CN116265772A - Rotating mechanism, robot and industrial machine - Google Patents

Abstract

The present invention relates to a rotary mechanism, a robot, and an industrial machine. The rotation mechanism (1) of the present invention is provided with: a 1 st member (41) which rotates about a rotation axis (C1); a 2 nd member (42) disposed adjacent to the 1 st member along the rotation axis; a plurality of fastening members (51) having an axis along the rotation axis for fastening the 1 st member and the 2 nd member; a 1 st support part (101) which is formed along the rotation axis toward the 2 nd member, and is provided with a plurality of support parts around the rotation axis; a 1 st joint surface (44 b) formed at an end (44 a) of the 1 st support portion; a 2 nd support part (102) formed along the rotation axis toward the 1 st member, a plurality of support parts being provided around the rotation axis; and a 2 nd joint surface (42 m) formed on the 2 nd support portion. The 1 st joint surface and the 2 nd joint surface are contacted with each other. The 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

Description

Rotating mechanism, robot and industrial machine

Technical Field

The present invention relates to a rotary mechanism, a robot, and an industrial machine.

Background

Conventionally, as an example of a rotating mechanism such as an eccentric swing type, a transmission (reduction gear) provided in an industrial robot or the like has been known. Such an eccentric swing type rotation mechanism includes a carrier that rotates relatively as described in patent document 1, for example. The carrier is composed of a holder and a shaft. The holder and the shaft portion are fastened by a fastener (bolt). The bolts are arranged around the axis of the gear frame. The holder and the shaft portion are relatively rotated with respect to the housing in a state of being fastened by a plurality of bolts.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication 2016-109264

Disclosure of Invention

Problems to be solved by the invention

Such an eccentric swing type rotary mechanism is required to have high torque and high torque while maintaining the outer dimensions. However, when a conventional torque, a large torque or more than the torque, or a large torque acts on the rotating mechanism, there is a possibility that a shearing force or a torque acts on the contact surface between the shaft and the holder, and a permanent offset occurs.

The purpose of the present invention is to provide a rotating mechanism, a robot, and an industrial machine, which can stabilize a contact surface at a portion that rotates in a fastened state, improve tolerance to a large torque and torque as compared to the external dimensions, and improve the stability of rotation.

Solution for solving the problem

(1) The rotation mechanism according to an aspect of the present invention includes: a 1 st member which rotates about a rotation axis; a 2 nd member disposed adjacent to the 1 st member along the rotation axis; a fastening member having an axis along the rotation axis for fastening the 1 st member and the 2 nd member; a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 1 st joint surface formed at a distal end portion of the 1 st support portion; a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis; and a 2 nd joint surface formed on the 2 nd support portion. The 1 st joint surface and the 2 nd joint surface are contacted with each other. The 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

According to the rotation mechanism, the 1 st engagement surface and the 2 nd engagement surface, which are pressed against each other due to the tightening of the tightening member, respectively have inclined portions inclined with respect to a surface orthogonal to the rotation axis. Thus, the force that presses the 1 st and 2 nd engagement surfaces along the rotation axis due to the coupling of the fastening members can be increased as compared with the case where the 1 st and 2 nd engagement surfaces are planes orthogonal to the rotation axis. This can increase the friction force acting between the 1 st joint surface and the 2 nd joint surface. Therefore, when a shearing force is applied to the 1 st member and the 2 nd member, the misalignment resistance of the 1 st joint surface and the 2 nd joint surface can be improved, and these can be made difficult to be misaligned. Thus, the fastening force between the 1 st member and the 2 nd member can be improved.

(2) The 1 st support portion and the 2 nd support portion may be provided with deformation preventing portions for preventing deformation of the 1 st support portion and the 2 nd support portion in a direction intersecting the rotation axis due to fastening of the fastening member, respectively. The deformation preventing portion may be formed at an end portion of the inclined portion so as to extend along the rotation axis.

(3) The inclined portion may be inclined in one direction over the entire area of the distal end portion of the 1 st support portion and the distal end portion of the 2 nd support portion. The deformation preventing portion may be formed in the inclined portion of the 1 st support portion and the inclined portion of the 2 nd support portion so as to have a concave-convex shape that engages with each other.

(4) The inclined portion may be inclined radially outward of the rotation axis at the 1 st support portion and the 2 nd support portion.

(5) The inclined portion may be inclined in a circumferential direction of the 1 st support portion and the 2 nd support portion toward the rotation axis.

(6) The 1 st support portion may protrude toward the 2 nd member along the rotation axis. The 2 nd support portion may protrude toward the 1 st member along the rotation axis.

(7) The front end portion of one of the 1 st support portion and the 2 nd support portion may be formed such that a central portion protrudes from a peripheral edge along the rotation axis, and the front end portion of the other support portion may be formed such that a central portion is recessed from a peripheral edge along the rotation axis.

(8) The tip portion of the other support portion may be formed in a tapered shape having a central portion recessed from a peripheral edge along the rotation axis.

(9) The fastening member may be a bolt. The 1 st support portion may be formed with a female screw portion that opens at the 1 st joint surface to allow the bolt to be fastened. The 2 nd support portion may have a through hole through which the bolt passes.

(10) In the 1 st joint surface, a planar portion orthogonal to the rotation axis may be formed on the entire circumference of the opening of the female screw portion. The diameter of the flat portion may be smaller than the diameter of the head portion of the bolt.

(11) The 1 st joint surface may be formed with the inclined portion and a plane portion orthogonal to the rotation axis. The axis of the female screw portion may be included in the inclined portion when viewed in a direction along the rotation axis.

(12) The 2 nd joint surface may be formed concavely on a surface facing the 1 st member.

(13) The 1 st support portion may protrude toward the 2 nd member along the rotation axis. The 2 nd support portion may protrude toward the 1 st member along the rotation axis.

(14) A rotation mechanism according to another aspect of the present invention includes: a housing; an internal gear provided on an inner periphery of the housing; an external gear engaged with the internal gear; an eccentric body that swings the external gear; a 1 st member supported by the housing via a 1 st bearing and rotatable about a rotation axis; a 2 nd member supported by the housing via a 2 nd bearing, the 2 nd member being disposed adjacent to the 1 st member along the rotation axis; a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member; a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 1 st joint surface formed at a distal end portion of the 1 st support portion; a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 2 nd joint surface formed on the 2 nd support portion; a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and a through hole formed in the 2 nd support portion and through which the bolt passes. The 1 st joint surface and the 2 nd joint surface are contacted with each other. The 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis. The 1 st support portion and the 2 nd support portion are each provided with a deformation prevention portion that prevents deformation of the 1 st support portion and the 2 nd support portion in a direction intersecting the rotation axis due to fastening of the bolt. The deformation preventing portion is formed at an end portion of the inclined portion so as to be along the rotation axis. The inclined portion is inclined in one direction over the entire area of the front end portion of the 1 st support portion and the front end portion of the 2 nd support portion. The deformation preventing portion is formed on the inclined portion of the 1 st support portion and the inclined portion of the 2 nd support portion so as to have a concave-convex shape that engages with each other. The inclined portion is inclined radially outward of the rotation axis at the 1 st support portion and the 2 nd support portion.

According to the rotation mechanism, the 1 st joint surface and the 2 nd joint surface, which are pressed against each other due to tightening of the bolts, have inclined portions, respectively, which are inclined with respect to a surface orthogonal to the rotation axis. Thus, the force pressing the 1 st joint surface and the 2 nd joint surface, which acts along the rotation axis due to the coupling of the bolts, can be increased as compared with the case where the 1 st joint surface and the 2 nd joint surface are planes orthogonal to the rotation axis. This can increase the friction force acting between the 1 st joint surface and the 2 nd joint surface. Therefore, when a shearing force is applied to the 1 st member and the 2 nd member, the misalignment resistance of the 1 st joint surface and the 2 nd joint surface can be improved, and these can be made difficult to be misaligned. Thus, the fastening force between the 1 st member and the 2 nd member can be improved.

Further, the deformation preventing portion can prevent the 1 st support portion and the 2 nd support portion from being pressed along the inclined portion and deformed in the inclined direction by the bolt fastening. The inclined portion may be formed as a curved surface such as a cone formed around the rotation axis or a spherical surface close to the cone. Thus, the inclined portion can be easily formed at the time of manufacturing the rotation mechanism.

(15) The inclined portion may overlap the external gear when viewed in a radial direction of the rotation axis.

(16) A rotation mechanism according to another aspect of the present invention includes: a housing; an internal gear provided on an inner periphery of the housing; an external gear engaged with the internal gear; an eccentric body that swings the external gear; a 1 st member supported by the housing via a 1 st bearing and rotatable about a rotation axis; a 2 nd member supported by the housing via a 2 nd bearing, the 2 nd member being disposed adjacent to the 1 st member along the rotation axis; a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member; a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 1 st joint surface formed at a distal end portion of the 1 st support portion; a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 2 nd joint surface formed on the 2 nd support portion; a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and a through hole formed in the 2 nd support portion and through which the bolt passes. The 1 st joint surface and the 2 nd joint surface are contacted with each other. The 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis. The 1 st support portion and the 2 nd support portion are each provided with a deformation preventing portion that prevents deformation of the 1 st support portion and the 2 nd support portion in a direction intersecting the rotation axis due to fastening of the bolt. The deformation preventing portion is formed at an end portion of the inclined portion so as to be along the rotation axis. The front end portion of one of the 1 st support portion and the 2 nd support portion is formed in a tapered shape in which a central portion protrudes along the rotation axis than a peripheral edge, and the front end portion of the other support portion is formed in a tapered shape in which a central portion is recessed along the rotation axis than a peripheral edge. The inclined portion and the deformation preventing portion are disposed on both sides in the radial direction with respect to a central portion of the tip portion of the 1 st support portion and the 2 nd support portion.

According to the rotation mechanism, the 1 st joint surface and the 2 nd joint surface, which are pressed against each other due to tightening of the bolts, have inclined portions, respectively, which are inclined with respect to a surface orthogonal to the rotation axis. Thus, the force that presses the 1 st joint surface and the 2 nd joint surface acting along the rotation axis due to the coupling of the bolts can be increased as compared with the case where the 1 st joint surface and the 2 nd joint surface are planes orthogonal to the rotation axis. This can increase the friction force acting between the 1 st joint surface and the 2 nd joint surface. Therefore, when a shearing force is applied to the 1 st member and the 2 nd member, the misalignment resistance of the 1 st joint surface and the 2 nd joint surface can be improved, and these can be made difficult to be misaligned. Thus, the fastening force between the 1 st member and the 2 nd member can be improved.

The inclined portion is formed in a tapered shape symmetrical to the central portions of the 1 st support portion and the 2 nd support portion as a deformation preventing portion. Therefore, the 1 st support portion and the 2 nd support portion can be prevented from being pressed along the inclined portion to be deformed in the inclined direction due to the bolt tightening. Therefore, deformation can be prevented by the tapered inclined portion alone, and there is no need to form a deformation preventing portion such as a concave-convex engagement.

