公开(公告)号：US5187724A

公开(公告)日：1993-02-16

申请号：US679479

申请日：1991-04-02

申请人： Toshiharu Hibino ,  Chihiro Higuchi

发明人： Toshiharu Hibino ,  Chihiro Higuchi

IPC分类号： G01B21/00 ,  B23Q3/155 ,  B23Q3/157 ,  G01D5/244 ,  G01D5/245 ,  G01D5/36 ,  G05B19/23 ,  G05B19/29

CPC分类号： G05B19/231 ,  B23Q3/15526 ,  G05B19/291

摘要： An absolute position detecting device in which the number of revolutions of a drive shaft adapted to drive an object to be controlled is counted with a counter for detecting an absolute position of the object. When a predetermined point on the object returns to an initial position after making one or more revolutions, the drive shaft is returned to an initial rotational angular position. A data rewriting operation is performed to rewrite, as necessary, the count value of the counter into a value obtained by subtracting a count value therefrom which is obtained during the one or more revolutions of the predetermined point.

摘要翻译： 一种绝对位置检测装置，其中用用于检测物体的绝对位置的计数器计数适于驱动被控制物体的驱动轴的转数。 当物体上的预定点在进行一次或多次转动后返回到初始位置时，驱动轴返回初始旋转角度位置。 执行数据重写操作，以根据需要将计数器的计数值重写为通过从预定点的一个或多个转数中减去从其获得的计数值而获得的值。

公开(公告)号：US20100056316A1

公开(公告)日：2010-03-04

申请号：US12312748

申请日：2007-12-12

申请人： Toshiharu Hibino

发明人： Toshiharu Hibino

IPC分类号： F16H1/32

CPC分类号： F16H1/32

摘要： An external gear has a number of teeth differing from a number of teeth of an internal gear, and is maintaining in a meshing state with the internal gear. A center through hole and an offset through hole are formed in the external gear. The center through hole is formed at the center of the external gear, whereas the offset through hole is formed at a position offset from the center of the external gear. Column-shaped member of a carrier passes through the offset through hole. A pair of supporting members of the carrier respectively supports each end of the column-shaped member. A pair of grooves is formed on a surface of a shaft of a crank member at positions between which an eccentric rotation member of the crank member is interleaved. First rolling elements and first outer races are arranged between the supporting members and the grooves. The shaft of the crank member is supported so as to be capable of rotating with respect to the carrier and incapable of moving in its axial direction.

摘要翻译： 外齿轮具有与内齿轮的齿数不同的齿数，并且与内齿轮保持啮合状态。 在外齿轮中形成中心通孔和偏心孔。 中心通孔形成在外齿轮的中心，而偏移通孔形成在偏离外齿轮中心的位置。 载体的柱状构件穿过偏移通孔。 载体的一对支撑构件分别支撑柱状构件的每个端部。 在曲柄构件的偏心旋转构件交错的位置处，在曲柄构件的轴的表面上形成有一对槽。 第一滚动元件和第一外圈布置在支撑构件和凹槽之间。 曲柄构件的轴被支撑成能够相对于托架旋转并且不能沿其轴向移动。

公开(公告)号：US07909722B2

公开(公告)日：2011-03-22

申请号：US11817081

申请日：2006-03-29

申请人： Toshiharu Hibino ,  Masakazu Kurita

发明人： Toshiharu Hibino ,  Masakazu Kurita

IPC分类号： F16H1/32 ,  F16H3/70

CPC分类号： B25J9/102 ,  F16H1/32

摘要： Surface abrasion in an eccentric part of a crank pin or breakdown of the crank pin of an eccentric oscillation speed reducer is effectively prevented. A value N obtained by dividing reduction ratio M in an eccentric oscillation speed reducer by a diameter D passing a center of pin teeth is set to be smaller than 0.20. As the results, temperature of lubricant in the eccentric oscillation speed reducer can be depressed below 60° C., even though an output rotation speed at a rated torque of the eccentric oscillation speed reducer has become 28 rpm or more as required from a tact time or so in a factory, whereby a region between the eccentric part of the crank pin and a needle-shaped roller bearing is always lubricated with the lubricant which exerts required lubricating function.

