JP4650873B2 - Gear device with motor for use in industrial robots - Google Patents

Description

The present invention relates to a geared device with a motor including a drive motor and a shaft supported by a case and a bearing so as to be rotatable relative to the case, and more particularly to a geared device with a motor used for an industrial robot .

  A gear device with a drive motor as described above is used in various fields. In particular, in the industrial robot field, a gear device with a motor is used for a joint portion that connects two arms that are swingably connected to each other, and the output from this motor is reduced by the gear device so that the other arm is predetermined. The angle is driven.

For example, in a gear device with a motor used for an industrial robot provided at an articulated portion of an arm, a servo motor is used as a motor, and so-called an eccentric oscillating type for converting the servo motor with a large reduction ratio. Gear devices are widely used. That is, in the eccentric oscillating gear device, inner teeth are provided on the inner periphery of the case, outer teeth that engage with the inner teeth are provided on the outer periphery, and a plurality of pin holes are disposed in the inner peripheral direction. The pinion has an eccentric motion and a plurality of pins that are inserted into the pin holes of the pinion and take out the rotational motion of the pinion, and the shaft is shaped to support the pin.

When a failure occurs in a gear device with a motor used in such an industrial robot, it cannot be repaired at the installation site as it is, so a new industrial robot is removed by removing the reducer from the joint together with the motor. Replacement with a gear device with a motor used in the above is performed.

  As a method for performing this method, in Patent Document 1 (Japanese Patent Laid-Open No. 2003-278848), a bolt as a locking member is inserted through the casing from the outside to the inside of the casing of the reduction gear. It is disclosed that a reduction gear is taken out together with a drive motor so as to prevent rotation of a certain external gear or an output flange and fix an output system of the reduction gear.

JP 2003-278848 A

In the method of Patent Document 1 described above, there is disclosed means for performing a replacement operation by fixing the control origin with a mechanical lock mechanism at the time of servo motor replacement in an application requiring precise positioning . In the Patent Document 1, it needs Ru to Match the rotation direction phase of the through hole of the casing of the tap and the cylindrical member through which the bolts in the radial direction. For this reason, when the phases do not match, the output shaft cannot be locked and the servo motor cannot be replaced.

Moreover, since it is necessary to process a through-hole and a tap in a radial direction, processing cost becomes expensive. Furthermore, in order to form such a casing tap and a cylindrical member through-hole, it is necessary to make the axial lengths of the output shaft and the casing longer than usual. Therefore large-sized gear device itself, the reduced degree of freedom in designing and its gearing used in industrial robots, also the degree of freedom of the mounting method to the industrial robot is disadvantageously reduced.

Focusing on the fact that in most cases of failure of geared gears with motors used in industrial robots as described above, the failure occurred in the servo motor and almost no failure in the geared device was found. The present invention has been made on the basis that only the servo motor needs to be exchanged in a state where is fixed.

The present invention, output lock gearing at all rotational phase are possible, processing cost is inexpensive, the motor degree of freedom of the mounting method of the mounting member such as an arm of the industrial robot is used in industrial robots does not decrease An object of the present invention is to provide an attached gear device.

In the present invention, the above object is provided with a drive motor and a shaft supported by the case so as to be relatively rotatable via a case and a bearing, and an oil seal is provided on the axially outer side of the bearing. In gear devices with motors used in industrial robots ,
The shaft of the motorized gear unit is fastened to one arm of two arms of the industrial robot, and the case side is connected to the other arm of the industrial robot to pivot the two arms of the industrial robot. Is pivotally possible,
The outermost diameter of the flange portion of the shaft is made larger than the outer diameter of the bearing, and the mounting member fixing tap for fastening the gear device to the mounting member on the flange portion and the flange portion from the outside of the mounting member A case fixing tap for fastening the bolt passing through the shaft in the axial direction and pressing and fixing the axial end surface of the case is provided,
The mounting member fixing taps are provided at equal intervals in the circumferential direction on the flange portion, and the case fixing taps are provided at equal intervals between adjacent mounting member fixing taps. case fixing taps are spaced equal intervals in the circumferential direction in the flange portion, said case fixing tap position motored gear device for use in industrial robots, characterized in that deviates from the position of the oil seal To achieve.
In the present invention, it is preferable that a spot facing portion is provided on a peripheral surface of a place where the bolt of the case fixing tap of the flange portion is embedded.

