WO2014030292A1 - Eccentrically rocking-type gear device - Google Patents
Eccentrically rocking-type gear device Download PDFInfo
- Publication number
- WO2014030292A1 WO2014030292A1 PCT/JP2013/004462 JP2013004462W WO2014030292A1 WO 2014030292 A1 WO2014030292 A1 WO 2014030292A1 JP 2013004462 W JP2013004462 W JP 2013004462W WO 2014030292 A1 WO2014030292 A1 WO 2014030292A1
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- Prior art keywords
- outer cylinder
- gear
- carrier
- eccentric
- gear device
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- 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
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- 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 invention relates to an eccentric oscillating gear device.
- an eccentric oscillating gear device that reduces the rotational speed at a predetermined reduction ratio between two mating members.
- the eccentric oscillating gear device includes an outer cylinder fixed to one counterpart member, and a carrier disposed in the outer cylinder and fixed to the other counterpart member.
- the carrier rotates relative to the outer cylinder by the swinging rotation of the swinging gear attached to the eccentric part of the crankshaft.
- An object of the present invention is to suppress the shortening of the life of the oscillating gear by suppressing an increase in the surface pressure of the tooth surface of the oscillating gear.
- An eccentric oscillating gear device is a gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member, An eccentric portion, an oscillating gear having an insertion hole into which the eccentric portion is inserted and a tooth portion, an outer cylinder configured to be attachable to one of the first member and the second member, A carrier configured to be attachable to the other of the first member and the second member.
- the outer cylinder has an internal tooth that meshes with the tooth portion of the swing gear.
- the carrier is arranged on the radially inner side of the outer cylinder while holding the rocking gear.
- the outer cylinder and the carrier are concentrically rotatable relative to each other by the swinging of the swinging gear accompanying the rotation of the eccentric part.
- the backlash angle is set to 2 to 3 minutes so that the backlash angle of the carrier with respect to the outer cylinder becomes approximately 1 minute due to thermal expansion of the oscillating gear in use. ing.
- An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to this embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there.
- the gear device 1 is used in a rotational speed range of, for example, 80 rpm to 200 rpm (80 rpm or more and 200 rpm or less).
- gear device 1 when the input shaft 8 rotates, the crankshaft 10 rotates, and the oscillating gears 14 and 16 oscillate and rotate in conjunction with the eccentric portions 10a and 10b of the crankshaft 10.
- an output rotation decelerated from the input rotation is obtained.
- relative rotation can be generated between the base of the robot (one counterpart member) and the turning drum (the other counterpart member).
- the gear device 1 includes an outer cylinder 2, a carrier 4, an input shaft 8, a plurality of (for example, three) crankshafts 10, and a swing gear (first The oscillating gear 14 and the second oscillating gear 16) and a plurality of (for example, three) transmission gears 20 are provided.
- the outer cylinder 2 constitutes the outer surface of the gear device 1 and has a substantially cylindrical shape.
- the outer cylinder 2 is fastened to, for example, a robot base (not shown; first member).
- a large number of pin grooves 2 b are formed on the inner peripheral surface of the outer cylinder 2.
- Each pin groove 2b is disposed so as to extend in the axial direction of the outer cylinder 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction.
- These pin grooves 2 b are arranged on the inner peripheral surface of the outer cylinder 2 at equal intervals in the circumferential direction.
- the outer cylinder 2 has a large number of internal tooth pins 3.
- Each internal tooth pin 3 is attached to a pin groove 2b.
- each internal tooth pin 3 is fitted in the corresponding pin groove 2 b and is arranged in a posture extending in the axial direction of the outer cylinder 2.
- the many internal tooth pins 3 are arranged at equal intervals along the circumferential direction of the outer cylinder 2.
- the first external teeth 14 a of the first oscillating gear 14 and the second external teeth 16 a of the second oscillating gear 16 are engaged with these internal tooth pins 3.
- the outer cylinder 2 is provided with a flange portion.
- the flange portion is formed with an insertion hole 2c for inserting a fastener (bolt) for fixing to the base of the robot, for example.
- the carrier 4 is accommodated inside the outer cylinder 2 in a state of being arranged coaxially with the outer cylinder 2.
- the carrier 4 is fastened to, for example, a revolving drum (not shown; second member) of the robot.
