JPS61266849A - Reduction gear - Google Patents
Reduction gearInfo
- Publication number
- JPS61266849A JPS61266849A JP10768085A JP10768085A JPS61266849A JP S61266849 A JPS61266849 A JP S61266849A JP 10768085 A JP10768085 A JP 10768085A JP 10768085 A JP10768085 A JP 10768085A JP S61266849 A JPS61266849 A JP S61266849A
- Authority
- JP
- Japan
- Prior art keywords
- gear
- external gear
- output shaft
- cylindrical body
- wall
- 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.)
- Pending
Links
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)
- Retarders (AREA)
Abstract
Description
【発明の詳細な説明】
〔概要〕
遊星歯車機構を構成する内歯ギヤ及び外歯ギヤのうち、
内歯ギヤを円柱体で構成し、これを保持体で支持した減
速装置において、保持体を円柱体に接して撓み変形可能
な壁部と、この壁部を底辺として略コ字状断面を構成す
る張出部とを備えて構成し、締結手段によって張出部同
士を締結し、壁部に曲げモーメントを生じせしめてこの
壁部を円柱体側に撓ませ、円柱体を外歯キャの歯面に押
圧する。これにより外歯ギヤのバックラッシュによる遊
びをなくし、外歯ギヤに係合して回転する出力軸の停止
位置精度を向上させるものである。[Detailed Description of the Invention] [Summary] Among the internal gears and external gears that constitute the planetary gear mechanism,
In a reduction gear device in which the internal gear is constructed of a cylindrical body and this is supported by a holder, the holder has a wall portion that can be flexibly deformed in contact with the cylindrical body, and a substantially U-shaped cross section with this wall portion as the base. The overhanging parts are fastened together by the fastening means, and a bending moment is generated in the wall part to bend the wall part toward the cylindrical body, and the cylindrical body is connected to the tooth surface of the external gear. to press. This eliminates play due to backlash of the external gear and improves the accuracy of the stop position of the output shaft that rotates while engaging with the external gear.
本発明は減速装置に係り、特に、遊星歯車機構を用いた
装置に関する。The present invention relates to a speed reduction device, and particularly to a device using a planetary gear mechanism.
この種の装置として、例えば、第7図及び第8図に示す
ように、ロポ−/ トアームに取付けてハンドの回転動
作を行わせる減速装置1がある。As an example of this type of device, as shown in FIGS. 7 and 8, there is a speed reduction device 1 that is attached to a robot arm and rotates the hand.
この減速装置lは、入力軸2及び出力軸3を同軸Xに支
持するケーシング(図示せず)を備え、このケーシング
内に内歯ギヤとこれに噛合する外歯ギヤとを収納してい
る。内歯ギヤはケーシング内に配列した複数の円柱体と
してのローラ4で構成され、このローラ4はケーシング
に固定される保持体5に支持されている。外歯ギヤは外
側に外歯6を形成したディスク板7で構成され、入力軸
2にeだけ偏心して固定される偏心体8にベアリング9
を介して取付けられる。また、ディスク板7には複数の
穴10が穿設されており、出力軸3に円fillを介し
て固定される複数の係合部材としてのビン12が穴10
に接して夫々遊嵌している。尚、符号13はビン12に
嵌合しているカラーである。そして、入力軸2が回転す
るとディスク板7がローラ4に噛合しながら回転し、こ
のディスク板7の回転がビン12を介して出力軸に伝達
される。この場合、ローラ4の数をN1.外歯6の数を
N2とすると、出力軸3の入力軸2にまた。一般に こ
の種の減速装置lにあってち、製作公差、熱膨張等によ
る外歯6やローラ4の変形等を吸収するために外歯6に
バックラッシュを設けている。This reduction gear device 1 includes a casing (not shown) that supports an input shaft 2 and an output shaft 3 on the same axis X, and houses an internal gear and an external gear that meshes with the casing. The internal gear is composed of a plurality of rollers 4 as cylindrical bodies arranged in a casing, and the rollers 4 are supported by a holder 5 fixed to the casing. The external gear is composed of a disk plate 7 with external teeth 6 formed on the outside, and a bearing 9 is attached to an eccentric body 8 that is fixed to the input shaft 2 eccentrically by e.
