JP7253928B2 - Driven device - Google Patents

Driven device Download PDF

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JP7253928B2
JP7253928B2 JP2019008250A JP2019008250A JP7253928B2 JP 7253928 B2 JP7253928 B2 JP 7253928B2 JP 2019008250 A JP2019008250 A JP 2019008250A JP 2019008250 A JP2019008250 A JP 2019008250A JP 7253928 B2 JP7253928 B2 JP 7253928B2
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gear
speed reducer
driven
recess
internal gear
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JP2020118200A (en
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正幸 石塚
史人 田中
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Priority to CN201911156917.XA priority patent/CN111457059A/en
Priority to DE102019131933.1A priority patent/DE102019131933B4/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/03—Gearboxes; Mounting gearing therein characterised by means for reinforcing gearboxes, e.g. ribs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/042—Guidance of lubricant
    • F16H57/0421—Guidance of lubricant on or within the casing, e.g. shields or baffles for collecting lubricant, tubes, pipes, grooves, channels or the like
    • F16H57/0424—Lubricant guiding means in the wall of or integrated with the casing, e.g. grooves, channels, holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0479—Gears or bearings on planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02091—Measures for reducing weight of gearbox
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0463—Grease lubrication; Drop-feed lubrication
    • F16H57/0464—Grease lubrication

Description

本発明は、被駆動装置に関する。 The present invention relates to driven devices.

以前より、減速装置により回転運動を減速させ、減速させた回転運動を被駆動部材に出力するロボットなどの被駆動装置が知られている（例えば、特許文献１を参照）。 2. Description of the Related Art Conventionally, there has been known a driven device such as a robot that decelerates rotational motion by a speed reducer and outputs the decelerated rotational motion to a driven member (see, for example, Patent Literature 1).

一般に、減速装置を構成する各部材は、鉄鋼などの高い強度を有する部材から構成される。しかし、高強度の素材は比較的に比重が高いため、減速装置全体として重量が重くなりがちである。 In general, each member that constitutes the speed reducer is made of a member having high strength such as steel. However, since high-strength materials have relatively high specific gravity, the weight of the reduction gear as a whole tends to be heavy.

減速装置の重量が重いと、例えばロボットの関節部などに搭載するうえで好ましくない。また、回転運動する部材の重量が重いと、内部機構の慣性モーメントが大きくなり、減速装置へ回転運動を入力するモータ等の負荷が増大するという課題も生じる。
そこで、従来の減速装置では、内部に凹部（肉抜き部）を設けて軽量化を図る場合があった。 If the weight of the reduction gear is heavy, it is not preferable to mount it on a joint of a robot, for example. In addition, when the weight of the member that rotates is heavy, the moment of inertia of the internal mechanism becomes large, and a problem arises in that the load on the motor or the like that inputs the rotational motion to the speed reducer increases.
Therefore, in some conventional reduction gear transmissions, a concave portion (lightening portion) is provided inside to reduce weight.

特開２０１７－１０６６２６号公報JP 2017-106626 A

しかしながら、減速装置の内部に単純に凹部を設けてしまうと、この凹部内に潤滑剤が溜まってしまい、軸受や噛合い部への潤滑不良を招来するおそれがある。 However, if a recess is simply formed inside the speed reducer, the lubricant may accumulate in the recess, resulting in poor lubrication of the bearings and meshing portions.

本発明は、被駆動部材を駆動する減速装置において、潤滑不良を抑制しつつ軽量化を図ることができる被駆動装置を提供することを目的とする。 SUMMARY OF THE INVENTION It is an object of the present invention to provide a driven device capable of reducing the weight thereof while suppressing poor lubrication in a speed reduction gear that drives a driven member.

本発明の一の態様は、
減速装置と、前記減速装置により駆動される被駆動部材とを備えた被駆動装置であって、
当該被駆動装置の作動中に、前記減速装置の回転軸の鉛直方向に対する角度が変化せず、
前記減速装置は、
当該減速装置の内部空間に潤滑剤が封入されるとともに、凹部が設けられた第１部材を有し、
前記第１部材の前記凹部が鉛直方向下向きに開口するように配置され、
前記凹部の開口面の全面が前記減速装置の内部空間に開口しており、
前記第１部材は、減速回転を前記被駆動部材に出力する部材であり、
前記減速装置は、起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛合う第１内歯歯車および第２内歯歯車と、を備えた撓み噛合い式歯車装置であり、
前記第１内歯歯車は、前記外歯歯車と歯数が異なり、
前記第２内歯歯車は、前記外歯歯車と歯数が同じであり、
前記第１部材は前記第１内歯歯車である構成とした。 One aspect of the present invention is
A driven device comprising a reduction gear and a driven member driven by the reduction gear,
During operation of the driven device, the angle of the rotation shaft of the speed reducer with respect to the vertical direction does not change,
The speed reducer is
A lubricant is enclosed in the internal space of the reduction gear transmission, and the first member is provided with a recess,
The recess of the first member is arranged so as to open downward in the vertical direction,
The entire opening surface of the recess is open to the internal space of the reduction gear transmission,
The first member is a member that outputs reduced rotation to the driven member,
The speed reducer has a flexural meshing including a vibrating body, an external gear that is flexurally deformed by the vibrating body, and a first internal gear and a second internal gear that mesh with the external gear. is a gear system,
The first internal gear has a different number of teeth from the external gear,
The second internal gear has the same number of teeth as the external gear,
The first member is the first internal gear .

本発明によれば、被駆動部材を駆動する減速装置において、潤滑不良を抑制しつつ軽量化を図ることができる被駆動装置を提供できる。 ADVANTAGE OF THE INVENTION According to this invention, in the reduction gear which drives a to-be-driven member, it can provide the to-be-driven device which can suppress lubrication failure and can achieve weight reduction.

本発明の実施形態に係る産業用ロボットの構成図である。1 is a configuration diagram of an industrial robot according to an embodiment of the present invention; FIG. 図１の産業用ロボットが備える減速装置を示す断面図である。FIG. 2 is a cross-sectional view showing a reduction gear provided in the industrial robot of FIG. 1; （ａ）図２の減速装置の変形例を示す断面図であり、（ｂ）この減速装置が備える第１部材の下面図である。(a) It is sectional drawing which shows the modification of the reduction gear of FIG. 2, (b) It is a bottom view of the 1st member with which this reduction gear is provided. 図２の減速装置の他の変形例を示す断面図である。3 is a cross-sectional view showing another modification of the reduction gear transmission of FIG. 2; FIG. （ａ）本発明を適用した偏心揺動型減速装置の一例を示す断面図であり、（ｂ）（ａ）のＶ－Ｖ線に沿った断面図である。(a) is a cross-sectional view showing an example of an eccentric oscillating speed reducer to which the present invention is applied, and (b) is a cross-sectional view taken along line VV of (a).

以下、本発明に係る被駆動装置を産業用ロボットに適用した場合の実施形態について、図面を参照して詳細に説明する。 An embodiment in which a driven device according to the present invention is applied to an industrial robot will be described in detail below with reference to the drawings.

図１は、本実施形態に係る産業用ロボットの構成図である。 FIG. 1 is a configuration diagram of an industrial robot according to this embodiment.

