Speed reducer and robot

Abstract

This technology relates to a reducer capable of achieving both low backlash and high efficiency in planetary reducers; and to a robot. The reducer according to this technology includes: a sun gear; a plurality of planetary gears meshing with the sun gear and an internal gear; an internal gear having a first phase-determining unit for fixing the phase of the internal gear; and a support unit having a plurality of second phase-determining units engaged with the first phase-determining unit. This technology can be applied, for example, to robots with joint drive units.

Description

Technical Field

[0001] This technology relates to reducers and robots, and more specifically, to reducers and robots that can appropriately balance the low backlash and high efficiency of planetary reducers. Background Technology

[0002] In planetary gear reducers, there is a need to achieve both low backlash and high efficiency. To achieve low backlash, the clearance between gears needs to be reduced or eliminated. However, if the clearance between gears is reduced, the tooth contact of each gear deteriorates due to machining errors, resulting in reduced efficiency.

[0003] Patent document 1 describes a planetary gear transmission in which planetary gears, sun gears and internal gears are configured as bevel gears and are equipped with a mechanism that uses disc springs to apply axial preload to eliminate backlash between gears.

[0004] [List of Citations]

[0005] [Patent Literature]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 6-272740 Summary of the Invention

[0007] [Technical Issues]

[0008] When a mechanism for absorbing gear machining errors is added, as described in Patent Document 1, the planetary reducer becomes larger and more expensive. Furthermore, if the various gears are manually adjusted during planetary reducer assembly to absorb gear machining errors, the number of assembly hours increases.

[0009] This technology was developed in view of such circumstances and aims to properly achieve both low backlash and high efficiency in planetary reducers.

[0010] [Solution to the problem]

[0011] The reducer according to a first aspect of the present technology includes: a sun gear; a plurality of planetary gears meshing with the sun gear and an internal gear; an internal gear, wherein a first phase positioning unit is formed to fix the phase of the internal gear; and a support unit, wherein a plurality of second phase positioning units are formed to be engaged into the first phase positioning unit.

[0012] A robot according to a second aspect of the present technology includes a reducer comprising: a sun gear; a plurality of planetary gears meshing with the sun gear and an internal gear; an internal gear wherein a first phase positioning unit is formed to fix the phase of the internal gear; and a support unit wherein a plurality of second phase positioning units are formed to engage with the first phase positioning unit.

[0013] In the first and second aspects of this technology, a plurality of planetary gears mesh with a sun gear and an internal gear, a first phase positioning unit is formed in the internal gear to fix the phase of the internal gear, and a plurality of second phase positioning units to be fitted into the first phase positioning unit are formed in a support unit. Attached Figure Description

[0014] [ Figure 1 [Illustration 1] is a diagram illustrating a first configuration example of a planetary reducer according to an embodiment of the present technology.

[0015] [ Figure 2 [ ] is a cross-sectional view showing an example of the configuration of the bearing unit.

[0016] [ Figure 3 [Illustration 1] is a diagram illustrating a second configuration example of a planetary reducer according to an embodiment of the present technology.

[0017] [ Figure 4 [ ] is a cross-sectional view showing an example of the configuration of the bearing unit.

[0018] [ Figure 5 [Illustration 1] is a figure illustrating a third configuration example of a planetary reducer according to an embodiment of the present technology.

[0019] [ Figure 6 [Illustration 1] is an example diagram showing the appearance of an internal gear.

[0020] [ Figure 7 [Illustration 1] is a diagram showing an example of a main unit with an internal gear and an output shaft assembled together.

[0021] [ Figure 8 [ ] is a diagram illustrating the orientation of the front-stage internal gear to be assembled into the main unit.

[0022] [ Figure 9 [Illustration 1] is a diagram showing an example of a fixing method used for internal gears.

[0023] [ Figure 10 [Illustration 1] is another example of a fixing method used for internal gears.

[0024] [ Figure 11 [Illustration 1] shows an example of a main unit and an output shaft assembled with an internal gear having four phase positioning units.

[0025] [ Figure 12 [ ] is a diagram illustrating the orientation of the front-stage internal gear to be assembled into the main unit.

[0026] [ Figure 13 [Illustration 1] is a diagram showing an example of a main unit with eight phase positioning units.

[0027] [ Figure 14 [Illustration 1] is a diagram showing a modified example of the appearance of an internal gear.

[0028] [ Figure 15 [This is a diagram showing an example of an internal gear and a main body unit in which a recess is formed on the internal gear as a phase positioning unit.]

[0029] [ Figure 16 [Illustration] is a diagram showing an example configuration of a robot using a planetary reducer that incorporates this technology. Detailed Implementation

[0030] The following describes implementation methods for carrying out this technology. The descriptions will be given in the following order.

[0031] 1. Configuration of planetary gear reducers

[0032] 2. Modify the example

[0033] 3. Application Examples

[0034] <1. Configuration of Planetary Gear Reducer>

[0035] Figure 1 This is a diagram illustrating a first configuration example of a planetary reducer 1 according to an embodiment of the present technology.

[0036] Figure 1 Planetary reducer 1 in the text is a two-stage planetary gear reducer equipped with a front-stage planetary gear mechanism and a rear-stage planetary gear mechanism. For example... Figure 1 As shown, the planetary reducer 1 includes a main body unit 11, a front internal gear 12A, a rear internal gear 12B, a load-bearing unit 13, an output shaft 14, and a cross roller unit 15.

[0037] The pre-stage internal gear 12A is assembled and fitted into the main body unit 11. The main body unit 11 serves as a support unit (for the pre-stage) for supporting the pre-stage internal gear 12A. The pre-stage internal gear 12A meshes with the pre-stage planetary gear included in the carrier unit 13.

[0038] The carrier unit 13 has two planetary gears. Each planetary gear in the carrier unit 13 is configured by integrating a coaxial front-stage planetary gear and a rear-stage planetary gear.

[0039] The subsequent internal gear 12B is assembled and engaged with the output shaft 14. The output shaft 14 serves as a support unit (for the subsequent stage) supporting the subsequent internal gear 12B. The subsequent internal gear 12B rotates by meshing with the subsequent planetary gears included in the carrier unit 13, and the output shaft 14 rotates in a similar manner as the subsequent internal gear 12B rotates. Note that in the following text, unless a special distinction is required between the preceding internal gear 12A and the subsequent internal gear 12B, the preceding internal gear 12A and the subsequent internal gear 12B will be referred to simply as internal gear 12.

