Robot node driving eccentric swinging type decelerator

The invention provides a robot node driving eccentric swinging type decelerator which can restrain reduction of work precision of a robot and meanwhile effectively relieve heating problems. The robot node driving eccentric swinging type decelerator (G4) drives robot nodes and is provided with an internal gear (22) and an external gear (20) which has a small gear difference with the internal gear and meanwhile engages with the internal gear. In the decelerator (G4), the rotary speed of a first wheel carrier, i.e., an output shaft (34) is above 50 rpm, the rotary speed is above 20%, and idle rotation is in the scope between 1 arcmin and 3 arcmin.