JP2007211976A - Speed reducer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance durability of a speed reducer used in a joint part of an industrial robot in a case where high torque is applied to the speed reducer and the speed reducer is used at a high operation rate. <P>SOLUTION: In the speed reducer including a first speed reducing mechanism and a second speed reducing mechanism, the second speed reducing mechanism is equipped with an external tooth gear for performing oscillating movement, an internal tooth gear for converting the oscillating movement of the external tooth gear into an orbital movement, and either one of the external tooth gear and the internal tooth gear is equipped with an output shaft. In this speed reducer, when an inner diameter D of the internal tooth gear is 140 mm≤D≤200 mm, and a torque T generated in the output shaft is 650 Nm≤T≤1570 Nm, the number of teeth of the internal tooth gear is set less than 40 times the difference of the number of teeth between the internal tooth gear and the external tooth gear, and when the inner diameter D of the internal tooth gear is 100 mm≤D≤140 mm, and the torque T generated in the output shaft is 290 Nm≤T<650 Nm, the number of teeth of the internal tooth gear is set to less than 30 times the difference in the number of teeth between the internal tooth gear and the external tooth gear. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a speed reducer attached to an industrial robot. More particularly, the present invention relates to a speed reduction device that fits well with the wrist of an industrial robot, and relates to a speed reduction device that reduces the number of rotations applied to an input shaft and rotates a member constituting the tip portion of the wrist joint of the industrial robot.

2. Description of the Related Art A speed reducer is known that is attached to a joint of an industrial robot, decelerates the number of rotations applied to an input shaft, and rotates a member constituting a tip portion of the joint. The speed reduction device needs to be greatly decelerated while being compact, and has an external gear and an internal gear with different numbers of teeth, and swings the external gear locally meshed with the internal gear. When it is moved, a phenomenon in which the internal gear and the external gear rotate relatively is utilized. The basic configuration is disclosed in Patent Document 1. The reduction gear of Patent Document 1 includes a crankshaft that rotates the eccentric cam eccentrically by rotating and an external gear engaged with the eccentric cam. When the crankshaft rotates, the eccentric cam rotates eccentrically. The external gear performs a swinging motion.
When the rotation of the external gear is not allowed, the internal gear rotates around the output shaft. Conversely, when the rotation of the internal gear is not allowed, the external gear rotates while revolving around the output shaft. By transmitting the rotation of the internal gear or the external gear to the output shaft, the number of rotations applied to the input shaft can be reduced and transmitted to the output shaft.

  Industrial robots have a plurality of joints and often use a reduction gear for each joint. An industrial robot having a reduction gear attached to a joint is disclosed in Patent Document 2. The industrial robot of Patent Document 2 has three joints in the wrist portion of the robot arm, and three speed reducers are incorporated in the wrist portion.

FIG. 4 shows a schematic diagram of the industrial robot 30. The industrial robot 30 includes a first joint 31, a second joint 32, a third joint 33, a fourth joint 34, a fifth joint 35, and a sixth joint 36. That is, it operates in combination with a six-axis rotational movement.
The first joint 31 is fixed to the installation surface, can rotate about the central axis CL1, the second joint 32 can rotate about the central axis 38, and the third joint 33 can rotate around the central axis 40. The fourth joint 34 can rotate about the central axis CL2, the fifth joint 35 can rotate about the central axis 42, and the sixth joint 36 rotates about the central axis CL3. The robot hand (not shown) is fixed to the tip of the workpiece, and the workpiece (workpiece) is processed or transported.
Each joint incorporates a speed reducer. The first joint 31, the second joint 32, and the third joint 33 are called basic three axes of the industrial robot 30. The fourth joint 34, the fifth joint 35, and the sixth joint 36 are called the wrist three axes of the industrial robot 30, and form the distal end portion of the base arm 52 of the robot. The fourth joint 34 includes a speed reduction mechanism that reduces the number of rotations of the motor 46 attached to the shoulder 44 and rotates a member on the tip side of the fourth joint 34 around the central axis CL2. The fifth joint 35 includes a speed reduction mechanism that reduces the rotational speed of the motor 48 attached to the shoulder portion 44 and rotates a member on the tip side of the fifth joint 35 around the central axis 42. The sixth joint 36 includes a reduction mechanism that decelerates the number of rotations of the motor 50 attached to the shoulder 44 and rotates a member on the tip side of the sixth joint 36 around the central axis CL3.

FIG. 5 shows a torque transmission circuit diagram of the wrist three-axis portion of the industrial robot 30.
The torque of the motor 46 is transmitted to the hollow shaft 14 through the spur gear 14a. The hollow shaft 14 passes through the base arm 52 of the robot, transmits torque to the reduction gear of the fourth joint 34, and rotates the member on the tip side of the fourth joint 34 in the direction of the arrow 41.
The torque of the motor 48 is transmitted to the hollow shaft 15 via the gear 15a. The hollow shaft 15 passes through the inside of the hollow shaft 14 and transmits torque to the gear 15b. The gear 15b meshes with the gear 15c at right angles, and the direction of rotation is changed by 90 degrees between the gear 15b and the gear 15c. The torque transmitted to the gear 15 c is transmitted to the speed reduction device of the fifth joint 35, and the member on the tip side of the fifth joint 35 is rotated in the direction of the arrow 43.
Torque of the motor 50 (not shown) is transmitted to the shaft shaft 17 via the gear 17a. The shaft shaft 17 passes through the inside of the hollow shaft shaft 15 and transmits torque to the gear 17b. The gear 17b meshes with the gear 17c at right angles, and the torque transmitted to the gear 17c is transmitted to the spur gear 17e by a spur gear 17d fixed to the gear 17c. When torque is transmitted from the gear 17b to the gear 17c, the direction of rotation is changed by 90 degrees. The torque transmitted to the gear 17e is transmitted to a gear 17f that is fixed to the gear 17e and meshes with the gear 17g at right angles. When torque is transmitted from the gear 17f to the gear 17g, the direction of rotation is changed by 90 degrees to be the same as the direction of rotation of the motor 50. The torque transmitted to the gear 17g is transmitted to the speed reducer of the sixth joint 36, and the member on the tip side of the sixth joint 36 is rotated in the direction of the arrow 45.

