Gear motor series and robot series

Abstract

To provide a gear motor series with which it is possible to reduce the number of kinds of gear motors.SOLUTION: A gear motor series 1000 includes a first series S1 and a second series S2. The first series S1 includes at least a first gear motor 100 including a first reducer 10-A and a first motor 11-A, and a second gear motor 120 including a second reducer 10-B having a larger allowable torque than the first reducer 10-A and a second motor 11-B having a larger rating capacity than the first motor 11-A. The second series S2 includes at least a third gear motor 130 including the second reducer 10-B and the first motor 11-A.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a series of gear motors and a series of robots.

Background Art

[0002] A gear motor configured by connecting a speed reducer and a motor is known. The applicant has disclosed in Patent Document 1 a gear motor that drives joints of robots such as collaborative robots.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The specifications of each joint part are more diverse for each joint of each customer's robot. However, if a gear motor is prepared by customizing for each joint of each customer's robot, the types of gear motors increase, which is disadvantageous for cost reduction of the gear motor.

[0005] An object of the present invention is to provide a series of gear motors capable of suppressing the number of types of gear motors in view of such problems.

Means for Solving the Problems

[0006] In order to solve the above problems, a series of gear motors according to an aspect of the present invention is a series of gear motors having a first series and a second series, the first series including a first gear motor having a first speed reducer and a first motor, and a second gear motor having a second speed reducer having a larger allowable torque than the first speed reducer and a second motor having a larger rated capacity than the first motor. The second series includes at least a third gear motor having a second speed reducer and a first motor.

[0007] Another aspect of the present invention is also a series of gear motors. This series is a series of gear motors having a first series and a third series. The first series includes a first gear motor having a first speed reducer and a first motor, and a second gear motor having a second speed reducer with a larger allowable torque than the first speed reducer and a second motor with a larger rated capacity than the first motor. The third series includes at least a fourth gear motor having a second speed reducer and a third motor. The third motor has the same shape and outer diameter at the connection portion with the second speed reducer as the second motor, and a smaller axial length than the second motor.

[0008] Yet another aspect of the present invention is a series of robots. This series is a series of robots having a first robot and a second robot with a larger transportable mass than the first robot. The first robot has a first joint portion and a second joint portion with a lower operating rate than the first joint portion. A second gear motor having a second speed reducer and a second motor is incorporated in the first joint portion. The second robot has a third joint portion and a fourth joint portion with a lower operating rate than the third joint portion. A third gear motor having a first motor with a smaller rated capacity than the second speed reducer and the second motor is incorporated in the fourth joint portion.

[0009] Any combination of the above components, or those obtained by mutually substituting the components and expressions of the present invention between methods, systems, etc., are also effective as aspects of the present invention.

Advantages of the Invention

[0010] According to the present invention, it is possible to provide a series of gear motors capable of suppressing the number of types of gear motors.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0012] First, the background leading to the present disclosure will be described. Regarding gear motors that can be used as actuators for multi-joint robots, it is conceivable to lineup models equipped with motors having a rated capacity that satisfies the continuous characteristics in which the reducer can continuously maintain the output. In this case, in order to suppress the number of models in the lineup, a configuration can be adopted in which a high-utilization-rate gear motor mounted on the base end side of the robot arm is also mounted on the tip end side.

[0013] Consider the operation of each joint of the robot arm of a multi-joint robot. According to the research of the inventor, it has been found that the base end side gear motor has a high actual operation rate and continuous characteristics and instantaneous characteristics are important, while the tip end side gear motor has a low actual operation rate and continuous characteristics and the like are not important. The characteristic of the low actual operation rate of the tip end side gear motor was more pronounced in collaborative robots that collaborate with humans. From these facts, it can be said that the configuration of mounting a motor that satisfies the continuous characteristics of the reducer on the tip end side gear motor results in the motor having excessive performance.

[0014] When a motor that satisfies the continuous characteristics of a speed reducer is installed in a tip-side gear motor with a low actual operating rate, the mass of the motor increases accordingly. When a model with improved load performance is used for the base-side gear motor in response to the increase in the tip-side mass, the mass of the base-side gear motor also increases, and the mass of the entire robot increases. For this reason, if a gear motor is prepared by customizing each joint of the robot for each customer, the types of gear motors increase, which is disadvantageous for reducing the cost of the gear motor.

