CN104412004A - Eccentric oscillating gear device - Google Patents
Eccentric oscillating gear device Download PDFInfo
- Publication number
- CN104412004A CN104412004A CN201380035096.9A CN201380035096A CN104412004A CN 104412004 A CN104412004 A CN 104412004A CN 201380035096 A CN201380035096 A CN 201380035096A CN 104412004 A CN104412004 A CN 104412004A
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- CN
- China
- Prior art keywords
- wobble gear
- gear
- urceolus
- eccentric part
- wobble
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
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- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The eccentric oscillating gear device (1) is provided with: eccentric sections (10a); an oscillating gear (14) having insertion holes into which the eccentric sections (10a) are inserted as well as external teeth (14a); an outer tube (2); and a carrier (4). The outer tube (2) is configured from a material with a linear expansion coefficient larger than that of the material of the oscillating gear (14). The carrier (4) is disposed inside the outer tube (2) in the radial direction holding the oscillating gear (14). The outer tube (2) and the carrier (4) are capable of rotating concentrically relative to each other as a result of the oscillation of the oscillating gear (14) associated with the rotation of the eccentric sections (10a).
Description
Technical field
The present invention relates to a kind of Eccentrically swinging gear device.
Background technique
In the past, disclosed in following patent documentation 1, there will be a known between two counterparts with the Eccentrically swinging gear device that the reduction speed ratio of specifying is slowed down to rotating speed.This Eccentrically swinging gear device has: the urceolus being fixed in one of them counterpart; And be arranged in urceolus, and be fixed in the bearing of another counterpart.Bearing based on be installed in bent axle eccentric part wobble gear swing rotate, rotate relative to urceolus.
In recent years, due to the change of the Environmental Conditions of robot, be improved the tendency of the running rate of robot, be accompanied by this, also speed up is required to speed reducer.In Eccentrically swinging gear device, temperature during use in bearing is higher than the temperature of urceolus.Therefore, wobble gear can thermal expansion in use.Because of the thermal expansion of wobble gear, the gap turn narrow of the external tooth of wobble gear and the interior between cog of urceolus.Be accompanied by this, face pressure (surface pressure) of the flank of tooth of wobble gear uprises, its result, the problem that the working life that wobble gear occurs reduces.
Prior art document
Patent documentation
Patent documentation 1: No. 2006-77980, Japanese Laid-Open Patent Publication
Summary of the invention
The object of the invention is to, by suppressing the face of the flank of tooth of wobble gear pressure to uprise, suppress shorten the working life of wobble gear.
For reaching described object, Eccentrically swinging gear device of the present invention changes rotating speed and transmission of drive force with the rotating ratio of specifying between the first and the second member, comprising: eccentric part; Wobble gear, has the inserting hole inserted for described eccentric part, and has teeth portion; First portion, can be installed on one of them parts of described first component and described second component; And second portion, another parts in described first component and described second component can be installed on.Described first portion is formed by the material that linear expansion coeffcient is larger than the material of described wobble gear.Described first portion has the internal tooth engaged with the described teeth portion of described wobble gear.Described second portion is arranged at the radially inner side in described first portion under the state keeping described wobble gear.Described first portion and described second portion based on the described wobble gear of the rotation along with described eccentric part swing and can mutually concentrically relatively rotate.
Accompanying drawing explanation
Fig. 1 represents the sectional view of the structure of the Eccentrically swinging gear device involved by embodiments of the present invention.
Fig. 2 represents the II-II line sectional view of Fig. 1.
Embodiment
Below, the Eccentrically swinging gear device involved by the mode of execution that present invention will be described in detail with reference to the accompanying.The Eccentrically swinging gear device (hereinafter referred to as gearing) 1 of present embodiment is applicable to the cyclotron of solid of rotation and wrist joint etc., the cyclotron etc. of various work mechanism of such as robot as speed reducer.This gearing 1 is used with the revolution of such as 80rpm ~ 200rpm.
In the gearing 1 involved by present embodiment, if based on input shaft 8 rotation and bent axle 10 rotates, eccentric part 10a, 10b of wobble gear 14,16 and bent axle 10 link and carry out swing and rotate, therefore, by the rotation of wobble gear 14,16, urceolus 2 or bearing 4 are rotated, can obtain and rotate the rotation of the output after slowing down by input.
