WO2020218505A1 - Speed reducer and driving device - Google Patents

Speed reducer and driving device Download PDF

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Publication number
WO2020218505A1
WO2020218505A1 PCT/JP2020/017685 JP2020017685W WO2020218505A1 WO 2020218505 A1 WO2020218505 A1 WO 2020218505A1 JP 2020017685 W JP2020017685 W JP 2020017685W WO 2020218505 A1 WO2020218505 A1 WO 2020218505A1
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WO
WIPO (PCT)
Prior art keywords
output shaft
bearing
speed reducer
fixing
housing
Prior art date
Application number
PCT/JP2020/017685
Other languages
French (fr)
Japanese (ja)
Inventor
角　友紀
央樹 根岸
Original Assignee
ミネベアミツミ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ミネベアミツミ株式会社 filed Critical ミネベアミツミ株式会社
Publication of WO2020218505A1 publication Critical patent/WO2020218505A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing
    • F16C35/07—Fixing them on the shaft or housing with interposition of an element
    • F16C35/077—Fixing them on the shaft or housing with interposition of an element between housing and outer race ring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears

Definitions

  • the present invention relates to a speed reducer and a drive device.
  • a speed reducer has been used to reduce the rotational speed of the output shaft of a drive source such as a motor.
  • a speed reducer for example, there is a planetary gear mechanism using a planetary gear.
  • the power of the output shaft of the drive source is transmitted to the planetary gears that mesh with the internal gears formed in the housing, and the planetary gears are rotatably supported on the output shaft of the planetary gear mechanism. Power is transmitted from the planetary gears to rotate the output shaft of this planetary gear mechanism. Due to the transmission of power via the planetary gears, the rotation speed of the output shaft of the planetary gear mechanism is reduced with respect to the rotation speed of the output shaft of the drive source.
  • the output shaft of the planetary gear mechanism is fixed to the housing via a bearing (see, for example, Patent Document 1).
  • a speed reducer of a drive device used in a robot is required to have high assembly accuracy of the drive device in order to realize high-precision drive control.
  • the conventional speed reducer has a complicated structure, and the fixing structure of the bearing supporting the output shaft of the planetary gear mechanism to the housing is also complicated.
  • conventional speed reducers have been required to have a support structure that can simplify the structure for fixing the bearing that supports the output shaft to the housing.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a speed reducer and a drive device having a simple structure in which a bearing supporting an output shaft is fixed to a housing.
  • the speed reducer according to the present invention is attached to a housing having an opening which is an annular portion around an axis forming the opening, an output shaft, and the opening of the housing.
  • a bearing having an inner ring and an outer ring that rotatably support the output shaft and an outer fixing portion for fixing the bearing in the housing are provided, and the outer fixing portion is formed on the inner peripheral surface of the opening.
  • outer fixed body which is an annular member having a portion, and the outer receiving portion is formed inside the outer engagement portion in the housing, and the outer ring of the bearing is formed in the axial direction.
  • the outer fixed body is formed so as to be in contact with the outer ring of the bearing in the axial direction when the outer engaging portion is engaged with the housing engaging portion. It is characterized by being.
  • the outer engagement portion is a female screw formed around the axis, and the outer engagement portion is a male screw that can be screwed into the female screw.
  • the speed reducer further includes an inner fixing portion for fixing the bearing to the output shaft, and the inner fixing portion is an annular inner covering formed on the outer peripheral surface of the output shaft.
  • An annular member having a joint portion, an inner bearing portion formed on the output shaft that protrudes to the outer peripheral side, and an annular inner engaging portion formed to be engageable with the inner engaged portion. It has an inner fixed body, the inner receiving portion is formed so as to be in contact with the inner ring of the bearing in the axial direction, and the inner engaging portion of the inner fixed body is the inner engaging portion. When engaged with the joint portion, it is formed so as to be in contact with the inner ring of the bearing in the axial direction.
  • the output shaft has a base portion on which the internal receiving portion is formed and a protruding shaft portion which is a portion extending from the base portion along the axis of the internal receiving portion.
  • the base portion has an insertion portion that is a portion that can be inserted into the inner ring on the protruding shaft portion side of the inner receiving portion, and the inner engaged portion is the outer circumference of the protruding shaft portion. It is formed on the surface.
  • the speed reducer further includes an inner fixing portion for fixing the bearing to the output shaft, and the inner fixing portion is a portion formed on the output shaft and projecting to the outer peripheral side. It has an inner receiving portion and an inner fixing body which is a disk-shaped member formed so as to be fixed to the output shaft, and the inner receiving portion is formed so as to be in contact with the inner ring of the bearing in the axial direction.
  • the output shaft has an insertion portion that is a portion that can be inserted into the inner ring extending along the axis of the inner bearing portion, and the inner fixed body is attached to the insertion portion of the output shaft. It is formed so that it can be fixed, and when it is fixed to the insertion portion, it has an end portion on the outer peripheral side formed so as to be in contact with the inner ring of the bearing in the axial direction.
  • the speed reducer further includes a planetary gear mechanism, wherein the planetary gear mechanism meshes with an internal gear, a sun gear, and the internal gear and the sun gear. It has a planetary gear, and the at least one planetary gear is rotatably supported by the output shaft.
  • the drive device is characterized by including any of the speed reducers according to the present invention described above and a motor connected to the speed reducer so as to be able to transmit power. ..
  • the structure for fixing the bearing supporting the output shaft to the housing can be simplified.
  • FIG. 1 It is a perspective view which shows the schematic structure of the drive device which concerns on 1st Embodiment of this invention. It is sectional drawing in the cross section along the axis of the speed reducer which concerns on 1st Embodiment of this invention. It is an exploded perspective view of the housing in the speed reducer which concerns on 1st Embodiment of this invention. It is sectional drawing in the cross section along the axis of the shaft holding part of a housing. It is sectional drawing in the cross section along the axis of the shaft support part and the internal tooth part of the housing in the state of being connected to each other. It is a perspective view which looked at the output shaft in the speed reducer which concerns on 1st Embodiment of this invention from the outside.
  • FIG. 5 is a cross-sectional view taken along the axis of the speed reducer according to the second embodiment of the present invention. It is an exploded perspective view of the housing in the speed reducer which concerns on 2nd Embodiment of this invention. It is sectional drawing in the cross section along the axis of the shaft support part of a housing.
  • FIG. 1 is a perspective view showing a schematic configuration of a drive device 1 according to a first embodiment of the present invention.
  • the drive device 1 includes a speed reducer 2 and a motor 3 according to the first embodiment of the present invention.
  • FIG. 2 is a cross-sectional view taken along the axis x of the speed reducer 2 according to the first embodiment of the present invention.
  • the output side (the side in the direction of arrow a in FIG. 2) is the outside, and the input side (the side in the direction of arrow b in FIG. 2) is the inside.
  • each configuration of the speed reducer 2 and the drive device 1 will be described based on the axis x of the speed reducer 2 and the drive device 1.
  • Each configuration has an axis of each configuration as a single unit.
  • the speed reducer 2 has a housing 10, an output shaft 20, a bearing 30 for rotatably supporting the output shaft 20, and a bearing 30 for fixing the bearing 30 in the housing 10. It is provided with an outer fixing portion 40.
  • the housing 10 has an opening 12 which is an annular portion around the axis x forming the opening 11.
  • the bearing 30 has an inner ring 31 and an outer ring 32, and is formed so as to be attachable to the opening 12 of the housing 10.
  • the outer fixing portion 40 includes an annular outer covering engaging portion 41 formed on the inner peripheral surface 12a of the opening 12 and an outer receiving portion 42 formed on the housing 10 and protruding toward the inner peripheral side. It has an outer fixing body 43 which is an annular member having an annular outer engaging portion 44 formed so as to be engaged with the outer covering portion 41.
  • the outer receiving portion 42 is formed in the housing 10 on the inner side (side in the arrow b direction) of the outer engagement portion 41, and is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction.
  • the outer fixing body 43 is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction when the outer engaging portion 44 is engaged with the outer covering portion 41.
  • FIG. 3 is an exploded perspective view of the housing 10.
  • the housing 10 is specifically composed of three parts that are separate from each other, and has a shaft support portion 10a, an internal tooth portion 10b, and a connecting portion 10c. There is.
  • the shaft support portion 10a, the internal tooth portion 10b, and the connecting portion 10c are formed so as to be integrally assembled with each other.
  • the housing 10 may have any two or all of the shaft support portion 10a, the internal tooth portion 10b, and the connecting portion 10c integrally formed.
  • the shaft support portion 10a and the internal tooth portion 10b may be integrally formed.
  • FIG. 4 is a cross-sectional view of the shaft support portion 10a of the housing 10 along the axis x.
  • the shaft support portion 10a is a portion that supports the output shaft 20 in the speed reducer 2, and as described above, the shaft support portion 10a is the portion that forms the opening 11, the outer cover engaging portion 41 of the outer fixing portion 40, and the outer receiver. It has a part 42.
  • the shaft support portion 10a is a tubular member extending along the axis x, and has an opening 12 at an outer end portion.
  • the opening 12 is a substantially cylindrical portion having an axis x as a central axis.
  • the outer peripheral engaging portion 41, the relief groove 12b, the bearing fitting surface 12c, and the outer receiving portion 42 are formed on the inner peripheral surface 12a facing the inner circumference of the opening 12 from the outside.
  • the insertion portion 14 of the internal tooth portion 10b can be fitted into the tubular portion 13 which is a portion inside the external receiving portion 42 of the shaft support portion 10a.
  • the opening 11 is a space surrounded by the opening 12 and is a space connected to a space outside the housing 10.
  • the outer cover engaging portion 41 is a female screw formed around the axis x, and extends inward from the outer edge 12d or the vicinity of the edge 12d on the inner peripheral surface 12a.
  • the relief groove 12b is a relief groove for processing the outer cover engaging portion 41 adjacent to the outer cover engaging portion 41 on the inside.
  • the bearing fitting surface 12c is a surface for supporting the outer ring 32 of the bearing 30 from the outer circumference, and is a cylindrical surface or a substantially cylindrical surface centered on the axis x.
  • the bearing fitting surface 12c is formed so that the outer ring 32 can be gap-fitted, tightened-fitted, or intermediate-fitted.
  • the inner diameter of the bearing fitting surface 12c is smaller than the inner diameter of the outer engagement portion 41.
  • the external receiving portion 42 is a protruding portion extending in an annular shape around the axis x, and projects toward the inner peripheral side of the bearing fitting surface 12c.
  • the external receiving portion 42 has an external receiving surface 42a which is an annular or substantially annular surface centered on an axis x orthogonal to or substantially orthogonal to the bearing fitting surface 12c.
  • the external receiving surface 42a is a plane or a substantially plane facing the outside in the axis x direction.
  • the external receiving portion 42 does not have to be an endless ring.
  • the external receiving portion 42 may be, for example, one or a plurality of arc-shaped protruding portions arranged on a circle or a substantially circle centered on the axis x.
  • FIG. 5 is a cross-sectional view taken along the axis x of the shaft support portion 10a and the internal tooth portion 10b in a state of being connected to each other.
  • the internal tooth portion 10b is a cylindrical or substantially cylindrical member with the axis x as the central axis, and as described above, on one side (outside) in the axis x direction, inside the tubular portion 13 of the shaft support portion 10a. It has an insertion portion 14 formed so as to be able to be fitted with. Further, a protrusion 15 which is an annular portion protruding inwardly adjacent to the insertion portion 14 and protruding toward the outer periphery from the insertion portion 14 is formed. As shown in FIG.
  • the protrusion 15 is formed so as to come into contact with the inner end portion 13a of the tubular portion 13 when the insertion portion 14 is inserted into the tubular portion 13, and the shaft support portion 10a.
  • the position of the internal tooth portion 10b with respect to the axis x direction is determined.
  • an internal tooth 62 is formed on the inner peripheral surface 16 of the internal tooth portion 10b in which the planetary gear 61 of the planetary gear mechanism 4 of the speed reducer 2 described later meshes with the planetary gear 61. That is, the internal tooth portion 10b is an internal tooth gear of the planetary gear mechanism 4.
  • the internal teeth 62 are formed on the entire inner peripheral surface 16 of the internal tooth portion 10b, but the internal teeth 62 may be formed on a part of the inner peripheral surface 16.
  • the motor 3 can be connected to one end side of the connecting portion 10c, and the inner end portion of the internal tooth portion 10b is formed to be connectable on the other end side as shown in FIG.
  • the connecting portion 10c has a configuration that enables the output shaft of the motor 3 to be connected to the planetary gear mechanism 4.
  • the connecting shaft 17 to which the output shaft of the motor 3 is connected is rotatably supported by the bearing 18 about the axis x at the center or substantially the center.
  • the connecting shaft 17 is coupled to the sun gear 65 of the planetary gear mechanism 4, which will be described later.
  • FIGS. 6 and 7 are perspective views of the output shaft 20, FIG. 6 is a perspective view of the output shaft 20 viewed from the outside, and FIG. 7 is a perspective view of the output shaft 20 viewed from the inside.
  • the output shaft 20 has a base portion 21, and the base portion 21 has an insertion portion 22 which is a portion that can be inserted into the inner ring 31 of the bearing 30 extending along the axis x. ing.
  • the base portion 21 has at least one flange portion 23 which is a portion protruding toward the outer peripheral side from the insertion portion 22.
  • the flange portion 23 has an inner receiving surface 23a which is a plane or a substantially plane extending along a plane orthogonal to the axis x, which extends to the outer periphery of the insertion portion 22.
  • the inner receiving surface 23a faces outward in the axis x direction.
  • the flange portion 23 is an internal receiving portion of the internal fixing portion 50 for fixing the bearing 30 described later to the output shaft 20, and the internal receiving surface 23a is the bearing 30 in the assembled state of the speed reducer 2 shown in FIG. It is formed so as to come into contact with the inner end surface 31a of the inner ring 31.
  • the insertion portion 22 is a hollow disk-shaped or cylindrical portion protruding outward from the flange portion 23, and has an outer peripheral surface 22a which is a surface facing the outer peripheral side.
  • the outer peripheral surface 22a is a cylindrical surface or a substantially cylindrical surface extending along the axis x.
  • the insertion portion 22 can be inserted into the inner ring 31 of the bearing 30, and the outer peripheral surface 22a has the same or substantially the same diameter as the inner peripheral surface 31b, which is a surface facing the inner peripheral side of the inner ring 31. ..
  • the insertion portion 22 may be tightly fitted to the inner ring 31, may be gap-fitted to the inner ring 31, or may be intermediately fitted to the inner ring 31.
  • the insertion portion 22 has an end surface 22b which is a surface that spreads at the outer end facing the outside in the axis x direction.
  • the insertion portion 22 is hollow, and a space 24 penetrating the center is formed. Further, this space 24 reaches the base 21. Therefore, the volume of the output shaft 20 can be reduced, the weight of the output shaft 20 can be reduced, and the weight of the output shaft 20 is reduced. The space 24 may penetrate the output shaft 20.
  • the base portion 21 As shown in FIGS. 6 and 7, three holes (shaft holes 25) extending along the axis x are formed in the base portion 21. As shown in FIG. 2, the rotating shaft 61a of the planetary gear 61 of the planetary gear mechanism 4 described later is inserted and fixed in the shaft hole 25. Therefore, the shaft hole 25 formed in the base portion 21 corresponds to the number of planetary gears 61 of the planetary gear mechanism 4. As described above, the base 21 of the output shaft 20 serves as a carrier of the planetary gear 61 in the planetary gear mechanism 4.
  • the base 21 of the output shaft 20 has three flanges 23, but the base 21 may have only one or two flanges 23, and the flange. It may have four or more portions 23. Further, the flange portion 23 may be one annular portion protruding so as to surround the entire circumference of the outer peripheral surface 22a of the insertion portion 22.
  • FIG. 8 is a front view of the external fixation body 43
  • FIG. 9 is a side view of the external fixation body 43
  • FIG. 10 is a perspective view of the external fixation body 43 as viewed from the inside.
  • the external fixation body 43 is an annular member around the axis x, and more specifically, an annular member or a substantially annular member centered on the axis x.
  • the outer fixing body 43 has an annular surface (inner side surface 45) facing inward in the axis x direction.
  • the inner side surface 45 is displaced inward in the outer peripheral side portion. That is, the inner side surface 45 has a cover surface 45a forming an annular surface on the inner peripheral side and an end surface 45b forming an annular surface extending on the outer peripheral side of the cover surface 45a.
  • the cover surface 45a is a plane or a substantially plane along a plane orthogonal to the axis x
  • the end surface 45b is a plane or a substantially plane along a plane orthogonal to the axis x.
  • the end surface 45b is located inside the cover surface 45a in the axis x direction, and a step (step 45c) in the axis x direction is formed between the cover surface 45a and the end surface 45b.
  • the outer peripheral surface of the outer fixing body 43 facing the outer peripheral side is the above-mentioned outer engaging portion 44
  • the outer peripheral surface of the outer fixing body 43 is the outer engaging portion 44.
  • the outer engaging portion 44 is, for example, a male screw, and the male screw as the outer engaging portion 44 is screwed into the female screw as the outer engaging portion 41 formed in the opening 12 of the shaft support portion 10a of the housing 10. It is possible.
  • the outer engaging portion 44 as a male screw may be formed on the entire outer peripheral surface of the outer fixing body 43, or may be formed on a part thereof.
  • the surface (outer surface 46) facing the outside of the external fixation body 43 is a plane or a substantially plane along a plane orthogonal to the axis x.
  • the outer side surface 46 extends so as to face back to the cover surface 45a and the end surface 45b of the inner side surface 45.
  • a groove 46a is formed on the outer side surface 46 with which a tool for rotating the outer fixing body 43 is engaged for attaching the outer fixing body 43.
  • the end surface 45b of the outer fixation body 43 corresponds to the outer end surface (outer end surface 32a) of the outer ring 32 of the bearing 30. That is, in the speed reducer 2, when the outer engaging portion 44 of the outer fixing body 43 is screwed into the outer engaging portion 41 of the housing 10 and the outer fixing body 43 is attached to the opening 12 of the housing 10, the external fixing is performed.
  • the end face 45b of the body 43 and the outer end face 32a of the outer ring 32 come into contact with each other in the axis x direction.
  • the speed reducer 2 further includes an internal fixing portion 50 for fixing the bearing 30 to the output shaft 20.
  • the inner fixing portion 50 is the above-mentioned flange portion 23 as an inner receiving portion formed on the output shaft 20 and projecting to the outer peripheral side, and the inner fixing portion 50 is a disk-shaped member formed so as to be fixed to the output shaft 20. It has a fixed body 51.
  • the flange portion 23 as the inner receiving portion is formed so as to be in contact with the inner ring 31 of the bearing 30 in the axis x direction, and has the inner receiving surface 23a as described above.
  • the inner fixing body 51 is formed so as to be fixed to the insertion portion 22 of the output shaft 20, and when fixed to the insertion portion 22, comes into contact with the inner ring 31 of the bearing 30 in the axis x direction. It has a possibly formed outer peripheral end 52.
  • 11 and 12 are perspective views of the internal fixation body 51, FIG. 11 is a perspective view of the internal fixation body 51 viewed from the inside, and FIG. 12 is a perspective view of the internal fixation body 51 viewed from the outside. is there.
  • the internal fixing body 51 specifically has a disk-like shape, and the surface facing inward in the axis x direction (inner side surface 53) is the end portion 52 on the outer peripheral side. Is shifted to the outside.
  • the inner side surface 53 has an insertion surface 53a that forms a circular or substantially circular surface on the inner peripheral side, and an end surface 53b that forms an annular surface that extends to the outer peripheral side of the insertion surface 53a.
  • the insertion surface 53a is a plane or a substantially plane along a plane orthogonal to the axis x
  • the end surface 53b is a plane or a substantially plane along a plane orthogonal to the axis x.
  • the end surface 53b is a surface of the end portion 52 that faces inward in the x-direction of the axis.
  • the end surface 53b is located outside the insertion surface 53a in the axis x direction, and a step (step 53c) in the axis x direction is formed between the insertion surface 53a and the end surface 53b.
  • the insertion surface 53a corresponds to the end surface 22b of the output shaft 20, and in the speed reducer 2, the insertion surface 53a and the end surface 22b face each other or come into contact with each other in the axis x direction.
  • the internal fixation body 51 is attached to the output shaft 20.
  • the end face 53b comes into contact with the outer end face 31c of the inner ring 31 of the bearing 30 when the inner fixing body 51 is attached to the output shaft 20 in the speed reducer 2.
  • the surface facing the outside of the internal fixation body 51 is a plane or a substantially plane along a plane orthogonal to the axis x.
  • a space 55 extends inward from the outer surface 54 along the axis x. The space 55 does not reach the inner surface 53. With this space 55, the volume of the internal fixing body 51 can be reduced, the weight of the internal fixing body 51 can be reduced, and the weight of the internal fixing body 51 is reduced.
  • the space 55 may penetrate the internal fixation body 51.
