Machinery with lubrication chamber

Abstract

The machine comprises: a shaft along a predetermined axis; a bearing supporting the shaft; a lubrication chamber containing the shaft and the bearing, capable of storing a fluid lubricant; and three through holes penetrating the wall of the lubrication chamber and capable of being opened, wherein two of the three through holes, for example, through holes or through holes, open into spaces on both sides of the lubrication chamber spaced apart by the bearing in the axial direction; when injecting lubricant, at least one of the two through holes is opened as an injection hole for lubricant; when discharging lubricant, two through holes are opened as vent holes; and the remaining through hole, for example, through hole, is opened as a discharge hole for lubricant.

Description

Technical Field

[0001] This invention relates to a machine, and more particularly to a machine having a lubrication chamber. Background Technology

[0002] In robot joints and other movable mechanical parts, speed reducers, composed of mechanical elements such as shafts, bearings, and gears, are mostly used. The lubrication method for the mechanical elements inside the speed reducer is generally an oil bath method, where the mechanical elements are housed in a sealed lubrication chamber, and lubricant is sealed within the chamber. In the oil bath method, metal powder, sludge, and other impurities are generated due to wear of the mechanical elements and heat generated by the lubricant, thus requiring regular cleaning or replacement of the lubricant in the lubrication chamber. Therefore, an oil supply port for the lubricant is located at the top of the lubrication chamber, and an oil drain port is located at the bottom. The lubrication chamber is generally constructed by using pre-defined components to enclose both sides of the speed reducer along its axial direction, thus usually creating relatively large spaces on both sides of the speed reducer.

[0003] In recent years, to improve load capacity and achieve miniaturization, speed reducers have often incorporated a dense arrangement of bearings and other mechanical components, resulting in narrower internal clearances. Furthermore, to enhance oil film formation, high-viscosity lubricants are commonly used, leading to a stronger tendency for them to remain inside the speed reducer. Consequently, the airflow path within the speed reducer is narrow, and the lubricant trapped in the spaces along the axial direction (on the side without an outlet) requires more time to drain, resulting in reduced maintenance efficiency.

[0004] Figure 8A This is a longitudinal sectional view of the existing machine 50. The machine 50 includes a speed reducer 8, a lubrication chamber 20 containing the speed reducer 8 and capable of storing a fluid lubricant 21, and an injection hole 51 and a discharge hole 52 penetrating the wall of the lubrication chamber 20. The injection hole 51 and the discharge hole 52 open into one of two spaces S1 and S2 on either side of the lubrication chamber 20, spaced along the axis O of the speed reducer 8. Furthermore, the injection hole 51 opens into the wall of the lubrication chamber 20 at a position higher than the upper surface of the lubricant 21, and the discharge hole 52 opens into the wall of the lubrication chamber 20 at a position lower than the upper surface of the lubricant 21. Openable and closable plugs 53 and 54 are provided at the injection hole 51 and the discharge hole 52.

[0005] Figure 8BThis is a longitudinal sectional view of an existing machine 50 showing the discharge of lubricant 21. When discharging lubricant 21, the injection hole 51 is opened to serve as a vent, and the discharge hole 52 is opened to discharge lubricant 21. When lubricant 21 is discharged from the discharge hole 52, the air flowing in from the injection hole 51 forces the lubricant 21 out. However, because the internal clearance of the reducer 8 is small and the high-viscosity lubricant 21 remains inside the reducer 8, the flowing air has difficulty passing through the interior of the reducer 8. Therefore, the discharge of lubricant 21 from the space on one side of the lubrication chamber 20 without the injection hole 51 and discharge hole 52 takes time. As for the technology related to the machine equipped with this lubrication chamber, for example, the literature described below is known.

[0006] Patent Document 1 discloses a joint device for a robot or the like, which includes a magnet held in an oil bath and a drain plug that allows the magnet to be removed in order to remove wear powder generated by the wear of gears in a speed reducer.

