JP6632430B2 - Robot deceleration transmission - Google Patents

Description

  The present invention relates to a deceleration transmission device for a robot, which is built in the robot and outputs the decelerated rotational motion after deceleration.

  Generally, in a production line of a production factory that requires mass productivity, an industrial robot configured by connecting a plurality of arms by a joint mechanism is installed. The joint mechanism rotatably connects the end of an arbitrary arm to the end of another arm, and reduces the rotation of a drive motor built in the arbitrary arm to about 1/100 to 1/200. A deceleration transmission device is provided which can decelerate and rotationally drive another arm by the decelerated rotation output. Therefore, high-precision positioning control, angle control, speed control, and the like are required for this type of reduction transmission device.

  Conventionally, as a reduction transmission device that meets such a demand, a reduction gear having a wave gear mechanism commonly called a harmonic drive (registered trademark) has been widely used, and as a robot or a robot-related device having this wave gear mechanism, For example, a driving apparatus disclosed in Patent Document 1, a wrist mechanism of an industrial robot disclosed in Patent Document 2, an articulated robot disclosed in Patent Document 3, and the like are known.

  In this case, the prime mover disclosed in Patent Document 1 has a cup-shaped housing and a ring-shaped circular spline rotatably supported on the inner periphery of the housing, and is disposed inside the circular spline. A harmonic reducer having a cup-shaped flex spline fixed to a housing, which is urged by a wave generator and meshing with a circular spline, and one end of a support shaft fixed to the housing and rotated around the support shaft A casing is disposed inside the flexspline, and a hydraulic motor having a wave generator provided in the casing is provided, so that the rotational output can be taken out from the circular spline.

  Further, the wrist mechanism of the industrial robot disclosed in Patent Literature 2 has a third shaft that rotates the entire wrist rotatably supported around an arm shaft supported by the arm, and is supported by the third shaft. A second axis for tilting a wrist tip rotatably supported on an axis perpendicular to the third axis, and a pivotably supported axis supported on the second axis and about an axis perpendicular to the second axis. A first axis for rotating the processed tool gripping portion at the tip of the wrist, wherein the first axis and the second axis are decelerated in the wrist by a speed reducer arranged so as to overlap the same central axis; The shaft is configured to decelerate in advance outside the wrist.

  Furthermore, the articulated robot disclosed in Patent Document 3 is an articulated robot having at least two control arms and two reduction gears provided on joints of both control arms and opposed on the same axis. A common circular spline fixed to the joint of one control arm; a common circular spline fixed to one end of the common circular spline so as to rotate relative to the circular spline; and the other control arm And first and second Harmonic Drive (registered trademark) speed reducers provided with brackets connected to the joints.

JP-A-60-098246 JP-A-61-146490 JP-A-64-011777

  However, the conventional reduction gear transmission device for a robot including the above-described wave gear mechanism has the following problems.

  First, a flex spline, a wave generator, and a circular spline are provided as main components. The flex spline is formed in a cup shape by a thin metal elastic plate, and the outer periphery of an opening that is deformed into an elliptical shape. Is meshed with a gear portion formed on the inner periphery of a circular spline whose position is fixed. Therefore, since the flexspline integrally formed in a cup shape needs to be manufactured as a high-precision part, its manufacture is not easy and cost increase is unavoidable. Moreover, the flexspline is liable to cause metal fatigue and malfunction due to its use, and has poor durability. As a result, the conventional wave gear mechanism causes a significant increase in both initial costs and running costs.

  Secondly, a gear portion is formed on the outer periphery of the opening portion of the flex spline formed in a cup shape, and the gear portion is wave-deformed by an elliptical wave generator, and an output for outputting decelerated rotation at the center of the bottom portion. In order for the flexspline to function because the shafts are connected, it is necessary to secure a certain length of the flexspline in the axial direction, and there is a limit in reducing the overall structure of the reduction transmission device in thickness (miniaturization). there were

  Third, since the entire shape of the flexspline is formed in a cup shape, and the output shaft is connected to the center of the bottom part whose one end is closed, it is not easy to secure a space for routing the connection cable. In particular, in the case of a robot, since it has a large number of joint mechanisms and a large number of drive motors for realizing various movements, the number of connection cables connecting this drive motor and the robot controller is at least the number of drive motors It becomes necessary and it is necessary to route connection cables having this number. Therefore, there is room for further improvement from the viewpoint of securing a space in which a large number of connection cables can be routed.

