CN107866804B - 机器人、齿轮装置以及齿轮装置的制造方法 - Google Patents

机器人、齿轮装置以及齿轮装置的制造方法 Download PDF

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Publication number
CN107866804B
CN107866804B CN201710807004.4A CN201710807004A CN107866804B CN 107866804 B CN107866804 B CN 107866804B CN 201710807004 A CN201710807004 A CN 201710807004A CN 107866804 B CN107866804 B CN 107866804B
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China
Prior art keywords
gear
external
gear device
teeth
lubricant
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CN201710807004.4A
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Chinese (zh)
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CN107866804A (zh
Inventor
片冈祐哉
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Seiko Epson Corp
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Seiko Epson Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
CN201710807004.4A 2016-09-26 2017-09-08 机器人、齿轮装置以及齿轮装置的制造方法 Active CN107866804B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-186602 2016-09-26
JP2016186602A JP6756214B2 (ja) 2016-09-26 2016-09-26 ロボット、歯車装置および歯車装置の製造方法

Publications (2)

Publication Number Publication Date
CN107866804A CN107866804A (zh) 2018-04-03
CN107866804B true CN107866804B (zh) 2022-09-23

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CN201710807004.4A Active CN107866804B (zh) 2016-09-26 2017-09-08 机器人、齿轮装置以及齿轮装置的制造方法

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Country Link
US (1) US10183405B2 (https=)
JP (1) JP6756214B2 (https=)
CN (1) CN107866804B (https=)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019199893A (ja) * 2018-05-14 2019-11-21 セイコーエプソン株式会社 ロボット、歯車装置および歯車装置ユニット
JP7127367B2 (ja) * 2018-06-05 2022-08-30 セイコーエプソン株式会社 ロボット、歯車装置および歯車装置の製造方法
DE102019109590B4 (de) * 2019-04-11 2025-03-20 Deutsches Zentrum für Luft- und Raumfahrt e.V. Drehgelenkeinrichtung für einen Roboter und Roboter
JP7467893B2 (ja) * 2019-11-22 2024-04-16 セイコーエプソン株式会社 歯車装置及びロボット
JP7380326B2 (ja) * 2020-02-28 2023-11-15 セイコーエプソン株式会社 歯車装置およびロボット
JP7631771B2 (ja) * 2020-12-11 2025-02-19 セイコーエプソン株式会社 歯車装置およびロボット
JP7585096B2 (ja) * 2021-03-05 2024-11-18 ナブテスコ株式会社 波動歯車装置の製造方法
CN113829383B (zh) * 2021-10-28 2024-04-16 上海宇航系统工程研究所 一种驱动关节
JP7621726B2 (ja) * 2022-07-29 2025-01-27 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
CN116044971B (zh) * 2023-04-03 2023-05-30 山西新德福自动化科技有限公司 一种高精度滚珠丝杠传动装置及组装方法

Citations (11)

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JPH03125055A (ja) * 1989-10-06 1991-05-28 Yaskawa Electric Mfg Co Ltd ロボット用アクチュエータ
JPH03265742A (ja) * 1990-03-15 1991-11-26 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置
JP2004239646A (ja) * 2003-02-03 2004-08-26 Sunx Ltd 光学測定装置
JP2005067799A (ja) * 2003-08-25 2005-03-17 Mitsubishi Electric Corp 回転機器
US6968755B2 (en) * 2001-05-22 2005-11-29 Harmonic Drive Aktiengesellschaft Lightweight bearing and wave gear drive
CN101109417A (zh) * 2006-07-19 2008-01-23 丰田自动车株式会社 用于车辆的动力传递系统
EP2148114A1 (en) * 2008-07-24 2010-01-27 Aichi Machine Industry Co. Ltd. Lubricating apparatus and transmission equipped with the same
JP2012193822A (ja) * 2011-03-18 2012-10-11 Denso Wave Inc 生産機器の回転軸機構及び回転軸ユニット
CN102734448A (zh) * 2011-03-31 2012-10-17 贝尔直升机泰克斯特龙公司 具有被动润滑系统的齿轮箱
CN102840313A (zh) * 2011-06-24 2012-12-26 株式会社捷太格特 减速机构以及具备该减速机构的马达旋转力传递装置
CN105909956A (zh) * 2015-02-19 2016-08-31 丰田自动车株式会社 润滑结构和变速器

