JP7735066B2 - Parent machine, lubricant filling method, lubricant set - Google Patents

Description

The present invention relates to a master machine, a lubricant filling method, and a lubricant set.

2. Description of the Related Art Conventionally, robots equipped with a plurality of reducers are known (see, for example, Patent Document 1). In such robots, the plurality of reducers equipped therewith may have different reduction mechanisms.
In such robots, it is necessary to seal in individual lubricants for the multiple reducers, each suited to its respective performance, etc. This requires multiple types of lubricants, making the handling and replacement of lubricants, such as preparing and disposing of them individually, cumbersome.

Japanese Patent Application Laid-Open No. 2019-217573

The present invention was made in consideration of the above circumstances, and aims to provide optimal lubrication for multiple reducers with different reduction mechanisms while standardizing the type of lubricant.

The present invention provides a master machine including a first reducer and a second reducer having different reduction mechanisms,
a lubricant containing a common base lubricant is enclosed in the first reducer and the second reducer;
the lubricant includes a first lubricant sealed in the first reducer and a second lubricant sealed in the second reducer,
The first reducer and the second reducer have different blends of at least one of additives and diluent oil in the first lubricant and the second lubricant based on their positions in the parent machine.

The present invention also provides a master machine having a base-end joint in which a first reducer is incorporated, and a tip-end joint in which a second reducer is incorporated and which is located closer to the tip side than the base-end joint,
a lubricant containing a common base lubricant is enclosed in the first reducer and the second reducer;
The lubricants are a first lubricant sealed in the first reducer and a second lubricant sealed in the second reducer, and the additive or diluent oil blends differ based on the position in the parent machine.

The present invention also provides a method for sealing a lubricant in a master machine including a first reducer and a second reducer having different reduction mechanisms, the method comprising:
The first reducer and the second reducer are filled with lubricants that have a common base lubricant and different blends of at least one of additives and diluent oil ,
The lubricant sealed in the first reducer and the second reducer has a different blend of at least one of additives and diluent oil based on the position in the parent machine.

The present invention also provides a method for sealing a lubricant in a master machine including a base-end joint incorporating a first reducer and a tip-end joint incorporating a second reducer and being located distal to the base-end joint, the method comprising:
The first reducer and the second reducer are filled with lubricants that have a common base lubricant but different additive or diluent oil blends,
The lubricant sealed in the first reducer and the second reducer has different additive or diluent oil blends depending on the location in the parent machine.

The present invention also provides a lubricant set, comprising:
The lubricant includes the first lubricant and the second lubricant sealed in the reducer of the parent machine.

The present invention also provides a lubricant set, comprising:
The lubricant includes the base lubricant enclosed in the reducer of the parent machine, an additive or diluent oil enclosed in the first lubricant, and an additive or diluent oil enclosed in the second lubricant.

This invention makes it possible to uniformly use lubricant types while optimally lubricating multiple reducers with different reduction mechanisms.

FIG. 1 is a perspective view showing a robot according to an embodiment. FIG. 2A is a cross-sectional view of a top hat type flexible mesh reducer, and FIG. 2B is a cross-sectional view of a cylindrical flexible mesh reducer. 1A is a cross-sectional view of a center crank type eccentric oscillating reducer, and FIG. 1B is a cross-sectional view of a distribution type eccentric oscillating reducer. FIG. 1 is a diagram illustrating the main concept of grease lubrication according to the type of reduction mechanism or robot. 10A and 10B are diagrams illustrating other examples of packages according to the speed reduction mechanism or the robot type. FIG. 10 is a perspective view showing a robot according to a modified example of the embodiment.

Embodiments of the present invention will be described in detail below with reference to the drawings.

[Overall configuration of the robot]
FIG. 1 is a perspective view showing a robot 1 according to this embodiment.
As shown in the figure, the robot 1 according to this embodiment is an example of a parent machine according to the present invention, and is a vertical articulated robot (a six-axis manipulator in this embodiment). The robot 1 includes a base 11, a plurality of arms 12 (first arm 12a to fifth arm 12e in this embodiment, in order from the base 11 side), an end effector 13, and a plurality of joints 14 (first joint 14a to sixth joint 14f in this embodiment, in order from the base 11 side).

