JPS59178937A - Power device - Google Patents

Abstract

PURPOSE:To reduce the axial length of a reduction gear mechanism by connecting the reduction gear mechanism of a motor and a harmonic to the same shaft and mounting a rotating speed detector in a harmonic reduction gear mechanism, thereby increasing the deceleration ratio. CONSTITUTION:A shaft 13 is projected at one of a motor 12, and a cylinder 17 made of hollow supporting frame 14 and a cover 18 is coupled via a fixing implement 15 to the motor 12. A wave generator 34, 2 of circular shape are engaged through a stationary ring 33 at the end of the shaft 13, and flex splines 36, 4 are engaged through a plurality of cylindrical bearings 35, 3. The outer teeth of the spline 36 are arranged in elliptical shaft, engaged partly in mesh with the inner teeth arranged in circles of circular splines 38, 5 to form a harmonic reduction gear mechanism 31, and the rotation of a motor shaft 13 is instantaneously decelerated. A rotation detector 32 provided in the bottomed cylinder 21 couples the shaft 51 projected at one end to the shaft 13 of a motor. In this manner, the entire axial size is reduced with large torque at low speed, and is adapted for a robot.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a power device used for, for example, a robot, a remote control device, and the like.

[Technical background of the invention and its problems]

In general, power devices used for robots, remotely controlled devices, etc. are often equipped with a deceleration mechanism in order to be small, lightweight, and have a high d1 torque.

As such a speed reduction mechanism, there is a -monic speed reduction mechanism that is conventionally known.

A harmonic reduction gear mechanism is normally constructed and operated as shown in FIG. 1. In other words, an elliptical wave generator 2 is firmly attached concentrically to a rotating shaft 1 of a motor that is a power source, and rotates integrally with the rotating shaft 1. A bearing 3 is disposed along the outer periphery of the wave generator 2 so as to be freely movable in the circumferential direction, and an opening of a flex sedge line 4 formed in a cup shape with a flexible member is formed outside the bearing 3. The edges are fitted. "Second Flex Spline 4
The edge of the opening is always kept in a shape that matches the wave generator 2, that is, an elliptical shape. 1. The other end of the cup-shaped flex spline 4 is fixed to a support frame (not shown) extending from the motor case.

External teeth 4a are formed on the outer periphery of the opening end edge of the flexspline 4, and the external tooth 4a located at the largest diameter part of the outer teeth 4a is arranged so as to be rotatable concentrically with the flexspline 4. It meshes with m5a of the ring-shaped circular spline 5. And outside of AiJ-
4a and the internal teeth 5a are provided with a slight difference in the number of teeth.

Therefore, in this harmonic reduction mechanism, when the wave inverter 2 rotates due to the rotation V of the rotation axis l of the motor, the shape of the opening of the flex spline 4 becomes continuous and the shape of the circular spline 5 changes accordingly. A portion where the inner teeth 5a and the outer m4a of the flex spline 4 meet sequentially moves in the circumferential direction. The internal teeth 5a and the external teeth 4a have different numbers of teeth on the shaft, and the flex spline 4 on which the external teeth 4a are formed is fixed to the case of a motor (not shown), so it has the internal teeth. The circular spline rotates by 5 degrees. Therefore, the deceleration output of the motor can be output from the circular spline 5.

The above-mentioned more monic mechanism has the advantage of being relatively easy to calibrate and being able to obtain a large deceleration output without having to use a thick awn in the radial direction. However, it is difficult to shorten the axial length in order to provide flexibility to the opening of the flexspline 4.

,7)1. -C, □1. Normally, as shown in FIG. 2, the built-in power device detects a motor 8, which is a power generation source, and at least one of the rotational speed or rotational phase of this motor 8. In most cases, the detector 9 and the non-monic speed reduction mechanism 10 are arranged in series coaxially with the rotation @l+ of the motor 8. This is because it is desirable to connect the detector 9 directly to the rotating shaft of the motor 8 in order to detect the rotational speed or rotational phase with high precision using the detector 9. 10
This is because due to its structure, it can only be placed on the same axis lI'+l' as the rotation axis. Therefore, in a power device incorporating the harmonic reduction mechanism 10, in addition to problems caused by the shape of the harmonic reduction mechanism 10, the length in the direction of the rotation axis becomes too large, making it difficult to miniaturize the device. There was a problem that it could not be planned.

[Purpose of the invention]

The present invention has been made to address such problems, and its purpose is to provide a device incorporating a gnomonic speed reduction mechanism, in particular, to shorten the axial length ζ.
The object of the present invention is to provide a power device that allows the entire device to be downsized.

[Summary of the invention]

In order to achieve the above object, the present invention has a motor and a 1l-il
The present invention is characterized in that a detector for detecting at least one of the rotational speed and the rotational phase of the motor is housed inside the flex spline of the monic reduction mechanism connected in a 44Il manner.

〔Effect of the invention〕

According to the present invention, in a power plant incorporating a harmonic reduction mechanism, the detector is connected to the P of the harmonic reduction mechanism.
With σ) accommodated in part j, the length in the force direction of 1 in the position n7jj can be shortened or shortened. As a result, the overall size of the device can be reduced, and a one-power device can be provided.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 3 is a partially cutaway side view of a power plant according to an embodiment of the present invention. That is, in the same figure, 12
Reference numeral 13 indicates a motor which is a power generation source, and 13 indicates an output shaft of the motor J2 with a portion thereof protruding outward.

