1313330 ⑴ 九、發明說明 【發明所屬之技術領域】 本發明爲行星迴轉體’譬如行星國輪、或者行星滾子 等的支持構造。 【先前技術】 在用於液晶搬送用機器人、或ATC ( AUTO T00L CHANGE)等精密定位的行星齒輪裝置中’其圓周方向的 位置受到載具所拘束，或者組裝入被支承的灯星齒輪。前 述載具呈緻密化 > 且爲了提高剛性’大多數是由籠型構件 (承載體）所構成。 第2圖，是顯示專利文獻1所揭示的行星齒輪裝置 PG1。 該行星齒輪裝置PG1具備2段的行星齒輪機構P1、 P2。其中後段的行星齒輪機構P2具有太陽齒輪2、行星 齒輪4、內齒齒輪6，且支承銷10從行星齒輪4處突出於 軸方向而被一對凸緣部14、16所支承。該一對凸緣部14 、16，分別以單一（同一）個構件構成載具體8的一部分， 而形成籠型。 該構造，由於載具體8的形狀變的極爲複雜而容易使 成本提高，此外，相對於減速比與傳達容量的變更，也使 設計變更的靈活性降低。因此，構成第3圖所示之構造的 行星齒輪裝置P G2廣爲大眾所熟知。該行星齒輪裝置p G2 ’是以各自的構件來構成一對凸緣體30' 32’且凸緣體 -4- (2) 1313330 3 2與形成一體的連結體3 4，是採用螺栓3 、3 2形成一體化。 在構成上述構造的場合中，螺栓36與 穿孔33，由於並未完全地在圓周方向上形 千的間隙），而導致在凸緣體3 0與連結體 向的扭矩，透過因螺栓3 6的鎖緊力而產 之端部34 A的摩擦力（按壓力），而傳 • 30 側。 [專利文獻] 日本特開平9 一 3 0 3 4 9 4號公報 【發明內容】 [發明所欲解決之課題] 然而，在第3圖所示之構造的場合中 緣體30與連結體34間之圓周方向的扭矩 傳達，當由於長時間的使用而使螺栓3 6 或因負荷高於摩擦力以上的扭矩而導致該 應該傳達的扭矩時，具有由螺栓36的「 達扭矩的問題。一旦扭矩的傳達是藉由螺 力來執行，當負荷產生變化、或迴轉方向 將因爲存在於該螺栓36與貫穿孔32之間 動之虞。 本發明是爲了消除上述的習知問題而 本發明的課題是提供一種：不需形狀複雜 6而與上述的3 0 凸緣體3 0的貫 成一體（存在若 34間之圓周方 Ξ於該連結體34 I至第1凸緣體 ，由於構成‘·凸 透過摩擦力而被 的鎖緊力鬆弛、 摩擦力無法保持 剪斷應力」來傳 栓3 6的剪斷應 形成逆轉時，恐 的間隙而產生晃 所硏發的發明， 的載具體，具有 -5- (3) (3)1313330 低廉的成本並對設計變更具有靈活性，且即使在因長期使 用而無法確保可傳達扭矩的摩擦力的場合中，也不會產生 晃動等之行星迴轉體的支承構造。 [用來解決課題之手段] 本發明可藉由採用以下的構造來解決上述的課題。本 發明的行星迴轉體的支承構造，是將透過連結體所連結的 一對凸緣體配置於行星迴轉體的軸方向兩側，並且構成： 在至少其中一個凸緣體與前述連結體間之圓周方向的扭矩 ’是利用摩擦力所傳達的行星迴轉體的支承構造，其中前 述行星迴轉體具有從其軸方向兩側突出的一對支承銷，並 藉由具有干涉量（interference-fitted)的嵌合構造，將該 一對支承銷中的至少一個固定於前述凸緣體。 於本發明中，在構成：凸緣體與前述連結體間之圓周 方向的扭矩，是藉由摩擦力所傳達之行星迴轉體的支承構 造中，是藉由具有干涉量的嵌合構造，使行星銷固定於凸 緣體。這裡所述的「具有干涉量的嵌合構造」是指：即使 具有製造上的誤差，也完全不會產生間隙（存在千涉量） 的嵌合構造。 因此，該連結體與凸緣體形成：除了連結體與凸緣體 ί 之接觸部分的摩擦力之外，也能以利用行星銷的剪斷應力 來傳達扭矩的態樣而形成連結，即使螺栓的鎖緊力形成若 干的下降，也能不產生晃動等而維持一體化。此外，由於 2個凸緣體是在長保安定的狀態下形成一體化，因此螺栓 -6- (4) 1313330 本身的鬆弛不易產生，並可獲得連結體部分的摩擦力可長 時間維持的作用。 而本發明中所述的「利用具有干涉量的嵌合構造而形 成固定」中，包含壓入、收縮配合（shrinkage fit)等的 手法。 此外，雖然本發明所述的「一對支承銷」，是指分別 從中央之行星迴轉體的兩側突出的支承銷，但就發明的槪 念而言並不需侷限於上述的說明，實際上亦可構成：譬如 利用一隻貫穿行星迴轉體的銷來構成上述的一對支承銷。 [發明的效果] 根據本發明可獲得：無須形狀複雜的凸緣體，成本低 並對設計變更具有靈活性，且即使因長期使用而導致螺栓 的鎖緊力形成若干的下降’也不會產生晃動等之行星迴轉 體的支承構造。 【實施方式】 以下，根據圖面來詳細說明本發明的其中一種實施形 態的範例。 第1圖中，是顯示採用本發明「行星迴轉體的支承構 造」之行星齒輪裝置的整體剖面。 該行星齒輪裝置PG3在其前段具備縱軸5。縱軸5〇 具備貫穿孔52’且圖面中爲顯示之馬達的馬達軸可插入該 貫穿孔52的一端側。第1圖的符號54是用來將縱軸5 〇 (5) 1313330 與該馬達軸連結成可傳達動力的鉗緊部（摩擦結合部）° 在縱軸5 0之貫穿孔5 2的另一端側壓入有小齒輪軸5 3 ’且 該小齒輪軸53可作爲單純行星齒輪機構P3的輸入軸並形 成有太陽齒輪54。單純行星齒輪機構P3具備：上述太陽 齒輪54、和外接嚙合於該太陽齒輪54的行星齒輪56、及 內接嚼合於該行星齒輪56的內齒齒輪58。內齒齒輪58與 殻體60形成一體化。 行星齒輪56具備：從該行星齒輪56突出至軸方向兩 側的第1、第2支承銷62、64。具體地說，上述的第1、 第2支承銷62、64，是由貫穿行星齒輪56的一個構件所 構成。該第1、第2支承銷62、64，是被配置於行星齒輪 56之軸方向兩側的一對第1、第2凸緣體66、68所支承 。第1、第2凸緣體66、68是透過軸承71、73而分別被 殼體6 0所支承。 另外，在該實施形態中，在第2凸緣體68形成有一 體突出的連結體70。分別在連結體70形成有螺絲孔72， 在第1凸緣體66形成有貫穿孔74。藉由使螺栓76貫穿該 賃穿孔74後鎖入螺絲孔72的方式，可使第1凸緣體66 與第2凸緣體68隔著連結體70而形成—體化。螺栓76 與第1凸緣體66的貫穿孔74並非完全形成緊附貼著。因 &匕’在一般的使用狀態中，連結體70與第1凸緣體66之 _ @結合，並非利用螺栓7 6的剪斷應力，而是藉由該螺 76的鎖緊力而產生於兩者之接合面S的摩擦力來實現 -8- (6) 1313330 在該實施形態中，行星齒輪56之第1凸緣體66側的 第1支承銷62及第2凸緣體68側的第2支承銷64，均是 利用具有干涉量之嵌合構造的「壓入」，而分別被固定於 第I凸緣體66及第2凸緣體68。此外’第2凸緣體68與 輸出軸8 0形成一體化。 而行星齒輪56，是隔著滾針軸承78而被安裝於第1 、第2支承銷62、64之間的大尺寸部5 7。因此，即使該 第1、第2支承銷62、64被壓入固定於第1、第2凸緣體 66、68’該行星齒輪56也能在大尺寸部57的周圍形成極 爲圓滑的迴轉。 接下來’說明該行星齒輪裝置PG3的作用。 當藉由圖面未顯示之馬達軸的迴轉而使縱軸5〇形成 迴轉時’被壓入該縱軸50的小齒輪軸53也形成迴轉，而 形成於該小齒輪軸5 3前端的太陽齒輪5 4也形成迴轉。在 該實施形態中’由於是藉由使內齒齒輪5 8與殻體60形成 一體化的方式而維持成固定狀態，如此一來，將因爲太陽 齒輪54的迴轉，而使得行星齒輪56 —邊自轉並一邊於該 太陽齒輪54的周圍公轉。該公轉本身將透過第1、第2支 承銷02、64而被分別傳達至第]、第2凸緣體66、68， 而使該第1、第2凸緣體66、68形成一體的迴轉。 在此’於本實施形態中，由於第1、第2支承銷62、 64皆是藉由具有干涉量的嵌合構造而固定於第1、第2凸 緣體<56、68’而使第】、第2凸緣體66、68除了藉由螺 栓76所產生的摩擦力之外，也能藉由上述第1、第2支承 -9- (7) 1313330 銷62、64的剪斷應力而形成一體化’即使因螺栓76而導 致摩擦力形成若干的下降，或即使可被傳達的扭矩有所增 減或者形成反轉，也能不會產生晃動地傳達扭矩。 