CN104583645B - Eccentrically swinging gear device - Google Patents
Eccentrically swinging gear device Download PDFInfo
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- CN104583645B CN104583645B CN201380043885.7A CN201380043885A CN104583645B CN 104583645 B CN104583645 B CN 104583645B CN 201380043885 A CN201380043885 A CN 201380043885A CN 104583645 B CN104583645 B CN 104583645B
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- urceolus
- bracket
- wobble gear
- 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
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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)
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Abstract
Eccentrically swinging gear device (1) comprises eccentric part (10a), have the penetration hole that inserts for eccentric part (10a) and have the wobble gear (14) of external tooth (14a), urceolus (2) and bracket (4).Urceolus (2) has the interior alligator (3) engaged with the external tooth of wobble gear (14) (14a), and bracket (4) is configured in the radially inner side of urceolus (2) with the state that remain wobble gear (14).Urceolus (2) and bracket (4) can in concentrically rotating relative to one another by the swing of wobble gear (14) of accompanying with the rotation of eccentric part (10a).Backlash angle is set as 2 points ~ 3 points, makes bracket (4) become roughly 1 point relative to the backlash angle of urceolus (2) to make due to the thermal expansion of the wobble gear (14) when using.
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, be known to the Eccentrically swinging gear device making rotational speed decelerates between two counter-element with predetermined reduction speed ratio.This Eccentrically swinging gear device comprises the urceolus that is fixed on a counter-element and to be configured in urceolus and to be fixed on the bracket of another counter-element.Bracket rotates relative to urceolus relatively by being installed on the swing rotary of the wobble gear of the eccentric part of bent axle.
prior art document
patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2006-77980 publication
In recent years, according to the change of the Environmental Conditions of robot, the tendency that the running rate that there is robot improves, accompany therewith, speed reducer is also required speed up.When using Eccentrically swinging gear device, the temperature in bracket is higher than the temperature of urceolus.Therefore, in use, wobble gear thermal expansion.Due to this thermal expansion, the gap turn narrow between the external tooth of wobble gear and the internal tooth of urceolus, the surface pressure of the flank of tooth of wobble gear raises.Its result, the lifetime of wobble gear.
Summary of the invention
The object of the invention is to by suppressing the surface pressure of the flank of tooth of wobble gear to raise the lifetime suppressing wobble gear.
Eccentrically swinging gear device based on a technological scheme of the present invention is the gearing converting rotating speed transmission of drive force between the 1st component and the 2nd component with predetermined rotating ratio, and wherein, this gearing comprises: eccentric part; Wobble gear, it has the penetration hole for above-mentioned eccentric part insertion and has teeth portion; Urceolus, consists of in the one that can be arranged in above-mentioned 1st component and above-mentioned 2nd component; And bracket, consist of in the another one that can be arranged in above-mentioned 1st component and above-mentioned 2nd component.Above-mentioned urceolus has the internal tooth engaged with the above-mentioned teeth portion of above-mentioned wobble gear.Above-mentioned bracket is configured in the radially inner side of above-mentioned urceolus with the state that remain above-mentioned wobble gear.Above-mentioned urceolus and above-mentioned bracket can in concentrically rotating relative to one another by the swing of above-mentioned wobble gear of accompanying with the rotation of above-mentioned eccentric part.In this Eccentrically swinging gear device, above-mentioned backlash angle is set as 2 points ~ 3 points, makes above-mentioned bracket become roughly 1 point relative to the backlash angle of above-mentioned urceolus to make the thermal expansion due to above-mentioned wobble gear when using.
Accompanying drawing explanation
Fig. 1 is the sectional view of the structure of the Eccentrically swinging gear device representing embodiments of the present invention.
(A) of Fig. 2 is the sectional view of the II-II line of Fig. 1, and (B) is the partial enlarged drawing of (A).
Fig. 3 is the figure for illustration of backlash angle.
Fig. 4 is the figure that the backlash angle accompanied for illustration of the temperature variation with urceolus changes.
