Rotating mechanisms of industrial machinery, speed reducers, industrial machinery and drive devices

Abstract

This invention provides a rotating mechanism for industrial machinery, a speed reducer, industrial machinery, and a drive unit. The rotating mechanism for industrial machinery includes: a first component of the industrial machinery; a housing fixed to the first component; a speed reduction unit held in the housing and reducing the input rotation speed for output; a second component of the industrial machinery fixed to the speed reduction unit; a central gear disposed on the side of the first component and inputting rotation to the speed reduction unit; and an intermediate gear disposed on the side of the first component and meshing with the central gear and with the output gear of the drive unit.

Description

Technical Field

[0001] The invention relates to a rotating mechanism of industrial machinery, a speed reducer, industrial machinery and a driving device. Background Art

[0002] As disclosed in Japanese Patent Gazette No. 5356462, for example, a speed reducer is used in a rotating mechanism of an industrial machine. The speed reducer disclosed in Japanese Patent Gazette No. 5356462 has a cylindrical gear meshing with a plurality of input gears and an idle gear meshing with the cylindrical gear. The rotation input from the motor to the idle gear is transmitted to the plurality of input gears via the cylindrical gear. The speed reducer reduces the rotation input from the motor and outputs it as a relative rotation between a housing and a gear rack. In Japanese Patent Gazette No. 5356462, the housing is fixed to a first component of an industrial robot, and the gear rack is fixed to a second component of the industrial robot.

[0003] In addition, in the structure disclosed in Japanese Patent No. 5356462, the second member of the industrial robot is arranged on the same side of the gear rack as the cylindrical gear and the idle gear. Therefore, on the second member side of the gear rack, the idle gear and the motor are arranged in an area facing a portion of the gear rack along the circumferential direction.

[0004] Typically, the second member is fixed to the gear frame by bolts. However, the area facing a portion of the gear frame along the circumferential direction is occupied by the idle gear and the motor. Therefore, the configuration of the multiple fixing bolts used to fix the second member is restricted by the idle gear and the motor, loses symmetry, and becomes discontinuous. If the configuration of the fixing bolts loses symmetry, there is a situation where a large force is applied to the reducer when the second member is actuated. If a large force is applied to the reducer, lubricating oil may leak from the reducer, and damage such as micro-vibration wear may occur to the reducer. Summary of the invention

[0005] The present invention has been made in consideration of the above points, and an object of the present invention is to improve the degree of freedom in arrangement of fixing bolts for fixing a speed reducer to an industrial machine so that the speed reducer can be stably fixed to the industrial machine.

[0006] A first industrial machine rotation mechanism of the present invention comprises:

[0007] The first component of industrial machinery;

[0008] A housing fixed to the first member;

[0009] A speed reducing unit, which is held in the housing and reduces the speed of the rotation input and outputs it from the output unit;

[0010] a second member of the industrial machinery, which is fixed to the output portion;

[0011] a sun gear disposed on the first member side and inputting rotation to the speed reduction portion; and

[0012] The intermediate gear is arranged on the first member side and meshes with the sun gear and the output gear of the driving unit.

[0013] The second industrial machine rotation mechanism of the present invention comprises:

[0014] The first component of industrial machinery;

[0015] A housing fixed to the first member;

[0016] a speed reduction unit, which is held in the housing and reduces the speed of rotation input to the input gear and outputs the rotation from the output unit;

[0017] a second member fixed to the output portion of the speed reduction portion;

[0018] a sun gear disposed on the side of the speed reduction portion opposite to the second member side and meshing with the input gear; and

[0019] The intermediate gear meshes with the central gear and is rotated by the input of the self-driving part.

[0020] In the first industrial machine rotating mechanism or the second industrial machine rotating mechanism of the present invention, the intermediate gear may be arranged to be offset from the speed reduction portion in the axial direction.

[0021] In the first industrial machine rotating mechanism or the second industrial machine rotating mechanism of the present invention, the sun gear may be a cylindrical member.

[0022] In the rotating mechanism of the first industrial machine or the rotating mechanism of the second industrial machine of the present invention, the speed reduction portion may include: a shaft member including the input gear and capable of rotating; a retaining portion having a through hole for inserting the shaft member; and a cover that blocks the through hole from the second member side.

[0023] The first or second industrial machine rotation mechanism of the present invention may include a plurality of bolts that are arranged at rotationally symmetrical positions and that fix the second member to the speed reduction portion.

[0024] In the first industrial machine rotating mechanism or the second industrial machine rotating mechanism of the present invention, the intermediate gear may be located radially inward of an outer edge of the holding portion.