  An object of the present invention is to provide a deceleration transmission device for a robot that solves the problems existing in such background art.

  In order to solve the above-described problem, the robot deceleration transmission device 1 according to the present invention is built in the robot R, so that when the deceleration transmission device configured to decelerate and output the input rotational motion is output, the rotational motion is input. Rotation input unit 2, an elliptical cam body 3 c that rotates integrally with the rotation input unit 2, and a plurality of inner rings 3 bi and a flexible outer ring 3 bo fixed along the outer periphery of the cam body 3 c. , A generator cam portion 3 having a bearing 3b with a rolling element 3bm interposed therebetween, an outer gear 4g formed along an outer circumferential direction Ff, and provided at predetermined intervals along a circumferential direction Ff, protruding from a side surface. A plurality of transmission pins 4p, and mesh with a flex gear portion 4 attached to the outer periphery of the generator cam portion 3 and the outer gear 4g; An inner gear 5g having a greater number of teeth N is formed on the inner circumference with respect to the tag gear 4g, and the internal gear 5 whose position is fixed and the transmission pin 4p are engaged with each other, and at predetermined intervals along the circumferential direction Ff. And a rotation output section 6 having a plurality of guide holes 6s for allowing displacement of the transmission pins 4p during rotation.

  In this case, according to a preferred aspect of the present invention, the rotation input unit 2 can input the rotational motion of the drive motor 11. The rotation input unit 2 can be configured to include a ring-shaped input rotating body 2r and a bearing 2b that fixes the position of the outer ring 2bo and rotatably supports the input rotating body 2r with the inner ring 2bi. . On the other hand, the cam body 3c has an opening 3co formed in the center and can be configured integrally with the rotation input unit 2. Further, the rotation output unit 6 can be configured to include a ring-shaped output rotating body 6r and a bearing 6b that fixes the position of the outer ring 6bo and rotatably supports the output rotating body 6r with the inner ring 6bi. The deceleration transmission device 1 can be used for a joint mechanism Mj that connects an arbitrary arm 15 and another arm 16 that constitute the robot R, and the robot R is installed at least on a production line. One or more of the vertical articulated robot Rv, the horizontal articulated robot, and the delta type robot can be included.

  According to the deceleration transmission device 1 for a robot according to the present invention having such a configuration, the following remarkable effects can be obtained.

  (1) The conventional flexspline, which uses a thin metal elastic plate material to form the entire shape into a cup shape, becomes unnecessary, so that it can be manufactured easily, greatly reducing the manufacturing cost, and reducing metal fatigue and operation. Since defects and the like can be greatly reduced, durability can be improved, and a significant cost reduction in both initial cost and running cost can be realized.

  (2) The conventional flexspline, which is formed in the shape of a cup as a whole, becomes unnecessary, so that the size of the installation space in the axial direction can be reduced. Therefore, it is possible to reduce the thickness of the entire structure of the reduction transmission device 1, and it is possible to easily realize further downsizing of the industrial robot, which is limited in downsizing.

  (3) According to a preferred embodiment, if the rotation of the drive motor 11 is input to the rotation input unit 2, the reduction transmission device 1 can be configured as a drive unit including the drive motor 11. It is possible to contribute to downsizing of the driving section built in the arm section, and further to improvement of durability and reliability.

  (4) In a preferred embodiment, the rotation input unit 2 is a bearing 2b that fixes the positions of the ring-shaped input rotor 2r and the outer ring 2bo, and rotatably supports the input rotor 2r with the inner ring 2bi. With this configuration, it is possible to secure a space for passing cables inside the rotation input unit 2 (at the center side) without impairing the function of the rotation input unit 2, so that the number of cables increases. Also, it is possible to avoid complication of the entire robot in combination with other peripheral structures.

