Conveying device

Abstract

The present invention can suppress an increase in the size of the entire device and achieve a high speed. The conveying device (10) comprises a fixed base (10) provided with a large gear; the rotating body (20) is supported on the fixed base through a bearing (16); two or more servomotors (30); a transfer arm (50); and two or more speed reducers (40). The speed reducer is provided with: a frame body (41) integrated with the rotating body (20); a planet carrier (42) rotatably supported inside the frame body (41); an internal gear (43) arranged on the inner side of the frame body; a sun gear (44) connected to an output shaft (32) of the servomotor; a plurality of planetary gears (45) disposed around the sun gear and rotatably supported on a carrier (42); and an output gear (46) that rotates integrally with the carrier. The planetary gear meshes with the sun gear and meshes with the internal gear. The diameter of the output gear is smaller than that of the large gear (14), and the output gear is meshed with the large gear on the outer side of the large gear.

Description

Technical Field

[0001] The invention relates to a conveying device for conveying workpieces using a conveying arm. Background Art

[0002] In the past, conveying devices that rotate conveying arms often use eccentric swing type speed reducers in the driving mechanism for rotating the conveying arms (e.g., Patent Document 1). Since such eccentric swing type speed reducers have a small backlash, they have the advantage of excellent position accuracy during conveying operations when used in conveying devices.

[0003] Furthermore, there is also known a speed reducer using a planetary gear in a driving mechanism of a joint or the like of a robot (for example, Patent Document 2).

[0004] Prior art literature

[0005] Patent Literature

[0006] [Patent Document 1] Japanese Patent Publication No. 2011-212839

[0007] [Patent Document 2] Japanese Patent Publication No. 2018-202545 Summary of the invention

[0008] Technical problem to be solved by the invention

[0009] However, assuming that an industrial robot having an eccentric swing type reducer as in Patent Document 1 is used, for example, as a conveying device for conveying a workpiece from a stacker loaded with workpieces for stamping into a punching machine, a conveying device for conveying a workpiece processed by a punching machine from a punching machine to a stacker, or a conveying device for conveying a workpiece from one punching machine to another between multiple punching machines, in order to improve production efficiency, it is necessary to reciprocate (swing) the conveying arm at a higher speed within a limited area (space). Therefore, if the rotation speed of the conveying arm is increased, the reducer will heat up inside, the components will expand, and a technical problem of limited high-speed operation will occur.

[0010] Furthermore, the reducer of Patent Document 2 can suppress heat generation even if the reciprocating motion of the conveying arm is accelerated. However, in order to increase the output torque of the motor to realize the high-speed rotation motion performed by the inexpensive and lightweight motor, it is necessary to connect the gears in multiple stages to increase the reduction ratio. The multi-stage connection of the gears at this time is accompanied by an increase in the distance from the rotating shaft of the conveying arm to the center of gravity of the motor. That is, the moment of inertia of the rotating part of the conveying device itself becomes larger. The increase in the moment of inertia limits the increase in the acceleration and deceleration of the conveying arm that continuously reciprocates in a limited area, thereby hindering the realization of continuous high-speed conveying.

[0011] Therefore, the present invention provides a conveying device that can easily ensure a large reduction ratio of a reducer and realize a high-speed conveying arm that repeatedly performs a swinging motion.

[0012] Solutions to technical problems

[0013] The present invention is made to solve at least a part of the above-mentioned technical problems, and can be implemented in the following forms or application examples.

[0014] [1] One embodiment of the conveying device according to the present invention comprises:

[0015] a fixed base having a large gear as an external gear;

[0016] A rotating body, which is supported on the fixed base through a bearing;

[0017] two or more servo motors that rotate the rotating body relative to the fixed base;

[0018] a transport arm configured to be rotatable together with the rotating body to transport the workpiece; and

[0019] Two or more speed reducers, which are fixed on the rotating body and are respectively connected to the two or more servo motors;

[0020] Features:

[0021] The reducer comprises: a frame body integral with the rotating body; a planetary carrier rotatably supported inside the frame body; an internal gear arranged inside the frame body; a sun gear connected to the output shaft of the servo motor; a plurality of planetary gears arranged around the sun gear and rotatably supported on the planetary carrier; and an output gear rotating integrally with the planetary carrier.

