JP5849456B2 - 減速機、ロボットハンド、ロボット、及び、電子機器 - Google Patents

減速機、ロボットハンド、ロボット、及び、電子機器 Download PDF

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Publication number
JP5849456B2
JP5849456B2 JP2011139555A JP2011139555A JP5849456B2 JP 5849456 B2 JP5849456 B2 JP 5849456B2 JP 2011139555 A JP2011139555 A JP 2011139555A JP 2011139555 A JP2011139555 A JP 2011139555A JP 5849456 B2 JP5849456 B2 JP 5849456B2
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Japan
Prior art keywords
gear
pin
elastic portion
hole
speed reducer
Prior art date
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JP2011139555A
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English (en)
Japanese (ja)
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JP2013007416A5 (enExample
JP2013007416A (ja
Inventor
宗太 山本
宗太 山本
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
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Seiko Epson Corp
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Filing date
Publication date
Application filed by Seiko Epson Corp filed Critical Seiko Epson Corp
Priority to JP2011139555A priority Critical patent/JP5849456B2/ja
Priority to CN201210191325.3A priority patent/CN102840280B/zh
Priority to US13/527,718 priority patent/US20120325040A1/en
Priority to EP12172944.6A priority patent/EP2537643A3/en
Publication of JP2013007416A publication Critical patent/JP2013007416A/ja
Publication of JP2013007416A5 publication Critical patent/JP2013007416A5/ja
Application granted granted Critical
Publication of JP5849456B2 publication Critical patent/JP5849456B2/ja
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    • 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
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
JP2011139555A 2011-06-23 2011-06-23 減速機、ロボットハンド、ロボット、及び、電子機器 Active JP5849456B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2011139555A JP5849456B2 (ja) 2011-06-23 2011-06-23 減速機、ロボットハンド、ロボット、及び、電子機器
CN201210191325.3A CN102840280B (zh) 2011-06-23 2012-06-11 减速机、机械臂以及机械手
US13/527,718 US20120325040A1 (en) 2011-06-23 2012-06-20 Speed reducer, robot, and robot hand
EP12172944.6A EP2537643A3 (en) 2011-06-23 2012-06-21 Speed reducer, robot, and robot hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2011139555A JP5849456B2 (ja) 2011-06-23 2011-06-23 減速機、ロボットハンド、ロボット、及び、電子機器

Publications (3)

Publication Number Publication Date
JP2013007416A JP2013007416A (ja) 2013-01-10
JP2013007416A5 JP2013007416A5 (enExample) 2014-08-07
JP5849456B2 true JP5849456B2 (ja) 2016-01-27

Family

ID=46690365

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011139555A Active JP5849456B2 (ja) 2011-06-23 2011-06-23 減速機、ロボットハンド、ロボット、及び、電子機器

Country Status (4)

Country Link
US (1) US20120325040A1 (enExample)
EP (1) EP2537643A3 (enExample)
JP (1) JP5849456B2 (enExample)
CN (1) CN102840280B (enExample)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012197874A (ja) * 2011-03-22 2012-10-18 Seiko Epson Corp 減速機
JP2012197875A (ja) 2011-03-22 2012-10-18 Seiko Epson Corp 減速機
JP2016211706A (ja) * 2015-05-13 2016-12-15 セイコーエプソン株式会社 減速機及びロボット
KR102373491B1 (ko) * 2015-07-15 2022-03-11 삼성전자주식회사 회전체의 회전 인식 방법 및 그 방법을 처리하는 전자 장치
JP2018087611A (ja) * 2016-11-29 2018-06-07 セイコーエプソン株式会社 ロボット、可撓性歯車、歯車装置および可撓性歯車の製造方法
JP2019056445A (ja) * 2017-09-22 2019-04-11 日本電産株式会社 変速機
CN112513498B (zh) * 2018-07-13 2023-10-31 株式会社电装 减速器和带减速器的电动机
CN114026351B (zh) * 2019-07-29 2023-02-03 Abb瑞士股份有限公司 行星齿轮箱及其装配方法、相关的机器人关节和机器人
WO2021053539A1 (en) * 2019-09-18 2021-03-25 Fondazione Istituto Italiano Di Tecnologia Actuator for robotic devices
TWI799157B (zh) * 2022-02-24 2023-04-11 國立虎尾科技大學 圓弧齒型偏擺減速機
US20240108479A1 (en) * 2022-10-03 2024-04-04 Point Designs LLC Gear system for a powered prosthetic device

