Gear reducers and rotating equipment

Abstract

To provide a speed reducer which can reduce variations of a depth in an axial direction of a pin groove and stabilize contact between each internal tooth pin and a pin groove, and to provide a rotary device.SOLUTION: A speed reducer includes: a cylindrical case 11; internal tooth pins 20; multiple oscillation gears; and a carrier. The case 11 has multiple pin grooves 18 along an axial direction on its inner peripheral surface. The internal tooth pin 20 is rotatably housed in each pin groove 18. The oscillation gears respectively have numbers of external tooth which are smaller than an arrangement number of the pin grooves 18 in a circumferential direction, are arranged side by side in the axial direction at an inner periphery of the case 11, and receive rotational power to oscillate with the external tooth engaging with the internal tooth pins 20. The carrier is assembled to the case 11 in a manner that enables relative rotation and is assembled to the oscillation gears in a manner that prevents relative rotation. A portion formed with the pin grooves 18 of the case 11 is formed by multiple divided blocks which divide the pin grooves 18 in the axial direction.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a speed reducer and a rotating device.

Background Art

[0002] In rotating devices used in industrial robots and the like, a speed reducer is used to reduce the rotation of a rotational drive source such as a motor (see, for example, Patent Document 1).

[0003] As the above speed reducer, there is one including a cylindrical case, a carrier rotatably held in the case, a crankshaft rotatably supported by the carrier, a swing gear that rotates in a swirling motion in the case receiving the rotation of the eccentric portion of the crankshaft, and a plurality of internal tooth pins rotatably held on the inner peripheral surface of the case. In the case of this speed reducer, the rotation of the rotational drive source is input to the crankshaft. Further, on the inner peripheral surface of the case, pin grooves for rotatably holding a plurality of internal tooth pins are formed. The pin grooves are formed at equal intervals on the inner peripheral surface of the case along the axial direction of the case. On the outer peripheral surface of the swing gear, external teeth that mesh with the plurality of internal tooth pins are formed. The number of teeth of the external teeth is set to a number that is one less than the number of internal tooth pins. Therefore, when the swing gear rotates in a swirling motion receiving the rotation of the crankshaft, it meshes with the internal tooth pins and is decelerated to a predetermined reduction ratio and rotates in the opposite direction to the swirling direction. The rotation component of the swing gear is transmitted to the carrier through the crankshaft or another output pin. The carrier is connected to the rotating target portion of the rotating device to which the rotating device is used, and transmits the power of the decelerated rotational drive source to the rotating target portion.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In large rotating machinery, it is necessary to enlarge the reduction gear in order to transmit high torque to the rotating part. In this case, in order to reduce the number of expensive main bearings that rotatably support the carrier in the case, the axial length of the case is extended and multiple oscillating gears are installed in the axial direction. In this case, the pin grooves formed on the inner surface of the case become longer in the axial direction depending on the number of oscillating gears installed.

[0006] However, if the length of the pin groove formed on the inner surface of the case becomes longer in the axial direction, the depth of the pin groove tends to vary between one end and the other in the axial direction when the pin groove is continuously cut in the axial direction with a cutting tool. Furthermore, if the difference in groove depth between one end and the other in the axial direction of the pin groove becomes large, the contact between the internal tooth pin and the pin groove becomes unstable, which is disadvantageous in terms of the durability of the device.

[0007] The present invention provides a speed reducer and a rotating device that can reduce variations in the axial depth of the pin groove and stabilize contact between the internal tooth pin and the pin groove. [Means for solving the problem]

[0008] A gearbox according to one aspect of the present invention comprises a cylindrical case having a plurality of pin grooves along the axial direction on its inner circumferential surface; internal tooth pins rotatably housed in each of the pin grooves; a plurality of oscillating gears having fewer teeth than the number of teeth arranged in the circumferential direction of the pin grooves, arranged in axial order on the inner circumference of the case, and rotating oscillatingly while meshing with the internal tooth pins with the external teeth upon receiving rotational power; and a carrier assembled to the case so as to be rotatable relative to it and assembled to the plurality of oscillating gears so as not to be rotatable relative to it, wherein the portion of the case in which the pin grooves are formed is composed of a plurality of dividing blocks that divide the pin grooves in the axial direction.

[0009] In this gearbox configuration, the pin groove of the case is divided into multiple segmented blocks, allowing the pin groove to be machined separately for each segmented block. This makes it possible to reduce the variation (difference in depth) across the entire pin groove.

