TW201604444A - 中空諧波齒輪裝置及中空致動器 - Google Patents

中空諧波齒輪裝置及中空致動器 Download PDF

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Publication number
TW201604444A
TW201604444A TW104114283A TW104114283A TW201604444A TW 201604444 A TW201604444 A TW 201604444A TW 104114283 A TW104114283 A TW 104114283A TW 104114283 A TW104114283 A TW 104114283A TW 201604444 A TW201604444 A TW 201604444A
Authority
TW
Taiwan
Prior art keywords
hollow
hub
oil seal
harmonic
end surface
Prior art date
Application number
TW104114283A
Other languages
English (en)
Chinese (zh)
Other versions
TWI563195B (enExample
Inventor
Toshiki Maruyama
Original Assignee
Harmonic Drive Systems
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 Harmonic Drive Systems filed Critical Harmonic Drive Systems
Publication of TW201604444A publication Critical patent/TW201604444A/zh
Application granted granted Critical
Publication of TWI563195B publication Critical patent/TWI563195B/zh

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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
    • F16H57/02—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
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • General Details Of Gearings (AREA)
  • Retarders (AREA)
  • Valve Device For Special Equipments (AREA)
TW104114283A 2014-05-16 2015-05-05 中空諧波齒輪裝置及中空致動器 TW201604444A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/063099 WO2015173959A1 (ja) 2014-05-16 2014-05-16 中空波動歯車装置および中空アクチュエータ

Publications (2)

Publication Number Publication Date
TW201604444A true TW201604444A (zh) 2016-02-01
TWI563195B TWI563195B (enExample) 2016-12-21

Family

ID=54479525

Family Applications (1)

Application Number Title Priority Date Filing Date
TW104114283A TW201604444A (zh) 2014-05-16 2015-05-05 中空諧波齒輪裝置及中空致動器

Country Status (7)

Country Link
US (1) US9772020B2 (enExample)
JP (1) JP6052835B2 (enExample)
KR (1) KR101757154B1 (enExample)
CN (1) CN105518345B (enExample)
DE (1) DE112014001512B4 (enExample)
TW (1) TW201604444A (enExample)
WO (1) WO2015173959A1 (enExample)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105546102A (zh) * 2016-03-02 2016-05-04 浙江琦星电子有限公司 减速机构的油密封结构
JP6849363B2 (ja) * 2016-03-30 2021-03-24 日本電産株式会社 回転アクチュエータおよびロボット
DE102016207046A1 (de) * 2016-04-26 2017-02-23 Schaeffler Technologies AG & Co. KG Wellgetriebe
US20190203825A1 (en) * 2016-05-27 2019-07-04 Nidec Corporation Actuator
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
US10197146B2 (en) * 2016-12-28 2019-02-05 Precision Machinery Research & Development Center Reducer module with real-time torque sensing
DK3387293T3 (da) * 2017-02-28 2021-11-08 Harmonic Drive Se Spændingsbølgegear med indvendig tætning
CN110462258B (zh) * 2017-04-10 2022-08-23 谐波传动系统有限公司 礼帽型波动齿轮装置
JP7010425B2 (ja) * 2017-06-30 2022-01-26 日本電産シンポ株式会社 駆動装置
DE102017211540A1 (de) 2017-07-06 2019-01-10 Siemens Aktiengesellschaft Getriebemotoreinheit
JP2019052753A (ja) * 2017-09-15 2019-04-04 日本電産株式会社 変速機及びアクチュエータ
EP3710729A2 (en) 2017-11-15 2020-09-23 Universal Robots A/S Strain wave gear
DE102018213452A1 (de) * 2018-08-09 2020-02-13 Kuka Deutschland Gmbh Roboterarm mit wenigstens einem Gelenkmomentsensor
JP6837729B2 (ja) * 2018-11-09 2021-03-03 株式会社ハーモニック・ドライブ・システムズ 波動歯車装置の潤滑方法
CN111120658B (zh) * 2020-01-03 2022-04-05 湖南永盛船舶有限公司 一种可调式船用艉轴密封装置
US12104687B2 (en) 2020-09-08 2024-10-01 Abb Schweiz Ag Harmonic reducer with structure to prevent pressure buildup and industrial robot
DK180930B1 (en) 2021-03-25 2022-06-29 Universal Robots As Strain wave gear with encoder integration
EP4430324A1 (de) * 2021-11-09 2024-09-18 SEW-EURODRIVE GmbH & Co. KG Getriebemotor, aufweisend einen elektromotor und ein getriebe
CN116697025A (zh) 2022-02-25 2023-09-05 通用电气公司 齿轮箱组件
CN121127692A (zh) * 2023-04-21 2025-12-12 谐波传动系统有限公司 波动齿轮装置
NO20230767A1 (en) 2023-07-07 2025-01-08 Eltorque As Hollow actuator with strain wave gear and self-lock for emergency operation

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3585008B2 (ja) * 1996-02-15 2004-11-04 株式会社ハーモニック・ドライブ・システムズ 密閉型波動歯車装置
JP3781312B2 (ja) * 1996-03-18 2006-05-31 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置の潤滑機構
JP3835709B2 (ja) * 1996-03-18 2006-10-18 株式会社ハーモニック・ドライブ・システムズ 撓み噛み合い式歯車装置の潤滑機構
JPH09303497A (ja) * 1996-05-21 1997-11-25 Harmonic Drive Syst Ind Co Ltd シルクハット型撓み噛み合い式歯車装置
JP4650913B2 (ja) * 2000-04-27 2011-03-16 株式会社ハーモニック・ドライブ・システムズ 中空型波動歯車装置の潤滑剤漏れ防止機構
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
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
JP4614322B2 (ja) * 2004-11-22 2011-01-19 株式会社ハーモニック・ドライブ・システムズ 中空アクチュエータ
JP2007303592A (ja) * 2006-05-12 2007-11-22 Honda Motor Co Ltd 波動歯車装置
WO2010089796A1 (ja) 2009-02-03 2010-08-12 株式会社ハーモニック・ドライブ・システムズ ギヤ付きモータアセンブリ
JP5943802B2 (ja) * 2012-10-04 2016-07-05 株式会社ハーモニック・ドライブ・システムズ 中空波動歯車ユニット
TWI608183B (zh) * 2013-03-19 2017-12-11 和諧驅動系統股份有限公司 諧波齒輪裝置及中空型旋轉致動器
DE112013002253B4 (de) * 2013-06-20 2022-12-29 Harmonic Drive Systems Inc. Verformungswellgetriebeeinheit vom hohlen Typ

Also Published As

Publication number Publication date
CN105518345B (zh) 2018-02-02
DE112014001512T5 (de) 2016-01-07
WO2015173959A1 (ja) 2015-11-19
KR20160009528A (ko) 2016-01-26
TWI563195B (enExample) 2016-12-21
KR101757154B1 (ko) 2017-07-12
DE112014001512B4 (de) 2024-02-22
US20170051817A1 (en) 2017-02-23
US9772020B2 (en) 2017-09-26
CN105518345A (zh) 2016-04-20
JPWO2015173959A1 (ja) 2017-04-20
JP6052835B2 (ja) 2016-12-27

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