JPWO2007080987A1 - 偏心揺動型減速機 - Google Patents
偏心揺動型減速機 Download PDFInfo
- Publication number
- JPWO2007080987A1 JPWO2007080987A1 JP2007553961A JP2007553961A JPWO2007080987A1 JP WO2007080987 A1 JPWO2007080987 A1 JP WO2007080987A1 JP 2007553961 A JP2007553961 A JP 2007553961A JP 2007553961 A JP2007553961 A JP 2007553961A JP WO2007080987 A1 JPWO2007080987 A1 JP WO2007080987A1
- Authority
- JP
- Japan
- Prior art keywords
- speed reducer
- eccentric oscillating
- camshaft
- gear member
- teeth
- 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.)
- Granted
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 58
- 239000002826 coolant Substances 0.000 claims abstract description 31
- 230000002093 peripheral effect Effects 0.000 claims abstract description 15
- 238000001816 cooling Methods 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims 1
- 239000000498 cooling water Substances 0.000 abstract description 13
- 230000020169 heat generation Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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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
-
- 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
- F16H23/00—Wobble-plate gearings; Oblique-crank gearings
- F16H23/02—Wobble-plate gearings; Oblique-crank gearings with adjustment of throw by changing the position of the wobble-member
-
- 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
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Manipulator (AREA)
- General Details Of Gearings (AREA)
- Resistance Welding (AREA)
- Transmission Devices (AREA)
- Pens And Brushes (AREA)
- Gears, Cams (AREA)
Abstract
Description
Claims (2)
- クランク部を有するカム軸と、該クランク部を収容する孔を備え、カム軸の回転によって偏心運動する複数枚の外歯歯車部材と、該外歯歯車部材の外周面に形成された外歯に噛み合い、該外歯の歯数より若干歯数の多い内歯を内周面に形成した内歯歯車部材と、前記外歯歯車部材の両側端に位置し、カム軸の両端を回転自在に支持する支持部材とからなり、該支持部材が柱部を介して一体的に連結されている偏心揺動型減速機において、前記一体的に連結された支持部材および柱部を貫通する冷却媒体通路を設けた偏心揺動型減速機。
- スポットガンロボットに用いられる偏心揺動型減速機において、前記偏心揺動型減速機が、クランク部を有するカム軸と、該クランク部を収容する孔を備え、カム軸の回転によって偏心運動する複数枚の外歯歯車部材と、該外歯歯車部材の外周面に形成された外歯に噛み合い、該外歯の歯数より若干歯数の多い内歯を内周面に形成した内歯歯車部材と、前記外歯歯車部材の両側端に位置し、カム軸の両端を回転自在に支持する支持部材とからなり、該支持部材が柱部を介して一体的に連結され、該一体的に連結された支持部材および柱部を貫通する冷却媒体通路を設け、スポットガン冷却用冷却媒体を通すようにした偏心揺動型減速機。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007553961A JP5162253B2 (ja) | 2006-01-13 | 2007-01-12 | 偏心揺動型減速機 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006005619 | 2006-01-13 | ||
JP2006005619 | 2006-01-13 | ||
PCT/JP2007/050357 WO2007080987A1 (ja) | 2006-01-13 | 2007-01-12 | 偏心揺動型減速機 |
JP2007553961A JP5162253B2 (ja) | 2006-01-13 | 2007-01-12 | 偏心揺動型減速機 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2007080987A1 true JPWO2007080987A1 (ja) | 2009-06-11 |
JP5162253B2 JP5162253B2 (ja) | 2013-03-13 |
Family
ID=38256391
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007553961A Active JP5162253B2 (ja) | 2006-01-13 | 2007-01-12 | 偏心揺動型減速機 |
Country Status (8)
Country | Link |
---|---|
US (1) | US7976420B2 (ja) |
EP (1) | EP1972830B1 (ja) |
JP (1) | JP5162253B2 (ja) |
KR (1) | KR101233896B1 (ja) |
CN (1) | CN101375082B (ja) |
AT (1) | ATE490422T1 (ja) |
DE (1) | DE602007010900D1 (ja) |
WO (1) | WO2007080987A1 (ja) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9879760B2 (en) | 2002-11-25 | 2018-01-30 | Delbert Tesar | Rotary actuator with shortest force path configuration |
US7971503B2 (en) | 2006-01-13 | 2011-07-05 | Nabtesco Corporation | Joint mechanism |
