JP2011190908A - Work rotating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To increase the accuracy of detecting the rotation of a rotating disk. <P>SOLUTION: This work rotating device 100 includes a speed reducer 102, the rotating disk 104 for rotating a workpiece, and a rotation detection means 112 for detecting the rotation of the rotating disk 104. The speed reducer 102 includes a casing 106, and a flange body 108 supported so as to be rotated relative to the casing 106. One of the casing 106 and the flange body 108 is fixed, and the other serves as the output rotating member 108 for rotating the rotating disk 104. The rotating disk 104 is fixed to the axial one side 108B1 of the output rotating member 108, and the rotation detection means 112 is provided to the axial other side 108A1 of the output rotating member 108. The rotation detection means 112 detects the rotation of the rotating disk 104 by detecting the rotation of the axial other side 108A1 of the output rotating member 108. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a workpiece rotating device.

  The work rotation device includes a speed reducer and a rotating disk that rotates the work. On the rotating disk, the work rotation device controls the rotation (rotation direction and angle) of the rotating disk in order to perform various types of processing on the work. There is a need. However, since a work, a speed reducer, and the like are disposed around the rotating disk, it has been difficult to directly detect rotation of the rotating disk by attaching a sensor such as an encoder to the rotating disk itself.

  Therefore, for example, in Patent Document 1, a workpiece is processed while detecting the rotation of a rotating disk by a workpiece rotating device as shown in FIG.

  In the work rotating device 1, the rotation of the motor 7 is decelerated by the speed reducer 2 and is output from the flange 5 of the speed reducer 2. The turntable 4 is connected to the output side 5 </ b> A of the flange 5. The cylindrical rod 3 provided for detecting the rotation of the turntable 4 was fixed to the output side 5A of the flange 5 and extended to the arrangement position of the encoder 6 arranged on the non-output side of the speed reducer 2. . The encoder 6 detects the rotation direction and rotation angle of the rotating disk 4 by detecting the rotation direction and rotation angle of the cylindrical rod 3.

WO2007 / 125800 (FIG. 1)

  However, in the conventional workpiece rotating device, the cylindrical rod 3 as a detection rotating member is fixed to the output side 5A of the flange 5, and the target position of the encoder 6 (detection position of the encoder 6) is the cylindrical rod 3. It was arranged on the opposite output side. Accordingly, since the axial length from the position where the cylindrical rod 3 is fixed to the flange 5 to the target position of the encoder 6 is long, for example, due to minute vibrations generated during rotation and errors during processing and assembly of the cylindrical rod 3 The eccentricity and the inclination of the shaft center are added in an amplified state, and as a result, the detection accuracy of the encoder 6 may be reduced.

  An object of the present invention is to improve the detection accuracy of the rotation of the rotating disk in order to solve the above-described problem.

  The present invention relates to a work rotating apparatus including a speed reducer, a rotating disk for rotating the work, and a rotation detecting means for detecting the rotation of the rotating disk, wherein the speed reducer includes a casing, the casing, A flange body supported so as to be relatively rotatable, and one of the casing and the flange body is fixed, and the other is an output rotating member that rotates the rotating disk, and the rotating disk is The output rotation member is fixed to one side in the axial direction, the rotation detection means is provided on the other axial direction side of the output rotation member, and the rotation detection means outputs the rotation of the rotating disk to the output The said subject was solved by the structure detected by detecting rotation of the axial direction other side part of a rotating member.

  In the present invention, since the output rotating member (casing or flange body) of the speed reducer handles high torque, it is large in the radial direction (compared to a conventional cylindrical rod), has high rigidity, and has a stable support. Focusing on the fact that the rotation is made, the rotation detecting means is provided on the non-output side of the output rotating member. That is, the present invention shortens the axial distance from the support position (of the output rotation member) to the installation position of the rotation detection means by providing the rotation detection means on the output rotation member that is difficult to transmit vibration. Thereby, for example, the present invention can reduce the vibration transmitted from the rotating disk or the like to the rotation detecting means, and as a result, the detection accuracy of the rotation of the rotating disk can be increased.

  The present invention can improve the detection accuracy of the rotation of the rotating disk.

The cross-sectional view of the workpiece | work rotating apparatus concerning an example of embodiment of this invention Enlarged view shown by arrow II in FIG. The cross-sectional view of the workpiece | work rotation apparatus concerning an example of other embodiment of this invention. The cross-sectional view of the workpiece | work rotating apparatus concerning an example of further another embodiment of this invention. Cross-sectional view of a conventional work rotation device

  Hereinafter, a work rotation device 100 according to an example of an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a cross-sectional view of the workpiece rotating device 100, and FIG. 2 shows an enlarged view indicated by an arrow II in FIG.

