Reduction gear, and driving device using the reduction gear

Abstract

To provide a reduction gear which can achieve reduction in thickness of a main reduction gear unit, and to provide a driving device using the reduction gear.SOLUTION: A reduction gear includes a main speed reduction unit 50, a fixing block 14, an output gear 30 and an intermediate gear 32. The main speed reduction unit 50 reduces the rotation on the input side and transmits it to the output side. The fixing block 14 is connected to the main speed reduction unit 50, and rotatably supports an input gear 33. The output gear 30 transmits the rotation of the input gear 33 to the input side of the main speed reduction unit 50. The internal gear 32 meshes with the input gear 33 and the output gear 30, and is rotatably supported by the fixing block 14.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a reducer and a drive device using the reducer. [Background technology]

[0002] 2. Description of the Related Art In industrial robots, machine tools and the like, reducers are used to reduce the rotation speed of a rotary drive source such as a motor (see, for example, Patent Document 1).

[0003] The reducer described in Patent Document 1 includes a main reduction gear unit that reduces the rotation of the input side and transmits it to the output side, and a front-stage gear mechanism that reduces the rotation of a rotary drive source such as a motor and transmits it to the main reduction gear unit.

[0004] The main reduction gear unit includes a substantially cylindrical outer cylinder block, a carrier block rotatably supported by the outer cylinder block, an input rotor (eccentric shaft) rotatably supported at a position radially shifted from the center of rotation of the carrier block, and a main reduction gear mechanism that reduces the rotation of the input rotor and transmits it to the carrier block. The outer cylinder block is fixed to an installation portion such as a floor surface, and the carrier block is connected to a rotation block such as a turntable.

[0005] The main reduction mechanism includes a plurality of internally toothed pins held on the inner circumference of the outer cylinder block, and a swivel gear arranged on the inner circumference side of the outer cylinder block so as to be rotatable and rotatable. The swivel gear has external teeth with a number of teeth less than the number of the internally toothed pins, and the external teeth are capable of meshing with the plurality of internally toothed pins. When the swivel gear rotates while meshing with the plurality of internally toothed pins, it rotates with respect to the outer cylinder block by a predetermined pitch per revolution. In addition, the input rotor supported by the carrier block has a driven gear that receives a rotational force from the outside, and a crank-shaped eccentric part. The eccentric part is rotatably engaged with the swivel gear so as to rotate in the same phase as the swivel gear. The rotation of the input rotor rotates the swivel gear, and while the external teeth of the swivel gear mesh with the internally toothed pins, the swivel gear is decelerated and rotated at a predetermined reduction ratio. As a result, the carrier block rotates at the same speed as the swivel gear.

[0006] The front-stage gear mechanism is rotatably supported on the upper part of the carrier block and includes an output gear that meshes with the driven gear of the input rotor, and an intermediate gear that meshes with the output gear and the input gear on the rotation drive source side. The intermediate gear is rotatably supported on a support shaft that protrudes from the carrier block. The front-stage gear mechanism reduces the rotation to a reduction ratio that corresponds to the gear ratio between the output gear and the input gear. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 5231530 Summary of the Invention [Problem to be solved by the invention]

[0008] The main reduction unit of a reducer has a complex main reduction mechanism built in, so it is difficult to make it thinner (shorten its axial length). However, there is a demand for this type of main reduction unit to be thinner (shorten its axial length) for a variety of applications.

[0009] In the reducer described in Patent Document 1, the intermediate gear constituting the gear mechanism on the front stage is supported by the carrier block on the main reduction gear unit side. Therefore, the carrier block needs to be thicker (axial length) by the amount of the support shaft of the intermediate gear embedded in the carrier block. In the reducer described in Patent Document 1, this was a factor that made it difficult to make the main reduction gear unit thinner.

[0010] The present invention provides a reducer that can reduce the thickness of a main reduction gear unit, and a drive device that uses the reducer. [Means for solving the problem]

[0011] A reducer of one embodiment of the present invention comprises a main reduction gear unit that reduces the rotation of an input side and transmits it to an output side, a fixed block that is connected to the main reduction gear unit and rotatably supports an input gear that is connected to a rotary drive source, an output gear that transmits the rotation of the input gear to the input side of the main reduction gear unit, and an intermediate gear that meshes with the input gear and the output gear and is rotatably supported by the fixed block.