Mounted via. Further, a plurality of holes 10 are bored in the disk plate 7, and the bottles 12 as a plurality of engagement members fixed to the output shaft 3 via circular fills are inserted into the holes 10.
They are loosely fitted in contact with each other. Incidentally, reference numeral 13 is a collar fitted into the bottle 12. When the input shaft 2 rotates, the disk plate 7 rotates while meshing with the roller 4, and the rotation of the disk plate 7 is transmitted to the output shaft via the pin 12. In this case, the number of rollers 4 is N1. If the number of external teeth 6 is N2, then the output shaft 3 is also connected to the input shaft 2. Generally, in this type of reduction gear 1, backlash is provided in the outer teeth 6 to absorb deformation of the outer teeth 6 and the roller 4 due to manufacturing tolerances, thermal expansion, etc.
とごろで、このような従来の減速装置1にあっては、出
力軸3の停止位置精度が悪いという問題があった。However, such a conventional speed reducer 1 has a problem in that the stopping position accuracy of the output shaft 3 is poor.
これは、外歯6の・パ・ツクラッシュによって。This is due to the ・Pa・tsu crash of external tooth 6.
ローラ4との噛合いに遊びがあるので、その分、出力軸
がガタついて動くからである。This is because there is play in the engagement with the rollers 4, which causes the output shaft to move with play.
そこで本発明の技術的課題は、製作公差等を吸収すると
いう機能を損なうことなく、バックラッシュによる遊び
をなくする点にある。Therefore, the technical problem of the present invention is to eliminate play due to backlash without impairing the function of absorbing manufacturing tolerances.
このような課題を解決するための本発明の技術的手段は
、保持体を円柱体の外側に接L7て撓み変形n1能な壁
部と、この壁部を底辺として略コ字状断面を構成する一
対のφ山部とを備えて構成し、この壁部がt工むように
両張出部同士を締結する締結)段を設しFたちのでちる
、
〔作用〕
この1段によりば、保持体の張出部同士を締結すると、
壁部が円柱体側に撓むので、円柱体が外向ギヤの南面に
押圧される。そのため、バックラッシュによる遊びがな
くなる。The technical means of the present invention for solving such problems is that the holding body is connected to the outside of the cylindrical body L7 and has a wall part that can be bent and deformed n1, and has a substantially U-shaped cross section with this wall part as the base. [Function] According to this one stage, the holding body is When the overhanging parts of
Since the wall portion bends toward the cylindrical body, the cylindrical body is pressed against the south face of the outward gear. Therefore, play due to backlash is eliminated.
また、外歯ギヤや円柱体等の製作公差、熱膨張等による
運動中の外歯ギヤの変形等があったとしても、壁部が撓
み変形可能なので、これらは吸収される。Further, even if there is deformation of the external gear during movement due to manufacturing tolerances of the external gear, cylindrical body, etc., thermal expansion, etc., these are absorbed because the wall portion can be flexibly deformed.
以下、添付図面に基づいて本発明の実施例に係る減速装
置を説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a reduction gear device according to an embodiment of the present invention will be described based on the accompanying drawings.
第1図乃至第3図に示す減速装置Gにおいて、符号20
.21はケーシングであって、夫々入力軸22及び出力
軸23を軸受24.25を介して支持すると共に、鍔部
20a、21aにおいてポルト26.ナツト27で互い
に締結される。符号30.31は入力軸22に1800
位相をずらせて夫々固定される偏心体、32.33はこ
の偏心体30.31にベアリング34.35を介して取
付けられる一対の外歯キャと1.てのディスク板、36
.37はどのばイスヶ板32.33に形成される外向、
38.39はディスク板32.33に夫々開設される複
数の穴、40は出力軸23に固定されると共に入力軸2
2に軸受41を介して支持される円盤、42は1′:、
の円i40に固定され」二記穴38.39に夫々遊嵌す
る複数の保合部材としてのビン、43はこのビン42に
嵌合するカラーでちと)。また、符号45は円柱体とし
てのローラ、50はこのローラ45を支持する保持体で
ある。尚、ディスク板32.33を1800ずらせて設
け(いるが、これは動的バランスをとるためである。In the reduction gear G shown in FIGS. 1 to 3, the reference numeral 20
.. 21 is a casing which supports the input shaft 22 and output shaft 23 via bearings 24, 25, respectively, and has ports 26, 21 at the flanges 20a, 21a. They are fastened together with nuts 27. The code 30.31 is 1800 on the input shaft 22.
