CN109538702A - Speed changer - Google Patents
Speed changer Download PDFInfo
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- CN109538702A CN109538702A CN201810906737.8A CN201810906737A CN109538702A CN 109538702 A CN109538702 A CN 109538702A CN 201810906737 A CN201810906737 A CN 201810906737A CN 109538702 A CN109538702 A CN 109538702A
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- China
- Prior art keywords
- central axis
- external gear
- speed changer
- gear
- rotating part
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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
Abstract
The present invention provides speed changer.First rotating part of eccentric oscillating-type speed changer is rotated centered on central axis.Eccentric body is rotated together with the first rotating part, and the distance of the outer peripheral surface from central axis to eccentric body is different according to circumferential position, and is respectively arranged at different positions in the axial direction.Bearing is set to the respective outer peripheral surface of multiple eccentric bodies.External gear is set to the respective outer peripheral surface of multiple bearings.Internal gear is in the cylindrical shape for circumferentially surrounding central axis, and is configured at the radial outside of multiple external gears.Wheel carrier pin is inserted into the through hole of each external gear in multiple external gears being set at the position being overlapped in the axial direction.Second rotating part is fixed with wheel carrier pin, and is rotated centered on central axis.The number of teeth of multiple external gears and the number of teeth of internal gear are different.The respective external tooth farthest with the distance between central axis of multiple external gears is engaged with internal gear.The position of engagement of internal gear and each external gear in multiple external gears is unequal in the circumferential.
Description
Technical field
The present invention relates to speed changers.
Background technique
Eccentric swing deceleration mechanism is recorded in Japanese Kokai 2014-16019 bulletin.The speed reducer of the bulletin
Structure, which is contained in, transmits the motor torque that the motor torque of electric motor passes to a pair of rear wheels in four-wheel drive vehicle
Device.Deceleration mechanism has internal gear and is configured at the external gear of the inside of internal gear.While external gear is engaged with internal gear
It is swung along the inner surface of internal gear.Such Eccentrically rocking type reduction gear structure is small-sized and can obtain higher reduction ratio.
In recent years, with the upswing in demand of the small scale robot of people's cooperative work.Further it is proposed to which above-mentioned bias will combine
The actuator of rocking type reduction gear and motor is used for the joint of small scale robot.But this small scale robot is required steady
Movement.Also, this small scale robot has the property for being easy to be transferred to input side in the case where external force is applied to outlet side
Energy (being driven in the reverse direction property).By improve being driven in the reverse direction property, to outlet side apply impact in the case where, be easy inhibit actuator or
The application for being installed with the actuator is damaged.Performance is driven in the reverse direction it is therefore desirable to improve.
Summary of the invention
The purpose of the present invention is to provide a kind of being driven in the reverse direction property can be improved using multiple external gears in the transmission
Structure.
Illustrative embodiment of the invention is eccentric oscillating-type speed changer.The speed changer include the first rotating part,
Multiple eccentric bodies, multiple bearings, multiple external gears, internal gear, wheel carrier pin and the second rotating part.First rotating part is in
It is rotated centered on mandrel line.The eccentric body is rotated together with first rotating part, from the central axis to it is described partially
The distance of the outer peripheral surface of heart body is different according to circumferential position, and is respectively arranged at different positions in the axial direction.It is described
Bearing is set to the respective outer peripheral surface of the multiple eccentric body.The external gear is set to the respective periphery of the multiple bearing
Face.The internal gear is in the cylindrical shape for circumferentially surrounding the central axis, and the diameter for being configured at the multiple external gear is outside
Side.The wheel carrier pin is inserted into the respective through hole being set at the position being overlapped in the axial direction of the multiple external gear.
Second rotating part is fixed with the wheel carrier pin, and is rotated centered on the central axis.The multiple external gear
The number of teeth is different from the number of teeth of the internal gear.The multiple external gear is respective farthest the distance between with the central axis
External tooth is engaged with the internal gear.The internal gear and the respective position of engagement of the multiple external gear are unequal in the circumferential.
Illustrative embodiment according to the present invention can reduce the peak for being driven in the reverse direction torque of speed changer.
The present invention can be more clearly understood that referring to attached drawing by the detailed description of the preferred embodiment for the present invention below
Above-mentioned and other feature, element, step, features and advantages.