JP-A-62-218087 JP-A 63-185595

The demands for industrial robots are becoming stricter. The weight of a workpiece moved by an industrial robot is heavy, and an increase in torque T transmitted to the output shaft is required. In addition, the operating rate of industrial robots is increasing. The operating rate here refers to a ratio obtained by dividing the time during which the robot works under a load by the time during which the robot is operating. In industrial robots, the time spent working with a load increased, and the time spent resting without a load decreased. On the other hand, the arm is required to be reduced in size and weight.
Correspondingly, a reduction gear used by being attached to a joint of a robot is required to be small and transmit a high load, and to have high durability (long life) even when used at a high operating rate.

  The inventors' research has shown that the temperature of the speed reducer sensitively affects the durability of the speed reducer. If the reduction gear is used at a high operating rate in a state where high torque is transmitted to the output shaft of the reduction gear, the reduction gear generates heat. When the reduction gear generates heat, the lubricant (oil, grease, etc.) filled in the reduction gear is heated. Lubricant has a characteristic that the lubrication performance decreases logarithmically according to the Arrhenius equation when the temperature rises, and the temperature of the reduction gear sensitively affects the durability of the reduction gear. If the reduction gear is used at a high operation rate in a state where high torque is transmitted to the output shaft of the reduction gear, the lubricant is overheated, and the durability of the reduction gear is drastically reduced. The torque required for the output shaft of industrial robots is increasing, and the operating rate of industrial robots is increasing. At present, the heat generated by the reduction gear is a serious problem, and the durability of the reduction gear is reduced. Has become a serious problem.

  The internal gear D is 140 mm ≦ D ≦ 200 mm, the torque T transmitted to the robot arm tip side member is 650 N · m ≦ T ≦ 1570 N · m, or the internal gear D is 100 mm. When D ≦ 140 mm and the torque T transmitted to the tip side member of the robot arm is 290 N · m ≦ T <650 N · m, the temperature of the lubricant is increased in the conventional reduction gear, resulting in a high load. If it is used at a high operating rate in the state of transmission, the durability of the reduction gear will be greatly reduced.

  In order to suppress the heat generation of the reduction gear and cope with the decrease in durability, it is effective to increase the heat dissipation performance of the reduction gear. However, if it is attempted to increase the heat dissipation performance of the reduction gear, the reduction gear is increased in size. As described above, the robot arm is required to be reduced in diameter and reduced in weight, and the reduction gear attached to the joint is required to be further downsized. It is difficult to cope with a decrease in durability by improving the heat dissipation performance of the reduction gear.

  Therefore, it is important to suppress the heat generation of the reduction gear itself. The speed reducer incorporated in the joint portion of the robot uses a gear pair to connect the speed reducer and the input shaft. The first reduction mechanism is realized by this gear pair, and is often used in combination with a second reduction mechanism that decelerates greatly thereafter. A speed reduction mechanism that uses an external gear that oscillates and an internal gear that meshes locally therewith becomes the second speed reduction mechanism. Hereinafter, the entire combination of the first reduction mechanism and the second reduction mechanism is referred to as a reduction device.

  A reduction mechanism that uses an external gear that oscillates and an internal gear that meshes locally with the external gear can be greatly reduced while being compact. Therefore, the conventional speed reducer is designed mainly with the second speed reduction mechanism. Since the speed reduction ratio of the first speed reduction mechanism composed of a pair of gears can be adjusted relatively easily, the speed reduction ratio of the second speed reduction mechanism that can be handled in terms of allowable size and transmission torque, As a result, the reduction ratio of the first reduction mechanism is determined from the required total reduction ratio.

The inventors' research has revealed that there is a problem with the above design concept. For example, consider a case where the rotational speed of the input shaft at 1000 rpm is reduced to 10 rpm. In this case, a reduction gear having a total reduction ratio of 100 is required.
When configuring a reduction gear having a total reduction ratio of 100, if the reduction ratio of the first reduction mechanism can be 2.5 and the reduction ratio of the second reduction mechanism can be 40, the reduction ratio of the first reduction mechanism is 3 .3, the reduction ratio of the second reduction mechanism can be set to 30, or the reduction ratio of the first reduction mechanism can be set to 4, and the reduction ratio of the second reduction mechanism can be set to 25. From a common sense, as long as the total reduction ratio is 100, the total heat generation amount of the reduction gear is expected to be the same for any combination. In the prior art, the combination of the reduction ratio of the first reduction mechanism and the reduction ratio of the second reduction mechanism is determined without taking into consideration the effect on the total heat generation amount. Actually, since the second speed reduction mechanism requires a more complicated and precise structure, several types of second speed reduction mechanisms are prepared, and the second speed reduction mechanism is selected and used. On the other hand, the total reduction gear ratio required for the reduction gear has been realized by adjusting the gear ratio of the gear pair constituting the first reduction gear mechanism. At this time, there was no recognition that the amount of heat generated by the speed reducer differs depending on the combination of the speed reduction ratio of the first speed reduction mechanism and the speed reduction ratio of the second speed reduction mechanism.

  However, the present inventors have found that the total heat generation amount of the speed reducer changes depending on the combination of the speed reduction ratio of the first speed reduction mechanism and the speed reduction ratio of the second speed reduction mechanism even with the same total speed reduction ratio. It was. Depending on the conditions, decreasing the reduction ratio of the first reduction mechanism and increasing the reduction ratio of the second reduction mechanism may decrease the total heat generation, or conversely increase the reduction ratio of the first reduction mechanism. Thus, it has been found that the total heat generation amount may be smaller when the reduction ratio of the second reduction mechanism is reduced. With this knowledge, a new design method for reducing the amount of heat generated by the reduction gear has been found.

In the conventional design method, the design is centered on the second speed reduction mechanism that is capable of large speed reduction while being compact. In order to take advantage of this feature, the second speed reduction mechanism with a speed reduction ratio of 40, the speed reduction ratio of 52 A second reduction mechanism, a second reduction mechanism with a reduction ratio of 60, and the like were prepared. If the speed reduction ratio is less than 40, the speed reduction ratio of the first speed reduction mechanism must be increased, and the advantage of the second speed reduction mechanism that allows a large speed reduction while being compact cannot be utilized. The reduction ratio of the internal gear is at least 40 when the inner diameter D of the internal gear is 140 mm ≦ D ≦ 200 mm and the torque T transmitted to the tip side member of the robot arm is 650 N · m ≦ T ≦ 1570 N · m. Met.
Further, when the internal diameter D of the internal gear is 100 mm ≦ D <140 mm and the torque T transmitted to the distal end side member of the robot arm is 290 N · m ≦ T <650 N · m, the deceleration of the second reduction mechanism The ratio was at least 30.

According to the research by the present inventors, when the internal diameter D of the internal gear is 140 mm ≦ D ≦ 200 mm and the torque T transmitted to the tip side member of the robot arm is 650 N · m ≦ T ≦ 1570 N · m, the speed is reduced. From the viewpoint of the total heat generation amount of the device, the reduction ratio of the second reduction mechanism is 40 or less, which is not an optimal design, and is suppressed to less than 40 (the corresponding increase in the reduction ratio of the first reduction mechanism). Thus, it was confirmed that the total heat generation amount of the reduction gear can be suppressed.
The graph shown in FIG. 6 shows the relationship between the temperature rise value (vertical axis) of the reduction gear and the rotation speed (horizontal axis) of the output shaft of the reduction gear. The numbers in the figure indicate the number of teeth of the internal gear and are equal to the reduction ratio of the second reduction mechanism. The reduction ratio of the first reduction mechanism is adjusted so as to be inversely proportional to the reduction ratio of the second reduction mechanism, and the total reduction ratio of the reduction device is the same in any curve. In any curve, the torque transmitted to the output shaft is 690 N · m, and the size of the second reduction mechanism is the same. In any curve, the torque input to the input shaft is equal to the rotational speed, and the torque transmitted to the output shaft is equal to the rotational speed. That is, the work performed by the reduction gear is the same for any curve.

Curve C52 shows the relationship between the output speed of the speed reducer and the temperature rise value of the speed reducer when the speed reduction ratio of the second speed reduction mechanism is 52, and curve C40 shows the case where the speed reduction ratio of the second speed reduction mechanism is 40. The curve C28 shows the relationship between the output speed and the temperature rise value when the speed reduction ratio of the second speed reduction mechanism is 28. The temperature rise value in FIG. 6 indicates the temperature difference when the speed reduction device is continuously operated at the set output rotation speed and the temperature before the speed reduction device is continuously operated, in a state in which the temperature change is eliminated.
As is apparent from FIG. 6, it can be seen that the temperature rise value of the reduction gear increases as the output rotational speed is increased. This indicates that as the work amount of the reduction gear increases, the temperature rise value of the reduction gear increases correspondingly.
If the work of the reduction gear corresponds to the heat generation amount, the curve C52, the curve C40, and the curve C28 should match. This is because the reduction gears have the same total reduction ratio and the same work amount. However, it does not actually match. Obviously, the higher the speed reduction ratio of the second speed reduction mechanism (see C52), the greater the total heat generation amount, despite the fact that the speed reduction ratio of the first speed reduction mechanism is small, and the speed reduction of the second speed reduction mechanism. It can be seen that the lower the ratio (see C28), the smaller the total heat generation amount, in spite of the larger reduction ratio of the first reduction mechanism.
Moreover, it can be seen that the difference increases as the output rotational speed increases. The difference that was not significant while the output rotational speed was low becomes significant as the output rotational speed increases.

In the graph shown in FIG. 7, the horizontal axis indicates the operation time of the reduction gear, and the vertical axis indicates the amount of iron powder generated from the reduction gear. The amount of iron powder is obtained by measuring the amount of iron powder mixed in the lubricant filled in the speed reducer, and corresponds to the amount of wear generated in the speed reducer.
A curve 70 shown in FIG. 7 shows a case where the operation is continued in a state where the temperature of the lubricant is kept low. At the start of operation, the amount of wear increases in proportion to the operation time, but thereafter the wear pace is low. It shows that the operation can be continued at a low wear rate until the stable period 72 is reached and it is just before the lifetime.
On the other hand, a curve 68 shows a case where the operation is continued in a state where the temperature of the lubricant is high, and wear progresses at a high wear pace at the start of operation, and the stable period 72 cannot be obtained.

  In addition, the inventors have found that there is another reduction ratio range when the internal gear D is small and the output torque T is small. That is, when the inner diameter D of the internal gear is 100 mm ≦ D <140 mm and the torque T transmitted to the tip member of the robot arm is 290 N · m ≦ T <650 N · m, the reduction ratio of the second reduction mechanism It was confirmed that the decrease in the durability of the speed reducer can be suppressed by suppressing the speed to less than 30 (by increasing the speed reduction ratio of the first speed reduction mechanism).

  According to the study by the present inventors, when the inner diameter D of the internal gear is 140 mm ≦ D ≦ 200 mm and the torque T transmitted to the tip side member of the robot arm is 650 N · m ≦ T ≦ 1570 N · m, 2 The reduction ratio of the speed reduction mechanism is suppressed to less than 40, the inner diameter D of the internal gear is 100 mm ≦ D <140 mm, and the torque T transmitted to the tip side member of the robot arm is 290 N · m ≦ T <650 N · m In some cases, by reducing the reduction ratio of the second reduction mechanism to less than 30 (by increasing the reduction ratio of the first reduction mechanism), the total heat generation amount of the reduction device can be suppressed, and the durability is reduced. It turns out that it can be avoided.