[0010] Each of the internal tooth pins may be composed of a plurality of dividing pins housed in each of the pin grooves of the dividing block.

[0011] In this case, since each pin groove of the divided block is individually housed, unnecessary stress is less likely to act on the internal tooth pins when multiple oscillating gears oscillate and rotate. Therefore, by adopting this configuration, the contact between the internal tooth pins (divided pins) and the pin grooves can be made more stable, and the durability of the reduction gear can be increased.

[0012] The plurality of division blocks may consist of a first division block and a second division block, which are divided so as to divide the pin groove into two equal-length sections in the axial direction.

[0013] In this case, it becomes possible to efficiently suppress variations in the axial depth of the pin grooves while keeping the complexity of the case structure under control.

[0014] An annular groove opening to the inner circumference may be provided between the end faces of the two dividing blocks that are facing each other in the axial direction.

[0015] In this case, the lubricant inside the case can be retained in the annular groove formed between the divided blocks, thereby improving the lubrication of the moving parts inside the case.

[0016] The aforementioned multiple divided blocks may be connected by multiple fastening members at positions that are equally spaced apart in the circumferential direction.

[0017] In this case, multiple divided blocks are fastened together in a balanced manner in the circumferential direction, making it less likely for gaps to form between adjacent divided blocks.

[0018] A rotating device according to one aspect of the present invention includes a rotary drive source that outputs rotational power, and a speed reducer that decelerates the rotation of the rotary drive source. The speed reducer includes a cylindrical case having a plurality of pin grooves extending in the axial direction on an inner peripheral surface, internal gear pins rotatably accommodated in each of the pin grooves, external teeth having a number of teeth less than the number of circumferential arrangements of the pin grooves, and a plurality of swing gears arranged side by side in the axial direction on the inner periphery of the case, receiving rotational power and swing-rotating while meshing with the internal gear pins by the external teeth, and a carrier relatively rotatably assembled to the case and non-rotatably assembled to the plurality of swing gears. A portion of the case where the pin grooves are formed is constituted by a plurality of divided blocks that axially divide the pin grooves.

Advantages of the Invention

[0019] In the above-described speed reducer, since the portion of the case where the pin grooves are formed is constituted by a plurality of divided blocks that axially divide the pin grooves, the pin grooves can be individually machined by cutting for each divided block. Therefore, variations in the depth of the pin grooves in the axial direction can be reduced. Thus, when the above-described speed reducer is adopted, the inclination of the internal gear pins during operation can be reduced, and the contact between the internal gear pins and the pin grooves can be stabilized.

Brief Description of the Drawings

[0020] [Figure 1] FIG. 1 is a partial cross-sectional front view of the speed reducer of the embodiment. [Figure 2] FIG. 2 is a cross-sectional view taken along line II-II of FIG. 1. [Figure 3] FIG. 3 is an enlarged cross-sectional view showing a part of FIG. 2.

Embodiments for Carrying Out the Invention

[0021] Next, embodiments of the present invention will be described based on the drawings.

[0022] FIG. 1 is a partial cross-sectional front view of the speed reducer 10 as viewed from the input side. FIG. 2 is a cross-sectional view taken along line II-II of FIG. 1. As shown in FIG. 2, the speed reducer 10 constitutes a rotating device 100 together with a motor 50 which is a rotational drive source. The rotating device 100 receives the driving force of the motor 50 (see FIG. 2) decelerated by the speed reducer 10 and rotates a rotation target portion (not shown). The rotating device 100 is, for example, a rotating arm of an industrial robot, a rotating table of an article conveying device, or the like. The rotating shaft 50a of the motor 50 is connected to a crankshaft 14 (described later) of the speed reducer 10 via a power transmission mechanism (not shown). The crankshaft 14 of the speed reducer 10 rotates receiving the driving force of the motor 50.

[0023] The speed reducer 10 includes a substantially cylindrical case 11, a first carrier block 13A assembled to be relatively rotatable on the inner peripheral side of the case 11, a second carrier block 13B, a plurality (for example, three) of crankshafts 14 rotatably supported by the first carrier block 13A and the second carrier block 13B, a first oscillating gear 15A that turns and rotates together with two eccentric regions 14b of each crankshaft 14, and a second oscillating gear 15B. In the present embodiment, the first carrier block 13A and the second carrier block 13B constitute a carrier. Further, the first oscillating gear 15A and the second oscillating gear 15B constitute a plurality of oscillating gears in the present embodiment.