[0015] Therefore, in order to reduce the weight of the robot and the number of types of gear motors, the inventor has devised a technology that can provide a series of gear motors that mount a motor suitable for the actual operating rate and share components. In addition, this technical idea is also applicable to robots equipped with multiple gear motors. This will be described through embodiments below.

[0016] Hereinafter, the present invention will be described with reference to the drawings based on preferred embodiments. In the embodiments and modification examples, the same or equivalent components and members are denoted by the same reference numerals, and redundant descriptions will be omitted as appropriate. In addition, when distinguishing the same or equivalent components and members, symbols combining a hyphen, an alphabet, and a number, such as "-A", "-B", "-C", "-1A", "-2B", "-3C", etc., are added to the end of the reference numeral. When not distinguishing, no symbol is added. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. In addition, some of the members that are not important for explaining the embodiments in each drawing are omitted.

[0017] In addition, terms including ordinals such as first and second are used to describe various components, but this term is used only for the purpose of distinguishing one component from another, and the components are not limited by this term.

[0018] The operating rate of the speed reducer of the gear motor mounted on the robot is defined as follows. The operating rate of the speed reducer of the gear motor means the ratio of the operating time TJ of the gear motor to the operating time TR of the robot on which the gear motor is mounted, and is expressed by Equation 1. Operating rate of speed reducer = (TJ / TR) × 100 [%ED] ··· (1) Note that the operating time TR of the robot itself can be defined as the time when the power of the robot is ON, or the time when the power of the motors that drive each joint of the robot is ON. Therefore, the standby time while the robot performs work on a certain workpiece and waits for the next workpiece to be set is also included in the operating time TR of the robot itself. Also, the operating time TJ of the speed reducer of the gear motor can be defined as the time when the speed reducer to be calculated for the operating rate is driven, or the time when the motor that drives the speed reducer is rotationally controlled. Note that the operating rate of the speed reducer of the gear motor may be referred to as the "operating rate of the gear motor".

[0019] In this specification, the rated capacity of the motor is the value (W) of the power rate set by the motor manufacturer as the rating, and for example, it may be the value of the power rate at the limit that the motor can be continuously used. The rated capacity of the motor may be referred to as the rated output. Also, the allowable torque of the speed reducer is the torque value (N·m) that can be applied to the output shaft of the speed reducer set by the manufacturer of the gear motor or the speed reducer, and for example, it is the torque value that can be continuously applied to the output shaft of the speed reducer. The allowable torque of the speed reducer is smaller than the maximum allowable torque of the speed reducer. Also, the allowable torque of the speed reducer may be expressed by the frame number, and as the frame number increases, the allowable torque (allowable rated torque, allowable peak torque) increases, and the size (outer diameter) and weight of the speed reducer also increase.

[0020] In this specification, the portable mass of the robot is the portable mass set by the robot manufacturer as the rating, and it may be the mass that can be continuously moved while being supported on the tip side of the robot arm.

[0021] [First Embodiment] Referring to the drawings, a series 1000 of a gear motor according to the first embodiment (hereinafter sometimes referred to as "series 1000") and a series 2000 of a gear motor (hereinafter sometimes referred to as "series 2000") will be described. FIG. 1 is a cross-sectional side view showing an example of a first gear motor 100 constituting series 1000. FIG. 2 is a view showing an example of a first series S1, a second series S2, and a third series S3. Series 1000 has a first series S1 and a second series S2, while series 2000 is different in that it has a first series S1 and a third series S3.

[0022] Next, the first gear motor 100 will be described. A second gear motor 120, a third gear motor 130, a fourth gear motor 140, and a fifth gear motor 150, which will be described later, have a configuration common to the first gear motor 100. Therefore, the description of the first gear motor 100 also applies to the second gear motor 120, the third gear motor 130, the fourth gear motor 140, and the fifth gear motor 150. As shown in FIG. 1, the first gear motor 100 includes a motor 11 and a speed reducer 10 that decelerates and outputs the rotation of the motor shaft 12 of the motor 11.

