JP2007247730A - Geared reducer and joint part structure for industrial robot equipped therewith - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an eccentric rocking reducer 21 and a joint part structure for an industrial robot 11 having a reduced axial length and weight. <P>SOLUTION: A plurality of first pin holes 71 into which parts of positioning pins 74 are inserted are formed in a flat face 70 of a hand 62, and a plurality of second pin holes 39 into which the remainders are inserted are formed in a front end face 38 of a carrier 33. Thus, the concentricity of the carrier 33 to the hand 62 is kept highly accurate by the positioning pins 74 when fastening the hand 62 to the carrier 33. At this time, no need exists for a cylindrical protruded portion which is conventionally needed and so the axial length of a fourth joint 20 can be reduced by the length of a pillbox portion in pillbox joint. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

    The present invention relates to a gear type speed reducer that reduces input rotation and a joint part structure of an industrial robot equipped with the gear type speed reducer.

In general, various types of industrial robots having six degrees of freedom are known, and examples of commonly used robots include those described in Patent Document 1 below.
JP-A 63-185595 Japanese Patent Application Laid-Open No. 64-20993

  The industrial robot is provided between a base installed on a floor and a turning head, and applies a rotational force to the turning head to rotate the turning head about a vertical first axis. And a second joint that is provided between an upper end portion of the swivel head and a proximal end portion of the first arm, and applies a rotational force to the first arm to swing the first arm about a horizontal second axis. And a third arm which is provided between a distal end portion of the first arm and a proximal end portion of the second arm, and applies a rotational force to the second arm to swing the second arm about a horizontal third axis. Has a joint.

  The industrial robot is provided between the distal end portion of the second arm and the proximal end portion of the cylindrical hand, and applies a rotational force to the hand so that the hand is positioned on the central axis of the hand. A fourth joint that rotates about the fourth axis and a hand and a hand axis are provided between the hand and the hand axis, and a rotational force is applied to the hand axis to swing the hand axis about the fifth axis orthogonal to the fourth axis. A fifth joint, and a sixth joint that is provided between the hand shaft and the mounting base and applies a rotational force to the mounting base to rotate the mounting base around a sixth axis orthogonal to the fifth axis. ing.

  And all the 1st-6th joint in such an industrial robot has the almost same structure provided with the gear type reduction gear which decelerates and outputs the rotation of a motor, but the detailed structure is, For example, it demonstrates below, referring the 5th joint described in the said patent document 2. FIG.

  Here, the fifth joint includes a fixed portion attached to the hand (base end side member), an output portion fastened to the hand shaft (tip end side member), an input portion to which input rotation is applied, and an input In order to make the concentricity between the output part and the hand shaft highly accurate, the gear type speed reducer has a gear reduction part that decelerates rotation from the part and outputs it to the output part. The front end of the output portion protrudes from the fixed portion toward the hand shaft, and a cylindrical protrusion that protrudes toward the fixed portion is formed on the flange of the hand shaft, and the outer peripheral surface of the front end portion and the cylindrical protrusion A so-called stamping connection is performed in which the output portion and the hand shaft are fitted in a state where the inner peripheral surface of the portion is in surface contact. Such stamping connection is usually performed in any of the joints described above.

    However, in such a joint structure of a conventional industrial robot, since the concentricity between the output unit and the tip side member is made highly accurate as described above, The axial length of the joint structure is increased and the weight is increased by the axial length of the stamping portion where the distal end portion of the output portion and the cylindrical protruding portion formed on the distal end side member overlap in the radial direction. There was a problem of ending up. In particular, such a problem is conspicuous in the fourth shaft (fourth joint) that is small but needs to withstand the total weight of the hand shaft, the mounting base, the tool, and the like.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a gear type reduction gear capable of reducing the axial length and reducing the weight, and a joint part structure of an industrial robot provided with the gear type reduction gear.

    The purpose of this is to first fasten the fixed portion, the input portion to which the input rotation is applied, the gear reduction portion that reduces the rotation from the input portion, and the rotation reduced by the gear reduction portion. A plurality of pin holes into which the rest of positioning pins that can be partially inserted into the rotated member are inserted. Can be achieved by a gear-type speed reducer formed on the front end surface of the output portion.

