WO2015004693A1 - 波動発生器および波動歯車装置 - Google Patents
波動発生器および波動歯車装置 Download PDFInfo
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- WO2015004693A1 WO2015004693A1 PCT/JP2013/004272 JP2013004272W WO2015004693A1 WO 2015004693 A1 WO2015004693 A1 WO 2015004693A1 JP 2013004272 W JP2013004272 W JP 2013004272W WO 2015004693 A1 WO2015004693 A1 WO 2015004693A1
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- wave generator
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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
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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
- 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
- F16H55/084—Non-circular rigid toothed member, e.g. elliptic gear
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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
- 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
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- 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
- Y10T74/19642—Directly cooperating gears
Definitions
- the present invention relates to a wave gear device in which a cylindrical external gear is bent into an oval shape by a wave generator having an elliptical contour and partially meshed with first and second internal gears. More particularly, it relates to an improvement in the elliptical contour of a wave generator.
- a flat-type wave gear device includes a stationary-side internal gear fixed so as not to rotate, a drive-side internal gear that can be driven to rotate, a cylindrical external gear that can be bent in a radial direction, and an external gear.
- a wave generator for bending the toothed gear into an ellipse is provided.
- the external gear flexed in an elliptical shape by the wave generator has an external tooth portion on one side in the direction of the tooth trace meshing with the stationary internal gear at both ends in the major axis direction of the elliptical shape.
- the external gear portion on the other side in the direction meshes with the drive-side internal gear.
- the number of teeth of the external gear is the same as the number of teeth of the drive-side internal gear, and is two less than the number of teeth of the stationary-side internal gear.
- the meshing position of the external gear and the stationary internal gear, and the meshing position of the external gear and the driving internal gear move in the circumferential direction.
- the external gear rotates by an amount corresponding to the difference in the number of teeth with respect to the stationary-side internal gear. Since the drive side internal gear has the same number of teeth as the external gear, it rotates together with the external gear.
- the rotation of the wave generator is decelerated according to the difference in the number of teeth, and decelerated rotation is output from the drive side internal gear which is a decelerated rotation output element.
- a wave generator of a flat type wave gear device includes a wave generator plug made of a rigid body having an elliptical contour, and a wave generator having a flexible inner and outer ring on an outer peripheral surface of the wave generator plug. Bearings are installed.
- Patent Document 1 describes a wave generator bearing having two rows of balls that support portions of external gears corresponding to a stationary internal gear and a drive side internal gear, respectively.
- a wave generator plug is formed of a pair of ellipsoids divided in the axial direction, and each ellipsoid flexes an external gear into an ellipse via a wave generator bearing.
- the vessel is described.
- the pair of ellipsoids have the same shape but are set in a state where they are mutually rotated by a predetermined angle.
- Patent Document 3 describes a wave generator in which a wave generator plug is composed of a first cam and a second cam having the same shape, and the first and second cams are assembled in a state of being rotated 90 degrees relative to each other. ing.
- Patent Document 4 proposes a plug shape curve that defines an elliptical contour of a wave generator plug by the present inventors.
- JP-A-5-132292 Japanese Utility Model Publication No. 1-122543 JP 2013-15191 A Japanese Patent Laid-Open No. 11-335141
- a single curve is used as a shape curve that defines an elliptical contour shape of a wave generator. That is, the external gear is bent into the same elliptical shape at each portion in the tooth trace direction, and meshed with both the stationary-side internal gear and the drive-side internal gear.
- the external gear is meshed with the stationary side and the drive side internal gear with the same elliptical phase changed.
- the stationary-side internal gear and external gear that rotate relative to each other and the drive-side internal gear and external gear that rotate together are mechanical or mechanical, such as the meshing state and stress generation state between them.
- the external gear is bent to have the same elliptic curve in the direction of the tooth trace, the stress generated in the external gear meshing with the stationary internal gear
- the distribution state, the magnitude of the generated stress, and the deformation state are significantly different from the stress distribution state, the magnitude of the generated stress, and the deformation state generated in the portion of the external gear that meshes with the driving-side internal gear.
