WO2014002419A1 - 偏心揺動型歯車装置 - Google Patents
偏心揺動型歯車装置 Download PDFInfo
- Publication number
- WO2014002419A1 WO2014002419A1 PCT/JP2013/003749 JP2013003749W WO2014002419A1 WO 2014002419 A1 WO2014002419 A1 WO 2014002419A1 JP 2013003749 W JP2013003749 W JP 2013003749W WO 2014002419 A1 WO2014002419 A1 WO 2014002419A1
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- rotation angle
- eccentric
- gear device
- tube portion
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Classifications
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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
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
-
- 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
Definitions
- the present invention relates to an eccentric oscillating gear device.
- an eccentric oscillating gear device that reduces the rotational speed at a predetermined reduction ratio between two mating members.
- the eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member and a carrier fixed to the other counterpart member.
- the carrier rotates relative to the outer cylinder by the swinging rotation of the swinging gear attached to the eccentric part of the crankshaft.
- a rotational phase difference occurs in the torsional rigidity of the gear device depending on the eccentric direction of the assembled crankshaft (the eccentric direction of the eccentric portion). For this reason, a phase change in torsional rigidity occurs during reassembly during maintenance or the like.
- rotational phase adjusting means for determining the direction of the crankshaft is provided.
- the phase of torsional rigidity becomes the same as before the disassembly even at the time of reassembly after the disassembly.
- Patent Document 1 focuses on the rotational phase difference of torsional rigidity caused by the eccentric direction of the crankshaft (the eccentric direction of the eccentric portion). However, it is not only the torsional rigidity caused by the eccentric direction of the crankshaft that affects the rotational angle characteristics of the gear device. For this reason, it is expected that the rotation angle characteristic can be improved by paying attention to other factors that may affect the rotation angle characteristic such as the positioning characteristic at the time of stopping.
- An object of the present invention is to enable effective use of information regarding factors that may affect the rotation angle characteristics of a gear device.
- An eccentric oscillating gear device is a gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member, A crankshaft having an eccentric portion and rotating upon receiving a driving force from the input portion, an oscillating gear having an insertion hole into which the eccentric portion is inserted and a tooth portion, the first member and the first A first tube portion configured to be attachable to one of the two members, and a second tube portion configured to be attachable to the other of the first member and the second member.
- One of the first cylinder part and the second cylinder part rotatably supports the crankshaft.
- the other of the first tube portion and the second tube portion has a tooth portion that meshes with the tooth portion of the swing gear.
- the first cylinder part and the second cylinder part are rotatable concentrically with each other by the swinging of the swinging gear accompanying the rotation of the crankshaft.
- the eccentric oscillating gear device includes information on parameters that are caused by machining errors and affect the rotation angle characteristics, information on parameters that change with temperature and affect the rotation angle characteristics, and influence on the time-varying characteristics.
- a storage unit that stores at least one piece of information regarding parameters that affect the rotational angle characteristics.
- FIG. 2 is a cross-sectional view taken along line II-II in FIG. It is a figure showing an example of the map which linked
- An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the present embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.
- the gear device 1 rotates the crankshaft 10 by rotating the input shaft 8, and swings and rotates the swing gears 14 and 16 in conjunction with the eccentric portions 10a and 10b of the crankshaft 10.
- an output rotation decelerated from the input rotation is obtained.
- the gear device 1 includes an outer cylinder 2, a large number of internal teeth pins 3, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, The oscillating gear 14, the second oscillating gear 16, and a plurality of (for example, three) transmission gears 20 are provided.
- the outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape.
- a large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2.
- Each pin groove 2b extends in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction.
- These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.
- Each internal tooth pin 3 is attached to the pin groove 2b. Specifically, each internal tooth pin 3 is fitted in the pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2. Thereby, the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2. The external teeth 14 a of the first oscillating gear 14 and the external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.
- the carrier 4 is accommodated in the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2.
- the carrier 4 is supported so as to be relatively rotatable with respect to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. Therefore, the carrier 4 rotates relative to the outer cylinder 2 around the same axis.
- the carrier 4 includes a base portion having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 4b.
- the substrate portion 4a is disposed in the outer cylinder 2 in the vicinity of one end portion in the axial direction.
- a circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a.
- a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
- the end plate portion 4b is provided to be spaced apart from the substrate portion 4a in the axial direction, and is disposed in the vicinity of the other end portion in the axial direction in the outer cylinder 2.
- a through hole 4f is provided at the radial center of the end plate portion 4b.