［産業用ロボットの概略］
図１に示すように、この産業用ロボット１は、水平多関節ロボットであり、作業スペースに固定されたベース部１０と、先端に物体を把持するヘッド２１が取り付けられたヘッドユニット２０とを備えている。ヘッドユニット２０は、２つの関節部３１、３２とアーム部材３３とを介し、水平方向に移動可能なようにベース部１０に連結されている。具体的には、基端側の関節部３１がベース部１０とアーム部材３３とを連結し、先端側の関節部３２がアーム部材３３とヘッドユニット２０とを連結している。 [Overview of industrial robots]
As shown in FIG. 1, this industrial robot 1 is a horizontal multi-joint robot, and includes a base portion 10 fixed to a work space and a head unit 20 having a head 21 attached to its tip for gripping an object. ing. The head unit 20 is connected to the base part 10 via two joints 31 and 32 and an arm member 33 so as to be horizontally movable. Specifically, the joint portion 31 on the proximal end side connects the base portion 10 and the arm member 33 , and the joint portion 32 on the distal end side connects the arm member 33 and the head unit 20 .

２つの関節部３１、３２は、それぞれがサーボモータ１１、２３と減速機３４、３５とを備えており、サーボモータ１１、２３の回転運動を減速機３４、３５で減速した運動により、連結した２つの部材を相対的に回動させる。 The two joints 31 and 32 are provided with servomotors 11 and 23 and reduction gears 34 and 35, respectively, and are coupled by the rotation of the servomotors 11 and 23 reduced by the reduction gears 34 and 35. The two members are rotated relative to each other.

ヘッドユニット２０内には、先端（下端）にヘッド２１を有する軸部２２と連結された２つのモータ２４、２５が収容されている。このうち一方のモータ２４は軸部２２を上下方向（鉛直方向）に移動させ、他方のモータ２５は軸部２２を鉛直軸回りに回転させる。 The head unit 20 accommodates two motors 24 and 25 connected to a shaft portion 22 having a head 21 at its tip (lower end). One of the motors 24 moves the shaft portion 22 vertically (vertically), and the other motor 25 rotates the shaft portion 22 about the vertical axis.

本実施形態の産業用ロボット１において、２つの関節部３１、３２の減速機３４、３５には、いずれも同様の構造を有する減速装置４０が適用されている。 In the industrial robot 1 of this embodiment, the speed reducer 40 having the same structure is applied to the speed reducers 34 and 35 of the two joints 31 and 32 .

［減速装置の詳細］
図２は、減速装置４０を示す断面図である。以下では、図中の回転軸Ｏ１に沿った方向を軸方向、回転軸Ｏ１から垂直な方向を径方向、回転軸Ｏ１を中心とする回転方向を周方向と定義する。 [Details of reduction gear]
FIG. 2 is a cross-sectional view showing the reduction gear 40. As shown in FIG. Hereinafter, the direction along the rotation axis O1 in the drawing is defined as the axial direction, the direction perpendicular to the rotation axis O1 is defined as the radial direction, and the rotation direction about the rotation axis O1 is defined as the circumferential direction.

図２に示すように、減速装置４０は、外歯歯車４２が撓み変形して回転軸Ｏ１（本実施形態の減速装置４０においては、入力回転軸及び出力回転軸と一致する軸）回りの回転運動が伝達される撓み噛合い式歯車装置である。減速装置４０は、起振体軸４１、起振体軸４１により撓み変形される外歯歯車４２、外歯歯車４２と噛合う第１内歯歯車５２ｇ及び第２内歯歯車５３ｇ、並びに、起振体軸受４５を備える。さらに、減速装置４０は、第１部材５２、第２内歯歯車５３ｇを有する第２部材５３、ケーシング５４、第１カバー５６、第２カバー５７、軸受６１、６２、主軸受６３、オイルシール７１～７３及びＯリング７５～７７を備える。 As shown in FIG. 2, the speed reducer 40 rotates around the rotation axis O1 (in the speed reducer 40 of the present embodiment, the axis coinciding with the input rotation axis and the output rotation axis) due to bending deformation of the external gear 42. It is a flexural mesh gear system through which motion is transmitted. The reduction gear 40 includes a vibrator shaft 41, an external gear 42 that is flexurally deformed by the vibrator shaft 41, a first internal gear 52g and a second internal gear 53g that mesh with the external gear 42, and a vibration generator. A vibration body bearing 45 is provided. Furthermore, the reduction gear 40 includes a first member 52, a second member 53 having a second internal gear 53g, a casing 54, a first cover 56, a second cover 57, bearings 61, 62, a main bearing 63, an oil seal 71 73 and O-rings 75-77.

減速装置４０は、回転軸Ｏ１が上下方向（鉛直方向）に沿うとともに、第１部材５２が第２部材５３の上側に位置するように配置されている（産業用ロボット１に組み込まれている）。この減速装置４０の姿勢（すなわち、回転軸Ｏ１の鉛直方向に対する角度）は、産業用ロボット１の作動中に変化することはない。 The speed reducer 40 is arranged (built into the industrial robot 1) so that the rotation axis O1 extends along the vertical direction and the first member 52 is positioned above the second member 53. . The attitude of the reduction gear 40 (that is, the angle of the rotation axis O1 with respect to the vertical direction) does not change while the industrial robot 1 is operating.

起振体軸４１は、中空軸状であり、回転軸Ｏ１に垂直な断面の外形が楕円状である起振体４１Ａと、起振体４１Ａの軸方向の両側に設けられ回転軸Ｏ１に垂直な断面の外形が円形である軸部４１Ｂ、４１Ｃとを有する。楕円状は、幾何学的に厳密な楕円である必要はなく、略楕円を含む。起振体軸４１は、回転軸Ｏ１を中心に回転し、起振体４１Ａの回転軸Ｏ１に垂直な断面の外形形状の中心は回転軸Ｏ１と一致する。 The vibration generator shaft 41 has a hollow shaft shape, and includes a vibration generator 41A having an elliptical outer shape in a cross section perpendicular to the rotation axis O1, and a vibration generator 41A provided on both sides in the axial direction of the vibration generator 41A and perpendicular to the rotation axis O1. and shaft portions 41B and 41C each having a circular cross section. An elliptical shape does not have to be a geometrically exact ellipse, and includes a substantially elliptical shape. The vibration generator shaft 41 rotates around the rotation axis O1, and the center of the outer shape of the cross section of the vibration generator 41A perpendicular to the rotation axis O1 coincides with the rotation axis O1.

起振体軸４１には、サーボモータ１１、２３のモータ軸１１Ａ、２３Ａが連結される（図１参照）。
具体的に、基端側の関節部３１の減速装置４０（減速機３４）では、ベース部１０内に設けられたサーボモータ１１のモータ軸１１Ａが、連結部材１１Ｂを介して起振体軸４１の下側の軸部４１Ｃに連結される。一方、先端側の関節部３２の減速装置４０（減速機３５）では、ヘッドユニット２０内に設けられたサーボモータ２３のモータ軸２３Ａが、連結部材２３Ｂを介して起振体軸４１の上側の軸部４１Ｂに連結される。
すなわち、基端側の関節部３１の減速機３４では、下側から入力される回転運動により、後述のとおり上側の第１部材５２に固定されるアーム部材３３が、被駆動部材として駆動される。一方、先端側の関節部３２の減速機３５では、上側から入力される回転運動により、ヘッドユニット２０が被駆動部材として駆動される。 Motor shafts 11A and 23A of the servomotors 11 and 23 are connected to the vibrating body shaft 41 (see FIG. 1).
Specifically, in the speed reducer 40 (reducer 34) of the joint portion 31 on the proximal side, the motor shaft 11A of the servo motor 11 provided in the base portion 10 is connected to the vibrating body shaft 41 through the connecting member 11B. is connected to the lower shaft portion 41C. On the other hand, in the speed reducer 40 (speed reducer 35) of the joint portion 32 on the distal end side, the motor shaft 23A of the servo motor 23 provided in the head unit 20 is positioned above the vibrating body shaft 41 via the connecting member 23B. It is connected to the shaft portion 41B.
That is, in the speed reducer 34 of the joint portion 31 on the proximal side, the arm member 33 fixed to the first member 52 on the upper side as described later is driven as a driven member by rotational motion input from the lower side. . On the other hand, in the speed reducer 35 of the joint portion 32 on the distal end side, the head unit 20 is driven as a driven member by rotational motion input from above.

