[go: up one dir, main page]

WO2018123895A1 - Réducteur, dispositif d'articulation et structure de bras de robot - Google Patents

Réducteur, dispositif d'articulation et structure de bras de robot Download PDF

Info

Publication number
WO2018123895A1
WO2018123895A1 PCT/JP2017/046202 JP2017046202W WO2018123895A1 WO 2018123895 A1 WO2018123895 A1 WO 2018123895A1 JP 2017046202 W JP2017046202 W JP 2017046202W WO 2018123895 A1 WO2018123895 A1 WO 2018123895A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
shaft
roller bearing
gear
drive
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.)
Ceased
Application number
PCT/JP2017/046202
Other languages
English (en)
Japanese (ja)
Inventor
保幸 山本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuj Hensokuki Co Ltd
Original Assignee
Fuj Hensokuki Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fuj Hensokuki Co Ltd filed Critical Fuj Hensokuki Co Ltd
Publication of WO2018123895A1 publication Critical patent/WO2018123895A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
    • F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
    • F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing
    • F16C35/063—Fixing them on the shaft
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing
    • F16C35/07—Fixing them on the shaft or housing with interposition of an element
    • F16C35/077—Fixing them on the shaft or housing with interposition of an element between housing and outer race ring
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/06—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
    • 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
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • the present invention decelerates rotation input from a driving device including a motor, converts the rotation into a rotation in a direction orthogonal to the rotation of the motor, and outputs the rotation, and an arm is rotatably mounted using the reduction device.
  • the present invention relates to a joint device for a robot and a robot arm structure in which an arm is attached to the joint device.
  • a motor shaft (4) is mounted in front of a motor shaft (4) of a motor (3) directly connected to a box-shaped housing (2) by a ball bearing (5, 5).
  • a hypoid gear (7) is formed at the tip of the motor shaft (4).
  • the hypoid gear (7) is integrally coupled to the second shaft (6).
  • a pinion (9) is formed on the second shaft (6).
  • a hollow output shaft (11) is supported in parallel with the second shaft (6) by ball bearings (10, 10), and is integrated with the output shaft (11).
  • a gear (12) coupled to the pinion (9) meshes with the pinion (9) of the second shaft (6).
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a reduction device that enables more accurate rotation output, a joint device for a robot including the reduction device, and a robot arm structure. There is.
  • a speed reduction device is coupled to a drive device having a drive shaft that is driven to rotate about a first axis by a motor and a drive pinion provided at the tip of the drive shaft.
  • a reduction device that decelerates input rotation, converts the rotation to rotation having a rotation axis orthogonal to the first axis, and outputs the rotation.
  • a gear portion that is disposed in the hollow shaft portion of the housing so as to be rotatable about a third shaft extending in parallel with the second shaft and that can be directly or indirectly engaged with the pinion shaft is disposed on the outer periphery.
  • a rotary drive body having a support portion for supporting the drive target at the end portion in the third axial direction
  • a cross roller bearing having an inner ring and an outer ring is provided between the inner peripheral surface of the casing and the outer peripheral surface of the rotary drive body, and the inner ring of the cross roller bearing is fixed to the outer peripheral surface of the rotary drive body.
  • the outer ring of the cross roller bearing is fixed to the housing.
  • the casing has a bottom surface facing the third axis direction, and an outer ring of the cross roller bearing is placed on the bottom surface of the casing,
  • a pressing member may be fixed to the housing so as to sandwich the outer ring of the cross roller bearing together with the bottom surface.
  • the pressing member has a C shape in which a part in the circumferential direction is notched, and a part of the ring gear is disposed in the notch of the pressing member. It may be characterized by being.
  • the speed reducer according to a further embodiment of the present invention may be characterized in that the cross roller bearing is disposed in the vicinity of an end portion in the third axial direction of the rotary drive body.
  • a ball bearing is disposed in the vicinity of an end portion in the third axial direction of the rotary drive body, and the gear portion and the ring gear are interposed between the ball bearing and the cross roller bearing. May be arranged.
  • the support portion is a plurality of screw holes formed on an end surface in the third axial direction of the rotary drive body, and the end face of the rotary drive body is aligned with the end face.
  • a pin hole may be formed.
  • a robot joint device is a robot joint device for mounting an arm rotatably.