- a plurality of (for example, three) crankshaft mounting holes 4g (hereinafter simply referred to as mounting holes 4g) are provided at positions corresponding to the plurality of mounting holes 4e of the substrate portion 4a.
- mounting holes 4g In the outer cylinder 2, a closed space surrounded by both inner surfaces of the end plate part 4 b and the substrate part 4 a facing each other and the inner peripheral surface of the outer cylinder 2 is formed.
- the plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a toward the end plate portion 4b.
- the plurality of shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2).
- Each shaft portion 4c is fastened to the end plate portion 4b by a bolt 4h (see FIG. 1). Thereby, the board
- the input shaft 8 functions as an input unit for inputting a driving force of a driving motor (not shown).
- the input shaft 8 is inserted into the through hole 4f of the end plate portion 4b and the through hole 4d of the substrate portion 4a.
- the input shaft 8 is arranged such that its axis coincides with the axes of the outer cylinder 2 and the carrier 4 and rotates around the axis.
- An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
- the plurality of crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2).
- Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1).
- a first crank bearing 12a is attached to a portion on the inside in the axial direction by a predetermined length from one axial end of each crankshaft 10, and the first crank bearing 12a is attached to the mounting hole 4e of the base plate portion 4a. It is attached to.
- crankshaft 10 is rotatably supported by the board
- Each crankshaft 10 has a shaft body 12c and eccentric portions 10a and 10b formed integrally with the shaft body.
- the 1st eccentric part 10a and the 2nd eccentric part 10b are arrange
- Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 12c in a state of being eccentric with respect to the shaft center of the shaft body 12c.
- the first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.
- a fitted portion 10c to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion on the outer side in the axial direction from the portion attached in the attachment hole 4e of the substrate portion 4a.
- the first oscillating gear 14 is disposed in the closed space in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
- first roller bearing 18a When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
- the first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2.
- the first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have.
- the central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.
- the input shaft 8 is inserted into the central through hole 14b with play.
- the plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14.
- the first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.
- the plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
- the second oscillating gear 16 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b.
- the first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b.
- the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
- the second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.
- Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10.
- Each transmission gear 20 is externally fitted to a fitted portion 10 c provided at one end of the corresponding shaft body 12 c of the crankshaft 10.
- Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10.
- Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
- the gear device 1 of the present embodiment is provided with a storage unit 30 in which information related to parameters that affect the rotation angle characteristics is stored.
- the storage unit 30 is configured by an IC chip having a communication control unit and a storage control unit, and is embedded in, for example, the outer cylinder 2. Therefore, the information stored in the storage unit 30 can be read by an external non-contact reader.
- the information stored in the storage unit 30 includes information on parameters (machining error / rigidity information) that are caused by the rotational rigidity characteristics and machining errors of the internal parts of the reducer and affect the rotation angle characteristics, and changes depending on the temperature. And information on parameters that affect the rotation angle characteristics (temperature change error information), and information on parameters that affect the time change characteristics and affect the rotation angle characteristics (time change error information). Contains information.
- the rotation angle characteristic is a characteristic when the output shaft (for example, the carrier 4 or the outer cylinder 2) rotates, and is a characteristic related to a difference between the actual rotation angle and the theoretical rotation angle. This will affect positioning errors.
- the error information When machining error / rigidity information is included, for example, information relating to output shaft rotation fluctuation is stored as the error information.
- the information on the output shaft rotation fluctuation is the characteristics and processing due to the torsional rigidity of the internal parts of the reducer when the output shaft (for example, the carrier 4 or the outer cylinder 2) is rotated with torque applied while the input shaft 8 is fixed.
- the rotation angle actually generated on the output shaft due to the influence of the error is expressed as a ratio with respect to the theoretical rotation angle and is associated with the output shaft rotation angle.
- the rotation angle actually generated at the output shaft is slightly different from the theoretical rotation angle due to the characteristics of torsional rigidity and the machining accuracy of the parts. Therefore, if the information about the output shaft rotation fluctuation obtained from the result of measuring the actual rotation angle generated when the load torque is input is used for the stop control of the gear device 1, the robot or the like to which the gear device 1 is attached is stopped. The error can be reduced.
- the storage unit 30 includes a map in which the output shaft rotation variation (ratio of the output rotation angle (measured value) at the output shaft to the theoretical rotation angle) and the rotation angle of the output shaft are associated with each other. It is remembered. In the present embodiment, the output shaft rotation fluctuation is stored for each rotation angle of the output shaft.
- the value of the output shaft rotation fluctuation is obtained by a test that is normally performed when the gear device 1 is shipped. Therefore, special data collection is not required for storing in the storage unit 30.
