CN103711843A - Hollow wave gear unit - Google Patents

Hollow wave gear unit Download PDF

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Publication number
CN103711843A
CN103711843A CN201210505938.XA CN201210505938A CN103711843A CN 103711843 A CN103711843 A CN 103711843A CN 201210505938 A CN201210505938 A CN 201210505938A CN 103711843 A CN103711843 A CN 103711843A
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CN
China
Prior art keywords
hollow
bearing
end plate
input shaft
input
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Granted
Application number
CN201210505938.XA
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Chinese (zh)
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CN103711843B (en
Inventor
矢岛喜一
高嶺香里
铃木真宪
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Harmonic Drive Systems Inc
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Harmonic Drive Systems Inc
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Publication of CN103711843A publication Critical patent/CN103711843A/en
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Publication of CN103711843B publication Critical patent/CN103711843B/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H49/00Other gearings
    • F16H49/001Wave gearings, e.g. harmonic drive transmissions
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H35/00Gearings or mechanisms with other special functional features
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/021Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/029Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/04Features relating to lubrication or cooling or heating
    • F16H57/0467Elements of gearings to be lubricated, cooled or heated
    • F16H57/0469Bearings or seals
    • F16H57/0472Seals
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H35/00Gearings or mechanisms with other special functional features
    • F16H2035/003Gearings comprising pulleys or toothed members of non-circular shape, e.g. elliptical gears
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H49/00Other gearings
    • F16H2049/006Wave generators producing a non-elliptical shape of flexsplines, i.e. with a qualified different shape than elliptical

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)

Abstract

The invention discloses a wave gear unit of a hollow wave generator that has a hollow part of large inner diameter. A hollow input shaft (6) of the wave generator (16) supports in two-support state of a first input bearing (7) and a second input bearing (9). No effect like large bending stress is applied to the hollow input shaft (6), so the hollow input shaft (6) can be set to be a think wall, and inner diameter of a round hollow part (6c) is increased. Besides, a sealing member (17) is installed inside a bearing housing (8) of the second input bearing (9) so as to seal the gap (19) between the a shaft end part (6a) of the hollow input shaft (6) and the bearing housing (8). Fat can be prevented leaking from the gap (19) into a unit hollow part (18) without configuring a fat anti-leakage mechanism in the unit hollow part (18). A wave gear unit (1) with the unit hollow part (18) that has a large inner diameter can be provided.

