CN106481741B - Eccentric oscillation gear device and industrial robot - Google Patents
Eccentric oscillation gear device and industrial robot Download PDFInfo
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- CN106481741B CN106481741B CN201610481122.6A CN201610481122A CN106481741B CN 106481741 B CN106481741 B CN 106481741B CN 201610481122 A CN201610481122 A CN 201610481122A CN 106481741 B CN106481741 B CN 106481741B
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- bearing
- wheel carrier
- bent axle
- shell
- gear device
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
- General Details Of Gearings (AREA)
Abstract
The present invention provides a kind of eccentric oscillation gear device, is able to maintain that larger transfer capacity and can realize high densification.Wheel carrier (20), wobble gear (30) and the bent axle (40) for making the wobble gear swing rotary that eccentric oscillation gear device (G1) has shell (10), rotated relative to the shell, wherein, bent axle has hollow portion (40P2), there is wheel carrier the shaft member (20S) for being inserted in hollow portion, geared system to be also equipped with outboard bearing (72) and configuration inboard bearing (74) the inner circumferential of bent axle and the periphery of shaft member between of the configuration between the periphery of bent axle and the inner circumferential of wheel carrier.
Description
This application claims the preferences based on Japanese patent application the 2015-169717th filed in August in 2015 28 days.
The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to a kind of eccentric oscillation gear device and it is assembled with the industrial robot of the geared system.
Background technology
A kind of eccentric oscillation gear device is disclosed in patent document 1.
The eccentric oscillation gear device has shell, the wheel carrier rotated relative to the shell, wobble gear and makes the pendulum
The bent axle of moving gear swing rotary.
Bent axle has hollow portion.It is configured with and the integrated shaft member of wheel carrier in the hollow portion.Bent axle is configured in the song
A pair of bearings bearing between axis and shaft member.Bearing is made of taper roll bearing.
Patent document 1：No. 5122450 bulletins of Japanese Patent No.
However, in geared system disclosed in above-mentioned patent document 1, the bearing presence especially with respect to bent axle is asked as follows
Topic：It is difficult to ensure larger transfer capacity, and to ensure necessary transfer capacity, then whole device can become enlargement.
Invention content
The present invention completes to solve this conventional problems, project be to provide one kind be able to maintain that it is larger
Transfer capacity and can realize the eccentric oscillation gear device of densification.
The present invention solves the above subject by such as lower structure, that is, a kind of eccentric oscillation gear device, have shell,
Wheel carrier, wobble gear and the bent axle for making the wobble gear swing rotary rotated relative to the shell, wherein the bent axle
With hollow portion, there is the shaft member for being inserted in the hollow portion, the geared system to be also equipped with for the shell or the wheel carrier：
It configures the outboard bearing between the periphery of the bent axle and the inner circumferential of the shell or the wheel carrier, configure in the bent axle
Inboard bearing between inner circumferential and the periphery of the shaft member.
In the present invention, there is bent axle hollow portion, shell or wheel carrier to have the shaft member for being inserted in the hollow portion.Moreover,
Between the periphery of bent axle and the inner circumferential of shell or wheel carrier be configured with outboard bearing, bent axle inner circumferential and shaft member periphery it
Between be configured with inboard bearing.
Thereby, it is possible to configure outboard bearing in the periphery of bent axle, therefore it can ensure larger transfer capacity.Also,
Inboard bearing can be configured to the inner circumferential in bent axle, therefore can realize densification.
According to the present invention, the eccentric oscillating-type for being able to maintain that larger transfer capacity and capable of realizing densification can get
Geared system.
Description of the drawings
Fig. 1 is the sectional view for indicating the eccentric oscillation gear device involved by an example of embodiments of the present invention.
Fig. 2 is the sectional view for indicating the eccentric oscillation gear device involved by another embodiment of the present invention.
Fig. 3 is the sectional view for indicating the eccentric oscillation gear device involved by another embodiment of the invention.
Fig. 4 is the major part of the example of the industrial robot for the eccentric oscillation gear device for indicating to be assembled with Fig. 3
Sectional view.
Fig. 5 is the major part enlarged cross-sectional view for the part that amplification indicates Fig. 4.
In figure：G1- geared systems, 10- shells, 20- wheel carriers, 20S- shaft members, 30- external gears (wobble gear), 40- are bent
Axis, 40P2- (major diameter) hollow portion, 72- outboard bearings, 74- inboard bearings.
Specific implementation mode
Hereinafter, an example for the embodiment that the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is the sectional view for indicating the eccentric oscillation gear device G1 involved by an example of embodiments of the present invention.
Wheel carrier 20, the axis swing that eccentric oscillation gear device G1 has shell 10, rotated relative to the shell 10
External gear (wobble gear) 30 and make the bent axle 40 of 30 rotary oscillation of external gear.
The bent axle 40 of geared system G1 is formed as tubular and is configured to the axis of itself axle center C40 and aftermentioned internal gear 50
Heart C50 is consistent.End 40E in the axial direction of bent axle 40 is formed with screw hole 40T.It is linked with for the bent axle 40 in bent axle 40
The power input part 52 (being spur gear in this example) of power of the input from driving source (such as motor).Power input part
52 be to be linked to bent axle 40 by bolt 53 is screwed into the screw hole 40T.That is, bent axle 40 constitutes the defeated of geared system G1
Enter axis.
Bent axle 40 has two eccentric bodies 54 for making external gear 30 swing.The axle center C54 of eccentric body 54 is relative to song
The axle center C40 of axis 40 is eccentric.In order to make the swing of external gear 30 be balanced, two eccentric bodies 54 are each other with 180 ° of phase difference
It is eccentric.It pair is described in detail with after the relevant structure of bearing of bent axle 40.
Eccentric body bearing 56 is configured between eccentric body 54 and external gear 30.In geared system G1, eccentric shaft
56 are held to be made of the roller 56C without inner ring and outer ring.Roller 56C is kept by retainer 56R.External gear 30 via
Roller 56C is assembled in the periphery of eccentric body 54.Therefore, the axle center C30 of external gear 30 is swung.
