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公开(公告)号：EP3173662A1
公开(公告)日：2017-05-31
申请号：EP15825337.7
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： KIYOSAWA, Yoshihide , HANDA, Jun , ZHANG, Xin Yue , TAKIZAWA, Noboru
IPC: F16H1/32
CPC classification number: F16H49/001 , F16H1/32 , F16H2049/003
Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth (7, 8) having different teeth numbers. The first and second external teeth (7, 8) are flexed by a wave generator by the same flexing amount, into an ellipsoidal shape. The tooth depth (h1) of tooth profiles (70) of the first external teeth (7) having a low teeth number is smaller than the tooth depth (h2) of tooth profiles (80) of the second external teeth (8) having a high teeth number. A dual-type strain wave gearing can be achieved with which the first and second external teeth having different teeth numbers can be suitably flexed to form excellent meshing states with respective internally toothed gears.
Abstract translation: 双型应变波齿轮传动装置的外齿轮具有齿数不同的第一和第二外齿（7,8）。 第一和第二外齿（7,8）通过波发生器以相同的弯曲量弯曲成椭圆形。 具有低齿数的第一外齿（7）的齿廓（70）的齿深（h1）小于具有第二外齿（8）的齿廓（80）的齿深（h2） 高齿数。 可以实现具有不同齿数的第一和第二外齿适当弯曲以形成具有相应内齿齿轮的优良啮合状态的双型应变波齿轮。
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公开(公告)号：EP3173660A1
公开(公告)日：2017-05-31
申请号：EP15824387.3
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： KIYOSAWA, Yoshihide , HANDA, Jun , TAKIZAWA, Noboru , ZHANG, Xin Yue
CPC classification number: F16H49/001 , F16H1/32 , F16H55/12 , F16H2049/003
Abstract: An externally toothed gear (4) of a dual-type strain wave gearing (1) is provided with first and second external teeth (7, 8) having different tooth numbers, and is flexed into an ellipsoidal shape by a wave generator. When the theoretical values (d 1 , d 2 ) of the radial flexing amounts at major-axis positions of the first and second external teeth (7, 8) flexed into the ellipsoidal shape are expressed by d 1 =m 1 n 1 and d 2 =m 2 n 2 (m 1 and m 2 represent the modules of the first and second external teeth, and n 1 and n 2 represent positive integers), the radial flexing amount (d) of the first and second external teeth (7, 8) flexed by the wave generator (5) satisfies d=(d1+d2)/ω (1.4 ≦ω≦ 2.6). Accordingly, a dual-type strain wave gearing can be achieved with which the first and second external teeth having different numbers can be suitably flexed to form excellent mating states with respective internally toothed gears.
Abstract translation: 双型应变波齿轮传动装置（1）的外齿轮（4）具有齿数不同的第一和第二外齿（7,8），并通过波发生器弯曲成椭圆形。 当第一和第二外齿（7,8）的主轴位置处的径向弯曲量的理论值（d1，d2）弯曲成椭圆形时，由d1 = m1n1和d2 = m2n2（m1和m2 表示第一和第二外齿的模块，并且n1和n2表示正整数），由波发生器（5）弯曲的第一和第二外齿（7,8）的径向挠曲量（d）满足d = （d1 + d2）/ω（1.4≤ω≤2.6）。 因此，能够实现具有不同数量的第一和第二外齿的适当弯曲以形成与各内齿齿轮的优异配合状态的双型应变波齿轮。
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公开(公告)号：EP3173661A1
公开(公告)日：2017-05-31
申请号：EP15824574.6
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： HANDA, Jun , KIYOSAWA, Yoshihide , TAKIZAWA, Noboru , ZHANG, Xin Yue
Abstract: An externally toothed gear (4) of a dual-type strain wave gearing (1) is provided with first and second external teeth (7, 8) having different teeth numbers, and a gap (9) formed between these teeth as a cutter clearance area for tooth cutters. The maximum width L1 of the gap (9) is 0.1 to 0.3 times the width L of the externally toothed gear. The depth from the tooth top land of the first external teeth (7) to the deepest part (9a) of the gap (9) is 0.9 to 1.3 times the depth of the first external teeth, and the depth from the tooth top land of the second external teeth (8) to the deepest part (9a) of the gap (9) is 0.9 to 1.3 times the depth of the second external teeth. The tooth bottom fatigue strength of the externally toothed gear provided with differing numbers of first and second external teeth is increased, making it possible to achieve a strain wave gearing with high load capacity and small speed ratio.
Abstract translation: 双型波动传动装置（1）的外齿轮（4）具有齿数不同的第一和第二外齿（7,8），以及作为切刀间隙在这些齿之间形成的间隙（9） 切齿机的区域。 间隙（9）的最大宽度L1是外齿轮的宽度L的0.1至0.3倍。 从第一外齿（7）的齿顶面到间隙（9）的最深部（9a）的深度为第一外齿的深度的0.9至1.3倍，并且从第一外齿 到间隙（9）的最深部分（9a）的第二外齿（8）是第二外齿的深度的0.9到1.3倍。 设置有不同数目的第一和第二外齿的外齿轮的齿底疲劳强度增加，使得可以实现具有高负载能力和小速比的应变波齿轮传动装置。
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公开(公告)号：EP3173658A1
公开(公告)日：2017-05-31
申请号：EP15824078.8
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： KIYOSAWA, Yoshihide , HANDA, Jun , ZHANG, Xin Yue , TAKIZAWA, Noboru
IPC: F16H1/32
Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth (7, 8) having different teeth numbers. The first and second external teeth (7, 8) are flexed by a wave generator by the same flexing amount, into an ellipsoidal shape. The average pressure angle (α1) of main-tooth-surface sections of tooth profiles (70) of the first external teeth (7) having a low teeth number is less acute than the average pressure angle (α2) of main-tooth-surface sections of tooth profiles (80) of the second external teeth (8) having a high teeth number. Accordingly, a dual-type strain wave gearing can be achieved with which the first and second external teeth having different teeth numbers can be suitably flexed to form excellent meshing states with respective internally toothed gears.
