JPH09250609A - Lubricating mechanism for bendingly egaged gear device - Google Patents
Lubricating mechanism for bendingly egaged gear deviceInfo
- Publication number
- JPH09250609A JPH09250609A JP8060508A JP6050896A JPH09250609A JP H09250609 A JPH09250609 A JP H09250609A JP 8060508 A JP8060508 A JP 8060508A JP 6050896 A JP6050896 A JP 6050896A JP H09250609 A JPH09250609 A JP H09250609A
- Authority
- JP
- Japan
- Prior art keywords
- lubricant
- gear
- supplied
- gear device
- teeth
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
- F16H57/0445—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control for supply of different gearbox casings or sections
-
- 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
-
- 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
- F16H57/0471—Bearing
Landscapes
- General Details Of Gearings (AREA)
- Retarders (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は撓みかみ合い式歯車
装置における歯部およびベアリングへの潤滑機構に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lubrication mechanism for a tooth portion and a bearing in a flexural mesh type gear device.
【０００２】[0002]
【従来の技術】撓みかみ合い式歯車装置としてはカップ
状のものが知られている。この装置は、環状をした剛性
内歯歯車と、この内側に配置されたカップ状の可撓性外
歯歯車と、この内側に嵌めこまれた楕円形の波動発生器
とを備えている。波動発生器は楕円形をした剛性カム板
と、この外周面に嵌めたウエーブベアリングとを備えて
いる。波動発生器によりカップ状の可撓性外歯歯車の開
口端側に形成された外歯の部分は楕円形に撓められて、
直径方向の２箇所の外歯部分が、内歯歯車の内周面に形
成されている内歯にかみ合っている。波動発生器を回転
させると、これらのかみ合い位置も周方向に移動する。
内歯と外歯の歯数は一般に２枚だけ異なっている。撓み
かみ合い式歯車装置では、これらの歯車の間には相対回
転が発生する。この相対回転を減速回転出力として取り
だすように構成されている。2. Description of the Related Art A cup-shaped gear device is known as a flexible mesh type gear device. This device comprises an annular rigid internal gear, a cup-shaped flexible external gear arranged inside this, and an elliptical wave generator fitted inside this. The wave generator includes an elliptical rigid cam plate and a wave bearing fitted on the outer peripheral surface of the rigid cam plate. The portion of the external teeth formed on the open end side of the cup-shaped flexible external gear by the wave generator is bent into an elliptical shape,
Two outer tooth portions in the diametrical direction mesh with inner teeth formed on the inner peripheral surface of the inner gear. When the wave generator is rotated, these meshing positions also move in the circumferential direction.
The number of internal teeth and external teeth generally differ by only two. In a flexible mesh type gear device, relative rotation occurs between these gears. It is configured to take out this relative rotation as a decelerated rotation output.
【０００３】[0003]
【発明が解決しようとする課題】この構成の撓みかみ合
い式歯車装置において潤滑が必要な部分としては、内歯
と外歯のかみ合い部分と、ウエーブベアリングの部分と
がある。外歯および内歯の部分、すなわち歯部の潤滑
は、油膜強度の高い高粘度の潤滑剤が適している。これ
に対して、ウエーブベアリングの潤滑は、撹拌抵抗が小
さい低粘度の潤滑剤が適している。In the flexible mesh type gear device of this construction, the parts that require lubrication include the meshing parts of the inner and outer teeth and the wave bearing part. For the lubrication of the outer teeth and the inner teeth, that is, the teeth, a highly viscous lubricant having a high oil film strength is suitable. On the other hand, for the lubrication of the wave bearing, a low-viscosity lubricant having a small stirring resistance is suitable.
【０００４】しかしながら、従来の撓みかみ合い式歯車
装置では双方の潤滑部分に対して同一の潤滑剤を供給し
ている。However, in the conventional flexural mesh type gear device, the same lubricant is supplied to both lubricated parts.