[0007] Patent Document 2 discloses a speed reducer with an air vent hole. In order to prevent the lubricant filled inside the housing of the speed reducer from leaking to the outside through the air vent hole, it has: a housing forming an internal volume portion for sealing the lubricant; and another spatial volume portion provided in communication with the internal volume portion. The other spatial volume portion is configured to be located above the upper surface of the lubricant in the vertical direction relative to the internal volume portion, and an air vent hole is provided in a part of the other spatial volume portion.

[0008] Existing technical documents

[0009] Patent documents

[0010] Patent Document 1: Japanese Patent Application Publication No. 59-161291

[0011] Patent Document 2: Japanese Patent Application Publication No. 2006-038019 Summary of the Invention

[0012] The problem that the invention aims to solve

[0013] In view of the problems of the past, the present invention aims to provide a technique for shortening the maintenance time of lubricants.

[0014] Methods for solving problems

[0015] One aspect of this disclosure provides a machine comprising: a shaft along a predetermined axis; a bearing carrying the shaft; a lubrication chamber containing the shaft and the bearing, capable of storing a fluid lubricant; and three through holes penetrating the wall of the lubrication chamber and capable of being opened, two of the three through holes opening into spaces on either side of the lubrication chamber separating the bearing, wherein when lubricant is injected, at least one of the two through holes is opened as an injection hole for lubricant, and when lubricant is discharged, two through holes are opened as vent holes, and the remaining through hole is opened as a discharge hole for lubricant.

[0016] Invention Effects

[0017] According to one aspect of this disclosure, when discharging the lubricant, two through holes that open into the spaces on both sides of the lubrication chamber of the bearing in the axial direction are opened as vent holes, and the remaining through hole is opened as a discharge hole. Thus, the air flowing in from the two through holes used as vent holes squeezes out the lubricant in the spaces on both sides of the lubrication chamber, and also squeezes out the lubricant retained inside the bearing. Therefore, the lubricant can be discharged earlier than in the past, and the lubricant maintenance time can be shortened. Attached Figure Description

[0018] Figure 1 This is an overall diagram of the machine according to the first embodiment.

[0019] Figure 2A This is a cross-sectional view (AA) of the machine according to the first embodiment.

[0020] Figure 2B This is a cross-sectional view (AA) of a machine representing the first embodiment of lubricant discharge.

[0021] Figure 3A This is a cross-sectional view (AA) of the machine according to the second embodiment.

[0022] Figure 3B This is a cross-sectional view (AA) of the machine in the second embodiment, showing the discharge of lubricant.

[0023] Figure 4A This is a cross-sectional view (AA) of the machine according to the third embodiment.

[0024] Figure 4B This is a cross-sectional view (AA) of the machine in the third embodiment, showing the discharge of lubricant.

[0025] Figure 5 This is a BB cross-sectional view of the machine according to the fourth embodiment.

[0026] Figure 6 This is a cross-sectional view (AA) of the machine according to the fifth embodiment.

[0027] Figure 7 This is a cross-sectional view (AA) of the machine according to the sixth embodiment.

[0028] Figure 8A It is a longitudinal sectional view of the existing machinery.

[0029] Figure 8B It is a longitudinal sectional view of an existing machine showing the discharge of lubricant. Detailed Implementation

[0030] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same or similar structural elements are given the same or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope of the invention described in the scope of protection, nor the meaning of the terms used.

[0031] Figure 1 This is an overall view of the machine 1 according to the first embodiment. Machine 1 is, for example, a vertical multi-joint robot. Machine 1 includes: a base 2 disposed on a mounting surface; a rotating body 3 (first component) supported in a manner rotatable relative to the base 2 about a first axis J1, wherein the first axis J1 extends in a direction orthogonal to the mounting surface; and a first arm 4 (second component) supported in a manner rotatable relative to the rotating body 3 about a second axis J2, wherein the second axis J2 extends in a direction orthogonal to the first axis J1. Additionally, machine 1 includes: a second arm 5 supported in a manner rotatable relative to the first arm 4 about a third axis J3 parallel to the second axis J2; and a three-axis wrist unit 6 located at the front end of the second arm 5.

