Joints and reducers

Abstract

To provide a joint which can improve workability and achieve reduction of a working space when a motor is attached or detached, and to provide a speed reducer.SOLUTION: A joint according to one aspect of the disclosure includes: a joint body which has an input gear which engages with a speed reduction mechanism part and to which an output shaft of a motor is detachably connected; a motor flange which is disposed between the speed reduction mechanism part and the motor and rotatably supports the joint body; and an intermediate flange which connects the motor flange with the motor. At least one fixing member which fixes the joint body to the output shaft is provided at a position, which overlaps with the intermediate flange when viewed in a radial direction, of the joint body. The intermediate flange is formed into an annular shape which encloses a periphery of the joint body with multiple split pieces which may be split in a circumferential direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a joint and a reducer. [Background technology]

[0002] For example, in industrial robots, a motor unit for driving the arms is provided at the joint (joint) of a pair of rotatably connected arms. The motor unit includes a motor and a reducer connected to the motor. In the motor unit, the driving force of the motor is reduced by the reducer and output to the arms.

[0003] For example, as shown in Patent Document 1 below, the output shaft of a motor is connected to the input shaft of a reducer via a coupling. Specifically, the output shaft of the motor is inserted into a shaft hole of the coupling. A threaded hole is formed in the coupling, which allows communication between the inside and outside of the shaft hole in the radial direction of the coupling. A setscrew is fastened into the threaded hole to hold the output shaft of the motor within the shaft hole.

[0004] In the configuration disclosed in Patent Document 1, the periphery of the coupling is surrounded by a cover of the reducer, and therefore, a tool insertion hole that allows access to the set screw (threaded hole) is formed in the cover of the reducer in the radial direction of the coupling. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-161376 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the prior art, when attaching or detaching a motor to or from a reducer, it is necessary to align the phase of the tool insertion hole and the screw hole in the circumferential direction of the coupling, and then insert a tool through the tool insertion hole into the screw hole. Therefore, in the prior art, there is still room for improvement in terms of improving the workability when attaching or detaching a motor and reducing the work space required.

[0007] The present disclosure provides a joint and a reducer that can improve workability when attaching and detaching a motor and reduce the work space required. [Means for solving the problem]

[0008] In order to solve the above problems, the present disclosure employs the following aspects. A joint according to one aspect of the present disclosure comprises a joint body having an input gear that meshes with a reduction mechanism and to which an output shaft of a motor is detachably connected, a motor flange disposed between the reduction mechanism and the motor, and an intermediate flange that connects the motor flange and the motor, wherein at least one fixing member that fixes the joint body and the output shaft together is provided in a position of the joint body that overlaps with the intermediate flange when viewed from a radial direction that intersects with the rotation axis of the joint body, and the intermediate flange is formed in a ring shape that surrounds the periphery of the joint body by a plurality of divided pieces that can be divided circumferentially around the rotation axis.

[0009] According to this aspect, by removing the divided piece, at least a portion of the portion of the joint body that overlaps with the intermediate flange as viewed from the radial direction can be radially opened as a maintenance space. This allows a larger circumferential range for the maintenance space to be secured compared to conventional cases where the motor is attached or detached through a tool insertion hole provided in the reducer cover. This makes it easier (or unnecessary) to align the phase of the fixing member and the maintenance space in the circumferential direction, allowing tools to easily access the fixing member. Furthermore, the working space can be reduced compared to conventional cases where tools are inserted from outside the reducer cover. As a result, the workability when attaching and detaching the motor can be improved and the work space can be reduced.

[0010] In the joint of the above aspect, it is preferable that a seal member be provided between the inner peripheral surface of the motor flange and the outer peripheral surface of the joint body to seal between the motor flange and the joint body.

[0011] In the joint of the above aspect, it is preferable that the plurality of segment pieces include connecting portions that connect adjacent segment pieces in the circumferential direction to each other in the circumferential direction.

[0012] In the joint of the above aspect, it is preferable that two fixing members are provided at intervals in the circumferential direction, and the angular dimension in the circumferential direction of one of the multiple divided pieces is set to be greater than or equal to the minimum circumferential distance between the two fixing members.

[0013] In the above-described joint, it is preferable that a cylindrical portion is formed on the outer peripheral edge of one of the intermediate flange and the motor flange, protruding in the axial direction along the rotation axis and extending around the entire circumference of the one flange portion, and that an accommodating recess is formed on the outer peripheral edge of the other of the intermediate flange and the motor flange, in which the cylindrical portion is accommodated.