The speed reducer of the present invention is a speed reducer created based on the above knowledge, and is used by being attached to a joint of an industrial robot. The speed reduction device of the present invention has a first speed reduction mechanism and a second speed reduction mechanism.
The first speed reduction mechanism includes a first spur gear that rotates integrally with the input shaft, and a second spur gear that meshes with the first spur gear.
The second speed reduction mechanism rotates integrally with the second spur gear and rotates the eccentric cam eccentrically with the rotation, an external gear that engages with the eccentric cam and swings, and an external tooth An internal gear is provided that includes the external gear in a state of being meshed with the external gear while allowing the gear to swing, and has a number of teeth different from the number of teeth of the external gear.
In the speed reducer of the present invention, the internal gear is restrained by the base side member of the robot arm so as not to rotate, and when the external gear rotates, the carrier that rotates following the rotation is restrained by the tip side member of the robot arm so as not to rotate. Used. Alternatively, the external gear is constrained to be non-rotatable by the base side member of the robot arm, and the internal gear is constrained to be non-rotatable by the tip side member of the robot arm.
The speed reducer attached to the wrist of an industrial robot is required to be compact. In the speed reducer of the present invention, the inner diameter D of the internal gear satisfies the relationship of 140 mm ≦ D ≦ 200 mm, and the tip of the robot arm When the torque T transmitted to the side member is 650 N · m ≦ T ≦ 1570 N · m, the number of teeth N of the internal gear is set to be less than 40 times the difference in the number of teeth between the internal gear and the external gear. The reduction ratio of the second reduction mechanism is obtained by dividing the number of teeth N of the internal gear by the difference in the number of teeth of the internal gear and the external gear, and the number of teeth N of the internal gear is equal to the internal gear and the external gear. If it is set to be less than 40 times the difference in the number of gear teeth, the reduction ratio of the second reduction mechanism is suppressed to less than 40.

When the inner diameter D of the internal gear is 140 mm ≦ D ≦ 200 mm and the torque T transmitted to the tip side member of the robot arm is in the range of 650 N · m ≦ T ≦ 1570 N · m, the second reduction mechanism as in the prior art If the reduction ratio is 40 or more, the total calorific value increases as described in FIG. 6, and the stable period 72 described in FIG. 7 cannot be obtained. However, if the speed reduction ratio of the second speed reduction mechanism is less than 40, even if the speed reduction ratio of the first speed reduction mechanism is increased to compensate for this, the total heat generation is suppressed, and the stable period 72 described in FIG. Obtainable.
According to the present invention, since it is required to move a heavy object at high speed, the output shaft is rotated at a high speed and the total heat generation amount of the reduction gear that needs to transmit high torque to the output shaft is suppressed. Since it is possible to prevent overheating of the lubricant and to obtain a stable period with a low wear pace, it is possible to prevent a reduction in durability of the reduction gear that rotates the output shaft at a high speed with high torque.

  Another speed reducer of the present invention is a small speed reducer, that is, the internal gear D satisfies the relationship of 100 mm ≦ D <140 mm, and the torque T transmitted to the tip side member of the robot arm is When 290 N · m ≦ T <650 N · m, the number of teeth N of the internal gear is set to be less than 30 times the difference in the number of teeth between the internal gear and the external gear.

  When the internal diameter D of the internal gear is 100 mm ≦ D <140 mm and the torque T transmitted to the tip side member of the robot arm is in the range of 290 N · m ≦ T <650 N · m, the second reduction mechanism as in the prior art If the reduction ratio is 30 or more, the total calorific value increases due to the same effect as described in FIG. However, if the reduction ratio of the second reduction mechanism is less than 30, the total heat generation amount can be suppressed even if the reduction ratio of the first reduction mechanism is increased to compensate for the reduction ratio.

In the reduction gear device described above, it is preferable that a through hole is formed in the center of the input shaft and the external gear, and an input shaft for another reduction gear device can pass through the through hole.
If the speed reducer has a through hole, it can be attached to the fourth joint 34 shown in FIG. Since the input shafts 15 and 17 in FIG. 5 can pass through the through holes, torque can be input to the reduction gears for the fifth joint and the sixth joint.
When the input shaft has a through hole, the diameter of the first spur gear fixed to the input shaft tends to be large. In the case of a reduction gear with a limited diameter, if the diameter of the first spur gear is increased, the diameter of the second spur gear engaged therewith must be reduced. As a result, there is a situation where it is difficult to increase the reduction ratio of the first reduction mechanism. When the input shaft has a through hole, it is common to increase the reduction ratio of the second reduction mechanism and lower the reduction ratio of the first reduction mechanism.
When the internal diameter D of the internal gear is 140 mm ≦ D ≦ 200 mm, and the torque T transmitted to the tip side member of the robot arm is in the range of 650 N · m ≦ T ≦ 1570 N · m, the reduction ratio of the second reduction mechanism is If the internal gear D is suppressed to less than 40, or the internal diameter D of the internal gear is 100 mm ≦ D <140 mm, and the torque T transmitted to the tip member of the robot arm is in the range of 290 N · m ≦ T <650 N · m, the second It is extremely insane to suppress the reduction ratio of the reduction mechanism to less than 30. The present invention is a challenge to insane and novel.

  The difference in the number of teeth between the internal gear and the external gear may be 1, 2 or 3 or more.

Another reduction gear of the present invention is used by being attached to a joint of an industrial robot. The speed reduction device of the present invention has a first speed reduction mechanism and a second speed reduction mechanism. One of the internal gear and the external gear constituting the second reduction mechanism is restrained by the base side member of the robot so as not to rotate, and the other of the internal gear and the external gear rotates on the tip side member of the robot. It is restrained impossible.
The combination of the reduction ratio of the first reduction mechanism and the reduction ratio of the second reduction mechanism can be changed, and the reduction device can be manufactured by selecting from a region where heat generation of the reduction device is suppressed.

  Said reduction gear can suppress the heat_generation | fever of a reduction gear by changing the combination of a 1st reduction gear mechanism and a 2nd reduction gear mechanism.

According to the speed reducer of the present invention, the durability of the speed reducer for an industrial robot that is required to move a heavy object at high speed by optimizing the function sharing between the first speed reduction mechanism and the second speed reduction mechanism. Deterioration can be suppressed.
In other words, by optimizing the distribution of the reduction ratios of the first reduction mechanism and the second reduction mechanism, the total heat generation amount of the reduction gear can be suppressed, the lubricant is prevented from overheating, and the stable period when the wear pace is low. Therefore, it is possible to suppress a decrease in durability of the reduction gear that rotates the output shaft at high speed with high torque.
It is a compact reduction gear used for the wrist of an industrial robot, and can reduce the durability of the reduction gear that rotates the tip of the robot arm at a high speed and transmits high torque to the tip of the robot arm.

