JP2023113542A - Rotation mechanism and robot - Google Patents

Abstract

To provide a rotation mechanism capable of suppressing deformation of an attachment portion attachable to a mating member and disposed in a projecting manner, and a robot including the rotation mechanism.SOLUTION: A case 2 has: a cylindrical main body portion 21 for housing a carrier portion 5 and an input-side angular ball bearing 6 inside and kept into contact with the input-side angular ball bearing 6 at an inner peripheral surface; and a flange portion 22 projecting from the main body portion 21 in a direction intersecting with a direction along an axis of the main body portion 21. The main body portion 21 is disposed in a manner of extending from the flange portion 22 in a direction along the axis with respect to an outer ring 6a of an input-side angular ball bearing 6 and has an attachment portion 23 attachable to the mating member, and an input-side angular portion C1 between the flange portion 22 and the attachment portion 23 is disposed on a position at a tip side of the attachment portion 23 with respect to a position where an action line L1 of the input-side angular ball bearing 6 and an outer peripheral surface of the main body portion 21 intersect.SELECTED DRAWING: Figure 3

Description

The present invention relates to rotating mechanisms and robots.

For example, Patent Literature 1 discloses an eccentric oscillating gear device. An eccentric oscillating gear device disclosed in Patent Document 1 includes a main bearing that holds a carrier rotatably with respect to an outer cylinder. Further, Patent Document 2 discloses a driving device. The drive device disclosed in Patent Document 2 comprises a main bearing arranged between a carrier and a casing.

JP 2017-227333 A Japanese Patent Application Laid-Open No. 2020-133761

The eccentric oscillating gear device disclosed in Patent Document 1 and the drive device disclosed in Patent Document 2 include an angular ball bearing as a main bearing that rotatably supports a rotating body. For example, a rotating mechanism that rotatably supports a rotating body with such a main bearing includes a case that accommodates the main bearing. A part of such a case is used as an attachment portion that can be attached to a mating member such as a motor or a robot. However, the preload applied to the main bearing may deform the mounting portion. If the mounting portion is deformed and deviates from the specified dimensional tolerance, there arises a problem that the rotating mechanism cannot be mounted on the mating member.

SUMMARY OF THE INVENTION The present invention has been made in view of the problems described above, and provides a rotation mechanism capable of suppressing deformation of a mounting portion that can be attached to a mating member, and a robot equipped with this rotation mechanism.

A rotating mechanism according to a first aspect of the present invention comprises a case, a rotating body, a bearing positioned between the case and the rotating body and supporting the rotating body rotatably with respect to the case; The case includes a cylindrical main body portion that accommodates the rotating body and the bearing therein and that the bearing is in contact with the inner peripheral surface; and a direction along the axis of the main body portion from the main body portion. a flange arranged in an intersecting direction, the main body having an attachment portion provided in a direction along the axis from the flange and capable of being attached to a mating member, and the flange and A corner portion between the mounting portion and the mounting portion is arranged at a position on the tip side of the mounting portion from a position where the line of action of the bearing and the outer peripheral surface of the main body intersect.

A portion of the case that strongly receives the preload that acts on the bearing is a portion located on the line of action of the bearing. In the rotation mechanism according to the first aspect of the present invention, the corner portion between the collar portion and the mounting portion is displaced from the position where the line of action of the bearing and the outer peripheral surface of the body portion intersect toward the tip side of the mounting portion. placed in position. Therefore, the line of action of the bearing passes through the inside of the flange. The flange is arranged to protrude from the tubular main body in a direction intersecting with the direction along the axis of the main body. Therefore, the portion of the case where the flange is provided has a greater thickness dimension in the direction intersecting with the axial direction of the main body and a higher rigidity than the portion of the case where the flange is not provided. . That is, in the rotating mechanism according to the first aspect of the present invention, the line of action of the bearing passes through the portion of the case having high rigidity. Therefore, the preload applied to the bearing can be received by a highly rigid portion of the case, and deformation of the case due to the preload can be suppressed. Therefore, according to the rotation mechanism according to the first aspect of the present invention, even if the mounting portion provided on the case is formed to protrude from the surrounding portion, deformation of the mounting portion can be suppressed.

In the above configuration, the main body portion may be provided extending from the collar portion in a direction along the shaft from the outer ring of the bearing.

In the above configuration, the bearing is an angular contact ball bearing, and the corner portion is formed by a line perpendicular to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer peripheral surface of the body portion. It may be arranged at a position on the distal end side of the mounting portion from the position.

In the above configuration, the case may have a recess formed by recessing a part of the case connected to the corner.

In the above configuration, the case may have a groove formed on the outer peripheral surface of the mounting portion along a circumferential direction about the central axis of the bearing.

In the above configuration, the line of action may be inclined with respect to the axis along the axis of the main body so as to approach the axis toward the tip of the mounting portion.

In the above configuration, the inner diameter dimension of the main body is 60 mm or more and less than 200 mm, the wall thickness dimension of the mounting part is 3 mm or more and 10 mm or less, and the angular contact ball bearing is removed from the inside of the main body. is larger than the inner diameter of the main body in the range of 5 μm or more to 50 μm or less, and the preload load acting on the angular contact ball bearing accommodated inside the main body is 1000 N or more and 50000 N may be:

In the above configuration, the inner diameter dimension of the body portion is 200 mm or more and less than 290 mm, the wall thickness dimension of the mounting portion is 7 mm or more and 18 mm or less, and the angular contact ball bearing is removed from the inside of the body portion. is larger than the inner diameter of the main body in the range of 5 μm or more to 70 μm or less, and the preload load acting on the angular contact ball bearing accommodated inside the main body is 15000 N or more and 80000 N may be:

In the above configuration, the inner diameter dimension of the body portion is 290 mm or more and less than 390 mm, the wall thickness dimension of the mounting portion is 14 mm or more and 28 mm or less, and the angular contact ball bearing is removed from the inside of the body portion. is larger than the inner diameter of the main body in the range of 15 μm or more to 70 μm or less, and the preload load acting on the angular contact ball bearing accommodated inside the main body is 30000 N or more and 130000 N may be:

A rotating mechanism according to a second aspect of the present invention includes a case, a rotating body, and an angular ball bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case. and the case includes a cylindrical main body portion that accommodates the rotating body and the angular contact ball bearing therein and has an inner peripheral surface in contact with the angular contact ball bearing; a flange protruding in a direction intersecting with the direction along the axis, wherein the main body extends from the flange in the direction along the axis beyond the outer ring of the angular contact ball bearing; A mounting portion that can be mounted on a mating member is provided, and a line of action of the angular contact ball bearing is arranged in a direction along the axis of the main body so as to approach the shaft as it goes toward a tip of the mounting portion. The corner portion between the collar portion and the mounting portion is inclined with respect to the axis and is aligned with a line perpendicular to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer peripheral surface of the main body portion. and the case includes a recess formed by recessing a part of the case connected to the corner, and an outer periphery of the mounting portion. a groove formed on the surface along a circumferential direction centering on the central axis of the angular contact ball bearing; The thickness dimension is 3 mm or more and 10 mm or less, and the outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is 5 μm or more to 50 μm or less with respect to the inner diameter dimension of the main body part. A preload load acting on the angular contact ball bearing housed inside the main body is greater than or equal to 1000N and less than or equal to 50000N.

A preload load acting on an angular contact ball bearing can be considered as a vector extending radially outward of the angular contact ball bearing along a line of action from the center of the rolling element of the angular contact ball bearing. Let this vector be the preload vector. The preload load vector can be considered by decomposing into a component along the central axis of the angular contact ball bearing and a component along a line orthogonal to the central axis of the angular contact ball bearing. The component along the line perpendicular to the central axis of the angular contact ball bearing is a factor that causes deformation of the mounting portion that protrudes from the outer ring of the angular contact ball bearing and is directed in the radial direction of the angular contact ball bearing starting from the center of the rolling element. becomes.