[0014] A speed reducer according to one aspect of the present disclosure includes: a joint body having an input gear that meshes with a reduction mechanism and to which an output shaft of a motor is detachably connected; a motor flange disposed between the reduction mechanism and the motor; an intermediate flange that connects the motor flange and the motor; and a seal member that is provided between an inner circumferential surface of the motor flange and an outer circumferential surface of the joint body and that seals between the motor flange and the joint body, wherein two fixing members that fix the joint body and the output shaft to each other are provided at intervals in a circumferential direction around the rotation axis of the joint body at positions that overlap with the intermediate flange when viewed in a radial direction that intersects with the rotation axis of the joint body, The intermediate flange is formed in a ring shape surrounding the joint body by a plurality of segments that can be separated in the circumferential direction, the angular dimension of one of the segments in the circumferential direction is set to be equal to or greater than the minimum circumferential spacing between the two fixing members, the plurality of segments have connecting portions that circumferentially connect adjacent segments in the circumferential direction, a cylindrical portion is formed on the outer peripheral edge of one of the intermediate flange and the motor flange, the cylindrical portion protruding in the axial direction along the rotation axis and extending around the entire circumference of the one flange portion, and an accommodating recess is formed on the outer peripheral edge of the other of the intermediate flange and the motor flange to accommodate the cylindrical portion. A reducer according to one aspect of the present disclosure includes: J a reduction mechanism with which an input gear of the joint meshes, The joint includes a joint body having the input gear and to which an output shaft of a motor is detachably connected, a motor flange disposed between the reduction mechanism and the motor, and an intermediate flange connecting the motor flange and the motor, and at least one fixing member for fixing the joint body and the output shaft together is provided in a position of the joint body that overlaps with the intermediate flange when viewed from a radial direction intersecting the rotation axis of the joint body, and the intermediate flange is formed in an annular shape surrounding the periphery of the joint body by a plurality of divided pieces that can be divided in a circumferential direction around the rotation axis. . [Effects of the Invention]

[0015] According to each of the above aspects, it is possible to improve the workability when attaching and detaching the motor and reduce the work space required. [Brief explanation of the drawings]

[0016] [Figure 1] 4 is a cross-sectional view of a part of the motor unit according to the embodiment, taken along line II in FIG. 3. FIG. [Figure 2] 2 is a cross-sectional view of the joint taken along line II-II in FIG. 3. [Figure 3] 4 is a front view of the joint according to the embodiment, seen from a second axial side. FIG. [Figure 4] FIG. 2 is an enlarged cross-sectional view corresponding to FIG. 1, illustrating a method for attaching and detaching the motor. [Figure 5] FIG. 2 is an enlarged cross-sectional view corresponding to FIG. 1, illustrating a method for attaching and detaching the motor. [Figure 6] FIG. 10 is a front view of a joint according to a modified example, as viewed from a second axial side. [Figure 7] FIG. 10 is a front view of a joint according to a modified example, as viewed from a second axial side. DETAILED DESCRIPTION OF THE INVENTION

[0017] Next, embodiments of the present disclosure will be described with reference to the drawings. In the embodiments and modifications described below, corresponding components will be designated by the same reference numerals, and their description may be omitted. In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," not only strictly indicate such arrangements, but also indicate a state in which the components are relatively displaced by an angle or distance to such an extent that tolerances or the same functions are obtained.

[0018] [Motor unit 1] FIG. 1 is a cross-sectional view of a part of the motor unit 1 taken along line II in FIG. As shown in FIG. 1, a motor unit 1 is mounted on, for example, an industrial robot. The motor unit 1 is provided at a connecting portion (joint portion) of a pair of rotatably connected arms. The motor unit 1 includes a reducer 10 and a motor 12. The motor unit 1 reduces the driving force output from the motor 12 by the reducer 10 and then outputs the reduced power to a first arm of the pair of arms. In this embodiment, the rotation axis of the reducer 10 (hereinafter referred to as a first axis O1) and the rotation axis of the motor 12 (hereinafter referred to as a second axis O2) are arranged eccentrically and parallel to each other. In the following description, the direction along the axes O1 and O2 may be referred to as the axial direction, the direction intersecting the first axis O1 as viewed from the axial direction may be referred to as the first radial direction, and the direction intersecting the second axis O2 as viewed from the axial direction may be referred to as the second radial direction. Furthermore, the direction of rotation around the first axis O1 may be referred to as the first circumferential direction, and the direction of rotation around the second axis O2 may be referred to as the second circumferential direction. The axes O1 and O2 may be arranged coaxially.

