JPH0228027B2 - - Google Patents
Info
- Publication number
- JPH0228027B2 JPH0228027B2 JP60233850A JP23385085A JPH0228027B2 JP H0228027 B2 JPH0228027 B2 JP H0228027B2 JP 60233850 A JP60233850 A JP 60233850A JP 23385085 A JP23385085 A JP 23385085A JP H0228027 B2 JPH0228027 B2 JP H0228027B2
- Authority
- JP
- Japan
- Prior art keywords
- internal gear
- roller
- teeth
- output shaft
- input shaft
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Lifetime
Links
- 230000000694 effects Effects 0.000 description 6
- 239000011295 pitch Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Friction Gearing (AREA)
- Transmission Devices (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、入力軸の回転を偏心円板と内歯歯
車およびその間に介在させたローラで出力軸に減
速回転を取出す減速装置、特に産業用ロボツトな
どのモーシヨンコントロールに用いて好適な減速
装置に関するものである。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a speed reduction device that reduces the rotation of an input shaft to an output shaft using an eccentric disk, an internal gear, and a roller interposed therebetween, particularly for industrial applications. The present invention relates to a speed reduction device suitable for use in motion control of industrial robots and the like.
従来、産業用ロボツトなどのモーシヨンコント
ロールに用いられている減速装置として、固定内
歯車の内部に、この内歯車に噛合する外歯を備え
た弾性変形可能な外歯歯車を組込み、これらの歯
数の差を用いて減速比を得るようにしたものがあ
る。
Conventionally, as a speed reduction device used for motion control of industrial robots, etc., an elastically deformable external gear with external teeth that mesh with the internal gear is incorporated inside a fixed internal gear. There is one that uses the difference in numbers to obtain the reduction ratio.
ところで、上記のような減速装置は、弾性変形
が可能な外歯歯車を用いているため剛性が低く、
ロボツト駆動系に振動が発生し、位置決め精度が
悪いという問題がある。 By the way, the above-mentioned reduction gear has low rigidity because it uses external gears that can be elastically deformed.
There is a problem that vibration occurs in the robot drive system and the positioning accuracy is poor.
また、上記の減速装置は、構造上減速比が50以
上であるため、作業スピードの高速化に追従する
のが困難であり、モーシヨンコントロールの高速
化のために、減速比10〜50程度の中減速比で剛性
が大きく、バツクラツシのない減速装置の出現が
望まれているのが現状である。 In addition, because the reduction gear mentioned above has a reduction ratio of 50 or more due to its structure, it is difficult to keep up with the increase in work speed. At present, there is a desire for a speed reduction device with a medium reduction ratio, high rigidity, and no backlash.
この発明は、上記のような点にかんがみてなさ
れたものであり、小型で剛性が高く、減速比10〜
50程度の範囲の中減速比を得ることができる減速
装置を提供するのが目的である。 This invention was made in view of the above points, and is compact, highly rigid, and has a reduction ratio of 10 to 10.
The object is to provide a reduction gear that can obtain a medium reduction ratio in the range of about 50.
上記のような点を解決するため、この発明は、
入力軸と出力軸及び複数の歯を備えた内歯車を同
軸心状に配置し、前記入力軸に設けた偏心円板と
内歯車の間に内歯車の歯数よりも少ない数のロー
ラを偏心円板の外表面と接触するように配置し、
各ローラは出力軸と一体に同軸心状となるよう設
けたケージのポケツトで径方向に移動自在となる
よう保持し、前記内歯車の歯を、出力軸の回転角
が内歯の一ピツチ分の範囲において、偏心円板の
回転によつて出力軸が逆方向に回転し、その時ロ
ーラの中心が描く軌跡と平行する曲線のうちロー
ラの外側にある曲線を一歯分とした歯形に形成
し、すべてのローラを内歯車の歯に接触させた構
成を採用したものである。
In order to solve the above points, this invention
An input shaft, an output shaft, and an internal gear with a plurality of teeth are arranged coaxially, and rollers with a smaller number than the number of teeth of the internal gear are arranged eccentrically between the eccentric disk provided on the input shaft and the internal gear. placed in contact with the outer surface of the disc,
Each roller is held so as to be movable in the radial direction in a pocket of a cage provided so as to be coaxial with the output shaft, and the teeth of the internal gear are set so that the rotation angle of the output shaft is equal to one pitch of the internal teeth. In the range of , the output shaft rotates in the opposite direction due to the rotation of the eccentric disk, and at that time, the tooth profile is formed by one tooth of the curve on the outside of the roller, which is parallel to the trajectory drawn by the center of the roller. , all rollers are in contact with the teeth of the internal gear.
