WO2018025296A1 - 波動発生器および波動歯車装置 - Google Patents
波動発生器および波動歯車装置 Download PDFInfo
- Publication number
- WO2018025296A1 WO2018025296A1 PCT/JP2016/072456 JP2016072456W WO2018025296A1 WO 2018025296 A1 WO2018025296 A1 WO 2018025296A1 JP 2016072456 W JP2016072456 W JP 2016072456W WO 2018025296 A1 WO2018025296 A1 WO 2018025296A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wave
- outer peripheral
- peripheral surface
- rolling element
- gear
- 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
- 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
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
- F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
- F16C19/16—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with a single row of balls
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/34—Rollers; Needles
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2361/00—Apparatus or articles in engineering in general
- F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/38—Ball cages
- F16C33/3806—Details of interaction of cage and race, e.g. retention, centring
-
- 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
- F16H2049/006—Wave generators producing a non-elliptical shape of flexsplines, i.e. with a qualified different shape than elliptical
Definitions
- the present invention relates to a wave generator for a wave gear device, and more particularly to a wave generator having a wave bearing that does not use a cage.
- a wave gear device includes a rigid internal gear, a flexible external gear concentrically disposed on the inside thereof, and a wave generator disposed on the inside thereof.
- the wave generator includes a rigid plug having an elliptical outer peripheral surface, and a wave bearing attached to the elliptical outer peripheral surface of the rigid plug.
- the flexible outer ring and the flexible inner ring of the wave bearing are bent into an oval shape by a rigid plug, and in this state, a ball is inserted between them so as to be able to roll.
- Wave bearings of wave gear devices are generally equipped with a cage for holding the balls at regular intervals. For this reason, the rotational torque is large due to the slip between the ball and the wall of the cage and the slip between the inner and outer peripheral surfaces of the cage and the inner and outer peripheral surfaces of the outer ring and the inner ring. Further, since the cage is arranged, the number of balls is also limited. If the number of balls is simply increased and the ball is rotated in a full ball state without using a cage, the rotational torque may increase due to the deviation of the balls and the sliding of the balls, depending on the posture and rotation conditions. In addition, damage may occur due to high speed sliding between balls.
- Patent Documents 1 and 2 there are methods disclosed in Patent Documents 1 and 2 as a method for securing the interval between the rolling elements.
- the raceway groove shape is set so that the contact point of the ball with respect to the raceway groove changes.
- each ball is magnetized, and the repulsive force due to the magnetic force is used to secure the interval between the balls.
- JP 2007-177993 A Japanese Patent Laid-Open No. 6-300045
- the load state of the rolling element changes at each circumferential position. That is, in the wave bearing bent in an elliptical shape, the flexible inner and outer rings are forcibly bent outward in the radial direction by the rigid plugs at both ends of the ellipse in the major axis direction. Therefore, the rolling elements are sandwiched between the raceway surfaces of the flexible inner and outer rings in a tight state. On the other hand, since the space between the flexible raceways is wide at both ends in the minor axis direction of the ellipse, the rolling elements are sandwiched in a loose state where a gap is formed between the raceways of the inner and outer rings.
- An object of the present invention is to provide a wave generator of a wave gear device that can secure a space between rolling elements in a tight state without using a cage, focusing on changes in the load state of the rolling elements of a wave bearing. There is to do.
- the wave generator of the wave gear device of the present invention is: A rigid plug having a non-circular outer peripheral surface or a non-circular inner peripheral surface; A radially bendable wave bearing mounted on the non-circular outer peripheral surface or the non-circular inner peripheral surface and deflected in a non-circular shape; An interval securing member that rotates integrally with the rigid plug; Have The wave bearing is An inner ring side raceway surface and an outer ring side raceway surface that are bent non-circularly by the rigid plug; and A plurality of rolling elements inserted in a loose state and a tight state between the inner ring side raceway surface and the outer ring side raceway surface, With Of the rolling elements, a set of adjacent rolling elements in a loose state and the rolling elements in a tight state are referred to as the first rolling element and the second rolling element, respectively.