[0012] With the above configuration, when the input gear rotates by receiving power from the rotary drive source, the rotation is transmitted to the output gear through the intermediate gear supported on the fixed block side. The rotation transmitted to the output gear is input to the input part of the main reduction gear unit, reduced in speed by the main reduction gear unit, and output from the output part. With this configuration, since the intermediate gear is supported on the fixed block side instead of on the main reduction gear unit side, there is no need to increase the thickness of the main reduction gear unit side to support the intermediate gear.

[0013] A recess for accommodating the intermediate gear may be formed in a surface of the fixed block facing the main reduction gear unit.

[0014] In this case, since the intermediate gear is disposed in the recess formed in the fixed block, there is no need to provide a recess on the main reduction gear unit to avoid interference with the intermediate gear. Therefore, when this configuration is adopted, the main reduction gear unit can be made thinner.

[0015] The main reduction gear unit may have a first block coupled to the fixed block, an input rotor rotatably supported by the first block, a second block engaged with the first block for relative rotation, and a main reduction gear mechanism that reduces the rotation of the input rotor and outputs it to the second block or the first block, and one axial end of the output gear may be rotatably supported by the first block and the other axial end of the output gear may be rotatably supported by the fixed block.

[0016] In this case, the output gear is stably supported at both ends by the first block on the main reduction gear unit side and the fixed block. This makes it possible to reduce the size of the bearing on the main reduction gear unit side that rotatably supports the output gear. Therefore, when this configuration is adopted, it is possible to further reduce the thickness and size of the main reduction gear unit.

[0017] The main reduction gear unit may include a first block coupled to the fixed block, an input rotor rotatably supported by the first block, a second block engaged with the first block for relative rotation, and a main reduction gear mechanism that reduces the rotation of the input rotor and outputs it to the second block or the first block, wherein the output gear is arranged concentrically with a relative rotation center between the first block and the second block, the input rotor has a driven gear that meshes with the output gear and is arranged at a position spaced from the relative rotation center, and the relative rotation between the fixed block and the first block about the relative rotation center is regulated by a regulating member.

[0018] In this case, when rotation is transmitted from the output gear through the driven gear to the input rotor, the first block can be prevented from shifting in position relative to the fixed block due to a reaction force from the output side by the regulating member. Therefore, when this configuration is adopted, rattling of the first block that accompanies operation of the main reduction gear unit can be suppressed.

[0019] A reducer of one embodiment of the present invention comprises a main reduction gear unit that reduces the rotation of an input side and transmits it to an output side, a fixed block that is connected to the main reduction gear unit and rotatably supports an input gear that is connected to a rotary drive source, an output gear that transmits the rotation of the input gear to the input side of the main reduction gear unit, and an intermediate gear that meshes with the input gear and the output gear and is rotatably supported by the fixed block, wherein the main reduction gear unit has a first block that is coupled to the fixed block, an input rotor that is rotatably supported by the first block, a second block that is engaged with the first block for relative rotation, and a main reduction gear mechanism that outputs the rotation of the input rotor to the second block or the first block, wherein the output gear is rotatably supported on the end of the first block on the fixed block side at a position concentric with the relative rotation center of the first block and the second block, a recess that accommodates the intermediate gear is formed on a surface of the fixed block facing the main reduction gear unit, and the intermediate rotor gear is rotatably supported by the fixed block inside the recess.

[0020] A drive device of one embodiment of the present invention is a drive device comprising a reducer that reduces the rotation of a rotary drive source and outputs it, and a rotating block connected to the output portion of the reducer, wherein the reducer comprises a main reduction unit that reduces the rotation of the input side and transmits it to the output side, a fixed block that is connected to the main reduction unit and rotatably supports an input gear connected to a rotary drive source, an output gear that transmits the rotation of the input gear to the input side of the main reduction unit, and an intermediate gear that meshes with the input gear and the output gear and is rotatably supported by the fixed block. Effect of the Invention