【０００５】本発明の課題は、撓みかみ合い式歯車装置
において、潤滑対象となる部分に適した粘度の潤滑剤を
供給するための潤滑機構を提案することにある。An object of the present invention is to propose a lubrication mechanism for supplying a lubricant having a viscosity suitable for a portion to be lubricated in a flexural mesh type gear device.
【０００６】[0006]
【課題を解決するための手段】上記の課題を解決するた
めに、本発明の撓みかみ合い式歯車装置は、環状の剛性
内歯歯車と、この内側に配置された可撓性外歯歯車と、
この内側に嵌め込まれた波動発生器とを有し、前記剛性
内歯歯車の内歯および前記可撓性外歯歯車の外歯には第
１の潤滑剤を供給し、前記波動発生器を構成する剛性カ
ム板の外周面に嵌められたウエーブベアリングには前記
第１の潤滑剤よりも低粘度の第２の潤滑剤を供給し、前
記第１の潤滑剤が供給される部分と前記第２の潤滑剤が
供給される部分とを仕切ってあることを特徴としてい
る。In order to solve the above-mentioned problems, a flexural mesh type gear device of the present invention comprises an annular rigid internal gear, and a flexible external gear arranged inside thereof.
And a wave generator fitted inside thereof, and a first lubricant is supplied to the internal teeth of the rigid internal gear and the external teeth of the flexible external gear to form the wave generator. The second lubricant having a lower viscosity than the first lubricant is supplied to the wave bearing fitted to the outer peripheral surface of the rigid cam plate, and the portion to which the first lubricant is supplied and the second lubricant are supplied. It is characterized in that it is separated from the part to which the lubricant is supplied.
【０００７】ここで、前記可撓性外歯歯車として、円筒
状の胴部と、この一方の側を封鎖しているダイヤフラム
と、胴部の他方の開口端の側の外周面に形成された外歯
を備えたカップ状のもを備えた撓みかみ合い式歯車装置
においては、前記剛性内歯歯車と前記可撓性外歯歯車の
前記外歯よりも開口端側の部分との間に環状の弾性シー
ルを配置することにより、前記第１の潤滑剤が供給され
る部分と前記第２の潤滑剤が供給される部分とを仕切る
ことができる。Here, the flexible external gear is formed on a cylindrical body, a diaphragm closing one side of the body, and an outer peripheral surface on the other open end side of the body. In a flexural mesh type gear device including a cup-shaped gear having external teeth, an annular shape is provided between the rigid internal gear and a portion of the flexible external gear that is closer to the opening end than the external teeth. By disposing the elastic seal, it is possible to partition the portion to which the first lubricant is supplied from the portion to which the second lubricant is supplied.
【０００８】この代わりに、前記剛性内歯歯車が取り付
けられている装置ハウジングの内面と前記可撓性外歯歯
車の前記外歯よりも開口端側の部分との間に環状の弾性
シールを配置してもよい。なお、前記剛性内歯歯車は前
記装置ハウジングに対して一体形成したものでもよい。Instead of this, an annular elastic seal is arranged between the inner surface of the device housing to which the rigid internal gear is attached and the portion of the flexible external gear closer to the open end than the external teeth. You may. The rigid internal gear may be integrally formed with the device housing.
【０００９】本発明の撓みかみ合い式歯車装置において
は、内歯と外歯のかみ合い部分に対しては、油膜強度の
高い高粘度第１の潤滑剤が供給される。ウエーブベアリ
ングに対しては、低粘度で撹拌抵抗が小さい第２の潤滑
剤が供給される。また、これらの潤滑剤の供給部分は仕
切られているので、双方の潤滑剤が混ざってしまうこと
もない。したがって、本発明によれば、これらの各潤滑
部分の潤滑が好適に行われる。In the flexural meshing gear device of the present invention, the highly viscous first lubricant having a high oil film strength is supplied to the meshing portions of the inner teeth and the outer teeth. A second lubricant having a low viscosity and a small stirring resistance is supplied to the wave bearing. Moreover, since the supply parts of these lubricants are partitioned, both lubricants do not mix. Therefore, according to the present invention, lubrication of each of these lubricated portions is preferably performed.