[0040] The end of the output shaft 14 is inserted into a hole provided in the cross roller unit 15. The cross roller unit 15 supports the output shaft 14.

[0041] Figure 2 This is a cross-sectional view showing an example configuration of the support unit 13.

[0042] like Figure 2 As shown, in the carrier unit 13, the sun gear 32 is connected to the input shaft 31.

[0043] Planetary gear 33-1 is configured by integrating pre-stage planetary gear 33-1A and post-stage planetary gear 33-1B, and planetary gear 33-2 is configured by integrating pre-stage planetary gear 33-2A and post-stage planetary gear 33-2B. Pre-stage planetary gear 33-1A and pre-stage planetary gear 33-2A rotate by meshing with sun gear 32 and transmit the driving force from input shaft 31 to post-stage internal gear 12B (output shaft 14) which meshes with post-stage planetary gear 33-1B and post-stage planetary gear 33-2B.

[0044] Figure 3 This is a diagram illustrating a second configuration example of a planetary reducer 1 according to an embodiment of the present technology.

[0045] Figure 3 The planetary reducer 1 in the reference is Figure 1 The described planetary reducer 1 is similar to a two-stage planetary reducer. Figure 3 In, with Figure 1 Configurations with the same characteristics are assigned the same reference numerals. Redundant descriptions will be omitted as appropriate. Figure 3 Planetary reducer 1 and Figure 1 The difference in the planetary reducer 1 is that it uses a support unit 51 instead of a support unit 13.

[0046] The front internal gear 12A meshes with the front planetary gear included in the bearing unit 51.

[0047] The carrier unit 51 has three planetary gears. Each planetary gear in the carrier unit 51 is configured by integrating a coaxial front-stage planetary gear and a rear-stage planetary gear.

[0048] The rear internal gear 12B rotates by meshing with the rear planetary gear included in the carrier unit 51, and the output shaft 14 rotates in a similar manner as the rear internal gear 12B rotates.

[0049] Figure 4 This is a cross-sectional view showing an example configuration of the support unit 51.

[0050] like Figure 4 As shown, in the carrier unit 51, the sun gear 62 is connected to the input shaft 61.

[0051] Planetary gear 63-1 is configured by integrating pre-stage planetary gear 63-1A and post-stage planetary gear 63-1B. Planetary gear 63-2 (not shown) is configured by integrating pre-stage planetary gear 63-2A and post-stage planetary gear 63-2B, and planetary gear 63-3 is configured by integrating pre-stage planetary gear 63-3A and post-stage planetary gear 63-3B. Pre-stage planetary gears 63-1A, 63-2A, and 63-3A rotate by meshing with sun gear 62 and transmit the driving force from input shaft 61 to post-stage internal gear 12B (output shaft 14), which meshes with post-stage planetary gears 63-1B, 63-2B, and 63-3B.

[0052] Figure 5 This is a diagram illustrating a third configuration example of a planetary reducer 1 according to an embodiment of the present technology.

[0053] Figure 5 Planetary reducer 1 in the text is a single-stage planetary gear reducer equipped with a single-stage planetary gear mechanism. For example... Figure 5 As shown, the planetary reducer 1 includes an input shaft 81, a sun gear 82, three planetary gears 83-1 to 83-3, an internal gear 84, a planet carrier 85, and an output shaft 86.

[0054] The sun gear 82 is connected to the input shaft 81, and three planetary gears 83-1 to 83-3 mesh with the sun gear 82. The three planetary gears 83-1 to 83-3 mesh with the internal gear 84. The internal gear 84 is assembled and fitted into the main unit (not shown).

[0055] Three planetary gears 83-1 to 83-3 are connected via a planet carrier 85, and an output shaft 86 is connected to the planet carrier 85. The three planetary gears 83-1 to 83-3 rotate by meshing with a sun gear 82 and transmit the driving force from the input shaft 81 to the planet carrier 85 (output shaft 86).

[0056] Figure 6 This is a diagram showing an example of the appearance of the internal gear 12.

[0057] Figure 6 The internal gear 12 is an involute gear with a cylindrical shape and teeth formed on its inner circumference, which mesh with the teeth of the planetary gear. The module of the internal gear 12 is arbitrary, and the internal gear 12 can be a modified gear or a standard gear.

[0058] A phase positioning unit 101-1 is formed on the outer circumference of the cylindrical portion of the internal gear 12. This phase positioning unit 101-1 is to be fitted with a phase positioning unit provided in the main body unit 11 or the output shaft 14. For example, a recess serving as a phase positioning unit is formed in the main body unit 11 or the output shaft 14. The phase positioning unit 101-1 has a convex shape that adapts to the concave shape of the phase positioning unit on the main body unit 11 or the output shaft 14 side. Specifically, the circumferential width of the phase positioning unit 101-1 is substantially the same as the circumferential width of the phase positioning unit on the main body unit 11 or the output shaft 14 side. The circumferential width dimension of the phase positioning unit 101-1 is arbitrary. Since the phase positioning unit 101-1 receives loads in the rotational direction, it is desirable to determine the width dimension of the phase positioning unit 101-1 based on the torque capacity. A notch 102 is formed in the phase positioning unit 101-1, which serves as a mark for identifying the reference phase positioning unit 101-1.

[0059] Furthermore, on the outer circumference of the cylindrical portion of the internal gear 12, a phase positioning unit 101-2 is formed at a position symmetrical about the center of the internal gear 12 with respect to the phase positioning unit 101-1. This phase positioning unit 101-2 fits into a phase positioning unit provided in the main body unit 11 or the output shaft 14. The shape of the phase positioning unit 101-2 is the same as that of the phase positioning unit 101-1, but it does not have a notch 102. Note that in the following text, unless a special distinction is needed between the phase positioning unit 101-1 and the phase positioning unit 101-2, both phase positioning units 101-1 and 101-2 will be simply referred to as phase positioning unit 101.

[0060] In this way, one or more phase positioning units 101 are formed on the outer circumference of the cylindrical portion of the internal gear 12. When multiple phase positioning units 101 are formed in the internal gear 12, the multiple phase positioning units 101 are arranged at equal intervals along the outer circumference of the cylindrical portion of the internal gear 12, and a mark for identifying at least one of the multiple phase positioning units 101 is formed on the internal gear 12.

