JP2016211642A - Reduction gear - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reduction gear which can stabilize a motion of a planetary gear mechanism by reducing backlash while improving the assembling performance of the planetary gear mechanism.SOLUTION: A reduction gear comprises an inner tooth gear, a planetary gear which is geared with the inner tooth gear, a pin member which revolves around a center axis in conjunction with the rotation or revolution of the planetary gear, and a first carrier member and a second carrier member which support the pin member. The pin member has an engagement part which is fixed to the first carrier member by screw-fastening, engaged with a fixing jig in a rotation direction when the pin member is fixed to the first carrier member, and receives fastening torque which is imparted to the pin member.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a reduction gear that outputs a rotational speed input by using a planetary gear mechanism by reducing or increasing the rotational speed.

  For example, the speed reducer of Patent Document 1 rotates and revolves the planetary gear by rotating the sun gear, and outputs power by reducing the rotational speed via the carrier shaft that is linked to the revolution of the planetary gear. Further, for example, the reduction gear of Patent Document 2 swings the planetary gear by rotating the eccentric portion arranged at the center, and reduces the rotation speed via the output pin that is linked to the rotation of the planetary gear. Output power. Note that the carrier shaft that is linked to the revolution of the planetary gear and the output pin that is linked to the rotation are both supported by a pair of carrier members disposed on both sides in the axial direction of the planetary gear.

JP 2011-231842 A Japanese Patent No. 5531932

  In such a reduction gear, it is desirable that each element constituting the planetary gear mechanism is disposed at an appropriate position from the viewpoint of operation stability and the like. On the other hand, in the configuration of Patent Document 1, since the carrier shaft is press-fitted into the carrier member, it is not easy to adjust the positional relationship between the two members. Moreover, since the structure of patent document 2 processes the end surface of the output pin used as the reference | standard of positioning of a carrier member in the process of an assembly | attachment, there exists a concern about the increase in manufacturing cost.

  The present invention has been made in view of such circumstances, and provides a speed reducer capable of stabilizing operation by reducing backlash of the planetary gear mechanism while improving the assemblability of the planetary gear mechanism. With the goal.

(Claim 1) A reduction gear according to the present invention has an internal gear formed or arranged on an inner peripheral surface of a housing, a through hole parallel to a central axis of the internal gear, and the internal gear A meshing planetary gear, a pin member disposed through the through hole of the planetary gear and revolving around the central axis in conjunction with the rotation or revolution of the planetary gear, and the center with respect to the planetary gear A first carrier member and a second carrier member which are arranged on both sides in the axial direction and respectively support the pin member.
The pin member is fixed to the first carrier member by screw fastening, and when the pin member is fixed to the first carrier member, the pin member is engaged with a fixing jig in the rotation direction to the pin member. It has an engaging part which receives the applied tightening torque.

  According to the first aspect of the present invention, in the speed reducer, the engaging portion of the pin member is given a tightening torque in the assembling step, and is fixed to the first carrier member by screw fastening. Therefore, the above configuration can improve the assemblability as compared with the configuration in which both members are fixed by press-fitting. Moreover, since the axial position of the pin member with respect to the first carrier member can be set as appropriate, it is possible to adjust the elements of the planetary gear mechanism so as to be arranged at appropriate positions, so that backlash can be reduced. Thereby, the operation of the planetary gear mechanism can be stabilized.

It is sectional drawing of the axial direction of the speed reducer in embodiment. It is a figure which shows the engagement state of the pin member and fixing jig | tool in FIG. It is a figure which shows the 1st carrier member in FIG. It is an enlarged view which shows the fastening state of the pin member in FIG. 1, and a 1st, 2nd carrier member. It is an enlarged view which shows the fastening state of the pin member and 1st carrier member in the deformation | transformation aspect of embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment in which a reduction gear of the present invention is embodied will be described with reference to the drawings. In the embodiment, the speed reducer uses a planetary gear mechanism to exemplify a configuration that decelerates and outputs the rotational speed input from the drive source.

<Embodiment>
(Overall configuration of reduction gear 1)
As illustrated in FIG. 1, the speed reduction device 1 according to the embodiment includes a housing 10, an input member 20, an internal gear member 30, two planetary gears 40, and a carrier 50. The housing 10 is a fixing member that constitutes a part of the outer peripheral shape of the reduction gear 1. The housing 10 houses a planetary gear mechanism that decelerates and outputs the rotational speed of the input member 20 around the central axis Ac.

