SPEED REDUCER, ROBOT HAND, ROBOT, MOVABLE BODY, GEARED MOTOR AND ELECTRONIC COMPONENT CONVEYING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a speed reducer capable of making each pitch circle of a plurality of ring gears match as viewed from a rotational shaft direction.SOLUTION: A speed reducer comprises: a first ring gear 6 having a first gear tooth on an inner periphery; a first revolution gear having a second gear tooth which engages with the first gear tooth; a second ring gear 8 in which a central axis 5 of the first ring gear 6 is made to be the central axis, and which has a third gear tooth on an inner periphery; a second revolution gear having a fourth gear tooth which engages with the third gear tooth; a circular cam which is rotatably provided with respect to the first revolution gear and the second revolution gear at a central position of the first revolution gear and the second rotation gear; a rotary shaft which makes the circular cam rotate and makes the first revolution gear and the second revolution gear revolve around the central axis 5; a through pin inserted in a through-hole formed at the revolution gear; a support part which has a connection hole in which the through pin is inserted and connected, and which outputs rotation by the rotation of the revolution gear by supporting the through pin; and a ring gear adjustment part 33 which moves a relative position of the first ring gear 6 and the second ring gear 8 in two directions orthogonal to each other.