WO2014045531A1 - 偏心揺動型歯車装置 - Google Patents

偏心揺動型歯車装置 Download PDF

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Publication number
WO2014045531A1
WO2014045531A1 PCT/JP2013/005215 JP2013005215W WO2014045531A1 WO 2014045531 A1 WO2014045531 A1 WO 2014045531A1 JP 2013005215 W JP2013005215 W JP 2013005215W WO 2014045531 A1 WO2014045531 A1 WO 2014045531A1
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WO
WIPO (PCT)
Prior art keywords
end plate
gear
substrate
eccentric
groove
Prior art date
Application number
PCT/JP2013/005215
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
雄大 和中
伸一 丹羽
Original Assignee
ナブテスコ株式会社
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 ナブテスコ株式会社 filed Critical ナブテスコ株式会社
Priority to CN201380048660.0A priority Critical patent/CN104641147B/zh
Priority to DE112013004516.8T priority patent/DE112013004516B4/de
Priority to KR1020157009669A priority patent/KR101668970B1/ko
Publication of WO2014045531A1 publication Critical patent/WO2014045531A1/ja

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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
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
    • F16H57/0424—Lubricant guiding means in the wall of or integrated with the casing, e.g. grooves, channels, holes
    • 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
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • 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
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • 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
    • 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
    • F16H2001/325—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 a carrier with pins guiding at least one orbital gear with circular holes