As shown in Figures 1 and 2, gearing 1 comprises the urceolus 2 of the example as first portion, bearing 4, input shaft 8, multiple (such as three) bent axle 10, first wobble gear 14, second wobble gear 16 and multiple (the such as three) driving gear 20 as an example in second portion.
Urceolus 2 forms the outer surface of gearing 1, in roughly cylindric.Multiple cotter way 2b is formed at the inner peripheral surface of urceolus 2.Each cotter way 2b is provided in the axially extension of urceolus 2, and on section perpendicular to axial direction the section shape of semicircular in shape.These cotter ways 2b is arranged on the inner peripheral surface of urceolus 2 to separate equally spaced mode in the circumferential.
Urceolus 2 has multiple interior alligator 3.Each interior alligator 3 is installed on cotter way 2b respectively.Specifically, each interior alligator 3 is embedded in corresponding cotter way 2b respectively, and is set up with the posture axially extended at urceolus 2.Accordingly, multiple interior alligator 3 arranges at equal intervals along the circumference of urceolus 2.First external tooth 14a of the first wobble gear 14 and the second external tooth 16a of the second wobble gear 16 engages with alligator in these 3.
Bearing 4 with urceolus 2 be arranged on coaxial on state be housed in urceolus 2.Bearing 4 relatively rotates around same axis relative to urceolus 2.Specifically, bearing 4 is arranged at the radially inner side of urceolus 2, and in this condition, a pair main bearing 6 arranged by separated from each other in the axial direction interval is supported for and can relatively rotates relative to urceolus 2.
Bearing 4 comprises: the base portion with baseplate part 4a and multiple (such as three) axle portion 4c; And end plate 4b.
Baseplate part 4a is arranged at axial near one end in urceolus 2.The radial central part of baseplate part 4a is provided with circular penetration hole 4d.Around penetration hole 4d, be provided with multiple (such as three) crankshaft installed hole 4e (hereinafter referred to as " mounting hole 4e "), multiple mounting hole 4e is disposed at equal intervals in the circumferential.
End plate 4b is spaced apart with baseplate part 4a in the axial direction and arrange, and is arranged near axial the other end in urceolus 2.Penetration hole 4f is provided with at the radial central part of end plate 4b.Around penetration hole 4f, be provided with multiple (such as three) crankshaft installed hole 4g (hereinafter referred to as " mounting hole 4g "), multiple mounting hole 4g is arranged on the position corresponding with the mounting hole 4e of baseplate part 4a.In urceolus 2, be formed with closed space, described closed space is surrounded by both internal surfaces toward each other of end plate 4b and baseplate part 4a and the inner peripheral surface of urceolus 2 and is formed.
Multiple axle portion 4c and baseplate part 4a is wholely set, and extends straight from an interarea (inner side surface) of baseplate part 4a to end plate 4b side.These three axle portion 4c are disposed at equal intervals in the circumferential (with reference to Fig. 2).Each axle portion 4c uses bolt 4h to be fastened onto end plate 4b (with reference to Fig. 1).Accordingly, baseplate part 4a, axle portion 4c and end plate 4b are integrated.
Input shaft 8 plays the effect of the input part as the driving force being transfused to figure drive motor slightly.Input shaft 8 is inserted into the penetration hole 4f of end plate 4b and the penetration hole 4d of baseplate part 4a.Input shaft 8 is set up in the mode that the axle center of its axle center and urceolus 2 and bearing 4 is consistent, and is swayed by the driving force of drive motor.Input gear 8a is provided with at the outer circumferential face of the tip portion of input shaft 8.
Multiple bent axle 10 is disposed at equal intervals around input shaft 8 (with reference to Fig. 2) in urceolus 2.Each bent axle 10 is supported for can rotates (with reference to Fig. 1) relative to bearing 4 around axle by a pair crankshaft bearing 12a, 12b.Specifically, the part of the axially inner side to designated length one end of the axis from each bent axle 10 is provided with the first crankshaft bearing 12a, and this first crankshaft bearing 12a is installed in the mounting hole 4e of baseplate part 4a.In addition, be provided with the second crankshaft bearing 12b in the other end of the axis of each bent axle 10, this second crankshaft bearing 12b is installed in the mounting hole 4g of end plate 4b.Accordingly, bent axle 10 can be supported on baseplate part 4a and end plate 4b rotationally.
