Speed ​​reducer and driving device using the speed reducer

Abstract

The reducer of the present invention comprises: a main reduction unit, which reduces the rotation of the input side and transmits it to the output side; a fixed module, which is connected to the main reduction unit and supports the input gear connected to the rotation drive source so as to be rotatable; an output gear, which transmits the rotation of the input gear to the input side of the main reduction unit; and an intermediate gear, which is meshed with the input gear and the output gear, and the intermediate gear is rotatably supported on the fixed module.

Description

Technical Field

[0001] The invention relates to a speed reducer and a driving device using the speed reducer.

[0002] This application claims priority based on Japanese Patent Application No. 2019-086559 filed in Japan on April 26, 2019, the contents of which are incorporated herein by reference. Background Art

[0003] In industrial robots, machine tools, and the like, speed reducers are used to reduce the speed of rotation of a rotational drive source such as a motor (see, for example, Patent Document 1).

[0004] The speed reducer described in Patent Document 1 includes a main reduction unit that reduces the rotation of an input side and transmits it to an output side, and a gear mechanism on the preceding stage that reduces the rotation of a rotational drive source such as a motor and transmits it to the main reduction unit.

[0005] The main reduction unit comprises: an outer cylinder module of a substantially cylindrical shape; a gear carrier module rotatably supported on the outer cylinder module; an input rotating body (eccentric shaft) rotatably supported on the gear carrier module at a position radially deviated from the rotation center of the gear carrier module; and a main reduction mechanism that reduces the rotation speed of the input rotating body and transmits it to the gear carrier module. The outer cylinder module is fixed to a setting part such as the ground, and the gear carrier module is connected to a rotating module such as a turntable.

[0006] The main reduction mechanism comprises: a plurality of internal tooth pins which are retained on the inner periphery of the outer cylinder module; and a rotary gear which is arranged on the inner periphery side of the outer cylinder module in a rotatable and rotatable manner. The rotary gear has external teeth having a smaller number of teeth than the number of internal tooth pins, and the external teeth can mesh with the plurality of internal tooth pins. If the rotary gear rotates in a state meshed with the plurality of internal tooth pins, the rotary gear rotates a predetermined distance relative to the outer cylinder module for one rotation. In addition, the input rotating body supported by the gear frame module has a driven gear which receives a rotational force from the outside and an eccentric portion in the shape of a crankshaft. The eccentric portion is rotatably engaged with the rotary gear in a manner that rotates in the same phase as the rotary gear.

[0007] The rotation of the input rotating body rotates the rotating gear, and while the external teeth of the rotating gear are meshing with the internal teeth pins, the rotating gear is rotated at a predetermined speed reduction ratio. As a result, the carrier module rotates at the same speed as the rotating gear.

[0008] In addition, the gear mechanism on the front stage side includes: an output gear rotatably supported on the upper part of the gear frame module and meshing with the driven gear of the input rotating body; and an intermediate gear meshing with the output gear and the input gear on the rotation drive source side. The intermediate gear is rotatably supported on a support shaft protruding from the gear frame module. The gear mechanism on the front stage side reduces the rotation at a reduction ratio corresponding to the gear ratio between the output gear and the input gear.

[0009] Prior art literature

[0010] Patent Literature

[0011] Patent Document 1: Japanese Patent No. 5231530 Summary of the invention

[0012] Problem that the invention aims to solve

[0013] The main reduction unit of the speed reducer has a complex main reduction mechanism built therein, so it is difficult to achieve a thinner profile (shortening of the axial length). However, such a main reduction unit is desired to be thinner (shortening of the axial length) in various applications.

[0014] The intermediate gear of the gear mechanism constituting the front stage of the reducer described in Patent Document 1 is supported by the gear rack module on the main reduction unit side. Therefore, the thickness (axial length) of the gear rack module needs to have a margin corresponding to the support shaft in which the intermediate gear is embedded in the gear rack module. In the reducer described in Patent Document 1, this is the main reason why it is difficult to reduce the thickness of the main reduction unit.

