WO2013024511A1 - 波動歯車装置の可撓性外歯歯車 - Google Patents
波動歯車装置の可撓性外歯歯車 Download PDFInfo
- Publication number
- WO2013024511A1 WO2013024511A1 PCT/JP2011/004609 JP2011004609W WO2013024511A1 WO 2013024511 A1 WO2013024511 A1 WO 2013024511A1 JP 2011004609 W JP2011004609 W JP 2011004609W WO 2013024511 A1 WO2013024511 A1 WO 2013024511A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- boss
- diaphragm
- straight line
- flexible external
- diaphragm plate
- Prior art date
Links
Images
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
-
- 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
-
- 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 flexible external gear having a new shape capable of increasing the load capacity of the wave gear device.
- a wave gear device As a wave gear device, there is known a cup-type wave gear device whose flexible external gear has a cup shape, and FIG. 4 shows a longitudinal section of the cup-type wave gear device.
- a wave gear device 1A includes an annular rigid internal gear 2A, a cup-shaped flexible external gear 3A arranged coaxially inside the rigid internal gear 2A, An elliptical wave generator fitted inside the flexible external gear 3A and flexing the flexible external gear 3A into an elliptical shape and partially meshing with the rigid internal gear 2A 4A.
- the cup-shaped flexible external gear 3A includes a boss 5A having a constant thickness, which is a disc-shaped rigid body, and a diaphragm that can be bent in an out-of-plane direction extending radially outward from a circular outer peripheral surface of the boss 5A.
- external teeth 8A formed in the portion.
- the portion of the cylindrical body 7A where the external teeth 8A are formed in the flexible external gear 3A is bent into an ellipse by the wave generator 4A, and is located at both ends in the major axis direction of the elliptic curve.
- the rotatably supported gear is greatly decelerated compared to the rotational speed of the wave generator 4A. Rotates at the specified rotation speed.
- the cylindrical body portion 7A of the cup-shaped flexible external gear 3A that is bent elliptically by the wave generator 4A has a round shape in a state before deformation as shown in FIG. It is.
- the cylindrical body 7A After being bent into an elliptical shape by the wave generator 4A, on the cross section including the major axis of the elliptical curve, as shown in FIG. 5B, the cylindrical body 7A is located on the diaphragm plate 6A side. From the side toward the opening end 7a.
- the cylindrical body 7A is in a state of being constricted inward from the diaphragm plate 6A side toward the opening end side. Become.
- the cylindrical body 7A and the rigid boss 5A are connected via a diaphragm plate 6A in order to bend the part on the opening end 7a side of the cylindrical body 7A in an elliptical shape.
- the diaphragm plate 6A warps as shown by an arrow with the root portion to the boss 5A as the center.
- the diaphragm plate 6A slightly falls toward the opening end 7a.
- the diaphragm plate 6A is repeatedly bent and deformed in the front-rear direction along the center axis 1a of the device when each portion of the cylindrical body 7A on the opening end 7a side is repeatedly bent in the radial direction. Therefore, the bending stress accompanying the bending deformation acts on the diaphragm plate 6A together with the shear stress due to torque transmission.
- Patent Document 1 Japanese Utility Model Laid-Open No. 61-173851 proposes a cross-sectional shape for relaxing stress concentration at a joint portion between a boss and a diaphragm plate.
- Patent Document 2 Japanese Patent Laid-Open No.
- Patent Document 3 Japanese Patent Laid-Open No. 2006-57684 proposes a method of defining the plate thickness of each part of a diaphragm plate for increasing the load capacity in a cup-type wave gear device with a high reduction ratio. .
- the plate thickness of the diaphragm plate particularly the plate thickness change of the portion attached to the boss is considered, but other than that of the diaphragm plate is considered.
- the shape is not considered. That is, as shown in the above Patent Documents 1 to 3, the cross-sectional shape of a typical diaphragm plate is a flat surface extending outward in the radial direction that is continuous with the inner end face of the boss and orthogonal to the apparatus center axis. It is defined by an inner end face and an outer end face that extends radially outward continuously from the circular outer peripheral face of the boss, and extends in a direction (radial direction) perpendicular to the apparatus central axis as a whole.
- An object of the present invention is to propose a cup-shaped flexible external gear obtained by improving the shape of a diaphragm plate, which has not been considered in the past, in order to increase the load capacity of the wave gear device.
