Gear motor series and robot series

Abstract

The geared motor series (1000) is a geared motor series having a first series (S1) and a second series (S2). The first series (S1) has at least: a first gear motor (100) having a first speed reducer (10-A) and a first motor (11-A); and a second gear motor (120) having a second speed reducer (10-B) having an allowable torque greater than that of the first speed reducer (10-A), and a second motor (11-B) having a rated capacity greater than that of the first motor (11-A). The second series (S2) has at least a third gear motor (130) having a second speed reducer (10-B) and a first motor (11-A).

Description

Technical Field

[0001] This disclosure relates to a series of geared motors and a series of robots. Background Technology

[0002] A gear motor is known to be constructed by connecting a reducer and a motor. The applicant disclosed a gear motor in Patent Document 1 for driving the joints of robots such as collaborative robots.

[0003] Previous technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2021-097430 Summary of the Invention

[0004] The technical problem to be solved by the invention The specifications of each joint vary depending on each customer's robot. However, if gear motors are prepared to be customized for each joint of each customer's robot, the variety of gear motors will increase, which is detrimental to reducing the cost of gear motors.

[0005] The purpose of this disclosure is to address the aforementioned issues and to provide a series of gear motors capable of suppressing the number of different types of gear motors.

[0006] means for solving technical problems To address the aforementioned issues, one embodiment of the gear motor series disclosed herein comprises a first series and a second series of gear motors. The first series includes at least: a first gear motor having a first reducer and a first motor; and a second gear motor having: a second reducer with a permissible torque greater than that of the first reducer, and a second motor with a rated capacity greater than that of the first motor. The second series includes at least a third gear motor having a second reducer and a first motor.

[0007] Another embodiment of this disclosure is also a series of gear motors. This series comprises a first series and a third series of gear motors, wherein the first series includes at least: a first gear motor having a first reducer and a first motor; and a second gear motor having: a second reducer with a permissible torque greater than the first reducer, and a second motor with a rated capacity greater than the first motor. The third series includes at least a fourth gear motor having a second reducer and a third motor. The shape and outer diameter of the connection between the third motor and the second reducer are the same as those of the second motor, but its axial length is less than that of the second motor.

[0008] Another embodiment of this disclosure is a robot series. This series comprises a first robot and a second robot with a lifting capacity greater than that of the first robot. The first robot has a first joint and a second joint with a lower actuation rate than the first joint. A second gear motor, including a second reducer and a second motor, is assembled in the first joint. The second robot has a third joint and a fourth joint with a lower actuation rate than the third joint. A third gear motor, including a second reducer and a first motor with a rated capacity less than that of the second motor, is assembled in the fourth joint.

[0009] Furthermore, any combination of the above-mentioned constituent elements, or a scheme in which the constituent elements and descriptions of the present invention are interchanged in methods, systems, etc., is also effective as an embodiment of the present invention.

[0010] Invention Effects According to this disclosure, it is possible to provide a series of gear motors capable of suppressing the number of different types of gear motors. Attached Figure Description

[0011] Figure 1 This is a side sectional view showing the first gear motor constituting the gear motor series according to the first embodiment.

[0012] Figure 2 This is a diagram illustrating an example of the system of the gear motor series according to the first embodiment.

[0013] Figure 3 This is a schematic diagram illustrating the first robot constituting the robot series according to the second embodiment.

[0014] Figure 4 It is shown Figure 3 A diagram illustrating an example of the structure of the first robot.

[0015] Figure 5 This is a schematic diagram illustrating the second robot constituting the robot series according to the second embodiment.

[0016] Figure 6 It is shown Figure 5 A diagram illustrating an example of the structure of the second robot. Detailed Implementation

[0017] First, the process that led to this invention will be described. Regarding geared motors that can be used as actuators for multi-joint robots, it is conceivable to include models in the product lineup that have a rated capacity sufficient to maintain the continuous output of a reducer. In this case, to limit the number of models in the product lineup, a high-operability geared motor mounted on the base end of the robot arm can also be mounted on the front end.

[0018] Consider the movements of each joint in the robotic arm of a multi-joint robot. According to the inventors' research, the actual operating rate of the base-side gear motor is high, and its continuous or instantaneous characteristics become important, while the actual operating rate of the front-side gear motor is low, and continuous characteristics are not important. The characteristic of low actual operating rate of the front-side gear motor is even more pronounced in collaborative robots that work with humans. Therefore, it can be said that mounting a motor that meets the continuous characteristics of a reducer on the front-side gear motor would result in excessive motor performance.

