CN111255860A

CN111255860A - Rotating mechanism, speed reducer, industrial machine and driving device of industrial machine

Info

Publication number: CN111255860A
Application number: CN201911200683.4A
Authority: CN
Inventors: 增田大记; 栗田宗治
Original assignee: Nabtesco Corp
Current assignee: Nabtesco Corp
Priority date: 2018-11-30
Filing date: 2019-11-29
Publication date: 2020-06-09
Also published as: KR20200066200A; TW202027936A; JP2020085213A; JP7220553B2; DE102019218557A1

Abstract

The invention provides a rotating mechanism, a speed reducer, an industrial machine and a driving device of the industrial machine. A rotating mechanism of an industrial machine comprises: 1 st component of an industrial machine; a housing fixed to the 1 st member; a speed reduction unit that is held by the housing and reduces the rotational input speed to output the rotational input; a 2 nd member of the industrial machine fixed to the speed reducer; a sun gear disposed on the 1 st member side and configured to input rotation to the speed reduction unit; and an intermediate gear disposed on the 1 st member side, meshed with the sun gear, and meshed with an output gear of the driving portion.

Description

Rotating mechanism, speed reducer, industrial machine and driving device of industrial machine

Technical Field

The present invention relates to a rotating mechanism, a speed reducer, an industrial machine, and a drive device for an industrial machine.

Background

As disclosed in, for example, japanese patent No. 5356462, a reduction gear is used for a rotation mechanism of an industrial machine. The reduction gear disclosed in japanese patent No. 5356462 has a cylindrical gear that meshes with a plurality of input gears, and an idler gear that meshes with the cylindrical gear. The rotation input from the motor to the idler gear is transmitted to the plurality of input gears via the cylindrical gear. The speed reducer reduces the rotation input from the motor and outputs the rotation as the relative rotation between the casing and the carrier. In japanese patent No. 5356462, the housing is fixed to the 1 st member of the industrial robot, and the carrier is fixed to the 2 nd member of the industrial robot.

In addition, in the structure disclosed in japanese patent No. 5356462, the 2 nd member of the industrial robot is disposed on the same side of the carrier as the cylindrical gear and the idler gear. Therefore, on the 2 nd member side of the carrier, the idler gear and the motor are arranged in a region facing a part of the carrier in the circumferential direction.

Typically, the 2 nd member is fixed to the carrier with bolts. However, a region facing a part of the carrier in the circumferential direction is occupied by the idler gear and the motor. Therefore, the arrangement of the plurality of fixing bolts for fixing the 2 nd member is restricted by the idler gear and the motor, and the symmetry is lost, which becomes discontinuous. If the arrangement of the fixing bolts is out of symmetry, a large force may be applied to the speed reducer when the 2 nd member is operated. If a large force is applied to the speed reducer, there is a possibility that lubricating oil leaks from the speed reducer and damages such as fretting wear occur in the speed reducer.

Disclosure of Invention

The present invention has been made in view of the above points, and an object thereof is to improve the degree of freedom in the arrangement of fixing bolts for fixing a speed reducer to an industrial machine so that the speed reducer can be stably fixed to the industrial machine.

The 1 st industrial machine rotation mechanism of the present invention includes:

1 st component of an industrial machine;

a housing fixed to the 1 st member;

a speed reduction unit that is held by the housing, reduces a rotational input, and outputs the rotational input from an output unit;

a 2 nd member of the industrial machine fixed to the output portion;

a sun gear that is disposed on the 1 st member side and that inputs rotation to the speed reduction unit; and

and an intermediate gear disposed on the 1 st member side, meshed with the sun gear, and meshed with an output gear of the driving part.

The 2 nd industrial machine rotation mechanism of the present invention includes:

1 st component of an industrial machine;

a housing fixed to the 1 st member;

a speed reduction unit that is held by the housing, reduces the rotation input to the input gear, and outputs the rotation from the output unit;

a 2 nd member fixed to the output portion of the speed reducing portion;

a sun gear that is disposed on the opposite side of the speed reduction unit from the 2 nd member side and that meshes with the input gear; and

and an intermediate gear that meshes with the sun gear and is rotated by the input from the drive unit.

In the rotation mechanism of 1 st industrial machine or 2 nd industrial machine according to the present invention, the intermediate gear may be disposed to be offset from the speed reduction unit in the axial direction.

In the rotating mechanism of 1 st industrial machine or 2 nd industrial machine according to the present invention, the sun gear may be a cylindrical member.

