CN110561405B - 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
CN110561405B
CN110561405B CN201910481238.3A CN201910481238A CN110561405B CN 110561405 B CN110561405 B CN 110561405B CN 201910481238 A CN201910481238 A CN 201910481238A CN 110561405 B CN110561405 B CN 110561405B
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gear
internal
internal gear
external
cast iron
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Chinese (zh)
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CN110561405A (zh
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坂田正昭
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Seiko Epson Corp
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Seiko Epson Corp
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10M—LUBRICATING COMPOSITIONS; USE OF CHEMICAL SUBSTANCES EITHER ALONE OR AS LUBRICATING INGREDIENTS IN A LUBRICATING COMPOSITION
    • C10M169/00—Lubricating compositions characterised by containing as components a mixture of at least two types of ingredient selected from base-materials, thickeners or additives, covered by the preceding groups, each of these compounds being essential
    • C10M169/02—Mixtures of base-materials and thickeners
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
    • C21D1/18—Hardening; Quenching with or without subsequent tempering
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/32—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for gear wheels, worm wheels, or the like
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/06—Use of materials; Use of treatments of toothed members or worms to affect their intrinsic material properties
    • 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
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/08—Profiling
    • F16H55/0833—Flexible toothed member, e.g. harmonic drive
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0463—Grease lubrication; Drop-feed lubrication
    • F16H57/0464—Grease lubrication
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10M—LUBRICATING COMPOSITIONS; USE OF CHEMICAL SUBSTANCES EITHER ALONE OR AS LUBRICATING INGREDIENTS IN A LUBRICATING COMPOSITION
    • C10M2203/00—Organic non-macromolecular hydrocarbon compounds and hydrocarbon fractions as ingredients in lubricant compositions
    • C10M2203/10—Petroleum or coal fractions, e.g. tars, solvents, bitumen
    • C10M2203/1006—Petroleum or coal fractions, e.g. tars, solvents, bitumen used as base material
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10M—LUBRICATING COMPOSITIONS; USE OF CHEMICAL SUBSTANCES EITHER ALONE OR AS LUBRICATING INGREDIENTS IN A LUBRICATING COMPOSITION
    • C10M2207/00—Organic non-macromolecular hydrocarbon compounds containing hydrogen, carbon and oxygen as ingredients in lubricant compositions
    • C10M2207/02—Hydroxy compounds
    • C10M2207/023—Hydroxy compounds having hydroxy groups bound to carbon atoms of six-membered aromatic rings
    • C10M2207/026—Hydroxy compounds having hydroxy groups bound to carbon atoms of six-membered aromatic rings with tertiary alkyl groups
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10M—LUBRICATING COMPOSITIONS; USE OF CHEMICAL SUBSTANCES EITHER ALONE OR AS LUBRICATING INGREDIENTS IN A LUBRICATING COMPOSITION
    • C10M2207/00—Organic non-macromolecular hydrocarbon compounds containing hydrogen, carbon and oxygen as ingredients in lubricant compositions
    • C10M2207/10—Carboxylix acids; Neutral salts thereof
    • C10M2207/12—Carboxylix acids; Neutral salts thereof having carboxyl groups bound to acyclic or cycloaliphatic carbon atoms
    • C10M2207/125—Carboxylix acids; Neutral salts thereof having carboxyl groups bound to acyclic or cycloaliphatic carbon atoms having hydrocarbon chains of eight up to twenty-nine carbon atoms, i.e. fatty acids
    • C10M2207/1256—Carboxylix acids; Neutral salts thereof having carboxyl groups bound to acyclic or cycloaliphatic carbon atoms having hydrocarbon chains of eight up to twenty-nine carbon atoms, i.e. fatty acids used as thickening agent
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10N—INDEXING SCHEME ASSOCIATED WITH SUBCLASS C10M RELATING TO LUBRICATING COMPOSITIONS
    • C10N2010/00—Metal present as such or in compounds
    • C10N2010/02—Groups 1 or 11
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10N—INDEXING SCHEME ASSOCIATED WITH SUBCLASS C10M RELATING TO LUBRICATING COMPOSITIONS
    • C10N2030/00—Specified physical or chemical properties which is improved by the additive characterising the lubricating composition, e.g. multifunctional additives
    • C10N2030/06—Oiliness; Film-strength; Anti-wear; Resistance to extreme pressure
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10N—INDEXING SCHEME ASSOCIATED WITH SUBCLASS C10M RELATING TO LUBRICATING COMPOSITIONS
    • C10N2040/00—Specified use or application for which the lubricating composition is intended
    • C10N2040/04—Oil-bath; Gear-boxes; Automatic transmissions; Traction drives
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10N—INDEXING SCHEME ASSOCIATED WITH SUBCLASS C10M RELATING TO LUBRICATING COMPOSITIONS
    • C10N2050/00—Form in which the lubricant is applied to the material being lubricated
    • C10N2050/10—Form in which the lubricant is applied to the material being lubricated semi-solid; greasy
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Thermal Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Organic Chemistry (AREA)
  • Electromagnetism (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Retarders (AREA)
  • Heat Treatment Of Articles (AREA)
  • Manipulator (AREA)
  • Lubricants (AREA)
  • Gears, Cams (AREA)
CN201910481238.3A 2018-06-05 2019-06-04 机器人、齿轮装置以及齿轮装置的制造方法 Active CN110561405B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-107497 2018-06-05
JP2018107497A JP7127367B2 (ja) 2018-06-05 2018-06-05 ロボット、歯車装置および歯車装置の製造方法

