TWI656714B - 諧波齒輪減速機單元以及具備該單元的動力單元 - Google Patents

諧波齒輪減速機單元以及具備該單元的動力單元 Download PDF

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Publication number
TWI656714B
TWI656714B TW107113244A TW107113244A TWI656714B TW I656714 B TWI656714 B TW I656714B TW 107113244 A TW107113244 A TW 107113244A TW 107113244 A TW107113244 A TW 107113244A TW I656714 B TWI656714 B TW I656714B
Authority
TW
Taiwan
Prior art keywords
cam
rotor
axial direction
unit
motor
Prior art date
Application number
TW107113244A
Other languages
English (en)
Chinese (zh)
Other versions
TW201842723A (zh
Inventor
大塚智之
米村拓朗
岡村暉久夫
井上仁
Original Assignee
日商日本電產新寶股份有限公司
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 日商日本電產新寶股份有限公司 filed Critical 日商日本電產新寶股份有限公司
Publication of TW201842723A publication Critical patent/TW201842723A/zh
Application granted granted Critical
Publication of TWI656714B publication Critical patent/TWI656714B/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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/18—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts the coupling parts (1) having slidably-interengaging teeth
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Rolling Contact Bearings (AREA)
  • Motor Or Generator Frames (AREA)
TW107113244A 2017-04-20 2018-04-18 諧波齒輪減速機單元以及具備該單元的動力單元 TWI656714B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-083651 2017-04-20
JP2017083651A JP2018179252A (ja) 2017-04-20 2017-04-20 波動歯車減速機ユニット及びそれを備えた動力ユニット

Publications (2)

Publication Number Publication Date
TW201842723A TW201842723A (zh) 2018-12-01
TWI656714B true TWI656714B (zh) 2019-04-11

Family

ID=63856138

Family Applications (1)

Application Number Title Priority Date Filing Date
TW107113244A TWI656714B (zh) 2017-04-20 2018-04-18 諧波齒輪減速機單元以及具備該單元的動力單元

Country Status (4)

Country Link
JP (1) JP2018179252A (ja)
CN (1) CN110537037B (ja)
TW (1) TWI656714B (ja)
WO (1) WO2018194112A1 (ja)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020111129A1 (ja) * 2018-11-29 2020-06-04 日本電産シンポ株式会社 波動歯車装置
JP7468827B2 (ja) 2018-11-29 2024-04-16 ニデックドライブテクノロジー株式会社 波動歯車装置
CN116408828A (zh) * 2021-12-31 2023-07-11 美的集团股份有限公司 机器人关节及机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09291985A (ja) * 1996-04-30 1997-11-11 Harmonic Drive Syst Ind Co Ltd 撓み噛み合い式歯車装置の潤滑剤封止機構
JP2001112215A (ja) * 1999-10-05 2001-04-20 Yaskawa Electric Corp 減速機一体型アクチュエータ
US7396307B2 (en) * 2005-04-22 2008-07-08 Aisin Seiki Kabushiki Kaisha Motor-incorporated hypocycloid-type speed reducer
JP2010004582A (ja) * 2008-05-23 2010-01-07 Citizen Chiba Precision Co Ltd 波動減速機付きモータ
US20130327179A1 (en) * 2012-06-06 2013-12-12 Chun-Shen YEH Harmonic reducer with stationary flexspline
TW201530017A (zh) * 2013-08-06 2015-08-01 Harmonic Drive Systems 旋轉致動器及諧波齒輪減速機單元
CN205859054U (zh) * 2016-07-29 2017-01-04 纳博特斯克有限公司 减速机

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60166259U (ja) * 1984-04-13 1985-11-05 株式会社安川電機 減速機付アウタ−ロ−タ形モ−タ
JP2007288870A (ja) * 2006-04-13 2007-11-01 Yaskawa Electric Corp 中空アクチュエータ
JP4833028B2 (ja) * 2006-11-01 2011-12-07 株式会社ハーモニック・ドライブ・システムズ 波動歯車減速機を備えたアクチュエータ
EP3197026B1 (en) * 2014-08-12 2019-06-12 Harmonic Drive Systems Inc. Rotary actuator
JP6028055B2 (ja) * 2015-03-04 2016-11-16 上銀科技股▲分▼有限公司 モーターを有する減速機

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09291985A (ja) * 1996-04-30 1997-11-11 Harmonic Drive Syst Ind Co Ltd 撓み噛み合い式歯車装置の潤滑剤封止機構
JP2001112215A (ja) * 1999-10-05 2001-04-20 Yaskawa Electric Corp 減速機一体型アクチュエータ
US7396307B2 (en) * 2005-04-22 2008-07-08 Aisin Seiki Kabushiki Kaisha Motor-incorporated hypocycloid-type speed reducer
JP2010004582A (ja) * 2008-05-23 2010-01-07 Citizen Chiba Precision Co Ltd 波動減速機付きモータ
US20130327179A1 (en) * 2012-06-06 2013-12-12 Chun-Shen YEH Harmonic reducer with stationary flexspline
TW201530017A (zh) * 2013-08-06 2015-08-01 Harmonic Drive Systems 旋轉致動器及諧波齒輪減速機單元
CN205859054U (zh) * 2016-07-29 2017-01-04 纳博特斯克有限公司 减速机

Also Published As

Publication number Publication date
TW201842723A (zh) 2018-12-01
WO2018194112A1 (ja) 2018-10-25
CN110537037A (zh) 2019-12-03
JP2018179252A (ja) 2018-11-15
CN110537037B (zh) 2023-06-20

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