Wobble gear (i.e. external gear 30) and non-wobble gear (i.e. internal gear 50) internal messing.The axle center C50 of internal gear 50
It is fixed (not swinging).Internal gear 50 has and shell 10 (aftermentioned 1st outer housing 11) integrated internal tooth wheel body
50A, be axially formed the inner circumferential of internal tooth wheel body 50A cotter way 50B and be rotatably freely assembled in cotter way 50B and
Constitute alligator 50C in the cylinder of the internal tooth of the internal gear 50.The quantity (radical of interior alligator 50C) of the internal tooth of internal gear 50 compares
The quantity of the external tooth of external gear 30 is slightly more (1 is only had more in this example).
The side opposite with power input side in the axial direction of external gear 30 is configured with wheel carrier 20.Wheel carrier 20 be relative to
The component that shell 10 rotates.To being described in detail after the structure of shell 10 and wheel carrier 20.
Base bearing 60 is configured between shell 10 and wheel carrier 20.It is energy that base bearing 60, which is by shell 10 and the bearing of wheel carrier 20,
The bearing of enough relative rotation, in geared system G1, base bearing 60 is made of crossed roller bearing.Base bearing 60 is by being equivalent to
The rolling surface 60A of 20 side of wheel carrier of inner ring, be equivalent to outer ring 10 side of shell rolling surface 60B and in the rolling surface 60A, 60B
The roller 60C of interior rolling is constituted.It, can only can be with a bearing since base bearing 60 is made of crossed roller bearing
In axial direction and radially supporting wheel frame 20.
On the other hand, running through from the position that its axle center C30 is deviated in external gear 30 has multiple domestic 62.In external gear 30
It is formed with for domestic 62 perforative multiple inner pinhole 30A.Due to domestic 62 run through external gear 30, domestic 62 with the external gear
30 rotation synchronization action.Domestic 62 are protruded from wheel carrier 20 with cantilever position and are formed as one with wheel carrier 20.
It is outer on domestic 62 to be used as sliding promoting member embedded with interior roller 64 in geared system G1.One of interior roller 64
Divide and is abutted with the inner pinhole 30A of external gear 30.The outer diameter of interior roller 64 is less than the internal diameter of inner pinhole 30A, in interior roller 64 and inner pinhole
Ensure there is gap delta 30A between 30A.Between the swing ingredient of external gear 30 is by ensuring between the interior roller 64 and inner pinhole 30A
Gap δ 30A and absorbed.
Here, pair being illustrated with the relevant structure of bearing of bent axle 40.
For simple, the bent axle 40 of geared system G1 has major diameter hollow portion 40P2.Shell 10 or wheel carrier 20 are (in this example
For wheel carrier 20) it is provided integrally with the shaft member 20S for being inserted in major diameter hollow portion 40P2.Geared system G1 has configuration in bent axle
Outboard bearing 72 between the inner circumferential 20R2 of 40 periphery 40A and shell 10 or wheel carrier 20 (being wheel carrier 20 in this example).Moreover,
Geared system G1, which is also equipped with, configures the inner circumferential (major diameter hollow portion 40P2) in bent axle 40 between the periphery 20S1 of shaft member 20S
Inboard bearing 74.
Hereinafter, being described in more details.
As described above, the bent axle 40 of this geared system G1 is integrally formed into tubular.But the outer diameter and internal diameter of bent axle 40
And it is non-constant.
Bent axle 40 has：Path hollow portion 40P1 smaller hollow diameters D40P1；Hollow diameters D40P2 is than in the path
Major diameter hollow portion 40P2 big the hollow diameters D40P1 of empty portion 40P1.
Path hollow portion 40P1 is formed in the side opposite with power input side in the axial direction of bent axle 40.Major diameter hollow portion
40P2 is formed in the power input side in the axial direction of bent axle 40.Path hollow portion 40P1 and major diameter hollow portion 40P2 be formed as with
The axle center C40 of bent axle 40 is parallel.
The shell 10 of this geared system G1 by with integrated 1st outer housings 11 of the internal tooth wheel body 50A, configuration at this
2nd outer housing 12 of the side opposite with power input side in the axial direction of the 1st outer housing 11 and configuration are in the 1st outer housing 11
3rd outer housing 13 of the power input side in axial direction is constituted.
1st outer housing 11 is located at the radial outside of external gear 30, and such as the aforementioned internal tooth wheel body as internal gear 50
50A.2nd outer housing 12 is formed as cyclic annular and is formed with the rolling surface 60B of the base bearing 60 in inner circumferential.3rd outer housing 13 by
Power in the axial direction of substantially discoid component composition and covering geared system G1 of the radial center with opening portion 13A is defeated
Enter side.
It is formed through connection screw hole 11T in the 1st outer housing 11.1st outer housing 11 and the 2nd outer housing 12 are by from
2 outer housing, 12 side is inserted into bolt 15 and is screwed into the connection screw hole 11T of the 1st outer housing 11 and linked together.1st shell
Body 11 and the 3rd outer housing 13 are by being inserted into bolt (illustration omitted) from 13 side of the 3rd outer housing and being screwed into the 1st outer housing 11
Connection screw hole 11T and link together.O-ring 70 is configured between the 1st outer housing 11 and the 2nd outer housing 12.Outside the 1st
O-ring 71 is configured between shell 11 and the 3rd outer housing 13.Oil sealing 17 is configured between the 2nd outer housing 12 and wheel carrier 20.
By this structure, shell 10 is in the inside of the radial outside sealing geared system G1 of bent axle 40.In geared system
The inside of G1 is sealed with lubricant.
The wheel carrier 20 of this geared system G1 have discoid flange portion 20F, flange portion 20F peripheral part to axial direction
On 30 side of external gear is prominent and the annulus 20R, the axle center C20F in flange portion 20F that are formed as one with flange portion 20F
The axle center C50 of the axle center C40=internal gears 50 of the axle center C20R=bent axles 40 of (=annulus 20R) on external gear in axial direction
30 sides are prominent and with the flange portion 20F shaft member 20S being formed as one and from the position that the axle center C20F of flange portion 20F is deviated
Set 30 side of external gear in axial direction it is prominent and be formed as one with flange portion 20F the multiple domestic 62.
