TWI695939B - Gear transmission - Google Patents

Abstract

The present invention provides a gear transmission device that can improve the meshing accuracy of a pair of gears meshed in an orthogonal state to change the direction of rotation, thereby reducing assembly costs.

The gear transmission 1 includes: a rotation direction conversion mechanism 20; a reduction mechanism 80; and a main casing 10 to which the rotation direction conversion mechanism 20 and the reduction mechanism 80 are mounted. The rotation direction changing mechanism 20 has a first gear 32 and a second gear 42 which is arranged in a posture orthogonal to the first gear 32 and meshes with the first gear 32. The speed reduction mechanism 80 has an output shaft, and the rotation transmitted from the first gear 32 to the second gear 42 is output from the output shaft. The first gear 32 and the second gear 42 are rotatably supported by the main housing 10 respectively.

Description

Gear transmission

The invention relates to a gear transmission device.

A speed reduction mechanism is known, which includes: a carrier that holds the crank shaft in a rotatable manner; an external gear that engages with the crank shaft; and an internal gear that has a different number of teeth from the external gear; and the external gear has internal teeth Swing inside the gear. In such a speed reduction mechanism, an eccentric body is provided on the crank shaft, and the eccentric body is engaged with the external gear. If the crank shaft rotates, the eccentric body will rotate eccentrically, and the external gear engaged with the eccentric body will swing.

In such a reduction mechanism, when restraining the rotation of the external gear by restraining the rotation of the carrier, the internal gear will rotate. In such a configuration, the internal gear can be used as the output shaft, and the rotation of the crankshaft is decelerated to output. In addition, when not constraining the rotation of the carrier but the rotation of the internal gear, the external gear will rotate while revolving. In this case, the carrier connected via the external gear and the crank shaft also rotates. In such a configuration, the carrier can be used as the output shaft, and the rotation of the crankshaft can be decelerated to output.

In such a speed reduction mechanism, the rotation of the rotating shaft of the motor is transmitted to the crank shaft, and thereafter, to the output shaft (internal gear or carrier).

In industrial robots or work machines, a structure in which the rotation axis of the motor and the output axis of the reduction mechanism are orthogonal is desired. In this case, it is common to use a relay shaft arranged in a posture orthogonal to the input shaft of the torque input to the motor. Specifically, a mechanism that causes the gear provided on the input shaft to mesh with the gear provided on the relay shaft to change the rotation direction of the input shaft. In addition, the rotation direction changing mechanism and The gear transmission of the speed mechanism is assembled into a robot, etc. By meshing a pair of bevel gears or an aligned hyperbolic gear, torque can be transmitted from the orthogonally arranged input shaft to the relay shaft. For example, Patent Document 1 discloses such a gear transmission.

[Prior Technical Literature] [Patent Literature]

[Patent Literature 1] International Publication No. 2007/125835

The gear transmission disclosed in Patent Document 1 described above is equipped with a housing that holds an input shaft, a housing that holds an intermediate shaft, and a speed reduction mechanism on a pedestal placed on a floor or the like. The housing holding the input shaft holds the input shaft inside thereof via bearings.

The case is fastened to the pedestal in a state of being inserted into a hole formed in the pedestal.

However, in this configuration, the hole formed in the pedestal contacts the outer peripheral surface of the housing, the inner peripheral surface of the housing contacts the outer ring of the bearing, and the inner ring of the bearing contacts the outer peripheral surface of the input shaft. As a result, due to the accumulation of tolerances of multiple components, the meshing accuracy of the gears of the input shaft and the gears of the relay shaft is easily reduced. Therefore, there are cases where time and effort are spent in the adjustment operation for obtaining the desired accuracy, and the assembly cost increases.

The present invention has been completed in consideration of the above facts, and its object is to provide a gear transmission device that can improve the meshing accuracy of a pair of gears meshed in an orthogonal state to change the rotation direction, thereby reducing assembly costs.