In the rotation mechanism according to the second aspect of the present invention, the corner portion between the flange portion and the mounting portion is aligned with a line orthogonal to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer circumference of the main body portion. It is arranged at a position on the tip side of the mounting portion from the position where the surface intersects.
Therefore, among the components included in the preload load vector, the component that causes deformation of the mounting portion is directed toward the flange portion. The flange is formed so as to protrude from the tubular main body in a direction intersecting with the direction along the axis of the main body. Therefore, the portion of the case where the flange is provided has a greater thickness dimension in the direction intersecting with the axial direction of the main body and a higher rigidity than the portion of the case where the flange is not provided. . In other words, in the rotation mechanism according to the second aspect of the present invention, the component that causes deformation of the attachment portion among the components included in the preload load vector can be received by the highly rigid portion of the case. Therefore, deformation of the case due to the preload load vector can be suppressed. Therefore, according to the rotation mechanism according to the second aspect of the present invention, even if the mounting portion provided on the case is formed to protrude from the surrounding portion, deformation of the mounting portion can be suppressed.

In addition, in the rotation mechanism according to the second aspect of the present invention, the case has a concave portion formed by recessing a part of the case at the corner, and the central axis of the angular ball bearing with respect to the outer peripheral surface of the mounting portion. and a groove formed along a circumferential direction centered on the . By providing these recesses and grooves, part of the main body becomes thinner than when they are not provided. However, in the rotation mechanism according to the second aspect of the present invention, among the components included in the preload load vector, the component that causes deformation of the mounting portion can be received by the highly rigid portion of the case. Even if a groove is provided, deformation of the mounting portion can be suppressed.

Further, in the rotation mechanism according to the second aspect of the present invention, the inner diameter of the body is 60 mm or more and less than 200 mm, the wall thickness of the mounting portion is 3 mm or more and 10 mm or less, and the The outer diameter dimension of the angular contact ball bearing in the closed state is larger than the inner diameter dimension of the main body in the range of 5 μm or more to 50 μm or less, and the preload load acting on the angular contact ball bearing housed inside the main body is It is 1000N or more and 50000N or less. As a result, the amount of deformation of the mounting portion can be kept within the h7 tolerance range of the Japanese Industrial Standards.

A rotation mechanism according to a third aspect of the present invention includes a case, a rotating body, and an angular ball bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case. and the case includes a cylindrical main body portion that accommodates the rotating body and the angular contact ball bearing therein and has an inner peripheral surface in contact with the angular contact ball bearing; a flange protruding in a direction intersecting with the direction along the axis, wherein the main body extends from the flange in the direction along the axis beyond the outer ring of the angular contact ball bearing; A mounting portion that can be mounted on a mating member is provided, and a line of action of the angular contact ball bearing is arranged in a direction along the axis of the main body so as to approach the shaft as it goes toward a tip of the mounting portion. The corner portion between the collar portion and the mounting portion is inclined with respect to the axis and is aligned with a line perpendicular to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer peripheral surface of the main body portion. and the case includes a recess formed by recessing a part of the case connected to the corner, and an outer periphery of the mounting portion. a groove formed on the surface along a circumferential direction centering on the central axis of the angular contact ball bearing, wherein the inner diameter of the main body is 200 mm or more and less than 290 mm; The thickness dimension is 7 mm or more and 18 mm or less, and the outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is 5 μm or more to 70 μm or less with respect to the inner diameter dimension of the main body part. A preload load acting on the angular contact ball bearing housed inside the main body is greater than or equal to 15000N and less than or equal to 80000N.

In the rotation mechanism according to the third aspect of the present invention, the corner portion between the flange portion and the mounting portion is aligned with a line orthogonal to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer circumference of the main body portion. It is arranged at a position on the tip side of the mounting portion from the position where the surface intersects. Therefore, among the components included in the preload load vector, the component that causes deformation of the mounting portion is directed toward the flange portion. The flange is formed so as to protrude from the tubular main body in a direction intersecting with the direction along the axis of the main body. Therefore, the portion of the case where the flange is provided has a greater thickness dimension in the direction intersecting with the axial direction of the main body and a higher rigidity than the portion of the case where the flange is not provided. . In other words, in the rotating mechanism according to the third aspect of the present invention, the component of the preload vector that causes deformation of the mounting portion can be received by the highly rigid portion of the case. Therefore, deformation of the case due to the preload load vector can be suppressed. Therefore, according to the rotation mechanism according to the third aspect of the present invention, even if the mounting portion provided on the case is formed to protrude from the surrounding portion, deformation of the mounting portion can be suppressed.

Further, in the rotation mechanism according to the third aspect of the present invention, the case has a concave portion formed by recessing a part of the case at the corner, and the central axis of the angular ball bearing with respect to the outer peripheral surface of the mounting portion. and a groove formed along a circumferential direction centered on the . By providing these recesses and grooves, part of the main body becomes thinner than when they are not provided. However, in the rotation mechanism according to the third aspect of the present invention, among the components included in the preload load vector, the component that causes deformation of the mounting portion can be received by the highly rigid portion of the case. Even if a groove is provided, deformation of the mounting portion can be suppressed.

Further, in the rotation mechanism according to the third aspect of the present invention, the inner diameter of the body is 200 mm or more and less than 290 mm, the wall thickness of the mounting portion is 7 mm or more and 18 mm or less, and the The outer diameter dimension of the angular contact ball bearing in the closed state is larger than the inner diameter dimension of the main body in the range of 5 μm or more to 70 μm or less, and the preload load acting on the angular contact ball bearing accommodated inside the main body is 15000N. Above, it is 80000N or less. As a result, the amount of deformation of the mounting portion can be kept within the h7 tolerance range of the Japanese Industrial Standards.

A rotating mechanism according to a fourth aspect of the present invention includes a case, a rotating body, and an angular ball bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case. and the case includes a cylindrical main body portion that accommodates the rotating body and the angular contact ball bearing therein and has an inner peripheral surface in contact with the angular contact ball bearing; a flange protruding in a direction intersecting with the direction along the axis, wherein the main body extends from the flange in the direction along the axis beyond the outer ring of the angular contact ball bearing; A mounting portion that can be mounted on a mating member is provided, and a line of action of the angular contact ball bearing is arranged in a direction along the axis of the main body so as to approach the shaft as it goes toward a tip of the mounting portion. The corner portion between the collar portion and the mounting portion is inclined with respect to the axis and is aligned with a line perpendicular to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer peripheral surface of the main body portion. and the case includes a recess formed by recessing a part of the case connected to the corner, and an outer periphery of the mounting portion. a groove formed on the surface along a circumferential direction centering on the central axis of the angular contact ball bearing; The thickness dimension is 14 mm or more and 28 mm or less, and the outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is 15 μm or more to 70 μm or less with respect to the inner diameter dimension of the main body portion. A preload load acting on the angular contact ball bearing housed inside the main body is greater than or equal to 30000N and less than or equal to 130000N.

In the rotating mechanism according to the fourth aspect of the present invention, the corner portion between the flange portion and the mounting portion is aligned with a line orthogonal to the central axis of the angular contact ball bearing and passing through the center of the rolling element and the outer circumference of the main body portion. It is arranged at a position on the tip side of the mounting portion from the position where the surface intersects. Therefore, among the components included in the preload load vector, the component that causes deformation of the mounting portion is directed toward the flange portion. The flange is formed so as to protrude from the tubular main body in a direction intersecting with the direction along the axis of the main body. Therefore, the portion of the case where the flange is provided has a greater thickness dimension in the direction intersecting with the axial direction of the main body and a higher rigidity than the portion of the case where the flange is not provided. . In other words, in the rotation mechanism according to the fourth aspect of the present invention, the component that causes deformation of the mounting portion among the components included in the preload load vector can be received by the highly rigid portion of the case. Therefore, deformation of the case due to the preload load vector can be suppressed. Therefore, according to the rotation mechanism according to the fourth aspect of the present invention, even if the mounting portion provided on the case is formed to protrude from the surrounding portion, deformation of the mounting portion can be suppressed.

