| 摘要 |
PURPOSE: To reduce backlash and increase overload capacity by supporting a plurality of compound planetary gears meshed with a reaction gear and an output gear of a rotary joint to a cylindrical support element in a planetary type speed reducer used by being incorporated in the rotary joint of a robot. CONSTITUTION: This speed reducer 22 is used by being incorporated in a rotary joint 20 of a robot and supported in a housing comprising housing components 28, 30. A first component 28 is rotatably provided in a second component 30 and connected to a reaction gear 38 by a fastener 76. An output gear 40 connected to the second component 30 by a fastener 78 is provided adjacent to the gear 38, and the respective gears 38, 40 are meshed with gears 44, 46 in a plurality of compound planetary gears 42. Each planetary gear 42 is supported by a support assembly 48 rotatingly supported by the component 30 by a bearing 56 and the support assembly 48 has a gear 58 connected to its one end, which is meshed with a motor pinion 64 of the motor 78, so as to be driven and rotated. |
