WO2006073182A1 - Power transmission device - Google Patents

Power transmission device Download PDF

Info

Publication number
WO2006073182A1
WO2006073182A1 PCT/JP2006/300093 JP2006300093W WO2006073182A1 WO 2006073182 A1 WO2006073182 A1 WO 2006073182A1 JP 2006300093 W JP2006300093 W JP 2006300093W WO 2006073182 A1 WO2006073182 A1 WO 2006073182A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission device
power transmission
hollow shaft
shaft
device characterized
Prior art date
Application number
PCT/JP2006/300093
Other languages
French (fr)
Japanese (ja)
Inventor
Takashi Haga
Kiyoji Minegishi
Original Assignee
Sumitomo Heavy Industries, Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries, Ltd. filed Critical Sumitomo Heavy Industries, Ltd.
Priority to JP2006550907A priority Critical patent/JPWO2006073182A1/en
Priority to DE112006000141T priority patent/DE112006000141T5/en
Publication of WO2006073182A1 publication Critical patent/WO2006073182A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/108—Bearings specially adapted therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein

Definitions

  • the present invention relates to a power transmission device having a hollow shaft.
  • a power transmission device that transmits input power to a counterpart machine is mainly used as a speed reducer. This means that when using an electric motor or the like as a drive source for driving a conveyor that does not require high-speed rotation or for a joint of an industrial mouth bot, use an electric motor with a high rotation and low torque as it is. Is inappropriate, and it is necessary to decelerate the motor rotation to the required number of rotations and increase the torque.
  • the shaft passing through the power transmission device may be designed to be hollow so that a power cord, other control wiring, a cooling water pipe, and the like are passed through the shaft (for example, Japanese Patent Laid-Open No. Hei. 7—108485).
  • the present invention prevents more damage to the inserted wiring and the like due to contact and friction, and maximizes the effective utilization of the originally designed hollow portion, so that more wiring and piping can be used.
  • An object of the present invention is to provide a power transmission device that can be inserted through the air shaft.
  • the present invention comprises a hollow shaft that penetrates the entire apparatus and rotates, and a protective portion for protecting a member inserted through the hollow shaft on an inner peripheral surface of an end of the hollow shaft;
  • the present invention by providing a protective portion on the inner peripheral surface of the end of the hollow shaft, even if contact friction occurs between the hollow shaft and the wiring or the like, the presence of the protective portion causes the contact at the time of the contact. By reducing the surface pressure and friction, damage to the wiring and piping, disconnection, etc. can be prevented.
  • a protective part is provided at the "end part" because the force that pays attention to the fact that some parts in the hollow shaft are easily contacted and damaged is not caused by any part in the hollow shaft. It is.
  • the end of the hollow shaft is often contacted because the shape of the member has an acute angle, and in addition, for the convenience of wiring, it is often bent and placed immediately after passing through. This is because damage is likely to occur.
  • the structure is simpler and the cost can be reduced compared to the case where a second hollow shaft (protective pipe) is separately inserted into the entire interior of the hollow shaft.
  • the “end” can easily form a “step” with a larger diameter due to its structure, for example, by providing a protective portion at the step, the originally designed hollow portion can be maximized. It can be used as much as possible.
  • the “hollow shaft” in the present invention is not necessarily limited to a single member, and is configured by combining a hollow input shaft and a hollow gear, pulley, or the like. It is a concept that includes things.
  • FIG. 1 is an example of an embodiment of the present invention, and is an overall side cross-sectional view of a geared motor including a power transmission device in which an input shaft is a hollow shaft through which wiring or the like is passed.
  • FIG. 2 is an example of an embodiment of the present invention, in which the output shaft is a hollow shaft through which wiring or the like is passed.
  • FIG. 1 is a partial cross-sectional view of a geared motor GM100 including a power transmission device 160 to which an example of an embodiment of the present invention is applied.
  • the geared motor GM100 includes a motor 102 and a power transmission device 160 coupled to and integrated with the motor 102, and is configured to transmit power to a counterpart machine 180 (not shown).
  • a pinion 106 is formed on the motor shaft 104 of the motor 102, and meshes with the gear 108.
  • the gear 108 is fixed to the input shaft 140 of the power transmission device 160.
