CN104412004B - Eccentrically swinging gear device - Google Patents
Eccentrically swinging gear device Download PDFInfo
- Publication number
- CN104412004B CN104412004B CN201380035096.9A CN201380035096A CN104412004B CN 104412004 B CN104412004 B CN 104412004B CN 201380035096 A CN201380035096 A CN 201380035096A CN 104412004 B CN104412004 B CN 104412004B
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- Prior art keywords
- wobble gear
- gear
- outer barrel
- wobble
- eccentric part
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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
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Eccentrically swinging gear device (1) has：Eccentric part (10a)；With the inserting hole for eccentric part (10a) insertion, and the wobble gear (14) with external tooth (14a)；Outer barrel (2)；And bearing (4).Outer barrel (2) is formed by the linear expansion coefficient material bigger than the material of wobble gear (14).Bearing (4) is arranged at the radially inner side of outer barrel (2) in the state of wobble gear (14) is kept.Outer barrel (2) is based on the swing of the wobble gear (14) of the rotation with eccentric part (10a) with bearing (4) and mutually can concentrically relatively rotated.
Description
Technical field
The present invention relates to a kind of Eccentrically swinging gear device.
Background technology
In the past, as disclosed in following patent documents 1, it is known to specified speed reducing ratio to turning between two counterparts
The Eccentrically swinging gear device that speed is slowed down.The Eccentrically swinging gear device has：It is fixed in one of them pairing
The outer barrel of part；And be arranged in outer barrel, and it is fixed in the bearing of another counterpart.Bearing is based on being installed in
The swing of the wobble gear of the eccentric part of bent axle rotates, and is rotated relative to outer barrel.
In recent years, due to robot use environment change, be improved the tendency of the running rate of robot, with
This, high speed is also required to reductor.In Eccentrically swinging gear device, the temperature of temperature during use in bearing than outer barrel
It is high.Therefore, wobble gear can thermal expansion when in use.Because of the thermal expansion of wobble gear, the external tooth of wobble gear and outer barrel it is interior
The gap turn narrow of between cog.It is accompanied by this, the face pressure (surface pressure) of the flank of tooth of wobble gear uprises, as a result, hair
The problem of service life of raw wobble gear reduces.
Prior art literature
Patent document
Patent document 1：Japanese Laid-Open Patent Publication 2006-77980
The content of the invention
It is an object of the invention to the face pressure of the flank of tooth by suppressing wobble gear to uprise, to suppress the use of wobble gear
Lifetime.
To reach described purpose, Eccentrically swinging gear device of the invention between the first and the second member with
The rotating ratio specified changes rotating speed and transmits driving force, including：Eccentric part；Wobble gear, have for eccentric part insertion
Inserting hole, and there is teeth portion；First portion, one of the first component and the second component portion can be installed on
Part；And second portion, another part that can be installed in the first component and the second component.First portion
Formed by the linear expansion coefficient material bigger than the material of the wobble gear.First portion has and the wobble gear
The internal tooth of the teeth portion engagement.Second portion is arranged at first portion in the state of the wobble gear is kept
Radially inner side.First portion and the pendulum of the wobble gear of second portion based on the rotation with the eccentric part
Move and mutually can concentrically relatively rotate.
Brief description of the drawings
Fig. 1 represents the sectional view of the structure of the Eccentrically swinging gear device involved by embodiments of the present invention.
Fig. 2 represents Fig. 1 II-II line sectional views.
Embodiment
Hereinafter, the Eccentrically swinging gear device involved by embodiment that present invention will be described in detail with reference to the accompanying.This reality
The Eccentrically swinging gear device (hereinafter referred to as geared system) 1 for applying mode is applied to such as robot as reductor
The convolution portion of revolving body and wrist joint etc., convolution portion of various work mechanisms etc..The geared system 1 with such as 80rpm~
200rpm revolution is used.
In the geared system 1 involved by present embodiment, if based on input shaft 8 rotation and bent axle 10 rotates, pendulum
Eccentric part 10a, 10b of moving gear 14,16 and bent axle 10 link and carry out swing rotation, therefore, pass through wobble gear 14,16
Rotate, rotate outer barrel 2 or bearing 4, to obtain and the output rotation after slowing down is rotated by input.
