JP2020085213A - Rotation mechanism of industrial machine, speed reducer, industrial machine, and drive device - Google Patents

Abstract

To improve flexibility of arrangement of a fixing bolt for fixing a speed reducer to an industrial machine.SOLUTION: A rotation mechanism of an industrial machine includes: a first member of the industrial machine; a case fixed to the first member; a speed reduction part which is held by the case and reduces a speed of rotation input to output rotation; a second member of the industrial machine which is fixed to the speed reduction part; a center gear which is disposed at the first member side and inputs rotation to the speed reduction part; and an intermediate gear which engages with the center gear, engages with an output gear of a drive part, and is disposed at the first member side.SELECTED DRAWING: Figure 1

Description

The present invention relates to a rotating mechanism of an industrial machine, a speed reducer, an industrial machine, and a drive device.

For example, as disclosed in Patent Document 1, a speed reducer is used in a rotating mechanism of an industrial machine. The speed reducer disclosed in Patent Document 1 includes a cylindrical gear that meshes with a plurality of input gears, and an idle gear that meshes with the cylindrical gear. The rotation input from the motor to the idle gear is transmitted to the plurality of input gears via the cylindrical gear. The speed reducer decelerates the rotation input from the motor and outputs it as relative rotation between the case and the carrier. In Patent Document 1, the case is fixed to the first member of the industrial robot, and the carrier is fixed to the second member of the industrial robot.

Patent No. 5356462

By the way, in the structure disclosed in Patent Document 1, the second member of the industrial robot is arranged on the same side of the carrier as the cylindrical gear and the idle gear. Therefore, on the side of the second member of the carrier, the idle gear and the motor are arranged in a region facing a part of the carrier along the circumferential direction.

The second member is usually fixed to the carrier with bolts. However, a region facing a part of the carrier along the circumferential direction is occupied by the idle gear and the motor. Therefore, the arrangement of the plurality of fixing bolts for fixing the second member is restricted by the idle gear and the motor, loses symmetry, and becomes discontinuous. If the arrangement of the fixing bolts loses symmetry, a large force may be applied to the speed reducer when the second member operates. When a large force is applied to the reduction gear, lubricating oil may leak from the reduction gear and further damage such as fretting may occur on the reduction gear.

The present invention has been made in view of the above points, and improves the degree of freedom of arrangement of fixing bolts for fixing a reduction gear to an industrial machine, and stably fixes the reduction gear to the industrial machine. The purpose is to be able to.

The rotation mechanism of the first industrial machine according to the present invention is
A first member of an industrial machine,
A case fixed to the first member,
An output unit that is held in the case and decelerates and outputs a rotation input,
A second member of the industrial machine fixed to the output section;
A center gear that is arranged on the side of the first member and that inputs rotation to the speed reducer;
And an intermediate gear that meshes with the center gear and meshes with the output gear of the drive unit and that is disposed on the first member side.

The rotation mechanism of the second industrial machine according to the present invention is
A first member of an industrial machine,
A case fixed to the first member,
A reduction unit that reduces the rotation of the input gear that is held in the case and outputs the rotation from the output unit;
A second member fixed to the output portion of the speed reducer;
A center gear that is arranged on the opposite side of the reduction member from the second member side and that meshes with the input gear;
And an intermediate gear that meshes with the center gear and receives rotation from the drive unit.

In the rotating mechanism of the first or second industrial machine according to the present invention, the intermediate gear may be arranged so as to be axially displaced from the reduction unit.

In the rotating mechanism of the first or second industrial machine according to the present invention, the center gear may be a tubular member.

In the rotating mechanism for a first or second industrial machine according to the present invention, the speed reducing unit includes a rotatable shaft member including the input gear, a holding unit having a through hole into which the shaft member is inserted, and the penetrating member. A cap that closes the hole from the side of the second member.

The rotating mechanism of the first or second industrial machine according to the present invention may include a plurality of bolts arranged at rotationally symmetrical positions to fix the second member to the speed reducer.

In the rotating mechanism for a first or second industrial machine according to the present invention, the intermediate gear may be located inside the outer edge of the holding portion in the radial direction.

In the rotating mechanism of the first or second industrial machine according to the present invention, the output gear of the drive unit that meshes with the intermediate gear may be located inside the outer edge of the holding unit in the radial direction.