  Second, a gear-type speed reducer having a fixed portion, an input portion to which input rotation is applied, a gear reduction portion that reduces the rotation from the input portion, and an output portion that outputs the rotation reduced by the gear reduction portion; An industrial robot joint structure comprising a proximal end member of an industrial robot attached to the fixed portion and a distal end side member fastened to the output portion, wherein the entire distal end surface of the output portion And the output portion and the distal end side member are brought into surface contact only with the distal end surface of the output portion and the flat surface formed on the distal end side member, and the flat surface of the distal end side member and A plurality of first and second pin holes are respectively formed on the front end surface of the output part, and a part of the positioning pin is inserted into the first pin hole of the front end side member and the remaining part is inserted into the second pin hole of the output part. Industry with geared reducers The joint structure of the robot can be achieved.

  According to a first aspect of the present invention, the entire front end surface of the output portion of the gear reducer is configured as a flat surface, and the remaining portion of the positioning pin that can be partially inserted into the rotated member fastened to the output portion is provided. Since the plurality of pin holes to be inserted are formed on the distal end surface of the output part, when the rotated member is fastened to the output part, the concentricity between the output part and the rotated member is not due to these stamped joints, By inserting a part of the positioning pin into the rotated member and the remaining part into the pin hole, high accuracy can be maintained.

  At this time, since it is possible to omit the cylindrical protrusion of the rotated member, which has been necessary in the past, it is not necessary to provide a portion overlapping the cylindrical protrusion at the tip of the output portion. The amount of protrusion of the tip of the part from the fixed part can be shortened by the amount of extra protrusion (the length of the stamping part) due to the joining of the stamping stick. The length can be shortened and the weight can be reduced.

  According to a second aspect of the present invention, a plurality of second pins into which the remaining portions of the positioning pins are inserted into a flat surface formed in the tip side member with a plurality of first pin holes into which a part of the positioning pins are inserted. If the pin hole is formed in the tip surface of the output part, the concentricity between the tip side member and the output part when the tip side member and the output part are fastened is positioned inserted into the first and second pin holes. High precision can be maintained by the pins.

  At this time, if only the flat surface of the distal end side member is in surface contact with the flat distal end surface of the output portion, the axial length of the joint can be easily increased by the length of the stamping portion as in the first aspect. While being able to shorten, this joint can be reduced in weight and it is suitable for an industrial robot. In addition, since the plurality of positioning pins are inserted into the distal end side member and the output portion as described above, the rotational direction positioning between the distal end side member and the output portion can be performed with high accuracy.

  Usually, the three joints from the tip are called wrist three axes (wrist joints), which are attached to the arm of an industrial robot, but at least one of them is a lightweight joint as claimed in claim 3 If a partial structure is used, the performance fall of a wrist joint can be suppressed effectively.

  Here, since a tool, two joints, and the like are provided on the tip side from the third joint from the tip, the third joint from the tip and the two joints are brought close to each other. Although it is necessary to reduce the moment load generated at the joint, the moment load generated at the third joint from the tip can be reduced if configured as described in claim 4. At this time, if the distal end side member and the output portion are made hollow, the drive shaft for transmitting the rotational force from the third joint to the distal end side joint can be passed without any problem, and the weight can be reduced. be able to.

  According to the fifth aspect of the present invention, it is possible to effectively prevent dust, dust, and the like from entering between the fixed portion and the output portion (oil seal). Can extend the lifespan.

Embodiments of the present invention will be described below with reference to the drawings.
1 and 2, 11 is an industrial robot with 6 degrees of freedom having at least three joints, here, six joints. The industrial robot 11 is not shown in the same manner as described above. It has the 2nd arm 12 as a base end side member which can rock | fluctuate a base end part to the center (around a horizontal 3rd axis | shaft) by giving rotational force from three joints. Here, the second arm 12 has a cylindrical shape, and a hollow hole 13 penetrating in the axial direction is formed therein.

  Reference numeral 20 denotes a fourth joint provided between the second arm 12 and a hand to be described later. The fourth joint 20 is a third joint counted from the distal end side (mounting base side) of the industrial robot 11. Thus, it has an eccentric oscillating speed reducer 21 as a gear type speed reducer. The speed reducer 21 has a case 22 as a substantially cylindrical fixing portion, and a plurality of pin teeth 23 as inner teeth that are equidistant in the circumferential direction are provided on the inner periphery of the central portion in the axial direction of the case 22. ing.

  Reference numeral 25 denotes a plurality of bolts screwed into both the case 22 and the tip of the second arm 12, and the second arm 12 is attached to the case 22 by these bolts 25. A plurality of (in this case, two) pinions 26 having a ring shape are accommodated in the case 22 in an axial direction, and a large number of external teeth 27 are formed on the outer periphery of the pinions 26.