[0061] The outer diameter of the cylindrical portion of the internal gear 12 is substantially the same as the diameter of the opening provided in the main body unit 11 or the output shaft 14, and the cylindrical portion of the internal gear 12 fits into the opening on the side of the main body unit 11 or the output shaft 14. The internal gear 12 is formed with high precision so that the center of the internal gear 12 is coaxial with the input shaft or the output shaft 14.

[0062] The internal gear 84, which is located in the single-stage planetary gear reducer, also has a shape similar to that of the internal gear 12.

[0063] Figure 7 This is a diagram showing an example of a main unit 11 with an internal gear 12 assembled and an output shaft 14.

[0064] like Figure 7 As shown in A, the main body unit 11 has an opening 120 and four phase positioning units (recesses) 121-1 to 121-4. The cylindrical part of the front internal gear 12A is fitted into the opening 120, and the phase positioning unit 101 is fitted into the four phase positioning units 121-1 to 121-4.

[0065] The opening 120 is formed to a predetermined depth, for example, not penetrating the main body unit 11. As described above, since the diameter of the opening 120 is substantially the same as the outer diameter of the cylindrical portion of the pre-stage internal gear 12A, the opening 120 and the cylindrical portion of the pre-stage internal gear 12A fit together with high precision.

[0066] Four phase positioning units 121-1 to 121-4 are formed along the circumference of the opening 120. In other words, phase positioning units 121-1 to 121-4 are formed at the edge portion of the opening 120. Phase positioning units 121-1 and 121-3 are formed at positions symmetrical about the center of the main body unit 11, and phase positioning units 121-2 and 121-4 are formed at positions symmetrical about the center of the main body unit 11. Note that in the following text, unless a special distinction is required between phase positioning units 121-1 to 121-4, phase positioning units 121-1 to 121-4 will be simply referred to as phase positioning unit 121.

[0067] As described above, since the width of the phase positioning unit 121 in the circumferential direction is basically the same as the width of the phase positioning unit 101 on the front internal gear 12A side in the circumferential direction, the phase positioning unit 101 and the phase positioning unit 121 are fitted together with high precision. Figure 7 In example A, phase positioning unit 101-1 is fitted into phase positioning unit 121-1, and phase positioning unit 101-3 is fitted into phase positioning unit 121-3. On the other hand, phase positioning unit 101 on the front internal gear 12A side is not fitted into phase positioning units 121-2 and 121-4.

[0068] In this way, the main body unit 11 is formed with a number of phase positioning units 121 equal to or greater than the number of phase positioning units 101 on the side of the preceding internal gear 12A. When a plurality of phase positioning units 121 are formed in the main body unit 11, the plurality of phase positioning units 121 are arranged at equal intervals along the circumference of the opening 120.

[0069] like Figure 7 As shown in B, the output shaft 14 has an opening 130 and four phase positioning units (recesses) 131-1 to 131-4. The cylindrical portion of the rear internal gear 12B is fitted into the opening 130, and the phase positioning unit 101 is fitted into the four phase positioning units 131-1 to 131-4.

[0070] The opening 130 is formed to a predetermined depth, for example, not through the output shaft 14. As described above, since the diameter of the opening 130 is substantially the same as the outer diameter of the cylindrical portion of the subsequent internal gear 12B, the opening 130 and the cylindrical portion of the subsequent internal gear 12B fit together with high precision.

[0071] Four phase positioning units 131-1 to 131-4 are formed along the circumference of the opening 130. In other words, phase positioning units 131-1 to 131-4 are formed at the edge portion of the circumference of the opening 130. Phase positioning units 131-1 and 131-3 are formed at symmetrical positions about the center of the output shaft 14, and phase positioning units 131-2 and 131-4 are formed at symmetrical positions about the center of the output shaft 14. Note that in the following text, unless a special distinction is required between phase positioning units 131-1 to 131-4, phase positioning units 131-1 to 131-4 will be simply referred to as phase positioning unit 131.

[0072] As described above, since the width of the phase positioning unit 131 in the circumferential direction is basically the same as the width of the phase positioning unit 101 on the side of the subsequent internal gear 12B in the circumferential direction, the phase positioning unit 101 and the phase positioning unit 131 are fitted together with high precision. Figure 7 In example B, phase positioning unit 101-1 is fitted into phase positioning unit 131-1, and phase positioning unit 101-3 is fitted into phase positioning unit 131-3. On the other hand, phase positioning unit 101 on the side of the rear internal gear 12B is not fitted into phase positioning units 131-2 and 131-4.

[0073] In this manner, similar to the main unit 11, the output shaft 14 is formed with a number of phase positioning units 131 equal to or greater than the number of phase positioning units 101 on the side of the subsequent internal gear 12B. When multiple phase positioning units 131 are formed in the output shaft 14, the multiple phase positioning units 131 are arranged at equal intervals along the circumference of the opening 130.

[0074] Figure 8 This diagram illustrates the orientation of the front internal gear 12A to be assembled into the main unit 11.

[0075] like Figure 8 As shown, four types of phases can be considered for the phase (orientation) of the front internal gear 12A when assembled into the main body unit 11: this depends on which of the phase positioning units 101-1 on the front internal gear 12A side is to be engaged with the phase positioning units 121-1 to 121-4 on the main body unit 11 side.

[0076] The operator assembling the planetary reducer 1 can determine the optimal phase from four phase types of the front-stage internal gear 12A by manually adjusting and checking its meshing with other gears (e.g., the planetary gears of the carrier unit 13), and then assemble the front-stage internal gear 12A to the main unit 11. Specifically, the phase of the front-stage internal gear 12A is fixed by engaging the phase positioning unit 101 on the front-stage internal gear 12A side with the phase positioning unit 121 of the main unit 11. Similarly, the operator can determine the optimal phase from four phase types of the rear-stage internal gear 12B by manually adjusting and checking its meshing with other gears, and then assemble the rear-stage internal gear 12B to the output shaft 14.

[0077] Therefore, in this technology, a phase positioning unit 101 (first phase positioning unit) for fixing the phase of the internal gear 12 is formed in the internal gear 12, and multiple phase positioning units (second phase positioning units) for engaging with the phase positioning unit 101 on the side of the internal gear 12 are formed in each of the main body unit 11 and the output shaft 14. This makes it possible to adjust the phase of the internal gear 12. By adjusting the phase of the internal gear 12, the operator can perform assembly by reducing or eliminating the backlash between gears while absorbing the machining errors of gears and parts. Since the machining errors of gears and parts are absorbed, low backlash can be achieved while preventing the reduction in efficiency due to the influence of machining errors.

