JP2000154849A - Reduction and device provided with gear - Google Patents
Reduction and device provided with gearInfo
- Publication number
- JP2000154849A JP2000154849A JP10344875A JP34487598A JP2000154849A JP 2000154849 A JP2000154849 A JP 2000154849A JP 10344875 A JP10344875 A JP 10344875A JP 34487598 A JP34487598 A JP 34487598A JP 2000154849 A JP2000154849 A JP 2000154849A
- Authority
- JP
- Japan
- Prior art keywords
- speed reducer
- fastening
- fastening surface
- robot
- reduction gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009467 reduction Effects 0.000 title claims abstract description 22
- 239000000463 material Substances 0.000 claims abstract description 27
- 230000013011 mating Effects 0.000 claims abstract description 19
- 239000011162 core material Substances 0.000 claims abstract description 10
- 239000013013 elastic material Substances 0.000 claims abstract description 6
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229910052721 tungsten Inorganic materials 0.000 claims abstract description 4
- 239000010937 tungsten Substances 0.000 claims abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 78
- 238000000034 method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 20
- 238000007751 thermal spraying Methods 0.000 abstract description 10
- 229920001971 elastomer Polymers 0.000 description 22
- 239000005060 rubber Substances 0.000 description 22
- 238000012545 processing Methods 0.000 description 8
- 239000000853 adhesive Substances 0.000 description 7
- 230000001070 adhesive effect Effects 0.000 description 7
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 238000005238 degreasing Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 239000007769 metal material Substances 0.000 description 4
- UONOETXJSWQNOL-UHFFFAOYSA-N tungsten carbide Chemical compound [W+]#[C-] UONOETXJSWQNOL-UHFFFAOYSA-N 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 229910052759 nickel Inorganic materials 0.000 description 3
- 239000003566 sealing material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- GWEVSGVZZGPLCZ-UHFFFAOYSA-N Titan oxide Chemical compound O=[Ti]=O GWEVSGVZZGPLCZ-UHFFFAOYSA-N 0.000 description 2
- MCMNRKCIXSYSNV-UHFFFAOYSA-N Zirconium dioxide Chemical compound O=[Zr]=O MCMNRKCIXSYSNV-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010292 electrical insulation Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000003746 surface roughness Effects 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229920001875 Ebonite Polymers 0.000 description 1
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- WGLPBDUCMAPZCE-UHFFFAOYSA-N Trioxochromium Chemical compound O=[Cr](=O)=O WGLPBDUCMAPZCE-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- UFGZSIPAQKLCGR-UHFFFAOYSA-N chromium carbide Chemical compound [Cr]#C[Cr]C#[Cr] UFGZSIPAQKLCGR-UHFFFAOYSA-N 0.000 description 1
- 229910000423 chromium oxide Inorganic materials 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000010285 flame spraying Methods 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052750 molybdenum Inorganic materials 0.000 description 1
- 239000011733 molybdenum Substances 0.000 description 1
- 229910001120 nichrome Inorganic materials 0.000 description 1
- 231100000989 no adverse effect Toxicity 0.000 description 1
- TWNQGVIAIRXVLR-UHFFFAOYSA-N oxo(oxoalumanyloxy)alumane Chemical compound O=[Al]O[Al]=O TWNQGVIAIRXVLR-UHFFFAOYSA-N 0.000 description 1
- RVTZCBVAJQQJTK-UHFFFAOYSA-N oxygen(2-);zirconium(4+) Chemical compound [O-2].[O-2].[Zr+4] RVTZCBVAJQQJTK-UHFFFAOYSA-N 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000005549 size reduction Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 229920003051 synthetic elastomer Polymers 0.000 description 1
- 239000005061 synthetic rubber Substances 0.000 description 1
- 229920001187 thermosetting polymer Polymers 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000004408 titanium dioxide Substances 0.000 description 1
- 229910003470 tongbaite Inorganic materials 0.000 description 1
- MTPVUVINMAGMJL-UHFFFAOYSA-N trimethyl(1,1,2,2,2-pentafluoroethyl)silane Chemical compound C[Si](C)(C)C(F)(F)C(F)(F)F MTPVUVINMAGMJL-UHFFFAOYSA-N 0.000 description 1
- 229910001928 zirconium oxide Inorganic materials 0.000 description 1
Landscapes
- Retarders (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ロボット等に締結
されて使用される減速機及びこの減速機を備えるロボッ
ト等の装置に関し、特に相手部材との間の伝達トルクを
向上させ、また小型化を達成し得る減速機に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed reducer which is used by being fastened to a robot or the like, and a device such as a robot provided with the speed reducer. And a speed reducer capable of achieving the following.
【０００２】[0002]
【従来の技術】従来、産業用ロボット等において、モー
タとロボットとの間の動力伝達経路中に減速機を介在さ
せることにより、一般に高速回転低トルクであるモータ
を高トルクの動力源として使用している。かかる減速機
では相手部材（ロボット部材）との締結にボルトを使用
している。この場合の許容伝達トルクは、次の式（１）
により表すことができる。 Ｔ＝Ｆ×（Ｄ／２）×μ×ｎ （１） ここで、Ｔ：許容伝達トルク、Ｆ：ボルト締付け力、
Ｄ：ボルト取付ＰＣＤ、μ：摩擦係数（μ＝０．１５
（締結面にオイルが付着した場合）、μ＝０．２（締結
面を脱脂した場合））、ｎ：ボルト本数である。2. Description of the Related Art Conventionally, in an industrial robot or the like, a motor having a high speed rotation and a low torque is generally used as a high torque power source by interposing a speed reducer in a power transmission path between the motor and the robot. ing. In such a speed reducer, bolts are used for fastening to a partner member (robot member). The allowable transmission torque in this case is given by the following equation (1).
Can be represented by T = F × (D / 2) × μ × n (1) where T: allowable transmission torque, F: bolt tightening force,
D: bolt mounting PCD, μ: coefficient of friction (μ = 0.15
(When oil adheres to the fastening surface), μ = 0.2 (when the fastening surface is degreased), n: number of bolts.
【０００３】減速機とロボット部材との伝達トルクを大
きくするためには、式（１）において、 ボルトサイズを大きくし、ボルト締付け力Ｆを大きく
する、 ボルトＰＣＤ（Ｄ）を増加する、 ボルト本数ｎを増やす、 他の接合手段を併用する（例えば、ローレット加工、
ピンの併用、接着剤塗布等）等の対策が考えられる。In order to increase the transmission torque between the speed reducer and the robot member, in equation (1), the bolt size is increased, the bolt tightening force F is increased, the bolt PCD (D) is increased, and the number of bolts is increased. increase the number n, use other joining means together (for example, knurling,
Countermeasures such as combined use of pins and application of an adhesive) can be considered.
【０００４】しかし、の場合、出力軸ボルト締めタイ
プにおいては締結タップ深さを確保するため、シャフト
長を増加させる必要がある。また、出力軸通しボルト締
めタイプの場合は締結ボルトが強度部材を貫通するた
め、強度部材の強度を確保するために、強度部材を大き
くする必要があり、ネジリ剛性に影響を及ぼし、好まし
くない。However, in such a case, it is necessary to increase the shaft length in the output shaft bolting type in order to secure the fastening tap depth. Further, in the case of the output shaft through bolt tightening type, since the fastening bolt penetrates the strength member, it is necessary to increase the strength member in order to secure the strength of the strength member, which undesirably affects torsional rigidity.