[0019] If a motor that meets the continuous characteristics of a reducer is installed in the front-end geared motor, which has a low actual utilization rate, the mass of the motor will increase accordingly. If a model with improved load performance is used in the base-end geared motor to compensate for the increased mass of the front-end side, the mass of the base-end geared motor will also increase, leading to an increase in the overall mass of the robot. Therefore, if geared motors are custom-made for each joint of each customer's robot, the variety of geared motors increases, which is not conducive to reducing the cost of geared motors.

[0020] Therefore, in order to achieve lightweight robots and reduce the number of different types of geared motors, the inventors have developed a technology that provides a series of geared motors, incorporating motors that match the actual operating rate and standardizing the constituent components. Furthermore, this technological concept can also be applied to robots equipped with multiple geared motors. The following describes the implementation methods.

[0021] Hereinafter, the present invention will be described based on preferred embodiments and with reference to the accompanying drawings. In the embodiments and variations, the same or equivalent constituent elements and components are labeled with the same reference numerals, and repeated descriptions are omitted where appropriate. Furthermore, when distinguishing between the same or equivalent constituent elements and components, symbols composed of hyphens, letters, and numbers, such as "-A", "-B", "-C", "-1A", "-2B", "-3C", etc., are appended to the end of the symbols; these symbols are not appended when distinction is not required. Furthermore, for ease of understanding, the dimensions of the components in each drawing are appropriately enlarged or reduced. Also, in each drawing, parts of components that are not important in describing the embodiments are omitted.

[0022] Furthermore, terms including ordinal numbers such as 1 and 2 are used to describe various constituent elements, but such terms are only used for the purpose of distinguishing one constituent element from other constituent elements, and the constituent element is not limited by such terms.

[0023] The operating rate of the gear reducer of the gear motor mounted on the robot is defined as follows. The operating rate of the gear reducer of the gear motor represents the ratio of the operating time TJ of the gear motor to the operating time TR of the robot equipped with the gear motor, and is expressed by Equation 1.

[0024] The operating rate of the reducer = (TJ / TR) × 100[%ED]……(1) Furthermore, the robot's own operating time TR can be defined as the time when the robot's power is on, or, for the robot, the time when the power to the motors driving each joint is on. Therefore, the standby time when the robot is working on one workpiece and waiting to set the next workpiece is also included in the robot's own operating time TR. In addition, the operating time TJ of the geared motor's reducer can be defined as the time when the reducer, which is the object of the operating rate calculation, is driven, or the time when the motor driving the reducer is rotated. Sometimes, the operating rate of the geared motor's reducer is also referred to as the "operating rate of the geared motor."

[0025] In this specification, the rated capacity of a motor is a power value (W) set by the motor manufacturer as a rated value, such as the maximum power value that the motor can continuously operate at. The rated capacity of a motor is sometimes referred to as its rated output. Furthermore, the permissible torque of a gear reducer is a torque value (N·m) set by the manufacturer of the gear motor or reducer, which can be applied to the output shaft of the reducer, such as the torque value that can be continuously applied to the output shaft of the reducer. The permissible torque of a reducer is less than its maximum permissible torque. Also, the permissible torque of a reducer is sometimes indicated by its model number; a larger model number indicates a larger permissible torque (permissible rated torque, permissible peak torque), and consequently, a larger size (outer diameter) or weight of the reducer.

[0026] In this specification, the robot's load capacity is the load capacity set by the robot manufacturer as a rated value, which can be the mass that can be supported by the front end of the robot arm and moved continuously.

[0027] [First Implementation] Referring to the accompanying drawings, the gear motor series 1000 (hereinafter, sometimes referred to as "series 1000") and gear motor series 2000 (hereinafter, sometimes referred to as "series 2000") according to the first embodiment will be described. Figure 1 This is a side sectional view showing an example of the first gear motor 100 constituting the series 1000. Figure 2 This is a diagram showing an example of Series 1 S1, Series 2 S2, and Series 3 S3. Series 1000 has Series 1 S1 and Series 2 S2, while Series 2000 differs in that it has Series 1 S1 and Series 3 S3.