- a flexible external gear of a wave gear device includes: A boss that is a discoid or annular rigid body, A diaphragm plate extending continuously outward in the radial direction of the boss continuously to the outer peripheral portion of the boss; A cylindrical body that can be bent in the radial direction and extends in the direction of the central axis of the boss continuously to the circular outer periphery of the diaphragm plate; External teeth formed on the outer peripheral surface portion on the opening end side of the cylindrical body, The diaphragm plate is directed to an orthogonal plane orthogonal to the central axis from a diaphragm inner peripheral edge portion continuous with the outer peripheral portion of the boss toward a diaphragm outer peripheral edge portion continuous with the cylindrical body portion. The outer peripheral edge of the diaphragm is inclined in a direction away from the opening end of the cylindrical body.
- the outer peripheral edge portion of the diaphragm plate is directed from the inner peripheral edge portion on the boss side toward the outer peripheral edge portion on the cylindrical body side with respect to the orthogonal plane orthogonal to the central axis. It is inclined in a direction away from the opening end of the cylindrical body.
- the length from the boss to the cylindrical body portion of the diaphragm plate can be increased, and the axial length of the cylindrical body portion is also increased. be able to.
- the axial length of the cylindrical body can be made significantly longer than when the diaphragm plate is inclined in the direction opposite to the case of the present invention with respect to the orthogonal plane orthogonal to the central axis.
- the length of the diaphragm plate can be increased as compared with the conventional flexible external gear having the same diameter, so that the stress concentration on the diaphragm plate is reduced. it can.
- both the length dimension of the diaphragm plate and the length dimension in the axial direction of the cylindrical body portion can be increased compared to the conventional flexible external gear having the same diameter and the same axial length,
- the bearing reaction force by the wave generator that greatly affects the performance of the wave gear device can be greatly reduced.
- the fatigue strength of the diaphragm plate can be increased, and the load capacity of the wave gear device in which the flexible external gear is incorporated can be increased.
- the diaphragm plate is inclined and disposed within a range that fits within a thickness dimension of the boss in the central axis direction. In this way, the load capacity of the wave gear device can be increased without increasing the device size.
- the thickness of the diaphragm plate is changed from the inner peripheral edge portion to the outer peripheral edge portion. It is desirable to set so as to gradually decrease toward.
- the diaphragm plate can be extended radially outward from a portion of the circular outer peripheral surface of the boss that is offset toward the opening end.
- the inner peripheral edge portion of the diaphragm inner end surface on the opening end side of the cylindrical body portion of the diaphragm plate is smoothly continuous with the inner end surface of the boss on the opening end side of the cylindrical body portion.
- the diaphragm plate is formed so that the inner peripheral edge portion of the diaphragm outer end surface opposite to the opening end of the cylindrical body portion of the diaphragm plate is smoothly continuous with the circular outer peripheral surface of the boss.
- the shapes of the inner end faces of the boss and the diaphragm plate are defined as follows.
- the boss inner end surface is defined by an inner straight line orthogonal to the central axis.
- the inner end face of the diaphragm is defined by an inner convex curve that is smoothly continuous with the end point of the inner straight line, and an inner inclined straight line that is smoothly continuous with the end point of the inner convex curve. .
- the shape of the outer end face of the boss and the diaphragm plate is defined as follows.
- a boss outer end surface of the boss opposite to the boss inner end surface is defined by an outer straight line orthogonal to the central axis.
- a boss circular outer peripheral surface that is continuous with the outer peripheral edge of the boss outer end surface is defined by an outer peripheral straight line that is bent from the end point of the outer straight line toward the boss inner end surface.
- the diaphragm outer end face has a first concave curve which is concave on the inner side which is smoothly continuous with the end point of the outer peripheral straight line, and an inner concave side which is smoothly continuous on the end point of the first concave curve.
- the radii of curvature of the first concave curve, the second concave curve, and the third concave curve are set so as to increase in this order.
- the outer inclined straight line is inclined in the same direction as the inner inclined straight line at a second inclination angle smaller than the first inclination angle.
- the outer peripheral edge portion of the diaphragm plate extends from the inner peripheral edge portion on the boss side toward the outer peripheral edge portion on the cylindrical body side with respect to the radial direction perpendicular to the central axis. It is inclined in a direction away from the opening end of the cylindrical body. Therefore, the length of the diaphragm plate can be increased as compared with the conventional flexible external gear having the same diameter, and the stress concentration of the diaphragm plate can be reduced. In addition, compared with a conventional flexible external gear having the same diameter and the same axial length, the length of the diaphragm plate and the length of the cylindrical body can be increased, greatly increasing the performance of the wave gear device. The bearing reaction force due to the affected wave generator can be greatly reduced. Therefore, according to the present invention, the fatigue strength of the diaphragm plate can be increased, and the load capacity of the wave gear device incorporating the flexible external gear can be increased.