Embodiment
Below, the Eccentrically swinging gear device of 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 the device of rotary part etc. being applied to the rotary part such as rotation trunk, shoulder joint of such as robot, various work mechanism as speed reducer.This gearing 1 such as uses in the speed range of 80rpm ~ 200rpm (per minute more than 80 turns and less than 200 turns per minute).
The gearing 1 of present embodiment is configured to, and rotates bent axle 10 is rotated by making input shaft 8, carries out swing rotary to obtain oneself linkedly input and rotate the output after slowing down and rotate by making eccentric part 10a, 10b of wobble gear 14,16 and bent axle 10.In this gearing 1, such as can produce relative rotation at the pedestal (counter-element) of robot with between rotation trunk (another counter-element).
As shown in (A) of Fig. 1 and Fig. 2, gearing 1 comprises urceolus 2, bracket 4, input shaft 8, multiple (such as 3) bent axle 10, wobble gear (the 1st wobble gear 14 and the 2nd wobble gear 16) and multiple (such as 3) transmission gear 20.
Urceolus 2 is the components of the outer surface forming gearing 1, has substantially cylindrical shape.The pedestal that urceolus 2 is such as anchored on robot (omits diagram; 1st component).The inner peripheral surface of urceolus 2 is formed many cotter way 2b.Each cotter way 2b configures in the axially extended mode along urceolus 2, and cross section orthogonal to the axial direction has semicircular sectional shape.These cotter ways 2b circumferentially equally spaced arranges on the inner peripheral surface of urceolus 2.
Urceolus 2 has alligator 3 in many.In each, alligator 3 is installed on cotter way 2b respectively.Specifically, in each, alligator 3 embeds in corresponding cotter way 2b respectively, and with the axially extended posture configuration along urceolus 2.Thus, many individual interior alligators 3 equally spaced arrange along the circumference of urceolus 2.Alligator 3 is engaged with the 1st external tooth 14a of the 1st wobble gear 14 and the 2nd external tooth 16a of the 2nd wobble gear 16 in these.
Urceolus 2 is provided with lip part, and this lip part is formed with the penetration hole 2c run through for fastening piece (bolt), and this fastening piece is such as being fixed on the pedestal of robot by urceolus 2.
Bracket 4 is to be accommodated in the inner side of urceolus 2 with the state of urceolus 2 arranged coaxial.The rotation trunk that bracket 4 is such as anchored on robot (omits diagram; 2nd component).Bracket 4 rotates around the axis identical with urceolus 2 relatively relative to urceolus 2.Specifically, bracket 4 is configured in the radially inner side of urceolus 2.In this condition, bracket 4 is supported as relatively rotating relative to urceolus 2 by a pair main bearing 6 being separated from each other setting in the axial direction.
Bracket 4 comprises base portion and end plate 4b, and this base portion has baseplate part 4a and multiple (such as 3) axle portion 4c.
Baseplate part 4a is configured at axial near one end in urceolus 2.Circular through hole 4d is provided with at the radial central part of baseplate part 4a.Around through hole 4d, be circumferentially equally spaced provided with multiple (such as 3) crankshaft installed hole 4e (hereinafter referred to as making mounting hole 4e).
Be formed for the fastening fastener hole 4i eliminating illustrated fastening piece (bolt) at baseplate part 4a, this fastening piece (bolt) is for being fixed on the rotation trunk of such as robot by bracket 4.
End plate 4b is arranged dividually with baseplate part 4a vertically, is configured near axial the other end in urceolus 2.Through hole 4f is provided with at the radial central part of end plate 4b.Multiple (such as 3) crankshaft installed hole 4g (hereinafter referred to as making mounting hole 4g) is provided with around through hole 4f.Each mounting hole 4g is configured in the position corresponding with the mounting hole 4e of baseplate part 4a respectively.The enclosed space surrounded by two internal surfaces respect to one another of end plate 4b and baseplate part 4a and the inner peripheral surface of urceolus 2 is formed in urceolus 2.