[0024] The first carrier block 13A has a perforated disk-shaped substrate portion 13Aa and a plurality of support columns 13Ab extending from the end face of the substrate portion 13Aa toward the second carrier block 13B. The second carrier block 13B is formed in a perforated disk shape. The end face of the support column 13Ab of the first carrier block 13A abuts against the end face of the second carrier block 13B, and each support column 13Ab is fastened and fixed to the second carrier block 13B by bolts 16. Reference numeral 17 in the figure is a positioning pin for positioning the second carrier block 13B on each support column 13Ab before fastening by the bolts 16.

[0025] An axial gap is provided between the substrate portion 13Aa of the first carrier block 13A and the second carrier block 13B. The first oscillating gear 15A and the second oscillating gear 15B are positioned in this gap. Furthermore, the first oscillating gear 15A and the second oscillating gear 15B have relief holes 19 through which each support column 13Ab of the first carrier block 13A passes. The relief holes 19 are formed to be sufficiently larger than the outer surface shape of each support column 13Ab so that the support columns 13Ab do not obstruct the rotational movement of the first oscillating gear 15A and the second oscillating gear 15B.

[0026] Case 11 comprises a first divided block 11A and a second divided block 11B, which are abutted against each other at their axial end faces. Case 11 is divided into the first divided block 11A and the second divided block 11B at approximately the center of the axial direction. The first divided block 11A and the second divided block 11B are connected by a plurality (for example, three) of bolts 45 (fastening members) with their axial end faces abutted against each other. The plurality of bolts 45 are arranged at equal angles apart around the rotational axis c1, which will be described later. The first divided block 11A and the second divided block 11B constitute a plurality of divided blocks in this embodiment.

[0027] Furthermore, an annular seal groove 46 is provided on the inner end face 11Ae of the first divided block 11A (the end face facing the second divided block 11B). An annular seal member 47 is housed in the seal groove 46. The seal member 47 seals the space between the end faces 11Ae and 11Be when the first divided block 11A and the second divided block 11B are fastened together by bolts 45.

[0028] The cylindrical case 11, which connects the first divided block 11A and the second divided block 11B, is positioned across the outer circumferential surface of the base portion 13Aa of the first carrier block 13A and the outer circumferential surface of the second carrier block 13B. The base portion 13Aa of the first carrier block 13A and the second carrier block 13B are rotatably supported at both axial ends of the case 11 via main bearings 12. In addition, a plurality of pin grooves 18 are formed on the inner circumferential surface of the central axial region of the case 11 (the region facing the outer circumferential surfaces of the first oscillating gear 15A and the second oscillating gear 15B), extending parallel to the rotational axis c1 of the first and second carrier blocks 13A and 13B.

[0029] An internal tooth pin 20 is rotatably housed in each pin groove 18. The internal tooth pin 20 consists of a substantially cylindrical first division pin 20A and a second division pin 20B. The first division pin 20A and the second division pin 20B are separate pin members of the same shape and size. The first division pin 20A is housed in a region of the pin groove 18 formed on the inner circumferential surface of the first division block 11A. The second division pin 20B is housed in a region of the pin groove 18 formed on the inner circumferential surface of the second division block 11B. The first division pin 20A housed in the pin groove 18 of the first division block 11A faces the outer circumferential surface of the first oscillating gear 15A, and the second division pin 20B housed in the pin groove 18 of the second division block 11B faces the outer circumferential surface of the second oscillating gear 15B.

[0030] The first oscillating gear 15A and the second oscillating gear 15B are formed with an outer diameter slightly smaller than the inner diameter of the case 11 (first divided block 11A and second divided block 11B). External teeth 15Aa and 15Ba are formed on the outer circumferential surfaces of the first oscillating gear 15A and the second oscillating gear 15B, respectively, which are in meshing contact with the first dividing pin 20A and the second dividing pin 20B, respectively, which are located in the inner circumferential portions (pin grooves 18) of the first divided block 11A and the second divided block 11B. The number of teeth on the external teeth 15Aa and 15Ba formed on the outer circumferential surfaces of the first oscillating gear 15A and the second oscillating gear 15B is set to be slightly less (for example, one less) than the number of teeth on the first dividing pin 20A and the second dividing pin 20B (the number of pin grooves 18).