[0032] Figure 2A This is a cross-sectional view (AA) of the machine 1 according to the first embodiment (refer to the cut line AA). Figure 1 ). Figure 2A This describes, for example, a robot joint capable of rotating about a second axis J2. The mechanism 1 includes, for example, a drive source 7 fixed to a rotating body 3 (first component), a shaft 10 capable of operating according to the drive source 7 and along the second axis J2, and a bearing 11 supporting the shaft 10. The drive source 7 is, for example, a servo motor, and the shaft 10 and bearing 11 are, for example, mechanical elements of a reducer 8. The shaft 10 includes, for example, an input shaft 10a and an output shaft 10b. The bearing 11 includes, for example, an input bearing 11a supporting the input shaft 10a and an output bearing 11b supporting the output shaft 10b. The housing 8a of the reducer 8 is fixed to the rotating body 3, and the output shaft 10b of the reducer 8 is fixed to the first arm 4. The input shaft 10a receives power from the drive source 7 and transmits power to the output shaft 10b, which in turn transmits power to the first arm 4 (second component). Thus, the first arm 4 (second component) rotates about the second axis J2 relative to the rotating body 3 (first component).

[0033] Additionally, the machine 1 includes: a lubrication chamber 20 containing a shaft 10 and a bearing 11 and capable of storing a fluid lubricant 21; and three through holes 30-32 penetrating the wall of the lubrication chamber 20 and capable of being opened. The lubrication chamber 20 is formed by a rotating body 3 (first component) and a first arm 4 (second component) spaced apart by the bearing 11 (or reducer 8) in the direction of the second axis J2. The three through holes 30-32 are provided, for example, in the rotating body 3 and the first arm 4. Two of the three through holes 30-32 (e.g., through hole 30 and through hole 32) open into the spaces S1 and S2 on both sides of the lubrication chamber 20 spaced apart by the bearing 11 (or reducer 8) in the direction of the second axis J2. Two through holes (e.g., through holes 30 and through holes 32) that open on both sides of the lubrication chamber 20 of the bearing 11 (or reducer 8) in the direction of the second axis J2 are respectively provided in the components of the rotating body 3 (first component) and the first arm 4 (second component).

[0034] The lubricant 21 is, for example, lubricating oil. The lubricant 21 is used to reduce friction or wear of mechanical components such as gears and bearings. However, due to wear of mechanical components and heat generated by the lubricant 21, impurities such as metal powder and sludge are produced. Therefore, it is necessary to clean or replace the lubricant 21 in the lubrication chamber 20 regularly. Therefore, when injecting the lubricant 21, at least one of the two through holes (e.g., through holes 30, 32) of the three through holes 30 to 32 that open in the spaces S1 and S2 on both sides of the lubrication chamber 20 of the bearing 11 (or reducer 8) in the direction of the second axis J2 is opened as the injection hole for the lubricant 21. When discharging lubricant 21, two of the three through holes 30 to 32 (e.g., through holes 30 and 32) that open in the spaces S1 and S2 on both sides of the lubrication chamber 20 of the bearing 11 (or reducer 8) in the direction of the second axis J2 are opened as vent holes, and the remaining through hole (e.g., through hole 31) is opened as the discharge hole for lubricant 21.

[0035] Three through holes 30-32 are fitted with plugs 40-42 that can be opened and closed. Plugs 40-42 are, for example, rubber plugs. To facilitate access to the three through holes 30-32 and the three plugs 40-42 when maintaining the lubricant 21, all three through holes 30-32 may be arranged on one side 12 of the machine 1 in the direction of the second axis J2, while no through holes are arranged on the opposite side 13 of the machine 1 in the direction of the second axis J2. Alternatively, for example, two of the three through holes 30-32 may be arranged at predetermined angular intervals (e.g., at 180° intervals) around the second axis J2 of the rotating body 3 (first component), and the remaining through hole 32 may be arranged, for example, in the first arm 4 (second component).