摘要翻译： 有效地防止了曲柄销的偏心部分的表面磨损或偏心振动减速器的曲柄销的击穿。 通过将偏心振动减速器中的减速比M除以通过销齿中心的直径D获得的值N被设定为小于0.20。 结果，偏心振动减速器中的润滑剂的温度可以降低到低于60℃，即使偏心振动减速器的额定转矩下的输出转速根据需要从所述节拍时间变为28rpm以上 在工厂中，曲柄销的偏心部分与针状滚子轴承之间的区域总是用施加润滑功能的润滑剂润滑。

公开(公告)号：US07604559B2

公开(公告)日：2009-10-20

申请号：US10597121

申请日：2004-12-21

申请人： Kenichi Fujimoto ,  Toshiharu Hibino

发明人： Kenichi Fujimoto ,  Toshiharu Hibino

IPC分类号： F16H1/32

CPC分类号： F16H1/32

摘要： The eccentrically oscillating gear device is equipped with an internal gear (15) having internal gear pins (15a), a carrier (11) rotating relative to the internal gear, a pair of bearings (19, 20) that have a rolling element and a ring body for supporting the rolling element, a crank shaft supported by the carrier so as to be freely rotatable and external gears (13, 14) that are equipped with external teeth having a trochoid tooth profile whose tooth top portions are cut out, and disposed between the pair of bearings. The outer peripheries of the external gears are engaged with the internal gear pins and fitted to the crank portion of the crank shaft. The eccentrically oscillating gear device is designed so that the external gear makes an eccentrically oscillating motion by rotation of the crank shaft and the rotational output is taken out from the internal gear or the carrier.

摘要翻译： 偏心摆动齿轮装置配备有内齿轮（15），内齿轮（15a），相对于内齿轮转动的支架（11），一对轴承（19,20），其具有滚动元件和 环状体，用于支承滚动元件，由支架支撑以便可自由旋转的曲柄轴和外齿轮（13,14），外齿齿轮（13,14）具有外齿，该外齿具有齿顶部分被切除的次摆线齿形， 在一对轴承之间。 外齿轮的外周与内齿轮销啮合并安装在曲轴的曲柄部分上。 偏心摆动齿轮装置被设计成使得外齿轮通过曲柄轴的旋转产生偏心摆动运动，并且旋转输出从内齿轮或载体中取出。

公开(公告)号：US20080295623A1

公开(公告)日：2008-12-04

申请号：US11571749

申请日：2005-08-10

申请人： Masakazu Kurita ,  Toshiharu Hibino ,  Jun Hirose

发明人： Masakazu Kurita ,  Toshiharu Hibino ,  Jun Hirose

IPC分类号： F16H21/00

CPC分类号： F16H1/32 ,  B25J9/102 ,  Y10T74/18056

摘要： A speed reducer 100 to be attached to an articulated portion of an industrial robot includes a first-stage reduction gear mechanism 10 of a spur gear type speed reducing unit and a second-stage reduction gear mechanism 30 of an eccentric rocking type speed reducing unit, and the output from the eccentric rocking type speed reducing unit is extracted from an internal gear member or a support member. When the input speed to the first input gear unit is 2,000 RPM, the output from the eccentric rocking type speed reducing unit is 20 RPM or higher. The reduction ratio of the first-stage reduction gear mechanism is so selected that individual crankshafts may rotate not over 1,000 RPM when the output from the eccentric rocking type speed reducing unit is 20 RPM or higher.

摘要翻译： 安装在工业机器人的铰接部的减速机100具有正齿轮式减速单元的第一级减速机构10和偏心摇摆式减速单元的第二级减速齿轮机构30， 并且来自偏心摇摆式减速单元的输出从内齿轮构件或支撑构件提取。 当第一输入齿轮单元的输入速度为2000RPM时，来自偏心摇摆式减速单元的输出为20RPM以上。 第一级减速机构的减速比被选择为当偏心摇摆式减速单元的输出为20RPM以上时，单个曲轴可以旋转不超过1,000RPM。

公开(公告)号：US06492787B1

公开(公告)日：2002-12-10

申请号：US09621893

申请日：2000-07-20

申请人： Toshiharu Hibino ,  Takahiro Maekawa

发明人： Toshiharu Hibino ,  Takahiro Maekawa

IPC分类号： G05B1919

CPC分类号： G01D5/24404 ,  F16H1/32 ,  H02K7/116 ,  H02K29/08

摘要： A speed reducer with rotation detector (100) is provided with a rotation detector (110) comprising a code plate (111) having the positional information corresponding to the rotation, a detecting portion (112) for detecting the positional information of the code plate (111) to transform the positional information to an electric signal for output, and an electronic device (113) having the function of processing the electric signal. The rotation detector (110) can detect the output rotation of a-first shaft (130) which is an output shaft at high resolving power and at high accuracy. Also, the speed reducer with rotation detector (100) is used with a motor (190) to enable the full-closed control of the motor (190) to be made at high resolving power and at high accuracy.

