Method for manufacturing a planetary gear reducer and planetary gear reducer

Abstract

To facilitate the phase alignment of planetary gears. [Solution] A method for manufacturing a planetary gear reducer 10, comprising a planetary gear 20 that meshes with a sun gear 40 and is arranged around the sun gear 40, a carrier 30 that rotatably supports the planetary gear 20, and a first internal gear 50 that meshes with the planetary gear 20 from the outside of the planetary gear 20, wherein the assembly of the planetary gear reducer 10 is performed using a phase alignment pin 90 and a phase alignment jig 80, comprising the steps of: aligning the phase of the planetary gear 20 with the carrier 30 by inserting the phase alignment pin 90, which is passed through a pin hole 85 of the phase alignment jig 80, into a pin insertion hole 25 formed in the end face 24 of the planetary gear 20; meshing the first internal gear 50 with the planetary gear 20 while inserting a projection 86 of the phase alignment jig 80 into a guide groove 53 of the first internal gear 50; and meshing the sun gear 40 with the planetary gear 20 that meshes with the first internal gear 50.

Description

Technical Field

[0001] The present disclosure relates to a method for manufacturing a planetary gear reducer and a planetary gear reducer.

Background Art

[0002] There has been proposed a planetary gear reducer having a sun gear, planetary gears disposed around the sun gear and meshing with the sun gear, and an internal gear disposed concentrically with the sun gear on the outer side in the radial direction and meshing with the planetary gears. Since a large reduction ratio can be obtained, the planetary gear reducer is widely used in various mechanical devices and the like that require a large reduction ratio.

[0003] For example, in the gear device described in Patent Document 1, the miniaturization of the gear mechanism is achieved by defining the number of teeth of each of a sun gear, a planetary gear having a first gear portion and a second gear portion meshing with the sun gear, a fixed internal gear meshing with the first gear portion of the planetary gear, and a movable internal gear meshing with the second gear portion of the planetary gear.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, since the planetary gear reducer has a plurality of planetary gears and each planetary gear meshes with both the sun gear and the internal gear, when assembling the planetary gear reducer, it is necessary to assemble while adjusting the phase of each planetary gear. The phase alignment of the planetary gears is performed, for example, by drawing a scribed line on the planetary gears and visually aligning the position of the mark on the member holding the planetary gears with the scribed line.

[0006] However, visually aligning the phase of planetary gears places a heavy burden on the worker, and the work time can vary depending on the worker's skill level. In particular, with small planetary gear reducers, the size of the planetary gears is small, making it difficult to confirm the marking lines with the naked eye, and assembly work may be forced to be done using a microscope. For this reason, there was room for improvement in the process of aligning the phase of planetary gears during assembly in conventional planetary gear reducers.

[0007] This disclosure has been made in view of the above, and aims to provide a method for manufacturing a planetary gear reducer and a planetary gear reducer that can easily perform phase alignment of planetary gears. [Means for solving the problem]

[0008] The present disclosure is a method for manufacturing a planetary gear reducer, comprising a sun gear, planetary gears that mesh with the sun gear and are arranged around the sun gear, a carrier that rotatably supports the planetary gears, and a first internal gear that meshes with the planetary gears from the outside of the planetary gears in the radial direction of the sun gear, and the assembly of the planetary gear reducer is performed using a phase alignment pin used for phase alignment of the planetary gears, and a phase alignment jig that covers the carrier supporting the planetary gears and has a pin hole through which the phase alignment pin passes and a projection that engages with the first internal gear, wherein the planetary teeth The process includes: covering the carrier supporting the vehicle with the phase alignment jig, and inserting the phase alignment pin, which is passed through the pin hole of the phase alignment jig, into a pin insertion hole formed on the end face of the planetary gear to align the phase of the planetary gear with respect to the carrier; engaging the projection of the phase alignment jig with the guide groove of the first internal gear, thereby restricting the circumferential orientation of the first internal gear with the projection, and engaging the first internal gear with the planetary gear; and engaging the sun gear with the planetary gear that engages with the first internal gear.

[0009] With this configuration, before engaging the planetary gear and the first internal gear, the rotation of the planetary gear can be restricted by inserting a phase-aligning pin, which is passed through a pin hole in the phase-aligning jig, into a pin insertion hole formed in the planetary gear. This allows the planetary gear to be fixed in place by the phase-aligning jig and the phase-aligning pin while its phase is aligned with that of the carrier. Subsequently, by inserting a projection of the phase-aligning jig into a guide groove of the first internal gear and restricting the circumferential orientation of the first internal gear with the projection, the relative positional relationship in the rotational direction between the carrier supporting the planetary gear and the first internal gear can be restricted to a positional relationship that allows the first internal gear and the planetary gear to engage. In this state, the first internal gear and the planetary gear can be easily engaged by inserting the planetary gear inside the first internal gear.

[0010] Furthermore, by engaging the sun gear with the planetary gear while the first internal gear and the planetary gear are meshed, the sun gear can be easily engaged with the planetary gear that is meshed with the first internal gear. In this way, by using a phase alignment jig and a phase alignment pin to restrict the rotational position of the planetary gear relative to the carrier to a predetermined position while engaging the planetary gear with the first internal gear and the sun gear, meshing can be easily achieved. As a result, the phase alignment of the planetary gears can be easily performed.

[0011] In a preferred configuration, the planetary gear has a first gear section and a second gear section, wherein the first internal gear and the sun gear, which mesh with the planetary gear, mesh with the first gear section of the planetary gear, and the second gear section meshes with the second internal gear, which meshes with the planetary gear, from the outside of the planetary gear in the radial direction of the sun gear, after the first internal gear and the sun gear have meshed with the first gear section.

[0012] In this configuration, the planetary gear has a first gear section and a second gear section. The first internal gear and the sun gear mesh with the first gear section of the planetary gear using a phase alignment jig and a phase alignment pin, respectively. This allows the first internal gear and the sun gear to easily mesh with the first gear section of the planetary gear. Furthermore, the second gear section of the planetary gear meshes with the first internal gear and the sun gear after the first gear section has meshed with the first gear section. This allows the first gear section to mesh with the second internal gear after the planetary gear has been phase-aligned by the meshing of the first internal gear and the sun gear. This makes it easy to mesh the second internal gear with the second gear section of the planetary gear. As a result, even when the planetary gear has a first gear section and a second gear section, both the first gear section and the second gear section can be easily phase-aligned.

[0013] A desirable configuration would be one in which multiple planetary gears are provided, and the pin insertion holes are formed in the same position on each of the planetary gears.

[0014] With this configuration, the planetary gear reducer is equipped with multiple planetary gears, and the pin insertion holes formed on the end faces of the planetary gears are formed in the same position on each planetary gear. Therefore, when forming pin insertion holes on multiple planetary gears, the position of the pin insertion holes does not differ from one planetary gear to another, making it easy to form them. In addition, since the arrangement position of the planetary gears is not limited when supporting multiple planetary gears with a carrier, multiple planetary gears can be easily assembled to the carrier. As a result, the manufacturing cost when providing pin insertion holes on planetary gears can be reduced.