[0036] For example, when the machine 1 is placed on the ground (i.e., the lubrication chamber 20 is in the following position): Figure 1 In the lubrication chamber 20 (when in the desired state), two through holes 30 and 32 are positioned at a position equal to or higher than the upper surface of the lubricant 21, while the remaining through hole 31 is positioned lower than the upper surface of the lubricant 21. Thus, when injecting lubricant 21, at least one of the two through holes 30 and 32 is opened as an injection port for lubricant 21. Furthermore, when discharging lubricant 21, two through holes 30 and 32 are opened as vent holes, and the remaining through hole 31 is opened as a discharge port for lubricant 21.

[0037] Additionally, for example, when the machine 1 is mounted on the ceiling (i.e., the orientation of the lubrication chamber 20 is from...), Figure 1 When the state changes to an inverted 180° position, by rotating the first arm 4 (second component) 180°, the two through holes 31 and 32 are positioned at a position equal to or higher than the upper surface of the lubricant 21 in the lubrication chamber 20, and the remaining through hole 30 is positioned lower than the upper surface of the lubricant 21 in the lubrication chamber 20. Thus, when injecting lubricant 21, at least one of the two through holes 31 and 32 is opened as an injection hole for lubricant 21. When discharging lubricant 21, the two through holes 31 and 32 are opened as vent holes, and the remaining through hole 30 is opened as a discharge hole for lubricant 21.

[0038] Additionally, for example, in the case where the machine 1 is mounted on the side wall (i.e., the orientation of the lubrication chamber 20 is from...), Figure 1 When the state changes to a horizontal 90° tilt position, the through hole 30 is installed in... Figure 2A On the inside of the paper, the through hole 31 is positioned... Figure 2A When the paper surface is near the front, the front end of the first arm 4 (second component) is moved towards... Figure 2A The paper is rotated 90° near the front side, positioning the two through holes 31 and 32 at a position equal to or higher than the upper surface of the lubricant 21 within the lubrication chamber 20, and positioning the remaining through hole 30 at a position lower than the upper surface of the lubricant 21 within the lubrication chamber 20. Thus, when injecting the lubricant 21, at least one of the two through holes 31 and 32 is opened as an injection port for the lubricant 21. When discharging the lubricant 21, the two through holes 31 and 32 are opened as vent holes, and the remaining through hole 30 is opened as a discharge port for the lubricant 21.

[0039] As described above, in two or more positions of the lubrication chamber 20, two of the three through holes 30 to 32 can be positioned at a position equal to or higher than the upper surface of the lubricant 21 in the lubrication chamber 20, and the remaining through hole can be positioned at a position lower than the upper surface of the lubricant 21 in the lubrication chamber 20.

[0040] Figure 2B This is a cross-sectional view (AA) of the machine 1 according to a first embodiment showing the discharge of lubricant 21. For example, in the case where the machine 1 is installed on the ground (i.e., the lubrication chamber 20 is in the following position)... Figure 1 When the lubricant 21 is discharged, two through holes 30 and 32, located at a position equal to or higher than the upper surface of the lubricant 21 in the lubricating chamber 20 and spaced apart from the bearing 11 (or reducer 8) in the direction of the second axis J2, are opened as vent holes. A through hole 31, located lower than the upper surface of the lubricant 21 in the lubricating chamber 20, is opened as a discharge hole. As a result, air flowing in from the two through holes 30 and 32, which serve as vent holes, forces the lubricant 21 out of the spaces S1 and S2 on both sides of the lubricating chamber 20, and also forces out the lubricant 21 retained inside the bearing 11 (or reducer 8). Therefore, the lubricant 21 can be discharged earlier than before, shortening the maintenance time for the lubricant 21.