- the wave generator bearing that supports the external gear portion that meshes with the stationary-side internal gear and the external gear portion that meshes with the drive-side internal gear are supported.
- the ball load distribution is greatly different from that of the wave generator bearing, and the maximum value of the ball load is also increased. As a result, the life of the wave generator bearing may be reduced.
- An object of the present invention is to flex an external gear into a shape suitable for meshing with a stationary-side internal gear, and flexing the external gear into a shape suitable for meshing with a drive-side internal gear. It is an object of the present invention to provide a wave generator of a wave gear device having a contour shape that can be turned.
- an object of the present invention is to provide a wave gear device provided with such a new wave generator.
- the present invention provides a cylindrical external gear that can be bent in the radial direction by bending it into an elliptical shape, so that it is adjacent to the rigid first internal gear and the first internal gear.
- a wave generator of a wave gear device that partially meshes with both of the rigid second internal gears arranged coaxially with each other, A first wave generator portion that bends the first external gear portion on one side in the tooth trace direction of the external gear into an elliptical shape and partially meshes with the first internal gear;
- a second wave generator portion that bends the second external gear portion on the other side in the tooth trace direction of the external gear into an elliptical shape and meshes with the second internal gear; and
- Have When n is a positive integer, the number of teeth of the first internal gear is 2n more than the number of teeth of the external gear, and the number of teeth of the second internal gear is equal to the number of teeth of the external gear.
- the first wave generator portion comprises an elliptical contour defined by a first elliptical curve;
- the second wave generator portion comprises an elliptical contour defined by a second elliptical curve;
- the circumference of the first elliptic curve is the same as the circumference of the second elliptic curve,
- the major axis of the first elliptic curve is the same as the major axis of the second elliptic curve,
- the minor axis of the first elliptic curve is shorter than the minor axis of the second elliptic curve.
- the first wave generator portion is attached to a first wave generator plug having a first elliptical outer peripheral surface and the first elliptical outer peripheral surface of the first wave generator plug. And a first wave generator bearing bent in an elliptical shape.
- the second wave generator portion has a second wave generator plug having a second elliptical outer peripheral surface and an elliptical shape mounted on the second elliptical outer peripheral surface of the second wave generator plug. And a second wave generator bearing that is deflected to the outside.
- the first elliptical curve defines the first elliptical outer peripheral surface of the first wave generator portion
- the second elliptical curve defines the second elliptical outer peripheral surface of the second wave generator portion.
- the wave gear device of the present invention is A rigid internal gear, an external gear that can be bent in the radial direction, disposed inside the internal gear, and a portion that meshes with the internal gear by bending the external gear into an ellipse.
- a wave generator The internal gear includes a first internal gear and a second internal gear arranged coaxially next to the first internal gear,
- the external gear includes a first external gear portion that can mesh with the first internal gear on one side in the direction of the tooth trace, and the second internal gear on the other side in the direction of the tooth trace.
- a second external gear portion capable of meshing,
- the number of teeth of the first internal gear is 2n more than the number of teeth of the external gear, where n is a positive integer, and the number of teeth of the second internal gear is the number of teeth of the external gear.
- the wave generator includes a first wave generator portion on one side in the axial direction thereof, wherein the first external gear portion is bent in an elliptical shape and partially meshed with the first internal gear.
- a second wave generator portion that is bent in the shape of an ellipse on the other side in the axial direction and partially meshed with the second internal gear,
- the first wave generator portion comprises an elliptical contour defined by a first elliptical curve;
- the second wave generator portion comprises an elliptical contour defined by a second elliptical curve;
- the circumference of the first elliptic curve is the same as the circumference of the second elliptic curve,
- the major axis of the first elliptic curve is the same as the major axis of the second elliptic curve,
- the minor axis of the first elliptic curve is shorter than the minor axis of the second elliptic curve.
- the wave generator is a rotation input element
- the first internal gear is a stationary internal gear fixed so as not to rotate
- the second internal gear is The tooth gear is a decelerated rotation output element that is a rotatable drive-side internal gear.