In particular, according to the present invention, the gear device is provided with inner teeth on the inner periphery of the case, outer teeth engaging the inner teeth on the outer periphery, and a plurality of pin holes disposed in the inner peripheral direction. An eccentric rocking type in which a pinion engages with a case and has a plurality of pins inserted into a pin hole of the pinion and takes out the rotation of the pinion, and the shaft supports the pin The present invention can be optimally applied to a gear device with a motor used in an industrial robot that is a gear device.

  In the present invention, the casing is not provided with taps, and the flange portion of the shaft is enlarged beyond the outer diameter of the bearing, and bolts are fastened to the flange portion from the outside in the axial direction so that the axial end surface of the case is formed. A case fixing tap for pressing and fixing is provided. For this reason, it is possible to lock the output of the gear device at all rotational phases without matching the phases of the tap and the case.

  Further, in the present invention, as described above, it is only necessary to provide a fixing tap on the flange portion, and a tap or a through hole is specially provided in the casing or cylindrical member as an output lock mechanism as compared with that of Patent Document 1 described above. There is no need for processing, and processing costs are reduced.

  Furthermore, in the present invention, the output lock mechanism can be constructed with the same axial direction dimension as that of the conventional gear device, the design freedom is not lowered, and the degree of freedom of the attachment method to the industrial robot is not lowered.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a cross-sectional view of a part of an embodiment in which a gear device with a motor (reduction gear) 4 according to the present invention is provided at a joint portion that pivotally attaches two arms 1 and 2 of an industrial robot. There is a cross section along the line II in FIG.

  The gear device 4 is an eccentric oscillating speed reducer, and a shaft 13 of the eccentric oscillating speed reducer is fastened to one arm 1 and the case side is connected to the other arm 2. In this embodiment, the drive motor 3 is a servo motor, and the speed reducer 4 connected to the servo motor 3 is a two-stage reduction in which the first stage is a spur gear reduction mechanism and the second stage is an eccentric oscillating gear reducer. It is a mechanism.

  First, the structure of the eccentric oscillating gear reducer will be described. The main body of the support block 13 corresponds to the shaft of the present invention, and includes a disk-shaped part 17 and a columnar part 21 projecting from the disk-shaped part 17.

  A bearing mounting hole 17 b having a predetermined depth is formed between adjacent columnar portions 21 on the surface of the disk-shaped portion 17. Further, a central hole 21 a into which the input rotation shaft 11 is inserted is formed in the central portion of the columnar portion 21. The right end portion of the input rotation shaft 11 is key-coupled to the output shaft of the servo motor 3 to transmit the rotation of the servo motor 3 to the input shaft 11.

  Further, as shown on the right side of FIG. 1, an end disk 25 forming a part of the support block (shaft) 13 is integrally coupled to a columnar part 21 of the disk-like part 17 by a pin 26. 25 is fixed to the columnar part 21 of the disk-like part 17 by bolts 24. The screw hole 21 e is a fastening hole for the bolt 24 and is formed in the columnar portion 21.

  The end disk 25 is provided with a pin hole 25d corresponding to the pin hole 21b of the columnar part 21, and a bolt through hole 25c corresponding to the screw hole 21e. A bearing mounting hole 25b is formed corresponding to the hole 17b. Roller bearings 27 and 29 are mounted in the bearing mounting holes 17b and 25b, respectively, and a crank pin 31 is rotatably supported between the bearings 27 and 29 as a pin for taking out the rotational motion of the pinion 33. The crank pin 31 has two crank portions 31a and 31b arranged eccentrically with respect to the rotation axis thereof, and a pinion 33 is fitted to the crank portions 31a and 31b.

  The pinion 33 has a tooth shape external tooth having an equidistant curve to a pericycloid curve on the outer peripheral surface, and includes a pin hole 33 b that engages with a crank portion 31 a or 31 b of the crank pin 31 via a bearing 35.

  In this embodiment, ball bearings 36a and 36b are mounted on the outer periphery of the disc-like portion 17 and the end disc 25 of the support block (shaft) 13, and the hub 37 corresponding to the case of the present invention is rotatably supported. is doing. The hub (case) 37 is connected to the other arm 2 by a bolt 7, and the number of internal teeth slightly larger than the number of external teeth formed on the outer periphery of the pinion 33 is formed on the inner peripheral surface thereof. . When the center axis of the crank portions 31a and 31b revolves with respect to the rotation axis of the crankpin 31 due to the rotation of the crankpin 31, the two pinions 33 are eccentrically revolved, and the external teeth of the hub (case) 37 Engages with internal gear.