In the rotating mechanism of the first or second industrial machine according to the present invention, the portion of the first member fixed to the case is located closer to the second member than the input gear of the speed reducer in the axial direction. May be.

In the rotating mechanism for a first or second industrial machine according to the present invention, a portion of the first member fixed to the case may be located closer to the second member than the intermediate gear in the axial direction. ..

An industrial machine according to the present invention includes any of the first and second rotating mechanisms according to the present invention described above.

The first speed reducer according to the present invention is
A case fixed to the first member of the industrial machine,
A reduction unit that is held in the case and reduces the rotation input and outputs it to the second member of the industrial machine;
A center gear that is arranged on the first member side and that inputs rotation to the speed reducer;
An intermediate gear that meshes with the center gear and is arranged on the first member side.

A second speed reducer according to the present invention is
A case fixed to the first member of the industrial machine,
A reduction unit that is held in the case, reduces the rotation input to the input gear, and outputs the reduced rotation to the second member of the industrial machine;
A center gear that is arranged on the opposite side of the reduction member from the second member side and that meshes with the input gear;
And an intermediate gear that meshes with the center gear and receives rotation from the drive unit.

A third speed reducer according to the invention is
A case arranged between the first member and the second member of the industrial machine and fixed to the first member;
A reduction unit that is held by the case and reduces the rotation input to the input gear and outputs the reduced rotation to the second member;
A center gear that is arranged between the speed reducer and the first member and meshes with the input gear;
An intermediate gear that is disposed between the speed reducer and the first member and that meshes with the center gear.

The drive device according to the invention comprises
One of the first to third speed reducers according to the present invention,
A drive unit for inputting rotation to the speed reducer.

An object of the present invention is to improve the degree of freedom of arrangement of fixing bolts for fixing a reduction gear to an industrial machine so that the reduction gear can be stably fixed to the industrial machine.

FIG. 1 is a diagram for explaining one embodiment and is a cross-sectional view showing a rotating mechanism of an industrial machine. FIG. 2 is a plan view showing the speed reducer incorporated in the industrial machine of FIG. 1 from the first member side. FIG. 3 is a plan view showing the speed reducer incorporated in the industrial machine of FIG. 1 from the second member side. FIG. 4 is a perspective view showing an example of an industrial machine.

An embodiment of the present invention will be described below with reference to the drawings. 1 to 3 are sectional views or perspective views showing a specific example of the rotation mechanism RM and the drive device DD according to the present embodiment. As will be described later in detail, the rotating mechanism RM is a mechanism that relatively moves the first member 11 and the second member 12 of the industrial machine IM, more specifically, relatively rotates them. The rotation mechanism RM includes a first member 11 and a second member 12, a case 25 fixed to the first member 11, and a speed reduction unit 30 fixed to the second member 12. The drive device DD also includes a speed reducer 20 including a case 25 and a speed reducer 30, and a drive unit 50 that inputs rotation to the speed reducer 20.

In the present embodiment described below, a device for improving the degree of freedom of arrangement of fixing bolts for fixing the reduction gear 20 to the industrial machine IM is made. With this device, the speed reducer 20 can be incorporated in the industrial machine IM in a stably fixed state.

As an example of the industrial machine IM to which the rotating mechanism RM and the drive device DD are applied, an industrial robot R can be illustrated as shown in FIG. More specifically, the rotation mechanism RM and the drive device DD can be applied to a swivel unit such as a swivel body of a robot and an arm joint, a swivel unit of various machine tools, and the like.

FIG. 1 shows a connection portion of the speed reducer 20 to the base RB and the swing cylinder RA in the industrial machine IM shown in FIG. In the specific example shown in FIG. 1, the case 25 is fixed to the base RB of the robot R, and the deceleration unit 30 is connected to the swing cylinder RA of the robot R. In this example, the base RB of the robot R constitutes the first member 11, and the revolving barrel RA constitutes the second member 12. In the example shown in FIG. 1, the first member 11 is configured as a casing and the second member 12 is configured as an arm member. The speed reducer 30 fixed to the second member 12 decelerates the input rotation and outputs it to the second member 12. Therefore, in the illustrated example, the swing cylinder RA can be rotated with high torque with respect to the base RB, and the rotation amount and rotation position of the swing cylinder RA can be controlled with high accuracy.