- FIG. 1 is a schematic longitudinal sectional view and a schematic configuration diagram showing a cup-type wave gear device to which the present invention is applied.
- (A) is a half sectional view showing a flexible external gear of the cup-type wave gear device of FIG. 1
- (b) is a half sectional view showing a conventional flexible external gear. It is an expanded partial sectional view which shows the flexible external gear shown to Fig.2 (a). It is a schematic longitudinal cross-sectional view which shows the conventional typical cup-type wave gear apparatus.
- FIG. 1A is a schematic longitudinal sectional view showing a cup-type wave gear device according to the present embodiment
- FIG. 1B is a schematic configuration diagram when cut along a plane orthogonal to the central axis of the device. .
- wave gear device 1 The basic configuration of a cup-type wave gear device 1 (hereinafter simply referred to as “wave gear device 1”) is the same as that of the conventional wave gear device 1A shown in FIGS.
- An annular rigid internal gear 2, a cup-shaped flexible external gear 3 arranged coaxially inside the rigid internal gear 2, and the flexible external gear 3 are fitted inside.
- a wave generator 4 is provided.
- the wave generator 4 has an elliptical outline, and the flexible external gear 3 is bent into an elliptical shape and partially meshed with the rigid internal gear 2.
- the cup-shaped flexible external gear 3 can be bent in an out-of-plane direction extending radially outward from a circular outer peripheral surface 5a of the boss 5 and a boss 5 having a constant thickness which is an annular rigid body.
- External teeth 8 formed on the outer peripheral surface portion. External teeth 8 meshes at the site of both ends of the long axis L m of the elliptical curve relative to the internal teeth 9 of the rigid internal gear 2.
- FIG. 2 is a half sectional view showing the cup-shaped flexible external gear 3 in comparison with the conventional flexible external gear 3A.
- FIG. 3 is a partially enlarged sectional view of the flexible external gear 3. is there.
- the diaphragm plate 6 of the flexible external gear 3 has a diaphragm continuous from the diaphragm inner peripheral edge portion 6 a that is continuous with the circular outer peripheral surface 5 a of the boss 5 to the cylindrical body portion 7.
- the diaphragm outer peripheral edge portion 6b is inclined toward the outer peripheral edge portion 6b in a direction away from the opening end 7a of the cylindrical body portion 7 with respect to the orthogonal plane V orthogonal to the device center axis 1a.
- the diaphragm plate 6 gradually decreases in thickness from the inner peripheral edge portion 6a of the diaphragm toward the outer peripheral edge portion 6b of the diaphragm.
- the diaphragm plate 6 extends outward from a portion of the circular outer peripheral surface 5a of the boss 5 that is offset toward the opening end 7a. That is, the inner peripheral edge portion of the diaphragm inner end surface 12 on the side of the opening end 7 a in the diaphragm plate 6 is smoothly continuous with the boss inner end surface 11 on the side of the opening end 7 a in the boss 5, and what is the opening end 7 a in the diaphragm plate 6?
- the diaphragm plate 6 is formed so that the inner peripheral edge portion of the opposite diaphragm outer end surface 22 smoothly continues to the circular outer peripheral surface 5 a of the boss 5.
- each part of the flexible external gear 3 when the flexible external gear 3 is cut along a plane including the device central axis 1a is defined as follows.
- the boss inner end face 11 of the boss 5 is defined by an inner straight line 14 orthogonal to the apparatus center axis 1a.
- the diaphragm inner end face 12 is defined by an inner convex curve 15 smoothly continuing to the end point 14 a of the inner straight line 14 and an inner inclined straight line 16 smoothly continuing to the end point 15 a of the inner convex curve 15.
- the inner convex curve 15 is a curve having a radius of curvature R 15 where the center O 15 is located on the outer side.
- the inner peripheral surface 13 of the cylindrical body 7 has an inner concave curve 17 smoothly continuing to the end point 16 a of the inner inclined straight line 16 and an inner peripheral side smoothly continuing to the end point 17 a of the inner concave curve 17. It is defined by a straight line 18.
- the inner concave curve 17 is a curve having a radius of curvature R 17 in which the center O 17 is located on the inner side.
- the inner peripheral straight line 18 is a straight line parallel to the apparatus center axis 1a.
- the boss outer end face 21 is defined by an outer straight line 24 orthogonal to the apparatus center axis 1a.