【００１０】[0010]
【発明の実施の形態】以下に、図面を参照して本発明の
実施の形態を説明する。Embodiments of the present invention will be described below with reference to the drawings.
【００１１】図１には、本発明の第１の実施の形態を示
してある。この図は、カップ状撓みかみ合い式歯車装置
の主要部分を示す構成図である。カップ状撓みかみ合い
式歯車装置１は、装置ハウジング２に取り付け固定され
た環状の剛性内歯歯車３と、この内側に配置されたカッ
プ状の可撓性外歯歯車４と、この内側に嵌め込まれた楕
円形の波動発生器５を備えている。FIG. 1 shows a first embodiment of the present invention. This figure is a configuration diagram showing a main part of a cup-shaped flexible meshing gear device. The cup-shaped flexible meshing gear device 1 includes an annular rigid internal gear 3 fixed to a device housing 2, a cup-shaped flexible external gear 4 arranged inside the gear, and a cup-shaped flexible external gear 4 fitted therein. It has an elliptical wave generator 5.
【００１２】可撓性外歯歯車４は、円筒状の胴部４１
と、この一方の側を封鎖しているダイヤフラム４２と、
このダイヤフラム４２の中心に一体形成されているボス
４３と、胴部４１の開口端４４の外周面に形成した外歯
４５を備えている。外歯４５を囲む状態に剛性内歯歯車
３の内周面に形成した内歯３１が位置している。可撓性
外歯歯車４のボス４３には減速回転出力軸４６が同軸状
態に連結されている。この出力軸４６は、回転自在の状
態で装置ハウジング２によって支持され、その先端が、
装置ハウジング２の一方の端壁２１から突出している。
装置ハウジング２の他方の端壁２２の内側面は、可撓性
外歯歯車４の胴部開口端４４に対峙している。この端壁
２２を貫通してモータ等の出力軸に連結された回転入力
軸６が延びている。入力軸６の内部端は波動発生器５に
連結されている。The flexible external gear 4 has a cylindrical body portion 41.
And a diaphragm 42 blocking this one side,
A boss 43 integrally formed at the center of the diaphragm 42 and external teeth 45 formed on the outer peripheral surface of the opening end 44 of the body 41 are provided. The internal teeth 31 formed on the inner peripheral surface of the rigid internal gear 3 are positioned so as to surround the external teeth 45. A reduced rotation output shaft 46 is coaxially connected to the boss 43 of the flexible external gear 4. The output shaft 46 is rotatably supported by the device housing 2 and its tip is
It projects from one end wall 21 of the device housing 2.
The inner surface of the other end wall 22 of the device housing 2 faces the body opening end 44 of the flexible external gear 4. A rotary input shaft 6 connected to an output shaft of a motor or the like extends through the end wall 22. The inner end of the input shaft 6 is connected to the wave generator 5.
【００１３】波動発生器５は、楕円形をした剛性カム板
５１と、この外周面に嵌めたウエーブベアリング５２を
有しており、剛性カム板５１の中心に入力軸６が連結さ
れている。The wave generator 5 has an elliptical rigid cam plate 51 and a wave bearing 52 fitted on the outer peripheral surface thereof, and the input shaft 6 is connected to the center of the rigid cam plate 51.
【００１４】ここで、本例では、可撓性外歯歯車４の胴
部４１において、その外歯４５よりも開口端側の部分
が、装置ハウジングの端壁２２の側に延長されている。
この環状の延長端部分４６の先端が開口端４４となって
いる。この環状の延長端部分４６の外周面４６ａと、こ
の外周面４６ａが対峙している装置ハウジング２の側の
内周面２３の間には、Ｕ状に湾曲した環状の弾性シール
７が装着されている。この弾性シール７と、カップ状の
可撓性外歯歯車４とによって、外歯４４と内歯３１のか
み合い部分と、ウエーブベアリング５２の部分とが液密
状態で仕切られている。Here, in the present example, in the body portion 41 of the flexible external gear 4, the portion closer to the open end than the external tooth 45 extends to the end wall 22 side of the apparatus housing.
