| 摘要 |
PURPOSE:To prevent the occurrence of unevenness in a speed and the generation of vibration, by a method wherein a flexible gear is situated on the outer periphery of a wave generator coupled directly to an input shaft, a first internal gear geared with the flexible gear is formed around the inner periphery of a reduction output shaft, and a second internal gear having the number of teeth different from that of the first internal gear is integrally formed around the inner periphery of a casing. CONSTITUTION:A first internal gear 1 geared with a flexible gear 2 around a wave generator 3 coupled directly to on input shaft 4 is integrally formed to a shaft 13 in a manner that an inner peripheral surface 22 of a robot articulated shaft 13 forms a gear forming surface. A second internal gear 15 geared with the flexible gear 2 is integrally formed with the number of teeth slightly different from that of the first internal gear 1 in a manner that an inner peripheral surface 21 of a robot casing 20 forms a gear forming surface. Thus, during assembly, a displacement in a core between axes due to an engaging error is reduced to a minimum to absorb it, and the occurrence of unevenness in a speed and the generation of vibration can be prevented. |