[0028] Next, the first gear motor 100 will be described. The second gear motor 120, third gear motor 130, fourth gear motor 140, and fifth gear motor 150, described later, have the same structure as the first gear motor 100. Therefore, the description of the first gear motor 100 also applies to the second gear motor 120, third gear motor 130, fourth gear motor 140, and fifth gear motor 150. Figure 1 As shown, the first gear motor 100 includes a motor 11 and a reducer 10, wherein the reducer 10 is used to reduce the rotation of the motor shaft 12 of the motor 11 and output the speed.

[0029] Hereinafter, the direction along the central axis La of the input shaft 20 of the reducer 10 will be referred to as the "axial direction". The side of the input shaft 20 connected to the motor shaft 12 (right side in the figure) will be called the motor side, and the other side (left side in the figure) will be called the reverse motor side. That is, the input shaft 20 extends axially from the motor side to the reverse motor side. Furthermore, the circumferential direction and radial direction of the circle centered on the central axis La will be designated as the "circumferential direction" and "radial direction", respectively.

[0030] exist Figure 1 In this example, the input shaft 20 of the reducer 10 is a hollow shaft integrally formed with the motor shaft 12 of the motor 11. The input shaft 20 and the motor shaft 12 can be formed separately and connected by a connecting component (not shown).

[0031] The motor 11 in this embodiment is a servo motor, comprising a motor shaft 12, a cylindrical magnet 13 fixed to the outer periphery of the motor shaft 12, a cylindrical stator core 14 surrounding the magnet 13 with a magnetic gap, an armature winding 15 disposed in a slot (not shown) of the stator core 14, and a motor housing 16 constituting the outer casing of the motor 11. The magnet 13 can be a single cylindrical magnet or a structure in which multiple plate-shaped magnets are arranged in a cylindrical shape. The motor housing 16 has a cylindrical shape surrounding the motor 11, and the stator core 14 is fixed to its inner circumferential surface. Furthermore, the motor 11 includes a control circuit (not shown) that controls the rotation of the motor shaft 12 and an encoder (not shown) that detects the rotational position of the motor shaft 12 and provides it to the control circuit. The motor 11 rotates the motor shaft 12 by the torque generated by the interaction between the rotating magnetic field generated on the inner circumferential surface of the stator core 14 and the excitation magnetic poles disposed on the outer circumferential surface of the magnet 13, through the flow of drive current from the control circuit in the armature winding 15.

[0032] Furthermore, the motor 11 has a connecting portion 17 provided in the motor housing 16. The connecting portion 17 is a connecting portion to the reducer 10, and has an inner circumferential surface 172 that fits into the outer side stop of the reducer 10's housing 46. In this embodiment, the connecting portion 17 is separately formed from the motor housing 16 and has a motor fitting portion 174 that fits and is fixed to the motor housing 16. Therefore, by preparing a connecting portion 17 with a small inner diameter for the motor fitting portion 174, a small-diameter motor 11 can be connected to the same reducer 10. Figure 1 In the diagram, symbol T1 represents the axial length of motor 11, symbol T2 represents the axial length of stator core 14, symbol D1 represents the outer diameter of motor 11, and symbol D2 represents the outer diameter of connecting part 17.

[0033] The reducer 10 mainly includes: an external gear 19, an internal gear 41, an input shaft 20, a wheel carrier 35 and 36, an inner pin 48, an eccentric bearing 18, a main bearing 37, a first bearing 39 supporting the input shaft 20, a second bearing 40, and a housing 46.

[0034] The reducer 10 reduces the rotation input from the motor 11 and outputs it from the wheel frame 35. There are no limitations on the reducer 10 as long as it can reduce the input rotation and output it. In this embodiment, the reducer 10 is a center crank type reducer where the central axis La of the input shaft 20 and the central axis of the internal gear are coaxial.

[0035] The input shaft 20 has multiple eccentric portions 23 for oscillating the external gear 19. The axis of the eccentric portion 23 is eccentric relative to the rotation center line La of the input shaft 20. In this embodiment, three eccentric portions 23 are provided, and the eccentric phases of adjacent eccentric portions 23 are staggered by 120°.

[0036] The input shaft 20 is supported on the first wheel frame 35 and the second wheel frame 36 via the first bearing 39 and the second bearing 40. The housing 46 has a cylindrical shape surrounding the reducer 10, and an internal gear 41 is provided on its inner circumferential surface. The external gear 19 is oscillatingly assembled on the outer circumference of the eccentric portion 23 via an eccentric bearing 18, which is a roller bearing. The external gear 19 oscillates while meshing with the internal gear 41. Wave-shaped teeth are formed on the outer circumference of the external gear 19, which move while contacting the internal gear 41, thereby allowing the external gear 19 to oscillate in a plane with the central axis as the normal.

