Couplings and reducers

Abstract

The present invention provides a coupling and a reducer. One form of the coupling disclosed herein comprises: a coupling body having an input gear meshing with a reduction mechanism, to which the output shaft of the motor is detachably connected; a motor flange disposed between the reduction mechanism and the motor, rotatably supporting the coupling body; and an intermediate flange connecting the motor flange to the motor. At least one fixing member is provided on the coupling body at a position that overlaps with the intermediate flange when viewed radially, for fixing the coupling body and the output shaft to each other. The intermediate flange is formed into an annular shape surrounding the coupling body using a plurality of circumferentially divisible segments.

Description

Technical Field

[0001] The present disclosure relates to a coupling and a speed reducer. Background Art

[0002] For example, an industrial robot is equipped with a pair of arms connected in a rotatable manner. A motor unit for driving the arms is installed at the connection (joint) between the pair of arms. The motor unit includes a motor and a speed reducer connected to the motor. In the motor unit, the driving force of the motor is reduced by the speed reducer and output to the arms.

[0003] For example, as described in Patent Document 1 below, the motor output shaft is connected to the reducer input shaft via a coupling. The motor output shaft is inserted into the coupling's axial hole. The coupling has a threaded hole that connects the inside and outside of the axial hole in the radial direction of the coupling. A set screw is tightened in the threaded hole to retain the motor output shaft within the axial hole.

[0004] In the structure of Patent Document 1 below, the coupling is surrounded by the reducer cover. Therefore, a tool insertion hole is formed in the reducer cover so that a set screw (threaded hole) can be accessed in the radial direction of the coupling.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2000-161376 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] However, in the prior art, when attaching or detaching a motor from a reducer, it is necessary to align the phases of the tool insertion hole and the threaded hole in the circumferential direction of the coupling before inserting the tool through the tool insertion hole and into the threaded hole. Therefore, there is room for improvement in the prior art to improve operability and reduce workspace when attaching or detaching a motor.

[0010] The present disclosure provides a coupling and a speed reducer that can improve the operability when attaching and detaching a motor and reduce the work space.

[0011] Solutions for solving problems

[0012] In order to solve the above-mentioned problems, the present disclosure adopts the following aspects.

[0013] The gear train is connected to the gearbox by a toothed connection, and the toothed connection is connected to the gear train by a toothed connection, and the toothed connection is connected to the gearbox by a toothed connection.

[0014] According to this embodiment, by removing the splitter, at least a portion of the portion of the coupling body that radially overlaps with the intermediate flange can be opened radially as a maintenance space. This allows the maintenance space to be larger in the circumferential direction than in the conventional method of performing motor assembly and disassembly through a tool insertion hole provided in the reducer cover. Consequently, circumferential phase matching between the fixed component and the maintenance space becomes easier (or unnecessary), allowing tools to easily access the fixed component. Furthermore, compared to the conventional method of inserting tools from the outside of the reducer cover, the working space can be reduced.

[0015] As a result, the operability during installation and removal of the motor can be improved and the work space can be reduced.

[0016] In the coupling of the above aspect, it is preferable that a sealing member for sealing between the motor flange and the coupling body is provided between the inner peripheral surface of the motor flange and the outer peripheral surface of the coupling body.

[0017] In the shaft coupling according to the above aspect, it is preferable that the plurality of divided pieces include a connection portion for connecting the divided pieces adjacent to each other in the circumferential direction.

[0018] In the coupling of the above-mentioned form, it is preferred that two fixing members are provided at intervals in the circumferential direction, and the angular dimension in the circumferential direction of at least one of the plurality of split pieces is set to be greater than the minimum circumferential interval between the two fixing members.

[0019] In the above-mentioned coupling, it is preferred that one of the intermediate flange and the motor flange is defined as a first flange, and the other is defined as a second flange, a cylindrical portion is formed on the outer periphery of the first flange, the cylindrical portion protrudes in the axial direction along the rotation axis and extends around the entire circumference of the first flange, and a receiving recess for receiving the cylindrical portion is formed on the outer periphery of the second flange.

[0020] The cam is connected to the gear train of the motor via a plurality of locking plates, the plurality of locking plates having a plurality of locking plates respectively connected to the gear train of the motor and the plurality of locking plates respectively. There are multiple split pieces that can be split in the circumferential direction, and the combination of the multiple split pieces is used to form a ring surrounding the coupling body, and the angular dimension of at least one of the multiple split pieces in the circumferential direction is set to be greater than the minimum circumferential spacing between the two fixed components, and the multiple split pieces have a connection portion that connects the circumferentially adjacent split pieces to each other, one of the intermediate flange and the motor flange is defined as a first flange, and the other is defined as a second flange, and a cylindrical portion is formed on the outer peripheral edge of the first flange, the cylindrical portion protruding in the axial direction along the rotation axis and extending over the entire circumference of the first flange, and a receiving recess for receiving the cylindrical portion is formed on the outer peripheral edge of the second flange.

