JPS6353038U

JPS6353038U -

Info

Publication number: JPS6353038U
Application number: JP14625686U
Authority: JP
Priority date: 1986-09-24
Filing date: 1986-09-24
Publication date: 1988-04-09

Description

[Brief explanation of drawings]

第１図は本考案の一実施例としてのハーモニツ
クドライブ型減速式動力伝達機構を示す縦断面図
であり、第２，３図および第４図ａ〜ｄは従来の
ハーモニツクドライブ型減速式動力伝達機構を示
すもので、第２図はその縦断面図、第３図はその
ハーモニツクドライブの分解斜視図、第４図ａ〜
ｄはそれぞれそのハーモニツクドライブの減速動
作を順を追つて示す模式的な横断面図である。１……駆動モータ、２……第１のサーキユラス
プライン（固定側サーキユラスプライン）、２ａ
……内歯、２ｂ……環状凹部、３……第２のサー
キユラスプライン〔回転側（駆動側）サーキユラ
スプライン〕、３ａ……内歯、３ｂ，３ｃ……環
状突起、４……ウエーブジエネレータプラグ、５
……フレクスプライン、５ａ……外歯、６……ウ
エーブジエネレータベアリング、７，８……軸受
、９……回転軸（モータ出力軸）、１０……キー
、１１，１２……軸受、１３，１４……カラー、
１５……チエイン、１６……出力用外歯としての
スプロケツト、１７，１８……固定壁（ケーシン
グ）、１８ａ……環状段部、Ｈ……ハーモニツク
ドライブ、Ｇ……ウエーブジエネレータ。 FIG. 1 is a vertical sectional view showing a harmonic drive type reduction type power transmission mechanism as an embodiment of the present invention, and FIGS. The power transmission mechanism is shown in Fig. 2, a longitudinal cross-sectional view thereof, Fig. 3 an exploded perspective view of the harmonic drive, and Fig. 4 a to 4.
d is a schematic cross-sectional view showing the deceleration operation of each harmonic drive in sequence. 1... Drive motor, 2... First circular spline (fixed side circular spline), 2a
...Internal teeth, 2b...Annular recess, 3...Second circular spline [rotating side (drive side) circular spline], 3a...Internal teeth, 3b, 3c...Annular protrusion, 4...Wave Generator plug, 5
... Flex spline, 5a ... External tooth, 6 ... Wave generator bearing, 7, 8 ... Bearing, 9 ... Rotating shaft (motor output shaft), 10 ... Key, 11, 12 ... Bearing, 13 ,14...color,
15... Chain, 16... Sprocket as an output external tooth, 17, 18... Fixed wall (casing), 18a... Annular step, H... Harmonic drive, G... Wave generator.

Claims

[Scope of utility model registration request]

A motor attached to one of a pair of fixed walls arranged in parallel with an interval between them, a rotating shaft protruding from the motor toward the other of the pair of fixed walls, and a wave gear attached to the rotating shaft. a generator plug, a flexspline that engages with the wave generator plug via a bearing, and a second flexspline that is fixed to either of the pair of fixed walls and has internal teeth that mesh with teeth on the outer periphery of the flexspline. 1
and a second circular spline formed with internal teeth that mesh with teeth on the outer periphery of the flexspline and rotatably supported by one of the pair of fixed walls via a bearing, The first and second circular splines are set to have internal teeth with different numbers of teeth, and output external teeth are formed on the outer periphery of the second circular spline itself. Bearings that allow relative rotation between the first and second circular splines are interposed between the first and second circular splines, and the rotating shaft of the motor is supported by both of the pair of fixed walls via the respective bearings. A harmonic drive type reduction type power transmission mechanism featuring: