WO2007080987A1 - 偏心揺動型減速機 - Google Patents
偏心揺動型減速機 Download PDFInfo
- Publication number
- WO2007080987A1 WO2007080987A1 PCT/JP2007/050357 JP2007050357W WO2007080987A1 WO 2007080987 A1 WO2007080987 A1 WO 2007080987A1 JP 2007050357 W JP2007050357 W JP 2007050357W WO 2007080987 A1 WO2007080987 A1 WO 2007080987A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed reducer
- teeth
- cooling medium
- camshaft
- external gear
- Prior art date
Links
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
-
- 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
-
- 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
Definitions
- the present invention relates to an eccentric oscillating speed reducer, and more particularly to an eccentric oscillating speed reducer used in a spot gun robot. More specifically, the present invention relates to a camshaft having a crank portion, a plurality of external gear members that are eccentrically moved by rotation of the camshaft, and a peripheral surface of the external gear member.
- the internal gear member is formed on the inner peripheral surface with internal teeth slightly larger than the number of external teeth, and is located on both ends of the external gear member. It is related with improvement of the eccentric rocking
- fluctuation type speed reducer which consists of a supporting member which rotatably supports both ends of this, and the supporting member is integrally connected via the pillar part.
- the eccentric oscillating speed reducer having the above-described structure can achieve a large reduction ratio, and is widely adopted in various technical fields (see, for example, Patent Document 1) and performs spot welding. It is also used in the drive part of industrial robots such as spot gun robots.
- Patent Document 1 Japanese Unexamined Patent Application Publication No. 2004-84920
- Such an eccentric oscillating speed reducer can achieve a large reduction ratio.
- the reducer generates heat when an excessive load is applied to the reducer.
- the force that reduces the load applied to the reduction gear In order to prevent this heat generation, the force that reduces the load applied to the reduction gear.
- Increasing the capacity of the reduction gear is a commonly adopted measure that increases the cost.
- the speed reducer is cooled only to the extent that it is air-cooled.
- An object of the present invention is to provide an eccentric oscillating speed reducer that can be effectively cooled with an extremely simple structure in view of such a conventional technique.
- the present invention achieves the above object by providing a camshaft having a crank portion, a plurality of external gear members that are provided with a hole that accommodates the crank portion, and that are eccentrically moved by rotation of the camshaft, and the external teeth.
- gear An internal gear member that has meshed with external teeth formed on the outer peripheral surface of the member and has internal teeth on the inner peripheral surface that are slightly larger in number than the external teeth, and both ends of the external gear member
- the eccentric oscillating speed reducer in which the support member is integrally connected via a column portion, and is supported by the support member that rotatably supports both ends of the camshaft. This is achieved by an eccentric oscillating speed reducer provided with a cooling medium passage penetrating the support member and the column portion.
- the eccentric oscillating speed reducer when applied to the eccentric oscillating speed reducer force spot gun robot of the present invention, includes a cam shaft having a crank portion and a hole for accommodating the crank portion.
- a plurality of external gear members that are eccentrically moved by rotation of the camshaft and the external teeth formed on the outer peripheral surface of the external gear member, and the number of teeth is slightly larger than the number of teeth of the external teeth.
- An internal gear member having a large number of internal teeth formed on the inner peripheral surface, and a support member that is positioned on both ends of the external gear member and rotatably supports both ends of the camshaft.
- An eccentric rocking type speed reducer that is integrally connected via a support member and a cooling medium passage that penetrates the integrally connected support member and the column portion, and allows the spot gun cooling cooling medium to pass therethrough. can do. With this configuration, it is possible to effectively cool off the eccentric oscillating speed reducer using a cooling medium such as cooling water used for cooling during spot welding in a spot gun robot.
- the eccentric rocking speed reducer is provided with a support member integrally connected and a cooling medium passage penetrating the column portion, and cooling water, cooling air, etc. are provided in the cooling medium passage. By passing this cooling medium, the eccentric oscillating speed reducer can be efficiently cooled. As a result, even when a reduction gear having the same capacity as the conventional one is used, the load applied to the reduction gear can be increased as compared with the conventional one, and the operation can be performed at a lower cost.
