JP2607937B2 - Internal gear oscillating type internal meshing planetary gear unit - Google Patents
Internal gear oscillating type internal meshing planetary gear unitInfo
- Publication number
- JP2607937B2 JP2607937B2 JP63259582A JP25958288A JP2607937B2 JP 2607937 B2 JP2607937 B2 JP 2607937B2 JP 63259582 A JP63259582 A JP 63259582A JP 25958288 A JP25958288 A JP 25958288A JP 2607937 B2 JP2607937 B2 JP 2607937B2
- Authority
- JP
- Japan
- Prior art keywords
- internal
- gear
- eccentric
- shaft
- oscillating
- 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.)
- Expired - Lifetime
Links
Classifications
-
- 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
Landscapes
- Retarders (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は、出力軸に外歯歯車を設け、該外歯歯車と噛
合する内歯揺動体を偏心体によって揺動回転させるよう
にした内接噛合遊星歯車装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention provides an internal gear in which an external gear is provided on an output shaft, and an internal oscillating body meshing with the external gear is oscillated by an eccentric body. The present invention relates to a meshing planetary gear device.
（従来の技術） 内接噛合遊星歯車装置は大トルクの伝達が可能であ
り、かつ大減速比が得られると言う利点があるので、種
々の減速機分野で数多く使用されている。(Prior Art) Internally meshed planetary gear devices have the advantages of being capable of transmitting large torque and obtaining a large reduction ratio, and are therefore widely used in various reduction gear fields.
以下に、従来公知の内接噛合遊星歯車装置の一例を第
５図及び第６図を参照して説明する。Hereinafter, an example of a conventionally known internally meshing planetary gear device will be described with reference to FIGS. 5 and 6. FIG.
入力軸１の端部にはピニオン２が設けられ、該ピニオ
ン２は入力軸１の回りに等角度に設けられた複数の伝動
歯車３と噛合している。偏心体41を有する偏心体軸４が
軸受５によって支持されており、前記伝動歯車３はこの
偏心体軸４に設けられ、該偏心体軸４を回転させてい
る。A pinion 2 is provided at an end of the input shaft 1, and the pinion 2 meshes with a plurality of transmission gears 3 provided at equal angles around the input shaft 1. Eccentric shaft 4 having eccentric 4 1 is supported by a bearing 5, the transmission gear 3 is provided on the eccentric shaft 4, rotates the eccentric body shaft 4.
偏心体41は外歯歯車６を貫通して設けられ、該偏心体
41と外歯歯車６との間にコロ７が設けられている。外歯
歯車６の外歯61は内歯歯車７のピンからなる内歯71と噛
合している。Eccentric 4 1 is provided through external gear 6, the eccentric bodies
Roller 7 is provided between the 4 1 and the external gear 6. External teeth 6 1 of the external gear 6 has internal teeth 71 meshed consisting pins of the internal gear 7.
上記内接噛合遊星歯車装置は次のように作用する。 The internal meshing planetary gear operates as follows.
入力軸１の回転がピニオン２を介して伝動歯車３に与
えられ、偏心体軸４が回転する。このため偏心体41が外
歯歯車６を揺動回転させ、外歯歯車６と噛合している内
歯歯車７が減速回転される。この場合、外歯歯車６の１
回の揺動回転によって内歯歯車７は外歯歯車６との歯数
差だけ位相がずれ、その位相のずれだけが減速回転とな
って取り出されるものとなる。The rotation of the input shaft 1 is given to the transmission gear 3 via the pinion 2, and the eccentric shaft 4 rotates. Therefore eccentric 4 1 external gears 6 are swung rotating internal gear 7 is engaged with the external gear 6 is reduced speed. In this case, 1 of the external gear 6
The internal gear 7 is shifted in phase by the difference in the number of teeth from the external gear 6 due to the swinging rotation, and only the phase shift is taken out as decelerated rotation.
（発明が解決しようとする課題） 上記の内接噛合遊星歯車装置には次のような問題点が
あった。(Problems to be Solved by the Invention) The above-mentioned internally meshing planetary gear device has the following problems.
