CN109661528A - Fluctuation gear reduction unit with motor - Google Patents
Fluctuation gear reduction unit with motor Download PDFInfo
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- CN109661528A CN109661528A CN201780052971.2A CN201780052971A CN109661528A CN 109661528 A CN109661528 A CN 109661528A CN 201780052971 A CN201780052971 A CN 201780052971A CN 109661528 A CN109661528 A CN 109661528A
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- 230000009975 flexible effect Effects 0.000 claims abstract description 19
- 230000002093 peripheral effect Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 210000000515 tooth Anatomy 0.000 description 32
- 230000000694 effects Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 241001416181 Axis axis Species 0.000 description 1
- 206010030312 On and off phenomenon Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- 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
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Fluctuation gear reduction unit (1) with motor includes: axis (4), is fixed with stator (51)；Rotary body (11) has rotor (55) and cam (12), penetrates through the rotary body (11) for axis (1)；External gear (14) surrounds rotary body (11) and stator (51) from the radial outside of axis (4), and axis (4) are fixed in the side of the axis direction；Flexible bearing (13)；Internal gear (15)；Output section (16) is connect with internal gear (15), and has flat part (16b) and cylindrical portion (16c)；1st bearing (17) can rotate output section (16) bearing between axis (4) and cylindrical portion (16c) relative to axis (4)；And the 2nd bearing (18), between cylindrical portion (16c) and rotary body (11), by output section (16) and rotary body (11) bearing for being capable of relative rotation.Flexible bearing (13), the 1st bearing (17) and the 2nd bearing (18) are arranged at the defined position on the axis direction.
Description
Technical field
The present invention relates to the fluctuation gear reduction units with motor.
Background technique
All the time, as the retarder that the rotation of the rotary shaft of motor is slowed down and exported, it is known to various
Structure retarder.For example, disclosing the retarder using wave gear drive structure in patent document 1.The retarder
Include elliptoid wavegenerator；It is contacted by the wavegenerator bearing for the periphery for being located at the wavegenerator, and
There is the resislient gear of tooth in periphery；And it engages with the tooth more than the number of teeth than the resislient gear and with the resislient gear
Internal gear.The internal gear is fixed on frame.
Also, in the structure disclosed in patent document 1, installation is configured in the radial outside of the stator of motor
There is the rotor of the wavegenerator.The rotor is by bearing bearing respectively in the two sides of the axis direction of stator pillar being capable of phase
The stator pillar for being provided with the stator rotates.The resislient gear is connected with exporting axis.The output shaft is by axis
Bearing is held as that can rotate relative to the frame.
The rotation of the rotor is transmitted to the resislient gear from the wavegenerator.The rotation root of the resislient gear
According to the teeth number difference of the resislient gear and the internal gear, the rotation relative to the rotor is slowed down with constant ratio.Thereby, it is possible to
The rotation of the motor is slowed down and is exported from the output shaft.
As the purposes of motor and retarder, there are various purposes, but disclosed in such as patent document 2,
There is the purposes in the joint of driving robot.In the structure disclosed Patent Document 2, the 1st arm and the 2nd arm pass through electric motor
And retarder relative rotation.Specifically, being provided with the electric motor on the outside of the 1st arm.In the 1st arm and the 2nd arm
Inside be configured with the retarder, the retarder so that the rotation of the electric motor is slowed down and make the 2nd arm relative to
The 1st arm rotation.
Existing technical literature
Patent document
Patent document 1: Japanese Patent Publication 1-133546 bulletin
Patent document 2: No. 2561227 bulletins of Japan Patent
Summary of the invention
Invent technical task to be solved
However, in the case where the structure disclosed Patent Document 2, it is such as above-mentioned, in the outside of the 1st arm configured with electricity
Dynamic motor (motor) is configured with retarder in the inside of the 1st arm and the 2nd arm.Therefore, motor is from the 1st arm and the 2nd arm
It is prominent.As disclosed in above-mentioned patent document 2, in the situation that motor and retarder are used to drive joint of robot etc.
Under, the compact structure of structural requirement as motor and retarder.
Also, in the structure disclosed in patent document 1, rotor is distinguished in the two sides of the axis direction of stator pillar
It is that can be rotated relative to by the stator pillar by bearing bearing.Therefore, it is necessary on the axis direction by the rotor
Extended length amount corresponding with the bearing.Motor and retarder enlargement as a result,.Also, in 1 institute of patent document
In disclosed structure, component count increases the bearing institute by the rotor bearing for that can rotate relative to the stator pillar
The amount needed, structure also become complicated.
It is an object of the invention to realize simple and compact structure in the fluctuation gear reduction unit with motor.
