JP2021134882A - ベアリング、歯車装置およびロボット - Google Patents

ベアリング、歯車装置およびロボット Download PDF

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Publication number
JP2021134882A
JP2021134882A JP2020033140A JP2020033140A JP2021134882A JP 2021134882 A JP2021134882 A JP 2021134882A JP 2020033140 A JP2020033140 A JP 2020033140A JP 2020033140 A JP2020033140 A JP 2020033140A JP 2021134882 A JP2021134882 A JP 2021134882A
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JP
Japan
Prior art keywords
flow path
wall portion
base
gear
bearing
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.)
Withdrawn
Application number
JP2020033140A
Other languages
English (en)
Japanese (ja)
Other versions
JP2021134882A5 (https=
Inventor
祐哉 片岡
Yuya Kataoka
祐哉 片岡
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Seiko Epson Corp
Original Assignee
Seiko Epson Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2020033140A priority Critical patent/JP2021134882A/ja
Priority to CN202110211593.6A priority patent/CN113319838A/zh
Priority to US17/186,169 priority patent/US11904466B2/en
Publication of JP2021134882A publication Critical patent/JP2021134882A/ja
Publication of JP2021134882A5 publication Critical patent/JP2021134882A5/ja
Withdrawn legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/38—Ball cages
    • F16C33/3887—Details of individual pockets, e.g. shape or ball retaining means
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/38—Ball cages
    • F16C33/41—Ball cages comb-shaped
    • F16C33/418—Details of individual pockets, e.g. shape or ball retaining means
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/58—Raceways; Race rings
    • F16C33/60—Raceways; Race rings divided or split, e.g. comprising two juxtaposed rings
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6603—Special parts or details in view of lubrication with grease as lubricant
    • F16C33/6607—Retaining the grease in or near the bearing
    • F16C33/6614—Retaining the grease in or near the bearing in recesses or cavities provided in retainers, races or rolling elements
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6603—Special parts or details in view of lubrication with grease as lubricant
    • F16C33/6629—Details of distribution or circulation inside the bearing, e.g. grooves on the cage or passages in the rolling elements
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
    • F16C33/30—Parts of ball or roller bearings
    • F16C33/66—Special parts or details in view of lubrication
    • F16C33/6637—Special parts or details in view of lubrication with liquid lubricant
    • F16C33/6681—Details of distribution or circulation inside the bearing, e.g. grooves on the cage or passages in the rolling elements
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2361/00—Apparatus or articles in engineering in general
    • F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Rolling Contact Bearings (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
JP2020033140A 2020-02-28 2020-02-28 ベアリング、歯車装置およびロボット Withdrawn JP2021134882A (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2020033140A JP2021134882A (ja) 2020-02-28 2020-02-28 ベアリング、歯車装置およびロボット
CN202110211593.6A CN113319838A (zh) 2020-02-28 2021-02-25 轴承、齿轮装置及机器人
US17/186,169 US11904466B2 (en) 2020-02-28 2021-02-26 Bearing, gear device, and robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020033140A JP2021134882A (ja) 2020-02-28 2020-02-28 ベアリング、歯車装置およびロボット

Publications (2)

Publication Number Publication Date
JP2021134882A true JP2021134882A (ja) 2021-09-13
JP2021134882A5 JP2021134882A5 (https=) 2023-01-26

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020033140A Withdrawn JP2021134882A (ja) 2020-02-28 2020-02-28 ベアリング、歯車装置およびロボット

Country Status (3)

Country Link
US (1) US11904466B2 (https=)
JP (1) JP2021134882A (https=)
CN (1) CN113319838A (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024043451A (ja) * 2022-09-16 2024-03-29 美的集団股▲フン▼有限公司 歯車装置及びロボット用関節装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024075327A1 (ja) * 2022-10-06 2024-04-11 ミネベアミツミ株式会社 玉軸受
US20240157520A1 (en) * 2022-11-16 2024-05-16 Adam Ellison Torque Multiplier

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH041716U (https=) * 1990-04-20 1992-01-08
JPH09229073A (ja) * 1996-02-27 1997-09-02 Nippon Seiko Kk 転がり軸受の保持器構造
JP2013145024A (ja) * 2012-01-16 2013-07-25 Jtekt Corp 円筒ころ軸受用保持器
WO2019198762A1 (ja) * 2018-04-10 2019-10-17 日本精工株式会社 深溝玉軸受用の冠型保持器、及び深溝玉軸受
JP2019183880A (ja) * 2018-04-03 2019-10-24 セイコーエプソン株式会社 歯車装置ユニットの製造方法およびロボットの製造方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH041716A (ja) 1990-04-19 1992-01-07 Brother Ind Ltd 光走査装置
JP2006322594A (ja) * 2005-05-20 2006-11-30 Nsk Ltd 転がり軸受
JP2006342938A (ja) 2005-06-10 2006-12-21 Ntn Corp 転がり軸受用保持器および転がり軸受
US20150240928A1 (en) * 2014-02-27 2015-08-27 Cone Drive Operations, Inc. Bearing arrangement for harmonic or strain wave gearing
US9518606B2 (en) * 2015-03-09 2016-12-13 Seagate Technology Llc Bearing apparatus with surface migration channels
JP6904004B2 (ja) * 2017-03-30 2021-07-14 セイコーエプソン株式会社 ロボットおよび歯車装置
JP2019199893A (ja) * 2018-05-14 2019-11-21 セイコーエプソン株式会社 ロボット、歯車装置および歯車装置ユニット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH041716U (https=) * 1990-04-20 1992-01-08
JPH09229073A (ja) * 1996-02-27 1997-09-02 Nippon Seiko Kk 転がり軸受の保持器構造
JP2013145024A (ja) * 2012-01-16 2013-07-25 Jtekt Corp 円筒ころ軸受用保持器
JP2019183880A (ja) * 2018-04-03 2019-10-24 セイコーエプソン株式会社 歯車装置ユニットの製造方法およびロボットの製造方法
WO2019198762A1 (ja) * 2018-04-10 2019-10-17 日本精工株式会社 深溝玉軸受用の冠型保持器、及び深溝玉軸受

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024043451A (ja) * 2022-09-16 2024-03-29 美的集団股▲フン▼有限公司 歯車装置及びロボット用関節装置

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Publication number Publication date
CN113319838A (zh) 2021-08-31
US20210268642A1 (en) 2021-09-02
US11904466B2 (en) 2024-02-20

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