JP6052835B2 - 中空波動歯車装置および中空アクチュエータ - Google Patents

中空波動歯車装置および中空アクチュエータ Download PDF

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Publication number
JP6052835B2
JP6052835B2 JP2015543177A JP2015543177A JP6052835B2 JP 6052835 B2 JP6052835 B2 JP 6052835B2 JP 2015543177 A JP2015543177 A JP 2015543177A JP 2015543177 A JP2015543177 A JP 2015543177A JP 6052835 B2 JP6052835 B2 JP 6052835B2
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hollow
boss
end surface
seal
house
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JP2015543177A
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English (en)
Japanese (ja)
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JPWO2015173959A1 (ja
Inventor
丸山　利喜
利喜 丸山
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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Publication of JPWO2015173959A1 publication Critical patent/JPWO2015173959A1/ja
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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
    • F16H57/02—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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • 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)
  • Power Engineering (AREA)
  • General Details Of Gearings (AREA)
  • Retarders (AREA)
  • Valve Device For Special Equipments (AREA)
JP2015543177A 2014-05-16 2014-05-16 中空波動歯車装置および中空アクチュエータ Active JP6052835B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063099 WO2015173959A1 (ja) 2014-05-16 2014-05-16 中空波動歯車装置および中空アクチュエータ

Publications (2)

Publication Number Publication Date
JP6052835B2 true JP6052835B2 (ja) 2016-12-27
JPWO2015173959A1 JPWO2015173959A1 (ja) 2017-04-20

Family

ID=54479525

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015543177A Active JP6052835B2 (ja) 2014-05-16 2014-05-16 中空波動歯車装置および中空アクチュエータ

Country Status (7)

Country Link
US (1) US9772020B2 (enExample)
JP (1) JP6052835B2 (enExample)
KR (1) KR101757154B1 (enExample)
CN (1) CN105518345B (enExample)
DE (1) DE112014001512B4 (enExample)
TW (1) TW201604444A (enExample)
WO (1) WO2015173959A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105546102A (zh) * 2016-03-02 2016-05-04 浙江琦星电子有限公司 减速机构的油密封结构
JP6849363B2 (ja) * 2016-03-30 2021-03-24 日本電産株式会社 回転アクチュエータおよびロボット
DE102016207046A1 (de) * 2016-04-26 2017-02-23 Schaeffler Technologies AG & Co. KG Wellgetriebe
WO2017203753A1 (ja) * 2016-05-27 2017-11-30 日本電産株式会社 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
US10197146B2 (en) * 2016-12-28 2019-02-05 Precision Machinery Research & Development Center Reducer module with real-time torque sensing
JP6852177B2 (ja) * 2017-02-28 2021-03-31 ハーモニック ドライブ アーゲーＨａｒｍｏｎｉｃ Ｄｒｉｖｅ Ａｇ インナーシール部材を有する波動歯車装置
US10823278B2 (en) * 2017-04-10 2020-11-03 Harmonic Drive Systems Inc. Silk hat-type strain wave gear device
JP7010425B2 (ja) * 2017-06-30 2022-01-26 日本電産シンポ株式会社 駆動装置
DE102017211540A1 (de) * 2017-07-06 2019-01-10 Siemens Aktiengesellschaft Getriebemotoreinheit
JP2019054713A (ja) * 2017-09-15 2019-04-04 日本電産株式会社 アクチュエータ
US11964389B2 (en) * 2017-11-15 2024-04-23 Universal Robots A/S Strain wave gear with output flange and integrated encoder
DE102018213452A1 (de) * 2018-08-09 2020-02-13 Kuka Deutschland Gmbh Roboterarm mit wenigstens einem Gelenkmomentsensor
EP3712464A4 (en) * 2018-11-09 2021-06-02 Harmonic Drive Systems Inc. METHOD OF LUBRICATING A VOLTAGE SHAFT GEAR
CN111120658B (zh) * 2020-01-03 2022-04-05 湖南永盛船舶有限公司 一种可调式船用艉轴密封装置
CN116209844B (zh) * 2020-09-08 2025-05-27 Abb瑞士股份有限公司 谐波减速机和工业机器人
DK180930B1 (en) 2021-03-25 2022-06-29 Universal Robots As Strain wave gear with encoder integration
WO2023083669A1 (de) * 2021-11-09 2023-05-19 Sew-Eurodrive Gmbh & Co. Kg Getriebemotor, aufweisend einen elektromotor und ein getriebe
CN116697025A (zh) 2022-02-25 2023-09-05 通用电气公司 齿轮箱组件
JPWO2024218967A1 (enExample) * 2023-04-21 2024-10-24
NO20230767A1 (en) 2023-07-07 2025-01-08 Eltorque As Hollow actuator with strain wave gear and self-lock for emergency operation