[0025] In the first or second industrial machine rotating mechanism of the present invention, the output gear of the drive portion that meshes with the intermediate gear may be located radially inward of an outer edge of the holding portion.

[0026] In the first or second industrial machine rotating mechanism of the present invention, a portion of the first member fixed to the housing may be located axially closer to the second member than an input gear of the speed reduction unit.

[0027] In the first industrial machine rotating mechanism or the second industrial machine rotating mechanism of the present invention, a portion of the first member fixed to the housing may be located closer to the second member than the intermediate gear in the axial direction.

[0028] The industrial machine of the present invention includes any one of the first rotating mechanism and the second rotating mechanism of the present invention described above.

[0029] The first reducer of the present invention comprises:

[0030] A housing fixed to a first member of the industrial machinery;

[0031] a speed reducing unit held by the housing and configured to reduce the speed of the rotation input and output the rotation input to a second member of the industrial machine;

[0032] A sun gear disposed on the first member side and inputting rotation to the speed reduction portion; and

[0033] The intermediate gear is arranged on the first member side and meshes with the sun gear.

[0034] The second reducer of the present invention comprises:

[0035] A housing fixed to a first member of the industrial machinery;

[0036] a speed reducing unit held by the housing and configured to reduce the speed of rotation input to the input gear and output the rotation to a second member of the industrial machine;

[0037] a sun gear disposed on the side of the speed reduction portion opposite to the second member side and meshing with the input gear; and

[0038] The intermediate gear meshes with the central gear and is rotated by the input of the self-driving part.

[0039] The third reducer of the present invention comprises:

[0040] A housing disposed between a first member and a second member of the industrial machine and fixed to the first member;

[0041] a speed reducing unit held by the housing and configured to reduce the speed of rotation input to the input gear and output the rotation to the second member;

[0042] a sun gear disposed between the speed reduction portion and the first member and meshing with the input gear; and

[0043] The intermediate gear is disposed between the speed reducing portion and the first member and meshes with the sun gear.

[0044] The driving device of the present invention comprises:

[0045] Any one of the first to third speed reducers of the present invention; and

[0046] A driving unit inputs rotation to the speed reducer.

[0047] According to the present invention, an object is to improve the degree of freedom in arrangement of fixing bolts for fixing a speed reducer to an industrial machine so that the speed reducer can be stably fixed to the industrial machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a diagram for explaining one embodiment and is a cross-sectional view showing a rotating mechanism of an industrial machine.

[0049] Figure 2 It is assembled from the first member side Figure 1 A top view of a reducer of an industrial machinery is illustrated.

[0050] Figure 3 It is assembled from the second member side Figure 1 A top view of a reducer of an industrial machinery is illustrated.

[0051] Figure 4 It is a perspective view showing an example of industrial machinery. DETAILED DESCRIPTION

[0052] Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Figure 1 to Figure 3 It is a cross-sectional view or a stereoscopic view showing a specific example of the rotating mechanism RM and the driving device DD of the present embodiment. As described in detail later, the rotating mechanism RM is a mechanism for making the first member 11 and the second member 12 of the industrial machine IM move relative to each other, more specifically, rotate relative to each other. The rotating mechanism RM has the first member 11 and the second member 12, a housing 25 fixed to the first member 11, and a speed reduction unit 30 fixed to the second member 12. In addition, the driving device DD has a speed reducer 20 including the housing 25 and the speed reduction unit 30, and a driving unit 50 for inputting rotation to the speed reducer 20.

[0053] In the present embodiment described below, the freedom of arrangement of the fixing bolts for fixing the speed reducer 20 to the industrial machine IM is improved. This makes it possible to assemble the speed reducer 20 to the industrial machine IM in a stably fixed state.

[0054] As an example of an industrial machine IM to which a rotating mechanism RM and a driving device DD are applied, Figure 4 As shown, an industrial robot R can be exemplified. More specifically, the rotating mechanism RM and the driving device DD can be applied to a rotating body of a robot, a rotating part such as a wrist joint, a rotating part of various machine tools, and the like.

[0055] Figure 1 express Figure 4 The connection part of the speed reducer 20 of the industrial machine IM shown in the figure is connected to the base RB and the rotary body RC. Figure 1 In the specific example shown, the housing 25 is fixed to the base RB of the robot R, and the speed reduction unit 30 is connected to the rotary body RC of the robot R. In this example, the base RB of the robot R constitutes the first member 11, and the rotary body RC constitutes the second member 12. Figure 1 In the example shown, the first member 11 is configured as a housing, and the second member 12 is configured as an arm member. The speed reduction unit 30 fixed to the second member 12 reduces the input rotation and outputs it to the second member 12. Therefore, in the example shown in the figure, the rotating body RC can be rotated with high torque relative to the base RB, and the rotation amount and rotation position of the rotating body RC can be controlled with high precision.

