WO2019009176A1 - Réducteur de vitesse - Google Patents

Réducteur de vitesse Download PDF

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Publication number
WO2019009176A1
WO2019009176A1 PCT/JP2018/024570 JP2018024570W WO2019009176A1 WO 2019009176 A1 WO2019009176 A1 WO 2019009176A1 JP 2018024570 W JP2018024570 W JP 2018024570W WO 2019009176 A1 WO2019009176 A1 WO 2019009176A1
Authority
WO
WIPO (PCT)
Prior art keywords
crown gear
central axis
input
gear
output
Prior art date
Application number
PCT/JP2018/024570
Other languages
English (en)
Japanese (ja)
Inventor
井上　仁
暉久夫 岡村
Original Assignee
日本電産シンポ株式会社
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 日本電産シンポ株式会社 filed Critical 日本電産シンポ株式会社
Priority to CN201880045109.3A priority Critical patent/CN110869644B/zh
Publication of WO2019009176A1 publication Critical patent/WO2019009176A1/fr

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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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties

Definitions

  • the present invention relates to a reduction gear.
  • the reduction gear of JP 2011-002084 A includes an annular rigid gear 9 and an annular flexible gear 5.
  • the ring-shaped flexible gear 5 is deformed into a corrugated shape by the ring-shaped flexible gear rotating mechanism 2 through the flexible bearing 3. Thereby, only a part of the annular flexible gear 5 meshes with the annular rigid gear 9.
  • the flexible bearing 3 is disposed between the annular flexible gear 5 and the annular flexible gear rotation mechanism 2. For this reason, in the structure of JP 2011-002084, the manufacturing cost is increased due to the expensive bearing 3, the number of parts is increased, and it is difficult to miniaturize the reduction gear. Also, the deformed bearings can be a source of noise.
  • An object of the present invention is to provide a structure in which the reduction gear can be easily miniaturized by reducing the number of parts of the reduction gear.
  • An exemplary embodiment of the present application is a reduction gear for converting rotational motion of an input rotational speed into rotational motion of an output rotational speed lower than the input rotational speed, wherein the input rotational speed around a central axis
  • the input rotary body, the output rotary body rotating at the output rotational speed about the central axis, and the housing supporting the input rotary body and the output rotary body, the input rotary body comprising: An output shaft, an arm extending radially outward from the input shaft, and a roller rotating about an axis of rotation supported by the arm, the output rotating body being disposed on the central axis
  • a movable crown gear having a plurality of first side teeth arranged in an annular shape around the central axis and extending from the center of the movable crown gear to the central axis.
  • the housing including a fixed crown gear having a plurality of second side teeth that extend perpendicularly or obliquely with respect to the central axis and are annularly arranged around the central axis, the movable crown gear being movable
  • the number of teeth of the first side teeth of the crown gear and the number of teeth of the second side teeth of the fixed crown gear are different, and the roller is in contact with a part of the movable crown gear in the circumferential direction.
  • the fixed crown gear and the movable crown gear are partially meshed by the pressure received from the roller, and the position at which the movable crown gear and the fixed crown gear are meshed with the central axis as the input rotating body rotates.
  • the center it changes in the circumferential direction at the input rotational speed, and the movable gear relative to the crown gear is determined by the difference in the number of teeth between the first side teeth and the second side teeth Ungia rotates at the output rotational speed.
  • the roller is brought into contact with the movable crown gear to axially deform a circumferential portion of the movable crown gear without interposing a separately flexible bearing.
  • the reduction gear can be easily miniaturized by reducing the number of parts of the reduction gear.
  • FIG. 1 is a longitudinal sectional view of a reduction gear.
  • FIG. 2 is a longitudinal sectional view of the reduction gear.
  • FIG. 3 is a cross-sectional view of the reduction gear.
  • FIG. 4 is a cross-sectional view of the housing.
  • FIG. 5 is a partial longitudinal sectional view of the reduction gear.
  • FIG. 6 is a longitudinal sectional view of a reduction gear according to a modification.
  • a direction parallel to the central axes of the input and output rotary bodies is “axial direction”, a direction orthogonal to the central axis is “radial direction”, and a direction along an arc centered on the central axis is “peripheral It is referred to as “direction”.
  • the above-mentioned "parallel direction” also includes a substantially parallel direction.
  • the “orthogonal direction” described above also includes a substantially orthogonal direction.
  • the input rotary body side is referred to as “input side” and the output rotary body side is referred to as “output side” along the axial direction.
  • FIG. 1 and 2 are longitudinal sectional views of a reduction gear 1 according to an embodiment of the present invention.
  • FIG. 3 is a cross-sectional view of the reduction gear 1.
  • FIG. 1 shows a cross section of the reduction gear 1 as viewed from the position AA in FIG.