【０００５】また、の場合、ボルトＰＣＤの増加に伴
い、外径サイズを増加させる必要があり、減速機のサイ
ズアップを伴う。また、減速機をサイズアッフ°するこ
とは重量増加につながり、ロボットの可搬重量を低下さ
せるから、好ましくない。また、の場合にも、と同
様の問題点を生ずる。In the case of (1), it is necessary to increase the outer diameter as the bolt PCD increases, which leads to an increase in the size of the speed reducer. Further, increasing the size of the speed reducer is not preferable because it leads to an increase in weight and reduces the payload of the robot. In addition, the same problem as described above occurs.
【０００６】また、上記〜の場合は締結面の状態に
より、摩擦係数が変化するという問題も併せ持つ。In addition, the above cases have a problem that the friction coefficient varies depending on the state of the fastening surface.
【０００７】更に、の場合には、それぞれ固有の問題
を有する。例えば、 α）ローレット加工を施す場合、締結面（取付面）に比
較的大きい突起をつくり、この突起を相手部材の面に食
い込ませることにより、摩擦係数の向上を狙うものであ
るが、減速機の締結面がシャフトである場合、シール面
を兼用しているシャフトの部位にローレット加工を適用
すると、従来のＯリングを使用したシール方法では、突
起により形成された凹部からオイルが漏洩してしまうの
で、シール材を液体シール材に変更する必要が生じ、シ
ーリング作業が煩雑となり、好ましくない。[0007] In addition, the above cases have their own problems. For example, when knurling is performed, a relatively large projection is formed on the fastening surface (mounting surface), and the projection is made to bite into the surface of the mating member to improve the coefficient of friction. If the fastening surface of the shaft is a shaft, and knurling is applied to the portion of the shaft that also serves as the sealing surface, the conventional sealing method using an O-ring leaks oil from the recess formed by the projection. Therefore, it is necessary to change the sealing material to a liquid sealing material, and the sealing operation becomes complicated, which is not preferable.
【０００８】また、β）ピンを併用する場合、ピンを使
用してトルク伝達させるためには、締結面と相手部材の
共明け機械加工を必要とするが、この機械加工の際に切
粉を生ずる。この切粉が減速機内部に進入することを防
止するために、減速機にマスキング作業が必要となって
しまい、余分な作業が増え、好ましくない。[0008] Further, in the case of using a β) pin together, in order to transmit torque using the pin, it is necessary to machine the joint surface and the mating member together. Occurs. In order to prevent the chips from entering the inside of the speed reducer, a masking operation is required for the speed reducer, and extra work increases, which is not preferable.
【０００９】また、γ）接着剤を併用する場合、接着強
度は締結面の清浄度に大きく左右されるため、十分な脱
脂作業が必要となり、作業に手間がかかり、更に減速機
と相手部材とが固着されるため、メンテナンス等で分解
する際に著しい困難が生じ、好ましくない。When γ) an adhesive is used together, the adhesive strength is greatly affected by the cleanliness of the fastening surface, so that a sufficient degreasing operation is required, and the operation is troublesome. Is adhered, so that remarkable difficulties occur when disassembling for maintenance or the like, which is not preferable.
【００１０】[0010]
【発明が解決しようとする課題】本発明の目的は、上述
のような問題に鑑みて、減速機の有する特性を損なうこ
となく簡単な構成により相手部材との締結面における摩
擦係数を大きくし、伝達トルクの向上を図ることがで
き、また小型化が可能な減速機を提供することである。SUMMARY OF THE INVENTION In view of the above-mentioned problems, an object of the present invention is to increase the friction coefficient on a fastening surface with a mating member by a simple structure without impairing the characteristics of a speed reducer. It is an object of the present invention to provide a speed reducer that can improve transmission torque and can be downsized.
【００１１】[0011]
【課題を解決するための手段】本発明は、上記目的達成
のため本発明者が鋭意研究した結果、相手部材に締結さ
れる締結面を有する減速機において、この締結面にショ
ット処理または溶射処理を施すことにより、また、金属
等の硬質芯材をゴム材等の弾性材で挟んで構成された面
部材を締結面と相手部材との間に配置することにより、
締結面と相手部材との間の摩擦係数を大きくすることが
効果的であることを見出したことに基づいてなされたも
のである。SUMMARY OF THE INVENTION The present invention has been made by the inventors of the present invention as a result of intensive studies to achieve the above-mentioned object. By placing a surface member formed by sandwiching a hard core material such as a metal with an elastic material such as a rubber material between the fastening surface and a mating member,
This is based on the finding that it is effective to increase the coefficient of friction between the fastening surface and the mating member.
【００１２】本発明によれば、相手部材との締結面にお
いて摩擦係数の向上を達成できるから、上述のような
〜の対策を施すことなく、減速機の伝達トルクの増加
を図ることができ、また伝達トルクが従来と同等でよけ
れば減速機を小型化できる。According to the present invention, since the friction coefficient can be improved at the fastening surface with the mating member, the transmission torque of the speed reducer can be increased without taking the above-mentioned measures (1) and (2). If the transmission torque is equivalent to the conventional one, the reduction gear can be downsized.
【００１３】また、前記相手部材とは別の相手部材に締
結するために前記締結面を複数備えるようにでき、例え
ば一つの締結面を固定面としてこの固定面で減速機をロ
ボット装置等に締結し、他の締結面を出力面としてこの
出力面で減速機をロボット装置等の被駆動部材に締結す
ることができる。[0013] Further, a plurality of the fastening surfaces may be provided for fastening to a mating member different from the mating member. For example, one of the fastening surfaces is a fixed surface, and the speed reducer is fastened to a robot device or the like with the fixed surface. Then, the reduction gear can be fastened to a driven member such as a robot device by using the other fastening surface as an output surface.
【００１４】また、上述のような減速機を前記締結面に
おいて締結したことを特徴とする減速機を備えるロボッ
ト装置等の装置により、動力源からの回転動力等が上述
の減速機を介して伝達される際に、この伝達トルクが増
加するから、例えばロボット装置の被駆動部材を高トル
クで駆動でき、好ましい。また、一定の伝達トルクを得
る場合には、小型化した減速機を締結できるから、ロボ
ット装置の軽量化、小型化等に寄与でき、好ましい。Further, by means of a device such as a robot device provided with a speed reducer, wherein the speed reducer as described above is fastened on the fastening surface, rotational power from a power source is transmitted through the speed reducer. In this case, since the transmitted torque increases, for example, the driven member of the robot apparatus can be driven with high torque, which is preferable. In addition, when a certain transmission torque is obtained, a reduced gear can be fastened, which can contribute to weight reduction and downsizing of the robot device, which is preferable.
【００１５】[0015]
【発明の実施の形態】以下、本発明による第１〜第３の
実施の形態について図面を用いて説明する。図１は本発
明の実施の形態を示す減速機の縦断面図、図２は図１の
減速機を矢印方向ＩＩから見た図、及び図３は図１の減
速機を矢印方向ＩＩＩから見た図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, first to third embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a longitudinal sectional view of a speed reducer showing an embodiment of the present invention, FIG. 2 is a view of the speed reducer of FIG. 1 as viewed from the direction of arrow II, and FIG. 3 is a view of the speed reducer of FIG. FIG.
