JP2016200263A - Gear transmission device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a gear transmission device which enables improvement of the engagement accuracy of a pair of gears which engage with each other in an orthogonal state to convert a rotation direction and thereby reduces the assembly cost.SOLUTION: A gear transmission device 1 includes: a rotation direction conversion mechanism 20; a speed reduction mechanism 80; and a main housing 10 to which the rotation direction conversion mechanism 20 and the speed reduction mechanism 80 are attached. The rotation direction conversion mechanism 20 has a first gear 32 and a second gear 42 arranged in an attitude perpendicular to the first gear 32 and configured to engage with the first gear 32. The speed reduction mechanism 80 has an output shaft and outputs rotation transmitted from the first gear 32 to the second gear 42 from the output shaft. Each of the first gear 32 and the second gear 42 is supported on the main housing 10 so as to autorotate.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a gear transmission.

  A carrier that rotatably holds the crankshaft, an external gear that engages with the crankshaft, and an internal gear that has a different number of teeth from the external gear, and the external gear is oscillated within the internal gear. A deceleration mechanism is known. In such a speed reduction mechanism, an eccentric body is provided on the crankshaft, and the eccentric body is engaged with the external gear. When the crankshaft rotates, the eccentric body rotates eccentrically, and the external gear engaged with the eccentric body swings.

  In such a speed reduction mechanism, when the rotation of the external gear is restricted by restricting the rotation of the carrier, the internal gear rotates. In such a configuration, the rotation of the crankshaft can be decelerated and output using the internal gear as an output shaft. When the rotation of the internal gear is constrained without constraining the rotation of the carrier, the external gear rotates while revolving. In this case, the carrier connected to the external gear via the crankshaft also rotates. In such a configuration, the rotation of the crankshaft can be decelerated and output using the carrier as the output shaft.

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

  In industrial robots and machine tools, a configuration in which the rotation axis of the motor and the output shaft of the speed reduction mechanism are orthogonal may be desired. In this case, generally, a relay shaft arranged in a posture orthogonal to an input shaft to which motor torque is input is used. Specifically, a mechanism is used in which a gear provided on the input shaft and a gear provided on the relay shaft are meshed to change the rotation direction of the input shaft. A gear transmission in which such a rotation direction conversion mechanism and a speed reduction mechanism are combined is incorporated into a robot or the like. By meshing a pair of bevel gears or a pair of hypoid gears, torque can be transmitted from the input shaft arranged orthogonally to the relay shaft. For example, Patent Document 1 discloses this type of gear transmission.

International Publication No. 2007/125835

  In the gear transmission disclosed in Patent Literature 1 described above, a housing that holds an input shaft, a housing that holds a relay shaft, and a speed reduction mechanism are attached to a pedestal placed on a floor surface or the like. . The housing that holds the input shaft holds the input shaft through a bearing inside thereof. The housing is fastened to the pedestal while being inserted into a hole formed in the pedestal.

  However, in this configuration, the hole formed in the pedestal and the outer peripheral surface of the housing are in contact with each other, the inner peripheral surface of the housing is in contact with the outer ring of the bearing, and the inner ring of the bearing is in contact with the outer peripheral surface of the input shaft. As a result, since the tolerances of a large number of elements are accumulated, the meshing accuracy between the input shaft gear and the relay shaft gear tends to decrease. For this reason, adjustment work for obtaining a desired accuracy is time-consuming and assembly costs may increase.

  The present invention has been made in consideration of the above circumstances, and provides a gear transmission that can reduce assembly costs by improving the meshing accuracy of a pair of gears that mesh in a perpendicular state for changing the rotation direction. The purpose is to do.

  The present invention includes a rotation direction conversion mechanism, a speed reduction mechanism, and a main housing to which the rotation direction conversion mechanism and the speed reduction mechanism are attached. The rotation direction conversion mechanism is provided on the first gear and the first gear. A second gear arranged in an orthogonal posture and meshing 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 the output. Each of the first gear and the second gear is a gear transmission that is rotatably supported by the main housing.