The multiple joints 14 connect the base 11, the multiple arms 12, and the end effector 13 in series. Specifically, the first joint 14a connects the base 11 and the first arm 12a, the second joint 14b connects the first arm 12a and the second arm 12b, the third joint 14c connects the second arm 12b and the third arm 12c, the fourth joint 14d connects the third arm 12c and the fourth arm 12d, the fifth joint 14e connects the fourth arm 12d and the fifth arm 12e, and the sixth joint 14f connects the fifth arm 12e and the end effector 13 so that they can rotate relatively around each of the axes J1 to J6.

Each joint 14 is provided with a motor (not shown) as a drive source, and this motor is connected to a reducer 15 that reduces the rotational speed of the motor output to obtain torque according to the reduction ratio.
In the robot 1 of this embodiment, four types of reducers 15 are used, each with a different reduction mechanism: a top hat type (or cup type) flexible meshing reducer 20, a cylindrical flexible meshing reducer 30, a center crank type eccentric oscillating reducer 40, and a distribution type eccentric oscillating reducer 50.
Specifically, a center crank type eccentric oscillating reducer 40 or a distribution type eccentric oscillating reducer 50 is applied to the first joint section 14 a to the third joint section 14 c of the robot 1, a cylindrical flexure mesh reducer 30 is applied to the fourth joint section 14 d, and a top hat type flexure mesh reducer 20 is applied to the fifth joint section 14 e and the sixth joint section 14 f. More specifically, the highly rigid eccentric oscillating reducers 40, 50 are applied to the first joint section 14 a to the third joint section 14 c of the basic shaft (base end side) which is subjected to a high load, a smaller cylindrical flexure mesh reducer 30 is applied to the fourth joint section 14 d which is further distal end, and an even smaller top hat type flexure mesh reducer 20 is applied to the fifth joint section 14 e and the sixth joint section 14 f which are at the most distal end.
However, the joints 14 of the robot 1 to which these four types of reducers 15 are applied are not limited to the example of this embodiment.

The attitude of the reducer 15 on the distal end side changes depending on the movement of the reducer 15 on the proximal end side, and therefore the rate of change of attitude is higher than that of the reducer 15 on the proximal end side.
For example, when the reducer 15 of the first joint 14a on the base end side rotates around the axis J1, the reducer 15 of the second joint 14b on the tip end side also rotates around the axis J1. At this time, the position of the reducer 15 of the second joint 14b changes (note that if the first arm 12a extends parallel to the axis J1, the center position of the second joint 14b does not change, but the rotation around the axis J1 changes the posture. In other words, the position of the portion of the reducer 15 of the second joint 14b that is off the central axis changes). In this way, the posture of the reducer 15 on the tip end side is likely to change frequently because it is also moved by the reducer 15 on the base end side.

[Configuration of each reducer]
A brief description will be given of the configuration of each reducer 15. Note that the specific configuration of each reducer 15 is not limited to the example shown here.
As shown in Figure 2(a), the top hat-shaped flexible meshing reducer 20 includes a vibrator shaft 21, an external gear 22, an internal gear 23, a first bearing 24, a housing 25, a first cover member 26, a second cover member 27, and a main bearing 28.
The vibrator shaft 21 has an eccentric cam 21a as a vibrator on its outer periphery. The outer periphery of the eccentric cam 21a has a cross-sectional shape that is close to an ellipse having a major axis and a minor axis. A motor serving as a drive source is connected to the vibrator shaft 21.
The internal gear 23 has a plurality of teeth on its inner periphery. The external gear 22, the first bearing 24, and the eccentric cam 21a are arranged inside the internal gear 23 in this order from the outer periphery. A connecting member 231 is fixed to the anti-load side of the internal gear 23.
The external gear 22 is formed in a top hat shape with a thin, flexible cylindrical portion and a flange portion on the anti-load side. The external gear 22 has teeth on the outer periphery of the load-side end of the cylindrical portion, and these teeth mesh with the internal gear 23. An eccentric cam 21 a is disposed on the inner periphery of the external gear 22 via a first bearing 24.
The housing 25 is disposed on the outer circumferential side of the connecting member 231. The housing 25 supports the connecting member 231 via a main bearing 28 so as to be relatively rotatable.
The first cover member 26 covers the external gear 22, the connecting member 231, and the housing 25 from the anti-load side. The first cover member 26 is fixed by being fastened together with the outer periphery of the external gear 22 and the housing 25. The first cover member 26 supports the vibrator shaft 21 via a bearing 29a arranged on the inner periphery so as to be relatively rotatable.
The second cover member 27 covers the internal gear 23, the external gear 22, and the first bearing 24 from the load side. The second cover member 27 is fixed by being fastened together with the internal gear 23 and the connecting member 231. The second cover member 27 supports the vibrator shaft 21 via a bearing 29b arranged on the inner periphery so as to be relatively rotatable. A driven member is fixed to the second cover member 27.