- the first external gear portion is bent along the first elliptic curve
- the second external gear portion is bent along the second elliptic curve.
- the first wave that supports the first external gear portion that meshes with the first internal gear as compared with the case where a wave generator whose contour shape is defined by a single elliptical curve is used.
- the difference between the load distribution of the generator bearing and the load distribution of the second wave generator bearing that supports the second external gear portion meshing with the second internal gear can be suppressed.
- both load distributions can be made uniform, and the maximum generated stress can be reduced. Thereby, the lifetime of a wave generator bearing can be improved.
- FIG. 1 It is a perspective view which shows the flat type wave gear apparatus to which this invention is applied.
- (A) is a longitudinal cross-sectional view of the wave gear device of FIG. 1, and (b) is an exploded perspective view thereof.
- (A) is a graph which shows an example of the 1st, 2nd elliptic curve which prescribes
- (b) is the elliptical shape of the wave generator plug. It is explanatory drawing which shows an outer peripheral surface shape typically.
- FIG. 1 is a perspective view showing a flat wave gear device according to the present embodiment.
- FIG. 2A is a longitudinal sectional view thereof, and
- FIG. 2B is an exploded perspective view thereof.
- the overall configuration of the flat wave gear device will be described with reference to these drawings.
- the wave gear device 1 includes an annular rigid first internal gear 2S and an annular rigid second internal gear 2D.
- the first and second internal gears 2S, 2D are arranged in parallel in a coaxial state with a slight gap in the direction of the central axis 1a.
- the first internal gear 2S is a stationary internal gear that is fixed to a fixed member (not shown) so as not to rotate.
- the second internal gear is a drive-side internal gear that can rotate.
- a cylindrical external gear 4 that is coaxial and can be bent in the radial direction is arranged inside the stationary first internal gear 2S and the second internal gear 2D on the driving side.
- the number of teeth of the first internal gear 2S is 2n more than the number of teeth of the external gear 4 where n is a positive integer, and the number of teeth of the second internal gear 2D is the number of teeth of the external gear 4 Are the same.
- each external tooth 4a of the external gear 4 has an external tooth portion facing the internal tooth 3S of the first internal gear 2S and the second internal tooth at the center position in the tooth width direction.
- An external tooth portion facing the internal teeth 3D of the gear 2D is provided.
- a wave generator 5 is mounted inside the external gear 4.
- the external gear 4 is bent elliptically by the wave generator 5 and meshes with the first internal gear 2S and the second internal gear 2D at both ends of the major axis direction of the elliptical shape.
- the longitudinal cross-sectional view of FIG. 2A is a case where it is cut along a plane including the central axis 1a and the major axis of the external gear bent in an elliptical shape.
- the wave generator 5 includes a first wave generator portion 5S disposed on one side in the direction of the central axis 1a and a second wave generator portion 5D disposed on the other side.
- the first wave generator portion 5S is mounted on the inner side of the first external gear portion 4S, and the first external gear portion 4S is bent in an elliptical shape so as to partially mesh with the first internal gear 2S. It is matched.
- the second wave generator portion 5D is mounted on the inner side of the second external gear portion 4D, and the second external gear portion 4D is bent into an elliptical shape and partially meshed with the second internal gear 2D. ing.
- the first wave generator portion 5S includes a wave generator plug 6 having the same rigidity as that of the second wave generator portion 5D, and a first wave generator bearing 7S attached to the elliptical outer peripheral surface of the wave generator plug 6. I have.
- the second wave generator portion 5D includes a wave generator plug 6 and a second wave generator bearing 7D mounted on the elliptical outer peripheral surface.
- the elliptical outer peripheral surface of the wave generator plug 6 has a first elliptical outer periphery whose one side is defined by a first elliptical curve C1 (see FIG. 3A), with the center position in the direction of the central axis 1a as a boundary. The other side is a second elliptical outer peripheral surface 6D defined by a second elliptical curve C2 (see FIG. 3A).
- the first wave generator bearing 7S includes an inner ring 8a and an outer ring 8b that can be bent in the radial direction, and a plurality of balls 8c that are mounted in a rollable manner in an annular raceway formed therebetween. I have.