In the rotation mechanism of 1 st industrial machine or 2 nd industrial machine according to the present invention, the speed reduction unit may include: a shaft member that includes the input gear and is rotatable; a holding portion having a through hole into which the shaft member is inserted; and a cover that closes the through hole from the 2 nd member side.

The rotation mechanism of the 1 st industrial machine or the rotation mechanism of the 2 nd industrial machine according to the present invention may include a plurality of bolts that are disposed at rotationally symmetrical positions and that fix the 2 nd member to the speed reducer portion.

In the turning mechanism of the 1 st industrial machine or the turning mechanism of the 2 nd industrial machine according to the present invention, the intermediate gear may be located radially inward of an outer edge of the holding portion.

In the turning mechanism of the 1 st industrial machine or the turning mechanism of the 2 nd industrial machine according to the present invention, the output gear of the driving unit that meshes with the intermediate gear may be located radially inward of an outer edge of the holding unit.

In the rotation mechanism of 1 st industrial machine or 2 nd industrial machine according to the present invention, a portion of the 1 st member fixed to the housing may be positioned closer to the 2 nd member side than the input gear of the speed reducer unit in the axial direction.

In the turning mechanism of the 1 st industrial machine or the turning mechanism of the 2 nd industrial machine according to the present invention, a portion of the 1 st member fixed to the housing may be positioned closer to the 2 nd member side than the intermediate gear in the axial direction.

The industrial machine of the present invention includes any one of the 1 st rotating mechanism and the 2 nd rotating mechanism of the present invention described above.

The 1 st speed reducer of the present invention includes:

a housing fixed to a 1 st member of the industrial machine;

a speed reduction unit that is held by the housing, reduces a rotational input, and outputs the reduced rotational input to a 2 nd member of the industrial machine;

a sun gear disposed on the 1 st member side and configured to input rotation to the speed reduction unit; and

and an intermediate gear disposed on the 1 st member side and engaged with the sun gear.

The 2 nd speed reducer of the invention includes:

a housing fixed to a 1 st member of the industrial machine;

a speed reduction unit that is held by the housing, reduces the rotation input to the input gear, and outputs the rotation to the 2 nd member of the industrial machine;

The 3 rd speed reducer of the present invention comprises:

a housing which is disposed between a 1 st member and a 2 nd member of an industrial machine and is fixed to the 1 st member;

a speed reduction unit that is held by the housing, reduces the rotation input to the input gear, and outputs the rotation to the 2 nd member;

a sun gear disposed between the speed reduction portion and the 1 st member and engaged with the input gear; and

and an intermediate gear disposed between the reduction part and the 1 st member and engaged with the sun gear.

The driving device of the present invention includes:

any one of the 1 st to 3 rd speed reducers of the present invention; and

and a drive unit that inputs rotation to the speed reducer.

According to the present invention, it is an object to improve the degree of freedom of arrangement of a fixing bolt for fixing a speed reducer to an industrial machine so that the speed reducer can be stably fixed to the industrial machine.

Drawings

Fig. 1 is a diagram for explaining an embodiment, and is a cross-sectional view showing a rotating mechanism of an industrial machine.

Fig. 2 is a plan view illustrating a reduction gear unit assembled to the industrial machine of fig. 1 from the 1 st member side.

Fig. 3 is a plan view illustrating a reduction gear unit assembled to the industrial machine of fig. 1 from the 2 nd member side.

Fig. 4 is a perspective view showing an example of an industrial machine.

Detailed Description

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 to 3 are sectional views or perspective views showing a specific example of the rotating mechanism RM and the driving device DD according to the present embodiment. As will be described in detail later, the rotation mechanism RM is a mechanism that relatively moves, more specifically, relatively rotates the 1 st member 11 and the 2 nd member 12 of the industrial machine IM. The rotation mechanism RM includes the 1 st member 11 and the 2 nd member 12, a housing 25 fixed to the 1 st member 11, and a speed reducer 30 fixed to the 2 nd member 12. The drive device DD includes a speed reducer 20 including a housing 25 and a speed reducer section 30, and a drive section 50 for inputting rotation to the speed reducer 20.

In the present embodiment described below, the degree of freedom of the arrangement of the fixing bolt for fixing the reduction gear 20 to the industrial machine IM is improved. In this way, the reduction gear 20 can be assembled to the industrial machine IM in a stably fixed state.

