JP2594176Y2 - Reduction drive having a wave reduction mechanism - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed reduction drive having a wave speed reduction mechanism, and more particularly to a speed reduction drive suitable for work positioning control.

[0002]

And [ART elastically deformable wave generator, and the flexspline of the outer periphery, and a circular spline which the flexspline is engaged, slightly less than the number of teeth of the circular spline the number of teeth of the flexspline Such a wave deceleration mechanism (harmonic drive) is known without being particularly exemplified. Further, a deceleration drive device for decelerating the rotation of the electric motor by the wave deceleration mechanism is already known, for example, from US Pat. No. 4,398,110. The above-described known deceleration driving device has an advantage that the rotational speed of the motor can be significantly and accurately reduced by the wave deceleration mechanism, but the height in the axial direction is lacking in consideration of the arrangement of the motor and the wave deceleration device. In addition to the increased stability and lack of stability, there is a problem that these work obstruct the work because there is no space for installing necessary wiring and piping.

In order to solve this problem, the outer periphery of the motor
The deceleration drive unit that has a wave reduction mechanism
No. 35581 has proposed this. This deceleration drive
The moving device has a low axial height and is cylindrical.
Wiring to the motor can be passed using the body of the
However, the cover that covers the motor is fixed to the tip of the cylindrical body.
Therefore, be sure to attach necessary equipment to the output
Is troublesome. Also, the cover fixed to the hollow cylinder
Therefore, the movable circular spline of the wave reduction mechanism
Circular spline because it cannot cover
Dust penetrates into the meshing part with the flex spline inside
There is a problem that it is easy to do.

[0004]

[Problems to be solved by the present invention] The problems to be solved by the present invention are flat and stable, and wiring and piping installation.
It is an object of the present invention to provide a deceleration drive device having a wave deceleration mechanism that can secure an installation space .

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention relates to a reduction drive device for transmitting rotation of an electric motor to a table by a wave reduction mechanism, wherein the reduction drive device has a base having a hollow shaft. And a stator fixed to the outer periphery of the hollow shaft and a slurry mounted on the upper surface of the base.
A flat electric motor having a rotor rotatably supported by a strike bearing;
Almost the same height as the above motor, with the generator fixed
And a circular spline of the wave reduction mechanism is mounted on the inner surface of the skirt portion which is rotatably supported by the wave reduction mechanism and the bearing mounted on the hollow shaft, covers the motor and the wave reduction mechanism, and extends toward the base. And a table.

[0006]

When the rotor of the motor is rotated by energization, the rotation is greatly reduced by the wave reduction mechanism.
The table rotates at a reduced speed. Therefore, it is possible to significantly reduce the speed of rotation of the device or the like attached to the table. In this case, the flat motor has the same height
By providing the wave deceleration mechanism, the height of the entire deceleration drive device is reduced and flattened, so that the stability of the device is improved.

Further, since the electric motor and the wave reduction mechanism are covered by the table having the skirt portion, it is possible to prevent dust from entering these members by using a table for mounting equipment and the like. In addition, the motor rotor
With a thrust bearing attached to the top of the base,
Since the tables on which the circular splines of the wave reduction mechanism are mounted are supported by the bearings, the load in the direction parallel to the axis of the base can be stably supported. In addition, wiring and piping required for motors and equipment to be installed on the table can be installed using the hollow shaft.
These do not hinder the work.

[0008]

1 shows an embodiment of the present invention. This deceleration drive device comprises a base 1, a flat electric motor 2, and a substantially same height.
A wave deceleration mechanism (harmonic drive) 3 and a table 4 are provided. The base 1 is provided with a large-diameter hollow shaft 6 at the center, and necessary wiring and piping (not shown) can be passed through the hole of the hollow shaft 6. A stator (coil assembly) 7 of the electric motor 2 is supported by a step 6a of the hollow shaft 6, and a radially outer rotor 8 is rotatable by a thrust bearing 9 mounted on the base 1. It is supported.