[0015] In a preferred configuration, the carrier has a side wall portion that supports the shaft portion of the planetary gear and has at least one of a pin guide groove and a pin guide hole through which the phase alignment pin passes, and the phase alignment pin is inserted into the pin insertion hole through the pin guide groove or the pin guide hole.

[0016] In this configuration, the carrier has a side wall portion having at least one of a pin guide groove and a pin guide hole through which the phase alignment pin passes, and the phase alignment pin is inserted into the pin insertion hole through the pin guide groove or pin guide hole, so that the rotational position of the planetary gear relative to the carrier can be fixed at a desired position. As a result, the phase alignment of the planetary gear can be easily performed.

[0017] The planetary gear reducer of this disclosure comprises a sun gear, planetary gears that mesh with the sun gear and are arranged around the sun gear, a carrier that rotatably supports the planetary gears, and a first internal gear that meshes with the planetary gears from the outside of the planetary gears in the radial direction of the sun gear, wherein the first internal gear has a guide groove into which a projection of a phase alignment jig used for phase alignment of the planetary gears enters and engages with the projection to restrict the position of the first internal gear in the circumferential direction, and the planetary gear has a pin insertion hole into which a phase alignment pin passed through a pin hole formed in the phase alignment jig is inserted.

[0018] In this configuration, the planetary gear has a pin insertion hole into which a phase alignment pin, which is passed through a pin hole formed in the phase alignment jig, is inserted. Therefore, when assembling the planetary gear reducer, the rotation of the planetary gear can be restricted by inserting the phase alignment pin into the pin insertion hole of the planetary gear. Furthermore, the first internal gear that meshes with the planetary gear has a guide groove into which a projection of the phase alignment jig fits and engages, thereby restricting the position of the first internal gear in the circumferential direction. Therefore, when meshing the planetary gear and the first internal gear, the planetary gear can be meshed with the first internal gear at a predetermined position in the circumferential direction of the first internal gear. As a result, the phase alignment of the planetary gear 20 can be easily performed. [Effects of the Invention]

[0019] The method for manufacturing a planetary gear reducer and the planetary gear reducer according to this disclosure have the effect of enabling easy phase alignment of the planetary gears. [Brief explanation of the drawing]

[0020] [Figure 1] Figure 1 is a perspective view of a planetary gear reducer according to an embodiment. [Figure 2] Figure 2 is a cross-sectional view of the planetary gear reducer shown in Figure 1. [Figure 3] Figure 3 is an exploded perspective view of the planetary gear reducer shown in Figure 1. [Figure 4] Figure 4 is an exploded perspective view of the planetary gear reducer shown in Figure 1. [Figure 5] Figure 5 is a perspective view of a planetary gear. [Figure 6] Figure 6 is a perspective view of a carrier. [Figure 7] Figure 7 is a perspective view of a first internal gear. [Figure 8] Figure 8 is an explanatory diagram of an alignment jig and an alignment pin used for assembling the planetary gear reducer. [Figure 9] Figure 9 is an explanatory diagram of a process of inserting a protrusion portion of the alignment jig into a guide groove of the first internal gear. [Figure 10] Figure 10 is an explanatory diagram of a process of meshing a sun gear with a planetary gear that meshes with the first internal gear. [Figure 11] Figure 11 is an explanatory diagram of a process of removing the alignment jig and the alignment pin. [Figure 12] Figure 12 is an explanatory diagram of a process of meshing a second internal gear with a second gear portion of the planetary gear.

Mode for Carrying Out the Invention

[0021] Hereinafter, the present disclosure will be described in detail with reference to the drawings. Note that the present disclosure is not limited by the following mode for carrying out the invention (hereinafter referred to as the embodiment). In addition, the constituent elements in the following embodiment include those that can be easily assumed by those skilled in the art, substantially the same ones, and those within a so-called equivalent range. Furthermore, the constituent elements disclosed in the following embodiment can be combined as appropriate.

[0022] [Embodiment] Figure 1 is a perspective view of a planetary gear reducer 10 according to an embodiment. Figure 2 is a cross-sectional view of the planetary gear reducer 10 shown in Figure 1. Figure 3 is an exploded perspective view of the planetary gear reducer 10 shown in Figure 1. Figure 4 is an exploded perspective view of the planetary gear reducer 10 shown in Figure 1. Note that Figures 3 and 4 are exploded perspective views of the planetary gear reducer 10 viewed from different directions, and the housing 70 shown in Figures 1 and 2 is omitted. The planetary gear reducer 10 includes planetary gears 20, a carrier 30, a sun gear 40, a first internal gear 50, a second internal gear 60, and a housing 70. The planetary gears 20 are rotatably supported by the carrier 30. The sun gear 40 meshes with the planetary gears 20 supported by the carrier 30 from the inside of the carrier 30. The first internal gear 50 meshes with the planetary gears 20 supported by the carrier 30 from the outside of the carrier 30. The second internal gear 60 meshes with the planetary gear 20, which is supported by the carrier 30, from the outside of the carrier 30 at a different position than the first internal gear 50.

[0023] Figure 5 is a perspective view of the planetary gear 20. The planetary gear 20 has a first gear section 21 and a second gear section 22, which are arranged adjacent to each other on the same axis. The second gear section 22 has fewer teeth than the first gear section 21. The planetary gear 20 has an insertion hole 23 (see Figure 2) formed on its inside that connects the planetary gear 20 in the axial direction, and a planetary gear shaft 26 passes through the insertion hole 23. The length of the planetary gear shaft 26 is longer than the length of the planetary gear 20 in the axial direction. A bearing 27 (see Figure 2) is positioned between the insertion hole 23 of the planetary gear 20 and the planetary gear shaft 26. This allows the planetary gear 20 and the planetary gear shaft 26 to rotate relative to each other.

[0024] Furthermore, a pin insertion hole 25 is formed in the axial end face 24 of the planetary gear 20. The pin insertion hole 25 is a hole into which a phase alignment pin 90 (see Figure 8), which will be described later, is inserted. The pin insertion hole 25 is a bottomed hole with an inner diameter slightly larger than the diameter of the phase alignment pin 90, and is provided on the end face 24 of the planetary gear 20 on the side where the second gear portion 22 is located, in the axial direction.

[0025] The planetary gear reducer 10 has multiple planetary gears 20 formed in this manner. In this embodiment, the planetary gear reducer 10 has three planetary gears 20. The pin insertion holes 25 formed on the end faces 24 of the planetary gears 20 are formed in the same position on each of the multiple planetary gears 20 that the planetary gear reducer 10 has. In other words, the pin insertion holes 25 formed on the end faces 24 of the planetary gears 20 are positioned in the same radial position on the planetary gear 20, and in the circumferential position of the planetary gear 20 with respect to the teeth of the first gear portion 21 and the second gear portion 22, on all of the multiple planetary gears 20.

[0026] Figure 6 is a perspective view of the carrier 30. The carrier 30 is capable of rotatably supporting the planetary gear 20. The carrier 30 is formed with a roughly cylindrical outer shape and a hollow interior, allowing the planetary gear 20 to be placed inside. Specifically, the carrier 30 has two side wall portions 31 located at both ends in the axial direction of the cylindrical shape, supporting the planetary gear shaft 26, which is the shaft portion of the planetary gear 20, and a connecting portion 33 positioned between the two side wall portions 31 and connecting the two side wall portions 31.