Description

Hollow fluctuation gear unit
Technical field
The present invention relates to a kind of hollow fluctuation gear unit comprising compared with the unit hollow portion of large diameter.
Background technique
As fluctuation gear unit, known have utilize input shaft to hold the structure with dual-supporting state support wavegenerator.In the disclosed haplotype Wave gear device of patent documentation 1, on an end face of the rigid convex wheel plate of wavegenerator, be formed with input shaft, on another end face of rigid convex wheel plate, be formed with axial region.Input shaft supports by being arranged on first on unit housings end plate input bearing, and the front end of the axial region of opposition side is supported by the second input bearing being arranged on the circular axle sleeve of pliability external tooth gear.
Wavegenerator is fixed by above-mentioned a pair of input bearing in axial position, and rigidity internal-gear and wavegenerator are in obtaining in the axial direction the state of location.When the motor reel of haplotype Wave gear device and motor is linked to form actuator, as long as motor reel and input shaft link is fixing, installation exercise is easy.
In patent documentation 2, disclose and will comprise the wave gear drive of hollow portion and the hollow type actuator of the integrated structure of hollow motor.The wave gear drive of this hollow type actuator comprises hollow wavegenerator.Hollow wavegenerator comprises: the hollow rotating shaft that is formed with motor reel; Be formed on the rigid liner on the outer circumferential face of this hollow rotating shaft; And be arranged on the waveform bearing on the outer circumferential face of this rigid liner.Hollow rotating shaft is supported by the input of first on the partition wall being arranged on separating between wave gear drive and motor bearing.In addition, the shaft end of one side of the wave gear drive on hollow rotating shaft is supported by the second input bearing that is configured in this wave gear drive inner side.
Quill shaft is the inner side at hollow rotating shaft with revolvable state configuration.Rubber ring is configured between the outer circumferential face of quill shaft and the inner peripheral surface of running shaft.Utilize rubber ring to form grease stop part.By grease stop part, can prevent rotating coder one side that enters motor from the grease that goes out towards hollow portion one side leakage of part of the second input bearing of wave gear drive.
Prior art document
Patent documentation
Patent documentation 1: Japanese Patent Laid-Open 2002-21948 communique
Patent documentation 2: Japanese Patent Laid-Open 2006-144971 communique
, sometimes in fluctuation, be formed with the unit hollow portion that connects and extends on gear unit on axial direction herein, and unit hollow portion is used as to the space of connecting up etc.The hollow fluctuation gear unit of this structure is for example by comprising that by disclosed in patent documentation 2 wave gear drive of hollow portion and the disconnection of hollow motor obtain.
In the case, for user, the hollow gear unit that fluctuates is arranged on to the enterprising enforcement of motor and uses.In addition, for user, need to configure grease-proof leakage mechanism, to prevent that grease from leaking in hollow portion and enter motor one side from the second input bearing one side of wave gear drive.
In the motorized situation of rear peace, in patent documentation 2, the grease stop part of disclosed quill shaft, use rubber ring is not suitable for because installation exercise is miscellaneous.In addition, if further quill shaft is configured in the hollow portion of hollow rotating shaft, the internal diameter of hollow portion correspondingly reduces, and therefore, is not suitable for comprising the fluctuation gear unit compared with the hollow portion of large diameter.
Summary of the invention
In view of this, problem of the present invention is to propose a kind of hollow fluctuation gear unit comprising compared with the unit hollow portion of large diameter.
In order to solve above-mentioned problem, hollow fluctuation gear unit of the present invention is characterised in that to have: tubular shell, end plate, this end plate is fixed on the input side opening end of above-mentioned tubular shell, output disk, this output is arranged on the outlet side opening end of above-mentioned tubular shell with disk with the state that can rotate freely, fluctuation gear mechanism, this fluctuation gear mechanism is arranged on the inner side of above-mentioned tubular shell, hollow input shaft, this hollow input shaft connects the end plate through hole forming on above-mentioned end plate and extends, the first input bearing, this first input bearing is arranged on the inner peripheral surface of the end plate through hole that is formed at above-mentioned end plate, to support above-mentioned hollow input shaft, bearing case, this bearing case is arranged on the circular axle sleeve of cup type pliability external tooth gear of above-mentioned fluctuation gear mechanism, and second input bearing, this the second input bearing is arranged in above-mentioned bearing case, to support above-mentioned hollow input shaft, the wavegenerator of above-mentioned Wave gear device is to comprise above-mentioned hollow input shaft, be formed on the rigid liner on the outer circumferential face of this hollow input shaft, be arranged on the hollow wavegenerator of the waveform bearing on the outer circumferential face of this rigid liner, the above-mentioned circular axle sleeve of above-mentioned pliability external tooth gear is coaxially fixed to and is formed on above-mentioned output with in the disk through hole disk from above-mentioned end plate one side along the direction of unit axis, above-mentioned bearing case comprises: cylindrical part, this cylindrical part is coaxially fixed in the axle sleeve through hole being formed on above-mentioned circular axle sleeve from above-mentioned end plate one side along the direction of said units axis, annulus portion, this annulus portion is from the end of above-mentioned cylindrical part towards the expansion of radial direction outside, and bearing installation cylindrical part, this bearing is installed by cylindrical part side-prominent towards above-mentioned end plate one from the outer periphery of above-mentioned annulus portion, by with respect to above-mentioned the second input bearing in above-mentioned output by disk one side the sealing component in abutting connection with configuration, the above-mentioned bearing of above-mentioned bearing case is installed between above-mentioned output with cylindrical part and the above-mentioned hollow input shaft outer circumferential face with the shaft end of disk one side and is sealed.
