| 摘要 |
PROBLEM TO BE SOLVED: To provide a hollow actuator for preventing the leakage of grease from the side of a harmonic drive gear reducer to a rotary encoder on the rear side of a hollow motor. SOLUTION: The hollow actuator 1 comprises the rotary encoder 4 arranged on the rear side of the hollow motor 2 and the harmonic drive gear reducer 3 arranged on the front side thereof. A hollow shaft 10 extends through the inside of the hollow motor shaft 21 of the hollow motor 2 whose front end is connected to a harmonic drive generator 33 of the harmonic drive gear reducer 3 in a rotatable condition. Rubber rings 15 are mounted on the outer peripheral face of the hollow shaft at certain spaces, and an annular gap 16 between the hollow motor shaft 21 and the hollow shaft 10 is sealed by a grease barrier which functions similarly to a labyrinth seal formed by the rubber rings 15. When grease enters from the side of the harmonic drive gear reducer 3 into the gap, it is held back by the grease barrier. There is therefore no event that the grease leaking to the side of the rotary encoder 4 gives harmful contaminating effects to components. COPYRIGHT: (C)2006,JPO&NCIPI
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