[0078] Therefore, the planetary reducer 1 can achieve both low backlash and high efficiency without the need to prototype a large number of gears and find the optimal combination of gears through manual adjustment, and without the need for additional mechanisms to absorb machining errors of gears, etc.

[0079] Figure 9 This is a diagram showing an example of the fixing method used for the internal gear 12.

[0080] After determining the optimal assembly phase of the internal gear 12, the internal gear 12 is fully fixed to the main unit 11 or the output shaft 14.

[0081] exist Figure 9 In example A, screws 151 are used to secure the rear internal gear 12B and the output shaft 14. With the surface of the output shaft 14 having the opening 130 and the phase positioning unit 131 as the rear surface, screws 151 are inserted from the front surface side of each of the phase positioning units 131-1 and 131-3, and the output shaft 14 is fastened to the phase positioning units 101-1 and 101-3 of the rear internal gear 12B.

[0082] exist Figure 9 In example B, screws 151 are used to secure the main body unit 11 and the pre-stage internal gear 12A. With the surface of the main body unit 11 where the opening 120 and the phase positioning unit 121 are formed being the rear surface, screws 151 are inserted from the front surface side of each of the phase positioning units 121-1 and 121-3, and the main body unit 11 is fastened to the phase positioning units 101-1 and 101-3 of the pre-stage internal gear 12A.

[0083] Figure 10 This is a diagram showing another example of the fixing method used for the internal gear 12.

[0084] exist Figure 10 In example A, adhesive is used to secure the rear internal gear 12B and the output shaft 14. For example, in Figure 10 In step A, adhesive is applied to the cylindrical portion of the rear internal gear 12B (the portion that does not form the phase positioning unit 101) shown, which is surrounded by a gray rounded rectangle, and the opening 130 of the output shaft 14 is engaged with the cylindrical portion of the rear internal gear 12B.

[0085] exist Figure 10 In example B, adhesive is used to secure the main body unit 11 and the front internal gear 12A. For example, in Figure 10 In section B, adhesive is applied to the cylindrical portion of the pre-stage internal gear 12A (the portion that does not form the phase positioning unit 101) shown, which is surrounded by a gray rounded rectangle, and the opening 120 of the main body unit 11 is joined to the cylindrical portion of the pre-stage internal gear 12A.

[0086] The method of fixing the internal gear 12 is to be determined by the torque capacity. For example, the method of fixing the internal gear 12 can be to use screws 151, adhesive, or both screws 151 and adhesive.

[0087] By completely fixing the internal gear 12 to the main body unit 11 or the output shaft 14, the rigidity of the planetary reducer 1 can be improved, and backlash can be prevented due to the gap between the phase positioning unit on the main body unit 11 or the output shaft 14 side and the phase positioning unit on the internal gear 12 side.

[0088] <2. Modified Example>

[0089] - An example of forming four phase positioning units in an internal gear

[0090] Figure 11 This is a diagram showing an example of a main body unit 11 and an output shaft 14 assembled with an internal gear 12 having four phase positioning units 101.

[0091] exist Figure 11 Four phase positioning units 101-1 to 101-4 are formed on the outer circumference of the cylindrical portion of the internal gear 12. Phase positioning units 101-1 and 101-3 are formed at symmetrical positions about the center of the internal gear 12, and phase positioning units 101-2 and 101-4 are formed at symmetrical positions about the center of the internal gear 12. Phase positioning units 101-1 to 101-4 have similar shapes, and for example, only phase positioning unit 101-1 has a notch formed as a marker.

[0092] like Figure 11 As shown in A, the main body unit 11 is formed with four phase positioning units 121-1 to 121-4, and the phase positioning unit 101 is fitted into the four phase positioning units 121-1 to 121-4.

[0093] Four phase positioning units 121-1 to 121-4 are formed at the edge portion of the opening 120. Phase positioning units 121-1 and 121-3 are formed at symmetrical positions about the center of the main body unit 11, and phase positioning units 121-2 and 121-4 are formed at symmetrical positions about the center of the main body unit 11.

[0094] exist Figure 11 In A, since the circumferential widths of phase positioning units 121-1 and 121-3 are essentially the same as the circumferential width of phase positioning unit 101 on the front internal gear 12A side, phase positioning unit 101 can be precisely engaged with phase positioning units 121-1 and 121-3. Figure 11 In example A, phase positioning unit 101-1 is fitted into phase positioning unit 121-1, and phase positioning unit 101-3 is fitted into phase positioning unit 121-3.

[0095] On the other hand, phase positioning unit 101-2 is fitted into phase positioning unit 121-2, and phase positioning unit 101-4 is fitted into phase positioning unit 121-4. The circumferential widths of phase positioning units 121-2 and 121-4 are formed to be greater than the circumferential widths of phase positioning unit 101 on the front internal gear 12A side (the circumferential widths of phase positioning units 121-1 and 121-3).

[0096] Therefore, gap G2 is larger than gap G1. Gap G1 is the circumferential gap between phase positioning unit 101-1 and phase positioning unit 121-1, and between phase positioning unit 101-3 and phase positioning unit 121-3. Gap G2 is the circumferential gap between phase positioning unit 101-2 and phase positioning unit 121-2, and between phase positioning unit 101-4 and phase positioning unit 121-4.

[0097] Therefore, in the main body unit 11, for example, a combination of two phase positioning units 121 (third phase positioning units) is formed. These two phase positioning units are arranged symmetrically about the center of the opening 120, and are configured such that their circumferential width is substantially the same as the circumferential width of the phase positioning unit 101 on the front internal gear 12A side. The width of the other phase positioning units 121 (fourth phase positioning units) is formed to be greater than the width of the phase positioning unit 101 on the front internal gear 12A side.

[0098] Furthermore, for example, when the number of phase positioning units 121 formed in the main body unit 11 is a multiple of three, a combination of three phase positioning units 121 is formed in the main body unit 11. These three phase positioning units are arranged at equal intervals along the circumference of the opening 120, and are configured such that their circumferential width is substantially the same as the circumferential width of the phase positioning unit 101 on the front internal gear 12A side. The width of the other phase positioning units 121 is formed to be greater than the width of the phase positioning unit 101 on the front internal gear 12A side.