The inclined portion may be formed into a curved surface such as a cone or a spherical surface close to a cone formed around the central portions of the 1 st support portion and the 2 nd support portion. Thus, the inclined portion can be easily formed at the time of manufacturing the rotation mechanism.

(17) The 2 nd joint surface may be formed concavely on a surface facing the 1 st member.

(18) The inclined portion may overlap the external gear when viewed in a radial direction of the rotation axis.

(19) Another aspect of the present invention provides a robot comprising: a plurality of members including arm portions connected to be movable; a connecting portion that connects the plurality of members including the arm portion to be rotatable; and a rotation mechanism mounted to the coupling portion. The rotation mechanism is provided with: a 1 st member which rotates about a rotation axis; a 2 nd member disposed adjacent to the 1 st member along the rotation axis; a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member; a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 1 st joint surface formed at a distal end portion of the 1 st support portion; a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 2 nd joint surface formed on the 2 nd support portion; a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and a through hole formed in the 2 nd support portion and through which the bolt passes. The 1 st joint surface and the 2 nd joint surface are contacted with each other. The 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

According to the robot, the 1 st joint surface and the 2 nd joint surface pressed against each other by fastening of the bolts have inclined portions inclined with respect to the surface orthogonal to the rotation axis. Thus, the force that presses the 1 st joint surface and the 2 nd joint surface acting along the rotation axis due to the coupling of the bolts can be increased as compared with the case where the 1 st joint surface and the 2 nd joint surface are planes orthogonal to the rotation axis. This can increase the friction force acting between the 1 st joint surface and the 2 nd joint surface. Therefore, when a shearing force is applied to the 1 st member and the 2 nd member, the misalignment resistance of the 1 st joint surface and the 2 nd joint surface can be improved, and these can be made difficult to be misaligned. Thus, the fastening force between the 1 st member and the 2 nd member can be improved.

(20) An industrial machine according to another aspect of the present invention includes: a plurality of members connected to each other; a connecting portion that connects the plurality of members to be rotatable; and a rotation mechanism mounted to the coupling portion. The rotation mechanism is provided with: a 1 st member which rotates about a rotation axis; a 2 nd member disposed adjacent to the 1 st member along the rotation axis; a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member; a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 1 st joint surface formed at a distal end portion of the 1 st support portion; a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis; a 2 nd joint surface formed on the 2 nd support portion; a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and a through hole formed in the 2 nd support portion and through which the bolt passes. The 1 st joint surface and the 2 nd joint surface are contacted with each other. The 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

According to the industrial machine, the 1 st joint surface and the 2 nd joint surface pressed against each other by fastening of the bolts have inclined portions inclined with respect to the surface orthogonal to the rotation axis. Thus, the force that presses the 1 st joint surface and the 2 nd joint surface acting along the rotation axis due to the coupling of the bolts can be increased as compared with the case where the 1 st joint surface and the 2 nd joint surface are planes orthogonal to the rotation axis. This can increase the friction force acting between the 1 st joint surface and the 2 nd joint surface. Therefore, when a shearing force is applied to the 1 st member and the 2 nd member, the misalignment resistance of the 1 st joint surface and the 2 nd joint surface can be improved, and these can be made difficult to be misaligned. Thus, the fastening force between the 1 st member and the 2 nd member can be improved.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, it is possible to provide a speed reducer capable of reducing force deviation, stabilizing the axial force of the shaft and the retainer, and uniformly applying preload to the main bearing.

Drawings

Fig. 1 is a cross-sectional view showing embodiment 1 of the rotary mechanism of the present invention.

Fig. 2 is a sectional view taken along line II-II of fig. 1.

Fig. 3 is a perspective view showing a shaft in embodiment 1 of the rotation mechanism of the present invention.

Fig. 4 is an explanatory diagram showing an action at the joint surface in embodiment 1 of the rotary mechanism of the present invention.

Fig. 5 is a partial cross-sectional view showing embodiment 2 of the rotary mechanism of the present invention.

Fig. 6 is a perspective view showing a holder in embodiment 2 of the rotation mechanism of the present invention.

Fig. 7 is a partial cross-sectional view showing embodiment 3 of the rotation mechanism of the present invention.

Fig. 8 is a partial cross-sectional view showing an enlarged scale of embodiment 4 of the rotary mechanism of the present invention.

Fig. 9 is an enlarged partial cross-sectional view of the rotary mechanism.

Fig. 10 is a partial cross-sectional view showing embodiment 5 of the rotary mechanism of the present invention.

Fig. 11 is a cross-sectional view corresponding to line XI-XI of fig. 10.

Fig. 12 is a cross-sectional view showing embodiment 6 of the rotary mechanism of the present invention.

Fig. 13 is a schematic view showing embodiment 7 of the robot of the present invention.

Description of the reference numerals

C1, a rotation axis; c4, an axis; r, a robot; 1. a rotation mechanism (decelerator); 2. an outer cylinder (housing); 4. a gear frame portion; 6A, 1 st bearing (main bearing); 6B, the 2 nd bearing (main bearing); 10A, a crankshaft (eccentric body); 41. 1 st gear carrier (1 st member, shaft); 42. a 2 nd carrier (2 nd member, holder) 42d, a projection; 42m, the 2 nd joint surface (inclined portion); 44. a pillar portion (shaft portion); 44b, 1 st joint surface (inclined portion); 44c, a planar portion; 45. a through hole; 50. a fastening part; 51. bolts (fastening members); 53. an external thread portion; 54. a head; 56. an internal thread portion; 61. 62, a deformation preventing part; 101. a 1 st support part; 102. a 2 nd support part; 330L, 330U, 330S, and a connecting portion; 3412B, 1 st joint surface; 3421B, 2 nd joint surface.

Detailed Description

(embodiment 1)

Hereinafter, embodiment 1 of a rotation mechanism according to the present invention will be described with reference to the drawings.

Fig. 1 is a cross-sectional view showing a rotation mechanism in the present embodiment. Fig. 2 is a sectional view taken along line II-II of fig. 1. Fig. 3 is a perspective view showing a shaft in the rotation mechanism of the present embodiment. In the drawings, reference numeral 1 denotes a rotation mechanism.

[ rotating mechanism ]

As shown in fig. 1 to 3, the rotary mechanism 1 of the present embodiment is a so-called solid shaft reduction gear (transmission) in which an input shaft 8 is formed solid.

The rotation mechanism (reduction gear) 1 includes a housing 30 and a reduction mechanism portion 40.

The housing 30 includes a main body portion 32 and a flange portion 34. The flange 34 has a shape protruding radially outward from the main body 32. In the description of embodiment 1, the direction along the axis C1 of the body 32 is simply referred to as the axial direction, the direction intersecting the axis C1 when viewed from the axial direction is referred to as the radial direction, and the direction around the axis C1 is referred to as the circumferential direction. The side of the rotation mechanism 1 to which the drive source is connected is referred to as an input side, and the side to which a mechanism unit such as an arm that receives the output of the rotation mechanism 1 is connected is referred to as an output side. The driving source is an example of an input-side member, and the mechanism portion such as an arm is an example of an output-side member. The rotation mechanism 1 transmits a driving force by shifting the rotation speed between an input-side member and an output-side member at a predetermined rotation speed ratio.

The main body (an example of a tube) 32 is formed in a tubular shape along the axis C1. The input side of the main body 32 in the direction of the axis C1 is open. The speed reduction mechanism 40 is rotatably accommodated in an opening of the main body 32. The body 32 has a flange 34 integrally formed therewith. The rotation mechanism 1 to which rotation from the motor is input includes a plurality of (for example, 3) transmission gears 20 exposed to the outside.

The flange 34 is provided on the outer periphery of the housing 30. The flange 34 has a through hole 35 formed therein to pass through the flange 34 in the axial direction. The through holes 35 are provided at arbitrary intervals in the circumferential direction of the flange 34. The through hole 35 is a fastening hole through which a fastening member such as a bolt for fastening the rotation mechanism 1 and a robot R described later is inserted. A female screw portion, not shown, is formed in the through hole 35. The fastening member is screwed into the female screw portion. The through hole 35 and the fastening member constitute a mounting and fastening portion described later.

The rotation mechanism 1 rotates a crankshaft (eccentric body) 10A by rotating an input shaft 8 corresponding to an input gear 20 b. The rotation mechanism 1 is configured to oscillate and rotate oscillating gears (external gear) 14 and 16 in conjunction with eccentric portions 10A and 10b of a crankshaft 10A, thereby obtaining output rotation obtained by decelerating the input rotation.

The rotation mechanism 1 includes: an outer tube (housing) 2 corresponding to the main body portion 32 (tube portion); a carrier portion 4 rotatably housed in the outer tube; an input shaft 8; a plurality (e.g., 3) of crankshafts 10A; a 1 st swing gear 14; a 2 nd swing gear 16; and a plurality (e.g., 3) of transfer gears 20.

The outer tube 2 is formed in a substantially cylindrical shape, and functions as an outer surface of the rotary mechanism 1. A plurality of pin grooves 2b are formed in the inner peripheral surface of the outer tube 2. Each pin groove 2b is formed so as to extend in the axial direction of the outer tube 2, and has a semicircular cross-sectional shape in a cross section orthogonal to the axial direction. The pin grooves 2b are arranged at equal intervals in the circumferential direction on the inner circumferential surface of the outer tube 2.

The outer cylinder 2 has a plurality of inner teeth pins (inner teeth) 3. Each internal tooth pin 3 is fitted into the pin groove 2b.

Specifically, the internal tooth pins 3 are fitted into the corresponding pin grooves 2b, respectively, and are arranged in a posture extending in the axial direction of the outer tube 2. Thereby, the plurality of inner teeth pins 3 are arranged at equal intervals along the circumferential direction of the outer tube 2. The 1 st external tooth 14a of the 1 st wobble gear (external tooth gear) 14 and the 2 nd external tooth 16a of the 2 nd wobble gear (external tooth gear) 16 mesh with these internal tooth pins 3 which become internal tooth gears.

The carrier portion 4 is housed in the outer tube 2 in a state of being coaxially arranged with the outer tube 2. The carrier portion 4 rotates relative to the outer tube 2 (housing 30) about the same axis.

Specifically, the carrier portion 4 is supported by a pair of main bearings 6 so as to be rotatable relative to the outer tube 2 in a state of being disposed radially inward of the outer tube 2. The pair of main bearings 6 are disposed apart from each other in the axial direction. The carrier portion 4 is constituted by a 1 st carrier (1 st member) 41 and a 2 nd carrier (2 nd member; holder) 42 divided in the direction of the axis C1. The 1 st carrier 41 is disposed on the 1 st direction side. The 2 nd carrier 42 is disposed on the 2 nd direction side.

The 1 st direction side corresponds to the output side described above. The 2 nd direction side corresponds to the input side described earlier.