A wave generator 11 constituting the wave reduction mechanism 3 is mounted on the outer periphery of the rotor 8 so as to be integrally rotatable.
2 and a circular spline 13 are provided.
The number of teeth of the flex spline 12 is slightly smaller than the number of teeth of the circular spline 13, and the elastic deformation and rotation of the wave generator 11 cause the circular spline 13 to rotate.
It rotates while meshing with the spline 13. On the other hand, the center of the table 4 is a bearing 1 fitted to the hollow shaft 6.
The circular spline 13 is attached to a skirt portion 4a which is rotatably supported on the base 1 by 5 and extends toward the base 1 side. In the figure, reference numeral 8a denotes a magnet of the rotor 8, and 16 denotes a controller such as the electric motor 2 mounted on the bottom side of the base 1, which is formed in an annular shape.

In the above embodiment, when power is supplied to the stator (coil assembly) 7, the rotor 8 rotates, and the rotation of the rotor 8 is greatly reduced by the wave reduction device 3.
Rotates at reduced speed. Since the table 4 is rotated by the electric motor 2 and the wave deceleration mechanism 3, acceleration and deceleration are free and there is no backlash, so that high-precision positioning can be performed. In this case, since the wave reduction mechanism 3 having substantially the same height as that of the flat motor 2 is provided radially outward of the flat motor 2, the overall height of the reduction drive device is reduced and flattened. In addition, a desired device (not shown) installed on the table stably rotates, and necessary wiring and piping can be passed through the hollow shaft 6, so that the wiring and piping do not hinder the work. .

A skirt portion 4 extending toward the base 1
a, the motor 2 and the wave reducer
Table for mounting equipment etc. as it covered structure 3
Can prevent dust from entering these parts.
it can. Further, the rotor 8 is connected to the thrust bearing 9.
Therefore, the table 4 is supported by the bearings 15 respectively.
The bearing has been flattened with the hollow shaft 6 by these bearings.
Can support the load in the direction of travel.

If the electric motor 2 is a stepping motor, the rotation of the table 4 can be controlled with higher accuracy. Further, it is particularly effective when an index table or the like is formed by using a cross roller bearing or the like which can maintain rigidity.

[0013]

[Effect of the Invention] The present invention is applicable to the radially outward of a flat motor.
By providing a wave deceleration mechanism of almost the same height as this , the overall height is reduced and the device is flattened,
The table for mounting the equipment rotates stably at a reduced speed. Further, since the electric motor and the wave reduction mechanism are covered by the table having the skirt portion using this table, it is possible to prevent dust from entering these members. Furthermore, a load in a direction parallel to the axial direction of the base can be supported by the bearing. In addition, since necessary wiring and piping can be passed through the hollow shaft provided on the base, they do not hinder the work.

[Brief description of the drawings]

FIG. 1 is a vertical sectional front view of an embodiment.

[Explanation of symbols]

 Reference Signs List 1 base 2 motor 3 wave reduction mechanism 4 table 6 hollow shaft 7 stator 8 rotor 11 wave generator 13 circular spline

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-74936 (JP, A) JP-A-52-32459 (JP, A) JP-A-63-53340 (JP, A) 132166 (JP, U) Jiko 1-35581 (JP, Y2) (58) Field surveyed (Int. Cl. ⁶ , DB name) F16H 1/32

Claims (1)

(57) [Scope of request for utility model registration] 1. A deceleration drive for transmitting rotation of an electric motor to a table by a wave reduction mechanism, the deceleration drive comprising: a base having a hollow shaft; a stator fixed to the outer periphery of the hollow shaft; A flat motor having a rotor rotatably supported by a thrust bearing mounted on the upper surface of the table , and a wave generator substantially fixed to the outer periphery of the rotor, which is substantially the same as the motor described above.
A wave reduction mechanism having the same height is rotatably supported on a bearing mounted on the hollow shaft and covers the electric motor and the wave reduction mechanism, and a circular reduction mechanism of the wave reduction mechanism is provided on an inner surface of a skirt portion extending toward the base. And a table on which splines are attached. A speed reduction drive device having a wave motion reduction mechanism.