Next, the speed reducer 20 will be described. As shown in FIG. 1, the speed reducer 20 includes a case 25 and a speed reducer 30 held by the case 25. As described above, the case 25 is fixed to the first member 11 (the base RB in the illustrated example) of the industrial machine IM. The deceleration unit 30 receives the rotation output by the driving unit 50. The deceleration unit 30 decelerates the input rotation and outputs it from the output unit 34a. At this time, the output unit 34a rotates about the rotation axis RA. The second member 12 (in the illustrated example, the swing cylinder RA) of the industrial machine IM is connected to the output unit 34 a of the reduction gear unit 30. Therefore, the deceleration unit 30 decelerates the rotation speed of the input power, and transmits the increased torque to the second member 12. The second member 12 rotates relative to the first member 11 fixed to the case 25 about the rotation axis RA.

In the following, the direction parallel to the rotation axis RA is the axial direction DA, the direction orthogonal to the rotation axis RA is the radial direction DR, and the direction along the circumference centered on the rotation axis RA is the circumferential direction DC. The circumferential direction DC is orthogonal to the radial direction DR.

The speed reducer 30 can be typically configured as a planetary gear speed reducer or an eccentric oscillating speed reducer, but the specific configuration of the speed reducer 30 is not particularly limited. Therefore, the reduction gear unit 30 may be configured by a reduction gear structure in which the planetary gear reduction gear unit and the eccentric oscillation type reduction gear unit are combined, or the reduction gear unit 30 may be configured by a reduction gear structure of any other method.

In the illustrated example, the speed reducer 30 has an eccentric swing type mechanism. The illustrated deceleration unit 30 includes a shaft member 32 to which the rotation from the drive unit 50 is transmitted, a holding unit 34 that rotatably supports the shaft member 32, and a swinging motion that is rotatably supported by the holding unit 34. And a dynamic gear 36. The shaft member 32 is rotatable about an axis parallel to the axial direction DA. The shaft member 32 has an input gear 32a on one side S1 in the axial direction DA. The rotation from the drive unit 50 is transmitted to the input gear 32a.

The holder 34 functions as a so-called carrier. In the illustrated example, the holding portion 34 rotatably supports the three shaft members 32 at positions spaced apart in the circumferential direction DC at equal intervals (see FIG. 2 ). Each shaft member 32 has a cylindrical eccentric body (not shown), and constitutes a so-called crank shaft. The eccentric body is arranged eccentrically from the rotation axis of the shaft member 32. The swing gear 36 has a hole (not shown) for accommodating the eccentric body.

The swing gear 36 is driven by the eccentric body when the shaft member 32 rotates, and swings eccentrically with respect to the holding portion 34. In other words, the oscillating gear 36 is driven by the eccentric body when the shaft member 32 rotates, and translates along a circular locus about the rotation axis RA. The outer teeth of the rocking gear 36 mesh with the inner teeth provided on the inner peripheral surface of the case 25. The number of external teeth of the oscillating gear 36 is different from the number of internal teeth of the case 25. As a result, the holding portion 34 that supports the swing gear 36 rotates relative to the case 25 about the rotation axis RA as the shaft member 32 rotates. That is, in the illustrated example, the holding unit 34 configured as a carrier constitutes the output unit 34a of the speed reduction unit 30.

It should be noted that each shaft member 32 is provided with two eccentric bodies that are arranged 180 degrees out of phase with each other, in other words, two eccentric bodies that are eccentric in a direction opposite to the axis of rotation of the shaft member 32. The holding portion 34 holds two swing gears 36. The two rocking gears 36 are arranged with their phases shifted by 180°.

In the illustrated example, the holding portion 34 has holes 34 b provided corresponding to the respective shaft members 32. In the illustrated example, the holding portion 34 is provided with a pair of holes 34 b corresponding to each shaft member 32. As shown in FIG. 3, a cap 38 is provided in the hole 34b on the other side S2 in the axial direction DA. The hole 34b is closed by the cap 38 from the other side S2 in the axial direction DA.

Note that, as described above, the illustrated configuration of the speed reduction unit 30 is merely an example. For example, the speed reducer 30 may have a planetary gear type mechanism. The planetary gear type reduction unit 30 has a planetary gear as an input gear to which the rotation from the drive unit 50 is transmitted, and a holding unit (carrier) that rotatably supports the planetary gear. In this example, the holding unit (carrier) 34 may constitute the output unit of the speed reduction unit 30.