The main bearing 6 is, for example, a ball bearing having spherical rolling elements. However, the present invention is not limited to this, and various bearings such as roller bearings, tapered roller bearings, and plain bearings can be used as the main bearing 6. The tapered roller bearing has a truncated cone-shaped rolling element.

The 1 st carrier 41 includes a disk-shaped base plate portion 43 and a plurality of (e.g., 3 in the present embodiment) strut portions (shaft portions) 44 protruding from the 2 nd direction side end portion of the base plate portion 43 in the 2 nd direction. In the present embodiment, the base plate portion 43 and the pillar portion 44 are integrally formed.

A 1 st bearing housing portion 41h is formed on the outer peripheral surface 41a of the 1 st carrier 41. An inner ring 6Aa of the 1 st bearing (main bearing) 6A is fitted into the 1 st bearing housing portion 41h. Further, a 1 st bearing housing portion 2h is formed on the inner peripheral surface of the portion of the outer tube 2 (housing 30) located on the 1 st direction side. The outer ring 6Ab of the 1 st bearing 6A is fitted into the 1 st bearing housing portion 2h.

The column portion (1 st support portion) 44 of the 1 st carrier 41 is formed in a columnar shape extending in the direction of the axis C1. The pillar portion 44 is formed in a substantially circular shape as viewed in the direction of the axis C1.

However, the present invention is not limited to this, and the pillar portion 44 may be formed in a polygonal shape (for example, a substantially triangular shape or a hexagonal shape) as viewed from the axis C1 direction. The plurality of strut portions 44 are arranged at intervals in the circumferential direction around the axis C1.

The support column portions 44 are arranged so as to be located between mounting holes 4e, which will be described later, of the base plate portion 43 in the circumferential direction. That is, the pillar portions 44 are arranged at equal intervals in the circumferential direction on the 2 nd direction side of the base plate portion 43. The pitch diameter of each of the strut portions 44 is substantially the same as the pitch diameter of the mounting hole 4 e.

The 1 st joint surface (inclined portion) 44b and the deformation preventing portion 61 are formed at the front end portion (end portion) 44a of the pillar portion 44. The 1 st joint surface 44b is formed to be substantially planar in the entire region of the 1 st joint surface 44 b. The pillar portion (support portion) 44 functions as a 1 st support portion 101. Further, the 1 st bearing 101 is discussed later.

The 1 st engagement surface 44b is formed with a female screw portion 56 as the fastening portion 50. The female screw portion 56 has an opening 56a on the 1 st engagement surface 44 b. Further, a recess 58a into which the stopper pin 58 is inserted is formed in the 1 st engagement surface 44 b. The deformation preventing portion 61 is formed in a notch shape slightly recessed from the 1 st joint surface 44b toward the 1 st direction. Thus, the deformation preventing portion 61 is formed at the front end portion 44a of the strut portion 44 so as to approach the 2 nd carrier 42.

In the present embodiment, one fastening portion 50 is formed for each pillar portion 44. However, the present invention is not limited to this case, and for example, two or more fastening portions 50 may be formed for each of the pillar portions 44. The plurality of fastening portions 50 are formed so as to be located on the same circle centered on the axis C1. That is, the three fastening portions 50 are formed so as to be all located on the same circle centered on the axis C1. Thus, each pitch circle of the three fastening portions 50 is centered on the axis C1, and the diameters thereof are the same.

The female screw portion 56 is formed from the front end portion 44a of the pillar portion 44 in the 1 st direction. The bolt (fastening member) 51 is fastened to the female screw portion 56. Thus, the 1 st carrier 41 and the 2 nd carrier 42 are combined as one body.

The 2 nd carrier (holder) 42 is formed in a substantially disk shape. The 2 nd carrier 42 is disposed such that the 1 st end 42a located on the 1 st direction side is in contact with the front end 44a of the strut 44 constituting the 1 st carrier 41. Thus, the 2 nd carrier 42 is positioned with respect to the 1 st carrier 41. Therefore, a gap having the same height as the pillar portion 44 is formed between the base plate portion 43 of the 1 st carrier 41 and the 2 nd carrier 42. The housing 2 surrounds the periphery of the gap, thereby forming a swing gear housing portion for housing the swing gears 14, 16.

A 2 nd joint surface (inclined portion) 42m and a deformation preventing portion 62 are formed at a portion of the 1 st end 42a of the 2 nd carrier 42 where the tip end 44a of the pillar portion 44 abuts. The portion where the distal end portion 44a of the pillar portion 44 abuts is referred to as a 2 nd support portion 102. In the present embodiment, the 2 nd joint surface 42m and the deformation preventing portion 62 are provided as the 2 nd support portion 102.

The 2 nd joint surface 42m is inclined in correspondence with the 1 st joint surface 44b as will be described later. Therefore, irregularities are formed at the 1 st end 42a of the 2 nd carrier 42 due to the formation of the 2 nd joint surface 42 m.

The deformation preventing portion 62 is formed in a convex shape protruding from the 2 nd joint surface 42m of the 2 nd support portion 102 toward the 1 st carrier 41. The 2 nd bearing 102 is discussed later.

A 2 nd bearing housing portion 42g is formed on the outer peripheral surface 42c of the 2 nd carrier 42. An inner ring 6Ba of the 2 nd bearing (main bearing) 6B is fitted into the 2 nd bearing housing portion 42g. Further, a 2 nd bearing housing portion 2g is formed on the inner peripheral surface of the portion of the outer tube 2 (housing 30) located on the 2 nd direction side. The outer ring 6Bb of the 2 nd bearing 6B is fitted into the 2 nd bearing housing portion 2g.

The 1 st end 42a of the 2 nd carrier 42 is formed flat as a whole. In the 2 nd carrier 42, fitting holes (through holes) 45 penetrating in the thickness direction of the 2 nd carrier 42 are formed at positions corresponding to the female screw portions 56. A through hole 58b penetrating the 2 nd carrier 42 in the thickness direction is formed in the 2 nd carrier 42 at a position corresponding to the recess 58 a.

A bolt (fastening member) 51 is inserted into the fitting hole 45 from the 2 nd direction side. The bolt 51 is fastened to the female screw portion 56 of the pillar portion 44. At the same time, the stopper pin 58 is inserted into the through hole 58b. Thus, the 1 st carrier 41 and the 2 nd carrier 42 are combined in a positioned state. Further, the bolt 51 and the female screw portion 56 constitute the fastening portion 50.

The fitting hole (through hole) 45, the female screw portion 56, and the bolt 51 are coaxially fastened along an axis C4 parallel to the axis C1. The recess 58a, the through hole 58b, and the stopper pin 58 are coaxially arranged along an axis parallel to the axis C1.

In a state where the bolt 51 is fastened to the female screw portion 56, the shaft portion 52 of the bolt 51 is fitted into the female screw portion 56 of the strut portion 44 and the fitting hole 45 of the 2 nd carrier 42. Thus, the rod portion 52 of the bolt 51 is disposed across the 1 st gear carrier 41 and the 2 nd gear carrier 42.

A counter bore portion 45a connected to the fitting hole 45 is formed in the 2 nd end 42b of the 2 nd carrier 42 on the 2 nd direction side. The head 54 of the bolt 51 is inserted into the countersunk portion 45a. Thereby, the protruding height of the head 54 of the bolt 51 from the 2 nd end 42b of the 2 nd carrier 42 is suppressed. The base surface 55 of the head 54 of the tightened bolt 51 contacts the bottom surface 45b of the countersink region 45a.

Similarly, a countersunk portion 58b1 is formed in the 2 nd end 42b and connected to the through hole 58 b.

The 1 st support portion 101 and the 2 nd support portion 102 have a 1 st joint surface (inclined portion) 44b and a 2 nd joint surface (inclined portion) 42m formed on surfaces facing each other, respectively. The 1 st joint surface 44b and the 2 nd joint surface 42m are each provided as a plane surface. The 1 st engagement surface 44b and the 2 nd engagement surface 42m are inclined with respect to the axis (axis parallel to the axis C1) of the pillar portion 44. Specifically, the 1 st joint surface 44b and the 2 nd joint surface 42m are inclined in one direction so as to have an inclination angle of an angle θ with respect to a surface orthogonal to the axis C1.

In the present embodiment, the 1 st joint surface 44b and the 2 nd joint surface 42m are inclined in the circumferential direction in an inclined direction (see fig. 3).

The input shaft 8 functions as an input unit for inputting driving force of a driving motor (not shown). The input shaft 8 is inserted into a through hole 4f formed in the 2 nd carrier (end plate portion) 42 and a through hole 4d formed in the base plate portion 43. The input shaft 8 is disposed so that its axis coincides with the axes of the outer tube 2 and the carrier portion 4, and rotates about the axis. An input gear 8a is provided on the outer peripheral surface of the front end portion of the input shaft 8.

The 3 crankshafts 10A are disposed around the input shaft 8 at equal intervals in the outer tube 2 (see fig. 2). Each crankshaft 10A is supported by a pair of crankshaft bearings 12a and 12b so as to be rotatable about an axis relative to the carrier portion 4.

Each crankshaft 10A has a shaft main body 12c and eccentric portions 10A, 10b integrally formed with the shaft main body 12 c.

A fitted portion 10c to which the transmission gear 20 is attached is provided at one end portion of the crankshaft 10A. One end of the crankshaft 10A is disposed axially outward of the mounting hole 4e formed in the base plate 43.

The rotation mechanism 1 of the present embodiment is not limited to the example of fig. 1, and for example, the crankshaft 10A may be disposed in the opposite direction in the axial direction, and in this case, the fitted portion 10c may be disposed at an outer side in the axial direction than the mounting hole 4g formed in the 2 nd carrier (end plate portion) 42.

The 1 st oscillating gear 14 is disposed in a closed space secured in the outer tube 2, and is mounted on the 1 st eccentric portion 10A of each crankshaft 10A via a 1 st roller bearing 18 a. When the 1 st eccentric portion 10A eccentrically rotates with the rotation of each crankshaft 10A, the 1 st swing gear 14 swings while meshing with the internal gear pin 3 in conjunction with the eccentric rotation.

The 2 nd oscillating gear 16 is disposed in a closed space secured in the outer tube 2, and is mounted on the 2 nd eccentric portion 10b of each crankshaft 10A via a 2 nd roller bearing 18 b. The 1 st swing gear 14 and the 2 nd swing gear 16 are disposed in an aligned manner in the axial direction in correspondence with the arrangement of the 1 st eccentric portion 10a and the 2 nd eccentric portion 10b. When the 2 nd eccentric portion 10b eccentrically rotates with the rotation of each crankshaft 10A, the 2 nd swing gear 16 swings while meshing with the internal gear pin 3 in conjunction with the eccentric rotation.