  In this embodiment, the first external gear 41 is fixed to the left end portion of the input rotating shaft 11 as will be described later, and the number of teeth of the first external gear 41 is fixed to the left end portion of the crank pin 31 supported at both ends. The second external gear 43 having a larger number of teeth is fixed and both gears 41 and 43 are engaged. An oil seal 49 is provided outside the bearing 36 a that rotatably supports the hub (case) 37 described above to prevent leakage of lubricating oil from the speed reducer 5.

  The rotation of the output shaft of the servo motor 3, that is, the input rotation shaft 11 of the speed reducer, passes through the first external gear 41 fixed to the input rotation shaft 11, and the second external gear 43 meshed with the first external gear 41. In response to this, the speed is reduced (first stage deceleration) and transmitted. The crank portion 31a of the crank pin 31 supported at both ends rotatably by the support block (shaft) 13 by the rotation of the second external gear 43 causes a revolving motion, and the pinion 33 has a pin hole 33b through the bearing 35 and the crank portion 31a. Is engaged, the eccentric revolving motion is caused by the revolving motion of the crank portion 31a. At this time, the plurality of crank pins 31 function so that only the rotational motion component of the revolving motion component and the rotational motion component of the pinion 33 is extracted to the hub (case) 37. Therefore, the external teeth 33a formed on the outer periphery of the pinion by the eccentric revolving motion of the pinion 33 engage with the internal gear formed on the inner periphery of the hub (case) 37, and the hub (case) 37 is rotated at a reduced speed (second stage). Decelerate).

  In the present invention, the flange portion 13c of the support block (shaft) 13 is radially increased outside the bearings 36a and 36b beyond the bearings 36a and 36b as shown in FIG. 13c is provided with an arm fixing tap 13a and a case fixing tap 13b. The arm fixing tap 13a is a tap for fastening the gear device (eccentric oscillating gear reducer) 4 of the present invention to the arm 1 by a bolt 5 inserted in the axial direction from the outside of one arm 1 as an attachment member. It is.

  Further, the bolt 6 is inserted into the case fixing tap 13b in the axial direction from the outside of the arm 1 which is an attachment member, the bolt 6 is fastened, and the axial end surface of the case 37 is pressed to fix the bolt 6. Thus, the rotation of the hub (case) 37 can be stopped.

  In FIG. 2, the enlarged view of the fixing | fixed part is shown. FIG. 3 is a view as seen from line III-III in FIG. 1, that is, a view of the end face of the gear device 4 seen in the axial direction in a state where the gear device 4 according to the present invention is detached from the mounting member (arm) 1. FIG. 3 shows an arrangement state of the tap 13a for attaching the gear device 4 to the mounting member (arm) 1 with the bolt 5 and the tap 13b for fixing the hub (case) 37 with the bolt 6. FIG. Yes.

  As shown in FIG. 3, twelve fixing taps 13 a for fixing the gear device 4 to the mounting member (arm) 1 are provided at equal intervals in the circumferential direction of the support block (shaft) 13. In this embodiment, twelve case fixing taps 13b are similarly provided at equal intervals between adjacent arm fixing taps 13a.

  The arm fixing tap 13a only needs to be able to fix the support block (shaft) 13 to the arm 1, and the tip of the arm fixing tap 13a provided on the support block (shaft) 13 on the hub (case) 37 side penetrates. It may be a hole or a blind hole. On the other hand, in case fixing tap 13b, in order to fix hub (case) 37 with bolt 5 which penetrated this tap 13b in the axial direction, it is necessary to be surely penetrated. In the present invention, the arm fixing tap 13a and the case fixing tap 13b are provided on the flange portion 13c of the support block (shaft) 13 extending beyond the outer diameters of the bearings 36a and 36b. The positions of 13a and the case fixing tap 13b are out of the position of the oil seal 49, and there is no problem even if the arm fixing tap 13a or the case fixing tap 13b is used as a through hole.