For solving the means of technical task
Fluctuation gear reduction unit with motor involved in one embodiment of the present invention be include have rotor with calmly
The motor of son and the fluctuation gear reduction unit with motor that the rotation of the rotor is slowed down and exported.This is with motor
Fluctuating gear reduction unit includes: axis, and the axis extends in the axial direction, and is fixed with the stator；Rotary body, the rotation
Body has the rotor and cam, and the axis penetrates through the rotary body, and the rotor and the stator are oppositely disposed, the cam tool
There is elliptoid shape, and is integrally rotated with the rotor；Flexible cricoid external gear, the external gear is with from institute
The radial outside for stating axis surrounds the rotary body and the mode of the stator configures, and the side of the axis direction is fixed
There is external tooth at the position of the radial outside of the cam in the axis, and in peripheral side；Flexible bearing, it is described can
Flexible bearing is configured between the external gear and the cam, and being by the external gear and cam bearing being capable of opposite rotation
Turn, and make the external gear with the rotation of the cam to radial outside deformation, the rotation of the cam is along with institute
State the rotation of rotary body；Cricoid internal gear, the internal gear are configured in a manner of surrounding the external gear from radial outside,
Inner circumferential side has the internal tooth with the outer tooth engagement；Output section, the output section have flat part and cylindrical portion, the flat part
It connect with the internal gear, and extends along the direction intersected with the axis direction, the cylindrical portion is from the flat part along institute
State axis direction extension；1st bearing, the 1st bearing is between the axis and the cylindrical portion, and by the output section branch
It holds as that can be rotated relative to the axis；And the 2nd bearing, the 2nd bearing be located at the cylindrical portion and the rotary body it
Between, and being by the output section and rotary body bearing being capable of relative rotation.The pliability bearing, the 1st bearing
And the 2nd bearing is matched at the defined position on the axis direction along the direction arrangement vertical with the axis direction
It sets.
Invention effect
Fluctuation gear reduction unit with motor involved according to an embodiment of the present invention can be realized simply simultaneously
And compact structure.
Detailed description of the invention
Fig. 1 is the cross-sectional view for showing the outline structure of the fluctuation gear reduction unit involved in embodiment with motor.
Fig. 2 is the relationship between cam, external gear and the internal gear schematically shown in wave gear drive structure
Figure.
Fig. 3 is an example for showing the joint drive that the fluctuation gear reduction unit with motor is suitable for articulated robot
Cross-sectional view.
Fig. 4 be show the fluctuation gear reduction unit involved in other embodiments with motor outline structure with figure
1 corresponding figure.
Fig. 5 be show the fluctuation gear reduction unit involved in other embodiments with motor outline structure with figure
1 corresponding figure.
Fig. 6 is to show the fluctuation gear reduction unit involved in other embodiments with motor being suitable for the more passes of driving
Save the figure corresponding with figure three of an example in the joint of robot.
Specific embodiment
Hereinafter, referring to attached drawing, detailed description of embodiments of the present invention.In addition, to the same or equivalent portion in figure
Minute mark infuses same symbol, does not repeat its explanation.Also, the size of the component parts in each figure not faithfully indicates actual structure
At the size of component and dimensional ratios of each component parts etc..
In addition, in the following description, the direction parallel with axis is referred to as " axis direction ", by the radial direction of axis (with axis side
To vertical direction) it is referred to as " radial direction ".But above-mentioned " parallel direction " also includes substantially parallel direction.Also, it is above-mentioned
" vertical direction " also include generally perpendicular direction.
Also, in the following description, " side of axis direction " refers to the band motor in the direction parallel with the axis
Fluctuation gear reduction unit motor side, " other side of axis direction " refer in the direction parallel with the axis with electronic
The fluctuation gear reduction unit side of the fluctuation gear reduction unit of machine.
(overall structure)
The outline of the fluctuation gear reduction unit 1 involved in embodiments of the present invention with motor is shown in FIG. 1
Structure.Fluctuation gear reduction unit 1 with motor includes wave gear drive structure 2 and motor 3.Fluctuation tooth with motor
The rotation of the aftermentioned rotor 55 of motor 3 is slowed down and is exported by wave gear drive structure 2 by wheel decelerator 1.As be described hereinafter,
Fluctuation gear reduction unit 1 with motor can as the joint etc. of driving robot power source and utilize.
Fluctuation gear reduction unit 1 with motor is cylindrical.Wave gear drive structure 2 and motor 3 are along axis
It is arranged along the axial direction on the axis 4 for the hollow shaft that the direction (hereinafter referred to as axis direction) that line X is extended extends.As after
It states, wave gear drive structure 2 and motor 3 are integrally formed.
(motor)
Motor 3 is radial gap type brushless motor.As shown in Figure 1, motor 3 is radially (left and right directions in Fig. 1)
Flat bigger than the size of the axis direction of size.
Motor 3 includes stator 51 and rotor 55.Stator 51 is annular in shape, is fixed on axis 4 using bolt 5.Rotor 55
It is configured in a manner of surrounding stator 51 from radial outside.That is, rotor 55 and stator 51 are oppositely disposed.
Stator 51 includes stator core 52 and stator coil 53.Stator core 52 is multiple with being laminated in a thickness direction
Circular electromagnetic steel plate.The center of the perforation stator core 52 of axis 4.The configuration of stator coil 53 is being set to stator core 52 not
In the slot of diagram.
Rotor 55 includes rotor yoke 56 and rotor magnet 57.Rotor yoke 56 is cylindrical, the other side of the axis direction
It is connect with the aftermentioned cam 12 of wave gear drive structure 2.The rotation of rotor 55 is transmitted to wave gear drive structure as a result,
2 cam 12.In addition, constituting rotary body 11 by rotor 55 and cam 12.
