JP7423064B2 - Decelerator - Google Patents

Description

The present invention relates to a speed reducer.

BACKGROUND ART A reduction gear that reduces the rotation of a motor in stages (in two stages) and outputs the rotation speed at a rotation speed lower than the rotation speed of the motor is well known (see, for example, Patent Document 1).

Japanese Patent Application Publication No. 2008-149334

In recent years, there has been an increasing demand for the reduction gear described above to be more compact and more accurate.

The present invention has been made in view of this problem, and its purpose is to provide a compact and highly accurate speed reducer.

The main invention for achieving the above object includes: a drive section; an input shaft that is driven and rotated by the drive section along a first direction; and an input shaft that is connected to the input shaft and rotates as the input shaft rotates. a first cam, a first output table that includes a plurality of first cam followers that engage with the first cam and rotates as the first cam rotates, and along a second direction that intersects the first direction; and an intermediate shaft that is connected to the first output table and rotates as the first output table rotates, a barrel cam that is connected to the intermediate shaft and rotates as the intermediate shaft rotates, and the barrel cam. A second output table includes a plurality of second cam followers that engage with each other and rotates as the barrel cam rotates, the second output table having a normal direction that is both the first direction and the second direction. a second output table along an intersecting third direction; the reduction gear includes a second output table extending in a third intersecting direction; The speed reducer is characterized in that the rotation center of the second output table is located on the drive unit side when the side on which the drive unit is not located is defined as the non-drive unit side.

Other features of the present invention will become apparent from the description of this specification and the accompanying drawings.

According to the present invention, it is possible to provide a compact and highly accurate reduction gear.

It is a top view and a side view of reduction gear 1 concerning this embodiment. FIG. 4 is a top view of a roller gear cam device 40 according to a conventional example. This is a reduction gear 50 according to a conventional example in which a barrel cam is used as the second cam, and a cyclone reduction gear 51, which is an example of a coaxial reduction mechanism, is used as the input side reduction mechanism. FIG. 6 is a top view and a side view of a rotational positioning device 60 according to the present embodiment. FIG. 6 is a diagram in which a rotary positioning device 60 according to the present embodiment is installed on a machine tool table 61. FIG. 2 is a top view and a side view of a rotating two-axis machine tool device (tilt table 70) according to the present embodiment. They are a top view and a side view of a speed reducer 100 according to a second embodiment. They are a top view and a side view of a speed reducer 200 according to a third embodiment. It is a top view and a side view of welding positioner 80 concerning a 3rd embodiment. This is an example in which the welding positioner 80 according to the third embodiment is used for pipe welding.

At least the following matters will become clear from the description of this specification and the accompanying drawings.

a driving part, an input shaft that is driven and rotated by the driving part along a first direction, a first cam that is connected to the input shaft and rotates as the input shaft rotates, and is engaged with the first cam. a first output table that rotates when the first cam rotates; and a first output table that is connected along a second direction intersecting the first direction and to the first output table; an intermediate shaft that rotates as the first output table rotates; a barrel cam that is connected to the intermediate shaft and rotates as the intermediate shaft rotates; and a plurality of second cam followers that engage with the barrel cam; a second output table that rotates as the barrel cam rotates, the second output table having a normal direction along a third direction that intersects both the first direction and the second direction; A speed reducer comprising, with reference to the position of the intermediate shaft in the first direction, the side where the drive section is located in the first direction is a drive section side, and the side where the drive section is not located is a non-drive section. A speed reducer characterized in that, when the second output table is located on the drive unit side, the rotation center of the second output table is located on the drive unit side.

According to such a reduction gear, it is possible to provide a compact and highly accurate reduction gear.

In such a speed reducer, the first cam is preferably a barrel cam.

According to such a reduction gear, for example, it is possible to increase the diameter of each cam follower, and the output torque capacity can be increased.

In such a reduction gear, the first cam is preferably a roller gear cam.

According to such a reduction gear, it is possible to provide a reduction gear compatible with high-speed rotation.

