TWI678485B - 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 - Google Patents

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 Download PDF

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Publication number
TWI678485B
TWI678485B TW105109057A TW105109057A TWI678485B TW I678485 B TWI678485 B TW I678485B TW 105109057 A TW105109057 A TW 105109057A TW 105109057 A TW105109057 A TW 105109057A TW I678485 B TWI678485 B TW I678485B
Authority
TW
Taiwan
Prior art keywords
gear device
gear
eccentric oscillating
external
externally toothed
Prior art date
Application number
TW105109057A
Other languages
English (en)
Chinese (zh)
Other versions
TW201638497A (zh
Inventor
中村江児
Koji Nakamura
光野悠太
Yuta Mitsuno
Original Assignee
日商納博特斯克股份有限公司
Nabtesco Corporation
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 日商納博特斯克股份有限公司, Nabtesco Corporation filed Critical 日商納博特斯克股份有限公司
Publication of TW201638497A publication Critical patent/TW201638497A/zh
Application granted granted Critical
Publication of TWI678485B publication Critical patent/TWI678485B/zh

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Classifications

    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
TW105109057A 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 TWI678485B (zh)

Applications Claiming Priority (2)

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
JP2015-091966 2015-04-28

Publications (2)

Publication Number Publication Date
TW201638497A TW201638497A (zh) 2016-11-01
TWI678485B true TWI678485B (zh) 2019-12-01

Family

ID=57135837

Family Applications (1)

Application Number Title Priority Date Filing Date
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

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

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200537040A (en) * 2004-01-30 2005-11-16 Nabtesco Corp Eccentric oscillating-type planetary gear device
WO2008096857A1 (ja) * 2007-02-09 2008-08-14 Nabtesco Corporation 減速装置とそれを利用する追尾式太陽光発電装置
CN101772657A (zh) * 2007-07-31 2010-07-07 纳博特斯克株式会社 齿轮装置及使用齿轮装置的工业机器人的转动部结构
TW201335513A (zh) * 2011-11-04 2013-09-01 Nabtesco Corp 齒輪傳動裝置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101422306B1 (ko) * 2006-09-01 2014-07-22 나부테스코 가부시키가이샤 감속 장치
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
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW200537040A (en) * 2004-01-30 2005-11-16 Nabtesco Corp Eccentric oscillating-type planetary gear device
WO2008096857A1 (ja) * 2007-02-09 2008-08-14 Nabtesco Corporation 減速装置とそれを利用する追尾式太陽光発電装置
CN101772657A (zh) * 2007-07-31 2010-07-07 纳博特斯克株式会社 齿轮装置及使用齿轮装置的工业机器人的转动部结构
TW201335513A (zh) * 2011-11-04 2013-09-01 Nabtesco Corp 齒輪傳動裝置

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
DE102016205975A1 (de) 2016-11-03
CN106090134A (zh) 2016-11-09
JP6573777B2 (ja) 2019-09-11

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