[0022] The planetary gears mesh with the sun gear and with the internal gear,

[0023] The output gear has a smaller diameter than the large gear and meshes with the large gear at the outer side of the large gear.

[0024] According to one embodiment of the conveying device, heat generation can be suppressed and the rotation speed of the rotating body and the conveying arm can be increased by using planetary gears instead of an eccentric oscillating type speed reducer that is easy to generate heat as in Patent Document 1. Furthermore, according to one embodiment of the conveying device, a high reduction ratio can be easily ensured by arranging two or more speed reducers using planetary gears around a large gear.

[0025] [2] In one embodiment of the conveying device, the conveying device may be configured as follows:

[0026] The fixed base has an annular ring-shaped end portion protruding from the fixed base;

[0027] The annular end portion is configured such that the annular large gear is fixed to the outer circumferential surface of the annular end portion, and the outer ring of the bearing is fixed to the inner circumferential surface of the annular end portion;

[0028] The rotating body has an annular fixing portion arranged along the inner side of the annular end;

[0029] The annular fixing portion is configured such that the inner ring of the bearing is fixed on the outer circumferential surface of the annular fixing portion;

[0030] The fixed base and the rotating body are formed with an opening inside the annular fixed portion along the rotation axis of the rotating body;

[0031] A wiring extends from the fixing base toward the servo motor so as to pass through the opening.

[0032] In one embodiment of the conveying device, since an opening can be provided inside the large gear, wiring can be performed using the opening. In addition, in one embodiment of the conveying device, since a large opening can be provided in accordance with the large gear, a large servo motor requiring a thick power line can be used.

[0033] [3] In one embodiment of the conveying device, the conveying device may be configured as follows:

[0034] The conveying arm comprises: a first arm having one end rotatably connected to the rotating body; and a first driving mechanism;

[0035] The first drive mechanism rotates the first arm up and down to move the other end of the first arm up and down.

[0036] According to one embodiment of the conveying device, the first driving mechanism can raise and lower the other end of the first arm.

[0037] [4] In one embodiment of the transport device, the wiring passing through the opening may include a power line connected to the first drive mechanism.

[0038] According to one aspect of the above-described conveying device, the power line of the first driving mechanism can be routed using the opening.

[0039] [5] In one embodiment of the conveying device, the conveying device may be configured as follows:

[0040] A sealing component is provided between the outer peripheral surface of the planet carrier and the inner peripheral surface of the frame;

[0041] The lubricating oil is sealed in the frame by the sealing member.

[0042] According to one embodiment of the delivery device, the amount of oil used in the planetary reduction mechanism can be reduced.

[0043] [6] In one embodiment of the conveying device,

[0044] The workpiece may also be a metal plate for stamping or a product after stamping.

[0045] According to one aspect of the conveying device, even when a workpiece made of a metal material is conveyed, it is possible to increase the conveying speed of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a perspective view of the conveying device according to this embodiment.

[0047] Figure 2 yes Figure 1 AA cross-section diagram.

[0048] Figure 3 yes Figure 2 BB cross-section diagram.

[0049] Figure 4 yes Figure 2 CC cross-section diagram.

[0050] Figure 5 It is a partially enlarged view showing a longitudinal section of a conveying device according to a modified example. DETAILED DESCRIPTION

[0051] Hereinafter, preferred embodiments of the present invention will be described in detail using the accompanying drawings. In addition, the embodiments described below do not unduly limit the contents of the present invention described in the claims. Furthermore, the structures described below are not limited to all essential components of the present invention.

[0052] 1. Overview of the conveyor system

[0053] Figure 1 1 is a perspective view of a conveying device 1 according to the present embodiment. The conveying device 1 includes: a fixed base 10; a rotating body 20 rotatable relative to the fixed base 10; two or more servo motors 30; a conveying arm 50 rotating together with the rotating body 20; and two or more speed reducers 40 respectively connected to the two or more servo motors 30. The conveying device 1 may also include a control device 6 for controlling the operation of the conveying device 1.

