To provide a hydraulic pump and a hydraulic motor easy to variably control an inclination of a cam member, more efficient and simple in structure and to provide a compact hydraulic type continuously variable transmission using them.

A reciprocating type hydraulic unit is constituted of a housing 1 having an inner spherical surface, an inner shaft 4 fixed and held on the housing 1, a spherical sleeve 6 having a ring groove 5 with an inclination against the axial direction on the inner spherical surface and free to vary the inclination, a spherical body type main shaft 11 on which a plural number of cylinder grooves 8a cross sections of which are semi-circular, etc., and a piston 12a, etc., are provided in the axial direction of an outer diametrical part and fitted on the inner shaft 4 free to rotate and a spherical body pin 13a, etc., to connect the groove 5 and the piston 12a, etc., to each other free to rotate and slide. A hydraulic type transmission is constituted by symmetrically arranging a hydraulic pump P and a hydraulic motor M in the housing 1 by the shared integrated inner shaft 4.