The tip of the annular extended end portion 46 is the open end 44. An annular elastic seal 7 curved in a U shape is mounted between the outer peripheral surface 46a of the annular extended end portion 46 and the inner peripheral surface 23 on the side of the apparatus housing 2 facing the outer peripheral surface 46a. ing. The elastic seal 7 and the cup-shaped flexible external gear 4 partition the meshing portion of the external teeth 44 and the internal teeth 31 and the portion of the wave bearing 52 in a liquid-tight state.
【００１５】そして、外歯４４と内歯３１の部分には、
油膜強度の高い高粘度の潤滑剤が供給される。逆に、ウ
エーブベアリング５２の部分には、撹拌抵抗が小さい低
粘度の潤滑剤が供給される。The outer teeth 44 and the inner teeth 31 are
A highly viscous lubricant having a high oil film strength is supplied. On the contrary, a low-viscosity lubricant having a small stirring resistance is supplied to the wave bearing 52.
【００１６】このように構成したカップ状撓みかみ合い
式歯車装置１では、装置ハウジング２の内部空間が、弾
性シール７とカップ状可撓性外歯歯車４によって、外歯
と内歯の側の部分と、ウエーブベアリング５２の側の部
分に仕切られている。したがって、これらの各部分に、
異なる特性の潤滑剤を供給あるいは貯留しておいても、
双方が混じってしまうことがない。したがって、各潤滑
部分に対して、それらの潤滑に適した特性の潤滑剤を供
給することができる。In the cup-shaped flexural mesh type gear device 1 thus constructed, the internal space of the device housing 2 is formed by the elastic seal 7 and the cup-shaped flexible external gear 4 on the side of the external teeth and the internal teeth. It is partitioned into a portion on the side of the wave bearing 52. So for each of these parts,
Even if you supply or store lubricants with different characteristics,
Both will not be mixed. Therefore, it is possible to supply a lubricant having a property suitable for the lubrication to each lubricated portion.
【００１７】次に、図２には、本発明の第２の実施の形
態を示してある。この図に示すカップ状撓みかみ合い式
歯車装置１０では、装置ハウジング１２に剛性内歯歯車
１３が一体形成された構造となっている。また、カップ
状可撓性外歯歯車１４の環状延長端部分１４６の内周面
１４６ａと、装置ハウジング１２の端壁１２２に形成し
た環状溝１２５の外周側面１２５ａとの間に、弾性シー
ル１７が装着されている。この場合においても、図１に
示す場合と同様に、外歯１４４と内歯１３１の側の部分
と、ウエーブベアリング１５２の側の部分が仕切られ
て、それぞれの部分に対して、それらの潤滑に適した潤
滑剤を使用できる。Next, FIG. 2 shows a second embodiment of the present invention. The cup-shaped flexible meshing gear device 10 shown in this figure has a structure in which a rigid internal gear 13 is integrally formed in a device housing 12. Further, the elastic seal 17 is provided between the inner peripheral surface 146a of the annular extended end portion 146 of the cup-shaped flexible external gear 14 and the outer peripheral side surface 125a of the annular groove 125 formed in the end wall 122 of the apparatus housing 12. It is installed. Also in this case, similarly to the case shown in FIG. 1, the parts on the side of the outer teeth 144 and the inner teeth 131 and the part on the side of the wave bearings 152 are partitioned to provide lubrication to each part. Any suitable lubricant may be used.
【００１８】なお、以上の説明では、カップ状の撓みか
み合い式歯車装置を例に挙げて説明した。しかし、これ
以外の、シルクハット形の撓みかみ合い式歯車装置、フ
ラット形の撓みかみ合い式歯車装置に対しても本発明を
同様に適用できる。In the above description, the cup-shaped flexible meshing gear device has been described as an example. However, the present invention can be similarly applied to other types of top hat type flexural mesh type gear devices and flat type flexural mesh type gear devices.