摘要翻译： 具有旋转检测器（100）的减速器设置有旋转检测器（110），该旋转检测器包括具有与旋转对应的位置信息的代码板（111），检测部（112），用于检测代码板的位置信息 111）将位置信息变换为用于输出的电信号，以及具有处理电信号的功能的电子设备（113）。 旋转检测器（110）可以高精度地检测作为输出轴的第一轴（130）的输出旋转。 此外，具有旋转检测器（100）的减速器与电动机（190）一起使用，以使电机（190）的全闭合控制能够以高分辨率和高精度进行。

公开(公告)号：US08545357B2

公开(公告)日：2013-10-01

申请号：US12312748

申请日：2007-12-12

申请人： Toshiharu Hibino

发明人： Toshiharu Hibino

IPC分类号： F16H1/32

CPC分类号： F16H1/32

摘要： An external gear has a number of teeth differing from a number of teeth of an internal gear, and is maintaining in a meshing state with the internal gear. A center through hole and an offset through hole are formed in the external gear. The center through hole is formed at the center of the external gear, whereas the offset through hole is formed at a position offset from the center of the external gear. Column-shaped member of a carrier passes through the offset through hole. A pair of supporting members of the carrier respectively supports each end of the column-shaped member. A pair of grooves is formed on a surface of a shaft of a crank member at positions between which an eccentric rotation member of the crank member is interleaved. First rolling elements and first outer races are arranged between the supporting members and the grooves. The shaft of the crank member is supported so as to be capable of rotating with respect to the carrier and incapable of moving in its axial direction.

摘要翻译： 外齿轮具有与内齿轮的齿数不同的齿数，并且与内齿轮保持啮合状态。 在外齿轮中形成中心通孔和偏心孔。 中心通孔形成在外齿轮的中心，而偏移通孔形成在偏离外齿轮中心的位置。 载体的柱状构件穿过偏移通孔。 载体的一对支撑构件分别支撑柱状构件的每个端部。 在曲柄构件的偏心旋转构件交错的位置处，在曲柄构件的轴的表面上形成有一对槽。 第一滚动元件和第一外圈布置在支撑构件和凹槽之间。 曲柄构件的轴被支撑成能够相对于托架旋转并且不能沿其轴向移动。

公开(公告)号：US20090036250A1

公开(公告)日：2009-02-05

申请号：US12223471

申请日：2007-02-06

申请人： Ryuhei Koyama ,  Toshiharu Hibino ,  Masakazu Kurita ,  Jun Hirose

发明人： Ryuhei Koyama ,  Toshiharu Hibino ,  Masakazu Kurita ,  Jun Hirose

IPC分类号： F16H1/32

CPC分类号： F16H1/32 ,  B25J9/102 ,  F16H57/0463

摘要： A reduction gear device utilized in a joint portion of an industrial robot, durability of the reduction gear device being increased in the case where torque applied to the reduction gear device is high and the reduction gear device is utilized at a high operation rate.In a reduction gear device is provided with a first reduction mechanism and a second reduction mechanism, and the second reduction mechanism includes an external gear that revolves eccentrically, an internal gear that causes orbital revolution of the eccentric movement of the external gear, and an output shaft on either the external gear or the internal gear. In this reduction gear device, in the case where the relationship between an inner diameter D of the internal gear and torque T created by the output shaft fulfills a specific condition, when the reduction gear is operated, makes the density of iron powder adulterated within lubrication sealed within the reduction gear device to be equal to or less than 600 ppm after the pace of increase in density had stabilized. Further, in the case where the relationship between the inner diameter D of the internal gear and the torque T created by the output shaft fulfills the specific condition, the number of teeth of the internal gears is less than a predetermined number of times the difference in the number of teeth between the internal gear and the external gear.

