JP5709700B2 - Industrial machinery swivel - Google Patents

Description

  The present invention relates to a turning device for an industrial machine.

  Patent Document 1 discloses a turning device for an industrial robot that includes a base member (fixed body) and a turning member, and that turns and turns the turning member within a predetermined range with respect to the base member. This turning device is provided with a stopper mechanism for physically limiting the turning range of the turning member.

  The stopper mechanism is provided on the second base member that can be rotated only within a specific range coaxially with the base member, the stopper member provided on the second base member, and the pivot member. And a stopper member. With this configuration, in the turning device according to Patent Document 1, the turning member can be turned at a rotation angle of 360 degrees or more with respect to the base member, and the turning range of the turning member is limited by the contact of each stopper member. ing.

JP-A-4-275894 (FIG. 1)

  In the configuration disclosed in Patent Document 1, in order to limit the turning range of the turning member, the turning member itself of the industrial robot is provided with a stopper member for restricting the turning range.

  However, since the turning member of the industrial robot is a main large movable member in the industrial robot, there is a problem that it is not always easy to provide the stopper member.

  The present invention has been made to solve such a conventional problem, and an object thereof is to provide a swivel device for an industrial machine capable of limiting the rotation of a swivel member with a simple configuration. .

The present invention provides a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer, wherein the speed reducer includes a casing and an output flange, and the base member includes the base member. Fixed to the casing of the speed reducer, the swivel member is fixed to the output flange of the speed reducer, and is provided on the base member side, the first stopper member provided on the output flange of the speed reducer, A second stopper member that restricts the turning of the turning member by contacting the first stopper member of the speed reducer, and the output flange is radially outward from a minimum outer diameter portion of the casing of the speed reducer. The above-described problems are solved by having an extension portion extended to the first portion and the first stopper member provided on the extension portion .
Further, the present invention provides a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer, wherein the speed reducer includes a casing and an output flange, and the base member Is fixed to the casing of the speed reducer, the turning member is fixed to the output flange of the speed reducer, and is provided on the base member side with a first stopper member provided on the output flange of the speed reducer. A second stopper member that restricts the turning of the turning member by contacting the first stopper member of the speed reducer, wherein the second stopper member is provided on the casing, and the second stopper member is attached. The above-mentioned problem can also be solved by using a configuration in which the bolt is also used as a bolt for attaching the casing to the base member. Those were.
Further, the present invention provides a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer, wherein the speed reducer includes a casing and an output flange, and the base member Is fixed to the casing of the speed reducer, the turning member is fixed to the output flange of the speed reducer, and is provided on the base member side with a first stopper member provided on the output flange of the speed reducer. A second stopper member that restricts the turning of the turning member by contacting the first stopper member of the speed reducer, wherein the second stopper member is provided in the casing, and the casing is radially outward. The base member and the second stopper member are fixed to the casing with the protrusion interposed therebetween. With formed is also that the above-mentioned problems are eliminated.
Further, the present invention provides a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer, wherein the speed reducer includes a casing and an output flange, and the base member Is fixed to the casing of the speed reducer, the turning member is fixed to the output flange of the speed reducer, and is provided on the base member side with a first stopper member provided on the output flange of the speed reducer. A second stopper member that restricts the turning of the turning member by contacting the first stopper member of the speed reducer, and a bolt hole for a bolt that fixes the first stopper member to the output flange. The above-mentioned problem can also be solved by adopting a configuration in which the swivel member is provided radially outside the bolt hole of the bolt that fixes the output flange. It is intended.
Further, the present invention provides a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer, wherein the speed reducer includes a casing and an output flange, and the base member Is fixed to the casing of the speed reducer, the turning member is fixed to the output flange of the speed reducer, and is provided on the base member side with a first stopper member provided on the output flange of the speed reducer. A second stopper member that restricts the turning of the turning member by contacting the first stopper member of the speed reducer, and a recess for the first stopper member that positions the first stopper member is the output. A recess for the second stopper member for positioning the second stopper member is formed in the casing, and formed in the flange; and With a structure in which a third stopper member to simultaneously engage both of the recess of the recess and a second stopper member for serial first stopper member is also that the above-mentioned problems are eliminated.

  In the present invention, the first stopper member is provided on the output flange of the speed reducer, and the second stopper member on the base member side receives the first stopper member provided on the output flange, whereby the turning limit of the turning device is reduced. Is done.

  For this reason, since the first stopper member can be attached to the output flange of the reduction gear (not to the turning member of the industrial machine), the first stopper member can be attached with a simple configuration, and as a result, the turning The swivel range of the member can be limited with a simple configuration.

  ADVANTAGE OF THE INVENTION According to this invention, rotation of the turning member of the turning apparatus of an industrial machine can be restrict | limited with a simple structure.

