Gear motor

Abstract

Provided is a technology for reducing manufacturing costs when using multiple gear motors. A gear motor including a motor and a speed reducer, wherein the gear motor includes: a first detector placement portion for placing a first rotation detector that detects rotation of a rotor shaft; a second detector placement portion for placing a second rotation detector that detects rotation of an output member of the speed reducer; and a third detector placement portion for placing a torque detector, the gear motor being operable whether the first rotation detector is placed on the first detector placement portion, the second rotation detector is placed on the second detector placement portion, and the torque detector is placed on the third detector placement portion, or whether one of them is placed.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2021-041994, filed on March 16, 2021. The entire contents of that Japanese application are incorporated herein by reference. Technical Field

[0002] This invention relates to a gear motor. Background Technology

[0003] Patent document 1 discloses a gear motor, which includes a rotor shaft, an output shaft, a first rotation detector for detecting the rotation of the rotor shaft, and a second rotation detector for detecting the rotation of the output shaft.

[0004] Patent Document 1: International Publication No. 2012 / 050130

[0005] Depending on the customer, the detectors that need to be assembled on the geared motor also vary. If a dedicated geared motor is designed for each customer's required detector assembly, multiple geared motors corresponding to the number of detectors to be assembled would need to be prepared. This would increase manufacturing costs, therefore, an improvement is desired. Summary of the Invention

[0006] One of the objectives of this invention is to provide a technique that can reduce manufacturing costs when using various gear motors.

[0007] The present invention provides a gear motor comprising a motor and a reducer, comprising: a first detector configuration section for configuring a first rotation detector for detecting rotation of a rotor shaft; a second detector configuration section for configuring a second rotation detector for detecting rotation of an output component of the reducer; and a third detector configuration section for configuring a torque detector, wherein the gear motor is capable of operation regardless of whether the first rotation detector is configured on the first detector configuration section, the second rotation detector is configured on the second detector configuration section, and the torque detector is configured on the third detector configuration section, or only some of these are configured.

[0008] According to the present invention, manufacturing costs can be reduced when using a variety of gear motors. Attached Figure Description

[0009] Figure 1 This is a side sectional view of the gear motor according to the first embodiment.

[0010] Figure 2 (a) is a schematic diagram of the gear motor according to the first embodiment. Figure 2 (b) is a schematic diagram of the gear motor in the first variation. Figure 2 (c) is a schematic diagram of the gear motor in the second variation. Figure 2 (d) is a schematic diagram of the gear motor in the third variation.

[0011] Figure 3 This is a side sectional view showing a portion of the shaft and its surrounding structure in the first embodiment.

[0012] Figure 4 This is a side sectional view of the base housing of the first embodiment.

[0013] Figure 5 (a) indicates the motor housing used in the first motor. Figure 5 (b) indicates the motor housing used in the second motor. Figure 5 (c) indicates the motor housing used in the third motor.

[0014] Figure 6 It means Figure 1 A diagram of the peripheral structure of the internal bearing.

[0015] Figure 7 This is a side sectional view showing the wiring and surrounding structure of the gear motor used in the first embodiment.

[0016] Figure 8 yes Figure 7 A sectional view taken along line AA.

[0017] Figure 9 This is a perspective view showing the drive unit and its surrounding structure for the gear motor used in the first embodiment.

[0018] Figure 10 It means Figure 9 A side sectional view of a portion of a section cut along line BB.

[0019] Figure 11 It means Figure 9 A side sectional view of a portion of a section cut along the CC line.

[0020] Figure 12 This is a side sectional view showing the heat sink and its surrounding structure for the gear motor used in the first embodiment.

[0021] Figure 13 This is a partial side sectional view of an industrial robot using a geared motor according to the second embodiment.

[0022] Figure 14 It means Figure 13 A partial view of a cross-section cut along line DD.

[0023] In the diagram: 10-Gear motor, 16-Motor, 18-Rotor shaft, 20-Reducer, 22-Housing, 24-Detection shaft, 26-Driver unit, 28-First rotary detector, 30-Second rotary detector, 31-Shaft, 32-Torque detector, 34-Brake, 38-Rotor, 40-Input shaft, 48-Output component, 60-Motor housing, 100-First detector configuration, 102-Second detector configuration, 104-Third detector configuration, 106-Brake configuration, 110, 112, 114-External bearings, 120, 122, 124-External bearing configuration, 130-Base housing, 140-Internal bearing, 162-Elastic component, 170, 172-Electronic components, 174, 176-Wiring, 192-Wiring trough, 196-Driver mounting base, 210-Rivet. Detailed Implementation

[0024] The embodiments will now be described. Identical components are labeled with the same symbols, and repeated descriptions are omitted. In the accompanying drawings, components are appropriately enlarged or reduced for ease of explanation. The drawings are viewed with respect to the orientation of the symbols.

[0025] (First Embodiment)

[0026] refer to Figure 1 The gear motor 10 connects the first object component 12 and the second object component 14. The gear motor 10 is capable of rotating the second object component 14 relative to the first object component 12. In this embodiment, the gear motor 10 is assembled into the joint of an industrial robot. In this embodiment, the first and second object components 12 and 14 are either a base component or an arm component of a multi-joint arm.

[0027] The gear motor 10 mainly comprises: a motor 16, a rotor shaft 18 that rotates under the drive of the motor 16, a reducer 20 that reduces the rotation of the rotor shaft 18, a reduction mechanism 42 that houses the reducer 20, and a housing 22 that houses the motor 16. The gear motor 10 of this embodiment includes an input shaft 40 that passes through the reducer 20 and a detection shaft 24 that passes through the rotor shaft 18, and a driver unit 26 disposed on the opposite side of the load than the motor 16. The gear motor 10 of this embodiment also includes: a first rotation detector 28 that detects the rotation of the rotor shaft 18, a second rotation detector 30 that detects the rotation of the output component 48 of the reducer 20, and a torque detector 32 that detects the torque of the shaft 31 formed by the rotor shaft 18 and the input shaft 40. The gear motor 10 of this embodiment includes a brake 34 that brakes the shaft 31. The first target component 12 is integrally connected to the housing 22 by screws or the like, and the second target component 14 is integrally connected to the wheel frame 44 of the reducer 20 by screws or the like.

[0028] Hereinafter, the direction along the rotation center line CL of the rotor shaft 18 will be referred to as the axial direction X, and the circumferential direction and radial direction of the circle centered on this rotation center line CL will be referred to as the "circumferential direction" and "radial direction," respectively. Furthermore, the direction along the axial direction X from the motor 16 towards the reducer 20 ( Figure 1 The left side is called the load side, and the side opposite to it on the axial X-axis ( Figure 1 The right side of the load is called the opposite side of the load.

[0029] The motor 16 has a stator 36 fixed to a motor housing 60 on a housing 22 and a rotor 38 that rotates integrally with a rotor shaft 18. The rotor shaft 18 passes through the motor 16 along the axial direction X.

[0030] The speed reducer 20 includes an input shaft 40 for inputting the rotation of the rotor shaft 18 and a speed reduction mechanism 42 for reducing the rotation of the input shaft 40. In addition, the speed reducer 20 also includes a wheel frame 44 disposed axially on the load side relative to the speed reduction mechanism 42, a speed reducer housing 47 for housing the speed reduction mechanism 42, and an output component 48 for outputting the reduced rotation from the speed reduction mechanism 42.

[0031] The reduction mechanism 42 of this embodiment is a flexural meshing gear mechanism in which the external gear 50 is flexed and deformed by the input shaft 40, causing the internal gear to rotate, and the rotational component is output by the output component 48. The reduction mechanism 42 of this embodiment is a cylindrical flexural meshing gear mechanism that uses a first internal gear 52 whose relative rotation with respect to the reducer housing 47 is restricted, and a second internal gear 54 that can rotate relative to the reducer housing 47.

[0032] The input shaft 40 includes a gear drive section 40a that drives the gear (external gear 50) of the reduction mechanism 42. The gear drive section 40a of the input shaft 40, which is used in a flexural meshing type gear mechanism, is elliptical in a section orthogonal to the axial direction X. Here, elliptical not only includes an elliptical shape in a strictly geometric sense, but also includes a roughly elliptical shape.