  • the input shaft 140 is formed with an eccentric body 120, and the input shaft 140 is also an eccentric body shaft 142 at the same time.
  • An external gear 112 is rotatably supported on the eccentric body 120 via an eccentric body bearing 118, and the external gear 112 can swing and rotate as the eccentric body 120 rotates.
  • the external gear 112 meshes with an internal gear 136 having internal teeth 110 with a slight difference in the number of teeth.
  • the internal gear 136 is formed integrally with the casing 137 of the power transmission device 160, and is the casing 137 as well as the internal gear 136.
  • the external gear 112 has external teeth such as a trochoidal tooth shape and an arc tooth shape on the outer periphery, and further has a plurality of inner pin holes 146, into which the inner pins 114 and the inner rollers 116 are fitted.
  • a carrier pin hole 147 is formed in the external gear 112, and a carrier bolt 130 is fitted.
  • the second output flange body 132 and the first output flange body 134 are integrally connected by the carrier bolt 130.
  • the second output flange body 132 is rotatably supported by the internal gear 136 via a bearing 126.
  • the input shaft 140 eccentric body shaft 142
  • a bearing 122 is rotatably supported via a bearing 122.
  • the first output flange body 134 rotates to the internal gear 136 via the bearing 128. Supported as possible. Further, the input shaft 140 is rotatably supported via a bearing 124.
  • the internal gear 136, the connected second output flange body 132 and the first output flange body 134, and the input shaft 140 each independently have an axis Ol. It can be rotated to the center.
  • the first output flange body 134 is connected to the counterpart machine 180 by a bolt (not shown) or the like.
  • Friction reduction bearing 150 is attached to the expanded part.
  • the friction reducing bearing 150 has an outer ring 150a fixed to the input shaft 140, and the inner ring 150b can freely rotate via a ball 150c.
  • the driving force of the motor 102 is transmitted to the input shaft 140 via the motor shaft 104, the pinion 106, and the gear 108.
  • the input shaft 140 rotates about the axis Ol, and accordingly, the eccentric body 120 integrally formed with the input shaft 140 also rotates.
  • the external gear 112 also tries to swing and rotate around the input shaft 140 by the rotation of the eccentric body 120.
  • the external gear 112 is the internal gear. While inscribed in 136, almost only rocks.
  • the wire 190 is passed through the hollow portion of the input shaft 140 (eccentric body shaft 142), the input shaft 140 rotating at high speed and the wire 190 can directly contact each other. There is sex. However, in the part other than the end of the hollow input shaft 140, wiring etc. 190 may be passed straight through, and there is almost no possibility of contact. Is smooth, and it is difficult for the generated friction and contact surface pressure to be high. That Therefore, damage to wiring and the like is unlikely to occur.
  • a step 140a is provided at the end of the input shaft (hollow shaft) 140 to widen the diameter, and the friction reducing bearing 150 is disposed there, so that the inner ring is likely to be contacted. Friction due to the rotation of the hollow shaft without changing the relative position of the inner ring 150b and the wiring, etc., even when the wiring contacts, etc. The force can be practically zero, and wiring can be protected.
  • the friction reducing bearing 150 is provided on the second output flange body side of the hollow shaft, but it may be provided on the first output flange body side or on both sides. is there.
  • the input shaft is hollow and the wiring is passed therethrough.
  • the present invention is not necessarily limited to this, and the hollow shaft is replaced with the first output flange as in the embodiment of FIG. It can also be formed integrally with the body 234.
  • a bearing as a friction reducing member is arranged in the protective portion.
  • the present invention is not limited to this, and friction such as a fluorine resin sheet can be reduced. It is also possible to arrange the member at the end. In addition to the end, other parts than the end Similarly, it is possible to provide a protective part, but considering the cost, it is most cost-effective to provide it only at the end.
  • the embodiment described above is a force that is a power transmission device including an external gear that also swings even when the displacement is not limited to this.
  • a high-speed shaft of a simple planetary gear power transmission device Can be applied to the hollow shaft.
  • the present invention is used in a technical field where more wiring is required in a complicated machine such as an industrial robot, as well as in a case where it is used as a drive source such as a pump. It can be widely used in fields where the use of is expected.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • General Details Of Gearings (AREA)

