JP6556375B2 - 減速装置及びロボット - Google Patents
減速装置及びロボット Download PDFInfo
- Publication number
- JP6556375B2 JP6556375B2 JP2018546144A JP2018546144A JP6556375B2 JP 6556375 B2 JP6556375 B2 JP 6556375B2 JP 2018546144 A JP2018546144 A JP 2018546144A JP 2018546144 A JP2018546144 A JP 2018546144A JP 6556375 B2 JP6556375 B2 JP 6556375B2
- Authority
- JP
- Japan
- Prior art keywords
- gear
- sun gear
- bevel gear
- sun
- electric motor
- 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.)
- Active
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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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
- F16H1/22—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H1/222—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate 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
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/36—Toothed gearings for conveying rotary motion with gears having orbital motion with two central gears coupled by intermeshing orbital gears
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Description
図1は、本発明の実施の形態1に係る減速装置の一例を示す概要図である。また、図2は、図1のII−IIにおける断面を示す図である。
実施の形態2では、上記の実施の形態1で説明した減速装置に電動機が接続された構成例について説明する。
実施の形態3では、上記の実施の形態2で説明した装置を適用したロボットについて説明する。
Claims (3)
- 第1の太陽歯車と、
前記第1の太陽歯車と同軸に設置されて歯数が前記第1の太陽歯車とは異なる第2の太陽歯車と、
前記第1の太陽歯車と嵌合した第1の遊星歯車と、
前記第2の太陽歯車及び前記第1の遊星歯車の双方に嵌合して歯数が前記第1の遊星歯車と同一の第2の遊星歯車と、
前記第1の太陽歯車、前記第1の遊星歯車及び前記第2の遊星歯車の軸の相対位置を回転自由に固定して前記第1の太陽歯車よりも低い回転速度で回転するキャリア部とを備え、
前記第1の太陽歯車と前記第2の太陽歯車とを互いに逆方向に同一の回転速度で回転させることを特徴とする減速装置。 - 電動機によって回転する第1の傘歯車と、
前記第1の傘歯車によって前記電動機の回転軸と垂直な軸で回転する第2の傘歯車と、
前記第1の傘歯車に嵌合して前記第2の傘歯車と同軸で前記第2の傘歯車とは逆回転する第3の傘歯車とを有し、
前記第1の太陽歯車は、前記第2の傘歯車に固定されて前記第2の傘歯車と同軸で回転し、
前記第2の太陽歯車は、前記第3の傘歯車に固定されて前記第3の傘歯車と同軸で回転することを特徴とする請求項1に記載の減速装置。 - 請求項2に記載の減速装置と、
前記電動機を固定する静止部筐体とを備え、
前記キャリア部が、前記静止部筐体に対して回転又は直動移動し、前記電動機の回転に対して減速比を持つ関節軸を構成していることを特徴とするロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016205503 | 2016-10-19 | ||
JP2016205503 | 2016-10-19 | ||
PCT/JP2017/023626 WO2018074008A1 (ja) | 2016-10-19 | 2017-06-27 | 減速装置及びロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018074008A1 JPWO2018074008A1 (ja) | 2019-02-14 |
JP6556375B2 true JP6556375B2 (ja) | 2019-08-07 |
Family
ID=62018331
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018546144A Active JP6556375B2 (ja) | 2016-10-19 | 2017-06-27 | 減速装置及びロボット |
Country Status (5)
Country | Link |
---|---|
US (1) | US10759047B1 (ja) |
JP (1) | JP6556375B2 (ja) |
CN (1) | CN109891125B (ja) |
DE (1) | DE112017005329B9 (ja) |
WO (1) | WO2018074008A1 (ja) |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US691591A (en) * | 1901-01-02 | 1902-01-21 | Alexander T Brown | Gearing. |
GB1415523A (en) * | 1972-04-13 | 1975-11-26 | Stirland H | Transmission assembly |
FR2225051A5 (en) * | 1973-04-06 | 1974-10-31 | Signaux Entr Electriques | Speed increasing or reducing gear train - has planetary gear assemblies rotating about central shaft assembly |
JPS6023654A (ja) | 1983-07-15 | 1985-02-06 | Hitachi Ltd | 変速機 |
JPH01316547A (ja) * | 1988-06-15 | 1989-12-21 | Seiko Epson Corp | 小型減速機 |
JPH0556713U (ja) | 1991-12-26 | 1993-07-27 | 善次郎 中山 | ブレーキ倍力装置 |
JP3373235B2 (ja) * | 1992-12-18 | 2003-02-04 | 栃木富士産業株式会社 | デファレンシャル装置 |
JP3559061B2 (ja) * | 1994-03-15 | 2004-08-25 | 栃木富士産業株式会社 | デファレンシャル装置 |
JPH0989054A (ja) | 1995-09-26 | 1997-03-31 | Shigeto Suzuki | 差動装置 |
JP3097844B2 (ja) * | 1998-03-06 | 2000-10-10 | 株式会社ボッシュオートモーティブシステム | 平行軸差動歯車装置 |
JP2008286380A (ja) | 2007-05-21 | 2008-11-27 | Obata Fukuji | 三輪車の差動装置 |
WO2011061759A1 (en) * | 2009-11-17 | 2011-05-26 | Sheetal Goel | High reduction ratio and easily adaptable planetary gear train with orbiting gears |
CN103388654A (zh) * | 2012-05-12 | 2013-11-13 | 中日龙(襄阳)机电技术开发有限公司 | 复式行星齿轮结构的减速装置 |
DE102012105313A1 (de) * | 2012-06-19 | 2013-12-19 | Technische Universität München | Agiles, angetriebenes Gelenk mit drei Freiheitsgraden |
FR2993333B1 (fr) * | 2012-07-11 | 2014-08-22 | Commissariat Energie Atomique | Dispositif de transmission de mouvement a reducteur epicycloidal, reducteur epicycloidal et bras de manipulation |
JP2015206455A (ja) * | 2014-01-28 | 2015-11-19 | Ntn株式会社 | ブレーキ付減速機 |
CN105221669B (zh) * | 2015-09-17 | 2019-01-29 | 吴建红 | 一种行星齿轮传动机构、机器人关节减速器和机器人 |
-
2017
- 2017-06-27 US US16/325,225 patent/US10759047B1/en active Active
- 2017-06-27 CN CN201780063348.7A patent/CN109891125B/zh active Active
- 2017-06-27 JP JP2018546144A patent/JP6556375B2/ja active Active
- 2017-06-27 WO PCT/JP2017/023626 patent/WO2018074008A1/ja active Application Filing
- 2017-06-27 DE DE112017005329.3T patent/DE112017005329B9/de active Active
Also Published As
Publication number | Publication date |
---|---|
US20200269418A1 (en) | 2020-08-27 |
DE112017005329B4 (de) | 2021-04-29 |
CN109891125A (zh) | 2019-06-14 |
US10759047B1 (en) | 2020-09-01 |
DE112017005329T5 (de) | 2019-09-12 |
WO2018074008A1 (ja) | 2018-04-26 |
DE112017005329B9 (de) | 2021-06-24 |
JPWO2018074008A1 (ja) | 2019-02-14 |
CN109891125B (zh) | 2021-11-26 |
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