JPWO2019022147A1 - Decelerator - Google Patents

Abstract

To provide a reduction gear that is equipped with a sensor inside and that realizes low cost and size reduction The cycloid reduction gear 1 includes an eccentric shaft 11 to which rotation of a motor is input, a fixed housing 31 fixed to a predetermined installation member SM, and a rotating housing 51 on the outer periphery of the fixed housing 31. When the eccentric shaft 11 rotates, the curved plate 21 is slid. The curved plate 21 slides and slides within a range limited by a fixed housing roller 33 supported by the fixed housing 31. The curved plate 21 transmits a force to the rotating housing roller 52 and the like. As a result, the rotary housing 51 rotates at a speed lower than that of the eccentric shaft 11. At this time, the sensor 35 is fixed to the fixed housing 31, and the sensor cable 36 passes through the hollow shaft 34 on the same circumference as the fixed housing roller 33.

Description

  The present invention relates to a reduction gear.

  2. Description of the Related Art There has been known a cycloid reducer, which is one of internal-type planetary gear reducers using a trochoid tooth profile. Such a reduction gear has a shaft at both ends of a fixed cylindrical housing (casing), and one shaft receives rotation from a motor or the like and outputs a decelerated rotation from the other shaft. (See, for example, Patent Document 1).

Here, for example, when driving an arm or the like using a reduction gear, it is necessary to measure the angle of the output shaft of the reduction gear. In this case, in order to measure the angle of the output shaft of the reduction gear, it is usual to install a sensor for angle measurement outside the reduction gear.
On the other hand, for the purpose of measuring the angle of the output shaft of the reduction gear, there is disclosed a technique in which a plurality of sensors are provided at all angles (for example, see Patent Document 2).

JP, 2010-007731, A Unexamined-Japanese-Patent No. 2007-321879

That is, when the sensor is installed in the reduction gear, the size as a whole and the cost also increase as compared with the case of only the reduction gear. Alternatively, for example, in the case of incorporating a sensor, it is necessary to take a complicated configuration such as providing a plurality of sensors on the outer periphery of the output shaft inside the reduction gear, which increases the cost.
As an alternative method, for example, the reduction gear measures the origin of the angle by providing a photo interrupter on the output shaft, and further measures the number of rotations by providing an incremental encoder on the motor shaft as an input, and An absolute angle can be derived. Alternatively, for example, the reduction gear has a structure in which a part of the output shaft is taken out from the hollow input shaft, and an absolute encoder disposed on the input shaft side can measure the absolute angle of the output shaft. However, using these alternative methods also causes an increase in cost due to the provision of external sensors and jigs, hollow structuring of the input shaft and increase in parts.

  The present invention is made in view of such a situation, and an object of the present invention is to provide a reduction gear which has a sensor internally and realizes low cost and miniaturization.

In order to achieve the above object, the reduction gear of one aspect of the present invention is
A shaft provided in connection with a shaft to which the output of the motor is to be received, the shaft receiving and rotating the output;
A fixed housing fixed to a predetermined mounting member and supporting the shaft;
A rotating housing provided on an outer periphery of the fixed housing and rotating based on rotation of the shaft;
Equipped with

  According to the present invention, it is possible to provide a speed reducer in which a sensor is mounted to realize low cost and miniaturization.

It is a sectional view of a cycloid reduction gear concerning one embodiment of a reduction gear of the present invention. It is sectional drawing of the cycloid reducer of FIG. It is a perspective view which shows the structure by which the rotation housing of the cycloid reducer of FIG. 1 was divided | segmented. It is a figure which shows the structure inside the divided rotational housing of the cycloid reducer of FIG. It is a conceptual diagram of a cycloid reduction gear concerning one embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described based on the drawings.

In the following description, directions defined as follows are used unless otherwise noted.
That is, hereinafter, an axis to which rotation is input from a motor or the like (hereinafter, may be referred to as “input axis”) and an axis to which decelerated rotation is output (hereinafter, In a cycloid reduction gear having the same axis as the "output shaft", the central axis on which the input shaft and the output shaft rotate is called the "axis AZ". Also, take the Z axis of the three-dimensional orthogonal coordinate system in the direction of the axis AZ, call the side with the input axis "the side in the negative direction of Z" or "input axis side", the side with the output axis "Z Is called the side in the positive direction or the "output shaft side". Also, on the plane orthogonal to the Z axis in the three-dimensional orthogonal coordinate system (that is, the XY plane), the direction away from the axis AZ is referred to as "peripheral (direction)" or "outside", and vice versa Call it as appropriate.