- the storage unit 30 has a load torque that is 1/2 (0.5 To) of the rated torque To and 3% (0 .03 To) is also stored in association with the rotation angle of the output shaft. Thereby, it is possible to meet the demand on the user side that the load of 1/2 To or 0.03 To is more suitable for actual use than the rated torque To.
- the output shaft rotation fluctuation at 1/2 To and the output shaft rotation fluctuation at 0.03 To can be omitted.
- the output shaft (for example, the carrier 4 or the outer cylinder 2) is rotated with the input shaft 8 fixed.
- the input torque is set to the rated torque by calculating the load torque from the motor current value or the like.
- the rotation angle of the output shaft is measured by a motor encoder (not shown).
- information related to the output shaft rotation fluctuation according to the rotation angle is read from the storage unit 30, and the read information is fed back to the robot controller.
- the fed back information becomes the correction information, and the angle correction according to the correction information is performed in the robot controller, and the angle of the robot arm is corrected.
- the map that associates the output shaft rotation fluctuation with the rotation angle of the output shaft is stored, but the present invention is not limited to this.
- this waveform is obtained.
- T load torque
- the data directly measuring the output shaft rotation fluctuation is used as the information on the output shaft rotation fluctuation.
- the present invention is not limited to this.
- data that indirectly affects the output shaft rotation angle such as hysteresis characteristics (backlash, lost motion, spring constant) may be measured, and the measurement data may be stored as information regarding output shaft rotation fluctuation. . Then, this may be used by the user for output rotation angle control.
- the temperature change error information may be, for example, information related to the linear expansion coefficient of the rocking gears 14 and 16, or the temperature (case temperature) of the outer cylinder 2 and the theoretical rotation.
- related the difference of the actual rotation angle with respect to an angle may be sufficient.
- output shaft rotation fluctuation (representing the rotation angle actually generated on the output shaft as a ratio to the theoretical rotation angle) with respect to a plurality of case temperatures is obtained in advance (FIG. 5 shows two temperatures).
- Data may be obtained at more temperatures), and the information obtained from this data representing the change in output shaft rotation variation in response to the change in case temperature You may make it memorize
- the time-related change error information stores information in which the usage time of the gear device 1 and the difference between the actual rotation angle and the theoretical rotation angle are associated with each other. For example, as shown in FIG. 6, the change amount of the output shaft rotation variation with the lapse of the operation time of the gear device 1 is obtained in advance, and the output shaft rotation with the lapse of the operation time of the gear device 1 is obtained based on this data. You may make it memorize
- the storage unit 30 has information related to parameters that are caused by machining errors and affect the rotation angle characteristics, and changes according to temperature and affects the rotation angle characteristics. At least one piece of information is stored, which is information related to parameters and information related to parameters that affect the time-varying characteristics and affect the rotation angle characteristics. For this reason, by utilizing the information stored in the storage unit 30, it is possible to improve the rotation angle characteristics of a robot or the like in which the eccentric oscillating gear device 1 is incorporated. That is, when information related to a parameter caused by a machining error and affecting the rotation angle characteristic is stored in the storage unit 30, by using this stored information, the rotation angle correction according to the individual difference is performed. Control can be performed.
- the rotation angle characteristic of the robot or the like can be improved by the rotation angle correction control.
- a rotation angle error associated with a change in the ambient temperature It is possible to perform control to eliminate the problem. For this reason, it is possible to suppress the occurrence of a rotation angle error due to a change in ambient temperature.
- the rotation angle accompanying the time-dependent change is used. It is possible to perform control to eliminate the error. For this reason, it becomes possible to suppress that a rotation angle error arises because the gear apparatus 1 changed with time.
- storage part 30 since the information memorize
- the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention.
- the two swing gears 14 and 16 are provided.
- the present invention is not limited to this.
- a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.
- the input shaft 8 is disposed at the center of the carrier 4 and the plurality of crankshafts 10 are disposed around the input shaft 8.
- the present invention is not limited to this.
- a center crank type in which one crankshaft 10 is disposed at the center of the carrier 4 may be used. In this case, as long as the input shaft 8 is provided so as to mesh with the transmission gear 20 attached to the crankshaft 10, it may be disposed at any position.
- the storage unit 30 is embedded in the outer cylinder 2, but the present invention is not limited to this.
- it may be configured to be mounted on the surface of the outer cylinder 2 or may be configured to be mounted on the carrier 4.
- the information in the storage unit 30 is not limited to information that can be read by a non-contact type reader.
