Rotary axis module and articulated robot
A rotary axis module includes: an input shaft connected to a drive motor; an output shaft, an output shaft flange connected to the output shaft; parallel gears coupled to the output shaft flange; at least two double gears; and a transfer gear that transmits the power of the drive motor to the double gears. The at least two double gears and the transfer gear are disposed so as to surround the output shaft.
1. A rotary axis module comprising:
an input shaft connected to a drive motor;
an output shaft;
an output shaft flange connected to the output shaft;
a parallel gear coupled to the output shaft flange;
a reduction-drive outer case rotatably supported by the output shaft flange;
a double gear train including at least two double gears disposed in the reduction-drive outer case; and
a transfer gear that transmits power of the drive motor to the double gear train,
wherein the parallel gear is engaged with a pinion of one of the at least two double gears while a gear wheel of the other double gear of the at least two double gears is engaged with the transfer gear,
the at least two double gears and the transfer gear are disposed in a space between an inner surface of the reduction-drive outer case and the output shaft so as to surround the output shaft, and
the rotary axis module further comprises bearings which are disposed in a space between the reduction-drive outer case and the output shaft flange, wherein inner surface sides of the bearings are coupled to the output shaft flange and outer surface sides of the bearings are coupled to the reduction-drive outer case, and the bearings receive a force externally acting on the output shaft and a force from the pinion of the one of the at least two double gears.
2. The rotary axis module according to claim 1 , wherein the at least two double gears are each supported by support bearings and a support member, and the support member is fixed to a mounting flange where the drive motor is mounted.
3. The rotary axis module according to claim 1 , wherein the output shaft has a hollow for passage of an umbilical member.
4. The rotary axis module according to claim 1 , wherein the parallel gear is an internal gear.
5. The rotary axis module according to claim 1 , wherein the bearings are angular back-to-back duplex bearings.
6. The rotary axis module according to claim 2 , wherein at least one of the support members of the double gears is supported by both of the pinion and the gear wheel.
7. The rotary axis module according to claim 2 , wherein the support members of the at least two double gears are connected to each other via a reinforcing member.
8. The rotary axis module according to claim 2 , wherein at least one of the support bearings of the at least two double gears includes a needle bearing.
9. The rotary axis module according to claim 2 , wherein at least one of the support bearings of the at least two double gears includes a ball bearing.
10. The rotary axis module according to claim 1 , wherein a reduction ratio between the parallel gear and the pinion of one of the double gears is larger than a reduction ratio between the gear wheel of one of the double gears and the pinion of the other double gear.
11. The rotary axis module according to claim 1 , wherein the at least two double gears each include a shaft part extending from an end face of the gear wheel, the shaft part being supported so as to support the double gear like a cantilever.
12. The rotary axis module according to claim 1 , wherein an oil seal used in the rotary axis module includes at least one lip that has a minimum tension without suppressing a sealing function.
13. The rotary axis module according to claim 1 , wherein the drive motor is mounted on a mounting surface of the output shaft flange such that a rotary axis of the drive motor is in parallel with the mounting surface.
14. An articulated robot comprising at least one rotary axis module according to claim 1 .