  Although the details will be described later, a cycloid reducer according to an embodiment of the reducer of the present invention includes a hollow shaft parallel to the axis AZ. Take the X axis of the three-dimensional Cartesian coordinate system in the direction from the point on the axis AZ to the point on the central axis of the hollow shaft, and the side with the hollow shaft is called "X is the positive direction". Call it "X is the negative direction". Further, the Y-axis is determined such that the three-dimensional orthogonal coordinate system becomes a right-handed system, and the respective directions are referred to as "the Y-positive direction" and the "Y-negative direction".

FIG. 1 is a cross-sectional view of a plane having a constant Y-coordinate passing through an axis AZ, ie, an XZ plane, for a cycloid reducer which is a reducer according to an embodiment of the reducer of the present invention.
FIG. 2 is a cross-sectional view of a plane perpendicular to the axis AZ and having a constant Z coordinate, that is, an XY plane, for the cycloid reducer of FIG.

As shown in FIG. 1, the cycloid reduction gear 1 includes an eccentric shaft 11, an eccentric shaft bearing 12, curved plates 21A and 21B, a fixed housing 31, a fixed housing fastening bolt 32, and a fixed housing roller 33; The hollow shaft 34, the sensor 35, the sensor cable 36, the bearings 41A and 41B, the rotary housing 51, the rotary housing roller 52, the rotary housing roller pin 53, the rotary housing fastening bolt 54, and the sensor magnet 55 And. Hereinafter, components of the cycloid reduction gear 1 such as the eccentric shaft 11 to the sensor magnet 55 are also referred to as "parts".
Hereinafter, when it is not necessary to distinguish the curved plates 21A and 21B individually, they will be collectively referred to as "curved plate 21". When it is not necessary to distinguish the bearings 41A and 41B individually, these are collectively called "bearings 41".

Here, when the cycloid reduction gear 1 rotates, the following parts are in a mutually fixed position and in a supporting relationship.
The eccentric shaft 11 supports an eccentric shaft bearing 12. Further, the fixed housing 31 supports the fixed housing fastening bolt 32, the fixed housing roller 33, the hollow shaft 34, the sensor 35 and the sensor cable 36. The rotary housing 51 supports the rotary housing roller 52, the rotary housing roller pin 53, the rotary housing fastening bolt 54, and the sensor magnet 55.
Here, the "housing" has a function to support other parts and a function as a container to protect each other at the same time. That is, each of the fixed housing 31 and the rotary housing 51 has these functions.

  Hereinafter, the mutual arrangement and function of each part which comprises the cycloid reducer 1 are demonstrated using FIG.1 and FIG.2.

  The eccentric shaft 11 is connected to a motor or the like (not shown) in which Z is in the negative direction, that is, on the input shaft side, and rotates about the axis AZ to cause an eccentric structure for sliding a curved plate 21 described later. Shaft (eccentric cam). According to FIGS. 1 and 2, an eccentric shaft bearing 12 described later is attached between the eccentric shaft 11 and the curved plate 21.

  The eccentric shaft bearing 12 is a bearing which is located on the outer periphery of the eccentric shaft 11, reduces the resistance between the eccentric shaft 11 and the curved plate 21, and supports both of them. For example, a roller bearing can be adopted as the eccentric shaft bearing 12. Roller bearings are bearings that can receive force in a line and are stronger in load than ball bearings that receive a force at a point. The eccentric shaft bearing 12 is preferably a roller bearing because it can support a radial load on the input shaft, that is, the eccentric shaft 11.

  The curved plate 21 is a plate having a cycloid curve, and is located on the outer periphery of the eccentric shaft bearing 12 and is slid by the input from the eccentric shaft 11 via the eccentric shaft bearing 12. According to FIG. 2, the curved plate 21 slides around the axis AZ in the range restricted by the fixed housing fastening bolt 32 and the fixed housing roller 33 described later. According to FIG. 1, in the present embodiment, the curved plate 21B and the curved plate 21A are stacked in the order in which Z is positive.

  The fixed housing 31 is a fixed housing and is installed on the installation member SM and does not rotate. According to FIG. 1, the fixed housing 31 is divided into a plurality of pieces, and Z is stacked in the positive direction. According to FIG. 1 and FIG. 2, each of other parts including the sensor 35 mentioned later is attached to the fixed housing 31. As shown in FIG.

  The fixed housing fastening bolt 32 is a bolt for fastening the fixed housing 31 divided into two or more. According to FIG. 1, the fixed housing fastening bolt 32 is also used to fix the fixed housing 31 to the mounting member SM.