Further, in the rotation mechanism according to the fourth aspect of the present invention, the case has a concave portion formed by recessing a part of the case at the corner, and the central axis of the angular ball bearing with respect to the outer peripheral surface of the mounting portion. and a groove formed along a circumferential direction centered on the . By providing these recesses and grooves, part of the main body becomes thinner than when they are not provided. However, in the rotation mechanism according to the fourth aspect of the present invention, the component that causes deformation of the mounting portion among the components included in the preload vector can be received by the portion of the case having high rigidity. Even if a groove is provided, deformation of the mounting portion can be suppressed.

Further, in the rotation mechanism according to the fourth aspect of the present invention, the inner diameter dimension of the main body is 290 mm or more and less than 390 mm, the wall thickness dimension of the attachment part is 14 mm or more and 28 mm or less, and the The outer diameter dimension of the angular contact ball bearing in the closed state is larger than the inner diameter dimension of the main body in the range of 15 μm or more to 70 μm or less, and the preload load acting on the angular contact ball bearing housed inside the main body is 30000N. Above, it is 130000N or less. As a result, the amount of deformation of the mounting portion can be kept within the h7 tolerance range of the Japanese Industrial Standards.

A robot according to a fifth aspect of the present invention is provided with a first member, a second member, and between the first member and the second member, wherein the second member is positioned with respect to the first member. a rotating mechanism connected to rotation, wherein the rotating mechanism is positioned between a case, a rotating body, and the case and the rotating body, and supports the rotating body so as to be rotatable with respect to the case. a bearing, wherein the case includes a tubular main body portion that accommodates the rotating body and the bearing therein and has an inner peripheral surface in contact with the bearing; a flange arranged in a direction intersecting with the direction of the body, the main body having an attachment portion provided in a direction along the axis from the flange and capable of being attached to a mating member; A corner portion between the collar portion and the mounting portion is arranged at a position closer to the tip side of the mounting portion than the position where the line of action of the bearing and the outer peripheral surface of the main body intersect.

In the rotating mechanism, the corner portion between the collar portion and the mounting portion is arranged at a position closer to the tip side of the mounting portion than the position where the line of action of the bearing and the outer peripheral surface of the main body intersect. Therefore, the line of action of the bearing passes through the inside of the flange. The flange is arranged to protrude from the tubular main body in a direction intersecting with the direction along the axis of the main body. Therefore, the portion of the case where the flange is provided has a greater thickness dimension in the direction intersecting with the axial direction of the main body and a higher rigidity than the portion of the case where the flange is not provided. . In other words, in the rotating mechanism, the line of action of the bearing passes through the rigid portion of the case. Therefore, the preload applied to the bearing can be received by a highly rigid portion of the case, and deformation of the case due to the preload can be suppressed. Therefore, according to the rotation mechanism, even if the mounting portion provided on the case is formed to protrude from the surrounding portion, deformation of the mounting portion can be suppressed. A robot according to a fifth aspect of the present invention includes the rotating mechanism described above. Therefore, deformation of the mounting portion of the rotating mechanism is suppressed, and the rotating mechanism and the first member or the second member can be reliably connected.

The rotation mechanism and the robot described above can suppress deformation of the mounting portion that is provided so as to be mounted on the mating member.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure including sectional drawing which shows schematic structure of the reduction gear in 1st Embodiment of this invention. 1 is a schematic cross-sectional view of a speed reducer according to a first embodiment of the invention; FIG. FIG. 4 is an enlarged view of a main portion of FIG. 3; FIG. 3 is a sectional view taken along IV-IV in FIG. 2; FIG. 5 is an enlarged view of a main part showing a schematic configuration of a speed reducer according to a second embodiment of the invention; FIG. 11 is a schematic configuration diagram of a cooperative robot according to a third embodiment of the present invention;

A rotation mechanism and a robot according to embodiments of the present invention will be described in detail below with reference to the drawings. In the embodiments described below, the same reference numerals may be assigned to corresponding configurations, and the description thereof may be omitted. In the following description, expressions indicating relative or absolute arrangements such as "parallel", "perpendicular", "center", and "coaxial" do not only strictly represent such arrangements, but also , or a state of relative displacement at an angle or distance that provides the same function.

(First embodiment)
FIG. 1 is a diagram including a cross-sectional view showing a schematic configuration of a speed reducer 1 according to the first embodiment. For example, the speed reducer 1 is installed at a joint portion of the robot. In FIG. 1, the speed reducer 1 is positioned between a motor bracket 200 (an example of a mating member in the claims) and an arm 500 of the robot. Motor bracket 200 is positioned between servo motor 300 and speed reducer 1 . Motor bracket 200 is fixed to speed reducer 1 with a plurality of bolts 400 .

The motor bracket 200 is formed in an annular shape around the central axis La shown in FIG. 1 so as to surround the output shaft 301 of the servomotor 300 from the outside in the radial direction. The central axis La of the motor bracket 200 is arranged so as to overlap the central axis Lb of the servomotor 300 when viewed from the direction along the central axis La.

The motor bracket 200 includes an attached portion 201 to which the speed reducer 1 is attached. The attached portion 201 is provided so as to protrude from the body portion 202 of the motor bracket 200 toward the speed reducer 1 in a direction along the central axis La. The attached portion 201 is formed to have a thickness dimension smaller than that of the main body portion 202 when viewed from the direction along the central axis La. As shown in FIG. 1, a mounting portion 23 of the speed reducer 1, which will be described later, is inserted into the mounting portion 201. As shown in FIG. An end surface 203 of the attached portion 201 on the side of the speed reducer 1 in the direction along the central axis La abuts against a flange portion 22 of the speed reducer 1, which will be described later. A servomotor 300 is fixed to the end of the motor bracket 200 opposite to the speed reducer 1 with respect to the direction along the central axis La.

The servomotor 300 is fixed to the motor bracket 200 by, for example, bolts (not shown). The servomotor 300 is a power source that generates power for rotating the arm 500 . The servomotor 300 has an output shaft 301 protruding in a direction along the central axis Lb. The output shaft 301 is rotated around the central axis Lb. As shown in FIG. 1, an input gear 302 connected to a transmission gear 11 of the speed reducer 1, which will be described later, is provided on the outer peripheral surface of the tip of the output shaft 301. As shown in FIG.

An input shaft connected to the transmission gear 11 may be provided for the motor bracket 200 in addition to the output shaft 301 of the servomotor 300 . In this case, an input gear is provided on the outer peripheral surface of the tip of the input shaft, and the input shaft and the output shaft 301 of the servomotor 300 are connected. For example, by using a hollow input shaft and inserting the output shaft 301 of the servomotor 300 into the input shaft, the input shaft and the output shaft 301 of the servomotor 300 can be connected.

The arm 500 is fixed to the speed reducer 1 by bolts 600, for example. The arm 500 is driven to rotate about the central axis Lc of the speed reducer 1 by receiving an output whose rotational speed is reduced with respect to the power of the servomotor 300 from the speed reducer 1 . The arm 500 is fixed to a carrier portion 5 of the speed reducer 1, which will be described later.

[Decelerator]
FIG. 2 is a schematic enlarged sectional view of the reduction gear 1 of this embodiment. The speed reducer 1 is a rotation mechanism that includes a later-described carrier portion 5 that rotates about a central axis Lc, and that changes the rotation speed of power input from the servomotor 300 and outputs the power from the carrier portion 5 . In the following description, the servomotor 300 side along the central axis Lc is called the input side, and the arm 500 side along the central axis Lc is called the output side.

As shown in FIG. 2 , the speed reducer 1 includes a case 2 and a speed reduction mechanism section 3 . The case 2 has a body portion 21 and a collar portion 22 . The body portion 21 is formed in a tubular shape around the central axis Lc. That is, the central axis Lc of the speed reducer 1 is also the axis of the body portion 21 . Both sides (that is, the input side and the output side) of the body portion 21 in the direction along the central axis Lc are opened. The body portion 21 accommodates the speed reduction mechanism portion 3 therein. The speed reduction mechanism section 3 includes a carrier section 5 and an input side angular ball bearing 6 . That is, the body portion 21 accommodates the carrier portion 5 and the input-side angular ball bearing 6 inside.

