KR102413413B1 - Reduction device with structure with increased deceleration performance - Google Patents

Abstract

The present invention relates to a reduction device having a structure in which deceleration performance is increased, and more particularly, a pair of second gear parts are formed symmetrically on the outside of the first gear part of an input shaft driven by a motor, and the second gear part The rear side is engaged with the third gear unit having a (-) dislocation amount and is rotationally supported, and the front side of the second gear unit is engaged with the fourth gear unit having a (+) dislocation amount and rotated so that the output shaft on which the fourth gear unit is formed is rotated. By doing so, it relates to a reduction device having a structure in which deceleration performance is increased so that deceleration performance can be improved by controlling the amount of dislocation between each other together with the structure of each gear part meshed with each other.
To this end, the present invention relates to a reduction body in which the intermediate fixing body 91 in which the through-holes 91a, 93a, and 95a are formed, respectively, and the front fixing body 93 and the rear fixing body 95 are coupled and fixed to each other and integrally formed. (90); an input shaft 10 inserted through the through hole 95a of the rear fixing body 95 and positioned in the through hole 91a of the intermediate fixing body 91; The front end 10a of the input shaft 10 is located on the front end side of the through hole 91a of the intermediate fixture 91 , and the rear end 10b of the input shaft 10 is the rear fixed body 95 . The through hole 95a is located on the rear end side and is connected to the motor to rotate, and the front end side of the input shaft 10 is formed with a rod-shaped front perimeter 11 having a first diameter d1, and the front A first gear part 13 having a (+) dislocation amount having a diameter d2 that is 1.3 to 1.6 times larger than the first diameter d1 is formed on the rear side of the peripheral part 11, and the first gear part 13 On the rear side of the gear part 13 , a rod-shaped intermediate peripheral part 15 having a diameter d3 that is 1.1 to 1.3 times larger than the diameter d2 is formed, and the a second gear unit 20 engaged with the outside to receive rotational force; The second gear unit 20 is provided as a pair at positions symmetrical on both sides with respect to the first gear unit 13 as the amount of dislocation is 0 (zero), and the rear outer side of each second gear unit 20 is It is rotatably supported in engagement with the third gear part 92 having a (-) dislocation amount formed in the inner periphery of the through hole 91a of the intermediate fixture 91, and is provided on the front and outer side of the second gear part 20 ( +) an output shaft 50 having a fourth gear unit 51 that is engaged with a dislocation amount and is mutually rotated with the second gear unit 20; The output shaft 50 has a front side portion 50a that penetrates through the through hole 93a of the front fixing body 93 and protrudes, and is located inside the through hole 93a of the front fixing body 93 and the second gear It is composed of a rear side portion 50b positioned to engage the portion 20, and due to driving of the motor, the input shaft 10, the first gear portion 13, the second gear portion 20, the third gear portion ( 92), the fourth gear unit 51 and the output shaft 50 sequentially transmit the rotational force and control the amount of mutual potential to improve the deceleration performance.

Description

Reduction device with structure with increased deceleration performance

The present invention relates to a reduction device having a structure with increased deceleration performance, and more particularly, a pair of second gear parts are formed symmetrically on the outside of the first gear part of an input shaft driven by a motor, and the second gear part The rear side is engaged with the third gear unit having a (-) dislocation amount and is rotationally supported, and the front side of the second gear unit is engaged with the fourth gear unit having a (+) dislocation amount and rotated so that the output shaft on which the fourth gear unit is formed is rotated. By doing so, it relates to a reduction device having a structure in which deceleration performance is increased so that deceleration performance can be improved by controlling the amount of dislocation between each other together with the structure of each gear part meshed with each other.

In general, a speed reducer is a power transmission device for outputting a high-speed rotational force input from a power device, such as a motor, as a low-speed rotational force. Such a reducer is, for example, mounted on the joints of an industrial robot, and serves to reduce the high-speed rotational force input from the power device to the appropriate rotational force required by the power demander.

Various types of reducers have been developed according to the reduction method. The reducer includes, for example, a harmonic reducer, a cyclo reducer, a RV (revolutionary vector) reducer, a ball reducer, and a planetary gear reducer.

A harmonic reducer generally includes a circular spline having an internally toothed gear and a flexible spline having an externally toothed gear to mesh with the internal gear of the circular spline. By using the relative rotation, the input high-speed rotational force is decelerated to low speed.

