Drive equipment attachments

Abstract

The present invention increases the degree of freedom in selecting a driving device that can be assembled together with a driven device. A driving device attachment 10 for joining a driving device 20 and a driven device 30 together comprises: a joint 1 having a hollow input shaft 1a1 and a solid output shaft 1b; and a bearing 3 that supports a thrust load and a radial load of the joint. A solid rotating shaft 21 of the driving device is fixed to the hollow input shaft of the joint, and the solid output shaft of the joint is inserted into a hollow input shaft 31 of the driven device.

Description

[Technical Field]

[0001] The present invention relates to an attachment for a driving machine. [Background technology]

[0002] Patent Document 1 describes a coupling case for connecting an electric motor and a reducer via a joint. An input flange is disposed on the input side of the reducer, and the input flange is provided with a first bearing that houses a group of gears that mesh with the inserted pinion. An input shaft, which includes a pinion that meshes with the group of gears, is fitted into the first bearing of the input flange. The input shaft has a pinion protruding from one end and a pinion fixing portion of the coupling formed on the other end. The input shaft is supported by a second bearing of the coupling case. The coupling case has an output side surface that can be fitted to the input flange, and an input side surface that can be fitted to the electric motor on the opposite side. The coupling is formed from a pinion fixing portion of the input shaft, a freely movable intermediate portion that engages with the pinion fixing portion, and a shaft fixing portion that engages with the intermediate portion and is fitted to the motor shaft. The motor shaft is configured to pass through the intermediate portion and reach the pinion fixing portion. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-242958 Summary of the Invention [Problem to be solved by the invention]

[0004] In the prior art, when a driving device and a driven device are connected by a coupling, the load resistance depends on the bearings in the driving device, which limits the freedom of selection of the driving device.

[0005] In view of the above circumstances, an object of the present invention is to increase the degree of freedom in selecting a driving device that can be assembled with a driven device. [Means for solving the problem]

[0006] The driving equipment attachment according to the present invention for connecting a driving equipment and a driven equipment comprises a joint having a hollow input shaft and a solid output shaft, a bearing attached to the hollow input shaft to support the thrust load and radial load of the joint, and a case accommodating a part of the joint and the bearing, wherein a solid rotating shaft of the driving equipment is fixed to the hollow input shaft of the joint, and the solid output shaft of the joint is inserted into the input part of the driven equipment. The case of the driving equipment attachment is a case separate from both the case of the driving equipment and the case of the driven equipment. The driven device is a robot hand, and the solid output shaft of the joint is a threaded shaft that threadably engages with a nut that is the input part of the robot hand. [Effects of the Invention]

[0007] According to the present invention, it is possible to increase the degree of freedom in selecting a driving device that can be assembled with a driven device. [Brief explanation of the drawings]

[0008] [Figure 1A] FIG. 2 is a plan view of the motor attachment. [Figure 1B] FIG. 1B is a cross-sectional view taken along line AA in FIG. 1A. [Figure 2] FIG. [Figure 3] FIG. 2 is an exploded side view of the electric hand mechanism. [Figure 4A] FIG. [Figure 4B] FIG. 4B is a cross-sectional view taken along line BB in FIG. 4A. [Figure 5A] FIG. 2 is a plan view of the turntable actuator. [Figure 5B] 5B is a cross-sectional view taken along line CC in FIG. 5A. [Figure 6A] FIG. 2 is a left side view of the linear actuator. [Figure 6B] FIG. 2 is a front view of the linear actuator. [Figure 6C] FIG. 6C is a cross-sectional view taken along line DD in FIG. 6B. [Figure 6D]FIG. [Figure 6E] FIG. 6E is a cross-sectional view taken along the line EE in FIG. 6D. [Figure 6F] FIG. 6B is a cross-sectional view taken along the line FF in FIG. 6D. [Figure 7] FIG. 10 is an explanatory diagram showing a motor attachment equipped with a helical gear. [Figure 8A] FIG. 5 is an exploded side view of a joint 501A. [Figure 8B] 8B is a cross-sectional view taken along line 8B-8B in FIG. 8A. [Figure 9A] FIG. 5 is a side view of joint 501A. [Figure 9B] 9B is a cross-sectional view taken along line 9B-9B in FIG. 9A. [Figure 10A] FIG. 2 is an explanatory diagram showing a series of electric hand mechanisms. [Figure 10B] FIG. 1 is an explanatory diagram showing a series of turntable actuators. [Figure 10C] FIG. 1 is an explanatory diagram showing a series of ball screw linear actuators. [Figure 10D] FIG. 1 is an explanatory diagram showing a series of ball screw linear actuators. [Figure 10E] FIG. 1 is an explanatory diagram showing a series of ball screw linear actuators. [Figure 10F] FIG. 1 is an explanatory diagram showing a series of motors with reducers. [Figure 11] FIG. 2 is a partially enlarged cross-sectional view of the joint 1. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes embodiments of the present invention, but the present invention is not limited to the following embodiments.