Each transmission gear 20 functions to transmit the rotation of the input gear 8a to the corresponding crankshaft 10A. Each transmission gear 20 is respectively sleeved on the engaged part 10c of the corresponding crankshaft 10A. Each of the transmission gears 20 rotates integrally with the crankshaft 10A about the same axis as the rotation axis of the crankshaft 10A. Each transfer gear 20 has external teeth 20a that mesh with the input gear 8 a.

The fastening portion 50 has an internally threaded portion 56 and a bolt 51.

The bolt 51 includes a shank 52, a male screw portion 53 formed on the shank 52, and a head 54. The head 54 is formed at the end of the rod 52 on the 2 nd direction side, and is disposed coaxially with the rod 52. The head 54 is enlarged in diameter as compared to the stem 52.

[ action at support portion ]

The 1 st engagement surface 44b of the 1 st support portion 101 and the 2 nd engagement surface 42m of the 2 nd support portion 102 are opposed to each other. The 1 st joint surface 44b and the 2 nd joint surface 42m each contact each other in a state inclined with respect to the axis C1. Specifically, the 1 st joint surface 44b and the 2 nd joint surface 42m are in contact with each other in a state of being inclined at an inclination angle of an angle θ with respect to a surface orthogonal to the axis (rotation axis) C1.

Fig. 4 is an explanatory diagram showing an operation at the joint surface in the rotation mechanism of the present embodiment.

In a state where the stopper pin 58 is inserted into the through hole 58b and the recess 58a and the bolt 51 is fastened to the female screw portion 56, the 1 st support portion 101 and the 2 nd support portion 102 are pressed in a state of being compressed by each other due to the fastening between the bolt 51 and the female screw portion 56. Its thrust force F depends on the tightening force of the bolt 51. That is, as shown in fig. 4, the 1 st engagement surface 44b and the 2 nd engagement surface 42m are pressed against each other in a direction along the axis C4 of the bolt 51.

The 1 st engagement surface 44b and the 2 nd engagement surface 42m are inclined at an angle θ with respect to the force F. Therefore, as shown in fig. 4, the force perpendicular to the surface contributing to the frictional force acting between the 1 st joint surface 44b and the 2 nd joint surface 42m is F/cos θ. That is, the force F increases as compared with the case where the 1 st joint surface 44b and the 2 nd joint surface 42m are set to a plane orthogonal to the axis (rotation axis) C1. Thus, the amount corresponding to 1/cos θ is increased with respect to the bolt tightening force F. Among them, the larger the inclination angle θ is, the better.

Accordingly, as shown in fig. 4, the frictional force acting between the 1 st joint surface 44b and the 2 nd joint surface 42m becomes μf/cos θ. That is, the friction force μf increases as compared with the case where the 1 st joint surface 44b and the 2 nd joint surface 42m are set to a plane orthogonal to the axis (rotation axis) C1. The friction force is increased in this way because the 1 st joint surface 44b and the 2 nd joint surface 42m are inclined at an angle θ with respect to the axis (rotation axis) C1.

Further, consider a case where a force for biasing the 1 st support portion 101 and the 2 nd support portion 102 is applied between them.

That is, when a force acts in a direction that deflects the 1 st carrier 41 and the 2 nd carrier 42, that is, along a plane orthogonal to the axis (rotation axis) C1, the 1 st support portion 101 and the 2 nd support portion 102 need to be balanced against the force so as not to be displaced.

For this reason, it is necessary to increase the friction force along the force of the offset.

In the present embodiment, the 1 st engagement surface 44b and the 2 nd engagement surface 42m are inclined at an angle θ with respect to the axis (rotation axis) C1. Therefore, as shown in FIG. 4, the force against the displacement due to the offset is μF/(cos θ) ² . That is, the shearing force μf increases as compared with the case where the 1 st joint surface 44b and the 2 nd joint surface 42m are set to a plane orthogonal to the axis (rotation axis) C1. Thus, the shear force increases by 1/(cos θ) ² Corresponding amounts. Among them, the larger the inclination angle θ is, the better.

In this way, in the present embodiment, the displacement resistance of the 1 st support portion 101 and the 2 nd support portion 102 is improved as compared with μf in which the 1 st joint surface 44b and the 2 nd joint surface 42m are formed as planes orthogonal to the axis (rotation axis) C1.

Accordingly, the shaft force for fastening the shaft 41 and the holder 42 can be stabilized in the plurality of strut portions 44, respectively, and the durability against a large torque and torque can be improved as compared with the outer dimension of the carrier portion 4.

In a state where the bolt 51 is fastened to the female screw portion 56, the 1 st support portion 101 and the 2 nd support portion 102 are pressed in a state of being compressed by each other due to the fastening between the bolt 51 and the female screw portion 56. There is a possibility that the 1 st support portion 101 and the 2 nd support portion 102 are deformed to move in opposite directions along the 1 st joint surface 44b and the 2 nd joint surface 42m which are inclined due to the thrust force F thereof.

In this regard, in the present embodiment, in order to prevent movement deformation, the deformation preventing portions 61 and 62 are formed in the 1 st support portion 101 and the 2 nd support portion 102, respectively.

As shown in fig. 3, the deformation preventing portion 61 is formed at an outer edge portion (end portion) of the 1 st joint surface 44b in the direction in which the 2 nd support portion 102 is to be deformed and moved. The deformation preventing portion 62 (see fig. 1) is formed on an outer edge portion (end portion) of the 2 nd joint surface 42m in a direction in which the 1 st support portion 101 is to be deformed and moved, in correspondence with the deformation preventing portion 61.

Specifically, as shown in fig. 3, the deformation preventing portion 61 is formed in a notch shape at a position of the base plate portion 43 farthest from the 1 st joint surface 44 b. The deformation preventing portion 62 is formed in a convex shape at a position closest to the 1 st end 42a of the 2 nd joint surface 42m in a shape corresponding to the deformation preventing portion 61. Thus, the deformation preventing portion 61 and the deformation preventing portion 62 have a concave-convex shape that engages with each other.

In this way, the deformation preventing portions 61 and 62 are located at positions in the direction of mutually offset movement in the 1 st joint surface 44b and the 2 nd joint surface 42m that are inclined. Therefore, the 1 st engagement surface 44b and the 2 nd engagement surface 42m can be effectively prevented from being offset from each other.

Further, in addition to the deformation preventing portions 61 and 62, the 1 st joint surface 44b and the 2 nd joint surface 42m can be prevented from moving along the joint surfaces by the stopper pins 58 inserted into the concave portions 58a and the through holes 58 b.

This prevents the 1 st support portion 101 and the 2 nd support portion 102 from moving and deforming in the direction along the inclined 1 st joint surface 44b and 2 nd joint surface 42m. Thus, the fastening state between the shaft 41 and the holder 42 can be stabilized.

In the present embodiment, as shown in fig. 3, the inclination directions of the 1 st joint surface 44b and the 2 nd joint surface 42m are set to the circumferential direction around the rotation axis C1. Thereby, the movement deformation of the 1 st support portion 101 and the 2 nd support portion 102 caused by the bolt tightening becomes a direction along the circumferential direction around the rotation axis C1. Therefore, even if the movement deformation of the 1 st support portion 101 and the 2 nd support portion 102 is slightly generated, the influence thereof can be reduced as compared with the case of deformation in the radial direction.

In fig. 1, the inclination direction of the 1 st joint surface 44b and the 2 nd joint surface 42m is orthogonal to the illustrated cross section. Therefore, in fig. 1, the 1 st joint surface 44b and the 2 nd joint surface 42m are not illustrated in an inclined state.

The deformation preventing portion 61 and the deformation preventing portion 62 are notched and convex, which engage with each other. Therefore, even if the 1 st support portion 101 and the 2 nd support portion 102 are pressed in a state of being compressed to each other due to the fastening between the bolt 51 and the female screw portion 56, the 1 st joint surface 44b and the 2 nd joint surface 42m can be prevented from moving along the joint surfaces.

As described above, the rotation mechanism 1 according to the present embodiment includes the 1 st engagement surface 44b and the 2 nd engagement surface 42m inclined at the angle θ with respect to the surface orthogonal to the rotation axis C1 parallel to the axis C4 of the bolt 51 between the 1 st support portion 101 and the 2 nd support portion 102. Therefore, according to the rotation mechanism 1, the fastening state between the 1 st engagement surface 44b and the 2 nd engagement surface 42m, which are in contact with each other, can be stabilized by increasing the friction force against the axial force with respect to the fastening between the 1 st carrier (shaft) 41 and the 2 nd carrier (holder) 42. Accordingly, even when an excessive torque or torque acts as a shearing force, the axial force between the 1 st carrier 41 and the 2 nd carrier 42 can be stabilized against the excessive torque or torque, and the rotation of the carrier portion 4 can be stabilized while preventing deformation.

In addition, since the axial force at the time of fastening can be increased in each of the groups of the 1 st support portion 101 and the 2 nd support portion 102, the deviation thereof can be suppressed. As a result, the axial force can be increased, and thus the torque density can be increased. In addition, the rotational stability as the rotation mechanism 1 can be improved, and the life of the rotation mechanism 1 can be prolonged.

Further, since the deformation preventing portions 61 and 62 are formed, the 1 st joint surface 44b and the 2 nd joint surface 42m can be prevented from moving along the joint surfaces to deform.

In embodiment 1 described above, the rotation mechanism 1 may be a so-called hollow speed reducer (transmission) having a hollow structure as a rotation shaft serving as an input unit.

(embodiment 2)

Hereinafter, embodiment 2 of a rotation mechanism according to the present invention will be described with reference to the drawings.

Fig. 5 is a partial cross-sectional view showing the rotation mechanism in the present embodiment. Fig. 6 is a perspective view showing a holder in the rotation mechanism of the present embodiment. In this embodiment, an aspect different from embodiment 1 described above is an aspect concerning the orientation of the joint surface. Therefore, in this embodiment, the same reference numerals are given to the other components corresponding to embodiment 1, and the description thereof will be omitted.

As shown in fig. 5 and 6, the 1 st engagement surface 44b of the 1 st support portion 101 and the 2 nd engagement surface 42m of the 2 nd support portion 102 of the rotation mechanism 1 in the present embodiment are inclined radially outward with respect to the rotation axis C1.

Specifically, the 1 st joint surface 44b formed in the 3 strut portions 44 is formed in a tapered shape centered on the rotation axis C1. More specifically, the 3 1 st joint surfaces 44b are formed as portions of a conical surface centered on the rotation axis C1.

In addition, as shown in fig. 5, the 1 st joint surface 44b and the 2 nd joint surface 42m are inclined at an inclination angle of an angle θ with respect to a plane orthogonal to the rotation axis C1 (see fig. 4). That is, the 1 st joint surface 44b is formed on the end portions 44a of the 3 1 st support portions 101 as a part of a conical surface having a vertex angle of 180deg—2θ. In fig. 5, the stopper pin 58, the recess 58a, and the through hole 58b are not shown.

As shown in fig. 6, the 2 nd joint surface 42m is formed in a partial shape as an inverted conical surface so as to be in contact with the 1 st joint surface 44b.