As shown in FIG. 1, the holding portion 34 that forms the output portion 34a of the reduction gear portion 30 is connected to the second member 12 of the industrial machine IM via the bolt B2. In the illustrated example, the bolt B2 penetrating the through hole (not shown) of the second member 12 meshes with the bolt hole 34c formed in the holding portion 34, so that the speed reducing portion 30 and the second member 12 are separated from each other. It is concluded. A screw that meshes with the screw of the bolt B2 is formed in the bolt hole 34c.

The second member 12 faces the holding portion 34 from the other side S2 in the axial direction DA. In the example shown in FIG. 3, the holding portion 34 is provided with a large number of bolt holes 34c, more specifically, 12 bolt holes 34c. Particularly in the illustrated example, the bolt holes 34c provided in the holding portion 34 are arranged rotationally symmetrically. In the illustrated example, a plurality of bolt holes 34c (four bolt holes 34c in the illustrated example) are equally spaced in the circumferential direction DC between two shaft members 32 (caps 38) adjacent to each other in the circumferential direction DC. It is provided to open. Then, in the illustrated example, the arrangement of the bolt holes 34c is three-fold symmetrical on the other side surface of the holding portion 34 in the axial direction DA.

In addition, as shown in FIG. 1, the speed reducer 20 further includes a tubular member 31 penetrating the center of the speed reducer 30. The tubular member 31 is fixed to the holding portion 34 with a bolt B3. The tubular member 31 rotates relative to the first member 11 together with the holding member 34 of the speed reducing unit 30 and the second member 12 fixed to the speed reducing unit 30. The tubular member 31 is arranged such that its central axis is located on the rotation axis RA.

The case 25 is formed in a tubular shape. The case 25 at least partially houses the speed reducing unit 30. The illustrated case 25 is formed as a cylindrical member. As described above, the inner teeth (not shown) extending in the axial direction DA are provided on the inner peripheral surface of the case 25. The internal teeth mesh with the external teeth of the swing gear 36. The case 25 rotatably holds the holding portion 34 of the speed reducer 30 via a bearing (not shown).

On the other hand, the outer peripheral surface of the case 25 is provided with an annular flange 26 that projects outward in the radial direction DR. The flange 26 is provided with a large number of through holes 26a arranged in the circumferential direction DC at equal intervals, 16 through holes 26a in the illustrated example. The case 25 is fixed to the first member 11 by using the bolt B1 that has passed through the through hole 26a. More specifically, the nut is engaged with the bolt B1 that has passed through the through hole 26a of the flange 26 and the through hole of the first member 11, whereby the case 25 and the first member 11 are fastened. However, the case is not limited to this example, and the bolt B1 that has passed through the through hole formed in one of the flange 26 and the first member 11 meshes with the screw hole formed in the other of the flange 26 and the first member 11 25 and the first member 11 may be fastened.

The outside in the radial direction DR is the side away from the rotation axis RA in the radial direction DR. Further, the inner side in the radial direction DR is a side closer to the rotation axis RA in the circumferential direction DC.

By the way, in the present embodiment, the speed reducer 20 further includes a center gear 40 that inputs rotation to the speed reducer 30, and an intermediate gear 45 that meshes with the center gear 40. The center gear 40 is arranged on the opposite side of the speed reducer 30 from the second member 12 side. That is, the center gear 40 is arranged closer to the first member 11 than the speed reducer 30. Furthermore, in other words, the center gear 40 is arranged on the one side S1 in the axial direction DA with respect to the reduction gear unit 30. Then, the center gear 40 meshes with the input gear 32a from the one side S1 in the axial direction DA to the speed reduction unit 30. Therefore, the center gear 40 inputs the rotation from the one side S1 in the axial direction DA to the speed reduction unit 30.

The center gear 40 is formed as a cylindrical member. The center gear 40 is arranged such that its center axis is located on the rotation axis RA. The center gear 40 is rotatably held by the reduction gear unit 30 via a bearing 48A, and is also rotatably held by the first member 11 via a bearing 48B. The center gear 40 is rotatable about the rotation axis RA. The tubular member 31 penetrates the center gear 40. The center gear 40 has external teeth 41 provided on the outer peripheral surface thereof. The plurality of outer teeth 41 are arranged in the circumferential direction DC. Each external tooth 41 extends in the axial direction DA. As shown in FIG. 2, the input gears 32a of the three shaft members 32 included in the speed reducer 30 mesh with the outer teeth 41 of the center gear 40 from the outside in the radial direction DR, respectively.