[0023] Hereinafter, the direction along the central axis La of the input shaft 20 of the speed reducer 10 is referred to as the "axial direction", the side where the motor shaft 12 of the input shaft 20 is connected in the axial direction (the right side in the figure) is referred to as the motor side, and the other side (the left side in the figure) is referred to as the anti-motor side. That is, the input shaft 20 extends from the motor side to the anti-motor side in the axial direction. Also, the circumferential direction and the radial direction of a circle centered on the central axis La are referred to as the "circumferential direction" and the "radial direction", respectively.

[0024] In the example of FIG. 1, the input shaft 20 of the speed 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 may be formed separately and connected by a connecting member (not shown).

[0025] The motor 11 of this embodiment is a servo motor, and includes 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 via a magnetic gap, a stator winding 15 provided in a slot (not shown) of the stator core 14, and a motor case 16 constituting the outer shell of the motor 11. Note that the magnet 13 may be a single cylindrical magnet or a plurality of plate-shaped magnets arranged in a cylindrical shape. The motor case 16 has a cylindrical shape surrounding the motor 11, and the stator core 14 is fixed to the inner peripheral surface. Further, the motor 11 includes a control circuit (not shown) for controlling the rotation of the motor shaft 12 and an encoder (not shown) for detecting the rotational position of the motor shaft 12 and providing 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 peripheral surface of the stator core 14 and the field magnetic poles provided on the outer peripheral surface of the magnet 13 when a drive current from the control circuit flows through the stator winding 15.

[0026] The motor 11 also includes a connecting portion 17 provided on the motor case 16. The connecting portion 17 is a connecting portion with the speed reducer 10 and has an inner peripheral surface 172 that fits into the outside of the casing 46 of the speed reducer 10. The connecting portion 17 of this embodiment is formed separately from the motor case 16 and has a motor fitting portion 174 that fits and is fixed to the motor case 16. Therefore, by preparing the connecting portion 17 with a small inner diameter of the motor fitting portion 174, a motor 11 with a small diameter can be connected to the same speed reducer 10. In FIG. 1, reference symbol T1 indicates the axial length of the motor 11, reference symbol T2 indicates the axial length of the stator core 14, reference symbol D1 indicates the outer diameter of the motor 11, and reference symbol D2 indicates the outer diameter of the connecting portion 17.

[0027] The speed reducer 10 mainly includes an external gear 19, an internal gear 41, an input shaft 20, carriers 35 and 36, an inner pin 48, an eccentric bearing 18, a main bearing 37, first bearings 39 and 40 for supporting the input shaft 20, and a casing 46.

[0028] The speed reducer 10 reduces the rotation input from the motor 11 and outputs it from the carrier 35. There is no limitation on the speed reducer 10 as long as it can reduce the input rotation and output it. The speed reducer 10 of the present embodiment is of the center crank type in which the central axis La of the input shaft 20 is provided on the same axis as the central axis of the internal gear.

[0029] The input shaft 20 has a plurality of eccentric portions 23 for swinging the external gear 19. The axis of the eccentric portion 23 is eccentric with respect to the rotation center line La of the input shaft 20. In the present embodiment, three eccentric portions 23 are provided, and the eccentric phases of the adjacent eccentric portions 23 are shifted by 120°.

[0030] The input shaft 20 is supported by the first carrier 35 and the second carrier 36 via the first bearing 39 and the second bearing 40. The casing 46 has a cylindrical shape surrounding the speed reducer 10, and an internal gear 41 is provided on the inner peripheral surface. The external gear 19 is swingably incorporated on the outer periphery of the eccentric portion 23 via an eccentric bearing 18 which is a roller bearing. The external gears 19 are each swingably internally meshed with the internal gear 41. Wave-shaped teeth are formed on the outer periphery of the external gear 19, and by moving while this tooth contacts the internal gear 41, the external gear 19 can swing in a plane with the center axis as the normal line.

[0031] The internal gear 41 of the present embodiment has an internal gear main body 42 integrally provided on the inner peripheral side of the casing 46, and a plurality of external pins 43 arranged in pin grooves formed at predetermined intervals in the circumferential direction on the inner peripheral surface of the internal gear main body 42. The external pins 43 constitute the internal teeth of the internal gear 41. The number of external pins 43 of the internal gear 41 is the number of internal teeth, which is one more than the number of external teeth of the external gear 19.

[0032] A plurality of internal pin holes 45 are formed in the external gear 19 at positions offset from its axis. An internal pin 48 penetrates the internal pin hole 45. A cylindrical sleeve 49 is arranged on the outer periphery of the internal pin 48. The internal pin 48 contributes to the transmission of power between the carriers 35, 36 and the external gear 19.

