WO2019077719A1 - 3次元かみ合い歯形を有する波動歯車装置 - Google Patents
3次元かみ合い歯形を有する波動歯車装置 Download PDFInfo
- Publication number
- WO2019077719A1 WO2019077719A1 PCT/JP2017/037854 JP2017037854W WO2019077719A1 WO 2019077719 A1 WO2019077719 A1 WO 2019077719A1 JP 2017037854 W JP2017037854 W JP 2017037854W WO 2019077719 A1 WO2019077719 A1 WO 2019077719A1
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- tooth
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- teeth
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Classifications
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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
-
- 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
- F16H35/00—Gearings or mechanisms with other special functional features
-
- 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
- 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
-
- 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
- F16H55/17—Toothed wheels
-
- 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
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
-
- 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
- F16H35/00—Gearings or mechanisms with other special functional features
- F16H2035/003—Gearings comprising pulleys or toothed members of non-circular shape, e.g. elliptical gears
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
- F16H2049/003—Features of the flexsplines therefor
Definitions
- the cup-type or top-hat-type wave gear device comprises a rigid internal gear, a cup-shaped or top-hat-shaped flexible external gear coaxially arranged on the inside, and a wave fitted on the inside And a generator.
- the external gear includes an outer surface formed on a flexible cylindrical body, a diaphragm extending radially from the rear end of the cylindrical body, and an outer peripheral surface on the open end side of the cylindrical body. Equipped with teeth.
- the external gear is elliptically bent by the wave generator, and is engaged with the internal gear at both ends in the major axis direction of the ellipse.
- the wave gear device 1 comprises a ring-shaped rigid internal gear 2, a flexible external gear 3 coaxially arranged inside the gear 2, and a wave generator 4 with an elliptical contour fitted inside the internal gear 2.
- the internal gear 2 and the external gear 3 are spur gears of the same module (m). Further, the difference in the number of teeth of both gears is 2n (n is a positive integer), and the number of internal gears 2 is larger.
- the external teeth 34 of the external gear 3 are elliptically bent by the wave generator 4 having an elliptical contour, and are engaged with the internal teeth 24 of the internal gear 2 at both ends in the direction of the major axis L1 of the elliptical shape. .
Abstract
Description
図4(a)は外歯歯車3の外歯34の歯筋方向の各位置を示す説明図であり、図4(b)は内歯24および外歯34の歯形形状を示す説明図である。図5は、外歯34の各位置A~Eにおいて、内歯24に対する外歯34のかみ合い運動の様子を示す説明図である。
Claims (4)
- 剛性の内歯歯車と、この内歯歯車の内側に同軸状に配置された可撓性の外歯歯車と、この外歯歯車の内側に嵌めた波動発生器とを有し、
前記外歯歯車は、可撓性の円筒状胴部と、この円筒状胴部の後端から半径方向に延びているダイヤフラムと、前記円筒状胴部の前端の開口端の側の外周面部分に形成された外歯とを備えており、
前記外歯歯車の前記円筒状胴部は前記波動発生器によって楕円状に撓められ、その楕円状曲線の長軸方向の両端部において前記外歯が前記内歯歯車の内歯にかみ合っており、
楕円状に撓められた状態において、前記外歯は、外歯歯筋方向に沿って、前記ダイヤフラムの側の外歯内端から前記開口端の側の外歯外端に向けて、前記ダイヤフラムからの距離にほぼ比例して撓み量が増加しており、
前記内歯の歯形形状は内歯歯筋方向の各位置において同一であり、
前記外歯の歯形形状は、
その歯先歯厚が、前記外歯歯筋方向に沿って、前記外歯外端から前記外歯内端に向けて漸減し、
ピッチ点における圧力角が、前記外歯歯筋方向に沿って、前記外歯外端から前記外歯内端に向けて漸増するように、設定されている3次元かみ合い歯形を有する波動歯車装置。 - 請求項1において、
前記外歯の歯底歯厚は、前記外歯歯筋方向の各位置において、一定、あるいは、前記外歯外端から前記外歯内端に向けて漸減している3次元かみ合い歯形を有する波動歯車装置。 - 請求項1において、
前記歯先歯厚は、前記外歯歯筋方向に沿って直線状、または、凸曲線状あるいは凹曲線状に、減少している3次元かみ合い歯形を有する波動歯車装置。 - 請求項1において、
前記外歯の歯たけは、前記外歯歯筋方向に沿って変化している3次元かみ合い歯形を有する波動歯車装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP17928860.0A EP3575632B1 (en) | 2017-10-19 | 2017-10-19 | Wave gear device having 3-dimensional meshing tooth profile |
KR1020197019852A KR102225559B1 (ko) | 2017-10-19 | 2017-10-19 | 3차원 맞물림 치형을 갖는 파동기어장치 |
US16/476,587 US10823259B2 (en) | 2017-10-19 | 2017-10-19 | Strain wave gearing having 3-dimensional meshing tooth profile |