Similar to the center gear 40, the intermediate gear 45 is arranged on the opposite side of the speed reducer 30 from the second member 12 side. That is, the intermediate gear 45 is arranged closer to the first member 11 than the speed reducer 30. In other words, the intermediate gear 45 is arranged on the one side S1 in the axial direction DA with respect to the speed reducer 30 and, in particular, with respect to the input gear 32a of the shaft member 32. The intermediate gear 45 meshes with the center gear 40 at a position on the one side S1 in the axial direction DA with respect to the reduction gear unit 30. As shown in FIG. 1, the holding shaft member 49 is fixed to the first member 11. The intermediate gear 45 is rotatably held by the holding shaft member 49 via a bearing 48C. The intermediate gear 45 is rotatable about an axis parallel to the axial direction DA. Further, as shown in FIG. 2, it is located inside the outer edge of the holding portion (carrier) 34 in the radial direction DR.

Note that, as shown in FIG. 1, the input gear 32a of the reduction gear unit 30 meshes with a portion of the outer teeth 41 of the center gear 40 that is the other side S2 in the axial direction DA. On the other hand, the intermediate gear 45 is arranged on the one side S1 of the input gear 32a in the axial direction DA. The intermediate gear 45 meshes with a portion of the outer teeth 41 of the center gear 40 that is one side S1 in the axial direction DA. However, of the outer teeth 41 of the center gear 40, a portion that meshes with the center gear 40 and a portion that meshes with the intermediate gear 45 are integrally formed. Further, of the outer teeth 41 of the center gear 40, the portion that meshes with the center gear 40 and the portion that meshes with the intermediate gear 45 have the same shape in a cross section orthogonal to the axial direction DA.

Next, the drive unit 50 that constitutes the drive device DD together with the speed reducer 20 will be described. As shown in FIG. 1, the driving unit 50 includes a motor 52 that serves as a driving force source and an output shaft member 54 that serves as an output unit of rotational power. The motor 52 is fixed to the first member 11. That is, the motor 52 is stationary with respect to the first member 11 like the case 25 of the speed reducer 20. On the other hand, the output shaft member 54 is rotatably held by the first member 11 via the bearing 48D. The rotation axis of the output shaft member 54 is parallel to the axial direction DA. As shown in FIG. 1, the output shaft member 54 has an output gear 54 a having external teeth that mesh with the intermediate gear 45. As shown in FIG. 2, the output gear 54a of the drive unit 50 that meshes with the intermediate gear 45 is located inside the outer edge of the holding unit (carrier) 34 in the radial direction DR. Further, the output shaft member 54 of the drive unit 50 is located inside the outer edge of the holding unit (carrier) 34 in the radial direction DR.

However, the output gear 54a and the output shaft member 54 of the drive unit 50 are arranged so as to be displaced from the tubular member 31 (in particular, the hollow portion of the tubular member 31) in the radial direction DR. In other words, the output gear 54a and the output shaft member 54 of the drive unit 50 are arranged at positions that do not overlap the tubular member 31 (particularly the hollow portion of the tubular member 31) when observed from the one side S1 in the axial direction DA. ing. Therefore, the relative rotation of the first member 11 and the second member 12 can be communicated with each other via the tubular member 31. For example, wiring or the like can be drawn between the first member 11 and the second member 12.

The speed reducer 20 described above has the above-described cap 38 as a configuration for preventing leakage of lubricating oil. As shown in FIG. 3, the cap 38 closes the through hole 34b of the holding portion 34 provided to support the shaft member 32 from the other side S2 in the axial direction DA. The speed reducer 20 has a main seal member 46, a first annular seal member 47A, and a second annular seal member 47B as other configurations for preventing the leakage of lubricating oil. As shown in FIG. 1, the main sealing material 46 is held by the first member 11 and seals between the first member 11 and the tubular member 31. As shown in FIG. 2, the first annular sealing material 47A seals between the case 25 and the holding portion (carrier) 34 on one side S1 in the axial direction DA. As shown in FIG. 3, the second annular sealing material 47B seals between the case 25 and the holding portion (carrier) 34 on the other side S2 in the axial direction DA.