In the gear transmission, the first gear is provided on the input shaft and rotates integrally with the input shaft, and the second gear is provided on the relay shaft and rotates integrally with the relay shaft, and the relay The shaft is arranged in a posture orthogonal to the input shaft, and the main housing has an input shaft bearing hole into which the input shaft is inserted and a relay shaft bearing hole into which the relay shaft is inserted. The input shaft is rotatably supported in the input shaft bearing hole, whereby the first gear is rotatably supported in the main housing, and the relay shaft is rotatable in the relay shaft bearing hole. By being supported, the second gear may be rotatably supported by the main housing.
More specifically, the input shaft is rotatably supported via a bearing provided in the input shaft bearing hole, and the relay shaft is rotated via a bearing provided in the relay shaft bearing hole. It may be supported as possible.

  According to the gear transmission of the present invention, the main housing, the first gear, and the second gear are supported on the common main housing by the first gear and the second gear in the rotation direction conversion mechanism so as to be able to rotate. The accumulation of tolerances is suppressed by suppressing the intervening elements. As a result, the assembly cost can be reduced by improving the meshing accuracy of the pair of gears meshed in a state of being orthogonal to each other in order to change the rotation direction.

Further, in the gear transmission, at least one of a bearing provided in the input shaft bearing hole and a bearing provided in the relay shaft bearing hole may be partially protruded from the corresponding bearing hole. May be provided.
According to this configuration, a part of the bearing protruding from the bearing hole can be used for positioning the member, and the assembling workability can be improved.
Specifically, the bearing provided in the input shaft bearing hole may be provided so that a part thereof protrudes from the input shaft bearing hole. The first gear is positioned on the inner side of the main housing with respect to the bearing provided in the input shaft bearing hole, and the input shaft is connected to the main shaft from the bearing provided in the input shaft bearing hole. A sub-housing that covers the input shaft is provided on a radially outer side of a portion of the input shaft that extends from the bearing to the outside of the main housing, and the sub-housing is formed on the bearing. It may be locked to the protruding portion.
In such a case, since the bearing can be used for positioning the sub-housing, the workability of the assembly can be improved.

  According to the present invention, the assembly cost can be reduced by improving the meshing accuracy of a pair of gears meshed in a state orthogonal to each other for conversion of the rotation direction.

It is sectional drawing of the gear transmission which concerns on one embodiment of this invention. It is sectional drawing of the main housing of the gear transmission of FIG.

  Hereinafter, an embodiment of the present invention will be described 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 speed reduction mechanism 80, an intermediate gear mechanism 60 interposed between the rotation direction conversion mechanism 20 and the speed reduction mechanism 80, each mechanism 20, And main housing 10 to which 60 and 80 are attached.

  The rotation direction conversion mechanism 20 includes an input shaft unit 30 and a relay shaft unit 40. In the gear transmission 1, the rotation output from 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 converted by the relay shaft unit 40. The rotation whose direction is changed by the relay shaft unit 40 is transmitted to the intermediate gear mechanism 60 and then transmitted to the speed reduction mechanism 80.

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

  In FIG. 2, the code | symbol L1 has shown the 1st axis line. The first axis L1 is located on the rotation center of the rotation output from the speed reduction mechanism 80. Reference sign L2 indicates a second axis perpendicular to the first axis L1. The main housing 10 includes a first flat surface 16 on which the speed reduction mechanism 80 is placed and positioned, and a second flat surface 17 that comes into contact with the installation surface when the gear transmission 1 is installed on the installation surface. Is formed. The first flat surface 16 and the second flat surface 17 extend along the second axis L2.

  Of the holes 11 to 14 described above, the first hole 11 extends from the outside of the main housing 10 toward the inside along the second axis L2. The first hole 11 has an input shaft bearing hole 11A located on the outer side of the main housing 10, and a first gear receiving hole 11B located on the inner side of the main housing 10 and having a smaller diameter than the input shaft bearing hole 11A. ,have. A step surface 11C is formed between the input shaft bearing hole 11A 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 2nd hole 12 is formed in the position offset from the 1st axis L1 to the 1st hole 11 side along the 2nd axis L2 direction. The second hole 12 and the first hole 11 partially intersect, and partially communicate with each other. The second hole 12 is formed on the first flat surface 16 side with respect to the inlet hole 12A opening at the second flat surface 17, and communicates with the first hole 11 (first gear housing hole 11B). It has the 2nd gear accommodation hole 12B, and the relay shaft bearing hole 12C formed in the 1st flat surface 16 side rather than the 2nd gear accommodation hole 12B. The relay shaft bearing hole 12 </ b> C is formed so as not to penetrate the first flat surface 16 side and to face the outer peripheral side portion of the first flat surface 16 across the wall portion of the main housing 10.