  The fixed housing roller 33 is a roller that is attached to the fixed housing 31 via the fixed housing fastening bolt 32 and reduces the resistance between the curvilinear plate 21 and the fixed housing fastening bolt 32.

  The hollow shaft 34 is a hollow shaft fixed relative to the fixed housing 31. According to FIG. 1, since the hollow shaft 34 has a hollow structure as described above, the sensor cable 36 described later can be disposed in the hollow. According to FIG. 2, in the present embodiment, the hollow shaft 34 is disposed on the same circumference as the fixed housing roller 33.

  The sensor 35 is a sensor for measuring the absolute angle of the output shaft, and is fixed to the fixed housing 31. For example, a magnetic absolute encoder can be employed as the sensor 35.

  The sensor cable 36 is a cable of the sensor 35 attached to the fixed housing 31. Referring to FIG. 1, the sensor cable 36 connected to the sensor 35 is disposed through the hollow shaft 34, and a circuit or the like for receiving a power supply or sensor signal of a sensor (not shown) provided on the input shaft side, ie, the installation member SM side. And the sensor 35 are connected. However, the sensor cable 36 is required when the sensor 35 is wired, and it goes without saying that the sensor cable 36 is unnecessary when the sensor 35 is wireless.

  The bearing 41 is a bearing which is installed in the fixed housing 31 and supports a rotating housing 51 described later. According to FIG. 1, in the present embodiment, the bearings 41 B and the bearings 41 A are stacked in the order of Z in the positive direction on the outer periphery of the fixed housing 31. Also, although not shown, the bearing 41 can be configured to have only one bearing 41 by changing the structure.

  The rotary housing 51 is a housing which is installed on the outer periphery of the curved plate 21, the fixed housing 31, and the bearing 41 and rotates with the output shaft of the cycloid reduction gear 1 which rotates based on the sliding of the curved plate 21. According to FIG. 1, the rotary housing 51 is divided into a plurality of pieces, and Z is stacked in the positive direction. According to FIG. 1 and FIG. 2, a sensor magnet 55 and the like, which will be described later, are attached to the rotation housing 51.

  The rotary housing roller 52 is a roller which is installed on the outer periphery of the curved plate 21, the fixed housing 31 and the bearing 41 and is attached to the rotary housing 51 via a rotary housing roller pin 53 described later. According to FIGS. 1 and 2, the rotary housing roller 52 receives the force of the slide of the curved plate 21 and transmits the force to the rotary housing roller pin 53, but reduces the resistance at this time.

  The rotating housing roller pin 53 is a pin located at the center of the rotating housing roller 52 and supporting the rotating housing roller 52. The rotary housing roller pin 53 receives the force of the curved plate 21 through the rotary housing roller 52 and further transmits the force to the rotary housing 51.

  The rotary housing fastening bolt 54 is a bolt for fastening the rotary housing 51 divided into two or more.

  The sensor magnet 55 is a magnet corresponding to the sensor 35, and is fixed on the AZ axis of the rotation housing 51. As the sensor magnet 55, for example, a magnet corresponding to a magnetic absolute encoder can be employed. When the sensor 35 attached to the fixed housing 31 is a magnetic absolute encoder, the sensor 35 measures the magnetic force of the sensor magnet 55 to measure the absolute angle of the rotary housing 51.

In the above, the mutual arrangement and function of each part which comprises the cycloid reduction gear 1 were demonstrated.
Hereinafter, a state in which the sensor of the cycloid reduction gear 1 is exposed, that is, an inner configuration in which the rotation housing 51 of the cycloid reduction gear 1 is divided will be described.

FIG. 3 is a perspective view showing the configuration of the inside of the rotating housing 51 of the cycloid reduction gear 1 divided. That is, FIG. 3 is a perspective view of the cycloid reduction gear 1 from the negative Y direction and the positive Z direction on the YZ plane. Here, in FIG. 3, an axis AZ (not shown) is an axis located at the center of the fixed housing 31 and the rotating housing 51 which are cylindrical and parallel to the Z axis passing through the sensor 35.
FIG. 4 is a view showing an inner configuration of the divided rotary housing 51 of the cycloid reducer 1. As shown in FIG. That is, FIG. 3 is a view of the removed rotational housing 51 as viewed in the negative Z direction.

  According to FIG. 3, the cycloid reduction gear 1 is installed on the installation member SM. As described above, when the cycloid reduction gear 1 is operated, the fixed housing 31 is fixed to the installation member SM and does not rotate.