[0027] The side wall portion 31 is formed in a roughly circular plate shape, and in the center is provided a shaft portion 32 through which the carrier 30 rotates relative to the first internal gear 50 and the second internal gear 60, and a sun gear shaft hole 31a through which the sun gear shaft 41 (see Figures 3 and 4), which will be described later, passes. The shaft portion 32 is formed in a roughly cylindrical shape and is positioned on the opposite side of each of the two side wall portions 31, on the side opposite to the other side wall portion 31, and is formed to protrude from the side wall portion 31. The sun gear shaft hole 31a is a hole that penetrates the side wall portion 31 and the shaft portion 32 in the thickness direction of the side wall portion 31.

[0028] The connecting portions 33 are connected to the outer circumference of each of the two side wall portions 31, and are arranged at multiple positions in the circumferential direction around the central axis of the cylindrical shape of the carrier 30. In this embodiment, the connecting portions 33 are arranged at three equally spaced locations in the circumferential direction around the central axis of the cylindrical shape of the carrier 30.

[0029] The portion between adjacent connecting portions 33 in the circumferential direction of the carrier 30 is an opening 34, in which a part of the planetary gear 20, which is located inside the carrier 30, is exposed from the inside of the carrier 30 to the outside of the carrier 30. Since the opening 34 is located between the connecting portions 33, the opening 34 is formed in three locations, similar to the connecting portions 33.

[0030] Furthermore, a support hole 31b is formed in the side wall portion 31 of the carrier 30 to support the planetary gear shaft 26. The support hole 31b has an inner diameter approximately the same as the diameter of the planetary gear shaft 26 and is formed to penetrate the side wall portion 31. The support hole 31b is positioned at a distance in the radial direction of the cylinder from the central axis of the cylindrical shape of the carrier 30.

[0031] The planetary gear reducer 10 according to this embodiment has three planetary gears 20 and three planetary gear shafts 26, so three support holes 31b are formed in each of the two side wall portions 31. The support holes 31b in the two side wall portions 31 are formed at the same position relative to each other in the circumferential direction of the carrier 30. The three support holes 31b formed in one side wall portion 31 are all positioned at the same distance from the central axis of the cylindrical shape of the carrier 30.

[0032] Furthermore, the three support holes 31b formed in one side wall portion 31 are arranged at equal intervals in the circumferential direction of the carrier 30. The positions of the three support holes 31b formed in one side wall portion 31 in the circumferential direction of the carrier 30 are the same as the positions of the openings 34 in the circumferential direction of the carrier 30.

[0033] The planetary gear 20 is supported by the carrier 30 so that it can rotate freely around the planetary gear shaft 26 inside the carrier 30, as the ends of the planetary gear shaft 26, which is passed through the insertion hole 23 of the planetary gear 20, are supported by the carrier 30 by passing through support holes 31b formed in the two side walls 31 of the carrier 30. In other words, the planetary gear 20 is supported by the carrier 30 so that it can rotate freely in a direction in which the axial direction of the planetary gear 20 is parallel to the axial direction of the carrier 30. To put it another way, the carrier 30 supports the planetary gear 20 so that it can rotate freely by supporting the planetary gear shaft 26 with the support holes 31b formed in the side walls 31.

[0034] Furthermore, in this embodiment, the planetary gear reducer 10 has three planetary gears 20, and the three support holes 31b formed in the side wall portion 31 of the carrier 30 are arranged at equal intervals in the circumferential direction of the carrier 30. Therefore, the three planetary gears 20 that are rotatably supported by the carrier 30 are supported by the carrier 30 at equal intervals in the circumferential direction of the carrier 30.

[0035] Because the support hole 31b formed in the side wall portion 31 is located at the same position as the opening 34 of the carrier 30 in the circumferential direction of the carrier 30, the planetary gear 20, which is supported by the carrier 30 by passing the planetary gear shaft 26 through the support hole 31b, is positioned at the same position as the opening 34 in the circumferential direction of the carrier 30.

[0036] As a result, the planetary gear 20, which is positioned inside the carrier 30, is supported by the carrier 30 such that a portion of each of the first gear portion 21 and the second gear portion 22 is exposed to the outside of the carrier 30 through the opening 34. In other words, the planetary gear 20 supported by the carrier 30 is supported such that a portion of each of the first gear portion 21 and the second gear portion 22 is located radially outward from the carrier 30 beyond the diameter of the carrier 30.

[0037] Furthermore, a phase alignment pin 90 (see Figure 8), which will be described later, passes through the carrier 30, and at least one of a pin guide groove 35 and a pin guide hole 36 is provided to guide the phase alignment pin 90. In this embodiment, both a pin guide groove 35 and a pin guide hole 36 are provided on the carrier 30, one of the two side wall portions 31 of the carrier 30, on the side where the second gear portion 22 of the planetary gear 20 is located in the axial direction of the carrier 30.

[0038] The pin guide grooves 35 and pin guide holes 36 are provided in accordance with the planetary gears 20 supported by the carrier 30, and in this embodiment, a total of three are provided, corresponding to the number of planetary gears 20 supported by the carrier 30. The three pin guide grooves 35 and pin guide holes 36 are provided, for example, as shown in Figure 6, with one pin guide groove 35 and two pin guide holes 36.

[0039] Of these, the pin guide groove 35 is formed on the outer circumference of the side wall portion 31 and is provided as a groove that penetrates the side wall portion 31 in the thickness direction. The pin guide hole 36 is a hole that penetrates the side wall portion 31 in the thickness direction. The pin guide groove 35 and the pin guide hole 36 are formed to a size in which the groove width of the pin guide groove 35 and the inner diameter of the pin guide hole 36 are slightly larger than the diameter of the phase alignment pin 90.

[0040] The three pin guide grooves 35 and pin guide holes 36 are positioned one by one, corresponding to the three support holes 31b in the side wall portion 31. The pin guide grooves 35 and pin guide holes 36 corresponding to the support holes 31b are positioned such that the distance from the center of the support holes 31b is approximately the same as the distance from the central axis of the pin insertion hole 25 formed in the end face 24 of the planetary gear 20. Therefore, the pin guide grooves 35 and pin guide holes 36 can communicate with the pin insertion hole 25 formed in the end face 24 of the planetary gear 20 when the rotational position of the planetary gear 20 supported by the carrier 30, with respect to the planetary gear axis 26, reaches a predetermined position.

[0041] The sun gear 40 is mounted on the sun gear shaft 41 and is capable of rotating integrally with the sun gear shaft 41. The sun gear 40 is inserted inside the carrier 30 that supports the planetary gear 20, thereby meshing with the planetary gear 20 supported by the carrier 30. The sun gear 40 meshes with the first gear portion 21 of the planetary gear 20 supported by the carrier 30. The number of teeth on the sun gear 40 is less than the number of teeth on the first gear portion 21.

[0042] More specifically, the carrier 30 supports the planetary gear 20 at a position radially away from the central axis of the carrier 30. On the other hand, the sun gear 40 is inserted inside the carrier 30 at a position where the central axis of the sun gear 40 coincides with the central axis of the carrier 30. As a result, the sun gear 40 meshes with the first gear portion 21 of the planetary gear 20 supported by the carrier 30 from the inside in the radial direction centered on the central axis of the carrier 30.

