Rotary mechanism, robot, industrial machine

Abstract

The present invention relates to a rotation mechanism, a robot, an industrial machine. The rotation mechanism (1) of the present invention includes: a first member (41) that rotates around a rotation axis (C1); a second member (42) that is disposed adjacent to the first member along the rotation axis; a plurality of fastening members (51) that have axes along the rotation axis and that fasten the first member and the second member; a plurality of first support portions (101) that are formed in a manner so as to face the second member along the rotation axis and that are disposed around the rotation axis; a first engagement surface (44b) that is formed at an end portion (44a) of the first support portion; a plurality of second support portions (102) that are formed in a manner so as to face the first member along the rotation axis and that are disposed around the rotation axis; and a second engagement surface (42m) that is formed at the second support portion. The first engagement surface and the second engagement surface are in contact with each other. The first engagement surface and the second engagement surface that are in contact with each other each have an inclined portion that is inclined with respect to a surface that is orthogonal to the rotation axis.

Description

Technical Field

[0001] This invention relates to rotating mechanisms, robots, and industrial machinery. Background Technology

[0002] Conventionally, examples of eccentric oscillating rotary mechanisms include gearboxes (reducers) installed in industrial robots. Such eccentric oscillating rotary mechanisms, such as those described in Patent Document 1, include a gear carrier that rotates relative to the target. The gear carrier consists of a retainer and a shaft. The retainer and shaft are fastened by fasteners (bolts). Multiple bolts are arranged around the axis of the gear carrier. The retainer and shaft rotate relative to the housing while being fastened by multiple bolts.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-109264 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] For such eccentric oscillating rotary mechanisms, the aim is to maintain the dimensional dimensions while setting high torque. However, in the past, when large torques or higher were applied to rotary mechanisms, there was a possibility that shear forces and torques acting on the contact surface between the shaft and the retainer could cause permanent misalignment.

[0008] The object of the present invention is to provide a rotating mechanism, robot, and industrial machinery that can stabilize the contact surface at the rotating part in a fixed state, improve the tolerance to large torques and torques relative to the external dimensions, and improve the stability of rotation.

[0009] Solution for solving the problem

[0010] (1) A rotating mechanism according to a technical solution of the present invention comprises: a first member that rotates about a rotation axis; a second member disposed adjacent to the first member along the rotation axis; a fastening member having an axis along the rotation axis for fastening the first member and the second member; a first support portion formed on the first member and arranged toward the second member along the rotation axis, and having a plurality of such portions arranged around the rotation axis; a first engagement surface formed at the front end of the first support portion; a second support portion formed on the second member opposite to the first support portion and arranged toward the first member along the rotation axis, and having a plurality of such portions arranged around the rotation axis; and a second engagement surface formed on the second support portion. The first engagement surface and the second engagement surface are in contact with each other. The first engagement surface and the second engagement surface that are in contact with each other each have an inclined portion that is inclined relative to a surface orthogonal to the rotation axis.

[0011] According to the rotating mechanism, the first and second mating surfaces, which are pressed against each other due to the fastening of the fastening members, each have an inclined portion that is inclined relative to a plane orthogonal to the axis of rotation. Therefore, compared to the case where the first and second mating surfaces are planes orthogonal to the axis of rotation, the force exerted on the first and second mating surfaces along the axis of rotation due to the fastening members can be increased. This increases the frictional force acting between the first and second mating surfaces. Consequently, when shear force is applied to the first and second members, the resistance to displacement of the first and second mating surfaces can be improved, making them less prone to displacement. Therefore, the fastening force between the first and second members can be increased.

[0012] (2) Alternatively, the first support portion and the second support portion may each have a deformation prevention portion to prevent deformation of the first support portion and the second support portion in a direction intersecting the rotation axis caused by the tightening of the fastening member. Alternatively, the deformation prevention portion may be formed at the end of the inclined portion along the rotation axis.

[0013] (3) Alternatively, the inclined portion may be inclined in one direction over the entire area of ​​the front end of the first support portion and the front end of the second support portion. Alternatively, the deformation prevention portion may be formed on the inclined portion of the first support portion and the inclined portion of the second support portion in a mutually engaging concave-convex shape.

[0014] (4) Alternatively, the inclined portion may be radially outward from the first support portion and the second support portion toward the axis of rotation.

[0015] (5) Alternatively, the inclined portion may be circumferentially inclined in the first support portion and the second support portion toward the axis of rotation.

[0016] (6) Alternatively, the first support portion may protrude toward the second member along the axis of rotation. Alternatively, the second support portion may protrude toward the first member along the axis of rotation.

[0017] (7) Alternatively, the front end of one of the first support portions and the second support portion may be formed such that the central portion protrudes more along the rotation axis than the periphery, and the front end of the other support portion may be formed such that the central portion is recessed more along the rotation axis than the periphery.

[0018] (8) Alternatively, the front end of the other support may be formed as a cone shape in which the central part is recessed along the axis of rotation than the periphery.

[0019] (9) Alternatively, the fastening member may be a bolt. Alternatively, an internal thread may be formed in the first support portion, which opens at the first mating surface for the bolt to be fastened. Alternatively, a through hole may be formed in the second support portion for the bolt to pass through.

[0020] (10) Alternatively, on the first mating surface, a planar portion orthogonal to the axis of rotation may be formed around the entire periphery of the opening of the internal thread portion. Alternatively, the diameter of the planar portion may be smaller than the diameter of the bolt head.

[0021] (11) Alternatively, the inclined portion and the planar portion orthogonal to the axis of rotation may be formed on the first mating surface. Alternatively, when viewed from a direction along the axis of rotation, the axis of the internal thread portion may be contained within the inclined portion.

[0022] (12) Alternatively, the second mating surface may be formed in a recessed manner on the surface opposite to the first member.

[0023] (13) Alternatively, the first support portion may protrude toward the second member along the axis of rotation. Alternatively, the second support portion may protrude toward the first member along the axis of rotation.

[0024] (14) Another rotating mechanism of the present invention comprises: a housing; an internal gear disposed on the inner periphery of the housing; an external gear meshing with the internal gear; an eccentric body that causes the external gear to oscillate; a first member supported on the housing by means of a first bearing and rotating about a rotation axis; a second member supported on the housing by means of a second bearing and disposed adjacent to the first member along the rotation axis; a plurality of bolts having an axis along the rotation axis for fastening the first member and the second member; a first support portion formed on the first member and oriented along the rotation axis. The first support portion is formed with its axis oriented toward the second member and has multiple such portions arranged around the axis of rotation; a first mating surface is formed at the front end of the first support portion; a second support portion is formed on the second member opposite to the first support portion and oriented toward the first member along the axis of rotation, and has multiple such portions arranged around the axis of rotation; a second mating surface is formed on the second support portion; an internal thread portion is formed on the first support portion with an opening in the first mating surface for bolt fastening; and a through hole is formed on the second support portion for the bolt to pass through. The first mating surface and the second mating surface are in contact with each other. The contacting first and second mating surfaces each have an inclined portion that is inclined relative to a surface orthogonal to the axis of rotation. The first and second support portions each have a deformation prevention portion that prevents deformation of the first and second support portions in a direction intersecting the axis of rotation caused by the fastening of the bolt. The deformation prevention portion is formed at the end of the inclined portion along the axis of rotation. The entire area of ​​the front end of the first support portion and the front end of the second support portion is inclined in one direction. The deformation prevention portion is formed in an interlocking concave-convex shape on the inclined portions of the first support portion and the inclined portions of the second support portion. The inclined portion is radially outward from the axis of rotation on the first support portion and the second support portion.

[0025] According to the rotating mechanism, the first and second mating surfaces, which are pressed against each other due to the tightening of the bolts, each have an inclined portion that is inclined relative to a plane orthogonal to the axis of rotation. Therefore, compared to the case where the first and second mating surfaces are planes orthogonal to the axis of rotation, the force exerted on the first and second mating surfaces along the axis of rotation due to the bolt connection can be increased. This increases the frictional force acting between the first and second mating surfaces. Consequently, when shear force is applied to the first and second components, the resistance to displacement of the first and second mating surfaces can be improved, making them less prone to displacement. Therefore, the tightening force between the first and second components can be increased.

[0026] Furthermore, the deformation prevention section can prevent the first and second support portions from being deformed in the inclined direction due to the bolt tightening being pressed along the inclined portion. In addition, the inclined portion can be formed into a curved surface such as a cone or a spherical surface close to a cone, which is formed about the axis of rotation. As a result, the inclined portion can be easily formed during the manufacture of the rotating mechanism.

[0027] (15) Alternatively, when viewed radially from the axis of rotation, the inclined portion overlaps with the external gear.

[0028] (16) Another rotating mechanism of the present invention comprises: a housing; an internal gear disposed on the inner periphery of the housing; an external gear meshing with the internal gear; an eccentric body that causes the external gear to oscillate; a first member supported on the housing by means of a first bearing and rotating about a rotation axis; a second member supported on the housing by means of a second bearing and disposed adjacent to the first member along the rotation axis; a plurality of bolts having an axis along the rotation axis for fastening the first member and the second member; a first support portion formed on the first member and oriented along the rotation axis. The first support portion is formed with its axis oriented toward the second member and has multiple such portions arranged around the axis of rotation; a first mating surface is formed at the front end of the first support portion; a second support portion is formed on the second member opposite to the first support portion and oriented toward the first member along the axis of rotation, and has multiple such portions arranged around the axis of rotation; a second mating surface is formed on the second support portion; an internal thread portion is formed on the first support portion with an opening in the first mating surface for bolt fastening; and a through hole is formed on the second support portion for the bolt to pass through. The first mating surface and the second mating surface are in contact with each other. The contacting first and second mating surfaces each have an inclined portion inclined relative to a surface orthogonal to the axis of rotation. The first and second support portions each have a deformation prevention portion to prevent deformation of the first and second support portions in a direction intersecting the axis of rotation caused by the fastening of the bolt. The deformation prevention portion is formed at the end of the inclined portion along the axis of rotation. The front end of one of the first and second support portions is formed in a conical shape where the central portion protrudes beyond the periphery along the axis of rotation, and the front end of the other support portion is formed in a conical shape where the central portion is recessed beyond the periphery along the axis of rotation. The inclined portion and the deformation prevention portion are arranged on both sides of the first and second support portions radially relative to the central portion of the front end.

[0029] According to the rotating mechanism, the first and second mating surfaces, which are pressed against each other due to the tightening of the bolts, each have an inclined portion that is inclined relative to a plane orthogonal to the axis of rotation. Therefore, compared to the case where the first and second mating surfaces are planes orthogonal to the axis of rotation, the force exerted on the first and second mating surfaces along the axis of rotation due to the bolt connection can be increased. This increases the frictional force acting between the first and second mating surfaces. Consequently, when shear force is applied to the first and second components, the resistance to displacement of the first and second mating surfaces can be improved, making them less prone to displacement. Therefore, the tightening force between the first and second components can be increased.