- a plurality of eccentric oscillating speed reducers are provided with cooling water, cooling air, or the like. Pipes may be connected in series so that the cooling medium is sequentially supplied. It is also possible to circulate a cooling medium such as cooling water or cooling air to cool one eccentric oscillating speed reducer.
- FIG. 1 is a piping cross-sectional view of a speed reducer according to the present invention applied to a spot gun robot.
- FIG. 2 is a cross-sectional view of an essential part of one embodiment in which the present invention is implemented in an articulated mechanism of an industrial robot.
- FIG. 1 is a piping cross-sectional view of a reduction gear according to the present invention applied to a spot gun robot.
- three reduction gears 1 are used, but here, a detailed description will be given based on the reduction gears 1 shown in the middle.
- the speed reducer 1 of this embodiment is attached to a base 4 and swings an arm 6.
- Each of the reduction gears 1 is of the same type, and each is an eccentric oscillating type reduction gear comprising a cam shaft 11, two external gear members 12, an internal gear member 13, and a support member 14. .
- the support member 14 is positioned on both axial ends of the external gear member 12, and rotatably supports both ends of the cam shaft 11 via a roller bearing.
- a support member 14 is positioned inside the internal gear member 13, and the support member 14 includes a column portion 17 that is loosely fitted in a through hole formed between the cam shaft 11 holes of the external gear member 12.
- a pair of discs 18 and 19 are provided at both ends of the column portion 17, and both ends of the cam shaft 11 are rotatably supported.
- the column portion 17 and the pair of disks 18 and 19 are integrally connected by a connecting bolt.
- the cooling medium passage 30 is passed through the integrated column portion 17 and the discs 18 and 19.
- a plurality of camshafts 11 are equally arranged on the outer peripheral portion of the input gear 15, and each camshaft 11 has crank portions lla and lib.
- the crank parts l la and l ib are formed integrally with the camshaft 11 and have an eccentric phase of 180 degrees.
- Crank parts l la and l ib are fitted with one-dollar bearings and inserted into the holes of the external gear member 12
- Each external gear member 12 is provided with holes for accommodating the crank portions l la and l ib of the cam shaft 11, and eccentrically moves by rotation of the cam shaft 11.
- a peritrochoid tooth profile is formed on the outer periphery of the external gear member 12, and pins (internal teeth) held in a plurality of semicircular grooves formed equally on the inner periphery of the internal gear member 13 Rub in.
- the internal gear member 13 is slightly larger than the number of external teeth formed on the outer peripheral surface of the external gear member 12. Internal teeth having a large number of teeth are formed on the inner peripheral surface and mesh with the external teeth of the external gear member 12.
- a pair of main bearings 20 are provided on the outer circumferences of the pair of disks 18 and 19 so as to rotatably support the support member 14 with respect to the internal gear member 13.
- the main bearing 20 is an anguilla ball bearing, and its rigidity is increased by applying a preload during installation.
- the output rotation of the drive motor 3 is transmitted to the transmission gear 16 having more teeth than the input gear 15 through the input gear 15 attached to the output rotation shaft of the drive motor 3, and the cam attached to the transmission gear 16.
- the shaft 11 is rotated at a reduced speed, and further decelerated by the cam shaft 11, the external gear member 12, and the internal gear member 13. In some cases, it is also possible to use a speed increasing rotation or a constant speed rotation without decelerating rotation.
- cooling water is used as a cooling medium
- the cooling water supplied in the lower stage is a column part 17 and a circular plate 18 integrated with the lower-stage eccentric oscillation speed reducer 1.
- 19 is passed through the cooling medium passage 30 provided in the portion, and the lower-stage eccentric oscillating speed reducer 1 is cooled.