  (5) According to a preferred embodiment, when the cam body 3c is provided, the opening 3co is formed at the center and the function of the generator cam 3 is integrated with the rotation input unit 2. A space for passing cables can be secured inside (center side) of the generator cam portion 3 without damaging, so that even if the number of cables increases, the complexity of the entire robot together with other peripheral structures can be reduced. Can be avoided.

  (6) In a preferred embodiment, the rotation output unit 6 is a bearing 6b that fixes the positions of the ring-shaped output rotating body 6r and the outer ring 6bo, and rotatably supports the output rotating body 6r with the inner ring 6bi. With such a configuration, a space for passing cables inside the rotation output unit 6 (center side) can be ensured without impairing the function of the rotation output unit 6, so that even if the number of cables is large, In addition, the complexity of the entire robot can be avoided in combination with other peripheral structures.

  (7) According to a preferred embodiment, if the reduction transmission device 1 is used for the joint mechanism Mj that connects an arbitrary arm 15 and another arm 16 that constitute the robot R, the joint mechanism Mj can be thinned (downsized). In particular, it is possible to construct an optimal industrial robot (vertical articulated robot Rv, horizontal articulated robot, delta type robot, etc.) to be installed on a production line because it can contribute to improvement in durability and reliability.

Cross-sectional side view of a reduction transmission device according to a preferred embodiment of the present invention, 1 is a cross-sectional view of the same deceleration transmission device taken along line AA in FIG. External view of a robot (vertical articulated robot) equipped with the deceleration transmission device, Action explanatory diagram showing the relationship between the flex gear portion and the rotation output portion in the same reduction transmission device, Exploded perspective view of the same reduction transmission device, External perspective view of the same reduction transmission device, Operation explanatory diagram of the same reduction transmission device, External appearance perspective view of a rotation output unit according to a modification of the deceleration transmission device, Cross-sectional side view of the rotation output unit according to the modification,

  Next, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

  First, the configuration of the reduction transmission device 1 according to the present embodiment will be described with reference to FIGS.

  This deceleration transmission device 1 can be used for a joint mechanism Mj of an industrial robot R as shown in FIG. The illustrated industrial robot R is a vertical articulated robot Rv, and drives and controls the robot body 22 by being accommodated in a space below the machine 21 and a robot body 22 installed on the upper surface of the machine 21. A robot controller 23 is provided. The robot body 22 includes a first arm (arbitrary arm) 15 and a second arm (other arm) 16. The first arm 15 and the second arm 16 are connected to a joint mechanism Mj. Are connected via. That is, the speed reduction transmission device 1 according to the present embodiment is built in the distal end portion 15s of the first arm portion 15, and the rear end portion 16r of the second arm portion 16 is rotationally driven by the speed reduction transmission device 1. Thus, positioning control, angle control, speed control, and the like of the second arm 16 can be performed.

  FIG. 1 shows the overall structure of the reduction transmission device 1. The front end 15s of the first arm 15 and the rear end 16r of the second arm 16 in the industrial robot R shown in FIG. 3 are indicated by virtual lines. As shown in FIG. 1, the reduction transmission device 1 is roughly divided into a rotation input unit 2, a generator cam unit 3, a flex gear unit 4, an internal gear unit 5, and a rotation output unit 6 from the upstream side in the rotation transmission direction. . Accordingly, the rotational motion input to the rotation input unit 2 is reduced at a preset 1/100 to 1/200 level, and the reduced rotational motion is output from the rotation output unit 6.