  Here, the number of teeth of the external teeth 27 of the pinion 26 is slightly smaller than the number of teeth of the pin teeth 23, and here, only one, and the pinion 26 and the case 22 are in contact with the external teeth 27. Although the pin teeth 23 are engaged with each other, the phase of the maximum engagement portion (the deepest engagement portion) of the two pinions 26 is shifted by 180 degrees. A central hole 31 penetrating on the central axis of the pinion 26, and a plurality (three) of through holes 32 penetrating in the axial direction in the middle portion between the outer circumferences are equidistant in the circumferential direction. Are formed apart.

  33 is a carrier as an output part inserted into the case 22, and this carrier 33 has a pair of end plate parts 34, 35 having substantially ring shapes arranged on both outer sides in the axial direction of the pinion 26, and one side An end is integrally formed with the end plate portion 34, and the other end is composed of a plurality of column portions 37 (the same number as the through holes 32) fastened to the end plate portion 35 with bolts 36. Each of the holes 32 is loosely fitted.

  The carrier 33, more specifically, the entire front end surface 38 (end surface on one side in the axial direction) of the end plate portion 34 is composed of a flat surface orthogonal to the axial direction. A plurality of (in this case, two) second pin holes 39 that are open in the hand side, which will be described later, are formed in the portion so as to be separated in the circumferential direction (here, separated by 120 degrees in the circumferential direction). A center hole 41 having the same diameter as the center hole 31 is formed on the center axis of the carrier 33.

  42 is a pair of bearings interposed between the outer periphery of the carrier 33, more specifically, the end plate portions 34 and 35 and the inner periphery of both ends in the axial direction of the case 22, and the carrier 33 is attached to the case 22 by these bearings 42. It is supported so as to be relatively rotatable. Reference numeral 43 denotes a plurality of (three) through-hole crank holes formed in each pinion 26 extending in the axial direction. These crank holes 43 are equidistant from each other in the circumferential direction and alternately arranged with the through holes 32. Yes.

  Reference numeral 47 denotes a plurality of crankshafts (the same number as the crank holes 43) as input portions, and these crankshafts 47 are arranged equidistantly in the circumferential direction. A pair of bearings 48 that are separated in the axial direction are interposed between the crankshaft 47 and the carrier 33, more specifically, the end plate portions 34 and 35, respectively. It is rotatably supported by the carrier 33 via a pair of bearings 48.

  Further, the crankshaft 47 has the same number (two) of eccentric portions 49 as the pinions 26 eccentrically spaced from the central axis of the crankshaft 47 at the central portion in the axial direction, and these eccentric portions 49 are adjacent to each other in the axial direction. And are out of phase with each other by 180 degrees. The eccentric portion 49 of the crankshaft 47 is inserted into the crank hole 43 of the pinion 26 via a roller bearing 50, and as a result, relative rotation between the pinion 26 and the crankshaft 47 is allowed. .

  51 is an oil seal disposed on one axial side of the bearing 42 on the one axial side, and this oil seal 51 is formed on the inner circumference of the one side end of the case 22 and the carrier 33, more specifically on the end plate portion 34. By being provided between the outer periphery of one side end in the axial direction, the gap between the case 22 and the carrier 33 is sealed, and the lubricant in the speed reducer 21 leaks to the outside through these gaps or dust. Prevents dust and dirt from entering inside.

  55 is a cylindrical transmission shaft housed in the hollow hole 13 of the second arm 12 and having a hollow hole 56 formed therein. The central axis of the transmission shaft 55 is the center of the speed reducer 21 and the second arm 12. It is coaxial with the shaft. The transmission shaft 55 can rotate around its own rotation axis by receiving a driving force from a driving source (drive motor) (not shown). A first external gear 57 is provided at the tip (one axial end) of the transmission shaft 55, and the first external gear 57 rotates around the axis when a driving force is transmitted from the drive source. .

  58 is a second external gear attached to at least one of them, here the one axial end (the other axial end) of all the crankshafts 47, and all these second external gears 58 are the first external gears. The first external gear 57 is disposed at an equal angle around the outer gear 57 and meshes with the first external gear 57. As a result, when the drive source is operated to rotate the transmission shaft 55, all the crankshafts 47 receive input rotation from the transmission shaft 55 and rotate around their own central axes.

  When the eccentric rotation from the eccentric portion 49 of the crankshaft 47 is transmitted to the pinion 26, the pinion 26 rotates eccentrically. At this time, the number of teeth of the external teeth 27 of the pinion 26 is equal to that of the case 22. Since the pinion 26 is one less than the number of pin teeth 23, the rotation from the crankshaft 47 is greatly decelerated by the eccentric oscillating rotation and transmitted to the carrier 33.

