JP2007263255A - Inscribed meshing type geared motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a compact inscribed meshing type geared motor facilitating adjustment work in assembly, and capable of reducing man-hours in assembly. <P>SOLUTION: The inscribed meshing type geared motor is provided with a motor M 101, and a reduction gear G101 reducing and outputting rotation of the motor M101 as a relative rotation component of an internal gear 136 and an external gear 134 meshed with the internal gear 136. The motor M101 is provided with a front cover 118 having a through hole 118H through which a motor shaft 102 can penetrate, and a plurality of inner pins 144 extending in parallel with the through hole 118H are integrally formed on the front cover 118 in a position radially equal from a center of the through hole 118H, and the inner pins 144 are arranged in such a manner of penetrating the external gear 134. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an internally meshed geared motor comprising a motor and a reduction gear that decelerates and outputs the rotation of the motor as a relative rotational component between an internal gear and an external gear meshed with the internal gear. Related to the field.

  Conventionally, a reduction gear G1 shown in FIG. 3 is known (see Patent Document 1).

  The reduction gear G1 causes the rotation transmitted to the input shaft 2 to oscillate and rotate the external gear 34 via the eccentric body 30 and the eccentric body bearing 32. A relative rotational component between the “tooth gear 36” and the “oscillating and rotating external gear 34” is output via an inner pin 44 and a roller 45. The inner pin 44 is supported by flanges 40 (first flange 40A, second flange 40) from both axial sides.

  In the reduction gear G1, the reduction gear casing main body 38 and the motor joint cover 18 are connected by the bolt 5, and a motor (not shown) is further utilized by using the tap 4 formed on the motor joint cover 18. ) Are connected.

  In addition, this reduction gear G1 is connected with power sources, such as a motor, and can function as a geared motor.

JP 2006-381081 A

  In the market, there is a demand for a product that is more compact than the reduction gear alone (if the output is the same) when connected to the motor. In particular, in a geared motor in which the motor shaft of the motor and the shaft serving as the output of the speed reducer are concentric, due to the configuration, the shaft length is inevitably long in many cases, and the axial length is shortened. Is very preferred. However, in the reduction gear G1 described in Patent Document 1, it is assumed that the connection with the motor is performed through the motor joint cover 18, and the axial length is increased by the thickness of the cover.

  Further, the intermeshing type structure has a feature that many components move relatively during operation. Specifically, taking the above-described reduction gear G1 as an example, the input shaft 2, the eccentric bearing 32, the external gear 34, the internal pin 44, the roller 45, and the internal gear 36 are all relatively moved during operation. The flange 40 moves in the same manner as the inner pin 44, and the speed reducer casing 38 and the motor joint cover 18 move in the same manner as the internal gear 34. That is, for smooth operation, it is required that each component can move relative to each other with accurate position accuracy. If such a requirement is not satisfied, a transmission loss of the reduction gear is caused. appear. Furthermore, in fields where high torque is required, such as driving industrial machines, the durability of each component is greatly affected. In other words, this means that the adjustment work at the time of initial assembly becomes complicated and difficult work.

  Furthermore, considering that the motor is connected instead of the speed reducer alone, it is highly necessary that the connection with the motor (particularly, the motor shaft that rotates at a high speed) is also highly accurate.

  The present invention has been made to solve these problems, and provides an intermeshing geared motor that is compact and facilitates adjustment work during assembly, and at the same time requires a small number of steps during assembly. That is the issue.

  The present invention is an internal meshing geared motor comprising a motor and a reduction gear that decelerates and outputs the rotation of the motor as a relative rotational component between an internal gear and an external gear meshed with the internal gear. The motor includes a front cover having a through-hole through which the motor shaft can pass, and the front cover has a plurality of portions extending in parallel with the through-hole at positions equal to the radial direction from the center of the through-hole. The above-mentioned problems are solved by integrally forming the cylindrical portion and arranging the cylindrical portion so as to penetrate the external gear.

