1376468 (1) 九、發明說明 【發明所屬之技術領域】 本發明是關於齒輪傳動馬達及機器人用齒輪傳動馬達 【先前技術】 機器人的關節驅動等用途中，被廣泛利用的齒輪傳動 馬達是構成爲馬達和減速機連結，用減速機對馬達的旋轉 加以減速，藉此以適宜的扭力及旋轉速度進行輸出。 齒輪傳動馬達的技術領域中，齒輪傳動馬達的用途並 不限於機器人的關節驅動用，若能獲得相同的輸出，則強 力要求外形能夠儘量小。於專利文獻1中，從上述觀點出 發提案有可縮小減速機殼寬度方向的擴大，構成整體的寬 度能夠儘量小的齒輪傳動馬達。 該齒輪傳動馬達是構成於圍繞著馬達輸出軸和減速機 傳達齒輪的外殼彼此成平行的相向面形成傳達齒輪之軸兩 端軸支用的軸支部，接著貫穿和傳達齒輪的軸成平行的連 結面形成馬達輸出軸插入用的插入口，於該連結面固定馬 達的輸出側端面。傳達齒輪是以圓錐齒輪和平行軸齒輪所 構成。 〔專利文獻〗〕日本特開2002-327805號公報 【發明內容】 〔發明欲解決之課題〕 -4 · (5) (5)1376468 結形成，用途爲產業用機器人（省略圖示）的關節驅動用 «如第2圖所示，馬達Ml的馬達軸12，其前端部是直接 成爲減速機G1的輸入軸14。馬達Ml的機殼本體51，並 不具有減速機側封閉用構件（馬達輸出側蓋），減速機輸 入側蓋72 (下述）是兼具有該馬達Μ 1的輸出側蓋功能。 於減速機輸入側蓋72的半徑方向中央部組入有軸承18, 該軸承18是支撐著馬達軸12 (輸入軸14)成旋轉自如。 該實施例中，該減速機輸入側蓋也兼具有減速機凸緣的功 能。 輸入軸14是透過楔體22及螺栓24磨擦連結著三連 式偏心體20。於偏心體20的外圍，分別透過軸承28( 28A〜28C)安裝有3片外齒齒輪26 (26A〜26C)。各外 齒齒輪26是和（單一的）內齒齒輪30分別以圓周方向 120度位相差形成內接咬合著。內齒齒輪30具有稍微（1 〜4齒程度）少於外齒齒輪26的齒數，其是和減速機G1 的機殼本體70 (下述）形成一體。 於各外齒齒輪26的軸方向兩側，配置有支撐塊34及 輸出緩衝器36。支撐塊34及輸出構件36是分別透過軸 承38、40旋轉自如地支撐在機殼本體70，透過從輸出構 件36突出形成的內插銷42，及螺栓44連結成一體。 內插銷42是透過貫通著外齒齒輪26，遊嵌在該內插 銷42的內輥43構成爲吸收外齒齒輪26的擺動成份的同 時只將自轉成份傳達至支撐塊34及輸出構件36。 另外’於第3圖中，圖號46’是表示輸出構件36和 -8- (6) (6)1376468 對象機械的被驅動旋轉體（未圖示）連結用的螺栓孔；圖 號48，是表示在分解馬達Ml和減速機G1時，使用未圖 示工具將兩者Ml' G1拉開時使用的脫離孔；圖號49, 是表示在進行內插銷42和支撐塊34的組裝時可使該內插 銷42和支撐塊34的圓周方向位置暫時定位用的定位孔。 於此，參照第1圖及第3圖，針對馬達Ml和減速機 G1的連結形態加以詳細說明。第1圖是馬達Μ1整個軸 承1 8拆下後的狀態下，從馬達側看減速機G1時的圖。 因此，於第1圖的最內圍部份，可分別看到減速機輸入側 蓋72的軸承18的收容內圍壁75及該軸承18的抵接段部 ΊΊ。 馬達Ml，具備有機殼本體（馬達機殼本體）51，如 上述，於該實施形態不具有輸出側蓋。即，構成爲減速機 輸入側蓋72兼爲馬達Ml的機殼凸緣。馬達機殼本體51 ，其減速機側端面的形狀爲正方形（多角形）54，如第1 圖所示，於減速機輸入側蓋72 ’形成有減速機側端面的 正方形54可嵌合的凹部（54 )。另’於以下的說明中， 爲了方便說明該第1圖的凹部（54)是以馬達機殼本體 51的減速機側端面的正方形5 4來進行說明。 於上述減速機輸入側蓋72及減速機側端面，形成有 將馬達Ml特定在減速機輸入側蓋72半徑方向位置上用 的直徑爲dl的套管50。 馬達機殼本體5 1和減速機輸入側蓋7 2 ’是透過馬達 連結孔80形成一體。此外’減速機G1具備有機殻本體 -9- (9) (9)1376468 另外，於該實施形態，馬達機殼本體51的正方形5 4 各邊54S1〜54 S4的中央部附近，利用進入至減速機殼本 體70的內側，如第1圖及第2圖所示，於該位置形成減 速機G1的給油孔81。習知，給油孔是從減速機殼本體 70的外圍貫通該殼本體70半徑方向形成。因此，有時候 減速機殼本體7〇內的減速機構等會造成妨礙導致潤滑劑 不進到真正要給油的部份。於該實施形態，因給油孔8 1 是從減速機輸入側蓋72貫通該減速機輸入側蓋72軸方向 形成，所以即使是在如此狀況下有時還是能夠讓潤滑劑更 迅速並且有效到達需求部份。尤其是給油孔本來就不必非 形成在該位置不可，也可如習知般從減速機殼本體70的 外圍貫通該殼本體70半徑方向形成。此外，也可於兩方 的位置各別形成有給油孔，構成可從較有利的方向給油。 其次，對該齒輪傳動馬達GM1的作用加以說明。 參照第2圖，馬達軸12是兼爲減速機G1的輸入軸 M，該馬達軸12的旋轉是直接成爲輸入軸14的旋轉，使 偏心體20形成旋轉。其結果，使安裝在該偏心體20外圍 的外齒齒輪26開始擺動旋轉。 外齒齒輪26和內齒齒輪30僅有些許的齒數差，所以 偏心體20的旋轉使外齒齒輪26成1次擺動時其和內齒齒 輪30的咬合位置就會旋轉一圈，外齒齒輪26對成爲固定 狀態的內齒齒輪30是以其和該內齒齒輪30的齒數差形成 錯開（自轉）。該外齒齒輪26的活動是由貫通在該外齒 齒輪26的內插銷42和內輥43的遊嵌吸收其擺動成份， -12- (11) 1376468 側蓋7 2的半徑方向內側，以齒輪傳動馬達整體 由減速機輸入側蓋72的正方形74本身構成爲外 的形狀（外觀最外層的形狀不會成爲星形）。該 層的形狀爲正方形的構成，就意味著例如當該齒 達GM1應用在產業用機器人的關節（省略圖示 ，對於構成上要確保有更寬廣的該關節部份活動 有很大的幫助。這是因爲產業用機器人的減速機 省略圖示），大多數爲四角形，減速機輸入側蓋 狀是相同的四角形，再加上，減速機殼本體70 正方形74的各邊74 S1〜74 S4，所以不會損及機 的自由度（活動範圍）。藉由使用本實施形態相 傳動馬達GM1，能夠實現齒輪傳動馬達整體的 及應用在產業用機器人時的活動範圍廣域化。 另，於上述實施形態中，馬達Μ1的機殼本 無輸出側蓋的正方形54，減速機輸入側蓋72兼 出側蓋。但是，於本發明，只要馬達的減速機側 角形即可，對於馬達機殼的具體構成並不加以限 馬達的機殼，可以是無輸出側蓋且機殼本體本身 ’此外，也可以是具有輸出側蓋且該輸出側蓋本 角形的凸緣。 此外，上述實施形態是圖示著減速機凸緣爲 速機的輸入側蓋，但減速機凸緣也可設置在減速 本體。於該狀況時，有沒有減速機的輸入側蓋都 另外，減速機凸緣可和機殼本體成爲一體也可成 來看，是 觀最外層 外觀最外 輪傳動馬 )驅動時 範圍時會 安裝座（ 72的形 是不突出 器人活動 關的齒輪 小型化， 體51爲 爲馬達輸 端面爲多 制。