[0043] In other words, by inserting the sun gear 40 inside the carrier 30 that supports the planetary gear 20, the planetary gear 20 meshes with the sun gear 40 inside the carrier 30 and is positioned around the sun gear 40.

[0044] Figure 7 is a perspective view of the first internal gear 50. The first internal gear 50 is formed in a substantially cylindrical shape, and an internal gear portion 51 is formed on the inside of the cylinder that meshes with the first gear portion 21 of the planetary gear 20 supported by the carrier 30. Therefore, the first internal gear 50 can mesh with the planetary gear 20 from the outside.

[0045] More specifically, the inner diameter of the portion of the first internal gear 50 where the internal gear portion 51 is formed is slightly larger than the outer diameter of the carrier 30, allowing it to cover the carrier 30 that supports the planetary gear 20. The carrier 30 that supports the planetary gear 20 enters the portion of the first internal gear 50 where the internal gear portion 51 is formed, from the side where the first gear portion 21 of the planetary gear 20 is located in the axial direction of the carrier 30. When the carrier 30 is inside the first internal gear 50, the internal gear portion 51 formed on the inner circumferential surface of the first internal gear 50 can engage with the portion of the first gear portion 21 of the planetary gear 20 supported by the carrier 30 that is exposed to the outside of the carrier 30 through the opening 34 of the carrier 30.

[0046] Furthermore, the first internal gear 50 has a support hole 52 formed on the side opposite to the side where the internal gear portion 51 is located, in the axial direction of the cylindrical shape of the first internal gear 50, to support the carrier 30 and the sun gear shaft 41. In other words, the first internal gear 50 has the internal gear portion 51 located on one inner surface in the axial direction, and the other inner surface is provided as a support hole 52. The inner diameter of the support hole 52 is smaller than that of the portion of the first internal gear 50 where the internal gear portion 51 is formed. That is, the first internal gear 50, which is formed in a substantially cylindrical shape, has a smaller inner diameter in the portion where the support hole 52 is formed than in the portion where the internal gear portion 51 is formed.

[0047] The first internal gear 50, having a support hole 52, supports the carrier 30 rotatably by supporting the shaft portion 32 of the carrier 30 through the support hole 52 via a bearing 37 (see Figure 2). The first internal gear 50 also supports the sun gear shaft 41 rotatably by supporting the sun gear shaft 41 through the support hole 52 via a bearing 42 (see Figure 2).

[0048] Furthermore, the first internal gear 50 has a guide groove 53 formed on its outer circumferential surface near the end on the side where the first internal gear 50 is located, in the axial direction of the cylindrical shape of the first internal gear 50. The guide groove 53, located on the outer circumferential surface of the first internal gear 50, allows a projection 86 of a phase alignment jig 80 (see Figure 8), which is used for phase alignment, which is the rotational alignment of the planetary gear 20 around the planetary gear shaft 26, to fit into it. The guide groove 53 allows the projection 86 to fit into it and engage with it, thereby regulating the circumferential position of the first internal gear 50 during the assembly of the planetary gear reducer 10.

[0049] The guide groove 53 is formed to a predetermined depth from the outer circumferential surface of the first internal gear 50 and to a predetermined length from the end in the axial direction of the first internal gear 50. In this embodiment, two guide grooves 53 are provided for the first internal gear 50. The relative positional relationship of the two guide grooves 53 in the circumferential direction of the cylinder, which is the shape of the first internal gear 50, is the same as the relative positional relationship in the circumferential direction of the two protrusions 86 of the phase alignment jig 80 (see Figure 8), which will be described later.

[0050] The second internal gear 60 has a body portion 61 and a shaft portion 64. The body portion 61 is formed in a substantially cylindrical shape with a closed bottom at one end in the axial direction. The shaft portion 64 is positioned in the closed portion of the body portion 61 and is an axial member that extends toward the opposite side from the side where the body portion 61 is located.

[0051] The main body 61, which is formed in a roughly cylindrical shape, has an internal gear section 62 and a support hole 63 inside. The internal gear section 62 is located on the end of the main body 61 opposite to the side where the shaft section 64 is located in the axial direction, and meshes with the second gear section 22 of the planetary gear 20 supported by the carrier 30.

[0052] The inner diameter of the portion of the second internal gear 60 where the internal gear portion 62 is formed is slightly larger than the outer diameter of the carrier 30, and can cover the carrier 30 that supports the planetary gear 20. The carrier 30 that supports the planetary gear 20 enters the inside of the portion of the second internal gear 60 where the internal gear portion 62 is formed, from the side where the second gear portion 22 of the planetary gear 20 is located in the axial direction of the carrier 30. When the carrier 30 is inside the second internal gear 60, the internal gear portion 62 formed on the inner circumferential surface of the second internal gear 60 can mesh with the portion of the second gear portion 22 of the planetary gear 20 supported by the carrier 30 that is exposed to the outside of the carrier 30 through the opening 34 of the carrier 30.

[0053] In other words, the first internal gear 50 and the second internal gear 60, which cover the carrier 30 from the radial outside, cover the area where the first gear portion 21 of the planetary gear 20 held by the carrier 30 is located with the first internal gear 50, and the area where the second gear portion 22 of the planetary gear 20 is located with the second internal gear 60.

[0054] The support hole 63 formed inside the main body 61 of the second internal gear 60 is located on the side of the shaft 64 that is located, rather than the side of the main body 61 where the internal gear portion 62 is located, in the axial direction of the main body 61. The support hole 63 of the second internal gear 60 is capable of supporting the carrier 30 and the sun gear shaft 41. The inner diameter of the support hole 63 is smaller than the inner diameter of the portion of the second internal gear 60 where the internal gear portion 62 is formed. In other words, the main body 61 of the second internal gear 60, which is formed in a substantially cylindrical shape, has a smaller inner diameter in the portion where the support hole 63 is formed than in the portion where the internal gear portion 62 is formed.

[0055] The second internal gear 60, having a support hole 63, supports the carrier 30 rotatably by supporting the shaft portion 32 of the carrier 30 through the support hole 63 via a bearing 37 (see Figure 2). The second internal gear 60 also supports the sun gear shaft 41 rotatably by supporting the sun gear shaft 41 through the support hole 63 via a bearing 42 (see Figure 2).

[0056] The housing 70 is formed in a substantially cylindrical shape and covers the first internal gear 50 and the second internal gear 60 from the radially outer side. The housing 70 has a side wall portion 71 at one end in the axial direction of the cylinder, and a support hole 72 is formed in the center of the side wall portion 71 through which the shaft portion 64 of the second internal gear 60 is inserted. The housing 70 covers the first internal gear 50 and the second internal gear 60 with the side where the side wall portion 71 is located facing the second internal gear 60, and the shaft portion 64 of the second internal gear 60 is passed through the support hole 72 formed in the side wall portion 71 of the housing 70.

[0057] As a result, the shaft portion 64 of the second internal gear 60 extends from the inside to the outside of the housing 70, with a portion of it exposed to the outside of the housing 70. A bearing 65 is interposed between the support hole 72 formed in the side wall portion 71 of the housing 70 and the shaft portion 64 of the second internal gear 60, and the shaft portion 64 is rotatably supported in the support hole 72 of the housing 70 via the bearing 65.