In such a speed reducer, it is desirable that the second output table has a hollow portion.

According to such a reducer, the hollow portion can be used for wiring and piping.

This speed reducer includes an output shaft that extends along the third direction, is connected to the second output table, and rotates as the second output table rotates, and the output shaft has a hollow portion. It is desirable to have

According to such a reducer, the hollow portion can be used for wiring and piping.

In such a speed reducer, the first output table is preferably provided at an end of the intermediate shaft in the second direction.

According to such a reduction gear, a larger hollow portion can be provided.

This speed reducer includes the drive section, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. , the housing has a rectangular shape when the housing is viewed from the third direction, and the housing has a rectangular shape when the rectangular housing is divided into three equal parts in the second direction. When the three regions are defined as a first end region, a first central region, and a second end region, the drive section, the input shaft, and the first cam may all fit within the first end region. desirable.

According to such a reduction gear, a larger hollow portion can be provided.

This speed reducer includes the drive section, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. , the housing has a rectangular shape when viewed from the third direction, and when the rectangular housing is divided into three equal parts in the first direction, When three regions are defined as a third end region, a second central region, and a fourth end region, the first output table, the intermediate shaft, and the barrel cam may all fit within the third end region. desirable.

According to such a reduction gear, a larger hollow portion can be provided.

In this speed reducer, the first output table and the second output table both have a circular shape, and the outer diameter of the first output table is smaller than the outer diameter of the second output table. is desirable.

According to such a reduction gear, a compact reduction gear can be provided compared to a case where the first output table has a large outer diameter.

In this speed reducer, it is preferable that the second output table is located inside the first cam in the second direction.

According to such a reduction gear, a compact reduction gear can be provided compared to a case where the reduction gear is located outside.

In this speed reducer, it is desirable that the second output table be located outside of the first cam in the second direction.

According to such a reduction gear, for example, it is possible to increase the diameter of each cam follower, and the output torque capacity can be increased.

===About reducer 1===
A reduction gear 1 according to this embodiment will be described with reference to FIG. 1. FIG. 1 is a top view and a side view of a speed reducer 1 according to the present embodiment, where the top view is a top view and the bottom view is a side view. Note that in the drawings according to the present embodiment, members may be omitted as appropriate in order to explain the present invention in an easy-to-understand manner.

Further, the reducer 1 according to the present embodiment has an X direction (corresponding to a first direction), a Y direction (corresponding to a second direction), and a Z direction (corresponding to a third direction). The Y directions intersect with each other, and both the X and Y directions intersect with the Z direction. The horizontal direction of the paper in the top view of FIG. 1 is the X direction, and the left side (right side) of the paper is called the left (right), and the vertical direction of the paper is the Y direction, and the upper (lower) side of the paper is the back (front). It is called. Further, in the side view of FIG. 1, the vertical direction of the paper surface is the Z direction (vertical direction), and the upper side (lower side) of the paper surface is referred to as the upper (lower).

The reducer 1 has a motor 10 (corresponding to a drive section) as a power source, and is a device that rotates an output shaft 32 at a rotation speed lower than the rotation speed of the motor 10 (the reduction in the rotation speed is due to the decrease in output torque). ). As a mechanism for reducing the rotation speed of the motor 10, the reducer 1 uses a two-stage cam mechanism: a first cam (input side reduction mechanism) and a second cam (output side reduction mechanism).

The reducer 1 has a housing 3 that is rectangular in plan view (housing 3 that is rectangular when viewed from above and below), and inside the housing 3 are a motor 10, an input shaft 12, and a first cam. 14, a first output table 20, an intermediate shaft 22, a barrel cam 24 (second cam), a second output table 30, and an output shaft 32 are accommodated.

The motor 10 is provided with a rotating shaft along the X direction, and is connected to the input shaft 12 by a coupling 16.