The 1 st engagement surface 44b and the 2 nd engagement surface 42m may be flat surfaces inclined radially outward with respect to the rotation axis C1.

The 1 st joint surface 44b and the 2 nd joint surface 42m may be formed so as not to be inclined with respect to the circumferential direction. The inclination direction of the 1 st joint surface 44b and the 2 nd joint surface 42m in this case can be made almost identical to the inclination direction of the 1 st joint surface 44b and the 2 nd joint surface 42m in the case of forming a part of a conical surface centered on the rotation axis C1 as described above.

In this way, when comparing the case where the 1 st joint surface 44b and the 2 nd joint surface 42m are formed as part of a conical surface centered on the rotation axis C1 with the case where they are formed as planes inclined toward the radial outside, the above-mentioned relationship between the surfaces becomes μf/(cos θ) ² Can be approximated by increasing the friction force.

A protrusion 42d protruding from the 1 st end 42a toward the 1 st carrier 41 is formed in the 2 nd carrier (holder) 42 in accordance with the inclination of the 2 nd joint surface 42m. A 2 nd engagement surface 42m is formed at an end of the projection 42d. The 2 nd joint surface 42m may be formed so that a portion close to the deformation preventing portion 62 is recessed from the 1 st end 42a which is a plane.

The 1 st engagement surface 44b and the 2 nd engagement surface 42m each overlap the 1 st swing gear 14 and the 2 nd swing gear 16 as seen in the radial direction of the rotation axis C1. More preferably, the 1 st engagement surface 44b and the 2 nd engagement surface 42m each overlap the 2 nd swing gear 16 as seen in the radial direction of the rotation axis C1.

More preferably, the protrusion 42d of the 2 nd support 102 may be formed longer than that shown in fig. 6. In this case, it is preferable that the 1 st engagement surface 44b and the 2 nd engagement surface 42m each overlap the ranges of the 1 st swing gear 14 and the 2 nd swing gear 16 as viewed in the radial direction of the rotation axis C1 without going beyond the outside. By providing this, the deformation of the 1 st support portion 101 and the 2 nd support portion 102 due to the bolts 51 can be prevented from affecting the 2 nd carrier 42, and the influence of the deformation on the through holes 4f and the mounting holes 4g can be suppressed.

The reason for this is that the 2 nd support 102 protrudes from the 1 st end 42a of the 2 nd carrier 42, and therefore deformation due to fastening of the bolt 51 can be absorbed by the 2 nd support 102.

The deformation preventing portions 61 and 62 are formed at outer edge portions (end portions) of the 1 st joint surface 44b and the 2 nd joint surface 42m, which are located radially inward.

The deformation preventing portion 61 is formed at the outer edge portion (end portion) of the 1 st joint surface 44b so as to be positioned in the direction in which the 1 st support portion 101 is to be deformed and moved. Specifically, as shown in fig. 5, the deformation preventing portion 61 is formed in a notch shape at a portion closest to the rotation axis C1 of the 1 st joint surface 44b which is a conical surface.

The deformation preventing portion 62 is formed on the outer edge portion (end portion) of the 2 nd joint surface 42m so as to be located at a position in the direction in which the 2 nd support portion 102 is to be deformed and moved, corresponding to the deformation preventing portion 61. Specifically, as shown in fig. 5 and 6, the deformation preventing portion 62 is formed in a convex shape at a position of the 2 nd joint surface 42m farthest from the substrate portion 43 and at a position of the 2 nd joint surface 42m closest to the 1 st end portion 42 a.

Further, the reason why the deformation preventing portions 61, 62 are formed at the positions closest to the rotation axis C1 is that the longer the length dimension of the pillar portion 44 is, the higher the possibility that the 1 st support portion 101 and the 2 nd support portion 102 are deformed due to the fastening force of the bolt 51 is. Therefore, the deformation preventing portions 61 and 62 are provided on the radially inner side of the rotation axis C1 in the movement direction of the 1 st joint surface 44b pressed by the fastening of the bolt 51, compared to the 2 nd joint surface 42m pressed by the fastening of the bolt 51.

Accordingly, when the axial length of the 2 nd support portion 102 along the rotation axis C1 is longer than the axial length of the 1 st support portion 101 along the rotation axis C1, or when the conical surfaces of the 1 st joint surface 44b and the 2 nd joint surface 42m are inclined with the apex in the opposite direction to the direction shown in fig. 5 and 6 (when the 1 st joint surface 44b is inclined outward at a position close to the base plate portion 43), the deformation preventing portions 61 and 62 are provided radially outside the rotation axis C1.

In this embodiment, the same effects as those of embodiment 1 can be achieved.

In the present embodiment, since a conical surface is machined around the rotation axis C1, the 1 st support portion 101 and the 2 nd support portion 102 can be manufactured more easily than in embodiment 1.

In the present embodiment, the 1 st joint surface 44b and the 2 nd joint surface 42m are conical surfaces, but the present invention is not limited thereto. For example, the 1 st joint surface 44b and the 2 nd joint surface 42m may be configured to have other structures such as a flat surface having the same inclination direction as the above direction, or a curved surface close to a spherical surface.

(embodiment 3)

Embodiment 3 of the rotation mechanism according to the present invention will be described below with reference to the drawings.

Fig. 7 is a partial cross-sectional view showing the rotation mechanism in the present embodiment. In this embodiment, an aspect different from embodiment 1 and embodiment 2 is related to the joint surface. Accordingly, the same reference numerals are given to the other components corresponding to those of embodiment 1 and embodiment 2, and the description thereof will be omitted.

As shown in fig. 7, the 1 st engagement surface 44b of the 1 st support portion 101 and the 2 nd engagement surface 42m of the 2 nd support portion 102 of the rotation mechanism 1 in the present embodiment are inclined radially outward with respect to the axis C4 of the bolt 51.

Specifically, the 1 st joint surface 44b formed in the 3 stay portions 44 is formed in a tapered shape centered on the axis C4 of the bolt 51. More specifically, the 3 1 st joint surfaces 44b are each formed as conical surfaces centered on the axis C4 of the bolt 51.

In addition, the 1 st joint surface 44b and the 2 nd joint surface 42m are inclined at an angle θ with respect to a plane orthogonal to the axis C4 of the bolt 51 (see fig. 4). That is, the 1 st joint surface 44b is formed at the end 44a of the 3 1 st support portions 101 as a part of a conical surface having a vertex angle of 180deg—2θ. At this time, the 1 st joint surface 44b is formed such that the central portion protrudes from the outer peripheral edge.

The 2 nd joint surface 42m is formed so as to be in contact with the 1 st joint surface 44b and so as to be a part of an inverted conical surface whose central portion is recessed from the outer peripheral edge. In the present embodiment, the stopper pin 58, the recess 58a, and the through hole 58b are not formed.

The 2 nd carrier 42 is formed with a protrusion 42d protruding from the 1 st end 42a toward the base plate 43 in accordance with the inclination of the 2 nd joint surface 42m. A 2 nd engagement surface 42m is formed at an end of the protrusion 42d. The protrusion 42d has a diameter corresponding to the pillar portion 44. The projection 42d is the 2 nd support 102.

The 2 nd joint surface 42m is a concave conical surface formed by recessing the end surface of the protrusion 42d of the 2 nd support 102 around the axis C4. The 2 nd engagement surface 42m is separated from the 1 st end 42a as a plane along the axes C1, C4. Thus, the outer peripheral edge of the 2 nd engagement surface 42m is not in contact with the 1 st end 42a as a plane.

As described above, the 1 st joint surface 44b is formed at the end 44a of the 1 st support portion 101, and the 2 nd joint surface 42m is formed at the end of the 2 nd support portion 102. These 1 st joint surfaces 44b are in contact with the 2 nd joint surfaces 42m. The 2 nd joint surface 42m is a concave conical surface, and the 1 st joint surface 44b is a convex conical surface. When fastened, the 1 st engagement surface 44b and the 2 nd engagement surface 42m are abutted against each other. At this time, when the 1 st support portion 101 and the 2 nd support portion 102 approach each other in the directions of the axes C1 and C4, the 1 st joint surface 44b and the 2 nd joint surface 42m, which are conical surfaces, are restricted in position so that the respective axes C4 overlap.

Thus, the positioning between the 1 st carrier 41 and the 2 nd carrier 42 can be performed without using the stopper pin 58.

In this way, in the present embodiment, the stopper pin 58 is not required. Accordingly, in the assembling process of the rotation mechanism 1, the step of fitting the stopper pin 58 into the recess 58b can be omitted. Thus, the number of working steps can be reduced, and the manufacturing time can be shortened.

In this embodiment, the deformation preventing portions 61 and 62 in embodiment 1 and embodiment 2 are not provided. The deformation preventing portions 61 and 62 are each configured to prevent the 1 st joint surface 44b and the 2 nd joint surface 42m from being displaced along the joint surfaces by the tightening force of the bolt 51.

In this regard, in the present embodiment, the 1 st joint surface 44b and the 2 nd joint surface 42m are both conical surfaces centered on the axis C4.

Therefore, the following operational effects can be obtained when the 1 st joint surface 44b and the 2 nd joint surface 42m are formed in the 1 st region and the 2 nd region located on both sides in the radial direction with the axis C4 therebetween.

That is, the 1 st region of the 1 st joint surface 44b and the 2 nd joint surface 42m prevents the 1 st joint surface 44b and the 2 nd joint surface 42m from being displaced along the surface in the 2 nd region, as in the deformation preventing portions 61 and 62.

That is, the 1 st joint surface 44b and the 2 nd joint surface 42m themselves each have the same operational effects as those of the deformation preventing portions 61 and 62 on both sides in the radial direction across the axis C4.

Accordingly, the 1 st joint surface 44b and the 2 nd joint surface 42m function as deformation preventing portions that prevent deformation of the 1 st support portion 101 and the 2 nd support portion 102 themselves in a direction intersecting the rotation axis C1 or the axis C4 due to fastening of the bolt 51, respectively.

The 1 st engagement surface 44b and the 2 nd engagement surface 42m each overlap the 1 st swing gear 14 and the 2 nd swing gear 16 as seen in the radial direction of the rotation axis C1. More preferably, the 1 st engagement surface 42m and the 2 nd engagement surface 44b each overlap the 2 nd swing gear 16 as seen in the radial direction of the rotation axis C1.

More preferably, the protrusion 42d of the 2 nd support 102 may be formed longer. In this case, it is preferable that the 1 st engagement surface 44b and the 2 nd engagement surface 42m each overlap the ranges of the 1 st swing gear 14 and the 2 nd swing gear 16 as viewed in the radial direction of the rotation axis C1 without going beyond the outside. By providing this, the deformation of the 1 st support portion 101 and the 2 nd support portion 102 due to the bolts 51 can be prevented from affecting the 2 nd carrier 42, and the influence of the deformation on the through holes 4f and the mounting holes 4g can be suppressed.