As an example of an industrial machine IM to which the rotation mechanism RM and the drive device DD are applied, an industrial robot R can be illustrated as shown in fig. 4. More specifically, the rotation mechanism RM and the drive device DD can be applied to a rotation portion such as a rotation body and a wrist joint of a robot, a rotation portion of various machine tools, and the like.

Fig. 1 shows a connection portion of the speed reducer 20 of the industrial machine IM shown in fig. 4 to the base RB and the rotator RC. In the specific example shown in fig. 1, the housing 25 is fixed to the base RB of the robot R, and the decelerating section 30 is connected to the revolving body RC of the robot R. In this example, the base RB of the robot R constitutes the 1 st member 11, and the revolving unit RC constitutes the 2 nd member 12. In the example shown in fig. 1, the 1 st member 11 is configured as a housing, and the 2 nd member 12 is configured as an arm. The speed reducer 30 fixed to the 2 nd member 12 reduces the speed of the input rotation and outputs the rotation to the 2 nd member 12. Therefore, in the illustrated example, the rotation body RC can be rotated with high torque with respect to the base RB, and the rotation amount and the rotation position of the rotation body RC can be controlled with high accuracy.

Next, the reducer 20 will be described. As shown in fig. 1, the reduction gear 20 includes a housing 25 and a reduction part 30 held by the housing 25. As described above, the housing 25 is fixed to the 1 st member 11 (the base RB in the illustrated example) of the industrial machine IM. The rotation output from the driving unit 50 is input to the speed reducer unit 30. The speed reducer 30 reduces the speed of the input rotation and outputs the rotation from the output unit 34 a. At this time, the output portion 34a rotates about the rotation axis RA. The 2 nd member 12 (in the illustrated example, the rotation body RC) of the industrial machine IM is connected to the output portion 34a of the speed reducer portion 30. Therefore, the speed reducer 30 reduces the rotational speed of the input power, and transmits the power with increased torque to the 2 nd member 12. The 2 nd member 12 rotates relative to the 1 st member 11 fixed to the housing 25 about the rotation axis RA.

Hereinafter, a direction parallel to the rotation axis RA is referred to as an axial direction DA, a direction perpendicular to the rotation axis RA is referred to as a radial direction DR, and a direction along a circumference around the rotation axis RA is referred to as a circumferential direction DC. The circumferential direction DC is orthogonal to the radial direction DR.

Typically, the speed reducer 30 can be configured as a planetary gear speed reducer or an eccentric oscillating type speed reducer, but the specific configuration of the speed reducer 30 is not particularly limited. Therefore, the speed reducer unit 30 may be configured by a speed reducing structure in which the planetary gear speed reducer unit and the eccentric oscillating type speed reducer unit are combined, or the speed reducer unit 30 may be configured by any other speed reducing structure.

In the illustrated example, the speed reducer unit 30 has an eccentric oscillating mechanism. The illustrated reduction gear unit 30 includes: a shaft member 32 to which rotation from the driving portion 50 is transmitted; a holding portion 34 that rotatably supports the shaft member 32; and a swing gear 36 supported by the holding portion 34 so as to be swingable and rotatable. The shaft member 32 is rotatable about an axis parallel to the axial direction DA. One side S1 of the shaft member 32 in the axial direction DA has the input gear 32 a. The rotation from the driving unit 50 is transmitted to the input gear 32 a.

The holding portion 34 functions as a so-called carrier. In the illustrated example, the holding portion 34 rotatably supports the three shaft members 32 at positions that are equally spaced apart in the circumferential direction DC (see fig. 2). Each shaft member 32 has a cylindrical eccentric body (not shown), and constitutes a so-called crankshaft. The eccentric body is disposed eccentrically with respect to the rotational axis of the shaft member 32. The oscillating gear 36 has a hole (not shown) for receiving the eccentric member.

The oscillating gear 36 is driven by the eccentric body when the shaft member 32 rotates, and eccentrically oscillates with respect to the holding portion 34. In other words, the oscillating gear 36 is driven by the eccentric body when the shaft member 32 rotates, and moves in translation along a circular trajectory centered on the rotation axis RA. The external teeth of the oscillating gear 36 mesh with internal teeth provided on the inner circumferential surface of the housing 25. The number of teeth of the external teeth of the oscillating gear 36 is different from the number of teeth of the internal teeth of the housing 25. As a result, the holding portion 34 supporting the swing gear 36 rotates relative to the housing 25 about the rotation axis RA as the shaft member 32 rotates. That is, in the illustrated example, the holding portion 34 configured as the carrier constitutes the output portion 34a of the speed reducer portion 30.

