WO2015001582A1 - 中空型波動歯車装置 - Google Patents
中空型波動歯車装置 Download PDFInfo
- Publication number
- WO2015001582A1 WO2015001582A1 PCT/JP2013/004076 JP2013004076W WO2015001582A1 WO 2015001582 A1 WO2015001582 A1 WO 2015001582A1 JP 2013004076 W JP2013004076 W JP 2013004076W WO 2015001582 A1 WO2015001582 A1 WO 2015001582A1
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- wave
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- bearing
- peripheral surface
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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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
- 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
- Y10T74/19647—Parallel axes or shafts
-
- 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
- Y10T74/1987—Rotary bodies
Definitions
- the present invention relates to a hollow wave gear device. More specifically, a hollow shaft defining a hollow portion penetrating in the direction of the center axis of the device is integrally formed with a plug of a wave generator and the shaft ends on both sides of the hollow shaft are supported by support bearings.
- the present invention relates to a type wave gear device.
- the hollow wave gear device includes a hollow shaft that defines a hollow portion extending through in the direction of the central axis of the device, and a wave plug having an elliptical contour of a wave generator is integrally formed on the outer peripheral surface of the hollow shaft.
- a configuration is known.
- Patent Document 1 discloses a hollow wave gear device including a top-hat-shaped flexible external gear.
- the wave generator includes a wave plug integrally formed on the outer peripheral surface of the hollow shaft and a wave bearing fitted on the elliptical outer peripheral surface of the wave plug.
- the wave bearing is a bearing having flexible inner and outer rings that can be bent in the radial direction.
- Wave bearings are installed as follows. One end of the hollow shaft is passed through the wave bearing, the wave bearing is moved along the outer peripheral surface of the hollow shaft to the wave plug, and attached to the elliptical outer peripheral surface of the wave plug.
- the outer diameter of the shaft portion between one shaft end of the hollow shaft and the wave plug needs to be smaller than the inner diameter of the wave bearing. In general, the outer diameter of the shaft portion is made smaller than the minor diameter of the elliptical outer peripheral surface of the wave plug so that the wave bearing can be mounted.
- the shaft part on one shaft end side of the hollow shaft cannot be increased in outer diameter because it is equipped with a wave bearing.
- the support bearing for supporting the shaft end portion on the wave bearing mounting side of the hollow shaft is attached to the small-diameter shaft portion, and thus must be a small-diameter bearing. Large size support bearings with high support performance cannot be used. Further, since the outer diameter of the shaft cannot be increased, the hollow diameter of the hollow shaft cannot be increased.
- An object of the present invention is to propose a hollow wave gear device including a support bearing having an inner diameter larger than the outer diameter of the shaft portion of the hollow shaft on the side where the wave bearing is mounted.
- the hollow wave gear device of the present invention is A hollow shaft; A wave plug having an elliptical contour formed on the outer peripheral surface of the hollow shaft, and a wave bearing fitted on the elliptical outer peripheral surface of the wave plug from one first shaft end portion side of the hollow shaft Generator, A cylindrical collar mounted on the outer peripheral surface of the first shaft end; A first support bearing supporting one end of the first shaft of the hollow shaft via the collar; A second support bearing supporting the other second shaft end of the hollow shaft; It is characterized by having.
- the collar is mounted on the outer peripheral surface of the first shaft end on the side where the wave bearing is mounted, and the first support bearing is mounted on the outer peripheral surface of the collar.
- the first support bearing having an inner diameter larger than the outer diameter of the first shaft end can be used, and the support performance of the hollow shaft can be enhanced. That is, there is no restriction on the bearing size of the first support bearing due to the installation of the wave bearing. Therefore, the first support bearing having an inner diameter larger than the minor axis of the elliptical outer peripheral surface of the wave plug of the wave generator can be used.
- the collar is attached to the first shaft end portion of the hollow shaft supported by the first support bearing, the first shaft end portion is reinforced by the collar. Therefore, the thickness of the first shaft end portion can be reduced, and thereby the inner diameter of the hollow shaft can be increased.