The side of the axis direction of rotor yoke 56 has the internal diameter bigger than the outer diameter of stator 51.Rotor yoke 56 it is described
The other side of axis direction has the internal diameter smaller than the outer diameter of stator 51.That is, rotor yoke 56 has in the side of the axis direction
There is large-diameter portion 56a, and there is small diameter portion 56b in the other side of the axis direction.As be described hereinafter, the axis in rotor yoke 56
The end the end of the other side in line direction, that is, small diameter portion 56b is connect with the cam 12 of wave gear drive structure 2.Rotor magnet
57 are fixed on the inner surface of large-diameter portion 56a of rotor yoke 56.Radial outside and stator 51 phase of the rotor magnet 57 in stator 51
To configuration.
(wave gear drive structure)
As shown in Figure 1, the size of wave gear drive structure 2 radially (left and right directions in Fig. 1) is than the axis side
To big flat of the size of (up and down direction in Fig. 1).Wave gear drive structure 2 passes through the rotor 55 1 with motor 3
Cam 12 with rotation provides fluctuation to external gear 14, and thus the rotation of cam 12 is slowed down and is transferred to internal gear 15.
Specifically, wave gear drive structure 2 include cam 12, flexible bearing 13, external gear 14, internal gear 15,
Output section 16, the 1st bearing 17 and the 2nd bearing 18.
Circle shape part with elliptoid shape when cam 12 is from the axis direction.Cam 12 is with its thickness
Degree direction is arranged on the axis direction with motor 3 with the consistent mode of the axis direction.
Cam 12 has the outer diameter smaller than the outer diameter of the rotor 55 of motor 3.As a result, in wave gear drive structure 2,
The space for configuring flexible bearing 13 can be formed in the radial outside of cam 12.Thereby, it is possible to by the wave with motor
Movable tooth wheel decelerator 1 is set as in the radially compact structure.
Cam 12 has the through hole 12a that the cam 12 is penetrated through along the axis direction.In the inner peripheral surface of through hole 12a
On be fixed with rotor yoke 56 in motor 3 small diameter portion 56b end.Cam 12 is integrally rotated with rotor 55 as a result,.Separately
Outside, the fixing means that rotor yoke 56 is fixed on cam 12 for example can be chimeric, be also possible to weld, or be also possible to be bonded
Or bolt fastening.
Cam 12 and rotor yoke 56 are configured at the radial outside of axis 4.That is, the perforation of axis 4 is by 56 structure of cam 12 and rotor yoke
At rotary body 11.Cam 12 and rotor yoke 56 can be rotated relative to axis 4.
The external gear 14 of bottomed cylindrical and the internal gear 15 of annular shape are configured in a manner of surrounding cam 12.That is,
There are external gears 14 for the radial outside of cam 12, are configured with internal gear 15 in the radial outside of external gear 14.Fig. 2 is schematically
The figure of positional relationship between external gear 14, internal gear 15 and cam 12 is shown.In addition, external gear is omitted in Fig. 2
14, the record of the structure other than internal gear 15 and cam 12.
When from the axis direction, it is configured between cam 12 and external gear 14 by cam 12 and external gear 14
It holds to be capable of the flexible bearing 13 of relative rotation.Flexible bearing 13 is configured between cam 12 and external gear 14, Neng Gousui
The rotation of cam 12 and the radially deformation in cam 12.As a result, when elliptoid cam 12 rotates, the long axis of cam 12
The end in direction presses the inner circumferential side of external gear 14 by flexible bearing 13 towards radial outside.
As shown in Figure 1, external gear 14 is the component of the bottomed cylindrical by having flexible thin plate to constitute.Specifically
It says, external gear 14 includes the cylindrical portion 14a (sidewall portion) from radial outside covering cam 12；And the institute in cylindrical portion 14a
State the bottom 14b that the side of axis direction extends towards radially inner side.
Cylindrical portion 14a has the internal diameter bigger than cam 12 and motor 3.Cylindrical portion 14a is in outer peripheral surface (peripheral side)
Cam 12 radial outside position at multiple external tooths 31 (referring to Fig. 2) is circumferentially formed with certain spacing.External tooth 31
The outer peripheral surface of the other side of the cylindrical portion 14a on the axis direction is formed in a manner of extending along the axis direction.Circle
The inner peripheral surface of canister portion 14a is contacted with the flexible bearing 13 for the periphery for being configured at cam 12.
It is rotated as a result, by elliptoid cam 12, the end of the long axis direction in elliptoid cam 12 is by flexible
Property bearing 13 is radially deformed in cylindrical portion 14a.In this way, rotated by elliptoid cam 12, it can be to external gear
14 external tooth 31 radially provides fluctuation.
When from the axis direction, bottom 14b is annular in shape.As shown in Figure 1, axis 4 penetrates through bottom 14b.Also, circle
The inner circumferential side of cricoid bottom 14b is fixed on the end of the side of the axis direction in axis 4 by bolt 5.That is, bottom 14b exists
Axis 4 is fixed at the position of 3 side of motor on the axis direction.
