TWI695939B - Gear transmission - Google Patents
Gear transmission Download PDFInfo
- Publication number
- TWI695939B TWI695939B TW105110791A TW105110791A TWI695939B TW I695939 B TWI695939 B TW I695939B TW 105110791 A TW105110791 A TW 105110791A TW 105110791 A TW105110791 A TW 105110791A TW I695939 B TWI695939 B TW I695939B
- Authority
- TW
- Taiwan
- Prior art keywords
- gear
- shaft
- bearing
- input shaft
- hole
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 28
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 230000002093 peripheral effect Effects 0.000 description 31
- 239000000969 carrier Substances 0.000 description 6
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
Images
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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/038—Gearboxes for accommodating bevel gears
-
- 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
- F16H1/2854—Toothed gearings for conveying rotary motion with gears having orbital motion involving conical gears
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
-
- 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
- F16H2057/02073—Reduction gearboxes for industry
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Details Of Gearings (AREA)
- Retarders (AREA)
- Gear Transmission (AREA)
Abstract
本發明係提供一種齒輪傳動裝置,該裝置能夠提高為了變換旋轉方向而在正交之狀態下嚙合的一對齒輪的嚙合精度,藉此能夠減少組裝成本。 The present invention provides a gear transmission device that can improve the meshing accuracy of a pair of gears meshed in an orthogonal state to change the direction of rotation, thereby reducing assembly costs.
齒輪傳動裝置1具備:旋轉方向變換機構20;減速機構80;及主殼體10,其安裝有旋轉方向變換機構20及減速機構80。旋轉方向變換機構20具有:第1齒輪32;及第2齒輪42,其以與第1齒輪32正交之姿勢而配置,且與第1齒輪32嚙合。減速機構80具有輸出軸,且將自第1齒輪32傳遞至第2齒輪42之旋轉自前述輸出軸輸出。第1齒輪32及第2齒輪42分別可自轉地被主殼體10支持。 The gear transmission 1 includes: a rotation direction conversion mechanism 20; a reduction mechanism 80; and a main casing 10 to which the rotation direction conversion mechanism 20 and the reduction mechanism 80 are mounted. The rotation direction changing mechanism 20 has a first gear 32 and a second gear 42 which is arranged in a posture orthogonal to the first gear 32 and meshes with the first gear 32. The speed reduction mechanism 80 has an output shaft, and the rotation transmitted from the first gear 32 to the second gear 42 is output from the output shaft. The first gear 32 and the second gear 42 are rotatably supported by the main housing 10 respectively.
Description
本發明係關於一種齒輪傳動裝置。 The invention relates to a gear transmission device.
已知一種減速機構,其具備:將曲柄軸可自轉地保持之載架;與曲柄軸卡合之外齒齒輪;及齒數與外齒齒輪不同之內齒齒輪;且使外齒齒輪在內齒齒輪內擺動。在如此之減速機構中,在曲柄軸上設置有偏心體,且偏心體與外齒齒輪卡合。若曲柄軸自轉則偏心體將偏心旋轉,與偏心體卡合之外齒齒輪將擺動。 A speed reduction mechanism is known, which includes: a carrier that holds the crank shaft in a rotatable manner; an external gear that engages with the crank shaft; and an internal gear that has a different number of teeth from the external gear; and the external gear has internal teeth Swing inside the gear. In such a speed reduction mechanism, an eccentric body is provided on the crank shaft, and the eccentric body is engaged with the external gear. If the crank shaft rotates, the eccentric body will rotate eccentrically, and the external gear engaged with the eccentric body will swing.
在如此之減速機構中,在藉由拘束載架之自轉來拘束外齒齒輪之自轉時,內齒齒輪將自轉。在如此之構成中,可將內齒齒輪作為輸出軸,使曲柄軸之自轉減速而輸出。又,在不拘束載架之自轉而拘束內齒齒輪之自轉時,外齒齒輪將一邊公轉一邊自轉。該情形下,經由外齒齒輪與曲柄軸而連結之載架亦自轉。在如此之構成中,可將載架作為輸出軸,將曲柄軸之自轉減速而輸出。 In such a reduction mechanism, when restraining the rotation of the external gear by restraining the rotation of the carrier, the internal gear will rotate. In such a configuration, the internal gear can be used as the output shaft, and the rotation of the crankshaft is decelerated to output. In addition, when not constraining the rotation of the carrier but the rotation of the internal gear, the external gear will rotate while revolving. In this case, the carrier connected via the external gear and the crank shaft also rotates. In such a configuration, the carrier can be used as the output shaft, and the rotation of the crankshaft can be decelerated to output.
在如此之減速機構中,馬達之旋轉軸之旋轉係傳遞至曲柄軸,此後,傳遞至輸出軸(內齒齒輪或載架)。 In such a speed reduction mechanism, the rotation of the rotating shaft of the motor is transmitted to the crank shaft, and thereafter, to the output shaft (internal gear or carrier).
在產業用機器人或工作機械中,期望一種馬達之旋轉軸與減速機構之輸出軸為正交之關係的構成。該情形下,通常係利用以相對於被輸入馬達之轉矩之輸入軸正交的姿勢而配置的中繼軸。具體而言,利用使設置於輸入軸之齒輪與設置於中繼軸之齒輪嚙合,從而變換輸入軸之旋轉方向的機構。並且,如上述般組合旋轉方向變換機構與減
速機構的齒輪傳動裝置係組裝入機器人等。藉由使一對傘齒輪或一對準雙曲面齒輪嚙合,能夠將轉矩從正交配置之輸入軸傳遞至中繼軸。例如,在專利文獻1中揭示了此種齒輪傳動裝置。
In industrial robots or work machines, a structure in which the rotation axis of the motor and the output axis of the reduction mechanism are orthogonal is desired. In this case, it is common to use a relay shaft arranged in a posture orthogonal to the input shaft of the torque input to the motor. Specifically, a mechanism that causes the gear provided on the input shaft to mesh with the gear provided on the relay shaft to change the rotation direction of the input shaft. In addition, the rotation direction changing mechanism and
The gear transmission of the speed mechanism is assembled into a robot, etc. By meshing a pair of bevel gears or an aligned hyperbolic gear, torque can be transmitted from the orthogonally arranged input shaft to the relay shaft. For example,
[專利文獻1]國際公開第2007/125835號 [Patent Literature 1] International Publication No. 2007/125835
上述之專利文獻1所揭示之齒輪傳動裝置,在載置於地板面等之台座上安裝有保持輸入軸之殼體、保持中繼軸之殼體、及減速機構。保持輸入軸之殼體經由軸承而將輸入軸保持於其內側。
The gear transmission disclosed in
該殼體係在***於形成於台座之孔之狀態下緊固於台座。 The case is fastened to the pedestal in a state of being inserted into a hole formed in the pedestal.
然而,在該構成中,形成於台座之孔與殼體之外周面抵接,殼體之內周面與軸承之外環抵接,軸承之內環與輸入軸之外周面抵接。其結果為由於多個元件之公差累積,容易導致輸入軸之齒輪與中繼軸之齒輪的嚙合精度降低。故而,有在用於獲得所期望之精度的調整作業中耗費時間精力,而組裝成本增加之情形。 However, in this configuration, the hole formed in the pedestal contacts the outer peripheral surface of the housing, the inner peripheral surface of the housing contacts the outer ring of the bearing, and the inner ring of the bearing contacts the outer peripheral surface of the input shaft. As a result, due to the accumulation of tolerances of multiple components, the meshing accuracy of the gears of the input shaft and the gears of the relay shaft is easily reduced. Therefore, there are cases where time and effort are spent in the adjustment operation for obtaining the desired accuracy, and the assembly cost increases.
本發明係考量上述實情而完成者,其目的在於提供一種齒輪傳動裝置,其能夠提高為了變換旋轉方向而在正交之狀態下嚙合的一對齒輪的嚙合精度,藉此能夠減少組裝成本。 The present invention has been completed in consideration of the above facts, and its object is to provide a gear transmission device that can improve the meshing accuracy of a pair of gears meshed in an orthogonal state to change the rotation direction, thereby reducing assembly costs.
本發明係一種齒輪傳動裝置,其具備:旋轉方向變換機構;減速機構;及安裝有前述旋轉方向變換機構及前述減速機構之主殼體;前述旋轉方向變換機構具有:第1齒輪;及以與前述第1齒輪正交之姿勢而配置,且與前述第1齒輪嚙合之第2齒輪;前述減速機構具有輸出軸,且將自前述第1齒輪傳遞至前述第2齒輪之旋轉自前述輸出軸輸 出;前述第1齒輪及前述第2齒輪分別可自轉地被前述主殼體支持。 The present invention is a gear transmission device including: a rotation direction conversion mechanism; a speed reduction mechanism; and a main casing mounted with the rotation direction conversion mechanism and the speed reduction mechanism; the rotation direction conversion mechanism has: a first gear; and The first gear is disposed in an orthogonal posture and meshes with the first gear; the second gear meshes with the first gear; the reduction mechanism has an output shaft, and the rotation transmitted from the first gear to the second gear is transmitted from the output shaft Out; the first gear and the second gear are respectively supported by the main housing in a rotatable manner.
在前述齒輪傳動裝置中,可行的是:前述第1齒輪係設置於輸入軸,且與該輸入軸一體地自轉;前述第2齒輪係設置於中繼軸,且與該中繼軸一體地自轉;前述中繼軸係以與前述輸入軸正交之姿勢而配置;前述主殼體具有***有前述輸入軸之輸入軸用軸承孔、及***有前述中繼軸之中繼軸用軸承孔;前述輸入軸可自轉地被前述輸入軸用軸承孔支持,藉此前述第1齒輪可自轉地被前述主殼體支持;且前述中繼軸可自轉地被前述中繼軸用軸承孔支持,藉此前述第2齒輪可自轉地被前述主殼體支持。 In the aforementioned gear transmission device, it is feasible that the first gear train is provided on the input shaft and rotates integrally with the input shaft; the second gear train is provided on the relay shaft and rotates integrally with the relay shaft The intermediate shaft is arranged in a posture orthogonal to the input shaft; the main housing has an input shaft bearing hole into which the input shaft is inserted, and an intermediate shaft bearing hole into which the intermediate shaft is inserted; The input shaft is rotatably supported by the input shaft bearing hole, whereby the first gear is rotatably supported by the main housing; and the relay shaft is rotatably supported by the relay shaft bearing hole, by The second gear is rotatably supported by the main housing.
更具體而言,可行的是:前述輸入軸係經由設置於前述輸入軸用軸承孔之軸承可自轉地被支持,前述中繼軸經由設置於前述中繼軸用軸承孔之軸承可自轉地被支持。 More specifically, it is feasible that the input shaft is rotatably supported via a bearing provided in the bearing hole for the input shaft, and the intermediate shaft is rotatably supported via a bearing provided in the bearing hole for the intermediate shaft stand by.
根據本發明之齒輪傳動裝置,由於旋轉方向變換機構之第1齒輪與第2齒輪可自轉地被共通之主殼體支持,從而抑制夾隔於主殼體與第1齒輪及第2齒輪之間的元件,藉此來抑制公差之累積。其結果為能夠提高為了變換旋轉方向而在正交之狀態下嚙合的一對齒輪的嚙合精度,藉此能夠減少組裝成本。 According to the gear transmission of the present invention, since the first gear and the second gear of the rotation direction changing mechanism can be rotatably supported by the common main casing, the pinching between the main casing and the first gear and the second gear is suppressed Components to suppress the accumulation of tolerances. As a result, it is possible to improve the meshing accuracy of the pair of gears meshed in the orthogonal state in order to change the rotation direction, thereby reducing the assembly cost.