入力軸に設けた偏心円板と内歯車の内歯との間
に、内歯より一つ少ない数のローラが出力軸で回
動自在に保持され、入力軸の偏心円板が入力軸中
心の回りに一方へ公転運動をすると、ローラは内
歯車の内歯に対して移動して行くことになり、入
力軸が１回転するとローラは、内歯車の内歯に対
して逆方向に一歯分だけ回転することになり、出
力軸にローラの数に応じた減速比の回転が取出さ
れる。
Between the eccentric disk provided on the input shaft and the internal teeth of the internal gear, rollers one less than the internal teeth are rotatably held on the output shaft, and the eccentric disk of the input shaft When the input shaft rotates in one direction, the roller moves relative to the internal teeth of the internal gear, and when the input shaft rotates once, the roller moves one tooth in the opposite direction relative to the internal teeth of the internal gear. The output shaft receives rotation at a reduction ratio corresponding to the number of rollers.
以下、この発明の実施例を添付図面に基づいて
説明する。
Embodiments of the present invention will be described below with reference to the accompanying drawings.
先ず、この発明の基本的な構造を、第２図を主
体に、第１図乃至第５図に基づいて説明する。 First, the basic structure of the present invention will be explained based on FIG. 2 and FIGS. 1 to 5.
入力軸１と出力軸２及び内歯車３が同軸心状に
配置され、内歯車３は入力軸ハウジング４と出力
軸ハウジング５の間に挟まれて三者がボルト６で
結合一体化されている。 An input shaft 1, an output shaft 2, and an internal gear 3 are arranged coaxially, and the internal gear 3 is sandwiched between an input shaft housing 4 and an output shaft housing 5, and the three are connected and integrated with a bolt 6. .
上記入力軸１はハウジング４および出力軸２の
軸受７と８で回動自在に支持され、両軸受７，８
間の位置に偏心円板９が設けられ、この円板９の
外周に軸受１０が圧入されている。 The input shaft 1 is rotatably supported by a housing 4 and bearings 7 and 8 of an output shaft 2.
An eccentric disk 9 is provided at a position in between, and a bearing 10 is press-fitted onto the outer periphery of this disk 9.
出力軸２は、ハウジング５の軸受１１で回動自
在に支持され、入力軸１に臨む端部に軸受１０の
外側に遊嵌する保持器１２が出力軸２と同軸心状
の配置で連成され、この保持器１２の軸受１０外
周と対応する位置に９個のポケツト１３が設けら
れ、各ポケツト１３内にトルク伝達用のローラ１
４が回動自在で且つ径方向に移動自在となるよう
保持されている。 The output shaft 2 is rotatably supported by a bearing 11 of the housing 5, and a retainer 12, which is loosely fitted to the outside of the bearing 10 at the end facing the input shaft 1, is coupled to the output shaft 2 in a coaxial arrangement. Nine pockets 13 are provided at positions corresponding to the outer periphery of the bearing 10 of this retainer 12, and a roller 1 for torque transmission is provided in each pocket 13.
4 is held so as to be rotatable and movable in the radial direction.
前記内歯車３は、保持器１２の外側に外嵌する
よう位置し、内周面にローラ１４よりも１つ多い
10個の歯１５が円周方向に一定の間隔で形成さ
れ、ローラ１４は全数が軸受１０の外輪外周と接
し、かつ内歯車３の歯１５とも接している。 The internal gear 3 is positioned so as to fit on the outside of the retainer 12, and there are one more internal gears than the rollers 14 on the inner peripheral surface.
Ten teeth 15 are formed at regular intervals in the circumferential direction, and all of the rollers 14 are in contact with the outer circumference of the outer ring of the bearing 10 and are also in contact with the teeth 15 of the internal gear 3.