  • the inner fixing body 51 is formed with bolt holes 56 and pin holes 57 into which bolts and parallel pins for fixing the inner fixing body 51 to the output shaft 20 are inserted. There is.
  • the bolt hole 56 and the pin hole 57 are through holes.
  • a bolt hole 26 and a pin hole 27 corresponding to the bolt hole 56 and the pin hole 57 of the internal fixing body 51 are formed on the end surface 22b of the insertion portion 22 of the output shaft 20.
  • the bolt hole 26 of the output shaft 20 is a screw hole.
  • the internal fixing body 51 may be formed with a bolt hole 56 or a pin hole 57, and correspondingly, the output shaft 20 may be formed with a bolt hole 26 or a pin hole 27.
  • the internal fixation body 51 is attached to the output side end of the output shaft 20 and is located at the output side end of the force transmission path in the speed reducer 2. Therefore, the internal fixing body 51 also functions as an output flange connected to an external device to which the speed reducer 2 is connected. In the speed reducer 2, the internal fixation body 51 of various sizes and shapes can be selectively attached according to the external device to which the speed reducer 2 is attached.
  • the speed reducer 2 has a planetary gear mechanism 4.
  • the planetary gear mechanism 4 has a two-stage reduction mechanism, that is, the first-stage reduction mechanism, the sun gear 65 and the planet gear 64, and the second-stage reduction mechanism, the sun gear 63 and the planet gear 61. And have.
  • the first-stage deceleration mechanism and the second-stage deceleration mechanism have common internal teeth 62 as internal gears.
  • the first-stage sun gear 65 is coaxially fixed to the connecting shaft 17 of the connecting portion 10c of the housing 10 and is rotatable around the axis x.
  • At least one planetary gear 64 is arranged around the sun gear 65. In this example, three planetary gears 64 are arranged.
  • the planetary gear 64 meshes with the sun gear 65 and the internal teeth 62.
  • the planetary gear 64 is rotatably supported by a carrier 66 via a rotation shaft 64a, and the carrier 66 is rotatable around an axis x.
  • the second-stage sun gear 63 is coaxially fixed to the outside of the carrier 66, and can rotate around the axis x as the carrier 66 rotates.
  • three planetary gears 61 that mesh with the sun gear 65 and the internal teeth 62 are arranged around the sun gear 63, and the planetary gear 61 rotates on the base 21 of the output shaft 20. It is supported so as to be rotatable via a shaft 61a.
  • the rotating shaft 61a projects inward from the inner side surface 21a of the base 21 of the output shaft 20, and the planetary gear 61 is arranged inside the base 21.
  • the inner side surface 21a of the base portion 21 is a surface facing the inside of the base portion 21.
  • the rotational driving force of the sun gear 63 is transmitted to the planetary gear 61, the planetary gear 61 rotates, and the planetary gear 61 revolves around the axis x while meshing with the internal teeth 62 along with this rotation.
  • the revolution of the planetary gear 61 causes the output shaft 20 to rotate around the axis x.
  • the reduced rotational force can be transmitted from the output shaft 20.
  • FIG. 13 is a partially disassembled sectional view of the speed reducer 2 for showing the state of fixing the bearing 30 in the housing 10 by the external fixing portion 40
  • FIG. 14 is a partial disassembled sectional view of the reduction gear 2 in which the bearing 30 is fixed in the housing 10 by the external fixing portion 40. It is a partial cross-sectional view of the speed reducer 2 for showing the state of.
  • the insertion portion 22 of the output shaft 20 is inserted into the inner ring 31 of the bearing 30 from the inside, and the portion of the insertion surface 53a of the inner fixing body 51 is inserted into the inner ring 31 from the outside, and the bolt is inserted.
  • the inner fixing body 51 which is also an output flange, is fixed to the output shaft 20 by the 58 and the parallel pin 59. At this time, by fastening with the bolt 58, a fastening force is applied to the internal fixing body 51 and the output shaft 20 in a direction approaching each other in the axis x direction.
  • the inner receiving surface 23a of the flange portion 23 of the output shaft 20 is pressed against the inner end surface 31a of the inner ring 31, while the end surface 53b of the inner fixing body 51 is pressed against the outer end surface 31c of the inner ring 31, and the inner fixing body 51
  • the inner ring 31 is sandwiched between the end surface 53b and the inner receiving surface 23a of the flange portion 23 of the output shaft 20.
  • the output shaft 20 is fixed to the bearing 30.
  • the width of the step 53c of the inner fixing body 51 and the insertion portion 22 of the output shaft 20 in the axis x direction so that the inner ring 31 is sandwiched between the inner receiving surface 23a of the flange portion 23 and the end surface 53b of the inner fixing body 51. Has been adjusted.
  • the outer ring 32 of the bearing 30 is fitted to the bearing fitting surface 12c of the opening 12 of the shaft support portion 10a of the housing 10, and the inner end surface 32b of the outer ring 32 is the outer receiving portion 42.
  • the bearing 30 is inserted into the bearing fitting surface 12c until it comes into contact with the external receiving surface 42a.
  • the outer engaging portion 44 which is a male screw of the outer fixing body 43
  • the outer covering portion 41 which is a female screw of the opening 12 of the housing 10
  • the outer fixing body 43 is rotated to rotate the outer fixing body 43. To move inward.
  • the outer fixing body 43 When the outer fixing body 43 is rotated until the end surface 45b of the outer fixing body 43 comes into contact with the outer end surface 32a of the outer ring 32 of the bearing 30, the outer fixing body 43 is fixed to the housing 10. As a result, the end surface 45b of the outer fixing body 43 is pressed against the outer end surface 32a of the outer ring 32, while the outer receiving surface 42a of the outer receiving portion 42 of the housing 10 is pressed against the inner end surface 32b of the outer ring 32, and the outer fixing body 43 The outer ring 32 is sandwiched between the end surface 45b of the housing and the external receiving surface 42a of the external receiving portion 42. As a result, the bearing 30 to which the output shaft 20 is fixed is fixed to the housing 10, and the output shaft 20 is fixed to the housing 10.
  • the outer ring 32 is sandwiched between the end surface 45b of the external fixation body 43 and the outer receiving surface 42a of the outer receiving portion 42 of the housing 10, and the outer covering engaging portion 41 and the outer receiving surface 42a of the housing 10 are sandwiched.
  • the distance between the two in the axis x direction and the width of the step 45c of the external fixation body 43 in the axis x direction are adjusted.
  • the drive device 1 is formed by connecting the motor 3 to the speed reducer 2.
  • the motor 3 can be connected to the connecting shaft 17 of the speed reducer 2, and may be any motor as long as the connecting shaft 17 is rotationally driven.
  • the bearing 30 to which the output shaft 20 is fixed is obtained only by engaging the outer fixed body 43 itself with the housing 10. Can be fixed to the housing 10, and the output shaft 20 can be fixed to the housing 10.
  • a fastening member such as a bolt may be required as a separate member for fixing the external fixing body 43 to the housing 10.
  • the output shaft 20 can be fixed to the housing 10 with a simple configuration. Further, since the external fixing body 43 is fixed to the housing 10 only by engaging the external fixing body 43 itself with the housing 10, bolts or the like are fastened to fix the external fixing body 43 to the housing 10.
  • the thickness of the housing 10 and the external fixation body 43 in the radial direction can be reduced without requiring a member as a separate member. Further, the length of the speed reducer 2 in the axis x direction can be reduced. Further, the outer fixing body 43 can cover the annular space between the outer fixing body 43 and the inner fixing body 51 at the portion of the cover surface 45a, and prevents foreign matter from entering the speed reducer 2. Can be done.
  • the output shaft 20 can be fixed to the housing 10 by fixing the output shaft 20 to the bearing 30 by the internal fixing body 51 and then fixing the bearing 30 to the housing 10. Therefore, the output shaft 20 can be easily fixed, and the mounting position of the output shaft 20 can be secured with high accuracy.
  • the structure for fixing the bearing supporting the output shaft to the housing can be simplified.
  • FIG. 15 is a perspective view showing a schematic configuration of a drive device 5 according to a second embodiment of the present invention.
  • the drive device 5 has a speed reducer 6 and a motor 3.
  • FIG. 16 is a cross-sectional view taken along the axis x of the speed reducer 6 according to the second embodiment of the present invention.
  • the description of the speed reducer 6 will be omitted with reference to the same reference numerals and the same components as those of the speed reducer 2 according to the first embodiment of the present invention described above.
  • the speed reducer 6 includes a housing 110, an output shaft 120, a bearing 30 for rotatably supporting the output shaft 120 in the housing 110, and a bearing 30 in the housing 110. It is provided with an outer fixing portion 40 for fixing.
  • the housing 110 has an opening 112 that is an annular portion about the axis x that forms the opening 111.
  • the bearing 30 is formed so as to be attached to the opening 112 of the housing 110.
  • the outer fixing portion 40 includes an annular outer cover engaging portion 41 formed on the inner peripheral surface 112a of the opening 112, and an outer receiving portion 142 formed on the housing 110 and protruding toward the inner peripheral side. It has an outer fixing body 43 having an outer engaging portion 44.
  • the outer receiving portion 142 is formed inside the outer engagement portion 41 in the housing 10, and is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction.
  • the outer fixing body 43 is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction when the outer engaging portion 44 is engaged with the outer covering portion 41.
  • FIG. 17 is an exploded perspective view of the housing 110.
  • the housing 110 is specifically composed of four parts that are separate from each other, and includes a shaft support portion 110a, an internal tooth portion 110b, a first connecting portion 110c, and a first portion. It has two connecting portions 110d.
  • the shaft support portion 110a, the internal tooth portion 110b, the first connecting portion 110c, and the second connecting portion 110d are formed so as to be integrally assembled with each other.
  • the housing 110 is formed by integrally forming any two, any three, or all of the shaft support portion 110a, the internal tooth portion 110b, the first connecting portion 110c, and the second connecting portion 110d. There may be.
  • FIG. 18 is a cross-sectional view taken along the axis x of the shaft support portion 110a of the housing 110.
  • the shaft support portion 110a is a portion that supports the output shaft 120 in the speed reducer 6, and as described above, the shaft support portion 110a includes the opening 112 that forms the opening 111, the outer cover engaging portion 41 of the external fixing portion 40, and the outer receiver. It has a part 142.
  • the shaft support portion 110a is a tubular member extending along the axis x, and has an opening 112 at an outer end portion.
  • the opening 112 is a substantially cylindrical portion having an axis x as a central axis.
  • the outer peripheral engaging portion 41, the relief groove 12b, the bearing fitting surface 12c, and the outer receiving portion 142 are formed from the outside on the inner peripheral surface 112a facing the inner circumference of the opening 112.
  • the shaft support portion 110a can be coaxially connected to the outer end portion of the internal tooth portion 110b at the inner end portion.
  • the opening 111 is a space surrounded by the opening 112 and is a space connected to a space outside the housing 110.
  • the outer cover engaging portion 41 extends inward from the outer edge 112d or the vicinity of the edge 112d on the inner peripheral surface 112a.
  • the relief groove 12b is adjacent to the outer engagement portion 41 on the inside, and the bearing fitting surface 12c is adjacent to the relief groove 12b on the inside.
  • the external receiving portion 142 is an annular surface extending in an annular shape around the axis x, and projects toward the inner peripheral side of the bearing fitting surface 12c.
  • the external receiving portion 142 extends from the bearing fitting surface 12c to the inner peripheral side, and is an annular or substantially annular surface centered on the axis x orthogonal to or substantially orthogonal to the axis x, and is outside in the axis x direction. It is a plane facing or a substantially plane.
  • Internal teeth 161 extend along the axis x from the end edge 142a on the inner peripheral side of the external receiving portion 142.
  • the inner ring portion 110b is a tubular member extending along the axis x, and can support a bearing 67 that rotatably supports the carrier 66 of the first-stage reduction mechanism described later. ing. Further, the inner ring portion 110b is provided with internal teeth 162 of a first-stage speed reduction mechanism extending along the axis x inward of the portion supporting the bearing 67. The inner ring portion 110b is formed so as to be able to be coupled with the first connecting portion 110c at the inner end portion.
  • the first connecting portion 110c and the second connecting portion 110d are tubular members extending along the axis x and are portions that enable the motor 3 to be connected.
  • the first connecting portion 110c is a member for connecting the second connecting portion 110d to the internal tooth portion 110b.
  • the second connecting portion 110d has a configuration in which the motor 3 can be connected to the inner end and the output shaft of the motor 3 can be connected to the planetary gear mechanism 4.
  • a connecting shaft 17 to which the output shaft of the motor 3 is connected is housed in the second connecting portion 110d.
  • FIGS. 19 and 20 are perspective views of the output shaft 120
  • FIG. 19 is a perspective view of the output shaft 120 viewed from the outside
  • FIG. 20 is a perspective view of the output shaft 120 viewed from the inside.
  • FIG. 21 is a cross-sectional view taken along the axis x of the output shaft 120.
  • the output shaft 120 has a base portion 21, and the base portion 21 has an insertion portion 22 and a flange portion 23.
  • three flange portions 23 are provided as in the above-mentioned speed reducer 2.
  • the output shaft 120 does not have a bolt hole 26 and a pin hole 27 formed in the insertion portion 22.
  • the output shaft 120 has a protruding shaft portion 121 which is a portion extending from the base portion 21 along the axis x.
  • the protruding shaft portion 121 is a cylindrical or substantially cylindrical portion extending inward from the end surface 22b of the insertion portion 22.
  • the end surface 22b of the insertion portion 22 surrounds the protruding shaft portion 121 and is an annular surface around the axis x.
  • the protruding shaft portion 121 is an output end of the force transmission path in the speed reducer 6, and is an output end of the speed reducer 6.
  • an inner engaging portion 151 of the inner fixing portion 150 is formed on the outer peripheral surface of the end portion 121a on the root side of the protruding shaft portion 121.
  • the inner engaged portion 151 is, for example, a male screw.
  • a space 122 penetrating the output shaft 120 in the axis x direction extends along the axis x in the center of the output shaft 120. Due to this space 122, the volume of the output shaft 120 can be reduced, the weight of the output shaft 120 can be reduced, and the weight of the output shaft 120 is reduced.
  • the space 122 does not have to penetrate the output shaft 120.
  • the space 120 is closed on the tip end side of the protruding shaft portion 121, and does not have to penetrate the output shaft 120 on the tip end side of the protruding shaft portion 121.
  • the space 122 may not be formed on the output shaft 120.
  • a wall plate 123 which is a circular plate-shaped member, is attached to the opening 122a inside the space 122 of the output shaft 120, and the opening 122a of the space 122 is closed by the wall plate 123.
  • the wall plate 123 is formed so as to be flush with or substantially flush with the inner surface of the output shaft 120, for example.
  • the wall plate 123 is made of a material having excellent wear resistance, or is treated to enhance the wear resistance, and is a member having excellent wear resistance.
  • the wall portion 123 is formed of, for example, metal, and at least the surface facing the inside (inner side surface 123a) is subjected to a treatment for improving wear resistance such as a nitriding treatment.
  • the speed reducer 6 further includes an internal fixing portion 150 for fixing the bearing 30 to the output shaft 120.
  • the inner fixing portion 150 includes an annular inner engaged portion 151 formed on the outer peripheral surface of the output shaft 120, and a flange portion 23 as an inner receiving portion formed on the output shaft 120 that protrudes toward the outer peripheral side. It has an inner fixing body 153 which is an annular member having an annular inner engaging portion 154 formed so as to be engageable with the inner engaged portion 151.
  • the flange portion 23 as the inner receiving portion is formed so as to be in contact with the inner ring 31 of the bearing 30 in the axis x direction, and the inner engaging portion 154 of the inner fixing body 153 is engaged with the inner engaged portion 151.
  • the bearing 30 is formed so as to be in contact with the inner ring 31 in the x direction of the axis.
  • FIG. 22 is a perspective view of the internal fixation body 153 as viewed from the inside
  • FIG. 23 is a cross-sectional view of the internal fixation body 153 in a cross section along the axis x.
  • the internal fixation body 153 is an annular member around the axis x, and more specifically, an annular member or a substantially annular member centered on the axis x.
  • the inner fixed body 153 has an annular surface (inner side surface 155) facing inward in the axis x direction.
  • the inner side surface 155 is a plane or a substantially plane along a plane orthogonal to the axis x.
  • an inner engaging portion 154 is formed on the inner peripheral surface 153a of the inner fixing body 153.
  • the protruding shaft portion 121 can be inserted into the inner peripheral surface 153a of the internal fixing body 153.
  • the inner engaging portion 154 is, for example, a female screw, and can be screwed into a male screw as the inner engaged portion 151 formed on the protruding shaft portion 121.
  • the female screw as the inner engaging portion 154 is formed on the entire inner peripheral surface 153a of the inner fixing body 153, but the female screw as the inner engaging portion 154 is the inner peripheral surface 153a of the inner fixing body 153. It may be formed as a part of.
  • a tool for rotating the inner fixing body 153 for attaching the inner fixing body 153 is engaged with the surface (outer surface 156) facing the outside of the inner fixing body 153.
  • a groove 156a is formed.
  • the inner side surface 155 of the inner fixing body 153 corresponds to the outer end surface 31c of the inner ring 31 of the bearing 30. That is, in the speed reducer 6, the female screw which is the internal engaging portion 154 of the internal fixing body 153 is screwed into the male screw which is the internal engaging portion 151 of the protruding shaft portion 121 of the output shaft 120, and the internal fixing body 153 Is attached to the end portion 121a of the protruding shaft portion 121 of the output shaft 120, the inner side surface 155 of the inner fixing body 153 and the outer end surface 31c of the inner ring 31 come into contact with each other in the axis x direction.
  • the speed reducer 6 has a planetary gear mechanism 7.
  • the planetary gear mechanism 7 has a two-stage deceleration mechanism similar to the above-mentioned planetary gear mechanism 4, and includes the sun gear 65, the planetary gear 64, and the internal teeth 162, which are the deceleration mechanisms of the first stage. It has a sun gear 63, a planetary gear 61, and internal teeth 161 which are second-stage reduction mechanisms.
  • the first-stage sun gear 65 is coaxially fixed to the connecting shaft 17 in the second connecting portion 110d of the housing 110, and is rotatable around the axis x.
  • At least one planetary gear 64 is arranged around the sun gear 65. In this example, three planetary gears 64 are arranged.
  • the planetary gear 64 meshes with the sun gear 65 and the internal teeth 162 formed on the internal teeth 110b of the housing 110.
  • the planetary gear 64 is rotatably supported by the carrier 66 via a rotation shaft 64a.
  • the carrier 66 is supported by the bearing 67 on the internal tooth portion 110b of the housing 110, and is rotatable around the axis x.
  • the second-stage sun gear 63 is coaxially fixed to the outside of the carrier 66, and can rotate around the axis x as the carrier 66 rotates.
  • the sun gear 63 Around the sun gear 63, three planetary gears 61 that mesh with the sun gear 63 and the internal teeth 161 formed on the shaft support portion 110a of the housing 110 are arranged.
  • the rotational driving force of the sun gear 63 is transmitted to the planetary gear 61, the planetary gear 61 rotates, and the planetary gear 61 revolves around the axis x while meshing with the internal teeth 161 along with the rotation.
  • the revolution of the planetary gear 61 causes the output shaft 120 to rotate around the axis x.
  • the reduced rotational force can be transmitted from the output shaft 120.
  • the internal teeth 161 are formed directly on the inner peripheral surface (root portion 161a) of the housing 110 (shaft support portion 110a), whereas the internal teeth 161 are formed on the housing 110 (shaft support portion 110a). It does not have to be formed directly on the inner peripheral surface (root portion 161a).
  • the internal teeth 161 are formed in a component different from the housing 110, and this component is attached to the housing 110 to form the housing 110.
  • the internal tooth 161 may be provided in the housing.
  • the inner end 63a of the sun gear 63 outputs at the wall plate 123 that closes the inner opening 122a of the space 122 of the output shaft 120 when the sun gear 63 moves in the axis x direction. It comes into contact with the shaft 120.
  • the wall plate 123 is a member having excellent wear resistance. Therefore, even if the end portion 63a of the rotating sun gear 63 comes into contact with the wall plate 123 and slides, the wall plate 123 Wear is prevented or suppressed.
  • the output shaft 120 is reduced in weight by the space 122, and wear countermeasures are also taken. Further, it is sufficient to take measures against wear in the wall plate 123 that closes the opening 122a of the space 122, and it is not necessary to take measures against wear on the entire inner side surface 21a of the output shaft 120.
  • FIG. 24 is a partially disassembled sectional view of the speed reducer 6 for showing the state of fixing the bearing 30 in the housing 10 by the external fixing portion 40
  • FIG. 25 is a partial exploded sectional view of the bearing 30 in the housing 10 by the external fixing portion 40. It is a partial cross-sectional view of the reduction gear 6 for showing the state of.