[0041] It should be noted that the above-described structure of machine 1 is an example, and various modifications can be applied. For example, machine 1 may not be a vertical multi-joint robot, but rather a horizontal multi-joint robot, a parallel linkage robot, a humanoid robot, a machine tool, or other types of machinery. Furthermore, the first and second components may not be the rotating body 3 and the first arm 4, but rather components of other movable parts such as the first arm 4 and the second arm 5. Additionally, the first and second components may not be the first and second links of a robot, but rather components of other machinery such as the first and second housings of a machine tool, a vehicle, etc. Furthermore, machine 1 may not include the reducer 8. Furthermore, the lubricant 21 may not be lubricating oil, but rather a fluid grease. Furthermore, the lubrication chamber 20 may not be surrounded by the first and second components, but rather by a single housing. Furthermore, the plugs 40-42 may not be rubber plugs, but rather solenoid valves or threaded metal plugs.

[0042] Figure 3A This is a cross-sectional view (AA) of the machine 1 according to the second embodiment (refer to the cut line AA). Figure 1Here, only the parts that differ from the mechanism 1 of the first embodiment will be described. The mechanism 1 of the second embodiment differs from the first embodiment in that it has four through holes 30-33 that penetrate the wall of the lubrication chamber 20 and can be opened, as well as four bolts 40-43. Two of the four through holes 30-33, 30 and 31, are arranged around the second axis J2 of the rotating body 3 (first component) at a predetermined angular interval (e.g., an interval of 180°), and the remaining two through holes 32 and 33 are arranged around the second axis J2 of the first arm 4 (second component) at a predetermined angular interval (e.g., an interval of 180°). Two of the four through holes 30 to 33 that open into the spaces S1 and S2 on both sides of the lubrication chamber 20 of the bearing 11 (or reducer 8) in the direction of the second axis J2 can be used as vent holes, and the remaining two through holes (e.g., through holes 30, 32, or through holes 31, 33, or through holes 31, 32, or through holes 30, 33) can be used as discharge holes.

[0043] For example, when the machine 1 is placed on the ground (i.e., the lubrication chamber 20 is in the following position) Figure 1 In the lubrication chamber 20 (when in the desired state), two through holes 30 and 32 are positioned at a position equal to or higher than the upper surface of the lubricant 21, while the remaining two through holes 31 and 33 are positioned lower than the upper surface of the lubricant 21. Thus, when injecting lubricant 21, at least one of the two through holes 30 and 32 is opened as an injection port for lubricant 21. Furthermore, when discharging lubricant 21, two through holes 30 and 32 are opened as vent holes, and the remaining two through holes 31 and 33 are opened as discharge ports for lubricant 21.

[0044] Additionally, for example, in the case where the machine 1 is installed on the ceiling (i.e., the orientation of the lubrication chamber 20 is from...), Figure 1 When the state changes to an inverted 180° position, the two through holes 31 and 33 are positioned at the same level as or higher than the upper surface of the lubricant 21 in the lubrication chamber 20, while the remaining two through holes 30 and 32 are positioned lower than the upper surface of the lubricant 21 in the lubrication chamber 20. Thus, when injecting lubricant 21, at least one of the two through holes 31 and 33 is opened as an injection port for lubricant 21. When discharging lubricant 21, the two through holes 31 and 33 are opened as vent holes, and the remaining two through holes 30 and 32 are opened as discharge ports for lubricant 21.