  Hereinafter, the structure of each part will be specifically described. The rotation input unit 2 includes an input rotator 2r having a ring shape as a whole, and a bearing 2b that rotatably supports the input rotator 2r. The illustrated bearing 2b is a ball bearing, and the outer ring 2bo is attached to the inner surface of the first arm portion 15 to fix the position. The input rotating body 2r is a combination of the support ring 31 and the input gear ring 32, that is, the input gear ring 32 is overlapped on the end face of the support ring 31 in the axial direction Fs, and is fixed by a plurality of fixing bolts 33. And the outer peripheral surface of the support ring 31 is attached to the inner ring 2bi of the bearing 2b. With this configuration, a space for passing cables can be secured inside (center side) of the rotation input unit 2 without impairing the function of the rotation input unit 2. Thereby, even if the number of cables increases, it is possible to avoid complication of the entire robot together with other peripheral structures described later.

  On the other hand, a drive motor 11 such as a servomotor is fixed on the inner surface of the first arm 15, and a drive gear 34 attached to a rotating shaft of the drive motor 11 is engaged with the input gear ring 32. As a result, the rotational motion from the drive motor 11 is input to the rotatably supported rotation input unit 2. In this manner, if the rotation of the drive motor 11 is input to the rotation input unit 2, the reduction transmission device 1 can be configured as a drive unit including the drive motor 11. There is an advantage that it can contribute to the miniaturization of the drive section incorporated in the section, and further to the improvement of durability and reliability. Although a gear transmission mechanism has been illustrated as a rotation transmission method from the drive motor 11 to the rotation input unit 2, a configuration using another rotation transmission method such as a belt transmission mechanism using a timing belt and a pulley may be used. .

  The generator cam portion 3 includes a cam body 3c and a bearing 3b disposed on the outer peripheral surface of the cam body 3c. As shown in FIG. 2, the cam body 3c has an elliptical overall shape and a circular opening 3co at the center. Then, as shown in FIG. 1, the support ring 31 is fixed to the rotation input unit 2 by superimposing the end surface of the support ring 31 in the axial direction Fs and using the fixing bolts 33. Thereby, the cam body 3c rotates integrally with the rotation input unit 2. In this case, since a circular opening 3co is formed at the center of the cam body 3c, a space for passing cables through the inside (center side) of the generator cam 3 without impairing the function of the generator cam 3 is provided. Can be secured. Therefore, even if the number of cables is increased, the complexity of the entire robot can be avoided in combination with the rotation input unit 2 and other peripheral structures described later. The bearing 3b includes an inner ring 3bi fixed along the outer peripheral surface of the cam body 3c and a flexible outer ring 3bo, and a plurality of rolling elements 3bm... Interposed between the inner ring 3bi and the outer ring 3bo. The illustrated rolling elements 3bm... Are balls. Note that the inner ring 3bi can also be used as the outer peripheral surface of the cam body 3c.

  The entire flex gear portion 4 is formed of a metal material (such as special steel) into an endless belt shape having flexibility. As shown in FIG. 2, the outer peripheral surface of the outer ring 3bo of the bearing 3b constituting the generator cam portion 3 is formed on the outer peripheral surface of the outer ring 3bo. It is attached along. On the outer peripheral surface of the flex gear portion 4, as shown in an extracted enlarged view in FIG. 2, an outer gear 4g is formed along the circumferential direction Ff, and each tooth portion (peak portion) 4gs constituting the outer gear 4g is formed. Are embedded (press-fitted into holes). In this case, since each tooth portion (peak portion) 4gs has a function of supporting each transmission pin 4p, a thickness and a shape that can secure the supporting strength are selected, and each tooth portion (peak portion) 4gs. The thickness of the valleys ensures flexibility (elasticity) that can follow the outer periphery of the generator cam portion 3.

  Each of the transmission pins 4p projects laterally from the side surface of the flex gear portion 4 as shown in FIGS. The projecting position of each transmission pin 4p becomes the same position in each tooth portion 4gs. Thereby, the transmission pins 4p are arranged at regular intervals along the circumferential direction Ff of the flex gear portion 4. In this case, the shape of the transmission pins 4p projecting from the side surface of each tooth portion 4gs is formed in a round bar shape having a circular cross section, and a screw portion 4pn to which a locking nut 35 described later can be attached at the tip end. ... is formed.

