JP2008267491A - Planetary gear speed reducer - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a planetary gear speed reducer having improved power transmitting efficiency while reducing sliding resistance to be produced on a bearing. <P>SOLUTION: The planetary gear speed reducer comprises an input shaft 11 for inputting the output of a motor 10, a reduction gear mechanism 12 connected to the input shaft 11 and including a planetary gear mechanism, an output shaft 13 connected to the reduction gear mechanism 12, a body casing 14 storing the reduction gear mechanism 12 and the output shaft 13, and a first bearing 15 for holding the output shaft 13 rotatably relative to the body casing 14. The first bearing 15 is formed as a self-aligning roller bearing. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention includes a speed reduction mechanism that includes a planetary gear mechanism connected to an input shaft and an output shaft, a main body casing that houses the speed reduction mechanism and the output shaft, and a bearing that holds the output shaft with respect to the main body casing. Related to a planetary gear reducer.

  For example, planetary gear speed reducers are used in construction machines and the like. Generally, such a planetary gear speed reducer is connected to an input shaft and an output shaft and includes a speed reduction mechanism including a planetary gear mechanism, a main body casing that houses the speed reduction mechanism and the output shaft, and an output shaft as a main body casing. And a bearing for holding it. As such a planetary gear reducer, one described in Patent Document 1 is known. In this planetary gear reducer, in a hollow portion of an internal gear body corresponding to a main body casing, a support body corresponding to an output shaft and a disk-like portion fixed to the support body are rotated by upper and lower main bearings. Supported as possible. The support body is supported by a tapered roller bearing that is an upper main bearing, and the disk-shaped portion is supported by an angular ball bearing that is a lower main bearing. Further, in the speed reduction mechanism including the planetary gear mechanism disposed in the support body, the crank mechanism member is rotatably supported by the upper and lower tapered roller bearings, and the upper tapered roller bearing has the crank mechanism member as the support body. On the other hand, the lower tapered roller bearing supports the crank mechanism member with respect to the disk-shaped portion. These bearings (conical roller bearings and angular ball bearings supporting the support body and the disk-shaped portion fixed thereto, and upper and lower tapered roller bearings supporting the crank mechanism member) are subjected to a considerable load in the thrust direction in advance. In a given state, it is incorporated into a planetary gear speed reducer and holds a support body corresponding to an output shaft.

JP 2000-136852 A

  However, in the planetary gear speed reducer described in Patent Document 1, since a considerable preload is applied to the bearing in the thrust direction as described above, there is a risk that the sliding resistance when rotating and supporting is increased. There is. In particular, in recent years, hybrid type or electric type construction machines have been proposed from the viewpoint of improving fuel efficiency and reducing Nox. In the case of such construction machines, a driving actuator or the like is mounted on the upper part of the lower body for traveling. The body is disposed via a turning mechanism, and a regenerative mechanism is provided in this turning mechanism. In this case, from the viewpoint of further improving the regeneration efficiency, it is desired to reduce the above-described sliding resistance in the planetary gear speed reducer used for the turning mechanism.

  In view of the above circumstances, the present invention provides a speed reduction mechanism that includes a planetary gear mechanism connected to an input shaft and an output shaft, a main body casing that houses the speed reduction mechanism and the output shaft, and an output shaft with respect to the main body casing. An object of the present invention is to provide a planetary gear reducer having a high power transmission efficiency by reducing sliding resistance generated in the bearing.

Means and effects for solving the problems

  The planetary gear speed reducer according to the first aspect of the present invention is an input shaft to which an output from a motor is input, a speed reduction mechanism connected to the input shaft and including a planetary gear mechanism, an output shaft connected to the speed reduction mechanism, A planetary gear reducer comprising: a main body casing that houses the speed reduction mechanism and the output shaft; and a first bearing that rotatably holds the output shaft with respect to the main body casing. Is formed of a self-aligning roller bearing.