  • the insertion portion 22 of the output shaft 120 is inserted into the inner ring 31 of the bearing 30 from the inside, and the protruding shaft portion 121 of the output shaft 120 is inserted into the inner fixing body 153 from the inside.
  • the internal fixation body 153 is moved from the outside with respect to the output shaft 120.
  • a female screw which is an internal engaging portion 154 of the internal fixing body 153 is formed on the protruding shaft portion 121. It meshes with the male screw as the inner engaged portion 151.
  • the inner side surface 155 of the inner fixing body 153 becomes the outer end surface 31c of the inner ring 31.
  • the internal fixation body 153 is fixed to the protruding shaft portion 121.
  • the inner side surface 155 of the inner fixing body 153 pushes the outer end surface 31c of the inner ring 31 inward, and the inner end surface 31a of the inner ring 31 is pressed against the inner receiving surface 23a of the flange portion 23 of the output shaft 120.
  • the inner ring 31 is sandwiched between the inner side surface 155 of the inner fixing body 153 and the inner receiving surface 23a of the flange portion 23 of the output shaft 120, and the output shaft 120 is fixed to the bearing 30.
  • the width of the insertion portion 22 of the output shaft 120 in the axis x direction and the protrusion shaft portion 121 so that the inner ring 31 is sandwiched between the inner receiving surface 23a of the flange portion 23 and the inner side surface 155 of the inner fixing body 153.
  • the position of the male screw 151 is adjusted.
  • the output shaft 120 is fixed to the housing 110 via the bearing 30 by the external fixing body 40, as in the case of fixing the output shaft 20 by the external fixing portion 40 in the speed reducer 2 described above.
  • the outer ring 32 of the bearing 30 is fitted to the bearing fitting surface 12c of the opening 112 of the shaft support portion 110a of the housing 110, and the inner end surface 32b of the outer ring 32 is externally received.
  • the bearing 30 is inserted into the bearing fitting surface 12c until it comes into contact with the portion 142.
  • the outer engaging portion 44 which is a male screw of the outer fixing body 43
  • the outer covering portion 41 which is a female screw of the opening 112 of the housing 110
  • the outer fixing body 43 is rotated to rotate the outer fixing body 43.
  • the outer fixing body 43 is rotated until the end surface 45b of the outer fixing body 43 comes into contact with the outer end surface 32a of the outer ring 32 of the bearing 30, and the outer fixing body 43 is fixed to the housing 110.
  • the end surface 45b of the outer fixing body 43 is pressed against the outer end surface 32a of the outer ring 32, while the outer receiving portion 142 of the housing 110 is pressed against the inner end surface 32b of the outer ring 32, and the end surface 45b and the outer side of the outer fixing body 43 are pressed.
  • the outer ring 32 is sandwiched between the receiving portion 142 and the receiving portion 142.
  • the bearing 30 to which the output shaft 120 is fixed is fixed to the housing 110, and the output shaft 120 is fixed to the housing 110.
  • the distance between the directions and the width of the step 45c of the external fixing body 43 in the axis x direction are adjusted.
  • the external receiving portion 142 formed in the bearing portion 110a of the housing 110 serves as an outer end surface of the root portion 161a of the internal teeth 161 which is a portion in which the internal teeth 161 are formed. ing. That is, the internal teeth 161 are located on the outer peripheral side of the internal teeth 161 and are adjacent to the bearing fitting surface 12c connected to the opening 111 in the axis x direction. Therefore, the internal teeth 161 can be processed by the through processing of the bearing portion 110a, and the internal teeth 161 can be easily processed. Further, with this structure, the width and diameter of the opening 112 of the shaft support portion 110a in the axis x direction can be increased. Further, as in the case of the speed reducer 2 described above, the output shaft 120 can be attached to the bearing portion 110a in a state where the bearing 30 and the planetary gear 161 are assembled to the output shaft 120.
  • the drive device 5 is formed by connecting the motor 3 to the speed reducer 6.
  • the motor 3 can be connected to the connecting shaft 17 of the speed reducer 6, and may be any motor as long as the connecting shaft 17 is rotationally driven.
  • the drive device 5 and the speed reducer 6 according to the second embodiment of the present invention have the same effects as the drive device 1 and the speed reducer 2 according to the first embodiment of the present invention described above. Can play.
  • each configuration may be selectively combined as appropriate so as to achieve at least a part of the above-mentioned problems and effects.
  • shape, material, arrangement, size, etc. of each configuration in the above embodiment can be appropriately changed depending on the specific usage mode of the present invention.
  • the outer engaging portion 44 and the outer covering portion 41 are female threads and male threads that can be screwed together, but the outer engaging portion 44 and the outer covering portion 41 are in a form in which they can be engaged with each other. Anything that has for example, the outer engaging portion 44 and the outer covering portion 41 may have a shape that allows them to be fitted (tightly fitted) to each other.
  • the inner engaging portion 154 and the inner engaged portion 151 are female threads and male threads that can be screwed into each other, but the inner engaging portion 154 and the inner engaged portion 151 can be engaged with each other. It may have a form.
  • the inner engaging portion 154 and the inner engaged portion 151 may have a shape that allows them to be fitted (tightly fitted) to each other.
  • the external receiving surface 42a of the external receiving portion 42 is in direct contact with the inner end surface 32b of the outer ring 32 of the bearing 30, but the external receiving surface 42a of the external receiving portion 42 is inside the outer ring 32. It may be made to indirectly contact the end face 32b.
  • the outer receiving surface 42a of the outer receiving portion 42 and the inner end surface 32b of the outer ring 32 may come into contact with each other via an annular spacer.
  • the end surface 45b of the outer fixing body 43 is in direct contact with the outer end surface 32a of the outer ring 32 of the bearing 30, but the end surface 45b of the outer fixing body 43 is indirect to the outer end surface 32a of the outer ring 32. You may make contact with each other.
  • the end surface 45b of the outer fixation body 43 and the outer end surface 32a of the outer ring 32 may come into contact with each other via an annular spacer.
  • the inner receiving surface 23a of the flange portion 23 as the inner receiving portion is in direct contact with the inner end surface 31a of the inner ring 31 of the bearing 30, but the inner receiving surface 23a of the flange portion 23 is the inner ring. It may be made to indirectly contact the inner end surface 31a of 31.
  • the inner receiving surface 23a of the flange portion 23 and the inner end surface 31a of the inner ring 31 may come into contact with each other via an annular spacer.
  • the end surface 53b of the inner fixing body 51 is in direct contact with the outer end surface 31c of the inner ring 31 of the bearing 30, but the end surface 53b of the inner fixing body 51 is indirect to the outer end surface 31c of the inner ring 31. You may make contact with each other.
  • the end surface 53b of the inner fixing body 51 and the outer end surface 31c of the inner ring 31 may be brought into contact with each other via an annular spacer.
  • the outer receiving portion 142 directly contacts the inner end surface 32b of the outer ring 32 of the bearing 30, but the outer receiving portion 142 indirectly contacts the inner end surface 32b of the outer ring 32. You may try to do so. For example, the outer receiving portion 142 and the inner end surface 32b of the outer ring 32 may come into contact with each other via an annular spacer. Further, in the speed reducer 6 described above, the end surface 45b of the outer fixing body 43 is in direct contact with the outer end surface 32a of the outer ring 32 of the bearing 30, but the end surface 45b of the outer fixing body 43 is indirect to the outer end surface 32a of the outer ring 32. You may make contact with each other. For example, the end surface 45b of the outer fixation body 43 and the outer end surface 32a of the outer ring 32 may come into contact with each other via an annular spacer.
  • the inner receiving surface 23a of the flange portion 23 as the inner receiving portion is in direct contact with the inner end surface 31a of the inner ring 31 of the bearing 30, but the inner receiving surface 23a of the flange portion 23 is the inner ring. It may be made to indirectly contact the inner end surface 31a of 31.
  • the inner receiving surface 23a of the flange portion 23 and the inner end surface 31a of the inner ring 31 may come into contact with each other via an annular spacer.
  • the inner side surface 155 of the inner fixing body 153 is in direct contact with the outer end surface 31c of the inner ring 31 of the bearing 30, but the inner side surface 155 of the inner fixing body 153 is the outer end surface 31c of the inner ring 31. May be indirectly contacted with.
  • the inner side surface 155 of the inner fixing body 153 and the outer end surface 31c of the inner ring 31 may come into contact with each other via an annular spacer.

Abstract

The present invention provides a simplified structure for fixing a bearing for supporting an output shaft to a housing. A speed reducer (2) includes a housing (10), an output shaft (20), a bearing (30) supporting the output shaft (20) in the housing (10), and an outer fixing part (40) fixing the bearing (30) in the housing (10). The outer fixing part (40) has a ring-shaped outer engaged part (41) formed on an inner peripheral surface (12a) of an opening (12), a ring-shaped receiving part (42) formed in the housing (10) and projecting into the inner peripheral side, and an outer fixing body (43) that is a ring-shaped member having a ring-shaped outer engaging part 44 formed to be engageable with the outer engaged part 41. The outer receiving part (42) is formed on the inner side of the outer engaged part (41) in the housing (10), and is formed so as to be capable of contacting an outer ring (32) of the bearing (30). The outer fixing body 43 is formed so as to be capable of contacting the outer ring (32) of the bearing (30) when the outer engaging part (44) is engaged with the outer engaged part (41).

Description

減速機及び駆動装置Reducer and drive
　本発明は、減速機及び駆動装置に関する。 The present invention relates to a speed reducer and a drive device.
　従来から、モータ等の駆動源の出力軸の回転速度を減速するために減速機が用いられている。減速機としては例えば遊星歯車を用いた遊星歯車機構がある。従来の遊星歯車機構においては、ハウジングに形成された内歯歯車に噛み合う遊星歯車に駆動源の出力軸の動力が伝達され、遊星歯車が自転可能に支持された遊星歯車機構の出力軸に遊星歯車から動力が伝達されて、この遊星歯車機構の出力軸が回転する。遊星歯車を介した動力の伝達により、遊星歯車機構の出力軸の回転速度は駆動源の出力軸の回転速度に対して減速される。遊星歯車機構の出力軸は、軸受を介してハウジングに固定されている（例えば、特許文献１参照。）。 Conventionally, a speed reducer has been used to reduce the rotational speed of the output shaft of a drive source such as a motor. As a speed reducer, for example, there is a planetary gear mechanism using a planetary gear. In the conventional planetary gear mechanism, the power of the output shaft of the drive source is transmitted to the planetary gears that mesh with the internal gears formed in the housing, and the planetary gears are rotatably supported on the output shaft of the planetary gear mechanism. Power is transmitted from the planetary gears to rotate the output shaft of this planetary gear mechanism. Due to the transmission of power via the planetary gears, the rotation speed of the output shaft of the planetary gear mechanism is reduced with respect to the rotation speed of the output shaft of the drive source. The output shaft of the planetary gear mechanism is fixed to the housing via a bearing (see, for example, Patent Document 1).
特開２００５－１５５７８２号公報Japanese Unexamined Patent Publication No. 2005-155782
　例えば、ロボットに使用される駆動装置の減速機には、高精度の駆動制御を実現するために駆動装置の高い組み立て精度が求められている。これにより、従来の減速機は、構成が複雑になっており、遊星歯車機構の出力軸を支持する軸受のハウジングに対する固定構造も複雑になっていた。このため、従来の減速機に対しては、出力軸を支持する軸受をハウジングに固定する構造を簡単にすることができる支持構造が求められていた。 For example, a speed reducer of a drive device used in a robot is required to have high assembly accuracy of the drive device in order to realize high-precision drive control. As a result, the conventional speed reducer has a complicated structure, and the fixing structure of the bearing supporting the output shaft of the planetary gear mechanism to the housing is also complicated. For this reason, conventional speed reducers have been required to have a support structure that can simplify the structure for fixing the bearing that supports the output shaft to the housing.
　本発明は、上述の課題に鑑みてなされたものであり、その目的は、出力軸を支持する軸受をハウジングに固定する構造が簡単な減速機及び駆動装置を提供することにある。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a speed reducer and a drive device having a simple structure in which a bearing supporting an output shaft is fixed to a housing.
　上記目的を達成するために、本発明に係る減速機は、開口を形成する軸線周りに環状の部分である開口部を有するハウジングと、出力軸と、前記ハウジングの前記開口部に取り付けられ、前記出力軸を回転可能に支持する内輪及び外輪を有する軸受と、前記軸受を前記ハウジングにおいて固定するための外固定部とを備え、前記外固定部は、前記開口部の内周面に形成された環状の外被係合部と、前記ハウジングに形成された内周側に突出する環状の部分である外受部と、前記外被係合部に係合可能に形成された環状の外係合部を有する環状の部材である外固定体とを有しており、前記外受部は、前記ハウジングにおいて前記外被係合部よりも内側に形成されており、前記軸線方向において前記軸受の外輪と接触可能に形成されており、前記外固定体は、前記外係合部が前記外被係合部に係合された際に、前記軸線方向において前記軸受の外輪に接触可能に形成されていることを特徴とする。 In order to achieve the above object, the speed reducer according to the present invention is attached to a housing having an opening which is an annular portion around an axis forming the opening, an output shaft, and the opening of the housing. A bearing having an inner ring and an outer ring that rotatably support the output shaft and an outer fixing portion for fixing the bearing in the housing are provided, and the outer fixing portion is formed on the inner peripheral surface of the opening. An annular outer engagement portion, an outer bearing portion formed in the housing and an annular portion protruding toward the inner circumference side, and an annular outer engagement portion formed so as to be engaged with the outer bearing engagement portion. It has an outer fixed body which is an annular member having a portion, and the outer receiving portion is formed inside the outer engagement portion in the housing, and the outer ring of the bearing is formed in the axial direction. The outer fixed body is formed so as to be in contact with the outer ring of the bearing in the axial direction when the outer engaging portion is engaged with the housing engaging portion. It is characterized by being.
　本発明の一態様に係る減速機において、前記外被係合部は前記軸線周りに形成された雌ねじであり、前記外係合部は前記雌ねじに螺合可能な雄ねじである。 In the speed reducer according to one aspect of the present invention, the outer engagement portion is a female screw formed around the axis, and the outer engagement portion is a male screw that can be screwed into the female screw.
　本発明の一態様に係る減速機は、前記軸受を前記出力軸に固定するための内固定部を更に備え、該内固定部は、前記出力軸の外周面に形成された環状の内被係合部と、前記出力軸に形成された外周側に突出する部分である内受部と、前記内被係合部に係合可能に形成された環状の内係合部を有する環状の部材である内固定体とを有しており、前記内受部は、前記軸線方向において前記軸受の内輪と接触可能に形成されており、前記内固定体は、前記内係合部が前記内被係合部に係合された際に、前記軸線方向において前記軸受の内輪に接触可能に形成されている。 The speed reducer according to one aspect of the present invention further includes an inner fixing portion for fixing the bearing to the output shaft, and the inner fixing portion is an annular inner covering formed on the outer peripheral surface of the output shaft. An annular member having a joint portion, an inner bearing portion formed on the output shaft that protrudes to the outer peripheral side, and an annular inner engaging portion formed to be engageable with the inner engaged portion. It has an inner fixed body, the inner receiving portion is formed so as to be in contact with the inner ring of the bearing in the axial direction, and the inner engaging portion of the inner fixed body is the inner engaging portion. When engaged with the joint portion, it is formed so as to be in contact with the inner ring of the bearing in the axial direction.
　本発明の一態様に係る減速機において、前記出力軸は、前記内受部が形成された基部と、該基部から前記内受部の軸線に沿って延びる部分である突出軸部とを有しており、前記基部は、前記内受部よりも前記突出軸部側に前記内輪に挿入可能な部分である挿入部を有しており、前記内被係合部は、前記突出軸部の外周面に形成されている。 In the speed reducer according to one aspect of the present invention, the output shaft has a base portion on which the internal receiving portion is formed and a protruding shaft portion which is a portion extending from the base portion along the axis of the internal receiving portion. The base portion has an insertion portion that is a portion that can be inserted into the inner ring on the protruding shaft portion side of the inner receiving portion, and the inner engaged portion is the outer circumference of the protruding shaft portion. It is formed on the surface.
　本発明の一態様に係る減速機は、前記軸受を前記出力軸に固定するための内固定部を更に備え、該内固定部は、前記出力軸に形成された外周側に突出する部分である内受部と、前記出力軸に固定可能に形成された円盤状の部材である内固定体とを有しており、前記内受部は、前記軸線方向において前記軸受の内輪と接触可能に形成されており、前記出力軸は、前記内受部の軸線に沿って延びる前記内輪に挿入可能な部分である挿入部を有しており、前記内固定体は、前記出力軸の前記挿入部に固定可能に形成されており、前記挿入部に固定された際に、前記軸線方向において前記軸受の内輪に接触可能に形成された外周側の端部を有している。 The speed reducer according to one aspect of the present invention further includes an inner fixing portion for fixing the bearing to the output shaft, and the inner fixing portion is a portion formed on the output shaft and projecting to the outer peripheral side. It has an inner receiving portion and an inner fixing body which is a disk-shaped member formed so as to be fixed to the output shaft, and the inner receiving portion is formed so as to be in contact with the inner ring of the bearing in the axial direction. The output shaft has an insertion portion that is a portion that can be inserted into the inner ring extending along the axis of the inner bearing portion, and the inner fixed body is attached to the insertion portion of the output shaft. It is formed so that it can be fixed, and when it is fixed to the insertion portion, it has an end portion on the outer peripheral side formed so as to be in contact with the inner ring of the bearing in the axial direction.
　本発明の一態様に係る減速機は、遊星歯車機構を更に有しており、前記遊星歯車機構は、内歯歯車と、太陽歯車と、前記内歯歯車と前記太陽歯車とに噛み合う少なくとも１つの遊星歯車とを有しており、前記少なくとも１つの遊星歯車は、前記出力軸に自転可能に支持されている。 The speed reducer according to one aspect of the present invention further includes a planetary gear mechanism, wherein the planetary gear mechanism meshes with an internal gear, a sun gear, and the internal gear and the sun gear. It has a planetary gear, and the at least one planetary gear is rotatably supported by the output shaft.
　上記目的を達成するために、本発明に係る駆動装置は、上述の本発明に係るいずれかの減速機と、前記減速機に動力を伝達可能に接続されたモータとを備えることを特徴とする。 In order to achieve the above object, the drive device according to the present invention is characterized by including any of the speed reducers according to the present invention described above and a motor connected to the speed reducer so as to be able to transmit power. ..
　本発明に係る減速機及び駆動装置によれば、出力軸を支持する軸受をハウジングに固定する構造を簡単にすることができる。 According to the speed reducer and the drive device according to the present invention, the structure for fixing the bearing supporting the output shaft to the housing can be simplified.
本発明の第１の実施の形態に係る駆動装置の概略構成を示す斜視図である。It is a perspective view which shows the schematic structure of the drive device which concerns on 1st Embodiment of this invention. 本発明の第１の実施の形態に係る減速機の軸線に沿う断面における断面図である。It is sectional drawing in the cross section along the axis of the speed reducer which concerns on 1st Embodiment of this invention. 本発明の第１の実施の形態に係る減速機におけるハウジングの分解斜視図である。It is an exploded perspective view of the housing in the speed reducer which concerns on 1st Embodiment of this invention. ハウジングの軸保持部の軸線に沿う断面における断面図である。It is sectional drawing in the cross section along the axis of the shaft holding part of a housing. 互いに結合された状態におけるハウジングの軸支持部と内歯部との軸線に沿う断面における断面図である。It is sectional drawing in the cross section along the axis of the shaft support part and the internal tooth part of the housing in the state of being connected to each other. 本発明の第１の実施の形態に係る減速機における出力軸を外側から見た斜視図である。It is a perspective view which looked at the output shaft in the speed reducer which concerns on 1st Embodiment of this invention from the outside. 本発明の第１の実施の形態に係る減速機における出力軸を内側から見た斜視図である。It is a perspective view which looked at the output shaft in the speed reducer which concerns on 1st Embodiment of this invention from the inside. 本発明の第１の実施の形態に係る減速機における外固定部の外固定体の正面図である。It is a front view of the external fixation body of the external fixation part in the speed reducer which concerns on 1st Embodiment of this invention. 外固定体の側面図である。It is a side view of the external fixation body. 外固定体を内側から見た斜視図である。It is a perspective view which looked at the external fixation body from the inside. 本発明の第１の実施の形態に係る減速機における内固定部の内固定体を内側から見た斜視図である。It is a perspective view which looked at the internal fixation body of the internal fixation part of the reduction gear which concerns on 1st Embodiment of this invention from the inside. 内固定体を外側から見た斜視図である。It is a perspective view of the internal fixation body seen from the outside. 外固定部による軸受のハウジングにおける固定の様子を示すための、減速機の部分分解断面図である。It is a partially disassembled sectional view of the reduction gear for showing the state of fixing in the housing of a bearing by an external fixing part. 外固定部による軸受のハウジングにおける固定の様子を示すための、減速機の部分断面図である。It is a partial cross-sectional view of the reduction gear for showing the state of fixing in the housing of a bearing by an external fixing part. 本発明の第２の実施の形態に係る駆動装置の概略構成を示す斜視図である。It is a perspective view which shows the schematic structure of the drive device which concerns on 2nd Embodiment of this invention. 本発明の第２の実施の形態に係る減速機の軸線に沿う断面における断面図である。FIG. 5 is a cross-sectional view taken along the axis of the speed reducer according to the second embodiment of the present invention. 本発明の第２の実施の形態に係る減速機におけるハウジングの分解斜視図である。It is an exploded perspective view of the housing in the speed reducer which concerns on 2nd Embodiment of this invention. ハウジングの軸支持部の軸線に沿う断面における断面図である。It is sectional drawing in the cross section along the axis of the shaft support part of a housing. 本発明の第２の実施の形態に係る減速機における出力軸を外側から見た斜視図である。It is a perspective view which looked at the output shaft in the speed reducer which concerns on 2nd Embodiment of this invention from the outside. 出力軸を内側から見た斜視図である。It is a perspective view which looked at the output shaft from the inside. 出力軸の軸線に沿う断面における断面図である。It is sectional drawing in the cross section along the axis of the output shaft. 本発明の第２の実施の形態に係る減速機における内固定部の内固定体を内側から見た斜視図である。It is a perspective view which looked at the internal fixation body of the internal fixation part of the reduction gear which concerns on 2nd Embodiment of this invention from the inside. 内固定体の軸線に沿う断面における断面図である。It is sectional drawing in the cross section along the axis of the internal fixation body. 外固定部よる軸受のハウジングにおける固定の様子を示すための、減速機の部分分解断面図である。It is a partially disassembled sectional view of the reduction gear in order to show the state of fixing in the housing of a bearing by an external fixing part. 外固定部による軸受のハウジングにおける固定の様子を示すための、減速機の部分断面図である。It is a partial cross-sectional view of the reduction gear for showing the state of fixing in the housing of a bearing by an external fixing part.
