To provide a reduction gear capable of reducing backlash while maintaining rigidity.
A reduction gear includes: an input rotation shaft 11; a decentration shaft constitution member 12; an elastic member 13 provided between the input rotation shaft and the decentration shaft constitution member; a bearing 14; an inner circumferential external gear 15; an outer circumferential internal gear 16; and a cross-sectional U-shaped recess 17. The elastic member 13 presses the inner circumferential external gear 15 on the outer circumferential internal gear 16 and eliminates clearances between gears to reduce backlash. The cross-sectional U-shaped recess 17 which engages with the input rotation shaft 11 slidably in a vertical direction suppresses the decentration shaft constitution member 12 from moving in a twisted direction.
Osamu Suzawa
Kazuhiko Miyasaka
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