CN110864084A

CN110864084A - Fastening mechanism, fastened article, and industrial machine

Info

Publication number: CN110864084A
Application number: CN201910729514.3A
Authority: CN
Inventors: 王宏猷; 中村江児; 增田智彦; 赤尾正贵
Original assignee: Nabtesco Corp
Current assignee: Nabtesco Corp
Priority date: 2018-08-08
Filing date: 2019-08-08
Publication date: 2020-03-06
Also published as: JP2020024024A; JP7304684B2

Abstract

The invention provides a fastening mechanism, a fastened article and an industrial machine. A fastening article (FS) comprises: a bolt; a fastened member (M1) having a threaded hole engaged with the bolt; a friction plate (70) which is provided on the fastened member and has a hole through which the bolt passes; and a 2 nd fastened member (M2) which is provided on the opposite side of the friction plate from the fastened member and has a through hole through which the bolt passes.

Description

Fastening mechanism, fastened article, and industrial machine

Technical Field

The present invention relates to a fastening mechanism, a fastened article, and an industrial machine.

Background

Fastening using a bolt is widely performed in various fields. As an example, a reduction gear of an eccentric oscillation type or the like (JP2017-65301A) is fastened with a member that outputs rotation from the reduction gear using a bolt. The output of the reduction gear continues to increase due to the requirement for high-speed driving, and along with this, the number of bolts used for fastening also increases.

However, as described in JP2017-65301A, it is also desired to miniaturize the reduction gear, and there is a limit to the number of bolts that can be provided. On the other hand, if the fastening force of each bolt is increased, the reduction gear is deformed. Such deformation causes loosening and play of the fastening article, and may eventually cause breakage of the fastening article.

Disclosure of Invention

The present invention has been made in view of the above points, and an object thereof is to provide a fastening mechanism, a fastened article, and an industrial machine that can stably maintain a fastened state.

The fastening mechanism of the present invention includes:

a fastened member for fixing the bolt;

and a friction plate having a hole through which the bolt passes and provided to the fastened member.

In the fastening mechanism of the present invention, it is also possible,

the Vickers hardness of the friction plate is 50% or more of the Vickers hardness of the fastened member,

the friction plate has a static friction coefficient of 0.2 or more.

In the fastening mechanism of the present invention, the friction plate may have a thickness of 15mm or less.

The fastening article of the present invention includes:

a bolt;

a fastened member having a threaded hole engaged with the bolt;

a 2 nd fastened member having a through hole through which the bolt passes;

and a friction plate disposed between the fastened member and the 2 nd fastened member, and having a hole through which the bolt passes.

In the fastening article of the present invention, one of the fastened member and the 2 nd fastened member may be a speed reducer.

In the fastening article of the present invention, it is also possible,

the fastened member is the 1 st part of the carrier of the reducer,

the 2 nd fastened member is a 2 nd portion of a carrier of the speed reducer.

The industrial machine of the present invention includes any one of the above-described fastened articles of the present invention.

According to the present invention, the fastened state can be stably maintained.

Drawings

Fig. 1 is a diagram for explaining an embodiment, and is a vertical cross-sectional view showing a decelerator as an example of an application target of a fastened article.

Fig. 2 is a sectional view taken along line II-II of fig. 1.

Fig. 3 is a perspective view showing an industrial machine including a fastening article.

Fig. 4 is a sectional view showing a fastening article.

Fig. 5 is a plan view showing a decelerator included in the fastened article of fig. 4.

Detailed Description

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 to 5 are views for explaining an embodiment of a fastened article (fastening structure). Hereinafter, an example in which the fastening article of the present embodiment is applied to a speed reducer, particularly an eccentric oscillating type speed reducer, will be described as an example. However, the fastening article according to the present embodiment is not limited to the examples described below, and can be applied to various fastening products fastened by using bolts.