  The aforementioned pin teeth 23 and pinion 26 as a whole constitute a gear reduction part 59 that reduces the rotation from the crankshaft (input part) 47, and the rotation reduced by the gear reduction part 59 is transferred from the carrier 33 to the carrier. It is output to a hand, which will be described later, fastened to 33. Further, the case 22 as the fixed portion, the carrier 33 as the output portion, the crankshaft 47 as the input portion and the gear reduction portion 59 as a whole reduce the rotation input to the crankshaft 47 and output it from the carrier 33. The eccentric oscillating speed reducer 21 is configured.

  The first and second external gears 57 and 58 described above constitute a gear train 60 that transmits the rotation from the transmission shaft 55 to the crankshaft 47 of the eccentric oscillating speed reducer 21 as a whole. Since the gear train 60 is arranged so as to protrude from the other side surface in the axial direction of the carrier 33 to the input side (drive source side), when it is arranged loosely in the carrier 33 on the output side (hand 62 side described later) Compared to the above, the weight can be reduced. The gear train 60 may be used as a front reduction gear, and the rotation may be reduced here.

  62 is a substantially cylindrical hand as a rotated member (a tip side member of the industrial robot 11) having a center hole 63 formed on the center axis, and the base end portion (the other end portion in the axial direction) of the hand 62 The ring-shaped flange 64 formed in () is fastened to the carrier 33, specifically, the end plate portion 34 by a plurality of bolts 66. The hand 62 extends in the axial direction of the speed reducer 21, and its central axis is coaxial with the center axis of the speed reducer 21 and the second arm 12, and the hand 62 receives rotational force from the speed reducer 21 (carrier 33). By being given, it can rotate around the fourth axis located on its own central axis.

  Reference numeral 70 denotes a flat surface formed on the entire other end surface in the axial direction of the hand 62 (end surface on the carrier 33 side) and orthogonal to the axial direction. The flat surface 70 is in surface contact with the front end surface 38 of the carrier 33. As described above, the hand 62 and the carrier 33 are in surface contact only with the front end surface 38 and the flat surface 70, and the hand does not contact the outer peripheral surface of the carrier as in the prior art. Further, a plurality of (two in this case, the same number as the second pin holes 39) first pin holes 71 extending in the axial direction in which the second arm 12 side opens at a substantially intermediate portion between the outer circumferences of the flat surface 70. Are formed apart from each other in the circumferential direction (here, 120 degrees apart in the circumferential direction), and a part of a positioning pin to be described later can be inserted into the first pin hole 71. When the carrier 33 and the hand 62 are fastened as described above, the first and second pin holes 71 and 39 are arranged coaxially.

  Reference numeral 74 denotes a plurality (two) of positioning pins in which a part (one side in the axial direction) is inserted into the first pin hole 71. The remaining part (the other side in the axial direction) of these positioning pins 74 is The second pin hole 39 is inserted. If the second pin hole 39 is formed in the front end surface 38 of the carrier 33 in this way, when the hand 62 is fastened to the carrier 33 (end plate portion 34), the concentricity between the carrier 33 and the hand 62 is set as in the conventional case. It is possible to maintain a high degree of accuracy by inserting a part of the positioning pin 74 into the first pin hole 71 of the hand 62 and the remaining part into the second pin hole 39 of the carrier 33 without using these indicia couplings. it can.

  At this time, as described above, when the carrier 33 and the hand 62 are brought into surface contact only with the flat front end surface 38 of the carrier 33 and the flat surface 70 formed on the hand 62, it is necessary to connect the stamps. This eliminates the need to provide a portion overlapping the cylindrical protrusion at the tip end (one axial end) of the carrier 33, and as a result, The amount of protrusion from the case 22 can be shortened by the amount that protrudes excessively for the stamping connection (the length of the stamping part), so that the fourth joint 20 (eccentric rocking speed reducer 21) This is suitable for the industrial robot 11 because the axial length can be shortened and the weight can be reduced.

  In addition, since the plurality of positioning pins 74 are inserted into the hand 62 and the carrier 33 as described above, the positioning in the rotational direction of the hand 62 and the carrier 33 can be performed with high accuracy. Here, as the positioning pin 74, a parallel pin (JIS B1354) or a spring pin (JIS B2808) can be used. In this embodiment, the hand 62 and the carrier 33 are fastened with the positioning pins 74 while maintaining the concentricity as described above. However, the second arm 12 and the case 22 are not connected by stamping but similarly You may make it fasten using a positioning pin.