[0015] The present invention provides a speed reducer capable of achieving a reduction in thickness of a main speed reducer unit and a drive device using the speed reducer.

[0016] Solutions for solving problems

[0017] A reducer of one technical solution of the present invention comprises: a main reduction unit, which reduces the rotation of the input side and transmits it to the output side; a fixed module, which is connected to the main reduction unit, and the fixed module supports the input gear connected to the rotation drive source so that it can rotate; an output gear, which transmits the rotation of the input gear to the input side of the main reduction unit; and an intermediate gear, which is meshed with the input gear and the output gear, and the intermediate gear is supported on the fixed module in a rotatable manner.

[0018] According to the above structure, when the input gear receives the power of the rotational drive source and rotates, its rotation is transmitted to the output gear through the intermediate gear supported on the fixed module side. The rotation transmitted to the output gear is input to the input part of the main reduction unit, is decelerated by the main reduction unit, and is output from the output part. In this structure, the intermediate gear is not supported on the main reduction unit side, but supported on the fixed module side, so there is no need to increase the thickness of the main reduction unit side for supporting the intermediate gear.

[0019] A recessed portion for accommodating the intermediate gear may be formed on a surface of the fixing module that faces the main reduction unit.

[0020] In this case, the intermediate gear is arranged in the recess formed in the fixed module, so there is no need to provide a recess on the main reduction unit side to avoid interference with the intermediate gear. Therefore, when this structure is adopted, the main reduction unit can be made thinner.

[0021] Alternatively, the main reduction unit may include: a first module coupled to the fixed module; an input rotating body rotatably supported on the first module; a second module rotatably engaged with the first module relative to the first module; and a main reduction mechanism that outputs the rotation of the input rotating body to the second module or the first module, one axial end portion of the output gear being rotatably supported on the first module, and the other axial end portion of the output gear being rotatably supported on the fixed module.

[0022] In this case, the output gear is stably supported by the fixed module and the first module on the main reduction unit side in a double-supported manner. Therefore, the bearing on the main reduction unit side that supports the output gear so that it can rotate freely can be miniaturized. Therefore, when this structure is adopted, the main reduction unit can be further thinned and miniaturized.

[0023] It can also be that the main reduction unit comprises: a first module, which is combined with the fixed module; an input rotating body, which is rotatably supported on the first module; a second module, which is engaged with the first module in a manner that is rotatable relative to the first module; and a main reduction mechanism, which outputs the rotation of the input rotating body to the second module or the first module, the output gear is configured to be concentric with the relative rotation center of the first module and the second module, the input rotating body has a driven gear meshing with the output gear, and the input rotating body is configured at a position separated from the relative rotation center, and the relative rotation of the fixed module and the first module around the relative rotation center is limited by a limiting member.

[0024] In this case, when the rotation is transmitted from the output gear to the input rotating body through the driven gear, the limiting member can be used to limit the displacement of the first module relative to the fixed module under the reaction force from the output side. Therefore, when this structure is adopted, the shaking of the first module caused by the operation of the main reduction unit can be suppressed.

[0025] The reducer of one technical solution of the present invention comprises: a main reduction unit, which reduces the rotation of the input side and transmits it to the output side; a fixed module, which is connected to the main reduction unit, and the fixed module supports the input gear connected to the rotation drive source so that it can rotate; an output gear, which transmits the rotation of the input gear to the input side of the main reduction unit; and an intermediate gear, which meshes with the input gear and the output gear, and the intermediate gear is rotatably supported on the fixed module. The main reduction unit has: a first module, which is combined with the fixed module; an input rotating body, which is rotatably supported Supported by the first module; a second module, which is engaged with the first module in a manner that allows it to rotate relative to the first module; and a main reduction mechanism, which outputs the rotation of the input rotating body to the second module or the first module; the output gear is rotatably supported on the end of the first module on the fixed module side at a position concentric with the relative rotation center of the first module and the second module, and a recess for accommodating the intermediate gear is formed on the surface of the fixed module opposite to the main reduction unit, and the intermediate gear is rotatably supported on the fixed module on the inner side of the recess.

