| 摘要 |
PROBLEM TO BE SOLVED: To provide a silk hat type harmonic drive of light weight and high moment rigidity, having high allowable moment capacity, and capable of transmitting high torque. SOLUTION: The harmonic drive 10 has a circular spline 20 provided with internal teeth 21, a flexible thin silk hat type flake spline 30 having an external tooth portion 31 provided with external teeth 31 partially engaged with the internal teeth 21, and a wave generator 40 rotated to the circular spline 20 while deflecting the flame spline 30. A thin cross roller bearing 50 axially fixes an inner ring 51 by retaining a retaining ring 60 having the inner ring 51 and an outer ring 52 to a side face of the circular spline 20, and an end plate 80 is fastened to a side face of a case 70 by a bolt 7 penetrating through a boss 32 to axially fix the outer ring 52. The retaining ring 60, the case 70 and an end plate 80 are composed of light-weight materials such as aluminum, nylon and resin. COPYRIGHT: (C)2007,JPO&INPIT
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