The main forms of each example are shown below.
(First Embodiment) When the total reduction ratio of the reduction gear is in the range of 40 to 200, the rotation speed input to the first reduction mechanism is 2000 rpm or more, and the rotation speed output from the second reduction mechanism is 15 to 60 rpm. Is a reduction gear. The reduction ratio of the second reduction mechanism of the reduction gear is such that the internal gear D of the internal gear is 140 mm ≦ D ≦ 200 mm, and the torque T output from the second reduction mechanism is 650 N · m ≦ T ≦ 1570 N · m. The reduction ratio of the second reduction mechanism is less than 40.
(Second Embodiment) When the total reduction ratio of the reduction gear is in the range of 30 to 180, the rotation speed input to the first reduction mechanism is 2000 rpm or more, and the rotation speed output from the second reduction mechanism is 15 to 60 rpm. Is a reduction gear. The reduction ratio of the second reduction mechanism of the reduction gear is such that the inner diameter D of the internal gear is 100 mm ≦ D <140 mm, and the torque T output from the second reduction mechanism is 290 N · m ≦ T <650 N · m. The reduction ratio of the second reduction mechanism is less than 30.

(First embodiment)
FIG. 1 shows a cross-sectional view of a main part of a reduction gear device 10 of the present embodiment. The reduction gear device 10 is mainly designed to be attached to the fourth joint 34 of the industrial robot 30 of FIG. However, the speed reducer 10 may be attached to the fifth joint 35 or may be attached to the sixth joint 36.
The speed reduction device 10 decelerates the rotational speed of the shaft shaft (input shaft) 14 rotated by the motor 46 in FIG. 4 and rotates the tip arm 54, and includes a first speed reduction mechanism and a second speed reduction mechanism. .
The first speed reduction mechanism includes a spur gear 19 formed at the tip of the shaft 14 and spur gears 12a, 12c, 12e (see also FIG. 3) meshing with the spur gear. In the present embodiment, the spur gear 19 is made as small as possible to reduce the number of teeth, while the spur gears 12a, 12c, and 12e are made as large as possible to increase the number of teeth. Thus, a large reduction ratio is realized by the first reduction mechanism. Since the other shaft shafts (input shafts) 15 and 17 pass through the inner side of the shaft shaft 14, the spur gear 19 has a larger diameter and the spur gears 12a, 12c, and 12e have a smaller diameter. . In the present embodiment, a large reduction ratio is realized by the first reduction mechanism by promoting thinning of the shaft 14 and the like.
The second reduction mechanism includes crankshafts 6a, 6c, 6e that rotate together with spur gears 12a, 12c, 12e, external gears 4a, 4b (see also FIG. 1), internal gear 2, and crankshaft 6a. , 6c, 6e are provided with carriers 8, 8a for revolving around the shaft axis 14.
The internal gear 2 is attached to the base arm 52 by the bolt 18, and the tip arm 54 is attached to the carrier 8 by the bolt 20.

  FIG. 3 shows an end face of a main part along the line III-III in FIG. Crankshafts 6a, 6c and 6e are provided inside the internal gear 2, a spur gear 12a is fixed to the crankshaft 6a, a spur gear 12c is fixed to the crankshaft 6c, and a spur gear 12e is fixed to the crankshaft 6e. Is fixed. The spur gears 12a, 12c, and 12e mesh with a spur gear 19 formed at the tip of the shaft shaft 14, respectively. The shaft shaft 14 has a hollow structure, and a hole 61 is formed at the center of the shaft shaft. The shaft shaft 15 and the shaft shaft 17 pass through the inside of the hole 61.

The crankshafts 6a, 6c and 6e basically have the same structure. Therefore, the crankshaft 6a will be described. As shown in FIG. 1, the crankshaft 6a is supported by a pair of tapered roller bearings 9a and 9b so as to be capable of rotating about the center axis 6x (see FIG. 2) and immovable in the axial direction with respect to the carriers 8 and 8a. Has been. A pair of tapered roller bearings 9a and 9b applies an axial compressive force from the carriers 8 and 8a to the crankshaft 6a, and the crankshaft 6a is fixed to the carriers 8 and 8a in the axial direction.
A spur gear 12a is fixed to the crankshaft 6a. The spur gear 12 a meshes with the shaft 14. A spur gear 19 for meshing with the spur gear 12 a is formed on the outer surface of the shaft 14. Even if the spur gear 12 a and the spur gear 19 are engaged, no axial force is generated between the crankshaft 6 a and the shaft shaft 14.

FIG. 2 shows a cross section taken along line II-II in FIG. 2 and 3 are opposite in viewing direction. The crankshaft 6a is supported so as to be capable of rotating about the center axis 6x of the crankshaft with respect to the carriers 8 and 8a. FIG. 7a shows an eccentric cam formed on the crankshaft 6a. The outer shape of the eccentric cam 7a is circular, and its center 7x is eccentric from the center axis 6x of the rotation of the crankshaft 6a downward in FIG. The eccentric cam 7a is engaged with the hole 22a of the external gear 4a via the needle bearing 64a. When the crankshaft 6 a rotates around the center axis 6 x, the center 7 x of the eccentric cam 7 a revolves around the center axis 6 x of the crankshaft as indicated by an arrow 63. When the center 7x of the eccentric cam 7a revolves as shown by the arrow 63, the external gear 4a swings as shown by the arrow 28.
6c and 6e shown in the figure are crankshafts, and the effects thereof are the same as those of the crankshaft 6a. Reference numerals 7c and 7e denote eccentric cams, and the function and effect thereof are the same as those of the eccentric cam 7a. Therefore, the description of the crankshafts 6c and 6e and the eccentric cams 7c and 7e is omitted.

