JP2019158144A - Transmission device - Google Patents

Abstract

A transmission device that can be made compact is provided. A transmission device according to the present invention is provided with a first gear 2 connected to a drive source, an outer peripheral surface provided with external teeth 6 that mesh with the first gear, and an internal tooth 4. A ring gear 3 having an inner peripheral surface, a second gear 1 that meshes with the inner teeth of the ring gear, a speed reduction portion that decelerates and outputs an input from the second gear, and a rotation based on the ring gear A bearing 13 that supports the bearing 13 and a seal member 16 provided between the rotary shaft of the ring gear and the bearing are provided. [Selection] Figure 3

Description

  The present invention relates to a transmission device (for example, a reducer) that transmits a rotational driving force to a counterpart device.

  Conventionally, a transmission device that transmits a driving force from a driving source to a counterpart device is known. The counterpart device is, for example, an industrial robot or a turntable. As an example of a conventional transmission device, Patent Document 1 discloses a planetary gear reducer used in a drive mechanism for driving a wrist of an industrial robot. This planetary gear reducer decelerates and transmits the rotational driving force input from a drive motor as a drive source to the wrist of the robot.

  The planetary gear reducer includes a ring gear to which a rotational driving force from a drive motor is input, three pinion gears that mesh with the ring gear, a reduction unit that decelerates the rotation input from the pinion gear and outputs it to the wrist of the robot; have. The ring gear includes external teeth and internal teeth. A small gear attached to the output shaft of the drive motor meshes with the outer teeth of the ring gear. The above three pinion gears mesh with the inner teeth of the ring gear. The ring gear is rotatably supported by the case via a bearing provided on the radially outer side.

JP 02-048193 A

  In the wrist drive mechanism disclosed in Patent Document 1, the rotation shaft of the ring gear is provided in parallel with the rotation shaft of the drive source. For this reason, a drive source is arrange | positioned in the position shifted from the reduction gear in the direction along the rotating shaft of a ring gear. Therefore, in the above conventional reduction gear, the reduction gear and the drive source cannot be compactly arranged in the direction along the rotation axis of the ring gear.

  Further, in the above planetary gear speed reducer, the bearing that supports the ring gear on the support body is arranged on the radially outer side of the ring gear. For this reason, the dimension of the planetary gear reducer becomes large in the radial direction of the ring gear.

  The object of the present invention is to solve or mitigate at least some of the above problems. One of the more specific objects of the present invention is to provide a transmission device that can be made compact.

  A transmission device according to an embodiment of the present invention includes a first gear connected to a drive source, an outer peripheral surface provided with external teeth that mesh with the first gear, and an inner periphery provided with internal teeth. A ring gear having a surface, a second gear meshing with the inner teeth of the ring gear, a speed reduction portion that decelerates and outputs an input from the second gear, and the ring gear is rotatably supported on a base portion. A bearing, and a seal member provided between the rotating shaft of the ring gear and the bearing.

  In one embodiment of the present invention, the bearing includes a first bearing provided at a first position in the rotation axis direction, and a second bearing provided at a second position in the rotation axis direction, And at least a part of the seal member is provided between the first position and the second position in the rotation axis direction.

  In one embodiment of the present invention, the seal member is disposed closer to the rotation shaft than the bearing on a virtual seal surface that is orthogonal to the rotation shaft and passes through the bearing.

  In one embodiment of the present invention, the ring gear includes an internal tooth member having the internal teeth, and an external tooth member having the external teeth and being a separate member from the internal tooth member.

  A transmission device according to an embodiment of the present invention includes a first gear connected to a drive source, an external tooth member having external teeth that mesh with the first gear, and internal teeth, and the external teeth A ring gear having an internal tooth member that is a member different from the member; a second gear that meshes with the internal teeth of the ring gear; A bolt that fastens the internal gear member to the external gear member, a speed reduction portion that decelerates and outputs an input from the second gear, and a bearing that rotatably supports the ring gear on the base portion, Is provided.