  By configuring in this way, it has become possible to configure the number of parts of “parts that do not move relatively during operation” as much as possible. That is, a configuration is adopted in which a cylindrical body integrally formed extending from the front cover of the motor functions as an inner pin of the speed reducer. Furthermore, the function of a flange is also added to the front cover by supporting the front cover and the internal gear through a bearing. This means that when the apparatus is assembled, the assembly is completed with simple and few work steps without performing complicated adjustment work. As a premise, a high level of formation accuracy is required for the integrally formed parts, but the current technical level is sufficiently clear.

  At the same time, in a state where the motor is connected, each component of the speed reducer and the motor (particularly, the motor shaft that rotates at a high speed) need to be arranged with high positional accuracy. Since the portions corresponding to the front cover, the first flange, and the inner pin are integrally formed, it is possible to connect with the motor with high accuracy, and as a result, the motor shaft can also be supported with high accuracy. This is particularly desirable in a geared motor having a configuration in which the motor shaft and the input shaft of the speed reducer are integrated and used together.

  In addition, the material and the forming accuracy of the integrated parts are based on the “inner pin” that requires the highest level of functionality, so the motor and the speed reducer are firmly and accurately connected. There is also an advantage that you can.

  In the present specification and claims, “integrated” and “integrated” are not integrated by connecting and connecting separate members in a fixed manner, for example, casting, forging, or machining. It means that it is comprised as one member from the beginning like this.

  The “relative rotation component” means not only the relative component between the rotation of the internal gear and the rotation of the external gear, but also the relative component between the rotation of the internal gear and the revolution of the external gear. It is a concept that includes.

  Adjustment work at the time of assembling becomes easy, and the number of processes may be small. Further, the entire apparatus can be made compact particularly in the axial direction.

  Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a side sectional view of a (swinging) intermeshing geared motor GM101 as an example of an embodiment of the present invention, and FIG. 2 is a view of the geared motor GM101 as viewed from the direction of arrow II in FIG.

  The geared motor GM101 is configured by connecting a motor M101 and a reduction gear G101.

<Motor part>
The motor M101 includes a motor shaft 102 at the approximate center thereof. In addition, a rotor 104 is provided around the center of the motor shaft 102 in the axial direction. Further, the stator yoke 106 provided with the armature coil 108 is opposed to the outer peripheral surface of the rotor 104 so as to have a slight gap. The armature coil 108 and the stator yoke 106 constitute a stator 110. Further, the stator 110 is fixed around the inner peripheral surface of a cylindrical motor casing main body 116.

  Further, an end cover 114 is disposed on the rear end portion (right end portion in FIG. 1) of the motor shaft 102, and a bearing provided in a motor shaft rear end through hole 114H formed in the end cover 114. A motor shaft 102 is supported through 103 by being rotatable about an axis O. The end cover 114 is connected to the motor casing body 116. In addition, a resolver portion 112 is provided at the rear end portion of the motor shaft 102 disposed through the motor shaft rear end through hole 114H so that the rotation of the motor shaft 102 can be detected.

  On the other hand, a front cover 118 is provided in the tip direction of the motor shaft 102 (left direction in FIG. 1). Further, the front cover 118 is provided with a motor shaft tip through hole 118H through which the tip of the motor shaft 102 can pass, and the motor shaft 102 passes through the motor shaft tip through hole 118H via a bearing 150. It is installed at. Further, the front cover 118 is provided with a through hole 118H at a position (see FIG. 2) away from the center of the motor shaft tip through hole 118H (which coincides with the axis O of the motor shaft 102) by an equal distance r in the radial direction. A plurality of cylindrical inner pins (cylindrical bodies) 144 extending in parallel with each other are integrally provided. The front cover 118 is provided with a fixing hole (fixing portion) 119 for fixing the geared motor GM101 to an external support base (not shown). The front cover 118 and the motor casing main body 116 are connected.

  The front cover 118, the motor casing body 116, and the end cover 114 constitute a motor casing 120.

  In the present embodiment, the front cover 118 that is a part of the motor casing 120 is formed integrally with the components (the first flange 140A and the inner pin 144) constituting the reduction gear G101. Will be described in detail later.

<Reduction gear section>
Next, the configuration of the reduction gear G101 will be described.