不僅如此，螺栓76之鎖緊力下降的速度，經確認後 也較傳統更爲緩慢。這點可由以下的說明所導出：在習知 技術中，當螺栓76的鎖緊力形成下降時，因負荷的大小 而多少產生晃動之際，所產生的晃動是作用在促進螺栓76 g 鬆驰的方向上，倘若根據本實施形態，在螺栓76的鎖緊 力形成若干程度的下降狀態中，則可藉由第1、第2支承 銷62、64的作動來抑制晃動的產生。 由於2個凸緣體66、68是由各自獨立的構件所形成1313330 (1) Description of the Invention [Technical Field] The present invention is a supporting structure of a planetary revolving body such as a planetary national wheel or a planetary roller. [Prior Art] In the planetary gear device used for precision positioning such as liquid crystal transfer robot or ATC (AUTO (AUT), etc.), the position in the circumferential direction is restrained by the carrier or the supported lamp star gear is incorporated. The above-mentioned carrier is densified > and in order to improve rigidity, most of it is composed of a cage member (carrier). Fig. 2 shows a planetary gear device PG1 disclosed in Patent Document 1. The planetary gear unit PG1 includes two stages of planetary gear mechanisms P1 and P2. The planetary gear mechanism P2 in the latter stage has the sun gear 2, the planetary gear 4, and the internal gear 6, and the support pin 10 is supported by the pair of flange portions 14, 16 by projecting from the planetary gear 4 in the axial direction. The pair of flange portions 14 and 16 form a cage shape by forming a part of the carrier member 8 by a single (same) member. In this configuration, the shape of the carrier 8 is extremely complicated, and the cost is easily increased. Further, the flexibility of the design change is reduced with respect to the change in the reduction ratio and the transmission capacity. Therefore, the planetary gear unit P G2 constituting the structure shown in Fig. 3 is widely known. The planetary gear unit p G2 ′ is formed by a pair of flange members 30 ′′′′ and the flange body -4- (2) 1313330 3 2 and the integral connecting body 34 are formed by bolts 3 , 3 2 form an integration. In the case of constituting the above-described structure, the bolt 36 and the through hole 33 are not completely in the circumferential direction, and the torque in the flange body 30 and the connecting body direction is transmitted through the bolt 36. The friction force (pressing force) of the end portion 34 A produced by the locking force is transmitted on the side of the 30 side. [Patent Document] Japanese Unexamined Patent Application Publication No. Hei No. Hei. No. Hei. No. Hei. No. Hei. No. 9-103. The torque in the circumferential direction conveys the problem that the torque is to be transmitted by the bolt 36 when the bolt 3 6 or the torque is higher than the frictional force due to the long-term use. The transmission is performed by a screw force, and the load is changed, or the direction of rotation is caused by the movement between the bolt 36 and the through hole 32. The present invention is directed to eliminating the above-mentioned conventional problems and the subject of the present invention. It is preferable to provide a combination of the above-described 30 flange body 30 without the complicated shape 6 (there is a circumference of 34 between the joint body 34 I and the first flange body, due to the constitution of '· When the convex force is transmitted through the frictional force, the locking force is relaxed, and the frictional force cannot maintain the shearing stress. The shearing of the bolt 36 should be reversed, and