即ち、偏心体軸４は支持ブロック８とキャリア９との
間で軸受５によって支持されており、この支持ブロック
８及びキャリア９はピン10や結合ボルト11によって互い
に結合固定されている。この支持ブロック８及びキャリ
ア９の結合体を固定部に据え付けるには、支持ブロック
８及びキャリア９を貫通して固定ボルト12を設け、該固
定ボルト12によって前記結合体を固定部（図示せず）に
固定していた。That is, the eccentric shaft 4 is supported by the bearing 5 between the support block 8 and the carrier 9, and the support block 8 and the carrier 9 are connected and fixed to each other by the pins 10 and the connection bolts 11. In order to mount the combined body of the support block 8 and the carrier 9 on the fixing part, a fixing bolt 12 is provided through the support block 8 and the carrier 9, and the combined body is fixed by the fixing bolt 12 (not shown). Was fixed to.
ところが、支持ブロック８やキャリア９には、既にピ
ン10や結合ボルト11が設けられているため、固定ボルト
12を設置する位置や数、更にはボルト径の大きさに制約
が出てしまう。このため、従来公知の構造によると、据
え付け強度不足をきたし易く、更には据え付け作業性も
悪かった。However, since the support block 8 and the carrier 9 are already provided with the pins 10 and the connecting bolts 11, the fixing bolts
There will be restrictions on the location and number of 12 installations, as well as the size of the bolt diameter. For this reason, according to the conventionally known structure, the installation strength tends to be insufficient, and the installation workability is also poor.
又、上記欠点を補うものとして、ノック穴加工を施す
ことも考えられるが、その加工作業が据え付け後となる
ので、作業性が悪い。In order to compensate for the above-mentioned drawback, it is conceivable to perform a dowel hole processing, but since the processing operation is performed after installation, workability is poor.
そこで、本発明の目的は、出力軸に外歯歯車を設け、
該外歯歯車と噛合する内歯揺動体を揺動回転させること
により、キャリアや支持ブロックのピンや結合ボルト、
又固定ボルトの設置スペースを拡大し、固定ボルトによ
る据え付け性の改善を図った内接噛合遊星歯車装置を提
供せんとするにある。Therefore, an object of the present invention is to provide an external gear on the output shaft,
By oscillatingly rotating the internal tooth oscillating body that meshes with the external gear, pins and coupling bolts of the carrier and the support block,
Another object of the present invention is to provide an internally meshing planetary gear device in which the installation space for the fixing bolt is enlarged and the installation property of the fixing bolt is improved.
（課題を解決するための手段） 本発明の特徴とする構成は、入力軸と、該入力軸に設
けられたピニオンと、該ピニオンと噛合する伝動歯車
と、該伝動歯車が設けられ、前記入力軸により伝動回転
される偏心体軸と、該偏心体軸に設けられた偏心体と、
該偏心体が貫通し、該偏心体の回転により揺動回転され
る内歯揺動体と、該内歯揺動体と噛合する出力軸と同心
に該出力軸に設けられた外歯歯車と、前記偏心体軸を軸
受を介して支持するキャリア及び支持ブロックとからな
り、該キャリア及び支持ブロックを結合すると同時に、
該結合体を貫通する固定ボルトを設けて固定体に固定す
ることにあり、この構成によって前記ピンや結合ボル
ト、及び固定ボルトの設置スペースを拡大し、据え付け
性を良くしたものである。(Means for Solving the Problems) According to a feature of the present invention, an input shaft, a pinion provided on the input shaft, a transmission gear meshing with the pinion, and the transmission gear are provided, and the input gear is provided. An eccentric body shaft driven and rotated by the shaft, an eccentric body provided on the eccentric body shaft,
The eccentric body penetrates, an internal tooth oscillating body that is oscillated by the rotation of the eccentric body, an external gear provided on the output shaft concentrically with an output shaft that meshes with the internal oscillating body, It consists of a carrier and a support block that support the eccentric body shaft via bearings, and at the same time as coupling the carrier and the support block,
A fixing bolt penetrating the coupling body is provided and fixed to the fixing body. With this configuration, a space for installing the pin, the coupling bolt, and the fixing bolt is enlarged, and the installation property is improved.
（実施例） 以下、図によって本発明の実施例について説明する。(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.
第１図は本発明の一実施例を示す内接噛合遊星歯車装
置の断面図であり、第２図は第１図のＡ−Ａ断面図であ
る。FIG. 1 is a sectional view of an internally meshing planetary gear device showing an embodiment of the present invention, and FIG. 2 is a sectional view taken along line AA of FIG.