- the carrier 4 rotates relative to the outer cylinder 2 around the same axis as the outer cylinder 2.
- the carrier 4 is disposed on the radially inner side of the outer cylinder 2.
- the carrier 4 is supported so as to be relatively rotatable with respect to the outer cylinder 2 by a pair of main bearings 6 provided to be separated from each other in the axial direction.
- the carrier 4 includes a base portion having a substrate portion 4a and a plurality of (for example, three) shaft portions 4c, and an end plate portion 4b.
- the substrate portion 4a is disposed in the outer cylinder 2 in the vicinity of one end portion in the axial direction.
- a circular through hole 4d is provided in the central portion in the radial direction of the substrate portion 4a.
- a plurality of (for example, three) crankshaft mounting holes 4e (hereinafter simply referred to as mounting holes 4e) are provided at equal intervals in the circumferential direction.
- a fastening hole 4i for fastening an unillustrated fastener (bolt) for fixing the carrier 4 to, for example, a rotating drum of the robot is formed in the substrate portion 4a.
- the end plate portion 4b is provided to be spaced apart from the substrate portion 4a in the axial direction, and is disposed in the vicinity of the other end portion in the axial direction in the outer cylinder 2.
- a through hole 4f is provided at the radial center of the end plate portion 4b.
- a plurality of (for example, three) crankshaft mounting holes 4g (hereinafter simply referred to as mounting holes 4g) are provided around the through hole 4f.
- Each mounting hole 4g is arranged at a position corresponding to each mounting hole 4e of the substrate portion 4a.
- a closed space surrounded by both inner surfaces of the end plate portion 4 b and the substrate portion 4 a facing each other and the inner peripheral surface of the outer cylinder 2 is formed.
- the plurality of shaft portions 4c are provided integrally with the substrate portion 4a, and linearly extend from one main surface (inner surface) of the substrate portion 4a toward the end plate portion 4b.
- the plurality of shaft portions 4c are arranged at equal intervals in the circumferential direction (see FIG. 2A).
- Each shaft portion 4c is fastened to the end plate portion 4b by a bolt 4h (see FIG. 1). Thereby, the board
- the input shaft 8 functions as an input unit for inputting a driving force of a driving motor (not shown).
- the input shaft 8 is inserted into the through hole 4f of the end plate portion 4b and the through hole 4d of the substrate portion 4a.
- the input shaft 8 is arranged such that its axis coincides with the axes of the outer cylinder 2 and the carrier 4 and rotates around the axis.
- An input gear 8 a is provided on the outer peripheral surface of the distal end portion of the input shaft 8.
- the plurality of crankshafts 10 are arranged at equal intervals around the input shaft 8 in the outer cylinder 2 (see FIG. 2A).
- Each crankshaft 10 is supported by a pair of crank bearings 12a and 12b so as to be rotatable about the axis with respect to the carrier 4 (see FIG. 1).
- the first crank bearing 12a is attached to a portion on the inner side in the axial direction by a predetermined length from one axial end of each crankshaft 10.
- the first crank bearing 12a is mounted in the mounting hole 4e of the substrate portion 4a.
- a second crank bearing 12b is attached to the other axial end of each crankshaft 10.
- the second crank bearing 12b is mounted in the mounting hole 4g of the end plate portion 4b.
- Each crankshaft 10 has a shaft body 10c and eccentric parts 10a and 10b formed integrally with the shaft body 10c.
- the 1st eccentric part 10a and the 2nd eccentric part 10b are arrange
- Each of the first eccentric portion 10a and the second eccentric portion 10b has a columnar shape, and both of the first eccentric portion 10a and the second eccentric portion 10b protrude radially outward from the shaft body 10c in a state of being eccentric with respect to the shaft center of the shaft body 10c.
- the first eccentric portion 10a and the second eccentric portion 10b are each eccentric from the shaft center by a predetermined eccentric amount, and are disposed so as to have a phase difference of a predetermined angle.
- a fitted portion 10d to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10, that is, a portion outside the axial direction of the portion attached in the attachment hole 4e of the substrate portion 4a.
- the first oscillating gear 14 is disposed in the closed space in the outer cylinder 2 and is attached to the first eccentric portion 10a of each crankshaft 10 via a first roller bearing 18a.