A cyclo reducer generally includes a pin gear and an eccentric gear having a cycloid tooth shape to engage in correspondence with the pin gear, and an eccentric gear that rotates relatively by a crankshaft. is used to decelerate the input high-speed rotational force to low speed. The RV reducer has a structure similar to that of the cyclo reducer.

A planetary gear reducer generally includes a plurality of gears that mesh with each other, and the rotational speed is reduced by using the tooth ratio between the input side gear and the output side gear.

The ball reducer includes first and second power plates disposed to face each other, a guide groove formed in a cycloidal curve on the opposite plate surfaces of the first and second power plates, and a driving ball that rolls in the guide groove, and is driven By using the relative rotation of the first and second power plates generated while the ball moves along the guide groove, the input high-speed rotational force is decelerated to a low speed.

Recently, the reducer tends to be widely used not only in industrial robots but also in various fields such as the human body.

However, these conventional speed reducers have several problems to be solved in order to achieve miniaturization, stable drivability, ease of manufacture, and simplification of structure. For example, in the case of a harmonic speed reducer, it is relatively easy to downsize, but it is difficult to realize relatively stable drivability due to rigidity and vibration characteristics. In the case of a cyclo reducer, the driving torque is relatively large and the backlash is small, so it has stable drivability. As a mechanical device (out put shaft pin, out put shaft bush, etc.) is required to make the Also, in the case of the ball reducer, it is difficult to process the cycloid curve formed on the plate surface of the power plate, so that the miniaturization is not easy.

Therefore, there is a need for a speed reducing device that solves the problems of the related art as described above.

Accordingly, the inventor of the present invention provides a fixed support between the input shaft connected to the motor through the “reduction device with high reduction ratio performance” in Patent No. 10-2275048 and the output shaft that is connected to the input shaft in multiple stages to obtain the final reduced output. A reduction device having a high reduction ratio performance that enables a stable and high reduction ratio to be secured by installing a shaft and a fixed gear to support the rotation of a plurality of gears has been proposed. We would like to propose a reduction device that

Registered Patent No. 10-1228033 Registered Patent No. 10-2275048

Accordingly, the present invention has been devised to eliminate the above problems, and a pair of second gear units are symmetrically positioned outside the first gear unit of the input shaft driven by the motor, and the rear side of the second gear unit is at (-) dislocation. Each gear meshed with each other by meshing with the third gear portion having a positive amount and rotationally supported, and by causing the front side of the second gear portion to engage and rotate in engagement with the fourth gear portion having a positive displacement amount to rotate the output shaft on which the fourth gear portion is formed. It has been completed as a technical task with a focus on the reduction gear having a structure with increased deceleration performance that can improve deceleration performance by controlling the amount of dislocation with each other along with the negative structure.