[0054] The fixed base 10 is fixed to the machine table 11 . In the example shown in the present embodiment, there are two servo motors 30 , but the present invention is not limited thereto and may be three or more. The two servo motors 30 can rotate the rotating body 20 relative to the fixed base 10 .

[0055] The conveying arm 50 is configured to be able to rotate together with the rotating body 20 to convey the workpiece 2. The conveying arm 50 is fixed to the rotating body 20. The conveying device 1 can be a so-called multi-joint robot, for example, a 4-axis robot. The conveying arm 50 includes a plurality of long parts, for example, a first arm 51, a second arm 52 and a long part 53. The conveying arm 50 can include, for example, a first drive mechanism 55, a second drive mechanism 56 and a third drive mechanism 58 each including a servo motor. The conveying arm 50 can also include a first lever assembly 57a and a second lever assembly 57b composed of a connecting rod mechanism. One end of the first arm 51 is rotatably connected to the rotating body 20, and the first arm 51 is rotated up and down by the first drive mechanism 55 to raise and lower the other end. The second arm 52 is rotatably connected to the other end of the first arm 51. The first lever assembly 57a is connected to one end of the second arm 52 and is operated by the second drive mechanism 56. The other end of the second arm 52 is moved forward and backward relative to the rotating body 20 by operating the first lever assembly 57a using the second driving mechanism 56. The third driving mechanism 58 is fixed to the other end of the second arm 52 via the second lever assembly 57b, and is raised and lowered while maintaining a horizontal state even when the first arm 51 is raised or lowered. One end of the long component 53 is rotatably connected to the third driving mechanism 58, and the other end (the free end of the conveying arm 50) has a plurality of adsorption components 54 for holding the workpiece 2. The long component 53 drives the third driving mechanism 58 to rotate the workpiece 2 horizontally relative to the other end of the second arm 52. In addition, the conveying arm 50 can appropriately adopt the conveying arm structure of a known multi-joint robot. Furthermore, the adsorption component 54 is not limited to an adsorption mechanism, and it only needs to be able to hold the workpiece 2, for example, it can also be a gripping mechanism.

[0056] The conveying device 1 is, for example, arranged adjacent to the punching machine 3. Furthermore, the conveying device 1 can also be arranged between a plurality of punching machines 3 to convey the workpiece from the upstream punching machine to the downstream punching machine. The workpiece 2 can be a metal plate for punching or a product after punching. The conveying device 1 drives the servo motor 30 to horizontally rotate the rotating body 20 and the conveying arm 50 around the first rotation axis 24, and conveys the workpiece 2 to the punching machine 3. This conveying action, for example, rotates the first arm 51 through the first drive mechanism 55 to raise and lower the workpiece 2, rotates the second arm 52 through the second drive mechanism 56 to rotate the workpiece 2 forward and backward, and rotates the long part 53 through the third drive mechanism 58 to horizontally rotate the workpiece 2, and conveys the workpiece 2 to an appropriate position. Stamped products tend to become heavier, and punching requires improved productivity. By using the conveying device 1, even when conveying a workpiece 2 made of metal material for punching, the conveying speed of the workpiece 2 can be increased. In addition, in the present embodiment, an example in which the workpiece 2 is conveyed to the press machine 3 is described, but it may be arranged adjacent to a device other than the press machine 3. For example, in the case of a machine tool, the workpiece 2 may be a processed object or material after cutting, and in the case of an injection molding machine, the workpiece 2 may be a plastic product or an insert.

[0057] The control device 6 is electrically connected to each action part of the conveying device 1. The control device 6 can also receive signals from a sensor not shown in the figure of the conveying device 1. Furthermore, the control device 6 can also be a part of the control device of the punching machine 3. The control device 6 includes, for example, an operating unit, a calculation unit, a storage unit, a display unit, and an output unit. The control device 6 has, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory) or a HDD (Hard Disk Drive), a communication interface for high-speed data communication, and a user interface such as a display, a touch panel or a keyboard. Part or all of the controller 6 can be set on the cloud via the Internet.