- the first wave generator bearing 7S is mounted on the first elliptical outer peripheral surface 6S of the wave generator plug 6 and is bent in an elliptical shape.
- the first external gear portion 4S is bent in an elliptical shape along a substantially first elliptical curve C1 by the outer ring 8b bent in an elliptical shape.
- the second wave generator bearing 7D includes a plurality of inner ring 9a and outer ring 9b that can be bent in the radial direction, and a plurality of second wave generator bearings 7D that are mounted so as to be able to roll in an annular raceway formed therebetween.
- a ball 9c is provided.
- the second wave generator bearing 7D is mounted on the second elliptical outer peripheral surface 6D of the wave generator plug 6 and is bent in an elliptical shape.
- the second external gear portion 4D is bent in an elliptical shape along a substantially second elliptical curve C2 by the outer ring 9b bent in an elliptical shape.
- FIG. 3A is a graph showing the first and second elliptical curves C1 and C2 of the wave generator.
- the horizontal axis indicates the angle of the wave generator plug 6 from the plug major axis position
- the vertical axis indicates the radius R of the wave generator plug 6 as a ratio to the plug major axis RL.
- FIG. 3B is an explanatory diagram schematically showing the first and second elliptical outer peripheral surfaces 6S and 6D of the wave generator plug 6 defined by the curves C1 and C2.
- the major axis positions of the first and second elliptical outer peripheral surfaces 6S and 6D of the wave generator plug 6 are set to be the same position. It is also possible to make the major axis position different.
- the major axis position of the first elliptical outer circumferential surface 6S can be the minor axis position of the second elliptical outer circumferential surface 6D.
- the first elliptic curve C1 defining the first elliptical outer peripheral surface 6S and the second elliptic curve C2 defining the second elliptical outer peripheral surface 6D satisfy the following conditions 1 to 3.
- Is set to (Condition 1) The circumferential lengths of the first and second elliptical curves C1 and C2 are the same.
- Consdition 2) The major diameters RL1 and RL2 of the first and second elliptic curves C1 and C2 are the same RL.
- Condition 3) The minor axis dimension RS1 of the first elliptic curve C1 is shorter than the minor axis dimension RS2 of the second elliptic curve C2.
- the first and second elliptical curves C1 and C2 are set by setting each coefficient defining the shape curve of the wave generator plug described in Patent Document 4 so as to satisfy these conditions.
- the specific first and second elliptic curves C1 and C2 are individually determined so that the variation in the ball load distribution and the equivalent ball load are minimized according to the model number, the reduction ratio, the working load, and the like of the wave gear device 1.
- the wave generator 5 is a rotation input element and is fixed to a motor shaft (not shown) or the like.
- the second internal gear 3 is a reduction rotation output element fixed to a driven member (not shown).
- the wave generator 5 rotates, the meshing position of the first external gear portion 4S and the first internal gear 2S and the meshing position of the second external gear portion 4D and the second internal gear 2D move in the circumferential direction. To do.
- the external gear 4 rotates by an angle corresponding to the difference in the number of teeth with respect to the first internal gear 2S.
- the second internal gear 2D Since the second internal gear 2D has the same number of teeth as the external gear 4, it rotates together with the external gear 4. Accordingly, the rotation of the wave generator 5 is decelerated at a reduction ratio corresponding to the difference in the number of teeth, and the reduced rotation is output from the second internal gear 2D.
- the first internal gear may be a drive-side internal gear
- the second internal gear may be a stationary-side internal gear.
- the shape of the elliptical outer peripheral surface of the first wave generator portion 5S and the second wave generator portion 5D of the wave generator 5 is defined.
- the meshing state between the first internal gear 2S and the first external gear portion 4S, and Both the meshing states between the second internal gear 2D and the second external gear portion 4D can be maintained in a good state.
- a ball bearing is used as the wave generator bearing.
- the present invention can be similarly applied to a case where a needle bearing, a roller bearing, or the like is used.
