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1. (WO2018123895) REDUCER, JOINT DEVICE, AND ROBOT ARM STRUCTURE
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Pub. No.: WO/2018/123895 International Application No.: PCT/JP2017/046202
Publication Date: 05.07.2018 International Filing Date: 22.12.2017
IPC:
F16H 1/14 (2006.01) ,B25J 17/00 (2006.01) ,F16C 19/36 (2006.01) ,F16C 35/063 (2006.01) ,F16C 35/077 (2006.01) ,F16H 1/06 (2006.01) ,H02K 7/116 (2006.01)
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
H
GEARING
1
Toothed gearings for conveying rotary motion
02
without gears having orbital motion
04
involving only two intermeshing members
12
with non-parallel axes
14
comprising conical gears only
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17
Joints
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
C
SHAFTS; FLEXIBLE SHAFTS; MECHANICAL MEANS FOR TRANSMITTING MOVEMENT IN A FLEXIBLE SHEATHING; ELEMENTS OF CRANKSHAFT MECHANISMS; PIVOTS; PIVOTAL CONNECTIONS; ROTARY ENGINEERING ELEMENTS OTHER THAN GEARING, COUPLING, CLUTCH OR BRAKE ELEMENTS; BEARINGS
19
Bearings with rolling contact, for exclusively rotary movement
22
with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
34
for both radial and axial load
36
with a single row of rollers
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
C
SHAFTS; FLEXIBLE SHAFTS; MECHANICAL MEANS FOR TRANSMITTING MOVEMENT IN A FLEXIBLE SHEATHING; ELEMENTS OF CRANKSHAFT MECHANISMS; PIVOTS; PIVOTAL CONNECTIONS; ROTARY ENGINEERING ELEMENTS OTHER THAN GEARING, COUPLING, CLUTCH OR BRAKE ELEMENTS; BEARINGS
35
Rigid support of bearing units; Housings, e.g. caps, covers
04
in the case of ball or roller bearings
06
Mounting of ball or roller bearings; Fixing them onto shaft or in housing
063
Fixing them on the shaft
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
C
SHAFTS; FLEXIBLE SHAFTS; MECHANICAL MEANS FOR TRANSMITTING MOVEMENT IN A FLEXIBLE SHEATHING; ELEMENTS OF CRANKSHAFT MECHANISMS; PIVOTS; PIVOTAL CONNECTIONS; ROTARY ENGINEERING ELEMENTS OTHER THAN GEARING, COUPLING, CLUTCH OR BRAKE ELEMENTS; BEARINGS
35
Rigid support of bearing units; Housings, e.g. caps, covers
04
in the case of ball or roller bearings
06
Mounting of ball or roller bearings; Fixing them onto shaft or in housing
07
Fixing them on the shaft or housing with interposition of an element
077
between housing and outer race ring
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
H
GEARING
1
Toothed gearings for conveying rotary motion
02
without gears having orbital motion
04
involving only two intermeshing members
06
with parallel axes
H ELECTRICITY
02
GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
K
DYNAMO-ELECTRIC MACHINES
7
Arrangements for handling mechanical energy structurally associated with the machine, e.g. structural association with mechanical driving motor or auxiliary dynamo-electric machine
10
Structural association with clutches, brakes, gears, pulleys, mechanical starters
116
with gears
Applicants:
富士変速機株式会社 FUJI HENSOKUKI CO.,LTD. [JP/JP]; 岐阜県岐阜市中洲町18番地 18 Nakasu-cho, Gifu-shi, Gifu 5008448, JP
Inventors:
山本 保幸 YAMAMOTO, Yasuyuki; JP
Agent:
特許業務法人広江アソシエイツ特許事務所 HIROE AND ASSOCIATES, PATENT PROFESSIONAL CORPORATION; 岐阜県岐阜市宇佐三丁目4番3号 4-3, Usa 3-chome, Gifu-shi, Gifu 5008368, JP
Priority Data:
2016-25061526.12.2016JP
Title (EN) REDUCER, JOINT DEVICE, AND ROBOT ARM STRUCTURE
(FR) RÉDUCTEUR, DISPOSITIF D'ARTICULATION ET STRUCTURE DE BRAS DE ROBOT
(JA) 減速装置、関節装置及びロボットアーム構造
Abstract:
(EN) The present invention pertains to a reducer which enables a more high-precision rotational output. This reducer is provided with: a case having a fixation part for connecting a drive device, and a hollow shaft part; a ring gear which is disposed inside the case, rotates around a second axis perpendicular to a first axis, and constitutes a hypoid gear together with a drive pinion of the drive device; a pinion shaft which is coupled to the ring gear inside the case and rotates around the second axis; and a rotationally driven body which is disposed in the hollow shaft part of the case so as to be rotatable around a third axis extending parallel to the second axis, has, on the outer periphery thereof, a gear part which is disposed to be engageable with the pinion shaft, and has a support part for supporting an object to be driven on an end section in a third axis-direction. A cross-roller bearing having an inner race and an outer race is provided between the inner peripheral surface of the case and the outer peripheral surface of the rotationally driven body, the inner race of the cross-roller bearing is fixed to the outer peripheral surface of the rotationally driven body, and the outer race of the cross-roller bearing is fixed to the case.
(FR) 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.
(JA) 本発明は、より高精度の回転出力を可能とする減速装置に関する。減速装置は、駆動装置を連結するための固定部、及び、中空軸部を有する筐体と、筐体内部に配置され、第1軸と直交する第2軸を中心に回転し、駆動装置のドライブピニオンとともにハイポイドギヤを構成するリングギヤと、筐体内部でリングギヤに結合され、第2軸を中心に回転するピニオン軸と、第2軸と平行に延伸する第3軸を中心に回転可能に筐体の中空軸部に配置され、ピニオン軸と噛み合い可能に配置されたギヤ部を外周に有し、且つ、第3軸方向の端部に駆動対象を支持するための支持部を有する回転駆動体とを、備える。筐体の内周面と回転駆動体の外周面との間には、内輪及び外輪を有するクロスローラベアリングが設けられ、クロスローラベアリングの内輪が回転駆動体の外周面に固定され、クロスローラベアリングの外輪が筐体に固定されている。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)