外歯歯車４２は、可撓性を有する円筒状の金属であり、外周に歯が設けられている。 The external gear 42 is a flexible cylindrical metal, and has teeth on its outer periphery.

起振体軸受４５は、起振体４１Ａと外歯歯車４２との間に配置される。起振体軸受４５は、複数の転動体（コロ）４５Ａと、外輪４５Ｂと、複数の転動体４５Ａを保持する保持器４５Ｃとを有する。複数の転動体４５Ａは、起振体４１Ａの外周面と外輪４５Ｂの内周面とを軌道面として転動する。起振体軸受４５は、起振体４１Ａとは別体の内輪を有してもよい。 The vibration generator bearing 45 is arranged between the vibration generator 41A and the external gear 42 . The vibration generator bearing 45 has a plurality of rolling elements (rollers) 45A, an outer ring 45B, and a retainer 45C that holds the plurality of rolling elements 45A. The plurality of rolling elements 45A roll on the outer peripheral surface of the vibration generating element 41A and the inner peripheral surface of the outer ring 45B as raceway surfaces. The vibration generator bearing 45 may have an inner ring separate from the vibration generator 41A.

第１内歯歯車５２ｇと第２内歯歯車５３ｇは、一方が、外歯歯車４２の軸方向の中央より片側の歯部に噛合し、他方が、外歯歯車４２の軸方向の中央よりもう一方の片側の歯部に噛合する。本実施形態では、第１内歯歯車５２ｇが、外歯歯車４２のうち上側半部の歯部に噛合し、第２内歯歯車５３ｇが、外歯歯車４２のうち下側半部の歯部に噛合している。 One of the first internal gear 52g and the second internal gear 53g meshes with the tooth portion on one side of the center of the external gear 42 in the axial direction, and the other meshes with the tooth portion on the other side of the center of the external gear 42 in the axial direction. It meshes with the teeth on one side. In this embodiment, the first internal gear 52g meshes with the upper half of the external gear 42, and the second internal gear 53g meshes with the lower half of the external gear 42. is engaged with

外歯歯車４２と、起振体軸受４５の外輪４５Ｂ及び保持器４５Ｃとの、軸方向の両側には、これらに当接して、これらが軸方向に変位することを抑止するスペーサリング６６、６７が設けられている。 Spacer rings 66 and 67 are provided on both axial sides of the external gear 42 and the outer ring 45B and retainer 45C of the vibrator bearing 45 to prevent them from being displaced in the axial direction. is provided.

ケーシング５４及び第１部材５２は、互いに連結されて、第１内歯歯車５２ｇ、第２内歯歯車５３ｇ及び外歯歯車４２の径方向外方を覆う。
ケーシング５４は、内周部の一部に主軸受６３の外輪５４ｏが設けられている。ケーシング５４の外輪５４ｏの部分と他の部分とは、単一の素材により一体的に構成されている。
第１部材５２は、内周部の一部に内歯が設けられて第１内歯歯車５２ｇを構成する。第１部材５２において第１内歯歯車５２ｇの部分と他の部分とは、単一の素材により一体的に構成されている。 The casing 54 and the first member 52 are connected to each other and cover the radially outer side of the first internal gear 52g, the second internal gear 53g and the external gear 42 .
The casing 54 is provided with an outer ring 54o of the main bearing 63 on a part of the inner circumference. The portion of the outer ring 54o and other portions of the casing 54 are integrally constructed of a single material.
The first member 52 is provided with internal teeth on a part of its inner peripheral portion to constitute a first internal gear 52g. The portion of the first internal gear 52g and other portions of the first member 52 are integrally constructed of a single material.

第１部材５２のうち、第２部材５３と対向する下面には、凹状のグリス溜まり５２ｃが設けられている。グリス溜まり５２ｃは、Ｏリング７５～７７とオイルシール７１～７３とでシールされて潤滑剤が封入された後述のシール空間Ｓ内に開口しており、潤滑剤が溜まるようになっている。また、グリス溜まり５２ｃは、第１部材５２の軽量化のための肉抜き部でもある。具体的に、グリス溜まり５２ｃは、第１部材５２の下面に断面コ字状のリングの溝状に設けられている。このグリス溜まり５２ｃは、本発明に係る凹部の一例に相当する。 A recessed grease reservoir 52 c is provided on the lower surface of the first member 52 facing the second member 53 . The grease reservoir 52c opens into a later-described seal space S which is sealed by the O-rings 75-77 and the oil seals 71-73 and filled with lubricant. Further, the grease reservoir 52c is also a lightening portion for reducing the weight of the first member 52. As shown in FIG. Specifically, the grease reservoir 52c is provided on the lower surface of the first member 52 in the form of a ring groove having a U-shaped cross section. This grease reservoir 52c corresponds to an example of a recess according to the present invention.

なお、グリス溜まり５２ｃは、鉛直方向下向きに開口するように設けられていれば、その断面形状等は特に限定されず、例えばくの字状やＬ字状などの断面形状であってもよい。ここで、「グリス溜まり５２ｃが鉛直方向下向きに開口する」とは、グリス溜まり５２ｃの開口面の法線方向（本実施形態では上下方向）が、鉛直方向の±９０度、好ましくは±４５度の角度範囲内にあることをいう。つまり、減速装置４０は、自身の姿勢（回転軸Ｏ１の鉛直方向に対する角度）が産業用ロボット１の作動中に維持されるのであれば、この角度範囲内で傾斜して組み込まれていてもよい。また、凹部（グリス溜まり５２ｃ）の開口面の法線方向がこの角度範囲内で傾斜した凹部でもよい。 The cross-sectional shape and the like of the grease reservoir 52c are not particularly limited as long as the grease reservoir 52c is provided so as to open downward in the vertical direction. Here, "the grease pool 52c opens downward in the vertical direction" means that the normal direction of the opening surface of the grease pool 52c (vertical direction in this embodiment) is ±90 degrees, preferably ±45 degrees from the vertical direction. within the angle range of In other words, the speed reducer 40 may be incorporated with an inclination within this angle range as long as its posture (the angle of the rotation axis O1 with respect to the vertical direction) is maintained during the operation of the industrial robot 1. . Alternatively, the concave portion (grease reservoir 52c) may be formed such that the normal direction of the opening surface of the concave portion is inclined within this angular range.