【００１６】最初に、本実施の形態における減速機につ
いて説明する。図１に示す減速機１０は、減速機全体の
最外周にその外周が位置しかつその内周に多数のピン１
２を有しピン歯車を構成している内歯歯車１１と、この
内歯歯車１１の内周のピン歯車と噛み合う外歯を有し内
歯歯車１１を回転させるように配置された２枚の外歯歯
車２１，２２と、外歯歯車２１，２２の平面上の偏心位
置に設けられたカム装着孔にニードル軸受２４，２５を
介してカム部２３ａ，２３ｂが嵌合しているカム軸２３
と、このカム軸２３の両端をテーパコロ軸受２６，２７
を介して支持する支持ブロック３１とを備える。First, the reduction gear according to the present embodiment will be described. The speed reducer 10 shown in FIG. 1 has an outer periphery located at the outermost periphery of the entire speed reducer and a large number of pins 1 located at an inner periphery thereof.
2 and a pair of internal gears 11 constituting a pin gear, and two external gears having external teeth meshing with the pin gear on the inner periphery of the internal gear 11 and arranged to rotate the internal gear 11. The external gears 21 and 22 and the camshaft 23 in which the cam portions 23a and 23b are fitted via cam bearing holes 24 and 25 in cam mounting holes provided at eccentric positions on the plane of the external gears 21 and 22.
And both ends of the cam shaft 23 are tapered roller bearings 26, 27.
And a support block 31 for supporting through the support.
【００１７】支持ブロック３１は、図１の左方に支持部
材３２を、右方に円板部材３３を備え、支持部材３２と
円板部材３３とが位置決めされて図１，図２のように複
数の締結部材３５により固定されて一体となっている。The support block 31 has a support member 32 on the left side of FIG. 1 and a disk member 33 on the right side, and the support member 32 and the disk member 33 are positioned, as shown in FIGS. It is fixed and integrated by a plurality of fastening members 35.
【００１８】内歯歯車１１と支持部材３２との間に複数
の転動部材４１が、内歯歯車１１と円板部材３３との間
に複数の転動部材４２がそれぞれ配置されており、これ
により、内歯歯車１１は支持ブロック３１に対し回転可
能に支持されている。A plurality of rolling members 41 are arranged between the internal gear 11 and the support member 32, and a plurality of rolling members 42 are arranged between the internal gear 11 and the disc member 33, respectively. Accordingly, the internal gear 11 is rotatably supported by the support block 31.
【００１９】また、カム軸２３の図１の左方端部には入
力平歯車２３ｃが固着されており、この入力平歯車２３
ｃは図のように支持部材３２の表面に形成された凹部３
２ａ内に収められている。カム軸２３は、図３のように
内歯歯車１１の中心を対称にして一対配置されている。An input spur gear 23c is fixed to the left end of the cam shaft 23 in FIG.
c is a concave portion 3 formed on the surface of the support member 32 as shown in the figure.
2a. As shown in FIG. 3, the camshafts 23 are arranged in a pair with the center of the internal gear 11 symmetrical.
【００１９】一対のカム軸２３は、そのカム部２３ａ，
２３ｂがカム軸２３の軸線に対し偏心しており、カム部
２３ａ，２３ｂの回転により外歯歯車２１，２２を回転
させ、２枚の外歯歯車２１，２２が協動して内歯歯車１
１を回転させるようになっている。また、外歯歯車２
１，２２の歯数は内歯歯車１１のピン１２の数よりも１
つだけ少なくなっている。The pair of cam shafts 23 have cam portions 23a,
23b is eccentric with respect to the axis of the camshaft 23, and the external gears 21 and 22 are rotated by the rotation of the cam portions 23a and 23b, and the two external gears 21 and 22 cooperate to form the internal gear 1
1 is rotated. In addition, external gear 2
The number of teeth 1 and 22 is one more than the number of pins 12 of the internal gear 11.
Only one is less.
【００２０】図１〜図３に示すように、内歯歯車１１の
最外周には減速機をロボット部材等の相手部材に締結す
る際の締結面１１ａ、１１ｂが形成されており、また締
結面１１ａ、１１ｂ間を貫通して図２，図３のように複
数の締結ボルト用孔１１ｃが形成されている。また、支
持部材３２の平面３２ｂ（図３）は、例えば被駆動部材
が締結される締結面を構成し、被駆動部材等を取り付け
るための複数のねじ穴３２ｃが形成されている。As shown in FIGS. 1 to 3, fastening surfaces 11a and 11b for fastening the speed reducer to a partner member such as a robot member are formed on the outermost periphery of the internal gear 11; As shown in FIGS. 2 and 3, a plurality of fastening bolt holes 11c are formed to penetrate between 11a and 11b. The flat surface 32b (FIG. 3) of the support member 32 constitutes, for example, a fastening surface to which the driven member is fastened, and has a plurality of screw holes 32c for attaching the driven member and the like.
【００２１】図示の減速機の動作を簡単に説明すると、
動力源（図示省略）から伝達された回転力が入力平歯車
２３ｃを介して一対のカム軸２３を回転させると、カム
部２３ａ，２３ｂがカム軸２３の軸線に対して偏心して
回転し公転運動する。このカム部２３ａ、２３ｂの公転
運動によりニードル軸受２４，２５を介して２枚の外歯
歯車２１，２２が押され、これにより、外歯歯車２１，
２２が内歯歯車１１の軸線に対して偏心して回転し公転
運動する。すると、外歯歯車２１，２２の外歯は、内歯
歯車１１のピン１２を乗り越えるような動作をし、これ
により内歯歯車１１は押されてピン１２の１ピッチ分だ
け回転する。カム部２３ａ，２３ｂが一回転すると、外
歯歯車２１，２２の外歯がピン１２を一つ乗り越えるか
ら、ピン１２の数の逆数分だけ減速されて内歯歯車１１
が回転する。また、内歯歯車１１を固定した場合には、
支持ブロック３１が回転する。The operation of the illustrated speed reducer will be briefly described.
When a rotational force transmitted from a power source (not shown) rotates the pair of camshafts 23 via the input spur gear 23c, the cam portions 23a and 23b rotate eccentrically with respect to the axis of the camshaft 23 to revolve. I do. The two external gears 21 and 22 are pushed via the needle bearings 24 and 25 by the revolving motion of the cam portions 23a and 23b, and thereby, the external gears 21 and 22 are pushed.
22 rotates eccentrically with respect to the axis of the internal gear 11 and revolves. Then, the external teeth of the external gears 21 and 22 move over the pins 12 of the internal gear 11, whereby the internal gear 11 is pushed and rotated by one pitch of the pins 12. When the cam portions 23a and 23b make one rotation, the external teeth of the external gears 21 and 22 ride over one pin 12, so that the internal gear 11 is reduced in speed by the reciprocal of the number of pins 12.
Rotates. When the internal gear 11 is fixed,
The support block 31 rotates.