The longitudinal cross-sectional view which shows the structural example of the turning apparatus of the industrial machine which concerns on an example of embodiment of this invention. Side view seen from the direction of arrow II in FIG. Sectional drawing which follows the arrow III-III line of FIG. Partial development as seen from the direction of arrow IV in FIG. Side view and partial sectional view showing a modification of the above embodiment The longitudinal cross-sectional view which shows the structural example of the turning apparatus of the industrial machine which concerns on an example of other embodiment of this invention. 6 is a right side view of the swivel device of FIG. Sectional drawing which follows the arrow VIII-VIII line of FIG. Partial development view seen from the direction of arrow IX in FIG. 4 is a partial development view corresponding to FIG. 4 for explaining the usage of the third stopper member

  Hereinafter, an example of an embodiment of the present invention will be described in detail based on the drawings.

  1 is a longitudinal sectional view showing a configuration example of a turning device for an industrial machine according to an example of an embodiment of the present invention, FIG. 2 is a right side view of FIG. 1, and FIG. 3 is an arrow III-III in FIG. It is sectional drawing which follows a line. For convenience, FIG. 1 shows both the first stopper member and the second stopper member. Also, FIGS. 2 and 3 also depict the main components appropriately overlapped so that the relationship with the other components of the swivel device can be easily understood.

  The turning device 10 according to this embodiment is incorporated in a first joint portion of an industrial robot 12 (industrial machine). The turning device 10 includes a motor (not shown) fixed to an output flange 18 to be described later, and a swinging intermeshing planetary gear reducer 20, and turns with respect to the base member 14 of the industrial robot 12. The arm 16 as a member is turned only within a predetermined range.

  Hereinafter, the configuration of the power transmission system of the turning device 10 will be described.

  The motor can input rotation of a motor shaft (not shown) to the input gear 22 of the planetary gear reducer 20. The input gear 22 is connected to the input shaft 26 via the spline 24. A transmission gear 28 is formed on the input shaft 26 by gear cutting. The transmission gear 28 meshes with the center gear 30.

  The center gear 30 is rotatable via a needle 36 on an inner cylindrical body 34 disposed at a position of an axis O1 of the planetary gear speed reducer 20 (same as an inner gear 32 described later or an axis of the output flange 18). It is supported. The center gear 30 meshes with the transmission gear 28 and simultaneously meshes with three eccentric body shaft gears 38A to 38C (only the eccentric body shaft gear 38A is shown in FIG. 1).

  The three eccentric body shaft gears 38A to 38C are integrally geared to the three eccentric body shafts 40A to 40C (only the eccentric body shaft 40A is shown in FIG. 1). In this embodiment, the eccentric body shafts 40A to 40C are provided at equal intervals in the circumferential direction at positions offset from the axis O1 of the planetary gear speed reducer 20, and the two external gears 41 and 42 are connected to each other. Each of them is arranged in a manner penetrating in the axial direction.

  Eccentric bodies 43 and 44 are integrally formed on both sides in the axial direction of the eccentric body shaft gears 38A to 38C of the eccentric body shafts 40A to 40C, respectively. The external gears 41 and 42 are fitted on the outer circumferences of the eccentric bodies 43 and 44 through eccentric body bearings 45 and 47, respectively. The eccentric phase difference between the external gears 41 and 42 is 180 degrees.

  The external gears 41 and 42 are in mesh with the internal gear 32, respectively. In this embodiment, the internal gear 32 includes a cylindrical internal tooth pin 32A and an internal gear main body 32B having a pin groove 32B1 that rotatably supports the internal tooth pin 32A. The internal gear main body 32 </ b> B is integrated with the casing 46 of the planetary gear speed reducer 20. The number of teeth of the internal gear 32 (the number of internal teeth pins 32A) is slightly larger (only 1 in this embodiment) than the number of teeth of the external gears 41 and 42.

  The output flange 18 and the carrier body 48 are supported on the casing 46 via a pair of main bearings (angular roller bearings 51, 53) on both axial sides of the external gears 41, 42. The output flange 18 and the carrier body 48 have hollow portions 18S and 48S, respectively, and are connected and integrated by a plurality (six in this example) of carrier pins 54 and carrier bolts 55 (both shown only in FIG. 2). Yes. The output flange 18 and the carrier body 48 support the input shaft 26 via a pair of ball bearings 56 and 57 in the respective input shaft holes 18L and 48L. Further, the output flange 18 and the carrier body 48 support the eccentric body shafts 40A to 40C via a pair of angular roller bearings 58 and 59 in the eccentric body shaft holes 18K and 48K, respectively.

  The inner cylindrical body 34 supporting the center gear 30 has a hollow portion 34S having the same diameter as the hollow portion 18S of the output flange 18, and the output flange 18 and the step portions 18A and 48A of the carrier body 48 are provided. By being fitted, the output flange 18 and the carrier body 48 are incorporated so as to be integrally rotatable. A casing cover 61 is attached to the carrier body 48 on the side opposite to the externally toothed gear in the axial direction via bolts 60.

  An oil seal 65 is provided between the casing cover 60 and the inner cylinder 34, an oil seal 62 is provided between the casing 46 and the output flange 18, and an oil is provided between the input shaft hole 18L of the output flange 18 and the input shaft 26. Each of the seals 63 is provided. An O-ring 64 is interposed between the output flange 18 and the inner cylinder 34. The space in the planetary gear speed reducer 20 is sealed by these oil seals 62, 63 and 65 and the O-ring 64.