Eccentric part 10a, 10b that each bent axle 10 has axle main body 12c and is integrally formed with this axle main body 12c.First eccentric part 10a and the second eccentric part 10b is arranged in vertically by between the part of two crankshaft bearing 12a, 12b supports.First eccentric part 10a and the second eccentric part 10b is cylindrical shape respectively, all under the state of the axle center bias relative to axle main body 12c, outstanding to radial outside from axle main body 12c.First eccentric part 10a and the second eccentric part 10b is eccentric with the offset of specifying from axle center respectively, and is configured to the phase difference mutually with specified angle.
In an end of bent axle 10, the position in the axially outside of the part namely in the mounting hole 4e being installed on baseplate part 4a is provided with the fitting portion 10c for installing driving gear 20.
First wobble gear 14 is arranged at the described closed space in urceolus 2, and, the first eccentric part 10a of each bent axle 10 is installed on by the first roller bearing 18a.If each bent axle 10 rotates and the first eccentric part 10a eccentric rotary, the first wobble gear 14 links with the eccentric rotary of this eccentric part 10a, engages while swing rotation with interior alligator 3.
First wobble gear 14 has the size of the internal diameter being slightly less than urceolus 2.First wobble gear 14 has the first external tooth 14a, central part penetration hole 14b, multiple (such as three) the first eccentric part inserting hole 14c and multiple (such as three) axle portion inserting hole 14d.First external tooth 14a is in continuous print waveform shape smoothly in the whole circumference of wobble gear 14.
Central part penetration hole 14b is arranged at the radial central part of the first wobble gear 14.Input shaft 8 is inserted through central part penetration hole 14b with the state with play.
Multiple first eccentric part inserting hole 14c is arranged at around central part penetration hole 14b in equally spaced mode in the circumferential at the first wobble gear 14.Each first eccentric part inserting hole 14c is inserted through respectively under the state that first eccentric part 10a of each bent axle 10 is provided with the first roller bearing 18a between each first eccentric part inserting hole 14c.
Multiple axle portion inserting hole 14d is arranged at around central part penetration hole 14b in equally spaced mode in the circumferential at the first wobble gear 14.Each axle portion inserting hole 14d is arranged at the position between the first adjacent eccentric part inserting hole 14c in the circumferential respectively.Corresponding axle portion 4c is inserted with the state with play in each axle portion inserting hole 14d.
Second wobble gear 16 is arranged at the described closed space in urceolus 2, and, the second eccentric part 10b of each bent axle 10 is installed on by the second roller bearing 18b.First wobble gear 14 and in the axial direction spread configuration corresponding with the configuration of the first eccentric part 10a and the second eccentric part 10b with the second wobble gear 16.If each bent axle 10 rotates and the second eccentric part 10b eccentric rotary, the second wobble gear 16 links with this eccentric rotary, engages while swing rotation with interior alligator 3.
Second wobble gear 16 has the size of the internal diameter being slightly less than urceolus 2, has the structure same with the first wobble gear 14.That is, the second wobble gear 16 has the second external tooth 16a, central part penetration hole 16b, multiple (such as three) the second eccentric part inserting hole 16c and multiple (such as three) axle portion inserting hole 16d.These have the structure same with the first external tooth 14a of the first wobble gear 14, central part penetration hole 14b, multiple first eccentric part inserting hole 14c and multiple axle portion inserting hole 14d.Each second eccentric part inserting hole 16c is inserted through under the state that second eccentric part 10b of bent axle 10 is provided with the second roller bearing 18b between each second eccentric part inserting hole 16c.
Each driving gear 20 is for passing to corresponding bent axle 10 by the rotation of input gear 8a.Each driving gear 20 is the outer fitting portion 10c being embedded in an end of the axle main body 12c being arranged on corresponding bent axle 10 respectively.Each driving gear 20 is around the axle identical with the rotatingshaft of bent axle 10 and bent axle 10 unitary rotation.Each driving gear 20 has the external tooth 20a engaged with input gear 8a.
At this, the material forming urceolus 2 and wobble gear 14,16 is described.