[0021] The gear reducer of one embodiment of the present invention comprises: a coupling; and a reduction mechanism portion meshing with an input gear of the coupling, the coupling comprising: a coupling body having the input gear, the output shaft of the motor being connected to the coupling body in a detachable manner; a motor flange being arranged between the reduction mechanism portion and the motor; and an intermediate flange connecting the motor flange to the motor, at least one fixing member for fixing the coupling body and the output shaft to each other is provided at a position of the coupling body that overlaps with the intermediate flange when viewed from a radial direction intersecting the rotation axis of the coupling body, the intermediate flange having a plurality of split pieces that can be split in a circumferential direction around the rotation axis, and a combination of the plurality of split pieces forming a ring shape surrounding the circumference of the coupling body.

[0022] Effects of the Invention

[0023] According to the above-described aspects, it is possible to improve the operability when attaching and detaching the motor and to reduce the work space. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is along Figure 3 A cross-sectional view of a portion of the motor unit according to the embodiment taken along line II.

[0025] Figure 2 The coupling is Figure 3 The cross-sectional view corresponding to the II-II line.

[0026] Figure 3 This is a front view of the coupling according to the embodiment as viewed from the second side in the axial direction.

[0027] Figure 4 is with Figure 1 The corresponding enlarged cross-sectional view is an explanatory diagram for explaining the method of assembling and disassembling the motor.

[0028] Figure 5 is with Figure 1 The corresponding enlarged cross-sectional view is an explanatory diagram for explaining the method of assembling and disassembling the motor.

[0029] Figure 6 This is a front view of a coupling according to a modified example as viewed from the second side in the axial direction.

[0030] Figure 7 This is a front view of a coupling according to a modified example as viewed from the second side in the axial direction.

[0031] Description of Reference Numerals

[0032] 10. Reducer; 12. Motor; 32. Reducer mechanism; 33. Coupling; 51. Motor flange; 51a. Accommodation recess; 52. Coupling body; 53. Intermediate flange; 53c. Positioning cylinder; 72. Input gear; 72a. Connecting portion; 81. Split piece; 82. Split piece; 101. Output shaft; 111. Set screw (fixing member); O2. Axis (rotational axis). DETAILED DESCRIPTION

[0033] Next, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the embodiments and variations described below, corresponding structures may be denoted by the same reference numerals, and their descriptions may be omitted. In the following description, expressions such as "parallel," "orthogonal," "centered," and "coaxial" that indicate relative or absolute configurations not only strictly represent such configurations but also refer to relative displacements within tolerances, angles, or distances that achieve the same functionality.

[0034] [Motor unit 1]

[0035] Figure 1 It is along Figure 3 FIG. 1 is a cross-sectional view of a portion of the motor unit 1 taken along line II.

[0036] like Figure 1 As shown, the motor unit 1 is mounted on, for example, an industrial robot. The motor unit 1 is provided at the connection portion (joint portion) of a pair of arms connected in a rotatable manner. The motor unit 1 includes a speed reducer 10 and a motor 12. After the speed reducer 10 reduces the driving force output from the motor 12, the motor unit 1 outputs the driving force to the first arm of the pair of arms. In this embodiment, the rotation axis of the speed reducer 10 (hereinafter referred to as the first axis O1) and the rotation axis of the motor 12 (hereinafter referred to as the second axis O2) are arranged parallel to each other in an eccentric state. In the following description, there is the case where the direction along the axes O1 and O2 is referred to as the axial direction, the direction intersecting the first axis O1 when viewed from the axial direction is referred to as the first radial direction, and the direction intersecting the second axis O2 when viewed from the axial direction is referred to as the second radial direction. There is the case where the direction of rotation around the first axis O1 is referred to as the first circumferential direction, and the direction of rotation around the second axis O2 is referred to as the second circumferential direction. The axes O1 and O2 may also be arranged on the same axis.

[0037] Reducer 10

[0038] The speed reducer 10 includes a housing 31 , a speed reduction mechanism 32 , and a coupling 33 .

[0039] The housing 31 is coaxially arranged with the first axis O1 and has a bottomed cylindrical shape that is open to the first axial side. The peripheral wall portion 31a of the housing 31 is coaxially arranged with the first axis O1. The bottom wall portion 31b of the housing 31 closes the opening on the second axial side of the peripheral wall portion 31a. A communication port 31c is formed in the bottom wall portion 31b at a position eccentric with respect to the first axis O1. The communication port 31c extends axially through the bottom wall portion 31b. The communication port 31c is formed in a circular shape coaxially arranged with the second axis O2.