The input shaft 12 is provided along the X direction and is rotatably supported by an input bearing 18. The right side of the input shaft 12 extends further to the right than the input bearing 18 , and this extended portion is connected to the rotating shaft of the motor 10 by a coupling 16 . That is, the input shaft 12 is driven and rotated by the motor 10 along the X direction.

Further, the input shaft 12 is provided at both left and right ends of the first cam 14 in the X direction, and the first cam 14 and the input shaft 12 rotate integrally. That is, the first cam 14 is connected to the input shaft 12 and rotates as the input shaft 12 rotates.

Further, the first cam 14 is a barrel cam and has a first cam groove 14a, and the spiral first cam groove 14a is provided along the direction of the input shaft 12. The rotation of the first cam 14 is transmitted to the first output table 20 by engaging the first cam follower 20a of the first output table 20, which will be described later, with the first cam groove 14a. Note that the input shaft 12 and the first cam 14 may be manufactured separately and then joined together to form a single body, or they may be manufactured by machining cam grooves on a shaft-shaped body that is integrally manufactured. Good too.

The first output table 20 has a circular shape, includes a plurality of first cam followers 20a that engage with the first cam 14 (first cam groove 14a), and has a first output table 20 around the input shaft 22 along the X direction. As the cam 14 rotates, it rotates around the intermediate shaft 22 along the Y direction. In other words, the directions of the rotation axes on the input side (first cam 14) and the output side (first output table 20) are orthogonal (change from the X direction to the Y direction).

The first cam follower 20a is a portion that engages with the first cam groove 14a, and is a cylindrical rotary body that can rotate on its own axis, and is provided so that its axis of rotation is along the Y direction. A plurality of them are provided at equal intervals along a circle centered on the rotation center of the first output table 20. In this embodiment, twelve first cam followers 20a are provided at equal intervals (every 30 degrees).

Further, the first cam follower 20a is engaged with the first cam groove 14a of the first cam 14 on the front side of the first output table 20, and the engaged first cam follower 20a is in the first cam groove 14a. Rotate and move as guided by.

Specifically, when the first cam 14 rotates counterclockwise when viewed from the right side, the engaged first cam follower 20a is guided by the spiral first cam groove 14a and rotates toward the first output table 20. Move from right to left along the circumferential direction. That is, the first output table 20 rotates clockwise when viewed from the front side. That is, the first cam 14 rotates while engaging with the first cam follower 20a, thereby rotating the first output table 20.

In order to make the rotation of the first output table 20 highly accurate, that is, to achieve highly accurate output, the first cam follower 20a and the first cam groove 14a are designed to prevent backlash, displacement, rattling, etc. , are engaged with high precision (the engagement method for achieving high precision output of the cam mechanism, etc. is a well-known technique, so a description thereof will be omitted here).

The intermediate shaft 22 is provided along the Y direction and is rotatably supported by an intermediate bearing 26. A first output table 20 is connected to the front side of the intermediate shaft 22 (the first output table 20 is provided at the end of the intermediate shaft 22 in the Y direction (in this embodiment, the front end). ), the first output table 20 and the intermediate shaft 22 rotate integrally. That is, the intermediate shaft 22 is connected to the first output table 20 along the Y direction, and rotates as the first output table 20 rotates.

Further, the intermediate shaft 22 is provided at both ends of the barrel cam 24 (second cam) on the front side and the rear side in the Y direction, and the barrel cam 24 and the intermediate shaft 22 rotate integrally. That is, the barrel cam 24 is connected to the intermediate shaft 22 and rotates as the intermediate shaft 22 rotates.

The barrel cam 24 has a barrel cam groove 24a, and the spiral barrel cam groove 24a is provided along the direction of the intermediate shaft 22. The rotation of the barrel cam 24 is transmitted to the second output table 30 by engaging the second cam follower 30a of the second output table 30 with the barrel cam groove 24a. A detailed explanation is the same as that of the first cam groove 14a and first cam follower 20a described above, so it will be omitted here.