Urceolus 2 is formed by the material that linear expansion coeffcient is larger than the material of the first wobble gear 14 and the second wobble gear 16.Specifically, urceolus 2 is aluminum alloy, and the linear expansion coeffcient forming the material of urceolus 2 is 20.0 ~ 23.5 μ/K.In contrast, wobble gear 14,16 is formed by ferrous material.The steel that such as wobble gear 14,16 can be also 0.7 ~ 1.0% by Kohlenstoffgehalt is made (high-carbon steel), or the steel being less than 0.2% by Kohlenstoffgehalt is made (low-carbon (LC) steel).Now, the linear expansion coeffcient forming the material of wobble gear 14,16 is 10.8 ~ 11.0 μ/K, or 11.6 ~ 11.7 μ/K.And, these ferrous materials are quenched and make these ferrous materials harden after, when its Kohlenstoffgehalt is less than 0.2%, its linear expansion coeffcient becomes 13.6 μ/K, in addition, when its Kohlenstoffgehalt is 0.7 ~ 1.0%, its linear expansion coeffcient becomes 12.0 ~ 12.5 μ/K.In addition, about interior alligator 3, also formed by with wobble gear 14,16 identical materials.
As described above, in the gearing 1 of present embodiment, the linear expansion coeffcient forming the material of wobble gear 14,16 is less than the linear expansion coeffcient of the material forming urceolus 2.Therefore, when when using gearing 1, urceolus 2, bearing 4 and wobble gear 14,16 heat up, the expansion ratio wobble gear of urceolus 2 14,16 large.Therefore, the interior alligator 3 of urceolus 2 and the gap between external tooth 14a, 16a of wobble gear 14,16, the gap namely between the inner peripheral surface of urceolus 2 and wobble gear 14,16 can not be also narrower than the state before using.Therefore, even if wobble gear 14,16 heats up and expands, the face of the flank of tooth of wobble gear 14,16 also can be suppressed to press and to uprise, can suppress shorten the working life of wobble gear 14,16.
In addition, in the present embodiment, urceolus 2 is aluminum alloy, and wobble gear 14,16 is formed by ferrous material, therefore, it is possible to make the linear expansion coeffcient of the material of formation urceolus 2 large with the difference of the linear expansion coeffcient of the material of formation wobble gear 14,16.Therefore, even if under the temperature difference of the temperature of wobble gear 14,16 and the temperature of urceolus 2 becomes large Environmental Conditions, the face of the flank of tooth of wobble gear 14,16 also can be suppressed to press and to uprise.Accordingly, more can reliably suppress shorten the working life of wobble gear 14,16.
In addition, the present invention is not limited to described mode of execution, can carry out various change and improvement etc. in the scope not departing from its purport.Such as in said embodiment, have employed the structure being provided with two wobble gears 14,16, but the present invention is not limited thereto.Also for being such as provided with the structure of a wobble gear, or the structure of more than three wobble gears can be provided with.
In said embodiment, have employed the central part that input shaft 8 is arranged at bearing 4, and multiple bent axle 10 is arranged at the structure of the surrounding of input shaft 8, but is not limited thereto.Also such as bent axle 10 can be adopted to be arranged at the centre-crank formula structure of the central part of bearing 4.Now, as long as be arranged to input shaft 8 to be engaged in the driving gear 20 being installed in bent axle 10, then any position can be arranged at.
In said embodiment, be the situation of aluminum alloy exemplified with urceolus 2, but urceolus 2 is not limited to aluminum alloy.Also can be such as that urceolus 2 and wobble gear 14,16 are formed by ferrous material.But now, urceolus 2 needs the material by linear expansion coeffcient is larger than the material of wobble gear 14,16 to be formed.Such as, if the steel that urceolus 2 is less than 0.2% by Kohlenstoffgehalt makes (low-carbon (LC) steel) and by quench hardening, then linear expansion coeffcient is 13.6 μ/K.Now, the steel that wobble gear 14,16 can be less than 0.7 ~ 1.0% by Kohlenstoffgehalt is made (high-carbon steel).In the case, the linear expansion coeffcient after the material quench hardening of formation wobble gear 14,16 is made to be 12.3 ~ 12.4 μ/K.Now, interior alligator 3 also can be formed by with wobble gear 14,16 identical materials.
At this, summarize described mode of execution.