Multiple axle portion 4c and baseplate part 4a is wholely set, and extends from an interarea (inner side surface) of baseplate part 4a to end plate 4b side straight line.The plurality of axle portion 4c is circumferentially equally spaced configured ((A) with reference to Fig. 2).Each axle portion 4c utilizes bolt 4h to be anchored on end plate 4b (with reference to Fig. 1).Thus, by baseplate part 4a, axle portion 4c and end plate 4b integration.
Input shaft 8 plays a role as the input part of the driving force for inputting not shown drive motor.Input shaft 8 inserts in the through hole 4f of end plate 4b and the through hole 4d of baseplate part 4a.Input shaft 8 is configured to its axle center and aligns with the axle center of urceolus 2 and the axle center of bracket 4, and rotates about the axis.The outer circumferential face of the tip portion of input shaft 8 is provided with input gear 8a.
Multiple bent axle 10 is equally spaced configured at ((A) with reference to Fig. 2) around input shaft 8 in urceolus 2.Each bent axle 10 is supported on bracket 4 (with reference to Fig. 1) by a pair crankshaft bearing 12a, 12b in the mode that can rotate about the axis relative to bracket 4.Specifically, in the part of the axially inner side apart from axial one end specific length of each bent axle 10, the 1st crankshaft bearing 12a is installed.1st crankshaft bearing 12a is installed in the mounting hole 4e of baseplate part 4a.On the other hand, in the other end of the axis of each bent axle 10, the 2nd crankshaft bearing 12b is installed.2nd crankshaft bearing 12b is installed in the mounting hole 4g of end plate 4b.Thus, bent axle 10 is supported on baseplate part 4a and end plate 4b in the mode that can rotate.
Each bent axle 10 has axle main body 10c and is integrally formed at eccentric part 10a, 10b of this axle main body 10c.1st eccentric part 10a and the 2nd eccentric part 10b is arranged vertically between the part supported by two crankshaft bearing 12a, 12b.1st eccentric part 10a and the 2nd eccentric part 10b has cylindrical shape respectively, all outstanding to radial outside from axle main body 10c with the state of the axle center bias relative to axle main body 10c.1st eccentric part 10a and the 2nd eccentric part 10b is eccentric from axle center with predetermined offset respectively, is configured to the phase difference mutually with predetermined angular.
In an end of bent axle 10, the position in the axially outside of the part be namely installed in the mounting hole 4e of baseplate part 4a, be provided with for installing the fitting portion 10d transmitting gear 20.
1st wobble gear 14 is configured in the above-mentioned enclosed space in urceolus 2, and is installed on the 1st eccentric part 10a of each bent axle 10 by the 1st roller bearing 18a.If each bent axle 10 rotates and the 1st eccentric part 10a eccentric rotary, then the 1st wobble gear 14 and this eccentric rotary engage while carry out swing rotary with interior alligator 3 linkedly.
1st wobble gear 14 has the size of the internal diameter being slightly less than urceolus 2.1st wobble gear 14 has the 1st external tooth 14a, central part through hole 14b, multiple (such as 3) the 1st eccentric part penetration hole 14c and multiple (such as 3) axle portion penetration hole 14d.1st external tooth 14a has the circumference continuous print waveform shape smoothly on the whole at wobble gear 14.
Central part through hole 14b is located at the radial central part of the 1st wobble gear 14.In central part through hole 14b, run through with the state with play and have input shaft 8.
Multiple 1st eccentric part penetration hole 14c is circumferentially equally spaced located at around central part through hole 14b in the 1st wobble gear 14.In each the 1st eccentric part penetration hole 14c, run through the 1st eccentric part 10a having each bent axle 10 respectively with the state clamping the 1st roller bearing 18a.
Multiple axle portion penetration hole 14d is circumferentially equally spaced located at around central part through hole 14b in the 1st wobble gear 14.Each axle portion penetration hole 14d is configured in the position between the 1st adjacent eccentric part penetration hole 14c in the circumferential respectively.In each axle portion penetration hole 14d, run through with the state with play and have corresponding axle portion 4c.