- the circular outer peripheral surface 5a of the boss 5 that is continuous with the outer peripheral edge of the boss outer end surface 21 is formed by an outer peripheral straight line 25 that is bent at a substantially right angle from the end point 24a of the outer straight line 24 toward the boss inner end surface 11 side. It is prescribed.
- the diaphragm outer end surface 22 has a first concave curve 26 that is smoothly continuous with the end point 25a of the outer peripheral side straight line 25, and a concave inner side that is smoothly continuous with the end point 26a of the first concave curve 26.
- the second concave curve 27, the third concave curve 28 smoothly connected to the end point 27a of the second concave curve 27, and the outer inclined straight line smoothly connected to the end point 28a of the third concave curve 28. 29.
- the first concave curve 26 is a curve with a radius of curvature R 26 where the center O 26 is located outside
- the second concave curve 27 is a curve with a radius of curvature R 27 where the center O 27 is located outside
- the third concave curve is a curve with a radius of curvature R 27 where the center O 27 is located outside
- Reference numeral 28 denotes a curve having a radius of curvature R 28 in which the center O 28 is located outside.
- the curvature radii of these curves have the following relationship.
- the radius of curvature R 15 of the inner convex curve 15 is greater than the radius of curvature R 28.
- the outer peripheral surface 23 of the cylindrical body 7 has a convex curve 30 smoothly continuing to the end point 29a of the outer inclined straight line 29, a concave curve 31 smoothly continuing to the end point 30a of the convex curve 30, and this A convex curve 32 smoothly continuing to the end point 31a of the concave curve 31, a straight line 33 smoothly continuing to the end point 32a of the convex curve 32, and a concave smoothly continuing to the end point 33a of the straight line 33 It is defined by a curved line 34 and a contour 35 on the tooth tip side of the external tooth 8 extending from the end point 34 a of the concave curve 34.
- the convex curve 30 is a curve with a radius of curvature R 30 where the center O 17 is located inside
- the concave curve 31 is a curve with a radius of curvature R 31 where the center O 31 is located outside
- the convex curve 32 is the center O 32 is a curve with a radius of curvature R 32
- the concave curve 34 is a curve with a radius of curvature R 34 where the center O 34 is located outside.
- the straight line 33 is a straight line parallel to the apparatus center axis 1a.
- the inner inclined straight line 16 in the diaphragm plate 6 defines the boss inner end face 11 in such a direction that the end point 16a on the cylindrical body side is located on the boss outer end face 21 side with respect to the end point 15a on the boss side.
- the inner straight line 14 is inclined at a first inclination angle ⁇ 1 .
- the outer inclined straight line 29 is inclined in the same direction as the inner inclined straight line 16 at a second inclination angle ⁇ 2 smaller than the first inclination angle ⁇ 1 . It is desirable that the diaphragm plate 6 be inclined so as to be within the range of the thickness T 5 of the boss 5.
- the cross-sectional shapes of the boss 5, the diaphragm plate 6, and the cylindrical body 7 are defined. Accordingly, the thickest plate thickness T 5 of the boss 5, in the inner peripheral edge portion 6a of the diaphragm plate 6 are continuous thereto, the inner convex curve 15, the first to third concave lines 26-28 of the outer The plate thickness gradually decreases from the boss side. Further, the plate thickness is gradually reduced from the inner peripheral edge portion 6a toward the outer peripheral edge portion 6b by the inner inclined straight line 16 and the outer inclined straight line 29 having different inclination angles.
- the portion connected to the diaphragm plate 6 side in the cylindrical body portion 7 is defined by the curves 17 and 30 having the same center O 17 and the same curvature radius R 17 , they have the same plate thickness.
- the portion of the cylindrical body 7 connected to the inner side is defined by the inner circumferential straight line 18 and the outer side is defined by the concave curve 31, so that the minimum plate thickness portion 7 b of the cylindrical body 7 is in the middle position. Is formed.
- the diaphragm plate 6 is generally on the boss 5 side with respect to the orthogonal plane V orthogonal to the device center axis 1 a.
- the outer peripheral edge portion 6b is inclined from the inner peripheral edge portion 6a toward the outer peripheral edge portion 6b on the cylindrical body 7 side so as to be located on the outer side with respect to the inner peripheral edge portion 6a.
- the length of the diaphragm plate 6 from the boss 5 to the cylindrical body 7 can be made larger than that in the case where the diaphragm plate 6 extends in a direction orthogonal to the apparatus center axis 1a, and the cylinder plate
- the axial length of the cylindrical body 7 can also be increased.
- the axial length of the cylindrical body 7 is greatly increased as compared with the case where the diaphragm plate 6 is inclined in the direction opposite to the case of the present invention with respect to the orthogonal plane V orthogonal to the apparatus center axis 1a. be able to.
