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DK3387293T3 - Spændingsbølgegear med indvendig tætning - Google Patents

Spændingsbølgegear med indvendig tætning Download PDF

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Publication number
DK3387293T3
DK3387293T3 DK17708455.5T DK17708455T DK3387293T3 DK 3387293 T3 DK3387293 T3 DK 3387293T3 DK 17708455 T DK17708455 T DK 17708455T DK 3387293 T3 DK3387293 T3 DK 3387293T3
Authority
DK
Denmark
Prior art keywords
wave gear
voltage wave
internal seal
seal
internal
Prior art date
Application number
DK17708455.5T
Other languages
English (en)
Inventor
Matthias Mendel
Michael Schaffer
Dominik Göbel
Alexander Arthen
Johannes Petrus Koenen
Original Assignee
Harmonic Drive Se
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 Se filed Critical Harmonic Drive Se
Application granted granted Critical
Publication of DK3387293T3 publication Critical patent/DK3387293T3/da

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
    • 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—Programme-controlled manipulators
    • B25J9/10—Programme-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)
  • General Details Of Gearings (AREA)
  • Retarders (AREA)
  • Sealing Devices (AREA)
  • Sealing With Elastic Sealing Lips (AREA)
DK17708455.5T 2017-02-28 2017-02-28 Spændingsbølgegear med indvendig tætning DK3387293T3 (da)

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 (1)

Publication Number Publication Date
DK3387293T3 true DK3387293T3 (da) 2021-11-08

Family

ID=58213061

Family Applications (1)

Application Number Title Priority Date Filing Date
DK17708455.5T DK3387293T3 (da) 2017-02-28 2017-02-28 Spændingsbølgegear med indvendig tætning

Country Status (8)

Country Link
US (1) US11092225B2 (da)
EP (1) EP3387293B1 (da)
JP (1) JP6852177B2 (da)
KR (1) KR102379849B1 (da)
CN (1) CN110730881B (da)
DK (1) DK3387293T3 (da)
TW (1) TWI753121B (da)
WO (1) WO2018157910A1 (da)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10823278B2 (en) * 2017-04-10 2020-11-03 Harmonic Drive Systems Inc. Silk hat-type strain wave gear device
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
WO2019096923A2 (en) 2017-11-15 2019-05-23 Universal Robots A/S Strain wave gear with output flange and integrated encoder
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
WO2020059081A1 (ja) * 2018-09-20 2020-03-26 株式会社ハーモニック・ドライブ・システムズ ユニット型波動歯車装置
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
WO2021033319A1 (ja) * 2019-08-22 2021-02-25 株式会社ハーモニック・ドライブ・システムズ ユニットタイプの波動歯車装置
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
WO2022051910A1 (en) * 2020-09-08 2022-03-17 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
WO2024218967A1 (ja) * 2023-04-21 2024-10-24 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
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

Family Cites Families (17)

* 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
WO2002044579A1 (de) * 2000-11-30 2002-06-06 Ina-Schaeffler Kg Abdichtung für ein ausrücklager
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
JP2011174570A (ja) * 2010-02-25 2011-09-08 Arai Seisakusho Co Ltd 密封装置
JP5765424B2 (ja) 2011-08-03 2015-08-19 日本精工株式会社 シールリング付き転がり軸受
JP6316815B2 (ja) * 2012-08-21 2018-04-25 ネクセン・グループ・インコーポレイテッドＮｅｘｅｎ Ｇｒｏｕｐ， Ｉｎｃ． 波動歯車システム
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
DE102013222454A1 (de) * 2013-11-05 2015-05-07 Kuka Roboter Gmbh Elektrischer Antrieb und Industrieroboter mit wenigstens einem solchen elektrischen Antrieb
WO2015173959A1 (ja) 2014-05-16 2015-11-19 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

Also Published As

Publication number Publication date
EP3387293A1 (de) 2018-10-17
JP6852177B2 (ja) 2021-03-31
US20200003288A1 (en) 2020-01-02
JP2020509311A (ja) 2020-03-26
US11092225B2 (en) 2021-08-17
WO2018157910A1 (de) 2018-09-07
EP3387293B1 (de) 2021-08-25
TW201833455A (zh) 2018-09-16
KR20190122687A (ko) 2019-10-30
KR102379849B1 (ko) 2022-03-28
CN110730881B (zh) 2022-07-29
TWI753121B (zh) 2022-01-21
CN110730881A (zh) 2020-01-24

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