With this configuration, in the flexible mesh reducer 20, when the eccentric cam 21a rotates, the motion is transmitted to the external gear 22 via the first bearing 24. At this time, the external gear 22 does not rotate because its outer periphery is fixed to the housing 25 and the first cover member 26, and in the cylindrical part of the external gear 22, the bulging position due to the long axis portion rotates in accordance with the outer periphery shape of the rotating eccentric cam 21a. The period of this rotation is proportional to the high-speed rotation period of the eccentric cam 21a.
In this way, when the cylindrical portion of the external gear 22 is deformed by the rotation of the eccentric cam 21a, the meshing position between the external gear 22 and the internal gear 23 changes in the rotational direction in accordance with the rotation of the long axis of the eccentric cam 21a. Here, if there is a difference in the number of teeth between the external gear 22 and the internal gear 23, the meshing position changes in the rotational direction, causing the internal gear 23 to rotate. As a result, the rotational motion of the vibrator shaft 21 is decelerated and transmitted to the internal gear 23 and the second cover member 27, and this rotational motion is output to the driven member.

In addition, the flexible meshing reducer 20 has grease (lubricant) sealed in the internal space S2, which is sealed with an O-ring or oil seal. The housing 25 or cover members 26, 27 are formed with a grease supply hole and a grease drain hole (not shown) that connect the internal space S2 to the outside. The grease supply hole and the grease drain hole are normally closed. When replacing the grease, the grease supply hole and the grease drain hole are opened and new grease is filled in through the grease supply hole, and the old grease inside is then discharged to the outside through the grease drain hole. However, the method of replacing grease is not limited to this.

As shown in Figure 2(b), the cylindrical flexible mesh reducer 30 includes a vibrator shaft 31, an external gear 32, a first internal gear 33G, a second internal gear 34G, a casing 35, a first cover 36, and a second cover 37.

The vibrator shaft 31 is a hollow cylindrical shaft that rotates around the central axis Ax, and has a vibrator 31A whose cross-sectional shape perpendicular to the central axis Ax is non-circular (e.g., elliptical), and shaft portions 31B and 31C with circular cross-sections provided on both sides of the vibrator 31A in the axial direction.
The external gear 32 is a flexible cylindrical member centered on the central axis Ax, and has teeth on its outer periphery. The external gear 32 is rotatable relative to the vibrator 31A by a vibrator bearing 32A disposed between the external gear 32 and the vibrator 31A.
The first internal gear 33G and the second internal gear 34G rotate around the central axis Ax around the vibrator shaft 31. The first internal gear 33G and the second internal gear 34G are arranged side by side in the axial direction and mesh with the external gear 32. The first internal gear 33G and the second internal gear 34G are configured by providing internal teeth at corresponding locations on the inner peripheries of the first internal gear member 33 and the second internal gear member 34.
The casing 35 is connected to the first internal gear member 33 and covers the outer diameter side of the second internal gear 34 G. The casing 35 rotatably supports the second internal gear member 34 G via a main bearing 38 .
The first cover 36 is connected to the first internal gear member 33 and covers the meshing portion between the external gear 32 and the first internal gear 33G from the anti-load side in the axial direction. The first cover 36 rotatably supports the vibrator shaft 31 via a bearing 39a.
The second cover 37 is connected to the second internal gear member 34 and covers the meshing portion between the external gear 32 and the second internal gear 34G from the axial load side. The second cover 37 rotatably supports the vibrator shaft 31 via a bearing 39b. The second cover 37 and the second internal gear member 34 are connected to the driven member by being fastened together.