The normal direction of the second output table 30 is along the Z direction that intersects both the X direction and the Y direction, and the second output table 30 is rotatably supported by an output table bearing 34. The second output table 30 includes a plurality of second cam followers 30a that engage with the barrel cam 24 (barrel cam groove 24a), and rotates around the Z direction as the barrel cam 24 rotates along the Y direction.

In other words, the directions of the rotation axes on the input side (barrel cam 24) and the output side (second output table 30) are orthogonal (change from the Y direction to the Z direction). Note that when looking at the intermediate shaft 22 and the output shaft 32, which will be described later, from the direction of the rotating shaft (input shaft 12) of the motor 10, which is the power source, the directions of the rotating shaft are the X direction, the Y direction, and the Z direction. Changes while being orthogonal.

The second cam follower 30a is a portion that engages with the barrel cam groove 24a, and is a cylindrical rotary body that can rotate on its own axis, and is provided so that its axis of rotation is along the Z direction. A plurality of them are provided at equal intervals along a circle centered on the rotation center of the second output table 30. In this embodiment, 16 second cam followers 30a are provided at equal intervals (every 22.5 degrees).

Further, the second output table 30 is circular and has a hollow portion, and its outer diameter is larger than the outer diameter of the first output table 20. That is, both the first output table 20 and the second output table 30 have a circular shape, and the outer diameter of the first output table 20 is smaller than the outer diameter of the second output table 30.

The output shaft 32 is connected to the second output table 30 along the Z direction and at the center (hollow portion) of the second output table 30, and rotates as the second output table 30 rotates.

Further, the output shaft 32 may have no hollow portion in the center (a solid shaft), but the output shaft 32 according to the present embodiment is a so-called hollow shaft having a hollow portion. That is, a circular space is provided at the center of the output shaft 32, passing through the output shaft 32 in the vertical direction.

Moreover, the output shaft 32 can also be omitted. That is, in the speed reducer 1 of this embodiment, a configuration is also possible in which the second output table 30 is used as an output shaft (a table-type output shaft) and the output shaft 32 is not provided.

<<< Regarding the arrangement of members inside the housing 3 >>>
Next, the arrangement (positional relationship) of the above-mentioned members inside the housing 3 will be explained (the effects of this positional relationship will be explained in the section regarding the effectiveness of the speed reducer 1, which will be described later).

First, the positional relationship between the rotation center Za of the second output table 30, the motor 10, and the intermediate shaft 22 will be explained. Here, when the position of the intermediate shaft 22 in the X direction is used as a reference in the X direction, both the motor 10 and the rotation center Za are located on the right side in the X direction. In other words, the rotation center Za is located on the same side as the motor 10 in the X direction when the position of the intermediate shaft 22 in the X direction is used as a reference in the X direction. In other words, with the position of the intermediate shaft 22 in the X direction as a reference, the side where the motor 10 is located in the X direction is defined as the drive section side, and the side where the motor 10 is not located is defined as the non-drive section side. The rotation center Za is located on the drive unit side.

Next, the positions of the motor 10, input shaft 12, and first cam 14 inside the housing 3 will be explained. Here, the housing 3 is divided into three equal parts in the Y direction, and each area is defined as a first end area SA1, a first central area MA1, and a second end area SA2. Then, the motor 10, the input shaft 12, and the first cam 14 are accommodated in the first end area SA1. In other words, when the rectangular housing 3 is divided into three equal parts in the Y direction and the three areas are defined as a first end area SA1, a first central area MA1, and a second end area SA2, the motor 10, the input shaft 12, the first cams 14 all fit within the first end area SA1.

Next, the positions of the first output table 20, intermediate shaft 22, and barrel cam 24 inside the housing 3 will be explained. Here, the housing 3 is divided into three equal parts in the X direction, and each area is defined as a third end area SA3, a second central area MA2, and a fourth end area SA4. Then, the first output table 20, intermediate shaft 22, and barrel cam 24 are accommodated in the third end area SA3. That is, when the rectangular housing 3 is divided into three equal parts in the X direction and the three areas are the third end area SA3, the second central area MA2, and the fourth end area SA4, the first output table 20 , the intermediate shaft 22, and the barrel cam 24 all fit within the third end area SA3.