    A transmission device according to an embodiment of the present invention includes a first gear connected to a drive source, an outer peripheral surface provided with external teeth that mesh with the first gear, and an inner peripheral surface provided with internal teeth. A ring gear that rotates relative to the base, and a second gear that is disposed on a first imaginary plane that is orthogonal to the rotation axis of the ring gear and that passes through the first gear, and meshes with the inner teeth of the ring gear. A gear, a fixed portion provided so as not to rotate with respect to the base, and a rotation provided with respect to the base at a rotational speed reduced from the rotational speed of the second gear provided inside the fixed portion. And an output part, and a main bearing disposed between the fixed part and the output part. At least a part of the first gear is disposed between the outer peripheral surface of the fixed portion and the outer peripheral surface of the main bearing.

    In one embodiment of the present invention, the main bearing is disposed closer to the rotation shaft than the first gear in a second imaginary plane that is orthogonal to the rotation shaft and passes through the first gear.

    In an embodiment of the present invention, the first gear is configured to rotate around another rotation shaft different from the rotation shaft of the ring gear.

  According to the embodiment of the present invention, a transmission device that can be made compact can be provided.

It is the schematic of the rotation apparatus of one Embodiment of this invention. It is the schematic which shows roughly a part of internal structure of the rotating apparatus which concerns on one Embodiment of this invention. It is a figure explaining the detail of the rotating apparatus of one Embodiment of this invention. It is sectional drawing which shows typically the cross section of the reduction gear with which the rotating apparatus of FIG. 3 is provided. It is an enlarged view which expands and shows a part of gear unit by other embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. First, with reference to FIGS. 1-4, the transmission apparatus by one Embodiment of this invention and a rotation apparatus provided with the said transmission apparatus are demonstrated. FIG. 1 is a schematic view schematically illustrating a rotating device including a transmission device according to an embodiment of the present invention, and FIG. 2 schematically illustrates a part of the internal structure of the rotating device according to an embodiment of the present invention. It is the schematic shown in FIG. 3 is a cross-sectional view schematically showing a cross section along the line AA in FIG. 2, and FIG. 4 is a cross-sectional view schematically showing a cross section along the line BB in FIG. The rotating device shown in the figure is used, for example, to rotate the wrist or turntable of an industrial robot.

  The illustrated rotating device includes a drive source 5 and a speed reducer 10 that transmits the rotation from the drive source 5 to the counterpart device. The drive source 5 is, for example, an electric motor. The speed reducer 10 decelerates the rotation input from the drive source 5 and outputs it to a counterpart device (not shown) to be driven. The transmission device to which the present invention is applicable is not limited to the speed reducer 10.

  The speed reducer 10 includes a gear unit 100 that transmits rotation from the drive source 5, a base portion 15, and a speed reduction portion 50 supported by the base portion 15. The speed reducer 10 is provided with a through hole, and a cylindrical center pipe 25 is provided in the through hole. The reduction part 50 decelerates the rotation input from the gear unit 100, and outputs the reduced rotation.

  Next, the gear unit 100 will be described more specifically. The gear unit 100 includes a spur gear 1, an input gear 2, and a ring gear 3. The input gear 2 is connected to the drive shaft 111 of the drive source 5 and rotates around the first rotation shaft by the drive force input from the drive source 5.

  In the illustrated embodiment, the spur gear 1 is a spur gear. The spur gear 1 applicable to the present invention is not limited to a spur gear. As the spur gear 1, any gear that can transmit the rotation of the ring gear 3 to the speed reduction unit 50 (specifically, a crankshaft 80 described later) can be used. In the illustrated embodiment, the gear unit 100 includes three spur gears 1, but the number of the spur gears 1 provided in the gear unit 100 may be more or less than three.

  The ring gear 3 is supported by the base portion 15 so as to rotate around the rotation axis RCX. The ring gear 3 includes a support member 7 supported by the base portion 15 and a ring-shaped ring member 8. The support member 7 includes a disc-shaped main body portion 7a and a boss portion 7b extending in the X2 direction from the radial inner end of the main body portion 7a. The boss portion 7b has a substantially cylindrical shape. In the illustrated embodiment, the support member 7 and the ring member 8 are separate members, and the ring member 8 is connected to the support member 7 by bolts 14. The support member 7 and the ring member 8 may have an integral one-piece structure. The ring gear 3 has inner teeth 4 and outer teeth 6. More specifically, the ring member 8 of the ring gear 3 has inner teeth 4 and outer teeth 6. The inner teeth 4 are provided along the inner peripheral surface of the ring member 8 and mesh with the spar gear 1. The external teeth 6 are provided along the outer peripheral surface of the ring member 8 and mesh with the input gear 2. The input gear 2 is an example of a first gear described in the claims. The spur gear 1 is an example of a second gear described in the claims.