　以下、本発明の実施の形態に係る減速機及び駆動装置について図面を参照しながら説明する。 Hereinafter, the speed reducer and the drive device according to the embodiment of the present invention will be described with reference to the drawings.
　図１は、本発明の第１の実施の形態に係る駆動装置１の概略構成を示す斜視図である。図１に示すように、駆動装置１は、本発明の第１の実施の形態に係る減速機２とモータ３とを有している。図２は、本発明の第１の実施の形態に係る減速機２の軸線ｘに沿う断面における断面図である。 FIG. 1 is a perspective view showing a schematic configuration of a drive device 1 according to a first embodiment of the present invention. As shown in FIG. 1, the drive device 1 includes a speed reducer 2 and a motor 3 according to the first embodiment of the present invention. FIG. 2 is a cross-sectional view taken along the axis x of the speed reducer 2 according to the first embodiment of the present invention.
　以下、説明の便宜上、減速機２において、出力側（図２の矢印ａ方向側）を外側とし、入力側（図２の矢印ｂ方向側）を内側とする。また、説明の便宜上、減速機２や駆動装置１の各構成について、減速機２及び駆動装置１における軸線ｘに基づいて説明する。各構成は、単体において、各構成の軸線を有している。 Hereinafter, for convenience of explanation, in the speed reducer 2, the output side (the side in the direction of arrow a in FIG. 2) is the outside, and the input side (the side in the direction of arrow b in FIG. 2) is the inside. Further, for convenience of explanation, each configuration of the speed reducer 2 and the drive device 1 will be described based on the axis x of the speed reducer 2 and the drive device 1. Each configuration has an axis of each configuration as a single unit.
　本発明の第１の実施の形態に係る減速機２は、ハウジング１０と、出力軸２０と、出力軸２０を回転可能に支持するための軸受３０と、軸受３０をハウジング１０において固定するための外固定部４０とを備えている。ハウジング１０は、開口１１を形成する軸線ｘ周りに環状の部分である開口部１２を有している。軸受３０は、内輪３１及び外輪３２を有しており、ハウジング１０の開口部１２に取り付け可能に形成されている。 The speed reducer 2 according to the first embodiment of the present invention has a housing 10, an output shaft 20, a bearing 30 for rotatably supporting the output shaft 20, and a bearing 30 for fixing the bearing 30 in the housing 10. It is provided with an outer fixing portion 40. The housing 10 has an opening 12 which is an annular portion around the axis x forming the opening 11. The bearing 30 has an inner ring 31 and an outer ring 32, and is formed so as to be attachable to the opening 12 of the housing 10.
　外固定部４０は、開口部１２の内周面１２ａに形成された環状の外被係合部４１と、ハウジング１０に形成された内周側に突出する環状の部分である外受部４２と、外被係合部４１に係合可能に形成された環状の外係合部４４を有する環状の部材である外固定体４３とを有している。外受部４２は、ハウジング１０において外被係合部４１よりも内側（矢印ｂ方向側）に形成されており、軸線ｘ方向において軸受３０の外輪３２と接触可能に形成されている。外固定体４３は、外係合部４４が外被係合部４１に係合された際に、軸線ｘ方向において軸受３０の外輪３２に接触可能に形成されている。以下、本発明の第１の実施の形態に係る減速機２の構成について具体的に説明する。 The outer fixing portion 40 includes an annular outer covering engaging portion 41 formed on the inner peripheral surface 12a of the opening 12 and an outer receiving portion 42 formed on the housing 10 and protruding toward the inner peripheral side. It has an outer fixing body 43 which is an annular member having an annular outer engaging portion 44 formed so as to be engaged with the outer covering portion 41. The outer receiving portion 42 is formed in the housing 10 on the inner side (side in the arrow b direction) of the outer engagement portion 41, and is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction. The outer fixing body 43 is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction when the outer engaging portion 44 is engaged with the outer covering portion 41. Hereinafter, the configuration of the speed reducer 2 according to the first embodiment of the present invention will be specifically described.
　図３は、ハウジング１０の分解斜視図である。図３に示すように、ハウジング１０は、具体的には、互いに別体である３つの部分から構成されており、軸支持部１０ａと、内歯部１０ｂと、連結部１０ｃとを有している。図２に示すように、軸支持部１０ａと、内歯部１０ｂと、連結部１０ｃとは互いに一体に組み立て可能に形成されている。なお、ハウジング１０は、軸支持部１０ａ、内歯部１０ｂ、及び連結部１０ｃのいずれか２つ又は全てが一体に形成されているものであってもよい。例えば、軸支持部１０ａと内歯部１０ｂとが一体に形成されていてもよい。 FIG. 3 is an exploded perspective view of the housing 10. As shown in FIG. 3, the housing 10 is specifically composed of three parts that are separate from each other, and has a shaft support portion 10a, an internal tooth portion 10b, and a connecting portion 10c. There is. As shown in FIG. 2, the shaft support portion 10a, the internal tooth portion 10b, and the connecting portion 10c are formed so as to be integrally assembled with each other. The housing 10 may have any two or all of the shaft support portion 10a, the internal tooth portion 10b, and the connecting portion 10c integrally formed. For example, the shaft support portion 10a and the internal tooth portion 10b may be integrally formed.
　図４は、ハウジング１０の軸支持部１０ａの軸線ｘに沿う断面における断面図である。軸支持部１０ａは、減速機２において、出力軸２０を支持する部分であり、上述のように、開口１１を形成する開口部１２と、外固定部４０の外被係合部４１及び外受部４２とを有している。軸支持部１０ａは、軸線ｘに沿って延びる筒状の部材であり、外側の端部に開口部１２を有している。開口部１２は、軸線ｘを中心軸とする略円筒状の部分である。開口部１２の内周に面する内周面１２ａには、外側から、外被係合部４１、逃げ溝１２ｂ、軸受嵌合面１２ｃ、及び外受部４２が形成されている。軸支持部１０ａの外受部４２よりも内側の部分である筒部１３は、内歯部１０ｂの挿入部１４が嵌め合い可能になっている。なお、開口１１は、開口部１２が取り囲む空間であり、ハウジング１０の外部の空間に接続する空間である。 FIG. 4 is a cross-sectional view of the shaft support portion 10a of the housing 10 along the axis x. The shaft support portion 10a is a portion that supports the output shaft 20 in the speed reducer 2, and as described above, the shaft support portion 10a is the portion that forms the opening 11, the outer cover engaging portion 41 of the outer fixing portion 40, and the outer receiver. It has a part 42. The shaft support portion 10a is a tubular member extending along the axis x, and has an opening 12 at an outer end portion. The opening 12 is a substantially cylindrical portion having an axis x as a central axis. The outer peripheral engaging portion 41, the relief groove 12b, the bearing fitting surface 12c, and the outer receiving portion 42 are formed on the inner peripheral surface 12a facing the inner circumference of the opening 12 from the outside. The insertion portion 14 of the internal tooth portion 10b can be fitted into the tubular portion 13 which is a portion inside the external receiving portion 42 of the shaft support portion 10a. The opening 11 is a space surrounded by the opening 12 and is a space connected to a space outside the housing 10.
　図４に示すように、外被係合部４１は、軸線ｘ周りに形成された雌ねじであり、内周面１２ａにおいて、外側の端縁１２ｄ又は端縁１２ｄ近傍から内側に延びている。逃げ溝１２ｂは、外被係合部４１に内側において隣接している外被係合部４１の加工のための逃げ溝である。軸受嵌合面１２ｃは、軸受３０の外輪３２を外周から支持するための面であり、軸線ｘを中心軸とする円筒面又は略円筒面である。軸受嵌合面１２ｃは、外輪３２が隙間嵌め、締り嵌め、又は中間嵌め可能に形成されている。軸受嵌合面１２ｃの内径は、外被係合部４１の内径よりも小さくなっている。外受部４２は、軸線ｘ周りに環状に延びる突起部であり、軸受嵌合面１２ｃよりも内周側に突出している。外受部４２は、軸受嵌合面１２ｃに直交又は略直交する軸線ｘを中心とする円環状又は略円環状の面である外受面４２ａを有している。外受面４２ａは、軸線ｘ方向において外側に面する平面又は略平面である。なお、外受部４２は、無端の環状ではなくてもよい。外受部４２は、例えば、軸線ｘを中心とする円上又は略円上に配置された、１つ又は複数の円弧状に延びる突出部であってもよい。 As shown in FIG. 4, the outer cover engaging portion 41 is a female screw formed around the axis x, and extends inward from the outer edge 12d or the vicinity of the edge 12d on the inner peripheral surface 12a. The relief groove 12b is a relief groove for processing the outer cover engaging portion 41 adjacent to the outer cover engaging portion 41 on the inside. The bearing fitting surface 12c is a surface for supporting the outer ring 32 of the bearing 30 from the outer circumference, and is a cylindrical surface or a substantially cylindrical surface centered on the axis x. The bearing fitting surface 12c is formed so that the outer ring 32 can be gap-fitted, tightened-fitted, or intermediate-fitted. The inner diameter of the bearing fitting surface 12c is smaller than the inner diameter of the outer engagement portion 41. The external receiving portion 42 is a protruding portion extending in an annular shape around the axis x, and projects toward the inner peripheral side of the bearing fitting surface 12c. The external receiving portion 42 has an external receiving surface 42a which is an annular or substantially annular surface centered on an axis x orthogonal to or substantially orthogonal to the bearing fitting surface 12c. The external receiving surface 42a is a plane or a substantially plane facing the outside in the axis x direction. The external receiving portion 42 does not have to be an endless ring. The external receiving portion 42 may be, for example, one or a plurality of arc-shaped protruding portions arranged on a circle or a substantially circle centered on the axis x.
　図５は、互いに結合された状態における軸支持部１０ａと内歯部１０ｂとの軸線ｘに沿う断面における断面図である。内歯部１０ｂは、軸線ｘを中心軸とする円筒状又は略円筒状の部材であり、上述のように、軸線ｘ方向において一方の側（外側）に、軸支持部１０ａの筒部１３内と嵌め合い可能に形成された挿入部１４を有している。また、挿入部１４に内側で隣接して、挿入部１４よりも外周側に突出する環状の部分である突部１５が形成されている。突部１５は、図５に示すように、挿入部１４が筒部１３内に挿入された際に、筒部１３の内側の端部１３ａと接触するように形成されており、軸支持部１０ａに対する軸線ｘ方向における内歯部１０ｂの位置を決めている。また、内歯部１０ｂの内周面１６には、後述する減速機２の有する遊星歯車機構４の有する遊星歯車６１が噛み合う内歯６２が形成されている。つまり、内歯部１０ｂは、遊星歯車機構４の内歯歯車となっている。図示の例においては、内歯部１０ｂの内周面１６の全体に内歯６２が形成されているが、内歯６２は内周面１６の一部に形成されていてもよい。 FIG. 5 is a cross-sectional view taken along the axis x of the shaft support portion 10a and the internal tooth portion 10b in a state of being connected to each other. The internal tooth portion 10b is a cylindrical or substantially cylindrical member with the axis x as the central axis, and as described above, on one side (outside) in the axis x direction, inside the tubular portion 13 of the shaft support portion 10a. It has an insertion portion 14 formed so as to be able to be fitted with. Further, a protrusion 15 which is an annular portion protruding inwardly adjacent to the insertion portion 14 and protruding toward the outer periphery from the insertion portion 14 is formed. As shown in FIG. 5, the protrusion 15 is formed so as to come into contact with the inner end portion 13a of the tubular portion 13 when the insertion portion 14 is inserted into the tubular portion 13, and the shaft support portion 10a. The position of the internal tooth portion 10b with respect to the axis x direction is determined. Further, on the inner peripheral surface 16 of the internal tooth portion 10b, an internal tooth 62 is formed in which the planetary gear 61 of the planetary gear mechanism 4 of the speed reducer 2 described later meshes with the planetary gear 61. That is, the internal tooth portion 10b is an internal tooth gear of the planetary gear mechanism 4. In the illustrated example, the internal teeth 62 are formed on the entire inner peripheral surface 16 of the internal tooth portion 10b, but the internal teeth 62 may be formed on a part of the inner peripheral surface 16.
　図５に示すように、軸支持部１０ａと内歯部１０ｂとが結合された状態において、外被係合部４１、軸受嵌合面１２ｃ、外受部４２の外受面４２ａ、及び内歯６２は、同心状又は略同心状に配置されるようになっている。 As shown in FIG. 5, in a state where the shaft support portion 10a and the internal tooth portion 10b are coupled, the outer cover engaging portion 41, the bearing fitting surface 12c, the external receiving surface 42a of the external receiving portion 42, and the internal teeth 62 are arranged concentrically or substantially concentrically.
　連結部１０ｃは、一端側にモータ３が接続可能になっており、また、他端側に図２に示すように、内歯部１０ｂの内側の端部が結合可能に形成されている。連結部１０ｃは、モータ３の出力軸を遊星歯車機構４に連結可能にするような構成を有している。例えば、図２に示すように、モータ３の出力軸が連結される連結軸１７が軸受１８によって軸線ｘを中心又は略中心に回動可能に支持されている。連結軸１７は、後述する遊星歯車機構４の太陽歯車６５に結合されている。 The motor 3 can be connected to one end side of the connecting portion 10c, and the inner end portion of the internal tooth portion 10b is formed to be connectable on the other end side as shown in FIG. The connecting portion 10c has a configuration that enables the output shaft of the motor 3 to be connected to the planetary gear mechanism 4. For example, as shown in FIG. 2, the connecting shaft 17 to which the output shaft of the motor 3 is connected is rotatably supported by the bearing 18 about the axis x at the center or substantially the center. The connecting shaft 17 is coupled to the sun gear 65 of the planetary gear mechanism 4, which will be described later.
　図６，７は、出力軸２０の斜視図であり、図６は、出力軸２０を外側から見た斜視図であり、図７は、出力軸２０を内側から見た斜視図である。図６，７に示すように、出力軸２０は基部２１を有しており、基部２１は、軸線ｘに沿って延びる軸受３０の内輪３１内に挿入可能な部分である挿入部２２を有している。 6 and 7 are perspective views of the output shaft 20, FIG. 6 is a perspective view of the output shaft 20 viewed from the outside, and FIG. 7 is a perspective view of the output shaft 20 viewed from the inside. As shown in FIGS. 6 and 7, the output shaft 20 has a base portion 21, and the base portion 21 has an insertion portion 22 which is a portion that can be inserted into the inner ring 31 of the bearing 30 extending along the axis x. ing.
　基部２１は、挿入部２２よりも外周側に突出する部分であるフランジ部２３を少なくとも１つ有している。図示の例においては、３つのフランジ部２３が設けられている。フランジ部２３は、挿入部２２よりも外周に広がる、軸線ｘに直交する平面に沿って延びる平面又は略平面である内受面２３ａを有している。内受面２３ａは、軸線ｘ方向において外側に面している。フランジ部２３は、後述する軸受３０を出力軸２０に固定するための内固定部５０の内受部であり、内受面２３ａは、図２に示す減速機２の組み立て状態において、軸受３０の内輪３１の内側端面３１ａと接触するように形成されている。 The base portion 21 has at least one flange portion 23 which is a portion protruding toward the outer peripheral side from the insertion portion 22. In the illustrated example, three flange portions 23 are provided. The flange portion 23 has an inner receiving surface 23a which is a plane or a substantially plane extending along a plane orthogonal to the axis x, which extends to the outer periphery of the insertion portion 22. The inner receiving surface 23a faces outward in the axis x direction. The flange portion 23 is an internal receiving portion of the internal fixing portion 50 for fixing the bearing 30 described later to the output shaft 20, and the internal receiving surface 23a is the bearing 30 in the assembled state of the speed reducer 2 shown in FIG. It is formed so as to come into contact with the inner end surface 31a of the inner ring 31.
　挿入部２２は、フランジ部２３から外側に突出する中空円盤状又は円筒状の部分であり、外周側に面する面である外周面２２ａを有している。外周面２２ａは、軸線ｘに沿って延びる円筒面又は略円筒面である。挿入部２２は、軸受３０の内輪３１内に挿入可能になっており、外周面２２ａは、内輪３１の内周側に面する面である内周面３１ｂと同じ又は略同じ径となっている。挿入部２２は、内輪３１に締まり嵌めされるものであってもよく、内輪３１に隙間嵌めされるものであってもよく、内輪３１に中間嵌めされるものであってもよい。また、挿入部２２は、軸線ｘ方向において外側に面する外側の端において広がる面である端面２２ｂを有している。 The insertion portion 22 is a hollow disk-shaped or cylindrical portion protruding outward from the flange portion 23, and has an outer peripheral surface 22a which is a surface facing the outer peripheral side. The outer peripheral surface 22a is a cylindrical surface or a substantially cylindrical surface extending along the axis x. The insertion portion 22 can be inserted into the inner ring 31 of the bearing 30, and the outer peripheral surface 22a has the same or substantially the same diameter as the inner peripheral surface 31b, which is a surface facing the inner peripheral side of the inner ring 31. .. The insertion portion 22 may be tightly fitted to the inner ring 31, may be gap-fitted to the inner ring 31, or may be intermediately fitted to the inner ring 31. Further, the insertion portion 22 has an end surface 22b which is a surface that spreads at the outer end facing the outside in the axis x direction.
　図２，６に示すように、挿入部２２は、中空になっており、中央を貫通する空間２４が形成されている。また、この空間２４は、基部２１にまで達している。このため、出力軸２０の容積を低減させることができ、出力軸２０の重量を低減させることができ、出力軸２０が軽量化されている。なお、空間２４は、出力軸２０を貫通していてもよい。 As shown in FIGS. 2 and 6, the insertion portion 22 is hollow, and a space 24 penetrating the center is formed. Further, this space 24 reaches the base 21. Therefore, the volume of the output shaft 20 can be reduced, the weight of the output shaft 20 can be reduced, and the weight of the output shaft 20 is reduced. The space 24 may penetrate the output shaft 20.
　また、図６，７に示すように、基部２１には、軸線ｘに沿って延びる孔（軸孔２５）が３つ形成されている。軸孔２５には、図２に示すように、後述する遊星歯車機構４の遊星歯車６１の回転軸６１ａが挿入され固定される。このため、基部２１に形成される軸孔２５は、遊星歯車機構４の遊星歯車６１の数に対応している。このように、出力軸２０の基部２１は、遊星歯車機構４において遊星歯車６１のキャリアとなっている。 Further, as shown in FIGS. 6 and 7, three holes (shaft holes 25) extending along the axis x are formed in the base portion 21. As shown in FIG. 2, the rotating shaft 61a of the planetary gear 61 of the planetary gear mechanism 4 described later is inserted and fixed in the shaft hole 25. Therefore, the shaft hole 25 formed in the base portion 21 corresponds to the number of planetary gears 61 of the planetary gear mechanism 4. As described above, the base 21 of the output shaft 20 serves as a carrier of the planetary gear 61 in the planetary gear mechanism 4.
