Power transmission device, speed reducer, industrial machine, and method for disassembling and maintaining industrial machine

Abstract

The invention relates to a power transmission device, a decelerator, an industrial machine, and a method for disassembling and maintaining the industrial machine. The power transmission device includes a housing, an output rotating body, an input shaft, a power transmission mechanism, a shaft seal portion, a housing seal portion, and an end cover. The housing is fixed to the base member. The output rotating body is accommodated in the inner side of the housing in a rotatable manner. The output rotating body has a first coupling portion coupled to a member to be coupled. The input shaft is connected to a rotating shaft of the motor. The power transmission mechanism is disposed inside the housing in a state surrounded by the output rotating body, and transmits rotation of the input shaft to the output rotating body. The shaft seal portion seals a space between the through hole of the output rotating body and the input shaft. The housing sealing part seals the space between the housing and the outer peripheral surface of the output rotating body. The end cover is attached to the first connection portion of the output rotating body.

Description

Technical Field

[0001] The present invention relates to a power transmission device, a speed reducer, an industrial machine and a disassembly and maintenance method of the industrial machine. Background Art

[0002] As a drive unit used in industrial machinery such as a welding robot, a drive unit having a motor, a reducer and a base member is known. In the drive unit, the reducer reduces the rotation of the motor. The motor and the reducer are fixedly arranged on the base member (for example, refer to Patent Document 1).

[0003] In the drive unit described in Patent Document 1, the reducer has a substantially cylindrical housing. The housing is fixedly mounted on a base member. The motor is disposed on the back of the reducer. The motor is fixed to the base member by means of an adapter in the same manner as the reducer. The reducer includes the housing, a gear frame, a crankshaft, and a swing gear. The housing has an inner circumferential surface and internal teeth provided on the inner circumferential surface. The gear frame is rotatably accommodated inside the housing. The crankshaft is rotatably supported on the gear frame. The crankshaft has an eccentric region. The eccentric region rotates in rotation in response to the rotation of the motor. The swing gear has external teeth having a smaller number of teeth than the internal teeth of the housing. The external teeth mesh with the internal teeth of the housing, and at the same time, the swing gear receives a rotational force from the eccentric region of the crankshaft and swings and rotates. If the swing gear receives a rotational force from the eccentric region of the crankshaft and swings and rotates, the self-rotation component of the swing gear is output to the gear frame via the crankshaft. As a result, the rotation of the motor is decelerated and output to the gear frame.

[0004] The gear rack of the reducer is fixed to the robot's rotating arm or other transmitted components by bolts at one axial end face (the end face on the opposite side to the motor). In addition, the portion between the housing of the reducer and the gear rack is sealed by a housing sealing member in the end area on the same side as the transmitted component. The center hole and crankshaft hole of the end face of the gear rack on the same side are sealed by a sealing member. In addition, the interior of the reducer and the space surrounded by the adapter and the motor facing the end face of the reducer are filled with lubricating fluid. The lubricating fluid lubricates the mechanical parts inside or outside the reducer.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2021-38809 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] The reducer described in Patent Document 1 can be kept connected to the motor and separated from the transmitted member during maintenance. At this time, the lubricating fluid filled inside the reducer and the adapter does not need to be discharged to the outside. Therefore, maintenance work can be performed relatively easily. However, the adapter used to fix the motor to the base member of the reducer described in Patent Document 1 also serves as a lubricating fluid sealing space at the end of the reducer. Therefore, the total length of the motor and the reducer connected becomes longer.

[0010] In a power transmission device including such a speed reducer, it is desirable to adopt a structure that does not require draining of lubricating fluid during maintenance and to shorten the overall length of the entire machine in a state where the motor is connected.

[0011] The present invention provides a power transmission device, a speed reducer, an industrial machine and a disassembly and maintenance method of the industrial machine, which have good maintainability and can further shorten the overall length in a state where a motor is connected.

[0012] Solutions for solving problems

[0013] A power transmission device according to one embodiment of the present invention comprises: a housing fixed to a base member; an output rotating body having a through hole extending therethrough in an axial direction and an end portion in the axial direction, being rotatably received on the inner side of the housing, and having a first connecting portion, wherein the first connecting portion is located at the end portion and connected to the connected member; an input shaft inserted into the through hole and connected to the rotating shaft of the motor; a power transmission mechanism arranged on the inner side of the housing in a state surrounded by the output rotating body and transmitting the rotation of the input shaft to the output rotating body; a shaft sealing portion sealing a space between the through hole and the input shaft; a housing sealing portion sealing a space between the housing and an outer peripheral surface of the output rotating body; and an end cover mounted to the first connecting portion of the output rotating body.

[0014] According to the above structure, the interior of the power transmission device is sealed by the shaft seal, the housing seal, and the end cover. Thus, the lubricating fluid filled in the interior of the power transmission device is prevented from leaking out. The interior of the power transmission device is thus sealed as a single unit of the power transmission device, so the motor and the power transmission device can be connected without using an adapter. Therefore, in the case of a power transmission device adopting this structure, the total length in a state where the motor is connected can be further shortened.

[0015] A speed reducer according to one aspect of the present invention comprises: a housing fixed to a base member and provided with internal teeth on an inner peripheral surface; a gear frame having: a through hole penetrating in an axial direction; an end portion in the axial direction; and a first outer peripheral surface and a second outer peripheral surface separated in the axial direction, the gear frame being rotatably received in the inner side of the housing and having a first connecting portion, the first connecting portion being located at the end portion and connected to a connected member; an input shaft rotatably inserted into the through hole and connected to a rotating shaft of the motor; a crankshaft rotatably inserted into the through hole and connected to a rotating shaft of the motor; and a crankshaft rotatably inserted into the through hole and connected to a rotating shaft of the motor. Supported on the inner side of the gear frame, it has an eccentric area that receives the rotation of the input shaft and rotates; a swing gear, which is arranged between the first outer peripheral surface and the second outer peripheral surface, swings and rotates together with the eccentric area of ​​the crankshaft, meshes with the internal teeth, and outputs the reduced rotation to the gear frame; a shaft sealing portion, which seals the space between the through hole and the input shaft; a housing sealing portion, which seals the space between the housing and the first outer peripheral surface and between the housing and the second outer peripheral surface; an end cover, which is mounted on the first connecting portion of the gear frame.

[0016] According to the above structure, the interior of the reducer is sealed by the shaft seal, the housing seal, and the end cover. Thus, the lubricating fluid filled in the reducer is prevented from leaking out. The interior of the reducer is thus sealed as a single reducer, so the motor and the reducer can be connected without using an adapter. Therefore, in the case of a reducer adopting this structure, the total length in the state of connecting the motor can be further shortened.