  The third hole 13 is formed in an annular shape centered on the first axis L1. The third hole 13 and the second hole 12 partially intersect, and partially communicate with each other. The third hole 13 is opened at the first flat surface 16. The fourth hole 14 is a hole formed coaxially with the first axis L <b> 1 and is formed on the inner peripheral side of the third hole 13. Here, the main housing 10 is formed with a cylindrical peripheral wall 18 that partitions the third hole 13 and the fourth hole 14. The peripheral wall 18 extends from the second flat surface 17 to the first flat surface 16 side. The inner peripheral portion of the third hole 13 is defined by the outer peripheral surface of the second peripheral wall portion 18, and the outer peripheral portion of the fourth hole 14 is defined by the inner peripheral surface of the peripheral wall portion 18. The fourth hole 14 opens at the end of the peripheral wall 18 on the first flat surface 16 side and opens at the second flat surface 17.

  As shown in FIG. 1, the input shaft unit 30 includes an input shaft 31, a first gear 32 that is provided at one end of the input shaft 31 and rotates integrally with the input shaft 31, and a first gear 32 at one end of the input shaft 31. A first main bearing 33 provided on the other end side of the one gear 32, a first sub bearing 34 provided on the other end side of the input shaft 31, the first main bearing 33 and the first sub bearing 34. And a sub-housing 35 inserted (externally fitted) on the outer peripheral surface. Each of the first main bearing 33 and the first sub bearing 34 is configured as an angular ball bearing in the present embodiment.

  In the input shaft unit 30, the input shaft 31 is inserted into the first hole 11 from the first gear 32 side with the first main bearing 33 provided. The first gear 32 is disposed inside the first gear receiving hole 11B of the first hole 11, and the first main bearing 33 is inserted into the input shaft bearing hole 11A of the first hole 11 (internally fitted). And is positioned by contacting the step surface 11C. Thus, the input shaft 31 is supported from the radially outer side through the first main bearing 33 so as to be able to rotate in the input shaft bearing hole 11A (main housing 10). As a result, the first gear 31 is supported by the main housing 10 so as to be able to rotate. The input shaft 31 is formed with a drive shaft insertion hole 31 </ b> A that extends from the other end located on the outer side of the main housing 10 toward one end. A drive shaft of a motor (not shown) is inserted into the drive shaft insertion hole 31A. Thereby, the input shaft 31 rotates by rotation of a motor.

  The input shaft 31 extends from the first main bearing 33 toward the outside of the main housing 10. The sub-housing 35 is provided on the radially outer side of the portion of the input shaft 31 that extends from the first main bearing 33 to the outside, 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 so that a part thereof protrudes from the input shaft bearing hole 11 </ b> A to the outside along the axial direction. The sub housing 35 has an opening at one end thereof engaged or inserted into the outer peripheral surface of the protruding portion of the first main bearing 33. Accordingly, the sub housing 35 is positioned by 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 side of the input shaft 31 on the other end side. Thus, the other end of the input shaft 31 is supported from the radially outer side so as to be able to rotate on the sub housing 35 via the first sub bearing 34. The sub-housing 35 is fastened to the main housing 10 with a bolt (not shown) in a state where an opening at one end thereof is locked to the first main bearing 33. Thereby, 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 that are provided between one end 41 a and the other end 41 b of the relay shaft 41, and rotate together with the relay shaft 41. A second sub-bearing 44 provided at one end 41a of 41, a second main bearing 45 provided at the other end 41b of the relay shaft 41, and 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 the one end 41 a side of the relay shaft 41, and the third gear 43 is provided on the other end 41 b side of the relay shaft 41. Each of the second sub bearing 44 and the second main bearing 45 is configured as an angular ball bearing in the present embodiment.