  • FIG. 2 shows a cross section of the reduction gear 1 as viewed from the position BB in FIG.
  • FIG. 3 shows a cross section of the reduction gear 1 as viewed from the position CC in FIG. 1 and FIG.
  • the reduction gear 1 is a device that converts rotational motion of an input rotational speed obtained from an external motor into rotational motion of an output rotational speed lower than the input rotational speed.
  • the speed reducer 1 is incorporated into, for example, a joint portion of a small robot that works in cooperation with a person.
  • the reduction gear of the present invention may be used for other devices such as an assist suit, a wheelchair, and an automatic guided vehicle.
  • the reduction gear 1 of the present embodiment has an input shaft 10, two arms 20, two rollers 30, a movable crown gear 40, an output shaft 50, and a housing 60.
  • the input shaft 10, the two arm portions 20, and the two rollers 30 constitute an input rotating body 81 which rotates around the central axis 9 at an input rotational speed.
  • the movable crown gear 40 and the output shaft 50 constitute an output rotating body 82 that rotates around the central axis 9 at an output rotational speed.
  • the input shaft 10 is a cylindrical member extending along the central axis 9.
  • the input shaft 10 is inserted into an input hole 610 of the housing 60 described later.
  • the input shaft 10 is rotatably supported by the housing 60 via the bearing 11.
  • a ball bearing is used for the bearing 11.
  • the input end of the input shaft 10 is connected to an external motor directly or through another power transmission mechanism. When the motor is driven, the input shaft 10 rotates about the central axis 9 at an input rotational speed.
  • the output side end of the input shaft 10 is located inside the housing 60.
  • the output-side end of the input shaft 10 may be connected to the output shaft 50 via a bearing.
  • the two arms 20 are members extending radially outward from the input shaft 10.
  • the radially inner end of each arm 20 is fixed to the input shaft 10, for example, by screwing.
  • the arm 20 as well as the input shaft 10 rotates at the input rotation speed about the central axis 9.
  • rod-like arms 20 extending in the radial direction are provided at intervals of 180 ° around the input shaft 10.
  • the shape, the number, and the circumferential position of the arm portion 20 may not be as in this embodiment.
  • the arm part 20 may be connected in the circumferential direction.
  • the two rollers 30 are rotating bodies held at the radially outer end of the arm 20.
  • the rotation shaft 31 of the roller 30 is supported by the arm portion 20 in an attitude that is inclined with respect to the axial direction and the radial direction and is perpendicular to the circumferential direction.
  • the roller 30 is rotatably attached to the rotating shaft 31.
  • the roller 30 has a conical outer peripheral surface 32 centered on the rotation axis 31. The diameter of the outer circumferential surface 32 of the roller 30 increases as it is separated radially outward from the input shaft 10.
  • the roller 30 is also rotated at the input rotation speed about the central axis 9 together with the input shaft 10 and the arm portion 20.
  • the movable crown gear 40 is a gear which is rotatable around the central axis 9 and is flexible.
  • the movable crown gear 40 is positioned more on the output side than the two rollers 30.
  • the movable crown gear 40 has a thin plate-like flexible disc portion 41 and a plurality of first side teeth 42.
  • the flexible disc portion 41 spreads radially outward from the input-side end of the output shaft 50.
  • the flexible disc portion 41 of the present embodiment expands in a conical shape around the central axis 9.
  • the flexible disc portion 41 is elastically deformable in the axial direction.
  • Each of the plurality of first side teeth 42 axially protrudes from the flexible disc portion 41 toward the output side (the fixed crown gear 70 side).
  • the plurality of first side teeth 42 are annularly arranged around the central axis 9. Further, the plurality of first side teeth 42 are arranged at regular intervals in the circumferential direction. When a portion in the circumferential direction of the flexible disc portion 41 is elastically deformed in the axial direction, the position of the first side teeth 42 positioned in the portion in the circumferential direction also moves in the axial direction.
  • the flexible disc portion 41 of the movable crown gear 40 spreads obliquely with respect to the central axis 9.
  • the flexible disc portion 41 may extend perpendicularly to the central axis 9.
  • the output shaft 50 extends along the central axis 9 from the center of the movable crown gear 40 toward the output side.
  • the output shaft 50 has a cylindrical outer peripheral surface.
  • the output shaft 50 is inserted into an output hole 620 described later of the housing 60.
  • the output shaft 50 is rotatably supported with respect to the housing 60.
  • the movable crown gear 40 rotates about the central axis 9
  • the output shaft 50 also rotates about the central axis 9.
  • the movable crown gear 40 and the output shaft 50 are a single member.
  • the movable crown gear 40 and the output shaft 50 may be prepared as separate members and fixed to each other.
  • the housing 60 is a housing that supports the input rotating body 81 and the output rotating body 82.
  • the housing 60 has an input side wall 61, an output side wall 62, and a peripheral wall 63.