[0026] A driving device of one technical solution of the present invention comprises: a reducer, which reduces the rotation of a rotational driving source and outputs it; and a rotating module, which is connected to the output part of the reducer, wherein the reducer comprises: a main reduction unit, which reduces the rotation of an input side and transmits it to an output side; a fixed module, which is connected to the main reduction unit, and the fixed module supports the input gear connected to the rotational driving source so as to be rotatable; an output gear, which transmits the rotation of the input gear to the input side of the main reduction unit; and an intermediate gear, which is meshed with the input gear and the output gear, and the intermediate gear is rotatably supported on the fixed module.

[0027] Effects of the Invention

[0028] The above-described speed reducer and drive device do not require an increase in thickness of the main reduction unit side for supporting the intermediate gear, and thus the main reduction unit can be made thinner. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a perspective view of the driving device according to the embodiment.

[0030] Figure 2 It is a front view of the speed reducer according to the embodiment.

[0031] Figure 3 The reducer of the embodiment is along Figure 2 Cross-sectional view along line III-III.

[0032] Figure 4 This is an enlarged representation of the reducer of the embodiment. Figure 3 A partial cross-sectional view of .

[0033] Figure 5 The reducer of the embodiment is roughly along the Figure 3 A cross-sectional view of line VV. DETAILED DESCRIPTION

[0034] Next, embodiments of the present invention will be described based on the drawings.

[0035] Figure 1 This is a perspective view of the driving device 1 used when welding, component assembly, etc.

[0036] The driving device 1 includes: a base module 11, which is installed on the ground F; a reducer 10, which is fixedly installed on the upper surface of one end side of the base module 11 in the longitudinal direction; a motor 2 as a rotation drive source, which outputs power to the reducer 10; a holding device 12, which is fixedly installed on the upper surface of the other end side of the base module 11 in the longitudinal direction; and a rotating module 13, both ends of which in the longitudinal direction are supported by the reducer 10 and the holding device 12. The motor 2 is installed as a whole on the input side of the reducer 10. The reducer 10 reduces the rotation of the motor 2 and transmits the rotation to one end side of the rotating module 13 in the longitudinal direction. The holding device 12 supports the other end side of the rotating module 13 in the longitudinal direction so that it can rotate. The power is transmitted from the motor 2 to the rotating module 13 by the reducer 10, so that the rotating module 13 rotates around the axis (axis) o1 substantially along the horizontal direction.

[0037] In the present embodiment, the rotating module 13 has a plurality of workpiece support surfaces 13a around the axis o1. A workpiece W as a work object is mounted on each workpiece support surface 13a. The workpiece W mounted on the workpiece support surface 13a is moved toward a working position by the rotation of the rotating module 13 by the motor 2. A working device 3 such as a welding robot is provided at the working position.

[0038] Figure 2 is a front view of the reducer 10 viewed from the output side (the side where the rotating module 13 is installed), Figure 3 It is along Figure 2 A cross-sectional view of line III-III. In addition, Figure 4 It is magnified Figure 3A partial cross-sectional view of the reducer 10, Figure 5 It is roughly along Figure 3 The VV line is a cross-sectional view of the reducer 10. Figure 5 In the figure, the output gear 30, the crankshaft gear 31, the intermediate gear 32, etc., which will be described later, are not shown in cross-section. Figure 5 In the figure, a holding member 40 and a mounting base 38 described later are also described.

[0039] The speed reducer 10 includes a fixing module 14, the lower end of which is fixedly mounted on the base module 11 (see Figure 1 ) on one end side; a main reduction unit 50 connected to the fixed module 14; and a gear mechanism 51 disposed between the main reduction unit 50 and the fixed module 14. The fixed module 14 is mounted with a motor 2. The main reduction unit 50 reduces the rotation of the input side and transmits it to the output side. In the reducer 10 of this embodiment, the gear mechanism 51 reduces the rotation of the motor 2 at the front stage, and then the main reduction unit 50 is used to greatly reduce the reduced rotation.

