WO1998053224A1 - Train d'engrenages a onde plane - Google Patents

Train d'engrenages a onde plane Download PDF

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Publication number
WO1998053224A1
WO1998053224A1 PCT/JP1998/002224 JP9802224W WO9853224A1 WO 1998053224 A1 WO1998053224 A1 WO 1998053224A1 JP 9802224 W JP9802224 W JP 9802224W WO 9853224 A1 WO9853224 A1 WO 9853224A1
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WO
WIPO (PCT)
Prior art keywords
diaphragm
gear
thickness
flexible external
wave
Prior art date
Application number
PCT/JP1998/002224
Other languages
English (en)
Japanese (ja)
Inventor
Yoshihide Kiyosawa
Original Assignee
Harmonic Drive Systems, Inc.
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 Harmonic Drive Systems, Inc. filed Critical Harmonic Drive Systems, Inc.
Priority to DE19880831T priority Critical patent/DE19880831T1/de
Publication of WO1998053224A1 publication Critical patent/WO1998053224A1/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
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions

Definitions

  • the present invention relates to a flat wave gear device provided with a cup-shaped or silk-hat-shaped flexible external gear.
  • the flexible external gear has a cup shape (hereinafter, referred to as a cup type wave gear device) and a silk hat shape. Others (hereinafter, referred to as silk hat type wave gear devices) are known.
  • wave gear devices The basic configuration of these wave gear devices is the same, and can be engaged with an annular rigid internal gear having internal teeth formed on the inner peripheral surface and the internal teeth of the rigid internal gear.
  • a flexible external gear having external teeth formed on the outer peripheral surface, and this flexible external gear is radially radiused, and the external teeth are partially engaged with the internal teeth at a plurality of locations.
  • a wave that generates a relative rotational movement between the rigid internal gear and the flexible external gear by moving these engagement positions in the circumferential direction. It has a generator and
  • the flexible external gear of the force-type wave gear device has a cylindrical body, external teeth formed on the outer peripheral surface at one end of the body, and continuous with the other end of the body. And a thick boss integrally formed in the center part of the diaphragm with a ring-shaped diaphragm extending inward in the radial direction. are doing .
  • the flexible external gear of the silk hat type wave gear device is formed on a cylindrical body and an outer peripheral surface on one end side of the body. External teeth, an annular diaphragm extending radially outward from the other end of the trunk, and an outer peripheral end of the diaphragm. It is shaped like a silk neck with a circular boss.
  • Wave gears are smaller and lighter than other types of speed reducers such as integral planetary speed reducers and cycloidal planetary speed reducers, and have no backlash. Suitable for precision positioning applications. However, it may be difficult to suppress vibrations, especially at low speeds. For this reason, it may be difficult to increase the positioning accuracy of the robot arm or the like.
  • an object of the present invention is to propose a wave gear device having improved vibration characteristics. Disclosure of the invention
  • the present inventors conducted a number of experiments on the vibration characteristics of the wave gear device, and found that if the rigidity and damping characteristics of the wave gear device and the gear accuracy of the components were increased, the vibration could be effectively reduced. For the first time.
  • the method of effectively reducing the vibration of a wave gear device is to use a wave gear device of a model one rank higher than the model of the wave gear device determined from the required performance. It is to be used.
  • this method implies an increase in the size and weight of the wave gearing used, thus detracting from the advantages of a light and compact wave gearing. I'll do it.
  • the present invention has been made to improve the vibration characteristics of a wave gear device without impairing the advantages of the wave gear device being lightweight and compact. Adopts the following configuration.
  • the cylindrical body and the outer peripheral surface at one end of the body are W