<<<About the effectiveness of reducer 1>>>
As described above, the reducer 1 according to the present embodiment includes a motor 10, an input shaft 12 that is driven and rotated by the motor 10 along the X direction, and an input shaft 12 that is connected to the input shaft 12 and rotates as the input shaft 12 rotates. a first cam 14 that rotates, a first output table 20 that includes a plurality of first cam followers 20a that engage with the first cam 14, and that rotates as the first cam 14 rotates; an intermediate shaft 22 that is connected to the first output table 20 and rotates as the first output table 20 rotates; a barrel cam 24 that is connected to the intermediate shaft 22 and rotates as the intermediate shaft 22 rotates; , a second output table 30 that includes a plurality of second cam followers 30a that engage with the barrel cam 24 and rotates as the barrel cam 24 rotates, the normal direction of the second output table 30 being in the X direction and the Y direction. a second output table 30 along the Z direction that intersects both of When the side where the driving part is not located is defined as the non-driving part side, the rotation center Za of the second output table 30 is located on the driving part side.

An existing reduction gear that decelerates the rotation of a motor in stages (two steps) and outputs a rotation speed lower than the rotation speed of the motor is disclosed in, for example, Japanese Patent Laid-Open No. 2008-149334 (Patent Document 1). The described speed reducer is known.

Recently, there has been an increasing demand for such reduction gears to be more compact and to improve their accuracy.However, the reducer described in Patent Document 1 uses gears, belts, pulleys, etc., and has a high output accuracy. It's hard to say. In addition, although the position of the motor has been devised to make it more compact, the motor protrudes about half from the output table, so it is difficult to say that it is sufficiently compact.

On the other hand, in this embodiment, both of the two-stage speed reduction mechanisms are cam mechanisms (the input side speed reduction mechanism is the first cam, and the output side speed reduction mechanism is the second cam). This makes it possible to provide a reduction gear capable of highly accurate output. Furthermore, by using a barrel cam instead of a roller gear cam for the second cam, it is easier to make the device more compact.

FIG. 2 is a top view of a roller gear cam device 40 according to a conventional example. When the roller gear cam 41 shown in FIG. 2 is used as the second cam, second cam followers are provided radially on the side surface of the second output table, and the roller gear cam 41 is provided so as to engage with the horizontal outer side of the second cam follower. (in the arrangement shown in FIG. 1, on the left side of the second output table 30). When installing the first cam, since the first cam and the second output table are at the same level in the vertical direction, it must be installed outside the second output table in the horizontal direction (the arrangement shown in Figure 1). (the front side of the second output table 30). In other words, the motor largely protrudes from the second output table, increasing the installation area, so it is difficult to say that it is compact.

This is a coaxial reduction mechanism in which the input-side reduction mechanism is replaced with a first cam, and the input shaft and output shaft are in the same direction (if the input shaft is along the X direction, the output shaft is also along the X direction). A similar situation occurs when the cam mechanism is an orthogonal speed reduction mechanism in which the input shaft and the output shaft are perpendicular to each other as described above. FIG. 3 shows a conventional reduction gear 50 in which a barrel cam is used as the second cam, and a cyclone reduction gear 51, which is an example of a coaxial reduction mechanism, is used as the input reduction mechanism. Looking at this, the motor 52 protrudes from the output table, and it is difficult to say that it is compact either.

On the other hand, the second cam is a barrel cam 24, and the input side reduction mechanism is provided with the first cam 14 as a cam mechanism, so that the side where the motor 10 is located in the X direction is set with the position of the intermediate shaft 22 in the X direction as a reference. When the driving part side and the side where the driving part is not located are defined as the non-driving part side, by locating the rotation center Za of the second output table 30 on the driving part side, as shown in FIG. 10 can be approximately accommodated in the lower part of the second output table 30. In other words, it is possible to provide a compact reduction gear 1 with a small installation area.