  FIG. 3 shows a virtual plane P1 that is orthogonal to the rotation axis RCX and passes through the external teeth 6. Both the inner teeth 4 and the outer teeth 6 are arranged on this virtual plane P1. In other words, the virtual surface P <b> 1 passes through both the inner teeth 4 and the outer teeth 6. The virtual surface P1 is an example of the first virtual surface in the claims. In the conventional reduction gear, the gear teeth meshing with the input gear and the gear teeth meshing with the spar gear are arranged at positions shifted in the central axis direction of the reduction gear. On the other hand, in the illustrated embodiment, the external teeth 6 that mesh with the input gear 2 and the internal teeth 4 that mesh with the spar gear 1 are all arranged on the virtual plane P1, and this arrangement allows the center of the speed reducer 10 to be centered. The dimension in the axis RCX direction can be reduced. The spur gear 1 and the bolt 14 are also arranged on the virtual plane P1. With this arrangement, the size of the reduction gear 10 in the direction of the central axis RCX can be further reduced.

  The ring gear 3 rotates around the rotation axis RCX (second rotation axis). The ring gear 3 is arranged such that its rotation axis RCX is not parallel to the rotation axis (first rotation axis) of the input gear 2. In the illustrated embodiment, the rotation axis RCX of the ring gear 3 coincides with an axis passing through the center of a cylindrical through hole provided in the center of the speed reducer 10. Therefore, in this specification, the rotation axis RCX may be referred to as the center axis RCX (of the speed reducer 10). The second rotating shaft extends in a direction different from the first rotating shaft. Therefore, the transmission direction of the driving force from the driving source 5 is converted by the input gear 2 and the ring gear 3. In the illustrated embodiment, the input gear 2 and the ring gear 3 constitute a bevel gear. In addition to the bevel gear, the input gear 2 and the ring gear 3 may be a screw gear, a worm gear, or a gear other than the above that can change the transmission direction of power.

  The specific shape, arrangement, and number of each gear that is a constituent element of the gear unit 100 are not limited to those illustrated.

  Next, the deceleration unit 50 will be described more specifically. The speed reduction portion 50 includes a crankshaft 80 coupled to the spur gear 1, a crank bearing 84, a swing gear portion 70, a case 11, a carrier 60, and a pin 20.

  The crankshaft 80 includes a shaft main body 80a, an eccentric portion 81, and an eccentric portion 82. The shaft body 80a is a cylindrical member extending in a direction parallel to the central axis RCX. The eccentric part 81 and the eccentric part 82 are cylindrical members. The eccentric part 81 and the eccentric part 82 are eccentric from the shaft main body 80a. The phase of the eccentric part 81 and the phase of the eccentric part 82 are shifted from each other by 180 °. The eccentric part 82 is provided on the X2 side with respect to the eccentric part 81 in the central axis RCX direction. The crankshaft 80 is fixed to the spar gear 1. In other words, the crankshaft 80 is provided so as not to rotate relative to the spur gear 1.

  A plurality of crank bearings 84 are provided outside the eccentric portions 81 and 82 in the radial direction. The crank bearing 84 is, for example, a needle bearing.

  The oscillating gear unit 70 includes a first oscillating gear 71 and a second oscillating gear 72 provided on the X2 side of the first oscillating gear 71 in the central axis RCX direction. The first swing gear 71 is attached to the eccentric portion 81 via the crank bearing 84. Similarly, the second oscillating gear 72 is attached to the eccentric portion 82 via the crank bearing 84. The first oscillating gear 71 has a center hole 71c at the center in the radial direction, and three shaft holes 71b around the center hole 71c. The second rocking gear 72 has a center hole 72c at the center in the radial direction, and three shaft holes 72b around the center hole 72c. The first oscillating gear 71 has external teeth 71a, and the second oscillating gear 72 has external teeth 72a. The number of teeth of the external teeth 71a of the first swing gear 71 and the number of teeth of the external teeth 72a of the second swing gear 72 are the same. In the illustrated embodiment, the number of pins 20 is one more than the number of teeth of the external teeth 71a (external teeth 72a).