[0021] The above-described speed reducer and drive device eliminate the need to increase the thickness of the main reduction gear unit in order to support the intermediate gear, and therefore the main reduction gear unit can be made thinner. [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is a perspective view of the driving device according to the embodiment. [Diagram 2] FIG. 2 is a front view of the reducer according to the embodiment. [Diagram 3] 3 is a cross-sectional view of the reducer according to the embodiment taken along line III-III in FIG. 2. [Figure 4] 4 is an enlarged cross-sectional view of a part of FIG. 3 of the reducer according to the embodiment. [Diagram 5] 4 is a cross-sectional view of the reducer according to the embodiment taken along line VV in FIG. 3. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a drive device 1 used when welding, assembling parts, or the like is performed. The driving device 1 includes a base block 11 installed on a floor surface F, a reducer 10 fixed to the upper surface of one end of the base block 11 in the longitudinal direction, a motor 2 as a rotary drive source that outputs power to the reducer 10, a holding device 12 fixed to the upper surface of the other end of the base block 11 in the longitudinal direction, and a rotating block 13 whose both ends in the longitudinal direction are supported by the reducer 10 and the holding device 12. The motor 2 is integrally attached to the input side of the reducer 10. The reducer 10 reduces the rotation of the motor 2 and transmits the rotation to one end of the rotating block 13 in the longitudinal direction. The holding device 12 rotatably supports the other end of the rotating block 13 in the longitudinal direction. The rotating block 13 rotates around an axis o1 that is approximately parallel to the horizontal direction by transmitting power from the motor 2 via the reducer 10.

[0024] In this embodiment, the rotating block 13 has multiple workpiece support surfaces 13a around an axis o1. A workpiece w, which is an object of work, is attached to each workpiece support surface 13a. The workpiece w attached to the workpiece support surface 13a is moved toward a working position by the rotation of the rotating block 13 by the motor 2. At the working position, a working device 3, such as a welding robot, is installed.

[0025] Fig. 2 is a front view of the reducer 10 as viewed from the output side (the side where the rotating block 13 is attached), and Fig. 3 is a cross-sectional view taken along line III-III in Fig. 2. Fig. 4 is a cross-sectional view of the reducer 10 enlarging a portion of Fig. 3, and Fig. 5 is a cross-sectional view of the reducer 10 taken approximately along line VV in Fig. 3. Note that Fig. 5 does not show cross-sections of an output gear 30, a crankshaft gear 31, an intermediate gear 32, etc., which will be described later. Fig. 5 also shows a holding member 40 and an attachment base 38, which will be described later. The reducer 10 includes a fixed block 14, the lower end of which is fixedly installed on the upper surface of one end side of a base block 11 (see FIG. 1), a main reduction gear unit 50 connected to the fixed block 14, and a gear mechanism 51 arranged between the main reduction gear unit 50 and the fixed block 14. A motor 2 is attached to the fixed block 14. The main reduction gear unit 50 reduces the rotation on the input side and transmits it to the output side. In the reducer 10 of this embodiment, the gear mechanism 51 reduces the rotation of the motor 2 in the upstream stage, and the reduced rotation is further significantly reduced by the main reduction gear unit 50.

[0026] The fixed block 14 has a base flange 14a (see FIG. 3) in the shape of a circular plate with a circular through-hole 25 in the center, and legs 14b (see FIG. 2) extending downward from the base flange 14a. The lower ends of the legs 14b of the fixed block 14 are fixed to the base block 11 by bolting or the like.

[0027] The main reduction gear unit 50 includes a first carrier block 15A and a second carrier block 15B coupled to the base flange 14a of the fixed block 14, an outer cylinder 17 rotatably supported via bearings 16 on the outer peripheries of the first carrier block 15A and the second carrier block 15B, a plurality (three) of crankshafts 18 (input rotors) rotatably supported on the first carrier block 15A and the second carrier block 15B, and a first swivel gear 19A and a second swivel gear 19B that rotate together with two eccentric parts 18a, 18b of each crankshaft 18. The reduction gear 10 is installed on the base block 11 so that the rotation center axis c1 of the output part coincides with the axis o1 of the drive device 1.