[0019] <Reducer 10> The reducer 10 includes a case 31 , a reduction mechanism section 32 , and a joint 33 . The case 31 is disposed coaxially with the first axis O1 and is formed in a cylindrical shape with a bottom that opens toward a first axial side. A peripheral wall portion 31a of the case 31 is disposed coaxially with the first axis O1. A bottom wall portion 31b of the case 31 closes an opening of the peripheral wall portion 31a on a second axial side. A communication opening 31c is formed in the bottom wall portion 31b at a position eccentric to the first axis O1. The communication opening 31c penetrates the bottom wall portion 31b in the axial direction. The communication opening 31c is formed in a circular shape that is disposed coaxially with the second axis O2.

[0020] The reduction mechanism 32 is housed in the case 31. The reduction mechanism 32 reduces the driving force of the motor 12 upstream of the first arm. The reduction mechanism 32 is, for example, an eccentric oscillating gear mechanism. The reduction mechanism 32 includes a transmission gear 32a, a carrier 32b, and a plurality of gears (not shown) that connect the transmission gear 32a and the carrier 32b. The various gears that make up the reduction mechanism 32 are rotatably supported by the case 31 directly or indirectly.

[0021] The transmission gear 32a is rotatably disposed at the second axial end portion within the case 31. When viewed from the axial direction, a portion of the transmission gear 32a overlaps with the communication port 31c. Carrier 32b is disposed at a first axial end portion of case 31 so as to be rotatable about first axis O1. A portion of carrier 32b is exposed through a first axial opening in case 31. Carrier 32b is connected to the first arm. A seal ring (not shown) is disposed between the outer circumferential edge of carrier 32b and peripheral wall portion 31a.

[0022] <Joint 33> FIG. 2 is a cross-sectional view of the joint 33 corresponding to the line II-II in FIG. 1 and 2, the joint 33 connects the motor 12 and the reducer 10. The joint 33 includes a motor flange 51, a joint body 52, and an intermediate flange 53. The motor flange 51 is disposed axially between the motor 12 and the reducer 10. The motor flange 51 is formed in a cylindrical shape and disposed coaxially with the second axis O2. Specifically, the motor flange 51 includes a connecting cylinder 61 and a protruding portion 62.

[0023] The connecting cylinder 61 is fitted into the communication port 31c with an O-ring disposed between the outer circumferential surface of the connecting cylinder 61 and the inner circumferential surface of the communication port 31c. The protruding portion 62 protrudes outward in the second radial direction from the second axial side end of the connecting tube 61. The motor flange 51 and the case 31 are fixed together by a first bolt 67 (see FIG. 2). The first bolt 67 penetrates the protruding portion 62 from the second axial side and is fastened to the bottom wall portion 31b. A female threaded hole 62a is formed in the protruding portion 62 at a position away from the first bolt 67 in the second circumferential direction. A plurality of female threaded holes 62a are formed at intervals in the second circumferential direction. The female threaded holes 62a are open in the protruding portion 62 toward the second axial side.

[0024] A bearing 65 is fitted inside the protruding portion 62. A seal ring 66 is fitted inside the protruding portion 62 in a portion located on the second side of the bearing 65 in the axial direction.

[0025] The joint body 52 is supported rotatably about the second axis O2 inside the motor flange 51. The joint body 52 axially penetrates the inside of the motor flange 51 and the communication port 31c. Specifically, the joint body 52 includes a connecting portion 71 and an input gear 72.

[0026] The connecting portion 71 is formed in a multi-stage cylindrical shape with an outer diameter that decreases toward a first axial side. Specifically, the connecting portion 71 includes a large diameter portion 71a located on a second axial side of the connecting portion 71, a medium diameter portion 71b connected to the first axial side of the large diameter portion 71a, and a small diameter portion 71c connected to the first axial side of the medium diameter portion 71b.

[0027] The large diameter portion 71a is disposed inside the protruding portion 62, with a portion of the large diameter portion 71a protruding toward the second axial direction relative to the motor flange 51. The inner peripheral edge of the seal ring 66 is in close contact with the outer peripheral surface of the large diameter portion 71a. That is, the seal ring 66 is disposed between the outer peripheral surface of the large diameter portion 71a and the inner peripheral surface of the protruding portion 62, and seals the gap between the large diameter portion 71a and the protruding portion 62. Lubricating oil is contained in the internal space of the reducer 10. The lubricating oil is sealed in the internal space of the reducer 10 by sealing the gap between the carrier 32b and the case 31, the gap between the motor flange 51 and the case 31, and the gap between the joint body 52 and the motor flange 51.

[0028] The medium diameter portion 71b is disposed inside the motor flange 51, straddling between the protruding portion 62 and the connecting tube 61. The medium diameter portion 71b is fitted inside the bearing 65. That is, the joint body 52 is rotatably supported on the motor flange 51 via the bearing 65. The small diameter portion 71c protrudes from the medium diameter portion 71b toward the first side in the axial direction. The small diameter portion 71c is disposed within the communication port 31c.

