CN204835815U - Speed reducer of electrified motivation - Google Patents
Speed reducer of electrified motivation Download PDFInfo
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- CN204835815U CN204835815U CN201520508421.5U CN201520508421U CN204835815U CN 204835815 U CN204835815 U CN 204835815U CN 201520508421 U CN201520508421 U CN 201520508421U CN 204835815 U CN204835815 U CN 204835815U
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- 239000003638 chemical reducing agent Substances 0.000 title abstract 3
- 230000008450 motivation Effects 0.000 title abstract 3
- 230000002093 peripheral effect Effects 0.000 claims description 41
- 230000009467 reduction Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract 1
- 210000000515 tooth Anatomy 0.000 description 95
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000006378 damage Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 230000004907 flux Effects 0.000 description 4
- 239000007767 bonding agent Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Abstract
The utility model provides a speed reducer of electrified motivation, speed reducer of electrified motivation has the shell, the production is for the rotary motion's of shell motor, the reduction gears of transmission from the rotary motion of motor acquisition slows down, rotational speed according to after slowing down carries out rotatory efferent, the first bearing that can be connected shell or the parts that are fixed in the shell and the rotating part of motor with rotating, and the second bearing that can be connected shell and efferent with rotating, the rotating part has the rotor magnet, arrange first bearing on the rotation axis's of perpendicular to motor coplanar, the rotor magnet, the gear train and the second bearing of reduction gears.
Description
Technical field
The utility model relates to a kind of reductor with motor.
Background technology
In the past known a kind ofly have motor and reductor and the reductor of the band motor exported by the dynamic retarding obtained from motor.Fig. 7 is the figure of the structure of the reductor 1X of the band motor schematically shown in the past.The reductor 1X of the band motor of Fig. 7 has motor 20X, reducing gear 30X and carries out the efferent 40X that rotates by the rotating speed after slowing down.Wherein, in the example of fig. 7, motor 20X, reducing gear 30X and the efferent 40X upper arrangement in the direction (axis) of the central axis 9X along motor 20X.Therefore, be with the axial dimension of the reductor 1X of motor elongated.Therefore, the reductor 1X with the band motor of this structure of Fig. 7 is not suitable for as index dial in the articular portion of Work robot or auxiliary clothes, rotating platform, wheel etc. to have the purposes of strict restriction to axial dimension.
In order to the axial dimension of the reductor of inhibition zone motor, such as, can consider to arrange motor around rotation, and be the outer circumferential side that concentric circles is configured in described motor by reducing gear.So, because motor and reducing gear are configured at same axial location, therefore, it is possible in the axial direction by overall for the reductor of band motor slimming.About reductor reducing gear being configured in the band motor of the outer circumferential side of motor in the past, such as, there is the reductor of the band motor recorded in Japanese Unexamined Patent Publication 60-166259 publication.
The structure using being configured in the outside of outer rotor motor as the harmonic gear of reductor is disclosed in Japanese Unexamined Patent Publication 60-166259 publication.But, in the structure of this publication, need to utilize the parts (parts device outside) different from the component parts shown in the first figure of this publication to support the stator yoke of motor and movable rigid gear.Therefore, only rely on the component parts shown in the first figure of this publication, cannot as independently assembly process.Further, owing to needing the parts for supporting stator yoke and movable rigid gear in addition, therefore when reality uses, the axial width of this part is also needed.
Further, in the structure of Japanese Unexamined Patent Publication 60-166259 publication, the bolster of rotor yoke is not had.Therefore, rotor yoke is supported by rigid gear by wave producer.In such an embodiment, the rotation attitude of rotor yoke is unstable.Therefore, likely have tooth trace inclination, pitch circle change, normal tooth contact cannot be obtained, thus easily produce the problem of noise and vibration.Further, the problem of easily damage gear may also be had.
The purpose of this utility model be to provide a kind of axial dimension short, can as independently assembly process and the reductor of vibration and the little band motor of noise.
Utility model content
An execution mode illustrated in the application relates to a kind of reductor with motor, and the reductor of described band motor has: shell; Produce the motor relative to the rotary motion of shell; Slow down and transmit the reducing gear of the rotary motion obtained from motor; The efferent rotated is carried out by the rotating speed after deceleration; By the clutch shaft bearing that the rotating part of shell or the parts and motor that are fixed on shell can be connected rotatably; And by the second bearing that shell and efferent can be connected rotatably, rotating part has rotor magnet, the same plane of the rotation perpendicular to motor arranges clutch shaft bearing, rotor magnet, the gear train of reducing gear and the second bearing.
Described clutch shaft bearing, described rotor magnet, the gear train of described reducing gear and described second bearing is preferably arranged in order from described rotation towards radial outside.
Preferably the position of radial outside is leaned on to configure described rotor magnet at the stator than described motor.
Preferably the position of radially inner side is leaned on to configure described rotor magnet at the stator than described motor.
Preferred described reducing gear has:
Cam, described cam has the unfixed outer peripheral face of distance from described rotation and together rotates with the described rotating part of described motor;
Flexible external tooth gear, described flexible external tooth gear is out of shape with the rotation of described cam;
3rd bearing, described 3rd bearing is between described cam and described flexible external tooth gear;
Fixing internal-gear, described fixing internal-gear is relative to described shell geo-stationary; And
Movable internal-gear, described movable internal-gear and described efferent together rotate,
Described flexible external tooth gear and described fixing internal-gear and movable internal-gear are engaged with each other,
Described flexible external tooth gear rotates because the number of teeth is different relatively from described movable internal-gear.
Preferred described flexible external tooth gear is only made up of the cylindrical portion with multiple external tooth.
Preferred described reducing gear has:
Cam, described cam has the unfixed outer peripheral face of distance from described rotation and together rotates with the described rotating part of described motor;
Flexible external tooth gear, described flexible external tooth gear is out of shape with the rotation of described cam;
3rd bearing, described 3rd bearing is between described cam and described flexible external tooth gear; And
Fixing internal-gear, described fixing internal-gear relative to described shell geo-stationary,
Described efferent and described flexible external tooth gear together rotate,
Described flexible external tooth gear and described fixing internal-gear are engaged with each other,
Described flexible external tooth gear rotates because the number of teeth is different relatively from described fixing internal-gear.