  Here, the structure for restrict | limiting the turning range of the turning apparatus 10 is demonstrated in detail.

  In the turning device 10 according to this embodiment, the first stopper member 66 provided on the output flange 18 of the planetary gear speed reducer 20 is provided on the base member 14 side of the industrial robot 12 (the casing 46 in this embodiment). By abutting against the second stopper member 68, as a result, the turning of the arm (turning member) 16 fixed to the output flange 18 is restricted / restricted. The base member 14 is fixed to a base (or foundation frame) 19 of a factory with bolts 21.

  First, the configuration around the output flange 18, the arm (swinging member) 16, and the first stopper member 66 of the planetary gear speed reducer 20 will be described.

  The output flange 18 of the planetary gear speed reducer 20 is an extended portion 18E having an outer diameter d2 that is extended radially outward from the minimum diameter portion 46S (outer diameter d1) of the outer periphery of the casing 46 of the planetary gear speed reducer 20 by δ1. (D2−d1 = δ1). The first stopper member 66 of the turning device 10 is provided on the extension 18E.

  The first stopper member 66 is a cross section parallel to the axis in FIG. 1, a circumferential cross section including a pitch circle of a first bolt hole 66F, which will be described later with reference to FIG. 2, and a cross section perpendicular to the axis in FIG. FIG. 4 is a partially developed view of the outer periphery of the casing 46 viewed from the radial direction indicated by the arrow IV in FIG.

  In this embodiment, the first stopper member 66 includes an outer peripheral surface 66A having the same outer diameter d2 as the extension 18E of the output flange 18, an inner peripheral surface 66B coaxial (parallel) with the outer peripheral surface 66A, and a second stopper described later. The first and second contact surfaces 66C and 66D that contact the member 68 and the mounting surface 66E are provided. The first and second contact surfaces 66C and 66D extend in the radial direction (radial direction) at right angles to the axis when assembled to the output flange 18. The first stopper member 66 is formed with two first bolt holes 66F into which the first stopper bolts 70 are screwed in parallel to the shaft.

  In this embodiment, twelve first through first positions for positioning the inner peripheral surface 66B and the attachment surface 66E of the first stopper member 66 on the extension portion 18E of the output flange 18 as attachment portions of the first stopper member 66. 12th recessed part 72A-72L is formed in the circumferential direction at 12 places and equal intervals (only 1st recessed part 72A is shown in FIG. 1, FIG. 2, FIG. 4 shows only 1st recessed part 72A, 12th recessed part 72L). . In the first to twelfth recesses 72A to 72L, two flange bolt holes 18D are formed at positions corresponding to the two first bolt holes 66F of the first stopper member 66, respectively. The flange bolt hole 18D is not threaded.

  In short, 12 output flanges 18 according to this embodiment are provided as 12 attachment portions of the first stopper member 66 every 360/12 = 30 (degrees) in the circumferential direction of the output flange 18. -12th recessed part 72A-72L and 12 pairs for penetrating the 1st stopper volt | bolt 70 which fixes the 1st stopper member 66 to the output flange 18 are provided with a total of 24 flange bolt holes 18D. The pitch circle diameter of the flange bolt hole 18D is d5.

  In this embodiment, the central angle when the first stopper member 66 is fixed to the output flange 18 is α1 (see FIGS. 2 and 3).

  In order to attach the first stopper member 66, first, the first stopper member 66 is positioned at one of the first to twelfth recesses 72A to 72L of the extension 18E of the output flange 18 (in this embodiment, the first recess 72A). Thereafter, the two first stopper bolts 70 are screwed into the first bolt holes 66F of the first stopper member 66 through the flange bolt holes 18D. Thereby, the first stopper member 66 is fixed to the extension 18E (an arbitrary position thereof) of the output flange 18.

  An arm (swivel member) 16 of the industrial robot 12 is fixed to the output flange 18 via an arm bolt 76. Therefore, the output flange 18 is formed with a ring-shaped groove 18F for centering and positioning the arm 16, and an arm bolt hole 18H. The arm 16 has a protrusion 16A that engages with the groove 18F. Is formed.

  The flange bolt hole 18D for fixing the first stopper member 66 to the output flange 18 is provided radially outside the arm bolt hole 18H for fixing the arm 16 to the output flange 18, and the first stopper The bolt 70 is located further radially outward than the outer periphery 16B (outer diameter d3) of the arm 16. Thus, the first stopper member 66 can be attached or the position can be changed without removing the arm 16 from the output flange 18.

  Next, the configuration around the casing 46, the base member 14, and the second stopper member 68 of the speed reducer will be described.

  First, paying attention to the lower side of the drawing sheet of FIG. The protrusion 46A has a pair of first and second parallel surfaces 46B and 46C perpendicular to the axis, and has a bolt hole 46H (unthreaded) through which a base bolt 78 for fixing the base member 14 passes. ing. The pitch circle diameter of the base bolt 78 (bolt hole 46H) is d5 which is the same as the pitch circle diameter of the flange bolt hole 18D.