First, the overall structure of the eccentric rocking type reduction gear 10 will be described with reference to fig. 1 and 2. The speed reducer 10 includes: the housing 20, the carrier 30, the crankshaft 40, and the two

external gears

50a, 50 b. The housing 20 has internal teeth 25. The crankshaft 40 is supported by the carrier 30 and drives the two

external gears

50a and 50 b. In the reduction gear 10, the carrier 30 rotates relative to the case 20 about the rotation axis line RA by meshing the external teeth 55 of the

external gears

50a, 50b with the internal teeth 25. Hereinafter, a direction parallel to the rotation axis RA is referred to as an axial direction DA, and a direction perpendicular to the rotation axis RA is referred to as a radial direction DR. The axial direction DA and the radial direction DR are orthogonal to the circumferential direction DC centered on the rotation axis RA.

The housing 20 has: a substantially cylindrical case main body 21; and an internal tooth pin 24 held to the inner surface of the housing main body 21. The housing main body 21 is formed with pin grooves arranged along the circumferential direction DC, extending in the axial direction DA, and receives and holds the internal gear pins 24 having a cylindrical shape. The internal tooth pins 24 extend in the axial direction DA, forming internal teeth 25.

The carrier 30 is held by the housing 20 so as to be rotatable about the rotation axis line RA via a pair of bearings 12. The carrier 30 has a carrier base portion (also referred to as "part 1") 31 and a plate portion (also referred to as "part 2") 32 that are fixed to each other by bolts (2 nd bolts) B2. The central axis of the bolt B2 is parallel to the axial direction DA. The carrier base part 31 includes a disk-shaped base plate part 31a and a plurality of column parts 31b projecting from the base plate part 31 a. In the illustrated example, the base plate portion 31a and the plurality of pillar portions 31b are integrally formed. As shown in fig. 2, the plurality of pillar portions 31b are provided at equal intervals in the circumferential direction DC about the rotation axis RA. In the illustrated example, three column portions 31b are provided. A screw hole (2 nd screw hole) SH2 that engages with the bolt B2 is formed in the distal end surface of the column portion 31B. Further, the plate portion 32 is formed with a through hole (2 nd through hole) TH2 that penetrates so as not to engage with the bolt B2. A gap is left between the bolt B2 and the through hole TH 2.

The carrier base portion 31 and the plate portion 32 of the carrier 30 are respectively formed with a central hole 34 located on the rotation axis RA. The carrier 30 is formed with a through hole 35 that penetrates the carrier base part 31 and the plate part 32. The plurality of through holes 35 are provided in the carrier base portion 31 and the plate portion 32 at equal intervals in a circumferential direction DC about the rotation axis RA. In the illustrated example, three through holes 35 are provided in the carrier base part 31 and the plate part 32.

The

bearings

13a and 13b are provided in the through hole 35 formed in the carrier base part 31 and the plate part 32. The crankshaft 40 is held rotatably with respect to the carrier 30 by a pair of

bearings

13a and 13b provided in the axial direction. Furthermore, rotational axis RAC of crankshaft 40 is parallel to axial direction DA. The crankshaft 40 has an input gear 42 and two

eccentric bodies

41a, 41b arranged in the axial direction DA. Each of the

eccentric bodies

41a, 41b has a disc-like or cylindrical outer shape. Central axes CAa, Cab of both

eccentric bodies

41a, 41b are eccentric symmetrically about rotation axis RAC of crankshaft 40.

The two

external gears

50a, 50b are disposed in a space formed between the plate portion 31a and the plate portion 32 of the carrier base portion 31 of the carrier 30. The two

external gears

50a, 50b are aligned along the axial direction DA. As shown in fig. 2, a central hole 51 is formed in each of the

external gears

50a and 50 b. The

external gears

50a and 50b have external teeth 55 aligned along the outer peripheral edge centered on the central hole 51. The number of teeth of the external teeth 55 is smaller (by way of example, only one) than the number of teeth of the internal teeth 25 of the housing 20. Further, the outer diameters of the

external gears

50a, 50b are slightly smaller than the inner diameter of the housing 20.