  A case 11 is provided on the radially outer side of the oscillating gear portion 70. The case 11 includes a case main body 11b having a cylindrical shape, and a flange 11a provided on the outer side in the radial direction of the case main body 11b. The case body 11b has an outer peripheral surface 11b1. The outer peripheral surface 11b1 of the case main body 11b is in contact with the inner peripheral surface of the flange 11a. A motor flange 112 is attached to the outer peripheral surface 11b1 of the case body 11b. The drive source 5 is attached to the case main body 11 b and the base portion 15 by the motor flange 112. The outer peripheral surface 11b1 of the case main body 11b is provided with a recess 11b2 that is recessed radially inward. The recess 11b2 is provided at a position facing the drive source 5 on the outer peripheral surface 11b1 of the case body 11b. As shown in FIG. 3, at least a part of the input gear 2 to which rotation is input from the drive shaft 111 of the drive source 5 is accommodated in the recess 11b2.

  A plurality of grooves extending along the rotation axis RCX direction are provided on the inner wall of the case body 11b. A pin 20 is provided in each of the plurality of grooves. The pin 20 is a cylindrical member that extends in the direction of the rotation axis RCX. Thereby, the pin 20 is hold | maintained by the case main body 11b.

  The flange 11a is fastened to the case main body 11b and the base portion 15 by bolts. The flange 11 a does not rotate relative to the case body 11 b and the base portion 15. The case 11 is an example of a fixing portion described in the claims.

  A carrier 60 is provided on the radially inner side of the case 11. The carrier 60 has a first carrier body 61 and a second carrier body 62. A first oscillating gear 71 and a second oscillating gear 72 are disposed between the first carrier body 61 and the second carrier body 62. The first carrier body 61 and the second carrier body 62 have a through-hole extending in the center axis RCX direction at the center thereof. The first carrier body 61 has three shafts 63 protruding from the lower surface in the X2 direction. The shaft 63 extends to the upper surface of the second carrier body 62 through the shaft hole 71 b of the first oscillating gear 71 and the shaft hole 72 b of the second oscillating gear 72. The second carrier body 62 is attached to the shaft 63 with a bolt 64. The first carrier body 61 and the second carrier body 62 do not rotate relative to each other. The first carrier body 61 and the second carrier body 62 may have an integral one-piece structure.

  The first carrier body 61 is provided in the case 11 via the first main bearing 91. The second carrier body 62 is provided in the case 11 via the second main bearing 92. A part of the outer peripheral surface of the second main bearing 92 is also in contact with the inner peripheral surface of the flange 11a. Accordingly, the first carrier body 61 and the second carrier body 62 are supported so as to be rotatable relative to the case 11.

  The carrier 60 is connected to the counterpart device. The counterpart device is a turntable, an industrial robot arm, or a rotatable device other than those described above. The carrier 60 is an example of an output unit described in the claims.

  The base portion 15 includes a disk-shaped bottom portion 15a and a boss portion 15b extending in the X1 direction from the radial inner end of the bottom portion 15a. The base 15 is connected to the flange 11a at the radially outer end of the bottom 15a. The boss portion 15b has a substantially cylindrical shape.