Family Cites Families (25)

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US3985238A (en) * 1973-03-17 1976-10-12 Daikin Kogyo Co., Ltd. Industrial robot
US4068536A (en) * 1976-12-23 1978-01-17 Cincinnati Milacron Inc. Manipulator
JPS57190158U (enExample) * 1981-05-29 1982-12-02
US4624621A (en) * 1982-10-21 1986-11-25 Kabushiki Kaisha Kobe Seiko Sho Wrist mechanism for industrial robots and the like
JPS60127989A (ja) * 1983-12-14 1985-07-08 ファナック株式会社 産業用ロボットの手首駆動機構
JPS61184250A (ja) * 1985-02-08 1986-08-16 Teijin Seiki Co Ltd 減速装置
US5222409A (en) * 1991-09-25 1993-06-29 Dalakian Sergei V Industrial robot arms
US5358460A (en) * 1993-01-25 1994-10-25 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Flex-gear power transmission system for transmitting EMF between sun and ring gears
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
DE19618248C1 (de) * 1996-05-07 1997-10-16 Maul Hans Erich Trommelmotor
US5829986A (en) * 1997-02-10 1998-11-03 Honeybee Robotics, Inc. Single layer, multi-channel band-gear system for rotary joint
JP4265834B2 (ja) * 1999-03-03 2009-05-20 住友重機械工業株式会社 内接噛合遊星歯車構造の内ローラ及び外ローラ並びにその製造方法
US6749533B2 (en) * 2002-05-24 2004-06-15 Macdonald Dettwiler, Space And Advanced Robotics Ltd. Gearbox
TWI223034B (en) * 2002-08-30 2004-11-01 Sumitomo Heavy Industries Power transmission device
JP2004299000A (ja) * 2003-03-31 2004-10-28 Sumitomo Heavy Ind Ltd 産業用ロボットの関節駆動装置
JP4098654B2 (ja) * 2003-03-31 2008-06-11 住友重機械工業株式会社 バルブ駆動装置
US8016893B2 (en) * 2006-06-21 2011-09-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Gear bearing drive
JP4909783B2 (ja) * 2007-03-27 2012-04-04 住友重機械工業株式会社 内接揺動噛合型遊星歯車減速機
JP2009041747A (ja) * 2007-08-10 2009-02-26 Sumitomo Heavy Ind Ltd 動力伝達装置及び動力伝達装置の摺動部構造
JP2010014242A (ja) * 2008-07-04 2010-01-21 Nabtesco Corp 偏心型減速機
JP2010249262A (ja) * 2009-04-17 2010-11-04 Nabtesco Corp 偏心揺動型歯車装置
JP2010260476A (ja) * 2009-05-08 2010-11-18 Ntn Corp インホイールモータ駆動装置および車両用モータ駆動装置
JP5762719B2 (ja) * 2010-10-29 2015-08-12 Ntn株式会社 インホイールモータ駆動装置
JP2012172783A (ja) * 2011-02-23 2012-09-10 Jtekt Corp 減速機製造方法および減速機
JP2012257413A (ja) * 2011-06-10 2012-12-27 Seiko Epson Corp 電気機械装置、ロボット、移動体及び電気機械装置の製造方法

Also Published As

Publication number Publication date
CN102840280B (zh) 2016-08-17
JP2013007416A (ja) 2013-01-10
CN102840280A (zh) 2012-12-26
EP2537643A2 (en) 2012-12-26
US20120325040A1 (en) 2012-12-27
EP2537643A3 (en) 2018-03-07

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