  The tip of the motor shaft 102 is disposed so as to face the inside of the reduction gear G101. In the present embodiment, the motor shaft 102 directly functions as the input shaft of the reduction gear G101. An eccentric body 130 is disposed and fixed at the tip of the motor shaft 102. The tip end side (left side in FIG. 1) of the coupling portion between the motor shaft 102 and the eccentric body 130 is spline-coupled, and the eccentric body 130 is also rotated when the motor shaft 102 rotates. . In addition, for example, they may be connected by a so-called “shape fitting structure” such as a D-cut or a key. Furthermore, it is also possible to employ a knurled connection. Further, on the non-tip side (the right side in FIG. 1) of the coupling portion, coupling is performed by intermediate fitting or interference fitting to perform precise centering, and play is generated between the motor shaft 102 and the eccentric body 130. The possibility can be completely wiped out. The eccentric body 130 is fitted in the center hole 134 </ b> C of the external gear 134 via the eccentric body bearing 132. In this embodiment, the external gear 134 has a configuration of three pieces, and the eccentric body 130 and the eccentric body bearing 132 are arranged and configured to correspond to this, but the configuration is limited to this. However, the external gear 134 may have one or two external gears 134 or four or more external gears 134.

  Further, the external gear 134 is engaged with the internal tooth 136A of the internal gear 136 at the same time as the eccentric body 130 (eccentric body bearing 132) is fitted into the center hole 134C of the external gear 134. Although not shown in the drawing, the number of external teeth of the external gear 134 and the number of internal teeth 136A are configured with a slight difference. In this embodiment, the internal gear 136A and the internal gear main body 136B constitute the internal gear 136, and the internal gear main body 136B is formed integrally with the speed reducer casing main body 138. .

  The external gear 134 has a plurality of internal pin holes 134H (only one appears for one external gear 134 in the drawing), and penetrates the internal pin hole 134H. In an embodiment, an inner pin 144 and a roller 145 formed integrally with the front cover 118 are disposed. The inner pin 144 is supported by the flange 140. The flange 140 includes a first flange 140A disposed on the motor M101 side and a second flange 140B disposed on the counter-motor M101 side. As described above, in the present embodiment, the inner pin 144 is a front cover. As a result, the three members (the front cover 118, the first flange 140A, and the inner pin 144) are integrally formed so as to include the first flange 140A. . By configuring in this way, it has become possible to configure the number of parts of “parts that do not move relatively during operation” as much as possible. This means that when the apparatus is assembled, the assembly is completed with simple and few work steps without performing complicated adjustment work. Further, there is an advantage that adjustment is easy not only at the time of initial assembly but also at the time of readjustment performed after a predetermined operation or repair. In addition, since the material and the forming accuracy of the integrated part are made based on the “inner pin 144” that requires the highest functional level, it can be connected to the motor M101 firmly and accurately. As a result, the motor shaft 102 can be supported with high accuracy. Of course, by forming each part integrally, it contributes to shortening of the axial direction in particular. This shortening in the axial direction makes it unnecessary to provide a conventional joint member (joint cover), in particular, by integrally forming the front cover 118 of the motor M101 and the first flange 140A of the reduction gear G101. It is an effect obtained by.

  A tap 155 is formed at the center of the end face of the inner pin 144 on the second flange 140B side, and the inner pin 144 and the second flange 140B are connected by a connecting bolt 156 that can be screwed to the tap 155. Has been.

  Further, the first flange 140 </ b> A and the reduction gear casing main body 138 are supported by a bearing 146 so as to be relatively rotatable. On the other hand, the second flange 140B and the reduction gear casing main body 138 are supported by a bearing 148 so as to be relatively rotatable. The first flange 140 </ b> A, the second flange 140 </ b> B, and the speed reducer casing main body 138 constitute a speed reducer casing 142.

  Reference numeral 152 is a seal cap provided in the second flange 140B, and reference numeral 154 is an oil seal.