Detailed description of the invention
Fig. 1 is the longitudinal section view of the speed changer of embodiment.
Fig. 2 is the exploded perspective view of speed changer.
Fig. 3 is the sectional elevation of the III-III line in Fig. 1.
Fig. 4 be positional relationship between the central axis for central axis and the second eccentric body to the first eccentric body into
The figure of row explanation.
Fig. 5 is the figure for showing the analog result that measurement is driven in the reverse direction torque.
Specific embodiment
Hereinafter, being illustrated referring to attached drawing to illustrative embodiment of the invention.It, will be in addition, in this application
The direction of the centerline axis parallel of speed changer be referred to as " axial direction ", will with the direction of central axis upright referred to as " radial direction ", will along with
The direction of circular arc centered on central axis is referred to as " circumferential direction ".Also, in this application, using axial direction as up and down direction, relative to
First rotating part with the first wheel carrier component side of the second rotating part be on come to each section shape and positional relationship say
It is bright.But the definition of the up and down direction does not limit the direction of speed changer involved in the application when in use.Also, it is above-mentioned
" parallel direction " also include substantially parallel direction.Also, above-mentioned " vertical direction " also includes substantially vertical side
To.
The overall structure > of 1. speed changer of <
Fig. 1 is the longitudinal section view of the speed changer 1 of present embodiment.Fig. 2 is the exploded perspective view of speed changer 1.Fig. 3 is Fig. 1
In III-III line sectional elevation.In addition, omitting hacures in Fig. 3 in order to avoid the multifarious of attached drawing.
Speed changer 1 is that the rotary motion of the first revolving speed (input speed) is converted to second revolving speed lower than the first revolving speed
The gear reduction unit of the rotary motion of (output revolving speed).Speed changer 1 such as be used in the service robot of people's cooperative work
The joint of small scale robot.But it is also possible to which the speed changer with same structure is used for large scale industry robot, machine
Other purposes such as bed, X-Y table, the cutter device of material, pipeline, turntable, roll.Speed changer 1 is eccentric oscillating-type
Speed changer.
Speed changer 1 include the first rotating part 10, the first eccentric body 21 and the second eccentric body 22, the first external gear 31 and
Second external gear 32, frame 40, multiple wheel carrier pins 50 and the second rotating part 60.That is, speed changer 1 includes multiple eccentric bodies and more
A external gear.Multiple external gears include the first external gear 31 and the second external gear 32.
First rotating part 10 is the columned component extended along about 9 central axis.It is roughly shown as shown in figure 1, the
One rotating part 10 is direct or connect by other power transfer mechanisms with the motor as driving source.When drive motor, the
One rotating part 10 is rotated centered on central axis 9 using the power obtained from motor by the first revolving speed.That is, in present embodiment
In, the first rotating part 10 is input unit.
First eccentric body 21 is fixed on the outer peripheral surface of the first rotating part 10.First eccentric body 21 and the first rotating part 10 are together
Rotation.First rotating part 10 and the first eccentric body 21 can be single component, be also possible to different seperated components.Such as Fig. 3
It is shown, it is round outer peripheral surface when the first eccentric body 21 has from end on observation.The central axis of first eccentric body 21 91
At the position for deviateing central axis 9.Thus, from the distance of the outer peripheral surface of the 9 to the first eccentric body of central axis 21 according to circumferential direction
Position and it is different.
Second eccentric body 22 is fixed on the outer peripheral surface of the first rotating part 10.Second eccentric body 22 is presented axially in and first
At the different position of eccentric body 21.Second eccentric body 22 is rotated together with the first rotating part 10.First rotating part 10 and second is inclined
Heart body 22 can be single component, be also possible to different seperated components.In the same manner as the first eccentric body 21, the second eccentric body
22 be round outer peripheral surface when having from end on observation.The central axis 92 of second eccentric body 22 is located off central axis 9
Position at.That is, multiple eccentric bodies are in circular respectively, and the center of positive round is located off central axis 9 when from end on observation
At position.Thus, it is different according to circumferential position from the distance of the outer peripheral surface of the 9 to the second eccentric body of central axis 22.I.e., more
A eccentric body is rotated together with the first rotating part 10, and the distance from central axis 9 to outer peripheral surface according to circumferential position without
Together.