【００２２】以上のような減速機によれば、大きな減速
比を実現でき、高速回転低トルクのモータを高トルクの
動力源として使用でき、またねじり剛性が大きく、高ト
ルクの回転力が伝達可能となる。According to the above-described speed reducer, a large reduction ratio can be realized, a high-speed rotating low-torque motor can be used as a high-torque power source, and the torsional rigidity is large and a high-torque torque can be transmitted. Becomes
【００２３】〈第１の実施の形態〉第１の実施の形態
は、図１〜図３に示す締結面１１ａ、１１ｂ、及び平面
（締結面）３２ｂに対して、溶射処理を行ったものであ
る。即ち、溶射材料としてＷＣ（タングステンカーバイ
ト）を用いて、公知の高速フレーム溶射法により締結面
１１ａ、１１ｂ、３２ｂに対し数１０μｍの厚さに溶射
することにより、締結面１１ａ、１１ｂ、３２ｂにＷＣ
溶射膜を形成する。かかる締結面１１ａ、１１ｂ、３２
ｂにおける溶射膜の形成により、次のような効果を得る
ことができる。<First Embodiment> In the first embodiment, a thermal spraying process is performed on the fastening surfaces 11a and 11b and the flat surface (fastening surface) 32b shown in FIGS. is there. That is, using WC (tungsten carbide) as a thermal spraying material, the fastening surfaces 11a, 11b, and 32b are sprayed on the fastening surfaces 11a, 11b, and 32b to a thickness of several tens of μm by a known high-speed flame spraying method. WC
A sprayed film is formed. Such fastening surfaces 11a, 11b, 32
The following effects can be obtained by forming the sprayed film in b.
【００２４】摩擦係数を従来の場合よりも２〜３倍程
度まで増加することが可能である。従って、減速機にお
ける伝達トルクを大きくすることができる。It is possible to increase the coefficient of friction up to about two to three times as compared with the conventional case. Therefore, the transmission torque in the reduction gear can be increased.
【００２５】締結面の脱脂状態に摩擦係数が影響を受
けない。従って、締結面の脱脂工程に手間取ることはな
く、減速機の生産性の向上に寄与できる。The friction coefficient is not affected by the degreasing state of the fastening surface. Therefore, it is possible to contribute to the improvement of the productivity of the speed reducer without taking time for the degreasing step of the fastening surface.
【００２６】締結面において締結面の状態に左右され
ない―定の摩擦係数を得ることができる。従って、減速
機をロボット部材等に取り付ける際に、脱脂作業が不要
となり、作業工程や調整工程が簡単になる。The fastening surface is not affected by the condition of the fastening surface--a constant friction coefficient can be obtained. Therefore, when attaching the speed reducer to the robot member or the like, the degreasing work is not required, and the working process and the adjusting process are simplified.
【００２７】減速機をロボット部材等から調整やメン
テナンス等のため着脱し、これを繰り返しても、着脱回
数に左右されずに締結面において高摩擦係数を維持する
ことが可能となる。従って、調整やメンテナンスが容易
となり、また減速機の耐用期間の延長に寄与でき、使い
勝手が向上する。Even if the speed reducer is attached to and detached from a robot member or the like for adjustment or maintenance and the like, the high friction coefficient can be maintained on the fastening surface regardless of the number of times of attachment and detachment. Therefore, adjustment and maintenance are facilitated, and the service life of the speed reducer can be extended, and the usability is improved.
【００２８】締結面を溶射膜が効果的に保護するか
ら、締結面に傷が付くことを防止できる。従って、減速
機の加工、運搬、保管等の取り扱いが容易となり、また
締結面に対し特別な保護が不要となり手間がかからな
い。Since the sprayed film effectively protects the fastening surface, it is possible to prevent the fastening surface from being damaged. Therefore, handling, such as processing, transportation, and storage of the speed reducer, is facilitated, and special protection is not required for the fastening surface, so that no labor is required.
【００２９】以上のように、本実施の形態の減速機によ
れば、ロボット部材等との締結面の摩擦係数を大きくで
きるから、減速機の持つねじり剛性が大きい等の特性を
全く犠牲にせずに、伝達トルクの増加が図れる。また、
伝達トルクが従来と同等でよい場合は減速機を小型化す
ることが可能となる。As described above, according to the speed reducer of the present embodiment, the coefficient of friction of the fastening surface with the robot member or the like can be increased, so that the characteristics of the speed reducer such as high torsional rigidity are not sacrificed at all. In addition, the transmission torque can be increased. Also,
When the transmission torque may be equal to the conventional one, the reduction gear can be reduced in size.
【００３０】なお、溶射材料としては、ニッケル、ニッ
ケルグラファイト、モリブデン、銅、酸化アルミニウ
ム、ニッケルアルミナ、アルミチナタニア、酸化クロ
ム、ジルコニア、二酸化チタン、炭化クロムニクロー
ム、タングステンカーバイト、タングステン、炭化チタ
ン、酸化ジルコニューム、コバルト等の金属材料、セラ
ミックスを用いることができ、これらを複数種類組み合
わせた混合物でもよい。中でもタングステンを含む材料
やチタンコーティングした材料が好ましく、タングステ
ンカーバイト（ＷＣ）が特に好ましい。また、ＷＣと上
述の材料を１種類または複数種類組み合わせた混合物が
好ましい。また、溶射法としては、フレーム溶射以外
に、アーク溶射、プラズマ溶射、線爆溶射等の公知の方
法を適用できる。The thermal spraying materials include nickel, nickel graphite, molybdenum, copper, aluminum oxide, nickel alumina, aluminum tintanania, chromium oxide, zirconia, titanium dioxide, chromium carbide nichrome, tungsten carbide, tungsten, and titanium carbide. , Zirconium oxide, cobalt, and other metal materials and ceramics can be used, and a mixture of a plurality of these may be used. Above all, a material containing tungsten or a material coated with titanium is preferable, and tungsten carbide (WC) is particularly preferable. Further, a mixture of WC and one or more of the above materials is preferable. In addition, as the thermal spraying method, a known method such as arc thermal spraying, plasma thermal spraying, and wire explosive thermal spraying can be applied in addition to flame thermal spraying.
【００３１】次に、以上のような減速機を相手部材に取
り付けたロボット装置の例を図４及び図５により説明す
る。図４の例では、ロボット装置のロボット部材５１を
図１〜図３に示す減速機１０の内歯歯車１１の締結面１
１ａに複数の締結ボルト５１ａにより取り付けて締結
し、またロボット装置の被駆動部材５２を減速機１０の
支持部材３２の締結面３２ｂに複数の締結ボルト５２ａ
により取り付けて締結している。ロボット部材５１には
孔が形成され、減速機１０の円板部材３３等がこの孔内
に入り込んでいる。Next, an example of a robot apparatus in which the above-described speed reducer is attached to a mating member will be described with reference to FIGS. In the example of FIG. 4, the robot member 51 of the robot apparatus is connected to the fastening surface 1 of the internal gear 11 of the speed reducer 10 shown in FIGS.
1a by a plurality of fastening bolts 51a for fastening, and the driven member 52 of the robot apparatus is fastened to the fastening surface 32b of the support member 32 of the speed reducer 10 by a plurality of fastening bolts 52a.
It is attached and fastened by. A hole is formed in the robot member 51, and the disk member 33 and the like of the speed reducer 10 enter the hole.