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 disposed in the outer cylinder and fixed to the other counterpart member.
  • a crank bearing is attached to the center of the carrier, and the crankshaft passes therethrough.
  • 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 groove extending in the radial direction is formed on the surface of the carrier on the side of the oscillating gear. Thereby, the grease can be moved in the radial direction through the groove.
  • the carrier of the eccentric oscillating gear device disclosed in Patent Document 1 has a groove extending in the radial direction for spreading grease where lubrication is required.
  • this configuration has the following problems. That is, while the gear device is being driven, centrifugal force is applied as the carrier rotates. For this reason, the grease in the groove flows outward from the radially outer end. Therefore, it is difficult to lubricate the crank bearing located at the center of the carrier.
  • An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to the first embodiment is applied as a speed reducer to, for example, a turning portion such as a turning drum or arm joint of a robot, a turning portion of various machine tools, or the like. It is a gear device.
  • the gear device 1 includes an outer cylinder 2, a carrier 4, a plurality (for example, three) of crankshafts 10, swing gears 14 and 16, and a plurality of (for example, three). And a transmission gear 20.
  • 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 is disposed so as to extend 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.
  • 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 rotates relative to the outer cylinder 2 around the same axis.
  • the carrier 4 is arranged on the radially inner side of the outer cylinder 2, and in this state, the carrier 4 can be rotated relative to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction. It is supported by.
  • the carrier 4 includes a base portion 5 having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 7.
  • 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) mounting recesses 4e are provided at equal intervals in the circumferential direction around the through hole 4d.
  • the mounting recess 4e constitutes a mounting portion (substrate-side mounting portion) for mounting the substrate-side bearing 12a among the crank bearings described later, and is formed in a concave shape that opens to a surface facing the first rocking gear 14. Yes.
  • a through hole 7 a is provided in the central portion in the radial direction of the end plate portion 7.
  • a plurality of (for example, three) attachment holes 7b are provided around the through hole 7a at positions corresponding to the plurality of attachment recesses 4e of the substrate portion 4a.
  • the mounting hole 7b constitutes a mounting portion (end plate side mounting portion) for mounting the end plate side bearing 12b in a crank bearing described later.
  • the attachment portion 7b is formed in a through-hole shape whose one end portion opens in a surface facing the second oscillating gear 16. That is, the mounting portion for mounting the crank bearing to the carrier 4 includes mounting recesses 4e (board side mounting portions) formed in the board portion 4a and mounting holes 7b (end plate side mounting portions) formed in the end plate portion 7. ).
  • 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 to the end plate portion 7 side.
  • 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 7 by bolts 9 (see FIG. 1). That is, a bolt insertion hole 7c is formed in the end plate portion 7, and a fastening hole 4f is formed in the shaft portion 4c (base portion 5) so as to extend in the axial direction from the distal end surface.
  • a bolt 9 is inserted into the bolt insertion hole 7 c of the end plate portion 7 from the side opposite to the base portion 5. The bolt 9 is screwed into the fastening hole 4f of the shaft portion 4c.
  • Each crankshaft 10 is supported by a crank bearing so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1).
  • the crank bearing has a substrate side bearing 12a attached to the attachment recess 4e and an end plate side bearing 12b attached to the attachment hole 7b.
  • a substrate-side bearing 12 a is attached to one axial end portion of each crankshaft 10.
  • substrate side bearing 12a is mounted
  • an end plate side bearing 12b is attached to the other end portion of each crankshaft 10 in the axial direction.
  • This end plate side bearing 12 b is mounted in a mounting hole 7 b provided in the end plate portion 7. That is, a plurality of mounting holes 7b are provided so as to correspond to the number of crank bearings (three). Thereby, the crankshaft 10 is rotatably supported by the board
  • Each crankshaft 10 has a shaft body 10c and eccentric parts 10a and 10b formed integrally with the shaft body 10c.
  • 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 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c.
  • 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 10 d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion outside the axial direction of a portion attached in the attachment hole 7 b of the end plate portion 7.
  • a transmission gear 20 is externally fitted to the fitted portion 10d of each crankshaft 10.
  • the transmission gear 20 has external teeth 20 a that mesh with an input shaft gear (not shown), and transmits the rotation of the input shaft to the corresponding crankshaft 10.
  • the transmission gear 20 rotates integrally with the crankshaft 10 around the same axis as the rotation axis of the crankshaft 10.
  • 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 of the first eccentric portion 10a.
  • 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 first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.
  • the central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.
  • An input shaft (not shown) is inserted through the central through hole 14b with play.
  • 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 swing gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation of the second eccentric portion 10b.
  • 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.
  • the substrate side groove 27 is formed in a shape along the periphery of the mounting recess 4e (substrate side mounting portion) for mounting the substrate side bearing 12a. Since a plurality of mounting recesses 4e are provided at intervals in the circumferential direction around the through hole 4d (three in the illustrated example), the substrate-side groove 27 also has an interval in the circumferential direction around the through hole 4d. And a plurality (three in the illustrated example) are provided. Each substrate-side groove 27 includes a bottom portion 27a connected to the periphery of the mounting recess 4e and a wall portion 27b rising from the outer peripheral end of the bottom portion 27a. The first swing gear 14 extends over the entire periphery of the mounting recess 4e.
  • the lubricating oil can be stored in the substrate-side groove 27 at a position adjacent to the substrate-side bearing 12a. Since a gap is formed between the surface of the substrate portion 4a facing the first oscillating gear 14 and the first oscillating gear 14, not only in the substrate side groove 27 but also through the gap, the internal tooth pin 3 Lubricating oil reaches the meshing part with the external teeth 14 a and the main bearing 6.