  The input member 20 is a shaft member that inputs power to the reduction gear 1. The input member 20 is supported by the housing 10 via the internal tooth member 30 and the carrier 50 so as to be rotatable around the central axis Ac. One end of the input member 20 is connected to rotate integrally with an output shaft of a drive source such as an electric motor. The input member 20 has two cam portions 21. Each of the two cam portions 21 has a cylindrical outer surface, and the center of the cylindrical outer surface is decentered with respect to the central axis Ac. The two cam portions 21 are arranged at 180 ° intervals so that the eccentric directions thereof are opposite to each other, that is, at equal intervals around the central axis Ac. The two cam portions 21 rotate integrally with the input member 20.

  The internal tooth member 30 is a cylindrical member made of a member different from the housing 10. An internal gear 32 that is an internal gear is formed on the inner peripheral surface of the internal gear member 30. In the present embodiment, after the internal tooth member 30 is arranged on the inner peripheral side of the housing 10, a set screw 70 is screwed to a female screw portion formed on the inner peripheral surface of the housing 10, and is fixed to the housing 10. The The internal gear 32 of the internal gear member 30 is positioned outside the planetary gear 40 around the central axis Ac, and constitutes the planetary gear mechanism of the reduction gear 1. The reduction gear 1 may have a configuration in which the internal gear 32 is directly formed on the inner peripheral surface of the housing 10.

  Each of the two planetary gears 40 is arranged in parallel in the direction of the central axis Ac and on the outer peripheral side of the two cam portions 21 of the input member 20. The two planetary gears 40 are the same member. The planetary gear 40 includes a gear main body 41, a cam hole 42, external teeth 43, and a plurality of pin holes 44. The gear body 41 is formed in an annular shape as a whole. The gear body 41 has a predetermined thickness in the direction of the central axis Ac.

  The cam hole 42 is a cylindrical through hole formed at the center of the gear body 41. The planetary gear 40 is configured such that the cam portion 21 of the input member 20 is inserted into the cam hole 42 and power can be transmitted to the cam portion 21 via a bearing. The external teeth 43 are formed on the outer peripheral surface of the gear body 41 and mesh with the internal gear 32. The two planetary gears 40 are external gears that mesh with the internal gear 32 at different positions in the central axis Ac direction.

  Each of the plurality of pin holes 44 is a through hole parallel to the central axis Ac of the internal gear 32 between the cam hole 42 and the external teeth 43. A pin member 60 of the carrier 50 described later is inserted into the pin hole 44. The plurality of pin holes 44 are arranged at equal intervals in the circumferential direction of the planetary gear 40. The radius of the pin hole 44 is the amount of eccentricity of the planetary gear 40 (the distance between the center axis Ac and the rotational axis of the planetary gear 40), the radius of the large-diameter portion 63 of the inserted pin member 60, and the large-diameter portion 63. Is set to a value in consideration of an allowable error in the sum of the radial thicknesses of the rolling bearings arranged on the outer peripheral side of the roller bearing.

  The carrier 50 supports the two planetary gears 40 so as to be able to swing, and transmits the power output by being decelerated by the planetary gear mechanism to an output shaft (not shown). As shown in FIG. 1, the carrier 50 includes a first carrier member 51, a second carrier member 52, and a plurality of pin members 60. Each of the plurality of pin members 60 is disposed through the pin holes 44 of the two planetary gears 40. The detailed configuration of the pin member 60 will be described later.

  The first carrier member 51 and the second carrier member 52 are disposed on both sides of the two planetary gears 40 in the direction of the central axis Ac, and respectively support the pin members 60. That is, the pin member 60 is supported by the first carrier member 51 and the second carrier member 52 in a both-sided manner. The first carrier member 51 is disposed on the output side (the right side in FIG. 1) of the reduction gear 1 and is rotatably supported by the housing 10 via a first carrier bearing 91 disposed on the inner peripheral side of the internal gear member 30. Is done. The second carrier member 52 is disposed on the input side (left side in FIG. 1) of the reduction gear 1 and is rotatably supported by the housing 10 via a second carrier bearing 92 disposed on the inner peripheral side of the internal gear member 30. Is done.

  The first carrier member 51 and the second carrier member 52 have a plurality of pin support portions 51a and 52a having a predetermined length in the direction of the central axis Ac at positions facing each other. As shown in FIG. 3, the first carrier member 51 has an internal thread 51b extending in the direction of the central axis Ac, coaxially with the center of each pin support 51a. As shown in FIG. 4, the second carrier member 52 has a nut seat surface 52 b formed in an opening portion of each pin support portion 52 a opposite to the first carrier member 51 side. The nut seat surface 52 b is a seat surface that contacts the fixing nut 55 that is screwed to the pin member 60.