In addition, by using a barrel cam instead of a roller gear cam as the second cam, for the same distance between the shafts (distance between the rotation center of the output shaft and the rotation center of the cam, distance D shown in Fig. 2), the barrel cam is better than the roller gear cam. The outer diameter of the second output table can be increased.

In this case, when the reduction ratio is the same, the mounting interval of the cam followers can be increased, and therefore the diameter of each cam follower can be increased. For example, if the distance between the shafts is 80 mm and the reduction ratio is 1/16, the cam follower diameter of the roller gear cam is 14 mm, and the cam follower diameter of the barrel cam is 20 mm.When comparing in output torque capacity, the barrel cam is 1.5 mm larger than the roller gear cam. It will be about twice as big. Furthermore, when using the same cam follower diameter, more cam followers can be attached to a barrel cam than to a roller gear cam, so a larger number of indexes can be used.

Next, a specific application example will be explained. FIG. 4 is a modification of the reducer 1, and is a top view and a side view of a rotary positioning device 60 according to the present embodiment, and FIG. This is a diagram of the installation. Note that in the above description, the output shaft 32 rotates together with the second output table 30, but in this rotary positioning device 60, the output shaft does not rotate together with the second output table (the output shaft is fixed). There is also. As shown in FIG. 5, this rotary positioning device 60 has a substantially rectangular shape in a top view, and therefore has the great advantage of less interference with other components such as the cover 62 during operation.

FIG. 6 is a modification of the reduction gear 1, and is a top view and a side view of a rotary two-axis machine tool device (tilt table 70) according to the present embodiment. By installing the tilt table 70 on the table of a 3-axis NC milling machine and controlling each axis with NC, it can be easily used as a 5-axis processing machine, and can be used to perform processing that cannot be done with a general-purpose 3-axis processing machine, such as multi-faceted processing. It is possible to improve productivity through one-chucking machining and to process complex three-dimensional shapes through simultaneous five-axis machining, making it possible to produce turbine blades, medical artificial joints, etc.

In the tilt table 70, when attaching the C-axis 72, a support shaft is often attached to the tip of the C-axis 72 to support the center of rotation of the A-axis 71 in consideration of deflection of the axis due to weight. As the product has high rigidity, a support shaft is not required. This makes it easier to check the machining status, and also suppresses interference when loading a workpiece, and also suppresses interference when moving the milling table.

Further, in the embodiment described above, the second output table 30 has a hollow portion. Further, it has an output shaft 32 that extends along the Z direction, is connected to the second output table 30, and rotates as the second output table 30 rotates, and the output shaft 32 has a hollow portion.

Since the hollow portion of the output shaft 32 (second output table 30) can be used for wiring, piping, etc., demand for a reducer having a hollow portion is increasing these days. Furthermore, in order to further expand the range of use of the hollow portion, a large space is required. In the case of a coaxial reduction mechanism such as the cyclone reduction gear 51 mentioned above as an example, it is difficult to enlarge this hollow portion (increase the ratio of the inner diameter of the hollow shaft to the outer diameter). (For example, in the case of the speed reducer 1), a large hollow portion can be provided relatively easily by devising the arrangement of members such as the first cam and the second cam. The arrangement of members in the speed reducer 1 and their effectiveness will be described below.

First, the first output table 20 is provided at the end of the intermediate shaft 22 in the Y direction. In this case, compared to the case where the hollow portion is located at the center of the intermediate shaft 22, it is possible to provide a larger hollow portion.

Next, to accommodate the motor 10, the input shaft 12, the first cam 14, the first output table 20, the intermediate shaft 22, the barrel cam 24, the second output table 30, and the output shaft 32. When the housing 3 is viewed from the Z direction, the housing 3 has a rectangular shape, and when the rectangular housing 3 is divided into three equal parts in the Y direction, the three areas are called the first end area SA1. , the first central area MA1, and the second end area SA2, the motor 10, input shaft 12, and first cam 14 are all arranged within the first end area SA1. In this case, the hollow portion can be provided larger than in the case where the hollow portion does not fit within the first end region SA1.