  • the formed external teeth an annular diaphragm extending radially inward continuously from the other end of the body portion, and a central part of the diaphragm.
  • the axial length of the body of the flexible external gear is determined by the pitch of the external teeth.
  • the size is set within the range of about 0.1 to about 0.25 of the diameter of the circle. More preferably, the dimensions are in the range of about 0.15 to about 0.2.
  • the length in the axial direction of the body portion other than the portion where the external teeth are formed is defined as the length in the radial direction of the diaphragm. It is desirable to set smaller dimensions.
  • the wave gear device of the present invention configured as described above is a super-flat wave gear device having a large outer diameter and a small axial length.
  • rigidity, damping capacity and gear accuracy are improved, so that vibration can be reduced while maintaining the features of light weight and compactness. .
  • the thickness of the base portion with respect to the boss be set to a value that is at least about three times the minimum thickness of the diaphragm. Preferably, it should be more than 4 times.
  • a plurality of curves having different curvatures are arranged so that the contour shape of the outer surface of the diaphragm when cut along a plane including the apparatus axis is arranged so that the curvature gradually becomes smaller. It is desirable to specify it by the following.
  • the present invention can also be applied to a silk hat type wave gear device.
  • the flexible external gear has a cylindrical body, external teeth formed on the outer peripheral surface at one end of the body, and radially outward from the other end of the body.
  • This is a silk knot-shaped one having an annular diaphragm and an annular boss formed continuously on the outer peripheral end of the diaphragm.
  • the length of the flexible external gear in the axial direction of the body portion is within a range of about ⁇ .1 to about 0.25 of the pitch circle diameter of the external teeth. Dimensions are set. More preferably, the dimensions are in the range of about 0.15 to about 0.2.
  • the length in the axial direction of the body other than the portion where the external teeth are formed is set to be smaller than the radial length of the diaphragm. I want to do it.
  • t (A) The cross-sectional shape of the flexible external gear when cut along a plane including the device axis of the diaphragm is t (A) where the thickness of the inner peripheral end is t (A).
  • t (C) the thickness of the outer peripheral end
  • t (B) the thickness of the center part between the inner peripheral end and the outer peripheral end
  • t (A) is the maximum thickness
  • t (B) It is desirable to set B) to the minimum thickness, and to set t (A)> t (C)> t (B).
  • the thickness be set so as to increase smoothly from the central portion toward the inner peripheral end and the outer peripheral end.
  • the relationship between the thickness t (A) of the inner peripheral end and the thickness t (B) of the central portion is such that t (A) / t (B) is from about 1.5 to about 2.2. It is desirable to set it so that it is within the range.
  • the relationship between the thickness t (C) of the outer peripheral end and the thickness t (B) of the central portion is such that t (C) / t (B) is in a range of about 1.4 to about 2.0. It is desirable to set it to be within.
  • FIG. 1 is a longitudinal sectional view showing the overall configuration of a cup-type wave gear device to which the present invention is applied.
  • 2 (A) to 2 (D) are a front view, a rear view, a side view and a longitudinal sectional view, respectively, of the cup-shaped flexible external gear of FIG. 1.
  • FIG. 3 is a longitudinal sectional view showing a sectional shape of the cup-shaped flexible external gear shown in FIG.
  • FIG. 4 is a partially enlarged sectional view showing a part of FIG. 3 in an enlarged manner.
  • FIG. 5 is a schematic vertical sectional view of a silk hat type wave gear device to which the present invention is applied.
  • FIGS. 6 (A) to 6 (D) are a front view, a rear view, a side view and a longitudinal sectional view of the silk hat type flexible external gear shown in FIG.
  • FIG. 7 is a longitudinal sectional view showing the sectional shape of the silk hat shaped flexible external gear shown in FIG.
  • FIG. 8 is a partially enlarged sectional view showing a part of FIG. 7 in an enlarged manner.