<Operation of geared motor GM101>
Subsequently, the operation of the geared motor GM101 will be described. When the motor M101 is energized, it is controlled by a driver (not shown) based on information from the resolver unit 112, and the motor shaft 102 starts to rotate about the axis O. The rotation of the motor shaft 102 causes the eccentric body 130 fixed to the tip of the motor shaft 102 to rotate eccentrically. The eccentric rotation of the eccentric body 130 is transmitted to the external gear 134 via the eccentric body bearing 132. As a result, the external gear 134 swings and rotates with respect to the internal gear 136. However, the rotation of the external gear 134 is restricted by the meshing with the internal teeth 136A of the internal gear 136, and almost only swings. However, as described above, since the number of external teeth of the external gear 134 and the number of internal teeth 136A are configured to have a slight difference, each time the external gear 134 swings once (the tooth Number) The external gear 134 rotates by the difference (relative rotation with respect to the internal gear 136). This relative rotational component is taken out by the inner pin 144 via the roller 145 and transmitted to the flanges 140A and 140B. However, since the geared motor GM101 in the present embodiment is used and operated in a state in which the first flange 140A integrated with the front cover 118 is fixed to the external support base via the fixing hole 119, The reduction gear casing main body 138 is relatively rotated with respect to the fixed first flange 140A, and the relative rotation of the reduction gear casing main body 138 is output to the counterpart machine side (not shown). . As described above, since the connection with the external support base is also connected and fixed by the front cover 118 made of the material and strength with the inner pin 144 as a reference, high-precision fixing is realized.

  The swinging component of the external gear 134 is canceled by the inner pin hole 134H, the roller 145 and the inner pin 144 that are loosely fitted in the inner pin hole 134H, and only the relative rotation component is output.

<Geared motor assembly procedure>
Next, the assembly procedure of the geared motor GM101 will be briefly described.

  There are roughly two types of assembly procedures for the geared motor GM101. First, after the motor M101 is completed, the speed reducer G101 is sequentially assembled (hereinafter referred to as “procedure 1”), and conversely, after the speed reducer G101 is completed, the motor M101 is sequentially assembled ( Hereinafter, it is referred to as “procedure 2”.

  In the case of the procedure 1, the motor M101 is completed (hereinafter referred to as “motor completed product”) until the motor shaft 102 is installed on the front cover 118 via the bearing 150 (of course, the motor finished product is The assembly of the stator 110, the rotor 104, the resolver portion 112, etc. is completed.) The speed reducer G101 is sequentially assembled. Specifically, first, the reduction gear casing main body 138 is assembled to the finished motor product via the bearing 146 and the oil seal 154. Thereafter, the eccentric body 130 is fitted and fixed from the front end side of the motor shaft 102. Next, the eccentric body bearing 132 and the external gear 134 are sequentially fitted from the side close to the bearing 150. At this time, the cylindrical roller 145 is fitted into the inner pin 144 and then assembled so that the inner pin 144 is fitted into the inner pin hole 134H of the external gear 134. At this time, pin-shaped internal teeth 136A are sequentially assembled to the internal gear main body 136B. Finally, the second flange 140B is assembled while the bearing 148 and the oil seal 154 are arranged, and finally the inner pin 144 (first flange 140A) and the second flange 140B are connected and fixed by the connecting bolt 156.

  In the case of the procedure 1, the geared motor GM101 is roughly assembled in such a process. In this embodiment, since the front cover 118 of the motor M101, the first flange 140A of the speed reducer G101, and the inner pin 144 are integrally formed, these members are adjusted at the time of assembly. There is no need to do. That is, it means that the adjustment of the relative positional relationship between each member (which was originally a separate part) has already been completed by installing only one part. As a result, assembly is completed with a small number of processes.

  On the other hand, in the procedure 2, first, the reduction gear G101 is completed in a state where the motor shaft 102 and the bearing 150 are not incorporated. That is, the eccentric body 130, the eccentric body bearing 132, the external gear 134, the internal gear 136, the reduction gear casing main body 138, the bearings 146 and 148, the oil seal 154, the first flange 140A (front cover 118), and the second flange. 140B is assembled and assembled to the state where the first and second flanges 140A and 140B are coupled by the coupling bolt 156. As a procedure at this time, for example, first, the reduction gear casing main body 138 is attached to the first flange 140A (with the inner pin 144 and the front cover 118 integrated) via the bearing 146 and the oil seal 154. Assemble. Then, after the eccentric body 130 is disposed at a predetermined position, the eccentric body bearing 132 and the external gear 134 are sequentially fitted into the eccentric body 130 from the side close to the first flange 140A. At this time, the cylindrical roller 145 is fitted into the inner pin 144 and then assembled so that the inner pin 144 is fitted into the inner pin hole 134H of the external gear 134. At this time, pin-shaped internal teeth 136A are sequentially assembled to the internal gear main body 136B. Finally, the second flange 140B is assembled while the bearing 148 and the oil seal 154 are arranged, and finally the inner pin 144 (first flange 140A) and the second flange 140B are connected and fixed by the connecting bolt 156.