[0033] The reduction mechanism 42 includes an external gear 50 disposed on the outer periphery of the input shaft 40 and first and second internal gears 52 and 54 meshing with the external gear 50. The external gear 50 is rotatably supported on the input shaft 40 via a first external bearing 110 disposed between the gear drive portion 40a of the input shaft 40 and the external gear 50. In this embodiment, the external gear 50 is flexible, and if the input shaft 40 rotates, its flexural deformation becomes an ellipse conforming to the shape of the gear drive portion 40a of the input shaft 40.

[0034] The first internal gear 52 is disposed on the opposite side of the load. The second internal gear 54 is disposed on the load side. The first internal gear 52 has a different number of internal teeth (e.g., 102) than the number of external teeth (e.g., 100) of the external gear 50, and the second internal gear 54 has the same number of internal teeth as the external gear 50. In the reduction mechanism 42 of this embodiment, for each revolution of the input shaft 40, the external gear 50 and the second internal gear 54 rotate together by an amount equivalent to the difference in the number of teeth between the external gear 50 and the first internal gear 52.

[0035] The wheel frame 44 is generally circular. The wheel frame 44 has a through hole 45 that passes through the center of the wheel frame 44 and a fitting protrusion 46 that protrudes toward the opposite side of the load. The wheel frame 44 becomes integral with the second internal gear 54 by locking the fitting protrusion 46 into the fitting recess 54a provided in the second internal gear 54.

[0036] The reducer housing 47 of this embodiment includes a first housing component 44A that also serves as the first internal gear 52 and a second housing component 44B disposed radially outward relative to the second internal gear 54. The first housing component 46A and the second housing component 44B are connected to each other as a single unit by screws or the like. A main bearing 58 is disposed between the reducer housing 47 and the second internal gear 54.

[0037] In this embodiment, the output component 48 is a wheel frame 44, which outputs the rotation from the reduction mechanism 42 to the second object component 14.

[0038] The housing 22 includes the aforementioned reducer housing 47 for accommodating the reduction mechanism 42 and the motor housing 60 for accommodating the motor 16. The reducer housing 47 is connected to the motor housing 60 as a single unit by bolts or the like.

[0039] The motor housing 60 is cylindrical in shape. In this embodiment, the motor housing 60 is a one-piece molded product obtained through integral molding, and it is composed of a single component. The motor housing 60 in this embodiment is a die-cast (one-piece molded) product made of aluminum (metal). Alternatively, the motor housing 60 can also be a machined metal product, etc.

[0040] The motor housing 60 includes a stator mounting portion 62 for mounting a stator 36 and an inner flange portion 64 disposed on the load side of the stator mounting portion 62. The stator 36 is fixed to the stator mounting portion 62 by means of adhesive or fitting. The inner flange portion 64 protrudes radially inward from the inner periphery of the motor housing 60. In addition, the motor housing 60 includes a portion of a brake mounting portion 106 (the housing side portion 106a described later) for mounting a brake 34. The housing side portion 106a is disposed between the stator mounting portion 62 and the inner flange portion 64.

[0041] The detection shaft 24 not only passes through the shaft body 31 along the axial direction X, but also passes through the through hole 45 of the output component 48 (wheel frame 44) along the axial direction X. The detection shaft 24 is fixed to the output component 48 and is configured to rotate integrally with the output component 48. Specifically, the load-side end of the detection shaft 24 is fitted into the through hole 45 of the output component 48 by an interference fit, thereby fixing it to the output component 48. As a result, the axial position of the detection shaft 24 relative to the output component 48 can be adjusted, and the detection shaft 24 can be fixed to the output component 48.

[0042] The driver unit 26 includes a control board 70 that forms a control unit 68 on which driver circuitry is assembled, a sensor board 72 that mounts sensors 28B and 30B (described later) for rotation detectors 28 and 30, and a board holder 74 that holds the boards 70 and 72. The sensor board 72 is electrically connected to the control unit 68 of the control board 70 via wiring (not shown). The control unit 68 is capable of driving the motor 16 to rotate the rotor shaft 18.

[0043] In this embodiment, the first rotary detector 28 and the second rotary detector 30 are rotary encoders. The first rotary detector 28 includes a first detected component 28A that can rotate integrally with the rotor shaft 18 and a first sensor 28B that can detect the first detected component 28A. The second rotary detector 30 includes a second detected component 30A that can rotate integrally with the output component 48 and a second sensor 30B that can detect the second detected component 30A. When the rotary detectors 28 and 30 are rotary encoders, the detected components 28A and 30A are code disks, and the sensors 28B and 30B are, for example, optical sensors or magnetic sensors. The rotary detectors 28 and 30 can detect the rotation of the aforementioned objects (rotor shaft 18 and output component 48) by detecting the detected components 28A and 30A by the sensors 28B and 30B. The combination of the detected components 28A and 30A and the sensors 28B and 30B constituting the rotary detectors 28 and 30 is not limited to this. In addition, the rotary detectors 28 and 30 are not limited to rotary encoders; various rotary detectors can also be used, such as rotary transformers or Hall elements.

[0044] The first detected component 28A is disposed at the load-opposite end 18a of the rotor shaft 18. The second detected component 30A is disposed at the load-opposite end 24a of the detection shaft 24, which rotates integrally with the output component 48. The first sensor 28B and the second sensor 30B are respectively disposed at positions opposite to the first detected component 28A and the second detected component 30A in the axial direction X. In this embodiment, the first sensor 28B and the second sensor 30B are mounted on the sensor substrate 72 of the driver unit 26. The load-opposite end faces of the first detected component 28A and the second detected component 30A are located at the same position in the axial direction X. The load-side end faces of the first sensor 28B and the second sensor 30B are aligned in the axial direction X.

[0045] In this embodiment, the torque detector 32 is a strain sensor such as a strain gauge, which is mounted on the strain member 76 that generates strain corresponding to the torque of the shaft 31. The torque detector 32 is only required to detect torque and is not limited to a strain gauge. In this embodiment, the strain member 76 is a first internal gear 52 from which the torque of the shaft 31 is transmitted from the shaft 31 via the external gear 50. The torque detector 32 is mounted on the side opposite to the load in the axial direction X of the first internal gear 52. In this embodiment, although not shown, multiple torque detectors 32 are mounted at intervals along the circumferential direction on the first internal gear 52.

[0046] Torque detector 32 detects the strain of strain member 76 to obtain a detection signal representing the strain. Torque detector 32 outputs the acquired detection signal to signal processing unit (not shown). Signal processing unit processes the detection signal input from torque detector 32 to detect the torque of strain member 76. For example, signal processing unit can refer to a data table that uniquely establishes a correspondence between the strain of strain member 76 and the torque of shaft 31 to detect the torque of shaft 31. There is no particular limitation on what kind of control is performed based on the detected torque. For example, signal processing unit can detect the contact between an obstacle (e.g., a person) and second object member 14 based on the detected torque to control the motor 16 to stop. Alternatively, it can control the second object member 14 to be pressed against an external member with a specified pressing force. Signal processing unit can be assembled in either torque detector 32 or control unit 68 of driver unit 26.

[0047] The brake 34 is disposed on the load side relative to the motor 16. The brake 34 is located between the motor 16 and the reducer 20. The brake 34 includes a brake mechanism 80 for braking the rotating component 78 and a brake body 82 that mounts the brake mechanism 80. The brake body 82 supports the brake mechanism 80 and is fixed to the housing 22. In this embodiment, the rotating component 78 and the shaft 31 are separate structures, with the rotating component 78 mounted on the shaft 31 as part of the brake 34. Alternatively, the rotating component 78 may be the shaft 31 itself, in which case it is disposed separately from the brake 34. In this embodiment, the brake 34 is a disc brake, and the rotating component 78 is a disc-shaped brake rotor.

[0048] The brake mechanism 80 includes a movable friction member 84 that brakes the rotating member 78 by friction, and a pressing mechanism 86 that presses the friction member 84 toward the rotating member 78. The brake mechanism 80 of this embodiment also includes a fixed friction member 88 disposed axially opposite to the rotating member 78 on the side opposite to the movable friction member 84. The movable friction member 84 is supported by a guide pin (not shown) and can be guided axially (X). The fixed friction member 88 is fixed to the brake body 82 via a guide pin (not shown).

[0049] The pressing mechanism 86 is an electrically driven mechanism that uses electricity to drive the movable friction member 84. Specifically, the pressing mechanism 86 includes a force-applying member (not shown) such as a spring that applies force to the movable friction member 84, and a coil 90 for driving the movable friction member 84 to move axially in a direction opposite to the direction of the force applied by the force-applying member. The movable friction member 84 is an armature, which is driven by the attractive force generated by the magnetic force produced by the coil 90.