[0010] 1A, 1B, and 2 show a motor attachment 10 equipped with a joint 1 for connecting a motor, which is an example of a driving device, to a driven device. The joint 1 has a cylindrical portion 1a, an insertion portion 1a1 into which the solid rotating shaft of the motor is inserted, and an output shaft 1b that is inserted into the input portion of the driven device.

[0011] The motor attachment 10 has a joint 1 rotatably supported by a thrust and radial bearing 3 fixed inside a substantially cylindrical case 2 . The joint 1 has a cylindrical portion 1a with one axial end closed, and a solid output shaft 1b that is provided in the closed portion of the cylindrical portion and extends in the same direction as the cylindrical portion. The hollow portion of the cylindrical portion 1a is an insertion portion 1a1 into which a rotating shaft 21 of a motor 20 is inserted. Two screw holes 1c are provided on the side surface of the cylindrical portion 1a at the other axial end side for fixing the rotating shaft 21 of the motor 20 inserted into the insertion portion 1a. The two screw holes 1c are provided circumferentially at 90-degree intervals. It is sufficient to have one or more screw holes 1c.

[0012] The output shaft 1b is processed so that it can be directly assembled to the input part of the driven device. For example, if the driven device is the hand mechanism 30 as in this embodiment, the output shaft 1b is formed with a thread 1b1 that screws into a nut 31, which is the input part of the hand mechanism 30. A flange 1d having a diameter larger than the outer diameter of the cylindrical portion 1a is formed at the boundary between the cylindrical portion 1a and the output shaft 1b. As will be described later, this flange 1d becomes a fixing portion for the inner ring of the thrust / radial bearing 3 when the joint 1 is assembled into the case 2. A male thread 1e is formed on a part of the outer periphery of the cylindrical portion 1a. A bearing inner ring press screw for fixing the inner ring of the thrust / radial bearing 3 is screwed onto this male thread 1e, as will be described later.

[0013] The case 2 has an inner peripheral surface 2c in which the thrust and radial bearing 3 is mounted. In this embodiment, the thrust and radial bearing 3 includes a bearing 3a on the output shaft side and a bearing 3b on the motor mounting side, with both bearings arranged in series in the axial direction. A flange 2b that protrudes radially inward is formed on the output shaft side end of the inner circumferential surface of the case 2. Furthermore, a female thread 2c1 is machined on the motor mounting side of the inner circumferential surface 2c of the case 2. A thrust and radial bearing link 3 is fitted into the inner circumferential surface 2c of the case 2. The outer ring 3a1 of the bearing 3a on the output shaft side and the outer ring 3b1 of the bearing 3b on the motor mounting side are pressed and fixed by the flange 2b of the case 2 and a bearing outer ring press screw 5 that screws into the female thread 2c1. The cylindrical portion 1a of the joint 1 is fitted into the inner ring of the thrust and radial bearing 3 from the output shaft side of the case 2, and the flange 1d of the joint 1 abuts against the inner ring 3a2 of the output shaft-side bearing 3a. The output shaft 1b protrudes toward the output shaft from the output shaft-side end face 2a of the case 2. The inner ring 3a2 of the output shaft-side bearing 3a and the inner ring 3b2 of the motor-mounted side bearing 3b are pressed and fixed by the flange 1d of the joint 1 and a bearing inner ring press screw 6 that screws into a male thread 1e machined on the outer peripheral surface of the cylindrical portion 1a of the joint 1.

[0014] <Example of thrust and radial bearing configuration> A thrust / radial bearing can be configured by using angular bearings or the like as bearings 3a and 3b. Also, a thrust / radial bearing can be configured even with deep groove ball bearings by inserting a washer between bearings 3a and 3b in the axial direction. For example, a washer is placed between the inner ring 3a2 of the output shaft side bearing 3a and the inner ring 3b2 of the motor mounting side bearing 3b, and the inner ring 3a2 of the output shaft side bearing 3a and the inner ring 3b2 of the motor mounting side bearing 3b are fixed together using a bearing inner ring press screw 6. The bearing outer ring press screw 5 properly secures the outer ring 3a1 of the output shaft side bearing 3a and the outer ring 3b1 of the motor mounting side bearing 3b without any backlash in the thrust direction. Forecast Tighten while adjusting the pressure. After this adjustment, the outer ring 3a1 of the output shaft side bearing 3a and the outer ring 3b1 of the motor mounting side bearing 3b are fixed by adhesive using the bearing outer ring press screw 5. Note that the fixing method may be other methods such as welding or screwing instead of adhesive.

