Planetary gear device for driving joint of industrial robot, has movement restriction element which limits movement of sliding acceleration unit to side portion of transition portion of bolt element

摘要

The device has a flange element which is provided on a side portion in the axial direction of a planetary gear. A bolt element is integrally molded with the flange and is passed through a through hole provided in the planet gear. The diameter of a terminal end of the rounded portion (50) at side of the flange element is larger than an innermost diameter of an end portion of the sliding acceleration unit on the side of flange element. A movement restriction element limits movement of the sliding acceleration unit to the side portion of transition portion of bolt element. The sliding acceleration unit is arranged between the pin element and the planet gear. The rounded portion is formed at a transition portion of the pin element.