即， 爲多角形 身具有多 設置在減 機的機殻 沒關係， 爲個別體 -14 -1376468 (1) EMBODIMENT OF THE INVENTION [Technical Field] The present invention relates to a geared motor and a geared motor for a robot. [Prior Art] In a joint drive of a robot, etc., a widely used geared motor is configured as The motor and the speed reducer are coupled to each other, and the rotation of the motor is decelerated by the speed reducer, thereby outputting at an appropriate torque and rotational speed. In the technical field of geared motors, the use of a geared motor is not limited to the joint drive of a robot. If the same output can be obtained, the strength is required to be as small as possible. According to Patent Document 1, from the above viewpoint, it is proposed to reduce the width of the reduction gear casing in the width direction, and to constitute a gear transmission motor whose overall width can be as small as possible. The geared motor is formed on a facing surface parallel to the outer casing of the motor output shaft and the transmission gear of the speed reducer, and forms a shaft branch for supporting the shaft ends of the shaft of the gear, and then penetrates and transmits the shaft of the gear in parallel. The surface forms an insertion port for inserting the motor output shaft, and the output side end surface of the motor is fixed to the connection surface. The transmission gear is composed of a bevel gear and a parallel shaft gear. [Patent Document] JP-A-2002-327805 [Summary of the Invention] [Problems to be Solved by the Invention] -4 · (5) (5) 1376468 Knot formation, joint use for industrial robots (not shown) As shown in Fig. 2, the motor shaft 12 of the motor M1 has a front end portion that is an input shaft 14 that directly becomes the speed reducer G1. The casing body 51 of the motor M1 does not have a reducer side closing member (motor output side cover), and the reduction gear input side cover 72 (described later) functions as an output side cover having the motor Μ 1. A bearing 18 is incorporated in a central portion in the radial direction of the reduction input side cover 72. The bearing 18 is rotatably supported by the motor shaft 12 (input shaft 14). In this embodiment, the reducer input side cover also functions as a reducer flange. The input shaft 14 is frictionally coupled to the triple-connected eccentric body 20 via the wedge 22 and the bolt 24. Three externally toothed gears 26 (26A to 26C) are attached to the outer periphery of the eccentric body 20 through bearings 28 (28A to 28C). Each of the externally toothed gears 26 is inwardly engaged with the (single) internally toothed gear 30 by a difference of 120 degrees in the circumferential direction. The internal gear 30 has a slightly smaller number of teeth (1 to 4 teeth) than the external gear 26, and is integrally formed with the casing body 70 (described below) of the speed reducer G1. A support block 34 and an output buffer 36 are disposed on both sides of the external gear 26 in the axial direction. The support block 34 and the output member 36 are rotatably supported by the casing body 70 through the bearings 38 and 40, and are inserted through the inner pin 42 formed by the output member 36, and the bolts 44 are integrally coupled. The inner pin 42 passes through the externally toothed gear 26, and the inner roller 43 that is fitted to the inner pin 42 is configured to absorb the swing component of the externally toothed gear 26, and transmits only the self-rotating component to the support block 34 and the output member 36. Further, in Fig. 3, reference numeral 46' denotes a bolt hole for connecting