The peripheral surface 20R1 and the inner circumferential of the 2nd outer housing 12 of the annulus 20R of wheel carrier 20 is opposed radially.In annulus
The peripheral surface 20R1 of 20R is formed with the rolling surface 60A of 20 side of wheel carrier of the base bearing 60.
The shaft member 20S of wheel carrier 20 is inserted in the major diameter hollow portion 40P2 of bent axle 40.The periphery 20S1 of shaft member 20S with it is big
Diameter hollow portion 40P2 is opposed.In addition, symbol 20T indicates the screw hole for linking object Part (not shown) (driven member).
In the geared system G1 of bent axle 40, shell 10 and wheel carrier 20 with above structure, this geared system G1's is outer
The periphery 40A and wheel carrier 20 of the end of with power input side opposite side of the configuration of side bearing 72 in the axial direction of bent axle 40
Between the inner circumferential 20R2 of (annulus 20R).
Outboard bearing 72 is made of the ball bearing with inner ring 72A, outer ring 72B and rolling element 72C.Outside outboard bearing 72
Circle 72B is abutted with the flange portion 20F (aftermentioned) of wheel carrier 20, opposite with power input side in the axial direction of outboard bearing 72 as a result,
Side positioned.The positioning of power input side in the axial direction of outboard bearing 72 is then by a manner of adjacent with eccentric body 54
The shoulder 40W1 of formation is carried out via the pressing plate 57 of the retainer 56R of eccentric body bearing 56.
On the other hand, the inboard bearing 74 of this geared system G1 configures in the major diameter hollow portion 40P2 of bent axle 40, that is, matches
Set the inner circumferential of the end of the power input side in the axial direction of bent axle 40 with and 20 integrated shaft member 20S of wheel carrier periphery
Between 20S1.
Inboard bearing 74 is made of the self-aligning roller bearing with inner ring 74A, outer ring 74B and two groups of rows of rollers 74C.
Be formed with wall surface 40W2 in the intersection of the path hollow portion 40P1 and major diameter hollow portion 40P2 of bent axle 40, wall surface 40W2 by with
The vertical face of axis constitutes and is formed as cyclic annular.Wall surface 40W2 constitutes opposite with power input side in the axial direction of inboard bearing 74
The positioning surface of side.The positioning of power input side in the axial direction of inboard bearing 74 is then by being embedded in the baffle ring of shaft member 20S
75 carry out.
In addition, in this geared system G1, from when radial observe, be configured at external gear (wobble gear) 30 and bent axle 40 it
Between eccentric body bearing 56 it is not Chong Die with inboard bearing 74.Inboard bearing 74, which is located at, more leans on moving in axial direction than eccentric body bearing 56
The position of power input side (side opposite with wheel carrier).
Specifically, in this geared system G1, shaft member 20S is (defeated with power from the side in the axial direction of external gear 30
Enter the opposite side in side) extend to the other side (power input side).Inboard bearing 74 configures surpassing in an axial direction in shaft member 20S
More external gear 30 and continue extend part.
More specifically, shaft member 20S from the side in the axial direction of the shell 10 of geared system G1 (with power input side phase
Anti- side) extend to the other side (power input side).That is, shaft member 20S surmounts in the axial direction of shell 10 of geared system G1
End face 13E and continue to extend to the outside of geared system G1.The configuration of inboard bearing 74 extends to tooth in shaft member 20S
The part of the outside of wheel apparatus G1.
Also, it has been observed that in this geared system G1, is linked in the end 40E of the power input side of bent axle 40 described
Power input part 52 (component of power of the input from driving source).When from radial, inboard bearing 74 and the power are defeated
Enter the overlapping of component 52.In addition, in the present embodiment, entire inboard bearing 74 is configured in the inside of major diameter hollow portion 40P2.But
It is that the part configuration of inboard bearing 74 can also be made in the inner circumferential of power input part 52.That is, inboard bearing 74 can be simultaneously
Configure the inner circumferential in the inner circumferential and power input part 52 of major diameter hollow portion 40P2.
Also, in this geared system G1, shell 10 and the bearing of wheel carrier 20 are matched to be capable of the base bearing 60 of relative rotation
It sets between the shell 10 and wheel carrier 20.When from radial, base bearing 60 is Chong Die with outboard bearing 72.That is, being filled in the gear
It sets in G1, base bearing 60 is configured with outboard bearing 72 on same plane Pc.
As described above, in this geared system G1, shaft member 20S is formed as one with wheel carrier 20 (not being shell 10).And
And the configuration of outboard bearing 72 is between the periphery 40A of bent axle 40 and the inner circumferential 20R2 (not being the inner circumferential of shell 10) of wheel carrier 20.
Also, in this geared system G1, in axial direction and power is more being leaned in the configuration of outboard bearing 72 than inboard bearing 74
The opposite side of input side.
Then, illustrate the effect of the eccentric oscillation gear device G1 involved by present embodiment.
First, illustrate since the effect of the power-transmission system of eccentric oscillation gear device G1.It is (defeated in bent axle 40
Enter axis) axial direction on end 40E be linked with power input part 52 via screw hole 40T and bolt 53.Bent axle 40 is dynamic via this
Power input part 52 receives the power from driving source and is rotated.If bent axle 40 rotates, be formed as with the bent axle 40
The eccentric body 54 of one rotates.
If eccentric body 54 rotates, the axis of the external gear 30 of the periphery of the eccentric body 54 is assembled in via eccentric body bearing 56
Heart C30 is swung.External gear 30 and 50 internal messing of internal gear.
The number of teeth (radical of interior alligator 50C) of the internal tooth of the tooth ratio internal tooth wheel 50 of the external tooth of external gear 30 only lacks one.
Bent axle 40 often rotates a circle as a result, and the axle center C30 of external gear 30 swings primary, and the phase of external gear 30 is relative to being engaged
Internal gear 50 deviates the amount (1 tooth amount) for being equivalent to teeth number difference, to carry out rotation.The rotation ingredient is transferred to through external gear 30
Interior roller 64 and domestic 62, to make domestic 62 around internal gear 50 axle center C50 revolve round the sun.
