JP2006312957A - Rotary section structure of industrial robot - Google Patents

Rotary section structure of industrial robot Download PDF

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JP2006312957A
JP2006312957A JP2005135285A JP2005135285A JP2006312957A JP 2006312957 A JP2006312957 A JP 2006312957A JP 2005135285 A JP2005135285 A JP 2005135285A JP 2005135285 A JP2005135285 A JP 2005135285A JP 2006312957 A JP2006312957 A JP 2006312957A
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gear
diameter
idle
axial direction
industrial robot
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JP4632852B2 (en
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Koji Nakamura
江児 中村
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Nabtesco Corp
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Nabtesco Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To effectively prevent generation of a crack on a crankpin 40. <P>SOLUTION: A middle diameter gear part 51 is provided on one side of the shaft direction of a first idle gear 49 supported by the crankpin 40, and a large diameter gear part 52 is provided on other side of the shaft direction. A small diameter gear part 65 is provided on one side of a shaft direction of a second idle gear 63 supported by a tip end part of an output shaft 60, and a middle diameter gear part 66 for meshing with the middle diameter gear part 51 is provided on other side of the shaft direction. Thereby, the first idle gear 49 can be arranged on the crankpin 40 between the input gear 48 and a bearing 41 on one side. Thus, a step required in the interest of assembly can be eliminated at an end part 40a in the shaft direction of the crankpin 40 projected from the bearing 41 on the one side. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

この発明は、偏心揺動型減速機を用いた産業用ロボットの旋回部構造に関する。     The present invention relates to a turning part structure of an industrial robot using an eccentric oscillating speed reducer.

従来の産業用ロボットの旋回部構造としては、例えば以下の特許文献１に記載されているようなものが知られている。
特開昭６２−４５８６号公報 As a conventional turning structure of an industrial robot, for example, a structure described in Patent Document 1 below is known.
JP-A-62-2586

このものは、産業用ロボットの第１部材および第２部材と、前記第１部材と第２部材との間に設けられ、駆動モータからの回転を順次減速して第２部材に出力する前段減速機および偏心揺動型減速機を備え、前記偏心揺動型減速機を、内周に多数の内歯を有するケースと、ケース内に収納され、内歯と噛み合う外歯を有するピニオンと、前記ケース内に挿入されるとともに、該ケースに対し相対回転可能なキャリアと、該キャリアに軸方向に離れた一対の軸受を介して回転可能に支持されるとともに、ピニオンに偏心部がそれぞれ挿入された複数のクランクピンとから構成する一方、前記前段減速機を、前記一側の軸受から突出した全てのクランクピンの軸方向一端部にそれぞれスプライン結合された入力歯車と、駆動モータの出力軸に取付けられた出力歯車と、前記入力歯車より軸方向一端側の全てのクランクピンに回転可能に支持され、軸方向一側に前記出力歯車より大径で該出力歯車に噛み合う大径歯車部を、軸方向他側に小径歯車部を有する第１アイドル歯車と、前記駆動モータの出力軸に回転可能に支持され、軸方向一側に第１アイドル歯車の小径歯車部より大径で該小径歯車部に噛み合う大径歯車部を、軸方向他側に前記入力歯車に噛み合う中径歯車部を有する第２アイドル歯車とを備えたものである。   This is provided between the first member and the second member of the industrial robot and between the first member and the second member, and the first stage deceleration that sequentially decelerates the rotation from the drive motor and outputs it to the second member. And an eccentric oscillating speed reducer, wherein the eccentric oscillating speed reducer includes a case having a large number of internal teeth on the inner periphery, a pinion housed in the case and having external teeth that mesh with the internal teeth, Inserted into the case and supported rotatably through a carrier rotatable relative to the case and a pair of bearings axially separated from the carrier, and an eccentric portion inserted into the pinion, respectively. While comprising a plurality of crank pins, the pre-stage reducer is attached to the input gear splined to one end in the axial direction of all crank pins protruding from the bearing on the one side and the output shaft of the drive motor. An output gear, and a large-diameter gear portion that is rotatably supported by all crankpins on one end side in the axial direction from the input gear and has a larger diameter than the output gear and meshes with the output gear on one side in the axial direction. A first idle gear having a small-diameter gear portion on the other side in the direction, and rotatably supported by the output shaft of the drive motor. The small-diameter gear portion has a larger diameter on the one side in the axial direction than the small-diameter gear portion of the first idle gear. A meshing large-diameter gear part is provided with a second idle gear having an intermediate-diameter gear part meshing with the input gear on the other side in the axial direction.

しかしながら、このような従来の産業用ロボットの旋回部構造にあっては、前述のようにクランクピンの軸方向一端部にスプライン結合された入力歯車より軸方向一端側において第１アイドル歯車をクランクピンに回転可能に支持させるようにしているため、これらクランクピン、入力歯車、第１アイドル歯車の組み立ての都合上、前記第１アイドル歯車を支持している部位のクランクピンと、入力歯車がスプライン結合されている部位のクランクピンとの間に外径が急激に変化する段差を設ける必要がある。この結果、駆動モータからクランクピンに回転駆動力を伝達する際、前記段差に曲げに基づく大きな応力集中が発生して該段差に亀裂が発生するおそれがあるという課題があった。     However, in such a swivel structure of a conventional industrial robot, the first idle gear is connected to the crank pin at one end in the axial direction from the input gear splined to one end in the axial direction of the crank pin as described above. Since the crank pin, the input gear, and the first idle gear are assembled, the crank pin at the portion supporting the first idle gear and the input gear are spline-coupled. It is necessary to provide a step where the outer diameter changes abruptly with the crank pin at the portion where the head is located. As a result, when a rotational driving force is transmitted from the drive motor to the crank pin, there is a problem that a large stress concentration due to bending occurs in the step and a crack may occur in the step.