  According to such a configuration, the two planetary gears 40 are supported so as to be able to revolve with respect to the central axis Ac, and are supported so as to be able to rotate with respect to the center of the cylindrical outer surface of the cam portion 21. The plurality of pin members 60 are supported eccentrically with respect to the pin hole 44 of the planetary gear 40 and revolve around the central axis Ac in conjunction with the rotation of the planetary gear 40.

  More specifically, when power is input to the input member 20 and the cam portion 21 rotates, the planetary gear 40 revolves around the central axis Ac at the rotational speed of the input power. At this time, the planetary gear 40 rotates at a rotation speed corresponding to the difference in the number of teeth from the internal gear 32. The pin member 60 revolves around the central axis Ac in conjunction with the rotation of the planetary gear 40. Thereby, the power decelerated to the revolution speed is output via the first carrier member 51.

(Detailed configuration of the pin member 60)
The pin member 60 of the carrier 50 is an output pin in the planetary gear mechanism configured as described above. As shown in FIG. 2, the pin member 60 has an external thread portion 61, a first small diameter portion 62, a large diameter portion 63, and an order from the output side (right side in FIG. 2) of the reduction gear 1 toward the input side. A second small diameter portion 64, a nut fastening portion 65, and an engaging portion 66 are included.

  The pin member 60 is centered at a predetermined position of the first carrier member 51 when the first small-diameter portion 62 is fitted into the pin support portion 51a of the first carrier member 51 with an inlay. In this state, the pin member 60 is fixed by the male screw portion 61 being screwed to the female screw portion 51 b of the first carrier member 51. The large-diameter portion 63 is a portion that is formed to have a larger diameter than the first small-diameter portion 62 and the second small-diameter portion 64 and is located on the inner peripheral side of the pin hole 44 of the two planetary gears 40.

  Further, the pin member 60 is centered at a predetermined position of the second carrier member 52 when the second small diameter portion 64 is fitted in the pin support portion 52a of the second carrier member 52 with an inlay. In this state, in the pin member 60, the fixing nut 55 is screwed to the nut fastening portion 65, and the second carrier member is interposed between the end surface of the large diameter portion 63 on the second small diameter portion 64 side and the fixing nut 55. 52 is fixed to the second carrier member 52 so as to sandwich it.

  When the pin member 60 is fixed to the first carrier member 51, the engaging portion 66 is engaged with the fixing jig 120 (shown by a broken line in FIG. 2) in the rotational direction and is given to the pin member 60. This is the part that receives the tightening torque. The engaging portion 66 may adopt various shapes as long as it can engage with the fixing jig 120 around the support axis As of the pin member 60. For example, the engaging portion 66 is formed in a hexagonal cross section having a two-sided width. Further, the engaging portion 66 may be formed on the outer peripheral surface of the pin member 60, or may be formed on the inner peripheral surface of a recess extending from the end portion in the support axis As direction.

  In the present embodiment, the engaging portion 66 is disposed on the side opposite to the male screw portion 61 with respect to the nut fastening portion 65, that is, on the input side of the speed reduction device 1 with respect to the nut fastening portion 65. Thereby, the engaging part 66 is in a state in which the second carrier member 52 is temporarily assembled to the pin member 60 (the pin member 60 penetrates the pin support part 52a of the second carrier member 52, and the fixing nut 55 is a nut. In a state where the screw is not fastened to the fastening portion 65), the second carrier member 52 protrudes from the nut seat surface 52 b in the support shaft As direction.

  In the present embodiment, when the pin member 60 is tightened to the first carrier member 51, the pin member 60 is rotated by being applied with a tightening torque from the engaging portion 66, and the end surface of the large diameter portion 63 on the first small diameter portion 62 side is the first. It is clamped and fixed to a position in contact with the carrier member 51. The width of the large diameter portion 63 in the support axis As direction is set to a prescribed dimension. When the fixing nut 55 is screwed to the nut fastening portion 65 and the pin member 60 is fixed to the first carrier member 51 and the second carrier member 52, the first carrier member 51 and the second carrier member 52 The large-diameter portion 63 is sandwiched between the opposing surfaces. Thereby, the space | interval D of the center axis Ac direction of the 1st carrier member 51 and the 2nd carrier member 52 is prescribed | regulated (refer FIG. 4).