[0030] Furthermore, the inclined portion is formed as a deformation-preventing part in a conical shape symmetrical with respect to the central portion of the first and second support portions. Therefore, it is possible to prevent the first and second support portions from being deformed in the inclined direction due to being pushed along the inclined portion when the bolts are tightened. Thus, deformation prevention can be achieved solely with the conical inclined portion, eliminating the need for deformation-preventing parts such as anti-corrosion joints.

[0031] Furthermore, the inclined portion can be formed into a conical or near-conical spherical surface, or a curved surface, that surrounds the central portion of the first and second support portions. This allows the inclined portion to be easily formed during the manufacture of the rotating mechanism.

[0032] (17) Alternatively, the second mating surface may be formed recessed on the surface opposite to the first member.

[0033] (18) Alternatively, when viewed radially from the axis of rotation, the inclined portion overlaps with the external gear.

[0034] (19) Another technical solution of the present invention provides a robot comprising: a plurality of components including an arm connected to be movable; a connecting part that connects the plurality of components including the arm to be rotatable; and a rotating mechanism mounted on the connecting part. The rotating mechanism includes: a first member that rotates about a rotation axis; a second member disposed adjacent to the first member along the rotation axis; a plurality of bolts having an axis along the rotation axis for fastening the first member and the second member; a first support portion formed on the first member and oriented towards the second member along the rotation axis, and having a plurality of such portions arranged around the rotation axis; a first mating surface formed at the front end of the first support portion; a second support portion formed on the second member opposite to the first support portion and oriented towards the first member along the rotation axis, and having a plurality of such portions arranged around the rotation axis; a second mating surface formed on the second support portion; an internal thread portion formed on the first support portion opening at the first mating surface for fastening of the bolts; and a through hole formed on the second support portion for the bolts to pass through. The first mating surface and the second mating surface are in contact with each other. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to the surface orthogonal to the axis of rotation.

[0035] According to the robot, the first and second mating surfaces, which are pressed against each other due to the tightening of the bolts, have inclined portions that are tilted relative to a plane orthogonal to the axis of rotation. Therefore, compared to the case where the first and second mating surfaces are planes orthogonal to the axis of rotation, the force exerted on the first and second mating surfaces along the axis of rotation due to the bolt connection can be increased. This increases the frictional force acting between the first and second mating surfaces. Consequently, when shear force is applied to the first and second components, the resistance to displacement of the first and second mating surfaces can be improved, making them less prone to displacement. Therefore, the fastening force between the first and second components can be increased.

[0036] (20) Another technical solution of the present invention provides an industrial machine comprising: a plurality of components connected to each other; a connecting part that connects the plurality of components to be rotatable; and a rotating mechanism mounted on the connecting part. The rotating mechanism includes: a first member that rotates about a rotation axis; a second member disposed adjacent to the first member along the rotation axis; a plurality of bolts having an axis along the rotation axis for fastening the first member and the second member; a first support portion formed on the first member and oriented towards the second member along the rotation axis, and having a plurality of such portions arranged around the rotation axis; a first mating surface formed at the front end of the first support portion; a second support portion formed on the second member opposite to the first support portion and oriented towards the first member along the rotation axis, and having a plurality of such portions arranged around the rotation axis; a second mating surface formed on the second support portion; an internal thread portion formed on the first support portion opening at the first mating surface for fastening of the bolts; and a through hole formed on the second support portion for the bolts to pass through. The first mating surface and the second mating surface are in contact with each other. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to the surface orthogonal to the axis of rotation.

[0037] According to industrial machinery, the first and second mating surfaces, which are pressed against each other due to the tightening of bolts, have inclined portions that are inclined relative to a plane orthogonal to the axis of rotation. Therefore, compared to the case where the first and second mating surfaces are planes orthogonal to the axis of rotation, the force exerted on the first and second mating surfaces along the axis of rotation due to the bolt connection can be increased. This increases the frictional force acting between the first and second mating surfaces. Consequently, when shear force is applied to the first and second components, the resistance to displacement of the first and second mating surfaces can be improved, making them less prone to displacement. Therefore, the fastening force between the first and second components can be increased.

[0038] The effects of the invention

[0039] According to the present invention, a speed reducer is provided that can reduce force deviation, stabilize the axial force of the shaft and retainer, and uniformly apply preload to the main bearing. Attached Figure Description

[0040] Figure 1 This is a cross-sectional view showing the first embodiment of the rotating mechanism of the present invention.

[0041] Figure 2 It is along Figure 1 A sectional view along line II-II.

[0042] Figure 3This is a perspective view showing the shaft in the first embodiment of the rotating mechanism of the present invention.

[0043] Figure 4 This is an explanatory diagram illustrating the function of the mating surface in the first embodiment of the rotating mechanism of the present invention.

[0044] Figure 5 This is a partial cross-sectional view showing a second embodiment of the rotating mechanism of the present invention.

[0045] Figure 6 This is a perspective view showing the retaining member in the second embodiment of the rotating mechanism of the present invention.

[0046] Figure 7 This is a partial cross-sectional view showing a third embodiment of the rotating mechanism of the present invention.

[0047] Figure 8 This is a partial cross-sectional view showing an enlarged view of the fourth embodiment of the rotating mechanism of the present invention.

[0048] Figure 9 It is an enlarged sectional view showing a portion of the rotating mechanism.

[0049] Figure 10 This is a partial cross-sectional view showing the fifth embodiment of the rotating mechanism of the present invention.

[0050] Figure 11 Is with Figure 10 The sectional view corresponding to the XI-XI line.

[0051] Figure 12 This is a cross-sectional view showing the sixth embodiment of the rotating mechanism of the present invention.

[0052] Figure 13 This is a schematic diagram illustrating the seventh embodiment of the robot of the present invention.

[0053] Explanation of reference numerals in the attached figures

[0054] C1, Rotation axis; C4, Axis; R, Robot; 1, Rotation mechanism (reducer); 2, Outer cylinder (housing); 4, Gear carrier; 6A, First bearing (main bearing); 6B, Second bearing (main bearing); 10A, Crankshaft (eccentric body); 41, First gear carrier (first component, shaft); 42, Second gear carrier (second component, retainer); 42d, Protrusion; 42m, Second mating surface (inclined part); 44, Support column ( 44b, First mating surface (inclined part); 44c, Flat part; 45, Through hole; 50, Fastening part; 51, Bolt (fastening member); 53, External thread part; 54, Head; 56, Internal thread part; 61, 62, Deformation prevention part; 101, First support part; 102, Second support part; 330L, 330U, 330S, Connecting part; 3412B, First mating surface; 3421B, Second mating surface. Detailed Implementation

[0055] (First Embodiment)

[0056] Hereinafter, a first embodiment of the rotating mechanism of the present invention will be described based on the accompanying drawings.

[0057] Figure 1 This is a cross-sectional view showing the rotating mechanism in this embodiment. Figure 2 It is along Figure 1 A sectional view along line II-II. Figure 3 This is a perspective view showing the shaft in the rotating mechanism of this embodiment. In each figure, reference numeral 1 indicates the rotating mechanism.

[0058] [Rotating Mechanism]

[0059] like Figures 1-3 As shown, the rotating mechanism 1 in this embodiment is a so-called solid shaft reducer (gearbox) in which the input shaft 8 is formed solid.

[0060] The rotating mechanism (reducer) 1 includes a housing 30 and a reduction mechanism section 40.

[0061] The housing 30 includes a main body portion 32 and a flange portion 34. The flange portion 34 has a shape that protrudes radially outward from the main body portion 32. In the description of the first embodiment, the direction along the axis C1 of the main body portion 32 is simply referred to as the axial direction, the direction intersecting the axis C1 from the axial view is referred to as the radial direction, and the direction of rotation around the axis C1 is referred to as the circumferential direction. In addition, in the rotating mechanism 1, the side connected to the drive source is referred to as the input side, and the side connected to the mechanism portion such as the arm that receives the output of the rotating mechanism 1 is referred to as the output side. The drive source is an example of a component on the input side, and the mechanism portion such as the arm is an example of a component on the output side. The rotating mechanism 1 transmits driving force by changing the rotation speed between the component on the input side and the component on the output side at a predetermined rotation speed ratio.

[0062] The main body (an example of a cylindrical part) 32 is formed in a cylindrical shape along the axis C1. The main body 32 has an input side opening in the direction of the axis C1. The reduction gear part 40 is rotatably housed in the opening of the main body 32. A flange 34 is integrally formed on the main body 32. The rotation mechanism 1, which receives rotation from the motor, has multiple (e.g., three) transmission gears 20 exposed to the outside.

[0063] A flange 34 is provided on the outer periphery of the housing 30. A through hole 35 is formed in the flange 34, extending through the flange 34 in the axial direction. The through holes 35 are provided at arbitrary intervals in the circumferential direction of the flange 34. The through holes 35 are fastening holes through which fastening members such as bolts for fastening the rotating mechanism 1 and the robot R (described later) pass. An internal thread (not shown) is formed in the through hole 35. The fastening member is screwed into the internal thread. The through hole 35 and the fastening member constitute the mounting fastening part (described later).

[0064] The rotating mechanism 1 rotates the crankshaft (eccentric body) 10A by rotating the input shaft 8, which corresponds to the input gear 20b. Furthermore, the rotating mechanism 1 is configured to rotate the oscillating gears (external gears) 14 and 16 in conjunction with the eccentric portions 10a and 10b of the crankshaft 10A, thereby obtaining the output rotation obtained by decelerating the input rotation.

[0065] The rotating mechanism 1 includes: an outer cylinder (shell) 2, which corresponds to the main body 32 (cylinder); a gear frame 4, which is rotatably housed in the outer cylinder; an input shaft 8; a plurality of (e.g., 3) crankshafts 10A; a first oscillating gear 14; a second oscillating gear 16; and a plurality of (e.g., 3) transmission gears 20.

[0066] The outer cylinder 2 is formed in a generally cylindrical shape, serving as the outer surface of the rotating mechanism 1. Multiple pin grooves 2b are formed on the inner circumferential surface of the outer cylinder 2. Each pin groove 2b extends axially from the outer cylinder 2 and has a semi-circular cross-sectional shape in a section orthogonal to the axial direction. These pin grooves 2b are arranged at equal intervals circumferentially on the inner circumferential surface of the outer cylinder 2.

[0067] The outer cylinder 2 has multiple internal toothed pins (internal teeth) 3. Each internal toothed pin 3 is installed in a pin groove 2b.