  A first bearing 13 a and a second bearing 13 b are provided between the outer peripheral surface of the boss portion 15 b of the base portion 15 and the inner peripheral surface of the boss portion 7 b of the support member 7. The first bearing 13a includes an inner ring 13a1, an outer ring 13a2, and a rolling element 13a3 provided between the inner ring 13a1 and the outer ring 13a2. Similarly, the second bearing 13b includes an inner ring 13b1, an outer ring 13b2, and a rolling element 13b3 provided between the inner ring 13b1 and the outer ring 13b2. The first bearing 13a is disposed at a first position in the central axis RCX direction, and the second bearing 13b is disposed at a second position in the central axis RCX direction. The second position is closer to the X2 side in the central axis RCX direction than the first position. That is, the second bearing 13b is disposed on the X2 side with respect to the first bearing 13a. The position of the first bearing 13a in the direction of the central axis RCX may be the position of the center of the rolling element 13a3 unless otherwise mentioned. The position of the second bearing 13b in the direction of the central axis RCX may be the position of the center of the rolling element 13b3 unless otherwise noted. In this specification, the end face on the X1 side of the first bearing 13a may be referred to as a first end face 131a, and the end face on the X2 side of the first bearing 13a may be referred to as a second end face 132a. Further, the end surface on the X1 side of the second bearing 13b may be referred to as a first end surface 131b, and the end surface on the X2 side of the second bearing 13b may be referred to as a second end surface 132b. The first bearing 13 a and the second bearing 13 b are disposed radially inward of the inner teeth 4 of the ring gear 3. That is, the first bearing 13 a and the second bearing 13 b are disposed closer to the central axis RCX than the inner teeth 4 of the ring gear 3. Thus, the ring gear 3 is supported by the first bearing 13a and the second bearing 13b so as to be rotatable around the central axis RCX. In a conventional speed reducer, a bearing that supports a ring gear is provided on the radially outer side of the ring gear. On the other hand, in the illustrated embodiment, the first bearing 13a and the second bearing 13b are arranged on the inner side in the radial direction of the speed reducer 10 with respect to the inner teeth 4, so that the speed reducer 10 is arranged by this arrangement. It is possible to reduce the dimension in the radial direction (direction perpendicular to the central axis RCX).

  A seal member 16 is provided between the inner peripheral surface of the boss portion 15 b and the outer peripheral surface of the center pipe 25. In one embodiment, the seal member 16 is disposed in a region between the X1 end of the first bearing 13a and the X2 end of the second bearing 13b. That is, the seal member 16 is disposed between the first end surface 131a of the first bearing 13a and the second end surface 132b of the second bearing 13b in the central axis RCX direction. The seal member 16 may be entirely disposed between the first end surface 131a and the second end surface 132b, or a part thereof may be disposed between the first end surface 131a and the second end surface 132b. A part or all of the seal member 16 may be provided between the rolling elements 13a3 and 13b3 in the central axis RCX direction. In the illustrated embodiment, the first bearing 13 a and the second bearing 13 b that support the ring gear 3 are not directly attached to the center pipe 25, but are attached to a boss portion 15 b provided on the radially outer side of the center pipe 25. . By providing the seal member 16 between the boss portion 15b and the center pipe 25, the seal member 16 can be disposed at a position overlapping with at least one of the first bearing 13a and the second bearing 13b in the central axis RCX direction. . With this arrangement, the size of the reduction gear 10 in the direction of the central axis RCX can be reduced.

  Next, the arrangement of the input gear 2 will be described. FIG. 3 shows an imaginary plane P <b> 2 that is orthogonal to the rotation axis RCX and passes through the second main bearing 92. The virtual surface P2 is an example of the second virtual surface in the claims. The second main bearing 92 and the input gear 2 are both disposed on the virtual plane P2. In other words, the virtual surface P2 passes through both the second main bearing 92 and the input gear 2. The second main bearing 92 is disposed closer to the central axis RCX than the input gear 2 on the virtual plane P2. With this arrangement, the size of the reduction gear 10 in the direction of the central axis RCX can be reduced. In the illustrated embodiment, the drive shaft 111 of the drive source 5 is also disposed on the virtual plane P2. This arrangement also makes it possible to reduce the size of the reduction gear 10 in the direction of the central axis RCX.

  FIG. 3 shows an imaginary plane P3 that is orthogonal to the rotation axis RCX and passes through the second oscillating gear 72. The virtual surface P3 is an example of a third virtual surface in the claims. Both the second oscillating gear 72 and the input gear 2 are disposed on the virtual plane P3. In other words, the virtual plane P <b> 3 passes through both the second swing gear 72 and the input gear 2. In the illustrated example, the virtual plane P <b> 3 passes near the upper end of the input gear 2. The second swing gear 72 is disposed closer to the central axis RCX than the input gear 2 on the virtual plane P3. With this arrangement, the size of the reduction gear 10 in the direction of the central axis RCX can be reduced.