この発明は、クランクピンにおける亀裂発生を効果的に防止することができる産業用ロボットの旋回部構造を提供することを目的とする。   An object of this invention is to provide the turning part structure of the industrial robot which can prevent the crack generation in a crankpin effectively.

このような目的は、産業用ロボットの第１部材および第２部材と、前記第１部材と第２部材との間に設けられ、駆動モータからの回転を順次減速して第２部材に出力する前段減速機および偏心揺動型減速機を備えた産業用ロボットの旋回部構造において、前記偏心揺動型減速機を、内周に多数の内歯を有するケースと、ケース内に収納され、内歯と噛み合う外歯を有するピニオンと、前記ケース内に挿入されるとともに、該ケースに対し相対回転可能なキャリアと、該キャリアに軸方向に離れた一対の軸受を介して回転可能に支持されるとともに、ピニオンに偏心部がそれぞれ挿入された複数本のクランクピンとから構成する一方、前記前段減速機を、少なくとも１本のクランクピンの軸方向一端部に固定された入力歯車と、前記入力歯車と一側の軸受との間のクランクピンに回転可能に支持され、軸方向一側に中径歯車部を、軸方向他側に大径歯車部を有する第１アイドル歯車と、駆動モータの出力軸の先端側に設けられ、第１アイドル歯車の大径歯車部より小径で該大径歯車部に噛み合う出力歯車と、前記出力軸の先端部に回転可能に支持され、軸方向一側に入力歯車より小径で該入力歯車に噛み合う小径歯車部を、軸方向他側に第１アイドル歯車の中径歯車部と噛み合う中径歯車部を有する第２アイドル歯車とから構成することにより、達成することができる。     Such an object is provided between the first member and the second member of the industrial robot and between the first member and the second member, and sequentially reduces the rotation from the drive motor and outputs it to the second member. In the swivel structure of an industrial robot equipped with a front-stage speed reducer and an eccentric oscillating speed reducer, the eccentric oscillating speed reducer is housed in a case having a large number of internal teeth on the inner periphery, A pinion having external teeth that mesh with teeth, a carrier that is inserted into the case and is rotatable relative to the case, and a pair of bearings that are axially separated from the carrier and rotatably supported by the carrier And an input gear fixed to one end portion in the axial direction of at least one crankpin, the input gear, and a plurality of crankpins each having an eccentric portion inserted into a pinion. A first idle gear that is rotatably supported by a crank pin between the first and second bearings, has a medium-diameter gear portion on one side in the axial direction, and a large-diameter gear portion on the other side in the axial direction, and an output shaft of the drive motor. An output gear that is provided on the distal end side and is smaller in diameter than the large-diameter gear portion of the first idle gear and meshes with the large-diameter gear portion, and is rotatably supported at the distal end portion of the output shaft, The small-diameter gear portion that meshes with the input gear with a small diameter can be achieved by configuring the second idle gear having a medium-diameter gear portion that meshes with the medium-diameter gear portion of the first idle gear on the other side in the axial direction. .

この発明においては、クランクピンの軸方向一端部に支持される第１アイドル歯車の軸方向一側に中径歯車部を、軸方向他側に大径歯車部を設け、出力軸の先端部に支持される第２アイドル歯車の軸方向一側に小径歯車部を、軸方向他側に第１アイドル歯車の中径歯車部に噛み合う中径歯車部を設けたので、第１アイドル歯車より軸方向一側のクランクピンに入力歯車を配置、換言すれば、入力歯車と一側の軸受との間のクランクピンに第１アイドル歯車を配置することができるようになった。   In this invention, an intermediate diameter gear portion is provided on one axial direction side of the first idle gear supported by one axial end portion of the crankpin, a large diameter gear portion is provided on the other axial side, and the tip end portion of the output shaft is provided. A small-diameter gear portion is provided on one side in the axial direction of the second idle gear to be supported, and an intermediate-diameter gear portion that meshes with the medium-diameter gear portion of the first idle gear is provided on the other side in the axial direction. The input gear can be arranged on the crank pin on one side, in other words, the first idle gear can be arranged on the crank pin between the input gear and the bearing on the one side.

これにより、一側の軸受から突出したクランクピンの軸方向一端部、即ち入力歯車、第１アイドル歯車を支持している部位のクランクピンに組み立ての都合から要求される段差を無くすることができ、この結果、駆動モータからクランクピンに回転駆動力が伝達される際、クランクピンの軸方向一端部には曲げに基づく応力集中が生じることはなく、亀裂の発生が効果的に防止される。   As a result, it is possible to eliminate the step required from the convenience of assembly in the crank pin at one end in the axial direction protruding from the bearing on one side, that is, the crank pin at the portion supporting the input gear and the first idle gear. As a result, when a rotational driving force is transmitted from the drive motor to the crank pin, stress concentration due to bending does not occur at one axial end portion of the crank pin, and cracks are effectively prevented.