- the space securing member revolves in a direction toward the second rolling element with respect to the first rolling element in order to secure a predetermined gap between the
- an elastic member that is arranged so as to be in contact with the first rolling element and gives an elastic force as the braking force can be used.
- a magnet that is arranged so as to face the first rolling element and gives a magnetic attractive force as the braking force can be used as the gap securing member.
- the rigid plug has a non-circular outer peripheral surface, and the non-circular outer peripheral surface is an elliptical outer peripheral surface, and the first to fourth intervals secured to the outer peripheral edge portion of the rigid plug as the spacing securing member.
- a member is provided.
- the first and second spacing securing members are attached at symmetrical angular positions of less than 45 ° with respect to the elliptical long axis.
- the third and fourth gap securing members have a symmetric angle of less than 45 ° with respect to the major axis of the elliptical shape, and the elliptical shaped securing member has the elliptical shape with respect to the first and second gap securing members. Mounted at an angular position symmetric with respect to the minor axis.
- the position of the tight rolling element that receives the load and the position of the loose rolling element that does not receive the load are determined by the long axis (short axis) of the rigid plug. Determined by position.
- the rolling element is in a tight state near the elliptical long axis and loose in the vicinity of the short axis.
- the interval securing member that rotates integrally with the rigid plug, immediately before the rolling element transitions from the loose state to the tight state, this rolling element and the adjacent rolling element that is already in the tight state The interval is secured.
- These rolling elements revolve while maintaining this gap while in the tight state.
- the rigid plug has an elliptical outer peripheral surface
- an interval securing member that rotates integrally with the rigid plug is used to secure the interval between tight rolling elements that receive a load. Therefore, since it is not necessary to hold
- FIG. 1 is a longitudinal sectional view of a wave gear device according to the present embodiment
- FIG. 2 is a schematic view showing a meshed state of the wave gear device.
- the wave gear device 1 includes a rigid internal gear 2, a cup-shaped flexible external gear 3 disposed on the inside thereof, and a wave generator 4 having an elliptical shape fitted on the inside. Have. A portion of the circular external gear 3 where the external teeth 3 a are formed is bent into an elliptical shape by the wave generator 4. Both end portions of the external teeth 3 a in the direction of the elliptical long axis Lmax mesh with the internal teeth 2 a of the circular internal gear 2.
- the wave generator 4 is connected to a high-speed rotation input shaft such as a motor shaft.
- a high-speed rotation input shaft such as a motor shaft.
- the wave generator 4 rotates, the meshing position of the two gears 2 and 3 moves in the circumferential direction, and a relative rotation due to the difference in the number of teeth is generated between the two gears 2 and 3.
- the internal gear 2 is fixed so as not to rotate, the external gear 3 is connected to the load side member, and the reduced speed rotation is taken out from the external gear 3 and transmitted to the load side member.
- the wave generator 4 includes a rigid plug 5 having a predetermined thickness, and a wave bearing 7 attached to an elliptical outer peripheral surface 6 of the rigid plug 5.
- the balls 10 (n) are collectively referred to as balls 10.
- the wave bearing 7 is fitted inside the external gear 3 while being bent into an elliptical shape by the rigid plug 5, and can relatively rotate the external gear 3 and the rigid plug 5 connected to the high-speed rotation input shaft. It is kept in a proper state. That is, the ball 10 inserted between the inner ring 8 and the outer ring 9 bent into an elliptical shape performs a rolling motion along the inner ring side raceway surface 8a and the outer ring side raceway surface 9a of the inner and outer rings 8, 9. Thus, the rigid plug 5 and the external gear 3 can be relatively rotated smoothly with a small torque.
- one or a plurality of balls located on and near the elliptical long axis Lmax are tight balls sandwiched in a tight state between the inner and outer rings 8, 9.
- a point contact is made with the raceway surface 8a and the outer ring side raceway surface 9a, and a rolling motion is achieved.
