200806905 (1) 九、發明說明 【發明所屬之技術領域】 本發明是關於齒輪傳動馬達及機器人用齒輪傳動馬達 【先前技術】 機器人的關節驅動等用途中，被廣泛利用的齒輪傳動 馬達是構成爲馬達和減速機連結，用減速機對馬達的旋轉 加以減速，藉此以適宜的扭力及旋轉速度進行輸出。 齒輪傳動馬達的技術領域中，齒輪傳動馬達的用途並 不限於機器人的關節驅動用，若能獲得相同的輸出，則強 力要求外形能夠儘量小。於專利文獻1中，從上述觀點出 發提案有可縮小減速機殻寬度方向的擴大，構成整體的寬 度能夠儘量小的齒輪傳動馬達。 該齒輪傳動馬達是構成於圍繞著馬達輸出軸和減速機 傳達齒輪的外殼彼此成平行的相向面形成傳達齒輪之軸兩 端軸支用的軸支部，接著貫穿和傳達齒輪的軸成平行的連 結面形成馬達輸出軸***用的***口，於該連結面固定馬 達的輸出側端面。傳達齒輪是以圓錐齒輪和平行軸齒輪所 構成。 〔專利文獻1〕日本特開2002-327805號公報 【發明內容】 〔發明欲解決之課題〕 -4- 200806905 (2) 專利文獻1所揭示的齒輪傳動馬達，是將具有特定減 速構造的減速機和馬達組合所構成’減速機的機殼具有特 定的形狀，欠缺普遍性，因此有成本高的問題。 一般，馬達及減速機的機殼基本形狀，以其軸直角剖 面爲四角形或圓形屬壓倒性多。此外，當所要組合的機殼 或其凸緣於形狀、尺寸不合時，一般是於兩者之間設有可 連結兩者的接頭（配合件）來形成連結。 φ 此外，不使用接頭時，爲了避免所要組合的機殼或凸 緣的各種連結孔或安裝孔位置的彼此干涉，有時只好將馬 達或減速機其中之一的凸緣最大外形部加大成足以避免上 述干涉。 本發明是爲解決上述習知問題而爲的發明，其課題是 提供一種合理性配置需形成在馬達或減速機之機殼或凸緣 的各種連結孔或安裝孔，構成小型且容易組裝，並且具有 足夠連結強度的齒輪傳動馬達。 〔用以解決課題之手段〕 本發明是於馬達和減速機同軸連結形成的齒輪傳動馬 達中，構成上述減速機的機殼是以減速機殼本體和減速機 凸緣構成的同時，該減速機凸緣是形成爲多角形，上述馬 達的機殼的減速機側端面也是形成爲多角形，該減速機側 端面的上述多角形的邊或邊的延長線是和上述減速機的上 述多角形的邊成交叉著，於上述減速機側端面的上述多角 形的頂點的半徑方向內側，配置有將上述馬達和上述減速 -5- 200806905 (3) 機凸緣連結用的馬達連結孔，並且，於上述減速機凸緣的 該減速機凸緣連結有上述馬達時的上述減速機側端面的多 角形的邊的半徑方向外側相當位置，配置有將上述減速機 安裝在對象機械用的安裝孔，藉此解決上述課題。 本發明中，不管馬達或減速機的機殻本體剖面形狀爲 何，該馬達的機殼的減速機側端面及減速機的凸緣，雙方 都是成爲多角形。 φ 另，於此所謂「多角形」的用語，是採「具有（不是 圓）直線部份的邊」的含意，特別是其頂點部份並不一定 具有幾何學般正確的角，例如是包括已經處理成適宜倒角 的狀況。此外，並不一定是各邊的長度爲正確相等的多角 形。但是，更具體地說，從小型化的觀點來看該多角形爲 正方形是較有利。 此外，所謂「馬達的機殼的減速機側端面」的用語， 如以下所述，是指「馬達的機殼和減速機形成連結的端面 • 」。更具體地說，馬達的機殻爲無凸緣時，是指馬達的機 殻本體的減速機側端面其本身，但馬達的機殼在減速機側 具有凸緣時，就是指該凸緣的端面。 本發明是將上述形成爲多角形的馬達機殼的減速機側 端面和減速機的凸緣成斜連結，即連結成可使上述馬達的 凸緣的上述多角形的邊或邊的延長線和上述減速機的凸緣 的上述多角形的邊形成交叉。 另外，又加上，於上述馬達機殼的減速機側端面的上 述多角形的頂點的半徑方向內側，配置有馬達和減速機連 -6 - 200806905 (4) 結用的馬達連結孔，並且，於減速機凸緣的馬達機殼的減 速機側端面的多角形的邊的半徑方向外側相當位置，配置 有將減速機安裝在對象機械用的安裝孔。 其結果，馬達和減速機凸緣連結用的馬達連結孔，又 ，將減速機安裝在對象機械用的安裝孔，都能確保有半徑 方向足夠的多餘空間（形成空間），同時於圓周方向其他 各種連結孔等也能夠共同分配在該形成空間。因此，能夠 φ 抑制半徑方向沒有必要加大的同時確保有較大的形成空間 。所以其結果能夠使用較大的螺栓進而能夠抑制螺栓的數 量，能夠達到組裝工數和製造成本的降低。 〔發明效果〕 根據本發明時，能夠獲得一種合理性配置需形成在馬 達或減速機之機殼或凸緣的各種連結孔或安裝孔，構成爲 小型且容易組裝，並且具有足夠連結強度的齒輪傳動馬達 【實施方式】 〔發明之最佳實施形態〕 以下’根據圖面對本發明實施形態一例加以詳細說明 〇 第1圖〜第3圖表示爲應用本發明實施形態一例的齒 輪傳動馬達。 該齒輪傳動馬達GM 1是馬達Μ 1和減速機G Γ同軸連 200806905 (5) 結形成，用途爲產業用機器人（省略圖示）的關節 。如第2圖所示，馬達Ml的馬達軸12，其前端部 成爲減速機的輸入軸14。馬達Ml的機殼本體 不具有減速機側封閉用構件（馬達輸出側蓋），減 入側蓋72 (下述）是兼具有該馬達Μ 1的輸出側蓋 於減速機輸入側蓋72的半徑方向中央部組入有軸写 該軸承1 8是支撐著馬達軸1 2 (輸入軸1 4 )成旋轉 φ 該實施例中，該減速機輸入側蓋也兼具有減速機凸 會g 。 輸入軸14是透過楔體22及螺栓24磨擦連結 式偏心體20。於偏心體20的外圍，分別透過軸淨 28A〜28C)安裝有3片外齒齒輪26 (2 6A〜26C) 齒齒輪26是和（單一的）內齒齒輪30分別以圓 120度位相差形成內接咬合著。內齒齒輪30具有稍 〜4齒程度）少於外齒齒輪26的齒數，其是和減連 # 的機殼本體70 (下述）形成一體。 於各外齒齒輪26的軸方向兩側，配置有支撐塊 輸出緩衝器36。支撐塊34及輸出構件36是分別 承3 8、4 0旋轉自如地支撐在機殻本體7 〇，透過從 件36突出形成的內插銷42，及螺栓44連結成一體 內插銷42是透過貫通著外齒齒輪26，遊嵌在 銷42的內輥43構成爲吸收外齒齒輪26的擺動成 時只將自轉成份傳達至支撐塊3 4及輸出構件3 6。 另外’於弟3圖中，圖號46’是表示輸出構件 驅動用 是直接 5 1，並 速機輸 功能。 i： 18， 自如。 緣的功 著三連 C 28 ( 。各外 周方向 ί微（1 【機G1 [34及 透過軸 輸出構 〇 該內插 份的同 36和 8· (6) (6)200806905 對象機械的被驅動旋轉體（未圖示）連結用的螺栓孔；圖 號48，是表示在分解馬達Ml和減速機G1時，使用未圖 示工具將兩者Ml、G1拉開時使用的脫離孔；圖號49， 是表示在進行內插銷42和支撐塊34的組裝時可使該內插 銷42和支撐塊34的圓周方向位置暫時定位用的定位孔。 於此，參照第1圖及第3圖，針對馬達Μ1和減速機 G1的連結形態加以詳細說明。第1圖是馬達Μ1整個軸 承1 8拆下後的狀態下，從馬達側看減速機G1時的圖。 因此，於第1圖的最內圍部份，可分別看到減速機輸入側 蓋72的軸承18的收容內圍壁75及該軸承18的抵接段部 77 〇 馬達Μ1，具備有機殼本體（馬達機殻本體）5 1 ’如 上述，於該實施形態不具有輸出側蓋。即，構成爲減速機 輸入側蓋72兼爲馬達Μ 1的機殻凸緣。馬達機殼本體5 1 ，其減速機側端面的形狀爲正方形（多角形）54 ’如第1 圖所示，於減速機輸入側蓋72，形成有減速機側端面的 正方形5 4可嵌合的凹部（5 4 )。另，於以下的說明中’ 爲了方便說明該第1圖的凹部（54 )是以馬達機' 殼本體 5 1的減速機側端面的正方形54來進行說明。 於上述減速機輸入側蓋72及減速機側端面’形成有 將馬達Μ 1特定在減速機輸入側蓋72半徑方向位置上用 的直徑爲d 1的套管5 0。 馬達機殼本體5 1和減速機輸入側蓋72 ’是透過馬達 連結孔8 0形成一體。此外，減速機G1具備有機殻本體 -9 - (7) (7)200806905 (減速機殼本體）70及上述減速機輸入側蓋72。該減速 機殼本體70是形成圓筒形，具有突出於半徑方向外側的 凸緣部70A。上述減速機輸入側蓋72，具有和該機殼本 體70的凸緣部70A大致相同的外圍形狀。 減速機殼本體7〇和減速機輸入側蓋72，是透過減速 機連結孔84形成可連結著。於減速機輸入側蓋72，除了 形成有該減速機連結孔84以外，還形成有將減速機G1 安裝在馬達1整個外部安裝底座（省略圖示）用的安裝孔 82 ° 以下，更爲詳細地對該等各要素的形狀或配置位置等 加以說明。 馬達Ml的機殼本體（馬達機殼本體）51，其軸直角 剖面（於該實施形態）爲正方形54，減速機輸入側蓋72 的外圍形狀也是正方形74。各個正方形54、74，彼此只 是剛好傾斜成45度，馬達機殼本體51的正方形54的邊 5 4 S 1〜5 4 S 4 (於該實施形態的狀況爲其延長線5 4 S e 1〜 54Se4)是和減速機輸入側蓋72的正方形74的邊74S1〜 74S4形成交叉著。 馬達機殼本體51的正方形54的邊54S1〜54S4其相 向邊54S1、54S3間，及54S2、54S4間，各相向邊距離 分別爲L1。