Further, each shaft member 32 is provided with two eccentric bodies arranged with a phase shift of 180 °, in other words, two eccentric bodies eccentric in completely opposite directions with respect to the rotation axis of the shaft member 32. The holding portion 34 holds two swing gears 36. The two oscillating gears 36 are arranged with a phase shift of 180 °.

In the illustrated example, the holding portion 34 has holes 34b provided corresponding to the respective shaft members 32. In the illustrated example, a pair of holes 34b are provided in the holding portion 34 corresponding to the respective shaft members 32. As shown in fig. 3, the hole 34b of the other side S2 in the axial direction DA is provided with a cover 38. The hole 34b is blocked by the cover 38 from the other side S2 in the axial direction DA.

As described above, the illustrated configuration of the speed reducer section 30 is merely an example. For example, the reduction unit 30 may have a planetary gear type mechanism. The planetary gear type speed reducer unit 30 includes: a planetary gear serving as an input gear for transmitting rotation from the driving unit 50; and a holding portion (carrier) that rotatably supports the planetary gear. In this example, the holding portion (carrier) 34 may constitute an output portion of the speed reducer portion 30.

As shown in fig. 1, the holding portion 34 constituting the output portion 34a of the speed reducer portion 30 is connected to the 2 nd member 12 of the industrial machine IM by a bolt B2. In the illustrated example, the bolt B2 penetrating through a through hole (not shown) of the 2 nd member 12 is screwed into the bolt hole 34c formed in the holding portion 34, thereby fastening the speed reducer portion 30 and the 2 nd member 12. The bolt hole 34c is formed with a thread that engages with the thread of the bolt B2.

The 2 nd member 12 faces the holding portion 34 from the other side S2 in the axial direction DA. In the example shown in fig. 3, the holding portion 34 is provided with a large number of bolt holes 34c, more specifically, 12 bolt holes 34 c. In particular, in the illustrated example, the bolt holes 34c provided in the holding portion 34 are arranged in a rotationally symmetrical manner. In the illustrated example, a plurality of bolt holes 34c (four bolt holes 34c in the illustrated example) are provided at equal intervals in the circumferential direction DC between two adjacent shaft members 32 (covers 38) in the circumferential direction DC. In the illustrated example, the bolt hole 34c is disposed three times symmetrically on the other side surface of the holding portion 34 in the axial direction DA.

As shown in fig. 1, the reduction gear 20 further includes a cylindrical member 31 penetrating the center of the reduction part 30. The cylindrical member 31 is fixed to the holding portion 34 by a bolt B3. The cylindrical member 31 rotates relative to the 1 st member 11 together with the holding portion 34 of the speed reducer 30 and the 2 nd member 12 fixed to the speed reducer 30. The cylindrical member 31 is disposed with its central axis on the rotation axis RA.

The housing 25 is formed in a cylindrical shape. The housing 25 at least partially houses the speed reducer section 30. The illustrated housing 25 is formed as a cylindrical member. As described above, the inner circumferential surface of the housing 25 is provided with internal teeth (not shown) extending in the axial direction DA. The internal teeth mesh with the external teeth of the oscillating gear 36. The housing 25 rotatably holds the holding portion 34 of the speed reducer portion 30 via a bearing not shown.

On the other hand, an annular flange 26 projecting outward in the radial direction DR is provided on the outer peripheral surface of the housing 25. The flange 26 is provided with a large number of through holes 26a, 16 through holes 26a in the illustrated example, which are arranged at equal intervals in the circumferential direction DC. The case 25 is fixed to the 1 st member 11 by a bolt B1 inserted through the through hole 26 a. More specifically, the case 25 and the 1 st member 11 are fastened by screwing the nut to the bolt B1 passed through the through hole 26a of the flange 26 and the through hole of the 1 st member 11. However, the present invention is not limited to this example, and the case 25 and the 1 st member 11 may be fastened by screwing the bolt B1 passed through the through hole formed in one of the flange 26 and the 1 st member 11 to the screw hole formed in the other of the flange 26 and the 1 st member 11.

The outer side in the radial direction DR refers to a side of the radial direction DR away from the rotation axis RA. The inner side in the radial direction DR refers to a side close to the rotation axis RA in the radial direction DR.