Eccentric bodies 32, 33, which are fixed in a phase-shifted manner, are connected to a pair of externally toothed carriers which are attached to eccentric bodies 30, 31 via bearings 34, 35, and 1. Disc plate, 36
.. 37 is an outward direction formed on the side plate 32 and 33;
38 and 39 are a plurality of holes respectively formed in the disk plates 32 and 33; 40 is fixed to the output shaft 23 and is connected to the input shaft 2;
2 is a disk supported via a bearing 41, 42 is 1':,
43 is a collar that fits into this bottle 42). Further, the reference numeral 45 is a roller as a cylindrical body, and the reference numeral 50 is a holder that supports this roller 45. Note that the disk plates 32 and 33 are offset by 1800 degrees, but this is for dynamic balance.
保持体50はローラ45の外側に接して撓み変形可能な
リング状の壁部51を備え、この壁部51の外側に、こ
れを底辺として略コ字状断面を構成する一対の張出部と
してのフランジ55゜56を形成してなると共に、壁部
51の内側に鍔52.53を備えてなる。また、鍔52
.53には略半円状に切欠いた保持部54が形成され、
これにローラ45が嵌合する。更に、フランジ55.5
6は上記ケーシング20,21の鍔部20a、21aに
挟まれて、これに夫々接するように設定される。更に、
フランジ55.56は鍔部20a、21aを締結するボ
ルト26が貫通する通孔58を形成してなる。ボルト2
6.ナツト27は保持体50をケーシング20,21に
固定すると共に1両フランジ55.56を締結する締結
手段としても構成される。The holding body 50 has a ring-shaped wall portion 51 which is in contact with the outside of the roller 45 and is flexible and deformable, and a pair of overhang portions forming a substantially U-shaped cross section with this wall portion 51 as the base. flanges 55 and 56 are formed, and flanges 52 and 53 are provided on the inside of the wall portion 51. Also, Tsuba 52
.. 53 is formed with a holding portion 54 cut out in a substantially semicircular shape,
The roller 45 fits into this. Furthermore, flange 55.5
6 is sandwiched between the flanges 20a and 21a of the casings 20 and 21, and is set to be in contact with these, respectively. Furthermore,
The flanges 55 and 56 form through holes 58 through which bolts 26 for fastening the flanges 20a and 21a pass. bolt 2
6. The nut 27 fixes the holder 50 to the casings 20, 21 and also serves as a fastening means for fastening the flanges 55, 56.
従って、この減速装MGは、第3図に示すように、ケー
シング20.21の鍔部20a。Therefore, as shown in FIG. 3, this reduction gear MG has a flange 20a of a casing 20.21.
21aをボルト26.ナツト27で締め付けることによ
り、組立”Cられる。この場合、鍔部20a、21aは
保持体50のフランジ55゜56に接しているめで、第
4図中2点鎖線で示すように、ボルト26の締付力によ
ってフランジ55.56は鍔部20a、2faに押圧さ
れて互いに接近する。このとき、壁部51には曲げモー
メン)Mが作用するので、壁部51がローラ45側に撓
んで口・−ラ45を外歯36,37の南面に押圧する。21a with bolt 26. Assembly is completed by tightening the nuts 27. In this case, the flanges 20a and 21a are in contact with the flanges 55 and 56 of the holder 50, so the bolts 26 are tightened as shown by the two-dot chain line in FIG. The flanges 55 and 56 are pressed against the flanges 20a and 2fa by the tightening force and move closer to each other.At this time, since a bending moment (M) is applied to the wall 51, the wall 51 bends toward the roller 45, causing the opening to close.・Press the -ra 45 against the south surface of the external teeth 36 and 37.
そのため、ローラ45が押圧される分、バックランシュ
による遊びがなくなる。Therefore, since the roller 45 is pressed, play due to backrunches is eliminated.