Abstract translation: 双型应变波齿轮传动装置的外齿轮具有齿数不同的第一和第二外齿（7,8）。 第一和第二外齿（7,8）通过波发生器以相同的弯曲量弯曲成椭圆形。 具有低齿数的第一外齿（7）的齿形（70）的主齿面部分的平均压力角（α1）比主齿面的平均压力角（α2）小 第二外齿（8）的齿廓（80）具有高齿数。 因此，可以实现具有不同齿数的第一和第二外齿适当弯曲以形成具有相应内齿齿轮的优异啮合状态的双型应变波齿轮。
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公开(公告)号：EP3173657A1
公开(公告)日：2017-05-31
申请号：EP15823995.4
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： KIYOSAWA, Yoshihide , HANDA, Jun , TAKIZAWA, Noboru , ZHANG, Xin Yue
IPC: F16H1/32
CPC classification number: F16H49/001 , F16C19/08 , F16C2361/61 , F16H1/32 , F16H2049/003
Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth (7, 8) having different teeth numbers, and is flexed into an ellipsoidal shape by a wave generator. When t(1) represents the tooth bottom rim wall thickness of the first external teeth (7), and t(2) represents the tooth bottom rim wall thickness of the second external teeth (8), the ratio of t(1)/t(2) is set to a value satisfying 0.5>t(1)/t(2)
Abstract translation: 双型应变波齿轮装置的外齿轮具有齿数不同的第一和第二外齿（7,8），并且通过波发生器弯曲成椭圆形。 当t（1）代表第一外齿（7）的齿底边缘壁厚，并且t（2）代表第二外齿（8）的齿底边缘壁厚时，t（1）/ t（2）被设定为满足0.5> t（1）/ t（2）<1.5的值。 因此，可以实现具有不同齿数的第一和第二外齿适当弯曲以形成具有相应内齿齿轮的优异啮合状态的双型应变波齿轮。
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Patent Agency Ranking
公开(公告)号：EP3173657B1
公开(公告)日：2020-11-04
申请号：EP15823995.4
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： KIYOSAWA, Yoshihide , HANDA, Jun , TAKIZAWA, Noboru , ZHANG, Xin Yue
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公开(公告)号：EP3702642A1
公开(公告)日：2020-09-02
申请号：EP17922908.3
申请日：2017-09-07
Applicant: Harmonic Drive Systems Inc.
Inventor： ZHANG, Xin Yue , KIYOSAWA, Yoshihide
Abstract: A strain wave gearing (1) has a wave generator (4) provided with a rigid plug (5) and a wave bearing (7). The wave bearing (7) is of a deep groove bearing type and is mounted on an elliptical outer circumferential surface of the rigid plug (5), whereby outer race (9) and inner race (8) thereof are flexed into an elliptical shape. Where D is a ball diameter of the balls (10), Ro is a raceway-surface radius of the outer race, Ri is a raceway-surface radius of the inner race, Ro/D is an outer-race conformity, and Ri/D is an inner-race conformity, the outer-race conformity Ro/D is greater than the inner-race conformity Ri/D. The friction torque of the wave bearing (7) can be reduced while maintaining the practical service life thereof to be the same level as in a conventional one.
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公开(公告)号：EP3550178A1
公开(公告)日：2019-10-09
申请号：EP16923084.4
申请日：2016-11-30
Applicant: Harmonic Drive Systems Inc.
Inventor： TAKIZAWA, Noboru , ZHANG, Xin Yue
IPC: F16H1/32
Abstract: In a silk hat-shaped external gear (3) for a strain wave gearing, t(A)>t(C)>t(D)>t(B) is satisfied, where the thicknesses of the inner circumferential end (A), the middle part (B) and the outer circumferential end (C) of the diaphragm body portion (22) of a diaphragm (20) are t(A), t(B) and t(C), and where the thickness of the barrel-side end part (D) of the curved portion (23) of the diaphragm is t(D). With reference to the thickness of the middle part (B), the thickness of the inner circumferential end (A) of the diaphragm (20) is set so as to be thicker than conventional silk hat-shaped external gears. It is possible to realize an externally toothed gear capable of preventing diaphragm rupture due to thrust force at high load torque and having high fatigue strength.
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公开(公告)号：EP3173661B1
公开(公告)日：2020-01-01
申请号：EP15824574.6
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： HANDA, Jun , KIYOSAWA, Yoshihide , TAKIZAWA, Noboru , ZHANG, Xin Yue
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公开(公告)号：EP3173658B1
公开(公告)日：2019-10-16
申请号：EP15824078.8
申请日：2015-07-03
Applicant: Harmonic Drive Systems Inc.
Inventor： KIYOSAWA, Yoshihide , HANDA, Jun , ZHANG, Xin Yue , TAKIZAWA, Noboru
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