  Further, according to FIG. 3, as described above, the sensor 35 is fixed to the fixed housing 31. Furthermore, the sensor cable 36 connected to the sensor 35 is drawn through the hollow shaft 34 in the negative direction of Z and guided to the mounting member SM. That is, the sensor 35 and the sensor cable 36 do not rotate.

  According to FIG. 4, the sensor magnet 55 is fixed to the inside of the divided rotary housing 51 of the cycloid reducer 1. As described above, when the cycloid reducer 1 is operated, the rotation housing 51 serving as the output shaft rotates with respect to the installation member SM. That is, the sensor magnet 55 rotates with the output shaft.

  That is, for example, when a magnetic absolute encoder is adopted for the sensor 35 and a magnet corresponding to the magnetic absolute encoder is adopted for the sensor magnet 55, an absolute angle between the installation member SM and the rotary housing which is the output shaft is one sensor. It can be measured by

  Hereinafter, the operation of the cycloid reducer 1 as a reducer will be described.

  FIG. 5 is a conceptual diagram relating to the operation of the cycloid reducer 1. As shown in FIG. FIG. 5 conceptually illustrates each part of the cross-sectional view of FIG. 1 in order to show the operation of the cycloid reducer 1.

  In FIG. 5, the curved plate 21A is drawn as the cross sections 21Aa to 21Ad of the curved plate. That is, the cross sections 21Aa to 21Ad of the curved plate are integrated except in the plane shown. Similarly, the curved plate 21B is drawn as the cross sections 21Ba to 21Bd of the curved plate. In addition, the fixed housing 31 and parts supported by the fixed housing 31 are illustrated as a fixed housing portion 31G. Further, the rotation housing 51 and parts supported by the rotation housing 51 are illustrated as a rotation housing portion 51G.

  The fixed housing portion 31 </ b> G is fixed to the installation member SM (not shown) as indicated by hatching. The eccentric shaft 11 is connected to the motor and rotates to slide on the curved plates 21A and 21B. The range in which the curved plate 21 slides is limited by the fixed housing portion 31G (specifically, the fixed housing fastening bolt 32 and the fixed housing roller 33). The curvilinear plate 21 sliding in the limited range transmits the force to the rotary housing portion 51G (specifically, the rotary housing roller 52 and the rotary housing roller pin 53). The rotating housing portion 51G rotates based on the force. At this time, the rotary housing 51 decelerates and rotates with respect to the rotation of the eccentric shaft 11. That is, it functions as a reduction gear.

  The operation of the cycloid reduction gear 1 as the reduction gear has been described above.

  According to the present embodiment, the following effects can be obtained.

  The cycloid reduction gear 1 is not a structure in which the housing at the outermost periphery in the conventional reduction gear is fixed, that is, having a structure in which the fixed housing 31 is fixed to the installation member SM, not the rotating housing 51 , Produces the following effects.

  The fixed housing 31 is fixed to the installation member SM. Therefore, since the fixed housing fastening bolt 32, the fixed housing roller 33, the hollow shaft 34, the sensor 35 and the sensor cable 36 are fixed directly or indirectly to the fixed housing 31, they are similarly fixed to the installation member SM. It is done. The cycloid reducer 1 can be provided with the hollow shaft 34 which does not move in synchronization with the rotation by providing the fixed housing 31 inside the rotary housing 51.

  Since the hollow shaft 34 has a hollow structure, the sensor cable 36 can be disposed in the hollow. Thereby, the sensor cable 36 can connect the sensor 35 with a circuit or the like installed on the installation member SM side. Furthermore, the hollow shaft 34 can protect the sensor cable 36 passing therethrough from the friction due to the sliding of the curvilinear plate and the grease lubricating the parts of the cycloid reducer 1.

  In other words, by providing the fixed housing 31 inside the rotary housing 51, the hollow shaft 34 fixed to the installation member SM can be provided, so the cycloid reducer 1 has the sensor 35 inside. Can. Thus, the sensor 35 can be built in, that is, there is no need to have a structure for installing the sensor outside. In the case of having a structure for installing the sensor outside, the structure becomes complicated, the manufacturing cost increases, and the reduction gear becomes large. That is, since the fixed housing 31 is provided, the cycloid reducer 1 can be provided with the sensor 35 while maintaining the simple structure and the inexpensive manufacturing cost.

  In the above embodiment, the cycloid reducer 1 is provided with the hollow shaft 34 on the same circumference of the fixed housing fastening bolt 32 and the fixed housing roller 33. That is, the hollow shaft 34 is provided at a position where the fixed housing fastening bolt 32 and the fixed housing roller 33 are replaced. When the fixed housing fastening bolt 32 and the fixed housing roller 33 are arranged in the replaced position, the hollow shaft 34 can be thinner than the fixed housing roller 33. As a result, the hollow shaft 34 can reduce the resistance without touching the curved plate 21, and can prevent the curved plate 21 and the hollow shaft 34 from being worn out.

