DECELERATING DEVICE HAVING PLANETARY GEAR DECELERATOR ROTATING INTERNAL GEAR OR EXTERNAL GEAR IN ROTATING INPUT SHAFT

摘要

PURPOSE: A decelerating device is provided to cut down manufacturing cost by absorbing vibration of the internal engagement planetary gear decelerating unit simply, and to improve the freedom of design by reducing the axial size of the device. CONSTITUTION: A driving apparatus comprises a planetary gear decelerating unit(50), and the planetary gear decelerating unit has an internal gear(62) and an external gear(48) engaged with the internal gear. The planetary gear decelerating unit rotates the internal gear or the external gear according to swing motion in rotating an input shaft(54). The planetary gear decelerating unit is composed of an input shaft arranged in parallel with an end shaft, and a power train unit absorbing swing component from the internal gear or the external gear rotating by the swing motion and transmitting rotation component of the external gear to the end shaft.