Abstract

A power transmission device, wherein a friction reducing bearing (150) is disposed at the end part of a hollow input shaft (140) to protect wires (190) inserted into the hollow input shaft (140) passed through a speed reducer without separately installing a second hollow shaft (protective pipe). Thus, by maximally utilizing the hollow portion of the input shaft (140), an insertion space for larger number of wires and pipes can be secured while protecting the wires when the wires are inserted into the hollow shaft installed in the speed reducer.

Description

明 細 書  Specification
動力伝達装置  Power transmission device
技術分野  Technical field
[0001] 本発明は、中空軸を有する動力伝達装置に関する。  [0001] The present invention relates to a power transmission device having a hollow shaft.
背景技術  Background art
[0002] 入力された動力を相手機械へと伝達する動力伝達装置は、主に減速機として利用 されている。これは、高速回転はそれほど要求されないコンベアの駆動や、産業用口 ボットの関節の駆動等の駆動源として電動モータ等を利用する場合に、高回転低ト ルクな出力の電動モータをそのまま用いることは不適切であり、必要な回転数までモ ータの回転を減速し、且つトルクを増して使用する必要があるからである。  A power transmission device that transmits input power to a counterpart machine is mainly used as a speed reducer. This means that when using an electric motor or the like as a drive source for driving a conveyor that does not require high-speed rotation or for a joint of an industrial mouth bot, use an electric motor with a high rotation and low torque as it is. Is inappropriate, and it is necessary to decelerate the motor rotation to the required number of rotations and increase the torque.
[0003] このとき、用途によっては、当該動力伝達装置を貫通する軸を中空として、その内 部に電源コードやその他の制御配線、冷却水管などを通すように設計することがある (例えば特開平 7— 108485号公報)。  [0003] At this time, depending on the application, the shaft passing through the power transmission device may be designed to be hollow so that a power cord, other control wiring, a cooling water pipe, and the like are passed through the shaft (for example, Japanese Patent Laid-Open No. Hei. 7—108485).
[0004] しかし、複雑ィ匕した機械 (例えば産業用ロボット等）において使用される場合には、 必要となる配線等の数も多くなり、多くの配線や配管を前記中空部分に通したいとい う要望が存在する。  [0004] However, when used in complicated machines (for example, industrial robots), the number of necessary wirings increases, and it is desired to pass a large number of wirings and pipes through the hollow portion. There is a desire.
[0005] ここで、より多くの配線、配管を通すためには前記中空軸の径を広げるのが最も直 接的且つ効果的であるが、単に径を広げることは同時に動力伝達装置自体も半径方 向に大きくすることを意味し、コンパクト性に欠け、重量が増加する等のデメリットが大 きい。  [0005] Here, in order to pass more wires and pipes, it is most directly and effective to increase the diameter of the hollow shaft, but simply increasing the diameter also causes the power transmission device itself to have a radius. It means increasing in the direction, and there are major disadvantages such as lack of compactness and increased weight.
[0006] 一方で、前記中空軸が回転する場合、かかる回転により中空部分に挿通する配線 等と回転する軸との接触や摩擦が発生し、断線等を引き起こすことが考えられる。こ れを防止するため、前記中空軸 (入力軸)の内部に独立した第 2の中空軸 (保護パイ プ)を設け、配線等との摩擦や、回転に伴う接触'離反の繰り返しを排除する方法もあ る。  [0006] On the other hand, when the hollow shaft rotates, it is conceivable that the rotation causes contact or friction between the wiring inserted through the hollow portion and the rotating shaft, thereby causing disconnection or the like. In order to prevent this, an independent second hollow shaft (protective pipe) is provided inside the hollow shaft (input shaft) to eliminate friction with wiring and repeated contact and separation associated with rotation. There is also a method.
[0007] しかし、このような方法では、せつ力べ広く設計した中空部分を十分に活用すること ができず、多くの配線、配管等を通したいという要望を十分に満たし得ない。 発明の開示 [0007] However, with such a method, the hollow part designed with great effort cannot be fully utilized, and the desire to pass a large number of wires, pipes, etc. cannot be fully satisfied. Disclosure of the invention
[0008] そこで、本発明は、挿通する配線等が接触.摩擦により損傷することを防止し、且つ 本来設計された中空部分を最大限に有効活用することで、より多くの配線、配管を中 空軸に挿通することのできる動力伝達装置の提供をその目的としている。  [0008] Therefore, the present invention prevents more damage to the inserted wiring and the like due to contact and friction, and maximizes the effective utilization of the originally designed hollow portion, so that more wiring and piping can be used. An object of the present invention is to provide a power transmission device that can be inserted through the air shaft.
[0009] 本発明は、装置全体を貫通し、且つ回転する中空軸を備え、該中空軸の端部の内 周面に該中空軸に挿通する部材を保護するための保護部を備える構成とすることに より、前記課題を解決するものである。  [0009] The present invention comprises a hollow shaft that penetrates the entire apparatus and rotates, and a protective portion for protecting a member inserted through the hollow shaft on an inner peripheral surface of an end of the hollow shaft; By doing so, the above-mentioned problems are solved.