<Modification of Embodiment>
According to the above configuration, the pin member 60 is moved relative to the first carrier member 51 in the direction of the support axis As according to the rotation around the support axis As, since the male screw portion 61 is screwed to the female screw portion 51b. Therefore, the distance D in the central axis Ac direction between the first carrier member 51 and the second carrier member 52 may be adjusted by the fastening state of the male screw portion 61 of the pin member 60 with respect to the female screw portion 51b of the first carrier member 51. Good.

  At this time, as shown in FIG. 5, in the pin member 60, the end surface of the large diameter portion 63 on the first small diameter portion 62 side is separated from the first carrier member 51. Therefore, in order to fix the pin member 60 to the first carrier member 51 with a specified tightening torque, a spacer is interposed between the large diameter portion 63 and the first carrier member 51, or the following configurations (A), ( B) can cope with this.

  In the configuration (A), the auxiliary male screw member 130 is used to generate an axial force on the male screw portion 61 to prevent loosening. In this configuration (A), as shown in FIG. 5, the length L1 of the male screw portion 61 in the direction of the central axis Ac is set shorter than the length L2 of the female screw portion 51b of the first carrier member 51 in the direction of the central axis Ac. (L1 <L2). Then, after the male screw portion 61 is screwed, the auxiliary male screw member 130, which is a separate member from the pin member 60, is screwed to the surplus portion of the female screw portion 51b.

  When a specified tightening torque is applied in a state where the auxiliary male screw member 130 is in contact with the end of the male screw portion 61, an axial force in the central axis Ac direction is generated in the male screw portion 61. This is based on the principle of a double nut that is generally used to prevent loosening of bolts, and an axial force similar to the axial force generated in the male screw portion 61 is generated in the female screw portion 51b and the auxiliary male screw member 130. As a result, the male screw portion 61 of the pin member 60 is fixed to the first carrier member 51 with a specified tightening torque.

  The configuration (B) prevents loosening by generating an axial force in the male screw portion 61 using an auxiliary female screw member (not shown). In this configuration (B), the length L1 of the male screw portion 61 in the central axis Ac direction is set to be longer than the length L2 of the female screw portion 51b of the first carrier member 51 in the central axis Ac direction (L1> L2). . Thereby, in a state where the male screw portion 61 is screwed to the female screw portion 51 b, the male screw portion 61 protrudes from the end surface of the first carrier member 51 in the direction of the central axis Ac.

  Then, an auxiliary female screw member which is a member different from the pin member 60 is screwed to the surplus portion of the protruding male screw portion 61. When the auxiliary female screw member is screwed to a position where it comes into contact with the end face of the first carrier member 51, an axial force in the direction of the central axis Ac is generated in the male screw portion 61 by the same principle as in the configuration (A). Accordingly, the pin member 60 is fixed to the first carrier member 51 with the male screw portion 61 with a specified tightening torque.

  In the present embodiment, the reduction gear 1 is a rocker in which the center axis Ac is located inside the periphery of the planetary gear 40 (corresponding to the tip circle) and the planetary gear 40 is eccentrically supported by the cam portion 21. A dynamic planetary gear mechanism was adopted. On the other hand, the transmission 1 may employ a planetary gear mechanism in which the center axis Ac is positioned outside the periphery of the planetary gear and the planetary gear is supported so as to rotate about the carrier axis. In this case, the pin member of the carrier is the carrier shaft of the planetary gear mechanism, and revolves around the central axis Ac in conjunction with the revolution of the planetary gear. Even in such a configuration, similarly to the embodiment, the pin member 60 having the engaging portion 66 can be screw-fastened to the first carrier member 51 and fixed with a predetermined tightening torque.

<Effects of Configuration of Embodiment and Modification>
In the embodiment and the modification, the reduction gear 1 has an internal gear 32 formed or arranged on the inner peripheral surface of the housing 10 and a through hole (pin hole 44) parallel to the central axis Ac of the internal gear 32. The planetary gear 40 that meshes with the internal gear 32 and the through-hole (pin hole 44) of the planetary gear 40 are disposed so as to revolve around the central axis Ac in conjunction with the rotation or revolution of the planetary gear 40. The pin member 60 includes a first carrier member 51 and a second carrier member 52 that are disposed on both sides of the planetary gear 40 in the direction of the central axis Ac and support the pin member 60, respectively.
The pin member 60 is fixed to the first carrier member 51 by screw fastening. When the pin member 60 is fixed to the first carrier member 51, the pin member 60 is engaged with the fixing jig 120 in the rotation direction, and the pin member 60 And an engaging portion 66 that receives a tightening torque applied to 60.