[0040] The speed reduction mechanism 32 is housed within the housing 31. The speed reduction mechanism 32 reduces the driving force of the motor 12 at the front section of the first arm. The speed reduction mechanism 32 is, for example, an eccentric swing type gear mechanism. The speed reduction mechanism 32 includes a transmission gear 32a, a gear rack 32b, and a plurality of gears (not shown) connecting the transmission gear 32a and the gear rack 32b. The various gears that constitute the speed reduction mechanism 32 are rotatably supported directly or indirectly by the housing 31.

[0041] The transmission gear 32a is rotatably disposed at the second end portion in the axial direction in the housing 31. A portion of the transmission gear 32a overlaps with the communication port 31c when viewed in the axial direction.

[0042] The gear holder 32b is rotatably disposed about the first axis O1 at the first axial side end portion within the housing 31. A portion of the gear holder 32b is exposed through the first axial side opening in the housing 31. The gear holder 32b is connected to the first arm. A sealing ring (not shown) is disposed between the outer peripheral edge of the gear holder 32b and the peripheral wall portion 31a.

[0043] <Coupling 33>

[0044] Figure 2 Is with coupling 33 Figure 3 The cross-sectional view corresponding to the II-II line.

[0045] like Figure 1 、 Figure 2 As shown, the coupling 33 connects the motor 12 and the speed reducer 10. The coupling 33 includes a motor flange 51, a coupling body 52, and an intermediate flange 53.

[0046] The motor flange 51 is axially disposed between the motor 12 and the speed reducer 10 . The motor flange 51 is formed in a cylindrical shape and disposed coaxially with the second axis O2 . The motor flange 51 includes a connecting tube 61 and an extension portion 62 .

[0047] The connecting tube 61 is fitted into the communicating port 31 c with an O-ring disposed between the outer peripheral surface of the connecting tube 61 and the inner peripheral surface of the communicating port 31 c.

[0048] The extension portion 62 extends outward in the second radial direction from the second side end portion in the axial direction of the connecting tube 61. The motor flange 51 and the housing 31 are fastened together by the first bolt 67 (see Figure 2 ) is fixed. The first bolt 67 is fastened to the bottom wall portion 31b, penetrating the extension portion 62 from the second axial side. An internally threaded hole 62a is formed in the extension portion 62 at a position in the second circumferential direction away from the first bolt 67. A plurality of internally threaded holes 62a are formed at intervals in the second circumferential direction. The internally threaded holes 62a open in the extension portion 62 toward the second axial side.

[0049] A bearing 65 is fitted into the extension portion 62 . A seal ring 66 is fitted into the extension portion 62 at a portion located on the second side relative to the bearing 65 in the axial direction.

[0050] The coupling body 52 is supported inside the motor flange 51 so as to be rotatable about the second axis O2. The coupling body 52 axially penetrates the inside of the motor flange 51 and the communication port 31c. The coupling body 52 includes a connecting portion 71 and an input gear 72.

[0051] The connecting portion 71 is formed into a multi-stage cylindrical shape with an outer diameter that decreases toward the first side in the axial direction. The connecting portion 71 includes a large diameter portion 71a located on the second side in the axial direction of the connecting portion 71; a medium diameter portion 71b connected to the large diameter portion 71a on the first side in the axial direction; and a small diameter portion 71c connected to the medium diameter portion 71b on the first side in the axial direction.

[0052] The large-diameter portion 71a is positioned inside the extension 62, with a portion thereof projecting axially toward the second side relative to the motor flange 51. The inner circumferential edge of the seal ring 66 is in close contact with the outer circumferential surface of the large-diameter portion 71a. The seal ring 66 is positioned between the outer circumferential surface of the large-diameter portion 71a and the inner circumferential surface of the extension 62, thereby sealing the gap between the large-diameter portion 71a and the extension 62. Lubricating oil is stored within the interior of the speed reducer 10. Seals are formed between the gear carrier 32b and the housing 31, between the motor flange 51 and the housing 31, and between the coupling body 52 and the motor flange 51, thereby sealing the lubricating oil within the interior of the speed reducer 10.

[0053] The middle diameter portion 71b is arranged inside the motor flange 51 so as to span between the extension portion 62 and the connecting tube 61. The middle diameter portion 71b is fitted inside the bearing 65. The coupling body 52 is rotatably supported by the motor flange 51 via the bearing 65.