  FIG. 4 is a view of the end face of the gear device attached to the arm 1 in the axial direction, that is, shows the state of the end face of the arm 1, and the arm fixing tap described above is provided on the end face of the arm 1. Corresponding to 13a and the case fixing tap 13b, twelve holes 1a and 1b (the bolt 5 is inserted into the hole 1a and the head is visible in FIG. 4) are provided at equal intervals. . Of these, in the hole 1b corresponding to the case fixing tap 13b, the bolt 6 is not inserted in this portion in the normal state, and the bolt 6 is inserted only when the gear device 4 is fixed. In order to make it apparent from the outside, it is necessary to provide a counterbore on the peripheral surface of the place where the case fixing bolt 6 is embedded, and to remove the bolt 6 when the counterbore 6 is in the counterbore part in a steady state. Can be understood.

  In the present invention, as described above, the bolt 5 is inserted into the arm fixing tap 13a from the left side of the arm 1 through the hole 1a in the normal case, and the gear device (reduction gear) according to the present invention is inserted by this bolt 5. ) 4 is fixed to the arm 1 and used.

  On the other hand, when this gear device 4 with a drive motor breaks down, the bolt 6 is inserted in the axial direction from the case fixing tap 13b through the hole 1b from the left side of the arm 1, and the end face of the hub (case) 37 is inserted by this bolt 6. Is fixed in the axial direction to fix the movement of the gear device (eccentric rocking-type speed reducer) 4.

  In this state, the servo motor 3 is detached from the input rotary shaft 11 and a new servo motor 3 is mounted. After the new servo motor 3 is mounted and attached, the servo motor origin is mastered from the servo drive system that controls the servo motor. Thereafter, the case fixing bolt 6 is removed from the case fixing tap 13b. Thereafter, normal operation is resumed. In this way, according to the present invention, it is possible to replace the servo motor without changing the machine origin before and after the replacement work, the replacement time is extremely shortened, and the replacement work can be performed by removing the entire speed reducer. Therefore, it is sufficient to replace only the servo motor 3, and the operation can be performed very efficiently.

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It is sectional drawing of one Example of the gear apparatus with a motor used for the industrial robot which concerns on this invention, and is made into the cross section along the II line | wire of FIG. It is the II section enlarged view of FIG. The figure seen along the III-III line | wire of FIG. 1, ie, the figure which shows the end surface in the state which removed the tap for arm fixation, and removed the gear apparatus with a motor used for the industrial robot which concerns on this invention from the arm. is there. It is the figure which looked at the gear apparatus with a motor used for the industrial robot which concerns on this invention from the arm outside in the state attached to the arm.

1. Arm of industrial robot (mounting member)
1a hole 1b hole 2 arm of industrial robot 3 servo motor 4 gear device with motor used for industrial robot (eccentric oscillating speed reducer)
5 Arm fixing bolt 6 Case fixing bolt 13 Support block (shaft)
13a Arm fixing tap 13b Case fixing tap 37 Hub (case)

Claims (3)

In a geared device with a motor for use in an industrial robot comprising a drive motor and comprising a shaft and a shaft that is rotatably supported by the case via a case, and an oil seal is provided on the outer side in the axial direction of the bearing. ,
The shaft of the motorized gear unit is fastened to one arm of two arms of the industrial robot, and the case side is connected to the other arm of the industrial robot to pivot the two arms of the industrial robot. Is pivotally possible,
The outermost diameter of the flange portion of the shaft is made larger than the outer diameter of the bearing, and the mounting member fixing tap for fastening the gear device to the mounting member on the flange portion and the flange portion from the outside of the mounting member A case fixing tap for fastening the bolt passing through the shaft in the axial direction and pressing and fixing the axial end surface of the case is provided,
The mounting member fixing taps are provided at equal intervals in the circumferential direction on the flange portion, and the case fixing taps are provided at equal intervals between adjacent mounting member fixing taps. case fixing taps are spaced equal intervals in the circumferential direction in the flange portion, said case fixing tap position motored gear device for use in industrial robots, characterized in that deviates from the position of the oil seal . The gear device with a motor used for the industrial robot according to claim 1, wherein a counterbore portion is provided on a peripheral surface of a place where the bolt of the case fixing tap of the flange portion is embedded. The gear device has an inner tooth on the inner periphery of the case, and has outer teeth on the outer periphery that mesh with the inner teeth, and a plurality of pin holes are disposed in the inner peripheral direction to engage the case. An eccentric oscillating gear device having a pinion capable of eccentric movement and a plurality of pins inserted into the pin holes of the pinion and taking out the rotational movement of the pinion, wherein the shaft supports the pin. A gear device with a motor for use in an industrial robot according to claim 1 or 2 .

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