  • Fig. 1 is a longitudinal sectional view of a cup-type wave gear device.
  • Figs. 2 (A) to (D) show front, rear, and side views of a cup-shaped flexible external gear. It is a figure and a sectional view.
  • the cup-type wave gear device 1 includes an annular rigid internal gear 2, a cup-shaped flexible external gear 3 disposed inside the ring-shaped internal gear, and a rigid external gear 3. It basically consists of an elliptical wave generator 4 fitted inside.
  • the cup-shaped flexible external gear 3 has a cylindrical body 31, and an annular diaphragm having a cup bottom formed continuously at one end of the body 31. 3 2 and a thick boss 33 formed at the center of the diaphragm 32.
  • External teeth 3 are provided on the other end of the body 31, that is, on the outer peripheral surface on the opening end side. 4 is formed.
  • the external teeth 34 can engage with the internal teeth 21 formed on the inner peripheral surface of the rigid internal gear 2.
  • the wave generator 4 is composed of an annular wave plug 41 and a wave bearing 42 fitted on the elliptical outer peripheral surface of the web plug 41.
  • the portion of the cup-shaped flexible external gear 3 on the opening end side of the body 31 is bent in the radial direction into an elliptical shape by the wave generator 4, and its major axis is changed.
  • the external teeth 3 4 are meshed with the internal teeth 21 at both end positions. The meshing position of these two places rotates as the wave generator 4 rotates. Since the deceleration principle of this configuration is known, the description thereof is omitted.
  • the distance measured along the device axis 1 1 to the inner surface of 2 is The dimension is set within the range of about 0.1 to about 0.5 of the pitch circle diameter D (P).
  • the dimensions are set in the range of about 0.1 to about 0.25. More preferably, the dimensions are set in the range of about 0.15 to about 0.2.
  • the axial length L (35) of the body 31 other than the portion where the external teeth 34 are formed is the radial length of the diaphragm 32 ( 3 2) (Distance measured from the inner peripheral surface of the trunk 31 to the outer peripheral surface of the boss 33 along the direction perpendicular to the installation axis 11) Is set to.
  • the thickness of the base of the diaphragm 32 with respect to the boss 33 in the diaphragm 32 is further improved. Is set to a value that is at least about three times the minimum thickness of the diaphragm 32.
  • the profile of the outer surface of the diaphragm 32 when cut along a plane including the device axis 11 is formed of a plurality of different shapes arranged so that the curvature gradually decreases. It is stipulated by a group of curves with different curvatures. In addition to this, a thin portion is formed in a portion of the body 31 adjacent to the diaphragm 32.
  • FIG. 3 is a longitudinal sectional view of the flexible external gear 3
  • FIG. 4 is an enlarged view of a base portion of the diaphragm boss circled in FIG. 3 mainly with respect to the boss.
  • FIG. 3 When the diaphragm 32 of the flexible external gear 3 is cut along a plane including the device axis 11, the inner side surface 3 21 1 is formed by a straight line substantially perpendicular to the device axis 11.
  • the outer surface 3 2 2 is defined by a plurality of curved lines having different curvatures, and as a whole, the thickness increases from the inner side to the outer side in the radial direction. It is set to decrease gradually.
  • the outer wall 32 and the body 31 have a constant thickness t (e, f) defined by an arc C (e, f) of radius R (7.25) centered at point ⁇ 5 on the outer surface. f) It is continuous by the part.
  • the starting point e of the arc C (e, f) is the intersection of the line drawn from the center point 05 in parallel with the axis 11 and the outer surface of the diaphragm 32, and The end point f is set at the position described below.
  • the body 31 connected to the arc C (e, f) is defined by a straight line whose inside surface 311 is parallel to the device axis 11.
  • the outer side is an arc. Adjacent to (e, f), there is a continuous arc C (f, g) of a large half-ghost R (250) centered on point 06.
  • the boundary point f between the arc C (e, f) and the arc C (f, g) is set at such a position that these curves smoothly continue.
  • the outer surface of the body is defined by a straight line L (g, h) parallel to the device axis 11 following the arc C (f, g).