また、グリス溜まり５２ｃは、第１部材５２に単純なリングの溝状に設けられていなくともよく、例えば図３（ａ）、（ｂ）に示すように、グリス溜まり５２ｃ内に補強リブ５２ｄを立設してもよい。この例では、補強リブ５２ｄは、グリス溜まり５２ｃ内を周方向に仕切るように、回転軸Ｏ１回りの周上等配で複数（図３では８つ）設けられている。このような補強リブ５２ｄを設けることにより、グリス溜まり５２ｃを単純なリング状に設ける場合に比べて第１部材５２の強度低下を抑えることができ、外力に対する第１部材５２の変形を抑制することができる。
なお、補強リブ５２ｄは、図３（ａ）のように、軸方向について、グリス溜まり５２ｃの内底部から立ち上がって第１部材５２における第２部材５３と対向する下面に達しない高さで形成されているが、当該下面まで達する高さで形成することも可能である。
また、図３（ａ）のように、補強リブ５２ｄは、径方向の外側に向かって第２部材５３と対向する下面から離隔する方向に勾配が設けられているが、勾配を設けないことも可能である。
その他、図示は省略するが、グリス溜まり５２ｃは、リング状でなく、周上に断続的に設けられていてもよい。 Further, the grease reservoir 52c does not have to be provided in the first member 52 in a simple ring groove shape. For example, as shown in FIGS. may be erected. In this example, a plurality of reinforcing ribs 52d (eight in FIG. 3) are provided at equal intervals around the rotation axis O1 so as to divide the inside of the grease pool 52c in the circumferential direction. By providing such a reinforcing rib 52d, it is possible to suppress a decrease in the strength of the first member 52 compared to the case where the grease reservoir 52c is provided in a simple ring shape, and suppress deformation of the first member 52 due to external force. can be done.
In addition, as shown in FIG. 3A, the reinforcing rib 52d is formed with a height that rises from the inner bottom portion of the grease reservoir 52c in the axial direction and does not reach the lower surface of the first member 52 facing the second member 53. However, it is also possible to form it with a height reaching the lower surface.
Further, as shown in FIG. 3A, the reinforcing rib 52d is provided with a gradient in a direction away from the lower surface facing the second member 53 toward the outside in the radial direction, but the gradient may not be provided. It is possible.
In addition, although illustration is omitted, the grease reservoir 52c may be intermittently provided on the circumference instead of being ring-shaped.

図２に示すように、第１部材５２には、減速装置４０の上側に配置される部材が連結される。具体的には、基端側の関節部３１の減速装置４０では第１部材５２にアーム部材３３の一端が固定され、先端側の関節部３２の減速装置４０では第１部材５２にヘッドユニット２０の底板２６が固定される（図１参照）。第１部材５２及びケーシング５４には、この連結用のボルト孔５２ｈ１、５４ｈ１が設けられている。ボルト孔５２ｈ１、５４ｈ１は、軸方向に延びかつ互いに連通するとともに、周方向における複数の箇所に設けられている。そして、基端側の関節部３１の減速装置４０では、ボルト孔５２ｈ１、５４ｈ１に下側から挿通されたボルトＢ１が、アーム部材３３の下面に設けられたねじ孔３３ｈ１に螺合される。一方、先端側の関節部３２の減速装置４０では、ボルト孔５２ｈ１、５４ｈ１に下側から挿通されたボルトＢ１が、ヘッドユニット２０の底板２６の下面に設けられたねじ孔２６ｈ１に螺合される。 As shown in FIG. 2 , the first member 52 is connected to a member arranged above the reduction gear 40 . Specifically, one end of the arm member 33 is fixed to the first member 52 in the reduction gear 40 of the joint 31 on the proximal side, and the head unit 20 is attached to the first member 52 in the reduction gear 40 of the joint 32 on the distal side. is fixed (see FIG. 1). The first member 52 and the casing 54 are provided with bolt holes 52h1 and 54h1 for this connection. The bolt holes 52h1 and 54h1 extend in the axial direction, communicate with each other, and are provided at a plurality of locations in the circumferential direction. In the speed reduction device 40 of the joint portion 31 on the proximal end side, the bolt B1 inserted through the bolt holes 52h1 and 54h1 from below is screwed into the screw hole 33h1 provided on the lower surface of the arm member 33 . On the other hand, in the speed reducer 40 of the joint portion 32 on the tip side, the bolt B1 inserted through the bolt holes 52h1 and 54h1 from below is screwed into the screw hole 26h1 provided on the lower surface of the bottom plate 26 of the head unit 20. .

第２部材５３は、ケーシング５４の径方向内方でかつ起振体軸４１の径方向外方に、少なくとも一部が配置され、外周部の一部に主軸受６３の内輪５３ｉが設けられ、内周部の一部に歯部が設けられて第２内歯歯車５３ｇを構成する。内輪５３ｉの部分と第２内歯歯車５３ｇの部分とその他の部分とは単一の素材により一体的に構成されている。 At least a portion of the second member 53 is disposed radially inward of the casing 54 and radially outward of the vibration generator shaft 41, and an inner ring 53i of the main bearing 63 is provided on a portion of the outer peripheral portion, A tooth portion is provided on a part of the inner peripheral portion to constitute the second internal gear 53g. The portion of the inner ring 53i, the portion of the second internal gear 53g, and other portions are integrally constructed of a single material.

主軸受６３は、例えばクロスローラ軸受であり、第２部材５３とケーシング５４との間に配置される。ケーシング５４は、主軸受６３を介して第２部材５３を回転自在に支持する。主軸受６３は、第２部材５３に設けられた内輪５３ｉと、ケーシング５４に設けられた外輪５４ｏと、内輪５３ｉと外輪５４ｏとの間に配置される複数の転動体とを有する。なお、主軸受６３は、第２部材５３とケーシング５４との間で、軸方向に離間した複数の軸受（アンギュラ玉軸受、テーパ軸受等）から構成されてもよい。 The main bearing 63 is, for example, a cross roller bearing, and is arranged between the second member 53 and the casing 54 . The casing 54 rotatably supports the second member 53 via the main bearing 63 . The main bearing 63 has an inner ring 53i provided on the second member 53, an outer ring 54o provided on the casing 54, and a plurality of rolling elements arranged between the inner ring 53i and the outer ring 54o. The main bearing 63 may be composed of a plurality of bearings (angular ball bearings, taper bearings, etc.) spaced apart in the axial direction between the second member 53 and the casing 54 .

第１カバー５６は、第１部材５２と連結されて、起振体軸４１の上側の外周部を覆う。 The first cover 56 is connected to the first member 52 and covers the upper outer peripheral portion of the vibration generator shaft 41 .

第２カバー５７は、第２部材５３と連結されて、起振体軸４１の下側の外周部を覆う。第２カバー５７は、第２部材５３の下側に配置されるフランジ部５７ｆ、並びに、第２部材５３と軸受６２との間に嵌入される中空軸部５７ｉを有する。中空軸部５７ｉには、その外周部にＯリング７６が装着される溝が設けられる。 The second cover 57 is connected to the second member 53 and covers the lower outer peripheral portion of the vibration generator shaft 41 . The second cover 57 has a flange portion 57 f arranged below the second member 53 and a hollow shaft portion 57 i fitted between the second member 53 and the bearing 62 . The hollow shaft portion 57i is provided with a groove in which the O-ring 76 is mounted on the outer peripheral portion thereof.