- the remaining balls at a position away from the long axis Lmax are loose balls that are held in a loose state where there is a gap between the inner and outer rings 8 and 9 and the rolling motion is free.
- the balls 10 in the angular ranges a1 and a2 centered on the central axis 1a are tight balls
- the balls 10 in the angular ranges b1 and b2 are loose balls.
- the elastic claws 11 (1) to 11 (4) for securing a space between tight balls in the angular ranges a1 and a2 are attached to the outer peripheral edge portion of the outer peripheral surface 6 of the rigid plug 5.
- the elastic claws 11 (1) to 11 (4) are arranged so as to be positioned between the loose ball and the tight ball adjacent thereto. That is, the elastic claws 11 (1) and 11 (2) are arranged on the one side of the major axis Lmax on the elliptical outer peripheral surface 6 at a position symmetrical to the major axis Lmax.
- the elastic claws 11 (3) and 11 (4) are arranged on the other side of the long axis Lmax on the elliptical outer peripheral surface 6 at positions symmetrical to the long axis Lmax. Further, the elastic claws 11 (1) and 11 (2) and the elastic claws 11 (3) and 11 (4) are arranged at symmetrical positions with respect to the short axis Lmin of the elliptical outer peripheral surface 6. .
- Elastic claws 11 (1) to 11 (4) are arranged at an angular position of 35 °, respectively. Since these elastic claws 11 (1) to 11 (4) are the same part, these elastic claws 11 (1) to 11 (4) are collectively referred to as an elastic claw 11.
- FIG. 3A is a front view of the elastic claw 11, and is a view when the elastic claw 11 is viewed from the direction of the central axis 1a of the wave generator 4 (see FIG. 1).
- FIG. 3B is a plan view of the elastic claw 11 when the elastic claw 11 is viewed from the outer peripheral side in the radial direction.
- FIG. 3C is a side view of the elastic claw 11 when the elastic claw 11 is viewed along the revolution direction of the ball 10.
- the elastic claw 11 is provided with a plate-like lower end portion 11a and an upper end portion 11b having a flat triangular prism shape.
- the lower end of the lower end portion 11 a is fixed to a side portion (outer peripheral edge portion) 6 a of the inner ring 8 on the outer peripheral surface 6 of the rigid plug 5.
- the elastic claw 11 is arranged so that the upper end portion 11b enters between the adjacent loose ball 10b and the tight ball 10a.
- the pair of inclined surfaces 11c and 11d forming an obtuse angle in the upper end portion 11b are surfaces that can make point contact with the tight ball 10a and the loose ball 10b.
- the elastic claw 11 has a shape and elastic characteristics that do not hinder the revolving motion of the tight ball 10a.
- the shape of the illustrated elastic claw 11 shows an example, and it is needless to say that the elastic claw having another cross-sectional shape may be used.
- FIG. 4A is an explanatory diagram showing the positional relationship between the ball 10 and the rigid plug 5 and the elastic claws 11 (1) to 11 (4) at a certain point in time.
- FIG. 4B is an explanatory diagram showing changes in the relative positional relationship between the elastic claws 11 (1), 11 (4) and the ball 10 accompanying the rotation of the rigid plug 5, and the elastic claws 11 (1), 11 The change in the relative position of the ball 10 when (4) is viewed as a stationary side is shown. 4B, at times T1 to T5, T1a to T5a correspond to the elastic claws 11 (1) and 11 (4) and the ball 10 when viewed from the direction of the central axis 1a of the wave generator 4.
- FIG. 4A is an explanatory diagram showing the positional relationship between the ball 10 and the rigid plug 5 and the elastic claws 11 (1) to 11 (4) at a certain point in time.
- FIG. 4B is an explanatory diagram showing changes in the relative positional relationship between the elastic claws 11 (1), 11 (4) and the ball 10 accompanying
- T1b to T5b are explanatory diagrams showing the positional relationship when viewed from the outer peripheral side in the radial direction
- T1c to T5c are viewed from the revolution direction of the ball 10. It is explanatory drawing which shows the elastic displacement of the elastic nail
- the elastic claw 11 (1) is in the entry position, and enters between the loose ball 10 (2) and the tight ball 10 (1) adjacent thereto. It is out.