[0099] like Figure 11 As shown in B, the output shaft 14 is formed with four phase positioning units 131-1 to 131-4, and the phase positioning unit 101 is fitted into the four phase positioning units 131-1 to 131-4.

[0100] Four phase positioning units 131-1 to 131-4 are formed at the edge portion of the opening 130. Phase positioning units 131-1 and 131-3 are formed at symmetrical positions about the center of the output shaft 14, and phase positioning units 131-2 and 131-4 are formed at symmetrical positions about the center of the output shaft 14.

[0101] exist Figure 11 In section B, since the circumferential widths of phase positioning units 131-1 and 131-3 are essentially the same as the circumferential width of phase positioning unit 101 on the side of the subsequent internal gear 12B, phase positioning unit 101 can be precisely engaged with phase positioning units 131-1 and 131-3. Figure 11 In example B, phase positioning unit 101-1 is fitted into phase positioning unit 131-1, and phase positioning unit 101-3 is fitted into phase positioning unit 131-3.

[0102] On the other hand, phase positioning unit 101-2 is fitted into phase positioning unit 131-2, and phase positioning unit 101-4 is fitted into phase positioning unit 131-4. The circumferential widths of phase positioning units 131-2 and 131-4 are formed to be greater than the circumferential widths of phase positioning unit 101 on the side of the subsequent internal gear 12B (the circumferential widths of phase positioning units 131-1 and 131-3).

[0103] Therefore, gap G4 is larger than gap G3. Gap G3 is the circumferential gap between phase positioning unit 101-1 and phase positioning unit 131-1, and between phase positioning unit 101-3 and phase positioning unit 131-3. Gap G4 is the circumferential gap between phase positioning unit 101-2 and phase positioning unit 131-2, and between phase positioning unit 101-4 and phase positioning unit 131-4.

[0104] In this manner, similar to the main body unit 11, a combination of two phase positioning units 131 (the third phase positioning unit) is formed in the output shaft 14, for example. These two phase positioning units are arranged symmetrically about the center of the opening 130, and are configured such that their circumferential width is substantially the same as the circumferential width of the phase positioning unit 101 on the side of the subsequent internal gear 12B. The width of the other phase positioning unit 131 (the fourth phase positioning unit) is formed to be greater than the width of the phase positioning unit 101 on the side of the subsequent internal gear 12B.

[0105] Furthermore, for example, when the number of phase positioning units 131 formed in the output shaft 14 is a multiple of three, a combination of three phase positioning units 131 is formed in the output shaft 14. These three phase positioning units are arranged at equal intervals along the circumference of the opening 130, and are configured such that their circumferential width is substantially the same as the circumferential width of the phase positioning unit 101 on the side of the subsequent internal gear 12B. The width of the other phase positioning units 131 is formed to be greater than the width of the phase positioning unit 101 on the side of the subsequent internal gear 12B.

[0106] Figure 12 This diagram illustrates the orientation of the front internal gear 12A to be assembled into the main unit 11.

[0107] like Figure 12 As shown, even when four phase positioning units 101 are formed in the front internal gear 12A, when the front internal gear 12A is assembled to the main body unit 11, four types of phase (orientation) can be considered for the phase of the front internal gear 12A: this depends on which of the phase positioning units 121-1 to 121-4 on the main body unit 11 side is to be fitted into by the phase positioning unit 101-1 on the front internal gear 12A side.

[0108] When four or more phase positioning units 101 are formed in the internal gear 12, the internal gear 12 can be fixed to the main unit 11 or the output shaft 14 as long as some of the phase positioning units 121 and 131 are formed such that their width is substantially the same as the width of the phase positioning unit 101. Since it is not necessary to form all the phase positioning units 121 and 131 with high dimensional accuracy, but only some of the phase positioning units 121 and 131 need to be formed with high dimensional accuracy, the machining time of the main unit 11 and the output shaft 14 can be reduced.

[0109] - An example of forming eight phase positioning units in the main unit or output shaft

[0110] Figure 13 This is a diagram showing an example of a main body unit 11 having eight phase positioning units 121.

[0111] exist Figure 13Eight phase positioning units 101-1 to 101-8 are formed on the outer circumference of the cylindrical portion of the internal gear 12 in component A. Phase positioning units 101-1 and 101-5 are formed at positions symmetrical about the center of the internal gear 12, and phase positioning units 101-2 and 101-6 are formed at positions symmetrical about the center of the internal gear 12. Phase positioning units 101-3 and 101-7 are formed at positions symmetrical about the center of the internal gear 12, and phase positioning units 101-4 and 101-8 are formed at positions symmetrical about the center of the internal gear 12. Phase positioning units 101-1 to 101-8 have similar shapes, and only phase positioning unit 101-1 has a notch for marking.

[0112] like Figure 13 As shown in A, the main body unit 11 is formed with eight phase positioning units 121-1 to 121-8, and the phase positioning unit 101 is fitted into the eight phase positioning units 121-1 to 121-8.

[0113] Eight phase positioning units 121-1 to 121-8 are formed at the edge portion of the opening 120. Phase positioning units 121-1 and 121-5 are formed at positions symmetrical about the center of the main body unit 11, and phase positioning units 121-2 and 121-6 are formed at positions symmetrical about the center of the main body unit 11. Phase positioning units 121-3 and 121-7 are formed at positions symmetrical about the center of the main body unit 11, and phase positioning units 121-4 and 121-8 are formed at positions symmetrical about the center of the main body unit 11.

[0114] exist Figure 13 In A, since the circumferential widths of phase positioning units 121-1 and 121-5 are essentially the same as the circumferential width of phase positioning unit 101 on the front internal gear 12A side, phase positioning unit 101 can be precisely engaged with phase positioning units 121-1 and 121-5. Figure 13 In example A, phase positioning unit 101-1 is fitted into phase positioning unit 121-1, and phase positioning unit 101-5 is fitted into phase positioning unit 121-5.

[0115] On the other hand, phase positioning unit 101-2 is fitted into phase positioning unit 121-2, phase positioning unit 101-3 is fitted into phase positioning unit 121-3, and phase positioning unit 101-4 is fitted into phase positioning unit 121-4. Phase positioning unit 101-6 is fitted into phase positioning unit 121-6, phase positioning unit 101-7 is fitted into phase positioning unit 121-7, and phase positioning unit 101-8 is fitted into phase positioning unit 121-8. The circumferential width of phase positioning units 121-2 to 121-4 and phase positioning units 121-6 to 121-8 is formed to be greater than the circumferential width of phase positioning unit 101 on the front internal gear 12A side (the circumferential width of phase positioning units 121-1 and 121-5).