Further, the

external gears

50a and 50b are formed with eccentric body through

holes

52a and 52b provided at equal intervals in the circumferential direction around the central hole 51.

Bearings

13c and 13d are disposed in the eccentric body through

holes

52a and 52b, respectively. The

eccentric bodies

41a, 41b of the crankshaft 40 are held by the

bearings

13c, 13 d.

Further, the

external gears

50a and 50b are formed with column portion through

holes

53a and 53b provided at equal intervals in the circumferential direction DC around the central hole 51. The post portion through

holes

53a and 53b and the eccentric body through

holes

52a and 52b are alternately arranged in the circumferential direction around the center hole 51 for each of the

external gears

50a and 50 b. Each column portion 31b of the carrier base portion 31 passes through the corresponding column portion through

hole

53a, 53b of the

external gear

50a, 50 b.

In the reduction gear 10 having the above-described configuration, torque from the driving device 60 such as a motor is transmitted to the input gear 42. In the illustrated example, the input shaft 61 of the drive device 60 is inserted into the central hole 34 of the carrier 30 and the central holes 51 of the

external gears

50a and 50b to mesh with the input gear 42. The input shaft 61 rotates about the rotation axis RA. When rotation is transmitted from drive device 60 to input gear 42, crankshaft 40 rotates about rotation axis RAC. At this time, the 1 st eccentric body 41a and the 2 nd eccentric body 41b eccentrically rotate. Further, the respective

external gears

50a and 50b oscillate according to the eccentric rotation of the 1 st eccentric body 41a and the 2 nd eccentric body 41 b. More strictly speaking, the

external gears

50a and 50b perform translational motion on a circular path around the rotation axis RA with respect to the carrier 30. When the

external gears

50a and 50b oscillate, the external teeth 55 of the

external gears

50a and 50b mesh with the internal teeth 25 of the housing 20. Since the number of teeth of the external teeth 55 is smaller than that of the internal teeth 25, the

external gears

50a and 50b rotate in a wobbling manner with respect to the housing 20. That is, the

external gears

50a and 50b further rotate about their central axes while revolving around the rotation axis RA. As a result, the carrier 30 supporting the

external gears

50a and 50b via the crankshaft 40 also rotates relative to the housing 20 about the central axis line thereof as the rotation axis RA. In this way, the rotation input from the input shaft 61 of the drive device 60 is decelerated and output as relative rotation between the casing 20 and the carrier 30.

The speed reducer 10 described above is incorporated into, for example, an industrial machine IM and used. More specifically, the reducer 10 can be used together with a drive device in a revolving unit such as a revolving body and a wrist joint of a robot, a revolving unit of various machine tools, and the like. As a specific example shown in fig. 3, by fixing the housing 20 to the base 6X of the robot 6 and connecting the carrier 30 to the revolving unit 6Y of the robot 6, the revolving unit 6Y can be rotated with high torque with respect to the base 6X, and the rotation of the revolving unit 6Y can be controlled with high accuracy.

Here, fig. 4 shows a connection portion where speed reducer 10 of industrial machine IM shown in fig. 3 is connected to base 6X and revolving unit 6Y. Fig. 4 shows only a portion constituting a coupling portion of speed reducer 10 to base 6X and rotator 6Y, and for example,

external gears

50a and 50b and crankshaft 40 are not shown. Fig. 5 is a plan view showing the reduction gear 10 of fig. 4 from a direction along the rotation axis RA. In the example shown in fig. 5, the reduction gear 10 is shown from the carrier base portion 31 side of the carrier 30. For convenience of illustration, understanding, and the like, the casing 20 and the carrier 30 of the reduction gear 10 shown in fig. 4 and 5 have partially different shapes and sizes from those of the example shown in fig. 1 and 2 referred to for the purpose of explaining the overall structure and operation of the reduction gear 10, but have the same operation and function.