[0017] In a speed reducer of one embodiment of the present invention, the first connecting portion of the gear frame may have an outer peripheral edge portion located at the end portion. A recess may be formed on the inner side of the outer peripheral edge portion. A transmission rotating body that transmits the rotation of the input shaft to the crankshaft may be arranged in the recess. The end cover may be mounted on the outer peripheral edge portion in a manner that covers the recess.

[0018] In this case, by installing the end cover on the outer peripheral edge portion in a manner covering the recessed portion where the transmission rotating body is arranged, one axial end side of the gear frame can be sealed. Therefore, when this structure is adopted, one axial end side of the gear frame can be sealed using a simple-shaped end cover that does not occupy a large amount of axial space. Therefore, the axial length of the reducer can be shortened and the manufacturing can be facilitated.

[0019] The speed reducer according to one aspect of the present invention may include a motor fixing portion located at an end portion of the carrier in the axial direction located on the side opposite to the first connecting portion. The motor may be fixed to the motor fixing portion.

[0020] In this case, the motor is fixed to the motor fixing portion of the carrier, and when the motor is driven in this state, the motor rotates integrally with the carrier, and the reduced rotation is transmitted from the carrier to the connected member.

[0021] When this structure is adopted, the motor is directly fixed to the axial end of the gear frame (motor fixing portion). Therefore, compared with the case where the motor is fixed to the base member via an adapter, the overall axial length of the device in the state where the motor is connected to the reducer can be shortened.

[0022] In the speed reducer according to one aspect of the present invention, the input shaft may be provided with a second connection portion, the second connection portion protruding from the motor fixing portion and connected to the rotating shaft in a relatively non-rotatable manner inside the motor.

[0023] In this case, the input shaft is connected to the rotating shaft of the motor inside the motor. Therefore, the shaft seal member that seals the portion between the shaft hole and the input shaft can be arranged closer to the motor. Therefore, the shaft length of the gear rack can be further shortened.

[0024] In the speed reducer according to one aspect of the present invention, the second connection portion and the rotating shaft may be connected to each other by spline fitting.

[0025] In this case, when the motor is fixed to the motor fixing portion of the gear frame, the end of the input shaft is inserted into the motor, so that the end of the input shaft can be easily connected to the rotating shaft of the motor. Therefore, when this structure is adopted, the assembly of the motor relative to the reducer becomes easy.

[0026] In a reducer of one aspect of the present invention, the gear rack may include: a first gear rack module including: a substrate portion in the shape of a perforated circular plate having an end face in the axial direction; and a plurality of pillar portions arranged approximately along the axial direction from the end face of the substrate portion; a second gear rack module including: a first end face for the plurality of pillar portions to abut in the axial direction; and a second end face located on the side opposite to the first end face in the axial direction, the second gear rack module being formed in the shape of a perforated circular plate; and a fastening member fastening and fixing the second gear rack module to the plurality of pillar portions respectively from the second end face of the second gear rack module. Alternatively, the motor fixing portion may be arranged at an end portion of the substrate portion in the axial direction which is located on the side opposite to the position where the plurality of pillar portions are arranged.

[0027] In this case, the motor is fixed to the base portion of the first gear rack module where the support portion for fastening the first gear rack module and the fastening member for the second gear rack module are not located. Therefore, the fixing member for fixing the motor to the gear rack will not interfere with the support portion for fastening the first gear rack module and the fastening member for fastening the second gear rack module. Therefore, when this structure is adopted, there is no need to extend the axial length of the gear rack to avoid the above-mentioned interference, and the axial length of the reducer can be shortened accordingly.

[0028] An industrial machine according to one aspect of the present invention comprises: a motor; a reducer that reduces the speed of rotation of the motor; a base member to which the reducer is fixed; and a transmitted member that receives the output of the reducer and rotates. The reducer comprises: a housing that is fixed to the base member and has internal teeth on the inner peripheral surface; a gear frame that has: a through hole that passes through in the axial direction; an end in the axial direction; and a first outer peripheral surface and a second outer peripheral surface that are separated in the axial direction, the gear frame being rotatably accommodated inside the housing and having a first connecting portion that is located at the end and connected to the connected member; an input shaft that is rotatably inserted into the through hole and connected to the rotating shaft of the motor; a crankshaft that is rotatably supported inside the gear frame and has a crankshaft that receives the rotation of the input shaft and rotates. An eccentric region of the crankshaft that rotates in rotation; an oscillating gear that is disposed between the first outer peripheral surface and the second outer peripheral surface, oscillates and rotates together with the eccentric region of the crankshaft, meshes with the internal teeth, and outputs the decelerated rotation to the gear carrier; a shaft sealing portion that seals the space between the through hole and the input shaft; a housing sealing portion that seals the space between the housing and the first outer peripheral surface and between the housing and the second outer peripheral surface; an end cover that is mounted to the first connecting portion of the gear carrier; and a motor fixing portion that is located at the axial end of the gear carrier that is located on the side opposite to the first connecting portion. The motor is fixed to the motor fixing portion. A second connecting portion is provided on the input shaft, the second connecting portion protruding from the motor fixing portion, and connected to the rotating shaft in a relatively non-rotatable manner inside the motor.

[0029] According to the above structure, the interior of the reducer is sealed by the shaft seal, the housing seal, and the end cover. Thus, the lubricating fluid filled in the reducer is prevented from leaking out. The interior of the reducer is thus sealed as a single reducer unit, so the motor and the reducer can be connected without using an adapter. Therefore, in the case of an industrial machine adopting this structure, the overall length in a state where the motor is connected can be further shortened.

[0030] In a disassembly and maintenance method of an industrial machine according to one aspect of the present invention, the industrial machine comprises: a motor; a reducer that reduces the rotation of the motor; a base member to which the reducer is fixed; and a transmitted member that receives the output of the reducer and rotates. The reducer comprises: a housing that is fixed to the base member and has internal teeth on the inner circumferential surface; a gear frame that has: a through hole that passes through in the axial direction; an end in the axial direction; and a first outer circumferential surface and a second outer circumferential surface that are separated in the axial direction, the gear frame being rotatably accommodated on the inner side of the housing and having a first connecting portion that is located at the end and connected to the connected member; an input shaft that is rotatably inserted into the through hole and connected to the rotating shaft of the motor; a crankshaft that is rotatably supported on the inner side of the gear frame and has a crankshaft that receives the rotation of the input shaft and rotates. An eccentric region of the crankshaft that rotates in rotation; an oscillating gear that is disposed between the first outer peripheral surface and the second outer peripheral surface, oscillates and rotates together with the eccentric region of the crankshaft, meshes with the internal teeth, and outputs the decelerated rotation to the gear carrier; a shaft sealing portion that seals the space between the through hole and the input shaft; a housing sealing portion that seals the space between the housing and the first outer peripheral surface and between the housing and the second outer peripheral surface; an end cover that is mounted to the first connecting portion of the gear carrier; and a motor fixing portion that is located at the axial end of the gear carrier that is located on the side opposite to the first connecting portion. The motor is fixed to the motor fixing portion. A second connecting portion is provided on the input shaft, the second connecting portion protruding from the motor fixing portion, and connected to the rotating shaft in a relatively non-rotatable manner inside the motor. The disassembly and maintenance method comprises: a temporary fixing process of installing a fixing jig on the base member and the transmitted member to fix the transmitted member to the base member; a first fastening release process of releasing the fastening of the transmitted member relative to the gear frame after the temporary fixing process; a second fastening release process of releasing the fastening of the housing relative to the base member after the temporary fixing process; and a process of removing the reducer together with the motor from the base member after the first fastening release process and the second fastening release process.