[0015] Alternatively, a washer is placed between the outer ring 3a1 of the output shaft side bearing 3a and the outer ring 3b1 of the motor mounting side bearing 3b, and the outer ring 3a1 of the output shaft side bearing 3a and the outer ring 3b1 of the motor mounting side bearing 3b are fixed together using a bearing outer ring press screw 5. The bearing inner ring press screw 6 properly secures the inner ring 3a2 of the output shaft side bearing 3a and the inner ring 3b2 of the motor mounting side bearing 3b without any backlash in the thrust direction. Forecast Tighten while adjusting the pressure. After adjustment, the bearing inner ring press screw 6 is fixed by adhesive so that the inner ring of the output shaft side bearing 3a and the inner ring of the motor mounting side bearing 3b do not move. Note that the fixing method may be other methods such as welding or screwing instead of adhesive. With this configuration example, a thrust and radial bearing can be configured even if an inexpensive deep groove ball bearing is used.

[0016] In the above example, the outer ring of the bearing is fixed by a bearing outer ring retaining screw 5 that is threaded into a female thread 2c1 machined into the inner periphery 2c of the case 2 on the side facing the motor mounting portion. Instead of this fixing structure, threaded holes in the output shaft direction may be formed in several locations on the radially outer side of the inner periphery 2c of the case 2, and the bearing outer ring retaining ring may be fastened with bolts. Alternatively, the bearing outer ring retaining ring may be fastened to the inner periphery 2c of the case by adhesive or the like. In this case, there is no need to machine the female thread 2c1, threaded holes, or the like into the case 2. Furthermore, by using a cross roller bearing or a four-point contact bearing, a single bearing can be used to configure both a thrust and radial bearing.

[0017] The threaded hole 1c in the cylindrical portion 1a of the joint 1, which secures the motor rotating shaft 21, is provided on the side opposite the output shaft from the male thread 1e. When the joint 1 is assembled into the case 2 as described above, the threaded hole 1c protrudes further toward the side opposite the output shaft than the bearing inner ring press screw 6 that is threaded onto the male thread 1e. A hole 2d, into which a tool (such as a hexagonal wrench) can be inserted, is formed on the side of the case 2, at the same axial position as the threaded hole 1c. If the joint 1 has two threaded holes 1c spaced 90 degrees apart in the circumferential direction, two holes 2d are also provided in the case 2. If the joint 1 has one threaded hole 1c, one hole 2d is provided in the case 2.

[0018] <First embodiment (electric hand mechanism)> 3, 4A, and 4B show a first embodiment of an electric hand mechanism 100 configured by connecting a motor 20 and a hand mechanism 30 using a motor attachment 10. The power of the motor 20 is transmitted to the hand mechanism 30 through the motor attachment 10, causing the hand mechanism 30 to operate.

[0019] The assembly of the motor attachment 10 and the motor 20 will be described. The motor shaft 21 of the motor 20 is inserted into the motor shaft insertion portion 1a1 of the cylindrical portion 1a of the joint 1 of the motor attachment 10. With the joint 1 and the motor shaft 21 set as the axial reference, the case 2 of the motor attachment 10 and the flange 22 of the motor 20 are fastened together with bolts (not shown).

[0020] Next, a setscrew 4 is threaded into the threaded hole 1c of the cylindrical portion 1a of the joint 1, and the motor rotating shaft 21 is fixed to the motor rotating shaft insertion portion 1a1 of the cylindrical portion 1a of the joint 1. As described above, the joint 1 can be fixed to the motor rotating shaft 21 by inserting a tool through the insertion hole 2d of the case 2 and tightening the setscrew 4 into the threaded hole 1c of the joint 1.

[0021] Specifically, before assembly, the setscrew 4 is slightly threaded into the threaded hole 1c of the cylindrical portion 1a of the joint 1, and a tool is inserted through the insertion hole 2d of the case 2, with the tip of the tool fixed to the head of the setscrew 4. In this state, the motor attachment 10 and motor 20 are fastened together as described above. Thereafter, by tightening the setscrew 4 of the cylindrical portion 1a of the joint 1 with the tool, the joint 1 can be easily fastened to the motor rotating shaft 21 inserted into the motor rotating shaft insertion portion 1a1.