The carrier 8 and the carrier 8a are fixed by bolts 21, and are supported by the pair of angular bearings 16a and 16b so as to be rotatable with respect to the internal gear 2. External gears 4a and 4b are accommodated in the internal gear 2, and the external gears 4a and 4b are overlapped in a state orthogonal to the crankshaft 6a.
As shown in FIG. 2, the external gear 4a has a total of six holes 22a to 22f formed in the circumferential direction, and a hole 22g formed in the center portion. The shaft shaft 15 and the shaft shaft 17 pass through the inside of the hole 22g.
The carrier 8 forms a column member 24b, a column member 24d, and a column member 24f extending into the hole 22b, the hole 22d, and the hole 22f. Therefore, the external gear 4a cannot rotate with respect to the carrier 8, and when the external gear 4a rotates, the carrier 8 also rotates.

The external gear 4a has 37 teeth, and the internal gear 2 has 38 teeth. That is, the number of teeth of the external gear 4 a is one less than the number of teeth of the internal gear 2. The external gear 4a is indicated by an arrow 28 in a state where a part of the external teeth in the circumferential direction of the external gear 4a and a part of the internal teeth pins 26 in the circumferential direction of the internal gear 2 are meshed locally. Thus, it can revolve around the central axis 62. It can also be said that the external gear 4 a swings while revolving around the central shaft 62. The internal tooth pin 26 is not fixed to the internal gear 2 but is installed in a groove 2 a formed in the internal gear 2, and can rotate around the center 26 x of the internal tooth pin 26. . This is common to all the 38 internal tooth pins 26.
A space allowing the revolution 28 of the external gear 4a is secured between the hole 22b of the external gear 4a and the column member 24b. If the external gear 4a revolves in a state where the rotation of the internal gear 2 is prohibited, the number of teeth of the external gear 4a is smaller than the number of teeth of the internal gear 2, so the external gear 4a rotates while revolving. . In this case, the column members 24b, 24d, and 24f also rotate following the rotation of the external gear 4a. The difference between the number of teeth of the external gear 4a and the number of teeth of the internal gear 2 is 1, and the number of teeth of the internal gear 2 is 38. Therefore, when the external gear 4a revolves once, the external gear is 1 / Rotate 38 times. Further, the inner diameter of the internal gear 2 is indicated by D in the figure, and can be selected from 140 mm to 200 mm.

  The above description is common to the external gear 4b. However, the eccentric direction is opposite. In the state of FIG. 2, the center of the eccentric cam 7b for the external gear 4b is eccentric in the upward direction from the rotation center axis 6x of the crankshaft 6a. The center 7x of the eccentric cam 7a for the external gear 4a and the center of the eccentric cam 7b for the external gear 4b are always in symmetrical positions with respect to the center axis 6x of rotation of the crankshaft 6a. That is, in FIG. 2, if the external gear 4a is eccentric leftward, the external gear 4b is eccentric rightward, and if the external gear 4a is eccentric upward, the external gear 4b is eccentric downward. If the external gear 4a is eccentric in the right direction, the external gear 4b is eccentric in the left direction, and if the external gear 4a is eccentric in the downward direction, the external gear 4b is eccentric in the upward direction. That is, when the entire external gear 4a, external gear 4b, and crankshaft 6a are observed, they are symmetrical with respect to the center axis 6x of the rotation of the crankshaft 6a, and a relationship that ensures a rotational balance is realized. ing.

The operation of the speed reducer 10 of this embodiment will be described. In this reduction gear, the torque of the motor 46 is transmitted to the spur gears 12a, 12c, and 12e via the shaft 14 and the spur gear 19. As shown in FIG. 3, when the shaft 14 rotates around the central axis 62 in the direction of the arrow 65, the spur gear 12a rotates around the central axis 6x of the crankshaft 6a in the direction of the arrow 66. The spur gears 12c and 12e also rotate in the same direction as the spur gear 12a. At this time, the first reduction is performed by the difference in the number of teeth between the spur gear 19 of the shaft shaft 14 and the spur gears 12a, 12c, and 12e. When the rotation speed input to the first reduction mechanism is R1, the rotation speed R2 of the spur gears 12a, 12c, and 12e is expressed by the following equation.
R2 = R1 × Z1 / Z2 (1)
In the above, Z1 indicates the number of teeth of the spur gear 19 of the shaft shaft 14, and Z2 indicates the number of teeth of the spur gears 12a, 12c, 12e.

The rotation transmitted to the spur gears 12a, 12c, 12e is transmitted to the crankshafts 6a, 6c, 6e. The crankshaft 6a rotates around the central axis 6x, and the eccentric cams 7a and 7b revolve around the central axis 6x. The crankshafts 6c and 6e perform the same operation. As a result, the external gears 4 a and 4 b revolve in the direction of the arrow 28. The external gears 4a and 4b perform a swinging motion inside the internal gear 2 in a state where they are meshed with the internal gear 2 locally. Since the internal gear 2 is prohibited from rotating by the bolt 18, if the external gears 4 a and 4 b swing in a state where they are meshed locally with the internal gear 2, Since the number of teeth of the toothed gears is different, the external gears 4a and 4b rotate. That is, the external gears 4a and 4b rotate while revolving. As a result, the column members 24b, 24d, and 24f revolve around the central axis 62.
The external gears 4a and 4b revolve so as to maintain a symmetrical position about the central axis 62. Crankshaft 6a. 6c. 6e and the external gears 4a and 4b rotate smoothly in a state where a rotational balance is ensured.
The rotation speed R4 of the external gears 4a and 4b is expressed by the following equation.
R4 = (R3 × (Z3−Z4) / Z3) +1 (2)
In the above, R3 represents the rotation speed of the crankshafts 6a, 6c, 6e, Z3 represents the number of teeth of the internal gear 2, and Z4 represents the number of teeth of the external gears 54a, 54b.
The crankshaft 6a and the spur gear 12a are fixed, the crankshaft 6c and the spur gear 12c are fixed, and the crankshaft 6e and the spur gear 12e are fixed. Therefore, the crankshafts 6a, 6c, 6e and the spur gear are fixed. Since 12a, 12c, and 12e rotate at the same speed, the following equation is established.
R2 = R3 (3)
From the above equation (1), (2), (3), the following equation is established.
R4 = (R1 × Z1 × (Z3−Z4) / (Z2 × Z3)) + 1 (4)
In the present embodiment, the number of teeth of the internal gear 2 is 38, and the number of teeth of the external gears 4a and 4b is 37. Therefore, the following equation is established.
R4 = (R1 × Z1 × 1 / (Z2 × 38)) + 1 (5)
The reduction gear device 10 of the present embodiment can convert the rotational speed R1 of the motor 46 into a rotational speed R4 expressed by the equation (5).
When the equation (5) is converted, R4 = R1 × (Z1 / Z2) × (1/38) +1 (6). Here, Z1 / Z2 represents the reduction ratio of the first reduction mechanism, and 1/38 represents the reduction ratio of the second reduction mechanism.