Abstract
Description
前記外歯歯車の歯筋方向の一方の側の第1外歯歯車部分を、楕円状に撓めて前記第1内歯歯車に部分的に噛み合わせる第1波動発生器部分と、
前記外歯歯車の歯筋方向の他方の側の第2外歯歯車部分を、楕円状に撓めて前記第2内歯歯車にかみ合わせる第2波動発生器部分と、
を有し、
前記第1内歯歯車の歯数が、nを正の整数とすると、前記外歯歯車の歯数よりも2n枚多く、前記第2内歯歯車の歯数が前記外歯歯車の歯数と同一であるとすると、
前記第1波動発生器部分は第1楕円状曲線によって規定される楕円状輪郭を備え、前記第2波動発生器部分は第2楕円状曲線によって規定される楕円状輪郭を備え、
前記第1楕円状曲線の周長は、前記第2楕円状曲線の周長と同一であり、
前記第1楕円状曲線の長径は、前記第2楕円状曲線の長径と同一であり、
前記第1楕円状曲線の短径は、前記第2楕円状曲線の短径より短いことを特徴としている。
剛性の内歯歯車、前記内歯歯車の内側に配置された半径方向に撓み可能な外歯歯車、および、前記外歯歯車を楕円状に撓めて前記内歯歯車に対して部分的にかみ合わせる波動発生器を有し、
前記内歯歯車は、第1内歯歯車および当該第1内歯歯車の隣に同軸に配置された第2内歯歯車を備え、
前記外歯歯車は、その歯筋方向の一方の側に前記第1内歯歯車にかみ合い可能な第1外歯歯車部分を備え、前記歯筋方向の他方の側に前記第2内歯歯車にかみ合い可能な第2外歯歯車部分を備え、
前記第1内歯歯車の歯数は、nを正の整数とすると、前記外歯歯車の歯数よりも2n枚多く、前記第2内歯歯車の歯数は、前記外歯歯車の歯数と同一であり、
前記波動発生器は、その軸線方向の一方の側に前記第1外歯歯車部分を楕円状に撓めて前記第1内歯歯車に部分的に噛み合わせている第1波動発生器部分を備え、前記軸線方向の他方の側に前記第2外歯歯車部分を楕円状に撓めて前記第2内歯歯車に部分的にかみ合わせている第2波動発生器部分を備え、
前記第1波動発生器部分は第1楕円状曲線によって規定される楕円状輪郭を備え、前記第2波動発生器部分は第2楕円状曲線によって規定される楕円状輪郭を備え、
前記第1楕円状曲線の周長は、前記第2楕円状曲線の周長と同一であり、
前記第1楕円状曲線の長径は、前記第2楕円状曲線の長径と同一であり、
前記第1楕円状曲線の短径は、前記第2楕円状曲線の短径より短いことを特徴としている。
(条件1)第1、第2楕円状曲線C1、C2の周長は同一である。
(条件2)第1、第2楕円状曲線C1、C2の長径RL1、RL2は同一のRLである。
(条件3)第1楕円状曲線C1の短径寸法RS1は第2楕円状曲線C2の短径寸法RS2より短い。
Claims (4)
- 半径方向に撓み可能な円筒状の外歯歯車(4)を、楕円状に撓めて、剛性の第1内歯歯車(2S)および当該第1内歯歯車(2S)の隣に同軸に配置された剛性の第2内歯歯車(2D)の双方に部分的にかみ合わせる、波動歯車装置(1)の波動発生器(5)において、
前記外歯歯車(4)の歯筋方向の一方の側の第1外歯歯車部分(4S)を、楕円状に撓めて前記第1内歯歯車(2S)に部分的に噛み合わせる第1波動発生器部分(5S)と、
前記外歯歯車(4)の歯筋方向の他方の側の第2外歯歯車部分(4D)を、楕円状に撓めて前記第2内歯歯車(2D)にかみ合わせる第2波動発生器部分(5D)と、
を有し、
前記第1内歯歯車(2S)の歯数が、nを正の整数とすると、前記外歯歯車(4)の歯数よりも2n枚多く、前記第2内歯歯車(2D)の歯数が前記外歯歯車(4)の歯数と同一であるとすると、
前記第1波動発生器部分(5S)は第1楕円状曲線(C1)によって規定される楕円状輪郭を備え、前記第2波動発生器部分(5D)は第2楕円状曲線(C2)によって規定される楕円状輪郭を備え、
前記第1楕円状曲線(C1)の周長は、前記第2楕円状曲線(C2)の周長と同一であり、
前記第1楕円状曲線(C1)の長径は、前記第2楕円状曲線(C2)の長径と同一であり、
前記第1楕円状曲線(C1)の短径は、前記第2楕円状曲線(C2)の短径より短いことを特徴とする波動歯車装置(1)の波動発生器(5)。 - 前記第1波動発生器部分(5S)は、前記第1楕円状曲線(C1)によって規定される第1楕円状外周面(6S)を備えた第1波動発生器プラグ(6)と、当該第1波動発生器プラグ(6)の前記第1楕円状外周面(6S)に装着されて楕円状に撓められている第1波動発生器ベアリング(7S)とを備え、
前記第2波動発生器部分(5D)は、前記第2楕円状曲線(C2)によって規定される第2楕円状外周面(6D)を備えた第2波動発生器プラグ(6)と、当該第2波動発生器プラグ(6)の前記第2楕円状外周面(6D)に装着されて楕円状に撓められている第2波動発生器ベアリング(7D)とを備えている請求項1に記載の波動歯車装置(1)の波動発生器(5)。 - 剛性の内歯歯車(2S、2D)、前記内歯歯車(2S、2D)の内側に配置された半径方向に撓み可能な外歯歯車(4)、および、前記外歯歯車(4)を楕円状に撓めて前記内歯歯車(2S、2D)に対して部分的にかみ合わせる波動発生器(5)を有し、