此外，減速機輸入側蓋7 2的正方形7 4的邊 74S1 〜74S4 其相向邊 74S1、74S3 間，及 74S2、74S4 間 ，各相向邊距離分別爲L2，構成爲相向邊距離L 1 <相向 邊距離L2。馬達機殼本體51的正方形54的頂點54A1〜 -10- (8) (8)200806905 (1) EMBODIMENT OF THE INVENTION [Technical Field] The present invention relates to a geared motor and a geared motor for a robot. [Prior Art] In a joint drive of a robot, etc., a widely used geared motor is configured as The motor and the speed reducer are coupled to each other, and the rotation of the motor is decelerated by the speed reducer, thereby outputting at an appropriate torque and rotational speed. In the technical field of geared motors, the use of a geared motor is not limited to the joint drive of a robot. If the same output can be obtained, the strength is required to be as small as possible. According to Patent Document 1, from the above viewpoint, it is proposed to reduce the width of the reduction gear casing in the width direction, and to constitute a gear transmission motor whose overall width can be as small as possible. The geared motor is formed on a facing surface parallel to the outer casing of the motor output shaft and the transmission gear of the speed reducer, and forms a shaft branch for supporting the shaft ends of the shaft of the gear, and then penetrates and transmits the shaft of the gear in parallel. The surface forms an insertion port for inserting the motor output shaft, and the output side end surface of the motor is fixed to the connection surface. The transmission gear is composed of a bevel gear and a parallel shaft gear. [Patent Document 1] JP-A-2002-327805 [Summary of the Invention] [Problems to be Solved by the Invention] -4- 200806905 (2) The geared motor disclosed in Patent Document 1 is a reduction gear having a specific deceleration structure. The combination of the motor and the motor has a specific shape, which lacks universality and therefore has a high cost. Generally, the basic shape of the casing of the motor and the reducer is a quadrangular shape or a circular shape with a right-angled cross section. Further, when the casing to be combined or the flange thereof is not in shape or size, a joint (mating member) for connecting the two is generally provided between the two to form a joint. φ In addition, when the joint is not used, in order to avoid the interference of the various joint holes or the positions of the mounting holes of the casing or the flange to be combined, it is sometimes necessary to increase the maximum outer shape of the flange of one of the motor or the reducer to be sufficient. Avoid the above interference. The present invention has been made to solve the above-mentioned problems, and an object thereof is to provide a variety of connecting holes or mounting holes which are formed in a casing or a flange of a motor or a reducer in a rational arrangement, which is small in size and easy to assemble, and A geared motor with sufficient joint strength. [Means for Solving the Problem] The present invention is a gear transmission motor formed by coaxially connecting a motor and a reducer, and the casing constituting the reduction gearbox is constituted by a reduction case body and a reducer flange, and the reducer The flange is formed in a polygonal shape, and the end surface of the reducer side of the casing of the motor is also formed in a polygonal shape, and an extension of the side or side of the polygon of the end surface of the reducer is the above-described polygonal shape of the reducer a motor connecting hole for connecting the motor and the flange of the deceleration-5-200806905 (3) is disposed on the inner side in the radial direction of the apex of the polygon on the end surface of the reducer side, and The reducer flange of the reducer flange is connected to the outer side in the radial direction of the polygonal side of the reduction gear side end surface when