[0054] The small diameter portion 71c protrudes from the middle diameter portion 71b toward the first side in the axial direction. The small diameter portion 71c is arranged in the communication port 31c.

[0055] The connecting portion 71 is formed with a first connecting port 71f, an internal threaded hole 71g, and a second connecting port 71h (see Figure 2 ).

[0056] The output shaft 101 of the motor 12 is detachably connected to the first connection port 71f. The first connection port 71f extends along the second axis O2, between the large-diameter portion 71a and the middle-diameter portion 71b. The first connection port 71f opens toward the second axial side at the large-diameter portion 71a. A keyway 71j is formed in a portion of the first connection port 71f in the second circumferential direction. The keyway 71j is recessed outward in the second radial direction relative to the inner circumference of the first connection port 71f and extends in the axial direction.

[0057] The internally threaded hole 71g is formed in the portion of the large-diameter portion 71a that protrudes axially toward the second side relative to the motor flange 51 (hereinafter referred to as the protruding portion 71k). The internally threaded hole 71g extends in the second radial direction between the inner circumferential surface of the first connection port 71f and the outer circumferential surface of the large-diameter portion 71a. In this embodiment, a plurality of internally threaded holes 71g are provided at intervals in the second circumferential direction, avoiding the keyway 71j (two holes are provided at 90° intervals). However, the position and number of the internally threaded holes 71g may be modified as appropriate.

[0058] like Figure 2 As shown in FIG. 1 , the second connection port 71h extends in the small diameter portion 71c along the second axis O2. The second connection port 71h opens toward the first side in the axial direction in the small diameter portion 71c.

[0059] The input gear 72 connects the coupling portion 71 and the transmission gear 32a. The input gear 72 includes a coupling portion 72a and a gear body 72b.

[0060] The connection portion 72a is formed in a columnar shape and is arranged coaxially with the second axis line O2. The connection portion 72a is fitted into the second connection port 71h from the first side in the axial direction.

[0061] The gear body 72b protrudes toward the first side in the axial direction relative to the connection portion 72a. The gear body 72b enters the internal space of the speed reducer 10 through the communication port 31c. The gear body 72b meshes with the transmission gear 32a in the internal space of the speed reducer 10.

[0062] Figure 3 This is a front view of the coupling 33 as viewed from the second side in the axial direction.

[0063] like Figures 1 to 3 As shown, the intermediate flange 53 is positioned in the maintenance space S formed between the motor flange 51 and the motor 12. The maintenance space S is a space that allows the periphery of the protrusion 71k to be open in the second radial direction. The intermediate flange 53 is formed into a rectangular ring shape as a whole by combining a first split piece 81 and a second split piece 82 that can be split in the second circumferential direction. A receiving hole 53a is formed in the center of the intermediate flange 53 in the second radial direction. The receiving hole 53a is a circular hole formed to be larger than the maximum inner diameter of the motor flange 51 and centered on the second axis O2. The receiving hole 53a receives the protrusion 71k of the large-diameter portion 71a. The inner circumference of the intermediate flange 53 overlaps with a portion of the first bolt 67 when viewed axially.

[0064] like Figure 3As shown, the first split piece 81 constitutes the second circumferential half of the intermediate flange 53 (the region extending 180° about the second axis O2). Therefore, the angular dimension of the first split piece 81 in the second circumferential direction is set to be greater than the minimum spacing (90° about the second axis O2) between adjacent set screws 111 (internal threaded holes 71g) in the second circumferential direction.

[0065] The first split piece 81 includes a first flange portion 81 a and a mounting piece (connecting portion) 81 b .

[0066] The first flange portion 81a is formed in an arch shape extending in the second circumferential direction when viewed from the axial direction. A first recessed portion 81c is formed in the first flange portion 81a, recessed outward in the second radial direction about the second axis O2. The first recessed portion 81c defines the second circumferential half of the housing hole 53a.

[0067] The mounting pieces 81b extend outward in the second radial direction from both ends of the first flange portion 81a in the second circumferential direction. A through hole 81d is formed in each mounting piece 81b. Each through hole 81d extends through the corresponding mounting piece 81b in a tangential direction parallel to the outer peripheral edge of the first flange portion 81a when viewed in the axial direction.

[0068] The second split piece 82 constitutes the remaining half of the second circumference (the region extending 180° about the second axis O2) of the intermediate flange 53 in the second circumferential direction. Therefore, the angular dimension of the second split piece 82 in the second circumferential direction is set to be greater than the minimum spacing (90° about the second axis O2) between adjacent set screws 111 (internal threaded holes 71g) in the second circumferential direction.

[0069] The second divided piece 82 includes a second flange portion 82 a and a mounted piece (connecting portion) 82 b .