The first member 11 (base RB in the illustrated example) and the second member 12 (revolving cylinder RA in the illustrated example) are fixed to the speed reducer 20 having the above configuration. The first member 11 holding the drive unit 50 and the second member 12 are located apart from each other in the axial direction DA. The first member 11 is located on one side S1 in the axial direction DA, and the second member 12 is located on the other side S2 in the axial direction DA. That is, the speed reducer 20 is located between the first member 11 and the second member 12 in the axial direction DA.

By the way, as described in the background art section, in the conventional structure disclosed in Patent Document 1, the member (second member) fixed to the carrier of the industrial robot holds the drive unit. Therefore, on the side of the member fixed to the carrier, a part of the region along the circumferential direction of the carrier faces the drive portion in the axial direction. Further, in this conventional structure, the member fixed to the carrier is arranged on the same side of the carrier as the cylindrical gear and the idle gear. Therefore, on the side of the member holding the drive unit, a partial region of the carrier along the circumferential direction faces the idle gear and the motor in the axial direction. Therefore, the arrangement of the plurality of fixing bolts for fixing the member holding the drive unit is restricted by the drive unit, the idle gear, and the motor, and loses symmetry and becomes discontinuous. If the arrangement of the fixing bolts loses symmetry, a large force may be applied to the reducer during operation. When a large force is applied to the speed reducer, lubricating oil may leak from the speed reducer and further damage such as fretting may occur in the speed reducer.

On the other hand, in the above-described present embodiment, the first member 11 holding the drive unit 50 is fixed to the flange 26 protruding outward from the case 25 of the speed reducer 20 in the radial direction DR via the bolt B1. Then, as shown in FIGS. 2 and 3, the plurality of bolts B1 for connecting the first member 11 and the case 25 are arranged at rotationally symmetrical positions. Furthermore, the plurality of bolts B1 are arranged at equal intervals in the circumferential direction DC. Therefore, the first member 11 can be stably and firmly fixed to the case 25 of the speed reducer 20.

The second member 12 fixed to the holding portion (carrier) 34 does not hold the driving portion 50. The center gear 40, the intermediate gear 45, and the drive unit 50 are not arranged on the other side S2 of the speed reduction unit 30 in which the second member 12 is located in the axial direction DA. That is, the center gear 40, the intermediate gear 45, and the drive unit 50 are not arranged at a position facing the holding portion (carrier) 34 from the other side S2 in the axial direction DA. Therefore, the bolts B2 for fixing the second member 12 to the holding portion (carrier) 34 can be evenly dispersed to some extent. Therefore, the second member 12 can be stably and firmly fixed to the holding portion 34 that forms the output portion 34a of the speed reducing portion 30. As a result, it is possible to effectively eliminate the conventional problem that the lubricating oil leaks from the speed reducer 20 and the speed reducer 20 is damaged such as fretting.

In the embodiment described above, the rotation mechanism RM of the industrial machine includes the first member 11 of the industrial machine IM, the case 25 fixed to the first member 11, and the rotation input held by the case 25 to reduce the rotation input. The output part 34a for outputting the output, the second member 12 of the industrial machine fixed to the output part 34a, the center gear 40 arranged on the first member 11 side and inputting the rotation to the speed reducing part 30, and the center gear 40 meshes with each other. It also has an intermediate gear 45 that meshes with the output gear 54a of the drive unit 50 and that is arranged on the first member 11 side. In other words, the rotation mechanism RM decelerates the rotation of the first member 11 of the industrial machine, the case 25 fixed to the first member 11, the rotation held by the case 25 and input to the input gear 32a. The speed reducing unit 30 that outputs from the output unit 34a, the second member 12 that is fixed to the output unit 34a of the speed reducing unit 30, and the center that is disposed on the side opposite to the second member 12 side of the speed reducing unit 30 and that meshes with the input gear 32a. It has a gear 40 and an intermediate gear 45 that meshes with the center gear 40 and receives rotation from the drive unit 50. According to the present embodiment as described above, the center gear 40 and the intermediate gear 45 are located on the opposite side of the reduction gear unit 30 with respect to the second member 12 of the industrial machine fixed to the output unit 34a of the reduction gear unit 30. is doing. Therefore, it is possible to effectively avoid that the arrangement of the fixing bolt B2 for fixing the second member 12 to the output portion 34a is restricted by the center gear 40 and the intermediate gear 45 that meshes with the center gear 40. As a result, the second member 12 can be stably fixed to the output portion 34a of the speed reducer 30.