  On the other hand, the base member 14 of the industrial robot 12 has a shape in which a hollow cylindrical portion 14B is continuous with a ring plate-shaped base portion 14A, and a base bolt 78 is screwed into the axial end surface 14B1 of the cylindrical portion 14B. A base bolt hole 14D is provided.

  The axial end surface 14B1 of the cylindrical portion 14B of the base member 14 is positioned by the outer periphery 46M of the casing 46 (on the base member side from the protruding portion 46A) and the first parallel surface 46B of the protruding portion 46A on the base member 14 side. Has been. The base member 14 is fixed to the casing 46 of the planetary gear speed reducer 20 via the base bolt 78 in this positioning state.

  On the other hand, referring to the upper side of FIG. 1, the first to twelfth recesses 82 </ b> A to 82 </ b> L are equally spaced in the circumferential direction on the second parallel surface 46 </ b> C on the side opposite to the base member of the protrusion 46 </ b> A of the casing 46. 12 are formed (see FIG. 3. FIG. 1 shows only the first recess 82A. FIG. 4 shows only the first recess 82A, the second recess 82B, and the 12th recess 82L). In this embodiment, the example in which the 2nd stopper member 68 is provided in the 1st recessed part 82A of these is shown.

  Further, in each of the first to twelfth recesses 82A to 82L, there are two casing bolt holes 46E for screwing the second stopper bolts 86 for fixing the second stopper member 68 to the casing 46 (on the entire circumference). 12 pairs, a total of 24).

  The pitch circle diameter d5 of the casing bolt hole 46E is the same as the pitch circle diameter of the base bolt 78 (bolt hole 46H). Further, as described above, this pitch circle diameter is equal to the pitch circle of the flange bolt hole 18D. The diameter is also the same (all d5).

  The second stopper member 68 is a partially developed view in which the outer periphery of the casing 46 is viewed from the radial direction indicated by the arrow IV in FIG. 3 in FIG. Respectively.

  In this embodiment, the second stopper member 68 includes an outer peripheral surface 68A having the same outer diameter d4 as the protruding portion 46A of the casing 46, an inner peripheral surface 68B coaxial (parallel) with the outer peripheral surface 68A, and the first stopper member 66. The first and second contact surfaces 68C and 68D that receive the first and second contact surfaces 66C and 66D, and the mounting surface 68E.

  The first and second receiving surfaces 68 </ b> C and 68 </ b> D extend in the radial direction (radial direction) at right angles to the axis when assembled to the casing 46. Further, the second stopper member 68 is formed with two second bolt holes 68F in parallel with the axis. The second bolt hole 68F is not threaded.

  The second stopper member 68 is positioned at any one of the first to twelfth recesses 82A to 82L (in this embodiment, the first recess 82A) of the protrusion 46A of the casing 46, and the second bolt hole 68F. The two second stopper bolts 86 are screwed into the casing bolt holes 46E of the projecting portion 46A of the casing 46, thereby being fixed to the projecting portion 46A (arbitrary position) of the casing 46. In this embodiment, the central angle when the second stopper member 68 is fixed to the casing 46 is β1.

  Eventually, the base member 14 and the second stopper member 68 are fixed to the casing 46 with the protrusion 46A of the casing 46 interposed therebetween. As a result, the second stopper member 68 can be attached only by tightening the second stopper bolt 86 while the casing 46 of the planetary gear speed reducer 20 is installed on the base member 14.

  As shown in FIG. 4, the first contact surface 66C of the first stopper member 66 and the first receiving surface 68C of the second stopper member 68 are partially overlapped by δ2 when viewed from the circumferential direction. Further, when the output flange 18 (and the arm 16 of the industrial robot 12 connected to the output flange 18) rotates in the direction of the arrow B and makes a full turn, the second contact surface 66D of the first stopper member 66 and the second stopper The second receiving surface 68D of the member 68 also overlaps by δ2 when viewed from the circumferential direction.

  Next, the operation of the turning device 10 will be described.

  When the input gear 22 rotates in response to the rotation of the motor, the input shaft 26 rotates through the spline 24. The rotation of the input shaft 26 is transmitted to the center gear 30 via the transmission gear 28. When the center gear 30 rotates, the three eccentric body shaft gears 38A to 38C meshing with the center gear 30 rotate, and the three eccentric body shafts 40A to 40C rotate simultaneously and in the same direction. As a result, the eccentric bodies 43 and 44 provided on the eccentric body shafts 40A to 40C rotate in synchronization with each other and are fitted to the outer circumferences of the eccentric bodies 43 and 44 via the eccentric body bearings 45 and 47, respectively. The external gears 41 and 42 mesh with the internal gear 32 while swinging while maintaining an eccentric phase difference of 180 degrees.