In particular, the protrusion 42d is formed so that the 2 nd joint surface 42m is separated from the 1 st end 42a, and the pillar portion 44 is formed so that the 1 st joint surface 44b is separated from the base plate portion 43. This suppresses the influence of the deformation on the through holes 4d and 4f and the mounting holes 4e and 4g, respectively.

In this embodiment, the same operational effects as those of embodiment 1 and embodiment 2 can be achieved.

(embodiment 4)

Hereinafter, embodiment 4 of the rotation mechanism according to the present invention will be described with reference to the drawings.

Fig. 8 is an enlarged cross-sectional view showing a part of the rotation mechanism in the present embodiment. Fig. 9 is an enlarged sectional view showing a part of the rotation mechanism. In this embodiment, an aspect different from embodiment 3 described above is related to the joint surface. Therefore, the same reference numerals are given to the other components corresponding to those of embodiment 3, and the description thereof will be omitted.

As shown in fig. 8, in the rotary mechanism 1 of the present embodiment, the 2 nd joint surface 42m is formed as a concave tapered surface at the 1 st end 42a of the 2 nd carrier 42. The 2 nd joint surface 42m is formed around the through hole 45. That is, the 2 nd joint surface 42m functions as the 2 nd support 102.

A flat surface 44c is formed around the opening 56a of the female screw portion 56 on the 1 st joint surface 44b having a convex shape. The flat portion 44c is formed over the entire periphery of the opening 56a of the female screw portion 56. The diameter dimension phi 44c of the flat portion 44c is equal to the diameter dimension of the fitting hole 45 or slightly larger than the diameter dimension of the fitting hole 45. The diameter dimension phi 44c of the planar portion 44c is smaller than the diameter dimension phi 54 of the head 54 of the bolt 51.

In contrast, for example, as shown in fig. 9, in the case where the flat surface portion 44d has a diameter size Φ44d larger than the diameter size Φ54 of the head portion 54 of the bolt 51, a space S is generated between the flat surface portion 44d and the 2 nd joint surface 42 m. Therefore, when the bolt 51 is fastened to the female screw portion 56, the peripheral portion of the fitting hole 45 may be pressed by the head 54 of the bolt 51 by the fastening force, and may be deformed so as to collapse the space S.

To prevent this, as shown in fig. 8, the diameter size Φ44c of the flat surface portion 44c needs to be set smaller than the diameter size Φ54 of the head portion 54 of the bolt 51. That is, it is preferable to minimize the space S.

Further, by forming the flat surface portion 44C, when the internal thread portion 56 is formed at the end portion 44a of the post portion 44, the tip of a tool such as a tap can be machined at a correct position with respect to the axis line C4 without sliding.

In this embodiment, the same operational effects as those of the above-described embodiments (embodiment 1 to embodiment 3) can be achieved.

(embodiment 5)

Hereinafter, embodiment 5 of the rotation mechanism according to the present invention will be described with reference to the drawings.

Fig. 10 is a partial cross-sectional view showing the rotation mechanism in the present embodiment. Fig. 11 is a partial cross-sectional view showing the rotation mechanism in the present embodiment, orthogonal to the rotation axis. In this embodiment, the difference from embodiment 3 and embodiment 4 described above is related to the number of the joint surfaces and bolts. Therefore, the same reference numerals are given to the other components corresponding to those of embodiment 3 and embodiment 4, and the description thereof will be omitted.

As shown in fig. 10 and 11, the rotation mechanism 1 in the present embodiment fastens the 1 st support portion 101 and the 2 nd support portion 102 by two bolts 51.

The plurality of fastening portions 50 are located on the same circle centered on the axis C1. In addition, the fastening portions 50 are also located on the same circle centered on the axis C1 in the 3 strut portions 44. Thus, the six fastening portions 50 are all located on the same circle centered on the axis C1. The pitch circles of the six fastening portions 50 are centered on the axis C1, and the pitch circle diameters thereof are the same.

The 1 st support portion 101 and the 2 nd support portion 102 are each formed in a triangular shape as viewed in the direction of the axis C1. The column portion 44 of the 1 st carrier 41 as the 1 st support portion 101 is formed in a triangular columnar shape as viewed in the direction of the axis C1. In the 2 nd support 102, the 2 nd joint surface 42m is formed as a concave tapered surface at the 1 st end 42 a. Thus, the 2 nd joint surface 42m functions as the 2 nd support 102. The 1 st joint surface 44b is formed as a convex tapered surface on the front end 44a of the pillar portion 44.

The 1 st joint surface 44b and the 2 nd joint surface 42m are tapered surfaces of conical surfaces with respect to a center line parallel to the rotation axis C1 or the axis C4. The center line of the tapered surface is the center axis of the pillar portion 44, and does not coincide with the rotation axis C1 and the axis C4.

A planar portion 44e is formed around the central axis of the pillar portion 44 on the 1 st joint surface 44b having a convex shape. The planar portion 44e is formed only near the center of the pillar portion 44.

In the present embodiment, the axis C4 of the female screw portion 56 is included in the 1 st engagement surface 44b as viewed in the direction along the rotation axis C1. That is, the axis C4 of the female screw portion 56 is not included in the planar portion 44e as seen in the direction along the rotation axis C1.

This is to minimize the space S1 created between the planar portion 44e and the 2 nd joint surface 42 m. In the present embodiment, since two bolts 51 are adjacently arranged, the head portions 54 of the bolts are also arranged in close proximity. Therefore, when the bolt 51 is fastened to the female screw portion 56, the peripheral portion of the fitting hole 45 is pressed by the head 54 of the bolt 51 by the fastening force, and is easily deformed so as to collapse the space S1. Therefore, in order to reduce the influence, the axes C4 of the adjacent two female screw portions 56 are arranged so as not to be included in the planar portion 44e when seen in the direction along the rotation axis C1.

In this embodiment, the same operational effects as those of the above-described embodiments (embodiment 1 to embodiment 4) can be achieved.

(embodiment 6)

Hereinafter, embodiment 6 of the rotation mechanism according to the present invention will be described with reference to the drawings.

Fig. 12 is a cross-sectional view showing the rotation mechanism in the present embodiment. In this embodiment, the points different from the above-described embodiments 1 to 5 are points related to the crankshaft. In fig. 12, reference numeral 3000 is a rotation mechanism.

As shown in fig. 12, the rotation mechanism (speed reducer) 3000 of the present embodiment is a so-called center crankshaft type. The rotation mechanism 3000 includes an outer tube 3300 and an outer wall 3740.

The rotation mechanism 3000 includes a carrier 3400C, a crankshaft assembly 3500C, a gear portion 3600C, two main bearings 3710C, 3720C, and an input gear 3730C.

The output axis 3C1 corresponds to the central axis (axis) of the two main bearings 3710C, 3720C and the input gear 3730C. The outer barrel 3300 and the carrier 3400C relatively rotate about the output axis 3C 1.

Driving force generated by a motor (not shown) and other driving sources (not shown) is input to crankshaft assembly 3500C via input gear 3730C extending along output axis 3C 1. The driving force input to the crankshaft assembly 3500C is transmitted to the gear portion 3600C disposed in the inner space surrounded by the outer tube 3300 and the carrier 3400C.

The two main bearings 3710C, 3720C are embedded in an annular space formed between the outer tube 3300 and the carrier 3400C surrounded by the outer tube 3300. The outer tube 3300 or the carrier 3400C rotates about the output axis 3C1 by the driving force transmitted to the gear portion 3600C.

Carrier 3400C includes a base (1 st carrier) 3410C and an end plate (2 nd carrier) 3420C. The carrier 3400C is formed in a cylindrical shape as a whole. The end plate 3420C is formed in a substantially circular plate shape. The outer peripheral surface of the end plate 3420C is partially surrounded by the 2 nd cylindrical portion 3312. The main bearing 3720C is fitted in an annular space between the 2 nd cylinder portion 3312 and the peripheral surface of the end plate 3420C. The outer peripheral surface of the end plate 3420C is formed such that the rollers of the main bearing 3720C directly roll on the end plate 3420C.

The base 3410C includes a base plate 3411C and a plurality of shaft portions (1 st supporting portions) 3412C. The outer peripheral surface of the base plate 3411C is partially surrounded by the 3 rd cylindrical portion 3313. The main bearing 3710C is fitted in an annular space between the 3 rd cylinder portion 3313 and the outer peripheral surface of the base plate portion 3411C. The outer peripheral surface of the base plate 3411C is formed such that the roller of the main bearing 3710C directly rolls on the outer peripheral surface of the base plate 3411C.

The base plate 3411C is separated from the end plate 3420C in the extending direction of the output axis 3C 1. The base plate 3411C is coaxial with the end plate 3420C. That is, the output axis 3C1 corresponds to the central axis of the base plate 3411C and the end plate 3420C.

Base plate portion 3411C includes an inner surface 3415C and an outer surface 3416C opposite inner surface 3415C. Inner surface 3415C is opposite gear portion 3600C. The inner surface 3415C and the outer surface 3416C are along an imaginary plane (not shown) orthogonal to the output axis 3C 1.

The central through hole 3417C is formed in the substrate portion 3411C. The central through hole 3417C extends along the output axis 3C1 between the inner surface 3415C and the outer surface 3416C. The output axis 3C1 corresponds to the central axis of the central through hole 3417C.

The end plate 3420C includes an inner surface 3421C and an outer surface 3422C on the opposite side of the inner surface 3421C. The inner surface 3421C is opposite the gear portion 3600C. The inner surface 3421C and the outer surface 3422C are along an imaginary plane (not shown) orthogonal to the output axis 3C 1.

The center through hole 3423C is formed in the end plate 3420C. The central through hole 3423C extends along the output axis 3C1 between the inner surface 3421C and the outer surface 3422C. The output axis 3C1 corresponds to the central axis of the central through hole 3423C.

The plurality of shaft portions (1 st support portions) 3412C extend from the inner surface 3415C of the base plate portion 3411C toward the inner surface 3421C of the end plate 3420C, respectively. The 2 nd joint surfaces 3421B of the end plate 3420C are connected to the 1 st joint surfaces 3412B of the distal ends of the shaft portions 3412C. The end plate 3420C may be connected to the distal end surfaces of the plurality of shaft portions 3412C by fastening portions 50 including bolts 51 and female screw portions 56, positioning pins, and the like.

The shaft portion 3412C functions as the 1 st bearing portion 101. The 2 nd joint surfaces 3421B of the end plates 3420C function as the 2 nd support portions 102, respectively. The 2 nd joint surface 3421B and the 1 st joint surface 3412B are connected to each other in a state pressed by the bolt 51.

The 1 st joint surface 3412B and the 2 nd joint surface 3421B are inclined with respect to a plane orthogonal to the axis 3C1 as in the respective embodiments.