As shown in Figures 1 and 2, geared system 1 includes the outer barrel 2 of one as first portion, as second portion
The bearing 4 of one, input shaft 8, multiple (such as three) bent axles 10, the first wobble gear 14, the second wobble gear 16 and more
Individual (such as three) travelling gear 20.
Outer barrel 2 forms the outer surface of geared system 1, in substantially cylindric.Outer barrel 2 inner peripheral surface formed with multiple cotter ways
2b.The axle that each cotter way 2b is provided in outer barrel 2 upwardly extends, and in the section of the semicircular in shape on axial section
Shape.These cotter ways 2b by separate in the circumferential it is equally spaced in a manner of be arranged on the inner peripheral surface of outer barrel 2.
Outer barrel 2 has multiple interior alligators 3.Each interior alligator 3 is respectively arranged in cotter way 2b.Specifically, each interior alligator 3 is distinguished
Cotter way 2b corresponding to being embedded in, and the posture to be upwardly extended in the axle of outer barrel 2 is set.Accordingly, multiple interior alligators 3 are along outer
The circumferential arranged at equal intervals of cylinder 2.First external tooth 14a of the first wobble gear 14 and the second external tooth of the second wobble gear 16
16a engages with these interior alligators 3.
Bearing 4 is housed in outer barrel 2 with the state being arranged on outer barrel 2 on coaxial.Bearing 4 is relative to outer barrel 2 around phase
Coaxially relatively rotated.Specifically, bearing 4 is arranged at the radially inner side of outer barrel 2, in this condition, by axial direction
A pair of the base bearings 6 gone up separated from each other interval and set are supported for be relatively rotated relative to outer barrel 2.
Bearing 4 includes：Base portion with baseplate part 4a and multiple (such as three) axle portion 4c；And end plate 4b.
Baseplate part 4a is arranged at axial near one end in outer barrel 2.It is provided with baseplate part 4a radial direction central portion
Circular through hole 4d.Multiple (such as three) crankshaft installed hole 4e (hereinafter referred to as " peaces are provided with around through hole 4d
Fill hole 4e "), multiple mounting hole 4e are disposed at equal intervals in the circumferential.
End plate 4b is set with baseplate part 4a intervals in the axial direction, and is arranged in outer barrel 2 axial another
Near end.Through hole 4f is provided with end plate 4b radial direction central portion.Multiple (such as three are provided with around through hole 4f
It is individual) and crankshaft installed hole 4g (hereinafter referred to as " mounting hole 4g "), multiple mounting hole 4g are arranged on the mounting hole 4e with baseplate part 4a
Corresponding position.Formed with closed space in the outer barrel 2, the closed space by end plate 4b and baseplate part 4a phase each other
To both inner surface and outer barrel 2 inner peripheral surface surround and formed.
Multiple axle portion 4c and baseplate part 4a is wholely set, and is in end plate 4b sides from a baseplate part 4a interarea (medial surface)
Linear extension.Three axle portion 4c are disposed at equal intervals (reference picture 2) in the circumferential.Each axle portion 4c is fastened onto using bolt 4h
End plate 4b (reference picture 1).Accordingly, baseplate part 4a, axle portion 4c and end plate 4b are integrated.
Input shaft 8 plays the effect of the input unit as the driving force for being transfused to the drive motor of figure slightly.Input shaft 8 is inserted
Enter end plate 4b through hole 4f and baseplate part 4a through hole 4d.Input shaft 8 is with its axle center and the axle of outer barrel 2 and bearing 4
The consistent mode of the heart is set, and the driving force pivoting for passing through drive motor.Set in the outer peripheral face of the top ends of input shaft 8
There is input gear 8a.
Multiple bent axles 10 are disposed at equal intervals around input shaft 8 (reference picture 2) in outer barrel 2.Each bent axle 10 is by one
It is that can be rotated (reference picture 1) relative to bearing 4 around axle to crankshaft bearing 12a, 12b support.Specifically, from each bent axle 10
Axial one end rise to the part of axially inner side of designated length the first crankshaft bearing 12a be installed, first crankshaft bearing
12a is installed in baseplate part 4a mounting hole 4e.In addition, second Crankshaft is installed in axial the other end of each bent axle 10
12b is held, second crankshaft bearing 12b is installed in end plate 4b mounting hole 4g.Accordingly, bent axle 10 can be supported rotationally
In baseplate part 4a and end plate 4b.