[0056] Next, the reducer 20 will be described. Figure 1 As shown, the reducer 20 has a housing 25 and a reduction unit 30 held by the housing 25. As described above, the housing 25 is fixed to the first member 11 of the industrial machine IM (in the example shown in the figure, the base RB). The rotation output by the drive unit 50 is input to the reduction unit 30. The reduction unit 30 reduces the input rotation and outputs it from the output unit 34a. At this time, the output unit 34a rotates around the rotation axis RA. The second member 12 of the industrial machine IM (in the example shown in the figure, the rotating body RC) is connected to the output unit 34a of the reduction unit 30. Therefore, the reduction unit 30 reduces the rotation speed of the input power and transmits the power with increased torque to the second member 12. The second member 12 rotates relative to the first member 11 fixed to the housing 25 around the rotation axis RA.

[0057] Hereinafter, the direction parallel to the rotation axis RA is referred to as the axial direction DA, the direction perpendicular to the rotation axis RA is referred to as the radial direction DR, and the direction along the circumference centered on the rotation axis RA is referred to as the circumferential direction DC. The circumferential direction DC is perpendicular to the radial direction DR.

[0058] Typically, the speed reduction unit 30 can be configured as a planetary gear speed reduction unit or an eccentric oscillating speed reduction unit, but the specific structure of the speed reduction unit 30 is not particularly limited. Therefore, the speed reduction unit 30 can be configured by a speed reduction structure that combines a planetary gear speed reduction unit and an eccentric oscillating speed reduction unit, or by any other speed reduction structure.

[0059] In the example shown in the figure, the speed reduction unit 30 has an eccentric swing type mechanism. The speed reduction unit 30 shown in the figure has: a shaft member 32 that transmits the rotation from the drive unit 50; a holding portion 34 that supports the shaft member 32 so that it can rotate; and a swing gear 36 that is supported by the holding portion 34 in a swingable and rotatable manner. The shaft member 32 can rotate around an axis parallel to the axial direction DA. The shaft member 32 has an input gear 32a on one side S1 in the axial direction DA. The rotation from the drive unit 50 is transmitted to the input gear 32a.

[0060] The holding portion 34 functions as a so-called gear rack. In the example shown in the figure, the holding portion 34 supports the three shaft members 32 in a rotatable manner at positions spaced apart at equal intervals in the circumferential direction DC (see Figure 2 ). Each shaft member 32 has a cylindrical eccentric body (not shown) and constitutes a so-called crankshaft. The eccentric body is arranged eccentrically with respect to the rotation axis of the shaft member 32. The swing gear 36 has a hole (not shown) for accommodating the eccentric body.

[0061] The swing gear 36 is driven by the eccentric body when the shaft member 32 rotates, and swings eccentrically relative to the retaining portion 34. In other words, the swing gear 36 is driven by the eccentric body when the shaft member 32 rotates, and moves translationally along a circular trajectory centered on the rotation axis RA. The external teeth of the swing gear 36 mesh with the internal teeth provided on the inner circumferential surface of the housing 25. The number of teeth of the external teeth of the swing gear 36 is different from the number of teeth of the internal teeth of the housing 25. As a result, the retaining portion 34 supporting the swing gear 36 rotates relative to the housing 25 with the rotation axis RA as the center as the shaft member 32 rotates. That is, in the example shown in the figure, the retaining portion 34 configured as a gear rack constitutes the output portion 34a of the speed reduction portion 30.

[0062] Each shaft member 32 is provided with two eccentric bodies arranged 180 degrees apart in phase, in other words, two eccentric bodies eccentric in completely opposite directions with respect to the rotation axis of the shaft member 32. The holding portion 34 holds two oscillating gears 36. The two oscillating gears 36 are arranged 180 degrees apart in phase.

[0063] In the example shown in the figure, the holding portion 34 has holes 34b provided corresponding to the respective shaft members 32. In the example shown in the figure, a pair of holes 34b are provided in the holding portion 34 corresponding to the respective shaft members 32. Figure 3As shown, the hole 34b on the other side S2 in the axial direction DA is provided with a cover 38. The hole 34b is blocked by the cover 38 from the other side S2 in the axial direction DA.

