| 摘要 |
PURPOSE:To make a decelerator installable in the inside of a robot arm, besides excellent in rigidity as well as to aim rotation deceleration with less lost motion or backlash, by performing conversion from rotation to linear motion and further to rotation motion with a screw mechanism, while using the differential motion of a screw in combination. CONSTITUTION:Two screws 13 and 14 of an intermediate shaft 10 and a screw 15 of an output shaft 7 all are of right-handed screw in type and their leads are set down to l1, l2 and l3, and of which l1 is set to be larger than l2 in an axial distance. When the output shaft of a motor 4 rotates, the intermediate shaft 10 is shifted by l1 per rotation in the screw 13 while a column 20 is fed by l2 per rotation in the screw 14 reversely whereby its apparent move comes to a difference between leads. The output shaft 7 rotates by dint of the screw 15 screwed together with paired nuts 18A and 18B clamped to the column 20 and thereby a reduction gear ratio comes to l3/(l1-l2). Like this, with adoption of a screw mechanism, such a form as suitable for installation in the inside of a robot arm comes to fruition. |