  • the bottom 27a is the thinnest at the radially outer position of the carrier 4 and the widest at the radially inner position, but is not limited to this shape.
  • the bottom 27a may be formed to have the same width over the entire circumference, or may be formed in a narrow shape at the inner position and wide at the outer position.
  • the end plate side groove 29 is formed in a shape along the periphery of the mounting hole 7b (end plate side mounting portion) for mounting the end plate side bearing 12b. Since a plurality of attachment holes 7b are provided in the circumferential direction around the through hole 7a (three in the example), the end plate-side groove 29 is also circumferentially spaced around the through hole 7a. A plurality (three in the example) are provided.
  • Each end plate side groove 29 has a bottom portion 29a connected to the periphery of the mounting hole 7b and a wall portion 29b rising from the outer peripheral end of the bottom portion 29a, and the second swing gear over the entire circumference of the mounting hole 7b.
  • the wall portions 27b and 29b may be formed at least at a radially outer portion of the attachment portion (attachment recess 4e and attachment hole 7b). It is not necessary to be formed over the entire circumference of the recess 4e and the mounting hole 7b). It suffices that the wall portions 27b and 29b are formed at the outer periphery in the radial direction of the carrier 4 from the center of the mounting portion (the center of the mounting recess 4e and the center of the mounting hole 7b) at the periphery of the mounting portion.
  • the substrate-side communication groove 32 is formed along the periphery of the through hole 4d so as to connect the adjacent substrate-side grooves 27 to each other.
  • the substrate-side communication groove 32 includes a bottom portion 32a formed flush with the bottom portion 27a of the substrate-side groove 27, and a wall portion 32b that rises from the outer peripheral end of the bottom portion 32a at a position where the substrate-side groove 27 is not connected. . Since the substrate side grooves 27 communicate with each other through the substrate side communication grooves 32, the lubricating oil is stored in the substrate side communication grooves 32 in the same manner as the substrate side grooves 27.
  • the mounting recess 4e is formed in a concave shape that opens to the surface facing the first swing gear 14, and the substrate-side groove 27 is formed so that the bottom 27a is connected to the periphery of the mounting recess 4e.
  • the attachment hole 7b is formed in a hole shape opening on the surface facing the second swing gear 16, and the end plate side groove 29 is formed so that the bottom 29a is connected to the periphery of the attachment hole 7b.
  • bearings that support the crankshaft 10 are arranged on both sides of the swing gears 14 and 16, respectively.
  • the bearing 12b is lubricated by the lubricating oil stored in the substrate side groove 27 and the end plate side groove 29, respectively. Accordingly, the crankshaft 10 can be supported on both sides in the longitudinal direction, and lubrication of both bearings 12a and 12b can be ensured.
  • the swing gears 14 and 16 can be driven by the crankshaft 10 having a small diameter, and lubrication of each crank bearing can be ensured. .
  • the input shaft is disposed at the center of the carrier 4 and the plurality of crankshafts 10 are disposed around the input shaft, whereas in the second embodiment, the crankshaft is arranged.
  • 10 is configured as a center crank type disposed in the center of the carrier 4. Specifically, as shown in FIG. 4, only one crankshaft 10 is provided, and this crankshaft 10 penetrates the through hole 4 d that penetrates the central portion of the substrate portion 4 a and the central portion of the end plate portion 7. It is arrange
  • the substrate side bearing 12a is disposed in the through hole 4d of the substrate portion 4a, and the end plate side bearing 12b is disposed in the through hole 7a of the end plate portion 7.
  • the substrate side groove 27 is formed along the periphery of the through hole 4d to which the substrate side bearing 12a is attached, and the end plate side groove 29 is formed along the periphery of the through hole 7a to which the end plate side bearing 12b is attached.
  • the end plate side groove 29 has a narrow width in the vicinity of the bolt insertion hole 7c, and is formed to have substantially the same width in other portions.
  • the shape is not limited to this.
  • the end plate side groove 29 may be configured to have a narrower width in the vicinity of the through hole 7 d for allowing the positioning pin 11 to penetrate in addition to the vicinity of the bolt insertion hole 7 c.
  • the input shaft is provided so as to mesh with the transmission gear 20 provided at one end of the crankshaft 10.
  • 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 present invention is not limited to this.
  • the carrier 4 may be fixed to a fixed body such as a base, and the outer cylinder 2 may rotate relative to the carrier 4.
  • the mounting portion may be formed in a concave shape or a hole shape opening on a surface facing the rocking gear.
  • the oil groove is formed so that the bottom of the oil groove is connected to the periphery of the mounting portion.
  • the lubricating oil is stored in the oil groove, and on the other hand, the lubricating oil is also stored in the mounting portion that is formed in a concave shape or a hole shape and is connected to the oil groove, so that the lubricity of the crank bearing can be improved. it can.
  • the carrier may include a substrate portion and an end plate portion that is formed separately from the substrate portion and disposed on the side opposite to the substrate portion with respect to the swing gear.
  • the attachment portion may include a substrate side attachment portion formed on the substrate portion and an end plate side attachment portion formed on the end plate portion.
  • the crank bearing may include a substrate-side bearing attached to the substrate-side attachment portion and an end plate-side bearing attached to the end plate-side attachment portion.
  • the oil groove includes a substrate-side groove formed on a surface of the substrate portion facing the rocking gear, and an end plate-side groove formed on a surface of the end plate portion facing the rocking gear. It is preferable to have.
  • the swing gear can be driven by a crankshaft having a small diameter, and lubrication of each crank bearing can be ensured.
  • a communication groove that connects the oil grooves may be formed.
  • crank bearing can be lubricated.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • General Details Of Gearings (AREA)
PCT/JP2013/005215 2012-09-18 2013-09-03 偏心揺動型歯車装置 WO2014045531A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201380048660.0A CN104641147B (zh) 2012-09-18 2013-09-03 偏心摆动型齿轮装置
DE112013004516.8T DE112013004516B4 (de) 2012-09-18 2013-09-03 Exzenterrotationszahnrad-Vorrichtung
KR1020157009669A KR101668970B1 (ko) 2012-09-18 2013-09-03 편심 요동형 기어 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012203993A JP5988429B2 (ja) 2012-09-18 2012-09-18 偏心揺動型歯車装置
JP2012-203993 2012-09-18