  In this embodiment, since the casing 46 is fixed to the base member 14 of the turning device 10, the eccentric bodies 43 and 44 of the eccentric body shafts 40 </ b> A to 40 </ b> C rotate once (the external gears 41 and 42 rotate once). When oscillated), the external gears 41 and 42 are out of phase (rotated) by “one tooth” corresponding to the difference in the number of teeth with respect to the internal gear 32. The rotation components of the external gears 41 and 42 are extracted from the output flange 18 as revolutions around the axis O1 of the planetary gear reducer 20 of the eccentric body shafts 40A to 40C. As a result, the arm (swinging member) 16 of the turning device 10 connected to the output flange 18 via the arm bolt 76 turns.

  Here, when the output flange 18 rotates in the direction of arrow A in FIG. 4 and reaches the position in FIG. 4, the first contact surface 66C of the first stopper member 66 fixed to the output flange 18 is moved to the casing 46. The second stopper member 68 is fixed to the first receiving surface 68C of the second stopper member 68 (at the portion of overlap δ2). As a result, the output flange 18 cannot rotate any more with respect to the casing 46.

  The output flange 18 of the planetary gear speed reducer 20 is fixed to the arm (swing member) 16 of the turning device 10, and the casing 46 of the planetary gear speed reducer 20 is fixed to the base member 14 of the turning device 10. For this reason, the turning of the arm 16 in the direction of arrow A with respect to the base member 14 of the turning device 10 is eventually restricted (restricted).

  On the other hand, even in this state, the output flange 18 can rotate (reverse) in the direction of arrow B in FIG. However, when the output flange 18 rotates in the direction of the arrow B from the position of FIG. 4, the first stopper member 66 fixed to the output flange 18 eventually reaches the position of the imaginary line of FIG. The second contact surface 66D comes into contact with the second receiving surface 68D of the second stopper member 68 (at the portion of overlap δ2). Accordingly, in a similar manner, further turning of the arm 16 in the direction of arrow B with respect to the base member 14 of the turning device 10 is restricted (restricted).

  As a result, in this embodiment, the arm 16 of the turning device 10 is allowed to turn only in the range of 360- (α1 + β1) degrees with respect to the base member 14 with the first recess 82A of the casing 46 as a base point. Will be.

  When it is desired to change the turning range of the arm 16 relative to the base member 14, the fixing position of the first stopper member 66 provided on the output flange 18 may be changed. It should be noted that the turning range can be changed by changing the sizes of the central angles α1 and β1 of the first and second stopper members.

  Further, when two first stopper members 66 are provided on the output flange 18, the turning device 10 that allows turning only at an angle smaller than 380− (α1 + β1) degrees can be obtained. For example, when the first stopper member 66 is fixed at two locations of the fourth recess 72D (not shown) at a position 120 degrees away from the first recess 72A, the output flange 18 (that is, the output flange 18) The fixed arm 16) can be a turning device 10 that allows turning only in the range of 120− (α1 + β1) degrees or in the range of 240− (α1 + β1).

  Note that the turning range can be changed relative to the base member 14 by changing the fixing position of the second stopper member 68 fixed to the casing 46. That is, the turning range of the arm 16 can also be changed by changing from the first recess 82A where the second stopper member 68 is fixed to any of the second to twelfth recesses 82B to 82L.

  Further, even in a state in which turning is allowed only in a range narrower than 360− (α1 + β1) degrees, it is also possible to arrange the first stopper member 66 with respect to the first stopper member 66 by arranging two second stopper members 68. This can be realized in the same manner as in the case of providing two one stopper members 66.

  In this embodiment, since the first stopper member 66 is fixed to the output flange 18 of the planetary gear speed reducer 20 (not to the arm 16 of the turning device 10), the limiting mechanism having a very simple configuration and a high degree of freedom. Can be built.

  Further, in the present embodiment, the output flange 18 has an extension portion 18E that extends outward in the radial direction from the minimum outer diameter portion 46S of the casing 46 of the planetary gear speed reducer 20, and the extension portion 18E includes the extension portion 18E. Since the first stopper member 66 is provided, even if the first stopper member 66 is attached to any position in the circumferential direction of the output flange 18, the first stopper member 66 reduces the planetary gear speed when the output flange 18 turns. There is no interference with the casing 46 of the machine 20.

  In the above embodiment, the flange bolt hole 18D for screwing the first stopper bolt 70 for fixing the first stopper member 66 to the output flange 18 and the arm bolt 76 for fixing the arm 16 to the output flange 18 are provided. Since the arm bolt hole 18H for screwing is provided on the outer side in the radial direction, the first stopper member 66 can be attached and repositioned while the arm 16 is attached to the output flange 18.

  In the above embodiment, the casing 46 has the protruding portion 46A protruding outward in the radial direction, and the base member 14 and the second stopper member 68 are fixed to the casing 46 with the protruding portion 46A interposed therebetween. Therefore, the second stopper member 68 is fixed to the base member 14 while the casing 16 of the planetary gear speed reducer 20 and, consequently, the entire arm 16 of the swivel device 10 fixed to the output flange 18 of the planetary gear speed reducer 20 is fixed to the base member 14. Can be attached. Further, the position of the second stopper member 68 can be easily changed.