[0029] The connecting portion 71 is formed with a first connecting port 71f, a female screw hole 71g, and a second connecting port 71h (see FIG. 2). The output shaft 101 of the motor 12 is detachably connected to the first connecting port 71f. The first connecting port 71f extends along the second axis O2 between the large diameter portion 71a and the medium diameter portion 71b. The first connecting port 71f opens toward a second axial side in the large diameter portion 71a. A key groove 71j is formed in a portion of the first connecting port 71f in the second circumferential direction. The key groove 71j is recessed outward in the second radial direction relative to the inner circumferential surface of the first connecting port 71f and extends in the axial direction.

[0030] The female threaded hole 71g is formed in a portion of the large diameter portion 71a that protrudes further axially toward the second side than the motor flange 51 (hereinafter referred to as the protruding portion 71k). The female threaded hole 71g penetrates in the second radial direction between the inner circumferential surface of the first connecting port 71f and the outer circumferential surface of the large diameter portion 71a. In this embodiment, a plurality of female threaded holes 71g (two at 90° intervals) are provided at intervals in the second circumferential direction at positions that avoid the key groove 71j. However, the position and number of the female threaded holes 71g can be changed as appropriate.

[0031] 2, the second connecting port 71h extends through the small diameter portion 71c along the second axis O2. The second connecting port 71h opens toward the first axial side in the small diameter portion 71c.

[0032] The input gear 72 connects between the connecting portion 71 and the transmission gear 32a. Specifically, the input gear 72 includes a connecting portion 72a and a gear body 72b. The connecting portion 72a is formed in a columnar shape and is arranged coaxially with the second axis O2. The connecting portion 72a is fitted into the second connecting port 71h from a first side in the axial direction. The gear body 72b protrudes toward a first axial side relative to the connecting portion 72a. The gear body 72b enters the internal space of the reducer 10 through the communication port 31c. The gear body 72b meshes with the transmission gear 32a in the internal space of the reducer 10.

[0033] FIG. 3 is a front view of the joint 33 as seen from the second axial side. As shown in FIGS. 1 to 3, the intermediate flange 53 is disposed in a maintenance space S formed between the motor flange 51 and the motor 12. The maintenance space S is a space that can be opened around the protruding portion 71k in the second radial direction. The intermediate flange 53 is formed into a rectangular ring shape as a whole by combining a first divided piece 81 and a second divided piece 82 that can be separated in the second circumferential direction. That is, the intermediate flange 53 has an accommodating hole 53a formed in the center in the second radial direction. The accommodating hole 53a is formed larger than the maximum inner diameter of the motor flange 51 and is a circular hole centered on the second axis O2. The accommodating hole 53a accommodates the protruding portion 71k of the large diameter portion 71a. The inner peripheral portion of the intermediate flange 53 overlaps with a portion of the first bolt 67 when viewed in the axial direction.

[0034] 3, the first segment 81 constitutes half the circumference of the intermediate flange 53 in the second circumferential direction (a region of 180° about the second axis O2). Therefore, the angular dimension of the first segment 81 in the second circumferential direction is set to be equal to or greater than the minimum interval (90° about the second axis O2) between adjacent setscrews 111 (internal threaded holes 71g) in the second circumferential direction.

[0035] The first divided piece 81 includes a first flange portion 81a and an attachment piece (connection portion) 81b. The first flange portion 81a is formed in an arch shape extending in the second circumferential direction when viewed from the axial direction. A first recess 81c is formed in the first flange portion 81a and recessed outward in the second radial direction about the second axis O2. The first recess 81c constitutes half of the accommodating hole 53a in the second circumferential direction.

[0036] The mounting pieces 81b protrude outward in the second radial direction from both ends of the first flange portion 81a in the second circumferential direction. A through hole 81d is formed in each mounting piece 81b. Each through hole 81d penetrates the corresponding mounting piece 81b in a tangential direction parallel to the outer peripheral edge of the first flange portion 81a when viewed in the axial direction.

[0037] The second split piece 82 constitutes the remaining half of the second circumferential direction (a region of 180° about the second axis O2) of the intermediate flange 53. Therefore, the angular dimension of the second split piece 82 in the second circumferential direction is set to be equal to or greater than the minimum interval (90° about the second axis O2) between adjacent set screws 111 (internal threaded holes 71g) in the second circumferential direction.

