JPS6449737A - Harmonic reduction mechanism for robot joint - Google Patents

Harmonic reduction mechanism for robot joint

Info

Publication number
JPS6449737A
JPS6449737A JP62205427A JP20542787A JPS6449737A JP S6449737 A JPS6449737 A JP S6449737A JP 62205427 A JP62205427 A JP 62205427A JP 20542787 A JP20542787 A JP 20542787A JP S6449737 A JPS6449737 A JP S6449737A
Authority
JP
Japan
Prior art keywords
gear
internal gear
geared
integrally formed
shaft
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
Application number
JP62205427A
Other languages
Japanese (ja)
Other versions
JPH0763950B2 (en
Inventor
Koichi Shimamura
Sadao Fujii
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.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
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.)
Filing date
Publication date
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to JP62205427A priority Critical patent/JPH0763950B2/en
Publication of JPS6449737A publication Critical patent/JPS6449737A/en
Publication of JPH0763950B2 publication Critical patent/JPH0763950B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To prevent the occurrence of unevenness in a speed and the generation of vibration, by a method wherein a flexible gear is situated on the outer periphery of a wave generator coupled directly to an input shaft, a first internal gear geared with the flexible gear is formed around the inner periphery of a reduction output shaft, and a second internal gear having the number of teeth different from that of the first internal gear is integrally formed around the inner periphery of a casing. CONSTITUTION:A first internal gear 1 geared with a flexible gear 2 around a wave generator 3 coupled directly to on input shaft 4 is integrally formed to a shaft 13 in a manner that an inner peripheral surface 22 of a robot articulated shaft 13 forms a gear forming surface. A second internal gear 15 geared with the flexible gear 2 is integrally formed with the number of teeth slightly different from that of the first internal gear 1 in a manner that an inner peripheral surface 21 of a robot casing 20 forms a gear forming surface. Thus, during assembly, a displacement in a core between axes due to an engaging error is reduced to a minimum to absorb it, and the occurrence of unevenness in a speed and the generation of vibration can be prevented.
JP62205427A 1987-08-19 1987-08-19 Harmonic reduction mechanism for robot joints Expired - Lifetime JPH0763950B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62205427A JPH0763950B2 (en) 1987-08-19 1987-08-19 Harmonic reduction mechanism for robot joints

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62205427A JPH0763950B2 (en) 1987-08-19 1987-08-19 Harmonic reduction mechanism for robot joints

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP17094896A Division JPH08318490A (en) 1996-07-01 1996-07-01 Harmonized deceleration mechanism of robot hinge

Publications (2)

Publication Number Publication Date
JPS6449737A true JPS6449737A (en) 1989-02-27
JPH0763950B2 JPH0763950B2 (en) 1995-07-12

Family

ID=16506673

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62205427A Expired - Lifetime JPH0763950B2 (en) 1987-08-19 1987-08-19 Harmonic reduction mechanism for robot joints

Country Status (1)

Country Link
JP (1) JPH0763950B2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015045008A1 (en) * 2013-09-24 2015-04-02 株式会社ハーモニック・ドライブ・システムズ Strain wave gear device
JP2018091414A (en) * 2016-12-05 2018-06-14 住友重機械工業株式会社 Flexible meshing-type gear unit
CN112873193A (en) * 2021-01-13 2021-06-01 伯朗特机器人股份有限公司 High-precision heavy-load six-axis universal robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59121255A (en) * 1982-12-27 1984-07-13 Komatsu Ltd Backlash removing device for reduction gear in industrial robot
JPS624586A (en) * 1985-01-18 1987-01-10 帝人製機株式会社 Joint device for industrial robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59121255A (en) * 1982-12-27 1984-07-13 Komatsu Ltd Backlash removing device for reduction gear in industrial robot
JPS624586A (en) * 1985-01-18 1987-01-10 帝人製機株式会社 Joint device for industrial robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015045008A1 (en) * 2013-09-24 2015-04-02 株式会社ハーモニック・ドライブ・システムズ Strain wave gear device
KR20150085049A (en) * 2013-09-24 2015-07-22 가부시키가이샤 하모닉 드라이브 시스템즈 Strain wave gear device
JPWO2015045008A1 (en) * 2013-09-24 2017-03-02 株式会社ハーモニック・ドライブ・システムズ Wave gear device
US9644728B2 (en) 2013-09-24 2017-05-09 Harmonic Drive Systems Inc. Strain wave device
JP2018091414A (en) * 2016-12-05 2018-06-14 住友重機械工業株式会社 Flexible meshing-type gear unit
CN112873193A (en) * 2021-01-13 2021-06-01 伯朗特机器人股份有限公司 High-precision heavy-load six-axis universal robot

Also Published As

Publication number Publication date
JPH0763950B2 (en) 1995-07-12

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