cam plate. Whether or not assembly is possible was determined by inserting the cam plate 4 into the inner periphery of the inner ring 31 of the rolling bearing 5 and confirming whether or not the rolling bearing 5 can cope with deformation.
  • the circumferential angle ⁇ is a value in Table 1. At these angles, the reduction ratio is 42, and the circumferential angle ⁇ of the first arc portion 4aa is 5 °.
  • the inner ring 31 of the rolling bearing 5 was damaged when the peripheral angle ⁇ was 20 ° or 65 °. From this, it is confirmed that the circumferential angle ⁇ at which the wave generator 3 can be assembled is in the range of 30 ° to 55 °. That is, in the case of this embodiment having the contact portion corresponding outer peripheral portion 4 a at two locations on the outer periphery of the cam plate 4, from the viewpoint of the assembling property of the wave generator 3, the second arc portion 4 ba in the gradually decreasing diameter portion 4 b. It is desirable that the circular arc range is an angular range having a circumferential angle of 30 ° to 55 ° with respect to the circular arc center O2.
  • the amount of deformation of the rolling bearing 5 in the wave generator 3 is suppressed, the rotational resistance of the input shaft 21 is reduced, the transmission efficiency is improved, and the stress concentration of the annular elastic member 2 and the inner and outer rings of the bearing is alleviated. , Repeated deformation life is improved. Further, when the reduction ratio is reduced, the deformation amount of the wave generator 3 increases, but the arc range of the second arc portion 4ba described above is an angle of 30 ° to 55 ° with respect to the arc center O2. By setting the range, the reduction ratio can be further reduced.
  • FIG. 8 shows the circumferential angle ⁇ of the second arc portion 4ba and the inner ring inner diameter of the rolling bearing 5 before deformation when the reduction ratio is 42 and the circumferential angle ⁇ of the first arc portion 4aa is 5 °.
  • the relationship between the ratio of the radii r1, r2, and r3 of the three arc portions 4aa, 4ba, and 4bb to the true circular inner diameter (shown as r0 in FIG. 3) of the surface C (hereinafter referred to as the curvature change rate). It is shown in a graph. As the rate of curvature change increases from 100%, the deformation of the inner ring and the outer ring of the bearing 5 increases, and the stress increases.
  • FIG. 9 shows the relationship between the circumferential angle ⁇ of the second arc portion 4ba and the difference in curvature change rate when the circumferential angle ⁇ of the first arc portion 4aa is 5 ° and 7.5 °. Is shown in a graph. At the connection point between the arc portion 4ba having the radius r2 and the arc portion 4bb having the radius r3, the radius r2 is smaller than the true circular inner diameter r0 of the rolling bearing 5 before the deformation, and the radius r3 is larger. It is a place.
  • This change in curvature at this point is referred to herein as a difference in curvature change rate.
  • the angular range of the peripheral angle ⁇ of the first arc portion 4aa constituting the half of the contact portion corresponding outer peripheral portion 4a is large, the transmission torque increases, but the curvature change rate also increases, and the reduction ratio is set low. It becomes difficult.
  • the range of the circumferential angle ⁇ of the first arc portion 4aa is 7.5 ° or less, the difference in the curvature change rate is the smallest when the circumferential angle ⁇ is around 35 °, where the stress state It can be seen that is low and is good. Therefore, from the graphs of FIGS. 8 and 9, it is desirable to select a range of 35 ° to 40 ° as the optimum range of the circumferential angle ⁇ of the second arc portion 4ba.
  • the outer shape of the wave generator 3 is a portion (a portion indicated by a peripheral angle 2 ⁇ in FIG. 2) that is brought into contact with the inner peripheral surface of the annular rigid member 1 on the outer peripheral surface of the annular elastic member 2.
  • the inner diameter of the inner circumferential surface of the annular rigid member 1 is slightly smaller than the arc diameter of the arc-shaped portion (contact portion 2a) having an outer diameter substantially the same as the inner diameter of the inner circumferential surface of the annular rigid member 1. It is small (for example, 0.03 mm).
  • a contact surface pressure is generated between the inner peripheral surface of the annular rigid member 1 and the outer peripheral surface of the annular elastic member 2 that is in contact therewith, so that a contact force can be easily applied. Further improvement can be achieved.
  • a contact force may be generated between the annular rigid member 1 and the annular elastic member 2 by thinning the annular rigid member 1 and bending the annular rigid member 1 with an external force to reduce the diameter. .
  • FIG. 10 is a graph showing the experimental results of the relationship between the transmission torque and the output rotation speed in this friction transmission wave transmission when the input rotation speed is constant, in comparison with the conventional example.
  • FIG. 12 shows the outer peripheral shape of the elliptical cam plate 45 in the conventional example used for this comparison.
  • the alternate long and short dash line indicates the perfect circular shape of the inner circumference before deformation of the rolling bearing provided on the outer circumference of the cam plate 45.
  • FIG. 11 shows the outer peripheral shape of the cam plate of the wave generator in the friction transmission wave transmission according to the second embodiment of the present invention.
  • the contact portion corresponding outer peripheral portion 4a is provided equally at three locations on the outer periphery of the cam plate 4.
  • the wave generator 3 causes the outer peripheral surface of the annular elastic member 2 to contact the inner peripheral surface of the annular rigid member 1 at three portions in the circumferential direction.
  • the circumferential angle between the circumferential centerlines A and A of the adjacent contact portion corresponding outer peripheral portions 4a and 4a is 120 °
  • the circumferential position 1 ⁇ 2 between the circumferential centerlines A and A (line Minute B) is a position that forms a circumferential angle of 60 ° with respect to the circumferential center line A.
  • Other configurations are the same as those in the first embodiment.