[0058] The conveying action of the conveying device 1 can be preset using the operation unit. The display unit can display the setting content and execution status of the conveying action. The calculation unit performs various processes for executing the set conveying action. In addition, the conveying device 1 can operate according to the conveying action stored in the storage unit according to the instruction signal from the output unit of the control device 6.

[0059] 2. Description of the reduction mechanism

[0060] use Figure 2 to Figure 4 The speed reduction mechanism of the conveying device 1 will be described in detail. Figure 2 yes Figure 1 AA cross-section diagram, Figure 3 yes Figure 2 BB cross-section diagram, Figure 4 yes Figure 2 CC cross-section diagram.

[0061] The conveying device 1 includes: a fixed base 10 having a large gear 14 as an external gear; and a rotating body 20 supported on the fixed base 10 via a bearing 16. The conveying device 1 also includes: two or more servo motors 30 fixed to the rotating body 20 via a reducer 40; a conveying arm 50 whose fixed end is fixed to the rotating body 20; and two or more reducers 40 fixed to the rotating body 20.

[0062] The fixed base 10 is arranged on the machine table 11, and rotatably supports the rotating body 20 and the conveying arm 50. The fixed base 10 has, for example, an annular ring end 12 protruding from the fixed base 10. The fixed base 10 may be a hollow cylinder, and the annular end 12 is formed at the upper end of the cylinder. The annular end 12 is configured such that an annular large gear 14 is fixed to the outer circumferential surface of the annular end 12, and an outer ring 16b of a bearing 16 is fixed to the inner circumferential surface of the annular end 12.

[0063] The bearing 16 is a rolling bearing having an outer ring 16b fixed to the fixed base 10, an inner ring 16a fixed to the rotating body 20, and balls or rollers between the outer ring 16b and the inner ring 16a. The bearing 16 is, for example, arranged in a horizontal plane. The bearing 16 is, for example, a cross roller bearing.

[0064] The rotating body 20 is a component integral with the conveying arm 50, and the conveying arm covers the annular end 12 in a manner spanning from the inside to the outside of the annular end 12. The base end of the conveying arm 50 is fixed to the upper surface of the rotating body 20. The rotating body 20 is driven by the servo motor 30 to rotate relative to the fixed base 10 with the first rotation axis 24 as the center, so that the conveying arm 50 and the workpiece 2 can be rotated around the first rotation axis 24. The first rotation axis 24 is a virtual line serving as the rotation center of the rotating body 20, and is indicated by a dot-dash line in the figure. The rotating body 20 has an annular annular fixing portion 26 arranged along the inner side of the annular end 12. The annular fixing portion 26 is provided such that the inner ring 16a of the bearing 16 is fixed to the outer peripheral surface of the annular fixing portion 26. The annular fixing portion 26 is provided with an annular sealing member S between the fixed base 10 and the annular fixing portion 26 at a position lower than the portion where the inner ring 16a is fixed.

[0065] An opening 22 is formed on the fixed base 10 and the rotating body 20 along the first rotation axis 24 of the rotating body 20 on the inner side of the annular fixed portion 26. The conveying device 1 can also be configured so that the wiring 36 extends from the fixed base 10 to the servo motor 30 in a manner of passing through the opening 22. With the conveying device 1, since the opening 22 can be provided on the inner side of the large gear 14, the opening 22 can be used for wiring. Furthermore, with the conveying device 1, since a large opening 22 can be provided in accordance with the large gear 14, a large servo motor 30 requiring a thick power line can be used. The wiring 36 can include power lines for the first drive mechanism 55 other than the servo motor 30, etc., and can also include signal lines for sensors not shown in the figure, etc. Furthermore, the wiring 36 can also extend to the bottom of the fixed base 10 and be connected to the control device 6.

[0066] The speed reducer 40 includes a frame 41 , a carrier 42 , an internal gear 43 , a sun gear 44 , a plurality of planetary gears 45 , and an output gear 46 .

