JP5943802B2 - Hollow wave gear unit - Google Patents

Hollow wave gear unit Download PDF

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Publication number
JP5943802B2
JP5943802B2 JP2012221909A JP2012221909A JP5943802B2 JP 5943802 B2 JP5943802 B2 JP 5943802B2 JP 2012221909 A JP2012221909 A JP 2012221909A JP 2012221909 A JP2012221909 A JP 2012221909A JP 5943802 B2 JP5943802 B2 JP 5943802B2
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Japan
Prior art keywords
hollow
bearing
end plate
portion
input shaft
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JP2012221909A
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JP2014074451A (en
Inventor
喜一 矢島
喜一 矢島
香里 高嶺
香里 高嶺
眞憲 鈴木
眞憲 鈴木
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株式会社ハーモニック・ドライブ・システムズ
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H35/00Gearings or mechanisms with other special functional features
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H49/00Other gearings
    • F16H49/001Wave gearings, e.g. harmonic drive transmissions
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/021Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/029Gearboxes; Mounting gearing therein characterised by means for sealing the gearbox casing, e.g. to improve airtightness
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/04Features relating to lubrication or cooling or heating
    • F16H57/0467Elements of gearings to be lubricated, cooled or heated
    • F16H57/0469Bearings or seals
    • F16H57/0472Seals
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H35/00Gearings or mechanisms with other special functional features
    • F16H2035/003Gearings comprising pulleys or toothed members of non-circular shape, e.g. elliptical gears
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H49/00Other gearings
    • F16H2049/006Wave generators producing a non-elliptical shape of flexsplines, i.e. with a qualified different shape than elliptical

Description

  The present invention relates to a hollow wave gear unit including a unit hollow portion having a large inner diameter.

  As a wave gear unit, one in which a wave generator is supported by an input bearing in a both-sided state is known. In the unit type wave gear device disclosed in Patent Document 1, an input shaft is formed on one end surface of a rigid cam plate of a wave generator, and a shaft portion is formed on the other end surface of the rigid cam plate. The input shaft is supported by a first input bearing attached to the unit case end plate, and the opposite shaft end is supported by a second input bearing attached to an annular boss of the flexible external gear. .

  The pair of input bearings fixes the position of the wave generator in the axial direction, and the rigid internal gear and the wave generator are positioned in the axial direction. When the unit type wave gear device is connected to the motor shaft of the motor to constitute the actuator, it is only necessary to connect and fix the motor shaft to the input shaft, and the assembly work is easy.

  On the other hand, Patent Document 2 discloses a hollow actuator having a structure in which a wave gear reducer having a hollow portion is integrated with a hollow motor. The wave gear reducer of this hollow actuator includes a hollow wave generator. The hollow wave generator includes a hollow rotary shaft integrally formed with a motor shaft, a rigid plug formed on the outer peripheral surface of the hollow rotary shaft, and a wave bearing attached to the outer peripheral surface of the rigid plug. The hollow rotary shaft is supported by a first input bearing attached to a partition wall that partitions the wave gear reducer and the motor, and the shaft end on the wave gear reducer side is located inside the wave gear reducer. It is supported by the arranged second input bearing.

  A hollow shaft is rotatably disposed inside the hollow rotation shaft. Between the outer peripheral surface of the hollow shaft and the inner peripheral surface of the rotary shaft, a rubber ring is disposed to form a grease barrier. The grease barrier prevents the grease leaking from the second input bearing portion of the wave gear reducer from entering the rotary encoder side of the motor.

JP 2002-21948 A JP 2006-144971 A

  Here, the wave gear unit may be used as a hollow wave gear unit in which a unit hollow portion extending through the axial direction of the wave gear unit is formed so that the unit hollow portion can be used as a space for wiring or the like.

  For example, a wave gear reducer having a hollow portion disclosed in Patent Document 2 is separated from a hollow motor to form a hollow wave gear unit. This hollow wave gear unit is provided to the user. The user uses the hollow wave gear unit assembled to the motor. Even in this case, it is necessary to provide a grease leakage prevention mechanism to prevent the grease from leaking into the hollow portion from the second input bearing side of the wave gear reducer and entering the motor side.