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Publication Number Publication Date
CN110561405A CN110561405A (zh) 2019-12-13
CN110561405B true CN110561405B (zh) 2022-12-02

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US (1) US20190368594A1 (OSRAM)
JP (1) JP7127367B2 (OSRAM)
CN (1) CN110561405B (OSRAM)

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KR101971981B1 (ko) * 2015-11-06 2019-04-24 가부시키가이샤 하모닉 드라이브 시스템즈 가요성 외접기어 및 파동기어장치
US12358141B2 (en) 2016-12-23 2025-07-15 Gecko Robotics, Inc. Systems, methods, and apparatus for providing interactive inspection map for inspection robot
US11307063B2 (en) 2016-12-23 2022-04-19 Gtc Law Group Pc & Affiliates Inspection robot for horizontal tube inspection having vertically positionable sensor carriage
US11673272B2 (en) 2016-12-23 2023-06-13 Gecko Robotics, Inc. Inspection robot with stability assist device
US12162160B2 (en) 2016-12-23 2024-12-10 Gecko Robotics, Inc. System, apparatus and method for improved location identification with prism
EP3974823B1 (en) 2016-12-23 2024-03-06 Gecko Robotics, Inc. Inspection robot
JP2018168956A (ja) * 2017-03-30 2018-11-01 セイコーエプソン株式会社 ロボットおよび歯車ユニット
US11649886B2 (en) 2018-11-22 2023-05-16 Harmonic Drive Systems Inc. Wave generator of strain wave gearing device
EP3885608A4 (en) * 2018-11-22 2022-04-13 Harmonic Drive Systems Inc. STRESS WAVE GEAR DEVICE
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
JP7807194B2 (ja) 2020-10-16 2026-01-27 美的集団股▲フン▼有限公司 波動歯車装置及びアクチュエータ
CN112943891B (zh) * 2021-02-22 2022-07-12 珠海格力电器股份有限公司 一种柔轮及包括其的谐波减速器
CN113028829B (zh) * 2021-03-30 2022-11-18 江西领能锂业有限公司 一种具有辊道基础保护结构的加热辊道炉
TWI763428B (zh) * 2021-04-15 2022-05-01 光隆精密工業股份有限公司 應用於諧波減速器之剛輪、其製造方法及諧波減速器
US11865698B2 (en) 2021-04-20 2024-01-09 Gecko Robotics, Inc. Inspection robot with removeable interface plates and method for configuring payload interfaces
WO2022226222A1 (en) 2021-04-22 2022-10-27 Gecko Robotics, Inc. Systems, methods, and apparatus for ultra-sonic inspection of a surface
US12566158B2 (en) 2021-04-22 2026-03-03 Gecko Robotics, Inc. Robotic systems for ultrasonic surface inspection using shaped elements
CN113319889B (zh) * 2021-06-15 2024-02-23 西北工业大学 用于强化软体刚度的填充颗粒及系列化的应用
CN215733875U (zh) * 2021-08-18 2022-02-01 北京森汉科技有限公司 一种舵机
JPWO2023090204A1 (OSRAM) * 2021-11-16 2023-05-25
CN114800470B (zh) * 2022-06-23 2022-09-06 中国科学院沈阳自动化研究所 类烷烃模块化可重构机器人
US12146560B2 (en) * 2023-01-02 2024-11-19 Tung Pei Industrial Co., Ltd. Wave generator manufactured by powder metallurgy for harmonic reducer, strain wave gearing having the same, and reduction motor assembly having the same