With this configuration, in the flexible meshing reducer 30, when the vibrator shaft 31 rotates, the motion of the vibrator 31A is transmitted to the external gear 32. At this time, the external gear 32 is restricted to a shape that follows the outer circumferential surface of the vibrator 31A and bends into an elliptical shape when viewed from the axial direction. Furthermore, because the external gear 32 meshes with the fixed first internal gear 33G at its major axis, it does not rotate at the same rotational speed as the vibrator 31A, and the vibrator 31A rotates relatively inside the external gear 32. Then, with this relative rotation, the external gear 32 flexes and deforms so that the major axis position and minor axis position move circumferentially. The period of this deformation is proportional to the rotation period of the vibrator shaft 31.
When the external gear 32 flexes and deforms, the position of its major axis moves, causing the meshing position between the external gear 32 and the first internal gear 33G to change in the rotational direction, causing the external gear 32 to rotate. Meanwhile, because the external gear 32 also meshes with the second internal gear 34G, the meshing position between the external gear 32 and the second internal gear 34G also changes in the rotational direction due to the rotation of the vibration exciter shaft 31. Here, if the number of teeth of the second internal gear 34G and the number of teeth of the external gear 32 are the same, the external gear 32 and the second internal gear 34G do not rotate relative to each other, and the rotational motion of the external gear 32 is transmitted to the second internal gear 34G at a reduction ratio of 1:1. As a result, the rotational motion of the vibration exciter shaft 31 is decelerated and transmitted to the second internal gear member 34 and the second cover 37, and this rotational motion is output to the driven member.

In addition, the flexible meshing reducer 30 has grease (lubricant) sealed in the internal space S3, which is sealed with an O-ring or oil seal. The casing 35 or covers 36, 37 are formed with a grease supply hole and a grease drain hole (not shown) that connect the internal space S3 to the outside. The grease supply hole and the grease drain hole are normally closed. When replacing the grease, the grease supply hole and the grease drain hole are opened and new grease is filled in through the grease supply hole, and the old grease inside is then discharged to the outside through the grease drain hole. However, the method of replacing grease is not limited to this.

As shown in FIG. 3A, the center crank type eccentric oscillating reducer 40 includes an eccentric body shaft 41, external gears 42A, 42B, 42C, an output shaft 43, and a housing (casing) 44.
A plurality of (three) eccentric bodies 41a, 41b, and 41c are provided on the eccentric body shaft 41. The eccentric body shaft 41 is connected to an output shaft of a motor (not shown).

The external gears 42A to 42C have a plurality of inner pin holes provided circumferentially spaced apart at positions offset from the central axis Ax, and a central through-hole through which the eccentric body shaft 41 is inserted. The external gears 42A to 42C are rotatably supported with respect to the eccentric bodies 41a to 41c by eccentric body bearings 45a, 45b, 45c respectively arranged between the external gears 42A to 42C and the eccentric bodies 41a to 41c, and oscillate with the rotation of the eccentric bodies 41a to 41c.
The output shaft 43 is disposed on the outer periphery of the eccentric body shaft 41 and on the load side of the external gears 42A to 42C, and is fixed to a driven member (not shown). The output shaft 43 has a plurality of inner pins 43a formed to bulge outward like pins toward the anti-load side. The inner pins 43a are inserted into the inner pin holes of the external gears 42A to 42C. A carrier body 48 is fixed to the anti-load side of the inner pins 43a. The carrier body 48 and the output shaft 43 rotatably support the eccentric body shaft 41 via bearings 46a and 46b disposed between the carrier body 48 and the output shaft 43.
The housing 44 is disposed on the outer periphery of the external gears 42A to 42C, the output shaft 43, and the carrier body 48. An internal gear 44g is provided on the inner periphery of the housing 44. The internal gear 44g has a plurality of outer pins that form internal teeth, and is in internal mesh with the external gears 42A to 42C. The housing 44 rotatably supports the carrier body 48 and the output shaft 43 via main bearings 47a, 47b that are disposed between the carrier body 48 and the output shaft 43.