[0045] Additionally, for example, when the machine 1 is mounted on the side wall (i.e., the orientation of the lubrication chamber 20 is from...), Figure 1 When the state changes to a horizontal 90° orientation, the through hole 30 is provided in Figure 3A On the inside of the paper, through hole 31 is provided. Figure 3A When the paper surface is near the front, the front end of the first arm 4 (second component) is moved towards... Figure 3A The paper is rotated 90° near the front or inside of the paper surface, positioning two through holes 31, 32 or 31, 33 at a position equal to or higher than the upper surface of the lubricant 21 within the lubrication chamber 20. The remaining two through holes 30, 33 or 30, 32 are positioned lower than the upper surface of the lubricant 21 within the lubrication chamber 20. Thus, when injecting lubricant 21, at least one of the two through holes 31, 32 or 31, 33 is used as an injection port for lubricant 21. When discharging lubricant 21, two through holes 31, 32 or 31, 33 are used as vent holes, and the remaining two through holes 30, 33 or 30, 32 are used as discharge ports for lubricant 21.

[0046] As described above, in two or more positions of the lubrication chamber 20, two of the four through holes 30 to 33 can be positioned at a position equal to or higher than the upper surface of the lubricant 21 in the lubrication chamber 20, and the remaining two through holes can be positioned at a position lower than the upper surface of the lubricant 21 in the lubrication chamber 20.

[0047] Figure 3B This is a cross-sectional view (AA) of the machine 1 according to the second embodiment, showing the discharge of lubricant 21. For example, in the case where the machine 1 is installed on the ground (i.e., the lubrication chamber 20 is in the following position)... Figure 1 When the lubricant 21 is discharged, two through holes 30 and 32, located at a position equal to or higher than the upper surface of the lubricant 21 in the lubricating chamber 20 and spaced apart from the bearing 11 (or reducer 8) in the direction of the second axis J2, are opened as vent holes. Two through holes 31 and 33, located lower than the upper surface of the lubricant 21 in the lubricating chamber 20, are opened as discharge holes. As a result, air flowing in through the two through holes 30 and 32, which serve as vent holes, forces the lubricant 21 out of the spaces S1 and S2 on both sides of the lubricating chamber 20, and also forces out the lubricant 21 retained inside the bearing 11 (or reducer 8). Therefore, the lubricant 21 can be discharged earlier than before, shortening the maintenance time for the lubricant 21.

[0048] Figure 4AThis is a cross-sectional view (AA) of the machine 1 according to the third embodiment (refer to the cut line AA). Figure 1 Here, only the parts that differ from the mechanism 1 of the first embodiment will be described. The mechanism 1 of the third embodiment has four through holes 30-33 that penetrate the wall of the lubrication chamber 20 and can be opened, and two bolts 40-41. The four through holes 30-33 are disposed on the shaft 10 ( Figure 2A The output shaft 10b shown differs from the first embodiment in this respect. Two through holes (e.g., through holes 30, 32 or through holes 31, 33) of the four through holes 30-33, which open into spaces S1, S2 that are spaced apart on either side of the lubrication chamber 20 of the bearing 11 (or reducer 8) in the direction of the second axis J2, merge inside the shaft 10 and open to the external space via the housing 8a of the reducer 8. This reduces the number of openings to the external space, and consequently reduces the number of bolts 40-41 (two in this example).

[0049] Figure 4B This is a cross-sectional view (AA) of the machine 1 in a third embodiment, showing the discharge of lubricant 21. For example, in the case where the machine 1 is installed on the ground (i.e., the lubrication chamber 20 is in the following position)... Figure 1 When discharging lubricant 21, two through holes 30 and 32, located at a position equal to or higher than the upper surface of the lubricant 21 in the lubricating chamber 20 and spaced apart from the bearing 11 (or reducer 8) in the direction of the second axis J2, are opened as vent holes (i.e., one plug 40 is opened). Two through holes 31 and 33, located at a position lower than the upper surface of the lubricant 21 in the lubricating chamber 20, are opened as discharge holes (i.e., one plug 41 is opened). Thus, air flowing in from the two through holes 30 and 32, which serve as vent holes, forces the lubricant 21 out of the spaces S1 and S2 on both sides of the lubricating chamber 20, and also forces out the lubricant 21 retained inside the bearing 11 (or reducer 8). Therefore, the lubricant 21 can be discharged earlier than before, shortening the maintenance time for the lubricant 21. Furthermore, when injecting lubricant 21, two through holes 30 and 32 in the spaces S1 and S2 of the lubricant chamber 20, which are located at a position equal to or higher than the upper surface of the lubricant 21 in the lubricant chamber 20 and are spaced apart from the bearing 11 (or reducer 8) in the direction of the second axis J2, are opened as injection holes (i.e., one plug 40 is opened).