The gear portion 3600C is disposed between the inner surface 3415C of the base plate portion 3411C and the inner surface 3421C of the end plate 3420C. The plurality of shaft portions 3412C penetrate the gear portion 3600C and are connected to the end plate 3420C.

The gear portion 3600C includes two swing gears 3610C, 3620C.

Swing gear 3610C is disposed between end plate 3420C and swing gear 3620C. Swing gear 3620C is disposed between base plate 3411C and swing gear 3610C.

The swing gears 3610C, 3620C may be formed based on a common design. The swing gears 3610C and 3620C may be trochoid gears or cycloid gears, respectively. The principle of the present embodiment is not limited to a specific type of gear used as the swing gears 3610C, 3620C.

The swing gears 3610C, 3620C are engaged with the plurality of internal tooth pins 3320, respectively. When the crankshaft assembly 3500C rotates about the output axis 3C1, the swing gears 3610C, 3620C revolve (i.e., swing-rotate) in the housing 3310 while meshing with the internal tooth pin 3320. During this time, the centers of the swing gears 3610C, 3620C revolve around the output axis 3C 1. The relative rotation of the outer barrel 3300 and the carrier 3400C is caused by the swinging rotation of the swing gears 3610C, 3620C.

A through hole is formed in the center of each of the swing gears 3610C and 3620C. The crankshaft assembly 3500C is fitted into a through hole formed in the center of each of the swing gears 3610C, 3620C.

The swing gears 3610C and 3620C are formed with a plurality of through holes corresponding to a plurality of shaft portions 3412C arranged along a predetermined virtual circle around the output axis 3C 1. The shaft portions 3412C penetrate through the through holes. The size of these through holes is set so that interference between the plurality of shaft portions 3412C and the swing gears 3610C, 3612C does not occur.

The crankshaft assembly 3500C includes a crankshaft 3520C, two journal bearings 3531C, 3532C, and two crankshaft bearings 3541C, 3542C. The crankshaft 3520C includes a 1 st journal 3521C, a 2 nd journal 3522C, a 1 st eccentric 3523C, and a 2 nd eccentric 3524C.

The 1 st journal 3521C extends along the output axis 3C1 and is inserted into the central through hole 3423C of the end plate 3420C. The 2 nd journal 3522C extends along the output axis 3C1 on the opposite side to the 1 st journal 3521C, and is inserted into the central through hole 3417C of the base plate portion 3411C.

Journal bearing 3531C is embedded in an annular space between 1 st journal 3521C and an inner wall of end plate 3420C that forms central through hole 3423C. As a result, the 1 st journal 3521C is coupled to the end plate 3420C. Journal bearing 3532C is fitted in an annular space between the 2 nd journal 3522C and an inner wall of base plate portion 3411C forming central through hole 3417C. As a result, the 2 nd journal 3522C is coupled to the base plate 3411C. Thus, carrier 3400C can support crankshaft assembly 3500C.

The 1 st eccentric 3523C is located between the 1 st journal 3521C and the 2 nd eccentric 3524C. The 2 nd eccentric 3524C is located between the 2 nd journal 3522C and the 1 st eccentric 3523C. The crank bearing 3541C is fitted into a through hole formed in the center of the swing gear 3610C, and is coupled to the 1 st eccentric portion 3523C. As a result, the swing gear 3610C is attached to the 1 st eccentric portion 3523C. The crank bearing 3542C is fitted into a through hole formed in the center of the swing gear 3620C, and is coupled to the 2 nd eccentric portion 3524C. As a result, the swing gear 3620C is mounted on the 2 nd eccentric portion 3524C.

The 1 st journal 3521C is coaxial with the 2 nd journal 3522C and rotates about the output axis 3C 1. The 1 st eccentric portion 3523C and the 2 nd eccentric portion 3524C are respectively formed in a cylindrical shape and eccentric with respect to the output axis 3C 1. The 1 st eccentric portion 3523C and the 2 nd eccentric portion 3524C eccentrically rotate with respect to the output axis 3C1, respectively, and swing gears 3610C and 3620C are swung and rotated. In the present embodiment, the eccentric portion is exemplified by one of the 1 st eccentric portion 3523C and the 2 nd eccentric portion 3524C.

When the outer tube 3300 is fixed, the swing gears 3610C, 3620C mesh with the plurality of inner teeth pins 3320 of the outer tube 3300, and thus, the swing rotation of the swing gears 3610C, 3620C is converted into the revolving motion of the crankshaft 3520C about the output axis 3C1 and the rotation of the base plate 3411C. End plate 3420C is coupled to 1 st journal 3521C, and base plate 3411C is coupled to 2 nd journal 3522C. Accordingly, the revolving motion of the crankshaft 3520C is converted into the rotational motion of the end plate 3420C and the base plate 3411C about the output axis 3C1 by the shaft portion 3412C. The rotational phase difference between the swing gears 3610C, 3620C is determined by the difference in the eccentric direction between the 1 st eccentric portion 3523C and the 2 nd eccentric portion 3524C.

With the carrier 3400C fixed, the swing gears 3610C, 3620C mesh with the plurality of inner teeth pins 3320 of the outer tube 3300, and thus, the swing rotation of the swing gears 3610C, 3620C is converted into a rotation motion of the outer tube 3300 about the output axis 3C 1.

Input gear 3730C extends along output axis 3C1 and extends through support wall 3742. Input gear 3730C extends through space 3750 enclosed by outer wall 3740. A through hole 3525 extending along the output axis 3C1 is formed in the crankshaft 3520C. The front end of the input gear 3730C is inserted into the through hole 3525.

A key groove 3732 is formed at the front end of the input gear 3730C. Another key groove 3526 is formed in an inner wall surface of the crankshaft 3520C, in which the through hole 3525 is formed. The key grooves 3732, 3526 extend substantially parallel to the output axis 3C 1. Key 3733 is inserted into key slots 3732, 3526. As a result, the input gear 3730C is coupled to the crankshaft 3520C. If input gear 3730C rotates about output axis 3C1, crankshaft 3520C rotates about output axis 3C 1. As a result, the swing gears 3610C and 3620C swing and rotate.

The central through hole 3417C formed in the substrate 3411C includes the 1 st hollow portion 3491 and the 2 nd hollow portion 3492. The 1 st and 2 nd hollow portions 3491 and 3492 each have a circular cross section. The 1 st hollow portion 3491 has a smaller cross-sectional area than the 2 nd hollow portion 3492.

The 1 st hollow portion 3491 is provided with a 2 nd journal 3522C and a journal bearing 3532C. The outer surface 3416C of the substrate portion 3411C is connected so as to be pressed against a target member (not shown).

A flange portion 3314 is formed on the outer periphery of the housing 3310 over the entire periphery, and the flange portion 3314 is connected to the outer wall 3740. The front end 3741a of the outer wall 3741 is formed flat. A female screw portion 250 as the attachment fastening portion 150 is formed at the front end portion 3741a of the outer wall 3741.

The flange 3314 is provided on the outer periphery of the housing 3310, and has a through hole 3315 penetrating the flange 3314 in a direction along the axis 3C 1. The through holes 3315 are provided at arbitrary intervals in the circumferential direction.

The through hole 3315 is a fastening hole through which a bolt 151 for fastening the rotation mechanism 3000 to the outer wall 3740 that is a part of the robot R is inserted. A bolt 151 as a fastening member is inserted through the through hole 3315. The internal thread portion 250 of the outer wall 3740 and the bolt 151 constitute the mounting fastening portion 150. The bolt 151 and the female screw portion 250 in the mounting fastening portion 150 correspond to the bolt 51 and the female screw portion 56 in the fastening portion 50.

According to the present embodiment, according to the above-described configuration, the 1 st joint surface 3412B of the shaft portion 3412C of the 1 st support portion 101 and the 2 nd joint surface 3421B of the end plate 3420C of the 2 nd support portion 102 are inclined with respect to a plane orthogonal to the axis 3C1 and fastened by the bolts 51.

This can improve the friction between the 1 st support portion 101 and the 2 nd support portion 102 to stabilize the fastening state, and can stabilize the axial force between the shaft portion 3412C and the end plate 3420C. Further, the rotational stability of the rotation mechanism 3000 can be improved, and the torque density can be improved.

The 1 st joint surface 3412B and the 2 nd joint surface 3421B of the present embodiment can be appropriately selected from the structures of the above-described embodiments, and can be combined with the structures of the above-described embodiments.

In this embodiment, the same operational effects as those of the above-described embodiments (embodiment 1 to embodiment 5) can be achieved.

(embodiment 7)

Embodiment 7 of the industrial robot according to the present invention will be described below with reference to the drawings.

Fig. 13 is a schematic view showing a robot according to the present embodiment.

In the present embodiment, an aspect different from the above-described embodiments is related to a robot to which a rotation mechanism is attached. Accordingly, the same reference numerals are given to corresponding components other than those, and the description thereof will be omitted.

[ robot (object Member) ]

As shown in fig. 13, the robot R of the present embodiment is preferably an industrial robot, and more preferably a cooperative (cooperative) robot. A cooperative (cooperative) robot is a robot "cooperative with a worker" in the field of Factory Automation (FA) and the like.

As the robot R, an articulated robot having a plurality of reducers (transmissions) corresponding to the rotation mechanism 1 or the rotation mechanism 3000 can be used.

[ rotating mechanism ]

The rotation mechanism 1 or 3000 is provided in the coupling portions 330L and 330U and the coupling portion 330S of a pair of arms (joint portions of the robot R) rotatably coupled. The rotation mechanism 1 or the rotation mechanism 3000 decelerates and outputs a motor torque input from a motor (not shown) as a driving source.

The rotation mechanism 1 or the rotation mechanism 3000 may be not limited to the above-described configuration, as long as the rotation of the driving source generating the rotation force can be changed in speed. For example, a speed increaser that accelerates the rotation of the driving source that generates the rotational force and outputs the same may be used instead of the rotation mechanism 1 or the rotation mechanism 3000. Thus, in the present embodiment, the rotary mechanism is also included and referred to as a transmission.

The robot R has a plurality of transmissions (1 st transmission 308, 2 nd transmission 314, and 3 rd transmission 320) provided in the connection portions 330S, 330L, and 330U, respectively. Each of these transmissions 308, 314, 320 includes a 1 st support portion 101 and a 2 nd support portion 102.

Among these, the transmissions 308, 314, 320 corresponding to the rotation mechanisms 1, 3000 are part of the robot R.

The robot R includes: a fixed base 302 in contact with the installation surface; a swivel head 304 extending upward from the fixed base 302; a plurality of arms (1 st arm 310 and 2 nd arm 316) rotatably assembled to the spin head 304; an end effector E provided at the front end of the arm; and a plurality of transmissions (transmission 1 308, transmission 2, and transmission 3, transmission 320).