Using the reduction gear 10 of the present embodiment, an experiment was conducted on the operation time of the reduction gear 10 and the amount of iron powder generated from the reduction gear 10. In the experiment, the output torque of the reduction gear 10 was 1225 N · m, and the inner diameter D of the internal gear 2 was 179 mm. As a result of the experiment, a curve 70 shown in FIG. 7 was obtained. The curve 70 has a stable period 72 in which the amount of iron powder generated increases in proportion to the operation time at the start of operation, but thereafter the increase in the amount of iron powder is low. This shows that there is a stable period in which the wear of the reduction gear 10 hardly progresses even if the reduction gear 10 is operated for a long period of time. That is, even when the reduction gear 10 is operated at a high torque, a stable period in which the operation can be continued at a low wear pace is obtained. It shows that a decrease in durability can be avoided.
The curve 68 is obtained by setting N ≧ 40 when the output torque of the reduction gear 10 is 1225 N · m and the inner diameter D of the internal gear 2 is 179 mm. Since there is no stable period in the curve 68, the operating time of the reduction gear and the wear of the reduction gear are in a proportional relationship.

The inventors' research has confirmed that changing the output torque and the inner diameter of the internal gear can suppress the amount of heat generated by the speed reducer and suppress the reduction in durability of the speed reducer.
When the difference in the number of teeth between the internal gear and the external gear is 1, assuming that the internal diameter of the internal gear is D, the output torque of the reduction gear is T, and the number of teeth of the internal gear is N, 140 mm ≦ D ≦ 200 mm In the case of 650 N · m ≦ T ≦ 1570 N · m, by setting N <40, the amount of heat generated by the reduction gear 10 can be suppressed, and the reduction in durability of the reduction gear 10 can be suppressed.
The curve 68 is obtained by setting N ≧ 40 when 140 mm ≦ D ≦ 200 mm and 650 N · m ≦ T ≦ 1570 N · m. Since there is no stable period in the curve 68, the operating time of the reduction gear and the wear of the reduction gear are in a proportional relationship.

The speed reducer 10 of the present invention has been found that the durability of the speed reducer 10 is improved by setting N <40 when 140 mm ≦ D ≦ 200 mm and 650 N · m ≦ T ≦ 1570 N · m. . On the other hand, when 100 mm ≦ D <140 mm and 290 N · m ≦ T <650 N · m, that is, when the inner diameter D of the internal gear 2 is small and the output torque is small, the speed is reduced by setting N <30. It has been found that the durability of the device 10 is improved.
Since the size of the reduction gear 10 is generally determined in proportion to the inner diameter D of the internal gear 2, when 100 mm ≦ D <140 mm, 290 N · m ≦ T <650 N · m, 30 ≦ When N, it is necessary to further suppress the temperature increase value of the reduction gear 10 when the reduction gear 10 is operated. When the inner diameter D of the internal gear 2 is 140 mm ≦ D ≦ 200 mm, even if the temperature rise value is high, the area that dissipates heat while the speed reducer 10 is stopped is large, but when D <140 mm, Since the area that radiates heat while the reduction gear 10 is stopped is small, the reduction gear 10 is not easily cooled, and the reduction gear 10 is always kept at a high temperature. If the temperature rise value of the reduction gear 10 becomes too high, the lubricant inside the reduction gear 10 may be heated and the lubricating performance may be reduced. Therefore, in the case of the small reduction gear 10, that is, 100 mm ≦ D <140 mm and 290 N · m ≦ T <650 N · m, if N <30, the temperature rise when the reduction gear 10 is continuously operated is 30 ≦ Suppressed compared to N. Therefore, even if the speed reducer 10 is continuously operated, the temperature rise can be suppressed within an allowable range, and a decrease in durability of the speed reducer 10 can be suppressed.

(Second embodiment)
FIG. 8 shows a cross-sectional view of the main part of the reduction gear 110 of the second embodiment. Here, only the parts different from the first embodiment will be described. The same members as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
The reduction device 110 is designed to be attached to the fourth joint of the industrial robot 130, and reduces the rotation speed of the shaft 114 that is rotated by the motor 146 and rotates the tip arm 154.
The motor 146 is fixed to the fixing portion 152 a of the base arm 152 with a bolt 97.
The first reduction mechanism includes a spur gear 119 formed at the tip of the shaft 114 and spur gears 112a, 112c, and 112e (only 112a is shown) meshing with the spur gear 119.
The carrier 8 of the second reduction mechanism is fixed to the spur gear 92 by a bolt 20.
A part of the internal gear 2 is fixed to the fixing portion 152 a of the base arm 152 with a bolt 118, and the tip arm 154 is supported on the base arm 152 by a bearing 90 so as to be capable of rotating, and meshes with the spur gear 92. The spur gear 94 is fixed with bolts 96.

  In the reduction gear 110, the length of the shaft 114 that connects the motor 146 and the spur gear 112a is short. Therefore, the apparatus can be simplified. Further, a spur gear 92 and a spur gear 94 are provided between the carrier 8 serving as the output shaft of the reduction gear 110 and the tip arm 154. Therefore, by adjusting the number of teeth of the spur gear 92 and the spur gear 94, it is possible to further reduce the rotational speed from the second reduction mechanism, and the adjustment range of the reduction ratio of the first reduction mechanism and the second reduction mechanism. There is a merit that spreads.