Preferably described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring, and described outer ring and described flexible external tooth gear are single part.
Preferably described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring, and described inner ring and described cam are single part.
Preferred described multiple spheroid has:
First spheroid group, described first spheroid group is arranged in ring-type at the first axial location; And
Second spheroid group, described second spheroid group is arranged in ring-type at the second axial location different from described first axial location.
Preferably described second bearing is crossed roller bearing.
Preferred described shell has the cylindrical portion of the surrounding of described rotation being surrounded,
The stator of described motor is fixed with in described cylindrical portion.
Preferably also have detector, described detector detects the rotating speed of described efferent relative to described shell,
Described detector configurations is in the recess being arranged at described shell or through hole.
An execution mode according to the application, the same plane of the rotation perpendicular to motor arranges clutch shaft bearing, rotor magnet, the gear train of reducing gear and the second bearing.Thus can in the axial direction by the reductor slimming of band motor.Further, be with motor reductor in all parts directly or indirectly by outer casing supporting.Therefore, it is possible to using the reductor of band motor as independently assembly process.And owing to having two bearings at radially inner side and radial outside, therefore the rotation attitude of the rotating part of motor, reducing gear and efferent is stablized.Therefore, it is possible to reduction vibration and noise also can suppress gear destruction when driving.
With reference to accompanying drawing, by the detailed description of following the utility model preferred implementation, above-mentioned and other key element of the present utility model, feature, step, feature and advantage more clearly can be understood.
Accompanying drawing explanation
The schematic diagram of the reductor of the band motor of Fig. 1 involved by an illustrated execution mode.
The longitudinal sectional view of the reductor of the band motor of Fig. 2 involved by the second execution mode.
The transverse sectional view of the reductor of the band motor of Fig. 3 involved by the second execution mode.
The longitudinal sectional view of the reductor of the band motor of Fig. 4 involved by the 3rd execution mode.
The longitudinal sectional view of the reductor of the band motor of Fig. 5 involved by the 4th execution mode.
The longitudinal sectional view of the reductor of the band motor of Fig. 6 involved by the 5th execution mode.
Fig. 7 is the schematic diagram of the reductor of band motor in the past.
Embodiment
Below, with reference to accompanying drawing, the execution mode illustrated in the utility model is described.In addition, in this application, respectively the direction of the rotation axis parallel with motor is called " axis ", the direction orthogonal with rotation is called " radial direction ", the direction along the circular arc centered by rotation is called " circumference ".But above-mentioned " parallel direction " also comprises almost parallel direction.Further, " orthogonal direction " also comprises roughly orthogonal direction.
Fig. 1 is for schematically showing the figure of the reductor 1A of the band motor involved by an execution mode of the present utility model.As shown in Figure 1, the reductor 1A of this band motor has shell 10A, motor 20A, reducing gear 30A, efferent 40A, clutch shaft bearing 71A and the second bearing 72A.In FIG, only site is applied to shell 10A.
Motor 20A produces the component relative to the rotary motion of shell 10A.If drive motor 20A, then the rotating part 25A of motor 20A rotates centered by rotation 9A.The rotating part 25A of shell 10A or the parts and motor 20A that are fixed on shell 10A can be connected rotatably by clutch shaft bearing 71A.
The rotary motion obtained from motor 20A is slowed down and is delivered to efferent 40A by reducing gear 30A.Efferent 40A rotates centered by rotation 9A by the rotating speed after deceleration.Further, shell 10A can be connected by the second bearing 72A rotatably with efferent 40A.
In the reductor 1A of this band motor, the same plane 90A of the rotation 9A perpendicular to motor 20A arranges clutch shaft bearing 71A, is contained in the rotor magnet of the rotating part 25A of motor 20A, the gear train of reducing gear 30A and the second bearing 72A.That is, the rotor magnet of clutch shaft bearing 71A, motor 20A, the gear train of reducing gear 30A and the second bearing 72A separately be positioned at same plane 90A at least partially.Therefore, compared with the situation being configured in the position leaving same plane 90A with a part for these multiple components, the reductor 1A slimming of band motor can be made in the axial direction.
Further, in the reductor 1A of this band motor, all components comprising motor 20A, reducing gear 30A and efferent 40A are supported by shell 10A directly or indirectly.Therefore, a part of component in the reductor 1A of supporting strap motor need not be carried out by the parts of outside.Therefore, it is possible to the reductor 1A of band motor is processed as independently assembly.
Further, in the reductor 1A of this band motor, between clutch shaft bearing 71A and the second bearing 72A, the rotating part 25A of motor 20A, reducing gear 30A and efferent 40A is supported with.Thus, rotating part 25A, the reducing gear 30A of motor 20A and the rotation attitude of efferent 40A are stablized.Consequently, vibration and noise can be reduced when being with the reductor 1A of motor to drive.Further, the gear train being contained in reducing gear 30A can be suppressed to damage each other because of engagement.
The longitudinal sectional view of the reductor 1 of the band motor of Fig. 2 involved by the second execution mode of the present utility model.Fig. 3 is the transverse sectional view of the reductor 1 of the band motor observed from the A-A position of Fig. 2.The reductor 1 of this band motor is convert the rotary motion of the first rotating speed obtained from motor 20 rotary motion of second rotating speed lower than the first rotating speed to and make the device that efferent 40 rotates.Reductor 1 with motor is such as assembled into the articular portion of the arm of Work robot, for realizing the flexion and extension of arm.But the reductor 1 of band motor of the present utility model also can be assembled in other equipment such as index dial, wheelchair, automatic guided vehicle of auxiliary clothes, rotating platform, lathe, to realize various rotary motion.
As shown in FIG. 2 and 3, the reductor 1 of the band motor involved by the second execution mode of the present utility model has shell 10, motor 20, reducing gear 30, efferent 40, circuit board 50 and detector 60.