[0058] In this configuration, the planetary gear reducer 10 has the sun gear shaft 41 as the input shaft and the shaft portion 64 of the second internal gear 60 as the output shaft. In other words, the planetary gear reducer 10 is capable of reducing the rotational driving force input to the sun gear shaft 41 and outputting it from the shaft portion 64 of the second internal gear 60. Specifically, when driving force is input to the sun gear shaft 41, since the sun gear 40 is attached to the sun gear shaft 41, the sun gear shaft 41 and the sun gear 40 rotate together as a single unit due to the input driving force.

[0059] Since the sun gear 40 meshes with the first gear portion 21 of the planetary gear 20, which is rotatably held by the carrier 30, the rotation of the sun gear 40 is transmitted to the first gear portion 21, and the planetary gear 20 rotates due to the rotational driving force transmitted from the sun gear 40 to the first gear portion 21. The planetary gear 20 rotates around the planetary gear shaft 26 due to the driving force transmitted from the sun gear 40, which meshes with the first gear portion 21. In this embodiment, since the carrier 30 rotatably supports the three planetary gears 20, all three planetary gears 20 supported by the carrier 30 rotate around the planetary gear shaft 26 due to the driving force transmitted from the sun gear 40.

[0060] The first gear portion 21 of the planetary gear 20 also meshes with the internal gear portion 51 of the first internal gear 50. That is, the first internal gear 50 meshes with the planetary gear 20 from the outside of the planetary gear 20 in the radial direction of the sun gear 40 that meshes with the planetary gear 20. Therefore, when the planetary gear 20 rotates around the planetary gear shaft 26, the planetary gear 20 rotates relative to the first gear portion 21 of the first internal gear 50, which meshes with the internal gear portion 51, in the circumferential direction around the carrier 30 or the central axis of the first gear portion 21.

[0061] In other words, since the carrier 30 is supported by a bearing 37 in a support hole 52 of the first internal gear 50, the planetary gear 20 and the carrier 30 rotate relative to the first internal gear 50 in the circumferential direction about the carrier 30 and the central axis of the first internal gear 50. Therefore, the planetary gear 20 rotates relative to the first internal gear 50 together with the carrier 30, while rotating about the planetary gear shaft 26 supported by the carrier 30. The direction of rotation of the planetary gear 20 and the carrier 30 when they rotate relative to the first internal gear 50 is the same as the direction of rotation of the sun gear 40 and the sun gear shaft 41.

[0062] Since the planetary gear 20 has a first gear section 21 and a second gear section 22, when the planetary gear 20 rotates around the planetary gear shaft 26, the second gear section 22 also rotates together with the first gear section 21. Since the second gear section 22 of the planetary gear 20 meshes with the internal gear section 62 of the second internal gear 60, when the planetary gear 20 rotates, the second internal gear 60, whose internal gear section 62 meshes with the second gear section 22, rotates around its central axis in conjunction with the rotation of the second gear section 22.

[0063] In other words, since the carrier 30 is supported by a bearing 37 in a support hole 63 of the second internal gear 60, the carrier 30 and the second internal gear 60 are able to rotate relative to each other in the circumferential direction about the central axis of the carrier 30 and the second internal gear 60. Therefore, the second internal gear 60, which receives rotation from the second gear portion 22 of the planetary gear 20 to the internal gear portion 62, rotates about the central axis of the carrier 30 and the second internal gear 60.

[0064] Since the second internal gear 60 has a shaft portion 64, when the second internal gear 60 rotates, the shaft portion 64 rotates together with the main body portion 61 of the second internal gear 60. Since the shaft portion 64 of the second internal gear 60 is used as an output shaft in the planetary gear reducer 10, the shaft portion 64 outputs the rotational driving force input to the sun gear shaft 41, which is the input shaft, by transmitting rotation to an external device connected to the shaft portion 64.

[0065] The planetary gear reducer 10 outputs the driving force input to the sun gear shaft 41 from the shaft portion 64 of the second internal gear 60, but the number of teeth on the first gear portion 21 of the planetary gear 20 is greater than the number of teeth on the sun gear 40. Therefore, when the rotation of the sun gear 40 is transmitted to the first gear portion 21 of the planetary gear 20, causing the planetary gear 20 to rotate around the planetary gear shaft 26, the rotational speed of the planetary gear 20 is reduced compared to the rotational speed of the sun gear 40.

[0066] Furthermore, the second gear section 22 of the planetary gear 20 has fewer teeth than the first gear section 21, resulting in a larger reduction ratio for the second internal gear 60 relative to the second gear section 22. As a result, the rotation of the second gear section 22, which rotates in conjunction with the first gear section 21, is transmitted to the second internal gear 60. When the shaft 64 of the second internal gear 60 rotates, the shaft 64 rotates at a reduced speed compared to the rotation speed of the planetary gear 20. Consequently, in the planetary gear reducer 10, the driving force input from the sun gear shaft 41, which is the input shaft, is significantly reduced and output from the shaft 64 of the second internal gear 60, which is the output shaft.

[0067] Next, the jigs used for assembling the planetary gear reducer 10 will be described. Figure 8 is an explanatory diagram of the phase alignment jig 80 and phase alignment pin 90 used for assembling the planetary gear reducer 10. The assembly of the planetary gear reducer 10 according to this embodiment is performed using the phase alignment jig 80 and the phase alignment pin 90. The phase alignment jig 80 and the phase alignment pin 90 are jigs used for aligning the phase of the planetary gear 20 with respect to the internal gear portion 51 of the first internal gear 50, in the rotational direction of the planetary gear 20 centered on the planetary gear shaft 26.

[0068] The phase alignment pin 90 has a pin portion 91 and a plate portion 92. The diameter of the pin portion 91 is smaller than the inner diameter of the pin insertion hole 25 (see Figure 5) formed in the end face 24 of the planetary gear 20, the groove width of the pin guide groove 35 (see Figure 6) formed in the carrier 30, and the inner diameter of the pin guide hole 36 (see Figure 6). The plate portion 92 is positioned at one end of the pin portion 91 and is formed in a disc shape with a diameter larger than the diameter of the pin portion 91.

[0069] The same number of phase alignment pins 90 as the planetary gears 20 in the planetary gear reducer 10 are used. In this embodiment, since the planetary gear reducer 10 has three planetary gears 20, three phase alignment pins 90 are used, the same number as the planetary gears 20.

[0070] The phase alignment jig 80 has a substantially disc-shaped side wall portion 81, a substantially annular ring portion 82, and a connecting portion 83 that connects the side wall portion 81 and the ring portion 82. The inner diameter of the ring portion 82 is larger than the outer diameter of the portion of the first internal gear 50 in which the internal gear portion 51 is provided. The outer diameter of the side wall portion 81 is the same as the outer diameter of the ring portion 82.

[0071] The side wall portion 81 and the annular portion 82 are separated in the axial direction of the circular shape of the side wall portion 81 and the annular portion 82, and the connecting portion 83 is positioned across the separated side wall portion 81 and the annular portion 82 and connects both. The phase alignment jig 80 has multiple connecting portions 83, and the multiple connecting portions 83 are positioned separated from each other in the circumferential direction of the circular shape of the side wall portion 81 and the annular portion 82.