　なお、図示の例においては、出力軸２０の基部２１は３つフランジ部２３を有しているが、基部２１はフランジ部２３を１つ又は２つのみ有していてもよく、また、フランジ部２３を４つ以上有していてもよい。また、フランジ部２３は、挿入部２２の外周面２２ａの全周を取り囲むように突出した１つの環状の部分であってもよい。 In the illustrated example, the base 21 of the output shaft 20 has three flanges 23, but the base 21 may have only one or two flanges 23, and the flange. It may have four or more portions 23. Further, the flange portion 23 may be one annular portion protruding so as to surround the entire circumference of the outer peripheral surface 22a of the insertion portion 22.
　図８は、外固定体４３の正面図であり、図９は、外固定体４３の側面図であり、図１０は、外固定体４３を内側から見た斜視図である。図８～１０に示すように、外固定体４３は、軸線ｘ周りの環状の部材であり、より具体的には、軸線ｘを中心とする円環状又は略円環状の部材である。 FIG. 8 is a front view of the external fixation body 43, FIG. 9 is a side view of the external fixation body 43, and FIG. 10 is a perspective view of the external fixation body 43 as viewed from the inside. As shown in FIGS. 8 to 10, the external fixation body 43 is an annular member around the axis x, and more specifically, an annular member or a substantially annular member centered on the axis x.
　図９，１０に示すように、外固定体４３は、軸線ｘ方向において内側に面する環状の面（内側面４５）を有している。内側面４５は、外周側の部分において内側にずれている。つまり、内側面４５は、内周側の円環状の面を形成するカバー面４５ａと、カバー面４５ａの外周側に広がる円環状の面を形成する端面４５ｂとを有している。カバー面４５ａは、軸線ｘに直交する平面に沿う平面又は略平面であり、端面４５ｂは、軸線ｘに直交する平面に沿う平面又は略平面である。端面４５ｂは、軸線ｘ方向においてカバー面４５ａよりも内側に位置しており、カバー面４５ａと端面４５ｂとの間には、軸線ｘ方向における段差（段差４５ｃ）が形成されている。 As shown in FIGS. 9 and 10, the outer fixing body 43 has an annular surface (inner side surface 45) facing inward in the axis x direction. The inner side surface 45 is displaced inward in the outer peripheral side portion. That is, the inner side surface 45 has a cover surface 45a forming an annular surface on the inner peripheral side and an end surface 45b forming an annular surface extending on the outer peripheral side of the cover surface 45a. The cover surface 45a is a plane or a substantially plane along a plane orthogonal to the axis x, and the end surface 45b is a plane or a substantially plane along a plane orthogonal to the axis x. The end surface 45b is located inside the cover surface 45a in the axis x direction, and a step (step 45c) in the axis x direction is formed between the cover surface 45a and the end surface 45b.
　また、図８～１０に示すように、外固定体４３の外周側に面する外周面は上述の外係合部４４となっており、外固定体４３の外周面には外係合部４４が形成されている。外係合部４４は、例えば、雄ねじであり、外係合部４４としての雄ねじは、ハウジング１０の軸支持部１０ａの開口部１２に形成された外被係合部４１としての雌ねじに螺合可能になっている。なお、雄ねじとしての外係合部４４は、外固定体４３の外周面の全体に形成されていてもよく、一部に形成されていてもよい。 Further, as shown in FIGS. 8 to 10, the outer peripheral surface of the outer fixing body 43 facing the outer peripheral side is the above-mentioned outer engaging portion 44, and the outer peripheral surface of the outer fixing body 43 is the outer engaging portion 44. Is formed. The outer engaging portion 44 is, for example, a male screw, and the male screw as the outer engaging portion 44 is screwed into the female screw as the outer engaging portion 41 formed in the opening 12 of the shaft support portion 10a of the housing 10. It is possible. The outer engaging portion 44 as a male screw may be formed on the entire outer peripheral surface of the outer fixing body 43, or may be formed on a part thereof.
　また、図８に示すように、外固定体４３の外側に面する面（外側面４６）は、軸線ｘに直交する平面に沿う平面又は略平面となっている。外側面４６は、内側面４５のカバー面４５ａと端面４５ｂとに背向するように広がっている。外側面４６には、外固定体４３の取り付けのために外固定体４３を回転されるための工具が係合する溝４６ａが形成されている。 Further, as shown in FIG. 8, the surface (outer surface 46) facing the outside of the external fixation body 43 is a plane or a substantially plane along a plane orthogonal to the axis x. The outer side surface 46 extends so as to face back to the cover surface 45a and the end surface 45b of the inner side surface 45. A groove 46a is formed on the outer side surface 46 with which a tool for rotating the outer fixing body 43 is engaged for attaching the outer fixing body 43.
　図２に示すように、外固定体４３の端面４５ｂは、軸受３０の外輪３２の外側の端面（外側端面３２ａ）に対応している。つまり、減速機２において、外固定体４３の外係合部４４がハウジング１０の外被係合部４１に螺合されて外固定体４３がハウジング１０の開口部１２に取り付けられると、外固定体４３の端面４５ｂと外輪３２の外側端面３２ａとが軸線ｘ方向において互いに接触するようになっている。 As shown in FIG. 2, the end surface 45b of the outer fixation body 43 corresponds to the outer end surface (outer end surface 32a) of the outer ring 32 of the bearing 30. That is, in the speed reducer 2, when the outer engaging portion 44 of the outer fixing body 43 is screwed into the outer engaging portion 41 of the housing 10 and the outer fixing body 43 is attached to the opening 12 of the housing 10, the external fixing is performed. The end face 45b of the body 43 and the outer end face 32a of the outer ring 32 come into contact with each other in the axis x direction.
　次いで、減速機２の有する内固定部５０について説明する。減速機２は、軸受３０を出力軸２０に固定するための内固定部５０を更に備えている。内固定部５０は、出力軸２０に形成された外周側に突出する部分である内受部としての上述のフランジ部２３と、出力軸２０に固定可能に形成された円盤状の部材である内固定体５１とを有している。内受部としてのフランジ部２３は、軸線ｘ方向において軸受３０の内輪３１と接触可能に形成されており、上述のように内受面２３ａを有している。 Next, the internal fixing portion 50 of the speed reducer 2 will be described. The speed reducer 2 further includes an internal fixing portion 50 for fixing the bearing 30 to the output shaft 20. The inner fixing portion 50 is the above-mentioned flange portion 23 as an inner receiving portion formed on the output shaft 20 and projecting to the outer peripheral side, and the inner fixing portion 50 is a disk-shaped member formed so as to be fixed to the output shaft 20. It has a fixed body 51. The flange portion 23 as the inner receiving portion is formed so as to be in contact with the inner ring 31 of the bearing 30 in the axis x direction, and has the inner receiving surface 23a as described above.
　図２に示すように、内固定体５１は、出力軸２０の挿入部２２に固定可能に形成されており、挿入部２２に固定された際に、軸線ｘ方向において軸受３０の内輪３１に接触可能に形成された外周側の端部５２を有している。図１１，１２は、内固定体５１の斜視図であり、図１１は、内固定体５１を内側から見た斜視図であり、図１２は、内固定体５１を外側から見た斜視図である。図１１に示すように、内固定体５１は、具体的には、円盤状の形状を有しており、軸線ｘ方向において内側に面する面（内側面５３）は、外周側の端部５２において外側にずれている。つまり、内側面５３は、内周側の円形又は略円形の面を形成する挿入面５３ａと、挿入面５３ａの外周側に広がる円環状の面を形成する端面５３ｂとを有している。挿入面５３ａは、軸線ｘに直交する平面に沿う平面又は略平面であり、端面５３ｂは、軸線ｘに直交する平面に沿う平面又は略平面である。端面５３ｂは、端部５２において、軸線ｘ方向内側に面する面である。端面５３ｂは、軸線ｘ方向において挿入面５３ａよりも外側に位置しており、挿入面５３ａと端面５３ｂとの間には、軸線ｘ方向における段差（段差５３ｃ）が形成されている。 As shown in FIG. 2, the inner fixing body 51 is formed so as to be fixed to the insertion portion 22 of the output shaft 20, and when fixed to the insertion portion 22, comes into contact with the inner ring 31 of the bearing 30 in the axis x direction. It has a possibly formed outer peripheral end 52. 11 and 12 are perspective views of the internal fixation body 51, FIG. 11 is a perspective view of the internal fixation body 51 viewed from the inside, and FIG. 12 is a perspective view of the internal fixation body 51 viewed from the outside. is there. As shown in FIG. 11, the internal fixing body 51 specifically has a disk-like shape, and the surface facing inward in the axis x direction (inner side surface 53) is the end portion 52 on the outer peripheral side. Is shifted to the outside. That is, the inner side surface 53 has an insertion surface 53a that forms a circular or substantially circular surface on the inner peripheral side, and an end surface 53b that forms an annular surface that extends to the outer peripheral side of the insertion surface 53a. The insertion surface 53a is a plane or a substantially plane along a plane orthogonal to the axis x, and the end surface 53b is a plane or a substantially plane along a plane orthogonal to the axis x. The end surface 53b is a surface of the end portion 52 that faces inward in the x-direction of the axis. The end surface 53b is located outside the insertion surface 53a in the axis x direction, and a step (step 53c) in the axis x direction is formed between the insertion surface 53a and the end surface 53b.
　図２に示すように、挿入面５３ａは、出力軸２０の端面２２ｂに対応しており、減速機２において、挿入面５３ａと端面２２ｂとが軸線ｘ方向において互いに対向して又は接触して、出力軸２０に内固定体５１が取り付けられるようになっている。そして、端面５３ｂは、減速機２において、出力軸２０に内固定体５１が取り付けられた際に、軸受３０の内輪３１の外側端面３１ｃに接触するようになっている。 As shown in FIG. 2, the insertion surface 53a corresponds to the end surface 22b of the output shaft 20, and in the speed reducer 2, the insertion surface 53a and the end surface 22b face each other or come into contact with each other in the axis x direction. The internal fixation body 51 is attached to the output shaft 20. The end face 53b comes into contact with the outer end face 31c of the inner ring 31 of the bearing 30 when the inner fixing body 51 is attached to the output shaft 20 in the speed reducer 2.
　また、図１２に示すように、内固定体５１の外側に面する面（外側面５４）は、軸線ｘに直交する平面に沿う平面又は略平面である。内固定体５１の中央には、外側面５４から空間５５が軸線ｘに沿って内側に延びている。空間５５は、内側面５３にまで達していない。この空間５５により、内固定体５１の容積を低減させることができ、内固定体５１の重量を低減させることができ、内固定体５１が軽量化されている。空間５５は、内固定体５１を貫通していてもよい。 Further, as shown in FIG. 12, the surface facing the outside of the internal fixation body 51 (outer surface 54) is a plane or a substantially plane along a plane orthogonal to the axis x. At the center of the internal fixation body 51, a space 55 extends inward from the outer surface 54 along the axis x. The space 55 does not reach the inner surface 53. With this space 55, the volume of the internal fixing body 51 can be reduced, the weight of the internal fixing body 51 can be reduced, and the weight of the internal fixing body 51 is reduced. The space 55 may penetrate the internal fixation body 51.
　また、図１１，１２に示すように、内固定体５１には、内固定体５１を出力軸２０に固定するためのボルト及び平行ピンが挿入されるボルト孔５６及びピン孔５７が形成されている。ボルト孔５６及びピン孔５７は貫通孔となっている。図６に示すように、出力軸２０の挿入部２２の端面２２ｂには、内固定体５１のボルト孔５６及びピン孔５７に対応したボルト孔２６及びピン孔２７が形成されている。出力軸２０のボルト孔２６はねじ孔となっている。内固定体５１には、ボルト孔５６又はピン孔５７が形成されていてもよく、対応して、出力軸２０には、ボルト孔２６又はピン孔２７が形成されていてもよい。図１３に示すボルト５８と共に平行ピン５９によって内固定体５１と出力軸２０とを固定した場合、平行ピン５９の固定により内固定体５１の伝達トルクを大きくすることができる。 Further, as shown in FIGS. 11 and 12, the inner fixing body 51 is formed with bolt holes 56 and pin holes 57 into which bolts and parallel pins for fixing the inner fixing body 51 to the output shaft 20 are inserted. There is. The bolt hole 56 and the pin hole 57 are through holes. As shown in FIG. 6, a bolt hole 26 and a pin hole 27 corresponding to the bolt hole 56 and the pin hole 57 of the internal fixing body 51 are formed on the end surface 22b of the insertion portion 22 of the output shaft 20. The bolt hole 26 of the output shaft 20 is a screw hole. The internal fixing body 51 may be formed with a bolt hole 56 or a pin hole 57, and correspondingly, the output shaft 20 may be formed with a bolt hole 26 or a pin hole 27. When the internal fixing body 51 and the output shaft 20 are fixed by the parallel pin 59 together with the bolt 58 shown in FIG. 13, the transmission torque of the internal fixing body 51 can be increased by fixing the parallel pin 59.
　このように、内固定体５１は、出力軸２０の出力側の端部に取り付けられ、減速機２において、力伝達経路の出力側の端に位置することになる。このため、内固定体５１は、減速機２が接続される外部機器に接続される出力フランジとしても機能する。減速機２においては、減速機２が取り付けられる外部機器に応じて種々の大きさや形状の内固定体５１を選択的に取り付けることができる。 In this way, the internal fixation body 51 is attached to the output side end of the output shaft 20 and is located at the output side end of the force transmission path in the speed reducer 2. Therefore, the internal fixing body 51 also functions as an output flange connected to an external device to which the speed reducer 2 is connected. In the speed reducer 2, the internal fixation body 51 of various sizes and shapes can be selectively attached according to the external device to which the speed reducer 2 is attached.
　図２に示すように、減速機２は遊星歯車機構４を有している。例えば、遊星歯車機構４は、２段の減速機構となっており、第１段の減速機構である太陽歯車６５及び遊星歯車６４と、第２段の減速機構である太陽歯車６３及び遊星歯車６１とを有している。第１段の減速機構及び第２段の減速機構は、内歯歯車として共通の内歯６２を有している。 As shown in FIG. 2, the speed reducer 2 has a planetary gear mechanism 4. For example, the planetary gear mechanism 4 has a two-stage reduction mechanism, that is, the first-stage reduction mechanism, the sun gear 65 and the planet gear 64, and the second-stage reduction mechanism, the sun gear 63 and the planet gear 61. And have. The first-stage deceleration mechanism and the second-stage deceleration mechanism have common internal teeth 62 as internal gears.
　第１段の太陽歯車６５は、ハウジング１０の連結部１０ｃの連結軸１７に同軸に固定されており、軸線ｘ周りに回動可能になっている。太陽歯車６５の周りには少なくとも１つの遊星歯車６４が配設されている。本例においては３つの遊星歯車６４が配設されている。遊星歯車６４は、太陽歯車６５と内歯６２とに噛み合っている。遊星歯車６４は、キャリア６６に回転軸６４ａを介して自転可能に支持されており、キャリア６６は軸線ｘ周りに回動可能になっている。これにより、モータ３の出力が連結軸１７に伝達されると、太陽歯車６５の回転駆動力が遊星歯車６４に伝達され、遊星歯車６４が自転し、遊星歯車６４はこの自転に伴って内歯６２に噛み合いながら軸線ｘ周りに公転する。この遊星歯車６４の公転によりキャリア６６が軸線ｘ周りに回転する。キャリア６６からは減速された回転力が伝達可能になる。 The first-stage sun gear 65 is coaxially fixed to the connecting shaft 17 of the connecting portion 10c of the housing 10 and is rotatable around the axis x. At least one planetary gear 64 is arranged around the sun gear 65. In this example, three planetary gears 64 are arranged. The planetary gear 64 meshes with the sun gear 65 and the internal teeth 62. The planetary gear 64 is rotatably supported by a carrier 66 via a rotation shaft 64a, and the carrier 66 is rotatable around an axis x. As a result, when the output of the motor 3 is transmitted to the connecting shaft 17, the rotational driving force of the sun gear 65 is transmitted to the planetary gear 64, the planetary gear 64 rotates, and the planetary gear 64 rotates with the internal teeth. It revolves around the axis x while meshing with 62. The carrier 66 rotates around the axis x due to the revolution of the planetary gear 64. The reduced rotational force can be transmitted from the carrier 66.
　第２段の太陽歯車６３は、キャリア６６の外側に同軸に固定されており、キャリア６６の回動に伴って軸線ｘ周りに回動可能になっている。太陽歯車６３の周りには、上述のように、太陽歯車６５と内歯６２とに噛み合っている遊星歯車６１が３つ配設されており、遊星歯車６１は、出力軸２０の基部２１に回転軸６１ａを介して自転可能に支持されている。図２に示すように、回転軸６１ａは、出力軸２０の基部２１の内側面２１ａから内側に突出しており、遊星歯車６１は、基部２１の内側に配設されている。基部２１の内側面２１ａは、図７に示すように、基部２１の内側に面する面である。 The second-stage sun gear 63 is coaxially fixed to the outside of the carrier 66, and can rotate around the axis x as the carrier 66 rotates. As described above, three planetary gears 61 that mesh with the sun gear 65 and the internal teeth 62 are arranged around the sun gear 63, and the planetary gear 61 rotates on the base 21 of the output shaft 20. It is supported so as to be rotatable via a shaft 61a. As shown in FIG. 2, the rotating shaft 61a projects inward from the inner side surface 21a of the base 21 of the output shaft 20, and the planetary gear 61 is arranged inside the base 21. As shown in FIG. 7, the inner side surface 21a of the base portion 21 is a surface facing the inside of the base portion 21.
　これにより、太陽歯車６３の回転駆動力が遊星歯車６１に伝達され、遊星歯車６１が自転し、遊星歯車６１はこの自転に伴って内歯６２に噛み合いながら軸線ｘ周りに公転する。この遊星歯車６１の公転により出力軸２０が軸線ｘ周りに回転する。出力軸２０からは減速された回転力が伝達可能になる。 As a result, the rotational driving force of the sun gear 63 is transmitted to the planetary gear 61, the planetary gear 61 rotates, and the planetary gear 61 revolves around the axis x while meshing with the internal teeth 62 along with this rotation. The revolution of the planetary gear 61 causes the output shaft 20 to rotate around the axis x. The reduced rotational force can be transmitted from the output shaft 20.
　図１３は、外固定部４０による軸受３０のハウジング１０における固定の様子を示すための、減速機２の部分分解断面図であり、図１４は、外固定部４０による軸受３０のハウジング１０における固定の様子を示すための、減速機２の部分断面図である。 FIG. 13 is a partially disassembled sectional view of the speed reducer 2 for showing the state of fixing the bearing 30 in the housing 10 by the external fixing portion 40, and FIG. 14 is a partial disassembled sectional view of the reduction gear 2 in which the bearing 30 is fixed in the housing 10 by the external fixing portion 40. It is a partial cross-sectional view of the speed reducer 2 for showing the state of.
　図１３，１４に示すように、内側から出力軸２０の挿入部２２が軸受３０の内輪３１内に挿入され、外側から内固定体５１の挿入面５３ａの部分が内輪３１内に挿入され、ボルト５８及び平行ピン５９により、出力フランジでもある内固定体５１が出力軸２０に固定される。この際、ボルト５８による締結により、内固定体５１と出力軸２０とには、軸線ｘ方向において互いに近づく方向に締結力が加わる。このため、出力軸２０のフランジ部２３の内受面２３ａは内輪３１の内側端面３１ａに押し付けられ、一方、内固定体５１の端面５３ｂは内輪３１の外側端面３１ｃに押し付けられ、内固定体５１の端面５３ｂと出力軸２０のフランジ部２３の内受面２３ａとの間に内輪３１が挟持される。これにより、出力軸２０が軸受３０に固定される。フランジ部２３の内受面２３ａと内固定体５１の端面５３ｂとの間に内輪３１が挟持されるように、内固定体５１の段差５３ｃや出力軸２０の挿入部２２の軸線ｘ方向の幅が調整されている。 As shown in FIGS. 13 and 14, the insertion portion 22 of the output shaft 20 is inserted into the inner ring 31 of the bearing 30 from the inside, and the portion of the insertion surface 53a of the inner fixing body 51 is inserted into the inner ring 31 from the outside, and the bolt is inserted. The inner fixing body 51, which is also an output flange, is fixed to the output shaft 20 by the 58 and the parallel pin 59. At this time, by fastening with the bolt 58, a fastening force is applied to the internal fixing body 51 and the output shaft 20 in a direction approaching each other in the axis x direction. Therefore, the inner receiving surface 23a of the flange portion 23 of the output shaft 20 is pressed against the inner end surface 31a of the inner ring 31, while the end surface 53b of the inner fixing body 51 is pressed against the outer end surface 31c of the inner ring 31, and the inner fixing body 51 The inner ring 31 is sandwiched between the end surface 53b and the inner receiving surface 23a of the flange portion 23 of the output shaft 20. As a result, the output shaft 20 is fixed to the bearing 30. The width of the step 53c of the inner fixing body 51 and the insertion portion 22 of the output shaft 20 in the axis x direction so that the inner ring 31 is sandwiched between the inner receiving surface 23a of the flange portion 23 and the end surface 53b of the inner fixing body 51. Has been adjusted.