The present invention is a gear transmission device including: a rotation direction conversion mechanism; a speed reduction mechanism; and a main casing mounted with the rotation direction conversion mechanism and the speed reduction mechanism; the rotation direction conversion mechanism has: a first gear; and The first gear is disposed in an orthogonal posture and meshes with the first gear; the second gear meshes with the first gear; the reduction mechanism has an output shaft, and the rotation transmitted from the first gear to the second gear is transmitted from the output shaft Out; the first gear and the second gear are respectively supported by the main housing in a rotatable manner.

In the aforementioned gear transmission device, it is feasible that the first gear train is provided on the input shaft and rotates integrally with the input shaft; the second gear train is provided on the relay shaft and rotates integrally with the relay shaft The intermediate shaft is arranged in a posture orthogonal to the input shaft; the main housing has an input shaft bearing hole into which the input shaft is inserted, and an intermediate shaft bearing hole into which the intermediate shaft is inserted; The input shaft is rotatably supported by the input shaft bearing hole, whereby the first gear is rotatably supported by the main housing; and the relay shaft is rotatably supported by the relay shaft bearing hole, by The second gear is rotatably supported by the main housing.

More specifically, it is feasible that the input shaft is rotatably supported via a bearing provided in the bearing hole for the input shaft, and the intermediate shaft is rotatably supported via a bearing provided in the bearing hole for the intermediate shaft stand by.

According to the gear transmission of the present invention, since the first gear and the second gear of the rotation direction changing mechanism can be rotatably supported by the common main casing, the pinching between the main casing and the first gear and the second gear is suppressed Components to suppress the accumulation of tolerances. As a result, it is possible to improve the meshing accuracy of the pair of gears meshed in the orthogonal state in order to change the rotation direction, thereby reducing the assembly cost.

Furthermore, in the gear transmission device, at least one of the bearing provided in the bearing hole for the input shaft and the bearing provided in the bearing hole for the intermediate shaft is partially protruded from the corresponding bearing hole And set.

According to this configuration, a part of the bearing protruding from the bearing hole can be used for positioning of the member, so that the operability of assembly can be improved.

Specifically, the bearing provided in the bearing hole for the input shaft is provided so as to partially protrude from the bearing hole for the input shaft. In addition, the first gear is located on the inner side of the main housing than the bearing provided in the bearing hole for the input shaft, and the input shaft faces the outside of the main housing from the bearing provided in the bearing hole for the input shaft Yan And a radial outer portion of the input shaft extending from the bearing toward the outside of the main housing is provided with a secondary housing covering the input shaft, the secondary housing can be locked to the protrusion of the bearing Part.

In this case, since the bearing can be used for positioning the sub-housing, the assembly workability can be improved.

According to the present invention, it is possible to improve the meshing accuracy of a pair of gears meshed in a state of being orthogonal in order to change the rotation direction, thereby reducing assembly cost.

1: gear transmission

10: main housing

11: Hole 1

11A: Bearing hole for input shaft

11B: 1st gear storage hole

11C: Step surface

12: hole 2

12A: entrance hole

12B: 2nd gear storage hole

12C: Bearing hole for relay shaft

13: Hole 3

14: hole 4/hole 4

16: The first flat surface

17: 2nd flat surface

18: Peripheral wall

20: Rotation direction changing mechanism

30: input shaft unit

31: input shaft

31A: Drive shaft insertion hole

32: 1st gear

33: 1st main bearing

34: 1st pair of bearings

35: auxiliary housing

40: Relay axis unit

41: Relay axis

41a: One end of the relay shaft

41b: the other end of the relay shaft

42: 2nd gear

43: 3rd gear

44: 2nd secondary bearing

45: 2nd main bearing

46: fixed plate

60: Intermediate gear mechanism

61: Center bearing

62: 4th gear

63: Flange

64: Shaft

65: 5th gear

66: Bearing engagement part

80: speed reduction mechanism

81: crank shaft

81a: Eccentric body

81b: Eccentric body

82a: External gear

82b: External gear

83: 6th gear

84a: Tapered roller bearing

84b: Tapered roller bearing

85a: Carrier

85b: Carrier

86: Bolt

86a: bevel ball bearing

86b: bevel ball bearing

87: columnar part

88: bolt

90: Internal gear

91: Bolt

92: board

93: tube

100: bevel ball bearing

L1: 1st axis

L2: 2nd axis

1 is a cross-sectional view of a gear transmission device according to an embodiment of the present invention.