In the present embodiment, the speed reducer 20 further includes a sun gear 40 that inputs rotation to the speed reducer unit 30, and an intermediate gear 45 that meshes with the sun gear 40. The sun gear 40 is disposed on the opposite side of the speed reducer 30 from the 2 nd member 12 side. That is, the sun gear 40 is disposed closer to the 1 st member 11 than the speed reducer 30. In other words, the sun gear 40 is disposed on the side S1 in the axial direction DA with respect to the speed reducer section 30. The sun gear 40 meshes with the input gear 32a of the reduction unit 30 from one side S1 in the axial direction DA. Thus, the sun gear 40 inputs rotation from the one side S1 in the axial direction DA to the speed reducer section 30.

The sun gear 40 is formed as a cylindrical member. The sun gear 40 is configured such that its central axis is located on the rotation axis RA. The sun gear 40 is rotatably held by the speed reducing portion 30 via a bearing 48A, and is also rotatably held by the 1 st member 11 via a bearing 48B. The sun gear 40 is rotatable about a rotation axis RA. The cylindrical member 31 penetrates the sun gear 40. The sun gear 40 has external teeth 41 provided on its outer peripheral surface. The plurality of outer teeth 41 are arranged along the circumferential direction DC. Each outer tooth 41 extends in the axial direction DA. As shown in fig. 2, the input gears 32a of the three shaft members 32 included in the speed reducing portion 30 mesh with the external teeth 41 of the sun gear 40 from the outside in the radial direction DR, respectively.

Like the sun gear 40, the intermediate gear 45 is disposed on the opposite side of the speed reducer section 30 from the 2 nd member 12 side. That is, the intermediate gear 45 is disposed closer to the 1 st member 11 than the speed reducer unit 30. In other words, the intermediate gear 45 is disposed on the side S1 in the axial direction DA with respect to the speed reducer section 30, particularly, with respect to the input gear 32a of the shaft member 32. The intermediate gear 45 meshes with the sun gear 40 at a position closer to the one side S1 in the axial direction DA than the speed reducer section 30. As shown in fig. 1, the retaining shaft member 49 is fixed to the 1 st member 11. The intermediate gear 45 is rotatably held by the retaining shaft member 49 via a bearing 48C. The intermediate gear 45 is rotatable about an axis parallel to the axial direction DA. As shown in fig. 2, the intermediate gear 45 is located inward of the outer edge of the holding portion (carrier) 34 in the radial direction DR.

As shown in fig. 1, the input gear 32a of the speed reduction portion 30 meshes with the portion on the other side S2 in the axial direction DA of the external teeth 41 of the sun gear 40. On the other hand, the intermediate gear 45 is disposed on the side S1 of the input gear 32a in the axial direction DA. The intermediate gear 45 meshes with a portion of one side S1 of the external teeth 41 of the sun gear 40 in the axial direction DA. Of these, the portion of the external teeth 41 of the sun gear 40 that meshes with the input gear 32a and the portion that meshes with the idler gear 45 are integrally formed. In addition, a portion of the external teeth 41 of the sun gear 40 that meshes with the input gear 32a and a portion that meshes with the idler gear 45 have the same shape in a cross section orthogonal to the axial direction DA.

Next, the driving unit 50 constituting the driving device DD together with the reduction gear 20 will be described. As shown in fig. 1, the drive portion 50 has a motor 52 as a drive force source and an output shaft member 54 constituting an output portion of rotational power. The motor 52 is fixed to the 1 st member 11. That is, the motor 52 is stationary with respect to the 1 st member 11, similarly to the case 25 of the reduction gear 20. On the other hand, the output shaft member 54 is rotatably held by the 1 st member 11 via a bearing 48D. The rotational axis of the output shaft member 54 is parallel to the axial direction DA. As shown in fig. 1, the output shaft member 54 has an output gear 54a, and the output gear 54a has external teeth meshing with the intermediate gear 45. As shown in fig. 2, the output gear 54a of the driving unit 50, which meshes with the intermediate gear 45, is located inward of the outer edge of the holding unit (carrier) 34 in the radial direction DR. The output shaft member 54 of the driving unit 50 is located inward of the outer edge of the holding unit (carrier) 34 in the radial direction DR.

Here, the output gear 54a of the drive portion 50 and the output shaft member 54 are disposed to be offset from the cylindrical member 31 (particularly, a hollow portion of the cylindrical member 31) in the radial direction DR. In other words, the output gear 54a of the drive portion 50 and the output shaft member 54 are disposed at positions that do not overlap with the cylindrical member 31 (particularly, the hollow portion of the cylindrical member 31) when viewed from the one side S1 in the axial direction DA. Therefore, the 1 st member 11 and the 2 nd member 12 that rotate relative to each other can be communicated with each other via the cylindrical member 31. For example, the wiring or the like can be pulled between the 1 st member 11 and the 2 nd member 12.