第２カバー５７には、減速装置４０の下側に配置される部材が連結される。具体的には、基端側の関節部３１の減速装置４０では第２カバー５７にベース部１０の天板１２が固定され、先端側の関節部３２の減速装置４０では第２カバー５７にアーム部材３３の他端（関節部３１に連結された一端とは反対側の端部）が固定される（図１参照）。第２部材５３及び第２カバー５７には、この連結用のボルト孔５３ｈ１、５７ｈ１が設けられている。ボルト孔５３ｈ１、５７ｈ１は、軸方向に延びかつ互いに連通するとともに、周方向における複数の箇所に設けられている。ボルト孔５３ｈ１には、雌ネジが設けられている。そして、基端側の関節部３１の減速装置４０では、ベース部１０の天板１２のボルト孔１２ｈ１に下側から挿通されたボルトＢ２が、ボルト孔５７ｈ１に挿通され、ボルト孔５３ｈ１に螺合される。一方、先端側の関節部３２の減速装置４０では、アーム部材３３上板のボルト孔３３ｈ２に下側から挿通されたボルトＢ２が、ボルト孔５７ｈ１に挿通され、ボルト孔５３ｈ１に螺合される。 A member arranged below the reduction gear 40 is connected to the second cover 57 . Specifically, the top plate 12 of the base portion 10 is fixed to the second cover 57 in the speed reduction device 40 of the joint portion 31 on the proximal end side, and the arm is attached to the second cover 57 in the speed reduction device 40 of the joint portion 32 on the distal end side. The other end of the member 33 (the end opposite to the one end connected to the joint 31) is fixed (see FIG. 1). The second member 53 and the second cover 57 are provided with bolt holes 53h1 and 57h1 for this connection. The bolt holes 53h1 and 57h1 extend in the axial direction, communicate with each other, and are provided at a plurality of locations in the circumferential direction. A female screw is provided in the bolt hole 53h1. In the reduction gear 40 of the joint portion 31 on the proximal side, the bolt B2 inserted from below through the bolt hole 12h1 of the top plate 12 of the base portion 10 is inserted through the bolt hole 57h1 and screwed into the bolt hole 53h1. be done. On the other hand, in the reduction gear 40 of the joint 32 on the tip side, a bolt B2 inserted from below through the bolt hole 33h2 of the upper plate of the arm member 33 is inserted through the bolt hole 57h1 and screwed into the bolt hole 53h1.

軸受６１、６２は、例えば玉軸受であり、内輪、外輪及び複数の転動体をそれぞれ有する。一方の軸受６１は、起振体軸４１の上側の軸部４１Ｂと第１カバー５６との間に配置される。もう一方の軸受６２は、起振体軸４１の下側の軸部４１Ｃと第２カバー５７の中空軸部５７ｉとの間に配置される。第１カバー５６及び第２カバー５７は、軸受６１、６２を介して起振体軸４１を回転可能に支持する。 The bearings 61 and 62 are, for example, ball bearings, each having an inner ring, an outer ring and a plurality of rolling elements. One bearing 61 is arranged between the upper shaft portion 41B of the vibration generator shaft 41 and the first cover 56 . The other bearing 62 is arranged between the lower shaft portion 41C of the vibration generator shaft 41 and the hollow shaft portion 57i of the second cover 57 . The first cover 56 and the second cover 57 rotatably support the vibration generator shaft 41 via bearings 61 and 62 .

一方のオイルシール７１は、上側の端部で、起振体軸４１と第１カバー５６との間に配置され、上側への潤滑剤の流出を抑制する。もう一方のオイルシール７２は、下側の端部で、起振体軸４１と第２カバー５７の中空軸部５７ｉとの間に配置され、下側への潤滑剤の流出を抑制する。オイルシール７３は、ケーシング５４と第２部材５３との間に配置され、この部分からの潤滑剤の流出を抑制する。 One oil seal 71 is arranged at its upper end between the vibrating body shaft 41 and the first cover 56 to suppress upward flow of the lubricant. The other oil seal 72 is disposed between the vibrating body shaft 41 and the hollow shaft portion 57i of the second cover 57 at the lower end thereof to suppress downward flow of the lubricant. The oil seal 73 is arranged between the casing 54 and the second member 53 and prevents the lubricant from flowing out from this portion.

Ｏリング７５～７７はそれぞれ、第１部材５２と第１カバー５６との間、第２部材５３と第２カバー５７との間、第１部材５２とケーシング５４との間に設けられ、これらの間で潤滑剤が移動することを抑制する。潤滑剤は、Ｏリング７５～７７とオイルシール７１～７３とでシールされた減速装置４０内部のシール空間Ｓ内に封入される。使用される潤滑剤は、特に限定はされないが、例えば０００号～３号（ＮＬＧＩちょう度番号）のものであって、温度上昇により流動しやすくなるちょう度のものである。また、潤滑剤はオイルでもグリスでもよい。 The O-rings 75 to 77 are provided between the first member 52 and the first cover 56, between the second member 53 and the second cover 57, and between the first member 52 and the casing 54, respectively. Suppresses migration of lubricant between Lubricant is enclosed in a seal space S inside reduction gear 40 that is sealed by O-rings 75-77 and oil seals 71-73. The lubricant to be used is not particularly limited, but is, for example, No. 000 to No. 3 (NLGI consistency number), and has a consistency that becomes easier to flow as the temperature rises. Also, the lubricant may be oil or grease.

［各部材の素材］
起振体軸４１、第１内歯歯車５２ｇを有する第１部材５２、及び、ケーシング５４、第１カバー５６、第２内歯歯車５３ｇを有する第２部材５３、外歯歯車４２、起振体軸受４５の外輪４５Ｂ、スペーサリング６６、６７、主軸受６３の内輪５３ｉ、主軸受６３の外輪５４ｏは、鉄鋼素材から構成される。 [Material of each component]
Vibration generator shaft 41, first member 52 having first internal gear 52g, casing 54, first cover 56, second member 53 having second internal gear 53g, external gear 42, vibration generator The outer ring 45B of the bearing 45, the spacer rings 66 and 67, the inner ring 53i of the main bearing 63, and the outer ring 54o of the main bearing 63 are made of steel material.

特に制限されないが、より具体的には、起振体軸４１、第１内歯歯車５２ｇを有する第１部材５２、及び、ケーシング５４は、クロムモリブデン鋼などの鉄鋼素材から構成される。第１カバー５６、及び、第２内歯歯車５３ｇを有する第２部材５３は、炭素鋼などの鉄鋼素材から構成される。外歯歯車４２は、ニッケルクロムモリブデン鋼などの鉄鋼素材から構成される。起振体軸受４５の外輪４５Ｂ及びスペーサリング６６、６７は、高炭素クロム軸受鋼鋼材等の鉄鋼素材から構成される。主軸受６３の内輪５３ｉは炭素鋼などの鉄鋼素材から構成しても良い。主軸受６３の外輪５４ｏは高炭素クロム軸受鋼などの鉄鋼素材から構成しても良い。 Although not particularly limited, more specifically, the vibration generator shaft 41, the first member 52 having the first internal gear 52g, and the casing 54 are made of a steel material such as chromium molybdenum steel. The first cover 56 and the second member 53 having the second internal gear 53g are made of a steel material such as carbon steel. The external gear 42 is made of a steel material such as nickel-chromium-molybdenum steel. The outer ring 45B and the spacer rings 66, 67 of the vibration generator bearing 45 are made of steel material such as high carbon chromium bearing steel material. The inner ring 53i of the main bearing 63 may be made of a steel material such as carbon steel. The outer ring 54o of the main bearing 63 may be made of a steel material such as high carbon chromium bearing steel.

第２カバー５７は、アルミニウム、マグネシウム、アルミニウム合金、マグネシウム合金などの軽量素材から構成される。これらの軽量素材は、上記の鉄鋼素材よりも比重が低く、上記の鉄鋼素材よりも硬度が低い。 The second cover 57 is made of a lightweight material such as aluminum, magnesium, aluminum alloy, magnesium alloy. These lightweight materials have a lower specific gravity than the above steel materials and a lower hardness than the above steel materials.

