| 摘要 |
PROBLEM TO BE SOLVED: To provide a speed reducer having small characteristic variation, a robot and a manufacturing method of the speed reducer.SOLUTION: A speed reducer has: a first gear in which a plurality of gear teeth are formed on an inner periphery; a second gear 20 in which a plurality of gear teeth are formed on an outer periphery and which meshes with the first gear; a first rotary shaft which is inserted in the second gear 20 and in which a circular cam is formed on the shaft; a through pin 30 which is inserted in a through-hole 28 formed in the second gear 20; and a second rotary shaft connected to the through pin 30 and for outputting rotation by rotation of the second gear 20. The number of gear teeth of the second gear 20 is a multiple of the number of pieces of the through pins 30.SELECTED DRAWING: Figure 6 |