the output member 36 and the driven rotating body (not shown) of the -8-(6) (6) 1376468 target machine; Fig. 48, It is a disengagement hole which is used when the motor M1 and the reduction gear G1 are disassembled, and the two M1' G1 are pulled apart by a tool (not shown). Fig. 49 shows that the inner pin 42 and the support block 34 are assembled. A positioning hole for temporarily positioning the inner pin 42 and the support block 34 in the circumferential direction. Here, the connection form of the motor M1 and the speed reducer G1 will be described in detail with reference to Figs. 1 and 3 . Fig. 1 is a view showing the state in which the reduction gear G1 is viewed from the motor side in a state where the entire bearing 1 8 of the motor cymbal 1 is removed. Therefore, in the innermost portion of Fig. 1, the inner peripheral wall 75 of the bearing 18 of the reducer input side cover 72 and the abutting portion of the bearing 18 can be seen. The motor M1 includes an organic casing main body (motor casing main body) 51. As described above, this embodiment does not have an output side cover. That is, the reduction gear input side cover 72 is also configured as the casing flange of the motor M1. The motor housing body 51 has a square (polygonal) shape on the side surface of the reducer side. As shown in FIG. 1, the recess 54 is formed in the square 54 of the reducer side cover 72'. (54). In the following description, the concave portion (54) of Fig. 1 will be described as a square portion 54 of the end surface of the motor casing main body 51 on the reduction gear side. On the reduction gear input side cover 72 and the reduction gear side end surface, a sleeve 50 having a diameter dl for specifying the motor M1 in the radial direction of the reduction gear input side cover 72 is formed. The motor housing body 51 and the reduction input side cover 7 2 ' are integrally formed through the motor coupling hole 80. Further, the reduction gear G1 includes the organic casing body -9-(9) (9) 1376468. In addition, in this embodiment, the vicinity of the center portion of each of the sides 54S1 to 54S4 of the square 5 4 of the motor casing body 51 is used to slow down. The inside of the casing main body 70 forms the oil supply hole 81 of the speed reducer G1 at this position as shown in Figs. 1 and 2 . Conventionally, the oil supply hole is formed from the outer periphery of the reduction case body 70 through the radial direction of the case body 70. Therefore, sometimes the reduction mechanism or the like in the reduction casing body 7〇 may cause the lubricant to not enter the portion where the oil is actually supplied. In this embodiment, since the oil supply hole 8 1 is formed in the axial direction from the reduction gear input side cover 72 through the reduction gear input side cover 72, the lubricant can be quickly and efficiently reached even in such a situation. Part. In particular, the oil supply hole is not necessarily formed at this position, and may be formed from the periphery of the reduction case body 70 through the outer diameter of the case body 70 in a radial direction as is conventional. Further, oil supply holes may be formed in each of the two positions to constitute oil supply from a more favorable