JPH0584182U - Hollow motor with built-in reduction gear - Google Patents

Abstract

(57) [Summary] [Object] The present invention is characterized in that a reduction gear having a hollow output wheel through friction rollers such as a sun roller and a planetary roller, and a drive transmission mechanism thereof are integrated with a hollow motor. [Structure] Sun roller 3, planetary roller 6, elastic ring 5,
A planetary roller speed reducer including a power transmission medium (oil) 10 and a hollow output wheel 9 and the like, a hollow motor 1 for driving the speed reducer, and a motor output wheel 2 are housed in an integral casing 4. It is characterized by having done.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a hollow motor with a built-in reduction gear that is applied to a low-speed / large-torque drive mechanism such as a robot drive mechanism.

[0002]

[Prior Art]

 Conventionally, in a drive mechanism that performs low-speed and large-torque drive, for example, in a deceleration mechanism for a robot that incorporates a hollow motor, the advantage of inserting various control cables into the shaft hole of the hollow motor is not impaired. As described above, deceleration is performed by the method disclosed in, for example, Japanese Patent Application Laid-Open No. 62-224593. Since this method uses a planetary gear reducer, gear backlash was present during deceleration.

[0003]

[Problems to be solved by the device]

 At present, as a speed reducer that does not hinder the use of the shaft hole of a hollow motor, for example, one disclosed in JP-A-62-224593 is known. In this speed reducer, a backlash caused by gears is used. Was present, and smooth power transmission was impossible.

The present invention has been made in view of the above circumstances, and provides a hollow motor with a built-in reduction gear via a friction roller that smoothly transmits power without impairing the advantage of inserting a cable in a large shaft hole of a hollow motor. The purpose is to provide.

[0005]

[Means for Solving the Problems]

 The present invention is directed to a hollow motor and a friction roller mechanism including a sun roller, a planetary roller, an elastic ring, a hollow output wheel, etc., which composes a reduction gear for the hollow motor, and a power transmission medium filled by applying oil seal to the roller mechanism. It is equipped with a planetary roller speed reducer made of oil and a casing that integrally houses the hollow motor and speed reducer, and realizes the hollow integration of the motor and the speed reducer, enabling smooth power transmission. To do.

[0006]

[Action]

 As described above, the sun roller, the planet rollers, the elastic ring, the power transmission medium (oil), the planetary roller speed reducer including the hollow output vehicle, and the hollow motor that drives the speed reducer are housed in a single casing. With this configuration, smooth deceleration without backlash can be achieved without impeding the advantage of inserting the cable through the shaft hole of the hollow motor, and the problems of the conventional device can be solved.

[0007]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings.

1 to 3 are sectional views showing the structure of a motor according to an embodiment of the present invention. FIG. 1 is a sectional view taken along the line C3 of FIG. 1 is a sectional view taken along the line C1 of FIG. 1, and FIG. 3 is a sectional view taken along the line C2 of FIG.

In the figure, reference numeral 1 is a hollow motor (here, the configuration including a rotor portion is omitted), and 2 is an output wheel of the hollow motor 1. Reference numeral 3 is a sun roller fitted and fixed to the output wheel 2 of the hollow motor 1. Reference numeral 4 is a combination of the hollow motor 1, the sun roller 3, an elastic ring 5, a planetary roller 6, a shaft 7 on which the planetary roller 6 is mounted, and a planetary roller speed reducer including a disk 8 and a reduction gear output wheel 9 and the like. The roller mechanism is housed in a partition wall that is oil-sealed and filled with oil that forms a power transmission medium.

That is, the sun roller 3, which is a friction roller having a diameter N 1, is fitted and fixed to the outer periphery of the output wheel 2 of the hollow motor 1. An elastic ring 5 is fixed to the inner peripheral surface of the casing 4.

A planetary roller 6, 6, which is a friction roller having a diameter N 2, is mounted on the mounting shafts 7, 7, ... Provided on the disk 8, and is interposed between the sun roller 3 and the elastic ring 5. .

A predetermined oil 10 serving as a power transmission medium is filled between the sun roller 3 and the elastic ring 5. At this time, bearings 11A and 11B are provided between the output wheel 2 of the hollow motor 1 and the casing 4, and a bearing 11C is provided between the disk 8 and the output wheel 2 of the hollow motor 1 so that each output wheel rotates smoothly. Bearings 11D are installed between the hollow reduction gear output vehicle 9 and the casing 4, respectively.

Further, in order to prevent the oil 10 from entering the motor 1, the motor output vehicle side is hermetically sealed, an oil seal 12A is provided between the motor output vehicle 2 and the casing 4, and the oil 10 from the reducer side is provided. The oil seal 12B and the oil seal 12C are provided between the output wheel 2 of the hollow motor 1 and the speed reducer output wheel 9 as well as between the speed reducer output wheel 9 and the casing 4 so that there is no leakage. In the above structure, when the output wheel 2 of the hollow motor 1 rotates, the sun roller 3 fitted and fixed to the output wheel 2 of the hollow motor 1 integrally rotates.

With the rotation of the sun roller 3, the planetary rollers 6, 6, ... In the direction of arrow A1 shown in FIG. 2 due to the friction between the elastic ring 5 and the oil 10 filled between the sun roller 3 and the roller 10. Rotate.

By the rotation of the planetary rollers 6, 6, ... In the direction of the arrow A1, the decelerated rotation in the direction of the arrow A2 shown in FIG. 3 is transmitted to the disk 8 to which the mounting shaft 7 of the planetary rollers 6,6 ,. Be done. As a result, the reduction gear output vehicle 9 fixed via the disk 8 is smoothly driven at a reduction ratio of N1 / N2.

[0016]

[Effect of the device]

 As described above in detail, according to the present invention, a planetary roller reducer including a sun roller, a planetary roller, an elastic ring, a power transmission medium, a hollow output vehicle, and the like, and a hollow motor for driving the same are integrated. Since it is housed in the casing, smooth deceleration without backlash can be achieved without impairing the advantage of inserting the cable through the shaft hole of the mid-air motor.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a configuration of a motor according to an embodiment of the present invention at a motor axis direction of 120 ° (cross-sectional view taken along C3 in FIG. 2).

FIG. 2 is a sectional view taken along the line C1 of FIG.

FIG. 3 is a sectional view taken along the line C2 of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Hollow motor, 2 ... Hollow motor output wheel, 3 ... Sun roller, 4 ... Casing, 5 ... Elastic ring, 6 ... Planetary roller, 7 ... Mounting shaft, 8 ... Disk, 9 ... Reduction gear output wheel, 10
... oil, 11A, 11B, 11C, 11D ... bearings,
12A, 12B, 12C ... Oil seal, 13 ... Motor shaft hole.

Claims (2)

[Scope of utility model registration request] 1. A sun roller, a planetary roller, an elastic ring,
And a planetary roller speed reducer comprising a carrier and a motor for driving the speed reducer housed in an integral casing. 2. The output wheel of the motor is a hollow shaft, the sun roller is fitted and fixed to the outer periphery of the coaxial shaft, and the output shaft of the planetary roller reducer is a hollow shaft. Hollow motor with built-in reduction gear.