又,在前述齒輪傳動裝置中,設置於前述輸入軸用軸承孔之軸承及設置於前述中繼軸用軸承孔之軸承中的至少一者,係以一部分自相對應之前述軸承孔突出之方式而設置。 Furthermore, in the gear transmission device, at least one of the bearing provided in the bearing hole for the input shaft and the bearing provided in the bearing hole for the intermediate shaft is partially protruded from the corresponding bearing hole And set.
根據該構成,可將自軸承孔突出之軸承之一部分用於構件之定位,從而可謀求提高組裝之操作性。 According to this configuration, a part of the bearing protruding from the bearing hole can be used for positioning of the member, so that the operability of assembly can be improved.
具體而言,設置於前述輸入軸用軸承孔之軸承,係以一部分自前述輸入軸用軸承孔突出之方式而設置。並且,前述第1齒輪位於較設置於前述輸入軸用軸承孔之軸承更靠前述主殼體之內部側處,前述輸入軸自設置於前述輸入軸用軸承孔之軸承朝前述主殼體之外部延 伸,且在前述輸入軸中之自前述軸承朝前述主殼體之外部延伸之部分的徑向外側,設置有覆蓋前述輸入軸之副殼體,前述副殼體可卡止於前述軸承之突出之部分。 Specifically, the bearing provided in the bearing hole for the input shaft is provided so as to partially protrude from the bearing hole for the input shaft. In addition, the first gear is located on the inner side of the main housing than the bearing provided in the bearing hole for the input shaft, and the input shaft faces the outside of the main housing from the bearing provided in the bearing hole for the input shaft Yan And a radial outer portion of the input shaft extending from the bearing toward the outside of the main housing is provided with a secondary housing covering the input shaft, the secondary housing can be locked to the protrusion of the bearing Part.
該情形下,因可將軸承用於副殼體之定位,故可提高組裝之操作性。 In this case, since the bearing can be used for positioning the sub-housing, the assembly workability can be improved.
根據本發明,能夠提高為了變換旋轉方向而在正交之狀態下嚙合的一對齒輪的嚙合精度,藉此能夠減少組裝成本。 According to the present invention, it is possible to improve the meshing accuracy of a pair of gears meshed in a state of being orthogonal in order to change the rotation direction, thereby reducing assembly cost.
1:齒輪傳動裝置 1: gear transmission
10:主殼體 10: main housing
11:第1孔 11: Hole 1
11A:輸入軸用軸承孔 11A: Bearing hole for input shaft
11B:第1齒輪收納孔 11B: 1st gear storage hole
11C:階差面 11C: Step surface
12:第2孔 12: hole 2
12A:入口孔 12A: entrance hole
12B:第2齒輪收納孔 12B: 2nd gear storage hole
12C:中繼軸用軸承孔 12C: Bearing hole for relay shaft
13:第3孔 13: Hole 3
14:第4孔/第4孔穴 14: hole 4/hole 4
16:第1平坦面 16: The first flat surface
17:第2平坦面 17: 2nd flat surface
18:周壁部 18: Peripheral wall
20:旋轉方向變換機構 20: Rotation direction changing mechanism
30:輸入軸單元 30: input shaft unit
31:輸入軸 31: input shaft
31A:驅動軸***孔 31A: Drive shaft insertion hole
32:第1齒輪 32: 1st gear
33:第1主軸承 33: 1st main bearing
34:第1副軸承 34: 1st pair of bearings
35:副殼體 35: auxiliary housing
40:中繼軸單元 40: Relay axis unit
41:中繼軸 41: Relay axis
41a:中繼軸之一端部 41a: One end of the relay shaft
41b:中繼軸之另一端部 41b: the other end of the relay shaft
42:第2齒輪 42: 2nd gear
43:第3齒輪 43: 3rd gear
44:第2副軸承 44: 2nd secondary bearing
45:第2主軸承 45: 2nd main bearing
46:固定板 46: fixed plate
60:中間齒輪機構 60: Intermediate gear mechanism
61:中心軸承 61: Center bearing
62:第4齒輪 62: 4th gear
63:凸緣部 63: Flange
64:軸部 64: Shaft
65:第5齒輪 65: 5th gear
66:軸承卡合部 66: Bearing engagement part
80:減速機構 80: speed reduction mechanism
81:曲柄軸 81: crank shaft
81a:偏心體 81a: Eccentric body
81b:偏心體 81b: Eccentric body
82a:外齒齒輪 82a: External gear
82b:外齒齒輪 82b: External gear
83:第6齒輪 83: 6th gear
84a:圓錐滾子軸承 84a: Tapered roller bearing
84b:圓錐滾子軸承 84b: Tapered roller bearing
85a:載架 85a: Carrier
85b:載架 85b: Carrier
86:螺栓 86: Bolt
86a:斜角滾珠軸承 86a: bevel ball bearing
86b:斜角滾珠軸承 86b: bevel ball bearing
87:柱狀部 87: columnar part
88:螺栓 88: bolt
90:內齒齒輪 90: Internal gear
91:螺栓 91: Bolt
92:板 92: board
93:筒 93: tube
100:斜角滾珠軸承 100: bevel ball bearing
L1:第1軸線 L1: 1st axis
L2:第2軸線 L2: 2nd axis
圖1係本發明之一個實施形態之齒輪傳動裝置的剖面圖。 1 is a cross-sectional view of a gear transmission device according to an embodiment of the present invention.
圖2係圖1之齒輪傳動裝置之主殼體的剖面圖。 2 is a cross-sectional view of the main housing of the gear transmission of FIG.