(1) linear expansion coeffcient in said embodiment, forming the material of wobble gear is less than the linear expansion coeffcient of the material in formation first portion.Therefore, when using Eccentrically swinging gear device, first portion, second portion and wobble gear heat up, and the expansion in first portion is greater than the expansion of wobble gear.Therefore, the gap between the internal tooth in first portion and the teeth portion of wobble gear, the gap namely between the inner peripheral surface in first portion and wobble gear can not be narrower than the state before using.Therefore, even if when wobble gear heats up and expands, the face of the flank of tooth of wobble gear also can be suppressed to press and to uprise, can suppress shorten the working life of wobble gear.
(2) described first portion also can be aluminum alloy, and described wobble gear also can be formed by ferrous material.
In the structure shown here, the linear expansion coeffcient of the material in formation first portion can be made large with the difference of the linear expansion coeffcient of the material of formation wobble gear.Therefore, even if under the temperature difference of the temperature of wobble gear and the temperature in first portion becomes large Environmental Conditions, the face of the flank of tooth of wobble gear also can be suppressed to press and to uprise, accordingly, more can reliably suppress shorten the working life of wobble gear.
(3) ferrous material that described first portion can be also less than 0.2% by Kohlenstoffgehalt is formed, and the ferrous material that described wobble gear can be also 0.7 ~ 1.0% by Kohlenstoffgehalt is formed.
As described above, according to described mode of execution, the face of the flank of tooth of wobble gear can be suppressed to press and to uprise, therefore, it is possible to suppress shorten the working life of wobble gear.
Symbol description
1 Eccentrically swinging gear device
2 urceolus
Alligator in 3
4 bearings
6 main bearings
10 bent axles
10a first eccentric part
10b second eccentric part
12a first crankshaft bearing
12b second crankshaft bearing
12c axle main body
14 first wobble gears
14a external tooth
16 second wobble gears
16a external tooth
Claims (3)
1. an Eccentrically swinging gear device, change rotating speed and transmission of drive force with the rotating ratio of specifying between the first and the second member, it is characterized in that comprising:
Eccentric part;
Wobble gear, has the inserting hole inserted for described eccentric part, and has teeth portion;
First portion, can be installed on one of them parts of described first component and described second component; And
Second portion, can be installed on another parts in described first component and described second component, wherein,
Described first portion is formed by the material that linear expansion coeffcient is larger than the material of described wobble gear,
Described first portion has the internal tooth engaged with the described teeth portion of described wobble gear,
Described second portion is arranged at the radially inner side in described first portion under the state keeping described wobble gear,
Described first portion and described second portion based on the described wobble gear of the rotation along with described eccentric part swing and can mutually concentrically relatively rotate.
2. Eccentrically swinging gear device according to claim 1, is characterized in that:
Described first portion is aluminum alloy, and described wobble gear is formed by ferrous material.
3. Eccentrically swinging gear device according to claim 1, is characterized in that:
The ferrous material that described first portion is less than 0.2% by Kohlenstoffgehalt is formed, and the ferrous material that described wobble gear is 0.7 ~ 1.0% by Kohlenstoffgehalt is formed.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012149350A JP5988424B2 (en) | 2012-07-03 | 2012-07-03 | Eccentric oscillating gear unit |
| JP2012-149350 | 2012-07-03 | ||
| PCT/JP2013/003827 WO2014006833A1 (en) | 2012-07-03 | 2013-06-19 | Eccentric oscillating gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104412004A true CN104412004A (en) | 2015-03-11 |
| CN104412004B CN104412004B (en) | 2017-12-19 |