  According to such a configuration, in the reduction gear 1, when the planetary gear mechanism is assembled, the engaging portion 66 of the pin member 60 is applied with a tightening torque and is fixed to the first carrier member 51 by screw fastening. Therefore, the above configuration can improve the assembling performance as compared with the configuration in which the pin member 60 is fixed to the first carrier member 51 by press-fitting. Further, since the axial position of the pin member 60 with respect to the first carrier member 51 can be set as appropriate, it is possible to adjust the elements of the planetary gear mechanism so as to be arranged at appropriate positions, so that backlash can be reduced. Thereby, the operation of the planetary gear mechanism can be stabilized.

  In the embodiment and the modification, the first carrier member 51 has a female screw portion 51b extending in the direction of the central axis Ac. The pin member 60 has a male screw part 61 fixed to the female screw part 51 b of the first carrier member 51 by screw fastening, and a nut fastening part 65 fastened to the second carrier member 52 by tightening the nut.

  According to such a configuration, the pin member 60 can be directly fixed to the first carrier member 51. Further, according to the above configuration, the first carrier member 51 and the second carrier member 52 are connected by screw fastening with the pin member 60. Thereby, each element can be easily arranged at an appropriate position.

  Further, the distance D in the direction of the central axis Ac between the first carrier member 51 and the second carrier member 52 can be adjusted by the fastening state of the male screw portion 61 of the pin member 60 with respect to the female screw portion 51 b of the first carrier member 51. Specifically, the second carrier member 52 is temporarily fixed to the pin member 60, and a tightening torque is appropriately applied to the pin member 60, whereby the first carrier member 51 and the second carrier member 52 are in the direction of the central axis Ac. The interval D can be adjusted as appropriate. Thereby, since each element of the planetary gear mechanism can be arranged at an appropriate position, backlash can be reduced. Therefore, the operation of the planetary gear mechanism can be stabilized.

  In the embodiment and the modification, the engaging portion 66 is formed on the side opposite to the male screw portion 61 with respect to the nut fastening portion 65.

  According to such a configuration, the fastening state of the first carrier member 51 and the pin member 60 can be adjusted by applying a tightening torque to the pin member 60 in a state where the second carrier member 52 is temporarily assembled to the pin member 60. . Therefore, for example, when adjustment is necessary after confirming the operation of the planetary gear mechanism, the positional relationship between the elements can be adjusted without disassembling the entire planetary gear mechanism. Therefore, the maintainability of the reduction gear 1 can be improved. Since each element can be efficiently arranged as the planetary gear mechanism, the overall size of the apparatus can be reduced.

  In the modification of the embodiment, the length L1 of the male screw portion 61 in the central axis Ac direction is set to be shorter than the length L2 of the female screw portion 51b in the central axis Ac direction. The pin member 60 is screwed with an auxiliary male screw member 130, which is a member different from the pin member 60, to the surplus portion of the female screw portion 51b to which the male screw portion 61 is screwed. An axial force is generated to fix the male screw portion 61 to the first carrier member 51.

  According to such a configuration, the pin member 60 is fixed to the first carrier member 51 with a necessary tightening torque by generating an axial force in the direction of the central axis Ac on the male screw portion 61. Further, the axial force generated in the male screw portion 61 increases the frictional resistance between the male screw portion 61 and the female screw portion 51b, thereby preventing the male screw portion 61 from loosening. Thereby, the position of each element of the planetary gear mechanism is suitably maintained.

  Moreover, in the deformation | transformation aspect of embodiment, the length L1 of the center axis | shaft Ac direction of the external thread part 61 is set longer than the length L2 of the internal axis part Ac direction of the internal thread part 51b. The pin member 60 is screwed to the female screw portion 51b and the auxiliary female screw portion 51b, which is a separate member from the pin member 60, is screwed to the surplus portion of the male screw portion 61 protruding from the end surface of the first carrier member 51. Thus, an axial force in the direction of the central axis Ac is generated in the male screw portion 61, and the male screw portion 61 is fixed to the first carrier member 51.