　また、図１３，１４に示すように、軸受３０の外輪３２は、ハウジング１０の軸支持部１０ａの開口部１２の軸受嵌合面１２ｃに嵌められ、外輪３２の内側端面３２ｂが外受部４２の外受面４２ａに接触するまで軸受３０が軸受嵌合面１２ｃ内に挿入される。そして、外固定体４３の雄ねじである外係合部４４がハウジング１０の開口部１２の雌ねじである外被係合部４１に螺合させられ、外固定体４３を回転させて外固定体４３を内側に移動させていく。外固定体４３の端面４５ｂが軸受３０の外輪３２の外側端面３２ａに接触するまで外固定体４３を回転させると、外固定体４３がハウジング１０に固定される。これにより、外固定体４３の端面４５ｂは外輪３２の外側端面３２ａに押し付けられ、一方、ハウジング１０の外受部４２の外受面４２ａは外輪３２の内側端面３２ｂに押し付けられ、外固定体４３の端面４５ｂと外受部４２の外受面４２ａとの間に外輪３２が挟持される。これにより、出力軸２０が固定された軸受３０がハウジング１０に固定され、出力軸２０がハウジング１０に固定される。なお、外固定体４３の端面４５ｂとハウジング１０の外受部４２の外受面４２ａとの間に外輪３２が挟持されるように、ハウジング１０における外被係合部４１と外受面４２ａとの間の軸線ｘ方向の間隔や、外固定体４３の段差４５ｃの軸線ｘ方向の幅が調整されている。 Further, as shown in FIGS. 13 and 14, the outer ring 32 of the bearing 30 is fitted to the bearing fitting surface 12c of the opening 12 of the shaft support portion 10a of the housing 10, and the inner end surface 32b of the outer ring 32 is the outer receiving portion 42. The bearing 30 is inserted into the bearing fitting surface 12c until it comes into contact with the external receiving surface 42a. Then, the outer engaging portion 44, which is a male screw of the outer fixing body 43, is screwed into the outer covering portion 41, which is a female screw of the opening 12 of the housing 10, and the outer fixing body 43 is rotated to rotate the outer fixing body 43. To move inward. When the outer fixing body 43 is rotated until the end surface 45b of the outer fixing body 43 comes into contact with the outer end surface 32a of the outer ring 32 of the bearing 30, the outer fixing body 43 is fixed to the housing 10. As a result, the end surface 45b of the outer fixing body 43 is pressed against the outer end surface 32a of the outer ring 32, while the outer receiving surface 42a of the outer receiving portion 42 of the housing 10 is pressed against the inner end surface 32b of the outer ring 32, and the outer fixing body 43 The outer ring 32 is sandwiched between the end surface 45b of the housing and the external receiving surface 42a of the external receiving portion 42. As a result, the bearing 30 to which the output shaft 20 is fixed is fixed to the housing 10, and the output shaft 20 is fixed to the housing 10. The outer ring 32 is sandwiched between the end surface 45b of the external fixation body 43 and the outer receiving surface 42a of the outer receiving portion 42 of the housing 10, and the outer covering engaging portion 41 and the outer receiving surface 42a of the housing 10 are sandwiched. The distance between the two in the axis x direction and the width of the step 45c of the external fixation body 43 in the axis x direction are adjusted.
　駆動装置１は、図１に示すように、モータ３が減速機２に接続されて形成されている。モータ３は、減速機２の連結軸１７に連結可能であり、また、連結軸１７を回転駆動させるものであればいずれのモータであってもよい。 As shown in FIG. 1, the drive device 1 is formed by connecting the motor 3 to the speed reducer 2. The motor 3 can be connected to the connecting shaft 17 of the speed reducer 2, and may be any motor as long as the connecting shaft 17 is rotationally driven.
　このように、本発明の第１の実施の形態に係る駆動装置１及び減速機２によれば、外固定体４３自体をハウジング１０に係合させるだけで、出力軸２０が固定された軸受３０をハウジング１０に固定することができ、出力軸２０をハウジング１０に固定することができる。このように、本発明の第１の実施の形態に係る減速機２によれば、外固定体４３のハウジング１０への固定のために、ボルト等の締結部材を別部材として必要とすることがなく、簡易な構成で出力軸２０をハウジング１０に固定することができる。また、外固定体４３のハウジング１０への固定は、外固定体４３自体をハウジング１０に係合させるだけでなされるため、外固定体４３のハウジング１０への固定のために、ボルト等の締結部材を別部材として必要とすることがなく、ハウジング１０や外固定体４３の径方向の厚みを低減することができる。また、減速機２の軸線ｘ方向における長さを低減することができる。また、外固定体４３は、カバー面４５ａの部分において、外固定体４３と内固定体５１との間の環状の空間を覆うことができ、減速機２内への異物の進入を防止することができる。 As described above, according to the drive device 1 and the speed reducer 2 according to the first embodiment of the present invention, the bearing 30 to which the output shaft 20 is fixed is obtained only by engaging the outer fixed body 43 itself with the housing 10. Can be fixed to the housing 10, and the output shaft 20 can be fixed to the housing 10. As described above, according to the speed reducer 2 according to the first embodiment of the present invention, a fastening member such as a bolt may be required as a separate member for fixing the external fixing body 43 to the housing 10. The output shaft 20 can be fixed to the housing 10 with a simple configuration. Further, since the external fixing body 43 is fixed to the housing 10 only by engaging the external fixing body 43 itself with the housing 10, bolts or the like are fastened to fix the external fixing body 43 to the housing 10. The thickness of the housing 10 and the external fixation body 43 in the radial direction can be reduced without requiring a member as a separate member. Further, the length of the speed reducer 2 in the axis x direction can be reduced. Further, the outer fixing body 43 can cover the annular space between the outer fixing body 43 and the inner fixing body 51 at the portion of the cover surface 45a, and prevents foreign matter from entering the speed reducer 2. Can be done.
　また、出力軸２０を内固定体５１によって軸受３０に固定した後に、軸受３０をハウジング１０に固定することにより、出力軸２０をハウジング１０に固定することができる。このため、出力軸２０の固定を容易にすることができ、また、出力軸２０の取り付け位置の高い精度を確保することができる。 Further, the output shaft 20 can be fixed to the housing 10 by fixing the output shaft 20 to the bearing 30 by the internal fixing body 51 and then fixing the bearing 30 to the housing 10. Therefore, the output shaft 20 can be easily fixed, and the mounting position of the output shaft 20 can be secured with high accuracy.
　このように、本発明の第１の実施の形態に係る減速機２によれば、出力軸を支持する軸受をハウジングに固定する構造を簡単にすることができる。 As described above, according to the speed reducer 2 according to the first embodiment of the present invention, the structure for fixing the bearing supporting the output shaft to the housing can be simplified.
　次いで、本発明の第２の実施の形態に係る駆動装置５及び減速機６について説明する。図１５は、本発明の第２の実施の形態に係る駆動装置５の概略構成を示す斜視図である。駆動装置５は、減速機６とモータ３とを有している。図１６は、本発明の第２の実施の形態に係る減速機６の軸線ｘに沿う断面における断面図である。以下、減速機６について、上述の本発明の第１の実施の形態に係る減速機２と同一の構成又は類似する機能を有する構成については、同一の符号を付してその説明を省略する。 Next, the drive device 5 and the speed reducer 6 according to the second embodiment of the present invention will be described. FIG. 15 is a perspective view showing a schematic configuration of a drive device 5 according to a second embodiment of the present invention. The drive device 5 has a speed reducer 6 and a motor 3. FIG. 16 is a cross-sectional view taken along the axis x of the speed reducer 6 according to the second embodiment of the present invention. Hereinafter, the description of the speed reducer 6 will be omitted with reference to the same reference numerals and the same components as those of the speed reducer 2 according to the first embodiment of the present invention described above.
　本発明の第２の実施の形態に係る減速機６は、ハウジング１１０と、出力軸１２０と、ハウジング１１０において出力軸１２０を回動可能に支持するための軸受３０と、軸受３０をハウジング１１０において固定するための外固定部４０とを備えている。ハウジング１１０は、開口１１１を形成する軸線ｘ周りに環状の部分である開口部１１２を有している。軸受３０は、ハウジング１１０の開口部１１２に取り付け可能に形成されている。 The speed reducer 6 according to the second embodiment of the present invention includes a housing 110, an output shaft 120, a bearing 30 for rotatably supporting the output shaft 120 in the housing 110, and a bearing 30 in the housing 110. It is provided with an outer fixing portion 40 for fixing. The housing 110 has an opening 112 that is an annular portion about the axis x that forms the opening 111. The bearing 30 is formed so as to be attached to the opening 112 of the housing 110.
　外固定部４０は、開口部１１２の内周面１１２ａに形成された環状の外被係合部４１と、ハウジング１１０に形成された内周側に突出する環状の部分である外受部１４２と、外係合部４４を有する外固定体４３とを有している。外受部１４２は、ハウジング１０において外被係合部４１よりも内側に形成されており、軸線ｘ方向において軸受３０の外輪３２と接触可能に形成されている。外固定体４３は、外係合部４４が外被係合部４１に係合された際に、軸線ｘ方向において軸受３０の外輪３２に接触可能に形成されている。以下、本発明の第２の実施の形態に係る減速機６の構成について具体的に説明する。 The outer fixing portion 40 includes an annular outer cover engaging portion 41 formed on the inner peripheral surface 112a of the opening 112, and an outer receiving portion 142 formed on the housing 110 and protruding toward the inner peripheral side. It has an outer fixing body 43 having an outer engaging portion 44. The outer receiving portion 142 is formed inside the outer engagement portion 41 in the housing 10, and is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction. The outer fixing body 43 is formed so as to be in contact with the outer ring 32 of the bearing 30 in the axis x direction when the outer engaging portion 44 is engaged with the outer covering portion 41. Hereinafter, the configuration of the speed reducer 6 according to the second embodiment of the present invention will be specifically described.
　図１７は、ハウジング１１０の分解斜視図である。図１７に示すように、ハウジング１１０は、具体的には、互いに別体である４つの部分から構成されており、軸支持部１１０ａと、内歯部１１０ｂと、第１連結部１１０ｃと、第２連結部１１０ｄとを有している。図１６に示すように、軸支持部１１０ａと、内歯部１１０ｂと、第１連結部１１０ｃと、第２連結部１１０ｄとは互いに一体に組み立て可能に形成されている。なお、ハウジング１１０は、軸支持部１１０ａ、内歯部１１０ｂ、第１連結部１１０ｃ、及び第２連結部１１０ｄのいずれか２つ、いずれか３つ、又は全てが一体に形成されているものであってもよい。 FIG. 17 is an exploded perspective view of the housing 110. As shown in FIG. 17, the housing 110 is specifically composed of four parts that are separate from each other, and includes a shaft support portion 110a, an internal tooth portion 110b, a first connecting portion 110c, and a first portion. It has two connecting portions 110d. As shown in FIG. 16, the shaft support portion 110a, the internal tooth portion 110b, the first connecting portion 110c, and the second connecting portion 110d are formed so as to be integrally assembled with each other. The housing 110 is formed by integrally forming any two, any three, or all of the shaft support portion 110a, the internal tooth portion 110b, the first connecting portion 110c, and the second connecting portion 110d. There may be.
　図１８は、ハウジング１１０の軸支持部１１０ａの軸線ｘに沿う断面における断面図である。軸支持部１１０ａは、減速機６において、出力軸１２０を支持する部分であり、上述のように、開口１１１を形成する開口部１１２と、外固定部４０の外被係合部４１及び外受部１４２とを有している。軸支持部１１０ａは、軸線ｘに沿って延びる筒状の部材であり、外側の端部に開口部１１２を有している。開口部１１２は、軸線ｘを中心軸とする略円筒状の部分である。開口部１１２の内周に面する内周面１１２ａには、外側から、外被係合部４１、逃げ溝１２ｂ、軸受嵌合面１２ｃ、及び外受部１４２が形成されている。軸支持部１１０ａは、図１６に示すように、内側の端部において、内歯部１１０ｂの外側の端部と同軸に連結可能となっている。なお、開口１１１は、開口部１１２が取り囲む空間であり、ハウジング１１０の外部の空間に接続する空間である。 FIG. 18 is a cross-sectional view taken along the axis x of the shaft support portion 110a of the housing 110. The shaft support portion 110a is a portion that supports the output shaft 120 in the speed reducer 6, and as described above, the shaft support portion 110a includes the opening 112 that forms the opening 111, the outer cover engaging portion 41 of the external fixing portion 40, and the outer receiver. It has a part 142. The shaft support portion 110a is a tubular member extending along the axis x, and has an opening 112 at an outer end portion. The opening 112 is a substantially cylindrical portion having an axis x as a central axis. The outer peripheral engaging portion 41, the relief groove 12b, the bearing fitting surface 12c, and the outer receiving portion 142 are formed from the outside on the inner peripheral surface 112a facing the inner circumference of the opening 112. As shown in FIG. 16, the shaft support portion 110a can be coaxially connected to the outer end portion of the internal tooth portion 110b at the inner end portion. The opening 111 is a space surrounded by the opening 112 and is a space connected to a space outside the housing 110.
　図１８に示すように、外被係合部４１は、内周面１１２ａにおいて、外側の端縁１１２ｄ又は端縁１１２ｄ近傍から内側に延びている。逃げ溝１２ｂは外被係合部４１に内側において隣接しており、逃げ溝１２ｂに軸受嵌合面１２ｃが内側において隣接している。外受部１４２は、軸線ｘ周りに環状に延びる円環面であり、軸受嵌合面１２ｃよりも内周側に突出している。外受部１４２は、軸受嵌合面１２ｃから内周側に延びており、軸線ｘに直交又は略直交する軸線ｘを中心とする円環状又は略円環状の面であり、軸線ｘ方向において外側に面する平面又は略平面である。外受部１４２の内周側の端縁１４２ａからは、内歯１６１が軸線ｘに沿って延びている。 As shown in FIG. 18, the outer cover engaging portion 41 extends inward from the outer edge 112d or the vicinity of the edge 112d on the inner peripheral surface 112a. The relief groove 12b is adjacent to the outer engagement portion 41 on the inside, and the bearing fitting surface 12c is adjacent to the relief groove 12b on the inside. The external receiving portion 142 is an annular surface extending in an annular shape around the axis x, and projects toward the inner peripheral side of the bearing fitting surface 12c. The external receiving portion 142 extends from the bearing fitting surface 12c to the inner peripheral side, and is an annular or substantially annular surface centered on the axis x orthogonal to or substantially orthogonal to the axis x, and is outside in the axis x direction. It is a plane facing or a substantially plane. Internal teeth 161 extend along the axis x from the end edge 142a on the inner peripheral side of the external receiving portion 142.
　図１６に示すように、内輪部１１０ｂは、軸線ｘに沿って延びる筒状の部材であり、後述する第１段の減速機構のキャリア６６を回動可能に支持する軸受６７を支持可能になっている。また、内輪部１１０ｂには、軸受６７を支持する部分よりも内側に軸線ｘに沿って延びる第１段の減速機構の内歯１６２が設けられている。内輪部１１０ｂは、内側の端部において、第１連結部１１０ｃと結合可能に形成されている。 As shown in FIG. 16, the inner ring portion 110b is a tubular member extending along the axis x, and can support a bearing 67 that rotatably supports the carrier 66 of the first-stage reduction mechanism described later. ing. Further, the inner ring portion 110b is provided with internal teeth 162 of a first-stage speed reduction mechanism extending along the axis x inward of the portion supporting the bearing 67. The inner ring portion 110b is formed so as to be able to be coupled with the first connecting portion 110c at the inner end portion.
　第１連結部１１０ｃ及び第２連結部１１０ｄは、軸線ｘに沿って延びる筒状の部材であり、モータ３を接続可能にする部分である。第１連結部１１０ｃは、第２連結部１１０ｄを内歯部１１０ｂに結合するための部材である。第２連結部１１０ｄは、内側端にモータ３が接続可能になっており、モータ３の出力軸を遊星歯車機構４に連結可能にするような構成を有している。例えば、図１６に示すように、第２連結部１１０ｄ内にはモータ３の出力軸が連結される連結軸１７が収容されている。 The first connecting portion 110c and the second connecting portion 110d are tubular members extending along the axis x and are portions that enable the motor 3 to be connected. The first connecting portion 110c is a member for connecting the second connecting portion 110d to the internal tooth portion 110b. The second connecting portion 110d has a configuration in which the motor 3 can be connected to the inner end and the output shaft of the motor 3 can be connected to the planetary gear mechanism 4. For example, as shown in FIG. 16, a connecting shaft 17 to which the output shaft of the motor 3 is connected is housed in the second connecting portion 110d.
　図１９，２０は、出力軸１２０の斜視図であり、図１９は、出力軸１２０を外側から見た斜視図であり、図２０は、出力軸１２０を内側から見た斜視図である。また、図２１は、出力軸１２０の軸線ｘに沿う断面における断面図である。図１９～２１に示すように、出力軸１２０は基部２１を有しており、基部２１は挿入部２２とフランジ部２３とを有している。図示の例においては、上述の減速機２と同様に３つのフランジ部２３が設けられている。出力軸１２０は、出力軸２０とは異なり、挿入部２２にボルト孔２６及びピン孔２７が形成されていない。 19 and 20 are perspective views of the output shaft 120, FIG. 19 is a perspective view of the output shaft 120 viewed from the outside, and FIG. 20 is a perspective view of the output shaft 120 viewed from the inside. Further, FIG. 21 is a cross-sectional view taken along the axis x of the output shaft 120. As shown in FIGS. 19 to 21, the output shaft 120 has a base portion 21, and the base portion 21 has an insertion portion 22 and a flange portion 23. In the illustrated example, three flange portions 23 are provided as in the above-mentioned speed reducer 2. Unlike the output shaft 20, the output shaft 120 does not have a bolt hole 26 and a pin hole 27 formed in the insertion portion 22.
　また、出力軸１２０は、基部２１から軸線ｘに沿って延びる部分である突出軸部１２１を有している。突出軸部１２１は、挿入部２２の端面２２ｂから内側に突出して延びている円筒状又は略円筒状の部分である。挿入部２２の端面２２ｂは突出軸部１２１を囲っており、軸線ｘ周りの円環状の面となっている。突出軸部１２１は、後述するように、減速機６において、力伝達経路の出力側の端であり、減速機６の出力端である。 Further, the output shaft 120 has a protruding shaft portion 121 which is a portion extending from the base portion 21 along the axis x. The protruding shaft portion 121 is a cylindrical or substantially cylindrical portion extending inward from the end surface 22b of the insertion portion 22. The end surface 22b of the insertion portion 22 surrounds the protruding shaft portion 121 and is an annular surface around the axis x. As will be described later, the protruding shaft portion 121 is an output end of the force transmission path in the speed reducer 6, and is an output end of the speed reducer 6.
　図１９に示すように、突出軸部１２１の根元側の端部１２１ａの外周面には、後述する内固定部１５０の内被係合部１５１が形成されている。内被係合部１５１は、例えば、雄ねじである。 As shown in FIG. 19, an inner engaging portion 151 of the inner fixing portion 150, which will be described later, is formed on the outer peripheral surface of the end portion 121a on the root side of the protruding shaft portion 121. The inner engaged portion 151 is, for example, a male screw.
　図２１に示すように、出力軸１２０の中央には、軸線ｘ方向に出力軸１２０を貫通する空間１２２が軸線ｘに沿って延びている。この空間１２２により、出力軸１２０の容積を低減させることができ、出力軸１２０の重量を低減させることができ、出力軸１２０が軽量化されている。空間１２２は、出力軸１２０を貫通していなくてもよい。例えば、空間１２０は、突出軸部１２１の先端側で閉じており、突出軸部１２１の先端側で出力軸１２０を貫通していなくてもよい。なお、出力軸１２０に空間１２２は形成されていなくてもよい。 As shown in FIG. 21, a space 122 penetrating the output shaft 120 in the axis x direction extends along the axis x in the center of the output shaft 120. Due to this space 122, the volume of the output shaft 120 can be reduced, the weight of the output shaft 120 can be reduced, and the weight of the output shaft 120 is reduced. The space 122 does not have to penetrate the output shaft 120. For example, the space 120 is closed on the tip end side of the protruding shaft portion 121, and does not have to penetrate the output shaft 120 on the tip end side of the protruding shaft portion 121. The space 122 may not be formed on the output shaft 120.