the motor is coupled, and the mounting hole for attaching the reduction gear to the target machine is disposed. This solves the above problems. In the present invention, regardless of the cross-sectional shape of the casing body of the motor or the reducer, both the reducer side end face of the motor casing and the flange of the reducer are polygonal. φ In addition, the term "polygon" here refers to the meaning of "having an edge with a straight line (not a circle)", especially the apex portion does not necessarily have a geometrically correct angle, for example, including It has been treated to a condition suitable for chamfering. Further, it is not necessarily a polygon whose lengths are equal and equal in each side. More specifically, however, it is advantageous from the viewpoint of miniaturization that the polygon is square. In addition, the term "the end surface of the reducer side of the casing of the motor" is as follows: "The end face of the motor casing and the speed reducer are connected to each other." More specifically, when the casing of the motor is flangeless, it refers to the end face of the reducer side of the casing body of the motor, but when the casing of the motor has a flange on the side of the reducer, it means the flange End face. According to the present invention, the end surface of the reducer side of the motor casing formed in the polygonal shape and the flange of the speed reducer are obliquely coupled, that is, the extension line of the side or side of the polygonal portion of the flange of the motor can be connected. The polygonal sides of the flange of the above reduction gear are formed to intersect. Further, a motor connecting hole for the motor and the reducer -6 - 200806905 (4) is disposed on the inner side in the radial direction of the apex of the polygon on the end surface of the reducer side of the motor casing, and A mounting hole for mounting the reducer to the target machine is disposed at a position on the outer side in the radial direction of the polygonal side of the reduction gear side end surface of the motor casing of the reducer flange. As a result, the motor and the reducer flange are connected to the motor connection hole, and the reducer is attached to the mounting hole for the target machine, and the excess space (formation space) sufficient in the radial direction can be secured, and the other direction in the circumferential direction can be ensured. Various connection holes and the like can also be collectively allocated to the formation space. Therefore, it is possible to suppress φ from suppressing the radial direction and ensuring a large space for formation. Therefore, as a result, the number of bolts can be suppressed by using a large bolt, and the number of assembling machines and the manufacturing cost can be reduced. [Effect of the Invention] According to the present invention, it is possible to obtain various connecting holes or mounting holes which are formed in a casing or a flange of a motor or a reduction gear in a rational arrangement, and are configured to be small and easy to assemble, and have a gear having sufficient joint strength. [Embodiment] [Best Embodiment of the Invention] Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. Figs. 1 to 3 show a geared motor to which an embodiment of the present invention is applied. The geared motor GM 1 is a motor Μ 1 and a reducer G Γ coaxial connected to the 200806905 (5) junction, and is used for joints of industrial robots (not shown). As shown in Fig. 2, the front end portion of the motor shaft 12 of the motor M1 serves as the input shaft 14 of the reduction gear. The casing body of the motor M1 does not have a reducer side closing member (motor output side cover), and the subtraction side cover 72 (described later) is an output side cover having the