The 2nd eccentric part 10b of each bent axle 10 is installed on by the 2nd roller bearing 18b in the above-mentioned enclosed space that 2nd wobble gear 16 is configured in urceolus 2.The configuration of the 1st wobble gear 14 and the 2nd wobble gear 16 and the 1st eccentric part 10a and the 2nd eccentric part 10b spread configuration vertically accordingly.If each bent axle 10 rotates and the 2nd eccentric part 10b eccentric rotary, then the 2nd wobble gear 16 is engaged in interior alligator 3 linkedly with this eccentric rotary, carries out swing rotary simultaneously.
2nd wobble gear 16 has the size of the internal diameter being slightly less than urceolus 2, becomes the structure identical with the 1st wobble gear 14.That is, the 2nd wobble gear 16 has the 2nd external tooth 16a, central part through hole 16b, multiple (such as 3) the 2nd eccentric part penetration hole 16c and multiple (such as 3) axle portion penetration hole 16d.These components have the structure identical with the 1st external tooth 14a of the 1st wobble gear 14, central part through hole 14b, multiple 1st eccentric part penetration hole 14c and multiple axle portion penetration hole 14d.In each the 2nd eccentric part penetration hole 16c, run through the 2nd eccentric part 10b having bent axle 10 with the state clamping the 2nd roller bearing 18b.
Each transmits the component that gear 20 is the bent axles 10 for the rotation of input gear 8a being delivered to correspondence.Each transmits gear 20 and is coated at the corresponding fitting portion 10d being located at an end of the axle main body 10c of bent axle 10 respectively.Each transmits gear 20 and rotates integratedly around the axis identical with the spin axis of bent axle 10 and this bent axle 10.Each transmits gear 20 and has the external tooth 20a engaged with input gear 8a.
At this, the backlash angle of the bracket 4 in the gearing 1 of present embodiment is described.The angle that backlash angle makes bracket 4 be rotated about axis under referring to the state being zero at moment of torsion when applying moment of torsion under the state securing input shaft to bracket 4.Namely, as shown in (B) of Fig. 2, there is gap between alligator 3 in external tooth 14a, the 16a of wobble gear 14,16 in bracket 4 and urceolus 2, if therefore apply moment of torsion to bracket 4, then external tooth 14a, 16a carries out a little rotating till engaging with interior alligator 3 under the state keeping moment of torsion to be zero.This rotation angle becomes the angle corresponding to the size in the gap between external tooth 14a, 16a and interior alligator 3.And as shown in Figure 3, under the state that external tooth 14a, 16a are engaged in interior alligator 3, the windup-degree of bracket 4 becomes the size corresponding to the size of applied moment of torsion.Like this, in bracket 4, can rotate with the backlash angle corresponding to the size in above-mentioned gap under the state keeping moment of torsion to be zero, the size of this backlash angle has influence on the positioning precision of robot (stopping precision).Therefore, in general, the mode becoming about 1 point (60/once) with backlash angle sets the shape of urceolus and wobble gear.
On the other hand, in the gearing 1 of present embodiment, be set as that gash angle degree is 2 points ~ 3 points under state before use.That is, urceolus 2 externally gas dissipates heat, or to the heat radiation of fastening counter-element (pedestal of such as robot), therefore compare with interior alligator 3 with wobble gear 14,16, thermal expansion amount is less.Therefore, if make gearing 1 work, then there is the tendency that the gap (space) between external tooth 14a, 16a of wobble gear 14,16 and interior alligator 3 narrows.Thus, in the gearing 1 of present embodiment, heating up during owing to using, being therefore set as making backlash angle become roughly 1 point when having narrowed before void ratio uses.Such as by making the external diameter of interior alligator 3 less than situation in the past, can add the space that the space reduction that causes with heating is suitable in advance.