- first roller bearing 18a When each crankshaft 10 rotates and the first eccentric portion 10a rotates eccentrically, the first swing gear 14 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
- the first oscillating gear 14 has a size slightly smaller than the inner diameter of the outer cylinder 2.
- the first swing gear 14 includes a first external tooth 14a, a central through hole 14b, a plurality (for example, three) of first eccentric portion insertion holes 14c, and a plurality (for example, three) of shaft portion insertion holes 14d. And have.
- the first external teeth 14 a have a wave shape that is smoothly continuous over the entire circumferential direction of the oscillating gear 14.
- the central through hole 14b is provided in the central portion in the radial direction of the first oscillating gear 14.
- the input shaft 8 is inserted into the central through hole 14b with play.
- the plurality of first eccentric portion insertion holes 14 c are provided at equal intervals in the circumferential direction around the central through hole 14 b in the first swing gear 14.
- the first eccentric portions 10a of the respective crankshafts 10 are inserted into the first eccentric portion insertion holes 14c with the first roller bearings 18a interposed therebetween.
- the plurality of shaft portion insertion holes 14d are provided at equal intervals in the circumferential direction around the central through hole 14b in the first swing gear 14. Each shaft portion insertion hole 14d is disposed at a position between adjacent first eccentric portion insertion holes 14c in the circumferential direction. The corresponding shaft portion 4c is inserted into each shaft portion insertion hole 14d with play.
- the second oscillating gear 16 is disposed in the closed space in the outer cylinder 2 and is attached to the second eccentric portion 10b of each crankshaft 10 via a second roller bearing 18b.
- the first oscillating gear 14 and the second oscillating gear 16 are provided side by side in the axial direction corresponding to the arrangement of the first eccentric portion 10a and the second eccentric portion 10b.
- the second swinging gear 16 swings and rotates while meshing with the internal tooth pin 3 in conjunction with the eccentric rotation.
- the second oscillating gear 16 has a size slightly smaller than the inner diameter of the outer cylinder 2 and has the same configuration as the first oscillating gear 14. That is, the second oscillating gear 16 includes a second external tooth 16a, a central through hole 16b, a plurality of (for example, three) second eccentric portion insertion holes 16c, and a plurality of (for example, three) shaft portion insertion holes 16d. Have. These have the same structure as the first external teeth 14a, the central through hole 14b, the plurality of first eccentric portion insertion holes 14c, and the plurality of shaft portion insertion holes 14d of the first swing gear 14. The second eccentric portion 10b of the crankshaft 10 is inserted into each second eccentric portion insertion hole 16c with the second roller bearing 18b interposed therebetween.
- Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10.
- Each transmission gear 20 is externally fitted to a fitted portion 10d provided at one end of the corresponding shaft body 10c of the crankshaft 10.
- Each transmission gear 20 rotates integrally with the crankshaft 10 about the same axis as the rotation axis of the crankshaft 10.
- Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.
- the backlash angle is an angle at which when the torque is applied to the carrier 4 while the input shaft is fixed, the carrier 4 rotates around the axis while the torque is zero. That is, since there is a gap between the external teeth 14a and 16a of the swing gears 14 and 16 in the carrier 4 and the internal tooth pin 3 in the outer cylinder 2, as shown in FIG. When the torque is applied to the outer teeth 14a and 16a, the outer teeth 14a and 16a are slightly rotated with the torque zero until the outer teeth 14a and 16a mesh with the inner tooth pin 3. This rotation angle is an angle corresponding to the size of the gap between the external teeth 14a, 16a and the internal tooth pin 3.
- the torsion angle of the carrier 4 becomes a magnitude corresponding to the magnitude of the applied torque.
- the carrier 4 can be rotated while the torque is zero at a backlash angle corresponding to the size of the gap, and the magnitude of the backlash angle affects the positioning accuracy (stopping accuracy) of the robot. Therefore, in general, the shapes of the outer cylinder and the swing gear are set so that the backlash angle is about 1 minute (1 / 60th of a degree).
