| 摘要 |
<p>A low cost speed reducer where, even with a main bearing having an adequate load capacity being used, a through-hole is provided in its center portion and a filiform wire body is installed in the hole. The reducer can drastically relax the constraint on a moving range of each axis of a robot. In one example, a swing axis (first axis) speed reducer has a large gear positionally fixed to a robot platform and a small gear meshed with the large gear and pivoted in a swing barrel portion, where the large gear and small gear are arranged in the vicinity of a rotation plane of a second axis (front-rear axis). In another example, a swing axis (first axis) speed reducer has a small gear pivoted at a robot platform and a large gear meshed with the small gear and positionally fixed to a swing barrel portion, where the large gear and small gear are arranged in the vicinity of a rotation plane of a second axis (front-rear axis).</p> |