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09217798A (ja) * 1996-02-15 1997-08-19 Harmonic Drive Syst Ind Co Ltd 密閉型波動歯車装置
JPH09303497A (ja) * 1996-05-21 1997-11-25 Harmonic Drive Syst Ind Co Ltd シルクハット型撓み噛み合い式歯車装置
JP2001304382A (ja) * 2000-04-27 2001-10-31 Harmonic Drive Syst Ind Co Ltd 中空型波動歯車装置の潤滑剤漏れ防止機構
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
JP2006144971A (ja) * 2004-11-22 2006-06-08 Harmonic Drive Syst Ind Co Ltd 中空アクチュエータ
WO2010089796A1 (ja) * 2009-02-03 2010-08-12 株式会社ハーモニック・ドライブ・システムズ ギヤ付きモータアセンブリ

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3835709B2 (ja) * 1996-03-18 2006-10-18 株式会社ハーモニック・ドライブ・システムズ 撓み噛み合い式歯車装置の潤滑機構
JP3781312B2 (ja) * 1996-03-18 2006-05-31 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置の潤滑機構
JP2002339990A (ja) * 2001-05-22 2002-11-27 Harmonic Drive Syst Ind Co Ltd 軽量ベアリングおよび波動歯車装置
JP2007303592A (ja) * 2006-05-12 2007-11-22 Honda Motor Co Ltd 波動歯車装置
JP5943802B2 (ja) * 2012-10-04 2016-07-05 株式会社ハーモニック・ドライブ・システムズ 中空波動歯車ユニット
TWI608183B (zh) * 2013-03-19 2017-12-11 和諧驅動系統股份有限公司 諧波齒輪裝置及中空型旋轉致動器
DE112013002253B4 (de) * 2013-06-20 2022-12-29 Harmonic Drive Systems Inc. Verformungswellgetriebeeinheit vom hohlen Typ

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09217798A (ja) * 1996-02-15 1997-08-19 Harmonic Drive Syst Ind Co Ltd 密閉型波動歯車装置
JPH09303497A (ja) * 1996-05-21 1997-11-25 Harmonic Drive Syst Ind Co Ltd シルクハット型撓み噛み合い式歯車装置
JP2001304382A (ja) * 2000-04-27 2001-10-31 Harmonic Drive Syst Ind Co Ltd 中空型波動歯車装置の潤滑剤漏れ防止機構
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
JP2006144971A (ja) * 2004-11-22 2006-06-08 Harmonic Drive Syst Ind Co Ltd 中空アクチュエータ
WO2010089796A1 (ja) * 2009-02-03 2010-08-12 株式会社ハーモニック・ドライブ・システムズ ギヤ付きモータアセンブリ

Also Published As

Publication number Publication date
JPWO2015173959A1 (ja) 2017-04-20
KR20160009528A (ko) 2016-01-26
DE112014001512B4 (de) 2024-02-22
US9772020B2 (en) 2017-09-26
CN105518345B (zh) 2018-02-02
WO2015173959A1 (ja) 2015-11-19
DE112014001512T5 (de) 2016-01-07
TWI563195B (enExample) 2016-12-21
KR101757154B1 (ko) 2017-07-12
TW201604444A (zh) 2016-02-01
CN105518345A (zh) 2016-04-20
US20170051817A1 (en) 2017-02-23

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