  • a drive unit having a motor, a drive shaft that is driven to rotate about a first axis by the motor, and a drive pinion provided at the tip of the drive shaft;
  • the rotation according to any one of claims 1 to 6, wherein the rotation input to the drive device is decelerated, the rotation is converted into a rotation having a rotation axis orthogonal to the first axis, and output.
  • a reduction gear, The support portion is configured to be capable of mounting an arm.
  • the robot arm structure according to an embodiment of the present invention may include an arm and the above-described characteristic joint device to which the arm is connected.
  • the cross roller bearing having the inner ring and the outer ring is provided between the inner peripheral surface of the casing and the outer peripheral surface of the rotary drive body.
  • the inner ring of the cross roller bearing is fixed to the outer peripheral surface of the rotary drive body, and the outer ring of the cross roller bearing is fixed to the housing. Since the rolling surface of the cross roller bearing is in line contact, the elastic displacement with respect to the load is negligible, and as a result, shaft runout during rotation of the rotary drive is effectively suppressed. That is, in the speed reducer of the present invention, the rotational accuracy and backlash accuracy in output are improved.
  • the upper and lower surfaces of the outer ring of the cross roller bearing are sandwiched between the pressing member and the bottom surface of the housing, so that the rattling of the cross roller bearing itself is suppressed and rotational driving is performed.
  • the rotation accuracy of the body has been further improved.
  • the holding member has a C-shape and a part of the ring gear is arranged in the notch, the entire apparatus can be made compact while stably holding the cross roller bearing. .
  • the positioning target pin hole is formed together with the support portion (screw hole) on the tip surface of the rotary drive body, so that the drive target can be easily attached to the support portion.
  • the pin since the pin receives a rotational load, higher load resistance can be obtained.
  • FIG. 4 is a cross-sectional view of the joint device of FIG. 3 along AA.
  • the expanded sectional view of the joint apparatus of FIG. FIG. 5 is a BB cross-sectional view of the joint device of FIG. 4.
  • 1 is a schematic perspective view of a robot arm structure according to an embodiment of the present invention.
  • the joint device 100 of this embodiment is mainly configured as a robot joint. As shown in FIGS. 1 to 4, the joint device 100 of the present embodiment is configured by combining a drive device 101 and a reduction gear 110 coupled to the drive device 101.
  • the speed reduction device 110 is described as a part of the robot joint device 100.
  • the speed reduction device of the present invention is not limited to the use of the robot joint device, and can be used by those skilled in the art. If it exists, it is applicable to all uses.
  • the drive device 101 includes a motor 108, a drive shaft 102 that is driven to rotate about the first axis X1 by the motor 108, a drive pinion 103 provided at the tip of the drive shaft 102, and And a housing 104 containing a power mechanism together with the base end of the drive shaft 102.
  • the driving device 101 can output a rotational driving force with the first axis X1 as the rotational axis via the driving shaft 102 and the drive pinion 103.
  • the motor 108 is connected to a power source and configured to be supplied with power (not shown).
  • the output shaft (not shown) of the motor 108 is connected to the base end of the drive shaft 102 via the coupling 107, so that the drive shaft 102 is rotationally driven coaxially with the output shaft by the motor 108. That is, the assembly of the drive shaft 102, the drive pinion 103, the housing 104 and the ball bearing 125 functions to connect the motor 108 and the reduction gear 110.
  • the driving device may be configured integrally with the motor.
  • the drive shaft 102 is rotatably supported by the housing 104 via a ball bearing 106 for rotating the first axis X1.
  • the housing 104 has four overhangs formed vertically on the tip side on the left side surface, and a through hole 105 is formed in the overhang.
  • the through-hole 105 is formed so as to fix the driving device 101 to the speed reduction device 110 with a screw.
  • the through hole 105 of the drive device 101 and the fixing portion (screw hole) 111a of the speed reducer 110 are matched, the screw penetrates them, thereby driving the joint device 100.
  • the device 101 is fixed to the speed reducer 110.
  • the electric motor of a general mechanism can be employ
  • the speed reducer 110 decelerates the rotation (rotational driving force) input from the drive device 101 and has a rotation axis (third axis X3) orthogonal to the first axis X1. It is configured so as to be converted into an output. That is, the torque of the drive device 101 (motor 108) is amplified by the output of the reduction gear 110.
  • the reduction gear 110 includes a housing 111 having a fixing portion (screw hole) 111a for connecting the driving device 101.