  The relay shaft unit 40 is inserted into the second hole 12 from the one end 41a side of the relay shaft 41 in a state where the above-described members are integrated. The second sub-bearing 44 provided at the one end 41a of the relay shaft 41 is inserted (internally fitted) into the relay shaft bearing hole 12C in the second hole 12, and contacts the bottom surface of the relay shaft bearing hole 12C. Is positioned. In this state, the second gear 42 and the third gear 43 are disposed in the second gear accommodation hole 12 </ b> B of the second hole 12, and the second gear 42 is engaged with the first gear 32. The fixing plate 46 is fastened to the main housing 10 with a bolt (not shown) in a state where the outer peripheral portion thereof is in contact with the outer peripheral edge portion of the inlet hole 12 </ b> A in 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 so that a part thereof protrudes from the relay shaft bearing hole 12C to the outside of the hole 12C along the axial direction. Similarly, the second main bearing 45 is provided so that a part thereof projects from the bearing hole formed in the fixed plate 46 to the outside of the hole along the axial direction. The second sub bearing 44 and the second main bearing 45 may not protrude from the corresponding bearing holes.

  In a state where the relay shaft unit 40 is fixed to the main housing 10, as described above, the one end portion 41 a of the relay shaft 41 is inserted into the relay shaft bearing hole 12 </ b> C via the second sub-bearing 44. Thus, the one end portion 41 a of the relay shaft 41 is supported from the radially outer side via the second sub bearing 44 so as to be able to rotate in the relay shaft bearing hole 12 </ b> C (main housing 10). As a result, the second gear 42 is supported by the main housing 10 so as to be able to rotate. On the other hand, the other end 41b of the relay shaft 41 is supported from the outside in the radial direction so as to be capable of rotating on the fixed plate 46 via the second main bearing 45. In the present embodiment, the fixed plate 46 is fastened to the main housing 10 to support the relay shaft 41 from the axial direction, thereby supporting the axial load of the relay shaft 41 and the second hole 12 of the relay shaft unit 40. Prevents falling off.

  As described above, the rotation direction conversion mechanism 20 is completed by fixing the input shaft unit 30 and the relay shaft unit 40 to the common main housing 10. In the rotation direction conversion 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 and the relay shaft 41 are orthogonal to each other. Thereby, the rotation direction of the input shaft 31 is converted. The first gear 32 and the second gear 42 may be bevel gears or hypoid gears. The third gear 43 is configured as a spur gear in the present embodiment.

  The intermediate gear mechanism 60 includes a fourth gear 62 that is rotatably supported by a center bearing 61 that is an angular ball bearing provided on the outer peripheral surface of the peripheral wall portion 18, and an inner gear on the first flat surface 16 side of the fourth gear 62. An annular collar 63 whose outer peripheral edge is fixed to the peripheral edge by a bolt, and a cylindrical shaft 64 extending from the inner peripheral edge of the collar 63 to the first flat surface 16 side along the first axis L1. And a fifth gear 65 provided on the outer peripheral portion of the distal end portion of the shaft portion 64, and a bearing engaging portion 66 that further extends from the distal end portion of the shaft portion 64 along the first axis L1.

  The fourth gear 62 is a spur gear, is housed in the third hole 13, and meshes with the third gear 43 of the relay shaft unit 40. The collar portion 63 extends from the position fixed to the fourth gear 62 toward the peripheral wall portion 18, and the inner peripheral edge portion thereof is positioned to face the axial end portion of the peripheral wall portion 18. The shaft portion 64 extends from the inner peripheral edge of the collar portion 63 along the first axis L1 and is exposed to the outside from the first flat surface 16. In the present embodiment, the collar portion 63, the shaft portion 64, the fifth gear 65, and the bearing engaging portion 66 are integrally formed.

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

  The speed reduction mechanism 80 includes a crankshaft 81 formed with eccentric bodies 81a and 81b, and an external gear 82a that engages with the eccentric bodies 81a and 81b and revolves around the crankshaft 81 as the crankshaft 81 rotates. , 82b and an internal gear 90 provided with an internal tooth pin surrounding the external gears 82a, 82b and meshing with the external teeth. 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 together with the crankshaft 81 is fixed to the crankshaft 81. The sixth gear 83 meshes with the fifth gear 65 of the intermediate gear mechanism 60. The crankshaft 81 is supported by a pair of tapered roller bearings 84a and 84b so as to be able to rotate with respect to the carriers 85a and 85b and not to be displaced in the axial direction. When the crankshaft 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 crankshaft 81.

