JP2022021593A - Reduction gear - Google Patents

Abstract

To provide a reduction gear that is compact and has high accuracy.SOLUTION: A reduction gear includes a drive part, an input shaft, a first cam, a first output table, an intermediate shaft, a barrel cam and a second output table. The reduction gear has a rotation center of the second output table that is positioned on a drive part side when the drive part side represents a side where the drive part is positioned in a first direction and a non-drive part side represents a side where the drive part is not positioned on the basis of a position of the intermediate shaft in the first direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to a speed reducer.

A speed reducer that decelerates the rotation of a motor stepwise (two steps) and outputs a rotation speed smaller than the rotation speed of the motor is well known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2008-149334

In recent years, there has been an increasing demand for the above-mentioned speed reducers to be compact and to improve accuracy.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a compact and highly accurate speed reducer.

The main invention for achieving the above object is a drive unit, an input shaft that is driven and rotated by the drive unit along a first direction, and a third unit that is connected to the input shaft and rotates with the rotation of the input shaft. A first output table comprising one cam and a plurality of first cam followers that engage the first cam and rotated by the rotation of the first cam, along a second direction intersecting the first direction. Further, an intermediate shaft connected to the first output table and rotating with the rotation of the first output table, a barrel cam connected to the intermediate shaft and rotating with the rotation of the intermediate shaft, and the barrel cam. A second output table having a plurality of second cam followers to be engaged and rotated by the rotation of the barrel cam, wherein the normal direction of the second output table is both the first direction and the second direction. A speed reducer including a second output table along an intersecting third direction, the side on which the drive unit is located in the first direction with reference to the position of the intermediate shaft in the first direction is the drive unit. The speed reducer is characterized in that the rotation center of the second output table is located on the drive unit side when the side on which the drive unit is not located is the non-drive unit side.

Other features of the present invention will be clarified by the description in the present specification and the accompanying drawings.

According to the present invention, it is possible to provide a compact and highly accurate speed reducer.

It is the top view and the side view of the speed reducer 1 which concerns on this embodiment. It is a top view of the roller gear cam device 40 which concerns on a conventional example. It is a speed reducer 50 according to a conventional example using a barrel cam as a second cam and a cyclone speed reducer 51 as an example of a coaxial speed reduction mechanism as an input side speed reduction mechanism. It is the top view and the side view of the rotary positioning apparatus 60 which concerns on this embodiment. It is a figure which installed the rotary positioning apparatus 60 which concerns on this embodiment on a machine tool table 61. It is the top view and the side view of the rotary biaxial device (tilt table 70) for a machine tool which concerns on this embodiment. It is the top view and the side view of the speed reducer 100 which concerns on 2nd Embodiment. It is the top view and the side view of the speed reducer 200 which concerns on 3rd Embodiment. It is the top view and the side view of the welding positioner 80 which concerns on 3rd Embodiment. This is an example in which the welding positioner 80 according to the third embodiment is used for pipe welding.

The description of this specification and the accompanying drawings will clarify at least the following matters.

The drive unit, the input shaft driven and rotated by the drive unit along the first direction, the first cam connected to the input shaft and rotated with the rotation of the input shaft, and the first cam are engaged with each other. A first output table that is provided with a plurality of first cam followers and is rotated by the rotation of the first cam, and is connected to the first output table along a second direction intersecting with the first direction. It is provided with an intermediate shaft that rotates with the rotation of the first output table, a barrel cam that is connected to the intermediate shaft and rotates with the rotation of the intermediate shaft, and a plurality of second cam followers that engage with the barrel cam. A second output table that rotates as the barrel cam rotates, and is a second output table along a third direction in which the normal direction of the second output table intersects both the first direction and the second direction. With respect to the position of the intermediate shaft in the first direction, the side where the drive unit is located is the drive unit side, and the side where the drive unit is not located is not the side. A speed reducer characterized in that the center of rotation of the second output table is located on the drive unit side when the drive unit side is used.

According to such a speed reducer, it is possible to provide a compact and highly accurate speed reducer.