以下參照圖式說明本發明之一個實施形態。 An embodiment of the present invention will be described below with reference to the drawings.
圖1顯示本發明之一個實施形態之齒輪傳動裝置1的剖面圖。如圖1所示,齒輪傳動裝置1具備:旋轉方向變換機構20;減速機構80;夾隔於該等旋轉方向變換機構20及減速機構80之間的中間齒輪機構60;及安裝有各機構20、60、80的主殼體10。
FIG. 1 shows a cross-sectional view of a
旋轉方向變換機構20具有輸入軸單元30與中繼軸單元40。在齒輪傳動裝置1中,輸入軸單元30所輸出之旋轉係傳遞至中繼軸單元40。此時,輸入軸單元30之旋轉方向由中繼軸單元40變換。經中繼軸單元40變換方向之旋轉係傳遞至中間齒輪機構60,此後傳遞至減速機構80。
The rotation
圖2顯示主殼體10。如圖2所示,在主殼體10上形成有:用於收納輸入軸單元30之第1孔11;用於收納中繼軸單元40之第2孔12;用於收納中間齒輪機構60之第3孔13;及用於將配線等拉出至齒輪傳動裝置1之外部的第4孔穴14。
FIG. 2 shows the
在圖2中,符號L1表示第1軸線。第1軸線L1位於自減速機構80輸出之旋轉之旋轉中心上。符號L2表示與第1軸線L1正交之第2軸線。在主殼體10上形成有:載置且定位減速機構80之第1平坦面16;及將齒輪傳動裝置1設置於設置面時,與該設置面抵接之第2平坦面17。第1平坦面16及第2平坦面17係沿第2軸線L2延伸。
In FIG. 2, the symbol L1 represents the first axis. The first axis L1 is located on the rotation center of the rotation output from the
上述之孔11~14之中,第1孔11沿第2軸線L2自主殼體10之外部側向內部側延伸。第1孔11具有:位於主殼體10之外部側之輸入軸用軸承孔11A;及位於主殼體10之內部側,且較輸入軸用軸承孔11A為小徑之第1齒輪收納孔11B。在輸入軸用軸承孔11A與第1齒輪收納孔11B之間形成有階差面11C。
Among the
第2孔12係沿第1軸線L1自第2平坦面17向第1平坦面16側延伸。第2孔12係沿第2軸線L2方向形成於自第1軸線L1朝第1孔11側偏位之位置。第2孔12與第1孔11係一部分相交叉,一部分彼此連通。第2孔12具有:於第2平坦面17開口之入口孔12A;形成於較入口孔12更靠第1平坦面16側處,且與第1孔11(第1齒輪收納孔11B)連通之第2齒輪收納孔12B;及形成於較第2齒輪收納孔12B更靠第1平坦面16側處之中繼軸用軸承孔12C。中繼軸用軸承孔12C以下述方式形成:不貫通第1平坦面16側,而隔著主殼體10之壁部與第1平坦面16之外周側部分對向。
The
第3孔13係形成為以第1軸線L1為中心之環狀。第3孔13與第2孔12係一部分相交叉,一部分彼此連通。又,第3孔13於第1平坦面16開口。第4孔14係形成為與第1軸線L1同軸之孔,且形成於第3孔13之內周側。此處,在主殼體10上形成有將第3孔13與第4孔14區劃之圓筒狀之周壁部18。周壁部18自第2平坦面17朝第1平坦面16側延伸。第3孔13之內周部分由周壁部18之外周面區劃成,且第4孔14之外周部分由周壁部18之內周面區劃成。第4孔14於周壁部18之第1平坦面16側之
端部開口,且於第2平坦面17開口。
The
如圖1所示,輸入軸單元30具有:輸入軸31;設置於輸入軸31之一端部,且與輸入軸31一體地自轉之第1齒輪32;在輸入軸31之一端部側設置於較第1齒輪32更靠另一端部側處之第1主軸承33;設置於輸入軸31之另一端部側之第1副軸承34;及***(外嵌)於第1主軸承33及第1副軸承34之外周面之副殼體35。在本實施形態中,第1主軸承33及第1副軸承34分別以斜角滾珠軸承而構成。
As shown in FIG. 1, the
在輸入軸單元30中,輸入軸31在設置有第1主軸承33之狀態下,自第1齒輪32側***至第1孔11。第1齒輪32配置於第1孔11中之第1齒輪收納孔11B之內部,且第1主軸承33***(內嵌)於第1孔11中之輸入軸用軸承孔11A,並藉由與階差面11C抵接而定位。藉此,輸入軸31經由第1主軸承33,可自轉地被輸入軸用軸承孔11A(主殼體10)自其徑向外側支持。其結果為,第1齒輪31可自轉地被主殼體10支持。在輸入軸31處形成有自位於主殼體10之外部側之其另一端部朝一端部側延伸之驅動軸***孔31A。在驅動軸***孔31A中***有未圖示之馬達之驅動軸。藉此,輸入軸31藉由馬達之旋轉而自轉。
In the
輸入軸31自第1主軸承33向主殼體10之外部延伸。副殼體35設置於輸入軸31之自第1主軸承33朝外部延伸之部分的徑向外側,且形成為自徑向外側覆蓋該輸入軸31之圓筒狀。如圖1所示,本實施形態之第1主軸承33係以下述方式而設置:其一部分自輸入軸用軸承孔11A沿該軸向朝外部側突出。副殼體35係其一端部之開口部卡止或***於第1主軸承33之上述突出之部分的外周面。藉此,副殼體35係利用第1主軸承33而定位。
The
副殼體35在其另一端部側由設置於輸入軸31之另一端部側的第1副軸承34之外周面***。藉此,輸入軸31之另一端部經由第1副軸承34可自轉地自其徑向外側被副殼體35支持。