  The internal gear portion 5 is entirely formed in a ring shape having rigidity by a metal material, and forms an inner gear 5g along the circumferential direction Ff on the inner peripheral surface, as shown in an extracted enlarged view in FIG. Then, as shown in FIGS. 1 and 2, the outer peripheral surface of the internal gear portion 5 is attached to and fixed to the inner surface of the first arm portion 15, and the inner gear 5 g is meshed with the outer gear 4 g of the flex gear portion 4. In this case, the number of teeth of the inner gear 5g formed in the internal gear portion 5 is set to be larger than the number of teeth of the outer gear 4g formed in the flex gear portion 4. In the illustrated example, the number of teeth of the outer gear 4g is set to “N”, and the number of teeth of the inner gear 5g is set to “N + 2”.

  The rotation output unit 6 includes an output rotator 6r having a ring shape as a whole, and a bearing 6b that rotatably supports the output rotator 6r. The illustrated bearing 6b is a cross roller bearing, and the outer ring 6bo is fixed by being attached to the inner surface of the distal end opening of the distal end portion 15s of the first arm portion 15. On the other hand, the output rotating body 6r is a combination of the engagement ring 36 and the output ring 37, that is, the output ring 37 is overlapped on the end face of the engagement ring 36 in the axial direction Fs, and is fixed by a plurality of fixing bolts 38. And the outer peripheral surface of the output ring 37 is attached to the inner ring 6bi of the bearing bb. Thus, the rotation output unit 6 is rotatably supported by the inner ring 6bi of the bearing 6b. With such a configuration, a space for passing cables inside the rotation output unit 6 (center side) can be secured without impairing the function of the rotation output unit 6. Therefore, even if the number of cables is increased, the complexity of the entire robot can be avoided in combination with the structure of the rotation input unit 2 and the structure of the generator cam unit 3 described above.

  As shown in FIG. 5, the engagement ring 36 forms guide holes 6s corresponding to the positions where the transmission pins 4p in the flex gear portion 4 are engaged. In this case, the guide holes 6s are formed at predetermined intervals along the circumferential direction Ff of the engagement ring 36, and the shapes of the guide holes 6s allow displacement of the transmission pins 4p during rotation. Thus, the engagement ring 36 is formed as a slit-shaped long hole along the radial direction.

  Then, when assembling the rotation output portion 6, first, the engagement ring 36 and the output ring 37 are prepared in a state of being separated from each other, and the bearing 6b is easily attached without being attached. First, as shown in FIG. 1, the end face of the engagement ring 36 is overlapped with the end face of the flex gear portion 4 from the axial direction Fs. At this time, each transmission pin 4p is inserted into each guide hole 6s. Thereafter, retaining nuts 35 are attached to the threaded portions 4pn formed at the tips of the transmission pins 4p. FIG. 6 shows the appearance in this state.

  Next, the end face of the output ring 37 is overlapped with the end face of the engagement ring 36 in the axial direction Fs, and is fixed and integrated by a plurality of fixing bolts 38. Therefore, a receiving recess 39 is formed in advance on the end face of the output ring 37 so as to receive the distal end side of the transmission pins 4p to which the retaining nuts 35 are mounted. Finally, the outer ring 6bo of the bearing 6b is attached to the inner surface of the distal end opening of the distal end portion 15s of the first arm portion 15, and the inner ring 6bi is attached to the outer peripheral surface of the output ring 37. The flange provided at the rear end opening of the rear end 16r of the second arm 16 is attached. As described above, the intended reduction transmission device 1 according to the present embodiment can be obtained.