- the collar may be configured such that the collar contacts the inner ring of the wave bearing from the direction of the center axis of the device, and the inner ring of the first support bearing. It is desirable to provide at least one inner ring pressing surface of the second inner ring pressing surfaces that abut from the direction of the central axis.
- a first unit end plate disposed on the side of the first shaft end in the direction of the apparatus center axis, to which the first support bearing is attached;
- a second unit end plate disposed on the side of the second shaft end in the direction of the apparatus center axis, to which the second support bearing is attached;
- a rigid internal gear disposed between the first and second unit end plates and rotating integrally with the first unit end plate;
- a flexible external gear that is disposed inside the rigid internal gear between the first and second unit end plates and rotates integrally with the second unit end plate;
- a unit bearing that supports the rigid internal gear and the flexible external gear in a relatively rotatable manner; It has.
- a silk hat-shaped flexible external gear is used as the flexible external gear.
- a top-hat-shaped flexible external gear includes a cylindrical body, a diaphragm extending outward in a radial direction continuously to an end of the cylindrical body on the second unit end plate side, and the diaphragm
- An annular boss formed continuously on the outer peripheral edge of the outer peripheral surface and outer teeth formed on the outer peripheral surface portion of the cylindrical body portion on the first unit end plate side.
- the wave generator is mounted inside the external tooth forming portion where the external teeth are formed in the cylindrical body portion, and the external tooth forming portion is bent in an elliptical shape.
- the boss is fixed to the second unit end plate together with the outer ring of the unit bearing.
- the rigid internal gear is fixed to the first unit end plate together with the inner ring of the unit bearing.
- the rigid internal gear, the inner ring, and the first unit end plate are integrally formed as a single component.
- FIG. 1 It is a longitudinal section showing a hollow wave gear device to which the present invention is applied. It is explanatory drawing which shows the outer diameter dimension of each part of the hollow wave gear apparatus of FIG. It is a fragmentary sectional view at the time of using the color of a shape different from FIG.
- FIG. 1 is a longitudinal sectional view of a hollow wave gear device to which the present invention is applied, and FIG. 2 is an explanatory view showing the outer diameter of each part.
- the hollow wave gear device 1 includes a hollow shaft 2 extending in the direction of the device central axis 1a.
- the hollow shaft 2 is an input shaft to which high-speed rotation is input from a motor or the like, and a hollow section 3 having a circular cross section penetrating in the direction of the apparatus center axis 1a is formed therein.
- One first shaft end 2 a of the hollow shaft 2 is supported by a first support bearing 4, and the other second shaft end 2 b is supported by a second support bearing 5.
- the first and second support bearings 4 and 5 are, for example, ball bearings.
- the first support bearing 4 is attached to a disc-shaped first unit end plate 6 ⁇ / b> A that is integrally formed at one end of the cylindrical housing 6.
- the second support bearing 5 is attached to a disk-shaped second unit end plate 7.
- a rigid internal gear 8 is integrally formed as a part of the housing 6.
- the flexible external gear 9 is fixed to the second unit end plate 7.
- the rigid internal gear 8 and the flexible external gear 9 are supported by the unit bearing 11 in a relatively rotatable state.
- the unit bearing 11 is, for example, a cross roller bearing.
- the flexible external gear 9 is bent elliptically by the wave generator 10 and meshes with the rigid internal gear 8 at both ends of the elliptical long axis direction.
- the number of teeth of the flexible external gear 9 is 2n less than the number of teeth of the rigid internal gear 8.
- n is a positive integer, usually two fewer.
- the wave generator 10 includes a wave plug 12 having an elliptical outline and a constant width, and a wave bearing 13 fitted to the elliptical outer peripheral surface 12 a of the wave plug 12.
- the wave plug 12 is integrally formed at a site adjacent to the first support bearing 4 in the shaft portion of the hollow shaft 2 located between the first and second unit end plates 6A and 7.
- the wave bearing 13 is a bearing such as a ball bearing having inner and outer rings that can be bent in the radial direction.