  If it demonstrates from an outline, the workpiece | work rotation apparatus 100 will be provided with the reduction gear 102, the rotary disk 104, and the optical encoder (rotation detection means) 112 aiming at the detection of rotation of the rotary disk 104. FIG.

  The speed reducer 102 includes a casing 106 and a flange body 108 that is supported so as to be relatively rotatable with the casing 106. One of the casing 106 and the flange body 108 is fixed, and the other is an output rotating member that rotates the rotating disk 104. In the present embodiment, the casing 106 is a fixed member, and the flange body 108 is an output rotating member. The flange body 108 is mainly composed of a first flange portion 108A, a second flange portion 108B, and a connecting member 108C. The turntable 104 is provided on the output side (one axial direction side) 108B1 of the flange body 108 (of the second flange portion 108B). On the other hand, the detection rotating member 112D1 (and the auxiliary member 112D2 integrated therewith) to which the encoder rotating plate 112C of the optical encoder 112 is attached is fixed to the non-output side (the other axial side) 108A1 of the first flange portion 108A. ing. In other words, the optical encoder 112 detects the rotation of the turntable 104 by detecting the rotation of the portion 108A1 opposite to the output side of the flange body 108 through the detection rotating member 112D1 (and the auxiliary member 112D2).

  Hereinafter, a more specific configuration will be described in detail.

  The work rotation device 100 is fixed to a fixed frame 114 having a rectangular cross section. In the fixed frame 114, a motor 116 and a speed reducer 102 are arranged. The motor 116 is disposed below the speed reducer 102, and the motor shaft 116 </ b> J of the motor 116 is parallel to the crankshaft 122 of the speed reducer 102.

  A first pulley 118 is fixed to the axial end of the motor shaft 116J. A second pulley (pulley) 120 having a diameter larger than that of the first pulley 118 is fixed to the axial end of the crankshaft 122 of the speed reducer 102. A timing belt 124 is stretched between the first pulley 118 and the second pulley 120.

  Two eccentric bodies 126 and 128 are integrally formed on the crankshaft 122. External gears 134 and 136 are incorporated on the outer circumferences of the eccentric bodies 126 and 128 via rollers 130 and 132. The eccentric phases of the eccentric bodies 126 and 128 are shifted by 180 degrees, and the eccentric phase difference of the external gears 134 and 136 is 180 degrees. The external gears 134 and 136 are in mesh with the internal gear 138.

  The internal gear 138 is integrally formed on the inner periphery of the casing 106. The internal teeth of the internal gear 138 are configured by rollers 140.

  The external gears 134 and 136 have a smaller number of teeth by “1” than the internal gear 138. The external gears 134 and 136 include internal pin holes 142 and 144 that pass through the external gears 134 and 136. An inner pin 146 is loosely fitted in the inner pin holes 142 and 144. An inner roller 148 is attached to the outer periphery of the inner pin 146 as a sliding component promoting member.

  The flange body 108 has a configuration in which the first flange portion 108A and the second flange portion 108B are integrated by a bolt or press-fitting not shown through a connecting member 108C, and a highly rigid “output rotating member”. Is configured. Further, an inner pin 146 is fixed to the first and second flange portions 108A and 108B by press-fitting, and the rotation components of the external gears 134 and 136 are transmitted via the inner pin 146. ing.

  The flange body 108 is supported at both ends by first and second bearings (rotation support members) 152 and 154 so as to be rotatable.

  More specifically, the first bearing 152 is disposed between the first flange portion 108A of the flange body 108 and the casing 106, and the second bearing 154 is formed of the second flange portion 108B of the flange body 108 and the casing. 106. That is, the flange body 108 is supported at both ends so as to be relatively rotatable with the casing 106 by the first and second bearings 152 and 154 disposed on both sides in the axial direction of the speed reduction mechanism 102A.

  The turntable 104 is connected and fixed to the output side (one side in the axial direction) 108B1 of the flange body 108 (of the second flange portion 108B) by bolts 160 and 162. Further, the center pipe 123 has its output side fixed to the rotating disk 104, passes through the inside of the (hollow) crankshaft 122, and is rotatably supported by the fixed frame 114 on the non-output side via a bearing 159. ing.

  A casing (fixing member) 106 of the speed reducer 102 is fixed to the fixed frame 114 by bolts 121 and 123.

  Lubricant J is sealed inside the speed reducer 102. The first to fourth oil seals 164, 166, 168, 170 arranged in the speed reducer 102 partition the inside of the speed reducer 102 and the external space 172, and the lubricant J enclosed in the speed reducer 102 leaks to the outside. I am trying not to.