[0070] The second flange portion 82a is formed axially symmetrically with the first flange portion 81a. Thus, the second flange portion 82a includes a second recessed portion 82c that is recessed outward in the second radial direction about the second axis O2. The second recessed portion 82c defines the remaining half of the housing hole 53a in the second circumferential direction.

[0071] The mounted pieces 82b extend outward in the second radial direction from both ends of the second flange portion 82a in the second circumferential direction. A fastening hole 82d is formed in each mounted piece 82b. Each fastening hole 82d extends through the corresponding mounted piece 82b in a tangential direction parallel to the outer peripheral edge of the second flange portion 82a when viewed in the axial direction.

[0072] The first split piece 81 and the second split piece 82 are assembled so that the end surfaces of the first flange portion 81a and the second flange portion 82a that face each other in the second circumferential direction are close to or in contact with each other. In this state, the corresponding mounting piece 81b and the mounted piece 82b face each other in the second circumferential direction. The corresponding mounting piece 81b and the mounted piece 82b are fastened together by screws (connecting portions) 85. The screws 85 pass through the through holes 81d of the mounting piece 81b and are fastened to the fastening holes 82d of the mounted piece 82b. Thus, the first split piece 81 and the second split piece 82 are assembled together in the second circumferential direction, with the first recess 81c and the second recess 82c defining the receiving hole 53a. In the maintenance space S, the intermediate flange 53 surrounds the entire circumference of the protrusion 71k from the outside in the second radial direction, with the protrusion 71k housed in the receiving hole 53a.

[0073] like Figures 1 to 3 As shown, a plurality of through-holes 53b are formed in the intermediate flange 53. Each through-hole 53b is formed at each corner of the intermediate flange 53. Specifically, each through-hole 53b is formed in each flange portion 81a, 82a at intervals in the second circumferential direction. Each through-hole 53b overlaps with the corresponding internally threaded hole 62a when viewed axially.

[0074] A positioning cylinder 53c is formed on the outer peripheral edge of the intermediate flange 53. The positioning cylinder 53c protrudes from the flange portions 81a and 82a of each segment 81 and 82 toward the first side in the axial direction. The positioning cylinder 53c is formed into an annular shape that extends over the entire circumference of the intermediate flange 53 in the second circumferential direction. The positioning cylinder 53c is housed in the housing recess 51a formed in the motor flange 51. The housing recess 51a is formed by cutting off the corner portion located on the second side in the axial direction from the outer peripheral edge of the extension 62 over the entire circumference in the second circumferential direction. The housing recess 51a is open toward the outside in the second radial direction and toward the second side in the axial direction. The positioning cylinder 53c surrounds the extension 62 while being housed in the housing recess 51a.

[0075] Motor 12

[0076] like Figure 1 As shown, the motor 12 is connected to the speed reducer 10 via a coupling 33. The motor 12 is, for example, a servo motor and includes a housing 100, an output shaft 101, a stator (not shown), and a rotor (not shown).

[0077] The housing 100 includes a housing body 100a and a mounting plate 100b.

[0078] The housing body 100 a is formed in a bottomed cylindrical shape that is open toward a first side in the axial direction.

[0079] The mounting plate 100b is formed into a rectangular plate with its thickness in the axial direction. The mounting plate 100b closes the opening of the housing body 100a from the first axial side. Motor mounting holes 100c are formed at each corner of the mounting plate 100b. The motor mounting holes 100c extend through the mounting plate 100b in the axial direction.

[0080] The mounting plate 100b, along with the intermediate flange 53, is secured to the motor flange 51 via second bolts 110. Each second bolt 110 is inserted into each motor mounting hole 100c from the second axial side relative to the mounting plate 100b. The second bolt 110 inserted into each motor mounting hole 100c passes through the corresponding second through-hole 53b and is fastened to the internally threaded hole 62a.

[0081] The output shaft 101 axially penetrates the housing 100. The output shaft 101 is rotatably supported by the housing 100. A key 101a is formed on a portion of the output shaft 101 in the second circumferential direction. The key 101a protrudes outward from the output shaft 101 in the second radial direction and extends in the axial direction.

[0082] The output shaft 101 is connected to the connecting portion 71. Specifically, the output shaft 101 is inserted into the first connecting port 71f with the key 101a retracted into the keyway 71j. The output shaft 101 is retained within the first connecting port 71f by a set screw 111. The set screw 111 is fastened to the internally threaded hole 71g. The tip of the set screw 111 (the inner end in the second radial direction) passes through the internally threaded hole 71g and protrudes into the first connecting port 71f. The tip of the set screw 111 presses the output shaft 101 in the second radial direction within the first connecting port 71f.