In a specific example of the above-described embodiment, the intermediate gear 45 is arranged so as to be displaced from the input gear 32a of the reduction gear unit 30 in the axial direction DA. With such an arrangement, it is possible to stably prevent the input gear 32a of the reduction gear unit 30 from coming into contact with the intermediate gear 45 as the reduction gear unit 30 rotates with respect to the first member 11. Particularly, in the illustrated example, it is possible to stably prevent the input gear 32 a of the shaft member 32 from coming into contact with the intermediate gear 45 as the holding portion 34 holding the shaft member 32 rotates with respect to the first member 11. be able to. In addition, it is possible to improve the degree of freedom of the arrangement positions of the intermediate gear 45 and the drive unit 50 in the circumferential direction DC.

In one specific example of the above-described embodiment, the center gear 40 is a tubular member. Since the intermediate gear 45 is provided, the size of the center gear 40 in the radial direction DR can be reduced. This makes it possible to reduce the size and weight of the rotation mechanism RM and reduce the cost. Further, with a simple configuration, it becomes possible to dispose the input gear 32a of the reduction gear unit 30 and the intermediate gear 45 while being shifted in the axial direction DA.

In one specific example of the embodiment described above, the reduction gear unit 30 includes a rotatable shaft member 32 including an input gear 32a, a holding unit (carrier) 34 having a hole 34b into which the shaft member 32 is inserted, and a hole. A cap 38 that closes 34b from the second member 12 side. The input gear 32 a meshes with the center gear 40 on the side of the speed reduction unit 30 opposite to the second member 12 side. Therefore, the hole 34b of the holding portion 34 that accommodates the shaft member 32 can be closed from the second member 12 side by the cap 38. Thereby, the leakage of the lubricating oil from between the second member 12 and the speed reducing portion 30 can be effectively prevented.

In a specific example of the above-described embodiment, the rotation mechanism RM has a plurality of bolts B2 that are arranged at rotationally symmetrical positions and that fix the second member 12 to the speed reduction unit 30. Therefore, the second member 12 can be stably fixed to the speed reducer 30. Further, it is possible to effectively prevent deformation of the speed reducing portion 30 during the operation of the second member 12, and thus it is possible to effectively prevent leakage of lubricating oil and fretting.

In a specific example of the above-described embodiment, the intermediate gear 45 is located inside the outer edge of the holding portion (carrier) 34 in the radial direction DR. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the first member 11 to the case 25 can be effectively relaxed. For example, the bolts B1 for fixing the first member 11 to the case 25 can be arranged at rotationally symmetrical positions. Thereby, the first member 11 can be stably fixed to the case 25.

In one specific example of the embodiment described above, the output gear 54a of the drive unit 50 that meshes with the intermediate gear 45 is located inside the outer edge of the holding unit (carrier) 34 in the radial direction DR. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the first member 11 to the case 25 can be effectively relaxed. For example, the bolts B1 for fixing the first member 11 to the case 25 can be arranged at rotationally symmetrical positions. Thereby, the first member 11 can be stably fixed to the case 25.

In one specific example of the above-described embodiment, the portion of the first member 11 fixed to the case 25 is closer to the second member 12 (the other side S2) than the input gear 32a of the reduction unit 30 in the axial direction DA. Is located in. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the first member 11 to the case 25 can be effectively relaxed. For example, the bolts B1 for fixing the first member 11 to the case 25 can be arranged at rotationally symmetrical positions. Thereby, the first member 11 can be stably fixed to the case 25.

In a specific example of the embodiment described above, the portion of the first member 11 fixed to the case 25 is located closer to the second member 12 side (the other side S2) than the intermediate gear 45 in the axial direction DA. There is. According to such a specific example, the restriction on the arrangement of the bolt B1 for fixing the first member 11 to the case 25 can be effectively relaxed. For example, the bolts B1 for fixing the first member 11 to the case 25 can be arranged at rotationally symmetrical positions. Thereby, the first member 11 can be stably fixed to the case 25.