[0040] The fixing module 14 has a base flange 14a in the shape of a perforated disk having a circular through hole 25 at the center (see Figure 3 and a foot portion 14b, which extends downward from the base flange 14a (reference Figure 2 The lower end of the leg portion 14 b of the fixed module 14 is fixed to the base module 11 by bolt fastening or the like.

[0041] The main reduction unit 50 includes: a first gear frame module 15A and a second gear frame module 15B, which are connected to the base flange 14a of the fixed module 14; an outer cylinder 17, which is rotatably supported on the outer peripheral side of the first gear frame module 15A and the second gear frame module 15B by means of a bearing 16; a plurality of (three) crankshafts 18 (input rotating bodies), which are rotatably supported on the first gear frame module 15A and the second gear frame module 15B; and a first rotating gear 19A and a second rotating gear 19B, which rotate together with the two eccentric parts 18a and 18b of each crankshaft 18. The speed reducer 10 is provided on the base module 11 in such a manner that the rotation center axis c1 of the output part is consistent with the axis o1 of the drive device 1.

[0042] The first gear rack module 15A is formed in the shape of a circular plate with holes. The first gear rack module 15A overlaps with an end face in the thickness direction of the base flange 14a, and is fixed to the base flange 14a as a whole by bolt fastening or the like. The base flange 14a (fixed module 14) and the first gear rack module 15A (first module) are stopped by the positioning pin 52 (limiting member) in the direction around the rotation center axis c1 (relative rotation is limited). The second gear rack module 15B is fixed to the end face of the first gear rack module 15A on the opposite side of the base flange 14a by bolt fastening or the like. The second gear rack module 15B has a base plate portion 15Ba in the shape of a circular plate with holes and a plurality of pillar portions not shown extending from the end face of the base plate portion 15Ba toward the direction of the first gear rack module 15A. The end face of the pillar portion of the second gear rack module 15B is butted against the end face of the first gear rack module 15A, and each pillar portion is fixed to the first gear rack module 15A. A gap in the axial direction is maintained between the first carrier module 15A and the base plate portion 15Ba of the second carrier module 15B. The first rotating gear 19A and the second rotating gear 19B are arranged in the gap.

[0043] The first and second gears 19A and 19B are provided with escape holes (not shown) through which the support columns of the second gear carrier module 15B pass. The escape holes are formed with an inner diameter large enough relative to the support columns so that the support columns do not hinder the rotation of the first and second gears 19A and 19B.

[0044] The outer cylinder 17 is arranged to straddle the outer circumferential surface of the first gear frame module 15A and the outer circumferential surface of the base plate portion 15Ba of the second gear frame module 15B. The two axial end portions of the outer cylinder 17 are rotatably supported on the base plates 15Ba of the first gear frame module 15A and the second gear frame module 15B by means of bearings 16. In addition, a plurality of pin grooves (not shown) extending parallel to the rotation center axis c1 are formed on the inner circumferential surface of the axial central region of the outer cylinder 17 (the region opposite to the outer circumferential surfaces of the first rotating gear 19A and the second rotating gear 19B). A roughly cylindrical internal tooth pin 20 is rotatably accommodated in each pin groove. The plurality of internal tooth pins 20 mounted on the inner circumferential surface of the outer cylinder 17 are opposite to the outer circumferential surfaces of the first rotating gear 19A and the second rotating gear 19B.

[0045] The first rotating gear 19A and the second rotating gear 19B are formed with an outer diameter slightly smaller than the inner diameter of the outer cylinder 17. External teeth 19Aa and 19Ba are formed on the outer peripheral surface of each of the first rotating gear 19A and the second rotating gear 19B, and are in meshing contact with a plurality of internal tooth pins 20 arranged on the inner peripheral surface of the outer cylinder 17. The number of teeth of the external teeth 19Aa and 19Ba formed on the outer peripheral surface of each of the first rotating gear 19A and the second rotating gear 19B is set to be slightly less than the number of the internal tooth pins 20 (for example, one less).