  The carriers 85a and 85b are arranged so as to sandwich the external 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 such that the internal gear 90 can rotate and cannot be displaced in the axial direction by the pair of angular ball bearings 86a and 86b. An angular ball bearing 100 is provided between the carrier 85a and the bearing engaging portion 66 of the intermediate gear mechanism 60. The angular ball bearing 100 supports the entire intermediate gear mechanism 60 so that it can rotate with respect to the carrier 85a. Has been.

  The carrier 85a has a columnar portion 87 for connection with the carrier 85b. The above-described bolt 86 is inserted into the columnar portion 87. The columnar portion 87 passes through the through holes formed in the external gears 82a and 82b. The carriers 85a and 85b are connected to the external gears 82a and 82b through the crankshaft 81 so as not to rotate. Although not shown, a plurality of crankshafts 81 and columnar portions 87 are formed in the circumferential direction with respect to the centers of the angular ball bearings 86a and 86b, and the external gears 82a and 82b pass through the crankshaft 81 and the columnar portions 87. A plurality of through holes are formed.

  In the speed reduction mechanism 80, the number of external teeth of the external gears 82a and 82b is smaller than the number of internal teeth pins (for example, one less). Thus, each time the crankshaft 81 rotates, the meshing between the external teeth and the internal teeth pins is shifted, and the external gears 82a and 82b are eccentric and rotate relative to the internal gear 90. Here, in the present embodiment, the carrier 85 a is fixed to the main housing 10 by the bolt 88. Therefore, the rotation of the external gears 82a and 82b is restricted. Therefore, when the crankshaft 81 rotates, the external gears 82a and 82b revolve without rotating. During this revolution, the external gears 82a and 82b rotate the internal gear 90 relative to the carriers 85a and 85b. Thereby, the internal gear 90 rotates.

  A plate 92 is fixed to the internal gear 90 by bolts 91. The speed reduction mechanism 80 outputs rotation about the plate 90 as an output shaft. A cylinder 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 and the fourth hole 14 of the intermediate gear mechanism 60 and reaches the second flat surface 17. A power cable or the like can be passed through the cylinder 93.

  Operation | movement of the gear transmission 1 which concerns on this Embodiment is demonstrated. In the gear transmission 1, in the rotation direction conversion mechanism 20, when the input shaft 31 rotates due to rotation of a drive shaft of a motor (not shown), the first gear 32 rotates together with the input shaft 31. The rotation of the first gear 32 causes the second gear 42 of the relay shaft 41 to rotate, and the relay shaft 41 rotates. Thereby, the 3rd gearwheel 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 converted 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 is output from the fifth gear 65 after the rotation speed is converted. Then, the rotation of the fifth gear 65 is transmitted to the crankshaft 81 via the sixth gear 83. The crankshaft 81 rotates around its central axis and causes the eccentric bodies 81a and 81b to revolve around the central axis. When the eccentric bodies 81a and 81b revolve, the external gears 82a and 82b revolve in a state where they are engaged with the internal gear 90 via internal pins. In the present embodiment, the rotation of the external gears 82a and 82b is restricted. Accordingly, when the external gears 82a and 82b revolve in a state where they are engaged with the internal gear 90, the external gears 82a and 82b and the internal gear 90 have different numbers of teeth, so that the internal gear 90 rotates.

(effect)
In the gear transmission 1 of the present embodiment described above, in the rotation direction conversion mechanism 20, each of the first gear 32 and the second gear 42 is supported on the main housing 10 so as to be capable of rotating. Specifically, the first gear 32 is provided on the input shaft 31 and rotates together with the input shaft 31, and the second gear 42 is provided on the relay shaft 41, and rotates together with the relay shaft 41. Are 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 11 </ b> A formed in the main housing 10, so that the first gear 32 is rotated in the main housing 10. Is supported to be able to rotate. The relay shaft 41 is rotatably supported by the main housing 10 via a second sub-bearing 44 provided in a relay shaft bearing hole 12 </ b> C formed in the main housing 10, so that the second gear 42 is rotated in the main housing 10. Is supported to be able to rotate.