With this configuration, in the eccentric oscillating reducer 40, as the eccentric body shaft 41 rotates, the eccentric bodies 41a-41c rotate inside the external gears 42A-42C, causing the external gears 42A-42C to oscillate in different phases from each other. As the external gears 42A-42C oscillate, the external teeth farthest from the central axis Ax mesh with the internal gear 44g, and this meshing position changes circumferentially as the oscillating motion accompanies the oscillation. Specifically, with each rotation of the eccentric body shaft 41, the meshing position between the internal gear 44g and the external gears 42A-42C moves around the circumference. There is a difference in the number of teeth between the external gears 42A-42C and the internal gear 44g, and each time the meshing position with the internal gear 44g moves around the circumference, the external gears 42A-42C rotate by the difference in the number of teeth. This rotation is transmitted to the output shaft 43 via the inner pin 43a. As a result, the rotational motion of the eccentric shaft 41 is decelerated and extracted from the driven member connected to the output shaft 43.

In addition, the eccentric oscillating reducer 40 has grease (lubricant) sealed in an internal space S4 that is closed by an O-ring or oil seal. The housing 44 is formed with a grease supply hole 44a and a grease drain hole 44b that connect the internal space S4 to the outside. The grease supply hole 44a and the grease drain hole 44b are normally closed by a closing plug 441. When replacing the grease, the grease supply hole 44a and the grease drain hole 44b are opened and new grease is filled in through the grease supply hole 44a, and the old grease inside is discharged to the outside through the grease drain hole 44b. However, the method of replacing grease is not limited to this.

As shown in FIG. 3( b), the distribution-type eccentric oscillating reducer 50 has an eccentric shaft 51 having eccentric bodies 51 a and 51 b, a first external gear 52A through which the eccentric body 51 a passes and which is offset from the axis (central axis Ax), and a second external gear 52B through which the eccentric body 51 b passes and which is offset from the axis.
The eccentric body shaft 51 has an eccentric body shaft gear 53 that meshes with the output shaft of a motor (not shown), and rotation is input from the input shaft via the eccentric body shaft gear 53. The external gears 52A, 52B have through holes provided at multiple locations (e.g., three locations) in the circumferential direction, through which multiple eccentric body shafts 51 pass. The eccentric bodies 51a, 51b are rotatably disposed in the through holes of the external gears 52A, 52B via eccentric body bearings 57A.

Furthermore, the eccentric oscillating reducer 50 includes an output shaft (carrier body) 54, a support plate 541 fixed to the anti-load side of the output shaft 54, and a housing 55 having an internal gear 55g that meshes with the external gears 52A and 52B. The internal gear 55g has multiple outer pins that function as internal teeth. Eccentric shaft bearings 57B are disposed between the eccentric body shaft 51 and the output shaft 54, and between the eccentric body shaft 51 and the support plate 541. The housing 55 rotatably supports the output shaft 54 and the support plate 541 via main bearings 58a and 58b. The output shaft 54 is fixed to a driven member (not shown).

With this configuration, in the eccentric oscillating reducer 50, when rotational motion is transmitted to the eccentric body shaft 51 via the eccentric body shaft gear 53 by driving the motor, the eccentric bodies 51a, 51b rotate, causing the external gears 52A, 52B to eccentrically oscillate. This eccentric oscillation causes the meshing positions of the external gears 52A, 52B and the internal gear 55g to change circumferentially, and because the number of teeth on both gears is different, the external gears 52A, 52B rotate (spin on their axes). The rotational component of the external gears 52A, 52B is then output to the driven member via the output shaft 54.

In addition, the eccentric oscillating reducer 50 has grease (lubricant) sealed in the internal space S5, which is sealed with an O-ring or oil seal. The output shaft 54, support plate 541, or housing 55 are formed with a grease supply hole and a grease drain hole (not shown) that connect the internal space S5 to the outside. The grease supply hole and the grease drain hole are normally closed. When replacing the grease, the grease supply hole and the grease drain hole are opened and new grease is filled in through the grease supply hole, allowing the old grease inside to be discharged to the outside through the grease drain hole. However, the method of replacing grease is not limited to this.