The input-side end of the case 2 is used as a mounting portion 23 that can be mounted on the motor bracket 200 . The mounting portion 23 extends from the input-side end face 22a of the collar portion 22 in a direction along the central axis Lc (axis) from the outer ring 6a of the input-side angular contact ball bearing 6, which will be described later. That is, the mounting portion 23 is provided to protrude from the input-side end surface 22a of the collar portion 22 farther in the direction along the central axis Lc (axis) than the outer ring 6a of the input-side angular contact ball bearing 6, which will be described later. there is A tip end surface 23a of the mounting portion 23 is located closer to the motor bracket 200 than the outer ring 6a of the input-side angular contact ball bearing 6 is. Moreover, the mounting portion 23 is formed in an annular shape centered on the central axis Lc when viewed from the direction along the central axis Lc. The mounting portion 23 is inserted into the mounted portion 201 of the motor bracket 200 . The outer peripheral surface of the attachment portion 23 is in contact with the inner peripheral surface of the attached portion 201 , for example.

FIG. 3 is an enlarged view including a connecting portion between the flange portion 22 and the mounting portion 23 in FIG. As shown in FIG. 3, the outer peripheral surface of the mounting portion 23 is provided with a groove portion 23b in which the O-ring 700 is arranged. The groove portion 23b is formed continuously along the circumferential direction about the central axis Lc when viewed from the direction along the central axis Lc. The groove portion 23b is recessed from the outer peripheral surface of the mounting portion 23 toward the inner side in the radial direction about the central axis Lc.

In addition, a recess 23c is provided at the root portion of the mounting portion 23 on the collar portion 22 side. The recess 23c is formed by recessing the outer peripheral surface of the mounting portion 23 radially inward about the central axis Lc. That is, the recess 23c is formed by recessing a portion of the case 2. As shown in FIG. This concave portion 23c is a so-called recessed portion.

As shown in FIG. 3 , a corner is formed between the flange portion 22 and the mounting portion 23 by connecting the flange portion 22 and the mounting portion 23 . In this embodiment, this corner is called an input side corner C1. More specifically, the input-side corner portion C1 is connected to the end surface 22a of the collar portion 22 and the outer peripheral surface of the mounting portion 23 (the bottom surface 23d of the recess 23c), so that the end surface 22a and the outer peripheral surface of the mounting portion 23 are connected. is formed between The input side corner portion C1 may be a so-called pin angle or a so-called R angle. That is, the input-side corner portion C1 may be formed by bending and connecting the end surface 22a of the flange portion 22 and the outer peripheral surface of the attachment portion 23 . Further, the input-side corner portion C1 may be formed by connecting the end surface 22a of the collar portion 22 and the outer peripheral surface of the mounting portion 23 in a curved manner. The recess 23c described above is connected to the input-side corner C1.

A corner portion is formed between the end face 22b and the body portion 21 by connecting the output-side end face 22b of the collar portion 22 and the outer peripheral face of the body portion 21 . In this embodiment, this corner is called an output side corner C2. The output-side corner C2 may also have a so-called pin angle or a so-called R-angle, like the input-side corner C1. Further, the outer peripheral surface of the body portion 21 is provided with a concave portion 21a connected to the output side corner portion C2.

The flange portion 22 is formed to protrude from the main body portion 21 in a direction intersecting with the direction along the central axis Lc of the main body portion 21 . That is, the flange portion 22 is arranged to protrude outward in the radial direction about the central axis Lc from the outer peripheral surface of the main body portion 21 . When viewed from the direction along the central axis Lc, the flange portion 22 is continuously provided in the circumferential direction about the central axis Lc.

An input-side end surface 22 a of the collar portion 22 is a contact surface of the attached portion 201 of the motor bracket 200 . An end face 22b on the delivery side of the collar portion 22 is a contact face of the head of the bolt 400. As shown in FIG. The collar portion 22 is provided with a plurality of bolt holes 22c penetrating from the end face 22a to the end face 22b. A bolt 400 is inserted into each of these bolt holes 22c. FIG. 4 is a sectional view taken along line IV-IV of FIG. As shown in this figure, a plurality of bolt holes 22c are discretely formed along the circumferential direction about the central axis Lc.

Further, as shown in FIG. 2, a large number of pin grooves 21b are formed on the inner peripheral surface of the body portion 21. As shown in FIG. Each of these pin grooves 21b is provided so as to extend along the central axis Lc, and is formed in a semicircular shape when viewed in the direction along the central axis Lc. These pin grooves 21b are arranged at regular intervals in the circumferential direction around the central axis Lc.

As shown in FIG. 2 , the speed reduction mechanism 3 includes an internal pin 4 , a carrier portion 5 , an input-side angular ball bearing 6 , an output-side angular ball bearing 7 , and a plurality of (for example, three) crankshafts 8 . , a first oscillating gear 9 , a second oscillating gear 10 , and a plurality of transmission gears 11 .

The internal pin 4 is provided for each pin groove 21b. Specifically, each internal pin 4 is fitted in the corresponding pin groove 21b and arranged in a posture extending in the direction along the central axis Lc. As a result, a large number of internal tooth pins 4 are arranged at regular intervals along the circumferential direction around the central axis Lc. External teeth 9 a of the first oscillating gear 9 and external teeth 10 a of the second oscillating gear 10 mesh with these internal pins 4 .

The carrier part 5 is accommodated inside the case 2 while being arranged coaxially with the case 2 . The carrier portion 5 rotates relative to the case 2 in the circumferential direction about the central axis Lc. Specifically, the carrier portion 5 is arranged radially inside the case 2 and is supported by an input-side angular ball bearing 6 and an output-side angular ball bearing 7 . The carrier portion 5 includes a base portion 5a and an end plate portion 5b. The base portion 5a and the end plate portion 5b are fixed by bolts 5c. That is, the base portion 5a and the end plate portion 5b can be separated by removing the bolt 5c.

Further, as shown in FIG. 2, the base portion 5a contacts the back surface of the inner ring 7b of the output-side angular contact ball bearing 7 from the output side. Also, the end plate portion 5b contacts the rear surface of the inner ring 6b of the input-side angular contact ball bearing 6 from the input side. Therefore, by adjusting the screwing amount of the bolt 5c in the direction along the central axis Lc, the preload load applied to the input side angular contact ball bearing 6 and the preload load applied to the output side angular contact ball bearing 7 are adjusted. can do.

The input-side angular ball bearing 6 and the output-side angular ball bearing 7 are positioned between the case 2 and the carrier portion 5 and support the carrier portion 5 rotatably with respect to the case 2 . The input-side angular ball bearing 6 is arranged closer to the input side than the output-side angular ball bearing 7 is. The central axes of the input-side angular ball bearing 6 and the output-side angular ball bearing 7 overlap the central axis Lc of the speed reducer 1 . That is, the central axis Lc is also the central axis of the input side angular contact ball bearing 6 and the output side angular contact ball bearing 7 .

The input-side angular contact ball bearing 6 includes an outer ring 6a, an inner ring 6b, and a plurality of rolling elements 6c. The outer peripheral surface of the outer ring 6 a is in contact with the inner peripheral surface of the body portion 21 of the case 2 . More specifically, the outer peripheral surface of the outer ring 6 a of the input-side angular contact ball bearing 6 is in contact with the inner peripheral surface of the mounting portion 23 . The outer peripheral surface of the outer ring 6 a is strongly pressed against the inner peripheral surface of the body portion 21 . This prevents the outer peripheral surface of the outer ring 6 a from slipping on the inner peripheral surface of the body portion 21 . The inner peripheral surface of the inner ring 6 b is in contact with the carrier portion 5 . The inner peripheral surface of the inner ring 6b is strongly pressed against the carrier portion 5. As shown in FIG. This prevents the inner peripheral surface of the inner ring 6 b from slipping on the outer peripheral surface of the carrier portion 5 . In addition, the inner ring 6 b may be integrated with the carrier portion 5 . Each of the plurality of rolling elements 6c is a sphere and arranged between the outer ring 6a and the inner ring 6b. These rolling elements 6c allow the inner ring 6b to rotate in the circumferential direction around the central axis Lc with respect to the outer ring 6a.