[0050] Figure 5 This is a BB cross-sectional view of the machine 1 according to the fourth embodiment (refer to the cut line BB). Figure 3AHere, only the parts that differ from the mechanism 1 of the second embodiment will be described. The difference between the mechanism 1 of the fourth embodiment and the mechanism 1 of the second embodiment is that it has ten through holes 30-39 that penetrate the wall of the lubrication chamber 20 and can be opened, and ten bolts 40-49. Eight of the ten through holes 32-39 are arranged around the second axis J2 of the first arm 4 (second component) at predetermined angular intervals (e.g., 45° intervals). Thus, regardless of the current rotation position of the first arm 4, the uppermost through hole of the eight through holes 32-39 can be used as a vent. Alternatively, the eight through holes may not be arranged in the first arm 4 (second component), but may be arranged around the second axis J2 of the rotating body 3 (first component) at predetermined angular intervals (e.g., 45° intervals). Furthermore, in the case of the machine 1 of the third embodiment described above, the through holes can be arranged around the second axis J2 of the shaft 10 at predetermined angular intervals (e.g., intervals of 15°, 30°, or 45°). The number of through holes arranged around the second axis J2 at predetermined angular intervals is just an example and is not limited.

[0051] Furthermore, for example, in the case of a robot joint capable of rotating around a third axis J3, the lubrication chamber 20 is formed by being surrounded by the first arm 4 (first component) and the second arm 5 (second component), but the orientation of the lubrication chamber 20 can be changed to any angle. Therefore, when eight of the ten through holes 30 to 39 are arranged around the third axis J3 of the first arm 4 (first component) or the second arm 5 (second component) at predetermined angular intervals (e.g., 45° intervals), the uppermost through hole among the eight through holes 32 to 39 can be used as a vent, regardless of the current rotational position of the first arm 4 or the second arm 5.

[0052] Figure 6 This is a cross-sectional view (AA) of the machine 1 according to the fifth embodiment (refer to the cut line AA). Figure 1 Here, only the parts that differ from the machine 1 of the second embodiment will be described. In the machine 1 of the fifth embodiment, the rotating body 3 (first component) and the first arm 4 (second component) are hollow bodies, and two of the four through holes 30-33, 31 and 32, open into the internal space of the rotating body 3 or the first arm 4, which differs from the second embodiment. Furthermore, all four through holes 30-33 may also open into the internal space of the rotating body 3 or the first arm 4. Therefore, when the bolts 40-43 are, for example, rubber bolts or threaded metal bolts, the bolts 40-43 will not be exposed to the external space, thus providing a machine 1 with a structure that is difficult to entangle with a person. This feature is particularly advantageous when the machine 1 is a collaborative robot, contributing to the safety of the collaborative robot.

[0053] Figure 7 This is a cross-sectional view (AA) of the machine 1 according to the sixth embodiment (refer to the cut line AA). Figure 1 Here, only the parts that differ from the machine 1 of the second embodiment will be described. In the machine 1 of the sixth embodiment, two of the four through holes 30 to 33 that are used as vent holes (e.g., through holes 30, 32 or through holes 31, 33, etc.) are arranged on one side 12 of the machine 1 in the direction of the second axis J2, and the remaining two through holes 30 to 33 that are used as discharge holes (e.g., through holes 31, 33 or through holes 30, 32, etc.) are arranged on the opposite side 13 of the machine 1 in the direction of the second axis J2. In this way, the multiple through holes 31, 33 that are opened as discharge holes for lubricant 21 are arranged on the same side 13 of the machine 1 in the direction of the second axis J2, thereby enabling the lubricant 21 discharged from these through holes 31, 33 to be collected in a concentrated manner.