[0067] The frame 41 is integral with the rotating body 20. The frame 41 has a substantially cylindrical shape with upper and lower openings, and the lower end is placed and fixed so as to extend into the rotating body 20, and the servo motor 30 is placed and fixed on the upper end.

[0068] The planetary carrier 42 is rotatably supported inside the frame 41. The planetary carrier 42 is roughly cylindrical and is mounted on the frame 41 by bearings arranged at two upper and lower locations on the outer circumference of the planetary carrier 42. An output gear 46 is fixed integrally at the lower end of the planetary carrier 42. The rotation axis of the output shaft 32 is the second rotation axis 34. Therefore, by rotating the planetary carrier 42 around the second rotation axis 34, the output gear 46 rotates around the second rotation axis 34. In addition, the second rotation axis 34 is, for example, a virtual line parallel to the first rotation axis 24 extending in the vertical direction, which is represented by a dotted line in the figure. An annular sealing component S is provided between the inner circumferential surface of the lower end of the frame 41 (lower than the bearing) and the outer circumferential surface of the planetary carrier 42. The sealing component S is an oil seal, and the lubricating oil is sealed in the narrow frame 41 by the sealing component S, which can minimize the amount of oil used in the planetary reduction mechanism.

[0069] The internal gear 43 is provided inside the frame 41. The internal gear 43 is integrally formed on the inner peripheral surface of the cylindrical frame 41 so as to surround the carrier 42. The internal gear 43 is formed on a plane orthogonal to the second rotation axis 34, in this case, a horizontal plane.

[0070] The sun gear 44 is connected to the output shaft 32 of the servo motor 30. The sun gear 44 is provided on the outer periphery of the lower end of the rod connected to the output shaft 32. The rod extends from the output shaft 32 to the inside of the planetary carrier 42 along the second rotation axis 34. The sun gear 44 is an external gear, and transmits the rotation of the output shaft 32 to the speed reducer 40.

[0071] A plurality of planetary gears 45 are arranged around the sun gear 44 and are rotatably supported on the planetary carrier 42. In the present embodiment, there are three planetary gears 45, but this is not limited thereto and there may be four or more. The rotating shaft 45a of the planetary gear 45 is supported on the planetary carrier 42 so as to be freely rotatable up and down. Furthermore, the rotating shaft 45a may also be fixed up and down on the planetary carrier 42, and the planetary gear 45 may be freely rotatable relative to the rotating shaft 45a. The rotating shaft 45a is parallel to the second rotating axis 34. The rotating shaft 45a is arranged around the second rotating axis 34, and a portion of the planetary gear 45 is arranged to protrude further outward than the outer peripheral surface of the planetary carrier 42. Each planetary gear 45 meshes with the sun gear 44 on the center side of the planetary carrier 42, and meshes with the internal gear 43 at a position protruding from the planetary carrier 42.

[0072] The output gear 46 rotates integrally with the planetary carrier 42. The output gear 46 has a smaller diameter than the large gear 14 and meshes with the large gear 14 outside the large gear 14. The output gear 46 has a larger outer diameter than the planetary carrier 42. The outer side and the lower side of the output gear 46 are covered by the rotating body 20.

[0073] Therefore, the conveying device 1 drives the servo motor 30, such as Figure 3 As shown, the output shaft 32 and the sun gear 44 rotate, and the three planetary gears 45 meshing with the sun gear 44 rotate, and each planetary gear 45 meshes with the internal gear 43, so that each planetary gear 45 rotates along the internal gear 43, causing the planetary carrier 42 to rotate relative to the frame 41. Figure 4 As shown, when the planetary carrier 42 rotates, the output gear 46 rotates, so that the output gear 46 rotates around the large gear 14, and the rotating body 20 supporting the planetary carrier 42 rotates relative to the fixed base 10 around the first rotation axis 24.

[0074] By using the conveying device 1, by using the planetary gear 45, even if the servo motor 30 increases the rotation speed of the rotating body 20 and the conveying arm 50, the heat generation of the reducer 40 can be suppressed. In addition, by using the conveying device 1, by arranging two or more reducers 40 around the fixed base 10 of the large gear 14, it is possible to suppress the enlargement of the entire device while ensuring a high reduction ratio. In addition, by using the conveying device 1, it is possible to cope with the high speed required for the action of conveying the workpiece 2 to the punching machine 3.

