| 摘要 |
A tool holder has a prime shaft which receives an external torque and is partly accommodated in and partly projects from a casing; a speed reduction unit having a coaxial three-layer structure consisting of a wave generator, a flexible spline and a circular spline being disposed in said casing, the wave generator being connected to the prime shaft in the casing, of the flexible spline and circular spline, one is secured to the casing while the other is an output section; a rotary holder secured to the output section; a tool holder mounting shaft supported by a top end of the rotary holder, the tool holder mounting shaft having a top end portion projecting from the casing; a crankshaft rotatably provided within the inner wall of the rotary holder; crank arms secured to both ends of the crankshaft, one of the crank arms being eccentrically coupled to the wave generator, the other the crank arms being eccentrically coupled to the rear end of the tool holder mounting shaft, with respective axes positioned eccentric to each other. The tool holder mounting shaft is swung with the rotation of the wave generator through the crank arms and crankshaft, and undergoes rotation through the rotary holder with the rotation of the output section of the speed reduction unit. |