[0031] When disassembling industrial machinery using the above method, the reducer and the motor can be removed from the base member while the transmitted member is fixed to the base member using a fixing jig. At this time, there is no need to remove the transmitted member from the base member. Therefore, even when the transmitted member is a long or heavy object, the reducer can be easily disassembled for maintenance. In addition, when disassembling the reducer, there is no need to discharge the lubricating fluid used to lubricate the mechanical parts from the reducer. Therefore, it greatly helps to facilitate disassembly for maintenance.

[0032] Effects of the Invention

[0033] The power transmission device, reducer, and industrial machine described above can make the interior of the power transmission device (reducer) a sealed state by using the shaft seal, the housing seal, and the end cover. Therefore, the motor and the power transmission device (reducer) can be connected without using an adapter that also serves as a filling part for lubricating fluid. Therefore, the overall length of the motor connected can be further shortened while maintaining good maintainability.

[0034] The above-described disassembly and maintenance method of an industrial machine can remove the speed reducer together with the motor from the base member without removing the transmitted member from the base member, and thus can facilitate disassembly work for maintenance of the industrial machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a longitudinal sectional view showing the industrial robot according to the embodiment.

[0036] Figure 2 This is an enlarged cross-sectional view showing a speed reducer used in the industrial robot according to the embodiment.

[0037] Figure 3 This is a longitudinal cross-sectional view showing one step of the method for disassembling and maintaining the industrial robot according to the embodiment.

[0038] Figure 4 It is a longitudinal cross-sectional view showing another step of the disassembly and maintenance method of the industrial robot according to the embodiment.

[0039] Figure 5 This is a longitudinal sectional view showing still another step of the disassembly and maintenance method of the industrial robot according to the embodiment.

[0040] Description of Reference Numerals

[0041] 1. Industrial robot (industrial machinery); 2. Base member; 3. Rotating arm (connected member); 11. Motor; 11a. Rotating shaft; 12. Speed ​​reducer; 13. Housing; 14A. First gear rack module (gear rack, output rotating body); 14Aa. Base plate; 14Aap. Peripheral surface (first peripheral surface); 14Ab. Support column; 14B. Second gear rack module (gear rack, output rotating body); 14Bp. Peripheral surface (second peripheral surface); 14N. Peripheral edge (first connecting member); 1. a crankshaft (power transmission mechanism); 15a, 15b, an eccentric region; 16A, a first swing gear (power transmission mechanism); 16B, a second swing gear (power transmission mechanism); 17, a bolt (fastening member); 26, a spur gear (power transmission mechanism); 29a, 29b, an axial hole; 30, an input shaft; 34, an end cover; 44, a housing sealing member (housing sealing portion); 60, a second connecting portion; 70, a bearing with a sealing function (shaft sealing portion); 91, a fixing fixture. DETAILED DESCRIPTION

[0042] Next, embodiments of the present invention will be described based on the drawings.

[0043] Figure 1 It is a longitudinal sectional view showing an industrial robot 1 which is one form of industrial machinery.

[0044] The industrial robot 1 of the present embodiment is a multi-joint robot having a plurality of rotatable joints. The industrial robot 1 has a base, a base member 2, and a swivel arm 3. The base is located at the lower end side of the industrial robot 1. The base member 2 is fixedly installed on a setting surface such as a floor. The swivel arm 3 is located near the base and is rotatably connected to the base. A drive unit 10 is provided at a portion where the base member 2 and the swivel arm 3 are connected. The drive unit 10 moves the swivel arm 3 by control performed by a controller not shown in the figure. The drive unit 10 includes a driving motor 11 and a reducer 12 that reduces the rotation of the motor 11. The base of the swivel arm 3 is connected to the output side of the reducer 12. The swivel arm 3 is an example of a connected member.

[0045] Figure 2 Yes means Figure 1 An enlarged cross-sectional view of the reducer 12 is shown.

[0046] like Figure 2As shown, the reducer 12 includes a housing 13, a first gear frame module 14A, a second gear frame module 14B, an input shaft 30, a plurality of (for example, three) crankshafts 15, a first swing gear 16A, and a second swing gear 16B. The general shape of the housing 13 is a cylindrical shape. The first gear frame module 14A and the second gear frame module 14B are rotatably held on the inner side of the housing 13, i.e., the inner circumferential surface of the housing 13. The input shaft 30 axially penetrates the center of the first gear frame module 14A and the second gear frame module 14B. The rotating shaft 11a of the motor 11 is connected to one axial end of the input shaft 30 (the end on the first end side discussed later). The plurality of crankshafts 15 are rotatably supported on the first gear frame module 14A and the second gear frame module 14B. The plurality of crankshafts 15 have two eccentric regions 15a and 15b, respectively. The first swing gear 16A and the second swing gear 16B rotate together with the two eccentric regions 15a and 15b.

[0047] In the present embodiment, the first gear rack module 14A and the second gear rack module 14B constitute a gear rack as an output rotating body. In addition, in the present embodiment, as swing gears, a first swing gear 16A and a second swing gear 16B are provided. In the present invention, the number of swing gears is not limited to two. The number of swing gears can be one or more than three.

[0048] Hereinafter, for convenience of description, the side of the input shaft 30 connected to the motor 11 in the axial direction is referred to as a “first end side”, and the side opposite to the first end side is referred to as a “second end side”.

[0049] For example, in Figure 2 In the figure, the first end side is indicated by the reference symbol F1, and the second end side is indicated by the reference symbol F2.