- the storage unit includes information on parameters that are caused by processing errors and affect the rotation angle characteristics, information on parameters that change with temperature and affect the rotation angle characteristics, and temporal change characteristics And at least one piece of information related to a parameter that affects the rotation angle characteristic and the rotation angle characteristic is stored. For this reason, by utilizing the information stored in the storage unit, it is possible to improve the rotation angle characteristics of the device incorporating the eccentric oscillating gear device. In other words, when information related to parameters that are caused by machining errors and affect the rotational angle characteristics is stored in the storage unit, by using this stored information, individual differences of the eccentric oscillating gear device It is possible to perform rotation angle correction control according to the above.
- the rotation angle characteristic of the device incorporating the eccentric oscillating gear device can be improved by the rotation angle correction control.
- the rotation angle error associated with the change in ambient temperature can be reduced by using the stored information. It is possible to perform control to cancel. For this reason, it is possible to suppress the occurrence of a rotation angle error due to a change in ambient temperature.
- the rotation angle error accompanying the time-dependent change can be obtained. It is possible to perform control to eliminate the problem. For this reason, it is possible to suppress the occurrence of a rotation angular path error due to a change with time of the eccentric oscillating gear device.
- torque is applied to one of the first tube portion and the second tube portion while the input portion is fixed.
- the information on the parameter that changes depending on the temperature and affects the rotation angle characteristic includes information on a linear expansion coefficient of the swing gear or a temperature change of the first cylinder part or the second cylinder part.
- information representing a change in the rotation angle fluctuation around the axis may be included.
- the information regarding the parameter that affects the time-varying characteristics and the rotation angle characteristics includes the first cylinder section or the second cylinder section according to a usage time of the eccentric oscillating gear device. Information representing a change in rotational angle fluctuation about the axis may be included.
- the information stored in the storage unit is preferably readable by an external non-contact reader.
- the information stored in the storage unit can be read while the storage unit is mounted on the eccentric oscillating gear device. Therefore, it is possible to prevent troublesomeness when reading information.
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Abstract
Description
2 外筒
3 内歯ピン
4 キャリア
6 主軸受
8 入力軸
10 クランク軸
10a 第1偏心部
10b 第2偏心部
12a 第1クランク軸受
12b 第2クランク軸受
12c 軸本体
14 第1揺動歯車
14a 外歯
14c 偏心部挿通孔
16 第2揺動歯車
16a 外歯
16c 偏心部挿通孔
18a 第1ころ軸受
18b 第2ころ軸受
20 伝達歯車
30 記憶部
Claims (5)
- 第1の部材と第2の部材との間で所定の回転数比で回転数を変換して駆動力を伝達する偏心揺動型歯車装置であって、
偏心部を有し、入力部からの駆動力を受けて回転するクランク軸と、
前記偏心部が挿入される挿通孔を有すると共に歯部を有する揺動歯車と、
前記第1の部材及び前記第2の部材の一方に取り付け可能に構成される第1筒部と、
前記第1の部材及び前記第2の部材の他方に取り付け可能に構成される第2筒部と、を備え、
前記第1筒部及び前記第2筒部の一方は前記クランク軸を回転可能に支持し、前記第1筒部及び前記第2筒部の他方は前記揺動歯車の前記歯部と噛み合う歯部を有しており、
前記第1筒部と前記第2筒部とは、前記クランク軸の回転に伴う前記揺動歯車の揺動によって同心状に互いに相対的に回転可能であり、