The sub-housing 35 is inserted into the outer peripheral surface of the first sub-bearing 34 provided on the other end of the
副殼體35在其一端部之開口部卡止於第1主軸承33之狀態下,由未圖示之螺栓緊固於主殼體10。藉此,輸入軸單元30固定於主殼體10。
The sub-housing 35 is fastened to the
中繼軸單元40具有:中繼軸41;設置於中繼軸41之一端部41a與另一端部41b之間,且與中繼軸41一體地自轉之第2齒輪42及第3齒輪43;設置於中繼軸41之一端部41a之第2副軸承44;設置於中繼軸41之另一端部41b之第2主軸承45;及經由第2主軸承45與中繼軸41連結,且用於將中繼軸單元40固定於主殼體10的固定板46。
The
中繼軸41係以與輸入軸31正交之姿勢而配置,相同地,第2齒輪42係以與第1齒輪31正交之姿勢而配置,且與第1齒輪32嚙合。第2齒輪42係設置於中繼軸41之一端部41a側,第3齒輪43係設置於中繼軸41之另一端部41b側。在本實施形態中,第2副軸承44及第2主軸承45分別以斜角滾珠軸承而構成。
The
中繼軸單元40在使上述之各構件一體化之狀態下,自中繼軸41之一端部41a側***至第2孔12。設置於中繼軸41之一端部41a的第2副軸承44***(內嵌)於第2孔12中之中繼軸用軸承孔12C,且藉由與中繼軸用軸承孔12C之底面抵接而定位。在此狀態下,第2齒輪42及第3齒輪43配置於第2孔12中之第2齒輪收納孔12B內,且第2齒輪42與第1齒輪32嚙合。又,固定板46在使其外周部與第2孔12中之入口孔12A之外周緣部抵接之狀態下,由未圖示之螺栓緊固於主殼體10。藉此,中繼軸單元40固定於主殼體10。
The
另外,在本實施形態中,第2副軸承44係以下述方式而設置:其一部分自中繼軸用軸承孔12C沿其軸向朝該中繼軸用軸承孔12C之外部側突出。相同地,第2主軸承45係以下述方式而設置:其一部分自形成於固定板46之軸承孔沿其軸向朝該軸承孔之外部側突出。此外,第2副軸承44及第2主軸承45亦可不必自對應之軸承孔突出。
In the present embodiment, the
在中繼軸單元40固定於主殼體10之狀態下,如上述般,中繼軸41之一端部41a經由第2副軸承44***於中繼軸用軸承孔12C。藉此,中繼軸41之一端部41a經由第2副軸承44,可自轉地被中繼軸用軸承孔12C(主殼體10)自其徑向外側支持。其結果為,第2齒輪42可自轉地被主殼體10支持。
In the state where the
另一方面,中繼軸41之另一端部41b經由第2主軸承45可自轉地被固定板46自其徑向外側支持。在本實施形態中,固定板46緊固於主殼體10且自軸向支持中繼軸41,藉此支持中繼軸41之軸向荷重,且防止中繼軸單元40從第2孔12脫落。
On the other hand, the other end 41 b of the
如上述般,藉由將輸入軸單元30與中繼軸單元40固定於共通之主殼體10,旋轉方向變換機構20完成。在旋轉方向變換機構20中,輸入軸單元30之輸入軸31的第1齒輪32與中繼軸單元40之中繼軸41的第2齒輪42嚙合。輸入軸31與中繼軸41係正交。藉此,輸入軸31之旋轉方向被變換。又,作為第1齒輪32及第2齒輪42,可使用傘齒輪,亦可使用準雙曲面齒輪。此外,在本實施形態中,第3齒輪43係以平齒輪而構成。
As described above, by fixing the
中間齒輪機構60具有:第4齒輪62,其可自轉地被中心軸承61支持,該中心軸承包含設置於周壁部18之外周面的斜角滾珠軸承;圓環狀之凸緣部63,其外周緣部由螺栓固定於第4齒輪62之第1平坦面16側之內周緣部;筒狀之軸部64,其自凸緣部63之內周緣部沿第1軸線L1朝第1平坦面16側延伸;第5齒輪65,其設置於軸部64之前端部之外周部;及軸承卡合部66,其自軸部64之前端部沿第1軸線L1進一步延伸。
The
第4齒輪62係平齒輪,且收納於第3孔13之內部,與中繼軸單元40之第3齒輪43嚙合。凸緣部63自與第4齒輪62之固定位置向周壁部18側延伸,且其內周緣部位於與周壁部18之軸向端部對向之位置。軸部
64自凸緣部63之內周緣部沿第1軸線L1延伸,且自第1平坦面16露出於外部。在本實施形態中,凸緣部63、軸部64、第5齒輪65及軸承卡合部66係一體地形成。
The
在中間齒輪機構60中,藉由中繼軸單元40之第3齒輪43之自轉,第4齒輪62以第1軸線L1為中心而自轉。藉此,中間齒輪機構60之整體自轉。並且,第5齒輪65將旋轉傳遞至減速機構80。在本實施形態中,第5齒輪65係以平齒輪而構成。
In the
減速機構80具有:曲柄軸81,其形成有偏心體81a、81b;外齒齒輪82a、82b,其與偏心體81a、81b卡合,且伴隨著曲柄軸81之自轉而繞曲柄軸81之周圍公轉;內齒齒輪90,其包圍外齒齒輪82a、82b,且具備與外齒嚙合之內齒銷。內齒銷之齒數與外齒之齒數不同。
The
在曲柄軸81上固定有與曲柄軸81一體地自轉之第6齒輪83。第6齒輪83與中間齒輪機構60之第5齒輪65嚙合。曲柄軸81藉由一對圓錐滾子軸承84a、84b,以可相對於載架85a、85b自轉,而無法在軸向上變位之方式被支持。若曲柄軸81自轉,則偏心體81a、81b將偏心旋轉。若偏心體81a、81b偏心旋轉,則外齒齒輪82a、82b將繞曲柄軸81之周圍公轉。
A