[0046] A plurality of crankshafts 18 are arranged on the same circumference centered on the rotation center axis c1 of the first gear frame module 15A and the second gear frame module 15B. Each crankshaft 18 is rotatably supported by the first gear frame module 15A and the second gear frame module 15B by means of a bearing 22. The eccentric portions 18a, 18b of each crankshaft 18 respectively penetrate the first rotating gear 19A and the second rotating gear 19B. Each eccentric portion 18a, 18b is rotatably engaged with a support hole 21 formed in the first rotating gear 19A and the second rotating gear 19B respectively by means of an eccentric portion bearing 23. In addition, the two eccentric portions 18a, 18b of each crankshaft 18 are eccentric in a manner that the phases are staggered by 180° around the axis of the crankshaft 18.

[0047] When the plurality of crankshafts 18 are rotated in one direction by external force, the eccentric portions 18a and 18b of the crankshafts 18 rotate in the same direction at a predetermined radius, and accordingly, the first rotating gear 19A and the second rotating gear 19B rotate in the same direction at the same radius. At this time, the external teeth 19Aa and 19Ba of the first rotating gear 19A and the second rotating gear 19B respectively come into contact with the plurality of internal tooth pins 20 held on the inner circumference of the outer cylinder 17 in a meshing manner.

[0048] In the speed reducer 10 of the present embodiment, the number of the internal tooth pins 20 on the outer cylinder 17 side is set to be slightly larger than the number of teeth of the external teeth 19Aa, 19Ba of the first rotating gear 19A and the second rotating gear 19B, respectively. Therefore, while the first rotating gear 19A and the second rotating gear 19B rotate one turn, the outer cylinder 17 is pressed in the same direction as the rotation direction and rotated by a predetermined pitch. As a result, the rotation of the crankshaft 18 is greatly reduced and output as the rotation of the outer cylinder 17. In addition, in the present embodiment, the eccentric portions 18a, 18b of each crankshaft 18 are eccentric in a manner shifted by 180° around the axis, so the rotation phase of the first rotating gear 19A is shifted by 180° from the rotation phase of the second rotating gear 19B.

[0049] An output plate 26 in the form of a circular plate with a hole is mounted on the axial end of the outer cylinder 17 on the side opposite to the base flange 14a. The output plate 26 covers the end of the second gear frame module 15B in a non-contact state, and the workpiece holding rotating module 13 (see Figure 1 ) can be mounted on the axially outer end surface of the output plate 26 by bolt fastening or the like. In addition, a cylinder portion 27 is mounted on the inner periphery of the output plate 26 so as to penetrate the inner peripheries of the second gear frame module 15B, the second rotating gear 19B, the first rotating gear 19A, the first gear frame module 15A, and the base flange 14a without contact. The cylinder portion 27 rotates integrally with the output plate 26.

[0050] Furthermore, in the present embodiment, the first gear rack module 15A and the second gear rack module 15B constitute a first module fixed to the fixed module 14, and the outer cylinder 17 constitutes a second module engaged with the first module in a manner that can rotate relative to the first module. The relative rotation center of the first gear rack module 15A as the first module, the second gear rack module 15B and the outer cylinder 17 as the second module is consistent with the rotation center axis o1 of the main reduction unit 50. In addition, the main reduction mechanism in the main reduction unit 50 is composed of a crankshaft 18, a first rotating gear 19A, a second rotating gear 19B, an inner gear pin 20 on the inner periphery of the outer cylinder 17, and the like.