[0083] The stator is formed in a cylindrical shape and is arranged coaxially with the second axis line O2. The stator is embedded inside the housing body 100a.

[0084] The rotor is arranged inside the housing body 100 a on the inner side of the stator in the second radial direction. The rotor is fixed to a portion of the output shaft 101 located inside the housing 100 .

[0085] The motor 12 generates a driving force by rotating the rotor together with the output shaft 101 using magnetic attraction and repulsion generated between the stator and the rotor.

[0086] [Maintenance Method of Motor Unit 1]

[0087] As a maintenance method of the motor unit 1 , a method of attaching and detaching the motor 12 will be described. Figure 4 、 Figure 5 is with Figure 1 The corresponding enlarged cross-sectional view is an explanatory diagram for explaining the method of assembling and disassembling the motor.

[0088] When the motor 12 is removed from the speed reducer 10 , the second bolts 110 are first removed. This releases the fastening between the mounting plate 100 b , the intermediate flange 53 , and the motor flange 51 .

[0089] Then, if Figure 4 As shown, the intermediate flange 53 is disassembled. To disassemble the intermediate flange 53, the screws 85 are removed. Thus, the split pieces 81 and 82 are released from each other. In this state, each split piece 81 and 82 is pulled outward in the second radial direction. As a result, the maintenance space S is opened. That is, the protrusion 71k is exposed to the outside between the motor 12 and the motor flange 51. Alternatively, in order to expose the protrusion 71k to the outside, one of the split pieces 81 and 82 can be retracted from the maintenance space S, thereby partially opening the maintenance space S.

[0090] Next, if Figure 5 As shown, remove the set screw 111 through the maintenance space S. This releases the connection between the output shaft 101 and the coupling body 52. ​​In this state, pull out the motor 12 toward the second side in the axial direction. This removes the motor 12 from the speed reducer 10.

[0091] To reattach the motor 12 to the speed reducer 10, perform the reverse of the above steps. Specifically, with the key 101a aligned with the keyway 71j, insert the output shaft 101 into the first connection port 71f. In this state, tighten the set screw 111 into the internally threaded hole 71g via the maintenance space S. This connects the output shaft 101 to the coupling body 52.

[0092] Next, the intermediate flange 53 is positioned within the maintenance space S. Specifically, the segments 81 and 82 are positioned from the outside in the second radial direction into the maintenance space S. At this point, the positioning cylinder 53c is housed within the housing recess 51a, restricting movement of the segments 81 and 82 inward in the second radial direction and toward the first axial side relative to the motor flange 51. Furthermore, the position of the intermediate flange 53 in the second circumferential direction relative to the motor flange 51 (and the motor 12) is adjusted so that the second through-holes 53b of the intermediate flange 53 overlap with the corresponding internally threaded holes 62a and motor mounting holes 100c, as viewed in the axial direction.

[0093] Thereafter, the mounting plate 100 b , the intermediate flange 53 , and the motor flange 51 are fastened together using the second bolts 110 .

[0094] Through the above steps, the motor 12 is assembled to the speed reducer 10 .

[0095] Thus, in the coupling 33 of this embodiment, a set screw (fixing member) 111 is provided at a position of the coupling body 52 that overlaps the intermediate flange 53 when viewed from the second radial direction (a radial direction intersecting the second axis (rotational axis) O2). The set screw 111 secures the coupling body 52 and the output shaft 101 to each other. The intermediate flange 53 is formed into an annular shape surrounding the coupling body 52 using a plurality of split pieces 81, 82 that can be split in the second circumferential direction.

[0096] According to this structure, by removing the split pieces 81 and 82, at least a portion of the portion of the coupling body 52 that overlaps the intermediate flange 53, as viewed from the second radial direction, can be opened in the second radial direction as the maintenance space S. This allows the maintenance space S to be larger in the second circumferential direction, compared to conventional methods of attaching and detaching the motor through tool insertion holes provided in the reducer cover. Consequently, phase matching in the second circumferential direction between the set screw 111 and the maintenance space S is facilitated (or eliminated), allowing easy tool access to the set screw 111. This reduces the workspace required, compared to conventional methods of inserting tools from outside the reducer cover.

[0097] As a result, the operability during installation and removal of the motor can be improved and the work space can be reduced.

[0098] The coupling 33 of this embodiment has a structure in which a seal ring (seal member) 66 for sealing between the motor flange 51 and the coupling body 52 is provided between the inner peripheral surface of the motor flange 51 and the outer peripheral surface of the coupling body 52 .