  In the above-mentioned embodiment, although cycloid reduction gear 1 had two bearings 41A and bearings 41B as bearing 41, bearings 41 are not restricted to two. That is, any number of bearings 41 can be used.

  The effects of the cycloid reducer 1 have been described above.

  As mentioned above, although one embodiment of the present invention was described, the present invention is not limited to the above-mentioned embodiment, and a modification, improvement, etc. in the range which can achieve the object of the present invention are included in the present invention It is.

  For example, in the above-mentioned embodiment, although it was supposed that it has two pairs of curve boards 21A and 21B as curve board 21, it is not limited in particular in this. That is, the curved plate 21 is slid by the eccentric shaft 11, the range of sliding is limited by the fixed housing fastening bolt and the fixed housing roller 33, and it is sufficient if the rotation housing described later can be rotated. That is, for example, the number of curved plates 21 is not limited to two. Also, for example, the shape of the curve is not limited to the cycloid curve, and may be another trochoid curve or the like which is not a cycloid curve. That is, the cycloid reducer 1 may be an internal planetary gear reducer using a trochoid tooth profile. When an internal planetary gear reduction mechanism using a trochoid gear is employed, the reduction gear can have characteristics of high impact resistance, high efficiency, and low backlash.

  Furthermore, although the cycloid reducer 1 is a cycloid reducer which is one of the internal planetary gear reducers using a trochoid tooth profile, it is not particularly limited thereto. That is, for example, the speed reducer may be provided with a plurality of planetary gears (for example, planetary gears) without the curved plate 21. That is, the reduction gear may be any reduction gear having an output shaft decelerated with respect to an input shaft that rotates by receiving a force of a motor or the like.

  Further, for example, in the above-described embodiment, the eccentric shaft 11 is connected to a motor or the like, rotates about the axis AZ, and has an eccentric structure for sliding the curved plate 21. It is not limited. That is, for example, the eccentric shaft 11 may be directly connected to the shaft of the motor, or may be connected to the shaft of the motor via a reduction mechanism (for example, a reduction mechanism using a spur gear or a belt). That is, it is sufficient if the eccentric shaft 11 rotates and can slide on the curved plate 21.

  Furthermore, for example, in the reduction gear having the plurality of planetary gears described above, that is, the reduction gear without the curved plate 21, it is not necessary to slide the curved plate 21, and a shaft having no eccentric structure may be used. . That is, for example, it is sufficient to be a shaft that is provided in connection with the shaft to which the output of the motor is output, and the output is input and rotated.

  Further, for example, in the above-described embodiment, the eccentric shaft bearing 12 is a bearing that reduces the resistance of the eccentric shaft 11 and the curvilinear plate 21 and supports the both, but is not particularly limited thereto. That is, it is sufficient for the eccentric shaft bearing 12 to reduce the resistance between the eccentric shaft 11 and the curved plate 21. That is, for example, although the eccentric shaft bearing 12 is a rolling contact as a roller bearing in the present embodiment, it may be a rolling contact as a ball bearing or a sliding bearing using a roller. Further, it is needless to say that the eccentric shaft 11 and the curved plate 21 can be in sliding contact without providing the eccentric shaft bearing 12.

  Further, for example, in the above-described embodiment, the fixed housing 31 is a fixed housing installed on a predetermined installation member SM and not rotated, and each of other parts including the sensor 35 is attached. Especially, it is not limited to this. That is, the fixed housing 31 may be fixed to a predetermined installation member SM and may be any fixed housing that supports the shaft.

  Further, for example, in the above-described embodiment, the fixed housing fastening bolt 32 is a bolt for fastening the fixed housing 31 divided into two or more, and is also used for fixing the fixed housing 31 to the installation member SM However, it is not particularly limited thereto. That is, as long as the fixed housing 31 is not divided into two or more parts, the fixed housing fastening bolt 32 may have a pin-like structure so that the range of movement of the curved plate 21 can be limited. Also, for example, although the fixed housing fastening bolt 32 was also used to fix the fixed housing 31 to the installation member SM, the fixed housing 31 may be fixed by other methods.