[0064] In addition, as described above, the structure of the reduction unit 30 shown in the figure is only an example. For example, the reduction unit 30 may also have a planetary gear type mechanism. The planetary gear type reduction unit 30 has: a planetary gear, which serves as an input gear for transmitting the rotation from the driving unit 50; and a holding portion (gear rack) that supports the planetary gear so that it can rotate. In this example, the holding portion (gear rack) 34 may also constitute the output portion of the reduction unit 30.

[0065] like Figure 1 As shown, the holding portion 34 constituting the output portion 34a of the speed reduction portion 30 is connected to the second member 12 of the industrial machine IM by means of a bolt B2. In the example shown in the figure, the bolt B2 penetrating the through hole (not shown) of the second member 12 is threadedly engaged with the bolt hole 34c formed in the holding portion 34, thereby fastening the speed reduction portion 30 and the second member 12. The bolt hole 34c is formed with a thread that is engaged with the thread of the bolt B2.

[0066] The second member 12 faces the holding portion 34 from the other side S2 in the axial direction DA. Figure 3 In the example shown, a plurality of bolt holes 34c, more specifically, 12 bolt holes 34c, are provided in the retaining portion 34. In particular, in the example shown in the figure, the bolt holes 34c provided in the retaining portion 34 are arranged to be rotationally symmetrical. In the example shown in the figure, a plurality of bolt holes 34c (four bolt holes 34c in the example shown in the figure) are provided at equal intervals along the circumferential direction DC between two adjacent shaft members 32 (covers 38) in the circumferential direction DC. Furthermore, in the example shown in the figure, the arrangement of the bolt holes 34c is three-fold symmetrical on the other side surface in the axial direction DA of the retaining portion 34.

[0067] In addition, if Figure 1 As shown, the reducer 20 further includes a cylindrical member 31 that passes through the center of the reduction portion 30. The cylindrical member 31 is fixed to the holding portion 34 by a bolt B3. The cylindrical member 31 rotates relative to the first member 11 together with the holding portion 34 of the reduction portion 30 and the second member 12 fixed to the reduction portion 30. The cylindrical member 31 is configured so that its central axis is located on the rotation axis RA.

[0068] The housing 25 is formed in a cylindrical shape. The housing 25 at least partially accommodates the speed reduction unit 30. The housing 25 shown in the figure is formed as a cylindrical member. As described above, the inner peripheral surface of the housing 25 is provided with internal teeth (not shown) extending along the axial direction DA. The internal teeth mesh with the external teeth of the swing gear 36. The housing 25 holds the retaining portion 34 of the speed reduction unit 30 rotatably by means of a bearing not shown.

[0069] On the other hand, an annular flange 26 protruding outward in the radial direction DR is provided on the outer peripheral surface of the housing 25. The flange 26 is provided with a plurality of through holes 26a arranged at equal intervals along the circumferential direction DC, and in the illustrated example, there are 16 through holes 26a. The housing 25 is fixed to the first member 11 by bolts B1 passing through the through holes 26a. More specifically, the bolts B1 passing through the through holes 26a of the flange 26 and the through holes of the first member 11 are screwed together with nuts, thereby fastening the housing 25 and the first member 11. However, the present invention is not limited to this example, and the bolts B1 passing through the through holes formed in one of the flange 26 and the first member 11 may be screwed together with the threaded holes formed in the other of the flange 26 and the first member 11, thereby fastening the housing 25 and the first member 11.

[0070] In addition, the outer side in the radial direction DR refers to the side farther from the rotation axis RA in the radial direction DR, and the inner side in the radial direction DR refers to the side closer to the rotation axis RA in the radial direction DR.

[0071] In addition, in the present embodiment, the reducer 20 also has a center gear 40 for inputting rotation to the reduction part 30 and an intermediate gear 45 meshing with the center gear 40. The center gear 40 is arranged on the side of the reduction part 30 opposite to the second member 12 side. That is, the center gear 40 is arranged to be closer to the first member 11 side than the reduction part 30. In other words, the center gear 40 is arranged to be closer to the side S1 on the axial direction DA than the reduction part 30. And, the center gear 40 meshes with the input gear 32a of the reduction part 30 from the side S1 on the axial direction DA. Therefore, the center gear 40 inputs rotation to the reduction part 30 from the side S1 on the axial direction DA.

[0072] The center gear 40 is formed as a cylindrical member. The center gear 40 is configured so that its center axis is located on the rotation axis RA. The center gear 40 is rotatably held on the speed reduction portion 30 by means of a bearing 48A, and is also rotatably held on the first member 11 by means of a bearing 48B. The center gear 40 is rotatable about the rotation axis RA. The cylindrical member 31 passes through the center gear 40. The center gear 40 has external teeth 41 provided on its outer peripheral surface. The plurality of external teeth 41 are arranged along the circumferential direction DC. Each external tooth 41 extends along the axial direction DA. As shown in FIG. Figure 2 As shown, the input gears 32 a of the three shaft members 32 included in the speed reduction portion 30 mesh with the external teeth 41 of the sun gear 40 from the outer sides in the radial direction DR.