  • the wall thickness t (g, h) of the part is constant.
  • External teeth are formed continuously to the straight line L (g, h).
  • the thickness t (f, g) of the portion of the body 31 whose outer surface is defined by the arc C (f, g) is larger than the thickness of the portions on both sides thereof. It is getting thinner.
  • the ratio of the minimum value of the thickness t (f, g) of this part to the thickness t (g, h) of the other body 31 is set to about 0.8: 1. Let's do.
  • the contour of the outer surface of the diaphragm 32 will be described in detail.
  • the outer peripheral contour 331 of the boss 33 is parallel to the apparatus axis 11 and the extension of the contour 331, This is the base 3 2 3 of the diaphragm 32 with respect to the boss 3 3.
  • an arc C having a unit radius R (1) centered on a point 0 1 that defines the outer surface 3 2 2 of the diaphragm 32 from the point a. (a, b) is formed.
  • An arc C (b, c) having a radius R (4) larger than the center is formed.
  • an arc C (c, d) having a radius R (16) larger than that of the point 0 3 is formed.
  • an arc C (d, e) having a radius R (600) larger than that centered on point 4 is continuous (see Fig. 3). ).
  • This arc C (d, e) is continuous with the above-mentioned arc C (e, f) at point e.
  • four types of arcs having different radii are used to define the contour of the outer surface 32 2 of the diaphragm 32, thereby attaching the diaphragm 32 to the boss.
  • the thickness is gradually reduced from the root portion 3 2 3 toward the outside in the radial direction.
  • the ratio of the thickness t (a) of the base portion 3 23 to the minimum thickness t (e) at the point e is set to about 4: 1, and the result is shown.
  • the numbers in parentheses following the radius R of each arc are based on the radius R (1) of the arc C (a, b) used at the base of the diaphragm 32. In this case, the radius of each arc is shown.
  • the flexible external gear 3 is repeatedly bent in the radial direction during operation, and stress is generated in each part according to the amount of the radius.
  • the thickness t (a) of the base of the diaphragm 32 where there is a possibility of stress concentration being about 3 times or more the minimum thickness at the tip side of the boss is preferable. Since it is set to about four times or more, the concentration of stress on this part can be reduced to a practically acceptable level.
  • the thickness of the diaphragm 32 is arranged so that the radius gradually increases so that the thickness gradually decreases from the base to the boss toward the tip. It is specified by the circular arc. As a result, in the radial state of the flexible external gear 3, it is possible to obtain a moderate stress distribution state without stress concentration.
  • a circular arc C is added to the part of the trunk 31 that is continuous with the diaphragm 32. Since (f,) is used to partially form the thin-walled portion, a nearly uniform stress distribution state can be formed from the trunk to the diaphragm
  • FIG. 5 is a longitudinal sectional view showing the overall configuration of a silk hat type wave gear device.
  • FIGS. 6 (A) to (D) are front and rear views of the flexible external gear. , Side view and longitudinal section.
  • the wave gear device 10 is composed of an annular rigid internal gear 12 and a silk-knob-shaped flexible external gear 1 disposed inside the annular internal gear 12. 3 and an elliptical wave generator 14 fitted inside this.
  • the flexible external gear 13 has an annular diaphragm having a cylindrical body 122 and an inner peripheral end 123a (see FIG. 7) continuous with the base opening. And a thick annular boss 125 integrally formed continuously with an outer peripheral end 123b of the diaphragm 123 (see FIG. 7).
  • External teeth 124 are formed in the outer peripheral portion of the opening end on the distal end side of the trunk portion 122 in the circumferential direction.
  • the ring-shaped boss 125 is a member for attachment to another member (not shown), and the boss 125 causes the body 122 and the diaphragm 1 to be attached. 23 is supported in a cantilevered state.
  • the wave generator 14 is composed of a hollow wave plug 14 1 having an elliptical contour and a wave bearing 14 2 fitted on the outer periphery thereof.
  • the portion of the body portion 122 on which the external teeth 124 of the flexible external gear 13 are formed is bent into an elliptical shape, and the elliptical shape is formed.