また、減速装置Gの入力軸22の回転が停止ヒしたとき
には、バックラッシュによる遊びがないので、出力軸2
3は入力軸22の停止と共にガタつくことなく停止する
。そのため、出力軸23の停止二位置が正確なものにな
る6
更に、減速装置Gが始動するときには、・九−、クラッ
シュによる遊びのない分、出力軸23に即座に回転が伝
達される。Furthermore, when the rotation of the input shaft 22 of the reduction gear G is stopped, there is no play due to backlash, so the output shaft 22
3 stops without rattling when the input shaft 22 stops. Therefore, the stop position of the output shaft 23 is accurate.6 Furthermore, when the speed reducer G is started, rotation is immediately transmitted to the output shaft 23 due to the absence of play due to a crash.
更にまた、ディスク板32.33及びτコーラ45等の
製作公差や熱膨張等による外歯36゜37及びローラ4
5等の変形があったとしても、壁部51は撓み変形可能
なので、これによって吸収され、回転動作等に影響を与
える事態が防止される8
第5図及び碧6図には、丑記実施例に加えて更にバック
ラッシュによる遊びを確実になくするようにした減速装
置Glが示されている。Furthermore, external teeth 36° 37 and roller 4 may be affected due to manufacturing tolerances of disk plates 32, 33, τ cola 45, etc., thermal expansion, etc.
Even if there is a deformation such as 5, the wall portion 51 can be bent and deformed, so this will absorb it and prevent the situation from affecting the rotational operation etc.8. In addition to the example, a reduction gear Gl is shown which is designed to reliably eliminate play due to backlash.
これは、一対のディスク板60.61を夫々分割し、こ
の2分割したディスク板60a。This disk plate 60a is obtained by dividing a pair of disk plates 60 and 61 into two parts.
60b、8La、61bに夫々貫通孔62゜63を設け
、この貫通孔62.63と略等しい外径を有する円弧ば
ね64を、この貫通孔62゜63に挿入したちの゛であ
る。尚、第6図はディスク板60の場合のみを示す。こ
の円弧ばね64は、第6図に示すように、その付勢力が
働いてディスク板60.61の南面を常時ローラ45に
押圧するように、貫通孔62.63の夫々の中心点Of
、02がずれた状態で挿通される。60b, 8La, and 61b are provided with through holes 62 and 63, respectively, and arcuate springs 64 having approximately the same outer diameter as the through holes 62 and 63 are inserted into the through holes 62 and 63, respectively. Note that FIG. 6 shows only the case of the disk plate 60. As shown in FIG. 6, the arcuate springs 64 are arranged at respective center points Of of the through holes 62, 63 so that their biasing force acts to constantly press the south surface of the disk plate 60, 61 against the roller 45.
, 02 are inserted in a shifted state.
また、円弧ばね64は、内側へ容易に撓むことができる
ように、母線68に沿って多少内側へ折り曲げられてい
る。Further, the arcuate spring 64 is slightly bent inward along the generatrix 68 so that it can be easily bent inward.
従って、この円弧ばね64の弾性によって常時外歯65
.66をローラ45に押圧する予圧力Fが作用し、その
ためバックラッシュによる遊びがなくなる。また、熱膨
張等によって外歯65゜66の変形等があったとしても
、円弧ばね64は内側へ撓み変形可鮨なので、これを吸
収することができ己、尚、円弧ばね6Iは母線68に沿
って折り曲げられているが、必ずしも折り曲げる必要は
ない、しかし、容易に撓んで外歯65.66の変形等を
吸収できるので、その分、回転を円滑にでき、その点で
折曲した方が望ましい。Therefore, due to the elasticity of this arcuate spring 64, the external tooth 65 is always
.. A preload force F is applied to press the roller 66 against the roller 45, thereby eliminating play due to backlash. Furthermore, even if the external teeth 65 and 66 are deformed due to thermal expansion, etc., the arcuate spring 64 can be deformed by bending inward, so this can be absorbed. Although it is bent along the same line, it is not necessarily necessary to bend it. However, since it can easily bend and absorb the deformation of the external teeth 65 and 66, it can rotate smoothly, and it is better to bend it at that point. desirable.