[0038] The second divided piece 82 includes a second flange portion 82a and an attached piece (connection portion) 82b. The second flange portion 82a is formed line-symmetrically with the first flange portion 81a when viewed in the axial direction. Therefore, the second flange portion 82a is formed with a second recess 82c that is recessed outward in the second radial direction about the second axis O2. The second recess 82c constitutes the remaining half of the accommodating hole 53a in the second circumferential direction.

[0039] The mounting pieces 82b protrude outward in the second radial direction from both ends of the second flange portion 82a in the second circumferential direction. A fastening hole 82d is formed in each mounting piece 82b. Each fastening hole 82d penetrates the corresponding mounting piece 82b in a tangential direction parallel to the outer peripheral edge of the second flange portion 82a when viewed in the axial direction.

[0040] The first and second divided pieces 81 and 82 are assembled together with the end faces of the first and second flange portions 81a and 82a facing each other in the second circumferential direction approaching or contacting each other. In this state, the corresponding mounting piece 81b and the corresponding mounted piece 82b face each other in the second circumferential direction. The corresponding mounting piece 81b and the corresponding mounted piece 82b are fastened together with screws (connectors) 85. Specifically, the screws 85 are fastened through the through holes 81d of the mounting piece 81b and into the fastening holes 82d of the mounted piece 82b. As a result, the first and second divided pieces 81 and 82 are assembled together in the second circumferential direction with the receiving hole 53a defined by the first recess 81c and the second recess 82c. In the maintenance space S, the intermediate flange 53 surrounds the entire circumference of the protruding portion 71k from the outside in the second radial direction with the protruding portion 71k accommodated in the receiving hole 53a.

[0041] 1 to 3, a plurality of through holes 53b are formed in the intermediate flange 53. Each through hole 53b is formed in a respective corner of the intermediate flange 53. That is, each through hole 53b is formed at intervals in the second circumferential direction in each of the flange portions 81a, 82a. Each through hole 53b overlaps with a corresponding female thread hole 62a when viewed in the axial direction.

[0042] A positioning cylindrical portion 53c is formed on the outer peripheral edge of the intermediate flange 53. The positioning cylindrical portion 53c protrudes from the flange portions 81a, 82a of each of the divided pieces 81, 82 toward the first axial side. The positioning cylindrical portion 53c is formed in an annular shape extending around the entire circumference of the intermediate flange 53 in the second circumferential direction. The positioning cylindrical portion 53c is accommodated in an accommodating recess 51a formed in the motor flange 51. The accommodating recess 51a is formed by cutting out a corner portion located on the second axial side of the outer peripheral edge of the protruding portion 62 around the entire circumference in the second circumferential direction. The accommodating recess 51a is open outward in the second radial direction and toward the second axial side. When accommodated in the accommodating recess 51a, the positioning cylindrical portion 53c surrounds the periphery of the protruding portion 62.

[0043] <Motor 12> 1, the motor 12 is connected to the reducer 10 via a joint 33. The motor 12 is, for example, a servo motor. The motor 12 includes a housing 100, an output shaft 101, a stator (not shown), and a rotor (not shown).

[0044] The housing 100 includes a housing body 100a and a mounting plate 100b. The housing body 100a is formed in a cylindrical shape with a bottom that opens toward a first side in the axial direction. The mounting plate 100b is formed in a rectangular plate shape with its thickness oriented in the axial direction. The mounting plate 100b closes the opening of the housing main body 100a from a first axial side. Motor mounting holes 100c are formed in each corner of the mounting plate 100b. The motor mounting holes 100c penetrate the mounting plate 100b in the axial direction.

[0045] The mounting plate 100b is fixed to the motor flange 51 together with the intermediate flange 53 via second bolts 110. Each second bolt 110 is inserted into each motor mounting hole 100c from the second axial side of the mounting plate 100b. The second bolt 110 inserted into each motor mounting hole 100c is tightened into the female threaded hole 62a through the corresponding second through hole 53b.

[0046] The output shaft 101 passes through the housing 100 in the axial direction. The output shaft 101 is rotatably supported by the housing 100. A key 101a is formed on a portion of the output shaft 101 in the second circumferential direction. The key 101a protrudes outward from the output shaft 101 in the second radial direction and extends in the axial direction.

[0047] The output shaft 101 is connected to the connecting portion 71. Specifically, the output shaft 101 is inserted into the first connecting port 71f with the key 101a housed in the key groove 71j. The output shaft 101 is held in the first connecting port 71f by a setscrew 111. The setscrew 111 is fastened to the female threaded hole 71g. The tip end portion (the inner end portion in the second radial direction) of the setscrew 111 protrudes into the first connecting port 71f through the female thread 71g. The tip end portion of the setscrew 111 presses the output shaft 101 in the second radial direction within the first connecting port 71f.