First, a connection portion connecting the reduction gear 10 and the base 6X will be described. As shown in fig. 4, the housing body 21 of the housing 20 has a flange portion 22 protruding outward on the side away from the rotation axis RA in the radial direction DR. As shown in fig. 5, the flange portion 22 is formed in a ring shape. The flange portion 22 is formed with a plurality of through holes (1 st through hole) TH 1. The plurality of through holes TH1 are arranged at equal intervals in the circumferential direction DC. On the other hand, as shown in fig. 4, a screw hole (1 st screw hole) SH1 is formed in the base 6X of the robot 6 at a position facing each through hole TH 1. The bolt (1 st bolt) B1 passes through the corresponding through hole TH1 of the speed reducer 10 without engaging with it and engages with the corresponding screw hole SH1 of the base 6X. In this manner, the reduction gear 10 and the base 6X are coupled using the plurality of bolts B1. Further, the center axis of the bolt B1 is parallel to the axial direction DA. Further, a gap is left between the bolt B1 and the through hole TH 1.

Next, a connection portion connecting the carrier 30 and the rotator 6Y will be described. As shown in fig. 5, a plurality of screw holes (3 rd screw holes) SH3 are formed in a surface of carrier 30 facing rotor 6Y. In the example shown in fig. 5, six threaded holes SH3 are formed in three regions between two adjacent crankshafts 40 in the circumferential direction DC, respectively. On the other hand, as shown in fig. 4, through-holes (3 rd through-holes) TH3 are formed in the rotator 6Y of the robot 6 at positions facing the screw holes SH 1. The bolt (the 3 rd bolt) B3 passes through the corresponding through hole TH3 of the rotator 6Y without meshing with it and meshes with the corresponding screw hole SH3 of the speed reducer 10. In this manner, the reduction gear 10 and the rotator 6Y are coupled using the plurality of bolts B3. Further, the center axis of the bolt B3 is parallel to the axial direction DA. Further, a gap is left between the bolt B3 and the through hole TH 3.

However, as also mentioned in the background section, the reduction gear 10 is required to have a high output, for example, for high-speed driving. When the output from reduction gear 10 is large, the coupling between reduction gear 10 and base 6X and the coupling between reduction gear 10 and revolving unit 6Y need to be stronger. On the other hand, reduction in size is also desired for the reduction gear 10, and as shown in fig. 4 and 5, it may be difficult to increase the number of bolts from the viewpoint of the arrangement space. Further, when the fastening force of each bolt is increased, deformation such as sinking of the contact surface of the bolt is caused. If deformation such as sinking occurs, the fastening force of the bolt is easily loosened.

On the other hand, in the present embodiment, a study is made to stably maintain the fastened state of the fastened article (fastened structure) FS using bolts. Specifically, the friction plate 70 is disposed between the 1 st fastened member (fastened member) M1 having a screw hole for engaging a bolt and the 2 nd fastened member M2 having a through hole for passing a bolt, the 1 st fastened member (fastened member) M1 having a screw hole for engaging a bolt, and the 2 nd fastened member M2 having a through hole for passing a bolt. That is, the fastening article (fastening structure) FS includes: a bolt; a 1 st fastened member M1 having a threaded hole engaged with the bolt; a friction plate 70 provided on the 1 st fastened member M1 and having a hole through which a bolt passes; and a 2 nd fastened member M2 provided on the opposite side of the friction plate 70 from the 1 st fastened member M1 and having a through hole through which a bolt passes. In other words, the combination of the fastened member M1 and the friction plate 70 is configured as a fastening mechanism (fastened component) FP to be coupled to the 2 nd fastened member M2 by a bolt, the fastened member M1 has a screw hole to be engaged with the bolt, and the friction plate 70 is provided on the fastened member M1 and has a through hole through which the bolt passes. The friction plate 70 is a member intended to restrict relative movement of the 1 st fastened member M1 and the 2 nd fastened member M2 by friction, and has a higher static friction coefficient than the 1 st fastened member M1 and the 2 nd fastened member M2.