- the wave bearing 13 is mounted on the hollow shaft 2 from the first shaft end 2 a side of the hollow shaft 2 and is fitted to the elliptical outer peripheral surface 12 a of the wave plug 12. Therefore, the outer diameter of the shaft portion between the shaft end 2c on the first shaft end portion 2a side of the hollow shaft 2 and the wave plug 12 is the inner diameter of the wave bearing 13 (in a circular state before being bent into an elliptical shape). Smaller than the inner diameter).
- the outer diameter of the circular outer peripheral surface 2e of the first shaft end 2a is smaller than the short diameter Ls of the elliptical outer peripheral surface 12a of the wave plug 12.
- a circular outer peripheral surface 2d having a smaller diameter is formed between the circular outer peripheral surface 2e and the shaft end 2c.
- a cylindrical collar 14 is attached to the circular outer peripheral surface 2e of the first shaft end 2a.
- the collar 14 includes a cylindrical collar main body portion 14a and a large-diameter annular flange portion 14b formed at the end of the color main body portion 14a on the second shaft end portion 2b side.
- the end surface of the flange portion 14b abuts on an annular step surface between the circular outer peripheral surface 2e and the elliptical outer peripheral surface 12a of the wave plug 12, and the collar 14 is positioned in the axial direction.
- the first support bearing 4 is mounted on the circular outer peripheral surface of the collar body 14 a of the collar 14.
- the flange portion 14 b of the collar 14 is sandwiched between the inner ring 13 a of the wave bearing 13 and the inner ring 4 b of the first support bearing 4. Accordingly, the annular end surfaces 14 c and 14 d on both sides of the flange portion 14 b function as an inner ring pressing surface of the wave bearing 13 and an inner ring pressing surface of the first support bearing 4, respectively.
- the first support bearing 4 supports the first shaft end 2 a of the hollow shaft 2 via the collar 14. Therefore, the inner diameter of the first support bearing 4 is the same as the outer diameter of the circular outer peripheral surface 14e of the collar main body portion 14a of the collar 14, and is smaller than the shorter diameter Ls of the elliptical outer peripheral surface 12a of the wave plug 12. It is larger than the outer diameter of the uniaxial end 2a.
- the first support bearing 4 includes a circular inner peripheral surface 4 a having an inner diameter that is larger than the short diameter Ls of the elliptical outer peripheral surface 12 a of the wave plug 12 and slightly smaller than the long diameter L. Ball bearings are used.
- a large-diameter annular flange 2f is formed on the hollow shaft 2 on the second shaft end 2b side of the wave plug 12.
- An annular end surface 2g of the flange 2f functions as a retainer pressing surface of the wave bearing 13.
- a circular outer peripheral surface 2 h having an outer diameter substantially the same as the major axis of the elliptical outer peripheral surface 12 a of the wave plug 12 is formed at a position adjacent to the flange 2 f in the hollow shaft 2.
- a circular outer peripheral surface 2i adjacent to the circular outer peripheral surface 2h is a circular outer peripheral surface of the second shaft end portion 2b, and the second support bearing 5 is attached thereto.
- the outer diameter of the circular outer peripheral surface 2 i is the same as the outer diameter of the collar main body 14 a of the collar 14, and a ball bearing having the same size as the first support bearing 4 is used as the second support bearing 5.
- the hollow portion 3 of the hollow shaft 2 is a hollow portion having the same inner diameter in the axial direction. Since the outer diameter of the circular outer peripheral surface 2e of the first shaft end 2a of the hollow shaft 2 supported by the first support bearing 4 is made small so as to pass the wave bearing 13, the first shaft end portion. The thickness of 2a is thinner than the thickness of the second shaft end 2b. However, since the collar 14 is attached to the first shaft end portion 2a, the first shaft end portion 2a is reinforced by the collar 14 even if the hollow portion 3 having the same inner diameter is formed. , Rigidity is ensured. Therefore, it is possible to increase the hollow diameter as compared with the conventional hollow wave gear device in which the first shaft end portion 2a having a small diameter needs to be sufficiently thick.
- the top-shaped flexible external gear 9 has a cylindrical body 9a that can be bent in the radial direction, and a radius that is continuous with the end of the cylindrical body 9a on the second unit end plate 7 side.