The 1 st arm 310 is rotatably coupled to the rotary head 304 via a plurality of transmissions 308, 314, 320, and the 2 nd arm 316 is rotatably coupled to the 1 st arm 310. The transmission 308, 314, 320 may use any one of the rotation mechanism 1 and the rotation mechanism 3000 described above, and the rotation mechanism 1 and the rotation mechanism 3000 may be used in combination. Hereinafter, the above-described process will be described in detail.

The rotary head 304 is rotatably assembled to the fixed base 302 about the S axis, and rotates about the S axis by the 1 st servomotor 306 and the 1 st transmission 308 as driving sources. The 1 st arm 310 is assembled to the upper portion of the rotary head 304 so as to be swingable back and forth about the L axis, and swings back and forth about the L axis by a 2 nd servomotor 312 and a 2 nd transmission 314 as driving sources. The 2 nd arm 316 is assembled to the upper portion of the 1 st arm 310 so as to be swingable up and down around the U axis, and swings up and down around the U axis by the 3 rd servomotor 318 and the 3 rd transmission 320 as driving sources. The end effector E can be driven three-dimensionally with the above structure.

According to the present embodiment, the axial force between the 1 st support portion 101 and the 2 nd support portion 102 is stabilized by the 1 st engagement surface 44B and the 2 nd engagement surface 42m or by the 1 st engagement surface 3412B and the 2 nd engagement surface 3421B, and in addition, the durability of the rotating mechanism 1, 3000 when receiving torque or torque is improved.

In the present embodiment, the robot R is configured to have the coupling portion 330L, 330U to which the rotating mechanism 1, 3000 is attached, but the present invention is not limited to this, and the rotating mechanism 1, 3000 may be attached to a predetermined industrial machine.

Even in this case, since the pre-compression can be uniformly applied to the main bearings 6, 3710C, and 3720C, the probability of the industrial machine itself reaching the rated life increases.

Since the axial force of the mounting and fastening portion 150 of the industrial machine and the rotating mechanism 1, 3000 is stabilized, the probability of the industrial machine itself reaching the rated life is further improved.

As the industrial machine in the present embodiment, a positioner, an AGV (Automatic Guided Vehicle; an unmanned transport vehicle), and the like can be exemplified.

In the embodiments disclosed in the present specification, a plurality of objects may be integrated with a member composed of a plurality of objects, and conversely, a member composed of one object may be divided into a plurality of objects. Whether or not integrated, the present invention may be constructed so as to achieve the object of the present invention.

Claims (20)

1. A rotary mechanism, wherein,

the rotation mechanism is provided with:

a 1 st member which rotates about a rotation axis;

a 2 nd member disposed adjacent to the 1 st member along the rotation axis;

A fastening member having an axis along the rotation axis for fastening the 1 st member and the 2 nd member;

a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

a 1 st joint surface formed at a distal end portion of the 1 st support portion;

a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis; and

a 2 nd joint surface formed on the 2 nd support portion,

the 1 st joint surface and the 2 nd joint surface are contacted with each other,

the 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

2. The rotary mechanism according to claim 1, wherein,

the 1 st support portion and the 2 nd support portion are respectively provided with a deformation prevention portion that prevents deformation of the 1 st support portion and the 2 nd support portion in a direction intersecting the rotation axis due to fastening of the fastening member,

The deformation preventing portion is formed at an end portion of the inclined portion so as to be along the rotation axis.

3. The rotary mechanism according to claim 2, wherein,

the inclined portion is inclined in one direction over the entire area of the front end portion of the 1 st support portion and the front end portion of the 2 nd support portion,

the deformation preventing portion is formed on the inclined portion of the 1 st support portion and the inclined portion of the 2 nd support portion so as to have a concave-convex shape that engages with each other.

4. The rotary mechanism according to claim 3, wherein,

the inclined portion is inclined radially outward of the rotation axis at the 1 st support portion and the 2 nd support portion.

5. The rotary mechanism according to claim 3, wherein,

the inclined portion is inclined in a circumferential direction of the 1 st support portion and the 2 nd support portion toward the rotation axis.

6. The rotary mechanism according to any one of claims 2 to 5, wherein,

the 1 st bearing portion protrudes toward the 2 nd member along the rotation axis,

the 2 nd bearing portion protrudes toward the 1 st member along the rotation axis.

7. The rotary mechanism according to claim 2, wherein,

the front end portion of one of the 1 st support portion and the 2 nd support portion is formed such that a central portion protrudes from a peripheral edge along the rotation axis, and the front end portion of the other support portion is formed such that the central portion is recessed from the peripheral edge along the rotation axis.

8. The rotary mechanism according to claim 7, wherein,

the front end portion of the other support portion is formed in a tapered shape with a central portion recessed along the rotation axis than a peripheral edge.

9. The rotary mechanism according to claim 7, wherein,

the fastening member is a bolt and,

an internal thread part is formed on the 1 st support part, the internal thread part is opened on the 1 st joint surface for fastening the bolt,

the 2 nd support portion is formed with a through hole through which the bolt passes.

10. The rotary mechanism of claim 9, wherein,

in the 1 st joint surface, a planar portion orthogonal to the rotation axis is formed on the entire circumference of the opening of the female screw portion,

the diameter dimension of the planar portion is smaller than the diameter dimension of the head portion of the bolt.

11. The rotary mechanism according to claim 9 or 10, wherein,

the 1 st joint surface is formed with the inclined portion and a planar portion orthogonal to the rotation axis,

the axis of the female screw portion is included in the inclined portion when viewed from a direction along the rotation axis.

12. The rotary mechanism according to claim 9 or 10, wherein,

the 2 nd engagement surface is concavely formed on a surface opposite to the 1 st member.

13. The rotary mechanism according to any one of claims 7 to 10, wherein,

the 1 st bearing portion protrudes toward the 2 nd member along the rotation axis,

the 2 nd bearing portion protrudes toward the 1 st member along the rotation axis.

14. A rotary mechanism, wherein,

the rotation mechanism is provided with:

a housing;

an internal gear provided on an inner periphery of the housing;

an external gear engaged with the internal gear;

an eccentric body that swings the external gear;

a 1 st member supported by the housing via a 1 st bearing and rotatable about a rotation axis;

a 2 nd member supported by the housing via a 2 nd bearing, the 2 nd member being disposed adjacent to the 1 st member along the rotation axis;

a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member;

a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

a 1 st joint surface formed at a distal end portion of the 1 st support portion;

a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

A 2 nd joint surface formed on the 2 nd support portion;

a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and

a through hole formed in the 2 nd support portion for the bolt to pass through,

the 1 st joint surface and the 2 nd joint surface are contacted with each other,

the 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis,

the 1 st support portion and the 2 nd support portion are respectively provided with a deformation prevention portion that prevents deformation of the 1 st support portion and the 2 nd support portion in a direction intersecting the rotation axis due to fastening of the bolt,

the deformation preventing part is formed at an end of the inclined part along the rotation axis,

the inclined portion is inclined in one direction over the entire area of the front end portion of the 1 st support portion and the front end portion of the 2 nd support portion,

the deformation preventing part is formed on the inclined part of the 1 st supporting part and the inclined part of the 2 nd supporting part in a mode of forming concave-convex shapes mutually engaged,

the inclined portion is inclined radially outward of the rotation axis at the 1 st support portion and the 2 nd support portion.

15. The rotary mechanism of claim 14, wherein,

the inclined portion overlaps with the external gear when viewed from the radial direction of the rotation axis.

16. A rotary mechanism, wherein,

the rotation mechanism is provided with:

a housing;

an internal gear provided on an inner periphery of the housing;

an external gear engaged with the internal gear;

an eccentric body that swings the external gear;

a 1 st member supported by the housing via a 1 st bearing and rotatable about a rotation axis;

a 2 nd member supported by the housing via a 2 nd bearing, the 2 nd member being disposed adjacent to the 1 st member along the rotation axis;

a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member;

a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

a 1 st joint surface formed at a distal end portion of the 1 st support portion;

a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

A 2 nd joint surface formed on the 2 nd support portion;

a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and

a through hole formed in the 2 nd support portion for the bolt to pass through,

the 1 st joint surface and the 2 nd joint surface are contacted with each other,

the 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis,

the 1 st support portion and the 2 nd support portion are respectively provided with deformation preventing portions for preventing deformation of the 1 st support portion and the 2 nd support portion in a direction intersecting the rotation axis due to fastening of the bolt,

the deformation preventing part is formed at an end of the inclined part along the rotation axis,

the front end portion of one of the 1 st support portion and the 2 nd support portion is formed in a tapered shape in which a central portion protrudes along the rotation axis than a peripheral edge, and the front end portion of the other support portion is formed in a tapered shape in which a central portion is recessed along the rotation axis than a peripheral edge,

the inclined portion and the deformation preventing portion are disposed on both sides in the radial direction with respect to a central portion of the tip portion of the 1 st support portion and the 2 nd support portion.

17. The rotary mechanism of claim 16, wherein,

the 2 nd engagement surface is concavely formed on a surface opposite to the 1 st member.

18. The rotary mechanism of claim 16, wherein,

the inclined portion overlaps with the external gear when viewed from the radial direction of the rotation axis.

19. A robot, wherein,

the robot is provided with:

a plurality of members including arm portions connected to be movable;

a connecting portion that connects the plurality of members including the arm portion to be rotatable; and

a rotation mechanism mounted on the connection part,

the rotation mechanism is provided with:

a 1 st member which rotates about a rotation axis;

a 2 nd member disposed adjacent to the 1 st member along the rotation axis;

a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member;

a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

a 1 st joint surface formed at a distal end portion of the 1 st support portion;

a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

A 2 nd joint surface formed on the 2 nd support portion;

a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and

a through hole formed in the 2 nd support portion for the bolt to pass through,

the 1 st joint surface and the 2 nd joint surface are contacted with each other,

the 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

20. An industrial machine, wherein,

the industrial machine comprises:

a plurality of members connected to each other;

a connecting portion that connects the plurality of members to be rotatable; and

a rotation mechanism mounted on the connection part,

the rotation mechanism is provided with:

a 1 st member which rotates about a rotation axis;

a 2 nd member disposed adjacent to the 1 st member along the rotation axis;

a plurality of bolts having axes along the rotation axis for fastening the 1 st member and the 2 nd member;

a 1 st support portion formed on the 1 st member, formed so as to face the 2 nd member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

A 1 st joint surface formed at a distal end portion of the 1 st support portion;

a 2 nd support portion formed on the 2 nd member so as to face the 1 st support portion, formed so as to face the 1 st member along the rotation axis, and provided with a plurality of support portions around the rotation axis;

a 2 nd joint surface formed on the 2 nd support portion;

a female screw portion formed in the 1 st support portion so as to open at the 1 st joint surface, the female screw portion being configured to be fastened by the bolt; and

a through hole formed in the 2 nd support portion for the bolt to pass through,

the 1 st joint surface and the 2 nd joint surface are contacted with each other,

the 1 st joint surface and the 2 nd joint surface which are in contact with each other each have an inclined portion inclined with respect to a surface orthogonal to the rotation axis.

Images