CN110730881B - 具有内密封件的应力波齿轮机构 - Google Patents

具有内密封件的应力波齿轮机构 Download PDF

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Publication number
CN110730881B
CN110730881B CN201780087263.2A CN201780087263A CN110730881B CN 110730881 B CN110730881 B CN 110730881B CN 201780087263 A CN201780087263 A CN 201780087263A CN 110730881 B CN110730881 B CN 110730881B
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CN
China
Prior art keywords
gear mechanism
stress wave
wave gear
bearing
sealing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201780087263.2A
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English (en)
Chinese (zh)
Other versions
CN110730881A (zh
Inventor
M·门德尔
M·沙费尔
D·格贝尔
A·阿尔滕
J·P·克嫩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hamernaco Drives Europe Ag
Original Assignee
Harmonic Drive SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive SE filed Critical Harmonic Drive SE
Publication of CN110730881A publication Critical patent/CN110730881A/zh
Application granted granted Critical
Publication of CN110730881B publication Critical patent/CN110730881B/zh
Active legal-status Critical Current
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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
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/025—Support of gearboxes, e.g. torque arms, or attachment to other devices
    • 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
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0469—Bearings or seals
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/02—Sealings between relatively-stationary surfaces
    • F16J15/021—Sealings between relatively-stationary surfaces with elastic packing
    • F16J15/022—Sealings between relatively-stationary surfaces with elastic packing characterised by structure or material
    • 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
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
    • 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
    • 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
    • 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
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • 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
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • F16H57/0454—Sealings between different partitions of a gearing or to a reservoir

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
  • Sealing With Elastic Sealing Lips (AREA)
  • Sealing Devices (AREA)
CN201780087263.2A 2017-02-28 2017-02-28 具有内密封件的应力波齿轮机构 Active CN110730881B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2017/054549 WO2018157910A1 (de) 2017-02-28 2017-02-28 Spannungswellengetriebe mit innendichtung

Publications (2)

Publication Number Publication Date
CN110730881A CN110730881A (zh) 2020-01-24
CN110730881B true CN110730881B (zh) 2022-07-29

Family

ID=58213061

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780087263.2A Active CN110730881B (zh) 2017-02-28 2017-02-28 具有内密封件的应力波齿轮机构

Country Status (8)

Country Link
US (1) US11092225B2 (https=)
EP (1) EP3387293B1 (https=)
JP (1) JP6852177B2 (https=)
KR (1) KR102379849B1 (https=)
CN (1) CN110730881B (https=)
DK (1) DK3387293T3 (https=)
TW (1) TWI753121B (https=)
WO (1) WO2018157910A1 (https=)

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KR102175892B1 (ko) * 2017-04-10 2020-11-06 가부시키가이샤 하모닉 드라이브 시스템즈 실크햇형 파동기어장치
JP6659649B2 (ja) 2017-10-10 2020-03-04 ファナック株式会社 関節軸構造および水平多関節型ロボット
CN111615602B (zh) 2017-11-15 2024-08-06 优傲机器人公司 应变波齿轮
DE102018213452A1 (de) * 2018-08-09 2020-02-13 Kuka Deutschland Gmbh Roboterarm mit wenigstens einem Gelenkmomentsensor
CN109027180B (zh) * 2018-09-19 2024-05-14 珠海格力电器股份有限公司 减速器和机器人
KR102340718B1 (ko) * 2018-09-20 2021-12-16 가부시키가이샤 하모닉 드라이브 시스템즈 유닛형 파동기어장치
TWI694218B (zh) * 2018-12-10 2020-05-21 鎂亞精密股份有限公司 減速傳動軸承
DE102019205338A1 (de) 2019-04-12 2020-10-15 Zf Friedrichshafen Ag Spannungswellengetriebe
DE102019208243A1 (de) * 2019-06-06 2020-12-10 Zf Friedrichshafen Ag Spannungswellengetriebe
EP4019806A4 (en) * 2019-08-22 2023-04-19 Harmonic Drive Systems Inc. ONE SHAFT GEAR DEVICE
DE102020109646B4 (de) * 2020-04-07 2024-09-12 Harmonic Drive Se Drehlager und Getriebebox
DE102020206602A1 (de) 2020-05-27 2021-12-02 Zf Friedrichshafen Ag NILOS-Ring mit Sicke
DE102020208063B4 (de) 2020-06-29 2022-02-10 Kuka Deutschland Gmbh Antriebsvorrichtung mit einer ein lichtstabilisiertes dynamisches Material aufweisenden Antriebskomponente und Roboter
JP6793867B1 (ja) 2020-06-29 2020-12-02 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置ユニット
JP7533005B2 (ja) 2020-08-14 2024-08-14 セイコーエプソン株式会社 歯車装置およびロボット
EP4211367B1 (en) * 2020-09-08 2025-04-16 Abb Schweiz Ag Harmonic reducer and industrial robot
JP7530267B2 (ja) * 2020-10-16 2024-08-07 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
KR102417576B1 (ko) * 2020-12-08 2022-07-07 섀플러 테크놀로지스 아게 운트 코. 카게 웨이브 기어 및 웨이브 기어용 베어링 요소
DK180930B1 (en) 2021-03-25 2022-06-29 Universal Robots As Strain wave gear with encoder integration
DE102022100356B3 (de) 2022-01-10 2023-01-19 Schaeffler Technologies AG & Co. KG Wellgetriebe
CN115008497B (zh) * 2022-08-02 2022-11-04 成都瑞迪智驱科技股份有限公司 一种基于谐波减速机的紧凑型机器人关节模组
JP2024064438A (ja) * 2022-10-28 2024-05-14 住友重機械工業株式会社 歯車装置
DE102023100528B3 (de) * 2023-01-11 2023-12-21 Harmonic Drive Se Getriebebox
EP4700255A1 (en) * 2023-04-21 2026-02-25 Harmonic Drive Systems Inc. Strain wave gear device
JP7610663B1 (ja) 2023-09-06 2025-01-08 上銀科技股▲分▼有限公司 油流出を防止する高調波減速機