direction. Next, the action of the geared motor GM1 will be described. Referring to Fig. 2, the motor shaft 12 is also an input shaft M of the speed reducer G1. The rotation of the motor shaft 12 directly causes the rotation of the input shaft 14, and the eccentric body 20 is rotated. As a result, the externally toothed gear 26 attached to the periphery of the eccentric body 20 starts to swing and rotate. The external gear 26 and the internal gear 30 have only a slight difference in the number of teeth, so that the rotation of the eccentric body 20 causes the external gear 26 to oscillate once, and the meshing position of the internal gear 30 rotates one turn, the external gear The pair of 26 internal gears 30 that are in a fixed state are staggered (rotated) by the difference in the number of teeth of the internal gear 30. The movement of the externally toothed gear 26 is absorbed by the inner pin 42 and the inner roller 43 of the externally toothed gear 26 to absorb the swinging component thereof, -12- (11) 1376468 side cover 7 2 in the radial direction inner side, with gear The transmission motor as a whole is formed into an outer shape by the square 74 of the reducer input side cover 72 itself (the outermost shape of the appearance does not become a star shape). The shape of the layer is a square configuration, which means that, for example, when the tooth GM1 is applied to the joint of the industrial robot (not shown, it is greatly helpful to ensure a wider movement of the joint portion in the configuration. This is because the reduction gear of the industrial robot is omitted (illustration), most of them are quadrangular, and the input side cover of the reducer is the same quadrangular shape, and the sides 74 S1 to 74 S4 of the square 74 of the reduction case body 70 are added. Therefore, it does not damage the freedom of the machine (the range of motion). By using the phase transmission motor GM1 of the present embodiment, it is possible to widen the range of motion of the entire gear transmission motor and the industrial robot. Further, in the above embodiment, the housing of the motor unit 1 has no square 54 for the output side cover, and the reduction input side cover 72 also serves as the side cover. However, in the present invention, as long as the reducer side angle of the motor is sufficient, the specific structure of the motor casing is not limited to the casing of the motor, and may be an output side cover and the casing body itself 'in addition, The side cover is output and the output side covers the angular flange. Further, the above embodiment is an input side cover in which the reducer flange is a speed reducer, but the reducer flange may be provided in the speed reduction body. In this situation, there is no input side cover of the reducer. In addition, the flange of the reducer can be integrated with the body of the casing, and it can be seen from the perspective of the outermost outer wheel drive horse. (The shape of the 72 is a miniaturization of the gear that does not protrude the person's activity, and the body 51 is a multi-system for the end face of the motor. That is, it is arbitrarily for the polygonal body to have a casing set in the reduction machine, for the individual body-14 -