According to the present invention, a speed reduction mechanism including a planetary gear mechanism connected to the input shaft and the output shaft, a main body casing that houses the speed reduction mechanism and the output shaft, and a first bearing that holds the output shaft with respect to the main body casing. The first bearing is formed by a self-aligning roller bearing. As a result, the self-aligning roller bearing can rotate and support the output shaft by changing the orientation of the bearing surface in accordance with the inclination of the output shaft, so that the preload applied in the thrust direction (axial direction) in the prior art The sliding resistance generated in the first bearing can be greatly reduced. Therefore, according to the configuration of the present invention, it is possible to provide a planetary gear speed reducer that reduces sliding resistance generated in the bearing and has good power transmission efficiency.
Further, in the hybrid type or electric type construction machine, when the present invention is used for the turning mechanism provided between the upper body and the lower body with the regenerative mechanism, the sliding resistance is small and the power transmission efficiency is low. With the good planetary gear speed reducer of the present invention, it is possible to achieve improvement in fuel consumption and reduction in Nox.

  A planetary gear reducer according to a second invention is the planetary gear reducer according to the first invention, wherein the first bearing is disposed on one end side of the output shaft and is formed as a deep groove ball bearing and the other end of the output shaft. It is further characterized by further comprising a second bearing arranged on the side for holding the output shaft rotatably.

  According to this invention, the output shaft is supported at one end side and the other end side by the first bearing and the second bearing, the first bearing is formed as a self-aligning roller bearing, and the second bearing is formed as a deep groove ball bearing. Is done. Thus, by supporting both ends of the output shaft by the self-aligning roller bearing and the deep groove ball bearing, the output shaft is rotatably held even if no preload is applied in the thrust direction. In the prior art planetary gear reducer, in order to apply a preload in the thrust direction, there is a process restriction that the distance between each member must be adjusted and assembled. That is, in the prior art in which the support body and the disk-shaped portion corresponding to the output shaft are supported by the tapered roller bearing and the angular ball bearing, first, each member is temporarily assembled. Then, in this temporarily assembled state, a position where a desired preload acts on the angular ball bearing is measured, and the crank mechanism member is rotatably supported by being fixed to the support body so as to match the measurement position. The thickness of the disk-shaped part is cut, and then the final assembly process is performed. However, according to the configuration of the present invention, since the output shaft is rotatably held even if no preload is applied in the thrust direction, the assembly process can be simplified by omitting the step of applying the preload, Productivity can be improved.

  A planetary gear reducer according to a third invention is the planetary gear reducer according to the second invention, wherein the reduction mechanism is fixed to the spur gear meshing with the input shaft, and is rotatable with respect to the output shaft. A crankshaft that is held; a planetary gear that swings as the crankshaft rotates; an internal gear that meshes with the planetary gear and that is provided on an inner periphery of the main body casing; and the crank with respect to the output shaft A third bearing that holds one end of the crankshaft so as to rotatably support the shaft, and a crank flange that rotatably supports the crankshaft with respect to a hold flange fixed to the output shaft. A fourth bearing for holding the other end, and the second bearing connects the output shaft to the main body casing via the hold flange. An end on the output end side of the output shaft in the second bearing is locked to the hold flange, and an end on the opposite side to the output end side in the second bearing Is locked to the main body casing, and the third bearing and the fourth bearing are configured to include a needle bearing and a thrust bearing, respectively.

According to this invention, the speed reduction mechanism is configured to include the spur gear, the crankshaft, the planetary gear, and the inner teeth provided on the inner periphery of the main body casing, and includes the third bearing and the third bearing configured to include the needle bearing and the thrust bearing. The crankshaft is rotatably supported by the four bearings. Then, the third bearing rotates and supports one end side of the crankshaft with respect to the output shaft, and the other end side of the crankshaft is rotatably supported by the hold flange fixed to the output shaft. For this reason, a crankshaft can be rotatably hold | maintained by the 3rd bearing and the 4th bearing in the state which are formed with a needle bearing and a thrust bearing, and a preload is not provided. In the prior art in which the crank mechanism member is rotationally supported by the upper and lower tapered roller bearings, the distance between the members must be adjusted in order to apply the preload, and several types of retaining rings having different thicknesses are prepared in advance. While appropriately selecting and temporarily mounting these retaining rings, it is necessary to adjust so that a desired preload acts on the tapered roller bearing. However, according to the configuration of the present invention, since the crankshaft is rotatably held even if no preload is applied to the third bearing and the fourth bearing, the step of applying the preload to the third bearing and the fourth bearing. Can be omitted, the assembly process can be simplified, and productivity can be improved.
Further, according to the present invention, the output side end of the second bearing is locked to the hold flange, the opposite end is locked to the main body casing, and the output shaft is connected to the main body casing via the hold flange. Hold it rotatably. Since no preload is applied to the third bearing and the fourth bearing, the load in the thrust direction from the fourth bearing acting via the hold flange is reduced, and the load acting in the thrust direction in the second bearing is also reduced. Therefore, the durability of the second bearing can be improved.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. The planetary gear speed reducer according to the embodiment of the present invention can be applied to, for example, a construction vehicle, but is not limited to this example of a construction vehicle. That is, a planetary gear including a speed reduction mechanism including a planetary gear mechanism connected to an input shaft and an output shaft, a main body casing that houses the speed reduction mechanism and the output shaft, and a bearing that holds the output shaft with respect to the main body casing. It can be widely applied to gear reducers.