[0099] With this configuration, the intermediate flange 53 is provided between the motor flange 51 and the motor 12, allowing the motor 12 to be installed and removed without removing the motor flange 51. Consequently, even when the motor 12 is being installed and removed, the seal ring 66 provided on the motor flange 51 can be used to hermetically seal the interior of the speed reducer 10. Consequently, if lubricating oil is contained within the interior of the speed reducer 10, for example, leakage of the lubricating oil through the gap between the motor flange 51 and the coupling body 52 can be suppressed.

[0100] In the coupling 33 of the present embodiment, the divided pieces 81 and 82 adjacent to each other in the second circumferential direction are configured to include mounting pieces (connecting portions) 81 b and mounted pieces (connecting portions) 82 b connected to each other in the second circumferential direction.

[0101] According to this structure, since the adjacent split pieces 81 and 82 in the second circumferential direction are connected to each other, the adjacent split pieces 81 and 82 and the motor flange 51 and the intermediate flange 53 can be easily positioned when the motor 12 is attached or detached.

[0102] In the coupling 33 of the present embodiment, the angular dimension of the divided pieces 81 , 82 in the second circumferential direction is set to be equal to or larger than the minimum interval between the set screws 111 in the second circumferential direction.

[0103] According to this structure, even when any of the split pieces 81 and 82 is removed, the set screw 111 is easily exposed to the open maintenance space S. This facilitates phase matching between the set screw 111 and the maintenance space S in the second circumferential direction (or eliminates the need for phase matching), further improving operability.

[0104] The coupling 33 of the present embodiment is configured such that a positioning cylinder portion 53 c is formed on the outer peripheral edge of the intermediate flange 53 , and a housing recess 51 a is formed on the outer peripheral edge of the motor flange 51 .

[0105] According to this configuration, the positioning cylinder portion 53c is housed in the housing recess 51a, thereby enabling positioning of the intermediate flange 53 in the second radial direction relative to the motor flange 51. This improves the assemblability of the intermediate flange 53.

[0106] Since the speed reducer 10 of this embodiment includes the above-described coupling 33 , it is possible to provide the speed reducer 10 having excellent maintainability.

[0107] (Other Modifications)

[0108] While preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to these embodiments. Structural additions, omissions, substitutions, and other modifications may be made without departing from the spirit of the present disclosure. The present disclosure is not limited by the foregoing description but only by the appended claims.

[0109] In the above embodiment, an industrial robot arm is used as an example of a mounted member on which the motor unit 1 is mounted, but the present invention is not limited to this structure. The mounted member may also be an arm of industrial equipment (for example, construction machinery).

[0110] In the above embodiment, the case where the angular dimension of the second circumferential direction of the two split pieces 81 and 82 is 180° is described, but the present invention is not limited to this structure. The angular dimension of the second circumferential direction of the split piece can be appropriately changed. For example, Figure 6 As shown, the first split piece 81 of the intermediate flange 53 may be formed to have an angular dimension of 90°, and the second split piece 82 may be formed to have an angular dimension of 270°.

[0111] In the above embodiment, the structure in which each segment 81, 82 is formed into a fan shape centered on the second axis O2 (a shape in which both end surfaces in the second circumferential direction of each segment 81, 82 gradually move away from each other toward the outside in the second radial direction) is described, but the present invention is not limited to this structure. Figure 7 As shown, both end surfaces in the second circumferential direction of each of the divided pieces 81 and 82 may extend parallel to each other.

[0112] In the above embodiment, the intermediate flange 53 is described as being formed into an annular shape by two split segments 81 and 82. However, the present invention is not limited to this structure. As long as the intermediate flange 53 is formed into an annular shape as a whole, three or more split segments may be combined in the second circumferential direction. In this case, the angular dimensions of the split segments may be equal or different.

[0113] In the above embodiment, the case where the set screw 111 is used as the fixing member has been described, but the present invention is not limited to this structure. The fixing member may be a pin or the like.

[0114] In the above embodiment, a configuration in which the seal ring 66 is provided between the motor flange 51 and the coupling body 52 has been described, but the present invention is not limited to this configuration. The speed reducer 10 may also be configured without the seal ring 66 or with a seal ring provided between the intermediate flange 53 and the coupling body 52.

[0115] In the above embodiment, as an example of a connecting portion, the mounting piece 81b and the mounted piece 82b are connected by screws 85. However, this is not the only configuration. The mounting piece 81b and the mounted piece 82b are not necessarily connected. In other words, the split pieces 81 and 82 do not need to be connected to each other.

[0116] The connection portion may be connected by a clamp, a dowel, a magnet, a hinge, or the like, in addition to the screws 85 .