また、請求項２に記載のように構成すれば、第２アイドル歯車の軸方向位置を簡単かつ正確に規制することができる。
さらに、請求項３に記載のように構成すれば、入力歯車および第１アイドル歯車の大径歯車部の歯形を成形するための加工工具を共通化することができ、これにより、製作費を安価とすることができる。 According to the second aspect of the present invention, the axial position of the second idle gear can be easily and accurately regulated.
Furthermore, if it comprises as described in Claim 3, the processing tool for shape | molding the tooth profile of the large diameter gear part of an input gear and a 1st idle gear can be shared, and, thereby, manufacturing cost is low. It can be.

以下、この発明の実施例を図面に基づいて説明する。
図１、２、３において、11は産業用ロボット12の第１部材としての基端側アームであり、この基端側アーム11は基端部を中心に揺動可能である。この基端側アーム11の先端部には偏心揺動型減速機13の固定部、ここではケース14が複数のボルト15によって固定され、また、この偏心揺動型減速機13の回転部、ここではキャリア16には産業用ロボット12の第２部材としての先端側アーム17の基端部が複数のボルト18によって固定されている。この結果、前記先端側アーム17は基端部を中心に基端側アーム11に対して回転（揺動）することができる。そして、前述のようにケース14を固定側と、キャリア16を回転側とすると、従来多用されている形式と同一となり、従来と同様の感覚で使用することができる。 Embodiments of the present invention will be described below with reference to the drawings.
In FIGS. 1, 2, and 3, reference numeral 11 denotes a proximal end arm as a first member of the industrial robot 12, and the proximal end arm 11 can swing around the proximal end portion. A fixed portion of an eccentric oscillating speed reducer 13, here a case 14, is fixed to a distal end portion of the base end side arm 11 by a plurality of bolts 15, and a rotating portion of the eccentric oscillating speed reducer 13, here In this case, a base end portion of a distal arm 17 as a second member of the industrial robot 12 is fixed to the carrier 16 by a plurality of bolts 18. As a result, the distal arm 17 can rotate (swing) relative to the proximal arm 11 around the proximal end. If the case 14 is on the fixed side and the carrier 16 is on the rotating side as described above, it is the same as the type that has been widely used in the past, and can be used with the same feeling as in the past.

ここで、前記ケース14は略円筒状を呈するとともに、その軸方向中央部内周には周方向に等距離離れた多数の内歯としてのピン歯21が設けられている。前記ケース14内には複数（２個）のピニオン22が軸方向に並べられて収納され、これらピニオン22の外周には多数のトロコイド歯形からなる外歯23がそれぞれ形成されている。ここで、前記ピニオン22の外歯23の歯数は前記ピン歯21の歯数より若干、ここでは１個だけ少なく、また、これらピニオン22とケース14とは内接した状態で外歯23とピン歯21とが噛み合っているが、２つのピニオン22の最大噛み合い部（噛み合いの最も深い部位）は 180度だけ位相がずれている。   Here, the case 14 has a substantially cylindrical shape, and a plurality of pin teeth 21 as inner teeth that are equidistant from each other in the circumferential direction are provided on the inner periphery of the central portion in the axial direction. A plurality (two) of pinions 22 are accommodated in the case 14 so as to be arranged in the axial direction, and outer teeth 23 each having a large number of trochoidal teeth are formed on the outer periphery of the pinions 22. Here, the number of teeth of the external teeth 23 of the pinion 22 is slightly smaller than the number of teeth of the pin teeth 21, and here, only one, and the external teeth 23 are in contact with the pinion 22 and the case 14. Although the pin teeth 21 are engaged with each other, the phase of the maximum engagement portion (the deepest engagement portion) of the two pinions 22 is shifted by 180 degrees.

そして、これらピニオン22の中心軸上には貫通した中心孔24が、また、内、外周間の中間部には軸方向に貫通した貫通孔25が周方向に等距離離れて複数（３個）だけ形成されている。また、前記ケース14内には前記キャリア16が挿入されているが、このキャリア16はピニオン22の軸方向両外側に配置された一対の端板部28、29と、一端が端板部28に一体形成され、他端に端板部29がボルト30により固定された複数（貫通孔25と同数）の柱部31とから構成され、これら柱部31は前記貫通孔25内にそれぞれ遊嵌されている。また、前記キャリア16、詳しくは端板部28、29の中心軸上には前記中心孔24とほぼ同径の中心孔32、33がそれぞれ形成されている。   A plurality of (three) center holes 24 penetrating on the central axis of these pinions 22 and a plurality of (three) through-holes 25 penetrating in the axial direction in the middle between the inner and outer periphery are spaced apart in the circumferential direction. Only formed. Further, the carrier 16 is inserted into the case 14, and this carrier 16 has a pair of end plate portions 28 and 29 disposed on both outer sides in the axial direction of the pinion 22, and one end thereof is connected to the end plate portion 28. A plurality of (the same number as the through holes 25) column portions 31 formed integrally and having an end plate portion 29 fixed to the other end by bolts 30 are respectively loosely fitted into the through holes 25. ing. Further, center holes 32 and 33 having substantially the same diameter as the center hole 24 are formed on the center axis of the carrier 16, specifically, the end plate portions 28 and 29.