Each bent axle 10 has axle main body 12c and eccentric part 10a, 10b for being integrally formed with axle main body 12c.First is eccentric
Portion 10a and the second eccentric part 10b is axially aligned to be arranged on by between the part of two crankshaft bearing 12a, 12b supports.First
Eccentric part 10a and the second eccentric part 10b difference cylindrical forms, in the state of the axle center bias relative to axle main body 12c,
It is prominent to radial outside from axle main body 12c.First eccentric part 10a and the second eccentric part 10b are respectively from axle center with specified bias
Amount is eccentric, and is configured to be mutually of the phase difference of specified angle.
In the one end of bent axle 10, the i.e. axially external position in the part being installed in baseplate part 4a mounting hole 4e
Provided with the fitting portion 10c for installing travelling gear 20.
First wobble gear 14 is arranged at the closed space in outer barrel 2, also, is pacified by the first roller bearing 18a
The first eccentric part 10a loaded on each bent axle 10.If each bent axle 10 rotates and the first eccentric part 10a eccentric rotaries, first swings
Gear 14 and eccentric part 10a eccentric rotary links, while being engaged with interior alligator 3 while swinging rotation.
First wobble gear 14 has the size for the internal diameter for being slightly less than outer barrel 2.First wobble gear 14 has the first external tooth
14a, central portion through hole 14b, multiple (such as three) first eccentric part inserting hole 14c and multiple (such as three) axle portions are inserted
Through hole 14d.First external tooth 14a is in the smoothly continuous waveform shape in the whole circumference of wobble gear 14.
Central portion through hole 14b is arranged at the radial direction central portion of the first wobble gear 14.Input shaft 8 is with the shape with clearance
State is inserted through central portion through hole 14b.
Multiple first eccentric part inserting hole 14c are in the first wobble gear 14 is arranged in a manner of equally spaced in the circumferential
Around centre portion through hole 14b.First eccentric part 10a of each bent axle 10 is installed between each first eccentric part inserting hole 14c
Have and be inserted through each first eccentric part inserting hole 14c respectively in the state of the first roller bearing 18a.
Multiple axle portion inserting hole 14d are arranged at central portion in a manner of equally spaced in the circumferential in the first wobble gear 14 and passed through
Around perforation 14b.Each axle portion inserting hole 14d is respectively arranged between the first adjacent eccentric part inserting hole 14c in the circumferential
Position.There is corresponding axle portion 4c in each axle portion inserting hole 14d with the state insert with clearance.
Second wobble gear 16 is arranged at the closed space in outer barrel 2, also, is pacified by the second roller bearing 18b
The second eccentric part 10b loaded on each bent axle 10.First wobble gear 14 and the second wobble gear 16 and the first eccentric part 10a and
Two eccentric part 10b configuration is corresponding and spread configuration in the axial direction.If each bent axle 10 rotates and the second eccentric part 10b is eccentric
Rotate, the second wobble gear 16 links with the eccentric rotary, while being engaged with interior alligator 3 while swinging rotation.
Second wobble gear 16 has the size for the internal diameter for being slightly less than outer barrel 2, has same with the first wobble gear 14
Structure.That is, the second wobble gear 16 has the second external tooth 16a, central portion through hole 16b, multiple (such as three) second eccentric
Portion inserting hole 16c and multiple (such as three) axle portion inserting hole 16d.These have the first external tooth with the first wobble gear 14
14a, central portion through hole 14b, multiple first eccentric part inserting hole 14c and the same structures of multiple axle portion inserting hole 14d.It is bent
Second eccentric part 10b of axle 10 is provided between each second eccentric part inserting hole 16c in the state of the second roller bearing 18b
It is inserted through each second eccentric part inserting hole 16c.