In such a speed reducer, it is desirable that the first cam is a barrel cam.

According to such a speed reducer, for example, it is possible to increase the diameter of each cam follower, and it is possible to increase the output torque capacity.

In such a speed reducer, it is desirable that the first cam is a roller gear cam.

According to such a speed reducer, it is possible to provide a speed reducer corresponding to high-speed rotation.

In such a speed reducer, it is desirable that the second output table has a hollow portion.

According to such a speed reducer, wiring and piping can be performed using the hollow portion.

Such a speed reducer has an output shaft that is connected to the second output table along the third direction and rotates with the rotation of the second output table, and the output shaft is a hollow portion. It is desirable to have.

According to such a speed reducer, wiring and piping can be performed using the hollow portion.

In such a speed reducer, it is desirable that the first output table is provided at the end of the intermediate shaft in the second direction.

According to such a speed reducer, the hollow portion can be provided larger.

In such a speed reducer, the drive unit, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. The housing has a housing for accommodating the housing, the housing has a rectangular shape when the housing is viewed from the third direction, and the rectangular housing is divided into three equal parts in the second direction. When the two regions are the first end region, the first central region, and the second end region, the drive unit, the input shaft, and the first cam may all fit within the first end region. desirable.

According to such a speed reducer, the hollow portion can be provided larger.

In such a speed reducer, the drive unit, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. The housing has a housing for accommodating the housing, the housing has a rectangular shape when the housing is viewed from the third direction, and the rectangular housing is divided into three equal parts in the first direction. When one region is a third end region, a second central region, and a fourth end region, the first output table, the intermediate shaft, and the barrel cam may all fit within the third end region. desirable.

According to such a speed reducer, the hollow portion can be provided larger.

In such a speed reducer, both the first output table and the second output table have a circular shape, and the outer diameter of the first output table is smaller than the outer diameter of the second output table. Is desirable.

According to such a speed reducer, it is possible to provide a compact speed reducer as compared with the case where the outer diameter of the first output table is large.

In such a speed reducer, it is desirable that the second output table is located inside the first cam in the second direction.

According to such a speed reducer, it is possible to provide a compact speed reducer as compared with the case where the speed reducer is located on the outside.

In such a speed reducer, it is desirable that the second output table is located outside the first cam in the second direction.

According to such a speed reducer, for example, it is possible to increase the diameter of each cam follower, and it is possible to increase the output torque capacity.

=== About reducer 1 ===
The speed reducer 1 according to the present embodiment will be described with reference to FIG. 1A and 1B are a top view and a side view of the speed reducer 1 according to the present embodiment, the upper view is a top view, and the lower view is a side view. In the drawings according to the present embodiment, members may be omitted as appropriate in order to explain the present invention in an easy-to-understand manner.

Further, the speed reducer 1 according to the present embodiment has an X direction (corresponding to the first direction), a Y direction (corresponding to the second direction), and a Z direction (corresponding to the third direction). The Y direction intersects each other, and both the X direction and the Y direction intersect with the Z direction. The left side (right side) of the paper surface is called the left (right) with the horizontal direction of the paper surface as the X direction in the top view of FIG. 1, and the upper side (lower side) of the paper surface is the back (front) with the vertical direction of the paper surface as the Y direction. Called. Further, the vertical direction of the paper surface in the side view of FIG. 1 is referred to as the Z direction (vertical direction), and the upper side (lower side) of the paper surface is referred to as the upper (lower side).

The speed reducer 1 has a motor 10 (corresponding to a drive unit) as a power source, and is a device that rotates the output shaft 32 at a rotation speed lower than the rotation speed of the motor 10 (decrease in the rotation speed is the output torque. Will increase). As a mechanism for decelerating the rotation speed of the motor 10, the speed reducer 1 uses a two-stage cam mechanism of a first cam (input side deceleration mechanism) and a second cam (output side deceleration mechanism).

The speed reducer 1 has a housing 3 having a rectangular shape in a plan view (a housing 3 having a rectangular shape when viewed from the vertical direction), and inside the housing 3, a motor 10, an input shaft 12, and a first cam are provided. 14, a first output table 20, an intermediate shaft 22, a barrel cam 24 (second cam), a second output table 30, and an output shaft 32 are accommodated.