motor Μ 1 attached to the reducer input side cover 72. A shaft is incorporated in the central portion in the radial direction. The bearing 18 supports the motor shaft 1 2 (input shaft 14) to rotate φ. In the embodiment, the reducer input side cover also has a reducer projection g. The input shaft 14 is frictionally coupled to the eccentric body 20 via the wedge 22 and the bolt 24. Three external gears 26 (26A to 26C) are mounted on the outer periphery of the eccentric body 20 through the shafts 28A to 28C, respectively. The tooth gears 26 are formed by a difference of 120 degrees with the (single) internal gears 30, respectively. The internal joint is engaged. The internal gear 30 has a slightly smaller than four teeth and is smaller than the number of teeth of the external gear 26, and is integrally formed with the casing body 70 (described below) of the reduction #. A support block output buffer 36 is disposed on both sides of the external gear 26 in the axial direction. The support block 34 and the output member 36 are rotatably supported by the casing body 7 分别 respectively, and the inner pin 7 is formed by the protrusion 36, and the bolt 44 is coupled to form an integral inner pin 42. The tooth gear 26 and the inner roller 43 that is fitted to the pin 42 are configured to transmit only the rotation component to the support block 34 and the output member 36 when the oscillation of the external gear 26 is absorbed. In addition, in the picture of the younger brother 3, the figure 46' indicates that the output member is driven by the direct drive 5 and the speed change function. i: 18, free. The function of the edge is three consecutive C 28 (. Each peripheral direction is ί (1 [machine G1 [34 and through the shaft output configuration of the same insert of the same 36 and 8 · (6) (6) 200806905 object mechanical drive a bolt hole for connecting a rotating body (not shown); Fig. 48 is a disengagement hole used when the motor M1 and the speed reducer G1 are disassembled, and the two M1 and G1 are pulled apart by a tool (not shown); 49 is a positioning hole for temporarily positioning the inner pin 42 and the support block 34 in the circumferential direction when assembling the inner pin 42 and the support block 34. Here, referring to the first and third figures, The connection form of the motor unit 1 and the speed reducer G1 will be described in detail. Fig. 1 is a view showing the state in which the reduction gear G1 is viewed from the motor side in a state where the entire bearing 18 of the motor unit 1 is removed. In the surrounding portion, the inner peripheral wall 75 of the bearing 18 of the reducer input side cover 72 and the abutting portion 77 of the bearing 18, the motor Μ1, and the organic casing body (motor casing body) 5 1 can be respectively seen. As described above, this embodiment does not have an output side cover. That is, it is configured as a reducer input side cover 72. Also, it is a casing flange of the motor casing 1. The motor casing body 5 1 has a square end (polygonal shape) 54' on the side surface of the reducer side. As shown in Fig. 1, the input side cover 72 is formed at the reducer. The square 5 4 of the reducer side end face can be fitted with a recess (5 4 ). In the following description, the recess ( 54 ) of the first figure is a reducer of the motor case body 5 1 for convenience of description. A square 54 of the side end surface will be described. A casing having a diameter d 1 for specifying the motor Μ 1 in the radial direction of the reducer input side cover 72 is formed on the reduction input side cover 72 and the reducer side end surface '. 