[0072] The axial length of the phase alignment jig 80 is longer than the axial distance between the side wall 31 on the carrier 30 where the second gear portion 22 is located and the end of the first internal gear 50 where the internal gear portion 51 is located, when the first gear portion 21 of the planetary gear 20 supported by the carrier 30 is inside the first internal gear 50 and meshes with the internal gear portion 51.

[0073] A pin hole 85 is formed in the side wall portion 81 of the phase alignment jig 80, through which the pin portion 91 of the phase alignment pin 90 passes. The inner diameter of the pin hole 85 is larger than the diameter of the pin portion 91 of the phase alignment pin 90. The same number of pin holes 85 are formed as the number of planetary gears 20 in the planetary gear reducer 10. In this embodiment, since the planetary gear reducer 10 has three planetary gears 20, three pin holes 85 are formed in the side wall portion 81 of the phase alignment jig 80, the same number as the planetary gears 20.

[0074] The pin holes 85 formed in the side wall portion 81 of the phase alignment jig 80 are positioned to correspond to the pin guide grooves 35 and pin guide holes 36 formed in the carrier 30. In other words, when the side wall portion 81 of the phase alignment jig 80 and the side wall portion 31 of the carrier 30 are superimposed, the pin holes 85 formed in the side wall portion 81 of the phase alignment jig 80 can communicate with the pin guide grooves 35 and pin guide holes 36 formed in the carrier 30.

[0075] In this embodiment, the carrier 30 is provided with one pin guide groove 35 and two pin guide holes 36. As a result, of the three pin holes 85 formed in the side wall portion 81 of the phase alignment jig 80, one pin hole 85 communicates with the pin guide groove 35, and the other two pin holes 85 communicate with the two pin guide holes 36.

[0076] Here, the pin guide groove 35 and pin guide hole 36 of the carrier 30 can communicate with the pin insertion hole 25 formed on the end face 24 of the planetary gear 20 when the rotational position of the planetary gear 20 supported by the carrier 30, around the planetary gear shaft 26, reaches a predetermined position. Therefore, when the rotational position of the planetary gear 20, around the planetary gear shaft 26, reaches a predetermined position, the pin hole 85 formed on the side wall portion 81 of the phase alignment jig 80, the pin guide groove 35 and pin guide hole 36 of the carrier 30, and the pin insertion hole 25 formed on the end face 24 of the planetary gear 20 can communicate with each other.

[0077] More specifically, the pin hole 85 formed in the side wall portion 81 of the phase alignment jig 80 and the pin guide groove 35 and pin guide hole 36 provided in the carrier 30 are positioned to communicate with the pin insertion hole 25 of the planetary gear 20, in a state where the first gear portion 21 of the planetary gear 20 can mesh with the internal gear portion 51 of the first internal gear 50.

[0078] The annular portion 82 of the phase alignment jig 80 is provided with projections 86 that engage with the guide grooves 53 of the first internal gear 50. The projections 86 are formed on the inner circumferential surface of the annular portion 82 in a shape that protrudes radially inward. The projections 86 are formed in a shape that allows them to fit into the guide grooves 53 provided in the first internal gear 50, and the same number of projections 86 are arranged on the annular portion 82 as there are guide grooves 53 of the first internal gear 50. That is, two projections 86 are arranged on the annular portion 82.

[0079] The projection 86 provided on the annular portion 82 is positioned such that, in a state where the pin hole 85 formed in the side wall portion 81 of the phase alignment jig 80, the pin guide groove 35 and pin guide hole 36 provided on the carrier 30, and the pin insertion hole 25 of the planetary gear 20 are in communication, the circumferential orientation of the first internal gear 50 is such that it can fit into the guide groove 53 of the first internal gear 50 in a direction that allows the internal gear portion 51 to mesh with it.

[0080] Next, the manufacturing method of the planetary gear reducer 10 will be described. When assembling the planetary gear reducer 10 using these phase alignment jigs 80 and phase alignment pins 90, first, the carrier 30 supporting the planetary gears 20 is covered with the phase alignment jig 80, and the pin portion 91 of the phase alignment pin 90 is passed through the pin hole 85 of the phase alignment jig 80. Furthermore, the pin portion 91 of the phase alignment pin 90 that has passed through the pin hole 85 of the phase alignment jig 80 is passed through the pin guide groove 35 or pin guide hole 36 formed in the carrier 30 and inserted into the pin insertion hole 25 formed in the end face 24 of the planetary gears 20. This aligns the phase of the planetary gears 20 with respect to the carrier 30.

[0081] Specifically, the phase alignment jig 80 is inserted into the annular portion 82 of the phase alignment jig 80 from the side wall portion 31 on the side where the second gear portion 22 of the planetary gear 20 is located on the carrier 30 that supports the planetary gear 20, and the carrier 30 is positioned inside the multiple connecting portions 83 of the phase alignment jig 80. As a result, the annular portion 82 of the phase alignment jig 80 is positioned on the side wall portion 31 on the side where the first gear portion 21 of the planetary gear 20 is located on the carrier 30, and the side wall portion 81 of the phase alignment jig 80 is positioned opposite the side wall portion 31 on the side where the second gear portion 22 of the planetary gear 20 is located on the carrier 30.

[0082] In this manner, when covering the carrier 30 supporting the planetary gear 20 with the phase alignment jig 80, the phase alignment jig 80 is oriented so that the multiple pin holes 85 formed in the side wall portion 81 communicate with the pin guide grooves 35 and pin guide holes 36 of the carrier 30. In this state, the pin portion 91 of the phase alignment pin 90 is passed through the pin hole 85 of the phase alignment jig 80, and further through the pin guide grooves 35 and pin guide holes 36 of the carrier 30.

[0083] In this state, the planetary gear 20 is rotated around the planetary gear shaft 26 while applying a force to the phase alignment pin 90 in the direction of inserting the pin portion 91 into the pin insertion hole 25 of the planetary gear 20. As a result, when the position of the pin insertion hole 25 in the direction of rotation of the planetary gear 20 around the planetary gear shaft 26 is the same as the position of the pin guide groove 35 and pin guide hole 36 of the carrier 30, the pin portion 91 of the phase alignment pin 90 is inserted into the pin insertion hole 25 of the planetary gear 20.

[0084] When the pin portion 91 of the phase alignment pin 90 of the planetary gear 20 is inserted into the pin insertion hole 25, the rotation of the planetary gear 20 around the planetary gear shaft 26 is restricted by the phase alignment pin 90, and the rotational phase of the planetary gear 20 with respect to the carrier 30 is aligned.

[0085] Next, the projection 86 of the phase alignment jig 80 is inserted into the guide groove 53 of the first internal gear 50. Figure 9 is an explanatory diagram of the process of inserting the projection 86 of the phase alignment jig 80 into the guide groove 53 of the first internal gear 50. With the carrier 30 covered by the phase alignment jig 80 and the phase alignment of the planetary gear 20 being performed by inserting the phase alignment pin 90 into the pin insertion hole 25 of the planetary gear 20, the projection 86 provided on the annular portion 82 is inserted into the guide groove 53 provided on the outer circumferential surface of the first internal gear 50. For this reason, the relative orientation in the circumferential direction of the phase alignment jig 80, the carrier 30, and the first internal gear 50 is adjusted so that the projection 86 of the phase alignment jig 80 and the guide groove 53 of the first internal gear 50 are in the same position in the circumferential direction.