Publications (1)

Publication Number Publication Date
WO2014045531A1 true WO2014045531A1 (ja) 2014-03-27

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Application Number Title Priority Date Filing Date
PCT/JP2013/005215 WO2014045531A1 (ja) 2012-09-18 2013-09-03 偏心揺動型歯車装置

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JP (1) JP5988429B2 (ko)
KR (1) KR101668970B1 (ko)
CN (1) CN104641147B (ko)
DE (1) DE112013004516B4 (ko)
WO (1) WO2014045531A1 (ko)

Cited By (1)

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CN109854685A (zh) * 2019-01-25 2019-06-07 南京高速齿轮制造有限公司 偏心摆动型齿轮减速装置

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JP6453135B2 (ja) * 2015-03-27 2019-01-16 住友重機械工業株式会社 偏心揺動型の歯車装置
JP6752070B2 (ja) * 2016-07-12 2020-09-09 ナブテスコ株式会社 歯車装置
JP6723657B2 (ja) * 2016-12-05 2020-07-15 住友重機械工業株式会社 減速装置
CN108412966A (zh) * 2017-02-09 2018-08-17 安徽聚隆机器人减速器有限公司 一种偏心摆动型齿轮装置
JP6909130B2 (ja) * 2017-11-02 2021-07-28 住友重機械工業株式会社 遊星歯車減速装置
JP7199147B2 (ja) * 2018-02-07 2023-01-05 住友重機械工業株式会社 偏心揺動型減速装置および潤滑剤の給脂方法
JP7129308B2 (ja) * 2018-10-11 2022-09-01 住友重機械工業株式会社 偏心揺動型減速装置

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JP2011038582A (ja) * 2009-08-10 2011-02-24 Nabtesco Corp 揺動型減速機
JP2011043243A (ja) * 2010-11-29 2011-03-03 Sumitomo Heavy Ind Ltd 動力伝達装置

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Publication number Priority date Publication date Assignee Title
CN109854685A (zh) * 2019-01-25 2019-06-07 南京高速齿轮制造有限公司 偏心摆动型齿轮减速装置

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Publication number Publication date
JP2014059012A (ja) 2014-04-03
KR101668970B1 (ko) 2016-10-24
JP5988429B2 (ja) 2016-09-07
CN104641147B (zh) 2017-03-22
CN104641147A (zh) 2015-05-20
KR20150058350A (ko) 2015-05-28
DE112013004516B4 (de) 2022-02-17
DE112013004516T5 (de) 2015-06-03

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