次に、上記減速装置の減速運動について説明す
る。第２図において、入力軸１を右回りに回転さ
せると、偏心円板９が入力軸１の中心Ｏの回りを
円方向に公転運動し、ローラ１４は内歯車３の歯
１５に対して移動して行くことになり、入力軸１
が右回りに１回転すると、ローラ１４は内歯車３
の歯１５に対して一歯分左回りに回転することに
なる。 Next, the deceleration movement of the speed reduction device will be explained. In FIG. 2, when the input shaft 1 is rotated clockwise, the eccentric disk 9 revolves in a circular direction around the center O of the input shaft 1, and the roller 14 moves relative to the teeth 15 of the internal gear 3. Input shaft 1
When the roller 14 makes one rotation clockwise, the internal gear 3
It rotates counterclockwise by one tooth with respect to the teeth 15 of.
従つて、出力軸２は入力軸１の１回転に対し、
逆方向へ1/9回転することになる。 Therefore, for one rotation of the input shaft 1, the output shaft 2
This will result in a 1/9 rotation in the opposite direction.
ところで、この発明の減速装置は、大きい許容
トルクと高い固有振動数を得るために、内歯車３
の歯１５が特有の歯形に形成されており、これを
第２図乃至第４図に基づいて説明する。 By the way, in order to obtain a large permissible torque and a high natural frequency, the reduction gear of this invention has an internal gear 3.
The teeth 15 are formed in a unique tooth shape, which will be explained based on FIGS. 2 to 4.
ここで、
Ｒ＝軸受１０の半径
ｒ＝ローラ１４の半径
ａ＝偏心円板９の偏心量
ｎ＝減速比
第４図において、入力軸１をｎ×θだけ右回り
に回転させると、ローラ１４は軸受１０の外周に
接して自転しながら同図の如く左回りにθだけ回
転する。 Here, R = radius r of bearing 10 = radius a of roller 14 = eccentricity n of eccentric disk 9 = reduction ratio In Fig. 4, when input shaft 1 is rotated clockwise by n x θ, roller 14 rotates counterclockwise by θ as shown in the figure while contacting the outer periphery of the bearing 10 and rotating on its own axis.
この時、ローラ１４の中心Ａが描く軌跡は、入
力軸１の中心Ｏとローラ１４の中心Ａ間の距離を
ｌとすると、
ｌ＝acos（１＋ｎ）θ
＋√｛（１＋）｝2−2＋（＋）2
で表わされる。 At this time, the trajectory drawn by the center A of the roller 14 is, where l is the distance between the center O of the input shaft 1 and the center A of the roller 14, l=acos(1+n)θ +√{(1+)} 2 − 2 It is expressed as + (+) 2 .
出力軸２の回転角θが内歯車３の一ピツチ分、
つまり第４図の場合はθ＝36゜の範囲（入力軸１
でいうとｎ×θ＝324゜の範囲）で入力軸中心Ｏか
らローラ中心Ａまでの距離ｌを求め、ローラ中心
Ａの軌跡を算出し、ローラ１４が第３図の如くこ
の軌跡をたどつた時に、ローラ１４が作り出す平
行曲線のうち、外側にあるものを内歯車３の一歯
分としたものである。 The rotation angle θ of the output shaft 2 is one pitch of the internal gear 3,
In other words, in the case of Fig. 4, the range of θ = 36° (input shaft 1
In other words, the distance l from the input shaft center O to the roller center A is calculated within the range of n x θ = 324 degrees), the trajectory of the roller center A is calculated, and the roller 14 follows this trajectory as shown in Figure 3. Among the parallel curves created by the roller 14 when the roller 14 rotates, the outer one corresponds to one tooth of the internal gear 3.
第１図に示した減速装置の具体的な組立構造
は、荷重の釣合いをとると共に、バツクラツシを
除去するようにしたものを示している。 The specific assembly structure of the speed reducer shown in FIG. 1 is designed to balance loads and eliminate backlash.