[0010] 本発明では、中空軸の端部内周面に保護部を設けることで、中空軸と配線等との 間に接触'摩擦が生じた場合でも、前記保護部の存在によりその接触時の面圧や摩 擦が緩和されることで、配線'配管の損傷、断線等が防止できる。  [0010] In the present invention, by providing a protective portion on the inner peripheral surface of the end of the hollow shaft, even if contact friction occurs between the hollow shaft and the wiring or the like, the presence of the protective portion causes the contact at the time of the contact. By reducing the surface pressure and friction, damage to the wiring and piping, disconnection, etc. can be prevented.
[0011] 「端部」に保護部を設けるのは、配線等が接触し損傷するのは、中空軸内のどの部 分でも均一に起こるのではなぐ接触し易い箇所があることに着目した力もである。即 ち、中空軸の端部は、部材の形状が鋭角となっていたり、更に加えて、配線等の取り 回しの都合上、揷通後直ぐに曲げられて配置される場合も多いことから、接触による 損傷が発生し易 、からである。  [0011] A protective part is provided at the "end part" because the force that pays attention to the fact that some parts in the hollow shaft are easily contacted and damaged is not caused by any part in the hollow shaft. It is. In other words, the end of the hollow shaft is often contacted because the shape of the member has an acute angle, and in addition, for the convenience of wiring, it is often bent and placed immediately after passing through. This is because damage is likely to occur.
[0012] その結果、中空軸の内部全体に別途第 2の中空軸 (保護パイプ)を挿入する場合 等に比べ構造が簡単であり、コスト低減できる。又、「端部」は、その構成上、より径を 広げた「段差」を容易に形成できるため、例えばその段差部分に保護部を設けるよう にすることにより、本来設計された中空部分を最大限に利用することができる。  As a result, the structure is simpler and the cost can be reduced compared to the case where a second hollow shaft (protective pipe) is separately inserted into the entire interior of the hollow shaft. In addition, because the “end” can easily form a “step” with a larger diameter due to its structure, for example, by providing a protective portion at the step, the originally designed hollow portion can be maximized. It can be used as much as possible.
[0013] なお、本発明における「中空軸」とは、必ずしも一の部材で構成されたものに限られ ず、例えば、中空の入力軸と、中空のギヤやプーリ等とを結合して構成されるものも 含む概念である。  Note that the “hollow shaft” in the present invention is not necessarily limited to a single member, and is configured by combining a hollow input shaft and a hollow gear, pulley, or the like. It is a concept that includes things.
[0014] 本発明により、動力伝達装置を貫通する中空軸に、より多くの配線'配管等を設置 することが可能となる。  [0014] According to the present invention, it becomes possible to install more wirings and pipes on the hollow shaft that penetrates the power transmission device.
図面の簡単な説明  Brief Description of Drawings
[0015] [図 1]本発明の実施形態の一例であり、入力軸を配線等が通される中空の軸とした動 力伝達装置を備えたギヤドモータの全体側断面図  FIG. 1 is an example of an embodiment of the present invention, and is an overall side cross-sectional view of a geared motor including a power transmission device in which an input shaft is a hollow shaft through which wiring or the like is passed.
[図 2]本発明の実施形態の一例であり、出力軸を配線等が通される中空の軸とした動 力伝達装置を備えたギヤドモータの全体側断面図 FIG. 2 is an example of an embodiment of the present invention, in which the output shaft is a hollow shaft through which wiring or the like is passed. Whole side sectional view of geared motor with force transmission device
発明を実施するための最良の形態  BEST MODE FOR CARRYING OUT THE INVENTION
[0016] 以下、添付図面を用いて、本発明の実施形態の一例を詳細に説明する。  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
[0017] 図 1は、本発明の実施形態の一例が適用された動力伝達装置 160を備えたギヤド モータ GM100の一部断面図である。  FIG. 1 is a partial cross-sectional view of a geared motor GM100 including a power transmission device 160 to which an example of an embodiment of the present invention is applied.
[0018] ギヤドモータ GM100はモータ 102と、該モータ 102に連結 '一体化された動力伝 達装置 160とからなり、相手機械 180 (—部図示略)へと動力を伝達する構成とされ ている。 The geared motor GM100 includes a motor 102 and a power transmission device 160 coupled to and integrated with the motor 102, and is configured to transmit power to a counterpart machine 180 (not shown).
[0019] モータ 102のモータ軸 104にはピ-オン 106が形成されており、ギヤ 108と嚙合し ている。該ギヤ 108は動力伝達装置 160の入力軸 140に固着されている。該入力軸 140には偏心体 120がー体的に形成されており、入力軸 140は同時に偏心体軸 14 2でもある。この偏心体 120には、偏心体用軸受 118を介して外歯歯車 112とが回転 可能に支持されており、前記偏心体 120の回転に伴って外歯歯車 112は揺動回転 可能である。該外歯歯車 112は、僅少の歯数差の内歯 110を有する内歯歯車 136と 嚙合している。  A pinion 106 is formed on the motor shaft 104 of the motor 102, and meshes with the gear 108. The gear 108 is fixed to the input shaft 140 of the power transmission device 160. The input shaft 140 is formed with an eccentric body 120, and the input shaft 140 is also an eccentric body shaft 142 at the same time. An external gear 112 is rotatably supported on the eccentric body 120 via an eccentric body bearing 118, and the external gear 112 can swing and rotate as the eccentric body 120 rotates. The external gear 112 meshes with an internal gear 136 having internal teeth 110 with a slight difference in the number of teeth.
[0020] なお、内歯歯車 136は当該動力伝達装置 160のケーシング 137と一体的に形成さ れ、内歯歯車 136であると同時にケーシング 137でもある。  Note that the internal gear 136 is formed integrally with the casing 137 of the power transmission device 160, and is the casing 137 as well as the internal gear 136.