[0117] In the above embodiment, the intermediate flange (first flange) 53 is provided with the positioning cylinder 53c, and the motor flange (second flange) 51 is provided with the housing recess 51a. However, the present invention is not limited to this configuration. Alternatively, the intermediate flange (second flange) 53 may be provided with the housing recess, and the motor flange (first flange) 51 may be provided with the positioning cylinder.

[0118] In the above embodiment, the motor flange 51 and the intermediate flange 53 are separately formed. However, the present invention is not limited to this structure. The motor flange 51 and the intermediate flange 53 may be integrally formed.

[0119] In the embodiments disclosed in this specification, a component composed of multiple objects may be integrated into one piece, or a component composed of one object may be divided into multiple pieces. Regardless of whether or not the components are integrated, they may be configured in a manner that achieves the purpose of the invention.

[0120] Furthermore, components in the above-described embodiments may be appropriately replaced with well-known components without departing from the gist of the present disclosure, and the above-described modifications may be appropriately combined.

Claims

1. A coupling comprising: a coupling body having an input gear meshing with the speed reduction mechanism, and to which the output shaft of the motor is detachably connected; a motor flange disposed between the speed reduction mechanism and the motor; and an intermediate flange connecting the motor flange to the motor, At least one fixing member for fixing the coupling body and the output shaft to each other is provided at a position of the coupling body that overlaps with the intermediate flange when viewed from a radial direction intersecting the rotation axis of the coupling body. The intermediate flange includes a plurality of split pieces that can be split in a circumferential direction around the rotation axis, and is formed into an annular shape surrounding the coupling body by combining the plurality of split pieces.

2. The coupling according to claim 1, wherein: A sealing member for sealing between the motor flange and the coupling body is provided between the inner peripheral surface of the motor flange and the outer peripheral surface of the coupling body.

3. The coupling according to claim 1 or 2, wherein: The plurality of divided pieces include a connection portion that connects the divided pieces adjacent to each other in the circumferential direction.

4. The coupling according to any one of claims 1 to 3, wherein: Two fixing members are provided at intervals in the circumferential direction. The angular dimension in the circumferential direction of at least one of the plurality of divided pieces is set to be equal to or larger than the minimum interval in the circumferential direction between two fixing members.

5. The coupling according to any one of claims 1 to 4, wherein: One of the intermediate flange and the motor flange is defined as a first flange, and the other is defined as a second flange. A cylindrical portion is formed on the outer peripheral edge of the first flange. The cylindrical portion protrudes in the axial direction along the rotation axis and extends over the entire circumference of the first flange. A housing recess for housing the cylindrical portion is formed on the outer peripheral edge of the second flange.

6. A coupling comprising: a coupling body having an input gear meshing with the speed reduction mechanism, and to which the output shaft of the motor is detachably connected; a motor flange disposed between the speed reduction mechanism and the motor; an intermediate flange connecting the motor flange to the motor; and a sealing member disposed between the inner peripheral surface of the motor flange and the outer peripheral surface of the coupling body to seal the motor flange and the coupling body; Two fixing members for fixing the coupling body and the output shaft to each other are provided at positions of the coupling body overlapping with the intermediate flange when viewed from a radial direction intersecting the rotation axis of the coupling body, spaced apart in a circumferential direction around the rotation axis. The intermediate flange has a plurality of split pieces that can be split in the circumferential direction, and the plurality of split pieces are combined to form a ring shape surrounding the coupling body. The angular dimension of at least one of the plurality of split pieces in the circumferential direction is set to be greater than the minimum distance in the circumferential direction between the two fixing members. The plurality of split pieces include a connection portion that connects the split pieces adjacent to each other in the circumferential direction. One of the intermediate flange and the motor flange is defined as a first flange, and the other is defined as a second flange. A cylindrical portion is formed on the outer peripheral edge of the first flange. The cylindrical portion protrudes in the axial direction along the rotation axis and extends over the entire circumference of the first flange. A housing recess for housing the cylindrical portion is formed on the outer peripheral edge of the second flange.

7. A reducer comprising: Couplings; and A speed reduction mechanism meshing with the input gear of the coupling, The coupling has: a coupling body having the input gear and to which the output shaft of the motor is detachably connected; a motor flange disposed between the speed reduction mechanism and the motor; and an intermediate flange connecting the motor flange to the motor, At least one fixing member for fixing the coupling body and the output shaft to each other is provided at a position of the coupling body that overlaps with the intermediate flange when viewed from a radial direction intersecting the rotation axis of the coupling body. The intermediate flange includes a plurality of split pieces that can be split in a circumferential direction around the rotation axis, and is formed into an annular shape surrounding the coupling body by combining the plurality of split pieces.

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