JP6718499B2 - 出力ベアリングとこれに支承可能な波動伝動装置を有する伝動システム - Google Patents

出力ベアリングとこれに支承可能な波動伝動装置を有する伝動システム Download PDF

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Publication number
JP6718499B2
JP6718499B2 JP2018500854A JP2018500854A JP6718499B2 JP 6718499 B2 JP6718499 B2 JP 6718499B2 JP 2018500854 A JP2018500854 A JP 2018500854A JP 2018500854 A JP2018500854 A JP 2018500854A JP 6718499 B2 JP6718499 B2 JP 6718499B2
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Japan
Prior art keywords
transmission system
gear
bearing
bearing ring
power transmission
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JP2018500854A
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English (en)
Japanese (ja)
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JP2018511765A (ja
JP2018511765A5 (enExample
Inventor
メンデル、マティアス
シャッファー、ミヒャエル
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Harmonic Drive SE
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Harmonic Drive SE
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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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C43/00—Assembling bearings
    • F16C43/04—Assembling rolling-contact bearings
    • F16C43/06—Placing rolling bodies in cages or bearings
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/581—Raceways; Race rings integral with other parts, e.g. with housings or machine elements such as shafts or gear wheels
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolling Contact Bearings (AREA)
  • Retarders (AREA)
  • Support Of The Bearing (AREA)
  • Mounting Of Bearings Or Others (AREA)
JP2018500854A 2015-03-23 2016-03-18 出力ベアリングとこれに支承可能な波動伝動装置を有する伝動システム Active JP6718499B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015104308.4 2015-03-23
DE102015104308.4A DE102015104308A1 (de) 2015-03-23 2015-03-23 Getriebeeinbausatz mit einem Abtriebslager und einem darin lagerbaren Spannungswellengetriebe
PCT/EP2016/055946 WO2016150844A1 (de) 2015-03-23 2016-03-18 Getriebeeinbausatz mit einem abtriebslager und einem daran lagerbaren spannungswellengetriebe

Publications (3)

Publication Number Publication Date
JP2018511765A JP2018511765A (ja) 2018-04-26
JP2018511765A5 JP2018511765A5 (enExample) 2019-03-28
JP6718499B2 true JP6718499B2 (ja) 2020-07-08

Family

ID=55542673

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018500854A Active JP6718499B2 (ja) 2015-03-23 2016-03-18 出力ベアリングとこれに支承可能な波動伝動装置を有する伝動システム

Country Status (7)

Country Link
US (1) US10876614B2 (enExample)
EP (1) EP3240960B1 (enExample)
JP (1) JP6718499B2 (enExample)
KR (1) KR102007591B1 (enExample)
CN (1) CN107407392B (enExample)
DE (1) DE102015104308A1 (enExample)
WO (1) WO2016150844A1 (enExample)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10337561B2 (en) * 2016-12-15 2019-07-02 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
CN110462258B (zh) * 2017-04-10 2022-08-23 谐波传动系统有限公司 礼帽型波动齿轮装置
US10253864B2 (en) * 2017-07-03 2019-04-09 Optimal Actuation Inc. Bearing wave generator assembly
JP6739888B2 (ja) * 2017-08-21 2020-08-12 株式会社ハーモニック・ドライブ・システムズ 潤滑剤混合防止部を備えた波動歯車装置
KR102782010B1 (ko) * 2018-03-08 2025-03-18 나부테스코 가부시키가이샤 전달 장치
CN109027022B (zh) * 2018-09-30 2023-09-01 安徽工程大学 一种双机器人协同装配轴承的操作装置
AT521617B1 (de) * 2019-07-26 2020-03-15 Univ Graz Tech Koaxialgetriebe
JP2021055767A (ja) * 2019-09-30 2021-04-08 Ntn株式会社 玉軸受
DE102020109646B4 (de) 2020-04-07 2024-09-12 Harmonic Drive Se Drehlager und Getriebebox
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
DE102020208063B4 (de) 2020-06-29 2022-02-10 Kuka Deutschland Gmbh Antriebsvorrichtung mit einer ein lichtstabilisiertes dynamisches Material aufweisenden Antriebskomponente und Roboter
JP2022077275A (ja) * 2020-11-11 2022-05-23 セイコーエプソン株式会社 駆動装置、及び駆動装置の組立て方法
DE102023100528B3 (de) 2023-01-11 2023-12-21 Harmonic Drive Se Getriebebox
DE102023100473B3 (de) * 2023-01-11 2024-02-29 Harmonic Drive Se Lagereinheit mit integriertem Sensor