[0021] 前記外歯歯車 112は、外周にトロコイド歯形や円弧歯形等の外歯を有しており、更 に内ピン孔 146が複数個設けられ、内ピン 114及び内ローラ 116が揷嵌されて 、る。 The external gear 112 has external teeth such as a trochoidal tooth shape and an arc tooth shape on the outer periphery, and further has a plurality of inner pin holes 146, into which the inner pins 114 and the inner rollers 116 are fitted. And
[0022] 挿嵌されている前記内ピン 114は、第 2出力フランジ体 132及び第 1出力フランジ 体 134の両方に係合している。 [0022] The inserted inner pin 114 is engaged with both the second output flange body 132 and the first output flange body 134.
[0023] 外歯歯車 112には内ピン孔 146の他にキヤリャピン孔 147が形成されており、キヤリ ャボルト 130が揷嵌されている。該キヤリャボルト 130により第 2出力フランジ体 132と 第 1出力フランジ体 134とが一体'連結している。 In addition to the inner pin hole 146, a carrier pin hole 147 is formed in the external gear 112, and a carrier bolt 130 is fitted. The second output flange body 132 and the first output flange body 134 are integrally connected by the carrier bolt 130.
[0024] 前記第 2出力フランジ体 132は、軸受 126を介して前記内歯歯車 136に回転可能 に支持されている。又、軸受 122を介して前記入力軸 140 (偏心体軸 142)を回転可 能に支持している。 [0024] The second output flange body 132 is rotatably supported by the internal gear 136 via a bearing 126. In addition, the input shaft 140 (eccentric body shaft 142) is rotatably supported via a bearing 122.
[0025] 同様に、第 1出力フランジ体 134は、軸受 128を介して前記内歯歯車 136に回転 可能に支持されている。更に、軸受 124を介して前記入力軸 140を回転可能に支持 している。 Similarly, the first output flange body 134 rotates to the internal gear 136 via the bearing 128. Supported as possible. Further, the input shaft 140 is rotatably supported via a bearing 124.
[0026] 即ち、内歯歯車 136と、連結された第 2出力フランジ体 132及び第 1出力フランジ体 134と、入力軸 140 (偏心体軸 142)とは、それぞれが独立して軸心 Olを中心に回 転可能である。  That is, the internal gear 136, the connected second output flange body 132 and the first output flange body 134, and the input shaft 140 (eccentric body shaft 142) each independently have an axis Ol. It can be rotated to the center.
[0027] なお、前記第 1出力フランジ体 134は、図示せぬボルト等により相手機械 180と連 結している。  [0027] The first output flange body 134 is connected to the counterpart machine 180 by a bolt (not shown) or the like.
[0028] 又、前記入力軸 140 (偏心体軸 142)の第 2出力フランジ体 132側の端部は、段差 140aにより入力軸 140の径が広げられており（大径部とされ)、その広がった部分に 摩擦低減用軸受 150が装着されている。該摩擦低減用軸受 150は、その外輪 150a が前記入力軸 140に固着され、玉 150cを介して内輪 150bが自由に回転可能な構 成とされている。  [0028] Further, the end of the input shaft 140 (eccentric body shaft 142) on the second output flange body 132 side has a diameter 140a widened by a step 140a (a large diameter portion). Friction reduction bearing 150 is attached to the expanded part. The friction reducing bearing 150 has an outer ring 150a fixed to the input shaft 140, and the inner ring 150b can freely rotate via a ball 150c.
[0029] 又、前記入力軸 140の中空部には、各種の配線等 190が通されている。  [0029] Various wirings 190 are passed through the hollow portion of the input shaft 140.
[0030] 次に、ギヤドモータ GM100の作用について説明する。 Next, the operation of geared motor GM100 will be described.
[0031] モータ 102に通電すると、モータ 102の駆動力がモータ軸 104、ピ-オン 106、ギ ァ 108を介して入力軸 140へと伝えられる。該入力軸 140は軸心 Olを中心に回転し 、これに伴い該入力軸 140に一体形成された偏心体 120も回転する。該偏心体 120 の回転により外歯歯車 112も入力軸 140の周りで揺動回転を行なおうとするが、内歯 歯車 136によってその自転が拘束されているため、外歯歯車 112は内歯歯車 136に 内接しながら、ほとんど揺動のみを行なうことになる。  When the motor 102 is energized, the driving force of the motor 102 is transmitted to the input shaft 140 via the motor shaft 104, the pinion 106, and the gear 108. The input shaft 140 rotates about the axis Ol, and accordingly, the eccentric body 120 integrally formed with the input shaft 140 also rotates. The external gear 112 also tries to swing and rotate around the input shaft 140 by the rotation of the eccentric body 120. However, since the rotation of the external gear 112 is restricted by the internal gear 136, the external gear 112 is the internal gear. While inscribed in 136, almost only rocks.
[0032] この外歯歯車 112の回転は、内ピン孔 146及び内ピン 114によってその揺動成分 が吸収され、自転成分のみが第 1出力フランジ体 134 (及び第 2出力フランジ体 132 )を介して相手機械 180へと伝達される。  [0032] The rotation of the external gear 112 is absorbed by the inner pin hole 146 and the inner pin 114, and only the rotation component passes through the first output flange body 134 (and the second output flange body 132). To the other machine 180.
[0033] 本実施形態では、配線等 190が通されるのは入力軸 140 (偏心体軸 142)の中空 部であるため、高速で回転する入力軸 140と配線等 190とが直接接触する可能性が ある。しかし中空である入力軸 140の端部以外の部分では、配線等 190が真直ぐに 通されていることもあり、接触する可能性はほとんど無ぐ仮に接触した場合でも、中 空軸の内周面は平滑であり、生じる摩擦や接触面圧も高いものとはなり難い。そのた め、配線等の損傷は起こり難い。 [0033] In this embodiment, since the wire 190 is passed through the hollow portion of the input shaft 140 (eccentric body shaft 142), the input shaft 140 rotating at high speed and the wire 190 can directly contact each other. There is sex. However, in the part other than the end of the hollow input shaft 140, wiring etc. 190 may be passed straight through, and there is almost no possibility of contact. Is smooth, and it is difficult for the generated friction and contact surface pressure to be high. That Therefore, damage to wiring and the like is unlikely to occur.