  Further, for example, in the above embodiment, the fixed housing roller 33 is attached to the fixed housing 31 via the fixed housing fastening bolt 32 to reduce the resistance between the curvilinear plate 21 and the fixed housing fastening bolt 32. It is not limited to. That is, it is sufficient if the fixed housing roller 33 can reduce the resistance between the curved plate 21 and the fixed housing 31. That is, although the fixed housing roller 33 is a sliding contact as a roller in this embodiment, it may be a rolling contact as a bearing, and further, a fixed housing fastening bolt 32 may be a sliding contact as a simple pin without using the fixed housing roller 33. Good.

  Further, for example, in the above-described embodiment, the hollow shaft 34 has a hollow structure, so that the sensor cable 36 can be disposed in the hollow, but it may be a hole having an open hole. It is enough. That is, the hollow shaft 34 does not have to have a shaft structure, and it is sufficient if it can pass a sensor cable 36 described later. Also, for example, in the embodiment described above, one hollow shaft 34 is provided, but the number of hollow shafts 34 (i.e. holes) is not limited to one. That is, for example, the cycloid reduction gear 1 may have a plurality of holes as needed. Furthermore, the purpose of using the hollow shaft 34 is not limited to the provision of the sensor cable 36. That is, for example, it may be used to pierce lubricating oil, or may be used to inspect the inside.

  Further, for example, in the above-described embodiment, the hollow shaft 34 is provided on substantially the same circumference as the fixed housing fastening bolt 32 and the fixed housing roller 33, but it is a hole that does not move with respect to the predetermined installation member SM. It is sufficient if it is a certain hole. That is, for example, when the hollow shaft 34 has a shape thinner than the fixed housing roller 33, the hollow shaft 34 may be provided not on the same circumference as the fixed housing roller 33 but on substantially the same circumference as the fixed housing roller 33. .

  Further, for example, in the above-described embodiment, the hollow shaft 34 is thinner than the fixed housing roller 33, but the present invention is not limited to this. That is, for example, the hollow shaft 34 may have substantially the same thickness as the fixed housing fastening bolt, and the fixed housing roller 33 may be provided between the hollow shaft 34 and the curved plate 21.

For example, as described above, the hollow shaft 34 may be a hole having a hole, and the hole may be a hole (not shown) provided on the eccentric shaft 11 having a hollow structure.
However, providing the hollow shaft of the eccentric shaft 11, which requires rotational rigidity to be input to the cycloid reduction gear 1, that is, constant rigidity, is more costly. Therefore, it is preferable to provide the hole not on the eccentric shaft 11 but on the outer periphery.

  Further, for example, in the above-described embodiment, the sensor 35 is a sensor fixed to the fixed housing 31 for measuring the absolute angle of the output shaft, and it is possible to employ, for example, a magnetic absolute encoder. However, it is not particularly limited thereto. That is, any sensor provided on the fixed housing is sufficient. That is, for example, not only the sensor that measures the absolute angle, but also a sensor that measures the displacement of the output may be used. Furthermore, not limited to the angle sensor, any sensor such as a temperature sensor may be used.

  Further, for example, in the above-described embodiment, the bearing 41 has two bearings 41A and 41B, but the invention is not particularly limited thereto. That is, the number of bearings 41 may be any number, and it is sufficient if the bearings 41 can reduce and support the resistance between the fixed housing 31 and the rotating housing 51. That is, for example, by changing the structure, only one bearing 41 can be provided.

However, if only one bearing 41 is provided, the load for bending the output shaft (rotational housing in the example of this embodiment) with respect to the cycloid reduction gear 1, for example, so-called moment load, can be handled. It is preferable to adopt a strong bearing. The load resistant bearing is, for example, a cross roller bearing.
On the other hand, cross roller bearings are expensive compared to ball bearings and the like. Therefore, for example, in order to reduce the cost of the bearings, the cycloid reducer 1 is preferably configured to have two or more bearings 41.

  Further, for example, in the above-described embodiment, the rotary housing 51 is a housing that is an output shaft of the cycloid reduction gear 1 that rotates based on the sliding of the curved plate 21, and the sensor magnet 55 and the like are attached. However, it is not particularly limited thereto. That is, it is sufficient if it is a rotating housing provided on the outer periphery of the fixed housing and rotated based on the rotation of the shaft.

  Further, for example, in the above-described embodiment, the rotating housing roller 52 is a roller attached to the rotating housing 51 via the rotating housing roller pin 53, but the invention is not particularly limited thereto. That is, it is sufficient for the rotary housing roller 52 to reduce the resistance between the curved plate 21 and the rotary housing roller pin 53. That is, for example, although the rotary housing roller 52 is a sliding contact as a roller in this embodiment, it may be a rolling contact as a bearing, and further, the rotary housing roller pin 53 may be simply used as the rotary housing 51 without using the fixed housing roller 33. It may be a sliding contact as a pin for transmitting force.