2 is a cross-sectional view of the main housing of the gear transmission of FIG.

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

FIG. 1 shows a cross-sectional view of a gear transmission 1 according to an embodiment of the present invention. As shown in FIG. 1, the gear transmission 1 includes: a rotation direction conversion mechanism 20; a reduction mechanism 80; an intermediate gear mechanism 60 sandwiched between the rotation direction conversion mechanism 20 and the reduction mechanism 80; and each mechanism 20 is mounted 、60、80的Main housing 10.

The rotation direction changing mechanism 20 has an input shaft unit 30 and a relay shaft unit 40. In the gear transmission 1, the rotation output by the input shaft unit 30 is transmitted to the relay shaft unit 40. At this time, the rotation direction of the input shaft unit 30 is changed by the relay shaft unit 40. The rotation that changes direction through the relay shaft unit 40 is transmitted to the intermediate gear mechanism 60 and thereafter transmitted to the reduction mechanism 80.

FIG. 2 shows the main housing 10. As shown in FIG. 2, the main housing 10 is formed with: a first hole 11 for accommodating the input shaft unit 30; a second hole 12 for accommodating the relay shaft unit 40; and an intermediate gear mechanism 60 The third hole 13; and the fourth hole 14 for pulling out the wiring and the like to the outside of the gear transmission 1.

In FIG. 2, the symbol L1 represents the first axis. The first axis L1 is located on the rotation center of the rotation output from the speed reduction mechanism 80. Symbol L2 represents a second axis orthogonal to the first axis L1. The main housing 10 is formed with a first flat surface 16 on which the speed reduction mechanism 80 is placed and positioned; and a second flat surface 17 that abuts the installation surface when the gear transmission 1 is installed on the installation surface. The first flat surface 16 and the second flat surface 17 extend along the second axis L2.

Among the holes 11 to 14 described above, the first hole 11 extends along the second axis L2 from the outer side to the inner side of the main housing 10. The first hole 11 has: a bearing hole 11A for the input shaft located on the outer side of the main housing 10; and a first gear housing hole 11B located on the inner side of the main housing 10 and having a smaller diameter than the bearing hole 11A for the input shaft . A stepped surface 11C is formed between the bearing hole 11A for the input shaft and the first gear housing hole 11B.

The second hole 12 extends from the second flat surface 17 toward the first flat surface 16 along the first axis L1. The second hole 12 is formed in a position offset from the first axis L1 toward the first hole 11 along the direction of the second axis L2. The second hole 12 and the first hole 11 partially intersect, and a part of them communicate with each other. The second hole 12 has: an inlet hole 12A that opens to the second flat surface 17; a hole that is formed closer to the first flat surface 16 than the inlet hole 12 and communicates with the first hole 11 (first gear housing hole 11B) A second gear housing hole 12B; and a bearing hole 12C for a relay shaft formed on the first flat surface 16 side of the second gear housing hole 12B. The bearing hole 12C for the intermediate shaft is formed so as not to penetrate the first flat surface 16 side, but to face the outer peripheral portion of the first flat surface 16 across the wall portion of the main housing 10.

The third hole 13 is formed in a ring shape centered on the first axis L1. The third hole 13 and the second hole 12 partially intersect, and a part of them communicate with each other. In addition, the third hole 13 opens in the first flat surface 16. The fourth hole 14 is formed as a hole coaxial with the first axis L1 and is formed on the inner peripheral side of the third hole 13. Here, a cylindrical peripheral wall portion 18 that partitions the third hole 13 and the fourth hole 14 is formed in the main housing 10. The peripheral wall portion 18 extends from the second flat surface 17 toward the first flat surface 16 side. The inner peripheral portion of the third hole 13 is partitioned by the outer peripheral surface of the peripheral wall portion 18, and the outer peripheral portion of the fourth hole 14 is partitioned by the inner peripheral surface of the peripheral wall portion 18. The fourth hole 14 is located on the first flat surface 16 side of the peripheral wall portion 18 The ends are open and open on the second flat surface 17.