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US1035463A (en) * 1910-10-08 1912-08-13 Edwin Oldfield Ball-bearing.
US2143091A (en) * 1936-02-11 1939-01-10 Fafnir Bearing Co Bearing
FR2045063A5 (enExample) * 1969-05-30 1971-02-26 Bayard Gaston
DE2407477A1 (de) * 1974-02-16 1975-08-28 Skf Kugellagerfabriken Gmbh Waelzlager und verfahren zu seiner herstellung
US4196947A (en) * 1978-02-22 1980-04-08 Clark Equipment Company Adjustable four point contact bearing
US4524639A (en) * 1983-06-23 1985-06-25 Usm Corporation Extended flexspline arrangement
JPS60143244A (ja) * 1983-12-29 1985-07-29 Mitsubishi Electric Corp ハ−モニツクギヤ装置
FR2599108B1 (fr) * 1986-05-22 1990-08-17 Alcatel Espace Mecanisme d'entrainement a grand debattement pour utilisation dans le vide comportant un reducteur qui a subi des traitements de lubrification seche
JP3739016B2 (ja) * 1995-12-08 2006-01-25 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トルク検出装置
KR200152266Y1 (ko) * 1997-04-08 1999-07-15 윤석태 원통형 롤러 베어링
JP2000120811A (ja) * 1998-08-12 2000-04-28 Teijin Seiki Co Ltd 撓み噛み合い式減速機
US6050155A (en) * 1999-02-03 2000-04-18 Harmonic Drive Technologies Harmonic drive flexspline with integral flange support
JP2002031150A (ja) * 2000-07-13 2002-01-31 Harmonic Drive Syst Ind Co Ltd 歯車装置ユニット
TWI252895B (en) 2001-12-11 2006-04-11 Harmonic Drive Systems Planetary gear device
JP4263993B2 (ja) * 2003-12-19 2009-05-13 日本トムソン株式会社 蓋付きクロスローラ軸受の製造方法
JP4531439B2 (ja) * 2004-04-23 2010-08-25 株式会社ハーモニック・ドライブ・システムズ カップ型波動歯車装置
JP2007321879A (ja) 2006-06-01 2007-12-13 Harmonic Drive Syst Ind Co Ltd 回転位置センサ付き減速機ユニット
JP4877804B2 (ja) * 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 波動歯車減速機の潤滑方法および回転テーブル装置
JP2008240831A (ja) * 2007-03-26 2008-10-09 Thk Co Ltd 転がり軸受及び転がり軸受の組立て方法
CN201162803Y (zh) 2008-03-07 2008-12-10 哈尔滨工业大学 一种短杯型谐波齿轮减速器
JP5071356B2 (ja) * 2008-12-01 2012-11-14 株式会社デンソーウェーブ ロボット用波動歯車減速装置
US20120085188A1 (en) 2009-07-02 2012-04-12 Harmonic Drive Systems Inc. Noncircular bearing, wave generator, and wave gear device
CN103534514B (zh) 2011-05-16 2016-02-17 谐波传动系统有限公司 组合型波动齿轮装置
CN202851612U (zh) 2012-09-20 2013-04-03 北京中技克美谐波传动有限责任公司 一种谐波传动减速器
DE112013002132T5 (de) 2013-05-08 2015-02-19 Harmonic Drive Systems Inc. Wellgenerator eines Verformungswellgetriebes
CN105308357B (zh) * 2013-06-20 2017-09-26 谐波传动系统有限公司 轴承保持件、轴承机构及波动齿轮装置
US10253864B2 (en) * 2017-07-03 2019-04-09 Optimal Actuation Inc. Bearing wave generator assembly

Also Published As

Publication number Publication date
KR20170130427A (ko) 2017-11-28
KR102007591B1 (ko) 2019-08-05
CN107407392B (zh) 2019-10-11
DE102015104308A1 (de) 2016-09-29
JP2018511765A (ja) 2018-04-26
EP3240960A1 (de) 2017-11-08
EP3240960B1 (de) 2018-06-20
WO2016150844A1 (de) 2016-09-29
US20180051789A1 (en) 2018-02-22
CN107407392A (zh) 2017-11-28
US10876614B2 (en) 2020-12-29

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