[0034] しかし、中空軸の端部においては、図 1に例示するように取り回しの都合上、配線等 が揷通後直ぐに曲げられて配置されることも多ぐ接触する可能性が高い。又、「端部 」という性質上、接触時の面圧も高くなり易ぐその部分に大きな摩擦力が発生し易い  However, at the end of the hollow shaft, as shown in FIG. 1, there is a high possibility that the wiring and the like are bent and arranged immediately after passing through, for convenience of handling. Also, due to the nature of the "end", the surface pressure at the time of contact tends to increase, and a large frictional force is likely to be generated at that part.
[0035] そこで、本実施形態のように入力軸（中空軸） 140の端部に段差 140aを設けて径を 広げ、そこに摩擦低減用軸受 150を配置することで、当該接触が生じ易い内輪 150b 部分を、高速で回転する中空軸とは独立して回転できる構造（内輪フリー）とし、配線 等が接触した場合でも内輪 150bと配線等の相対位置は変化することなぐ中空軸の 回転による摩擦力を事実上ゼロとし、配線等を保護することができる。 [0035] Therefore, as in the present embodiment, a step 140a is provided at the end of the input shaft (hollow shaft) 140 to widen the diameter, and the friction reducing bearing 150 is disposed there, so that the inner ring is likely to be contacted. Friction due to the rotation of the hollow shaft without changing the relative position of the inner ring 150b and the wiring, etc., even when the wiring contacts, etc. The force can be practically zero, and wiring can be protected.
[0036] これにより、従来例のような別途回転しない第 2の中空軸 (保護パイプ)を設ける必 要がなくなり、本来設計された中空部分を有効に活用することが可能となる。又、保 護パイプを設けるためのコストも力からな 、。  This eliminates the need for providing a second hollow shaft (protective pipe) that does not rotate separately as in the conventional example, and makes it possible to effectively utilize the originally designed hollow portion. Also, the cost of installing a protection pipe is also difficult.
[0037] なお、本実施形態では、中空軸の第 2出力フランジ体側に摩擦低減用軸受 150を 設けているが、第 1出力フランジ体側に設けてもよぐ更に両側に配置することも可能 である。  In the present embodiment, the friction reducing bearing 150 is provided on the second output flange body side of the hollow shaft, but it may be provided on the first output flange body side or on both sides. is there.
[0038] 又、本実施形態では、入力軸を中空としてそこに配線等を通しているものであるが 、必ずしもこれに限定されるものではなぐ図 2の実施形態のように中空軸を第 1出力 フランジ体 234と一体的に形成することも可能である。  [0038] In this embodiment, the input shaft is hollow and the wiring is passed therethrough. However, the present invention is not necessarily limited to this, and the hollow shaft is replaced with the first output flange as in the embodiment of FIG. It can also be formed integrally with the body 234.
[0039] なお、上述した図 1に示す実施形態と同一又は類似の部分については、下 2桁が 同一の番号を付することにより重複説明を省略する力 ここでは、モータ軸 204から 歯車 208を介して複数の偏心体軸 242に動力を振り分け、該偏心体軸 242にそれぞ れ装着した同位相の複数の偏心体 220を介して、外歯歯車 212を複数箇所におい て同時に偏心駆動するような振り分けタイプの内接嚙合遊星歯車構造である。又、こ の構造においては、前記偏心体軸 242は、内ピン 214としても機能することとなる。  It should be noted that the same or similar parts as those in the embodiment shown in FIG. 1 described above are given the same numbers in the last two digits, thereby omitting repeated explanation. Power is distributed to a plurality of eccentric body shafts 242 and the external gear 212 is simultaneously driven eccentrically at a plurality of locations via the plurality of eccentric bodies 220 of the same phase respectively attached to the eccentric body shafts 242. This is an inward-coordinate planetary gear structure of a sort type. In this structure, the eccentric body shaft 242 also functions as the inner pin 214.
[0040] 又、図 1における実施形態では、保護部に摩擦低減部材としての軸受を配置するよ うにしているが、これに限られるものではなぐフッ素榭脂シートのような摩擦を低減で きる部材を端部に配置することも可能である。なお、端部に加えて端部以外の部分も 同様に保護部を設けることは可能であるが、コスト面を考慮すると端部にのみ設ける のが最も費用対効果に優れて 、る。 [0040] In the embodiment shown in Fig. 1, a bearing as a friction reducing member is arranged in the protective portion. However, the present invention is not limited to this, and friction such as a fluorine resin sheet can be reduced. It is also possible to arrange the member at the end. In addition to the end, other parts than the end Similarly, it is possible to provide a protective part, but considering the cost, it is most cost-effective to provide it only at the end.
[0041] 更に、上記説明した実施形態は!、ずれも揺動する外歯歯車を備えた動力伝達装 置である力 これに限られるものではなぐ例えば、単純遊星歯車動力伝達装置の高 速軸を中空として、その中空軸に適用することも可能である。 [0041] Further, the embodiment described above is a force that is a power transmission device including an external gear that also swings even when the displacement is not limited to this. For example, a high-speed shaft of a simple planetary gear power transmission device Can be applied to the hollow shaft.
産業上の利用可能性  Industrial applicability
[0042] 本発明は、産業用ロボット等の複雑ィ匕した機械において、より多くの配線を通したい 技術分野で用いられるは勿論、ポンプ等の駆動源に用いられる場合のように、太い 配管を通しての利用が期待される分野に広く利用することが可能である。 [0042] The present invention is used in a technical field where more wiring is required in a complicated machine such as an industrial robot, as well as in a case where it is used as a drive source such as a pump. It can be widely used in fields where the use of is expected.