By domestic 62 revolution, the wheel carrier 20 being formed as one with domestic 62 is rotated around the axle center C50 of internal gear 50
(rotation).By the rotation of wheel carrier 20, the object Part (driven member) to be linked together using screw hole 20T and the wheel carrier 20
It is driven.
Here, in geared system G1 involved by present embodiment, bent axle 40 has hollow portion (major diameter hollow portion
40P2), shell 10 or wheel carrier 20 (being in the present example wheel carrier 20) are provided integrally with the axis for being inserted in major diameter hollow portion 40P2
Component 20S.Moreover, outboard bearing 72 is configured between the periphery 40A of bent axle 40 and the inner circumferential 20R2 of wheel carrier 20, in bent axle 40
Inner circumferential (major diameter hollow portion 40P2) between the periphery 20S1 of shaft member 20S be configured with inboard bearing 74.
Due to can configure outboard bearing 72 in " periphery " of bent axle 40, the outer diameter of outboard bearing 72 can be set
It is larger.For example, in this geared system G1, the internal diameter D72A of the inner ring 72A of outboard bearing 72 is more than the outer of inboard bearing 74
Enclose the outside diameter d 74B of 74B.That is, the diameter of outboard bearing 72 is integrally located at greatly the journey for more leaning on radial outside than inboard bearing 74 to it
Degree.As a result, it is possible to ensure larger transfer capacity, the supporting rigidity of bent axle 40 can be maintained higher.
In addition, in the present embodiment, being based on the advantage, being made of ball bearing outboard bearing 72.As a result, (with as song
The bearing of axis 40 is compared using the case where bearing for example with roller class rolling element) it can constitute that cost is lower and power loss
Smaller geared system G1.For power loss, with the bigger tendency of the bigger loss of bearing diameter, therefore can be by
Ball bearing is very favorable come the bearing for constituting bent axle 40.
But in the present invention, the size of the outer diameter of outboard bearing 72 or internal diameter, the outer diameter of inboard bearing 74 or internal diameter is simultaneously
It is not particularly limited (diameter of outboard bearing 72 is without certain diameter for being more than inboard bearing 74).For example, forming song by expanding
The internal diameter of the hollow portion (being major diameter hollow portion 40P2 in above-mentioned example) of the configuration inboard bearing of axis is so that it is far longer than configuration
The outer diameter of the periphery (being the periphery 40A of the side opposite with power input side in above-mentioned example) of the side of outboard bearing, such as
The outer diameter of outboard bearing can be set smaller than to the outer diameter of inboard bearing.
Here, the inboard bearing 74 of present embodiment is configured at " inner circumferential " of bent axle 40, and song is supported from radially inner side
Axis 40.Therefore, in design, it will not depend upon the component (external gear 30 or power input part 52 etc.) for being assembled in bent axle 40
Allocation position and the bent axle 40 can be supported in any position in the axial direction of bent axle 40.Therefore, it is possible to realize densification (especially
It is the densification in axial direction), and can realize more flexible design.
Specifically, for example, in geared system G1, it is contemplated that the end 40E in the axial direction of bent axle 40 is linked with
The case where power input part 52, specially makes shaft member 20S (opposite with power input side from the side in the axial direction of external gear 30
Side) extend to the other side (power input side), and continuing the surmounting external gear 30 in an axial direction of shaft member 20S to extend
Part configuration inboard bearing 74.As a result, when from radial, inboard bearing 74 is Chong Die with power input part 52, therefore energy
Enough realize the densification of whole device in the axial direction.Further, it is possible to steadily support power input part 52.
On the other hand, in this geared system G1, when inboard bearing 74 is configured to from radial not with eccentric shaft
It is Chong Die to hold 56 (bearings of the configuration between wobble gear and bent axle).Inboard bearing 74 is being pressed into major diameter hollow portion as a result,
When 40P2, the deformation of bent axle 40 caused by preventing indentation brings harmful effect to eccentric body bearing 56.
In addition, the wall thickness that is axially disposed of outboard bearing 72 is originally just on thick wheel carrier 20, therefore, even if by outboard shafts
72 configurations are held in the outside of bent axle 40, the densification in axial direction, and the outboard shafts larger by configuring outer diameter will not be damaged
72 are held, transfer capacity can be increased.
Also, in this geared system G1, shell 10 and the bearing of wheel carrier 20 are matched to be capable of the base bearing 60 of relative rotation
It sets between the shell 10 and wheel carrier 20, and when from radial, base bearing 60 is Chong Die with outboard bearing 72.That is, base bearing
60 are located at outboard bearing 72 on same plane Pc.Thereby, it is possible to realize the densification in the axial direction of geared system G1,
And the supporting rigidity on the peripheries plane Pc can be maintained higher, the rotational stabilization of each component can be improved.
Also, in this geared system G1, bent axle 40 has：Path hollow portion 40P1 smaller hollow diameters D40P1；In
Major diameter hollow portion 40P2 bigger than the hollow diameters D40P1 of path hollow portion 40P1 empty diameter D40P2.Moreover, in the major diameter
Inboard bearing 74 is configured in hollow portion 40P2.
Thereby, it is possible to further increase the outside diameter d 74B of the outer ring 74B of inboard bearing 74, so as to ensure in bigger
The transfer capacity of side bearing 74.Further, it is possible to by the intersection for being formed in path hollow portion 40P1 and major diameter hollow portion 40P2
Wall surface 40W2 is used as the positioning surface of the side opposite with power input side of inboard bearing 74, so as to omit the positioning such as baffle ring
The configuration of component.
In addition, in the present embodiment, outboard bearing 72 is configured in the end of 20 side of wheel carrier of bent axle 40, inboard bearing 74
It configures in the end of the side opposite with wheel carrier 20 of bent axle 40.But in the present invention, for outboard bearing 72 and inner shafts
Which position of 74 configurations in the axial direction of bent axle 40 is held, and is not particularly limited.For example, outboard bearing 72 can be only fitted to bent axle
The end of 40 side opposite with wheel carrier 20, the embodiment that outboard bearing 72 can also be as be described hereinafter are configured like that in bent axle 40
Axial direction on center near.Inboard bearing 74 is also the same, and the allocation position in axial direction is simultaneously not particularly limited.In outer side bearing
At least one of 72 and inboard bearing 74 can be only with one by such as self-aligning roller bearing or crossed roller bearing etc.