In the fluctuation gear unit of this structure, by the hollow portion of hollow input shaft, the hollow portion of bearing case, axle sleeve through hole and end plate through hole are formed on the unit hollow portion connecting in unit axis direction.The hollow input shaft of wavegenerator is supported with the state of dual-supporting by the first input bearing and the second input bearing.Therefore,, from different with the situation of cantilever position supporting hollow input shaft, hollow input shaft be there is no to the effect of larger flexural stress etc.Hollow input shaft can be made as to thin-walled, increase the internal diameter of this hollow portion.Therefore, can realize the fluctuation gear unit of the hollow portion that comprises that internal diameter is larger.
In addition, the shaft end of hollow input shaft and the gap between bearing case seal by the sealing component being arranged in bearing case.Can prevent grease from the second input bearing one side via this clearance leakage the inner side to hollow portion.Therefore,, in the situation that motor being installed on fluctuation gear unit, thereby flowing through hollow portion inner peripheral surface etc., the grease in preventing from this clearance leakage to hollow portion enters rotating coder that motor one side causes being built in motor etc. contaminated.
As the mechanism that prevents that grease from leaking, the situation that forms the mechanism that prevents that grease from leaking from inner side configuration quill shaft at hollow portion, rubber ring etc. is different, there is no need the formation component at the internal configurations grease-proof leakage mechanism of hollow portion.Therefore, can obtain a kind of comprise can be effectively as the fluctuation gear unit of the large diameter hollow portion in the space of wiring use etc.
Accompanying drawing explanation
Fig. 1 means that the longitudinal section of fluctuation gear unit that embodiments of the present invention are related is, the end view drawing of the end view drawing of input side and outlet side.
(symbol description)
1 fluctuation gear unit
1a unit axis
2 cylinder shells
2a input side opening end
2b outlet side opening end
3 end plates
3a end plate through hole
4 output disks
4a disk through hole
5 fluctuation gear mechanisms
6 hollow input shafts
6a, 6b shaft end
The circular hollow portion of 6c
7 first input bearings
8 bearing cases
8a is pressed into and uses cylindrical part
8b annulus portion
8c bearing installation cylindrical part
The circular hollow portion of 8d
9 second input bearings
10 seal rings
11 clamping bolts
12 crossed roller bearings
12a outer ring
12b roller
The roller surface of 12c inner ring side
13 clamping bolts
14 rigidity internal-gears
14a internal tooth
15 pliability external tooth gears
15a cylindrical body portion
15b barrier film
The circular axle sleeve of 15c
15d external tooth
15e axle sleeve through hole
16 hollow wavegenerators
16a rigid liner (plug)
16b waveform bearing
17 sealing components
18 unit hollow portions
19 gaps
Embodiment
Below, with reference to accompanying drawing, the fluctuation gear unit that embodiments of the present invention are related is described.Fig. 1 (a) means the longitudinal section of the fluctuation gear unit that present embodiment is related, and Fig. 1 (b) is the end view drawing of its input side, and Fig. 1 (c) is the end view drawing of its outlet side.
Fluctuation gear unit 1 comprises: cylinder shell 2; Be fixed on the end plate 3 on the input side opening end 2a of this cylinder shell 2; And be arranged on disk 4 for output cylinder shell 2 and on the outlet side opening end 2b contrary side of input side opening end 2a with the state that can rotate freely.
Cup type fluctuation gear mechanism 5 is arranged on to the inside that disk 4 is used in above-mentioned cylinder shell 2, end plate 3 and output.On end plate 3 with core shape be formed with end plate through hole 3a, hollow input shaft 6 connects this end plate through hole 3a with coaxial state.
The first input bearing 7 that hollow input shaft 6 is installed on the inner peripheral surface of end plate through hole 3a is supported to the state that can rotate freely.In addition, hollow input shaft 6 is supported to the state that can rotate freely by the second input bearing 9.In the inside of fluctuation gear mechanism 5, the second input bearing 9 is arranged in bearing case 8.Hollow input shaft 6 comprises from end plate through hole 3a towards the outstanding shaft end 6a of input side.Between the inner peripheral surface of the outer circumferential face of this shaft end 6a and end plate through hole 3a, by seal ring 10, seal.In addition, the motor reel of not shown motor is fixing with the coaxial link of shaft end 6a.
If hollow input shaft 6 is rotated by motoring, the rotation of this hollow input shaft 6 is slowed down by fluctuation gear mechanism 5, and the rotation of slowing down passes out with disk 4 from output.The member (not shown) that links fixing load side with this output with disk 4 is slowed down the output of rotation with disk 4 drivings and is rotated.
Structure to the various piece of fluctuation gear unit 1 is elaborated.The position of the input side opening end 2a of cylinder shell 2 becomes Big Diameter Flange portion, and the position of the outer circumferential side of the end plate 3 of disc-shape is fixed on this circular end face by clamping bolt 11.Output is arranged on the outlet side opening end 2b of cylinder shell 2 with the state that can rotate freely via crossed roller bearing 12 with disk 4.The outer ring 12a of crossed roller bearing 12 is fixed on by clamping bolt 13 on the circular end face of outlet side opening end 2b of cylinder shell 2.Arranged coaxial plays the effect of the inner ring of crossed roller bearing 12 in the output of the inner side of outer ring 12a by the outer peripheral edge portion of disk 4.That is, in output, on the circular circumference face with disk 4, be formed with the roller surface 12c of the inner ring side of roller 12b.