Claims

請求の範囲 The scope of the claims
[1] 装置全体を貫通し、且つ回転する中空軸を備え、該中空軸の端部の内周面に該 中空軸に挿通する部材を保護するための保護部を備えた  [1] A hollow shaft that penetrates the entire apparatus and rotates, and a protection portion for protecting a member inserted through the hollow shaft is provided on an inner peripheral surface of an end of the hollow shaft.
ことを特徴とする動力伝達装置。  A power transmission device characterized by that.
[2] 請求項 1において、  [2] In claim 1,
前記中空軸の前記端部に、より内径を拡大した大径部が備えられ、且つ、 該大径部に前記保護部が備えられている  The end portion of the hollow shaft is provided with a large-diameter portion having an enlarged inner diameter, and the protective portion is provided in the large-diameter portion.
ことを特徴とする動力伝達装置。  A power transmission device characterized by that.
[3] 請求項 1又は 2において、 [3] In claim 1 or 2,
前記保護部が、中空軸の該保護部以外の内周面より摩擦が低い部材が配置され た摩擦低減部である  The protective part is a friction reducing part in which a member having lower friction than the inner peripheral surface of the hollow shaft other than the protective part is disposed.
ことを特徴とする動力伝達装置。  A power transmission device characterized by that.
[4] 請求項 3において、 [4] In claim 3,
前記摩擦低減部は、その内輪が前記中空軸に対して回転可能な軸受で構成され ている  The friction reduction part is configured by a bearing whose inner ring is rotatable with respect to the hollow shaft.
ことを特徴とする動力伝達装置。  A power transmission device characterized by that.
[5] 請求項 1乃至 4のいずれかにおいて、 [5] In any one of claims 1 to 4,
前記動力伝達装置は、内歯歯車と、該内歯歯車に揺動しながら内接嚙合する外歯 歯車と、前記内歯歯車と外歯歯車との相対回転成分を取り出す相対回転取出機構と を備えた揺動内接嚙合式の動力伝達装置である  The power transmission device includes an internal gear, an external gear that is engaged with the internal gear while swinging, and a relative rotation extraction mechanism that extracts a relative rotational component between the internal gear and the external gear. It is a swinging internal meshing type power transmission device provided
ことを特徴とする動力伝達装置。  A power transmission device characterized by that.
[6] 請求項 5において、 [6] In claim 5,
前記中空軸は、前記相対回転取出機構と連結された出力部材と一体形成された 部材で形成されている  The hollow shaft is formed of a member formed integrally with an output member connected to the relative rotation extraction mechanism.
ことを特徴とする動力伝達装置。  A power transmission device characterized by that.
[7] 請求項 5において、 [7] In claim 5,
前記中空軸は、前記外歯歯車を揺動させるための偏心体を備えた偏心体軸である ことを特徴とする動力伝達装置。  The said hollow shaft is an eccentric body shaft provided with the eccentric body for rocking | fluctuating the said external gear. The power transmission device characterized by the above-mentioned.
PCT/JP2006/300093 2005-01-07 2006-01-06 Power transmission device WO2006073182A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006550907A JPWO2006073182A1 (en) 2005-01-07 2006-01-06 Power transmission device
DE112006000141T DE112006000141T5 (en) 2005-01-07 2006-01-06 Power transmission device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005002483 2005-01-07
JP2005-002483 2005-01-07

Publications (1)

Publication Number Publication Date
WO2006073182A1 true WO2006073182A1 (en) 2006-07-13

Family

ID=36647658

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2006/300093 WO2006073182A1 (en) 2005-01-07 2006-01-06 Power transmission device

Country Status (4)