- the flexible external gear 3 of this example shown in FIG. 2A is compared with the conventional flexible external gear 3A having the same diameter D and the same axial length L shown in FIG. with the length L 6 of the diaphragm plate 6 can be increased as compared with the conventional length L 6A, greater than the axial length L 7 of the cylindrical barrel 7 of the conventional length L 7A can do.
- the stress concentration generated in the diaphragm plate 6 can be relieved to reduce the generated stress, and the bearing reaction force F (see FIG. 5B) by the wave generator 4 that greatly affects the performance of the wave gear device 1 can be obtained.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
円盤状あるいは円環状の剛体であるボスと、
前記ボスの外周部分に連続して当該ボスの半径方向の外方に広がっているダイヤフラム板と、
前記ダイヤフラム板の円形外周縁部分に連続して前記ボスの中心軸線の方向に延びている半径方向に撓み可能な円筒状胴部と、
前記円筒状胴部の開口端の側の外周面部分に形成した外歯とを備えており、
前記ダイヤフラム板は、前記ボスの前記外周部分に連続しているダイヤフラム内周縁部分から前記円筒状胴部に連続しているダイヤフラム外周縁部分に向けて、前記中心軸線に直交する直交平面に対して、前記ダイヤフラム外周縁部分が前記円筒状胴部の前記開口端から遠ざかる方向に傾斜していることを特徴としている。
(a1)前記ボス内側端面を前記中心軸線に直交する内側直線によって規定する。
(a2)前記ダイヤフラム内側端面を、前記内側直線の端点に滑らかに連続している内側に凸の内側凸曲線と、この内側凸曲線の端点に滑らかに連続している内側傾斜直線とによって規定する。
(a3)前記内側傾斜直線を、その円筒状胴部側の端点がそのボス側の端点に対して前記ボス内側端面から離れる方向に、前記ボス内側端面を規定している前記内側直線に対して第1の傾斜角度で傾斜させる。
(b1)前記ボスにおける前記ボス内側端面とは反対側のボス外側端面を前記中心軸線に直交する外側直線によって規定する。
(b2)前記ボス外側端面の外周縁に連続しているボス円形外周面を、前記外側直線の端点から前記ボス内側端面の側に向けて折れ曲がって延びている外周側直線によって規定する。
(b3)前記ダイヤフラム外側端面を、前記外周側直線の端点に滑らかに連続している内側に凹の第1凹曲線と、この第1凹曲線の端点に滑らかに連続している内側に凹の第2凹曲線と、この第2凹曲線の端点に滑らかに連続している第3凹曲線と、この第3凹曲線の端点に滑らかに連続している外側傾斜直線とによって規定する。
(b4)前記第1凹曲線、前記第2凹曲線および前記第3凹曲線の曲率半径を、この順序に大きくなるように設定する。
(b5)前記外側傾斜直線を、前記内側傾斜直線と同一方向に、前記第1の傾斜角度よりも小さな第2の傾斜角度で傾斜させる。
R26<R27<R28
Claims (6)
- 波動歯車装置の可撓性外歯歯車であって、
円盤状あるいは円環状の剛体であるボスと、
前記ボスの外周部分に連続して当該ボスの半径方向の外方に広がっているダイヤフラム板と、
前記ダイヤフラム板の円形外周縁部分に連続して前記ボスの中心軸線の方向に延びている半径方向に撓み可能な円筒状胴部と、
前記円筒状胴部の開口端の側の外周面部分に形成した外歯とを備えており、
前記ダイヤフラム板は、前記ボスの前記外周部分に連続しているダイヤフラム内周縁部分から前記円筒状胴部に連続しているダイヤフラム外周縁部分に向けて、前記中心軸線に直交する直交平面に対して、前記ダイヤフラム外周縁部分が前記円筒状胴部の前記開口端から遠ざかる方向に傾斜していることを特徴とする波動歯車装置の可撓性外歯歯車。 - 請求項1において、
前記ダイヤフラム板は、前記ボスの前記中心軸線の方向の厚さ寸法内に収まる範囲内で傾斜配置されていることを特徴とする波動歯車装置の可撓性外歯歯車。 - 請求項1において、
前記ダイヤフラム板は、前記ダイヤフラム内周縁部分から前記ダイヤフラム外周縁部分に向けて肉厚が漸減していることを特徴とする波動歯車装置の可撓性外歯歯車。 - 請求項1において、
前記ダイヤフラム板における前記開口端の側のダイヤフラム内側端面は、前記ボスにおける前記開口端の側のボス内側端面に滑らかに連続しており、
前記ダイヤフラム板における前記開口端とは反対側のダイヤフラム外側端面は、前記ボスの円形外周面に滑らかに連続していることを特徴とする波動歯車装置の可撓性外歯歯車。 - 請求項4において、
前記中心軸線を含む平面で切断した場合に、
前記ボス内側端面は前記中心軸線に直交する内側直線によって規定されており、
前記ダイヤフラム内側端面は、前記内側直線の端点に滑らかに連続している内側に凸の内側凸曲線と、この内側凸曲線の端点に滑らかに連続している内側傾斜直線とによって規定されており、
前記内側傾斜直線は、その円筒状胴部側の端点がそのボス側の端点に対して前記ボス内側端面から離れる方向に、前記ボス内側端面を規定している前記内側直線に対して第1の傾斜角度で傾斜しており、
前記ボスにおける前記ボス内側端面とは反対側のボス外側端面は、前記中心軸線に直交する外側直線によって規定されており、
前記ボス外側端面の外周縁に連続しているボス円形外周面は、前記外側直線の端点から前記ボス内側端面の側に向けて折れ曲がって延びている外周側直線によって規定されており、