図を参照して、入力軸21にはピニオン22が設けられて
おり、該ピニオン22は伝動歯車23と噛合している。伝動
歯車23は入力軸21の軸心回りに３個設けられている。
尚、伝動歯車23の数は３個に限定されるものではなく、
２個以上のであれば足りる。伝動歯車23は偏心体241を
有する偏心体軸24に設けられ、該偏心体軸24は軸受2
51、252に支持されている。偏心体241は２枚の内歯揺動
体261、262を貫通し、該偏心体241の外周と内歯揺動体2
61、262の貫通穴の内周との間にコロ27を設けている。
内歯揺動体261、262は入力軸21と同心に設けられた外歯
歯車28と噛合しており、該外歯歯車28は出力軸29の端部
に設けられている。Referring to the drawing, a pinion 22 is provided on input shaft 21, and this pinion 22 meshes with transmission gear 23. The three transmission gears 23 are provided around the axis of the input shaft 21.
The number of transmission gears 23 is not limited to three,
Two or more are sufficient. Transmission gear 23 is provided on the eccentric body shaft 24 having the eccentric member 24 1, the eccentric body shaft 24 is bearing 2
Supported by 5 1 , 25 2 . Eccentrics 24 1 2 sheets of inner HaYura body 26 1, 26 2 and the through, the eccentric bodies 24 1 of the outer and inner tooth oscillator 2
The roller 27 is provided between the inner circumference of 6 1, 26 2 of the through hole.
UchihaYura body 26 1, 26 2 are meshed with the external gear 28 disposed concentrically with the input shaft 21, external gear 28 is provided on the end portion of the output shaft 29.
内歯揺動体261、262は偏心体241を支持する部分と内
歯部分を除いて残りの部分を切り欠いて構成され、これ
によって後述のキャリア及び支持ブロック部分の断面積
を大きく採用できるようにしている。UchihaYura body 26 1, 26 2 is constructed by cutting away the rest except for a portion and inner teeth portion which supports the eccentric member 24 1, large adopted the cross-sectional area of the carrier and support block portions described later by this I can do it.
前記偏心体軸24及び軸受251、252は次のようにキャリ
ア及び支持ブロックに支持されている。The eccentric shaft 24 and the bearings 25 1 and 25 2 are supported by a carrier and a support block as follows.
キャリア30と支持ブロック31はピン32及び結合ボルト
33によって互いに結合されている。軸受251はキャリア3
0に設けられ、軸受252は支持ブロック31に設けられてい
る。キャリア30と支持ブロック31の結合体は固定ボルト
34によって図示しない固定部に据え付け固定される。Carrier 30 and support block 31 are pin 32 and connecting bolt
They are joined together by 33. Bearing 25 1 is carrier 3
0 provided, bearing 25 2 is provided in the support block 31. The combined body of the carrier 30 and the support block 31 is a fixing bolt
By 34, it is installed and fixed to a fixing part (not shown).
以上のように構成された本発明の内接噛合遊星歯車装
置は、以下のように作用する。The internally meshing planetary gear device of the present invention configured as described above operates as follows.
入力軸21の回転は、ピニオン22を介して伝動歯車23に
与えられ、該伝動歯車23によって偏心体軸24が回転され
る。偏心体軸24の回転は偏心体241を回転させ、内歯揺
動体261262が揺動回転する。このため、内歯揺動体2
61、262と噛合する外歯歯車28が減速回転されるものと
なる。この場合、内歯揺動体261、262の１回の揺動回転
によって該内歯揺動体261、262と外歯歯車28の歯数差だ
け位相がずれるので、その位相差が外歯歯車28の減速回
転となって取り出されるものとなる。The rotation of the input shaft 21 is provided to a transmission gear 23 via a pinion 22, and the eccentric shaft 24 is rotated by the transmission gear 23. Rotation of the eccentric body shaft 24 rotates the eccentric member 24 1, UchihaYura body 26 1 26 2 swings rotates. Therefore, the internal tooth oscillating body 2
6 1, 26 2 and meshing the external gear 28 is intended to be reduced rotation. In this case, since UchihaYura body 26 1, 26 inner HaYura body 26 1 by the swinging rotation of one 2, 26 2 and the difference in the number of teeth by the phase of the external gear 28 is shifted, the phase difference is outside The gear 28 is taken out as a reduced rotation.