In addition, in the present embodiment, the bottom 14b of external gear 14 is directly fixed on axis 4 by bolt 5, but not
It is limited to this, the bottom 14b of external gear 14 can also be fixed on axis 4 by other component.
Through the above structure, motor 3 is covered by external gear 14.That is, motor 3 is configured at wave gear drive structure 2
It is interior.Thereby, it is possible to keep motor 3 integrated with wave gear drive structure 2 by compact structure on the axis direction.
Moreover, the radial space of external gear 14 can be effectively utilized.Thereby, it is possible to obtain the wave with motor of compact structure
Movable tooth wheel decelerator 1.
Internal gear 15 is circular component, is circumferentially formed with multiple internal tooths 32 in inner peripheral surface with certain spacing.It is interior
Tooth 32 is formed in the inner peripheral surface of internal gear 15 in a manner of extending along the axis direction.Internal gear 15 from radial outside to surround
The mode of the cylindrical portion 14a of cam 12, bearing 13 and external gear 14 configures.For internal gear 15, in external gear 14 in diameter
In the case where being pressed and deformed upwards by the end of the long axis direction in elliptoid cam 12, the internal tooth 32 of internal gear 15 and outer
The external tooth 31 of gear 14 engages.
As shown in Fig. 2, the quantity of the internal tooth 32 of internal gear 15 is more than the quantity of the external tooth 31 of external gear 14.In this way, due to
The number of teeth of external tooth 31 is different from the number of teeth of internal tooth 32, therefore deforms external gear 14 radially by the rotation of cam 12,
Engage the external tooth 31 of external gear 14 successively with the internal tooth 32 of internal gear 15, thus it enables that the revolving speed of internal gear 15 is relative to convex
The revolving speed of wheel 12 slows down.
Thus, through the above structure, the rotation of the rotor 55 of motor 3 can be passed through wave gear drive structure 2
Slow down and is exported from internal gear 15.
As shown in Figure 1, being cricoid output section when internal gear 15 is fixed with from the axis direction by bolt 6
16.Center portion of the output section 16 when from the axis direction has through hole 16a.Output section 16 includes and internal tooth
15 connection of wheel, and the flat part 16b extended along the direction intersected with the axis direction；And from flat part 16b along the axis
The cylindrical portion 16c that line direction extends.Flat part 16b is annular in shape.The peripheral side of flat part 16b is connect with internal gear 15.Tubular
Portion 16c is in the cylindrical shape extended from the inner circumferential side of flat part 16b to the side of the axis direction.
Axis 4, which runs through, to be inserted in the through hole 16a of output section 16.It is tubular between the inner surface and axis 4 of through hole 16a
The 1st bearing 17 is configured between portion 16c and axis 4.1st bearing 17 is inside relative to the diameter that cylindrical portion 16c is located at output section 16
Side.Output section 16 can be rotated relative to axis 4 as a result,.That is, the 1st bearing 17 can revolve the bearing of output section 16 relative to axis 4
Turn.
The 2nd bearing is configured between the radial outside and cam 12 of cylindrical portion 16c and the radially inner side of rotor yoke 56
18.2nd bearing 18 is located at the radial outside of output section 16 relative to cylindrical portion 16c.As a result, output section 16 and cam 12 and
Rotor yoke 56 being capable of relative rotation.That is, cam 12 and rotor yoke 56 are can be relative to output section 16 by the bearing of the 2nd bearing 18
Rotation.
Through the above structure, the rotor 55 of motor 3 be rotated in by wave gear drive structure 2 slow down after, via
Internal gear 15 is exported from output section 16.
In the fluctuation gear reduction unit 1 with motor with above-mentioned structure, fluctuation The gear deceleration is connected in axis 4
The external gear 14 of mechanism 2.Axis 4 and external gear 14 not relative rotation as a result, but internal gear 15 is relative to axis 4 and external tooth
14 rotation of wheel.Also, the rotor 55 of motor 3 is configured to rotate in the radially inner side of external gear 14.As a result, in external gear
14 radially inner side and radial outside respectively separate configuration have relative to external gear 14 rotate motor 3 rotor 55 and
Internal gear 15.
Through this structure, compared with via the structure of external gear output rotation, the quantity of bearing can be reduced.By
This can reduce the component count of the fluctuation gear reduction unit 1 with motor, and being capable of letter by the structure of present embodiment
Change structure.
Moreover, by above structure, in the fluctuation gear reduction unit 1 with motor of present embodiment, flexible axis
The 13, the 1st bearing 17 and the 2nd bearing 18 are held at the defined position on the axis direction along vertical with the axis direction
Direction be arranged.That is, flexible bearing 13, the 1st bearing 17 and the 2nd bearing 18 are arranged radially.
Thereby, it is possible to by with motor fluctuation gear reduction unit 1 multiple bearing centralized configurations in the axis direction
Defined position at.Thereby, it is possible to the structure of the fluctuation gear reduction unit 1 with motor is set as on the axis direction
Compact structure.
Also, in the fluctuation gear reduction unit 1 with motor involved in present embodiment, external gear 14 is in the axis
Axis 4 is fixed at the position of 3 side of motor on line direction, flexible bearing 13, the 1st bearing 17 and the 2nd bearing 18 are matched
It is placed at the position of 3 other side of motor on the axis direction.
