JP5403366B2 - Motor with reduction gear - Google Patents

Description

  The present invention relates to a motor with a reduction gear in which a reduction gear is combined with a motor.

  Conventionally, a motor used for a robot arm or the like is required to be small in size and high in torque. However, if the motor is small, the torque is small, and there is a general technical problem that the motor is insufficient to drive the robot as it is. In order to solve this general technical problem, conventionally, a reduction gear is combined with a motor to cope with downsizing and high torque.

FIG. 5 is a side sectional view of a conventional motor with a reduction gear.
In FIG. 5, 1 is a high-speed motor shaft, 2 is a motor load side bracket, 3 is a motor non-load side bracket, and 4 is a motor frame. The motor load side bracket 2 and the motor non-load side bracket 3 are fixed to the motor frame 4. The high-speed motor shaft 1 is rotatably attached to the motor load side bracket 2 and the motor counter load side bracket 3 via a motor load side bearing 5 and a motor counter load side bearing 6, respectively. 7 is a rotor core fixed to the high-speed motor shaft 1, 8 is a rotor magnet fixed to the rotor core 7, and 9 is a rotor including the high-speed motor shaft 1, the rotor core 7, and the rotor magnet 8. Represents a stator fixed to the motor frame 4 at a position opposed to each other through a gap. The stator 9 has a stator winding 9a, and a rotating magnetic field is generated by the stator winding 9a to rotate the rotor. 10 is a detector disk that is fixed to the high-speed motor shaft 1 and generates a rotation signal, 11 is a detector sensor that receives the signal of the detector disk 10 and transmits a signal to a control device (not shown), 12 is a detector disk 10 and The detector cover which interrupts | blocks the detector which consists of the detector sensor 11 with external space is represented.

  Reference numeral 13 denotes a speed reduction mechanism. The speed reduction mechanism 13 is provided on the outer periphery of the high speed motor shaft 1 and on the load side of the motor load side bearing 5. Reference numeral 14 denotes a reduction gear frame fixed to the motor load side bracket 2, reference numeral 15 denotes a reduction gear bracket fixed to the reduction gear frame 14, and reference numerals 16a and 16b denote a reduction gear load side bearing and a reduction gear anti-load side bearing, respectively. Reference numeral 17 denotes a speed reducer shaft that is rotatably attached to the speed reducer bracket 14 by a speed reducer load side bearing 16 a and a speed reducer anti-load side bearing 16 b, and the anti-load side is connected to the speed reduction mechanism 13. The speed reducer shaft 17 transmits the rotation of the high speed motor shaft 1 decelerated by the speed reduction mechanism 13 to the outside. The speed reducer shaft 17 is connected to the high speed motor shaft 1 only through the speed reduction mechanism 13. The motor load side bearing 5, the motor anti load side bearing 6, the rotor iron core 7, and the speed reduction mechanism 13 are arranged from the anti load side from the motor anti load side bearing 6, the rotor iron core 7, the motor load side bearing 5, the speed reduction mechanism 13. Are arranged on the outer periphery of the high-speed motor shaft 1 so as to be arranged in this order.

  Thus, the conventional motor with a speed reducer decelerates the rotation of the high-speed motor shaft 1 rotatably attached by the motor bearings (5, 6) by the speed reduction mechanism 13, and the speed reducer bearings (16a, 16b). It is transmitted to a reducer shaft 17 that is rotatably mounted. Thereby, a high torque is generated.

JP 2002-276749 A (page 9-10, FIG. 1)

However, in the conventional motor with a speed reducer, if the motor with the speed reducer is thinned to reduce the size of the robot (the length in the axial direction of the high-speed motor shaft 1 is shortened), the distance between the motor bearings (5, 6) is reduced. Becomes narrower. When this interval becomes narrow, depending on the assembly accuracy of the high-speed motor shaft 1, the high-speed motor shaft 1 is greatly inclined and shaken, causing a problem that the motor with a speed reducer vibrates. Further, when the interval is narrowed, the high-speed motor shaft 1 is likely to be shaken by the reaction force from the speed reduction mechanism 13, and the accuracy of the shaft rotation detector is reduced. As described above, in the conventional motor with a reduction gear, there has been a limit to reducing the thickness of the motor that has been requested.
The present invention has been made in view of such problems, and an object of the present invention is to provide a motor with a reduction gear that can be made thinner than before.