前記ダイヤフラム外側端面は、前記外周側直線の端点に滑らかに連続している内側に凹の第1凹曲線と、この第1凹曲線の端点に滑らかに連続している内側に凹の第2凹曲線と、この第2凹曲線の端点に滑らかに連続している第3凹曲線と、この第3凹曲線の端点に滑らかに連続している外側傾斜直線とによって規定されており、
前記第1凹曲線、前記第2凹曲線および前記第3凹曲線の曲率半径は、この順序に大きくなるように設定されており、
前記外側傾斜直線は、前記内側傾斜直線と同一方向に、前記第1の傾斜角度よりも小さな第2の傾斜角度で傾斜していることを特徴とする波動歯車装置の可撓性外歯歯車。 - 剛性内歯歯車と、
前記剛性内歯歯車の内側に同軸状態に配置されている可撓性外歯歯車と、
前記可撓性外歯歯車の内側に嵌め込まれ、当該可撓性外歯歯車を非円形に撓めて、前記剛性内歯歯車に対して部分的に噛み合わせている波動発生器とを有し、
前記波動発生器の回転に伴って、前記剛性内歯歯車と前記可撓性外歯歯車の噛み合い位置が周方向に移動して、これら両歯車の歯数差に応じた相対回転が両歯車の間に発生する波動歯車装置において、
前記可撓性外歯歯車は請求項1ないし5のうちのいずれかの項に記載の可撓性外歯歯車であることを特徴とする波動歯車装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/236,081 US9476494B2 (en) | 2011-08-17 | 2011-08-17 | Flexible externally toothed gear for wave gear device |
PCT/JP2011/004609 WO2013024511A1 (ja) | 2011-08-17 | 2011-08-17 | 波動歯車装置の可撓性外歯歯車 |
DE112011105531.5T DE112011105531T5 (de) | 2011-08-17 | 2011-08-17 | Flexibles, außen verzahntes Zahnrad für ein Wellgetriebe |
KR1020147006375A KR101742203B1 (ko) | 2011-08-17 | 2011-08-17 | 파동 기어 장치의 가요성 외치기어 |
JP2013528847A JP5826275B2 (ja) | 2011-08-17 | 2011-08-17 | 波動歯車装置の可撓性外歯歯車 |
CN201180072867.2A CN103814235B (zh) | 2011-08-17 | 2011-08-17 | 波动齿轮装置的挠性外齿齿轮 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/004609 WO2013024511A1 (ja) | 2011-08-17 | 2011-08-17 | 波動歯車装置の可撓性外歯歯車 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013024511A1 true WO2013024511A1 (ja) | 2013-02-21 |
Family
ID=47714856
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/004609 WO2013024511A1 (ja) | 2011-08-17 | 2011-08-17 | 波動歯車装置の可撓性外歯歯車 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9476494B2 (ja) |
JP (1) | JP5826275B2 (ja) |
KR (1) | KR101742203B1 (ja) |
CN (1) | CN103814235B (ja) |
DE (1) | DE112011105531T5 (ja) |
WO (1) | WO2013024511A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3205905A1 (en) | 2016-02-08 | 2017-08-16 | Harmonic Drive Systems Inc. | Cup-shaped flexible externally toothed gear and cup-type strain wave gearing |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9360098B2 (en) | 2013-10-29 | 2016-06-07 | Roopnarine | Strain wave drive with improved performance |
DE102014003219A1 (de) * | 2014-03-05 | 2015-09-10 | Audi Ag | Elektromechanischer Rotationsdämpfer mit Zug- und Druckanschlag |
DE102014007844A1 (de) * | 2014-05-23 | 2015-11-26 | Audi Ag | Rotationsdämpfer |
DE102015104135A1 (de) | 2015-03-19 | 2016-09-22 | Harmonic Drive Ag | Wellgetriebe mit Trockenlauf |
CN105587844A (zh) * | 2015-12-30 | 2016-05-18 | 北京工商大学 | 具有波纹联接结构的柔轮 |
CN105605197A (zh) * | 2015-12-31 | 2016-05-25 | 北京工商大学 | 筒体具有波纹结构的柔轮 |
JP6587755B2 (ja) * | 2016-09-30 | 2019-10-09 | 株式会社ハーモニック・ドライブ・システムズ | 磁気式回転伝達機構 |
DE102016220919A1 (de) * | 2016-10-25 | 2018-04-26 | Schaeffler Technologies AG & Co. KG | Verstellgetriebeanordnung für ein Fahrzeug, Fahrzeug mit der Verstellgetriebeanordnung sowie Verfahren zur Montage der Verstellgetriebeanordnung |