【００３２】図４の例では、各締結面１１ａ、３２ｂに
は、上述のようにＷＣ溶射層が形成されており、締結面
１１ａとロボット部材の締結面５１ｂとの間及び締結面
３２ｂと被駆動部材５２の締結面５２ｂとの間の摩擦係
数が大きくなっている。このため、入力平歯車２３ｃか
ら入力されるモータ等の動力源からの回転トルクは効率
よく減速機１０を介して被駆動部材５２まで伝達される
ため、高トルクで被駆動部材５２を回転駆動することが
できる。また、一定トルクで充分である場合には、減速
機を小型化できるため、ロボット装置を軽量化、小型化
等できる。In the example shown in FIG. 4, the WC sprayed layer is formed on each of the fastening surfaces 11a and 32b as described above, and is formed between the fastening surface 11a and the fastening surface 51b of the robot member and between the fastening surface 32b and the fastening surface 32b. The friction coefficient between the driving member 52 and the fastening surface 52b is large. For this reason, the rotational torque from the power source such as the motor input from the input spur gear 23c is efficiently transmitted to the driven member 52 via the speed reducer 10, and the driven member 52 is rotationally driven with high torque. be able to. If a constant torque is sufficient, the reduction gear can be reduced in size, so that the robot device can be reduced in weight and size.
【００３３】また、図５に示す例では、ロボット装置の
ロボット部材５１を図１〜図３に示す減速機１０の内歯
歯車１１の締結面１１ｂに複数の締結ボルト５１ａによ
り取り付けて締結した以外は、図４と同様の構成であ
る。また、ロボット部材５１には孔が形成され、減速機
１０の図の左方部分がこの孔内に入り込んで貫通してい
る。図５では、各締結面１１ｂ、３２ｂには、上述のよ
うにＷＣ溶射層が形成されており、締結面１１ｂとロボ
ット部材の締結面５１ｃとの間及び締結面３２ｂと被駆
動部材５２の締結面５２ｂとの間の摩擦係数が大きくな
っている。このため、図４の例と同様の効果を得ること
ができる。In the example shown in FIG. 5, the robot member 51 of the robot apparatus is attached and fastened to the fastening surface 11b of the internal gear 11 of the speed reducer 10 shown in FIGS. 1 to 3 by a plurality of fastening bolts 51a. Has the same configuration as that of FIG. Further, a hole is formed in the robot member 51, and the left portion of the speed reducer 10 in the drawing enters into the hole and penetrates. In FIG. 5, the WC sprayed layer is formed on each of the fastening surfaces 11b and 32b as described above, so that the fastening surface 11b is fastened to the fastening surface 51c of the robot member and the fastening surface 32b is fastened to the driven member 52. The friction coefficient with the surface 52b is large. Therefore, the same effect as in the example of FIG. 4 can be obtained.
【００３４】〈第２の実施の形態〉第２の実施の形態
は、図１〜図３に示す締結面１１ａ、１１ｂ、３２ｂに
対して、ショット処理を行ったものである。ショット処
理とは、被処理面に対して鋼等からなる小粒子等の投射
材多数を高速度で投射することにより、被処理面を加工
して一定の粗面にする表面処理法である。ショット投射
方式として加圧式エアーブラスト方式を適用し、投射
材、投射時間、投射材の被処理面に対する投射方向の投
射角度等を最適化することにより、下記の効果を得るこ
とができる。<Second Embodiment> In a second embodiment, a shot process is performed on the fastening surfaces 11a, 11b and 32b shown in FIGS. The shot process is a surface treatment method in which a large number of projectiles such as small particles made of steel or the like are projected onto a surface to be processed at a high speed, thereby processing the surface to be processed to form a uniform rough surface. The following effects can be obtained by applying a pressurized air blast method as the shot projection method and optimizing the projection material, the projection time, the projection angle of the projection material in the projection direction with respect to the surface to be processed, and the like.
【００３５】摩擦係数を従来の場合よりも１．５〜２
倍程度まで増加することが可能である。従って、減速機
における伝達トルクを大きくすることができる。The friction coefficient is 1.5 to 2 compared with the conventional case.
It is possible to increase up to about twice. Therefore, the transmission torque in the reduction gear can be increased.
【００３６】締結面において締結面の状態に左右され
ない―定の摩擦係数を得ることができる。従って、減速
機をロボット部材等に取り付ける際に、脱脂作業が不要
となり、作業工程や調整工程が簡単になる。The fastening surface is not affected by the condition of the fastening surface--a constant friction coefficient can be obtained. Therefore, when attaching the speed reducer to the robot member or the like, the degreasing work is not required, and the working process and the adjusting process are simplified.
【００３７】締結面の面粗度を、Ｏリングを配置した
場合にＯリングによるシールに問題ない範囲内（Ｒａ６
〜８μｍ）に調整できるので、ショット処理したことに
よる悪影響はない。The surface roughness of the fastening surface should be within a range where there is no problem in sealing with the O-ring when the O-ring is arranged (Ra6).
８8 μm), so there is no adverse effect of shot processing.
【００３８】減速機をロボット部材等から調整やメン
テナンス等のため着脱し、ロボット用減速機で想定され
る実用的な着脱回数内で着脱を繰り返しても、着脱回数
に左右されずに締結面において高摩擦係数を維持するこ
とが可能となる。従って、調整やメンテナンスが容易と
なり、また減速機の耐用期間の延長に寄与でき、使い勝
手が向上する。Even if the speed reducer is attached / detached from the robot member or the like for adjustment or maintenance, and the attachment / detachment is repeated within the practical number of attachment / detachment assumed for the robot speed reducer, the fastening surface is not affected by the number of attachment / detachment It is possible to maintain a high coefficient of friction. Therefore, adjustment and maintenance are facilitated, and the service life of the speed reducer can be extended, and the usability is improved.
【００３９】なお、本実施の形態のショット処理による
締結面の表面粗さは、実験等により最適なものとするこ
とができる。The surface roughness of the fastening surface by the shot processing of the present embodiment can be optimized by experiments and the like.
【００４０】以上のように、本実施の形態の減速機によ
れば、ロボット部材等との締結面の摩擦係数を大きくで
きるから、減速機の持つねじり剛性が大きい等の特性を
全く犠牲にせずに、伝達トルクの増加が図れる。また、
伝達トルクが従来と同等でよい場合は減速機を小型化す
ることが可能となる。As described above, according to the speed reducer of the present embodiment, the coefficient of friction of the fastening surface with the robot member and the like can be increased, so that the characteristics of the speed reducer such as high torsional rigidity are not sacrificed at all. In addition, the transmission torque can be increased. Also,
When the transmission torque may be equal to the conventional one, the reduction gear can be reduced in size.
【００４１】また、締結面１１ａまたは１１ｂ及び締結
面３２ｂに上述のようにショット処理を施した減速機１
０を、図４及び図５と同様にロボット装置に取り付け締
結することができ、これにより図４及び図５と同様の効
果を得ることができる。Further, the speed reducer 1 having the above-described shot processing applied to the fastening surface 11a or 11b and the fastening surface 32b.
0 can be attached and fastened to the robot device in the same manner as in FIGS. 4 and 5, whereby the same effect as in FIGS. 4 and 5 can be obtained.
