| 摘要 |
PURPOSE:To reduce the occupied spaces and weight and improve the responsiveness and movable range by containing the rotor and stator of a motor in the flex spline of a harmonic drive speed reducer. CONSTITUTION:The stator 1, rotor 2 of a motor and a rotor detection control unit 3 for position-controlling the rotor 1 are arranged in spaces other than a wave generator 5 in the flex spline 6 of a harmonic drive speed reducer. A fixed shaft 9 and a bearing 10 are likewise arranged, one end of the fixed shaft 9 is fixed to a cover 8, and the cover 8 is fitted to a circular spline 7. Accordingly, the occupied spaces and weight are reduced, and the responsiveness and movable range of a device applying this can be improved. |