[0050] The first gear rack module 14A has a base plate portion 14Aa and a plurality of support portions 14Ab. The base plate portion 14Aa is in the shape of an open hole circular plate. The base plate portion 14Aa has a first end face facing the first end side and a second end face facing the second end side. The plurality of support portions 14Ab extend axially from the end face (second end face) of the base plate portion 14Aa toward the second gear rack module 14B side. The support portions 14Ab each have a top end face facing the second end side. The second gear rack module 14B is in the shape of an open hole circular plate. The second gear rack module 14B has a first end face facing the first end side and a second end face facing the second end side. The top end faces of the plurality of support portions 14Ab of the first gear rack module 14A are connected to the first end face of the second gear rack module 14B. The second gear rack module 14B has a through hole 14S and a module hole 14H for the external threaded portion 17M of the bolt 17 to pass through. A supporting surface in contact with the head 17H of the bolt 17 is provided inside the module hole 14H. The bolt 17 is a fastening member for fastening the first gear rack module 14A and the second gear rack module 14B. The external threaded portion 17M of the bolt 17 is threadedly engaged with the internal threaded portion 14F respectively provided to the plurality of support portions 14Ab, so that the plurality of support portions 14Ab are fastened and fixed to the second gear rack module 14B. The bolt 17 extends toward the corresponding support portion 14Ab in a manner of passing through the through hole 14S of the second gear rack module 14B from the second end side of the second gear rack module 14B, and is fastened to the support portion 14Ab. The first gear rack module 14A is arranged on the first end side on the inner side of the housing 13. The second gear rack module 14B is arranged on the second end side on the inner side of the housing 13.

[0051] also, Figure 2 The reference numeral 18 in the figure is a positioning pin. The positioning pin 18 is a component used to position the second gear rack module 14B relative to the plurality of support portions 14Ab before the bolt 17 is tightened. The positioning pin 18 passes through the pin hole P2 (second pin hole) connected to the module hole 14H of the second gear rack module 14B and penetrates the pin hole P1 (first pin hole) provided in the support portion 14Ab of the first gear rack module 14A.

[0052] A through hole 29a (first through hole) is formed at the center position of the base plate portion 14Aa of the first gear rack module 14A. A through hole 29b (second through hole) is formed at the center position of the second gear rack module 14B. The through holes 29a, 29b are shaft holes for inserting the input shaft 30. The through holes 29a, 29b penetrate the gear rack as an output rotating body in the axial direction. Hereinafter, these through holes 29a, 29b are referred to as "shaft holes 29a, 29b". The shaft hole 29a on the side of the first gear rack module 14A is rotatably supported by a bearing 70 with a sealing function. The input shaft 30 is assembled in a manner concentric with the rotation center axis c1 of the first gear rack module 14A and the second gear rack module 14B. The bearing 70 with a sealing function seals the space between the inner circumferential surface of the shaft hole 29a and the input shaft 30 in a liquid-tight manner. The bearing 70 with a sealing function is a bearing having a shaft sealing portion.

[0053] In addition, in the present embodiment, the bearing 70 with a sealing function is used, but a bearing and a shaft seal portion may be provided separately to support the input shaft 30 in a rotatable manner. In the present embodiment, the shaft seal portion provided to the bearing 70 with a sealing function seals the space between the region (shaft hole 29a) of the shaft holes 29a, 29b on the motor 11 side and the input shaft 30.

[0054] An axial gap is ensured between the base plate portion 14Aa of the first gear carrier module 14A and the second gear carrier module 14B. The first swing gear 16A and the second swing gear 16B are arranged in the gap.

[0055] In addition, the first swing gear 16A and the second swing gear 16B are formed with escape holes 19. The plurality of support portions 14Ab of the first gear frame module 14A respectively penetrate the escape holes 19. The escape holes 19 are formed to be larger than the outer shape of the support portion 14Ab so that the plurality of support portions 14Ab do not hinder the rotation of the first swing gear 16A and the second swing gear 16B.

[0056] The housing 13 includes a housing body 13a and a flange portion 13b. The housing body 13a is cylindrical in shape. The flange portion 13b protrudes radially outward from an outer peripheral surface of the housing body 13a on the first end side.

[0057] The housing body 13a is configured to span the outer peripheral surface of the substrate portion 14Aa of the first gear rack module 14A and the outer peripheral surface of the second gear rack module 14B. The substrate portion 14Aa of the first gear rack module 14A and the second gear rack module 14B are rotatably supported by bearings 20 on both sides of the axial direction of the housing body 13a. In addition, a plurality of pin grooves 21 are formed on the inner peripheral surface of the axial central region of the housing body 13a (the region opposite to the outer peripheral surface of the first swing gear 16A and the second swing gear 16B). The plurality of pin grooves 21 extend parallel to the rotation center axis c1 of the first gear rack module 14A and the second gear rack module 14B. A roughly cylindrical internal tooth pin 22 is rotatably accommodated in each of the plurality of pin grooves 21. The plurality of internal tooth pins 22 mounted to the inner peripheral surface of the housing body 13a are opposite to the outer peripheral surface of each of the first swing gear 16A and the second swing gear 16B.

[0058] In the present embodiment, the internal tooth pins 22 constitute internal teeth disposed on the inner peripheral surface of the housing 13 .

[0059] Among them, Figure 1 As shown, the base member 2 includes a base body 2a and a retaining wall 2b. The base body 2a is fixedly installed on the installation surface. The retaining wall 2b protrudes upward from the base body 2a. A substantially circular support hole 90 is formed in the retaining wall 2b. The outer peripheral surface of the housing body 13a on the reducer 12 side is fitted into the support hole 90.

[0060] The flange 13b of the housing 13 abuts against the axial end surface of the holding wall 2b in a state where the housing body 13a is fitted into the support hole 90. In this state, the flange 13b is fastened and fixed to the holding wall 2b by bolts 27 as fastening members.

[0061] The first swing gear 16A and the second swing gear 16B are formed with an outer diameter slightly smaller than the inner diameter of the housing body 13a. External teeth 16Aa and 16Ba are formed on the outer peripheral surface of each of the first swing gear 16A and the second swing gear 16B, and are in meshing contact with a plurality of internal tooth pins 22 arranged on the inner peripheral surface of the housing body 13a. The number of teeth of the external teeth 16Aa and 16Ba formed on the outer peripheral surface of each of the first swing gear 16A and the second swing gear 16B is set to be slightly less than the number of internal tooth pins 22 (pin grooves 21) (for example, one less).

[0062] A plurality of crankshafts 15 are arranged on the same circumference centered on the rotation center axis c1 of the first gear frame module 14A and the second gear frame module 14B. The plurality of crankshafts 15 are rotatably supported by the first gear frame module 14A and the second gear frame module 14B by means of bearings 23, respectively. A pair of shaft support areas are arranged in the plurality of crankshafts 15 in an axially separated manner. Two eccentric areas 15a and 15b are arranged between the pair of shaft support areas. A shaft support hole 31a is formed in the first gear frame module 14A for inserting one shaft support area of ​​each crankshaft 15. A shaft support hole 31b is formed in the second gear frame module 14B for inserting another shaft support area of ​​each crankshaft 15. A plurality of spur gears 26 are respectively installed at the ends of the crankshaft 15 protruding from the shaft support hole 31b of the second gear frame module 14B to the second end side. That is, a plurality of spur gears 26 are installed at the ends of the plurality of crankshafts 15 in a one-to-one correspondence. The spur gear 26 transmits the rotation of the input shaft 30 to the crankshaft 15. The spur gear 26 meshes with external teeth 30a formed on the outer peripheral surface of the input shaft 30 on the second end side.