The motor 10 is provided so that the rotation shaft is along the X direction, and is connected to the input shaft 12 by a coupling 16.

The input shaft 12 is provided along the X direction and is rotatably supported by the input bearing 18. The right side of the input shaft 12 extends further to the right than the input bearing 18, and the extending portion is connected to the rotation shaft of the motor 10 by the coupling 16. That is, the input shaft 12 is driven by the motor 10 and rotates along the X direction.

Further, the input shaft 12 is provided at both left and right ends of the first cam 14 in the X direction, and the first cam 14 and the input shaft 12 rotate integrally. That is, the first cam 14 is connected to the input shaft 12 and rotates with the rotation of the input shaft 12.

Further, the first cam 14 is a barrel cam and has a first cam groove 14a, and the spiral first cam groove 14a is provided along the direction of the input shaft 12. Then, by engaging the first cam follower 20a of the first output table 20, which will be described later, with the first cam groove 14a, the rotation of the first cam 14 is transmitted to the first output table 20. The input shaft 12 and the first cam 14 may be integrated by joining those processed into separate bodies, or may be manufactured by processing a cam groove into the integrally manufactured shaft-shaped one. May be good.

The first output table 20 has a circular shape, includes a plurality of first cam followers 20a that engage with the first cam 14 (first cam groove 14a), and first around the input shaft 22 along the X direction. As the cam 14 rotates, it rotates around the intermediate axis 22 along the Y direction. That is, the directions of the rotation axes are orthogonal to each other on the input side (first cam 14) and the output side (first output table 20) (change from the X direction to the Y direction).

The first cam follower 20a is a portion that engages with the first cam groove 14a, is a cylindrical rotating body that can rotate, and is provided so that the rotation axis direction is along the Y direction. A plurality of the first output tables 20 are provided at equal intervals along a circle centered on the center of rotation. In the present embodiment, 12 first cam followers 20a are provided at equal intervals (every 30 degrees).

Further, the first cam follower 20a is engaged with the first cam groove 14a of the first cam 14 on the front side of the first output table 20, and the engaged first cam follower 20a is the first cam groove 14a. Guided by, it rotates and moves.

Specifically, when the first cam 14 rotates counterclockwise when viewed from the right side, the engaged first cam follower 20a is guided by the spiral first cam groove 14a of the first output table 20. Move from right to left along the circumferential direction. That is, the first output table 20 rotates clockwise when viewed from the front side. That is, the first cam 14 rotates by engaging with the first cam follower 20a to rotate the first output table 20.

Then, in order to make the rotation of the first output table 20 highly accurate, that is, to realize a highly accurate output, the first cam follower 20a and the first cam groove 14a are prevented from causing backlash, displacement, rattling, and the like. (The engagement method for realizing the high-precision output of the cam mechanism is a known technique, so the description thereof is omitted here).

The intermediate shaft 22 is provided along the Y direction and is rotatably supported by the intermediate bearing 26. A first output table 20 is connected to the front side of the intermediate shaft 22 (the first output table 20 is provided at the end portion of the intermediate shaft 22 in the Y direction (the end portion on the front side in the present embodiment). The first output table 20 and the intermediate shaft 22 rotate integrally. That is, the intermediate shaft 22 is connected to the first output table 20 along the Y direction and rotates with the rotation of the first output table 20.

Further, the intermediate shaft 22 is provided at both ends on the front side and the back side of the barrel cam 24 (second cam) in the Y direction, and the barrel cam 24 and the intermediate shaft 22 rotate integrally. That is, the barrel cam 24 is connected to the intermediate shaft 22 and rotates with the rotation of the intermediate shaft 22.

The barrel cam 24 has a barrel cam groove 24a, and the spiral barrel cam groove 24a is provided along the direction of the intermediate shaft 22. Then, by engaging the second cam follower 30a of the second output table 30 with the barrel cam groove 24a, the rotation of the barrel cam 24 is transmitted to the second output table 30. The specific description will be the same as that of the first cam groove 14a and the first cam follower 20a described above, and will be omitted here.