  • Two external teeth located at both ends of the long shaft are engaged with the internal teeth 1 2 1 of the rigid internal gear 1 2.
  • these meshing positions rotate in the circumferential direction.
  • the external teeth and the internal teeth Relative rotation occurs between these flexible external gears 13 and rigid internal gears 12 according to the difference in the number of teeth. Therefore, for example, if the rigid internal gear 12 is fixed and the wave generator 14 is used as a high-speed rotation input element, the external gear 13 becomes a deceleration rotation output element. As a result, a decelerated rotation output can be obtained.
  • the axial length L (122) of the body portion 122 of the flexible external gear 13 is about 0.1 of the pitch circle diameter D (P) of the external teeth 124.
  • D (P) of the external teeth 124 are set within a range of about 0.5.
  • the dimensions are set in the range of about 0.1 to about 0.25. More preferably, the dimensions are set in a range from about ⁇ .15 to about 0.2.
  • FIG. 7 is a view showing a longitudinal section of the silk hat-shaped flexible external gear 13 cut along a plane including the device axis 11.
  • FIG. 8 shows an enlarged view of the diaphragm of the flexible external gear 13.
  • the cross-sectional shape of each part is as follows when cut along a plane including the device axis 11.
  • the inner peripheral surface of the trunk portion 122 of the flexible external gear 13 is defined by a straight line 122b parallel to the device axis line 111 from the open end 122a of the distal end thereof. Stipulated.
  • the point 122c on the proximal side of the straight line 122b is connected to an arc 122d that smoothly continues to the straight line 122b.
  • the other end of the arc 1 2 2 d slides at point A (1 2 3 a) along a straight line 2 3 1 perpendicular to the device axis 1 1 that defines the back of the diaphragm 1 2 3.
  • the other end of the straight line 2 3 1 that is contiguous to the outer periphery is connected to the back side of the boss 1 25 at the point C (123 b).
  • Circular arc 1 2 5 a It is continuous.
  • the other end of the circular arc 125a is connected to a straight line 125b perpendicular to the device axis line 111.
  • the outer peripheral surface of the body portion 122 of the flexible external gear 13 basically has a straight line 122 e parallel to the straight line 122 b on the inner peripheral side. Stipulated. As described above, the outer teeth 124 are formed on the outer peripheral portion on the tip side of the body portion 22. The end of this straight line 122 e is smoothly continuous with the convex arc 122 f with the center at the point 110. This arc 122 f is smoothly continuous with a concave arc 122 g having a center of 0 220. In addition, the concave arc 122 g is smoothly continuous with a concave arc 122 h having a center of curvature smaller than that of the concave arc 122 h.
  • the concave arc 122 h has a smooth curvature and is smoothly continued to the concave arc 122 i having a center of curvature of 040.
  • the proximal end of the torso 22 has a straight line 1 2 2 b, 1 2
  • a thin portion thinner than the thickness t (122) of the body portion 122 defined by 2e is formed.
  • the arc 122 i is smoothly continuous with an arc 230 having a center of 0.50, which defines the front side of the diaphragm 123.
  • 3 3 is the center of the diaphragm 12 23, that is, at the point B, which is the center position between the points A and C, the center with a slightly larger curvature than the center is 0 6. It is smoothly continuous with the 0 arc 2 3 4.
  • the other end of the circular arc 234 smoothly extends along a straight line 125c perpendicular to the device axis 11 defining the surface of the boss 125.
  • the diaphragm 1 23 is defined by the straight line 2 3 1 on the back side and by the two arcs 2 3 3 and 2 3 4 on the front side. .
  • the two arcs 2 3 3 and 2 3 4 are continuous at the point B at the center of the diaphragm 1 23.
  • the thickness of the diaphragm 123 defined by these straight lines and arcs is the thickness t (B) at point B, which is the center position. Is the minimum thickness. Further, the thickness t (A) at point A, which is the inner peripheral end of the diaphragm 123, is the maximum thickness. Further, the thickness t (C) at point C, which is the outer peripheral end of the diaphragm 123, is slightly smaller than the thickness t (A).