Fig. 4 is the position between the central axis 92 for central axis 91 and the second eccentric body 22 to the first eccentric body 21
The figure that the relationship of setting is illustrated.Central axis 91 and central axis 92 be located on the same circle centered on central axis 9 and
From different positions when from end on observation.Multiple eccentric bodies are respectively arranged in the axial direction at different positions.That is, central axis
Line 9 and the distance between central axis 91 are identical as the distance between central axis 92 with central axis 9.Also, central axis
91 unequally exist in the circumferential with central axis 92.Here, " unequal " refers between the angle centered on central axis 9
Every being not fixed.As present embodiment is indicated in the case where the quantity of eccentric body is two in the clockwise direction with central axis
The angle R1 slave central axis 91 to central axis 92 centered on line 9 is the same as the slave central axis 92 centered on central axis 9
Angle R2 to central axis 91 is different.In the present embodiment, central axis 92 is centered on central axis 9 and from central axis
Line 91 deviates 144 ° clockwise.That is, the angle R1 of Fig. 4 is 144 °.
When the first rotating part 10 is rotated centered on central axis 9, the first eccentric body 21 and the second eccentric body 22
It is rotated centered on central axis 9.At this point, the central axis of the central axis 91 of the first eccentric body 21 and the second eccentric body 22
Line 92 is also rotated centered on central axis 9.
First external gear 31 is configured at the radial outside of the first eccentric body 21.In the first eccentric body 21 and the first external gear 31
Between there are first bearings 71.First bearing 71 is for example using ball bearing.First external gear 31 is energy by the bearing of first bearing 71
It is enough to be rotated centered on central axis 91.As shown in figure 3, the peripheral part in the first external gear 31 is provided with multiple external tooths 311.Respectively
External tooth 311 is prominent to radial outside.First external gear 31 has multiple (being in the example in fig. 3 10) through holes 312.Each perforation
Hole 312 is along axially through the first external gear 31.Multiple through holes 312 centered on central axis 91 and circumferentially equiangularly between
Every configuration.
Second external gear 32 is configured at the radial outside of the second eccentric body 22.In the second eccentric body 22 and the second external gear 32
Between there are second bearings 72.That is, speed changer 1 includes multiple bearings.Multiple bearings are set to the respective periphery of multiple eccentric bodies
Face.Multiple external gears are set to the respective outer peripheral surface of multiple bearings.Second bearing 72 is for example using ball bearing.Second external gear 32
It is that can be rotated centered on central axis 92 by the bearing of second bearing 72.In the same manner as the first external gear 31, the second external tooth
Wheel 32 is provided with multiple external tooths 321 in peripheral part.Also, the second external gear 32 be provided with along axially through multiple through holes
322.The circumferentially equiangularly interval configuration centered on central axis 92 of multiple through holes 322.The diameter of through hole 312 with
The diameter of through hole 322 is identical.Also, a part of each through hole 322 each through hole with the first external gear 31 in the axial direction
312 are overlapped.It is circumferentially arranged in each external gear in multiple external gears to have multiple through holes.
Frame 40 is the cylindric component for circumferentially surrounding central axis 9 and axially extending.Frame 40 is around first
The radial outside of external gear 31 and the second external gear 32 and configure.As shown in figure 3, frame 40 inner peripheral surface be provided with it is multiple
Internal tooth 41.Multiple internal tooths 41 are prominent from the inner peripheral surface of frame 40 towards radially inner side respectively.It in the present embodiment, include internal tooth
41 internal gear becomes a part of frame 40.That is, speed changer 1 includes internal gear.Internal gear is in circumferentially surround central axis 9
Cylindrical shape.Internal gear is configured at the radial outside of multiple external gears.But internal gear is also possible to the portion seperated with frame 40
Part.Such as present embodiment, in the case where internal tooth 41 and frame 40 are set as the same part, without being arranged seperatedly with frame 40
Internal gear with internal tooth 41, therefore be easy to minimize speed changer 1.
Respective a part of multiple external tooths 321 of multiple external tooths 311 of first external gear 31 and the second external gear 32 with
A part engagement of multiple internal tooths 41 of frame 40.Specifically, the first external gear 31 be located between central axis 9 away from
External tooth 311 from farthest position is engaged with internal tooth 41.Also, the second external gear 32 be located between central axis 9 away from
From most far from external tooth 321 engaged with internal tooth 41.That is, multiple external gears are respective the distance between with central axis 9
Farthest external tooth is engaged with internal gear.It is engaged hereinafter, the external tooth 311 of the first external gear 31 is referred to as with the position of engagement of internal tooth 41
Position A1 (referring to Fig. 3).Also, the position of engagement of the external tooth 321 of the second external gear 32 and internal tooth 41 is referred to as position of engagement A2
(referring to Fig. 3).