[0073] Similar to the central gear 40, the intermediate gear 45 is arranged on the side of the reduction unit 30 opposite to the second member 12 side. That is, the intermediate gear 45 is arranged to be closer to the first member 11 side than the reduction unit 30. In other words, the intermediate gear 45 is arranged to be closer to the side S1 in the axial direction DA than the reduction unit 30, especially the input gear 32a of the shaft member 32. And the intermediate gear 45 meshes with the central gear 40 at a position closer to the side S1 in the axial direction DA than the reduction unit 30. Figure 1 As shown in FIG. 1 , the holding shaft member 49 is fixed to the first member 11. The intermediate gear 45 is rotatably held by the holding shaft member 49 via a bearing 48C. The intermediate gear 45 is rotatable about an axis parallel to the axial direction DA. Figure 2 As shown, the intermediate gear 45 is located inside the outer edge of the holding portion (gear carrier) 34 in the radial direction DR.

[0074] In addition, if Figure 1 As shown, the input gear 32a of the speed reduction unit 30 meshes with a portion of the other side S2 of the external teeth 41 of the center gear 40 in the axial direction DA. On the other hand, the intermediate gear 45 is configured to be closer to one side S1 than the input gear 32a in the axial direction DA. And, the intermediate gear 45 meshes with a portion of the one side S1 of the external teeth 41 of the center gear 40 in the axial direction DA. Among them, the portion of the external teeth 41 of the center gear 40 that meshes with the input gear 32a and the portion that meshes with the intermediate gear 45 are formed integrally. In addition, the portion of the external teeth 41 of the center gear 40 that meshes with the input gear 32a and the portion that meshes with the intermediate gear 45 have the same shape in a cross section orthogonal to the axial direction DA.

[0075] Next, the driving unit 50 that constitutes the driving device DD together with the speed reducer 20 will be described. Figure 1 As shown, the driving unit 50 has a motor 52 as a driving force source and an output shaft member 54 constituting an output portion of the rotational power. The motor 52 is fixed to the first member 11. That is, the motor 52 is stationary relative to the first member 11, similarly to the housing 25 of the speed reducer 20. On the other hand, the output shaft member 54 is rotatably held on the first member 11 by means of a bearing 48D. The rotation axis of the output shaft member 54 is parallel to the axial direction DA. Figure 1 As shown, the output shaft member 54 has an output gear 54a having external teeth that mesh with the intermediate gear 45. Figure 2 As shown, the output gear 54a of the drive unit 50 meshing with the intermediate gear 45 is located inwardly of the outer edge of the holding portion (gear carrier) 34 in the radial direction DR. In addition, the output shaft member 54 of the drive unit 50 is located inwardly of the outer edge of the holding portion (gear carrier) 34 in the radial direction DR.

[0076] Among them, the output gear 54a and the output shaft member 54 of the driving unit 50 are arranged to deviate from the cylindrical member 31 (especially the hollow part of the cylindrical member 31) in the radial direction DR. In other words, when viewed from one side S1 in the axial direction DA, the output gear 54a and the output shaft member 54 of the driving unit 50 are arranged at a position that does not overlap with the cylindrical member 31 (especially the hollow part of the cylindrical member 31). Therefore, the first member 11 and the second member 12 that rotate relatively can be connected via the cylindrical member 31. For example, wiring can be pulled between the first member 11 and the second member 12.

[0077] The speed reducer 20 described above has the cover 38 as a structure for preventing the lubricating oil from leaking. Figure 3 As shown, the cover 38 blocks the through hole 34b of the retaining portion 34 provided to support the shaft member 32 from the other side S2 in the axial direction DA. The reducer 20 has a main seal 46 and a first annular seal 47A and a second annular seal 47B as other structures for preventing lubricating oil leakage. Figure 1 As shown in FIG. 1 , the main seal 46 is held by the first member 11 to seal between the first member 11 and the cylindrical member 31. Figure 2 As shown, the first annular seal 47A seals between the housing 25 and the holding portion (gear carrier) 34 on one side S1 in the axial direction DA. Figure 3 As shown, the second annular seal 47B seals between the housing 25 and the holding portion (gear carrier) 34 on the other side S2 in the axial direction DA.