50. The motor housing body 5 1 and the reducer input side cover 72' are integrally formed through the motor coupling hole 80. Further, the speed reducer G1 is provided with an organic casing body -9 - (7) (7) 200806905 (reduction housing The main body 70 and the reducer input side cover 72. The reduction case main body 70 is formed in a cylindrical shape and has a flange portion 70A that protrudes outward in the radial direction. The reducer input side cover 72 has the casing body. The flange portion 70A of 70 has substantially the same peripheral shape. The main body 7A and the reducer input side cover 72 are connected to each other through the speed reducer connecting hole 84. The speed reducer input side cover 72 is formed with the speed reducer connecting hole 84 and the speed reducer G1. The mounting hole 82° or less for mounting the base (not shown) on the entire exterior of the motor 1 will be described in more detail with respect to the shape or arrangement position of each element. The housing body (motor housing body) of the motor M1 is described. 51. The axial right-angle cross section (in this embodiment) is a square 54, and the outer shape of the reducer input side cover 72 is also a square 74. Each of the squares 54, 74 is just inclined at 45 degrees to each other, and the side of the square 54 of the motor casing body 51 is 5 4 S 1 to 5 4 S 4 (in the case of this embodiment, the extension line is 5 4 S e 1~ 54Se4) is formed to intersect the sides 74S1 to 74S4 of the square 74 of the reducer input side cover 72. The sides 54S1 to 54S4 of the square 54 of the motor casing body 51 have a distance L1 between the opposing sides 54S1 and 54S3 and between 54S2 and 54S4. In addition, the sides 74S1 to 74S4 of the square 7 4 of the input side cover 7 of the reducer input side are between the opposite sides 74S1 and 74S3, and between 74S2 and 74S4, the distances of the respective opposite sides are respectively L2, and are formed as opposite side distances L 1 < The side distance is L2. The apex 54A1 to -10- (8) of the square 54 of the motor casing body 51 (8)
200806905 54A4間的對角線距離爲L3。此外，減每 的正方形74的頂點7 4A1〜74A4間的對） 構成爲對角線距離L3 <對角線距離L4。 馬達機殼本體51的正方形54的對ί 減速機輸入側蓋72的正方形74的相向_ 馬達機殼本體51是可完全收容在減速機車 徑方向內側。減速機G1的機殼本體70 也是可收容在減速機輸入側蓋72的半徑 於馬達機殼本體5 1的正方形5 4的IJ 的半徑方向內側空間，配置有該馬達機殼 機輸入側蓋72連結用的馬達連結孔80 ( 連結孔8〇，其孔徑的大小是形成爲可由 圖示）確保連結時所需的強度。 此外，於減速機輸入側蓋72的正方 〜54S4的半徑方向外側相當位置的空間 機輸入側蓋72連結有馬達Μ1的減速機 向54)時減速機輸入側蓋72上剩餘的廣 配置有將減速機G1安裝在對象機械（省 裝孔82 ( 4個），及減速機G1的機殼碎 輸入側蓋72連結用的減速機連結孔84 ( 中的安裝孔82是配置在減速機輸入側蓋 〜74Α4的半徑方向內側位置，即I，所形 位置上。安裝孔82及減速機連結孔84， 形成可由4支螺栓（省略圖不）確保連結 I機輸入側蓋72 与線距離爲L4， _線距離L3，比 t距離L2還小， I入側蓋72的半 的圓筒形狀部份 ϊ向內側。 ，點 54A1 〜54A4 本體51和減速 共4個）。馬達 4支螺栓（省略 形5 4的邊5 4 S 1 〔即，於該減速 側端面（的正方 大空間〕，分別 略圖示）用的安 :體70和減速機 4個）。另，當 72的頂點74A1 成空間的最寬廣 其孔徑的大小是 時所需的強度。 -11 - 200806905 (9) 另外，於該實施形態，馬達機殼本體51的正方形5 4 各邊54S1〜54S4的中央部附近，利用進入至減速機殼本 體70的內側，如第1圖及第2圖所示，於該位置形成減 速機G 1的給油孔8 1。習知，給油孔是從減速機殻本體 70的外圍貫通該殼本體70半徑方向形成。因此，有時候 減速機殻本體70內的減速機構等會造成妨礙導致潤滑劑 不進到真正要給油的部份。於該實施形態，因給油孔8 1 φ 是從減速機輸入側蓋72貫通該減速機輸入側蓋72軸方向 形成，所以即使是在如此狀況下有時還是能夠讓潤滑劑更 迅速並且有效到達需求部份。尤其是給油孔本來就不必非 形成在該位置不可，也可如習知般從減速機殼本體的 外圍貫通該殼本體70半徑方向形成。此外，也可於兩方 的位置各別形成有給油孔，構成可從較有利的方向給油。 其次，對該齒輪傳動馬達G Μ 1的作用加以說明。 參照第2圖，馬達軸12是兼爲減速機G1的輸入軸 φ 1 4，該馬達軸1 2的旋轉是直接成爲輸入軸1 4的旋轉’使 偏心體20形成旋轉。其結果，使安裝在該偏心體20外圍 的外齒齒輪2 6開始擺動旋轉。 外齒齒輪26和內齒齒輪3 0僅有些許的齒數差，所以 偏心體20的旋轉使外齒齒輪26成1次擺動時其和內齒齒 輪30的咬合位置就會旋轉一圈，外齒齒輪26對成爲固定 狀態的內齒齒輪30是以其和該內齒齒輪30的齒數差形成 錯開（自轉）。該外齒齒輪26的活動是由貫通在該外齒 齒輪26的內插銷42和內輥43的遊嵌吸收其擺動成份’ -12 - (10) (10)200806905 The diagonal distance between 54A4 is L3. Further, the pair between the vertices 7 4A1 to 74A4 of each square 74 is reduced to a diagonal distance L3 < a diagonal distance L4. The direction of the square 54 of the motor housing body 51 is opposite to the direction of the square 74 of the reducer input side cover 72. The motor housing body 51 is completely housed inside the speed reducer. The casing body 70 of the reducer G1 is also accommodated in the radially inner space of the IJ of the square of the motor housing main body 51 of the reducer input side cover 72, and the