Shell 10 is the metal parts of each several part directly or in the reductor 1 of false bearing band motor.Shell 10 is such as fixed on the arm member 91 by base end side in two arm members 91,92 of the arm of fabrication process robot by screw threads for fastening.As shown in Figure 2, shell 10 has basal part 11, inside cylindrical portion 12, fixing internal-gear portion 13 and outside cylindrical portion 14.
The discoideus position that basal part 11 configures for the rotation 9 being approximately perpendicular to motor 20.Inside cylindrical portion 12 extends towards motor 20 side in roughly cylindric from a face of basal part 11 in the mode of surrounding the surrounding of rotation 9.Fixing internal-gear portion 13 is the circular position between the end edge portion and efferent 40 of the radial outside of basal part 11.Circumferentially multiple internal tooth is provided with certain tooth pitch at the inner peripheral surface in fixing internal-gear portion 13.Outside cylindrical portion 14 is for being positioned at the position of the cylindrical shape of the radial outside of efferent 40.Inside cylindrical portion 12, fixing internal-gear portion 13 and outside cylindrical portion 14 all with rotation 9 arranged coaxial.
Motor 20 is the drive source producing rotary motion according to drive current.Motor 20 has stator 21, axle 22, wheel hub 23 and rotor magnet 24.Stator 21 is relative to shell 10 geo-stationary.Axle 22, wheel hub 23 and rotor magnet 24 are supported to and can rotate relative to shell 10.That is, in the second execution mode of the present utility model, stator 21 forms the stationary part of motor 20, and axle 22, wheel hub 23 and rotor magnet 24 form the rotating part of motor 20.
Stator 21 have with the ring-type in multiple salient pole portion stator core 211 and be wound in the coil 212 in each salient pole portion.The inner peripheral surface of stator core 211 is such as fixed on the outer peripheral face in the inside cylindrical portion 12 of shell 10 by press-in or bonding agent.Like this, in the second execution mode of the present utility model, stator 21 is directly fixed on shell 10.Thereby reduce the components number of motor 20.
Axle 22 is the parts of the column along rotation 9 configuration.Being configured at least partially in the inside cylindrical portion 12 of shell 10 of axle 22.Two clutch shaft bearings 71 are got involved between axle 22 and inside cylindrical portion 12.Two clutch shaft bearings 71 are arranged at intervals in the axial direction.The inner ring of each clutch shaft bearing 71 is fixed on the outer peripheral face of axle 22.Further, the inner peripheral surface in inside cylindrical portion 12 is fixed in the outer ring of each clutch shaft bearing 71.
In the second execution mode of the present utility model, clutch shaft bearing 71 adopts ball bearing.But, the bearing of other modes such as roller bearing, crossed roller bearing, sliding bearing, hydrodynamic pressure bearing also can be adopted to replace ball bearing.Further, also miscellaneous part can be got involved between the inner ring of clutch shaft bearing 71 and axle 22 or between the outer ring of clutch shaft bearing 71 and shell 10.
Wheel hub 23 is the parts of the cup-shaped be connected with rotor magnet 24 by axle 22.The end edge portion of the radially inner side of wheel hub 23 is fixed on axle 22.Further, cylindric magnet maintaining part 231 is provided with at the peripheral part of wheel hub 23.Rotor magnet 24 is such as fixed on the inner peripheral surface of magnet maintaining part 231 by bonding agent.In the second execution mode of the present utility model, rotor magnet 24 is positioned at the radial outside of stator 21.In addition, but rotor magnet 24 both circumferentially alternating magnetization gone out an annular magnet of N pole and S pole, may also be the multiple points of magnet bodies separated by each magnetic pole.
If provide drive current to coil 212, then can produce magnetic flux in each salient pole portion of stator core 211.And the torque of circumference is produced by the effect of the magnetic flux between salient pole portion and rotor magnet 24.Consequently, axle 22, wheel hub 23 and rotor magnet 24 rotate by the first rotating speed centered by rotation 9.In addition, in the second execution mode of the present utility model, the stepper motor that motor 20 adopts the arm being applicable to Work robot to drive.But, also can need not to be stepper motor for motor of the present utility model.
Further, as shown in Figure 2, multiple air vent hole 232 is provided with at the wheel hub 23 of the second execution mode of the present utility model.Each air vent hole 232 is dug by a die-cut part by wheel hub 23 and is formed.When motor 20 drives, extraneous air flow into the inside of wheel hub 23 from each air vent hole 232.The coil 212 of stator 21 is cooled thus.
Reducing gear 30 is the rotary motion obtained from motor 20 slowed down and be delivered to the mechanism of efferent 40.The reducing gear 30 of the reductor 1 of this band motor have employed the so-called fluctuation gear mechanism utilizing flexible gear.As shown in FIG. 2 and 3, reducing gear 30 has cam 31, flexible external tooth gear 32 and the 3rd bearing 33.Further, in the second execution mode of the present utility model, shell 10 and the respective part of efferent 40 become the member of formation of reducing gear 30 as internal-gear.
Cam 31 is for being fixed on the parts of the ring-type of the outer peripheral face of wheel hub 23.As shown in Figure 3, cam 31 is observed in the axial direction and is had oval outer peripheral face.Flexible external tooth gear 32 is for having the gear of flexible ring-type.Multiple external tooth 321 is provided with certain tooth pitch at the outer peripheral face of flexible external tooth gear 32.The 3rd bearing 33 is got involved between cam 31 and flexible external tooth gear 32.The inner ring of the 3rd bearing 33 has flexibility, and is fixed along the elliptoid outer peripheral face of cam 31.The outer ring of the 3rd bearing 33 is fixed on the inner peripheral surface of flexible external tooth gear 32 and is out of shape with flexible external tooth gear 32.Multiple spheroid is got involved between the inner ring and outer ring of the 3rd bearing 33.
Efferent 40 is for being configured at the circular parts between flexible external tooth gear 32 and the outside cylindrical portion 14 of shell 10.Efferent 40 is such as fixed on the arm member 92 by end side in two arm members 91,92 of the arm of fabrication process robot by screw threads for fastening.As shown in Figure 3, circumferentially multiple internal tooth 41 is provided with certain tooth pitch at the inner peripheral surface of efferent 40.Further, between efferent 40 and outside cylindrical portion 14, the second bearing 72 is got involved.