[0048] The stator is formed in a cylindrical shape and is arranged coaxially with the second axis O2. The stator is fitted inside the housing main body 100a. The rotor is disposed inside the housing body 100a and on the inside in the second radial direction relative to the stator. The rotor is fixed to a portion of the output shaft 101 that is located inside the housing 100. The motor 12 generates a driving force by rotating the rotor together with the output shaft 101 due to magnetic attraction and repulsion forces generated between the stator and the rotor.

[0049] [Maintenance method for motor unit 1] Next, a method for attaching and detaching the motor 12 will be described as a maintenance method for the motor unit 1. Figures 4 and 5 are enlarged cross-sectional views corresponding to Figure 1, and are explanatory diagrams for explaining the method for attaching and detaching the motor. When removing the motor 12 from the reducer 10, first, the second bolt 110 is removed, and the fastening between the mounting plate 100b and the intermediate flange 53 and the motor flange 51 is released.

[0050] Next, as shown in FIG. 4, the intermediate flange 53 is disassembled. Specifically, when the screw 85 is removed, the segments 81, 82 are released from their respective attachment positions. In this state, the segments 81, 82 are pulled outward in the second radial direction. As a result, the maintenance space S is opened. That is, the protrusion 71k is exposed to the outside between the motor 12 and the motor flange 51. Note that in order to expose the protrusion 71k to the outside, one of the segments 81, 82 may be retracted from the maintenance space S, thereby partially opening the maintenance space S.

[0051] Next, as shown in FIG. 5, the setscrew 111 is removed through the maintenance space S. This releases the connection between the output shaft 101 and the joint body 52. ​​In this state, the motor 12 is pulled out toward the second axial side. This removes the motor 12 from the reducer 10.

[0052] When reattaching the motor 12 to the reducer 10, the above-described operations are performed in reverse. That is, with the key 101a and the key groove 71j aligned, the output shaft 101 is inserted into the first connecting port 71f. In this state, the set screw 111 is fastened into the female threaded hole 71g through the maintenance space S. This connects the output shaft 101 to the joint body 52.

[0053] Next, the intermediate flange 53 is placed in the maintenance space S. Specifically, the divided pieces 81, 82 are inserted into the maintenance space S from the outside in the second radial direction. At this time, the positioning cylindrical portion 53c is accommodated in the accommodation recess 51a, thereby restricting movement of the divided pieces 81, 82 inward in the second radial direction and toward the first side in the axial direction relative to the motor flange 51. In addition, the position of the intermediate flange 53 in the second circumferential direction relative to the motor flange 51 (and the motor 12) is adjusted so that the second through-holes 53b of the intermediate flange 53 overlap the corresponding female threaded holes 62a and motor mounting holes 100c when viewed axially.

[0054] Thereafter, the mounting plate 100b, the intermediate flange 53, and the motor flange 51 are fastened together by the second bolts 110. In this manner, the motor 12 is assembled to the reducer 10.

[0055] In this way, in the joint 33 of this embodiment, a set screw (fixing member) 111 for fixing the joint body 52 and the output shaft 101 together is provided at a position of the joint body 52 that overlaps with the intermediate flange 53 when viewed from the second radial direction (radial direction intersecting the second axis (rotation axis) O2), and the intermediate flange 53 is configured to be formed in a ring shape surrounding the joint body 52 by a plurality of divided pieces 81, 82 that can be divided in the second circumferential direction. According to this configuration, by removing the divided pieces 81, 82, at least a portion of the portion of the joint body 52 that overlaps with the intermediate flange 53 as viewed from the second radial direction can be opened in the second radial direction as a maintenance space S. This makes it possible to ensure a larger range in the second circumferential direction for the maintenance space S compared to conventional cases in which the motor is attached or detached through a tool insertion hole provided in the cover of the reducer. This makes it easier (or unnecessary) to align the phase of the setscrew 111 with the maintenance space S in the second circumferential direction, allowing a tool to easily access the setscrew 111. Furthermore, it is possible to reduce the working space compared to conventional cases in which a tool is inserted from outside the cover of the reducer. As a result, the workability when attaching and detaching the motor can be improved and the work space can be reduced.

[0056] In the joint 33 of this embodiment, a seal ring (sealing member) 66 is provided between the inner surface of the motor flange 51 and the outer surface of the joint body 52 to seal between the motor flange 51 and the joint body 52. According to this configuration, the intermediate flange 53 is provided between the motor flange 51 and the motor 12, so that the motor 12 can be attached or detached without removing the motor flange 51. Therefore, even when attaching or detaching the motor 12, the internal space of the reducer 10 can be sealed by the seal ring 66 provided on the motor flange 51. Therefore, for example, if lubricating oil is stored in the internal space of the reducer 10, the lubricating oil can be prevented from leaking through the gap between the motor flange 51 and the joint body 52.