[0050] When the energization to the coil 90 is disconnected, the brake mechanism 80 presses the movable friction member 84 against the rotating member 78 via the force-applying member, thereby braking the rotating member 78 using the friction of the movable friction member 84. At this time, the brake mechanism 80 of this embodiment brakes the rotating member 78 by clamping it between the movable friction member 84 and the fixed friction member 88. When the coil 90 is energized, the brake mechanism 80 drives the movable friction member 84 away from the rotating member 78 via the coil 90, thereby releasing the braking effect of the movable friction member 84 on the rotating member 78.

[0051] The gear motor 10 includes a first detector configuration section 100 for configuring a first rotary detector 28, a second detector configuration section 102 for configuring a second rotary detector 30, a third detector configuration section 104 for configuring a torque detector 32, and a brake configuration section 106 for configuring a brake 34.

[0052] The first detector configuration unit 100 of this embodiment includes a first axial-side portion 100a disposed on the load-opposite end 18a of the rotor shaft 18 and a first opposing portion 100b disposed opposite to the first axial-side portion 100a. The first opposing portion 100b of this embodiment is disposed on the sensor substrate 72 at a position axially opposite to the first axial-side portion 100a. A first detected component 28A of the first rotation detector 28 is disposed on the first axial-side portion 100a, and a first sensor 28B of the first rotation detector 28 is disposed on the first opposing portion 100b.

[0053] The second detector configuration unit 102 of this embodiment includes a second axial-side portion 102a disposed on the load-opposite end 24a of the detection shaft 24 and a second opposing portion 102b disposed opposite to the second axial-side portion 102a. The second opposing portion 102b of this embodiment is disposed on the sensor substrate 72 at a position opposite to the second axial-side portion 102a in the axial direction X. The second detected component 30A of the second rotation detector 30 is disposed on the second axial-side portion 102a, and the second sensor 30B of the second rotation detector 30 is disposed on the second opposing portion 102b.

[0054] The third detector configuration part 104 of this embodiment is provided on the first internal gear 52 described above. Specifically, it is provided on the side opposite to the load on the axial X direction of the first internal gear 52.

[0055] The brake mounting section 106 of this embodiment includes a housing-side portion 106a disposed on the inner periphery of the housing 22 and a third shaft-side portion 106b disposed on the outer periphery of the rotor shaft 18. The third shaft-side portion 106b is integrally formed with the rotor shaft 18. The third shaft-side portion 106b is configured as part of a single rotor shaft 18. A brake body 82, which is part of a brake 34, is disposed on the housing-side portion 106a, and a rotating member 78, which is part of the brake 34, is disposed on the third shaft-side portion 106b. The brake body 82 is fixed to the housing-side portion 106a by a pressing fit.

[0056] The rotating component 78 is fixed to the third axial side portion 106b (which is integral in the rotational direction of the third axial side portion 106b) in a manner that allows it to move along the axial direction X by using a spline engagement. An external spline is provided on the third axial side portion 106b, and an internal spline is provided on the inner circumference of the rotating component 78. The method of fixing the rotating component 78 to the third axial side portion 106b is not particularly limited; for example, a press-fit engagement without splines can also be used.

[0057] The gear motor 10 can operate whether the first rotary detector 28 is configured in the first detector configuration section 100, the second rotary detector 30 is configured in the second detector configuration section 102, and the torque detector 32 is configured in the third detector configuration section 104, or only some of these detectors are configured. "Only some of these detectors are configured" means that at least one of the first rotary detector 28, the second rotary detector 30, and the torque detector 32 is configured in the corresponding configuration sections 100, 102, and 104, and no other detectors are configured. "No other detectors are configured" means that the gear motor 10 does not have any of the unconfigured detectors 28, 30, and 32. For example, the gear motor 10 may not have the first rotary detector 28 and the second rotary detector 30, but the torque detector 32 is configured in the third detector configuration section 104. Furthermore, the gear motor 10 can also be configured to operate even without the first rotary detector 28, the second rotary detector 30, and the torque detector 32. At this point, the gear motor 10 is driven by so-called sensorless control.

[0058] Imagine a first condition where the first rotary detector 28 is configured in the first detector configuration section 100, a second condition where the second rotary detector 30 is configured in the second detector configuration section 102, and a third condition where the torque detector 32 is configured in the third detector configuration section 104. In this case, it can also be understood that the gear motor 10 can operate regardless of whether all three conditions are met, or only some of the conditions are met (the case where some conditions are not met).

[0059] Furthermore, the gear motor 10 can operate whether the brake 34 is configured in the brake configuration section 106 or not. The case where the brake 34 is not configured refers to the case where the gear motor 10 does not have a brake 34.

[0060] refer to Figure 1 and Figure 2 . Figure 2 Figures (a) to (d) are schematic diagrams of the gear motor 10 of the first embodiment, the first modification, and the third modification, respectively. Figure 2 (b) is from Figure 2 In the gear motor 10 of (a), the torque detector 32 is omitted. Figure 2 (c) is from Figure 2 The gear motor 10 of the gear motor 10 in (a) omits the second rotary detector 30 and the gear motor 10 of the detection shaft 24. Figure 2 (d) is from Figure 2In the gear motor 10 of (a), the brake 34 is omitted. Figure 2 Except for the omitted objects, the gear motors 10 in (b) to (d) have the same structure as those in the diagrams. Figure 2 The gear motor 10 in (a) is the same.

[0061] Figure 2 (a) indicates the case where each detector 28, 30, 32 and brake 34 are arranged on the corresponding configuration parts 100, 102, 104, 106. Figure 2 (b) indicates the case where the first rotary detector 28, the second rotary detector 30 and the brake 34 are arranged on the corresponding configuration parts 100, 102 and 106, but the torque detector 32 is not arranged. Figure 2 (c) indicates the case where the first rotation detector 28, torque detector 32 and brake 34 are arranged on the corresponding configuration parts 100, 104 and 106, but the second rotation detector 30 is not arranged. Figure 2 In the diagram (d), the case is indicated by placing the detectors 28, 30, and 32 on their respective mounting sections 100, 102, and 104 without the brake 34. This means that the gear motor 10 can operate in any of the above situations.

[0062] In cases where the condition of "not configured" is met, the components themselves that include the configuration units 100, 102, 104, and 106, which are to be configured with the objects mentioned above, may be omitted. For example, in cases where the condition of "the second rotary detector 30 is not configured" is met, the detection shaft 24 (see reference) of the second axial portion 102a of the second detector configuration unit 102 may also be omitted. Figure 2 (c)). At this time, the sensor substrate 72, which has the second opposing portion 102b of the second detector configuration unit 102, can be omitted or not. The same applies to the first rotation detector 28 and the torque detector 32.

[0063] When the first rotary detector 28 is configured in the first detector configuration unit 100, the gear motor 10 can operate in such a way that the control unit 68 can control the motor 16 using the detection signal of the first rotary detector 28. At this time, for example, the motor 16 can be driven in a way that the rotational speed or rotational position of the shaft 31 determined according to the detection signal of the first rotary detector 28 meets the target conditions.

[0064] When the second rotary detector 30 is configured in the second detector configuration unit 102, the gear motor 10 can operate in such a way that the control unit 68 can control the motor 16 using the detection signal of the second rotary detector 30. At this time, for example, the motor 16 can be driven in such a way that the rotational speed or rotational position of the detection shaft 24 (output member 48) determined according to the detection signal of the second rotary detector 30 meets the target conditions.

[0065] When the torque detector 32 is configured in the third detector configuration unit 104, the gear motor 10 can operate in such a way that the control unit 68 can control the motor 16 using the detection signal from the torque detector 32. For example, the motor 16 can be stopped based on the torque detected by the torque detector 32. Alternatively, the motor 16 can be driven in such a way that the torque detected by the torque detector 32 becomes the target torque.

[0066] The gear motor 10 can operate without any of the torque detector 32, the first rotation detector 28 and the second rotation detector 30, meaning that the motor 16 can be controlled by the control unit 68 without using the unconfigured object (e.g., the torque detector 32).