The present invention for achieving the above technical problem, in implementing a reduction device having a structure with increased deceleration performance, the intermediate fixture 91 in which the through-holes 91a, 93a, 95a are respectively formed, and the front fixture (93) and the rear fixed body (95) are coupled and fixed to each other, the reduction body 90 is integrally formed; an input shaft 10 inserted through the through hole 95a of the rear fixture 95 and positioned in the through hole 91a of the intermediate fixture 91; The front end 10a of the input shaft 10 is located on the front end side of the through hole 91a of the intermediate fixture 91 , and the rear end 10b of the input shaft 10 is the rear fixed body 95 . The through hole 95a is located on the rear end side and is connected to the motor to rotate, and the front end side of the input shaft 10 is formed with a rod-shaped front perimeter 11 having a first diameter d1, and the front A first gear part 13 having a (+) dislocation amount having a diameter d2 that is 1.3 to 1.6 times larger than the first diameter d1 is formed on the rear side of the peripheral part 11 in a stepped shape, , on the rear side of the first gear part 13, a rod-shaped middle perimeter 15 having a diameter d3 1.1 to 1.3 times larger than the diameter d2 is formed in a stepped shape, and the a second gear unit 20 engaged with the outside of the first gear unit 13 to receive rotational force; The second gear unit 20 is provided as a pair at positions symmetrical on both sides with respect to the first gear unit 13 as the amount of dislocation is 0 (zero), and the rear outer side of each second gear unit 20 is The intermediate stationary body 91 is rotatably supported by being engaged with a third gear part 92 having a (-) dislocation amount formed in the inner periphery of the through hole 91a of the intermediate stationary body 91, and the third gear part 92 is the intermediate stationary body. It is formed on the inner surface of the 91 and is configured to support the rotation of the second gear part 20 in a fixed state, and is engaged with the front and outer sides of the second gear part 20 with a (+) dislocation amount. an output shaft 50 having a fourth gear unit 51 that is mutually rotated on the second gear unit 20 ; The output shaft 50 has a front side portion 50a that penetrates through the through hole 93a of the front fixing body 93 and protrudes, and is located inside the through hole 93a of the front fixing body 93 and the second gear It consists of a rear side portion 50b positioned to engage with the portion 20, wherein the rear side portion 50b is positioned outside the pair of second gear portions 20 and engages with the second gear portion 20. The front side portion 50a including four gear portions 51 and integrally with the rear side portion 50b and formed to extend to the front side with a diameter smaller than the diameter of the rear side portion 50b is provided with a rotational force from the input shaft 10. It is finally transmitted and configured to have a reduced rotational force, and due to the driving of the motor, the input shaft 10, the first gear unit 13, the second gear unit 20, the third gear unit 92, and the fourth The gear unit 51 and the output shaft 50 sequentially transmit the rotational force and control the amount of mutual potential to increase the deceleration performance, and each of the second gear units 20 The shaft pin 25 is passed through, the front rotation support plate 31 is connected to the front end side of the shaft pin 25, and the rear rotation support plate 35 is connected to the rear end side of the shaft pin 25, so that the front rotation support plate 31 and the rear rotation support plate 35 provide safety with respect to the mutual rotation force of the first gear unit 13 and the second gear unit 20, and the first gear unit 13 and the second gear unit ( 20) is configured to surround and protect the outside, and the front rotation support plate 31 and the rear rotation support plate 35 are integrally formed in which the rim sides are connected to each other, and protrude at the rear end of the rear rotation support plate 35 The rim portion 36 is formed, the bearing 72 is positioned on the outer periphery of the rear rotation support plate 35 , and the rear of the bearing 72 rubbed on the outer periphery of the rear rotation support plate 35 . It is configured to rub in double (two surfaces) by making the side part rub against the front surface of the protruding rim part 36, and double (two faces) to the outer periphery of the rear rotation support plate 35 and the protruding rim part 36 ) of the intermediate fixture 91 for friction support of the remaining two surfaces of the bearing 72 to be rubbed. The front surface and the rear fixture of the protruding rim part 36 which is configured to frictionally support the front side and the upper side of the bearing 72 by forming a stepped side surface, and is in close contact with the rear side of the bearing 72 . The front surface of the protrusion 96 protruding in the shape of an “L” on the front side of (95) has a structure in close contact with the rear side of the bearing 72 at the same time, so it is positioned on a vertical straight line, and the protrusion rim portion (36) Deceleration having a structure with increased deceleration performance, characterized in that it is made by fixing the vertical retaining plate 89 to the contact surface with the bearing 72 to keep the front surface of the front surface and the front surface of the protrusion 96 in a vertical straight line provide the device.

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In addition, the dislocation amount of the first gear unit 13 is set to (+) 0.551 to 0.553, the dislocation amount of the second gear unit 20 is set to 0 (zero), and the third gear unit ( 92) is set to (-) 0.554 to 0.556, and the potential amount of the fourth gear part 51 is set to (+) 0.437 to 0.439, the input shaft 10 is driven by the motor; It is characterized in that the first gear unit 13, the second gear unit 20, the third gear unit 92, the fourth gear unit 51 and the output shaft 50 are configured to sequentially transmit the rotational force. .

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According to the present invention as described above, a pair of second gear units are formed symmetrically on the outside of the first gear unit of the input shaft driven by the motor, and the rear side of the second gear unit is engaged with the third gear unit having a (-) dislocation amount. It is rotationally supported, and the front side of the second gear part is engaged with the fourth gear part having a (+) dislocation amount and rotated to rotate the output shaft on which the fourth gear part is formed. This has effects such as being able to improve the deceleration performance.

1 is a perspective view of a reduction device having a structure in which deceleration performance is increased according to the present invention;
Figure 2 is a front embodiment of the reduction device according to the present invention
Figure 3 is an exemplary view of the cross-section A-A' of Figure 2;
4 and 5 are an exploded view of the main part of FIG. 3 , an exploded embodiment
6 to 8 are exemplary views of the rotational state by the meshing of each gear part according to the present invention

Hereinafter, specific details for carrying out the present invention will be described in more detail with reference to the accompanying drawings.