Fluctuation gear mechanism 5 comprises: circular rigidity internal-gear 14; Cup-shaped pliability external tooth gear 15; And hollow wavegenerator 16.Rigidity internal-gear 14 is fixed in the inner peripheral surface part of input side opening end 2a of cylinder shell 2.Pliability external tooth gear 15 comprises: the 15a of cylindrical body portion; The circular barrier film 15b extending towards radially inner side from one end of the 15a of this cylindrical body portion; And the circular axle sleeve 15c inwards extending continuously with the inner circumference edge of this barrier film 15b.The other end of the 15a of cylindrical body portion is opening end, in the outer circumferential surface section of this opening end, divides and is formed with external tooth 15d.
Pliability external tooth gear 15 is configured to be formed with a side of opening end of external tooth 15d towards the state of input side (pacifying a motorized side).External tooth 15d, on the relative position of the internal tooth 14a with rigidity internal-gear 14, can mesh with internal tooth 14a.
Hollow wavegenerator 16 comprises: hollow input shaft 6; The rigid liner 16a being integrally formed on the circular circumference face of this hollow input shaft 6; And be arranged on the waveform bearing 16b on the outer circumferential face of this rigid liner 16a.Waveform bearing 16b is that comprise diametrically can the outer ring of deflection and the ball bearing of inner ring.This routine rigid liner 16a has cartouche, and waveform bearing 16b is arranged between the inner peripheral surface of the external tooth forming section on the 15a of cylindrical body portion of rigid liner 16a and pliability external tooth gear 15.Therefore, the external tooth forming section of pliability external tooth gear 15 deflects into ellipticity, is positioned at the part of external tooth 15d at two ends and the engagement of the part of the internal tooth 14a of rigidity internal-gear 14 of the long axis direction of elliptoid shape.
Pliability external tooth gear 15 is coaxially fixed on output with on disk 4.On the circular circumference face of the circular axle sleeve 15c of pliability external tooth gear 15, be formed with outer screw section, on the inner peripheral surface in output with the disk through hole 4a of disk 4, be formed with female thread portion.Circular axle sleeve 15c enters to be fixed to output with in the disk through hole 4a of disk 4 along the direction of unit axis 1a from end plate 3 one sidespins.The output of the axle sleeve through hole 15e of circular axle sleeve 15c is than the regular hexagon of the large circle of the circular hollow portion 6c of hollow input shaft 6 with the position of disk 4 one sides.The orthohexagonal axle sleeve through hole of instrument and this 15e is engaged, can carry out simply circular axle sleeve 15c to screw in and be fixed on the operation in disk 4 for output.
Next, the bearing case 8 that the second input bearing 9 is installed comprises: be pressed into and use cylindrical part 8a; From this, be pressed into the end of end plate 3 one sides of using cylindrical part 8a towards the 8b of annulus portion of radial outside expansion; And install and use cylindrical part 8c towards the side-prominent bearing of end plate 3 one from the outer periphery of the 8b of this annulus portion.The circular inner peripheral surface of end plate 3 one sides that is formed at the axle sleeve through hole 15e of circular axle sleeve 15c is the portion that is pressed into being pressed into cylindrical part 8a.Be pressed into and with cylindrical part 8a, along the direction of unit axis 1a, from end plate 3 one sides, be coaxially pressed into this and be pressed in portion, and utilize binder to fix.
The second input bearing 9 is arranged between the circular circumference face of bearing installation with the shaft end 6b of output use disk 4 one sides of cylindrical part 8c and hollow input shaft 6.Bearing is installed with sealing by circular sealing component 17 between cylindrical part 8c and the circular circumference face of shaft end 6b.Sealing component 17 is exported by disk 4 one sides in abutting connection with being configured in respect to the second input bearing 9.
In the fluctuation gear unit 1 of this structure, the unit hollow portion 18 connecting in unit axis 1a direction is formed by circular hollow portion 6c, being pressed into axle sleeve through hole 15e and the disk through hole 4a of the circular hollow portion 8d of cylindrical part 8a, circular axle sleeve 15c of bearing case 8 of hollow input shaft 6.
Herein, the hollow input shaft 6 of hollow wavegenerator 16 is supported with the state of dual-supporting by the first input bearing 7 and the second input bearing 9.Hollow input shaft 6 be there is no to the effect of larger flexural stress etc., therefore, hollow input shaft 6 can be made as to thin-walled, increase the internal diameter of this circle hollow portion.The fluctuation gear unit 1 of the unit hollow portion 18 that therefore, can obtain comprising that internal diameter is larger.
In addition, the shaft end 6b of hollow input shaft 6 and the gap 19 of bearing case 8 seal by the sealing component 17 being arranged in bearing case 8.Therefore, can prevent that grease from leaking into the inner side of unit hollow portion 18 from the second input bearing 9 one sides via this gap 19.In addition,, because being pressed into cylindrical part 8a of bearing case 8 is adhesively fixed in circular axle sleeve 15c, therefore, can prevent that grease is via between these members and leak in unit hollow portion 18.For example, in the situation that motor being installed on fluctuation gear unit 1, thereby can prevent from via gap 19 grades, leaking into that grease in unit hollow portion 18 flows through hollow portion inner peripheral surface etc. from fluctuation gear mechanism 5 one sides and to enter rotating coder that motor one side causes being built in motor etc. contaminated.
In the inside of unit hollow portion 18, be not configured for the formation component that prevent from the grease-proof leakage mechanism of the grease in gap 19.Therefore, can obtain a kind of comprise can be effectively as the fluctuation gear unit 1 of the large diameter unit hollow portion 18 in the space of wiring use etc.