- the inclined surfaces 11c and 11d of the elastic claw 11 (1) are in contact with the adjacent balls 10 (2) and 10 (3).
- the elastic claws 11 (1) and 11 (4) when the rigid plug 5 rotates in the direction indicated by the arrow in FIG. 4A, the elastic claws 11 (1) and 11 (4) also rotate together. Since the revolution speed of the ball 10 in the same direction is slower than the rotational speed of the elastic claws 11 (1) and 11 (4), the elastic claws 11 (1) and 11 (4) It is elastically displaced between them and rotates while getting over the side surface portion of each ball 10. When the elastic claws 11 (1) and 11 (4) are viewed as the stationary side, the balls 10 revolve while pushing the elastic claws 11 (1) and 11 (4) to the retracted positions.
- the ball 10 (2) in the loose state at the time T1 is subjected to a braking force by the elastic claw 11 (1) and temporarily prevented from revolving.
- a predetermined interval is secured between the ball 10 (2) in the loose state and the ball 10 (1) in the tight state.
- Time T2 is a point in time during which the loose ball 10 (2) adjacent to the tight ball 10 (1) is in the tight state.
- the ball 10 (2) is switched to the tight state while pushing out the elastic claw 11 (1) from the entry position to the retracted position, as shown from time T2 to T5.
- the balls 10 (1) and 10 (2) in the tight state move until they are switched from the tight state to the loose state again while maintaining the interval between them.
- the elastic claw 11 (1) elastically returns to the entry position again, as shown at time T5, and the ball 10 (2) in the tight state and the next loose state. It enters between the balls 10 (3).
- the other elastic claw 11 (4) is in a state where it enters between the loose ball 10 (9) and the tight ball 10 (10) at time T1.
- the ball 10 (10) in the tight state shifts to the loose state while pushing the elastic claw 11 (4) to the retracted position.
- the elastic claw 11 (4) elastically returns to the entry position again, and next to the loose ball 10 (10). It enters between the balls 10 (11) in the tight state.
- the elastic claw 11 (4) secures a gap between the loose ball 10b that transitions from the loose state to the tight state and the tight ball 10a adjacent thereto. .
- the remaining elastic claws 11 (2) and 11 (3) operate in the same manner.
- the rotation direction of the rigid plug 5 is the direction indicated by the arrow in FIG. 4A
- the loose claw 10 that shifts from the loose state to the tight state by the elastic claw 11 (3) and the tight ball adjacent thereto.
- a gap with the ball 10 in the state is secured.
- the elastic claw 11 (2) secures a gap between the loose ball 10 that transitions to the tight state and the tight ball 10 adjacent thereto.
- claw 11 is used as a space
- a magnet can be used as the interval securing member.
- FIG. 5 is an explanatory diagram in the case of using a magnet as a gap securing member, and shows a state in which the ball 10 of the wave bearing is developed on a straight line, as in FIG. 4B.
- FIG. 5A is an explanatory view when viewed from the direction of the central axis of the wave bearing
- FIG. 5B is an explanatory view when viewed from the outer peripheral side of the wave bearing.
- a magnet 20 that rotates integrally with a rigid plug (not shown) is disposed.
- the magnet 20 is disposed at a position facing the loose ball 10b adjacent to the tight ball 10a from the side.
- the balls 10a and 10b are magnetic bodies, and the revolving motion of the ball 10b is temporarily blocked or suppressed by the magnetic attractive force when passing through the side of the magnet 20.
- a predetermined gap is secured between the adjacent ball 10a in the tight state.
- the above embodiment is an example in which the present invention is applied to a cup-type wave gear device having a cup-shaped external gear.
- the present invention is also applicable to a top hat type wave gear device having a top hat-shaped external gear and a flat type wave gear device having a cylindrical external gear.