以上説明してきたように、本発明に係る減速装置によれ
ば、製作公差等を吸収するという機能を損なうことなく
、バックラッシュによる遊びをなくすることができる。As described above, according to the speed reduction device according to the present invention, play due to backlash can be eliminated without impairing the function of absorbing manufacturing tolerances.
第1図は本発明の実施例に係る減速装置を示す斜視図、
第2図は第1図中U−U線相当断面図、第3図は第1図
中ヱー■線相当断面図、第4図はローラ保持体の作用を
示す模式図、第5図及び第6図は本発明の実施例に係る
減速装置の他の例を示す斜視図及び要部正面図、第7図
及び第8図は従来の減速装置の一例を示す正面断面図及
び側面断面図である。
1、G、Gl・・・減速装置
2 ;?2・・・入jノ軸
3.23・・・出力軸
4,45・・・ローラ(円柱体)
5.50・・・保持体
7.32,33,60.61 ・・・
ディスク板(外歯ギヤ)
8.30.31・・・偏心体
10 、38 、39・・・穴
12.42・・・ビン(係合部材)
51・・・壁部
55.56・・・フランジ(張出部)
“=1
・製
不発allの実施伊11:1季シ滅達、装置tホ■′針
7【口笛 1 図
示4揉へ図
第1図
At装置tP11t!の伊lx手す劉・7見ロ第5図
A達YklnKmj5% $q、= T J J−:%
(f73第6図
r
琶庫め瀉遠装工め剣d杵曲図
第8 @FIG. 1 is a perspective view showing a speed reduction device according to an embodiment of the present invention;
2 is a sectional view corresponding to the line U-U in FIG. FIG. 6 is a perspective view and a front view of main parts showing another example of a speed reduction device according to an embodiment of the present invention, and FIGS. 7 and 8 are a front sectional view and a side sectional view showing an example of a conventional speed reduction device. It is. 1, G, Gl...Reduction device 2 ;? 2... Input shaft 3.23... Output shaft 4, 45... Roller (cylindrical body) 5.50... Holder 7.32, 33, 60.61... Disc plate ( External tooth gear) 8.30.31... Eccentric body 10, 38, 39... Hole 12.42... Bin (engaging member) 51... Wall portion 55.56... Flange ( Exit) "=1 ・Implementation of all production failures 11:1 season, device t ho ■' needle 7 [whistle 1 fig. 7 View Figure 5 A YklnKmj5% $q, = T J J-:%
(f73 fig. 6 r, warehousing, dismounting, sword, d, pestle, fig. 8 @
Claims (1)
取付けた外歯ギヤと、この外歯ギヤに噛合し内歯ギヤを
構成する複数の円柱体と、外歯ギヤに係合し出力軸に固
定されて外歯ギヤの回転を出力軸に伝達する係合部材と
を、ケーシング内に備えると共に、上記円柱体をケーシ
ングに固定した保持体で支持するようにした減速装置に
おいて、 上記保持体は円柱体の外側に接して撓み変形可能な壁部
と、この壁部を底辺として略コ字状断面を構成する一対
の張出部とを備えると共に、壁部が撓むように両張出部
同士を締結する締結手段を設けた減速装置。[Claims] An external gear rotatably attached to the outer periphery of an eccentric body eccentrically fixed to an input shaft, a plurality of cylindrical bodies that mesh with the external gear and constitute an internal gear, and external teeth. An engaging member that engages with the gear and is fixed to the output shaft to transmit rotation of the external gear to the output shaft is provided in the casing, and the cylindrical body is supported by a holder fixed to the casing. In the speed reduction device, the holding body includes a wall portion that is in contact with the outside of the cylindrical body and can be flexibly deformed, and a pair of overhang portions forming a substantially U-shaped cross section with this wall portion as the base. A reduction gear that is provided with a fastening means that fastens both overhanging parts together so as to flex.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10768085A JPS61266849A (en) | 1985-05-20 | 1985-05-20 | Reduction gear |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP10768085A JPS61266849A (en) | 1985-05-20 | 1985-05-20 | Reduction gear |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS61266849A true JPS61266849A (en) | 1986-11-26 |
Family
ID=14465248
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP10768085A Pending JPS61266849A (en) | 1985-05-20 | 1985-05-20 | Reduction gear |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61266849A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63297840A (en) * | 1987-05-29 | 1988-12-05 | Sumitomo Heavy Ind Ltd | Output shaft supporting device for planetary gear acceleration/deceleration |