摘要翻译： 在工业机器人的接头部分中使用的减速装置，在施加到减速装置的扭矩高的情况下减速装置的耐久性增加，并且以高运行速率使用减速装置。 在减速装置中设置有第一减速机构和第二减速机构，第二减速机构包括偏心旋转的外齿轮，引起外齿轮的偏心运动的轨道转动的内齿轮和输出 外部齿轮或内齿轮上的轴。 在该减速装置中，在内齿轮的内径D与输出轴产生的转矩T之间的关系满足特定条件的情况下，当减速齿轮运转时，使铁粉的浓度掺杂在润滑中 在密度增加的步伐稳定之后，在减速装置内密封等于或小于600ppm。 此外，在内齿轮的内径D与由输出轴产生的转矩T之间的关系满足特定条件的情况下，内齿轮的齿数小于预定次数 内齿轮与外齿轮之间的齿数。

公开(公告)号：US20080287240A1

公开(公告)日：2008-11-20

申请号：US11817081

申请日：2006-03-29

申请人： Toshiharu Hibino ,  Masakazu Kurita

发明人： Toshiharu Hibino ,  Masakazu Kurita

IPC分类号： F16H1/28

CPC分类号： B25J9/102 ,  F16H1/32

摘要： An object of the invention is to effectively prevent surface abrasion in an eccentric part 47 of a crank pin 45 or breakdown of the crank pin 45. A value N obtained by dividing reduction ratio M in an eccentric oscillation type speed reducer 27 by a diameter D passing a center of pin teeth 29 is set to be smaller than 0.20. As the results, temperature of lubricant in the eccentric oscillation type speed reducer 27 can be depressed below 60° C., even though an output rotation speed at a rated torque of the eccentric oscillation type speed reducer 27 has become 28 rpm or more as required from a tact time or so in a factory, whereby a region between the eccentric part 47 of the crank pin 45 and a needle-shaped roller bearing 48 is always lubricated with the lubricant which exerts required lubricating function.

摘要翻译： 本发明的目的是有效地防止曲柄销45的偏心部分47中的表面磨损或曲柄销45的击穿。通过将偏心振动型减速器27中的减速比M除以直径D获得的值N 通过销齿29的中心被设定为小于0.20。 作为结果，即使偏心振动型减速器27的额定转矩的输出转速根据需要变为28rpm以上，偏心振动式减速器27的润滑剂的温度也可以低于60℃ 从工厂中的节拍时间起，曲柄销45的偏心部47与针状滚子轴承48之间的区域总是用施加润滑功能的润滑剂润滑。

公开(公告)号：US20070167268A1

公开(公告)日：2007-07-19

申请号：US10597121

申请日：2004-12-21

申请人： Kenichi Fujimoto ,  Toshiharu Hibino

发明人： Kenichi Fujimoto ,  Toshiharu Hibino

IPC分类号： F16H3/70

CPC分类号： F16H1/32

摘要： The eccentrically oscillating gear device is equipped with an internal gear (15) having internal gear pins (15a), a carrier (11) rotating relative to the internal gear, a pair of bearings (19, 20) that have a rolling element and a ring body for supporting the rolling element, a crank shaft supported by the carrier so as to be freely rotatable and external gears (13, 14) that are equipped with external teeth having a trochoid tooth profile whose tooth top portions are cut out, and disposed between the pair of bearings. The outer peripheries of the external gears are engaged with the internal gear pins and fitted to the crank portion of the crank shaft. The eccentrically oscillating gear device is designed so that the external gear makes an eccentrically oscillating motion by rotation of the crank shaft and the rotational output is taken out from the internal gear or the carrier.

摘要翻译： 偏心摆动齿轮装置配备有内齿轮（15），内齿轮（15a），相对于内齿轮转动的行星架（11），具有滚动元件的一对轴承（19,20） 用于支撑滚动元件的环形体，由托架支撑以便可自由旋转的曲轴，以及外齿轮（13,14），其具有齿顶部切除的次摆线齿廓的外齿;以及 设置在一对轴承之间。 外齿轮的外周与内齿轮销啮合并安装在曲轴的曲柄部分上。 偏心摆动齿轮装置被设计成使得外齿轮通过曲柄轴的旋转产生偏心摆动运动，并且旋转输出从内齿轮或载体中取出。