the invention may be caused by the swaying of the gap. -5- (3) (3) 1313330 Low Cost and flexibility in design change, and even in the case where frictional force that can transmit torque cannot be ensured due to long-term use, the support structure of the planetary slewing body such as sway does not occur. [Means for Solving the Problem] According to the present invention, the above-described problem can be solved by the following structure. The support structure of the planetary slewing body of the present invention is such that a pair of flange bodies connected to the transmission coupling body are disposed on both sides in the axial direction of the planetary slewing body, and In the circumferential direction, the torque ' between the flange body and the connecting body is a support structure of the planetary slewing body transmitted by the frictional force, wherein the planetary slewing body has a pair protruding from both sides in the axial direction thereof. The support pin has at least one of the pair of support pins fixed to the flange body by an interference-fitted fitting structure. In the present invention, the flange body and the aforementioned link are configured The torque in the circumferential direction between the bodies is a supporting structure of the planetary slewing body transmitted by the frictional force, and is a fitting structure having an interference amount. The planetary pin is fixed to the flange body. The "fitting structure having an interference amount" as used herein means a fitting structure in which a gap (there are thousands of amounts) is not generated even if there is a manufacturing error. The connecting body and the flange body are formed such that, in addition to the frictional force of the contact portion between the connecting body and the flange body ί, the torque can be transmitted by the shearing stress of the planetary pin, even if the bolt is locked. The tightening force forms a certain amount of descent, and the integration can be maintained without swaying, etc. Further, since the two flange bodies are integrated in a long security state, the looseness of the bolt-6-(4) 1313330 itself is not easy. It is produced and the frictional force of the joint portion can be maintained for a long time. Further, in the present invention, "the fixing is formed by a fitting structure having an interference amount", and a method of press-fitting, shrinkage fitting, or the like is included. Further, the "a pair of support pins" as used in the present invention refers to support pins that protrude from both sides of the central planetary revolving body, but the invention is not limited to the above description, and actually The upper portion may also be configured such that a pair of support pins are formed by a pin that penetrates the planetary body. [Effects of the Invention] According to the present invention, it is possible to obtain a flange body having a complicated shape, a low cost, and flexibility in design change, and even if a certain decrease in the locking force of the bolt is caused by long-term use, it does not occur. The support structure of the planetary revolving body such as shaking. [Embodiment] Hereinafter, an example of one embodiment of the present invention will be described in detail based on the drawings. Fig. 1 is a view showing the entire cross