In order to solve the above problems, a motor with a reduction gear according to the present invention includes a housing, a motor shaft, a rotor provided on the outer peripheral portion of the motor shaft, and a gap on the outer peripheral side of the rotor. a stator provided, Oite to anti-load side of the rotor, and the motor non-drive end bearing supporting the outer periphery of the motor shaft to freely rotate relative to the housing, the load side of the rotor in the provided on the outer peripheral side of the motor shaft, and a speed reduction mechanism that decelerates the rotation of the motor shaft, a reduction shaft to output the rotation of the front Symbol the motor shaft is reduced at the speed reduction mechanism, the motor shaft A motor load side bearing that rotatably supports an outer peripheral portion of the load side with respect to an inner peripheral portion of the speed reducer shaft, and a speed reducer bearing that rotatably supports the outer peripheral portion of the speed reducer shaft with respect to the housing. And the axial position of the reducer bearing is It is located on the load side than the axial position of the over data load side bearing.

The motor with a reduction gear according to the present invention includes a housing, a motor shaft, a rotor provided on the outer peripheral portion of the motor shaft, and a stator provided on the outer peripheral side of the rotor via a gap. A motor anti-load side bearing that rotatably supports the outer periphery of the motor shaft with respect to the casing on the side opposite to the load from the rotor, and an outer periphery of the motor shaft on the load side relative to the rotor. A reduction mechanism for reducing rotation of the motor shaft, a reduction gear shaft for outputting rotation of the motor shaft decelerated by the reduction mechanism, and a load-side outer peripheral portion of the motor shaft, A motor load side bearing that rotatably supports the inner peripheral portion of the speed reducer shaft, and a speed reducer bearing that rotatably supports the outer peripheral portion of the speed reducer shaft with respect to the housing; The axial position of the bearing is on the motor load side. Located on the anti-load side than the axial position of the receiving, a cross roller bearing.

Et al is, the deceleration shaft has a shape covering the outer periphery of the speed reduction mechanism in the anti-load side, cross roller bearings, may be provided between the outer periphery and the housing of the reduction shaft covering the outer periphery of the speed reduction mechanism.

  Preferably, the shape of the motor shaft and the speed reducer shaft is a hollow shape in which a cavity is formed in the rotation axis direction of the motor shaft.

  The present invention is also directed to a robot, and the robot according to the present invention is equipped with the motor with a speed reducer.

  ADVANTAGE OF THE INVENTION According to this invention, the motor with a reduction gear which can be made thinner than before can be provided.

Sectional drawing of the motor with a reduction gear which concerns on Example 1 of this invention. Sectional drawing of the motor with a reduction gear which concerns on Example 2 of this invention. Side sectional view of another motor with a reduction gear according to Embodiment 2 of the present invention. Schematic diagram of robot arm Side sectional view of a conventional motor with a reduction gear

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 is a side sectional view of a motor with a reduction gear according to a first embodiment of the present invention. The structure of the motor with a reduction gear shown in FIG. 1 is an example.

  In FIG. 1, 31 is a high-speed motor shaft, 32 is a motor load side bracket, 33 is a motor non-load side bracket, and 34 is a motor frame. The motor load side bracket 32 is fixed to the load side of the motor frame 34. The motor non-load side bracket 33 is fixed to the non-load side of the motor frame 34. Reference numeral 35 denotes a motor load side bearing provided on the outer periphery of the load side tip of the high speed motor shaft 31, and 36 denotes a motor anti load side bearing provided on the outer periphery of the high speed motor shaft 31 on the anti load side. The motor load side bearing 35 is provided between the high speed motor shaft 31 and a speed reducer shaft 49 described later, and the motor anti-load side bearing 36 is provided between the high speed motor shaft 31 and the motor load side bracket 33. The high-speed motor shaft 31 is rotatably attached to a reduction gear shaft 49 and a motor non-load side bracket 33, which will be described later, via a motor load-side bearing 35 and a motor non-load side bearing 36, respectively. 37 is a rotor core fixed to the outer periphery of the high-speed motor shaft 31, 38 is a rotor magnet fixed to the outer periphery of the rotor core 37, and 39 is a gap in the rotor composed of the rotor core 37 and the rotor magnet 38. The stator fixed to the motor frame 34 in the position which opposes via is represented. The stator 39 has a stator winding 39a, and a rotating magnetic field is generated by the stator winding 39a to rotate the rotor. Reference numeral 40 denotes a detector disk that is fixed to the high-speed motor shaft 31 and generates a rotation signal. Reference numeral 41 denotes a detector sensor that receives a signal from the detector disk 40 and transmits a signal to a control device (not shown). Reference numeral 42 denotes a detector cover which is provided on the anti-load side of the motor anti-load side bracket 33 and blocks the detector comprising the detector disk 40 and the detector sensor 41 from the external space. Reference numeral 43 denotes an oil seal provided between the high-speed motor shaft 31 and the motor load side bracket 32.