[0031] Multiple crankshafts 14 are arranged on the same circumference centered on the rotational axis c1 of the first carrier block 13A and the second carrier block 13B. Each crankshaft 14 is rotatably supported by the first carrier block 13A and the second carrier block 13B via bearings 21. Each crankshaft 14 has a pair of axial support regions 14a spaced apart in the axial direction, and two eccentric regions 14b located between the pair of axial support regions 14a. A gear mounting portion 14c is formed at one end of the crankshaft 14 in the axial direction, adjacent to the axial support region 14a. Each axial support region 14a is inserted through an axial support hole 13Aa-1 formed in the first carrier block 13A (base portion 13Aa) and an axial support hole 13Ba-1 formed in the second carrier block 13B, and is rotatably supported by these via bearings 21.

[0032] The two eccentric regions 14b of the crankshaft 14 have their respective central axes eccentric with respect to the central axis of the shaft support region 14a. Furthermore, the two eccentric regions 14b are eccentric such that their phases are shifted by 180° around the central axis of the shaft support region 14a.

[0033] Furthermore, each eccentric region 14b of the crankshaft 14 passes through the first oscillating gear 15A and the second oscillating gear 15B, respectively. Each eccentric region 14b is rotatably engaged with support holes 22 formed in the first oscillating gear 15A and the second oscillating gear 15B, respectively, via eccentric bearings 23 (cylindrical roller bearings). Furthermore, the first carrier block 13A and the second carrier block 13B are connected to the first oscillating gear 15A and the second oscillating gear 15B in a manner that prevents relative rotation, via a plurality of crankshafts 14 arranged around the rotational axis c1. In other words, when the first oscillating gear 15A and the second oscillating gear 15B rotate in one direction, the first carrier block 13A and the second carrier block 13B rotate in sync with their rotation.

[0034] In this embodiment, when the multiple crankshafts 14 of the reduction gear 10 are subjected to an external force and rotate in one direction, each eccentric region 14b of the crankshafts 14 pivots in the same direction with a predetermined radius, and consequently, the first oscillating gear 15A and the second oscillating gear 15B pivot (oscillate) in the same direction with the same radius. At this time, the external teeth 15Aa and 15Ba of the first oscillating gear 15A and the second oscillating gear 15B contact and mesh with a plurality of internal tooth pins 20 (first division pin 20A and second division pin 20B) held on the inner circumference of the case 11 (first division block 11A and second division block 11B).

[0035] The gear mounting portion 14c of each crankshaft 14 passes through the shaft support hole 13Ba-1 of the second carrier block 13B and protrudes axially outward from the second carrier block 13B. A crankshaft gear 28 is attached to the gear mounting portion 14c that protrudes from the second carrier block 13B. Each crankshaft gear 28 meshes with an input gear (not shown). The input gear rotates under the driving force of a motor 50, which is a rotational drive source.

[0036] In the reduction gear 10 of this embodiment, the number of teeth on the external teeth 15Aa and 15Ba of the first oscillating gear 15A and the second oscillating gear 15B is set to be slightly less than the number of internal tooth pins 20 (first split pin 20A and second split pin 20B) on the case 11 side. Therefore, while the first oscillating gear 15A and the second oscillating gear 15B rotate once, they receive a reaction force in the rotational direction from the internal tooth pins 20 on the case 11 side. As a result, the first oscillating gear 15A and the second oscillating gear 15B rotate on their own by a predetermined pitch in the opposite direction to the rotational direction. The first and second carrier blocks 13A and 13B, which are assembled to the first and second oscillating gears 15A and 15B via the crankshaft 14, rotate together with the first and second oscillating gears 15A and 15B in the same direction and at the same pitch. As a result, the rotation of the crankshaft 14 is reduced and output as the rotation of the first and second carrier blocks 13A and 13B.

[0037] In this embodiment, the case 11 is fixed together with the motor 50 to a support structure (not shown), and the first carrier block 13A is connected to a rotating object (not shown) of the rotating equipment 100. Therefore, the rotational power of the motor 50 is reduced to a predetermined reduction ratio by the reduction gear 10, and then rotates the rotating object via the first carrier block 13A. However, it is also possible to fix the first carrier block 13A and the second carrier block 13B to a support structure and connect the case 11 to the object to be rotated.