[0033] The carriers 35 and 36 include a first carrier 35 disposed on the side of the outer gear 19 opposite to the motor side, and a second carrier 36 disposed on the side of the outer gear 19 on the motor side. The first carrier 35 is fixed to the second carrier 36 by an inner pin 48 extending in the axial direction and being fixed to the second carrier 36. The first carrier 35 is an output member that outputs rotational power to a driven member (not shown). The main bearing 37 rotatably supports the carriers 35 and 36 with respect to the casing 46.

[0034] The operation of the first gear motor 100 will be described. When rotational power is transmitted from the motor 11 to the input shaft 20, the eccentric portion 23 rotates eccentrically to swing the outer gear 19. When the outer gear 19 swings, the meshing position between the outer gear 19 and the inner gear 41 is sequentially shifted. Each time the input shaft 20 makes one revolution, the outer gear 19 rotates by an amount corresponding to the difference between the number of teeth of the outer gear 19 and the number of teeth of the inner gear 41. As a result, decelerated rotation is output from the first carrier 35.

[0035] Next, referring to FIGS. 1 and 2, the series 1000 and series 2000 will be described. In FIG. 2, the frame numbers are classified according to the allowable torque of the speed reducer constituting the gear motor, and the allowable torque of the speed reducer increases in the order of the first frame number, the second frame number, the third frame number, and so on. Among the same series, the rated capacity of each motor increases in the order of the first frame number, the second frame number, the third frame number, and so on. As an example, the allowable torque of each speed reducer of the gear motor of the same frame number is common among the first series S1 to the third series S3, and the rated capacity of each motor of the gear motor of the same frame number is different.

[0036] In FIG. 2, the gear motor of the first series S1 includes a motor having a rated capacity that can generally satisfy the rated operating rate of the gear motor. The gear motors of the second series S2 and the third series S3 include motors having a low rated capacity with respect to the rated operating rate of the gear motor, and motors having a rated capacity that can generally satisfy an assumed operating rate lower than the rated operating rate of the gear motor.

[0037] The first series S1 is a series of gear motors for applications with a high actual operating rate, and includes the gear motor GM-1A with the first frame number, the gear motor GM-1B with the second frame number, and the gear motor GM-1C with the third frame number. The gear motor GM-1A has a speed reducer 10-A and a motor 11-A, the gear motor GM-1B has a speed reducer 10-B and a motor 11-B, and the gear motor GM-1C has a speed reducer 10-C and a motor 11-C.

[0038] The second series S2 is a series of gear motors for applications with a lower actual operating rate than the first series S1, and includes the gear motor GM-2B with the second frame number and the gear motor GM-2C with the third frame number. The gear motor GM-2B has a speed reducer 10-B and a motor 11-A, and the gear motor GM-2C has a speed reducer 10-C and a motor 11-B.

[0039] The third series S3 is a series of gear motors for applications with a lower actual operating rate than the first series S1, and includes the gear motor GM-3A with the first frame number, the gear motor GM-3B with the second frame number, and the gear motor GM-3C with the third frame number. The gear motor GM-3A has a speed reducer 10-A and a motor 11-A-S, the gear motor GM-3B has a speed reducer 10-B and a motor 11-B-S, and the gear motor GM-3C has a speed reducer 10-C and a motor 11-C-S.

[0040] The motor 11-A-S has the same shape and outer diameter of the connecting portion with the speed reducer 10-A as the motor 11-A, and is shorter in the axial direction than the motor 11-A. The motor 11-B-S has the same shape and outer diameter of the connecting portion with the speed reducer 10-B as the motor 11-B, and is shorter in the axial direction than the motor 11-B. The motor 11-C-S has the same shape and outer diameter of the connecting portion with the speed reducer 10-C as the motor 11-C, and is shorter in the axial direction than the motor 11-C. The axial length of the motor and the connecting portion will be described later.

[0041] The gear motor GM-1A exemplifies the first gear motor 100, the gear motor GM-1B exemplifies the second gear motor 120, the gear motor GM-2B exemplifies the third gear motor 130, the gear motor GM-3B exemplifies the fourth gear motor 140, and the gear motor GM-1C exemplifies the fifth gear motor 150.