It, can be by outboard bearing 72 and inside in the case that bearing can in the axial direction and radially support the bearing composition of bent axle 40
Bearing 74 overlaps each other when being configured to from radial.
The configuration example of eccentric oscillation gear device G101 involved by another embodiment of the present invention is shown in Fig. 2.
For technically position identical with the embodiment of Fig. 1 or corresponding position, two digits are identical after mark
Symbol, and suitably omit repeated explanation.
In eccentric oscillation gear device G101, bent axle 140 also has hollow portion (path hollow portion 140P1 and big
Diameter hollow portion 140P2).Shell 110 or wheel carrier 120 are provided integrally with the shaft member 110S for being inserted in major diameter hollow portion 140P2.
Different from previous example in this example, shell 110 (specifically aftermentioned 3rd outer housing 113) is provided integrally with axle portion
Part 110S.
In addition, such as Fig. 2 example and Fig. 3 described below the such shaft member of example not through path hollow portion
Structure in, the hollow diameters of path hollow portion can be 0.I.e., it is possible to be to not actually exist path hollow portion (to be equivalent to small
The part of diameter hollow portion is solid) only exist the structure of major diameter hollow portion with the end.
Geared system G101 has configuration
Wheel carrier 120) inner circumferential 120R2 between outboard bearing 172.Also, geared system G101 is also equipped with configuration in bent axle 140
The inboard bearing 174 of all (major diameter hollow portion 140P2) between the periphery 110S1 of shaft member 110S.
At the bent axle 140 of geared system G101, the end of (opposite with previous example) in the side configured with wheel carrier 120
Portion 140E has the screw hole 140T for linking power input part (illustration omitted).That is, the side configured with wheel carrier 120 is
Power input side.
In other words, with previous geared system G1 on the contrary, in geared system G101, the configuration of outboard bearing 172 than
Inboard bearing 174 more leans on the power input side in axial direction.
The shell 110 of geared system G101 by with integrated 1st outer housings 111 of internal tooth wheel body 150A, configuration at this
One opposite with wheel carrier 120 of 2nd outer housing 112 of 120 side of wheel carrier of the 1st outer housing 111 and configuration in the 1st outer housing 111
3rd outer housing 113 of side is constituted.
1st outer housing 111, the structure of the 2nd outer housing 112 are identical as the embodiment of Fig. 1.But the 3rd outer housing 113
It is made of the disc-shaped part of not opening portion.And 113 diametrical center of the 3rd outer housing is provided integrally with and is inserted in
The shaft member 110S of the major diameter hollow portion 140P2 of bent axle 140.Shaft member 110S from the 3rd outer housing 113 only it is prominent substantially with inside
The length in the comparable axial direction of width in the axial direction of bearing 174.
In this way, shaft member can be integrated with wheel carrier as previous embodiment, as present embodiment
Can with it is outer shell integrated.Also, can be formed as one with shell or wheel carrier at the very start as above-mentioned two embodiment
The structure of body can also be the structure that individual shaft member is linked to shell or wheel carrier by bolt or indentation etc..
In addition, the central portion radially of the 3rd outer housing 113 to the side opposite with wheel carrier 120 (with power input side phase
Anti- side) displacement δ 113.With this configuration, in the part of the radial outside of the 3rd outer housing 113, the 3rd outer housing 113 is made
Pressing plate for interior alligator 150C and interior roller 164 functions.Also, in the central portion radially of the 3rd outer housing 113, really
Possess the space that protrusion 140H is formed on bent axle 140.Protrusion 140H determines the retainer 156R of eccentric body bearing 156
Position.
The wheel carrier 120 of geared system G101 have the annulus 120R that is configured in a manner of opposed with the 2nd outer housing 112 and
Protruded from external gear 130 side of the position that the axle center C120R of annulus 120R is deviated in axial direction to be formed it is multiple domestic
162.That is, 120 need not have of wheel carrier of geared system G101 is used to make shaft member discoid flange portion outstanding, therefore do not have
There is the flange portion present in the geared system G1 of Fig. 1 originally.It replaces, is formed with out in the annulus 120R of wheel carrier 120
Mouth 120R5, and can input the power from driving source using opening 120R5.
Geared system G101 has the bent axle 140, shell 110 and wheel carrier 120 of above structure, and in the axis of bent axle 140
Outboard bearing 172 is configured between the periphery 140A and the inner circumferential of wheel carrier 120 (annulus 120R) of upward substantial middle.And
And the inner circumferential (major diameter hollow portion 140P2) of the end of the side opposite with power input side in the axial direction of bent axle 140 and
Inboard bearing 174 is configured between the periphery 110S1 of (integrated with shell 110) shaft member 110S.
In addition, in the geared system G101 of Fig. 2, since wheel carrier 120 does not have flange portion, thus make outboard bearing 172
Outer ring abutted in the shoulder 120R3 of the annulus 120R of wheel carrier 120 with being arranged, it is dynamic in the axial direction of outboard bearing 172 as a result,
Power input side is positioned.
When from radial, major diameter hollow portion 140P2 and the eccentric body bearing 156 of the bent axle 140 of this geared system G101
Overlapping.That is, in this geared system G101, when from radial, eccentric body bearing 156 is Chong Die with inboard bearing 174.As a result,
The overhang for inhibiting the side opposite with wheel carrier 120 to eccentric body 154 of bent axle 140, to realize geared system G101's
Densification in axial direction.
The configuration example of eccentric oscillation gear device G201 involved by another embodiment of the invention is shown in Fig. 3.
The structure of the geared system G201 of the Fig. 3 is substantially identical as the structure of geared system G101 of described Fig. 2.Cause
This, is for technically position identical with the embodiment of Fig. 2 or corresponding position, the identical symbol of two digits after mark.
The larger feature of geared system G201 is, is to be capable of relative rotation by shell 210 and the bearing of wheel carrier 220
Base bearing 260 is simultaneously not configured between the shell 210 and wheel carrier 220.That is, in geared system G201, with the geared system
G201 is assembled in the joint portion of industrial robot as precondition, and base bearing 260 is configured as industrial robot
Between 1st joint component 981 of the constitutive requirements of R901 and the 2nd joint component 982, without being disposed on geared system G201's
Between shell 210 and wheel carrier 220.