［動作説明］
先端側の関節部３２の減速装置４０では、サーボモータ２３が駆動して起振体軸４１が回転すると、起振体４１Ａの運動が外歯歯車４２に伝わる。このとき、外歯歯車４２は、起振体４１Ａの外周面に沿った形状に規制され、軸方向から見て、長軸部分と短軸部分とを有する楕円形状に撓んでいる。さらに、外歯歯車４２は、固定された第１内歯歯車５２ｇと長軸部分で噛合っている。このため、外歯歯車４２は起振体４１Ａと同じ回転速度で回転することはなく、外歯歯車４２の内側で起振体４１Ａが相対的に回転する。そして、この相対的な回転に伴って、外歯歯車４２は長軸位置と短軸位置とが周方向に移動するように撓み変形する。この変形の周期は、起振体軸４１の回転周期に比例する。 [Description of operation]
In the speed reducer 40 of the joint portion 32 on the distal end side, when the servomotor 23 is driven to rotate the vibration generator shaft 41 , the motion of the vibration generator 41A is transmitted to the external gear 42 . At this time, the external gear 42 is regulated to a shape along the outer peripheral surface of the vibrating body 41A, and is flexed in an elliptical shape having a major axis portion and a minor axis portion when viewed from the axial direction. Furthermore, the external gear 42 meshes with the fixed first internal gear 52g at its longitudinal portion. Therefore, the external gear 42 does not rotate at the same rotational speed as the vibration generator 41A, and the vibration generator 41A rotates inside the external gear 42 relatively. Along with this relative rotation, the external gear 42 is flexurally deformed so that the major axis position and the minor axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the vibration generator shaft 41 .

外歯歯車４２が撓み変形する際、その長軸位置が移動することで、外歯歯車４２と第１内歯歯車５２ｇとの噛合う位置が回転方向に変化する。ここで、外歯歯車４２の歯数が１００で、第１内歯歯車５２ｇの歯数が１０２だとすると、噛合う位置が一周するごとに、外歯歯車４２と第１内歯歯車５２ｇとの噛合う歯がずれていき、これにより外歯歯車４２が回転（自転）する。上記の歯数であれば、起振体軸４１の回転運動は減速比１００：２で減速されて外歯歯車４２に伝達される。 When the external gear 42 is flexurally deformed, the position of the long axis moves, and thus the meshing position between the external gear 42 and the first internal gear 52g changes in the rotational direction. Here, assuming that the number of teeth of the external gear 42 is 100 and the number of teeth of the first internal gear 52g is 102, the external gear 42 and the first internal gear 52g mesh each time the meshing position rotates. The matching teeth are shifted, and this causes the external gear 42 to rotate (rotate). With the above number of teeth, the rotational motion of the vibration generator shaft 41 is reduced at a reduction ratio of 100:2 and transmitted to the external gear 42 .

一方、外歯歯車４２は第２内歯歯車５３ｇとも噛合っているため、起振体軸４１の回転によって外歯歯車４２と第２内歯歯車５３ｇとの噛合う位置も回転方向に変化する。ここで、第２内歯歯車５３ｇの歯数と外歯歯車４２の歯数とが同数であるとすると、外歯歯車４２と第２内歯歯車５３ｇとは相対的に回転せず、外歯歯車４２の回転運動が減速比１：１で第２内歯歯車５３ｇへ伝達される。これらによって、起振体軸４１の回転運動が減速比１００：２で減速されて、この回転運動が被駆動部材であるヘッドユニット２０に出力される。 On the other hand, since the external gear 42 is also meshed with the second internal gear 53g, the rotation of the vibration generator shaft 41 also changes the meshing position between the external gear 42 and the second internal gear 53g in the rotational direction. . Here, if the number of teeth of the second internal gear 53g and the number of teeth of the external gear 42 are the same, the external gear 42 and the second internal gear 53g do not rotate relative to each other. Rotational motion of the gear 42 is transmitted to the second internal gear 53g at a reduction ratio of 1:1. As a result, the rotational motion of the vibration generator shaft 41 is reduced at a reduction ratio of 100:2, and this rotational motion is output to the head unit 20, which is a driven member.

基端側の関節部３１の減速装置４０では、サーボモータ１１からの回転運動が、第１部材５２及びケーシング５４に固定されたアーム部材３３に出力される（図１参照）。この関節部３１の減速装置４０においても、上述した関節部３２の減速装置４０と同様に、外歯歯車４２、第１内歯歯車５２ｇ及び第２内歯歯車５３ｇの歯数に応じた減速比で、サーボモータ１１からの回転運動が、被駆動部材であるアーム部材３３に出力される。 In the deceleration device 40 of the joint portion 31 on the proximal side, the rotational motion from the servomotor 11 is output to the arm member 33 fixed to the first member 52 and the casing 54 (see FIG. 1). In the speed reduction device 40 of the joint portion 31, similarly to the speed reduction device 40 of the joint portion 32 described above, a speed reduction ratio corresponding to the number of teeth of the external gear 42, the first internal gear 52g, and the second internal gear 53g , the rotational motion from the servomotor 11 is output to the arm member 33 which is a driven member.

また、減速装置４０が動作する際には、例えば組立時などにグリス溜まり５２ｃに溜められた潤滑剤が、このグリス溜まり５２ｃから零れてシール空間Ｓ内の軸受（起振体軸受４５、軸受６１～６３）や噛合い部（第１内歯歯車５２ｇ及び第２内歯歯車５３ｇと外歯歯車４２との噛合い部）に供給される。つまり、産業用ロボット１の作動中には減速装置４０の回転軸Ｏ１の鉛直方向に対する角度が変化せず、グリス溜まり５２ｃは常に鉛直下方向きに開口しているため、減速装置４０の動作中にグリス溜まり５２ｃに潤滑剤が溜まってしまうことがない。これにより、減速装置４０での潤滑不良を抑制して長寿命化を図ることができる。 Further, when the reduction gear 40 operates, the lubricant stored in the grease pool 52c during assembly, for example, spills out of the grease pool 52c, and the bearings (vibrating element bearing 45, bearing 61) in the seal space S 63) and the meshing portion (the meshing portion between the first internal gear 52g and the second internal gear 53g and the external gear 42). That is, while the industrial robot 1 is in operation, the angle of the rotation axis O1 of the speed reducer 40 with respect to the vertical direction does not change, and the grease reservoir 52c is always open vertically downward. Lubricant does not accumulate in the grease reservoir 52c. As a result, poor lubrication in the reduction gear transmission 40 can be suppressed, and the service life of the reduction gear transmission 40 can be extended.