As shown in FIG. 1, the input shaft unit 30 includes: an input shaft 31; a first gear 32 provided at one end of the input shaft 31 and rotating integrally with the input shaft 31; The first gear 32 is closer to the first main bearing 33 at the other end side; the first sub-bearing 34 provided at the other end side of the input shaft 31; and inserted (externally embedded) in the first main bearing 33 and the first The auxiliary bearing 34 has an auxiliary casing 35 on the outer peripheral surface. In this embodiment, the first main bearing 33 and the first sub-bearing 34 are each configured as an angular ball bearing.

In the input shaft unit 30, the input shaft 31 is inserted into the first hole 11 from the first gear 32 side in a state where the first main bearing 33 is provided. The first gear 32 is arranged inside the first gear housing hole 11B in the first hole 11, and the first main bearing 33 is inserted (embedded) in the bearing hole 11A for the input shaft in the first hole 11, and by The level difference surface 11C abuts and is positioned. Thereby, the input shaft 31 is rotatably supported by the input shaft bearing hole 11A (main casing 10) from the radially outer side via the first main bearing 33. As a result, the first gear 31 is rotatably supported by the main housing 10. The input shaft 31 is formed with a drive shaft insertion hole 31A extending from the other end portion located on the outer side of the main housing 10 toward the one end portion side. A drive shaft of a motor (not shown) is inserted into the drive shaft insertion hole 31A. Thereby, the input shaft 31 rotates by the rotation of the motor.

The input shaft 31 extends from the first main bearing 33 to the outside of the main housing 10. The sub-case 35 is provided radially outward of a portion of the input shaft 31 that extends outward from the first main bearing 33 and is formed in a cylindrical shape that covers the input shaft 31 from the radially outer side. As shown in FIG. 1, the first main bearing 33 of the present embodiment is provided in such a manner that a part thereof protrudes outward from the input shaft bearing hole 11A in the axial direction. The sub-housing 35 has an opening at one end locked or inserted into the outer peripheral surface of the protruding portion of the first main bearing 33. As a result, the sub-case 35 is positioned using the first main bearing 33.

The sub-housing 35 is inserted into the outer peripheral surface of the first sub-bearing 34 provided on the other end of the input shaft 31 at the other end. As a result, the other end of the input shaft 31 is rotatably supported by the auxiliary housing 35 from the radially outer side via the first auxiliary bearing 34.

The sub-housing 35 is fastened to the main housing 10 by bolts (not shown) in a state where the opening at one end is locked to the first main bearing 33. With this, the input shaft unit 30 is fixed to the main housing 10.

The relay shaft unit 40 includes: a relay shaft 41; a second gear 42 and a third gear 43 which are provided between one end 41a and the other end 41b of the relay shaft 41 and rotate integrally with the relay shaft 41; A second auxiliary bearing 44 provided at one end 41a of the relay shaft 41; a second main bearing 45 provided at the other end 41b of the relay shaft 41; and connected to the relay shaft 41 via the second main bearing 45, and A fixing plate 46 for fixing the relay shaft unit 40 to the main housing 10.

The relay shaft 41 is arranged in a posture orthogonal to the input shaft 31. Similarly, the second gear 42 is arranged in a posture orthogonal to the first gear 31 and meshes with the first gear 32. The second gear 42 is provided on one end 41a side of the relay shaft 41, and the third gear 43 is provided on the other end 41b side of the relay shaft 41. In the present embodiment, the second sub-bearing 44 and the second main bearing 45 are each configured as an angular ball bearing.

The relay shaft unit 40 is inserted into the second hole 12 from the end 41a side of the relay shaft 41 in a state where the above-mentioned components are integrated. The second sub-bearing 44 provided at one end 41a of the relay shaft 41 is inserted (embedded) in the bearing hole 12C for the relay shaft in the second hole 12, and by contacting the bottom surface of the bearing hole 12C for the relay shaft Then positioned. In this state, the second gear 42 and the third gear 43 are arranged in the second gear accommodation hole 12B in the second hole 12, and the second gear 42 meshes with the first gear 32. In addition, the fixing plate 46 is fastened to the main housing 10 with bolts (not shown) in a state where the outer peripheral portion is in contact with the outer peripheral portion of the inlet hole 12A of the second hole 12. Thereby, the relay shaft unit 40 is fixed to the main housing 10.