In the following, with reference to figure 4 and Fig. 5, the structure is described in detail.
Show the industrial robot R901's geared system G201 of Fig. 3 being assembled on the 5th grade of joint portion in Fig. 4
An example.For convenience, the geared system G201 of Fig. 3 is known as the 5th grade of geared system below.Industrial robot R901 is
Welding manipulator referred to as the spot-welding gun with 6 axis degree of freedom.
End 240E in the axial direction of the input shaft (i.e. bent axle 240) of the 5th grade of geared system G201, utilizes screw hole 240T
It is linked with bevel gear 952 and is used as power input part.Power from motor (not shown) is input to cone via bevel pinion 954
Gear 952.
The wheel carrier 220 of 5th grade of geared system G201 via bolt 984 and industrial robot R901 the 1st joint portion
Part 981 links together.In this example embodiment, the 1st joint component 981 is to be assembled in the gear dress of previous stage (the 4th grade) joint portion
Set the output block of (the 4th grade of geared system) G401.
Also, the shell 210 of the 5th grade of geared system G201 is via the 2nd joint of bolt 985 and industrial robot R901
Component 982 links together.In the present example, the 2nd joint component 982 be link the 5th grade of geared system G201 shell 210 with
It is assembled in the relaying shell of the shell 610 of geared system (the 6th grade of geared system) G601 of rear stage (the 6th grade) joint portion.
In other words, it will be appreciated that be attached in the 5th grade of geared system G201 of industrial robot shown in Fig. 3 with
The 1st joint component 981 (output block of prime) and closed with the shell 210 links together the 2nd that wheel carrier 220 links together
Save component 982.
It is to be capable of the base bearing 260 of relative rotation by shell 210 and the bearing of wheel carrier 220 in the 5th grade of geared system G201
Configuration is between the 1st joint component 981 and the 2nd joint component 982 (and being not configured between shell 210 and wheel carrier 220).
In the embodiment, base bearing 260 is made of crossed roller bearing.
More specifically, as shown in figure 4, the 1st joint component 981 (is assembled in previous stage joint to rotate center line
The rotation centerline of the output block of the 4th grade of geared system G401 in portion) mode substantially coaxial C981 extends and extends to
Near the bent axle 240 of 5th grade of geared system G201.
For the rotation centerline C981 of the 1st joint component 981, the 1st joint component 981 is in rotation centerline
The side of C981 links together via bolt 984 and the wheel carrier 220 of the 5th grade of geared system G201.1st joint component 981 exists
The other side of rotation centerline C981 has the pipe shaft portion coaxial with the axle center C240 of the bent axle 240 of the 5th grade of geared system G201
981S。
On the other hand, the 2nd joint component 982 is made of substantial cylindrical component.2nd joint component 982 is in the cylinder
The end 982E of shape has that surrounds the pipe shaft portion 981S from outside to be externally embedded to portion 982R.
The base bearing 260 of 5th grade of geared system G201 configures pipe shaft portion 981S and the 2nd joint in the 1st joint component 981
This of component 982 is externally embedded between portion 982R.
That is, for the rotation centerline C981 of the 1st joint component 981, in the side of rotation centerline C981
Configured with the 5th grade of geared system G201, and the base bearing 260 of the 5th grade of geared system G201 is configured in the other side.By this
Structure, the wheel carrier 220 of the 5th grade of geared system G201 and shell 210 by the base bearing 260 bearing for can relative rotation, as a result,
More particularly to make the gear mechanism side of the 5th grade of geared system G201 of rotation centerline C981 (have bent axle 240 and external gear 230
Side) axial direction on size LG201 densifications.
In addition, " being configured with the 5th grade of geared system G201 in the side of rotation centerline C981, and being configured in the other side
" rotation centerline " in the structure of the base bearing 260 " of 5th grade of geared system G201 is it is also understood that be assembled in the joint
" the rotation of the output block (aftermentioned 2nd wheel carrier 622) of the 6th grade of geared system G601 of " rear stage (the 6th grade) joint portion " in portion
Turn center line C622 ".That is, industrial robot R901 in the side of rotation centerline C622 it is also understood that " be configured with
5th grade of geared system G201, and it is configured with the base bearing 260 " of the 5th grade of geared system G201 in the other side.
Moreover, industrial robot R901 is also understood that and is, " relative to comprising in rotation centerline C981 and rotation
For the plane P901 of heart line C622, it is configured with the 5th grade of geared system G201 in the side of plane P901, and is matched in the other side
It is equipped with the base bearing 260 " of the 5th grade of geared system G201.
Finally, the structure of the rear stage of the 5th grade of geared system G201 of industrial robot R901 is briefly described.
The 6th grade of geared system G601 of Primary Reference Fig. 5, the rear stage of the 5th grade of geared system G201 have dedicated horse
Up to 605.The motor drive shaft 605A of motor 605 links via belt wheel 608,609 and bent axle 640.In bent axle 640, via eccentric body 654
And eccentric body bearing 656 in a manner of swing rotary can be assembled with external gear 630.It is nibbled in external gear 630 and internal gear 650
It closes.The number of teeth of the external tooth of the gear ratio external gear 630 of the internal tooth of internal gear 650 is slightly more (such as only having more one).In external gear
Both sides in 630 axial direction are configured with the 1st wheel carrier 621 and the 2nd wheel carrier 622.1st wheel carrier 621 and the 2nd wheel carrier 622 are via main shaft
It holds 660A and base bearing 660B is rotatably freely supported on shell 610.
It has been observed that the shell 610 of the 6th grade of geared system G601 is via the 2nd joint component 982 and the 5th grade of geared system
The shell 210 of G201 links together.External gear 630 runs through in the position deviated from its axle center multiple domestic 662.Due to interior
Pin 662 runs through external gear 630, therefore domestic 662 action is synchronous with the rotation of the external gear 630.Domestic 662 are supported on the 1st
Wheel carrier 621 and the 2nd wheel carrier 622.
