Importance

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Abstract

A speed reducer includes: ring-shaped external gear including outer teeth and through holes arranged circumferentially; input shaft penetrating space surrounded by an external gear inner circumferential surface; bearing between the external gear and input shaft; ring-shaped internal gear surrounding an external gear outer circumferential surface; inner pins penetrating the through holes axially; and inner pin holder holding both ends of each inner pin. The inner pin holder includes: first holder portion including a ring-shaped holding portion holding a first end of each inner pin; second holder portion including a ring-shaped holding portion holding a second end of each inner pin; and pillars connecting the first and second holder portion and penetrating the through holes. The speed reducer further includes fixing members that fix pillar end surfaces to the first holder portion or the second holder portion and are inserted in the pillars from the end surfaces of the pillars.

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First Claim