Then, when the rectangular housing 3 is divided into three equal parts in the X direction and the three areas are defined as a third end area SA3, a second central area MA2, and a fourth end area SA4, the first output table 20 , the intermediate shaft 22, and the barrel cam 24 are all arranged to fit within the third end area SA3. In this case, the hollow portion can be provided larger than in the case where it does not fit within the third end region SA3.

Further, in the above embodiment, both the first output table 20 and the second output table 30 have a circular shape, and the outer diameter of the first output table 20 is smaller than the outer diameter of the second output table 30. I decided to do so. In this case, it is possible to provide a compact reduction gear 1 compared to a case where the first output table 20 has a large outer diameter.

===About the reducer 100 according to the second embodiment===
Next, a reduction gear 100 according to a second embodiment will be described using FIG. 7. FIG. 7 is a diagram corresponding to FIG. 1, and is a top view and a side view of the speed reducer 100 according to the second embodiment.

The major difference between the above embodiment (referred to as the first embodiment) and the second embodiment is the positional relationship between the first cam and the first output table (other differences are incidental to this difference). (size and length have changed).

More specifically, in the reducer 1, the first output table 20 is located inside the first cam 14 in the Y direction, and in the reducer 100, the first output table 20 is located inside the first cam 14 in the Y direction. 120 is located outside of the first cam 114.

In the reduction gear 1, a compact reduction gear can be provided compared to a case where the first output table 20 is located outside the first cam 14.

In the reducer 100, the first output table 120 can be made larger compared to the case where the first output table 120 is located inside the first cam 114 (in the reducer 1, it does not interfere with the second output table 30). For example, the diameter of each cam follower can be increased, as described above (as described in the comparison of barrel cams and roller gear cams).

===About the reducer 200 according to the third embodiment===
Next, a reduction gear 200 according to a third embodiment will be described using FIG. 8. FIG. 8 is a diagram corresponding to FIG. 1, and is a top view and a side view of the speed reducer 200 according to the third embodiment.

The major difference between the first embodiment (reducer 1) and the third embodiment (reducer 200) is that the first cam has been changed from a barrel cam to a roller gear cam (other differences include (The size and length have been changed to reflect the differences.)

In the reducer 1, since the first cam 14 is a barrel cam, for example, the diameter of each cam follower can be increased, as described above (as described in the comparison between a barrel cam and a roller gear cam).

In the reducer 200, the first cam 214 is a roller gear cam, which is more suitable for high-speed rotation than a barrel cam (it has better stability during high-speed rotation, etc.). In other words, it is possible to provide a reduction gear 200 that is compatible with high-speed rotation.

Next, a specific application example will be explained. FIG. 9 is a modification of the reducer 200, and is a top view and a side view of a welding positioner 80 according to the third embodiment, and FIG. 10 shows a welding positioner 80 according to the third embodiment used for pipe welding. This is an example. According to this welding positioner 80, the rotation of the motor can be accurately set as the final output, and it is possible to provide a highly rigid and precise positioning device. In particular, as the practical application of laser processing technology has steadily progressed in recent years, we provide compact, high-precision, high-rigidity positioners not only for welding but also for precision positioning and precision operation of laser processing machines, etc. can do. As an example, if a welding positioner 80 shown in FIG. 10 is used in a work such as welding a pipe material 81 using a welding robot, the welding positioner 80 can be compact, highly accurate, and highly rigid.

===Other embodiments===
The above-described embodiments are provided to facilitate understanding of the present invention, and are not intended to be interpreted as limiting the present invention. The present invention may be modified and improved without departing from its spirit, and it goes without saying that the present invention includes equivalents thereof.

