| 摘要 |
PROBLEM TO BE SOLVED: To downsize an actuator and to reduce output loss.SOLUTION: An actuator includes: an output member having an output shaft 9 rotating around a rotary axis Ar; a fixed crown gear 5 which is disposed at an input side with respect to the output member, and in which a plurality of gear teeth are arranged in the circumferential direction around the rotary axis Ar; a swing crown gear 6 in which teeth of the number different from that of the fixed crown gear, are arranged in the circumferential direction around a central axis Ac, and which is engaged with the fixed crown gear 5, a plurality of driving apparatuses 4 arranged in the circumferential direction around the rotary axis Ar at an input side with respect to the swing crown gear 6, and inclining the central axis Ac of the swing crown gear 6 to the rotary axis Ar by axially displacing a corresponding part in the circumferential direction, in the swing crown gear 6, and a stopper 5s for limiting an engagement depth of the fixed crown gear 5 and the swing crown gear 6 by limiting the inclination of the swing crown gear 6 by being kept into contact with a part of the swing crown gear 6. |