  • the casing 111 includes an input unit 112 to which the rotational driving force of the driving device 101 is input, a gear housing unit 113 for converting and transmitting rotation input through the input unit 112, and rotation after conversion. It is comprised from three parts (area
  • An input portion 112 for the rotational driving force of the driving device 101 is formed at the end of the housing 111 on the driving device 101 side (the right end in FIG. 3).
  • the input unit 112 is open at the end and can receive the drive shaft 102 of the drive device 101.
  • the drive shaft 102 of the drive device 101 is inserted into the housing 111 through the opening while the housing 104 is fixed to the housing 111.
  • a ball bearing 125 for rotating the first axis X1 is disposed in the input unit 112 of the casing 111, and the ball bearing 125 is interposed between the inner peripheral surface of the opening of the casing 111 and the outer peripheral surface of the drive shaft 102. Yes.
  • the drive shaft 102 is rotatably supported on the housing 111 by the ball bearing 125.
  • the drive pinion 103 at the tip of the drive shaft 102 is disposed in the gear accommodating portion 113 inside the housing 111.
  • the gear housing portion 113 is located adjacent to the input portion 112 of the housing 111. As shown in FIG. 6, the gear housing 113 inside the housing 111 is integrally coupled to the ring gear 115 and the ring gear 115 that rotates about the second axis X2 orthogonal to the first axis X1, A spur gear-like pinion shaft 116 that rotates about two axes X2 is arranged.
  • the meshing surface of the drive pinion 103 and the meshing surface of the ring gear 115 are arranged so as to be able to mesh directly, and the drive pinion 103 and the ring gear 115 constitute a hypoid gear.
  • the hypoid gear converts the rotation of the drive shaft 102 about the first axis X1 into 90 ° rotation about the second axis X2 (perpendicular to the first axis X1).
  • the ring gear 115 and the pinion shaft 116 are rotatably supported by the housing 111 via ball bearings 126 for rotation of the second axis X2 disposed at both ends of the rotation shaft. Then, in synchronization with the ring gear 115, the pinion shaft 116 rotates about the second axis X2 as the rotation axis, and the rotational driving force is transmitted to the rotational driving body 118 of the adjacent hollow shaft portion 114.
  • the hollow shaft portion 114 of the casing 111 has a substantially cylindrical shape, and is formed so as to accommodate the rotary drive body 118 therein.
  • the rotary drive body 118 has a hollow cylindrical shape. Further, the rotary drive body 118 is disposed in the hollow shaft portion 114 of the casing 111 so as to be rotatable about a third axis X3 extending in parallel with the second axis X2.
  • a spur gear portion 118a is formed so as to project radially outward (radially) substantially at the center in the axial direction. And the gear part 118a of the rotation drive body 118 is arrange
  • the reduction gear 110 of the present embodiment the reduction ratio is set to 1 / 48.75, but the present invention is not limited to this.
  • the rotary drive body 118 is rotatably supported by the casing 111 via a cross roller bearing 121 and a ball bearing 127.
  • the cross roller bearing 121 is disposed near one end (lower end) of the rotational drive body 118 in the third axis X3 direction
  • the ball bearing 127 is disposed near the other end (upper end) of the rotational drive body 118 in the third axis X3 direction. Yes.
  • a part of the gear portion 118 a and the ring gear 115 is disposed between the cross roller bearing 121 and the ball bearing 127.
  • the ball bearing 127 is installed so that the inner peripheral surface of the inner ring is fitted to the outer peripheral surface of the rotary drive body 118 and the outer peripheral surface of the outer ring is fitted to the inner peripheral surface of the hollow shaft portion 114. Further, the lower surface of the inner ring of the ball bearing 127 is engaged with a step on the outer periphery of the rotary drive body 118.
  • the cross roller bearing 121 is a bearing having an inner ring 121a and an outer ring 121b, and cylindrical rollers arranged orthogonally between the inner ring 121a and the outer ring 121b. Since the rolling surface of the cross roller bearing 121 is in line contact, the elastic displacement due to the bearing load is very small.
  • the inner ring 121 a of the cross roller bearing 121 is fixed to the outer peripheral surface of the rotary driving body 118, and the outer ring 121 b is fixed to the casing 111.
  • a stepped portion 118 b is formed on the outer periphery of the rotary drive body 118.
  • the inner ring 121a of the cross roller bearing 121 is fitted on the outer periphery of the rotary drive body 118, and the upper surface of the inner ring 121a is engaged with the step portion 118b, whereby the inner ring 121a is coupled to the rotary drive body 118.
  • the outer peripheral surface of the outer ring 121b is in contact with the inner peripheral surface 114a of the cylindrical wall of the hollow shaft portion 114 of the casing 111, and the lower surface of the outer ring 121b is on the bottom surface 114b of the casing 111 facing the third axis X3 direction. It is in contact.
  • the outer ring 121b of the cross roller bearing 121 is placed on the stepped bottom surface 114b.