[0038] Figure 3 is an enlarged cross-sectional view showing the connection between the first divided block 11A and the second divided block 11B in Figure 2. The first divided block 11A and the second divided block 11B are positioned by a plurality of positioning pins (not shown) such that the pin grooves 18 on their inner circumferential surfaces are aligned linearly in the axial direction, and are connected to each other by bolts 45 in this position. The plurality of positioning pins are arranged at equal angles apart around the rotational axis c1, similar to the bolts 45.

[0039] Here, the first and second division blocks 11A, which constitute the case 11, are divided such that the pin groove 18 on the inner circumferential surface of the case 11 is divided into two equal-length sections in the axial direction. As shown in Figure 3, an annular notch 30 is formed on the inner peripheral edge of the inner end faces 11Ae and 11Be of the first and second divided blocks 11A and 11B, respectively, opening radially inward from the end faces 11Ae and 11Be. The notch 30 on the first divided block 11A side and the notch 30 on the second block side form an annular groove that opens inward when the two divided blocks 11A and 11B are connected. This annular groove allows a lubricant (not shown) filled inside the case 11 to be stably retained inside.

[0040] Next, we will explain the manufacturing method of the case 11 of the gearbox 10. First, the general shapes of the first divided block 11A and the second divided block 11B are fabricated by casting or other means. Next, pin grooves 18 are formed on the inner circumferential surfaces of the first divided block 11A and the second divided block 11B by cutting with a cutting tool. At this time, cutting is performed on each divided block 11A and 11B from one end in the axial direction to the other end. In this case, the depth of the pin groove 18 may change from one end to the other in the axial direction during cutting. However, since the axial length of the pin groove 18 in each divided block 11A and 11B is approximately half the length of the pin groove 18 in the entire case 11, the variation in the depth of the pin groove 18 is small.

[0041] In Figure 3, the symbol w1 represents the variation in the depth of the pin groove 18 when the case 11 is constructed from a first divided block 11A and a second divided block 11B, and the symbol w2f represents the variation in the depth of the pin groove 18 when the case 11 is constructed from a single block. As shown in Figure 3, when the case 11 is constructed from a first divided block 11A and a second divided block 11B, the variation in the depth of the pin groove 18 can be reduced to about half compared to when the case 11 is constructed from a single block.

[0042] As described above, in this embodiment, the reduction gear 10 has a case 11 in which the pin groove 18 is formed, and the portion of the case 11 is composed of multiple dividing blocks (first dividing block 11A and second dividing block 11B) that divide the pin groove 18 in the axial direction. Therefore, the pin groove 18 can be machined individually for each dividing block. Consequently, the variation in the axial depth of the pin groove 18 can be reduced. Therefore, when the reduction gear 10 of this embodiment is adopted, the inclination of the internal tooth pin 20 during the operation of the reduction gear 10 can be reduced, and the contact between the internal tooth pin 20 and the pin groove 18 can be stabilized. In this embodiment, case 11 is composed of a first dividing block 11A and a second dividing block 11B, but the number of divisions in the axial direction of case 11 is not limited to two. It may be three or more divisions.

[0043] Furthermore, in this embodiment, the reduction gear 10 is composed of a first division pin 20A and a second division pin 20B, which are housed in the respective pin grooves 18 of the first division block 11A and the second division block 11B. In this case, since the division pins (first division pin 20A and second division pin 20B) are individually housed in the respective pin grooves 18 of the division blocks (first division block 11A and second division block 11B), unnecessary stress is less likely to act on the internal tooth pin 20 when the first oscillating gear 15A and the second oscillating gear 15B oscillate. Therefore, by adopting this configuration, the contact between the internal tooth pin 20 (first division pin 20A and second division pin 20B) and the pin grooves 18 during the operation of the reduction gear 10 can be made more stable, and the durability of the reduction gear 10 can be increased. However, in this embodiment, independent first division pins 20A and second division pins 20B are individually housed in the pin grooves 18 of the first division block 11A and the second division block 11B, respectively. It is also possible to house a single internal tooth pin of continuous length in the pin grooves 18 of each block.

[0044] Furthermore, in this embodiment, the gearbox 10 is constructed of a case 11 divided into a first divided block 11A and a second divided block 11B, which divide the pin groove 18 into two equal-length sections in the axial direction. Therefore, by adopting the configuration of the gearbox 10 in this embodiment, it is possible to suppress variations in the axial depth of the pin groove 18 while preventing the case 11 from becoming overly complex.