The input-side angular contact ball bearing 6 is arranged such that the rear surface of the outer ring 6a faces the output side and the front surface of the outer ring 6a faces the input side. That is, the input-side angular contact ball bearing 6 is arranged so that the back surface of the inner ring 6b faces the input side and the front surface of the inner ring 6b faces the output side. As shown in FIG. 2, the rear surface of the outer ring 6a contacts the case 2. As shown in FIG. In addition, the back surface of the inner ring 6b contacts the carrier portion 5. As shown in FIG. That is, the input-side angular ball bearing 6 is sandwiched between the case 2 and the carrier portion 5 with respect to the direction along the central axis Lc.

The output-side angular contact ball bearing 7 includes an outer ring 7a, an inner ring 7b, and a plurality of rolling elements 7c. The outer peripheral surface of the outer ring 7 a is in contact with the inner peripheral surface of the body portion 21 of the case 2 . The outer peripheral surface of the outer ring 7 a is strongly pressed against the inner peripheral surface of the body portion 21 . This prevents the outer peripheral surface of the outer ring 7 a from slipping on the inner peripheral surface of the body portion 21 . The inner peripheral surface of the inner ring 7 b is in contact with the carrier portion 5 . The inner peripheral surface of the inner ring 7 b is strongly pressed against the carrier portion 5 . This prevents the inner peripheral surface of the inner ring 7 b from slipping on the outer peripheral surface of the carrier portion 5 . In addition, the inner ring 7 b may be integrated with the carrier portion 5 . Each of the plurality of rolling elements 7c is a spherical body and is arranged between the outer ring 7a and the inner ring 7b. These rolling elements 7c allow the inner ring 7b to rotate in the circumferential direction around the central axis Lc with respect to the outer ring 7a.

The output-side angular contact ball bearing 7 is arranged so that the back surface of the outer ring 7a faces the input side and the front surface of the outer ring 7a faces the output side. That is, the output-side angular contact ball bearing 7 is arranged so that the back surface of the inner ring 7b faces the output side and the front surface of the inner ring 7b faces the input side. As shown in FIG. 2, the back surface of the outer ring 7a contacts the case 2. As shown in FIG. In addition, the back surface of the inner ring 7b contacts the carrier portion 5. As shown in FIG. That is, the output-side angular ball bearing 7 is sandwiched between the case 2 and the carrier portion 5 in the direction along the central axis Lc.

The plurality of crankshafts 8 are arranged in the case 2 at regular intervals in the circumferential direction around the central axis Lc (see FIG. 4). Each crankshaft 8 is supported by a pair of crank bearings 12 and 13 so as to be rotatable about the carrier portion 5 . Each crankshaft 8 has a shaft body 8c and a first eccentric portion 8a and a second eccentric portion 8b integrally formed with the shaft body 8c.

At the end of each crankshaft 8 on the input side in the direction along the central axis Lc, there is provided a fitted portion 8d to which the transmission gear 11 is attached. The speed reducer 1 of this embodiment is not limited to the example shown in FIG. may be installed.

Each first oscillating gear 9 is arranged inside the case 2 and attached to the first eccentric portion 8 a of the crankshaft 8 via a first roller bearing 14 . When the crankshaft 8 rotates and the first eccentric portion 8a rotates eccentrically, each of the first oscillating gears 9 oscillates and rotates while meshing with the internal pin 4 in conjunction with this eccentric rotation.

The second oscillating gear 10 is arranged inside the case 2 and attached to the second eccentric portion 8 b of the crankshaft 8 via a second roller bearing 15 . When the crankshaft 8 rotates and the second eccentric portion 8b rotates eccentrically, each of the second oscillating gears 10 oscillates and rotates while meshing with the internal pin 4 in conjunction with this eccentric rotation.

Each transmission gear 11 transmits rotation of the input gear 302 of the servomotor 300 to the crankshaft 8 . Each transmission gear 11 is fixed to a fitted portion 8 d of the crankshaft 8 . Each transmission gear 11 rotates integrally with the crankshaft 8 around the same axis as the rotation axis of the crankshaft 8 . Each transmission gear 11 has external teeth 11 a that mesh with the input gear 302 .

Next, the positional relationship between the input side corner portion C1 and the input side angular contact ball bearing 6 will be described with reference to FIG.

A line of action L1 shown in FIG. 3 is a straight line passing through a contact point between the rolling element 6c and the outer ring 6a in the input-side angular contact ball bearing 6 and a contact point between the rolling element 6c and the inner ring 6b. In this embodiment, the back surface of the outer ring 6a of the input-side angular contact ball bearing 6 is located on the output side, and the front surface of the outer ring 6a is located on the input side. is inclined with respect to the central axis Lc so as to approach the central axis Lc toward the tip of the mounting portion 23 with respect to the direction along .

When a preload load is applied to the input-side angular contact ball bearing 6, the preload load overlaps the line of action L1 as shown in FIG. 3 and can be represented by a vector starting from the center of the rolling element 6c. This vector is referred to as a preload vector V in this embodiment. That is, the preload vector V starts at the center of the rolling element 6c, overlaps the line of action L1, and extends radially outward about the central axis Lc. A portion of the case 2 that strongly receives the preload load acting on the input-side angular contact ball bearing 6 is a portion located on the line of action L1 of the input-side angular contact ball bearing 6 . In the speed reducer 1 of the present embodiment, the input-side corner portion C1 is arranged at a position closer to the tip side of the mounting portion 23 than the position P where the line of action L1 of the input-side angular contact ball bearing 6 and the outer peripheral surface of the body portion 21 intersect. It is

Therefore, the input-side end surface 22a of the collar portion 22 is positioned closer to the attachment portion in the direction along the central axis Lc than the position P where the line of action L1 of the input-side angular contact ball bearing 6 and the outer peripheral surface of the body portion 21 intersect. 23 is located on the tip side. The output-side end surface 22b of the collar portion 22 is closer to the arm 500 than the position P where the line of action L1 of the input-side angular contact ball bearing 6 and the outer peripheral surface of the body portion 21 intersect with respect to the direction along the central axis Lc. is placed in the position of Therefore, the line of action L<b>1 of the input side angular contact ball bearing passes through the inside of the collar portion 22 .

The collar portion 22 is formed so as to protrude from the cylindrical main body portion 21 in a direction intersecting with the central axis Lc. Therefore, the portion of the case 2 provided with the flange portion 22 has a larger thickness dimension in the direction intersecting the central axis Lc of the main body portion 21 than the portion of the case 2 not provided with the flange portion 22. It becomes a part with high rigidity. That is, the line of action L1 of the input-side angular contact ball bearing 6 passes through a portion of the case 2 having high rigidity. Therefore, the preload load acting on the input-side angular contact ball bearing 6 can be received by a highly rigid portion of the case 2, and deformation of the attachment portion 23 due to the preload can be suppressed.