[0028] The first carrier block 15A is formed in a disk shape with holes. The first carrier block 15A is placed on one end face of the base flange 14a in the thickness direction, and is fixed integrally to the base flange 14a by bolt fastening or the like. The base flange 14a (fixed block 14) and the first carrier block 15A (first block) are prevented from rotating (relative rotation is restricted) around the rotation center axis c1 by a positioning pin 52 (regulating member). The second carrier block 15B is fixed to the end face of the first carrier block 15A opposite to the base flange 14a by bolt fastening or the like. The second carrier block 15B has a disk-shaped base plate portion 15Ba with holes and a plurality of support portions (not shown) extending from the end face of the base plate portion 15Ba toward the first carrier block 15A. The end faces of the support portions of the second carrier block 15B are abutted against the end faces of the first carrier block 15A, and each support portion is fixed to the first carrier block 15A. An axial gap is provided between the base plate portion 15Ba of the first carrier block 15A and the second carrier block 15B. The first swivel gear 19A and the second swivel gear 19B are disposed in this gap. The first swivel gear 19A and the second swivel gear 19B are provided with relief holes (not shown) through which the support columns of the second carrier block 15B pass. The relief holes are formed with an inner diameter sufficiently large relative to the support columns so that the support columns do not interfere with the swivel operation of the first swivel gear 19A and the second swivel gear 19B.

[0029] The outer cylinder 17 is disposed across the outer peripheral surface of the first carrier block 15A and the outer peripheral surface of the base plate portion 15Ba of the second carrier block 15B. Both axial ends of the outer cylinder 17 are rotatably supported by the first carrier block 15A and the base plate portion 15Ba of the second carrier block 15B via bearings 16. In addition, a plurality of pin grooves (not shown) extending parallel to the rotation center axis c1 are formed on the inner peripheral surface of the central region in the axial direction of the outer cylinder 17 (region facing the outer peripheral surfaces of the first swivel gear 19A and the second swivel gear 19B). A substantially cylindrical internal tooth pin 20 is rotatably accommodated in each pin groove. The plurality of internal tooth pins 20 attached to the inner peripheral surface of the outer cylinder 17 face each of the outer peripheral surfaces of the first swivel gear 19A and the second swivel gear 19B.

[0030] The first swivel gear 19A and the second swivel gear 19B are formed with an outer diameter slightly smaller than the inner diameter of the outer cylinder 17. External teeth 19Aa, 19Ba that mesh with and contact a plurality of internal tooth pins 20 arranged on the inner peripheral surface of the outer cylinder 17 are formed on the outer peripheral surfaces of the first swivel gear 19A and the second swivel gear 19B. The number of teeth of the external teeth 19Aa, 19Ba formed on the outer peripheral surfaces of the first swivel gear 19A and the second swivel gear 19B is set to be slightly less (for example, one less) than the number of the internal tooth pins 20.

[0031] The crankshafts 18 are arranged on the same circumference centered on the rotation central axis c1 of the first carrier block 15A and the second carrier block 15B. Each crankshaft 18 is rotatably supported by the first carrier block 15A and the second carrier block 15B via a bearing 22. The eccentric parts 18a and 18b of each crankshaft 18 penetrate the first swivel gear 19A and the second swivel gear 19B, respectively. Each eccentric part 18a and 18b is rotatably engaged with a support hole 21 formed in the first swivel gear 19A and the second swivel gear 19B, respectively, via an eccentric part bearing 23. The two eccentric parts 18a and 18b of each crankshaft 18 are eccentric so that the phases are shifted by 180° around the axis of the crankshaft 18.

[0032] When the crankshafts 18 rotate in one direction due to an external force, the eccentric parts 18a and 18b of the crankshafts 18 rotate in the same direction at a predetermined radius, and the first and second rotating gears 19A and 19B rotate in the same direction at the same radius. At this time, the external teeth 19Aa and 19Ba of the first and second rotating gears 19A and 19B come into contact with the internal tooth pins 20 held on the inner circumference of the outer cylinder 17 so as to mesh with each other.

[0033] In the reduction gear 10 of this embodiment, the number of the internal tooth pins 20 on the outer cylinder 17 side is set to be slightly larger than the number of teeth of each of the external teeth 19Aa, 19Ba of the first and second revolving gears 19A, 19B, so that while the first and second revolving gears 19A, 19B make one revolution, the outer cylinder 17 is pushed and rotated in the same direction as the revolving direction by a predetermined pitch. As a result, the rotation of the crankshaft 18 is greatly decelerated and output as the rotation of the outer cylinder 17. In this embodiment, since the eccentric parts 18a, 18b of each crankshaft 18 are eccentric so as to be shifted by 180° around the axis, the revolving phase of the first and second revolving gears 19A, 19B is shifted by 180°.