  • the pressing member 122 is fixed to the casing 111 so as to sandwich the outer ring 121b of the cross roller bearing 121 together with the bottom surface 114b of the casing 111 from the axial direction.
  • the pressing member 122 is fixed to the outer wall of the casing 111 from above by a screw extending parallel to the third axis X3 direction.
  • the pressing member 122, the outer ring 121b, and the housing 111 may be attached to each other with an adhesive.
  • the inner ring 121a and the rotary drive body 118 may be supplementarily bonded to each other with an adhesive. Thereby, fixing strength improves.
  • the pressing member 122 has a C-shape in front view with a part of the circumferential direction cut away.
  • the pressing member 122 has a notch 122a having a predetermined width. That is, the outer ring 121b of the cross roller bearing 121 is pressed by the meat portion excluding the notch 122a of the pressing member 122. That is, most of the circumferential direction of the outer ring 121b of the cross roller bearing 121 is supported from three sides of the outer peripheral surface, the upper surface, and the lower surface.
  • a part of the ring gear 115 is disposed in the notch 122a. In other words, since the notch 122a is formed in the pressing member 122, interference between the pressing member 122 and the ring gear 115 can be prevented, and the distance between the ring gear 115 and the rotary drive body 118 can be reduced.
  • a plurality of screw holes 118d are formed on the end face of the rotary drive body 118 in the direction of the third axis X3 as a support portion for supporting the drive target (arm 11).
  • a plurality of pin holes 118e for alignment are formed in the end face of the rotary drive body 118 in the direction of the third axis X3 along with the screw holes 118d (see FIG. 3).
  • the pin hole 118e makes it easy to fix the arm 11 to the support portion 118c by inserting a pin (not shown) protruding from the arm 11. Further, since the pin receives a rotational load, higher load resistance can be obtained.
  • FIG. 8 shows a robot arm structure 10 to which the joint device 100 and the speed reduction device 110 of the present embodiment are applied.
  • the robot arm structure 10 includes an arm 11 and a joint device 100 to which the arm 11 is connected.
  • the arm 11 is rotationally attached to the joint device 100 by fixing the base end of the arm 11 to the support portion 118d of the joint device 100 with a screw.
  • a cross roller bearing having an inner ring 121a and an outer ring 121b between the inner peripheral surface 114a of the hollow shaft 114 of the housing 111 and the outer peripheral surface of the rotary drive body 118. 121 is provided. Since the rolling surface of the cross roller bearing 121 is a line contact, the elastic displacement with respect to the load is negligible, and as a result, the shaft shake during rotation of the rotary drive body 118 is effectively suppressed.
  • the upper and lower surfaces of the outer ring 121b of the cross roller bearing 121 are sandwiched between the pressing member 122 and the bottom surface 114b of the casing 111, so that rattling of the cross roller bearing 121 itself is suppressed as much as possible.
  • the cross roller bearing 121 is disposed at one end of the rotational drive body 118 in the third axis X3 direction, and the ball bearing 127 is disposed at the other end of the rotational drive body 118 in the third axis X3 direction.
  • the body 118 can be stably supported by the housing 111. Therefore, in the reduction gear 110 and the joint device 100 of the present invention, the rotational accuracy and backlash accuracy in output are greatly improved.
  • the pressing member 122 has a C shape, and a part of the ring gear 115 is disposed in the notch 122a. Further, a gear portion 118 a and a ring gear 115 are disposed between the cross roller bearing 121 and the ball bearing 127. Thereby, each component can be arranged close to each other in the direction of the first axis X1. That is, the speed reduction device 110 and the joint device 100 of the present embodiment can be configured compactly while greatly improving the rotation accuracy and the backlash accuracy.
  • the cross roller bearing 121 and the ball bearing 127 cooperate to support the rotation drive body 118 on the housing 111, but the present invention is not limited to this.
  • the ball bearing 127 instead of the ball bearing 127, an additional cross roller bearing may be employed.
  • the ball bearing 127 may be omitted.
  • the speed reduction mechanism of the speed reduction device 100 of the above-described embodiment includes a ring gear 115, a pinion shaft 116, and a gear portion 118 that are arranged so as to directly mesh with each other.
  • the present invention is not limited to the above-described structure, and one or a plurality of gears may be added between the respective gears so that the respective constituent elements mesh with each other indirectly.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Robotics (AREA)
  • Rolling Contact Bearings (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Gear Transmission (AREA)
  • Mounting Of Bearings Or Others (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)