  • the cross-sectional shape of the main body portion of the trunk portion 122 is defined by the straight line 122 e and the straight line 122 b.
  • a thin portion 2 21 is defined by a concave arc 122 g and a straight line 122 b in a portion continuing to this.
  • the portion adjacent to the bottom portion 22 1 is connected to the inner peripheral end of the diaphragm by a concave arc 122 i and a convex arc 122 d.
  • a curved portion 222 is defined.
  • a thin portion 2221 is formed on the body portion 122, and the diaphragm 132 is formed as described above.
  • the cross-sectional shape is set as described above, the distribution of the stress generated in the diaphragm 123 during the operation is smoothed more smoothly than in the past. In addition, stress concentration at the inner and outer peripheral ends is sufficiently reduced. Further, since the stress generated in the diaphragm 123 can be reduced, the length L (122) of the body 122 can be shortened.
  • a thin portion is formed on the outer peripheral surface side of the trunk portion 122.
  • such a thin portion is formed on the inner peripheral surface side of the trunk portion 122. You may. Alternatively, this portion may be defined by a concave curve on both the outer peripheral surface and the inner peripheral surface to be a thin portion.
  • the thickness t (2 2 1) of the thin portion 2 2 1 of the body 1 2 2 is equal to the thickness t (1 2 2) of the body 1 2 2 It has been confirmed that it is desirable to set the value to about 80% of the value in ()).
  • two arcs 2 3 3 and 2 3 3 are used to define the thickness of the diaphragm 1 23. 4 is used.
  • the thickness of the diaphragm portion 123 may be defined using three or more arcs.
  • the back side of the diaphragm 1 23 is defined by a straight line 231, but instead of this, the front side is specified by a straight line using a curve. You can do it.
  • both sides of the diaphragm 123 may be defined by a curve, and the cross-sectional shape may be set to satisfy the above-described conditions.
  • the flexible external gear 13 is repeatedly bent into an elliptical shape by a wave generator 14 fitted inside the flexible external gear 13.
  • the external teeth 1 It is preferable to shorten the length (tooth length) L (124) of 24 in the tooth trace direction. If the tooth length L (124) is reduced, the shaft length L (122) of the body 22 can be correspondingly reduced. That is, it is possible to realize a radial engagement type gear device having a short shaft length.
  • the coupling angle of the flexible external gear 13 increases. As a result, the stress generated in the diaphragm 123 will also increase.
  • the shaft length can be increased. Even if the stress is shortened, excessive stress concentration does not occur and the generated stress It was confirmed that the distribution could be made easily.
  • the length L (122) of the body portion 122 of the flexible external gear 13 is set to the opening diameter of the external tooth, that is, the external tooth diameter.
  • the dimension can be set within the range of about 10 to about 50% of the pitch circle diameter D (P), and more specifically, can be set within the range of about 15% to about 25%.
  • the length L (124) of the external teeth in the tooth trace direction is practically set to a length within a range of about 10 to about 30% of the pitch circle diameter D (P). It was confirmed that this was desirable.
  • the wave gear device of the present invention increases the pitch circle diameter of the flexible external gear and, at the same time, shortens the axial length thereof, which is very large compared with the conventional gear. It has a flattened configuration. With this configuration, rigidity, damping capacity and gear accuracy can be improved, and as a result, vibration is reduced while maintaining the advantages of a light and compact wave gear device. Can be realized.
  • the fastening force of the gear can be increased.
  • Another advantage is that the inside diameter of the hollow portion extending through the device can be increased.
  • the sectional shape of the flexible external gear is specified so that stress concentration is reduced and the stress distribution becomes smooth.
  • a flat type wave gear device having excellent characteristics can be realized.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