  When retrofitting a motor, the grease barrier using the hollow shaft and rubber ring disclosed in Patent Document 2 is not suitable because the assembly work is complicated. In addition, if a hollow shaft is further disposed in the hollow portion of the hollow rotating shaft, the inner diameter of the hollow portion is reduced accordingly, and thus it is not suitable for a wave gear unit having a hollow portion having a large inner diameter.

  The subject of this invention is providing the hollow wave gear unit provided with the unit hollow part of a big internal diameter in view of such a point.

In order to solve the above problems, the hollow wave gear unit of the present invention is:
A cylindrical casing;
An end plate fixed to the input side opening end of the cylindrical casing;
An output disk attached in a rotatable state to the output side opening end of the cylindrical casing;
A wave gear mechanism incorporated inside the cylindrical casing;
A hollow input shaft extending through an end plate through hole formed in the end plate;
A first input bearing attached to an inner peripheral surface of an end plate through-hole formed in the end plate and supporting the hollow input shaft;
A bearing housing attached to the annular boss of the cup-shaped flexible external gear of the wave gear mechanism;
A second input bearing attached to the bearing housing and supporting the hollow input shaft;
The wave generator of the wave gear device is a hollow wave generator including the hollow input shaft, a rigid plug formed on the outer peripheral surface of the hollow input shaft, and a wave bearing attached to the outer peripheral surface of the rigid plug. Yes,
The annular boss of the flexible external gear is coaxially fixed from the end plate side along the unit axial direction with respect to a disk through hole formed in the output disk,
The bearing housing has a cylindrical portion fixed coaxially from the end plate side along the unit axial direction with respect to a boss through hole formed in the annular boss, and a radial direction from the end of the cylindrical portion. An annular portion extending outwardly, and a bearing mounting cylindrical portion protruding from the outer peripheral edge of the annular portion toward the end plate,
The space between the bearing mounting cylindrical portion of the bearing housing and the outer peripheral surface of the shaft end portion of the hollow input shaft on the output disc side is on the output disc side with respect to the second input bearing. It is characterized by being sealed by an adjacently arranged sealing member.

  In the wave gear unit having this configuration, a unit hollow portion penetrating in the unit axial direction is formed by the hollow portion of the hollow input shaft, the hollow portion of the bearing housing, the boss through hole, and the end plate through hole. The hollow input shaft of the wave generator is supported by the first and second input bearings in a both-end supported state. Therefore, unlike the case where the hollow input shaft is supported in a cantilever state, a large bending stress or the like does not act on the hollow input shaft. By making the hollow input shaft thin, the inner diameter of the hollow portion can be increased. Therefore, a wave gear unit having a hollow portion having a large inner diameter can be realized.

  A gap between the shaft end of the hollow input shaft and the bearing housing is sealed by a seal member attached to the bearing housing. From the side of the second input bearing, the grease is prevented from leaking into the hollow portion through this gap. Therefore, when the motor is assembled to the wave gear unit, the grease leaked into the hollow portion from this gap may enter the motor side along the inner peripheral surface of the hollow portion and contaminate the rotary encoder built in the motor. Can be prevented.

  Unlike the case where a grease leakage prevention mechanism is configured by placing a hollow shaft, rubber ring, etc. inside the hollow portion as a grease leakage prevention mechanism, the components of the grease leakage prevention mechanism are arranged inside the hollow portion. There is no need to do. Therefore, a wave gear unit having a large-diameter hollow portion that can be effectively used as a wiring space or the like can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a longitudinal sectional view, an input side end view, and an output side end view showing a wave gear unit according to an embodiment of the present invention.

  A wave gear unit according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1A is a longitudinal sectional view showing a wave gear unit according to the present embodiment, FIG. 1B is an end view of the input side, and FIG. 1C is an end face of the output side. FIG.

  The wave gear unit 1 is rotatable in a cylindrical casing 2, an end plate 3 fixed to the input side opening end 2 a of the cylindrical casing 2, and an output side opening end 2 b on the opposite side of the cylindrical casing 2. An attached output disk 4 is provided.

  A cup-shaped wave gear mechanism 5 is incorporated in the cylindrical casing 2, the end plate 3, and the output disk 4. An end plate through hole 3a is formed concentrically in the end plate 3, and the hollow input shaft 6 passes through the end plate through hole 3a in a coaxial state.