[0068] Specifically, each internal toothed pin 3 is embedded in a corresponding pin groove 2b, arranged in a posture extending axially in the outer cylinder 2. Thus, the multiple internal toothed pins 3 are arranged at equal intervals along the circumference of the outer cylinder 2. The first external tooth 14a of the first oscillating gear (external gear) 14 and the second external tooth 16a of the second oscillating gear (external gear) 16 mesh with these internal toothed pins 3, which are internal gears.

[0069] The gear carrier 4 is housed within the outer cylinder 2 in a manner coaxial with the outer cylinder 2. The gear carrier 4 rotates relative to the outer cylinder 2 (housing 30) about the same axis.

[0070] Specifically, the gear carrier 4 is supported by a pair of main bearings 6 in a radially inner position relative to the outer cylinder 2, allowing it to rotate relative to the outer cylinder 2. The pair of main bearings 6 are axially separated from each other. The gear carrier 4 is composed of a first gear carrier (first member) 41 and a second gear carrier (second member; retainer) 42, which are separated in the direction of axis C1. The first gear carrier 41 is located on the first direction side. The second gear carrier 42 is located on the second direction side.

[0071] Furthermore, the first direction side corresponds to the previously described output side. The second direction side corresponds to the previously described input side.

[0072] The main bearing 6 may be, for example, a ball bearing having spherical rolling elements. However, it is not limited to this; various types of bearings, such as roller bearings, tapered roller bearings, and plain bearings, can be used as the main bearing 6. Tapered roller bearings have frustum-shaped rolling elements.

[0073] The first gear carrier 41 includes a circular plate-shaped base plate portion 43 and a plurality of (for example, three in this embodiment) support portions (shaft portions) 44 protruding in a second direction from the end of the base plate portion 43 on the second direction side. In this embodiment, the base plate portion 43 and the support portions 44 are integrally formed.

[0074] A first bearing housing portion 41h is formed on the outer peripheral surface 41a of the first gear carrier 41. The inner ring 6Aa of the first bearing (main bearing) 6A is fitted into the first bearing housing portion 41h. Additionally, a first bearing housing portion 2h is formed on the inner peripheral surface of the portion of the outer cylinder 2 (housing 30) located on the first direction side. The outer ring 6Ab of the first bearing 6A is fitted into the first bearing housing portion 2h.

[0075] The support portion (first support portion) 44 of the first gear carrier 41 is formed as a column extending along the axis C1. The support portion 44 is formed into a generally circular shape when viewed from the axis C1 direction.

[0076] However, this is not the only possibility. For example, the support portion 44 may also be formed into a polygonal shape (e.g., a roughly triangular shape or a hexagonal shape) when viewed from the axis C1 direction. Multiple support portions 44 are arranged at intervals in the circumferential direction with the axis C1 as the center.

[0077] Each support portion 44 is arranged in the circumferential direction between the mounting holes 4e of the base plate portion 43, which will be described later. That is, each support portion 44 is arranged at equal intervals in the circumferential direction on the second direction side of the base plate portion 43. Furthermore, the pitch circle diameter of each support portion 44 is approximately the same as the pitch circle diameter of the mounting hole 4e.

[0078] A first mating surface (inclined portion) 44b and a deformation prevention portion 61 are formed at the front end (end) 44a of the support portion 44. The first mating surface 44b is formed to be approximately planar throughout its entire area. The support portion 44 functions as the first support portion 101. The first support portion 101 will be discussed further below.

[0079] An internal thread portion 56, serving as a fastening portion 50, is formed on the first mating surface 44b. The internal thread portion 56 has an opening 56a on the first mating surface 44b. Furthermore, a recess 58a is formed on the first mating surface 44b for inserting a limiting pin 58. A deformation-preventing portion 61 is formed as a notch that is slightly recessed from the first mating surface 44b toward the first direction. Thus, the deformation-preventing portion 61 is formed at the front end 44a of the support portion 44, close to the second gear carrier 42.

[0080] In this embodiment, one fastening part 50 is formed for each support column 44. However, this is not a limitation; for example, two or more fastening parts 50 may be formed for each support column 44. The multiple fastening parts 50 are formed on the same circle centered on axis C1. That is, all three fastening parts 50 are formed on the same circle centered on axis C1. Therefore, the diameters of the three fastening parts 50 are the same, with axis C1 as the center.

[0081] An internal thread 56 is formed from the front end 44a of the support portion 44 toward the first direction. A bolt (fastening member) 51 is fastened to the internal thread 56. Thus, the first gear carrier 41 and the second gear carrier 42 are combined into one unit.

[0082] The second gear carrier (retainer) 42 is formed in a generally circular plate shape. The second gear carrier 42 is arranged such that its first end 42a on the first direction side abuts against the front end 44a of the support portion 44 constituting the first gear carrier 41. Thus, the second gear carrier 42 is positioned relative to the first gear carrier 41. Therefore, a gap with the same height as the support portion 44 is formed between the base plate portion 43 of the first gear carrier 41 and the second gear carrier 42. The housing 2 surrounds the periphery of this gap, thereby forming a oscillating gear housing portion for housing the oscillating gears 14 and 16.

[0083] A second engagement surface (inclined portion) 42m and a deformation prevention portion 62 are formed at the portion of the first end 42a of the second gear carrier 42 that abuts against the front end 44a of the support portion 44. The portion that abuts against the front end 44a of the support portion 44 is provided as a second support portion 102. In this embodiment, the second engagement surface 42m and the deformation prevention portion 62 are provided as the second support portion 102.

[0084] The second mating surface 42m is inclined in relation to the first mating surface 44b, as will be described later. Therefore, due to the formation of the second mating surface 42m, an unevenness is formed at the first end 42a of the second gear carrier 42.

[0085] The deformation prevention part 62 is formed as a protrusion protruding from the second mating surface 42m of the second support part 102 toward the first gear carrier 41. The second support part 102 will be discussed next.

[0086] A second bearing housing portion 42g is formed on the outer peripheral surface 42c of the second gear carrier 42. The inner ring 6Ba of the second bearing (main bearing) 6B is fitted into the second bearing housing portion 42g. Additionally, a second bearing housing portion 2g is formed on the inner peripheral surface of the portion of the outer cylinder 2 (housing 30) located on the second direction side. The outer ring 6Bb of the second bearing 6B is fitted into the second bearing housing portion 2g.

[0087] The first end 42a of the second gear carrier 42 is generally flat. A through hole 45, extending through the thickness of the second gear carrier 42, is formed at a position corresponding to the internal thread portion 56. A through hole 58b, extending through the thickness of the second gear carrier 42, is formed at a position corresponding to the recess 58a.

[0088] A bolt (fastening member) 51 is inserted into the fitting hole 45 from the second direction side. The bolt 51 is fastened to the internal thread 56 of the support portion 44. Simultaneously, a limiting pin 58 is inserted into the through hole 58b. Thus, the first gear carrier 41 and the second gear carrier 42 are assembled as a single unit in a positioned state. Furthermore, the bolt 51 and the internal thread 56 constitute the fastening portion 50.

[0089] The fitting hole (through hole) 45, the internal thread 56, and the bolt 51 are fastened coaxially along the axis C4 parallel to the axis C1. The recess 58a, the through hole 58b, and the limiting pin 58 are arranged coaxially along the axis parallel to the axis C1.

[0090] With the bolt 51 fastened to the internal thread 56, the shank 52 of the bolt 51 engages with the internal thread 56 of the support portion 44 and the engagement hole 45 of the second gear carrier 42. Therefore, the shank 52 of the bolt 51 is positioned across the first gear carrier 41 and the second gear carrier 42.

[0091] A countersunk hole 45a connected to a fitting hole 45 is formed at the second end 42b of the second gear carrier 42 on the second direction side. The head 54 of the bolt 51 is inserted into the countersunk hole 45a. This reduces the protrusion height of the head 54 of the bolt 51 from the second end 42b of the second gear carrier 42. The base surface 55 of the head 54 of the tightened bolt 51 contacts the bottom surface 45b of the countersunk hole 45a.

[0092] Similarly, a countersunk portion 58b1 connected to the through hole 58b is formed at the second end 42b.

[0093] The first support portion 101 and the second support portion 102 each have a first mating surface (inclined portion) 44b and a second mating surface (inclined portion) 42m formed on surfaces opposite each other. Both the first mating surface 44b and the second mating surface 42m are planar. Both the first mating surface 44b and the second mating surface 42m are inclined relative to the axis of the support portion 44 (an axis parallel to axis C1). Specifically, the first mating surface 44b and the second mating surface 42m are inclined in one direction at an angle θ relative to the surface orthogonal to axis C1.

[0094] In this embodiment, the first mating surface 44b and the second mating surface 42m are inclined in an inclined direction toward the circumferential direction (see reference). Figure 3 ).

[0095] The input shaft 8 functions as an input section for supplying driving force to a drive motor (not shown). The input shaft 8 is inserted into a through hole 4f formed in the second gear carrier (end plate portion) 42 and a through hole 4d formed in the base plate portion 43. The input shaft 8 is arranged such that its axis is aligned with the axes of the outer cylinder 2 and the gear carrier portion 4, and rotates about the axis. An input gear 8a is provided on the outer peripheral surface of the front end of the input shaft 8.

[0096] Three crankshafts 10A are arranged at equal intervals around the input shaft 8 inside the outer cylinder 2 (see reference). Figure 2 Each crankshaft 10A is supported by a pair of crankshaft bearings 12a and 12b so that it can rotate about an axis relative to the gear carrier 4.

[0097] Each crankshaft 10A has a shaft body 12c and eccentric portions 10a and 10b integrally formed with the shaft body 12c.

[0098] A fitting portion 10c for mounting a transmission gear 20 is provided at one end of the crankshaft 10A. One end of the crankshaft 10A is positioned axially upward and outward from the mounting hole 4e formed in the base plate portion 43.

[0099] Furthermore, the rotating mechanism 1 in this embodiment is not limited to... Figure 1For example, the crankshaft 10A can also be reversed in the axial direction, in which case the fitting part 10c is positioned axially outward from the mounting hole 4g ​​formed in the second gear carrier (end plate part) 42.

[0100] The first oscillating gear 14 is disposed in a closed space ensured within the outer cylinder 2, and is mounted on the first eccentric portion 10a of each crankshaft 10A by means of the first roller bearing 18a. When the first eccentric portion 10a rotates eccentrically with the rotation of each crankshaft 10A, the first oscillating gear 14 oscillates and rotates in conjunction with this eccentric rotation, while meshing with the internal gear pin 3.

[0101] The second oscillating gear 16 is disposed within a closed space ensured within the outer cylinder 2, and is mounted to the second eccentric portion 10b of each crankshaft 10A by means of a second roller bearing 18b. The first oscillating gear 14 and the second oscillating gear 16 are arranged axially in a manner corresponding to the configuration of the first eccentric portion 10a and the second eccentric portion 10b. When the second eccentric portion 10b rotates eccentrically with the rotation of each crankshaft 10A, the second oscillating gear 16 oscillates and rotates in conjunction with this eccentric rotation, while engaging with the internal gear pin 3.

