ECCENTRICALLY ROCKING TYPE REDUCTION GEAR

摘要

An eccentrically rocking type reduction gear enabling a reduction in the number of parts. The eccentrically rocking type reduction gear (100) comprises a case (110) having internal teeth (110a), a plurality of crankshafts having external teeth, external gears (131, 132) having external teeth (131a, 132a) meshed with the internal teeth (110a) of the case (110) and eccentrically moved by the crankshafts, a carrier (140) rotatably supporting the crankshafts and rotatingly moved by the crankshafts relative to the case (110), and a cylindrical gear (180) meshed with the external teeth of the crankshafts and transmitting a power input into the crankshaft (121) among the plurality of crankshafts to the remaining crankshafts. The cylindrical gear (180) is rotatably supported by sliding friction.