WO2023119185A3 - Harmonic deceleration system, and power transmission system and robot system including same - Google Patents

Harmonic deceleration system, and power transmission system and robot system including same Download PDF

Info

Publication number
WO2023119185A3
WO2023119185A3 PCT/IB2022/062612 IB2022062612W WO2023119185A3 WO 2023119185 A3 WO2023119185 A3 WO 2023119185A3 IB 2022062612 W IB2022062612 W IB 2022062612W WO 2023119185 A3 WO2023119185 A3 WO 2023119185A3
Authority
WO
WIPO (PCT)
Prior art keywords
power transmission
transmission member
wave generator
including same
peripheral surface
Prior art date
Application number
PCT/IB2022/062612
Other languages
French (fr)
Korean (ko)
Other versions
WO2023119185A2 (en
Inventor
박재흥
유승빈
김승연
심재훈
성은호
Original Assignee
서울대학교 산학협력단
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 서울대학교 산학협력단 filed Critical 서울대학교 산학협력단
Publication of WO2023119185A2 publication Critical patent/WO2023119185A2/en
Publication of WO2023119185A3 publication Critical patent/WO2023119185A3/en

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y80/00—Products made by additive manufacturing
    • 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
    • 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
    • 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
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/06—Gearings for conveying rotary motion by endless flexible members with chains
    • 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)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)

Abstract

A harmonic deceleration system according to one embodiment comprises: a wave generator rotating around a first shaft; a flexible power transmission member which is in contact with at least a portion of the outer peripheral surface of the wave generator, and which can rotate by means of the rotation of the wave generator; and a circular spline having an inner peripheral surface in contact with at least a portion of the outer peripheral surface of the power transmission member, wherein an opening enabling the power transmission member to pass therethrough is formed between the wave generator and the circular spline, and the power transmission member passes through the opening and extends so that power can be transmitted to a second shaft differing from the first shaft.
PCT/IB2022/062612 2021-12-20 2022-12-21 Harmonic deceleration system, and power transmission system and robot system including same WO2023119185A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020210182330A KR102565634B1 (en) 2021-12-20 2021-12-20 Harmonic reducing system, and power transmission system and robot system including the same
KR10-2021-0182330 2021-12-20

Publications (2)

Publication Number Publication Date
WO2023119185A2 WO2023119185A2 (en) 2023-06-29
WO2023119185A3 true WO2023119185A3 (en) 2023-08-31

Family

ID=86901463

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2022/062612 WO2023119185A2 (en) 2021-12-20 2022-12-21 Harmonic deceleration system, and power transmission system and robot system including same

Country Status (2)

Country Link
KR (1) KR102565634B1 (en)
WO (1) WO2023119185A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0569378A (en) * 1991-09-11 1993-03-23 Hitachi Ltd Gravitation balancing device, articulated robot, and wrist device for robot
JPH05154706A (en) * 1991-12-06 1993-06-22 Nippondenso Co Ltd Chuck unit
JP2009061836A (en) * 2007-09-05 2009-03-26 Nsk Ltd Steering angle variable type steering device
JP5280365B2 (en) * 2006-10-28 2013-09-04 ロェーム ゲーエムベーハー Electrical tightening force application mechanism

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2224466B1 (en) * 1973-04-04 1978-12-01 Basf Ag
JPS5154706A (en) * 1974-11-09 1976-05-14 Fujitsu Kiden SHOZAIHYOJI HOSHIKI
KR102133443B1 (en) 2016-11-29 2020-07-14 주식회사 에스비비테크 Harmonic reducer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0569378A (en) * 1991-09-11 1993-03-23 Hitachi Ltd Gravitation balancing device, articulated robot, and wrist device for robot
JPH05154706A (en) * 1991-12-06 1993-06-22 Nippondenso Co Ltd Chuck unit
JP5280365B2 (en) * 2006-10-28 2013-09-04 ロェーム ゲーエムベーハー Electrical tightening force application mechanism
JP2009061836A (en) * 2007-09-05 2009-03-26 Nsk Ltd Steering angle variable type steering device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
YOU SEUNGBIN; SIM JAEHOON; KIM SEUNGYEON; SUNG EUNHO; PARK JAEHEUNG: "Development of Harmonic Reducing Transmission for Legged Robots*", 2021 18TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS (UR), IEEE, 12 July 2021 (2021-07-12), pages 239 - 243, XP033949295, DOI: 10.1109/UR52253.2021.9494649 *

Also Published As

Publication number Publication date
WO2023119185A2 (en) 2023-06-29
KR20230093580A (en) 2023-06-27
KR102565634B1 (en) 2023-08-11

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