【００１９】[0019]
【発明の効果】以上説明したように、本発明の撓みかみ
合い式歯車装置では、その歯車の歯部の部分と、ウエー
ブベアリングの部分とを仕切り、歯部には油膜強度の高
い高粘度の潤滑剤を使用し、ウエーブベアリングには撹
拌抵抗が小さい低粘度の潤滑剤を使用するようにしてい
る。したがって、本発明によれば、各潤滑部分にそれぞ
れに対して、それらに適した特性の潤滑剤が使用される
ので潤滑が適切に行われる。また、各潤滑部分を仕切っ
てあるので、特性の異なる潤滑剤が混ざってしまうこと
もない。As described above, in the flexural mesh type gear device of the present invention, the tooth portion of the gear is separated from the wave bearing portion, and the tooth portion has a high-viscosity lubrication with high oil film strength. A low viscosity lubricant with low agitation resistance is used for the wave bearing. Therefore, according to the present invention, for each lubricated portion, a lubricant having characteristics suitable for them is used, so that lubrication is appropriately performed. Further, since each lubricated portion is partitioned, lubricants having different characteristics will not be mixed.
【図１】本発明の第１の実施の形態に係るカップ状の撓
みかみ合い式歯車装置の主要部分を示す構成図である。FIG. 1 is a configuration diagram showing a main part of a cup-shaped flexible meshing gear device according to a first embodiment of the present invention.
【図２】本発明の第２の実施の形態に係るカップ状の撓
みかみ合い式歯車装置の主要部分を示す構成図である。FIG. 2 is a configuration diagram showing a main part of a cup-shaped flexible meshing gear device according to a second embodiment of the present invention.
１ 撓みかみ合い式歯車装置 ２ 装置ハウジング ２２ 装置ハウジングの端壁 ２３ 装置ハウジングの内周面 ３ 剛性内歯歯車 ３１ 内歯 ４ カップ状可撓性外歯歯車 ４１ 胴部 ４４ 外歯 ４５ 環状の延長端部分 ４５ａ 延長部分の外周綿 ５ 出力軸 ６ 入力軸 ７ 弾性シール DESCRIPTION OF SYMBOLS 1 Flexible mesh type gear device 2 Device housing 22 End wall of device housing 23 Inner peripheral surface of device housing 3 Rigid internal gear 31 Internal tooth 4 Cup-shaped flexible external gear 41 Body part 44 External tooth 45 Annular extension end Part 45a Outer peripheral cotton 5 Output shaft 6 Input shaft 7 Elastic seal
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小林 優 長野県南安曇郡穂高町大字牧1856−１ 株 式会社ハーモニック・ドライブ・システム ズ穂高工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yu Kobayashi 1856-1, Omaki, Hodaka-cho, Minami Azumi-gun, Nagano Prefecture Harmonic Drive Systems Co., Ltd. Hotaka Plant
Claims (4)
された可撓性外歯歯車と、この内側に嵌め込まれた波動
発生器とを有し、前記剛性内歯歯車の内歯および前記可
撓性外歯歯車の外歯には第１の潤滑剤を供給し、前記波
動発生器を構成する剛性カム板の外周面に嵌められたウ
エーブベアリングには前記第１の潤滑剤よりも低粘度の
第２の潤滑剤を供給し、前記第１の潤滑剤が供給される
部分と前記第２の潤滑剤が供給される部分とを仕切って
あることを特徴とする撓みかみ合い式歯車装置の潤滑機
構。1. An internal tooth of the rigid internal gear, comprising a ring-shaped rigid internal gear, a flexible external gear arranged inside thereof, and a wave generator fitted inside thereof. The first lubricant is supplied to the outer teeth of the flexible external gear, and the wave bearing fitted to the outer peripheral surface of the rigid cam plate forming the wave generator is more than the first lubricant. A flexible mesh type gear device, characterized in that a low-viscosity second lubricant is supplied, and a portion to which the first lubricant is supplied is partitioned from a portion to which the second lubricant is supplied. Lubrication mechanism.