[0045] Furthermore, in this embodiment, the gearbox 10 is provided with an annular groove opening to the inner circumference by a notch 30 between the end faces 11Ae and 11Be of the first and second divided blocks 11A and 11B that are opposite each other in the axial direction. Therefore, when this configuration is adopted, the lubricant inside the case 11 can be retained in the annular groove formed between the end faces 11Ae and 11Be, thereby further improving the lubrication of the operating parts inside the case 11.

[0046] Furthermore, in the gearbox 10 of this embodiment, the first divided block 11A and the second divided block 11B are connected by a plurality of bolts 45 (fastening members) at positions that are equally spaced apart in the circumferential direction. Therefore, the first divided block 11A and the second divided block 11B are fastened in a balanced manner in the circumferential direction, making it difficult for gaps to form between the end faces 11Ae and 11Be of the first divided block 11A and the second divided block 11B.

[0047] It should be noted that the present invention is not limited to the embodiments described above, and various design modifications are possible without departing from the spirit of the invention. For example, in the above embodiment, the first dividing block 11A and the second dividing block 11B are configured to divide the pin groove 18 into two equal lengths in the axial direction, but it is also possible to configure multiple dividing blocks to divide the pin groove into unequal lengths in the axial direction. Furthermore, in the above embodiment, a motor 50 is used as a rotational drive source that constitutes the rotating equipment 100 together with the reduction gear 10, but the rotational drive source is not limited to an electric motor as long as it can transmit rotational power. For example, it may be a device that changes the movement of a linear actuator into rotational movement.

[0048] Furthermore, in the embodiments disclosed herein, those composed of multiple objects may be integrated, and conversely, those composed of a single object may be divided into multiple objects. Whether or not they are integrated, the invention is only necessary to achieve its objective. [Explanation of Symbols]

[0049] 10... Reducer, 11... Case, 11A... First split block (split block), 11B... Second split block (split block), 13A... First carrier block (carrier), 13B... Second carrier block (carrier), 15A... First oscillating gear (oscillating gear), 15B... Second oscillating gear (oscillating gear), 18... Pin groove, 20... Internal tooth pin, 20A... First split pin, 20B... Second split pin, 30... Notch (annular groove), 45... Bolt (fastening member), 50... Motor (rotation drive source), 100... Rotating equipment.

Claims

1. A cylindrical case having multiple pin grooves along the axial direction on its inner circumferential surface, An internal toothed pin is rotatably housed in each of the aforementioned pin grooves, Multiple oscillating gears, each having fewer external teeth than the number of teeth arranged in the circumferential direction of the pin groove, arranged in an axial line on the inner circumference of the case, and rotating oscillatingly while engaging with the internal tooth pins with the external teeth upon receiving rotational power, The case is assembled to be rotatable relative to the carrier, and the plurality of oscillating gears are assembled to be non-rotatable relative to the carrier, A gearbox in which the portion of the case in which the pin groove is formed is composed of a plurality of dividing blocks that divide the pin groove in the axial direction.

2. The gearbox according to claim 1, wherein each of the internal tooth pins is composed of a plurality of dividing pins housed in each of the pin grooves of the dividing block.

3. The gearbox according to claim 1 or 2, wherein the plurality of division blocks consist of a first division block and a second division block, which are divided so as to divide the pin groove into two equal lengths in the axial direction.

4. The speed reducer according to claim 1 or 2, wherein an annular groove opening to the inner circumference is provided between the end faces of two axially opposed dividing blocks.

5. The gearbox according to claim 1 or 2, wherein the plurality of divided blocks are connected by a plurality of fastening members at positions that are equally spaced apart in the circumferential direction.

6. A rotary drive source that outputs rotational power, The system includes a reduction gear that reduces the rotation of the aforementioned rotary drive source, The aforementioned reduction gear is A cylindrical case having multiple pin grooves along the axial direction on its inner circumferential surface, An internal toothed pin is rotatably housed in each of the aforementioned pin grooves, Multiple oscillating gears, each having fewer external teeth than the number of teeth arranged in the circumferential direction of the pin groove, arranged in an axial line on the inner circumference of the case, and rotating oscillatingly while engaging with the internal tooth pins with the external teeth upon receiving rotational power, The case is assembled to be rotatable relative to the carrier, and the plurality of oscillating gears are assembled to be non-rotatable relative to the carrier, A rotating device in which the portion of the case in which the pin groove is formed is composed of a plurality of dividing blocks that divide the pin groove in the axial direction.

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