[0057] In the joint 33 of this embodiment, the divided pieces 81, 82 adjacent to each other in the second circumferential direction are configured to have an attaching piece (connecting portion) 81b and an attached piece (connecting portion) 82b that are connected to each other in the second circumferential direction. According to this configuration, adjacent segments 81, 82 in the second circumferential direction are connected to each other, which makes it easier to position adjacent segments 81, 82 relative to each other and the motor flange 51 and intermediate flange 53 relative to each other when attaching or detaching the motor 12.

[0058] In the joint 33 of this embodiment, the angular dimension of the divided pieces 81, 82 in the second circumferential direction is set to be equal to or greater than the minimum interval of the set screws 111 in the second circumferential direction. According to this configuration, even when either of the divided pieces 81, 82 is removed, the setscrew 111 is easily exposed to the opened maintenance space S. This makes it easier (or unnecessary) to align the setscrew 111 with the maintenance space S in the second circumferential direction, thereby further improving workability.

[0059] The joint 33 of this embodiment is configured such that the intermediate flange 53 has a positioning cylindrical portion 53c formed on the outer peripheral edge thereof, and the motor flange 51 has an accommodating recess 51a formed on the outer peripheral edge thereof. According to this configuration, the positioning cylindrical portion 53c is accommodated in the accommodation recess 51a, thereby enabling the intermediate flange 53 to be positioned in the second radial direction relative to the motor flange 51. This improves the ease of assembly of the intermediate flange 53.

[0060] The reducer 10 of this embodiment includes the above-described joint 33, and therefore, it is possible to provide a reducer 10 that is easy to maintain.

[0061] (Other variations) Although preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to these embodiments. Addition, omission, substitution, and other modifications of the configuration are possible without departing from the spirit of the present disclosure. The present disclosure is not limited by the above description, but is limited only by the scope of the appended claims. In the above-described embodiment, the arm of an industrial robot is used as an example of a mounted member on which the motor unit 1 is mounted, but the mounted member is not limited to this configuration. The mounted member may also be the arm of industrial equipment (for example, construction machinery). In the above-described embodiment, the angular dimension of the two segments 81, 82 in the second circumferential direction is 180°, but this configuration is not limited thereto. The angular dimension of the segments in the second circumferential direction can be changed as appropriate. For example, as shown in FIG. 6, the intermediate flange 53 may be formed such that the first segment 81 has an angular dimension of 90° and the second segment 82 has an angular dimension of 270°. In the above-described embodiment, the segment pieces 81, 82 are formed in a sector shape centered on the second axis O2 (the end faces of the segment pieces 81, 82 in the second circumferential direction gradually move apart toward the outside in the second radial direction), but the present invention is not limited to this configuration. For example, as shown in Fig. 7, the end faces of the segment pieces 81, 82 in the second circumferential direction may extend parallel to each other.

[0062] In the above-described embodiment, the intermediate flange 53 is configured to be annular by two segments 81, 82, but the present invention is not limited to this configuration. The intermediate flange 53 may be configured by combining three or more segments in the second circumferential direction, as long as the entire intermediate flange 53 is configured to be annular. In this case, the angular dimensions of the segments may be equal to or different from each other. In the above embodiment, the case where the setscrew 111 is used as the fixing member is described, but the present invention is not limited to this configuration. The fixing member may be a pin or the like.

[0063] In the above-described embodiment, a configuration in which the seal ring 66 is provided between the motor flange 51 and the joint body 52 has been described, but the configuration is not limited to this. The reducer 10 may be configured without the seal ring 66, or may be configured such that a seal ring is provided between the intermediate flange 53 and the joint body 52. In the above-described embodiment, as an example of a connecting portion, a configuration in which the mounting piece 81b and the mounted piece 82b are connected via the screw 85 has been described, but this configuration is not limiting. The mounting piece 81b and the mounted piece 82b are not essential components. In other words, the divided pieces 81, 82 do not have to be connected to each other. The connecting parts may be connected by means of clamps, dowels, magnets, hinges, etc., in addition to the screws 85.