[0075] The conveying device 1 has a larger backlash than the speed reduction mechanism of Patent Document 1, so even at a high speed, it is not easy to cause an operation failure due to heat. In addition, the conveying device 1 can obtain a high reduction ratio by using the large gear 14 and the output gear 46 compared to Patent Document 2 which uses a planetary carrier as an output shaft. Therefore, if the motor output is the same, it is easy to increase the rotational angular acceleration of the rotating body 20 and to increase the conveying speed.

[0076] In the present embodiment, the rotation center lines of all the gears used in the speed reducer 40 are parallel to the first rotation axis line 24 of the rotating body 20 , but the present invention is not limited thereto, and a non-parallel structure may be formed by combining known gears.

[0077] Furthermore, the position of two or more servo motors 30 may be controlled by the control device 6 to cancel the backlash. By being able to cancel the backlash, even at a high speed, it is possible to exhibit high stop position accuracy at the transfer position of the workpiece 2. Specifically, there is backlash between the large gear 14 and the two output gears 46, but by controlling one output gear 46 to generate a large torque and the other output gear 46 to generate a small amount of counter torque during acceleration, the backlash during acceleration can be canceled, and by performing the opposite control during deceleration, the backlash can be canceled.

[0078] Furthermore, as a modified example, Figure 5 As shown, the speed reducers 40 a and 40 b may be connected to the second rotation axis 34 in multiple stages. Figure 5 is a longitudinal section (with Figure 2 AA section corresponding to the section of the conveyor 1). Since the basic structure is the same as that of the conveyor 1, repeated descriptions are omitted. Compared with the conveyor 1, the conveyor 1a is configured such that a reducer 40a is added between the sun gear 44 and the reducer 40b. The two reducers 40a and 40b are arranged in the frame 41. The reducer 40a located on the servo motor 30 side is provided with a plurality of planetary gears 45 arranged around the sun gear 44 formed on the output shaft 32 of the servo motor 30, and the planetary gears 45 are rotatably supported on the planetary carrier 42. Each planetary gear 45 meshes with the sun gear 44 on the center side of the planetary carrier 42, and meshes with the internal gear 43 at a position protruding from the planetary carrier 42. The output shaft 47 protrudes from the lower surface of the planetary carrier 42 and rotates integrally with the planetary carrier 42. The output shaft 47 has a diameter substantially the same as that of the output shaft 32, and a sun gear 44a is formed on the outer peripheral surface. The basic structure of the reducers 40a and 40b is the same as that of the reducer 40 in the embodiment.

[0079] The plurality of planetary gears 45 of the speed reducer 40b located on the rotating body 20 side are meshed with the sun gear 44a respectively. Thus, the conveying device 1a drives the servo motor 30, the output shaft 32 and the sun gear 44 rotate, the planetary gears 45 of the speed reducer 40a rotate, and each planetary gear 45 rotates along the internal gear 43, so that the planetary carrier 42 rotates relative to the frame 41. Moreover, when the planetary carrier 42 rotates, the output shaft 47 rotates, and the output gear 46 of the speed reducer 40b rotates as in the above embodiment, so that the output gear 46 rotates while circling around the large gear 14, and the rotating body 20 supporting the planetary carrier 42 rotates relative to the fixed base 10 with the first rotation axis 24 as the center.

[0080] In this way, by configuring the plurality of reducers 40a and 40b to be connected in multiple stages, the reduction ratio can be increased. Therefore, for example, even if each servo motor 30 is set as a cheap and lightweight servo motor to reduce the output torque, the output torque can be increased by the plurality of reducers 40a and 40b, so that the high-speed rotation of the conveying arm 50 can be achieved. Moreover, since the plurality of reducers 40a and 40b are stacked along the second rotation axis 34 (in a direction perpendicular to the rotation plane of the conveying arm 50), the increase in the distance between the first rotation axis 24 as the rotation axis of the conveying arm 50 and the center of gravity position of the servo motor 30 is suppressed. Therefore, the increase in the inertia moment of the rotating body 20 including the reducer 40 can also be suppressed, and the acceleration and deceleration of the conveying arm 50 can be increased. Thus, the continuous high-speed reciprocating motion of the conveying arm 50 in a limited area (space) such as a punching machine can be achieved while suppressing the cost.