[Action and effect of reduction gear]
A speed reducer 1 of this embodiment includes a case 2 , a carrier portion 5 , and an input-side angular contact ball bearing 6 . The input-side angular ball bearing 6 is positioned between the case 2 and the carrier portion 5 and supports the carrier portion 5 rotatably with respect to the case 2 . Further, the case 2 has a body portion 21 and a flange portion 22 . The body portion 21 accommodates the carrier portion 5 and the input-side angular ball bearing 6 therein, and has an inner peripheral surface in contact with the input-side angular ball bearing 6, and is formed in a tubular shape. The flange portion 22 protrudes from the main body portion 21 in a direction intersecting the direction along the central axis Lc. Further, the body portion 21 has a mounting portion 23 that extends from the flange portion 22 in a direction along the axis from the outer ring 6 a of the input-side angular contact ball bearing 6 and that can be mounted on the motor bracket 200 . Further, the input-side corner C1 between the collar portion 22 and the mounting portion 23 is located on the tip side of the mounting portion 23 from the position P where the line of action L1 of the input-side angular contact ball bearing 6 and the outer peripheral surface of the body portion 21 intersect. is placed in the position of

The speed reducer 1 of this embodiment can suppress the deformation of the case 2 due to the preload applied to the input-side angular contact ball bearing 6 as described above. Therefore, according to the speed reducer 1, even if the mounting portion 23 provided in the case 2 is formed to protrude from the surrounding portion, deformation of the mounting portion 23 can be suppressed.

Further, in the speed reducer 1 of the present embodiment, the case 2 has a recess 23c formed by recessing a part of the case 2 connected to the input side corner C1. Formation of the case 2 can be facilitated by providing such a concave portion 23c. By providing the recess 23c, the thickness of the portion of the case 2 where the recess 23c is provided becomes smaller than when the recess 23c is not provided. In contrast, in the speed reducer 1 of the present embodiment, the line of action L1 of the input-side angular contact ball bearing 6 does not pass through the recess 23c. It is possible to suppress strong action on the part where 23c is provided. Therefore, according to the speed reducer 1 of the present embodiment, the case 2 is provided with the concave portion 23c, and deformation of the mounting portion 23 can be suppressed. Note that the recess 23c may not be provided.

Further, in the speed reducer 1 of the present embodiment, the case 2 has the groove portion 23b formed along the circumferential direction about the central axis of the input side angular contact ball bearing 6 in the outer peripheral surface of the mounting portion 23. are doing. By providing such a groove portion 23b, the O-ring 700 can be installed. By providing the groove portion 23b, the thickness of the portion of the case 2 where the groove portion 23b is provided becomes smaller than when the groove portion 23b is not provided. In contrast, in the speed reducer 1 of the present embodiment, the line of action L1 of the input-side angular contact ball bearing 6 does not pass through the groove 23b. It is possible to suppress strong action on the part where 23b is provided. Therefore, according to the speed reducer 1 of the present embodiment, the case 2 is provided with the groove portion 23b, and deformation of the mounting portion 23 can be suppressed. Note that the groove portion 23b may not be provided.

Further, in the speed reducer 1 of the present embodiment, the line of action L1 of the input-side angular contact ball bearing 6 is centered so as to approach the center axis Lc as it goes toward the tip of the mounting portion 23 in the direction along the center axis Lc. It is inclined with respect to the axis Lc. Therefore, the position P where the line of action L1 intersects the peripheral surface of the main body portion 21 is located on the output side of the input side angular contact ball bearing 6 with respect to the direction along the central axis Lc. Therefore, the length dimension of the collar portion 22 in the direction along the central axis Lc, which is required for disposing the input-side corner portion C1 at a position closer to the tip side of the mounting portion 23 than the position P, can be reduced.

[Example]
For example, in the speed reducer 1 of the above-described embodiment, the inner diameter dimension of the body portion 21 is 60 mm or more and less than 200 mm, the wall thickness dimension of the mounting portion 23 is 3 mm or more and 10 mm or less, and the The outer diameter dimension of the input side angular contact ball bearing 6 in the state is larger than the inner diameter dimension of the body portion 21 in a range of 5 μm or more to 50 μm or less, and the input side angular contact ball bearing 6 housed inside the body portion 21 The applied preload load can be 1000N or more and 50000N or less.

Here, the inner diameter dimension of the body portion 21 is the diameter D1 (see FIG. 2) of the internal space of the body portion 21 at the position where the input side angular contact ball bearing 6 is installed. The thickness dimension of the attachment portion 23 is the thickness dimension D2 (see FIG. 3) of the attachment portion 23 in the radial direction about the central axis Lc. In addition, the thickness dimension D2 is a value at a position where the concave portion 23c and the groove portion 23b are not provided. The outer diameter dimension of the input-side angular contact ball bearing 6 is the diameter D3 (see FIG. 2) of the circle drawn by the outer peripheral surface of the outer ring 6a of the input-side angular contact ball bearing 6. As shown in FIG. In FIG. 2, since the input-side angular contact ball bearing 6 is housed inside the main body 21, the diameter D1 of the internal space of the main body 21 and the outer peripheral surface of the outer ring 6a of the input-side angular contact ball bearing 6 are drawn. It matches the diameter D3 of the circle.

Further, in the speed reducer 1 of the above-described embodiment, the inner diameter dimension of the body portion 21 is 200 mm or more and less than 290 mm, the wall thickness dimension of the mounting portion 23 is 7 mm or more and 18 mm or less, and the The outer diameter dimension of the input side angular contact ball bearing 6 in the state is larger than the inner diameter dimension of the body portion 21 in a range of 5 μm or more to 70 μm or less, and the input side angular contact ball bearing 6 accommodated inside the body portion 21 The applied preload load can be 15000N or more and 80000N or less.

Further, in the speed reducer 1 of the above-described embodiment, the inner diameter dimension of the body portion 21 is 290 mm or more and less than 390 mm, the wall thickness dimension of the mounting portion 23 is 14 mm or more and 28 mm or less, and the The outer diameter dimension of the input side angular contact ball bearing 6 in the state is larger than the inner diameter dimension of the body portion 21 in a range of 15 μm or more to 70 μm or less, and the input side angular contact ball bearing 6 housed inside the body portion 21 The applied preload load may be 30000N or more and 130000N or less.

Thus, by designing the speed reducer 1 to the values shown in this embodiment, the amount of deformation of the mounting portion 23 can be kept within the h7 tolerance range of the Japanese Industrial Standards. Therefore, it is possible to reliably attach the speed reducer 1 to the motor bracket 200 .

(Second embodiment)
Next, a second embodiment will be described with reference to FIG. FIG. 5 is a partially enlarged view showing a schematic configuration of the speed reducer 1A of the second embodiment. In addition, the same code|symbol is attached|subjected and demonstrated to the same aspect as 1st Embodiment. Further, in the description of the second embodiment, the same names as those of the first embodiment may be used and the description may be omitted.

As shown in FIG. 5, the preload vector V can be decomposed into a component Va along the central axis of the input angular contact ball bearing 6 and a component Vb along a line L2 orthogonal to the central axis Lc. can. The component Vb starts from the center of the rolling element 6c and extends in the radial direction of the input-side angular contact ball bearing 6, causing the mounting portion 23 to deform.

As shown in FIG. 5, in this embodiment, the input-side corner portion C1 is arranged at a position closer to the tip side of the attachment portion 23 than the position P1 where the line L2 and the outer peripheral surface of the main body portion 21 intersect. In the speed reducer 1</b>A of this embodiment, the component Vb that causes deformation of the mounting portion 23 is directed toward the flange portion 22 . That is, in the speed reducer 1A of the present embodiment, the component Vb, which causes deformation of the mounting portion 23, among the components included in the preload vector V, can be received by the portion of the case 2 having high rigidity. Therefore, the deformation of the case 2 due to the preload load vector V can be further suppressed.

Further, in the speed reducer 1A of the present embodiment, deformation of the attachment portion 23 can be suppressed even if the recess 23c and the groove 23b are provided, as in the speed reducer 1 of the first embodiment.

Further, in the speed reducer 1A of the present embodiment, the inner diameter dimension of the body portion 21 is 60 mm or more and less than 200 mm, the wall thickness dimension of the mounting portion 23 is 3 mm or more and 10 mm or less, and the The outer diameter dimension of the input side angular contact ball bearing 6 in the state is larger than the inner diameter dimension of the body portion 21 in a range of 5 μm or more to 50 μm or less, and the input side angular contact ball bearing 6 housed inside the body portion 21 The applied preload load can be 1000N or more and 50000N or less. As a result, the amount of deformation of the mounting portion 23 can be kept within the h7 tolerance range of the Japanese Industrial Standards.