  Reference numeral 45 denotes a speed reduction mechanism. 46 denotes a reduction gear frame fixed to the load side of the motor load side bracket 32, and 47 denotes a reduction gear bracket fixed to the load side of the reduction gear frame 46. 48a and 48b respectively represent a reducer load side bearing and a reducer anti-load side bearing provided between the reducer bracket 47 and a reducer shaft 49 described later. Reference numeral 49 denotes a speed reducer shaft whose anti-load side is connected to the speed reduction mechanism 45. The reduction gear shaft 49 is rotatably attached to the reduction gear bracket 47 by a reduction gear load side bearing 48 a and a reduction gear anti-load side bearing 48 b, and is rotatably attached to the high speed motor shaft 31 by a motor load side bearing 35. The speed reducer shaft 49 transmits the rotation of the high speed motor shaft 1 decelerated by the speed reduction mechanism 45 to the outside. The speed reducer shaft 49 is connected to the high speed motor shaft 31 via the speed reduction mechanism 45 and the motor load side bearing 35. The motor load side bearing 35, the motor antiload side bearing 36, the rotor core 37, the speed reduction mechanism 45, and the oil seal 43 are arranged from the antiload side from the motor antiload side bearing 36, the rotor core 37, the oil seal 43, the speed reduction. It is provided on the outer periphery of the high-speed motor shaft 31 so that the mechanism 45 and the motor load side bearing 35 are arranged in this order.

The motor unit in the motor with a reduction gear includes the high-speed motor shaft 31, the motor load side bearing 35, the motor non-load side bearing 36, the rotor core 37, the rotor magnet 38, the stator 39, and the detector disk 40 described above. , A detector sensor 41 and an oil seal 43.
The speed reducer portion in the motor with the speed reducer is configured by the speed reduction mechanism 45, the speed reducer load side bearing 48a, the speed reducer anti-load side bearing 48b, and the speed reducer shaft 49 described above.
The components other than the above, ie, the motor load side bracket 32, the motor anti-load side bracket 33, the motor frame 34, the detector cover 42, the speed reducer frame 46, and the speed reducer bracket 47 are the housings of the motor with the speed reducer. It constitutes.

Here, in the conventional motor with a speed reducer shown in FIG. 5, the speed reduction mechanism 13 is provided on the load side of the motor load side bearing 5.
On the other hand, in the motor with a speed reducer according to the present embodiment, the speed reduction mechanism 45 is provided between the motor load side bearing 35 and the rotor core 37, that is, on the side opposite to the load side than the motor load side bearing 35. For this reason, the space | interval of a motor bearing (35, 36) becomes longer than the space | interval of the conventional motor bearing (5, 6). As a result, the motor with a speed reducer can be made thinner than the conventional one while suppressing the inclination and vibration of the high-speed motor shaft 31.

In the conventional motor with a reduction gear shown in FIG. 5, the high-speed motor shaft 1 and the reduction gear shaft 17 are connected only through the reduction mechanism 13.
On the other hand, in the motor with speed reduction according to this embodiment, the speed reducer shaft 49 is connected to the high speed motor shaft 31 via the motor load side bearing 35 in addition to the speed reduction mechanism 45. For this reason, it becomes easier to make the shaft centers of the high-speed motor shaft 31 and the reduction gear shaft 49 coincide with each other.

  FIG. 2 is a side sectional view of a motor with a reduction gear according to a second embodiment of the present invention. The structure of the reduction gear motor shown in FIG. 2 is an example. In FIG. 2, the same components as those shown in FIG. 1 are denoted by the same reference numerals.

