JP6140958B2 - 歯車機構、減速機及びロボットアーム - Google Patents

歯車機構、減速機及びロボットアーム Download PDF

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Publication number
JP6140958B2
JP6140958B2 JP2012210920A JP2012210920A JP6140958B2 JP 6140958 B2 JP6140958 B2 JP 6140958B2 JP 2012210920 A JP2012210920 A JP 2012210920A JP 2012210920 A JP2012210920 A JP 2012210920A JP 6140958 B2 JP6140958 B2 JP 6140958B2
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JP
Japan
Prior art keywords
gear
tooth
tooth tip
teeth
meshing
Prior art date
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Expired - Fee Related
Application number
JP2012210920A
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English (en)
Japanese (ja)
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JP2014066280A5 (enExample
JP2014066280A (ja
Inventor
勝英 長谷川
勝英 長谷川
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.)
Canon Inc
Original Assignee
Canon Inc
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 Canon Inc filed Critical Canon Inc
Priority to JP2012210920A priority Critical patent/JP6140958B2/ja
Priority to US14/422,881 priority patent/US9427866B2/en
Priority to CN201380054882.3A priority patent/CN104755801B/zh
Priority to PCT/JP2013/076446 priority patent/WO2014051131A1/en
Priority to EP13777345.3A priority patent/EP2901041A1/en
Publication of JP2014066280A publication Critical patent/JP2014066280A/ja
Publication of JP2014066280A5 publication Critical patent/JP2014066280A5/ja
Application granted granted Critical
Publication of JP6140958B2 publication Critical patent/JP6140958B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • 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
    • F16H1/321—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 the orbital gear being nutating
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/25—Gearing
    • 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
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/1966—Intersecting axes

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Gears, Cams (AREA)
  • Manipulator (AREA)
JP2012210920A 2012-09-25 2012-09-25 歯車機構、減速機及びロボットアーム Expired - Fee Related JP6140958B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2012210920A JP6140958B2 (ja) 2012-09-25 2012-09-25 歯車機構、減速機及びロボットアーム
US14/422,881 US9427866B2 (en) 2012-09-25 2013-09-20 Gear mechanism, speed reducer, and robot arm
CN201380054882.3A CN104755801B (zh) 2012-09-25 2013-09-20 齿轮机构、减速器和机械手臂
PCT/JP2013/076446 WO2014051131A1 (en) 2012-09-25 2013-09-20 Gear mechanism, speed reducer, and robot arm
EP13777345.3A EP2901041A1 (en) 2012-09-25 2013-09-20 Gear mechanism, speed reducer, and robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012210920A JP6140958B2 (ja) 2012-09-25 2012-09-25 歯車機構、減速機及びロボットアーム

Publications (3)

Publication Number Publication Date
JP2014066280A JP2014066280A (ja) 2014-04-17
JP2014066280A5 JP2014066280A5 (enExample) 2015-11-12
JP6140958B2 true JP6140958B2 (ja) 2017-06-07

Family

ID=49382556

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012210920A Expired - Fee Related JP6140958B2 (ja) 2012-09-25 2012-09-25 歯車機構、減速機及びロボットアーム

Country Status (5)

Country Link
US (1) US9427866B2 (enExample)
EP (1) EP2901041A1 (enExample)
JP (1) JP6140958B2 (enExample)
CN (1) CN104755801B (enExample)
WO (1) WO2014051131A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2018306966B2 (en) * 2017-07-27 2021-07-22 Fujitsu General Limited Rotary compressor

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6429517B2 (ja) * 2014-07-10 2018-11-28 キヤノン株式会社 歯車機構、変速機及び多関節ロボットアーム
JP6507605B2 (ja) * 2014-12-04 2019-05-08 三菱重工業株式会社 差動歯車変速機構
DE112016000998T5 (de) * 2015-03-02 2017-11-16 Thk Co., Ltd. Drehzahlverringerungs- oder Drehzahlerhöhungsvorrichtung
JP6611454B2 (ja) * 2015-04-09 2019-11-27 キヤノン株式会社 揺動歯車機構、変速機、アクチュエータ及びロボットアーム
US9768664B2 (en) 2015-05-21 2017-09-19 The Boeing Company Balanced eccentric gear design and method
US10203022B2 (en) 2015-11-04 2019-02-12 The Boeing Company Elliptically interfacing wobble motion gearing system and method
US10024391B2 (en) * 2016-01-06 2018-07-17 The Boeing Company Elliptically interfacing gearbox
US10574109B2 (en) 2016-04-28 2020-02-25 The Boeing Company Permanent magnet biased virtual elliptical motor
US10215244B2 (en) 2017-03-02 2019-02-26 The Boeing Company Elliptically interfacing gear assisted braking system
US10520063B2 (en) 2017-04-21 2019-12-31 The Boeing Company Mechanical virtual elliptical drive
US10267383B2 (en) * 2017-05-03 2019-04-23 The Boeing Company Self-aligning virtual elliptical drive
WO2020034373A1 (zh) * 2018-08-17 2020-02-20 北京智能大艾机器人科技有限公司 一种端面齿摆线针轮副和章动减速装置
US10968969B2 (en) 2019-03-18 2021-04-06 The Boeing Company Nutational braking systems and methods
US11459098B2 (en) 2019-11-27 2022-10-04 The Boeing Company Variable speed transmission and related methods
CN111673711B (zh) * 2020-05-18 2025-01-17 贵州贵安新区盛典科技发展有限公司 一种轨道式巡检机器人
CN112836319B (zh) * 2021-03-11 2022-07-22 西南交通大学 一种考虑非均匀分布齿根裂纹故障的仿真方法

Family Cites Families (11)

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Publication number Priority date Publication date Assignee Title
JPS4512664Y1 (enExample) 1966-08-29 1970-06-02
IS988B6 (is) * 1975-04-15 1978-03-08 Balcke-Dürr AG. Tannhjólakerfi
JPS5254854A (en) * 1975-10-30 1977-05-04 Hasetsuku Enjiniaringu Kk Multiengaged wn gear
JPS54120347A (en) 1978-03-09 1979-09-18 Buichi Nakamura Skewed intermeshing differential face gearing mechanism
KR100189281B1 (ko) * 1994-12-27 1999-06-01 미따라이 하지메 감속기
EP2278190B1 (en) * 2009-05-22 2013-01-23 National University Corporation Fukushima University Deformation crown gear speed reduction mechanism
CN101793309A (zh) * 2010-03-26 2010-08-04 傅元才 一种少齿差行星齿轮减速器及大扭矩动力扳手
WO2011155071A1 (ja) 2010-06-11 2011-12-15 国立大学法人福島大学 多自由度マニピュレータ
CN102939478A (zh) * 2010-06-11 2013-02-20 轨道技术工程集团 具有固定方向轨道运动的运动链
CN101915286B (zh) * 2010-08-30 2012-02-01 重庆大学 约束式少齿差减速器
JP5860548B2 (ja) * 2012-11-13 2016-02-16 国立大学法人福島大学 クラウンギア減速機構

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2018306966B2 (en) * 2017-07-27 2021-07-22 Fujitsu General Limited Rotary compressor
US11225971B2 (en) 2017-07-27 2022-01-18 Fujitsu General Limited Rotary compressor

Also Published As

Publication number Publication date
US20150224642A1 (en) 2015-08-13
JP2014066280A (ja) 2014-04-17
US9427866B2 (en) 2016-08-30
EP2901041A1 (en) 2015-08-05
WO2014051131A1 (en) 2014-04-03
CN104755801A (zh) 2015-07-01
CN104755801B (zh) 2017-06-20

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