Country Link
JP (1) JPWO2006073182A1 (en)
KR (1) KR100853637B1 (en)
DE (1) DE112006000141T5 (en)
WO (1) WO2006073182A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009018412A (en) * 2007-06-11 2009-01-29 Sumitomo Heavy Ind Ltd Joint driving device of robot
JP2009095920A (en) * 2007-10-16 2009-05-07 Sumitomo Heavy Ind Ltd Drive of automatic tool changer
WO2017169419A1 (en) * 2016-03-30 2017-10-05 日本電産サンキョー株式会社 Rotary actuator and robot
JP2017187165A (en) * 2016-03-30 2017-10-12 日本電産サンキョー株式会社 Rotary actuator and robot

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5816584B2 (en) * 2012-03-23 2015-11-18 住友重機械工業株式会社 Power transmission device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0957678A (en) * 1995-08-24 1997-03-04 Teijin Seiki Co Ltd Turning part structure of robot or the like
JP2000257674A (en) * 1999-03-08 2000-09-19 Sumitomo Heavy Ind Ltd Hollow pipe-pierced geared motor
JP2004092781A (en) * 2002-08-30 2004-03-25 Sumitomo Heavy Ind Ltd Valve driving reduction gear

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0429996Y2 (en) * 1986-05-20 1992-07-20
JP4201448B2 (en) * 1999-12-28 2008-12-24 住友重機械工業株式会社 Series of transmissions that employ an internally meshing planetary gear structure

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0957678A (en) * 1995-08-24 1997-03-04 Teijin Seiki Co Ltd Turning part structure of robot or the like
JP2000257674A (en) * 1999-03-08 2000-09-19 Sumitomo Heavy Ind Ltd Hollow pipe-pierced geared motor
JP2004092781A (en) * 2002-08-30 2004-03-25 Sumitomo Heavy Ind Ltd Valve driving reduction gear

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009018412A (en) * 2007-06-11 2009-01-29 Sumitomo Heavy Ind Ltd Joint driving device of robot
US8343003B2 (en) 2007-06-11 2013-01-01 Sumitomo Heavy Industries, Ltd. Joint driving apparatus for robot
JP2009095920A (en) * 2007-10-16 2009-05-07 Sumitomo Heavy Ind Ltd Drive of automatic tool changer
DE102008051502B4 (en) 2007-10-16 2024-02-22 Sumitomo Heavy Industries, Ltd. Drive device for an automatic tool changer
WO2017169419A1 (en) * 2016-03-30 2017-10-05 日本電産サンキョー株式会社 Rotary actuator and robot
JP2017187165A (en) * 2016-03-30 2017-10-12 日本電産サンキョー株式会社 Rotary actuator and robot
CN111906813A (en) * 2016-03-30 2020-11-10 日本电产株式会社 Rotary actuator and robot

Also Published As

Publication number Publication date
JPWO2006073182A1 (en) 2008-06-12
KR20070086932A (en) 2007-08-27
KR100853637B1 (en) 2008-08-25
DE112006000141T5 (en) 2008-02-21

Similar Documents

Publication Publication Date Title
EP2172671B1 (en) Gear device and rotation section structure adapted for industrial robot and using the gear device
CN101243268B (en) Reduction gear
US20110045944A1 (en) One way transmission for motor
WO2006075752A1 (en) Power transmission device
KR200450505Y1 (en) Gear reducer
WO2006073182A1 (en) Power transmission device
WO2012073596A1 (en) Gear transmission
JP2002372110A (en) Reduction gear and geared motor
JP2005014100A (en) Wrist mechanism of industrial robot
TW201627589A (en) Reduction device with motor
JP2002364717A (en) Hollow reduction gear
JP2015074036A (en) Actuator, and robot joint structure provided with the same
JP4892677B2 (en) Rotating body support mechanism
TWI376468B (en)
JP2015117815A (en) Planetary gear mechanism
TW200823125A (en) Gear power transmission device
KR102162378B1 (en) Close type driving modules with hollowness
JP2008025846A (en) Revolving part structure of robot or the like
JP2010023561A5 (en)
JP2008025846A5 (en)
JP2007315581A (en) Reduction gear
KR101070276B1 (en) Reversal prevention system of worm shaft
JP2005047006A (en) Turning part structure of robot or the like
KR102510089B1 (en) Proprioceptive actuator capable of simultaneous bidirectional driving
JP4190484B2 (en) Eccentric differential reducer

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2006550907

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 1020077015348

Country of ref document: KR

WWE Wipo information: entry into national phase

Ref document number: 1120060001418

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 06711477

Country of ref document: EP

Kind code of ref document: A1

WWW Wipo information: withdrawn in national office

Ref document number: 6711477

Country of ref document: EP

RET De translation (de og part 6b)

Ref document number: 112006000141

Country of ref document: DE

Date of ref document: 20080221

Kind code of ref document: P

WWE Wipo information: entry into national phase

Ref document number: DE

REG Reference to national code

Ref country code: DE

Ref legal event code: 8607