In the example shown in fig. 4 and 5, the 1 st fastened article (fastened structure) FS is configured by setting the base 6X of the robot 6 as the 1 st fastened member M1 and setting the speed reducer 10, particularly the case 20, as the 2 nd fastened member M2. The 1 st fastening mechanism (fastened component) FP is constituted by the base 6X of the robot 6 and the friction plate 70. A screw hole SH1 to be engaged with the bolt B1 is formed in the base 6X constituting the 1 st fastened member M1. Through holes TH1 through which bolts B1 penetrate are formed in the flange portion 22 of the case 20 constituting the 2 nd fastened member M2. The friction plate 70 is provided between the flange portion 22 of the housing 20 and the base 6X. A hole S1 through which the bolt B1 passes is formed in the friction plate 70 at a position facing the through hole TH1 and the threaded hole SH1 in the axial direction DA.

In the 1 st fastened article FS, the friction plate 70 may be provided independently corresponding to each bolt B1. Alternatively, the plurality of friction plates 70 may be provided so as to correspond to two or more bolts B1, respectively. Alternatively, a single friction plate 70 may be provided corresponding to all of the bolts B1. In the last example, the friction plate 70 may have an annular shape along the flange portion 22. According to this example, the friction plate 70 can be stably supported by the housing 20.

In the example shown in fig. 4 and 5, the 2 nd fastener article (fastening structure) FS is configured such that the carrier base portion (1 st part) 31 of the carrier 30, in particular, the pillar portion 31b of the carrier base portion 31 is the 1 st fastened member M1, and the plate portion (2 nd part) 32 of the carrier 30 is the 2 nd fastened member M2. The 2 nd fastening mechanism (fastened component) FP is composed of the friction plate 70 and the carrier base portion (1 st part) 31 of the carrier 30, particularly the column portion 31b of the carrier base portion 31. A screw hole SH2 to be engaged with the bolt B2 is formed in the pillar portion 31B of the carrier 30 constituting the 1 st fastened member M1. Through holes TH2 through which bolts B1 are inserted are formed in the plate portion 32 of the carrier 30 constituting the 2 nd fastened member M2. The friction plate 70 is provided between the column portion 31b and the plate portion 32 of the carrier 30. A hole S2 through which the bolt B2 passes is formed in the friction plate 70 at a position facing the through hole TH2 and the threaded hole SH2 in the axial direction DA. In the 2 nd fastening article FS, the friction plate 70 may be provided on the front end surface of the pillar portion 31b of the carrier 30 and have the same shape as the front end surface.

In the example shown in fig. 4 and 5, the 3 rd fastened article (fastened structure) FS is configured such that the speed reducer 10, in particular, the carrier 30 of the speed reducer 10 (more specifically, the base plate portion 31a of the carrier base portion 31) is the 1 st fastened member M1, and the revolving unit 6Y of the robot 6 is the 2 nd fastened member M2. The 3 rd fastening mechanism (fastened component) FP is composed of the friction plate 70 and the speed reducer 10, in particular, the carrier 30 of the speed reducer 10 (more specifically, the base plate portion 31a of the carrier base portion 31). A screw hole SH3 to be engaged with the bolt B3 is formed in the base plate portion 31a of the carrier 30 constituting the 1 st fastened member M1. A through hole TH3 through which a bolt B3 penetrates is formed in a rotator 6Y of the robot 6 constituting the 2 nd fastened member M2. The friction plate 70 is provided between the plate portion 32 of the carrier 30 and the rotator 6Y. A hole S3 through which the bolt B3 passes is formed in the friction plate 70 at a position facing the through hole TH3 and the threaded hole SH3 in the axial direction DA.

In the 3 rd fastened article FS, the friction plate 70 may be provided independently corresponding to each bolt B3. Alternatively, the plurality of friction plates 70 may be provided so as to correspond to two or more bolts B3, respectively. For example, separate friction plates 70 may be provided in three regions between two through holes 35 adjacent in the circumferential direction DC. In this example, each friction plate 70 may have six holes S3 corresponding to the six threaded holes SH 3. Alternatively, a single friction plate 70 may be provided corresponding to all of the bolts B3. In this example, the friction plate 70 may be formed in a circular plate shape corresponding to the base plate portion 31a of the carrier 30.