[0086] With the projection 86 of the phase alignment jig 80 and the guide groove 53 of the first internal gear 50 in the same circumferential position, the carrier 30 is inserted into the inside of the first internal gear 50, and the projection 86 of the phase alignment jig 80 is inserted into the guide groove 53 of the first internal gear 50. As a result, the first gear portion 21 of the planetary gear 20 supported by the carrier 30 meshes with the internal gear portion 51 of the first internal gear 50. That is, the first internal gear 50 that meshes with the planetary gear 20 meshes its internal gear portion 51 with the first gear portion 21 of the planetary gear 20.

[0087] The phase alignment jig 80 engages the projection 86 with the guide groove 53 of the first internal gear 50 by inserting the projection 86 into the guide groove 53, thereby restricting the circumferential orientation of the first internal gear 50 with the projection 86, and meshing the internal gear portion 51 of the first internal gear 50 with the first gear portion 21 of the planetary gear 20.

[0088] Next, the sun gear 40 is meshed with the planetary gear 20 that meshes with the first internal gear 50. Figure 10 is an explanatory diagram of the process of meshing the sun gear 40 with the planetary gear 20 that meshes with the first internal gear 50. The sun gear 40 is positioned on a sun gear shaft 41, which is inserted into the first internal gear 50, with the first gear portion 21 of the planetary gear 20 meshing with the internal gear portion 51, from the side where the support hole 52 (see Figures 2 and 4) is located.

[0089] The rotation of the first gear portion 21 of the planetary gear 20 is restricted in a phase-aligned state by the phase-aligning jig 80 and the phase-aligning pin 90. Therefore, by inserting the sun gear 40 together with the sun gear shaft 41 inside the first internal gear 50, the sun gear 40 can mesh with the first gear portion 21 of the planetary gear 20. The sun gear 40 that meshes with the planetary gear 20 meshes with the first gear portion 21 of the planetary gear 20 in this way.

[0090] Next, the phase alignment jig 80 and the phase alignment pin 90 are removed. Figure 11 is an explanatory diagram of the process of removing the phase alignment jig 80 and the phase alignment pin 90. The sun gear shaft 41 is inserted from the side where the support hole 52 of the first internal gear 50 is located, and once the sun gear 40 is meshed with the first gear portion 21 of the planetary gear 20, the phase alignment jig 80 and the phase alignment pin 90 are removed. In other words, by moving the phase alignment jig 80 covering the carrier 30 to the side away from where the first internal gear 50 is located, the projection 86 of the phase alignment jig 80 is removed from the guide groove 53 formed in the first internal gear 50, and the phase alignment pin 90 is pulled out from the pin insertion hole 25 formed in the end face 24 of the planetary gear 20.

[0091] This releases the rotational restriction imposed by the phase alignment jig 80 and the phase alignment pin 90, enabling relative rotation between the planetary gear 20, the sun gear 40, and the first internal gear 50. Furthermore, by removing the phase alignment jig 80, the second internal gear 60 can be engaged with the second gear portion 22 of the planetary gear 20, which is supported by the carrier 30.

[0092] Next, the second internal gear 60 is meshed with the second gear portion 22 of the planetary gear 20. Figure 12 is an explanatory diagram of the process of meshing the second internal gear 60 with the second gear portion 22 of the planetary gear 20. The second internal gear 60 covers the carrier 30 that supports the planetary gear 20 from the side where the internal gear portion 62 is located on the inner circumferential surface. In this way, the internal gear portion 62 of the second internal gear 60 meshes with the portion of the second gear portion 22 of the planetary gear 20 that is exposed from the opening 34 of the carrier 30, from the radial outside of the carrier 30. After the first internal gear 50 and the sun gear 40 are meshed with the first gear portion 21 of the planetary gear 20 in this way, the second gear portion 22 of the planetary gear 20 meshes with the internal gear portion 62 of the second internal gear 60 that meshes with the planetary gear 20 from the radial outside of the planetary gear 20 of the sun gear 40.

[0093] At that time, the planetary gear 20 rotates the sun gear shaft 41 to rotate the sun gear 40, thereby rotating the planetary gear 20 that the first gear section 21 meshes with the sun gear 40, and adjusting the orientation of the second gear section 22 in the circumferential direction around the planetary gear shaft 26 as appropriate. This sets the orientation of the teeth of the second gear section 22 so that it can mesh with the internal gear section 62 of the second internal gear 60, and the internal gear section 62 of the second internal gear 60 meshes with the second gear section 22.

[0094] By assembling the planetary gear reducer 10 in this manner, it is possible to assemble a planetary gear reducer 10 that can transmit the rotation input to the input shaft, the sun gear shaft 41, from the sun gear 40 on which the sun gear shaft 41 is located to the planetary gear 20 having the first gear section 21, from the second gear section 22 of the planetary gear 20 to the second internal gear 60, and output from the shaft section 64 of the second internal gear 60.

[0095] As described above, in the manufacturing method of the planetary gear reducer 10 according to the embodiment, before meshing the planetary gear 20 with the first internal gear 50, the rotation of the planetary gear 20 around the planetary gear shaft 26 can be restricted by inserting the phase alignment pin 90, which is passed through the pin hole 85 of the phase alignment jig 80, into the pin insertion hole 25 formed on the end face 24 of the planetary gear 20. This allows the planetary gear 20 to be fixed by the phase alignment jig 80 and the phase alignment pin 90 while the planetary gear 20 is in phase with respect to the carrier 30.

[0096] Subsequently, by inserting the projection 86 of the phase alignment jig 80 into the guide groove 53 of the first internal gear 50, the circumferential orientation of the first internal gear 50 is restricted by the projection 86, thereby restricting the rotational relative positional relationship between the carrier 30 supporting the planetary gear 20 and the first internal gear 50 to a positional relationship that allows the first internal gear 50 and the planetary gear 20 to mesh. In this state, by inserting the planetary gear 20 inside the first internal gear 50, the first internal gear 50 and the planetary gear 20 can be easily meshed.

[0097] Furthermore, by engaging the sun gear 40 with the planetary gear 20 while the first internal gear 50 and the planetary gear 20 are engaged, the sun gear 40 can be easily engaged with the planetary gear 20 that is engaged with the first internal gear 50. In this way, by using the phase alignment jig 80 and the phase alignment pin 90 to restrict the position of the planetary gear 20 in the rotational direction about the planetary gear axis 26 relative to the carrier 30 to a predetermined position, the planetary gear 20 can be easily engaged with the first internal gear 50 and the sun gear 40. As a result, the phase alignment of the planetary gear 20 can be easily performed.