[0078] The first member 11 (the base RB in the example shown in the figure) and the second member 12 (the rotary body RC in the example shown in the figure) are fixed to the reducer 20 having the above structure. The second member 12 and the first member 11 holding the driving part 50 are located at positions separated in the axial direction DA. The first member 11 is located on one side S1 in the axial direction DA, and the second member 12 is located on the other side S2 in the axial direction DA. That is, the reducer 20 is located between the first member 11 and the second member 12 in the axial direction DA.

[0079] In addition, as also described in the background technology column, in the previous structure disclosed in Patent Document 1, the component (second component) fixed to the gear rack of the industrial robot holds the drive unit. Therefore, on the side of the component fixed to the gear rack, a portion of the gear rack along the circumferential direction is axially opposite to the drive unit. And in this previous structure, the component fixed to the gear rack and the cylindrical gear and the idle gear are arranged on the same side relative to the gear rack. Therefore, on the side of the component holding the drive unit, a portion of the gear rack along the circumferential direction is also axially opposite to the idle gear and the motor. Therefore, the configuration of the multiple fixing bolts used to fix the component holding the drive unit is restricted by the drive unit, the idle gear and the motor, loses symmetry and becomes discontinuous. If the configuration of the fixing bolts loses symmetry, there is also a situation where a large force is applied to the reducer when it is in action. If a large force is applied to the reducer, the lubricating oil may leak from the reducer, and then damage such as micro vibration wear may occur in the reducer.

[0080] On the other hand, in the present embodiment described above, the first member 11 holding the driving portion 50 is fixed to the flange 26 protruding outward in the radial direction DR from the housing 25 of the speed reducer 20 by means of bolts B1. Figure 2 and Figure 3 As shown, a plurality of bolts B1 for connecting the first member 11 and the housing 25 are arranged at rotationally symmetrical positions. Furthermore, the plurality of bolts B1 are arranged at equal intervals along the circumferential direction DC. Therefore, the first member 11 can be stably and firmly fixed to the housing 25 of the speed reducer 20.

[0081] In addition, the second member 12 fixed to the retaining portion (gear rack) 34 does not retain the driving portion 50. Furthermore, the central gear 40, the intermediate gear 45, and the driving portion 50 are not arranged on the other side S2 on the axial direction DA of the reduction portion 30 where the second member 12 is located. That is, the central gear 40, the intermediate gear 45, and the driving portion 50 are not arranged at the position facing the retaining portion (gear rack) 34 from the other side S2 on the axial direction DA. Therefore, the bolts B2 used to fix the second member 12 to the retaining portion (gear rack) 34 can be evenly dispersed to a certain extent. Therefore, the second member 12 can be stably and firmly fixed to the retaining portion 34 constituting the output portion 34a of the reduction portion 30. As a result, the previous undesirable situation that the lubricating oil leaks from the reducer 20 and then the reducer 20 is damaged by micro-vibration wear can be effectively eliminated.

[0082] In one embodiment described above, the rotating mechanism RM of the industrial machine has: the first component 11 of the industrial machine IM; the housing 25, which is fixed to the first component 11; the output part 34a, which is retained in the housing 25 and reduces the rotation input and outputs it; the second component 12 of the industrial machine, which is fixed to the output part 34a; the center gear 40, which is arranged on the side of the first component 11 and inputs the rotation to the speed reduction part 30; and the intermediate gear 45, which is arranged on the side of the first component 11 and meshes with the center gear 40 and meshes with the output gear 54a of the driving part 50. In other words, the rotating mechanism RM includes: the first member 11 of the industrial machine; the housing 25 fixed to the first member 11; the speed reducing unit 30 held in the housing 25 and reducing the rotation input to the input gear 32a and outputting it from the output unit 34a; the second member 12 fixed to the output unit 34a of the speed reducing unit 30; the central gear 40 arranged on the side of the speed reducing unit 30 opposite to the second member 12 and meshing with the input gear 32a; and the intermediate gear 45 meshing with the central gear 40 and receiving the rotation input from the drive unit 50. According to this embodiment, the central gear 40 and the intermediate gear 45 are located on the side of the speed reducing unit 30 opposite to the second member 12 fixed to the output unit 34a of the industrial machine. Therefore, it is possible to effectively avoid the arrangement of the fixing bolts B2 for fixing the second member 12 to the output unit 34a being restricted by the central gear 40 and the intermediate gear 45 meshing with the central gear 40. Thereby, the second member 12 can be stably fixed to the output portion 34 a of the speed reduction portion 30 .