Family
ID=49881609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380035096.9A Active CN104412004B (en) | 2012-07-03 | 2013-06-19 | Eccentrically swinging gear device |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5988424B2 (en) |
| KR (1) | KR101692647B1 (en) |
| CN (1) | CN104412004B (en) |
| DE (1) | DE112013003373B4 (en) |
| TW (1) | TWI595174B (en) |
| WO (1) | WO2014006833A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106090134A (en) * | 2015-04-28 | 2016-11-09 | 纳博特斯克有限公司 | External gear, Eccentrically swinging gear device, robot, the using method of Eccentrically swinging gear device and geared system group |
| CN109838508A (en) * | 2017-11-27 | 2019-06-04 | 住友重机械工业株式会社 | The manufacturing method of epicyclic gearing and epicyclic gearing |
| CN109854685A (en) * | 2019-01-25 | 2019-06-07 | 南京高速齿轮制造有限公司 | Eccentric oscillating-type mechanical reduction gear |
| CN110273981A (en) * | 2018-03-13 | 2019-09-24 | 住友重机械工业株式会社 | Eccentric oscillating-type deceleration device |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6710742B2 (en) * | 2018-11-30 | 2020-06-17 | ナブテスコ株式会社 | Eccentric oscillating gear device |
| CN110966357A (en) * | 2019-05-22 | 2020-04-07 | 苏州华震工业机器人减速器有限公司 | Speed reducer for precision control |
| CN110985611A (en) * | 2019-05-22 | 2020-04-10 | 苏州华震工业机器人减速器有限公司 | Hollow speed reducer for precision control |
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| JPH04331851A (en) * | 1991-05-01 | 1992-11-19 | Sumitomo Heavy Ind Ltd | Manufacture of trochoid group gear shape internal fitting type planetary gear reduction gear |
| JP3557355B2 (en) * | 1998-10-29 | 2004-08-25 | 住友重機械工業株式会社 | Method of manufacturing pin retaining ring for internal gear of internal meshing gear mechanism |
| JP3897924B2 (en) * | 1999-01-25 | 2007-03-28 | ナブテスコ株式会社 | Inner meshing planetary gear unit |
| JP4004256B2 (en) * | 2001-09-13 | 2007-11-07 | ナブテスコ株式会社 | Eccentric rocking speed reducer |
| JP2006077980A (en) | 2004-08-11 | 2006-03-23 | Nabtesco Corp | Reduction gear mounted on revolute joint part of industrial robot |
| WO2008038680A1 (en) * | 2006-09-29 | 2008-04-03 | Nabtesco Corporation | Reduction gear |
| JP2010071462A (en) * | 2008-08-22 | 2010-04-02 | Ntn Corp | In-wheel motor driving device |
| JP2010249262A (en) * | 2009-04-17 | 2010-11-04 | Nabtesco Corp | Eccentric oscillating gear assembly |
| JP5709373B2 (en) | 2009-12-07 | 2015-04-30 | Ntn株式会社 | In-wheel motor drive device |
-
2012
- 2012-07-03 JP JP2012149350A patent/JP5988424B2/en active Active
-
2013
- 2013-06-19 CN CN201380035096.9A patent/CN104412004B/en active Active
- 2013-06-19 WO PCT/JP2013/003827 patent/WO2014006833A1/en active Application Filing
- 2013-06-19 KR KR1020157002513A patent/KR101692647B1/en active IP Right Grant
- 2013-06-19 DE DE112013003373.9T patent/DE112013003373B4/en active Active
- 2013-06-26 TW TW102122648A patent/TWI595174B/en active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106090134A (en) * | 2015-04-28 | 2016-11-09 | 纳博特斯克有限公司 | External gear, Eccentrically swinging gear device, robot, the using method of Eccentrically swinging gear device and geared system group |
| CN106090134B (en) * | 2015-04-28 | 2020-06-02 | 纳博特斯克有限公司 | External gear, eccentric oscillating gear device, robot, and method for using eccentric oscillating gear device |
| CN109838508A (en) * | 2017-11-27 | 2019-06-04 | 住友重机械工业株式会社 | The manufacturing method of epicyclic gearing and epicyclic gearing |
| CN109838508B (en) * | 2017-11-27 | 2022-06-10 | 住友重机械工业株式会社 | Planetary gear device and method for manufacturing planetary gear device |
| CN110273981A (en) * | 2018-03-13 | 2019-09-24 | 住友重机械工业株式会社 | Eccentric oscillating-type deceleration device |
| CN109854685A (en) * | 2019-01-25 | 2019-06-07 | 南京高速齿轮制造有限公司 | Eccentric oscillating-type mechanical reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| DE112013003373B4 (en) | 2023-03-09 |
| JP2014009808A (en) | 2014-01-20 |
| DE112013003373T5 (en) | 2015-03-19 |
| CN104412004B (en) | 2017-12-19 |
| KR101692647B1 (en) | 2017-01-03 |
| JP5988424B2 (en) | 2016-09-07 |
| WO2014006833A1 (en) | 2014-01-09 |
| KR20150027818A (en) | 2015-03-12 |
| TW201405033A (en) | 2014-02-01 |
| TWI595174B (en) | 2017-08-11 |
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