Thereby, it is possible to motor 3 and fluctuation are configured in a manner of not generating useless space on the axis direction
The component of gear reduction 2.Thus, it is possible to be set as the fluctuation gear reduction unit 1 with motor on the axis direction
Overall compact structure.
(articulated robot)
Next, to will have the fluctuation gear reduction unit 1 with motor such as above-mentioned structure to be used to drive multi-joint
An example when joint of robot 100 is illustrated.Be shown in FIG. 3 by involved in present embodiment with the wave of motor
Movable tooth wheel decelerator 1 is suitable for driving the example in the joint of articulated robot 100.Here, articulated robot refers to more
The robot of a coupling part (joint) that multiple arms are connected to each other.
Articulated robot 100 includes the 1st arm 70 and the 2nd arm 80.1st arm 70 and the 2nd arm 80 connect into being capable of opposite rotation
Turn.
In detail, main shaft 90 penetrates through the 1st arm 70 and the 2nd arm 80.Main shaft 90 is fixed on the 2nd arm 80, on the other hand, quilt
The bearing of bearing 71 is that can rotate relative to the 1st arm 70.Main shaft 90 has flange part 91 an end.Flange part 91 passes through spiral shell
Bolt 92 is fixed on the outer surface of the 2nd arm 80.As a result, main shaft 90 the coupling part of the 1st arm 70 and the 2nd arm by the 1st arm 70 with
2nd arm 80 connects into being capable of relative rotation.
The fluctuation gear reduction unit 1 with motor is fixed on the main shaft 90 in the 2nd arm 80.Specifically, with electronic
The fluctuation gear reduction unit 1 of machine is configured in the 2nd arm 80, and fluctuation gear reduction unit 1 of the perforation of main shaft 90 with motor
Axis 4.The axis 4 of fluctuation gear reduction unit 1 with motor is fixed on the flange part 91 and the 2nd arm of main shaft 90 by bolt 92
80。
As above-mentioned, by by the axis 4 of the fluctuation gear reduction unit 1 with motor be set as main shaft 90 can penetrate through it is hollow
Fluctuation gear reduction unit 1 with motor can be fixed on main shaft 90 by axis.Thereby, it is possible to by the fluctuation gear with motor
Retarder 1 is configured at the inside of the joint structure body in articulated robot 100, for driving joint.
2nd arm 80 has opening 81 with the coupling part of the 1st arm 70.The wave with motor being configured in the 2nd arm 80
A part of the output section 16 of movable tooth wheel decelerator 1 is exposed in the opening 81.1st arm 70 is by bolt 72 and in the 2nd arm 80
Opening 81 in the output section 16 exposed connect.In addition, matching between the peripheral part of the opening 81 in the 1st arm 70 and the 2nd arm 80
It is equipped with bearing 82.
Through the above structure, the rotation of the motor 3 of the fluctuation gear reduction unit 1 with motor is by wave gear drive
After structure 2 slows down and exports from output section 16, it is transmitted to the 1st arm 70 connecting with output section 16.Due to the fluctuation with motor
Gear reduction unit 1 is fixed on the 2nd arm 80, therefore the 1st arm 70 is rotated relative to the 2nd arm 80.In addition, the 1st arm 70 and 80 quilt of the 2nd arm
The bearing of bearing 82 for can relative rotation, and main shaft 90 by the bearing of bearing 71 can be rotated relative to the 1st arm 70.Therefore,
As above-mentioned, by the rotation exported from the output section 16 of the fluctuation gear reduction unit 1 with motor, the 1st arm 70 is relative to the 2nd arm
80 rotations.
As above-mentioned, by the way that the fluctuation gear reduction unit 1 involved in present embodiment with motor is used for multi-joint machine
The mechanism for driving the joint of articulated robot 100 can be set as more compact-sized than previous by the joint drive of device people 100
Structure.That is, it has been observed that the fluctuation gear reduction unit 1 as involved in present embodiment with motor has in axis direction
Upper compact structure, therefore can be configured in the 2nd arm 80 along the axially compact of main shaft 90.Thus, it is possible to realize motor 3
Deng the articular portion compact structure not outstanding in articulated robot 100.
Also, motor and fluctuation gear reduction unit integration are made by such as present embodiment, can easily be assembled
In the articular portion etc. of articulated robot 100.
Moreover, in such a configuration, the fluctuation gear reduction unit 1 with motor is not to install as previous structure
In arm, and it is affixed to main shaft 90 and output section 16 is connect with the 1st arm 70.Thereby, it is possible to not by the shape of arm (tubular,
Plate etc.) influence mode by the fluctuation gear reduction unit 1 with motor be suitable for various structures.In other words,
The fluctuation gear reduction unit 1 with motor can be pacified as driving unit under the premise of not changing the structure of robot body
The inside of articular portion loaded on articulated robot 100.
(other embodiments)
More than, embodiments of the present invention are illustrated, but above-mentioned embodiment is only intended to implement this hair
Bright illustration.It is not limited to above-mentioned embodiment as a result, it within the scope of its spirit can be to above-mentioned implementation
Mode is suitably deformed to implement.