[0063] In the present embodiment, the spur gear 26 constitutes a transmission rotating body for transmitting the rotation of the input shaft 30 to the crankshaft 15. In addition, the transmission rotating body is not limited to the spur gear 26. The transmission rotating body can be a rotating body that can transmit the rotation of the input shaft 30 to the crankshaft 15. The transmission rotating body may be, for example, a rotating body that is in frictional contact with the outer peripheral surface of the input shaft 30 side.

[0064] In the two eccentric regions 15a and 15b of the crankshaft 15, the center axis of each of the eccentric regions 15a and 15b is eccentric with respect to the center axis of the shaft support region. The two eccentric regions 15a and 15b are eccentric in such a manner that the phases of the two eccentric regions 15a and 15b are mutually deviated by 180° around the center axis of the shaft support region (the center axis of the crankshaft 15). The eccentric regions 15a and 15b of the crankshaft 15 penetrate the first swing gear 16A and the second swing gear 16B, respectively. Support holes 25 are formed in the first swing gear 16A and the second swing gear 16B, respectively. The eccentric regions 15a and 15b are rotatably engaged with the support holes 25 by means of an eccentric portion bearing 28 (cylindrical roller bearing).

[0065] In the speed reducer 12 of the present embodiment, when the plurality of crankshafts 15 receive the rotation of the input shaft 30 and rotate in one direction, the eccentric regions 15a and 15b of the crankshafts 15 rotate in the same direction at a predetermined radius. As the crankshafts 15 rotate, the first swing gear 16A and the second swing gear 16B rotate (swing) in the same direction at the same radius. At this time, the external teeth 16Aa and 16Ba of the first swing gear 16A and the second swing gear 16B, respectively, are in meshing contact with the plurality of internal tooth pins 22 held to the inner periphery of the housing body 13a.

[0066] In the speed reducer 12 of the present embodiment, the number of teeth of the external teeth 16Aa and 16Ba of the first swing gear 16A and the second swing gear 16B is set to be slightly less than the number of the internal tooth pins 22 on the housing body 13a side. Therefore, during the period when the first swing gear 16A and the second swing gear 16B rotate one circle, the first swing gear 16A and the second swing gear 16B receive the reaction force in the rotation direction from the internal tooth pins 22 on the housing body 13a side, and rotate in the direction opposite to the rotation direction by an amount corresponding to a predetermined pitch. As a result, the first gear frame module 14A and the second gear frame module 14B engaged with the first swing gear 16A and the second swing gear 16B via the crankshaft 15 rotate in the same direction with the first swing gear 16A and the second swing gear 16B at the same pitch. As a result, the rotation of the input shaft 30 is decelerated at a predetermined reduction ratio and output as the rotation of the first gear frame module 14A and the second gear frame module 14B. In the present embodiment, the two eccentric regions 15a and 15b of the crankshaft 15 are eccentric so as to be offset by 180° around the axis line. Therefore, the rotation phases of the first swing gear 16A and the second swing gear 16B are offset by 180°.

[0067] In addition, in the present embodiment, the spur gear 26, the crankshaft 15, the first swing gear 16A and the second swing gear 16B constitute a power transmission mechanism. The power transmission mechanism is configured in a manner surrounded by the first gear frame module 14A and the second gear frame module 14B as output rotating bodies. In this state, the power transmission mechanism is configured on the inner side of the housing 13. The power transmission mechanism transmits the rotation of the input shaft 30 to the first gear frame module 14A and the second gear frame module 14B as output rotating bodies.

[0068] An outer peripheral edge portion 14N is provided on the end face of the second gear frame module 14B located on the second end side. When viewed in the axial direction, the shape of the outer peripheral edge portion 14N is circular. A recess 33 is formed on the inner side of the outer peripheral edge portion 14N. That is, the shape of the recess 33 is circular. The recess 33 accommodates and arranges a plurality of spur gears 26 mounted to the ends of a plurality of crankshafts 15 in a one-to-one correspondence. In other words, the outer peripheral edge portion 14N protrudes from the bottom surface of the recess 33 to the second end side. In addition, the central area 33C of the bottom surface of the recess 33 is connected to the shaft hole 29b of the second gear frame module 14B. A flat end cover 34 is installed on the outer peripheral edge portion 14N. The end cover 34 covers the recess 33 and the shaft hole 29b from the second end side. In this state, the end cover 34 covers the end of the shaft hole 29b and the power transmission mechanism located between the input shaft 30 and the spur gear 26 from the second end side. In other words, the end cover 34 shields the space where the power transmission mechanism is arranged from the outside. Here, the outside refers to a part, space, etc. located on the second end side relative to the end cover 34. In other words, the end cover 34 protects the power transmission mechanism. The end cover 34 is formed of, for example, a flat metal plate. In addition, the end cover 34 and the end surface of the outer peripheral edge portion 14N are sealed by an annular sealing member not shown.

[0069] A plurality of screw holes 35 are provided in the outer peripheral edge portion 14N of the second gear carrier module 14B. On the second end side, a flat end cover 34 attached to the end face (end face of the outer peripheral edge portion 14N) of the second gear carrier module 14B is provided. Figure 1 The end faces of the rotating arm 3 shown in the figure on the base side overlap. Among them, the end face on the second end side of the second gear rack module 14B (the end face of the outer peripheral edge portion 14N) is equivalent to the axial end of the second gear rack module 14B. The rotating arm 3 is fixed to the end face of the second gear rack module 14B using a plurality of bolts 36 as fastening members. The plurality of bolts 36 are screwed into a plurality of threaded holes 35 provided in the outer peripheral edge portion 14N of the second gear rack module 14B in a one-to-one manner. Thus, the plurality of bolts 36 fix the rotating arm 3 to the second gear rack module 14B. Among them, the outer peripheral edge portion 14N of the second gear rack module 14B is equivalent to the first connecting portion connected to the rotating arm 3 as the connected member. In addition, the portion of the end cover 34 that is partially sandwiched between the rotating arm 3 and the outer peripheral edge portion 14N is a portion of the first connecting portion.

[0070] A housing seal member 44 (housing seal member) is provided between the end region of the housing body 13a located on the first end side and the outer peripheral surface 14Aap (first outer peripheral surface) of the substrate portion 14Aa of the first gear rack module 14A. The housing seal member 44 seals the space between the end region of the housing body 13a located on the first end side and the outer peripheral surface 14Aap (first outer peripheral surface) of the substrate portion 14Aa of the first gear rack module 14A in a liquid-tight manner.