[0116] exist Figure 13 Two phase positioning units 101-1 and 101-2 are formed on the outer circumference of the cylindrical portion of the internal gear 12 in B. The phase positioning units 101-1 and 101-2 are formed at symmetrical positions about the center of the internal gear 12. The phase positioning units 101-1 and 101-2 have similar shapes, and only the phase positioning unit 101-1 has a notch formed as a mark.

[0117] exist Figure 13 In B, similar to Figure 13 In A, the main body unit 11 has eight phase positioning units 121-1 to 121-8, and the phase positioning unit 101 is fitted into the eight phase positioning units 121-1 to 121-8. Figure 13 In section B, the circumferential width of phase positioning units 121-1 to 121-8 is substantially the same as the circumferential width of phase positioning unit 101 on the side of the front internal gear 12A. Therefore, phase positioning unit 101 and phase positioning units 121-1 to 121-8 are fitted together with high precision. Figure 13 In example B, phase positioning unit 101-1 is fitted into phase positioning unit 121-1, and phase positioning unit 101-2 is fitted into phase positioning unit 121-5.

[0118] On the other hand, the phase positioning unit 101 is not fitted into the phase positioning units 121-2 to 121-4 and the phase positioning units 121-6 to 121-8.

[0119] When eight phase positioning units 121 are formed in the main body unit 11, when the front internal gear 12A is assembled to the main body unit 11, eight types of phases can be considered for the phase (orientation) of the front internal gear 12A: this depends on which of the phase positioning units 101-1 on the front internal gear 12A side is to be engaged with the phase positioning units 121-1 to 121-8 on the main body unit 11 side.

[0120] Note that, similar to the main unit 11, eight phase positioning units 131 may also be formed in the output shaft 14, for example.

[0121] As described above, by increasing the number of phase positioning units 121 formed in the main body unit 11 or the output shaft 14, the number of phases of the internal gear 12 when assembled to the main body unit 11 or the output shaft 14 can be increased, and machining errors of gears, etc., can be absorbed more easily.

[0122] - Example of the formation of the phase positioning unit 101 on the side of the internal gear 12

[0123] Figure 14 This is a diagram showing a modified example of the appearance of the internal gear 12.

[0124] exist Figure 14 A pin member protrudes from the outer circumference of the internal gear 12, thereby forming phase positioning units 201-1 and 201-2. Phase positioning units 201-1 and 201-2 are formed at symmetrical positions about the center of the internal gear 12. Phase positioning units 201-1 and 201-2 are fitted into phase positioning units on the side of the main body unit 11 or the output shaft 14. A notch 202 is formed on the outer circumference of the internal gear 12, for example near phase positioning unit 201-1, which serves as a mark for identifying the reference phase positioning unit 201-1.

[0125] The machining cost of the internal gear 12 can be reduced by forming the phase positioning unit by making the pin component protrude, rather than by cutting the outer circumference of the internal gear 12.

[0126] - Example of the shape of the phase positioning unit

[0127] The above description illustrates an example where a protrusion serving as a phase positioning unit is formed in the internal gear 12, and a recess serving as a phase positioning unit is formed in the main body unit 11 or the output shaft 14. However, a recess serving as a phase positioning unit can also be formed in the internal gear 12.

[0128] Figure 15 This is a diagram showing an example of an internal gear 12 and a main body unit 11 in which a recess as a phase positioning unit is formed on the internal gear 12.

[0129] exist Figure 15 Phase positioning units 211-1 and 211-2 with concave shapes are formed on the outer circumference of the cylindrical portion of the pre-stage internal gear 12A in component A. Phase positioning units 211-1 and 211-2 have concave shapes that follow the convex shape of the phase positioning unit provided in the main body unit 11. Phase positioning units 211-1 and 211-2 are formed at symmetrical positions about the center of the pre-stage internal gear 12A. In other words, phase positioning units 211-1 and 211-2 are arranged at equal intervals along the outer circumference of the cylindrical portion of the pre-stage internal gear 12A. A notch 212 is formed on the outer circumference of the pre-stage internal gear 12A, for example near the phase positioning unit 211-1, which serves as a mark for identifying the reference phase positioning unit 211-1.

[0130] Note that in the following text, unless a special distinction is required between phase positioning units 211-1 and 211-2, phase positioning units 211-1 and 211-2 will be referred to simply as phase positioning unit 211.

[0131] exist Figure 15 In the main body unit 11 of B, two phase positioning units 221-1 and 221-2 are formed such that they protrude toward the center of the opening 120. The phase positioning units 221-1 and 221-2 are formed at symmetrical positions about the center of the main body unit 11. In other words, the phase positioning units 221-1 and 221-2 are arranged at equal intervals along the circumference of the opening 120.

[0132] Note that in the following text, unless a special distinction is required between phase positioning units 221-1 and 221-2, phase positioning units 221-1 and 221-2 will be referred to simply as phase positioning unit 221.

[0133] Since the width of the phase positioning unit 221 in the circumferential direction is basically the same as the width of the phase positioning unit 211 on the front internal gear 12A side in the circumferential direction, the phase positioning unit 211 and the phase positioning unit 221 are fitted together with high precision. Figure 15 In example C, phase positioning unit 221-1 is fitted into phase positioning unit 211-1, and phase positioning unit 221-2 is fitted into phase positioning unit 211-2.

[0134] Note that, compared with the reference Figure 15 Similarly, in the case where a recess is formed in the rear internal gear 12B as a phase positioning unit, a protrusion is formed on the output shaft 14 as a phase positioning unit.

[0135] When a protrusion serving as a phase positioning unit is formed in the internal gear 12, for example, an internal gear with an outer diameter larger than the final outer diameter of the cylindrical portion of the internal gear 12 is manufactured, and the outer circumferential surface of the cylindrical portion of the internal gear is cut or etched to form the phase positioning unit. On the other hand, when a recess serving as a phase positioning unit is formed in the internal gear 12, for example, an internal gear with an outer diameter the same as the final outer diameter of the cylindrical portion of the internal gear 12 is manufactured, and the outer circumference of the internal gear is cut or etched to form the phase positioning unit.