Each travelling gear 20 is used to input gear 8a rotation passing to corresponding bent axle 10.Each travelling gear 20 is distinguished
The fitting portion 10c of the outer one end embedded in the axle main body 12c for being arranged on corresponding bent axle 10.Each travelling gear 20 around with bent axle
10 rotary shaft identical axle and the unitary rotation of bent axle 10.Each travelling gear 20 has the external tooth 20a engaged with input gear 8a.
Here, explanation forms the material of outer barrel 2 and wobble gear 14,16.
Outer barrel 2 is formed by the linear expansion coefficient material bigger than the material of the first wobble gear 14 and the second wobble gear 16.
Specifically, outer barrel 2 is aluminium alloy system, and the linear expansion coefficient for forming the material of outer barrel 2 is 20.0~23.5 μ/K.In contrast,
Wobble gear 14,16 is formed by ferrous material.Such as wobble gear 14,16 can also be made up of carbon content of 0.7~1.0% steel
(high-carbon steel), or be made up (low-carbon steel) of the steel that carbon content is less than 0.2%.Now, wobble gear 14,16 is formed
The linear expansion coefficient system of material is 10.8~11.0 μ/K, or 11.6~11.7 μ/K.Moreover, these ferrous materials are quenched
Fire and make these ferrous materials harden after, its carbon content be less than 0.2% in the case of, its linear expansion coefficient turn into 13.6 μ/
K, in addition, in the case where its carbon content is 0.7~1.0%, its linear expansion coefficient turns into 12.0~12.5 μ/K.In addition, on
Interior alligator 3, also by being formed with wobble gear 14,16 identical materials.
It is as described above, in the geared system 1 of present embodiment, form the line expansion of the material of wobble gear 14,16
Coefficient is less than the linear expansion coefficient for the material for forming outer barrel 2.Therefore, outer barrel 2, bearing 4 and swing when using geared system 1
When gear 14,16 heats up, the expansion ratio wobble gear 14,16 of outer barrel 2 is big.Therefore, the interior alligator 3 of outer barrel 2 and wobble gear 14,
Gap between gap between 16 external tooth 14a, 16a, the i.e. inner peripheral surface of outer barrel 2 and wobble gear 14,16 will not be than using
Preceding state is also narrow.Therefore, even if wobble gear 14,16 heats up and expanded, the flank of tooth of wobble gear 14,16 can also be suppressed
Face pressure uprise, the service life that can suppress wobble gear 14,16 shortens.
In addition, in the present embodiment, outer barrel 2 is aluminium alloy system, wobble gear 14,16 is formed by ferrous material, therefore,
It can make to form the difference of the linear expansion coefficient of material of the linear expansion coefficient of the material of outer barrel 2 with forming wobble gear 14,16 greatly.
Therefore, become even in the temperature of wobble gear 14,16 and the temperature difference of the temperature of outer barrel 2 under big use environment, can also press down
The face pressure of the flank of tooth of wobble gear 14,16 processed uprises.Accordingly, the service life that can be more reliably suppressed wobble gear 14,16 becomes
It is short.
In addition, the invention is not limited in the embodiment, various changes can be carried out in the range of its purport is not departed from
More with improvement etc..Such as in said embodiment, the structure provided with two wobble gears 14,16 is employed, but it is of the invention
It is not limited to this.Can also exemplified by such as with a wobble gear structure, or the knot provided with more than three wobble gears
Structure.
In said embodiment, the central portion that input shaft 8 is arranged at bearing 4 is employed, and multiple bent axles 10 are arranged at
Structure around input shaft 8, but it is not limited to this.A such as bent axle 10 can also be used to be arranged at the center of bearing 4
The centre-crank formula structure in portion.Now, as long as being arranged to input shaft 8 is engaged in the travelling gear 20 for being installed in bent axle 10, then
It may be disposed at any position.
In said embodiment, exemplified with the situation that outer barrel 2 is aluminium alloy, but outer barrel 2 is not limited to aluminium conjunction
Gold system.Such as can also be that outer barrel 2 and wobble gear 14,16 are formed by ferrous material.But now, outer barrel 2 needs swollen by line
The material that the material of swollen coefficient ratio wobble gear 14,16 is big is formed.If for example, outer barrel 2 by carbon content be less than 0.2% steel
(low-carbon steel) is made and is quenched hardening, then linear expansion coefficient is 13.6 μ/K.Now, wobble gear 14,16 can be by carbon content
It is made (high-carbon steel) for less than 0.7~1.0% steel.In the case, make to form the quenching of the material of wobble gear 14,16 firmly
Linear expansion coefficient after change is 12.3~12.4 μ/K.Now, interior alligator 3 also can by with wobble gear 14,16 identical material shapes
Into.