[0022] The motor rotating shaft 21 and the joint 1 rotate together. The rotation of the joint 1 is supported by a thrust and radial bearing 3. Because the output shaft 1b of the joint 1 serves as the drive shaft, when the joint is assembled to a driven device, a thrust load and a radial load are applied to the output shaft 1b. For example, as shown in this embodiment, when the driven device is a hand mechanism 30, a nut 31, which is the input part of the hand mechanism 30, is threadedly engaged with the output shaft 1b, displacing the nut in the axial direction. The thrust and radial bearing 3 is configured to bear the load received by the output shaft 1b due to the displacement of the nut. Furthermore, because the thrust and radial bearing 3 is disposed radially outward of the joint 1 fixed to the motor rotating shaft 21, runout of the motor rotating shaft 21 is suppressed.

[0023] Next, a description will be given of the assembly of the motor attachment 10 and the hand mechanism 30. As described above, the output shaft 1b of the joint 1 is machined with a thread 1b1 that screws into the nut 31 of the hand mechanism 30.

[0024] One example of the hand mechanism 30 is a three-jaw hand mechanism. In addition to the nut 31 described above, the three-jaw electric hand mechanism 30 also includes a base 36, fingers 34, and claws 35. The base 36 is generally plate-shaped and is attached to the mounting surface of the case 2 of the motor attachment 10 so as to face the mounting surface in the axial direction. A hole is formed in the base 36, and the output shaft 1b passes through the hole. Three finger support portions 36a are provided at equal intervals in the circumferential direction on the surface of the base 36 opposite the surface facing the motor attachment 10, extending in approximately the same direction as the protruding direction of the output shaft 1b.

[0025] The nut 31 is generally cylindrical, and has an internal thread formed on its inner circumferential surface to receive the external thread 1b1 of the output shaft 1b. Three arms 31a protruding radially outward are provided at equal intervals in the circumferential direction on the outer circumferential surface of the nut 31. The three arms 31a correspond in circumferential position to the three finger support portions 36a, respectively. The radial position of each of the three arms 31a is located more inward than the radial position of the corresponding finger support portion 36a.

[0026] The three fingers 34 are all the same size and have a generally L-shaped outer shape, with a base end 34a, a bent portion, and a tip end 34b. They extend generally radially outward from the base end to the bent portion, and extend generally radially from the bent portion to the tip end 34b in the same direction as the protruding direction of the output shaft 1b. Each of the three base ends 34a has a radially long slot drilled in the approximately circumferential direction. Each of the three arm portions 31a has a hole drilled in the approximately circumferential direction, the radial position of which is approximately aligned with the slot. A link pin 32 is provided so as to pass through the hole in the arm portion 31a of the nut 31 and the slot in the base end 34a of the finger 34. The base end 34a is joined to the arm portion 31a so as to be able to swing around the link pin 32. A hole is drilled in the approximately circumferential direction in the bent portion of each of the three fingers 34. A hole is drilled in the approximately circumferential direction in each of the three finger support portions 36a, and the hole is positioned radially in line with the hole in the bent portion of the finger 34. A finger opening / closing pin 33 is provided so as to pass through the hole in each finger support portion 36a and the hole in the bent portion of the finger 34 corresponding to that finger support portion. The bent portion of the finger 34 is joined to the finger support portion 36a, which is a stationary body, so as to be able to swing around the finger opening / closing pin 33.

[0027] A claw 35 is attached to each of the tip portions 34b of the three fingers 34, and extends in approximately the same direction as the protruding direction of the output shaft 1b. A cover portion 36b is attached to the base portion 36 so as to cover the nut 31, the finger support portion 36a, and the base end portion 34a and bent portion of the finger 34. The cover portion 36b is substantially cylindrical and has one axial end closed. The closed portion has an opening formed therein through which the portion of the finger 34 beyond the bent portion can pass.

[0028] The motor attachment 10, which is attached to the motor 20, is attached to the three-jaw hand mechanism 30. A female thread that receives the male thread 1b1 of the output shaft 1b is formed on the inner peripheral surface of the nut 31 of the three-jaw hand mechanism 30. With the female thread on the inner peripheral surface of the nut 31 and the male thread 1b1 of the output shaft 1b screwed together, the case 2 of the motor attachment 10 and the base 36 of the hand mechanism 30 are fastened together with bolts (not shown). As described above, the motor 20 and the hand mechanism section 30 are assembled via the motor attachment 10 to form the electric hand mechanism 100.