section of a planetary gear unit using the "support structure for a planetary slewing body" of the present invention. The planetary gear unit PG3 has a longitudinal axis 5 at its front stage. The vertical axis 5 马达 has a through hole 52' and a motor shaft of the motor shown in the drawing can be inserted into one end side of the through hole 52. The reference numeral 54 in Fig. 1 is a clamp portion (friction joint portion) for connecting the vertical axis 5 〇 (5) 1313330 to the motor shaft to transmit power, and the other end of the through hole 5 2 at the longitudinal axis 50. The pinion shaft 53' is press-fitted into the side and the pinion shaft 53 can be used as an input shaft of the simple planetary gear mechanism P3 and the sun gear 54 is formed. The simple planetary gear mechanism P3 includes the sun gear 54 and a planetary gear 56 that is externally meshed with the sun gear 54, and an internal gear 58 that is bonded to the planetary gear 56. The internal gear 58 is integrated with the housing 60. The planetary gear 56 includes first and second support pins 62 and 64 that protrude from the planetary gear 56 to both sides in the axial direction. Specifically, the first and second support pins 62 and 64 described above are constituted by one member penetrating the planetary gears 56. The first and second support pins 62 and 64 are supported by a pair of first and second flange bodies 66 and 68 disposed on both sides in the axial direction of the planetary gear 56. The first and second flange bodies 66 and 68 are supported by the casing 60 through the bearings 71 and 73, respectively. Further, in this embodiment, the second flange body 68 is formed with a connecting body 70 that protrudes integrally. A screw hole 72 is formed in the connecting body 70, and a through hole 74 is formed in the first flange body 66. The first flange body 66 and the second flange body 68 can be formed by sandwiching the coupling body 70 by inserting the bolt 76 into the through hole 74 and locking the screw hole 72. The bolt 76 and the through hole 74 of the first flange body 66 are not completely adhered to each other. In the normal use state, the coupling body 70 and the first flange body 66 are combined with each other, not by the shear stress of the bolt 76, but by the locking force of the screw 76. In the embodiment, the first support pin 62 and the second flange body 68 side of the first flange body 66 side of the planetary gear 56 are realized by the frictional force of the joint surface S of the both. 8 - (6) 1313330 Each of the second support pins 64 is fixed to the first flange body 66 and the second flange body 68 by "pressing in" with a fitting structure having an interference amount. Further, the second flange body 68 is integrated with the output shaft 80. The planetary gear 56 is attached to the large-sized portion 57 between the first and second support pins 62 and 64 via the needle bearing 78. Therefore, even if the first and second support pins 62 and 64 are press-fitted and fixed to the first and second flange bodies 66 and 68', the planetary gears 56 can form a very smooth rotation around the large-sized portion 57. Next, the action of the planetary gear unit PG3 will be described. When the vertical axis 5〇 is rotated by the rotation of the motor shaft not shown in the drawing, the pinion shaft 53 pressed