  • the input side wall portion 61 extends substantially perpendicularly to the central axis 9 on the input side of the two arm portions 20.
  • an input hole 610 for passing the input shaft 10 is provided at the center of the input side wall portion 61.
  • the output side wall portion 62 extends substantially perpendicularly to the central axis 9 on the output side relative to the movable crown gear 40.
  • An output hole 620 for passing the output shaft 50 is provided at the center of the output side wall portion 62.
  • the peripheral wall portion 63 axially extends in a cylindrical shape between the outer peripheral portion of the input side wall portion 61 and the outer peripheral portion of the output side wall portion 62.
  • the peripheral wall portion 63 is located radially outward of the two arm portions 20, the two rollers 30, and the movable crown gear 40.
  • the output side wall portion 62 and the peripheral wall portion 63 are configured by one member. Then, the input side wall portion 61 of another member is fixed to the cup-shaped member configured of the output side wall portion 62 and the peripheral wall portion 63.
  • the input side wall 61 and the peripheral wall 63 may be formed as one member, and the output side wall 62 may be separate members.
  • the input side wall 61, the output side wall 62, and the peripheral wall 63 may all be separate members.
  • FIG. 4 is a cross-sectional view of the housing 60 as viewed from the CC position in FIGS. 1 and 2.
  • the output sidewall 62 of the housing 60 includes a fixed crown gear 70.
  • the fixed crown gear 70 has a fixed disk portion 71 and a plurality of second side teeth 72.
  • the fixed disc portion 71 may extend perpendicularly to the central axis 9 or may extend obliquely with respect to the central axis 9.
  • the fixed disc portion 71 is much less flexible than the flexible disc portion 41. Therefore, the fixed disc portion 71 can be regarded as a substantially nonflexible rigid body.
  • Each of the plurality of second side teeth 72 axially protrudes from the fixed disc portion 71 toward the input side (the movable crown gear 40 side).
  • the plurality of second side teeth 72 are annularly arranged around the central axis 9. Further, the plurality of second side teeth 72 are arranged at regular intervals in the circumferential direction.
  • FIG. 5 is a partial longitudinal sectional view of the reduction gear 1.
  • the above-described roller 30 contacts a part of the circumferential surface of the surface on the input side of the flexible disc portion 41 of the movable crown gear 40.
  • the first side teeth 42 of some of the plurality of first side teeth 42 are displaced to the output side by the pressure received from the roller 30.
  • the movable crown gear 40 and the fixed crown gear 70 mesh with each other.
  • the movable crown gear 40 and the fixed crown gear 70 do not mesh with each other.
  • the plurality of first side teeth 42 and the plurality of second side teeth 72 mesh with each other only at specific portions in the circumferential direction.
  • the input shaft 10 rotates around the central axis 9 at the input rotational speed. Then, together with the input shaft 10, the two arm portions 20 and the two rollers 30 also rotate around the central axis 9 at an input rotational speed. The two rollers 30 respectively revolve around the central axis 9 while rotating about the rotation axis 31 by the friction force with the movable crown gear 40.
  • the shape of the movable crown gear 40 changes accordingly. That is, a portion of the plurality of first side teeth 42 that is displaced to the output side rotates following the revolution of the roller 30. Therefore, among the plurality of first side teeth 42, the portion meshing with the second side teeth 72 of the fixed crown gear 70 changes in the circumferential direction at the input rotation speed centering on the central axis 9.
  • the number of first side teeth 42 of the movable crown gear 40 and the number of second side teeth 72 of the fixed crown gear 70 are slightly different. Due to the difference in the number of teeth, the positions of the first side teeth 42 of the movable crown gear 40 meshing with the second side teeth 72 at the same position of the fixed crown gear 70 shift each time the roller 30 makes one revolution. Thereby, the movable crown gear 40 rotates slowly around the central axis 9 with respect to the fixed crown gear 70. As a result, the output shaft 50 rotates slowly with the movable crown gear 40. The rotation speed of the output shaft 50 at this time is an output rotation speed lower than the input rotation speed.
  • the reduction gear 1 when the roller 30 is brought into contact with the movable crown gear 40, a part of the movable crown gear 40 in the circumferential direction is axially deformed.
  • the roller 30 can move smoothly with respect to the movable crown gear 40 by rotating. Therefore, it is not necessary to interpose a separately flexible bearing between the roller 30 and the movable crown gear 40. Thereby, the number of parts of the reduction gear 1 can be suppressed, and the reduction gear 1 can be miniaturized.
  • the arm part 20 exists only in the circumferential direction position same as the roller 30, and an arm part does not exist in another circumferential direction position. For this reason, there is no concern that the portion of the movable crown gear 40 having a small amount of displacement to the output side may come in contact with the arm portion 20. For example, there is no concern that the movable crown gear 40 and the arm 20 come in contact with each other at a position 90 ° away from the roller 30 about the central axis 9. Thereby, the reduction gear 1 can be further miniaturized. Moreover, the noise at the time of the drive of the reduction gear 1 can be suppressed.