Claims (2)

1. hollow fluctuation gear unit (1), is characterized in that having:
Tubular shell (2);
End plate (3), this end plate (3) is fixed on the input side opening end (2a) of described tubular shell (2);
Output is with disk (4), this for output disk (4) with the state that can rotate freely, be arranged on the outlet side opening end (2b) of described tubular shell (2);
Fluctuation gear mechanism (5), this fluctuation gear mechanism (5) is arranged on the inner side of described tubular shell (2);
Hollow input shaft (6), this hollow input shaft (6) connects at the upper end plate through hole (3a) forming of described end plate (3) and extends;
The first input bearing (7), this first input bearing (7) is arranged on the inner peripheral surface of the end plate through hole (3a) that is formed at described end plate (3), to support described hollow input shaft (6);
Bearing case (8), this bearing case (8) is arranged on the circular axle sleeve (15c) of cup type pliability external tooth gear (15) of described fluctuation gear mechanism (5); And
The second input bearing (9), this second input bearing (9) is arranged in described bearing case (8), to support described hollow input shaft (6),
The wavegenerator (16) of described fluctuation gear mechanism (5) is to comprise described hollow input shaft (6), be formed on rigid liner (16a) on the outer circumferential face of described hollow input shaft (6), be arranged on the hollow wavegenerator of the waveform bearing (16b) on the outer circumferential face of this rigid liner (16a)
The described circular axle sleeve (15c) of described pliability external tooth gear (15) along the direction of unit axis (1a) from described end plate (3) one sides, be fixed to be formed on described for output in the disk through hole (4a) disk (4)
Described bearing case (8) comprising: cylindrical part (8a), and this cylindrical part (8a) is fixed in the axle sleeve through hole (15e) being formed on described circular axle sleeve (15c) from described end plate (3) one sides along the direction of described unit axis (1a); Annulus portion (8b), this annulus portion (8b) is from the end of described cylindrical part (8a) towards the expansion of radial direction outside; And bearing installation cylindrical part (8c), this bearing is installed by cylindrical part (8c) side-prominent towards described end plate (3) from the outer periphery of described annulus portion (8b),
By the sealing component (17) near described disk (4) one sides configurations output for respect to described the second input bearing (9), between the outer circumferential face to the described bearing installation of described bearing case (8) with cylindrical part (8c) and described hollow input shaft (6) the described shaft end (6b) of disk (4) one sides for output, seal.
2. hollow fluctuation gear unit (1) as claimed in claim 1, is characterized in that,
The described cylindrical part (8a) of described bearing case (8) is pressed into and is adhesively fixed on the inner peripheral surface of described axle sleeve through hole (15e) of described circular axle sleeve (15c).
CN201210505938.XA 2012-10-04 2012-11-30 Hollow wave gear unit Active CN103711843B (en)

