JP6852177B2 - インナーシール部材を有する波動歯車装置 - Google Patents

インナーシール部材を有する波動歯車装置 Download PDF

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Publication number
JP6852177B2
JP6852177B2 JP2019546399A JP2019546399A JP6852177B2 JP 6852177 B2 JP6852177 B2 JP 6852177B2 JP 2019546399 A JP2019546399 A JP 2019546399A JP 2019546399 A JP2019546399 A JP 2019546399A JP 6852177 B2 JP6852177 B2 JP 6852177B2
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Japan
Prior art keywords
wave gearing
strain wave
bearing
seal
seal member
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Active
Application number
JP2019546399A
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English (en)
Japanese (ja)
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JP2020509311A (ja
JP2020509311A5 (https=
Inventor
メンデル、マティアス
シャッファー、ミヒャエル
ゲーベル、ドミニク
アルテン、アレクサンダー
ペトルス ケーネン、ヨハネス
ペトルス ケーネン、ヨハネス
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.)
Harmonic Drive SE
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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.)
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Publication date
Application filed by Harmonic Drive SE filed Critical Harmonic Drive SE
Publication of JP2020509311A publication Critical patent/JP2020509311A/ja
Publication of JP2020509311A5 publication Critical patent/JP2020509311A5/ja
Application granted granted Critical
Publication of JP6852177B2 publication Critical patent/JP6852177B2/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
    • F16H57/04—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)
JP2019546399A 2017-02-28 2017-02-28 インナーシール部材を有する波動歯車装置 Active JP6852177B2 (ja)

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 (3)

Publication Number Publication Date
JP2020509311A JP2020509311A (ja) 2020-03-26
JP2020509311A5 JP2020509311A5 (https=) 2020-05-14
JP6852177B2 true JP6852177B2 (ja) 2021-03-31

Family

ID=58213061

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019546399A Active JP6852177B2 (ja) 2017-02-28 2017-02-28 インナーシール部材を有する波動歯車装置

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

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2013018865A1 (ja) 2011-08-03 2013-02-07 日本精工株式会社 シールリング付き転がり軸受
CN104919221B (zh) * 2012-08-21 2018-04-27 聂克森集团公司 谐波齿轮系统
KR101622914B1 (ko) * 2013-06-20 2016-05-20 가부시키가이샤 하모닉 드라이브 시스템즈 중공형 파동기어 유닛
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
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
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

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
DK3387293T3 (da) 2021-11-08
TW201833455A (zh) 2018-09-16
US20200003288A1 (en) 2020-01-02
WO2018157910A1 (de) 2018-09-07
CN110730881B (zh) 2022-07-29
KR102379849B1 (ko) 2022-03-28

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