  Further, for example, in the above-described embodiment, the sensor magnet 55 is a magnet for a sensor that is fixed to the rotating housing 51 and corresponds to the sensor 35. For example, a magnet corresponding to a magnetic absolute encoder is adopted. However, any sensor magnet corresponding to the sensor provided on the rotary housing is sufficient.

  The sensor magnet 55 is a sensor magnet fixed to the rotary housing 51 and corresponding to the sensor 35. For example, a magnet corresponding to a magnetic absolute encoder can be employed. A magnetic absolute encoder, which is a sensor 35 attached to the fixed housing 31, may measure the angle of the rotating housing by measuring the magnetic force of the sensor magnet 55. However, the sensor 35 is not limited to this. That is, for example, not only the sensor that measures the absolute angle but also a sensor that measures the displacement of the output may be used. Furthermore, any sensor such as a temperature sensor may be used. Also, the sensor magnet 55 is required when the sensor 35 requires a corresponding magnet, and it goes without saying that the sensor magnet 55 is unnecessary when the sensor 35 does not require a magnet.

  Further, for example, in the above-described embodiment, the sensor 35 is fixed to the fixed housing 31 and the sensor magnet 55 is fixed to the rotary housing 51, but the invention is not particularly limited thereto. That is, for example, the sensor 35 and the sensor magnet 55 may be fixed at opposite positions. That is, in the case where the sensor is installed in the reduction gear, it is preferable to arrange the control circuit including the motor, the sensor 35 and the like together on the installation member SM, but it is not limited thereto. For example, the motor and the control circuit may be fixed to the installation member SM, and the sensor 35 and the circuit may be fixed to the output shaft side.

  The motor in the present specification is not limited to an electric motor that generates rotational motion by electricity, but refers to one that can move an object. That is, for example, it may be a pressure motor that generates rotational motion by pressure or flow of fluid. Furthermore, it is sufficient if the object is given motion or exercised. That is, for example, not only rotational movement but also linear movement may be generated. That is, as long as the eccentric shaft 11 can be rotated, it may be anything.

In other words, the reduction gear to which the present invention is applied can take various forms of the following configuration.
That is, the reduction gear (for example, the cycloid reduction gear 1 of FIG. 1 etc.) to which the present invention is applied is
A shaft (for example, the eccentric shaft 11 in FIG. 1 or the like) which is provided in connection with a shaft to which the output of the motor is output and which receives and rotates the output;
A fixed housing (for example, a fixed housing 31 of FIG. 1 or the like) which is fixed to a predetermined installation member (for example, the installation member SM of FIG. 1) and supports the shaft;
A rotation housing (for example, the rotation housing 51 of FIG. 1 and the like) provided on the outer periphery of the fixed housing and rotated based on the rotation of the shaft;
If it is a speed reducer equipped with

  Thus, for example, when an angle sensor or the like is provided, a simple structure can be employed instead of the complicated structure required when the angle sensor is provided in the conventional structure. Furthermore, if, for example, a plurality of bearings are provided, instead of the relatively expensive load-bearing bearings employed when only one bearing is provided in the conventional structure, adopt bearings such as inexpensive ball bearings etc. Can. That is, since the reduction gear can maintain a simple structure, it is compact and can maintain inexpensive manufacturing costs.

Furthermore, a sensor (for example, the sensor 35 in FIG. 1 etc.) provided in the fixed housing,
Can further be provided.

  Thus, for example, the sensor provided on the fixed housing is provided inside the rotating shaft provided on the outer periphery of the fixed housing. That is, the reduction gear can incorporate a sensor. That is, the reduction gear can incorporate the sensor while maintaining the simple structure and the small size and the inexpensive manufacturing cost.

Furthermore, a sensor magnet (for example, the sensor magnet 55 in FIG. 1 etc.) corresponding to the sensor provided in the rotary housing;
Can further be provided.

  Thus, for example, in the case where the sensor is a magnetic angle sensor, a sensor magnet corresponding to the magnetic angle sensor is provided. That is, the reduction gear can measure an angle by providing the sensor magnet inside the rotating housing. Thereby, the reduction gear can incorporate the sensor and the sensor magnet. That is, the reduction gear has a simple structure and a small size, and can incorporate a sensor and a sensor magnet while maintaining an inexpensive manufacturing cost.

In addition, bored holes (for example the hollow shaft of FIG. 1),
And further
A line of the sensor may be provided through the hole.