[0136] In this way, when a recess is formed in the internal gear 12 as a phase positioning unit, the outer diameter of the internal gear before the phase positioning unit is formed can be reduced, and thus the processing cost of the internal gear 12 can be reduced.

[0137] On the other hand, regardless of whether a protrusion or a recess serving as a phase positioning unit is formed in the main body unit 11 or the output shaft 14, the opening and the phase positioning unit can be formed together, and therefore the machining costs of the main body unit 11 and the output shaft 14 are almost identical. Therefore, when a recess serving as a phase positioning unit is formed in the internal gear 12, compared to when a protrusion serving as a phase positioning unit is formed, the overall manufacturing cost of the planetary reducer 1 can be expected to decrease.

[0138] Note that in the internal gear 12, the phase positioning unit can be formed such that one part of it has a concave shape and the other part has a convex shape. In this case, a phase positioning unit with a shape adapted to the shape of the phase positioning unit on the side of the internal gear 12 is formed in the main body unit 11 or the output shaft 14.

[0139] <3. Application Examples>

[0140] The planetary reducer 1 of this technology can be applied, for example, to robots.

[0141] Figure 16 This is a diagram showing an example configuration of a robot 301 with the planetary reducer 1 to which this technology is applied.

[0142] like Figure 16 As shown, robot 301 includes, for example: joint drive units 311-1 to 311-N, sensors 312-1 to 312-M, communication unit 313, camera device 314, recording unit 315, environmental information acquisition unit 316, and control unit 317.

[0143] Note that, in the following text, unless a special distinction is required between joint drive units 311-1 to 311-N, joint drive units 311-1 to 311-N will be referred to as joint drive unit 311. Furthermore, in the following text, unless a special distinction is required between sensors 312-1 to 312-M, sensors 312-1 to 312-M will be referred to as sensor 312.

[0144] Joint drive units 311-1 to 311-N are configured with actuators, etc., and drive the joint parts of robot 301 under the control of control unit 317. The actuators include planetary reducers 1 (… Figure 1 ), motors, brakes, encoders, drivers, torque sensors, etc.

[0145] When the joint portion including the joint drive unit 311 is driven by the joint drive unit 311, the connecting rod connected to the joint portion rotates or moves in a linear direction in conjunction with the movement of the joint portion.

[0146] The robot 301 may have at least one joint (joint drive unit 311), and the number of joints may be any number.

[0147] The joint drive unit 311 also measures one or more physical quantities related to the operation of the joint portion, such as the amount of movement of the actuator in the linear or rotational direction when the joint portion is driven, the current consumption value in the actuator, the torque or force (translational force) when the actuator is driven, and the speed, and supplies the measurement results to the control unit 317.

[0148] Note that some or all of one or more physical quantities related to the operation of the joint portion can be measured by a sensor 312 located near the joint portion.

[0149] Sensors 312-1 to 312-M are configured with torque sensors, force sensors, load units, contact sensors, pressure distribution sensors, etc.

[0150] Sensors 312-1 to 312-M measure physical quantities such as torque, load, pressure, and pressure distribution that are related to external forces applied directly or indirectly to each part of the robot 301, and supply the measurement results to the control unit 317.

[0151] For example, the M sensors 312 include: a sensor 312 that measures physical quantities related to external forces indirectly applied to the joint portion, and a sensor 312 that measures physical quantities related to external forces directly applied to portions other than the joint portion.

[0152] For example, a sensor 312 located near the joint portion (joint drive unit 311) measures the torque of an external force applied to a portion such as a link connected to the joint portion (i.e., a portion other than the joint portion (a portion different from the joint portion)) and transmitted to the joint portion through that portion, and supplies the measurement result to the control unit 317.

[0153] In addition, for example, a sensor 312 installed in a part other than the joint (a part different from the joint) measures the pressure generated by external forces applied directly to that part, and supplies the measurement results to the control unit 317.

[0154] The communication unit 313 communicates with an external device, for example, via wireless communication.

[0155] The camera device 314 captures images of the robot 301's surrounding environment as the subject and supplies the resulting images to the control unit 317.

[0156] The recording unit 315 records various types of data supplied from the control unit 317 and supplies the recorded data to the control unit 317.

[0157] The environmental information acquisition unit 316 includes a thermometer, a hygrometer, a densitometer, etc., and measures information related to the environment around the robot 301 (e.g., temperature, humidity, particle concentration, and radiation concentration around the robot 301), and supplies the environmental information showing the measurement results to the control unit 317.

[0158] The control unit 317 controls the overall operation of the robot 301.

[0159] Note that the effects described in this specification are illustrative and not restrictive, and other effects may exist.

[0160] The implementation of this technology is not limited to the above-described implementation, and various modifications can be made without departing from the spirit of this technology.

[0161] <Example of configuration combination>

[0162] This technology can also be configured as follows. (1)

[0164] A speed reducer, comprising:

[0165] Sun gear;

[0166] A plurality of planetary gears, wherein the plurality of planetary gears mesh with the sun gear and the internal gear;

[0167] The internal gear, wherein a first phase positioning unit is formed to fix the phase of the internal gear; and

[0168] A support unit, wherein a plurality of second phase positioning units are formed to be fitted into the first phase positioning unit. (2)

[0170] According to the reducer described in (1), a plurality of first phase positioning units are formed in the internal gear, and a number of second phase positioning units equal to or greater than the number of first phase positioning units are formed in the support unit. (3)

[0172] According to the reducer described in (2), the plurality of first phase positioning units are arranged at equal intervals along the outer circumference of the cylindrical portion of the internal gear. (4)

[0174] According to the reducer described in (2) or (3), a mark is formed on the internal gear, the mark being used to identify at least one of the plurality of the first phase positioning units. (5)

[0176] According to any one of (1) to (4), the reducer further comprises an opening formed in the support unit, the cylindrical portion of the internal gear fitting into the opening, and the plurality of second phase positioning units forming along the circumference of the opening. (6)

[0178] According to the reducer described in (5), the plurality of second phase positioning units include a third phase positioning unit and a fourth phase positioning unit, wherein the third phase positioning unit is configured such that its width in the circumferential direction is substantially the same as the width of the first phase positioning unit in the circumferential direction, and the fourth phase positioning unit is configured such that its width in the circumferential direction is greater than the width of the third phase positioning unit in the circumferential direction. (7)