36は前記キャリア16、詳しくは端板部28、29の外周とケース14の軸方向両端部内周との間に介装された一対の軸受であり、これらの軸受36によりキャリア16はケース14に対し相対回転可能に支持される。37は各ピニオン22に成形された軸方向に延びる複数（３個）のクランクピン孔であり、これらのクランクピン孔37は周方向に等距離離れるとともに、前記貫通孔25と交互に配置されている。   36 is a pair of bearings interposed between the outer periphery of the carrier 16, more specifically, the end plate portions 28 and 29 and the inner periphery of both end portions of the case 14 in the axial direction. It is supported so as to be relatively rotatable. Reference numeral 37 denotes a plurality of (three) crankpin holes formed in each pinion 22 extending in the axial direction. These crankpin holes 37 are equidistant from each other in the circumferential direction and are alternately arranged with the through holes 25. Yes.

40は複数本（クランクピン孔37と同数）のクランクピンであり、これらのクランクピン40は周方向に等角度離れて配置されている。これらクランクピン40とキャリア16、詳しくは端板部28、29との間には軸方向に離れた一対の軸受41がそれぞれ介装され、これにより、前記クランクピン40はこれら一対の軸受41を介してキャリア16に回転可能に支持される。   Reference numeral 40 denotes a plurality of crankpins (the same number as the crankpin holes 37), and these crankpins 40 are arranged at equal angular intervals in the circumferential direction. A pair of axially separated bearings 41 is interposed between the crankpin 40 and the carrier 16, specifically, the end plate portions 28 and 29, so that the crankpin 40 includes the pair of bearings 41. Via the carrier 16 so as to be rotatable.

ここで、前記クランクピン40は一側の軸受41から軸方向一側に向かって突出した軸方向一端部40ａを有するが、これらの軸方向一端部40ａは、少なくとも１本、ここでは全てのクランクピン40で、いずれの軸方向位置においても軸受41に挿入されている部位と同一径の一定径である。このように全てのクランクピン40の軸方向一端部40ａを一定径とすれば、１種類のクランクピン40を製作するだけでよいため、製作コストを低減することができる。   Here, the crank pin 40 has one axial end 40a protruding from one bearing 41 toward the one axial side, and there is at least one axial one end 40a, here, all cranks. The pin 40 has a constant diameter that is the same as the portion inserted into the bearing 41 at any axial position. In this way, if the axial end portions 40a of all the crank pins 40 have a constant diameter, only one type of crank pin 40 needs to be manufactured, so that the manufacturing cost can be reduced.

また、前記クランクピン40は軸方向中央部にクランクピン40の中心軸から等距離だけ偏心したピニオン22と同数（２個）の偏心部44を有し、これら偏心部44は軸方向に離れるとともに、互いに 180度だけ位相がずれている。そして、前記クランクピン40の偏心部44はピニオン22のクランクピン孔37内にそれぞれ針状ころ軸受45を介して挿入されており、この結果、前記ピニオン22とクランクピン40とは相対回転が許容されている。   The crankpin 40 has the same number (two) of eccentric portions 44 as the pinions 22 eccentrically spaced from the central axis of the crankpin 40 at the axially central portion, and these eccentric portions 44 are separated in the axial direction. Are 180 degrees out of phase with each other. The eccentric portion 44 of the crank pin 40 is inserted into the crank pin hole 37 of the pinion 22 via a needle roller bearing 45, respectively. As a result, the pinion 22 and the crank pin 40 are allowed to rotate relative to each other. Has been.

前述したケース14、キャリア16、ピニオン22、クランクピン40は全体として、クランクピン40に入力された回転を減速してケース14またはキャリア16、ここではキャリア16に出力する前記偏心揺動型減速機13を構成する。そして、このような偏心揺動型減速機13において減速比を40以下とすることでクランクピン40の回転速度を低減させるようにすれば、回転中の発熱を容易に抑えることができる。   The case 14, carrier 16, pinion 22, and crank pin 40 as a whole decelerate the rotation input to the crank pin 40 and output to the case 14 or carrier 16, here the carrier 16, the eccentric oscillating type speed reducer. Configure 13 If the rotational speed of the crank pin 40 is reduced by setting the reduction ratio to 40 or less in such an eccentric oscillating speed reducer 13, heat generation during rotation can be easily suppressed.

48は少なくとも１本の、ここでは全てのクランクピン40の軸方向一端部40ａにスプライン結合によりそれぞれ連結された入力歯車であり、これらの入力歯車48は既存品と同一のものを用いており、既存品の流用が可能である。49は前記入力歯車48と一側の軸受41との間に配置された少なくとも１個（入力歯車48と同数）の第１アイドル歯車であり、これらの第１アイドル歯車49と、これら第１アイドル歯車49内に遊嵌されたクランクピン40の軸方向一端部40ａとの間には軸方向に離れた一対の軸受50が介装されている。   48 is an input gear connected to at least one, in this case, axial end portions 40a of all the crankpins 40 by spline coupling, and these input gears 48 are the same as existing products, Existing products can be used. 49 is at least one (the same number as the input gear 48) first idle gears arranged between the input gear 48 and the one-side bearing 41. These first idle gears 49 and these first idle gears A pair of bearings 50 that are separated in the axial direction are interposed between the axial end portions 40 a of the crank pins 40 that are loosely fitted in the gears 49.