[0081] The present invention is not limited to the above-mentioned embodiments, and various modifications may be made, including structures that are substantially the same as the structures described in the embodiments (structures with the same functions, methods and results, or structures with the same purposes and effects). Furthermore, the present invention includes structures that replace non-essential parts of the structures described in the embodiments. Furthermore, the present invention includes structures that can have the same effects as the structures described in the embodiments or structures that can achieve the same purposes. Furthermore, the present invention includes structures in which known technologies are added to the structures described in the embodiments.

[0082] Description of Reference Numerals

[0083] 1, 1a. conveying device, 2. workpiece, 3. punching machine, 6. control device, 10. fixed base, 11. machine table, 12. annular end, 14. large gear, 16. bearing, 16a. inner ring, 16b. outer ring, 20. rotating body, 22. opening, 24. first rotating axis, 26. annular fixing part, 30. servo motor, 32. output shaft, 34. second rotating axis, 40. reducer, 41. frame, 42 .Planet carrier, 43. Internal gear, 44, 44a. Sun gear, 45. Planetary gear, 45a. Rotation shaft, 46. Output gear, 47. Output shaft, 50. Conveying arm, 51. 1st arm, 52. 2nd arm, 53. Long member, 54 Adsorption component, 55. 1st driving mechanism, 56. 2nd driving mechanism, 57a. 1st lever assembly, 57b. 2nd lever assembly, 58. 3rd driving mechanism, S. Sealing component.

Claims

1. A conveying device, comprising: a fixed base having a large gear as an external gear; A rotating body, which is supported on the fixed base through a bearing; two or more servo motors that rotate the rotating body relative to the fixed base; a transport arm configured to be rotatable together with the rotating body to transport the workpiece; and Two or more speed reducers, which are fixed on the rotating body and are respectively connected to the two or more servo motors; Features: The reducer comprises: a frame body integral with the rotating body; a planetary carrier rotatably supported inside the frame body; an internal gear arranged inside the frame body; a sun gear connected to the output shaft of the servo motor; a plurality of planetary gears arranged around the sun gear and rotatably supported on the planetary carrier; and an output gear rotating integrally with the planetary carrier. The planetary gears mesh with the sun gear and with the internal gear, The output gear has a smaller diameter than the large gear and meshes with the large gear at the outer side of the large gear.

2. The conveying device according to claim 1, characterized in that: The fixed base has an annular ring-shaped end portion protruding from the fixed base; The annular end portion is configured such that the annular large gear is fixed to the outer circumferential surface of the annular end portion, and the outer ring of the bearing is fixed to the inner circumferential surface of the annular end portion; The rotating body has an annular fixing portion arranged along the inner side of the annular end; The annular fixing portion is configured such that the inner ring of the bearing is fixed on the outer circumferential surface of the annular fixing portion; The fixed base and the rotating body are formed with an opening inside the annular fixed portion along the rotation axis of the rotating body; A wiring extends from the fixing base toward the servo motor so as to pass through the opening.

3. The conveying device according to claim 2, characterized in that: The conveying arm comprises: a first arm having one end rotatably connected to the rotating body; and a first driving mechanism; The first drive mechanism rotates the first arm up and down to move the other end of the first arm up and down.

4. The conveying device according to claim 3, characterized in that: The wiring passing through the opening includes a power line connected to the first driving mechanism.

5. The conveying device according to any one of claims 1 to 4, characterized in that: A sealing component is provided between the outer peripheral surface of the planet carrier and the inner peripheral surface of the frame; The lubricating oil is sealed in the frame by the sealing member.

6. The conveying device according to any one of claims 1 to 4, characterized in that: The workpiece is a metal plate for stamping or a product after stamping.

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