[Grease for each reducer]
Each reducer 15 of the robot 1 is pre-filled with grease (lubricant) that corresponds to its reduction mechanism. More specifically, all reducers 15 are filled with grease that uses the same base grease but has a different blend of at least one of additives and diluent oil. The additives and diluent oil are blended to obtain the desired properties that correspond to the reduction mechanism of each reducer 15. Hereinafter, "number" indicates the NLGI consistency number of the grease.

The main concepts of grease lubrication according to the type of reduction mechanism or robot are shown in Figure 4.
As shown in this figure, in the top hat type flexible mesh reducer 20, No. 2 grease is mainly supplied to the sliding parts to reduce stirring loss and ensure efficiency. The same applies to the cup type flexible mesh reducer.
In the cylindrical flexible mesh reducer 30, a grease with relatively good fluidity (for example, No. 00) is used to prevent fretting between the external gear 32 and the outer ring of the vibrator bearing 32A.
In the center crank type eccentric oscillating reducer 40 and the distribution type eccentric oscillating reducer 50, a grease with relatively good fluidity (e.g., No. 00) is used to prevent grease from running out in each sliding part such as the main bearing, power take-off part, and meshing part.

As shown in FIG. 4, the properties of the grease may be changed depending on the type of robot.
For example, in the case of a six-axis manipulator such as the robot 1 of this embodiment, the reducers used in the base axes (J1 to J3) experience relatively little change in posture (low rate of posture change). Therefore, it is preferable to use a grease with relatively low fluidity (e.g., No. 2) to ensure that the grease remains in the lubrication area. On the other hand, the reducers used in the wrist axes (J4 to J6) are located closer to the distal end than the reducers of the base axes, and their posture changes relatively frequently due to the movement of the reducers used in the base axes (high rate of posture change). Therefore, it is preferable to use a grease with relatively good fluidity (e.g., No. 00) to improve fluidity and prevent starvation. Therefore, it is preferable to use a common base grease, e.g., No. 2, for the reducers of the base axes and wrist axes, while using grease softened to No. 00 with diluent oil for the reducers of the wrist axes.
Furthermore, if the robot type is a SCARA type (horizontal multi-joint type), it is preferable to use grease with relatively good fluidity (for example, No. 00) in order to ensure fluidity and prevent depletion due to the high speed rotation.
Therefore, if the robots in the same work space (for example, in the same factory or on the same line) are a SCARA robot, which is one type of robot, and a six-axis manipulator, which is a different type of robot from the SCARA robot, it is advisable to use a common base grease (for example, No. 2) for both robots, and use grease that has been softened to No. 00 with diluted oil in the reducer used in the SCARA (horizontally articulated) robot, do not add diluted oil to the common base grease in the reducer used in the basic axes (J1 to J3) of the six-axis manipulator, and use grease that has been softened to No. 00 with diluted oil in the reducer used in the wrist axes (J4 to J6).
Furthermore, if the properties of the grease for the robot type described here do not match those for the reduction mechanism described above, it is preferable to select a grease with relatively good fluidity (for example, No. 00 rather than No. 2).

<Base grease>
The base grease (base lubricant) used is one that uses lithium soap (lithium 12-hydroxystearate) or a urea compound (aliphatic diurea, alicyclic diurea) as a thickener.
In this embodiment, for example, grease having a consistency of No. 2 is used as the base grease common to all reducers 15 .

<Additives, diluent oil>
To improve the performance of the grease, additives such as extreme pressure agents, friction modifiers, antioxidants, metal deactivators, and rust inhibitors are added to the base grease.
Examples of extreme pressure agents include phosphate esters (tricresyl phosphate, etc.), zinc dialkyldithiophosphates, and organic molybdenum compounds (molybdenum dithiocarbamate, molybdenum dithiophosphate).
Examples of antioxidants include amine compounds (such as phenyl-α-naphthylamine) and phenol compounds (such as 2,6-di-t-butyl-paracresol).
Examples of the rust inhibitor (and dispersant) include calcium sulfonate.

To soften the consistency of the grease, a base oil is further blended as a diluent. Examples of base oils include mineral oil and synthetic oils (diesters, polyol esters, poly-α-olefins (PAO), polyglycols, phenyl ethers, silicones, and fluorine-based synthetic oils).

