| 摘要 |
An oscillating gear device (78) includes an axially fixed gear piece (211) rotatable around a first axis (Z1) and an axially oscillating gear piece (212) that oscillates while being inclined with respect to the first axis (Z1). A plurality of pins (77) held by one of the gear pieces (211) engage with a plurality of tooth grooves (80) of the other gear piece (212) in engagement regions (771, 803) at a predetermined length (X2) in longitudinal directions (X5) of the pins (77). A formula r C0 /r F0 =Z C /Z F is satisfied, where r C0 is a distance between an arbitrary point (P2) on the central axis of the pin in a corresponding section (J11) corresponding to the engagement regions (771, 803) of the pin (77, 87) as viewed in the radial direction of the pin (77, 87) and the first axis (Z1), r F0 is a distance between the arbitrary point (P2) and the second axis (Z2), Z C is the number of pins (77, 87) of the one gear piece (211, 214), and Z F is the number of tooth grooves (80, 110) of the other gear piece (212, 213). |