第１図において、入力軸１の軸受７と８間に直
径及び偏心量が同じ二枚の偏心円板９ａと９ｂを
180゜位相をずらして取付け、保持器１２には、両
偏心円板９ａ，９ｂに圧入した軸受１０，１０の
外周面と対応する位置にポケツト１３が円周方向
に等ピツチで設けられている。 In Figure 1, two eccentric disks 9a and 9b with the same diameter and eccentricity are placed between bearings 7 and 8 of input shaft 1.
Mounted with a 180° phase shift, the retainer 12 is provided with pockets 13 at equal pitches in the circumferential direction at positions corresponding to the outer peripheral surfaces of the bearings 10, 10 press-fitted into both eccentric discs 9a, 9b. .
ポケツト１３は軸受１０，１０に対応して二例
が並び、一例目と二例目では位相が円周方向に1/
２ピツチずれている。 Two pockets 13 are lined up corresponding to the bearings 10, 10, and in the first and second cases, the phase is 1/1 in the circumferential direction.
It's off by 2 pitches.
第１図左側に位置する偏心円板９ａは入力軸１
と一体になつていると共に、同図右側の偏心円板
９ｂは入力軸１とは別体で入力軸１を中心に回転
可能になり、第５図に示すように、この偏心円板
９ｂには弧状の長孔１６が設けられ、長孔１６に
挿入したボルト１７を相手偏心円板９ａに螺締す
ることにより、両偏心円板９ａと９ｂを結合一体
化している。 The eccentric disk 9a located on the left side of FIG. 1 is the input shaft 1.
At the same time, the eccentric disk 9b on the right side of the figure is separate from the input shaft 1 and can rotate around the input shaft 1, as shown in FIG. An arc-shaped elongated hole 16 is provided, and by screwing a bolt 17 inserted into the elongated hole 16 to the mating eccentric disk 9a, both eccentric disks 9a and 9b are connected and integrated.
可動側の偏心円板９ｂを第５図右回りに角度α
だけ回転させ、バツクラツシのない状態にしてボ
ルト１７で両偏心円板９ａ，９ｂを結合すれば、
部品の加工精度を上げることなくバツクラツシの
ない減速装置を実現することができる。 The eccentric disk 9b on the movable side is rotated clockwise at an angle α in FIG.
If the two eccentric disks 9a and 9b are connected with bolts 17 with no backlash,
It is possible to realize a deceleration device that is free from backlash without increasing the machining accuracy of parts.
なお、可動偏心板９ｂの固定方法は、ボルトに
代え、ノツクピンを打込むような構造を採用する
ようにしてもよい。 The movable eccentric plate 9b may be fixed by using a dowel pin instead of bolts.
次に、第６図と第７図に示す例は、高減速を得
るための構造を示しており、内歯車３の歯数を
25、ローラ１４の個数を12に設定し、減速比は24
となり、ローラ１４の個数は減速比の1/2となつ
ている。もつと高減速を得る場合は、減速比に対
してローラ１４の個数を1/3、1/4に設定すればよ
く、ローラ１４の個数が少ないので、保持器１２
に対するポケツトの加工が容易になる。 Next, the examples shown in FIGS. 6 and 7 show a structure for obtaining high deceleration, and the number of teeth of the internal gear 3 is
25, the number of rollers 14 is set to 12, and the reduction ratio is 24.
Therefore, the number of rollers 14 is 1/2 of the reduction ratio. If you want to obtain high speed reduction, it is sufficient to set the number of rollers 14 to 1/3 or 1/4 of the speed reduction ratio.
This makes it easier to process pockets.
第８図は、上記した第７図の内歯車３におい
て、歯形の他の例を示しており、歯形の突部１５
ａと凹部１５ｂでローラが内歯車と接触しないよ
う、突部１５ａはローラを大きくすることによつ
て実現し、凹部１５ｂは理論曲線よりわずかに大
きくすることによつて実現している。 FIG. 8 shows another example of the tooth profile in the internal gear 3 shown in FIG.
In order to prevent the roller from coming into contact with the internal gear at the recesses 15b and 15b, the protrusion 15a is realized by making the roller larger, and the recess 15b is realized by making the roller slightly larger than the theoretical curve.