The speed reducer 20 described above has the above-described cover 38 as a structure for preventing leakage of the lubricating oil. As shown in fig. 3, the cover 38 closes the through hole 34b of the holding portion 34 provided to support the shaft member 32 from the other side S2 in the axial direction DA. The reduction gear 20 has a main seal 46 and a 1 st annular seal 47A and a 2 nd annular seal 47B as another structure for preventing leakage of the lubricating oil. As shown in fig. 1, the main seal 46 is held by the 1 st member 11, and seals between the 1 st member 11 and the cylindrical member 31. As shown in fig. 2, one side S1 of the 1 st annular seal 47A in the axial direction DA seals between the housing 25 and the holding portion (carrier) 34. As shown in fig. 3, the other side S2 of the 2 nd annular seal 47B in the axial direction DA seals between the housing 25 and the holding portion (carrier) 34.

The 1 st member 11 (in the illustrated example, the base RB) and the 2 nd member 12 (in the illustrated example, the rotator RC) are fixed to the speed reducer 20 having the above-described structure. The 2 nd member 12 and the 1 st member 11 holding the driving portion 50 are located at positions separated in the axial direction DA. The 1 st member 11 is located on one side S1 in the axial direction DA, and the 2 nd member 12 is located on the other side S2 in the axial direction DA. That is, the speed reducer 20 is located between the 1 st member 11 and the 2 nd member 12 in the axial direction DA.

As described in the background section, in the conventional structure disclosed in patent document 1, a member (2 nd member) fixed to a carrier of the industrial robot holds a driving portion. Therefore, a partial region of the carrier in the circumferential direction is axially opposed to the drive portion on the member side fixed to the carrier. In this conventional structure, the member fixed to the carrier, the cylindrical gear, and the idler gear are disposed on the same side of the carrier. Therefore, on the member side of the holding drive portion, a partial region of the carrier in the circumferential direction also axially opposes the idler gear and the motor. Therefore, the arrangement of the plurality of fixing bolts for fixing the member for holding the driving portion is restricted by the driving portion, the idler gear, and the motor, and the symmetry is lost, which becomes discontinuous. If the arrangement of the fixing bolts is out of symmetry, a large force may be applied to the reduction gear during operation. If a large force is applied to the speed reducer, the lubricating oil may leak from the speed reducer, and damage such as fretting may occur in the speed reducer.

On the other hand, in the present embodiment described above, the 1 st member 11 holding the driving portion 50 is fixed to the flange 26 protruding outward in the radial direction DR from the case 25 of the reduction gear 20 by the bolt B1. As shown in fig. 2 and 3, a plurality of bolts B1 for connecting the 1 st member 11 and the housing 25 are arranged at rotationally symmetrical positions. The plurality of bolts B1 are arranged at equal intervals in the circumferential direction DC. Therefore, the 1 st member 11 can be stably and firmly fixed to the case 25 of the reduction gear 20.

The 2 nd member 12 fixed to the holding portion (carrier) 34 does not hold the driving portion 50. On the other side S2 in the axial direction DA of the speed reducer section 30 where the 2 nd member 12 is located, the sun gear 40, the intermediate gear 45, and the drive section 50 are not arranged. That is, the sun gear 40, the intermediate gear 45, and the driving portion 50 are not disposed at a position facing the holding portion (carrier) 34 at the other side S2 in the axial direction DA. Therefore, the bolts B2 for fixing the 2 nd member 12 to the holding portion (carrier) 34 can be uniformly distributed to some extent. Therefore, the 2 nd member 12 can be stably and firmly fixed to the holding portion 34 constituting the output portion 34a of the speed reducer portion 30. This can effectively eliminate the conventional problem that the lubricating oil leaks from the reduction gear 20 and further damages such as fretting occur in the reduction gear 20.