  More specifically, the first oil seal 164 is disposed between the crankshaft 122 and the first flange portion 108A. The second oil seal 166 is disposed between the first flange portion 108 </ b> A and the casing 106. The third oil seal 168 is disposed between the crankshaft 122 and the second flange portion 108B. The fourth oil seal 170 is disposed between the second flange portion 108 </ b> B and the casing 106. On the non-output side (the other side in the axial direction) 108A1 of the first flange portion 108A of the flange body 108, there is a space K that does not contain the lubricant J. The second pulley 120 described above is disposed in the space K.

  The optical encoder (rotation detection means) 112 is provided on the non-output side (the other side in the axial direction) 108A1 of the flange body (output rotation member) 108. More specifically, the optical encoder 112 includes the first flange portion 108A and the second flange portion 108A that are disposed in the axial direction of the space K that does not have the lubricant J (on the opposite side of the first flange portion 108A). It is arranged between the pulleys 120.

  The optical encoder (rotation detecting means) 112 includes a light emitting unit 112A, a light receiving unit 112B, an encoder rotating plate 112C, and the like. Both the light emitting and light receiving portions 112 </ b> A and 112 </ b> B are fixed to the casing 106. On the other hand, the detection rotating member 112D1 is directly attached to the opposite output side 108A1 of the flange body 108 (specifically, the first flange portion 108A) by a bolt 174. The encoder rotating plate 112C is attached to an auxiliary member 112D2 integrated with the detecting rotating member 112D1. That is, the optical encoder 112 rotates by detecting the rotation of the non-output side 108A1 portion of the flange body 108 via the detection rotating member 112D1 (directly attached to the non-output side 108A1 of the flange body 108). The rotation (rotation speed, rotation direction, etc.) of the board 104 is detected.

  The arrangement relationship between the light emitting unit and the light receiving unit of the optical encoder may be reversed.

  In this embodiment, an optical encoder is used as the rotation detection unit. However, the rotation detection unit is not limited to the optical encoder, and another rotation detection unit such as a magnetic sensor may be used.

  Next, the operation of the workpiece rotating device 100 will be described.

  The rotation of the motor shaft 116J is decelerated by the first pulley 118, the timing belt 124, and the second pulley 120 and then input to the crankshaft 122. When the crankshaft 122 rotates and the external gears 134 and 136 swing, the meshing positions of the external gears 134 and 136 and the internal gear 138 are sequentially shifted depending on the number of teeth. Since the internal gear 138 of the speed reducer 102 is fixed to the casing 106, the external gears 134 and 136 rotate relative to the internal gear 138 (rotates in the direction opposite to the rotation of the crankshaft 122). ). The relative rotation (spinning) of the external gears 134 and 136 with respect to the internal gear 138 is transmitted to the flange body 108 via the internal pin 146. That is, the speed reducer 102 decelerates the rotation of the motor 116 and transmits it to the flange body 108 to rotate the turntable 104 connected to the second flange portion 108B of the flange body 108. Thereby, the turntable 104 rotates in the same rotation speed and rotation direction as the flange body 108.

  The optical encoder 112 can detect the rotation of the turntable 104 by detecting the rotational speed of the portion on the non-output side 108A1 of the flange body 108, that is, the counter-output side 108A1 of the first flange portion 108A. .

  The flange body 108 is a large and highly rigid output rotating member in the radial direction, and is supported at both ends by the first and second bearings 152 and 154 disposed on both sides in the axial direction of the speed reduction mechanism 102A, so that stable rotation is achieved. Realized. That is, the flange body 108 itself is difficult to vibrate. Further, since the axial distance from the first bearing (support position) 152 to the optical encoder (measurement position) 112 is shortened, vibrations applied during this time are also minimal. Thereby, for example, vibration transmitted from the rotating disk 104 or the like to the optical encoder 112 is reliably reduced. Further, since the center pipe 123 is rotatably supported by the bearing 159, it is difficult to vibrate. By these synergistic actions, the optical encoder 112 can detect the rotation of the turntable 104 with high accuracy.

  Next, a work rotation device 200 according to an example of another embodiment will be described.

  FIG. 3 shows a cross-sectional view of the workpiece rotating device 200.

  The speed reducer 202 provided in the work rotation device 200 according to the present embodiment is a so-called sort-type speed reducer.

  An input shaft gear 282A is formed on the input shaft 282. The input shaft gear 282A meshes with a crankshaft gear 222A formed on three crankshafts 222 (only one is shown in the illustrated example) 222.