[0029] The operation of the three-jaw electric hand mechanism 100 will be described below. Three fingers 34 are joined to three finger support portions 36a arranged at equal intervals in the circumferential direction via finger open / close pins 33. Furthermore, the three fingers 34 are joined to three arm portions 31a of the nut 31 via link pins 32. In this way, the rotation of the nut 31 is restricted. When the motor 20 is driven to rotate the motor rotating shaft 21, the joint 1 and output shaft 1b supported by the thrust and radial bearing 3 of the motor attachment 10 also rotate. When the output shaft 1b rotates in one circumferential direction, the nut 31 is displaced in one axial direction, and when the output shaft 1b rotates in the other circumferential direction, the nut 31 is displaced in the other axial direction. When the nut 31 reciprocates in the axial direction, the tip portions 34b of the three fingers 34 connected to the arm portion 31a via the link pin 32 reciprocate in a substantially radial direction, with the finger opening / closing pin 33 as a fulcrum. The three fingers move radially outward and inward at the same time. This reciprocating movement of the three fingers 34 opens and closes the three claws 35. In this way, the opening and closing movement of the three-claw electric hand mechanism 100 is realized by driving a single motor 20.

[0030] The thrust force due to the axial reciprocating motion of the nut 31 is output as a gripping force by the claws 35. Therefore, a thrust load (axial load) is applied to the output shaft 1b that drives the nut 31. To obtain a greater gripping force, the thrust of the nut 31 must be supported by the output shaft 1b. The coupling 1 with the output shaft 1b is supported by a thrust and radial bearing 3 inside the motor attachment 10, and is therefore designed to be able to withstand the above thrust load. Furthermore, in order to move the nut 31 smoothly, the screw 1b1 of the output shaft 1b must rotate with high precision, and the thrust and radial bearing 3 fulfills this role. Furthermore, by using a bearing 3 that can withstand thrust loads, the maximum load that the bearings in the motor 20 can withstand can be relatively small, extending the life of the entire electric hand mechanism 100 and making it more resistant to overloads and impact loads. In addition, it is possible to suppress rattle and deflection in the thrust direction due to thrust loads, allowing the hand to be positioned with high precision.

[0031] <Other Examples> 5A and 5B show a turntable actuator 400. A turntable 407, which is a driven device, is attached to the output shaft 401b of the joint 401 of the motor attachment 40. The components of the motor attachment 40 other than the joint 401 are the same as the components of the motor attachment 10 described above. By attaching a motor attachment 40 to the motor 20, a turntable actuator 400 that can receive a thrust load can be constructed. The rotation of the motor 20 rotates the output shaft 401b of the motor attachment 40, thereby rotating the turntable 407. A workpiece or the like placed on the turntable 407 can be rotated.

[0032] 6A to 6C show a linear motion actuator 500. The output shaft 501b of the joint 501 of the motor attachment 50 is the screw shaft of a ball screw. A ball screw nut 501c can be screwed onto the output shaft 501b. The case 502 is also provided with mounting feet 502a for attachment to another device (not shown), and is structured so that it can be attached to the device with screws passing through mounting holes 502b in the mounting feet 502a. The other parts are the same as those of the motor attachment 10 described above. A ball screw linear motion actuator 500 can be configured by attaching a motor attachment 50 to the motor 20 and assembling a linear motion mechanism (slider and cylinder) that linearly moves the ball screw nut 501c. The rotation of the motor 20 rotates the screw shaft of the ball screw, which is the output shaft 501b of the motor attachment 50, and can linearly move the ball screw nut 501c of the linear motion mechanism in the axial direction.

[0033] 6D to 6F show the slider mechanism. The slider mechanism 550 and the motor 20 can be assembled via a motor attachment 551 . A guide block and ball screw nut 553 is provided which runs along a frame and guide rail 552. The guide block and ball screw nut 553 also serves as a nut attached to the output shaft 501b, so when the shaft rotates, the guide block and ball screw nut 553 moves. A table 554 is attached to the guide block and ball screw nut 553. The table 554 can be used for applications such as transporting a workpiece placed on it. As a safety measure, a cover 555 is attached as a safety cover for the table moving part.

[0034] 6A to 6C show motor attachment 50 using case 502 with mounting legs 502a, but the same case 2 as motor attachment 10 may also be used. Furthermore, the mounting method of the device can be changed within the scope of possible design changes, such as with different leg shapes or no legs at all. This reduces the number of couplings required between the motor and thrust bearing / holder, and shortens the L dimension.In addition, by inserting the motor rotating shaft into the joint, the L dimension can be further shortened. By using the motor attachments 50, 551 in this way, they can also be used as actuators and devices that require a load in the thrust direction. Furthermore, in the above example, an example of a ball screw linear motion mechanism is shown, but a slide screw linear motion mechanism may also be used.