  In FIG. 2, 61 denotes a high-speed motor shaft, 33 denotes a motor non-load side bracket, 62 denotes a motor load side bracket, and 34 denotes a motor frame. The motor non-load side bracket 33 is fixed to the non-load side of the motor frame 34. The motor load side bracket 62 is fixed to the load side of the motor frame 34. Reference numeral 35 denotes a motor load side bearing provided on the outer periphery of the load side tip of the high speed motor shaft 61, and 36 denotes a motor anti load side bearing provided on the outer periphery of the high speed motor shaft 61 on the anti load side. The motor load side bearing 35 is provided between the high speed motor shaft 61 and a reduction gear output shaft 66 described later, and the motor anti-load side bearing 36 is provided between the high speed motor shaft 61 and the motor load side bracket 33. The high-speed motor shaft 61 is rotatably attached to a reduction gear output shaft 66 and a motor non-load side bracket 33, which will be described later, via a motor load-side bearing 35 and a motor anti-load side bearing 36, respectively. 37 is a rotor core fixed to the outer periphery of the high-speed motor shaft 61, 38 is a rotor magnet fixed to the outer periphery of the rotor core 37, and 39 is a gap in the rotor composed of the rotor core 37 and the rotor magnet 38. The stator fixed to the motor frame 34 in the position which opposes via is represented. The stator 39 has a stator winding 39a, and a rotating magnetic field is generated by the stator winding 39a to rotate the rotor. Reference numeral 40 denotes a detector disk that is fixed to the high-speed motor shaft 61 and generates a rotation signal. Reference numeral 41 denotes a detector sensor that receives a signal from the detector disk 40 and transmits a signal to a control device (not shown). Reference numeral 42 denotes a detector cover which is provided on the anti-load side of the motor anti-load side bracket 33 and blocks the detector comprising the detector disk 40 and the detector sensor 41 from the external space. Reference numeral 43 denotes an oil seal provided between the high-speed motor shaft 61 and the motor load side bracket 62.

Reference numeral 45 denotes a speed reduction mechanism. Reference numeral 63 denotes a reduction gear frame, and reference numeral 64 denotes a reduction gear bearing that is provided on the outer peripheral side of the reduction gear frame 63 and includes a cross roller bearing having the reduction gear frame 63 as an inner ring. Reference numeral 65 denotes a reduction gear bearing outer ring of the reduction gear bearing 64, and 66 denotes a reduction gear output shaft fixed to a reduction gear frame 63 that is an inner ring of the reduction gear bearing 64. The reduction gear output shaft 66 is rotatably attached to the reduction gear bearing outer ring 65 by a reduction gear bearing 64, and is rotatably attached to the high speed motor shaft 61 by a motor load side bearing 62. The reduction gear output shaft 66 transmits the rotation of the high-speed motor shaft 61 decelerated by the reduction mechanism 45 to the outside. The reduction gear output shaft 66 is connected to the high speed motor shaft 61 via the speed reduction mechanism 45 and the motor load side bearing 35. . 67 is an oil seal provided between the reduction gear frame 63 and the reduction gear bearing outer ring 65.
The motor load side bearing 35, the motor antiload side bearing 36, the rotor core 37, the speed reduction mechanism 45, and the oil seal 43 are arranged from the antiload side from the motor antiload side bearing 36, the rotor core 37, the oil seal 43, the speed reduction. It is provided on the outer periphery of the high-speed motor shaft 61 so that the mechanism 45 and the motor load side bearing 35 are arranged in this order.

The motor part in the motor with a reduction gear includes the high-speed motor shaft 61, the motor load side bearing 35, the motor non-load side bearing 36, the rotor core 37, the rotor magnet 38, the stator 39, and the detector disk 40 described above. , A detector sensor 41 and an oil seal 43.
The speed reducer portion in the motor with the speed reducer is configured by the speed reducer shaft including the speed reducer frame 63 and the speed reducer output shaft 66, the speed reduction mechanism 45, the speed reducer bearing 64, and the oil seal 67 described above.
The components other than the above, that is, the motor anti-load side bracket 33, the motor load side bracket 62, the motor frame 34, the detector cover 42, and the reduction gear bearing outer ring 65 constitute a casing in a motor with a reduction gear. .

  In the motor with a speed reducer according to the present embodiment, the speed reduction mechanism 45 is provided between the motor load side bearing 35 and the rotor core 37, that is, on the side opposite to the load side than the motor load side bearing 35. For this reason, the space | interval of a motor bearing (35, 36) becomes longer than the space | interval of the conventional motor bearing (5, 6). As a result, similarly to the first embodiment, the motor with a reduction gear can be made thinner than the conventional one while suppressing the inclination and the swing of the high-speed motor shaft 61.

  Further, in the motor with speed reduction according to the present embodiment, the high speed motor shaft 61 and the speed reducer output shaft 66 are connected via the motor load side bearing 35 in addition to the speed reduction mechanism 45. For this reason, as in the first embodiment, the axis centers of the high-speed motor shaft 61 and the reducer output shaft 66 are more easily aligned than in the prior art.

  Furthermore, in the motor with reduction gear according to the present embodiment, the reduction gear shaft including the reduction gear output shaft 66 and the reduction gear frame 63 is rotatably attached to the reduction gear bearing outer ring 65 by the reduction gear bearing 64. For this reason, the reduction gear bearings (48a, 48b) can be made thinner than the first embodiment in which the speed reducer bearings (48a, 48b) are provided on the load side of the high speed motor shaft.