The normal direction of the second output table 30 is along the Z direction which intersects both the X direction and the Y direction, and the second output table 30 is rotatably supported by the output table bearing 34. The second output table 30 includes a plurality of second cam followers 30a that engage with the barrel cam 24 (barrel cam groove 24a), and the barrel cam 24 rotates along the Y direction to rotate in the Z direction.

That is, the directions of the rotation axes are orthogonal to each other on the input side (barrel cam 24) and the output side (second output table 30) (change from the Y direction to the Z direction). Looking at the intermediate shaft 22 and the output shaft 32 described later from the direction of the rotation shaft (input shaft 12) of the motor 10 which is the power source, the directions of the rotation shafts are the X direction, the Y direction, and the Z direction. It changes while being orthogonal.

The second cam follower 30a is a portion that engages with the barrel cam groove 24a, is a cylindrical rotating body that can rotate, and is provided so that the rotation axis direction is along the Z direction. A plurality of the second output tables 30 are provided at equal intervals along a circle centered on the center of rotation. In the present embodiment, 16 second cam followers 30a are provided at equal intervals (every 22.5 degrees).

Further, the second output table 30 has a circular shape and has a hollow portion, and the outer diameter thereof is larger than the outer diameter of the first output table 20. That is, both the first output table 20 and the second output table 30 have a circular shape, and the outer diameter of the first output table 20 is smaller than the outer diameter of the second output table 30.

The output shaft 32 is connected to the second output table 30 along the Z direction and at the center (hollow portion) of the second output table 30, and rotates with the rotation of the second output table 30.

Further, the output shaft 32 may have no hollow portion in the center (solid shaft), but the output shaft 32 according to the present embodiment is a so-called hollow shaft having a hollow portion. That is, at the center of the output shaft 32, a circular space is provided that penetrates the output shaft 32 in the vertical direction.

Further, the output shaft 32 can be omitted. That is, in the speed reducer 1 of the present embodiment, the second output table 30 may be used as an output shaft (as a table type output shaft), and the output shaft 32 may not be provided.

<<< Arrangement of members inside the housing 3 >>>
Next, the arrangement (positional relationship) of the above-mentioned members inside the housing 3 will be described (the effect of such a positional relationship will be described in the section on the effectiveness of the speed reducer 1 described later).

First, the positional relationship between the rotation center Za of the second output table 30, the motor 10, and the intermediate shaft 22 will be described. Here, when the position of the intermediate shaft 22 in the X direction is used as a reference in the X direction, both the motor 10 and the rotation center Za are located on the right side in the X direction. In other words, the rotation center Za is located on the same side as the motor 10 in the X direction when the position of the intermediate shaft 22 in the X direction is used as a reference in the X direction. That is, when the side where the motor 10 is located is the drive unit side and the side where the motor 10 is not located is the non-drive unit side in the X direction with reference to the position of the intermediate shaft 22 in the X direction, the second output table 30 The rotation center Za is located on the drive unit side.

Next, the positions of the motor 10, the input shaft 12, and the first cam 14 inside the housing 3 will be described. Here, the housing 3 is divided into three equal parts in the Y direction, and the respective regions are referred to as a first end region SA1, a first central region MA1, and a second end region SA2. Then, the motor 10, the input shaft 12, and the first cam 14 are housed in the first end region SA1. That is, when the three regions when the rectangular housing 3 is divided into three equal parts in the Y direction are the first end region SA1, the first central region MA1, and the second end region SA2, the motor 10 and the input shaft 12, the first cam 14 all fits in the first end region SA1.

Then, the positions of the first output table 20, the intermediate shaft 22, and the barrel cam 24 inside the housing 3 will be described. Here, the housing 3 is divided into three equal parts in the X direction, and the respective regions are referred to as a third end region SA3, a second central region MA2, and a fourth end region SA4. Then, the first output table 20, the intermediate shaft 22, and the barrel cam 24 are housed in the third end region SA3. That is, when the three regions when the rectangular housing 3 is divided into three equal parts in the X direction are the third end region SA3, the second central region MA2, and the fourth end region SA4, the first output table 20 , The intermediate shaft 22 and the barrel cam 24 all fit within the third end region SA3.