According to the present invention, a pair of second gear units are formed symmetrically on the outside of the first gear unit of the input shaft driven by the motor, and the rear side of the second gear unit is rotated and supported by being engaged with the third gear unit having a (-) dislocation amount. , the front side of the second gear part is rotated by meshing with the fourth gear part having a (+) dislocation amount, so that the output shaft on which the fourth gear part is formed is rotated. It relates to a reduction gear having a structure with increased deceleration performance to improve It comprises a unit 20 , a third gear unit 92 , a fourth gear unit 51 , and an output shaft 50 .

In order to implement the reduction device having a structure with increased deceleration performance of the present invention, as shown in FIG. 1 , the intermediate fixture 91 in which the through holes 91a, 93a, and 95a are respectively formed, the front fixture 93 and A reduction main body 90 in which the rear fixing body 95 is coupled and fixed to each other is integrally formed is provided. The reduction body 90 is formed in the form of a case for covering the configuration of the present invention with reference to FIGS. 3 and 4 .

As a configuration for carrying out the present invention in detail, the input shaft 10 for transmitting power as shown in FIG. 3 is provided.

The input shaft 10 is inserted through the through hole 95a of the rear fixing body 95 and positioned in the through hole 91a of the intermediate fixing body 91 , more specifically, the front end of the input shaft 10 . (10a) is located on the front end side of the through hole 91a of the intermediate fixture 91, the rear end 10b of the input shaft 10 is the rear end side of the through hole 95a of the rear fixture 95 It is located in the motor (not shown) connected to the rotation.

In addition, on the front end side of the input shaft 10, a front perimeter 11 having a smooth outer surface having a first diameter d1 is formed, and on the rear side of the front perimeter 11, a stepped shape is formed. A first gear part 13 having a (+) dislocation amount having a diameter d2 that is 1.3 to 1.6 times larger than the first diameter d1 is formed, and the first gear part 13 has a step on the rear side of the first gear part 13. The middle perimeter 15 of the rod-shaped smooth surface having a diameter d3 that is 1.1 to 1.3 times larger than that of the diameter d2 is formed in the shape of a chin.

In the above structure, the first gear unit 13 is used as a configuration for transmitting power to a second gear unit 20 to be described later, and the front circumference portion 11 and the middle side circumference portion 15 are the first gears. It is used in a configuration to rub against the forward rotation support plate 31 and the rear rotation support plate 35 to be described later for stable rotational force support of the part 13 .

On the other hand, as shown in FIG. 3 , a second gear unit 20 engaged with the outer side of the first gear unit 13 to receive rotational force is provided.

The second gear unit 20 is provided as a pair at positions symmetrical on both sides with respect to the first gear unit 13 as a potential amount of 0 (zero), and is configured to rotate integrally around the first gear unit 13 . do. At this time, as in FIGS. 3 and 7 , the rear outer side of each of the second gear units 20 has a (-) dislocation amount formed in the inner periphery of the through hole 91a of the intermediate fixture 91 . It is rotatably supported in engagement with the gear unit 92 .

The third gear part 92 is formed on the inner surface of the intermediate stationary body 91 as shown in FIGS. 7 and 8 , and the third gear part 92 is fixed without rotating the second gear part 20 ) to support the rotation.

And, the output shaft (50) having a fourth gear part (51) that is engaged with the front and outer side of the second gear part (20) with a (+) dislocation amount and is mutually rotated with the second gear part (20). this is provided At this time, the output shaft 50 is positioned inside the front side portion 50a that penetrates through the through hole 93a of the front fixture 93 and protrudes, and the through hole 93a of the front fixture 93, and is It consists of a rear side portion 50b positioned to engage with the second gear portion 20 .

The rear side portion 50b includes a fourth gear portion 51 that is positioned outside the pair of second gear portions 20 and meshes with the second gear portion 20 as shown in FIG. 7, and the rear side portion ( 50b) and the front side portion 50a extending to the front side with a diameter smaller than the diameter of the rear side portion 50b and finally receiving the rotational force from the initial input shaft 10 has a reduced rotational force.

In FIG. 3A , the input shaft 10 , the first gear unit 13 , the second gear unit 20 , the third gear unit 92 , the fourth gear unit 51 , and the output shaft 50 are in order A structure is shown in which the deceleration performance can be increased by transmitting the rotational force as shown and adjusting the mutual potential amount, and in FIG. The arrangement of bearings 72, 74, 75, 76, 78, and 82 required between each component is shown in order to be secured.