この結果、前記第１アイドル歯車49は入力歯車48と一側の軸受41との間のクランクピン40の軸方向一端部40ａに回転可能に支持されることになる。そして、これら第１アイドル歯車49は軸方向一側に中径歯車部51を、軸方向他側に中径歯車部51より大径の大径歯車部52を有する。55は前記基端側アーム11の先端部でその他側面に複数のボルト56によって取付けられた駆動モータであり、この駆動モータ55の回転軸57は前記偏心揺動型減速機13の中心軸と同軸である。このように駆動モータ55と偏心揺動型減速機13とを同軸とすれば、駆動モータが偏心揺動型減速機の中心軸から半径方向に所定距離離れて設置されている場合に比較し、旋回部構造全体を小型化することができる。   As a result, the first idle gear 49 is rotatably supported by one axial end 40a of the crank pin 40 between the input gear 48 and the one-side bearing 41. These first idle gears 49 have a medium-diameter gear portion 51 on one side in the axial direction and a large-diameter gear portion 52 having a larger diameter than the medium-diameter gear portion 51 on the other side in the axial direction. 55 is a drive motor attached to the other side surface by a plurality of bolts 56 at the distal end portion of the base end side arm 11, and the rotation shaft 57 of the drive motor 55 is coaxial with the central axis of the eccentric oscillating speed reducer 13. It is. In this way, if the drive motor 55 and the eccentric oscillating speed reducer 13 are coaxial, compared to the case where the drive motor is installed at a predetermined distance in the radial direction from the central axis of the eccentric oscillating speed reducer, The whole turning part structure can be reduced in size.

この回転軸57には前記偏心揺動型減速機13の中心部に形成された中心孔24、32、33を軸方向に貫通する伝達軸58が固定され、この伝達軸58の先端側（一端側）には前記第１アイドル歯車49の大径歯車部52より小径の出力歯車59が設けられるとともに、この出力歯車59は前記第１アイドル歯車49の大径歯車部52に噛み合っている。前述した回転軸57、伝達軸58は全体として駆動モータ55の出力軸60を構成し、この出力軸60の先端側には、前述のように第１アイドル歯車49の大径歯車部52より小径で該大径歯車部52に噛み合う出力歯車59が設けられる。   A transmission shaft 58 that passes through axial holes 24, 32, 33 formed in the central portion of the eccentric oscillating speed reducer 13 in the axial direction is fixed to the rotary shaft 57, and a distal end side (one end) of the transmission shaft 58 is fixed. The output gear 59 having a smaller diameter than the large-diameter gear portion 52 of the first idle gear 49 is provided on the side), and the output gear 59 meshes with the large-diameter gear portion 52 of the first idle gear 49. The rotary shaft 57 and the transmission shaft 58 described above constitute the output shaft 60 of the drive motor 55 as a whole, and the front end side of the output shaft 60 has a smaller diameter than the large-diameter gear portion 52 of the first idle gear 49 as described above. Thus, an output gear 59 that meshes with the large-diameter gear portion 52 is provided.

63は前記出力軸60、詳しくは出力歯車59が形成されている伝達軸58の先端部（一端部）に単一の軸受64を介して回転可能に支持された該出力軸60と同軸の第２アイドル歯車であり、この第２アイドル歯車63は軸方向一側に入力歯車48より小径で該入力歯車48に噛み合う小径歯車部65を、軸方向他側に第１アイドル歯車49の中径歯車部51と近似した径、ここでは同一径で、該第１アイドル歯車49の中径歯車部51と噛み合う中径歯車部66を有する。この結果、出力軸60の回転は、出力歯車59と第１アイドル歯車49の大径歯車部52との間で減速された後、第２アイドル歯車63に伝達され、該第２アイドル歯車63の小径歯車部65と入力歯車48との間で再び減速される。なお、前記中径歯車部66は中径歯車部51より大径であってもよい。   Reference numeral 63 denotes an output shaft 60, more specifically, a first shaft coaxial with the output shaft 60 rotatably supported through a single bearing 64 at the tip end (one end) of the transmission shaft 58 on which the output gear 59 is formed. The second idle gear 63 has a small-diameter gear portion 65 having a smaller diameter than the input gear 48 on one side in the axial direction and meshing with the input gear 48, and a medium-diameter gear on the other side in the axial direction. The intermediate gear portion 66 has a diameter approximate to that of the portion 51, here the same diameter, and meshes with the intermediate gear portion 51 of the first idle gear 49. As a result, the rotation of the output shaft 60 is decelerated between the output gear 59 and the large-diameter gear portion 52 of the first idle gear 49, and then transmitted to the second idle gear 63. The speed is reduced again between the small-diameter gear portion 65 and the input gear 48. The intermediate gear portion 66 may have a larger diameter than the intermediate gear portion 51.