JP5293917B2 (ja) * | 2007-10-04 | 2013-09-18 | 株式会社安川電機 | ロボットおよび配線方法 |
JP5203009B2 (ja) * | 2008-03-28 | 2013-06-05 | ヤマハ発動機株式会社 | 多関節型ロボット |
CN103228950B (zh) * | 2010-12-02 | 2016-02-03 | 株式会社捷太格特 | 偏心摇动型减速齿轮 |
KR101829397B1 (ko) | 2011-09-16 | 2018-02-19 | 퍼시몬 테크놀로지스 코포레이션 | 낮은 가변성을 가진 로봇 |
US10414271B2 (en) | 2013-03-01 | 2019-09-17 | Delbert Tesar | Multi-speed hub drive wheels |
US9862263B2 (en) | 2013-03-01 | 2018-01-09 | Delbert Tesar | Multi-speed hub drive wheels |
US9365105B2 (en) | 2013-10-11 | 2016-06-14 | Delbert Tesar | Gear train and clutch designs for multi-speed hub drives |
WO2015112538A1 (en) | 2014-01-21 | 2015-07-30 | Persimmon Technologies, Corp. | Substrate transport vacuum platform |
US10422387B2 (en) | 2014-05-16 | 2019-09-24 | Delbert Tesar | Quick change interface for low complexity rotary actuator |
US9915319B2 (en) | 2014-09-29 | 2018-03-13 | Delbert Tesar | Compact parallel eccentric rotary actuator |
US9657813B2 (en) | 2014-06-06 | 2017-05-23 | Delbert Tesar | Modified parallel eccentric rotary actuator |
US11014658B1 (en) | 2015-01-02 | 2021-05-25 | Delbert Tesar | Driveline architecture for rotorcraft featuring active response actuators |
US10464413B2 (en) | 2016-06-24 | 2019-11-05 | Delbert Tesar | Electric multi-speed hub drive wheels |
JP6853686B2 (ja) * | 2017-02-10 | 2021-03-31 | 川崎重工業株式会社 | 多関節型ロボット |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5948159B2 (ja) | 1981-04-14 | 1984-11-24 | 日本鋼管株式会社 | 高含水泥状物質の連続処理設備 |
JPS57171499U (ja) * | 1981-04-23 | 1982-10-28 | ||
JPH10263843A (ja) * | 1997-03-25 | 1998-10-06 | Yaskawa Electric Corp | スポット溶接ロボット |
JP2827166B2 (ja) * | 1998-03-13 | 1998-11-18 | 帝人製機株式会社 | 遊星歯車減速機 |
CN2415209Y (zh) * | 1999-11-23 | 2001-01-17 | 陶刚 | 夹层壳体水冷式连铸拉矫机减速器 |
US6579202B2 (en) * | 2000-12-18 | 2003-06-17 | General Motors Corporation | Lubrication and cooling system for power receiving and delivery units in an electro-mechanical vehicular transmission |
JP4004256B2 (ja) | 2001-09-13 | 2007-11-07 | ナブテスコ株式会社 | 偏心揺動型減速機 |
JP2004084920A (ja) | 2002-07-03 | 2004-03-18 | Ts Corporation | 真空用歯車装置 |
JP4267950B2 (ja) * | 2003-03-28 | 2009-05-27 | 住友重機械工業株式会社 | 内歯揺動型内接噛合遊星歯車装置 |
JP2005153047A (ja) * | 2003-11-21 | 2005-06-16 | Fanuc Ltd | ロボットの関節装置。 |
-
2007
- 2007-01-12 CN CN2007800031309A patent/CN101375082B/zh active Active
- 2007-01-12 DE DE602007010900T patent/DE602007010900D1/de active Active
- 2007-01-12 EP EP07706699A patent/EP1972830B1/en active Active
- 2007-01-12 JP JP2007553961A patent/JP5162253B2/ja active Active
- 2007-01-12 KR KR1020087016668A patent/KR101233896B1/ko active IP Right Grant
- 2007-01-12 US US12/160,820 patent/US7976420B2/en active Active
- 2007-01-12 AT AT07706699T patent/ATE490422T1/de not_active IP Right Cessation
- 2007-01-12 WO PCT/JP2007/050357 patent/WO2007080987A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US7976420B2 (en) | 2011-07-12 |
WO2007080987A1 (ja) | 2007-07-19 |
DE602007010900D1 (de) | 2011-01-13 |
US20110077117A1 (en) | 2011-03-31 |
CN101375082B (zh) | 2011-09-14 |
EP1972830A1 (en) | 2008-09-24 |
ATE490422T1 (de) | 2010-12-15 |
KR20080086495A (ko) | 2008-09-25 |
JP5162253B2 (ja) | 2013-03-13 |
EP1972830A4 (en) | 2009-06-24 |
EP1972830B1 (en) | 2010-12-01 |
CN101375082A (zh) | 2009-02-25 |
KR101233896B1 (ko) | 2013-02-15 |
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