- the above embodiment is an example in which the present invention is applied to a wave gear device in which a flexible external gear is arranged inside a rigid internal gear.
- a flexible internal gear 32 is disposed outside a rigid external gear 31, and a wave generator 33 is disposed outside the internal gear 32.
- the present invention can also be applied to the wave gear device 30 having the configuration.
- the wave generator 33 includes a rigid plug 34 and a wave bearing 35 mounted between the noncircular inner peripheral surface 35 of the rigid plug 34 and the internal gear 32.
- an interval securing member can be attached to a predetermined position in the circumferential direction of the rigid plug 34.
- the rigid plug of the wave generator has an elliptical outer peripheral surface as the noncircular outer peripheral surface.
- a non-circular outer peripheral surface other than an elliptical shape can be adopted.
- a rigid plug having a three-lobe outer peripheral surface can be used.
- the flexible gear 42 meshes with the rigid gear 41 at three locations in the circumferential direction. Therefore, in the wave bearing 45 of the wave generator 43, when viewed along the non-circular outer peripheral surface 46 of the rigid plug 44, the rolling elements are in a tight state at three meshing positions, and the three tight states are in a tight state. The rolling elements become loose between the rolling elements. Therefore, since the rolling element in the tight state and the rolling element in the loose state are adjacent to each other at six locations, it is only necessary to arrange the interval securing members at the six locations.
- the wave bearing of the wave generator includes the inner ring fitted on the elliptical outer peripheral surface of the rigid plug.
- the inner ring or the outer ring may be omitted, and the inner ring side raceway surface or the outer ring side raceway surface may be formed directly on the noncircular outer peripheral surface or noncircular inner peripheral surface of the rigid plug. Is possible.
- a ball bearing is used as the wave bearing. It may be a wave bearing provided with rolling elements other than balls.
- a roller bearing can be used as the wave bearing.
- the end surface can be either a flat surface or a round surface.
- an elastic claw can be used as the interval securing member.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
非円形外周面あるいは非円形内周面を備えた剛性プラグと、
前記非円形外周面あるいは前記非円形内周面に装着されて非円形に撓められている半径方向に撓み可能なウエーブベアリングと、
前記剛性プラグと一体となって回転する間隔確保部材と、
を有しており、
前記ウエーブベアリングは、
前記剛性プラグによって非円形に撓められている内輪側軌道面および外輪側軌道面と、
前記内輪側軌道面および前記外輪側軌道面の間に、ルーズ状態およびタイト状態で挿入されている複数個の転動体と、