以上に説明した本発明の一実施例によると、固定ボル
ト34の位置やピン32、結合ボルト33の位置がキャリア30
や支持ブロック31の半径方向外側になっているので、そ
の取り付けスペースが広くなり、取り付けの自由度が非
常に大きくなる。According to the embodiment of the present invention described above, the position of the fixing bolt 34, the position of the pin 32,
Because it is located radially outside of the support block 31 and the support block 31, its mounting space is widened and the degree of freedom of mounting is greatly increased.
特に、内歯揺動体の内歯部分と偏心体支持部分を残し
て他の部分を切り欠いた構成によると、全体の大きさを
低減せしめると同時にキャリア及び支持ブロックの断面
積を増大させることができるものとなる。In particular, according to the configuration in which the internal teeth portion of the internal tooth oscillating body and the eccentric body support portion are cut out while leaving the other portions, it is possible to reduce the overall size and simultaneously increase the cross-sectional area of the carrier and the support block. You can do it.
又、外歯歯車28が自転するのみであるから、内歯揺動
体が何枚であっても、外歯歯車は一体成形が可能とな
り、低コストとなる上、何枚も組み付ける手間が省ける
ので、組み付け作業性も良い。In addition, since the external gear 28 only rotates, the external gear can be integrally formed regardless of the number of the internal oscillating body, resulting in low cost and labor for assembling multiple external gears. Also, assembly workability is good.
以上の第１図及び第２図に示したものは本発明の一実
施例であって、本発明は上記実施例に限定されるもので
はない。FIGS. 1 and 2 show one embodiment of the present invention, and the present invention is not limited to the above embodiment.
第３図に示すものは、本発明の他の実施例であって、
この実施例は産業用のロボットの関節に効果的なもので
ある。FIG. 3 shows another embodiment of the present invention,
This embodiment is effective for a joint of an industrial robot.
図を参照して、この実施例では、入力軸41と出力軸42
とが共に中空となっており、この中空部分43に図示しな
い制御ケーブルや他の貫通シャフトを挿通させることが
できるものである。Referring to the drawing, in this embodiment, an input shaft 41 and an output shaft 42
Are hollow, and a control cable (not shown) or another through shaft can be inserted into the hollow portion 43.
第４図は本発明の更に他の実施例を示す部分断面図で
あり、この実施例によると、出力軸51に設けられた外歯
歯車52を軸方向に長い一体物として成形し、かつ歯の位
相を全部同位相としている。この外歯歯車52に３枚の内
歯揺動体531、532、533を噛合させる。尚、内歯揺動体
の数は３枚に限定されるものではなく、２枚以上の任意
の枚数を選定できる。FIG. 4 is a partial cross-sectional view showing still another embodiment of the present invention. According to this embodiment, an external gear 52 provided on an output shaft 51 is formed as an integrally long member in the axial direction, and Are all in phase. The external gear 52 to the three inner HaYura bodies 53 1, 53 2, 53 3 are engaged. Note that the number of the internal tooth oscillating bodies is not limited to three, and an arbitrary number of two or more can be selected.
この実施例によると、外歯歯車が一体成形が可能であ
るから、何枚もの外歯歯車を取り付け、それらの位相合
わせする手間が省けるものとなる。According to this embodiment, since the external gears can be integrally formed, it is possible to save the trouble of mounting a number of external gears and adjusting their phases.
（発明の効果） 以上のように構成された本発明によると、以下のよう
な効果を奏する。(Effects of the Invention) According to the present invention configured as described above, the following effects can be obtained.
キャリアと支持ブロックを固定するピンや結合ボルト
の設置スペースが拡大し、更には当該遊星歯車装置全体
を固定部に固定するための固定ボルトの設置スペースも
拡大するので、キャリアと支持ブロックとの結合強度
（回転トルクに対する安全率）が向上し、かつ固定ボル
トによる据え付け強度が向上する。The installation space for pins and connecting bolts for fixing the carrier and the support block is increased, and the installation space for the fixing bolts for fixing the entire planetary gear device to the fixed portion is also expanded. Strength (safety factor against rotational torque) is improved, and installation strength with the fixing bolt is improved.
又、固定ボルトの設置位置の自由度が大きくなるの
で、据え付け作業性も向上する。In addition, since the degree of freedom of the installation position of the fixing bolt is increased, the installation workability is also improved.
入力軸と出力軸とが同心であるため、両方の軸を中空
とすることができ、この中空部分にケーブルやシャフト
を挿通させることにより、当該遊星歯車装置を産業用ロ
ボットの関節として使用することができるものとなり、
遊星歯車装置の用途が拡大する。Since the input shaft and the output shaft are concentric, both shafts can be hollow, and by inserting a cable or shaft through this hollow portion, the planetary gear device can be used as a joint of an industrial robot. Can be done,
The use of the planetary gear device is expanded.