Fig. 4 be for the backlash angle that accompanies of heating when using and the change that the state before using starts is shown.In use, the temperature of urceolus 2 rises to 70 DEG C ~ about 80 DEG C.Thus, when under state (such as 20 DEG C) before use, gash angle degree is 2 timesharing, the backlash angle at 70 DEG C is less than 1 point (about 0.6 point).In addition, when gash angle degree under state is before use 3 timesharing, the backlash angle at 70 DEG C is about 1.2 points.Thus, if the backlash angle under the state before using be 2 points ~ 3 points (more than 2 points and 3 points within), then the backlash angle in use is about 1 point (more than 0.6 point and 1.2 points within).How particularly in the present embodiment, owing to being carry out with 80rpm ~ 200rpm the gearing that uses, therefore until reach this temperature all do not have spended time, situation about using under the state that backlash is larger is less.In addition, in the diagram, the backlash angle under the state before using is the data of 3 timesharing is guess values.
As the comparative example 1 shown in Fig. 4, when the backlash angle under the state before using is 1 timesharing, time more than 60 DEG C, even if temperature rises, backlash angle does not also decline, and decline is prevented from.Infer that this represents the state having eliminated gap at about 60 DEG C.On the other hand, the backlash angle under the state before comparative example 2 represents use is the situation of 6 points.In this comparative example 2, even if in the using process of rising in the temperature of urceolus, backlash angle also roughly has 4 points, and the positioning precision (stopping precision) of robot is poor.
As mentioned above, in the gearing 1 of present embodiment, because backlash angle is set as 2 points ~ 3 points, therefore when making by making gearing 1 work wobble gear 14,16 heat up and expanding, bracket 4 can be set to roughly 1 point relative to the backlash angle of urceolus 2.Thus, bracket 4 can not be excessive relative to the backlash angle of urceolus 2 in use, therefore can maintain stopping precision as Eccentrically swinging gear device 1.And, the surface pressure of the flank of tooth of wobble gear 14,16 can be suppressed to raise, therefore, it is possible to suppress the service life reduction of wobble gear 14,16.That is, the optimization of backlash angle when can seek actual use.
In addition, in the present embodiment, the relative rotation speed between urceolus 2 and bracket 4 is 80rpm ~ 200rpm.Under this form, owing to using with the rotating speed under the such high-speed region of 80rpm ~ 200rpm, therefore use the intensification of the wobble gear 14,16 after starting also very fast.Thus, the time reaching common backlash angle (roughly 1 point) after use starts is also shorter, can shorten or eliminate the time of warm-operation.
In addition, the present invention is not limited to above-mentioned mode of execution, can carry out various change, improvement etc. in the scope not departing from its purport.Such as, in the above-described embodiment, be formed as the structure being provided with two wobble gears 14,16, but be not limited to this.Such as, also can be provided with the structure of a wobble gear or be provided with the structure of wobble gear of more than 3.
In the above-described embodiment, input shaft 8 is configured at the central part of bracket 4, and multiple bent axle 10 is configured at input shaft 8 around.But, be not limited to this structure.Such as, also can be the centre-crank shaft formula that bent axle 10 is configured at the central part of bracket 4.In this case, be meshed with the transmission gear 20 being installed on bent axle 10 as long as be set to input shaft 8, input shaft 8 just can be configured in arbitrary position.
In the above-described embodiment, become urceolus 2 and be incorporated into the pedestal of robot and bracket 4 is incorporated into the structure that the rotation trunk of robot and bracket 4 rotate relative to urceolus 2.But, be not limited to this structure.Such as, also can be set to bracket 4 and be incorporated into the pedestal of robot and the structure that urceolus 2 is incorporated into the rotation trunk of robot, urceolus 2 rotates relative to bracket 4.
At this, the above-mentioned mode of execution of brief description.