前記偏心揺動型歯車装置には、加工誤差に起因し且つ回転角度特性に影響を与えるパラメータに関する情報と、温度によって変化し且つ回転角度特性に影響を与えるパラメータに関する情報と、経時変化特性に影響を与え且つ回転角度特性に影響を与えるパラメータに関する情報と、の少なくとも一つの情報が記憶された記憶部が設けられている偏心揺動型歯車装置。 - 前記加工誤差に起因し且つ回転角度特性に影響を与えるパラメータに関する情報には、前記入力部が固定された状態で前記第1筒部及び前記第2筒部の一方にトルクを負荷したときに、前記第1筒部及び前記第2筒部の一方に生ずる回転角度誤差に関する情報と、前記クランク軸を回転させたときに、前記第1筒部及び前記第2筒部の一方に生ずる回転角度誤差に関する情報との少なくとも一方の情報が含まれている請求項1に記載の偏心揺動型歯車装置。
- 前記温度によって変化し且つ回転角度特性に影響を与えるパラメータに関する情報には、前記揺動歯車の線膨張係数に関する情報、又は前記第1筒部若しくは前記第2筒部の温度変化に応じた軸回り回転角度変動の変化を表す情報が含まれている請求項1又は2に記載の偏心揺動型歯車装置。
- 前記経時変化特性に影響を与え且つ回転角度特性に影響を与えるパラメータに関する情報には、前記偏心揺動型歯車装置の使用時間に応じた、前記第1筒部又は前記第2筒部の軸回り回転角度変動の変化を表す情報が含まれている請求項1から3の何れか1項に記載の偏心揺動型歯車装置。
- 前記記憶部に記憶された情報は、外部の非接触式読み取り機によって読み取り可能である請求項1から4の何れか1項に記載の偏心揺動型歯車装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/408,471 US9556933B2 (en) | 2012-06-25 | 2013-06-14 | Eccentric oscillation gear device |
KR1020157001572A KR101685314B1 (ko) | 2012-06-25 | 2013-06-14 | 편심 요동형 기어 장치 |
CN201380033994.0A CN104412003B (zh) | 2012-06-25 | 2013-06-14 | 偏心摆动型齿轮装置 |
DE112013003223.6T DE112013003223B4 (de) | 2012-06-25 | 2013-06-14 | Getriebevorrichtung mit exzentrisch umlaufender Bewegung |
Applications Claiming Priority (2)
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JP2012141712A JP5941349B2 (ja) | 2012-06-25 | 2012-06-25 | 偏心揺動型歯車装置 |
JP2012-141712 | 2012-06-25 |
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WO2014002419A1 true WO2014002419A1 (ja) | 2014-01-03 |
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PCT/JP2013/003749 WO2014002419A1 (ja) | 2012-06-25 | 2013-06-14 | 偏心揺動型歯車装置 |
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US (1) | US9556933B2 (ja) |
JP (1) | JP5941349B2 (ja) |
KR (1) | KR101685314B1 (ja) |
CN (1) | CN104412003B (ja) |
DE (1) | DE112013003223B4 (ja) |
TW (1) | TWI595173B (ja) |
WO (1) | WO2014002419A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160076624A1 (en) * | 2014-09-17 | 2016-03-17 | Nabtesco Corporation | Motor with speed reducer |
EP3104048A4 (en) * | 2014-04-22 | 2017-06-14 | Langham Automatic Co., Ltd. | Magneto-rheological servo speed regulating and reducing device and assembly and control method therefor |
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JP6758845B2 (ja) * | 2016-02-12 | 2020-09-23 | 住友重機械工業株式会社 | 偏心揺動型の歯車装置 |
TWI586907B (zh) * | 2016-04-13 | 2017-06-11 | 泰鋒精密科技股份有限公司 | 變速裝置 |
JP6752070B2 (ja) * | 2016-07-12 | 2020-09-09 | ナブテスコ株式会社 | 歯車装置 |
EP3339235B1 (en) * | 2016-12-21 | 2020-06-03 | Otis Elevator Company | Self-locking gear and people conveyor comprising a self-locking gear |
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JP6863882B2 (ja) | 2017-11-27 | 2021-04-21 | 住友重機械工業株式会社 | 遊星歯車装置及び遊星歯車装置の製造方法 |
JP7373272B2 (ja) * | 2018-09-13 | 2023-11-02 | ナブテスコ株式会社 | 減速機、エンコーダ付きオイルシール、産業機械および工場 |
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- 2013-06-14 CN CN201380033994.0A patent/CN104412003B/zh active Active
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EP3104048A4 (en) * | 2014-04-22 | 2017-06-14 | Langham Automatic Co., Ltd. | Magneto-rheological servo speed regulating and reducing device and assembly and control method therefor |
US20160076624A1 (en) * | 2014-09-17 | 2016-03-17 | Nabtesco Corporation | Motor with speed reducer |
Also Published As
Publication number | Publication date |
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JP5941349B2 (ja) | 2016-06-29 |
JP2014005874A (ja) | 2014-01-16 |
KR20150023833A (ko) | 2015-03-05 |
TWI595173B (zh) | 2017-08-11 |
CN104412003A (zh) | 2015-03-11 |
US9556933B2 (en) | 2017-01-31 |
CN104412003B (zh) | 2017-02-22 |
US20150176680A1 (en) | 2015-06-25 |
TW201420920A (zh) | 2014-06-01 |
KR101685314B1 (ko) | 2016-12-20 |
DE112013003223T5 (de) | 2015-03-19 |
DE112013003223B4 (de) | 2022-04-14 |
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