| 摘要 |
PROBLEM TO BE SOLVED: To provide a compact wave gear device having a torque limiting function. SOLUTION: A wave gear device 1 comprises an annular rigid internal gear 2, an annular flexible external gear 3 arranged inside the internal gear 2 and a wave generator 4 fitted inside the external gear. The wave generator 4 includes a rigid cam disk 41 having a prescribed outline and a hub 43 inserted into an insert hole 42 opened at the center of the rigid cam disk 41. A torque limiting mechanism for limiting torque transmitted to the flexible external gear 3 via the wave generator 4 is formed by a nut 46 for fastening the rigid cam disk 41 to the hub 42. When a prescribed amount or more of torque transmission state is generated, slipping in the rotating direction is generated between the rigid cam disk 41 and the hub 42 so that transmission torque is limited to a prescribed amount. Since a torque limiter does not need to be provided separately, the use of the wave gear device 1 allows an actuator for driving a robot arm or the like to be compact and cost to be reduced. |