前記内歯歯車は、第1内歯歯車(2S)および当該第1内歯歯車(2S)の隣に同軸に配置された第2内歯歯車(2D)を備え、
前記外歯歯車(4)は、その歯筋方向の一方の側に前記第1内歯歯車(2S)にかみ合い可能な第1外歯歯車部分(4S)を備え、前記歯筋方向の他方の側に前記第2内歯歯車(2D)にかみ合い可能な第2外歯歯車部分(4D)を備え、
前記第1内歯歯車(2S)の歯数は、nを正の整数とすると、前記外歯歯車(4)の歯数よりも2n枚多く、前記第2内歯歯車(2D)の歯数は、前記外歯歯車(4)の歯数と同一であり、
前記波動発生器(5)は、請求項1または2に記載の波動発生器であることを特徴とする波動歯車装置(1)。 - 前記第1内歯歯車(2S)は回転しないように固定される静止側内歯歯車であり、
前記第2内歯歯車(2D)は回転可能な駆動側内歯歯車である請求項3に記載の波動歯車装置(1)。
Priority Applications (6)
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DE112013004179.0T DE112013004179B4 (de) | 2013-07-10 | 2013-07-10 | Wellgenerator und Verformungswellgetriebe |
KR1020157006456A KR101697936B1 (ko) | 2013-07-10 | 2013-07-10 | 파동발생기 및 파동기어장치 |
JP2015526014A JP5925387B2 (ja) | 2013-07-10 | 2013-07-10 | 波動発生器および波動歯車装置 |
CN201380056156.5A CN104769317B (zh) | 2013-07-10 | 2013-07-10 | 波动发生器及波动齿轮装置 |
US14/425,679 US9341252B2 (en) | 2013-07-10 | 2013-07-10 | Wave generator and strain wave gearing |
PCT/JP2013/004272 WO2015004693A1 (ja) | 2013-07-10 | 2013-07-10 | 波動発生器および波動歯車装置 |
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PCT/JP2013/004272 WO2015004693A1 (ja) | 2013-07-10 | 2013-07-10 | 波動発生器および波動歯車装置 |
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JP (1) | JP5925387B2 (ja) |
KR (1) | KR101697936B1 (ja) |
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JP6218692B2 (ja) * | 2014-07-23 | 2017-10-25 | 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 |
CN107850187B (zh) * | 2015-07-07 | 2020-05-05 | 谐波传动系统有限公司 | 波动齿轮装置以及波动发生器 |
JP6494783B2 (ja) * | 2015-11-06 | 2019-04-03 | 株式会社ハーモニック・ドライブ・システムズ | 可撓性外歯車および波動歯車装置 |
CN105370811A (zh) * | 2015-11-26 | 2016-03-02 | 綦江县三川齿轮有限公司 | 一种齿轮传动装置 |
CN105370810A (zh) * | 2015-11-26 | 2016-03-02 | 綦江县三川齿轮有限公司 | 一种齿轮传动减速器 |
CN105370841A (zh) * | 2015-11-26 | 2016-03-02 | 綦江县三川齿轮有限公司 | 一种双重式齿轮减速器 |
CN105422797A (zh) * | 2015-11-30 | 2016-03-23 | 綦江精锐达重型齿轮有限公司 | 一种双重式齿轮 |
CN105422747A (zh) * | 2015-11-30 | 2016-03-23 | 綦江精锐达重型齿轮有限公司 | 一种双重式齿轮传动装置 |