In said embodiment, the fluctuation gear reduction unit 1 with motor is cylindrical.But as long as it can lead to
Wave gear drive structure 2 is crossed by the rotation deceleration of the rotor 55 of motor 3 and from the structure that output section 16 exports, then with electronic
The fluctuation gear reduction unit of machine is also possible to any shape.
In said embodiment, the fluctuation gear reduction unit 1 with motor is used for the joint of articulated robot 100
Driving.But the fluctuation gear reduction unit 1 with motor is also used as other driving units such as driving device of wheelchair.
In said embodiment, the motor 3 of the fluctuation gear reduction unit 1 with motor includes: to be fixed on axis 4
Stator 51；And the rotor 55 rotated is configured in the radial outside of stator 51.That is, the motor 3 of the embodiment
It is the so-called outer rotor motor for the radial outside that rotor 51 is located at stator 55.
But the motor of the fluctuation gear reduction unit with motor is also possible to the radially inner side that rotor is located at stator
So-called inner-rotor type motor.The fluctuation with motor as motor 103 using inner-rotor type motor is shown in FIG. 4
An example of gear reduction unit 101.In addition, in the following description, marking same symbol to structure identical with above-mentioned embodiment
Number and omit the description, only the part different from the structure of above-mentioned embodiment is illustrated.
In fluctuation gear reduction unit 101 shown in Fig. 4 with motor, the axis 104 as hollow shaft is in axis direction
Side end have stator supporting part 104a.Stator supporting part 104a includes the disk extended from axis 104 to radial outside
Portion 104b；And the cylindrical portion 104c extended from round plate 104b to the other side of the axis direction.Round plate 104b and axis
104 are integrally provided.That is, stator supporting part 104a is integrally provided with axis 104.Cylindrical portion 104c has and can store in inside
The internal diameter of stator 151 and rotor 155.
Stator 151 is fixed on the inner peripheral surface of cylindrical portion 104c.It is when stator 151 is with from the axis direction
Circular stator core 152.Stator core 152 has and can store the internal diameter of rotor 155 in inside.In addition, in stator iron
Stator coil 153 is configured in the slot (not shown) of core 152.
Rotor 155 is configured in the inside of stator 151.Axis 104 radially, rotor 155 is configured at stator 151 and axis
Between 104.Rotor 155 includes cylindric rotor yoke 156 and the rotor magnet 157 being fixed on the outer peripheral surface of rotor yoke 156.
Rotor magnet 157 and stator 151 are oppositely disposed.The outer diameter of the other side of the axis direction of rotor yoke 156 is than the axis side
To side outer diameter it is big, the internal diameter of the other side of the axis direction is bigger than the internal diameter of the side of the axis direction.Rotor yoke
The other side of the axis direction in 156 is connect with cam 112.
Even if motor 103 is can also to obtain effect identical with present embodiment such as above-mentioned outer rotor motor
Effect.
In said embodiment, the motor 3 of the fluctuation gear reduction unit 1 with motor is radial gap type motor.
But the motor of the fluctuation gear reduction unit with motor is also possible to axial-gap motor.In fig. 5 it is shown that making
An example of the fluctuation gear reduction unit 201 with motor of axial-gap motor is used for motor 203.In addition, following
In explanation, structure identical with above-mentioned embodiment is marked and same symbol and is omitted the description, only to above-mentioned embodiment party
The part that the structure of formula is different is illustrated.
Motor 203 includes the stator 251 being fixed on axis 4 and the rotor 255 connecting with cam 212.Stator 251 and
Rotor 255 is arranged on the axis direction of axis 4.Specifically, stator 251 is configured at the side of the axis direction, turn
Son 255 is configured at the other side of the axis direction.That is, rotor 255 is configured at stator 251 and wave on the axis direction
Between moving gear deceleration mechanism 2.
Stator 251 includes stator core 252 and stator coil (not shown).Stator 251 by bolt 5 be fixed on axis 4 with
And external gear 14.Rotor 255 has rotor magnet 257.When from the axis direction, rotor magnet 257 is annular in shape, with
The cam 212 of wave gear drive structure 2 connects.
Even if motor 203 is can also to obtain work identical with present embodiment such as above-mentioned axial-gap motor
Use effect.Also, by, using such as above-mentioned axial-gap motor, can radially make band in axis 4 as motor 203
The size of the fluctuation gear reduction unit 201 of motor is than the fluctuation The gear deceleration involved in above-mentioned embodiment with motor
The size of device 1 is small.Thereby, it is possible to obtain the fluctuation gear reduction unit with motor having in the radially compact structure
201。
Being shown in FIG. 6, will there is the fluctuation gear with motor such as above-mentioned axial gap electric motor 203 to subtract
Fast device 201 is used to drive an example in the joint of articulated robot 200.In following explanation relevant to the Fig. 6, also to it is upper
The identical structure mark same symbol of the embodiment stated simultaneously omits the description, only to different from the structure of above-mentioned embodiment
Part is illustrated.