[0054] According to the above embodiment, when discharging the lubricant 21, two through holes that open into the spaces on both sides of the lubrication chamber 20, which are spaced apart in the direction of the second axis J2 and are separated by the bearing 11 (or reducer 8), are opened as vent holes, and the remaining through hole is opened as a discharge hole. Air flowing in through the through hole, which serves as a vent hole, forces the lubricant 21 out of the spaces S1 and S2 on both sides of the lubrication chamber 20, and also forces out the lubricant 21 retained inside the bearing 11 (or reducer 8). Therefore, the lubricant 21 can be discharged earlier than in the past, and the maintenance time for the lubricant 21 can be shortened.

[0055] Various embodiments have been described in this specification, but the present invention is not limited to the above embodiments, and various modifications are desired within the scope of the protection described herein.

[0056] Explanation of reference numerals in the attached figures

[0057] 1 Machinery

[0058] 2 bases

[0059] 3. Rotating body (first component)

[0060] 4. First arm (second component)

[0061] 5 Second Arm

[0062] 6 wrist units

[0063] 7 Driver Sources

[0064] 8-speed reducer

[0065] 10-axis

[0066] 11 bearings

[0067] Side views of 12 and 13

[0068] 20 Lubrication Chambers

[0069] 21 Lubricant

[0070] 30-39 through holes

[0071] 40~49 bolts

[0072] J1~J3 axis.

Claims

1. A machine, characterized in that, have: An axis along a predetermined axis; The bearing that supports the shaft; A lubrication chamber, which contains the shaft and the bearing, is capable of storing a fluid lubricant; as well as Three through holes, which penetrate the wall of the lubrication chamber and allow for bolt opening. Two of the three through holes open into spaces on either side of the lubrication chamber of the bearing along the axial direction. When injecting the lubricant, at least one of the two through holes is used as the lubricant injection hole and the plug is opened. When discharging the lubricant, the two through holes are opened as vent holes, and the remaining through hole is opened as the lubricant discharge hole.

2. The machine according to claim 1, characterized in that, In two or more orientations of the lubrication chamber, the two through holes can be positioned at a position equal to or higher than the upper surface of the lubricant within the lubrication chamber, and the remaining through hole can be positioned lower than the upper surface of the lubricant within the lubrication chamber.

3. The machine according to claim 1 or 2, characterized in that, The lubrication chamber is formed by a first component and a second component that are spaced apart from the bearing in the axial direction, and the two through holes are respectively disposed in the first component and the second component.

4. The machine according to claim 3, characterized in that, A plurality of through holes are arranged at predetermined angular intervals around the axis of the first component or the second component.

5. The machine according to claim 3 or 4, characterized in that, The first component and the second component are hollow bodies, and all three through holes open into the internal space of the first component or the second component respectively.

6. The machine according to claim 1 or 2, characterized in that, The through hole is disposed on the shaft.

7. The machine according to claim 6, characterized in that, The two through holes converge inside the shaft and open into the external space.

8. The machine according to claim 6 or 7, characterized in that, A plurality of through holes are arranged at predetermined angular intervals around the axis of the shaft.

9. The machine according to any one of claims 1 to 8, characterized in that, All the through holes are arranged on one side of the machine along the axial direction.

10. The machine according to any one of claims 1 to 9, characterized in that, The machine also has a through hole used as the discharge hole, and a plurality of through holes that serve as the discharge hole are arranged on the same side of the machine in the axial direction.

11. The machine according to any one of claims 1 to 10, characterized in that, The shaft and the bearing are mechanical elements of the speed reducer, and the two through holes open into spaces on both sides of the lubrication chamber of the speed reducer in the axial direction.

Images