[0037] The internal gear 41 of this embodiment includes: an internal gear body 42 integrally disposed on the inner circumferential side of the housing 46; and a plurality of outer pins 43 disposed in pin grooves formed at predetermined intervals along the circumferential direction on the inner circumferential surface of the internal gear body 42. The outer pins 43 constitute the internal teeth of the internal gear 41. The number of outer pins 43 of the internal gear 41 is equal to the number of internal teeth, which is one more than the number of external teeth of the external gear 19.

[0038] In the external gear 19, a plurality of inner pin holes 45 are formed at positions offset from its axis. Inner pins 48 pass through the inner pin holes 45. A cylindrical sleeve 49 is disposed on the outer periphery of the inner pins 48. The inner pins 48 facilitate the transmission of power between the wheel carriers 35, 36 and the external gear 19.

[0039] Wheel carriers 35 and 36 include: a first wheel carrier 35, disposed on the side of the external gear 19 on the motor side; and a second wheel carrier 36, disposed on the side of the external gear 19 on the motor side. The first wheel carrier 35 extends axially and is fixed to the second wheel carrier 36 via an inner pin 48. The first wheel carrier 35 is an output component that outputs rotational power to a driven component (not shown). A main bearing 37 rotatably supports the wheel carriers 35 and 36 on the housing 46.

[0040] The operation of the first gear motor 100 will be explained. When rotational power is transmitted from the motor 11 to the input shaft 20, the eccentric part 23 rotates eccentrically, causing the external gear 19 to oscillate. As the external gear 19 oscillates, the meshing position of the external gear 19 and the internal gear 41 shifts sequentially. For each revolution of the input shaft 20, the external gear 19 rotates by an amount equivalent to the difference between the number of teeth on the external gear 19 and the number of teeth on the internal gear 41. As a result, a decelerated rotation is output from the first gear carrier 35.

[0041] Next, refer to Figure 1 , Figure 2 This section provides an explanation of Series 1000 and Series 2000. Figure 2 In this classification, the model number is based on the allowable torque of the reducer that makes up the gear motor. The allowable torque of the reducer increases in the order of Model 1, Model 2, Model 3, and so on. Within the same series, the rated capacity of each motor increases in the order of Model 1, Model 2, Model 3, and so on. As an example, the allowable torque of the reducers for gear motors of the same model number is the same in Series 1 (S1) to Series 3 (S3), but the rated capacity of each gear motor of the same model number is different.

[0042] exist Figure 2 Among them, the gear motor of series 1 S1 has a rated capacity that can roughly meet the rated operating rate of the gear motor. The gear motors of series 2 S2 and series 3 S3 have a rated capacity that is lower than the rated operating rate of the gear motor, that is, a rated capacity that can roughly meet an assumed operating rate lower than the rated operating rate of the gear motor.

[0043] The S1 Series 1 is a series of gear motors suitable for high uptime applications, including the first model GM-1A, the second model GM-1B, and the third model GM-1C. The GM-1A gear motor has a reducer 10-A and a motor 11-A; the GM-1B gear motor has a reducer 10-B and a motor 11-B; and the GM-1C gear motor has a reducer 10-C and a motor 11-C.

[0044] The S2 series is a gear motor series suitable for applications where the actual operating rate is lower than that of the S1 series. It includes the GM-2B gear motor (model 2) and the GM-2C gear motor (model 3). The GM-2B gear motor has a reducer 10-B and a motor 11-A, while the GM-2C gear motor has a reducer 10-C and a motor 11-B.

[0045] The 3rd series S3 is a series of gear motors suitable for applications where the actual operating rate is lower than that of the 1st series S1. It includes the first model gear motor GM-3A, the second model gear motor GM-3B, and the third model gear motor GM-3C. The GM-3A gear motor has a reducer 10-A and a motor 11-AS; the GM-3B gear motor has a reducer 10-B and a motor 11-BS; and the GM-3C gear motor has a reducer 10-C and a motor 11-CS.