[0051] The gear mechanism 51 of the front stage includes: an input gear 33 connected to a rotating shaft (not shown) of the motor 2; an output gear 30 rotatably held on the inner circumference of the first gear frame module 15A and the base flange 14a; and an intermediate gear 32 meshing with the input gear 33 and the output gear 30 to transmit the rotation of the input gear 33 to the output gear 30. The output gear 30 is set to have a larger diameter than the input gear 33 and a larger number of teeth than the input gear. Therefore, the rotation of the input gear 33 by the motor 2 is decelerated at a predetermined reduction ratio at the output gear 30.

[0052] The input gear 33 is rotatably supported by an edge portion radially away from the through hole 25 of the base flange 14a via a bearing 34. An axis (axis center) c4 of the input gear 33 is set parallel to the rotation center axis c1 of the output side of the speed reducer 10.

[0053] The output gear 30 is formed to span the axial length of the first gear frame module 15A and the base flange 14a. External teeth 30a are formed in the axial central area of ​​the output gear 30. One end side of the output gear 30 in the axial direction is rotatably held on the inner circumferential surface of the first gear frame module 15A by means of a bearing 35B. The other end side of the output gear 30 in the axial direction is rotatably held on the inner circumferential surface of the through hole 25 of the base flange 14a by means of a bearing 35A. The output gear 30 rotates around the rotation center axis c1 at the end on the fixed module 14 side of the first gear frame module 15A.

[0054] In addition, at the end portion on the base flange 14a side of the first gear frame module 15A, a plurality of (three) recesses 28 are formed corresponding to the positions of the aforementioned plurality of (three) crankshafts 18. Each recess 28 is open on the inner circumferential surface side of the first gear frame module 15A. In addition, a crankshaft gear 31 (driven gear) for transmitting rotation to the crankshaft 18 is installed at the end portion on the base flange 14a side of each crankshaft 18. In addition, in the present embodiment, the crankshaft 18 and the crankshaft gear 31 constitute the input rotating body of the main reduction unit 50.

[0055] The crank gear 31 mounted on each crankshaft 18 is disposed inside the corresponding recess 28. Each crank gear 31 has external teeth 31a. The external teeth 31a of each crank gear 31 mesh with a region of the external teeth 30a of the output gear 30 near one end in the axial direction.

[0056] Therefore, the rotation input from the input gear 33 to the output gear 30 via the intermediate gear 32 is transmitted to each crankshaft 18 through the crank gear 31 .

[0057] In addition, a recess 36 for accommodating the external teeth 33a of the input gear 33 and the intermediate gear 32 is formed on the end face of the first gear frame module 15A side of the base flange 14a. A mounting base 38 for supporting the intermediate gear 32 is installed on the bottom face of the recess 36 of the base flange 14a (the face opposite to the end face of the first gear frame module 15A). In addition, a part of the recess 36 is open to the through hole 25 in the center of the base flange 14a. The intermediate gear 32 arranged in the recess 36 meshes with the external teeth 30a of the output gear 30 through the open portion on the radial inner side of the recess 36.

[0058] The intermediate gear 32 is rotatably supported by a cylindrical support shaft 39. The support shaft 39 is formed integrally with a cylindrical holding member 40, the outer diameter of which is larger than the outer diameter of the support shaft 39, and the axial length of which is shorter than the axial length of the support shaft 39. A circular holding hole 41 is formed in the mounting base 38, into which the outer peripheral surface of the holding member 40 is fitted and fixed. By fitting the holding member 40 into the holding hole 41, the support shaft 39 is fixed in the recess 36 of the base flange 14a (fixed module 14).

[0059] As described above, in the speed reducer 10 of the present embodiment, the intermediate gear 32 that transmits the rotation from the input gear 33 to the output gear 30 is rotatably supported on the fixed module 14 side, not on the main reduction unit 50 side. Therefore, it is not necessary to increase the wall thickness on the main reduction unit 50 side in order to support the support shaft 39 of the intermediate gear 32. Therefore, when the speed reducer 10 of the present embodiment is adopted, the main reduction unit 50 can be made thinner (the length in the axial direction can be shortened).