  A fifth joint is provided between the hand 62 and a hand shaft (not shown) to apply a rotational force to the hand shaft and swing the hand shaft about a fifth axis orthogonal to the fourth axis. Furthermore, a rotational force is applied to the mounting base between the hand shaft and a mounting base on which a tool such as a welding means is attached, and the mounting base is rotated around the sixth axis orthogonal to the fifth axis. A sixth joint is provided for pivoting.

  As described above, since the third joint from the tip, that is, the fifth and sixth joints are provided on the tip side from the fourth joint 20, the fourth joint 20 is small in size. It is necessary to withstand the total weight of the hand shaft, mounting base, fifth and sixth joints, tools, and the like. Therefore, in this embodiment, in order to reduce the moment load generated in the fourth joint 20 by bringing the third joint (fourth joint 20) from the tip close to the two joints, The four joints 20 are structured as described above, whereby the axial length of the fourth joint 20 is shortened to reduce the moment load.

  If the hand 62 and the carrier 33 are made hollow by providing the center hole 63 in the hand 62 and the center hole 41 in the carrier 33, the hand 62 and the carrier 33 rotate to the fifth and sixth joints on the tip side. The hollow drive shaft 77 and drive shaft 78 for transmitting the force can be passed through the central holes 63 and 41 without any problems, and the weight can be reduced. it can.

  In this embodiment, the fourth joint 20 has the above-described structure. However, the four joints from the tip, usually called the wrist three axes (wrist joints) are the fourth, fifth, and fifth joints. It is preferable to use the joint structure as described above for at least one of the six joints. If such a lightweight joint structure is used, it is possible to effectively suppress the performance degradation of the wrist joint. .

  Further, in this embodiment, the oil seal 51 is provided at the position as described above, and among the fixed portion or the output portion, the one disposed radially outside, here, one end in the axial direction of the case 22 as the fixed portion, The flat surfaces 70 of the hands 62 are arranged in close proximity so that they do not slide on each other. As a result, it is possible to effectively prevent dust, dust and the like from entering between the case 22 and the carrier 33 (oil seal 51), thereby extending the life of the oil seal 51.

  Here, in order to make the concentricity between the carrier 33 and the hand 62 highly accurate, the hole diameter D1 of the center hole 63 is made smaller than the hole diameter D2 of the center hole 41, whereby the carrier 62 is placed at the radially inner end of the hand 62. It is also conceivable that an annular projecting portion extending toward 33 is formed, and the carrier 33 and the hand 62 are stamped and joined by bringing the outer peripheral surface of the projecting portion into contact with the inner peripheral surface of the center hole 41.

  However, if this is done, the hand 62 becomes heavy, and a situation arises in which restrictions are imposed when the above-described drive shaft or the like is passed through the hand 62. For this reason, in this embodiment, the hole diameter D1 of the center hole 63 provided in the hand 62 is made larger than the hole diameter D2 of the center hole 41, thereby reducing the weight of the hand 62 and the inside of the hand 62. A drive shaft or the like can easily pass.

Next, the operation of the embodiment will be described.
For example, when performing a welding operation using the industrial robot 11 as described above, the first to sixth joints are actuated to move the welding means attached to the mounting base to the welding position of the workpiece. The fourth joint 20 will be described on behalf of the operation of the first to sixth joints at this time.

  When the transmission shaft 55 is rotated by the driving force from the driving source in the fourth joint 20, the rotation of the transmission shaft 55 is transmitted to all the crankshafts 47 via the first and second external gears 57 and 58. The crankshaft 47 is rotated around the center axis of the crankshaft 47 in the same direction and at the same speed. At this time, the eccentric portion 49 of the crankshaft 47 rotates eccentrically in the crank hole 43 of the pinion 26 to rotate the pinion 26 eccentrically, and the number of teeth of the external teeth 27 of the pinion 26 is the pin teeth 23 of the case 22. Therefore, the carrier 33 is decelerated by the eccentric oscillating rotation of the pinion 26 and rotates at a low speed. Thereafter, the rotation of the carrier 33 is transmitted to the hand 62, and the hand 62 is rotated.

