| 摘要 |
PURPOSE:To transmit the revolution of a driving motor free from backlash by decelerating the revolution of the driving motor through a sun roller, a plurality of planetary rollers and an elastic ring and transmitting said revolution onto the arm of a robot. CONSTITUTION:A sun roller 13 is revolved by the motor shaft 5a of a driving motor 5. A plurality of planetary rollers 15 press-attached onto the outer peripheral surface of the sun roller 13 starts revolution in the opposite direction at the same time. Further, since the planetary roller 15 is press-attached also onto the inner peripheral surface of an elastic ring 14, each planetary roller 15 in rotation revolves around the sun roller 13. Each planetary roller 15 deceleration-turns the second arm 3B through a supporting shaft 18 and a supporting board 17. |