In the present embodiment, the second sub-bearing 44 is provided in such a manner that a part of it protrudes from the intermediate shaft bearing hole 12C toward the outside of the intermediate shaft bearing hole 12C in the axial direction. Similarly, the second main bearing 45 is provided in such a manner that part of it protrudes from the bearing hole formed in the fixing plate 46 toward the outside of the bearing hole in the axial direction. In addition, the second sub-bearing 44 and the second main bearing 45 need not protrude from the corresponding bearing holes.

In the state where the relay shaft unit 40 is fixed to the main housing 10, as described above, one end 41 a of the relay shaft 41 is inserted into the bearing hole 12C for the relay shaft via the second sub-bearing 44. As a result, one end 41 a of the relay shaft 41 is rotatably supported by the relay shaft bearing hole 12C (main housing 10) from the radially outer side via the second sub-bearing 44. As a result, the second gear 42 is rotatably supported by the main housing 10.

On the other hand, the other end 41 b of the relay shaft 41 is rotatably supported by the fixing plate 46 from the radially outer side via the second main bearing 45. In this embodiment, the fixing plate 46 is fastened to the main housing 10 and supports the relay shaft 41 from the axial direction, thereby supporting the axial load of the relay shaft 41 and preventing the relay shaft unit 40 from the second hole 12 Fall off.

As described above, by fixing the input shaft unit 30 and the relay shaft unit 40 to the common main housing 10, the rotation direction changing mechanism 20 is completed. In the rotation direction changing mechanism 20, the first gear 32 of the input shaft 31 of the input shaft unit 30 meshes with the second gear 42 of the relay shaft 41 of the relay shaft unit 40. The input shaft 31 is orthogonal to the relay shaft 41. With this, the rotation direction of the input shaft 31 is changed. In addition, as the first gear 32 and the second gear 42, a bevel gear or a hypoid gear may be used. In addition, in the present embodiment, the third gear 43 is constituted by a spur gear.

The intermediate gear mechanism 60 has a fourth gear 62 that is rotatably supported by a center bearing 61 including a bevel ball bearing provided on the outer peripheral surface of the peripheral wall portion 18; an annular flange portion 63, the outer periphery of which The edge portion is fixed to the inner peripheral edge portion of the first flat surface 16 side of the fourth gear 62 by a bolt; the cylindrical shaft portion 64 extends from the inner peripheral edge portion of the flange portion 63 toward the first flat surface 16 along the first axis L1 The side extends; the fifth gear 65, which is provided on the outer periphery of the front end of the shaft portion 64; and the bearing engagement portion 66, which further extends from the front end of the shaft portion 64 along the first axis L1.

The fourth gear 62 is a flat gear and is housed inside the third hole 13 and meshes with the third gear 43 of the relay shaft unit 40. The flange portion 63 extends from the fixed position with the fourth gear 62 toward the peripheral wall portion 18 side, and the inner peripheral edge portion thereof is located opposite to the axial end portion of the peripheral wall portion 18. Shaft 64 extends from the inner peripheral edge portion of the flange portion 63 along the first axis L1 and is exposed to the outside from the first flat surface 16. In this embodiment, the flange portion 63, the shaft portion 64, the fifth gear 65, and the bearing engagement portion 66 are integrally formed.

In the intermediate gear mechanism 60, by the rotation of the third gear 43 of the relay shaft unit 40, the fourth gear 62 rotates about the first axis L1. As a result, the entire intermediate gear mechanism 60 rotates. In addition, the fifth gear 65 transmits rotation to the speed reduction mechanism 80. In this embodiment, the fifth gear 65 is constituted by a spur gear.