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JPS5027128B1 (https=) * 1970-03-23 1975-09-05
JPS49140583U (https=) * 1973-04-06 1974-12-04
JPH0723188Y2 (ja) * 1986-12-01 1995-05-31 株式会社三協精機製作所 旋回ア−ム装置
JP2697900B2 (ja) 1989-05-09 1998-01-14 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
US5984048A (en) * 1997-09-10 1999-11-16 Harmonic Drive Systems, Inc. Lubricant supplying mechanism for a wave gear drive
JP2000205351A (ja) * 1998-05-28 2000-07-25 Namu:Kk コリオリ運動歯車装置
JP2004239346A (ja) * 2003-02-06 2004-08-26 Nippon Densan Corp 流体動圧軸受及びこれを備えたモータ並びにこのモータを備えたディスク駆動装置
JP2007085530A (ja) * 2005-09-26 2007-04-05 Nabtesco Corp 中空減速機
EP2103635B1 (en) * 2007-01-17 2012-09-12 Asahi Glass Company, Limited Oil-repellent copolymer, method for producing the same and oil-repellent processing liquid
JP5234314B2 (ja) 2007-10-22 2013-07-10 株式会社ジェイテクト 車両用操舵装置
JP2009133415A (ja) 2007-11-30 2009-06-18 Jtekt Corp 波動歯車減速機及び伝達比可変操舵装置
JP2009156368A (ja) * 2007-12-27 2009-07-16 Aisin Aw Co Ltd 歯車回転伝達装置
DE102008039292A1 (de) * 2008-08-22 2010-02-25 Audi Ag Getriebe
JP2010164158A (ja) * 2009-01-16 2010-07-29 Toyota Motor Corp 潤滑構造
JP2011106479A (ja) * 2009-11-12 2011-06-02 Toyota Motor Corp 歯車装置
JP4957852B2 (ja) * 2011-02-07 2012-06-20 セイコーエプソン株式会社 弁開閉装置、液体供給装置及び液体噴射装置
US20130059685A1 (en) * 2011-09-07 2013-03-07 Connard Cali Self-lubricating torque transfer devices
JP5966532B2 (ja) * 2012-04-02 2016-08-10 セイコーエプソン株式会社 ロボット
CN104633070B (zh) * 2014-10-28 2017-06-23 宁波上中下自动变速器有限公司 汽车差速器润滑结构

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03125055A (ja) * 1989-10-06 1991-05-28 Yaskawa Electric Mfg Co Ltd ロボット用アクチュエータ
JPH03265742A (ja) * 1990-03-15 1991-11-26 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置
US6968755B2 (en) * 2001-05-22 2005-11-29 Harmonic Drive Aktiengesellschaft Lightweight bearing and wave gear drive
JP2004239646A (ja) * 2003-02-03 2004-08-26 Sunx Ltd 光学測定装置
JP2005067799A (ja) * 2003-08-25 2005-03-17 Mitsubishi Electric Corp 回転機器
CN101109417A (zh) * 2006-07-19 2008-01-23 丰田自动车株式会社 用于车辆的动力传递系统
EP2148114A1 (en) * 2008-07-24 2010-01-27 Aichi Machine Industry Co. Ltd. Lubricating apparatus and transmission equipped with the same
JP2012193822A (ja) * 2011-03-18 2012-10-11 Denso Wave Inc 生産機器の回転軸機構及び回転軸ユニット
CN102734448A (zh) * 2011-03-31 2012-10-17 贝尔直升机泰克斯特龙公司 具有被动润滑系统的齿轮箱
CN102840313A (zh) * 2011-06-24 2012-12-26 株式会社捷太格特 减速机构以及具备该减速机构的马达旋转力传递装置
CN105909956A (zh) * 2015-02-19 2016-08-31 丰田自动车株式会社 润滑结构和变速器

Also Published As

Publication number Publication date
JP6756214B2 (ja) 2020-09-16
US20180085931A1 (en) 2018-03-29
JP2018053912A (ja) 2018-04-05
US10183405B2 (en) 2019-01-22
CN107866804A (zh) 2018-04-03

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