  In addition, since the output flange 18 is provided with a plurality of attachment portions of the first stopper member 66 and the first stopper member 66 is attached to any of the attachment portions, the position of the first stopper member 66 can be easily changed. And high reproducibility. The same effect is obtained for the second stopper member 68.

  Further, the mounting portions of the first and second stopper members 66 and 68 are bolt holes for screwing the first to twelfth recesses 72A to 72L and 82A to 82L and the first and second stopper bolts 70 and 86, respectively. 18D and 46E, the first and second stopper members 66 and 68 can be positioned and fixed with a simple configuration.

  In the case of the present embodiment, not only the first stopper member 66 but also the second stopper member 68 (not the base member 14 of the turning device 10) is fixed to the casing 46 of the speed reducer. The range can be set / changed by “only planetary gear reducer 20” (because there is no need to modify the base member 14 and the arm 16 which are the main components of the swivel device 10), The degree of freedom in design and the design can be greatly improved.

  5A to 5C show a modification of the above embodiment.

  In the above embodiment, the second stopper bolt 86 and the base bolt 78 are used separately. However, in the modification of FIG. 5, the second stopper bolt 86 and the base bolt 78 are shared (also used) and the second stopper member 168 is attached. Regarding the portion, the second stopper member 168, the casing 146 (projecting portion 146A thereof), and the base member 114 are fastened together by the same fastening bolt 179.

  Specifically, in this modification, the circumferential range of the first to twelfth recesses 182A to 182L for positioning the second stopper member 168 is the same as that of the first to twelfth recesses 82A to 82L of the previous embodiment. It is slightly narrower than the circumferential range. In addition, the circumferential length of the second stopper member 168 is made larger than the circumferential length of the second stopper member 68 of the previous embodiment (with the central angle β2 being increased), and the first to the first in the circumferential center. It is set as the shape which has the protrusion part 168T engaged with 12 recessed part 182A-182L.

  In addition, one second stopper member 168 is attached by two co-tightening bolts 179 across the portion corresponding to the two base bolts 78 of the previous embodiment. Eventually, the joint bolt 179 combines the functions of the second stopper bolt 86 to which the second stopper member 68 of the previous embodiment is attached and the base bolt 78 that connects the base member 14 and the casing 46. Yes. Further, the central angle β2 of the second stopper member 168 is made larger than the central angle β1 of the second stopper member 68 of the previous embodiment, and the turning range of the arm 116 (not shown in FIG. 5) is slightly narrowed. According to this modification, the number of parts can be reduced by using the joint bolt 179, and the casing bolt hole (46E) used only for attaching the second stopper member 68 required in the previous embodiment. ) Drilling is not necessary, so that manufacturing can be simplified.

  Since the other configuration is the same as that of the previous embodiment, the lower two digits are attached with the same reference numerals as those of the previous embodiment in the same or functionally similar parts as those of the previous embodiment in FIG. Duplicate explanation is omitted.

  Next, an example of another embodiment of the present invention will be described with reference to FIGS.

  In this embodiment, the configuration of the power transmission system and the attached member of the second stopper member 268 are different from those of the previous embodiment.

  First, the configuration of the power transmission system of the turning device 210 according to this embodiment will be briefly described.

  A pinion 208 is formed at the tip of the motor shaft 206 of the motor 204. The pinion 208 meshes with the gear 223. The gear 223 is connected to the eccentric body shaft 240 </ b> A via the spline 239. Eccentric bodies 243 and 244 are provided on the eccentric body shaft 240A. External gears 241 and 242 are externally fitted to the eccentric bodies 243 and 244 via eccentric body bearings 245 and 247, respectively.

  In this embodiment, the external gears 241 and 242 are swung by the eccentric bodies 243 and 244 provided on the single eccentric shaft 240A. That is (in this embodiment, there are a total of three eccentric body shafts 240A to 240C), the other two eccentric body shafts 240B and 240C (in FIG. 6, only the eccentric body shaft 240A is shown) Only the swinging of the external gears 241 and 242 is supported, and no driving force is applied. That is, the other two eccentric body shafts 240B and 240C are driven eccentric body shafts. Therefore, the other two eccentric body shafts 240B and 240C have smaller outer diameters, outer diameters of the eccentric bodies 243s and 244s, outer diameters of the eccentric body bearings 245s and 247s, and the like than the eccentric body shaft 240A for driving. Is set. However, the eccentric amounts of the eccentric bodies 243, 243s, 244, 244s are the same for all the eccentric body shafts 240A to 240C.

  The eccentric oscillating planetary gear speed reducer 220 according to this configuration does not require a center gear (30), eccentric body shaft gears (38A to 38C), etc., and has a simple configuration and low cost. However, regarding the mechanism of deceleration by the external gears 241, 242 and the internal gear 223, basically the same operation as in the previous embodiment can be obtained.

  Also in this embodiment, the base member 214 of the industrial robot 212 is fixed to the casing 246 of the planetary gear speed reducer 220, and the arm 216 (swivel member) is fixed to the output flange 218 of the planetary gear speed reducer 220. Similar to the previous embodiment, the arm 216 can be pivoted relative to the base member 214.