を備えており、
前記転動体のうち、1組の隣接するルーズ状態の前記転動体およびタイト状態の前記転動体を、それぞれ、前記第1転動体および第2転動体と呼ぶものとすると、
前記間隔確保部材は、前記第1転動体と前記第2転動体との間に所定の隙間を確保するために、前記第1転動体に対して、前記第2転動体に向かう方向への公転運動に対して所定の制動力を与える部材であることを特徴としている。
上記の実施の形態では、間隔確保部材として弾性爪11を用いている。間隔確保部材として、磁石を用いることができる。
上記の実施の形態は、本発明を、カップ形状の外歯歯車を備えたカップ型の波動歯車装置に適用した例である。本発明は、シルクハット形状の外歯歯車を備えたシルクハット型の波動歯車装置、円筒形状の外歯歯車を備えたフラット型の波動歯車装置にも適用可能である。
上記の実施の形態では、波動発生器の剛性プラグは、非円形外周面として楕円形状の外周面を備えている。剛性プラグの非円形外周面として、楕円形状以外の非円形外周面を採用することもできる。
上記の実施の形態では、波動発生器のウエーブベアリングは、剛性プラグの楕円状外周面に嵌めた内輪を備えている。図6のウエーブベアリング35、45のように、内輪あるいは外輪を省略して、剛性プラグの非円形外周面あるいは非円形内周面に直接、内輪側軌道面あるいは外輪側軌道面を形成することも可能である。
Claims (8)
- 非円形外周面あるいは非円形内周面を備えた剛性プラグと、
前記非円形外周面あるいは前記非円形内周面に装着されて非円形に撓められている半径方向に撓み可能なウエーブベアリングと、
前記剛性プラグと一体となって回転する間隔確保部材と、
を有しており、
前記ウエーブベアリングは、
前記剛性プラグによって非円形に撓められている内輪側軌道面および外輪側軌道面と、
前記内輪側軌道面および前記外輪側軌道面の間に、ルーズ状態およびタイト状態で挿入されている複数個の転動体と、
を備えており、
前記転動体のうち、隣接するルーズ状態の前記転動体およびタイト状態の前記転動体を、それぞれ、第1転動体および第2転動体と呼ぶものとすると、
前記間隔確保部材は、前記第1転動体と前記第2転動体との間に所定の隙間を確保するために、前記第1転動体に対して、前記第2転動体に向かう方向への公転運動に対して所定の制動力を与える部材である波動歯車装置の波動発生器。 - 請求項1において、
前記間隔確保部材は、前記第1転動体に当接可能に配置され、前記制動力として弾性力を与える弾性部材である波動歯車装置の波動発生器。 - 請求項1において、
前記間隔確保部材は、前記第1転動体に対峙可能に配置され、前記制動力として磁気吸引力を与える磁石である波動歯車装置の波動発生器。 - 請求項1において、
前記剛性プラグは非円形外周面を備え、
前記非円形外周面は楕円形状の外周面であり、
前記間隔確保部材として、前記剛性プラグの外周縁部分に取り付けた第1~第4間隔確保部材を備えており、
前記第1、第2間隔確保部材は、前記楕円形状の長軸に対して45°未満の対称な角度位置に取り付けられており、
前記第3、第4間隔確保部材は、前記楕円形状の長軸に対して45°未満の対称な角度であって、前記第1、第2間隔確保部材に対して、前記楕円形状の短軸に対して対称な角度位置に取り付けられている波動歯車装置の波動発生器。 - 剛性歯車と、
前記剛性歯車にかみ合い可能な可撓性歯車と、
請求項1に記載の波動発生器と
を有している波動歯車装置。 - 請求項5において、
前記間隔確保部材は、前記第1転動体に当接可能に配置され、前記制動力を弾性力として与える弾性部材である波動歯車装置。 - 請求項5において、
前記間隔確保部材は、前記第1転動体に対峙可能に配置され、前記制動力を磁気吸引力として与える磁石である波動歯車装置。 - 請求項5において、
前記剛性歯車は内歯歯車であり、
前記可撓性歯車は、前記剛性歯車の内側に同心状態に配置された外歯歯車であり、
前記波動発生器は前記可撓性歯車の内側に装着されており、
前記剛性プラグは非円形外周面を備え、
前記非円形外周面は楕円形状の外周面であり、
前記間隔確保部材として、前記剛性プラグの外周縁部分に取り付けた第1~第4間隔確保部材を備えており、
前記第1、第2間隔確保部材は、前記楕円形状の長軸に対して45°未満の対称な角度位置に取り付けられており、
前記第3、第4間隔確保部材は、前記楕円形状の長軸に対して45°未満の対称な角度であって、前記第1、第2間隔確保部材に対して、前記楕円形状の短軸に対して対称な角度位置に取り付けられている波動歯車装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018530991A JP6570752B2 (ja) | 2016-07-30 | 2016-07-30 | 波動発生器および波動歯車装置 |
PCT/JP2016/072456 WO2018025296A1 (ja) | 2016-07-30 | 2016-07-30 | 波動発生器および波動歯車装置 |
KR1020187036810A KR102164440B1 (ko) | 2016-07-30 | 2016-07-30 | 파동발생기 및 파동기어장치 |
US16/316,461 US10907717B2 (en) | 2016-07-30 | 2016-07-30 | Wave generator and strain wave gearing |
EP16911558.1A EP3492774B1 (en) | 2016-07-30 | 2016-07-30 | Wave generator, and wave gear device |
CN201680087661.XA CN109477553B (zh) | 2016-07-30 | 2016-07-30 | 波动发生器以及波动齿轮装置 |