[0102] Each transmission gear 20 transmits the rotation of the input gear 8a to the corresponding crankshaft 10A. Each transmission gear 20 is fitted onto the corresponding engagement portion 10c of the crankshaft 10A. Each transmission gear 20 rotates integrally with the crankshaft 10A about an axis that is the same as the axis of rotation of the crankshaft 10A. Each transmission gear 20 has external teeth 20a that mesh with the input gear 8a.

[0103] The fastening part 50 has an internal thread 56 and a bolt 51.

[0104] Bolt 51 includes a shank 52, an externally threaded portion 53 formed in the shank 52, and a head 54. The head 54 is formed at the end of the shank 52 located on the second direction side and is coaxially disposed with the shank 52. The head 54 is enlarged in diameter compared to the shank 52.

[0105] [Function of the support section]

[0106] The first mating surface 44b of the first support portion 101 and the second mating surface 42m of the second support portion 102 are opposite to each other. Both the first mating surface 44b and the second mating surface 42m are in contact with each other in a state of inclination relative to the axis C1. Specifically, the first mating surface 44b and the second mating surface 42m are in contact with each other in a state of inclination at an angle θ relative to a surface orthogonal to the axis (rotation axis) C1.

[0107] Figure 4 This is an explanatory diagram illustrating the function of the mating surface in the rotating mechanism of this embodiment.

[0108] With the limiting pin 58 inserted into the through hole 58b and the recess 58a, and the bolt 51 tightened into the internal thread 56, the first support portion 101 and the second support portion 102 are pushed together in a state of mutual compression due to the tightening between the bolt 51 and the internal thread 56. The pushing force F depends on the tightening force of the bolt 51. That is, as... Figure 4 As shown, the first mating surface 44b and the second mating surface 42m press against each other in the direction along the axis C4 of the bolt 51.

[0109] The first joint surface 44b and the second joint surface 42m are inclined at an angle θ relative to the force F. Therefore, as Figure 4 As shown, the force perpendicular to the surfaces that contributes to the frictional force acting between the first mating surface 44b and the second mating surface 42m is called F / cosθ. That is, the force F increases compared to the case where the first mating surface 44b and the second mating surface 42m are planes orthogonal to the axis (rotation axis) C1. Therefore, the bolt tightening force F increases by an amount corresponding to 1 / cosθ. A larger tilt angle θ is better.

[0110] Therefore, such as Figure 4 As shown, the frictional force acting between the first mating surface 44b and the second mating surface 42m is μF / cosθ. That is, the frictional force μF is greater than when the first mating surface 44b and the second mating surface 42m are planes orthogonal to the axis (rotation axis) C1. This increase in frictional force is due to the first mating surface 44b and the second mating surface 42m being inclined at an angle θ relative to the axis (rotation axis) C1.

[0111] Furthermore, consider the case where a force is applied between the first support portion 101 and the second support portion 102 to cause them to deflect.

[0112] In other words, when a force is applied that causes the first gear carrier 41 and the second gear carrier 42 to deviate, i.e., along a plane orthogonal to the axis (rotation axis) C1, it is necessary to overcome this force in a way that prevents the first support portion 101 and the second support portion 102 from shifting.

[0113] Therefore, it is necessary to increase the frictional force along this offset.

[0114] In this embodiment, the first mating surface 44b and the second mating surface 42m are inclined at an angle θ relative to the axis (rotation axis) C1. Therefore, as Figure 4 As shown, the force counteracting the displacement caused by the aforementioned offset is μF / (cosθ). 2In other words, the shear force μF increases when the first joint surface 44b and the second joint surface 42m are set as planes orthogonal to the axis (rotation axis) C1. Therefore, the shear force increases by 1 / (cosθ). 2 The corresponding quantities. Among them, the larger the tilt angle θ, the better.

[0115] Therefore, in this embodiment, compared to the case where the first joint surface 44b and the second joint surface 42m are set as planes orthogonal to the axis (rotation axis) C1, the displacement resistance of the first support portion 101 and the second support portion 102 is improved.

[0116] Therefore, in the multiple support sections 44, the axial force that secures the shaft 41 and the retainer 42 can be stabilized respectively, which improves the tolerance to larger torques and torques compared to the external dimensions of the gear carrier section 4.

[0117] Furthermore, with the bolt 51 fastened to the internal thread 56, the first support portion 101 and the second support portion 102 are pushed together in a state of mutual compression due to the fastening between the bolt 51 and the internal thread 56. There is a possibility that the first support portion 101 and the second support portion 102 may move and deform in opposite directions along the inclined first mating surface 44b and the second mating surface 42m due to their thrust F.

[0118] In this embodiment, in order to prevent movement and deformation, deformation prevention part 61 and deformation prevention part 62 are formed in the first support part 101 and the second support part 102, respectively.

[0119] like Figure 3 As shown, the deformation prevention part 61 is formed in the first mating surface 44b on the outer edge (end) of the second support part 102 in the direction in which the second support part 102 is to deform and move. Deformation prevention part 62 (see reference) Figure 1 The outer edge (end) of the first support portion 101 is formed in the second joint surface 42m in the direction in which the first support portion 101 is to be deformed and moved, corresponding to the deformation prevention portion 61.

[0120] Specifically, such as Figure 3 As shown, the deformation prevention portion 61 is formed in the shape of a notch at the position of the substrate portion 43 furthest from the first bonding surface 44b. The deformation prevention portion 62 is formed in the shape of a protrusion at the position of the first end portion 42a closest to the second bonding surface 42m, corresponding to the shape of the deformation prevention portion 61. Therefore, the deformation prevention portion 61 and the deformation prevention portion 62 are provided with interlocking concave and convex shapes.

[0121] Thus, both deformation prevention part 61 and deformation prevention part 62 are located in positions that are offset from each other in the inclined first joint surface 44b and second joint surface 42m. Therefore, it is possible to effectively prevent the first joint surface 44b and the second joint surface 42m from offsetting each other.

[0122] Furthermore, in addition to using the deformation prevention part 61 and the deformation prevention part 62, the first mating surface 44b and the second mating surface 42m can be prevented from moving along the mating surface by using the limiting pin 58 inserted in the recess 58a and the through hole 58b.

[0123] This prevents the first support portion 101 and the second support portion 102 from moving or deforming in the direction along the inclined first mating surface 44b and the second mating surface 42m. Consequently, it is possible to stabilize the fastening state between the shaft 41 and the retaining member 42.

[0124] Furthermore, in this embodiment, such as Figure 3 As shown, the inclination direction of the first mating surface 44b and the second mating surface 42m is set to the circumferential direction about the rotation axis C1. Therefore, the movement deformation of the first support portion 101 and the second support portion 102 caused by bolt tightening is along the circumferential direction about the rotation axis C1. Thus, even if slight movement deformation of the first support portion 101 and the second support portion 102 occurs, its effect can be reduced compared to the case of radial deformation.

[0125] In addition, Figure 1 In the diagram, the inclination directions of the first joint surface 44b and the second joint surface 42m are orthogonal to the cross-section shown. Therefore, in Figure 1 The first joint surface 44b and the second joint surface 42m are not shown in an inclined state.

[0126] The deformation prevention part 61 and the deformation prevention part 62 are notch-shaped and protrusion-shaped, respectively, that engage with each other. Therefore, even if the first support part 101 and the second support part 102 are pushed together in a state of being compressed by each other due to the fastening between the bolt 51 and the internal thread part 56, it is possible to prevent the first mating surface 44b and the second mating surface 42m from moving along the mating surface.

[0127] According to the rotating mechanism 1 of this embodiment, as described above, there are a first engagement surface 44b and a second engagement surface 42m between the first support portion 101 and the second support portion 102, which are inclined at an angle θ relative to a plane orthogonal to a rotation axis C1 parallel to the axis C4 of the bolt 51. Therefore, according to the rotating mechanism 1, for the fastening between the first gear carrier (shaft) 41 and the second gear carrier (retainer) 42, the frictional force against the axial force can be increased, thereby stabilizing the fastening state between the contacting first engagement surface 44b and the second engagement surface 42m. Thus, even when excessive torque or shear force acts, it can be counteracted, thereby stabilizing the axial force between the first gear carrier 41 and the second gear carrier 42, and the rotation of the gear carrier portion 4 can be stabilized while preventing deformation.

[0128] Furthermore, in the assembly of multiple first support portions 101 and second support portions 102, the axial force during tightening can be increased, thus suppressing their deviation. As a result, the axial force can be increased, thereby improving the torque density. In addition, the rotational stability of the rotating mechanism 1 can be improved, extending the service life of the rotating mechanism 1.

[0129] Furthermore, since deformation prevention portion 61 and deformation prevention portion 62 are formed, it is possible to prevent the first joint surface 44b and the second joint surface 42m from moving and deforming along the joint surface.

[0130] Furthermore, in the first embodiment described above, the rotating mechanism 1 may also be a so-called hollow reducer (gearbox) in which the rotating shaft serving as the input is hollow.

[0131] (Second Implementation)

[0132] Hereinafter, a second embodiment of the rotating mechanism of the present invention will be described based on the accompanying drawings.

[0133] Figure 5 This is a partial cross-sectional view showing the rotating mechanism in this embodiment. Figure 6 This is a perspective view showing the retaining member in the rotating mechanism of this embodiment. In this embodiment, the difference from the first embodiment described above lies in the orientation of the mating surfaces. Therefore, in this embodiment, structures other than those in the first embodiment described above are labeled with the same reference numerals, and their descriptions are omitted.

[0134] like Figure 5 , Figure 6 As shown, in this embodiment, the first engagement surface 44b of the first support portion 101 and the second engagement surface 42m of the second support portion 102 of the rotating mechanism 1 are both inclined radially outward relative to the rotation axis C1.

[0135] Specifically, the first joint surface 44b formed by the three support sections 44 is formed into a conical shape centered on the rotation axis C1. More specifically, the three first joint surfaces 44b are formed as portions of a conical surface centered on the rotation axis C1.

[0136] To supplement this, such as Figure 5 As shown, the first mating surface 44b and the second mating surface 42m are inclined at an angle θ relative to the plane orthogonal to the axis of rotation C1 (see reference). Figure 4 That is, as a part of the conical surface with a vertex angle of 180° - 2θ, a first joint surface 44b is formed at the ends 44a of the three first support portions 101. Furthermore, in Figure 5 The diagrams of the limiting pin 58, the recess 58a, and the through hole 58b are omitted.

[0137] like Figure 6 As shown, the second mating surface 42m is formed in a shape that is a local part of an inverted conical surface in a manner that contacts the first mating surface 44b.