(Overall configuration of planetary gear reducer)
FIG. 1 is a cross-sectional view showing a planetary gear speed reducer 1 according to an embodiment of the present invention. A planetary gear speed reducer 1 shown in FIG. 1 is disposed on a construction vehicle (not shown), for example, a traveling lower body configured as a crawler type traveling device and a driving actuator, a driver's cab, etc. It is used in a turning mechanism arranged between the mounted upper body.

  As shown in FIG. 1, the planetary gear speed reducer 1 includes an input shaft 11, a speed reduction mechanism 12, an output shaft 13, a main body casing 14, a first bearing 15, a second bearing 16, and the like. Since the planetary gear reducer 1 is provided as a turning mechanism of a construction machine, the planetary gear reducer 1 is arranged in the vertical direction, and the rotational force input from the motor 10 arranged on the upper side (upper body side) is transmitted to the lower side via the reduction mechanism 12. It is decelerated and transmitted to the output shaft 13 arranged on the (lower body side). Thereby, with relative rotation between the motor 10 and the output shaft 13, a rotation operation of the upper body relative to the lower body is performed.

  The output from the motor 10 is input to the input shaft 11 and is connected to the output shaft 10 a of the motor 10. The input shaft 11 is connected to a later-described reduction mechanism 12 including a planetary gear mechanism. The output shaft 13 is connected to the speed reduction mechanism 12, and the speed reduction mechanism 12 and the output shaft 13 are accommodated in a main body casing 14 formed in a substantially hollow cylindrical shape. Note that one end side of the output shaft 13 is supported in a state of protruding from the main body casing 14. Moreover, the main body casing 14 is formed by joining edge portions so that the first case portion 14a and the second case portion 14b, both of which are formed in a cylindrical shape, are formed into an integral cylindrical shape.

(Configuration of the first bearing and the second bearing)
The first bearing 15 is disposed on one end side of the output shaft 13 and is disposed on an end portion on one end side of the main body casing 14 (the side from which the output shaft 13 protrudes in the main body casing 14). The main body casing 14 is held rotatably. The first bearing 15 is formed of a self-aligning roller bearing.

  The second bearing 16 is disposed on the other end side of the output shaft 13 and is disposed on the other end side of the main body casing 14 and is formed as a deep groove ball bearing for holding the output shaft 13 rotatably. Yes. A hold flange 17 provided as a part of the speed reduction mechanism 12 is fixed to the output shaft 13 with a bolt 18 or the like, and the second bearing 16 connects the output shaft 13 to the main body casing 14 via the hold flange 17. And hold it freely. The output shaft 13 is provided with a plurality of column portions 13a projecting in parallel with the axial direction, and the hold flange 17 is coupled to the column portions 13a via bolts 18 and pins 36. Further, the end 16 a on the output end side of the output shaft 13 in the second bearing 16 is locked to the hold flange 17, and the end 16 b on the opposite side to the output end in the second bearing 16 is the second end of the main casing 14. It is locked to the case portion 14b.

(Configuration of deceleration mechanism)
The speed reduction mechanism 12 includes the hold flange 17, the spur gear 19, the crankshaft 20, the first planetary gear 21a, the second planetary gear 21b, the inner teeth 22, the third bearing 23, the fourth bearing 24, and the like. Yes. The speed reduction mechanism 12 is not a center crank system, and a plurality of crankshafts 20 (only one shown in the cross section in FIG. 1 is shown at an equal angle in the circumferential direction with respect to the axial direction of the input shaft 11 and the output shaft 13. Is configured as an eccentric oscillating speed reducer.

