WO2012086327A1 - 歯車伝動装置 - Google Patents
歯車伝動装置 Download PDFInfo
- Publication number
- WO2012086327A1 WO2012086327A1 PCT/JP2011/075718 JP2011075718W WO2012086327A1 WO 2012086327 A1 WO2012086327 A1 WO 2012086327A1 JP 2011075718 W JP2011075718 W JP 2011075718W WO 2012086327 A1 WO2012086327 A1 WO 2012086327A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gear
- gear transmission
- groove
- external gear
- ball bearing
- Prior art date
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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
-
- 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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
- F16H57/022—Adjustment of gear shafts or bearings
-
- 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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
Definitions
- the present application relates to a gear transmission.
- the present invention relates to a gear transmission in which an external gear rotates relatively eccentrically while meshing with an internal gear.
- a gear transmission is known in which an external gear meshes with an internal gear and rotates relatively eccentrically.
- the external gear rotates eccentrically
- the external gear rotates eccentrically around the axis of the internal gear.
- the number of teeth of the external gear is different from the number of teeth of the internal gear. Therefore, if the external gear rotates eccentrically while meshing with the internal gear, the external gear rotates relative to the internal gear according to the difference in the number of teeth between the external gear and the internal gear.
- Patent Document 1 Japanese Patent Laid-Open No. 5-180278.
- the gear transmission includes a crankshaft to eccentrically rotate the external gear.
- the crankshaft has an eccentric body.
- the eccentric body engages with a through hole formed in the external gear.
- the crankshaft rotates, the eccentric body rotates eccentrically around the axis of the crankshaft.
- the external gear engaged with the eccentric body rotates eccentrically while meshing with the internal gear.
- Japanese Patent Application Laid-Open No. 2004-293640 discloses a gear transmission device in which an internal gear rotates eccentrically.
- Patent Document 2 Japanese Patent Application Laid-Open No. 2004-293640 is referred to as Patent Document 2.
- the eccentric body of the crankshaft engages with a through hole formed in the internal gear.
- Both the type in which the external gear rotates eccentrically and the type in which the internal gear rotates eccentrically are common in that a through hole is formed in the eccentric rotating gear, and the eccentric body is engaged with the through hole.
- a gear transmission of a type in which the external gear rotates eccentrically will be described.
- the technique disclosed in the present specification can be applied to a gear transmission in which the internal gear rotates eccentrically.
- a needle bearing is disposed between a through hole of an external gear (or an internal gear) and an eccentric body in order to reduce friction between the two.
- the needle bearing includes a plurality of cylindrical rolling elements.
- the circumferential surface of the cylindrical rolling element is in contact with both the outer circumferential surface of the eccentric body and the inner circumferential surface of the through hole.
- parts 122 and 123 are arranged adjacent to the needle bearing (rolling element) 120 in the axial direction.
- the parts 122 and 123 are parts such as washers and prevent the needle bearing 120 from moving in the axial direction. In the following description, the parts 122 and 123 are referred to as washers for convenience.
- a similar washer is arranged in Patent Document 2.
- the needle bearing is prevented from moving in the axial direction when the rolling element of the needle bearing contacts the washer.
- the needle bearing is prevented from moving in the axial direction when the cage that holds the rolling elements contacts the washer.
- the gear transmission disclosed in this specification includes an internal gear, an external gear, and a crankshaft.
- the external gear rotates relatively eccentrically while meshing with the internal gear.
- a through hole is formed in one of the internal gear and the external gear.
- the crankshaft has an eccentric body.
- the eccentric body is engaged with the through hole formed in one of the internal gear and the external gear.
- the eccentric body eccentrically rotates one of the internal gear and the external gear.
- a through hole is formed in the external gear
- the eccentric body of the crankshaft is engaged with the through hole of the external gear.
- a ball bearing is interposed between the inner peripheral surface of the through hole and the outer peripheral surface of the eccentric body.
- a first groove corresponding to the outer race of the ball bearing is formed on the inner peripheral surface of the through hole.
- a second groove corresponding to an inner race of the ball bearing is formed on the outer peripheral surface of the eccentric body.
- the first and second grooves and the spherical rolling elements (typically balls) sandwiched between them form a ball bearing.
- the rolling element is restricted from moving in the axial direction by the outer race and the inner race. Therefore, in the case of a ball bearing, the part which contacts a rolling element and controls that a rolling element moves to an axial direction is unnecessary. Thereby, it can control that a rolling element generates heat.
- the relative positions in the axial direction of the inner race and the outer race are unlikely to change. Therefore, if the external gear is a type that rotates eccentrically, the external gear can also be restricted from moving in the axial direction. It is possible to omit a restriction component that restricts the external gear from moving in the axial direction. As a result, the generation of heat between the external gear and the restriction component can be suppressed.
- the gear transmission disclosed in the present specification includes two or more gears, either an internal gear or an external gear, and the diameter of the rolling element (ball) is one of the internal gear and the external gear. It may be smaller than the thickness.
- “one gear of an internal gear or an external gear” here is a gear with which the above-mentioned eccentric body is engaged.
- the diameter of the rolling element may be smaller than the thickness of the external gear.
- the internal gear is of a type that rotates eccentrically, two or more internal gears are provided, and the diameter of the rolling element may be smaller than the thickness of the internal gear.
- the external gear when the external gear is of a type that rotates eccentrically, the external gear can also be restricted from moving in the axial direction. Furthermore, if the diameter of the rolling element is smaller than the thickness of the external gear, two or more external gears can be arranged close to each other. The axial length of the gear transmission can be shortened.
- the technology disclosed in this specification can provide a gear transmission in which heat generation of a bearing disposed between an eccentric rotating gear and an eccentric body is suppressed.
- Sectional drawing of the gear transmission of an Example is shown.
- the expanded sectional view of the part 30 enclosed with the broken line of FIG. 1 is shown.
- the expanded sectional view of a part of conventional gear transmission is shown.
- the gear transmission includes a carrier that is rotatably supported by a case.
- the crankshaft is rotatably supported by the carrier by a bearing that restricts movement in the axial direction.
- the cross-sectional shapes along the axial direction of the first groove and the second groove are both arcs.
- FIG. 1 shows a cross-sectional view of the gear transmission 100.
- the gear transmission 100 is an eccentric oscillating type in which the external gear 20 rotates eccentrically while meshing with the internal gear 33.
- the internal gear 33 includes a case 32 and a plurality of internal gear pins 34. On the inner peripheral surface of the case 32, grooves parallel to the axial direction are formed at equal intervals in the circumferential direction. Internal teeth pins 34 are fitted in these grooves. The internal tooth pins 34 may be fitted into all of the grooves, or the internal tooth pins 34 may not be fitted into some of the grooves.
- the gear transmission 100 includes an internal gear 33, a carrier 46, an external gear 20, and a crankshaft 14.
- the carrier 46 is supported by the case 32 by a pair of angular ball bearings 29.
- the carrier 46 is restricted from moving in the axial direction and the radial direction with respect to the case 32 by a pair of angular ball bearings 29.
- the carrier 46 includes a first plate 44 and a second plate 40.
- a columnar portion 42 extends from the first plate 44 toward the second plate 40, and the columnar portion 42 and the second plate 40 are fixed.
- the crankshaft 14 is supported on the carrier 46 by a pair of tapered roller bearings 12.
- the pair of tapered roller bearings 12 restricts the crankshaft 14 from moving in the direction of the axis 38. More specifically, the crankshaft 14 is restricted from moving in the axial direction and the radial direction with respect to the carrier 46 by the pair of tapered roller bearings 12.
- the crankshaft 14 extends in parallel to the axis 38 at a position offset from the axis 38 of the gear transmission 100.
- the crankshaft 14 includes an input gear 36 and two eccentric bodies 16.
- the input gear 36 is fixed to the crankshaft 14 outside the pair of tapered roller bearings 12.
- the two eccentric bodies 16 are fixed to the crankshaft 14 between the pair of tapered roller bearings 12.
- the gear transmission 100 includes two external gears 20.
- a through hole 35 is formed in each external gear 20.
- the eccentric body 16 is engaged with the through hole 35 via the ball bearing 22.
- the external gear 20 is supported by the carrier 46 via the crankshaft 14.
- the ball bearing 22 is comprised by the outer race 20a, the inner race 16a, the rolling element 18, and the holder
- the first groove 20 a is formed on the inner peripheral surface 35 x of the through hole 35 of the external gear 20.
- the first groove 20a has an arc shape, and goes around the inner circumferential surface 35x of the through hole 35 in the circumferential direction.
- a second groove 16 a is formed in the outer peripheral surface 16 x of the eccentric body 16.
- channel 16a is circular arc shape, and goes around the outer peripheral surface 16x of the eccentric body 16 in the circumferential direction.
