JP2019152282A - 減速装置 - Google Patents
減速装置 Download PDFInfo
- Publication number
- JP2019152282A JP2019152282A JP2018038303A JP2018038303A JP2019152282A JP 2019152282 A JP2019152282 A JP 2019152282A JP 2018038303 A JP2018038303 A JP 2018038303A JP 2018038303 A JP2018038303 A JP 2018038303A JP 2019152282 A JP2019152282 A JP 2019152282A
- Authority
- JP
- Japan
- Prior art keywords
- cylindrical member
- gear
- absorbing material
- sound absorbing
- speed reducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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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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- 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
- F16H2001/325—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 a carrier with pins guiding at least one orbital gear with circular holes
-
- 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
- F16H2001/327—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 with orbital gear sets comprising an internally toothed ring gear
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
Abstract
Description
図1は、第1実施形態の減速装置10を示す断面図である。本実施形態の減速装置10は産業用ロボット12の関節部12aに組み込まれる。本実施形態の産業用ロボット12は、人と協働して作業を行う協働ロボットである。
図3は、第2実施形態の減速装置10を示す断面図である。本実施形態の減速装置10は、内歯歯車30の中心軸線Lcから径方向外側にオフセットした位置に複数のクランク軸26が配置される振り分け型である。本実施形態の減速装置10も、第1実施形態と同様にモータ14(図示せず)を備える。また、本実施形態の減速装置10は、第1実施形態の第2筒状部材53を備えない。
図5は、第3実施形態の減速装置10を示す断面図である。本実施形態の減速装置10は、内歯歯車30−A、30−Bと噛み合う外歯歯車28を撓み変形させつつ動かすことで、外歯歯車28の自転を生じさせ、その自転成分を出力部材42から被駆動部材に出力する撓み噛み合い型減速装置である。本実施形態の減速装置は、減速用内歯歯車30−Aと出力用内歯歯車30−Bを用いて入力軸24の回転を減速して出力する、いわゆる筒型の撓み噛み合い型減速装置である。
Claims (7)
- 装置中央部を軸方向に貫通するホロー部を有する減速装置であって、
前記ホロー部を構成する第1筒状部材と、
前記第1筒状部材の内側に配置される吸音材と、を備える減速装置。 - 前記第1筒状部材の外周面の一部は、転動体が転動する転動面を構成する請求項1に記載の減速装置。
- 前記吸音材は、前記転動面の径方向内側に配置され、前記吸音材の他の部分より厚みが大きい厚肉部を有する請求項2に記載の減速装置。
- 前記第1筒状部材は、前記転動面の径方向内側に他の部分より内径が大きい大内径部を有し、
前記厚肉部は、前記大内径部の径方向内側に配置される請求項3に記載の減速装置。 - 前記第1筒状部材の径方向内側に配置される第2筒状部材を備え、
前記吸音材は、前記第1筒状部材と前記第2筒状部材の間に配置される請求項1から4のいずれかに記載の減速装置。 - 前記吸音材は、前記第1筒状部材の内周面に接触している請求項1から5のいずれかに記載の減速装置。
- 本減速装置は、人と協働して作業を行う協働ロボットの関節部に組み込まれる請求項1から6のいずれかに記載の減速装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018038303A JP6944400B2 (ja) | 2018-03-05 | 2018-03-05 | 減速装置 |
CN201910090207.5A CN110230663B (zh) | 2018-03-05 | 2019-01-30 | 减速装置 |
DE102019103693.3A DE102019103693B4 (de) | 2018-03-05 | 2019-02-14 | Untersetzungsgetriebe |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018038303A JP6944400B2 (ja) | 2018-03-05 | 2018-03-05 | 減速装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019152282A true JP2019152282A (ja) | 2019-09-12 |
JP6944400B2 JP6944400B2 (ja) | 2021-10-06 |
Family
ID=67622920
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018038303A Active JP6944400B2 (ja) | 2018-03-05 | 2018-03-05 | 減速装置 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP6944400B2 (ja) |
CN (1) | CN110230663B (ja) |
DE (1) | DE102019103693B4 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022079951A1 (ja) * | 2020-10-12 | 2022-04-21 | 株式会社石黒エンジニアリング | 回転ジョイントおよび回転ジョイントを有するマニピュレータ |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4030079A1 (en) * | 2021-01-15 | 2022-07-20 | Goodrich Actuation Systems Limited | Rotary geared actuator |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009166168A (ja) * | 2008-01-15 | 2009-07-30 | Sumitomo Heavy Ind Ltd | ロボットの関節駆動装置 |
JP2010090966A (ja) * | 2008-10-07 | 2010-04-22 | Kobe Steel Ltd | 制振構造 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3735904A1 (de) | 1987-08-15 | 1989-02-23 | Bayer Ag | Verfahren zur herstellung von n-alkylierten caprolactamen |
FR2844497B1 (fr) | 2002-09-18 | 2005-04-29 | Soc Mecanique Irigny | Dispositif de reduction des chocs dans un reducteur a vis sans fin et roue tangente |
DE502004002373D1 (de) * | 2004-05-24 | 2007-02-01 | Hans-Peter Canonica | Elektromotorischer Verstellantrieb |
JP5490752B2 (ja) * | 2011-06-24 | 2014-05-14 | 住友重機械工業株式会社 | 揺動内接噛合型の減速装置 |
JP2018038303A (ja) | 2016-09-06 | 2018-03-15 | 凸版印刷株式会社 | 防草シート及びその敷設方法 |
DE102017106699A1 (de) | 2017-03-29 | 2018-10-04 | Schaeffler Technologies AG & Co. KG | Mehrfachzahnrad sowie Getriebeanordnung mit dem Mehrfachzahnrad |
CN106931081A (zh) * | 2017-04-26 | 2017-07-07 | 珠海飞马传动机械有限公司 | 一种机器人用高精密摆线差齿减速机 |
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2018
- 2018-03-05 JP JP2018038303A patent/JP6944400B2/ja active Active
-
2019
- 2019-01-30 CN CN201910090207.5A patent/CN110230663B/zh active Active
- 2019-02-14 DE DE102019103693.3A patent/DE102019103693B4/de active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009166168A (ja) * | 2008-01-15 | 2009-07-30 | Sumitomo Heavy Ind Ltd | ロボットの関節駆動装置 |
JP2010090966A (ja) * | 2008-10-07 | 2010-04-22 | Kobe Steel Ltd | 制振構造 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022079951A1 (ja) * | 2020-10-12 | 2022-04-21 | 株式会社石黒エンジニアリング | 回転ジョイントおよび回転ジョイントを有するマニピュレータ |
JP2022063521A (ja) * | 2020-10-12 | 2022-04-22 | 株式会社石黒エンジニアリング | 回転ジョイントおよび回転ジョイントを有するマニピュレータ |
Also Published As
Publication number | Publication date |
---|---|
DE102019103693B4 (de) | 2021-12-23 |
DE102019103693A1 (de) | 2019-09-05 |
CN110230663A (zh) | 2019-09-13 |
CN110230663B (zh) | 2022-09-23 |
JP6944400B2 (ja) | 2021-10-06 |
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