[0064] In the above-described embodiment, the intermediate flange (one flange) 53 is formed with the positioning cylindrical portion 53c, and the motor flange (the other flange) 51 is formed with the accommodating recess 51a. However, the present invention is not limited to this configuration. The intermediate flange (the other flange) 53 may be formed with the accommodating recess, and the motor flange (one flange) 51 may be formed with the positioning cylindrical portion. In the above-described embodiment, the motor flange 51 and the intermediate flange 53 are formed as separate bodies, but the present invention is not limited to this configuration. The motor flange 51 and the intermediate flange 53 may be formed as a single body.

[0065] Among the embodiments disclosed in this specification, those that are comprised of multiple objects may be integrated, and conversely, those that are comprised of a single object may be separated into multiple objects. Regardless of whether they are integrated, it is sufficient that they are configured to achieve the object of the invention.

[0066] In addition, within the scope of the present disclosure, the components in the above-described embodiments may be replaced with well-known components as appropriate, and the above-described modified examples may be combined as appropriate. [Explanation of symbols]

[0067] 10: Reducer 12: Motor 32: Reduction mechanism section 33: Joint 51: Motor flange 51a: Receiving recess 52: Joint body 53: Intermediate flange 53c: Positioning tube part 72: Input gear 72a: Connection 81: Split piece 82: Split piece 101: Output shaft 111: Set screw (fixing member) O2: Axis (rotation axis)

Claims

1. a joint body having an input gear that meshes with the reduction mechanism and to which an output shaft of a motor is detachably connected; a motor flange disposed between the reduction mechanism and the motor; an intermediate flange connecting the motor flange and the motor, At least one fixing member that fixes the joint body and the output shaft to each other is provided in the joint body at a position that overlaps with the intermediate flange when viewed in a radial direction that intersects with the rotation axis of the joint body, The intermediate flange is a joint formed in an annular shape surrounding the joint body by a plurality of divided pieces that can be separated in the circumferential direction around the rotation axis.

2. 2. The joint according to claim 1, further comprising a seal member provided between an inner peripheral surface of the motor flange and an outer peripheral surface of the joint body to seal between the motor flange and the joint body.

3. 3. The joint according to claim 1, wherein the plurality of segment pieces have connecting portions that connect adjacent segment pieces in the circumferential direction to each other in the circumferential direction.

4. The fixing members are provided in pairs spaced apart from each other in the circumferential direction, A joint as described in any one of claims 1 to 3, wherein the angular dimension in the circumferential direction of one of the plurality of segment pieces is set to be equal to or greater than the minimum circumferential distance between two of the fixing members.

5. a cylindrical portion is formed on an outer peripheral edge of one of the intermediate flange and the motor flange, the cylindrical portion protruding in an axial direction along the rotation axis and extending around the entire circumference of the one flange portion; 5. The joint according to claim 1, wherein the other of the intermediate flange and the motor flange has an accommodating recess formed in an outer peripheral edge thereof for accommodating the tubular portion.

6. A joint body having an input gear that meshes with a reduction mechanism and to which an output shaft of a motor is detachably connected; a motor flange disposed between the reduction mechanism and the motor; an intermediate flange connecting the motor flange and the motor; a seal member provided between an inner peripheral surface of the motor flange and an outer peripheral surface of the joint body, for sealing between the motor flange and the joint body, two fixing members for fixing the joint body and the output shaft to each other are provided at intervals in a circumferential direction around the rotation axis of the joint body at a position where the joint body overlaps with the intermediate flange as viewed in a radial direction intersecting the rotation axis of the joint body, the intermediate flange is formed in an annular shape surrounding the periphery of the joint body by a plurality of divided pieces that can be divided in the circumferential direction, an angular dimension of one of the plurality of segment pieces in the circumferential direction is set to be equal to or greater than a minimum distance between two of the fixing members in the circumferential direction, The plurality of segment pieces include connection portions that connect adjacent segment pieces in the circumferential direction to each other in the circumferential direction, a cylindrical portion is formed on an outer peripheral edge of one of the intermediate flange and the motor flange, the cylindrical portion protruding in an axial direction along the rotation axis and extending around the entire circumference of the one flange portion; A joint in which an accommodating recess for accommodating the tubular portion is formed on the outer peripheral edge of the other of the intermediate flange and the motor flange.

7. A joint; a reduction mechanism with which the input gear of the joint meshes, The joint is a joint body having the input gear and to which an output shaft of a motor is detachably connected; a motor flange disposed between the reduction mechanism and the motor; an intermediate flange connecting the motor flange and the motor, At least one fixing member that fixes the joint body and the output shaft to each other is provided in the joint body at a position that overlaps with the intermediate flange when viewed in a radial direction that intersects with the rotation axis of the joint body, The intermediate flange is formed in an annular shape surrounding the periphery of the joint body by a plurality of divided pieces that can be separated in the circumferential direction about the rotation axis of the reducer.

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