In the same manner as positional relationship between central axis 91 and central axis 92, position of engagement A1 and position of engagement A2 it
Between positional relationship it is unequal in the circumferential.That is, internal gear and the respective position of engagement of multiple external gears are unequal in the circumferential.
It has been observed that the central axis 92 of the second eccentric body 22 is centered on central axis 9 and from the central axis 91 of the first eccentric body 21
Deviate 144 ° clockwise.Thus, position of engagement A1 and position of engagement A2 are inclined in the circumferential centered on central axis 9
From 144 °.That is, position of engagement A2 of the position of engagement A1 of internal gear and the first external gear 31 with internal gear and the second external gear 32
Deviate 144 ° in the circumferential centered on central axis 9.
In addition, it has been observed that the first external gear 31 and the second external gear 32 are only different with the position of engagement of internal tooth 41, knot
Structure is identical.Thus, in the following description, only the first external gear 31 is illustrated.
When the first rotating part 10 is rotated centered on central axis 9, the first external gear 31 and central axis 91 are together
It revolves around central axis 9.Also, pass through the interior of a part of multiple external tooths 311 possessed by the first external gear 31 and frame 40
Tooth 41 engages, 31 rotation of the first external gear.Here, the quantity of internal tooth 41 possessed by frame 40 is had than the first external gear 31
External tooth 311 quantity it is more.Therefore, the internal tooth 41 when the every public affairs of the first external gear 31 turn around, with the same position of frame 40
The position of the external tooth 311 of engagement shifts.The first external gear 31 is to opposite with the direction of rotation of the first rotating part 10 as a result,
Direction is with the second revolving speed rotation lower than the first revolving speed.Thus, the position of the through hole 312 of the first external gear 31 is also with second turn
Speed rotation.When speed changer 1 works, the first external gear 31 is combined the rotary motion of such revolution and rotation.It is multiple outer
The number of teeth of gear and the number of teeth of internal gear are different.
In the quantity for setting external tooth 311 possessed by the first external gear 31 as N, if the quantity of internal tooth 41 possessed by frame 40
When for M, the reduction ratio P of speed changer 1 becomes P=(the first revolving speed)/(the second revolving speed)=N/ (M-N).In the example in fig. 3, due to N
=29, M=30, therefore the reduction ratio in this is P=29.That is, the second revolving speed becomes 1/29 revolving speed of the first revolving speed.But
It is that the quantity N of external tooth 311 and the quantity M of internal tooth 41 are also possible to other values.
In the present embodiment, multiple internal tooths 41 are set as a part of the frame 40 as single component.Therefore, nothing
Internal gear with internal tooth 41 need to be set seperatedly with frame 40, therefore be easy to minimize speed changer 1.
Wheel carrier pin 50 is the columned component axially extended.Multiple wheel carrier pins 50 edge centered on central axis 9
It is circumferential to be equiangularly spaced configuration annular in shape.In this embodiment, as shown in figure 3, speed changer 1 has 10 wheel carrier pins 50.Thus,
Multiple wheel carrier pins 50 are respectively centered on central axis 9 and circumferentially with the equiangularly spaced configuration of 36 ° (360 °/10).It is aforementioned
Position of engagement A1 and position of engagement A2 between 144 ° of differential seat angle be the multiple wheel carrier pins 50 of configuration angularly 36 ° of multiple.
That is, internal gear and the differential seat angle centered on central axis 9 of the respective position of engagement of multiple external gears are the multiple wheel carriers of configuration
The equal angular multiple of pin 50.Also, the position of engagement A1, A2 are located at from making the position of engagement A1, A2 impartial state in the circumferential
Deviate at angularly 36 ° of position.That is, internal gear and the respective position of engagement of multiple external gears be located at from make internal gear with it is multiple
The respective position of engagement of external gear is in the circumferential at the equal angular position of state deviation of equalization.