載架85a、85b係以夾著外齒齒輪82a、82b之方式配置,且藉由螺栓86而彼此固定。在本實施形態中,載架85a、85b藉由一對斜角滾珠軸承86a、86b,將內齒齒輪90以可自轉而無法在軸向上變位之方式予以支持。又,在載架85a與中間齒輪機構60之軸承卡合部66之間設置有斜角滾珠軸承100,利用斜角滾珠軸承100,中間齒輪機構60之整體相對於載架85a可自轉地被支持。
The
載架85a具有用於與載架85b連結之柱狀部87。另外,上述之螺栓86係***於柱狀部87。柱狀部87從形成於外齒齒輪82a、82b之貫通孔中通過。載架85a、85b經由曲柄軸81,相對於外齒齒輪82a、82b無法
自轉地被連結。另外,省略圖示的是,曲柄軸81及柱狀部87係在相對於斜角滾珠軸承86a、86b之中心的周向上形成為複數個,且在外齒齒輪82a、82b上形成有使曲柄軸81及柱狀部87通過的複數個貫通孔。
The
在此減速機構80中,外齒齒輪82a、82b之外齒之齒數較內齒銷之齒數少(例如少1個)。藉此,每次曲柄軸81旋轉,外齒與內齒銷之嚙合偏移,且外齒齒輪82a、82b偏心而相對於內齒齒輪90相對地擺動旋轉。此處,在本實施形態中,載架85a由螺栓88固定於主殼體10。從而,外齒齒輪82a、82b之自轉被拘束。因此,若曲柄軸81自轉,則外齒齒輪82a、82b不自轉而公轉。在該公轉時,外齒齒輪82a、82b使內齒齒輪90相對於載架85a、85b旋轉。藉此,內齒齒輪90自轉。
In this
在內齒齒輪90上,利用螺栓91而固定有板92。減速機構80將該板90作為輸出軸來輸出旋轉。在板92之中央部設置有筒93。筒93在通過減速機構80後,通過中間齒輪機構60之軸部64及第4孔14,而到達第2平坦面17。在筒93之內部,可使電源電纜等穿過。
A
以下說明本實施形態之齒輪傳動裝置1之動作。針對齒輪傳動裝置1,在旋轉方向變換機構20中,若輸入軸31藉由未圖示之馬達之驅動軸之旋轉而自轉,則第1齒輪32與輸入軸31一體地自轉。第1齒輪32之自轉使中繼軸41之第2齒輪42自轉,從而中繼軸41自轉。藉此,第3齒輪43亦自轉。在輸入軸31之自轉從第1齒輪32傳遞至第2齒輪42時,藉由第1齒輪32及第2齒輪42,旋轉方向被變換。
The operation of the
中繼軸41之自轉從第4齒輪62輸入至中間齒輪機構60,且在自轉速度被變換後,自第5齒輪65輸出。並且,第5齒輪65之自轉經由第6齒輪83而傳遞至曲柄軸81。曲柄軸81繞其中心軸之周圍自轉,且使偏心體81a、81b繞前述中心軸之周圍公轉。若偏心體81a、81b公轉,則外齒齒輪82a、82b在經由內齒銷而與內齒齒輪90嚙合之狀態下公轉。在本實施形態中,外齒齒輪82a、82b之自轉被拘束。因此,若外齒齒
輪82a、82b在與內齒齒輪90嚙合之狀態下公轉,則由於外齒齒輪82a、82b與內齒齒輪90之齒數不同,故而內齒齒輪90自轉。
The rotation of the
(效果) (effect)
針對以上所說明之本實施形態之齒輪傳動裝置1,在旋轉方向變換機構20中,第1齒輪32及第2齒輪42分別可自轉地被主殼體10支持。具體而言,第1齒輪32係設置於輸入軸31,且與該輸入軸31一體地自轉;第2齒輪42係設置於中繼軸41,且與該中繼軸41一體地自轉;中繼軸41係以與輸入軸31正交之姿勢而配置。輸入軸31經由在形成於主殼體10之輸入軸用軸承孔11A中所設置的第1主軸承33而可自轉地被主殼體10支持,藉此第1齒輪32可自轉地被主殼體10支持。中繼軸41經由在形成於主殼體10之中繼軸用軸承孔12C中所設置的第2副軸承44而可自轉地被主殼體10支持,藉此第2齒輪42可自轉地被主殼體10支持。
With respect to the
根據此一構成,由於旋轉方向變換機構20之第1齒輪32與第2齒輪42可自轉地被共通之主殼體10支持,從而可抑制夾隔於主殼體10與第1齒輪32及第2齒輪42之間的元件,藉此來抑制公差之累積。其結果為能夠提高為了變換旋轉方向而在正交之狀態下嚙合的一對齒輪的嚙合精度,藉此減少用於獲得所期望之精度之調整作業所耗費的時間精力,從而能夠減少組裝成本。
According to this configuration, since the
特別是,通常情況下,軸承因其內環及外環經過精密加工,故在輸入軸用軸承孔11A之內周面***有第1主軸承33之外周面,若根據輸入軸31被第1主軸承33之內周面支持之構成,則可抑制為了獲得所期望之定心狀態的加工成本。
In particular, under normal circumstances, since the inner ring and the outer ring of the bearing are precision-processed, the outer peripheral surface of the first
又,第1齒輪32位於較設置於輸入軸用軸承孔11A之第1主軸承33更靠主殼體10之內部側處,輸入軸31自第1主軸承33朝主殼體10之外部延伸。在輸入軸31中之自第1主軸承33朝主殼體10之外部延伸之部
分的徑向外側,設置有覆蓋輸入軸31之副殼體35,副殼體35卡止於自第1主軸承33之輸入軸用軸承孔11A突出之部分。藉此,根據本實施形態,因可將第1主軸承33用於副殼體35之定位,故亦有可提高組裝之操作性此效果。
In addition, the
以上,說明了本發明之一個實施形態,但本發明並非限定於上述之實施形態。 In the above, one embodiment of the present invention has been described, but the present invention is not limited to the above embodiment.