<<< Effectiveness of reducer 1 >>>
As described above, the speed reducer 1 according to the present embodiment includes a motor 10, an input shaft 12 that is driven and rotated by the motor 10 along the X direction, and is connected to the input shaft 12 and rotates with the rotation of the input shaft 12. A first cam 14 is provided, and a plurality of first cam followers 20a that engage with the first cam 14 are provided, and a first output table 20 that rotates by rotating the first cam 14 and a first output table 20 that intersects the X direction Along the way, the intermediate shaft 22 connected to the first output table 20 and rotating with the rotation of the first output table 20, and the barrel cam 24 connected to the intermediate shaft 22 and rotating with the rotation of the intermediate shaft 22. The second output table 30 includes a plurality of second cam followers 30a that engage with the barrel cam 24 and is rotated by the rotation of the barrel cam 24, and the normal directions of the second output table 30 are the X direction and the Y direction. A speed reducer including a second output table 30 along the Z direction that intersects both of the above, and the side on which the motor 10 is located in the X direction is the drive unit side with reference to the position of the intermediate shaft 22 in the X direction. When the side where the drive unit is not located is the non-drive unit side, the rotation center Za of the second output table 30 is located on the drive unit side.

As an existing speed reducer that decelerates the rotation of the motor stepwise (two steps) and outputs the speed lower than the rotation speed of the motor, for example, Japanese Patent Application Laid-Open No. 2008-149334 (Patent Document 1). The described reducer is known.

In recent years, there has been an increasing demand for such reduction gears to be compact and to improve accuracy. However, in the reduction gear described in Patent Document 1, gears, belts, pulleys and the like are used, and it is said that the output accuracy is high. It's hard to say. In addition, although the position of the motor has been devised to make it compact, it cannot be said that the motor is sufficiently compact because it protrudes about half from the output table.

On the other hand, in the present embodiment, the two-stage deceleration mechanism is both a cam mechanism (the input side deceleration mechanism is the first cam, and the output side deceleration mechanism is the second cam). This makes it possible to make a speed reducer capable of high-precision output. Further, by using a barrel cam instead of a roller gear cam for the second cam, compactification is facilitated.

FIG. 2 is a top view of the roller gear cam device 40 according to the conventional example. When the roller gear cam 41 shown in FIG. 2 is used for the second cam, the second cam follower is provided radially on the side surface of the second output table, and the roller gear cam 41 is provided so as to engage with the horizontal outer side of the second cam follower. (In the arrangement shown in FIG. 1, the left side of the second output table 30). When the first cam is provided, the vertical direction of the first cam and the second output table are at the same level, so that the first cam must be provided on the outside in the horizontal direction of the second output table (arrangement in FIG. 1). Then, the front side of the second output table 30). In other words, the motor protrudes greatly from the second output table and the installation area becomes large, so it cannot be said that it is compact.

This is a coaxial deceleration mechanism in which the input side deceleration mechanism is replaced with the first cam and the input shaft and the output shaft are in the same direction (if the input shaft is along the X direction, the output shaft is also along the X direction. As described above, the cam mechanism is in the same state even when an orthogonal deceleration mechanism in which the input axis and the output axis are orthogonal to each other is used. FIG. 3 is a speed reducer 50 according to a conventional example in which a barrel cam is used as the second cam and a cyclone speed reducer 51, which is an example of a coaxial speed reduction mechanism, is used as the input side speed reduction mechanism. Looking at this, the motor 52 protrudes from the output table, and it cannot be said that this is also compact.