  According to such a configuration, the pin member 60 is fixed to the first carrier member 51 with a necessary tightening torque by generating an axial force in the direction of the central axis Ac on the male screw portion 61. Further, the axial force generated in the male screw portion 61 increases the frictional resistance between the male screw portion 61 and the female screw portion 51b, thereby preventing the male screw portion 61 from loosening. Thereby, the position of each element of the planetary gear mechanism is suitably maintained.

  In the embodiment, the planetary gear 40 is supported so as to be able to rotate and revolve with respect to the center axis Ac in a state where the center axis Ac is located inside the outer periphery of the planetary gear 40. The pin member 60 is supported eccentrically with respect to the center of the through hole (pin hole 44), and revolves around the central axis Ac in conjunction with the rotation of the planetary gear 40.

According to such a configuration, the pin member 60 allows revolution while interlocking with the rotation of the planetary gear 40. Therefore, the outer diameter of the pin member 60 is set smaller than the inner diameter of the pin hole 44 according to the eccentric distance in order to allow the pin member 60 to be eccentric with respect to the pin hole 44 of the planetary gear 40. That is, in this type of planetary gear mechanism, since the pin member 60 of the carrier contacts only a part of the pin hole 44, the pin member 60 can be arranged in parallel with high accuracy with respect to the central axis Ac. Required. As a result, it is required that the distance D in the direction of the central axis Ac between the first carrier member 51 and the second carrier member 52 be accurately adjusted so that the opposing surfaces of the first carrier member 51 and the second carrier member 52 are parallel to each other.
On the other hand, according to the configuration of the reduction gear 1 of the embodiment, the assembling property of the planetary gear mechanism can be improved by applying the pin member 60, and the adjustment is performed so that each element of the planetary gear mechanism is arranged at an appropriate position. It becomes possible. Accordingly, it is particularly useful to apply the aspect shown in the embodiment to the planetary gear mechanism of the above type.

  1: Reduction gear, 32: Internal gear, 40: Planetary gear, 44: Pin hole (through hole), 50: Carrier, 51: First carrier member, 51b: Female screw part, 52: Second carrier member, 60: Pin member 61: Male screw part 65: Nut fastening part 66: Engagement part 120: Fixing jig 130: Auxiliary male screw member Ac: Center axis As: Support axis D: Space between carrier members L1: Axial length of male screw part L2: Axial length of female screw part

Claims (6)

An internal gear formed or arranged on the inner peripheral surface of the housing;
A planetary gear having a through hole parallel to the central axis of the internal gear and meshing with the internal gear;
A pin member disposed through the through hole of the planetary gear and revolving around the central axis in conjunction with rotation or revolution of the planetary gear;
A first carrier member and a second carrier member that are disposed on both sides of the planetary gear in the central axis direction and respectively support the pin member;
With
The pin member is fixed to the first carrier member by screw fastening, and when the pin member is fixed to the first carrier member, the pin member is engaged with a fixing jig in the rotation direction to the pin member. A speed reducer having an engaging portion that receives applied tightening torque. The first carrier member has a female thread portion extending in the central axis direction,
The pin member is
A male screw portion fixed to the female screw portion of the first carrier member by screw fastening;
The speed reducer according to claim 1, further comprising: a nut fastening portion that is fastened to the second carrier member by tightening the nut.   The speed reducer according to claim 2, wherein the engaging portion is formed on the opposite side of the male screw portion with respect to the nut fastening portion. The length of the male screw portion in the central axis direction is set shorter than the length of the female screw portion in the central axis direction,
In the pin member, an auxiliary male screw member, which is a member different from the pin member, is screw-fastened to an excess portion of the female screw portion to which the male screw portion is screw-fastened. The speed reducer according to claim 2 or 3, wherein a force is generated to fix the male screw portion to the first carrier member. The length of the male screw portion in the central axis direction is set longer than the length of the female screw portion in the central axis direction,
The pin member is screw-fastened to the female screw portion and the auxiliary female screw member, which is a member different from the pin member, is screw-fastened to the surplus portion of the male screw portion protruding from the end surface of the first carrier member. The speed reducer according to claim 2 or 3, wherein an axial force in the central axis direction is generated in the male screw portion, and the male screw portion is fixed to the first carrier member. The planetary gear is supported so as to be able to rotate and revolve with respect to the central axis in a state where the central axis is located inside the outer periphery of the planetary gear,
The speed reduction device according to any one of claims 1 to 5, wherein the pin member is supported eccentrically with respect to a center of the through hole, and revolves around the central axis in conjunction with rotation of the planetary gear. .

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