例如,在上述實施形態中,說明了由於載架85a之自轉被拘束,故外齒齒輪82a、82b之自轉被拘束,而內齒齒輪90自轉之構成。然而,本發明亦可適用於由於內齒齒輪90之自轉被拘束,而載架85a、85b自轉之構成。
For example, in the above embodiment, the rotation of the
1‧‧‧齒輪傳動裝置 1‧‧‧ gear transmission
10‧‧‧主殼體 10‧‧‧Main housing
11‧‧‧第1孔 11‧‧‧ First hole
11A‧‧‧輸入軸用軸承孔 11A‧‧‧Bearing hole for input shaft
11B‧‧‧第1齒輪收納孔 11B‧‧‧1st gear storage hole
11C‧‧‧階差面 11C‧‧‧step difference surface
12A‧‧‧入口孔 12A‧‧‧Inlet
12B‧‧‧第2齒輪收納孔 12B‧‧‧Second gear storage hole
12C‧‧‧中繼軸用軸承孔 12C‧‧‧Bearing hole for relay shaft
16‧‧‧第1平坦面 16‧‧‧The first flat surface
17‧‧‧第2平坦面 17‧‧‧2nd flat surface
20‧‧‧旋轉方向變換機構 20‧‧‧Rotation direction changing mechanism
30‧‧‧輸入軸單元 30‧‧‧ Input shaft unit
31‧‧‧輸入軸 31‧‧‧ input shaft
31A‧‧‧驅動軸***孔 31A‧‧‧Drive shaft insertion hole
32‧‧‧第1齒輪 32‧‧‧1st gear
33‧‧‧第1主軸承 33‧‧‧ 1st main bearing
34‧‧‧第1副軸承 34‧‧‧First pair of bearings
35‧‧‧副殼體 35‧‧‧Sub-housing
40‧‧‧中繼軸單元 40‧‧‧Relay axis unit
41‧‧‧中繼軸 41‧‧‧ Relay shaft
41a‧‧‧中繼軸之一端部 41a‧‧‧One end of relay shaft
41b‧‧‧中繼軸之另一端部 41b‧‧‧The other end of the relay shaft
42‧‧‧第2齒輪 42‧‧‧ 2nd gear
43‧‧‧第3齒輪 43‧‧‧3rd gear
44‧‧‧第2副軸承 44‧‧‧Second secondary bearing
45‧‧‧第2主軸承 45‧‧‧ 2nd main bearing
46‧‧‧固定板 46‧‧‧Fixed board
60‧‧‧中間齒輪機構 60‧‧‧Intermediate gear mechanism
61‧‧‧中心軸承 61‧‧‧Center bearing
62‧‧‧第4齒輪 62‧‧‧4th gear
63‧‧‧凸緣部 63‧‧‧Flange
64‧‧‧軸部 64‧‧‧Shaft
65‧‧‧第5齒輪 65‧‧‧ 5th gear
66‧‧‧軸承卡合部 66‧‧‧ Bearing engagement
80‧‧‧減速機構 80‧‧‧Reduction mechanism
81‧‧‧曲柄軸 81‧‧‧Crankshaft
81a‧‧‧偏心體 81a‧‧‧Eccentric body
81b‧‧‧偏心體 81b‧‧‧Eccentric body
82a‧‧‧外齒齒輪 82a‧‧‧External gear
82b‧‧‧外齒齒輪 82b‧‧‧External gear
83‧‧‧第6齒輪 83‧‧‧ 6th gear
84a‧‧‧圓錐滾子軸承 84a‧‧‧Tapered roller bearing
84b‧‧‧圓錐滾子軸承 84b‧‧‧Tapered roller bearing
85a‧‧‧載架 85a‧‧‧Carrier
85b‧‧‧載架 85b‧‧‧Carrier
86‧‧‧螺栓 86‧‧‧bolt
86a‧‧‧斜角滾珠軸承 86a‧‧‧Bevel ball bearing
86b‧‧‧斜角滾珠軸承 86b‧‧‧Bevel ball bearing
87‧‧‧柱狀部 87‧‧‧Column
88‧‧‧螺栓 88‧‧‧bolt
90‧‧‧內齒齒輪 90‧‧‧ Internal gear
91‧‧‧螺栓 91‧‧‧bolt
92‧‧‧板 92‧‧‧ board
93‧‧‧筒 93‧‧‧tube
100‧‧‧斜角滾珠軸承 100‧‧‧Bevel ball bearing
L1‧‧‧第1軸線 L1‧‧‧ 1st axis
Claims (4)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015-082582 | 2015-04-14 | ||
JP2015082582A JP6659232B2 (en) | 2015-04-14 | 2015-04-14 | Gear transmission |
Publications (2)
Publication Number | Publication Date |
---|---|
TW201641838A TW201641838A (en) | 2016-12-01 |
TWI695939B true TWI695939B (en) | 2020-06-11 |
Family
ID=57043370
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW105110791A TWI695939B (en) | 2015-04-14 | 2016-04-06 | Gear transmission |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP6659232B2 (en) |
KR (1) | KR102580787B1 (en) |
CN (2) | CN106051060A (en) |
DE (1) | DE102016205517A1 (en) |
TW (1) | TWI695939B (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7066341B2 (en) * | 2017-06-29 | 2022-05-13 | シチズン時計株式会社 | Machine tool tool post |
JP6911621B2 (en) * | 2017-08-08 | 2021-07-28 | 株式会社安川電機 | Reducer and actuator |
JP2019132282A (en) * | 2018-01-29 | 2019-08-08 | 宇部興産機械株式会社 | Ladle water heater and arm drive control system |
KR20190106794A (en) * | 2018-03-08 | 2019-09-18 | 나부테스코 가부시키가이샤 | Transmission device |
KR20190106795A (en) * | 2018-03-08 | 2019-09-18 | 나부테스코 가부시키가이샤 | Transmission device |
JP2020183763A (en) | 2019-04-26 | 2020-11-12 | ナブテスコ株式会社 | Reduction gear, and driving device using the reduction gear |
JP2020200913A (en) * | 2019-06-12 | 2020-12-17 | ナブテスコ株式会社 | Support part structure of transmission gear, speed reducer, and rotary device |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007057054A (en) * | 2005-08-26 | 2007-03-08 | Hitachi Industrial Equipment Systems Co Ltd | Geared motor |
TW200940855A (en) * | 2008-01-25 | 2009-10-01 | Sumitomo Heavy Industries | Power transmission device with bevel gear |