  A plurality of spur gears 19 (three in this embodiment) are arranged at equal angles in the circumferential direction of the input shaft 11 so as to mesh with a gear 11 a that is provided on the input shaft 11 and rotates together with the input shaft 11. A plurality of crankshafts 20 (the same three as the spur gears in this embodiment) are provided, and each crankshaft 20 is fixed to each spur gear 19. The crankshaft 20 is arranged at an equal angle around the circumference of the input shaft 11 in the circumferential direction. Further, each crankshaft 20 is arranged so that the axial direction thereof is parallel to the output shaft 13, and is rotatably held by the third bearing 23 with respect to the output shaft 13, as will be described later. The fourth bearing 24 is rotatably held. Note that a plurality of (three in the present embodiment) protruding column portions 13 a on the output shaft 13 are arranged at equal angles over the periphery of the output shaft 13 in the axial direction. And the crankshaft 20 and the pillar part 13a are arrange | positioned in order at an equal angle along the concentric circle.

  FIG. 2 is a front view including a partial cross section showing the crankshaft 20 (a view corresponding to the posture shown in FIG. 1). As shown in FIG. 2, the crankshaft 20 is formed in an axial shape, and includes a spur gear mounting portion 25, a first supported portion 26, a second supported portion 27, a first eccentric portion 28, and a second eccentric portion. 29 etc. are provided. As shown in FIG. 1, the spur gear 19 is attached to the spur gear attaching portion 25 via a spline mechanism so as to rotate together with the spur gear attaching portion 25, and the third bearing 23 is attached to the first supported portion 26a. Is attached, and a fourth bearing 24 is attached to the second supported portion 26b. The first eccentric portion 27a and the second eccentric portion 27b are both formed so that a cross section perpendicular to the axial direction of the crankshaft 20 is a circular cross section, and the center position of the circular cross section is the center of the crankshaft 20. It is provided in the crankshaft 20 so as to be arranged at a position deviated from the axial center position. A needle bearing 28a is attached to the first eccentric part 27a, and a needle bearing 28b is attached to the second eccentric part 27b.

  As shown in FIGS. 1 and 2, the third bearing 23 is embedded in the output shaft 13 at one end side of the crankshaft 20 so as to rotatably support the crankshaft 20 with respect to the output shaft 13. It is held rotatably at various positions. The fourth bearing 24 holds the other end side of the crankshaft 20 in a hole formed in the hold flange 17 so as to rotatably support the crankshaft 20 with respect to the hold flange 17. As shown in FIG. 2, the third bearing 23 includes a needle bearing 29a and a thrust bearing 30a, and the fourth bearing 24 also includes a needle bearing 29b and a thrust bearing 30b.

  FIG. 3 shows a front view (FIG. 3A) and a plan view (FIG. 3B) showing the needle bearings 29a and 29b. 3A is a cross-sectional view taken along the line aa in FIG. 3B. As shown in FIG. 3, the needle bearings 29a and 29b are configured to include a plurality of cylindrical rollers 31 arranged in the circumferential direction and a retainer 32 that rotatably holds these cylindrical rollers 31. . 4 is a front view (FIG. 4A) and a plan view (FIG. 4B) showing the thrust bearings 30a and 30b. 4 (b) is a cross-sectional view taken along the line aa of Fig. 4. As shown in Fig. 4, the thrust bearings 30a and 30b include a plurality of cylindrical rollers 33 arranged in the circumferential direction, and these cylindrical rollers 33. 2, a cylindrical bush 37 is provided outside the needle bearings 29a and 29b, and a thrust bearing 30a is provided. A spacer 38 is appropriately disposed between 30b and the needle bearings 28a and 28b.

  The first planetary gear 21a and the second planetary gear 21b are each configured as a planetary gear of this embodiment that swings as the crankshaft 20 rotates. The first planetary gear 21a and the second planetary gear 21b are formed as external gears having external teeth formed on the outer periphery, and are arranged in the main body casing 14 in a state of being overlapped in parallel. The first planetary gear 21 a and the second planetary gear 21 b are each formed with a plurality of holes (six in this embodiment) at equal angles in the circumferential direction, and each of these holes is a column of the output shaft 13. It is provided so as to be arranged at a position corresponding to the portion 13 a or the crankshaft 20. In the hole corresponding to the pillar portion 13a, the pillar portion 13a penetrates in a loosely fitted state. Further, the hole corresponding to the crankshaft 20 in the first planetary gear 21a is engaged with a needle bearing 28a that rotatably holds the first eccentric portion 27a of the crankshaft 20. Similarly, the hole corresponding to the crankshaft 20 in the second planetary gear 21b is engaged with a needle bearing 28b that rotatably holds the second eccentric portion 27b. The first planetary gear 21a and the second planetary gear 21b are configured in this manner, so that the first planetary gear 21a and the second planetary gear 21b swing and rotate in accordance with the rotation of the first eccentric portion 27a and the second eccentric portion 27b that rotate together with the crankshaft 20. It has become.

