JP6573777B2 - 外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法 - Google Patents

外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法 Download PDF

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Publication number
JP6573777B2
JP6573777B2 JP2015091966A JP2015091966A JP6573777B2 JP 6573777 B2 JP6573777 B2 JP 6573777B2 JP 2015091966 A JP2015091966 A JP 2015091966A JP 2015091966 A JP2015091966 A JP 2015091966A JP 6573777 B2 JP6573777 B2 JP 6573777B2
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Japan
Prior art keywords
external gear
external
eccentric oscillating
gear device
gear
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JP2015091966A
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English (en)
Japanese (ja)
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JP2016205601A (ja
Inventor
村 江 児 中
村 江 児 中
野 悠 太 光
野 悠 太 光
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Nabtesco Corp
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Nabtesco Corp
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Publication date
Application filed by Nabtesco Corp filed Critical Nabtesco Corp
Priority to JP2015091966A priority Critical patent/JP6573777B2/ja
Priority to TW105109057A priority patent/TWI678485B/zh
Priority to DE102016205975.0A priority patent/DE102016205975B4/de
Priority to KR1020160046878A priority patent/KR102542805B1/ko
Priority to CN201610252428.4A priority patent/CN106090134B/zh
Publication of JP2016205601A publication Critical patent/JP2016205601A/ja
Application granted granted Critical
Publication of JP6573777B2 publication Critical patent/JP6573777B2/ja
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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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-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—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
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
JP2015091966A 2015-04-28 2015-04-28 外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法 Active JP6573777B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2015091966A JP6573777B2 (ja) 2015-04-28 2015-04-28 外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法
TW105109057A TWI678485B (zh) 2015-04-28 2016-03-23 外齒齒輪、偏心擺動型齒輪裝置、機器手、偏心擺動型齒輪裝置之使用方法及齒輪裝置群
DE102016205975.0A DE102016205975B4 (de) 2015-04-28 2016-04-11 Aussenzahnrad, exzentrische Oszillationsgetriebevorrichtung, Roboter, Verfahren für die Verwendung einer exzentrischen Oszillationsgetriebevorrichtung und Satz von Getriebevorrichtungen
KR1020160046878A KR102542805B1 (ko) 2015-04-28 2016-04-18 외치 기어, 편심 요동형 기어 장치, 로봇, 편심 요동형 기어 장치의 사용 방법 및 기어 장치군
CN201610252428.4A CN106090134B (zh) 2015-04-28 2016-04-21 外齿轮、偏心摆动型齿轮装置、机器人、偏心摆动型齿轮装置的使用方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015091966A JP6573777B2 (ja) 2015-04-28 2015-04-28 外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法

Publications (2)

Publication Number Publication Date
JP2016205601A JP2016205601A (ja) 2016-12-08
JP6573777B2 true JP6573777B2 (ja) 2019-09-11

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JP2015091966A Active JP6573777B2 (ja) 2015-04-28 2015-04-28 外歯歯車、偏心揺動型歯車装置、ロボット、及び、偏心揺動型歯車装置の使用方法

Country Status (5)

Country Link
JP (1) JP6573777B2 (de)
KR (1) KR102542805B1 (de)
CN (1) CN106090134B (de)
DE (1) DE102016205975B4 (de)
TW (1) TWI678485B (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106402285B (zh) * 2016-11-16 2020-09-04 李宗翰 一种可增大输出扭矩的偏心摆动型行星齿轮减速装置
CN106438864A (zh) * 2016-11-16 2017-02-22 马桂骅 一种可增大输出扭矩的偏心摆动型行星齿轮装置
CN110151033A (zh) * 2019-05-06 2019-08-23 谢奉先 一种背部助洗按摩机
JP7530796B2 (ja) * 2020-10-05 2024-08-08 ナブテスコ株式会社 減速機、及び減速機の偏心ギヤ
US11981375B2 (en) * 2020-10-05 2024-05-14 Nabtesco Corporation Steering device
KR20220157300A (ko) 2021-05-20 2022-11-29 나부테스코 가부시키가이샤 탈락 방지 기능을 구비하는 변속기
US20230182286A1 (en) * 2021-12-15 2023-06-15 Nabtesco Corporation Eccentric oscillation gear device, robot, and industrial machine
KR20230091041A (ko) * 2021-12-15 2023-06-22 나부테스코 가부시키가이샤 편심 요동형 기어 장치, 로봇, 산업 기계, 및 편심 요동형 기어 장치의 조립 방법

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101140794B1 (ko) * 2004-01-30 2012-05-03 나부테스코 가부시키가이샤 편심 요동형 유성 기어 장치
KR101422306B1 (ko) * 2006-09-01 2014-07-22 나부테스코 가부시키가이샤 감속 장치
KR101457722B1 (ko) * 2007-02-09 2014-11-04 나부테스코 가부시키가이샤 감속 장치와 그것을 이용하는 추적식 태양광 발전 장치
JP5205633B2 (ja) 2007-07-31 2013-06-05 ナブテスコ株式会社 歯車装置及び歯車装置を用いた産業用ロボットの旋回部構造
JP2009047264A (ja) * 2007-08-21 2009-03-05 Nabtesco Corp 偏心揺動型歯車装置
JP2009115274A (ja) * 2007-11-09 2009-05-28 Nabtesco Corp 偏心揺動型歯車装置及びこれを備えた産業用ロボットの関節構造
EP2246591B1 (de) * 2008-02-07 2013-08-14 Nabtesco Corporation Leistungsgetriebevorrichtung
JP5385559B2 (ja) * 2008-06-30 2014-01-08 ナブテスコ株式会社 リング歯車を備える歯車伝動装置
JP5490752B2 (ja) * 2011-06-24 2014-05-14 住友重機械工業株式会社 揺動内接噛合型の減速装置
JP2013096550A (ja) * 2011-11-04 2013-05-20 Nabtesco Corp 歯車伝動装置
JP5988424B2 (ja) * 2012-07-03 2016-09-07 ナブテスコ株式会社 偏心揺動型歯車装置
JP6124583B2 (ja) * 2012-12-19 2017-05-10 ナブテスコ株式会社 偏心揺動型歯車装置
JP5941863B2 (ja) 2013-03-27 2016-06-29 住友重機械工業株式会社 偏心揺動型の減速機構を備えた減速装置

Also Published As

Publication number Publication date
DE102016205975B4 (de) 2023-12-21
KR20160128221A (ko) 2016-11-07
TW201638497A (zh) 2016-11-01
JP2016205601A (ja) 2016-12-08
KR102542805B1 (ko) 2023-06-14
CN106090134B (zh) 2020-06-02
TWI678485B (zh) 2019-12-01
DE102016205975A1 (de) 2016-11-03
CN106090134A (zh) 2016-11-09

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