| 摘要 |
FIELD: engines.SUBSTANCE: invention relates to drives. Device comprises reduction gearbox with rigid wheel, wave generator and flexible gear. Flexible and rigid wheels are made with possibility of rotation relative to each other by a value corresponding to difference between number of teeth, which is a difference between number of teeth with internal and external engagement, when wave generator turns by one turn. Device additionally comprises a section for reading input shaft turning angle for reading position of input shaft, output shaft rotation angle reading section for reading position of reduction gear output shaft rotation and means for evaluation of occurrence of jamming, which is a slipping positions of engagement with internal gearing teeth and teeth with external engagement, when value of difference between read value section for reading input and output shaft turning angle exceeds or equals preset value.EFFECT: reduced size and weight of drive, as well as providing a larger gear ratio.18 cl, 5 dwg |