ここで、前記入力歯車48の他側端と第１アイドル歯車49の大径歯車部52の一側端との間の距離Ｌを、第２アイドル歯車63の中径歯車部66の幅と実質上同一（やや大きいものを含む）としているため、第２アイドル歯車63は入力歯車48と第１アイドル歯車49の大径歯車部52とにより両側から周方向に離れた３箇所で挟まれて、その軸方向位置が簡単かつ正確に規制される。また、この第２アイドル歯車63は、その小径、中径歯車部65、66がそれぞれ周方向に等距離離れた３個の入力歯車48、第１アイドル歯車49の中径歯車部51に噛み合っているため、これら入力歯車48、中径歯車部51によって自動調心され、所定の姿勢に規制される。この結果、第２アイドル歯車63と出力軸60との間に介装される軸受64は軸方向に離れた一対も必要ではなく、前述のように１個で充分である。   Here, the distance L between the other end of the input gear 48 and the one end of the large-diameter gear portion 52 of the first idle gear 49 is substantially equal to the width of the medium-diameter gear portion 66 of the second idle gear 63. Since the second idle gear 63 is the same (including a slightly larger one), the second idle gear 63 is sandwiched between the input gear 48 and the large-diameter gear portion 52 of the first idle gear 49 at three locations spaced circumferentially from both sides. Its axial position is easily and accurately regulated. The second idle gear 63 is meshed with three input gears 48 and first idle gears 49 which are equidistant from each other in the small diameter and medium diameter gear portions 65 and 66 in the circumferential direction. Therefore, the input gear 48 and the medium-diameter gear portion 51 are automatically aligned and regulated to a predetermined posture. As a result, a pair of bearings 64 interposed between the second idle gear 63 and the output shaft 60 are not required in the axial direction, and one is sufficient as described above.

また、この実施例においては、前述のように出力軸60の先端部に第２アイドル歯車63を支持させるようにしたので、部品点数を削減することができるとともに、スペースの有効利用を図ることができる。さらに、前記入力歯車48と第１アイドル歯車49の大径歯車部52と、および、第１アイドル歯車49の中径歯車部51と第２アイドル歯車63の中径歯車部66との歯車諸元、例えば歯形、歯数を同一としたので、入力歯車48、大径歯車部52および中径歯車部51、66を成形するための加工工具を共通化することができ、これにより、製作費を安価とすることができる。   In this embodiment, since the second idle gear 63 is supported at the tip of the output shaft 60 as described above, the number of parts can be reduced and the space can be used effectively. it can. Further, the gear specifications of the input gear 48 and the large-diameter gear portion 52 of the first idle gear 49 and the medium-diameter gear portion 51 of the first idle gear 49 and the medium-diameter gear portion 66 of the second idle gear 63 are shown. For example, since the tooth profile and the number of teeth are the same, the processing tools for forming the input gear 48, the large-diameter gear portion 52, and the medium-diameter gear portions 51 and 66 can be shared, thereby reducing the production cost. It can be inexpensive.

前述した入力歯車48、第１、第２アイドル歯車49、63、出力歯車59は全体として、駆動モータ55の回転を減速して偏心揺動型減速機13のクランクピン40に出力する前段減速機68を構成するが、この前段減速機68を通じて駆動モータ55からの回転が全てのクランクピン40に伝達されると、これらクランクピン40は同期して同一方向に同一回転速度で回転する。このように基端側アーム11と先端側アーム17との間には、駆動モータ55の回転を順次減速して先端側アーム17に出力し該先端側アーム17を回転（揺動）させる前段減速機68および偏心揺動型減速機13が設けられている。   The input gear 48, the first and second idle gears 49, 63, and the output gear 59 described above as a whole reduce the rotation of the drive motor 55 and output it to the crank pin 40 of the eccentric oscillating speed reducer 13. 68, when the rotation from the drive motor 55 is transmitted to all the crank pins 40 through the pre-stage reducer 68, the crank pins 40 rotate in the same direction at the same rotational speed. As described above, between the proximal arm 11 and the distal arm 17, the rotation of the drive motor 55 is sequentially decelerated and output to the distal arm 17 to rotate (swing) the distal arm 17. A machine 68 and an eccentric oscillating speed reducer 13 are provided.

そして、この実施例においては、クランクピン40の軸方向一端部40ａに支持される第１アイドル歯車49の軸方向一側に中径歯車部51を、軸方向他側に大径歯車部52を設け、出力軸60の先端部に支持される第２アイドル歯車63の軸方向一側に小径歯車部65を、軸方向他側に第１アイドル歯車49の中径歯車部51に噛み合う中径歯車部66を設けたので、第１アイドル歯車49より軸方向一側のクランクピン40に入力歯車48を配置、換言すれば、入力歯車48と一側の軸受41との間のクランクピン40に第１アイドル歯車49を配置することができるようになった。   In this embodiment, an intermediate gear portion 51 is provided on one axial side of the first idle gear 49 supported by one axial end portion 40a of the crankpin 40, and a large gear portion 52 is provided on the other axial side. A medium-diameter gear that meshes with a small-diameter gear portion 65 on one side in the axial direction of a second idle gear 63 that is provided and supported at the tip of the output shaft 60 and a medium-diameter gear portion 51 on the other side in the axial direction. Since the portion 66 is provided, the input gear 48 is disposed on the crank pin 40 on the axial direction one side from the first idle gear 49, in other words, the crank pin 40 between the input gear 48 and the bearing 41 on the one side One idle gear 49 can be arranged.