Here, summarize the embodiment.
(1) in said embodiment, material of the linear expansion coefficient of the material of wobble gear than forming first portion is formed
The linear expansion coefficient of material is small.Therefore, first portion, second portion and wobble gear liter when using Eccentrically swinging gear device
Temperature, the expansion in first portion are more than the expansion of wobble gear.Therefore, between the internal tooth in first portion and the teeth portion of wobble gear
Gap, i.e., the gap between the inner peripheral surface and wobble gear in first portion will not be narrower than the state before use.Therefore, even in pendulum
Moving gear heats up in the case of expansion, and the face pressure that can also suppress the flank of tooth of wobble gear uprises, and can suppress wobble gear
Service life shorten.
(2) first portion is alternatively aluminium alloy system, and the wobble gear can also be formed by ferrous material.
In the structure shown here, can make to form material of the linear expansion coefficient of the material in first portion with forming wobble gear
The difference of linear expansion coefficient is big.Therefore, big use is become even in the temperature of wobble gear and the temperature difference of the temperature in first portion
Under environment, the face pressure that can also suppress the flank of tooth of wobble gear uprises, and accordingly, can more be reliably suppressed wobble gear uses the longevity
Life shortens.
(3) first portion can also be formed by the ferrous material that carbon content is less than 0.2%, the wobble gear
It can be formed by the ferrous material that carbon content is 0.7~1.0%.
As described above, according to the embodiment, the face pressure that can suppress the flank of tooth of wobble gear uprises, accordingly, it is capable to
The service life for enough suppressing wobble gear shortens.
Symbol description
1 Eccentrically swinging gear device
2 outer barrels
Alligator in 3
4 bearings
6 base bearings
10 bent axles
The eccentric parts of 10a first
The eccentric parts of 10b second
The crankshaft bearings of 12a first
The crankshaft bearings of 12b second
12c axle main bodys
14 first wobble gears
14a external tooths
16 second wobble gears
16a external tooths
Claims (3)
1. a kind of Eccentrically swinging gear device, between the first and the second member with specified rotating ratio conversion rotating speed simultaneously
Transmit driving force, it is characterised in that including：
Eccentric part；
Wobble gear, there is the inserting hole for eccentric part insertion, and there is teeth portion；
First portion, one of the first component and the second component part can be installed on；And
Second portion, another part that can be installed in the first component and the second component, wherein,
First portion has the internal tooth engaged with the teeth portion of the wobble gear,
Second portion is arranged at the radially inner side in first portion in the state of the wobble gear is kept,
The swing of first portion and the wobble gear of second portion based on the rotation with the eccentric part and
Mutually can concentrically it relatively rotate,
First portion is formed by the linear expansion coefficient material bigger than the linear expansion coefficient of the material of the wobble gear, so that
In the case where wobble gear heating causes expansion, the face pressure for suppressing the flank of tooth of the teeth portion uprises.
2. Eccentrically swinging gear device according to claim 1, it is characterised in that：
First portion is aluminium alloy system, and the wobble gear is formed by ferrous material.