In one embodiment described above, the rotating mechanism RM of the industrial machine includes: the 1 st component 11 of the industrial machine IM; a housing 25 fixed to the 1 st member 11; an output portion 34a that is held by the housing 25 and outputs the rotation input by decelerating the rotation; a 2 nd member 12 of the industrial machine fixed to the output portion 34 a; a sun gear 40 disposed on the 1 st member 11 side and configured to input rotation to the speed reducer unit 30; and an intermediate gear 45 disposed on the 1 st member 11 side, meshed with the sun gear 40, and meshed with the output gear 54a of the driving portion 50. In other words, the rotation mechanism RM includes: 1 st member 11 of the industrial machine; a housing 25 fixed to the 1 st member 11; a speed reducer 30 held by the housing 25, for reducing the speed of rotation input to the input gear 32a and outputting the rotation from the output portion 34 a; a 2 nd member 12 fixed to the output portion 34a of the speed reducer portion 30; a sun gear 40 disposed on the opposite side of the speed reducer section 30 from the 2 nd member 12 side and meshing with the input gear 32 a; and an intermediate gear 45 that meshes with the sun gear 40 and is rotated by the input from the driving unit 50. According to the present embodiment, the sun gear 40 and the intermediate gear 45 are located on the opposite side of the reduction unit 30 from the 2 nd member 12 of the industrial machine to which the output unit 34a of the reduction unit 30 is fixed. Therefore, it is possible to effectively avoid the restriction of the arrangement of the fixing bolt B2 for fixing the 2 nd member 12 to the output portion 34a due to the sun gear 40 and the intermediate gear 45 meshing with the sun gear 40. This enables the 2 nd member 12 to be stably fixed to the output portion 34a of the speed reducer portion 30.

In one specific example of the above-described one embodiment, the intermediate gear 45 is disposed to be offset from the input gear 32a of the reduction unit 30 in the axial direction DA. According to such a configuration, it is possible to stably avoid the input gear 32a of the speed reducing portion 30 from coming into contact with the intermediate gear 45 with the rotation of the speed reducing portion 30 with respect to the 1 st member 11. In particular, in the illustrated example, the input gear 32a of the shaft member 32 can be stably prevented from contacting the intermediate gear 45 in accordance with the rotation of the holding portion 34 of the holding shaft member 32 with respect to the 1 st member 11. Further, the degree of freedom in the arrangement positions of the intermediate gear 45 and the driving portion 50 in the circumferential direction DC can be improved.

In one specific example of the above-described one embodiment, the sun gear 40 is a cylindrical member. Since the intermediate gear 45 is provided, the size of the sun gear 40 in the radial direction DR can be reduced. This makes it possible to reduce the size and weight of the rotation mechanism RM and to reduce the cost. Further, the input gear 32a and the intermediate gear 45 of the speed reducer unit 30 can be arranged offset in the axial direction DA with a simple configuration.

In a specific example of the above-described one embodiment, the speed reducer section 30 includes: a rotatable shaft member 32 including an input gear 32a, a holding portion (carrier) 34 having a hole 34b into which the shaft member 32 is inserted, and a cover 38 that closes the hole 34b from the 2 nd member 12 side. The input gear 32a meshes with the sun gear 40 on the opposite side of the speed reducing portion 30 from the 2 nd member 12 side. Therefore, the hole 34b of the holding portion 34 for accommodating the shaft member 32 can be closed from the 2 nd member 12 side by the cover 38. Thereby, the lubricating oil can be effectively prevented from leaking from between the 2 nd member 12 and the speed reducing portion 30.

In one example of the above-described embodiment, the rotation mechanism RM has a plurality of bolts B2 arranged at rotationally symmetrical positions for fixing the 2 nd member 12 to the speed reducer section 30. Therefore, the 2 nd member 12 can be stably fixed to the speed reducer section 30. Further, the speed reducer section 30 can be effectively prevented from being deformed when the 2 nd member 12 is operated, and thus leakage of the lubricating oil and fretting wear can be effectively suppressed.

In a specific example of the above-described embodiment, the intermediate gear 45 is located inward of the outer edge of the holding portion (carrier) 34 in the radial direction DR. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the 1 st member 11 to the housing 25 can be effectively relaxed. For example, the bolts B1 for fixing the 1 st member 11 to the housing 25 can be arranged at rotationally symmetrical positions. This enables the 1 st member 11 to be stably fixed to the housing 25.

In one specific example of the above-described embodiment, the output gear 54a of the driving unit 50, which meshes with the intermediate gear 45, is located inward of the outer edge of the holding unit (carrier) 34 in the radial direction DR. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the 1 st member 11 to the housing 25 can be effectively relaxed. For example, the bolts B1 for fixing the 1 st member 11 to the housing 25 can be arranged at rotationally symmetrical positions. This enables the 1 st member 11 to be stably fixed to the housing 25.