  • the posture of the roller 30 is inclined with respect to the central axis 9.
  • the rotation shaft 31 of the roller 30 is inclined with respect to the axial direction and the radial direction, and extends in a direction orthogonal to the circumferential direction.
  • the circumferential velocity difference in the radial direction of the portion of the outer circumferential surface 32 of the roller 30 that contacts the movable crown gear 40 matches the circumferential velocity difference in the radial direction with respect to the central axis 9.
  • the slip between the roller 30 and the movable crown gear 40 is suppressed.
  • energy loss in the reduction gear 1 can be reduced.
  • a virtual line obtained by extending the rotation shaft 31 of the roller 30 radially inward is referred to as a “first virtual line V1”.
  • a virtual line in which the contact portion with the movable crown gear 40 in the outer peripheral surface 32 of the roller 30 is extended radially inward is referred to as a "second virtual line V2”.
  • the first virtual line V1 and the second virtual line V2 intersect on the central axis 9. In this way, slippage between the roller 30 and the movable crown gear 40 is further suppressed. As a result, energy loss in the reduction gear 1 can be further reduced.
  • two rollers 30 are arranged at an interval of 180 ° around the central axis 9. As described above, by disposing the plurality of rollers 30 at equal intervals in the circumferential direction, it is possible to suppress the swing of the center of gravity during operation of the reduction gear 1. Note that the number of rollers 30 included in the reduction gear 1 may be three or more.
  • the axial distance between the outer peripheral surface 32 of the roller 30 and the surface on the input side of the fixed disk portion 71 is d1.
  • a total dimension in the axial direction of the flexible disc portion 41 and the first side teeth 42 is d2.
  • the distance d1 is larger than the dimension d2.
  • the roller 30 preferably has an appropriate outer diameter.
  • the outer diameter of the roller 30 around the rotation shaft 31 is preferably 1/10 or more and 1/2 or less of the outer diameter around the central axis 9 of the movable crown gear 40.
  • each member which comprises the reduction gear 1 metal, such as iron, is used, for example.
  • metal such as iron
  • some or all of the members may be made of resin. If resin is used, the reduction gear 1 can be reduced in weight as compared to the case of using metal.
  • at least one of the movable crown gear 40 and the fixed crown gear 70 may be made of resin. Side teeth of these crown gears 40, 70 project in the axial direction. Therefore, the crown gears 40 and 70 can be easily manufactured by injection molding using a mold combined in the axial direction.
  • the movable crown gear 40 is made of resin, it is easy to obtain the flexibility of the flexible disc portion 41.
  • FIG. 6 is a longitudinal sectional view of a speed reducer 1A according to a modification.
  • a hollow shaft 80A is provided at the center of the reduction gear 1A.
  • the hollow shaft 80A is a cylindrical member and is disposed along the central axis 9A.
  • a bearing 12A is interposed between the inner peripheral surface of the input shaft 10A and the outer peripheral surface of the hollow shaft 80A. Therefore, the input shaft 10A and the hollow shaft 80A can rotate relative to each other about the central axis 9A.
  • a sliding bearing is used for the bearing 12A.
  • the hollow shaft 80A is fixed to the output shaft 50A by a screw 51A. Therefore, the hollow shaft 80A, together with the output shaft 50A, rotates at an output rotational speed centering on the central axis 9A.
  • the structures of the arm 20A, the roller 30A, the movable crown gear 40A, the housing 60A, and the fixed crown gear 70A are the same as those in the above embodiment.
  • the reduction gear 1A power transmission is performed only on the radially outer side of the input shaft 10A and the output shaft 50A. Therefore, as shown in the example of FIG. 6, the hollow shaft 80A can be disposed radially inward of the input shaft 10A and the output shaft 50A. In this way, the space inside the hollow shaft 80A in the radial direction can be effectively used.
  • a support shaft 90A for supporting the speed reducer can be passed inside the hollow shaft 80A.
  • the electrical wiring of the device on which the reduction gear 1A is mounted can be passed inside the hollow shaft 80A.
  • the hollow shaft 80A is fixed not to the input shaft 10A but to the output shaft 50A. In this manner, the rotational speed of the hollow shaft 80A is lower than the input rotational speed. Therefore, the rotational speed of the hollow shaft 80A can be suppressed. This makes it easier to use the radially inner space of the hollow shaft 80A.
  • the shape of the detail of the reduction gear may be different from the shape shown in each drawing of the present application.
  • each element appearing in the above-described embodiment and modification may be combined appropriately as long as no contradiction occurs.
  • the present invention is applicable to a reduction gear.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Thermal Sciences (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)