KR102136987B1 (ko) * | 2016-11-30 | 2020-07-23 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 파동기어장치의 외치기어 |
TWI641771B (zh) | 2016-12-29 | 2018-11-21 | 財團法人工業技術研究院 | 諧波傳動裝置 |
US11017618B2 (en) | 2017-06-12 | 2021-05-25 | Holley Performance Products, Inc. | Systems, methods, and apparatuses for processing vehicle performance data |
FR3077356B1 (fr) * | 2018-01-31 | 2020-01-03 | Ntn-Snr Roulements | Plaque dentee a denture elastique et mecanisme de transmission comportant un jeu de plaques dentees |
JP7168187B2 (ja) * | 2018-02-22 | 2022-11-09 | 日本電産シンポ株式会社 | 可撓性外歯歯車およびそれを備える波動歯車装置 |
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 |
USD971978S1 (en) * | 2020-09-09 | 2022-12-06 | Harmonic Drive Systems Inc. | Speed reducer |
CN112145650B (zh) * | 2020-09-28 | 2022-03-25 | 珠海格力电器股份有限公司 | 刚度补偿装置、谐波减速器及机器人 |
JP2022096109A (ja) * | 2020-12-17 | 2022-06-29 | セイコーエプソン株式会社 | 歯車装置およびロボット |
DE102021210012A1 (de) | 2021-09-10 | 2022-07-28 | Zf Friedrichshafen Ag | Abrollbuchse für ein Wellgetriebe und Wellgetriebe |
CN117628141A (zh) * | 2024-01-26 | 2024-03-01 | 广东极亚精机科技有限公司 | 柔性外齿齿轮、谐波齿轮装置以及机器人用关节装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08166051A (ja) * | 1994-12-14 | 1996-06-25 | Harmonic Drive Syst Ind Co Ltd | シルクハット型撓み噛み合い式歯車装置 |
JPH08296703A (ja) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | 調和形減速機構のフレクスプライン |
JP2006097861A (ja) * | 2004-09-30 | 2006-04-13 | Nabtesco Corp | 波動歯車装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4491033A (en) * | 1983-06-23 | 1985-01-01 | Usm Corporation | Double eccentric wave generator arrangement |
JPS61173851U (ja) | 1985-04-19 | 1986-10-29 | ||
JPS6275154A (ja) * | 1985-09-30 | 1987-04-07 | Tsubakimoto Chain Co | ハ−モニツクドライブ装置 |
JPS6275153A (ja) * | 1985-09-30 | 1987-04-07 | Tsubakimoto Chain Co | ハ−モニツクドライブ装置 |
JPH0617888A (ja) | 1991-02-08 | 1994-01-25 | Harmonic Drive Syst Ind Co Ltd | 調和変速装置における可撓性のカップ形部材 |
KR100381798B1 (ko) | 1994-12-14 | 2003-11-28 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 실크해트형휨맞물림식기어장치 |
JPH09273609A (ja) * | 1996-04-04 | 1997-10-21 | Harmonic Drive Syst Ind Co Ltd | シルクハット型撓み噛み合い式歯車装置 |
DE19880831T1 (de) * | 1997-05-23 | 1999-11-18 | Harmonic Drive Systems | Wellen-Zahnradgetriebe vom Flachtyp |
DE69723291T2 (de) * | 1997-10-02 | 2004-04-22 | Harmonic Drive Systems Inc. | Elastisches zahnrad |
JP4133018B2 (ja) * | 2002-06-21 | 2008-08-13 | 株式会社ハーモニック・ドライブ・システムズ | シルクハット型波動歯車装置の波動発生器の組み込み方法、および、当該組み込み方法に用いるシルクハット形状の可撓性外歯歯車 |
JP3775374B2 (ja) * | 2002-09-06 | 2006-05-17 | 株式会社ディムコ | 差動遊星ローラー減速機 |
JP4685383B2 (ja) | 2004-08-18 | 2011-05-18 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置 |
JP2007016838A (ja) * | 2005-07-06 | 2007-01-25 | Nabtesco Corp | シルクハット型波動歯車装置 |
-
2011
- 2011-08-17 JP JP2013528847A patent/JP5826275B2/ja active Active