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EP0144907A2 (en) * 1983-12-05 1985-06-19 Nissan Motor Co., Ltd. Method of producing austempered spheroidal graphite cast iron body
JP2002307237A (ja) * 2001-04-09 2002-10-23 Harmonic Drive Syst Ind Co Ltd 波動歯車装置の剛性内歯歯車の製造方法
TWI222501B (en) * 2001-08-27 2004-10-21 Tsang Yow Ind Company Ltd Method for making a planetary gear set of an automatic gear box and product made by same
CN1827795A (zh) * 2004-03-01 2006-09-06 株式会社小松制作所 铁系密封滑动构件及其制造方法
JP2008223126A (ja) * 2007-03-15 2008-09-25 Oume Chuzo Kk ダクタイル鋳鉄製歯車
WO2011122315A1 (ja) * 2010-03-30 2011-10-06 アイシン精機株式会社 波動歯車用基材の製造方法
CN107662203A (zh) * 2016-07-29 2018-02-06 精工爱普生株式会社 机器人和齿轮装置
CN107662201A (zh) * 2016-07-28 2018-02-06 精工爱普生株式会社 机器人、齿轮装置及齿轮装置的制造方法
JP2018053912A (ja) * 2016-09-26 2018-04-05 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

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JPH0968261A (ja) * 1995-08-30 1997-03-11 Mitsubishi Motors Corp 鋳鉄製歯車及びその製造方法
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Publication number Priority date Publication date Assignee Title
EP0144907A2 (en) * 1983-12-05 1985-06-19 Nissan Motor Co., Ltd. Method of producing austempered spheroidal graphite cast iron body
JP2002307237A (ja) * 2001-04-09 2002-10-23 Harmonic Drive Syst Ind Co Ltd 波動歯車装置の剛性内歯歯車の製造方法
TWI222501B (en) * 2001-08-27 2004-10-21 Tsang Yow Ind Company Ltd Method for making a planetary gear set of an automatic gear box and product made by same
CN1827795A (zh) * 2004-03-01 2006-09-06 株式会社小松制作所 铁系密封滑动构件及其制造方法
JP2008223126A (ja) * 2007-03-15 2008-09-25 Oume Chuzo Kk ダクタイル鋳鉄製歯車
WO2011122315A1 (ja) * 2010-03-30 2011-10-06 アイシン精機株式会社 波動歯車用基材の製造方法
CN107662201A (zh) * 2016-07-28 2018-02-06 精工爱普生株式会社 机器人、齿轮装置及齿轮装置的制造方法
CN107662203A (zh) * 2016-07-29 2018-02-06 精工爱普生株式会社 机器人和齿轮装置
JP2018053912A (ja) * 2016-09-26 2018-04-05 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

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Publication number Publication date
JP7127367B2 (ja) 2022-08-30
JP2019211007A (ja) 2019-12-12
CN110561405A (zh) 2019-12-13
US20190368594A1 (en) 2019-12-05

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