Articulated robot 200 includes the 1st arm 270 and the 2nd arm 280.1st arm 270 is connected into the 2nd arm 280 being capable of phase
To rotation.1st arm 270 and the 2nd arm 280 connect in such a way that the end of the length direction of the two overlaps each other.That is, the 1st arm
Length direction of 270 and the 2nd arm 280 both in the state of being connected is consistent.
Fluctuation gear reduction unit 201 with motor is configured at the coupling part (joint portion of the 1st arm 270 and the 2nd arm 280
Point) inside.The main shaft 290 for penetrating through the 1st arm 270 and the 2nd arm 280 penetrates through the fluctuation tooth with motor in the coupling part
The axis 4 of wheel decelerator 201.Main shaft 290 is fixed on the 2nd arm 280, and the 1st arm 270 is connected into the 2nd arm 280 can be opposite
Rotation.Axis 4 is fixed on the 2nd arm 280 and main shaft 290 in the 2nd arm 280.
The 1st arm 270 is fixed on by bolt 272 in the output section 16 of fluctuation gear reduction unit 201 with motor.
Through the above structure, the rotor 255 of motor 203 be rotated in by fluctuation gear reduction unit 2 slow down after, via
Output section 16 is transmitted to the 1st arm 270.As above-mentioned, since the axis 4 of the fluctuation gear reduction unit 201 with motor is fixed on the 2nd arm
280, therefore the 1st arm 270 is rotated relative to the 2nd arm 280.
Industrial availability
The present invention can be used in motor and fluctuate the fluctuation tooth with motor that gear reduction unit is integrally formed
Wheel decelerator.
This application claims based on Japanese publication patent application 2016-169917 preferential filed on August 31st, 2016
Power, and quote all contents that will be recorded in the Japanese publication.
Symbol description
1,101, the 201 fluctuation gear reduction unit with motor
2 wave gear drive structures
3,103,203 motor
4,104 axis
11 rotary bodies
12 cams
12a through hole
13 flexible bearings
14 external gears
15 internal gears
16 output sections
16b flat part
16c cylindrical portion
17 the 1st bearings
18 the 2nd bearings
31 external tooths
51,151,251 stator
55,155,255 rotor
70 the 1st arms
80 the 2nd arms
90 main shafts
100,200 articulated robot
Claims (7)
1. a kind of fluctuation gear reduction unit with motor comprising the motor with rotor and stator, and by the rotor
Rotation slow down after export,
The fluctuation gear reduction unit with motor includes:
Axis, the axis extend in the axial direction, and are fixed with the stator；
Rotary body, the rotary body have the rotor and cam, and the axis penetrates through the rotary body, the rotor and the stator
Relative configuration, the cam has elliptoid shape, and integrally rotates with the rotor；
Flexible cricoid external gear, the external gear is to surround the rotary body and described from the radial outside of the axis
The mode of stator configures, and the axis is fixed in the side of the axis direction, and the cam in peripheral side
There is external tooth at the position of radial outside；
Flexible bearing, the pliability Bearing configuration is between the external gear and the cam, and the pliability bearing is by institute
State external gear and the cam bearing for can relative rotation, and make the external gear with the rotation of the cam Xiang Jing
Deform outward, the rotation of the cam along with the rotary body rotation；
Cricoid internal gear, the internal gear are configured in a manner of surrounding the external gear from radial outside, are had in inner circumferential side
With the internal tooth of the outer tooth engagement；
Output section, the output section have flat part and cylindrical portion, and the flat part connect with the internal gear, and edge with it is described
The direction that axis direction intersects extends, and the cylindrical portion extends from the flat part along the axis direction；
1st bearing, the 1st bearing is between the axis and the cylindrical portion, and being by output section bearing being capable of phase
The axis is rotated；And
2nd bearing, the 2nd bearing is between the cylindrical portion and the rotary body, and by the output section and described
Rotary body bearing for can relative rotation,
The pliability bearing, the 1st bearing and the 2nd bearing edge at the defined position on the axis direction
The direction vertical with the axis direction is arranged.
2. the fluctuation gear reduction unit according to claim 1 with motor, wherein
It is fixed on the axis at the position of the side of the motor of the external gear on the axis direction,
The pliability bearing, the 1st bearing and the 2nd Bearing configuration are in the motor on the axis direction
The other side position at.
3. the fluctuation gear reduction unit according to claim 1 or 2 with motor, wherein
The rotor is cylindrical,
The outer diameter of the cam is smaller than the outer diameter of the rotor.
4. the fluctuation gear reduction unit as claimed in any of claims 1 to 3 with motor, wherein
The external gear has the sidewall portion of bottom and the tubular extended from the bottom along the axis direction,
The axis penetrates through the bottom, and connect with the bottom,
The motor is configured at the inside of the external gear.
5. the fluctuation gear reduction unit as claimed in any of claims 1 to 4 with motor, wherein
The axis is hollow shaft.
6. a kind of articulated robot, wherein
The articulated robot includes:
1st arm；
2nd arm, the 2nd arm are connected into and can be rotated with the 1st arm；And
Driving unit, the driving unit make the 1st arm and the 2nd arm relative rotation,
The driving unit is the fluctuation gear reduction unit described in any one of claim 1 to 5 with motor.