　図１６に示すように、出力軸１２０の空間１２２の内側の開口１２２ａには、円い板状の部材である壁板１２３が取り付けられており、壁板１２３によって空間１２２の開口１２２ａは閉じられている。壁板１２３は、例えば、出力軸１２０の内側の面と面一又は略面一になるように形成されている。壁板１２３は、耐摩耗性に優れた材料から形成されており、又は、耐摩耗性を高める処理がなされており、耐摩耗性に優れた部材となっている。壁部１２３は、例えば、金属から形成されており、少なくとも内側に面する面（内側面１２３ａ）に窒化処理等の耐摩耗性を向上させる処理がなされている。 As shown in FIG. 16, a wall plate 123, which is a circular plate-shaped member, is attached to the opening 122a inside the space 122 of the output shaft 120, and the opening 122a of the space 122 is closed by the wall plate 123. ing. The wall plate 123 is formed so as to be flush with or substantially flush with the inner surface of the output shaft 120, for example. The wall plate 123 is made of a material having excellent wear resistance, or is treated to enhance the wear resistance, and is a member having excellent wear resistance. The wall portion 123 is formed of, for example, metal, and at least the surface facing the inside (inner side surface 123a) is subjected to a treatment for improving wear resistance such as a nitriding treatment.
　また、減速機６は、軸受３０を出力軸１２０に固定するための内固定部１５０を更に備えている。内固定部１５０は、出力軸１２０の外周面に形成された環状の内被係合部１５１と、出力軸１２０に形成された外周側に突出する部分である内受部としてのフランジ部２３と、内被係合部１５１に係合可能に形成された環状の内係合部１５４を有する環状の部材である内固定体１５３とを有している。内受部としてのフランジ部２３は、軸線ｘ方向において軸受３０の内輪３１と接触可能に形成されており、内固定体１５３は、内係合部１５４が内被係合部１５１に係合された際に、軸線ｘ方向において軸受３０の内輪３１に接触可能に形成されている。 Further, the speed reducer 6 further includes an internal fixing portion 150 for fixing the bearing 30 to the output shaft 120. The inner fixing portion 150 includes an annular inner engaged portion 151 formed on the outer peripheral surface of the output shaft 120, and a flange portion 23 as an inner receiving portion formed on the output shaft 120 that protrudes toward the outer peripheral side. It has an inner fixing body 153 which is an annular member having an annular inner engaging portion 154 formed so as to be engageable with the inner engaged portion 151. The flange portion 23 as the inner receiving portion is formed so as to be in contact with the inner ring 31 of the bearing 30 in the axis x direction, and the inner engaging portion 154 of the inner fixing body 153 is engaged with the inner engaged portion 151. At that time, the bearing 30 is formed so as to be in contact with the inner ring 31 in the x direction of the axis.
　図２２は、内固定体１５３を内側から見た斜視図であり、図２３は、内固定体１５３の軸線ｘに沿う断面における断面図である。図２２，２３に示すように、内固定体１５３は、軸線ｘ周りの環状の部材であり、より具体的には、軸線ｘを中心とする円環状又は略円環状の部材である。 FIG. 22 is a perspective view of the internal fixation body 153 as viewed from the inside, and FIG. 23 is a cross-sectional view of the internal fixation body 153 in a cross section along the axis x. As shown in FIGS. 22 and 23, the internal fixation body 153 is an annular member around the axis x, and more specifically, an annular member or a substantially annular member centered on the axis x.
　図２２，２３に示すように、内固定体１５３は、軸線ｘ方向において内側に面する環状の面（内側面１５５）を有している。内側面１５５は、軸線ｘに直交する平面に沿う平面又は略平面である。また、内固定体１５３の内周面１５３ａには、内係合部１５４が形成されている。内固定体１５３の内周面１５３ａ内には突出軸部１２１が挿入可能になっている。内係合部１５４は、例えば、雌ねじであり、突出軸部１２１に形成された内被係合部１５１としての雄ねじに螺合可能になっている。図示の例では、内固定体１５３の内周面１５３ａ全体に内係合部１５４としての雌ねじが形成されているが、内係合部１５４としての雌ねじは、内固定体１５３の内周面１５３ａの一部に形成されていてもよい。 As shown in FIGS. 22 and 23, the inner fixed body 153 has an annular surface (inner side surface 155) facing inward in the axis x direction. The inner side surface 155 is a plane or a substantially plane along a plane orthogonal to the axis x. Further, an inner engaging portion 154 is formed on the inner peripheral surface 153a of the inner fixing body 153. The protruding shaft portion 121 can be inserted into the inner peripheral surface 153a of the internal fixing body 153. The inner engaging portion 154 is, for example, a female screw, and can be screwed into a male screw as the inner engaged portion 151 formed on the protruding shaft portion 121. In the illustrated example, the female screw as the inner engaging portion 154 is formed on the entire inner peripheral surface 153a of the inner fixing body 153, but the female screw as the inner engaging portion 154 is the inner peripheral surface 153a of the inner fixing body 153. It may be formed as a part of.
　また、図２３に示すように、内固定体１５３の外側に面する面（外側面１５６）には、内固定体１５３の取り付けのために内固定体１５３を回転されるための工具が係合する溝１５６ａが形成されている。 Further, as shown in FIG. 23, a tool for rotating the inner fixing body 153 for attaching the inner fixing body 153 is engaged with the surface (outer surface 156) facing the outside of the inner fixing body 153. A groove 156a is formed.
　図１６に示すように、内固定体１５３の内側面１５５は、軸受３０の内輪３１の外側端面３１ｃに対応している。つまり、減速機６において、内固定体１５３の内係合部１５４である雌ねじが、出力軸１２０の突出軸部１２１の内被係合部１５１である雄ねじに螺合されて、内固定体１５３が出力軸１２０の突出軸部１２１の端部１２１ａに取り付けられると、内固定体１５３の内側面１５５と内輪３１の外側端面３１ｃとが軸線ｘ方向において互いに接触するようになっている。 As shown in FIG. 16, the inner side surface 155 of the inner fixing body 153 corresponds to the outer end surface 31c of the inner ring 31 of the bearing 30. That is, in the speed reducer 6, the female screw which is the internal engaging portion 154 of the internal fixing body 153 is screwed into the male screw which is the internal engaging portion 151 of the protruding shaft portion 121 of the output shaft 120, and the internal fixing body 153 Is attached to the end portion 121a of the protruding shaft portion 121 of the output shaft 120, the inner side surface 155 of the inner fixing body 153 and the outer end surface 31c of the inner ring 31 come into contact with each other in the axis x direction.
　図１６に示すように、減速機６は遊星歯車機構７を有している。例えば、遊星歯車機構７は、上述の遊星歯車機構４と同様に、２段の減速機構となっており、第１段の減速機構である太陽歯車６５、遊星歯車６４、及び内歯１６２と、第２段の減速機構である太陽歯車６３、遊星歯車６１、及び内歯１６１とを有している。 As shown in FIG. 16, the speed reducer 6 has a planetary gear mechanism 7. For example, the planetary gear mechanism 7 has a two-stage deceleration mechanism similar to the above-mentioned planetary gear mechanism 4, and includes the sun gear 65, the planetary gear 64, and the internal teeth 162, which are the deceleration mechanisms of the first stage. It has a sun gear 63, a planetary gear 61, and internal teeth 161 which are second-stage reduction mechanisms.
　第１段の太陽歯車６５は、ハウジング１１０の第２連結部１１０ｄ内の連結軸１７に同軸に固定されており、軸線ｘ周りに回動可能になっている。太陽歯車６５の周りには少なくとも１つの遊星歯車６４が配設されている。本例においては３つの遊星歯車６４が配設されている。遊星歯車６４は、太陽歯車６５とハウジング１１０の内歯部１１０ｂに形成された内歯１６２とに噛み合っている。遊星歯車６４は、キャリア６６に回転軸６４ａを介して自転可能に支持されている。キャリア６６は軸受６７によってハウジング１１０の内歯部１１０ｂに支持されており、軸線ｘ周りに回動可能になっている。これにより、モータ３の出力が連結軸１７に伝達されると、太陽歯車６５の回転駆動力が遊星歯車６４に伝達され、遊星歯車６４が自転し、遊星歯車６４はこの自転に伴って内歯１６２に噛み合いながら軸線ｘ周りに公転する。この遊星歯車６４の公転によりキャリア６６が軸線ｘ周りに回転する。キャリア６６からは減速された回転力が伝達可能になる。 The first-stage sun gear 65 is coaxially fixed to the connecting shaft 17 in the second connecting portion 110d of the housing 110, and is rotatable around the axis x. At least one planetary gear 64 is arranged around the sun gear 65. In this example, three planetary gears 64 are arranged. The planetary gear 64 meshes with the sun gear 65 and the internal teeth 162 formed on the internal teeth 110b of the housing 110. The planetary gear 64 is rotatably supported by the carrier 66 via a rotation shaft 64a. The carrier 66 is supported by the bearing 67 on the internal tooth portion 110b of the housing 110, and is rotatable around the axis x. As a result, when the output of the motor 3 is transmitted to the connecting shaft 17, the rotational driving force of the sun gear 65 is transmitted to the planetary gear 64, the planetary gear 64 rotates, and the planetary gear 64 rotates with the internal teeth. It revolves around the axis x while meshing with 162. The carrier 66 rotates around the axis x due to the revolution of the planetary gear 64. The reduced rotational force can be transmitted from the carrier 66.
　第２段の太陽歯車６３は、キャリア６６の外側に同軸に固定されており、キャリア６６の回動に伴って軸線ｘ周りに回動可能になっている。太陽歯車６３の周りには、太陽歯車６３とハウジング１１０の軸支持部１１０ａに形成された内歯１６１とに噛み合っている遊星歯車６１が３つ配設されている。これにより、太陽歯車６３の回転駆動力が遊星歯車６１に伝達され、遊星歯車６１が自転し、遊星歯車６１はこの自転に伴って内歯１６１に噛み合いながら軸線ｘ周りに公転する。この遊星歯車６１の公転により出力軸１２０が軸線ｘ周りに回動する。出力軸１２０からは減速された回転力が伝達可能になる。図示の例においては、内歯１６１は、ハウジング１１０（軸支持部１１０ａ）の内周面（根元部１６１ａ）に直接形成されているが、内歯１６１は、ハウジング１１０（軸支持部１１０ａ）の内周面（根元部１６１ａ）に直接形成されていなくてもよく、例えば、内歯１６１は、ハウジング１１０とは別の部品に形成されて、この部品がハウジング１１０に取り付けられることにより、ハウジング１１０に内歯１６１が設けられるようにしてもよい。 The second-stage sun gear 63 is coaxially fixed to the outside of the carrier 66, and can rotate around the axis x as the carrier 66 rotates. Around the sun gear 63, three planetary gears 61 that mesh with the sun gear 63 and the internal teeth 161 formed on the shaft support portion 110a of the housing 110 are arranged. As a result, the rotational driving force of the sun gear 63 is transmitted to the planetary gear 61, the planetary gear 61 rotates, and the planetary gear 61 revolves around the axis x while meshing with the internal teeth 161 along with the rotation. The revolution of the planetary gear 61 causes the output shaft 120 to rotate around the axis x. The reduced rotational force can be transmitted from the output shaft 120. In the illustrated example, the internal teeth 161 are formed directly on the inner peripheral surface (root portion 161a) of the housing 110 (shaft support portion 110a), whereas the internal teeth 161 are formed on the housing 110 (shaft support portion 110a). It does not have to be formed directly on the inner peripheral surface (root portion 161a). For example, the internal teeth 161 are formed in a component different from the housing 110, and this component is attached to the housing 110 to form the housing 110. The internal tooth 161 may be provided in the housing.
　図１６に示すように、太陽歯車６３の内側の端部６３ａは、太陽歯車６３が軸線ｘ方向に移動した際に、出力軸１２０の空間１２２の内側の開口１２２ａを塞ぐ壁板１２３において、出力軸１２０に接触するようになっている。上述のように、壁板１２３は耐摩耗性に優れた部材であり、このため、回転している太陽歯車６３の端部６３ａが壁板１２３に接触し摺動したとしても、壁板１２３の摩耗が防止又は抑制される。このように、出力軸１２０は、空間１２２によって軽量化が図られつつ、摩耗対策もなされている。また、空間１２２の開口１２２ａを塞ぐ壁板１２３において摩耗対策をすればよく、出力軸１２０の内側面２１ａ全体において摩耗対策をする必要がない。 As shown in FIG. 16, the inner end 63a of the sun gear 63 outputs at the wall plate 123 that closes the inner opening 122a of the space 122 of the output shaft 120 when the sun gear 63 moves in the axis x direction. It comes into contact with the shaft 120. As described above, the wall plate 123 is a member having excellent wear resistance. Therefore, even if the end portion 63a of the rotating sun gear 63 comes into contact with the wall plate 123 and slides, the wall plate 123 Wear is prevented or suppressed. As described above, the output shaft 120 is reduced in weight by the space 122, and wear countermeasures are also taken. Further, it is sufficient to take measures against wear in the wall plate 123 that closes the opening 122a of the space 122, and it is not necessary to take measures against wear on the entire inner side surface 21a of the output shaft 120.
　図２４は、外固定部４０よる軸受３０のハウジング１０における固定の様子を示すための、減速機６の部分分解断面図であり、図２５は、外固定部４０による軸受３０のハウジング１０における固定の様子を示すための、減速機６の部分断面図である。 FIG. 24 is a partially disassembled sectional view of the speed reducer 6 for showing the state of fixing the bearing 30 in the housing 10 by the external fixing portion 40, and FIG. 25 is a partial exploded sectional view of the bearing 30 in the housing 10 by the external fixing portion 40. It is a partial cross-sectional view of the reduction gear 6 for showing the state of.
　図２４，２５に示すように、内側から出力軸１２０の挿入部２２が軸受３０の内輪３１に挿入され、内固定体１５３内に内側から出力軸１２０の突出軸部１２１が挿入されるように、出力軸１２０に対して外側から内固定体１５３を移動させる。突出軸部１２１が挿入された内固定体１５３を突出軸部１２１に沿って内側に移動させていくと、内固定体１５３の内係合部１５４である雌ねじが、突出軸部１２１に形成された内被係合部１５１としての雄ねじに噛み合う。そして、内固定体１５３を回転させて、内固定体１５３の雌ねじ１５４を突出軸部１２１の雄ねじ１５１に螺合させていくと、内固定体１５３の内側面１５５が内輪３１の外側端面３１ｃに接触し、内固定体１５３が突出軸部１２１に固定される。このとき、内固定体１５３の内側面１５５が内輪３１の外側端面３１ｃを内側に押し、内輪３１の内側端面３１ａは出力軸１２０のフランジ部２３の内受面２３ａに押し付けられる。これにより、内固定体１５３の内側面１５５と出力軸１２０のフランジ部２３の内受面２３ａとの間に内輪３１が挟持され、出力軸１２０が軸受３０に固定される。フランジ部２３の内受面２３ａと内固定体１５３の内側面１５５との間に内輪３１が挟持されるように、出力軸１２０の挿入部２２の軸線ｘ方向の幅や、突出軸部１２１における雄ねじ１５１の位置が調整されている。 As shown in FIGS. 24 and 25, the insertion portion 22 of the output shaft 120 is inserted into the inner ring 31 of the bearing 30 from the inside, and the protruding shaft portion 121 of the output shaft 120 is inserted into the inner fixing body 153 from the inside. , The internal fixation body 153 is moved from the outside with respect to the output shaft 120. When the internal fixing body 153 into which the protruding shaft portion 121 is inserted is moved inward along the protruding shaft portion 121, a female screw which is an internal engaging portion 154 of the internal fixing body 153 is formed on the protruding shaft portion 121. It meshes with the male screw as the inner engaged portion 151. Then, when the internal fixing body 153 is rotated and the female screw 154 of the internal fixing body 153 is screwed into the male screw 151 of the protruding shaft portion 121, the inner side surface 155 of the inner fixing body 153 becomes the outer end surface 31c of the inner ring 31. Upon contact, the internal fixation body 153 is fixed to the protruding shaft portion 121. At this time, the inner side surface 155 of the inner fixing body 153 pushes the outer end surface 31c of the inner ring 31 inward, and the inner end surface 31a of the inner ring 31 is pressed against the inner receiving surface 23a of the flange portion 23 of the output shaft 120. As a result, the inner ring 31 is sandwiched between the inner side surface 155 of the inner fixing body 153 and the inner receiving surface 23a of the flange portion 23 of the output shaft 120, and the output shaft 120 is fixed to the bearing 30. The width of the insertion portion 22 of the output shaft 120 in the axis x direction and the protrusion shaft portion 121 so that the inner ring 31 is sandwiched between the inner receiving surface 23a of the flange portion 23 and the inner side surface 155 of the inner fixing body 153. The position of the male screw 151 is adjusted.
　減速機６においても、上述の減速機２における外固定部４０による出力軸２０の固定のように、外固定体４０によって軸受３０を介する出力軸１２０のハウジング１１０への固定がなされる。具体的には図２４，２５に示すように、軸受３０の外輪３２は、ハウジング１１０の軸支持部１１０ａの開口部１１２の軸受嵌合面１２ｃに嵌められ、外輪３２の内側端面３２ｂが外受部１４２に接触するまで軸受３０が軸受嵌合面１２ｃ内に挿入される。そして、外固定体４３の雄ねじである外係合部４４がハウジング１１０の開口部１１２の雌ねじである外被係合部４１に螺合させられ、外固定体４３を回転させて外固定体４３を内側に移動させていく。外固定体４３の端面４５ｂが軸受３０の外輪３２の外側端面３２ａに接触するまで外固定体４３を回転させ、外固定体４３がハウジング１１０に固定される。これにより、外固定体４３の端面４５ｂは外輪３２の外側端面３２ａに押し付けられ、一方、ハウジング１１０の外受部１４２は外輪３２の内側端面３２ｂに押し付けられ、外固定体４３の端面４５ｂと外受部１４２との間に外輪３２が挟持される。これにより、出力軸１２０が固定された軸受３０がハウジング１１０に固定され、出力軸１２０がハウジング１１０に固定される。なお、外固定体４３の端面４５ｂとハウジング１１０の外受部１４２との間に外輪３２が挟持されるように、ハウジング１１０における外被係合部４１と外受部１４２との間の軸線ｘ方向の間隔や、外固定体４３の段差４５ｃの軸線ｘ方向の幅が調整されている。 Also in the speed reducer 6, the output shaft 120 is fixed to the housing 110 via the bearing 30 by the external fixing body 40, as in the case of fixing the output shaft 20 by the external fixing portion 40 in the speed reducer 2 described above. Specifically, as shown in FIGS. 24 and 25, the outer ring 32 of the bearing 30 is fitted to the bearing fitting surface 12c of the opening 112 of the shaft support portion 110a of the housing 110, and the inner end surface 32b of the outer ring 32 is externally received. The bearing 30 is inserted into the bearing fitting surface 12c until it comes into contact with the portion 142. Then, the outer engaging portion 44, which is a male screw of the outer fixing body 43, is screwed into the outer covering portion 41, which is a female screw of the opening 112 of the housing 110, and the outer fixing body 43 is rotated to rotate the outer fixing body 43. To move inward. The outer fixing body 43 is rotated until the end surface 45b of the outer fixing body 43 comes into contact with the outer end surface 32a of the outer ring 32 of the bearing 30, and the outer fixing body 43 is fixed to the housing 110. As a result, the end surface 45b of the outer fixing body 43 is pressed against the outer end surface 32a of the outer ring 32, while the outer receiving portion 142 of the housing 110 is pressed against the inner end surface 32b of the outer ring 32, and the end surface 45b and the outer side of the outer fixing body 43 are pressed. The outer ring 32 is sandwiched between the receiving portion 142 and the receiving portion 142. As a result, the bearing 30 to which the output shaft 120 is fixed is fixed to the housing 110, and the output shaft 120 is fixed to the housing 110. The axis x between the outer engagement portion 41 and the outer receiving portion 142 in the housing 110 so that the outer ring 32 is sandwiched between the end surface 45b of the outer fixing body 43 and the outer receiving portion 142 of the housing 110. The distance between the directions and the width of the step 45c of the external fixing body 43 in the axis x direction are adjusted.
　図１８や図２５に示すように、ハウジング１１０の軸受部１１０ａに形成された外受部１４２は、内歯１６１が形成されている部分である内歯１６１の根元部１６１ａの外側の端面となっている。つまり、内歯１６１は、内歯１６１よりも外周側に位置すると共に開口１１１につながる軸受嵌合面１２ｃに軸線ｘ方向において隣接している。このため、軸受部１１０ａの貫通加工により内歯１６１を加工することができ、内歯１６１の加工が容易になっている。また、この構造により、軸支持部１１０ａの開口部１１２の軸線ｘ方向における幅や径を大きくすることができる。また、上述の減速機２の場合と同様に、出力軸１２０に軸受３０及び遊星歯車１６１を組み付けた状態で出力軸１２０を軸受部１１０ａに取り付けることができる。 As shown in FIGS. 18 and 25, the external receiving portion 142 formed in the bearing portion 110a of the housing 110 serves as an outer end surface of the root portion 161a of the internal teeth 161 which is a portion in which the internal teeth 161 are formed. ing. That is, the internal teeth 161 are located on the outer peripheral side of the internal teeth 161 and are adjacent to the bearing fitting surface 12c connected to the opening 111 in the axis x direction. Therefore, the internal teeth 161 can be processed by the through processing of the bearing portion 110a, and the internal teeth 161 can be easily processed. Further, with this structure, the width and diameter of the opening 112 of the shaft support portion 110a in the axis x direction can be increased. Further, as in the case of the speed reducer 2 described above, the output shaft 120 can be attached to the bearing portion 110a in a state where the bearing 30 and the planetary gear 161 are assembled to the output shaft 120.
