TRANSMISSION AND ELECTROMECHANICAL DEVICE HAVING TRANSMISSION MECHANISM PART, AND MOVABLE BODY AND ROBOT INCLUDING TRANSMISSION

摘要

PROBLEM TO BE SOLVED: To achieve miniaturization and high rigidity of a transmission utilizing a differential mechanism.;SOLUTION: A transmission comprises: a first and a second gears which are arranged facing each other with a virtual first axial center being the center; at least one third gear which is arranged by being engaged with the first and the second gears with a virtual second axial center orthogonal to the first axial center being the center; a support shaft which is along the second axial center and which rotatably supports the third gear; a first rotational axis which is along the first axial center and which is connected to the first gear; and a second rotational axis which is along the first axial center and which is connected to the support shaft via a through hole at the center part of the second gear. A bearing part between the support shaft and the third gear, and a bearing part between the rotational axis which is an output axis and a casing are configured by roller bearings.;COPYRIGHT: (C)2014,JPO&INPIT