In the second execution mode of the present utility model, the second bearing 72 adopts crossed roller bearing.As shown in Figure 2, the second bearing 72 has multiple cylindrical roller 721 between the outer peripheral face and the inner peripheral surface in outside cylindrical portion 14 of efferent 40.Multiple cylindrical roller 721 replaces between the V groove of the ring-type of be configured in the ring-type of the outer peripheral face being arranged at efferent 40 V groove with changing direction and the inner peripheral surface being arranged at outside cylindrical portion 14.Thus, allow between efferent 40 and outside cylindrical portion 14 mutually rotate and be rigidly connected with height.
Even if this crossed roller bearing is paired use unlike ball bearing, also required rigidity can be obtained in axis and radial direction.That is, the number by using crossed roller bearing can reduce the bearing between efferent 40 and outside cylindrical portion 14.Thereby, it is possible to the weight reducing the second bearing 72 also can suppress the axial dimension of the second bearing 72.
In addition, in the second execution mode of the present utility model, the part containing outer peripheral face of efferent 40 plays a role as the inner ring of the second bearing 72.But the second bearing 72 also can have the inner ring separated with efferent 40.Further, in the second execution mode of the present utility model, the part containing inner peripheral surface in outside cylindrical portion 14 plays a role as the outer ring of the second bearing 72.But the second bearing 72 also can have the outer ring separated with outside cylindrical portion 14.
If cam 31 together rotates with wheel hub 23, then the shape of flexible external tooth gear 32 changes with the rotation of cam 31.That is, when observing in the axial direction, flexible external tooth gear 32 is in the elliptical shape along the shape of the outer peripheral face of cam 31, but the major axis of this ellipse is followed the rotation of cam 31 and rotates.Flexible external tooth gear 32 be arranged in multiple external tooths 321 of outer peripheral face, the external tooth 321 being only positioned at major axis two ends engages with the internal tooth in fixing internal-gear portion 13 and the internal tooth 41 of efferent 40.
In the second execution mode of the present utility model, the internal tooth number in fixing internal-gear portion 13 is equal with the number of the external tooth 321 of flexible external tooth gear 32.Therefore, even if cam 31 rotates, the position of the tooth be engaged with each other between fixing internal-gear portion 13 and flexible external tooth gear 32 does not also change.It is therefore, fixing that internal-gear portion 13 is not relative with flexible external tooth gear 32 rotates.
And the number of the number of the internal tooth 41 of efferent 40 and the external tooth 321 of flexible external tooth gear 32 is different from each other.Therefore, cam 31 often rotates a circle, and can stagger in the position of the internal tooth 41 of the efferent 40 engaged with the external tooth 321 of the same position of flexible external tooth gear 32.Thus, efferent 40 slow circumvolve centered by rotation 9.Consequently, the arm member 92 of end side slowly rotates relative to the arm member 91 of base end side.The rotating speed of efferent 40 is now second rotating speed lower than the first rotating speed.
In addition, the shape of the outer peripheral face of cam 31 is not necessarily limited to ellipse.The outer peripheral face of cam 31 may also be distance other shapes unfixed of distance rotation 9.Further, in the second execution mode of the present utility model, a part (fixing internal-gear portion 13) for shell 10 plays a role as fixing internal-gear, but fixing internal-gear may also be another parts relative to shell 10 geo-stationary.Further, in the second execution mode of the present utility model, a part for efferent 40 plays a role as movable internal-gear, but movable internal-gear may also be another parts together rotated with efferent 40.
Circuit board 50 is for being equipped with the substrate for carrying out the circuit of drived control to motor 20.In the second execution mode of the present utility model, in the face in the outside of the basal part 11 of shell 10, circuit board 50 is installed.Coil 212 and detector described later 60 are electrically connected with circuit board 50 respectively.Reductor 1 with motor, when driving, according to the detection signal obtained from detector 60, provides drive current from circuit board 50 to coil 212.Drive motor 20 thus.
Detector 60 is detect the rotating speed of efferent 40 relative to shell 10 or the transducer of position of rotation.In the through hole that detector 60 is such as configured in the fixing internal-gear portion 13 being arranged at shell 10 or recess.Detector 60 such as adopts the rotary encoder of the step-by-step counting type employing reflective optical sensor.And efferent 40 has the multiple radial seam centered by rotation 9 to wait pattern at the mask of detector 60 side.Detector 60 detects rotating speed or the position of rotation of efferent 40 by this pattern of optical reading efferent 40.In addition, rotary encoder both increment types, may also be absolute type.
Further, or also can coexist in motor 20 with detector 60 1 and the Magnetic Sensor of the position of detection rotor magnet 24 is set to replace detector 60.If arrange this Magnetic Sensor, then the rotary motion of the first rotating speed before deceleration can be detected.
As shown in Figure 2, the reductor 1 of the band motor of the second execution mode of the present utility model is at the flexible external tooth gear 32 of same plane (such as, the A-A plane of Fig. 2) the upper arrangement clutch shaft bearing 71 of the rotation 9 perpendicular to motor 20, rotor magnet 24, reducing gear 30, efferent 40 and the second bearing 72.Specifically, clutch shaft bearing 71, rotor magnet 24, the flexible external tooth gear 32 of reducing gear 30, efferent 40 and the second bearing 72 is arranged in order from rotation 9 towards radial outside.That is, what the flexible external tooth gear 32 of clutch shaft bearing 71, rotor magnet 24, reducing gear 30, efferent 40 and the second bearing 72 were respective is positioned at same plane at least partially.Therefore, with a part for these multiple components be configured in leave conplane position situation compared with, can in the axial direction will band motor reductor 1 slimming.
Especially, in the second execution mode of utility model, reducing gear 30 uses fluctuation gear mechanism.If adopt the gear mechanism that fluctuates, then the easy parts (flowing into cam 31) that will rotate by the first rotating speed before deceleration and the parts (such as efferent 40) pressing the second rotating speed rotation after slowing down are configured on the same plane perpendicular to rotation 9.Therefore, by adopting fluctuation gear mechanism, reducing gear 30 thickness in the axial direction can be suppressed further.