[0035] FIG. 7 shows the motor 20 with the motor attachment 60 attached. A helical pinion is formed on the output shaft 601b of the joint in the motor attachment 60. The components other than the joint 601 are the same as the components of the motor attachment 10 described above. A motor with a helical pinion output shaft 601b is configured by attaching the motor attachment 60 to the motor 20. A motor with a reducer can be configured by combining a gear reduction mechanism (not shown in FIG. 7) that meshes with the output shaft 601b of this helical pinion. A thrust load is applied to the output shaft 601b of the helical pinion. By using the motor attachment 60 having a joint supported by the thrust and radial bearing 3, the allowable torque of the gear reduction mechanism can be increased. Furthermore, the output shaft 601b may be replaced with a hypoid pinion or a worm of a worm gear, instead of a helical pinion, and a motor with a reducer may be assembled with a gear reduction mechanism that meshes with these. However, there are cases where it is not possible to directly machine a pinion such as a helical pinion onto the output shaft 601b using a gear cutting machine, etc. In such cases, the output shaft of the joint may be a round shaft, and the helical pinion may be fixed to the round shaft by press-fitting, adhesive, etc. to form the output shaft 601b. Furthermore, not only in joint 601 but also in joints 1, 401 and 501, instead of directly processing the output shaft, the output shaft may be a round shaft to which the screw shaft and turntable connecting shaft are fixed by press-fitting, adhesive, etc. As described above, it can be used as an attachment for equipment that requires various thrust loads.

[0036] When forming the joint 501 shown in Fig. 6C, the tubular part 501A and the output shaft part 501B may be formed separately as shown in Fig. 8A and Fig. 8B, and then the two parts may be combined into one as shown in Fig. 9A and Fig. 9B. The combination may be achieved by, for example, but is not limited to, fastening with a set screw, press fitting, bonding, welding, a combination of press fitting, bonding, and fastening with a set screw, or friction welding.

[0037] It may be difficult to integrate the tubular part 501A, which already has the insertion portion 501a1 and male thread 501e formed, with the output shaft part 501B to form a joint 501 with guaranteed precision, because the output shaft part 501B is longer than the tubular part 501A. Therefore, a part that does not have the insertion portion 501a1 and the male thread 501e formed thereon is first prepared as the part that will become the cylindrical part 501A. This part may be integrated with the output shaft part 501B, and then processing (finishing processing) may be performed to form the insertion portion 501a1 and the male thread 501e using the output shaft part 501B as a reference to form the joint 501. This makes it relatively easy to ensure the precision of the joint 501. Alternatively, a component having the insertion portion 501a1 but no male thread 501e formed thereon may be prepared as the component that will become the cylindrical component 501A. This component may be integrated with the output shaft component 501B, and then the output shaft component 501B may be used as a reference for machining (finishing) to form the male thread 501e, thereby forming the joint 501. This also makes it relatively easy to ensure the precision of the joint 501.

[0038] Incidentally, the same motor 20 can be used for all of the electric hand mechanism 100, the turntable actuator 400, the ball screw linear motion actuator 500, and the motor with a reducer. By preparing various motor attachments for a standard motor 20 in which the motor shaft 21 of the motor 20 is a standard round shaft (including those in which one or two sides of the shaft are milled for attachment purposes), various types of driven equipment can be attached. Furthermore, each motor attachment has a coupling that corresponds to the driven device, but the other components can be the same. Other motors can also be attached to the motor 20 as long as the mounting angle dimensions with the motor attachment and the shape of the motor rotation shaft are the same. For example, a high-output motor or a low-output motor can be used depending on the output of the driven device.Furthermore, various motors such as a stepping motor, a servo motor, or a brushless DC motor can be used depending on the operation and function of the driven device. By preparing various motor attachments, motors, and driven equipment, a series of mechanical products can be created.

[0039] 10A to 10F show examples of a series of mechanical products. Figure 10A shows a series of electric hand mechanisms 100. Various motors 20a, 20b, 20c, and 20d can be combined with a two-jaw hand mechanism 30a, a three-jaw hand mechanism 30b, and a four-jaw hand mechanism 30c using a motor attachment 10. As mentioned above, various motors such as stepping motors, servo motors, and brushless DC motors, as well as motors with additional functions such as electromagnetic brakes, can be combined depending on the application.

[0040] 10B shows a series of turntable actuators 400. Various motors 20a, 20b, 20c, 20d can be combined with different diameter turntables 407a, 407b, 407c using motor attachments 40.

[0041] 10C and 10D show a series of ball screw linear actuators 500. As shown in FIG. 10C , various motors 20a, 20b, 20c, and 20d can be combined with slider mechanisms 511a-511c and cylinder mechanisms 512a-512c of a linear motion mechanism 510 using a motor attachment 50. Furthermore, by preparing motor attachments 50a, 50b, and 50c with different lengths (strokes) of the screw shaft of the ball screw, which is the output shaft 501b of the motor attachment 50, sliders and cylinders, which are ball screw linear motion actuators 500, can be configured with different strokes. For example, the motor attachment 50a can be combined with the slider mechanism 511a and the cylinder mechanism 512a. The motor attachment 50b can be combined with the slider mechanism 511b and the cylinder mechanism 512b, and the motor attachment 50c can be combined with the slider mechanism 511c and the cylinder mechanism 512c.

