KR102379849B1 - 내부 시일을 갖는 스트레인 웨이브 기어 기구 - Google Patents

내부 시일을 갖는 스트레인 웨이브 기어 기구 Download PDF

Info

Publication number
KR102379849B1
KR102379849B1 KR1020197025313A KR20197025313A KR102379849B1 KR 102379849 B1 KR102379849 B1 KR 102379849B1 KR 1020197025313 A KR1020197025313 A KR 1020197025313A KR 20197025313 A KR20197025313 A KR 20197025313A KR 102379849 B1 KR102379849 B1 KR 102379849B1
Authority
KR
South Korea
Prior art keywords
gear mechanism
strain wave
wave gear
component
sealing
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.)
Active
Application number
KR1020197025313A
Other languages
English (en)
Korean (ko)
Other versions
KR20190122687A (ko
Inventor
마티아스 멘델
미햐엘 샤퍼
도미닉 괴벨
알렉산더 아르텐
요하네스 페트루스 쾨넨
Original Assignee
하모닉 드라이드 아게
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 하모닉 드라이드 아게 filed Critical 하모닉 드라이드 아게
Publication of KR20190122687A publication Critical patent/KR20190122687A/ko
Application granted granted Critical
Publication of KR102379849B1 publication Critical patent/KR102379849B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • F16H57/02—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)
KR1020197025313A 2017-02-28 2017-02-28 내부 시일을 갖는 스트레인 웨이브 기어 기구 Active KR102379849B1 (ko)

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 (2)

Publication Number Publication Date
KR20190122687A KR20190122687A (ko) 2019-10-30
KR102379849B1 true KR102379849B1 (ko) 2022-03-28

Family

ID=58213061

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020197025313A Active KR102379849B1 (ko) 2017-02-28 2017-02-28 내부 시일을 갖는 스트레인 웨이브 기어 기구

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=)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011174570A (ja) * 2010-02-25 2011-09-08 Arai Seisakusho Co Ltd 密封装置
JP2015072067A (ja) * 2011-08-03 2015-04-16 日本精工株式会社 シールリング付き転がり軸受
DE102013222454A1 (de) * 2013-11-05 2015-05-07 Kuka Roboter Gmbh Elektrischer Antrieb und Industrieroboter mit wenigstens einem solchen elektrischen Antrieb

Family Cites Families (14)

* 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
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
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011174570A (ja) * 2010-02-25 2011-09-08 Arai Seisakusho Co Ltd 密封装置
JP2015072067A (ja) * 2011-08-03 2015-04-16 日本精工株式会社 シールリング付き転がり軸受
DE102013222454A1 (de) * 2013-11-05 2015-05-07 Kuka Roboter Gmbh Elektrischer Antrieb und Industrieroboter mit wenigstens einem solchen elektrischen Antrieb

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
JP6852177B2 (ja) 2021-03-31
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

Similar Documents

Publication Publication Date Title
KR102379849B1 (ko) 내부 시일을 갖는 스트레인 웨이브 기어 기구
JP2020509311A5 (https=)
EP2273140B1 (en) Device with seals
CN101263319B (zh) 偏心摆动型减速机
US12460709B2 (en) Strain-wave gearing
CN112189105A (zh) 动力传递装置
JP5184852B2 (ja) 歯車装置
CN116171352A (zh) 旋转轴承和齿轮箱
CN117098918A (zh) 内齿轮流体机及用于制造内齿轮流体机的方法
JP2022536629A (ja) 波動歯車装置
JP2025119912A (ja) 減速機及び産業機械
CN114245852A (zh) 单元式的波动齿轮装置
JP3631887B2 (ja) オイルポンプ構造
JP5143718B2 (ja) 回転装置
CA2349007C (en) Pump
JP2009109002A (ja) 歯車装置
US6244842B1 (en) Pump
JP2001336483A (ja) ギアポンプ又はギアモータ
JP2009180244A (ja) クラッチレリーズ軸受およびこれを備えるクラッチレリーズ軸受装置
JP2000145661A (ja) ギヤポンプ
CN110998064A (zh) 泵组件
CN117366190A (zh) 一种交叉滚子轴承的谐波减速机
JPH0599235A (ja) 減摩軸受用シール組立体
RU2205980C2 (ru) Насос (варианты)
JP2004137945A (ja) ギアモータ又はギアポンプにおける作動油のリーク防止構造

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20190828

Patent event code: PA01051R01D

Comment text: International Patent Application

A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20191011

Comment text: Request for Examination of Application

PG1501 Laying open of application
E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20201103

Patent event code: PE09021S01D

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20210726

Patent event code: PE09021S01D

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20220221

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20220324

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20220324

End annual number: 3

Start annual number: 1

PG1601 Publication of registration