  Thereafter, the motor M101 is completed until there is no front cover 118 (that is, the motor shaft 102 is supported only by the bearing 103 and the front end side of the motor shaft 102 is not supported and fixed). Finally, the bearing 150 is disposed at a predetermined position on the front end side of the motor shaft 102, and is then passed through the motor shaft front end through hole 118H of the first flange 140A (that is, the front cover 118). At this time, the first flange 140A (front cover 118) and the motor casing main body 116 are also connected at the same time. The axial position of the tip of the motor shaft 102 and the eccentric body 130 is fixed by a retaining ring 170. Finally, the assembly of the geared mode GM101 is completed by attaching the seal cap 152 to the second flange 140B.

  Even in this procedure, since the front cover 118, the first flange 140A, and the inner pin 144 are integrally formed, it is not necessary to adjust these members at the time of assembly. That is, it means that the adjustment of the relative positional relationship between each member (which was originally a separate part) has already been completed by installing only one part. As a result, assembly is completed with a small number of processes.

  In the embodiment described above, a geared motor provided with a reduction gear whose external gear swings and rotates has been described as an example. However, the scope of application of the present invention is not limited to this, and a simple planetary gear. The present invention can also be applied to a geared motor equipped with a gear mechanism reduction gear. In this case, a shaft (carrier) that rotatably supports the planetary gear corresponds to a “cylindrical body”. Even in such a case, the same kind of effect can be obtained by applying the present invention.

  The present invention is of course effective as a geared motor used in various fields, but the size of a device incorporating the geared motor is limited to some extent by some restrictions, particularly in order to have compactness in the axial direction. It is particularly suitable for objects (for example, industrial robots, electric wheelchairs, automobiles, etc.).

1 is a side sectional view of a (swinging) intermeshing geared motor GM101 that is an example of an embodiment of the present invention. View of geared motor GM101 as seen from the direction of arrow II in FIG. Side sectional view of swinging intermeshing reduction gear described in Patent Document 1

Explanation of symbols

GM101 ... Swing intermeshing geared motor G101 ... Reduction gear M101 ... Motor 102 ... Motor shaft 103, 146, 148, 150 ... Bearing 104 ... Rotor 106 ... Stator yoke 108 ... Armature coil 110 ... Stator 112 ... Resolver section 114 ... End cover 114H ... Motor shaft rear end through hole 116 ... Motor casing body 118 ... Front cover 118H ... Motor shaft tip through hole 120 ... Motor casing 130 ... Eccentric body 132 ... Eccentric body bearing 134 ... External gear 136 ... Internal gear 136A ... Internal teeth 136B ... Internal gear main body 138 ... Reduction gear casing main body 140A ... First flange 140B ... Second flange 142 ... Reduction gear casing 144 ... Inner pin 145 ... Roller 152 ... Seal cap 154 ... Oil seal 155 ... Tap 1 56 ... Connection bolt
170 ... retaining ring

Claims (4)

An internal meshing geared motor comprising a motor and a reduction gear that decelerates and outputs the rotation of the motor as a relative rotational component of an internal gear and an external gear meshed with the internal gear,
The motor includes a front cover having a through hole through which the motor shaft can pass,
The front cover is integrally formed with a plurality of columnar portions extending in parallel with the through hole at a position equal to the radial direction from the center of the through hole, and
The internal meshing geared motor, wherein the cylindrical portion is disposed so as to penetrate the external gear. In claim 1,
Further, the front cover supports the internal gear via a bearing. An internal meshing geared motor, wherein: In claim 1 or 2,
Further, the front cover is provided with a fixing portion for fixing the geared motor to an external support base. In any one of Claims 1 thru | or 3,
Further, the internal meshing geared motor is characterized in that the cylindrical portion is an inner pin for extracting a rotation component of the external gear.

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