[0071] In the present embodiment, it is possible to adopt a structure in which the housing sealing member 44 is fixed to, for example, either the housing body 13a or the substrate portion 14Aa, and the sealing portion is in close contact with the other in a slidable manner. In addition, a housing sealing member 44 (housing sealing portion) is provided between the end region of the housing body 13a located on the second end side and the outer peripheral surface 14Bp (second outer peripheral surface) of the second gear rack module 14B. The housing sealing member 44 seals the space between the end region of the housing body 13a located on the second end side and the outer peripheral surface 14Bp (second outer peripheral surface) of the second gear rack module 14B in a liquid-tight manner in the same manner as described above. The outer peripheral surface 14Aap of the substrate portion 14Aa on which one housing sealing member 44 is arranged is separated from the outer peripheral surface 14Bp of the second gear rack module 14B on which another housing sealing member 44 is arranged in the axial direction of the gear rack.

[0072] As described above, the internal space of the speed reducer 12 is sealed by the bearing 70 (shaft seal member), the end cover 34, and the housing seal member 44. The internal space of the speed reducer 12 is filled with a lubricating fluid for lubricating the mechanical parts inside the speed reducer 12.

[0073] In addition, the motor 11 includes a motor housing 50 and a rotating shaft 11a. The motor housing 50 accommodates the rotating drive unit of the motor. The rotating shaft 11a is connected to the drive unit of the motor. A mounting flange 52 is provided at the end of the motor housing 50 located on the output side. A plurality of through holes 53 are formed in the mounting flange 52. The end face of the motor housing 50 located on the output side is butted against the end face of the first gear frame module 14A (substrate portion 14Aa) of the reducer 12 located on the first end side. In this state, the rod is inserted into the through hole 53 and fastened to the first gear frame module 14A by a bolt 54. A threaded hole 55 for screwing the bolt 54 is formed on the end face of the first gear frame module 14A located on the first end side.

[0074] In the present embodiment, an end portion (an end portion located on the first end portion side) of the base plate portion 14Aa of the first gear rack module 14A is used as a motor fixing portion.

[0075] The rotating shaft 11a is located at a position on the inner side of the motor housing 50 than the end surface of the motor housing 50 on the output side. That is, the rotating shaft 11a is provided in a manner that is immersed in the interior of the motor housing 50. A shaft insertion hole 56 is formed substantially at the center of the end surface of the motor housing 50 on the output side. The second connecting portion 60 of the input shaft 30 discussed later is inserted into the shaft insertion hole 56. A circular fitting hole 57 is formed coaxially with the rotating shaft 11a on the end surface of the rotating shaft 11a on the output side. An internal spline is formed on the inner circumferential surface of the fitting hole 57.

[0076] On the other hand, the end of the input shaft 30 on the reducer 12 side located on the first end side protrudes outward relative to the end surface of the first gear frame module 14A located on the first end side. The protruding portion is provided as a second connecting portion 60 connected to the rotating shaft 11a of the motor 11. An external spline is formed on the outer peripheral surface of the second connecting portion 60. The second connecting portion 60 passes through the shaft insertion hole 56 of the motor housing 50 and is engaged with the mating hole 57 of the rotating shaft 11a. The input shaft 30 and the rotating shaft 11a of the motor 11 cannot rotate relative to each other due to the spline fit between the second connecting portion 60 and the mating hole 57.

[0077] The motor 11 brings the end face of the motor housing 50 on the output side close to the end face of the first gear frame module 14A on the first end side, and inserts the second connection portion 60 of the input shaft 30 into the shaft insertion hole 56 on the end face of the motor housing 50. At this time, by pushing the motor housing 50 toward the end face direction of the first gear frame module 14A, the rotating shaft 11a on the motor 11 side is splined with the input shaft 30 on the reducer 12 side. Next, in this state, the motor housing 50 is fixed to the end face of the first gear frame module 14A on the first end side using a plurality of bolts 54.

[0078] The housing 13 of the reducer 12 of the drive unit 10 in which the motor 11 is assembled to the reducer 12 is fastened to the base member 2 by bolts 27. Furthermore, the base end of the rotating arm 3 is fastened to the reducer 12 fixed to the base member 2 by bolts 36. The base end of the rotating arm 3 is fixed to the end face of the second gear frame module 14B located on the second end side.

[0079] <Movement of industrial robots>

[0080] When the rotating arm 3 is rotated, the motor 11 is driven to rotate the input shaft 30 of the reducer 12 in a predetermined direction. The rotation of the input shaft 30 is transmitted to the plurality of crankshafts 15 via the spur gear 26. In this way, if each crankshaft 15 rotates, the first swing gear 16A and the second swing gear 16B mesh with the internal tooth pin 22 on the housing 13 side following the rotation of the eccentric regions 15a and 15b of the crankshaft 15, and rotate simultaneously. At this time, the self-rotation components of the first swing gear 16A and the second swing gear 16B are output to the rotating arm 3 via the second gear frame module 14B. As a result, the output of the motor 11 is decelerated by the reducer 12 at a predetermined reduction ratio, and the decelerated output is transmitted to the rotating arm 3.

[0081] Furthermore, since the motor case 50 of the motor 11 is fixed to the end surface of the first carrier block 14A of the speed reducer 12 , when the motor 11 is driven, the motor case 50 rotates integrally with the first carrier block 14A.

[0082] <Disassembly and maintenance of industrial robots>

[0083] Figure 3 to Figure 5 It is a longitudinal cross-sectional view showing each process when disassembling and maintaining the industrial robot 1.

[0084] A method for disassembling and maintaining the industrial robot 1 (disassembly method for maintenance) will be described.

[0085] This disassembly and maintenance method includes the following steps (1) to (4).

[0086] (1) Temporary fixing process (refer to Figure 3 )

[0087] The fixing jig 91 is attached to the base member 2 and the rotating arm 3, and the rotating arm 3 is fixed to the base member 2 by the fixing jig 91. Thus, the movement (falling over, etc.) of the rotating arm 3 is restricted.

[0088] (2) First tightening release step (refer to Figure 4 )

[0089] After the temporary fixing step, the bolts 36 fixing the second carrier module 14B and the rotating arm 3 are removed.

[0090] (3) Second tightening release step (refer to Figure 5 )

[0091] After the temporary fixing process, the bolts 27 fixing the housing 13 and the base member 2 are removed.

[0092] (4) Drive unit disassembly process (refer to Figure 5 )

[0093] The speed reducer 12 is removed from the base member 2 together with the motor 11 .

[0094] When the speed reducer 12 and the motor 11 are removed from the base member 2 by this disassembly maintenance method, the speed reducer 12 and the motor 11 can be easily removed without removing the rotating arm 3 (transmitted member) which is a long and heavy object from the base member 2 .