- the backlash angle is set to 2 to 3 minutes before use. That is, the outer cylinder 2 radiates heat to the outside air or radiates heat to a mating member (for example, the base of the robot), and therefore has a smaller amount of thermal expansion than the rocking gears 14 and 16 and the internal tooth pin 3. For this reason, when the gear device 1 is operated, the clearance (clearance) between the external teeth 14a, 16a of the rocking gears 14, 16 and the internal tooth pin 3 tends to be narrowed. Thereby, in the gear apparatus 1 of this embodiment, when the clearance becomes narrower than before use due to the temperature rise during use, the backlash angle is set to approximately 1 minute. For example, by reducing the outer diameter of the internal tooth pin 3 as compared with the conventional one, a clearance corresponding to the clearance reduction due to heat generation can be added in advance.
- FIG. 4 shows a change from the state before use of the backlash angle due to heat generation during use.
- the temperature of the outer cylinder 2 rises to about 70 to 80 ° C. Therefore, when the backlash angle is 2 minutes before use (for example, 20 ° C.), the backlash angle at 70 ° C. is less than 1 minute (about 0.6 minutes).
- the backlash angle at 70 ° C. is about 1.2 minutes. Therefore, if the backlash angle in the state before use is 2 to 3 minutes (2 minutes or more and within 3 minutes), the backlash angle during use is about 1 minute (0.6 minutes or more and 1. Within 2 minutes).
- the backlash angle is set to 2 to 3 minutes, so that when the gear device 1 is operated, the rocking gears 14 and 16 are heated to expand.
- the backlash angle of the carrier 4 with respect to the outer cylinder 2 can be reduced to about 1 minute. Therefore, when used, the backlash angle of the carrier 4 with respect to the outer cylinder 2 does not become excessive, so that the stopping accuracy of the eccentric oscillating gear device 1 can be maintained. And since it can suppress that the surface pressure of the tooth surface of rocking gears 14 and 16 becomes high, reduction of the life of rocking gears 14 and 16 can be controlled. That is, it is possible to optimize the backlash angle during actual use.
- the relative rotational speed between the outer cylinder 2 and the carrier 4 is 80 rpm to 200 rpm.
- the rotation speed is used in a high speed region of 80 rpm to 200 rpm, the temperature of the oscillating gears 14 and 16 after the start of use is fast. Therefore, the time until the normal backlash angle (approximately 1 minute) is reached after the start of use is also short, and the warm-up operation time can be shortened or eliminated.
- the present invention is not limited to the above-described embodiment, and various modifications and improvements can be made without departing from the spirit of the present invention.
- the two swing gears 14 and 16 are provided.
- the present invention is not limited to this.
- a configuration in which one oscillating gear is provided or a configuration in which three or more oscillating gears are provided may be employed.
- the input shaft 8 is disposed at the center of the carrier 4, and the plurality of crankshafts 10 are disposed around the input shaft 8.
- the configuration is not limited to this.
- a center crank type in which the crankshaft 10 is disposed at the center of the carrier 4 may be used. In this case, as long as the input shaft 8 is provided so as to mesh with the transmission gear 20 attached to the crankshaft 10, the input shaft 8 may be disposed at any position.
- the outer cylinder 2 is coupled to the base of the robot
- the carrier 4 is coupled to the revolving drum of the robot
- the carrier 4 rotates with respect to the outer cylinder 2.
- the configuration is not limited to this.
- the carrier 4 may be coupled to the base of the robot and the outer cylinder 2 may be coupled to the swivel drum of the robot so that the outer cylinder 2 rotates with respect to the carrier 4.
- the oscillating gear becomes hotter than the outer cylinder due to heat generation. For this reason, the clearance between the internal teeth disposed on the outer cylinder and the tooth portion of the oscillating gear tends to be narrower during use than before use. Therefore, when the backlash angle of the oscillating gear with respect to the outer cylinder is set to approximately 1 minute as in a normal eccentric oscillating gear device, the clearance (play) becomes narrow due to heat generated by the oscillating gear. This leads to an increase in the surface pressure of the tooth surface of the oscillating gear, and as a result, the fatigue strength is reduced. On the other hand, in this embodiment, the backlash angle is set to 2 to 3 minutes.
- the backlash angle can be reduced to approximately 1 minute. Accordingly, since the backlash angle of the carrier with respect to the outer cylinder does not become excessive during use, the stopping accuracy can be maintained as the eccentric oscillating gear device. In addition, an increase in the surface pressure of the tooth surface of the oscillating gear can be suppressed, and a reduction in the life of the oscillating gear can be suppressed.