[0060] In addition, in the speed reducer 10 of the present embodiment, a recess 36 for accommodating the intermediate gear 32 is provided on the surface of the fixing module 14 on the side opposite to the main reduction unit 50. Therefore, it is not necessary to provide a deep recess on the surface of the main reduction unit 50 on the side opposite to the fixing module 14 in order to avoid interference with the intermediate gear 32. Therefore, when this structure is adopted, the main reduction unit 50 can be made thinner.

[0061] In addition, the main reduction unit 50 of the speed reducer 10 includes: a first gear frame module 15A and a second gear frame module 15B, which are combined with the fixed module 14; an outer cylinder 17, which is engaged with the first gear frame module 15A and the second gear frame module 15B in a manner that can rotate relative to the first gear frame module 15A and the second gear frame module 15B; and a main reduction mechanism, which reduces the rotation of the crankshaft 18 and outputs it to the outer cylinder 17. In addition, one end side of the output gear 30 of the preceding stage gear mechanism 51 in the axial direction is rotatably supported by the first gear frame module 15A, and the other end side of the output gear 30 of the preceding stage gear mechanism 51 in the axial direction is rotatably supported by the base flange 14a of the fixed module 14. Therefore, the output gear 30 with a long shaft length is stably supported by the first gear frame module 15A and the fixed module 14 in a double-supported manner. Therefore, the speed reducer 10 adopting this structure can miniaturize the bearing 35B supporting the output gear 30 on the main reduction unit 50 side. Therefore, when this configuration is adopted, the main reduction unit 50 can be further reduced in thickness and size.

[0062] Moreover, in the reducer 10 of the present embodiment, the output gear 30 of the gear mechanism 51 is arranged concentrically with the rotation center axis c1 of the main reduction unit 50, and the crankshaft gear 31 and the crankshaft 18 on the main reduction unit 50 side that mesh with the output gear 30 are arranged at a position separated from the rotation center axis c1. In addition, the rotation of the first gear frame module 15A connected to the fixed module 14 around the rotation center axis c1 relative to the fixed module 14 is limited by the positioning pin 52 (relative rotation is limited). Therefore, when the rotation is transmitted from the output gear 30 to the crankshaft 18 through the crankshaft gear 31, the positioning pin 52 can be used to limit the first gear frame module 15A from being misaligned relative to the fixed module 14 under a large reaction force from the output side. Therefore, when this structure is adopted, the shaking of the first gear frame module 15A caused by the operation of the main reduction unit 50 can be suppressed.

[0063] In addition, the present invention is not limited to the above-mentioned embodiment, and various design changes can be made without departing from the scope of the present invention.

[0064] For example, in the above-mentioned embodiment, a recess 36 is provided in the fixing module 14, and the intermediate gear 32 is accommodated on the inner side of the recess 36, but it is also possible that a notch portion and a step portion are provided in the fixing module 14, the intermediate gear 32 is arranged in the notch portion and the step portion, and the outer side of the notch portion and the step portion is covered by a cover member.

[0065] In addition, in the above-mentioned embodiment, the outer cylinder 17 as the second module is configured as an output rotating body that receives the power of the motor 2 and rotates, but it can also be that the outer cylinder 17 as the second module is fixedly set on the outside, and the first gear rack module 15A and the second gear rack module 15B as the first module are set as output rotating bodies. In this case, the rotating module that holds the workpiece, etc. is connected to the first gear rack module 15A and the second gear rack module 15B. In addition, the fixed module 14 and the motor 2 rotate together with the first gear rack module 15A and the second gear rack module 15B.

[0066] Furthermore, in the above-mentioned embodiment, the main reduction mechanism in the main reduction unit 50 is composed of the crankshaft 18, the first rotating gear 19A, the second rotating gear 19B, the internal gear pin 20 in the outer cylinder 17, etc. However, the main reduction mechanism is not limited to this structure. The main reduction mechanism may also be other structures such as a planetary gear mechanism.