In general, when using Eccentrically swinging gear device, compared to urceolus, wobble gear becomes high temperature because of heating.Therefore, the gap be configured between the internal tooth of urceolus and the teeth portion of wobble gear has in use than the tendency narrowed before use.Thus, as common Eccentrically swinging gear device, when bracket 4 is set as roughly 1 timesharing relative to the backlash angle of urceolus, if above-mentioned gap (play) narrows because of the heating of wobble gear, the surface pressure of the flank of tooth of wobble gear then can be caused to rise, its result, fatigue strength reduces.On the other hand, in the present embodiment, because backlash angle is set as 2 points ~ 3 points, if therefore make wobble gear heat up by making Eccentrically swinging gear device work and expand, then bracket can be set to roughly 1 point relative to the backlash angle of urceolus.Thus, bracket can not be excessive relative to the backlash angle of urceolus in use, therefore can maintain stopping precision as Eccentrically swinging gear device.And, the surface pressure of the flank of tooth of wobble gear can be suppressed to raise, the service life reduction of wobble gear can be suppressed.
At this, the relative rotation speed between above-mentioned urceolus and above-mentioned bracket also can be 80rpm ~ 200rpm.
Under this form, owing to using in the speed range under the such high-speed region of 80rpm ~ 200rpm, therefore use the intensification of the wobble gear after starting also very fast.Thus, the time reaching common backlash angle (roughly 1 point) after use starts is also shorter, can shorten or eliminate the time of warm-operation.
As mentioned above, according to the present embodiment, the surface pressure of the flank of tooth of wobble gear can be suppressed to rise, therefore, it is possible to suppress the lifetime of wobble gear.
description of reference numerals
1 Eccentrically swinging gear device; 2 urceolus; Alligator in 3; 4 brackets; 6 main bearings; 10 bent axles; 10a the 1st eccentric part; 10b the 2nd eccentric part; 10c axle main body; 12a the 1st crankshaft bearing; 12b the 2nd crankshaft bearing; 14 the 1st wobble gears; 14a external tooth; 16 the 2nd wobble gears; 16a external tooth.
Claims (2)
1. an Eccentrically swinging gear device, it is the gearing converting rotating speed transmission of drive force between the 1st component and the 2nd component with predetermined rotating ratio, and wherein, this gearing comprises:
Bent axle, it has eccentric part;
Wobble gear, it has the penetration hole for above-mentioned eccentric part insertion and has teeth portion;
Urceolus, consists of in the one that can be arranged in above-mentioned 1st component and above-mentioned 2nd component; And
Bracket, consists of in the another one that can be arranged in above-mentioned 1st component and above-mentioned 2nd component;
Above-mentioned urceolus has the internal tooth engaged with the above-mentioned teeth portion of above-mentioned wobble gear,
Above-mentioned bracket is configured in the radially inner side of above-mentioned urceolus with the state that remain above-mentioned wobble gear,
Above-mentioned urceolus and above-mentioned bracket can in concentrically rotating relative to one another by the swing of above-mentioned wobble gear of accompanying with the rotation of above-mentioned eccentric part,
Backlash angle is set as 2 points ~ 3 points, makes above-mentioned bracket become roughly 1 point relative to the backlash angle of above-mentioned urceolus to make due to the thermal expansion of above-mentioned wobble gear when using.