- the relative rotational speed between the outer cylinder and the carrier may be 80 rpm to 200 rpm.
- the rotation speed is used in a high speed range of 80 rpm to 200 rpm, the temperature of the rocking gear rises quickly after the start of use. Therefore, the time until the normal backlash angle (approximately 1 minute) is reached after the start of use is also short, and the warm-up operation time can be shortened or eliminated.
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Abstract
Description
本実施形態の偏心揺動型歯車装置(以下、歯車装置と称する)1は、例えばロボットの旋回胴や腕関節等の旋回部、各種工作機械の旋回部等に減速機として適用されるものである。この歯車装置1は、例えば、80rpm~200rpm(毎分80回転以上で且つ毎分200回転以下)の回転数範囲で使用される。 Hereinafter, an eccentric oscillating gear device according to an embodiment of the present invention will be described in detail with reference to the drawings.
An eccentric oscillating gear device (hereinafter referred to as a gear device) 1 according to this embodiment is applied as a speed reducer to, for example, a revolving part of a revolving trunk or arm joint of a robot, a revolving part of various machine tools, or the like. is there. The
2 外筒
3 内歯ピン
4 キャリア
6 主軸受
10 クランク軸
10a 第1偏心部
10b 第2偏心部
10c 軸本体
12a 第1クランク軸受
12b 第2クランク軸受
14 第1揺動歯車
14a 外歯
16 第2揺動歯車
16a 外歯 DESCRIPTION OF
Claims (2)
- 第1の部材と第2の部材との間で所定の回転数比で回転数を変換して駆動力を伝達する歯車装置であって、
偏心部と、
前記偏心部が挿入される挿通孔を有すると共に歯部を有する揺動歯車と、
前記第1の部材及び前記第2の部材の一方に取り付け可能に構成される外筒と、
前記第1の部材及び前記第2の部材の他方に取り付け可能に構成されるキャリアと、を備え、
前記外筒は、前記揺動歯車の前記歯部と噛み合う内歯を有しており、
前記キャリアは、前記揺動歯車を保持した状態で前記外筒の径方向内側に配置され、
前記外筒と前記キャリアとは、前記偏心部の回転に伴う前記揺動歯車の揺動によって同心状に互いに相対的に回転可能であり、
使用時における前記揺動歯車の熱膨張によって前記外筒に対する前記キャリアのバックラッシ角度が略1分になるように、前記バックラッシ角度は2分~3分に設定されている偏心揺動型歯車装置。 A gear device that transmits a driving force by converting a rotational speed at a predetermined rotational speed ratio between a first member and a second member,
An eccentric part,
An oscillating gear having an insertion hole into which the eccentric part is inserted and having a tooth part;
An outer cylinder configured to be attachable to one of the first member and the second member;
A carrier configured to be attachable to the other of the first member and the second member,
The outer cylinder has inner teeth that mesh with the teeth of the swing gear,
The carrier is disposed on the radially inner side of the outer cylinder while holding the swing gear,
The outer cylinder and the carrier are concentrically rotatable relative to each other by the swinging of the swinging gear accompanying the rotation of the eccentric part,
An eccentric oscillating gear device in which the backlash angle is set to 2 to 3 minutes so that the backlash angle of the carrier with respect to the outer cylinder becomes approximately 1 minute due to thermal expansion of the oscillating gear in use. - 前記外筒と前記キャリアとの間の相対回転数は、80rpm~200rpmである請求項1に記載の偏心揺動型歯車装置。 The eccentric oscillating gear device according to claim 1, wherein a relative rotational speed between the outer cylinder and the carrier is 80 rpm to 200 rpm.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201380043885.7A CN104583645B (en) | 2012-08-24 | 2013-07-23 | Eccentrically swinging gear device |
KR1020157026574A KR20150117296A (en) | 2012-08-24 | 2013-07-23 | Eccentrically rocking-type gear device |
KR1020197023270A KR20190095559A (en) | 2012-08-24 | 2013-07-23 | Eccentrically rocking-type gear device |
DE112013003689.4T DE112013003689B4 (en) | 2012-08-24 | 2013-07-23 | Orbital eccentric device and method for maintaining positioning accuracy |
KR20157006953A KR20150038700A (en) | 2012-08-24 | 2013-07-23 | Eccentrically rocking-type gear device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012185392A JP5466739B2 (en) | 2012-08-24 | 2012-08-24 | Eccentric oscillating gear unit |