into the vertical shaft 50 also rotates, and the sun formed at the front end of the pinion shaft 53 is formed. Gear 5 4 also forms a revolution. In this embodiment, 'because the internal gear 58 is integrated with the casing 60 to maintain a fixed state, the planetary gear 56 is edged because of the rotation of the sun gear 54. Rotate and revolve around the sun gear 54. The revolution itself is transmitted to the first and second flange bodies 66 and 68 through the first and second support pins 02 and 64, and the first and second flange bodies 66 and 68 are integrally rotated. . In the present embodiment, the first and second support pins 62 and 64 are fixed to the first and second flange bodies <56, 68' by a fitting structure having an interference amount. In addition to the frictional force generated by the bolts 76, the second flange bodies 66 and 68 can also be sheared by the first and second supports -9-(7) 1313330 pins 62 and 64. In the case of the integration, even if the frictional force is slightly lowered by the bolts 76, or even if the torque that can be transmitted is increased or decreased or reversed, the torque can be transmitted without sloshing. Moreover, the speed at which the locking force of the bolt 76 is lowered is also slower than the conventional one after confirmation. This can be derived from the following description: In the prior art, when the locking force of the bolt 76 is lowered, the sloshing is caused by the relaxation of the bolt 76g when the sloshing occurs due to the magnitude of the load. In the direction of the present embodiment, in the state in which the locking force of the bolt 76 is lowered to some extent, the occurrence of the sway can be suppressed by the actuation of the first and second support pins 62 and 64. Since the two flange bodies 66, 68 are formed by separate members
I ，故形狀比較單純，此外即使面對各式各樣的設計變更也 能靈活地對應。具有干涉量的壓入，幾乎不會造成其本身 成本的增加，因此只需極爲簡易且低成本的設計變更，便 可使行星齒輪裝置P G 3的耐久性大幅超越習知技術。 > 再者，在上述的實施形態中，第2凸緣體66與連結 體形成一體化，並著重於晃動的防止而藉由具有干涉量的 嵌合構造使第〗、第2支承銷62、64的雙方分別固定於第 1、第2凸緣體66、68。雖然如此，舉例來說，如同該實 施形態，在其中一側的凸緣體原本就與連結體形成一體化 的場合中，由於形成一體化的那一個凸緣體本身的剛性極 高，因此亦可採用不具干涉量的嵌入而形成結合的構造。 藉由「不具干涉量的嵌入構造」來結合上述形成一體化之 凸緣體的構造’就堅固「防止晃動」及「確保安裝的簡易 -10- (8) 1313330 性」的觀點而言’是合理的構造。在以上所述「不具干涉 量的嵌合構造」的槪念中’除了干涉量爲負値（具有間隙 )或者爲零的嵌合構造之外’還包含干涉量未達製造誤差 之嵌合構造的槪念。 此外’即使在假設連結體形成獨立於第2凸緣體以外 的個體’且第]、第2凸緣體雙方是藉由摩擦力而與連結 體形成結合之構造的場合中，亦可根據設計上的要求，而 φ 僅依據「安裝的簡易性」或者「防止晃動」之觀點中的其 •中一個來作爲壓入構造’或亦可兼顧上述兩者來作爲壓入 構造。 上記實施形態，僅是將本發明應用於單純行星齒輪機 構的行星迴轉體，也就是指行星齒輪之支承的範例，但本 發明並不侷限於單純行星齒輪機構，舉例來說，本發明也 適用於行星齒輪裝置的中心軸位於行星齒輪之周圍内側， 也就是所謂搖動内接嚙合式行星齒輪機構中之行星齒輪的 • 支承。不僅如此，除了齒輪機構之外，本發明也同樣適用 於作爲行星滾子機構之行星迴轉體的行星滾子。 [產業上的利用性] 本發明可適用於具有：於行星迴轉體的兩側具有作爲 載具的一對凸緣體，且上述一對凸緣體的至少其中一個凸 緣體與連結體可藉由摩擦力來傳達扭矩之構造的行星裝置 -11 - (9) 1313330 【圖式簡單說明】 第1圖：爲顯示採用本發明之行星齒輪裝置的其中一 例的整體剖面圖。 第2圖：爲顯示一種傳統行星齒輪裝置之範例的整體 剖面圖。 第3圖：爲顯示另一種傳統行星齒輪裝置之範例的整 體剖面圖。I, so the shape is relatively simple, and it can be flexibly matched even in the face of various design changes. Intrusion with an interference amount hardly causes an increase in its own cost, so that the durability of the planetary gear device P G 3 can be made much higher than the conventional technology with an extremely simple and low-cost design change. > In the above-described embodiment, the second flange body 66 is integrated with the connected body, and the second and second support pins 62 are formed by the fitting structure having the