In this embodiment, based on the concept of grease lubrication described above (see FIG. 4), additives and diluent oils appropriate for the reduction mechanisms of the respective reducers 15 are blended into a common base grease.
The top hat type flexible mesh reducer 20 contains additives such as an extreme pressure agent, an antioxidant, and a rust inhibitor.
The cylindrical flexible mesh type reducer 30 is blended with base oil as diluent oil and softened to 00 degrees.
The center crank type eccentric oscillating reducer 40 and the distribution type eccentric oscillating reducer 50 are blended with base oil as diluent oil and softened to 00 degrees, and extreme pressure agents, antioxidants, and rust inhibitors are added as additives.
It is preferable that the lubricant filled in the reducer 15 (in this embodiment, the eccentric oscillating reducers 40, 50) incorporated in the joint 14 on the base end side has a greater blend ratio of diluent oil than the lubricant filled in the reducer 15 (in this embodiment, the flexible meshing reducers 20, 30) incorporated in the joint 14 on the tip end side. The lubricant for the reducer 15 incorporated in the joint 14 on the tip end side does not need to be blended with diluent oil.

The package to be blended into the grease of each reducer 15 is not limited to the above. A package is a combination of additives and diluent oil to be blended into a base grease.
Another example of a package according to the type of speed reduction mechanism or robot is shown in FIG.

[Technical effect of this embodiment]
As described above, according to this embodiment, grease containing a common base grease and having different formulations of at least one of additives and diluent oil is sealed in multiple reducers 15 having different reduction mechanisms.
This allows the base grease to be standardized to unify the grease type, while the blend of additives and diluent oil can be adjusted to obtain the desired properties corresponding to the reduction mechanism of each reducer 15.
Therefore, it is possible to standardize the type of grease and appropriately lubricate multiple reducers 15 with different speed reduction mechanisms. As a result, it is possible to improve the ease of maintenance work and improve user convenience even if the reducer manufacturers are not standardized.

Furthermore, according to this embodiment, multiple reducers 15 having different rates of change in attitude may be filled with grease that contains a common base grease and has different compositions of at least one of additives and diluent oil.
This allows the base grease to be standardized to unify the grease type, while the blend of additives and diluent oil can be adjusted to obtain the desired properties corresponding to the rate of change of the attitude of each reducer 15.
Therefore, the same effect as above can be obtained.
Furthermore, according to this embodiment, by preparing a set of first and second lubricants containing a common base grease and greases with different additive and/or diluent oil blends for a plurality of reducers 15 having different reduction mechanisms or attitude change rates, it is possible to easily provide a lubricant set that uses a common base grease to unify the grease type, while adjusting the blend of additives and diluent oil to obtain desired properties corresponding to the attitude change rate of each reducer 15. Furthermore, the same effect as above can be obtained by preparing a set of a common base grease, an additive or diluent oil blended in the first lubricant, and an additive or diluent oil blended in the second lubricant.

[others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments.
For example, in the above embodiment, grease compounded to obtain desired properties is pre-filled into each reducer 15. However, for example, during maintenance of the robot 1, grease may be compounded to obtain desired properties corresponding to each reducer 15, and the old grease already filled may be replaced with the grease.

In the above embodiment, the robot 1 with a six-axis manipulator is exemplified as the parent machine according to the present invention, but the parent machine according to the present invention may be a robot other than a six-axis manipulator. For example, as shown in Fig. 6, it may be a SCARA type (horizontally articulated) robot 1A. The robot 1A may be equipped with reducers 15, each with a different reduction mechanism or rate of change of posture, at a plurality of joints 14A.
Furthermore, the parent machine according to the present invention is not limited to a robot, and may be any machine that includes a first reducer and a second reducer that have different speed reduction mechanisms or different rates of change in posture.
In addition, the details shown in the above embodiment can be modified as appropriate without departing from the spirit of the invention.