In addition, domestic 662 are embedded in the 1st wheel carrier 621 with gap fiting mode.Also, domestic 662 with interference fit type
Embedded (indentation) is in the 2nd wheel carrier 622.Embedded with interior roller 664 as sliding promoting member outside domestic 662.
It is axially aligned to be configured with the 1st needle bearing 691 and the 2nd needle bearing between domestic 662 and interior roller 664
692.1st needle bearing 691 and the 2nd needle bearing 692 are protected via the 1st retainer 691R and the 2nd retainer 692R respectively
It holds.1st needle bearing 691 and the 2nd needle bearing 692 abut simultaneously in the axial direction with the 1st retainer 691R and the 2nd retainer 692R
It is clamped by the 1st wheel carrier 621 and the 2nd wheel carrier 622 with the state, the 1st needle bearing 691 and the 2nd needle bearing 692 are in axis as a result,
It is positioned upwards.
According to configured in this way 1st needle bearing 691 between domestic 662 and interior roller 664 and the 2nd needle bearing 692
Structure, then extremely can swimmingly carry out the relative rotation of domestic 662 and interior roller 664, even if being transmitted from 988 side of spot welding gun apparatus
Unforeseen load can also be influenced to inhibit in minimum, and result can make the swimmingly swing rotary of external gear 630.
Also, since arrangement is assembled with the 1st needle bearing 691 and the 2nd needle bearing 692, there are one long with assembling
The structure of needle bearing compare, subtle difference may be present in the rotation mode of the 1st needle bearing 691 and the 2nd needle bearing 692
It is different.Thereby, it is possible to preferably absorb the load from 988 side of spot welding gun apparatus.
By domestic 662 and the revolution of interior roller 664, the 1st wheel carrier 621 and the rotation of the 2nd wheel carrier 622.On the 2nd wheel carrier 622
It is linked with the auxiliary equipment 989 for having spot welding gun apparatus 988 via connector 983 linked by bolt 986.At the 6th grade
In geared system G601, by the motor drive shaft 605A rotation of motor 605, the 1st wheel carrier 621 and the 2nd wheel carrier 622 are relative to the 2nd
The shell 610 that joint component 982 links together is rotated, to make to be linked to the entire auxiliary equipment of 622 side of the 2nd wheel carrier
989 are rotated around the rotation centerline C622 of the output block (i.e. the 2nd wheel carrier 622) of the 6th grade of geared system G601.
In addition, in the above-described embodiment, using such as lower structure, that is, a) outboard bearing configuration the periphery of bent axle with
Between the inner circumferential of wheel carrier, and inboard bearing configuration is in the inner circumferential of bent axle and between the periphery of the integrated shaft member of wheel carrier
(structure of Fig. 1)；B) outboard bearing configuration is between the periphery of bent axle and the inner circumferential of wheel carrier, and inboard bearing configuration is in bent axle
Inner circumferential and between the periphery of the integrated shaft member of shell (structure of Fig. 2 and Fig. 3).
But the present invention is not limited to the configuration examples, for example, can also be used such as lower structure, that is, c) outboard bearing configures
Between the periphery of bent axle and the inner circumferential of shell, and inboard bearing configuration bent axle inner circumferential and with the integrated axle portion of wheel carrier
Between the periphery of part or d) outboard bearing configuration is between the periphery of bent axle and the inner circumferential of shell, and inboard bearing configuration exists
The inner circumferential of bent axle and between the periphery of the integrated shaft member of shell.
Also, previous, as this eccentric oscillation gear device, it has been known that there is with various shell mechanisms and wheel carrier structure
Device.That is, in the above-described embodiment, all illustrating wheel carrier and only configuring the unilateral structure in the axial direction of wobble gear
Example, still, as eccentric oscillation gear device, it is also known that have employed in the 6th grade of geared system in wobble gear
Axial direction on both sides have wheel carrier structure.Also, it in the above-described embodiment, shows in non-wobble gear (above-mentioned example
Be internal gear in son) axle center on be provided only with bent axle, the eccentric oscillation gear device of so-called centre-crank formula.But
It is, as eccentric oscillation gear device, such as, it is also known that have and the position deviated from the axle center of non-wobble gear is provided with tool
There is the multiple bent axles for the eccentric body for making wobble gear swing, so-called distribution formula eccentric oscillation gear device.Moreover, upper
It states in embodiment, shows that wobble gear is made of external gear, and the configuration example that non-wobble gear is made of internal gear.But
It is that as eccentric oscillation gear device, such as it is known that the relationship of the external gear and internal gear is opposite each other, i.e., by external tooth
Wheel constitutes non-wobble gear, and the geared system of the structure of wobble gear is made of internal gear.The present invention can be suitable for any knot
In the eccentric oscillation gear device of structure.
When this eccentric oscillation gear device to be assembled in the joint portion of such as industrial robot, such as above-mentioned implementation
It illustrated in mode, is influenced by front and back joint component or configured with motor etc., needs to input geared system from all directions
Or output power.It is therefore desirable to maintain larger transfer capacity or higher supporting rigidity and realize high intense.
Therefore, it is necessary to the geared system with various shell mechanisms and wheel carrier structure is designed in response to these requirements.Separately
On the one hand, for this eccentric oscillation gear device, as illustrated in the above embodiment, such as only in the axial direction of bent axle
On side be provided with wheel carrier or only more the case where side is provided with power input part, therefore surplus radially is in song
The case where power input side and the side opposite with power input side in the axial direction of axis have " difference " is more.In the present invention
In, outboard bearing is arranged in the periphery of bent axle, and the inner circumferential in bent axle is arranged in inboard bearing, therefore to the surplus radially
" difference " have high flexibility, various forms of eccentric oscillation gear devices can be designed, and can fit extensively
For various industrial robots.
Claims (10)
1. a kind of eccentric oscillation gear device, have shell, the wheel carrier rotated relative to the shell, wobble gear and
The bent axle of the wobble gear swing rotary, the eccentric oscillation gear device is set to be characterized in that,
The bent axle has hollow portion,
The shell or the wheel carrier have the shaft member for being inserted in the hollow portion,
The eccentric oscillation gear device is also equipped with：
Outboard bearing configures between the periphery of the bent axle and the inner circumferential of the shell or the wheel carrier；And
Inboard bearing configures between the inner circumferential and the periphery of the shaft member of the bent axle.