Multiple wheel carrier pins 50 are inserted respectively into outside the through hole 312 and second for the first external gear 31 being overlapped in the axial direction
In the through hole 322 of gear 32.That is, wheel carrier pin 50 is inserted into, multiple external gears are respective to be set to the position being overlapped in the axial direction
In each through hole at place.Multiple wheel carrier pins 50 are pushed by the first external gear 31 and the second external gear 32 as a result, with first
External gear 31 and identical second revolving speed of the second external gear 32 are rotated centered on central axis 9.
Second rotating part 60 has circular the first wheel carrier component 61 and the second circular wheel carrier component 62.The first round
Frame component 61 is configured at the position for leaning on axial upper side than the first external gear 31.In the first rotating part 10 and the first wheel carrier component
There are bearings 73 between 61.Also, there are bearings 74 between the first wheel carrier component 61 and frame 40.
Second wheel carrier component 62 is configured at the position for leaning on axial lower side than the second external gear 32.In the first rotating part 10
There are bearings 75 between the second wheel carrier component 62.Also, there are bearings 76 between the second wheel carrier component 62 and frame 40.Axis
Hold 73 and bearing 75 for example using ball bearing.Bearing 74 and bearing 76 are such as the sliding constituted using the resin by polyformaldehyde
Bearing.
The axial upper side end of each wheel carrier pin 50 is fixed on the first wheel carrier component 61.The axial downside of each wheel carrier pin 50
The second wheel carrier component 62 is fixed in end.That is, wheel carrier pin 50 is fixed on the second rotating part 60.In addition, wheel carrier pin 50 is fixed on
The fixing means of first wheel carrier component 61 and the second wheel carrier component 62 is for example using method of press-fitting.Therefore, when multiple wheel carrier pins
50 centered on central axis 9 and with the rotation of the second revolving speed when, the first wheel carrier component 61 and the second wheel carrier component 62 are also in
Centered on mandrel line 9 and with the rotation of the second revolving speed.That is, the second rotating part 60 is centered on central axis 9 and with the rotation of the second revolving speed
Turn.
Second rotating part 60 is direct or connect by other power transfer mechanisms with the component as driven object.That is,
In the present embodiment, the second rotating part 60 is output section.
< 2. simulates example >
In the speed changer 1 constituted as described above, position of engagement A1 and position of engagement A2 centered on central axis 9
Unequally exist in circumferential direction.By being set as the structure, the being driven in the reverse direction property (Backdrivability) of speed changer 1 is improved.
Hereinafter, the measurement for showing the model that production is same with above-mentioned speed changer 1 in simulation softward and carrying out is reversed
The analog result of driving torque.Fig. 5 is the figure for showing the analog result that measurement is driven in the reverse direction torque.
It is driven in the reverse direction the size that torque is resistance when rotating the second rotating part 60 as output section using external force.If
It is driven in the reverse direction that torque is small, then the rotational resistance of the second rotating part 60 is small, and rotational loss is few.That is, improving being driven in the reverse direction property.
The waveform (A) of Fig. 5 is by position of engagement A1 and position of engagement A2 centered on central axis 9 and circumferentially with 180 °
Analog result of angle when configuring at equal intervals.The waveform (B) of Fig. 5 is not make position of engagement A1 and position of engagement A2 in the circumferential not
The analog result of the speed changer 1 of impartial above structure.In waveform (A) and waveform (B), in addition to position of engagement A1 with engage position
The condition set other than the positional relationship between A2 is identical.
By the comparison of waveform (A) and waveform (B) it is found that make position of engagement A1 and position of engagement A2 with central axis 9
When center is unequal, the peak for being driven in the reverse direction torque of speed changer 1 is small.
The waveform (C) of Fig. 5 is three external gears of setting and makes the position of engagement of three external gears and internal tooth respectively with center
Become the analog result of the speed changer 1 of unequal interval distribution centered on axis 9 in the circumferential.By waveform (B) and waveform (C)
Comparison is it is found that compared with the quantity of external gear is two situations, when the quantity of external gear is three, speed changer 1 it is reversed
The peak of driving torque is smaller.
As more than, by make multiple external gears external tooth and internal tooth the position of engagement centered on central axis 9 and in week
Unequally exist upwards, can be improved the being driven in the reverse direction property of speed changer 1.
In addition, speed changer 1 is not limited to above-mentioned structure.For example, position of engagement A1 and position of engagement A2 are with central axis
Deviate 144 ° centered on line 9, but is not limited to the angle.Also, the quantity of the external tooth of external gear and internal gear
The quantity of internal tooth can be changed suitably.
