JP4879079B2 - Speed reducer with motor and rotary drive device equipped with the speed reducer with motor - Google Patents

Description

  The present invention relates to a reduction gear, a reduction gear with a motor, and a rotary drive device for a rotated member.

  As a conventional reduction gear, a reduction gear with a motor, and a rotation driving device for a rotated member, for example, those described in Patent Document 1 below are known.

JP 2007-75913 A

  This includes an internal tooth body having internal teeth, an external gear having external teeth meshing with the internal teeth, a crank body in which the crank portion engages with the external gear and eccentrically moves the external gear, and the crank body is freely rotatable. A reduction gear with a motor is provided that includes a reduction gear provided with a support body that is supported by the motor and a motor that is attached to one end portion in the axial direction of the support body and that applies a rotational force to the crank body.

  However, in the above-mentioned conventional one, when wiring the motor to the motor on the other side of the speed reducer from one side in the axial direction of the speed reducer, the wiring should cover the periphery of the speed reducer in the radial direction. I had to. If such wiring is performed, the rotating part of the speed reducer or the rotated member attached to the rotating part contacts or cuts the wiring covering the periphery of the speed reducer in the radial direction. Therefore, conventionally, it has been impossible to wire the motor from one side in the axial direction of the speed reducer to the motor on the other side of the speed reducer.

  In view of this problem, the present invention is a speed reducer, a speed reducer with a motor, and a rotational drive device that can wire a motor to a motor on one side of the speed reducer from the other side of the speed reducer. .

The present invention relates to an internal tooth body having internal teeth, an external gear having external teeth meshing with the internal teeth, a crank body whose crank portion engages with the external gear and eccentrically moves the external gear, and the crank And a support body that rotatably supports the body, and a reduction gear having a through hole for motor wiring formed in the support body.
Also, an internal tooth body having internal teeth, an external gear having external teeth meshing with the internal teeth, a crank body in which the crank portion engages with the external gear and eccentrically moves the external gear, and the crank body is rotatably supported. And a motor that is attached to one end portion in the axial direction of the support body and applies a rotational force to the crank body. A through hole is formed in the support body, and wiring to the motor is supported by the support body. This is a reduction gear with a motor that is connected to the motor through the through hole of the support body and through the other end portion of the support body to the one end part of the support body.
Further, the external gear has a through hole formed therein, and the support body is a column part loosely penetrated through the through hole of the external gear, one end part integral with one end part of the column part, and integral with the other end part of the column part. It is a reduction gear with a motor provided with the other end part, and the through-hole of a support body is formed in the pillar part of a support body, one end part, and another end part.
Further, the rotation drive device of the rotated member includes a reduction gear with a motor, the support is fixed, the rotated member is attached to the internal tooth body, and the rotated member rotates.
More specifically, the present invention has an internal tooth body having internal teeth and external teeth meshing with the internal teeth, and a central through hole is formed in the central portion, and the offset penetrating position is offset from the central portion. An external gear having a hole, a crank portion that engages with the external gear and eccentrically moves the external gear, a crank body having a spur gear fixed to one end, and a crank body that is freely rotatable A support body having a pillar portion that is loosely inserted into the offset through-hole of the external gear, an end portion integral with one end of the pillar portion, and an other end portion integral with the other end of the pillar portion; It is a reduction gear with a motor provided with a motor which is attached to one end of the body in the axial direction and gives a rotational force to the crank body. Support through holes are formed in the pillar portion, one end portion, and the other end portion of the support. A motor gear which is attached to the output shaft of the motor and meshes with the spur gear passes through the central through hole. The wiring to the motor passes from the other end portion of the support body to the one end portion of the support body through the support body through hole, and is connected to the motor.
Moreover, this invention is a rotational drive apparatus provided with the said reduction gear with a motor, the said support body being fixed to the base, and a to-be-rotated member being fixed to the said internal gear.

  ADVANTAGE OF THE INVENTION According to this invention, the reduction gear with which the wiring to the motor in the other axial direction side of a reduction gear can be easily wired to a motor from the one axial direction side of a reduction gear, the reduction gear with a motor, and a rotational drive device can be provided. .

Embodiments of the present invention will be described below with reference to the drawings.
In FIG. 1, a reduction gear 100 includes an internal gear body 2 having a pin 1 as an internal tooth, an external gear 4 having an external tooth 3 meshing with the internal gear pin 1, and a crank portion 5 thereof engaged with the external gear 4. An eccentric oscillating type speed reducer comprising a plurality of crankshafts 6 as a crank body for eccentrically moving the external gear 4 and a support body 7 for rotatably supporting the crankshaft 6. The internal tooth body 2 and the support body 7 can be relatively rotated by a pair of bearings 20.
The motor (electric motor) 8 is attached to one end portion of the support body 7 in the axial direction via a motor flange 90 and applies a rotational force to the crankshaft 6. A through hole 9 is formed in the support body 7, and wiring 10 (power line, encoder line, motor brake line) to the motor 8 passes from the other end portion of the support body 7 into the through hole 9 of the support body 7. It goes out to one end and is connected to the motor 8. The through hole 9 is a through hole for wiring to the motor.
The external gear 4 has a through hole 11 formed therein, and the support 7 has a column portion 12 that is loosely penetrated through the through hole 11 of the external gear 4, an end portion 13 that is integral with one end portion of the column portion 12, and the column portion 12. The other end portion is provided with the other end portion 14, and the through hole 9 of the support body 7 is formed in the column portion 12, the one end portion 13, and the other end portion 14 of the support body 7. The column portion 12 and the one end portion 13 are integrally connected by a bolt 15. A column portion 12 is formed to protrude from the other end portion 14 so that the column portion 12 and the other end portion 14 are integrated.
One end of the motor flange 90 is attached to one end portion 13 of the support 7, and the motor 8 is attached to the other end. A through hole 16 is also formed in the motor flange 90, and the wiring 10 that has passed through the through hole 9 is also passed through the through hole 16. Seals 21 are disposed on the outer periphery of the one end portion 13 and the inner periphery of the internal tooth body 2, and on the outer periphery of the other end portion 14 and the inner periphery of the internal tooth body 2, respectively.