  That is, the output flange 218 of the swivel device 210 also has an extension portion 218E that is extended by δ201 radially outward from the minimum outer diameter portion 246S of the casing 246, as in the previous embodiment, and the extension portion 218E. The 1st stopper member 266 is provided in this. The first stopper member 266 itself and the surrounding structure are the same as in the previous embodiment, and the first stopper member 266 can be attached and detached while the arm 216 of the industrial robot 212 is attached (without disassembly). This is also the same as in the previous embodiment.

  However, in this embodiment, the second stopper member 268 is not attached to the casing 246 of the planetary gear reducer 220 but to the base 219 (on the base member 214 side) to which the base member 214 of the swivel device 210 is fixed. Directly attached by bolts 215 adjacent to the base member 214.

  The second stopper member 268 includes a mounting portion 268X that is placed on the base 219, a column portion 268Y that is erected from the installation portion 268X, and extends from the upper portion of the column portion 268Y to the side opposite to the mounting portion 268X. The receiving portion 268Z is mainly configured. The receiving portion 268Z is provided with first and second receiving surfaces 268C and 268D with which the first and second contact surfaces 266C and 266D of the first stopper member 266 come into contact. Reference numerals 268V and 268W are reinforcing members. Each part is fixed by welding or a metal adhesive.

  6-9, the first contact surface 268C of the first stopper member 266 contacts the first receiving surface 268C of the second stopper member 268, and is connected to the output flange 218 (and the output flange 218). The arm 216) is restricted from rotating in the direction of arrow A.

  Also with this configuration, the effect of enabling the arm 216 of the turning device 210 to turn at an arbitrary angle with respect to the base member 214 can be obtained as in the previous embodiment. In particular, in this embodiment, since the second stopper member 268 is directly provided on the base 219 on which the base member 214 is installed, the mounting position of the second stopper member 268 is set at the planetary gear reduction speed. It can be finely adjusted in an analog manner at an arbitrary position in the circumferential direction with respect to the casing 246 of the machine 220 or the output flange 218. Therefore, the turning range of the arm 216 can be set to an arbitrary angle (not an angle of every 30 degrees as in the previous embodiment). Thus, in the present invention, the second stopper member 268 is not necessarily provided in the casing 246 of the planetary gear speed reducer 220.

  The present invention is an invention that can regulate the swivel range of the swivel device. However, by using the configuration of the present invention, for example, during inspection, the swivel member is temporarily intended with respect to the base member. It can also be used as a means for fixing so as not to turn.

  An example of this utilization is shown in FIG.

  That is, in this embodiment, the basic structure itself has the same configuration as the configuration shown in FIGS. That is, first to twelfth recesses 72 </ b> A to 72 </ b> L for positioning the first stopper member 66 are formed in the output flange 18. Further, first to twelfth recesses 82 </ b> A to 82 </ b> L for positioning the second stopper member 68 are formed in the casing 46. The third stopper member 95 is engaged with both the first to twelfth recesses 72A to 72L for the first stopper member 66 and the first to twelfth recesses 82A to 82L for the second stopper member 68. The first stopper bolt 70 (not shown in FIG. 10) is fixed to the output flange 18. The third stopper member 95 may be fixed on the casing 46 side, and if it is temporary, it may not be bolted. The specific configuration of each part is the same as the configuration of the first and second stopper members 66 and 68 and their surroundings already described.

  The physical fixing of the swivel member at the time of inspection is necessary for safety. However, conventionally, the swivel member cannot always be easily realized, and it may take a lot of time and cost for preparation. By adopting the above configuration, the arm 16 (swivel member) can be easily stopped completely with respect to the base member 14. From another viewpoint, the turnable range can be easily set to “zero”.

  Although the present invention physically limits the swivel range of the swivel member relative to the base member, in actual swivel control, it is not always necessary to directly use the swivel control of the present invention in the main control routine. Absent. For example, in the main control routine, the turning range is regulated using, for example, the detection value of the encoder of the motor, etc., for fail-safe to prevent runaway of the turning member when some trouble occurs in the main control routine The present invention may be applied as follows. In addition, a touch sensor, a magnetic sensor, or the like that detects actual contact of the first and second stopper members or just before contact is incorporated between the contact surface and the receiving surface of the first and second stopper members of the present invention. The contact range of the first and second stopper members may be detected by signals from these sensors to restrict the turning range. Even in this case, even if the sensor is defective, the turning limitation of the present invention functions effectively for fail-safe use.

  In the above embodiment, the planetary gear speed reducer having an eccentric oscillating speed reduction mechanism is employed as the speed reducer. However, the speed reducer applied to the turning device according to the present invention is as described above. For example, a speed reducer with a simple planetary gear mechanism, a speed reducer with a parallel shaft speed reduction mechanism or an orthogonal speed reduction mechanism, or a speed reducer with a combination of these speed reducers It may be.

  Moreover, in the said embodiment, the said output flange has the extension part extended in the radial direction outer side than the minimum outer diameter part of the casing of a reduction gear, The said 1st stopper member is provided in this extension part. However, for example, when the turning range is relatively limited and interference with the casing does not cause a problem, such a configuration is not necessarily required.