1 Reducer, 3 Housing, 10 Motor (drive unit), 12 Input shaft,
14 first cam, 14a first cam groove, 16 coupling, 18 input bearing,
20 first output table, 20a first cam follower, 22 intermediate shaft,
24 Barrel cam, 24a Barrel cam groove, 26 Intermediate bearing,
30 second output table, 30a second cam follower, 32 output shaft,
34 output table bearing, 40 roller gear cam device, 41 roller gear cam,
50 reducer, 51 cyclone reducer, 52 motor (drive unit),
60 rotary positioning device, 61 machine tool table, 62 cover,
70 tilt table, 71 A axis, 72 C axis,
80 Welding positioner, 81 Pipe,
100 reduction gear, 103 housing, 110 motor (drive unit), 112 input shaft,
114 first cam, 114a first cam groove, 116 coupling,
120 first output table, 120a first cam follower,
122 intermediate shaft, 200 reducer, 203 housing, 210 motor (drive unit),
212 input shaft, 214 first cam, 214a first cam groove, 216 coupling,
220 first output table, 220a first cam follower,
222 intermediate shaft, Za rotation center, SA1 first end region, SA2 second end region,
SA3 third end region, SA4 fourth end region, MA1 first central region,
MA2 second central area,

Claims (11)

A drive unit;
an input shaft that is driven and rotated by the drive unit along a first direction;
a first cam connected to the input shaft and rotating as the input shaft rotates;
a first output table that includes a plurality of first cam followers that engage with the first cam and rotates when the first cam rotates;
an intermediate shaft extending along a second direction intersecting the first direction, connected to the first output table, and rotating as the first output table rotates;
a barrel cam connected to the intermediate shaft and rotating as the intermediate shaft rotates;
A second output table includes a plurality of second cam followers that engage with the barrel cam, and rotates as the barrel cam rotates, the normal direction of the second output table being in the first direction and the second direction. a second output table along a third direction intersecting both of the
With the position of the intermediate shaft in the first direction as a reference, the side where the driving part is located in the first direction is the driving part side, and the side where the driving part is not located is the non-driving part side. A speed reducer characterized in that the center of rotation of the two-output table is located on the driving section side. The speed reducer according to claim 1,
The reduction gear, wherein the first cam is a barrel cam. The speed reducer according to claim 1,
A reduction gear, wherein the first cam is a roller gear cam. The reduction gear according to any one of claims 1 to 3,
A speed reducer, wherein the second output table has a hollow portion. The speed reducer according to claim 3,
an output shaft that extends along the third direction, is connected to the second output table, and rotates as the second output table rotates;
A speed reducer, wherein the output shaft has a hollow portion. The reducer according to claim 4 or 5,
The reduction gear, wherein the first output table is provided at an end of the intermediate shaft in the second direction. The speed reducer according to claim 5 ,
A housing for accommodating the drive unit, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. has
The housing has a rectangular shape when viewed from the third direction,
When the rectangular housing is divided into three equal parts in the second direction and the three regions are defined as a first end region, a first central region, and a second end region, the drive section, the input shaft , wherein all of the first cams are within the first end region. The speed reducer according to claim 5 ,
A housing for accommodating the drive unit, the input shaft, the first cam, the first output table, the intermediate shaft, the barrel cam, the first output table, and the output shaft. has
The housing has a rectangular shape when viewed from the third direction,
When the rectangular housing is divided into three equal parts in the first direction and the three regions are a third end region, a second central region, and a fourth end region, the first output table, the A speed reducer characterized in that the intermediate shaft and the barrel cam all fit within the third end region. The reduction gear according to any one of claims 1 to 8,
The first output table and the second output table both have a circular shape,
A speed reducer characterized in that an outer diameter of the first output table is smaller than an outer diameter of the second output table. The reduction gear according to any one of claims 1 to 9,
In the second direction, the second output table is located inside the first cam. The reduction gear according to any one of claims 1 to 9,
In the second direction, the second output table is located outside the first cam.

Images