Abstract

La présente invention se rapporte à un réducteur qui permet une sortie de rotation de précision plus élevée. Ce réducteur est pourvu : d'un boîtier ayant une partie de fixation destinée à relier un dispositif d'entraînement, et une partie d'arbre creux ; d'une couronne dentée qui est disposée à l'intérieur du boîtier, tourne autour d'un deuxième axe perpendiculaire à un premier axe, et constitue un engrenage hypoïde conjointement avec un pignon d'entraînement du dispositif d'entraînement ; d'un arbre de pignon qui est couplé à la couronne dentée à l'intérieur du boîtier et tourne autour du deuxième axe ; et d'un corps entraîné en rotation qui est disposé dans la partie d'arbre creux du boîtier de sorte à pouvoir tourner autour d'un troisième axe s'étendant de façon parallèle au deuxième axe, comporte, sur sa périphérie externe, une partie d'engrenage qui est disposée de sorte à pouvoir s'engrener avec l'arbre de pignon, et qui comporte une partie de support destinée à supporter un objet qui doit être entraîné sur une section d'extrémité dans la direction du troisième axe. Un roulement à rouleaux croisés ayant un chemin de roulement interne et un chemin de roulement externe est disposé entre la surface périphérique interne du boîtier et la surface périphérique externe du corps entraîné en rotation, le chemin de roulement interne du roulement à rouleaux croisés est fixé à la surface périphérique externe du corps entraîné en rotation, et le chemin de roulement externe du roulement à rouleaux croisés est fixé au boîtier.
PCT/JP2017/046202 2016-12-26 2017-12-22 Réducteur, dispositif d'articulation et structure de bras de robot Ceased WO2018123895A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-250615 2016-12-26
JP2016250615A JP6757244B2 (ja) 2016-12-26 2016-12-26 減速装置、関節装置及びロボットアーム構造