【００４２】〈第３の実施の形態〉第３の実施の形態
は、図４及び図５と同様の構成のロボット装置におい
て、図６のように、減速機１０の締結面１１ａとロボッ
ト部材５１の締結面５１ｂとの間及び締結面３２ｂと被
駆動部材５２の締結面５２ｂとの間にそれぞれ面部材６
１，６２を介在させたものである。また、図７のよう
に、減速機１０の締結面１１ｂとロボット部材の締結面
５１ｃとの間及び締結面３２ｂと被駆動部材５２の締結
面５２ｂとの間にそれぞれ面部材６１，６２を介在させ
たものである。従って、図６の構成は図４と、図７の構
成は図５と同様であるので、同一部分には同じ符号を付
け、その説明は省略する。<Third Embodiment> A third embodiment is directed to a robot apparatus having the same structure as that shown in FIGS. 4 and 5 in which the fastening surface 11a of the speed reducer 10 and the robot member 51 are arranged as shown in FIG. And between the fastening surface 32b and the fastening surface 52b of the driven member 52, respectively.
1, 62 are interposed. Also, as shown in FIG. 7, face members 61 and 62 are interposed between the fastening surface 11b of the speed reducer 10 and the fastening surface 51c of the robot member, and between the fastening surface 32b and the fastening surface 52b of the driven member 52, respectively. It was made. Therefore, the configuration of FIG. 6 is the same as that of FIG. 4 and the configuration of FIG. 7 is the same as that of FIG. 5, and therefore, the same portions are denoted by the same reference numerals and description thereof is omitted.
【００４３】図８に上述の面部材６１の縦断面図を示
す。面部材６１は、金属材料からなるシート状の硬質な
芯材７１と、その両面に配置され接着剤で貼り付けられ
たゴム材料からなる弾性材としてのゴム材７２ａ、７２
ｂとを備える。面部材６１は、図６のように減速機１０
の締結面１１ａとロボット部材５１の締結面５１ｂとの
間に配置されるから、これに適合する面形状に構成さ
れ、複数の締結ボルト５２ａが貫通する複数の孔７１ａ
が形成されている。また、面部材６２は、面形状が異な
るだけで、図８と同様に構成されている。芯材７１は、
鉄鋼等の金属材料から構成するのが好ましく、例えばＳ
ＰＣＣ材を用いることができるが、これに限定されな
い。ゴム材は、合成ゴム、硬質ゴム等を用いることがで
きる。また、接着剤は熱硬化型のものを使用できるが、
他の接着剤でもよい。FIG. 8 is a longitudinal sectional view of the above-mentioned surface member 61. The surface member 61 includes a sheet-like hard core material 71 made of a metal material, and rubber materials 72a and 72 as elastic materials made of a rubber material which are disposed on both surfaces thereof and adhered with an adhesive.
b. As shown in FIG.
Is arranged between the fastening surface 11a of the robot member 51 and the fastening surface 51b of the robot member 51, and is configured to have a surface shape suitable for this, and a plurality of holes 71a through which a plurality of fastening bolts 52a penetrate.
Are formed. The surface member 62 has the same configuration as that of FIG. 8 except for the surface shape. The core 71 is
It is preferable to use a metal material such as steel.
A PCC material can be used, but is not limited thereto. As the rubber material, synthetic rubber, hard rubber, or the like can be used. The adhesive can be a thermosetting adhesive,
Other adhesives may be used.
【００４４】ここで、ゴム部材を減速機の締結面と相手
部材との間に単純に挟み込む方法が考えられるが、これ
によれば、ゴムの弾性により、減速機のネジリ剛性が低
下してしまう。また、ゴム材料は圧縮を受けた場合、ク
リープする特性があるため、時間の経過に従い締結ボル
トの緩みという問題を生じ易く、このため締結ボルトの
増締めを要してしまう。このような問題を解決するため
に、本実施の形態では、金属材料の芯材７１の両面に比
較的極薄（１０数μｍ）にされたゴム材７２ａ，７２ｂ
を接合した面部材６１，６２を、上述のように、減速機
の締結面と相手部材との間に挟み込む構成としている。
これにより、下記の効果を得ることができる。Here, it is conceivable to simply sandwich the rubber member between the fastening surface of the speed reducer and the mating member. However, according to this method, the torsional rigidity of the speed reducer is reduced due to the elasticity of the rubber. . Further, since the rubber material has a characteristic of creeping when compressed, the problem of loosening of the fastening bolt is likely to occur with the passage of time, so that the fastening bolt needs to be retightened. In order to solve such a problem, in the present embodiment, rubber materials 72a, 72b which are relatively thin (several ten μm) are provided on both surfaces of a core material 71 made of a metal material.
As described above, the surface members 61 and 62 with which are joined are sandwiched between the fastening surface of the reduction gear and the mating member.
Thereby, the following effects can be obtained.
【００４５】ゴム材のみを挟み込むと減速機において
ゴムの弾性によるネジリ剛性の低下が生じるが、本実施
の形態による面部材によれば、ゴム材を比較的薄く構成
しているので、かかるねじり剛性の低下を防止できる。When only the rubber material is interposed, the torsional rigidity of the speed reducer is reduced due to the elasticity of the rubber. However, according to the surface member according to the present embodiment, since the rubber material is relatively thin, the torsional rigidity is reduced. Can be prevented from decreasing.
【００４６】減速機の締結面と相手部材との間におけ
る摩擦係数を大きくできるから、減速機の持つねじり剛
性が大きい等の特性を全く犠牲にせずに、伝達トルクの
増加が図れる。また、伝達トルクが従来と同等でよい場
合は減速機を小型化することが可能となる。Since the friction coefficient between the fastening surface of the speed reducer and the mating member can be increased, the transmission torque can be increased without sacrificing the characteristics of the speed reducer such as high torsional rigidity. Further, when the transmission torque may be equal to the conventional one, the reduction gear can be downsized.
【００４７】ゴム材のゴム層が締結面の凸凹に食い込
むため面部材がシール性を有し、シール材としての役割
を果たすので、Ｏリング等の別のシール手段やシ‐ル剤
塗布の必要がなくなり、作業性が改善され、生産性の向
上に寄与できる。Since the rubber layer of the rubber material cuts into the unevenness of the fastening surface, the surface member has a sealing property and plays a role as a sealing material. Therefore, it is necessary to apply another sealing means such as an O-ring or a sealant. Is eliminated, workability is improved, and it is possible to contribute to improvement in productivity.
【００４８】本実施の形態による面部材によれば、ゴ
ム材を比較的薄く構成しているので、クリーフ°が極小
となるので、時間の経過に従い締結ボルトの緩みという
問題が解決でき、締結ボルトの増締めが不要となり、作
業性が改善される。According to the surface member of the present embodiment, since the rubber material is relatively thin, the creep angle is minimized, so that the problem of loosening of the fastening bolt over time can be solved. No additional tightening is required, and workability is improved.
【００４９】面部材のゴム材により、振動の遮断が可
能となり、減速機を取り付けたロボット装置において防
振・遮音効果が得られ、減速機自体が制振機能をもつこ
とができ、好ましい。The rubber material of the face member makes it possible to cut off the vibration, to obtain a vibration-proof / sound-proofing effect in a robot device equipped with a speed reducer, and the speed reducer itself can preferably have a vibration damping function.
【００５０】ゴム材に絶縁性ゴムを使用することによ
り、電気絶縁性を有するので、ロボット装置において減
速機にかかる電気絶縁性が必要な場合に適用可能とな
る。Since the insulating rubber is used as the rubber material, the rubber material has electrical insulation, so that it can be applied to the case where the robot device needs the electrical insulation of the reduction gear.
