| 摘要 |
PROBLEM TO BE SOLVED: To provide a speed reducer and a robot that can simultaneously realize high rigidity and high torque.SOLUTION: A speed reducer comprises a plurality of inner pins 30 provided in a gear 20. The inner pins 30 each include a core part 50, and an outer tube part 48 fitted to the core part 50. The elastic modulus of the outer tube part 48 is smaller than the elastic modulus of the core part 50.SELECTED DRAWING: Figure 5 |