JP2010101366A (en) * | 2008-10-22 | 2010-05-06 | Nabtesco Corp | Gear transmission device |
JP2011021659A (en) * | 2009-07-15 | 2011-02-03 | Nabtesco Corp | Eccentric reduction gear |
CN203570944U (en) * | 2013-10-22 | 2014-04-30 | 通化石油化工机械制造有限责任公司 | Novel angle transmission box structure |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5121270Y2 (en) * | 1971-12-09 | 1976-06-02 | ||
JP3573294B2 (en) * | 1994-04-11 | 2004-10-06 | 日本電産シンポ株式会社 | Small planetary gear reducer |
US20090118050A1 (en) | 2006-04-28 | 2009-05-07 | Nabtesco Corporation | Reduction Gear Transmission and Manufacturing Method Thereof |
CN201599480U (en) * | 2010-01-08 | 2010-10-06 | 科福龙阀门集团有限公司 | Linkage transmission device for part of revolving valves |
JP5816584B2 (en) * | 2012-03-23 | 2015-11-18 | 住友重機械工業株式会社 | Power transmission device |
CN102777575A (en) * | 2012-07-24 | 2012-11-14 | 无锡平盛科技有限公司 | Reduction box of headstand wire drawing machine |
-
2015
- 2015-04-14 JP JP2015082582A patent/JP6659232B2/en active Active
-
2016
- 2016-04-04 KR KR1020160040970A patent/KR102580787B1/en active IP Right Grant
- 2016-04-04 DE DE102016205517.8A patent/DE102016205517A1/en active Pending
- 2016-04-06 TW TW105110791A patent/TWI695939B/en active
- 2016-04-07 CN CN201610213401.4A patent/CN106051060A/en active Pending
- 2016-04-07 CN CN202311511979.4A patent/CN117628125A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007057054A (en) * | 2005-08-26 | 2007-03-08 | Hitachi Industrial Equipment Systems Co Ltd | Geared motor |
TW200940855A (en) * | 2008-01-25 | 2009-10-01 | Sumitomo Heavy Industries | Power transmission device with bevel gear |
JP2010101366A (en) * | 2008-10-22 | 2010-05-06 | Nabtesco Corp | Gear transmission device |
JP2011021659A (en) * | 2009-07-15 | 2011-02-03 | Nabtesco Corp | Eccentric reduction gear |
CN203570944U (en) * | 2013-10-22 | 2014-04-30 | 通化石油化工机械制造有限责任公司 | Novel angle transmission box structure |
Also Published As
Publication number | Publication date |
---|---|
DE102016205517A1 (en) | 2016-10-20 |
KR20160122639A (en) | 2016-10-24 |
CN106051060A (en) | 2016-10-26 |
JP6659232B2 (en) | 2020-03-04 |
JP2016200263A (en) | 2016-12-01 |
TW201641838A (en) | 2016-12-01 |
KR102580787B1 (en) | 2023-09-20 |
CN117628125A (en) | 2024-03-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
TWI695939B (en) | Gear transmission | |
KR101066233B1 (en) | Reduction gear | |
KR101622244B1 (en) | Power transmission apparatus | |
EP1686287A2 (en) | Differential gear apparatus | |
US8545356B2 (en) | Speed change gear device | |
EP3034907A1 (en) | Reducer | |
US20170314644A1 (en) | Speed reducer | |
JP2019090477A (en) | Eccentric oscillation type gear device | |
US10378614B2 (en) | Internal planetary reduction gear | |
KR20180078062A (en) | Housing for actuator of electric parking brake | |
JP5032975B2 (en) | Power transmission device | |
TWI814784B (en) | Reducer | |
JP2014163506A (en) | Planetary gear speed reduction device and method for manufacturing the same | |
WO2018123895A1 (en) | Reducer, joint device, and robot arm structure | |
JP6442838B2 (en) | Actuator | |
EP3812613B1 (en) | Hollow strain-wave gear device | |
JP4851826B2 (en) | Inscribed rocking mesh planetary gear reducer | |
JP6598215B2 (en) | Cam apparatus and method of manufacturing cam apparatus | |
EP2733044A2 (en) | Transmission ratio variable device | |
CN211599411U (en) | Gear meshing reducer with small tooth difference | |
JP4804439B2 (en) | Reducer | |
JP2018009638A (en) | Planetary gear device | |
JP4219320B2 (en) | Robot swivel structure | |
JP2008025846A5 (en) | ||
JP4999978B2 (en) | Eccentric differential reducer |