[0042] When only the first series S1 is lined up, it is suitable for applications with a high actual operation rate. However, for applications with a low actual operation rate, the performance of the motor becomes excessive, and the mass increases unnecessarily. Also, if gear motors are prepared by customizing for each application, the types of gear motors increase and the design cost increases.

[0043] To mitigate the demerits of lining up only the first series S1, the series 1000 of the present embodiment is a series of gear motors having the first series S1 and the second series S2. The first series S1 includes at least the first gear motor 100 having the first speed reducer 10-A and the first motor 11-A, and the second gear motor 120 having the second speed reducer 10-B with a larger allowable torque than the first speed reducer 10-A and the second motor 11-B with a larger rated capacity than the first motor 11-A. The second series S2 includes at least the third gear motor 130 having the second speed reducer 10-B and the first motor 11-A. As shown by the arrow in FIG. 2, the gear motors of the second series S2 have a configuration in which the speed reducer of the first series S1 with the same frame number and the motor of the previous frame number are combined. This feature is also provided in the gear motors of other frame numbers of the first series S1 and the second series S2.

[0044] According to the series 1000, since the series 1000 includes the second series S2 suitable for applications with a low actual operation rate, the gear motors of the second series S2 can be used for applications with a low actual operation rate. In this case, the increase in mass can be suppressed because the motor is lightweight. Since common components of the first series S1 are used in the second series S2, an increase in the design cost of the gear motor can be suppressed.

[0045] In order to mitigate the demerits when only the first series S1 is lined up, the series 2000 of the present embodiment is a series of gear motors having the first series S1 and the third series S3. The first series S1 includes 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 with a larger allowable torque than the first speed reducer 10-A and a second motor 11-B with a larger rated capacity than the first motor 11-A. The third series S3 includes at least a fourth gear motor 140 having a second speed reducer 10-B and a third motor 11-B-S. The third motor 11-B-S has the same shape and outer diameter D2 of the connecting portion 17 with the second speed reducer 10-B as the second motor 11-B, and a smaller axial length T1 than the second motor 11-B. As an example, the axial length T1 of the third motor 11-B-S may be 40% to 70% of the axial length T1 of the second motor 11-B, and in the present embodiment, it is 50%. This feature is also provided in other frame numbers of gear motors in the first series S1 and the third series S3.

[0046] According to the series 2000, since the series 2000 includes the third series S3 suitable for applications with a low actual operation rate, the gear motor of the third series S3 can be used for applications with a low actual operation rate. In this case, the light weight of the motor can suppress the increase in mass. Since the third series S3 uses components common to the first series S1, an increase in the design cost of the gear motor can be suppressed.

[0047] In the third motor 11-B-S of the series 2000 of the present embodiment, the axial length T2 of the stator core 14 is configured to be smaller than the axial length T2 of the stator core 14 of the second motor 11-B. In this case, since the axial length of the stator core decreases, a decrease in the space of the armature winding 15 and a decrease in the number of turns of the armature winding 15 can be mitigated. As an example, the axial length T2 of the stator core 14 of the third motor 11-B-S may be 40% to 90% of the axial length T2 of the stator core 14 of the second motor 11-B, and in the present embodiment, it is 50%. This feature is also provided in other frame numbers of gear motors in the third series S3.

[0048] The above is the description of the first embodiment.

[0049] [Second Embodiment] Referring to FIGS. 3 and 4, a robot series 3000 according to the second embodiment of the present invention will be described. The robot series 3000 is a series of robots having a first robot 500 and a second robot 600 having a larger transportable mass than the first robot 500. FIG. 3 is a diagram schematically showing the first robot 500 constituting the robot series 3000. FIG. 4 is a diagram showing an example of the configuration of the first robot 500. FIG. 5 is a diagram schematically showing the second robot 600 constituting the robot series 3000. FIG. 6 is a diagram showing an example of the configuration of the second robot 600.

[0050] The first robot 500 is an articulated robot having a first joint portion 50 and a second joint portion 60 having a lower operating rate than the first joint portion 50. The first joint portion 50 includes joint portions 51, 52, and 53 arranged in order from the base end side to the tip end side. An arm portion 54 is provided on the base end side of the joint portion 51, an arm portion 55 is provided between the joint portion 51 and the joint portion 52, an arm portion 56 is provided between the joint portion 52 and the joint portion 53, and an arm portion 57 is provided on the tip end side of the joint portion 53.