JP2019549067A JP6695649B2 (ja) | 2017-10-19 | 2017-10-19 | 3次元かみ合い歯形を有する波動歯車装置 |
PCT/JP2017/037854 WO2019077719A1 (ja) | 2017-10-19 | 2017-10-19 | 3次元かみ合い歯形を有する波動歯車装置 |
CN201780088208.5A CN111201389B (zh) | 2017-10-19 | 2017-10-19 | 具有3维啮合齿廓的波动齿轮装置 |
TW107131818A TWI772515B (zh) | 2017-10-19 | 2018-09-11 | 具有三維嚙合齒形的諧波齒輪裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2017/037854 WO2019077719A1 (ja) | 2017-10-19 | 2017-10-19 | 3次元かみ合い歯形を有する波動歯車装置 |
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WO2019077719A1 true WO2019077719A1 (ja) | 2019-04-25 |
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Family Applications (1)
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PCT/JP2017/037854 WO2019077719A1 (ja) | 2017-10-19 | 2017-10-19 | 3次元かみ合い歯形を有する波動歯車装置 |
Country Status (7)
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US (1) | US10823259B2 (ja) |
EP (1) | EP3575632B1 (ja) |
JP (1) | JP6695649B2 (ja) |
KR (1) | KR102225559B1 (ja) |
CN (1) | CN111201389B (ja) |
TW (1) | TWI772515B (ja) |
WO (1) | WO2019077719A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022091384A1 (ja) | 2020-10-30 | 2022-05-05 | 株式会社ハーモニック・ドライブ・システムズ | 三次元歯形を備えた波動歯車装置 |
JPWO2022091383A1 (ja) * | 2020-10-30 | 2022-05-05 |
Families Citing this family (2)
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JP2020034128A (ja) * | 2018-08-31 | 2020-03-05 | セイコーエプソン株式会社 | 歯車装置、歯車装置ユニットおよびロボット |
CN114867951A (zh) * | 2020-01-08 | 2022-08-05 | 谐波传动系统有限公司 | 波动齿轮装置 |
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2017
- 2017-10-19 WO PCT/JP2017/037854 patent/WO2019077719A1/ja unknown
- 2017-10-19 CN CN201780088208.5A patent/CN111201389B/zh active Active
- 2017-10-19 KR KR1020197019852A patent/KR102225559B1/ko active IP Right Grant
- 2017-10-19 EP EP17928860.0A patent/EP3575632B1/en active Active
- 2017-10-19 JP JP2019549067A patent/JP6695649B2/ja active Active
- 2017-10-19 US US16/476,587 patent/US10823259B2/en active Active
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2018
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JPS63115943A (ja) | 1986-11-05 | 1988-05-20 | Haamonitsuku Drive Syst:Kk | 撓み噛み合い式歯車装置 |
JPS6479448A (en) | 1987-09-21 | 1989-03-24 | Harmonic Drive Systems | Deflection engagement type gear device |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022091384A1 (ja) | 2020-10-30 | 2022-05-05 | 株式会社ハーモニック・ドライブ・システムズ | 三次元歯形を備えた波動歯車装置 |
JPWO2022091383A1 (ja) * | 2020-10-30 | 2022-05-05 | ||
WO2022091383A1 (ja) | 2020-10-30 | 2022-05-05 | 株式会社ハーモニック・ドライブ・システムズ | 三次元歯形を備えた波動歯車装置 |
KR20220058926A (ko) | 2020-10-30 | 2022-05-10 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 3차원 치형을 구비한 파동기어장치 |
KR20220058925A (ko) | 2020-10-30 | 2022-05-10 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 3차원 치형을 구비한 파동기어장치 |
JP7203275B2 (ja) | 2020-10-30 | 2023-01-12 | 株式会社ハーモニック・ドライブ・システムズ | 三次元歯形を備えた波動歯車装置 |
EP4012220A4 (en) * | 2020-10-30 | 2023-04-19 | Harmonic Drive Systems Inc. | STRESS WAVE GEARING WITH THREE-DIMENSIONAL TOOTH PROFILE |
KR102573210B1 (ko) | 2020-10-30 | 2023-08-30 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 3차원 치형을 구비한 파동기어장치 |
US11828356B2 (en) | 2020-10-30 | 2023-11-28 | Harmonic Drive Systems Inc. | Strain wave gearing provided with three-dimensional tooth profile |
US11946536B2 (en) | 2020-10-30 | 2024-04-02 | Harmonic Drive Systems Inc. | Strain wave gearing provided with three-dimensional tooth profile |
Also Published As
Publication number | Publication date |
---|---|
EP3575632A1 (en) | 2019-12-04 |
US20190368576A1 (en) | 2019-12-05 |
JPWO2019077719A1 (ja) | 2019-12-19 |
US10823259B2 (en) | 2020-11-03 |
CN111201389B (zh) | 2023-04-28 |
JP6695649B2 (ja) | 2020-05-20 |
EP3575632A4 (en) | 2020-08-19 |
KR20190090003A (ko) | 2019-07-31 |
TWI772515B (zh) | 2022-08-01 |
KR102225559B1 (ko) | 2021-03-08 |
TW201923253A (zh) | 2019-06-16 |
CN111201389A (zh) | 2020-05-26 |
EP3575632B1 (en) | 2022-03-30 |
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