- a diaphragm 9b extending outward in the direction, an annular boss 9c continuously formed on the outer peripheral edge of the diaphragm 9b, and an outer surface formed on the outer peripheral surface portion of the cylindrical body 9a on the first unit end plate 6A side. Teeth 9d.
- a wave generator 10 is mounted on the inside of the external tooth forming portion where the external teeth 9d are formed in the cylindrical body portion 9a, and the external tooth forming portion is bent in an elliptical shape.
- the boss 9 c is sandwiched between the second unit end plate 7 and the outer ring 11 a of the unit bearing 11. In this state, the three members are fastened and fixed by a plurality of fastening bolts (not shown).
- an inner ring 11b of the unit bearing 11 is integrally formed at a portion of the rigid internal gear 8 opposite to the first unit end plate 6A.
- the rigid internal gear 8 of the housing 6 surrounds the external teeth 9d of the flexible external gear 9, and the inner ring 11b is a portion of the cylindrical body 9a of the flexible external gear 9 excluding the external teeth 9d.
- the first unit end plate 6A, the rigid internal gear 8 and the inner ring 11b are formed by a housing 6 which is a single component.
- the first unit end plate 6A, the rigid internal gear 8 and the inner ring 11b can be manufactured as separate parts, and these can be fastened and fixed using bolts or the like.
- a circular center through hole 6a is formed at the center of the first unit end plate 6A, and the end of the hollow shaft 2 on the first shaft end 2a side is exposed from the center through hole 6a.
- a circular inner peripheral surface 6b having a larger inner diameter is formed inside the central through hole 6a, and the first support bearing 4 is attached thereto.
- a circular through hole 7a is formed at the center of the second unit end plate 7, and the second support bearing 5 is attached to the inside thereof.
- An end portion of the second shaft end portion 2 b of the hollow shaft 2 supported by the second support bearing 5 protrudes outward from the second unit end plate 7.
- a motor shaft or the like is connected and fixed to the end portion of the hollow shaft 2 via a coupling.
- FIG. 3 is a partial cross-sectional view showing a hollow wave gear device to which a collar having a different shape is attached. Since the overall configuration of the hollow wave gear device 20 shown in this figure is the same as that of the hollow wave gear device 1 of FIG. 1, the corresponding portions are denoted by the same reference numerals and description thereof is omitted.
- the collar 24 attached to the first shaft end portion 2a of the hollow shaft 2 includes a cylindrical color main body portion 24a and an end portion on the second shaft end portion 2b side of the color main body portion 24a. And a large-diameter annular flange portion 24b.
- the collar main body portion 24a includes a cylindrical portion 24c attached to the circular outer peripheral surface of the first shaft end portion 2a, and a cylindrical portion 24d extending coaxially from the shaft end 2c of the first shaft end portion 2a.
- the hollow portion 24e of the cylindrical portion 24d has the same inner diameter as the hollow portion 3 of the hollow shaft 2, and the hollow portion of the hollow wave gear device 20 is formed by the hollow portion 3 and the hollow portion 24e.
- the annular end surface 24f of the cylindrical portion 24c and the annular end surface 24g of the flange portion 24b function as an inner ring pressing surface of the wave bearing 13 and an inner ring pressing surface of the first support bearing 4, respectively.