上記突部１５ａと凹部１５ｂは接触角の小さな
部分であり、ローラにかかる荷重が大きくても、
トルクに寄与する成分が小さなところである。 The protrusion 15a and the recess 15b have a small contact angle, so even if the load applied to the roller is large,
This is where the component that contributes to torque is small.
即ち、第９図に示すように、内歯車３とローラ
１４の関係において、摩擦角以下のところでは摩
擦力のためにローラ１４を押し出す力が生じない
ため、ローラ１４に過大荷重がかかり、発熱して
振動にも悪影響があり、しかも低速回転のときは
トルク変動の影響が出るが、突部１５ａと凹部１
５ｂを非接触にすることによつて、ローラに生じ
る過大荷重もなくなり、低速時のトルク変動もな
くなつた。 That is, as shown in FIG. 9, in the relationship between the internal gear 3 and the roller 14, there is no force to push out the roller 14 due to frictional force below the friction angle, so an excessive load is applied to the roller 14, causing heat generation. This has an adverse effect on vibration, and when rotating at low speed, there is an effect of torque fluctuation.
By making 5b non-contact, there is no excessive load on the rollers, and torque fluctuations at low speeds are also eliminated.
以上のように、この発明によると上記のような
構成であるので、以下に示す効果がある。
As described above, since the present invention has the above-described configuration, it has the following effects.
() 内歯車の歯を、出力軸の回転角が内歯車の
一ピツチ分の範囲において、偏心円板の回転に
よつてローラの中心が描く軌跡と平行する曲線
のうちローラの外側にある曲線を一歯分とした
歯形に形成し、すべてのローラを内歯車の歯に
接触させるようにしたので、現在実用されてい
るインボリユートやトロコイドの歯形と異なる
等速比伝導が可能な歯形であり、負荷容量が大
きく、噛合い始めの衝撃がない静かな運転が得
られる。() The tooth of the internal gear is defined by the curve that is outside the roller among the curves that are parallel to the locus drawn by the center of the roller due to the rotation of the eccentric disk, within the range where the rotation angle of the output shaft is one pitch of the internal gear. The tooth profile is formed into one tooth, and all the rollers are brought into contact with the teeth of the internal gear, so it is a tooth profile that allows constant velocity ratio transmission, which is different from the involute and trochoid tooth profiles currently in use. It has a large load capacity and provides quiet operation with no impact at the beginning of engagement.
() ローラと内歯車の噛合数が多いので、製作
誤差があつても影響が均一化され、等速比伝導
が確実に得られる。() Since the number of meshes between the roller and the internal gear is large, even if there are manufacturing errors, the effects are evened out, and constant velocity specific transmission can be reliably obtained.
() ローラは出力軸にこの出力軸と同軸心状と
なるよう一体に設けた保持器のポケツトで回動
自在及び径方向に移動自在となるよう保持した
ので、偏心円板及び内歯車とローラとの相対的
な滑りがなく、焼付きや摩耗が生じない。() The roller was held so that it could freely rotate and move in the radial direction by a pocket of a retainer that was integrally installed on the output shaft so that it was coaxial with the output shaft, so that the eccentric disk, internal gear, and roller There is no relative slippage, and no seizure or wear occurs.
() ローラーは出力軸で回動自在に保持したの
で、減速と等速継手の機能が同時に得られ、サ
イクロ減速機のように等速継手を別に必要とせ
ず構造の簡略化と小型化が可能になる。() Since the rollers are rotatably held by the output shaft, the functions of reduction and constant velocity joints can be obtained at the same time, and unlike cyclo reducers, a separate constant velocity joint is not required, making it possible to simplify and downsize the structure. become.
第１図はこの発明に係る減速装置の縦断正面
図、第２図は同上の縦断側面図、第３図と第４図
は同上における内歯車の歯形を示す説明図、第５
図はバツクラツシの除去部分を示す側面図、第６
図は内歯車に歯形形状の異なる他の例を示す縦断
側面図、第７図は同上の内歯車のみを示す正面
図、第８図は同上歯形の更に異なつた例を示す拡
大断面図、第９図はローラと内歯車の摩擦角の関
係を示す説明図である。
１……入力軸、２……出力軸、３……内歯車、
９……偏心円板、１０……軸受、１２……保持
器、１３……ポケツト、１４……ローラ、１５…
…歯。
Fig. 1 is a longitudinal sectional front view of the reduction gear according to the present invention, Fig. 2 is a longitudinal sectional side view of the same as the above, Figs.