JP2012-185392 | 2012-08-24 |
Publications (1)
Publication Number | Publication Date |
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WO2014030292A1 true WO2014030292A1 (en) | 2014-02-27 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2013/004462 WO2014030292A1 (en) | 2012-08-24 | 2013-07-23 | Eccentrically rocking-type gear device |
Country Status (6)
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JP (1) | JP5466739B2 (en) |
KR (3) | KR20150038700A (en) |
CN (1) | CN104583645B (en) |
DE (1) | DE112013003689B4 (en) |
TW (1) | TWI572795B (en) |
WO (1) | WO2014030292A1 (en) |
Cited By (3)
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CN105065584A (en) * | 2015-08-19 | 2015-11-18 | 英瑞克自动化有限公司 | Hypocycloid speed reducer |
US20220074467A1 (en) * | 2019-05-22 | 2022-03-10 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Hollow reducer for high precision control |
US20220074466A1 (en) * | 2019-05-22 | 2022-03-10 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Reducer for high precision control |
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JP6709666B2 (en) * | 2016-04-14 | 2020-06-17 | ナブテスコ株式会社 | Gear device |
JP7035406B2 (en) * | 2017-09-22 | 2022-03-15 | 日本電産株式会社 | transmission |
JP6863882B2 (en) | 2017-11-27 | 2021-04-21 | 住友重機械工業株式会社 | Planetary gear device and manufacturing method of planetary gear device |
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 |
JP7068213B2 (en) * | 2019-02-28 | 2022-05-16 | トヨタ自動車株式会社 | Torsion vibration reduction device |
JP7450340B2 (en) * | 2019-04-09 | 2024-03-15 | 住友重機械工業株式会社 | Gear device, manufacturing method of gear device |
JP2021081055A (en) * | 2019-11-22 | 2021-05-27 | ナブテスコ株式会社 | Driving unit and electric power steering device |
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JP4726185B2 (en) * | 2004-01-13 | 2011-07-20 | ナブテスコ株式会社 | Eccentric oscillating gear unit |
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- 2013-07-23 KR KR20157006953A patent/KR20150038700A/en active Search and Examination
- 2013-07-23 WO PCT/JP2013/004462 patent/WO2014030292A1/en active Application Filing
- 2013-07-23 CN CN201380043885.7A patent/CN104583645B/en active Active
- 2013-07-23 DE DE112013003689.4T patent/DE112013003689B4/en active Active
- 2013-07-23 KR KR1020197023270A patent/KR20190095559A/en not_active Application Discontinuation
- 2013-07-23 KR KR1020157026574A patent/KR20150117296A/en active Application Filing
- 2013-07-29 TW TW102127038A patent/TWI572795B/en active
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---|---|---|---|---|
CN105065584A (en) * | 2015-08-19 | 2015-11-18 | 英瑞克自动化有限公司 | Hypocycloid speed reducer |
US20220074467A1 (en) * | 2019-05-22 | 2022-03-10 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Hollow reducer for high precision control |
US20220074466A1 (en) * | 2019-05-22 | 2022-03-10 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Reducer for high precision control |
US11644085B2 (en) * | 2019-05-22 | 2023-05-09 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Reducer for high precision control |
US11692614B2 (en) * | 2019-05-22 | 2023-07-04 | Suzhou Huazhen Industry Rv Reducer Co., Ltd. | Hollow reducer for high precision control |
Also Published As
Publication number | Publication date |
---|---|
KR20150038700A (en) | 2015-04-08 |
TWI572795B (en) | 2017-03-01 |
KR20150117296A (en) | 2015-10-19 |
JP5466739B2 (en) | 2014-04-09 |
JP2014043874A (en) | 2014-03-13 |
CN104583645B (en) | 2016-04-27 |
TW201420921A (en) | 2014-06-01 |
DE112013003689T5 (en) | 2015-04-09 |
DE112013003689B4 (en) | 2023-01-12 |
KR20190095559A (en) | 2019-08-14 |
CN104583645A (en) | 2015-04-29 |
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