1, 1A Robot 14 Joint 15 Reducer 20 Top hat type flexible mesh reducer 30 Cylindrical type flexible mesh reducer 40 Center crank type eccentric oscillating reducer 50 Distribution type eccentric oscillating reducer

Claims (11)

A master machine including a first reducer and a second reducer having different reduction mechanisms,
a lubricant containing a common base lubricant is enclosed in the first reducer and the second reducer;
the lubricant includes a first lubricant sealed in the first reducer and a second lubricant sealed in the second reducer,
The first reducer and the second reducer have different blends of at least one of additives and diluent oil in the first lubricant and the second lubricant based on their positions in the parent machine.
Parent machine. The first reducer and the second reducer include any one of a top hat type or cup type flexible mesh reducer, a cylindrical type flexible mesh reducer, and a center crank type or distribution type eccentric oscillating reducer,
In the case of a top hat type flexible mesh reducer, the lubricant containing additives such as an extreme pressure agent, an antioxidant, and a rust inhibitor is enclosed.
In the case of a cylindrical flexible mesh type reducer, the lubricant containing the base oil as diluent is enclosed,
In the case of a center crank type or a distribution type eccentric oscillating reducer, a base oil is blended as diluent oil, and the lubricant to which an extreme pressure agent, an antioxidant, and a rust inhibitor are added as additives is sealed.
2. The parent machine of claim 1. The first reducer and the second reducer include any one of a top hat type or cup type flexible mesh reducer, a cylindrical type flexible mesh reducer, a center crank type eccentric oscillating reducer, and a distribution type eccentric oscillating reducer,
In the case of a top hat type flexible mesh reducer, the lubricant containing an extreme pressure agent, a friction modifier, and an antioxidant as additives is enclosed,
In the case of a cylindrical flexible mesh reducer, the lubricant is filled with a base oil as a diluent, and an extreme pressure agent, an antioxidant, and a metal deactivator as additives.
In the case of a center crank type eccentric oscillating reducer, the lubricant is filled with a base oil as diluent oil and an extreme pressure agent, a friction modifier, an antioxidant, and a rust inhibitor as additives , and
In the case of a dividing type eccentric oscillating reducer, a base oil is blended as diluent oil, and the lubricant containing additives such as an extreme pressure agent, a friction modifier, an antioxidant, a metal deactivator, and a rust inhibitor is sealed.
2. The parent machine of claim 1. a base-end joint incorporating a first reducer, and a tip-end joint incorporating a second reducer and located closer to a tip end than the base-end joint,
a lubricant containing a common base lubricant is enclosed in the first reducer and the second reducer;
The lubricants are a first lubricant sealed in the first reducer and a second lubricant sealed in the second reducer, and the blending of additives or diluent oil differs based on the position in the parent machine.
Parent machine. the first reducer is filled with the lubricant to which additives such as an extreme pressure agent, a friction modifier, an antioxidant, a metal deactivator, and a rust inhibitor have been added,
The second reducer is filled with the lubricant to which a base oil is blended as diluent oil and to which an extreme pressure agent, a friction modifier, and an antioxidant are added as additives.
5. The parent machine according to claim 4. The first lubricant and the second lubricant have different additive blends.
A parent machine according to any one of claims 1 to 5. The main machine according to claim 6, wherein the second reducer is a top hat type or cup type flexible mesh reducer. A lubricant filling method for filling a master machine with a lubricant, the master machine including a first reducer and a second reducer having different reduction mechanisms, the method comprising:
The first reducer and the second reducer are filled with lubricants that have a common base lubricant and different blends of at least one of additives and diluent oil ,
The lubricant sealed in the first reducer and the second reducer has a different blend of at least one of an additive and a diluent oil based on the position in the parent machine.
Lubricant filling method. A method for sealing a lubricant in a master machine including a base-end joint in which a first reducer is incorporated and a tip-end joint in which a second reducer is incorporated and which is located distal to the base-end joint, comprising:
The first reducer and the second reducer are filled with lubricants that have a common base lubricant but different additive or diluent oil blends,
The lubricant sealed in the first reducer and the second reducer has different additive or diluent oil blends depending on the positions in the parent machine.
Lubricant filling method. A lubricant set including the first lubricant and the second lubricant sealed in the reducer of the parent machine described in any one of claims 1 to 7. A lubricant set including the base lubricant enclosed in the reducer of the parent machine described in any one of claims 1 to 7, an additive or diluent oil enclosed in the first lubricant, and an additive or diluent oil enclosed in the second lubricant.