By providing the friction plate 70 between the 1 st fastened member M1 and the 2 nd fastened member M2, the relative movement of the friction plate 70 and the 1 st fastened member M1 is suppressed, and the relative movement of the friction plate 70 and the 2 nd fastened member M2 is suppressed. As a result, the relative movement of the 1 st fastened member M1 and the 2 nd fastened member M2 is effectively restricted. This effectively prevents loosening of the bolt, and the 1 st fastened member M1 and the 2 nd fastened member M2 can be maintained in a stably fastened state by the bolt. As a material of the friction plate 70, for example, a metal material such as a steel material or an alloy steel, a carbon fiber, or the like can be used.

The vickers hardness at the surface of the friction plate 70 is preferably 50% or more of the vickers hardness of the 1 st fastened member M1, more preferably 60% or more of the vickers hardness of the 1 st fastened member M1, and further preferably 75% or more of the vickers hardness of the 1 st fastened member M1. The vickers hardness at the surface of the friction plate 70 can be set to 100% or less of the vickers hardness of the 1 st fastened member M1. The friction plate 70 preferably has a static friction coefficient of 0.2 or more. The static friction coefficient of the friction plate 70 can be set to 0.5 or less.

By providing the friction plate 70 with a vickers hardness of 50% or more of the vickers hardness of the 1 st fastened member M1, the friction plate 70 can be effectively prevented from being deformed, particularly from sinking, due to the fastening force of the bolts B1, B2, and B3. In addition, with the friction plate 70 having a static friction coefficient of 0.2 or more, the relative movement of the 1 st fastened member M1 and the 2 nd fastened member M2 can be effectively prevented. Therefore, by providing the friction plate 70 with a vickers hardness of 50% or more of the vickers hardness of the 1 st fastened member M1 and providing the friction plate 70 with a static friction coefficient of 0.2 or more, loosening of the bolts B1, B2, B3 can be effectively prevented, and the 1 st fastened member M1 and the 2 nd fastened member M2 can be maintained in a stably fastened state by the bolts B1, B2, B3.

Likewise, the vickers hardness at the surface of the friction plate 70 is preferably 50% or more of the vickers hardness of the 2 nd fastened member M2, more preferably 60% or more of the vickers hardness of the 2 nd fastened member M2, and further preferably 75% or more of the vickers hardness of the 2 nd fastened member M2. The vickers hardness at the surface of the friction plate 70 can be set to 100% or less of the vickers hardness of the 2 nd fastened member M2. By providing the friction plate 70 with a vickers hardness of 50% or more of the vickers hardness of the 2 nd fastened member M2, the friction plate 70 can be effectively prevented from being deformed, particularly from sinking, due to the fastening force of the bolts B1, B2, and B3.

The Vickers hardness is a value measured according to JIS Z2244, and is measured by using a hardness tester 810-352 manufactured by Mitutoyo. The static friction coefficient is a value measured according to JIS K7125.

The thickness of the friction plate 70 is preferably 15mm or less, more preferably 10mm or less, still more preferably 8mm or less, and particularly preferably 1mm or less. If the thickness of the friction plate 70 is too thick, the relative positions of the 1 st fastened member M1 and the 2 nd fastened member M2 may change due to deformation such as compression of the friction plate 70. In applying the fastened article FS to the decelerator 10, the thickness of the friction plate 70 is set to 15mm or less, so that the inclination between the 1 st fastened member M1 and the 2 nd fastened member M2 can be effectively suppressed to fall within the allowable range. On the other hand, if the thickness of the friction plate 70 is too thin, damage such as breakage of the friction plate 70 may occur. From such a viewpoint, the thickness of the friction plate 70 is preferably 0.2mm or more.