[0067] In this embodiment, the absence of the first rotation detector 28 means that the first detected component 28A is not disposed on the first axial side portion 100a of the first detector configuration unit 100, and the first sensor 28B is not disposed on its first opposing portion 100b. In this embodiment, the absence of the second rotation detector 30 means that the second detected component 30A is not disposed on the second axial side portion 102a of the second detector configuration unit 102, and the second sensor 30B is not disposed on its second opposing portion 102b. In this embodiment, the absence of the torque detector 32 means that the torque detector 32 is not disposed on the third detector configuration unit 104.

[0068] The ability to operate with the brake 34 installed means that the shaft 31 can be braked by the brake 34 under the control of the control unit 68. The ability to operate without the brake 34 installed means that the motor 16 can be controlled by the control unit 68 without the brake 34. In this embodiment, "the case without the brake 34" refers to the case where the brake body 82 is not installed on the housing side portion 106a of the brake mounting portion 106 and the rotating member 78 is not installed on its third shaft side portion 106b.

[0069] The above example illustrates how a subset of combinations obtained by selecting one of detectors 28, 30, 32, and actuator 34 can be used as the actual omitted object. However, this is not the only possibility; the combination of elements that can be used as the actual omitted object can also be any one of all combinations obtained by selecting one or more of them. Here, "multiple" can refer to any number of two, three, or four.

[0070] The gear motor 10 described above can operate whether all detectors 28, 30, and 32 are configured in their respective configuration units 100, 102, and 104, or whether any of them are not configured. Therefore, the gear motor 10 equipped with all of the first rotary detector 28, the second rotary detector 30, and the torque detector 32 can share the main components (motor 16, rotor shaft 18, reducer 20, housing 22, etc.) with gear motor 10s that do not possess any of these components. That is, the main components can be shared among various gear motors 10. Therefore, manufacturing costs can be reduced when using multiple gear motors 10. Furthermore, design costs can also be reduced.

[0071] The gear motor 10 can operate whether or not it is equipped with the brake 34. Therefore, the gear motor 10 with and without the brake 34 can share the main components of the gear motor 10 (motor 16, rotor shaft 18, reducer 20, housing 22, etc.). Therefore, by using multiple gear motors 10, further reductions in manufacturing and design costs can be achieved.

[0072] Furthermore, the control unit 68 can perform plug-and-play functionality, enabling the connected components to be set to a usable state when each of the detectors 28, 30, 32 and the brake 34 is electrically connected. Thus, even users without specialized knowledge can easily assemble each of the detectors 28, 30, 32 and the brake 34 into the gear motor 10.

[0073] Next, other features of the gear motor 10 will be described. (See reference) Figure 1 The gear motor 10 includes a plurality of external bearings 110, 112, and 114 disposed on the outer periphery of the shaft 31. The plurality of external bearings 110, 112, and 114 include a first external bearing 110 disposed between the gear (external gear 50) driven by the gear drive unit 40a of the input shaft 40 and the gear drive unit 40a, a second external bearing 112 disposed on the opposite side of the load relative to the first external bearing 110, and a third external bearing 114 disposed on the load side relative to the first external bearing 110.

[0074] The first external bearing 110 in this embodiment is a so-called vibratory bearing. The first external bearing 110 is a rolling bearing such as a roller bearing. Although not shown, the first external bearing 110 includes a plurality of rolling elements and a cage for holding the plurality of rolling elements.

[0075] The second external bearing 112 is disposed between the inner flange 64 of the housing 22 and the shaft 31. The third external bearing 114 is disposed between the mating protrusion 46 of the wheel frame 44 and the shaft 31. The second external bearing 112 and the third external bearing 114 are rolling bearings such as ball bearings.

[0076] The rotor shaft 18 and the input shaft 40 are formed integrally from the same material. The shaft body 31, which consists of the rotor shaft 18 and the input shaft 40, is a part of a single component. If the rotor shaft 18 and the input shaft 40 were constructed separately, the shaft body 31 would need to be assembled. In contrast, according to this embodiment, it is not necessary to assemble the shaft body 31. Therefore, it is possible to prevent positional deviations between the rotor shaft 18 and the input shaft 40 caused by assembling the shaft body 31. Furthermore, compared to the case where the rotor shaft 18 and the input shaft 40 are constructed separately, the number of components can be reduced, thereby achieving easier management, reduced manufacturing costs, and improved reliability.

[0077] refer to Figure 3 In addition to having a portion of the brake mounting section 106 (the third shaft side portion 106b), the shaft 31 also has a plurality of external bearing mounting sections 120, 122, and 124 for mounting external bearings 110, 112, and 114, and a rotor mounting section 126 for mounting the rotor 38.

[0078] The rotor mounting section 126 is provided on the rotor shaft 18 of the shaft body 31. The rotor 38 is fixed to the rotor mounting section 126 by means of adhesive or fitting. A concave weight-reducing section 126a is formed in the rotor mounting section 126 to make the shaft body 31 lighter.

[0079] Multiple external bearing configuration sections 120, 122, and 124 correspond to multiple external bearings 110, 112, and 114, respectively, and are configured with corresponding external bearings 110, 112, and 114. The external bearing configuration sections 120, 122, and 124 include a first external bearing configuration section 120 corresponding to the first external bearing 110, a second external bearing configuration section 122 corresponding to the second external bearing 112, and a third external bearing configuration section 124 corresponding to the third external bearing 114.

[0080] The first external bearing mounting portion 120 is disposed on the gear drive portion 40a of the input shaft 40. In this embodiment, similar to the gear drive portion 40a, the first external bearing mounting portion 120 is also elliptical, while the second external bearing mounting portion 122 and the third external bearing mounting portion 124 are circular. The inner ring of the second external bearing 112 is disposed on the second external bearing mounting portion 122. The inner ring of the second external bearing 112 is fixed to the second external bearing mounting portion 122 by means of pressing and fitting. The outer ring of the second external bearing 112 is disposed on the inner periphery of the inner flange portion 64 of the motor housing 60 (see reference). Figure 1 The inner ring of the third external bearing 114 is disposed in the third external bearing mounting section 124. The inner ring of the third external bearing 114 is fixed to the third external bearing mounting section 124 by means of fitting or pressing.

[0081] On the outer periphery of shaft 31, from the opposite side of the load ( Figure 3 (Right side) towards the load side ( Figure 3 On the left side, a rotor configuration section 126, a third shaft side portion 106b of a brake configuration section 106, a second external bearing configuration section 122, a first external bearing configuration section 120, and a third external bearing configuration section 124 are arranged sequentially.

[0082] The maximum outer diameter of the first external bearing mounting section 120 is set to R120, the maximum outer diameter of the second external bearing mounting section 122 is set to R122, and the maximum outer diameter of the third external bearing mounting section 124 is set to R124. Furthermore, the maximum outer diameter of the rotor mounting section 126 is set to R126, and the maximum outer diameter of the third shaft-side portion 106b of the brake mounting section 106 is set to R106. Here, the maximum outer diameter refers to the radius of the circumscribed circle that is external to the mentioned portion and concentric with the rotation center line CL of the shaft 31.

[0083] Regarding the multiple external bearing configurations 120, 122, and 124, the maximum outer diameters R120, R122, and R124 of the external bearing configurations 120, 122, and 124 are the largest outer diameters from the external bearing configuration 120, 122, and 124 to the load-side end 31a of the shaft body 31. That is, the maximum outer diameter R120 of the first external bearing configuration 120 is the largest from the first external bearing configuration 120 to the load-side end 31a. The maximum outer diameters R122 and R124 of the other external bearing configurations 122 and 124 are also the same. From the opposite side of the load towards the load side, the maximum outer diameter R122 of the second external bearing configuration 122, the maximum outer diameter R120 of the first external bearing configuration 120, and the maximum outer diameter R124 of the third external bearing configuration 124 decrease sequentially.

[0084] Therefore, the multiple external bearings 110, 112, and 114 can be positioned on the outer periphery of the shaft 31 by moving them relative to the shaft 31 from the load-side end 31a toward the opposite side of the load. Thus, when assembling the multiple external bearings 110, 112, and 114 onto the shaft 31, their relative directions of movement can be made the same, thereby achieving good operability.

[0085] The maximum outer diameter R126 of the rotor mounting section 126 is the maximum outer diameter from the rotor mounting section 126 to the load-side end 31a of the shaft 31. Thus, in addition to the multiple external bearings 110, 112, 114, the rotor 38 can also be mounted on the outer periphery of the shaft 31 by moving it relative to the load-side end 31a of the shaft 31 toward the opposite side of the load.