［発明の実施形態の技術的効果］
以上のように、本実施形態の産業用ロボット１によれば、当該産業用ロボット１の作動中に減速装置４０の回転軸Ｏ１の鉛直方向に対する角度が変化せず、第１部材５２のグリス溜まり５２ｃが鉛直方向下向きに開口している。これにより、減速装置４０の動作中にグリス溜まり５２ｃに潤滑剤が溜まってしまうことを防ぎ、減速装置４０での潤滑不良を抑制することができる。また、凹状のグリス溜まり５２ｃを第１部材５２に設けることで、減速装置４０の軽量化を図ることができる。したがって、被駆動部材を駆動する減速装置４０において、潤滑不良を抑制しつつ軽量化を図ることができる。 [Technical effect of the embodiment of the invention]
As described above, according to the industrial robot 1 of the present embodiment, the angle of the rotation axis O1 of the speed reducer 40 with respect to the vertical direction does not change during the operation of the industrial robot 1, and the grease accumulates on the first member 52. 52c is open vertically downward. As a result, it is possible to prevent the lubricant from accumulating in the grease reservoir 52c during operation of the speed reduction device 40, and to suppress lubrication failure in the speed reduction device 40. Further, by providing the first member 52 with the concave grease reservoir 52c, the weight of the reduction gear transmission 40 can be reduced. Therefore, in the reduction gear 40 that drives the driven member, it is possible to reduce the weight while suppressing poor lubrication.

また、グリス溜まり５２ｃをリング状とすることで大きく減肉することができ、高い軽量効果を得ることが出来る。また、グリスを多量に格納することができる。
また、第１部材５２のグリス溜まり５２ｃ内に補強リブ５２ｄを設けた場合には、グリス溜まり５２ｃを設けることによる第１部材５２の強度低下を抑え、外力に対する第１部材５２の変形を抑制することができる。 Further, by making the grease reservoir 52c ring-shaped, the wall thickness can be greatly reduced, and a high light weight effect can be obtained. Also, a large amount of grease can be stored.
Further, when the reinforcing rib 52d is provided in the grease reservoir 52c of the first member 52, the reduction in strength of the first member 52 due to the provision of the grease reservoir 52c is suppressed, and the deformation of the first member 52 due to external force is suppressed. be able to.

また、グリス溜まり５２ｃが、第１部材５２（第１内歯歯車５２ｇ）のうち第２部材５３（第２内歯歯車５３ｇ）と対向する面に設けられているので、グリス溜まり５２ｃ内に溜まった潤滑剤を第２内歯歯車５３ｇに供給しやすくすることができる。 Further, since the grease pool 52c is provided on the surface of the first member 52 (first internal gear 52g) facing the second member 53 (second internal gear 53g), the grease accumulates in the grease pool 52c. This makes it easier to supply the lubricant to the second internal gear 53g.

また、基端側の関節部３１の減速装置４０では、グリス溜まり５２ｃを有する第１部材５２が、減速回転を被駆動部材（アーム部材３３）に出力する出力側の部材であるので、回転する部材の慣性モーメントを低減することができ、サーボモータ１１等の負荷を抑えることができる。 In addition, in the speed reduction device 40 of the joint portion 31 on the proximal side, the first member 52 having the grease reservoir 52c is a member on the output side that outputs decelerated rotation to the driven member (arm member 33), so that the first member 52 rotates. The moment of inertia of the member can be reduced, and the load on the servomotor 11 and the like can be suppressed.

［その他］
以上、本発明の各実施の形態について説明したが、本発明は上記の実施の形態に限られない。例えば図４に示すように、第２部材５３のうち第１部材５２と対向する面に他の凹部５３ｃを設け、第２部材５３の軽量化を図ってもよい。この他の凹部５３ｃの形状や構造等は特に限定されず、第１部材５２のグリス溜まり５２ｃと同様であってもよいし、異なっていてもよい。 [others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. For example, as shown in FIG. 4, another concave portion 53c may be provided on the surface of the second member 53 facing the first member 52 to reduce the weight of the second member 53. As shown in FIG. The other shape, structure, etc. of the recess 53c are not particularly limited, and may be the same as or different from the grease reservoir 52c of the first member 52 .

また、上記実施形態では、減速装置４０として撓み噛合い式歯車装置を示したが、本発明に係る減速装置は撓み噛合い式歯車装置に限定されず、どのような種類の減速機構を有していてもよく、例えば偏心揺動型減速装置のような他の減速装置であってもよい。
本発明に係る減速装置を適用した偏心揺動型減速装置の一例を示す断面図を図５（ａ）に示し、図５（ａ）のＶ－Ｖ線に沿った断面図を図５（ｂ）に示す。なお、図５（ａ）は（ｂ）のＡ－Ｏ－Ａ線に沿った断面図である。
これらの図に示す偏心揺動型減速装置８０では、モータに連結された偏心体軸８１が回転すると、これと一体的に構成されている偏心体８２ａ～８２ｃが回転する。すると、その外周側の第１～第３の外歯歯車８３ａ～８３ｃが、ケーシング８４内周の内歯歯車８４ａに内接しつつ互いの位相差を維持しながら揺動回転（公転）するとともに、内歯歯車８４ａに対する歯数差に応じて自転する。そして、第１～第３の外歯歯車８３ａ～８３ｃの自転速度と等しい速度で回転する第１及び第２のキャリア８５、８６から減速回転が出力される。
このような偏心揺動型減速装置８０においては、図５（ａ）に示す上下方向（鉛直方向）の配置の場合には、鉛直方向下向きに開口する凹部（グリス溜まり）８７を、第２のキャリア８６に立設された複数の内ピン８６ａを避けつつ、第１のキャリア８５に設ければよい。あるいは、上下方向（鉛直方向）の配置が図５（ａ）とは逆向きの場合には、図５（ａ）に二点鎖線で示すように、凹部（グリス溜まり）８７を、複数の内ピン８６ａを避けつつ第２のキャリア８６に設ければよい。
なお、偏心揺動型減速装置として、センタークランク型の偏心揺動型減速装置を示したが、これに限定されず、偏心体を有する２個以上の偏心軸が減速装置の軸心からオフセットして配置された所謂振り分け型の偏心揺動型減速装置、又は、単純遊星歯車装置に適用されてもよい。 Further, in the above-described embodiment, a flexural meshing gear device is shown as the speed reducer 40, but the speed reducer according to the present invention is not limited to a flexural mesh gear device, and any type of speed reduction mechanism may be used. Alternatively, it may be another speed reducer such as an eccentric oscillating speed reducer.
FIG. 5(a) is a cross-sectional view showing an example of an eccentric oscillating type speed reducer to which the speed reducer according to the present invention is applied, and FIG. ). Note that FIG. 5(a) is a cross-sectional view taken along line AOA in FIG. 5(b).
In the eccentric oscillating speed reducer 80 shown in these figures, when an eccentric body shaft 81 connected to a motor rotates, eccentric bodies 82a to 82c integrally formed therewith rotate. Then, the first to third external gears 83a to 83c on the outer peripheral side are inscribed in the internal gear 84a on the inner periphery of the casing 84 and oscillatingly rotate (revolve) while maintaining a mutual phase difference. It rotates according to the number of teeth difference with respect to the internal gear 84a. Then, reduced rotation is output from the first and second carriers 85, 86 rotating at a speed equal to the rotation speed of the first to third external gears 83a to 83c.
In such an eccentric oscillating speed reducer 80, in the case of the arrangement in the up-down direction (vertical direction) shown in FIG. It may be provided on the first carrier 85 while avoiding the plurality of inner pins 86 a erected on the carrier 86 . Alternatively, if the arrangement in the vertical direction (vertical direction) is opposite to that in FIG. It may be provided on the second carrier 86 while avoiding the pin 86a.
Although a center crank type eccentric oscillating reduction gear has been shown as the eccentric oscillating reduction gear, it is not limited to this, and two or more eccentric shafts having eccentric bodies are offset from the axis of the reduction gear. It may be applied to a so-called distribution type eccentric oscillating type speed reducer or a simple planetary gear device.