　駆動装置５は、図１５に示すように、モータ３が減速機６に接続されて形成されている。モータ３は、減速機６の連結軸１７に連結可能であり、また、連結軸１７を回転駆動させるものであればいずれのモータであってもよい。 As shown in FIG. 15, the drive device 5 is formed by connecting the motor 3 to the speed reducer 6. The motor 3 can be connected to the connecting shaft 17 of the speed reducer 6, and may be any motor as long as the connecting shaft 17 is rotationally driven.
　このように、本発明の第２の実施の形態に係る駆動装置５及び減速機６においても、上述の本発明の第１の実施の形態に係る駆動装置１及び減速機２と同様の効果を奏することができる。 As described above, the drive device 5 and the speed reducer 6 according to the second embodiment of the present invention have the same effects as the drive device 1 and the speed reducer 2 according to the first embodiment of the present invention described above. Can play.
　以上、本発明の実施の形態について説明したが、本発明は上記本発明の実施の形態に係る駆動装置１，５や減速機２，６に限定されるものではなく、本発明の概念及び請求の範囲に含まれるあらゆる態様を含む。また、上述した課題及び効果の少なくとも一部を奏するように、各構成を適宜選択的に組み合わせてもよい。例えば、上記実施の形態における、各構成の形状、材料、配置、サイズ等は、本発明の具体的使用態様によって適宜変更され得る。 Although the embodiment of the present invention has been described above, the present invention is not limited to the drive devices 1 and 5 and the speed reducers 2 and 6 according to the embodiment of the present invention, and the concept and claims of the present invention Includes all aspects included in the scope of. In addition, each configuration may be selectively combined as appropriate so as to achieve at least a part of the above-mentioned problems and effects. For example, the shape, material, arrangement, size, etc. of each configuration in the above embodiment can be appropriately changed depending on the specific usage mode of the present invention.
　例えば、外係合部４４と外被係合部４１とは、互いに螺合可能な雌ねじと雄ねじとしたが、外係合部４４と外被係合部４１とは、互いに係合可能な形態を有するものであればよい。例えば、外係合部４４と外被係合部４１とは、互いに嵌合（締り嵌め）可能になっている形状を有するものであってもよい。同様に、内係合部１５４と内被係合部１５１とは、互いに螺合可能な雌ねじと雄ねじとしたが、内係合部１５４と内被係合部１５１とは、互いに係合可能な形態を有するものであればよい。例えば、内係合部１５４と内被係合部１５１とは、互いに嵌合（締り嵌め）可能になっている形状を有するものであってもよい。 For example, the outer engaging portion 44 and the outer covering portion 41 are female threads and male threads that can be screwed together, but the outer engaging portion 44 and the outer covering portion 41 are in a form in which they can be engaged with each other. Anything that has For example, the outer engaging portion 44 and the outer covering portion 41 may have a shape that allows them to be fitted (tightly fitted) to each other. Similarly, the inner engaging portion 154 and the inner engaged portion 151 are female threads and male threads that can be screwed into each other, but the inner engaging portion 154 and the inner engaged portion 151 can be engaged with each other. It may have a form. For example, the inner engaging portion 154 and the inner engaged portion 151 may have a shape that allows them to be fitted (tightly fitted) to each other.
　また、上述の減速機２においては、外受部４２の外受面４２ａが軸受３０の外輪３２の内側端面３２ｂに直接接触するとしたが、外受部４２の外受面４２ａは外輪３２の内側端面３２ｂに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、外受部４２の外受面４２ａと外輪３２の内側端面３２ｂとが接触するようにしてもよい。また、上述の減速機２においては、外固定体４３の端面４５ｂが軸受３０の外輪３２の外側端面３２ａに直接接触するとしたが、外固定体４３の端面４５ｂは外輪３２の外側端面３２ａに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、外固定体４３の端面４５ｂと外輪３２の外側端面３２ａとが接触するようにしてもよい。 Further, in the speed reducer 2 described above, the external receiving surface 42a of the external receiving portion 42 is in direct contact with the inner end surface 32b of the outer ring 32 of the bearing 30, but the external receiving surface 42a of the external receiving portion 42 is inside the outer ring 32. It may be made to indirectly contact the end face 32b. For example, the outer receiving surface 42a of the outer receiving portion 42 and the inner end surface 32b of the outer ring 32 may come into contact with each other via an annular spacer. Further, in the speed reducer 2 described above, the end surface 45b of the outer fixing body 43 is in direct contact with the outer end surface 32a of the outer ring 32 of the bearing 30, but the end surface 45b of the outer fixing body 43 is indirect to the outer end surface 32a of the outer ring 32. You may make contact with each other. For example, the end surface 45b of the outer fixation body 43 and the outer end surface 32a of the outer ring 32 may come into contact with each other via an annular spacer.
　また、上述の減速機２においては、内受部としてのフランジ部２３の内受面２３ａが軸受３０の内輪３１の内側端面３１ａに直接接触するとしたが、フランジ部２３の内受面２３ａは内輪３１の内側端面３１ａに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、フランジ部２３の内受面２３ａと内輪３１の内側端面３１ａとが接触するようにしてもよい。また、上述の減速機２においては、内固定体５１の端面５３ｂが軸受３０の内輪３１の外側端面３１ｃに直接接触するとしたが、内固定体５１の端面５３ｂは内輪３１の外側端面３１ｃに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、内固定体５１の端面５３ｂと内輪３１の外側端面３１ｃとが接触するようにしてもよい。 Further, in the speed reducer 2 described above, the inner receiving surface 23a of the flange portion 23 as the inner receiving portion is in direct contact with the inner end surface 31a of the inner ring 31 of the bearing 30, but the inner receiving surface 23a of the flange portion 23 is the inner ring. It may be made to indirectly contact the inner end surface 31a of 31. For example, the inner receiving surface 23a of the flange portion 23 and the inner end surface 31a of the inner ring 31 may come into contact with each other via an annular spacer. Further, in the speed reducer 2 described above, the end surface 53b of the inner fixing body 51 is in direct contact with the outer end surface 31c of the inner ring 31 of the bearing 30, but the end surface 53b of the inner fixing body 51 is indirect to the outer end surface 31c of the inner ring 31. You may make contact with each other. For example, the end surface 53b of the inner fixing body 51 and the outer end surface 31c of the inner ring 31 may be brought into contact with each other via an annular spacer.
　また、同様に、上述の減速機６においては、外受部１４２が軸受３０の外輪３２の内側端面３２ｂに直接接触するとしたが、外受部１４２は外輪３２の内側端面３２ｂに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、外受部１４２と外輪３２の内側端面３２ｂとが接触するようにしてもよい。また、上述の減速機６においては、外固定体４３の端面４５ｂが軸受３０の外輪３２の外側端面３２ａに直接接触するとしたが、外固定体４３の端面４５ｂは外輪３２の外側端面３２ａに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、外固定体４３の端面４５ｂと外輪３２の外側端面３２ａとが接触するようにしてもよい。 Similarly, in the speed reducer 6 described above, the outer receiving portion 142 directly contacts the inner end surface 32b of the outer ring 32 of the bearing 30, but the outer receiving portion 142 indirectly contacts the inner end surface 32b of the outer ring 32. You may try to do so. For example, the outer receiving portion 142 and the inner end surface 32b of the outer ring 32 may come into contact with each other via an annular spacer. Further, in the speed reducer 6 described above, the end surface 45b of the outer fixing body 43 is in direct contact with the outer end surface 32a of the outer ring 32 of the bearing 30, but the end surface 45b of the outer fixing body 43 is indirect to the outer end surface 32a of the outer ring 32. You may make contact with each other. For example, the end surface 45b of the outer fixation body 43 and the outer end surface 32a of the outer ring 32 may come into contact with each other via an annular spacer.
　また、上述の減速機６においては、内受部としてのフランジ部２３の内受面２３ａが軸受３０の内輪３１の内側端面３１ａに直接接触するとしたが、フランジ部２３の内受面２３ａは内輪３１の内側端面３１ａに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、フランジ部２３の内受面２３ａと内輪３１の内側端面３１ａとが接触するようにしてもよい。また、上述の減速機６においては、内固定体１５３の内側面１５５が軸受３０の内輪３１の外側端面３１ｃに直接接触するとしたが、内固定体１５３の内側面１５５は内輪３１の外側端面３１ｃに間接的に接触するようにしてもよい。例えば、環状のスペーサを介して、内固定体１５３の内側面１５５と内輪３１の外側端面３１ｃとが接触するようにしてもよい。 Further, in the speed reducer 6 described above, the inner receiving surface 23a of the flange portion 23 as the inner receiving portion is in direct contact with the inner end surface 31a of the inner ring 31 of the bearing 30, but the inner receiving surface 23a of the flange portion 23 is the inner ring. It may be made to indirectly contact the inner end surface 31a of 31. For example, the inner receiving surface 23a of the flange portion 23 and the inner end surface 31a of the inner ring 31 may come into contact with each other via an annular spacer. Further, in the speed reducer 6 described above, the inner side surface 155 of the inner fixing body 153 is in direct contact with the outer end surface 31c of the inner ring 31 of the bearing 30, but the inner side surface 155 of the inner fixing body 153 is the outer end surface 31c of the inner ring 31. May be indirectly contacted with. For example, the inner side surface 155 of the inner fixing body 153 and the outer end surface 31c of the inner ring 31 may come into contact with each other via an annular spacer.
　１，５…駆動装置、２，６…減速機、３…モータ、４，７…遊星歯車機構、１０，１１０…ハウジング、１０ａ，１１０ａ…軸支持部、１０ｂ，１１０ｂ…内歯部、１０ｃ…連結部、１１，１１１…開口、１２，１１２…開口部、１２ａ，１１２ａ…内周面、１２ｂ…逃げ溝、１２ｃ…軸受嵌合面、１２ｄ，１１２ｄ…端縁、１３…筒部、１３ａ…端部、１４…挿入部、１５…突部、１６…内周面、１７…連結軸、１８…軸受、２０，１２０…出力軸、２１…基部、２１ａ…内側面、２２…挿入部、２２ａ…外周面、２２ｂ…端面、２３…フランジ部、２３ａ…内受面、２４…空間、２５…軸孔、２６…ボルト孔、２７…ピン孔、３０…軸受、３１…内輪、３１ａ…内側端面、３１ｂ…内周面、３１ｃ…外側端面、３２…外輪、３２ａ…外側端面、３２ｂ…内側端面、４０…外固定部、４１…外被係合部、４２，１４２…外受部、４２ａ…外受面、４３…外固定体、４４…外係合部、４５…内側面、４５ａ…カバー面、４５ｂ…端面、４５ｃ…段差、４６…外側面、４６ａ…溝、５０，１５０…内固定部、５１，１５３…内固定体、５２…端部、５３，１５５…内側面、５３ａ…挿入面、５３ｂ…端面、５３ｃ…段差、５４…外側面、５５…空間、５６…ボルト孔、５７…ピン孔、６１，６４…遊星歯車、６１ａ，６４ａ…回転軸、６２，１６１，１６２…内歯、６３，６５…太陽歯車、６６…キャリア、６７…軸受、１１０ｃ…第１連結部、１１０ｄ…第２連結部、１２１…突出軸部、１２１ａ…端部、１２２…空間、１２２ａ…開口、１２３…壁板、１２３ａ…内側面、１４２ａ…端縁、１５１…内被係合部、１５３ａ…内周面、１５４…内係合部、１５６…外側面、１５６ａ…溝、１６１ａ…根元部、ｘ…軸線 1,5 ... Drive device, 2,6 ... Reducer, 3 ... Motor, 4,7 ... Planetary gear mechanism, 10,110 ... Housing, 10a, 110a ... Shaft support, 10b, 110b ... Internal teeth, 10c ... Connecting part, 11,111 ... Opening, 12,112 ... Opening, 12a, 112a ... Inner peripheral surface, 12b ... Relief groove, 12c ... Bearing fitting surface, 12d, 112d ... Edge edge, 13 ... Cylinder part, 13a ... End, 14 ... Insert, 15 ... Protrusion, 16 ... Inner circumference, 17 ... Connecting shaft, 18 ... Bearing, 20, 120 ... Output shaft, 21 ... Base, 21a ... Inner surface, 22 ... Insert, 22a ... outer peripheral surface, 22b ... end face, 23 ... flange portion, 23a ... inner receiving surface, 24 ... space, 25 ... shaft hole, 26 ... bolt hole, 27 ... pin hole, 30 ... bearing, 31 ... inner ring, 31a ... inner end face , 31b ... Inner peripheral surface, 31c ... Outer end face, 32 ... Outer ring, 32a ... Outer end face, 32b ... Inner end face, 40 ... Outer fixing part, 41 ... Outer engagement part, 42, 142 ... Outer receiving part, 42a ... External receiving surface, 43 ... Outer fixed body, 44 ... Outer engaging part, 45 ... Inner surface, 45a ... Cover surface, 45b ... End surface, 45c ... Step, 46 ... Outer surface, 46a ... Groove, 50, 150 ... Inner fixing Part, 51, 153 ... Inner fixed body, 52 ... End, 53, 155 ... Inner surface, 53a ... Insertion surface, 53b ... End face, 53c ... Step, 54 ... Outer surface, 55 ... Space, 56 ... Bolt hole, 57 ... Pin holes, 61, 64 ... Planetary gears, 61a, 64a ... Rotating shafts, 62,161,162 ... Internal teeth, 63,65 ... Sun gears, 66 ... Carriers, 67 ... Bearings, 110c ... First connecting parts, 110d ... second connecting portion, 121 ... protruding shaft portion, 121a ... end, 122 ... space, 122a ... opening, 123 ... wall plate, 123a ... inner surface, 142a ... edge, 151 ... inner engaged portion, 153a ... Inner peripheral surface, 154 ... Inner engaging portion, 156 ... Outer surface, 156a ... Groove, 161a ... Root portion, x ... Axial line

Claims (7)

  1. 　開口を形成する軸線周りに環状の部分である開口部を有するハウジングと、
    　出力軸と、
    　前記ハウジングの前記開口部に取り付けられ、前記出力軸を回転可能に支持する内輪及び外輪を有する軸受と、
    　前記軸受を前記ハウジングにおいて固定するための外固定部とを備え、
    　前記外固定部は、前記開口部の内周面に形成された環状の外被係合部と、前記ハウジングに形成された内周側に突出する環状の部分である外受部と、前記外被係合部に係合可能に形成された環状の外係合部を有する環状の部材である外固定体とを有しており、
    　前記外受部は、前記ハウジングにおいて前記外被係合部よりも内側に形成されており、前記軸線方向において前記軸受の外輪と接触可能に形成されており、
    　前記外固定体は、前記外係合部が前記外被係合部に係合された際に、前記軸線方向において前記軸受の外輪に接触可能に形成されていることを特徴とする減速機。     A housing having an opening that is an annular portion around the axis forming the opening,
    Output axis and
    A bearing having an inner ring and an outer ring attached to the opening of the housing and rotatably supporting the output shaft.
    An external fixing portion for fixing the bearing in the housing is provided.
    The outer fixing portion includes an annular outer covering engaging portion formed on the inner peripheral surface of the opening, an outer receiving portion formed in the housing and an annular portion protruding toward the inner peripheral side, and the outer portion. It has an outer fixed body which is an annular member having an annular outer engaging portion formed so as to be engaged with the engaged portion.
    The external receiving portion is formed inside the outer covering portion in the housing, and is formed so as to be in contact with the outer ring of the bearing in the axial direction.
    The outer fixing body is a speed reducer formed so as to be in contact with the outer ring of the bearing in the axial direction when the outer engaging portion is engaged with the outer covering portion.
  2. 　前記外被係合部は前記軸線周りに形成された雌ねじであり、前記外係合部は前記雌ねじに螺合可能な雄ねじであることを特徴とする請求項１記載の減速機。 The speed reducer according to claim 1, wherein the outer engagement portion is a female screw formed around the axis, and the outer engagement portion is a male screw that can be screwed into the female screw.
  3. 　前記軸受を前記出力軸に固定するための内固定部を更に備え、
    　該内固定部は、前記出力軸の外周面に形成された環状の内被係合部と、前記出力軸に形成された外周側に突出する部分である内受部と、前記内被係合部に係合可能に形成された環状の内係合部を有する環状の部材である内固定体とを有しており、
    　前記内受部は、前記軸線方向において前記軸受の内輪と接触可能に形成されており、
    　前記内固定体は、前記内係合部が前記内被係合部に係合された際に、前記軸線方向において前記軸受の内輪に接触可能に形成されていることを特徴とする請求項１又は２記載の減速機。     An internal fixing portion for fixing the bearing to the output shaft is further provided.
    The inner fixing portion includes an annular inner engaged portion formed on the outer peripheral surface of the output shaft, an inner receiving portion formed on the output shaft that projects toward the outer peripheral side, and the inner engaged portion. It has an inner fixed body which is an annular member having an annular inner engaging portion formed so as to be engageable with the portion.
    The inner receiving portion is formed so as to be in contact with the inner ring of the bearing in the axial direction.
    Claim 1 is characterized in that the internal fixing body is formed so as to be in contact with the inner ring of the bearing in the axial direction when the inner engaging portion is engaged with the inner engaged portion. Or the speed reducer according to 2.
  4. 　前記出力軸は、前記内受部が形成された基部と、該基部から前記内受部の軸線に沿って延びる部分である突出軸部とを有しており、
    　前記基部は、前記内受部よりも前記突出軸部側に前記内輪に挿入可能な部分である挿入部を有しており、
    　前記内被係合部は、前記突出軸部の外周面に形成されていることを特徴とする請求項３記載の減速機。     The output shaft has a base portion on which the internal receiving portion is formed, and a protruding shaft portion which is a portion extending from the base portion along the axis of the internal receiving portion.
    The base portion has an insertion portion that is a portion that can be inserted into the inner ring on the protruding shaft portion side of the inner receiving portion.
    The speed reducer according to claim 3, wherein the inner engaged portion is formed on an outer peripheral surface of the protruding shaft portion.
  5. 　前記軸受を前記出力軸に固定するための内固定部を更に備え、
    　該内固定部は、前記出力軸に形成された外周側に突出する部分である内受部と、前記出力軸に固定可能に形成された円盤状の部材である内固定体とを有しており、
    　前記内受部は、前記軸線方向において前記軸受の内輪と接触可能に形成されており、
    　前記出力軸は、前記内受部の軸線に沿って延びる前記内輪に挿入可能な部分である挿入部を有しており、
    　前記内固定体は、前記出力軸の前記挿入部に固定可能に形成されており、前記挿入部に固定された際に、前記軸線方向において前記軸受の内輪に接触可能に形成された外周側の端部を有していることを特徴とする請求項１又は２記載の減速機。     An internal fixing portion for fixing the bearing to the output shaft is further provided.
    The internal fixing portion has an internal receiving portion formed on the output shaft that protrudes to the outer peripheral side, and an internal fixing body that is a disk-shaped member fixable to the output shaft. Ori,
    The inner receiving portion is formed so as to be in contact with the inner ring of the bearing in the axial direction.
    The output shaft has an insertion portion that is a portion that can be inserted into the inner ring extending along the axis of the inner receiving portion.
    The inner fixing body is formed so as to be fixed to the insertion portion of the output shaft, and when fixed to the insertion portion, the outer peripheral side formed so as to be in contact with the inner ring of the bearing in the axial direction. The speed reducer according to claim 1 or 2, wherein the speed reducer has an end portion.
  6. 　遊星歯車機構を更に有しており、
    　前記遊星歯車機構は、内歯歯車と、太陽歯車と、前記内歯歯車と前記太陽歯車とに噛み合う少なくとも１つの遊星歯車とを有しており、
    　前記少なくとも１つの遊星歯車は、前記出力軸に自転可能に支持されていることを特徴とする請求項１乃至５のいずれか１項記載の減速機。     It also has a planetary gear mechanism,
    The planetary gear mechanism includes an internal gear, a sun gear, and at least one planetary gear that meshes with the internal gear and the sun gear.
    The speed reducer according to any one of claims 1 to 5, wherein the at least one planetary gear is supported on the output shaft so as to rotate on its axis.
  7. 　請求項１乃至６のいずれか１項記載の減速機と、
    　前記減速機に動力を伝達可能に接続されたモータとを備えることを特徴とする駆動装置。     The speed reducer according to any one of claims 1 to 6.
    A drive device including a motor connected to the speed reducer so as to transmit power.
PCT/JP2020/017685 2019-04-26 2020-04-24 Speed reducer and driving device WO2020218505A1 (en)

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