motor casing input side cover 72 is disposed. The connection motor coupling hole 80 (the connection hole 8A whose hole diameter is formed as shown) ensures the strength required for the connection. Further, when the space machine input side cover 72 at the position corresponding to the outer side in the radial direction of the positive side 54C4 of the reduction gear input side cover 72 is coupled to the speed reducer 54 of the motor Μ 1, the wide arrangement remaining on the speed reducer input side cover 72 will be The reduction gear G1 is attached to the target machine (the fixed hole 82 (four), and the reduction gear connection hole 84 for connecting the casing input side cover 72 of the reduction gear G1 (the mounting hole 82 is disposed on the input side of the reduction gear) The inner side of the cover ～74Α4, i.e., the position of the shape, the mounting hole 82 and the reducer coupling hole 84 are formed by four bolts (not shown) to ensure that the input side cover 72 is connected to the line line L4. , _ line distance L3, smaller than t distance L2, I enter the side of the half-shaped cylindrical portion of the side cover 72 to the inside. Point 54A1 ~ 54A4 body 51 and deceleration a total of 4.) Motor 4 bolts (omitted The side of the shape 5 4 is 5 4 S 1 (that is, the body of the deceleration side end face (the square large space) is slightly shown) (the body 70 and the reducer are respectively used). In addition, when the apex of the 72 is 74A1 The widest of the space and the size of its aperture are the required strength. -11 - 20080690 (9) In this embodiment, the vicinity of the center portion of each of the sides 54S1 to 54S4 of the square body 5 of the motor casing body 51 enters the inside of the reduction case body 70 as shown in Figs. 1 and 2; It is shown that the oil supply hole 81 of the speed reducer G 1 is formed at this position. It is known that the oil supply hole is formed from the outer periphery of the reduction case body 70 through the radial direction of the case body 70. Therefore, sometimes the inside of the casing body 70 is reduced. In the embodiment, the oil feed hole 8 1 φ is formed from the reducer input side cover 72 through the reducer input side cover 72 in the axial direction, and the speed reduction mechanism or the like causes the lubricant to not enter the portion where the oil is actually supplied. Therefore, even in such a situation, it is sometimes possible to allow the lubricant to reach the demand portion more quickly and efficiently. In particular, the oil hole is not necessarily formed at the position, and can be removed from the periphery of the body of the casing as is conventionally known. The casing body 70 is formed to penetrate in the radial direction. Further, oil supply holes may be formed at both positions to provide oil from a favorable direction. Next, the action of the gear transmission motor G Μ 1 will be described. Referring to Fig. 2, the motor shaft 12 is also the input shaft φ 1 4 of the speed reducer G1, and the rotation of the motor shaft 12 directly becomes the rotation of the input shaft 14 to rotate the eccentric body 20. As a result, the motor is mounted. The externally toothed gear 26 at the periphery of the eccentric body 20 starts to swing and rotate. The externally toothed gear 26 and the internally toothed gear 30 have only a slight difference in the number of teeth, so that the rotation of the eccentric body 20 causes the externally toothed gear 26 to swing once. The engaged position of the internal gear 30 is rotated once, and the externally toothed gear 26 is distorted (rotated) by the difference in the number of teeth of the internal gear 30. The external gear 26 is moved by the inner pin 42 and the inner roller 43 of the external gear 26 to absorb the swinging component ' -12 - (10) (10)