[0086] The maximum outer diameter R106 of the third shaft-side portion 106b of the brake mounting section 106 is the maximum outer diameter from the third shaft-side portion 106b to the load-side end 31a of the shaft body 31. Therefore, the rotating member 78 of the brake 34 can also be mounted on the outer periphery of the shaft body 31 by moving it relative to the load-side end 31a of the shaft body 31 toward the opposite side of the load.

[0087] refer to Figure 4 The motor housing 60 is obtained by processing the base housing 130, which is an intermediate product. The base housing 130, as an intermediate product, is also an integrally molded (cast) product, just like the motor housing 60. Similar to the motor housing 60, the base housing 130 is cylindrical in shape and has a housing side portion 106a that includes a stator mounting portion 62, an inner flange portion 64, and a brake mounting portion 106.

[0088] The base housing 130 includes a continuous cylindrical length adjustment section 132 extending from the load-opposite end of the base housing 130 toward the load side. The length adjustment section 132 is disposed along the axial direction of the base housing 130, including the stator mounting section 62 where the stator 36 is to be mounted. The finished motor housing 60 is obtained by cutting off the axial mid-section of the length adjustment section 132 of the base housing 130. At this time, a portion of the length adjustment section 132 of the base housing 130 closer to the load-opposite side than the cut position is removed. The housing length of the motor housing 60 can be adjusted by adjusting the cut position on the length adjustment section 132 of the base housing 130. Here, length refers to the axial dimension. Furthermore, it is preferable to perform finishing on the cut portion after cutting the length adjustment section 132 of the base housing 130.

[0089] refer to Figure 5(a) to (c). The base housing 130 is applicable to various motors 16A to 16C with different motor lengths. Here, A, B, and C are marked at the end of the symbol to distinguish the various motors. The various motors 16A to 16C include, for example, the first motor 16A with the longest length L16A (see reference). Figure 5 (a)). Furthermore, the various motors 16A to 16C also include a second motor 16B with a length L16B ​​shorter than the length L16A of the first motor (see reference). Figure 5 (b) and the third motor 16C, which is shorter than the second motor length L16B ​​and has a length L16C (see reference). Figure 5 (c)

[0090] like Figure 5 As shown in (a), the base housing 130 has a first housing length L130A corresponding to the first motor 16A of the various motors 16A to 16C with a predetermined maximum length (first motor length 16A). When used for the motor 16A with the first motor length L16A, the base housing 130 itself constitutes the motor housing 60.

[0091] like Figure 5 As shown in (b), when the base housing 130 is used for motor 16B of the second motor length L16B, the length adjustment part 132 of the base housing 130 is cut off to make it a second housing length L130B corresponding to the second motor length L16B, thereby constituting the motor housing 60. Figure 5 As shown in (c), when the base housing 130 is used for motor 16C with a third motor length L16C, the length adjustment part 132 of the base housing 130 is cut off to make it a third housing length L130C corresponding to the third motor length L16C, thereby forming a motor housing 60. The cut position Cp of the base housing 130 is shown in the figure.

[0092] Thus, when the motor housing 60 is used for the second motor 16B and the third motor 16C, the base housing 130 is cut into housing lengths L130B and L130C corresponding to the motor lengths L16B ​​and L16C of the motors to be used, thereby forming the motor housing 60. At this time, the shorter the motor lengths L16B ​​and L16C of the motors to be used, the shorter the housing lengths L16B ​​and L16C of the motor housing 60 are.

[0093] Therefore, a common base housing 130 can be used to obtain motor housings 60 corresponding to various motors 16A to 16C. Thus, compared to the case where each motor housing 60 corresponding to a different motor 16A to 16C is a single molded part, the number of components that need to be managed during the manufacturing process of the gear motor 10 can be reduced. Furthermore, manufacturing costs can be reduced.

[0094] Furthermore, since the housing length is adjusted according to the length of the motor 16A to 16C to be used, the torque per unit weight can be effectively increased. This can be achieved by shortening the housing length accordingly as the motor length (the smaller the output of motor 16) becomes.

[0095] refer to Figure 6 The gear motor 10 includes an internal bearing 140 disposed inside the rotor shaft 18 between the rotor shaft 18 and the detection shaft 24. The internal bearing 140 is a rolling bearing such as a ball bearing. The internal bearing 140 includes an inner ring 142 fixed to the detection shaft 24, an outer ring 144 fixed to the rotor shaft 18, and rolling elements 146 that roll on the inner ring 142 and the outer ring 144. The load-opposite portion of the detection shaft 24 is supported on the inner circumference of the rotor shaft 18 via the internal bearing 140.

[0096] This prevents wobbling at the load-opposite end 24a of the detection shaft 24, thereby improving the detection accuracy of the second rotary detector 30. Furthermore, compared to the case where the driver unit 26 supports the detection shaft 24 via a bearing, the length (axial dimension) of the detection shaft 24 can be reduced. This not only makes the detection shaft 24 lighter but also facilitates its machining.

[0097] The rotor shaft 18 includes a first shaft-side portion 100a of a first detector configuration portion 100, a first internal bearing configuration portion 150, and a first step portion 152, which are sequentially arranged on the inner periphery of the rotor shaft 18 from the load-opposite side toward the load side. The first step portion 152 faces the load-opposite side of the rotor shaft 18.

[0098] A first shaft-side portion 100a is provided at the load-opposite end of the rotor shaft 18. A first detected component 28A of a first rotation detector 28 is disposed on the first shaft-side portion 100a. The first shaft-side portion 100a is continuous in a ring shape at the load-opposite end 18a of the rotor shaft 18. In this embodiment, the first shaft-side portion 100a is composed of a stepped recess whose inner diameter increases as it faces the load-opposite side. The first detected component 28A is fixed to the stepped portion 100c of the first shaft-side portion 100a facing the load-opposite side using an adhesive (not shown).

[0099] An outer ring 144 of an internal bearing 140 is disposed in the first internal bearing mounting section 150. The outer ring 144 is fixed to the first internal bearing mounting section 150 by an interference fit or transition fit. The inner diameter R150 of the first internal bearing mounting section 150 is larger than the inner diameter R154 of a portion 154 of the rotor shaft 18 that is closer to the load side of the rotor shaft 18 than the first internal bearing mounting section 150. The portion 154 of the rotor shaft 18 referred to here means, for example, a position that overlaps radially with the load side end 16a of the motor 16. Therefore, compared to the case where the inner diameter R150 of the first internal bearing mounting section 150 is the same as the inner diameter R154 of the rotor shaft 18, the space for mounting the internal bearing 140 can be expanded. Furthermore, a larger internal bearing 140 can be used to ensure durability.

[0100] The detection shaft 24 includes a second shaft side portion 102a, a second step portion 156, and a second internal bearing configuration portion 158, which are arranged sequentially from the opposite side of the load toward the load side on the outer periphery of the detection shaft 24.

[0101] A second axial portion 102a is provided at the load-opposite end of the detection shaft 24. A second detected component 30A of the second rotation detector 30 is disposed on the second axial portion 102a. The second axial portion 102a is continuous in a ring shape at the load-opposite end 24a of the detection shaft 24. In this embodiment, the second axial portion 102a is composed of a stepped recess whose outer diameter decreases towards the load-opposite side. The second detected component 30A is fixed to the stepped portion 102c of the second axial portion 102a facing the load-opposite side using an adhesive (not shown).

[0102] The second step portion 156 is provided on the load-side portion of the protrusion 160, which is located on the outer periphery of the detection shaft 24 and protrudes radially outward. The second step portion 156 abuts against the inner ring 142 of the inner bearing 140 from the opposite side of the load, thereby limiting the axial position of the inner ring 142.

[0103] The inner ring 142 of the inner bearing 140 is disposed in the second internal bearing mounting section 158. The inner ring 142 is fixed to the second internal bearing mounting section 158 by an interference fit or transition fit or other fitting method.

[0104] refer to Figure 1 and Figure 6The gear motor 10 includes an elastic member 162 disposed at a position where it is clamped between the rotor shaft 18 and the internal bearing 140 in the axial direction X. In this embodiment, the elastic member 162 is a ring-shaped leaf spring. The elastic member 162 is not particularly limited, and for example, a rubber body may also be used. The elastic member 162 is configured to be clamped together with the internal bearing 140 by the first step portion 152 of the rotor shaft 18 and the second step portion 156 of the detection shaft 24, thereby becoming a state of compression deformation in the axial direction X.