On the other hand, the second cam is a barrel cam 24, the input side deceleration mechanism is provided with the first cam 14 as a cam mechanism, and the side where the motor 10 is located in the X direction is set with reference to the position of the intermediate shaft 22 in the X direction. When the drive unit side and the side where the drive unit is not located are the non-drive unit side, the rotation center Za of the second output table 30 is positioned on the drive unit side, so that the motor is as shown in FIG. 10 can be substantially accommodated in the lower part of the second output table 30. That is, it is possible to provide a compact speed reducer 1 having a small installation area.

Further, by using the barrel cam instead of the roller gear cam as the second cam, the barrel cam is larger than the roller gear cam when the distance between the axes (the distance between the center of rotation of the output shaft and the center of rotation of the cam; the distance of D shown in FIG. 2) is the same. The outer diameter of the second output table can be increased.

Then, when the reduction ratio is the same, the cam follower mounting intervals can be increased, so that the individual cam follower diameters can be increased. For example, when the distance between the shafts is 80 mm and the reduction ratio is 1/16, the cam follower diameter of the roller gear cam is 14 mm and the cam follower diameter of the barrel cam is 20 mm. When compared in terms of output torque capacity, the barrel cam is 1.5 than the roller gear cam. It will be about twice as large. Further, when the same cam follower diameter is used, more cam followers can be attached to the barrel cam than to the roller gear cam, so that the number of indexing can be increased.

Next, a specific application example will be described. FIG. 4 is a modification of the speed reducer 1, and is a top view and a side view of the rotary positioning device 60 according to the present embodiment. FIG. 5 is a rotary positioning device 60 according to the present embodiment on the machine tool table 61. It is a figure which installed. In the above description, the output shaft 32 rotates together with the second output table 30, but in this rotation positioning device 60, the output shaft does not rotate together with the second output table (the output shaft is fixed). There is also. As shown in FIG. 5, since the rotary positioning device 60 has a substantially rectangular shape in the top view, it is a great merit that there is little interference with other parts such as the cover 62 during operation.

FIG. 6 is a modification of the speed reducer 1, and is a top view and a side view of a rotary biaxial device for machine tools (tilt table 70) according to the present embodiment. The tilt table 70 can be easily used as a 5-axis machine by installing it on the table of a 3-axis NC milling machine and controlling each axis by NC, and machining that could not be done by a general-purpose 3-axis machine, for example, multi-faceted It is possible to improve productivity by one-chucking processing and to process complicated three-dimensional shapes by simultaneous 5-axis processing, and it is possible to produce turbine blades, artificial joints for medical use, and the like.

In the tilt table 70, when the C-axis 72 is attached, a support shaft that supports the rotation center of the A-axis 71 is often attached to the tip of the C-axis 72 in consideration of the deflection of the shaft due to the weight. Since the product has high rigidity, a support shaft is not required. Then, it is easy to check the machining status, the interference when loading the work is suppressed, and the interference when the milling cutter is moved to the table is also suppressed.

Further, in the above embodiment, the second output table 30 has a hollow portion. Further, it has an output shaft 32 that is connected to the second output table 30 along the Z direction and rotates with the rotation of the second output table 30, and the output shaft 32 has a hollow portion.

Since the hollow portion of the output shaft 32 (second output table 30) can be used for wiring and piping, there is an increasing demand for a speed reducer having a hollow portion in recent years. Further, a large space is required in order to further expand the range of use of the hollow portion. In the case of a coaxial system reduction mechanism such as the cyclone reduction gear 51 mentioned above as an example, it is difficult to increase the hollow portion (increase the hollow shaft inner diameter ratio to the outer diameter), but the orthogonal system reduction mechanism (For example, in the case of the speed reducer 1), a large hollow portion can be relatively easily provided by devising the arrangement of members such as the first cam and the second cam. Hereinafter, the arrangement of the members in the speed reducer 1 and its effectiveness will be described.

First, the first output table 20 is provided at the end of the intermediate shaft 22 in the Y direction. Then, the hollow portion can be provided larger than the case where it is located at the center of the intermediate shaft 22.