Citations (4)

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CN103717931A (zh) * 2011-08-03 2014-04-09 日本精工株式会社 带密封环的滚动轴承
CN104428562A (zh) * 2013-06-20 2015-03-18 谐波传动系统有限公司 中空型波动齿轮单元
WO2015040739A1 (ja) * 2013-09-20 2015-03-26 株式会社ハーモニック・ドライブ・システムズ オイルシール構造および波動歯車装置
DE102013222454A1 (de) * 2013-11-05 2015-05-07 Kuka Roboter Gmbh Elektrischer Antrieb und Industrieroboter mit wenigstens einem solchen elektrischen Antrieb

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JPH07119800A (ja) 1993-10-23 1995-05-09 Teijin Seiki Co Ltd オイルシール付撓み噛み合い式歯車装置
US5984048A (en) 1997-09-10 1999-11-16 Harmonic Drive Systems, Inc. Lubricant supplying mechanism for a wave gear drive
BR0115774B1 (pt) * 2000-11-30 2011-05-03 mancal de desengate configurado como um mancal oblìquo de uma embreagem
JP2002243000A (ja) * 2001-02-19 2002-08-28 Harmonic Drive Syst Ind Co Ltd 波動歯車減速機を備えたアクチュエータ
JP4163069B2 (ja) 2003-07-16 2008-10-08 住友重機械工業株式会社 減速装置
JP4336295B2 (ja) 2004-11-19 2009-09-30 日本ピラー工業株式会社 静圧形ノンコンタクトガスシール
JP2011174570A (ja) * 2010-02-25 2011-09-08 Arai Seisakusho Co Ltd 密封装置
CN104919221B (zh) * 2012-08-21 2018-04-27 聂克森集团公司 谐波齿轮系统
JP6331754B2 (ja) 2013-07-09 2018-05-30 日本精工株式会社 シールリング付玉軸受
US9441721B2 (en) * 2013-09-12 2016-09-13 Harmonic Drive Systems Inc. Strain wave gearing unit
JP6052835B2 (ja) 2014-05-16 2016-12-27 株式会社ハーモニック・ドライブ・システムズ 中空波動歯車装置および中空アクチュエータ
JP6384020B2 (ja) * 2015-01-26 2018-09-05 日立オートモティブシステムズ株式会社 内燃機関用リンク機構のアクチュエータ
CN105864365B (zh) 2016-06-16 2018-09-07 南通慧幸智能科技有限公司 自动润滑的谐波减速器

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
CN103717931A (zh) * 2011-08-03 2014-04-09 日本精工株式会社 带密封环的滚动轴承
CN104428562A (zh) * 2013-06-20 2015-03-18 谐波传动系统有限公司 中空型波动齿轮单元
WO2015040739A1 (ja) * 2013-09-20 2015-03-26 株式会社ハーモニック・ドライブ・システムズ オイルシール構造および波動歯車装置
DE102013222454A1 (de) * 2013-11-05 2015-05-07 Kuka Roboter Gmbh Elektrischer Antrieb und Industrieroboter mit wenigstens einem solchen elektrischen Antrieb

Also Published As

Publication number Publication date
US11092225B2 (en) 2021-08-17
TWI753121B (zh) 2022-01-21
JP2020509311A (ja) 2020-03-26
EP3387293B1 (de) 2021-08-25
KR20190122687A (ko) 2019-10-30
CN110730881A (zh) 2020-01-24
EP3387293A1 (de) 2018-10-17
JP6852177B2 (ja) 2021-03-31
DK3387293T3 (da) 2021-11-08
TW201833455A (zh) 2018-09-16
US20200003288A1 (en) 2020-01-02
WO2018157910A1 (de) 2018-09-07
KR102379849B1 (ko) 2022-03-28

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Address after: German Limburg larne

Patentee after: Hamernaco Drives Europe AG

Address before: German Limburg larne

Patentee before: Harmonic Drive AG