Further, the flexible external tooth gear 32 of the second execution mode of the present utility model does not have the such flange part 323B of the flexible external tooth gear 32B of the 3rd execution mode as shown in Figure 4.That is, the flexible external tooth gear 32 of the second execution mode of the present utility model is only made up of the cylindrical portion with multiple external tooth 321.Thereby, it is possible to suppress the thickness of the axis of reducing gear 30 further.
Further, in the reductor 1 of this band motor, all components comprised in the device of motor 20, reducing gear 30, efferent 40, circuit board 50 and detector 60 are supported by shell 10 all directly or indirectly.Therefore, a part of component in the reductor 1 of supporting strap motor need not be carried out by the parts of outside.Therefore, it is possible to the reductor 1 of band motor is processed as independently assembly.
Further, in the reductor 1 of this band motor, the rotating part of supporting motor 20, reducing gear 30 and efferent 40 between clutch shaft bearing 71 and the second bearing 72.Thus, the rotation attitude of the rotating part of motor 20, reducing gear 30 and efferent 40 is stablized.Consequently can reduce the vibration and noise of being with the reductor 1 of motor when driving.Further, flexible external tooth gear 32, fixing internal-gear portion 13 and efferent 40 can be suppressed to damage each other because of engagement.
Especially, if in the axial direction by reductor 1 slimming of band motor, then radial dimension increases relative to the ratio of axial dimension.Therefore, generally, implement slimming, be more difficult to the rotation attitude of the rotating part of motor 20, reducing gear 30 and efferent 40 is stablized at technical elements.But, if adopt the structure of the second execution mode of the present utility model, then as described above, can either, in the axial direction by reductor 1 slimming of band motor, the rotation attitude of the rotating part of motor 20, reducing gear 30 and efferent 40 can be made again to stablize.
Next, the 3rd execution mode of the present utility model is described.The longitudinal sectional view of the reductor 1B of the band motor of Fig. 4 involved by the 3rd execution mode.In addition, below, by with the difference of the second execution mode centered by be described, repeat specification is omitted for the part identical with the second execution mode.
The reductor 1B of the band motor involved by the 3rd execution mode of the present utility model is assembled in the wheel of wheelchair or automatic guided vehicle etc. for making rotation of wheel.As shown in Figure 4, the reductor 1B of this band motor has shell 10B, motor 20B, reducing gear 30B, efferent 40B, circuit board 50B and detector 60B.
The shell 10B of the 3rd execution mode of the present utility model does not have the outside cylindrical portion 14 as the second execution mode.Further, efferent 40B is configured with at the radial outside of the fixing internal-gear portion 13B of shell 10B.Further, fixing internal-gear portion 13B can be connected by the crossed roller bearing as the second bearing 72B rotatably with efferent 40B.
Further, the flexible external tooth gear 32B of the 3rd execution mode of the present utility model has cylindrical portion 322B and flange part 323B.Cylindrical portion 322B is out of shape with the rotation of cam 31B.Further, multiple external tooth is provided with at the outer peripheral face of cylindrical portion 322B with certain tooth pitch.Flange part 323B expands from an end of cylindrical portion 322B towards radial outside, such as, fixed by screw thread and be fixed on the end face of the axis of efferent 40B.
Flexible multiple external tooth of external tooth gear 32B and multiple internal tooths of fixing internal-gear portion 13B are engaged with each other.But in the 3rd execution mode of the present utility model, the number being arranged at the internal tooth of fixing internal-gear portion 13B is different from each other with the number of the external tooth being arranged at flexible external tooth gear 32B.Therefore, cam 31B often rotates a circle, and will stagger in the position of the external tooth of the flexible external tooth gear 32B engaged with the internal tooth of the same position of fixing internal-gear portion 13B.Thus, flexible external tooth gear 32B slow circumvolve centered by rotation 9B.Consequently, the efferent 40B also slow circumvolve centered by rotation 9B of the flange part 323B of flexible external tooth gear 32B is fixed on.
In the reductor 1B of this band motor, on the same plane 90B of the rotation 9B perpendicular to motor 20B, be arranged with clutch shaft bearing 71B, rotor magnet 24B, the flexible external tooth gear 32B of reducing gear 30B, fixing internal-gear portion 13B and the second bearing 72B.That is, flexible external tooth gear 32B, the fixing internal-gear portion 13B and the second bearing 72B of clutch shaft bearing 71B, rotor magnet 24B, reducing gear 30B separately be positioned at same plane 90B at least partially.Therefore, compared with the situation being configured in the position leaving same plane 90B with a part for these multiple components, can in the axial direction by the reductor 1B slimming of band motor.
Further, in the reductor 1B of this band motor, all components comprised in the device of motor 20B, reducing gear 30B, efferent 40B, circuit board 50B and detector 60B are supported by shell 10B directly or indirectly.Therefore, a part of component in the reductor 1B of supporting strap motor need not be carried out by the parts of outside.Therefore, it is possible to using the reductor 1B of band motor as assembly process independently.
Further, in the reductor 1B of this band motor, rotating part, the reducing gear 30B and efferent 40B of clutch shaft bearing 71B and the second bearing 72B supporting motor 20B is utilized.Thus, the rotating part of motor 20B, the rotation attitude of reducing gear 30B and efferent 40B are stablized.Consequently, vibration and noise can be reduced when being with the reductor 1B of motor to drive.Further, flexible external tooth gear 32B and fixing internal-gear portion 13B can be suppressed to damage each other because of engagement.
Further, if adopt the structure of the 3rd execution mode of the present utility model, then efferent 40B can be configured in the outermost perimembranous of the reductor 1B of band motor.Therefore, the tire 93B only made by rubber is installed on the outer peripheral face of efferent 40B, just easily can realize the wheel initiatively carrying out driving.Further, because the reductor 1B of the band motor of the 3rd execution mode of the present utility model can be used as independently assembly process, therefore only utilize screw threads for fastening shell 10B to be fixed on the shelf 94B of automatic guided vehicle, just wheel can be installed on automatic guided vehicle.