[0051] The second joint portion 60 includes joint portions 61, 62, and 63 arranged in order from the base end side to the tip end side. The joint portion 61 is provided on the tip end side of the arm portion 57, an arm portion 65 is provided between the joint portion 61 and the joint portion 62, an arm portion 66 is provided between the joint portion 62 and the joint portion 63, and an arm portion 67 is provided on the tip end side of the joint portion 63.

[0052] A second gear motor 120 having a second reducer 10-B and a second motor 11-B is incorporated into the first joint portion 50. For example, a gear motor of the second series S2 or the third series S3 corresponding to a low operating rate may be incorporated into the second joint portion 60. In this example, a fourth gear motor 140 (GM-3B) is incorporated into the second joint portion 60.

[0053] The second robot 600 is an articulated robot having a third joint portion 70 and a fourth joint portion 80 with an operating rate lower than that of the third joint portion 70. The third joint portion 70 includes joint portions 71, 72, and 73 arranged in order from the base end side to the tip end side. An arm portion 74 is provided on the base end side of the joint portion 71, an arm portion 77 is provided between the joint portion 71 and the joint portion 72, an arm portion 76 is provided between the joint portion 72 and the joint portion 73, and an arm portion 77 is provided on the tip end side of the joint portion 73.

[0054] The fourth joint portion 80 includes joint portions 81, 82, and 83 arranged in order from the base end side to the tip end side. The joint portion 81 is provided on the tip end side of the arm portion 77, an arm portion 85 is provided between the joint portion 81 and the joint portion 82, an arm portion 86 is provided between the joint portion 82 and the joint portion 83, and an arm portion 87 is provided on the tip end side of the joint portion 83.

[0055] The fourth joint portion 80 incorporates a third gear motor 130 having a first motor 11-A with a rated capacity smaller than that of the second reduction gear 10-B and the second motor 11-B. For example, a gear motor of the first series S1 corresponding to a high operating rate may be incorporated in the third joint portion 70. In the third joint portion 70 of this example, a fifth gear motor 150 having a third reduction gear 10-C with an allowable torque larger than that of the second reduction gear 10-B and a motor 11-C with a rated capacity larger than that of the second motor 11-B is incorporated.

[0056] As an example, the operating rate of the first joint portion 50 is three times or more that of the second joint portion 60, and / or the operating rate of the third joint portion 70 is three times or more that of the fourth joint portion 80. In this case, the rated capacity of the motors of the second joint portion 60 and the fourth joint portion 80 can be reduced as compared with the case where the ratio of the operating rates between these joint portions is less than three times. This is advantageous in reducing the overall mass of the robots 500 and 600. Also, the ratio of the operating rates between these joint portions may be four times or more. In this case, the rated capacity of the motors of the second joint portion 60 and the fourth joint portion 80 can be halved as compared with the case where the operating rate ratio is one time, which is more preferable from the viewpoint of mass reduction.

[0057] In this embodiment, the operating rates of the first joint portion 50 and the third joint portion 70 are set in the range of 50% ED to 100% ED, and the operating rates of the second joint portion 60 and the fourth joint portion 80 are set in the range of 5% ED to 25% ED.

[0058] According to the robot series 3000 of the second embodiment, by mounting gear motors that take into account the actual operating rates on the gear motors of the joint portions on the base end side and the tip end side, respectively, the performance of the robot such as the portable mass and the reach length can be improved. In addition, since the second robot 600 uses the same components as the first robot 500, the design cost of each robot can be suppressed. Further, when a motor with a smaller rated capacity with a different frame number from the gear motor of the joint portion on the base end side is combined with the gear motor of the joint portion on the tip end side, the outer diameter size of the gear motor of the joint portion on the tip end side can be reduced. Further, when a motor with a smaller axial length of the motor of the gear motor of the joint portion on the base end side is combined with the gear motor of the joint portion on the tip end side, the axial length of the gear motor can be reduced. As a result, it is possible to reduce the weight and save space of the joint portion on the tip end side, so that the weight of the entire robot arm can also be reduced, and the robot performance can be improved.

[0059] The above is the description of the second embodiment. The second embodiment has the same operations and effects as the first embodiment.