- the cooling water exiting the lower-stage eccentric oscillating speed reducer 1 is cooled by the column 17 and the circular plates 18 and 19 provided in the middle-stage eccentric oscillating speed reducer 1. It is passed through the medium passage 30 and cools the eccentric oscillating speed reducer 1 in the middle stage.
- the cooling water exiting the middle-stage eccentric rocking speed reducer 1 passes through the cooling medium passage housed in the arm 6 and is integrated with the column 17 integrated with the upper-stage eccentric rocking speed reducer 1. It passes through the cooling medium passage 30 provided in the part with the discs 18 and 19, and cools the upper-stage eccentric oscillating speed reducer 1.
- the cooling medium passage has flexibility with respect to the swing of the arm 6, and may be connected via a rotary joint in some cases. In addition, the above embodiment Then, the cooling medium passage may be fixed outside the arm 6 stored in the arm 6
- cooling the speed reducer 1 by the cooling medium passage 30 can reduce heat generation, and the load applied to the speed reducer 1 even when the speed reducer 1 having the same capacity as the conventional one is used. Can be increased as compared with the prior art, and operation can be performed at a lower cost.
- FIG. 2 shows a cross-sectional view of the main part of one embodiment in which the present invention is applied to an articulated mechanism of an industrial robot
- FIG. 2 shows a cross-sectional view of the main part of one embodiment in which the present invention is applied to an articulated mechanism of an industrial robot
- one embodiment of the present invention implemented in the articulated mechanism of an industrial robot will be described. Examples will be described.
- a reduction gear mounting bracket 2 is attached by bolts 4 to a base 41 of an industrial robot such as a spot gun robot.
- the reducer mounting bracket 2 accommodates the reducer 1 having the same structure as described with reference to FIG. Since the structure of the reduction gear 1 is the same as that described with reference to FIG. 1, the same parts are denoted by the same reference numerals and description thereof is omitted.
- the column portion 17 and the pair of disks 18 and 19 are integrally connected by a connecting bolt.
- a cooling medium passage 30 is passed through the integrated column portion 17 and the discs 18 and 19, and the supplied cooling water is passed through the eccentric oscillating speed reducer 1.
- the drainage discharged from the eccentric oscillating speed reducer 1 is circulated and cooled, and is again absorbed as cooling water.
- a swivel base 5 is provided on the base 41, and the swivel base 5 rotates in a horizontal plane by the output of the speed reducer 1.
- a pivot portion 5a is provided on the swivel base 5, and the lower end portion of the arm 6 is supported on the pivot portion 5a so as to be swingable around a horizontal axis, and the arm 6 is supplied from a swing drive source (not shown). It swings in the vertical plane by the power of.
- the articulated mechanism of the present invention is configured as described above.
- another arm such as a welding arm such as a spot gun robot is connected to the other end of the arm 6 as appropriate.
- a counter balance system 7 having a direct spring balance structure in which a biased tension spring (not shown) is stretched is connected between the lower end of the arm 6 and the swivel base 5, and the swivel base 5 Balance the vertical arm 6 that swings upward.
- the eccentric rocking speed reducer is provided with a support member integrally connected and a cooling medium passage penetrating the column portion, and cooling water, cooling air, or the like is cooled in the cooling medium passage.
- the eccentric oscillating speed reducer can be efficiently cooled.
- the load applied to the reduction gear can be increased as compared with the conventional one, and the operation can be performed at a lower cost.