Further, in the speed reducer 1A of the present embodiment, the inner diameter dimension of the body portion 21 is 200 mm or more and less than 290 mm, and the wall thickness dimension of the mounting portion 23 is 7 mm or more and 18 mm or less. The outer diameter dimension of the input side angular contact ball bearing 6 in the state is larger than the inner diameter dimension of the body portion 21 in a range of 5 μm or more to 70 μm or less, and the input side angular contact ball bearing 6 accommodated inside the body portion 21 The applied preload load can be 15000N or more and 80000N or less. As a result, the amount of deformation of the mounting portion 23 can be kept within the h7 tolerance range of the Japanese Industrial Standards.

Further, in the speed reducer 1A of the present embodiment, the inner diameter dimension of the body portion 21 is 290 mm or more and less than 390 mm, the wall thickness dimension of the mounting portion 23 is 14 mm or more and 28 mm or less, and the The outer diameter dimension of the input side angular contact ball bearing 6 in the state is larger than the inner diameter dimension of the body portion 21 in a range of 15 μm or more to 70 μm or less, and the input side angular contact ball bearing 6 housed inside the body portion 21 The applied preload load can be 30000N or more and 130000N or less. As a result, the amount of deformation of the mounting portion 23 can be kept within the h7 tolerance range of the Japanese Industrial Standards.

(Third embodiment)
Next, a sixth embodiment will be described with reference to FIG. FIG. 6 is a schematic configuration diagram of the cooperative robot 100. As shown in FIG. In the description of this embodiment, the up-down direction and the horizontal direction of the cooperative robot 100 are the up-down direction and the horizontal direction when the cooperative robot 100 is placed on the installation surface F. FIG.

As shown in FIG. 1, a collaborative robot 100 (an example of a robot in the claims) includes a base portion 101 (an example of a first member or a second member in the claims) placed on an installation surface F, and a base portion 101 A rotating head 102 (an example of the first member or the second member in the claims) provided thereon, and a rotating head 102 (an example of the first member or the second member in the claims) rotatably assembled to the upper part of the rotating head 102 An arm unit 103 (an example of a first member or a second member in the claims), a base portion 101, a rotating head 102, and joint portions of the arm unit 103 (first joint portion 106a, second joint portion 106b, third joint portion 106b). The speed reducers (first speed reducer 10A, second speed reducer 10B, third speed reducer 10C) assembled to the joint portion 106c), and servo motors (first servo motor 107, second servo motor 108, 3 servo motor 109 ) and an end effector 110 attached to the arm unit 103 .

The rotating head 102 is connected to the base portion 101 so as to be rotatable around the first rotation axis LA. This connected portion is the first joint portion 106a, and the first speed reducer 10A and the first servomotor 107 are assembled to the first joint portion 106a. The first rotation axis LA coincides with, for example, the vertical direction. Rotation of a first servomotor 107 is transmitted to the rotary head 102 via a first speed reducer 10A. As a result, the rotating head 102 is driven to rotate about the first rotation axis LA with respect to the base portion 101 .

The arm unit 103 is composed of, for example, two arms (first arm 104 and second arm 105) that are long in one direction. One end of the first arm 104 is connected to the upper portion of the rotary head 102 so as to be rotatable about the second rotation axis LB. This connected portion is the second joint portion 106b, and the second speed reducer 10B and the second servomotor 108 are assembled to the second joint portion 106b. The second rotation axis LB coincides with, for example, the horizontal direction. Rotation of a second servomotor 108 is transmitted to the first arm 104 via a second speed reducer 10B. As a result, the first arm 104 is driven to rotate about the second rotation axis LB with respect to the rotary head 102 . For example, the first arm 104 is driven to swing back and forth with respect to the base portion 101 .

One end of the second arm 105 is connected to the other end of the first arm 104 so as to be rotatable about the third rotation axis LC. This connected portion is the third joint portion 106c, and the third speed reducer 10C and the third servomotor 109 are assembled to the third joint portion 106c. The third rotation axis LC is, for example, aligned with the horizontal direction. Rotation of a third servomotor 109 is transmitted to the second arm 105 via a third speed reducer 10C. As a result, the second arm 105 is driven to rotate about the third rotation axis LC with respect to the first arm 104 . For example, the second arm 105 is driven to swing vertically with respect to the first arm 104 .

An end effector 110 is attached to the other end of the second arm 105 . By driving the rotating head 102, the first arm 104, and the second arm 105, the end effector 110 is three-dimensionally driven.

In the cooperative robot 100 of the present embodiment, each of the first reduction gear 10A, the second reduction gear 10B, and the third reduction gear 10C is different from the reduction gear 1 of the first embodiment or the reduction gear 1A of the second embodiment. Become. Therefore, in the cooperative robot 100 of the present embodiment, deformation of the mounting portions 23 of the first reduction gear 10A, the second reduction gear 10B, and the third reduction gear 10C is suppressed. One or two of the first reduction gear 10A, the second reduction gear 10B, and the third reduction gear 10C may be the reduction gear 1 of the first embodiment or the reduction gear 1A of the second embodiment. good too. The speed reducer (first speed reducer 10A, second speed reducer 10B, third speed reducer 10C) has, for example, a servo motor (first servo motor 107, second servo motor 108, third servo motor 109) as a mating member. It is attached. Also, the reduction gears (first reduction gear 10A, second reduction gear 10B, third reduction gear 10C) may be attached to a mating member such as a motor bracket (not shown).

The present invention is not limited to the above-described embodiments, and includes various modifications of the above-described embodiments without departing from the scope of the present invention.
For example, in the above-described embodiment, the cooperative robot 100 as a robot is provided with three speed reducers (first speed reducer 10A, second speed reducer 10B, and third speed reducer 10C). However, it is not limited to this. Various configurations having two members (a first member and a second member), a reduction gear provided between the two members, and the second member being rotated with respect to the first member among the two members The configuration of the above-described embodiments can be adopted for the robot.

Further, in the above-described embodiments, the speed reducer has been described as an example of the rotating mechanism. However, the rotating mechanism is not limited to these. The configurations of the above-described embodiments are applied to various rotation mechanisms having a configuration comprising a case, a rotating body, and a bearing positioned between the case and the rotating body to support the rotating body rotatably with respect to the case. can be adopted. That is, the bearing is not limited to the angular contact ball bearing. For example, other bearings such as tapered roller bearings can be used as bearings.

Further, in the above-described embodiment, the mounting portion 23 provided on the case 2 is formed so as to protrude far from the input-side angular contact ball bearing 6 from the flange portion 22 . However, the mounting portion 23 does not have to extend far from the input-side angular contact ball bearing 6 .

Among the embodiments disclosed in this specification, those composed of a plurality of objects may be integrated, and conversely, those composed of a single object may be divided into a plurality of objects. be able to. Regardless of whether they are integrated or not, it is sufficient that they are constructed so as to achieve the object of the invention.