[0060] The present invention has been described based on the embodiments. These embodiments are examples, and it is understood by those skilled in the art that various modifications and changes are possible within the scope of the claims of the present invention, and such modified examples and changes are also within the scope of the claims of the present invention. Therefore, the descriptions and drawings in this specification should be treated as illustrative rather than restrictive.

[0061] (Modification example) Hereinafter, a modification example will be described. In the drawings and descriptions of the modification example, the same reference numerals are given to the components and members that are the same as or equivalent to those in the embodiment. The descriptions overlapping with the embodiment are appropriately omitted, and the configurations different from the embodiment will be mainly described.

[0062] In the above description, an example where the connecting portion 17 is formed separately from the motor case 16 has been shown, but the present invention is not limited to this. The connecting portion may be formed as a one-piece member with the motor case.

[0063] In the above description, an example where the motor 11 is a servo motor has been shown, but the present invention is not limited to this. The motor is not limited as long as it can output rotation to a speed reducer, and it may be based on various known principles.

[0064] In the above description, an example where the speed reducer 10 is a so-called center crank type eccentric swing type speed reducer has been shown, but the present invention is not limited to this. The speed reducer is not limited as long as it can reduce and output the rotation from the motor, and it may be based on various known principles. For example, the speed reducer 10 may be a distribution type eccentric swing type speed reducer, a flexure engagement type speed reducer, a simple planetary speed reducer, an orthogonal axis speed reducer, a parallel axis speed reducer, or the like.

[0065] In the above description, an example where the first joint portion 50 to the fourth joint portion 80 each include three joint portions has been shown, but the present invention is not limited to this. The number of joint portions of the first joint portion to the fourth joint portion may be one or more.

[0066] In the above description, it has been described as an invention of a series of gear motors and a series of robots, but it can also be regarded as an invention of a manufacturing method or a construction method of a series of gear motors (product groups) and a manufacturing method or a construction method of a series of robots (product groups).

[0067] Each of these modified examples exhibits the same operations and effects as the embodiment.

[0068] Any combination of the above-described embodiments and modified examples is also useful as an embodiment of the present invention. The new embodiment resulting from the combination has the effects of the combined embodiments and modified examples.

Description of Reference Numerals

[0069] S1 Series 1, S2 Series 2, S3 Series 3, 10 Reducer, 11 Motor, 14 Stator Core, 50 First Joint Section, 60 Second Joint Section, 70 Third Joint Section, 80 Fourth Joint Section, 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, Series 1000, 2000, 3000.

Claims

1. A series of gear motors having a first series and a second series, wherein the first series includes a first gear motor having a first speed reducer and a first motor, and a second gear motor having a second speed reducer with a larger allowable torque than the first speed reducer and a second motor with a larger rated capacity than the first motor, and at least includes these, wherein the second series at least includes a third gear motor having the second speed reducer and the first motor, a series of gear motors.

2. A series of gear motors having a first series and a third series, wherein the first series includes a first gear motor having a first speed reducer and a first motor, and a second gear motor having a second speed reducer with a larger allowable torque than the first speed reducer and a second motor with a larger rated capacity than the first motor, and at least includes these, wherein the third series at least includes a fourth gear motor having the second speed reducer and a third motor, wherein the third motor has the same shape and outer diameter at the connection part with the second speed reducer as the second motor, and a smaller axial length than the second motor, a series of gear motors.

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

4. A series of robots having a first robot and a second robot with a larger transportable mass than the first robot, wherein the first robot has a first joint part and a second joint part with a lower operating rate than the first joint part, and a second gear motor having a second speed reducer and a second motor is incorporated in the first joint part, wherein the second robot has a third joint part and a fourth joint part with a lower operating rate than the third joint part, and a third gear motor having a first motor with a smaller rated capacity than the second speed reducer and the second motor is incorporated in the fourth joint part, a series of robots.

5. The series of robots according to claim 4, wherein a fifth gear motor having a third speed reducer with a larger allowable torque than the second speed reducer and a third motor with a larger rated capacity than the second motor is incorporated in the third joint part.

6. The series of robots according to claim 4, wherein the operating rate of the first joint part is 3 times or more the operating rate of the second joint part, and / or the operating rate of the third joint part is 3 times or more the operating rate of the fourth joint part.

Images