interference amount with emphasis on the prevention of the sway. Both sides 64 are fixed to the first and second flange bodies 66 and 68, respectively. Even in this case, for example, in the case where the flange body on one side is originally integrated with the joint body, the rigidity of the flange body itself which is formed integrally is extremely high. A configuration in which a bond is formed without embedding amount of interference can be employed. By "the structure of the flange body that does not have the interference amount, the structure of the flange body that forms the integrated body is solid" to prevent "sloshing" and "simplify the installation of the simple-10- (8) 1313330 property" Reasonable construction. In the above-mentioned "fitting structure without interference amount", in addition to the fitting structure in which the amount of interference is negative (with gap) or zero, "the fitting structure in which the interference amount does not reach the manufacturing error is included. The mourning. In addition, even in the case where the connection body is formed to be independent of the second flange body, and the second and the second flange body are combined with the connection body by frictional force, In the above request, φ is used as the press-fit structure only by one of the viewpoints of "simplification of mounting" or "prevention of swaying" as the press-fit structure. The above embodiment is merely an example in which the present invention is applied to a planetary slewing body of a simple planetary gear mechanism, that is, an example of support of a planetary gear, but the present invention is not limited to a simple planetary gear mechanism, and the present invention is also applicable, for example. The central axis of the planetary gear unit is located inside the periphery of the planetary gear, that is, the support of the planetary gear in the so-called intermeshing planetary gear mechanism. Moreover, the present invention is equally applicable to a planetary roller as a planetary revolving body of a planetary roller mechanism, in addition to a gear mechanism. [Industrial Applicability] The present invention is applicable to a pair of flange bodies having a carrier on both sides of a planetary revolving body, and at least one of the flange bodies and the coupling body of the pair of flange bodies may be Planetary device -11 which is configured to transmit torque by frictional force - (9) 1313330 [Brief Description of the Drawings] Fig. 1 is an overall cross-sectional view showing an example of a planetary gear device to which the present invention is applied. Figure 2: An overall cross-sectional view showing an example of a conventional planetary gear device. Figure 3: A general cross-sectional view showing an example of another conventional planetary gear unit.
5 0 :縱軸 5 6 :行星齒輪 6 0 :殼體 64 :第2支承銷 68 :第2凸緣體 7 2 :螺絲孔 7 6 :螺栓 80 :輸出軸 【主要元件符號說明】 PG2 :行星齒輪裝置 5 4 :太陽齒輪 5 8 :內齒齒輪 6 2 :第1支承銷 6 6 :第1凸緣體5 0 : Vertical axis 5 6 : Planetary gear 6 0 : Housing 64 : 2nd support pin 68 : 2nd flange body 7 2 : Screw hole 7 6 : Bolt 80 : Output shaft [Main component symbol description] PG2 : Planet Gear device 5 4 : sun gear 5 8 : internal gear 6 2 : first support pin 6 6 : first flange body
7 0 :連結體 7 4 :貫穿孔 7 8 :滾針軸承 -12 -7 0 : Connecting body 7 4 : Through hole 7 8 : Needle bearing -12 -