2. eccentric oscillation gear device according to claim 1, which is characterized in that
The eccentric oscillation gear device is also equipped with eccentric body bearing, the eccentric body Bearing configuration the wobble gear with
Between the bent axle,
When from radial, the eccentric body bearing is Chong Die with the inboard bearing.
3. eccentric oscillation gear device according to claim 1, which is characterized in that
The eccentric oscillation gear device is also equipped with eccentric body bearing, the eccentric body Bearing configuration the wobble gear with
Between the bent axle,
When from radial, the eccentric body bearing is not Chong Die with the inboard bearing.
4. eccentric oscillation gear device according to claim 3, which is characterized in that
The shaft member extends to the other side from the side in the axial direction of the wobble gear,
It is configured with the inboard bearing in the part for continuing the surmounting the wobble gear in an axial direction of the shaft member to extend.
5. eccentric oscillation gear device according to claim 3 or 4, which is characterized in that
The eccentric oscillation gear device is also equipped with power input part, and the power input part is attached at the bent axle
The power of end and input from power source,
When from radial, the power input part is Chong Die with the inboard bearing.
6. eccentric oscillation gear device according to any one of claim 1 to 4, which is characterized in that
It is to be capable of the base bearing configuration of relative rotation between the shell and the wheel carrier by the shell and wheel carrier bearing,
When from radial, the base bearing is Chong Die with the outboard bearing.
7. eccentric oscillation gear device according to any one of claim 1 to 4, which is characterized in that
The shaft member is integrated with the wheel carrier,
The outboard bearing configuration is between the periphery of the bent axle and the inner circumferential of the wheel carrier.
8. eccentric oscillation gear device according to any one of claim 1 to 4, which is characterized in that
The power input side in axial direction is more being leaned in the outboard bearing configuration than the inboard bearing.
9. eccentric oscillation gear device according to any one of claim 1 to 4, which is characterized in that
The bent axle has：Path hollow portion has and includes 0 small hollow diameters；Major diameter hollow portion has smaller than this
The big hollow diameters of the hollow diameters of diameter hollow portion,
It is configured with the inboard bearing in the major diameter hollow portion.
10. a kind of industrial robot, for the eccentric oscillation gear device described in claim 1 to 5, any one of 7 to 9
It is assembled in the industrial robot of joint portion, which is characterized in that have：
1st joint component links together with the wheel carrier；And
2nd joint component links together with the shell,
It is to be capable of the base bearing of relative rotation and be not configured in the shell and the wheel carrier by the shell and wheel carrier bearing
Between, and be disposed between the 1st joint component and the 2nd joint component, and
The rotation of the output block of geared system relative to the previous stage joint portion or rear stage joint portion for being assembled in the joint portion
For turning center line, it is configured with the deceleration mechanism of the geared system in the side of the rotation centerline, and is configured in the other side
There is the base bearing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015169717A JP6529863B2 (en) | 2015-08-28 | 2015-08-28 | Eccentric oscillating gear device and industrial robot |
| JP2015-169717 | 2015-08-28 |
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| Publication Number | Publication Date |
|---|---|
| CN106481741A CN106481741A (en) | 2017-03-08 |
| CN106481741B true CN106481741B (en) | 2018-09-25 |
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| CN201610481122.6A Active CN106481741B (en) | 2015-08-28 | 2016-06-24 | Eccentric oscillation gear device and industrial robot |
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| JP (1) | JP6529863B2 (en) |
| CN (1) | CN106481741B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10619706B2 (en) | 2017-08-21 | 2020-04-14 | Shinano Kenshi Kabushiki Kaisha | Speed reducer and motor with speed reducer |
| JP6976787B2 (en) * | 2017-09-22 | 2021-12-08 | 株式会社ニッセイ | Differential reducer |
| JP6959825B2 (en) * | 2017-10-25 | 2021-11-05 | 住友重機械工業株式会社 | Decelerator |
| JP6932068B2 (en) * | 2017-11-15 | 2021-09-08 | 住友重機械工業株式会社 | Eccentric swing type gear device |
| JP7022014B2 (en) * | 2018-06-22 | 2022-02-17 | 住友重機械工業株式会社 | Decelerator |
| JP7202821B2 (en) * | 2018-09-13 | 2023-01-12 | 株式会社ニッセイ | Decelerator |
| JP7463265B2 (en) * | 2020-07-29 | 2024-04-08 | 美的集団股▲フン▼有限公司 | Internally meshing planetary gear device and actuator |
| JP2022079015A (en) * | 2020-11-16 | 2022-05-26 | 住友重機械工業株式会社 | Gear motor |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4818535B2 (en) * | 2001-06-21 | 2011-11-16 | 住友重機械工業株式会社 | A transmission employing an eccentric oscillating internal meshing planetary gear structure |
| JP2004301136A (en) * | 2003-03-28 | 2004-10-28 | Sumitomo Heavy Ind Ltd | Geared motor and reduction gear having swing speed reduction part of inscribed meshing planetary gear structure |
| JP4726185B2 (en) * | 2004-01-13 | 2011-07-20 | ナブテスコ株式会社 | Eccentric oscillating gear unit |
| JP2010249262A (en) * | 2009-04-17 | 2010-11-04 | Nabtesco Corp | Eccentric oscillating gear assembly |
| JP5466078B2 (en) * | 2010-04-28 | 2014-04-09 | 住友重機械工業株式会社 | Work rotation device |
| JP5743770B2 (en) * | 2011-07-20 | 2015-07-01 | 住友重機械工業株式会社 | Speed reducer incorporation method and eccentric oscillation type speed reducer |
| JP2014122668A (en) * | 2012-12-21 | 2014-07-03 | Hitachi Automotive Systems Ltd | Planetary gear mechanism |
| JP6181961B2 (en) * | 2013-04-15 | 2017-08-16 | ナブテスコ株式会社 | Eccentric oscillating gear unit |
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| JP6529863B2 (en) | 2019-06-12 |
| CN106481741A (en) | 2017-03-08 |
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