  According to this configuration, the first main gear 32 and the second gear 42 in the rotation direction conversion mechanism 20 are supported on the common main housing 10 so as to be able to rotate, whereby the main housing 10, the first gear 32 and the second gear 42 are supported. By suppressing the elements interposed between the gears 42, the accumulation of tolerances is suppressed. As a result, it is possible to improve the meshing accuracy of the pair of gears that mesh in a perpendicular state for changing the rotation direction, thereby reducing the labor of adjustment work for obtaining a desired accuracy and reducing the assembling cost.

  In particular, since the inner ring and the outer ring of the bearing are usually processed precisely, the outer peripheral surface of the first main bearing 33 is inserted into the inner peripheral surface of the input shaft bearing hole 11A. According to the configuration in which the input shaft 31 is supported on the peripheral surface, the processing cost for obtaining a desired centering state can be suppressed.

  The first gear 32 is located on the inner side of the main housing 10 relative to the first main bearing 33 provided in the input shaft bearing hole 11 </ b> A, and the input shaft 31 extends from the first main bearing 33 to the main housing 10. It extends to the outside. A sub-housing 35 that covers the input shaft 31 is provided outside the portion of the input shaft 31 that extends from the first main bearing 33 to the outside of the main housing 10, and the sub-housing 35 is input to the first main bearing 33. It is locked to a portion protruding from the shaft bearing hole 11A. Thereby, according to this Embodiment, since the 1st main bearing 33 can be utilized for positioning of the subhousing 35, there also exists an effect that the workability | operativity of an assembly can be improved.

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

  For example, in the above-described embodiment, the configuration in which the rotation of the external gears 82a and 82b is constrained and the internal gear 90 rotates by constraining the rotation of the carrier 85a. However, the present invention can also be applied to a configuration in which the carriers 85a and 85b rotate when the rotation of the internal gear 90 is restricted.

DESCRIPTION OF SYMBOLS 1 Gear transmission 10 Main housing 11A Input shaft bearing hole 12C Relay shaft bearing hole 20 Rotation direction conversion mechanism 30 Input shaft unit 31 Input shaft 32 First gear 33 First main bearing 35 Sub housing 40 Relay shaft unit 41 Relay shaft 42 Second gear 43 Third gear 80 Reduction mechanism

Claims (5)

A rotation direction changing mechanism;
A deceleration mechanism;
A main housing to which the rotation direction conversion mechanism and the speed reduction mechanism are attached;
With
The rotational direction conversion mechanism includes a first gear and a second gear that is arranged in a posture orthogonal to the first gear and meshes with the first gear,
The speed reduction mechanism has an output shaft, and outputs the rotation transmitted from the first gear to the second gear from the output shaft,
Each of the first gear and the second gear is a gear transmission that is rotatably supported by the main housing. The first gear is provided on the input shaft and rotates integrally with the input shaft.
The second gear is provided on the relay shaft and rotates integrally with the relay shaft, and the relay 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 a relay shaft bearing hole into which the relay shaft is inserted,
The input shaft is supported by the input shaft bearing hole so as to be capable of rotating, whereby the first gear is supported by the main housing so as to be capable of rotating, and the relay shaft is supported by the relay shaft bearing hole so as to be capable of rotating. The gear transmission according to claim 1, wherein the second gear is supported by the main housing so as to be capable of rotating.   The input shaft is rotatably supported via a bearing provided in the input shaft bearing hole, and the relay shaft is rotatably supported via a bearing provided in the relay shaft bearing hole. The gear transmission according to claim 2.   The bearing provided in the bearing hole for the input shaft and at least one of the bearings provided in the bearing hole for the relay shaft are provided so that a part thereof protrudes from the corresponding bearing hole. 3. The gear transmission according to 3. The bearing provided in the input shaft bearing hole is provided so that a part thereof protrudes from the input shaft bearing hole,
The first gear is located on the inner side of the main housing with respect to the bearing provided in the input shaft bearing hole, and the input shaft is connected to the main housing from the bearing provided in the input shaft bearing hole. Extending outside,
A sub-housing that covers the input shaft is provided on the radially outer side of the portion of the input shaft that extends from the bearing to the outside of the main housing,
The gear transmission according to claim 4, wherein the sub-housing is locked to a protruding portion of the bearing.

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