  Flange pin holes 242 and 244 are formed in the external gears 234 and 236 incorporated in the outer circumferences of the eccentric bodies 226 and 228, and the connecting member 208C is loosely fitted into the holes 242 and 244. The first and second flange portions 208A and 208B disposed on both sides in the axial direction of the speed reduction mechanism 202A are connected by a bolt 250 via a connecting body 208C, and constitute an integrated flange body 208. Yes. The casing 206 is fixed to the fixed frame 214. That is, also in this embodiment, the flange body 208 is an output rotation member, and the casing 206 is a fixed member.

  The rotation of the motor 216 is input to the input shaft 282, and the input shaft gear 282A and the crankshaft gear 222A rotate. As a result, the eccentric bodies 226 and 228 incorporated in the crankshaft 222 rotate, and the external gears 234 and 236 rotate and rotate. Since the internal gear 238 of the speed reducer 202 is fixed to the fixed frame 214 via the casing 206, the external gears 234 and 236 rotate relative to the internal gear 238 by this swinging rotation. The relative rotation (spinning) of the external gears 234 and 236 is transmitted to the flange body 208 through the revolution of the crankshaft 222, and the output side (specifically, the second flange body 208B) of the flange body 208 The turntable 204 connected and fixed to the one axial side 208B1 rotates.

  Also in the present embodiment, the first to fourth oil seals 264, 266, 268, 270 and the cover 280 partition the lubricant J on the non-output side 208A1 of the flange body 208 by partitioning the inside of the reduction gear 202 and the external space 272. This constitutes a space K2 that does not have. The optical encoder 212 is disposed in a space K2 (between the flange body 208 and the second pulley 220) that does not have the lubricant J, and the detection rotary member 212D1 is a first flange portion of the flange body 208. It is fixed to the non-output side 208A1 of 208A. The optical encoder 212 detects the rotation of the turntable 204 by detecting the rotation of the non-output side 208A1 portion of the first flange portion 208A of the flange body 208. The flange body 208, which is a high-rigidity output rotating member, is supported at both ends by the first and second bearings 252 and 254 so as to be relatively rotatable with respect to the casing 206, and the optical encoder 212 is disposed from the first bearing 252. The axial distance to is shorter. Due to these synergistic actions, for example, vibration generated from the turntable 204 or the like is hardly transmitted to the optical encoder 212, and the optical encoder 212 can detect the rotation of the turntable 204 with high accuracy.

  Since the other configuration is basically the same as the structure of the workpiece rotating device (100) shown in FIG. 1, the lower two digits are provided in the portion (functionally similar portion) corresponding to the workpiece rotating device (100). Are given the same reference numerals, and redundant description is omitted.

  Similarly, in the work rotating device according to the following embodiment, the same reference numerals are used for the lower two digits in the portions corresponding to the structure of the work rotating device (100) shown in FIG.

  Next, FIG. 4 shows a cross-sectional view of a workpiece rotating device 300 according to another example of the embodiment.

  An input shaft gear 382A formed on the input shaft 382 meshes with the sorting gear 384. The sorting gear 384 is supported by the intermediate shaft 388 via the rollers 386. The distribution gear 384 meshes with a crankshaft gear 322A formed on three crankshafts (only one is shown in the illustrated example) 322. The number of teeth of the external gears 334 and 336 is set to be “1” more than the number of teeth of the internal gear 138.

  The flange body 308 is mainly formed from a first flange portion 308A and a second flange portion 308B connected by a connecting body (not shown), and is integrated. The first flange portion 308A (of the flange body 308) is fixed to the fixed frame 314, and the flange body 308 itself is fixed. The casing 306 is supported by the first and second bearings 352 and 354 so as to be rotatable relative to the flange body 308. That is, in this embodiment, the flange body 308 is a fixed member, and the casing 306 is an output rotating member.

  The turntable 304 is connected to the side surface of the output side (one axial side) 306 </ b> B of the casing 306 by a bolt 360. As for the optical encoder 312, the light emitting and light receiving portions 312A and 312B are fixed to the opposite output side (the other side in the axial direction) 306A of the casing 306 through the detection rotating member 312D1. For this reason, the light emitting and light receiving portions 312A and 312B rotate. On the other hand, the encoder rotating plate 312C is stationary because it is fixed to the flange body 308 (which is a fixing member). For this reason, the speed reducer 300 does not include a center pipe for passing a cable or the like connected to a workpiece provided on the rotating disk 304.