On the end face of the case of the motor 12 on the side from which the output center 1:13 protrudes, concentrically with the blade shaft 13,
A hollow support frame 14 is fixed by a fixture 15. This support frame 14 includes a cylindrical body 17 shaped like an old paper cylinder,
It is comprised of a lid 18 attached to close the 10th part of the cylindrical body I7. The cylindrical body 17 is attached to the motor 1 by the fixture 15 with the bottom wall side facing the end face of the motor 12.
It is fixed to the end face of 2. And the output IP on the bottom wall
A hole 19 is provided to allow the II 113 to pass through, and the inner edge of the hole 19 is connected to the output shaft 1 indicated by fnJ.
A projecting peripheral wall 2o is formed that stands up concentrically with 3. On the other hand, the lid body 18 is composed of a bottomed knotted part 21 and a flange part 22 protruding from the outer periphery of the opening of the bottomed cylindrical part 21.
ing.

And the lid body 1811-1. The bottomed cylindrical part 21 is connected to the cylindrical body 1
7, and in this state, the collar portion 22 is fixed to the cylindrical body 17 with a fixture 23.

Therefore, the front nα motor 12 is located inside the support frame 14.
A harmonic deceleration mechanism 31 that takes out the deceleration output of the motor 12 is provided, and a detector 32 that detects at least one of the rotational relationship or the rotational phase of the motor 12 is provided inside the bottom cylindrical portion 2 of the lid 18. Each of them is stored as follows. That is, the output 4ilIl13 of the motor 12
A tip fixing ring 33 is press-fitted with the collar positioned on the tip side of the output shaft 13. This fixed ring 3
3 includes a wave generator 34 formed in an elliptical shape.
are fixed concentrically.

Furthermore, a plurality of bearings 35 are disposed on the outer periphery of the wave generator 34 so as to be movable. An opening of a flex spline 36 made of a flexible material and formed into a shape is fitted onto the outside of the bearing 35. The base end side of the flex spline 36 is fixed to the boundary between the bottomed cylindrical portion 2 and the flange portion 22 of the lid body 18. On the other hand, flex spline 3
External teeth 37 are formed on the outer periphery of the opening edge of 6, and the maximum outer diameter portion of the outer tooth 37 is a flex spline 36
arranged concentrically. 1-shaped circular spline 3
It meshes with the internal teeth 39 of No. 8. circular spline 3
8 is coaxially supported between a cylindrical support ring 40 having the same diameter as this, and an output m wheel 42 having teeth 41 formed on its outer peripheral surface. The support ring 4o is rotatably supported by the cylindrical body 17 via a bearing 43, and the output gear 42 is also rotatably supported by the projecting peripheral wall 2° via a bearing 44. Note that a portion of the tooth portion 41 in the circumferential direction at the exit mmL 42 is exposed through a cutout portion 45 provided in the cylinder body 12.

- force, said detector 32 has a protruding detection +1 at one end thereof;
! li] 5 is housed in the bottomed cylindrical portion 2 of the lid 8 so as to face the motor 12 and be coaxially connected to the output shaft 13.

Therefore, when t'1. In this power device, the harmonic deceleration mechanism 3 installed in the space of the support frame 14 operates in exactly the same manner as the conventional example described above, and the deceleration exit of the motor 120 is exposed through the notch 44. It is transmitted from the tooth portion 45 of the output gear 42 to the external mechanism 53. On the other hand, the detector 32 detects at least one of the rotational speed and the rotational phase of the motor 12.
Provided for 0 rotation control.

In this case, since the detector 32 can be accommodated inside the cup-shaped flex spline 36 of the harmonic reduction mechanism 3, the axial length of the entire device is smaller than the motor 1.
2 and the axial length of the support frame J4, the axial length of the detector 32 can be increased by 100% compared to the conventional device. Therefore, the above-mentioned effects can be obtained.

Note that in this embodiment, the support frame 14 that supports the harmonic deceleration mechanism 31 and the detector 32 is a cylindrical body 17 with a bottom.
and a lid 18 that closes the opening of the segment 17, but is not particularly limited to this. In short, the support frame 14 has a harmonic reduction mechanism 3 and a horizontal ratio. 1 is a vertical cross-sectional view schematically showing a general harmonic reduction mechanism, FIG. 2 is a side view showing the appearance of a conventional power plant, and FIG. 1 is a partially cutaway side view of a power device according to the -actual side of the present invention; FIG.

l...Rotation axis, 2.34...Wave no generator,
3.35...Bearing, 4. ．． 36... Flex spline, 5.38... Cirqueous spline, 8
．． 12...Motor, 9.32...Detector, 10.3
1...Harmonic reduction mechanism, 13...Output shaft, 1
4... Support frame, 17... Cylindrical body, 18... Lid body, 2
0... Projection wall, 2... Bottomed cylindrical part, 22... Flange, 33... Fixing ring, 37... External teeth, 39...
Internal tooth, 40... Support ring, 42... Output gear, 4
．． 3.44...Bearing, 51...Detection axis.

Applicant's agent, patent attorney Takehiko Suzue! ,';
1 [M! 2nd port 0 Figure 3

Claims (1)

[Claims] A motor as a force generation source, a support frame fixed to a stationary part of the motor and disposed in an axial direction V with respect to the motor, and a support frame supported by the support frame to decelerate the rotation of the motor. A harmonic deceleration mechanism in which the entire deceleration mechanism is configured, and in which a flex sedge line formed in a shape of a circle is fixed to the support frame coaxially with the rotating shaft of the motor; and the support frame. and a detector supported by and housed within the flex spline, a rotating part of which is connected to the rotating shaft of the motor, and detects at least one of the rotational speed or the rotational phase of the motor. power plant.