As described above, in the present embodiment, the fastening article (fastening structure) FS includes: bolts B1, B2, B3; the 1 st fastened member (fastened member) M1, 6X, 31a, 10, 30 having threaded holes SH1, SH2, SH3 that engage with bolts B1, B2, B3; a friction plate 70 provided on the 1 st fastened member M1 and having holes S1, S2, S3 through which bolts B1, B2, B3 pass; and a 2 nd fastened member M2, 10, 20, 32, 6Y provided on the opposite side of the friction plate 70 from the 1 st fastened member M1 and having through holes TH1, TH2, TH3 through which bolts B1, B2, B3 penetrate. With such a fastening article FS, a friction plate 70 is provided between the 1 st fastened member M1 and the 2 nd fastened member M2. By providing the friction plate 70, the relative movement of the friction plate 70 and the 1 st fastened member M1 is suppressed, and the relative movement of the friction plate 70 and the 2 nd fastened member M2 is suppressed. As a result, the relative movement of the 1 st fastened member M1 and the 2 nd fastened member M2 is effectively restricted. This effectively prevents loosening of bolts B1, B2, and B3, and enables 1 st fastened member M1 and 2 nd fastened member M2 to be maintained in a stably fastened state by bolts B1, B2, and B3.

In the specific example of the above-described embodiment, one of the 1 st fastened member M1 and the 2 nd fastened member M2 is provided as the speed reducer 10, in particular, the case 20 or the carrier 30 of the speed reducer 10. Thus, the speed reducer 10 and the 1 st fastened member M1 or the 2 nd fastened member M2 can be maintained in a stably fastened state using the bolts B1, B2, B3. This increases the output of the transmission 10, and makes it possible to output a high torque to the 1 st fastened member M1 or the 2 nd fastened member M2.

In the specific example of the above-described embodiment, one of the 1 st fastened member M1 and the 2 nd fastened member M2 is defined as the 1 st portion (carrier base portion) 31 of the carrier 30 of the reduction gear 10, and the other of the 1 st fastened member M1 and the 2 nd fastened member M2 is defined as the 2 nd portion (plate portion) 32 of the carrier 30 of the reduction gear 10. Thus, the 1 st and 2

nd portions

31, 32 of the carrier 30 can be maintained in a stably tightly fixed state using the bolts B1, B2, B3. This makes it possible to increase the output of the small reduction gear 10 and output a high torque.

The embodiments have been described with reference to specific examples, which are not intended to limit the embodiments. The above-described embodiment can be implemented in various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the spirit thereof.

For example, in the above-described specific example, the 1 st fastened member M1 having the screw hole is shown as a component of the speed reducer 10 or the robot 6, but the present invention is not limited to this example, and the 1 st fastened member M1 may be a nut. The screw hole to which the bolt is engaged may be a bottomed hole as in the illustrated example, or may be a through hole.

In addition, although an example in which the object to which the fastened article (fastening structure) FS is applied is an eccentric oscillating type speed reducer is shown, the present invention is not limited to this. The fastened article FS may be applied to a swirler type speed reducer or a planetary gear type speed reducer. The application target of the fastening article FS is not limited to the speed reducer, and can be applied to various gear transmission devices and the like.

Claims

1. A fastening mechanism, wherein,

the fastening mechanism includes:

a fastened member for fixing the bolt; and

2. The fastening mechanism of claim 1,

the friction plate has a static friction coefficient of 0.2 or more.

3. The fastening mechanism of claim 1,

the thickness of the friction plate is 15mm or less.

4. A fastening article, wherein,

the fastening article includes:

a bolt;

a fastened member having a threaded hole engaged with the bolt;

a 2 nd fastened member having a through hole through which the bolt passes; and

and a friction plate which is disposed between the fastened member and the 2 nd fastened member and has a hole through which the bolt passes.

5. The fastening article according to claim 4,

one of the fastened member and the 2 nd fastened member is a speed reducer.

6. The fastening article according to claim 4,

the fastened member is the 1 st part of the carrier of the reducer,

the 2 nd fastened member is a 2 nd portion of a carrier of the speed reducer.

7. An industrial machine, wherein,

the industrial machine is provided with the fastening article according to any one of claims 4 to 6.