When describing a specific embodiment with respect to the amount of dislocation, the amount of dislocation of the first gear unit 13 is set to (+) 0.551 to 0.553, and the amount of dislocation of the second gear unit 20 is 0 (zero). Preferably, the amount of dislocation of the third gear unit 92 is set to (-) 0.554 to 0.556, and the amount of dislocation of the fourth gear unit 51 is set to (+) 0.437 to 0.439. and based on these settings, the above-described input shaft 10, first gear 13, second gear 20, third gear 92, fourth gear 51 and output shaft 50 ), it is possible to improve the deceleration performance while transmitting the rotational force in turn.

In addition to the above structure, as in FIGS. 5 (b) and 8, each of the second gear parts 20 has a shaft pin 25 through it, and a forward rotation support plate 31 on the front end side of the shaft pin 25. ) is connected, and a rear rotation support plate 35 is connected to the rear end side of the shaft pin 25 so that the front rotation support plate 31 and the rear rotation support plate 35 are connected to the first gear part 13 and the second gear part. It is configured to protect the outside of the first gear unit 13 and the second gear unit 20 while providing safety against the mutual rotation force of 20 .

Referring further to FIG. 7 in addition to FIG. 8, it is preferable to ensure rotational force stability that the forward rotation support plate 31 and the rear rotation support plate 35 are integrally formed with their rim sides connected to each other. When the rotation support plate 31 and the rear rotation support plate 35 are connected to each other on the edge side, it is preferable not to interfere with the pair of second gear parts 20 located on the side of the interconnection part.

And, on the basis of being integrally formed in order to further maximize stability against rotational force, a protruding rim portion 36 is formed at the rear end of the rear rotation support plate 35, and on the outer periphery of the rear rotation support plate 35 The bearing 72 is positioned at open surface) can be configured to rub.

In addition, for friction support of the remaining two surfaces of the bearing 72 rubbed against the outer periphery of the rear rotation support plate 35 and the protruding rim portion 36 double (two surfaces), the intermediate fixture 91 as shown in FIG. ) to form a stepped inner surface so that a portion of the front side and the upper side of the bearing 72 are frictionally supported, and a protrusion ( 96) may be formed to further frictionally support the rear side of the bearing 72.

At this time, the front surface of the protrusion rim part 36 and the front surface of the protrusion 96 that are in close contact with the rear side of the bearing 72 are in close contact with the rear side of the bearing 72 at the same time, so they are positioned on a vertical straight line. , vertical retaining plate 89 on the contact surface with the bearing 72 to maintain a vertical straight line of the front surface of the protruding edge part 36 and the front surface of the protruding part 96 as in Fig. 5 (c) Optionally, it can be used by bonding and fixing it.

According to the reduction device having a structure with increased deceleration performance of the present invention as described above, a pair of second gear parts are formed symmetrically on the outside of the first gear part of the input shaft driven by the motor, and the rear side of the second gear part is The third gear portion having a (-) dislocation amount is engaged and rotationally supported, and the front side of the second gear portion is meshed with the fourth gear portion having a (+) dislocation amount and rotated to rotate the output shaft on which the fourth gear portion is formed. It is possible to improve the deceleration performance by adjusting the mutual dislocation amount together with the structure of each meshed gear part.

The present invention described above has been described with reference to one embodiment shown in the drawings, but this is merely exemplary, and various modifications and equivalent other embodiments are possible by those skilled in the art. should be made clear. Accordingly, the true technical protection scope of the present invention should be construed by the appended claims, and all technical ideas within the equivalent scope should be construed as being included in the scope of the present invention.

10: input shaft 11: front circumference
13: second gear unit 15: middle side circumference
20: second gear unit 50: output shaft
51: fourth gear 91: intermediate fixed body
92: third gear 93: front fixed body
95: rear fixture 91a, 93a, 95a: through hole

Claims (5)