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Abstract
Description
中空軸と、
前記中空軸の外周面に形成された楕円状輪郭のウエーブプラグ、および、前記中空軸における一方の第1軸端部の側から前記ウエーブプラグの楕円状外周面に嵌めたウエーブベアリングを備えたウエーブジェネレータと、
前記第1軸端部の外周面に装着した円筒状のカラーと、
前記中空軸の一方の第1軸端部を、前記カラーを介して支持している第1支持ベアリングと、
前記中空軸の他方の第2軸端部を支持している第2支持ベアリングと、
を有していることを特徴としている。
前記装置中心軸線の方向における前記第1軸端部の側に配置され、前記第1支持ベアリングが取り付けられている第1ユニット端板と、
前記装置中心軸線の方向における前記第2軸端部の側に配置され、前記第2支持ベアリングが取り付けられている第2ユニット端板と、
前記第1、第2ユニット端板の間に配置され、前記第1ユニット端板と一体回転する剛性内歯歯車と、
前記第1、第2ユニット端板の間において前記剛性内歯歯車の内側に配置され、前記第2ユニット端板と一体回転する可撓性外歯歯車と、
前記剛性内歯歯車および前記可撓性外歯歯車を相対回転可能に支持しているユニットベアリングと、
を備えている。
図1は本発明を適用した中空型波動歯車装置の縦断面図であり、図2は各部の外径寸法を示す説明図である。中空型波動歯車装置1は、装置中心軸線1aの方向に延びる中空軸2を備えている。中空軸2はモーター等から高速回転が入力される入力軸であり、その内部には、装置中心軸線1aの方向に貫通する円形断面の中空部3が形成されている。中空軸2の一方の第1軸端部2aは第1支持ベアリング4によって支持され、他方の第2軸端部2bは第2支持ベアリング5によって支持されている。第1、第2支持ベアリング4、5は例えばボールベアリングである。第1支持ベアリング4は、円筒状のハウジング6における一方の端部に一体形成されている円盤状の第1ユニット端板6Aに取り付けられている。第2支持ベアリング5は円盤状の第2ユニット端板7に取り付けられている。
ウエーブジェネレータ10は、楕円状輪郭をした一定幅のウエーブプラグ12と、このウエーブプラグ12の楕円状外周面12aに嵌めたウエーブベアリング13を備えている。ウエーブプラグ12は、第1、第2ユニット端板6A、7の間に位置する中空軸2の軸部における第1支持ベアリング4の隣の部位に一体形成されている。ウエーブベアリング13は、半径方向に撓み可能な内外輪を備えたボールベアリング等のベアリングである。
Claims (5)
- 中空軸(2)と、
前記中空軸(2)の外周面に形成された楕円状輪郭のウエーブプラグ(12)、および、前記中空軸(2)における一方の第1軸端部(2a)の側から前記ウエーブプラグ(12)の楕円状外周面(12a)に嵌めたウエーブベアリング(13)を備えた波動発生器(10)と、
前記第1軸端部(2a)の外周面に装着した円筒状のカラー(14、24)と、
前記中空軸(2)の前記第1軸端部(2a)を、前記カラー(14、24)を介して支持している第1支持ベアリング(4)と、
前記中空軸(2)の他方の第2軸端部(2b)を支持している第2支持ベアリング(5)と、
を有していることを特徴とする中空型波動歯車装置(1、20)。 - 前記第1支持ベアリング(4)の円形内周面(4a)の内径は前記ウエーブプラグ(12)の前記楕円状外周面(12a)の短径(Ls)よりも大きい請求項1に記載の中空型波動歯車装置(1、20)。
- 前記カラー(14、24)は、前記ウエーブベアリング(13)の内輪に対して装置中心軸線(1a)の方向から当接する第1内輪押さえ面(14c、24f)、および、前記第1支持ベアリング(4)の内輪に対して前記装置中心軸線(1a)の方向から当接する第2内輪押さえ面(14d、24g)のうちの少なくとも一方の内輪押さえ面を備えている請求項1または2に記載の中空型波動歯車装置(1、20)。
- 前記装置中心軸線(1a)の方向における前記第1軸端部(2a)の側に配置され、前記第1支持ベアリング(4)が取り付けられている第1ユニット端板(6A)と、
前記装置中心軸線(1a)の方向における前記第2軸端部(2b)の側に配置され、前記第2支持ベアリング(5)が取り付けられている第2ユニット端板(7)と、
前記第1、第2ユニット端板(6A、7)の間に配置され、前記第1ユニット端板と一体回転する剛性内歯歯車(8)と、
前記第1、第2ユニット端板(6A、7)の間において前記剛性内歯歯車(8)の内側に配置され、前記第2ユニット端板(7)と一体回転する可撓性外歯歯車(9)と、
前記剛性内歯歯車(8)および前記可撓性外歯歯車(9)を相対回転可能に支持しているユニットベアリング(11)と、
を有し、
前記可撓性外歯歯車(9)は、前記波動発生器(10)によって楕円状に撓められて、前記剛性内歯歯車(8)に部分的にかみ合っている請求項1ないし3のうちのいずれか一つの項に記載の中空型波動歯車装置(1、20)。 - 前記可撓性外歯歯車(9)は、
円筒状胴部(9a)と、
前記円筒状胴部(9a)における前記第2ユニット端板(7)の側の端に連続して半径方向の外方に延びるダイヤフラム(9b)と、
前記ダイヤフラム(9b)の外周縁に連続して形成した円環状のボス(9c)と、
前記円筒状胴部(9a)における前記第1ユニット端板(6A)の側の外周面部分に形成した外歯(9d)と、
を備え、
前記円筒状胴部(9a)における前記外歯(9d)が形成されている外歯形成部分の内側に前記波動発生器(10)が装着され、当該外歯形成部分が楕円状に撓められており、