Next, the 4th execution mode of the present utility model is described.The longitudinal sectional view of the reductor 1C of the band motor of Fig. 5 involved by the 4th execution mode.In addition, below, by with the difference of the second execution mode centered by be described, for the part identical with the second execution mode, omit repeat specification.
As shown in Figure 5, the reductor 1C of the band motor involved by the 4th execution mode of the present utility model has shell 10C, motor 20C, reducing gear 30C, efferent 40C, circuit board 50C and detector 60C.
In the second above-mentioned execution mode, have employed and leaning on the position of radial outside to be configured with the so-called outer rotor type motor 20 of rotor magnet 24 than stator 21.On the other hand, in the 4th execution mode of the present utility model, have employed and leaning on the position of radially inner side to be configured with the so-called inner-rotor type motor 20C of rotor magnet 24C than stator 21C.Below, the structure of the motor 20C involved by the 4th execution mode of the present utility model is described.
The stator 21C of motor 20C has: stator core 211C, and described stator core 211C is in the form of a ring and with towards the outstanding multiple salient pole portions of radially inner side; And coil 212C, described coil 212C is wound in each salient pole portion.The outer peripheral face of stator core 211C is such as fixed on the inner peripheral surface of the inside cylindrical portion 12C of shell 10C by press-in or bonding agent etc.Further, the basal part 11C of shell 10C is such as fixed in the end of axle 22C by press-in.That is, in this second embodiment, axle 22 belongs to rotating part, and in the 4th execution mode of the present utility model, axle 22C belongs to stationary part.
Wheel hub 23C is the parts of the cup-shaped be connected with cam 31C by rotor magnet 24C.Cylindric magnet maintaining part 231C is provided with in the inner peripheral portion of wheel hub 23C.Rotor magnet 24C is fixed on the outer peripheral face of magnet maintaining part 231C.Further, cylindric cam maintaining part 232C is provided with at the peripheral part of wheel hub 23C.Cam 31C is fixed on the outer peripheral face of cam maintaining part 232C.
Two clutch shaft bearing 71C are got involved between axle 22C and magnet maintaining part 231C.Two clutch shaft bearing 71C are arranged at intervals in the axial direction.The inner ring of each clutch shaft bearing 71C is fixed on the outer peripheral face of axle 22C.The inner peripheral surface of magnet maintaining part 231C is fixed in the outer ring of each clutch shaft bearing 71C.In addition, in the example of fig. 5, clutch shaft bearing 71C adopts ball bearing.
If provide drive current to coil 212C, then can produce magnetic flux in each salient pole portion of stator core 211C.And the torque of circumference is produced by the effect of the magnetic flux between salient pole portion and rotor magnet 24C.Consequently, wheel hub 23C and rotor magnet 24C rotates by the first rotating speed centered by rotation 9C.
In the reductor 1C of this band motor, on the same plane 90C of the rotation 9C perpendicular to motor 20C, also arrange clutch shaft bearing 71C, rotor magnet 24C, flexible external tooth gear 32C, the efferent 40C of reducing gear 30C and the second bearing 72C.That is, flexible external tooth gear 32C, the efferent 40C of clutch shaft bearing 71C, rotor magnet 24C, reducing gear 30C and the second bearing 72C separately be positioned at same plane 90C at least partially.Therefore, compared with the situation being configured in the position leaving same plane 90C with a part for these components, can in the axial direction by the reductor 1C slimming of band motor.
Further, in the reductor 1C of this band motor, all components comprised in the device of motor 20C, reducing gear 30C, efferent 40C, circuit board 50C and detector 60C are supported by shell 10C directly or indirectly.Therefore, a part of component in the reductor 1C of supporting strap motor need not be carried out by the parts of outside.Therefore, it is possible to using the reductor 1C of band motor as independently assembly process.
Further, in the reductor 1C of this band motor, also rotating part, the reducing gear 30C and efferent 40C of supporting motor 20C between clutch shaft bearing 71C and the second bearing 72C.Thus, the rotating part of motor 20C, the rotation attitude of reducing gear 30C and efferent 40C are stablized.Consequently, vibration and noise can be reduced when being with the reductor 1C of motor to drive.And flexible external tooth gear 32C can be suppressed, fixing internal-gear portion 13C and efferent 40C damages each other because of engagement.
Next, the 5th execution mode of the present utility model is described.The longitudinal sectional view of the reductor 1D of the band motor of Fig. 6 involved by the 5th execution mode.In addition, below by with the difference of the second execution mode centered by be described, for the part identical with the second execution mode, omit repeat specification.
As shown in Figure 6, in the reductor 1D of the band motor involved by the 5th execution mode of the present utility model, multiple external tooth 341D is arranged at the outer peripheral face of the outer ring 34D of the 3rd bearing 33D by certain tooth pitch.Further, a part of the plurality of external tooth 341D engages with the fixing internal tooth of internal-gear portion 13D and the internal tooth of efferent 40D.That is, in the second above-mentioned execution mode, the outer ring of the 3rd bearing 33 and flexible external tooth gear 32 are the parts of split, and in the 5th execution mode of the present utility model, outer ring 34D and the flexible external tooth gear 32D of the 3rd bearing 33D are single part.
If the outer ring of the 3rd bearing and flexible external tooth gear to be set to the parts of split, then when being with the reductor of motor to drive, owing to being applied to the power of external tooth, flexible external tooth gear can be made to produce a little torsion.Further, the component of described torsion acts on flexible external tooth gear in the axial direction.Therefore, in order to not make flexible external tooth gear move relative to the 3rd bearing in the axial direction, and need to arrange stop component.But, if arrange stop component, then likely produce at flexible external tooth gear because of the friction between flexible external tooth gear and stop component and wear away and generate heat, thus reduce the drive efficiency of the reductor of band motor.
On the other hand, in the reductor 1D of the band motor of Fig. 6, the outer ring 34D of the 3rd bearing 33D is made to have the function of flexible external tooth gear concurrently.Outer ring 34D has the groove portion 342D of ring-type at its inner peripheral surface.Further, multiple spheroid 35D contacts with described groove portion 342D.Therefore, outer ring 34D movement is in the axial direction limited by being embedded into by spheroid 35D in this groove portion 342D.Therefore, without the need in order to limit outer ring 34D position in the axial direction and especially arrange positioning element.That is, the problem of the friction caused because of positioning element and efficiency reduction can not also be produced.Further, if the outer ring 34D of the 3rd bearing 33D and flexible external tooth gear are set as single part, then the components number of the reductor 1D of band motor can also be reduced.
