Title:
ROTARY ACTUATOR PROVIDED WITH WAVE REDUCTION GEAR
Document Type and Number:
WIPO Patent Application WO/2017/195308
Kind Code:
A1
Abstract:
A rotary actuator (1) has: one motor (2); two wave reduction gears (3 and 4) that are symmetrically arranged on both sides of the motor; and one output shaft (5). The output rotation of the motor (2) is reduced at the same reduction ratio by the two wave reduction gears (3 and 4), and is then outputted from the output shaft (5) to a load side. The first and second outer tooth gears (32 and 42) of the first and second wave reduction gears (3 and 4) are warped into elliptic shapes displaced by 90° in phase, and engaged with first and second inner tooth gears (33 and 44), respectively. In the output shaft (5), the angle transmission errors, of the first and second wave reduction gears (3 and 4) transmitted to the output shaft (5), are reduced by cancelling each other out. Reduced output rotation having the reduced angle transmission errors is outputted to the load side from the output shaft (5).
Inventors:
NAKAGAWA HIROSHI (JP)
YAGUCHI DAISUKE (JP)
YAGUCHI DAISUKE (JP)
Application Number:
PCT/JP2016/064070
Publication Date:
November 16, 2017
Filing Date:
May 11, 2016
Export Citation:
Assignee:
HARMONIC DRIVE SYSTEMS (JP)
International Classes:
F16H1/32
Foreign References:
| JPS6362934A | 1988-03-19 | |||
| JPH10311385A | 1998-11-24 | |||
| JP2013015191A | 2013-01-24 | |||
| JPS6421248A | 1989-01-24 |
Other References:
See also references of EP 3456996A4
Attorney, Agent or Firm:
YOKOZAWA Shiro (JP)
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