  The inner teeth 22 provided on the inner periphery of the main casing 14 are formed as pin-like members that mesh with the outer teeth provided on the first planetary gear 21a and the second planetary gear 21b. The internal teeth 22 are arranged in a state of being fitted into the main body casing at equal intervals on the inner periphery of the main body casing 14. The number of teeth of the inner teeth 22 is set to be one or several more than the number of teeth of the outer teeth of the first planetary gear 21a and the second planetary gear 21b. For this reason, every time the crankshaft 20 rotates, the meshing between the meshing external teeth and the internal teeth 22 is shifted, and the first planetary gear 21a and the second planetary gear 21b are oscillated and rotated.

(Operation of planetary gear reducer)
In the planetary gear speed reducer 1 having the above-described configuration, when the output shaft 10a of the motor 10 rotates and the rotational force from the motor 10 is transmitted to the input shaft 11, the spur gear that rotates the input shaft 11 and meshes with the gear 11a. 19 rotates. As the spur gear 19 rotates, the crankshaft 20 rotates, and the first eccentric portion 27a and the second eccentric portion 27b rotate together with the crankshaft 20. Accordingly, as described above, as described above, the first planetary gear 21a is rotated. Further, the second planetary gear 21 b swings and rotates while shifting the mesh with the inner teeth 22. As the first planetary gear 21 a and the second planetary gear 21 b swing and rotate, the crankshaft 20 that is rotated and held by the needle bearings 28 a and 28 b also performs a revolving motion around the axial direction of the input shaft 11. Accordingly, the output shaft 13 and the hold flange 17 that rotatably hold the crankshaft 20 via the third bearing 23 and the fourth bearing 24 are rotated. In this way, the relative rotation that is decelerated between the motor 10 and the output shaft 13 occurs via the speed reduction mechanism 12, so that the upper body in the construction machine (not shown) is driven to rotate relative to the lower body.

(Effect of this embodiment)
According to the planetary gear speed reducer 1, a speed reduction mechanism 12 including a planetary gear mechanism connected to the input shaft 11 and the output shaft 13, a main body casing 14 for housing the speed reduction mechanism 12 and the output shaft 13, and the output shaft 13 as the main body. The planetary gear reducer 1 includes a first bearing 15 that holds the casing 14, and the first bearing 15 is formed of a self-aligning roller bearing. Thereby, since the output shaft 13 can be rotationally supported by changing the direction of the bearing surface according to the inclination of the output shaft 13 by the self-aligning roller bearing, it has been applied in the thrust direction (axial direction) in the prior art. The preload can be reduced, and the sliding resistance generated in the first bearing 15 can be greatly reduced. Therefore, according to the planetary gear speed reducer 1, it is possible to provide a planetary gear speed reducer that reduces sliding resistance generated in the bearing and has high power transmission efficiency.
Further, in the hybrid type or electric type construction machine, when the planetary gear speed reducer 1 is used for the turning mechanism provided between the upper body and the lower body provided with the regenerative mechanism, there is little sliding resistance and the power With this planetary gear speed reducer 1 with good transmission efficiency, it is possible to achieve improved fuel efficiency and low Nox.

  According to the planetary gear speed reducer 1, the output shaft 13 is supported at one end and the other end by the first bearing 15 and the second bearing 16, and the first bearing 15 is formed as a self-aligning roller bearing. The bearing 16 is formed as a deep groove ball bearing. Thus, by supporting both ends of the output shaft 13 with the self-aligning roller bearing and the deep groove ball bearing, the output shaft 13 is rotatably held even if no preload is applied in the thrust direction. For this reason, according to the planetary gear speed reducer 1, the output shaft is held rotatably even if the preload is not applied in the thrust direction without causing the restriction on the process as in the prior art. Simplification of the assembly process can be achieved by omitting the applying process, and productivity can be improved.