Next, in order to accommodate the motor 10, the input shaft 12, the first cam 14, the first output table 20, the intermediate shaft 22, the barrel cam 24, the second output table 30, and the output shaft 32. The housing 3 has a rectangular shape when the housing 3 is viewed from the Z direction, and the three regions when the rectangular housing 3 is divided into three equal parts in the Y direction are the first end region SA1. When the first central region MA1 and the second end region SA2 are set, the motor 10, the input shaft 12, and the first cam 14 are all accommodated in the first end region SA1. Then, the hollow portion can be provided larger than the case where it does not fit in the first end region SA1.

Then, when the three regions when the rectangular housing 3 is divided into three equal parts in the X direction are the third end region SA3, the second central region MA2, and the fourth end region SA4, the first output table 20 is used. , The intermediate shaft 22 and the barrel cam 24 are all set to fit within the third end region SA3. Then, the hollow portion can be provided larger than the case where it does not fit in the third end region SA3.

Further, in the above embodiment, both the first output table 20 and the second output table 30 have a circular shape, and the outer diameter of the first output table 20 is smaller than the outer diameter of the second output table 30. I decided. Then, the speed reducer 1 can be provided more compact than the case where the outer diameter of the first output table 20 is large.

=== About the speed reducer 100 according to the second embodiment ===
Next, the speed reducer 100 according to the second embodiment will be described with reference to FIG. 7. 7 is a view corresponding to FIG. 1, and is a top view and a side view of the speed reducer 100 according to the second embodiment.

The major difference between the above embodiment (referred to as the first embodiment) and the second embodiment is the positional relationship between the first cam and the first output table (other differences accompany such differences). The size and length have been changed).

More specifically, in the speed reducer 1, the first output table 20 is located inside the first cam 14 in the Y direction, and in the speed reducer 100, the first output table is located in the Y direction. 120 is located outside the first cam 114.

In the speed reducer 1, it is possible to provide a compact speed reducer as compared with the case where the first output table 20 is located outside the first cam 14.

In the speed reducer 100, the first output table 120 can be made larger than the case where the first output table 120 is located inside the first cam 114 (the speed reducer 1 interferes with the second output table 30). As described above (as described in the comparison of barrel cams and roller gear cams), for example, individual cam follower diameters can be increased.

=== About the speed reducer 200 according to the third embodiment ===
Next, the speed reducer 200 according to the third embodiment will be described with reference to FIG. FIG. 8 is a view corresponding to FIG. 1, and is a top view and a side view of the speed reducer 200 according to the third embodiment.

The major difference between the first embodiment (reducer 1) and the third embodiment (reducer 200) is that the first cam is changed from a barrel cam to a roller gear cam (other differences are such. The size and length have been changed to accompany the differences).

In the speed reducer 1, since the first cam 14 is a barrel cam, as described above (as described in the comparison between the barrel cam and the roller gear cam), for example, the individual cam follower diameters can be increased.

In the speed reducer 200, since the first cam 214 is a roller gear cam, it is more suitable for high-speed rotation than a barrel cam (stability at high-speed rotation is good). That is, it is possible to provide a speed reducer 200 that supports high-speed rotation.

Next, a specific application example will be described. FIG. 9 is a modification of the speed reducer 200, and is a top view and a side view of the welding positioner 80 according to the third embodiment. FIG. 10 shows the welding positioner 80 according to the third embodiment used for pipe welding. This is an example. According to this welding positioner 80, the rotation of the motor can be accurately set as the final output, and it is possible to provide a precise positioning device with high rigidity. In particular, in recent years when laser processing technology has been steadily put into practical use, it is provided as a compact, high-precision, high-rigidity positioner not only for welding but also for precision positioning of laser processing machines, etc., or for precision operation. can do. As an example, in the case of work such as welding the pipe material 81 using a welding robot, the welding positioner 80 shown in FIG. 10 can be used to obtain a compact, high-precision, high-rigidity welding positioner 80.

=== Other embodiments ===
The above embodiment is for facilitating the understanding of the present invention, and is not for limiting the interpretation of the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes an equivalent thereof.