  Thereby, for example, if the hole is provided in the fixed housing and the sensor is a wired sensor, the sensor line can be disposed in the hole. In other words, the sensor wire can be drawn out of the fixed housing by being disposed in the hole. That is, the sensor line can be pulled out of the non-rotating installation member. This makes it possible to pull out the lines of the sensor without using complicated arrangements, such as, for example, slip rings. That is, the reduction gear can incorporate a wired sensor while maintaining a simple structure and a small size at a low cost.

  Furthermore, the hole may be provided on the outer periphery of the shaft and be fixed to the fixed housing.

  Thus, for example, the hole can be provided at the outer peripheral portion of the rotating shaft receiving the output of the motor, that is, the position fixed to the predetermined installation member and not moving. By fixing the hole to the fixed housing, the sensor line can be pulled out of the predetermined installation member through the hole. That is, the sensor line can be connected to an electronic circuit or the like for controlling or measuring the sensor provided on a predetermined installation member. In addition, since the reduction gear is input, that is, located on the outer periphery of the rotating shaft, the hole can be provided at a position not interfering with the rotation. In this case, relatively inexpensive processing can be performed, for example, as compared to the case where a hole is provided in the rotating portion that requires rigidity. That is, the speed reducer has a simple structure and a small size, and can maintain and control a wired sensor while maintaining an inexpensive manufacturing cost.

  Furthermore, the hole may be provided in the shaft and be provided as the hollow shaft.

  Thus, for example, a hole can be provided in the shaft that receives and rotates the output of the motor. That is, the sensor line on the side of the predetermined mounting member can be pulled out through the hollow shaft to the side where the predetermined mounting member is located. That is, the sensor line can be connected to an electronic circuit or the like for controlling or measuring the sensor provided on the predetermined installation member side. That is, the speed reducer has a simple structure and a small size, and can maintain and control a wired sensor while maintaining an inexpensive manufacturing cost.

Furthermore, the sensor is a magnetic absolute encoder,
The sensor magnet may be a magnetic absolute encoder magnet.

  Thus, for example, a set of magnetic absolute encoders can be adopted as a sensor for measuring an angle and a magnet corresponding to the sensor. That is, it becomes possible to measure the absolute angle of the output shaft by one magnetic sensor. Furthermore, in this case, for example, in order to measure the absolute angle of the output shaft, the number of rotations is measured by providing an incremental encoder on the shaft of the motor that is the input, and further by providing a photo interrupter on the output shaft side. In contrast to the case of measuring the origin of H, the processing can be relatively inexpensive. That is, the reduction gear can measure the absolute angle of the output shaft while maintaining the simple structure and the small size and the inexpensive manufacturing cost.

  Furthermore, the rotating housing can be supported by the fixed housing via a plurality of bearings.

  As a result, for example, an inexpensive ball bearing or the like can be adopted as a bearing instead of a relatively expensive load-resistant bearing adopted when only one bearing is provided in the conventional structure. That is, the reduction gear has a simple structure and a small size, and can maintain inexpensive manufacturing costs.

  DESCRIPTION OF SYMBOLS 1 ··· Cycloid reduction gear, 11 · · · Eccentric shaft, 12 · · · Eccentric shaft bearing, 21 · · · Curved plate 21, 31 · · · Fixed housing, 32 · · · Fixed housing fastening bolt, 33 · · · · Fixed housing roller, 34: Hollow shaft, 35: Sensor, 36: Sensor cable, 41: Bearing, 51: Rotating housing, 52: Rotating housing roller, 53: Rotating housing roller pin, 54: Rotating housing fastening bolt, 55: Sensor magnet

Claims (8)

A shaft provided in connection with a shaft to which the output of the motor is to be received, the shaft receiving and rotating the output;
A fixed housing fixed to a predetermined mounting member and supporting the shaft;
A rotating housing provided on an outer periphery of the fixed housing and rotating based on rotation of the shaft;
Reducer equipped with A sensor provided in the fixed housing,
The speed reducer according to claim 1, further comprising: A sensor magnet corresponding to the sensor provided on the rotary housing,
The speed reducer according to claim 2, further comprising: Holes with holes,
And further
The sensor line is provided through the hole,
The speed reducer according to claim 3. The hole is provided on an outer periphery of the shaft and fixed to the fixed housing.
The speed reducer according to claim 4. The hole is provided in the shaft and is provided as the hollow shaft.
The speed reducer according to claim 4. The sensor is a magnetic absolute encoder,
The sensor magnet is a magnet for a magnetic absolute encoder.
The speed reducer according to any one of claims 3 to 6. The rotating housing is supported by the fixed housing via a plurality of bearings.
The speed reducer according to any one of claims 1 to 6.

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