- a ball bearing 22 is formed by the first groove 20 a, the second groove 16 a, and the spherical rolling element (ball) 18.
- the first groove 20 a corresponds to the outer race of the ball bearing 22
- the second groove 16 a corresponds to the inner race of the ball bearing 22.
- the rolling element 18 is in contact with both the first groove 20a and the second groove 16a, and is restricted from moving in the axial direction (the direction of the axis 38 in FIG. 1) by both the grooves 20a and 16a.
- the restriction of the movement of the rolling element 18 in the axial direction means that the relative positions in the axial direction of the first groove 20a and the second groove 16a are not easily changed.
- the crankshaft 14 is restricted from moving in the direction of the axis 38 by the pair of tapered roller bearings 12 (see FIG. 1). Since the relative positional change in the axial direction of the first groove 20a and the second groove 16a is restricted, the movement of the external gear 20 in the axial direction is restricted.
- the curvature of the rolling element 18 appears to be the same as the curvature of the first groove 20a and the second groove 16a, but actually the curvature of the rolling element 18 is the curvature of the first groove 20a and the second groove 16a. Slightly larger than. That is, the first groove 20 a and the second groove 16 a have curved surfaces that are slightly gentler than the rolling elements 18. Therefore, the rolling element 18 makes point contact with the first groove 20a and the second groove 16a.
- the gear transmission 100 includes two external gears 20 arranged in the axial direction.
- a gap 52 is provided between the external gears 20.
- a gap 50 is provided between the external gear 20 and the outer race 28 of the angular ball bearing 29.
- the external gear 20 is restricted from moving in the axial direction. Therefore, the end surface of the external gear 20 in the axial direction does not contact any part.
- FIG. 3 shows a part of the gear transmission 200 and corresponds to the portion 30 of the gear transmission 100.
- the eccentric body 216 is engaged with the through hole 235 of the external gear 220 through the needle bearing 222.
- the peripheral surface of the rolling element (roller) 218 of the needle bearing 222 is in line contact with the inner peripheral surface 235x of the through hole 235 and the outer peripheral surface 216x of the eccentric body 216.
- Washers 260 are provided on both sides of the eccentric body 216 in the axial direction.
- the cage 262 of the needle bearing 222 is in contact with the washer 260.
- the cage 262 is also in contact with one end surface of the external gear 220 in the axial direction.
- the axial movement of the needle bearing 222 is restricted by the washer 260 and the external gear 220.
- the outer race 228 is in contact with the other end surface of the external gear 220 in the axial direction.
- the cage 262 and the outer race 228 restrict the axial movement of the external gear 220.
- the gear transmission 100 will be described in comparison with the conventional gear transmission 200.
- the needle bearing 222 (the cage 262) is brought into contact with the washer 260 and the external gear 220 in order to restrict the axial movement of the needle bearing 222. Therefore, friction is generated between the needle bearing 222 and the washer 260 when the gear transmission 200 is driven. Alternatively, friction occurs between the needle bearing 222 and the external gear 220. Frictional heat is generated and the gear transmission 200 is adversely affected. The frictional heat may damage the gear transmission 200.
- the rolling element 218 is in line contact with the inner peripheral surface 235x of the through hole 235 and the outer peripheral surface 216x of the eccentric body 216.
- the rolling element 18 is in point contact with the first groove 20a and the second groove 16a.
- the gear transmission 100 has a smaller contact area between the rolling elements and other components than the gear transmission 200. Therefore, the gear transmission 100 has a structure in which the rolling loss of the rolling element is smaller than that of the gear transmission 200 and the rolling element itself is less likely to generate heat.
- the washer 260 and the holder 262 are brought into contact with each other. Therefore, the lubricant enclosed in the gear transmission 200 is difficult to reach around the rolling element 218.
- the lubricant can easily reach the periphery of the rolling element 18, and the friction of the rolling element 18 can be further reduced.
- the eccentric amount (deviation amount from the axis of the crankshaft) of the eccentric body 216 can be adjusted only within the range where the washer 260 and the cage 262 are in contact with each other.
- the amount of eccentricity of the eccentric body 16 can be adjusted freely.
- the gear transmission 200 in order to restrict the movement of the external gear 220 in the axial direction, the end face in the axial direction of the external gear 220 is brought into contact with the outer race 228 and the cage 262 (the broken line 70 portion and Broken line 72 portion). Therefore, frictional heat is generated between the external gear 220 and the outer race 228 (the broken line 70 portion) and / or between the external gear 220 and the cage 262 (the broken line 72 portion). Further, the external gear 220 is worn by friction.