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
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07706699A EP1972830B1 (en) | 2006-01-13 | 2007-01-12 | Eccentric rocking type reduction gear |
JP2007553961A JP5162253B2 (ja) | 2006-01-13 | 2007-01-12 | 偏心揺動型減速機 |
KR1020087016668A KR101233896B1 (ko) | 2006-01-13 | 2007-01-12 | 편심요동형 감속기 |
US12/160,820 US7976420B2 (en) | 2006-01-13 | 2007-01-12 | Eccentric oscillating type speed reducer |
CN2007800031309A CN101375082B (zh) | 2006-01-13 | 2007-01-12 | 偏心摆动型减速器 |
AT07706699T ATE490422T1 (de) | 2006-01-13 | 2007-01-12 | Exzentrisch schwingendes untersetzungsgetriebe |
DE602007010900T DE602007010900D1 (de) | 2006-01-13 | 2007-01-12 | Exzentrisch schwingendes untersetzungsgetriebe |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006-005619 | 2006-01-13 | ||
JP2006005619 | 2006-01-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007080987A1 true WO2007080987A1 (ja) | 2007-07-19 |
Family
ID=38256391
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/050357 WO2007080987A1 (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) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009090381A (ja) * | 2007-10-04 | 2009-04-30 | Yaskawa Electric Corp | ロボットおよび配線方法 |
JP2009233824A (ja) * | 2008-03-28 | 2009-10-15 | Yamaha Motor Co Ltd | 多関節型ロボット |
JP2018126840A (ja) * | 2017-02-10 | 2018-08-16 | 川崎重工業株式会社 | 多関節型ロボット |
Families Citing this family (13)
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 |
JP4903719B2 (ja) | 2006-01-13 | 2012-03-28 | ナブテスコ株式会社 | 関節機構 |
US8562475B2 (en) * | 2010-12-02 | 2013-10-22 | Jtekt Corporation | Eccentric rocking type reduction gear |
CN103917337B (zh) | 2011-09-16 | 2017-12-15 | 柿子技术公司 | 低多变性机器人 |
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 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57171499U (ja) * | 1981-04-23 | 1982-10-28 | ||
JPH10230491A (ja) * | 1998-03-13 | 1998-09-02 | Teijin Seiki Co Ltd | 遊星歯車減速機 |
JPH10263843A (ja) * | 1997-03-25 | 1998-10-06 | Yaskawa Electric Corp | スポット溶接ロボット |
JP2005153047A (ja) * | 2003-11-21 | 2005-06-16 | Fanuc Ltd | ロボットの関節装置。 |
Family Cites Families (6)
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 |
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 |
-
2007
- 2007-01-12 US US12/160,820 patent/US7976420B2/en active Active
- 2007-01-12 CN CN2007800031309A patent/CN101375082B/zh active Active
- 2007-01-12 JP JP2007553961A patent/JP5162253B2/ja 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 AT AT07706699T patent/ATE490422T1/de not_active IP Right Cessation
- 2007-01-12 KR KR1020087016668A patent/KR101233896B1/ko active IP Right Grant
- 2007-01-12 WO PCT/JP2007/050357 patent/WO2007080987A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
JPH10230491A (ja) * | 1998-03-13 | 1998-09-02 | Teijin Seiki Co Ltd | 遊星歯車減速機 |
JP2005153047A (ja) * | 2003-11-21 | 2005-06-16 | Fanuc Ltd | ロボットの関節装置。 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009090381A (ja) * | 2007-10-04 | 2009-04-30 | Yaskawa Electric Corp | ロボットおよび配線方法 |
JP2009233824A (ja) * | 2008-03-28 | 2009-10-15 | Yamaha Motor Co Ltd | 多関節型ロボット |
JP2018126840A (ja) * | 2017-02-10 | 2018-08-16 | 川崎重工業株式会社 | 多関節型ロボット |
Also Published As
Publication number | Publication date |
---|---|
EP1972830A4 (en) | 2009-06-24 |
ATE490422T1 (de) | 2010-12-15 |
CN101375082B (zh) | 2011-09-14 |
JP5162253B2 (ja) | 2013-03-13 |
EP1972830B1 (en) | 2010-12-01 |
DE602007010900D1 (de) | 2011-01-13 |
JPWO2007080987A1 (ja) | 2009-06-11 |
KR20080086495A (ko) | 2008-09-25 |
US7976420B2 (en) | 2011-07-12 |
CN101375082A (zh) | 2009-02-25 |
US20110077117A1 (en) | 2011-03-31 |
EP1972830A1 (en) | 2008-09-24 |
KR101233896B1 (ko) | 2013-02-15 |
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