[0138] Furthermore, the first mating surface 44b and the second mating surface 42m can also be configured as planes that are radially outward relative to the axis of rotation C1.

[0139] Furthermore, the first mating surface 44b and the second mating surface 42m can be formed in a manner that is not inclined relative to the circumferential direction. In this case, the inclination direction of the first mating surface 44b and the second mating surface 42m can be made almost the same as the inclination direction of the first mating surface 44b and the second mating surface 42m in the case where they are formed as a partial conical surface centered on the axis of rotation C1 as described above.

[0140] Thus, if we compare the local cases where the first joint surface 44b and the second joint surface 42m are formed as conical surfaces centered on the rotation axis C1 with the cases where they are formed as planes inclined radially outward, then the above for each surface becomes μF / (cosθ). 2 The increase in force due to friction can be approximated as a state.

[0141] On the second gear carrier (retainer) 42, a protrusion 42d is formed corresponding to the inclination of the second engagement surface 42m, protruding from the first end 42a toward the first gear carrier 41. The second engagement surface 42m is formed at the end of the protrusion 42d. Furthermore, the second engagement surface 42m may also be formed such that the portion approaching the deformation prevention part 62 is recessed from the first end 42a, which is a plane.

[0142] Both the first engagement surface 44b and the second engagement surface 42m overlap with the first oscillating gear 14 and the second oscillating gear 16 when viewed radially from the rotation axis C1. More preferably, both the first engagement surface 44b and the second engagement surface 42m overlap with the second oscillating gear 16 when viewed radially from the rotation axis C1.

[0143] More preferably, the protrusion 42d of the second support portion 102 can also be formed in a manner that is more... Figure 6 The situation shown is long. In this case, it is preferable that both the first mating surface 44b and the second mating surface 42m, viewed radially from the rotation axis C1, overlap with the range of the first oscillating gear 14 and the second oscillating gear 16 without extending outwards. By such an arrangement, deformation of the first support portion 101 and the second support portion 102 caused by the bolt 51 can be prevented from affecting the second gear carrier 42, and the effect of deformation on the through hole 4f and the mounting hole 4g, etc., can be suppressed.

[0144] The reason is that the second support portion 102 protrudes from the first end 42a of the second gear carrier 42, and therefore, the second support portion 102 can absorb the deformation caused by the tightening of the bolt 51.

[0145] In addition, deformation prevention portions 61 and 62 are formed on the outer edges (ends) of the first mating surface 44b and the second mating surface 42m, located on the inner side in the radial direction.

[0146] The deformation prevention part 61 is formed on the outer edge (end) of the first mating surface 44b in a position located in the direction in which the first support part 101 is to deform and move. Specifically, as shown in the figure... Figure 5 As shown, the deformation prevention part 61 is formed in a notch shape at the part closest to the rotation axis C1 of the first joint surface 44b, which is a conical surface.

[0147] The deformation prevention part 62 is formed on the outer edge (end) of the second mating surface 42m, corresponding to the deformation prevention part 61, and positioned in the direction in which the second support part 102 is to deform and move. Specifically, as Figure 5 , Figure 6 As shown, the deformation prevention part 62 is formed as a protrusion at the position furthest from the substrate part 43 on the second joint surface 42m and at the position closest to the first end 42a on the second joint surface 42m.

[0148] Furthermore, the reason why deformation prevention parts 61 and 62 are formed at positions closest to the rotation axis C1 is that the longer the support portion 44 is, the higher the possibility that the first support portion 101 and the second support portion 102 will deform due to the tightening force of the bolt 51. Therefore, compared to the second mating surface 42m that is pushed down by the tightening of the bolt 51, the deformation prevention parts 61 and 62 are provided radially inside the rotation axis C1, which is the direction of movement of the first mating surface 44b that is pushed down by the tightening of the bolt 51.

[0149] Therefore, when the axial length of the second support portion 102 along the rotation axis C1 is longer than the axial length of the first support portion 101 along the rotation axis C1, or when the conical surfaces of the first mating surface 44b and the second mating surface 42m are aligned with... Figure 5 , Figure 6 In the case where the orientation is opposite to the vertex (in the case where it is tilted outward from the position of the first joint surface 44b near the substrate portion 43), deformation prevention portions 61 and 62 are provided on the radially outer side of the rotation axis C1.

[0150] In this embodiment, the same effect as that of the first embodiment can be achieved.

[0151] Furthermore, in this embodiment, the machining is performed on a conical surface centered on the axis of rotation C1, thus making it easier to manufacture the first support portion 101 and the second support portion 102 than in the first embodiment.

[0152] Furthermore, in this embodiment, the first mating surface 44b and the second mating surface 42m are conical surfaces, but this is not a limitation. For example, the first mating surface 44b and the second mating surface 42m can also be made into a plane with the same inclination direction as the above-described direction, or a curved surface close to a sphere, or other structures.

[0153] (Third Implementation)

[0154] Hereinafter, a third embodiment of the rotating mechanism of the present invention will be described based on the accompanying drawings.

[0155] Figure 7 This is a partial cross-sectional view showing the rotating mechanism in this embodiment. In this embodiment, the difference from the first and second embodiments lies in the aspects related to the mating surface. Therefore, structures other than those described in the first and second embodiments are labeled with the same reference numerals and their descriptions are omitted.

[0156] like Figure 7 As shown, in this embodiment, the first engagement surface 44b of the first support portion 101 and the second engagement surface 42m of the second support portion 102 of the rotating mechanism 1 are both inclined radially outward relative to the axis C4 of the bolt 51.

[0157] Specifically, the first mating surface 44b formed by the three support sections 44 is formed into a conical shape centered on the axis C4 of the bolt 51. More specifically, each of the three first mating surfaces 44b is formed into a conical surface centered on the axis C4 of the bolt 51.

[0158] To elaborate further, the first mating surface 44b and the second mating surface 42m are respectively inclined at an angle θ relative to a plane orthogonal to the axis C4 of bolt 51 (see reference). Figure 4 That is, a first joint surface 44b is formed at the end 44a of the three first support portions 101 as a part of the conical surface with a vertex angle of 180° - 2θ. At this time, the first joint surface 44b is formed in such a way that the central part protrudes from the outer periphery.

[0159] The second mating surface 42m is formed in a manner that contacts the first mating surface 44b and is a partial inverted conical surface with a central portion that is recessed compared to the outer periphery. Furthermore, in this embodiment, the limiting pin 58, the recess 58a, and the through hole 58b are not formed.

[0160] On the second gear carrier 42, a protrusion 42d is formed corresponding to the inclination of the second engagement surface 42m, protruding from the first end 42a toward the base plate portion 43. The second engagement surface 42m is formed at the end of the protrusion 42d. The protrusion 42d is configured with a diameter corresponding to the support portion 44. The protrusion 42d is the second support portion 102.

[0161] The second mating surface 42m is a concave conical surface formed by recessing the end face of the protrusion 42d of the second support portion 102 around the axis C4. The second mating surface 42m is separated from the first end portion 42a, which is a plane, along the axes C1 and C4. Therefore, the outer periphery of the second mating surface 42m does not contact the first end portion 42a, which is a plane.

[0162] Thus, a first mating surface 44b is formed at the end 44a of the first support portion 101, and a second mating surface 42m is formed at the end of the second support portion 102. The first mating surfaces 44b and 42m are in contact. The second mating surface 42m is a concave conical surface, and the first mating surface 44b is a convex conical surface. During fastening, the first mating surfaces 44b and 42m abut against each other. At this time, if the first support portion 101 and the second support portion 102 approach each other along axes C1 and C4, the first mating surfaces 44b and 42m, which are conical surfaces, are positioned such that their respective axes C4 overlap.

[0163] Therefore, positioning between the first gear carrier 41 and the second gear carrier 42 can be achieved without using the limit pin 58.

[0164] Therefore, in this embodiment, a structure that eliminates the need for the limiting pin 58 can be implemented. Consequently, in the assembly process of the rotating mechanism 1, the step of inserting the limiting pin 58 into the recess 58b can be omitted. Thus, the number of operation steps can be reduced, and the manufacturing time can be shortened.

[0165] Furthermore, in this embodiment, the deformation prevention parts 61 and 62 found in the first and second embodiments are not provided. Both deformation prevention parts 61 and 62 are structures designed to prevent the first mating surface 44b and the second mating surface 42m from shifting relative to each other along the mating surface due to the tightening force of the bolt 51.

[0166] In this embodiment, both the first mating surface 44b and the second mating surface 42m are designed as conical surfaces centered on the axis C4.

[0167] Therefore, on the first joint surface 44b and the second joint surface 42m, if we focus on the first region and the second region located on both sides of the axis C4 in the radial direction, the following effects can be achieved.

[0168] That is, the first region of the first mating surface 44b and the second mating surface 42m, like the deformation prevention parts 61 and 62, prevents the first mating surface 44b and the second mating surface 42m from shifting relative to each other along the surface in the second region.

[0169] In other words, the first mating surface 44b and the second mating surface 42m themselves have the same effect as the deformation prevention parts 61 and 62 on both sides of the radial direction separated by the axis C4.

[0170] Therefore, the first mating surface 44b and the second mating surface 42m function as deformation prevention parts to prevent deformation of the first support portion 101 and the second support portion 102 themselves in the direction intersecting with the rotation axis C1 or the axis C4 caused by the tightening of the bolt 51.

[0171] Both the first engagement surface 44b and the second engagement surface 42m overlap with the first oscillating gear 14 and the second oscillating gear 16 when viewed radially from the rotation axis C1. More preferably, both the first engagement surface 42m and the second engagement surface 44b overlap with the second oscillating gear 16 when viewed radially from the rotation axis C1.

[0172] More preferably, the protrusion 42d of the second support portion 102 can be made longer. In this case, it is preferable that both the first mating surface 44b and the second mating surface 42m, viewed radially from the rotation axis C1, overlap with the range of the first oscillating gear 14 and the second oscillating gear 16 without extending outwards. By such an arrangement, deformation of the first support portion 101 and the second support portion 102 caused by the bolt 51 can be prevented from affecting the second gear carrier 42, and the effect of deformation on the through hole 4f and the mounting hole 4g, etc., can be suppressed.

[0173] In particular, a protrusion 42d is formed such that it separates from the first end portion 42a by the second mating surface 42m, and a support portion 44 is formed such that it separates from the substrate portion 43 by the first mating surface 44b. As a result, the effects of deformation on the through holes 4d and 4f and the mounting holes 4e and 4g can be suppressed respectively.

[0174] In this embodiment, the same effect as that of the first and second embodiments can be achieved.

[0175] (Fourth implementation)

[0176] Hereinafter, a fourth embodiment of the rotating mechanism of the present invention will be described based on the accompanying drawings.