In implementing a reduction device having a structure with increased deceleration performance,
The through-holes (91a, 93a, 95a) are formed, respectively, the intermediate fixing body 91, the front fixing body 93 and the rear fixing body 95 are coupled and fixed to each other, the reduction body 90 is integrally formed;
an input shaft 10 inserted through the through hole 95a of the rear fixing body 95 and positioned in the through hole 91a of the intermediate fixing body 91; The front end 10a of the input shaft 10 is located on the front end side of the through hole 91a of the intermediate fixture 91 , and the rear end 10b of the input shaft 10 is the rear fixed body 95 . The through hole 95a is located on the rear end side and is connected to the motor to rotate, and the front end side of the input shaft 10 is formed with a rod-shaped front perimeter 11 having a first diameter d1, and the front A first gear part 13 having a (+) dislocation amount having a diameter d2 that is 1.3 to 1.6 times larger than the first diameter d1 is formed on the rear side of the peripheral part 11 in a stepped shape, , A rod-shaped middle perimeter 15 having a diameter d3 1.1 to 1.3 times larger than the diameter d2 is formed on the rear side of the first gear part 13 in a stepped shape,
a second gear unit 20 engaged with the outside of the first gear unit 13 to receive rotational force; The second gear unit 20 is provided as a pair at positions symmetrical on both sides with respect to the first gear unit 13 as the amount of dislocation is 0 (zero), and the rear outer side of each second gear unit 20 is The intermediate stationary body 91 is rotatably supported by being engaged with a third gear part 92 having a (-) dislocation amount formed in the inner periphery of the through hole 91a of the intermediate stationary body 91, and the third gear part 92 is the intermediate stationary body. It is formed on the inner surface of the 91 and is configured to support the rotation of the second gear unit 20 in a fixed state,
an output shaft (50) having a fourth gear part (51) that is engaged with the front and outer side of the second gear part (20) with a (+) dislocation amount and is mutually rotated with the second gear part (20); The output shaft 50 has a front side portion 50a that penetrates through the through hole 93a of the front fixing body 93 and protrudes, and is located inside the through hole 93a of the front fixing body 93 and the second gear It consists of a rear side portion 50b positioned to engage with the portion 20, wherein the rear side portion 50b is positioned outside the pair of second gear portions 20 and engages with the second gear portion 20. The front side portion 50a including four gear portions 51 and integrally with the rear side portion 50b and formed to extend to the front side with a diameter smaller than the diameter of the rear side portion 50b is provided with a rotational force from the input shaft 10. It is finally transmitted and configured to have a reduced rotational force,
Due to the driving of the motor, the input shaft 10, the first gear unit 13, the second gear unit 20, the third gear unit 92, the fourth gear unit 51, and the output shaft 50 are sequentially arranged. It is made including a configuration to increase the deceleration performance by transmitting the rotational force and controlling the amount of mutual potential,
Each of the second gear units 20 has a shaft pin 25 through it, a forward rotation support plate 31 is connected to the front end of the shaft pin 25 , and a rear rotation support plate is connected to the rear end of the shaft pin 25 . (35) is connected so that the forward rotation support plate 31 and the rear rotation support plate 35 provide safety against the mutual rotation force of the first gear unit 13 and the second gear unit 20, and the first gear It is configured to surround and protect the outside of the part 13 and the second gear part 20,
The front rotation support plate 31 and the rear rotation support plate 35 are formed integrally with the rim sides connected to each other, and a protruding rim portion 36 is formed at the rear end of the rear rotation support plate 35, and the rear The bearing 72 is positioned on the outer periphery of the rotation support plate 35 , and the rear side of the bearing 72 rubbed on the outer periphery of the rear rotation support plate 35 is the front of the protruding edge portion 36 . It is composed of double (two surfaces) rubbing by rubbing on the surface,
The inner surface of the intermediate fixture 91 is stepped on the outer periphery of the rear rotation support plate 35 and the inner surface of the intermediate fixture 91 for friction support of the remaining two surfaces of the bearing 72 rubbed in double (two surfaces) against the protruding rim 36 . It is configured so that a part of the front side and the upper side of the bearing 72 are frictionally supported,
The front surface of the protruding rim portion 36 in close contact with the rear side of the bearing 72 and the front surface of the protruding portion 96 protruding in the shape of an “L” on the front side of the rear fixing body 95 are the bearing 72 . ) because it is in close contact with the rear side at the same time, it is positioned on a vertical straight line, and the contact surface with the bearing 72 for maintaining the front surface of the protruding rim part 36 and the front surface of the protruding part 96 in a vertical straight line. Deceleration device having a structure with increased deceleration performance, characterized in that it is made by fixing the vertical retaining plate 89 to the.
delete The method of claim 1,
The dislocation amount of the first gear unit 13 is set to (+) 0.551 to 0.553, the dislocation amount of the second gear unit 20 is set to 0 (zero), and the third gear unit 92 is set to zero. The input shaft 10, the first motor is driven by driving the motor in a state in which the potential amount of the motor is set to (-) 0.554 to 0.556 and the potential amount of the fourth gear part 51 is set to (+) 0.437 to 0.439. Deceleration performance, characterized in that the gear unit 13, the second gear unit 20, the third gear unit 92, the fourth gear unit 51, and the output shaft 50 are configured to transmit the rotational force in order. A reduction gear having this increased structure.
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