CN105402325A (zh) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | 一种齿轮减速装置 |
CN105402324A (zh) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | 一种齿轮装置 |
CN105402316A (zh) * | 2015-11-30 | 2016-03-16 | 綦江精锐达重型齿轮有限公司 | 一种双重式齿轮传动减速装置 |
JP6614988B2 (ja) * | 2016-02-08 | 2019-12-04 | 株式会社ハーモニック・ドライブ・システムズ | カップ形状の可撓性外歯歯車および波動歯車装置 |
EP3456996B1 (en) * | 2016-05-11 | 2021-01-06 | Harmonic Drive Systems Inc. | Rotary actuator provided with wave reduction gear |
CN108427779B (zh) * | 2017-02-15 | 2019-07-09 | 湖北科峰传动设备有限公司 | 凸轮及其曲线的优化设计方法、波发生器以及谐波减速机 |
JP7170389B2 (ja) * | 2017-11-28 | 2022-11-14 | 住友重機械工業株式会社 | ギヤモータ |
US11111997B2 (en) * | 2018-04-24 | 2021-09-07 | Hamilton Sundstrand Corporation | Magnetically driven harmonic drive |
JP7463846B2 (ja) * | 2020-05-25 | 2024-04-09 | セイコーエプソン株式会社 | 歯車装置およびロボット |
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- 2013-07-10 KR KR1020157006456A patent/KR101697936B1/ko active IP Right Grant
- 2013-07-10 CN CN201380056156.5A patent/CN104769317B/zh active Active
- 2013-07-10 WO PCT/JP2013/004272 patent/WO2015004693A1/ja active Application Filing
- 2013-07-10 US US14/425,679 patent/US9341252B2/en active Active
- 2013-07-10 DE DE112013004179.0T patent/DE112013004179B4/de active Active
- 2013-07-10 JP JP2015526014A patent/JP5925387B2/ja active Active
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JP2009299765A (ja) * | 2008-06-12 | 2009-12-24 | Sumitomo Heavy Ind Ltd | 撓み噛合い式歯車装置 |
JP2013015191A (ja) * | 2011-07-04 | 2013-01-24 | Sumitomo Heavy Ind Ltd | 撓み噛合い式歯車装置 |
Also Published As
Publication number | Publication date |
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KR20150043450A (ko) | 2015-04-22 |
US9341252B2 (en) | 2016-05-17 |
JP5925387B2 (ja) | 2016-05-25 |
CN104769317A (zh) | 2015-07-08 |
DE112013004179B4 (de) | 2024-02-29 |
JPWO2015004693A1 (ja) | 2017-02-23 |
DE112013004179T5 (de) | 2015-05-21 |
KR101697936B1 (ko) | 2017-01-19 |
CN104769317B (zh) | 2017-03-22 |
US20150219200A1 (en) | 2015-08-06 |
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