[0177] Figure 8 This is an enlarged cross-sectional view showing a portion of the rotating mechanism in this embodiment. Figure 9 This is an enlarged cross-sectional view showing a portion of the rotating mechanism. In this embodiment, the difference from the third embodiment described above lies in the aspects related to the mating surface. Therefore, structures other than those described in the third embodiment are labeled with the same reference numerals, and their descriptions are omitted.

[0178] like Figure 8 As shown, in the rotating mechanism 1 of this embodiment, the second engagement surface 42m is formed as a concave conical surface at the first end 42a of the second gear carrier 42. The second engagement surface 42m is formed around the through hole 45. That is, the second engagement surface 42m functions as the second support portion 102.

[0179] On the first mating surface 44b, which is convex in shape, a flat portion 44c is formed around the opening 56a of the internal thread portion 56. The flat portion 44c is formed over the entire circumference of the opening 56a of the internal thread portion 56. The diameter φ44c of the flat portion 44c is equal to or slightly larger than the diameter of the fitting hole 45. The diameter φ44c of the flat portion 44c is smaller than the diameter φ54 of the head 54 of the bolt 51.

[0180] In contrast, for example, such as Figure 9As shown, when the planar portion 44d is configured to have a diameter φ44d that is larger than the diameter φ54 of the head 54 of the bolt 51, a space S is created between the planar portion 44d and the second mating surface 42m. Therefore, when the bolt 51 is tightened into the internal thread portion 56, there is a possibility that the peripheral portion of the fitting hole 45 may be deformed by the head 54 of the bolt 51 being pushed by the tightening force, thereby flattening the space S.

[0181] To prevent this situation, such as Figure 8 As shown, the diameter φ44c of the flat portion 44c needs to be set to be smaller than the diameter φ54 of the head 54 of the bolt 51. In other words, it is preferable to minimize the space S.

[0182] Furthermore, by forming the flat portion 44c, when the internal thread portion 56 is formed at the end 44a of the support portion 44, the front end of the tool such as the tap will not slip, and it can be machined in the correct position relative to the axis C4.

[0183] In this embodiment, the same effect as that of the above-described embodiments (the first to the third embodiments) can be achieved.

[0184] (Fifth Embodiment)

[0185] Hereinafter, a fifth embodiment of the rotating mechanism of the present invention will be described based on the accompanying drawings.

[0186] Figure 10 This is a partial cross-sectional view showing the rotating mechanism in this embodiment. Figure 11 This is a partial cross-sectional view of the rotating mechanism in this embodiment, orthogonal to the axis of rotation. In this embodiment, the difference from the third and fourth embodiments described above lies in the aspects related to the mating surfaces and the number of bolts. Therefore, structures other than those described in the third and fourth embodiments are labeled with the same reference numerals and their descriptions are omitted.

[0187] like Figure 10 , Figure 11 As shown, in this embodiment, the rotating mechanism 1 uses two bolts 51 to fasten the first support portion 101 and the second support portion 102.

[0188] Multiple fasteners 50 are located on the same circle centered on axis C1. Additionally, fasteners 50 are also located on the same circle centered on axis C1 at each of the three support sections 44. Therefore, all six fasteners 50 are located on the same circle centered on axis C1. The pitch circles of the six fasteners 50 have the same diameter, centered on axis C1.

[0189] Both the first support portion 101 and the second support portion 102 are triangular in shape when viewed from the axis C1. The support portion 44 of the first gear carrier 41, which serves as the pillar of the first support portion 101, is a triangular column when viewed from the axis C1. For the second support portion 102, at the first end 42a, the second mating surface 42m is formed as a concave conical surface. Therefore, the second mating surface 42m functions as the second support portion 102. At the front end 44a of the support portion 44, the first mating surface 44b is formed as a convex conical surface.

[0190] The first mating surface 44b and the second mating surface 42m are set as conical surfaces relative to a centerline parallel to the rotation axis C1 or the axis C4. The centerline of the conical surface is the central axis of the support portion 44, which is not aligned with either the rotation axis C1 or the axis C4.

[0191] On the first mating surface 44b, which is convex in shape, a flat portion 44e is formed around the central axis of the support portion 44. The flat portion 44e is formed only near the center of the support portion 44.

[0192] In this embodiment, the axis C4 of the internal thread portion 56 is included in the first mating surface 44b when viewed along the rotation axis C1. That is, the axis C4 of the internal thread portion 56 is not included in the planar portion 44e when viewed along the rotation axis C1.

[0193] This is to minimize the space S1 generated between the planar portion 44e and the second mating surface 42m. In this embodiment, two bolts 51 are arranged adjacent to each other, and therefore, their heads 54 are positioned very close together. Therefore, when the bolts 51 are tightened into the internal thread portions 56, the peripheral portion of the mating hole 45 is easily deformed by the tightening force exerted by the bolt heads 51, thus flattening the space S1. Therefore, to reduce this effect, the axes C4 of the two adjacent internal thread portions 56 are arranged in a manner that, when viewed along the direction of the rotation axis C1, are not contained within the planar portion 44e.

[0194] In this embodiment, the same effect as that of the above-described embodiments (the first to the fourth embodiments) can be achieved.

[0195] (Sixth Embodiment)

[0196] Hereinafter, a sixth embodiment of the rotating mechanism of the present invention will be described based on the accompanying drawings.

[0197] Figure 12 This is a cross-sectional view showing the rotating mechanism in this embodiment. The difference between this embodiment and the first to fifth embodiments described above lies in the aspects related to the crankshaft. Figure 12 In the attached drawing, reference numeral 3000 indicates the rotating mechanism.

[0198] like Figure 12 As shown, the rotating mechanism (reducer) 3000 of this embodiment is configured as a so-called center crankshaft type. The rotating mechanism 3000 includes an outer cylinder 3300 and an outer wall 3740.

[0199] The rotating mechanism 3000 includes a gear carrier 3400C, a crankshaft assembly 3500C, a gear section 3600C, two main bearings 3710C and 3720C, and an input gear 3730C.

[0200] The output axis 3C1 corresponds to the central axis (axis) of the two main bearings 3710C and 3720C and the input gear 3730C. The outer cylinder 3300 and the gear carrier 3400C rotate relative to each other around the output axis 3C1.

[0201] The driving force generated by the motor (not shown) and other drive sources (not shown) is input to the crankshaft assembly 3500C via the input gear 3730C extending along the output axis 3C1. The driving force input to the crankshaft assembly 3500C is transmitted to the gear section 3600C, which is disposed in the internal space enclosed by the outer cylinder 3300 and the gear carrier 3400C.

[0202] Two main bearings 3710C and 3720C are embedded in the annular space formed between the outer cylinder 3300 and the gear carrier 3400C surrounded by the outer cylinder 3300. The outer cylinder 3300 or the gear carrier 3400C rotates about the output axis 3C1 under the action of the driving force transmitted to the gear section 3600C.

[0203] The gear carrier 3400C includes a base (first gear carrier) 3410C and an end plate (second gear carrier) 3420C. The gear carrier 3400C is generally cylindrical. The end plate 3420C is generally circular. The outer peripheral surface of the end plate 3420C is partially surrounded by the second cylindrical portion 3312. The main bearing 3720C is embedded in the annular gap between the second cylindrical portion 3312 and the peripheral surface of the end plate 3420C. The outer peripheral surface of the end plate 3420C is formed by the rollers of the main bearing 3720C rolling directly on the end plate 3420C.

[0204] The base portion 3410C includes a base plate portion 3411C and a plurality of shaft portions (first support portions) 3412C. The outer peripheral surface of the base plate portion 3411C is partially surrounded by a third cylindrical portion 3313. A main bearing 3710C is embedded in an annular gap between the third cylindrical portion 3313 and the outer peripheral surface of the base plate portion 3411C. The outer peripheral surface of the base plate portion 3411C is formed by the rollers of the main bearing 3710C rolling directly on the outer peripheral surface of the base plate portion 3411C.

[0205] The substrate portion 3411C separates from the end plate 3420C in the extending direction of the output axis 3C1. The substrate portion 3411C and the end plate 3420C are coaxial. That is, the output axis 3C1 corresponds to the central axis of the substrate portion 3411C and the end plate 3420C.

[0206] The substrate portion 3411C includes an inner surface 3415C and an outer surface 3416C on the opposite side of the inner surface 3415C. The inner surface 3415C is opposite to the gear portion 3600C. The inner surface 3415C and the outer surface 3416C are along an imaginary plane (not shown) orthogonal to the output axis 3C1.

[0207] A central through-hole 3417C is formed in the substrate portion 3411C. The central through-hole 3417C extends along the output axis 3C1 between the inner surface 3415C and the outer surface 3416C. The output axis 3C1 corresponds to the central axis of the central through-hole 3417C.

[0208] End plate 3420C includes an inner surface 3421C and an outer surface 3422C on the opposite side of the inner surface 3421C. The inner surface 3421C is opposite to the gear portion 3600C. The inner surface 3421C and the outer surface 3422C are along an imaginary plane (not shown) orthogonal to the output axis 3C1.

[0209] A central through hole 3423C is formed in end plate 3420C. The central through hole 3423C extends along the output axis 3C1 between the inner surface 3421C and the outer surface 3422C. The output axis 3C1 corresponds to the central axis of the central through hole 3423C.

[0210] Multiple shaft portions (first support portions) 3412C extend from the inner surface 3415C of the base plate portion 3411C toward the inner surface 3421C of the end plate 3420C. Multiple second engagement surfaces 3421B of the end plate 3420C are connected to the first engagement surfaces 3412B at the front ends of the multiple shaft portions 3412C. The end plate 3420C can also be connected to the front end faces of the multiple shaft portions 3412C using a fastening portion 50 consisting of a bolt 51 and an internal thread portion 56, as well as a locating pin, etc.

[0211] The shaft portion 3412C functions as the first support portion 101. The second mating surface 3421B of the end plate 3420C functions as the second support portion 102. The second mating surface 3421B and the first mating surface 3412B are connected to each other by being pressed together by bolts 51.

[0212] The first mating surface 3412B and the second mating surface 3421B are inclined relative to a plane orthogonal to the axis 3C1, as in each embodiment.

[0213] The gear portion 3600C is disposed between the inner surface 3415C of the base plate portion 3411C and the inner surface 3421C of the end plate 3420C. A plurality of shaft portions 3412C pass through the gear portion 3600C and are connected to the end plate 3420C.

[0214] The gear section 3600C includes two oscillating gears 3610C and 3620C.

[0215] The oscillating gear 3610C is disposed between the end plate 3420C and the oscillating gear 3620C. The oscillating gear 3620C is disposed between the base plate portion 3411C and the oscillating gear 3610C.

[0216] The oscillating gears 3610C and 3620C can also be formed based on a common design drawing. The oscillating gears 3610C and 3620C can be either hypocycloidal gears or cycloidal gears. The principle of this embodiment is not limited to a specific type of gear used as the oscillating gears 3610C and 3620C.