200806905 只有自轉成份傳達至支撐塊3 4及輸出構件3 6。輸出 3 6所產生的輸出扭力是透過螺栓孔46傳達至想要驅 對象機械旋轉部（省略圖示）。 於此，參照第1圖、第3圖，馬達Μ1是形成近 套管5 0尺寸的圓筒形，因此於馬達機殼本體5 1的正 54的頂點54Α1〜54Α4的半徑方向內側，就能確保有 的空間。於本實施形態，因是於該寬廣的空間配置有 達機殼本體5 1和減速機輸入側蓋（減速機凸緣）72 用的馬達連結孔80，所以馬達機殼本體5 1和減速機 側蓋72連結用的螺栓即使爲4支還是能夠確保足夠 度。 此外，減速機輸入側蓋72的對角線距離L4，是 達機殼本體51的正方形54的相向邊距離L1還長許 所以在減速機輸入側蓋72的正方形54的邊5481〜 的半徑方向外側相當位置的空間，是能夠確保有極寬 空間。因此，就能夠在該寬廣的空間配置著將減速卷 安裝在對象機械用的安裝孔82，及減速機殼本體70 速機輸入側蓋72連結用的減速機連結孔84。特別是 裝孔82是配置在減速機輸入側蓋72的頂點74Α1〜 的半徑方向內側位置，因此只要以4支螺栓就可確保 夠高的強度。 再加上，馬達機殼本體5 1的正方形54的對角線 L3，因是比減速機輸入側蓋72的正方形74的相向邊 L2還小，所以馬達機殼本體5 1可完全收容在減速機 構件 動的 似於 方形 寬廣 該馬 連結 輸入 的強 比馬 多， 54 S4 廣的 | G1 和減 ，安 74Α4 有足 距離 距離 輸入 -13- 200806905 (11) 側蓋7 2的半徑方向內側，以齒輪傳動馬達整體 由減速機輸入側蓋72的正方形74本身構成爲外 的形狀（外觀最外層的形狀不會成爲星形）。該 層的形狀爲正方形的構成，就意味著例如當該齒 達GM1應用在產業用機器人的關節（省略圖示 ，對於構成上要確保有更寬廣的該關節部份活動 有很大的幫助。這是因爲產業用機器人的減速機 φ 省略圖示），大多數爲四角形，減速機輸入側蓋 狀是相同的四角形，再加上，減速機殼本體7〇 正方形74的各邊74S1〜74S4，所以不會損及機 的自由度（活動範圍）。藉由使用本實施形態相 傳動馬達GM 1，能夠實現齒輪傳動馬達整體的 及應用在產業用機器人時的活動範圍廣域化。 另，於上述實施形態中，馬達Μ1的機殼本 無輸出側蓋的正方形54，減速機輸入側蓋72兼 φ 出側蓋。但是，於本發明，只要馬達的減速機側 角形即可，對於馬達機殼的具體構成並不加以限 馬達的機殼，可以是無輸出側蓋且機殼本體本身 ，此外，也可以是具有輸出側蓋且該輸出側蓋本 角形的凸緣。 此外，上述實施形態是圖示著減速機凸緣爲 速機的輸入側蓋，但減速機凸緣也可設置在減速 本體。於該狀況時，有沒有減速機的輸入側蓋都 另外，減速機凸緣可和機殼本體成爲一體也可成 來看，是 觀最外層 外觀最外 輪傳動馬 )驅動時 範圍時會 安裝座（ 72的形 是不突出 器人活動 關的齒輪 小型化， 體51爲 爲馬達輸 端面爲多 制。即， 爲多角形 身具有多 設置在減 機的機殼 沒關係， 爲個別體 -14- 200806905 (12) 。對於減速機的機殼本體的筒部的軸直角剖面，並沒有要 求該等一定要爲圓形，例如也可以是如正方形的多角形剖 面形狀。 〔產業上之可利用性〕 可應用在包括產業用機器人的關節驅動用的齒輪傳動 馬達，及任何領域的齒輪傳動馬達。 參 【圖式簡單說明】 第1圖爲本發明實施形態一例相關的齒輪傳動馬達在 馬達拆卸後減速機從馬達側看時的圖。 第2圖爲第1圖齒輪傳動馬達的— H剖線方向看的 剖面圖。 第3圖爲本發明實施形態一例相關的齒輪傳動馬達從 第1圖相反方向看時的正面圖。 【主要元件符號說明】 Μ1 :馬達 G1 :減速機 GM1 :齒輪傳動馬達 50 :套管 5 1 :馬達機殻本體 54 :(馬達機殼本體的）正方形 54A1〜54A4:正方形的各頂點 -15- 200806905 (13) 54S1〜54S4:正方形的各邊 7 〇 :減速機殼本體 72 :減速機輸入側蓋（減速機凸緣） 74 :(減速機凸緣的）正方形 74A1〜74A4:正方形的各頂點 74S1〜74S4:正方形的各邊 80 :馬達機殼本體和減速基側凸緣連結的馬達連結孔 φ 82 :減速機安裝在對象機械時的安裝孔 84 :減速機殼本體和減速機凸緣連結的減速機連結孔200806905 Only the rotation component is transmitted to the support block 34 and the output member 36. The output torque generated by the output 36 is transmitted to the mechanical rotating portion (not shown) through the bolt hole 46. Here, referring to Fig. 1 and Fig. 3, the motor cymbal 1 is formed in a cylindrical shape having a size close to the casing 50, so that it can be inward in the radial direction of the apex 54Α1 to 54Α4 of the positive 54 of the motor casing main body 51. Make sure there is space. In the present embodiment, since the motor connecting hole 80 for the casing main body 51 and the reducer input side cover (reducer flange) 72 is disposed in the wide space, the motor casing body 51 and the speed reducer Even if the number of bolts for connecting the side cover 72 is four, it is possible to ensure sufficientness. Further, the diagonal distance L4 of the reducer input side cover 72 is such that the opposite side distance L1 of the square 54 of the casing body 51 is longer, so that the radial direction of the side 5481 to the square 54 of the reducer input side cover 72 is made. The space on the outer side is able to ensure an extremely wide space. Therefore, the mounting hole 82 for attaching the decelerating roll to the target machine and the speed reducer connecting hole 84 for connecting the speed reducer main body 70 to the speed input side cover 72 can be disposed in the wide space. In particular, since the fitting hole 82 is disposed at the radially inner side of the apex 74Α1 to the input side cover 72 of the reduction gear, it is possible to secure a high strength by using four bolts. Further, since the diagonal line L3 of the square 54 of the motor casing body 51 is smaller than the opposing side L2 of the square 74 of the reducer input side cover 72, the motor casing body 5 1 can be completely accommodated in the deceleration. The movement of the machine member is similar to the square width of the horse. The input is stronger than the horse, 54 S4 wide | G1 and