Planetary gear mechanism

Abstract

The present invention provides a planetary gear mechanism that can improve gear meshing and adjust backlash. The planetary gear mechanism 101 includes: a first shaft 102, a sun gear 104 having an external gear; a second shaft 105, a rotary gear 107 having an internal gear; and a plurality of planetary gears 108, which are configured to rotate around the outer periphery of the sun gear 104. Each planetary gear 108 has a first gear portion 109 that meshes with the sun gear 104 and a second gear portion 110 that meshes with the rotary gear 107. The first gear portion 109 has a tapered shape whose cross-section decreases from the side of the second gear portion 110 toward the side of the first shaft 102, and the second gear portion 110 has a tapered shape whose cross-section decreases from the side of the first gear portion 109 toward the side of the second shaft 105.

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