| 摘要 |
PROBLEM TO BE SOLVED: To reduce phase variation of rigidity in a rotation direction.SOLUTION: An eccentric oscillation type gear device comprises: a crank shaft 46 that has eccentric parts 46a, 46b; external tooth gears 48a, 48b that have a through-hole into which the eccentric parts 46a, 46b are inserted and that has external teeth; an external cylinder 12; and a carrier 14. The carrier rotatably supports the crank shaft 46, and the external cylinder 12 has inner teeth 24 that engage with the external teeth of the external tooth gear. In a direction around the axes of the external cylinder 12 and the carrier 14 as a reference, rotation phase matching means 58 for determining a direction around the axis of the crank shaft 46 is provided. |