[0217] Oscillating gears 3610C and 3620C mesh with multiple internal toothed pins 3320. If the crankshaft assembly 3500C rotates about the output axis 3C1, the oscillating gears 3610C and 3620C, while meshing with the internal toothed pins 3320, move around within the housing 3310 (i.e., oscillate rotation). During this period, the centers of the oscillating gears 3610C and 3620C rotate around the output axis 3C1. The relative rotation of the outer cylinder 3300 and the gear carrier 3400C is caused by the oscillating rotation of the oscillating gears 3610C and 3620C.

[0218] A through hole is formed at the center of each of the oscillating gears 3610C and 3620C. The crankshaft assembly 3500C is embedded in the through hole formed at the center of each of the oscillating gears 3610C and 3620C.

[0219] Multiple through holes are formed in the oscillating gears 3610C and 3620C, corresponding to multiple shaft portions 3412C arranged along a predetermined imaginary circle around the output axis 3C1. The multiple shaft portions 3412C pass through these through holes. The size of these through holes is set in a manner that prevents interference between the multiple shaft portions 3412C and the oscillating gears 3610C and 3612C.

[0220] The crankshaft assembly 3500C includes a crankshaft 3520C, two journal bearings 3531C and 3532C, and two crankshaft bearings 3541C and 3542C. The crankshaft 3520C includes a first journal 3521C, a second journal 3522C, a first eccentric portion 3523C, and a second eccentric portion 3524C.

[0221] The first journal 3521C extends along the output axis 3C1 and is inserted into the central through hole 3423C of the end plate 3420C. The second journal 3522C extends along the output axis 3C1 on the opposite side of the first journal 3521C and is inserted into the central through hole 3417C of the base plate portion 3411C.

[0222] Journal bearing 3531C is embedded in the annular space between the first journal 3521C and the inner wall of the end plate 3420C forming a central through hole 3423C. As a result, the first journal 3521C is connected to the end plate 3420C. Journal bearing 3532C is embedded in the annular space between the second journal 3522C and the inner wall of the base plate portion 3411C forming a central through hole 3417C. As a result, the second journal 3522C is connected to the base plate portion 3411C. Therefore, the gear carrier 3400C can support the crankshaft assembly 3500C.

[0223] The first eccentric portion 3523C is located between the first journal 3521C and the second eccentric portion 3524C. The second eccentric portion 3524C is located between the second journal 3522C and the first eccentric portion 3523C. The crankshaft bearing 3541C is embedded in a through hole formed in the center of the oscillating gear 3610C and is connected to the first eccentric portion 3523C. As a result, the oscillating gear 3610C is mounted on the first eccentric portion 3523C. The crankshaft bearing 3542C is embedded in a through hole formed in the center of the oscillating gear 3620C and is connected to the second eccentric portion 3524C. As a result, the oscillating gear 3620C is mounted on the second eccentric portion 3524C.

[0224] The first journal 3521C and the second journal 3522C are coaxial and rotate about the output axis 3C1. The first eccentric portion 3523C and the second eccentric portion 3524C are each formed in a cylindrical shape and are eccentric relative to the output axis 3C1. The first eccentric portion 3523C and the second eccentric portion 3524C rotate eccentrically relative to the output axis 3C1, causing the oscillating gears 3610C and 3620C to oscillate and rotate. In this embodiment, the eccentric portion is exemplified by one of the first eccentric portion 3523C and the second eccentric portion 3524C.

[0225] With the outer cylinder 3300 fixed, the oscillating gears 3610C and 3620C mesh with multiple internal toothed pins 3320 of the outer cylinder 3300. Therefore, the oscillating rotation of the oscillating gears 3610C and 3620C is converted into the rotational motion of the crankshaft 3520C around the output axis 3C1 and the rotation of the base plate portion 3411C. The end plate 3420C is connected to the first journal 3521C, and the base plate portion 3411C is connected to the second journal 3522C. Thus, the rotational motion of the crankshaft 3520C is converted into the rotational motion of the end plate 3420C and the base plate portion 3411C around the output axis 3C1 via the shaft portion 3412C. The rotational phase difference between the oscillating gears 3610C and 3620C is determined by the difference in the eccentric direction between the first eccentric portion 3523C and the second eccentric portion 3524C.

[0226] With the gear carrier 3400C fixed, the oscillating gears 3610C and 3620C mesh with multiple internal toothed pins 3320 of the outer cylinder 3300. Therefore, the oscillating rotation of the oscillating gears 3610C and 3620C is converted into the rotational motion of the outer cylinder 3300 around the output axis 3C1.

[0227] The input gear 3730C extends along the output axis 3C1 and penetrates the support wall 3742. The input gear 3730C penetrates the space 3750 enclosed by the outer wall 3740. A through hole 3525 extending along the output axis 3C1 is formed in the crankshaft 3520C. The front end of the input gear 3730C is inserted into the through hole 3525.

[0228] A keyway 3732 is formed at the front end of the input gear 3730C. Another keyway 3526 is formed on the inner wall surface of the crankshaft 3520C, forming a through-hole 3525. Keyways 3732 and 3526 extend substantially parallel to the output axis 3C1. A key 3733 is inserted into keyways 3732 and 3526. As a result, the input gear 3730C is connected to the crankshaft 3520C. If the input gear 3730C rotates about the output axis 3C1, the crankshaft 3520C rotates about the output axis 3C1. This results in the oscillating rotation of the oscillating gears 3610C and 3620C.

[0229] The central through hole 3417C formed in the substrate portion 3411C includes a first cavity portion 3491 and a second cavity portion 3492. Both the first cavity portion 3491 and the second cavity portion 3492 have a circular cross-section. The cross-sectional area of ​​the first cavity portion 3491 is smaller than that of the second cavity portion 3492.

[0230] The first chamber portion 3491 is provided with a second journal 3522C and a journal bearing 3532C. The outer surface 3416C of the base plate portion 3411C is connected by pressing against the target member (not shown).

[0231] A flange 3314 is formed around the entire circumference of the outer periphery of the housing 3310, and the flange 3314 is connected to the outer wall 3740. The front end portion 3741a of the outer wall 3741 is formed flat. An internal thread portion 250 is formed at the front end portion 3741a of the outer wall 3741 as a mounting fastener 150.

[0232] A flange portion 3314 is disposed on the outer periphery of the housing 3310, and has a through hole 3315 extending through the flange portion 3314 in the direction along the axis 3C1. The through holes 3315 are arranged at arbitrary intervals in the circumferential direction.

[0233] The through hole 3315 is a fastening hole through which bolts 151, which are used to fasten the rotating mechanism 3000 and the outer wall 3740 (which is part of the robot R), pass. Bolts 151, as fastening members, pass through the through hole 3315. The internal thread portion 250 of the outer wall 3740 and bolts 151 constitute the mounting fastening portion 150. The bolts 151 and internal thread portion 250 in the mounting fastening portion 150 correspond to the bolts 51 and internal thread portion 56 in the fastening portion 50.

[0234] According to this embodiment, based on the structure described above, the first mating surface 3412B of the shaft portion 3412C of the first support portion 101 and the second mating surface 3421B of the end plate 3420C of the second support portion 102 are inclined relative to each other with respect to a plane orthogonal to the axis 3C1 and are fastened by bolts 51.

[0235] This increases the friction between the first support portion 101 and the second support portion 102, stabilizing the fastening state, and also stabilizes the axial force between the shaft portion 3412C and the end plate 3420C. Furthermore, it improves the rotational stability of the rotating mechanism 3000 and increases the torque density.

[0236] Furthermore, the first mating surface 3412B and the second mating surface 3421B of this embodiment can be appropriately selected from the structures of the above embodiments, and can also be configured as a structure composed of combinations of the structures of the above embodiments.

[0237] In this embodiment, the same effect as that of the above-described embodiments (1st to 5th embodiments) can be achieved.

[0238] (Seventh Embodiment)

[0239] Hereinafter, a seventh embodiment of the industrial robot of the present invention will be described based on the accompanying drawings.

[0240] Figure 13 This is a schematic diagram representing the robot in this embodiment.

[0241] In this embodiment, the difference from the embodiments described above lies in the aspect relating to a robot equipped with a rotating mechanism. Therefore, other corresponding components are labeled with the same reference numerals and their descriptions are omitted.

[0242] [Robot (Object Component)]

[0243] like Figure 13 As shown, the robot R in this embodiment is preferably an industrial robot, and more preferably a collaborative (cooperative) robot. A collaborative (cooperative) robot refers to a robot that "works in collaboration with operators" in fields such as factory automation (FA).

[0244] In addition, as robot R, a multi-joint robot with multiple reducers (gearboxes) corresponding to rotary mechanism 1 or rotary mechanism 3000 can be used.

[0245] [Rotating Mechanism]

[0246] Rotation mechanism 1 or rotation mechanism 3000 is provided at the connection part (joint part of robot R) 330L, 330U and connection part 330S of a pair of arms that are rotatably connected. Rotation mechanism 1 or rotation mechanism 3000 reduces the motor torque input from a motor (not shown) that is the drive source and outputs it at a reduced speed.

[0247] Furthermore, the rotating mechanism 1 or rotating mechanism 3000 can be any structure as described above, as long as it can change the rotation speed of the drive source that generates the rotational force. For example, a speed increaser that increases the rotation speed of the drive source that generates the rotational force can replace the rotating mechanism 1 or rotating mechanism 3000. Therefore, in this embodiment, a rotating mechanism is also included and referred to as a transmission.

[0248] The robot R has multiple transmissions (first transmission 308, second transmission 314, and third transmission 320) respectively provided in the connecting parts 330S, 330L, and 330U. Each of these transmissions 308, 314, and 320 has a first support part 101 and a second support part 102.

[0249] Among them, the transmissions 308, 314, and 320, which correspond to the rotating mechanisms 1 and 3000, become parts of the robot R.

[0250] The robot R includes: a fixed base 302 that contacts a mounting surface; a rotating head 304 that extends upward from the fixed base 302; multiple arms (first arm 310 and second arm 316) that are rotatably assembled to the rotating head 304; an end effector E that is disposed at the front end of the arm; and multiple gearboxes (first gearbox 308, second gearbox 314, and third gearbox 320).

[0251] With the aid of multiple gearboxes 308, 314, and 320, a first arm 310 is rotatably connected to the rotating head 304, and a second arm 316 is rotatably connected to the first arm 310. The gearboxes 308, 314, and 320 can use either the aforementioned rotating mechanism 1 or rotating mechanism 3000, or they can be freely combined. This will be explained in detail below.