In one specific example of the above-described embodiment, the portion of the 1 st member 11 fixed to the housing 25 is located closer to the 2 nd member 12 (the other side S2) than the input gear 32a of the speed reducer section 30 in the axial direction DA. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the 1 st member 11 to the housing 25 can be effectively relaxed. For example, the bolts B1 for fixing the 1 st member 11 to the housing 25 can be arranged at rotationally symmetrical positions. This enables the 1 st member 11 to be stably fixed to the housing 25.

In one specific example of the above-described embodiment, the portion of the 1 st member 11 fixed to the housing 25 is located closer to the 2 nd member 12 (the other side S2) than the intermediate gear 45 in the axial direction DA. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the 1 st member 11 to the housing 25 can be effectively relaxed. For example, the bolts B1 for fixing the 1 st member 11 to the housing 25 can be arranged at rotationally symmetrical positions. This enables the 1 st member 11 to be stably fixed to the housing 25.

In one embodiment described above, the speed reducer 20 includes: a housing 25 fixed to the 1 st member 11 of the industrial machine; a speed reducer 30 that is held by the housing 25, reduces the rotational input, and outputs the reduced rotational input to the 2 nd member 12 of the industrial machine; a sun gear 40 disposed on the 1 st member 11 side and configured to input rotation to the speed reducer unit 30; and an intermediate gear 45 disposed on the 1 st member 11 side and meshing with the sun gear 40. Stated another way, the reducer 20 has: a housing 25 fixed to the 1 st member 11 of the industrial machine; a speed reducer 30 that is held by the housing 25, reduces the rotation input to the input gear 32a, and outputs the rotation to the 2 nd member 12 of the industrial machine; a sun gear 40 disposed on the opposite side of the speed reducer section 30 from the 2 nd member 12 side and meshing with the input gear 32 a; and an intermediate gear 45 that meshes with the sun gear 40 and is rotated by the input from the driving unit 50. According to the present embodiment, the sun gear 40 and the intermediate gear 45 are located on the opposite side of the reduction unit 30 from the 2 nd member 12 of the industrial machine to which the output unit 34a of the reduction unit 30 is fixed. Therefore, it is possible to effectively avoid the restriction of the arrangement of the fixing bolt B2 for fixing the 2 nd member 12 to the output portion 34a due to the sun gear 40 and the intermediate gear 45 meshing with the sun gear 40. This enables the 2 nd member 12 to be stably fixed to the output portion 34a of the speed reducer portion 30.

The embodiments are described with reference to specific examples, but the embodiments are not intended to be limited to the specific examples. The above-described embodiment can be implemented by various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the spirit thereof. For example, although the reducer 20 is an eccentric oscillating type reducer, the reducer is not limited to this, and may be a centrifugal type reducer or a planetary gear type reducer.

Claims

1. A rotating mechanism of an industrial machine, wherein,

the rotating mechanism of the industrial machine includes:

1 st component of an industrial machine;

a housing fixed to the 1 st member;

a 2 nd member of the industrial machine fixed to the output portion;

2. A rotating mechanism of an industrial machine, wherein,

the rotating mechanism of the industrial machine includes:

1 st component of an industrial machine;

a housing fixed to the 1 st member;

a 2 nd member fixed to the output portion of the speed reducing portion;

3. The industrial machine rotating mechanism according to claim 1 or 2,

the intermediate gear is disposed to be offset from the speed reducing portion in the axial direction.

4. The industrial machine rotating mechanism according to claim 1 or 2,

the sun gear is a cylindrical member.

5. The industrial machine rotating mechanism according to claim 1 or 2,

the speed reduction unit includes: a shaft member that includes the input gear and is rotatable; a holding portion having a through hole into which the shaft member is inserted; and a cover that closes the through hole from the 2 nd member side.

6. The industrial machine rotating mechanism according to claim 1 or 2,

the rotation mechanism of the industrial machine includes a plurality of bolts that are disposed at rotationally symmetrical positions and that fix the 2 nd member to the speed reduction unit.

7. An industrial machine, wherein,

the industrial machine includes the rotary mechanism of claim 1 or 2.

8. A decelerator to be used in an industrial machine, wherein,

this reduction gear includes:

a housing fixed to a 1 st member of the industrial machine;

9. A speed reducer, wherein,

this reduction gear includes:

a housing fixed to a 1 st member of the industrial machine;

10. A drive device, wherein,

the driving device includes:

a decelerator according to claim 8 or 9; and

and a drive unit that inputs rotation to the speed reducer.