3. Eccentrically swinging gear device according to claim 1, it is characterised in that：
First portion by carbon content be less than 0.2% ferrous material formed, the wobble gear by carbon content be 0.7~
1.0% ferrous material is formed.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-149350 | 2012-07-03 | ||
| JP2012149350A JP5988424B2 (en) | 2012-07-03 | 2012-07-03 | Eccentric oscillating gear unit |
| PCT/JP2013/003827 WO2014006833A1 (en) | 2012-07-03 | 2013-06-19 | Eccentric oscillating gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104412004A CN104412004A (en) | 2015-03-11 |
| CN104412004B true CN104412004B (en) | 2017-12-19 |
Family
ID=49881609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380035096.9A Active CN104412004B (en) | 2012-07-03 | 2013-06-19 | Eccentrically swinging gear device |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JP5988424B2 (en) |
| KR (1) | KR101692647B1 (en) |
| CN (1) | CN104412004B (en) |
| DE (1) | DE112013003373B4 (en) |
| TW (1) | TWI595174B (en) |
| WO (1) | WO2014006833A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6573777B2 (en) * | 2015-04-28 | 2019-09-11 | ナブテスコ株式会社 | External gear, eccentric oscillating gear device, robot, and method of using eccentric oscillating gear device |
| JP6863882B2 (en) | 2017-11-27 | 2021-04-21 | 住友重機械工業株式会社 | Planetary gear device and manufacturing method of planetary gear device |
| JP7115876B2 (en) * | 2018-03-13 | 2022-08-09 | 住友重機械工業株式会社 | Eccentric oscillating reduction gear |
| CN109854685A (en) * | 2019-01-25 | 2019-06-07 | 南京高速齿轮制造有限公司 | Eccentric oscillating-type mechanical reduction gear |
| CN110966357A (en) * | 2019-05-22 | 2020-04-07 | 苏州华震工业机器人减速器有限公司 | Speed reducer for precision control |
| CN110985611A (en) * | 2019-05-22 | 2020-04-10 | 苏州华震工业机器人减速器有限公司 | Hollow speed reducer for precision control |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1409029A (en) * | 2001-09-13 | 2003-04-09 | 帝人制机株式会社 | Eccentrically swing type speed reducer |
| CN101517265A (en) * | 2006-09-29 | 2009-08-26 | 纳博特斯克株式会社 | Reduction gear |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04331851A (en) * | 1991-05-01 | 1992-11-19 | Sumitomo Heavy Ind Ltd | Manufacture of trochoid group gear shape internal fitting type planetary gear reduction gear |
| JP3557355B2 (en) * | 1998-10-29 | 2004-08-25 | 住友重機械工業株式会社 | Method of manufacturing pin retaining ring for internal gear of internal meshing gear mechanism |
| JP3897924B2 (en) * | 1999-01-25 | 2007-03-28 | ナブテスコ株式会社 | Inner meshing planetary gear unit |
| JP2006077980A (en) | 2004-08-11 | 2006-03-23 | Nabtesco Corp | Reduction gear mounted on revolute joint part of industrial robot |
| JP2010071462A (en) * | 2008-08-22 | 2010-04-02 | Ntn Corp | In-wheel motor driving device |
| JP2010249262A (en) * | 2009-04-17 | 2010-11-04 | Nabtesco Corp | Eccentric oscillating gear assembly |
| JP5709373B2 (en) | 2009-12-07 | 2015-04-30 | Ntn株式会社 | In-wheel motor drive device |
-
2012
- 2012-07-03 JP JP2012149350A patent/JP5988424B2/en active Active
-
2013
- 2013-06-19 CN CN201380035096.9A patent/CN104412004B/en active Active
- 2013-06-19 KR KR1020157002513A patent/KR101692647B1/en active IP Right Grant
- 2013-06-19 DE DE112013003373.9T patent/DE112013003373B4/en active Active
- 2013-06-19 WO PCT/JP2013/003827 patent/WO2014006833A1/en active Application Filing
- 2013-06-26 TW TW102122648A patent/TWI595174B/en active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1409029A (en) * | 2001-09-13 | 2003-04-09 | 帝人制机株式会社 | Eccentrically swing type speed reducer |
| CN101517265A (en) * | 2006-09-29 | 2009-08-26 | 纳博特斯克株式会社 | Reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI595174B (en) | 2017-08-11 |
| DE112013003373B4 (en) | 2023-03-09 |
| KR20150027818A (en) | 2015-03-12 |
| CN104412004A (en) | 2015-03-11 |
| KR101692647B1 (en) | 2017-01-03 |
| WO2014006833A1 (en) | 2014-01-09 |
| JP5988424B2 (en) | 2016-09-07 |
| TW201405033A (en) | 2014-02-01 |
| DE112013003373T5 (en) | 2015-03-19 |
| JP2014009808A (en) | 2014-01-20 |
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