Especially, in the example of fig. 6, multiple spheroid 35D of the 3rd bearing 33D are configured to two groups.That is, multiple spheroid 35D has and is arranged in the first spheroid group 351D of ring-type at the first axial location and is arranged in the second spheroid group 352D of ring-type at the second axial location different from the first axial location.Like this, if multiple spheroid 35D is configured to two groups, then the rigidity of the 3rd bearing 33D can be improved further.Therefore, it is possible to suppress outer ring 34D to offset relative to the axial location of inner ring 36D further.In addition, multiple spheroid 35D both can be configured to one group and also can be configured to more than three groups.
Further, in the reductor 1D of the band motor of the 5th execution mode of the present utility model, the inner ring 36D of the 3rd bearing 33D is fixed on the outer peripheral face of wheel hub 23D.Further, observe in the axial direction, inner ring 36D has oval outer peripheral face.That is, in the second above-mentioned execution mode, the inner ring of the 3rd bearing 33 and cam 31 are the parts of split, and in the 5th execution mode of the present utility model, the inner ring 36D of the 3rd bearing 33D and cam are single part.
Like this, if make the inner ring 36D of the 3rd bearing 33D have the function of cam concurrently, then can reduce the components number of the reductor 1D of band motor.Further, the radial dimension of the 3rd bearing and cam entirety can be reduced.Therefore easily diametrically by miniaturized for the reductor 1D of band motor.Or, the radial dimension of stator 21D as the magnetic circuit part of motor 20D and rotor magnet 24D can be expanded.Thereby, it is possible to improve the output of motor 20D.
Above, the execution mode illustrated in the utility model is illustrated, but the utility model is not limited to above-mentioned execution mode.
Such as, in the structure of Fig. 5 of the 4th execution mode, axle 22C adopts solid columnar component, but also can arrange in the central authorities of this axle 22C the through hole extended vertically.That is, axle 22C also can adopt cylindric hollow part.Thus, a part for electric wire can be passed in the through hole of this axle 22C.The skew of electric wire position can be limited thus.Even if because the position of axle 22C does not also change when motor 20C drives, because this reducing the misgivings that electric wire damages because contacting with movable member.
Further, in the structure of Fig. 2, Fig. 4 or Fig. 5, also can omit axle itself and get involved clutch shaft bearing between shell and wheel hub.So, hole through vertically can be guaranteed at the radially inner side of wheel hub.Therefore, it is possible to a part for electric wire is passed in this hole.
Further, in above-mentioned each execution mode, shell is made up of single parts.But shell also can be made up of multiple parts.
As long as the material forming each parts of the reductor of band motor such as uses the metal of high strength.But, as long as the load when material of each parts can stand use, then need not be defined as metal.
Further, the shape about the detail section of the reductor of band motor also can be different from the shape shown in each figure of the application.Further, not producing in the scope of contradiction, each key element of present above-mentioned execution mode and variation can be suitably combined into.Such as, in the structure of Fig. 4, also can as shown in Figure 6, using the outer ring of the 3rd bearing 33B and flexible external tooth gear 32B as single part.And in the structure of Fig. 4, also can as shown in Figure 6, using the inner ring of the 3rd bearing 33B and cam 31B as single part.Further, in the structure of Fig. 4, also as shown in Figure 6, multiple spheroids of the 3rd bearing 33B can be configured to two groups.
Further, the shape about the detail section of the reductor of band motor also can be different from the shape shown in each figure of the application.
Claims (20)
1. the reductor with motor, is characterized in that, the reductor of described band motor has:
Shell;
Motor, described motor produces the rotary motion relative to described shell;
Reducing gear, the rotary motion obtained from described motor is transmitted in described reducing gear deceleration;
Efferent, described efferent rotates by the rotating speed after deceleration;
Clutch shaft bearing, the rotating part of described shell or the parts and described motor that are fixed on described shell can be connected by described clutch shaft bearing rotatably; And
Second bearing, described shell can be connected with described efferent by described second bearing rotatably,
Described rotating part has rotor magnet,
The same plane of the rotation perpendicular to described motor arranges described clutch shaft bearing, described rotor magnet, the gear train of described reducing gear and described second bearing.
2. the reductor of band motor according to claim 1, is characterized in that,
Described clutch shaft bearing, described rotor magnet, the gear train of described reducing gear and described second bearing is arranged in order from described rotation towards radial outside.
3. the reductor of band motor according to claim 1, is characterized in that,
The position of radial outside is leaned on to configure described rotor magnet at the stator than described motor.
4. the reductor of band motor according to claim 1, is characterized in that,
The position of radially inner side is leaned on to configure described rotor magnet at the stator than described motor.
5. the reductor of the band motor according to any one in Claims 1-4, is characterized in that,
Described reducing gear has:
Cam, described cam has the unfixed outer peripheral face of distance from described rotation, and together rotates with the described rotating part of described motor;
Flexible external tooth gear, described flexible external tooth gear is out of shape with the rotation of described cam;
3rd bearing, described 3rd bearing is between described cam and described flexible external tooth gear;
Fixing internal-gear, described fixing internal-gear is relative to described shell geo-stationary; And
Movable internal-gear, described movable internal-gear and described efferent together rotate,
Described flexible external tooth gear and described fixing internal-gear and movable internal-gear are engaged with each other,
Described flexible external tooth gear rotates because the number of teeth is different relatively from described movable internal-gear.
6. the reductor of band motor according to claim 5, is characterized in that,
Described flexible external tooth gear is only made up of the cylindrical portion with multiple external tooth.
