| 摘要 |
A gear device for changing a shaft direction comprises: a crank shaft having a first eccentric unit and a shaft gear; a first fluctuation gear having first outer teeth; a transfer gear having a first gear geared with the shaft gear and a second gear separated from the first gear in an axial direction of the first gear; a shaft direction changing unit having an outer gearing gear geared with the second gear and a shaft direction changing gear to convert input toque into torque in an axial direction of the outer gearing gear; and an outer barrel having an inner gearing pin geared with the first outer teeth of the first fluctuation gear. In the axial direction, since the shaft direction changing gear is disposed between the first gear and the second gear, an increase in size in the axial direction can be suppressed, and a reduction in size in a radial direction can be achieved. |
