HARMONIC GEAR DEVICE, MANUFACTURING METHOD FOR HARMONIC GEAR DEVICE, ROBOT JOINT DEVICE, GEAR COMPONENT FOR ROBOT

WIPO Patent Application WO/2023/071231

A1

A harmonic gear device. The harmonic gear device comprises a rigid internal gear (2), a flexible external gear (3), and a wave generator (4). The wave generator has a non-circular cam (41) rotatably driven with a rotating shaft as a center, and a bearing (42) mounted on the outer side of the cam. The harmonic gear device deforms the flexible external gear (3) with the rotation of the cam, thus some of external teeth (31) are engaged with some of inner teeth (21), such that the flexible external gear (3) rotates relatively with respect to the rigid internal gear (2) according to the difference of the number of teeth with the rigid internal gear (2). At least one of the external teeth (31) and the internal teeth (21) comprises a rolling surface (300). A manufacturing method for the harmonic gear device, a robot joint device comprising the harmonic gear device, and a gear component for the harmonic gear device.

WANG GANG (JP)
LIN WENJIE (JP)
MINEGISHI KIYOJI (JP)
ISAJI TSUYOSHI (JP)
GUO ZIMING (JP)

PCT/CN2022/099475

May 04, 2023

June 17, 2022

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MIDEA GROUP CO LTD (CN)
GUANGDONG JIYA PRECISION MACHINERY TECH CO LTD (CN)
GD MIDEA AIR CONDITIONING EQUIPMENT CO LTD (CN)

F16H1/32; B23F19/00; B23P15/14

TW201535955A	2015-09-16
CN108472775A	2018-08-31
JP2015209931A	2015-11-24
CN112756707A	2021-05-07
JP2019143745A	2019-08-29
JP2010127452A	2010-06-10
FR2045185A5	1971-02-26
CN107210686A	2017-09-26
JP2009156461A	2009-07-16

CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)

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