In the above embodiment, the case where the difference in the number of teeth between the internal gear and the external gear is 1 has been described. However, the difference in the number of teeth between the internal gear and the external gear is not necessarily one.
For example, when the difference in the number of teeth between the internal gear and the external gear is 2, when the external gear revolves once, the external gear rotates by 2 / (the number of teeth of the internal gear).
In order to make the reduction gear ratio of the reduction gear with a difference in teeth of 2 and the reduction gear with a difference in teeth of 1 equal, the number of teeth of the internal gear of the reduction gear with a difference in teeth is set to the difference in the number of teeth. The number of teeth of the internal gear of one reduction gear may be doubled. That is, when the difference in the number of teeth is 2, if the inner diameter of the internal gear is D, the output torque of the reduction gear is T, and the number of teeth of the internal gear is N,
In the case of 140 mm ≦ D ≦ 200 mm and 650 N · m ≦ T ≦ 1570 N · m, if N <80, a reduction in durability of the reduction gear can be suppressed,
In the case of 140 mm ≦ D ≦ 200 mm and 650 N · m ≦ T ≦ 1570 N · m, if N ≧ 80, a high load is transmitted and the durability of the reduction gear is greatly reduced when used at a high operating rate. There is.
Even when the difference in the number of teeth between the internal gear and the external gear is 2, if 100 mm ≤ D <140 mm, 290 N · m ≤ T <650 mm, N <60 prevents the reduction of the reduction gear durability. can do.
The same reason as above is also true when the difference in the number of teeth between the internal gear and the external gear is 3 or more. That is, the difference in the number of teeth between the internal gear and the external gear may be 1, 2 or 3 or more.

The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing.
For example, in the above embodiment, the external gear is the torque output shaft, but the internal gear may be the torque output shaft. In that case, the carrier may be fixed to the base arm of the industrial robot, and a part of the internal gear may be fixed to the tip arm.
In addition, the technology exemplified in this specification or the drawings can achieve a plurality of objects at the same time, and has technical usefulness by achieving one of the objects.

Reducer of embodiment 1 Sectional view along the line II-II in FIG. Sectional view along line III-III in FIG. Schematic diagram of industrial robot Circuit diagram of industrial robot wrist 3 axis part Graph showing output speed and temperature rise value of reduction gear A graph showing the relationship between the operating time of the reduction gear and the amount of iron powder generated Reduction device of embodiment 2

Explanation of symbols

2: Internal gears 4a, 4b: External gears 6a, 6c, 6e: Crank shafts 8, 8a: Carriers 9a, 9b: Tapered roller bearings 10, 110: Gear speed reducers 12a, 12c, 12e: Spur gears 14, 15 17: shaft shaft 16: bearing 19: spur gear 24: shaft 26: pins 31, 32, 33, 34, 35, 36: joint 44: shoulder 46: motor 48: motor 50: motor 52: base arm 54: Tip arm

Claims (5)

A reduction device attached to the wrist of an industrial robot, having a first reduction mechanism and a second reduction mechanism,
The first reduction mechanism includes a first spur gear that rotates integrally with the input shaft, and a second spur gear that meshes with the first spur gear.
The second speed reduction mechanism rotates integrally with the second spur gear and rotates the eccentric cam eccentrically with the rotation, an external gear that engages with the eccentric cam and swings, and an external tooth An internal gear having a number of teeth different from the number of teeth of the external gear and including the external gear in a state of being meshed locally with the external gear while allowing the swinging motion of the gear,
One of the internal gear and the external gear is a speed reduction device in which the base side member of the robot arm is restrained from rotation, and the other of the internal gear and the external gear is restrained from being rotated by the tip end member of the robot arm. ,
The internal diameter D of the internal gear is 140 mm ≦ D ≦ 200 mm,
The torque T transmitted to the tip side member is 650 N · m ≦ T ≦ 1570 N · m,
The reduction gear device characterized in that the number N of teeth of the internal gear is less than 40 times the difference in the number of teeth between the internal gear and the external gear. A reduction device attached to the wrist of an industrial robot, having a first reduction mechanism and a second reduction mechanism,
The first reduction mechanism includes a first spur gear that rotates integrally with the input shaft, and a second spur gear that meshes with the first spur gear.
The second speed reduction mechanism rotates integrally with the second spur gear and rotates the eccentric cam eccentrically with the rotation, an external gear that engages with the eccentric cam and swings, and an external tooth An internal gear having a number of teeth different from the number of teeth of the external gear and including the external gear in a state of being meshed locally with the external gear while allowing the swinging motion of the gear,
One of the internal gear and the external gear is a speed reduction device in which the base side member of the robot arm is restrained from rotation, and the other of the internal gear and the external gear is restrained from being rotated by the tip end member of the robot arm. ,
The internal diameter D of the internal gear is 100 mm ≦ D <140 mm,
The torque T transmitted to the tip side member is 290 N · m ≦ T <650 N · m,
The reduction gear device characterized in that the number N of teeth of the internal gear is less than 30 times the difference in the number of teeth between the internal gear and the external gear.   The reduction gear according to claim 1 or 2, wherein a through hole is formed in the center of the input shaft and the external gear, and an input shaft for another reduction gear can pass through the through hole.   The reduction gear according to any one of claims 1 to 3, wherein a difference in the number of teeth between the internal gear and the external gear is 1. A reduction device attached to a joint of an industrial robot, having a first reduction mechanism and a second reduction mechanism,
The first reduction mechanism includes a first spur gear that rotates integrally with the input shaft, and a second spur gear that meshes with the first spur gear.
The second speed reduction mechanism rotates integrally with the second spur gear and rotates the eccentric cam eccentrically with the rotation, an external gear that engages with the eccentric cam and swings, and an external tooth An internal gear having a number of teeth different from the number of teeth of the external gear and including the external gear in a state of being meshed locally with the external gear while allowing the swinging motion of the gear,
One of the internal gear and the external gear is restrained to be non-rotatable by the base portion side member of the robot, and the other of the internal gear and the external gear is a speed reduction device restrained to be non-rotatable by the tip side member of the robot,
The speed reduction device, wherein the speed reduction ratio of the first speed reduction mechanism and the speed reduction ratio of the second speed reduction mechanism are selected from a region where heat generation of the speed reduction device is suppressed.

Images