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Application Number Priority Date Filing Date Title
JP2012221909A JP5943802B2 (en) 2012-10-04 2012-10-04 Hollow wave gear unit
JP2012-221909 2012-10-04

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CN103711843B CN103711843B (en) 2017-04-12

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KR (1) KR101927490B1 (en)
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TW (1) TW201414938A (en)

Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN105518345A (en) * 2014-05-16 2016-04-20 谐波传动***有限公司 Hollow strain wave gear device and hollow actuator
CN107110329A (en) * 2014-10-31 2017-08-29 爱知机械工业株式会社 Case of transmission and the speed changer for possessing the case of transmission

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TWI551792B (en) * 2015-01-29 2016-10-01 Hiwin Tech Corp A reduction gear with a motor
CN107842598A (en) * 2017-11-10 2018-03-27 河钢股份有限公司承德分公司 A kind of end cap and method that can be rapidly completed fastening reducer shaft end-stopping plate
JP7462412B2 (en) * 2019-12-24 2024-04-05 住友重機械工業株式会社 Flexible mesh gear device

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JP2006144971A (en) * 2004-11-22 2006-06-08 Harmonic Drive Syst Ind Co Ltd Hollow actuator
CN101260932A (en) * 2007-03-08 2008-09-10 谐波传动***有限公司 Method for lubricating wave reduction gear and rotating table device

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Publication number Priority date Publication date Assignee Title
EP0770794A1 (en) * 1995-05-19 1997-05-02 Harmonic Drive Systems Inc. Flat wave-motion gear
JP2001304382A (en) * 2000-04-27 2001-10-31 Harmonic Drive Syst Ind Co Ltd Lubricant leakage preventing mechanism for hollow type wave motion gearing
US20020026852A1 (en) * 2000-07-10 2002-03-07 Yoshihide Kiyosawa Wave gear drive unit
US20020135241A1 (en) * 2001-02-19 2002-09-26 Yukitoshi Kobayashi Actuator having a wave gear reduction drive
JP2006144971A (en) * 2004-11-22 2006-06-08 Harmonic Drive Syst Ind Co Ltd Hollow actuator
CN101260932A (en) * 2007-03-08 2008-09-10 谐波传动***有限公司 Method for lubricating wave reduction gear and rotating table device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105518345A (en) * 2014-05-16 2016-04-20 谐波传动***有限公司 Hollow strain wave gear device and hollow actuator
CN105518345B (en) * 2014-05-16 2018-02-02 谐波传动***有限公司 Hollow wave geared system and hollow actuator
CN107110329A (en) * 2014-10-31 2017-08-29 爱知机械工业株式会社 Case of transmission and the speed changer for possessing the case of transmission
CN107110329B (en) * 2014-10-31 2019-06-04 爱知机械工业株式会社 Case of transmission and the speed changer for having the case of transmission

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JP2014074451A (en) 2014-04-24
TW201414938A (en) 2014-04-16
JP5943802B2 (en) 2016-07-05
CN103711843B (en) 2017-04-12
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KR101927490B1 (en) 2018-12-11
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