[0083] In a specific example of the above-mentioned embodiment, the intermediate gear 45 is configured to be offset from the input gear 32a of the speed reduction unit 30 in the axial direction DA. According to such a configuration, it is possible to stably avoid the input gear 32a of the speed reduction unit 30 from contacting the intermediate gear 45 as the speed reduction unit 30 rotates relative to the first member 11. In particular, in the illustrated example, it is possible to stably avoid the input gear 32a of the shaft member 32 from contacting the intermediate gear 45 as the retaining portion 34 that retains the shaft member 32 rotates relative to the first member 11. In addition, the degree of freedom of the configuration position of the intermediate gear 45 and the drive unit 50 in the circumferential direction DC can be increased.

[0084] In a specific example of the above-mentioned embodiment, the central gear 40 is a cylindrical member. Since the intermediate gear 45 is provided, the size of the central gear 40 in the radial direction DR can be miniaturized. As a result, the rotating mechanism RM can be made small and light and the cost can be reduced. In addition, the input gear 32a of the speed reduction unit 30 and the intermediate gear 45 can be arranged in an offset manner in the axial direction DA using a simple structure.

[0085] In a specific example of the above-mentioned embodiment, the speed reduction unit 30 includes: a rotatable shaft member 32 including an input gear 32a, a holding portion (gear frame) 34 having a hole 34b for inserting the shaft member 32, and a cover 38 that blocks the hole 34b from the second member 12 side. The input gear 32a meshes with the central gear 40 on the side of the speed reduction unit 30 opposite to the second member 12 side. Therefore, the hole 34b of the holding portion 34 for accommodating the shaft member 32 can be blocked from the second member 12 side by the cover 38. Thus, it is possible to effectively prevent the lubricating oil from leaking from between the second member 12 and the speed reduction unit 30.

[0086] In a specific example of the above-mentioned embodiment, the rotating mechanism RM has a plurality of bolts B2 arranged at rotationally symmetrical positions for fixing the second member 12 to the speed reduction section 30. Therefore, the second member 12 can be stably fixed to the speed reduction section 30. In addition, the speed reduction section 30 can be effectively prevented from being deformed when the second member 12 is in motion, thereby effectively suppressing leakage of lubricating oil and fretting wear.

[0087] In a specific example of the above-mentioned embodiment, the intermediate gear 45 is located inwardly of the outer edge of the retaining portion (gear frame) 34 in the radial direction DR. According to such a specific example, the restriction on the arrangement of the bolts B1 for fixing the first member 11 to the housing 25 can be effectively alleviated. For example, the bolts B1 for fixing the first member 11 to the housing 25 can be arranged at rotationally symmetrical positions. Thus, the first member 11 can be stably fixed to the housing 25.

[0088] In a specific example of the above-mentioned embodiment, the output gear 54a of the drive unit 50 meshing with the intermediate gear 45 is located at a position closer to the inside than the outer edge of the holding portion (gear frame) 34 in the radial direction DR. According to such a specific example, the restriction on the arrangement of the bolts B1 for fixing the first member 11 to the housing 25 can be effectively alleviated. For example, the bolts B1 for fixing the first member 11 to the housing 25 can be arranged at a rotationally symmetrical position. As a result, the first member 11 can be stably fixed to the housing 25.

[0089] In a specific example of the above-mentioned embodiment, the portion of the first member 11 fixed to the housing 25 is located closer to the second member 12 side (the other side S2) than the input gear 32a of the speed reduction unit 30 in the axial direction DA. According to such a specific example, the restriction on the arrangement of the bolts B1 for fixing the first member 11 to the housing 25 can be effectively relaxed. For example, the bolts B1 for fixing the first member 11 to the housing 25 can be arranged at rotationally symmetrical positions. Thus, the first member 11 can be stably fixed to the housing 25.

[0090] In a specific example of the above-mentioned embodiment, the portion of the first member 11 fixed to the housing 25 is located closer to the second member 12 side (the other side S2) than the intermediate gear 45 in the axial direction DA. According to such a specific example, the restriction on the arrangement of the bolts B1 for fixing the first member 11 to the housing 25 can be effectively relaxed. For example, the bolts B1 for fixing the first member 11 to the housing 25 can be arranged at rotationally symmetrical positions. Thus, the first member 11 can be stably fixed to the housing 25.