【００５１】芯材が金属性の芯金であるので、ゴム材
料のみで面部材を構成した場合よりも剛性があり、取り
扱いが容易となり、面部材を自動的に装着する装着ライ
ンの自動化がきわめて簡単となり、生産性の向上に寄与
できる。Since the core material is a metal core, the rigidity is higher than when the surface member is formed only of the rubber material, the handling is easy, and the mounting line for automatically mounting the surface member is extremely automated. It becomes simple and can contribute to improvement of productivity.
【００５２】以上のように、本実施の形態によれば、減
速機の伝達トルクの向上あるいは小型化が達成できると
なるとともに、従来の減速機が有しなかった機能を持た
せることが可能となり、減速機の付加価値が増して、好
ましい。As described above, according to the present embodiment, it is possible to improve the transmission torque of the reduction gear or to reduce the size thereof, and it is possible to provide a function not provided in the conventional reduction gear. This is preferable because the added value of the speed reducer increases.
【００５３】更に、かかる減速機を図６，図７のように
締結したロボット装置では、入力平歯車２３ｃから入力
されるモータ等の動力源からの回転トルクは効率よく減
速機１０を介して被駆動部材５２まで伝達されるため、
高トルクで被駆動部材５２を回転駆動することができ
る。また、一定トルクで充分である場合には、減速機を
小型化できるため、ロボット装置を軽量化、小型化等で
きる。Further, in the robot apparatus in which the speed reducer is fastened as shown in FIGS. 6 and 7, the rotational torque from a power source such as a motor input from the input spur gear 23c is efficiently received via the speed reducer 10. Because it is transmitted to the drive member 52,
The driven member 52 can be rotationally driven with high torque. If a constant torque is sufficient, the reduction gear can be reduced in size, so that the robot device can be reduced in weight and size.
【００５４】なお、本実施の形態ではゴム材を用いた
が、ゴム材以外の弾性材料を使用してもよい。Although a rubber material is used in the present embodiment, an elastic material other than the rubber material may be used.
【００５５】以上のように、本発明を実施の形態により
説明したが、本発明はこれに限定されるものではなく、
本発明の技術的思想の範囲内で種々の変形が可能であ
る。例えば、本実施の形態では、偏心運動する外歯歯車
を用いて比較的大きな減速比で動力を伝達可能な減速機
としたが、他のタイプの減速機にも適用できる。また、
減速機を締結する装置は、ロボット装置に限らず、他の
産業機械（ウインチ等）であってもよい。また、図４〜
図７において、締結面１１ａまたは１１ｂ及び締結面３
２ｂの一方のみに、本発明によるショット処理または溶
射処理を施してよく、また面部材を配置してよい。ま
た、締結面１１ａまたは１１ｂ及び締結面３２ｂの一方
をショット処理面または溶射処理面とし、他方に面部材
を配置するようにしてもよい。As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to this.
Various modifications are possible within the scope of the technical idea of the present invention. For example, in the present embodiment, the speed reducer is capable of transmitting power at a relatively large speed reduction ratio by using an external gear that moves eccentrically. However, the present invention can also be applied to other types of speed reducers. Also,
The device for fastening the speed reducer is not limited to the robot device, and may be another industrial machine (a winch or the like). Also, FIG.
In FIG. 7, the fastening surface 11a or 11b and the fastening surface 3
Only one of 2b may be subjected to the shot processing or the thermal spray processing according to the present invention, and a surface member may be disposed. Alternatively, one of the fastening surfaces 11a or 11b and the fastening surface 32b may be a shot processing surface or a thermal spraying surface, and a surface member may be disposed on the other.
【００５６】[0056]
【発明の効果】本発明によれば、減速機の有する特性を
損なうことなく簡単な構成により相手部材との締結面に
おける摩擦係数を大きくし、伝達トルクの向上を図るこ
とができ、また小型化が可能な減速機を提供できる。According to the present invention, it is possible to increase the friction coefficient on the fastening surface with the mating member by a simple structure without impairing the characteristics of the speed reducer, to improve the transmission torque, and to reduce the size. Can be provided.
【００５７】また、かかる減速機を備えた装置によれ
ば、装置の被駆動部材を高トルクで駆動でき、また、小
型化した減速機を締結でき、装置の軽量化、小型化に寄
与できる。Further, according to the device provided with such a speed reducer, the driven member of the device can be driven with high torque, and a reduced speed reducer can be fastened, which contributes to the weight reduction and size reduction of the device.
【図１】本発明の実施の形態による減速機の縦断面図で
ある。FIG. 1 is a longitudinal sectional view of a speed reducer according to an embodiment of the present invention.
【図２】図１の減速機を矢印方向ＩＩから見た図であ
る。FIG. 2 is a view of the speed reducer of FIG. 1 as viewed from an arrow direction II.
【図３】図１の減速機を矢印方向ＩＩＩから見た図であ
る。FIG. 3 is a view of the speed reducer of FIG. 1 as viewed from an arrow direction III.
【図４】図１の減速機をロボット装置に取り付けた状態
を示す図である。FIG. 4 is a diagram showing a state where the speed reducer of FIG. 1 is attached to a robot device.
【図５】図１の減速機をロボット装置に取り付けた状態
を示す別の図である。FIG. 5 is another view showing a state where the speed reducer of FIG. 1 is attached to a robot device.
【図６】図１の減速機をロボット装置に面部材を用いて
取り付けた状態を示す図である。FIG. 6 is a diagram showing a state in which the speed reducer of FIG. 1 is attached to a robot device using a surface member.
【図７】図１の減速機をロボット装置に面部材を用いて
取り付けた状態を示す別の図である。FIG. 7 is another view showing a state in which the speed reducer of FIG. 1 is attached to a robot device by using a surface member.
【図８】図６，図７に示す面部材の縦断面図である。8 is a longitudinal sectional view of the surface member shown in FIGS. 6 and 7. FIG.
１０ 減速機 １１ 内歯歯車 １１ａ，１１ｂ 締結面 ３２ 支持部材 ３２ｂ 締結面 ５１ ロボット部材（相手部材） ５２ 被駆動部材（別の相手部材） ５１ａ，５２ａ 締結ボルト ６１，６２ 面部材 ７１ 芯材（硬質芯材） ７２ａ，７２ｂ ゴム材（弾性材） DESCRIPTION OF SYMBOLS 10 Reduction gear 11 Internal gear 11a, 11b Fastening surface 32 Support member 32b Fastening surface 51 Robot member (partner member) 52 Driven member (another partner member) 51a, 52a Fastening bolt 61, 62 Surface member 71 Core material (hard) Core material) 72a, 72b Rubber material (elastic material)
Claims (4)
めに相手部材に締結される締結面を備える減速機であっ
て、 前記締結面にショット処理またはタングステン含有材料
による溶射処理を施したことを特徴とする減速機。1. A speed reducer having a fastening surface that is fastened to a mating member to reduce and transmit power from a power source, wherein the fastening surface is subjected to a shot process or a thermal spray process using a tungsten-containing material. A speed reducer characterized in that:
めに相手部材に締結される締結面を備える減速機であっ
て、 硬質芯材を弾性材で挟んで構成された面部材を前記締結
面に配置したことを特徴とする減速機。2. A speed reducer having a fastening surface that is fastened to a mating member for transmitting power from a power source at a reduced speed, wherein the speed reducer includes a surface member formed by sandwiching a hard core material with an elastic material. A speed reducer characterized by being arranged on a fastening surface.