出力軸に設けられた外歯歯車を一体成形とし、かつ外
歯を同位相とすることにより、外歯歯車の製造コストが
低減すると同時に、複数枚の外歯歯車を位相合わせしな
がら取り付けるというような手間のかかる作業がなくな
り、組み付け性が向上する。By integrally molding the external gears provided on the output shaft and making the external teeth in-phase, the manufacturing cost of the external gears is reduced, and at the same time, a plurality of external gears are mounted while matching the phases. The troublesome work is eliminated, and the assembling property is improved.
第１図は本発明の一実施例を示す内接噛合遊星歯車装置
の断面図、第２図は第１図のＡ−Ａ断面図、第３図は本
発明の他の実施例を示す部分断面図、第４図は本発明の
更に他の実施例を示す外歯歯車を説明する斜視図、第５
図は従来公知の内接噛合型遊星歯車装置の一例を示す断
面図、第６図は第５図のＢ−Ｂ断面図である。 21:入力軸、22:ピニオン、23:伝動歯車 24:偏心体軸、241:偏心体 251、252:軸受、261、262:内歯揺動体 27:コロ、28:外歯歯車、29:出力軸 30:キャリア、31:支持ブロック 32:ピン、33:結合ボルト 34:固定ボルト、41:入力軸、42:出力軸 43:中空部分、51:出力軸、52:外歯歯車 531、532、533:内歯揺動体FIG. 1 is a sectional view of an internally meshing planetary gear device showing one embodiment of the present invention, FIG. 2 is a sectional view taken along line AA of FIG. 1, and FIG. 3 is a portion showing another embodiment of the present invention. FIG. 4 is a cross-sectional view, FIG. 4 is a perspective view for explaining an external gear showing still another embodiment of the present invention, and FIG.
The figure is a sectional view showing an example of a conventionally known internally meshing type planetary gear device, and FIG. 6 is a sectional view taken along the line BB of FIG. 21: input shaft 22: Pinion, 23: transmission gear 24: eccentric body shaft, 24 1: eccentric body 25 1, 25 2: bearing, 26 1, 26 2: UchihaYura body 27: roller, 28: external teeth Gear, 29: Output shaft 30: Carrier, 31: Support block 32: Pin, 33: Coupling bolt 34: Fixing bolt, 41: Input shaft, 42: Output shaft 43: Hollow part, 51: Output shaft, 52: External teeth Gears 53 1 , 53 2 , 53 3 : Internal tooth oscillating body
Claims (4)
と、該ピニオンと噛合する伝動歯車と、該伝動歯車が設
けられ、前記入力軸により伝動回転される偏心体軸と、
該偏心体軸に設けられた偏心体と、該偏心体が貫通し、
該偏心体の回転により揺動回転される内歯揺動体と、該
内歯揺動体と噛合する出力軸と同心に該出力軸に設けら
れた外歯歯車とからなることを特徴とする内歯揺動型内
接噛合遊星歯車装置。An input shaft, a pinion provided on the input shaft, a transmission gear meshing with the pinion, an eccentric shaft provided with the transmission gear and driven to rotate by the input shaft,
An eccentric body provided on the eccentric body shaft, and the eccentric body penetrates;
An internal tooth oscillating body which is oscillated by the rotation of the eccentric body, and an external gear provided on the output shaft concentrically with an output shaft meshing with the internal oscillating body. Oscillating internal gear planetary gear system.
及び支持ブロックが設けられ、該キャリア及び支持ブロ
ックを結合すると同時に、該結合体を貫通する固定ボル
トを設けて固定体に固定し、内歯揺動体の内歯部分と偏
心体支持部分を残して他の部分を切り欠いたことを特徴
とする特許請求の範囲第１項記載の内歯揺動型内接噛合
遊星歯車装置。2. A carrier and a support block for supporting an eccentric shaft via a bearing are provided. At the same time, the carrier and the support block are connected to each other, and at the same time, a fixing bolt penetrating the combined body is provided and fixed to the fixed body. 2. The internal gear oscillating type internally meshing planetary gear device according to claim 1, wherein the internal tooth oscillating body has an internal tooth portion and an eccentric body supporting portion, and other portions are cut away.