Publications (1)

Publication Number Publication Date
WO2018123895A1 true WO2018123895A1 (fr) 2018-07-05

Family

ID=62707306

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/046202 Ceased WO2018123895A1 (fr) 2016-12-26 2017-12-22 Réducteur, dispositif d'articulation et structure de bras de robot

Country Status (2)

Country Link
JP (1) JP6757244B2 (fr)
WO (1) WO2018123895A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111673715A (zh) * 2019-03-11 2020-09-18 发那科株式会社 机器人

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110307297A (zh) * 2019-08-06 2019-10-08 三一海洋重工有限公司 驱动结构及旋转器
JP7685825B2 (ja) * 2020-11-16 2025-05-30 住友重機械工業株式会社 ギヤモータ
CN112692865A (zh) * 2021-01-18 2021-04-23 之江实验室 一种一体化关节

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007057054A (ja) * 2005-08-26 2007-03-08 Hitachi Industrial Equipment Systems Co Ltd ギヤードモータ
JP2009174663A (ja) * 2008-01-25 2009-08-06 Sumitomo Heavy Ind Ltd 傘歯車を有する動力伝達装置
JP2013071200A (ja) * 2011-09-27 2013-04-22 Yaskawa Electric Corp ギヤユニットおよびロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007057054A (ja) * 2005-08-26 2007-03-08 Hitachi Industrial Equipment Systems Co Ltd ギヤードモータ
JP2009174663A (ja) * 2008-01-25 2009-08-06 Sumitomo Heavy Ind Ltd 傘歯車を有する動力伝達装置
JP2013071200A (ja) * 2011-09-27 2013-04-22 Yaskawa Electric Corp ギヤユニットおよびロボット

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111673715A (zh) * 2019-03-11 2020-09-18 发那科株式会社 机器人
US11230002B2 (en) 2019-03-11 2022-01-25 Fanuc Corporation Robot

Also Published As

Publication number Publication date
JP2018105373A (ja) 2018-07-05
JP6757244B2 (ja) 2020-09-16

Similar Documents

Publication Publication Date Title
KR101208406B1 (ko) 중공구동모듈
WO2018123895A1 (fr) Réducteur, dispositif d'articulation et structure de bras de robot
CN111120583B (zh) 减速装置及机电设备
KR200450505Y1 (ko) 감속기
CN103358316A (zh) 中空驱动模块
US10066721B2 (en) Final drive device
KR101194316B1 (ko) 중공구동모듈
JP2012223081A (ja) 電動アクチュエータ及び関節装置
JP6421155B2 (ja) ギヤドモータ
TWI695939B (zh) 齒輪傳動裝置
EP2479456B1 (fr) Dispositif à engrenage à oscillation excentrique et son procédé de fabrication
JP3186812U (ja) 変速伝動ベアリング
JP2010151269A (ja) 回転駆動装置、ロボットの関節構造及びロボットアーム
TWI814784B (zh) 減速機
US9322464B2 (en) Hollow drive gear reduction mechanism
JP2010084842A (ja) 回転駆動装置、ロボットの関節構造及びロボットアーム
CN113357315A (zh) 本体驱动器、驱动关节及机器人
CN107299964B (zh) 齿轮装置
JP2008005576A (ja) ギヤドモータ及びロボット用ギヤドモータ
CN215093695U (zh) 本体驱动器、驱动关节及机器人
JP2009079657A (ja) 電動リニアアクチュエータおよびその組立方法
CN211599411U (zh) 一种少齿差齿轮啮合减速器
CN210397602U (zh) 行星谐波组合减速器
JP2009168193A (ja) 遊星歯車減速機
JP2012052589A (ja) 軸受構造

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17887495

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17887495

Country of ref document: EP

Kind code of ref document: A1