TW106116705A TWI724169B (zh) | 2016-07-30 | 2017-05-19 | 諧波產生器及諧波齒輪裝置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/072456 WO2018025296A1 (ja) | 2016-07-30 | 2016-07-30 | 波動発生器および波動歯車装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018025296A1 true WO2018025296A1 (ja) | 2018-02-08 |
Family
ID=61073567
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/072456 WO2018025296A1 (ja) | 2016-07-30 | 2016-07-30 | 波動発生器および波動歯車装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10907717B2 (ja) |
EP (1) | EP3492774B1 (ja) |
JP (1) | JP6570752B2 (ja) |
KR (1) | KR102164440B1 (ja) |
CN (1) | CN109477553B (ja) |
TW (1) | TWI724169B (ja) |
WO (1) | WO2018025296A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020016278A (ja) * | 2018-07-25 | 2020-01-30 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
CN114080514A (zh) * | 2019-06-21 | 2022-02-22 | 美蓓亚三美株式会社 | 轴承监视装置和轴承监视方法 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019123758A1 (de) * | 2019-09-05 | 2021-03-11 | Schaeffler Technologies AG & Co. KG | Wellgetriebe zur variablen Ventilsteuerung einer Brennkraftmaschine |
CN112648292B (zh) * | 2019-10-11 | 2022-02-08 | 中国航发商用航空发动机有限责任公司 | 保持架、滚动轴承、燃气轮机以及滚动轴承的制造方法 |
CN112709802A (zh) * | 2019-10-25 | 2021-04-27 | 罗普伺达机器人有限公司 | 用于谐波驱动器结构的减速器的波发生器 |
CN116370159B (zh) * | 2023-06-05 | 2023-08-11 | 吉林大学 | 一种桩面固定结构髋臼重建假体 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005100818A1 (ja) * | 2004-04-15 | 2005-10-27 | Harmonic Drive Systems Inc. | 波動歯車装置 |
WO2010140656A1 (ja) * | 2009-06-04 | 2010-12-09 | 国立大学法人静岡大学 | 駆動装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3285099A (en) * | 1963-10-21 | 1966-11-15 | United Shoe Machinery Corp | Harmonic drive bearings |
JPH06300045A (ja) | 1993-04-12 | 1994-10-25 | Namiki Precision Jewel Co Ltd | 磁気ボール回転支持体 |
JP4807689B2 (ja) * | 2001-05-23 | 2011-11-02 | 株式会社ハーモニック・ドライブ・システムズ | 無潤滑型波動歯車装置 |
JP3964926B2 (ja) * | 2005-11-30 | 2007-08-22 | 株式会社 空スペース | 転がり装置、及びその製造方法 |
JP5312364B2 (ja) * | 2010-02-03 | 2013-10-09 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
WO2014203295A1 (ja) * | 2013-06-20 | 2014-12-24 | 株式会社ハーモニック・ドライブ・システムズ | 軸受ホルダー、軸受機構および波動歯車装置 |
US20150240928A1 (en) * | 2014-02-27 | 2015-08-27 | Cone Drive Operations, Inc. | Bearing arrangement for harmonic or strain wave gearing |
JP6432337B2 (ja) * | 2014-12-24 | 2018-12-05 | 株式会社ジェイテクト | 波動減速機用の玉軸受 |
-
2016
- 2016-07-30 WO PCT/JP2016/072456 patent/WO2018025296A1/ja unknown
- 2016-07-30 KR KR1020187036810A patent/KR102164440B1/ko active IP Right Grant
- 2016-07-30 EP EP16911558.1A patent/EP3492774B1/en active Active
- 2016-07-30 JP JP2018530991A patent/JP6570752B2/ja active Active
- 2016-07-30 US US16/316,461 patent/US10907717B2/en active Active