Cet engrenage extérieur souple en coupelle (3) d'un train d'engrenage à mouvement ondulatoire en coupelle (1) est pourvu d'un cylindre (31), d'un diaphragme (32) et d'une protubérance (33). La longueur L de l'arbre (31) du cylindre (31) représente entre environ 15 % et environ 25 % du diamètre D du cercle primitif (P) des dents extérieures (34). La longueur L (35) du cylindre (31) dans le sens axial dans les parties autres que la partie où sont formées les dents extérieures (34) est inférieure à la largeur L (32) du diaphragme (32) dans le sens radial. De par sa configuration, ce train d'engrenage à onde ultra-plane, qui est doté d'une rigidité, d'une capacité d'amortissement et de précision de la dent améliorées, sans pour autant que soient sacrifiés les avantages que représentent la légèreté et la compacité, est apte à réduire les vibrations.
PCT/JP1998/002224 1997-05-23 1998-05-20 Train d'engrenages a onde plane WO1998053224A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19880831T DE19880831T1 (de) 1997-05-23 1998-05-20 Wellen-Zahnradgetriebe vom Flachtyp

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP9/133234 1997-05-23
JP13323497 1997-05-23

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US09214421 Continuation 1999-03-03
US29/118,422 Continuation USD440993S1 (en) 2000-02-10 2000-02-10 Gear for wave gear drive

Publications (1)

Publication Number Publication Date
WO1998053224A1 true WO1998053224A1 (fr) 1998-11-26

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WO (1) WO1998053224A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001304352A (ja) * 2000-04-17 2001-10-31 Teijin Seiki Boston Inc フランジ・サポートと一体となったハーモニックドライブ・フレックス・スプライン
JP2006057684A (ja) * 2004-08-18 2006-03-02 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
JP2007263177A (ja) * 2006-03-27 2007-10-11 Ihi Corp 材料圧縮加工装置
KR100812385B1 (ko) 2006-03-01 2008-03-11 혼다 기켄 고교 가부시키가이샤 파동 기어장치
CN103814235A (zh) * 2011-08-17 2014-05-21 谐波传动***有限公司 波动齿轮装置的挠性外齿齿轮
WO2020234945A1 (fr) * 2019-05-17 2020-11-26 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage à ondes de déformation équipé d'un générateur d'ondes du type à roulement à rouleaux

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008001632A1 (de) * 2008-05-07 2009-11-12 Zf Lenksysteme Gmbh Radialflexible Abrollbuchse
WO2013175531A1 (fr) 2012-05-23 2013-11-28 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage à onde de contrainte et engrenage externe flexible

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Publication number Priority date Publication date Assignee Title
JPS61173851U (fr) * 1985-04-19 1986-10-29
JPH03134345A (ja) * 1989-10-16 1991-06-07 Yaskawa Electric Mfg Co Ltd モータ内蔵形アクチュエータ
JPH03118346U (fr) * 1990-03-16 1991-12-06
JPH04370445A (ja) * 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61173851U (fr) * 1985-04-19 1986-10-29
JPH03134345A (ja) * 1989-10-16 1991-06-07 Yaskawa Electric Mfg Co Ltd モータ内蔵形アクチュエータ
JPH03118346U (fr) * 1990-03-16 1991-12-06
JPH04370445A (ja) * 1991-06-20 1992-12-22 Koyo Seiko Co Ltd 調和歯車装置

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001304352A (ja) * 2000-04-17 2001-10-31 Teijin Seiki Boston Inc フランジ・サポートと一体となったハーモニックドライブ・フレックス・スプライン
JP2006057684A (ja) * 2004-08-18 2006-03-02 Harmonic Drive Syst Ind Co Ltd 波動歯車装置
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