は、円筒状の胴部と、この一方の側を封鎖しているダイ
ヤフラムと、胴部の他方の開口端の側の外周面に形成さ
れた外歯を備えたカップ状のものであり、 前記剛性内歯歯車と前記可撓性外歯歯車の前記外歯より
も開口端側の部分との間に環状の弾性シールを配置する
ことにより、前記第１の潤滑剤が供給される部分と前記
第２の潤滑剤が供給される部分とを仕切ってあることを
特徴とする撓みかみ合い式歯車装置の潤滑機構。2. The flexible external gear according to claim 1, wherein the flexible external gear has a cylindrical body portion, a diaphragm closing one side of the body portion, and an outer peripheral surface of the body portion on the other open end side. Is a cup-shaped one having external teeth formed on, and an annular elastic seal is arranged between the rigid internal gear and a portion of the flexible external gear closer to the opening end than the external teeth. By so doing, a portion to which the first lubricant is supplied and a portion to which the second lubricant is supplied are partitioned from each other, whereby the lubrication mechanism of the flexural mesh type gear device.
取り付けられている装置ハウジングの内面と前記可撓性
外歯歯車の前記外歯よりも開口端側の部分との間に環状
の弾性シールを配置することにより、前記第１の潤滑剤
が供給される部分と前記第２の潤滑剤が供給される部分
とを仕切ってあることを特徴とする撓みかみ合い式歯車
装置の潤滑機構。3. The ring-shaped elastic member according to claim 2, wherein an inner surface of the device housing to which the rigid internal gear is attached and a portion of the flexible external gear that is closer to the opening end than the external teeth are. A lubrication mechanism for a flexural mesh type gear device, wherein a portion where the first lubricant is supplied and a portion where the second lubricant is supplied are partitioned by disposing a seal.
前記装置ハウジングに対して一体形成されていることを
特徴とする撓みかみ合い式歯車装置の潤滑機構。4. The lubrication mechanism of a flexural mesh type gear device according to claim 3, wherein the rigid internal gear is integrally formed with the device housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6050896A JP3781312B2 (en) | 1996-03-18 | 1996-03-18 | Lubrication mechanism of flexure mesh gear system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6050896A JP3781312B2 (en) | 1996-03-18 | 1996-03-18 | Lubrication mechanism of flexure mesh gear system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09250609A true JPH09250609A (en) | 1997-09-22 |
| JP3781312B2 JP3781312B2 (en) | 2006-05-31 |
Family
ID=13144330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6050896A Expired - Fee Related JP3781312B2 (en) | 1996-03-18 | 1996-03-18 | Lubrication mechanism of flexure mesh gear system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3781312B2 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002349681A (en) * | 2001-05-23 | 2002-12-04 | Harmonic Drive Syst Ind Co Ltd | Lubricating mechanism for wave motion gear device |
| US6615689B2 (en) | 2001-05-23 | 2003-09-09 | Harmonic Drive Systems, Inc. | Non-lubricated wave gear device |
| DE102008013147A1 (en) | 2007-03-08 | 2008-09-11 | Harmonic Drive Systems Inc. | Method for lubricating a Wellreduktionsgetriebes and a rotary table device |
| JP2009188078A (en) * | 2008-02-05 | 2009-08-20 | Hitachi High-Technologies Corp | Work-handling device, component-mounting device, and flat display panel |
| CN105518345A (en) * | 2014-05-16 | 2016-04-20 | 谐波传动系统有限公司 | Hollow strain wave gear device and hollow actuator |
| CN105864365A (en) * | 2016-06-16 | 2016-08-17 | 南通慧幸智能科技有限公司 | Self-lubricating harmonic reducer |
| WO2017085794A1 (en) * | 2015-11-17 | 2017-05-26 | 株式会社ハーモニック・ドライブ・システムズ | Strain-wave gear device |
