| 摘要 |
A first reduction gear unit has a first input shaft that rotates in accordance with the rotation of an output shaft of a motor, a first external gear that revolves orbitally around an axis line of the first input shaft, and a first internal gear that has a number of teeth differing from the number of teeth of the first external gear. A second reduction gear unit comprises a crankshaft that rotates in accordance with the rotation of a first output shaft, a second external gear having a through hole formed at a center itself, a cylindrical member passing through the through hole of the second external gear, a second internal gear that has a number of teeth differing from the number of teeth of the second external gear, and a second output shaft that rotates around an axis line of the second internal gear. The first reduction gear unit is disposed between an outer circumferential surface of the second reduction gear unit and an inner surface of the cylindrical member.
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