[0046] Regarding motor 11-AS, the shape and outer diameter of its connection with reducer 10-A are the same as those of motor 11-A, but its axial length is shorter than that of motor 11-A. Regarding motor 11-BS, the shape and outer diameter of its connection with reducer 10-B are the same as those of motor 11-B, but its axial length is shorter than that of motor 11-B. Regarding motor 11-CS, the shape and outer diameter of its connection with reducer 10-C are the same as those of motor 11-C, but its axial length is shorter than that of motor 11-C. The axial length and connection details of the motors will be described later.

[0047] The gear motor GM-1A is an example of the first gear motor 100, the gear motor GM-1B is an example of the second gear motor 120, the gear motor GM-2B is an example of the third gear motor 130, the gear motor GM-3B is an example of the fourth gear motor 140, and the gear motor GM-1C is an example of the fifth gear motor 150.

[0048] Including only the Series 1 S1 in the product lineup, while suitable for applications with high actual uptime, would result in excessive motor performance and unnecessary weight increases for applications with low actual uptime. Furthermore, customizing geared motors for each application would increase the variety of geared motors available, leading to higher design costs.

[0049] To alleviate the drawback of including only Series 1 S1 in the product lineup, Series 1000 in this embodiment is a gear motor series having Series 1 S1 and Series 2 S2. Series 1 S1 includes at least: a first gear motor 100 having a first reducer 10-A and a first motor 11-A; and a second gear motor 120 having a second reducer 10-B with a permissible torque greater than that of the first reducer 10-A and a second motor 11-B with a rated capacity greater than that of the first motor 11-A. Series 2 S2 includes at least a third gear motor 130 having a second reducer 10-B and a first motor 11-A. For example... Figure 2 As indicated by the arrow, the gear motor of the 2nd series S2 has a structure that combines the reducer of the same model of the 1st series S1 with the motor of the previous model. Other models of gear motors of the 1st series S1 and the 2nd series S2 also have this feature.

[0050] According to Series 1000, since Series 1000 includes Series 2 S2 suitable for applications with low actual uptime, the gear motor of Series 2 S2 can be used in applications with low actual uptime. In this case, since the motor is lighter, the increase in weight can be suppressed. Since the components used in Series 2 S2 are common to Series 1 S1, the increase in design cost of the gear motor can be suppressed.

[0051] To alleviate the drawback of including only Series 1 S1 in the product lineup, Series 2000 of this embodiment is a gear motor series having Series 1 S1 and Series 3 S3. Series 1 S1 includes at least: a first gear motor 100 having a first reducer 10-A and a first motor 11-A; and a second gear motor 120 having a second reducer 10-B with a permissible torque greater than that of the first reducer 10-A and a second motor 11-B with a rated capacity greater than that of the first motor 11-A. Series 3 S3 includes at least a fourth gear motor 140 having a second reducer 10-B and a third motor 11-BS. Regarding the third motor 11-BS, the shape and outer diameter D2 of its connection portion 17 with the second reducer 10-B are the same as those of the second motor 11-B, and its axial length T1 is less than that of the second motor 11-B. As an example, the axial length T1 of the third motor 11-BS can be 40% to 70% of the axial length T1 of the second motor 11-B, and in this embodiment it is 50%. Other models of gear motors in the first series S1 and the third series S3 also have this feature.

[0052] According to Series 2000, since Series 2000 includes Series 3 S3 suitable for applications with low actual uptime, gear motors of Series 3 S3 can be used in applications with low actual uptime. In this case, since the motor is lighter, the increase in weight can be suppressed. Since the Series 3 S3 uses components that are common to Series 1 S1, the increase in design cost of the gear motor can be suppressed.

[0053] In the third motor 11-BS of the Series 2000 in this embodiment, the axial length T2 of the stator core 14 is configured to be smaller than that of the stator core 14 of the second motor 11-B. At this time, since the axial length of the stator core is reduced, the problems of reduced space or reduced number of turns in the armature winding 15 can be mitigated. As an example, the axial length T2 of the stator core 14 of the third motor 11-BS can be 40% to 90% of the axial length T2 of the stator core 14 of the second motor 11-B, and in this embodiment, it is 50%. Other models of gear motors in the 3rd Series S3 also possess this feature.

[0054] The above is a description of the first embodiment.

[0055] [Second Implementation] refer to Figure 3 , Figure 4 The robot series 3000 according to the second embodiment of the present invention will be described below. The robot series 3000 is a robot series having a first robot 500 and a second robot 600 with a lifting capacity greater than that of the first robot 500. Figure 3 This is a schematic diagram showing the first robot 500 that constitutes the robot series 3000. Figure 4 This is a diagram showing an example of the structure of the first robot 500. Figure 5 This is a schematic diagram illustrating the second robot 600 that constitutes the robot series 3000. Figure 6 This is a diagram showing an example of the structure of the second robot 600.