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| WO2019038817A1 (en) | 2017-08-21 | 2019-02-28 | 株式会社ハーモニック・ドライブ・システムズ | Wave motion gear device provided with lubricant mixing prevention part |
| CN109973612A (en) * | 2017-12-13 | 2019-07-05 | 住友重机械工业株式会社 | Flexible engagement gear device |
| JP2019132290A (en) * | 2018-01-29 | 2019-08-08 | 住友重機械工業株式会社 | Deflection engagement type gear device |
| KR20190120286A (en) * | 2017-04-10 | 2019-10-23 | 가부시키가이샤 하모닉 드라이브 시스템즈 | Silk Hat Type Gear Drive |
| WO2020095447A1 (en) | 2018-11-09 | 2020-05-14 | 株式会社ハーモニック・ドライブ・システムズ | Method for lubricating strain wave gearing device |
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|---|---|---|---|---|
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| DE10222695B4 (en) * | 2001-05-23 | 2015-09-24 | Harmonic Drive Ag | Lubricationless shaft gear device |
| DE10222697B4 (en) * | 2001-05-23 | 2017-01-26 | Harmonic Drive Systems Inc. | Lubricating mechanism for a wave gear device |
| JP2002349681A (en) * | 2001-05-23 | 2002-12-04 | Harmonic Drive Syst Ind Co Ltd | Lubricating mechanism for wave motion gear device |
| DE102008013147A1 (en) | 2007-03-08 | 2008-09-11 | Harmonic Drive Systems Inc. | Method for lubricating a Wellreduktionsgetriebes and a rotary table device |
| US7905326B2 (en) | 2007-03-08 | 2011-03-15 | Harmonic Drive Systems Inc. | Method for lubricating wave reduction gear, and rotating table device |
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| JP2009188078A (en) * | 2008-02-05 | 2009-08-20 | Hitachi High-Technologies Corp | Work-handling device, component-mounting device, and flat display panel |
| CN105518345B (en) * | 2014-05-16 | 2018-02-02 | 谐波传动系统有限公司 | Hollow wave geared system and hollow actuator |
| CN105518345A (en) * | 2014-05-16 | 2016-04-20 | 谐波传动系统有限公司 | Hollow strain wave gear device and hollow actuator |
| JPWO2017085794A1 (en) * | 2015-11-17 | 2018-08-30 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device |
| WO2017085794A1 (en) * | 2015-11-17 | 2017-05-26 | 株式会社ハーモニック・ドライブ・システムズ | Strain-wave gear device |
| CN105864365B (en) * | 2016-06-16 | 2018-09-07 | 南通慧幸智能科技有限公司 | Self-lubricated harmonic speed reducer |
| CN105864365A (en) * | 2016-06-16 | 2016-08-17 | 南通慧幸智能科技有限公司 | Self-lubricating harmonic reducer |
| US20180281177A1 (en) * | 2017-03-30 | 2018-10-04 | Seiko Epson Corporation | Robot And Gear Unit |
| CN108687752A (en) * | 2017-03-30 | 2018-10-23 | 精工爱普生株式会社 | Robot and gear unit |
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| CN110998139B (en) * | 2017-08-21 | 2022-09-13 | 谐波传动系统有限公司 | Wave gear device with lubricant mixing prevention part |
| TWI770208B (en) * | 2017-08-21 | 2022-07-11 | 日商和諧驅動系統股份有限公司 | Strain wave gearing provided with lubricant mixture preventing part |
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| CN109973612A (en) * | 2017-12-13 | 2019-07-05 | 住友重机械工业株式会社 | Flexible engagement gear device |
| JP2019132290A (en) * | 2018-01-29 | 2019-08-08 | 住友重機械工業株式会社 | Deflection engagement type gear device |
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| CN112912644A (en) * | 2018-11-09 | 2021-06-04 | 谐波传动系统有限公司 | Method for lubricating wave gear device |
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