  As described above, the reduction transmission device 1 according to the present embodiment has, as a basic configuration, a rotation input portion 2 to which a rotational motion is input, and an elliptical cam body portion 3c, which rotates integrally with the rotation input portion 2. And a generator cam portion 3 having a bearing 3b having a plurality of rolling elements 3bm interposed between an inner ring 3bi fixed along the outer periphery of the cam body portion 3c and a flexible outer ring 3bo, and along a circumferential direction Ff of the outer periphery. A formed outer gear 4g, a plurality of transmission pins 4p projecting from the side surface and provided at predetermined intervals along the circumferential direction Ff, and a flex gear portion 4 attached to the outer periphery of the generator cam portion 3, and an outer gear 4g. An inner gear 5g having an increased number of teeth N with respect to the outer gear 4g is formed on the inner periphery of the outer gear 4g. The rotation output includes a plurality of guide holes 6s that engage the portion 5 and the transmission pins 4p at predetermined intervals along the circumferential direction Ff and allow displacement of the transmission pins 4p during rotation. The conventional flexspline for forming the entire shape into a cup shape using a thin metal elastic plate material is not required because it is provided with the portion 6, so that it can be easily manufactured, and the manufacturing cost can be greatly reduced. At the same time, metal fatigue, operation failure, and the like can be significantly reduced, so that the durability can be improved, and a significant reduction in both initial cost and running cost can be realized. In addition, the conventional flexspline, which is formed in the shape of a cup as a whole, is unnecessary, so that the size of the installation space in the axial direction can be reduced. Therefore, it is possible to reduce the thickness of the entire structure of the reduction transmission device 1, and it is possible to easily realize further downsizing of the industrial robot, which is limited in downsizing.

  Therefore, if the deceleration transmission device 1 according to the present embodiment is used for a joint mechanism Mj that connects an arbitrary arm 15 and another arm 16 that constitute the robot R, the joint mechanism Mj can be made thinner (smaller). Since it can contribute to the improvement of durability and reliability, there is an advantage that an industrial robot (vertical articulated robot Rv, horizontal articulated robot, delta type robot, etc.) most suitable for installation on a production line can be constructed.

  Next, the operation of the speed reduction transmission device 1 according to the present embodiment will be described mainly with reference to FIGS. 7A to 7D with reference to the drawings. 7 (a) to 7 (d) illustrate the principle, and the elliptical shape of the cam main body 3c is drawn in an exaggerated elongated shape.

  First, when the drive motor 11 is controlled to be ON by the robot controller 23, the drive motor 11 operates and the drive gear 34 rotates. This rotational motion is transmitted to the input gear ring 32 and further transmitted to the cam body 3c via the support ring 31. As a result, the cam body 3c rotates at a relatively high speed.

  FIG. 7A shows a state before the rotation of the cam body 3c starts. In this state, the cam body 3c stops at the position Ps, and the longitudinal direction (the maximum direction of the elliptical diameter) of the cam body 3c is the up-down direction. Therefore, the starting point in the flex gear unit 4 is located at the position of the symbol Xs and coincides with the reference point Xo of the internal gear unit 5. 7A, the outer gear 4g of the flex gear 4 meshes with the inner gear 5g of the internal gear 5 at two upper and lower positions.

  Next, it is assumed that the cam body 3c is rotated 90 ° in the direction of arrow Fr from the position Ps in FIG. 7A. This state is shown in FIG. In this case, the cam body 3c is displaced from the position Ps to a position P1 which is rotated clockwise by 90 °. Thus, the longitudinal direction of the cam body 3c is in the left-right direction as shown in FIG. Therefore, when the cam body 3c rotates, the upper position (the lower position is also the same) where the outer gear 4g meshes with the inner gear 5g moves 90 ° in the clockwise direction while meshing. At this time, since the number of teeth of the outer gear 4g is N and the number of teeth of the inner gear 5g is N + 2, the starting point of the flex gear portion 4 is at an angle Q1 = (360 ° / N) × 2) / 4 with respect to the reference point Xo. Is displaced to the position X1 which is counterclockwise.

  Further, it is assumed that the cam main body 3c is rotated by 90 ° in the direction of the arrow Fr from the position P1 in FIG. 7B. This state is shown in FIG. In this case, the cam body 3c is displaced from the position P1 to a position P2 which is rotated 90 degrees clockwise. As a result, the longitudinal direction of the cam body 3c is in the vertical direction as shown in FIG. Therefore, the starting point of the flex gear portion 4 is displaced from the reference point Xo by an angle Q2 = (360 ° / N) × 2) / 2 to a position X2 which is counterclockwise.