[0067] Description of Reference Numerals

[0068] 1. Driving device; 2. Motor (rotational driving source); 10. Reducer; 13. Rotating module; 14. Fixed module; 15A. 1st gear frame module (1st module); 15B. 2nd gear frame module (2nd module); 17. Outer cylinder (2nd module); 18. Crankshaft (input rotating body, main reduction mechanism); 19A. 1st rotating gear (main reduction mechanism); 19B. 2nd rotating gear (main reduction mechanism); 20. Internal gear pin (main reduction mechanism); 30. Output gear; 31. Crankshaft gear (driven gear, input rotating body); 32. Intermediate gear; 33. Input gear; 36. Recess; 50. Main reduction unit; 51. Gear mechanism; 52. Positioning pin (limiting member).

Claims

1. A reducer, wherein: The reducer has: A main reduction unit that reduces the speed of rotation on the input side and transmits it to the output side; a fixed module connected to the main reduction unit and rotatably supporting an input gear connected to a rotational drive source; an output gear that transmits the rotation of the input gear to the input side of the final reduction unit; as well as an intermediate gear meshing with the input gear and the output gear, the intermediate gear being rotatably supported by the fixed module, The axis of the input gear is set parallel to the rotation center axis of the main reduction unit. The main reduction unit comprises: A first module, which is combined with the fixed module; An input rotating body rotatably supported by the first module; a second module engaged with the first module in a manner rotatable relative to the first module; and a main reduction mechanism that outputs the rotation of the input rotating body to the second module or the first module, One end portion of the output gear in the axial direction is rotatably supported by the first module, and the other end portion of the output gear in the axial direction is rotatably supported by the fixed module. The intermediate gear is rotatably supported on a support shaft, and the support shaft is fixed to the fixing module. A recessed portion for accommodating the intermediate gear is formed on a surface of the fixed module that is opposite to the main reduction unit. The support shaft is fixed in the recess. The input rotating body has a driven gear meshing with the output gear, and the input rotating body is arranged at a position separated from the rotation center axis. The relative rotation of the fixed module and the first module about the rotation center axis is restricted by a restriction member. The external teeth of the driven gear mesh with the external teeth of the output gear, The external teeth of the intermediate gear mesh with the external teeth of the output gear, The external teeth of the output gear extend linearly along the rotation center axis.

2. A reducer, wherein: The reducer has: A main reduction unit that reduces the speed of rotation on the input side and transmits it to the output side; a fixed module connected to the main reduction unit and rotatably supporting an input gear connected to a rotational drive source; an output gear that transmits the rotation of the input gear to the input side of the final reduction unit; as well as an intermediate gear meshing with the input gear and the output gear, the intermediate gear being rotatably supported by the fixed module, The main reduction unit comprises: A first module, which is combined with the fixed module; An input rotating body rotatably supported by the first module; a second module engaged with the first module in a manner rotatable relative to the first module; and a main reduction mechanism that outputs the rotation of the input rotating body to the second module or the first module, The output gear is rotatably supported at an end portion of the first module on the fixed module side at a position concentric with a relative rotation center of the first module and the second module. A recessed portion for accommodating the intermediate gear is formed on a surface of the fixed module that is opposite to the main reduction unit. The intermediate gear is rotatably supported by the fixing module inside the recess. The axis of the input gear is set parallel to the rotation center axis of the main reduction unit. The intermediate gear is rotatably supported by a support shaft, and the support shaft is fixed to the recessed portion. The input rotating body has a driven gear meshing with the output gear, and the input rotating body is arranged at a position separated from the relative rotation center. The relative rotation of the fixed module and the first module about the relative rotation center is restricted by a restriction member. The external teeth of the driven gear mesh with the external teeth of the output gear, The external teeth of the intermediate gear mesh with the external teeth of the output gear, The external teeth of the output gear extend linearly along the rotation center axis.

3. A driving device comprising: The speed reducer according to claim 1 or 2, which reduces the speed of the rotation of the rotation drive source and outputs the reduced speed; and The rotating module is connected to the output portion of the reducer.

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