JPH0198353U - - Google Patents
Info
- Publication number
- JPH0198353U JPH0198353U JP19374287U JP19374287U JPH0198353U JP H0198353 U JPH0198353 U JP H0198353U JP 19374287 U JP19374287 U JP 19374287U JP 19374287 U JP19374287 U JP 19374287U JP H0198353 U JPH0198353 U JP H0198353U
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- wave generator
- spline
- flexspline
- speed reducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 claims 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 229920006311 Urethane elastomer Polymers 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Retarders (AREA)
Description
第１図は調和歯車装置の正面図、第２図は調和
歯車装置の断面図、第３図は調和歯車装置を用い
、そのサーキユラスプラインにホイールを一体化
した本考案の実施例を示す図、第４図はホイール
にウレタンゴムを付着させた本考案の実施例を示
す図である。
１……ウエーブ・ジエネレータ、３……フレク
スプライン、５……サーキユラ・スプライン、２
１……ローラベアリング、２５……モータ、２７
……ブレーキ、２９……回転数検出装置、３１…
…ホイール、３５……ウレタンゴム。
Fig. 1 is a front view of the harmonic gear device, Fig. 2 is a sectional view of the harmonic gear device, and Fig. 3 is a diagram showing an embodiment of the present invention in which a harmonic gear device is used and a wheel is integrated into its circular spline. , FIG. 4 is a diagram showing an embodiment of the present invention in which urethane rubber is attached to a wheel. 1...Wave generator, 3...Flex spline, 5...Circular spline, 2
1...Roller bearing, 25...Motor, 27
... Brake, 29 ... Rotation speed detection device, 31 ...
...Wheel, 35...Urethane rubber.
Claims (1)
に連結されたホイールとを有し、該ホイールを車
輪として利用する車輪駆動用アクチユエータおい
て、 楕円形のウエーブ・ジエネレータと、該ウエー
ブ・ジエネレータの外側にめはられて楕円形に撓
められたフレクスプラインと、このフレクスプラ
インの外歯にかみ合う内歯を有する円筒状のサー
キユラ・スプラインとを有する調和歯車装置が減
速機として用いられ、上記ウエーブ・ジエネレー
タに前記駆動手段が連結され、上記サーキユラ・
スプラインの半径方向にこのスプラインと一体化
して成形されたホイールとを備え、上記駆動手段
が上記ウエーブ・ジエネレータを回転すると、そ
の回転が上記フレクスプライン及びサーキユラ・
スプラインを介して上記ホイールに伝達されるこ
とを特徴とする調和歯車装置を用いた車輪駆動用
アクチユエータ。 (2) 上記駆動手段には、その回転数を制動する
制動手段と、この回転数を検出する検出手段とが
結合されている実用新案登録請求の範囲第(1)項
記載のアクチユエータ。 (3) 上記ホイールがその外部に弾性体を有する
実用新案登録請求の範囲第(1)項記載のアクチユ
エータ。 (4) 上記ホイールを支持するためにローラベア
リングを設けた実用新案登録請求の範囲第(1)項
記載のアクチユエータ。[Claims for Utility Model Registration] (1) A wheel drive actuator that has a drive means such as a motor, a speed reducer, and a wheel connected to the speed reducer, and uses the wheel as a wheel, which has an oval shape. a wave generator, a flexspline fitted on the outside of the wave generator and bent into an oval shape, and a cylindrical circular spline having internal teeth meshing with the external teeth of the flexspline. A gear device is used as a speed reducer, the drive means is connected to the wave generator, and the wave generator is connected to the drive means.
a wheel formed integrally with the spline in the radial direction of the spline, and when the driving means rotates the wave generator, the rotation causes the flexspline and the circular
A wheel drive actuator using a harmonic gear device, characterized in that transmission is transmitted to the wheel via a spline. (2) The actuator according to claim 1, wherein the driving means is coupled with a braking means for braking the rotational speed thereof and a detection means for detecting the rotational speed. (3) The actuator according to claim (1), wherein the wheel has an elastic body on the outside thereof. (4) The actuator according to claim (1), which is provided with a roller bearing to support the wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19374287U JPH0198353U (en) | 1987-12-21 | 1987-12-21 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19374287U JPH0198353U (en) | 1987-12-21 | 1987-12-21 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0198353U true JPH0198353U (en) | 1989-06-30 |
Family
ID=31484520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19374287U Pending JPH0198353U (en) | 1987-12-21 | 1987-12-21 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0198353U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007155076A (en) * | 2005-12-08 | 2007-06-21 | Nabtesco Corp | Wheel-driving unit |
| JP2007327569A (en) * | 2006-06-08 | 2007-12-20 | Nachi Fujikoshi Corp | Wheel driving device with electric motor |
| JP2014211187A (en) * | 2013-04-18 | 2014-11-13 | 株式会社ニコン | Speed reduction mechanism, driving system, and robot device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5618815A (en) * | 1979-07-26 | 1981-02-23 | Maaberuto Kk | Baby bed frame and diversion parts |
-
1987
- 1987-12-21 JP JP19374287U patent/JPH0198353U/ja active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5618815A (en) * | 1979-07-26 | 1981-02-23 | Maaberuto Kk | Baby bed frame and diversion parts |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007155076A (en) * | 2005-12-08 | 2007-06-21 | Nabtesco Corp | Wheel-driving unit |
| JP2007327569A (en) * | 2006-06-08 | 2007-12-20 | Nachi Fujikoshi Corp | Wheel driving device with electric motor |
| JP2014211187A (en) * | 2013-04-18 | 2014-11-13 | 株式会社ニコン | Speed reduction mechanism, driving system, and robot device |