Abstract

L'invention concerne un réducteur de vitesse qui comprend un corps rotatif d'entrée, un corps rotatif de sortie et un boîtier. Le corps rotatif d'entrée comprend un arbre d'entrée, une partie bras et des rouleaux. Le corps rotatif de sortie comprend une roue plate mobile et un arbre de sortie. Le boîtier comprend une roue plate fixe. La roue plate mobile et la roue plate fixe s'étendent perpendiculairement ou obliquement par rapport à un axe central. En outre, la roue plate mobile et la roue plate fixe ont des dents de surface latérale se faisant face. Les rouleaux entrent en contact avec une partie de la roue plate mobile dans la direction circonférentielle. La roue plate mobile et la roue plate fixe s'engrènent partiellement l'une avec l'autre en raison de la force de pressage appliquée par les rouleaux. En outre, conjointement avec la rotation du corps rotatif d'entrée, la position d'engrènement de la roue plate mobile et de la roue plate fixe change dans la direction circonférentielle au moyen de la vitesse de rotation d'entrée, l'axe central étant le centre. La roue plate mobile tourne par rapport à la roue plate fixe avec une vitesse de rotation de sortie qui est déterminée par la différence du nombre de dents entre la roue plate mobile et la roue plate fixe.
PCT/JP2018/024570 2017-07-07 2018-06-28 Réducteur de vitesse WO2019009176A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880045109.3A CN110869644B (zh) 2017-07-07 2018-06-28 减速器