  The high-speed motor shaft 61 and the reduction gear output shaft 66 shown in FIG. 2 are replaced with the high-speed motor shaft 71 and the reduction gear output, which are hollow shapes in which a cavity is formed in the rotation axis direction of the rotor, as shown in FIG. The shaft 72 may be replaced. FIG. 3 is a side cross-sectional view of a motor with a speed reducer according to a second embodiment using a high speed motor shaft 71 and a speed reducer output shaft 72. In FIG. 3, reference numeral 73 denotes an oil seal, which is included in the motor unit in the motor with a reduction gear.

  In addition, the motor with a reduction gear according to the first and second embodiments described above is mounted on, for example, an arm portion of a robot as shown in FIG. In FIG. 4, 80 is an arm portion of the robot, and 81 is a motor with a reduction gear according to any one of the first and second embodiments.

  In the first and second embodiments described above, the speed reduction mechanism is not particularly mentioned, but is configured by, for example, a cyclo reducer or a planetary speed reducer.

  The embodiment of the present invention has been described above. However, it goes without saying that those skilled in the art can make appropriate modifications from this embodiment, and even if such modifications are made, they are also included in the technical scope of the present invention. deep.

1, 31, 61, 71 High-speed motor shafts 2, 32, 62 Motor load side brackets 3, 33 Motor anti-load side brackets 4, 34 Motor frame 5, 35 Motor load side bearings 6, 36 Motor anti-load side bearings 7, 37 Rotor cores 8, 38 Rotor magnets 9, 39 Stator 10, 40 Detector disk 11, 41 Detector sensor 12, 42 Detector cover 13, 45 Reduction mechanism 14, 46, 63 Reduction gear frame 15, 47 Reduction gear Bracket 16a, 48a Reducer load side bearing 16b, 48b Reducer anti-load side bearing 17, 49 Reducer shaft 43, 67, 73 Oil seal 64 Reducer bearing 65 Reducer bearing outer ring 66, 72 Reducer output shaft 80 Arm 81 Motor with reduction gear

Claims (5)

A housing,
A motor shaft;
A rotor provided on an outer peripheral portion of the motor shaft,
A stator provided on the outer peripheral side of the rotor via a gap;
Oite to anti-load side of the rotor, and the motor non-drive end bearing the outer peripheral portion rotatably supported to said casing of said motor shaft,
A speed reduction mechanism that is provided on the outer peripheral side of the motor shaft on the load side of the rotor and decelerates the rotation of the motor shaft;
A reduction shaft to output the rotation of the motor shaft reduced by pre SL reduction mechanism,
A motor load side bearing that rotatably supports an outer peripheral portion of the load side of the motor shaft with respect to an inner peripheral portion of the speed reducer shaft;
A reducer bearing that rotatably supports an outer peripheral portion of the reducer shaft with respect to the housing;
Have
The axial position of the reducer bearing is
It is located on the load side with respect to the axial direction position of the motor load side bearing
A motor with a speed reducer. A housing,
A motor shaft;
A rotor provided on the outer periphery of the motor shaft;
A stator provided on the outer peripheral side of the rotor via a gap;
A motor non-load side bearing that rotatably supports an outer peripheral portion of the motor shaft with respect to the housing on a non-load side of the rotor;
A speed reduction mechanism that is provided on the outer peripheral side of the motor shaft on the load side of the rotor and decelerates the rotation of the motor shaft;
A speed reducer shaft for outputting rotation of the motor shaft decelerated by the speed reduction mechanism;
A motor load side bearing that rotatably supports an outer peripheral portion of the load side of the motor shaft with respect to an inner peripheral portion of the speed reducer shaft;
A reducer bearing that rotatably supports an outer peripheral portion of the reducer shaft with respect to the housing;
Have
The reducer bearing is
A cross roller bearing whose axial position is located on the side opposite to the load side than the axial position of the motor load side bearing.
A motor with a speed reducer. The speed reducer shaft has a shape that covers the outer periphery of the speed reduction mechanism on the anti-load side,
The motor with a speed reducer according to claim 2 , wherein the cross roller bearing is provided between an outer periphery of the speed reduction shaft that covers an outer periphery of the speed reduction mechanism and the housing. The shape of the said motor shaft and the said reduction gear shaft is a motor with a reduction gear of any one of Claims 1-3 which is a hollow shape in which the cavity was formed in the rotating shaft direction of the said motor shaft. The robot carrying the motor with a reduction gear of any one of Claims 1-4 .

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