7. articulated robot according to claim 6, wherein
Main shaft penetrates through the coupling part of the 1st arm and the 2nd arm, and the 1st arm is connect by the main shaft with the 2nd arm
At can relative rotation,
The main shaft is fixed on the 2nd arm,
The fluctuation gear reduction unit with motor is fixed on this with the state in the axis of main shaft perforation hollow shaft
Main shaft, and the output section is connect with the 1st arm.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016169917A JP6711535B2 (en) | 2016-08-31 | 2016-08-31 | Wave gear reducer with electric motor |
| JP2016-169917 | 2016-08-31 | ||
| PCT/JP2017/030729 WO2018043398A1 (en) | 2016-08-31 | 2017-08-28 | Electric motor-equipped wave gear speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109661528A true CN109661528A (en) | 2019-04-19 |
| CN109661528B CN109661528B (en) | 2022-03-11 |
Family
ID=61300851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780052971.2A Active CN109661528B (en) | 2016-08-31 | 2017-08-28 | Wave gear speed reducer with motor |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6711535B2 (en) |
| CN (1) | CN109661528B (en) |
| WO (1) | WO2018043398A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113477A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN112178155A (en) * | 2019-07-01 | 2021-01-05 | 日本电产新宝株式会社 | Flexible externally toothed gear and wave gear device |
| CN118100515A (en) * | 2024-04-18 | 2024-05-28 | 成都理工大学 | Driving and transmission integrated device based on logarithmic spiral oscillating tooth transmission |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247673B (en) * | 2018-03-23 | 2024-05-14 | 深圳市东方伺服数控技术有限公司 | Integrated joint |
| WO2020050242A1 (en) * | 2018-09-03 | 2020-03-12 | 日本電産シンポ株式会社 | Drive device |
| JP6820633B1 (en) * | 2020-10-12 | 2021-01-27 | 株式会社石黒エンジニアリング | Manipulators with rotary joints and rotary joints |
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| JPH08312730A (en) * | 1995-05-19 | 1996-11-26 | Harmonic Drive Syst Ind Co Ltd | Flat-type wave gear device |
| CN102927209A (en) * | 2012-10-19 | 2013-02-13 | 陕西渭河工模具总厂 | Complex-wave type harmonic drive speed reducer |
| CN202851831U (en) * | 2012-09-20 | 2013-04-03 | 北京中技克美谐波传动有限责任公司 | Middle-arranged output type harmonic drive speed reducer |
| CN103453078A (en) * | 2013-09-06 | 2013-12-18 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer of wave generator |
| CN103711842A (en) * | 2012-10-04 | 2014-04-09 | 谐波传动***有限公司 | Wave gear unit with input bearings |
| JP2016038086A (en) * | 2014-08-11 | 2016-03-22 | Ntn株式会社 | Wheel driving device |
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| JP2594176Y2 (en) * | 1991-09-02 | 1999-04-19 | エスエムシー株式会社 | Reduction drive having a wave reduction mechanism |
| JPH09291983A (en) * | 1996-04-30 | 1997-11-11 | Harmonic Drive Syst Ind Co Ltd | Mounting structure of flexible external tooth gear for silk hat type bend engagement gear box |
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2016
- 2016-08-31 JP JP2016169917A patent/JP6711535B2/en active Active
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2017
- 2017-08-28 WO PCT/JP2017/030729 patent/WO2018043398A1/en active Application Filing
- 2017-08-28 CN CN201780052971.2A patent/CN109661528B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08312730A (en) * | 1995-05-19 | 1996-11-26 | Harmonic Drive Syst Ind Co Ltd | Flat-type wave gear device |
| CN202851831U (en) * | 2012-09-20 | 2013-04-03 | 北京中技克美谐波传动有限责任公司 | Middle-arranged output type harmonic drive speed reducer |
| CN103711842A (en) * | 2012-10-04 | 2014-04-09 | 谐波传动***有限公司 | Wave gear unit with input bearings |
| CN102927209A (en) * | 2012-10-19 | 2013-02-13 | 陕西渭河工模具总厂 | Complex-wave type harmonic drive speed reducer |
| CN103453078A (en) * | 2013-09-06 | 2013-12-18 | 上海鑫君传动科技有限公司 | Novel harmonic speed reducer of wave generator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112178155A (en) * | 2019-07-01 | 2021-01-05 | 日本电产新宝株式会社 | Flexible externally toothed gear and wave gear device |
| CN112178155B (en) * | 2019-07-01 | 2024-06-18 | 日本电产新宝株式会社 | Flexible externally toothed gear and wave gear device |
| CN111113477A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN111113477B (en) * | 2019-12-31 | 2021-12-31 | 深圳市优必选科技股份有限公司 | Robot joint structure and robot |
| CN118100515A (en) * | 2024-04-18 | 2024-05-28 | 成都理工大学 | Driving and transmission integrated device based on logarithmic spiral oscillating tooth transmission |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6711535B2 (en) | 2020-06-17 |
| WO2018043398A1 (en) | 2018-03-08 |
| JP2018035885A (en) | 2018-03-08 |
| CN109661528B (en) | 2022-03-11 |
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