[0034] A perforated disk-shaped output plate 26 is attached to the axial end of the outer cylinder 17 on the opposite side to the base flange 14a. The output plate 26 covers the end of the second carrier block 15B in a non-contact manner, and a rotating block 13 (see FIG. 1) for holding a workpiece can be attached to the axially outer end face by bolt fastening or the like. A tubular portion 27 is attached to the inner periphery of the output plate 26, and passes through the inner peripheries of the second carrier block 15B, the second swivel gear 19B, the first swivel gear 19A, the first carrier block 15A, and the base flange 14a in a non-contact manner. The tubular portion 27 rotates integrally with the output plate 26.

[0035] In this embodiment, the first carrier block 15A and the second carrier block 15B form a first block fixed to the fixed block 14, and the outer cylinder 17 forms a second block engaged with the first block so as to be rotatable relative to the first block. The relative rotation center between the first and second carrier blocks 15A and 15B as the first block and the outer cylinder 17 as the second block coincides with the rotation central axis o1 of the main reduction gear unit 50. The main reduction gear mechanism in the main reduction gear unit 50 is formed by the crankshaft 18, the first revolving gear 19A, the second revolving gear 19B, the internal tooth pin 20 on the inner circumference of the outer cylinder 17, and the like.

[0036] The front-stage gear mechanism 51 includes an input gear 33 connected to a rotating shaft (not shown) of the motor 2, an output gear 30 rotatably held on the inner circumferential surfaces of the first carrier block 15A and the base flange 14a, and an intermediate gear 32 meshing with the input gear 33 and the output gear 30 to transmit the rotation of the input gear 33 to the output gear 30. The output gear 30 has a larger diameter than the input gear 33 and has a larger number of teeth than the input gear. Therefore, the rotation of the input gear 33 by the motor 2 is reduced at a predetermined reduction ratio in the output gear 30.

[0037] The input gear 33 is rotatably supported via a bearing 34 at an edge of the base flange 14a spaced radially outward from the through hole 25. The axis c4 of the input gear 33 is set parallel to the rotation center axis c1 of the output side of the reducer 10.

[0038] The output gear 30 is formed with an axial length spanning the first carrier block 15A and the base flange 14a. External teeth 30a are formed in the axial central region of the output gear 30. One axial end side of the output gear 30 is rotatably held by the inner circumferential surface of the first carrier block 15A via a bearing 35B. The other axial end side of the output gear 30 is rotatably held by the inner circumferential surface of the through hole 25 of the base flange 14a via a bearing 35A. The output gear 30 rotates around a rotation center axis c1 at the end of the first carrier block 15A on the fixed block 14 side.

[0039] Furthermore, a plurality of (three) recesses 28 are formed in the end portion of the first carrier block 15A on the base flange 14a side in correspondence with the positions of the plurality of (three) crankshafts 18 described above. Each recess 28 opens to the inner peripheral surface side of the first carrier block 15A. A crankshaft gear 31 (driven gear) for transmitting rotation to the crankshaft 18 is attached to the end portion of each crankshaft 18 on the base flange 14a side. In this embodiment, the crankshaft 18 and the crankshaft gear 31 constitute an input rotor of the main reduction gear unit 50.

[0040] The crankshaft gears 31 attached to each crankshaft 18 are disposed inside the corresponding recesses 28. Each crankshaft gear 31 has external teeth 31a. The external teeth 31a of each crankshaft gear 31 mesh with an area of ​​the external teeth 30a of the output gear 30 near one end in the axial direction. Therefore, the rotation input from the input gear 33 to the output gear 30 via the intermediate gear 32 is transmitted to each crankshaft 18 through the crankshaft gear 31.

[0041] Further, a recess 36 is formed on the end face of the base flange 14a on the first carrier block 15 side to accommodate the external teeth 33a portion of the input gear 33 and the intermediate gear 32. A mounting base 38 for supporting the intermediate gear 32 is attached to the bottom surface of the recess 36 of the base flange 14a (the surface facing the end face of the first carrier block 15A). A part of the recess 36 is open to the through hole 25 in the center of the base flange 14a. The intermediate gear 32 arranged in the recess 36 meshes with the external teeth 30a of the output gear 30 through an opening on the radially inner side of the recess 36.

