Patent ID: 8647226

Claim:
A rotary actuator comprising: a tubular stator; a rotor located radially inside of the stator, the rotor including a rotor axis having an eccentric portion, the eccentric portion having an eccentric axis eccentric relative to a center axis of the rotor; a disc-shaped sun gear supported by the eccentric portion via a bearing and eccentrically rotatable relative to the center axis, the sun gear including outer teeth at an outer circumferential periphery, the sun gear further including a fitting portion for transmitting rotation in an axial direction; an annular ring gear located radially outside of the sun gear, the ring gear including inner teeth at an inner circumferential periphery, the inner teeth of the ring gear being meshed with the outer teeth of the sun gear; and an output shaft adjacent to the sun gear in the axial direction, the output shaft including a fitted portion loosely fitted to the fitting portion of the sun gear to be in contact with the fitting portion in a rotative direction to transfer rotation of the sun gear to the output shaft, wherein: the bearing of the sun gear has a center position in the axial direction, the center position of the bearing is located in a fitting overlap region between the fitting portion of the sun gear and the fitted portion of the output shaft in the axial direction, the center position of the bearing is located in a gear overlap region between the outer teeth of the sun gear and the inner teeth of the ring gear in the axial direction, the fitting portion of the sun gear is a projected portion projected toward the output shaft, and the bearing of the sun gear includes two bearing devices arranged in the axial direction.