  Moreover, in the said 1st Embodiment, the casing has the protrusion part which protruded to radial direction outer side, and the base member and the 2nd stopper member are being fixed with respect to the said casing on both sides of this protrusion part Was adopted. However, in the present invention, the attachment of the second stopper member and the casing and the attachment of the base member and the casing need not be particularly related. For example, the second stopper member is attached to the base member itself (not to the casing). Alternatively, as in the second embodiment, the base member may be directly attached to a base (floor material, base frame, etc .: base member side) on which the base member is installed.

  In the above embodiment, the output flange is provided with a plurality of first and second stopper member attachment portions, and the first and second stopper members are attached to any of the attachment portions. For example, as in the second embodiment, only one (one place) may be provided for such an attachment portion.

  In addition, the configuration of the mounting portion of the first stopper member (or the second stopper member) may be any configuration as long as the first stopper member (or the second stopper member) is appropriately positioned and fixed. It is not limited to the configuration example.

  Moreover, in the said embodiment, the bolt hole for screwing the volt | bolt which fixes a 1st stopper member to the said output flange is radially outer than the bolt hole for screwing the volt | bolt which fixes the said turning member to this output flange. Thus, the first stopper member can be mounted and repositioned while the swivel member is mounted on the output flange. However, in the present invention, such a configuration is not necessarily required. .

  Furthermore, in the above-described embodiment, a configuration that enables the mounting of the third stopper for completely fixing the turning member at the time of inspection or the like has been disclosed. However, in the present invention, It is not necessary to be able to install.

DESCRIPTION OF SYMBOLS 10 ... Turning apparatus 12 ... Industrial robot 14 ... Base member 16 ... Arm 18 ... Output flange 20 ... Planetary gear reducer 22 ... Input gear 32 ... Internal gear 46 ... Casing 46A ... Protrusion 48 ... Carrier body 66 ... 1st stopper Member 68 ... second stopper member

Claims (7)

In a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer,
The speed reducer includes a casing and an output flange,
The base member is fixed to a casing of the speed reducer;
A first stopper member fixed to an output flange of the speed reducer, and a first stopper member provided on the output flange of the speed reducer;
A second stopper member that is provided on the base member side and restricts the turning of the turning member by contacting the first stopper member of the speed reducer ;
The output flange has an extended portion extending radially outward from a minimum outer diameter portion of the casing of the speed reducer;
A swiveling device for an industrial machine , wherein the extension portion is provided with the first stopper member . In a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer,
The speed reducer includes a casing and an output flange,
The base member is fixed to a casing of the speed reducer;
The swivel member is fixed to an output flange of the speed reducer; and
A first stopper member provided on an output flange of the speed reducer;
A second stopper member that is provided on the base member side and restricts the turning of the turning member by contacting the first stopper member of the speed reducer;
The second stopper member is provided on the casing ;
An industrial machine turning device characterized in that a mounting bolt of the second stopper member is also used as a bolt for mounting the casing to the base member . In a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer,
The speed reducer includes a casing and an output flange,
The base member is fixed to a casing of the speed reducer;
The swivel member is fixed to an output flange of the speed reducer; and
A first stopper member provided on an output flange of the speed reducer;
A second stopper member that is provided on the base member side and restricts the turning of the turning member by contacting the first stopper member of the speed reducer;
The second stopper member is provided on the casing;
The casing has a protruding portion protruding radially outward;
The base member and the second stopper member are fixed to the casing with the projecting portion interposed therebetween. In a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer,
The speed reducer includes a casing and an output flange,
The base member is fixed to a casing of the speed reducer;
The swivel member is fixed to an output flange of the speed reducer; and
A first stopper member provided on an output flange of the speed reducer;
A second stopper member that is provided on the base member side and restricts the turning of the turning member by contacting the first stopper member of the speed reducer;
A swivel device for an industrial machine, wherein a bolt hole for a bolt for fixing the first stopper member to the output flange is provided radially outside a bolt hole for the bolt for fixing the swivel member to the output flange. . In a turning device for an industrial machine having a base member and a turning member that turns with respect to the base member via a speed reducer,
The speed reducer includes a casing and an output flange,
The base member is fixed to a casing of the speed reducer;
The swivel member is fixed to an output flange of the speed reducer; and
A first stopper member provided on an output flange of the speed reducer;
A second stopper member that is provided on the base member side and restricts the turning of the turning member by contacting the first stopper member of the speed reducer;
A recess for a first stopper member for positioning the first stopper member is formed in the output flange, and a recess for a second stopper member for positioning the second stopper member is formed in the casing; and
An industrial machine swivel device comprising a third stopper member that simultaneously engages both the first stopper member recess and the second stopper member recess. In any one of Claims 1-5,
A plurality of attachment portions of the first stopper member are provided on the output flange, and the first stopper member is attached to any of the attachment portions. In claim 6,
The swivel device for an industrial machine, wherein the attachment portion includes a recess for positioning the first stopper member, and a bolt hole for a bolt for fixing the first stopper member to the output flange.

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