[0042] Fig. 10D shows an example in which the various motors 20a, 20b, 20c, and 20d shown in Fig. 10C are combined with a slider mechanism 511c and a cylinder mechanism 512c of a linear motion mechanism 510 using a motor attachment 50c. Furthermore, Fig. 10D shows an example in which the motor attachment 50c can be combined with a motor attachment 50d having an output shaft that has the same length (stroke) of the screw shaft of the ball screw that is the output shaft 501b of the motor attachment 50c but a ball screw with a different lead pitch. That is, by combining various motors 20a, 20b, 20c, and 20d with motor attachment 50c or motor attachment 50d and further combining with slider mechanism 511c or cylinder mechanism 512c, sliders or cylinders with different lead pitches can be configured. Although not shown, the length (stroke) of the screw shaft of the ball screw of motor attachments 50a and 50b is the same, and motor attachments with ball screws having different lead pitches as output shafts can also be used.

[0043] As shown in FIGS. 10C and 10D, a series of ball screw linear actuators 500 can be realized, each of which is configured as a slider or cylinder with different strokes and lead pitches in combination with various motors.

[0044] FIG. 10E shows an example in which linear motion mechanism 500 is assembled with slider-specific attachment 551, showing a series in which various motors 20a, 20b, 20c, and 20d can be combined with slider-specific attachments 551a, 551b, and 551c with different strokes.

[0045] 10F shows a series of motors with speed reducers. Various motors 20a, 20b, 20c, and 20d can be combined with various gear reduction mechanisms 610a, 610b, 610c, and 610d using motor attachments 60.

[0046] As described above, the series comprising the electric hand mechanism 100, the series comprising the turntable actuator 400, the series comprising the ball screw linear actuator 500, and the series comprising the motor with a reducer have been described, but each of these series can all be combined with the same motors 20a, 20b, 20c, and 20d. In other words, by using the motor attachments 10, 40, 50, and 60, it is possible to configure a series in which the motor units 20a, 20b, 20c, and 20d can be combined with each of the mechanism units 30, 407, 510, 551, and 610.

[0047] According to the above embodiment, the following effects can be obtained. 1) By assembling the attachment according to the above embodiment to a standard motor, the solid rotating shaft of the motor can be converted into an output shaft suited to the driven equipment. Furthermore, even if at least one of the motor and the driven equipment is not necessarily strong enough to withstand thrust loads, the bearings in the attachment can withstand the thrust load caused by driving the driven equipment. This increases the freedom of choice for driving equipment that can be assembled with the driven equipment. 2) By using the above attachment, it is possible to convert the shaft while reducing the L dimension, i.e. the axial dimension. 3) The L dimension, that is, the axial dimension, of the entire drive mechanism having a drive device such as a motor, an attachment, and a driven device can be reduced.

[0048] When coupling 1 is fastened to the motor shaft with a set screw, the tip of the set screw may come into contact with the motor shaft, causing the contact area to become recessed on the outer surface of the motor shaft, with the area around the contact area protruding slightly to form a convex portion. When this type of unevenness forms on the outer surface of the motor shaft, it becomes difficult to remove the motor shaft from coupling 1, making motor replacement difficult. 11, the inner diameter D2 of the portion of the cylindrical portion 1a where the threaded hole 1c is formed may be made slightly larger than the inner diameter D1 of the portion of the cylindrical portion 1a that is closer to the output shaft 1b than the portion where the threaded hole 1c is formed. This makes it easier for the rotating shaft of the old motor to come out of the joint 1 when replacing the motor.