  The hollow input shaft 6 is supported in a rotatable state by a first input bearing 7 mounted on the inner peripheral surface of the end plate through hole 3a. The wave gear mechanism 5 is supported in a rotatable state by a second input bearing 9 mounted on the bearing housing 8. The hollow input shaft 6 includes a shaft end portion 6a that protrudes from the end plate through hole 3a to the input side. A seal ring 10 seals between the outer peripheral surface of the shaft end portion 6a and the inner peripheral surface of the end plate through hole 3a. A motor shaft (not shown) is coaxially connected and fixed to the shaft end portion 6a.

  When the hollow input shaft 6 is rotated by the motor, the rotation of the hollow input shaft 6 is decelerated by the wave gear mechanism 5, and the decelerated rotation is taken out from the output disk 4. A load-side member (not shown) connected and fixed to the output disk 4 is rotationally driven by the output disk 4 that rotates at a reduced speed.

  The configuration of each part of the wave gear unit 1 will be described in detail. The cylindrical casing 2 has a large-diameter flange portion at the input-side opening end 2a, and the outer peripheral portion of the disk-shaped end plate 3 is fixed to the annular end surface by fastening bolts 11. Yes. An output disk 4 is rotatably attached to the output side opening end 2b of the cylindrical casing 2 via a cross roller bearing 12. The outer ring 12 a of the cross roller bearing 12 is fixed to the annular end surface of the output side opening end 2 b of the cylindrical casing 2 by fastening bolts 13. An outer peripheral edge portion of the output disk 4 that is coaxially disposed inside the outer ring 12 a functions as an inner ring of the cross roller bearing 12. That is, a raceway surface 12c on the inner ring side of the roller 12b is formed on the circular outer peripheral surface of the output disk 4.

  The wave gear mechanism 5 includes an annular rigid internal gear 14, a cup-shaped flexible external gear 15, and a hollow wave generator 16. The rigid internal gear 14 is fixed to the inner peripheral surface portion of the input side opening end 2 a of the cylindrical casing 2. The flexible external gear 15 is continuous with a cylindrical body 15a, an annular diaphragm 15b extending radially inward from one end of the cylindrical body 15a, and an inner peripheral edge of the diaphragm 15b. An annular boss 15c extending inward is provided. The other end of the cylindrical body portion 15a is an open end, and external teeth 15d are formed on the outer peripheral surface portion of the open end.

  The flexible external gear 15 is arranged in a state where the open end side where the external teeth 15d are formed faces the input side (motor assembly side). The external teeth 15d are in positions facing the internal teeth 14a of the rigid internal gear 14, and can mesh with the internal teeth 14a.

  The hollow wave generator 16 includes a hollow input shaft 6, a rigid plug 16a formed integrally with the circular outer peripheral surface of the hollow input shaft 6, and a wave bearing 16b attached to the outer peripheral surface of the rigid plug 16a. Yes. The wave bearing 16b is a ball bearing having an outer ring and an inner ring that can be bent in the radial direction. The rigid plug 16a of this example has an elliptical contour, and the wave bearing 16b is formed between the rigid plug 16a and the inner peripheral surface of the outer tooth forming portion of the cylindrical body portion 15a of the flexible external gear 15. It is attached to. Therefore, the external tooth forming portion of the flexible external gear 15 is bent in an elliptical shape, and the external tooth portions located at both ends in the major axis direction of the elliptical shape are the internal teeth of the rigid internal gear 14. It meshes with teeth.

  The flexible external gear 15 is coaxially fixed to the output disk 4. A male screw portion is formed on the circular outer peripheral surface of the annular boss 15 c of the flexible external gear 15, and a female screw portion is formed on the inner peripheral surface of the disk through hole 4 a of the output disc 4. . The annular boss 15c is screwed and fixed to the disk through hole 4a of the output disk 4 from the end plate 3 side along the direction of the unit axis 1a. The boss through hole 15 e of the annular boss 15 c has a regular hexagonal shape in which the portion on the output disk 4 side is slightly larger than the circular hollow portion 6 c of the hollow input shaft 6. A tool is engaged with the regular hexagonal boss through hole 15e so that the work of screwing and fixing the annular boss 15c to the output disk 4 can be easily performed.

