| 摘要 |
FIELD: automatic control systems. ^ SUBSTANCE: proposed drive contains two drive motors 1 and 2, fixed base with cylindrical projection 3 whose axis being central axis for entire mechanism. Gears 4 and 5 are arranged on motor shafts. Drive includes differential consisting of first idler gear 6 and second idler gear 7 with external and internal gear rims and cylindrical bushings 8 and 9. Cylindrical gears 10 and 11 are secured, respectively, on first end of both cylindrical bushings. Differential includes harmonic drive consisting of wave coupling in forming of cage 12, flexible wheel in forming of rolling supports 13 fitted in holes of cage 12, rigid gear wheel 14 and wave generators 15 and 16 made in form of central disks. Drive includes also output shaft 17 and feedback sensor 18. ^ EFFECT: increased load capacity at the same overall dimensions. ^ 1 dwg |