[0049] The following notes are provided regarding the embodiments described above. [Appendix 1] An attachment for a driving device for connecting a driving device and a driven device, a coupling having a hollow input shaft and a solid output shaft; a bearing that supports the thrust load and radial load of the joint; Equipped with a solid rotating shaft of the driving device is fixed to a hollow input shaft of the joint; The solid output shaft of the coupling is inserted into the hollow input shaft of the driven equipment. Attachment for driving equipment. [Appendix 2] 2. An attachment for a drive device as described in Appendix 1, wherein the bearings are a plurality of bearings arranged adjacent to each other in the axial direction. [Appendix 3] the driven device is a robot hand, The solid output shaft of the joint is a threaded shaft that threadably engages with a nut that is the input part of the robot hand. Attachment for a drive device according to appendix 1 or 2. [Appendix 4] the driven device is a turntable, The solid output shaft of the joint is a shaft that connects to the turntable. Attachment for a drive device according to appendix 1 or 2. [Appendix 5] the driven device is a linear motion mechanism, The solid output shaft of the joint is a screw shaft of a ball screw or a sliding screw of the linear motion mechanism. Attachment for a drive device according to appendix 1 or 2. [Appendix 6] the driven device is a gear reducer, The solid output shaft of the coupling is a pinion that meshes with the gear of the input section of the gear reducer. Attachment for a drive device according to appendix 1 or 2. [Appendix 7] An attachment for a drive device according to appendix 1 or 2; The driving device; the driven device; Equipped with the drive device attachment is selected from a first group consisting of a plurality of drive device attachments; the drive device is selected from a second group consisting of a plurality of drive devices; the driven device is selected from a third group consisting of a plurality of driven devices; Drive mechanism series. [Appendix 8] 6. An attachment for a driving device as described in Appendix 5, wherein the joint is formed by integrating a first part, before the hollow input shaft of the joint is machined, with a second part having a solid output shaft of the joint, and then machining the hollow input shaft relative to the first part based on the solid output shaft.

[0050] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes can be made based on the technical concept of the present invention. [Explanation of symbols]

[0051] 1. Joint 1a Cylindrical part 1a1 Motor shaft insertion part 1b Output shaft 1b1 screw 1c screw hole 1d Tsuba 1e Male thread 2 cases 2a End face 2b Tsuba 2c Inner surface 2c1 female thread 2d Tool Hole 3 Thrust and radial bearings 3a bearing 3b bearing 4 Set screws 5 Bearing outer ring retaining screw 6 Bearing inner ring cap screw 10 Motor attachment 20 motors 21 Motor rotating shaft 22 flange 30 Hand mechanism 31 Nut 31a Arm 32 link pin 33 Finger opening and closing pin 34 Finger 34a Proximal end 34b Tip 35 Nails 36 Base 36a Finger support 36b Cover part 100 Electric hand mechanism 400 Turntable Actuator 500 Linear Actuator 550 Slider mechanism

Claims

1. An attachment for a driving device for connecting a driving device and a driven device, a coupling having a hollow input shaft and a solid output shaft; a bearing attached to the hollow input shaft and supporting a thrust load and a radial load of the joint; a case that accommodates a portion of the joint and the bearing; Equipped with a solid rotating shaft of the driving device is fixed to a hollow input shaft of the joint; The solid output shaft of the coupling is inserted into the input of the driven equipment; the case of the attachment for the driving device is a case separate from both the case of the driving device and the case of the driven device, the driven device is a robot hand, The solid output shaft of the joint is a threaded shaft that threadably engages with a nut that is the input part of the robot hand. Attachment for driving equipment.

2. An attachment for a driving device for connecting a driving device and a driven device, a coupling having a hollow input shaft and a solid output shaft; a bearing attached to the hollow input shaft and supporting a thrust load and a radial load of the joint; a case that accommodates a portion of the joint and the bearing; Equipped with a solid rotating shaft of the driving device is fixed to a hollow input shaft of the joint; The solid output shaft of the coupling is inserted into the input of the driven equipment; the case of the attachment for the driving device is a case separate from both the case of the driving device and the case of the driven device, the driven device is a linear motion mechanism, The solid output shaft of the joint is a screw shaft that functions as a ball screw or a sliding screw of the linear motion mechanism. Attachment for driving equipment.

3. 3. The attachment for a driving device according to claim 1, wherein the bearing comprises a plurality of bearings arranged adjacent to each other in the axial direction.

4. An attachment for a driving device for connecting a driving device and a driven device, a coupling having a hollow input shaft and a solid output shaft; a bearing attached to the hollow input shaft and supporting a thrust load and a radial load of the joint; a case that accommodates a portion of the joint and the bearing; Equipped with a solid rotating shaft of the driving device is fixed to a hollow input shaft of the joint; The solid output shaft of the coupling is inserted into the input of the driven equipment; The case of the attachment for the driving device is a case separate from both the case of the driving device and the case of the driven device. an attachment for a driving device; The driving device; the driven device; Equipped with The drive unit attachment belongs to a first group consisting of a plurality of drive unit attachments, the drive unit belongs to a second group of drive units, the driven device belongs to a third group consisting of a plurality of driven devices; Drive mechanism series.

5. 5. The series of drive mechanisms according to claim 4, wherein said bearings are a plurality of bearings arranged adjacent to each other in the axial direction.

6. A method for manufacturing an attachment for a driving device according to claim 2, comprising: a step of integrating a first part having a hollow input shaft of the joint before being machined with a second part having a solid output shaft of the joint; forming the joint by machining the hollow input shaft with respect to the first part based on the solid output shaft; A method for manufacturing an attachment for a driving device, comprising:

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