minus, An 74Α4 with sufficient distance input -13 - 200806905 (11) The radial direction of the side cover 7 2, The square 74 of the input side cover 72 of the reducer as a whole is integrally formed by the gear drive motor itself (the outermost shape of the appearance does not become a star shape). The shape of the layer is a square configuration, which means that, for example, when the tooth GM1 is applied to the joint of the industrial robot (not shown, it is greatly helpful to ensure a wider movement of the joint portion in the configuration. This is because the reduction gear φ of the industrial robot is omitted (illustration), and most of them are quadrangular, and the input side cover shape of the reducer is the same quadrangular shape, and the sides 74S1 to 74S4 of the reduction case body 7 〇 square 74 are added. Therefore, it does not damage the freedom of the machine (the range of motion). By using the phase transmission motor GM 1 of the present embodiment, it is possible to realize a wide range of the range of motion of the entire gear transmission motor and the industrial robot. Further, in the above embodiment, the housing of the motor cartridge 1 has no square 54 of the output side cover, and the reduction gear input side cover 72 has a side cover. However, in the present invention, as long as the reducer side angle of the motor is sufficient, the specific structure of the motor casing is not limited to the casing of the motor, and may be an output side cover and the casing body itself, or may have The side cover is output and the output side covers the angular flange. Further, the above embodiment is an input side cover in which the reducer flange is a speed reducer, but the reducer flange may be provided in the speed reduction body. In this situation, there is no input side cover of the reducer. In addition, the flange of the reducer can be integrated with the body of the casing, and it can be seen from the perspective of the outermost outer wheel drive horse. (The shape of 72 is the miniaturization of the gear that does not protrude the person's activity, and the body 51 is a multi-system for the motor end face. That is, it is arbitrarily for the polygonal body to have a casing that is set in the reduction machine, for the individual body-14- 200806905 (12) For the right-angled cross-section of the cylindrical portion of the casing body of the reducer, it is not required to be circular, for example, it may be a polygonal cross-sectional shape such as a square. [Industrial Applicability] 】 It can be applied to gear drive motors for joint drive including industrial robots, and gear drive motors in any field. [Simplified description of drawings] Fig. 1 is a diagram showing an example of a geared motor according to an embodiment of the present invention after motor disassembly Fig. 2 is a cross-sectional view of the gear transmission motor taken along the line H of Fig. 1. Fig. 3 is a view showing an example of the embodiment of the present invention. Front view of the geared motor as seen from the opposite direction of Figure 1. [Main component symbol description] Μ1: Motor G1: Reducer GM1: Geared motor 50: Sleeve 5 1 : Motor housing body 54 : (Motor housing Squares 54A1 to 54A4 of the body: vertices of the square -15- 200806905 (13) 54S1 to 54S4: sides of the square 7 〇: reducer housing body 72: reducer input side cover (reducer flange) 74 :( Squares 74A1 to 74A4 of the flange of the reducer: vertices 74S1 to 74S4 of the square: sides 80 of the square: motor coupling hole φ 82 connected to the flange of the motor casing body and the base of the reduction base: When the reducer is mounted on the target machine Mounting hole 84: reducer coupling hole connecting the reducer housing body and the reducer flange
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