| 摘要 |
PROBLEM TO BE SOLVED: To input rotational forces from a motor to a plurality of crankshafts of an eccentric rocking reduction gear, and also input a rotational force from the other motor to a shaft extending through the reduction gear.SOLUTION: An eccentric rocking reduction gear 2 includes through-holes 511, 521 forming a hollow part 55 along an axis L2, a through shaft 35 which is supported rotatably at the hollow part and passes through the hollow part 55 to transmit rotation from a third wrist drive motor 32 from a first wrist element side to a second wrist element side, a plurality of crankshafts 27 which are arranged around the through shaft 35 and each of which has an input gear 271 at the end of the side of the first wrist element, and a gear member 25 which is provided rotatably about the axis L2 and has a first gear 251 to which a rotational force from a second wrist drive motor 22 is inputted and a second gear 252 with which the input gears 251 of the plurality of crankshafts 27 is engaged. |