るために前記締結面を複数備える請求項１または２記載
の減速機。3. The reduction gear according to claim 1, wherein a plurality of the fastening surfaces are provided for fastening to a mating member different from the mating member.
記締結面において締結したことを特徴とする減速機を備
える装置。4. An apparatus provided with a speed reducer, wherein the speed reducer according to claim 1, 2, or 3 is fastened at the fastening surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10344875A JP2000154849A (en) | 1998-11-19 | 1998-11-19 | Reduction and device provided with gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10344875A JP2000154849A (en) | 1998-11-19 | 1998-11-19 | Reduction and device provided with gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000154849A true JP2000154849A (en) | 2000-06-06 |
| JP2000154849A5 JP2000154849A5 (en) | 2004-09-02 |
Family
ID=18372673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10344875A Pending JP2000154849A (en) | 1998-11-19 | 1998-11-19 | Reduction and device provided with gear |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000154849A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007127156A (en) * | 2005-11-01 | 2007-05-24 | Sumitomo Heavy Ind Ltd | Planetary gear power transmission device |
| WO2007145162A1 (en) | 2006-06-13 | 2007-12-21 | Nabtesco Corporation | Reduction gear |
| JP2014092209A (en) * | 2012-11-01 | 2014-05-19 | Sumitomo Heavy Ind Ltd | Planetary gear reduction device and fabrication method of the same |
| CN105598455A (en) * | 2016-03-14 | 2016-05-25 | 扬州保来得科技实业有限公司 | Method for increasing friction force of contact face of powder metallurgy product |
| JP2016166623A (en) * | 2015-03-09 | 2016-09-15 | ナブテスコ株式会社 | Reduction gear and gasket |
| DE102017209027A1 (en) | 2016-06-08 | 2017-12-14 | Nabtesco Corporation | Seal member and transmission device |
| JP2020024024A (en) * | 2018-08-08 | 2020-02-13 | ナブテスコ株式会社 | Fastening mechanism, fastening article, and industrial machine |
-
1998
- 1998-11-19 JP JP10344875A patent/JP2000154849A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007127156A (en) * | 2005-11-01 | 2007-05-24 | Sumitomo Heavy Ind Ltd | Planetary gear power transmission device |
| WO2007145162A1 (en) | 2006-06-13 | 2007-12-21 | Nabtesco Corporation | Reduction gear |
| US8323140B2 (en) | 2006-06-13 | 2012-12-04 | Nabtesco Corporation | Reduction gear transmission |
| JP2014092209A (en) * | 2012-11-01 | 2014-05-19 | Sumitomo Heavy Ind Ltd | Planetary gear reduction device and fabrication method of the same |
| TWI697635B (en) * | 2015-03-09 | 2020-07-01 | 日商納博特斯克股份有限公司 | Reducer and gasket |
| DE102016203148A1 (en) | 2015-03-09 | 2016-09-15 | Nabtesco Corporation | Reduction gear device and gasket |
| CN105952869A (en) * | 2015-03-09 | 2016-09-21 | 纳博特斯克有限公司 | Speed reducer and gasket |
| KR20160110133A (en) * | 2015-03-09 | 2016-09-21 | 나부테스코 가부시키가이샤 | Speed reducer and gasket |
| KR102499984B1 (en) * | 2015-03-09 | 2023-02-15 | 나부테스코 가부시키가이샤 | Speed reducer and gasket |
| JP2016166623A (en) * | 2015-03-09 | 2016-09-15 | ナブテスコ株式会社 | Reduction gear and gasket |
| CN105952869B (en) * | 2015-03-09 | 2020-10-27 | 纳博特斯克有限公司 | Speed reducer and gasket |
| CN105598455A (en) * | 2016-03-14 | 2016-05-25 | 扬州保来得科技实业有限公司 | Method for increasing friction force of contact face of powder metallurgy product |
| TWI729142B (en) * | 2016-06-08 | 2021-06-01 | 日商納博特斯克股份有限公司 | Gear device |
| KR20170138931A (en) * | 2016-06-08 | 2017-12-18 | 나부테스코 가부시키가이샤 | Seal member and gear device |
| CN107477152A (en) * | 2016-06-08 | 2017-12-15 | 纳博特斯克有限公司 | Containment member and geared system |
| JP2017219134A (en) * | 2016-06-08 | 2017-12-14 | ナブテスコ株式会社 | Seal member and gear device |
| KR102385303B1 (en) * | 2016-06-08 | 2022-04-11 | 나부테스코 가부시키가이샤 | Seal member and gear device |
| CN107477152B (en) * | 2016-06-08 | 2022-07-01 | 纳博特斯克有限公司 | Gear device |
| DE102017209027A1 (en) | 2016-06-08 | 2017-12-14 | Nabtesco Corporation | Seal member and transmission device |
| JP2020024024A (en) * | 2018-08-08 | 2020-02-13 | ナブテスコ株式会社 | Fastening mechanism, fastening article, and industrial machine |
| CN110864084A (en) * | 2018-08-08 | 2020-03-06 | 纳博特斯克有限公司 | Fastening mechanism, fastened article, and industrial machine |
| JP7304684B2 (en) | 2018-08-08 | 2023-07-07 | ナブテスコ株式会社 | FASTENING MECHANISMS, FASTENING ARTICLES AND INDUSTRIAL MACHINERY |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1577062A1 (en) | Industrial robot with speed reducer in rotary joints | |
| KR101732287B1 (en) | Gear device | |
| JP4858513B2 (en) | Method of joining differential device and joining aid | |
| JP5231530B2 (en) | Gear device | |
| WO2012075737A1 (en) | Worm reducer, robot joint and robot | |
| JP2000154849A (en) | Reduction and device provided with gear | |
| JP2003035255A (en) | Fastening structure of power transmission member | |
| JP4029409B2 (en) | Actuator with two drive motors, differential reduction gear and torque limiter | |
| JPH0627533B2 (en) | Planetary gear reducer | |
| WO2012075736A1 (en) | Worm reducer, robot joint and robot | |
| US20040067813A1 (en) | Rotatory transmitting mechanism, machine tool with the mechanism, and tool holder | |
| JP6522492B2 (en) | Reduction gear and transfer device | |
| JP5009232B2 (en) | Eccentric oscillating gear unit | |
| JP2002130162A (en) | Gear mechanism of screw compressor | |
| EP0087742A2 (en) | Speed reducer with anti-backlash bearing | |
| JP2006144888A (en) | Eccentrically swing type gear device | |
| JP3523247B2 (en) | Inner revolution type differential gear reducer | |
| JP4097576B2 (en) | Friction roller on conveyor | |
| JP3238775U (en) | jig | |
| JP2000329149A (en) | Coupling of vacuum pump for vehicle | |
| JPH0866874A (en) | Bolt fastener | |
| JP7373919B2 (en) | Input shaft and reducer | |
| CN110193747B (en) | Ram transmission clearance elimination assembly | |
| WO2019156166A1 (en) | Power-transmitting mechanism | |
| JP2646166B2 (en) | Drive wheel with outer cylinder fixing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A712 Effective date: 20041015 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20060414 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20060419 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20060606 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20060811 |
|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20070315 |