[0105] The elastic member 162 uses its own elastic deformation to generate an elastic restoring force, pushing the outer ring 144 of the inner bearing 140 towards the detection shaft 24 in the axial X direction. Thus, the elastic member 162 applies an axial X preload to the inner bearing 140 in such a way that the axial internal clearance of the inner bearing 140 is zero or negative. In the absence of preload, this axial internal clearance is provided between the inner ring 142 and the outer ring 144 and the rolling element 146, respectively. When the axial internal clearance is positive, the rolling element 146 is allowed to move relative to the inner ring 142 and the outer ring 144 in the axial X direction (loosening). Conversely, when the axial internal clearance is zero or negative, the relative movement (loosening) of the rolling element 146 relative to the inner ring 142 and the outer ring 144 in the axial X direction is restricted.

[0106] The elastic member 162 described above can suppress the loosening of the rolling element 146, thereby preventing noise caused by loosening. Furthermore, through the elastic deformation of the elastic member 162 in the axial direction X, the positions of the detection shaft 24 and the rotor shaft 18 in the axial direction X can be adjusted while the internal bearing 140 is preloaded by the elastic member 162. In other words, the elastic member 162 can prevent noise and allow adjustment of the positions of the detection shaft 24 and the rotor shaft 18 in the axial direction X. When performing this position adjustment, as described above, the axial position of the detection shaft 24 relative to the output member 48 is adjusted, and the detection shaft 24 is fixed to the output member 48.

[0107] In this embodiment, the first detected component 28A of the first rotary detector 28 is disposed on the rotor shaft 18, and the second detected component 30A of the second rotary detector 30 is disposed on the detection shaft 24. Therefore, by adjusting the positions of the detection shaft 24 and the rotor shaft 18 in the axial X direction, the positions of the first detected component 28A and the second detected component 30A in the axial X direction can be made consistent. As a result, it is easy to make the relative positions of each detected component 28A and 30A with respect to the common sensor substrate 72 in the axial X direction consistent, thereby improving the detection accuracy of each rotary detector 28 and 30.

[0108] refer to Figure 7 . Figure 7 In the context of Figure 1The gear motor 10 is shown in side sectional views taken at different circumferential positions. The gear motor 10 includes electronic devices 170 and 172 disposed on the load side, which is closer to the motor 16. In this embodiment, the electronic devices 170 and 172 include a torque detector 32 (i.e., the first electronic device 170) and a coil 90 (i.e., the second electronic device 172) that is a component of the brake 34. The first electronic device 170 is disposed within the reducer housing 47. The second electronic device 172 is disposed within the motor housing 60.

[0109] The gear motor 10 has wiring 174 and 176 for connecting electronic devices 170 and 172 and the driver unit 26. Figure 7 The diagram primarily shows the center lines of wirings 174 and 176. Wirings 174 and 176 include a first wiring 174 connecting the control board 70 of the driver unit 26 and the first electronic device 170, and a second wiring 176 connecting the control board 70 and the second electronic device 172. Wirings 174 and 176 are connected to the control board 70 via a connector 178 disposed on the control board 70.

[0110] The housing 22 has a lead-out hole 180 for leading out wiring 174, 176 from the inside of the housing 22 to the outside. The lead-out hole 180 has an external opening 182 that opens to the outer periphery of the housing 22 and internal openings 184, 186 that open to the inside of the housing 22. The internal openings 184, 186 include a first internal opening 184 that opens into the reducer housing 47 and a second internal opening 186 that opens into the motor housing 60. The lead-out hole 180 has a radially extending radial portion 180a and an axially extending axial portion 180b. The external opening 182 is provided at the outer peripheral end of the radial portion 180a. The inner peripheral portion of the radial portion 180a opens into the inside of the motor housing 60 and also opens into the axial portion 180b. The axial portion 180b extends through the inner flange portion 64 of the motor housing 60 along the axial direction X. A gasket 190 is provided in the axial portion 180b to prevent leakage of lubricant sealed in the internal space 188 of the reducer 20.

[0111] A portion of wires 174 and 176 passes outside the motor housing 60. Specifically, wires 174 and 176 extend from the lead-out hole 180 to the outside of the motor housing 60 at a position closer to the load side than the motor 16. The first wire 174 extends from the lead-out hole 180 via a first internal opening 184 and an external opening 182. In this embodiment, the first wire 174 is inserted into a washer 190. The second wire 176 extends from the lead-out hole 180 via a second internal opening 186 and an external opening 182. The first wire 174 and the second wire 176 extend from the lead-out hole 180 via a shared external opening 182. Wires 174 and 176 pass outside the motor housing 60 at a position where they radially overlap with the motor 16. Wires 174 and 176 are connected to the connector 178 of the driver unit 26 at a position closer to the load side than the motor housing 60.

[0112] refer to Figure 7 and Figure 8 The motor housing 60 includes a wiring channel 192, which is disposed on the outer periphery of the motor housing 60 and extends from the load side toward the load-opposite side. The wiring channel 192 continues from the external opening 182 of the lead-out hole 180 to the load-opposite end of the motor housing 60. In this embodiment, the wiring channel 192 includes a plurality of (three in this embodiment) wiring channels 192 arranged side by side in a circumferential direction. The number of wiring channels 192 is not particularly limited and can be one, two, or more than four.

[0113] Wiring 174 and 176 are arranged along wiring channels 192 on the outside of housing 22. This allows for the simultaneous arrangement of wiring 174 and 176 by guiding them through wiring channels 192, simplifying wiring operations. Furthermore, the elimination of the need for dedicated components such as guides for wiring 174 and 176 within housing 22 enables miniaturization and weight reduction of the gear motor 10.

[0114] Multiple wires 174 and 176 are each disposed within a separate wiring trough 192. The wires 174 and 176 are configured to be accommodated within the wiring trough 192 when viewed from the axial X-axis. That is, the wires 174 and 176 are configured such that, when viewed from the axial X-axis, they do not overflow radially outward beyond the inlet opening 192a provided on the inlet side of the wiring trough 192. Furthermore, in this embodiment, the driver mounting base 196, described later, also has a wiring trough 194 for accommodating the wires 174 and 176 internally.

[0115] Wiring 174 and 176 pass through the outside of the motor housing 60. Therefore, it is not necessary to ensure additional wiring space between the motor housing 60 and the motor 16 for configuring wiring 174 and 176. Consequently, it is possible to avoid the need for an enlarged motor 16 due to the need for additional wiring space.

[0116] refer to Figure 1 , Figure 9 , Figure 10 and Figure 11 The substrate holder 74 of the driver unit 26 includes a plate-shaped base portion 74a disposed on the opposite side of the load relative to the control substrate 70, and first and second seat portions 74b and 74c protruding from the base portion 74a toward the load side. The control substrate 70 is fixed to the first seat portion 74b with screws in a seated state. The sensor substrate 72 is fixed to the second seat portion 74c with screws in a seated state. The substrate holder 74 also includes a peripheral wall portion 74d disposed radially outward relative to the control substrate 70.

[0117] The gear motor 10 includes a driver mounting base 196 for mounting the driver unit 26 to the motor housing 60. The driver mounting base 196 is generally cylindrical. The driver mounting base 196 includes an insertion portion 196a that is inserted into the load side from an opening on the opposite side of the load of the motor housing 60, an annular outer flange portion 196b provided on the opposite side of the load than the insertion portion 196a, and a thick-walled portion 196c that protrudes radially outward from the insertion portion 196a.

[0118] The outer flange 196b protrudes radially outward from the outer periphery of the driver mounting base 196. The outer flange 196b abuts against the load-opposite end of the motor housing 60.

[0119] refer to Figure 9 and Figure 10 The thick-walled portion 196c has a thicker radial dimension than the insertion portion 196a. The thick-walled portion 196c protrudes radially outward more than the insertion portion 196a and is disposed within a recess 198 formed in the motor housing 60. The peripheral wall portion 74d of the base plate bracket 74 abuts against the driver mounting base 196 from the opposite side of the load and is axially connected to the driver mounting base 196 via a screw member 200 passing through the base plate bracket 74. The screw member 200 is screwed into an internally threaded hole 196d formed in the driver mounting base 196 at a position radially overlapping with the thick-walled portion 196c.

[0120] refer to Figure 11 The motor housing 60 has a housing-side fixing hole 202 that penetrates the motor housing 60 radially. The driver mounting base 196 has a mounting base-side fixing hole 204 that penetrates the insertion portion 196a of the driver mounting base 196 radially.

