JP6756214B2 - ロボット、歯車装置および歯車装置の製造方法 - Google Patents

ロボット、歯車装置および歯車装置の製造方法 Download PDF

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Publication number
JP6756214B2
JP6756214B2 JP2016186602A JP2016186602A JP6756214B2 JP 6756214 B2 JP6756214 B2 JP 6756214B2 JP 2016186602 A JP2016186602 A JP 2016186602A JP 2016186602 A JP2016186602 A JP 2016186602A JP 6756214 B2 JP6756214 B2 JP 6756214B2
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Japan
Prior art keywords
gear
oil
body portion
arm
repellent
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JP2016186602A
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English (en)
Japanese (ja)
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JP2018053912A (ja
JP2018053912A5 (enExample
Inventor
祐哉 片岡
祐哉 片岡
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Seiko Epson Corp
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Seiko Epson Corp
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Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2016186602A priority Critical patent/JP6756214B2/ja
Priority to CN201710807004.4A priority patent/CN107866804B/zh
Priority to US15/711,240 priority patent/US10183405B2/en
Publication of JP2018053912A publication Critical patent/JP2018053912A/ja
Publication of JP2018053912A5 publication Critical patent/JP2018053912A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
JP2016186602A 2016-09-26 2016-09-26 ロボット、歯車装置および歯車装置の製造方法 Active JP6756214B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016186602A JP6756214B2 (ja) 2016-09-26 2016-09-26 ロボット、歯車装置および歯車装置の製造方法
CN201710807004.4A CN107866804B (zh) 2016-09-26 2017-09-08 机器人、齿轮装置以及齿轮装置的制造方法
US15/711,240 US10183405B2 (en) 2016-09-26 2017-09-21 Robot, gear device, and manufacturing method for gear device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2016186602A JP6756214B2 (ja) 2016-09-26 2016-09-26 ロボット、歯車装置および歯車装置の製造方法

Publications (3)

Publication Number Publication Date
JP2018053912A JP2018053912A (ja) 2018-04-05
JP2018053912A5 JP2018053912A5 (enExample) 2019-09-19
JP6756214B2 true JP6756214B2 (ja) 2020-09-16

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JP2016186602A Active JP6756214B2 (ja) 2016-09-26 2016-09-26 ロボット、歯車装置および歯車装置の製造方法

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Country Link
US (1) US10183405B2 (enExample)
JP (1) JP6756214B2 (enExample)
CN (1) CN107866804B (enExample)

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* Cited by examiner, † Cited by third party
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JP2019199893A (ja) * 2018-05-14 2019-11-21 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ユニット
JP7127367B2 (ja) * 2018-06-05 2022-08-30 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
DE102019109590B4 (de) * 2019-04-11 2025-03-20 Deutsches Zentrum für Luft- und Raumfahrt e.V. Drehgelenkeinrichtung für einen Roboter und Roboter
JP7467893B2 (ja) * 2019-11-22 2024-04-16 セイコーエプソン株式会社 歯車装置及びロボット
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
JP7631771B2 (ja) * 2020-12-11 2025-02-19 セイコーエプソン株式会社 歯車装置およびロボット
JP7585096B2 (ja) * 2021-03-05 2024-11-18 ナブテスコ株式会社 波動歯車装置の製造方法
CN113829383B (zh) * 2021-10-28 2024-04-16 上海宇航系统工程研究所 一种驱动关节
WO2024024115A1 (ja) 2022-07-29 2024-02-01 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
CN116044971B (zh) * 2023-04-03 2023-05-30 山西新德福自动化科技有限公司 一种高精度滚珠丝杠传动装置及组装方法

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JPH0723188Y2 (ja) * 1986-12-01 1995-05-31 株式会社三協精機製作所 旋回ア−ム装置
JP2697900B2 (ja) 1989-05-09 1998-01-14 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
JPH03125055A (ja) * 1989-10-06 1991-05-28 Yaskawa Electric Mfg Co Ltd ロボット用アクチュエータ
JPH03265742A (ja) * 1990-03-15 1991-11-26 Sumitomo Heavy Ind Ltd 撓み噛合い式歯車装置
US5984048A (en) * 1997-09-10 1999-11-16 Harmonic Drive Systems, Inc. Lubricant supplying mechanism for a wave gear drive
JP2000205351A (ja) * 1998-05-28 2000-07-25 Namu:Kk コリオリ運動歯車装置
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
JP4037280B2 (ja) * 2003-02-03 2008-01-23 サンクス株式会社 光学測定装置
JP2004239346A (ja) * 2003-02-06 2004-08-26 Nippon Densan Corp 流体動圧軸受及びこれを備えたモータ並びにこのモータを備えたディスク駆動装置
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JP2009133415A (ja) 2007-11-30 2009-06-18 Jtekt Corp 波動歯車減速機及び伝達比可変操舵装置
JP2009156368A (ja) * 2007-12-27 2009-07-16 Aisin Aw Co Ltd 歯車回転伝達装置
EP2148114B1 (en) * 2008-07-24 2012-10-24 Aichi Machine Industry Co. Ltd. Lubricating apparatus and transmission equipped with the same
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HRP20200794T8 (hr) * 2011-09-07 2021-12-10 Mount Sinai School Of Medicine Keramidaza i diferencijacija stanica
JP5966532B2 (ja) * 2012-04-02 2016-08-10 セイコーエプソン株式会社 ロボット
CN104633070B (zh) * 2014-10-28 2017-06-23 宁波上中下自动变速器有限公司 汽车差速器润滑结构
JP6166742B2 (ja) * 2015-02-19 2017-07-19 株式会社豊田中央研究所 潤滑構造及び変速機

Also Published As

Publication number Publication date
US20180085931A1 (en) 2018-03-29
CN107866804A (zh) 2018-04-03
CN107866804B (zh) 2022-09-23
JP2018053912A (ja) 2018-04-05
US10183405B2 (en) 2019-01-22

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