前記ボス(9c)は、前記ユニットベアリング(11)の外輪(11a)と共に、前記第2ユニット端板(7)に固定され、
前記剛性内歯歯車(8)は、前記ユニットベアリング(11)の内輪(11b)と共に、前記第1ユニット端板(6A)に固定されているか、または、前記剛性内歯歯車(8)、前記内輪(11b)および前記第1ユニット端板(6A)は単一部材として一体形成されている請求項4に記載の中空型波動歯車装置(1、20)。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/429,704 US9371900B2 (en) | 2013-07-01 | 2013-07-01 | Hollow strain wave gearing |
DE112013004710.1T DE112013004710B4 (de) | 2013-07-01 | 2013-07-01 | Hohles Verformungswellgetriebe |
JP2015524907A JP6067112B2 (ja) | 2013-07-01 | 2013-07-01 | 中空型波動歯車装置 |
PCT/JP2013/004076 WO2015001582A1 (ja) | 2013-07-01 | 2013-07-01 | 中空型波動歯車装置 |
KR1020157007395A KR101704493B1 (ko) | 2013-07-01 | 2013-07-01 | 중공형 파동기어장치 |
CN201380068375.5A CN104884840B (zh) | 2013-07-01 | 2013-07-01 | 中空型波动齿轮装置 |
TW103121706A TWI545275B (zh) | 2013-07-01 | 2014-06-24 | Hollow type harmonic gear device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2013/004076 WO2015001582A1 (ja) | 2013-07-01 | 2013-07-01 | 中空型波動歯車装置 |
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WO2015001582A1 true WO2015001582A1 (ja) | 2015-01-08 |
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PCT/JP2013/004076 WO2015001582A1 (ja) | 2013-07-01 | 2013-07-01 | 中空型波動歯車装置 |
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US (1) | US9371900B2 (ja) |
JP (1) | JP6067112B2 (ja) |
KR (1) | KR101704493B1 (ja) |
CN (1) | CN104884840B (ja) |
DE (1) | DE112013004710B4 (ja) |
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- 2013-07-01 US US14/429,704 patent/US9371900B2/en active Active
- 2013-07-01 JP JP2015524907A patent/JP6067112B2/ja active Active
- 2013-07-01 CN CN201380068375.5A patent/CN104884840B/zh active Active
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WO2019244258A1 (ja) | 2018-06-19 | 2019-12-26 | 株式会社ハーモニック・ドライブ・システムズ | 中空型波動歯車装置 |
KR20210008424A (ko) | 2018-06-19 | 2021-01-21 | 가부시키가이샤 하모닉 드라이브 시스템즈 | 중공형 파동기어장치 |
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Also Published As
Publication number | Publication date |
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DE112013004710B4 (de) | 2024-02-15 |
TWI545275B (zh) | 2016-08-11 |
US9371900B2 (en) | 2016-06-21 |
US20150226302A1 (en) | 2015-08-13 |
JPWO2015001582A1 (ja) | 2017-02-23 |
TW201512565A (zh) | 2015-04-01 |
DE112013004710T5 (de) | 2015-06-11 |
KR101704493B1 (ko) | 2017-02-08 |
JP6067112B2 (ja) | 2017-01-25 |
KR20150048181A (ko) | 2015-05-06 |
CN104884840B (zh) | 2017-08-01 |
CN104884840A (zh) | 2015-09-02 |
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