[0121] The driver mounting base 196 is connected to the motor housing 60 by a plurality of rivets 210. Figure 11Only one rivet 210 is shown. Rivet 210 connects the motor housing 60 and the driver mounting base 196 radially. That is, rivet 210 connects the overlapping portions of the motor housing 60 and the driver mounting base 196 radially. Multiple rivets 210 are arranged at intervals in the circumferential direction. Rivet 210 has a head 210a disposed on the outside of the motor housing 60 and a shaft portion 210b that passes through the fixing holes 202, 204 of the motor housing 60 and the driver mounting base 196.

[0122] The head 210a of the rivet 210 is received within a countersunk portion 60b provided on the outer periphery of the motor housing 60. The rivet 210 connects the motor housing 60 and the driver mounting base 196 by forming a riveting portion 210c on a part of the rivet 210. This part of the rivet 210 refers to the end side portion of the shaft portion 210b. The riveting portion 210c of the rivet 210 contacts the driver mounting base 196, thereby preventing the rivet 210 from falling out relative to the fixing holes 202, 204. The riveting portion 210c of the rivet 210 is in close contact with the inner periphery of the mounting base-side fixing hole 204, thereby preventing the driver mounting base 196 from radially misaligning relative to the rivet 210.

[0123] The rivet 210 in this embodiment is a blind rivet, which has a hollow hole 210d through the shaft portion 210b of the rivet 210. By inserting the mandrel 212 from the radial inside to the outer side into the hollow hole 210d and pulling the mandrel 212 out radially outward, a riveting portion 210c is provided in the rivet 210. At this time, since the reduced diameter portion 212b of the mandrel 212 breaks, the head 212a of the mandrel 212 remains inside the rivet 210.

[0124] The driver mounting base 196 is connected to the housing 22 by rivets 210. Therefore, compared to the case where screws are used, it is not necessary to ensure clearance between the screw shaft and the fixing holes 202, 204. Thus, radial misalignment can be prevented while connecting the driver mounting base 196 and the housing 22. In particular, when assembling the sensors 28B, 30B of the rotary detectors 28, 30 onto the driver mounting base 196, the detection accuracy of the rotary detectors 28, 30 can be improved by preventing radial misalignment between the driver mounting base 196 and the housing 22.

[0125] Rivet 210 connects the motor housing 60 and the driver mounting base 196 radially. Therefore, compared to using rivets 210 for axial connection in the X direction, the radial thickness of the housing 22 can be reduced. Furthermore, the outer diameter of the housing 22 can be miniaturized. Additionally, compared to using screws, there is no need to provide internal threads in the mounting base-side fixing hole 204, thus reducing the radial thickness of the driver mounting base 196.

[0126] Next, other uses of the gear motor 10 according to the first embodiment will be described. (See reference...) Figure 12 The geared motor 10 includes a heat sink 220 for dissipating heat transferred from the motor housing 60 to the outside. By using the heat sink 220, cooling of the motor housing 60 can be promoted. The heat sink 220 includes a peripheral wall portion 220a covering the motor housing 60 and a plurality of heat sink portions 220b protruding radially outward from the peripheral wall portion 220a.

[0127] The peripheral wall portion 220a is fitted onto the outer side of the motor housing 60 in a manner that allows it to slide along the axial direction X on the motor housing 60 and prevents it from separating radially. To achieve this, the peripheral wall portion 220a is in the form of a continuous arc over a circumferential range longer than half the circumference of the motor housing 60. Alternatively, to achieve this, the peripheral wall portion 220a may also be in the form of a continuous ring over the entire circumference of the motor housing 60.

[0128] A cooling mechanism for cooling the heat sink 220 may also be assembled in the heat sink 220. The cooling mechanism may be, for example, a fan that generates an airflow that comes into contact with the heat sink 220. Alternatively, the cooling mechanism may be, for example, a combination of a cooling medium passage such as a water jacket disposed inside the heat sink 220 and a pump that circulates a cooling medium such as cooling water in the cooling medium passage.

[0129] (Second Implementation)

[0130] refer to Figure 13 and Figure 14 The industrial robot 250 using the gear motor 10, in addition to having the gear motor 10 assembled in the joint of the industrial robot 250, also has the aforementioned first object component 12 and second object component 14 connected to each other via the gear motor 10. The structure of the gear motor 10 is the same as that of the first embodiment, except for the structure of the housing 22 described later, so the description is omitted here.

[0131] The first object component 12 includes a main body component 252 disposed on the opposite side of the load relative to the gear motor 10, and a plurality of (two in this embodiment) cover components 254 fixed to the main body component 252 by bolts or the like. The plurality of cover components 254 cover the entire housing 22 from the radially outer side. The plurality of cover components 254 are cylindrical in cross-section orthogonal to the axial direction X. Each cover component 254 has a cross-sectional shape that divides the cylindrical cross-section into a plurality of (two in this embodiment) cross-sectional shapes. Adjacent cover components 254 have mating ends 254a, which are provided at the circumferential ends of each cover component 254 and mat with each other.

[0132] The cover member 254 has a protrusion 256 provided on the inner periphery of the cover member 254. The protrusion 256 protrudes radially inward on the inner periphery of the cover member 254 and is continuous in the circumferential direction.

[0133] The gear motor 10 includes fasteners 258 for securing the mating ends 254a of adjacent cover components 254. Each fastener 258 is individually used on both circumferential sides of the mating ends 254a of the cover component 254. Each fastener 258 is individually positioned at a distance in the axial direction X. Each fastener 258 includes a bolt 258a and a nut 258b. The bolt 258a is inserted into a through hole 259 provided in the cover component 254. When viewed from the axial direction X, the fastener 258 applies a tightening force in the tightening direction Da that brings the mating ends 254a of adjacent cover components 254 closer together.

[0134] The housing 22 has a groove 260 provided on the outer periphery of the housing 22. In this embodiment, the groove 260 is provided on the outer periphery of the motor housing 60. The groove 260 is recessed radially inward on the outer periphery of the housing 22 and is continuous in a ring shape in the circumferential direction. The protrusion 256 of the cover member 254 is disposed inside the groove 260.

[0135] Both the protrusion 256 and the groove 260 have shapes that decrease in axial dimension as they move radially inward. In this embodiment, the protrusion 256 is trapezoidal and the groove 260 is V-shaped, satisfying this condition. By satisfying this condition, the protrusion 256, which is part of the cover member 254, can be inserted into the groove 260 of the housing 22 along the fastening direction Da by fastening based on the fastener 258.

[0136] This increases the static friction between the protrusion 256 of the cover member 254 and the groove 260 of the housing 22. Furthermore, this static friction restricts the relative rotation of the housing 22 with respect to the cover member 254, allowing the housing 22 to become integral with the first target member 12. A key advantage in achieving this is that it eliminates the need for bolt holes in the housing 22.

[0137] The housing 22 has an outer smooth surface 262, which is disposed on the outer periphery of the housing 22 and is located on both axial sides relative to the groove 260. The cover member 254 has an inner smooth surface 264, which is disposed on the inner periphery of the cover member 254 and is located on both axial sides relative to the protrusion 256. The smooth surfaces 262 and 264 are smooth and continuous along the axial direction X without any irregularities. The inner smooth surface 264 is in surface contact with the outer smooth surface 262.

[0138] Consider the case where an inner smooth surface 264 is provided at the location of the protrusion 256 of the cover member 254, and an outer smooth surface 262 is provided at the location of the groove 260 of the housing 22. Compared to this case, by making the protrusion 256 of the cover member 254 contact the groove 260 of the housing 22, the contact area between the cover member 254 and the housing 22 can be easily increased. As a result, the heat generated in the gear motor 10 can be transferred to the housing 22, and then effectively dissipated by the cover member 254 exposed to the external space.

[0139] Next, other variations of each constituent element will be explained.

[0140] The application of gear motor 10 is not particularly limited. For example, in addition to industrial robotic arms, gear motor 10 can also be used in automated guided vehicles (AGVs) and other automated transport vehicles.

[0141] The specific example of the reduction mechanism 42 is not particularly limited. Besides flexural gear mechanisms, the reduction mechanism 42 can also be, for example, an eccentric oscillating gear mechanism, a planetary gear mechanism, an orthogonal axis gear mechanism, or a parallel axis gear mechanism. When using a flexural gear reduction mechanism, its specific example is not particularly limited. Besides a cylindrical shape, it can also be, for example, a cup shape or a top hat shape.