- 2011-08-17 CN CN201180072867.2A patent/CN103814235B/zh active Active
- 2011-08-17 DE DE112011105531.5T patent/DE112011105531T5/de active Pending
- 2011-08-17 WO PCT/JP2011/004609 patent/WO2013024511A1/ja active Application Filing
- 2011-08-17 US US14/236,081 patent/US9476494B2/en active Active
- 2011-08-17 KR KR1020147006375A patent/KR101742203B1/ko active IP Right Grant
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08166051A (ja) * | 1994-12-14 | 1996-06-25 | Harmonic Drive Syst Ind Co Ltd | シルクハット型撓み噛み合い式歯車装置 |
JPH08296703A (ja) * | 1995-04-26 | 1996-11-12 | Japan Servo Co Ltd | 調和形減速機構のフレクスプライン |
JP2006097861A (ja) * | 2004-09-30 | 2006-04-13 | Nabtesco Corp | 波動歯車装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3205905A1 (en) | 2016-02-08 | 2017-08-16 | Harmonic Drive Systems Inc. | Cup-shaped flexible externally toothed gear and cup-type strain wave gearing |
KR20170094074A (ko) | 2016-02-08 | 2017-08-17 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 컵형상의 가요성 외치기어 및 컵형의 파동기어장치 |
US10352427B2 (en) | 2016-02-08 | 2019-07-16 | Harmonic Drive Systems Inc. | Cup-shaped flexible externally toothed gear and cup-type strain wave gearing |
Also Published As
Publication number | Publication date |
---|---|
DE112011105531T5 (de) | 2014-05-08 |
KR20140051406A (ko) | 2014-04-30 |
JP5826275B2 (ja) | 2015-12-02 |
JPWO2013024511A1 (ja) | 2015-03-05 |
US9476494B2 (en) | 2016-10-25 |
CN103814235B (zh) | 2016-08-31 |
KR101742203B1 (ko) | 2017-05-31 |
CN103814235A (zh) | 2014-05-21 |
US20140165758A1 (en) | 2014-06-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5826275B2 (ja) | 波動歯車装置の可撓性外歯歯車 | |
US10352427B2 (en) | Cup-shaped flexible externally toothed gear and cup-type strain wave gearing | |
TWI703285B (zh) | 可撓性外齒齒輪及諧波齒輪裝置 | |
US7249536B2 (en) | Wave gear device | |
TWI614428B (zh) | 雙模式諧波齒輪裝置 | |
JP6218692B2 (ja) | デュアルタイプの波動歯車装置 | |
TWI735644B (zh) | 諧波齒輪裝置的外齒齒輪 | |
TWI608184B (zh) | 雙模式諧波齒輪裝置、及諧波齒輪裝置之外齒齒輪之半徑方向撓曲量的設定方法 | |
TW201910666A (zh) | 諧波齒輪裝置 | |
JP6218693B2 (ja) | デュアルタイプの波動歯車装置 | |
TWI608185B (zh) | 雙模式諧波齒輪裝置 | |
WO2016092636A1 (ja) | 追い越し型かみ合いの負偏位波動歯車装置 | |
JP6921469B2 (ja) | コロ軸受式波動発生器を備えた波動歯車装置 | |
US11143283B2 (en) | Strain wave gearing | |
TWI698598B (zh) | 諧波齒輪裝置的諧波產生器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11870886 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2013528847 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14236081 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120111055315 Country of ref document: DE Ref document number: 112011105531 Country of ref document: DE |
|
ENP | Entry into the national phase |
Ref document number: 20147006375 Country of ref document: KR Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11870886 Country of ref document: EP Kind code of ref document: A1 |