1. A robot, comprising
a first member,
a second member,
a speed reducer having an externally toothed gear and internal teeth for use in an articulated joint between the first member and the second member to transmit driving force while changing a rotation speed at a given rotation speed ratio, in which the externally toothed gear is rotated inside of the internal teeth while being meshed with the internal teeth, and
a rotational phase adjuster for adjusting rotational phase of the speed reducer so that the rotational phase of the speed reducer after being reassembled is prevented from changing from a rotational phase of the speed reducer before disassembling when the speed reducer is disassembled and then reassembled in a state where an orientation of the second member with respect to an orientation of the first member is set to a given orientation.
2. The robot as defined in claim 1, wherein the rotational phase adjuster has a reference portion for adjusting relative rotational phase of the externally toothed gear of the speed reducer with respect to orientations of the first member and the second member to a given rotational phase.
3. The robot as defined in claim 1, wherein the speed reducer includes a first cylindrical section adapted to be attached to the first member and a second cylindrical section adapted to be attached to the second member and adapted to rotate relatively with respect to the first cylindrical section, and wherein the rotational phase adjuster includes a first pin hole formed in the first member, a second pin hole formed in the second member, a first reference portion provided in the first cylindrical section of the speed reducer and a second reference portion provided in the second cylindrical section of the speed reducer.
4. The robot as defined in claim 3, wherein a relative rotational phase of the first cylindrical section of the speed reducer with respect to the first member is adjusted to a given rotational phase by the first reference portion engaged with the first pin hole, and wherein a relative rotational phase of the second cylindrical section of the speed reducer with respect to the second member is adjusted to a given rotational phase by the second reference portion engaged with the second pin hole.
5. The robot as defined in claim 3, wherein the first pin hole is formed in a surface of the first member to which the first cylindrical section is fixedly attached, the first reference portion is provided in the first cylindrical section to which the first member is fixedly attached, the second pin hole is formed in a surface of the second member to which the second cylindrical section is fixedly attached, and the second reference portion is provided in the second cylindrical section to which the second member is fixedly attached.
6. The robot as defined in claim 4, wherein the first pin hole is formed in a surface of the first member to which the first cylindrical section is fixedly attached, the first reference portion is provided in the first cylindrical section to which the first member is fixedly attached, the second pin hole is formed in a surface of the second member to which the second cylindrical section is fixedly attached, and the second reference portion is provided in the second cylindrical section to which the second member is fixedly attached.
7. A robot group, comprising a plurality of robots, each of the plurality of robots having:
a first member,
a second member,
a speed reducer having an externally toothed gear and internal teeth for use in an articulated joint between the first member and the second member to transmit driving force while changing a rotation speed at a given rotation speed ratio, the externally toothed gear being rotated inside of the internal teeth while being meshed with the internal teeth, and
a rotational phase adjuster capable of adjusting rotational phase of the speed reducer so that rotational phases of speed reducers between respective speed reducers of the plurality of robots are prevented from causing a difference of the rotational phases of the speed reducers between the plurality of robots when the speed reducers are assembled in the respective robots in a state where an orientation of the second member with respect to an orientation of the first member is set to a given orientation.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A motor with thrust bearing, comprising:
a base having a bearing sleeve, with the bearing sleeve having an opening end and a sealing end, with the opening and sealing ends opposite to each other;
a stator coupled with the base;
a rotating member rotatably received in and coupled with the bearing sleeve, with the rotating member comprising a shaft and a limiting portion, wherein a first end of the shaft connects with the limiting portion, a second end of the shaft has a coupling portion;
a thrust bearing arranged between the shaft and an inner surface of the bearing sleeve, so that the limiting portion is between the thrust bearing and the sealing end;
a pressing member coupled with the bearing sleeve and received therein for positioning the thrust bearing; and
a hub coupled with the coupling portion of the shaft and having a permanent magnet corresponding to the stator.
2. The motor with thrust bearing as claimed in claim 1, wherein a support is mounted in the bearing sleeve and between the thrust bearing and the sealing end, with the thrust bearing abutting against the support.
3. The motor with thrust bearing as claimed in claim 2, wherein a gap is formed between the limiting portion and the thrust bearing.
4. The motor with thrust bearing as claimed in claim 2, wherein the support is in a ring shape and surrounds the limiting portion, and a gap is formed between the limiting portion and an inner surface of the support.
5. The motor with thrust bearing as claimed in claim 2, wherein the support is integrally formed with an end face of the thrust bearing.
6. The motor with thrust bearing as claimed in claim 2, wherein the support is integrally formed with the inner surface of the bearing sleeve.
7. The motor with thrust bearing as claimed in claim 2, wherein the sealing end has a groove in the bearing sleeve, and the support is mounted in the groove.
8. The motor with thrust bearing as claimed in claim 1, wherein the pressing member is in a plate shape and coupled with the inner surface of the bearing sleeve by press fit.
9. The motor with thrust bearing as claimed in claim 8, wherein an axial height of the pressing member is smaller than or equal to an axial height of the limiting portion.
10. The motor with thrust bearing as claimed in claim 1, wherein the pressing member has a plate and an annular flange, the annular flange connects with an outer edge of the plate and engages with the inner surface of the bearing sleeve by press fit.
11. The motor with thrust bearing as claimed in claim 10, wherein an axial height of the annular flange is larger than or equal to an axial height of the limiting portion.
12. The motor with thrust bearing as claimed in claim 1, wherein, in radial directions of the rotating member, each of the shaft and the limiting portion has a maximum outer diameter, and the maximum outer diameter of the limiting portion is larger than the maximum outer diameter of the shaft.
13. The motor with thrust bearing as claimed in claim 1, wherein the base further has a plate integrally formed with the bearing sleeve.
14. The motor with thrust bearing as claimed in claim 1, wherein the base further has a plate connecting with the bearing sleeve detachably.
15. The motor with thrust bearing as claimed in claim 1, wherein a wear pad is disposed in the bearing sleeve on an inner side of the sealing end, and the rotating member abuts against the wear pad.