[0091] In one embodiment described above, the reducer 20 includes: a housing 25 fixed to the first member 11 of the industrial machine; a reduction unit 30 held in the housing 25 and reducing the rotation input and outputting it to the second member 12 of the industrial machine; a central gear 40 arranged on the first member 11 side and inputting the rotation to the reduction unit 30; and an intermediate gear 45 arranged on the first member 11 side and meshing with the central gear 40. In other words, the reducer 20 includes: a housing 25 fixed to the first member 11 of the industrial machine; a reduction unit 30 held in the housing 25 and reducing the rotation input to the input gear 32a and outputting it to the second member 12 of the industrial machine; a central gear 40 arranged on the side of the reduction unit 30 opposite to the second member 12 side and meshing with the input gear 32a; and an intermediate gear 45 meshing with the central gear 40 and receiving the rotation input from the drive unit 50. According to this embodiment, the center gear 40 and the intermediate gear 45 are located on the opposite side of the second member 12 of the industrial machine that is fixed to the output portion 34a of the speed reduction unit 30. Therefore, it is possible to effectively avoid the arrangement of the fixing bolts B2 for fixing the second member 12 to the output portion 34a being restricted by the center gear 40 and the intermediate gear 45 meshing with the center gear 40. Thus, the second member 12 can be stably fixed to the output portion 34a of the speed reduction unit 30.

[0092] One embodiment is described with reference to a specific example, but it is not intended to limit the one embodiment to the specific example. The above-mentioned one embodiment can be implemented by various other specific examples, and various omissions, substitutions, changes, and additions can be made within the scope of the gist thereof. For example, an example in which the reducer 20 is an eccentric swing type reducer is shown, but it is not limited to this, and it can also be a centrifugal reducer or a planetary gear type reducer.

Claims

1. A rotating mechanism of an industrial machine, wherein: The rotating mechanism of this industrial machinery includes: The first component of industrial machinery; A housing fixed to the first member; A speed reduction unit, which is held in the housing and reduces the speed of the rotation input and outputs it from the output unit; a second member of the industrial machinery, which is fixed to the output portion; a cylindrical sun gear disposed on the first member side and inputting rotation to the speed reduction portion; and an intermediate gear disposed on the first member side and meshing with the central gear and with the output gear of the driving unit, The outer peripheral surface of the sun gear is provided with external teeth that mesh with the input gear of the speed reduction unit and the intermediate gear.

2. A rotating mechanism of an industrial machine, wherein: The rotating mechanism of this industrial machinery includes: The first component of industrial machinery; A housing fixed to the first member; a speed reduction unit, which is held in the housing and reduces the speed of rotation input to the input gear and outputs the rotation from the output unit; a second member fixed to the output portion of the speed reduction portion; a cylindrical sun gear disposed on the side of the speed reduction portion opposite to the second member side and meshing with the input gear; and an intermediate gear meshing with the central gear and rotating by input from the driving part, The sun gear is provided on its outer peripheral surface with external teeth that mesh with the input gear and the intermediate gear.

3. The rotating mechanism of industrial machinery according to claim 1 or 2, wherein: The intermediate gear is arranged to be offset from the speed reduction portion in the axial direction.

4. The rotating mechanism of industrial machinery according to claim 1 or 2, wherein: The speed reduction unit includes: a shaft member that includes the input gear and is rotatable; and a holding portion that has a through hole into which the shaft member is inserted. and a cover that closes the through hole from the second member side.

5. The rotating mechanism of industrial machinery according to claim 1 or 2, wherein: The rotating mechanism of the industrial machine includes a plurality of bolts which are arranged at rotationally symmetrical positions and fix the second member to the speed reducing portion.

6. An industrial machine, wherein: The industrial machine includes the rotating mechanism according to claim 1 or 2.

7. A reducer used for industrial machinery, wherein: The reducer includes: A housing fixed to the first member of the industrial machine; a speed reducing unit held by the housing and configured to reduce the speed of the rotation input and output the rotation input to a second member of the industrial machine; a cylindrical sun gear disposed on the first member side and inputting rotation into the speed reduction portion; and an intermediate gear disposed on the first member side and meshing with the central gear, The outer peripheral surface of the sun gear is provided with external teeth that mesh with the input gear of the speed reduction unit and the intermediate gear.

8. A reducer, wherein: The reducer includes: A housing fixed to a first member of the industrial machinery; a speed reducing unit held by the housing and configured to reduce the speed of rotation input to the input gear and output the rotation to a second member of the industrial machine; a cylindrical sun gear disposed on the side of the speed reduction portion opposite to the second member side and meshing with the input gear; and an intermediate gear meshing with the central gear and rotating by input from the driving part, The sun gear is provided on its outer peripheral surface with external teeth that mesh with the input gear and the intermediate gear.

9. A driving device, wherein: The drive device comprises: The reducer according to claim 7 or 8; and A driving unit inputs rotation to the speed reducer.

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