これにより、一側の軸受41から突出したクランクピン40の軸方向一端部40ａ、即ち入力歯車48、第１アイドル歯車49を支持している部位のクランクピン40に組み立ての都合から要求される段差を無くする、ここでは一定径とすることができ、この結果、駆動モータ55からクランクピン40に回転駆動力が伝達される際、クランクピン40の軸方向一端部40ａには曲げに基づく応力集中が生じることはなく、亀裂の発生が効果的に防止される。   As a result, the step required from the convenience of assembly on the axial one end 40a of the crank pin 40 projecting from the bearing 41 on one side, that is, the crank pin 40 at the portion supporting the input gear 48 and the first idle gear 49 is provided. Here, the diameter can be constant, and as a result, when the rotational driving force is transmitted from the drive motor 55 to the crank pin 40, stress concentration due to bending is applied to the one axial end 40a of the crank pin 40. Does not occur, and the occurrence of cracks is effectively prevented.

次に、前記実施例の作用について説明する。
前述のような産業用ロボット12において先端側アーム17を基端側アーム11に対して回転（揺動）させる場合には、駆動モータ55を作動して出力軸60を回転させる。この出力軸60の回転は、出力歯車59、第１、第２アイドル歯車49、63、入力歯車48により減速されながら全てのクランクピン40に伝達され、これらクランクピン40を自身の中心軸回りに同一方向に同一回転速度で回転させる。このとき、クランクピン40の偏心部44がピニオン22のクランクピン孔37内において偏心回転してピニオン22を偏心揺動回転させるが、前記ピニオン22の外歯23の歯数がケース14のピン歯21の数より１個だけ少ないので、キャリア16はピニオン22の偏心揺動回転により大幅に減速されて低速回転し、先端側アーム17を基端部を中心として回転（揺動）させる。 Next, the operation of the embodiment will be described.
In the industrial robot 12 as described above, when the distal arm 17 is rotated (swinged) with respect to the proximal arm 11, the drive motor 55 is operated to rotate the output shaft 60. The rotation of the output shaft 60 is transmitted to all the crankpins 40 while being decelerated by the output gear 59, the first and second idle gears 49, 63, and the input gear 48, and the crankpins 40 are rotated around their center axes. Rotate at the same rotational speed in the same direction. At this time, the eccentric portion 44 of the crank pin 40 rotates eccentrically in the crank pin hole 37 of the pinion 22 to rotate the pinion 22 eccentrically, and the number of teeth of the external teeth 23 of the pinion 22 is the pin teeth of the case 14 Since it is one less than the number 21, the carrier 16 is greatly decelerated by the eccentric rocking rotation of the pinion 22 and rotates at a low speed, causing the distal arm 17 to rotate (swing) around the base end.

なお、前述の実施例においては、偏心揺動型減速機13のピン歯21の歯数とピニオン22の外歯23との歯数差が１であったが、この発明においては２以上であってもよい。また、前述の実施例においては、産業用ロボット12の第１部材である基端側アーム11に偏心揺動型減速機13のケース14を取付け、産業用ロボット12の第２部材である先端側アーム17にキャリア16を取付けるようにしたが、この発明においては、産業用ロボットの第１部材に偏心揺動型減速機のキャリアを、第２部材にケースを取付けるようにしてもよい。さらに、前述の実施例においては、駆動モータ55を基端側アーム11の先端部に取付けるようにしたが、この発明においては、先端側アーム17の基端部に取付けるようにしてもよい。     In the above-described embodiment, the difference in the number of teeth between the pin teeth 21 of the eccentric oscillating speed reducer 13 and the number of external teeth 23 of the pinion 22 is 1, but in the present invention it is 2 or more. May be. In the above-described embodiment, the case 14 of the eccentric oscillating speed reducer 13 is attached to the proximal end arm 11 that is the first member of the industrial robot 12, and the distal end side that is the second member of the industrial robot 12. Although the carrier 16 is attached to the arm 17, in the present invention, the carrier of the eccentric rocking type reduction gear may be attached to the first member of the industrial robot, and the case may be attached to the second member. Furthermore, in the above-described embodiment, the drive motor 55 is attached to the distal end portion of the proximal end side arm 11. However, in the present invention, the drive motor 55 may be attached to the proximal end portion of the distal end side arm 17.

この発明は、偏心揺動型減速機を用いた産業用ロボットの旋回部構造に適用できる。   The present invention can be applied to a turning part structure of an industrial robot using an eccentric oscillating speed reducer.

この発明の実施例を示す正面断面図である。It is front sectional drawing which shows the Example of this invention. 図１のＩ−Ｉ矢視図である。It is the II arrow directional view of FIG. 図１のII−II矢視図である。It is an II-II arrow line view of FIG.

符号の説明Explanation of symbols

11…第１部材 12…産業用ロボット
13…偏心揺動型減速機 14…ケース
16…キャリア 17…第２部材
21…内歯 22…ピニオン
23…外歯 40…クランクピン
40ａ…軸方向一端部 41…軸受
44…偏心部 48…入力歯車
49…第１アイドル歯車 51…中径歯車部
52…大径歯車部 55…駆動モータ
60…出力軸 63…第２アイドル歯車
65…小径歯車部 66…中径歯車部
68…前段減速機 11 ... 1st member 12 ... Industrial robot
13… Eccentric oscillation type reducer 14… Case
16 ... Carrier 17 ... Second member
21… Inner teeth 22… Pinion
23 ... External teeth 40 ... Crank pin
40a ... One axial end 41 ... Bearing
44… Eccentric part 48… Input gear
49 ... First idle gear 51 ... Medium diameter gear part
52 ... Large-diameter gear 55 ... Drive motor
60 ... Output shaft 63 ... Second idle gear
65 ... Small diameter gear 66 ... Medium diameter gear
68 ... Front reducer