[0180] According to the reducer described in (6), the plurality of second phase positioning units are arranged at equal intervals along the circumference of the opening. (8)

[0182] According to the reducer described in (7), the plurality of second phase positioning units include a plurality of third phase positioning units, the plurality of third phase positioning units being arranged at equal intervals along the circumference of the opening. (9)

[0184] According to any one of (1) to (8), the reducer is wherein the internal gear is fixed to the support unit by at least one of screws and adhesive. (10)

[0186] According to any one of (1) to (9), the reducer has a convex shape and the second phase positioning unit has a concave shape. (11)

[0188] According to the reducer described in (10), the first phase positioning unit is formed by protruding a pin member on the outer circumference of the cylindrical portion of the internal gear. (12)

[0190] According to any one of (1) to (9), the reducer wherein the first phase positioning unit has a concave shape and the second phase positioning unit has a convex shape. (13)

[0192] According to any one of (1) to (12), the reducer comprises, wherein each of the plurality of planetary gears is configured by integrating a front-stage planetary gear and a rear-stage planetary gear, and the reducer comprises:

[0193] The front-stage internal gear meshes with the plurality of the front-stage planetary gears;

[0194] The rear-stage internal gear meshes with the plurality of rear-stage planetary gears;

[0195] The front support unit includes a second phase positioning unit, which is to be engaged with the first phase positioning unit formed in the front internal gear; and

[0196] The rear support unit includes a second phase positioning unit that is fitted into the first phase positioning unit formed in the rear internal gear. (14)

[0198] According to the reducer described in (13), the rear support unit includes an output shaft. (15)

[0200] A robot with a speed reducer, the speed reducer comprising:

[0201] Sun gear;

[0202] A plurality of planetary gears, wherein the plurality of planetary gears mesh with the sun gear and the internal gear;

[0203] The internal gear, wherein a first phase positioning unit is formed to fix the phase of the internal gear; and

[0204] A support unit, wherein a plurality of second phase positioning units are formed to be fitted into the first phase positioning unit.

[0205] [List of reference numerals]

[0206] 1 Planetary reducer, 11 Main unit, 12A Pre-stage internal gear, 12B Rear-stage internal gear, 13 Carrier unit, 14 Output shaft, 15 Cross roller unit, 31 Input shaft, 32 Sun gear, 33-1 Planetary gear, 33-1A Pre-stage planetary gear, 33-1B Rear-stage planetary gear, 33-2 Planetary gear, 33-2A Pre-stage planetary gear, 33-2B Rear-stage planetary gear, 51 Carrier unit, 61 Input shaft, 62 Sun gear, 63-1 Planetary gear, 63-1A Pre-stage planetary gear, 63-1B Rear-stage planetary gear, 81 Input shaft, 82 Sun gear, 83-1 to 83-3 Planetary gears, 84 Internal gear, 85 Planetary carrier, 86 Output shaft, 101 Phase positioning unit, 102 Notch, 121, 131 Phase positioning unit, 151 Screw, 201 phase positioning unit, 202 notch, 211 phase positioning unit, 212 notch, 221 phase positioning unit

Claims

1. A speed reducer, comprising: Sun gear; A plurality of planetary gears, wherein the plurality of planetary gears mesh with the sun gear and the internal gear; The internal gear, wherein a first phase positioning unit is formed to fix the phase of the internal gear; and A support unit, wherein a plurality of second phase positioning units are formed to be fitted into the first phase positioning unit.

2. The reducer according to claim 1, wherein, A plurality of first phase positioning units are formed in the internal gear, and a number of second phase positioning units equal to or greater than the number of first phase positioning units are formed in the support unit.

3. The reducer according to claim 2, wherein, The plurality of first phase positioning units are arranged at equal intervals along the outer circumference of the cylindrical portion of the internal gear.

4. The reducer according to claim 2, wherein, A mark is formed on the internal gear, the mark being used to identify at least one of the plurality of the first phase positioning units.

5. The reducer according to claim 1, wherein, An opening is also formed in the support unit, the cylindrical portion of the internal gear is fitted into the opening, and the plurality of second phase positioning units are formed along the circumference of the opening.

6. The reducer according to claim 5, wherein, The plurality of second phase positioning units include a third phase positioning unit and a fourth phase positioning unit. The third phase positioning unit is configured such that its width in the circumferential direction is substantially the same as the width of the first phase positioning unit in the circumferential direction, and the fourth phase positioning unit is configured such that its width in the circumferential direction is greater than the width of the third phase positioning unit in the circumferential direction.

7. The reducer according to claim 6, wherein, The plurality of second phase positioning units are arranged at equal intervals along the circumference of the opening.

8. The reducer according to claim 7, wherein, The plurality of second phase positioning units include a plurality of third phase positioning units, which are arranged at equal intervals along the circumference of the opening.

9. The reducer according to claim 1, wherein, The internal gear is fixed to the support unit by at least one of screws and adhesive.

10. The reducer according to claim 1, wherein, The first phase positioning unit has a convex shape, and the second phase positioning unit has a concave shape.

11. The reducer according to claim 10, wherein, The first phase positioning unit is formed by protruding a pin member on the outer circumference of the cylindrical portion of the internal gear.

12. The reducer according to claim 1, wherein, The first phase positioning unit has a concave shape, and the second phase positioning unit has a convex shape.

13. The reducer according to claim 1, wherein, Each of the plurality of planetary gears is configured by integrating a front-stage planetary gear and a rear-stage planetary gear, and the reducer includes: The front-stage internal gear meshes with the plurality of the front-stage planetary gears; The rear-stage internal gear meshes with the plurality of rear-stage planetary gears; The front support unit includes a second phase positioning unit, which is to be engaged with the first phase positioning unit formed in the front internal gear; and The rear support unit includes a second phase positioning unit that is fitted into the first phase positioning unit formed in the rear internal gear.

14. The reducer according to claim 13, wherein, The rear support unit includes an output shaft.

15. A robot having a speed reducer, the speed reducer comprising: Sun gear; A plurality of planetary gears, wherein the plurality of planetary gears mesh with the sun gear and the internal gear; The internal gear, wherein a first phase positioning unit is formed to fix the phase of the internal gear; and A support unit, wherein a plurality of second phase positioning units are formed to be fitted into the first phase positioning unit.

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