The output shaft 88 of the motor 8 is attached with a spur gear body 50 having a small diameter that is splined. A large-diameter spur gear having more teeth than the spur gear body 50 is attached to each crankshaft 6 by spline connection. The rotation of the output shaft 88 of the motor 8 is decelerated by the spur gear 50 and the spur gear 60 and transmitted to the crankshaft 6.
The support body 7 is fixed to the base end side arm 200 of the manipulator, and the rotation arm 300 as the rotated member is attached to the internal tooth body 2, so that the rotated member 300 rotates. The member to be rotated is not limited to the rotating arm 300, and any object to be rotated may be attached. A through hole 201 is also formed in the proximal end arm 200, and the wiring 10 is also passed through the through hole 201. A seal 23 is disposed on the inner periphery of the one end portion 13 and the outer periphery of the shaft portion of the spur gear body 50. Seal packings (not shown) are provided between the motor 8 and the motor flange 50, between the motor flange 50 and the one end 13 and between the other end 14 and the proximal arm 200, respectively. It is attached via packing. Lubricating oil in the speed reducer does not leak into the motor flange 50 by the seal packing or the seal 23 between the motor flange 50 and the one end 13.

  The speed reducer 100 may be a center crank input type eccentric oscillating speed reducer as disclosed in JP-A No. 2002-161947. Further, an eccentric oscillating speed reducer in which the rotation of the motor is input to only one crank may be used.

Next, the operation of the embodiment will be described.
The rotation of the rotary shaft 88 of the motor 8 is transmitted to the crankshaft 6 through the spur gear 50 and the spur gear 60.
As for the rotation of the crankshaft 6, the reduced rotation is taken out from the support body 7 by the partial meshing relationship between the external teeth 3 of the external gear 4 that moves eccentrically and the internal teeth 1 of the internal gear body 2. The wiring 10 to the motor passes through the through hole 201 and the through hole 9 from the base end side arm 200 and the other end portion of the support 7, passes through the through hole 16, and is connected to the motor 8. That is, since the wiring passes through the speed reducer without covering the radial periphery of the speed reducer, the output rotating portion of the speed reducer, or the rotated member attached to the output rotating portion contacts the wiring, or The wiring is not cut off.

  The present invention can be applied to the industrial field of a robot arm device and a machine tool using a reduction gear, a reduction gear with a motor, and a rotary drive device for a rotated member.

1 is an overall view of a rotational drive device for a rotated member provided with a reduction gear with a motor according to the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Reducer 2 ... Internal gear body 4 ... External gear 6 ... Crank body 7 ... Support body 8 ... Motor 9 ... ..Through hole 300 of support body

Claims (5)

An inner toothed element with internal teeth,
And has a mesh with external teeth on said tooth, are central through hole is formed in the central portion, an outer gear offset through hole is formed at a position offset from the central portion,
Together and a crank portion for front eccentric movement the outer gear engaging with the Kigai gear, a crank member spur gear at one end is fixed,
The crank body is rotatably supported , and a pillar portion that is loosely inserted into the offset through hole of the external gear, one end portion that is integral with one end of the pillar portion, and another that is integral with the other end of the pillar portion. A support having an end portion ;
Equipped with a motor providing a rotational force to the crank member attached to an end of the axial direction of the support,
A support through hole is formed in the pillar portion, one end portion, and the other end portion of the support,
A motor gear that is attached to the output shaft of the motor and meshes with the spur gear passes through the central through hole,
Exits the one end portion of the support wire to said motor through said support penetrations hole from the other end portion of the support, motorized reduction gear, characterized in that connected to the motor. The reduction gear with a motor according to claim 1, wherein the spur gear and the motor gear mesh with each other inside the other end portion of the support. 3. The reduction gear with a motor according to claim 1, wherein the space in the support through hole is a space where the inner teeth face and is isolated from a space containing a lubricant. 4. It is a rotary drive device provided with the reduction gear with a motor as described in any one of Claims 1-3,
The support is fixed to the base;
A rotation drive device, wherein a member to be rotated is fixed to the internal tooth body. The base is attached to the other end of the support;
The rotation drive device according to claim 4, wherein the member to be rotated is attached to the internal tooth body between the base and the motor.

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