[0142] In addition to the wheel frame 44, the output component 48 of the reducer 20 can also be the reducer housing 47. In this case, the output component 48 outputs the rotation from the reduction mechanism 42 to the first object component 12, which is integrated with the reducer housing 47.

[0143] The driver unit 26 may also consist solely of the control board 70. Alternatively, the driver unit 26 may be mounted directly to the motor housing 60 without the driver mounting base 196. The gear motor 10 may also be without the driver unit 26. In this case, the control unit 68 of the driver unit 26 may be separately disposed outside the gear motor 10.

[0144] The sensors 28B and 30B of the rotary detectors 28 and 30 may be disposed in the motor housing 60 instead of the driver unit 26. That is, the opposing portions 100b and 102b of the detector mounting units 100 and 102 may also be disposed in the motor housing 60.

[0145] The brake 34 is not limited to a disc brake; for example, it can also be a drum brake. The example described above, where the rotating member 78 is part of the brake 34, is also possible; however, the rotating member 78 can also be the shaft 31 itself. In this case, the movable friction member 84 can be pressed against the outer periphery of the shaft 31, which is the rotating member 78, thereby braking the rotating member 78 by friction.

[0146] The location of the brake 34 is not particularly limited. For example, the brake 34 can also be located on the opposite side of the load of the motor 16.

[0147] The above description illustrates an example where the first detector configuration unit 100 is located on the shaft 31, but it is not limited to this. For example, the first detector configuration unit 100 may also be located on the stator 36. For example, the first rotation detector 28 is a Hall element that detects the rotation of the rotor shaft 18 by detecting the permanent magnet of the rotor 38.

[0148] The gear motor 10 may also be without a brake configuration section 106.

[0149] The rotor shaft 18 and the input shaft 40 can also be constructed separately.

[0150] A portion of the brake mounting section 106 (the third shaft-side portion 106b) may not be integrally provided with the rotor shaft 18. For example, as described above, the rotating member 78 braked by the brake mechanism 80 may be the rotor shaft 18 itself. Furthermore, a portion of the brake mounting section 106 (the third shaft-side portion 106b) may be integrally provided with the input shaft 40 instead of being provided with the rotor shaft 18.

[0151] Regarding the motor housing 60, a dedicated one-piece molded part can also be used to construct the motor housing 60 corresponding to various motors 16A to 16C.

[0152] The detection shaft 24 can also be supported by a bearing on either the input shaft 40 or the driver unit 26 instead of being supported on the rotor shaft 18. Alternatively, the detection shaft 24 can be cantilevered by the output component 48 alone.

[0153] The gear motor 10 may also omit the elastic member 162 for applying axial preload to the internal bearing 140. The example described above illustrates the placement of the elastic member 162 in a position where it is clamped in the axial direction by the first step 152 of the rotor shaft 18 and the internal bearing 140. Alternatively, the elastic member 162 may be placed in a position where it is clamped in the axial direction by the second step 156 of the detection shaft 24 and the internal bearing 140. In other words, the elastic member 162 can be placed in any position where it is clamped in the axial direction by either the detection shaft 24 or the rotor shaft 18 and the internal bearing 140. Regardless of the specific configuration, the elastic member 162 only needs to apply axial preload to the internal bearing 140.

[0154] The number of electronic devices disposed on the load side, closer to the motor 16, is not particularly limited. For example, the electronic device may be only one of the first electronic device 170 and the second electronic device 172. Furthermore, the specific examples of the electronic devices are not particularly limited.

[0155] Wiring 174 and 176 can also pass between the motor housing 60 and the motor 16 without passing through the outside of the motor housing 60. When wiring 174 and 176 pass between the motor housing 60 and the motor 16, the motor housing 60 may not have wiring trough 192.

[0156] When the outer periphery of the motor housing 60 is exposed to the external space, the cover material 270 (see reference) covering the wiring trough 192 and the wiring 174, 176 can be used. Figure 8 It is installed on the motor housing 60. The cover material 270 is, for example, aluminum foil tape. Furthermore, when the heat sink 220 is installed on the motor housing 60, the heat sink 220 can also cover the wiring duct 192 and the wiring 174, 176. Alternatively, the first object component 12 can also cover the wiring duct 192 and the wiring 174, 176.

[0157] The mechanism for connecting the driver mounting base 196 to the motor housing 60 is not particularly limited. This connection mechanism could be, for example, a screw. A rivet 210 can also connect the housing 22 and the driver mounting base 196 axially. Furthermore, when connecting the motor housing 60 and the driver mounting base 196 radially with the rivet 210, the head 210a of the rivet 210 can be positioned radially inward relative to the motor housing 60.

[0158] The groove 260 of the housing 22 in the second embodiment may also be provided in the gearbox housing 47. The number of cover members 254 covering the housing 22 is not particularly limited. For example, there may be more than three cover members 254.

[0159] The above embodiments and variations are merely illustrative. These abstract technical concepts should not be interpreted as limiting the scope of the embodiments and variations. The embodiments and variations can undergo various design changes, such as alterations, additions, and deletions of constituent elements. In the above embodiments, the phrase "embodiment" is used to emphasize the aspects where such design changes are possible. However, design changes are also permitted even without this phrase. The shaded lines on the cross-sections in the accompanying drawings are not intended to limit the material of the objects marked with shaded lines.

Claims

1. A geared motor comprising a motor and a reducer, characterized in that, The gear motor includes: A motor, having a rotor shaft; A speed reducer, having an output component; and The detection shaft passes through the input shaft and the rotor shaft of the reducer and rotates integrally with the output component of the reducer; The gear motor can operate regardless of whether it is configured with a first rotation detector that detects the rotation of the rotor shaft, a second rotation detector that detects the rotation of the output component via the detection shaft, and a torque detector, or in a second case where only one of the first and second rotation detectors is configured and no torque detector is configured. In both the first and second cases, the detection axis is shared. The speed reducer includes a first internal gear whose relative rotation with respect to the speed reducer housing is restricted, and a second internal gear that can rotate relative to the speed reducer housing. The torque detector is mounted on the side of the first internal gear in the axial direction.

2. The gear motor according to claim 1, characterized in that, It also has a control unit. The control unit controls the motor based on the detection signals from the detectors configured in the first rotary detector, the second rotary detector, and the torque detector.

3. The gear motor according to claim 1, characterized in that, The rotor shaft and the input shaft of the reducer are formed as one piece from the same material. The gear motor also includes multiple external bearings, which are disposed on the outer periphery of the shaft body formed by the rotor shaft and the input shaft. The shaft body has multiple external bearing mounting sections, each corresponding to a specific external bearing and used to mount the corresponding external bearing. Regarding each of the plurality of external bearing configurations, the maximum outer diameter of the external bearing configuration is the maximum outer diameter within the range from the external bearing configuration to the load-side end of the shaft.

4. The gear motor according to claim 1, characterized in that, It has a motor housing that accommodates the motor. The motor housing is constructed by cutting a base housing to a length corresponding to the length of the motor to be used.

5. The gear motor according to claim 1, characterized in that, In the first and second cases where the second rotary detector is configured, the detection shaft is supported on the inner circumference of the rotor shaft via an internal bearing.

6. The gear motor according to claim 5, characterized in that, The device has an elastic member, which, in the first and second cases where the second rotary detector is configured, is positioned so that it is clamped axially by either the detection shaft or the rotor shaft and the internal bearing, and applies an axial preload to the internal bearing.

7. The gear motor according to claim 1, characterized in that, have: Motor housing, which houses the motor; Electronic components are positioned closer to the load side than the motor; A drive unit, configured on the opposite side of the load than the motor, and having a control unit; and Wiring connects the electronic device and the driver unit. The wiring passes through the outside of the motor housing.

8. The gear motor according to claim 7, characterized in that, The motor housing has a wiring channel located on the outer periphery of the motor housing and extending from the load side toward the opposite side of the load. The wiring extends to the outside of the motor housing at a position closer to the load side than the motor, and is arranged along the wiring channel.

9. The gear motor according to claim 1, characterized in that, have: Motor housing, which houses the motor; A drive unit, configured on the opposite side of the load than the motor, and having a control unit; and A driver mounting bracket for mounting the driver unit to the motor housing. The driver mounting bracket is connected to the motor housing by rivets.

10. The gear motor according to claim 9, characterized in that, The rivet connects the motor housing and the driver mounting base in the radial direction.

Images