- 2016-07-30 CN CN201680087661.XA patent/CN109477553B/zh active Active
-
2017
- 2017-05-19 TW TW106116705A patent/TWI724169B/zh active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005100818A1 (ja) * | 2004-04-15 | 2005-10-27 | Harmonic Drive Systems Inc. | 波動歯車装置 |
WO2010140656A1 (ja) * | 2009-06-04 | 2010-12-09 | 国立大学法人静岡大学 | 駆動装置 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020016278A (ja) * | 2018-07-25 | 2020-01-30 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
CN110762169A (zh) * | 2018-07-25 | 2020-02-07 | 住友重机械工业株式会社 | 挠曲啮合式齿轮装置 |
JP7034026B2 (ja) | 2018-07-25 | 2022-03-11 | 住友重機械工業株式会社 | 撓み噛合い式歯車装置 |
CN114080514A (zh) * | 2019-06-21 | 2022-02-22 | 美蓓亚三美株式会社 | 轴承监视装置和轴承监视方法 |
CN114080514B (zh) * | 2019-06-21 | 2024-03-29 | 美蓓亚三美株式会社 | 轴承监视装置和轴承监视方法 |
Also Published As
Publication number | Publication date |
---|---|
TWI724169B (zh) | 2021-04-11 |
JPWO2018025296A1 (ja) | 2019-03-28 |
EP3492774B1 (en) | 2020-09-23 |
EP3492774A4 (en) | 2020-03-18 |
US20190234502A1 (en) | 2019-08-01 |
CN109477553A (zh) | 2019-03-15 |
JP6570752B2 (ja) | 2019-09-04 |
EP3492774A1 (en) | 2019-06-05 |
KR102164440B1 (ko) | 2020-10-12 |
KR20190008366A (ko) | 2019-01-23 |
US10907717B2 (en) | 2021-02-02 |
TW201804097A (zh) | 2018-02-01 |
CN109477553B (zh) | 2021-08-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6570752B2 (ja) | 波動発生器および波動歯車装置 | |
KR101651549B1 (ko) | 파동 기어 장치의 파동 발생기 | |
KR20150008078A (ko) | 파동 기어 장치의 파동 발생기 | |
JP6608674B2 (ja) | ローラギヤカム機構 | |
WO2011096347A1 (ja) | 撓み噛合い式歯車装置 | |
KR20140044857A (ko) | 복합 롤링 베어링부착 내치기어 유닛 및 파동기어장치 | |
JP6305567B2 (ja) | 波動発生器および波動歯車装置 | |
KR102236715B1 (ko) | 기어 전동 장치 | |
WO2019049296A1 (ja) | 波動歯車装置のウエーブベアリング | |
JP2004245251A (ja) | 自動調心ころ軸受 | |
JP6192580B2 (ja) | 撓み噛合い式歯車装置 | |
CN110762169B (zh) | 挠曲啮合式齿轮装置 | |
EP2700834B1 (en) | Rolling bearing with dynamic pressure generating grooves formed in a raceway of a bearing ring | |
JP6338538B2 (ja) | 撓み噛合い式歯車装置 | |
JP2008519219A (ja) | トリポード型ロール | |
JP2009052588A (ja) | 転がり軸受 | |
JP2018080798A (ja) | 玉軸受 | |
JP2007154988A (ja) | 円すいころ軸受およびパイロット部軸支持構造 | |
JP6391437B2 (ja) | 撓み噛合い式歯車装置 | |
JP2007154989A (ja) | 円すいころ軸受およびパイロット部軸支持構造 | |
JP2021110359A (ja) | ラチェット型クラッチ | |
JP2019095015A (ja) | 等速自在継手 | |
JP2010019283A (ja) | 減速装置 | |
JP2019011794A (ja) | 減速機 | |
JP2008020018A (ja) | 円すいころ軸受およびパイロット部軸支持構造 |
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: 16911558 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2018530991 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 20187036810 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2016911558 Country of ref document: EP Effective date: 20190228 |