  Next, it is assumed that the cam body 3c has been rotated by 180 ° in the direction of the arrow Fr from the state of FIG. 7C. This state is shown in FIG. In this case, the cam body 3c is displaced from the position P2 to a position P3 rotated by 180 °. As a result, the longitudinal direction of the cam body 3c becomes the up-down direction, and the cam body 3c is turned upside down with respect to the position shown in FIG. Therefore, the starting point of the flex gear portion 4 is displaced from the reference point Xo by an angle Q3 = (360 ° / N) × 2) to a position X3 which is counterclockwise. As described above, the cam body 3c makes one rotation in the clockwise direction, and the deceleration process of moving the flex gear portion 4 in the counterclockwise direction by the number of teeth “2” is performed.

  On the other hand, the rotational movement of the reduced flex gear unit 4 is transmitted to the rotation output unit 6. That is, the transmission pins 4 p projecting from the flex gear portion 4 engage with the guide holes 6 s... Of the engagement ring 36, so that the engagement ring 36 rotates in perfect synchronization with the rotational movement of the flex gear portion 4. . In this case, the transmission pin 4p is repeatedly displaced in the radial direction according to the locus of the outer peripheral surface of the cam body 3c, but this displacement is absorbed by the guide hole 6s formed by the long hole. This state is shown in FIG. Then, as shown in FIG. 1, the rotational motion of the engagement ring 36 is transmitted to the output ring 37 by being greatly reduced by the reduction transmission device 1. As a result, the second arm section 16 fixed to the output ring 37 is rotationally displaced. That is, the rotation is controlled with high accuracy using the first arm 15 as a fulcrum.

  Next, a modified example of the reduction transmission device 1 according to the present embodiment will be described with reference to FIGS.

  The modification is a modification of the structure in which the transmission pins 4p are inserted through the guide holes 6s. As shown in FIG. 6, after the transmission pins 4p are inserted into the guide holes 6s, the reduction transmission device 1 shown in FIG. 1 is stopped by the screw portions 4pn formed at the tips of the transmission pins 4p. 8 and 9, the guide pin 6s is formed in a ring shape after the transmission pin 4p is inserted into the guide hole 6s. It is configured to be covered by a cover panel 41. Therefore, in the modified examples shown in FIGS. 8 and 9, the retaining nuts 35 are not used at all. For this reason, the transmission pins 4p are formed to be short and housed in the guide holes 6s, and the screw portions 4pn for mounting the retaining nuts 35 at the distal ends of the transmission pins 4p are not formed.

  As described above, in the modified example, since the retaining nuts 35 are not used, the cost of parts related to the retaining nuts 35 can be reduced, and a manufacturing process for mounting the retaining nuts 35 is unnecessary. On the other hand, the cover panel 41 used in the modified example can be easily formed by a single plate member, and when assembling, as shown in FIG. Can be attached together by being sandwiched between the output ring 37 and the engagement ring 36. 8 and 9, reference numeral 41o denotes an opening formed on the inside (center side) of the cover panel 41, and reference numerals 41s ... denote insertion holes through which the fixing bolts 38 are inserted. In addition, in FIGS. 8 and 9, the same parts as those in FIGS. 6 and 1 are denoted by the same reference numerals, the configuration is clarified, and the detailed description is omitted.

  Although the preferred embodiment has been described in detail above, the present invention is not limited to such an embodiment, and does not depart from the gist of the present invention in the details of configuration, shape, material, quantity, numerical value, and the like. It can be arbitrarily changed, added, or deleted within the scope.