The speed reduction mechanism 80 has a crank shaft 81 formed with eccentric bodies 81a and 81b, and externally toothed gears 82a and 82b that engage with the eccentric bodies 81a and 81b and rotate around the crank shaft 81 as the crank shaft 81 rotates Revolving; the internal gear 90, which surrounds the external gear 82a, 82b, and has an internal gear pin meshing with the external gear. The number of teeth of the internal tooth pin is different from the number of teeth of the external tooth.

A sixth gear 83 that rotates integrally with the crank shaft 81 is fixed to the crank shaft 81. The sixth gear 83 meshes with the fifth gear 65 of the intermediate gear mechanism 60. The crank shaft 81 is supported by a pair of tapered roller bearings 84a, 84b so as to be rotatable relative to the carriers 85a, 85b, but cannot be displaced in the axial direction. When the crank shaft 81 rotates, the eccentric bodies 81a and 81b rotate eccentrically. When the eccentric bodies 81a and 81b rotate eccentrically, the external gears 82a and 82b revolve around the crank shaft 81.

The carriers 85a and 85b are arranged so as to sandwich the externally toothed gears 82a and 82b, and are fixed to each other by bolts 86. In the present embodiment, the carriers 85a and 85b support the internal gear 90 in a manner capable of rotating without being displaceable in the axial direction by a pair of angular ball bearings 86a and 86b. Also, a beveled ball bearing 100 is provided between the carrier 85a and the bearing engagement portion 66 of the intermediate gear mechanism 60. With the beveled ball bearing 100, the entire intermediate gear mechanism 60 is rotatably supported relative to the carrier 85a .

The carrier 85a has a columnar portion 87 for coupling with the carrier 85b. In addition, the aforementioned bolt 86 is inserted into the columnar portion 87. The columnar portion 87 passes through the through holes formed in the externally toothed gears 82a and 82b. Carriers 85a, 85b cannot pass through the crankshaft 81, and are not able to be connected to the externally toothed gears 82a, 82b Linked in rotation. In addition, not shown in the figure, the crank shaft 81 and the columnar portion 87 are formed in plural in the circumferential direction with respect to the center of the angular ball bearings 86a, 86b, and the external gear 82a, 82b is formed with a crank shaft A plurality of through holes through which 81 and the columnar portion 87 pass.

In this reduction mechanism 80, the number of external teeth of the externally toothed gears 82a, 82b is smaller than the number of teeth of the internally toothed pin (for example, one less). As a result, each time the crank shaft 81 rotates, the meshing of the external teeth and the internal gear pins is shifted, and the external gears 82 a and 82 b are eccentric and relatively swing and rotate relative to the internal gear 90. Here, in the present embodiment, the carrier 85a is fixed to the main housing 10 by bolts 88. Therefore, the rotation of the externally toothed gears 82a, 82b is restricted. Therefore, if the crank shaft 81 rotates, the external gears 82a and 82b revolve without rotating. During this revolution, the externally toothed gears 82a, 82b rotate the internally toothed gear 90 relative to the carriers 85a, 85b. As a result, the internal gear 90 rotates.

A plate 92 is fixed to the internal gear 90 with bolts 91. The speed reduction mechanism 80 outputs rotation using the plate 90 as an output shaft. A tube 93 is provided at the center of the plate 92. After passing through the speed reduction mechanism 80, the cylinder 93 passes through the shaft portion 64 of the intermediate gear mechanism 60 and the fourth hole 14, and reaches the second flat surface 17. Inside the barrel 93, a power cable or the like can be passed through.

The operation of the gear transmission 1 of this embodiment will be described below. With respect to the gear transmission 1, in the rotation direction conversion mechanism 20, if the input shaft 31 rotates by the rotation of the drive shaft of the motor (not shown), the first gear 32 rotates integrally with the input shaft 31. The rotation of the first gear 32 causes the second gear 42 of the relay shaft 41 to rotate, so that the relay shaft 41 rotates. As a result, the third gear 43 also rotates. When the rotation of the input shaft 31 is transmitted from the first gear 32 to the second gear 42, the rotation direction is changed by the first gear 32 and the second gear 42.

