| 摘要 |
PROBLEM TO BE SOLVED: To enhance durability of a speed reducer used in a joint part of an industrial robot in a case where high torque is applied to the speed reducer and the speed reducer is used at a high operation rate. SOLUTION: In the speed reducer including a first speed reducing mechanism and a second speed reducing mechanism, the second speed reducing mechanism is equipped with an external tooth gear for performing oscillating movement, an internal tooth gear for converting the oscillating movement of the external tooth gear into an orbital movement, and either one of the external tooth gear and the internal tooth gear is equipped with an output shaft. In this speed reducer, when an inner diameter D of the internal tooth gear is 140 mm≤D≤200 mm, and a torque T generated in the output shaft is 650 Nm≤T≤1570 Nm, the number of teeth of the internal tooth gear is set less than 40 times the difference of the number of teeth between the internal tooth gear and the external tooth gear, and when the inner diameter D of the internal tooth gear is 100 mm≤D≤140 mm, and the torque T generated in the output shaft is 290 Nm≤T<650 Nm, the number of teeth of the internal tooth gear is set to less than 30 times the difference in the number of teeth between the internal tooth gear and the external tooth gear. COPYRIGHT: (C)2007,JPO&INPIT
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