[0042] The intermediate gear 32 is rotatably supported by a cylindrical support shaft 39. The support shaft 39 is integrally formed with a cylindrical holding member 40 having a larger outer diameter and a shorter shaft length than the support shaft 39. The mounting base 38 is formed with a circular holding hole 41 into which the outer circumferential surface of the holding member 40 is fitted and fixed. The support shaft 39 is fixed in the recess 36 of the base flange 14a (fixed block 14) by fitting the holding member 40 into the holding hole 41.

[0043] As described above, in the reducer 10 of this embodiment, the intermediate gear 32 that transmits rotation from the input gear 33 to the output gear 30 is rotatably supported on the fixed block 14 side, not on the main reduction gear unit 50 side. Therefore, there is no need to increase the thickness on the main reduction gear unit 50 side to support the support shaft 39 of the intermediate gear 32. Therefore, when the reducer 10 of this embodiment is used, the main reduction gear unit 50 can be made thinner (the axial length can be shortened).

[0044] Furthermore, in the reducer 10 of this embodiment, the surface of the fixed block 14 facing the main reduction gear unit 50 is provided to accommodate the intermediate gear 32. Therefore, there is no need to provide a deep recess on the surface of the main reduction gear unit 50 facing the fixed block 14 to avoid interference with the intermediate gear 32. Therefore, when this configuration is adopted, the main reduction gear unit 50 can be made thinner.

[0045] The main reduction gear unit 50 of the reduction gear 10 includes the first and second carrier blocks 15A and 15B coupled to the fixed block 14, the outer cylinder 17 engaged with the first and second carrier blocks 15A and 15B for relative rotation, and a main reduction gear mechanism for reducing the rotation of the crankshaft 18 and outputting it to the outer cylinder 17. The output gear 30 of the front-stage gear mechanism 51 is rotatably supported at one end in the axial direction by the first carrier block 15A, and at the other end in the axial direction by the base flange 14a of the fixed block 14. Therefore, the output gear 30 having a long axial length is stably supported at both ends by the first carrier block 15A and the fixed block 14. For this reason, the reduction gear 10 employing this configuration can reduce the size of the bearing 35B on the main reduction gear unit 50 side that supports the output gear 30. Therefore, when this configuration is employed, the main reduction gear unit 50 can be made thinner and more compact.

[0046] Furthermore, in the reducer 10 of this embodiment, the output gear 30 of the gear mechanism 51 is arranged concentrically with the rotational center axis c1 of the main reduction gear unit 50, and the crankshaft gear 31 on the main reduction gear unit 50 side, which meshes with the output gear 30, and the crankshaft 18 are arranged at a position separated from the rotational center axis c1. The first carrier block 15A connected to the fixed block 14 is restricted in rotation about the rotational center axis c1 by the positioning pin 52 (relative rotation is restricted). Therefore, when rotation is transmitted from the output gear 30 to the crankshaft 18 through the crankshaft gear 31, the positioning pin 52 can restrict the first carrier block 15A from being displaced from the fixed block 14 due to a large reaction force from the output side. Therefore, when this configuration is adopted, rattling of the first carrier block 15A caused by the operation of the main reduction gear unit 50 can be suppressed.

[0047] The present invention is not limited to the above-described embodiment, and various design modifications are possible without departing from the spirit and scope of the present invention. For example, in the above embodiment, a recess 36 is provided in the fixed block 14 and the intermediate gear 32 is housed inside the recess 36, but it is also possible to provide a cutout or step in the fixed block 14, place the intermediate gear 32 in the cutout or step, and cover the outside of the cutout or step with a lid member.

[0048] In the above embodiment, the outer cylinder 17, which is the second block, is configured as an output rotating body that rotates by receiving power from the motor 2, but the outer cylinder 17, which is the second block, may be fixedly installed outside, and the first and second carrier blocks 15A and 15B, which are the first blocks, may be used as output rotating bodies. In this case, the rotating block that holds the workpiece or the like is connected to the first carrier block 15A or the second carrier block 15B. The fixed block 14 and the motor 2 rotate integrally with the first carrier block 15A or the second carrier block 15B.