The figure is a side view showing the removed part of the backlash.
The figure is a vertical side view showing another example of an internal gear with a different tooth profile, FIG. 7 is a front view showing only the same internal gear, FIG. FIG. 9 is an explanatory diagram showing the relationship between the friction angle between the roller and the internal gear. 1...Input shaft, 2...Output shaft, 3...Internal gear,
9... Eccentric disc, 10... Bearing, 12... Cage, 13... Pocket, 14... Roller, 15...
…teeth.
Claims (1)
を同軸心状に配置し、前記入力軸に設けた偏心円
板と内歯車の間に内歯車の歯数よりも少ない数の
ローラを偏心円板の外表面と接触するように配置
し、各ローラは出力軸と一体に同軸心状となるよ
う設けたケージのポケツトで径方向に移動自在と
なるよう保持し、前記内歯車の歯を、出力軸の回
転角が内歯車の一ピツチ分の範囲において、偏心
円板の回転によつて出力軸が逆方向に回転し、そ
の時ローラの中心が描く軌跡と平行する曲線のう
ちローラの外側にある曲線を一歯分とした歯形に
形成し、すべてのローラを内歯車の歯に接触させ
た減速装置。1. An input shaft, an output shaft, and an internal gear with a plurality of teeth are arranged coaxially, and a smaller number of rollers than the number of teeth of the internal gear is arranged between the eccentric disk provided on the input shaft and the internal gear. The rollers are arranged so as to be in contact with the outer surface of the eccentric disk, and each roller is held so as to be movable in the radial direction by a cage pocket provided so as to be coaxial with the output shaft, and the teeth of the internal gear are When the rotation angle of the output shaft is within the range of one pitch of the internal gear, the output shaft rotates in the opposite direction due to the rotation of the eccentric disk, and at that time, the curve of the roller parallel to the trajectory drawn by the center of the roller is A reduction gear in which the outer curve is formed into a tooth profile with one tooth, and all rollers are in contact with the teeth of the internal gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23385085A JPS6293565A (en) | 1985-10-18 | 1985-10-18 | Reduction gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23385085A JPS6293565A (en) | 1985-10-18 | 1985-10-18 | Reduction gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6293565A JPS6293565A (en) | 1987-04-30 |
| JPH0228027B2 true JPH0228027B2 (en) | 1990-06-21 |
Family
ID=16961548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23385085A Granted JPS6293565A (en) | 1985-10-18 | 1985-10-18 | Reduction gear |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6293565A (en) |
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| WO2010004843A1 (en) * | 2008-07-08 | 2010-01-14 | Ntn株式会社 | Reduction device |
| JP2010019286A (en) * | 2008-07-08 | 2010-01-28 | Ntn Corp | Reduction device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58178045A (en) * | 1982-03-26 | 1983-10-18 | アドヴアンスト・エナジ−・コンセプツ「あ」８１リミテツド | Planet type power gearing with drive element of roller freely rolling |
| JPS59140937A (en) * | 1983-01-31 | 1984-08-13 | Shimadzu Corp | Speed decreasing gear |
-
1985
- 1985-10-18 JP JP23385085A patent/JPS6293565A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58178045A (en) * | 1982-03-26 | 1983-10-18 | アドヴアンスト・エナジ−・コンセプツ「あ」８１リミテツド | Planet type power gearing with drive element of roller freely rolling |
| JPS59140937A (en) * | 1983-01-31 | 1984-08-13 | Shimadzu Corp | Speed decreasing gear |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010004843A1 (en) * | 2008-07-08 | 2010-01-14 | Ntn株式会社 | Reduction device |
| JP2010019286A (en) * | 2008-07-08 | 2010-01-28 | Ntn Corp | Reduction device |
| JP2010019283A (en) * | 2008-07-08 | 2010-01-28 | Ntn Corp | Reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6293565A (en) | 1987-04-30 |
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