1 reducer, 3 housing, 10 motor (drive unit), 12 input shaft,
14 1st cam, 14a 1st cam groove, 16 coupling, 18 input bearing,
20 1st output table, 20a 1st cam follower, 22 intermediate axis,
24 barrel cam, 24a barrel cam groove, 26 intermediate bearing,
30 second output table, 30a second cam follower, 32 output shaft,
34 output table bearing, 40 roller gear cam device, 41 roller gear cam,
50 reducer, 51 cyclone reducer, 52 motor (drive unit),
60 rotary positioning device, 61 machine tool table, 62 cover,
70 tilt table, 71 A axis, 72 C axis,
80 Welding Positioner, 81 Pipe,
100 reducer, 103 housing, 110 motor (drive unit), 112 input shaft,
114 1st cam, 114a 1st cam groove, 116 coupling,
120 1st output table, 120a 1st cam follower,
122 Intermediate shaft, 200 reducer, 203 housing, 210 motor (drive unit),
212 Input shaft, 214 1st cam, 214a 1st cam groove, 216 coupling,
220 1st output table, 220a 1st cam follower,
222 Intermediate axis, Za rotation center, SA1 1st end region, SA2 2nd end region,
SA3 3rd end region, SA4 4th end region, MA1 1st central region,
MA2 2nd central area,

Claims (11)

The drive unit and
An input shaft driven and rotated by the drive unit along the first direction,
A first cam connected to the input shaft and rotating with the rotation of the input shaft,
A first output table having a plurality of first cam followers that engage with the first cam and rotating by rotating the first cam.
An intermediate shaft that is connected to the first output table and rotates along with the rotation of the first output table along the second direction that intersects with the first direction.
A barrel cam connected to the intermediate shaft and rotating with the rotation of the intermediate shaft,
A second output table having a plurality of second cam followers that engage with the barrel cam and rotating by rotating the barrel cam, wherein the normal directions of the second output table are the first direction and the second direction. A speed reducer comprising a second output table along a third direction that intersects both of the above.
When the side where the drive unit is located is the drive unit side and the side where the drive unit is not located is the non-drive unit side in the first direction with reference to the position of the intermediate shaft in the first direction, the first 2 A speed reducer characterized in that the center of rotation of the output table is located on the drive unit side. The speed reducer according to claim 1.
The first cam is a speed reducer characterized by being a barrel cam. The speed reducer according to claim 1.
The first cam is a speed reducer characterized by being a roller gear cam. The speed reducer according to any one of claims 1 to 3.
The second output table is a speed reducer characterized by having a hollow portion. The speed reducer according to claim 3.
It has an output shaft that is connected to the second output table along the third direction and rotates with the rotation of the second output table.
The output shaft is a speed reducer characterized by having a hollow portion. The speed reducer according to claim 4 or 5.
The first output table is a speed reducer provided at an end portion of the intermediate shaft in the second direction. The speed reducer according to any one of claims 4 to 6.
A housing for accommodating the drive unit, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. Have,
When the housing is viewed from the third direction, the housing has a rectangular shape and has a rectangular shape.
When the rectangular housing is divided into three equal parts in the second direction and the three regions are the first end region, the first central region, and the second end region, the drive unit and the input shaft are used. , The first cam is a speed reducer characterized in that all of the first cams are contained in the first end region. The speed reducer according to any one of claims 4 to 7.
A housing for accommodating the drive unit, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. Have,
When the housing is viewed from the third direction, the housing has a rectangular shape and has a rectangular shape.
The first output table, said, when the three regions when the rectangular housing is divided into three equal parts in the first direction are defined as a third end region, a second central region, and a fourth end region. A speed reducer characterized in that the intermediate shaft and the barrel cam are all contained within the third end region. The speed reducer according to any one of claims 1 to 8.
Both the first output table and the second output table have a circular shape.
A speed reducer characterized in that the outer diameter of the first output table is smaller than the outer diameter of the second output table. The speed reducer according to any one of claims 1 to 9.
A speed reducer characterized in that, in the second direction, the second output table is located inside the first cam. The speed reducer according to any one of claims 1 to 9.
A speed reducer characterized in that, in the second direction, the second output table is located outside the first cam.

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