  Next, the bearing housing 8 to which the second input bearing 9 is mounted includes a press-fit cylindrical portion 8a and an annular portion 8b that spreads outward in the radial direction from the end plate 3 side end of the press-fit cylindrical portion 8a. And a bearing mounting cylindrical portion 8c that protrudes toward the end plate 3 from the outer peripheral edge of the annular portion 8b. The cylindrical portion 8a for press-fitting is an end plate along the direction of the unit axis 1a with respect to the press-fitted portion consisting of a circular inner peripheral surface formed on the end plate 3 side in the boss through hole 15e of the annular boss 15c. It is press-fitted coaxially from the side 3 and fixed with an adhesive.

  The second input bearing 9 is mounted between the bearing mounting cylindrical portion 8 c and the circular outer peripheral surface of the shaft end portion 6 b of the hollow input shaft 6 on the output disk 4 side. The space between the bearing mounting cylindrical portion 8c and the circular outer peripheral surface of the shaft end portion 6b is sealed by an annular seal member 17 disposed adjacent to the second input bearing 9 on the output disc 4 side.

  In the wave gear unit 1 having this configuration, the circular hollow portion 6c of the hollow input shaft 6, the circular hollow portion 8d of the press-fitting cylindrical portion 8a of the bearing housing 8, the boss through-hole 15e of the annular boss 15c, and the disk through-hole 4a A unit hollow portion 18 penetrating in the direction of the unit axis 1a is formed.

  Here, the hollow input shaft 6 of the hollow wave generator 16 is supported by the first and second input bearings 7 and 9 in a both-end supported state. Since a large bending stress or the like does not act on the hollow input shaft 6, the hollow input shaft 6 can be made thin and the inner diameter of the circular hollow portion can be increased. Therefore, the wave gear unit 1 including the unit hollow portion 18 having a large inner diameter is obtained.

  A gap 19 between the shaft end 6 b of the hollow input shaft 6 and the bearing housing 8 is sealed by a seal member 17 attached to the bearing housing 8. Accordingly, the grease is prevented from leaking from the second input bearing 9 side through the gap 19 to the inside of the unit hollow portion 18. Further, since the press-fitting cylindrical portion 8a of the bearing housing 8 is bonded and fixed to the annular boss 15c, it is possible to prevent grease from leaking into the unit hollow portion 18 through these members. For example, when the motor is assembled to the wave gear unit 1, grease leaked from the side of the wave gear mechanism 5 through the gap 19 and the like into the unit hollow portion 18 travels along the inner peripheral surface of the hollow portion and the like. It is possible to prevent the rotary encoder with a built-in motor from being contaminated.

  In the interior of the unit hollow portion 18, the components of the grease leakage prevention mechanism from the gap 19 are not arranged. Therefore, the wave gear unit 1 including the large-diameter unit hollow portion 18 that can be effectively used as a wiring space or the like is obtained.

DESCRIPTION OF SYMBOLS 1 Wave gear unit 1a Unit axis 2 Cylindrical casing 2a Input side open end 2b Output side open end 3 End plate 3a End plate through hole 4 Output disk 4a Disk through hole 5 Wave gear mechanism 6 Hollow input shaft 6a, 6b Shaft end Part 6c Circular hollow part 7 First input bearing 8 Bearing housing 8a Press-fit cylindrical part 8b Ring part 8c Bearing mounting cylindrical part 8d Circular hollow part 9 Second input bearing 10 Seal ring 11 Fastening bolt 12 Cross roller bearing 12a Outer ring 12b Roller 12c Inner ring side raceway surface 13 Fastening bolt 14 Rigid internal gear 14a Internal tooth 15 Flexible external gear 15a Cylindrical body 15b Diaphragm 15c Annular boss 15d External tooth 15e Boss through hole 16 Hollow wave generator 16a Rigidity Plug 16b Wave bearing 17 Seal member 18 Unit hollow part 19 Crevice

Claims (1)