  As shown in FIG. 3, in the direction orthogonal to the central axis RCX, at least a part of the input gear 2 is positioned on the outer peripheral surface 91a of the main bearing 91 (or the outer peripheral surface 92a of the main bearing 92) and the case body. It is arrange | positioned between the positions of the outer peripheral surface 11b1 of 11b. With this arrangement, it is possible to reduce the size of the reduction gear 10 in the radial direction (the direction orthogonal to the central axis RCX).

  Next, the arrangement of the seal member 16 will be further described. FIG. 3 shows a virtual surface P4 orthogonal to the rotation axis RCX and passing through the first end surface 131a, and a virtual surface P5 orthogonal to the rotation axis RCX and passing through the second end surface 132b. As described above, a part or all of the seal member 16 may be disposed between the first end surface 131a and the second end surface 132b on the rotation axis RCX. In other words, the seal member 16 is disposed on a virtual surface (sometimes referred to as “seal virtual surface” in this specification) between the virtual surface P4 and the virtual surface P5 in the direction of the rotation axis RCX. The seal member 16 is disposed closer to the rotation axis RCX than the first bearing 13a and the second bearing 13b on the virtual seal surface.

  Next, a speed reducer according to another embodiment of the present invention will be described with reference to FIG. FIG. 5 shows an enlarged part of a cross section of a speed reducer according to another embodiment of the present invention. In the embodiment shown in FIG. 5, the configuration of the ring gear 3 is different from the embodiment shown in FIG. 3. In the embodiment shown in FIG. 5, the ring gear 3 has a support member 7, an external tooth member 8a, and an internal tooth member 8b. Both the outer tooth member 8a and the inner tooth member 8b have a ring shape. External teeth 6 are provided on the outer peripheral surface of the external tooth member 8a, and internal teeth 4 are provided on the inner peripheral surface of the internal tooth member 8b. The support member 7 includes a disc-shaped main body portion 7a and a boss portion 7b extending in the X2 direction from the radial inner end of the main body portion 7a. The external tooth member 8 a, the internal tooth member 8 b, and the main body portion 7 a of the support member 7 are connected by a bolt 14.

  Next, the operation of the speed reducer 10 will be described. When rotation is input to the input gear 2 from the drive source 5, the ring gear 3 rotates around the central axis RCX in conjunction with the rotation of the input gear 2. The rotation of the ring gear 3 is transmitted to the spur gear 1 meshing with the inner teeth 4 of the ring gear. When the spur gear 1 rotates, the eccentric portion 81 and the eccentric portion 82 of the crankshaft 80 rotate eccentrically. Due to the eccentric rotation of the eccentric portion 81 and the eccentric portion 82, the first swing gear 71 and the second swing gear 72 swing and rotate. At this time, the center axis CX1 of the first oscillating gear 71 and the center axis CX2 of the second oscillating gear 72 circulate around the rotation center axis RCX of the carrier 60. Accordingly, the first and second oscillating gears 71 and 72 circulate in the case body 11b while their outer teeth 71a and outer teeth 72a mesh with the pins 20. Each time the crankshaft 80 makes one rotation, the first swing gear 71 rotates relative to the case 11 by one tooth, which is the difference between the number of pins 20 and the number of teeth of the external teeth 71a. Thus, the rotation of the crankshaft 80 is decelerated at a reduction ratio of “1 / the number of teeth of the external teeth 71a” and transmitted to the carrier 60. As a result, the carrier 60 rotates relative to the case 11 and the base 15 at a rotational speed reduced from the rotational speed of the crankshaft 80. As described above, the rotation input from the drive source 5 to the speed reducer 10 is decelerated and output from the carrier 60 to the counterpart device.

  The dimensions, materials, and arrangement of each component described in this specification are not limited to those explicitly described in the embodiments, and each component may be included in the scope of the present invention. Can be modified to have different dimensions, materials, and arrangements. In addition, components that are not explicitly described in the present specification can be added to the described embodiments, or some of the components described in the embodiments can be omitted.

Each of the above embodiments may be combined as appropriate. An aspect realized by combining a plurality of embodiments can also be an embodiment of the present invention.