- the gear transmission 100 movement of the external gear 20 in the axial direction is restricted by the ball bearing 22. While the gear transmission 100 is driven, contact between the external gears 20 or between the external gear 20 and other components is suppressed. The gaps 50 and 52 (see FIG. 2) can be maintained, and generation of frictional heat between the external gears 20 or between the external gear 20 and other parts can be suppressed. Further, it is possible to suppress the external gear 20 from being worn by friction.
- the outer race 228 and the cage 218 are brought into contact with the end face of the external gear 20 in the axial direction in order to restrict the movement of the external gear 20 in the axial direction. Therefore, in order to reduce friction, it is necessary to process the surface of the external gear 20 (the end surface in the axial direction) and the contact surface between the outer race 228 to be flat. Similarly, it is also necessary to make the contact surface between the surface of the external gear 20 and the cage 218 flat. On the other hand, in the gear transmission 100, the surface of the external gear 20 and other parts are not brought into contact with each other, so that flat processing (finishing processing) can be omitted.
- the diameter R of the rolling element 18 is smaller than the thickness T of the external gear 20. With such a configuration, the rolling elements 18 do not come into contact with the surface (end surface in the axial direction) of the external gear 20. Therefore, the external gears 20 can be arranged close to each other in the direction of the axis 38. In other words, the gap 52 between the external gears 20 can be reduced. Thereby, the length of the gear transmission 100 in the direction of the axis 38 can be shortened.
- a first through hole 2 coaxial with the axis 38 is formed in the first plate 44, and a second through hole 6 coaxial with the axis 38 is formed in the second plate 40.
- a central through hole 4 is formed in the central portion of the external gear 20.
- a through hole 8 of the gear transmission 100 is formed by the through holes 2, 4, 6. The through hole 8 passes through the gear transmission 100 in the direction of the axis 38.
- a cable, piping, or the like can be passed through the through hole 8.
- the oil seal 24 that makes a round around the axis 38 is disposed.
- the oil seal 24 prevents the lubricant (oil or grease) in the gear transmission 100 from leaking out of the gear transmission 100.
- the angular ball bearing 29 is formed by a third groove 46a formed in the carrier 46, a rolling element (ball) 26, an outer race 28, and a cage (not shown).
- the third groove 46 a corresponds to the inner race of the angular ball bearing 29. Since the third groove 46a also serves as the inner race of the angular ball bearing 29, the number of parts constituting the main bearing (angular ball bearing) 29 of the gear transmission 100 can be reduced.
- crankshaft 14 extends parallel to the axis 38 at a position offset from the axis 38 of the gear transmission 100.
- the crankshaft may extend on the axis of the gear transmission (the axis of the carrier and the internal gear).
- channel is formed in the internal peripheral surface of the center through-hole currently formed in the center part of an external gear.
- a ball bearing is constituted by the first groove, the second groove formed in the eccentric body, and the rolling elements (balls).
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
Description
(特徴1)歯車伝動装置は、ケースに回転可能に支持されているキャリアを備えている。クランクシャフトは、軸方向への移動を規制する軸受によって、そのキャリアに回転可能に支持されている。
(特徴2)第1溝及び第2溝の軸方向に沿った断面の形状は、ともに円弧である。