特徴とする特許請求の範囲第１項記載の内歯揺動型内接
噛合遊星歯車装置。3. The internal gear oscillating internal meshing planetary gear set according to claim 1, wherein the input shaft and the output shaft are hollow shafts.
同位相の一体成形からなることを特徴とする特許請求の
範囲第１項又は第２項記載の内歯揺動型内接噛合遊星歯
車装置。4. The internal tooth oscillating mold according to claim 1, wherein a plurality of internal tooth oscillating members are provided, and the external gear is integrally formed in the same phase. Meshing planetary gear set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63259582A JP2607937B2 (en) | 1988-10-17 | 1988-10-17 | Internal gear oscillating type internal meshing planetary gear unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63259582A JP2607937B2 (en) | 1988-10-17 | 1988-10-17 | Internal gear oscillating type internal meshing planetary gear unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02107846A JPH02107846A (en) | 1990-04-19 |
| JP2607937B2 true JP2607937B2 (en) | 1997-05-07 |
Family
ID=17336117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63259582A Expired - Lifetime JP2607937B2 (en) | 1988-10-17 | 1988-10-17 | Internal gear oscillating type internal meshing planetary gear unit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2607937B2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7056253B2 (en) | 2003-03-19 | 2006-06-06 | Sumitomo Heavy Industries, Ltd. | Internal teeth oscillating inner gearing planetary gear system |
| US7070533B2 (en) | 2003-03-28 | 2006-07-04 | Sumito Heavy Industries, Ltd. | Internal teeth oscillation type inner gearing planetary gear system |
| US10024160B2 (en) * | 2005-08-09 | 2018-07-17 | The Johns Hopkins University | Pneumatic stepper motor |
| DE102004014707B4 (en) * | 2003-03-26 | 2021-05-27 | Sumitomo Heavy Industries, Ltd. | Planetary gear system with oscillating inner gear body |
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| JP5160672B2 (en) * | 2000-09-14 | 2013-03-13 | ナブテスコ株式会社 | Coaxial multi-axis output mechanism |
| JP2006046664A (en) * | 2005-09-15 | 2006-02-16 | Nabtesco Corp | Gear device with driving motor |
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| JP5297756B2 (en) * | 2008-10-20 | 2013-09-25 | ナブテスコ株式会社 | Gear transmission |
| WO2019071427A1 (en) * | 2017-10-10 | 2019-04-18 | 深圳先进技术研究院 | Hollow hypocycloid planetary speed reducer |
| FR3072744B1 (en) * | 2017-10-23 | 2019-11-08 | Ntn-Snr Roulements | CIRCULAR TRANSMISSION TRANSMISSION MECHANISM WITH TRANSMISSION PLATES PROVIDED FOR PASSAGES FOR FASTENING RODS |
| CN109058389A (en) * | 2018-09-19 | 2018-12-21 | 杭州星河传动机械研究院有限公司 | Planetary balance-wheel speed reducer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS596281U (en) * | 1982-06-30 | 1984-01-14 | 株式会社日立製作所 | display circuit |
| JPH0621608B2 (en) * | 1984-06-06 | 1994-03-23 | 住友重機械工業株式会社 | Angle Backlash Removal Device in Planetary Gear Mechanism |
-
1988
- 1988-10-17 JP JP63259582A patent/JP2607937B2/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7056253B2 (en) | 2003-03-19 | 2006-06-06 | Sumitomo Heavy Industries, Ltd. | Internal teeth oscillating inner gearing planetary gear system |
| US7510497B2 (en) | 2003-03-19 | 2009-03-31 | Sumitomo Heavy Industries, Ltd. | Internal teeth oscillating inner gearing planetary gear system |
| DE102004014707B4 (en) * | 2003-03-26 | 2021-05-27 | Sumitomo Heavy Industries, Ltd. | Planetary gear system with oscillating inner gear body |
| US7070533B2 (en) | 2003-03-28 | 2006-07-04 | Sumito Heavy Industries, Ltd. | Internal teeth oscillation type inner gearing planetary gear system |
| DE102004064262B3 (en) | 2003-03-28 | 2022-01-13 | Sumitomo Heavy Industries, Ltd. | planetary gear system |
| US10024160B2 (en) * | 2005-08-09 | 2018-07-17 | The Johns Hopkins University | Pneumatic stepper motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02107846A (en) | 1990-04-19 |
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