HARMONIC GEAR DEVICE, AND JOINT DEVICE FOR ROBOT

WIPO Patent Application WO/2023/115848

A1

Provided are a harmonic gear device, the reliability of which is not easily reduced, and a joint device for a robot. The harmonic gear device (1) comprises an internal circular spline (2), an external flexible spline (3) and a wave generator (4), wherein the wave generator (4) is provided with a non-circular cam (41) which is driven to rotate around a rotation axis (Ax1) as the center, and a bearing (42) assembled on an outer side of the cam (41); the rotation of the cam (41) deforms the external flexible spline (3), so that part of external teeth (31) are engaged with part of internal teeth (21), and the external flexible spline (3) rotates relative to the internal circular spline (2) according to the teeth number difference between the external flexible spline and the internal circular spline (2); and an object surface (S1) formed by at least one of an outer peripheral surface (424) of the wave generator (4) and an inner peripheral surface (301) of the external flexible spline (3) is provided with a chemical conversion treatment coating film (C1).

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

PCT/CN2022/099435

June 29, 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)

F16H49/00; F16H57/04

JP2002349645A	2002-12-04
US20210341048A1	2021-11-04
CN112912645A	2021-06-04
CN108180272A	2018-06-19
JPH1019092A	1998-01-20
CN206738541U	2017-12-12
CN103758990A	2014-04-30

CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)

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