| 摘要 |
PROBLEM TO BE SOLVED: To perform high precision detection of positions on the output side of a planetary differential type speed reduction gear, improve the accuracy of feedback control, prevent the increasing cost of a device, and eliminate the limitation of rated torque of the device due to the ambient temperature. SOLUTION: A control device of a planetary differential type speed-reduction gear controls the driving force of a motor 10 by means of a control means 20, reduces the speed of the motor by the planetary differential type speed- reduction gear 1 to transmit the reduced driving force to the output side of the speed-reduction gear 1, and performs specified operations by the output side driving force. In this case, the motor and planetary differential type speed reduction gear are connected by a cylindrical shaft 21, and a shaft 22 connected to the output side of the planetary differential type speed-reduction gear penetrates through the cylindrical shaft 21 into the opposite side of the speed reduction gear with respect to the motor. An output rotary detecting device 23 is provided at the tip of the penetrating shaft 22, and the control device controls the driving force of the motor 10 based on the information of the output rotary detecting device 23 to perform prescribed operations. |