[0095] <Effects of implementation>

[0096] As described above, the reducer 12 of the present embodiment can make the interior of the reducer 12 a sealed state by using the bearing 70 (shaft seal), the housing seal member 44 (housing seal), and the end cover 34. Therefore, the motor 11 and the reducer 12 can be connected without using an adapter that also serves as a filling portion for lubricating fluid.

[0097] Therefore, when the speed reducer 12 of the present embodiment is employed, the overall length in a state where the motor 11 is connected can be further shortened while maintaining good maintainability.

[0098] In addition, the speed reducer 12 of this embodiment is also a power transmission device that transmits the rotation of the motor 11 to the transmitted member (rotating arm 3). In addition, the speed reduction mechanism housed in the housing 13 of the speed reducer 12 can be replaced with a power transmission mechanism that does not reduce speed. In this case, by making the inside of the power transmission device unit sealed by using the bearing 70 with a sealing function (shaft seal), the housing seal member 44 (housing seal) and the end cover 34, the same effect as the above effect can be obtained.

[0099] In addition, the reducer 12 of the present embodiment is provided with a recess 33 for arranging a plurality of spur gears 26 on the end surface of the second gear frame module 14B (gear frame) located on the second end side, and the recess 33 is connected to the shaft hole 29b. Furthermore, the recess 33 is sealed by an end cover 34. Thus, the recess 33 and the end of the shaft hole 29b are covered by the end cover 34 from the second end side. Therefore, when this structure is adopted, the second end side of the second gear frame module 14B can be sealed by using the end cover 34 of a simple shape that does not occupy a large amount of axial space, and the axial length of the reducer 12 can be shortened and the manufacturing can be facilitated.

[0100] In addition, the end of the first gear rack module 14A of the reducer 12 of the present embodiment, which is located on the first end side, is provided as a motor fixing portion for fixing the motor housing 50 of the motor 11. Therefore, if the motor 11 is driven in a state where the motor housing 50 is fixed to the end of the first gear rack module 14A, the motor housing 50 rotates integrally with the first gear rack module 14A, and the reduced rotation is transmitted from the second gear rack module 14B to the rotating arm 3. Therefore, when this structure is adopted, the motor housing 50 is directly fixed to the end of the first gear rack module 14A, which is located on the first end side, so that the overall axial length of the device in a state where the motor 11 and the reducer 12 are connected can be further shortened.

[0101] Moreover, the reducer 12 of the present embodiment is provided with a second connection portion 60 at the end of the input shaft 30, which protrudes from the end surface of the first gear frame module 14A toward the first end side and is connected to the rotating shaft 11a of the motor 11 in a non-rotatable manner within the motor housing 50. Therefore, compared with the case where the rotating shaft 11a protruding from the motor housing 50 is connected to the input shaft 30 within the shaft hole 29a of the first gear frame module 14A, the bearing 70 (shaft sealing member) with a sealing function that seals the space between the shaft hole 29a and the input shaft 30 can be arranged at a portion closer to the motor 11. Therefore, when this structure is adopted, the axial length of the first gear frame module 14A can be further shortened.

[0102] In addition, the second connection portion 60 of the input shaft 30 of the reducer 12 of the present embodiment is connected to the rotating shaft 11a of the motor 11 by spline fitting. Therefore, when the motor housing 50 is fixed to the end (motor fixing portion) of the first gear rack module 14A, the second connection portion 60 of the input shaft 30 can be easily connected to the rotating shaft 11a of the motor 11 by inserting the end of the input shaft 30 into the shaft insertion hole 56 of the motor housing 50. Therefore, when this structure is adopted, the assembly of the motor 11 relative to the reducer 12 becomes easy.

[0103] In addition, in the reducer 12 of the present embodiment, the gear rack is composed of a first gear rack module 14A in which a support portion 14Ab protrudes from the end surface of a substrate portion 14Aa, and a second gear rack module 14B in which the support portion 14Ab abuts. Furthermore, the second gear rack module 14B and the support portion 14Ab are fastened and fixed from the second end side of the second gear rack module 14B by bolts 17 (fastening members). Furthermore, a motor fixing portion for fixing the motor 11 is provided on the substrate portion 14Aa of the first gear rack module 14A where the bolts 17 are not provided. Therefore, the bolts 54 (fixing members) for fixing the motor housing 50 to the gear rack do not interfere with the bolts 17 (fastening members) for fastening the support portion 14Ab and the second gear rack module 14B. Therefore, when this structure is adopted, it is not necessary to extend the axial length of the gear rack (the first gear rack module 14A and the second gear rack module 14B) in order to avoid interference between the bolts 54 and the bolts 17. The overall axial length of the speed reducer 12 can be further shortened by an amount corresponding to the amount by which the axial length does not need to be extended.

[0104] Moreover, the above-mentioned disassembly and maintenance method of the industrial robot 1 (industrial machinery) of the present embodiment includes: a temporary fixing process of fixing the base member 2 and the rotating arm 3 by using the fixing jig 91; a first fastening release process of releasing the fastening of the second gear frame module 14B and the rotating arm 3 after the temporary fixing process; a second fastening release process of releasing the fastening of the base member 2 and the housing 13 of the reducer 12 after the temporary fixing process; and a process of removing the reducer 12 from the base member 2 together with the motor 11. Therefore, when the industrial robot 1 is disassembled for maintenance, the state in which the rotating arm 3 is fixed to the base member 2 by using the fixing jig 91 can be maintained and the reducer 12 can be removed from the base member 2 together with the motor 11. At this time, it is not necessary to remove the rotating arm 3 from the base member 2. Therefore, even when the rotating arm 3 is a member that is long and heavy, the removal operation of the reducer 12 for maintenance can be easily performed.

[0105] Furthermore, the reducer 12 has a structure that hermetically seals the interior of the unit. Therefore, when the reducer 12 is disassembled, it is not necessary to discharge the lubricating fluid for lubricating the mechanical parts from the reducer 12. This also greatly contributes to facilitating disassembly for maintenance.

[0106] In addition, the present invention is not limited to the above-mentioned embodiment, and various design changes can be made within the scope not departing from the gist of the present invention.

[0107] For example, the above-mentioned embodiment adopts the reducer 12 of the embodiment in the arm working part of the industrial robot, but the application of the reducer 12 is not limited to the industrial robot. The reducer 12 can also be applied to industrial machinery other than robots, such as a turntable and a rotating fixture. In this case, the transmitted member connected to the output rotating body (gear rack) can also use a plate-shaped or block-shaped rotating body instead of the rotating arm 3.

[0108] In the embodiments disclosed in this specification, a component composed of multiple objects may be integrated into one, or a component composed of one object may be divided into multiple objects. Regardless of whether the components are integrated or not, they may be configured in a manner that can achieve the purpose of the invention.