  For example, the elliptical cam body 3c has the same function as the elliptical cam main body 3c, and can be engaged with the illustrated perfect inner gear 5g at a position facing 180 °. This is a concept that includes various non-circular shapes. Further, the transmission pins 4p... Are illustrated in a case where they are provided corresponding to the positions of the respective teeth (peaks) 4gs in the outer gear 4g, but the positions do not necessarily have to correspond. Therefore, it is not necessary to match the number of the teeth (peaks) 4gs with the number of the transmission pins 4p. On the other hand, the rotational motion of the drive motor 11 is exemplified as the input rotational motion, but various rotational motion sources including an engine and the like can be applied. Further, a case has been described in which a space is secured inside the input rotator 2r and the outer periphery of the input rotator 2r is supported by the bearing 2b. However, the structure is not necessarily required in some embodiments. That is, without providing a space inside the input rotator 2r, the input rotator 2r is rotatably supported by the shaft disposed at the center, and a configuration in which cables are routed outside the arm portions 15 is eliminated. It does not do. This point is the same in the case of the cam body 3c and the output rotating body 6r. Although a metal material is exemplified as a material for forming each part, a synthetic resin material, a fiber-reinforced composite material, or the like may be used, or a ceramic material or the like may be used for a component that does not require elasticity. Not limited.

  The deceleration transmission device according to the present invention is a deceleration transmission built in various robots including a joint mechanism for connecting the arms of an industrial robot, and a humanoid robot or the like that requires a function of decelerating and outputting an input rotary motion. Available as a device.

  1: deceleration transmission device, 2: rotation input section, 2r: input rotating body, 2b: bearing, 2bo: outer ring of bearing, 2bi: inner ring of bearing, 3: generator cam section, 3c: cam body section, 3b: bearing, 3co: opening, 3bi: inner ring of bearing, 3bo: outer ring of bearing, 3bm ...: rolling element, 4: flex gear, 4g: outer gear, 4p ...: transmission pin, 5: internal gear, 5g: inner gear, 6 : Rotation output section, 6s ...: guide hole, 6r: output rotating body, 6b: bearing, 6bo: outer ring of bearing, 6bi: inner ring of bearing, 11: drive motor, 15: arbitrary arm section, 16: other arm Part, R: robot, Rv: vertical articulated robot, Ff: circumferential direction, Mj: joint mechanism

Claims (7)

  A deceleration transmission device for a robot that outputs a decelerated rotational motion by being incorporated in the robot, and is formed into an elliptical shape that rotates integrally with the rotary input part that receives the rotary motion. A generator cam portion having a cam body, a bearing having a plurality of rolling elements interposed between an inner ring fixed along the outer periphery of the cam body and a flexible outer ring, and an outer gear formed along a circumferential direction of the outer periphery; And a plurality of transmission pins protruding from the side surface and provided at predetermined intervals in the circumferential direction, and a flex gear portion attached to the outer periphery of the generator cam portion, meshing with the outer gear, and with respect to the outer gear. An inner gear having a large number of teeth is formed on the inner periphery, and an internal gear portion having a fixed position is engaged with the transmission pin and has And forming a predetermined intervals along the direction, reduction transmission apparatus for a robot, characterized by comprising a rotation output section having a plurality of guide holes to permit the displacement of the transmitting pin during rotation.   2. The deceleration transmission device for a robot according to claim 1, wherein a rotation motion of a drive motor is input to the rotation input unit.   The rotation input unit includes a ring-shaped input rotary body and a bearing that fixes a position of an outer ring and rotatably supports the input rotary body by an inner ring. A deceleration transmission device for the robot as described in the above.   4. The deceleration transmission device for a robot according to claim 3, wherein the cam body has an opening formed in the center and is integrally formed with the rotation input unit.   The said rotation output part is provided with the output rotary body formed in the shape of a ring, and the bearing which fixes the position of an outer ring, and supports the said output rotary body rotatably with an inner ring, The rotation output part of Claim 1 characterized by the above-mentioned. Robot deceleration transmission device.   2. The deceleration transmission device for a robot according to claim 1, wherein the deceleration transmission device is used for a joint mechanism that connects an arbitrary arm unit and another arm unit constituting the robot.   The robot according to claim 1, wherein the robot includes at least one or more of a vertical articulated robot, a horizontal articulated robot, and a delta robot installed on a production line. Transmission device.

Images