The rotation of the relay shaft 41 is input from the fourth gear 62 to the intermediate gear mechanism 60, and after the rotation speed is converted, it is output from the fifth gear 65. In addition, the rotation of the fifth gear 65 is transmitted to the crankshaft 81 via the sixth gear 83. The crank shaft 81 rotates around its central axis, and makes the eccentric bodies 81a, 81b revolve around the aforementioned central axis. When the eccentric bodies 81a and 81b revolve, the externally toothed gears 82a and 82b revolve in a state of meshing with the internally toothed gear 90 via the internally toothed pins. In this embodiment, the rotation of the externally toothed gears 82a, 82b is restricted. Therefore, if the external teeth When the wheels 82a and 82b revolve in the state of meshing with the internal gear 90, the internal gear 90 rotates because the number of teeth of the external gear 82a and 82b and the internal gear 90 are different.

(effect)

With respect to the gear transmission 1 of the present embodiment described above, in the rotation direction changing mechanism 20, the first gear 32 and the second gear 42 are supported by the main housing 10 so as to be rotatable. Specifically, the first gear 32 is provided on the input shaft 31 and rotates integrally with the input shaft 31; the second gear 42 is provided on the relay shaft 41 and rotates integrally with the relay shaft 41; relay The shaft 41 is arranged in a posture orthogonal to the input shaft 31. The input shaft 31 is rotatably supported by the main housing 10 via the first main bearing 33 provided in the input shaft bearing hole 11A formed in the main housing 10, whereby the first gear 32 is rotatably supported by the main housing Body 10 support. The relay shaft 41 is rotatably supported by the main housing 10 via the second sub-bearing 44 provided in the relay shaft bearing hole 12C formed in the main housing 10, whereby the second gear 42 is rotatable The main housing 10 supports.

According to this configuration, since the first gear 32 and the second gear 42 of the rotation direction changing mechanism 20 can be rotatably supported by the common main casing 10, it is possible to suppress the pinching between the main casing 10 and the first gear 32 and the first gear 32. 2 Components between the gears 42 to suppress the accumulation of tolerances. As a result, it is possible to improve the meshing accuracy of a pair of gears meshed in an orthogonal state to change the direction of rotation, thereby reducing the time and effort required for the adjustment work for obtaining the desired accuracy, and thereby reducing the assembly cost.

In particular, under normal circumstances, since the inner ring and the outer ring of the bearing are precision-processed, the outer peripheral surface of the first main bearing 33 is inserted into the inner peripheral surface of the bearing hole 11A for the input shaft. The structure supported by the inner peripheral surface of the main bearing 33 can suppress the processing cost in order to obtain a desired centering state.

In addition, the first gear 32 is located closer to the inner side of the main housing 10 than the first main bearing 33 provided in the bearing hole 11A for the input shaft, and the input shaft 31 extends from the first main bearing 33 toward the outside of the main housing 10 . The portion of the input shaft 31 that extends from the first main bearing 33 toward the outside of the main housing 10 On the radially outer side of the subdivision, a sub-case 35 covering the input shaft 31 is provided, and the sub-case 35 is locked to a portion protruding from the input shaft bearing hole 11A of the first main bearing 33. Therefore, according to the present embodiment, since the first main bearing 33 can be used for positioning of the sub-housing 35, there is also an effect that the operability of assembly can be improved.

In the above, one embodiment of the present invention has been described, but the present invention is not limited to the above embodiment.

For example, in the above embodiment, the rotation of the carrier 85a is restricted, the rotation of the external gears 82a and 82b is restricted, and the internal gear 90 is rotated. However, the present invention can also be applied to the structure where the rotation of the internal gear 90 is restricted and the carriers 85a, 85b rotate.