[0049] Furthermore, in the above embodiment, the main reduction gear mechanism in the main reduction gear unit 50 is configured by the crankshaft 18, the first and second revolving gears 19A and 19B, the internal tooth pin 20 in the external cylinder 17, etc., but the main reduction gear mechanism is not limited to this configuration. The main reduction gear mechanism may be configured in another way, such as a planetary gear mechanism. [Explanation of symbols]

[0050] 1...Drive device, 2...Motor (rotary drive source), 10...Reduction gear, 13...Rotating block, 14...Fixed block, 15A...First carrier block (first block), 15B...Second carrier block (second block), 17...Outer cylinder (second block), 18...Crankshaft (input rotor, main reduction mechanism), 19A...First rotating gear (main reduction mechanism), 19B...Second rotating gear (main reduction mechanism), 20...Internal tooth pin (main reduction mechanism), 30...Output gear, 31...Crankshaft gear (driven gear, input rotor), 32...Intermediate gear, 33...Input gear, 36...Recess, 50...Main reduction unit, 51...Gear mechanism, 52...Locating pin (regulating member)

Claims

1. A main reduction unit that reduces the rotation speed of the input side and transmits it to the output side; a fixed block that is connected to the main reduction gear unit and that rotatably supports an input gear that is connected to a rotary drive source; an output gear that transmits rotation of the input gear to the input side of the main reduction gear unit; an intermediate gear that meshes with the input gear and the output gear and is rotatably supported by the fixed block; A reducer comprising:

2. The speed reducer according to claim 1 , wherein a recess for accommodating the intermediate gear is formed in a surface of the fixed block facing the main reduction gear unit.

3. The main reduction gear unit is a first block coupled to the fixed block; an input rotor rotatably supported by the first block; a second block engaged with the first block so as to be capable of rotating relative to the first block; a main reduction mechanism that outputs the rotation of the input rotor to the second block or the first block, 3. The reducer according to claim 1, wherein one axial end of the output gear is rotatably supported by the first block, and the other axial end of the output gear is rotatably supported by the fixed block.

4. The main reduction gear unit is a first block coupled to the fixed block; an input rotor rotatably supported by the first block; a second block engaged with the first block so as to be capable of rotating relative to the first block; a main reduction mechanism that outputs the rotation of the input rotor to the second block or the first block, the output gear is disposed concentrically with the center of relative rotation of the first block and the second block, the input rotor has a driven gear that meshes with the output gear and is disposed at a position spaced apart from the relative rotation center, 3. The reducer according to claim 1, wherein the fixed block and the first block are regulated in their relative rotation about the relative rotation center by a regulating member.

5. A main reduction unit that reduces the rotation speed of the input side and transmits it to the output side; a fixed block that is connected to the main reduction gear unit and that rotatably supports an input gear that is connected to a rotary drive source; an output gear that transmits rotation of the input gear to the input side of the main reduction gear unit; an intermediate gear that meshes with the input gear and the output gear and is rotatably supported by the fixed block, The main reduction gear unit is a first block coupled to the fixed block; an input rotor rotatably supported by the first block; a second block engaged with the first block so as to be capable of rotating relative to the first block; a main reduction mechanism that outputs the rotation of the input rotor to the second block or the first block, the output gear is rotatably supported on an end of the first block on the fixed block side at a position concentric with a relative rotation center between the first block and the second block, a recess for accommodating the intermediate gear is formed on a surface of the fixed block facing the main reduction gear unit, The intermediate rotary gear is rotatably supported by the fixed block inside the recess.

6. a reducer that reduces the rotation speed of the rotary drive source and outputs the reduced speed; A drive device including: a rotation block connected to an output portion of the reducer, The reducer includes: A main reduction unit that reduces the rotation speed of the input side and transmits it to the output side; a fixed block that is connected to the main reduction gear unit and that rotatably supports an input gear that is connected to a rotary drive source; an output gear that transmits rotation of the input gear to the input side of the main reduction gear unit; an intermediate gear that meshes with the input gear and the output gear and is rotatably supported by the fixed block; A drive unit comprising:

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