1, 1A, 10A, 10B, 10C ...... Reducer (rotating mechanism)
2...Case 5...Carrier section (rotating body)
6 …… Input side angular contact ball bearing (angular contact ball bearing, bearing)
6a...Outer ring 6c...Rolling element 21...Main body part 21a...Recessed part 21b...Pin groove 22...Flange part 23...Mounting part 23b...Groove part 23c...Recessed part 100...Collaborative robot (robot)
101...... Base portion (first member, second member)
102 ...... Rotating head (first member, second member)
103 ...... arm unit (first member, second member)
104 ...... First arm (first member, second member)
105...... second arm (first member, second member)
107……First servo motor (mating member)
108......Second servo motor (mating member)
109 …… Third servo motor (mating member)
200......Motor bracket (mating member)
C1……Input side corner (corner)
L1...Line of action L2...Line Lc...Center axis (axis)

Claims (13)

a case;
a rotating body;
a bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case;
with
Said case is
a cylindrical main body portion that accommodates the rotating body and the bearing therein and that has an inner peripheral surface in contact with the bearing;
a collar portion arranged from the main body portion in a direction intersecting with a direction along the axis of the main body portion;
has
The body portion has an attachment portion provided in a direction along the axis from the collar portion and capable of being attached to a mating member,
A corner portion between the collar portion and the mounting portion is arranged at a position closer to the tip side of the mounting portion than a position where the line of action of the bearing and the outer peripheral surface of the body portion intersect. 2. The rotation mechanism according to claim 1, wherein the main body portion extends from the flange portion in a direction along the shaft beyond the outer ring of the bearing. The bearing is an angular contact ball bearing,
The corner portion is arranged at a position on the tip side of the mounting portion from a position where a line perpendicular to the central axis of the angular contact ball bearing and passing through the center of the rolling element intersects the outer peripheral surface of the main body portion. The rotation mechanism according to claim 1 or 2. 3. The rotating mechanism according to claim 1, wherein the case has a recess formed by recessing a part of the case connected to the corner. 3. The rotation mechanism according to claim 1, wherein the case has a groove formed along the circumferential direction about the central axis of the bearing with respect to the outer peripheral surface of the mounting portion. 3. The line of action according to claim 1 or 2, wherein the line of action is inclined with respect to the axis in a direction along the axis of the main body so as to approach the axis as it goes toward the tip of the mounting portion. rotation mechanism. the inner diameter of the main body is 60 mm or more and less than 200 mm;
The thickness dimension of the mounting portion is 3 mm or more and 10 mm or less,
The outer diameter dimension of the angular contact ball bearing in a state taken out from the inside of the main body part is larger than the inner diameter dimension of the main body part in a range of 5 μm or more to 50 μm or less,
4. The rotation mechanism according to claim 3, wherein a preload load acting on the angular contact ball bearing housed inside the main body is 1000N or more and 50000N or less. an inner diameter dimension of the body portion is equal to or greater than 200 mm and smaller than 290 mm;
The thickness dimension of the mounting portion is 7 mm or more and 18 mm or less,
The outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is larger than the inner diameter dimension of the main body part in the range of 5 μm or more to 70 μm or less,
4. The rotation mechanism according to claim 3, wherein a preload load acting on the angular contact ball bearing housed inside the main body is 15000N or more and 80000N or less. the inner diameter of the main body is 290 mm or more and less than 390 mm;
The thickness dimension of the mounting portion is 14 mm or more and 28 mm or less,
The outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is larger than the inner diameter dimension of the main body part in the range of 15 μm or more to 70 μm or less,
4. The rotating mechanism according to claim 3, wherein a preload load acting on the angular contact ball bearing housed inside the main body is 30000N or more and 130000N or less. a case;
a rotating body;
an angular contact ball bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case;
with
Said case is
a cylindrical main body portion that accommodates the rotating body and the angular contact ball bearing therein and has an inner peripheral surface in contact with the angular contact ball bearing;
a collar projecting from the main body in a direction intersecting with the direction along the axis of the main body,
The body portion has a mounting portion extending from the flange portion in a direction along the axis from the outer ring of the angular contact ball bearing and capable of being mounted to a mating member,
a line of action of the angular contact ball bearing is inclined with respect to the axis in a direction along the axis of the main body so as to approach the axis as it goes toward a tip of the mounting portion;
The corner portion between the flange portion and the mounting portion is formed from a position where a line orthogonal to the central axis of the angular contact ball bearing and passing through the center of the rolling element intersects the outer peripheral surface of the main body portion. It is located on the tip side of the part,
Said case is
a recess formed by recessing a part of the case connected to the corner;
a groove formed on the outer peripheral surface of the mounting portion along a circumferential direction about the central axis of the angular contact ball bearing;
further having
the inner diameter of the main body is 60 mm or more and less than 200 mm;
The thickness dimension of the mounting portion is 3 mm or more and 10 mm or less,
The outer diameter dimension of the angular contact ball bearing in a state taken out from the inside of the main body part is larger than the inner diameter dimension of the main body part in a range of 5 μm or more to 50 μm or less,
The rotation mechanism, wherein a preload load acting on the angular contact ball bearing housed inside the main body is 1000N or more and 50000N or less. a case;
a rotating body;
an angular contact ball bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case;
with
Said case is
a cylindrical main body portion that accommodates the rotating body and the angular contact ball bearing therein and has an inner peripheral surface in contact with the angular contact ball bearing;
a collar projecting from the main body in a direction intersecting with the direction along the axis of the main body,
The body portion has a mounting portion extending from the flange portion in a direction along the axis from the outer ring of the angular contact ball bearing and capable of being mounted to a mating member,
a line of action of the angular contact ball bearing is inclined with respect to the axis in a direction along the axis of the main body so as to approach the axis as it goes toward a tip of the mounting portion;
The corner portion between the flange portion and the mounting portion is formed from a position where a line orthogonal to the central axis of the angular contact ball bearing and passing through the center of the rolling element intersects the outer peripheral surface of the main body portion. It is located on the tip side of the part,
Said case is
a recess formed by recessing a part of the case connected to the corner;
a groove formed on the outer peripheral surface of the mounting portion along a circumferential direction about the central axis of the angular contact ball bearing;
further having
an inner diameter dimension of the body portion is equal to or greater than 200 mm and smaller than 290 mm;
The thickness dimension of the mounting portion is 7 mm or more and 18 mm or less,
The outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is larger than the inner diameter dimension of the main body part in the range of 5 μm or more to 70 μm or less,
The rotation mechanism, wherein a preload load acting on the angular contact ball bearing housed inside the main body is 15000N or more and 80000N or less. a case;
a rotating body;
an angular contact ball bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case;
with
Said case is
a cylindrical main body portion that accommodates the rotating body and the angular contact ball bearing therein and has an inner peripheral surface in contact with the angular contact ball bearing;
a collar projecting from the main body in a direction intersecting with the direction along the axis of the main body,
The body portion has a mounting portion extending from the flange portion in a direction along the axis from the outer ring of the angular contact ball bearing and capable of being mounted to a mating member,
a line of action of the angular contact ball bearing is inclined with respect to the axis in a direction along the axis of the main body so as to approach the axis as it goes toward a tip of the mounting portion;
The corner portion between the flange portion and the mounting portion is formed from a position where a line orthogonal to the central axis of the angular contact ball bearing and passing through the center of the rolling element intersects the outer peripheral surface of the main body portion. It is located on the tip side of the part,
Said case is
a recess formed by recessing a part of the case connected to the corner;
a groove formed on the outer peripheral surface of the mounting portion along a circumferential direction about the central axis of the angular contact ball bearing;
further having
the inner diameter of the main body is 290 mm or more and less than 390 mm;
The thickness dimension of the mounting portion is 14 mm or more and 28 mm or less,
The outer diameter dimension of the angular contact ball bearing in a state of being taken out from the inside of the main body part is larger than the inner diameter dimension of the main body part in the range of 15 μm or more to 70 μm or less,
The rotation mechanism, wherein a preload load acting on the angular contact ball bearing housed inside the main body is 30000N or more and 130000N or less. a first member;
a second member;
a rotation mechanism provided between the first member and the second member for rotationally connecting the second member with respect to the first member;
with
The rotating mechanism is
a case;
a rotating body;
a bearing positioned between the case and the rotating body to rotatably support the rotating body with respect to the case;
with
Said case is
a cylindrical main body portion that accommodates the rotating body and the bearing therein and that has an inner peripheral surface in contact with the bearing;
a collar portion arranged from the main body portion in a direction intersecting with a direction along the axis of the main body portion;
has
The body portion has an attachment portion provided in a direction along the axis from the collar portion and capable of being attached to a mating member,
The robot, wherein a corner portion between the collar portion and the mounting portion is arranged at a position on a tip side of the mounting portion from a position where a line of action of the bearing and an outer peripheral surface of the main body intersect.

Images