| 摘要 |
PROBLEM TO BE SOLVED: To provide a decelerator and a robot which are capable of improving characteristics.SOLUTION: A decelerator comprises: a first gear with a plurality of gear teeth formed on the inner circumference; a second gear 20 that has a plurality of gear teeth formed on the outer circumference and meshes with the first gear; a first revolving shaft inserted in the second gear 20 and having a circular cam formed on the shaft; through pins 30 inserted in through holes 28 formed in the second gear 20; and a second revolving shaft coupled to the through pins 30 and outputting revolution by revolution of the second gear 20 on its own axis. Revolution of the first revolving shaft revolves the second gear 20, and the revolution of the second gear 20 revolves the second revolving shaft. The through pins 30 includes a plurality of pins with different diameters.SELECTED DRAWING: Figure 5 |