  1. A cylindrical casing (2);
    An end plate (3) fixed to the input side open end (2a) of the cylindrical casing (2);
    An output disc (4) attached to the output side open end (2b) of the cylindrical casing (2) in a rotatable state;
    A wave gear mechanism (5) incorporated inside the cylindrical casing (2);
    A hollow input shaft (6) extending through an end plate through hole (3a) formed in the end plate (3);
    A first input bearing (7) attached to an inner peripheral surface of an end plate through hole (3a) formed in the end plate (3) and supporting the hollow input shaft (6);
    A bearing housing (8) attached to an annular boss (15c) of a cup-shaped flexible external gear (15) of the wave gear mechanism (5);
    A second input bearing (9) attached to the bearing housing (8) and supporting the hollow input shaft (6);
    The wave generator (16) of the wave gear mechanism (5) includes the hollow input shaft (6), a rigid plug (16a) formed on the outer peripheral surface of the hollow input shaft (6), and the rigid plug (16a). And a wave bearing (16b) mounted on the outer peripheral surface of the hollow wave generator,
    The annular boss (15c) of the flexible external gear (15) is along the direction of the unit axis (1a) with respect to the disk through hole (4a) formed in the output disk (4). Fixed from the end plate (3) side,
    The bearing housing (8) is fixed to the boss through hole (15e) formed in the annular boss (15c) from the end plate (3) side along the unit axis (1a). A cylindrical portion (8a), an annular portion (8b) extending radially outward from an end of the cylindrical portion (8a), and the end plate (3) from an outer peripheral edge of the annular portion (8b) A cylindrical portion for mounting a bearing (8c) protruding on the side of
    Between the bearing mounting cylindrical portion (8c) of the bearing housing (8) and the outer peripheral surface of the shaft end portion (6b) on the output disk (4) side of the hollow input shaft (6), The hollow wave gear unit (1) is sealed by a seal member (17) disposed adjacent to the output disk (4) with respect to the second input bearing (9).
JP2012221909A 2012-10-04 2012-10-04 Hollow wave gear unit Active JP5943802B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2012221909A JP5943802B2 (en) 2012-10-04 2012-10-04 Hollow wave gear unit

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2012221909A JP5943802B2 (en) 2012-10-04 2012-10-04 Hollow wave gear unit
TW101141339A TWI563194B (en) 2012-10-04 2012-11-07
KR1020120132918A KR101927490B1 (en) 2012-10-04 2012-11-22 Hollow wave gear unit
CN201210505938.XA CN103711843B (en) 2012-10-04 2012-11-30 Hollow wave gear unit

Publications (2)

Publication Number Publication Date
JP2014074451A JP2014074451A (en) 2014-04-24
JP5943802B2 true JP5943802B2 (en) 2016-07-05

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JP2012221909A Active JP5943802B2 (en) 2012-10-04 2012-10-04 Hollow wave gear unit

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KR (1) KR101927490B1 (en)
CN (1) CN103711843B (en)
TW (1) TWI563194B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101757154B1 (en) * 2014-05-16 2017-07-12 가부시키가이샤 하모닉 드라이브 시스템즈 Hollow strain wave gearing and hollow actuator
MX2017005435A (en) * 2014-10-31 2017-07-04 Aichi Machine Ind Transmission case and transmission comprising same.
TWI551792B (en) * 2015-01-29 2016-10-01 Hiwin Tech Corp A reduction gear with a motor

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3768261B2 (en) * 1995-05-19 2006-04-19 株式会社ハーモニック・ドライブ・システムズ Flat type wave gear device
JP3585008B2 (en) * 1996-02-15 2004-11-04 株式会社ハーモニック・ドライブ・システムズ Hermetic wave gear device
JP4650913B2 (en) * 2000-04-27 2011-03-16 株式会社ハーモニック・ドライブ・システムズ Lubricant leakage prevention mechanism for hollow wave gear device
JP2002021948A (en) * 2000-07-10 2002-01-23 Harmonic Drive Syst Ind Co Ltd Unit type wave gear device
JP2002243000A (en) * 2001-02-19 2002-08-28 Harmonic Drive Syst Ind Co Ltd Actuator with wave motion gear reducer
JP4614322B2 (en) * 2004-11-22 2011-01-19 株式会社ハーモニック・ドライブ・システムズ Hollow actuator
JP4877804B2 (en) * 2007-03-08 2012-02-15 株式会社ハーモニック・ドライブ・システムズ Lubricating method and rotary table device for wave gear reducer
TWI608183B (en) * 2013-03-19 2017-12-11 和諧驅動系統股份有限公司 Wave gear device and hollow rotating actuator

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Publication number Publication date
TWI563194B (en) 2016-12-21
CN103711843B (en) 2017-04-12
KR101927490B1 (en) 2018-12-11
KR20140044254A (en) 2014-04-14
CN103711843A (en) 2014-04-09
TW201414938A (en) 2014-04-16
JP2014074451A (en) 2014-04-24

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