Claims

1. A power transmission device, wherein: The power transmission device comprises: a housing fixed to the base member; an output rotating body having a through hole penetrating in the axial direction and an end portion in the axial direction, being rotatably accommodated inside the housing, and having a first connecting portion, the first connecting portion being located at the end portion and connected to a connected member; an input shaft inserted into the through hole and connected to the rotating shaft of the motor; a power transmission mechanism disposed inside the housing in a state surrounded by the output rotating body and transmitting the rotation of the input shaft to the output rotating body; a shaft sealing portion that seals a space between the through hole and the input shaft; a housing seal portion that seals a space between the housing and an outer peripheral surface of the output rotor; and An end cover is mounted on the first connection portion of the output rotor.

2. A reducer, wherein: The reducer has: A housing, which is fixed to the base member and has internal teeth on its inner circumference; A gear frame having: a through hole extending in the axial direction; an end portion in the axial direction; and a first outer peripheral surface and a second outer peripheral surface separated in the axial direction, the gear frame being rotatably received inside the housing and having a first connecting portion, the first connecting portion being located at the end portion and connected to a connected member; an input shaft rotatably inserted into the through hole and connected to a rotating shaft of the motor; a crankshaft rotatably supported on the inner side of the gear carrier and having an eccentric region that receives the rotation of the input shaft and rotates; an oscillating gear disposed between the first outer peripheral surface and the second outer peripheral surface, oscillatingly rotating together with the eccentric region of the crankshaft, meshing with the internal teeth, and outputting a decelerated rotation to the gear carrier; a shaft sealing portion that seals a space between the through hole and the input shaft; a housing sealing portion that seals the space between the housing and the first outer peripheral surface and the space between the housing and the second outer peripheral surface; and An end cover is mounted to the first connecting portion of the gear carrier.

3. The reducer according to claim 2, wherein: The first connecting portion of the gear carrier has an outer peripheral edge portion located at the end portion, A recess is formed inside the outer peripheral edge portion. A transmission rotating body for transmitting the rotation of the input shaft to the crankshaft is arranged in the recessed portion. The end cover is attached to the outer peripheral edge portion so as to cover the recessed portion.

4. The reducer according to claim 2, wherein: The speed reducer includes a motor fixing portion located at an end portion of the gear carrier in the axial direction on the side opposite to the first connecting portion. The motor is fixed to the motor fixing portion.

5. The reducer according to claim 4, wherein: The input shaft is provided with a second connection portion that protrudes from the motor fixing portion and is connected to the rotating shaft in a relatively non-rotatable manner inside the motor.

6. The reducer according to claim 5, wherein: The second connection portion and the rotating shaft can be connected by spline fitting.

7. The reducer according to claim 4, wherein: The gear carrier has: The first gear frame module comprises: a base plate portion having an open circular plate shape and having an end surface in the axial direction; and a plurality of support pillar portions which are arranged substantially along the axial direction from the end surface of the base plate portion; A second gear frame module, comprising: a first end face, on which the plurality of support portions abut in the axial direction; and a second end face, which is located on the side opposite to the first end face in the axial direction, the second gear frame module being formed in the shape of an open-hole circular plate; and a fastening member for fastening and fixing the second gear rack module to the plurality of support pillars from the second end surface of the second gear rack module, The motor fixing portion is provided at an end portion of the base plate portion located on a side opposite to a position where the plurality of support pillars are arranged in the axial direction.

8. An industrial machine comprising: motor; a speed reducer that reduces the speed of rotation of the motor; a base member to which the reducer is fixed; and The transmitted member receives the output of the reducer and rotates. In the industrial machinery, The reducer has: A housing, which is fixed to the base member and has internal teeth on its inner circumference; A gear frame having: a through hole extending in the axial direction; an end portion in the axial direction; and a first outer peripheral surface and a second outer peripheral surface separated in the axial direction, the gear frame being rotatably received inside the housing and having a first connecting portion, the first connecting portion being located at the end portion and connected to a connected member; an input shaft rotatably inserted into the through hole and connected to a rotating shaft of the motor; a crankshaft rotatably supported on the inner side of the gear carrier and having an eccentric region that receives the rotation of the input shaft and rotates; an oscillating gear disposed between the first outer peripheral surface and the second outer peripheral surface, oscillatingly rotating together with the eccentric region of the crankshaft, meshing with the internal teeth, and outputting a decelerated rotation to the gear carrier; a shaft sealing portion that seals a space between the through hole and the input shaft; a housing sealing portion for sealing the space between the housing and the first outer peripheral surface and the space between the housing and the second outer peripheral surface; an end cover mounted to the first connecting portion of the gear carrier; and a motor fixing portion located at an end portion of the gear frame in the axial direction on the side opposite to the first connecting portion, The motor is fixed to the motor fixing portion. The input shaft is provided with a second connection portion that protrudes from the motor fixing portion and is connected to the rotating shaft in a relatively non-rotatable manner inside the motor.

9. A method for disassembling and maintaining industrial machinery, wherein: The industrial machinery comprises: motor; a speed reducer that reduces the speed of rotation of the motor; a base member to which the reducer is fixed; and The transmitted member receives the output of the reducer and rotates. The reducer has: A housing, which is fixed to the base member and has internal teeth on its inner circumference; A gear frame having: a through hole extending in the axial direction; an end portion in the axial direction; and a first outer peripheral surface and a second outer peripheral surface separated in the axial direction, the gear frame being rotatably received inside the housing and having a first connecting portion, the first connecting portion being located at the end portion and connected to a connected member; an input shaft rotatably inserted into the through hole and connected to a rotating shaft of the motor; a crankshaft rotatably supported on the inner side of the gear carrier and having an eccentric region that receives the rotation of the input shaft and rotates; an oscillating gear disposed between the first outer peripheral surface and the second outer peripheral surface, oscillatingly rotating together with the eccentric region of the crankshaft, meshing with the internal teeth, and outputting a decelerated rotation to the gear carrier; a shaft sealing portion that seals a space between the through hole and the input shaft; a housing sealing portion for sealing the space between the housing and the first outer peripheral surface and the space between the housing and the second outer peripheral surface; an end cover mounted to the first connecting portion of the gear carrier; and a motor fixing portion located at an end portion of the gear frame in the axial direction on the side opposite to the first connecting portion, The motor is fixed to the motor fixing portion. The input shaft is provided with a second connection portion, the second connection portion protruding from the motor fixing portion and connected to the rotating shaft in a relatively non-rotatable manner inside the motor, The decomposition and maintenance method comprises: A temporary fixing step of attaching a fixing jig to the base member and the transferred member to fix the transferred member to the base member; a first releasing step of releasing the fastening of the transmission member with respect to the gear frame after the temporary fixing step; a second releasing step of releasing the housing from the base member after the temporary fixing step; as well as a step of removing the speed reducer together with the motor from the base member after the first and second fastening releasing steps.

Images