1‧‧‧ gear transmission

10‧‧‧Main housing

11‧‧‧ First hole

11A‧‧‧Bearing hole for input shaft

11B‧‧‧1st gear storage hole

11C‧‧‧step difference surface

12A‧‧‧Inlet

12B‧‧‧Second gear storage hole

12C‧‧‧Bearing hole for relay shaft

16‧‧‧The first flat surface

17‧‧‧2nd flat surface

20‧‧‧Rotation direction changing mechanism

30‧‧‧ Input shaft unit

31‧‧‧ input shaft

31A‧‧‧Drive shaft insertion hole

32‧‧‧1st gear

33‧‧‧ 1st main bearing

34‧‧‧First pair of bearings

35‧‧‧Sub-housing

40‧‧‧Relay axis unit

41‧‧‧ Relay shaft

41a‧‧‧One end of relay shaft

41b‧‧‧The other end of the relay shaft

42‧‧‧ 2nd gear

43‧‧‧3rd gear

44‧‧‧Second secondary bearing

45‧‧‧ 2nd main bearing

46‧‧‧Fixed board

60‧‧‧Intermediate gear mechanism

61‧‧‧Center bearing

62‧‧‧4th gear

63‧‧‧Flange

64‧‧‧Shaft

65‧‧‧ 5th gear

66‧‧‧ Bearing engagement

80‧‧‧Reduction mechanism

81‧‧‧Crankshaft

81a‧‧‧Eccentric body

81b‧‧‧Eccentric body

82a‧‧‧External gear

82b‧‧‧External gear

83‧‧‧ 6th gear

84a‧‧‧Tapered roller bearing

84b‧‧‧Tapered roller bearing

85a‧‧‧Carrier

85b‧‧‧Carrier

86‧‧‧bolt

86a‧‧‧Bevel ball bearing

86b‧‧‧Bevel ball bearing

87‧‧‧Column

88‧‧‧bolt

90‧‧‧ Internal gear

91‧‧‧bolt

92‧‧‧ board

93‧‧‧tube

100‧‧‧Bevel ball bearing

L1‧‧‧ 1st axis

Claims (4)

A gear transmission device includes: a rotation direction conversion mechanism; a speed reduction mechanism; and a main casing, which is mounted with the rotation direction conversion mechanism and the speed reduction mechanism; and the rotation direction conversion mechanism has: a first gear; and a second gear , Which is arranged in a posture orthogonal to the first gear and meshed with the first gear; the speed reduction mechanism has an output shaft, and the rotation transmitted from the first gear to the second gear is output from the output shaft The first gear train is provided on the input shaft and rotates integrally with the input shaft; the second gear train is provided on the relay shaft and rotates integrally with the relay shaft; the relay shaft is connected with the input The shafts are arranged in an orthogonal posture; the main housing has an input shaft bearing hole for inserting the input shaft, and a relay shaft bearing hole for inserting the relay shaft; the input shaft is rotatably supported by the input A bearing hole for the shaft, whereby the first gear is rotatably supported by the main housing; the intermediate shaft is rotatably supported by the bearing hole for the intermediate shaft, whereby the second gear is rotatably supported by the main shaft Supported by the housing; when viewed in the axial direction of the input shaft, the bearing hole for the intermediate shaft is arranged at a position overlapping with the first gear; and the second gear is provided at one end of the intermediate shaft and another Between one end, and one end of the intermediate shaft is inserted into the bearing hole for the intermediate shaft; and the rotation transmitted from the first gear to the second gear is more from the intermediate shaft than the second gear Transmit to the deceleration mechanism by the position of the other end side; In addition, the main housing mounts the speed reduction mechanism on a side opposite to the second gear side through the bearing hole for the intermediate shaft. The gear transmission of claim 1, wherein the input shaft is rotatably supported via a bearing provided in the bearing hole for the input shaft, and the relay shaft is rotatable via a bearing provided in the bearing hole for the relay shaft Is supported. The gear transmission device according to claim 2, wherein at least one of the bearing provided in the bearing hole for the input shaft and the bearing provided in the bearing hole for the relay shaft partially protrudes from the corresponding bearing hole Way. The gear transmission device according to claim 3, wherein the bearing provided in the bearing hole for the input shaft is provided in such a manner as to partially protrude from the bearing hole for the input shaft; the first gear is located closer to the bearing for the input shaft The bearing of the hole is closer to the inner side of the main housing, the input shaft extends from the bearing provided in the bearing hole for the input shaft toward the outside of the main housing; the input shaft from the bearing toward the main housing A radial outer side of the portion extending outside the body is provided with a sub-housing covering the input shaft; and the sub-housing is locked to the protruding portion of the bearing.

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