2. Eccentrically swinging gear device according to claim 1, wherein,
Relative rotation speed between above-mentioned urceolus and above-mentioned bracket is 80rpm ~ 200rpm.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-185392 | 2012-08-24 | ||
| JP2012185392A JP5466739B2 (en) | 2012-08-24 | 2012-08-24 | Eccentric oscillating gear unit |
| PCT/JP2013/004462 WO2014030292A1 (en) | 2012-08-24 | 2013-07-23 | Eccentrically rocking-type gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104583645A CN104583645A (en) | 2015-04-29 |
| CN104583645B true CN104583645B (en) | 2016-04-27 |
Family
ID=50149624
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380043885.7A Active CN104583645B (en) | 2012-08-24 | 2013-07-23 | Eccentrically swinging gear device |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5466739B2 (en) |
| KR (3) | KR20150038700A (en) |
| CN (1) | CN104583645B (en) |
| DE (1) | DE112013003689B4 (en) |
| TW (1) | TWI572795B (en) |
| WO (1) | WO2014030292A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105065584A (en) * | 2015-08-19 | 2015-11-18 | 英瑞克自动化有限公司 | Hypocycloid speed reducer |
| JP6709666B2 (en) * | 2016-04-14 | 2020-06-17 | ナブテスコ株式会社 | Gear device |
| JP7035406B2 (en) * | 2017-09-22 | 2022-03-15 | 日本電産株式会社 | transmission |
| JP6863882B2 (en) | 2017-11-27 | 2021-04-21 | 住友重機械工業株式会社 | Planetary gear device and manufacturing method of planetary gear device |
| JP2019132282A (en) * | 2018-01-29 | 2019-08-08 | 宇部興産機械株式会社 | Ladle water heater and arm drive control system |
| JP7068213B2 (en) * | 2019-02-28 | 2022-05-16 | トヨタ自動車株式会社 | Torsion vibration reduction device |
| JP7450340B2 (en) * | 2019-04-09 | 2024-03-15 | 住友重機械工業株式会社 | Gear device, manufacturing method of gear device |
| CN116717568A (en) * | 2019-05-22 | 2023-09-08 | 苏州华震工业机器人减速器有限公司 | Speed reducer for precise 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 |
| JP7540886B2 (en) * | 2019-11-22 | 2024-08-27 | ナブテスコ株式会社 | Drive unit and electric power steering device |
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|---|---|---|---|---|
| JPS60129454A (en) * | 1983-12-19 | 1985-07-10 | Sumitomo Heavy Ind Ltd | Planetary speed-up and reduction gear |
| JPS61266849A (en) * | 1985-05-20 | 1986-11-26 | Fujitsu Ltd | Reduction gear |
| JP2010249262A (en) * | 2009-04-17 | 2010-11-04 | Nabtesco Corp | Eccentric oscillating gear assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4726185B2 (en) * | 2004-01-13 | 2011-07-20 | ナブテスコ株式会社 | Eccentric oscillating gear unit |
| JP2006077980A (en) | 2004-08-11 | 2006-03-23 | Nabtesco Corp | Reduction gear mounted on revolute joint part of industrial robot |
| JP5156961B2 (en) * | 2008-10-24 | 2013-03-06 | 住友重機械工業株式会社 | Reduction gear |
| JP5709373B2 (en) | 2009-12-07 | 2015-04-30 | Ntn株式会社 | In-wheel motor drive device |
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2012
- 2012-08-24 JP JP2012185392A patent/JP5466739B2/en active Active
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2013
- 2013-07-23 CN CN201380043885.7A patent/CN104583645B/en active Active
- 2013-07-23 DE DE112013003689.4T patent/DE112013003689B4/en active Active
- 2013-07-23 KR KR20157006953A patent/KR20150038700A/en active Search and Examination
- 2013-07-23 KR KR1020197023270A patent/KR20190095559A/en not_active Application Discontinuation
- 2013-07-23 WO PCT/JP2013/004462 patent/WO2014030292A1/en active Application Filing
- 2013-07-23 KR KR1020157026574A patent/KR20150117296A/en active Application Filing
- 2013-07-29 TW TW102127038A patent/TWI572795B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60129454A (en) * | 1983-12-19 | 1985-07-10 | Sumitomo Heavy Ind Ltd | Planetary speed-up and reduction gear |
| JPS61266849A (en) * | 1985-05-20 | 1986-11-26 | Fujitsu Ltd | Reduction gear |
| JP2010249262A (en) * | 2009-04-17 | 2010-11-04 | Nabtesco Corp | Eccentric oscillating gear assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2014030292A1 (en) | 2014-02-27 |
| TWI572795B (en) | 2017-03-01 |
| JP2014043874A (en) | 2014-03-13 |
| KR20190095559A (en) | 2019-08-14 |
| JP5466739B2 (en) | 2014-04-09 |
| CN104583645A (en) | 2015-04-29 |
| KR20150117296A (en) | 2015-10-19 |
| KR20150038700A (en) | 2015-04-08 |
| DE112013003689B4 (en) | 2023-01-12 |
| DE112013003689T5 (en) | 2015-04-09 |
| TW201420921A (en) | 2014-06-01 |
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