[0252] The rotating head 304 is rotatably mounted on the fixed base 302, rotating about the S-axis using a first servo motor 306 and a first gearbox 308 as drive sources. The first arm 310 is mounted on the upper part of the rotating head 304, swinging back and forth about the L-axis using a second servo motor 312 and a second gearbox 314 as drive sources. The second arm 316 is mounted on the upper part of the first arm 310, swinging up and down about the U-axis using a third servo motor 318 and a third gearbox 320 as drive sources. This structure allows for three-dimensional driving of the end effector E.

[0253] According to this embodiment, the axial force between the first support portion 101 and the second support portion 102 is stabilized by using the first joint surface 44b and the second joint surface 42m, or by using the first joint surface 3412B and the second joint surface 3421B. In addition, the tolerance of the rotating mechanism 1, 3000 when subjected to torque is improved.

[0254] In this embodiment, the structure having the connecting parts 330L and 330U for mounting the rotating mechanisms 1 and 3000 is designated as robot R, but it is not limited to this, and the rotating mechanisms 1 and 3000 can be mounted on a predetermined industrial machine.

[0255] Even under these conditions, preload can be applied evenly to the main bearings 6, 3710C, and 3720C, thus increasing the probability that the industrial machinery itself will reach its rated life.

[0256] The axial force of the mounting fastener 150 of the industrial machinery and rotating mechanism 1, 3000 is stabilized, thus further increasing the probability that the industrial machinery itself will reach its rated life.

[0257] Examples of industrial machinery in this embodiment include locators and AGVs (Automatic Guided Vehicles).

[0258] In the embodiments disclosed in this specification, a component composed of multiple objects can be made into one integrated object; conversely, a component composed of a single object can be divided into multiple objects. Regardless of whether it is integrated or not, it can be constructed in a manner that achieves the purpose of the invention.

Claims

1. A rotating mechanism, wherein, This rotating mechanism has the following features: The first component rotates about the axis of rotation; The second component is arranged adjacent to the first component along the axis of rotation; A fastening member having an axis along the axis of rotation for fastening the first member and the second member; The first support portion is formed on the first member and is formed toward the second member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The first mating surface is formed at the front end of the first support portion; A second support portion, which is formed on the second member opposite to the first support portion, and is formed toward the first member along the axis of rotation, and is provided with a plurality of such portions around the axis of rotation; and The second mating surface is formed in the second support portion. The first mating surface and the second mating surface are opposite to each other and in contact with each other along the direction of the rotation axis. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to a surface orthogonal to the axis of rotation. The fastening component is a bolt. An internal thread is formed in the first support portion, which opens at the first mating surface for bolt tightening. A through hole is formed in the second support portion for the bolt to pass through. The internal thread portion opens at the inclined portion of the first mating surface.

2. The rotating mechanism according to claim 1, wherein, The first support portion and the second support portion are each provided with a deformation prevention portion to prevent deformation of the first support portion and the second support portion in a direction intersecting the rotation axis caused by the tightening of the fastening member. The deformation prevention portion is formed at the end of the inclined portion along the axis of rotation.

3. The rotating mechanism according to claim 2, wherein, The inclined portion is inclined in one direction over the entire area of ​​the front end of the first support portion and the front end portion of the second support portion. The deformation prevention portion is formed on the inclined portion of the first support portion and the inclined portion of the second support portion in such a way that they are interlocking concave-convex shapes.

4. The rotating mechanism according to claim 3, wherein, The inclined portion is radially outward from the first support portion and the second support portion toward the axis of rotation.

5. The rotating mechanism according to claim 3, wherein, The inclined portion is circumferentially inclined in the first support portion and the second support portion toward the axis of rotation.

6. The rotating mechanism according to any one of claims 2 to 5, wherein, The first support portion protrudes towards the second component along the axis of rotation. The second support protrudes toward the first component along the axis of rotation.

7. The rotating mechanism according to claim 2, wherein, Of the first support portion and the second support portion, the front end of one support portion is formed such that the central portion protrudes more along the rotation axis than the periphery, and the front end of the other support portion is formed such that the central portion is recessed more along the rotation axis than the periphery.

8. The rotating mechanism according to claim 7, wherein, The front end of the other support is formed into a cone shape with the central portion being concave along the axis of rotation than the periphery.

9. The rotating mechanism according to claim 1, wherein, On the first mating surface, a planar portion orthogonal to the axis of rotation is formed around the entire circumference of the opening in the internal thread portion. The diameter of the flat portion is smaller than the diameter of the bolt head.

10. The rotating mechanism according to claim 1 or 9, wherein, The inclined portion and the planar portion orthogonal to the rotation axis are formed on the first mating surface. When viewed from a direction along the axis of rotation, the axis of the internal thread is contained within the inclined portion.

11. The rotating mechanism according to claim 1 or 9, wherein, The second mating surface is formed in a recessed manner on the surface opposite to the first member.

12. The rotating mechanism according to any one of claims 7 to 9, wherein, The first support portion protrudes towards the second component along the axis of rotation. The second support protrudes toward the first component along the axis of rotation.

13. A rotating mechanism, wherein, This rotating mechanism has the following features: case; An internal gear is disposed on the inner circumference of the housing; An external gear that meshes with the internal gear; An eccentric body that causes the external gear to oscillate; The first component, which is supported on the housing by means of a first bearing, rotates about a rotation axis; The second component, which is supported on the housing by means of the second bearing, is arranged adjacent to the first component along the axis of rotation; Multiple bolts, having an axis along the axis of rotation, are used to fasten the first component and the second component; The first support portion is formed on the first member and is formed toward the second member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The first mating surface is formed at the front end of the first support portion; The second support portion is formed on the second member in a manner opposite to the first support portion, and is formed toward the first member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The second mating surface is formed in the second support portion; An internal thread portion, which is formed in the first support portion by opening at the first mating surface, for bolt fastening; and A through hole, formed in the second support portion, is provided for the bolt to pass through. The first mating surface and the second mating surface are opposite to each other and in contact with each other along the direction of the rotation axis. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to a surface orthogonal to the axis of rotation. The internal thread portion opens at the inclined portion of the first mating surface. The first support portion and the second support portion are each provided with a deformation prevention portion to prevent deformation of the first support portion and the second support portion in a direction intersecting the rotation axis caused by the tightening of the bolt. The deformation prevention portion is formed at the end of the inclined portion along the axis of rotation. The inclined portion is inclined in one direction over the entire area of ​​the front end of the first support portion and the front end portion of the second support portion. The deformation prevention portion is formed in an interlocking concave-convex shape on the inclined portion of the first support portion and the inclined portion of the second support portion. The inclined portion is radially outward from the first support portion and the second support portion toward the axis of rotation.

14. The rotating mechanism according to claim 13, wherein, When viewed radially from the axis of rotation, the inclined portion overlaps with the external gear.

15. A rotating mechanism, wherein, This rotating mechanism has the following features: case; An internal gear is disposed on the inner circumference of the housing; An external gear that meshes with the internal gear; An eccentric body that causes the external gear to oscillate; The first component, which is supported on the housing by means of a first bearing, rotates about a rotation axis; The second component, which is supported on the housing by means of the second bearing, is arranged adjacent to the first component along the axis of rotation; Multiple bolts, having an axis along the axis of rotation, are used to fasten the first component and the second component; The first support portion is formed on the first member and is formed toward the second member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The first mating surface is formed at the front end of the first support portion; The second support portion is formed on the second member in a manner opposite to the first support portion, and is formed toward the first member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The second mating surface is formed in the second support portion; An internal thread portion, which is formed in the first support portion by opening at the first mating surface, for bolt fastening; and A through hole, formed in the second support portion, is provided for the bolt to pass through. The first mating surface and the second mating surface are opposite to each other and in contact with each other along the direction of the rotation axis. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to a surface orthogonal to the axis of rotation. The internal thread portion opens at the inclined portion of the first mating surface. The first support portion and the second support portion are each provided with a deformation prevention portion to prevent deformation of the first support portion and the second support portion in a direction intersecting the rotation axis caused by the tightening of the bolt. The deformation prevention portion is formed at the end of the inclined portion along the axis of rotation. Of the first and second support portions, the front end of one support portion is formed in a conical shape where the central portion protrudes beyond the periphery along the rotation axis, and the front end of the other support portion is formed in a conical shape where the central portion is recessed beyond the periphery along the rotation axis. The inclined portion and the deformation prevention portion are arranged on both sides of the first support portion and the second support portion in the radial direction relative to the central portion of the front end portion.

16. The rotating mechanism according to claim 15, wherein, The second mating surface is formed in a recessed manner on the surface opposite to the first member.

17. The rotating mechanism according to claim 15, wherein, When viewed radially from the axis of rotation, the inclined portion overlaps with the external gear.

18. A robot, wherein, This robot has the following features: Multiple components, including an arm that is connected to be freely movable; A connecting portion that connects a plurality of said components, including the arm portion, to be rotatable; and A rotating mechanism, which is mounted on the connecting part, The rotating mechanism includes: The first component rotates about the axis of rotation; The second component is arranged adjacent to the first component along the axis of rotation; Multiple bolts, having an axis along the axis of rotation, are used to fasten the first component and the second component; The first support portion is formed on the first member and is formed toward the second member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The first mating surface is formed at the front end of the first support portion; The second support portion is formed on the second member in a manner opposite to the first support portion, and is formed toward the first member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The second mating surface is formed in the second support portion; An internal thread portion, which is formed in the first support portion by opening at the first mating surface, for bolt fastening; and A through hole, formed in the second support portion, is provided for the bolt to pass through. The first mating surface and the second mating surface are opposite to each other and in contact with each other along the direction of the rotation axis. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to a surface orthogonal to the axis of rotation. The internal thread portion opens at the inclined portion of the first mating surface.

19. An industrial machine, wherein, This industrial machinery has the following features: Multiple components, which are interconnected; A connecting part that connects the plurality of said components to allow for free rotation; and A rotating mechanism, which is mounted on the connecting part, The rotating mechanism includes: The first component rotates about the axis of rotation; The second component is arranged adjacent to the first component along the axis of rotation; Multiple bolts, having an axis along the axis of rotation, are used to fasten the first component and the second component; The first support portion is formed on the first member and is formed toward the second member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The first mating surface is formed at the front end of the first support portion; The second support portion is formed on the second member in a manner opposite to the first support portion, and is formed toward the first member along the axis of rotation, and a plurality of such portions are provided around the axis of rotation; The second mating surface is formed in the second support portion; An internal thread portion, which is formed in the first support portion by opening at the first mating surface, for bolt fastening; and A through hole, formed in the second support portion, is provided for the bolt to pass through. The first mating surface and the second mating surface are opposite to each other and in contact with each other along the direction of the rotation axis. The first and second mating surfaces that are in contact with each other each have inclined portions that are inclined relative to a surface orthogonal to the axis of rotation. The internal thread portion opens at the inclined portion of the first mating surface.

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