  At this time, the entire other end surface in the axial direction of the hand 62 is formed as a flat surface 70, and a plurality of first pin holes 71 are formed in the flat surface 70, while the entire front end surface 38 of the carrier 33 is formed from a flat surface. At the same time, a plurality of second pin holes 39 are formed in the distal end surface 38, and a part and the remainder of the plurality of positioning pins 74 are respectively inserted into the first and second pin holes 71, 39. When the hand 62 is fastened to the carrier 33, the concentricity between the carrier 33 and the hand 62 can be maintained with a high degree of accuracy without using the conventional seal coupling.

  Moreover, since the cylindrical protrusion of the hand, which has been necessary in the past, can be omitted, the axial length of the fourth joint 20 (eccentric rocking reduction gear 21) can be shortened and the weight can be reduced. Can be planned. In addition, the positioning pins 74 described above can position the hand 62 and the carrier 33 in the rotational direction with high accuracy.

    In the above-described embodiment, the case 22 as the fixing portion is fixed to the second arm 12, while the rotation reduced from the carrier 33 as the output portion is output to the hand 62. The carrier may be fixed to the second arm as a fixing portion, while the case may be used as an output portion to output the reduced rotation to the hand. In the above-described embodiment, the eccentric oscillating speed reducer 21 is used as the gear type speed reducer. However, a speed reducer capable of decelerating at a high ratio such as a planetary gear speed reducer may be used.

  In the above-described embodiment, the second external gear 58 is attached to all (three) crankshafts 47, and all the second external gears 58 are meshed with one first external gear 57. However, in the present invention, the second external gear may be attached to only one of the crankshafts, and the second external gear may be meshed with the first external gear on a one-to-one basis. Furthermore, in the above-described embodiment, the difference between the number of teeth of the pin teeth 23 and the number of external teeth 27 in the eccentric oscillating speed reducer 21 is 1, but it may be 2 or more in the present invention. . The present invention can also be applied to a center crank system in which a crankshaft is arranged at the center of rotation.

  Further, in the above-described embodiment, the entire other end surface in the axial direction of the hand 62 is the flat surface 70. However, in the present invention, the portion facing the front end surface of the carrier may be a flat surface, The radially outer side may protrude toward the carrier side. However, since such a protrusion, particularly the inner periphery, becomes an imprint joint, it should not come into surface contact with the fixed part (carrier).

  The present invention can be applied to a gear-type speed reducer that decelerates input rotation and a joint part structure of an industrial robot including the gear-type speed reducer.

It is front sectional drawing of the 4th joint which shows the Example of this invention. It is II sectional view taken on the line of FIG.

Explanation of symbols

11 ... industrial robot 12 ... base end side member
21 ... Gear reducer 22 ... Fixed part
33 ... Output section 38 ... End face
39… Second pin hole 47… Input section
51… Oil seal 59… Gear reduction part
62 ... Rotated (tip side) member 70 ... Flat surface
71 ... 1st pin hole 74 ... Positioning pin

Claims (5)

    A fixed portion; an input portion to which input rotation is applied; a gear reduction portion that decelerates rotation from the input portion; and an output portion that outputs the rotation reduced by the gear reduction portion to the fastened rotated member. A plurality of pin holes into which the remaining portions of the positioning pins that can be partially inserted into the rotated member are inserted in the distal end surface of the output portion. A gear type speed reducer characterized by that.     A gear-type speed reducer having a fixed portion, an input portion to which input rotation is applied, a gear reduction portion that decelerates rotation from the input portion, and an output portion that outputs rotation reduced by the gear reduction portion, and the fixed portion A joint part structure of an industrial robot comprising a base end side member of an industrial robot attached to the output part and a tip end side member fastened to the output part, wherein the entire front end face of the output part is flattened The output unit and the distal end side member are in surface contact only with the distal end surface of the output unit and the flat surface formed on the distal end side member, and the flat surface of the distal end side member and the distal end of the output unit are configured. A plurality of first and second pin holes are respectively formed on the surface, a part of the positioning pin is inserted into the first pin hole of the tip side member, and the remaining part is inserted into the second pin hole of the output part. Equipped with a gear reducer Joint structure of an industrial robot.     When the industrial robot has at least three joints, an industrial robot provided with the gear type reduction gear using the joint part structure according to claim 2 in at least one of the three joints from the tip. Joint structure.     The joint part structure of the industrial robot provided with the gear type reduction gear according to claim 3, wherein the joint part structure is used for a third joint from the tip, and the tip side member and the output part are hollow.     The oil seal is provided between the fixed part and the output part, and the flat surface of the tip side member is disposed close to the fixed part or the output part arranged on the radially outer side. The joint structure of an industrial robot equipped with a gear reducer.

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