Claims (4)
- 内歯歯車と、
内歯歯車と噛み合いながら相対的に偏心回転する外歯歯車と、
内歯歯車又は外歯歯車の一方の歯車に形成されている貫通孔に係合する偏心体を有しているとともに、前記一方の歯車を偏心回転させるクランクシャフトと、
を備えており、
前記貫通孔の内周面と偏心体の外周面との間に玉軸受が介在しており、
前記貫通孔の内周面に玉軸受のアウターレースに相当する第1溝が形成されており、
前記偏心体の外周面に玉軸受のインナーレースに相当する第2溝が形成されていることを特徴とする歯車伝動装置。 - 前記一方の歯車を2つ以上備えており、
前記玉軸受の転動体の直径が、前記一方の歯車の厚みよりも小さいことを特徴とする請求項1に記載の歯車伝動装置。 - 前記第1溝及び前記第2溝の軸方向に沿った断面の形状が、円弧であることを特徴とする請求項1又は2に記載の歯車伝動装置。
- 前記玉軸受の転動体の曲率が、前記第1溝及び前記第2溝の曲率よりも大きいことを特徴とする請求項1~3のいずれか一項に記載の歯車伝動装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020137016132A KR20130129990A (ko) | 2010-12-22 | 2011-11-08 | 기어 전동 장치 |
EP11850657.5A EP2657569A4 (en) | 2010-12-22 | 2011-11-08 | GEAR TRANSMISSION DEVICE |
CN201180062058.3A CN103270336B (zh) | 2010-12-22 | 2011-11-08 | 齿轮传动装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010286148A JP2012132523A (ja) | 2010-12-22 | 2010-12-22 | 歯車伝動装置 |
JP2010-286148 | 2010-12-22 |
Publications (1)
Publication Number | Publication Date |
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WO2012086327A1 true WO2012086327A1 (ja) | 2012-06-28 |
Family
ID=46313609
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/075718 WO2012086327A1 (ja) | 2010-12-22 | 2011-11-08 | 歯車伝動装置 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP2657569A4 (ja) |
JP (1) | JP2012132523A (ja) |
KR (1) | KR20130129990A (ja) |
CN (1) | CN103270336B (ja) |
WO (1) | WO2012086327A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6542534B2 (ja) * | 2015-01-27 | 2019-07-10 | ナブテスコ株式会社 | 偏心揺動型歯車装置 |
JP7440218B2 (ja) * | 2019-06-25 | 2024-02-28 | ナブテスコ株式会社 | 減速機 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0544789A (ja) * | 1991-08-13 | 1993-02-23 | Sumitomo Heavy Ind Ltd | 内接噛合遊星歯車構造 |
JPH05180278A (ja) | 1991-12-26 | 1993-07-20 | Sumitomo Heavy Ind Ltd | 内接噛合遊星歯車構造 |
JPH05321990A (ja) * | 1992-05-25 | 1993-12-07 | Noiberuku Kk | 差動伝動装置 |
JP2002070959A (ja) * | 2000-08-31 | 2002-03-08 | Teijin Seiki Co Ltd | 偏心揺動型減速機 |
JP2004293640A (ja) | 2003-03-26 | 2004-10-21 | Sumitomo Heavy Ind Ltd | 揺動内接噛合型遊星歯車装置及び該装置を有するギヤドモータ |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT335594B (de) * | 1973-03-16 | 1977-03-25 | Bock Orthopaed Ind | Getriebe |
JP4726185B2 (ja) * | 2004-01-13 | 2011-07-20 | ナブテスコ株式会社 | 偏心揺動型歯車装置 |
FR2897133B1 (fr) * | 2006-02-06 | 2008-03-14 | Staubli Faverges Sca | Procede de fabrication d'un reducteur, reducteur et robot incorporant un tel reducteur |
JP5122450B2 (ja) * | 2006-06-13 | 2013-01-16 | ナブテスコ株式会社 | 減速装置 |
-
2010
- 2010-12-22 JP JP2010286148A patent/JP2012132523A/ja active Pending
-
2011
- 2011-11-08 CN CN201180062058.3A patent/CN103270336B/zh active Active
- 2011-11-08 EP EP11850657.5A patent/EP2657569A4/en not_active Withdrawn
- 2011-11-08 WO PCT/JP2011/075718 patent/WO2012086327A1/ja active Application Filing
- 2011-11-08 KR KR1020137016132A patent/KR20130129990A/ko not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0544789A (ja) * | 1991-08-13 | 1993-02-23 | Sumitomo Heavy Ind Ltd | 内接噛合遊星歯車構造 |
JPH05180278A (ja) | 1991-12-26 | 1993-07-20 | Sumitomo Heavy Ind Ltd | 内接噛合遊星歯車構造 |
JPH05321990A (ja) * | 1992-05-25 | 1993-12-07 | Noiberuku Kk | 差動伝動装置 |
JP2002070959A (ja) * | 2000-08-31 | 2002-03-08 | Teijin Seiki Co Ltd | 偏心揺動型減速機 |
JP2004293640A (ja) | 2003-03-26 | 2004-10-21 | Sumitomo Heavy Ind Ltd | 揺動内接噛合型遊星歯車装置及び該装置を有するギヤドモータ |
Non-Patent Citations (1)
Title |
---|
See also references of EP2657569A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP2657569A1 (en) | 2013-10-30 |
KR20130129990A (ko) | 2013-11-29 |
JP2012132523A (ja) | 2012-07-12 |
CN103270336B (zh) | 2016-02-10 |
CN103270336A (zh) | 2013-08-28 |
EP2657569A4 (en) | 2015-04-15 |
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