[0098] Furthermore, the planetary gear 20 has a first gear section 21 and a second gear section 22. The first internal gear 50 and the sun gear 40 mesh with the first gear section 21 of the planetary gear 20 using a phase alignment jig 80 and a phase alignment pin 90, respectively. This allows the first internal gear 50 and the sun gear 40 to easily mesh with the first gear section 21 of the planetary gear 20. Moreover, the second gear section 22 of the planetary gear 20 meshes with the first internal gear 50 and the sun gear 40 with the first gear section 21, and then meshes with the second internal gear 60. This allows the first gear section 21 to mesh with the second internal gear 60 while the planetary gear 20 is in phase alignment due to the first internal gear 50 and the sun gear 40 meshing with each other. This allows the second internal gear 60 to easily mesh with the second gear section 22 of the planetary gear 20. As a result, even when the planetary gear 20 has a first gear section 21 and a second gear section 22, the phase of both the first gear section 21 and the second gear section 22 can be easily aligned.

[0099] Furthermore, the planetary gear reducer 10 is equipped with multiple planetary gears 20, and the pin insertion holes 25 formed on the end faces 24 of the planetary gears 20 are formed in the same position on each planetary gear 20. Therefore, when forming pin insertion holes 25 on multiple planetary gears 20, the position of the pin insertion holes 25 can be easily formed without varying the position of the pin insertion holes 25 for each planetary gear 20. In addition, since the arrangement position of the planetary gears 20 is not limited when the carrier 30 supports multiple planetary gears 20, multiple planetary gears 20 can be easily assembled to the carrier 30. As a result, the manufacturing cost when providing pin insertion holes 25 on the planetary gears 20 can be reduced.

[0100] Furthermore, the carrier 30 has a side wall portion 31 having at least one of a pin guide groove 35 and a pin guide hole 36 through which the phase alignment pin 90 passes. Since the phase alignment pin 90 is inserted into the pin insertion hole 25 through the pin guide groove 35 or the pin guide hole 36, the rotational position of the planetary gear 20 relative to the carrier 30 around the planetary gear shaft 26 can be fixed at a desired position. As a result, the phase alignment of the planetary gear 20 can be easily performed.

[0101] Furthermore, in the planetary gear reducer 10 according to this embodiment, the planetary gear 20 has a pin insertion hole 25 into which a phase alignment pin 90, which is passed through a pin hole 85 formed in the phase alignment jig 80, is inserted. Therefore, when assembling the planetary gear reducer 10, the rotation of the planetary gear 20 can be restricted by inserting the phase alignment pin 90 into the pin insertion hole 25 of the planetary gear 20. In addition, the first internal gear 50 that meshes with the planetary gear 20 has a guide groove 53 into which a projection 86 of the phase alignment jig 80 enters and engages with the projection 86, thereby restricting the position of the first internal gear 50 in the circumferential direction. Therefore, when meshing the planetary gear 20 and the first internal gear 50, the planetary gear 20 can be meshed with the first internal gear 50 at a predetermined position in the circumferential direction of the first internal gear 50. As a result, the phase alignment of the planetary gear 20 can be easily performed.

[0102] [Differentiation] In the embodiment described above, the planetary gear reducer 10 has three planetary gears 20, but the number of planetary gears 20 in the planetary gear reducer 10 may be other than three. The number of planetary gears 20 in the planetary gear reducer 10 may be two or fewer, or four or more. In this case, the same number of phase alignment pins 90 as the number of planetary gears 20 are used.

[0103] Furthermore, in the embodiment described above, the carrier 30 has a pin guide groove 35 and a pin guide hole 36, but the carrier 30 may have only the pin guide groove 35 or only the pin guide hole 36. Preferably, the pin guide groove 35 and the pin guide hole 36 are formed appropriately to match the position of the pin insertion hole 25 of the planetary gear 20 when their phases are aligned.

[0104] While preferred embodiments of this disclosure have been described above, this disclosure is not limited to those described in the embodiments described above. The configurations described as embodiments and modifications may be combined as appropriate. [Explanation of Symbols]

[0105] 10 Planetary gear reducer 20 Planetary gears 21 First gear section 22 Second Gear Section 24 End face 25 pin insertion holes 26 Planetary gear shaft 27, 37, 42, 65 bearings 30 Carriers 31 Side wall section 31a Sun gear shaft hole 31b Support hole 32, 64 shaft section 34 Opening 35 Pin guide groove 36 pin guide holes 40 Sun Gear 41 Sun gear shaft 50 First internal gear 51, 62 Internal gear section 53 Guide groove 60 Second internal gear 70 Housing 80 Phase alignment jig 85 pin holes 86 Protrusion 90 Phase Alignment Pins

Claims

1. The sun gear and, A planetary gear that meshes with the aforementioned sun gear and is arranged around the aforementioned sun gear, A carrier that rotatably supports the aforementioned planetary gear, A first internal gear that meshes with the planetary gear from the outside of the planetary gear in the radial direction of the sun gear, A method for manufacturing a planetary gear reducer comprising a planetary gear reducer, wherein the assembly of the planetary gear reducer is performed using a phase alignment pin used for phase alignment of the planetary gears, and a phase alignment jig that covers the carrier supporting the planetary gears and has a pin hole through which the phase alignment pin passes and a projection that engages with the first internal gear, A step of aligning the phase of the planetary gear with the carrier by covering the carrier that supports the planetary gear with the phase alignment jig, and inserting the phase alignment pin, which is passed through the pin hole of the phase alignment jig, into a pin insertion hole formed on the end face of the planetary gear, The process of engaging the first internal gear and the planetary gear while inserting the projection of the phase alignment jig into the guide groove of the first internal gear and restricting the circumferential orientation of the first internal gear with the projection, A step of engaging the sun gear with the planetary gear that meshes with the first internal gear, A method for manufacturing a planetary gear reducer, including the method described above.

2. The planetary gear has a first gear section and a second gear section, The first internal gear and the sun gear, which mesh with the planetary gear, each mesh with the first gear portion of the planetary gear. The method for manufacturing a planetary gear reducer according to claim 1, wherein the second gear section engages with the first internal gear and the sun gear after the first gear section has engaged with the first internal gear, and then engages with the second internal gear which engages with the planetary gear from the outside of the planetary gear in the radial direction of the sun gear.

3. The planetary gears are provided in multiple locations, The method for manufacturing a planetary gear reducer according to claim 1, wherein the pin insertion holes are formed at the same position in each of the planetary gears.

4. The carrier supports the shaft portion of the planetary gear and has a side wall portion having at least one of a pin guide groove and a pin guide hole through which the phase alignment pin passes, The method for manufacturing a planetary gear reducer according to claim 1, wherein the phase alignment pin is inserted into the pin insertion hole through the pin guide groove or the pin guide hole.

5. The sun gear and, A planetary gear that meshes with the aforementioned sun gear and is arranged around the aforementioned sun gear, A carrier that rotatably supports the aforementioned planetary gear, A first internal gear that meshes with the planetary gear from the outside of the planetary gear in the radial direction of the sun gear, Equipped with, The first internal gear has a guide groove into which a projection of a phase alignment jig used for phase alignment of the planetary gear fits and engages with the projection, thereby restricting the position of the first internal gear in the circumferential direction. The planetary gear is a planetary gear reducer having pin insertion holes into which phase alignment pins, which are passed through pin holes formed in the phase alignment jig, are inserted.

Images