  According to the planetary gear speed reducer 1, the speed reduction mechanism 12 includes a spar gear 19, a crankshaft 20, planetary gears (21 a, 21 b), and internal teeth 22 provided on the inner periphery of the main body casing 14, and a needle bearing ( The crankshaft 20 is rotatably supported by a third bearing 23 and a fourth bearing 24 configured to include 29a, 29b) and thrust bearings (30a, 30b). The third bearing 23 rotates and supports one end side of the crankshaft 20 with respect to the output shaft 13, and the other end side of the crankshaft 20 is held with respect to the hold flange 17 fixed to the output shaft 13. Supports rotation. For this reason, the crankshaft 20 can be rotatably held by the third bearing 23 and the fourth bearing 24 which are formed by the needle bearings (29a, 29b) and the thrust bearings (301, 30b) and are not preloaded. it can. Therefore, according to the planetary gear speed reducer 1, it is not necessary to adjust the distance of each member in order to apply the preload as in the prior art, and no preload is applied to the third bearing 24 and the fourth bearing 24. In addition, since the crankshaft 20 is rotatably held, the process of applying a preload to the third bearing 24 and the fourth bearing 24 can be omitted, the assembly process can be simplified, and the productivity can be improved.

  Further, according to the planetary gear speed reducer 1, the second bearing 16 has an output-side end portion 16 a locked to the hold flange 17, and an opposite end portion 16 b locked to the main body casing 14. An output shaft 13 is rotatably held with respect to the main body casing 14 via 17. Then, since no preload is applied to the third bearing 23 and the fourth bearing 24, the load in the thrust direction from the fourth bearing 24 acting via the hold flange 17 is reduced, and the second bearing 16 acts in the thrust direction. Since the load to be reduced is also reduced, the durability of the second bearing 16 can be improved.

  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 can be made as long as they are described in the claims. For example, in the present embodiment, the description has been given by taking as an example a type equipped with a speed reduction mechanism in which the planetary gears oscillate with the rotation of a plurality of crankshafts. A reduction mechanism including a planetary gear mechanism may be provided.

It is sectional drawing which shows the planetary gear speed reducer which concerns on one embodiment of this invention. It is a front view including a partial cross section showing a crankshaft in the planetary gear speed reducer shown in FIG. It is the front view and top view which show the needle bearing in the reduction mechanism of the planetary gear speed reducer shown in FIG. It is the front view and top view which show the thrust bearing in the reduction mechanism of the planetary gear speed reducer shown in FIG.

Explanation of symbols

1 planetary gear reducer 10 motor 11 input shaft 12 speed reduction mechanism 13 output shaft 14 main body casing 15 first bearing

Claims (3)

An input shaft to which the output from the motor is input;
A speed reduction mechanism coupled to the input shaft and including a planetary gear mechanism;
An output shaft coupled to the speed reduction mechanism;
A body casing that houses the speed reduction mechanism and the output shaft;
A first bearing for rotatably holding the output shaft with respect to the body casing;
A planetary gear reducer equipped with
A planetary gear reducer, wherein the first bearing is formed of a self-aligning roller bearing. The planetary gear reducer according to claim 1,
The first bearing is disposed on one end side of the output shaft,
A planetary gear reducer formed as a deep groove ball bearing, further comprising a second bearing disposed on the other end side of the output shaft for rotatably holding the output shaft. The planetary gear reducer according to claim 2,
The deceleration mechanism is
A spur gear meshing with the input shaft;
A crankshaft fixed to the spur gear and rotatably held with respect to the output shaft;
A planetary gear that swings as the crankshaft rotates;
An inner tooth meshing with the planetary gear and provided on the inner periphery of the main body casing;
A third bearing for holding one end of the crankshaft so as to rotatably support the crankshaft with respect to the output shaft;
A fourth bearing for holding the other end of the crankshaft so as to rotatably support the crankshaft with respect to a hold flange fixed to the output shaft;
With
The second bearing holds the output shaft rotatably with respect to the main body casing via the hold flange, and an output end side end of the output shaft in the second bearing is engaged with the hold flange. And the end of the second bearing opposite to the output end is locked to the main body casing,
The planetary gear reducer characterized in that the third bearing and the fourth bearing are respectively provided with a needle bearing and a thrust bearing.

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