[0056] The first robot 500 is a multi-joint robot having a first joint 50 and a second joint 60 with a lower actuation rate than the first joint 50. The first joint 50 includes joints 51, 52, and 53 arranged sequentially from the base end to the front end. An arm 54 is provided at the base end of joint 51, an arm 55 is provided between joint 51 and joint 52, an arm 56 is provided between joint 52 and joint 53, and an arm 57 is provided at the front end of joint 53.

[0057] The second joint portion 60 includes joint portions 61, 62, and 63 arranged sequentially from the base side toward the front side. Joint portion 61 is disposed on the front side of the arm portion 57, arm portion 65 is disposed between joint portion 61 and joint portion 62, arm portion 66 is disposed between joint portion 62 and joint portion 63, and arm portion 67 is disposed on the front side of joint portion 63.

[0058] A second gear motor 120, including a second reducer 10-B and a second motor 11-B, is assembled in the first joint 50. For example, a second series S2 or a third series S3 gear motor corresponding to low operating rates can be assembled in the second joint 60. In this example, a fourth gear motor 140 (GM-3B) is assembled in the second joint 60.

[0059] The second robot 600 is a multi-joint robot having a third joint 70 and a fourth joint 80 with a lower actuation rate than the third joint 70. The third joint 70 includes joints 71, 72, and 73 arranged sequentially from the base end to the front end. An arm 74 is provided at the base end of joint 71, an arm 75 is provided between joint 71 and joint 72, an arm 76 is provided between joint 72 and joint 73, and an arm 77 is provided at the front end of joint 73.

[0060] The fourth joint portion 80 includes joint portions 81, 82, and 83 arranged sequentially from the base side toward the front side. Joint portion 81 is disposed on the front side of arm portion 77, arm portion 85 is disposed between joint portion 81 and joint portion 82, arm portion 86 is disposed between joint portion 82 and joint portion 83, and arm portion 87 is disposed on the front side of joint portion 83.

[0061] A third gear motor 130, comprising a second reducer 10-B and a first motor 11-A with a rated capacity less than that of the second motor 11-B, is assembled in the fourth joint 80. For example, a first series S1 gear motor corresponding to high uptime can be assembled in the third joint 70. In this example, a fifth gear motor 150, comprising a third reducer 10-C with a permissible torque greater than that of the second reducer 10-B and a motor 11-C with a rated capacity greater than that of the second motor 11-B, is assembled in the third joint 70.

[0062] As an example, the operating rate of the first joint 50 is more than three times that of the second joint 60, and / or the operating rate of the third joint 70 is more than three times that of the fourth joint 80. In this case, compared with the case where the ratio of the operating rates between these joints is less than three times, the rated capacity of the motor of the second joint 60 or the fourth joint 80 can be reduced. This is beneficial for reducing the overall weight of the robots 500 and 600. Furthermore, the ratio of the operating rates between these joints can be four times or more. In this case, compared with the case where the ratio of the operating rates is 1, the rated capacity of the motor of the second joint 60 or the fourth joint 80 can be halved, which is more preferable from the viewpoint of weight reduction.

[0063] In this embodiment, the operating rate of the first joint 50 and the third joint 70 is set in the range of 50%ED to 100%ED, and the operating rate of the second joint 60 and the fourth joint 80 is set in the range of 5%ED to 25%ED.

[0064] According to the robot series 3000 of the second embodiment, by mounting gear motors with actual operational efficiency on the gear motors of the joints at the base end and the front end, the robot's payload capacity and reach length can be improved. Furthermore, since the second robot 600 uses components common to the first robot 500, the design cost of each robot can be reduced. Moreover, when combining gear motors with different models and smaller rated capacities from the base end joints in the gear motors of the front end joints, the outer diameter of the gear motors in the front end joints can be reduced. Furthermore, when combining gear motors with smaller axial lengths from the base end joints in the gear motors of the front end joints, the axial length of the gear motors can be reduced. Therefore, the front end joints can be made lighter and space-saving, thus achieving a lighter overall robot arm and improving robot performance.

[0065] The above is a description of the second embodiment. The second embodiment performs the same function and effect as the first embodiment.