  The rotation of the motor 316 is input to the input shaft 382, and the input shaft gear 382A rotates. As a result, the eccentric bodies 326 and 328 formed on the crankshaft 322 are eccentrically rotated by the meshing of the distribution gear 384 and the crankshaft gear 322A, and the external gears 334 and 336 are fitted to the eccentric bodies 326 and 328. Oscillates and rotates. Here, since the rotation of the external gears 334 and 336 is restricted by the crankshaft 322, the internal gear 338 rotates relative to the external gears 334 and 336 by the swinging rotation. The relative rotation (spinning) of the internal gear 338 is taken out from the casing 306 in which the internal gear 338 is integrally formed, and is connected and fixed to the output side (one axial direction side) 306B of the casing 306. The turntable 304 rotates.

  Also in this embodiment, the optical encoder 312 is disposed in the space K3 (between the casing 306 and the second pulley 320) that does not have the lubricant J on the non-output side 306A of the casing 306, and for detection. The rotating member 312D1 is fixed to the non-output side 306A of the casing 306. The optical encoder 312 detects the rotation of the turntable 304 by detecting the rotation of the portion of the casing 306 opposite to the output side 306A.

  The casing 306, which is a high-rigidity output rotating member, is supported at both ends by the first and second bearings 352 and 354 so as to be rotatable relative to the flange body 308, and the arrangement position of the optical encoder 312 from the first bearing 352. The axial distance to is shorter. Due to the synergistic action of these configurations, for example, vibration generated from the rotating disk 304 or the like is difficult to be transmitted to the optical encoder 312, and the optical encoder 312 can detect the rotation of the rotating disk 304 with high accuracy. it can.

  In addition, the kind of reduction gear to which the present invention can be applied is not limited to the swing inscribed meshing reduction gear according to the above embodiment. For example, the present invention is applied to a simple planetary gear reducer having a sun gear, a planetary gear that is externally meshed with the sun gear, an internal gear that is internally meshed with the planetary gear, and a carrier that rotatably holds the planetary gear. The invention can be applied. The present invention is also applied to a so-called traction drive type speed reducer that transmits power by bringing a roller and a roller into contact with each other via a lubricating oil, instead of a gear speed reducer that meshes gears with each other to transmit power. Can be applied.

  Further, in the speed reducer according to the above-described embodiment, all the crankshafts provided in the speed reducer are “driven”. However, the speed reducer is not limited to such a speed reducer, and is provided in the speed reducer, for example. The present invention can also be applied to a reduction gear of a type in which only a part of the crankshaft is driven and the other crankshaft is “driven” by the driving force of the crankshaft.

  In the above embodiment, the rotation of the motor is input to the speed reducer by the pulley, but the pulley may be replaced by a gear or the like.

  In the above embodiment, the rotation detection means is fixed to the other axial side of the output rotation member via a detection rotation member or the like. However, the rotation detection means is directly output and rotated without using the detection rotation member or the like. You may install in a member. In this case, for example, the output rotating member itself may be formed with a shape that is substituted for the detecting rotating member.

  Further, in the above embodiment, the casing and the flange body are both supported by two bearings, but are not necessarily supported by the two bearings. It may be supported by a single bearing or by three or more bearings.

DESCRIPTION OF SYMBOLS 100 ... Work rotating apparatus 102 ... Reduction gear 104 ... Turntable 106 ... Casing (fixing member)
108 ... Flange body (output rotating member)
112 ... Optical encoder (rotation detecting means)

Claims (4)

In a work rotation device comprising a speed reducer, a rotating disk for rotating a work, and a rotation detecting means for detecting the rotation of the rotating disk,
The speed reducer includes a casing and a flange body supported to be relatively rotatable with the casing,
Either one of the casing and the flange body is fixed, and the other is an output rotating member that rotates the rotating disk,
The rotating disk is fixed to one side in the axial direction of the output rotating member, and the rotation detecting means is provided on the other side in the axial direction of the output rotating member,
The work rotation device, wherein the rotation detecting means detects rotation of the rotating disk by detecting rotation of the other side portion in the axial direction of the output rotating member. In claim 1,
Furthermore,
On the other side in the axial direction of the output rotation member, a space not having a lubricant is provided, and a pulley for inputting the rotation of the motor is disposed in the space,
The rotation detecting means is disposed between the output rotating member and the pulley in the axial direction of the space. In claim 2,
Furthermore,
A seal member is disposed between the flange body of the reduction gear and the input shaft;
The pulley is disposed at an end of the input shaft on the other side in the axial direction. In claim 1,
The flange body passes through the speed reduction mechanism of the speed reducer and is arranged on both sides in the axial direction of the speed reduction mechanism;
A workpiece rotating device, wherein the workpiece rotating device is supported by two or more bearings so as to be rotatable relative to the casing.

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