7. the reductor of the band motor according to any one in Claims 1-4, is characterized in that,
Described reducing gear has:
Cam, described cam has the unfixed outer peripheral face of distance from described rotation, and together rotates with the described rotating part of described motor;
Flexible external tooth gear, described flexible external tooth gear is out of shape with the rotation of described cam;
3rd bearing, described 3rd bearing is between described cam and described flexible external tooth gear; And
Fixing internal-gear, described fixing internal-gear relative to described shell geo-stationary,
Described efferent and described flexible external tooth gear together rotate,
Described flexible external tooth gear and described fixing internal-gear are engaged with each other,
Described flexible external tooth gear rotates because the number of teeth is different relatively from described fixing internal-gear.
8. the reductor of band motor according to claim 5, is characterized in that,
Described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring,
Described outer ring and described flexible external tooth gear are single part.
9. the reductor of band motor according to claim 6, is characterized in that,
Described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring,
Described outer ring and described flexible external tooth gear are single part.
10. the reductor of band motor according to claim 7, is characterized in that,
Described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring,
Described outer ring and described flexible external tooth gear are single part.
The reductor of 11. band motor according to claim 5, is characterized in that,
Described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring,
Described inner ring and described cam are single part.
The reductor of 12. band motor according to claim 6, is characterized in that,
Described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring,
Described inner ring and described cam are single part.
The reductor of 13. band motor according to claim 7, is characterized in that,
Described 3rd bearing has inner ring, outer ring and the multiple spheroids between described inner ring and described outer ring,
Described inner ring and described cam are single part.
The reductor of 14. band motor according to claim 8, is characterized in that,
Described multiple spheroid has:
First spheroid group, described first spheroid group is arranged in ring-type at the first axial location; And
Second spheroid group, described second spheroid group is arranged in ring-type at the second axial location different from described first axial location.
The reductor of 15. band motor according to claim 10, is characterized in that,
Described multiple spheroid has:
First spheroid group, described first spheroid group is arranged in ring-type at the first axial location; And
Second spheroid group, described second spheroid group is arranged in ring-type at the second axial location different from described first axial location.
The reductor of 16. band motor according to claim 11, is characterized in that,
Described multiple spheroid has:
First spheroid group, described first spheroid group is arranged in ring-type at the first axial location; And
Second spheroid group, described second spheroid group is arranged in ring-type at the second axial location different from described first axial location.
The reductor of 17. band motor according to claim 13, is characterized in that,
Described multiple spheroid has:
First spheroid group, described first spheroid group is arranged in ring-type at the first axial location; And
Second spheroid group, described second spheroid group is arranged in ring-type at the second axial location different from described first axial location.
The reductor of 18. band motor according to any one in Claims 1-4, is characterized in that,
Described second bearing is crossed roller bearing.
The reductor of 19. band motor according to any one in Claims 1-4, is characterized in that,
Described shell has the cylindrical portion of the surrounding of described rotation being surrounded,
The stator of described motor is fixed with in described cylindrical portion.
The reductor of 20. band motor according to any one in Claims 1-4, is characterized in that,
The reductor of described band motor also has detector, and described detector detects the rotating speed of described efferent relative to described shell,
Described detector configurations is in the recess being arranged at described shell or through hole.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-150897 | 2014-07-24 | ||
| JP2014150897 | 2014-07-24 | ||
| JP2015106569A JP6601836B2 (en) | 2014-07-24 | 2015-05-26 | Reducer with electric motor |
| JP2015-106569 | 2015-05-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204835815U true CN204835815U (en) | 2015-12-02 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510411904.8A Active CN105322713B (en) | 2014-07-24 | 2015-07-14 | Speed reducer with motor |
| CN201520508421.5U Expired - Fee Related CN204835815U (en) | 2014-07-24 | 2015-07-14 | Speed reducer of electrified motivation |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510411904.8A Active CN105322713B (en) | 2014-07-24 | 2015-07-14 | Speed reducer with motor |
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| Country | Link |
|---|---|
| CN (2) | CN105322713B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107086722A (en) * | 2016-02-12 | 2017-08-22 | 日本电产株式会社 | Motorized reducer |
| CN110959247A (en) * | 2017-07-31 | 2020-04-03 | 日本电产新宝株式会社 | Wheel drive device |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6817841B2 (en) * | 2017-02-17 | 2021-01-20 | 日本電産シンポ株式会社 | Reducer with electric motor |
| CN108173401A (en) * | 2018-01-10 | 2018-06-15 | 上海硅泰电子有限公司 | Direct wheel drives bridge disc type electric machine and Direct wheel drives system |
| CN116408828A (en) * | 2021-12-31 | 2023-07-11 | 美的集团股份有限公司 | Robot joint and robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4426159A (en) * | 1979-12-06 | 1984-01-17 | Casio Computer Co., Ltd. | Electronic time keeping device |
| JPS60166259U (en) * | 1984-04-13 | 1985-11-05 | 株式会社安川電機 | Outer rotor type motor with reducer |
| CN101005221A (en) * | 2006-01-19 | 2007-07-25 | 毛风翔 | Wheel hub motor |
| CN201004577Y (en) * | 2006-11-06 | 2008-01-09 | 綦学尧 | An external rotor harmonic wave gear deceleration electromotor |
| CN200987103Y (en) * | 2006-12-12 | 2007-12-05 | 海顿直线电机(常州)有限公司 | Flat motor with planet gear |
| CN201134723Y (en) * | 2006-12-18 | 2008-10-15 | 綦学尧 | External rotor toothless mesh planet speed reducing electric hub |
| CN201038913Y (en) * | 2006-12-22 | 2008-03-19 | 綦学尧 | Plane rotation output small gear difference planet gear deceleration motor |
-
2015
- 2015-07-14 CN CN201510411904.8A patent/CN105322713B/en active Active
- 2015-07-14 CN CN201520508421.5U patent/CN204835815U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107086722A (en) * | 2016-02-12 | 2017-08-22 | 日本电产株式会社 | Motorized reducer |
| CN110959247A (en) * | 2017-07-31 | 2020-04-03 | 日本电产新宝株式会社 | Wheel drive device |
| CN110959247B (en) * | 2017-07-31 | 2022-05-17 | 日本电产新宝株式会社 | Wheel drive device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105322713B (en) | 2019-01-11 |
| CN105322713A (en) | 2016-02-10 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151202 Termination date: 20200714 |