More than, embodiments of the present invention are illustrated, but can also be appropriate in the range of not conflicting
Combine each element occurred in above-mentioned embodiment and variation in ground.
The present invention can for example be used in speed changer.
Claims (7)
1. a kind of speed changer comprising:
First rotating part, is rotated centered on central axis；
Multiple eccentric bodies, they are rotated together with first rotating part, from the central axis to the periphery of the eccentric body
The distance in face is different according to circumferential position, and is respectively arranged at different positions in the axial direction；
Multiple bearings, they are set to the respective outer peripheral surface of the multiple eccentric body；
Multiple external gears are set to the respective outer peripheral surface of the multiple bearing；
Internal gear, in the cylindrical shape for circumferentially surrounding the central axis, and the diameter for being configured at the multiple external gear is outside
Side；
The wheel carrier pin axially extended, is inserted into that the multiple external gear is respective to be set at the position being overlapped in the axial direction
Through hole in；And
Second rotating part is fixed with the wheel carrier pin, and is rotated centered on the central axis,
The speed changer is characterized in that,
The speed changer is eccentric oscillating-type speed changer,
The number of teeth of the multiple external gear is different from the number of teeth of the internal gear,
The respective external tooth farthest with the distance between the central axis of the multiple external gear is engaged with the internal gear,
The internal gear and the respective position of engagement of the multiple external gear are unequal in the circumferential.
2. speed changer according to claim 1, which is characterized in that
When from end on observation, the multiple eccentric body is in circular respectively, and the center of positive round is located off the central axis
At position.
3. speed changer according to claim 1 or 2, which is characterized in that
The speed changer includes multiple wheel carrier pins,
Each external gear in the multiple external gear is circumferentially arranged multiple through holes,
Multiple wheel carrier pins are inserted respectively into each through hole in multiple through holes.
4. speed changer according to claim 3, which is characterized in that
The circumferentially interval configuration equiangularly centered on central axis of multiple wheel carrier pins,
The internal gear and the differential seat angle centered on the central axis of the respective position of engagement of the multiple external gear are
The equal angular multiple.
5. speed changer according to claim 4, which is characterized in that
The internal gear and the respective position of engagement of the multiple external gear are located at from making the internal gear and the multiple external tooth
Taking turns the respective position of engagement, impartial state deviates at the equal angular position in the circumferential.
6. speed changer according to claim 1 or 2, which is characterized in that
The multiple external gear includes the first external gear and the second external gear,
Position is engaged with the internal gear and second external gear in the internal gear and the position of engagement of first external gear
It sets and deviates 144 ° centered on the central axis in the circumferential.
7. speed changer according to claim 1 or 2, which is characterized in that
First rotating part is the input unit using the power obtained from motor and with the rotation of the first revolving speed,
Second rotating part is the output section rotated with second revolving speed lower than first revolving speed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-181928 | 2017-09-22 | ||
| JP2017181928A JP7047301B2 (en) | 2017-09-22 | 2017-09-22 | transmission |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109538702A true CN109538702A (en) | 2019-03-29 |
| CN109538702B CN109538702B (en) | 2022-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810906737.8A Active CN109538702B (en) | 2017-09-22 | 2018-08-10 | Speed variator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP7047301B2 (en) |
| CN (1) | CN109538702B (en) |
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| CN102691753A (en) * | 2011-03-22 | 2012-09-26 | 精工爱普生株式会社 | Speed reducer, robot hand and robot |
| CN103195876A (en) * | 2012-01-06 | 2013-07-10 | 住友重机械工业株式会社 | Series of eccentrically swinging reducer |
| CN106163746A (en) * | 2014-04-03 | 2016-11-23 | 纳博特斯克有限公司 | The articulation mechanism of humanoid robot |
| KR20160018243A (en) * | 2014-08-08 | 2016-02-17 | 주식회사 해성굿쓰리 | Robotic disc for coupling Precision reducer |
| CN205859054U (en) * | 2016-07-29 | 2017-01-04 | 纳博特斯克有限公司 | Reductor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019056443A (en) | 2019-04-11 |
| JP7047301B2 (en) | 2022-04-05 |
| CN109538702B (en) | 2022-07-08 |
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