Claims (3)

産業用ロボットの第１部材および第２部材と、前記第１部材と第２部材との間に設けられ、駆動モータからの回転を順次減速して第２部材に出力する前段減速機および偏心揺動型減速機を備えた産業用ロボットの旋回部構造において、前記偏心揺動型減速機を、内周に多数の内歯を有するケースと、ケース内に収納され、内歯と噛み合う外歯を有するピニオンと、前記ケース内に挿入されるとともに、該ケースに対し相対回転可能なキャリアと、該キャリアに軸方向に離れた一対の軸受を介して回転可能に支持されるとともに、ピニオンに偏心部がそれぞれ挿入された複数本のクランクピンとから構成する一方、前記前段減速機を、少なくとも１本のクランクピンの軸方向一端部に固定された入力歯車と、前記入力歯車と一側の軸受との間のクランクピンに回転可能に支持され、軸方向一側に中径歯車部を、軸方向他側に大径歯車部を有する第１アイドル歯車と、駆動モータの出力軸の先端側に設けられ、第１アイドル歯車の大径歯車部より小径で該大径歯車部に噛み合う出力歯車と、前記出力軸の先端部に回転可能に支持され、軸方向一側に入力歯車より小径で該入力歯車に噛み合う小径歯車部を、軸方向他側に第１アイドル歯車の中径歯車部と噛み合う中径歯車部を有する第２アイドル歯車とから構成したことを特徴とする産業用ロボットの旋回部構造。     A first-stage speed reducer and an eccentric rocker provided between a first member and a second member of an industrial robot, and a first-stage speed reducer that is provided between the first member and the second member and that sequentially decelerates rotation from the drive motor and outputs the result to the second member. In the turning structure of an industrial robot equipped with a dynamic speed reducer, the eccentric oscillating speed reducer includes a case having a large number of internal teeth on the inner periphery, and external teeth that are housed in the case and mesh with the internal teeth. A pinion, a carrier inserted into the case and rotatable relative to the case, and a pair of bearings separated in the axial direction from the carrier so as to be rotatable. Are composed of a plurality of crankpins inserted respectively, and the front speed reducer includes an input gear fixed to at least one axial end of the crankpin, and the input gear and one side bearing. Among A first idle gear that is rotatably supported by the rank pin, has a medium-diameter gear portion on one side in the axial direction, and a large-diameter gear portion on the other side in the axial direction, and is provided on the tip side of the output shaft of the drive motor. An output gear that is smaller in diameter than the large-diameter gear portion of the idle gear and meshes with the large-diameter gear portion, and a small diameter that is rotatably supported at the tip end portion of the output shaft and meshes with the input gear at a smaller diameter than the input gear on one side in the axial direction. A turning part structure for an industrial robot, characterized in that the gear part is composed of a second idle gear having an intermediate gear part meshing with the intermediate gear part of the first idle gear on the other side in the axial direction. 前記入力歯車の他側端と第１アイドル歯車の大径歯車部の一側端との間の距離を、第２アイドル歯車の中径歯車部の幅と実質上同一とした請求項１記載の産業用ロボットの旋回部構造。     The distance between the other side end of the input gear and one side end of the large-diameter gear portion of the first idle gear is substantially the same as the width of the medium-diameter gear portion of the second idle gear. Industrial robot swivel structure. 前記入力歯車と第１アイドル歯車の大径歯車部との歯車諸元を同一とした請求項１または２記載の産業用ロボットの旋回部構造。     The swivel structure of the industrial robot according to claim 1 or 2, wherein gear specifications of the input gear and the large-diameter gear portion of the first idle gear are the same.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009063108A (en) * 2007-09-06 2009-03-26 Nabtesco Corp Eccentric oscillation type gear device
WO2013132760A1 (en) * 2012-03-08 2013-09-12 ナブテスコ株式会社 Eccentric oscillation-type gear device
WO2021017002A1 (en) * 2019-08-01 2021-02-04 睿信科机器人股份有限公司 Robot joint and robot

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JPH10230491A (en) * 1998-03-13 1998-09-02 Teijin Seiki Co Ltd Planetary gear reduction gear
JP2001221298A (en) * 2000-02-07 2001-08-17 Teijin Seiki Co Ltd Eccentric rotary reduction gear
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JPH10230491A (en) * 1998-03-13 1998-09-02 Teijin Seiki Co Ltd Planetary gear reduction gear
JP2001221298A (en) * 2000-02-07 2001-08-17 Teijin Seiki Co Ltd Eccentric rotary reduction gear
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Cited By (4)

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Publication number Priority date Publication date Assignee Title
JP2009063108A (en) * 2007-09-06 2009-03-26 Nabtesco Corp Eccentric oscillation type gear device
WO2013132760A1 (en) * 2012-03-08 2013-09-12 ナブテスコ株式会社 Eccentric oscillation-type gear device
WO2021017002A1 (en) * 2019-08-01 2021-02-04 睿信科机器人股份有限公司 Robot joint and robot
US11938627B2 (en) 2019-08-01 2024-03-26 Siemens Aktiengesellschaft Robot joint and robot

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