1 Second gear (spur gear)
2 First gear (input gear)
3 ring gear 4 internal tooth 5 drive source 6 external tooth 7 support member 8 ring member 10 speed reducer 11 case 13 bearing 14 bolt 15 base 16 seal member 100 gear unit

Claims (11)

A first gear connected to a drive source;
A ring gear having an outer peripheral surface provided with external teeth meshing with the first gear, and an inner peripheral surface provided with internal teeth;
A second gear meshing with the inner teeth of the ring gear;
A speed reducer that decelerates and outputs an input from the second gear;
A bearing rotatably supporting the ring gear on a base portion;
A seal member provided between a rotating shaft of the ring gear and the bearing;
A transmission device comprising: The bearing includes a first bearing provided at a first position in the rotation axis direction, and a second bearing provided at a second position in the rotation axis direction,
The seal member is at least partially provided between the first position and the second position in the rotation axis direction.
The transmission device according to claim 1. The seal member is disposed closer to the rotation shaft than the bearing in a virtual seal surface that passes through the bearing and perpendicular to the rotation shaft.
The transmission device according to claim 1 or 2. The ring gear includes an internal tooth member having the internal teeth, and an external tooth member that has the external teeth and is a separate member from the internal tooth member.
The transmission device according to any one of claims 1 to 3. A first gear connected to a drive source;
A ring gear having an external tooth member having external teeth meshing with the first gear, and an internal tooth member having internal teeth and different from the external tooth member;
A second gear meshing with the inner teeth of the ring gear;
A bolt that is disposed on a first imaginary plane that is orthogonal to the rotation axis of the ring gear and that passes through the second gear, and that fastens the internal tooth member to the external tooth member;
A speed reducer that decelerates and outputs an input from the second gear;
A bearing rotatably supporting the ring gear on a base portion;
A transmission device comprising: A first gear connected to a drive source;
A ring gear having an outer peripheral surface provided with external teeth meshing with the first gear and an inner peripheral surface provided with internal teeth, and rotating with respect to the base portion;
A second gear that is disposed on a first imaginary plane that is orthogonal to the rotational axis of the ring gear and passes through the first gear, and meshes with the internal teeth of the ring gear;
A fixed portion provided so as not to rotate with respect to the base portion, and an output portion provided inside the fixed portion and rotating with respect to the base portion at a rotational speed reduced from the rotational speed of the second gear. When,
A main bearing disposed between the fixed portion and the output portion;
With
At least a part of the first gear is disposed between the outer peripheral surface of the fixed portion and the outer peripheral surface of the main bearing.
Transmission device. The main bearing is disposed closer to the rotation shaft than the first gear in a second imaginary plane perpendicular to the rotation shaft and passing through the first gear.
The transmission device according to claim 6. The first gear is configured to rotate around another rotation axis different from the rotation axis of the ring gear.
The transmission device according to claim 6 or 7. A first gear connected to a drive source;
A ring gear having an outer peripheral surface provided with external teeth meshing with the first gear, and an inner peripheral surface provided with internal teeth;
A second gear meshing with the inner teeth of the ring gear;
A bearing rotatably supporting the ring gear on a base portion;
A seal member provided between a rotating shaft of the ring gear and the bearing;
A transmission device comprising: A first gear connected to a drive source;
A ring gear having an external tooth member having external teeth meshing with the first gear, and an internal tooth member having internal teeth and different from the external tooth member;
A second gear meshing with the inner teeth of the ring gear;
A bolt that is disposed on a first imaginary plane that is orthogonal to the rotation axis of the ring gear and that passes through the second gear, and that fastens the internal tooth member to the external tooth member;
A bearing rotatably supporting the ring gear on a base portion;
A transmission device comprising: Case and
A main bearing disposed inside the case;
A first gear connected to a drive source;
A ring gear having an outer peripheral surface provided with external teeth meshing with the first gear and an inner peripheral surface provided with internal teeth, and rotating with respect to the base portion;
A second gear that is disposed on a first imaginary plane that is orthogonal to the rotational axis of the ring gear and passes through the first gear, and meshes with the internal teeth of the ring gear;
With
At least a part of the first gear is disposed between the outer peripheral surface of the case and the outer peripheral surface of the main bearing.
Transmission device.