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Abstract

L'invention concerne la transmission des ondes de type à entraînement à friction, qui comprend : un élément annulaire rigide (1) ayant une surface périphérique intérieure circulaire ; un élément annulaire élastique (2) ayant une surface périphérique extérieure apte à circonscrire la surface périphérique intérieure de l'élément annulaire rigide (1), l'élément annulaire élastique (3) étant disposé à l'intérieur de l'élément annulaire rigide (1) ; et un générateur d'ondes (3) disposé à l'intérieur de l'élément annulaire élastique (2). Le générateur d'ondes (2) infléchit l'élément annulaire élastique (2) vers l'extérieur dans la direction radiale, il fait entrer la surface périphérique extérieure de l'élément annulaire élastique (2) en contact avec la surface périphérique intérieure de l'élément annulaire rigide (1) dans une portion qui possède une pluralité d'emplacements dans la direction périphérique et il fait circuler les parties de contact (2a) de cette surface périphérique dans la direction périphérique. La forme extérieure du générateur d'ondes (3) est conformée de telle sorte que les parties de contact (2a) de la surface périphérique extérieure de l'élément annulaire élastique (2) qui entrent en contact avec la surface périphérique intérieure de l'élément annulaire rigide (1) sont des parties en forme d'arc de cercle qui ont un diamètre extérieur sensiblement égal au diamètre intérieur de la surface périphérique intérieure de l'élément annulaire rigide (1).
PCT/JP2012/063689 2011-06-03 2012-05-29 Transmission d'ondes du type à entraînement à friction WO2012165395A1 (fr)

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JP2011124760A JP2012251603A (ja) 2011-06-03 2011-06-03 摩擦伝動式波動変速機
JP2011-124760 2011-06-03

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CN107076268A (zh) * 2014-11-21 2017-08-18 谐波传动系统有限公司 波动发生器及波动齿轮装置
CN113898712A (zh) * 2021-10-08 2022-01-07 吴松涛 一种谐波减速机

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JP2017227315A (ja) * 2016-06-24 2017-12-28 日本電産シンポ株式会社 波動歯車減速機ユニット
JP7099680B2 (ja) * 2018-03-30 2022-07-12 日本電産シンポ株式会社 変速機、および、変速機の製造方法
KR102303050B1 (ko) * 2020-03-06 2021-09-16 씨앤엠로보틱스 주식회사 마찰 파동 감속기
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JP2008202707A (ja) * 2007-02-21 2008-09-04 Mitsubishi Heavy Ind Ltd 摩擦式差動遊星動力伝達装置

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CN107076268A (zh) * 2014-11-21 2017-08-18 谐波传动系统有限公司 波动发生器及波动齿轮装置
EP3222878A4 (fr) * 2014-11-21 2018-12-05 Harmonic Drive Systems Inc. Générateur d'ondes et dispositif d'engrenages à ondes
CN107076268B (zh) * 2014-11-21 2019-06-04 谐波传动系统有限公司 波动发生器及波动齿轮装置
CN104595425A (zh) * 2014-12-18 2015-05-06 陕西渭河工模具有限公司 短筒柔轮谐波减速器
CN113898712A (zh) * 2021-10-08 2022-01-07 吴松涛 一种谐波减速机

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