[0066] The present invention has been described above based on embodiments. Those skilled in the art should understand that these embodiments are exemplary and various modifications and variations are possible, and such modifications and variations also fall within the scope of the present invention. Therefore, the descriptions and drawings in this specification should be considered exemplary rather than limiting.

[0067] (Variation example) The following describes modified examples. In the accompanying drawings and descriptions of the modified examples, the same reference numerals are used to denote the same constituent elements and components as in the embodiment. Descriptions that are repeated in the embodiment are omitted where appropriate, and the focus is on describing structures that differ from the embodiment.

[0068] In the above description, an example is shown where the connecting part 17 is formed separately from the motor housing 16, but the present invention is not limited thereto. The connecting part may also be formed as an integral part with the motor housing.

[0069] In the above description, an example of a servo motor as motor 11 is shown, but the present invention is not limited thereto. There are no restrictions on the motor as long as it can output rotation to the reducer, and it can be a motor based on various known principles.

[0070] In the above description, an example of a so-called center crank type eccentric oscillating reducer 10 has been shown, but the present invention is not limited thereto. There are no limitations on the reducer as long as it can reduce speed and output rotation from the motor; it can be a reducer based on various known principles. For example, reducer 10 can be a distribution type eccentric oscillating reducer, a flexural meshing reducer, a simple planetary reducer, an orthogonal shaft reducer, a parallel shaft reducer, etc.

[0071] In the above description, an example is shown where each of the first joint portion 50 to the fourth joint portion 80 includes three joint portions, but the present invention is not limited thereto. The number of joint portions of the first joint portion to the fourth joint portion is only required to be one or more.

[0072] The above description explains the technical concepts of the gear motor series and the robot series, but it can also be understood as the technical concepts of the manufacturing or construction methods of the gear motor series (product group) and the robot series (product group).

[0073] These variations all perform the same function and effect as the implementation method.

[0074] Any combination of the above-described embodiments and modifications is also effective as an embodiment of the present invention. New embodiments resulting from combinations possess the effects of both the combined embodiments and modifications.

[0075] Industrial availability This disclosure relates to a series of geared motors and a series of robots.

[0076] Symbol Explanation S1 - Series 1, S2 - Series 2, S3 - Series 3, 10 - Reducer, 11 - Motor, 14 - Stator core, 50 - First joint, 60 - Second joint, 70 - Third joint, 80 - Fourth joint, 100 - First gear motor, 120 - Second gear motor, 130 - Third gear motor, 140 - Fourth gear motor, 150 - Fifth gear motor, 500 - First robot, 600 - Second robot, 1000, 2000, 3000 - Series.

Claims

1. A series of gear motors, comprising a first series and a second series, wherein, The first series has at least: The first geared motor includes a first reducer and a first motor; and The second gear motor includes: a second reducer with a permissible torque greater than that of the first reducer, and a second motor with a rated capacity greater than that of the first motor. The second series has at least the following characteristics: The third gear motor includes the second reducer and the first motor.

2. A series of gear motors, comprising a first series and a third series, wherein, The first series has at least: The first geared motor includes a first reducer and a first motor; and The second gear motor includes: a second reducer with a permissible torque greater than that of the first reducer, and a second motor with a rated capacity greater than that of the first motor. The third series has at least the following characteristics: The fourth gear motor includes the second reducer and the third motor. The shape and outer diameter of the connection between the third motor and the second reducer are the same as those of the second motor, but the axial length is less than that of the second motor.

3. The gear motor series according to claim 2, wherein, The axial length of the stator core of the third motor is less than the axial length of the stator core of the second motor.

4. A robot series comprising a first robot and a second robot capable of handling a mass greater than that of the first robot, wherein, The first robot has: The first joint and the second joint with a lower agility than the first joint; A second gear motor, including a second reducer and a second motor, is assembled in the first joint. The second robot has: The third joint and the fourth joint with a lower agility than the third joint; The fourth joint is equipped with a third gear motor, which includes the second reducer and a first motor with a rated capacity smaller than that of the second motor.

5. The robot series according to claim 4, wherein, A fifth gear motor is assembled in the third joint, the fifth gear motor having a third reducer with a permissible torque greater than that of the second reducer and a third motor with a rated capacity greater than that of the second motor.

6. The robot series according to claim 4 or 5, wherein, The operating rate of the first joint is more than three times that of the second joint, and / or the operating rate of the third joint is more than three times that of the fourth joint.

Images