US5188572A (en) * | 1990-11-27 | 1993-02-23 | Sumitomo Heavy Industries, Ltd. | Internally meshing planetary gear structure |
US5352163A (en) * | 1992-04-21 | 1994-10-04 | Sumitomo Heavy Industries, Ltd. | Step-up or reduction gear series using internally meshing planetary gear structure |
KR100454761B1 (en) * | 2002-02-06 | 2004-11-05 | (주)신기기연 | Backlash Adjustable Planetary Gear Reducer |
JP2010138988A (en) * | 2008-12-11 | 2010-06-24 | Ntn Corp | In-wheel motor drive unit |
WO2014030292A1 (en) * | 2012-08-24 | 2014-02-27 | ナブテスコ株式会社 | Eccentrically rocking-type gear device |
-
1985
- 1985-05-20 JP JP10768085A patent/JPS61266849A/en active Pending
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63297840A (en) * | 1987-05-29 | 1988-12-05 | Sumitomo Heavy Ind Ltd | Output shaft supporting device for planetary gear acceleration/deceleration |
US5188572A (en) * | 1990-11-27 | 1993-02-23 | Sumitomo Heavy Industries, Ltd. | Internally meshing planetary gear structure |
US5352163A (en) * | 1992-04-21 | 1994-10-04 | Sumitomo Heavy Industries, Ltd. | Step-up or reduction gear series using internally meshing planetary gear structure |
KR100454761B1 (en) * | 2002-02-06 | 2004-11-05 | (주)신기기연 | Backlash Adjustable Planetary Gear Reducer |
JP2010138988A (en) * | 2008-12-11 | 2010-06-24 | Ntn Corp | In-wheel motor drive unit |
WO2014030292A1 (en) * | 2012-08-24 | 2014-02-27 | ナブテスコ株式会社 | Eccentrically rocking-type gear device |
CN104583645A (en) * | 2012-08-24 | 2015-04-29 | 纳博特斯克有限公司 | Eccentrically rocking-type gear device |
CN104583645B (en) * | 2012-08-24 | 2016-04-27 | 纳博特斯克有限公司 | Eccentrically swinging gear device |
TWI572795B (en) * | 2012-08-24 | 2017-03-01 | Nabtesco Corp | Eccentric oscillating gear device |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPH0989053A (en) | Wave gear device | |
KR20080033976A (en) | Reduction gear | |
EP0527483A2 (en) | Epicyclic drive | |
JP4585154B2 (en) | Planetary gear structure | |
JPS63254251A (en) | Planetary gear speed variation gear | |
JPS61266849A (en) | Reduction gear | |
JPH01312250A (en) | Differential gear mechanism using planetary gear speed reducer of internal engagement type | |
JP2003074646A (en) | Internal gear structure for internal meshing planetary gears | |
JP3781313B2 (en) | Top hat flexure meshing gear system | |
JP2588386B2 (en) | Output shaft support device of planetary gear reducer used for control device | |
JP3920398B2 (en) | Inscribed mesh planetary gear structure | |
JPS60146939A (en) | Planetary gear-type speed multiply and reduction gear | |
JPH01108447A (en) | Controlling transmission | |
JPH09291983A (en) | Mounting structure of flexible external tooth gear for silk hat type bend engagement gear box | |
JP2575016B2 (en) | Planetary gear reducer | |
JPH0586506B2 (en) | ||
JPH09280326A (en) | Silk-hat type flexibly engaging gear device | |
JPH0578701B2 (en) | ||
JPH0243934B2 (en) | ||
JPS612947A (en) | Planetary gear accelerating and decelerating device | |
JPH0542277Y2 (en) | ||
JPS6138242A (en) | Accelerating/decelerating device of planetary gear | |
WO2020111129A1 (en) | Wave gear device | |
JPH1182641A (en) | Deflection engaging type gear device | |
JPH07167225A (en) | Small reduction gear |