HARMONIC GEAR DEVICE AND ACTUATOR

WIPO Patent Application WO/2022/077872

A1

A high-reliability harmonic gear device (1) and an actuator (100). The harmonic gear device (1) comprises a rigid internal gear (2), a flexible external gear (3) and a wave generator (4), wherein the rigid internal gear (2) is an annular component having internal teeth (21); the flexible external gear (3) is an annular component, which has external teeth (31) and is configured on an inner side of the rigid internal gear (2); and the wave generator (4) is configured on an inner side of the flexible external gear (3), and deflects the flexible external gear (3). The harmonic gear device (1) deforms the flexible external gear (3) along with the rotation of the wave generator (4) taking a rotation axis (Ax1) as the center, such that some of the external teeth (31) mesh with some of the internal teeth (21), and therefore, the flexible external gear (3) rotates relative to the rigid internal gear (2) in accordance with the difference between the numbers of teeth of the flexible external gear (3) and the rigid internal gear (2). The internal teeth (21) have tooth direction dressing portions (210) at end portions in at least one of the tooth directions (D1) of the internal teeth (21).

WANG GANG (JP)
LIN WENJIE (JP)
MINEGISHI KIYOJI (JP)
ISAJI TSUYOSHI (JP)
GUO ZIMING (JP)

PCT/CN2021/083685

April 21, 2022

March 29, 2021

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SMART IP INFORMATION SERVICE SHENZHEN LTD (CN)

F16H49/00; F16H55/08

CN106090185A	2016-11-09
CN204748646U	2015-11-11
CN104514847A	2015-04-15
CN109695694A	2019-04-30
JP2001059153A	2001-03-06
US3996816A	1976-12-14
JP2020174376A	2020-10-22
JP2001059153A	2001-03-06

See also references of EP 4198349A4

CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)

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