In the embodiment described above, the speed reducer 20 has the case 25 fixed to the first member 11 of the industrial machine, and the rotation input held by the case 25 to reduce the rotational input and output the same to the second member 12 of the industrial machine. And a center gear 40 arranged on the first member 11 side for inputting rotation to the reduction member 30, and an intermediate gear 45 meshed with the center gear 40 and arranged on the first member 11 side. There is. In other words, the speed reducer 20 reduces the rotation of the case 25 fixed to the first member 11 of the industrial machine and the rotation of the input gear 32a held by the case 25 to reduce the rotation of the second member of the industrial machine. 12, a center gear 40 that is arranged on the opposite side of the second member 12 side of the speed reduction unit 30 and that meshes with the input gear 32a, and an intermediate that receives rotation from the drive unit 50 that meshes with the center gear 40. And a gear 45. According to the present embodiment as described above, the center gear 40 and the intermediate gear 45 are located on the opposite side of the reduction gear unit 30 with respect to the second member 12 of the industrial machine fixed to the output unit 34a of the reduction gear unit 30. is doing. Therefore, the arrangement of the fixing bolt B2 for fixing the second member 12 to the output portion 34a can be effectively prevented from being restricted by the center gear 40 and the intermediate gear 45 that meshes with the center gear 40. As a result, the second member 12 can be stably fixed to the output portion 34a of the speed reducer 30.

Although one embodiment has been described with reference to a specific example, the specific example is not intended to limit the embodiment. The above-described embodiment can be implemented in various other specific examples, and various omissions, replacements, changes, and additions can be made without departing from the spirit of the invention. For example, the example in which the speed reducer 20 is an eccentric rocking type speed reducer is shown, but the speed reducer 20 is not limited to this, and may be a cyclone type speed reducer or a planetary gear type speed reducer.

IM industrial machine DD drive device RM rotation mechanism 11 first member 12 second member 20 speed reducer 25 case 30 speed reduction part 32 shaft member 32a input gear 34 holding part 34a output part 34b hole 34c bolt hole 38 cap 40 center gear 45 intermediate gear 50 drive unit 54a output gear

Claims (10)

A first member of an industrial machine,
A case fixed to the first member,
An output unit that is held in the case and decelerates and outputs a rotation input,
A second member of the industrial machine fixed to the output section;
A center gear that is arranged on the side of the first member and that inputs rotation to the speed reducer;
A rotation mechanism for an industrial machine, comprising: an intermediate gear that meshes with the center gear and meshes with an output gear of a drive unit and that is disposed on the first member side. A first member of an industrial machine,
A case fixed to the first member,
A reduction unit that reduces the rotation of the input gear that is held in the case and outputs the rotation from the output unit;
A second member fixed to the output portion of the speed reducer;
A center gear that is arranged on the opposite side of the reduction member from the second member side and that meshes with the input gear;
A rotation mechanism for an industrial machine, comprising: the center gear; and an intermediate gear that receives rotation from a meshing drive unit. The rotation mechanism for an industrial machine according to claim 1, wherein the intermediate gear is arranged so as to be axially displaced from the reduction unit. The rotation mechanism for an industrial machine according to claim 1, wherein the center gear is a tubular member. The reduction unit includes a rotatable shaft member including the input gear, a holding unit having a through hole into which the shaft member is inserted, and a cap that closes the through hole from the second member side. The rotation mechanism of the industrial machine according to claim 2. The rotation mechanism for an industrial machine according to claim 1, further comprising a plurality of bolts arranged at rotationally symmetrical positions to fix the second member to the speed reducer. An industrial machine comprising the rotating mechanism according to claim 1. In reduction gears used in industrial machines,
A case fixed to the first member of the industrial machine;
A reduction unit that is held in the case and reduces the rotation input and outputs it to the second member of the industrial machine;
A center gear that is arranged on the first member side and that inputs rotation to the speed reducer;
A reduction gear, comprising: an intermediate gear that meshes with the center gear and that is arranged on the first member side. A case fixed to the first member of the industrial machine,
A reduction unit that is held in the case, reduces the rotation input to the input gear, and outputs the reduced rotation to the second member of the industrial machine;
A center gear that is arranged on the opposite side of the reduction member from the second member side and that meshes with the input gear;
A reduction gear, comprising: an intermediate gear that meshes with the center gear and receives rotation from a drive unit. A reduction gear according to claim 8 or 9,
A drive unit that inputs rotation to the speed reducer.