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-134057 2017-07-07
JP2017134057A JP2019015365A (ja) 2017-07-07 2017-07-07 減速機

Publications (1)

Publication Number Publication Date
WO2019009176A1 true WO2019009176A1 (fr) 2019-01-10

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ID=64950144

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/024570 WO2019009176A1 (fr) 2017-07-07 2018-06-28 Réducteur de vitesse

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Country Link
JP (1) JP2019015365A (fr)
CN (1) CN110869644B (fr)
TW (1) TWI683067B (fr)
WO (1) WO2019009176A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4428570Y1 (fr) * 1969-05-20 1969-11-27
JPS59191458U (ja) * 1983-06-08 1984-12-19 セイコーエプソン株式会社 スラスト型ハ−モニツクドライブ減速機
JPS60129455A (ja) * 1983-12-14 1985-07-10 Matsushita Electric Works Ltd 動力伝達装置
JPS6389453U (fr) * 1986-11-29 1988-06-10
JPH04370445A (ja) * 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置
WO2016027324A1 (fr) * 2014-08-20 2016-02-25 株式会社ハーモニック・ドライブ・システムズ Engrenage à onde de déformation du type à dentures frontales
WO2016027323A1 (fr) * 2014-08-20 2016-02-25 株式会社ハーモニック・ドライブ・システムズ Engrenage à onde de déformation du type à dentures frontales

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Publication number Priority date Publication date Assignee Title
KR100189281B1 (ko) * 1994-12-27 1999-06-01 미따라이 하지메 감속기
JP4428570B2 (ja) 2005-06-22 2010-03-10 株式会社不二越 テープラップ装置
JP2012002237A (ja) * 2010-06-13 2012-01-05 Institute Of National Colleges Of Technology Japan 小型減速機、およびそれを利用した小径高トルクモータ
TWI460365B (zh) * 2012-06-08 2014-11-11 Univ Nat Formosa Rigid Ring Gear and Flexible Planetary Wheel of Harmonic Reducer and Its Method
JP2014047797A (ja) * 2012-08-29 2014-03-17 Mitsubishi Heavy Ind Ltd アクチュエータ
CN105473892B (zh) * 2013-08-06 2018-04-06 谐波传动系统有限公司 旋转致动器以及谐波齿轮减速机单元
DE112013004707T5 (de) * 2013-09-11 2015-06-11 Harmonic Drive Systems Inc. Wellgenerator und Verformungswellgetriebe

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4428570Y1 (fr) * 1969-05-20 1969-11-27
JPS59191458U (ja) * 1983-06-08 1984-12-19 セイコーエプソン株式会社 スラスト型ハ−モニツクドライブ減速機
JPS60129455A (ja) * 1983-12-14 1985-07-10 Matsushita Electric Works Ltd 動力伝達装置
JPS6389453U (fr) * 1986-11-29 1988-06-10
JPH04370445A (ja) * 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置
WO2016027324A1 (fr) * 2014-08-20 2016-02-25 株式会社ハーモニック・ドライブ・システムズ Engrenage à onde de déformation du type à dentures frontales
WO2016027323A1 (fr) * 2014-08-20 2016-02-25 株式会社ハーモニック・ドライブ・システムズ Engrenage à onde de déformation du type à dentures frontales

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Publication number Publication date
TW201907097A (zh) 2019-02-16
JP2019015365A (ja) 2019-01-31
CN110869644B (zh) 2023-03-10
CN110869644A (zh) 2020-03-06
TWI683067B (zh) 2020-01-21

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