また、上記実施形態では、産業用ロボット１として水平多関節ロボットを示したが、産業用ロボット１は他の型式のロボットであってもよい。また、本発明に係る被駆動装置は、減速装置により被駆動部材を駆動するものであれば産業用ロボットに限定されず、例えば工作機械などであってもよい。その他、実施の形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 Further, in the above embodiment, the industrial robot 1 is a horizontal articulated robot, but the industrial robot 1 may be any other type of robot. Further, the driven device according to the present invention is not limited to an industrial robot as long as it drives a driven member by a reduction gear, and may be, for example, a machine tool. Other details shown in the embodiments can be changed as appropriate without departing from the scope of the invention.

１ 産業用ロボット
１０ ベース部
１１、２３ サーボモータ
２０ ヘッドユニット
３１、３２ 関節部
３３ アーム部材
３４、３５ 減速機
４０ 減速装置
４１ 起振体軸
４１Ａ 起振体
４２ 外歯歯車
５２ 第１部材
５２ｃ グリス溜まり
５２ｄ 補強リブ
５２ｇ 第１内歯歯車
５３ 第２部材
５３ｃ 他の凹部
５３ｇ 第２内歯歯車
５４ ケーシング
７１～７３ オイルシール
７５～７７ Ｏリング
Ｏ１ 回転軸
Ｓ シール空間 1 industrial robot 10 base parts 11, 23 servo motor 20 head units 31, 32 joint part 33 arm members 34, 35 reduction gear 40 reduction gear 41 vibration generator shaft 41A vibration generator 42 external gear 52 first member 52c grease Reservoir 52d Reinforcing rib 52g First internal gear 53 Second member 53c Other concave portion 53g Second internal gear 54 Casings 71-73 Oil seals 75-77 O-ring O1 Rotating shaft S Sealing space

Claims (4)

減速装置と、前記減速装置により駆動される被駆動部材とを備えた被駆動装置であって、
当該被駆動装置の作動中に、前記減速装置の回転軸の鉛直方向に対する角度が変化せず、
前記減速装置は、
当該減速装置の内部空間に潤滑剤が封入されるとともに、凹部が設けられた第１部材を有し、
前記第１部材の前記凹部が鉛直方向下向きに開口するように配置され、
前記凹部の開口面の全面が前記減速装置の内部空間に開口しており、
前記第１部材は、減速回転を前記被駆動部材に出力する部材であり、
前記減速装置は、起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛合う第１内歯歯車および第２内歯歯車と、を備えた撓み噛合い式歯車装置であり、
前記第１内歯歯車は、前記外歯歯車と歯数が異なり、
前記第２内歯歯車は、前記外歯歯車と歯数が同じであり、
前記第１部材は前記第１内歯歯車である、
被駆動装置。 A driven device comprising a reduction gear and a driven member driven by the reduction gear,
During operation of the driven device, the angle of the rotation shaft of the speed reducer with respect to the vertical direction does not change,
The speed reducer is
A lubricant is enclosed in the internal space of the reduction gear transmission, and the first member is provided with a recess,
The recess of the first member is arranged so as to open downward in the vertical direction,
The entire opening surface of the recess is open to the internal space of the reduction gear transmission,
The first member is a member that outputs reduced rotation to the driven member,
The speed reducer has a flexural meshing including a vibrating body, an external gear that is flexurally deformed by the vibrating body, and a first internal gear and a second internal gear that mesh with the external gear. is a gear system,
The first internal gear has a different number of teeth from the external gear,
The second internal gear has the same number of teeth as the external gear,
The first member is the first internal gear,
Driven device. 減速装置と、前記減速装置により駆動される被駆動部材とを備えた被駆動装置であって、
当該被駆動装置の作動中に、前記減速装置の回転軸の鉛直方向に対する角度が変化せず、
前記減速装置は、
当該減速装置の内部に潤滑剤が封入されるとともに、凹部が設けられた第１部材を有し、
前記第１部材の前記凹部が鉛直方向下向きに開口するように配置され、
前記減速装置は、起振体と、前記起振体により撓み変形される外歯歯車と、前記外歯歯車と噛合う第１内歯歯車および第２内歯歯車と、を備えた撓み噛合い式歯車装置であり、
前記第１部材は前記第１内歯歯車であり、
前記凹部は、前記第１内歯歯車のうち前記第２内歯歯車と対向する面に設けられ、
前記第２内歯歯車のうち前記第１内歯歯車と対向する面には、他の凹部が設けられている、
被駆動装置。 A driven device comprising a reduction gear and a driven member driven by the reduction gear,
During operation of the driven device, the angle of the rotation shaft of the speed reducer with respect to the vertical direction does not change,
The speed reducer is
The speed reducer has a first member filled with a lubricant and provided with a recess,
The recess of the first member is arranged so as to open downward in the vertical direction,
The speed reducer has a flexural meshing including a vibrating body, an external gear that is flexurally deformed by the vibrating body, and a first internal gear and a second internal gear that mesh with the external gear. is a gear system,
The first member is the first internal gear,
The recess is provided on a surface of the first internal gear facing the second internal gear,
Another concave portion is provided on a surface of the second internal gear facing the first internal gear,
Driven device. 減速装置と、前記減速装置により駆動される被駆動部材とを備えた被駆動装置であって、
当該被駆動装置の作動中に、前記減速装置の回転軸の鉛直方向に対する角度が変化せず、
前記減速装置は、
当該減速装置の内部空間に潤滑剤が封入されるとともに、凹部が設けられた第１部材を有し、
前記第１部材の前記凹部が鉛直方向下向きに開口するように配置され、
前記凹部の開口面の全面が前記減速装置の内部空間に開口しており、
前記減速装置は、偏心体と、前記偏心体により揺動する外歯歯車と、外歯歯車と噛合う内歯歯車と、外歯歯車の軸方向側部に配置されるキャリアと、を備えた偏心揺動型減速装置であり、
前記第１部材は、前記キャリアである、
被駆動装置。 A driven device comprising a reduction gear and a driven member driven by the reduction gear,
During operation of the driven device, the angle of the rotation shaft of the speed reducer with respect to the vertical direction does not change,
The speed reducer is
A lubricant is enclosed in the internal space of the reduction gear transmission, and the first member is provided with a recess,
The recess of the first member is arranged so as to open downward in the vertical direction,
The entire opening surface of the recess is open to the internal space of the reduction gear transmission,
The speed reducer includes an eccentric body, an external gear that oscillates with the eccentric body, an internal gear that meshes with the external gear, and a carrier that is disposed on the axial side of the external gear. It is an eccentric oscillating type speed reducer,
The first member is the carrier,
Driven device. 減速装置と、前記減速装置により駆動される被駆動部材とを備えた被駆動装置であって、
当該被駆動装置の作動中に、前記減速装置の回転軸の鉛直方向に対する角度が変化せず、
前記減速装置は、
当該減速装置の内部に潤滑剤が封入されるとともに、凹部が設けられた第１部材を有し、
前記第１部材の前記凹部が鉛直方向下向きに開口するように配置され、
前記第１部材は、前記凹部内に補強リブを有する、
被駆動装置。 A driven device comprising a reduction gear and a driven member driven by the reduction gear,
During operation of the driven device, the angle of the rotation shaft of the speed reducer with respect to the vertical direction does not change,
The speed reducer is
The speed reducer has a first member filled with a lubricant and provided with a recess,
The recess of the first member is arranged so as to open downward in the vertical direction,
The first member has a reinforcing rib within the recess,
Driven device.
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